def __init__(self, config, settings, imageprocessor):
self.config = config
self.settings = settings
# debug
self.image = FSImage()
self._logger = logging.getLogger(__name__)
self._settings_mode_is_off = True
self.camera = None
self._image_processor = imageprocessor
self.camera = FSCamera()
self.serial_connection = FSSerialCom()
self.turntable = Turntable(serial_object=self.serial_connection)
self.laser = Laser(self.serial_connection)
self.led = Led(self.serial_connection)
self._logger.debug("Reset FabScanPi HAT...")
self.reset_devices()
self.laser.off(laser=0)
#self.laser.off(laser=1)
self.led.off()
self.turntable.stop_turning()
self._logger.debug("Hardware controller initialized...")
self.hardware_test_functions = {
"TURNTABLE": {
"FUNCTIONS": {
"START": self.turntable.start_turning,
"STOP": self.turntable.stop_turning
},
"LABEL": "Turntable"
},
"LEFT_LASER": {
"FUNCTIONS": {
"ON": lambda: self.laser.on(0),
"OFF": lambda: self.laser.off(0)
},
"LABEL": "First Laser"
},
"RIGHT_LASER": {
"FUNCTIONS": {
"ON": lambda: self.laser.on(1),
"OFF": lambda: self.laser.off(1)
},
"LABEL": "Second Laser"
},
"LED_RING": {
"FUNCTIONS": {
"ON": lambda: self.led.on(255, 255, 255),
"OFF": lambda: self.led.off()
},
"LABEL": "Led Ring"
}
}
class FSHardwareControllerSingleton(FSHardwareControllerInterface):
"""
Wrapper class for getting the Laser, Camera, and Turntable classes working
together
"""
def __init__(self, config, settings, imageprocessor):
self._logger = logging.getLogger(__name__)
self._logger.debug("Constructing FSHardwareControllerSingleton")
self.config = config
self.settings = settings
self._settings_mode_is_off = True
self.camera = None
self._image_processor = imageprocessor
self.camera = FSCamera()
self.serial_connection = None # FSSerialCom()
self.turntable = Turntable(serial_object=self.serial_connection, config=config)
self.laser = Laser(self.serial_connection)
self.led = Led(self.serial_connection)
self._logger.debug("Reset FabScanPi HAT...")
self.laser.off(laser=0)
self.laser.off(laser=1)
self.led.off()
self.turntable.stop_turning()
self._logger.debug("Hardware controller initialized...")
self.lock = threading.Lock()
self.hardware_test_functions = {
"TURNTABLE": {
"FUNCTIONS": {
"START": self.turntable.start_turning,
"STOP": self.turntable.stop_turning
},
"LABEL": "Turntable"
},
"LEFT_LASER": {
"FUNCTIONS": {
"ON": lambda: self.laser.on(0),
"OFF": lambda: self.laser.off(0)
},
"LABEL": "First Laser"
},
# "RIGHT_LASER": {
# "FUNCTIONS": {
# "ON": lambda: self.laser.on(1),
# "OFF": lambda: self.laser.off(1)
# },
# "LABEL": "Second Laser"
# },
"LED_RING": {
"FUNCTIONS": {
"ON": lambda: self.led.on(255, 255, 255),
"OFF": lambda: self.led.off()
},
"LABEL": "Led Ring"
}
}
def flush(self):
self.camera.camera_buffer.flush()
#self.serial_connection.flush()
def get_devices_as_json(self):
devices = {} #copy.deepcopy(self.hardware_test_functions)
for fnct in self.hardware_test_functions:
devices[fnct] = {}
devices[fnct]['FUNCTIONS'] = list(self.hardware_test_functions[fnct]['FUNCTIONS'].keys())
self._logger.debug("devices: " + str(devices))
return devices
def call_test_function(self, device):
device_name = str(device.name)
device_value = str(device.function)
#self._logger.debug(device)
call_function = self.hardware_test_functions.get(device_name).get("FUNCTIONS").get(device_value)
call_function()
def settings_mode_on(self):
while not self.camera.device.is_idle():
time.sleep(0.1)
self.camera.device.start_stream(mode="settings")
self._settings_mode_is_off = False
self.camera.device.flush_stream()
self.laser.on(laser=0)
self._logger.debug("finished settings_mode_on")
#self.turntable.start_turning()
def settings_mode_off(self):
self.turntable.stop_turning()
self.led.off()
self.laser.off(laser=0)
self.camera.device.stop_stream()
self.camera.device.flush_stream()
self._settings_mode_is_off = True
time.sleep(0.3)
def get_picture(self):
img = self.camera.device.get_frame()
return img
def get_pattern_image(self):
self.led.on(110, 110, 110)
#self.camera.device.contrast = 40
pattern_image = self.get_picture()
self.led.off()
return pattern_image
def get_laser_image(self, index):
#self._hardwarecontroller.led.on(30, 30, 30)
self.laser.on(laser=index)
time.sleep(3)
self.camera.device.flush_stream()
laser_image = self.get_picture()
self.laser.off(laser=index)
return laser_image
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
'''
self.turntable.step(steps, speed=900)
time.sleep(0.7)
img = self.camera.device.get_frame()
return img
def arduino_is_connected(self):
return True #self.serial_connection.is_connected()
def get_firmware_version(self):
return "undefined" #self.serial_connection.get_firmware_version()
def camera_is_connected(self):
return self.camera.is_connected()
def start_camera_stream(self, mode="default"):
self.camera.device.start_stream(mode)
def stop_camera_stream(self):
self.camera.device.stop_stream()
class FSHardwareControllerSingleton(FSHardwareControllerInterface):
"""
Wrapper class for getting the Laser, Camera, and Turntable classes working
together
"""
def __init__(self, config, settings, imageprocessor):
self.config = config
self.settings = settings
# debug
self.image = FSImage()
self._logger = logging.getLogger(__name__)
self._settings_mode_is_off = True
self.camera = None
self._image_processor = imageprocessor
self.camera = FSCamera()
self.serial_connection = FSSerialCom()
self.turntable = Turntable(serial_object=self.serial_connection)
self.laser = Laser(self.serial_connection)
self.led = Led(self.serial_connection)
self._logger.debug("Reset FabScanPi HAT...")
