def main(benchmarks, name, tsp, cores, timeout, sequential, prio_conflicts,
debug, verbose, official):
if not name:
name = f"pc={'T' if prio_conflicts else 'F'}," \
f"ord={'T' if sequential else 'F'}"
if not sequential:
name = f"tsp={tsp}," + name
if official:
name += ' (TU)'
def prepped_solver(problem: Problem) -> List:
return solver(problem, {
"tsp": tsp.lower(),
"pc": prio_conflicts,
"ord": sequential
})
api_key = open("api_key.txt", "r").read().strip()
benchmark = MapfwBenchmarker(api_key,
benchmarks,
"A*+OD+ID",
name,
debug,
prepped_solver,
cores=cores,
timeout=timeout)
logger.start(info=debug, debug=verbose)
benchmark.run()
logger.stop()
def shutdown():
if lp_events.timer != None: # cancel any outstanding events
lp_events.timer.cancel()
scripts.to_run = [] # remove anything from the list of scripts scheduled to run
for x in range(9):
for y in range(9):
if scripts.buttons[x][y].thread != None:
scripts.buttons[x][y].thread.kill.set() # request to kill any running threads
if window.lp_connected or window.IsStandalone:
scripts.Unbind_all() # unbind all the buttons
lp_events.timer.cancel() # cancel all the timers
if LP != None and LP != -1:
launchpad_connector.disconnect(LP) # disconnect from the launchpad
window.lp_connected = False
logger.stop() # stop logging
if window.restart:
window.restart = False # don't do this forever
if IS_EXE:
os.startfile(sys.argv[0])
else:
os.execv(sys.executable, ["\"" + sys.executable + "\""] + sys.argv)
sys.exit("[LPHK] Shutting down...")
def main():
log.init()
my_gui = MainWindow()
log.init(my_gui)
my_gui.run()
log.stop()
def shutdown():
if lp_events.timer != None:
lp_events.timer.cancel()
scripts.to_run = []
for x in range(9):
for y in range(9):
if scripts.threads[x][y] != None:
scripts.threads[x][y].kill.set()
if window.lp_connected:
scripts.unbind_all()
lp_events.timer.cancel()
launchpad_connector.disconnect(lp)
window.lp_connected = False
logger.stop()
if window.restart:
if IS_EXE:
os.startfile(sys.argv[0])
else:
os.execv(sys.executable, ["\"" + sys.executable + "\""] + sys.argv)
sys.exit("[LPHK] Shutting down...")
t11 = time.perf_counter()
log.message(DEFINES.LOG_MESSAGE_PRIORITY_INFO, 0,
'Launching calibration plotting')
calibration.plot_calib(calibrationResults,
programParameters.fileParameters)
(days, hours, minutes,
seconds) = mm.decompose_time(time.perf_counter() - t11)
log.message(DEFINES.LOG_MESSAGE_PRIORITY_DEBUG_INFO, 0,
f'Done in {seconds:5.2f}s')
#close all handles and multiprocessing instances
log.message(DEFINES.LOG_MESSAGE_PRIORITY_INFO, 0, 'Stopping the program')
programParameters.stop_all()
(days, hours, minutes,
seconds) = mm.decompose_time(time.perf_counter() - t0)
log.message(
DEFINES.LOG_MESSAGE_PRIORITY_INFO, 0,
f'All done in {days:02d}d {hours:02d}h{minutes:02d}m{seconds:04.1f}s')
log.message(DEFINES.LOG_MESSAGE_PRIORITY_INFO, 0,
'Holding for figures display...')
