class HardwareController(SingletonMixin):
"""
Wrapper class for getting the Laser, Camera, and Turntable classes working
together
"""
def __init__(self):
self.config = Config.instance()
self.settings = Settings.instance()
self.camera = None
self._image_processor = ImageProcessor(self.config, self.settings)
self.camera = FSCamera()
self.serial_connection = FSSerialCom()
self.turntable = Turntable(self.serial_connection)
self.laser = Laser(self.serial_connection)
self.led = Led(self.serial_connection)
self.laser.off()
self.led.off()
self.turntable.stop_turning()
self.turntable.disable_motors()
def settings_mode_on(self):
self.laser.on()
self.turntable.start_turning()
self.camera.device.startStream()
def settings_mode_off(self):
self.turntable.stop_turning()
self.led.off()
self.laser.off()
self.camera.device.flushStream()
self.camera.device.stopStream()
def get_picture(self):
img = self.camera.device.getFrame()
return img
def scan_at_position(self, steps=180, color=False):
'''
Take a step and return an image.
Step size calculated to correspond to num_steps_per_rotation
Returns resulting image
'''
if color:
speed = 800
else:
speed = 50
self.turntable.step_interval(steps, speed)
img = self.camera.device.getFrame()
return img
def get_laser_angle(self):
image = self.camera.device.getFrame()
angle = self._image_processor.calculate_laser_angle(image)
return angle
def arduino_is_connected(self):
return self.serial_connection.is_connected()
def get_firmware_version(self):
return self.serial_connection.get_firmware_version()
def camera_is_connected(self):
return self.camera.is_connected()
def calibrate_laser(self):
self.laser.on()
time.sleep(0.8)
last_angle = 0
current_angle = self.get_laser_angle()
#while (last_angle != current_angle):
# last_angle = current_angle
# current_angle = self.get_laser_angle()
#angle_delta = 1
#while(not (angle_delta < 0.3 and angle_delta > -0.3)):
# laser_angle = self.get_laser_angle()
# angle_delta = 30 - laser_angle
# if angle_delta > 0.3:
# self.laser.turn(1)
# elif angle_delta < -0.3:
# self.laser.turn(-1)
#delta_angle = 30 - first_detected_angle
#steps = delta_angle/0.1125*3200
#self.laser.turn(int(360/steps))
#angle = self.get_laser_angle()
self.laser.off()
return current_angle
class FSScanProcessor(pykka.ThreadingActor):
def __init__(self):
super(FSScanProcessor, self).__init__()
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
self._prefix = None
self._resolution = 16
self._number_of_pictures = 0
self._total = 0
self._laser_positions = 1
self._progress = 0
self._is_color_scan = True
self.point_cloud = None
self.image_task_q = multiprocessing.Queue(5)
self.current_position = 0
self._laser_angle = 33.0
self._stop_scan = False
self._current_laser_position = 1
self.eventManager = FSEventManager.instance()
self.settings = Settings.instance()
self.config = Config.instance()
self.semaphore = multiprocessing.BoundedSemaphore()
self._contrast = 0.5
self._brightness = 0.5
self.event_q = self.eventManager.get_event_q()
self._worker_pool = FSImageWorkerPool(self.image_task_q,self.event_q)
self.hardwareController = HardwareController.instance()
self.eventManager.subscribe(FSEvents.ON_IMAGE_PROCESSED, self.image_processed)
self._scan_brightness = self.settings.camera.brightness
self._scan_contrast = self.settings.camera.contrast
def on_receive(self, event):
if event[FSEvents.COMMAND] == 'START':
self.start_scan()
if event[FSEvents.COMMAND] == 'STOP':
self.stop_scan()
if event[FSEvents.COMMAND] == 'SCAN_NEXT_TEXTURE_POSITION':
self.scan_next_texture_position()
if event[FSEvents.COMMAND] == 'SCAN_NEXT_OBJECT_POSITION':
self.scan_next_object_position()
def start_scan(self):
self._stop_scan = False
self.hardwareController.laser.off()
self.hardwareController.turntable.stop_turning()
self._resolution = int(self.settings.resolution)
self._laser_positions = int(self.settings.laser_positions)
self._is_color_scan = bool(self.settings.color)
self._number_of_pictures = 3200 / int(self.settings.resolution)
self.current_position = 0
#TODO: rename prefix to scan_id
self._prefix = datetime.datetime.fromtimestamp(time.time()).strftime('%Y%m%d-%H%M%S')
self.point_cloud = FSPointCloud(self._is_color_scan)
self.image_processor = ImageProcessor(self.config,self.settings)
if self._is_color_scan:
self._total = self._number_of_pictures*2
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_TEXTURE_POSITION'})
else:
self._total = self._number_of_pictures
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_OBJECT_POSITION'})
def init_texture_scan(self):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCANNING_TEXTURE"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
self._worker_pool.create(self.config.process_number)
self._scan_brightness = self.settings.camera.brightness
self._scan_contrast = self.settings.camera.contrast
self.settings.camera.brightness = 50
self.settings.camera.contrast = 0
self.hardwareController.led.on(50,50,50)
time.sleep(2)
self.hardwareController.camera.device.flushStream()
time.sleep(1)
self.hardwareController.camera.device.getStream()
def finish_texture_scan(self):
self.current_position = 0
self.hardwareController.led.off()
self.settings.camera.brightness = self._scan_brightness
self.settings.camera.contrast = self._scan_contrast
self._worker_pool.kill()
def scan_next_texture_position(self):
if not self._stop_scan:
if self.current_position < self._number_of_pictures:
if self.current_position == 0:
self.init_texture_scan()
color_image = self.hardwareController.scan_at_position(self._resolution, color=True)
task = ImageTask(color_image, self._prefix, self.current_position, self._number_of_pictures, task_type="PROCESS_COLOR_IMAGE")
self.image_task_q.put(task,True)
self._logger.debug("Color Progress %i of %i : " % (self.current_position, self._number_of_pictures))
self.current_position +=1
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_TEXTURE_POSITION'})
else:
self.finish_texture_scan()
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_OBJECT_POSITION'})
def init_object_scan(self):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCANNING_OBJECT"
self.current_position = 0
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
self._laser_positions = self.settings.laser_positions
self.hardwareController.led.on(self.settings.led.red,self.settings.led.green,self.settings.led.blue)
self.hardwareController.laser.on()
