def load(self):
'''
Loads up the settings from gado.conf and instantiates objects for:
The Scanner
The Robot
The Webcam
'''
self.load_settings()
self.scanner = Scanner(**self.s)
self.robot = Robot(**self.s)
self.camera = Webcam(**self.s)
def mainloop(self):
dbi = self.dbi
q = self.q_out
robot = self.robot
#add_to_queue(q, messages.READY)
while True:
expecting_return = False
try:
msg = fetch_from_queue(self.q_in)
if msg:
print "gado_sys\tfetched message from queue", msg
if msg[0] == messages.ADD_ARTIFACT_SET_LIST:
expecting_return = True
i = dbi.add_artifact_set(**msg[1])
add_to_queue(q, messages.RETURN, i)
elif msg[0] == messages.ARTIFACT_SET_LIST:
expecting_return = True
i = dbi.artifact_set_list()
add_to_queue(q, messages.RETURN, i)
elif msg[0] == messages.DELETE_ARTIFACT_SET_LIST:
expecting_return = False
dbi.delete_artifact_set(msg[1])
elif msg[0] == messages.DROP:
expecting_return = False
success = robot.dropActuator()
add_to_queue(q, messages.RETURN, success)
elif msg[0] == messages.LIFT:
expecting_return = False
robot.lift()
elif msg[0] == messages.MOVE_DOWN:
expecting_return = True
stroke = self.robot.move_actuator(up = False)
add_to_queue(q, messages.RETURN, stroke)
elif msg[0] == messages.MOVE_UP:
expecting_return = True
stroke = self.robot.move_actuator(up = True)
add_to_queue(q, messages.RETURN, stroke)
elif msg[0] == messages.MOVE_LEFT:
expecting_return = True
degree = self.robot.move_arm(clockwise=False)
add_to_queue(q, messages.RETURN, degree)
elif msg[0] == messages.MOVE_RIGHT:
expecting_return = True
degree = self.robot.move_arm(clockwise=True)
add_to_queue(q, messages.RETURN, degree)
elif msg[0] == messages.RELOAD_SETTINGS:
expecting_return = False
settings = import_settings()
self.robot.updateSettings(**settings)
del self.camera
self.camera = Webcam(**settings)
del self.scanner
self.scanner = Scanner(**settings)
self._load_settings(**settings)
elif msg[0] == messages.RESET:
expecting_return = False
self.robot.reset()
elif msg[0] == messages.ROBOT_CONNECT:
expecting_return = True
success = self.connect()
add_to_queue(q, messages.RETURN, robot.connected())
elif msg[0] == messages.SCANNER_CONNECT:
expecting_return = True
try: del self.scanner
except: pass
self.scanner = Scanner(**import_settings())
add_to_queue(q, messages.RETURN, self.scanner.connected())
elif msg[0] == messages.SCANNER_PICTURE:
expecting_return = True
self.scanner.scanImage(DEFAULT_SCANNED_IMAGE)
add_to_queue(q, messages.RETURN, DEFAULT_SCANNED_IMAGE)
elif msg[0] == messages.SET_SELECTED_ARTIFACT_SET:
expecting_return = True
self.selected_set = msg[1]
elif msg[0] == messages.START:
expecting_return = False
self.start()
elif msg[0] == messages.WEBCAM_LISTING:
print 'gado_sys\tWEBCAM_LISTING'
expecting_return = True
#self.camera = Webcam()
opts = self.camera.options()
print 'gado_sys\tWEBCAM_LISTING - %s' % opts
add_to_queue(q, messages.RETURN, opts)
elif msg[0] == messages.WEBCAM_CONNECT:
print 'gado_sys\tWEBCAM_CONNECT switch made it'
expecting_return = True
if self.camera:
print 'gado_sys\tCamera already exists'
if self.camera.connected():
print 'gado_sys\tAlready connected to the webcam'
add_to_queue(q, messages.RETURN, self.camera.connected())
return
else: self.camera.disconnect()
self.camera = Webcam()
print 'gado_sys\tself.camera.connected() %s' % self.camera.connected()
add_to_queue(q, messages.RETURN, self.camera.connected())
elif msg[0] == messages.WEBCAM_PICTURE:
expecting_return = True
self.camera.savePicture(DEFAULT_CAMERA_IMAGE)
add_to_queue(q, messages.RETURN, DEFAULT_CAMERA_IMAGE)
elif msg[0] == messages.WEIGHTED_ARTIFACT_SET_LIST:
expecting_return = True
li = self.dbi.weighted_artifact_set_list()
add_to_queue(q, messages.RETURN, arguments=li)
elif msg[0] == messages.MAIN_ABANDON_SHIP:
add_to_queue(q, messages.GUI_LISTENER_DIE)
add_to_queue(self.q_in, messages.MAIN_ABANDON_SHIP)
return
elif msg[0] == messages.STOP or msg[0] == messages.LAST_ARTIFACT or msg[0] == messages.RESET:
# These commands are only relevant if the robot is already running.
expecting_return = False
pass
elif msg[0] == messages.GIVE_ME_A_ROBOT:
add_to_queue(q, messages.RETURN, self.robot)
else:
