def _onGoPushButtonClicked(self):
""" Go push button has been clicked.
"""
Logger().trace("GotoController.__onGoPushButtonClicked()")
if self._view.referenceRadioButton.isChecked():
yaw = 0.
pitch = 0.
useOffset = True
elif self._view.initialRadioButton.isChecked():
yaw = 0.
pitch = 0.
useOffset = False
elif self._view.freeRadioButton.isChecked():
yaw = self._view.yawFovDoubleSpinBox.value()
pitch = self._view.pitchFovDoubleSpinBox.value()
useOffset = True
Logger().debug("GotoController.__onGoPushButtonClicked(): yaw=%.1f, pitch=%.1f, useOffset=%s" % (yaw, pitch, useOffset))
self._model.head.gotoPosition(yaw, pitch, useOffset=useOffset, wait=False)
dialog = AbortMessageDialog(self.tr("Goto position"), self.tr("Please wait..."))
dialog.show()
while self._model.head.isAxisMoving():
QtGui.QApplication.processEvents() #QtCore.QEventLoop.ExcludeUserInputEvents)
if dialog.result() == QtGui.QMessageBox.Abort:
self._model.head.stopAxis()
self._parent.setStatusbarMessage(self.tr("Operation aborted"), 10)
break
time.sleep(0.01)
else:
self._parent.setStatusbarMessage(self.tr("Position reached"), 10)
dialog.hide()
def establishConnection(self): # Move to hardware?
""" Establish the connection.
The SIN-11 device used to control the Pixorb axis needs to be
initialised before any command can be sent to the axis controllers.
"""
AbstractHardwarePlugin.establishConnection(self)
Logger().trace("AbstractPixOrbHardware.establishConnection()")
if not AbstractPixOrbHardware.__initSIN11:
try:
answer = ""
self._driver.empty()
# Ask the SIN-11 to scan online controllers
self._driver.write('&') # Add '\n' if ethernet driver?
self._driver.setTimeout(SIN11_INIT_TIMEOUT) # Sin-11 takes several seconds to answer
c = ''
while c != '\r':
c = self._driver.read(1)
if c in ('#', '?'):
self._driver.read(2) # Read last CRLF
Logger().debug("AbstractPixOrbHardware.establishConnection(): SIN-11 '&' answer=%s" % answer)
raise HardwareError("Can't init SIN-11")
else:
answer += c
answer = answer.strip() # Remove final CRLF
Logger().debug("AbstractPixOrbHardware.establishConnection(): SIN-11 '&' answer=%s" % answer)
AbstractPixOrbHardware.__initSIN11 = True
self._driver.setTimeout(ConfigManager().getFloat('Plugins/HARDWARE_COM_TIMEOUT'))
except:
self._connected = False
raise
def _triggerShutter(self, delay):
""" Trigger the shutter contact.
Note that FOCUS_ENABLE and DUAL_ENABLE options are exclusive (done via UI)
@param delay: delay to wait between on/off, in s
@type delay: float
"""
Logger().trace("ClaussShutter._triggerShutter()")
# Autofocus mode enable
if self._config['FOCUS_ENABLE']:
self._triggerAutoFocus()
time.sleep(self._config['FOCUS_TIME'])
# Shoot regular camera
self._triggerOnShutter()
time.sleep(delay)
self._triggerOffShutter()
# Dual camera mode
if self._config['DUAL_ENABLE']:
time.sleep(self._config['DUAL_TIME'])
Logger().info("ClaussShutter._triggerShutter(): dual camera shoot")
self._triggerAutoFocus()
time.sleep(delay)
self._triggerOffShutter()
self._LastShootTime = time.time()
def init(self):
""" Init the MerlinOrion hardware.
Done only once per axis.
