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Passing use_pc2 flag down to CameraDevice instantiation #224

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Passing use_pc2 flag down to CameraDevice instantiation #224

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64b4a14
Passing use_pc2 flag down to CameraDevice instantiation
bantuerfei0 Nov 12, 2024
5064024
Rename use_pc2 to use_picamera
bantuerfei0 Nov 12, 2024
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1 change: 1 addition & 0 deletions config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ video_input:
camera_name: 0
worker_period: 1.0 # seconds
save_prefix: "log_image"
use_picamera: false

detect_target:
worker_count: 1
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2 changes: 2 additions & 0 deletions main_2024.py
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,7 @@ def main() -> int:
VIDEO_INPUT_CAMERA_NAME = config["video_input"]["camera_name"]
VIDEO_INPUT_WORKER_PERIOD = config["video_input"]["worker_period"]
VIDEO_INPUT_SAVE_NAME_PREFIX = config["video_input"]["save_prefix"]
VIDEO_INPUT_USE_PICAMERA = config["video_input"]["use_picamera"]
VIDEO_INPUT_SAVE_PREFIX = str(pathlib.Path(logging_path, VIDEO_INPUT_SAVE_NAME_PREFIX))

DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
Expand Down Expand Up @@ -182,6 +183,7 @@ def main() -> int:
VIDEO_INPUT_CAMERA_NAME,
VIDEO_INPUT_WORKER_PERIOD,
VIDEO_INPUT_SAVE_PREFIX,
VIDEO_INPUT_USE_PICAMERA,
),
input_queues=[],
output_queues=[video_input_to_detect_target_queue],
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2 changes: 1 addition & 1 deletion modules/common
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Submodule common updated 11 files
+10 −9 modules/kml/locations_to_kml.py
+0 −56 modules/kml/named_location_global.py
+43 −0 modules/location_global.py
+46 −3 modules/location_local.py
+22 −0 modules/mavlink/local_global_conversion.py
+53 −0 modules/position_global.py
+117 −0 modules/position_global_relative_altitude.py
+50 −4 modules/position_local.py
+56 −23 tests/integration/test_flight_controller_mission_ended.py
+14 −14 tests/unit/test_ground_locations_to_kml.py
+23 −2 tests/unit/test_local_global_conversion.py
6 changes: 4 additions & 2 deletions modules/video_input/video_input.py
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Expand Up @@ -11,8 +11,10 @@ class VideoInput:
Combines image and timestamp together.
"""

def __init__(self, camera_name: "int | str", save_name: str = "") -> None:
self.device = camera_device.CameraDevice(camera_name, 1, save_name)
def __init__(
self, camera_name: "int | str", save_name: str = "", use_picamera: bool = False
) -> None:
self.device = camera_device.CameraDevice(use_picamera, camera_name, 1, save_name)

def run(self) -> "tuple[bool, image_and_time.ImageAndTime | None]":
"""
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3 changes: 2 additions & 1 deletion modules/video_input/video_input_worker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ def video_input_worker(
camera_name: "int | str",
period: float,
save_name: str,
use_picamera: bool,
output_queue: queue_proxy_wrapper.QueueProxyWrapper,
controller: worker_controller.WorkerController,
) -> None:
Expand All @@ -25,7 +26,7 @@ def video_input_worker(
output_queue is the data queue.
controller is how the main process communicates to this worker process.
"""
input_device = video_input.VideoInput(camera_name, save_name)
input_device = video_input.VideoInput(camera_name, save_name, use_picamera)

while not controller.is_exit_requested():
controller.check_pause()
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