def setWB(self):
debug("Determining white balance.")
self.cam.awb_mode = "auto"
time.sleep(2)
g = self.cam.awb_gains
self.cam.awb_mode = "off"
self.cam.awb_gains = g
def isDaytime(self):
oldres = self.cam.resolution
self.cam.resolution = (320, 240)
self.cam.iso = self.cfg.get('dayiso')
self.cam.shutter_speed = 1000000 // self.cfg.get('dayshutter')
output = np.empty((240, 320, 3), dtype=np.uint8)
self.cam.capture(output, 'rgb')
self.cam.resolution = oldres
debug("Daytime estimation mean value: " + str(output.mean()))
return output.mean() > 10
def isDaytime(self):
'''algorithm for daytime estimation.
if the average pixel intensity is less than 10, we assume it is night.
this may be tweaked for special use cases.'''
oldres = self.cam.resolution
self.cam.resolution = (320, 240)
self.cam.iso = self.cfg.get('dayiso')
self.cam.shutter_speed = 1000000 // self.cfg.get('dayshutter')
output = np.empty((240, 320, 3), dtype=np.uint8)
self.cam.capture(output, 'rgb')
self.cam.resolution = oldres
debug("Daytime estimation mean value: " + str(output.mean()))
return output.mean() > 10
def isDaytime(self):
# determine if it's day or not.
# we need to set a bogus shutter speed before switching to auto exposure mode
# otherwise the camera can get stuck for some reason
self.cam.shutter_speed = 10000
self.cam.exposure_mode = "auto"
self.cam.shutter_speed = 0
self.cam.iso = 100
self.cam.meter_mode = 'matrix'
# to determine day/night we use a rotating list of the last 5 exposure readings
# exposure may take a very long time to settle, so we use some heuristics to determine whether it is day or night
itsday = 'TBD'
exps = deque([-1, 100, -1, 100, -1])
stuck = 0
while itsday == 'TBD':
time.sleep(1)
exps.popleft()
# round the exposure to nearest 1000
exps.append(self.cam.exposure_speed // 1000)
if exps[4] < exps[3] < exps[2] < exps[1] < exps[0]:
if mean(exps) < 33:
# decreasing exposure, value below 33000
itsday = True
elif exps[4] > exps[3] > exps[2] > exps[1] > exps[0]:
if mean(exps) > 33:
# increasing exposure time, value above 33999
itsday = False
elif exps[4] == exps[3] == exps[2] == exps[1] == exps[0]:
if mean(exps) < 33:
# stable exposure, value below 33000
itsday = True
elif mean(exps) > 33:
# stable exposure, value above 33999
itsday = False
else:
# we are stuck at around 1/30 for some reason
stuck = stuck + 1
if stuck > 20:
# we have been stuck for over 20 seconds, just call it night so we can move on
itsday = False
debug("[isDaytime] Daytime: " + str(itsday) + ". Exposure values: " +
str(exps))
return itsday
def restart_services():
"""restarts the required services after config updates. returns False if any restart command returns
a non-zero exit code."""
services = ['dhcpcd', 'dnsmasq', 'hostapd']
codes = []
for s in services:
p = subprocess.run(["systemctl", "restart", s],
stderr=subprocess.STDOUT,
stdout=subprocess.PIPE)
debug("Restarted service {0} with status code {1}.".format(
s, p.returncode))
codes.append(p.returncode)
return (all(c == 0 for c in codes))
def takePicture(self, name):
filename = ""
prev_daytime = self.daytime
self.daytime = self.isDaytime()
if self.daytime:
time.sleep(0.5)
self.cam.shutter_speed = 1000000 // self.cfg.get('dayshutter')
self.cam.iso = self.cfg.get('dayiso')
self.cam.color_effects = None
filename = os.path.join(self.dir, name + "-day.png")
else:
# turn on led
self.hw.LEDControl(True)
time.sleep(0.5)
self.cam.shutter_speed = 1000000 // self.cfg.get('nightshutter')
self.cam.iso = self.cfg.get('nightiso')
#self.cam.color_effects = (128, 128)
filename = os.path.join(self.dir, name + "-night.png")
if prev_daytime != self.daytime and self.daytime and self.cam.awb_mode != "off":
# if there is a daytime shift, AND it is daytime, AND white balance was not previously set,
# set the white balance to a fixed value.
# thus, white balance will only be fixed for the first occurence of daylight.
self.setWB()
debug("Capturing %s." % filename)
self.cam.exposure_mode = "off"
self.cam.capture(filename)
self.last_captured = filename
self.cam.color_effects = None
self.cam.shutter_speed = 0
# we leave the cam in auto exposure mode to improve daytime assessment performance
self.cam.exposure_mode = "auto"
if not self.daytime:
# turn off led
self.hw.LEDControl(False)
def terminate(sig, frame):
global shutdown
if sig == signal.SIGALRM:
# force shutdown
debug("Shut down time-out, force-quitting.")
debug("If the software locks up at this point, a reboot is needed.")