"""
self._driver.acquireBus()
try:
# Stop motor
self.__sendCmd("L")
# Check motor?
self.__sendCmd("F")
# Get firmeware version
value = self.__sendCmd("e")
Logger().debug("MerlinOrionHardware.init(): firmeware version=%s" %
value)
# Get encoder full circle
value = self.__sendCmd("a")
self.__encoderFullCircle = self.__encoderFullCircle_ = self.__decodeAxisValue(
value)
Logger().debug(
"MerlinOrionHardware.init(): encoder full circle=%s" %
hex(self.__encoderFullCircle))
# Get sidereal rate
value = self.__sendCmd("D")
Logger().debug("MerlinOrionHardware.init(): sidereal rate=%s" %
hex(self.__decodeAxisValue(value)))
finally:
self._driver.releaseBus()
def parseDir(self, pluginDir):
""" Load plugins from given dir.
@param pluginDir: dir where to search plugins
@type pluginDir: str
"""
Logger().debug("PluginsManager.register(): parsing '%s' dir..." %
pluginDir)
for entry in os.listdir(pluginDir):
#Logger().debug("PluginsManager.register(): entry=%s" % entry)
if os.path.isfile(os.path.join(pluginDir, entry)):
moduleName, ext = os.path.splitext(entry)
if ext == '.py' and moduleName != "__init__":
file_, pathname, description = imp.find_module(
moduleName, [pluginDir])
Logger().debug(
"PluginsManager.register(): found '%s' module" %
moduleName)
try:
module = imp.load_module('module', file_, pathname,
description)
module.register()
except AttributeError:
Logger().exception("PluginsManager.register()",
debug=True)
Logger().warning(
"Plugin module '%s' does not have a register function"
% pathname)
file_.close()
def run(self):
""" Run the sniffer.
Listen to the serial line and display commands/responses.
"""
Logger().info("Sniffer started")
try:
while True:
data = self.__serial.read()
if not data:
raise IOError("Timeout while reading on serial bus")
while data[-1] != '\r':
c = self.__serial.read()
if not c:
raise IOError("Timeout while reading on serial bus")
else:
data += c
if data[0] == ':':
cmd = data[1:-1]
elif data[0] == '=':
resp = data[1:-1]
Logger().info("%10s -> %10s" % (cmd, resp))
else:
Logger().debug("%s" % data[1:-1])
except:
Logger().exception("Sniffer.run()")
Logger().info("Sniffer stopped")
def _initWidgets(self):
self._view.setWindowTitle("%s %s" %
(self._model.name, self._model.capacity))
# Create the Gui fields
self._defineGui()
# Populate GUI with fields
widgets = {}
for tabName, tabLabel in self._tabs.iteritems():
if tabName == 'Main':
widget = self._view.mainTab
formLayout = self._view.formLayout
else:
widget = QtGui.QWidget(self._view)
formLayout = QtGui.QFormLayout(widget)
widget.setLayout(formLayout)
self._view.tabWidget.addTab(widget, tabLabel)
Logger().debug(
"AbstractPluginController._initWidgets(): created '%s' tab"
% tabName)
for label, field in self._fields[tabName].iteritems():
widgets[label] = field['widget']
field['widget'].setParent(widget)
labelWidget = QtGui.QLabel(label)
labelWidget.setSizePolicy(QtGui.QSizePolicy.Preferred,
QtGui.QSizePolicy.MinimumExpanding)
formLayout.addRow(labelWidget, field['widget'])
Logger().debug(
"AbstractPluginController._initWidgets(): added '%s' field"
% label)
self._view.adjustSize()
def lockupMirror(self):
# @todo: implement mirror lockup command
cmd = "%s %s" %(self._config['PROGRAM_PATH'], MIRROR_LOCKUP_PARAMS)
Logger().debug("DslrRemoteProShutter.lockupMirror(): command '%s'..." % cmd)
time.sleep(1)
Logger().debug("DslrRemoteProShutter.lockupMirror(): command over")
return 0
def _onAccepted(self):
""" Ok button has been clicked.
"""
Logger().trace("NbPictsController._onAccepted()")
yawNbPicts = self._view.yawNbPictsSpinBox.value()
pitchNbPicts = self._view.pitchNbPictsSpinBox.value()
self._model.setCornersFromNbPicts(yawNbPicts, pitchNbPicts)
Logger().debug("NbPictsController._onAccepted(): nb picts set to yaw=%d, pitch=%d" % (yawNbPicts, pitchNbPicts))
def lockupMirror(self):
""" @todo: implement mirror lockup command
"""
Logger().debug(
"GphotoBracketShutter.lockupMirror(): execute command '%s'..." %
self._config['MIRROR_LOCKUP_COMMAND'])
time.sleep(1)
Logger().debug("GphotoBracketShutter.lockupMirror(): command over")
return 0
def shutdown(self):
""" Cleanly terminate the model.
