def _record_timestamp(self):
"""Helper for updating current timestamp in parameters"""
now = datetime.datetime.now()
ParametersStore.set('record_date', now.strftime('%Y-%m-%d'),
notify=False)
ParametersStore.set('record_time', now.strftime('%H:%M:%S'),
notify=False)
def _camera_parameter_changed(self, key, val):
self.logger.debug('camera parameter changed: %s: %s', key, val)
if key not in CAMERA_PARAMETERS:
self.logger.debug('parameter %s is not a camera parameter', key)
return
try:
ParametersStore.set(key, val)
except KeyError:
self.logger.exception('parameter %s = %s not supported', key, val)
def _record_timestamp(self):
"""Helper for updating current timestamp in parameters"""
now = datetime.datetime.now()
ParametersStore.set('record_date',
now.strftime('%Y-%m-%d'),
notify=False)
ParametersStore.set('record_time',
now.strftime('%H:%M:%S'),
notify=False)
def apply_other_parameter(self, param):
"""Apply parameter directly in parameter store, i.e. skipping any
interaction with external devices.
:param param Parameter:
:rtype: bool
:return: True"""
value = param.value
name = param.name
ParametersStore.set(name, value)
return True
def apply_other_parameter(self, param):
"""Apply parameter directly in parameter store, i.e. skipping any
interaction with external devices.
:param param Parameter:
:rtype: bool
:return: True"""
value = param.value
name = param.name
ParametersStore.set(name, value)
return True
def _update_camera_parameters(self, cam):
"""Update camera related parameters"""
self.logger.debug('updating camera parameters')
for param in CAMERA_PARAMETERS:
try:
val = self._get_param(cam, param)
self.logger.debug('current value: %s -> %s', param, val)
ParametersStore.set(param, val)
except dbus.DBusException:
self.logger.exception('failed to obtain parameter %s from camera %s',
param, cam.object_path)
def _update_servo_parameters(self):
"""Update servo parameters after connecting"""
if not self.servo:
return
for param in SERVO_PARAMETERS:
try:
val = self.servo.getValue(param)
ParametersStore.set(param, val)
except dbus.DBusException:
self.logger.exception('failed to update parameter %s from servo',
param)
def test_set_value(self):
self.assertNotEqual(ParametersStore.DEPENDENCIES, {})
pdesc_bar = ParametersStore.get('bar')
ParametersStore.set('foo', 3)
bar_val = ParametersStore.get_value('bar')
# bar = foo + 1
self.assertEqual(bar_val, 4)
baz_val = ParametersStore.get_value('baz')
# baz = foo * bar + 1
self.assertEqual(baz_val, 13)
# cafe = baz ** 2 + bar
cafe_val = ParametersStore.get_value('cafe')
self.assertEqual(cafe_val, 173)
def _camera_state_changed(self, state):
self.logger.debug('camera status changed: %d -> %d',
self.camera_state, state)
if state == self.CAMERA_STATE_ACTIVE_RECORDING:
record_state = 1
else:
record_state = 0
ParametersStore.set('record_state', record_state)
if (state, self.camera_state) in self.SNAPSHOT_STATES:
# take snapshot
self.service.controller.take_snapshot()
# update current camera state
self.camera_state = state
def test_set(self):
# test that a parameter can be set
test_param = 'focus_distance_m'
test_val = 10.0
self.assertTrue(ParametersStore.set(test_param, test_val))
focus_set = ParametersStore.get(test_param)
self.assertEqual(focus_set.value, test_val)
def test_called(self):
# verify that a callback was called only once for each set
tmock = mock.Mock()
test_param = 'focus_distance_m'
test_value = 10.0
# register mock callback a couple of times, only one
# registration is used
ParametersStore.change_listeners.add(tmock)
ParametersStore.change_listeners.add(tmock)
ParametersStore.change_listeners.add(tmock)
# set a parameter
ParametersStore.set(test_param, test_value)
# has to be called
self.assertTrue(tmock.called)
# called only once
self.assertEquals(tmock.call_count, 1)
self.assertEquals(len(tmock.call_args), 2)
# grab the first list parameter
pdesc = tmock.call_args[0][0]
self.assertIsInstance(pdesc, Parameter)
self.assertEquals(pdesc.name, test_param)
self.assertEquals(pdesc.value, test_value)
# set once again
ParametersStore.set(test_param, test_value + 1)
self.assertEquals(tmock.call_count, 2)
# grab the first list parameter
pdesc = tmock.call_args[0][0]
self.assertEquals(pdesc.value, test_value + 1)
# remove callback
ParametersStore.change_listeners.remove(tmock)
# and again, should not fail
ParametersStore.change_listeners.remove(tmock)
# now something different
ParametersStore.change_listeners.remove(None)
def test_set_convert(self):
