def __shutdown(
): #not sure if already set or should be in Plugin!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
cmd = "AMVP ABS, 0, 0" #send axis 0 home
self._driver.empty()
self._driver.write("%s\r" % cmd)
c = ''
c = self._driver.read(100)
(header, errorCode, replyValue) = c.split(' ') #splits incoming string
if errorCode != '100':
raise HardwareError(
"Axis did not go home"
) #check !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
cmd = "AMVP ABS, 1, 0" #send axis 1 home
self._driver.empty()
self._driver.write("%s\r" % cmd)
c = ''
c = self._driver.read(100)
(header, errorCode, replyValue) = c.split(' ') #splits incoming string
if errorCode != '100':
raise HardwareError(
"Axis did not go home"
) #check !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
cmd = "ABIN" #return module to binary input
self._driver.empty()
self._driver.write("%s\r" % cmd)
def init(self):
#self.__localCwd = None # Needed?
self.__gphotoShell = GphotoShell(self._config['PROGRAM_PATH'])
# List up root directory of the camera
dirs, files = self.__gphotoShell.ls()
if dirs is None or files is None:
raise HardwareError("Unable to access camera file system")
# List config
configs = self.__gphotoShell.listConfig()
if configs is None or len(configs) == 0:
raise HardwareError(
"Unable to retrieve config list from the camera")
for config in configs:
if config.endswith("/shutterspeed") or config.endswith("/exptime"):
self.__speedConfig = config
# Detected a 'Your Camera Model here' message ???!!!???
#Logger().debug("GphotoBracketShutter.init(): gphoto2.stderr=\"%s\"" % self.__gphotoShell.popen.stderr.readline().rstrip())
# Get config
props, choices = self.__gphotoShell.getConfig(self.__speedConfig)
if props is None or choices is None:
raise HardwareError("Unable to read shutter speed")
# Load all available speeds and the current speed
self.__availableSpeeds = choices
self.__baseSpeed = props['Current']
for index, choice in enumerate(choices):
if choice == self.__baseSpeed:
self.__baseSpeedIndex = index
if float(self.__availableSpeeds[1]) > float(self.__availableSpeeds[2]):
self.__speedOrder = 1 # Slower speed first
else:
self.__speedOrder = -1 # Faster speed first
# Guess EV step (1/2, or 1/3)
if float(self.__availableSpeeds[1]) / float(
self.__availableSpeeds[3]) < 1.9:
self.__evSteps = 3
else:
self.__evSteps = 2
Logger().debug("GphotoBracketShutter.init(): basespeed=%s config=%s order=%+d steps=1/%d" % \
(self.__baseSpeed, self.__speedConfig, self.__speedOrder, self.__evSteps))
def establishConnection(self): # Move to hardware?
""" Establish the connection.
The SIN-11 device used to control the Pixorb axis needs to be
initialised before any command can be sent to the axis controllers.
"""
AbstractHardwarePlugin.establishConnection(self)
Logger().trace("AbstractPixOrbHardware.establishConnection()")
if not AbstractPixOrbHardware.__initSIN11:
try:
answer = ""
self._driver.empty()
# Ask the SIN-11 to scan online controllers
self._driver.write('&') # Add '\n' if ethernet driver?
self._driver.setTimeout(SIN11_INIT_TIMEOUT) # Sin-11 takes several seconds to answer
c = ''
while c != '\r':
c = self._driver.read(1)
if c in ('#', '?'):
self._driver.read(2) # Read last CRLF
Logger().debug("AbstractPixOrbHardware.establishConnection(): SIN-11 '&' answer=%s" % answer)
raise HardwareError("Can't init SIN-11")
else:
answer += c
answer = answer.strip() # Remove final CRLF
Logger().debug("AbstractPixOrbHardware.establishConnection(): SIN-11 '&' answer=%s" % answer)
AbstractPixOrbHardware.__initSIN11 = True
self._driver.setTimeout(ConfigManager().getFloat('Plugins/HARDWARE_COM_TIMEOUT'))
except:
self._connected = False
raise
def __sendCmd(self, cmd, param=""):
""" Send a command to the axis.