# add it back to the in queue, was somebody else waiting for that message?
add_to_queue(self.q_in, msg[0], (msg[1] if len(msg) > 1 else None))
except:
print "EXCEPTION GENERATED"
raise
if expecting_return:
add_to_queue(q, messages.RETURN)
def load(self):
settings = import_settings()
self.scanner = Scanner(**settings)
self.robot = Robot(**settings)
#self.connect()
self.camera = Webcam(**settings)
class GadoSystem():
def __init__(self, q_in, q_out, recovered=False):
self.q_in = q_in
self.q_out = q_out
settings = import_settings()
if 'wizard_run' in settings:
print 'gado_sys\twizard_run in settings %s' % (settings['wizard_run'])
if not settings:
print "gado_sys\tNo pre-existing settings detected"
export_settings(**DEFAULT_SETTINGS)
if not recovered: add_to_queue(self.q_out, messages.LAUNCH_WIZARD)
elif 'wizard_run' in settings and int(settings['wizard_run']) == 0:
print "gado_sys\tThe wizard was never run (at least to completion)"
if not recovered: add_to_queue(self.q_out, messages.LAUNCH_WIZARD)
else:
if not recovered: add_to_queue(self.q_out, messages.READY)
self.tk = Tk
self.db = DBFactory(**settings).get_db()
self.dbi = DBInterface(self.db)
'''
print 'gado_sys\tattempting to get webcam options'
try:
print 'gado_sys\t%s' % (self.camera.options())
except:
print 'gado_sys\tcamera options failed'
print 'gado_sys\tattempting to call dumb()'
print 'gado_sys\t%s' % (self.camera.dumb())
'''
self._load_settings(**settings)
self.selected_set = None
self.started = False
#set the settings to the default
self._armPosition = 0
self._actuatorPosition = 0
def _load_settings(self, image_path='images\\', **kargs):
self.image_path = image_path
def load(self):
settings = import_settings()
self.scanner = Scanner(**settings)
self.robot = Robot(**settings)
#self.connect()
self.camera = Webcam(**settings)
def mainloop(self):
dbi = self.dbi
q = self.q_out
robot = self.robot
#add_to_queue(q, messages.READY)
while True:
expecting_return = False
try:
msg = fetch_from_queue(self.q_in)
if msg:
print "gado_sys\tfetched message from queue", msg
if msg[0] == messages.ADD_ARTIFACT_SET_LIST:
expecting_return = True
i = dbi.add_artifact_set(**msg[1])
add_to_queue(q, messages.RETURN, i)
elif msg[0] == messages.ARTIFACT_SET_LIST:
expecting_return = True
i = dbi.artifact_set_list()
add_to_queue(q, messages.RETURN, i)
elif msg[0] == messages.DELETE_ARTIFACT_SET_LIST:
expecting_return = False
dbi.delete_artifact_set(msg[1])
elif msg[0] == messages.DROP:
expecting_return = False
success = robot.dropActuator()
add_to_queue(q, messages.RETURN, success)
elif msg[0] == messages.LIFT:
expecting_return = False
robot.lift()
elif msg[0] == messages.MOVE_DOWN:
expecting_return = True
stroke = self.robot.move_actuator(up = False)
add_to_queue(q, messages.RETURN, stroke)
elif msg[0] == messages.MOVE_UP:
expecting_return = True
stroke = self.robot.move_actuator(up = True)
add_to_queue(q, messages.RETURN, stroke)
elif msg[0] == messages.MOVE_LEFT:
expecting_return = True
degree = self.robot.move_arm(clockwise=False)
add_to_queue(q, messages.RETURN, degree)
elif msg[0] == messages.MOVE_RIGHT:
expecting_return = True
degree = self.robot.move_arm(clockwise=True)
add_to_queue(q, messages.RETURN, degree)
elif msg[0] == messages.RELOAD_SETTINGS:
expecting_return = False
settings = import_settings()
self.robot.updateSettings(**settings)
del self.camera
self.camera = Webcam(**settings)
del self.scanner
self.scanner = Scanner(**settings)
self._load_settings(**settings)
elif msg[0] == messages.RESET:
expecting_return = False
self.robot.reset()
elif msg[0] == messages.ROBOT_CONNECT:
expecting_return = True
success = self.connect()
add_to_queue(q, messages.RETURN, robot.connected())
elif msg[0] == messages.SCANNER_CONNECT:
expecting_return = True
try: del self.scanner
except: pass
self.scanner = Scanner(**import_settings())
add_to_queue(q, messages.RETURN, self.scanner.connected())
elif msg[0] == messages.SCANNER_PICTURE:
expecting_return = True
self.scanner.scanImage(DEFAULT_SCANNED_IMAGE)
add_to_queue(q, messages.RETURN, DEFAULT_SCANNED_IMAGE)
elif msg[0] == messages.SET_SELECTED_ARTIFACT_SET:
expecting_return = True
self.selected_set = msg[1]
elif msg[0] == messages.START:
expecting_return = False
self.start()
elif msg[0] == messages.WEBCAM_LISTING:
print 'gado_sys\tWEBCAM_LISTING'
expecting_return = True
#self.camera = Webcam()
opts = self.camera.options()
print 'gado_sys\tWEBCAM_LISTING - %s' % opts
add_to_queue(q, messages.RETURN, opts)
elif msg[0] == messages.WEBCAM_CONNECT:
print 'gado_sys\tWEBCAM_CONNECT switch made it'
expecting_return = True
if self.camera:
print 'gado_sys\tCamera already exists'
if self.camera.connected():
print 'gado_sys\tAlready connected to the webcam'
add_to_queue(q, messages.RETURN, self.camera.connected())
return
else: self.camera.disconnect()
self.camera = Webcam()
print 'gado_sys\tself.camera.connected() %s' % self.camera.connected()
add_to_queue(q, messages.RETURN, self.camera.connected())
elif msg[0] == messages.WEBCAM_PICTURE:
expecting_return = True
self.camera.savePicture(DEFAULT_CAMERA_IMAGE)
add_to_queue(q, messages.RETURN, DEFAULT_CAMERA_IMAGE)
elif msg[0] == messages.WEIGHTED_ARTIFACT_SET_LIST:
expecting_return = True
li = self.dbi.weighted_artifact_set_list()
add_to_queue(q, messages.RETURN, arguments=li)
elif msg[0] == messages.MAIN_ABANDON_SHIP:
add_to_queue(q, messages.GUI_LISTENER_DIE)
add_to_queue(self.q_in, messages.MAIN_ABANDON_SHIP)
return
elif msg[0] == messages.STOP or msg[0] == messages.LAST_ARTIFACT or msg[0] == messages.RESET:
