Merge branch 'patch-turbidity' into turbidity-probe

cmd/rv/main.go

@@ -55,22 +55,18 @@ USAGE
 package main
 
 import (
-	"bytes"
 	"io"
 	"os"
 	"runtime/pprof"
 	"strconv"
 	"time"
 
-	"gocv.io/x/gocv"
-	"gonum.org/v1/gonum/stat"
 	"gopkg.in/natefinch/lumberjack.v2"
 
 	"bitbucket.org/ausocean/av/container/mts"
 	"bitbucket.org/ausocean/av/container/mts/meta"
 	"bitbucket.org/ausocean/av/revid"
 	"bitbucket.org/ausocean/av/revid/config"
-	"bitbucket.org/ausocean/av/turbidity"
 	"bitbucket.org/ausocean/iot/pi/netlogger"
 	"bitbucket.org/ausocean/iot/pi/netsender"
 	"bitbucket.org/ausocean/utils/logger"
@@ -107,7 +103,6 @@ const (
 	profilePath      = "rv.prof"
 	pkg              = "rv: "
 	runPreDelay      = 20 * time.Second
-	maxImages        = 1 // Max number of images read when evaluating turbidity.
 )
 
 // Software define pin values.
@@ -118,112 +113,9 @@ const (
 	contrastPin  = "X39"
 )
 
-// Turbidity sensor constants.
-const (
-	k1, k2     = 4, 4 // Block size, must be divisible by the size template with no remainder.
-	filterSize = 3    // Sobel filter size.
-	scale      = 1.0  // Amount of scale applied to sobel filter values.
-	alpha      = 1.0  // Paramater for contrast equation.
-)
-
 // This is set to true if the 'profile' build tag is provided on build.
 var canProfile = false
 
-type turbidityProbe struct {
-	sharpness, contrast float64
-	delay               time.Duration
-	ticker              time.Ticker
-	ts                  *turbidity.TurbiditySensor
-	log                 logger.Logger
-	buffer              *bytes.Buffer
-}
-
-// NewTurbidityProbe returns a new turbidity probe.
-func NewTurbidityProbe(log logger.Logger, delay time.Duration) (*turbidityProbe, error) {
-	tp := new(turbidityProbe)
-	tp.log = log
-	tp.delay = delay
-	tp.ticker = *time.NewTicker(delay)
-	tp.buffer = bytes.NewBuffer(*new([]byte))
-
-	// Create the turbidity sensor.
-	standard := gocv.IMRead("../../turbidity/images/template.jpg", gocv.IMReadGrayScale)
-	template := gocv.IMRead("../../turbidity/images/icon.jpg", gocv.IMReadGrayScale)
-	ts, err := turbidity.NewTurbiditySensor(template, standard, k1, k2, filterSize, scale, alpha, log)
-	if err != nil {
-		log.Error("failed create turbidity sensor", "error", err.Error())
-	}
-	tp.ts = ts
-	return tp, nil
-}
-
-// Write, reads input h264 frames in the form of a byte stream and writes the the sharpness and contrast
-// scores of a video to the the turbidity probe.
-func (tp *turbidityProbe) Write(p []byte) (int, error) {
-	tp.buffer.Write(p)
-	go func() {
-		select {
-		case <-tp.ticker.C:
-			tp.turbidityCalculation(p)
-		default:
-			return
-		}
-	}()
-	return len(p), nil
-}
-
-func (tp *turbidityProbe) Close() error {
-	return nil
-}
-
-func (tp *turbidityProbe) turbidityCalculation(p []byte) {
-	var imgs []gocv.Mat
-	img := gocv.NewMat()
-	// Write byte array to a temp file.
-	file, err := os.CreateTemp("temp", "video*.h264")
-	if err != nil {
-		tp.log.Error("failed to create temp file", "error", err.Error())
-		// TODO: Error handling.
-		return
-	}
-	defer os.Remove(file.Name())
-	_, err = file.Write(tp.buffer.Bytes())
-	if err != nil {
-		tp.log.Error("failed to write to temporary file", "error", err.Error())
-		// TODO: Error handling.
-		return
-	}
-	tp.buffer.Reset()
-	// Read the file and store each frame.
-	vc, err := gocv.VideoCaptureFile(file.Name())
-	if err != nil {
-		tp.log.Error("failed to open video file", "error", err.Error())
-		// TODO: Error handling.
-		return
-	}
-	for vc.Read(&img) && len(imgs) < maxImages {
-		imgs = append(imgs, img.Clone())
-	}
-	if len(imgs) <= 0 {
-		tp.log.Log(logger.Warning, "no frames found", "error", err.Error())
-		return
-	}
-	tp.log.Log(logger.Debug, "found frames", "frames", len(imgs))
-
-	// Process video data to get saturation and contrast scores.
-	startTime := time.Now()
-	res, err := tp.ts.Evaluate(imgs)
-	if err != nil {
-		tp.log.Error("evaluate failed", "error", err.Error())
-		// TODO: Error handling.
-	} else {
-		tp.log.Log(logger.Debug, "finished evaluation", "total duration (sec)", time.Since(startTime).Seconds())
-		tp.contrast = stat.Mean(res.Contrast, nil)
-		tp.sharpness = stat.Mean(res.Sharpness, nil)
-	}
-	return
-}
-
 func main() {
 	mts.Meta = meta.NewWith([][2]string{{metaPreambleKey, metaPreambleData}})
 

