def _on_client_connected(self,eventManager, event):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_CLIENT_INIT
message['data']['client'] = event['client']
message['data']['state'] = self._state
message['data']['server_version'] = str(__version__)
message['data']['firmware_version'] = str(self.hardwareController.get_firmware_version())
#message['data']['points'] = self.pointcloud
message['data']['settings'] = self.settings.todict(self.settings)
eventManager.publish(FSEvents.ON_SOCKET_SEND, message)
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
if not self.hardwareController.arduino_is_connected():
message['data']['message'] = "NO_SERIAL_CONNECTION"
message['data']['level'] = "error"
else:
message['data']['message'] = "SERIAL_CONNECTION_READY"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
if not self.hardwareController.camera_is_connected():
message['data']['message'] = "NO_CAMERA_CONNECTION"
message['data']['level'] = "error"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
else:
message['data']['message'] = "CAMERA_READY"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
def _on_client_connected(self,eventManager, event):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_CLIENT_INIT
message['data']['client'] = event['client']
message['data']['state'] = self._state
message['data']['server_version'] = str(__version__)
message['data']['firmware_version'] = str(self.hardwareController.get_firmware_version())
#message['data']['points'] = self.pointcloud
message['data']['settings'] = self.settings.todict(self.settings)
eventManager.publish(FSEvents.ON_SOCKET_SEND, message)
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
if not self.hardwareController.arduino_is_connected():
message['data']['message'] = "NO_SERIAL_CONNECTION"
message['data']['level'] = "error"
else:
message['data']['message'] = "SERIAL_CONNECTION_READY"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
if not self.hardwareController.camera_is_connected():
message['data']['message'] = "NO_CAMERA_CONNECTION"
message['data']['level'] = "error"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
else:
message['data']['message'] = "CAMERA_READY"
message['data']['level'] = "info"
self.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 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 set_state(self, state):
self._state = state
message = FSUtil.new_message()
message = FSUtil.new_message()
message['type'] = FSEvents.ON_STATE_CHANGED
message['data']['state'] = state
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
def message_event(self):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "MESHING_DONE"
message['data']['scan_id'] = self.prefix
message['data']['level'] = "success"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
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)
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 message_event(self):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "MESHING_DONE"
message['data']['scan_id'] = self.scan_id
message['data']['level'] = "success"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST, message)
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)
def set_state(self, state):
self._state = state
message = FSUtil.new_message()
message['type'] = FSEvents.ON_STATE_CHANGED
message['data']['state'] = state
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
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 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 _on_client_connected(self,eventManager, event):
message = FSUtil.new_message()
message['type'] = FSEvents.ON_CLIENT_INIT
message['data']['client'] = event['client']
message['data']['state'] = self._state
#message['data']['points'] = self.pointcloud
message['data']['settings'] = self.settings.todict(self.settings)
#message['data']['settings'] = dict()
eventManager.publish(FSEvents.ON_SOCKET_SEND, message)
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 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 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 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 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 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 run(self):
try:
self._logger.info("Meshlab Process Started...")
basedir = os.path.dirname(os.path.dirname(__file__))
script_name = "default_meshing.mlx"
mlx = basedir+"/mlx/"+script_name
input = self.config.folders.scans+str(self.prefix)+"/scan_"+str(self.prefix)+".ply"
output = self.config.folders.scans+str(self.prefix)+"/mesh_"+str(self.prefix)+"_"+script_name.split(".")[0]+".ply"
FSSystem.run_command("xvfb-run meshlabserver -i "+input+" -o "+output+" -s "+str(mlx)+" -om vc vn")
self.message_event()
self._logger.info("Meshlab Process finished.")
except:
self._logger.error("Meshing Task crashed.")
