tube aligner

README.md

@@ -173,6 +173,21 @@ PlanarianScanner/
 
 ---
 
+## Procédure de calibration en 4 étapes
+1. Activer "Debug détection" → voir le cercle et les zones sur le stream
+
+2. Positionner la CNC manuellement sur un point stable
+   → cliquer "Calib — Point A"
+   → mpos_A et centre tube A enregistrés
+
+3. Déplacer la CNC manuellement d'une distance connue (ex: 10mm en X)
+   → attendre stabilisation (la pause 2s est déjà là)
+   → cliquer "Calib — Point B"
+
+4. Résultat affiché :
+   "Calibration OK — 38.2000 px/mm  (0.026178 mm/px)  Δ=10.000mm / 382.0px"
+   → px_per_mm sauvegardé dans TubeAligner et persisté en base
+
 ## Contexte scientifique
 
 Les **planaires** sont des vers plats dotés de remarquables capacités de

test_tube_scanner/home/settings.py

@@ -387,3 +387,10 @@ EXPORTS_LOCAL_PATH = config("EXPORTS_LOCAL_PATH")
 EXPORT_REMOTE_PATH = config("EXPORT_REMOTE_PATH")
 
 EXPORT_DESTINATIONS = ["local", "remote"]
+
+TEST_VIDEOFILE = False
+
+TRACKING = False
+TRACKER_TUBE_AXIS = "horizontal" #"vertical"
+TRACKER_MIN_AREA = 200
+

test_tube_scanner/modules/capture_interface.py

@@ -22,7 +22,9 @@ from datetime import datetime, timezone
 from pathlib import Path
 from typing import Optional, Callable, TYPE_CHECKING
 
+from django.conf import settings
 from modules.planarian_tracker import PlanarianTracker
+from modules.tube_aligner import TubeAligner
 
 if TYPE_CHECKING:
     from .circular_crop import CircularCrop     # Evite l'import circulaire au runtime
@@ -47,13 +49,15 @@ class VideoCaptureInterface(abc.ABC):
     # Cadence par défaut en images par seconde
     DEFAULT_FPS: float = 5.0
 
-    def __init__(self, fps: float = DEFAULT_FPS):
+    def __init__(self, fps: float = DEFAULT_FPS, use_tracking: bool = False, px_per_mm: float = 2.15, display=None):
         """
         Initialise l'interface de capture.
 
         :param fps: Cadence cible en images par seconde
         """
         self._fps: float = fps
+        self.use_tracking = use_tracking
+        self.display = display
         self._interval: float = 1.0 / fps       # Intervalle en secondes entre chaque capture
         self._running: bool = False              # Indique si la capture est en cours
         self._thread: Optional[threading.Thread] = None
@@ -61,12 +65,60 @@ class VideoCaptureInterface(abc.ABC):
         self._on_frame: Optional[Callable[[bytes, datetime], None]] = None  # Callback image
         self._circular_crop: Optional["CircularCrop"] = None  # Recadrage circulaire optionnel
         self._active_median = False
+        self._active_crop = False
         self._error_occured = False
         
         self._tracker = PlanarianTracker(
-            tube_axis   = "vertical",   # à rendre configurable via settings
+            tube_axis = settings.TRACKER_TUBE_AXIS,
-            min_area_px = 20,
+            min_area_px = settings.TRACKER_MIN_AREA,
         )
+        self._aligner = TubeAligner(
+            px_per_mm         = px_per_mm,    # à calibrer selon la caméra
+            grbl_threshold_px = 20,      # au-delà → correction GRBL
+            dead_zone_px      = 5,       # en-dessous → rien à faire
+            display           = display,
+        )
+        self._last_detection   = None    # résultat du dernier alignement
+        
+    # calibrage ou lecture réelle
+    #
+    def align_on_well_arrival(self, frame: bytes, cnc_controller) -> dict:
+        """
+        Appelé UNE FOIS à l'arrivée sur un nouveau puits.
+        Détecte le tube, décide l'action, exécute la correction.
+
+        :param frame:          Frame JPEG bytes capturée après déplacement CNC
+        :param grbl_send_func: Callable(gcode: str) → envoie le G-code au GRBL
+        :return:               dict résultat de la détection
+        """
+        nparr = np.frombuffer(frame, np.uint8)
+        img = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
+        detection = self._aligner.detect_tube(img)
+        
+        # Stockage pour process_frame
+        self._last_detection = detection        
+
+        if not detection["detected"]:
+            logger.warning("align_on_well_arrival: tube non détecté")
+            return detection
+
+        action = detection["action"]
+        if action == "grbl":            
+            dx_mm = detection["offset_x_mm"]
+            dy_mm = detection["offset_y_mm"]
+
+            msg = f"align_on_well_arrival: correction CNC move_relative(dx={dx_mm:.3f}, dy={dy_mm:.3f})"     
+            #cnc_controller.move_relative(dx=-dx_mm, dy=-dy_mm, feed=150)    
+            
+            self._tracker.reset()
+            self._last_detection["action"] = "none"
+  
+        elif action == "crop":
+            msg = f"align_on_well_arrival: recadrage logiciel ({detection['offset_x_px']:.1f}px, {detection['offset_y_px']:.1f}px)"
+            
+        logger.info(msg)
+        self.display(state='detect_tube', msg=msg)
+        return detection              
               
               
     def on_well_change(self):
@@ -194,12 +246,15 @@ class VideoCaptureInterface(abc.ABC):
         """
         self._circular_crop = crop
         if crop is not None:
-            logger.info(
+            self._active_crop = True
-                "%s : recadrage circulaire activé (R=%d, stratégie=%s)",
+            msg = f"{self.__class__.__name__}: recadrage circulaire activé (R={crop.radius}, stratégie={crop.strategy.name})"
-                self.__class__.__name__, crop.radius, crop.strategy.name,
-            )
         else:
-            logger.info("%s : recadrage circulaire désactivé", self.__class__.__name__)
+            self._active_crop = False
+            msg= f"{self.__class__.__name__}: recadrage circulaire désactivé"
+        
+        logger.info(msg)
+        self.display(state='circular_crop', msg=msg)
+            
 
     def process_frame(self, jpeg_bytes: bytes) -> bytes:
         """
@@ -211,26 +266,39 @@ class VideoCaptureInterface(abc.ABC):
         :param jpeg_bytes: Image JPEG brute issue du capteur
         :return:           Image traitée (JPEG ou PNG selon la stratégie)
         """
+        metrics = {"detected": False}
         if self._circular_crop is not None:
             jpeg  = self._circular_crop.process(jpeg_bytes)
-            
-            # --- tracking ---
             nparr = np.frombuffer(jpeg, np.uint8)
             frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
+            if frame is None:
+                return jpeg, metrics
+            
+            # Mode debug
+            if self._aligner.debug:
+                self._last_detection = detection = self._aligner.detect_tube(frame)
+                annotated = detection.get('frame_annotated')
+                frame = annotated if annotated is not None else frame
+            '''
+            else:
+                detection = self._last_detection or {}    
+        
+            # --- Crop logiciel si nécessaire ---
+            if (detection.get("action") == "crop" and detection.get("detected") and not self._aligner.debug ):
+                frame = self._aligner.crop_to_tube(frame, detection)
+            '''
+                
+            if self.use_tracking:
                 ts = datetime.now(timezone.utc).timestamp()
-            #metrics = self._tracker.process(frame, ts) if frame is not None else {}    
+                frame, metrics = self._tracker.process(frame, ts)
-            if frame is not None:
+                
-                frame_annotated, metrics = self._tracker.process(frame, ts)
+            ok, buf = cv2.imencode(".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, 85])
-                # Ré-encodage JPEG de la frame annotée
-                ok, buf = cv2.imencode(".jpg", frame_annotated, [cv2.IMWRITE_JPEG_QUALITY, 85])
             if ok:
                 jpeg = buf.tobytes()
-            else:
-                metrics = {"detected": False}                    
                     
             return jpeg, metrics
         
-        return jpeg_bytes, {"detected": False}
+        return jpeg_bytes, metrics
 
     def save_frame(self, jpeg_bytes: bytes, directory: str = ".", prefix: str = "frame") -> Path:
         """
@@ -265,11 +333,6 @@ class VideoCaptureInterface(abc.ABC):
     # ------------------------------------------------------------------
     # tracer médianes
     # ------------------------------------------------------------------      
-    def set_median(self, is_median=False):
-        """
-        Active ou désactive les médianes
-        """
-        self._active_median = is_median
         
     def display_median(self, jpeg):
         if self._active_median:

test_tube_scanner/modules/grbl.py

@@ -4,15 +4,6 @@ GCode pour piloter la L2544 Laser Engraving Machine
     GRBLController:
         Commande uniquement les mouvements (X, Y)
         Le mode absolue est retenu
-
-    GridScanner
-        Balayage complet de la grille d'éprouvettes en mode serpentin
-
-    Usage:
-        grbl = GRBLController()
-        scan = GridScanner(grbl, xbase=100, ybase=100, duration=5)
-        scan.start()
-
 Created on 25 mars 2026
 
 @author: denis@miraceti.net
@@ -170,6 +161,7 @@ class GRBLController:
         if "MPos" in status:
             mpos = status.split("MPos:")[1].split("|")[0]
             x, y, *_ = mpos.split(",")
+            self._state(state='Mpos', msg=f"pos >>> ({x}, {y})")
             return float(x), float(y)
         return None, None
 
@@ -188,12 +180,19 @@ class GRBLController:
                 break
             self.wait_for(0.1)
 
+    def send_command(self, cmd):
+        self.send(cmd)
+        self.wait_idle()
+        
     def move_to(self, x, y, feed=1000):
         x, y = self._clamp(x, y)
         #cmd = f"G0 X{x:.2f} Y{y:.2f} F{feed}"     # feed is not updated in G0 mode
         cmd = f"G53 G1 X{x:.2f} Y{y:.2f} F{feed}"
-        self.send(cmd)
+        self.send_command(cmd)  
-        self.wait_idle()
+        
+    def move_relative(self, dx=0, dy=0, feed=1000):
+        x, y = self.get_mpos()  # Position actuelle
+        self.move_to(x + dx, y + dy, feed=feed)
         
     def move_relative_(self, dx=0, dy=0, feed=1000):
         self.send("G91")  # Mode relatif
@@ -202,10 +201,6 @@ class GRBLController:
         self.send("G90")  # Retour en mode absolu
         self.wait_idle()
 
-    def move_relative(self, dx=0, dy=0, feed=1000):
-        x, y = self.get_mpos()  # Position actuelle
-        self.move_to(x + dx, y + dy)
-
     def go_origin(self, feed=1000):
         self.move_to(0, 0, feed=feed)
         self.wait_for(2.0)
@@ -230,131 +225,3 @@ class GRBLController:
 
     def close(self):
         self.ser.close()
-
-
-class GridScanner:
-
-    def __init__(self, grbl, process=None, **config):
-        '''
-            xbase        # Position X de départ (col 0) en mm
-            ybase        # Position Y de départ (row 0) en mm
-            cols         # Nombre de colonnes
-            rows         # Nombre de lignes
-            dx           # Pas entre colonnes en mm
-            dy           # Pas entre lignes en mm
-            duration     # Durée de filmage par éprouvette en secondes
-            feed         # Vitesse de déplacement entre éprouvettes (mm/min)
-        '''
-        self.grbl = grbl
-        self.process = process
-
-        self.position = config.get('position', 'HG')
-        self.xbase = config.get('xbase', 50)
-        self.ybase = config.get('ybase', 50)
-        self.cols = config.get('cols', 6)
-        self.rows = config.get('rows', 4)
-        self.dx = config.get('dx', 20)
-        self.dy = config.get('dy', 19)
-        self.feed = config.get('feed', 1000)
-        self.duration = config.get('duration', 120) # secondes
-        self.xnext = config.get('xnext', 50)
-        self.ynext = config.get('ynext', 50)
-
-        row_to_char = config.get('row_to_char', 'D,C,B,A')
-        self.row_to_char = row_to_char.split(',')
-        self.stop_playing = None
-
-
-    def halt(self):
-        self.process.tag.record = False
-        return self.stop_playing.set()
-
-    def _capture(self, uuid: str, duration: float, stop_running: Optional[threading.Event]) -> None:
-        """
-        Déclenche la caméra ArduCam et attend la fin de l'acquisition.
-        """
-        print(f"# démarrer l'enregistrement {uuid}")
-        self.process.cam.on_well_change()
-        
-        self.process.tag.uuid = uuid
-        self.process.tag.record = True
-
-        start = time.monotonic()
-        while not stop_running.is_set():
-            if time.monotonic() - start > duration:
-                break
-            self.grbl.wait_for(1.0)
-
-        print("# arrêter l'enregistrement")
-        self.process.tag.record = False
-        self.process.tag.uuid = None
-
-    def start(self, xnext=None, ynext=None, position=None):
-        """
-        Balayage complet de la grille d'éprouvettes en mode serpentin.
-
-        Parcours :
-          - Lignes paires  (0, 2)    : gauche → droite (col 0 → col 5)
-          - Lignes impaires (1, 3)   : droite → gauche  (col 5 → col 0)
-
-        Le déplacement entre éprouvettes se fait en mode absolu via move_to().
-        La caméra filme pendant `` secondes sur chaque position.
-
-        Grille : 6 colonnes × 4 lignes = 24 éprouvettes
-          - x = XBASE + col * PAS_X
-          - y = YBASE + row * PAS_Y
-        """
-        try:
-            if xnext is None:
-                xnext = self.xnext
-            if ynext is None:
-                ynext = self.ynext
-            if position is None:
-                position = self.position
-
-            max_cells = self.cols * self.rows
-            cell = 0
-
-            logger.info("Début du scan serpentin : %d éprouvettes, %d s/éprouvette, durée totale estimée : %d min",
-                max_cells,
-                self.duration,
-                (max_cells * self.duration) // 60,
-            )
-
-            self.stop_playing = threading.Event()
-            for row in range(self.rows):
-                if self.stop_playing.is_set():
-                    break
-
-                # Ordre des colonnes selon la parité de la ligne (serpentin)
-                if row % 2 == 0:
-                    # Ligne paire : gauche → droite
-                    cols = range(self.cols)
-                else:
-                    # Ligne impaire : droite → gauche
-                    cols = range(self.cols - 1, -1, -1)
-
-                for col in cols:
-                    if self.stop_playing.is_set():
-                        break
-                    # Calcul de la position absolue en mm
-                    x = self.xbase + col * self.dx
-                    y = self.ybase + row * self.dy
-                    cell += 1
-                    
-                    logger.info(
-                        "[%02d/%02d] row=%d col=%d  →  X=%.1f mm  Y=%.1f mm",
-                        cell, max_cells, row, col, x, y,
-                    )
-                    
-                    self.grbl.move_to(x, y, feed=self.feed)
-
-                    uuid = f'{self.process.tag.session}-{position}-{self.row_to_char[row]}{col+1}'
-                    self._capture(uuid, self.duration, self.stop_playing)
-
-            # Retour à nexr après le scan
-            logger.info("Scan terminé — retour à l'origine (X=%.1f  Y=%.1f)", xnext, ynext)
-            self.grbl.move_to(xnext, ynext, feed=self.feed*2)
-        except Exception as e:
-            logger.error(f"scan error: {e}")
-