debug("This is due to a bug in the underlying camera code.")
cam.close()
sys.exit()
if not shutdown:
# give the app 10 seconds to shut down, then force it
shutdown = True
signal.alarm(10)
log("Signal " + str(sig) + " caught -- shutting down.")
webui.stop()
hw.motorOn(False)
cam.close()
hw.cleanup()
sys.exit()
def runExperiment(self):
if self.running:
raise RuntimeError('An experiment is already running.')
try:
debug("Starting experiment.")
self.running = True
self.status = "Initiating"
self.starttime = time.time()
self.endtime = time.time() + 60 * 60 * 24 * self.duration
self.last_captured = None
self.delay = self.delay or 0.001
self.nshots = self.duration * 24 * 60 // self.delay
self.cam.exposure_mode = "auto"
self.cam.shutter_speed = 0
self.hw.LEDControl(False)
for i in range(4):
platedir = "plate" + str(i + 1)
os.makedirs(os.path.join(self.dir, platedir), exist_ok=True)
while time.time() < self.endtime and not self.stop_experiment:
loopstart = time.time()
nextloop = time.time() + 60 * self.delay
if nextloop > self.endtime:
nextloop = self.endtime
for i in range(4):
# rotate stage to starting position
if i == 0:
self.hw.motorOn(True)
self.status = "Finding start position"
debug("Finding initial position.")
self.hw.findStart(
calibration=self.cfg.get('calibration'))
debug("Found initial position.")
else:
self.status = "Imaging"
# rotate cube 90 degrees
debug("Rotating stage.")
self.hw.halfStep(100, 0.03)
# wait for the cube to stabilize
time.sleep(0.5)
now = time.strftime("%Y%m%d-%H%M%S", time.localtime())
name = os.path.join("plate" + str(i + 1),
"plate" + str(i + 1) + "-" + now)
self.takePicture(name)
self.nshots -= 1
self.hw.motorOn(False)
self.status = "Waiting"
if self.idlepos > 0:
# alternate between resting positions during idle, stepping 45 degrees per image
self.hw.motorOn(True)
self.hw.halfStep(50 * self.idlepos, 0.03)
self.hw.motorOn(False)
self.idlepos += 1
if self.idlepos > 7:
self.idlepos = 0
while time.time() < nextloop and not self.stop_experiment:
# keep rotating while waiting, similar light conditions for each plate
self.hw.motorOn(True)
self.hw.halfStep(21, 0.03)
self.hw.motorOn(False)
time.sleep(60)
finally:
log("Experiment stopped.")
self.cam.color_effects = None
self.status = "Stopped"
self.stop_experiment = False
self.running = False
self.cam.exposure_mode = "auto"
self.cam.meter_mode = 'spot'
def runExperiment(self):
if self.running:
raise RuntimeError('An experiment is already running.')
try:
debug("Starting experiment.")
self.running = True
self.status = "Initiating"
self.starttime = time.time()
self.endtime = time.time() + 60 * 60 * 24 * self.duration
self.last_captured = None
self.delay = self.delay or 0.001
self.nshots = self.duration * 24 * 60 // self.delay
self.cam.exposure_mode = "auto"
self.cam.shutter_speed = 0
self.hw.LEDControl(False)
for i in range(4):
platedir = "plate" + str(i + 1)
os.makedirs(os.path.join(self.dir, platedir), exist_ok=True)
while time.time() < self.endtime and not self.stop_experiment:
loopstart = time.time()
nextloop = time.time() + 60 * self.delay
if nextloop > self.endtime:
nextloop = self.endtime
for i in range(4):
# rotate stage to starting position
if i == 0:
self.hw.motorOn(True)
self.status = "Finding start position"
debug("Finding initial position.")
self.hw.findStart(
calibration=self.cfg.get('calibration'))
debug("Found initial position.")
else:
self.status = "Imaging"
# rotate cube 90 degrees
debug("Rotating stage.")
self.hw.halfStep(100, 0.03)
# wait for the cube to stabilize
time.sleep(0.5)
now = time.strftime("%Y%m%d-%H%M%S", time.localtime())
name = os.path.join("plate" + str(i + 1),
"plate" + str(i + 1) + "-" + now)
self.takePicture(name)
self.nshots -= 1
self.hw.motorOn(False)
# this part is "active waiting", rotating the cube slowly over the period of options.delay
# this ensures consistent lighting for all plates.
# account for the time spent capturing images.
self.status = "Waiting"
secs = 0
while time.time() < nextloop and not self.stop_experiment:
time.sleep(1)
secs += 1
if self.delay > 15 and secs == int(self.delay / 7.5):
# don't bother if delay is very short (<= 15 min)
secs = 0
self.hw.motorOn(True)
self.hw.halfStep(50, 0.03)
self.hw.motorOn(False)
finally:
log("Experiment stopped.")
self.cam.color_effects = None
self.status = "Stopped"
self.stop_experiment = False
self.running = False
self.cam.exposure_mode = "auto"
self.cam.meter_mode = 'spot'