Save values to preferences.
"""
Logger().trace("Shooting.shutdown()")
#self.head.shutdown()
Logger().warning("Shooting.shutdown(): shutdown plugins here?")
self.camera.shutdown()
ConfigManager().save()
def _onAccepted(self):
""" Ok button has been clicked.
"""
Logger().trace("TotalFovController._onAccepted()")
yawFov = self._view.yawFovDoubleSpinBox.value()
pitchFov = self._view.pitchFovDoubleSpinBox.value()
self._model.setCornersFromFov(yawFov, pitchFov)
Logger().debug(
"TotalFovController._onAccepted(): total fov set to yaw=%.1f, pitch=%.1f"
% (yawFov, pitchFov))
def mousePressEvent(self, event):
Logger().trace("ShootingScene.mousePressEvent()")
picture = self.itemAt(event.scenePos())
Logger().debug("ShootingScene.mousePressEvent(): picture=%s" % picture)
try:
index = picture.parentItem().getIndex()
Logger().debug(
"ShootingScene.mousePressEvent(): picture index=%d" % index)
self.pictureClicked(index)
except AttributeError:
Logger().exception("ShootingScene.mousePressEvent()", debug=True)
def __newPosition(self, yaw, pitch):
""" Signal callback.
"""
#Logger().debug("PublisherHandler.__newPosition(): yaw=%.1f, pitch=%.1f" % (yaw, pitch))
try:
#Logger().debug("PublisherHandler.__newPosition(): sending to %s:%d" % self.client_address)
self.request.sendall("%f, %f" % (yaw, pitch))
except socket.error, msg:
Logger().exception("PublisherHandler.__newPosition()")
self.request.close()
Spy().newPosSignal.disconnect(self.__newPosition)
Logger().debug("PublisherHandler.handle(): connection from %s:%d closed" % self.client_address)
def _saveConfig(self):
""" Save the plugin config.
"""
Logger().trace("AbstractPlugin._saveConfig()")
for key, value in self._config.iteritems():
group = "%s_%s" % (self.name, self.capacity)
Logger().debug("AbstractPlugin._saveConfig(): %s/%s=%s" %
(group, key, value))
if isinstance(value, list):
value_ = ','.join(value)
value = value_
ConfigManager().set('%s/%s' % (group, key), value)
ConfigManager().save()
def __onSaveLogPushButtonClicked(self):
""" Save button has been clicked.
"""
Logger().trace("LoggerController.__onSaveLogPushButtonClicked()")
dateTime = time.strftime("%Y-%m-%d_%Hh%Mm%Ss", time.localtime())
logFileFormat = "papywizard_%s.log" % dateTime
logFileName = os.path.join(ConfigManager().get('Configuration/DATA_STORAGE_DIR'), logFileFormat)
logText = self._view.loggerPlainTextEdit.toPlainText()
logFile = file(logFileName, 'w')
logFile.write(logText)
logFile.close()
Logger().debug("LoggerController.__onSaveLogPushButtonClicked(): log saved to '%s'" % logFileName)
self._view.saveLogPushButton.setEnabled(False)
def checkPause():
""" Check if pause requested.
"""
if self.__pause:
Logger().info("Pause shooting")
self.__pauseTime = time.time()
self.__paused = True
self.paused()
while self.__pause:
time.sleep(0.1)
self.__paused = False
self.resumed()
self.__totalPausedTime += time.time() - self.__pauseTime
Logger().info("Resume shooting")
def handle(self):
Logger().debug(
"GigaPanBotEthernetHandler.handle(): connection request from ('%s', %d)"
% self.client_address)
Logger().info("New ethernet connection established")
while True:
try:
cmd = ""
while not cmd.endswith('\r'):
data = self.request.recv(1)
if not data: # connection lost?