# plt.show()
return True
if __name__ == '__main__':
log.init()
main()
log.stop()
def main():
import matplotlib.image as mpimg
import matplotlib.pyplot as plt
from computeCentroid import compute_centroid as compute_centroid
import classConfig
# try:
# try:
# raise OSError
# except OSError:
# raise errors.CameraError("error1")
# try:
# raise OSError
# except OSError:
# raise errors.CameraError("error2")
# except Exception as e:
# print(e)
#Set the default values
im_path = os.path.join('Python_garbage', 'garbage.png')
nbCentroidsLoop = 1000
ncComputationsPerCentroid = 1
centroids_txt_path = os.path.join('Python_garbage', 'centroids.mat')
image_ID = 1
exposure_time = 250
gain = 0.0
black_level = 1.25
gamma = 1.0
ROI = np.zeros(5, dtype=np.uint16)
#python grab_image.py "" "..\41000-Matlab-Calibration_and_test\calibration_data_cam1_XY.mat" 1 12345 4 11111 2 2.5 1.5 1.5
nb_args = len(sys.argv) - 1
if nb_args > 0:
im_path = sys.argv[1]
if nb_args > 1:
cam_path = sys.argv[2]
if nb_args > 2:
camera_ID = int(sys.argv[3])
if nb_args > 3:
image_ID = int(sys.argv[4])
if nb_args > 4:
nb_images = int(sys.argv[5])
if nb_args > 5:
exposure_time = float(sys.argv[6])
if nb_args > 6:
gain = float(sys.argv[7])
if nb_args > 7:
black_level = float(sys.argv[8])
if nb_args > 8:
gamma = float(sys.argv[9])
if im_path != '' or image_ID > -1:
centroid = (0, 0, 0, 0, 0, 0, 0, 0)
try:
#create camera instance
camera = Camera(cameraType=DEFINES.PC_CAMERA_TYPE_XY,
compatibleCameraID=22289804) #22942361 #22994237
#_=os.system('echo Taking picture')
camera.setMaxROI()
exposure_time = camera.getOptimalExposure(exposure_time)
log.message(DEFINES.LOG_MESSAGE_PRIORITY_INFO, 0,
f'Exposure time is: {exposure_time:.1f}')
if exposure_time >= DEFINES.PC_CAMERA_XY_MAX_EXPOSURE:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_ERROR, 0,
f'Max exposure was reached')
camera.close()
return
camera.setProperties(exposure_time, gain, black_level, gamma)
if image_ID > -1:
config = classConfig.Config()
camera.setDistortionCorrection(config)
centroids = np.zeros((nbCentroidsLoop, 3))
minimum = 1000000 * np.ones(2)
maximum = 0 * np.ones(2)
mean = 0 * np.ones(2)
std = 0 * np.ones(2)
#Get first centroid to set ROI
picture = camera.getImage()
#Save the image
if im_path != '':
mpimg.imsave(im_path, picture)
#compute the centroid
if image_ID > -1:
centroid = compute_centroid(picture, camera.parameters,
image_ID)
if np.isnan(centroid[0]):
log.message(DEFINES.LOG_MESSAGE_PRIORITY_WARNING, 0,
"No centroid detected")
return
ROI[0] = int(centroid[2])
ROI[1] = int(centroid[3])
ROI[2] = camera.parameters.minCropWindow + 20
ROI[3] = camera.parameters.minCropWindow
ROI[4] = np.sqrt(ROI[2]**2 + ROI[3]**2)
camera.setROI(ROI)
print("camera params", camera.parameters)
for i in range(0, nbCentroidsLoop):
currentComputation = []
for j in range(0, ncComputationsPerCentroid):
t0 = time.perf_counter()
picture = camera.getImage()
#Save the image
if im_path != '':
mpimg.imsave(im_path, picture)
#compute the centroid
t1 = time.perf_counter()
if image_ID > -1:
currentComputation.append(
compute_centroid(picture, camera.parameters,
image_ID))
# log.message(DEFINES.LOG_MESSAGE_PRIORITY_WARNING, 0, f'Image: {t1-t0:4.3f} s. Centroid: {time.perf_counter()-t1:4.3f} s')
if np.isnan(centroid[0]):
log.message(DEFINES.LOG_MESSAGE_PRIORITY_WARNING, 0,
"No centroid detected")
raise errors.CameraError("Fiber light went out")
currentComputation = np.array(currentComputation)
# print(currentComputation)
# print(currentComputation[0])
# print(currentComputation[0,0])
centroid = (np.mean(currentComputation[:,0]),\
np.mean(currentComputation[:,1]),\
