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
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.laser.off(laser=0)
#self.laser.off(laser=1)
self.led.off()
self.turntable.stop_turning()
self._logger.debug("Hardware controller initialized...")
def flush(self):
self.camera.camera_buffer.flush()
#self.serial_connection.flush()
def settings_mode_on(self):
self._settings_mode_is_off = False
self.camera.device.flushStream()
self.camera.device.startStream()
self.laser.on(laser=0)
self.turntable.start_turning()
def settings_mode_off(self):
self._settings_mode_is_off = True
self.turntable.stop_turning()
self.led.off()
self.laser.off(laser=0)
self.camera.device.stopStream()
def get_picture(self):
img = self.camera.device.getFrame()
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.flushStream()
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
'''
if color:
speed = 800
else:
speed = 50
self.turntable.step_interval(steps, speed)
img = self.camera.device.getFrame()
return img
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):
self.camera.device.startStream()
def stop_camera_stream(self):
self.camera.device.stopStream()
class HardwareController(SingletonMixin):
"""
Wrapper class for getting the Laser, Camera, and Turntable classes working
together
"""
def __init__(self):
self.config = Config.instance()
self.settings = Settings.instance()
self.camera = None
self._image_processor = ImageProcessor(self.config, self.settings)
self.camera = FSCamera()
self.serial_connection = FSSerialCom()
self.turntable = Turntable(self.serial_connection)
self.laser = Laser(self.serial_connection)
self.led = Led(self.serial_connection)
self.laser.off()
self.led.off()
self.turntable.stop_turning()
self.turntable.disable_motors()
def settings_mode_on(self):
self.laser.on()
self.turntable.start_turning()
self.camera.device.startStream()
def settings_mode_off(self):
self.turntable.stop_turning()
self.led.off()
self.laser.off()
self.camera.device.flushStream()
self.camera.device.stopStream()
def get_picture(self):
img = self.camera.device.getFrame()
return img
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
'''
if color:
speed = 800
else:
speed = 50
self.turntable.step_interval(steps, speed)
img = self.camera.device.getFrame()
return img
def get_laser_angle(self):
image = self.camera.device.getFrame()
angle = self._image_processor.calculate_laser_angle(image)
return angle
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 calibrate_laser(self):
self.laser.on()
time.sleep(0.8)
last_angle = 0
current_angle = self.get_laser_angle()
#while (last_angle != current_angle):
# last_angle = current_angle
# current_angle = self.get_laser_angle()
#angle_delta = 1
#while(not (angle_delta < 0.3 and angle_delta > -0.3)):
# laser_angle = self.get_laser_angle()
# angle_delta = 30 - laser_angle
# if angle_delta > 0.3:
# self.laser.turn(1)
# elif angle_delta < -0.3:
# self.laser.turn(-1)
#delta_angle = 30 - first_detected_angle
#steps = delta_angle/0.1125*3200
#self.laser.turn(int(360/steps))
#angle = self.get_laser_angle()
self.laser.off()
return current_angle
class HardwareController(SingletonMixin):
"""
Wrapper class for getting the Laser, Camera, and Turntable classes working
together
"""
def __init__(self):
self.config = Config.instance()
self.settings = Settings.instance()
self.camera = None
self._image_processor = ImageProcessor(self.config, self.settings)
self.camera = FSCamera()
self.serial_connection = FSSerialCom()
self.turntable = Turntable(self.serial_connection)
self.laser = Laser(self.serial_connection)
self.led = Led(self.serial_connection)
self.laser.off()
self.led.off()
self.turntable.stop_turning()
self.turntable.disable_motors()
def settings_mode_on(self):
self.laser.on()
self.turntable.start_turning()
self.camera.device.startStream()
def settings_mode_off(self):
self.turntable.stop_turning()
self.led.off()
self.laser.off()
self.camera.device.flushStream()
self.camera.device.stopStream()
def get_picture(self):
img = self.camera.device.getFrame()
return img
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
'''
if color:
speed = 800
else:
speed = 50
self.turntable.step_interval(steps, speed)
img = self.camera.device.getFrame()
return img
def get_laser_angle(self):
image = self.camera.device.getFrame()
angle = self._image_processor.calculate_laser_angle(image)
return angle
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 calibrate_laser(self):
self.laser.on()
time.sleep(0.8)
last_angle = 0
current_angle = self.get_laser_angle()
#while (last_angle != current_angle):
# last_angle = current_angle
# current_angle = self.get_laser_angle()
#angle_delta = 1
#while(not (angle_delta < 0.3 and angle_delta > -0.3)):
# laser_angle = self.get_laser_angle()
# angle_delta = 30 - laser_angle
# if angle_delta > 0.3:
# self.laser.turn(1)
# elif angle_delta < -0.3:
# self.laser.turn(-1)
#delta_angle = 30 - first_detected_angle
#steps = delta_angle/0.1125*3200
#self.laser.turn(int(360/steps))
#angle = self.get_laser_angle()
self.laser.off()
return current_angle
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
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.laser.off(laser=0)
#self.laser.off(laser=1)
self.led.off()
self.turntable.stop_turning()
self._logger.debug("Hardware controller initialized...")
