def test_camera_thumbs(mpstate, image_file):
'''Send some thumbnails to the view via the camera_air module'''
loadedModuleAir = camera_air.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
loadedModuleAir.cmd_camera(["set", "camparms", parms])
loadedModuleAir.cmd_camera(["set", "imagefile", image_file])
loadedModuleAir.cmd_camera(["set", "minscore", "0"])
loadedModuleAir.cmd_camera(["set", "gcs_address", "127.0.0.1:14000:15000:45, 127.0.0.1:14500:15500:60000"])
loadedModuleGround = camera_ground.init(mpstate)
loadedModuleGround.cmd_camera(["set", "camparms", parms])
loadedModuleGround.cmd_camera(["set", "air_address", "127.0.0.1:15000:14000:45, 127.0.0.1:15500:14500:60000"])
loadedModuleGround.cmd_camera(["view"])
#start the image stream and modules
capture_thread = sim_camera()
time.sleep(0.05)
loadedModuleAir.cmd_camera(["start"])
time.sleep(2.0)
#and request a fullsize image
filename = os.path.join(os.getcwd(), 'tests', 'testdata', 'raw2016111223465160Z.png')
frame_time = cuav_util.parse_frame_time(filename)
loadedModuleGround.mosaic.image_requests[frame_time] = 'fetchImageFull'
time.sleep(2.0)
loadedModuleAir.unload()
loadedModuleGround.unload()
capture_thread.join(1.0)
#and do the asserts
assert loadedModuleAir.region_count > 0
assert loadedModuleGround.region_count > 0
assert loadedModuleGround.thumb_count > 0
assert loadedModuleGround.image_count > 0
def test_module_settings(mpstate):
'''try changing module settings via MAVProxy CLI'''
loadedModule = camera_ground.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
loadedModule.cmd_camera(["set", "camparms", parms])
assert loadedModule.camera_settings.camparms == parms
loadedModule.cmd_camera(["set", "air_address", "127.0.0.1:15550:14550:45, 127.0.0.1:4500:1234:6000"])
assert loadedModule.camera_settings.air_address == "127.0.0.1:15550:14550:45, 127.0.0.1:4500:1234:6000"
loadedModule.unload()
def test_module_settings(mpstate):
'''try changing module settings via MAVProxy CLI'''
loadedModule = camera_ground.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
loadedModule.cmd_camera(["set", "camparms", parms])
assert loadedModule.camera_settings.camparms == parms
loadedModule.cmd_camera([
"set", "air_address",
"127.0.0.1:15550:14550:45, 127.0.0.1:4500:1234:6000"
])
assert loadedModule.camera_settings.air_address == "127.0.0.1:15550:14550:45, 127.0.0.1:4500:1234:6000"
loadedModule.unload()
def test_camera_commands(mpstate):
'''Initialise the camera view frame and boundary'''
loadedModule = camera_ground.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
bnd = str(os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
loadedModule.cmd_camera(["set", "camparms", parms])
loadedModule.cmd_camera(["view"])
time.sleep(1.0)
assert loadedModule.view_thread is not None
loadedModule.cmd_camera(["boundary", bnd])
loadedModule.unload()
time.sleep(1.0)
assert loadedModule.boundary_polygon is not None
def test_camera_thumbs(mpstate, image_file):
'''Send some thumbnails to the view via the camera_air module'''
loadedModuleAir = camera_air.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
loadedModuleAir.cmd_camera(["set", "camparms", parms])
loadedModuleAir.cmd_camera(["set", "imagefile", image_file])
loadedModuleAir.cmd_camera(["set", "minscore", "0"])
loadedModuleAir.cmd_camera([
"set", "gcs_address",
"127.0.0.1:14000:15000:45, 127.0.0.1:14500:15500:60000"
])
loadedModuleGround = camera_ground.init(mpstate)
loadedModuleGround.cmd_camera(["set", "camparms", parms])
loadedModuleGround.cmd_camera([
"set", "air_address",
"127.0.0.1:15000:14000:45, 127.0.0.1:15500:14500:60000"
])
loadedModuleGround.cmd_camera(["view"])
#start the image stream and modules
capture_thread = sim_camera()
time.sleep(0.05)
loadedModuleAir.cmd_camera(["start"])
time.sleep(2.0)
#and request a fullsize image
filename = os.path.join(os.getcwd(), 'tests', 'testdata',
'raw2016111223465160Z.png')
frame_time = cuav_util.parse_frame_time(filename)
loadedModuleGround.mosaic.image_requests[frame_time] = 'fetchImageFull'
time.sleep(2.0)
loadedModuleAir.unload()
loadedModuleGround.unload()
capture_thread.join(1.0)
#and do the asserts
assert loadedModuleAir.region_count > 0
assert loadedModuleGround.region_count > 0
assert loadedModuleGround.thumb_count > 0
assert loadedModuleGround.image_count > 0
def test_camera_commands(mpstate):
'''Initialise the camera view frame and boundary'''
loadedModule = camera_ground.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
bnd = str(
os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
loadedModule.cmd_camera(["set", "camparms", parms])
loadedModule.cmd_camera(["view"])
time.sleep(1.0)
assert loadedModule.view_thread is not None
loadedModule.cmd_camera(["boundary", bnd])
loadedModule.unload()
time.sleep(1.0)
assert loadedModule.boundary_polygon is not None
def test_toggle_JoeZone(mpstate):
'''toggle the Joe zone on the map'''
loadedModule = cuav_check.init(mpstate)
loadedModule.toggle_JoeZone()
assert loadedModule.target == None
loadedModule.mpstate.public_modules['camera_ground'] = cuav_camera_ground.init(mpstate)
loadedModule.mpstate.public_modules['camera_ground'].camera_settings.target_radius = 0
loadedModule.mpstate.map = mock.Mock()
loadedModule.toggle_JoeZone()
assert loadedModule.target == None
loadedModule.module('camera_ground').return_value = True
loadedModule.module('camera_ground').camera_settings.target_radius = 100
loadedModule.module('camera_ground').camera_settings.target_latitude = -34
loadedModule.module('camera_ground').camera_settings.target_longitude = -45
loadedModule.toggle_JoeZone()
assert loadedModule.target == (-34, -45, 100)
loadedModule.unload()
def test_toggle_JoeZone(mpstate):
'''toggle the Joe zone on the map'''
loadedModule = cuav_check.init(mpstate)
loadedModule.mpstate.public_modules['link'] = mock.Mock()
loadedModule.toggle_JoeZone()
assert loadedModule.target == None
loadedModule.mpstate.public_modules[
'camera_ground'] = cuav_camera_ground.init(mpstate)
loadedModule.mpstate.public_modules[
'camera_ground'].camera_settings.target_radius = 0
loadedModule.mpstate.map = mock.Mock()
loadedModule.toggle_JoeZone()
assert loadedModule.target == None
loadedModule.module('camera_ground').return_value = True
loadedModule.module('camera_ground').camera_settings.target_radius = 100
loadedModule.module('camera_ground').camera_settings.target_latitude = -34
loadedModule.module('camera_ground').camera_settings.target_longitude = -45
loadedModule.toggle_JoeZone()
assert loadedModule.target == (-34, -45, 100)
loadedModule.unload()
def test_load_module(mpstate):
'''Just initialise the module'''
loadedModule = camera_ground.init(mpstate)
loadedModule.unload()
def test_load_module(mpstate):
'''Just initialise the module'''
loadedModule = camera_ground.init(mpstate)
loadedModule.unload()