script/devices/Gonio.py

@@ -0,0 +1,37 @@
+
+
+def home_fast_table():
+    caput ("SAR-EXPMX:ASYN.AOUT", "enable plc 1")
+
+def get_fx_pos():
+    return caget("SAR-EXPMX:MOT_FX.RBV",  'f') 
+
+def set_fx_pos(pos):
+    return caput("SAR-EXPMX:MOT_FX.VAL", float(pos)) 
+
+
+def get_fy_pos():
+    return caget("SAR-EXPMX:MOT_FY.RBV",  'f') 
+
+def set_fy_pos(pos):
+    return caput("SAR-EXPMX:MOT_FY.VAL", float(pos)) 
+
+def get_ry_pos():
+    return caget("SAR-EXPMX:MOT_ROT_Y.RBV",  'f') 
+
+def set_ry_pos(pos):
+    return caput("SAR-EXPMX:MOT_ROT_Y.VAL", float(pos)) 
+
+def get_cz_pos():
+    return caget("SAR-EXPMX:MOT_CZ.RBV",  'f') 
+
+def set_cz_pos(pos):
+    return caput("SAR-EXPMX:MOT_CZ.VAL", float(pos)) 
+
+def get_cx_pos():
+    return caget("SAR-EXPMX:MOT_CX.RBV",  'f') 
+
+def set_cx_pos(pos):
+    return caput("SAR-EXPMX:MOT_CX.VAL", float(pos))         
+        
+    

script/devices/Hexiposi.py

@@ -95,10 +95,16 @@ class Hexiposi(DiscretePositionerBase):
         self.move_pos(self.val)
         #Workaround as state does not changes immediatelly
         if moving:
-            try:
-                self.waitState(State.Busy,1200)                
-            except:
-                pass
+            #try:
+            #    self.waitState(State.Busy,1200)                
+            #except:
+            #    print sys.exc_info()[1]
+            start = time.time()
+            while self.state != State.Busy:
+                if time.time() - start > 1.5:
+                    print "Timeout waiting Hexiposi busy"
+                    break
+                self.update()   
 
     def is_in_position(self, pos):
         return take() == pos
@@ -131,7 +137,7 @@ class Hexiposi(DiscretePositionerBase):
 dev = Hexiposi("hexiposi", "myriotell:8002/hexiposi")
 
 add_device(dev, True)
-hexiposi.polling=500
+hexiposi.polling=1000
 #print dev.url
 #print dev.get_status()
 
@@ -144,4 +150,4 @@ class hexiposi_position(ReadonlyRegisterBase):
             
 add_device(hexiposi_position(), True)
 hexiposi_position.polling = 1000
-
+hexiposi.set_deadband(0.5)

script/devices/Wago.py

@@ -112,6 +112,8 @@ def release_psys():
     """
     Release psys safety
     """    
+    if is_manual_mode():
+        raise Exception ("Cannot release PSYS in manual mode")
     release_psys_safety.write(False)
     time.sleep(0.01)
     release_psys_safety.write(True)

script/imgproc/CameraCalibration.py

@@ -2,6 +2,9 @@ import ch.psi.pshell.device.Camera as Camera
 import ch.psi.pshell.imaging.RendererMode as RendererMode
 import ch.psi.pshell.imaging.Calibration as Calibration
 from ch.psi.pshell.imaging.Overlays import *
+import ch.psi.utils.swing.SwingUtils as SwingUtils
+import javax.swing.SwingUtilities as SwingUtilities
+from swingutils.threads.swing import callSwing
 #SIMULATION = ch.psi.pshell.imaging.FileSource
 """
 img.camera.setColorMode(Camera.ColorMode.Mono)
@@ -15,9 +18,10 @@ img.config.rotationCrop=True
 """
 