test_tube_scanner/modules/picamera2_capture.py

@@ -45,6 +45,10 @@ class PiCamera2Capture(VideoCaptureInterface):
         jpeg_quality: int = 85,
         camera_index: int = 0,
         use_video_config: bool = True,
+        use_tracking: bool = False,
+        px_per_mm: float = 2.1,
+        display = None,
+
     ):
         """
         :param fps:              Cadence cible en images par seconde
@@ -55,7 +59,7 @@ class PiCamera2Capture(VideoCaptureInterface):
         :param use_video_config: True = VideoConfiguration (flux continu, basse latence)
                                  False = StillConfiguration (haute résolution, plus lent)
         """
-        super().__init__(fps=fps)
+        super().__init__(fps=fps, use_tracking=use_tracking, px_per_mm=px_per_mm, display=display)
         self._width: int = width
         self._height: int = height
         self._jpeg_quality: int = jpeg_quality

test_tube_scanner/modules/tube_aligner.py

@@ -0,0 +1,315 @@
+'''
+Created on 17 avr. 2026
+
+@author: denis
+'''
+# modules/tube_aligner.py
+
+import cv2
+import logging
+import numpy as np
+
+logger = logging.getLogger(__name__)
+
+
+class TubeAligner:
+
+    GRBL_THRESHOLD_PX = 20
+    DEAD_ZONE_PX      = 5
+
+    def __init__(
+        self,
+        px_per_mm         : float = 10.0,
+        grbl_threshold_px : int   = 20,
+        dead_zone_px      : int   = 5,
+        debug             : bool  = False,   # ← activable depuis la vue
+        display = None,
+    ):
+        self.TUBE_DIAMETER_MM  = 16.0
+        self.grbl_threshold_px = grbl_threshold_px
+        self.dead_zone_px      = dead_zone_px
+        self.debug             = debug
+        self.display           = display     
+
+    # ------------------------------------------------------------------ #
+    # Détection principale
+    # ------------------------------------------------------------------ #
+
+    def detect_tube(self, frame: np.ndarray) -> dict:
+        h, w    = frame.shape[:2]
+        cx_img  = w // 2
+        cy_img  = h // 2
+
+        result = {
+            "detected"       : False,
+            "tube_cx"        : None,
+            "tube_cy"        : None,
+            "tube_radius"    : None,
+            "offset_x_px"   : 0,
+            "offset_y_px"   : 0,
+            "offset_x_mm"   : 0.0,
+            "offset_y_mm"   : 0.0,
+            "action"         : "none",
+            "frame_annotated": None,
+        }
+        frame_out = frame.copy()
+        
+        gray    = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+        blurred = cv2.GaussianBlur(gray, (15, 15), 3)
+        
+        # 3 configurations légèrement différentes — vote majoritaire
+        # Fonctionne sur fond sombre ET fond clair
+        configs = [
+            dict(param1=50, param2=30, minRadius=int(min(w,h)*0.26), maxRadius=int(min(w,h)*0.36)),
+            dict(param1=60, param2=30, minRadius=int(min(w,h)*0.26), maxRadius=int(min(w,h)*0.37)),
+            dict(param1=50, param2=28, minRadius=int(min(w,h)*0.25), maxRadius=int(min(w,h)*0.365)),
+        ]
+        
+        all_cx, all_cy, all_r = [], [], []
+        for cfg in configs:
+            circles = cv2.HoughCircles(
+                blurred, 
+                cv2.HOUGH_GRADIENT,
+                dp=1.2, 
+                minDist=min(w, h) // 2, 
+                **cfg
+            )
+            if circles is not None:
+                c    = np.round(circles[0]).astype(int)
+                best = min(c, key=lambda c: np.sqrt((c[0]-cx_img)**2 + (c[1]-cy_img)**2))
+                all_cx.append(int(best[0]))
+                all_cy.append(int(best[1]))
+                all_r.append(int(best[2]))
+    
+        if not all_cx:
+            logger.warning("TubeAligner: aucun cercle détecté (%dx%d)", w, h)
+            if self.debug:
+                frame_out = self._draw_debug_no_detection(frame_out, cx_img, cy_img)
+            result["frame_annotated"] = frame_out
+            return result        
+
+        # Moyenne des détections convergentes
+        tx = int(np.mean(all_cx))
+        ty = int(np.mean(all_cy))
+        tr = int(np.mean(all_r))
+        if tr > 0:
+            self.px_per_mm = (2 * tr) / 16.0
+    
+        offset_x_px = tx - cx_img
+        offset_y_px = ty - cy_img
+        #offset_x_mm = offset_x_px / self.px_per_mm
+        #offset_y_mm = offset_y_px /self. px_per_mm
+        
+        offset_x_mm = offset_y_px /self. px_per_mm  # (X CNC = Y image)
+        offset_y_mm = -offset_x_px / self.px_per_mm # (Y CNC = -X image)
+        
+        dist_px     = float(np.sqrt(offset_x_px**2 + offset_y_px**2))
+    
+        if dist_px <= self.dead_zone_px:
+            action = "none"
+        elif dist_px <= self.grbl_threshold_px:
+            action = "crop"
+        else:
+            action = "grbl"
+    
+        if self.debug:
+            frame_out = self._draw_debug(
+                frame_out, cx_img, cy_img,
+                tx, ty, tr,
+                offset_x_px, offset_y_px,
+                offset_x_mm, offset_y_mm,
+                dist_px, action,
+                votes=len(all_cx),          # ← affiche le nombre de configs ayant détecté
+            )
+
+        result.update({
+            "detected"      : True,
+            "tube_cx"       : tx,
+            "tube_cy"       : ty,
+            "tube_radius"   : tr,
+            "offset_x_px"   : offset_x_px,
+            "offset_y_px"   : offset_y_px,
+            "offset_x_mm"   : round(offset_x_mm, 3),
+            "offset_y_mm"   : round(offset_y_mm, 3),
+            "action"        : action,
+            "frame_annotated": frame_out,
+        })
+        return result
+    
+
+    def crop_to_tube(self, frame: np.ndarray, detection: dict) -> np.ndarray:
+        """
+        Recadrage logiciel : recentre l'image sur le tube détecté.
+        Utilisé quand action == "crop".
+        """
+        if not detection["detected"]:
+            return frame
+
+        tx = detection["tube_cx"]
+        ty = detection["tube_cy"]
+        tr = detection["tube_radius"]
+        h, w = frame.shape[:2]
+
+        # Fenêtre carrée autour du centre du tube
+        half = tr
+        x1 = max(tx - half, 0)
+        y1 = max(ty - half, 0)
+        x2 = min(tx + half, w)
+        y2 = min(ty + half, h)
+
+        cropped = frame[y1:y2, x1:x2]
+
+        # Redimensionne à la taille originale pour ne pas changer le pipeline
+        return cv2.resize(cropped, (w, h), interpolation=cv2.INTER_LINEAR)
+    
+    
+    def _detect_center_stable(
+        self,
+        capture_func,       # callable() → frame bytes
+        n_samples: int = 5,
+        delay_s: float = 0.3,
+    ) -> tuple[float, float] | None:
+        """
+        Capture N frames et retourne le centre moyen du tube.
+        Réduit l'erreur de détection d'un facteur √N.
+    
+        :param capture_func: callable sans argument → bytes JPEG
+        :param n_samples:    nombre de captures à moyenner
+        :param delay_s:      pause entre chaque capture
+        :return:             (cx_mean, cy_mean) ou None si échec
+        """
+        import time
+        centers = []
+    
+        for i in range(n_samples):
+            if i > 0:
+                time.sleep(delay_s)
+    
+            frame_bytes = capture_func()
+            nparr = np.frombuffer(frame_bytes, np.uint8)
+            frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
+    
+            if frame is None:
+                continue
+    
+            detection = self.detect_tube(frame)
+            if detection["detected"]:
+                centers.append((detection["tube_cx"], detection["tube_cy"]))
+                logger.debug(
+                    "_detect_center_stable [%d/%d] : cx=%d cy=%d",
+                    i+1, n_samples,
+                    detection["tube_cx"], detection["tube_cy"],
+                )
+            else:
+                logger.warning("_detect_center_stable [%d/%d] : tube non détecté", i+1, n_samples)
+    
+        if len(centers) < 3:
+            logger.error("_detect_center_stable : seulement %d détections valides", len(centers))
+            return None
+    
+        # Filtre les valeurs aberrantes (écart > 2 sigma)
+        cx_arr = np.array([c[0] for c in centers], dtype=float)
+        cy_arr = np.array([c[1] for c in centers], dtype=float)
+    
+        cx_mean, cx_std = np.mean(cx_arr), np.std(cx_arr)
+        cy_mean, cy_std = np.mean(cy_arr), np.std(cy_arr)
+    
+        mask = (
+            (np.abs(cx_arr - cx_mean) <= 2 * cx_std) &
+            (np.abs(cy_arr - cy_mean) <= 2 * cy_std)
+        )
+        filtered = [(cx_arr[i], cy_arr[i]) for i in range(len(centers)) if mask[i]]
+    
+        if not filtered:
+            filtered = centers   # fallback si tout est filtré
+    
+        cx_final = float(np.mean([c[0] for c in filtered]))
+        cy_final = float(np.mean([c[1] for c in filtered]))
+    
+        logger.info(
+            "_detect_center_stable : %d/%d valides  cx=%.1f±%.1f  cy=%.1f±%.1f",
+            len(filtered), n_samples,
+            cx_final, cx_std, cy_final, cy_std,
+        )
+        return cx_final, cy_final
+    
+    
+     
+    def calib_reset(self):
+        pass
+
+    # ------------------------------------------------------------------ #
+    # Dessin debug
+    # ------------------------------------------------------------------ #
+
+    def _draw_debug(
+        self, frame, cx_img, cy_img,
+        tx, ty, tr,
+        offset_x_px, offset_y_px,
+        offset_x_mm, offset_y_mm,
+        dist_px, action, votes: int = 3
+    ) -> np.ndarray:
+
+        # Couleur selon action
+        color = {
+            "none" : (0, 255,   0),    # vert   — centré
+            "crop" : (0, 200, 255),    # orange — recadrage
+            "grbl" : (0,   0, 255),    # rouge  — correction CNC
+        }.get(action, (200, 200, 200))
+
+        # Cercle intérieur du tube
+        cv2.circle(frame, (tx, ty), tr, color, 2, cv2.LINE_AA)
+
+        # Rayon de zone morte (dead zone) en vert clair
+        cv2.circle(frame, (cx_img, cy_img), self.dead_zone_px,
+                   (0, 255, 100), 1, cv2.LINE_AA)
+
+        # Rayon seuil GRBL en rouge pointillé (simulé par cercle fin)
+        cv2.circle(frame, (cx_img, cy_img), self.grbl_threshold_px,
+                   (0, 80, 255), 1, cv2.LINE_AA)
+
+        # Croix centre image
+        cv2.drawMarker(frame, (cx_img, cy_img),
+                       (255, 255, 255), cv2.MARKER_CROSS, 24, 1, cv2.LINE_AA)
+
+        # Centre tube
+        cv2.circle(frame, (tx, ty), 5, color, -1, cv2.LINE_AA)
+
+        # Vecteur offset centre image → centre tube
+        if dist_px > self.dead_zone_px:
+            cv2.arrowedLine(frame, (cx_img, cy_img), (tx, ty),
+                            color, 2, cv2.LINE_AA, tipLength=0.2)
+
+        # Panneau info — fond semi-transparent
+        overlay = frame.copy()
+        cv2.rectangle(overlay, (8, 8), (400, 130), (0, 0, 0), -1)
+        cv2.addWeighted(overlay, 0.45, frame, 0.55, 0, frame)
+        
+        lines = [
+            (f"Tube  cx={tx} cy={ty}  r={tr}px",              (0, 255, 180)),
+            (f"Offset  dx={offset_x_px:+d}px  dy={offset_y_px:+d}px", color),
+            (f"Offset  dx={offset_x_mm:+.3f}mm  dy={offset_y_mm:+.3f}mm", color),
+            (f"Dist={dist_px:.1f}px   action={action.upper()}", color),
+            (f"px/mm={self.px_per_mm:.4f}   votes={votes}/3",  (180, 180, 180)),  # ← votes
+        ]        
+        
+        for i, (text, col) in enumerate(lines):
+            cv2.putText(frame, text, (14, 30 + i * 20),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.48, col, 1, cv2.LINE_AA)
+
+        # Légende zones
+        cv2.putText(frame, "dead zone", (cx_img + self.dead_zone_px + 3, cy_img - 3),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.35, (0, 255, 100), 1)
+        cv2.putText(frame, "GRBL threshold", (cx_img + self.grbl_threshold_px + 3, cy_img + 6),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.35, (0, 80, 255), 1)
+        return frame
+
+    def _draw_debug_no_detection(self, frame, cx_img, cy_img) -> np.ndarray:
+        cv2.drawMarker(frame, (cx_img, cy_img),
+                       (255, 255, 255), cv2.MARKER_CROSS, 24, 1, cv2.LINE_AA)
+        cv2.putText(frame, "Tube non detecte", (14, 30),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2, cv2.LINE_AA)
+        return frame 
+    
+    
+    