self.reset_devices()
self._logger.debug("Hardware controller initialized...")
self.hardware_test_functions = {
"TURNTABLE": {
"FUNCTIONS": {
"START": self.turntable.start_turning,
"STOP": self.turntable.stop_turning
},
"LABEL": "Turntable"
},
"LEFT_LASER": {
"FUNCTIONS": {
"ON": lambda: self.laser.on(0),
"OFF": lambda: self.laser.off(0)
},
"LABEL": "First Laser"
},
"RIGHT_LASER": {
"FUNCTIONS": {
"ON": lambda: self.laser.on(1),
"OFF": lambda: self.laser.off(1)
},
"LABEL": "Second Laser"
},
"LED_RING": {
"FUNCTIONS": {
"ON": lambda: self.led.on(255, 255, 255),
"OFF": lambda: self.led.off()
},
"LABEL": "Led Ring"
}
}
def reset_devices(self):
for laser_index in range(self.config.file.laser.numbers):
self.laser.off(laser_index)
self.led.off()
self.turntable.stop_turning()
self.camera.device.stop_stream()
def flush(self):
self.camera.camera_buffer.flush()
def get_devices_as_json(self):
devices = dict()
for device in self.hardware_test_functions:
devices[device] = dict()
devices[device]['FUNCTIONS'] = list(self.hardware_test_functions[device]['FUNCTIONS'].keys())
devices[device]['LABEL'] = self.hardware_test_functions[device]['LABEL']
return devices
def call_test_function(self, device):
device_name = str(device.name)
device_value = str(device.function)
#self._logger.debug(device)
call_function = self.hardware_test_functions.get(device_name).get("FUNCTIONS").get(device_value)
call_function()
def settings_mode_on(self):
while not self.camera.device.is_idle():
time.sleep(0.1)
self.camera.device.start_stream(mode="settings")
self._settings_mode_is_off = False
self.camera.device.flush_stream()
self.laser.on(laser=0)
#self.turntable.start_turning()
def settings_mode_off(self):
self.turntable.stop_turning()
self.led.off()
self.laser.off(laser=0)
self.laser.off(laser=1)
self.camera.device.stop_stream()
self._settings_mode_is_off = True
def get_picture(self, flush=False):
if flush:
self.camera.device.flush_stream()
try:
img = self.camera.device.get_frame()
except Exception as e:
self._logger.error("Error while get_picture: {0}".format(e))
return img
def capture(self):
img = self.camera.device.capture_frame()
return img
def get_pattern_image(self):
self.led.on(110, 110, 110)
#self.camera.device.contrast = 40
pattern_image = self.get_picture()
self.led.off()
return pattern_image
def reset_hardware(self):
self.led.off()
for i in range(self.config.file.laser.numbers):
self.hardwareController.laser.off(i)
self.turntable.stop_turning()
def get_laser_image(self, index):
self.laser.on(laser=index)
laser_image = self.get_picture(flush=True)
self.laser.off(laser=index)
return laser_image
def get_image_at_position(self, index=0):
'''
Take a step and return an image.
Step size calculated to correspond to num_steps_per_rotation
Returns resulting image
'''
laser_image = self.get_laser_image(index)
if self.config.file.laser.interleaved == "True":
backrgound_image = self.get_picture(flush=True)
laser_image = cv2.subtract(laser_image, backrgound_image)
return laser_image
def move_to_next_position(self, steps=180, speed=800):
self.turntable.step_blocking(steps, speed)
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 start_camera_stream(self, mode="default"):
self.camera.device.start_stream(mode)
def stop_camera_stream(self):
self.camera.device.stop_stream()
def destroy_camera_device(self):
self.camera.device.destroy_camera()