refactor

Author: robgee86

src/arduino/app_peripherals/camera/__init__.py

@@ -14,8 +14,8 @@
     "IPCamera",
     "WebSocketCamera",
     "CameraError",
-    "CameraReadError",
-    "CameraOpenError",
     "CameraConfigError",
+    "CameraOpenError",
+    "CameraReadError",
     "CameraTransformError",
 ]

src/arduino/app_peripherals/camera/base_camera.py

@@ -87,6 +87,25 @@ def capture(self) -> Optional[np.ndarray]:
             return None
         return frame
 
+    def is_started(self) -> bool:
+        """Check if the camera is started."""
+        return self._is_started
+
+    def stream(self):
+        """
+        Continuously capture frames from the camera.
+
+        This is a generator that yields frames continuously while the camera is started.
+        Built on top of capture() for convenience.
+
+        Yields:
+            np.ndarray: Video frames as numpy arrays.
+        """
+        while self._is_started:
+            frame = self.capture()
+            if frame is not None:
+                yield frame
+
     def _extract_frame(self) -> np.ndarray | None:
         """Extract a frame with FPS throttling and post-processing."""
         with self._camera_lock:
@@ -114,14 +133,6 @@ def _extract_frame(self) -> np.ndarray | None:
 
             return frame
 
-    def is_started(self) -> bool:
-        """Check if the camera is started."""
-        return self._is_started
-
-    def produce(self) -> Optional[np.ndarray]:
-        """Alias for capture method for compatibility."""
-        return self.capture()
-
     @abstractmethod
     def _open_camera(self) -> None:
         """Open the camera connection. Must be implemented by subclasses."""

src/arduino/app_peripherals/camera/camera.py

@@ -21,10 +21,10 @@ class Camera:
     Supports:
         - V4L Cameras (local cameras connected to the system), the default
         - IP Cameras (network-based cameras via RTSP, HLS)
-        - WebSocket Cameras (input streams via WebSocket client)
+        - WebSocket Cameras (input video streams via WebSocket client)
 
-    Note: constructor arguments (except source) must be provided in keyword
-    format to forward them correctly to the specific camera implementations.
+    Note: constructor arguments (except those in signature) must be provided in
+    keyword format to forward them correctly to the specific camera implementations.
     """
 
     def __new__(

src/arduino/app_peripherals/camera/v4l_camera.py

@@ -44,7 +44,7 @@ def __init__(
                 a numpy array and returns a numpy array. Default: None
         """
         super().__init__(resolution, fps, adjustments)
-        self.device_index = self._resolve_camera_id(device)
+        self.device = self._resolve_camera_id(device)
         self.logger = logger
 
         self._cap = None
@@ -123,9 +123,9 @@ def _get_video_devices_by_index(self) -> dict[int, str]:
 
     def _open_camera(self) -> None:
         """Open the V4L camera connection."""
-        self._cap = cv2.VideoCapture(self.device_index)
+        self._cap = cv2.VideoCapture(self.device)
         if not self._cap.isOpened():
-            raise CameraOpenError(f"Failed to open V4L camera {self.device_index}")
+            raise CameraOpenError(f"Failed to open V4L camera {self.device}")
 
         self._cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)  # Reduce buffer to minimize latency
 
@@ -139,7 +139,7 @@ def _open_camera(self) -> None:
             actual_height = int(self._cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
             if actual_width != self.resolution[0] or actual_height != self.resolution[1]:
                 logger.warning(
-                    f"Camera {self.device_index} resolution set to {actual_width}x{actual_height} "
+                    f"Camera {self.device} resolution set to {actual_width}x{actual_height} "
                     f"instead of requested {self.resolution[0]}x{self.resolution[1]}"
                 )
                 self.resolution = (actual_width, actual_height)
@@ -149,10 +149,10 @@ def _open_camera(self) -> None:
 
             actual_fps = int(self._cap.get(cv2.CAP_PROP_FPS))
             if actual_fps != self.fps:
-                logger.warning(f"Camera {self.device_index} FPS set to {actual_fps} instead of requested {self.fps}")
+                logger.warning(f"Camera {self.device} FPS set to {actual_fps} instead of requested {self.fps}")
                 self.fps = actual_fps
 
-        logger.info(f"Opened V4L camera with index {self.device_index}")
+        logger.info(f"Opened V4L camera with index {self.device}")
 
     def _close_camera(self) -> None:
         """Close the V4L camera connection."""
@@ -167,6 +167,6 @@ def _read_frame(self) -> np.ndarray | None:
 
         ret, frame = self._cap.read()
         if not ret or frame is None:
-            raise CameraReadError(f"Failed to read from V4L camera {self.device_index}")
+            raise CameraReadError(f"Failed to read from V4L camera {self.device}")
 
         return frame

src/arduino/app_utils/image/adjustments.py

@@ -101,7 +101,7 @@ def resize(frame: np.ndarray, target_size: Tuple[int, int], maintain_ratio: bool
     """
     if frame.shape[1] == target_size[0] and frame.shape[0] == target_size[1]:
         return frame
-    
+
     if maintain_ratio:
         return letterbox(frame, target_size)
     else: