refactor save image to file into a function & enable/disable with config

configs/config.json

@@ -56,6 +56,7 @@
  "_comment": "See CameraConfig struct in datatypes.hpp for detailed explanations",
  "type": "lucid",
  "save_dir": "/obcpp/images/",
+ "save_images_to_file": true,
  "mock": {
  "images_dir": "/obcpp/tests/integration/images/saliency/"
  },

configs/dev-config.json

@@ -56,6 +56,7 @@
  "_comment": "See CameraConfig struct in datatypes.hpp for detailed explanations",
  "type": "mock",
  "save_dir": "/workspaces/obcpp/images/",
+ "save_images_to_file": false,
  "mock": {
  "images_dir": "/workspaces/obcpp/tests/integration/images/saliency/"
  },

include/camera/interface.hpp

@@ -45,6 +45,13 @@ struct ImageData {
  cv::Mat DATA;
  uint64_t TIMESTAMP;
  std::optional<ImageTelemetry> TELEMETRY;
+
+ /**
+ * Saves the image to a file
+ * @param directory directory to save the image in
+ * @returns true/false if saving was successful
+ */
+ bool saveToFile(std::string directory) const;
 };
 
 std::string cvMatToBase64(cv::Mat image);

include/utilities/obc_config.hpp

@@ -119,6 +119,8 @@ struct CameraConfig {
  std::string type;
  // directory to save images to
  std::string save_dir;
+ // whether or not to save to save_dir
+ bool save_images_to_file;
  struct {
  // directory to randomly pick images from
  // for the mock camera

src/camera/interface.cpp

@@ -69,3 +69,22 @@ std::optional<ImageTelemetry> queryMavlinkImageTelemetry(
  .roll_deg = roll_deg
  };
 }
+
+bool ImageData::saveToFile(std::string directory) const {
+ try {
+ std::filesystem::path save_dir = directory;
+ std::filesystem::path img_filepath =
+ save_dir / (std::to_string(this->TIMESTAMP) + std::string(".jpg"));
+ std::filesystem::path json_filepath =
+ save_dir / (std::to_string(this->TIMESTAMP) + std::string(".json"));
+ saveImageToFile(this->DATA, img_filepath);
+ if (this->TELEMETRY.has_value()) {
+ saveImageTelemetryToFile(this->TELEMETRY.value(), json_filepath);
+ }
+ } catch (std::exception& e) {
+ LOG_F(ERROR, "Failed to save image and telemetry to file");
+ return false;
+ }
+
+ return true;
+}

src/network/gcs_routes.cpp

@@ -237,27 +237,17 @@ DEF_GCS_HANDLE(Get, camera, capture) {
 
  std::optional<ImageData> image = cam->takePicture(1000ms, state->getMav());
 
+ if (state->config.camera.save_images_to_file) {
+ image->saveToFile(state->config.camera.save_dir);
+ }
+
  if (!image.has_value()) {
  LOG_RESPONSE(ERROR, "Failed to capture image", INTERNAL_SERVER_ERROR);
  return;
  }
 
  std::optional<ImageTelemetry> telemetry = image->TELEMETRY;
 
- try {
- std::filesystem::path save_dir = state->config.camera.save_dir;
- std::filesystem::path img_filepath =
- save_dir / (std::to_string(image->TIMESTAMP) + std::string(".jpg"));
- std::filesystem::path json_filepath =
- save_dir / (std::to_string(image->TIMESTAMP) + std::string(".json"));
- saveImageToFile(image->DATA, img_filepath);
- if (image->TELEMETRY.has_value()) {
- saveImageTelemetryToFile(image->TELEMETRY.value(), json_filepath);
- }
- } catch (std::exception& e) {
- LOG_F(ERROR, "Failed to save image and telemetry to file");
- }
-
  ManualImage manual_image;
  manual_image.set_img_b64(cvMatToBase64(image->DATA));
  manual_image.set_timestamp(image->TIMESTAMP);

src/ticks/fly_search.cpp

@@ -52,6 +52,9 @@ Tick* FlySearchTick::tick() {
  if (this->curr_mission_item != curr_waypoint) {
  for (int i = 0; i < this->state->config.pathing.coverage.hover.pictures_per_stop; i++) {
  auto photo = this->state->getCamera()->takePicture(500ms, this->state->getMav());
+ if (state->config.camera.save_images_to_file) {
+ photo->saveToFile(state->config.camera.save_dir);
+ }
 
  if (photo.has_value()) {
  // Update the last photo time

src/utilities/obc_config.cpp

@@ -70,6 +70,7 @@ OBCConfig::OBCConfig(int argc, char* argv[]) {
 
  SET_CONFIG_OPT(camera, type);
  SET_CONFIG_OPT(camera, save_dir);
+ SET_CONFIG_OPT(camera, save_images_to_file);
  SET_CONFIG_OPT(camera, mock, images_dir);
 
  SET_CONFIG_OPT(camera, lucid, sensor_shutter_mode);