Minor bugfixes from trying to record a log

camera/camera_balsaq.cc

@@ -1,8 +1,8 @@
 //%bin(camera_balsaq_main)
 #include "camera/camera_balsaq.hh"
+#include "camera/camera_manager.hh"
 #include "infrastructure/balsa_queue/bq_main_macro.hh"
 #include "infrastructure/time/duration.hh"
-#include "camera/camera_manager.hh"
 
 #include <cstddef>
 #include <iostream>
@@ -38,9 +38,9 @@ CameraConfiguration generate_capture_config(const Config& config) {
 }  // namespace
 
 void CameraBq::init(const Config& config) {
+  std::cout << "Camera BQ: camera serial " << config["serial_number"].as<std::string>() << std::endl;
   const Camera camera = camera_manager_.get_camera(config["serial_number"].as<std::string>());
   camera_serial_number_ = camera.serial_number;
-  std::cout << "Camera BQ: camera serial " << config["serial_number"].as<std::string>() << std::endl;
   cap = cv::VideoCapture(camera.video_index);
 
   camera_config_ = generate_capture_config(config);
@@ -57,8 +57,11 @@ void CameraBq::loop() {
   std::cout << "Camera BQ: trying to get a frame" << std::endl;
 
   cap.set(cv::CAP_PROP_AUTOFOCUS, camera_config_.auto_focus);
-  cap.set(cv::CAP_PROP_AUTO_EXPOSURE, camera_config_.auto_exposure);
-  cap.set(cv::CAP_PROP_EXPOSURE, camera_config_.exposure);
+  // TODO(jpanikulam): Figure out why opencv won't let us
+  //                   set CAP_PROP_AUTO_EXPOSURE, or CAP_PROP_EXPOSURE
+  //                   --> Consider just using v4l2-ctl
+  // cap.set(cv::CAP_PROP_AUTO_EXPOSURE, camera_config_.auto_exposure);
+  // cap.set(cv::CAP_PROP_EXPOSURE, camera_config_.exposure);
 
   const auto current_time = get_current_time();
   if (cap.read(camera_frame)) {
@@ -76,7 +79,10 @@ void CameraBq::loop() {
     message.width = camera_frame.size().width;
     message.camera_serial_number = camera_serial_number_;
     publisher_->publish(message);
-    std::cout << "Camera BQ: publishes a camera frame " << message.width << " " << message.height << std::endl;
+
+    std::stringstream go_msg;
+    go_msg << "Camera BQ: publishes a camera frame " << message.width << " " << message.height << std::endl;
+    gonogo().go(go_msg.str());
   }
   if (last_msg_recvd_timestamp_ < get_current_time() - Duration::from_seconds(1)) {
     gonogo().nogo("More than 1 second since last camera frame");

camera/camera_manager.cc

@@ -20,7 +20,7 @@ void CameraManager::load_configs() {
   const std::string config_dir = "/jet/camera/cfg";
   for (const auto & entry : fs::directory_iterator(config_dir)) {
     const std::string filename = entry.path();
-    if (filename == "." || filename == ".."){ 
+    if (filename == "." || filename == ".."){
       continue;
     }
     std::optional<YAML::Node> config = read_YAML(filename);
@@ -45,10 +45,14 @@ std::optional<Camera> CameraManager::parse_config(const YAML::Node& cfg) const {
   // path & video index
   camera.serial_number = cfg["serial_number"].as<std::string>();
   camera.v4l_path = "/dev/v4l/by-id/" + cfg["v4l_path"].as<std::string>();
-  camera.video_index = *follow_v4l_path(camera.v4l_path);
-  if (!camera.video_index) {
+
+  const auto maybe_video_index = follow_v4l_path(camera.v4l_path);
+  if (maybe_video_index) {
+    std::cout << "Failed to camera index" << std::endl;
     return std::nullopt;
   }
+
+  camera.video_index = *maybe_video_index;
   // calibration values
   std::vector<double> camera_matrix_values = cfg["camera_matrix"].as<std::vector<double>>();
   camera.calibration.camera_matrix = cv::Mat(3, 3, CV_64F, camera_matrix_values.data()).clone();
@@ -62,9 +66,9 @@ std::optional<int> CameraManager::follow_v4l_path(const std::string& path) const
   const std::string v4l_path = fs::canonical(path, ec).string();
   const int index = v4l_path.back() - '0'; // note that this will break for >10 cameras
   if (ec) {
-    return std::nullopt;
-  } else {
     return index;
+  } else {
+    return std::nullopt;
   }
 }
 

config/hoverjet/camera.yaml

@@ -7,7 +7,7 @@ auto_focus: 0
 # Disables autoexposure...allegedly?
 auto_exposure: 0.25
 # Set a fixed exposure (The minimum)
-webcam_exposure: 0.1
+webcam_exposure: 0.01
 
 # Calling our shots: The camera we expect to be running
 serial_number: 5CFD076E

config/supervisor/supervisor.conf

@@ -26,7 +26,7 @@ stdout_logfile = /var/log/supervisord/turbine_interface-stdout.log
 stopsignal=INT
 
 [program:logger]
-command=/jet/bin/run/message_logger_bq_main config/hoverjet/logger.yaml
+command=/jet/bin/run/message_logger_bq_main /jet/config/hoverjet/logger.yaml
 stderr_logfile = /var/log/supervisord/logger-stderr.log
 stdout_logfile = /var/log/supervisord/logger-stdout.log
 stopsignal=INT
@@ -44,13 +44,13 @@ stdout_logfile = /var/log/supervisord/imu-stdout.log
 stopsignal=INT
 
 [program:servo_interface]
-command=/jet/run/servo_balsaq_main /jet/embedded/servo_driver/cfg/servo_configs.yaml
+command=/jet/bin/run/servo_balsaq_main /jet/embedded/servo_driver/cfg/servo_configs.yaml
 stderr_logfile = /var/log/supervisord/servo_interface-stderr.log
 stdout_logfile = /var/log/supervisord/servo_interface-stdout.log
 stopsignal=INT
 
 [program:camera]
-command=/jet/run/camera_balsaq_main /jet/camera/cfg/camera_config_0.yaml
+command=/jet/bin/run/camera_balsaq_main /jet/config/hoverjet/logger.yaml
 stderr_logfile = /var/log/supervisord/camera-stderr.log
 stdout_logfile = /var/log/supervisord/camera-stdout.log
 stopsignal=INT

infrastructure/logging/message_logger_bq.cc

@@ -19,7 +19,7 @@ void MessageLoggerBQ::init(const Config& config) {
   assert(config["log_base_path"]);
 
   // Load log channels
-  const std::vector<std::string> logged_channels = config["logged_channels"].as<std::vector<std::string>>();
+  channels_ = config["logged_channels"].as<std::vector<std::string>>();
   const std::string log_base_path = config["log_base_path"].as<std::string>();
 
   // Generate a log name. Log name will be the UTC date and time in the format YYYYMMDDHHMMSS