def test_save_color_config(self):
pm=VisionModule()
pm.start(self.data)
name = "all"
path2res = find_resource("vision-color-config/auto-color-config")
system("rm %s/%s.png" % (path2res, name))
pm.save_color_config(name)
self.assertTrue(path.isfile("%s/%s.png" % (path2res, name)))
def load_connection_file(self):
""" Lädt im idealfall die datei mit den Motorverbindungen
"""
try:
path = find_resource('cables.yaml')
with open(path, 'r') as f:
self.cables = yaml.load(f)
except IOError:
self.debug.warning('Konnte die Resource cables.yaml nicht finden, abbruch!')
except yaml.YAMLError as e:
self.debug.warning("Fehler in der cables.yaml: \n %s" % e)
def load_help(self):
""" Parse the yaml-file with the help information
"""
try:
path = find_resource("record_help.yaml")
with open(path, "r") as f:
self.helpmap = yaml.load(f)
ilog.debug("help-file successfully loaded")
except IOError:
ilog.warn("help-file could not be opened! - no help availiable")
self.helpmap = None
except yaml.YAMLError as e:
ilog.warn("help-file could not be parsed! - no help availiable")
ilog.warn("Error in help-file: %s" % e)
def obtain_palette(theme):
""" Makes the I/O to load a theme
"""
try:
path = find_resource("record_themes/" + theme)
ilog.info("record color specification located as: %s" % path)
with open(path, "r") as f:
palette = yaml.load(f)
ilog.debug("colors successfully loaded")
return palette
except IOError:
ilog.warn("color-file could not be opened!")
self.helpmap = None
except yaml.YAMLError as e:
ilog.warn("color-file could not be parsed!")
ilog.warn("Error in color-file: %s" % e)
return []
def load_color_config(self, which):
# Farbraum-Konfiguration laden
conf = numpy.zeros((256, 768), dtype=numpy.uint8)
for idx, name in enumerate(("ball", "cyan", "yellow", "carpet", "white", "magenta")):
if name != "carpet": # ignoring carpet, because of autoconfig
debug_m(DebugLevel.LEVEL_4, "searching vision-color-config/%s/%s.png" % (which, name))
name = find_resource(
"vision-color-config/%s/%s.png" % (which, name))
debug_m(DebugLevel.LEVEL_4, "Loading %s" % name)
im = PngImage(name)
mask = im.get_png_as_numpy_array()
mask[mask != 0] = (1 << idx)
conf += mask
debug_m(DebugLevel.LEVEL_4, "vision-color-config/%s/%s.png geladen" % (which, name))
else:
debug_m(DebugLevel.LEVEL_4, "vision-color-config/%s/%s.png ignoriert (autocolorconfig)" % (which, name))
return conf
def save_color_config(self, name="ball"):
config = self.vision.get_color_config(name)
path = find_resource("vision-color-config/auto-color-config")
save_png_image("%s/%s.png" % (path, name), config)