self.settings.camera.brightness = self._scan_brightness
self.settings.camera.contrast = self._scan_contrast
# TODO: solve this timing issue!
# Workaround for Logitech webcam. We have to wait a loooong time until the logitech cam is ready...
#time.sleep(3)
self.hardwareController.camera.device.objectExposure()
self._laser_angle = self.image_processor.calculate_laser_angle(self.hardwareController.camera.device.getStream())
self._logger.debug("Detected Laser Angle at: %f deg" %(self._laser_angle, ))
self._worker_pool.create(self.config.process_number)
def finish_object_scan(self):
self._worker_pool.kill()
self.hardwareController.laser.off()
self.hardwareController.led.off()
self.hardwareController.camera.device.setPreviewResolution()
def scan_next_object_position(self):
if not self._stop_scan:
if self.current_position < self._number_of_pictures:
if self.current_position == 0:
self.init_object_scan()
laser_image = self.hardwareController.scan_at_position(self._resolution)
task = ImageTask(laser_image, self._prefix, self.current_position, self._number_of_pictures)
self.image_task_q.put(task)
self._logger.debug("Laser Progress: %i of %i at laser position %i" %(self.current_position, self._number_of_pictures , self._current_laser_position))
self.current_position +=1
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_OBJECT_POSITION'})
else:
self.finish_object_scan()
def stop_scan(self):
self._stop_scan = True
self._worker_pool.kill()
time.sleep(1)
FSUtil.delete_scan(self._prefix)
self.reset_scanner_state()
def on_stop(self):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCAN_CANCELED"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
#self.eventManager.unsubscribe(FSEvents.ON_IMAGE_PROCESSED, self.image_processed)
def image_processed(self, eventManager, event):
if event['image_type'] == 'laser':
self.append_points(event['points'])
self.semaphore.acquire()
self._progress +=1
self.semaphore.release()
message = FSUtil.new_message()
message['type'] = FSEvents.ON_NEW_PROGRESS
message['data']['points'] = event['points']
message['data']['progress'] = self._progress
message['data']['resolution'] = self._total
if self._progress == self._total:
self.scan_complete()
eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
def scan_complete(self):
self._logger.debug("Scan complete writing pointcloud files with %i points." % (self.point_cloud.get_size(),))
self.point_cloud.saveAsFile(self._prefix)
self.settings.saveAsFile(self._prefix)
FSUtil.delete_image_folders(self._prefix)
self.reset_scanner_state()
event = FSEvent()
event.command = '_COMPLETE'
#TODO: generate MESH Here!
self.eventManager.publish(FSEvents.COMMAND,event)
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCAN_COMPLETE"
message['data']['scan_id'] = self._prefix
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
def create_mesh(self, prefix):
basedir = os.path.dirname(os.path.dirname(__file__))
input = self.config.folders.scans+str(prefix)+"/"+str(prefix)+".ply"
output = self.config.folders.scans+str(prefix)+"/"+str(prefix)+".stl"
mlx = basedir+"/fabscan/static/data/mlx/default_mesh.mlx"
os.environ["DISPLAY"]=":0"
subprocess.call([self.config.meshlab.path+"/meshlabserver -i "+input+" -o "+output+" -s "+mlx],shell=True)
self._logger.debug("STL File written.")