Logger().error("Can't read data from ethernet")
break
cmd += data
if cmd:
response = GigaPanBotCommandDispatcher().handleCmd(cmd)
Logger().debug(
"GigaPanBotEthernetHandler.handle(): response=%s" %
repr(response))
self.request.sendall(response)
else:
self.request.close()
Logger().debug(
"GigaPanBotEthernetHandler.handle(): lost connection with ('%s', %d)"
% self.client_address)
Logger().info("Ethernet connection closed")
break
except KeyboardInterrupt:
self.request.close()
Logger().info("Ethernet connection closed")
break
except:
Logger().exception("GigaPanBotEthernetHandler.handle()")
def load(self):
""" Load configuration.
"""
#Load dist config.
distConfigFile = os.path.join(path, config.CONFIG_FILE)
distConfig = QtCore.QSettings(distConfigFile,
QtCore.QSettings.IniFormat)
if not distConfig.contains('CONFIG_VERSION'):
raise IOError("Can't read configuration file (%s)" %
distConfigFile)
# Check if user config. exists, or need to be updated/overwritten
distConfigVersion = config.VERSION.split('.')
userConfig = QtCore.QSettings(config.USER_CONFIG_FILE,
QtCore.QSettings.IniFormat)
if not userConfig.contains('CONFIG_VERSION'):
self.__install = True
else:
userConfigVersion = unicode(
userConfig.value('CONFIG_VERSION').toString()).split('.')
Logger().debug(
"ConfigManager.__init__(): versions: dist=%s, user=%s" %
(distConfigVersion, userConfigVersion))
# Old versioning system
if len(userConfigVersion) < 2:
self.__install = True
# Versions differ
elif distConfigVersion != userConfigVersion:
self.__install = True
if self.__install:
Logger().debug("ConfigManager.__init__(): install user config.")
shutil.copy(distConfigFile, config.USER_CONFIG_FILE)
# Set config. version
userConfig.setValue(
'CONFIG_VERSION',
QtCore.QVariant("%s" % '.'.join(distConfigVersion)))
# Write user config.
userConfig.sync()
else:
Logger().debug(
"ConfigManager.__init__(): user config. is up-to-date")
self.__config = userConfig
def run(self):
""" Main entry of the thread.
"""
threadName = "%s_%s" % (self.name, self.capacity)
threading.currentThread().setName(threadName)
Logger().debug("SimulationAxis.run(): start thread")
self.__run = True
while self.__run:
# TODO: use Events
# Jog command
if self.__jog:
if self.__time == None:
self.__time = time.time()
else:
if self.__drive:
inc = (time.time() -
self.__time) * self._config['SPEED']
else:
inc = (
time.time() - self.__time
) * self._config['SPEED'] * MANUAL_MANUAL_SPEED_INDEX[
self._manualSpeed]
self.__time = time.time()
if self.__dir == '+':
self.__pos += inc
elif self.__dir == '-':
self.__pos -= inc
#Logger().debug("SimulationAxis.run(): '%s' inc=%.1f, new __pos=%.1f" % (self.capacity, inc, self.__pos))
else:
self.__time = None
# Drive command. Check when stop
if self.__drive:
#Logger().trace("SimulationAxis.run(): '%s' driving" % self.capacity)
if self.__dir == '+':
if self.__pos >= self.__setpoint:
self.__jog = False
self.__drive = False
self.__pos = self.__setpoint
elif self.__dir == '-':
if self.__pos <= self.__setpoint:
self.__jog = False
self.__drive = False
self.__pos = self.__setpoint
self.msleep(config.SPY_REFRESH_DELAY)
Logger().debug("SimulationAxis.run(): thread terminated")
def _onAccepted(self):
""" Ok button has been clicked.
