integrated camera_factory in video_input (#232)

* integrated camera_factory in video_input

* added missing parameters

* removed cluster estimation test file

* accommodate video input for new camera factory and logger changes in common

* refactor for moving camera config classes into each camera module

* add comments and change empty to string to a valid iamge prefix

* Fix comments

* refactor video_input save_prefix to image_name, for proper use with logger.save_image

* bug fix for video_input integration tests

---------

Co-authored-by: Maxwell Lou <[email protected]>

config.yaml

@@ -3,25 +3,40 @@
 queue_max_size: 10
 
 video_input:
-    camera_name: 0
     worker_period: 1.0  # seconds
-    save_prefix: "log_image"
+    camera_enum: 0  # Enum values can be found in camera_factory.py
+    width: 1920
+    height: 1200
+    # For camera_enum=0, use the OpenCV camera config. For camera_enum=1, use the PiCamera2 config
+    # OpenCV camera config (regular cameras, enum 0)
+    camera_config:
+        device_index: 0
+    # PiCamera2 camera config (PiCamera NoIR, enum 1)
+    # camera_config:
+    #     exposure_time: 250  # microseconds
+    #     analogue_gain: 64.0  # Sets ISO, 1.0 for normal, 64.0 for max, 0.0 for min
+    #     contrast: 1.0  # Contrast, 1.0 for nomral, 32.0 for max, 0.0 for min
+    #     lens_position: null  # Focal length, 1/m (0 for infinity, null for auto focus)
+    log_images: true  # Set to true to save images
+    image_name: "log_image"  # Image name when saving images
 
 detect_target:
     worker_count: 1
     option: 0  # 0 is for Ultralytics (from detect_target_factory.py)
     device: 0
-    model_path: "tests/model_example/yolov8s_ultralytics_pretrained_default.pt"  # TODO: update
+    model_path: "tests/model_example/yolov8s_ultralytics_pretrained_default.pt"  # See autonomy OneDrive for latest model
     save_prefix: "log_comp"
 
 flight_interface:
-    address: "tcp:127.0.0.1:14550"
-    timeout: 10.0  # seconds
+    # Port 5762 connects directly to the simulated auto pilot, which is more realistic
+    # than connecting to port 14550, which is the ground station
+    address: "tcp:localhost:5762"
+    timeout: 30.0  # seconds
     baud_rate: 57600  # symbol rate 
     worker_period: 0.1  # seconds
 
 data_merge:
-    timeout: 10.0  # seconds
+    timeout: 30.0  # seconds
 
 geolocation:
     resolution_x: 1920

main_2024.py

@@ -12,6 +12,9 @@
 # Used in type annotation of flight interface output
 # pylint: disable-next=unused-import
 from modules import odometry_and_time
+from modules.common.modules.camera import camera_factory
+from modules.common.modules.camera import camera_opencv
+from modules.common.modules.camera import camera_picamera2
 from modules.communications import communications_worker
 from modules.detect_target import detect_target_factory
 from modules.detect_target import detect_target_worker
@@ -81,19 +84,37 @@ def main() -> int:
         # pylint: disable=invalid-name
         QUEUE_MAX_SIZE = config["queue_max_size"]
 
-        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_SAVE_PREFIX = str(pathlib.Path(logging_path, VIDEO_INPUT_SAVE_NAME_PREFIX))
+        VIDEO_INPUT_OPTION = camera_factory.CameraOption(config["video_input"]["camera_enum"])
+        VIDEO_INPUT_WIDTH = config["video_input"]["width"]
+        VIDEO_INPUT_HEIGHT = config["video_input"]["height"]
+        match VIDEO_INPUT_OPTION:
+            case camera_factory.CameraOption.OPENCV:
+                VIDEO_INPUT_CAMERA_CONFIG = camera_opencv.ConfigOpenCV(
+                    **config["video_input"]["camera_config"]
+                )
+            case camera_factory.CameraOption.PICAM2:
+                VIDEO_INPUT_CAMERA_CONFIG = camera_picamera2.ConfigPiCamera2(
+                    **config["video_input"]["camera_config"]
+                )
+            case _:
+                main_logger.error(f"Inputted an invalid camera option: {VIDEO_INPUT_OPTION}", True)
+                return -1
+
+        VIDEO_INPUT_IMAGE_NAME = (
+            config["video_input"]["image_name"] if config["video_input"]["log_images"] else None
+        )
 
