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 __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()
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 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
