def resetCams(self, curTime, cameras, table):
resetEndTime = curTime
for camera in cameras:
exposureStart = max(curTime,
self.getTimeWhenCameraCanExpose(table, camera))
# Cameras that have a pre-set exposure time can only use that
# exposure time for clearing the sensor, hence why we take the
# maximum of the min exposure time and the current exposure time.
# \todo Is it possible for getExposureTime() to be less than
# getMinExposureTime()? That would be a bug, right?
minExposureTime = max(decimal.Decimal('.1'),
camera.getMinExposureTime(isExact=True),
camera.getExposureTime(isExact=True))
exposureMode = camera.getExposureMode()
if exposureMode == cockpit.handlers.camera.TRIGGER_AFTER:
table.addToggle(exposureStart + minExposureTime, camera)
elif exposureMode == cockpit.handlers.camera.TRIGGER_DURATION:
table.addAction(exposureStart, camera, True)
table.addAction(exposureStart + minExposureTime, camera, False)
else: # TRIGGER_BEFORE case
table.addToggle(exposureStart, camera)
resetEndTime = max(resetEndTime, exposureStart + minExposureTime)
self.cameraToImageCount[camera] += 1
self.cameraToIgnoredImageIndices[camera].add(
self.cameraToImageCount[camera])
self.cameraToIsReady[camera] = True
return resetEndTime + decimal.Decimal('1e-6')
def testGetMinExposureTime(self):
callback = unittest.mock.Mock(return_value=50)
self.args['callbacks'] = {'getMinExposureTime' : callback}
camera = cockpit.handlers.camera.CameraHandler(**self.args)
self.assertEqual(camera.getMinExposureTime(), 50)
callback.assert_called_with('mock')
def expose(self,
curTime,
cameras,
lightTimePairs,
table,
pseudoGlobalExposure=False,
previousMovementTime=0):
# First, determine which cameras are not ready to be exposed, because
# they may have seen light they weren't supposed to see (due to
# bleedthrough from other cameras' exposures). These need
# to be triggered (and we need to record that we want to throw away
# those images) before we can proceed with the real exposure.
camsToReset = set()
for camera in cameras:
if not self.cameraToIsReady[camera]:
camsToReset.add(camera)
if camsToReset:
curTime = self.resetCams(curTime, camsToReset, table)
# Figure out when we can start the exposure, based on the cameras
# involved: their exposure modes, readout times, and last trigger
# times determine how soon we can next trigger them (see
# getTimeWhenCameraCanExpose() for more information).
exposureStartTime = curTime
# Adjust the exposure start based on when the cameras are ready.
for camera in cameras:
camExposureReadyTime = self.getTimeWhenCameraCanExpose(
table, camera)
# we add the readout time to get when the light should be trigger to
# obtain pseudo global exposure
camPseudoGlobalReadyTime = (camExposureReadyTime +
self.cameraToReadoutTime[camera])
exposureStartTime = max(exposureStartTime, camExposureReadyTime)
# Determine the maximum exposure time, which depends on our light
# sources as well as how long we have to wait for the cameras to be
# ready to be triggered.
maxExposureTime = 0
if lightTimePairs:
maxExposureTime = max(lightTimePairs, key=lambda a: a[1])[1]
# Check cameras to see if they have minimum exposure times; take them
# into account for when the exposure can end. Additionally, if they
# are frame-transfer cameras, then we need to adjust maxExposureTime
# to ensure that our triggering of the camera does not come too soon
# (while it is still reading out the previous frame).
for camera in cameras:
maxExposureTime = max(maxExposureTime,
camera.getMinExposureTime(isExact=True))
if camera.getExposureMode(
) == cockpit.handlers.camera.TRIGGER_AFTER:
nextReadyTime = self.getTimeWhenCameraCanExpose(table, camera)
# Ensure camera is exposing for long enough to finish reading
# out the last frame.
maxExposureTime = max(maxExposureTime,
nextReadyTime - exposureStartTime)
# Open the shutters for the specified exposure times, centered within
# the max exposure time.
# Note that a None value here means the user wanted to expose the
# cameras without any special light.
exposureEndTime = exposureStartTime + maxExposureTime
for light, exposureTime, in lightTimePairs:
if light is not None and light.name is not 'ambient': # i.e. not ambient light
# Center the light exposure.
timeSlop = maxExposureTime - exposureTime
offset = timeSlop / 2
table.addAction(exposureEndTime - exposureTime - offset, light,
True)
table.addAction(exposureEndTime - offset, light, False)
# Record this exposure time.
if exposureTime not in self.lightToExposureTime[light]:
self.lightToExposureTime[light].add(exposureTime)
# Trigger the cameras. Keep track of which cameras we *aren't* using
# here; if they are continuous-exposure cameras, then they may have
# seen light that they shouldn't have, and need to be invalidated.
usedCams = set()
for camera in cameras:
usedCams.add(camera)
mode = camera.getExposureMode()
if mode == cockpit.handlers.camera.TRIGGER_AFTER:
table.addToggle(exposureEndTime, camera)
elif mode == cockpit.handlers.camera.TRIGGER_DURATION:
table.addAction(exposureStartTime, camera, True)
table.addAction(exposureEndTime, camera, False)
elif mode == cockpit.handlers.camera.TRIGGER_DURATION_PSEUDOGLOBAL:
# We added some security time to the readout time that
# we have to remove now
cameraExposureStartTime = (exposureStartTime -
self.cameraToReadoutTime[camera] -
decimal.Decimal(0.005))
table.addAction(cameraExposureStartTime, camera, True)
table.addAction(exposureEndTime, camera, False)
elif mode == cockpit.handlers.camera.TRIGGER_BEFORE:
table.addToggle(exposureStartTime, camera)
elif mode == cockpit.handlers.camera.TRIGGER_SOFT:
table.addAction(exposureStartTime, camera, True)
else:
raise Exception('%s has no trigger mode set.' % camera)
self.cameraToImageCount[camera] += 1
for camera in self.cameras:
if (camera not in usedCams and camera.getExposureMode()
== cockpit.handlers.camera.TRIGGER_AFTER):
# Camera is a continuous-exposure/frame-transfer camera
# and therefore saw light it shouldn't have; invalidate it.
self.cameraToIsReady[camera] = False
return exposureEndTime
