tube aligner
This commit is contained in:
@@ -173,6 +173,21 @@ PlanarianScanner/
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---
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## Procédure de calibration en 4 étapes
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1. Activer "Debug détection" → voir le cercle et les zones sur le stream
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2. Positionner la CNC manuellement sur un point stable
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→ cliquer "Calib — Point A"
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→ mpos_A et centre tube A enregistrés
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3. Déplacer la CNC manuellement d'une distance connue (ex: 10mm en X)
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→ attendre stabilisation (la pause 2s est déjà là)
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→ cliquer "Calib — Point B"
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4. Résultat affiché :
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"Calibration OK — 38.2000 px/mm (0.026178 mm/px) Δ=10.000mm / 382.0px"
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→ px_per_mm sauvegardé dans TubeAligner et persisté en base
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## Contexte scientifique
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Les **planaires** sont des vers plats dotés de remarquables capacités de
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@@ -387,3 +387,10 @@ EXPORTS_LOCAL_PATH = config("EXPORTS_LOCAL_PATH")
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EXPORT_REMOTE_PATH = config("EXPORT_REMOTE_PATH")
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EXPORT_DESTINATIONS = ["local", "remote"]
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TEST_VIDEOFILE = False
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TRACKING = False
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TRACKER_TUBE_AXIS = "horizontal" #"vertical"
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TRACKER_MIN_AREA = 200
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@@ -22,7 +22,9 @@ from datetime import datetime, timezone
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from pathlib import Path
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from typing import Optional, Callable, TYPE_CHECKING
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from django.conf import settings
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from modules.planarian_tracker import PlanarianTracker
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from modules.tube_aligner import TubeAligner
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if TYPE_CHECKING:
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from .circular_crop import CircularCrop # Evite l'import circulaire au runtime
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@@ -47,13 +49,15 @@ class VideoCaptureInterface(abc.ABC):
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# Cadence par défaut en images par seconde
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DEFAULT_FPS: float = 5.0
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def __init__(self, fps: float = DEFAULT_FPS):
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def __init__(self, fps: float = DEFAULT_FPS, use_tracking: bool = False, px_per_mm: float = 2.15, display=None):
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"""
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Initialise l'interface de capture.
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:param fps: Cadence cible en images par seconde
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"""
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self._fps: float = fps
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self.use_tracking = use_tracking
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self.display = display
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self._interval: float = 1.0 / fps # Intervalle en secondes entre chaque capture
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self._running: bool = False # Indique si la capture est en cours
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self._thread: Optional[threading.Thread] = None
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@@ -61,12 +65,60 @@ class VideoCaptureInterface(abc.ABC):
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self._on_frame: Optional[Callable[[bytes, datetime], None]] = None # Callback image
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self._circular_crop: Optional["CircularCrop"] = None # Recadrage circulaire optionnel
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self._active_median = False
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self._active_crop = False
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self._error_occured = False
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self._tracker = PlanarianTracker(
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tube_axis = "vertical", # à rendre configurable via settings
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min_area_px = 20,
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tube_axis = settings.TRACKER_TUBE_AXIS,
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min_area_px = settings.TRACKER_MIN_AREA,
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)
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self._aligner = TubeAligner(
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px_per_mm = px_per_mm, # à calibrer selon la caméra
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grbl_threshold_px = 20, # au-delà → correction GRBL
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dead_zone_px = 5, # en-dessous → rien à faire
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display = display,
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)
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self._last_detection = None # résultat du dernier alignement
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# calibrage ou lecture réelle
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#
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def align_on_well_arrival(self, frame: bytes, cnc_controller) -> dict:
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"""
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Appelé UNE FOIS à l'arrivée sur un nouveau puits.
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Détecte le tube, décide l'action, exécute la correction.