# These commands are only relevant if the robot is already running.
expecting_return = False
pass
elif msg[0] == messages.GIVE_ME_A_ROBOT:
add_to_queue(q, messages.RETURN, self.robot)
else:
# add it back to the in queue, was somebody else waiting for that message?
add_to_queue(self.q_in, msg[0], (msg[1] if len(msg) > 1 else None))
except:
print "EXCEPTION GENERATED"
raise
if expecting_return:
add_to_queue(q, messages.RETURN)
def set_seletcted_set(self, set_id):
self.selected_set = None
def _sanity_checks(self):
print 'gado_sys\tin sanity checks'
if self.started:
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'The scanning process has already started')
return False
_a = 'a'
self.started = id(_a)
if not self.selected_set:
print 'gado_sys\tfailed sanity check on selected_set'
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'Please select an artifact set from the dropdown.')
self.started = False
return False
if not self.robot.connected():
print 'gado_sys\tfailed sanity check on robot.connected()'
#tkMessageBox.showerror("Initialization Error",
# "Lost connection to the robot, please try restarting.")
self.connect()
if not self.robot.connected():
print "gado_sys\tCOMPLETELY FAILED ON robot.connected()"
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'Unable to connect to the robot. Try pressing the reset button and then unplugging it and replugging it.')
self.started = False
return False
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Connected to the Gado')
self.robot.reset()
if not self.scanner.connected():
print 'gado_sys\tfailed sanity check on scanner.connected(), retrying'
try: del self.scanner
except: pass
self.scanner = Scanner(**import_settings())
if not self.scanner.connected():
print 'gado_sys\tfailed sanity check on scanner.connected()'
#tkMessageBox.showerror("Initialization Error",
# "Lost connection to the scanner, please try restarting.")
self.started = False
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'Unable to connect to the scanner. Try unplugging it and replugging it. You may need to restart this application or run the setup wizard again.')
return False
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Connected to the scanner')
if not self.camera.connected():
print 'gado_sys\tfailed sanity check on camera.connected()'
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'Unable to connect to the scanner. Try unplugging it and replugging it. You may need to restart this application or run the setup wizard again.')
self.started = False
return False
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Connected to the webcam')
self.robot._moveActuator(self.robot.actuator_up_value)
time.sleep(2)
if self.started != id(_a):
add_to_queue(self.q_out, messages.DISPLAY_ERROR, 'An unknown error has occurred. Try restarting this application')
self.started = False
return False
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Ready to begin scanning')
return True
def _checkMessages(self):
'''
Controls the gado loop
Returns True if the process should continue
Returns False if the process should after the current loop
Resets and raises an error if things need to stop.
'''
if self.q_in.empty():
return True
msg = fetch_from_queue(self.q_in)
if msg[0] == messages.STOP:
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Robot stopped.')
self.started = False
self.robot.stop()
raise Exception('STOP CALLED')
elif msg[0] == messages.RESET:
self.robot.reset()
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Robot reset')
raise Exception('RESET CALLED')
elif msg[0] == messages.LAST_ARTIFACT:
return False
elif msg[0] == messages.START:
add_to_queue(self.q_out, messages.DISPLAY_INFO, 'The robot is already running. If it is not, then please restart this application.')