test_tube_scanner/modules/tube_aligner_old.py

@@ -0,0 +1,230 @@
+'''
+Created on 17 avr. 2026
+
+@author: denis
+'''
+# modules/tube_aligner.py
+
+import cv2
+import logging
+import numpy as np
+
+logger = logging.getLogger(__name__)
+
+
+class TubeAligner:
+    """
+    Détecte le cercle du tube à essai dans une frame (vue par dessous,
+    éclairage par dessus → cercle clair sur fond sombre).
+    Calcule le décalage entre le centre du tube et le centre de l'image.
+    Décide d'une correction GRBL (grand écart) ou d'un recadrage (petit écart).
+    """
+
+    # Seuil en pixels : au-delà → correction GRBL, en-dessous → recadrage
+    GRBL_THRESHOLD_PX  = 20
+    # Tolérance : en-dessous → pas de correction nécessaire
+    DEAD_ZONE_PX       = 5
+
+    def __init__(
+        self,
+        px_per_mm: float = 10.0,        # facteur d'échelle calibration (px/mm)
+        grbl_threshold_px: int = 20,
+        dead_zone_px: int = 5,
+        debug: bool  = False,   # ← activable depuis la vue
+    ):
+        self.px_per_mm         = px_per_mm
+        self.grbl_threshold_px = grbl_threshold_px
+        self.dead_zone_px      = dead_zone_px
+
+    def detect_tube(self, frame: np.ndarray) -> dict:
+        """
+        Détecte le cercle du tube et calcule le décalage par rapport au centre image.
+
+        :param frame: Frame BGR (numpy array)
+        :return:      dict avec cercle détecté, décalage px et mm, action recommandée
+        """
+        h, w = frame.shape[:2]
+        cx_img = w // 2
+        cy_img = h // 2
+
+        result = {
+            "detected"      : False,
+            "tube_cx"       : None,
+            "tube_cy"       : None,
+            "tube_radius"   : None,
+            "offset_x_px"   : None,
+            "offset_y_px"   : None,
+            "offset_x_mm"   : None,
+            "offset_y_mm"   : None,
+            "action"        : "none",   # "none" | "crop" | "grbl"
+            "grbl_gcode"    : None,
+            "frame_annotated": None,
+        }
+
+        # Prétraitement : niveaux de gris + flou
+        gray    = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+        #blurred = cv2.GaussianBlur(gray, (9, 9), 2)
+        blurred = cv2.GaussianBlur(gray, (15, 15), 3)
+        
+        # param1 : seuil Canny haut, param2 : seuil accumulation (plus bas = plus permissif)
+        min_radius = int(min(w, h) * 0.26)    # ~260px sur 1000px
+        max_radius = int(min(w, h) * 0.36)    # ~360px sur 1000px — bord intérieur du verre
+
+        circles = cv2.HoughCircles(
+            blurred,
+            cv2.HOUGH_GRADIENT,
+            dp          = 1.2,
+            minDist     = min(w, h) // 2,    # un seul tube attendu
+            param1      = 50,
+            param2      = 30,
+            minRadius   = min_radius,
+            maxRadius   = max_radius,
+        )
+
+        if circles is None:
+            logger.warning("TubeAligner: aucun cercle détecté")
+            result["frame_annotated"] = self._annotate(frame.copy(), cx_img, cy_img, None)
+            return result
+
+        circles = np.round(circles[0, :]).astype(int)
+
+        # Prend le cercle le plus proche du centre image
+        best = min(
+            circles,
+            key=lambda c: np.sqrt((c[0] - cx_img)**2 + (c[1] - cy_img)**2)
+        )
+        tx, ty, tr = int(best[0]), int(best[1]), int(best[2])
+
+        # Décalage : positif = tube à droite/bas du centre image
+        offset_x_px = tx - cx_img
+        offset_y_px = ty - cy_img
+        offset_x_mm = offset_x_px / self.px_per_mm
+        offset_y_mm = offset_y_px / self.px_per_mm
+
+        dist_px = np.sqrt(offset_x_px**2 + offset_y_px**2)
+
+        # Décision d'action
+        if dist_px <= self.dead_zone_px:
+            action     = "none"
+            grbl_gcode = None
+        elif dist_px <= self.grbl_threshold_px:
+            action     = "crop"
+            grbl_gcode = None
+        else:
+            action = "grbl"
+            # G91 = coordonnées relatives, G0 = déplacement rapide
+            # Inversion du signe : si tube est à droite (+X image),
+            # la CNC doit reculer (-X GRBL) pour recentrer
+            #cmd = f"G53 G1 X{x:.2f} Y{y:.2f} F{feed}"
+            
+            grbl_gcode = (
+                f"G91\n"
+                f"G1 X{-offset_x_mm:.3f} Y{-offset_y_mm:.3f}\n"
+                f"G90"
+            )
+            logger.info(
+                "TubeAligner: décalage %.1fpx (%.2fmm, %.2fmm) → GRBL: %s",
+                dist_px, offset_x_mm, offset_y_mm, grbl_gcode.replace('\n', ' | ')
+            )
+
+        result.update({
+            "detected"       : True,
+            "tube_cx"        : tx,
+            "tube_cy"        : ty,
+            "tube_radius"    : tr,
+            "offset_x_px"   : offset_x_px,
+            "offset_y_px"   : offset_y_px,
+            "offset_x_mm"   : round(offset_x_mm, 3),
+            "offset_y_mm"   : round(offset_y_mm, 3),
+            "action"        : action,
+            "grbl_gcode"    : None,
+            "frame_annotated": self._annotate(
+                frame.copy(), cx_img, cy_img, (tx, ty, tr), offset_x_px, offset_y_px
+            ),
+        })
+
+        return result
+
+    def crop_to_tube(self, frame: np.ndarray, detection: dict) -> np.ndarray:
+        """
+        Recadrage logiciel : recentre l'image sur le tube détecté.
+        Utilisé quand action == "crop".
+        """
+        if not detection["detected"]:
+            return frame
+
+        tx = detection["tube_cx"]
+        ty = detection["tube_cy"]
+        tr = detection["tube_radius"]
+        h, w = frame.shape[:2]
+
+        # Fenêtre carrée autour du centre du tube
+        half = tr
+        x1 = max(tx - half, 0)
+        y1 = max(ty - half, 0)
+        x2 = min(tx + half, w)
+        y2 = min(ty + half, h)
+
+        cropped = frame[y1:y2, x1:x2]
+
+        # Redimensionne à la taille originale pour ne pas changer le pipeline
+        return cv2.resize(cropped, (w, h), interpolation=cv2.INTER_LINEAR)
+
+    def _annotate(
+        self,
+        frame: np.ndarray,
+        cx_img: int,
+        cy_img: int,
+        circle: tuple | None,
+        offset_x: int = 0,
+        offset_y: int = 0,
+    ) -> np.ndarray:
+        """
+        Dessine le cercle détecté, le centre image et le vecteur de décalage.
+        """
+        # Croix centre image
+        cv2.drawMarker(
+            frame, (cx_img, cy_img),
+            (0, 255, 0), cv2.MARKER_CROSS, 20, 1, cv2.LINE_AA
+        )
+
+        if circle is None:
+            cv2.putText(frame, "Tube non detecte", (10, 30),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 1, cv2.LINE_AA)
+            return frame
+
+        tx, ty, tr = circle
+
+        # Cercle du tube en cyan
+        cv2.circle(frame, (tx, ty), tr, (255, 255, 0), 2, cv2.LINE_AA)
+
+        # Centre du tube en rouge
+        cv2.circle(frame, (tx, ty), 4, (0, 0, 255), -1, cv2.LINE_AA)
+
+        # Vecteur décalage (centre image → centre tube)
+        if abs(offset_x) > 2 or abs(offset_y) > 2:
+            cv2.arrowedLine(
+                frame,
+                (cx_img, cy_img),
+                (tx, ty),
+                (0, 100, 255), 2, cv2.LINE_AA, tipLength=0.2
+            )
+
+        # Texte décalage
+        dist = np.sqrt(offset_x**2 + offset_y**2)
+        cv2.putText(
+            frame,
+            f"dx={offset_x:+d}px  dy={offset_y:+d}px  dist={dist:.1f}px",
+            (10, 28),
+            cv2.FONT_HERSHEY_SIMPLEX, 0.45, (255, 255, 255), 1, cv2.LINE_AA,
+        )
+        cv2.putText(
+            frame,
+            f"r={tr}px",
+            (10, 48),
+            cv2.FONT_HERSHEY_SIMPLEX, 0.45, (200, 200, 200), 1, cv2.LINE_AA,
+        )
+
+        return frame
+    
+    