@param cmd: command to send
@type cmd: str
@return: answer
@rtype: str
"""
cmd = "%s%d%s" % (cmd, self._axis, param)
#Logger().debug("GigaPanBotHardware.__sendCmd(): axis %d cmd=%s" % (self._axis, repr(cmd)))
for nbTry in xrange(self._nbRetry):
try:
self._driver.empty()
self._driver.write(":%s\r" % cmd)
answer = ""
while True:
c = self._driver.read(1)
#Logger().debug("GigaPanBotHardware.__sendCmd(): c=%s" % repr(c))
if c == '=':
continue
elif c == '!':
c = self._driver.read(1) # Get error code
# Do we need to read an additional '\r', here?
raise HardwareError("Error in command %s (err=%s)" %
(repr(cmd), repr(c)))
elif c == '\r':
break
else:
answer += c
except (IOError, HardwareError):
Logger().exception("GigaPanBotHardware.__sendCmd")
Logger().warning(
"GigaPanBotHardware.__sendCmd(): axis %d can't sent command %s. Retrying..."
% (self._axis, repr(cmd)))
else:
break
else:
raise HardwareError("Axis %d can't send command %s" %
(self._axis, repr(cmd)))
#Logger().debug("GigaPanBotHardware.__sendCmd(): axis %d ans=%s" % (self._axis, repr(answer)))
return answer
def _checkLimits(self, position):
""" Check if the position can be reached.
First check if the position in degres is in the user limits
(done in parent class), then check if the servo can mechanically
reach the position.
"""
AbstractAxisPlugin._checkLimits(self, position)
value = self.__angleToServo(position)
if not VALUE_MIN <= value <= VALUE_MAX:
raise HardwareError("Servo limit reached: %.2f not in [%d-%d]" %
(value, VALUE_MIN, VALUE_MAX))
def __zeroAxisValue(self): #added for zeroing axis home position
cmd = "ASAP 1,", self._axis, ", 0" #zero axis position
self._driver.empty()
self._driver.write("%s\r" % cmd)
c = ''
c = self._driver.read(100)
(header, errorCode, replyValue) = c.split(' ') #splits incoming string
if errorCode != '100':
raise HardwareError(
"Axis did not set home"
) #check !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
def create(self, type_):
""" create a hardware driver object.
@param type_: type of hardware object
@type type_: str
@raise HardwareError: unknown type
"""
try:
# Bluetooth driver
# Nous on utilise aujourd'hui que celui la.
if type_ == 'bluetooth':
if self.__drivers['bluetooth'] is None:
from bluetoothDriver import BluetoothDriver
mutex = QtCore.QMutex(QtCore.QMutex.Recursive)
self.__drivers['bluetooth'] = BluetoothDriver(mutex)
return self.__drivers['bluetooth']
# Serial driver
elif type_ == 'serial':
if self.__drivers['serial'] is None:
from serialDriver import SerialDriver
mutex = QtCore.QMutex(QtCore.QMutex.Recursive)
self.__drivers['serial'] = SerialDriver(mutex)
return self.__drivers['serial']
# Ethernet driver
elif type_ == 'ethernet':
if self.__drivers['ethernet'] is None:
from ethernetDriver import EthernetDriver
mutex = QtCore.QMutex(QtCore.QMutex.Recursive)
self.__drivers['ethernet'] = EthernetDriver(mutex)
return self.__drivers['ethernet']
else:
raise HardwareError("Unknown '%s' driver type" % type_)
except Exception, msg:
Logger().exception("DriverFactory.create()")
raise HardwareError(unicode(msg))
def _init(self):
host = ConfigManager().get('Plugins/HARDWARE_ETHERNET_HOST')
port = ConfigManager().getInt('Plugins/HARDWARE_ETHERNET_PORT')
Logger().debug("EthernetDriver._init(): trying to connect to %s:%d..." % (host, port))
try:
#import time
#time.sleep(3)
self.setDeviceHostPort(host, port)
self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self._sock.connect((self.__host, self.__port))
self._sock.settimeout(ConfigManager().getFloat('Plugins/HARDWARE_COM_TIMEOUT'))
self.empty()
except Exception, msg:
Logger().exception("EthernetDriver._init()")
raise HardwareError(msg)
def _init(self):
Logger().trace("BluetoothDriver._init()")
address = ConfigManager().get('Plugins/HARDWARE_BLUETOOTH_DEVICE_ADDRESS')
Logger().debug("BluetoothDriver._init(): trying to connect to %s..." % address)
try:
self._sock = BluetoothSocket(RFCOMM)
self._sock.connect((address, 1))
try:
self._sock.settimeout(ConfigManager().getFloat('Plugins/HARDWARE_COM_TIMEOUT'))
except NotImplementedError:
Logger().warning("BluetoothDriver._init(): bluetooth stack does not implment settimeout()")
except BluetoothError, error:
Logger().exception("BluetoothDriver._init()")
err, msg = eval(error.message)
raise HardwareError(msg)
def __sendCmd(self, cmd, param=""):
""" Send a command to the axis.