def append_points(self, point_set):
if self.point_cloud:
for point in point_set:
self.point_cloud.append_point(point)
def get_resolution(self):
return self.settings.resolution
def get_number_of_pictures(self):
return self._number_of_pictures
def get_folder_name(self):
return self._prefix
def reset_scanner_state(self):
self.hardwareController.laser.off()
self.hardwareController.led.off()
self._command = None
self._progress = 0
self.current_position = 0
self._number_of_pictures = 0
self._total = 0
class HardwareController(SingletonMixin):
"""
Wrapper class for getting the Laser, Camera, and Turntable classes working
together
"""
def __init__(self):
self.config = Config.instance()
self.settings = Settings.instance()
self.camera = None
self._image_processor = ImageProcessor(self.config, self.settings)
self.camera = FSCamera()
self.serial_connection = FSSerialCom()
self.turntable = Turntable(self.serial_connection)
self.laser = Laser(self.serial_connection)
self.led = Led(self.serial_connection)
self.laser.off()
self.led.off()
self.turntable.stop_turning()
self.turntable.disable_motors()
def settings_mode_on(self):
self.laser.on()
self.turntable.start_turning()
self.camera.device.startStream()
def settings_mode_off(self):
self.turntable.stop_turning()
self.led.off()
self.laser.off()
self.camera.device.flushStream()
self.camera.device.stopStream()
def get_picture(self):
img = self.camera.device.getFrame()
return img
def scan_at_position(self, steps=180, color=False):
'''
Take a step and return an image.
Step size calculated to correspond to num_steps_per_rotation
Returns resulting image
'''
if color:
speed = 800
else:
speed = 50
self.turntable.step_interval(steps, speed)
img = self.camera.device.getFrame()
return img
def get_laser_angle(self):
image = self.camera.device.getFrame()
angle = self._image_processor.calculate_laser_angle(image)
return angle
def arduino_is_connected(self):
return self.serial_connection.is_connected()
def get_firmware_version(self):
return self.serial_connection.get_firmware_version()
def camera_is_connected(self):
return self.camera.is_connected()
def calibrate_laser(self):
self.laser.on()
time.sleep(0.8)
last_angle = 0
current_angle = self.get_laser_angle()
#while (last_angle != current_angle):
# last_angle = current_angle
# current_angle = self.get_laser_angle()
#angle_delta = 1
#while(not (angle_delta < 0.3 and angle_delta > -0.3)):
# laser_angle = self.get_laser_angle()
# angle_delta = 30 - laser_angle
# if angle_delta > 0.3:
# self.laser.turn(1)
# elif angle_delta < -0.3:
# self.laser.turn(-1)
#delta_angle = 30 - first_detected_angle
#steps = delta_angle/0.1125*3200
#self.laser.turn(int(360/steps))
#angle = self.get_laser_angle()
self.laser.off()
return current_angle
class FSScanProcessor(pykka.ThreadingActor):
def __init__(self):
super(FSScanProcessor, self).__init__()
self.eventManager = FSEventManager.instance()
self.settings = Settings.instance()
self.config = Config.instance()
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
self._prefix = None
self._resolution = 16
self._number_of_pictures = 0
self._total = 0
self._laser_positions = 1
self._progress = 0
self._is_color_scan = True
self.point_cloud = None
self.image_task_q = multiprocessing.Queue(self.config.process_numbers +
1)
self.current_position = 0
self._laser_angle = 33.0
self._stop_scan = False
self._current_laser_position = 1
self.semaphore = multiprocessing.BoundedSemaphore()
self.event_q = self.eventManager.get_event_q()
self._worker_pool = FSImageWorkerPool(self.image_task_q, self.event_q)
self.hardwareController = HardwareController.instance()
self.eventManager.subscribe(FSEvents.ON_IMAGE_PROCESSED,
self.image_processed)
self._scan_brightness = self.settings.camera.brightness
self._scan_contrast = self.settings.camera.contrast
self._scan_saturation = self.settings.camera.saturation
def on_receive(self, event):
if event[FSEvents.COMMAND] == 'START':
self.start_scan()
if event[FSEvents.COMMAND] == 'STOP':
self.stop_scan()
if event[FSEvents.COMMAND] == 'SCAN_NEXT_TEXTURE_POSITION':
self.scan_next_texture_position()
if event[FSEvents.COMMAND] == 'SCAN_NEXT_OBJECT_POSITION':
self.scan_next_object_position()
def start_scan(self):
self._logger.info("Scan started")
self._stop_scan = False
self.hardwareController.laser.off()
self.hardwareController.turntable.stop_turning()
self.hardwareController.turntable.enable_motors()
self.hardwareController.camera.device.startStream()
self._resolution = int(self.settings.resolution)
self._laser_positions = int(self.settings.laser_positions)
self._is_color_scan = bool(self.settings.color)
self._number_of_pictures = 3200 / int(self.settings.resolution)
self.current_position = 0
#TODO: rename prefix to scan_id
self._prefix = datetime.datetime.fromtimestamp(
time.time()).strftime('%Y%m%d-%H%M%S')
self.point_cloud = FSPointCloud(self._is_color_scan)
self.image_processor = ImageProcessor(self.config, self.settings)
if self._is_color_scan:
self._total = self._number_of_pictures * 2
self.actor_ref.tell(
{FSEvents.COMMAND: 'SCAN_NEXT_TEXTURE_POSITION'})
else:
self._total = self._number_of_pictures
self.actor_ref.tell(
{FSEvents.COMMAND: 'SCAN_NEXT_OBJECT_POSITION'})
def init_texture_scan(self):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCANNING_TEXTURE"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
self._worker_pool.create(self.config.process_numbers)
self._scan_brightness = self.settings.camera.brightness
self._scan_contrast = self.settings.camera.contrast
self._scan_saturation = self.settings.camera.saturation
self.hardwareController.camera.device.textureExposure()
self.settings.camera.brightness = 50
self.settings.camera.contrast = 0
self.settings.camera.saturation = 0
self.hardwareController.led.on(30, 30, 30)
time.sleep(2)
self.hardwareController.camera.device.flushStream()
time.sleep(1)
def finish_texture_scan(self):
self._logger.info("Finishing texture scan.")