cmd/rv/probe.go

@@ -0,0 +1,149 @@
+//go:build !nocv
+// +build !nocv
+
+/*
+DESCRIPTION
+  Provides the methods for the turbidity probe using GoCV. Turbidity probe
+  will collect the most recent frames in a buffer and write the latest sharpness
+  and contrast scores to the probe.
+
+AUTHORS
+  Russell Stanley <russell@ausocean.org>
+
+LICENSE
+  Copyright (C) 2021-2022 the Australian Ocean Lab (AusOcean)
+
+  It is free software: you can redistribute it and/or modify them
+  under the terms of the GNU General Public License as published by the
+  Free Software Foundation, either version 3 of the License, or (at your
+  option) any later version.
+
+  It is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+  for more details.
+
+  You should have received a copy of the GNU General Public License
+  in gpl.txt.  If not, see http://www.gnu.org/licenses.
+*/
+
+package main
+
+import (
+	"bytes"
+	"os"
+	"time"
+
+	"bitbucket.org/ausocean/av/turbidity"
+	"bitbucket.org/ausocean/utils/logger"
+	"gocv.io/x/gocv"
+	"gonum.org/v1/gonum/stat"
+)
+
+// Misc constants.
+const (
+	maxImages = 10 // Max number of images read when evaluating turbidity.
+)
+
+// Turbidity sensor constants.
+const (
+	k1, k2     = 4, 4 // Block size, must be divisible by the size template with no remainder.
+	filterSize = 3    // Sobel filter size.
+	scale      = 1.0  // Amount of scale applied to sobel filter values.
+	alpha      = 1.0  // Paramater for contrast equation.
+)
+
+type turbidityProbe struct {
+	sharpness, contrast float64
+	delay               time.Duration
+	ticker              time.Ticker
+	ts                  *turbidity.TurbiditySensor
+	log                 logger.Logger
+	buffer              *bytes.Buffer
+}
+
+// NewTurbidityProbe returns a new turbidity probe.
+func NewTurbidityProbe(log logger.Logger, delay time.Duration) (*turbidityProbe, error) {
+	tp := new(turbidityProbe)
+	tp.log = log
+	tp.delay = delay
+	tp.ticker = *time.NewTicker(delay)
+	tp.buffer = bytes.NewBuffer(*new([]byte))
+
+	// Create the turbidity sensor.
+	standard := gocv.IMRead("../../turbidity/images/template.jpg", gocv.IMReadGrayScale)
+	template := gocv.IMRead("../../turbidity/images/template.jpg", gocv.IMReadGrayScale)
+	ts, err := turbidity.NewTurbiditySensor(template, standard, k1, k2, filterSize, scale, alpha, log)
+	if err != nil {
+		log.Error("failed create turbidity sensor", "error", err.Error())
+	}
+	tp.ts = ts
+	return tp, nil
+}
+
+// Write, reads input h264 frames in the form of a byte stream and writes the the sharpness and contrast
+// scores of a video to the the turbidity probe.
+func (tp *turbidityProbe) Write(p []byte) (int, error) {
+	tp.buffer.Write(p)
+	go func() {
+		select {
+		case <-tp.ticker.C:
+			tp.turbidityCalculation(p)
+		default:
+			return
+		}
+	}()
+	return len(p), nil
+}
+
+func (tp *turbidityProbe) Close() error {
+	return nil
+}
+
+func (tp *turbidityProbe) turbidityCalculation(p []byte) {
+	var imgs []gocv.Mat
+	img := gocv.NewMat()
+	// Write byte array to a temp file.
+	file, err := os.CreateTemp("temp", "video*.h264")
+	if err != nil {
+		tp.log.Error("failed to create temp file", "error", err.Error())
+		// TODO: Error handling.
+		return
+	}
+	defer os.Remove(file.Name())
+	_, err = file.Write(tp.buffer.Bytes())
+	if err != nil {
+		tp.log.Error("failed to write to temporary file", "error", err.Error())
+		// TODO: Error handling.
+		return
+	}
+	tp.buffer.Reset()
+	// Read the file and store each frame.
+	vc, err := gocv.VideoCaptureFile(file.Name())
+	if err != nil {
+		tp.log.Error("failed to open video file", "error", err.Error())
+		// TODO: Error handling.
+		return
+	}
+	for vc.Read(&img) && len(imgs) < maxImages {
+		imgs = append(imgs, img.Clone())
+	}
+	if len(imgs) <= 0 {
+		tp.log.Log(logger.Warning, "no frames found", "error", err.Error())
+		return
+	}
+	tp.log.Log(logger.Debug, "found frames", "frames", len(imgs))
+
+	// Process video data to get saturation and contrast scores.
+	startTime := time.Now()
+	res, err := tp.ts.Evaluate(imgs)
+	if err != nil {
+		tp.log.Error("evaluate failed", "error", err.Error())
+		// TODO: Error handling.
+	} else {
+		tp.log.Log(logger.Debug, "finished evaluation", "total duration (sec)", time.Since(startTime).Seconds())
+		tp.contrast = stat.Mean(res.Contrast, nil)
+		tp.sharpness = stat.Mean(res.Sharpness, nil)
+	}
+	return
+}