@param cmd: command to send
@type cmd: str
@return: answer
@rtype: str
"""
cmd = ":%s%d%s\r" % (cmd, self._axis, param)
#Logger().debug("MerlinOrionHardware.__sendCmd(): axis %d cmd=%s" % (self._axis, repr(cmd)))
for nbTry in xrange(self._nbRetry):
try:
answer = ""
self._driver.empty()
self._driver.write(cmd)
c = ''
while c not in ('=', '!'):
c = self._driver.read(1)
#Logger().debug("MerlinOrionHardware.__sendCmd(): c=%s" % repr(c))
if c == '!':
c = self._driver.read(1) # Get error code
raise IOError("Error in command %s (err=%s)" %
(repr(cmd), c))
answer = ""
while True:
c = self._driver.read(1)
#Logger().debug("MerlinOrionHardware.__sendCmd(): c=%s" % repr(c))
if c == '\r':
break
answer += c
except IOError:
Logger().exception("MerlinOrionHardware.__sendCmd")
Logger().warning(
"MerlinOrionHardware.__sendCmd(): axis %d can't sent command %s. Retrying..."
% (self._axis, repr(cmd)))
else:
break
else:
raise HardwareError("axis %d can't send command %s" %
(self._axis, repr(cmd)))
#Logger().debug("MerlinOrionHardware.__sendCmd(): axis %d ans=%s" % (self._axis, repr(answer)))
return answer
def __sendCmd(self, cmd):
""" Send a command to the axis.
@param cmd: command to send
@type cmd: str
@return: answer
@rtype: str
"""
Logger().debug("OwlHardware.__sendCmd(): cmd=%s" % (repr(cmd)))
for nbTry in xrange(self._nbRetry):
try:
answer = ""
self._driver.empty()
self._driver.write("%s\r" % cmd)
c = ''
'''c = self._driver.read(100)
(header, errorCode, replyValue) = c.split(' ')
if errorCode != '100':
raise IOError("Error in command %s (err=%s)" % (repr(cmd), c))'''
answer = ""
while True:
c = self._driver.read(1)
if c == '\r':
break
answer += c
(header, errorCode, replyValue) = answer.split(" ")
answer = (replyValue)
if errorCode == '100':
return answer #will this work
except IOError:
Logger().exception("OwlHardware.__sendCmd")
Logger().warning(
"OwlHardware.__sendCmd(): axis %d can't sent command %s. Retrying..."
% (self._axis, repr(cmd)))
else:
break
else:
raise HardwareError("axis %d can't send command %s" %
(self._axis, repr(cmd)))
#Logger().debug("OwlHardware.__sendCmd(): axis %d ans=%s" % (self._axis, repr(answer)))
return answer
def __sendCmd(self, cmd, axis):
""" Send a command to the axis.
@param cmd: command to send
@type cmd: str
@param axis: name of the axis
@type axis: str
@return: answer
@rtype: str
"""
cmd = "%s%s" % (axis, cmd)
#Logger().debug("PixOrbHardware.__sendCmd(): axis %s cmd=%s" % (axis, repr(cmd)))
for nbTry in xrange(self._nbRetry):
try:
answer = ""
self._driver.empty()
self._driver.write("%s\n" % cmd)
c = ''
while c != '\r':
c = self._driver.read(1)
if c in ('#', '!', '$'):
self._driver.read(2) # Read last CRLF
raise IOError("Error on command '%s' (answer=%s)" %
(cmd, answer))
else:
answer += c
except IOError:
Logger().exception("PixOrbHardware.__sendCmd")
Logger().warning(
"PixOrbHardware.__sendCmd(): axis %s failed to send command '%s'. Retrying..."