 MOVE_HEXIPOSI = True
+ROTATION_OFFSET = 180.0
 
 if MOVE_HEXIPOSI:
-    enable_motion()    
+    release_safety()   #enable_motion()   
 
 sensor_width,sensor_height = img.camera.getSensorSize()
 img.camera.setROI(0, 0,sensor_width, sensor_height)  
@@ -29,11 +33,17 @@ img.camera.start()
 
 
 p = show_panel(img)
+dlg = SwingUtilities.getWindowAncestor(p)
+dlg.setSize(800,800)
+frm=SwingUtils.getFrame(p)
+dlg.setLocationRelativeTo(frm)
+
 p.setMode(RendererMode.Fit)
 ov_text = Text(Pen(java.awt.Color.GREEN.darker()), "", java.awt.Font("Verdana", java.awt.Font.PLAIN, 24), java.awt.Point(20,20))
 ov_text.setFixed(True)
 p.addOverlay(ov_text)
 
+
 try:
     #Find image center and Prosilica ROI
     ov_text.update("Click on the center of the Dewar...")
@@ -130,10 +140,12 @@ try:
 
     print a, sx, sy, roi_w, roi_h 
    
-    img.config.rotation=-a
+    img.config.rotation=-a + ROTATION_OFFSET
     img.config.roiX,img.config.roiY, img.config.roiWidth,img.config.roiHeight = roi_x, roi_y, roi_w, roi_h
     img.config.setCalibration(Calibration(sx, sy, -roi_w/2, -roi_h/2))
     img.config.save()
+
+    set_return ("Success calibrating the camera")
     
 finally: 
     set_led_state(False)

script/imgproc/CoverDetection.py

@@ -6,11 +6,15 @@
 FRAMES_INTEGRATION = 3
 STEP_SIZE = 2
 POSITION_NAMES = [ 'A','B','C','D', 'E', 'F']
-POSITION_ANGLES = [330, 30, 90, 150, 210, 270]
+
+#POSITION_ANGLES = [ 330,  30, 90, 150, 210, 270 ]
+POSITION_ANGLES = [ 0,  60, 120, 180, 240, 300 ]
 POSITION_TOLERANCE = 3
-MINIMUM_CONFIDENCE = 10
+MINIMUM_CONFIDENCE = 3
 DEBUG = cover_detection_debug
-REFERENCE_IMG = "ref2"
+#REFERENCE_IMG = "ref2"
+REFERENCE_IMG = "ref1"
+BORDER = 7
 
 #Load reference image
 ref = load_image(str("{images}/cover/" + REFERENCE_IMG + ".png") , title="Line")
@@ -23,9 +27,16 @@ smooth(ip)
 #bandpass_filter(ip, 30, 1000)
 edges(ip)
 auto_threshold(ip, method = "MaxEntropy")
+#binary_erode(ip, False)
+#binary_dilate(ip, True)
+ip.getProcessor().erode(1, 255)
 cx,cy = int(ip.width/2), int(ip.height/2)
 ip = sub_image(ip, cx-ref.width/2, cy-ref.height/2, ref.width, ref.height)
 
+if BORDER>0:
+    sip = sub_image(ip, BORDER,BORDER,  ref.width-2*BORDER, ref.height-2*BORDER)
+    ip = pad_image(sip, BORDER, BORDER, BORDER, BORDER, fill_color=Color.WHITE)
+    
 #Show ROI of pre-processed image 
 if DEBUG:
     image_panel = show_panel(ip.bufferedImage)
@@ -49,6 +60,14 @@ for i in xdata:
 peaks = estimate_peak_indexes(ydata, xdata,  (min(ydata) + max(ydata))/2,  25.0)
 peaks_x = map(lambda x:xdata[x], peaks)
 peaks_y = map(lambda x:ydata[x], peaks)
+if len(peaks_x) > 1:
+    #remoce close peaks between 350 deg and 10 deg
+    if ((peaks_x[0]<10) and  (peaks_x[1]>350)) or ((peaks_x[1]<10) and  (peaks_x[0]>350)):
+        peaks.pop(1)
+        peaks_x.pop(1)
+        peaks_y.pop(1)
+        
+        
 confidence = None if len(peaks_x)<2 else int(((float(peaks_y[0])/peaks_y[1])-1) * 1000)
 angle = (None if len(peaks_x)==0 else peaks_x[0])
  