elif msg[0] == messages.SYSTEM_ABANDON_SHIP:
self.robot.stop()
add_to_queue(self.q_in, msg[0])
raise Exception('Application Terminating')
else:
add_to_queue(self.q_out, msg[0], (msg[1] if len(msg) > 1 else None))
return True
def start(self):
'''
Starts the scanning process for the current in pile
'''
#Come back and make the sanity checks real
if not self._sanity_checks():
return False
#The actual looping should be happening here, instead of in Robot.py
#Robot.py should just run the loop once and all conditions/vars will be stored here
#self.robotThread = RobotThread(self.robot)
print "gado_sys\tchecking for messages"
self._checkMessages()
print 'gado_sys\tattempting to save picture'
# Sometimes it gets left behind, get rid of it
try: os.remove(DEFAULT_CAMERA_IMAGE)
except: pass
self.camera.savePicture(DEFAULT_CAMERA_IMAGE)
self._checkMessages()
print "gado_sys\tattempting to check for barcode"
completed = check_for_barcode(DEFAULT_CAMERA_IMAGE)
print 'gado_sys\timage_path %s' % self.image_path
while not completed:
# New Artifact!
print "gado_sys\tattempting to add an artifact"
completed = self._checkMessages() & completed
artifact_info = new_artifact(self.dbi, self.selected_set)
front_fn = artifact_info['front_path']
back_fn = artifact_info['back_path']
print 'gado_sys\trenaming webcam image to %s' % back_fn
move(DEFAULT_CAMERA_IMAGE, back_fn)
#os.rename(DEFAULT_CAMERA_IMAGE, back_fn)
add_to_queue(self.q_out, messages.SET_WEBCAM_PICTURE, back_fn)
print "gado_sys\tattempting to add an image"
image_id = self.dbi.add_image(artifact_id, back_fn, False)
print "gado_sys\tattempting to go pick up an object"
completed = self._checkMessages() & completed
self.robot.pickUpObject()
print "gado_sys\tattempting to move object to scanner"
completed = self._checkMessages() & completed
self.robot.scanObject()
print "gado_sys\tattempting to scan"
completed = self._checkMessages() & completed
# Sometimes it gets left behind :(
try: os.remove(DEFAULT_SCANNED_IMAGE)
except: pass
self.scanner.scanImage(DEFAULT_SCANNED_IMAGE)
print 'gado_sys\trenaming scanned images to %s' % front_fn
move(DEFAULT_SCANNED_IMAGE, front_fn)
#os.rename(DEFAULT_SCANNED_IMAGE, front_fn)
add_to_queue(self.q_out, messages.SET_SCANNER_PICTURE, front_fn)
image_id = self.dbi.add_image(artifact_id, front_fn, True)
completed = self._checkMessages() & completed
self.robot.moveToOut()
self.camera.savePicture(DEFAULT_CAMERA_IMAGE)
completed = check_for_barcode(DEFAULT_CAMERA_IMAGE)
self.started = False
print "Done with robot loop"
def connect(self):
'''
Connect to the Gado.
If a port is specified in the settings, then try to connect to it
Otherwise scan through ports attempting to connect to the Robot
'''
settings = import_settings()
if 'gado_port' in settings:
success = self.robot.connect(settings['gado_port'])
if success:
return True
return _connect(self.robot)
def disconnect(self):
'''
I'm not sure why we would want to disconnect the robot
'''
return True
def _capture_webcam(self):
'''
Captures a backside view of the next image in queue
'''
image = None
return image
def _check_barcode(self, image):
'''
Checks for a barcode within image
'''
return True
def _scan_image(self):
'''
Instructs the scanner to scan the image
This does not transfer the image to the computer yet
'''
pass
def _transfer_image(self):
pass
class GadoSystem():
def __init__(self, q_in, q_out, recovered=False):
#Instantiate the logger
loggerObj = Logger(self.__class__.__name__)
self.logger = loggerObj.getLoggerInstance()
self.logger.info("Initializing the Gado System...")
#Load up both queues
self.q_in = q_in
self.q_out = q_out
#Grab the settings from gado.conf (If it exists) and place them into
#a local object so that they can be used here
self.load_settings()
#If there are no settings (because there is no gado.conf)
if not self.s:
#Grab the default settings and load them into a newly created gado.conf
export_settings(**default_settings())
#Load those default settings to a local object
self.load_settings()
#Because there is no gado.conf, we're going to need to launch
#the configuration wizard so that the user can enter their
#personal settings
add_to_queue(self.q_out, messages.LAUNCH_WIZARD)
print 'gado_sys\tasked to launch the wizard'
#Even if we do have a gado.conf file, the wizard has never been run
#so it needs to get launched for the user's personal preferences
elif 'wizard_run' in self.s and int(self.s['wizard_run']) == 0:
add_to_queue(self.q_out, messages.LAUNCH_WIZARD)
print 'gado_sys\tasked to launch the wizard2'
#If this is the first time the logic thread has been run,
#tell the gui thread that the system is ready for interactions
else:
print 'gado_sys\tnot asked for a wizard'
if not recovered: add_to_queue(self.q_out, messages.READY)
#Get an instance of the database and the database interface
self.db = DBFactory(**self.s).get_db()
self.dbi = DBInterface(self.db)
#Init local vars
self.selected_set = None
self.started = False
def load_settings(self):
'''
Function which attempts to import the settings stored in gado.conf
If there is no gado.conf (or it is empty) then the settings object
defaults to None
'''
s = import_settings()
if s:
s['scanned_image'] = '%s.%s' % (s['temp_scanned_image'],
s['image_front_filetype'].strip('.'))
s['webcam_image'] = '%s.%s' % (s['temp_webcam_image'],
s['image_back_filetype'].strip('.'))
