refactor(cli): remove remaing config functions

Author: juelg

python/rcsss/cli/main.py

@@ -1,16 +1,13 @@
 import logging
 from contextlib import ExitStack
-from pathlib import Path
 from time import sleep
 from typing import Annotated, Optional
 
 import pyrealsense2 as rs
 import rcsss
 import rcsss.control.fr3_desk
 import typer
-from PIL import Image
 from rcsss.camera.realsense import RealSenseCameraSet
-from rcsss.config import create_sample_config_yaml, read_config_yaml
 from rcsss.control.record import PoseList
 from rcsss.control.utils import load_creds_fr3_desk
 from rcsss.envs.factories import get_urdf_path
@@ -21,16 +18,6 @@
 main_app = typer.Typer(help="CLI tool for the Robot Control Stack (RCS).")
 
 
-@main_app.command()
-def sample_config(
-    path: Annotated[
-        str, typer.Option("-p", help="Path to where the default config file should be saved")
-    ] = "config.yaml",
-):
-    """Creates a sample yaml config file"""
-    create_sample_config_yaml(path)
-
-
 # REALSENSE CLI
 realsense_app = typer.Typer()
 main_app.add_typer(
@@ -53,52 +40,6 @@ def serials():
         logger.info("  %s: %s", device.product_line, device.serial)
 
 
-@realsense_app.command()
-def test(
-    path: Annotated[str, typer.Argument(help="Path to the config file")],
-):
-    """Tests all configured and connected realsense by saving the current picture."""
-    cfg = read_config_yaml(path)
-    assert cfg.hw.camera_type == "realsense", "Only realsense cameras are supported for this test."
-    assert cfg.hw.camera_config is not None, "Camera config is not set."
-    assert cfg.hw.camera_config.realsense_config is not None, "Realsense config is not set."
-    cs = RealSenseCameraSet(cfg.hw.camera_config.realsense_config)
-    cs.warm_up()
-    testdir = Path(cfg.hw.camera_config.realsense_config.record_path)
-    frame_set = cs.poll_frame_set()
-    for device_str in cfg.hw.camera_config.realsense_config.name_to_identifier:
-        assert device_str in frame_set.frames
-        frame = frame_set.frames[device_str]
-        if frame.camera.color is not None:
-            im = Image.fromarray(frame.camera.color.data, mode="RGB")
-            im.save(testdir / f"test_img_{device_str}.png")
-        if frame.camera.depth is not None:
-            im = Image.fromarray(frame.camera.depth.data)
-            im.save(testdir / f"test_depth_{device_str}.png")
-        if frame.camera.ir is not None:
-            im = Image.fromarray(frame.camera.ir.data)
-            im.save(testdir / f"test_ir_{device_str}.png")
-        if frame.imu is not None:
-            logger.info("IMU data: %s %s", frame.imu.accel, frame.imu.gyro)
-
-
-@realsense_app.command()
-def test_record(
-    path: Annotated[str, typer.Argument(help="Path to the config file")],
-    n_frames: Annotated[int, typer.Argument(help="Name of the camera that should be tested")] = 100,
-):
-    """Tests all configured and connected realsense by saving the current picture."""
-    cfg = read_config_yaml(path)
-    assert cfg.hw.camera_type == "realsense", "Only realsense cameras are supported for this test."
-    assert cfg.hw.camera_config is not None, "Camera config is not set."
-    assert cfg.hw.camera_config.realsense_config is not None, "Realsense config is not set."
-    cs = RealSenseCameraSet(cfg.hw.camera_config.realsense_config)
-    cs.start(warm_up=True)
-    while cs.buffer_size() < n_frames:
-        sleep(1 / cfg.hw.camera_config.realsense_config.frame_rate)
-    cs.stop()
-
-
 # FR3 CLI
 fr3_app = typer.Typer()
 main_app.add_typer(