% (axis, cmd))
else:
answer = answer.strip() # Remove final CRLF
break
else:
raise HardwareError("Axis %s can't send command %s (answer=%s)" %
(axis, repr(cmd), repr(answer)))
#Logger().debug("PixOrbHardware.__sendCmd(): axis %s, ans=%s" % (axis, repr(answer)))
return answer
def init(self):
""" Init the Owl hardware.
Done only once.
"""
if self._axis == 0:
self._driver.acquireBus()
try:
self.__encoderFullCircle = 1152000
cmd = '\x01\x8B\x00\x00\x00\x00\x00\x00\x8C' #set module to ascii
self._driver.empty()
self._driver.write("%s\r" % cmd)
cmd = 'ASGP 67, 0, 33' #echo cancel
self._driver.empty()
self._driver.write("%s\r" % cmd)
c = ''
answer = ""
while True:
c = self._driver.read(1)
if c == '\r':
break
answer += c
(header, errorCode, replyValue) = answer.split(" ")
#Logger().debug("int(): answer=%s header=%s errorCode=%s replyValue=%s" % (answer, header, errorCode, replyValue))
value = int(replyValue)
if errorCode != '100':
raise HardwareError("Module did not initialize properly")
Logger().debug(
"OwlHardware.init(): encoder full circle=%s" %
self.__encoderFullCircle)
finally:
self._driver.releaseBus()
return
def init(self):
#self._driver.setTimeout(0.1)
# Only initialize if we have yaw or pitch, not shutter class
if self._axis != 0:
self._driver.acquireBus()
try:
# Rodeon head also had a transceiver to initialize. Do it before anything.
# When done, don't initialize twice...
if self._axis == 1:
# Reset transceiver twice
value = self.__sendCmd("R", 0)
# Is transceiver answering to reset order?
if len(value) == 0:
raise HardwareError("No answer at all. Check baudrate (must be 19200, not 9600). Stopping...")
elif value == 'R':
# Good answer
Logger().debug("ClaussHardware.init(): Transceiver answer successfully to reset order")
else:
# No, probably bad serial or hardware
raise HardwareError("Is it a Clauss hardware? I can't talk with it. Stopping...")
# Get brand
value = self.__sendCmd("m", 0, 2, "")
if value != "CLAUSS":
# Retry...
Logger().debug("ClaussHardware.init(): BRAND ERROR. Retrying...")
value = self.__sendCmd("m", 0, 2, "")
if value != "CLAUSS":
raise HardwareError("'%s' is not a Clauss head. Stopping..." % value)
Logger().debug("ClaussHardware.init(): Transceiver brand=%s" % value)
value = self.__sendCmd("w", 0, 2, "")
Logger().debug("ClaussHardware.init(): Transceiver reference number=%s" % value)
value = self.__sendCmd("v", 0, 2, "")
Logger().debug("ClaussHardware.init(): Transceiver firmware version=%s" % value)
# Reset motor
self.__sendCmd("R", self._axis)
# Go to factory position 0°
self.__sendCmd("Y", self._axis)
# Get reference number transceiver
value = self.__sendCmd("w", self._axis, 2, "")
Logger().debug("ClaussHardware.init(): axis=%d, motor reference number=%s" % (self._axis, value))
# Get brand
value = self.__sendCmd("m", self._axis, 2, "")
if value != "CLAUSS":
raise HardwareError("ClaussHardware.init(): '%s' is not a Clauss head, stopping..." % value)
Logger().debug("ClaussHardware.init(): axis=%d, motor brand=%s" % (self._axis, value))
# Get firmware version
value = self.__sendCmd("v", self._axis, 2, "")
Logger().debug("ClaussHardware.init(): axis=%d, motor firmware version=%s" % (self._axis, value))
# Get number of steps
self.__encoderFullCircle = int(self.__sendCmd("u", self._axis, 2, ""))
Logger().debug("ClaussHardware.init(): axis=%d, number of steps=%d accuracy=%s°" % (self._axis, self.__encoderFullCircle, 360./self.__encoderFullCircle))
# Get max speed
self.__maxSpeed = int(self.__sendCmd("f", self._axis, 2))
Logger().debug("ClaussHardware.init(): axis=%d, motor max speed=%s" % (self._axis, self.__maxSpeed))
# Unknow command
self.__sendCmd("a", self._axis, 2, "")
# Wait motor to reach 0° position (issued by command Y)
while self.isMoving():
time.sleep(1)
Logger().debug("ClaussHardware.init(): axis=%d, motor is still moving. Waiting..." % self._axis)
# Reset position to 0°
self.__sendCmd("N", self._axis)
