agrobot_base/Python/raspi/pi/state.py

class ModuleState:
    def __init__(self):
        self.module_name = "multispectral"
        self.version = "0.1.0"
        self.payload_format_version = 1

        self.status = "idle"
        self.status_detail = None
        self.last_error = None
        self.last_command = None

        self.camera_connected = False
        self.camera_id = "cam0"

        self.initialized = False
        self.streaming = False

        # Configuração da captura no sensor
        self.fps = 10
        self.jpeg_quality = 90
        self.width = 640
        self.height = 480
        self.source_bayer_pattern = "GBRG"
        self.source_bit_depth = 10

        # Configuração do tipo de payload de saída
        self.frame_type = "RAW_BRUTO"      # RAW_BRUTO | RGB | RGBNIR
        self.output_dtype = "uint8"        # uint8 | float32
        self.output_layout = "CHW"         # sempre CHW
        self.output_channels = 1
        self.output_channel_names = ["RAW10_PACKED"]
        self.output_width = 640
        self.output_height = 480

        self.trigger_enabled = True
        self.trigger_pin = 18
        self.trigger_active_high = True
        self.trigger_pulse_ms = 5.0
        self.trigger_settle_delay_ms = 0.0

        self.stream_host = None
        self.stream_port = None
        self.stream_fps = None
        self.stream_frame_id = 0

        self.codec_family = "none"
        self.codec_name = "blosc"
        self.codec_params = {
            "cname": "zstd",
            "clevel": 3,
            "shuffle": "BITSHUFFLE",
        }

        self.ae_enable = True
        self.awb_enable = True
        self.exposure_time_us = 15000
        self.analogue_gain = 1.0
        self.colour_gains = [1.0, 1.0]
        self.frame_duration_limits = None

        self.update_output_spec()

    def update_output_spec(self):
        if self.frame_type == "RAW_BRUTO":
            self.output_layout = "HW"
            self.output_channels = 1
            self.output_channel_names = ["BAYER"]
            self.output_width = self.width
            self.output_height = self.height

        elif self.frame_type == "RGB":
            self.output_layout = "CHW"
            self.output_channels = 3
            self.output_channel_names = ["R", "G", "B"]
            self.output_width = self.width // 2
            self.output_height = self.height // 2

        elif self.frame_type == "RGBNIR":
            self.output_layout = "CHW"
            self.output_channels = 5
            self.output_channel_names = ["R", "G", "B", "NIR", "RE"]
            self.output_width = self.width // 2
            self.output_height = self.height // 2

        else:
            raise ValueError(f"frame_type inválido: {self.frame_type}")

    def clear_error(self):
        self.last_error = None
        if self.status == "error":
            self.status = "idle"
            self.status_detail = None

    def set_error(self, error: str):
        self.last_error = str(error)
        self.status = "error"
        self.status_detail = str(error)

    def to_dict(self):
        return {
            "module": self.module_name,
            "version": self.version,

            "status": self.status,
            "status_detail": self.status_detail,
            "last_error": self.last_error,
            "last_command": self.last_command,

            "camera_connected": self.camera_connected,
            "camera_id": self.camera_id,

            "initialized": self.initialized,
            "streaming": self.streaming,

            "fps": self.fps,
            "jpeg_quality": self.jpeg_quality,
            "width": self.width,
            "height": self.height,

            "trigger_enabled": self.trigger_enabled,
            "trigger_pin": self.trigger_pin,
            "trigger_active_high": self.trigger_active_high,
            "trigger_pulse_ms": self.trigger_pulse_ms,
            "trigger_settle_delay_ms": self.trigger_settle_delay_ms,

            "stream_host": self.stream_host,
            "stream_port": self.stream_port,
            "stream_fps": self.stream_fps,
            "stream_frame_id": self.stream_frame_id,

            "codec_family": self.codec_family,
            "codec_name": self.codec_name,
            "codec_params": self.codec_params,

            "ae_enable": self.ae_enable,
            "awb_enable": self.awb_enable,
            "exposure_time_us": self.exposure_time_us,
            "analogue_gain": self.analogue_gain,
            "colour_gains": self.colour_gains,
            "frame_duration_limits": self.frame_duration_limits,

            "payload_format_version": self.payload_format_version,

            "source_bayer_pattern": self.source_bayer_pattern,
            "source_bit_depth": self.source_bit_depth,

            "frame_type": self.frame_type,
            "output_dtype": self.output_dtype,
            "output_layout": self.output_layout,
            "output_channels": self.output_channels,
            "output_channel_names": self.output_channel_names,
            "output_width": self.output_width,
            "output_height": self.output_height,
        }