cmd/rv/probe_circleci.go

@@ -0,0 +1,55 @@
+//go:build nocv
+// +build nocv
+
+/*
+DESCRIPTION
+  Replaces turbidity probe implementation that uses the gocv package.
+  When Circle-CI builds revid this is needed because Circle-CI does not
+  have a copy of Open CV installed.
+
+AUTHORS
+  Russell Stanley <russell@ausocean.org>
+
+LICENSE
+  Copyright (C) 2021-2022 the Australian Ocean Lab (AusOcean)
+
+  It is free software: you can redistribute it and/or modify them
+  under the terms of the GNU General Public License as published by the
+  Free Software Foundation, either version 3 of the License, or (at your
+  option) any later version.
+
+  It is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+  for more details.
+
+  You should have received a copy of the GNU General Public License
+  in gpl.txt.  If not, see http://www.gnu.org/licenses.
+*/
+
+package main
+
+import (
+	"time"
+
+	"bitbucket.org/ausocean/utils/logger"
+)
+
+type turbidityProbe struct {
+	sharpness, contrast float64
+}
+
+// NewTurbidityProbe returns a empty turbidity probe for CircleCI testing only.
+func NewTurbidityProbe(log logger.Logger, delay time.Duration) (*turbidityProbe, error) {
+	tp := new(turbidityProbe)
+	return tp, nil
+}
+
+// Write performs no operation for CircleCI testing only.
+func (tp *turbidityProbe) Write(p []byte) (int, error) {
+	return len(p), nil
+}
+
+func (tp *turbidityProbe) Close() error {
+	return nil
+}

codec/h264/h264dec/fuzz/fuzzParseLevelPrefix/fuzz.go

@@ -1,3 +1,5 @@
+// +build gofuzz
+
 /*
 DESCRIPTION
   fuzz.go provides a function with the required signature such that it may be
@@ -24,8 +26,6 @@ LICENSE
   in gpl.txt.  If not, see http://www.gnu.org/licenses.
 */
 
-// +build gofuzz
-
 package fuzzParseLevelPrefix
 
 /*

revid/audio_darwin.go

@@ -29,5 +29,5 @@ import (
 )
 
 func (r *Revid) setupAudio() error {
-	return errors.New("audio not implemented on OSX")
+	return errors.New("audio not implemented on darwin(macOS)")
 }

turbidity/results.go

@@ -1,6 +1,3 @@
-//go:build !nocv
-// +build !nocv
-
 /*
 DESCRIPTION
   Results struct used to store results from the turbidity sensor.