63 lines
1.8 KiB
Python
63 lines
1.8 KiB
Python
###################################################################################################
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# Deployment specific global definitions - executed after startup.py
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###################################################################################################
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from ch.psi.pshell.serial import TcpDevice
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from ch.psi.pshell.modbus import ModbusTCP
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class RobotTCP(TcpDevice):
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def __init__(self, name, server):
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TcpDevice.__init__(self, name, server)
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def execute(self, system, command, *argv):
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#print "Done"
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cmd = str(system) + "," + str(command)
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for arg in argv:
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cmd = cmd + "," + str(arg)
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cmd = cmd + "\n"
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ret = ""
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try:
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ret = robot.write(cmd)
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finally:
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self.getLogger().info(cmd + " ret = " + str(ret))
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return ret
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def mount(self, puck, sample):
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return self.execute('1', '1', puck, sample)
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add_device(RobotTCP("robot_tcp", "127.0.0.1:3333"), force = True)
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def detect_pucks(ip):
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aux = grayscale(ip, in_place=False)
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threshold(aux,0,50)
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binary_fill_holes(aux)
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return analyse_particles(aux, 10000,50000,
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fill_holes = False, exclude_edges = True,print_table=True,
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output_image = "outlines", minCirc = 0.4, maxCirc = 1.0)
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def detect_samples(ip):
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aux = grayscale(ip, in_place=False)
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invert(aux)
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subtract_background(aux)
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auto_threshold(aux)
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binary_open(aux)
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return analyse_particles(aux, 250,1000,
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fill_holes = False, exclude_edges = True,print_table=True,
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output_image = "outlines", minCirc = 0.7, maxCirc = 1.0)
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r,g,b = [0]*256,[0]*256,[0]*256
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b[0]=0xFF
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b[1]=0xFF ; g[1] = 0x80; r[1] = 0x80
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outline_lut1 = (r,g,b)
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r,g,b = [0]*256,[0]*256,[0]*256
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g[0]=0x80;r[0]=0x80;
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g[1]=0xFF ; r[1] = 0x80; b[1] = 0x80
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outline_lut2 = (r,g,b)
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