self.current_position = 0
self.hardwareController.led.off()
self.settings.camera.brightness = self._scan_brightness
self.settings.camera.contrast = self._scan_contrast
self.settings.camera.saturation = self._scan_saturation
self._worker_pool.kill()
def scan_next_texture_position(self):
if not self._stop_scan:
if self.current_position < self._number_of_pictures:
if self.current_position == 0:
self.init_texture_scan()
color_image = self.hardwareController.scan_at_position(
self._resolution, color=True)
task = ImageTask(color_image,
self._prefix,
self.current_position,
self._number_of_pictures,
task_type="PROCESS_COLOR_IMAGE")
self.image_task_q.put(task, True)
self._logger.debug(
"Color Progress %i of %i : " %
(self.current_position, self._number_of_pictures))
self.current_position += 1
self.actor_ref.tell(
{FSEvents.COMMAND: 'SCAN_NEXT_TEXTURE_POSITION'})
else:
self.finish_texture_scan()
self.actor_ref.tell(
{FSEvents.COMMAND: 'SCAN_NEXT_OBJECT_POSITION'})
def init_object_scan(self):
self._logger.debug("Started object scan initialisation")
self.current_position = 0
self._laser_positions = self.settings.laser_positions
self.hardwareController.led.on(self.settings.led.red,
self.settings.led.green,
self.settings.led.blue)
self.hardwareController.laser.on()
self.settings.camera.brightness = self._scan_brightness
self.settings.camera.contrast = self._scan_contrast
self.settings.camera.saturation = self._scan_saturation
# TODO: solve this timing issue!
# Workaround for Logitech webcam. We have to wait a loooong time until the logitech cam is ready...
#time.sleep(3)
self.hardwareController.camera.device.objectExposure()
self.hardwareController.camera.device.flushStream()
time.sleep(2)
self._laser_angle = self.image_processor.calculate_laser_angle(
self.hardwareController.camera.device.getFrame())
if self._laser_angle == None:
event = FSEvent()
event.command = '_LASER_DETECTION_FAILED'
self.eventManager.publish(FSEvents.COMMAND, event)
self.on_laser_detection_failed()
self._logger.debug("Send laser detection failure event")
else:
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCANNING_OBJECT"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
self._logger.debug("Detected Laser Angle at: %f deg" %
(self._laser_angle, ))
self._worker_pool.create(self.config.process_numbers)
def finish_object_scan(self):
self._logger.info("Finishing object scan.")
self._worker_pool.kill()
self.hardwareController.laser.off()
self.hardwareController.led.off()
self.hardwareController.camera.device.setPreviewResolution()
def scan_next_object_position(self):
if not self._stop_scan:
if self.current_position < self._number_of_pictures:
if self.current_position == 0:
self.init_object_scan()
laser_image = self.hardwareController.scan_at_position(
self._resolution)
task = ImageTask(laser_image, self._prefix,
self.current_position,
self._number_of_pictures)
self.image_task_q.put(task)
self._logger.debug(
"Laser Progress: %i of %i at laser position %i" %
(self.current_position, self._number_of_pictures,
self._current_laser_position))
self.current_position += 1
self.actor_ref.tell(
{FSEvents.COMMAND: 'SCAN_NEXT_OBJECT_POSITION'})
else:
self.finish_object_scan()
def on_laser_detection_failed(self):
self._logger.info("Send laser detection failed message to frontend")
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "NO_LASER_FOUND"
message['data']['level'] = "warn"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
def stop_scan(self):
self._stop_scan = True
self._worker_pool.kill()
time.sleep(1)
FSUtil.delete_scan(self._prefix)
self.reset_scanner_state()
self._logger.info("Scan stoped")
def on_stop(self):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCAN_CANCELED"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
#self.eventManager.unsubscribe(FSEvents.ON_IMAGE_PROCESSED, self.image_processed)
def image_processed(self, eventManager, event):
if event['image_type'] == 'laser':
self.append_points(event['points'])
self.semaphore.acquire()
self._progress += 1
self.semaphore.release()
message = FSUtil.new_message()
message['type'] = FSEvents.ON_NEW_PROGRESS
message['data']['points'] = event['points']
message['data']['progress'] = self._progress
message['data']['resolution'] = self._total
if self._progress == self._total:
self.scan_complete()
eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
def scan_complete(self):
self._logger.debug(
"Scan complete writing pointcloud files with %i points." %
(self.point_cloud.get_size(), ))
self.point_cloud.saveAsFile(self._prefix)
self.settings.saveAsFile(self._prefix)
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SAVING_POINT_CLOUD"
message['data']['scan_id'] = self._prefix
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
FSUtil.delete_image_folders(self._prefix)
self.reset_scanner_state()
event = FSEvent()
event.command = '_COMPLETE'
#TODO: generate MESH Here if option is selected in scan settings!
