pi.py

import os
import re
import time
import picamera
import slack
import RPi.GPIO as GPIO

SERVO_OUT = 2
IMAGE_FILENAME = 'test.jpg'
RECORDING_FILENAME = 'test.h264'                                                                                                                                                                                                             
VIDEO_FILENAME = 'test.mp4'

camera = picamera.PiCamera()
camera.rotation = 180
camera.led = True
camera.start_preview()
time.sleep(2)

GPIO.setmode(GPIO.BCM)
GPIO.setup(SERVO_OUT, GPIO.OUT)

def change_duty_cycle(angle):
    servo = GPIO.PWM(SERVO_OUT, 50)
    servo.start(0.0)
    servo.ChangeDutyCycle((12 - 2.5) / 180 * angle + 2.5)
    time.sleep(1)
    servo.stop()

user_id = None

@slack.RTMClient.run_on(event='message')
def capture(**payload):
    data = payload['data']
    client = payload['web_client']
    global user_id
    if not user_id:
        res = client.auth_test()
        user_id = res['user_id']
    if 'text' in data and 'user' in data and data['user'] == user_id:
        text = data['text']
        if 'servo' in text:
            match = re.search(r'\d+', text)
            if match:
                angle = int(match.group())
                if 0 <= angle <= 180:
                    change_duty_cycle(angle)
        if 'capture' in text:
            camera.resolution = (1280, 720)                                                                                                                                                                                                  
            camera.capture(IMAGE_FILENAME)
            client.files_upload(channels=data['channel'],file=IMAGE_FILENAME,filetype='jpg')
        if 'start_recording' in text:                                                                                                                                                                                                        
            camera.resolution = (640, 480)
            camera.start_recording(RECORDING_FILENAME)
        if 'stop_recording' in text:                                                                                                                                                                                                         
            camera.stop_recording()
            os.system(f'ffmpeg -y -i {RECORDING_FILENAME} -c copy {VIDEO_FILENAME}')                                                                                                                                                         
            client.files_upload(channels=data['channel'],file=VIDEO_FILENAME,filetype='mp4')

try:
    slack_token = os.environ['SLACK_API_TOKEN']
    rtm_client = slack.RTMClient(token=slack_token)
    rtm_client.start()
finally:
    camera.close()
    GPIO.cleanup()