self.s = s
def load(self):
'''
Loads up the settings from gado.conf and instantiates objects for:
The Scanner
The Robot
The Webcam
'''
self.load_settings()
self.scanner = Scanner(**self.s)
self.robot = Robot(**self.s)
self.camera = Webcam(**self.s)
def mainloop(self):
'''
Repeating loop that constantly checks to see if the in-queue (the Gui) has any new
messages for the system
A Series of if/elses is then used to determine the appropriate action to take for
each message received
'''
#Set database interface, the system-to-gui queue and the robot as local vars
dbi = self.dbi
q = self.q_out
robot = self.robot
#add_to_queue(q, messages.READY)
#Loop until told to stop
while True:
expecting_return = False
try:
#Grab a message from the gui-to-system queue (if on exists)
msg = fetch_from_queue(self.q_in)
#Add an new artifact set to the local database
if msg[0] == messages.ADD_ARTIFACT_SET_LIST:
i = dbi.add_artifact_set(**msg[1])
#Grab the full lits of artifact sets and pass it back
#using the system-to-gui queue
elif msg[0] == messages.ARTIFACT_SET_LIST:
expecting_return = messages.ARTIFACT_SET_LIST
i = dbi.artifact_set_list()
add_to_queue(q, messages.ARTIFACT_SET_LIST, i)
#Delete a specified artifact set
elif msg[0] == messages.DELETE_ARTIFACT_SET_LIST:
dbi.delete_artifact_set(msg[1])
#Grab the user's settings and either update the settings for
#the robot, scanner and webcam; or reinstantiate those objects
#with the new setttings
elif msg[0] == messages.RELOAD_SETTINGS:
settings = import_settings()
self.s = settings
self.robot.updateSettings(**settings)
del self.camera
self.camera = Webcam(**settings)
del self.scanner
self.scanner = Scanner(**settings)
self._load_settings(**settings)
#Restart the robot
elif msg[0] == messages.RESET:
self.robot.reset()
#Attempt to connect to the robot (via serial port)
#Pass back to Gui whether or not it was sucessfull
elif msg[0] == messages.ROBOT_CONNECT:
expecting_return = messages.ROBOT_CONNECT
success = self.connect()
self.logger.info('ROBOT_CONNECT: %s' % success)
add_to_queue(q, messages.ROBOT_CONNECT, robot.connected())
#Delete the current scanner object (if it exists)
#and instantiate a new one
#
#Pass back to Gui whether or not this was sucessfull
elif msg[0] == messages.SCANNER_CONNECT:
expecting_return = messages.SCANNER_CONNECT
try: del self.scanner
except:
self.logger.exception("Exception while connecting to scanner")
pass
self.scanner = Scanner(**import_settings())
add_to_queue(q, messages.SCANNER_CONNECT, self.scanner.connected())
elif msg[0] == messages.SCANNER_CONNECTED:
add_to_queue(q, messages.SCANNER_CONNECTED, self.scanner.connected())
#Scan an inmage using the scanner
elif msg[0] == messages.SCANNER_PICTURE:
expecting_return = messages.SCANNER_PICTURE
self.scanner.scanImage(self.s['scanned_image'])
add_to_queue(q, messages.SCANNER_PICTURE, self.s['scanned_image'])
#Set the passed in artifact set as the currently selected
elif msg[0] == messages.SET_SELECTED_ARTIFACT_SET:
self.selected_set = msg[1]
#Starts the robot's overall procedure for moving/scanning artifacts
elif msg[0] == messages.START:
self.start()
#Grabs a list of available webcams and returns them to the Gui thread
elif msg[0] == messages.WEBCAM_LISTING:
self.logger.debug('WEBCAM_LISTING')
expecting_return = messages.WEBCAM_LISTING
opts = self.camera.options()
self.logger.debug('WEBCAM_LISTING - %s' % opts)
add_to_queue(q, messages.WEBCAM_LISTING, opts)
#Attempt to connect to the selected webcam
elif msg[0] == messages.WEBCAM_CONNECT:
self.logger.debug('WEBCAM_CONNECT switch made it')
expecting_return = messages.WEBCAM_CONNECT
#If the webcam object exists
if self.camera:
self.logger.info('Camera already exists')
#And it is connected
if self.camera.connected():
self.logger.info('Already connected to the webcam')
#Relay that information back to the Gui thread
add_to_queue(q, messages.WEBCAM_CONNECT, self.camera.connected())
return
#Otherwise, disconnect
else: self.camera.disconnect()
#Reinstantiate the webcam object with the user settings
self.camera = Webcam(**import_settings())
#Connect to webcam and let the Gui thread know if it was sucessfull
self.logger.info('self.camera.connected() %s' % self.camera.connected())
add_to_queue(q, messages.WEBCAM_CONNECT, self.camera.connected())
elif msg[0] == messages.WEBCAM_CONNECTED:
add_to_queue(q, messages.WEBCAM_CONNECTED, self.camera.connected())
#Take a picture using the currently connected webcam
elif msg[0] == messages.WEBCAM_PICTURE:
expecting_return = messages.WEBCAM_PICTURE
#Save the picture as the temp image name
self.camera.savePicture(self.s['webcam_image'])
#Pass that name back to the Gui thread
add_to_queue(q, messages.WEBCAM_PICTURE, self.s['webcam_image'])
#Grab a list of artifact sets, with weights so we can figure out the most
#recently used
elif msg[0] == messages.WEIGHTED_ARTIFACT_SET_LIST:
expecting_return = messages.WEIGHTED_ARTIFACT_SET_LIST
li = self.dbi.weighted_artifact_set_list()
add_to_queue(q, messages.WEIGHTED_ARTIFACT_SET_LIST, arguments=li)
#Kill the program!!!