#self.create_mesh(self._prefix)
self.eventManager.publish(FSEvents.COMMAND, event)
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCAN_COMPLETE"
message['data']['scan_id'] = self._prefix
message['data']['level'] = "success"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
def append_points(self, point_set):
if self.point_cloud:
for point in point_set:
self.point_cloud.append_point(point)
def get_resolution(self):
return self.settings.resolution
def get_number_of_pictures(self):
return self._number_of_pictures
def get_folder_name(self):
return self._prefix
def reset_scanner_state(self):
self._logger.info("Reseting scanner states ... ")
self.hardwareController.camera.device.objectExposure()
self.hardwareController.camera.device.flushStream()
self.hardwareController.laser.off()
self.hardwareController.led.off()
self.hardwareController.turntable.disable_motors()
self._command = None
self._progress = 0
self.current_position = 0
self._number_of_pictures = 0
self._total = 0
class FSScanProcessor(pykka.ThreadingActor):
def __init__(self):
super(FSScanProcessor, self).__init__()
self.eventManager = FSEventManager.instance()
self.settings = Settings.instance()
self.config = Config.instance()
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
self._prefix = None
self._resolution = 16
self._number_of_pictures = 0
self._total = 0
self._laser_positions = 1
self._progress = 0
self._is_color_scan = True
self.point_cloud = None
self.image_task_q = multiprocessing.Queue(self.config.process_numbers+1)
self.current_position = 0
self._laser_angle = 33.0
self._stop_scan = False
self._current_laser_position = 1
self.semaphore = multiprocessing.BoundedSemaphore()
self.event_q = self.eventManager.get_event_q()
self._worker_pool = FSImageWorkerPool(self.image_task_q,self.event_q)
self.hardwareController = HardwareController.instance()
self.eventManager.subscribe(FSEvents.ON_IMAGE_PROCESSED, self.image_processed)
self._scan_brightness = self.settings.camera.brightness
self._scan_contrast = self.settings.camera.contrast
self._scan_saturation = self.settings.camera.saturation
def on_receive(self, event):
if event[FSEvents.COMMAND] == 'START':
self.start_scan()
if event[FSEvents.COMMAND] == 'STOP':
self.stop_scan()
if event[FSEvents.COMMAND] == 'SCAN_NEXT_TEXTURE_POSITION':
self.scan_next_texture_position()
if event[FSEvents.COMMAND] == 'SCAN_NEXT_OBJECT_POSITION':
self.scan_next_object_position()
def start_scan(self):
self._logger.info("Scan started")
self._stop_scan = False
self.hardwareController.laser.off()
self.hardwareController.turntable.stop_turning()
self.hardwareController.turntable.enable_motors()
self.hardwareController.camera.device.startStream()
self._resolution = int(self.settings.resolution)
self._laser_positions = int(self.settings.laser_positions)
self._is_color_scan = bool(self.settings.color)
self._number_of_pictures = 3200 / int(self.settings.resolution)
self.current_position = 0
#TODO: rename prefix to scan_id
self._prefix = datetime.datetime.fromtimestamp(time.time()).strftime('%Y%m%d-%H%M%S')
self.point_cloud = FSPointCloud(self._is_color_scan)
self.image_processor = ImageProcessor(self.config,self.settings)
if self._is_color_scan:
self._total = self._number_of_pictures*2
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_TEXTURE_POSITION'})
else:
self._total = self._number_of_pictures
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_OBJECT_POSITION'})
def init_texture_scan(self):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCANNING_TEXTURE"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
self._worker_pool.create(self.config.process_numbers)
self._scan_brightness = self.settings.camera.brightness
self._scan_contrast = self.settings.camera.contrast
self._scan_saturation = self.settings.camera.saturation
self.hardwareController.camera.device.textureExposure()
self.settings.camera.brightness = 50
self.settings.camera.contrast = 0
self.settings.camera.saturation = 0
self.hardwareController.led.on(60,60,60)
time.sleep(2)
self.hardwareController.camera.device.flushStream()
time.sleep(1)
def finish_texture_scan(self):
self._logger.info("Finishing texture scan.")
self.current_position = 0
self.hardwareController.led.off()
self.settings.camera.brightness = self._scan_brightness
self.settings.camera.contrast = self._scan_contrast
self.settings.camera.saturation = self._scan_saturation
self._worker_pool.kill()
def scan_next_texture_position(self):
if not self._stop_scan:
if self.current_position < self._number_of_pictures:
if self.current_position == 0:
self.init_texture_scan()
color_image = self.hardwareController.scan_at_position(self._resolution, color=True)
task = ImageTask(color_image, self._prefix, self.current_position, self._number_of_pictures, task_type="PROCESS_COLOR_IMAGE")
self.image_task_q.put(task,True)
self._logger.debug("Color Progress %i of %i : " % (self.current_position, self._number_of_pictures))
self.current_position +=1
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_TEXTURE_POSITION'})
else:
self.finish_texture_scan()
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_OBJECT_POSITION'})
def init_object_scan(self):
self._logger.debug("Started object scan initialisation")
self.current_position = 0
self._laser_positions = self.settings.laser_positions
self.hardwareController.led.on(self.settings.led.red,self.settings.led.green,self.settings.led.blue)
self.hardwareController.laser.on()
