def fixture_vehicle(video_camera: VideoCamera, road_config: RoadConfigController,
throttle_config: ThrottleConfigController) -> Vehicle:
vehicle = Vehicle()
vehicle.register(video_camera)
vehicle.register(ComponentRoadPart2())
vehicle.register(AngleRoadPart())
vehicle.register(ThrottleEllipsePart(throttle_config_controller=throttle_config))
vehicle.register(RoadEllipseDebugPart())
vehicle.register(ThrottleDebugPart(input_img_key=RoadEllipseDebugPart.IMG_ROAD_ELLIPSE))
return vehicle
def _configure_angle_part(self, cfg):
if 'keras' == cfg.ANGLE_ALGO:
self.register(KerasPilot(img_input=CAM_IMAGE, model_path=Path(cfg.KERAS_MODEL)))
else:
self.register(AngleRoadPart())
self.register(RoadEllipseDebugPart())
def fixture_part(self) -> AngleRoadPart:
part = AngleRoadPart()
yield part
part.shutdown()