test_tube_scanner/modules/tube_aligner_old2.py

@@ -0,0 +1,283 @@
+'''
+Created on 17 avr. 2026
+
+@author: denis
+'''
+# modules/tube_aligner.py
+
+import cv2
+import logging
+import numpy as np
+
+logger = logging.getLogger(__name__)
+
+
+class TubeAligner:
+
+    GRBL_THRESHOLD_PX = 20
+    DEAD_ZONE_PX      = 5
+
+    def __init__(
+        self,
+        px_per_mm         : float = 10.0,
+        grbl_threshold_px : int   = 20,
+        dead_zone_px      : int   = 5,
+        debug             : bool  = False,   # ← activable depuis la vue
+    ):
+        self.px_per_mm         = px_per_mm
+        self.grbl_threshold_px = grbl_threshold_px
+        self.dead_zone_px      = dead_zone_px
+        self.debug             = debug
+
+        # Etat calibration
+        self._calib_step     = 0            # 0=idle 1=point A enregistré
+        self._calib_pos_A_px = None         # centre tube point A en px
+        self._calib_mpos_A   = None         # position CNC point A en mm
+
+    # ------------------------------------------------------------------ #
+    # Détection principale
+    # ------------------------------------------------------------------ #
+
+    def detect_tube(self, frame: np.ndarray) -> dict:
+        h, w    = frame.shape[:2]
+        cx_img  = w // 2
+        cy_img  = h // 2
+
+        result = {
+            "detected"       : False,
+            "tube_cx"        : None,
+            "tube_cy"        : None,
+            "tube_radius"    : None,
+            "offset_x_px"   : 0,
+            "offset_y_px"   : 0,
+            "offset_x_mm"   : 0.0,
+            "offset_y_mm"   : 0.0,
+            "action"         : "none",
+            "frame_annotated": None,
+        }
+
+        gray    = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+        blurred = cv2.GaussianBlur(gray, (15, 15), 3)
+
+        circles = cv2.HoughCircles(
+            blurred,
+            cv2.HOUGH_GRADIENT,
+            dp        = 1.2,
+            minDist   = min(w, h) // 2,
+            param1    = 50,
+            param2    = 30,
+            minRadius = int(min(w, h) * 0.26),
+            maxRadius = int(min(w, h) * 0.36),
+        )
+
+        frame_out = frame.copy()
+
+        if circles is None:
+            logger.warning("TubeAligner: aucun cercle détecté")
+            if self.debug:
+                frame_out = self._draw_debug_no_detection(frame_out, cx_img, cy_img)
+            result["frame_annotated"] = frame_out
+            return result
+
+        circles = np.round(circles[0, :]).astype(int)
+        best    = min(circles, key=lambda c: np.sqrt((c[0]-cx_img)**2 + (c[1]-cy_img)**2))
+        tx, ty, tr = int(best[0]), int(best[1]), int(best[2])
+
+        offset_x_px = tx - cx_img
+        offset_y_px = ty - cy_img
+        offset_x_mm = offset_x_px / self.px_per_mm
+        offset_y_mm = offset_y_px / self.px_per_mm
+        dist_px     = np.sqrt(offset_x_px**2 + offset_y_px**2)
+
+        if dist_px <= self.dead_zone_px:
+            action = "none"
+        elif dist_px <= self.grbl_threshold_px:
+            action = "crop"
+        else:
+            action = "grbl"
+
+        if self.debug:
+            frame_out = self._draw_debug(
+                frame_out, cx_img, cy_img,
+                tx, ty, tr,
+                offset_x_px, offset_y_px,
+                offset_x_mm, offset_y_mm,
+                dist_px, action,
+            )
+
+
+        result.update({
+            "detected"      : True,
+            "tube_cx"       : tx,
+            "tube_cy"       : ty,
+            "tube_radius"   : tr,
+            "offset_x_px"   : offset_x_px,
+            "offset_y_px"   : offset_y_px,
+            "offset_x_mm"   : round(offset_x_mm, 3),
+            "offset_y_mm"   : round(offset_y_mm, 3),
+            "action"        : action,
+            "frame_annotated": frame_out,
+        })
+        return result
+
+    # ------------------------------------------------------------------ #
+    # Calibration px/mm — 2 points
+    # ------------------------------------------------------------------ #
+
+    def calib_record_point_A(self, detection: dict, mpos: tuple) -> bool:
+        """
+        Enregistre le point A (position CNC + centre tube en px).
+        Appeler quand la CNC est immobile sur le point A.
+
+        :param detection: résultat de detect_tube()
+        :param mpos:      (x_mm, y_mm) retourné par cnc.get_mpos()
+        :return:          True si enregistré
+        """
+        if not detection["detected"]:
+            logger.warning("calib_record_point_A: tube non détecté")
+            return False
+
+        self._calib_pos_A_px = (detection["tube_cx"], detection["tube_cy"])
+        self._calib_mpos_A   = mpos
+        self._calib_step     = 1
+        logger.info("Calibration point A : px=%s  mpos=%s", self._calib_pos_A_px, mpos)
+        return True
+
+    def calib_record_point_B(self, detection: dict, mpos: tuple) -> dict | None:
+        """
+        Enregistre le point B et calcule px_per_mm.
+        Appeler après déplacement CNC manuel d'une distance connue.
+
+        :param detection: résultat de detect_tube()
+        :param mpos:      (x_mm, y_mm) retourné par cnc.get_mpos()
+        :return:          dict résultat calibration ou None si échec
+        """
+        if self._calib_step != 1:
+            logger.warning("calib_record_point_B: point A non enregistré")
+            return None
+
+        if not detection["detected"]:
+            logger.warning("calib_record_point_B: tube non détecté")
+            return None
+
+        pos_B_px = (detection["tube_cx"], detection["tube_cy"])
+        mpos_B   = mpos
+
+        # Déplacement en px
+        dpx = np.sqrt(
+            (pos_B_px[0] - self._calib_pos_A_px[0])**2 +
+            (pos_B_px[1] - self._calib_pos_A_px[1])**2
+        )
+        # Déplacement en mm (distance euclidienne CNC)
+        dmm = np.sqrt(
+            (mpos_B[0] - self._calib_mpos_A[0])**2 +
+            (mpos_B[1] - self._calib_mpos_A[1])**2
+        )
+
+        if dmm < 0.1 or dpx < 2:
+            logger.warning("Déplacement trop faible : dpx=%.1f dmm=%.3f", dpx, dmm)
+            return None
+
+        px_per_mm_new = dpx / dmm
+        self.px_per_mm = px_per_mm_new
+        self._calib_step = 0
+
+        result = {
+            "px_per_mm"    : round(px_per_mm_new, 4),
+            "mm_per_px"    : round(dmm / dpx, 6),
+            "delta_px"     : round(dpx, 2),
+            "delta_mm"     : round(dmm, 3),
+            "point_A_px"   : self._calib_pos_A_px,
+            "point_B_px"   : pos_B_px,
+            "mpos_A"       : self._calib_mpos_A,
+            "mpos_B"       : mpos_B,
+        }
+        logger.info("Calibration OK : %.4f px/mm  (%.6f mm/px)", px_per_mm_new, dmm/dpx)
+        return result
+
+    def calib_reset(self):
+        self._calib_step     = 0
+        self._calib_pos_A_px = None
+        self._calib_mpos_A   = None
+
+    # ------------------------------------------------------------------ #
+    # Dessin debug
+    # ------------------------------------------------------------------ #
+
+    def _draw_debug(
+        self, frame, cx_img, cy_img,
+        tx, ty, tr,
+        offset_x_px, offset_y_px,
+        offset_x_mm, offset_y_mm,
+        dist_px, action,
+    ) -> np.ndarray:
+
+        # Couleur selon action
+        color = {
+            "none" : (0, 255,   0),    # vert   — centré
+            "crop" : (0, 200, 255),    # orange — recadrage
+            "grbl" : (0,   0, 255),    # rouge  — correction CNC
+        }.get(action, (200, 200, 200))
+
+        # Cercle intérieur du tube
+        cv2.circle(frame, (tx, ty), tr, color, 2, cv2.LINE_AA)
+
+        # Rayon de zone morte (dead zone) en vert clair
+        cv2.circle(frame, (cx_img, cy_img), self.dead_zone_px,
+                   (0, 255, 100), 1, cv2.LINE_AA)
+
+        # Rayon seuil GRBL en rouge pointillé (simulé par cercle fin)
+        cv2.circle(frame, (cx_img, cy_img), self.grbl_threshold_px,
+                   (0, 80, 255), 1, cv2.LINE_AA)
+
+        # Croix centre image
+        cv2.drawMarker(frame, (cx_img, cy_img),
+                       (255, 255, 255), cv2.MARKER_CROSS, 24, 1, cv2.LINE_AA)
+
+        # Centre tube
+        cv2.circle(frame, (tx, ty), 5, color, -1, cv2.LINE_AA)
+
+        # Vecteur offset centre image → centre tube
+        if dist_px > self.dead_zone_px:
+            cv2.arrowedLine(frame, (cx_img, cy_img), (tx, ty),
+                            color, 2, cv2.LINE_AA, tipLength=0.2)
+
+        # Panneau info — fond semi-transparent
+        overlay = frame.copy()
+        cv2.rectangle(overlay, (8, 8), (400, 130), (0, 0, 0), -1)
+        cv2.addWeighted(overlay, 0.45, frame, 0.55, 0, frame)
+
+        lines = [
+            (f"Tube  cx={tx} cy={ty}  r={tr}px",  (0, 255, 180)),
+            (f"Offset  dx={offset_x_px:+d}px  dy={offset_y_px:+d}px",  color),
+            (f"Offset  dx={offset_x_mm:+.3f}mm  dy={offset_y_mm:+.3f}mm", color),
+            (f"Dist={dist_px:.1f}px   action={action.upper()}",  color),
+            (f"px/mm={self.px_per_mm:.4f}",  (180, 180, 180)),
+        ]
+        for i, (text, col) in enumerate(lines):
+            cv2.putText(frame, text, (14, 30 + i * 20),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.48, col, 1, cv2.LINE_AA)
+
+        # Légende zones
+        cv2.putText(frame, "dead zone", (cx_img + self.dead_zone_px + 3, cy_img - 3),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.35, (0, 255, 100), 1)
+        cv2.putText(frame, "GRBL threshold", (cx_img + self.grbl_threshold_px + 3, cy_img - 3),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.35, (0, 80, 255), 1)
+
+        # Indicateur calibration en cours
+        if self._calib_step == 1:
+            cv2.putText(frame, "CALIB — En attente point B",
+                        (14, frame.shape[0] - 14),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.55, (0, 200, 255), 2, cv2.LINE_AA)
+
+        return frame
+
+    def _draw_debug_no_detection(self, frame, cx_img, cy_img) -> np.ndarray:
+        cv2.drawMarker(frame, (cx_img, cy_img),
+                       (255, 255, 255), cv2.MARKER_CROSS, 24, 1, cv2.LINE_AA)
+        cv2.putText(frame, "Tube non detecte", (14, 30),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2, cv2.LINE_AA)
+        return frame 
+    
+    
+    

test_tube_scanner/modules/videofile_capture.py

@@ -38,7 +38,10 @@ class VideoFileCapture(VideoCaptureInterface):
         jpeg_quality: int = 85,
         width: Optional[int] = None,
         height: Optional[int] = None,
-        video_lists = []
+        video_lists = [],
+        use_tracking: bool = False,
+        px_per_mm: float = 2.1,
+        display = None,
     ):
         """
         :param video_file:   fichier video
@@ -47,12 +50,13 @@ class VideoFileCapture(VideoCaptureInterface):
         :param width:         Largeur souhaitée (None = valeur par défaut du pilote)
         :param height:        Hauteur souhaitée (None = valeur par défaut du pilote)
         """
-        super().__init__(fps=fps)
+        super().__init__(fps=fps, use_tracking=use_tracking, px_per_mm=px_per_mm, display=display)
         self._video_file: str = video_file
         self._jpeg_quality: int = jpeg_quality
         self._width: Optional[int] = width
         self._height: Optional[int] = height
         self._video_lists = video_lists
+        
         self.ptf = 0
         self._cap = None                          # Instance cv2.VideoCapture
 

test_tube_scanner/modules/webcam_capture.py

@@ -38,6 +38,9 @@ class WebcamCapture(VideoCaptureInterface):
         jpeg_quality: int = 85,
         width: Optional[int] = None,
         height: Optional[int] = None,
+        use_tracking: bool = False,
+        px_per_mm: float = 2.1,
+        display = None,
     ):
         """
         :param device_index:  Index du périphérique V4L2 (0 = première webcam)
@@ -46,7 +49,7 @@ class WebcamCapture(VideoCaptureInterface):
         :param width:         Largeur souhaitée (None = valeur par défaut du pilote)
         :param height:        Hauteur souhaitée (None = valeur par défaut du pilote)
         """
-        super().__init__(fps=fps)
+        super().__init__(fps=fps, use_tracking=use_tracking, px_per_mm=px_per_mm, display=display)
         self._device_index: int = device_index
         self._jpeg_quality: int = jpeg_quality
         self._width: Optional[int] = width

test_tube_scanner/scanner/admin.py

@@ -7,11 +7,16 @@ class WellAdmin(admin.ModelAdmin):
     list_display = ('name', 'author',)
 
 class ConfigurationAdmin(admin.ModelAdmin):
-    list_display = ('name', 'author', 'use_rpicam', 'video_width_capture', 'video_height_capture', 'video_frame_rate', 'active',)
+    list_display = ('name', 'author', 'use_rpicam', 'video_width_capture', 'video_height_capture', 'video_frame_rate', 'px_per_mm', 'active',)
 
 class MultiWellAdmin(admin.ModelAdmin):
     list_filter = ('author', )
-    list_display = ('label', 'position', 'author', 'order', 'xbase', 'ybase', 'duration', 'feed', 'active',)
+    list_display = ('label', 'position', 'author', 'order', 'xbase', 'ybase', 'duration', 'feed', 'default', 'well_position', 'active',)
+
+class WellPositionAdmin(admin.ModelAdmin):
+    list_filter = ('author', 'multiwell')
+    list_display = ('multiwell__position', 'well__name', 'order', 'x', 'y', 'author',)
+    
 
 class ObservationMultiWellDetailInline(admin.TabularInline):
     model = models.ObservationMultiWellDetail
@@ -60,5 +65,6 @@ class SessionAdmin(admin.ModelAdmin):
 admin.site.register(models.Configuration, ConfigurationAdmin)
 admin.site.register(models.Well, WellAdmin)
 admin.site.register(models.MultiWell, MultiWellAdmin)
+admin.site.register(models.WellPostion, WellPositionAdmin)
 admin.site.register(models.Observation, ObservationAdmin)
 admin.site.register(models.Session, SessionAdmin)

test_tube_scanner/scanner/models.py

@@ -44,6 +44,8 @@ class Configuration(models.Model):
     # Grbl configuration
     grbl_xmax = models.FloatField(_("Grbl Xmax"), help_text=_("CNC Grbl Xmax en mm"), blank=False, default=350.0)
     grbl_ymax = models.FloatField(_("Grbl Ymax"), help_text=_("CNC Grbl Ymax en mm"), blank=False, default=250.0)
+    px_per_mm = models.FloatField(_("Pixel / mm"), help_text=_('Rapport pixel / déplacement en pixel/mm'), blank=False, default=2.5)
+    
     # camera configuration
     use_rpicam = models.BooleanField(_("Utiliser rpicam"), help_text=_("Par défaaut. Sinon USB webcam"), default=True)
     webcam_device_index = models.PositiveSmallIntegerField(_("Index de la webcam"), help_text=_("Index de la webcam (0, 1, ...) si présente"), default=2)
@@ -57,7 +59,7 @@ class Configuration(models.Model):
     calibration_default_multiwell = models.CharField(_("Multi-puits de calibration par défaut"), help_text=_("Position du multi-puits de calibration par défaut"), max_length=8, choices=MULTIWELL_POSITION, default='HG')
     calibration_default_feed = models.PositiveIntegerField(_("Vitesse de calibration"), help_text=_("Vitesse de déplacement pour la calibration en mm/mn"), default=1000)
     calibration_default_step = models.FloatField(_("Pas de calibration"), help_text=_("Pas de déplacement pour la calibration en mm"), default=1.0)
-
+    calibration_default_duration = models.FloatField(_("Duruée calibration"), help_text=_("Durée de pose entre chaque puits en s"), default=3.0)
     active = models.BooleanField(_("Actif"), default=False)
 
     class Meta:
@@ -80,15 +82,19 @@ class Well(models.Model):
     def __str__(self):
         return f'{self.name}'
 