script/imgproc/CoverDetectionCalibration.py

@@ -0,0 +1,40 @@
+#Parameters
+FRAMES_INTEGRATION = 3
+MINIMUM_CONFIDENCE = 10
+DEBUG = cover_detection_debug
+REFERENCE_IMG = "ref1"
+ERODE_ITERATIONS = 2
+
+#Load reference image
+SIZE = [128,128]
+BORDER = 7
+
+hexiposi.move("A")
+#Pre-process camera image
+#ip = load_image("{images}/cover/Cover_000" + str(index) + ".png", title="Img")
+ip = integrate_frames(FRAMES_INTEGRATION)
+ip = grayscale(ip, True)
+smooth(ip)
+#bandpass_filter(ip, 30, 1000)
+edges(ip)
+
+auto_threshold(ip, method = "MaxEntropy")
+#binary_dilate(ip, True, 2)
+for i in range(ERODE_ITERATIONS):
+    ip.getProcessor().erode(1, 255)
+
+cx,cy = int(ip.width/2), int(ip.height/2)
+ip = sub_image(ip, cx-SIZE[0]/2, cy-SIZE[1]/2, SIZE[0], SIZE[1])
+
+invert(ip)
+ip = grayscale(ip, True)
+#smooth(ip)
+
+if BORDER > 0:
+    sip = sub_image(ip, BORDER,BORDER, SIZE[0]-2*BORDER, SIZE[1]-2*BORDER)
+    ip = pad_image(sip, BORDER, BORDER, BORDER, BORDER)
+if DEBUG:
+    image_panel = show_panel(ip.bufferedImage)
+
+save_image(ip, str("{images}/cover/" + REFERENCE_IMG + ".png") ,"png")
+    

script/local.py

@@ -16,7 +16,7 @@ run("setup/Layout")
 ###################################################################################################
 
 for script in ["devices/RobotSC", "devices/Wago", "devices/BarcodeReader", "devices/LaserDistance",  \
-               "devices/LedCtrl", "devices/SmartMagnet", "devices/HexiPosi"]:
+               "devices/LedCtrl", "devices/SmartMagnet", "devices/HexiPosi", "devices/Gonio"]:
     try:
         run(script)
     except:
@@ -71,7 +71,7 @@ def get_puck_img_detection(segment, puck):
     return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).imageDetection)
 
 def assert_puck_detected(segment, puck):
-    if get_puck_detection(segment, puck) != "Present":
+    if get_puck_elect_detection(segment, puck) != "Present":
         raise Exception ("Puck " + str(segment).upper() + str(puck) + " not present")
 
 
@@ -122,7 +122,7 @@ try:
     #img.camera.setDataType(Camera.DataType.UInt8)
     img.camera.setGrabMode(Camera.GrabMode.Continuous)
     img.camera.setTriggerMode(Camera.TriggerMode.Fixed_Rate)
-    img.camera.setExposure(50.00)
+    img.camera.setExposure(25.00)
     img.camera.setAcquirePeriod(200.00)
     img.camera.setGain(0.0)
     #img.camera.setROI(200, 0,1200,1200)

script/motion/tools.py

@@ -1,10 +1,21 @@
 POSITION_TOLERANCE = 50
 
-def enable_motion():
+
+def is_manual_mode():
     """
-    Check safety and enable arm power if in remote mode
+    return if operating in local mode. TODO: should be based on IO, not on robot flag.
+    """    
+    return  robot.working_mode == "manual"
+
+def release_safety():
     """
-    auto = robot.working_mode != "manual"
+    Release sefety signals acording to working mode
+    """
+    if air_pressure_ok.take() != True:
+        raise Exception("Cannot release safety: air preassure not ok") 
+    if n2_pressure_ok.take() != True:
+        raise Exception("Cannot release safety: n2 pressure not ok")         
+    auto = not is_manual_mode()
     if auto:
         if feedback_psys_safety.read() == False:
             release_psys()  
@@ -18,6 +29,12 @@ def enable_motion():
         if feedback_local_safety.read() == False:
             raise Exception("Cannot enable power: check sample changer emergency stop button") 
             
+def enable_motion():
+    """
+    Check safety and enable arm power if in remote mode
+    """
+    release_safety()    
+    auto = not is_manual_mode()        
     if auto:
         if not robot.state.isNormal():
             raise Exception("Cannot enable power: robot state is " + str(robot.state))
@@ -31,7 +48,7 @@ def set_hexiposi(pos, force = False):
         if hexiposi.position == pos:
             return 
         