# Acheive initialisation with this unknow commands for transceiver...
# Do it after anything.
if self._axis == 2:
Logger().debug("ClaussHardware.init(): axis=%d, finalizing transceiver init" % self._axis)
self.__sendCmd("L", 0, 1, "00")
self.__sendCmd("L", 0, 1, "10")
self.__sendCmd("L", 0, 1, "20")
self.__sendCmd("L", 0, 1, "30")
self.__sendCmd("L", 0, 1, "40")
self.__sendCmd("L", 0, 1, "50")
self.__sendCmd("L", 0, 1, "60")
self.__sendCmd("L", 0, 1, "70")
self.__sendCmd("L", 0, 1, "80")
self.__sendCmd("L", 0, 1, "90")
Logger().debug("ClaussHardware.init(): axis=%d, init done" % self._axis)
if self.isOnBattery():
Logger().debug("ClaussHardware.init(): Clauss head is on battery (%d)" % self.checkBattery())
else:
Logger().debug("ClaussHardware.init(): Clauss head is on AC power")
finally:
self._driver.releaseBus()
def __sendCmd(self, cmd, element=0, cr=1, param=""):
""" Send a command to the axis.
@param cmd: command to send
@type cmd: str
@param element: element ID (0 for transceiver, 1 for motor H, 2 for motor V)
@type element: int
@param cr: number of CR normally returned.
@type cr: int
@param param: additionnal parameter
@type param: str
@return: answer
@rtype: str
"""
# Append 'c' and element number to a single hexa value
hexQuery = "0x%c%d" % ('c', element)
hexPredictedAnswer = "0x%c%d" % ('a', element)
# Create command, ended by CR.
hexcmd = "%c%c%s%c" % (int(hexQuery, 16), cmd, param, '\r')
for nbTry in xrange(self._nbRetry):
try:
self._driver.empty()
self._driver.write(hexcmd)
answer = ""
crCount = 1
begin = False
magic = False
while True:
c = self._driver.read(1)
# Valid answer, processing
if ord(c) == int(hexPredictedAnswer, 16) and not begin:
magic = True
begin = True
continue
# Valid answer, processing
elif ord(c) == int(hexPredictedAnswer, 16) and begin:
magic = True
continue
# Invalid value, waiting answer pattern
elif ord(c) != int(hexPredictedAnswer, 16) and not begin:
continue
# Ignore some Bluetooth answers (b0/b9)
elif c == 'b' and cmd != 'R' and magic:
crCount -= 1
continue
# Verifying validity of answer
elif c == cmd and magic:
magic = False
# For short command with 1 CR, just return an ack.
if cr == 1:
answer += c
continue
# Correct number of CR: end of processing
elif c == '\r' and crCount == cr:
break
# CR
elif c == '\r':
crCount += 1
# Usefull char for answer
elif crCount == cr:
answer += c
except (IOError, HardwareError):
Logger().exception("ClaussHardware.__sendCmd()")
Logger().warning("ClaussHardware.__sendCmd(): Can't sent command %s to element %d. Retrying..." % (repr(cmd), element))
else:
break
else:
raise HardwareError("Can't send command %s to element %d" % (repr(cmd), element))
#Logger().debug("ClaussHardware.__sendCmd(): element=%d, ans=%s" % (element, repr(answer)))
# empty ignored part of actual answer
#self._driver.empty()
return answer
def handleCmd(self, cmdStr):
""" Handle a command.