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:param frame: Frame JPEG bytes capturée après déplacement CNC
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:param grbl_send_func: Callable(gcode: str) → envoie le G-code au GRBL
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:return: dict résultat de la détection
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"""
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nparr = np.frombuffer(frame, np.uint8)
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img = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
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detection = self._aligner.detect_tube(img)
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# Stockage pour process_frame
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self._last_detection = detection
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if not detection["detected"]:
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logger.warning("align_on_well_arrival: tube non détecté")
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return detection
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action = detection["action"]
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if action == "grbl":
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dx_mm = detection["offset_x_mm"]
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dy_mm = detection["offset_y_mm"]
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msg = f"align_on_well_arrival: correction CNC move_relative(dx={dx_mm:.3f}, dy={dy_mm:.3f})"
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#cnc_controller.move_relative(dx=-dx_mm, dy=-dy_mm, feed=150)
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self._tracker.reset()
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self._last_detection["action"] = "none"
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elif action == "crop":
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msg = f"align_on_well_arrival: recadrage logiciel ({detection['offset_x_px']:.1f}px, {detection['offset_y_px']:.1f}px)"
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logger.info(msg)
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self.display(state='detect_tube', msg=msg)
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return detection
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def on_well_change(self):
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@@ -194,12 +246,15 @@ class VideoCaptureInterface(abc.ABC):
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"""
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self._circular_crop = crop
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if crop is not None:
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logger.info(
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"%s : recadrage circulaire activé (R=%d, stratégie=%s)",
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self.__class__.__name__, crop.radius, crop.strategy.name,
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)
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self._active_crop = True
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msg = f"{self.__class__.__name__}: recadrage circulaire activé (R={crop.radius}, stratégie={crop.strategy.name})"
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else:
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logger.info("%s : recadrage circulaire désactivé", self.__class__.__name__)
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self._active_crop = False
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msg= f"{self.__class__.__name__}: recadrage circulaire désactivé"
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logger.info(msg)
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self.display(state='circular_crop', msg=msg)
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def process_frame(self, jpeg_bytes: bytes) -> bytes:
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"""
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@@ -211,26 +266,39 @@ class VideoCaptureInterface(abc.ABC):
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:param jpeg_bytes: Image JPEG brute issue du capteur
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:return: Image traitée (JPEG ou PNG selon la stratégie)
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"""
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metrics = {"detected": False}
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if self._circular_crop is not None:
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jpeg = self._circular_crop.process(jpeg_bytes)
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jpeg = self._circular_crop.process(jpeg_bytes)
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nparr = np.frombuffer(jpeg, np.uint8)
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frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
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if frame is None:
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return jpeg, metrics
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# --- tracking ---
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nparr = np.frombuffer(jpeg, np.uint8)
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frame = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
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ts = datetime.now(timezone.utc).timestamp()
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#metrics = self._tracker.process(frame, ts) if frame is not None else {}
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if frame is not None:
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frame_annotated, metrics = self._tracker.process(frame, ts)
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# Ré-encodage JPEG de la frame annotée
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ok, buf = cv2.imencode(".jpg", frame_annotated, [cv2.IMWRITE_JPEG_QUALITY, 85])
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if ok:
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jpeg = buf.tobytes()
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# Mode debug
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if self._aligner.debug:
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self._last_detection = detection = self._aligner.detect_tube(frame)
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annotated = detection.get('frame_annotated')
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frame = annotated if annotated is not None else frame
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'''
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else:
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metrics = {"detected": False}
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detection = self._last_detection or {}
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# --- Crop logiciel si nécessaire ---
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if (detection.get("action") == "crop" and detection.get("detected") and not self._aligner.debug ):
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frame = self._aligner.crop_to_tube(frame, detection)
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'''
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if self.use_tracking:
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ts = datetime.now(timezone.utc).timestamp()
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frame, metrics = self._tracker.process(frame, ts)
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ok, buf = cv2.imencode(".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, 85])
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if ok:
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jpeg = buf.tobytes()
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return jpeg, metrics
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return jpeg_bytes, {"detected": False}
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return jpeg_bytes, metrics
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def save_frame(self, jpeg_bytes: bytes, directory: str = ".", prefix: str = "frame") -> Path:
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"""
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@@ -265,11 +333,6 @@ class VideoCaptureInterface(abc.ABC):
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# ------------------------------------------------------------------
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# tracer médianes
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# ------------------------------------------------------------------
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def set_median(self, is_median=False):
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"""
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Active ou désactive les médianes
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"""
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self._active_median = is_median
