Merge pull request #144 from EmixamPP/py_wrap_cpp

Commands written in C++ and Python wrapping C++

Author: EmixamPP

CHANGELOG.md

@@ -1,3 +1,7 @@
+# Thu Oct 19 2023 - 5.2.0
+- New test command
+- Improve efficiency
+- Significant reduction in installation size
 # Mon Oct 9 2023 - 5.0.4
 - New advice and hint messages
 - Update OpenCV to v4.8.1

boot_service/base_boot_service.py

@@ -3,7 +3,7 @@
 import subprocess
 from abc import ABCMeta, abstractmethod
 
-from globals import UDEV_RULE_PATH, get_index, get_kernels
+from utils import UDEV_RULE_PATH, get_index, get_kernels
 
 
 class BaseBootService(metaclass=ABCMeta):

boot_service/openrc/openrc.py

@@ -2,7 +2,7 @@
 import subprocess
 
 from boot_service import BaseBootService
-from globals import BOOT_SERVICE_NAME
+from utils import BOOT_SERVICE_NAME
 
 
 class Openrc(BaseBootService):

boot_service/systemd/systemd.py

@@ -2,7 +2,7 @@
 import subprocess
 
 from boot_service import BaseBootService
-from globals import BOOT_SERVICE_NAME
+from utils import BOOT_SERVICE_NAME
 
 
 class Systemd(BaseBootService):

camera/autocamera.cpp

@@ -9,6 +9,7 @@
 using namespace std;
 
 #include "opencv.hpp"
+#include "globals.hpp"
 
 /**
  * @brief Obtain the intensity variation sum of camera captures
@@ -70,7 +71,6 @@ long long unsigned AutoCamera::intensityVariationSum()
     return sum;
 }
 
-
 /**
  * @brief Check if the emitter is working,
  * without asking for manual confirmation
@@ -94,3 +94,28 @@ bool AutoCamera::isEmitterWorking()
 }
 
 AutoCamera::AutoCamera(const string &device, unsigned captureTimeMs) : Camera(device), captureTimeMs(captureTimeMs), refIntesityVarSum(intensityVariationSum()) {}
+
+/**
+ * @brief Find a grayscale camera.
+ *
+ * @return path to the graycale device,
+ * nullptr if unable to find such device
+ */
+shared_ptr<AutoCamera> AutoCamera::findGrayscaleCamera()
+{
+    auto v4lDevices = get_v4l_devices();
+    for (auto &device : *v4lDevices)
+    {
+        try
+        {
+            auto camera = make_shared<AutoCamera>(device);
+            if (camera->isGrayscale())
+                return camera;
+        }
+        catch (CameraException &e)
+        { // ignore them
+        }
+    }
+
+    return nullptr;
+}

camera/autocamera.hpp

@@ -33,7 +33,9 @@ class AutoCamera : public Camera
 
     AutoCamera &operator=(AutoCamera &&other) = delete;
 
-    AutoCamera(AutoCamera && other) = delete;
+    AutoCamera(AutoCamera &&other) = delete;
+
+    static shared_ptr<AutoCamera> findGrayscaleCamera();
 };
 
 #endif

camera/camera.cpp

@@ -14,13 +14,63 @@
 using namespace std;
 
 #include "opencv.hpp"
-
 #include "camerainstruction.hpp"
+#include "globals.hpp"
 #include "../utils/logger.hpp"
 
 constexpr int OK_KEY = 121;
 constexpr int NOK_KEY = 110;
 
