From da06e0af71990510826b0517532d5cfb5338e1d1 Mon Sep 17 00:00:00 2001
From: gac-S_Changer <gac-S_Changer@PC12288.psi.ch>
Date: Mon, 18 Jun 2018 15:48:44 +0200
Subject: [PATCH]

---
 config/devices - Copy.properties   |  67 +++++++++++++++++++++++++++++
 config/devices.properties          |   1 +
 devices/gripper_cam.properties     |  20 +++++++++
 plugins/MXSC-1.10.0.jar            | Bin 79151 -> 79376 bytes
 script/imgproc/CreateMask.py       |  29 +++++++++++++
 script/imgproc/LedDetectionProc.py |  17 ++++++--
 6 files changed, 130 insertions(+), 4 deletions(-)
 create mode 100644 config/devices - Copy.properties
 create mode 100644 devices/gripper_cam.properties
 create mode 100644 script/imgproc/CreateMask.py

diff --git a/config/devices - Copy.properties b/config/devices - Copy.properties
new file mode 100644
index 0000000..cc3672f
--- /dev/null
+++ b/config/devices - Copy.properties	
@@ -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|
diff --git a/config/devices.properties b/config/devices.properties
index 37a20a1..bd8c792 100644
--- a/config/devices.properties
+++ b/config/devices.properties
@@ -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
diff --git a/devices/gripper_cam.properties b/devices/gripper_cam.properties
new file mode 100644
index 0000000..77b2bc4
--- /dev/null
+++ b/devices/gripper_cam.properties
@@ -0,0 +1,20 @@
+#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
diff --git a/plugins/MXSC-1.10.0.jar b/plugins/MXSC-1.10.0.jar
index f4abe15f1f00f1e8b494f951e487cd44a2871021..d9bb0b3db3530a5a945ba38e53ff28113bf6da29 100644
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diff --git a/script/imgproc/CreateMask.py b/script/imgproc/CreateMask.py
new file mode 100644
index 0000000..98b3498
--- /dev/null
+++ b/script/imgproc/CreateMask.py
@@ -0,0 +1,29 @@
+
+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)
\ No newline at end of file
diff --git a/script/imgproc/LedDetectionProc.py b/script/imgproc/LedDetectionProc.py
index 39c628c..37728d9 100644
--- a/script/imgproc/LedDetectionProc.py
+++ b/script/imgproc/LedDetectionProc.py
@@ -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])