#import ch.psi.pshell.device.DeviceBase as DeviceBase from startup import * import ch.psi.utils.Convert.toBidimensional as mono_to_bidi import ch.psi.utils.Convert.toDouble as toDouble import org.apache.commons.math3.linear.Array2DRowRealMatrix as Matrix class CamToolImage(ReadableMatrix): def __init__(self, camtool): self.camtool = camtool shape = camtool.shape.read() self._width = shape[1] #len(camtool.profile_x.read()) self._height = shape[0] #len(camtool.(profile_y.read()) def read(self): raw = self.camtool.data.read() #return Matrix(toDouble(mono_to_bidi(raw, self.getHeight(), self.getWidth()))).transpose().getData() #data is transposed return mono_to_bidi(raw, self.getWidth(), self.getHeight()) def getWidth(self): return self._width def getHeight(self): return self._height class CamTool(DeviceBase): def __init__(self, name, prefix = "cam:", latch = False): DeviceBase.__init__(self, name) self.prefix = prefix self.latch = latch self.mode = "latch" if latch else "pipeline" self.data_prefix = prefix + self.mode + "." self.cam_run = Channel(prefix + "camera.run", alias = name + " run") self.cam_latch = Channel(prefix + "latch.capture", alias = name + " latch") self.timestamp = Channel(self.data_prefix + "timestamp", alias = name + " timestamp") #[D1, D2, ...] self.com_x = Channel(self.data_prefix + "x_stats.com", alias = name + " com x") self.com_y = Channel(self.data_prefix + "y_stats.com", alias = name + " com y") self.profile_x = Channel(self.data_prefix + "profile.x", alias = name + " profile x") self.profile_y = Channel(self.data_prefix + "profile.y", alias = name + " profile y") self.data = Channel(self.data_prefix + "image", alias = name + " data") self.shape = Channel(self.data_prefix + "image.shape", alias = name + " shape") #[D1, D2, ...] self.bg_image = Channel(self.data_prefix + "bg_image", alias = name + "bg image") #[D1, D2, ...] self.bg_en = Channel(self.prefix + "bg.enabled", type = 'l', alias = name + " bg en") self.bg_capture = Channel(self.prefix + "bg.capture", type = 'l', alias = name + " bg capture") self.bg_capture_remain = Channel(self.prefix + "bg.capture_remain", alias = name + " capture remain") self.num_images = 1 self.image = CamToolImage(self) set_device_alias(self.image, name + " image") self.com_x_samples, self.com_y_samples = [], [] class CamToolComX(Readable): def read(self): print self.camtool.take(), "X", self.camtool.com_x_samples, mean(self.camtool.com_x_samples) return mean(self.camtool.com_x_samples) self.com_x_mean = CamToolComX(); self.com_x_mean.camtool = self class CamToolComY(Readable): def read(self): print self.camtool.take(), "Y", self.camtool.com_y_samples, mean(self.camtool.com_y_samples) return mean(self.camtool.com_y_samples) self.com_y_mean = CamToolComY(); self.com_y_mean.camtool = self class CamToolComXVar(Readable): def read(self): return variance(self.camtool.com_x_samples) self.com_x_var = CamToolComXVar(); self.com_x_var.camtool = self class CamToolComXVar(Readable): def read(self): return variance(self.camtool.com_y_samples) self.com_y_var = CamToolComXVar(); self.com_y_var.camtool = self set_device_alias(self.com_x_mean, name + " com x mean") set_device_alias(self.com_y_mean, name + " com y mean") set_device_alias(self.com_x_var, name + " com x var") set_device_alias(self.com_y_var, name + " com y var") def doInitialize(self): if self.latch: self.start() else: self.stop() def start(self): self.cam_run.write(-1) def stop(self): self.cam_run.write(0) def capture(self): timestamp = self.timestamp.read() if not self.latch: self.cam_run.write(1) while(True): val = self.timestamp.read() if timestamp != val: self.setCache(val) break if self.latch: self.cam_latch.write(1) time.sleep(0.001) def doUpdate(self): self.com_x_samples, self.com_y_samples = [], [] for i in range(self.num_images): self.capture() self.com_x_samples.append(self.com_x.read()) self.com_y_samples.append(self.com_y.read()) def setNumberOfImages(self, value): self.num_images = value def enableBackground(self, value): self.bg_en.write(1 if value else 0) def captureBackground(self, images): self.start() self.bg_capture.write(images) sleep(0.1) while( self.bg_capture_remain.read() > 0): time.sleep(0.001) #self.stop() #self.bg_capture.write(images) #while( self.bg_capture_remain.read() > 0): # self.capture() self.doInitialize() def doClose(self): self.cam_run.close() self.cam_latch.close() self.timestamp.close() self.com_x.close() self.com_y.close() self.profile_x.close() self.profile_y.close() self.data.close() self.shape.close() self.bg_image.close() self.bg_en.close() self.bg_capture.close() self.bg_capture_remain.close() self.image.close() if __name__ == "__builtin__": camera_tool = CamTool("camtool") print camera_tool.com_x_mean.read() camera_tool.enableBackground(False) camera_tool.enableBackground(True) camera_tool.captureBackground(5) for i in range (100): camera_tool.capture() print camera_tool.take() print camera_tool.com_x.read(), camera_tool.com_y.read() add_device(camera_tool, True)