def main():
import config
import time
import logging
from drive import Drive
logging.basicConfig(level=logging.DEBUG)
log = logging.getLogger(__name__)
log.info("Testing vision subsystem")
vision = Vision(config)
drive = Drive()
drive.close_tray()
calibration_markers = None
while True:
drive.close_tray()
log.info("Acquiring calibration image")
image_filename = vision.image_acquire()
if not image_filename:
log.warn(
"Could not acquire image for calibration, please check the camera"
)
time.sleep(config.camera_calibration_delay)
continue
(calibration_markers, frame) = vision.detect_markers(image_filename)
os.unlink(image_filename)
log.debug("Markers detected during calibration: '{}'".format(
calibration_markers))
if calibration_markers and 'disk_center' in calibration_markers and 'disk_edge' in calibration_markers:
break
else:
log.warn(
"Both calibration markers need to be detectable, please adjust the camera or lighting conditions"
)
time.sleep(config.camera_calibration_delay)
log.info(
"Camera calibration was successful, calibration markers detected: {}".
format(calibration_markers))
drive.open_tray()
camera_image_filename = vision.image_acquire('camera-image')
vision.write_cover_image(camera_image_filename, 'cover.png',
calibration_markers)
drive.close_tray()
# Pickup disk
cd_pickedup = arm.pickup_object(config.src_tray_pos, config.src_tray_z_min)
if not cd_pickedup:
log.fatal("Could not pick up disk, bailing out")
display.msg("ERR PICKUP DISK")
sys.exit(1)
arm.pump(True)
time.sleep(config.t_grab)
display.msg("MOVE TO DRIVE")
arm.move_abs(config.src_tray_pos)
arm.wait_for_move_end()
drive.open_tray()
arm.move_abs(config.drive_tray_pos)
arm.wait_for_move_end()
arm.pump(False)
time.sleep(config.t_release)
arm.origin()
for i in range(config.close_tray_max_attempts):
if drive.close_tray():
break
log.warn("Could not close drive tray, retry '{}' of '{}'".format(i, config.close_tray_max_attempts))
display.msg("ERR DRIVE CLOSE")
drive = Drive("/dev/cdrom", storage_path)
# Self-test
log.info("Starting drive self-check")
display.msg("DRIVE SELF-CHECK")
#
# This self-check is needed because the JM20337 SATA<->USB bridge takes a while to realize
# that power is on, the drive is connected and it's time to get to work and announce itself on
# the USB bus.
#
while True:
# Try to open the drive tray
if not drive.open_tray():
log.warn("Could not open drive tray, please check drive")
display.msg("CANNOT OPEN, RETRY IN {} SECONDS".format(config.selfcheck_drive_action_timeout))
time.sleep(config.selfcheck_drive_action_timeout)
continue
# Try to close the drive tray
if not drive.close_tray():
log.warn("Could not close drive tray, please check drive")
display.msg("CANNOT CLOSE, RETRY IN {} SECONDS".format(config.selfcheck_drive_action_timeout))
time.sleep(config.selfcheck_drive_action_timeout)
continue
log.info("Drive self-check passed")
display.msg("DRIVE OK")
break
