def _do_image_capture(self):
"""Main loop for the image capture thread, which requests and saves images."""
# The service fault to report when this thread fails to capture an image from a source
capture_fault_id = service_fault_pb2.ServiceFaultId(
fault_name='Image Capture Failure', service_name=self.service_name)
capture_fault = service_fault_pb2.ServiceFault(
fault_id=capture_fault_id,
error_message='Failed to capture an image from ' +
self.device_name,
severity=service_fault_pb2.ServiceFault.SEVERITY_WARN)
try:
self.fault_client.clear_service_fault(capture_fault_id)
except ServiceFaultDoesNotExistError:
pass
fault_active = False
while self.is_alive:
# Get the image from the video capture.
capture_time = time.time()
success, image = self.capture.read()
if success:
self.set_last_frame(image, capture_time)
if fault_active:
self.fault_client.clear_service_fault(capture_fault_id)
fault_active = False
elif not fault_active:
self.fault_client.trigger_service_fault(capture_fault)
fault_active = True
# Cleanup the video capture when the thread is done.
self.capture.release()
def direct_faulting(robot):
"""Trigger and clear ServiceFaults directly using the SDK clients methods."""
# Set up robot state client
robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
# Set up fault client
fault_client = robot.ensure_client(FaultClient.default_service_name)
# Set up fake service fault
service_fault = service_fault_pb2.ServiceFault()
service_fault.fault_id.fault_name = 'ManualExampleFault'
service_fault.fault_id.service_name = kServiceName
service_fault.error_message = 'Example service fault triggered by the service_faults.py SDK example.'
service_fault.severity = service_fault_pb2.ServiceFault.SEVERITY_WARN
# Trigger the service fault
try:
fault_client.trigger_service_fault(service_fault)
except ServiceFaultAlreadyExistsError:
print('\nServiceFault was already registered. Proceeding...')
# Continually display ServiceFaults. Should see the manually triggered fault.
print('\n\n\nShould see locally triggered fault')
watch_service_fault_state(robot_state_client, 4)
# Clear the service fault
fault_client.clear_service_fault(service_fault.fault_id)
# Continually display ServiceFaults. Should not see the manually triggered fault.
print('\n\n\nShould not see locally triggered fault.')
watch_service_fault_state(robot_state_client, 4)
def test_active_faults():
# Check that active faults are managed correctly.
visual_src = VisualImageSource("source1", FakeCamera(capture_with_error, decode_with_error))
fault_client = MockFaultClient()
visual_src.initialize_faults(fault_client, "service1")
# Initialize function calls the clear_service_fault RPC.
assert fault_client.clear_service_fault_called_count == 1
assert len(visual_src.active_fault_id_names) == 0
fake_fault_id = service_fault_pb2.ServiceFaultId(fault_name="Fake Capture Failure")
fake_fault = service_fault_pb2.ServiceFault(
fault_id=fake_fault_id, severity=service_fault_pb2.ServiceFault.SEVERITY_WARN)
# Make sure we don't call clear_service_fault RPC because the fake fault is not active yet.
visual_src.clear_fault(fake_fault)
assert len(visual_src.active_fault_id_names) == 0
assert fault_client.clear_service_fault_called_count == 1
# Make the fake fault active.
visual_src.trigger_fault("error", fake_fault)
assert len(visual_src.active_fault_id_names) == 1
assert fault_client.service_fault_counts[fake_fault.fault_id.fault_name] == 1
# Clear the fake fault, but make sure RPC is only called once.
visual_src.clear_fault(fake_fault)
assert fault_client.clear_service_fault_called_count == 2
visual_src.clear_fault(fake_fault)
# Make sure clear_service_fault is not called for a cleared fault.
assert fault_client.clear_service_fault_called_count == 2
assert len(visual_src.active_fault_id_names) == 0
def __init__(self,
image_name,
camera_interface,
rows=None,
cols=None,
gain=None,
exposure=None,
logger=None):
self.image_source_name = image_name
self.image_source_proto = self.make_image_source(
image_name, rows, cols)
self.get_image_capture_params = lambda: self.make_capture_parameters(
gain, exposure)
# Ensure the camera_interface is a subclass of CameraInterface and has the defined capture and
# decode methods.
assert isinstance(camera_interface, CameraInterface)
self.camera_interface = camera_interface
self.capture_function = lambda: self._do_capture_with_error_checking(
self.camera_interface.blocking_capture)
# Optional background thread to continuously capture image data. This will help an image
# service to respond quickly to a GetImage request, since it can use the last captured image.
self.capture_thread = None
# Fault client to report errors. Requires the image service name to
# properly create the fault id.
self.fault_client = None
# Create fault to throw if a failure occurs when calling the blocking_capture function.
camera_capture_fault_id = service_fault_pb2.ServiceFaultId(
fault_name="Image Capture Failure for %s" % self.image_source_name)
self.camera_capture_fault = service_fault_pb2.ServiceFault(
fault_id=camera_capture_fault_id,
severity=service_fault_pb2.ServiceFault.SEVERITY_WARN)
# Create a fault to throw if a failure occurs when calling the image_decode function.
decode_data_fault_id = service_fault_pb2.ServiceFaultId(
fault_name="Decoding Image %s Failure" % self.image_source_name)
self.decode_data_fault = service_fault_pb2.ServiceFault(
fault_id=decode_data_fault_id,
severity=service_fault_pb2.ServiceFault.SEVERITY_WARN)