-    if robot.working_mode == "manual":
+    if is_manual_mode():
         set_status("Move Hexiposi to position " + str(pos) + " ...")
         try:
             hexiposi.waitInPosition(pos, -1)
@@ -48,7 +65,7 @@ def _set_hexiposi(pos):
             
 
 def visual_check_hexiposi(segment):
-    #if robot.working_mode == "manual" ?
+    #if is_manual_mode(): ?
     if hexiposi.moved:
         #Clearing for image processing
         if not robot.is_park():

script/setup/ExposureScan.py

@@ -12,18 +12,22 @@ class Contrast(Readable):
     def read(self):
         data = img.getData()
         #roi = Data(data.getRectSelection(500,300,700,600), False)
-        return data.getGradientVariance(False, Rectangle(480,0,600,670))
+        #return data.getGradientVariance(False, Rectangle(480,0,600,670))
+        return data.getGradientVariance(False, None)
 contrast=Contrast()
 
 
 #a= lscan(exposure,img.getContrast(), 0.5, 1.0, 0.01, 0.5)
 #a= lscan(exposure,contrast, 0.2, 0.4, 0.01, 0.7)
-a= lscan(exposure,contrast, 10.0, 250.0, 10.0, 0.7)
-
-(n, m, s) = fit(a.getReadable(0), xdata=a.getPositions(0))
-if m is None:
-    m=max(a.getReadable(0))
+ret= lscan(exposure,contrast, 10.0, 150.0, 5.0, 0.5)
+y, x = ret.getReadable(0), ret.getPositions(0)
 
+#(n, m, s) = fit(a.getReadable(0), xdata=a.getPositions(0))
+#if m is None:
+#    m=max(a.getReadable(0))
+m=x[y.index(max(y))]
+p=get_plots()[0]
+p.addMarker(m, p.AxisId.X, str(m), Color.RED)
 
 print "Setting exposure = ", m
 exposure.write(m)

script/test/TestRemoveBackground.py

@@ -0,0 +1,31 @@
+number_frames = 5
+number_backgrounds = 5
+minimum_size = 78     # r = 5 # 150   
+maximum_size = 750    # r = 15 #1500
+min_circ = 0.2
+
+threshold_method = "MaxEntropy"
+threshold_method,threshold_range = "Manual",  (0, 215)
+
+exclude_edges = True
+led_latency = 0.5 #0.1
+
+set_led_state(False)
+time.sleep(led_latency)
+img.waitNext(2000)
+
+background = average_frames(number_backgrounds)
+#background = integrate_frames(number_backgrounds)
+
+set_led_state(True)
+time.sleep(led_latency)
+img.waitNext(2000)
+image = average_frames(number_frames)
+#image = integrate_frames(number_frames)
+
+set_led_state(False)
+
+op_image(image, background, "subtract", float_result=True, in_place=True)
+image=grayscale(image)
+
+show_panel(image.getBufferedImage())

script/test/test_hexiposi.py

@@ -0,0 +1,8 @@
+index  = 1
+while(True):
+    for pos in ['A', 'B', 'C', 'D', 'E', 'F']:
+        hexiposi.move(pos)
+        visual_check_hexiposi(pos)
+        print "Ok: "  + pos
+    print index
+    index = index + 1

script/test/test_swingutils.py

@@ -0,0 +1,24 @@
+import ch.psi.pshell.imaging.RendererMode as RendererMode
+import ch.psi.pshell.imaging.Calibration as Calibration
+from ch.psi.pshell.imaging.Overlays import *
+import ch.psi.utils.swing.SwingUtils as SwingUtils
+import javax.swing.SwingUtilities as SwingUtilities
+from swingutils.threads.swing import callSwing
+
+
+p = show_panel(img)
+dlg = SwingUtilities.getWindowAncestor(p)
+dlg.setSize(800,800)
+frm=SwingUtils.getFrame(p)
+dlg.setLocationRelativeTo(frm)
+
+def update_frame(frm):
+    SwingUtilities.updateComponentTreeUI(frm)
+    frm.validate()
+    frm.repaint()
+#$callSwing(update_frame, frm)
+
+
+x=0
+for i in range(0,10000000):
+    x=x+1