cell_loader_ctrl/robot_control/src/vision/datamatrix.py

import cv2
from pylibdmtx.pylibdmtx import decode
import logging
from pathlib import Path

logger = logging.getLogger(__name__)


class TestCamera:
    def __init__(self, test_files_path: str):
        self.image_files = []
        self.current_index = 0
        
        # Load all image files from the test directory
        path = Path(test_files_path)
        if path.exists() and path.is_dir():
            self.image_files = sorted([
                str(f) for f in path.glob("*")
                if f.suffix.lower() in ['.png', '.jpg', '.jpeg']
            ])
            if not self.image_files:
                logger.warning(f"No image files found in {test_files_path}")
        else:
            logger.error(f"Test files directory not found: {test_files_path}")

    def read(self):
        if not self.image_files:
            return False, None
            
        # Read next image file in sequence
        image_path = self.image_files[self.current_index]
        frame = cv2.imread(image_path)
        if frame is None:
            logger.error(f"Failed to load image: {image_path}")
            return False, None
            
        # Cycle through available images
        self.current_index = (self.current_index + 1) % len(self.image_files)
        return True, frame

    def release(self):
        pass

class DataMatrixReader:
    def __init__(self, camera_id: int = 0):
        self.camera_id = camera_id
        self.camera = None

    def initialize(self):
        if self.camera_id < 0:
            test_path = "./tests/files/"
            self.camera = TestCamera(test_path)
        else:
            self.camera = cv2.VideoCapture(self.camera_id)

    def read_datamatrix(self) -> str:
        ret, frame = self.camera.read()
        if not ret:
            raise Exception("Failed to capture image")
        
        decoded = decode(frame)
        if not decoded:
            logger.warning("No datamatrix found")
            return None
            
        return decoded[0].data.decode('utf-8')

    def cleanup(self):
        if self.camera:
            self.camera.release()