@param cmdStr: command to simulate
@type cmdStr: str
@return: response
@rtype: str
raise HardwareError: wrong command
"""
Logger().debug("GigaPanBotBaseHandler.handleCmd(): cmdStr=%s" % cmdStr)
if not cmdStr.startswith(':'):
raise HardwareError("Invalid command format (%s)" % repr(cmdStr))
# Split cmdStr
cmd = cmdStr[1]
numAxis = int(cmdStr[2])
if numAxis not in (1, 2):
raise HardwareError("Invalid axis number (%d)" % numAxis)
param = cmdStr[3:-1]
Logger().debug(
"GigaPanBotBaseHandler.handleCmd(): cmdStr=%s, cmd=%s, numAxis=%d, param=%s"
% (repr(cmdStr), cmd, numAxis, param))
# Compute command response
response = ""
# Stop command
if cmd == 'L':
Logger().debug("GigaPanBotBaseHandler.handleCmd(): stop")
self._axis[numAxis].stop()
# Get encoder full circle command
elif cmd == 'a':
Logger().debug(
"GigaPanBotBaseHandler.handleCmd(): get encoder full circle")
response = self._encodeAxisValue(self._angleToEncoder(0xE62D3))
# Get firmeware version command
elif cmd == 'e':
Logger().debug(
"GigaPanBotBaseHandler.handleCmd(): get firmware version?")
response = "Vx.x"
# Read command
elif cmd == 'j':
Logger().debug("GigaPanBotBaseHandler.handleCmd(): read")
pos = self._axis[numAxis].read()
response = self._encodeAxisValue(self._angleToEncoder(pos))
# Status command
elif cmd == 'f':
Logger().debug("GigaPanBotBaseHandler.handleCmd(): status")
if self._axis[numAxis].isMoving():
response = "1"
else:
response = "0"
# Connect/disconnect command
elif cmd == 'F':
Logger().debug(
"GigaPanBotBaseHandler.handleCmd(): connect/disconnect")
# Start jog command
elif cmd == 'G':
Logger().debug("GigaPanBotBaseHandler.handleCmd(): start jog")
#self._axisCmd[numAxis] = 'jog'
if param == '0':
dir_ = '+'
elif param == '1':
dir_ = '-'
else:
raise HardwareError("Invalid param")
self._axis[numAxis].startJog(dir_)
Logger().debug(
"GigaPanBotBaseHandler.handleCmd(): axis %d direction=%s" %
(numAxis, dir_))
# Goto command
elif cmd == 'S':
Logger().debug("GigaPanBotBaseHandler.handleCmd(): goto")
self._axis[numAxis].drive(self._encoderToAngle(
self._decodeAxisValue(param)),
wait=False)
# Speed command
elif cmd == 'I':
Logger().debug("GigaPanBotBaseHandler.handleCmd(): speed")
speed = int(param)
Logger().debug(
"GigaPanBotBaseHandler.handleCmd(): axis %s speed=%d" %
(numAxis, speed))
# Output command
elif cmd == 'O':
Logger().debug("GigaPanBotBaseHandler.handleCmd(): output")
# Invalid command
else:
raise HardwareError("Invalid command")
return "=%s\r" % response
def handleCmd(self, cmdStr):
""" Handle a command.
@param cmdStr: command to simulate
@type cmdStr: str
@return: response
@rtype: str
raise HardwareError: wrong command
"""
Logger().debug("MerlinOrionBaseHandler.handleCmd(): cmdStr=%s" %
cmdStr)
if not cmdStr.startswith(':'):
raise HardwareError("Invalid command format (%s)" % repr(cmdStr))
# Split cmdStr
cmd = cmdStr[1]
numAxis = int(cmdStr[2])
if numAxis not in (1, 2):
raise HardwareError("Invalid axis number (%d)" % numAxis)
param = cmdStr[3:-1]
Logger().debug(
"MerlinOrionBaseHandler.handleCmd(): cmdStr=%s, cmd=%s, numAxis=%d, param=%s"
% (repr(cmdStr), cmd, numAxis, param))
# Compute command response
response = ""
# Stop command
if cmd == 'L':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): stop")
self._axis[numAxis].stop()
response = ""
# Check motor command
elif cmd == 'F':
Logger().trace("MerlinOrionBaseHandler.handleCmd(): ???")