np.mean(currentComputation[:,2]),\
np.mean(currentComputation[:,3]),\
np.mean(currentComputation[:,4]),\
np.mean(currentComputation[:,5]),\
np.mean(currentComputation[:,6]),\
currentComputation[0,7])
centroids[i, 2] = i
for j in range(0, 2):
centroids[i, j] = centroid[j]
if centroid[j] < minimum[j]:
minimum[j] = centroid[j]
if centroid[j] > maximum[j]:
maximum[j] = centroid[j]
mean[j] = np.mean(centroids[0:(i + 1), j])
std[j] = np.std(centroids[0:(i + 1), j])
log.message(DEFINES.LOG_MESSAGE_PRIORITY_INFO, 0, f'{centroid[0]:.6f},{centroid[1]:.6f},{centroid[6]:.6f}'+\
f' Centroid {i+1:4}/{nbCentroidsLoop:4}'+\
f' Max diff: {maximum[0]-minimum[0]:.6f},{maximum[1]-minimum[1]:.6f}'+\
f' Mean: {mean[0]:.6f},{mean[1]:.6f}'+\
f' STD: {std[0]:.6f},{std[1]:.6f}')
centroids[:, 0] = centroids[:, 0] - np.nanmean(centroids[:, 0])
centroids[:, 1] = centroids[:, 1] - np.nanmean(centroids[:, 1])
except errors.CameraError as e:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_CRITICAL, 0, str(e))
log.stop()
return
try:
io.savemat(centroids_txt_path, \
{'centroids': centroids})
except OSError as e:
log.message(DEFINES.LOG_MESSAGE_PRIORITY_CRITICAL, 0, str(e))
log.stop()
return
camera.close()
plt.figure()
plt.scatter(centroids[:, 0],
centroids[:, 1],
color='red',
marker='x',
s=1)
plt.show()
def __send_email_measurement_error(mailto, step):
"""
Sends an email to the recipient to notify that an execution error has occurred during the measurement.
:param mailto: Recipient's email address.
:param step: Step where the error has occurred.
"""
global ERRORTEMPLATEPATH, FROM, LOGFILE_DIR, LOGFILE, attachError, session
# Variable
attachError = None
print(Fore.CYAN + " Sending email to the following email address: " +
mailto + " to notify the measurement"
" error" + Fore.RESET),
# Subject of the email
subject = "HYOT - Measurement error - Step: " + step
# Message of the email in HTML format
try:
message = __read_template(
os.path.dirname(os.path.abspath(__file__)) + "/" +
ERRORTEMPLATEPATH).substitute(STEP=step)
except Exception as templateError:
print(Fore.RED + " ✖ Error in the email template. Exception: " +
str(templateError) + ".\n" + Fore.RESET)
sys.exit(1)
time.sleep(0.5)
# Creates an instance of MIMEMultipart
email_instance = MIMEMultipart()
# Constructs the email
email_instance["From"] = FROM # Sender's email address
email_instance["To"] = mailto # Recipient's email address
email_instance["Subject"] = subject
# Creates and attaches the message in HTML text
email_instance.attach(MIMEText(message, 'html'))
try:
# Stops the logger and returns print functionality to normal. Also, the log file is closed
logger.stop()
# Opens the file to attach
attachment = open(LOGFILE_DIR + "/" + LOGFILE, "rb")
# Creates an instance of MIMEBase
part = MIMEBase('application', 'octet-stream')
# Steps to convert the file into a Base64
part.set_payload(attachment.read())
encoders.encode_base64(part)
part.add_header('Content-Disposition',
"attachment; filename= %s" % LOGFILE)
# Closes the open file
attachment.close()
# Attaches the file
email_instance.attach(part)
except IOError as attachedError: # Error to open the file
attachError = " Could not open the log file so it is not attached to the email. Exception: "\
+ str(attachedError) + ".\n"
try:
# Sends the message via a SMTP server
session.sendmail(FROM, mailto, email_instance.as_string())
print(Fore.GREEN + " ✓" + Fore.RESET)
if not (attachError is None):
print(Fore.YELLOW + attachError + Fore.RESET)
except Exception as sendError:
print(Fore.RED + " ✖ Error to send the email. Exception: " +
str(sendError) + ".\n" + Fore.RESET)
sys.exit(1)