+
 class MultiWell(models.Model):
     label =  models.CharField(_("Label"), help_text=_("Label du multi-puit"), max_length=100, null=True, blank=True)
     author = models.ForeignKey(User, on_delete=models.CASCADE, verbose_name="Auteur", null=True, blank=True)
     position = models.CharField(_("Position"), help_text=_('Position du multi-puits sur la table'), unique=True, max_length=8, choices=MULTIWELL_POSITION, null=True, blank=False)
+    default = models.BooleanField(_("Par défaut"), help_text=_('Multi-puit par défaut'), default=False)
     
     cols = models.PositiveSmallIntegerField(_("Colonnes"), help_text=_('Nombre de colonnes'), blank=False, default=6)
     rows = models.PositiveSmallIntegerField(_("Lignes"), help_text=_('Nombre de lignes'), blank=False, default=4)  
+    diameter = models.FloatField(_("Diamètre"), help_text=_('Diamètre des tubes en mm'), blank=False, default=16.0)
+      
     row_def = models.CharField(_("Définition"), help_text=_('Définition des lignes'), max_length=16, null=True, blank=False, default="A,B,C,D")
-    row_order = models.CharField(_("Ordre"), help_text=_('Ordre de lecture en serpentin'), max_length=16, null=True, blank=False, default="D,C,B,A")
+    row_order = models.CharField(_("Ordre ligne"), help_text=_('Ordre ligne de puit. Lecture en serpentin dans le sens des +- X'), max_length=16, null=True, blank=False, default="D,C,B,A")
 
     order = models.PositiveSmallIntegerField(_("Ordre"), help_text=_('Ordre de lecture du multi-puit'), blank=False, default=0)
     duration = models.PositiveIntegerField(_("Durée"), help_text=_('Durée du film en secondes'), blank=False, default=120)
@@ -98,10 +104,14 @@ class MultiWell(models.Model):
     dx = models.FloatField(_("Pas X"), help_text=_('Pas ou interval sur X en mm'), blank=False, default=19.5)
     dy = models.FloatField(_("Pas Y"), help_text=_('Pas ou interval sur Y en mm'), blank=False, default=19.5)
     feed = models.PositiveIntegerField(_("Vitesse"), help_text=_('Vitesse déplacement en mm/mn '), blank=False, default=1000)
+    
+    well_position = models.BooleanField(_("Positions"), help_text=_('Positions des puits générées ?'), default=False)
     active = models.BooleanField(_("Active"), default=True)
     
+
     def config(self):
         return dict(
+            position=self.position,
             cols=self.cols,
             rows=self.rows,
             row_def=self.row_def,
@@ -139,6 +149,56 @@ class MultiWell(models.Model):
     def __str__(self):
         return f'{self.position}: {self.label}'
 
+
+class WellPostion(models.Model):
+    author = models.ForeignKey(User, on_delete=models.CASCADE, verbose_name="Auteur", null=True, blank=True)
+    well = models.ForeignKey(Well, verbose_name=_("Puit"), on_delete=models.SET_NULL, null=True, blank=True)
+    multiwell = models.ForeignKey(MultiWell, verbose_name=_("Multi-puits"), on_delete=models.SET_NULL, null=True, blank=True)
+    
+    order = models.PositiveSmallIntegerField(_("Ordre"), help_text=_('Ordre de lecture du puit'), blank=False, default=0)
+    x = models.FloatField(_("X"), help_text=_('Axe X en mm'), blank=False, default=10.0)
+    y = models.FloatField(_("Y"), help_text=_('Axe Y en mm'), blank=False, default=10.0)
+
+    
+    class Meta:
+        ordering = ['order']
+        unique_together = ["multiwell", "well"]
+        verbose_name = _("Position d'un puit")
+        verbose_name_plural = _("Position des puits")
+
+    def __str__(self):
+        return f'{self.multiwell.position}: {self.well.name}'  
+
+
+@receiver(post_save, sender=MultiWell)
+def create_well_position(sender, instance, created, **kwargs):
+    if not instance.well_position:
+        row_order = instance.row_order.split(',')
+        n = 0
+        for row in range(instance.rows):
+            if row % 2 == 0:
+                cols = range(instance.cols)
+            else:
+                cols = range(instance.cols - 1, -1, -1)
+            for col in cols:
+                x = instance.xbase + col * instance.dx
+                y = instance.ybase + row * instance.dy
+                try:
+                    name = f'{row_order[row]}{col+1}'
+                    well = Well.objects.get(name__exact=name)
+                    WellPostion.objects.update_or_create(
+                        multiwell=instance, 
+                        well=well, 
+                        author=instance.author, 
+                        defaults={'order': n, 'x': round(x, 4), 'y': round(y, 4)}
+                    )
+                    n += 1
+                except:
+                    pass
+        instance.well_position=True
+        instance.save()
+             
+
 class Observation(models.Model):
     title = models.CharField(_("Titre de l'observation"), max_length=100, null=True, blank=False)
     comment =  models.TextField(_("Commentaires"), help_text=_("Descriptions de l'observations"), null=True, blank=True)

test_tube_scanner/scanner/multiwell.py

@@ -0,0 +1,321 @@
+'''
+Created on 20 avr. 2026
+
+@author: denis
+'''
+import logging
+import time
+from django.utils.translation import gettext_lazy as _
+from threading import Thread, Event
+from django.utils import timezone
+from django.utils.html import mark_safe
+from modules import grbl
+from . import models
+
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+class WellIterator:
+    """Itérateur personnalisé pour naviguer dans les Wells"""
+    
+    def __init__(self, wells_queryset):
+        self.wells = list(wells_queryset)  # Convertir en liste
+        self.current_index = -1
+        self.total_count = len(self.wells)
+    
+    def __iter__(self):
+        """Permet d'utiliser l'itérateur dans une boucle for"""
+        return self
+    
+    def __next__(self):
+        """Retourne l'élément suivant"""
+        self.current_index += 1
+        if self.current_index >= self.total_count:
+            raise StopIteration
+        return self.wells[self.current_index]
+    
+    def next(self):
+        """Méthode next() pour avancer manuellement"""
+        if self.current_index + 1 < self.total_count:
+            self.current_index += 1
+            return self.wells[self.current_index]
+        raise StopIteration("Fin de la liste atteinte")
+    
+    def previous(self):
+        """Méthode previous() pour revenir en arrière"""
+        if self.current_index > 0:
+            self.current_index -= 1
+            return self.wells[self.current_index]
+        raise StopIteration("Début de la liste atteint")
+    
+    def seek(self, index):
+        """Méthode seek() pour sauter à un index spécifique"""
+        if 0 <= index < self.total_count:
+            self.current_index = index
+            return self.wells[index]
+        raise IndexError(f"Index {index} hors limites (0-{self.total_count - 1})")
+    
+    def get_current(self):
+        """Retourne l'élément courant"""
+        if -1 < self.current_index < self.total_count:
+            return self.wells[self.current_index]
+        return None
+    
+    def reset(self):
+        """Réinitialise l'itérateur au début"""
+        self.current_index = -1
+
+
+class MultiWellManager:
+
+    def __init__(self, process):
+        self.process = process
+        self.cnc_controller = process.grbl
+        self.stop_playing = Event()
+        self.well_iterator = None
+        
+        self.scanner = None
+        
+        self.multiwel = None
+        self.set_default_values()
+        self.set_multiwell()
+
+
+    def set_default_values(self, feed=None, step=None, duration=None):
+        self._feed = feed or self.process.conf.calibration_default_feed
+        self._step = step or self.process.conf.calibration_default_step
+        self._duration = duration or self.process.conf.calibration_default_duration
+
+
+    def set_multiwell(self, position=None):
+        if position is None:
+            self.multiwell = models.MultiWell.objects.filter(default=True).first()
+        else:
+            self.multiwell = models.MultiWell.by_position(position)
+            
+        wells = models.WellPostion.objects.filter(multiwell_id=self.multiwell.id).order_by('order').all()
+        self.well_iterator = WellIterator(wells)
+        
+        self.position = self.multiwell.position
+        self._xbase = self.multiwell.xbase
+        self._ybase = self.multiwell.ybase       
+        self._dx = self.multiwell.dx
+        self._dy = self.multiwell.dy
+        return self.multiwell.config()
+    
+    
+    def multiwell_buttons(self):
+        multiwells = []
+        multiwells.append('''<div class="w3-border well-btn">''')
+        for w in self.well_iterator:
+            multiwells.append(f"""<button class="w3-button well" value="{w.order}" onclick="goto_well(this)">{w.well.name}</button>""")
+        multiwells.append('''</div>''')
+        self.well_iterator.reset()
+        return mark_safe("\n".join(multiwells))         
+       
+        
+    def _grid_scanning_capture(self, uuid, duration):
+        self.process.data.uuid = uuid
+        self.process.data.record = True
+
+        start = time.monotonic()
+        while not self.stop_playing.is_set():
+            if time.monotonic() - start > duration:
+                break
+            self.cnc_controller.wait_for(1.0)
+
+        logger.info(f"Arrêter l'enregistrement {uuid}")
+        self.process.data.record = False
+        self.process.data.uuid = None
+        
+        
+    def _grid_scanning(self, observation, xnext=0, ynext=0):
+        multiwell = observation.multiwell
+        wells = models.WellPostion.objects.filter(multiwell_id=multiwell.id).order_by('order').all()
+        
+        self.stop_playing = Event()
+        for w in wells:
+            if self.stop_playing.is_set():
+                break
+            self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)  
+            
+            uuid = f'{self.process.data.session}-{multiwell.position}-{w.well.name}'
+            self._grid_scanning_capture(uuid, multiwell.duration)
+            
+        logger.info(f"Scan terminé — retour à l'origine (X={xnext:.1f}  Y={ynext:.1f})")
+        self.cnc_controller.move_to(xnext, ynext, feed=multiwell.feed*2)
+             
+
+    def _start_scanning(self, session, observations):
+        xynext = []
+        for obs in observations:
+            xynext.append((obs.multiwell.xbase, obs.multiwell.ybase))
+        xynext.append((0, 0))
+
+        pos = 1
+        self.process.data.session = session.id
+        started = timezone.now()
+        for obs in observations:
+            obs.started = timezone.now()
+            obs.save()
+
+            xnext, ynext = xynext[pos]
+            pos +=1
+            self._grid_scanning(obs, xnext=xnext, ynext=ynext)
+
+            obs.finished = timezone.now()
+            obs.save()
+        session.finished = timezone.now()
+        session.active = False
+        session.scanning_task.enabled = False
+        session.save()
+        logger.info(f"==== Session {session.name} terminée à {session.finished} après {session.finished - started} secondes.")
+
+
+    def halt_scanning(self):
+        self.process.data.record = False
+        return self.stop_playing.set()   
+    
+         
+    def scanning(self, sid):
+        try:
+            session = models.Session.objects.get(pk=sid)
+            observations = models.SessionObservation.observation_by_session(sid)
+            Thread(target=self._start_scanning, args=(session, observations, ), daemon=True).start()
+        except Exception as e:
+            print("MultiWellManager::scan error", e)       
+
+
+    def previous_well(self):
+        w = self.well_iterator.previous()
+        self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
+        return {"state": "previous", "msg": f">>> ({w.x}, {w.y})"} 
+     
+     
+    def next_well(self):
+        w = self.well_iterator.next()
+        self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
+        return {"state": "next", "msg": f">>> ({w.x}, {w.y})"} 
+    
+    
+    def goto_well(self, numwell):
+        w = self.well_iterator.seek(numwell)
+        self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
+        return {"state": "goto", "msg": f">>> ({w.x}, {w.y})"}    
+    
+    
+    def set_well_position(self):
+        w = self.well_iterator.get_current()
+        w.x, w.y = self.cnc_controller.get_mpos()
+        w.save()
+        return {"state": "well_position", "msg": f">>> saved ({w.x}, {w.y})"}   
+
+
+    def _scanning_test(self, xnext=0, ynext=0):       
+        self.stop_playing = Event()
+        for w in self.well_iterator:
+            if self.stop_playing.is_set():
+                break
+            self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
+            
+            start = time.monotonic()
+            while not self.stop_playing.is_set():
+                if time.monotonic() - start > self.duration:
+                    break
+                self.cnc_controller.wait_for(1.0)
+    
+            logger.info(f"Arrêter la simulation")            
+            
+        self.well_iterator.reset()
+            
+        logger.info(f"Scan terminé — retour à l'origine (X={xnext:.1f}  Y={ynext:.1f})")
+        self.cnc_controller.move_to(xnext, ynext, feed=self.multiwell.feed*2)
+        
+        
+    def scan_test(self):
+        Thread(target=self._scanning_test, daemon=True).start()
+
+
+    @property
+    def position(self):
+        return self._position
+
+    @position.setter
+    def position(self, value):
+        self._position = value
+        
+    @property
+    def duration(self):
+        return self._duration
+
+    @duration.setter
+    def duration(self, value):
+        self._duration = value
+        
+    @property
+    def step(self):
+        return self._step
+
+    @step.setter
+    def step(self, value):
+        self._step = value
+
+    @property
+    def feed(self):
+        return self._feed
+
+    @feed.setter
+    def feed(self, value):
+        self._feed = value
+
+    @property
+    def xbase(self):
+        return self._xbase
+
+    @xbase.setter
+    def xbase(self, value):
+        self._xbase = value
+
+    @property
+    def ybase(self):
+        return self._ybase
+
+    @ybase.setter
+    def ybase(self, value):
+        self._ybase = value
+
+    @property
+    def dx(self):
+        return self._dx
+
+    @dx.setter
+    def dx(self, value):
+        self._dx = value
+
+    @property
+    def dy(self):
+        return self._dy
+
+    @dy.setter
+    def dy(self, value):
+        self._dy = value
+
+
+    def set_xy_step(self):
+        models.MultiWell.objects.filter(position__exact=self.position).update(dx=self.dx, dy=self.dy)
+
+
+    def set_position(self):
+        x, y = self.cnc_controller.get_mpos()
+        self.cnc_controller.wait_for(2.0)
+        models.MultiWell.objects.filter(position__exact=self.position).update(xbase=x, ybase=y)
+        self._xbase, self._ybase = x, y
+
+        
+    def calib_toggle_debug(self):
+        """    Active / désactive le mode debug sur le stream."""
+        aligner = self.process.cam._aligner
+        aligner.debug = not aligner.debug       
+        return {"state": "debug", "msg": f"Debug: {aligner.debug}"}     