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def display_median(self, jpeg):
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if self._active_median:
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@@ -4,15 +4,6 @@ GCode pour piloter la L2544 Laser Engraving Machine
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GRBLController:
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Commande uniquement les mouvements (X, Y)
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Le mode absolue est retenu
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GridScanner
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Balayage complet de la grille d'éprouvettes en mode serpentin
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Usage:
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grbl = GRBLController()
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scan = GridScanner(grbl, xbase=100, ybase=100, duration=5)
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scan.start()
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Created on 25 mars 2026
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@author: denis@miraceti.net
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@@ -170,6 +161,7 @@ class GRBLController:
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if "MPos" in status:
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mpos = status.split("MPos:")[1].split("|")[0]
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x, y, *_ = mpos.split(",")
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self._state(state='Mpos', msg=f"pos >>> ({x}, {y})")
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return float(x), float(y)
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return None, None
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@@ -188,12 +180,19 @@ class GRBLController:
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break
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self.wait_for(0.1)
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def send_command(self, cmd):
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self.send(cmd)
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self.wait_idle()
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def move_to(self, x, y, feed=1000):
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x, y = self._clamp(x, y)
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#cmd = f"G0 X{x:.2f} Y{y:.2f} F{feed}" # feed is not updated in G0 mode
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cmd = f"G53 G1 X{x:.2f} Y{y:.2f} F{feed}"
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self.send(cmd)
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self.wait_idle()
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self.send_command(cmd)
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def move_relative(self, dx=0, dy=0, feed=1000):
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x, y = self.get_mpos() # Position actuelle
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self.move_to(x + dx, y + dy, feed=feed)
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def move_relative_(self, dx=0, dy=0, feed=1000):
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self.send("G91") # Mode relatif
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@@ -202,10 +201,6 @@ class GRBLController:
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self.send("G90") # Retour en mode absolu
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self.wait_idle()
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def move_relative(self, dx=0, dy=0, feed=1000):
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x, y = self.get_mpos() # Position actuelle
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self.move_to(x + dx, y + dy)
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def go_origin(self, feed=1000):
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self.move_to(0, 0, feed=feed)
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self.wait_for(2.0)
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@@ -230,131 +225,3 @@ class GRBLController:
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def close(self):
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self.ser.close()
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class GridScanner:
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def __init__(self, grbl, process=None, **config):
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'''
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xbase # Position X de départ (col 0) en mm
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ybase # Position Y de départ (row 0) en mm
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cols # Nombre de colonnes
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rows # Nombre de lignes
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dx # Pas entre colonnes en mm
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dy # Pas entre lignes en mm
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duration # Durée de filmage par éprouvette en secondes
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feed # Vitesse de déplacement entre éprouvettes (mm/min)
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'''
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self.grbl = grbl
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self.process = process
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self.position = config.get('position', 'HG')
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self.xbase = config.get('xbase', 50)
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self.ybase = config.get('ybase', 50)
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self.cols = config.get('cols', 6)
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self.rows = config.get('rows', 4)
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self.dx = config.get('dx', 20)
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self.dy = config.get('dy', 19)
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self.feed = config.get('feed', 1000)
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self.duration = config.get('duration', 120) # secondes
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self.xnext = config.get('xnext', 50)
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self.ynext = config.get('ynext', 50)
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row_to_char = config.get('row_to_char', 'D,C,B,A')
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self.row_to_char = row_to_char.split(',')
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self.stop_playing = None
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def halt(self):
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self.process.tag.record = False
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return self.stop_playing.set()
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def _capture(self, uuid: str, duration: float, stop_running: Optional[threading.Event]) -> None:
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"""
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Déclenche la caméra ArduCam et attend la fin de l'acquisition.
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"""
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print(f"# démarrer l'enregistrement {uuid}")
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self.process.cam.on_well_change()
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self.process.tag.uuid = uuid
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self.process.tag.record = True
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start = time.monotonic()
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while not stop_running.is_set():
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if time.monotonic() - start > duration:
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break
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self.grbl.wait_for(1.0)
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print("# arrêter l'enregistrement")
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self.process.tag.record = False
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self.process.tag.uuid = None
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def start(self, xnext=None, ynext=None, position=None):
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"""
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Balayage complet de la grille d'éprouvettes en mode serpentin.
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Parcours :
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- Lignes paires (0, 2) : gauche → droite (col 0 → col 5)
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- Lignes impaires (1, 3) : droite → gauche (col 5 → col 0)
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Le déplacement entre éprouvettes se fait en mode absolu via move_to().
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La caméra filme pendant `` secondes sur chaque position.