elif msg[0] == messages.MAIN_ABANDON_SHIP:
add_to_queue(q, messages.GUI_LISTENER_DIE)
add_to_queue(self.q_in, messages.MAIN_ABANDON_SHIP)
return
elif msg[0] == messages.STOP or msg[0] == messages.LAST_ARTIFACT or msg[0] == messages.RESET:
# These commands are only relevant if the robot is already running.
pass
#Pass the robot object to the Gui thread
elif msg[0] == messages.GIVE_ME_A_ROBOT:
add_to_queue(q, messages.GIVE_ME_A_ROBOT, self.robot)
else:
# add it back to the in queue, was somebody else waiting for that message?
add_to_queue(self.q_in, msg[0], (msg[1] if len(msg) > 1 else None))
#Something went horribly wrong, if the Gui thread is expecting a response,
#Tell it things went poorly
except:
self.logger.exception("EXCEPTION GENERATED")
#raise
if expecting_return:
add_to_queue(q, expecting_return)
def _sanity_checks(self):
'''
Runs a series of checks on the connected peripherals and other components
of the Gado system
If any of these tests fail, then the Gui thread is notified as to what didn't work so
the user can take appropriate action
If all the tests pass, then the system is ready to proceed with the scanning process
'''
self.logger.debug('in sanity checks')
#If the scanning process has started, and a user attempts to start it again
#Tell the gui to display a message stating that
if self.started:
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'The scanning process has already started')
return False
_a = 'a'
self.started = id(_a)
#User did not select an artifact set from the dropdown
if not self.selected_set:
self.logger.error('failed sanity check on selected_set')
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'Please select an artifact set from the dropdown.')
self.started = False
return False
#Robot is not currently connected
if not self.robot.connected():
self.logger.error('failed sanity check on robot.connected()')
#Try and connect
self.connect()
#If that failed, let the Gui know so it can tell the user
if not self.robot.connected():
self.logger.error("COMPLETELY FAILED ON robot.connected()")
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'Unable to connect to the robot. Try pressing the reset button and then unplugging it and replugging it.')
self.started = False
return False
#Otherwise, let the user know that the connection was successfull
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Connected to the Gado')
#Reset the robot to its initial location
self.robot.reset()
#If the scanner is not currently connected
if not self.scanner.connected():
self.logger.error('failed sanity check on scanner.connected(), retrying')
#Delete the scanner object (if any)
try: del self.scanner
except:
self.logger.exception("Error while connecting to scanner")
pass
#Reinstantiate the object with the user settings
self.scanner = Scanner(**import_settings())
#If the scanner is still not connected to the system
if not self.scanner.connected():
self.logger.error('failed sanity check on scanner.connected()')
#Let the Gui thread know that the scanner could not be found
self.started = False
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'Unable to connect to the scanner. Try unplugging it and replugging it. You may need to restart this application or run the setup wizard again.')
return False
#Let the Gui thread know that the scanner was found so it can alert the user
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Connected to the scanner')
#Webcam is not currently connected
if not self.camera.connected():
#Attempt to connect to it
self.camera.connect()
#If that fails
if not self.camera.connected():
self.logger.error('failed sanity check on camera.connected()')
#Let the Gui thread know that it is not connected so it can alert the user
add_to_queue(self.q_out, messages.DISPLAY_ERROR,
'Unable to connect to the webcam. Try unplugging it and replugging it. You may need to restart this application or run the setup wizard again.')
self.started = False
return False
#Let the Gui thread know that the webcam is connected
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Connected to the webcam')
#Move the robot's actuator up to its starting position
self.robot._moveActuator(self.robot.actuator_up_value)
#Allow some time for the movement to happen
time.sleep(2)
#Something strange happened, let the Gui thread know
if self.started != id(_a):
add_to_queue(self.q_out, messages.DISPLAY_ERROR, 'An unknown error has occurred. Try restarting this application')
self.started = False
return False
#Sanity checks all passed, let the Gui thread know that the system is ready to proceed
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Ready to begin scanning')
return True
def _checkMessages(self):
'''
Controls the gado loop
Returns True if the process should continue
Returns False if the process should after the current loop
Resets and raises an error if things need to stop.
'''
if self.q_in.empty():
return True
msg = fetch_from_queue(self.q_in)
#Stop the robot
if msg[0] == messages.STOP:
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Robot stopped.')
self.started = False
self.robot.stop()
raise Exception('STOP CALLED')
#Reset the robot
elif msg[0] == messages.RESET:
self.robot.reset()
add_to_queue(self.q_out, messages.SET_STATUS_TEXT, 'Robot reset')
raise Exception('RESET CALLED')
#This is the last artifact being scanned, stopped after it is finished
elif msg[0] == messages.LAST_ARTIFACT:
return False
#Start the robot's procedure
elif msg[0] == messages.START:
add_to_queue(self.q_out, messages.DISPLAY_INFO, 'The robot is already running. If it is not, then please restart this application.')