self.settings.camera.brightness = self._scan_brightness
self.settings.camera.contrast = self._scan_contrast
self.settings.camera.saturation = self._scan_saturation
# TODO: solve this timing issue!
# Workaround for Logitech webcam. We have to wait a loooong time until the logitech cam is ready...
#time.sleep(3)
self.hardwareController.camera.device.objectExposure()
self.hardwareController.camera.device.flushStream()
time.sleep(2)
self._laser_angle = self.image_processor.calculate_laser_angle(self.hardwareController.camera.device.getFrame())
if self._laser_angle == None:
event = FSEvent()
event.command = '_LASER_DETECTION_FAILED'
self.eventManager.publish(FSEvents.COMMAND,event)
self.on_laser_detection_failed()
self._logger.debug("Send laser detection failure event")
else:
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCANNING_OBJECT"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
self._logger.debug("Detected Laser Angle at: %f deg" %(self._laser_angle, ))
self._worker_pool.create(self.config.process_numbers)
def finish_object_scan(self):
self._logger.info("Finishing object scan.")
self._worker_pool.kill()
self.hardwareController.laser.off()
self.hardwareController.led.off()
self.hardwareController.camera.device.setPreviewResolution()
def scan_next_object_position(self):
if not self._stop_scan:
if self.current_position < self._number_of_pictures:
if self.current_position == 0:
self.init_object_scan()
laser_image = self.hardwareController.scan_at_position(self._resolution)
task = ImageTask(laser_image, self._prefix, self.current_position, self._number_of_pictures)
self.image_task_q.put(task)
self._logger.debug("Laser Progress: %i of %i at laser position %i" %(self.current_position, self._number_of_pictures , self._current_laser_position))
self.current_position +=1
self.actor_ref.tell({FSEvents.COMMAND:'SCAN_NEXT_OBJECT_POSITION'})
else:
self.finish_object_scan()
def on_laser_detection_failed(self):
self._logger.info("Send laser detection failed message to frontend")
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "NO_LASER_FOUND"
message['data']['level'] = "warn"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
def stop_scan(self):
self._stop_scan = True
self._worker_pool.kill()
time.sleep(1)
FSUtil.delete_scan(self._prefix)
self.reset_scanner_state()
self._logger.info("Scan stoped")
def on_stop(self):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCAN_CANCELED"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
#self.eventManager.unsubscribe(FSEvents.ON_IMAGE_PROCESSED, self.image_processed)
def image_processed(self, eventManager, event):
if event['image_type'] == 'laser':
self.append_points(event['points'])
self.semaphore.acquire()
self._progress +=1
self.semaphore.release()
message = FSUtil.new_message()
message['type'] = FSEvents.ON_NEW_PROGRESS
message['data']['points'] = event['points']
message['data']['progress'] = self._progress
message['data']['resolution'] = self._total
if self._progress == self._total:
self.scan_complete()
eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
def scan_complete(self):
self._logger.debug("Scan complete writing pointcloud files with %i points." % (self.point_cloud.get_size(),))
self.point_cloud.saveAsFile(self._prefix)
self.settings.saveAsFile(self._prefix)
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SAVING_POINT_CLOUD"
message['data']['scan_id'] = self._prefix
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
FSUtil.delete_image_folders(self._prefix)
self.reset_scanner_state()
event = FSEvent()
event.command = '_COMPLETE'
#TODO: generate MESH Here if option is selected in scan settings!
#self.create_mesh(self._prefix)
self.eventManager.publish(FSEvents.COMMAND,event)
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "SCAN_COMPLETE"
message['data']['scan_id'] = self._prefix
message['data']['level'] = "success"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
def append_points(self, point_set):
if self.point_cloud:
for point in point_set:
self.point_cloud.append_point(point)
def get_resolution(self):
return self.settings.resolution
def get_number_of_pictures(self):
return self._number_of_pictures
def get_folder_name(self):
return self._prefix
def reset_scanner_state(self):
self._logger.info("Reseting scanner states ... ")
self.hardwareController.camera.device.objectExposure()
self.hardwareController.camera.device.flushStream()
self.hardwareController.laser.off()
self.hardwareController.led.off()
self.hardwareController.turntable.disable_motors()
self._command = None
self._progress = 0
self.current_position = 0
self._number_of_pictures = 0
self._total = 0
class FSScanProcessor(pykka.ThreadingActor):
def __init__(self):
super(FSScanProcessor, self).__init__()
self.eventManager = FSEventManager.instance()