+/**
+ * @brief Determine if the camera is in grayscale.
+ *
+ * @throw CameraException if unable to open the camera device
+ *
+ * @return true if so, otheriwse false.
+ */
+bool Camera::isGrayscale()
+{
+    unique_ptr<cv::Mat> frame = read1();
+
+    if (frame->channels() != 3)
+        return false;
+
+    for (int r = 0; r < frame->rows; ++r)
+        for (int c = 0; c < frame->cols; ++c)
+        {
+            const cv::Vec3b &pixel = frame->at<cv::Vec3b>(r, c);
+            if (pixel[0] != pixel[1] || pixel[0] != pixel[2])
+                return false;
+        }
+
+    return true;
+}
+
+/**
+ * @brief Find a grayscale camera.
+ *
+ * @return path to the graycale device,
+ * nullptr if unable to find such device
+ */
+shared_ptr<Camera> Camera::findGrayscaleCamera()
+{
+    auto v4lDevices = get_v4l_devices();
+    for (auto &device : *v4lDevices)
+    {
+        auto camera = make_shared<Camera>(device);
+        try
+        {
+            if (camera->isGrayscale())
+                return camera;
+        }
+        catch (CameraException &e)
+        { // ignore
+        }
+    }
+
+    return nullptr;
+}
+
 /**
  * @brief Get the file descriptor previously opened
  *
@@ -46,16 +96,14 @@ shared_ptr<cv::VideoCapture> Camera::getCap() const noexcept
  *
  * @param device path to the camera
  *
- * @throw runtime_error if unable to obtain the /dev/videoX path
- *
  * @return the device id
  */
 int Camera::deviceId(const string &device)
 {
     std::unique_ptr<char[], decltype(&free)> devDevice(realpath(device.c_str(), nullptr), &free);
-    int id;
+    int id = 0;
     if (devDevice == nullptr || sscanf(devDevice.get(), "/dev/video%d", &id) != 1)
-        throw runtime_error("CRITICAL: Unable to obtain the /dev/videoX path");
+        Logger::critical(ExitCode::FAILURE, "Unable to obtain the /dev/videoX path");
     return id;
 }
 
@@ -340,7 +388,7 @@ uint16_t Camera::lenUvcQuery(uint8_t unit, uint8_t selector)
     return len;
 }
 
-CameraException::CameraException(const string &device) : message("CRITICAL: Cannot access to " + device) {}
+CameraException::CameraException(const string &device) : message("Cannot access to " + device) {}
 
 const char *CameraException::what() const noexcept
 {

camera/camera.hpp

@@ -66,6 +66,10 @@ class Camera
     int getUvcQuery(uint8_t query_type, uint8_t unit, uint8_t selector, vector<uint8_t> &control);
 
     uint16_t lenUvcQuery(uint8_t unit, uint8_t selector);
+
+    bool isGrayscale();
+
+    static shared_ptr<Camera> findGrayscaleCamera();
 };
 
 class CameraException : public exception

camera/camerainstruction.cpp

@@ -67,7 +67,7 @@ CameraInstruction::CameraInstruction(Camera &camera, uint8_t unit, uint8_t selec
         minCtrl.assign(curCtrl.begin(), curCtrl.end());
     }
 
-    Logger::debug(("unit: " + to_string(unit) + " selector: " + to_string(selector)));
+    Logger::debug("unit: ", to_string(unit), " selector: ", to_string(selector));
     logDebugCtrl("current:", curCtrl);
     logDebugCtrl("minimum:", minCtrl);
     logDebugCtrl("maximum:", maxCtrl);
@@ -91,10 +91,10 @@ CameraInstruction::CameraInstruction(uint8_t unit, uint8_t selector, const vecto
  * false if the maximum control has already been set
  */
 bool CameraInstruction::next() noexcept
-{   
+{
     if (curCtrl == maxCtrl)
         return false;
-        
+
     for (unsigned i = 0; i < curCtrl.size(); ++i)
     {
         uint16_t nextCtrli = static_cast<uint16_t>(curCtrl[i] + 1);
@@ -180,7 +180,7 @@ bool CameraInstruction::setMaxAsCur() noexcept
 }
 
 CameraInstructionException::CameraInstructionException(const string &device, uint8_t unit, uint8_t selector)
-    : message("ERROR: Impossible to obtain the instruction on " + device + " for unit: " + to_string(unit) + " selector:" + to_string(selector)) {}
+    : message("Impossible to obtain the instruction on " + device + " for unit: " + to_string(unit) + " selector:" + to_string(selector)) {}
 
 const char *CameraInstructionException::what() const noexcept
 {