# test that parameter can be set, and the value is
# automatically converted to proper type
test_param = 'focus_distance_m'
test_val = 10
expecting_type = float
# test value is an int
self.assertIsInstance(test_val, int)
# first read it
param = ParametersStore.get(test_param)
self.assertEqual(param.value_type, expecting_type)
self.assertIsInstance(param.value, expecting_type)
# set
ParametersStore.set(test_param, test_val)
as_set = ParametersStore.get(test_param)
# the type should have been converted according to parameter
# description
self.assertIsInstance(as_set.value, expecting_type)
self.assertEqual(as_set.value, expecting_type(test_val))
def test_baseline_changed(self):
#Set initial values
ParametersStore.set('frame_width_px', 1920, evaluate=False)
ParametersStore.set('focal_length_mm', 25, evaluate=False)
ParametersStore.set('baseline_mm', 50.0, evaluate=False)
ParametersStore.set('frame_width_mm', 15.84, evaluate=False)
ParametersStore.set('distance_screen_m', 5.2, evaluate=False)
ParametersStore.set('distance_object1_m', 4.4, evaluate=False)
ParametersStore.set('distance_object2_m', 9.5, evaluate=False)
#Change baseline to different value so convergence evaluation starts
ParametersStore.set('baseline_mm', 20, evaluate=True)
#Check new values
convergence_px = ParametersStore.get_value('convergence_px')
self.assertEquals(round(convergence_px, 2), 12.03)
convergence_deg = ParametersStore.get_value('convergence_deg')
self.assertEquals(round(convergence_deg, 2), 0.22)
def test_focal_length_changed(self):
#Set initial values
ParametersStore.set('focal_length_mm', 25, evaluate=False)
ParametersStore.set('baseline_mm', 50.0, evaluate=False)
ParametersStore.set('frame_width_mm', 15.84, evaluate=False)
ParametersStore.set('frame_height_mm', 8.91, evaluate=False)
ParametersStore.set('distance_screen_m', 3.15, evaluate=False)
ParametersStore.set('distance_near_m', 1.04, evaluate=False)
#Change focal_length to check evaluation
ParametersStore.set('focal_length_mm', 20, evaluate=True)
#Check new values
parallax_near_percent = ParametersStore.get_value(
'parallax_near_percent')
self.assertEquals(round(parallax_near_percent, 2), -4.07)
real_width_near_m = ParametersStore.get_value('real_width_near_m')
self.assertEquals(round(real_width_near_m, 2), 0.82)
real_height_near_m = ParametersStore.get_value('real_height_near_m')
self.assertEquals(round(real_height_near_m, 2), 0.46)
def test_baseline_changed(self):
#Set initial values
ParametersStore.set('frame_width_px', 1920, evaluate=False)
ParametersStore.set('focal_length_mm', 25, evaluate=False)
ParametersStore.set('baseline_mm', 50.0, evaluate=False)
ParametersStore.set('frame_width_mm', 15.84, evaluate=False)
ParametersStore.set('distance_screen_m', 5.2, evaluate=False)
ParametersStore.set('distance_object1_m', 4.4, evaluate=False)
ParametersStore.set('distance_object2_m', 9.5, evaluate=False)
#Change baseline to different value so convergence evaluation starts
ParametersStore.set('baseline_mm', 20, evaluate=True)
#Check new values
convergence_px = ParametersStore.get_value('convergence_px')
self.assertEquals(round(convergence_px, 2), 12.03)
convergence_deg = ParametersStore.get_value('convergence_deg')
self.assertEquals(round(convergence_deg, 2), 0.22)
def test_focal_length_changed(self):
#Set initial values
ParametersStore.set('focal_length_mm', 25, evaluate=False)
ParametersStore.set('baseline_mm', 50.0, evaluate=False)
ParametersStore.set('frame_width_mm', 15.84, evaluate=False)
ParametersStore.set('frame_height_mm', 8.91, evaluate=False )
ParametersStore.set('distance_screen_m', 3.15, evaluate=False)
ParametersStore.set('distance_near_m', 1.04, evaluate=False)
#Change focal_length to check evaluation
ParametersStore.set('focal_length_mm', 20, evaluate=True)
#Check new values
parallax_near_percent = ParametersStore.get_value('parallax_near_percent')
self.assertEquals(round(parallax_near_percent, 2), -4.07)
real_width_near_m = ParametersStore.get_value('real_width_near_m')
self.assertEquals(round(real_width_near_m, 2), 0.82)
real_height_near_m = ParametersStore.get_value('real_height_near_m')
self.assertEquals(round(real_height_near_m, 2), 0.46)
def _servo_value_changed(self, parameter, motor, limit, in_progress, value):
"""pl.ros3d.servo.valueChanged signal handler"""
self.logger.debug('got signal for parameter %s, value: %d', parameter, value)
value = Infinity.convert_from(value)
ParametersStore.set(parameter, value)
self.logger.debug('parameter value updated')