"""
Logger().trace("AbstractPluginController._onAccepted()")
for tabName in self._tabs.keys():
for label, field in self._fields[tabName].iteritems():
value = field['widget'].value()
if isinstance(value, QtCore.QString):
value = unicode(value)
self._model._config[field['configKey']] = value
Logger().debug("AbstractPluginController._onAccepted(): config=%s" %
self._model._config)
self._model._saveConfig()
if self._model.isConnected():
self._model.configure()
def _init(self):
host = ConfigManager().get('Plugins/HARDWARE_ETHERNET_HOST')
port = ConfigManager().getInt('Plugins/HARDWARE_ETHERNET_PORT')
Logger().debug("EthernetDriver._init(): trying to connect to %s:%d..." % (host, port))
try:
#import time
#time.sleep(3)
self.setDeviceHostPort(host, port)
self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self._sock.connect((self.__host, self.__port))
self._sock.settimeout(ConfigManager().getFloat('Plugins/HARDWARE_COM_TIMEOUT'))
self.empty()
except Exception, msg:
Logger().exception("EthernetDriver._init()")
raise HardwareError(msg)
def _init(self):
Logger().trace("BluetoothDriver._init()")
address = ConfigManager().get('Plugins/HARDWARE_BLUETOOTH_DEVICE_ADDRESS')
Logger().debug("BluetoothDriver._init(): trying to connect to %s..." % address)
try:
self._sock = BluetoothSocket(RFCOMM)
self._sock.connect((address, 1))
try:
self._sock.settimeout(ConfigManager().getFloat('Plugins/HARDWARE_COM_TIMEOUT'))
except NotImplementedError:
Logger().warning("BluetoothDriver._init(): bluetooth stack does not implment settimeout()")
except BluetoothError, error:
Logger().exception("BluetoothDriver._init()")
err, msg = eval(error.message)
raise HardwareError(msg)
def configure(self):
AbstractShutterPlugin.configure(self)
# Build camera exposure compensation list
if self._config['CAMERA_EXPOSURE_COMPENSATION_LIST'] == u"±5@1/3":
self.__cameraExposureCompensationList = CAMERA_EXPOSURE_COMPENSATION_LIST_1_3
elif self._config['CAMERA_EXPOSURE_COMPENSATION_LIST'] == u"±5@1/2":
self.__cameraExposureCompensationList = CAMERA_EXPOSURE_COMPENSATION_LIST_1_2
Logger().debug("NkRemoteShutter.configure(): camera exposure compensation table=%s" % \
self.__cameraExposureCompensationList)
# Build user exposure compensation list
self.__userExposureCompensationList = self._config['USER_EXPOSURE_COMPENSATION_LIST'].split(',')
Logger().debug("NkRemoteShutter.configure(): user exposure compensation list=%s" % \
self.__userExposureCompensationList)
def _alternateDrive(self, pos):
""" Alternate drive.
This method implements an external closed-loop regulation.
It is faster for angles < 6-7°, because in this case, the
head does not accelerate to full speed, but rather stays at
very low speed.
@param pos: position to reach, in °
@type pos: float
"""
Logger().trace("MerlinOrionAxis._alternateDrive()")
# Compute initial direction
# BUG!!! Arm side is not taken in account!!!
if pos > self.__currentPos:
dir_ = '+'
else:
dir_ = '-'
self._hardware.startJog(dir_, MANUAL_SPEED_TABLE['alternate'])
# Check when to stop
#while ((dir_ == '-' and self.__currentPos - pos > self._config['INERTIA_ANGLE']) or \
#(dir_ == '+' and pos - self.__currentPos > self._config['INERTIA_ANGLE'])) and \
#self.__driveEvent.isSet():
while abs(self.__currentPos - pos) > self._config['INERTIA_ANGLE'] and self.__driveEvent.isSet():
time.sleep(config.SPY_REFRESH_DELAY / 1000.)
self._hardware.stop()
def deactivate(self):
Logger().trace("MerlinOrionPlugin.deactivate()")
# Stop the thread
self._stopThread()
AbstractAxisPlugin.deactivate(self)
def ls(self, dir_=None, recurse=False):
""" List dir.