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
-        DETECT_TARGET_OPTION_INT = config["detect_target"]["option"]
-        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(DETECT_TARGET_OPTION_INT)
+        DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(
+            config["detect_target"]["option"]
+        )
         DETECT_TARGET_DEVICE = "cpu" if args.cpu else config["detect_target"]["device"]
         DETECT_TARGET_MODEL_PATH = config["detect_target"]["model_path"]
         DETECT_TARGET_OVERRIDE_FULL_PRECISION = args.full
-        DETECT_TARGET_SAVE_NAME_PREFIX = config["detect_target"]["save_prefix"]
-        DETECT_TARGET_SAVE_PREFIX = str(pathlib.Path(logging_path, DETECT_TARGET_SAVE_NAME_PREFIX))
+        DETECT_TARGET_SAVE_PREFIX = str(
+            pathlib.Path(logging_path, config["detect_target"]["save_prefix"])
+        )
         DETECT_TARGET_SHOW_ANNOTATED = args.show_annotated
 
         FLIGHT_INTERFACE_ADDRESS = config["flight_interface"]["address"]
@@ -125,7 +146,7 @@ def main() -> int:
         main_logger.error(f"Config key(s) not found: {exception}", True)
         return -1
     except ValueError as exception:
-        main_logger.error(f"Could not convert detect target option into enum: {exception}", True)
+        main_logger.error(f"{exception}", True)
         return -1
 
     # Setup
@@ -199,9 +220,12 @@ def main() -> int:
         count=1,
         target=video_input_worker.video_input_worker,
         work_arguments=(
-            VIDEO_INPUT_CAMERA_NAME,
+            VIDEO_INPUT_OPTION,
+            VIDEO_INPUT_WIDTH,
+            VIDEO_INPUT_HEIGHT,
+            VIDEO_INPUT_CAMERA_CONFIG,
+            VIDEO_INPUT_IMAGE_NAME,
             VIDEO_INPUT_WORKER_PERIOD,
-            VIDEO_INPUT_SAVE_PREFIX,
         ),
         input_queues=[],
         output_queues=[video_input_to_detect_target_queue],

modules/video_input/video_input.py

@@ -3,23 +3,72 @@
 """
 
 from .. import image_and_time
-from ..common.modules.camera import camera_device
+from ..common.modules.camera import base_camera
+from ..common.modules.camera import camera_factory
+from ..common.modules.camera import camera_opencv
+from ..common.modules.camera import camera_picamera2
+from ..common.modules.logger import logger
 
 
 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)
+    __create_key = object()
 
-    def run(self) -> "tuple[bool, image_and_time.ImageAndTime | None]":
+    @classmethod
+    def create(
+        cls,
+        camera_option: camera_factory.CameraOption,
+        width: int,
+        height: int,
+        config: camera_opencv.ConfigOpenCV | camera_picamera2.ConfigPiCamera2,
+        maybe_image_name: str | None,
+        local_logger: logger.Logger,
+    ) -> "tuple[True, VideoInput] | tuple[False, None]":
+        """
+        camera_option specifies which camera driver to use.
+        width is the width of the images the camera takes in pixels.
+        height is the height of the images the camera takes in pixels.
+        camera_config specifies camera settings.
+        maybe_image_name is the filename to save the image as. Set to None to not log any images.
+        """
+        result, camera = camera_factory.create_camera(camera_option, width, height, config)
+        if not result:
+            local_logger.error(
+                f"Camera factory failed. Current configs were: {camera_option=}, {width=}, {height=}, {config=}."
+            )
+            return False, None
+
+        return True, VideoInput(cls.__create_key, camera, maybe_image_name, local_logger)
+
+    def __init__(
+        self,
+        class_private_create_key: object,
+        camera: base_camera.BaseCameraDevice,
+        maybe_image_name: str | None,
+        local_logger: logger.Logger,
+    ) -> None:
+        """
+        Private constructor, use create() method.
+        """
+        assert class_private_create_key is VideoInput.__create_key, "Use create() method."
+
+        self.__device = camera
+        self.__maybe_image_name = maybe_image_name
+        self.__logger = local_logger
+
+    def run(self) -> "tuple[True, image_and_time.ImageAndTime] | tuple[False, None]":
         """
         Returns a possible ImageAndTime with current timestamp.
         """
-        result, image = self.device.get_image()
+        result, image = self.__device.run()
         if not result:
+            self.__logger.warning("Failed to take image")
             return False, None
 
