forked from zbw/yiliao2026
330 lines
11 KiB
Markdown
330 lines
11 KiB
Markdown
# Unified USB Camera Launch Implementation Plan
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> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
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**Goal:** Make both USB camera launch files use one 1280x720 native-MJPEG YAML configuration, with WebSocket as their only behavioral difference.
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**Architecture:** The base launch owns all camera behavior and loads a single ROS parameter YAML. The WebSocket launch includes the base launch unchanged and adds only the WebSocket include. A minimal CMake file installs both `launch/` and `config/`, replacing reliance on stale install-space symlinks.
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**Tech Stack:** ROS 2 Humble launch, ROS 2 parameter YAML, ament_cmake, Python `ast`/`unittest`, D-Robotics `hobot_usb_cam` and `websocket` packages.
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---
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## File Structure
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- Create `src/car_usb_cam/config/usb_camera.yaml`: sole camera runtime configuration.
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- Keep `src/car_usb_cam/config/usb_camera_calibration.yaml`: calibration data only.
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- Modify `src/car_usb_cam/launch/hobot_usb_cam.launch.py`: load YAML and start one camera plus shared-memory environment.
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- Modify `src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py`: include the base launch and add WebSocket only.
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- Create `src/car_usb_cam/CMakeLists.txt`: install launch/config directories and register tests.
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- Create `src/car_usb_cam/test/test_unified_launch_config.py`: structural regression check.
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- Append `D:/Programme/agent/projects/yiliao/log.md`: timestamped implementation and verification record.
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### Task 1: Add a failing structural regression test
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**Files:**
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- Create: `src/car_usb_cam/test/test_unified_launch_config.py`
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- [ ] **Step 1: Write the failing test**
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```python
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import ast
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import pathlib
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import unittest
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import yaml
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PACKAGE_ROOT = pathlib.Path(__file__).resolve().parents[1]
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BASE_LAUNCH = PACKAGE_ROOT / "launch" / "hobot_usb_cam.launch.py"
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WEB_LAUNCH = PACKAGE_ROOT / "launch" / "hobot_usb_cam_websocket.launch.py"
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CAMERA_CONFIG = PACKAGE_ROOT / "config" / "usb_camera.yaml"
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def string_constants(path):
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tree = ast.parse(path.read_text(encoding="utf-8"))
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return {
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node.value
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for node in ast.walk(tree)
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if isinstance(node, ast.Constant) and isinstance(node.value, str)
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}
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def call_names(path):
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tree = ast.parse(path.read_text(encoding="utf-8"))
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names = []
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for node in ast.walk(tree):
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if not isinstance(node, ast.Call):
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continue
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if isinstance(node.func, ast.Name):
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names.append(node.func.id)
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elif isinstance(node.func, ast.Attribute):
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names.append(node.func.attr)
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return names
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class UnifiedLaunchConfigTest(unittest.TestCase):
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def test_yaml_defines_final_native_mjpeg_configuration(self):
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document = yaml.safe_load(CAMERA_CONFIG.read_text(encoding="utf-8"))
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params = document["hobot_usb_cam"]["ros__parameters"]
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self.assertEqual(params["video_device"], "/dev/video0")
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self.assertEqual(params["image_width"], 1280)
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self.assertEqual(params["image_height"], 720)
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self.assertEqual(params["framerate"], 30)
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self.assertEqual(params["pixel_format"], "mjpeg")
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self.assertEqual(params["io_method"], "mmap")
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self.assertFalse(params["zero_copy"])
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def test_base_launch_owns_the_only_camera_node(self):
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constants = string_constants(BASE_LAUNCH)
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self.assertIn("usb_camera.yaml", constants)
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self.assertEqual(call_names(BASE_LAUNCH).count("Node"), 1)
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self.assertIn("hobot_usb_cam", constants)
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def test_web_launch_only_adds_websocket(self):
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constants = string_constants(WEB_LAUNCH)
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self.assertIn("hobot_usb_cam.launch.py", constants)
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self.assertIn("websocket.launch.py", constants)
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self.assertEqual(call_names(WEB_LAUNCH).count("Node"), 0)
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for forbidden in (
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"hobot_codec",
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"/image_mjpeg",
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"yuyv2rgb",
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"usb_image_width",
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"usb_image_height",
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"usb_pixel_format",
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):
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self.assertNotIn(forbidden, constants)
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if __name__ == "__main__":
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unittest.main()
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```
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- [ ] **Step 2: Run it and verify RED**
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Run:
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```bash
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cd /home/sunrise/yiliao_ws
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python3 -m unittest src/car_usb_cam/test/test_unified_launch_config.py -v
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```
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Expected: errors because `config/usb_camera.yaml` does not exist, plus failure because the current WebSocket launch contains codec and camera override literals.
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### Task 2: Create the shared runtime YAML and install rules
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**Files:**
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- Create: `src/car_usb_cam/config/usb_camera.yaml`
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- Create: `src/car_usb_cam/CMakeLists.txt`
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- [ ] **Step 1: Add the shared camera parameter YAML**
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```yaml
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hobot_usb_cam:
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ros__parameters:
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camera_calibration_file_path: /home/sunrise/yiliao_ws/src/car_usb_cam/config/usb_camera_calibration.yaml
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frame_id: default_usb_cam
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framerate: 30
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image_height: 720
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image_width: 1280
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io_method: mmap
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pixel_format: mjpeg
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video_device: /dev/video0
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zero_copy: false
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```
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- [ ] **Step 2: Add reproducible package installation and test registration**
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```cmake
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cmake_minimum_required(VERSION 3.8)
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project(car_usb_cam)
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY config launch
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_pytest REQUIRED)
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ament_add_pytest_test(
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test_unified_launch_config
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test/test_unified_launch_config.py
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)
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endif()
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ament_package()
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```
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- [ ] **Step 3: Run the test and confirm the remaining failure is the old launch structure**
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Run the same unittest command. Expected: YAML test passes; WebSocket structure test still fails because the old file contains `hobot_codec` and camera overrides.
