def detect_color(queue: Queue, filename: str, location: List[int]):
queue.put(QueueMessage('Starting', task_name='Detect Color'))
radius_offset = 60
img = cv.imread(filename)
hsv = cv.cvtColor(img, cv.COLOR_BGR2HSV)
x, y, z = location
mask = np.zeros(img.shape[:2], dtype="uint8")
cv.circle(mask, (x, y), z - radius_offset, 255, -1)
result = {}
plot_color = ['r', 'g', 'b']
hsv_var = ['h', 's', 'v']
for i, col in enumerate(plot_color):
hist = cv.calcHist([hsv], [i], mask, [256], [0, 256])
result[hsv_var[i]] = hist
plt.plot(hist, color=col)
plt.xlim([0, 256])
queue.put(QueueMessage('Saving Files', task_name='Detect Circle'))
hist_file = '{}_hist.png'.format(filename[:-3])
plt.savefig(hist_file, bbox_inches='tight')
json_file = '{}_hist.json'.format(filename[:-3])
with open(json_file, 'w') as jf:
json.dump(result, jf, indent=4)
queue.put(QueueMessage('Finished', task_name='Detect Circle'))
return (hist_file, json_file, result)
def move_paper(queue: Queue, completed: int, jog: bool = False):
"""
Moves new paper into position
Need to somehow track roll usage
"""
queue.put(QueueMessage('Starting', task_name='Move Paper'))
speed = 2 # rad / second
length = 20 # mm
total_length = 20 * completed
inner_radius = 123 # TODO
thickness = 0.05 # used paper thickness.... TODO
radius = sqrt(total_length * thickness / 3.14159 +
inner_radius * inner_radius)
# https://math.stackexchange.com/questions/2145821/calculating-the-length-of-tape-when-it-is-wound-up
theta = length / radius
run_time = theta / speed
if (jog):
queue.put(QueueMessage('Jog mode', task_name='Move Paper'))
run_time = run_time / 10
queue.put(QueueMessage('Turning Servo by {rad} rad, time required {time} s'.format(
rad=theta, time=run_time), task_name='Move Paper'))
servo = maestro.Controller()
servo.setAccel(0, 4)
servo.setSpeed(0, 10)
servo.setTarget(0, 6000) # turn continuous servo
time.sleep(run_time)
servo.setTarget(0, 1500) # stop servo
queue.put(QueueMessage('Finished', task_name='Move Paper'))
def movement_feedback(queue: Queue, completed: int, test_time: str):
"""
Ensures the postition of the paper is correct for the next test
"""
queue.put(QueueMessage('Starting', task_name='Movement Feedback'))
x = 340
i = 0
queue.put(
QueueMessage('Initial Paper movement', task_name='Movement Feedback'))
move_paper(queue, completed)
filename = take_photo(queue, test_time)
location = detect_circle(queue, filename)
incorrect = abs(location[0] - x) > 20
while (incorrect):
i = i + 1
queue.put(
QueueMessage('Paper Jog: {}'.format(i),
task_name='Movement Feedback'))
os.remove(filename)
move_paper(queue, completed, True)
filename = take_photo(queue, test_time)
location = detect_circle(queue, filename)
incorrect = abs(location[0] - x) > 20
queue.put(QueueMessage('Finished', task_name='Movement Feedback'))
return location
def take_photo(queue: Queue, test_time: str):
"""
"""
queue.put(QueueMessage('Starting', task_name='Camera'))
queue.put(QueueMessage('Turning on LEDs', task_name='Camera'))
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(23, GPIO.OUT)
GPIO.setup(24, GPIO.OUT)
GPIO.setup(25, GPIO.OUT)
GPIO.output(23, GPIO.HIGH)
GPIO.output(24, GPIO.HIGH)
GPIO.output(25, GPIO.HIGH)
time.sleep(1)
camera = PiCamera()
queue.put(QueueMessage('Taking photo', task_name='Camera'))
filename = '/home/pi/nutrient_tester_rpi/{}.jpg'.format(test_time)
camera.capture(filename)
queue.put(
QueueMessage('Photo saved as "{}"'.format(filename),
task_name='Camera'))
camera.close()
GPIO.output(23, GPIO.LOW)
GPIO.output(24, GPIO.LOW)
