155 lines
5.0 KiB
Python
155 lines
5.0 KiB
Python
class ModuleState:
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def __init__(self):
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self.module_name = "multispectral"
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self.version = "0.1.0"
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self.payload_format_version = 1
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self.status = "idle"
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self.status_detail = None
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self.last_error = None
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self.last_command = None
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self.camera_connected = False
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self.camera_id = "cam0"
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self.initialized = False
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self.streaming = False
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# Configuração da captura no sensor
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self.fps = 10
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self.jpeg_quality = 90
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self.width = 640
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self.height = 480
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self.source_bayer_pattern = "GBRG"
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self.source_bit_depth = 10
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# Configuração do tipo de payload de saída
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self.frame_type = "RAW_BRUTO" # RAW_BRUTO | RGB | RGBNIR
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self.output_dtype = "uint8" # uint8 | float32
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self.output_layout = "CHW" # sempre CHW
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self.output_channels = 1
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self.output_channel_names = ["RAW10_PACKED"]
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self.output_width = 640
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self.output_height = 480
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self.trigger_enabled = True
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self.trigger_pin = 18
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self.trigger_active_high = True
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self.trigger_pulse_ms = 5.0
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self.trigger_settle_delay_ms = 0.0
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self.stream_host = None
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self.stream_port = None
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self.stream_fps = None
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self.stream_frame_id = 0
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self.codec_family = "none"
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self.codec_name = "blosc"
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self.codec_params = {
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"cname": "zstd",
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"clevel": 3,
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"shuffle": "BITSHUFFLE",
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}
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self.ae_enable = True
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self.awb_enable = True
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self.exposure_time_us = 15000
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self.analogue_gain = 1.0
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self.colour_gains = [1.0, 1.0]
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self.frame_duration_limits = None
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self.update_output_spec()
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def update_output_spec(self):
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if self.frame_type == "RAW_BRUTO":
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self.output_layout = "HW"
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self.output_channels = 1
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self.output_channel_names = ["BAYER"]
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self.output_width = self.width
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self.output_height = self.height
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elif self.frame_type == "RGB":
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self.output_layout = "CHW"
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self.output_channels = 3
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self.output_channel_names = ["R", "G", "B"]
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self.output_width = self.width // 2
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self.output_height = self.height // 2
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elif self.frame_type == "RGBNIR":
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self.output_layout = "CHW"
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self.output_channels = 5
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self.output_channel_names = ["R", "G", "B", "NIR", "RE"]
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self.output_width = self.width // 2
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self.output_height = self.height // 2
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else:
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raise ValueError(f"frame_type inválido: {self.frame_type}")
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def clear_error(self):
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self.last_error = None
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if self.status == "error":
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self.status = "idle"
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self.status_detail = None
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def set_error(self, error: str):
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self.last_error = str(error)
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self.status = "error"
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self.status_detail = str(error)
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def to_dict(self):
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return {
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"module": self.module_name,
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"version": self.version,
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"status": self.status,
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"status_detail": self.status_detail,
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"last_error": self.last_error,
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"last_command": self.last_command,
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"camera_connected": self.camera_connected,
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"camera_id": self.camera_id,
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"initialized": self.initialized,
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"streaming": self.streaming,
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"fps": self.fps,
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"jpeg_quality": self.jpeg_quality,
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"width": self.width,
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"height": self.height,
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"trigger_enabled": self.trigger_enabled,
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"trigger_pin": self.trigger_pin,
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"trigger_active_high": self.trigger_active_high,
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"trigger_pulse_ms": self.trigger_pulse_ms,
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"trigger_settle_delay_ms": self.trigger_settle_delay_ms,
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"stream_host": self.stream_host,
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"stream_port": self.stream_port,
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"stream_fps": self.stream_fps,
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"stream_frame_id": self.stream_frame_id,
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"codec_family": self.codec_family,
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"codec_name": self.codec_name,
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"codec_params": self.codec_params,
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"ae_enable": self.ae_enable,
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"awb_enable": self.awb_enable,
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"exposure_time_us": self.exposure_time_us,
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"analogue_gain": self.analogue_gain,
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"colour_gains": self.colour_gains,
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"frame_duration_limits": self.frame_duration_limits,
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"payload_format_version": self.payload_format_version,
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"source_bayer_pattern": self.source_bayer_pattern,
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"source_bit_depth": self.source_bit_depth,
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"frame_type": self.frame_type,
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"output_dtype": self.output_dtype,
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"output_layout": self.output_layout,
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"output_channels": self.output_channels,
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"output_channel_names": self.output_channel_names,
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"output_width": self.output_width,
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"output_height": self.output_height,
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}
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