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gac-S_Changer
2018-06-18 15:48:44 +02:00
parent d7c63a6bdb
commit da06e0af71
6 changed files with 130 additions and 4 deletions
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67
config/devices - Copy.properties Normal file
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@@ -0,0 +1,67 @@
img=ch.psi.pshell.prosilica.Prosilica|25001 "PacketSize=1522;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000"|||false
gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://129.129.110.114/axis-cgi/mjpg/video.cgi||-1000|
microscan=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2001|||
microscan_cmd=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2003|||
ue=LaserUE|COM4|||false
#robot=RobotTcp|127.0.0.1:1000|||
#onewire=ch.psi.pshell.serial.TcpDevice|129.129.126.83:5000|||
puck_detection=ch.psi.mxsc.PuckDetection|tell-raspberrypi:5556|||
#robot_modbus=ch.psi.pshell.modbus.ModbusTCP|129.129.126.100:502|||
#jf1=ch.psi.pshell.modbus.AnalogInput|robot_modbus 0||100|
#jf2=ch.psi.pshell.modbus.AnalogInput|robot_modbus 1||100|
#jf3=ch.psi.pshell.modbus.AnalogInput|robot_modbus 2||100|
#jf4=ch.psi.pshell.modbus.AnalogInput|robot_modbus 3||100|
#jf5=ch.psi.pshell.modbus.AnalogInput|robot_modbus 4||100|
#jf6=ch.psi.pshell.modbus.AnalogInput|robot_modbus 5||100|
#robot_sts=ch.psi.pshell.modbus.AnalogInputArray|robot_modbus 6 6||100|
#robot_cmd=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 12|||
#robot_args=ch.psi.pshell.modbus.AnalogOutputArray|robot_modbus 47 12|||
#robot_req=ch.psi.pshell.modbus.AnalogOutput|robot_modbus 13|||
#robot_ack=ch.psi.pshell.modbus.AnalogInput|robot_modbus 14|||
#robot_ret=ch.psi.pshell.modbus.AnalogInputArray|robot_modbus 15 12|||
#wago_back=ch.psi.pshell.modbus.ModbusTCP|SF-TEST-WAGO1:502|||
wago=ch.psi.pshell.modbus.ModbusTCP|wago-mxsc-1:502|||
led_ok_1=ch.psi.pshell.modbus.DigitalInput|wago 0||1000|
led_ok_2=ch.psi.pshell.modbus.DigitalInput|wago 1||1000|
led_ok_3=ch.psi.pshell.modbus.DigitalInput|wago 2||1000|
feedback_local_safety=ch.psi.pshell.modbus.DigitalInput|wago 3||1000|
feedback_psys_safety=ch.psi.pshell.modbus.DigitalInput|wago 4||1000|
filling_phase_separator=ch.psi.pshell.modbus.DigitalInput|wago 5||1000|
filling_dewar=ch.psi.pshell.modbus.DigitalInput|wago 6||1000|
dewar_level_high_alarm=ch.psi.pshell.modbus.DigitalInput|wago 7||1000|
guiding_tool_park=ch.psi.pshell.modbus.DigitalInput|wago 8||1000|
air_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 9||1000|false
n2_pressure_ok=ch.psi.pshell.modbus.DigitalInput|wago 10||1000|
he_chamber_valve_1=ch.psi.pshell.modbus.DigitalInput|wago 15||1000|
he_chamber_valve_2=ch.psi.pshell.modbus.DigitalInput|wago 16||1000|
relays=ch.psi.pshell.modbus.DigitalOutputArray|wago 0 16||1000|
release_local_safety=ch.psi.pshell.modbus.DigitalOutput|wago 0|||
release_psys_safety=ch.psi.pshell.modbus.DigitalOutput|wago 1|||
ln2_main_power=ch.psi.pshell.modbus.DigitalOutput|wago 2|||
rim_heater=ch.psi.pshell.modbus.DigitalOutput|wago 3|||
phase_separator_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 4|||
dewar_ln2=ch.psi.pshell.modbus.DigitalOutput|wago 5|||false
valve_he_chamber=ch.psi.pshell.modbus.DigitalOutput|wago 6|||
gripper_dryer=ch.psi.pshell.modbus.DigitalOutput|wago 7|||
valve_1=ch.psi.pshell.modbus.DigitalOutput|wago 8|||
valve_2=ch.psi.pshell.modbus.DigitalOutput|wago 9|||
valve_3=ch.psi.pshell.modbus.DigitalOutput|wago 10|||
valve_4=ch.psi.pshell.modbus.DigitalOutput|wago 11|||
#spare_do_1=ch.psi.pshell.modbus.DigitalOutput|wago 12|||
#spare_do_2=ch.psi.pshell.modbus.DigitalOutput|wago 13|||
#spare_do_3=ch.psi.pshell.modbus.DigitalOutput|wago 14|||
#spare_do_4=ch.psi.pshell.modbus.DigitalOutput|wago 15|||
phase_separator_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 0||10000|
dewar_level=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 1||10000|
rim_heater_temp=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 2||10000|
air_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 3||10000|
n2_pressure=ch.psi.pshell.modbus.ReadonlyProcessVariable|wago 4||10000|
#spare_ai_1=ch.psi.pshell.modbus.AnalogInput|wago 5|||
#spare_ai_2=ch.psi.pshell.modbus.AnalogInput|wago 6|||
#spare_ai_3=ch.psi.pshell.modbus.AnalogInput|wago 7|||
led_ctrl_1=ch.psi.pshell.modbus.ProcessVariable|wago 0|||
led_ctrl_2=ch.psi.pshell.modbus.ProcessVariable|wago 1|||
led_ctrl_3=ch.psi.pshell.modbus.ProcessVariable|wago 2|||
#spare_ao_3=ch.psi.pshell.modbus.AnalogOutput|wago 3|||
#cam=ch.psi.pshell.epics.AreaDetector|MX-SAMCAM|||
#img_back=ch.psi.pshell.imaging.CameraSource|cam||-100|