+        if self.__maybe_image_name is not None:
+            self.__logger.save_image(image, self.__maybe_image_name)
+
         return image_and_time.ImageAndTime.create(image)

modules/video_input/video_input_worker.py

@@ -2,30 +2,56 @@
 Gets images from the camera.
 """
 
+import os
+import pathlib
 import time
 
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 from . import video_input
+from ..common.modules.camera import camera_factory
+from ..common.modules.camera import camera_opencv
+from ..common.modules.camera import camera_picamera2
+from ..common.modules.logger import logger
 
 
 def video_input_worker(
-    camera_name: "int | str",
+    camera_option: camera_factory.CameraOption,
+    width: int,
+    height: int,
+    camera_config: camera_opencv.ConfigOpenCV | camera_picamera2.ConfigPiCamera2,
+    maybe_image_name: str | None,
     period: float,
-    save_name: str,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
 ) -> None:
     """
     Worker process.
 
-    camera_name is initial setting.
-    period is minimum period between loops.
-    save_name is path for logging.
+    period is the minimum period between image captures in seconds.
     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)
+    worker_name = pathlib.Path(__file__).stem
+    process_id = os.getpid()
+    result, local_logger = logger.Logger.create(f"{worker_name}_{process_id}", True)
+    if not result:
+        print("ERROR: Worker failed to create logger")
+        return
+
+    assert local_logger is not None
+
+    local_logger.info("Logger initialized")
+
+    result, input_device = video_input.VideoInput.create(
+        camera_option, width, height, camera_config, maybe_image_name, local_logger
+    )
+    if not result:
+        local_logger.error("Worker failed to create class object")
+        return
+
+    # Get Pylance to stop complaining
+    assert input_device is not None
 
     while not controller.is_exit_requested():
         controller.check_pause()

tests/integration/test_video_input_hardware.py

@@ -2,21 +2,38 @@
 Simple hardware test, requires camera.
 """
 
+import pathlib
+
+from modules.common.modules.camera import camera_factory
+from modules.common.modules.camera import camera_opencv
+from modules.common.modules.logger import logger
 from modules.video_input import video_input
 
 
-CAMERA = 0
+# Modify as needed
+CAMERA = camera_factory.CameraOption.OPENCV
+WIDTH = 640
+HEIGHT = 480
+CONFIG = camera_opencv.ConfigOpenCV(0)
+IMAGE_NAME = None  # Not saving any pictures
 
 
 def main() -> int:
     """
     Main function.
     """
+    # Logger
+    test_name = pathlib.Path(__file__).stem
+    result, local_logger = logger.Logger.create(test_name, False)
+    assert result
+    assert local_logger is not None
+
     # Setup
-    # TODO: Common change logging option
-    camera = video_input.VideoInput(
-        CAMERA,
+    result, camera = video_input.VideoInput.create(
+        CAMERA, WIDTH, HEIGHT, CONFIG, IMAGE_NAME, local_logger
     )
+    assert result
+    assert camera is not None
 
     # Run
     result, image = camera.run()

tests/integration/test_video_input_worker.py

@@ -6,14 +6,21 @@
 import queue
 import time
 
+from modules.common.modules.camera import camera_factory
+from modules.common.modules.camera import camera_opencv
 from modules.video_input import video_input_worker
 from modules import image_and_time
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
 
 
+# Modify these settings as needed
 VIDEO_INPUT_WORKER_PERIOD = 1.0
-CAMERA = 0
+CAMERA = camera_factory.CameraOption.OPENCV
+WIDTH = 640
+HEIGHT = 480
+CONFIG = camera_opencv.ConfigOpenCV(0)
+IMAGE_NAME = None  # Not saving any pictures
 
 
 def main() -> int:
@@ -29,7 +36,16 @@ def main() -> int:
 
     worker = mp.Process(
         target=video_input_worker.video_input_worker,
-        args=(CAMERA, VIDEO_INPUT_WORKER_PERIOD, "", out_queue, controller),
+        args=(
+            CAMERA,
+            WIDTH,
+            HEIGHT,
+            CONFIG,
+            IMAGE_NAME,
+            VIDEO_INPUT_WORKER_PERIOD,
+            out_queue,
+            controller,
+        ),
     )
 
     # Run