def test_picamera():
from donkeycar.parts.camera import PiCamera
resolution = (120, 160)
cam = PiCamera(resolution=resolution)
frame = cam.run()
#assert shape is as expected. img_array shape shows (width, height, channels)
assert frame.shape[:2] == resolution[::-1]
def test_udp_broadcast(ip):
if ip is None:
print("udp broadcast test..")
p = UDPValuePub('camera')
from donkeycar.parts.camera import PiCamera
from donkeycar.parts.image import ImgArrToJpg
cam = PiCamera(160, 120, 3, framerate=4)
img_conv = ImgArrToJpg()
time.sleep(1)
while True:
cam_img = cam.run()
jpg = img_conv.run(cam_img)
print("sending", len(jpg), "bytes")
p.run(jpg)
time.sleep(0.5)
else:
print("udp listen test..", ip)
s = UDPValueSub('camera')
while True:
res = s.run()
time.sleep(0.1)
def test_tcp_client_server(ip):
if ip is None:
p = TCPServeValue("camera")
from donkeycar.parts.camera import PiCamera
from donkeycar.parts.image import ImgArrToJpg
cam = PiCamera(160, 120, 3, framerate=4)
img_conv = ImgArrToJpg()
while True:
cam_img = cam.run()
jpg = img_conv.run(cam_img)
p.run(jpg)
time.sleep(0.1)
else:
c = TCPClientValue("camera", ip)
while True:
c.run()
time.sleep(0.01)
def test_mqtt_pub_sub(ip):
if ip is None:
print("publishing test..")
p = MQTTValuePub('donkey/camera')
from donkeycar.parts.camera import PiCamera
from donkeycar.parts.image import ImgArrToJpg
cam = PiCamera(160, 120, 3, framerate=4)
img_conv = ImgArrToJpg()
while True:
cam_img = cam.run()
jpg = img_conv.run(cam_img)
p.run(jpg)
time.sleep(0.1)
else:
print("subscribing test..")
s = MQTTValueSub('donkey/camera')
while True:
res = s.run()
print("got:", res)
time.sleep(0.1)