1
config/devices.properties
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@@ -1,4 +1,5 @@
img=ch.psi.pshell.prosilica.Prosilica|25001 "PacketSize=1522;PixelFormat=Mono8;BinningX=1;BinningY=1;RegionX=300;RegionY=200;Width=1000;Height=1000"|||false
gripper_cam=ch.psi.pshell.imaging.MjpegSource|http://129.129.110.114/axis-cgi/mjpg/video.cgi||100|
microscan=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2001|||
microscan_cmd=ch.psi.pshell.serial.TcpDevice|129.129.100.200:2003|||
ue=LaserUE|COM4|||false

20
devices/gripper_cam.properties Normal file
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#Mon Jun 18 11:16:55 CEST 2018
flipHorizontally=false
flipVertically=false
grayscale=false
invert=false
rescaleFactor=1.0
rescaleOffset=0.0
roiHeight=-1
roiWidth=-1
roiX=0
roiY=0
rotation=0.0
rotationCrop=false
scale=1.0
spatialCalOffsetX=NaN
spatialCalOffsetY=NaN
spatialCalScaleX=NaN
spatialCalScaleY=NaN
spatialCalUnits=mm
transpose=false

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plugins/MXSC-1.10.0.jar
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29
script/imgproc/CreateMask.py Normal file
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mask_img = new_image(img.getOutput().getWidth(), img.getOutput().getHeight(), image_type="byte", title = "mask_img", fill_color = Color.BLACK)
mask_radius = 14
mask_points = []
def to_img_coords(absolute_coords):
return [img.getCalibration().convertToImageX(absolute_coords[0]), img.getCalibration().convertToImageY(absolute_coords[1])]
for p in _puck_list:
mask_points.append(to_img_coords(p.led_mini))
mask_points.append(to_img_coords(p.led_uni))
i = mask_img.getBufferedImage()
for p in mask_points:
#i.setRGB(p[0], p[1], 0xFFFFFF)
for x in range (p[0]-mask_radius, p[0]+mask_radius):
for y in range (p[1]-mask_radius, p[1]+mask_radius):
if math.hypot(x-p[0], y-p[1]) <= mask_radius:
i.setRGB(x,y, 0xFFFFFF)
mask_img = load_image(i)
#show_panel( mask_img.getBufferedImage())
set_return(mask_img)

17
script/imgproc/LedDetectionProc.py
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@@ -4,6 +4,7 @@
COVER_PRESENT = True
ROOM_TEMP = is_room_temp()
USE_MASK = True
if get_exec_pars().source == CommandSource.ui:
PLOT = None
@@ -23,9 +24,9 @@ print "Block id: ", block_id
number_frames = 5 if ROOM_TEMP else 10
number_backgrounds = 5 if ROOM_TEMP else 10
minimum_size = 150
maximum_size = 1500
number_backgrounds = 5 if ROOM_TEMP else 5
minimum_size = 78 # r = 5 # 150
maximum_size = 750 # r = 15 #1500
min_circ = 0.2
threshold_method = "MaxEntropy" if ROOM_TEMP else "Default" #Apparently good for LN2: Default, Intermodes, IsoData, Otsu
@@ -52,13 +53,21 @@ image = average_frames(number_frames)
set_led_state(False)
op_image(image, background, "subtract", float_result=True, in_place=True)
image=grayscale(image)
if RENDERER is not None:
if RENDERER is not None and RENDERER.isShowing():
RENDERER.setImage(None, image.getBufferedImage(), None)
else:
RENDERER = show_panel(image.getBufferedImage())
RENDERER.clearOverlays()
if USE_MASK:
mask_img = run("imgproc/CreateMask")
#mask_img=grayscale(mask_img)
#show_panel( mask_img.getBufferedImage())
op_image(image, mask_img, "and", float_result=False, in_place=True)
RENDERER.setImage(None, image.getBufferedImage(), None)
invert(image)
if threshold_method == "Manual":
threshold(image, threshold_range[0], threshold_range[1])