test_tube_scanner/scanner/process.py

@@ -4,6 +4,8 @@ import os
 os.environ['OPENCV_LOG_LEVEL']="0"
 os.environ['OPENCV_FFMPEG_LOGLEVEL']="0"
 import cv2
+import numpy as np
+
 from django.utils.translation import gettext_lazy as _
 from datetime import datetime
 import time, asyncio, bisect
@@ -25,14 +27,16 @@ from modules import reductstore, grbl, utils
 
 ## camera devices
 from modules.circular_crop import CircularCrop, CropStrategy
+from .multiwell import MultiWellManager
 from . import models
 
 @dataclass
-class ProcTag:
+class ProcessData:
     play: bool = True
     record: bool = False
     uuid: str = None
     session: int = 0
+    frame: bytes = None
 
 logger = get_task_logger(__name__)
 redisDB = Redis(host=settings.REDIS_HOST, port=settings.REDIS_PORT, db=0, decode_responses=True)
@@ -132,159 +136,12 @@ class CameraRecordManager():
         asyncio.run(self.remove_uuid(uuid, start, stop, when=when))
 
 
-class MultiWellManager:
-
-    def __init__(self, position, feed=None, step=None, process=None):       
-        self.set_multiwell(position)
-        self._feed = feed
-        self._step = step
-        self.process = process
-        self.tag = process.tag
-        self.scanner = None
-
-    def set_multiwell(self, position):
-        self._position = position
-        self.well = models.MultiWell.by_position(position)
-        self._xbase = self.well.xbase
-        self._ybase = self.well.ybase       
-        self._dx = self.well.dx
-        self._dy = self.well.dy
-        
-    def _start_test(self):
-        self.scanner.start()
-
-    def _start(self, machine, session, observations):
-        xynext = []
-        for obs in observations:
-            xynext.append((obs.multiwell.xbase, obs.multiwell.ybase))
-        xynext.append((0, 0))
-
-        pos = 1
-        self.tag.session = session.id
-        started = timezone.now()
-        for obs in observations:
-            conf = obs.multiwell.config()
-            self.scanner = grbl.GridScanner(machine, process=self.process, **conf)
-            obs.started = timezone.now()
-            obs.save()
-
-            xnext, ynext = xynext[pos]
-            pos +=1
-            self.scanner.start(xnext=xnext, ynext=ynext, position=obs.multiwell.position)
-
-            obs.finished = timezone.now()
-            obs.save()
-        session.finished = timezone.now()
-        session.active = False
-        session.scanning_task.enabled = False
-        session.save()
-        logger.info(f"==== Session {session.name} terminée à {session.finished} après {session.finished - started} secondes.")
-
-
-    def scan_test(self, machine, duration=5.0):
-        conf =  self.well.config()
-        conf['duration'] = duration
-        conf['feed'] = self.feed
-        conf['xnext'] = self._xbase
-        conf['ynext'] = self._ybase
-
-        self.tag.session = 0
-        self.scanner = grbl.GridScanner(machine, process=self.process, **conf)
-        Thread(target=self._start_test, daemon=True).start()
-
-    def scan(self, machine, sid):
-        try:
-            session = models.Session.objects.get(pk=sid)
-            observations = models.SessionObservation.observation_by_session(sid)
-            Thread(target=self._start, args=(machine, session, observations, ), daemon=True).start()
-        except Exception as e:
-            print("MultiWellManager::scan error", e)
-
-    def halt(self):
-        if self.scanner:
-            self.scanner.halt()
-
-    @property
-    def position(self):
-        return self._position
-
-    @position.setter
-    def position(self, value):
-        self._position = value
-
-    @property
-    def step(self):
-        return self._step
-
-    @step.setter
-    def step(self, value):
-        self._step = value
-
-    @property
-    def feed(self):
-        return self._feed
-
-    @feed.setter
-    def feed(self, value):
-        self._feed = value
-
-    @property
-    def xbase(self):
-        return self._xbase
-
-    @xbase.setter
-    def xbase(self, value):
-        self._xbase = value
-
-    @property
-    def ybase(self):
-        return self._ybase
-
-    @ybase.setter
-    def ybase(self, value):
-        self._ybase = value
-
-    @property
-    def dx(self):
-        return self._dx
-
-    @dx.setter
-    def dx(self, value):
-        self._dx = value
-
-    @property
-    def dy(self):
-        return self._dy
-
-    @dy.setter
-    def dy(self, value):
-        self._dy = value
-
-    def set_xy_step(self):
-        models.MultiWell.objects.filter(position__exact=self.position).update(dx=self.dx, dy=self.dy)
-
-    def set_position(self, machine):
-        x, y = machine.get_mpos()
-        machine.wait_for(2.0)
-        models.MultiWell.objects.filter(position__exact=self.position).update(xbase=x, ybase=y)
-        self._xbase, self._ybase = x, y
-
 
 class ScannerProcess(Task):
-    '''
-    video_quality = settings.VIDEO_JPG_QUALITY
-    image_quality = settings.IMAGE_JPG_QUALITY
-    video_fps = settings.VIDEO_FPS
-    video_width = settings.VIDEO_WIDTH
-    video_height = settings.VIDEO_HEIGHT
 
-    crop_radius = settings.CALIBRATION_CROP_RADIUS
+    def __init__(self, use_tracking=False):
-    default_multiwell = settings.CALIBRATION_DEFAULT_MULTIWELL
-    default_feed = settings.CALIBRATION_DEFAULT_FEED
-    default_step = settings.CALIBRATION_DEFAULT_STEP'''
-
-    def __init__(self):
         super().__init__()
+        self.use_tracking = use_tracking
         self.channel_layer = get_channel_layer()
         self.group = f'scanner_proc'
         self.stop_event = Event()
@@ -294,7 +151,7 @@ class ScannerProcess(Task):
         self.multiwel = None
         self.conf = None
         self.record_queue = Queue()
-        self.tag = ProcTag()
+        self.data = ProcessData()
         self.manager = None
         self.recordDB = CameraRecordManager(cameraDB)
 
@@ -313,21 +170,37 @@ class ScannerProcess(Task):
             self.video_fps = self.conf.video_frame_rate
             self.video_width = self.conf.video_width_capture
             self.video_height = self.conf.video_height_capture    
-            
             self.crop_radius = self.conf.calibration_crop_radius
-            self.default_multiwell = self.conf.calibration_default_multiwell
-            self.default_feed = self.conf.calibration_default_feed
-            self.default_step = self.conf.calibration_default_step
 
             self.video_jpg_quality = [int(cv2.IMWRITE_JPEG_QUALITY), self.video_quality]
             self.image_jpg_quality = [int(cv2.IMWRITE_JPEG_QUALITY), self.image_quality]
             self.grbl_xmax = self.conf.grbl_xmax
             self.grbl_ymax = self.conf.grbl_ymax
                     
-            #self.crop = CircularCrop(radius=self.crop_radius, strategy=CropStrategy.CROP_JPEG, jpeg_quality=self.image_quality)
             self.crop = self.set_crop_radius(self.crop_radius)
+            if settings.TEST_VIDEOFILE:
+                from modules.videofile_capture import VideoFileCapture
+                self.cam = VideoFileCapture(
+                    video_file=settings.MEDIA_ROOT / 'simulation' / 'part4-5fps.mp4',
+                    fps=self.video_fps,
+                    width=self.video_width,
+                    height=self.video_height,
+                    jpeg_quality=self.video_quality,
+                    use_tracking=self.use_tracking,
+                    px_per_mm = self.conf.px_per_mm,
+                    display=self._display,
+                    video_lists=[],
+                )
                 '''
-            if not self.conf.use_rpicam:
+                    settings.MEDIA_ROOT / 'simulation' / 'part1-5fps.mp4',
+                    settings.MEDIA_ROOT / 'simulation' / 'part2-5fps.mp4',
+                    settings.MEDIA_ROOT / 'simulation' / 'part3-5fps.mp4',
+                    settings.MEDIA_ROOT / 'simulation' / 'part4-5fps.mp4',
+                    settings.MEDIA_ROOT / 'simulation' / 'part5-5fps.mp4',
+                ]
+                )
+                '''               
+            elif not self.conf.use_rpicam:
                 from modules.webcam_capture import WebcamCapture
                 self.cam = WebcamCapture(
                     device_index=self.conf.webcam_device_index,
@@ -335,6 +208,9 @@ class ScannerProcess(Task):
                     width=self.video_width,
                     height=self.video_height,
                     jpeg_quality=self.video_quality,
+                    use_tracking=self.use_tracking,
+                    px_per_mm = self.conf.px_per_mm,
+                    display=self._display,
                 )
             else:
                 from modules.picamera2_capture import PiCamera2Capture
@@ -343,27 +219,15 @@ class ScannerProcess(Task):
                     width=self.video_width,
                     height=self.video_height,
                     jpeg_quality=self.video_quality,
-                )
+                    use_tracking=self.use_tracking,
-            '''
+                    px_per_mm = self.conf.px_per_mm,
-            from modules.videofile_capture import VideoFileCapture
+                    display=self._display,
-            self.cam = VideoFileCapture(
-                video_file=settings.MEDIA_ROOT / 'simulation' / 'part2-5fps.mp4',
-                fps=self.video_fps,
-                width=self.video_width,
-                height=self.video_height,
-                jpeg_quality=self.video_quality,
-                video_lists = [
-                    settings.MEDIA_ROOT / 'simulation' / 'part1-5fps.mp4',
-                    settings.MEDIA_ROOT / 'simulation' / 'part2-5fps.mp4',
-                    settings.MEDIA_ROOT / 'simulation' / 'part3-5fps.mp4',
-                    settings.MEDIA_ROOT / 'simulation' / 'part4-5fps.mp4',
-                    settings.MEDIA_ROOT / 'simulation' / 'part5-5fps.mp4',
-                ]       
                 )
             
             self.cam.set_frame_callback(self._on_frame)
-            self.cam.set_median(False)
+            self.cam._active_median = False
             self.cam.set_circular_crop(None)
+            
             self.stop_event.clear()
             self.start_services()
         except Exception as e:
@@ -399,10 +263,11 @@ class ScannerProcess(Task):
             self._send(**msg)
 
     def _on_frame(self, jpeg_bytes: bytes, ts: datetime, metrics: dict) -> None:
-        if self.tag.record:
+        self.data.frame = jpeg_bytes
+        if self.data.record:
             # record images
-            self.record_queue.put((self.tag.uuid, ts, jpeg_bytes, metrics))
+            self.record_queue.put((self.data.uuid, ts, jpeg_bytes, metrics))
-        if self.tag.play:
+        if self.data.play:
             # play image
             self._send(ts=ts.timestamp(), jpeg=base64.b64encode(jpeg_bytes).decode(), **metrics)
 