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### Task 3: Refactor the launch files
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**Files:**
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- Modify: `src/car_usb_cam/launch/hobot_usb_cam.launch.py`
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- Modify: `src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py`
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- [ ] **Step 1: Replace the base launch with the YAML-backed camera definition**
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```python
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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package_share = get_package_share_directory("car_usb_cam")
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camera_config = os.path.join(package_share, "config", "usb_camera.yaml")
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return LaunchDescription([
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DeclareLaunchArgument(
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"camera_config",
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default_value=camera_config,
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description="ROS parameter file for the USB camera",
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory("hobot_shm"),
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"launch",
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"hobot_shm.launch.py",
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)
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)
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),
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Node(
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package="hobot_usb_cam",
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executable="hobot_usb_cam",
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name="hobot_usb_cam",
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parameters=[LaunchConfiguration("camera_config")],
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arguments=["--ros-args", "--log-level", "warn"],
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),
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])
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```
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- [ ] **Step 2: Replace the WebSocket launch with a base include plus WebSocket include**
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```python
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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camera_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory("car_usb_cam"),
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"launch",
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"hobot_usb_cam.launch.py",
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)
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)
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)
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websocket_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory("websocket"),
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"launch",
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"websocket.launch.py",
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)
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),
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launch_arguments={
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"websocket_image_topic": "/image",
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"websocket_image_type": "mjpeg",
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"websocket_only_show_image": "True",
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"websocket_output_fps": "30",
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}.items(),
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)
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return LaunchDescription([camera_launch, websocket_launch])
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```
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- [ ] **Step 3: Run the structural test and verify GREEN**
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Run:
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```bash
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python3 -m unittest src/car_usb_cam/test/test_unified_launch_config.py -v
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```
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Expected: all three tests pass.
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- [ ] **Step 4: Build the package and run package tests**
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Run:
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```bash
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colcon build --symlink-install --packages-select car_usb_cam
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colcon test --packages-select car_usb_cam --event-handlers console_direct+
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colcon test-result --verbose
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```
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Expected: build succeeds and `test_unified_launch_config` passes with zero failures.
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- [ ] **Step 5: Commit implementation**
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```bash
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git add src/car_usb_cam/CMakeLists.txt \
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src/car_usb_cam/config/usb_camera.yaml \
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src/car_usb_cam/launch/hobot_usb_cam.launch.py \
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src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py \
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src/car_usb_cam/test/test_unified_launch_config.py
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git commit -m "refactor: unify usb camera launch configuration"
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```
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### Task 4: Sequential runtime verification
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**Files:**
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- Append: `D:/Programme/agent/projects/yiliao/log.md`
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- [ ] **Step 1: Stop current camera, codec, generic USB camera, and WebSocket processes**
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Use targeted `pkill -TERM -f` patterns and verify `/dev/video0` is not held with `fuser -v /dev/video0`.
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- [ ] **Step 2: Start the base launch and verify camera-only behavior**
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Run `ros2 launch car_usb_cam hobot_usb_cam.launch.py`, then verify:
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- one `/hobot_usb_cam` node;
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- `/image` type is `sensor_msgs/msg/CompressedImage`;
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- decoded image dimensions are 1280x720;
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- `ros2 topic hz /image` is approximately 30 FPS;
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- no `/websocket` node and no listener on port 8080.
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- [ ] **Step 3: Stop the base launch and start the WebSocket launch**
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Run `ros2 launch car_usb_cam hobot_usb_cam_websocket.launch.py`, then verify the same camera node parameters, image type, dimensions, and FPS. Confirm exactly one `/websocket` node and one listener on port 8080.
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- [ ] **Step 4: Compare both captured camera parameter sets**
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Capture `ros2 param dump /hobot_usb_cam` for both runs, normalize volatile output, and use `diff -u`. Expected: no differences.
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- [ ] **Step 5: Leave the WebSocket launch running and verify `.164` routing**
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Confirm the webpage receives a 1280x720 frame and `ip route get <client> from 192.168.10.164` returns `dev wlx200db0c3fca5 table 164`.
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- [ ] **Step 6: Append the dated implementation and verification results to `log.md`**
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Record changed files, test outputs, both launch measurements, parameter diff result, final process state, and the `.164` route result.
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---
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## Self-Review
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- Spec coverage: shared YAML, base include architecture, removal of codec, native MJPEG flow, sequential runtime validation, and single WebSocket difference are all mapped to Tasks 1-4.
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- Scope: all changes are confined to `car_usb_cam`, its test/install metadata, and the requested local operation log.
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- Type consistency: both launch variants publish `/image` as `sensor_msgs/msg/CompressedImage`; WebSocket consumes `/image` as `mjpeg`.
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- Operational constraint: validation explicitly handles exclusive ownership of `/dev/video0`.
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