✨

robot/robot.py

@@ -1,9 +1,40 @@
 # Arlo Robot Controller
-
+import ctypes
+import io
+import os
+import sys
+import tempfile
+from contextlib import contextmanager
 from time import sleep
 import serial
 import cv2
 
+libc = ctypes.CDLL(None)
+c_stderr = ctypes.c_void_p.in_dll(libc, 'stderr')
+
+@contextmanager
+def stderr_redirector(stream):
+    original_stderr_fd = sys.stderr.fileno()
+
+    def _redirect_stderr(to_fd):
+        libc.fflush(c_stderr)
+        sys.stderr.close()
+        os.dup2(to_fd, original_stderr_fd)
+        sys.stderr = io.TextIOWrapper(os.fdopen(original_stderr_fd, 'wb'))
+
+    saved_stderr_fd = os.dup(original_stderr_fd)
+    try:
+        tfile = tempfile.TemporaryFile(mode='w+b')
+        _redirect_stderr(tfile.fileno())
+        yield
+        _redirect_stderr(saved_stderr_fd)
+        tfile.flush()
+        tfile.seek(0, io.SEEK_SET)
+        stream.write(tfile.read().decode())
+    finally:
+        tfile.close()
+        os.close(saved_stderr_fd)
+
 class Robot(object):
     """
     Defines the Arlo robot API
@@ -77,7 +108,8 @@ class Robot(object):
         )
 
     def take_photo(self):
-        cap = self._init_camera()
+        with stderr_redirector(io.StringIO()):
+            cap = self._init_camera()
         _, photo = cap.read()
         cap.release()
         return photo