add comments and change empty to string to a valid iamge prefix

config.yaml

@@ -4,16 +4,17 @@ queue_max_size: 10
 
 video_input:
     worker_period: 1.0  # seconds
-    camera_option: 0  # 0 is for opencv camera (from camera_factory.py)
+    camera_enum: 0  # enum values can be found in camera_factory.py
     width: 1920
     height: 1200
-    # camera_config:  # For Picamera
+    # For camera_enum=0, use the CV camera config. For camera_enum=1, use the Picamera config
+    camera_config:  # For CV camera (regular cameras, enum 0)
+        device_index: 0
+    # camera_config:  # For Picamera (PiCamera NoIR, enum 1)
     #     exposure_time: 250  # microseconds
     #     analogue_gain: 64.0  # Sets ISO, 1.0 for normal, 64.0 for max, 0.0 for min
     #     contrast: 1.0  # Contrast, 1.0 for nomral, 32.0 for max, 0.0 for min
     #     lens_position: null  # Focal length, 1/m (0 for infinity, null for auto focus)
-    camera_config:  # For CV camera (regular cameras)
-        device_index: 0
     save_prefix: "log_image"  # Leave as empty string to not log any images
 
 detect_target:
@@ -24,7 +25,7 @@ detect_target:
     save_prefix: "log_comp"
 
 flight_interface:
-    # port 5762 connects directly to the simulated auto pilot, which is more realistic
+    # Port 5762 connects directly to the simulated auto pilot, which is more realistic
     # than connecting to port 14550, which is the ground station
     address: "tcp:localhost:5762"
     timeout: 30.0  # seconds

main_2024.py

@@ -85,17 +85,18 @@ def main() -> int:
         QUEUE_MAX_SIZE = config["queue_max_size"]
 
         VIDEO_INPUT_WORKER_PERIOD = config["video_input"]["worker_period"]
-        VIDEO_INPUT_OPTION = camera_factory.CameraOption(config["video_input"]["camera_option"])
+        VIDEO_INPUT_OPTION = camera_factory.CameraOption(config["video_input"]["camera_enum"])
         VIDEO_INPUT_WIDTH = config["video_input"]["width"]
         VIDEO_INPUT_HEIGHT = config["video_input"]["height"]
-        if VIDEO_INPUT_OPTION == camera_factory.CameraOption.OPENCV:
-            VIDEO_INPUT_CAMERA_CONFIG = camera_opencv.ConfigOpenCV(
-                **config["video_input"]["camera_config"]
-            )
-        elif VIDEO_INPUT_OPTION == camera_factory.CameraOption.PICAM2:
-            VIDEO_INPUT_CAMERA_CONFIG = camera_picamera2.ConfigPiCamera2(
-                **config["video_input"]["camera_config"]
-            )
+        match VIDEO_INPUT_OPTION:
+            case camera_factory.CameraOption.OPENCV:
+                VIDEO_INPUT_CAMERA_CONFIG = camera_opencv.ConfigOpenCV(
+                    **config["video_input"]["camera_config"]
+                )
+            case camera_factory.CameraOption.PICAM2:
+                VIDEO_INPUT_CAMERA_CONFIG = camera_picamera2.ConfigPiCamera2(
+                    **config["video_input"]["camera_config"]
+                )
         VIDEO_INPUT_SAVE_PREFIX = config["video_input"]["save_prefix"]
 
         DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]

modules/video_input/video_input.py

@@ -24,7 +24,7 @@ def create(
         width: int,
         height: int,
         config: camera_opencv.ConfigOpenCV | camera_picamera2.ConfigPiCamera2,
-        save_prefix: str,
+        maybe_image_name: str | None,
         local_logger: logger.Logger,
     ) -> "tuple[True, VideoInput] | tuple[False, None]":
         """
@@ -40,13 +40,13 @@ def create(
                 f"camera factory failed. Current configs were: {camera_option=}, {width=}, {height=}, {config=}. Please try a different set of configs."
             )
             return False, None
-        return True, VideoInput(cls.__create_key, camera, save_prefix, local_logger)
+        return True, VideoInput(cls.__create_key, camera, maybe_image_name, local_logger)
 
     def __init__(
         self,
         class_private_create_key: object,
         camera: base_camera.BaseCameraDevice,
-        save_prefix: str,
+        maybe_image_name: str | None,
         local_logger: logger.Logger,
     ) -> None:
         """
@@ -55,7 +55,7 @@ def __init__(
         assert class_private_create_key is VideoInput.__create_key, "Use create() method."
 
         self.__device = camera
-        self.__save_prefix = save_prefix
+        self.__maybe_image_name = maybe_image_name
         self.__logger = local_logger
 
     def run(self) -> "tuple[True, image_and_time.ImageAndTime] | tuple[False, None]":
@@ -67,8 +67,8 @@ def run(self) -> "tuple[True, image_and_time.ImageAndTime] | tuple[False, None]"
             self.__logger.warning("Failed to take image")
             return False, None
 
-        # If __save_prefix is not empty string, then save image
-        if self.__save_prefix:
-            self.__logger.save_image(image, self.__save_prefix)
+        # If __maybe_image_name is not None, then save image
+        if self.__maybe_image_name is not None:
+            self.__logger.save_image(image, self.__maybe_image_name)
 
         return image_and_time.ImageAndTime.create(image)

modules/video_input/video_input_worker.py

@@ -16,19 +16,19 @@
 
 
 def video_input_worker(
-    period: int,
+    period: float,
     camera_option: camera_factory.CameraOption,
     width: int,
     height: int,
     camera_config: camera_opencv.ConfigOpenCV | camera_picamera2.ConfigPiCamera2,
-    save_prefix: str,
+    maybe_image_name: str | None,
     output_queue: queue_proxy_wrapper.QueueProxyWrapper,
     controller: worker_controller.WorkerController,
 ) -> None:
     """
     Worker process.
 
-    period is the minimum period between image captures.
+    period is the minimum period between image captures in seconds.
     output_queue is the data queue.
     controller is how the main process communicates to this worker process.
     """
@@ -44,7 +44,7 @@ def video_input_worker(
     local_logger.info("Logger initialized")
 
     result, input_device = video_input.VideoInput.create(
-        camera_option, width, height, camera_config, save_prefix, local_logger
+        camera_option, width, height, camera_config, maybe_image_name, local_logger
     )
     if not result:
         local_logger.error("Worker failed to create class object")

tests/integration/test_video_input_hardware.py

@@ -15,7 +15,7 @@
 WIDTH = 1920
 HEIGHT = 1200
 CONFIG = camera_opencv.ConfigOpenCV(0)
-SAVE_PREFIX = ""  # Not saving any pictures
+IAMGE_NAME = None  # Not saving any pictures
 
 
 def main() -> int:
@@ -30,7 +30,7 @@ def main() -> int:
 
     # Setup
     result, camera = video_input.VideoInput.create(
-        CAMERA, WIDTH, HEIGHT, CONFIG, SAVE_PREFIX, local_logger
+        CAMERA, WIDTH, HEIGHT, CONFIG, IAMGE_NAME, local_logger
     )
     assert result
     assert camera is not None

tests/integration/test_video_input_worker.py

@@ -20,7 +20,7 @@
 WIDTH = 1920
 HEIGHT = 1200
 CONFIG = camera_opencv.ConfigOpenCV(0)
-SAVE_PREFIX = ""  # Not saving any pictures
+IMAGE_NAME = None  # Not saving any pictures
 
 
 def main() -> int:
@@ -42,7 +42,7 @@ def main() -> int:
             WIDTH,
             HEIGHT,
             CONFIG,
-            SAVE_PREFIX,
+            IMAGE_NAME,
             out_queue,
             controller,
         ),