@@ -411,7 +276,7 @@ class ScannerProcess(Task):
         while not self.stop_event.is_set():
             try:
                 (uuid, ts, frame, metrics) = self.record_queue.get()
-                labels = dict(fps=self.video_fps, session=self.tag.session, detected="1" if metrics.get("detected") else "0")
+                labels = dict(fps=self.video_fps, session=self.data.session, detected="1" if metrics.get("detected") else "0")
                 if metrics.get("detected"):
                     labels.update({
                         "cx"          : str(metrics["cx"]),
@@ -441,13 +306,7 @@ class ScannerProcess(Task):
             pubsub = redisDB.pubsub()
             pubsub.subscribe(self.group)
             self._init_grbl()
-
+            self.manager = MultiWellManager(process=self)
-            self.manager = MultiWellManager(
-                self.default_multiwell,
-                feed=self.default_feed,
-                step=self.default_step,
-                process=self
-            )
             
             for message in pubsub.listen():
                 try:
@@ -466,7 +325,7 @@ class ScannerProcess(Task):
                         topic = cmd.get("topic")
                         if topic == 'init':
                             self.cam.set_circular_crop(self.crop)
-                            self.cam.set_median(is_median=False)
+                            self.cam._active_median = False
                             self.grbl.go_origin(feed=self.manager.feed)
 
                         elif topic == 'scan':
@@ -474,63 +333,127 @@ class ScannerProcess(Task):
                             if sid == "0":
                                 self._send(state='error', msg=str(_('La session est nulle!...')))
                             else:
-                                self.cam.set_median(is_median=False)
+                                self.cam._active_median = False
-                                self.manager.scan(self.grbl, sid)
+                                self.manager.scanning(sid)
 
                     elif cmd["type"]=="calibrate":
                         topic = cmd.get("topic")
                         value = cmd.get("value")
-
+                        buttons = None
                         if topic == 'init':                           
-                            self.manager.feed = int(cmd.get("feed", self.default_feed))
+                            self.manager.set_default_values(
-                            self.manager.step = float(cmd.get("step", self.default_step))
+                                feed=int(cmd.get("feed")), 
-                            position = cmd.get("position", self.default_multiwell)
+                                step=float(cmd.get("step")), 
-                            if self.manager.position != position:
+                                duration=float(cmd.get("duration"))
+                            )
+                            position = cmd.get("position")
                             self.manager.set_multiwell(position)
                             self.cam.set_circular_crop(None)
-                                self.cam.set_median(is_median=False)
+                            self.cam._active_median = False                          
+                            buttons = self.manager.multiwell_buttons()
+
                         elif topic == 'up':
                             self.grbl.move_relative(dy=self.manager.step, feed=self.manager.feed)
+                            
                         elif topic == 'down':
                             self.grbl.move_relative(dy=-self.manager.step, feed=self.manager.feed)
+                            
                         elif topic == 'right':
                             self.grbl.move_relative(dx=self.manager.step, feed=self.manager.feed)
+                            
                         elif topic == 'left':
                             self.grbl.move_relative(dx=-self.manager.step, feed=self.manager.feed)
+                            
                         elif topic == 'median':
-                            self.cam.set_median(is_median=value)
+                            self.cam._active_median = not self.cam._active_median
-                        elif topic == 'crop':
-                            self.cam.set_circular_crop(self.crop) if value else self.cam.set_circular_crop(None)
                             continue
+                        
+                        elif topic == 'crop':
+                            self.cam._active_crop = not self.cam._active_crop
+                            self.cam.set_circular_crop(self.crop) if self.cam._active_crop else self.cam.set_circular_crop(None)
+                            continue
+                        
                         elif topic == 'crop_radius':
                             self.conf.calibration_crop_radius=int(value)
                             self.crop = self.set_crop_radius(self.conf.calibration_crop_radius)
                             self.conf.save()
                             self.cam.set_circular_crop(self.crop)
                             continue   
+                                             
                         elif topic == 'position':
                             self.manager.set_multiwell(value)
+                            buttons = self.manager.multiwell_buttons()
+                            
                         elif topic == 'step':
                             self.manager.step = float(value)
+                            
                         elif topic == 'feed':
                             self.manager.feed = int(value)
+                            
+                        elif topic == 'duration':
+                            self.manager.duration = float(value)   
+                                 
                         elif topic == 'goto_0':
                             self.grbl.go_origin(feed=self.manager.feed)
+                            self.manager.well_iterator.reset()
+                            
                         elif topic == 'goto_xy':
                             self.grbl.move_to(self.manager.xbase, self.manager.ybase, feed=self.manager.feed)
+                            self.manager.well_iterator.reset()
+                            
                         elif topic == 'xy_base':
-                            self.manager.set_position(self.grbl)
+                            self.manager.set_position()
+                            
                         elif topic == 'dx':
                             self.manager.dx = float(value)
+                            
                         elif topic == 'dy':
                             self.manager.dy = float(value)
+                            
                         elif topic == 'xy_step':
                             self.manager.set_xy_step()
+                        
                         elif topic == 'test':
-                            self.manager.scan_test(self.grbl)
+                            pass 
+                            #self.manager.scan_test()
                             continue
+                        elif topic == 'center':
+                            #self.manager.scan_test()
+                            dx_mm = self.cam._last_detection["offset_x_mm"]
+                            dy_mm = self.cam._last_detection["offset_y_mm"]
+                            self.grbl.move_to(self.grbl.x + dx_mm, self.grbl.y + dy_mm, feed=150)
+                            
+                            msg = f"Correction CNC move_relative(dx={dx_mm:.3f}, dy={dy_mm:.3f})"
+                            self._send(state='center', msg=msg)  
+                            continue
+                        
                         elif topic == 'halt':
-                            self.manager.halt()
+                            self.manager.halt_scanning()
+                            continue
+                        
+                        elif topic == 'calib_debug':
+                            msg = self.manager.calib_toggle_debug()
+                            self._send(**msg)    
+                            continue
+                        
+                        elif topic == 'previous':
+                            msg = self.manager.previous_well()
+                            self._send(**msg)  
+                            continue
+                        
+                        elif topic == 'next':
+                            msg = self.manager.next_well()
+                            self._send(**msg)  
+                            continue
+                        
+                        elif topic == 'goto':
+                            msg = self.manager.goto_well(int(value))
+                            self._send(**msg)
+                            continue      
+                                                          
+                        elif topic == 'set_well':
+                            msg = self.manager.set_well_position()
+                            self._send(**msg)
                             continue   
                                                   
                         self._send(
@@ -541,7 +464,8 @@ class ScannerProcess(Task):
                             xy=True, 
                             dxy=True, 
                             dx=self.manager.dx, 
-                            dy=self.manager.dy
+                            dy=self.manager.dy,
+                            buttons=buttons,
                         )
 
                 except Exception as e:

test_tube_scanner/scanner/static/scanner/css/calibration.css

@@ -32,3 +32,17 @@
   align-self: start;
   grid-area: move;
 }
+
+.well {
+    padding: 0.2em;
+}
+
+.well-btn {
+  display: grid; 
+  grid-template-columns: repeat(6, 1fr);
+  justify-items: center; 
+  align-items: center; 
+}
+
+
+

test_tube_scanner/scanner/static/scanner/js/calibration.js

@@ -9,9 +9,6 @@ class ScannerManager {
         this.debug_count = 0
     }
 
-    toggle_median() { this.axes = !this.axes; return this.axes; }
-    toggle_crop()   { this.croping = !this.croping; return this.croping; }
-
     init_controls() {
         this.ts = sId("_ts");
         this.cx = sId("_cx");
@@ -30,6 +27,7 @@ class ScannerManager {
         const down  = sId("_down");
         const left  = sId("_left");
         const right = sId("_right");
+        this.duration = sId("_duration");
         this.feed   = sId("_feed");
         this.step   = sId("_step");
         this.well   = sId("_well");
@@ -40,34 +38,50 @@ class ScannerManager {
         this.xbase  = sId("_xbase");
         this.ybase  = sId("_ybase");
         this.debug  = sId("_debug");
+        this.well_btn = sId("_well_btn");  
+        
         const test   = sId("_test");
         const halt   = sId("_halt");
         
+        const calib_debug = sId("_calib_debug");
+        const calib_center = sId("_calib_center");
+        const previous = sId("_previous");        
+        const next = sId("_next");        
+        const set_well = sId("_set_well");  
+             
         const median = sId("_median");
         const crop = sId("_crop");
         const crop_radius = sId("_crop_radius");
         
+
         up.addEventListener('mousedown',      (e) => { this._send({ type: 'calibrate', topic: "up" }); });
         down.addEventListener('mousedown',    (e) => { this._send({ type: 'calibrate', topic: "down" }); });
         left.addEventListener('mousedown',    (e) => { this._send({ type: 'calibrate', topic: "left" }); });
         right.addEventListener('mousedown',   (e) => { this._send({ type: 'calibrate', topic: "right" }); });
 
-        goto_0.addEventListener('click',     (e) => { this._send({ type: 'calibrate', topic: "goto_0" }); });
+        goto_0.addEventListener('click',     (e) => { this.clear_buttons(); this._send({ type: 'calibrate', topic: "goto_0" }); });
-        goto_xy.addEventListener('click',    (e) => { this._send({ type: 'calibrate', topic: "goto_xy" }); });
+        goto_xy.addEventListener('click',    (e) => { this.clear_buttons(); this._send({ type: 'calibrate', topic: "goto_xy" }); });
         xy_base.addEventListener('click',    (e) => { this._send({ type: 'calibrate', topic: "xy_base" }); });
         xy_step.addEventListener('click',    (e) => { this._send({ type: 'calibrate', topic: "xy_step" }); });
         
-        median.addEventListener('click',     (e) => { this._send({ type: 'calibrate', topic: "median", value: this.toggle_median() }); });
+        calib_debug.addEventListener('click',(e) => { this._send({ type: 'calibrate', topic: "calib_debug" }); });       
-        crop.addEventListener('click',       (e) => { this._send({ type: 'calibrate', topic: "crop", value: this.toggle_crop() }); });
+        previous.addEventListener('click',    (e) => { this._send({ type: 'calibrate', topic: "previous" }); });
+        next.addEventListener('click',    (e) => { this._send({ type: 'calibrate', topic: "next" }); });       
+        set_well.addEventListener('click',(e) => { this._send({ type: 'calibrate', topic: "set_well" }); });       
+        
+        median.addEventListener('click',     (e) => { this._send({ type: 'calibrate', topic: "median" }); });
+        crop.addEventListener('click',       (e) => { this._send({ type: 'calibrate', topic: "crop" }); });
         crop_radius.addEventListener('change',(e) => { this._send({ type: 'calibrate', topic: "crop_radius", value: crop_radius.value }); });
         this.well.addEventListener("change", (e) => { this._send({ type: 'calibrate', topic: "position", value: e.target.value }); });
         this.step.addEventListener("change", (e) => { this._send({ type: 'calibrate', topic: "step", value: e.target.value }); });
         this.feed.addEventListener("change", (e) => { this._send({ type: 'calibrate', topic: "feed", value: e.target.value }); });
+        this.duration.addEventListener("change", (e) => { this._send({ type: 'calibrate', topic: "duration", value: e.target.value }); });
         
         this.dx.addEventListener("change", (e) => { this._send({ type: 'calibrate', topic: "dx", value: e.target.value }); });
         this.dy.addEventListener("change", (e) => { this._send({ type: 'calibrate', topic: "dy", value: e.target.value }); });
 
         test.addEventListener('click',  (e) => { this._send({ type: 'calibrate', topic: "test" }); });
+        calib_center.addEventListener('click',  (e) => { this._send({ type: 'calibrate', topic: "center" }); });
         halt.addEventListener('click',  (e) => { this._send({ type: 'calibrate', topic: "halt" }); });
     }
 
@@ -85,7 +99,7 @@ class ScannerManager {
             if (payload.state)  { this.debug.insertAdjacentHTML('afterbegin', `<li>[ ${++this.debug_count} - ${payload.state} ]: ${payload.msg}</li>`); }
             if (payload.ts)     { this.ts.textContent = timestampToLocalISOString(payload.ts); }
 
-            if (payload.detected) { 
+            if (payload.detected && use_tracking) { 
                 this.cx.textContent = payload.cx; this.cy.textContent = payload.cy;
                 this.speed_px_s.textContent = payload.speed_px_s; 
                 this.axial_speed.textContent = payload.axial_speed; 
@@ -93,19 +107,24 @@ class ScannerManager {
                 this.area_px.textContent = payload.area_px; 
                 this.frame_count.textContent = payload.count;           
             }
+            if (payload.buttons) { this.well_btn.innerHTML = payload.buttons; }
 