self.settings = Settings.instance()
self.config = Config.instance()
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
self._prefix = None
self._resolution = 16
self._number_of_pictures = 0
self._total = 0
self._laser_positions = 1
self._progress = 0
self._is_color_scan = True
self.point_cloud = None
self.image_task_q = multiprocessing.Queue(self.config.process_numbers + 1)
self.current_position = 0
self._laser_angle = 33.0
self._stop_scan = False
self._current_laser_position = 1
self.semaphore = multiprocessing.BoundedSemaphore()
self.event_q = self.eventManager.get_event_q()
self._worker_pool = FSImageWorkerPool(self.image_task_q, self.event_q)
self.hardwareController = HardwareController.instance()
self.eventManager.subscribe(FSEvents.ON_IMAGE_PROCESSED, self.image_processed)
self._scan_brightness = self.settings.camera.brightness
self._scan_contrast = self.settings.camera.contrast
self._scan_saturation = self.settings.camera.saturation
def on_receive(self, event):
if event[FSEvents.COMMAND] == FSScanProcessorCommand.START:
self.start_scan()
if event[FSEvents.COMMAND] == FSScanProcessorCommand.STOP:
self.stop_scan()
if event[FSEvents.COMMAND] == FSScanProcessorCommand.SETTINGS_MODE_ON:
self.settings_mode_on()
if event[FSEvents.COMMAND] == FSScanProcessorCommand.SETTINGS_MODE_OFF:
self.settings_mode_off()
if event[FSEvents.COMMAND] == FSScanProcessorCommand._SCAN_NEXT_TEXTURE_POSITION:
self.scan_next_texture_position()
if event[FSEvents.COMMAND] == FSScanProcessorCommand._SCAN_NEXT_OBJECT_POSITION:
self.scan_next_object_position()
if event[FSEvents.COMMAND] == FSScanProcessorCommand.NOTIFY_HARDWARE_STATE:
self.send_hardware_state_notification()
if event[FSEvents.COMMAND] == FSScanProcessorCommand.UPDATE_SETTINGS:
self.update_settings(event['SETTINGS'])
if event[FSEvents.COMMAND] == FSScanProcessorCommand.GET_HARDWARE_INFO:
return self.hardwareController.get_firmware_version()
def update_settings(self, settings):
try:
self.settings.update(settings)
self.hardwareController.led.on(self.settings.led.red, self.settings.led.green, self.settings.led.blue)
except:
pass
def send_hardware_state_notification(self):
self._logger.debug("Checking Hardware connections")
if not self.hardwareController.arduino_is_connected():
message = {
"message": "NO_SERIAL_CONNECTION",
"level": "error"
}
else:
message = {
"message": "SERIAL_CONNECTION_READY",
"level": "info"
}
self.eventManager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE, message)
if not self.hardwareController.camera_is_connected():
message = {
"message": "NO_CAMERA_CONNECTION",
"level": "error"
}
else:
message = {
"message": "CAMERA_READY",
"level": "info"
}
self.eventManager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE, message)
def settings_mode_on(self):
self.hardwareController.settings_mode_on()
def settings_mode_off(self):
self.hardwareController.camera.device.stopStream()
self.hardwareController.settings_mode_off()
def start_scan(self):
self.hardwareController.settings_mode_off()
self._logger.info("Scan started")
self._stop_scan = False
self.hardwareController.laser.off()
self.hardwareController.turntable.stop_turning()
self.hardwareController.turntable.enable_motors()
self.hardwareController.camera.device.startStream()
self._resolution = int(self.settings.resolution)
self._laser_positions = int(self.settings.laser_positions)
self._is_color_scan = bool(self.settings.color)
self._number_of_pictures = 3200 / int(self.settings.resolution)
self.current_position = 0
# TODO: rename prefix to scan_id
self._prefix = datetime.datetime.fromtimestamp(time.time()).strftime('%Y%m%d-%H%M%S')
self.point_cloud = FSPointCloud(self._is_color_scan)
self.image_processor = ImageProcessor(self.config, self.settings)
if self._is_color_scan:
self._total = self._number_of_pictures * 2
self.actor_ref.tell({FSEvents.COMMAND: FSScanProcessorCommand._SCAN_NEXT_TEXTURE_POSITION})
else:
self._total = self._number_of_pictures
self.actor_ref.tell({FSEvents.COMMAND: FSScanProcessorCommand._SCAN_NEXT_OBJECT_POSITION})
def init_texture_scan(self):
message = {
"message": "SCANNING_TEXTURE",
"level": "info"
}
self.eventManager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE, message)
self._worker_pool.create(self.config.process_numbers)
self._scan_brightness = self.settings.camera.brightness
self._scan_contrast = self.settings.camera.contrast
self._scan_saturation = self.settings.camera.saturation
self.hardwareController.camera.device.textureExposure()
self.settings.camera.brightness = 50
self.settings.camera.contrast = 0
self.settings.camera.saturation = 0
self.hardwareController.led.on(20, 20, 20)
time.sleep(4)
self.hardwareController.camera.device.flushStream()
time.sleep(1)
def finish_texture_scan(self):
self._logger.info("Finishing texture scan.")