@param dir_: directory to list
@type dir_: str
@param recurse: if True, list dir recursively
@type recurse: bool
"""
if dir_ is None:
self.__sendCmd("ls")
dir_ = ""
else:
self.__sendCmd("ls %s" % dir_)
if len(dir_) > 0 and dir_[-1] != '/':
dir_ += '/'
# read directory entries
line = self.__popen.stdout.readline().rstrip()
if line.startswith(PREFIX_ERROR):
Logger().error("GphotoShell.ls(): %s recurse=%s gphoto2=\"%s\"" %
(dir_, recurse, line))
self.__handleError(line)
return None, None
childDirs = []
numDirs = int(line)
for i in range(numDirs):
if recurse:
childDirs.append(dir_ +
self.__popen.stdout.readline().rstrip() + '/')
else:
childDirs.append(self.__popen.stdout.readline().rstrip() + '/')
# read file entries
childFiles = []
line = self.__popen.stdout.readline().rstrip()
numFiles = int(line)
for i in range(numFiles):
if recurse:
childFiles.append(dir_ +
self.__popen.stdout.readline().rstrip())
else:
childFiles.append(self.__popen.stdout.readline().rstrip())
if recurse:
dirs = []
files = childFiles[:]
for childDir in childDirs:
dirs.append(childDir)
grandChildDirs, grandChildFiles = self.ls(childDir,
recurse) # ???
if grandChildDirs is not None and len(grandChildDirs) > 0:
dirs.extend([d for d in grandChildDirs
]) # or just dirs.extend(grandChildDirs)
if grandChildFiles is not None and len(grandChildFiles) > 0:
files.extend([f for f in grandChildFiles
]) # or just files.extend(grandChildFiles)
return dirs, files
else:
return childDirs, childFiles
def getConfig(self, config):
""" Get a specific config from camera.
@param config: path of the config to get
@type config: str
"""
self.__sendCmd("get-config %s\n" % config)
props = {}
choices = []
while True:
line = self.__popen.stdout.readline().rstrip()
if line.startswith(PREFIX_PROMPT):
break
elif line.startswith(PREFIX_ERROR):
Logger().error(
"GphotoShell.getConfig(): config=%s gphoto2=\"%s\"" %
(config, line))
self.__handleError(line)
return None, None
else:
key, sep, value = line.partition(': ') # 'Key: Value' form
if key == "Choice":
if props['Type'] == 'MENU' or props['Type'] == 'RADIO':
idx, sep, value = value.partition(' ')
choices.append(value)
else:
props[key] = value
return props, choices
def __init__(self):
""" Init object.
"""
super(AbstractData, self).__init__()
date, time_ = self._getDateTime().split('_')
#date = time.strftime("%Y-%m-%d", time.localtime())
#time_ = time.strftime("%Hh%Mm%Ss", time.localtime())
mode = self._getMode()
self._dataFileFormatDict = {
'date': date,
'time': time_,
'date_time': "%s_%s" % (date, time_),
'mode': mode
}
# Create xml tree
Logger().debug("Data.__init__(): create xml tree")
self.__impl = xml.dom.minidom.getDOMImplementation()
self._doc = self.__impl.createDocument(None, "papywizard", None)
self._rootNode = self._doc.documentElement
self._rootNode.setAttribute("version", config.VERSION_XML)
# Create 'header' node
self._headerNode = self._doc.createElement('header')
self._rootNode.appendChild(self._headerNode)
# Create 'shoot' node
self._shootNode = self._doc.createElement('shoot')
self._rootNode.appendChild(self._shootNode)
self._pictId = 1
def addPicture(self, bracket, yaw, pitch, roll):
""" Add a new picture node to shoot node.
@param bracket: num of the pict (bracketing)
@type bracket: int
@param yaw: yaw position
@type yaw: float
@param pitch: pitch position
@type pitch: float
@param roll: roll value
@type roll: float
"""
Logger().debug(
"Data.addPicture(): bracket=%d, yaw=%.1f, pitch=%.1f, roll=%.1f" %
(bracket, yaw, pitch, roll))
node = self._addNode(self._shootNode,
'pict',
id="%d" % self._pictId,
bracket="%d" % bracket)
self._pictId += 1
dateTime = self._getDateTime()
self._addNode(node, 'time', dateTime)
self._addNode(node,
'position',
yaw="%.1f" % yaw,
pitch="%.1f" % pitch,
roll="%.1f" % roll)
self._headerShootingEndTime.firstChild.data = dateTime
# Serialize xml file
self._serialize()