         } catch(e) { console.log(e); }
     }
     
+    clear_buttons() { document.querySelectorAll('button.w3-button.well').forEach(btn => {btn.classList.remove('w3-green'); }); }
+    goto_well(b)    { this.clear_buttons(); b.classList.add('w3-green'); this._send({ type: 'calibrate', topic: "goto", value: b.value }); }
     init()          {
         this.axes = 0;
         this.cropping = 0;
+        this.clear_buttons();
         this._send({
             type: 'calibrate',
             topic: "init",
             feed: this.feed.value,
             step: this.step.value,
-            position: this.well.value
+            position: this.well.value,
+            duration: this.duration.value
         });
     }
     start()         { this._send({ type: 'scanner', topic: "start"}); }

test_tube_scanner/scanner/static/scanner/js/main.js

@@ -48,7 +48,7 @@ class ScannerManager {
             if (payload.xy)     { this.x.textContent=payload.x.toFixed(2); this.y.textContent=payload.y.toFixed(2); }
             if (payload.state)  { this.debug.insertAdjacentHTML('afterbegin', `<li>[ ${++this.debug_count} - ${payload.state} ]: ${payload.msg}</li>`); }
             if (payload.ts)     { this.ts.textContent = timestampToLocalISOString(payload.ts); }
-            if (payload.detected) { 
+            if (payload.detected && use_tracking) { 
                 this.cx.textContent = payload.cx; this.cy.textContent = payload.cy;
                 this.speed_px_s.textContent = payload.speed_px_s; 
                 this.axial_speed.textContent = payload.axial_speed; 

test_tube_scanner/scanner/tasks.py

@@ -3,6 +3,7 @@ import asyncio
 from celery import shared_task, group, chord, chain
 from celery.utils.log import get_task_logger
 from django.utils import timezone
+from django.conf import settings
 
 from .process import ScannerProcess, ReplayProcess
 from .export_tasks import shm_download_video, export_images_zip, export_video_mp4
@@ -18,7 +19,7 @@ class ScannerTaskManager:
 
     def start_scanner(self):
         if self.scanner is None:
-            self.scanner = ScannerProcess()
+            self.scanner = ScannerProcess(use_tracking=settings.TRACKING)
             self.scanner.start()
 
     def stop_scanner(self):

test_tube_scanner/scanner/templates/scanner/calibration.html

@@ -1,5 +1,5 @@
 {% extends 'scanner/base.html' %}
-{% load i18n home_tags  %}
+{% load i18n home_tags scanner_tags  %}
 
 {% block styles %}
     {{ block.super }}
@@ -11,15 +11,15 @@
     <div class="container w3-black">
         <div class="header">
             <div class="w3-row w3-row-padding">
-                <div class="w3-col" style="width:30%">
+                <div class="w3-col" style="width:15%">
 		            {% trans 'Position multi-puit' %}<br>
 		            <select id="_well" class="w3-select">
 		                {% for w in wells %}
-		                <option value="{{ w.position }}" {% if w.position == 'HG' %}selected{% endif %}>{{ w }}</option>
+		                <option value="{{ w.position }}" {% if w.position == default_position %}selected{% endif %}>{{ w }}</option>
 		                {% endfor %}
 		            </select>
 	            </div>
-	            <div class="w3-col" style="width:20%">
+	            <div class="w3-col" style="width:15%">
 		            <div>{% trans 'Vitesse' %}</div>
 		            <select id="_feed" class="w3-select">
 		                <option value="500">500 mm/mn</option>
@@ -32,7 +32,7 @@
 		            </select>
 	            </div>
 
-	            <div class="w3-col" style="width:20%">
+	            <div class="w3-col" style="width:15%">
 		            <div>{% trans 'Pas' %}</div>
 		            <select id="_step" class="w3-select">
 		                <option value="0.1">0.1 mm</option>
@@ -50,67 +50,113 @@
 		                <option value="50.0">50.0 mm</option>
 		            </select>
 	            </div>
-	            <div class="w3-col" style="width:30%">
+	            <div class="w3-col" style="width:15%">
+	                <div>{% trans 'Durée' %}</div>
+		            <select id="_duration" class="w3-select" title="{% trans 'Durée entre vidéos' %}">
+		                <option value="1.0">1 s</option>
+		                <option value="2.0">2 s</option>
+		                <option value="3.0">3 s</option>
+		                <option value="4.0">4 s</option>
+		                <option value="5.0" selected>5 s</option>
+		                <option value="10">10 s</option>
+		            </select>	            
+	            </div>
+	            <div class="w3-col" style="width:40%">
 	               <div class="w3-margin-top w3-padding w3-right">
 	                   <span id="_ts"></span><br>
 	               </div>
 	            </div>
             </div>
         </div>
-        <div class="move w3-padding-small w3-center">
+             
+        <div class="move w3-center">
 
             <div class="w3-row">
                 <div class="w3-half">{% trans 'dx' %}<br><input id="_dx" type="number" min="15.0" max="25.0" step="0.01" value=""/></div>
                 <div class="w3-half">{% trans 'dy' %}<br><input id="_dy" type="number" min="15.0" max="25.0" step="0.01" value=""/></div>
-            </div>
+                <div class="w3-col">
 		            <button id="_xy-step" class="w3-button w3-warning w3-round-large w3-block w3-large">
 		                <i class="fa-solid fa-left-right"></i> {% trans 'Définir (dx, dy)' %}
 		            </button>               
-            <hr>
+                </div>   
-            <div><button id="_up" class="w3-button w3-dark-xlight w3-round-large w3-margin-small  w3-block">&#x2191; +Y {% trans 'En haut' %}</button></div>
+            </div>
-            <div><button id="_left" class="w3-button w3-dark-xlight w3-round-large w3-margin-small  w3-block">&#x2190; -X {% trans 'A gauches' %}</button></div>
+
-            <div><button id="_right" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">&#x2192; +X {% trans 'A droite' %}</button></div>
+            <div><button id="_up" class="w3-button w3-dark-xlight w3-round-large w3-margin-small  w3-block">&#x2191; +Y {% trans 'A Droite' %}</button></div>
-            <div><button id="_down" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">&#x2193; -Y {% trans 'En Bas' %}</button></div>
+            <div><button id="_left" class="w3-button w3-dark-xlight w3-round-large w3-margin-small  w3-block">&#x2190; -X {% trans 'En bas' %}</button></div>
-            <hr>
+            <div><button id="_right" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">&#x2192; +X {% trans 'En haut' %}</button></div>
-            <button id="_xy-base" class="w3-button w3-warning w3-round-large w3-margin-small  w3-block">{% trans 'Définir base ' %}</button>
+            <div><button id="_down" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">&#x2193; -Y {% trans 'A Gauche' %}</button></div>
+       
+            <div class="w3-row">
+                <div id="_well_btn" class="w3-col"></div>   
+                <div class="w3-half">
+                    <button id="_previous" class="w3-button w3-light-blue w3-round-large w3-block" title="{% trans 'Précédent' %}">
+                        <i class="fa-solid fa-circle-left w3-large"></i>
+                    </button>
+                </div>
+                <div class="w3-half">
+                    <button id="_next" class="w3-button w3-light-blue w3-round-large w3-block" title="{% trans 'Suivant' %}">
+                        <i class="fa-solid fa-circle-right w3-large"></i>
+                    </button>
+                </div>
+                <div class="w3-col">
+		            <button id="_set_well" class="w3-button w3-warning w3-round-large w3-block">
+		               <i class="fa-solid fa-circle-check"></i> {% trans 'Définir position' %}
+		            </button>                
+                </div>
+                <div class="w3-col">
+                    <button id="_calib_center" class="w3-button w3-warning w3-round-large w3-block">
+                       <i class="fa-regular fa-circle"></i> {% trans 'Centrer manuel' %}
+                    </button>                
+                </div>                
+            </div>
         </div>
         <div class="scan w3-center">
              <div class="w3-row">
                 <div class="w3-half">X<br><span id="_x"></span></div>
                 <div class="w3-half">Y<br><span id="_y"></span></div>
             </div>       
-        
-        
             <button id="_goto-0" class="w3-button w3-light-blue w3-round w3-round-large w3-margin-small w3-block">Origine (0, 0)</button>
             <button id="_goto-xy" class="w3-button w3-light-blue w3-round-large w3-margin-small w3-block w3-margin-bottom">
                 {% trans 'Aller à la base' %}<br>(<span id="_xbase"></span>, <span id="_ybase"></span>)
             </button>
+            <button id="_xy-base" class="w3-button w3-warning w3-round-large w3-margin-small w3-block">
+                <i class="fa-solid fa-circle-check"></i> {% trans 'Définir base' %}
+            </button>           
             <hr>
-            <button id="_median" class="w3-button w3-teal w3-round-large w3-margin-small w3-block"><i class="fa-solid fa-crosshairs"></i> {% trans 'Axes' %}</button>
+            <button id="_calib_debug" class="w3-button w3-teal w3-round-large w3-margin-small w3-block">
-            <button id="_crop" class="w3-button w3-teal w3-round-large w3-margin-small w3-block w3-margin-bottom"><i class="fa-solid fa-crop"></i> {% trans 'Recadrer' %}</button>
+                <i class="fa-solid fa-triangle-exclamation"></i> {% trans 'Debug' %}
+            </button>
+            <button id="_median" class="w3-button w3-teal w3-round-large w3-margin-small w3-block">
+                <i class="fa-solid fa-crosshairs"></i> {% trans 'Axes' %}
+            </button>
+            <button id="_crop" class="w3-button w3-teal w3-round-large w3-margin-small w3-block w3-margin-bottom">
+                <i class="fa-solid fa-crop"></i> {% trans 'Recadrer' %}
+            </button>
             <span>
             {% trans 'Rayon' %}: <input id="_crop_radius" type="number" min="100" max="1200" step="1" value="{{ conf.calibration_crop_radius }}" title="{% trans 'Rayon de cadrage' %}"/>
             </span>
             <hr>
-            <button id="_test" class="w3-button w3-warning w3-round-large w3-margin-small w3-block">{% trans 'Tester le cirduit' %}</button>
+            <button id="_test" class="w3-button w3-warning w3-round-large w3-margin-small w3-block">
-            <button id="_halt" class="w3-button w3-red w3-round-large w3-margin-small w3-block"><i class="fa-solid fa-hand"></i> {% trans 'ARRET' %}</button>
+                <i class="fa-solid fa-circle-check"></i> {% trans 'Tester le cirduit' %}
-
+            </button>
+            <button id="_halt" class="w3-button w3-red w3-round-large w3-margin-small w3-block">
+                <i class="fa-solid fa-hand"></i> {% trans 'ARRET' %}
+            </button>
         </div>
         {% include 'scanner/scan-image.html' %}
-        
-
     </div>
     <ul id="_debug" class="w3-scroll-y" style="height: 30vh"></ul>
 {% endblock %}
 
 {% block js_footer %}
     {{ block.super }}
-    <script src="/static/scanner/js/calibration.js"></script>
     <script>
         const container = sId("scan-img");
         const ws_route = "{{ ws_route }}";   
-        // ---- Point d'entrée ----
+        const use_tracking = "{{ use_tracking }}" == "True";
-        (async () => {
+    </script>
+    <script src="/static/scanner/js/calibration.js"></script>
+    <script>
         const manager  = new ScannerManager(container);
         const protocol = location.protocol === "https:" ? "wss" : "ws";
         const wsUrl    = `${protocol}://${location.host}/${ws_route}`;
@@ -118,7 +164,8 @@
         socket.setManager(manager);
         socket.connect();
         manager.registerSocket(socket);
-        })();
+
+        function goto_well(b) { manager.goto_well(b);  }    
     </script>
 {% endblock %}
 

test_tube_scanner/scanner/templates/scanner/main.html

@@ -43,11 +43,13 @@
 
 {% block js_footer %}
     {{ block.super }}
-    <script src="/static/scanner/js/main.js"></script>
     <script>
         const container = sId("scan-img");
         const ws_route = "{{ ws_route }}";
-
+        const use_tracking = "{{ use_tracking }}" == "True";
+    </script>        
+    <script src="/static/scanner/js/main.js"></script>
+    <script>
         // ---- Point d'entrée ----
         (async () => {
             const manager  = new ScannerManager(container);

test_tube_scanner/scanner/templates/scanner/scan-image.html

@@ -1,5 +1,6 @@
 
 <div class="scanner w3-row">
+    {% if use_tracking %}
     <div class="w3-col w3-small" style="width:180px">
         <div>Num: <span id="_count"></span></div>
         <div>Aire: <span id="_area_px"></span></div>
@@ -10,6 +11,7 @@
         <div>V.Ax: <span id="_axial_speed"></span> px/s</div>
         <div>Ax pos: <span id="_axial_pos"></span></div>
     </div>
+    {% endif %}
     <div class="w3-rest">
         <img id="scan-img" class="w3-image">
     </div>

test_tube_scanner/scanner/templatetags/scanner_tags.py

@@ -1,6 +1,7 @@
 # encoding: utf-8
 from django import template
 from django.utils.html import mark_safe
+from .. import models
 
 register = template.Library()
 
@@ -25,3 +26,4 @@ def multiwell_cards(sid, observations):
 
     return mark_safe("\n".join(multiwells))
 
+ 

test_tube_scanner/scanner/views.py

@@ -33,11 +33,14 @@ def stats_view(request):
         return JsonResponse({"error": str(e)}, status=500)
 
 def global_context(request, **ctx):
+    default_multiwell = models.MultiWell.objects.filter(default=True).first()
     return dict(
         app_title=settings.APP_TITLE,
         app_sub_title=settings.APP_SUB_TITLE,
         domain_server=settings.DOMAIN_SERVER,
+        use_tracking=settings.TRACKING,
         conf=models.Configuration.objects.filter(active=True).first(),
+        default_position = default_multiwell.position or 'HD',
         **ctx
     )