###################################################################################################
#  Deployment specific global definitions - executed after startup.py
###################################################################################################


from ch.psi.pshell.serial import TcpDevice
from ch.psi.pshell.modbus import ModbusTCP


class RobotTCP(TcpDevice):
    def __init__(self, name, server):
         TcpDevice.__init__(self, name, server)

    def execute(self, system, command, *argv):
        #print "Done"
        cmd = str(system) + "," + str(command)
        for arg in argv:
            cmd = cmd + "," + str(arg) 
        cmd = cmd + "\n"
        ret = ""
        try:        
            ret = robot.write(cmd)
        finally:
            self.getLogger().info(cmd + " ret = " + str(ret))
        return ret

    def mount(self, puck, sample):
        return self.execute('1', '1', puck, sample)
        

add_device(RobotTCP("robot_tcp", "127.0.0.1:3333"), force = True)


def detect_pucks(ip):
    aux = grayscale(ip, in_place=False)
    subtract_background(aux)
    threshold(aux,0,50)
    binary_fill_holes(aux)
    return analyse_particles(aux, 10000,50000,
            fill_holes = False, exclude_edges = True,print_table=True,
            output_image = "outlines", minCirc = 0.0, maxCirc = 1.0)

def detect_samples(ip):        
    aux = grayscale(ip, in_place=False)
    invert(aux)|
    subtract_background(aux)
    auto_threshold(aux)
    binary_open(aux)
    return analyse_particles(aux, 250,1000, 
            fill_holes = False, exclude_edges = True,print_table=True,
            output_image = "outlines", minCirc = 0.7, maxCirc = 1.0)