Adds time between images as a parameter

Author: honzikschenk

modules/hitl/camera_emulator.py

@@ -23,18 +23,32 @@ class CameraEmulator:
     __create_key = object()
 
     @classmethod
-    def create(cls, images_path: str) -> "tuple[True, CameraEmulator] | tuple[False, None]":
+    def create(cls, images_path: str, time_between_images: float = 1.0) -> "tuple[True, CameraEmulator] | tuple[False, None]":
         """
         Setup camera emulator.
 
         Args:
             images_path: Path to the directory containing images for the camera emulator. Cycles through these images to simulate camera input (every 1 second).
+            time_between_images: Time in seconds between image changes.
 
         Returns:
             Success, CameraEmulator instance.
         """
 
         if not isinstance(images_path, str):
+            print("Images path is not a string")
+            return False, None
+        
+        if not os.path.isdir(images_path):
+            print("Images path is not a valid directory")
+            return False, None
+        
+        if not isinstance(time_between_images, (int, float)):
+            print("Time between images is not a number")
+            return False, None
+
+        if time_between_images <= 0:
+            print("Time between images must be positive")
             return False, None
 
         try:
@@ -52,10 +66,10 @@ def create(cls, images_path: str) -> "tuple[True, CameraEmulator] | tuple[False,
         if virtual_camera_instance is None:
             return False, None
 
-        return True, CameraEmulator(cls.__create_key, images_path, virtual_camera_instance)
+        return True, CameraEmulator(cls.__create_key, images_path, time_between_images, virtual_camera_instance)
 
     def __init__(
-        self, class_private_create_key: object, images_path: str, virtual_camera: pyvirtualcam
+        self, class_private_create_key: object, images_path: str, time_between_images: float, virtual_camera: pyvirtualcam
     ) -> None:
         """
         Private constructor, use create() method.
@@ -67,7 +81,8 @@ def __init__(
         self.__image_paths: "list[str]" = []
         self.__current_frame = None
         self.__image_index = 0
-        self.__next_image_time = time.time() + 1.0
+        self.__next_image_time = time.time() + time_between_images
+        self.__time_between_images = time_between_images
 
         self.__get_images()
         self.update_current_image()
@@ -89,7 +104,7 @@ def periodic(self) -> None:
                     self.update_current_image()
                 except Exception as exc:  # pylint: disable=broad-except
                     print(f"HITL camera image update error: {exc}")
-                self.__next_image_time = now + 1.0
+                self.__next_image_time = now + self.__time_between_images
         except Exception as exc:  # pylint: disable=broad-except
             print(f"HITL camera periodic error: {exc}")