cell_loader_ctrl/robot-control/src/vision/datamatrix.py

import cv2
from pylibdmtx.pylibdmtx import decode

# TODO[SG]: add real datamatrix code. This is just a placeholder.

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

    def initialize(self):
        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:
            raise Exception("No data matrix found")
            
        return decoded[0].data.decode('utf-8')

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