def flush(self):
self.camera.camera_buffer.flush()
#self.serial_connection.flush()
def settings_mode_on(self):
self._settings_mode_is_off = False
self.camera.device.flushStream()
self.camera.device.startStream()
self.laser.on(laser=0)
self.turntable.start_turning()
def settings_mode_off(self):
self._settings_mode_is_off = True
self.turntable.stop_turning()
self.led.off()
self.laser.off(laser=0)
self.camera.device.stopStream()
def get_picture(self):
img = self.camera.device.getFrame()
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.flushStream()
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
'''
if color:
speed = 800
else:
speed = 50
self.turntable.step_interval(steps, speed)
img = self.camera.device.getFrame()
return img
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):
self.camera.device.startStream()
def stop_camera_stream(self):
self.camera.device.stopStream()
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
self._logger = logging.getLogger(__name__)
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.laser.off()
self.led.off()
self.turntable.stop_turning()
self.turntable.disable_motors()
self._logger.debug("Hardware controller initialized...")
#self.hardware_calibration()
def settings_mode_on(self):
self.laser.on()
self.turntable.start_turning()
self.camera.device.startStream()
def settings_mode_off(self):
self.turntable.stop_turning()
self.led.off()
self.laser.off()
time.sleep(0.3)
self.camera.device.flushStream()
self.camera.device.stopStream()
def get_picture(self):
img = self.camera.device.getFrame()
return img
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
'''
if color:
speed = 800
else:
speed = 50
self.turntable.step_interval(steps, speed)
img = self.camera.device.getFrame()
return img
def get_laser_angle(self):
image = self.camera.device.getFrame()
angle = self._image_processor.calculate_laser_angle(image)
return angle
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 calibrate_scanner(self):
self._logger.debug("Startup calibration sequence started.")
#self.laser.on()
#self.camera.device.startStream()
time.sleep(2)
laser_angle = self.get_laser_angle()
self._logger.debug(laser_angle)
#self.camera.device.stopStream()
#self.laser.off()
self.settings.save()
self._logger.debug("Calibration sequence finished.")
def calibrate_laser(self):
self.laser.on()
time.sleep(0.8)
last_angle = 0
current_angle = self.get_laser_angle()
self.laser.off()
return current_angle
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
self._logger = logging.getLogger(__name__)
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.laser.off()
self.led.off()
self.turntable.stop_turning()
self.turntable.disable_motors()
self._logger.debug("Hardware controller initialized...")
#self.hardware_calibration()
def settings_mode_on(self):
self.laser.on()
self.turntable.start_turning()
self.camera.device.startStream()
def settings_mode_off(self):
self.turntable.stop_turning()
self.led.off()
self.laser.off()
time.sleep(0.3)
self.camera.device.flushStream()
self.camera.device.stopStream()
def get_picture(self):
img = self.camera.device.getFrame()
return img
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
'''
if color:
speed = 800
else:
speed = 50
self.turntable.step_interval(steps, speed)
img = self.camera.device.getFrame()
return img
def get_laser_angle(self):
image = self.camera.device.getFrame()
angle = self._image_processor.calculate_laser_angle(image)
return angle
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 calibrate_scanner(self):
self._logger.debug("Startup calibration sequence started.")
#self.laser.on()
#self.camera.device.startStream()
time.sleep(2)
laser_angle = self.get_laser_angle()
self._logger.debug(laser_angle)
#self.camera.device.stopStream()
#self.laser.off()
self.settings.save()
self._logger.debug("Calibration sequence finished.")
def calibrate_laser(self):
self.laser.on()
time.sleep(0.8)
last_angle = 0
current_angle = self.get_laser_angle()
self.laser.off()
return current_angle