Camera test passes even when it fails

[chrismbirmingham]

Camera test passed even when issuing the following error:

  File "/usr/lib/python3.6/threading.py", line 916, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.6/threading.py", line 864, in run
    self._target(*self._args, **self._kwargs)
  File "/root/harmoni_catkin_ws/src/HARMONI/harmoni_sensors/harmoni_camera/nodes/camera_service.py", line 69, in start
    self._read_stream_and_publish()  # Start the camera service at the INIT
  File "/root/harmoni_catkin_ws/src/HARMONI/harmoni_sensors/harmoni_camera/nodes/camera_service.py", line 124, in _read_stream_and_publish
    raise RuntimeError("No camera frame available. Is the configured device accessible?")
RuntimeError: No camera frame available. Is the configured device accessible?```

[chrismbirmingham]

This may be related to threading, possibly stopping the service while the stream capture is still happening leading to reading from a closed stream. This test should also be refactored to check the images are being received.

[chrismbirmingham]

More info from the test below, I would note that it definitely is taking and saving a picture.

[ROSUNIT] Outputting test results to /root/.ros/test_results/harmoni_camera/rostest-test_camera.xml
[INFO] [1623948209.512973]: Initializing the camera_default service
[INFO] [1623948209.513266]: Setting up the camera_default
[ WARN:0] global /tmp/opencv-4.4.0/modules/videoio/src/cap_gstreamer.cpp (935) open OpenCV | GStreamer warning: Cannot query video position: status=0, value=-1, duration=-1
[INFO] [1623948210.111709]: Opening the video input stream
[INFO] [1623948210.114438]: Sucessfully reached camera_default
[INFO] [1623948210.114640]: Service Server camera_default has been successfully set up
[INFO] [1623948210.124570]: camera_default Service Server sending feedback at 0.2/sec
[WARN] [1623948212.203501]: (Server) The goal is available
[INFO] [1623948212.203712]: (Server) The goal is a 1
[INFO] [1623948212.203889]: The goal is: 1
[INFO] [1623948212.203993]: (Server camera_default) Received goal. Starting
[INFO] [1623948212.204179]: Start the camera_default service
[WARN] [1623948212.205048]: Your executeCallback did not set the goal to a terminal status.  This is a bug in your ActionServer implementation. Fix your code!  For now, the ActionServer will set this goal to aborted
[WARN] [1623948217.208942]: (Server) The goal is available
[INFO] [1623948217.209490]: (Server) The goal is a 0
[INFO] [1623948217.209692]: The goal is: 0
[INFO] [1623948217.209919]: (Server camera_default) Received goal. Stopping
[INFO] [1623948217.210250]: Stop the camera_default service
[WARN] [1623948217.210493]: Your executeCallback did not set the goal to a terminal status.  This is a bug in your ActionServer implementation. Fix your code!  For now, the ActionServer will set this goal to aborted
Exception in thread Thread-16:
Traceback (most recent call last):
  File "/usr/lib/python3.6/threading.py", line 916, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.6/threading.py", line 864, in run
    self._target(*self._args, **self._kwargs)
  File "/root/harmoni_catkin_ws/src/HARMONI/harmoni_sensors/harmoni_camera/nodes/camera_service.py", line 69, in start
    self._read_stream_and_publish()  # Start the camera service at the INIT
  File "/root/harmoni_catkin_ws/src/HARMONI/harmoni_sensors/harmoni_camera/nodes/camera_service.py", line 124, in _read_stream_and_publish
    raise RuntimeError("No camera frame available. Is the configured device accessible?")
RuntimeError: No camera frame available. Is the configured device accessible?

[WARN] [1623948227.227114]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[Testcase: testtest_camera] ... ok

[emdg05]

Here is the output I received from the camera test. It still passes but no image is taken. When the image in temp_data is deleted, it is not replaced. @micolspitale93 can you try to run it on your setup and see if the same error occurs?

[INFO] [1626723028.231603]: Initializing the camera_default service
[INFO] [1626723028.233722]: Setting up the camera_default
[ WARN:0] global /tmp/opencv-4.4.0/modules/videoio/src/cap_gstreamer.cpp (1761) handleMessage OpenCV | GStreamer warning: Embedded video playback halted; module v4l2src0 reported: Cannot identify device '/dev/video1'.
[ WARN:0] global /tmp/opencv-4.4.0/modules/videoio/src/cap_gstreamer.cpp (888) open OpenCV | GStreamer warning: unable to start pipeline
[ WARN:0] global /tmp/opencv-4.4.0/modules/videoio/src/cap_gstreamer.cpp (480) isPipelinePlaying OpenCV | GStreamer warning: GStreamer: pipeline have not been created
[ WARN:0] global /tmp/opencv-4.4.0/modules/videoio/src/cap_v4l.cpp (893) open VIDEOIO(V4L2:/dev/video1): can't open camera by index
[INFO] [1626723028.359306]: Opening the video input stream
[INFO] [1626723028.373426]: Sucessfully reached camera_default
[INFO] [1626723028.375055]: Service Server camera_default has been successfully set up
[INFO] [1626723028.470166]: camera_default Service Server sending feedback at 0.2/sec
[WARN] [1626723030.602111]: (Server) The goal is available
[INFO] [1626723030.605347]: (Server) The goal is a 1
[INFO] [1626723030.607551]: The goal is: 1
[INFO] [1626723030.611247]: (Server camera_default) Received goal. Starting
[INFO] [1626723030.613939]: Start the camera_default service
[WARN] [1626723030.616323]: Your executeCallback did not set the goal to a terminal status.  This is a bug in your ActionServer implementation. Fix your code!  For now, the ActionServer will set this goal to aborted
Exception in thread Thread-16:
Traceback (most recent call last):
  File "/usr/lib/python3.6/threading.py", line 916, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.6/threading.py", line 864, in run
    self._target(*self._args, **self._kwargs)
  File "/root/harmoni_catkin_ws/src/HARMONI/harmoni_sensors/harmoni_camera/nodes/camera_service.py", line 69, in start
    self._read_stream_and_publish()  # Start the camera service at the INIT
  File "/root/harmoni_catkin_ws/src/HARMONI/harmoni_sensors/harmoni_camera/nodes/camera_service.py", line 124, in _read_stream_and_publish
    raise RuntimeError("No camera frame available. Is the configured device accessible?")
RuntimeError: No camera frame available. Is the configured device accessible?

[WARN] [1626723035.607401]: (Server) The goal is available
[INFO] [1626723035.610461]: (Server) The goal is a 0
[INFO] [1626723035.612089]: The goal is: 0
[INFO] [1626723035.615138]: (Server camera_default) Received goal. Stopping
[INFO] [1626723035.617918]: Stop the camera_default service
[WARN] [1626723035.619810]: Your executeCallback did not set the goal to a terminal status.  This is a bug in your ActionServer implementation. Fix your code!  For now, the ActionServer will set this goal to aborted
[Testcase: testtest_camera] ... ok

[micolspitale93]

Sure. I will check it and update you

[chrismbirmingham]

@emdg05 Can you retry on the nuc? The camera is actually plugged into the nuc

[emdg05]

@chrismbirmingham I tried on the nuc and got the exact same output. There is also no image taken