self.current_position = 0
self.hardwareController.led.off()
self.settings.camera.brightness = self._scan_brightness
self.settings.camera.contrast = self._scan_contrast
self.settings.camera.saturation = self._scan_saturation
self._worker_pool.kill()
def scan_next_texture_position(self):
if not self._stop_scan:
if self.current_position < self._number_of_pictures:
if self.current_position == 0:
self.init_texture_scan()
color_image = self.hardwareController.scan_at_position(self._resolution, color=True)
task = ImageTask(color_image, self._prefix, self.current_position, self._number_of_pictures, task_type="PROCESS_COLOR_IMAGE")
self.image_task_q.put(task, True)
self._logger.debug("Color Progress %i of %i : " % (self.current_position, self._number_of_pictures))
self.current_position += 1
self.actor_ref.tell({FSEvents.COMMAND: FSScanProcessorCommand._SCAN_NEXT_TEXTURE_POSITION})
else:
self.finish_texture_scan()
self.actor_ref.tell({FSEvents.COMMAND: FSScanProcessorCommand._SCAN_NEXT_OBJECT_POSITION})
def init_object_scan(self):
self._logger.debug("Started object scan initialisation")
self.current_position = 0
self._laser_positions = self.settings.laser_positions
self.hardwareController.led.on(self.settings.led.red, self.settings.led.green, self.settings.led.blue)
self.hardwareController.laser.on()
self.settings.camera.brightness = self._scan_brightness
self.settings.camera.contrast = self._scan_contrast
self.settings.camera.saturation = self._scan_saturation
# TODO: solve this timing issue!
# Workaround for Logitech webcam. We have to wait a loooong time until the logitech cam is ready...
# time.sleep(3)
self.hardwareController.camera.device.objectExposure()
self.hardwareController.camera.device.flushStream()
time.sleep(2)
self._laser_angle = self.image_processor.calculate_laser_angle(self.hardwareController.camera.device.getFrame())
if self._laser_angle == None:
event = FSEvent()
event.command = 'SCANNER_ERROR'
self.eventManager.publish(FSEvents.COMMAND,event)
self.on_laser_detection_failed()
self._logger.debug("Send laser detection failure event")
else:
message = {
"message": "SCANNING_OBJECT",
"level": "info"
}
self.eventManager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE, message)
self._logger.debug("Detected Laser Angle at: %f deg" % (self._laser_angle,))
self._worker_pool.create(self.config.process_numbers)
def finish_object_scan(self):
self._logger.info("Finishing object scan.")
self._worker_pool.kill()
self.hardwareController.laser.off()
self.hardwareController.led.off()
self.hardwareController.camera.device.setPreviewResolution()
def scan_next_object_position(self):
if not self._stop_scan:
if self.current_position < self._number_of_pictures:
if self.current_position == 0:
self.init_object_scan()
laser_image = self.hardwareController.scan_at_position(self._resolution)
task = ImageTask(laser_image, self._prefix, self.current_position, self._number_of_pictures)
self.image_task_q.put(task)
self._logger.debug("Laser Progress: %i of %i at laser position %i" % (
self.current_position, self._number_of_pictures, self._current_laser_position))
self.current_position += 1
self.actor_ref.tell({FSEvents.COMMAND: FSScanProcessorCommand._SCAN_NEXT_OBJECT_POSITION})
else:
self.finish_object_scan()
def on_laser_detection_failed(self):
self._logger.info("Send laser detection failed message to frontend")
message = {
"message": "NO_LASER_FOUND",
"level": "warn"
}
self.eventManager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE, message)
self.settings_mode_on()
def stop_scan(self):
self._stop_scan = True
self._worker_pool.kill()
time.sleep(1)
FSUtil.delete_scan(self._prefix)
self.reset_scanner_state()
self._logger.info("Scan stoped")
self.hardwareController.camera.device.stopStream()
message = {
"message": "SCAN_CANCELED",
"level": "info"
}
self.eventManager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE, message)
def image_processed(self, eventManager, event):
if event['image_type'] == 'laser':
self.append_points(event['points'])
self.semaphore.acquire()
self._progress += 1
self.semaphore.release()
message = {
"points": event['points'],
"progress": self._progress,
"resolution": self._total
}
if self._progress == self._total:
self.scan_complete()
self.eventManager.broadcast_client_message(FSEvents.ON_NEW_PROGRESS, message)
def scan_complete(self):
self._logger.debug("Scan complete writing pointcloud files with %i points." % (self.point_cloud.get_size(),))
self.point_cloud.saveAsFile(self._prefix)
self.settings.saveAsFile(self._prefix)
message = {
"message": "SAVING_POINT_CLOUD",
"scan_id": self._prefix,
"level": "info"
}
self.eventManager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE, message)
FSUtil.delete_image_folders(self._prefix)
self.reset_scanner_state()
event = FSEvent()
event.command = 'COMPLETE'
self.eventManager.publish(FSEvents.COMMAND,event)
message = {
"message": "SCAN_COMPLETE",
"scan_id": self._prefix,
"level": "success"
}
self.eventManager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE, message)
self.hardwareController.camera.device.stopStream()
def append_points(self, point_set):
if self.point_cloud:
for point in point_set:
self.point_cloud.append_point(point)
def get_resolution(self):
return self.settings.resolution
def get_number_of_pictures(self):
return self._number_of_pictures
def get_folder_name(self):
return self._prefix
def reset_scanner_state(self):
self._logger.info("Reseting scanner states ... ")
self.hardwareController.camera.device.objectExposure()
self.hardwareController.camera.device.flushStream()
self.hardwareController.laser.off()
self.hardwareController.led.off()
self.hardwareController.turntable.disable_motors()
self._command = None
self._progress = 0
self.current_position = 0
self._number_of_pictures = 0
self._total = 0