# Get encoder full circle command
elif cmd == 'a':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): ???")
response = self._encodeAxisValue(ENCODER_FULL_CIRCLE)
# Get sidereal rate command
elif cmd == 'D':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): ???")
response = self._encodeAxisValue(SIDEREAL_RATE)
# Get firmeware version command
elif cmd == 'e':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): ???")
response = "xxxxxx"
# Read command
elif cmd == 'j':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): read")
pos = self._axis[numAxis].read()
response = self._encodeAxisValue(self._angleToEncoder(pos))
# Status command
elif cmd == 'f':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): status")
if self._axis[numAxis].isMoving():
response = "-1-"
else:
response = "-0-"
# Set action command
elif cmd == 'G':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): set action")
if param[0] == '0':
self._axisCmd[numAxis] = 'drive'
elif param[0] == '3':
self._axisCmd[numAxis] = 'jog'
if param[1] == '0':
self._axisDir[numAxis] = '+'
elif param[1] == '1':
self._axisDir[numAxis] = '-'
else:
raise HardwareError("Invalid param")
Logger().debug(
"MerlinOrionBaseHandler.handleCmd(): axis %d direction=%s"
% (numAxis, self._axisDir[numAxis]))
else:
raise NotImplementedError
# Speed command
elif cmd == 'I':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): speed")
try:
speed = self._decodeAxisValue(param)
Logger().debug(
"MerlinOrionBaseHandler.handleCmd(): axis %d speed=%d" %
(numAxis, speed))
self._axisSpeed[numAxis] = speed
except KeyError:
raise HardwareError("No direction has been set")
# Position command
elif cmd == 'S':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): position")
self._axisPos[numAxis] = self._encoderToAngle(
self._decodeAxisValue(param))
# Run command
elif cmd == 'J':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): run")
try:
if self._axisCmd[numAxis] == 'jog':
dir_ = self._axisDir[numAxis]
speed = self._axisSpeed[numAxis]
self._axis[numAxis].startJog(dir_)
elif self._axisCmd[numAxis] == 'drive':
pos = self._axisPos[numAxis]
self._axis[numAxis].drive(pos, wait=False)
except KeyError:
raise HardwareError(
"Missing one axis cmd/direction/speed value")
# Shutter command
elif cmd == 'O':
Logger().debug("MerlinOrionBaseHandler.handleCmd(): shutter")
# Invalid command
else:
raise HardwareError("Invalid command")
return "=%s\r" % response
def start(self):
""" Start pano shooting.
"""
def checkPause():
""" Check if pause requested.
"""
if self.__pause:
Logger().info("Pause shooting")
self.__pauseTime = time.time()
self.__paused = True
self.paused()
while self.__pause:
time.sleep(0.1)
self.__paused = False
self.resumed()
self.__totalPausedTime += time.time() - self.__pauseTime
Logger().info("Resume shooting")
def checkStop():
""" Check if stop requested.
"""
if self.__stop:
Logger().info("Stop shooting")
raise StopIteration
Logger().trace("Shooting.start()")
self.__startTime = time.time()
self.__totalPausedTime = 0.
self.__stop = False
self.__pause = False
self.__paused = False
self.__shooting = True
self.started()
self.progress(0., 0.)
if self.cameraOrientation == 'portrait':
roll = 90.
elif self.cameraOrientation == 'landscape':
roll = 0.
elif self.cameraOrientation == 'custom':
roll = self.cameraRoll
else:
raise ValueError("cameraOrientation must be in ('portrait', 'landscape', 'custom'")
focal = self.camera.lens.focal
if self.camera.lens.type_ == 'rectilinear':
focal *= self.camera.lens.opticalMultiplier
values = {'title' : ConfigManager().get('Configuration/DATA_TITLE'),
'gps': ConfigManager().get('Configuration/DATA_GPS'),
'comment': ConfigManager().get('Configuration/DATA_COMMENT') % {'version': config.VERSION},
'headOrientation': "up",
'cameraOrientation': "%s" % self.cameraOrientation,
'roll': "%.1f" % roll,
'stabilizationDelay': "%.1f" % self.stabilizationDelay,
'counter': "%03d" % self.shootingCounter,
'timeValue': "%.1f" % self.shutter.timeValue,
'bracketingNbPicts': "%d" % self.shutter.bracketingNbPicts,
'sensorCoef': "%.1f" % self.camera.sensorCoef,
'sensorRatio': "%s" % self.camera.sensorRatio,
'lensType': "%s" % self.camera.lens.type_,
'focal': "%.1f" % focal
}
Logger().info("Start shooting process...")
