def run():
signals = {
'green': False,
'red': False,
'blue': False,
'stop': False,
'metal': False,
'maxTime': False,
'finish': False,
'path': '/home/pi/Filakov/',
'pltCnt': 1,
'imgCnt': 1
}
start = time.time()
# Make directory for the pictures
directory = datetime.datetime.today().strftime('%Y-%m-%d_%H-%M-%S')
signals['path'] += directory + '/'
try:
os.makedirs(signals['path'])
except Exception as e:
debug_print(str(e))
debug_print('Folder for pictures was not created. Aborting program...')
return
global output_file
output_file = open(signals['path'] + 'log.txt', 'w', encoding='utf-8')
C = Controls("/dev/ttyACM0", output_file)
if not C.started:
debug_print(
"Controls of the motors are not started. Aborting program...")
output_file.close()
return
cam = cv2.VideoCapture(0)
time.sleep(1)
if not cam.isOpened():
debug_print("Camera is not opened. Aborting program...")
output_file.close()
return
# Run the process
T_metal = threading.Thread(target=metalCheck, args=(
C,
signals,
))
T_cam = threading.Thread(target=cameraLoop, args=(
cam,
signals,
))
T_metal.start()
T_cam.start()
# Canvas down
C.Move(3, 'M', 250, wait=True)
C.Lights(1)
# Camera calibration
# C.Move(2, 'M', 180, wait = True)
# calibrateCamera(C, signals)
# if signals['stop']:
# stopRoutine(C, signals)
# return
C.Move(2, 'M', 180, wait=True)
# debug_print('Camera calibrated successfully.')
# First iteration of plant imaging
plantIter(C, cam, '-', signals)
if signals['stop']:
stopRoutine(C, signals)
signals['finish'] = True
T_cam.join()
T_metal.join()
output_file.close()
return
# Second iteration of plant imaging
debug_print('Preparing plant imaging on the other side.')
C.Move(2, 'M', -180, wait=True)
plantIter(C, cam, '+', signals)
if signals['stop']:
stopRoutine(C, signals)
signals['finish'] = True
T_cam.join()
T_metal.join()
output_file.close()
return
# Finishing routine
debug_print('Vertical motor returning to home position.')
C.Move(1, 'H', wait=True)
debug_print('Job done: ' + str(time.time() - start) + ' secs')
signals['finish'] = True
T_cam.join()
T_metal.join()
C.Lights(0)
# Canvas up
C.Move(3, 'M', -250, wait=True)
C.Close()
uploadCloudFolder(signals['path'])
output_file.close()
sendDoneMail(signals['path'] + 'log.txt')
# -*- coding: utf-8 -*-
from controls import Controls
# Rucno pokretanje motora
C = Controls("/dev/ttyACM0")
C.Move(0, 'M', 10)
C.Close()
# Motor 0: + je prema glavnoj stazi
# Motor 1: + je prema gore
# Motor 2: + je u smjeru kazaljke na satu
# Motor 3: + je prema dolje
