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_air.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
loadedModule.cmd_camera(["set", "camparms", parms])
assert loadedModule.camera_settings.camparms == parms
image = str(os.path.join(os.getcwd(), 'tests', 'testdata', 'raw2016111223465120Z.png'))
loadedModule.cmd_camera(["set", "imagefile", image])
assert loadedModule.camera_settings.imagefile == image
loadedModule.cmd_camera(["set", "gcs_address", "127.0.0.1:14550:45, 127.0.0.1:1234:6000"])
assert loadedModule.camera_settings.gcs_address == "127.0.0.1:14550:45, 127.0.0.1:1234:6000"
loadedModule.unload()
def test_camera_image_request(mpstate, image_file):
'''image request via the block_xmit'''
loadedModule = camera_air.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
loadedModule.cmd_camera(["set", "camparms", parms])
loadedModule.cmd_camera(["set", "imagefile", image_file])
loadedModule.cmd_camera(["set", "minscore", "0"])
loadedModule.cmd_camera(["set", "gcs_address", "127.0.0.1:14550:14560:2000000"])
filename = os.path.join(os.getcwd(), 'tests', 'testdata', 'raw2016111223465160Z.png')
pkt = cuav_command.ImageRequest(cuav_util.parse_frame_time(filename), True)
buf = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
capture_thread = sim_camera()
time.sleep(0.05)
loadedModule.cmd_camera(["start"])
time.sleep(0.8)
loadedModule.cmd_camera(["status"])
#don't load the block xmit until afterwards
b1 = block_xmit.BlockSender(dest_ip='127.0.0.1', port = 14550, dest_port = 14560)
b1.tick()
b1.send(buf)
#b1.tick()
time.sleep(0.1)
blkret = []
while True:
try:
b1.tick()
blk = cPickle.loads(str(b1.recv(0.01, True)))
#only want paricular packets - discard all the heartbeats, etc
if isinstance(blk, cuav_command.ImagePacket):
blkret.append(blk)
break
time.sleep(0.05)
except cPickle.UnpicklingError:
continue
loadedModule.cmd_camera(["stop"])
loadedModule.unload()
capture_thread.join(1.0)
assert len(blkret) == 1
#not sure if the last or 2nd last packed will contain the image - depends on the exact thread timing
assert isinstance(blkret[0], cuav_command.ImagePacket)
assert blkret[0].jpeg is not None
def test_camera_start(mpstate, image_file):
'''put a few images through the module and check they come
out via the block xmit'''
loadedModule = camera_air.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
loadedModule.cmd_camera(["set", "camparms", parms])
loadedModule.cmd_camera(["set", "imagefile", image_file])
loadedModule.cmd_camera(["set", "minscore", "0"])
loadedModule.cmd_camera(["set", "gcs_address", "127.0.0.1:14550:14560:9000, 127.0.0.1:14650:14660:15000"])
#Set up the ground side recievers
b1 = block_xmit.BlockSender(dest_ip='127.0.0.1', port = 14550, dest_port = 14560)
b2 = block_xmit.BlockSender(dest_ip='127.0.0.1', port = 14650, dest_port = 14660)
blk1 = None
blk2 = None
b2.tick()
b1.tick()
capture_thread = sim_camera()
time.sleep(0.05)
loadedModule.cmd_camera(["start"])
time.sleep(0.8)
loadedModule.cmd_camera(["status"])
loadedModule.cmd_camera(["queue"])
#get the sent data
b2.tick()
b1.tick()
blk1 = cPickle.loads(str(b1.recv(0.1)))
blk2 = cPickle.loads(str(b2.recv(0.1)))
time.sleep(0.05)
loadedModule.cmd_camera(["status"])
loadedModule.cmd_camera(["stop"])
loadedModule.unload()
capture_thread.join(1.0)
assert loadedModule.capture_count == 3
assert loadedModule.scan_count == 3
assert loadedModule.region_count > 0
assert isinstance(blk1, cuav_command.StampedCommand)
assert isinstance(blk2, cuav_command.StampedCommand)
assert abs(blk1.timestamp - blk2.timestamp) < 0.01
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_airstart(mpstate, image_file):
'''test the airstart - that cauv auto starts after vehicle has taken off'''
loadedModule = camera_air.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
loadedModule.cmd_camera(["set", "camparms", parms])
loadedModule.cmd_camera(["set", "imagefile", image_file])
loadedModule.cmd_camera(["set", "minspeed", "20"])
loadedModule.cmd_camera(["set", "gcs_address", "127.0.0.1:14550:14560:2000000"])
#load the other side of the xmit link
b1 = block_xmit.BlockSender(dest_ip='127.0.0.1', port = 14550, dest_port = 14560)
blkret = []
b1.tick()
loadedModule.cmd_camera(["airstart"])
#send a mavlink packet of VFR_HUD that the airspeed is above the threshold
#See "common.py" in pymavlink dialects for message classes
msg = common.MAVLink_vfr_hud_message(airspeed=21, groundspeed=15, heading=90, throttle=80, alt=30, climb=3.2)
msg._timestamp = time.time()
loadedModule.mavlink_packet(msg)
#get the packets
time.sleep(0.1)
while True:
try:
b1.tick()
blk = cPickle.loads(str(b1.recv(0.01, True)))
if isinstance(blk, cuav_command.CommandResponse) or isinstance(blk, cuav_command.CameraMessage):
blkret.append(blk)
time.sleep(0.05)
except cPickle.UnpicklingError:
break
loadedModule.cmd_camera(["stop"])
loadedModule.unload()
assert len(blkret) == 2
assert blkret[0].msg == "cuav airstart ready"
assert blkret[1].msg == "Started cuav running"
def test_camera_command(mpstate, image_file):
'''send some commands via the block_xmit'''
loadedModule = camera_air.init(mpstate)
parms = "/data/ChameleonArecort/params.json"
loadedModule.cmd_camera(["set", "camparms", parms])
loadedModule.cmd_camera(["set", "imagefile", image_file])
loadedModule.cmd_camera(["set", "minscore", "0"])
loadedModule.cmd_camera(["set", "gcs_address", "127.0.0.1:14550:14560:9000"])
pkt = cuav_command.ChangeCameraSetting("minscore", 50)
b1 = block_xmit.BlockSender(dest_ip='127.0.0.1', port = 14550, dest_port = 14560)
buf = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
loadedModule.cmd_camera(["start"])
time.sleep(0.1)
b1.tick()
b1.send(buf)
b1.tick()
time.sleep(0.1)
loadedModule.cmd_camera(["stop"])
loadedModule.unload()
assert loadedModule.camera_settings.minscore == 50
def test_load_module(mpstate):
'''Just initialise the module'''
loadedModule = camera_air.init(mpstate)
loadedModule.unload()