try:
# Timer after
if self.timerAfterEnable:
initialTime = time.time()
remainingTime = self.timerAfter - (time.time() - initialTime)
while remainingTime > 0:
Logger().debug("Shooting.start(): start in %s" % sToHmsAsStr(remainingTime))
self.waiting(remainingTime)
time.sleep(1)
# Check only stop
checkStop()
remainingTime = self.timerAfter - (time.time() - initialTime)
# Timer repeat
if self.timerRepeatEnable:
numRepeat = self.timerRepeat
else:
numRepeat = 1
for repeat in xrange(1, numRepeat + 1):
# Create data object (use a factory)
if self.mode == 'mosaic':
Logger().debug("Shooting.start(): create mosaic data object")
data = MosaicData()
values.update({'yawNbPicts': "%d" % self.mosaic.yawNbPicts,
'pitchNbPicts': "%d" % self.mosaic.pitchNbPicts,
'overlap': "%.2f" % self.mosaic.overlap,
'yawRealOverlap': "%.2f" % self.mosaic.yawRealOverlap,
'pitchRealOverlap': "%.2f" % self.mosaic.pitchRealOverlap})
else:
Logger().debug("Shooting.start(): create preset data object")
data = PresetData()
values.update({'name': "%s" % self.preset.name})
# Create header
data.createHeader(values)
# Increase shooting counter
self.shootingCounter += 1
if self.shootingCounter > config.SHOOTING_COUNTER_MAX:
self.shootingCounter = 1
ConfigManager().save()
startTime = time.time()
Logger().debug("Shooting.start(): repeat %d/%d" % (repeat, numRepeat))
self.repeat(repeat)
self.progress(0.)
# Loop over all positions
self.scan.index = 1
while True:
try:
index, (yaw, pitch) = self.scan.getCurrentPosition()
if isinstance(index, tuple):
index_, yawIndex, pitchIndex = index
else:
index_ = index
Logger().debug("Shooting.start(): pict #%d of %d, index=%s, yaw=%.1f, pitch=%.1f" % (index_, self.scan.totalNbPicts, str(index), yaw, pitch))
self.update(index, yaw, pitch, next=True)
self.__forceNewPosition = False
Logger().info("Moving")
self.sequence('moving')
self.head.gotoPosition(yaw, pitch)
# Test step-by-step flag (use a function)
if self.__stepByStep and not self.__stop:
self.__pause = True
Logger().info("Wait for manual shooting trigger...")
# 'Pause every' feature
if self.pauseEveryEnable and self.scan.index > 1 and not self.scan.index % self.pauseEvery - 1:
self.__pause = True
Logger().info("Automatic pausing...")
checkPause()
checkStop()
# If a new shooting position has been requested (rewind/forward),
# we start over
if self.__forceNewPosition:
continue
# Take pictures
for bracket in xrange(1, self.shutter.bracketingNbPicts + 1):
# Mirror lockup sequence
# TODO: move call to plugin!
if self.shutter.mirrorLockup:
Logger().info("Mirror lockup")
self.sequence('mirror')
retCode = self.shutter.lockupMirror()
if retCode:
raise HardwareError(self.tr("Shutter failed while mirror locking up"))
self.__LastShootTime = time.time()
Logger().info("Stabilization")
self.sequence('stabilization')
time.sleep(self.stabilizationDelay)
# Take pictures
Logger().info("Shutter cycle")
Logger().debug("Shooting.start(): bracket #%d of %d" % (bracket, self.shutter.bracketingNbPicts))
self.sequence('shutter', bracket)
retCode = self.shutter.shoot(bracket)
if retCode:
raise HardwareError(self.tr("Shutter failed while shooting"))
# Add image to the xml data file
realYaw, realPitch = self.head.readPosition()
data.addPicture(bracket, realYaw, realPitch, roll)
checkStop()
except OutOfLimitsError, msg:
self.head.stopAxis()
Logger().warning("Shooting.start(): %s" % unicode(msg))
state = 'invalid'
except HardwareError, msg:
self.head.stopAxis()
Logger().exception("Shooting.start()")
#Logger().warning("Shooting.start(): position index=%s, yaw=%.1f, pitch=%.1f out of limits" % (index_, yaw, pitch))
state = 'error'