# Logger for warning messages and the last error message (used only when the background thread
# is capturing such that error messages from the last capture can be shown still).
self.logger = logger or _LOGGER
self.last_error_message = None
def test_faults_in_visual_source():
# Create the fault client
fault_client = MockFaultClient()
# Populate fault client with at least one "old" fault.
fault_client.trigger_service_fault_async(
service_fault_pb2.ServiceFault(
fault_id=service_fault_pb2.ServiceFaultId(fault_name="fault1")))
init_fault_amount = fault_client.get_total_fault_count()
visual_src = VisualImageSource(
"source1", FakeCamera(capture_with_error, decode_with_error))
# Attempt to get an image with no fault client enabled. Make sure no error is raised, and
# values are returned as none.
image, timestamp = visual_src.get_image_and_timestamp()
assert image is None
assert timestamp is None
# attempt to decode an image with no fault client enabled. Make sure no error is raised.
im_proto = image_pb2.Image(rows=10)
success = visual_src.image_decode_with_error_checking(
None, im_proto, None, None)
assert im_proto.rows == 15
assert not success
# Setup faults
visual_src.initialize_faults(fault_client, "service1")
assert fault_client.get_total_fault_count() == 0
assert visual_src.camera_capture_fault is not None
assert visual_src.camera_capture_fault.fault_id.service_name == "service1"
assert visual_src.decode_data_fault is not None
assert visual_src.decode_data_fault.fault_id.service_name == "service1"
# With fault client setup, check that faults are thrown when the bad functions get called.
image, timestamp = visual_src.get_image_and_timestamp()
assert image is None
assert timestamp is None
assert fault_client.service_fault_counts[
visual_src.camera_capture_fault.fault_id.fault_name] == 1
im_proto = image_pb2.Image(rows=21)
success = visual_src.image_decode_with_error_checking(
None, im_proto, None, None)
assert im_proto.rows == 15
assert fault_client.service_fault_counts[
visual_src.decode_data_fault.fault_id.fault_name] == 1
assert not success
PLACEHOLDER_PAYLOAD = payload_protos.Payload()
PLACEHOLDER_PAYLOAD.name = 'Ricoh Theta Image Service'
PLACEHOLDER_PAYLOAD.description = 'This is currently a virtual/weightless payload defined for the software service only. \
Please define weight and dimensions if the Ricoh Theta is mounted to Spot.'
# See https://dev.bostondynamics.com/docs/payload/configuring_payload_software#registering-payloads for more information.
DIRECTORY_NAME = 'ricoh-theta-image-service'
AUTHORITY = 'robot-ricoh-theta'
SERVICE_TYPE = 'bosdyn.api.ImageService'
_LOGGER = logging.getLogger(__name__)
# Define ServiceFaultIds for possible faults that will be thrown by the Ricoh Theta image service.
CAMERA_SETUP_FAULT = service_fault_pb2.ServiceFault(
fault_id=service_fault_pb2.ServiceFaultId(fault_name='Ricoh Theta Initialization Failure',
service_name=DIRECTORY_NAME),
severity=service_fault_pb2.ServiceFault.SEVERITY_CRITICAL)
class RicohThetaServiceHelper(CameraInterface):
def __init__(self, theta_ssid, theta_instance, logger=None):
# Setup the logger.
self.logger = logger or _LOGGER
# Name of the image source that is being requested from.
self.theta_ssid = theta_ssid
self.image_source_name = "RicohTheta_" + theta_ssid
# Default value for JPEG image quality, in case one is not provided in the GetImage request.
self.default_jpeg_quality = 95
from bosdyn.api import image_pb2
from bosdyn.api import image_service_pb2
from bosdyn.api import image_service_pb2_grpc
from bosdyn.api import service_fault_pb2
from ricoh_theta import Theta
DIRECTORY_NAME = 'ricoh-theta-image-service'
AUTHORITY = 'robot-ricoh-theta'
SERVICE_TYPE = 'bosdyn.api.ImageService'
_LOGGER = logging.getLogger(__name__)
# Define ServiceFaultIds for possible faults that will be thrown by the Ricoh Theta image service.
CAMERA_SETUP_FAULT = service_fault_pb2.ServiceFault(
fault_id=service_fault_pb2.ServiceFaultId(fault_name='Ricoh Theta Initialization Failure',
service_name=DIRECTORY_NAME),
severity=service_fault_pb2.ServiceFault.SEVERITY_CRITICAL)
CAPTURE_PARAMETERS_FAULT = service_fault_pb2.ServiceFault(
fault_id=service_fault_pb2.ServiceFaultId(fault_name='Get CaptureParameters Failure',
service_name=DIRECTORY_NAME),
error_message="Failed to get exposure/gain parameters.",
severity=service_fault_pb2.ServiceFault.SEVERITY_WARN)
CAPTURE_FAILURE_FAULT = service_fault_pb2.ServiceFault(
fault_id=service_fault_pb2.ServiceFaultId(fault_name='RicohTheta Image Capture Failure',
service_name=DIRECTORY_NAME),
severity=service_fault_pb2.ServiceFault.SEVERITY_WARN)
class RicohThetaImageServicer(image_service_pb2_grpc.ImageServiceServicer):
"""GRPC service to provide access to multiple different image sources. The service can list the