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "MESHING_FAILED"
message['data']['level'] = "error"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
def _on_command(self,mgr, event):
command = event.command
## Start Scan and goto Settings Mode
if command == FSCommand.SCAN:
if self._state is FSState.IDLE:
self.set_state(FSState.SETTINGS)
self.hardwareController.settings_mode_on()
## Update Settings in Settings Mode
elif command == FSCommand.UPDATE_SETTINGS:
if self._state is FSState.SETTINGS:
try:
#self._logger.info(event.settings)
self.settings.update(event.settings)
self.hardwareController.led.on(self.settings.led.red,self.settings.led.green,self.settings.led.blue)
except:
pass
## Start Scan Process
elif command == FSCommand.START:
if self._state is FSState.SETTINGS:
self._logger.debug("Start command received...")
self.set_state(FSState.SCANNING)
self.hardwareController.settings_mode_off()
self.scanProcessor = FSScanProcessor.start()
self.scanProcessor.tell({FSEvents.COMMAND:FSCommand.START})
## Stop Scan Process or Stop Settings Mode
elif command == FSCommand.STOP:
if self._state is FSState.SCANNING:
self.scanProcessor.ask({FSEvents.COMMAND:FSCommand.STOP})
self.scanProcessor.stop()
if self._state is FSState.SETTINGS:
self.hardwareController.settings_mode_off()
#self.scanProcessor.stop()
self.hardwareController.camera.device.stopStream()
self.set_state(FSState.IDLE)
elif command == FSCommand._COMPLETE:
self.set_state(FSState.IDLE)
self.hardwareController.camera.device.stopStream()
#self.scanProcessor.stop()
self._logger.info("Scan complete")
elif command == FSCommand._LASER_DETECTION_FAILED:
#self.scanProcessor.ask({FSEvents.COMMAND:FSCommand.STOP})
self._logger.info("No Laser detected, returning to settings dialog.")
#self.scanProcessor.ask({FSEvents.COMMAND:FSCommand.STOP})
#self.scanProcessor.stop()
self.set_state(FSState.SETTINGS)
self.hardwareController.settings_mode_on()
elif command == FSCommand.MESHING:
_meshlabTask = FSMeshlabTask(event.scan_id)
_meshlabTask.start()
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "MESHING_STARTED"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)
def _on_command(self,mgr, event):
command = event.command
## Start Scan and goto Settings Mode
if command == FSCommand.SCAN:
if self._state is FSState.IDLE:
self.set_state(FSState.SETTINGS)
self.hardwareController.settings_mode_on()
## Update Settings in Settings Mode
elif command == FSCommand.UPDATE_SETTINGS:
if self._state is FSState.SETTINGS:
try:
#self._logger.info(event.settings)
self.settings.update(event.settings)
self.hardwareController.led.on(self.settings.led.red,self.settings.led.green,self.settings.led.blue)
except:
pass
## Start Scan Process
elif command == FSCommand.START:
if self._state is FSState.SETTINGS:
self._logger.debug("Start command received...")
self.set_state(FSState.SCANNING)
self.hardwareController.settings_mode_off()
self.scanProcessor = FSScanProcessor.start()
self.scanProcessor.tell({FSEvents.COMMAND:FSCommand.START})
## Stop Scan Process or Stop Settings Mode
elif command == FSCommand.STOP:
if self._state is FSState.SCANNING:
self.scanProcessor.ask({FSEvents.COMMAND:FSCommand.STOP})
self.scanProcessor.stop()
if self._state is FSState.SETTINGS:
self.hardwareController.settings_mode_off()
#self.scanProcessor.stop()
self.hardwareController.camera.device.stopStream()
self.set_state(FSState.IDLE)
elif command == FSCommand._COMPLETE:
self.set_state(FSState.IDLE)
self.hardwareController.camera.device.stopStream()
#self.scanProcessor.stop()
self._logger.info("Scan complete")
elif command == FSCommand._LASER_DETECTION_FAILED:
#self.scanProcessor.ask({FSEvents.COMMAND:FSCommand.STOP})
self._logger.info("No Laser detected, returning to settings dialog.")
#self.scanProcessor.ask({FSEvents.COMMAND:FSCommand.STOP})
#self.scanProcessor.stop()
self.set_state(FSState.SETTINGS)
self.hardwareController.settings_mode_on()
elif command == FSCommand.MESHING:
_meshlabTask = FSMeshlabTask(event.scan_id, event.filter, event.format)
_meshlabTask.start()
message = FSUtil.new_message()
message['type'] = FSEvents.ON_INFO_MESSAGE
message['data']['message'] = "MESHING_STARTED"
message['data']['level'] = "info"
self.eventManager.publish(FSEvents.ON_SOCKET_BROADCAST,message)