GPIO.output(25, GPIO.LOW)
queue.put(QueueMessage('Finished', task_name='Camera'))
return filename
def run_heater(queue: Queue):
"""
"""
queue.put(QueueMessage('Starting', task_name='Heater'))
queue.put(QueueMessage('Turning on heater for {time} seconds'.format(
time=300), task_name='Heater'))
# TODO set pin to high
time.sleep(300) # 5 minutes
queue.put(QueueMessage('Finished', task_name='Heater'))
def just_add_water(queue: Queue, completed: int):
"""
put water sample and reactant onto paper
"""
queue.put(QueueMessage('Starting', task_name='Sampling'))
queue.put(QueueMessage('Adding Water', task_name='Sampling'))
move_water_valve(1)
# push out some water then sucking back in
move_water_linear([2000, 0])
# move valve to inlet so no liquid can go on paper
queue.put(QueueMessage('Adding Reactant', task_name='Sampling'))
move_water_valve(2)
move_reactant_linear(completed)
queue.put(QueueMessage('Finished', task_name='Sampling'))
def pre_test_clean(queue: Queue):
"""
Flush the pipe with air before test begins
Assume water actuator starts in extended position
"""
# suck in air
queue.put(QueueMessage('Starting', task_name='Pre-Test Cleaning'))
queue.put(QueueMessage('Sucking in Air', task_name='Pre-Test Cleaning'))
move_water_valve(1)
move_water_linear([0])
queue.put(QueueMessage('Pushing out air, then pulling in water',
task_name='Pre-Test Cleaning'))
move_water_valve(2)
# push out air, pull in water
move_water_linear([5000, 1000])
queue.put(QueueMessage('Finished', task_name='Pre-Test Cleaning'))
def post_test_clean(queue: Queue):
"""
Empty tubes so that there is only air
"""
# make doubly sure
queue.put(QueueMessage('Starting', task_name='Post-test Clean'))
queue.put(QueueMessage('Push out water', task_name='Post-test Clean'))
move_water_valve(2)
# push water out
move_water_linear([5000])
# take in more air
queue.put(QueueMessage('Pulling in air', task_name='Post-test Clean'))
move_water_valve(1)
move_water_linear(0)
queue.put(QueueMessage('Push out air', task_name='Post-test Clean'))
move_water_valve(2)
move_water_linear([5000])
queue.put(QueueMessage('Finished', task_name='Post-test Clean'))
def test_main(queue: Queue, completed: int, test_time: str):
try:
queue.put(QueueMessage('Starting', task_name='Test Main'))
timer = time.time()
pre_test_clean(queue)
just_add_water(queue, completed)
# tube cleaning can run async at while we are waiting for heater
clean = Thread(target=post_test_clean, args=(queue, ))
clean.start()
run_heater(queue)
location = movement_feedback(queue, completed, test_time)
result = detect_color(queue, filename, location)
# TODO add files to be sent, analysis
# it doesnt really matter when cleaning finishes as long as it does by the end
clean.join()
queue.put(QueueMessage('Finished in: ' +
str(time.time() - timer), task_name='Test Main'))
except:
queue.put(QueueMessage('Unexpected Exception', 4, sys.exc_info()))
def detect_circle(queue: Queue, filename: str):
queue.put(QueueMessage('Starting', task_name='Detect Circle'))
img = cv.imread(filename)
img = cv.medianBlur(img, 5)
# 256 shades of gray
gray_img = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
# detect circles
circles = cv.HoughCircles(gray_img,
cv.HOUGH_GRADIENT,
1,
20,
param1=50,
param2=30,
minRadius=0,
maxRadius=0)
circles = np.uint16(np.around(circles))
queue.put(
QueueMessage('Circle detected at: {}'.format(str(circles[0][0])),
task_name='Detect Circle'))
queue.put(QueueMessage('Finished', task_name='Detect Circle'))
return circles[0][0] # return first circle detected