#Kill everything
elif msg[0] == messages.SYSTEM_ABANDON_SHIP:
self.robot.stop()
add_to_queue(self.q_in, msg[0])
raise Exception('Application Terminating')
else:
add_to_queue(self.q_out, msg[0], (msg[1] if len(msg) > 1 else None))
return True
def start(self):
'''
Starts the scanning process for the current in pile
'''
#Come back and make the sanity checks real
if not self._sanity_checks():
return False
#The actual looping should be happening here, instead of in Robot.py
#Robot.py should just run the loop once and all conditions/vars will be stored here
self.logger.debug("checking for messages")
self._checkMessages()
self.logger.info('attempting to save picture')
# Sometimes it gets left behind, get rid of it
try:
t_webcam_image = self.s['webcam_image']
except:
self.logger.exception("Exception while starting the robot")
pass
try:
t_scanner_image = self.s['scanned_image']
except:
self.logger.exception("Exception while starting the robot")
pass
try: os.remove(t_webcam_image)
except:
self.logger.exception("Exception while starting the robot")
pass
#Take picture of back of artifact
self.camera.savePicture(t_webcam_image)
self._checkMessages()
self.logger.info("attempting to check for barcode")
#Check to see if we have reached the end of the input pile
completed = check_for_barcode(t_webcam_image, '')
#While we still have artifacts in the in pile that need to be digitized
while not completed:
# New Artifact!
self.logger.info("attempting to add an artifact")
completed = self._checkMessages() & completed
#Create a new artifact within the currently selected set
artifact_info = new_artifact(self.dbi, self.selected_set)
#Set the paths for the front and back images
front_fn = artifact_info['front_path']
back_fn = artifact_info['back_path']
self.logger.debug('renaming webcam image to %s' % back_fn)
#Move the temp webcam image to it's permanent location
move(t_webcam_image, back_fn)
#Pass the webcam's captured image back to the Gui thread so that it can be displayed
add_to_queue(self.q_out, messages.SET_WEBCAM_PICTURE, back_fn)
self.logger.info("attempting to go pick up an object")
completed = self._checkMessages() & completed
#Pick up a single artifact from the in pile
self.robot.pickUpObject()
time.sleep(5)
self.logger.info("attempting to move object to scanner")
completed = self._checkMessages() & completed
#Using the scanner, capture an image of that artifact
self.robot.scanObject()
self.robot._vacuumOn(False)
completed = self._checkMessages() & completed
# Sometimes it gets left behind :(
try: os.remove(t_scanner_image)
except:
self.logger.exception("Couldn't remove image file - this is usually not a problem")
#Do the actual scanning of the artifact
self.scanner.scanImage(t_scanner_image)
self.logger.debug('renaming scanned images to %s' % front_fn)
#Move scanned image to its permament location
move(t_scanner_image, front_fn)
#Pass the scanned image back to the Gui thread so that it can be displayed
add_to_queue(self.q_out, messages.SET_SCANNER_PICTURE, front_fn)
completed = self._checkMessages() & completed
#Rotate the robot's arm to over the out pile
self.robot.moveToOut()
#Take a picture of the back of the next artifact and check to make sure it's not
#the end of the current in pile
self.camera.savePicture(t_webcam_image)
completed = check_for_barcode(t_webcam_image, '')
#Finished
self.started = False
self.logger.debug("Done with robot loop")
def connect(self):
'''
Connect to the Gado.
If a port is specified in the settings, then try to connect to it
Otherwise scan through ports attempting to connect to the Robot
'''
settings = import_settings()
if 'gado_port' in settings:
success = self.robot.connect(self.s.get('gado_port'))
if success:
return True
return _connect(self.robot)
def mainloop(self):
'''
Repeating loop that constantly checks to see if the in-queue (the Gui) has any new
messages for the system
A Series of if/elses is then used to determine the appropriate action to take for
each message received
'''
#Set database interface, the system-to-gui queue and the robot as local vars
dbi = self.dbi
q = self.q_out
robot = self.robot
#add_to_queue(q, messages.READY)
#Loop until told to stop
while True:
expecting_return = False
try:
#Grab a message from the gui-to-system queue (if on exists)
msg = fetch_from_queue(self.q_in)
#Add an new artifact set to the local database
if msg[0] == messages.ADD_ARTIFACT_SET_LIST:
i = dbi.add_artifact_set(**msg[1])
#Grab the full lits of artifact sets and pass it back
#using the system-to-gui queue
elif msg[0] == messages.ARTIFACT_SET_LIST:
expecting_return = messages.ARTIFACT_SET_LIST
i = dbi.artifact_set_list()
add_to_queue(q, messages.ARTIFACT_SET_LIST, i)
#Delete a specified artifact set
elif msg[0] == messages.DELETE_ARTIFACT_SET_LIST:
dbi.delete_artifact_set(msg[1])
#Grab the user's settings and either update the settings for
#the robot, scanner and webcam; or reinstantiate those objects
#with the new setttings
elif msg[0] == messages.RELOAD_SETTINGS:
settings = import_settings()
self.s = settings
self.robot.updateSettings(**settings)
del self.camera
self.camera = Webcam(**settings)
del self.scanner
self.scanner = Scanner(**settings)
self._load_settings(**settings)
#Restart the robot
elif msg[0] == messages.RESET:
self.robot.reset()
#Attempt to connect to the robot (via serial port)
#Pass back to Gui whether or not it was sucessfull
elif msg[0] == messages.ROBOT_CONNECT:
expecting_return = messages.ROBOT_CONNECT
success = self.connect()
self.logger.info('ROBOT_CONNECT: %s' % success)
add_to_queue(q, messages.ROBOT_CONNECT, robot.connected())
#Delete the current scanner object (if it exists)
#and instantiate a new one
#
#Pass back to Gui whether or not this was sucessfull
elif msg[0] == messages.SCANNER_CONNECT:
expecting_return = messages.SCANNER_CONNECT
try: del self.scanner
except:
self.logger.exception("Exception while connecting to scanner")
pass
self.scanner = Scanner(**import_settings())
add_to_queue(q, messages.SCANNER_CONNECT, self.scanner.connected())
elif msg[0] == messages.SCANNER_CONNECTED:
add_to_queue(q, messages.SCANNER_CONNECTED, self.scanner.connected())
#Scan an inmage using the scanner
elif msg[0] == messages.SCANNER_PICTURE:
expecting_return = messages.SCANNER_PICTURE
self.scanner.scanImage(self.s['scanned_image'])
add_to_queue(q, messages.SCANNER_PICTURE, self.s['scanned_image'])
#Set the passed in artifact set as the currently selected
elif msg[0] == messages.SET_SELECTED_ARTIFACT_SET:
self.selected_set = msg[1]
#Starts the robot's overall procedure for moving/scanning artifacts
elif msg[0] == messages.START:
self.start()
#Grabs a list of available webcams and returns them to the Gui thread
elif msg[0] == messages.WEBCAM_LISTING:
self.logger.debug('WEBCAM_LISTING')
expecting_return = messages.WEBCAM_LISTING
opts = self.camera.options()
self.logger.debug('WEBCAM_LISTING - %s' % opts)
add_to_queue(q, messages.WEBCAM_LISTING, opts)
#Attempt to connect to the selected webcam
elif msg[0] == messages.WEBCAM_CONNECT:
self.logger.debug('WEBCAM_CONNECT switch made it')
expecting_return = messages.WEBCAM_CONNECT
#If the webcam object exists
if self.camera:
self.logger.info('Camera already exists')
#And it is connected
if self.camera.connected():
self.logger.info('Already connected to the webcam')
#Relay that information back to the Gui thread
add_to_queue(q, messages.WEBCAM_CONNECT, self.camera.connected())
return
#Otherwise, disconnect
else: self.camera.disconnect()
#Reinstantiate the webcam object with the user settings
self.camera = Webcam(**import_settings())
#Connect to webcam and let the Gui thread know if it was sucessfull
self.logger.info('self.camera.connected() %s' % self.camera.connected())
add_to_queue(q, messages.WEBCAM_CONNECT, self.camera.connected())
elif msg[0] == messages.WEBCAM_CONNECTED:
add_to_queue(q, messages.WEBCAM_CONNECTED, self.camera.connected())
#Take a picture using the currently connected webcam
elif msg[0] == messages.WEBCAM_PICTURE:
expecting_return = messages.WEBCAM_PICTURE
#Save the picture as the temp image name
self.camera.savePicture(self.s['webcam_image'])
#Pass that name back to the Gui thread
add_to_queue(q, messages.WEBCAM_PICTURE, self.s['webcam_image'])
#Grab a list of artifact sets, with weights so we can figure out the most
#recently used
elif msg[0] == messages.WEIGHTED_ARTIFACT_SET_LIST:
expecting_return = messages.WEIGHTED_ARTIFACT_SET_LIST
li = self.dbi.weighted_artifact_set_list()
add_to_queue(q, messages.WEIGHTED_ARTIFACT_SET_LIST, arguments=li)
#Kill the program!!!
elif msg[0] == messages.MAIN_ABANDON_SHIP:
add_to_queue(q, messages.GUI_LISTENER_DIE)
add_to_queue(self.q_in, messages.MAIN_ABANDON_SHIP)
return
elif msg[0] == messages.STOP or msg[0] == messages.LAST_ARTIFACT or msg[0] == messages.RESET:
# These commands are only relevant if the robot is already running.
pass
#Pass the robot object to the Gui thread
elif msg[0] == messages.GIVE_ME_A_ROBOT:
add_to_queue(q, messages.GIVE_ME_A_ROBOT, self.robot)
else:
# add it back to the in queue, was somebody else waiting for that message?
add_to_queue(self.q_in, msg[0], (msg[1] if len(msg) > 1 else None))
#Something went horribly wrong, if the Gui thread is expecting a response,
#Tell it things went poorly
except:
self.logger.exception("EXCEPTION GENERATED")
#raise
if expecting_return:
add_to_queue(q, expecting_return)
def load(self):
self.load_settings()
self.scanner = Scanner(**self.s)
self.robot = Robot(**self.s)
self.camera = Webcam(**self.s)