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Grille : 6 colonnes × 4 lignes = 24 éprouvettes
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- x = XBASE + col * PAS_X
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- y = YBASE + row * PAS_Y
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"""
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try:
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if xnext is None:
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xnext = self.xnext
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if ynext is None:
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ynext = self.ynext
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if position is None:
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position = self.position
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max_cells = self.cols * self.rows
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cell = 0
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logger.info("Début du scan serpentin : %d éprouvettes, %d s/éprouvette, durée totale estimée : %d min",
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max_cells,
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self.duration,
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(max_cells * self.duration) // 60,
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)
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self.stop_playing = threading.Event()
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for row in range(self.rows):
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if self.stop_playing.is_set():
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break
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# Ordre des colonnes selon la parité de la ligne (serpentin)
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if row % 2 == 0:
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# Ligne paire : gauche → droite
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cols = range(self.cols)
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else:
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# Ligne impaire : droite → gauche
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cols = range(self.cols - 1, -1, -1)
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for col in cols:
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if self.stop_playing.is_set():
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break
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# Calcul de la position absolue en mm
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x = self.xbase + col * self.dx
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y = self.ybase + row * self.dy
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cell += 1
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logger.info(
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"[%02d/%02d] row=%d col=%d → X=%.1f mm Y=%.1f mm",
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cell, max_cells, row, col, x, y,
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)
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self.grbl.move_to(x, y, feed=self.feed)
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uuid = f'{self.process.tag.session}-{position}-{self.row_to_char[row]}{col+1}'
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self._capture(uuid, self.duration, self.stop_playing)
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# Retour à nexr après le scan
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logger.info("Scan terminé — retour à l'origine (X=%.1f Y=%.1f)", xnext, ynext)
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self.grbl.move_to(xnext, ynext, feed=self.feed*2)
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except Exception as e:
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logger.error(f"scan error: {e}")
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@@ -45,6 +45,10 @@ class PiCamera2Capture(VideoCaptureInterface):
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jpeg_quality: int = 85,
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camera_index: int = 0,
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use_video_config: bool = True,
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use_tracking: bool = False,
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px_per_mm: float = 2.1,
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display = None,
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):
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"""
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:param fps: Cadence cible en images par seconde
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@@ -55,7 +59,7 @@ class PiCamera2Capture(VideoCaptureInterface):
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:param use_video_config: True = VideoConfiguration (flux continu, basse latence)
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False = StillConfiguration (haute résolution, plus lent)
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"""
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super().__init__(fps=fps)
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super().__init__(fps=fps, use_tracking=use_tracking, px_per_mm=px_per_mm, display=display)
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self._width: int = width
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self._height: int = height
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self._jpeg_quality: int = jpeg_quality
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@@ -0,0 +1,315 @@
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'''
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Created on 17 avr. 2026
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@author: denis
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'''
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# modules/tube_aligner.py
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import cv2
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import logging
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import numpy as np
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logger = logging.getLogger(__name__)
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class TubeAligner:
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GRBL_THRESHOLD_PX = 20
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DEAD_ZONE_PX = 5
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def __init__(
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self,
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px_per_mm : float = 10.0,
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grbl_threshold_px : int = 20,
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dead_zone_px : int = 5,
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debug : bool = False, # ← activable depuis la vue
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display = None,
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):
|
||||
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
|
||||
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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_filter = ('author', )
|
||||
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)
|
||||
|
||||
@@ -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)
|
||||
|
||||
@@ -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}"}
|
||||
@@ -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
|
||||
default_multiwell = settings.CALIBRATION_DEFAULT_MULTIWELL
|
||||
default_feed = settings.CALIBRATION_DEFAULT_FEED
|
||||
default_step = settings.CALIBRATION_DEFAULT_STEP'''
|
||||
|
||||
def __init__(self):
|
||||
def __init__(self, use_tracking=False):
|
||||
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 not self.conf.use_rpicam:
|
||||
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=[],
|
||||
)
|
||||
'''
|
||||
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,
|
||||
display=self._display,
|
||||
)
|
||||
'''
|
||||
from modules.videofile_capture import VideoFileCapture
|
||||
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))
|
||||
if self.tag.play:
|
||||
self.record_queue.put((self.data.uuid, ts, jpeg_bytes, metrics))
|
||||
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(
|
||||
self.default_multiwell,
|
||||
feed=self.default_feed,
|
||||
step=self.default_step,
|
||||
process=self
|
||||
)
|
||||
self.manager = MultiWellManager(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.manager.scan(self.grbl, sid)
|
||||
self.cam._active_median = False
|
||||
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.step = float(cmd.get("step", self.default_step))
|
||||
position = cmd.get("position", self.default_multiwell)
|
||||
if self.manager.position != position:
|
||||
self.manager.set_multiwell(position)
|
||||
self.cam.set_circular_crop(None)
|
||||
self.cam.set_median(is_median=False)
|
||||
self.manager.set_default_values(
|
||||
feed=int(cmd.get("feed")),
|
||||
step=float(cmd.get("step")),
|
||||
duration=float(cmd.get("duration"))
|
||||
)
|
||||
position = cmd.get("position")
|
||||
self.manager.set_multiwell(position)
|
||||
self.cam.set_circular_crop(None)
|
||||
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)
|
||||
elif topic == 'crop':
|
||||
self.cam.set_circular_crop(self.crop) if value else self.cam.set_circular_crop(None)
|
||||
self.cam._active_median = not self.cam._active_median
|
||||
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:
|
||||
|
||||
@@ -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;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -9,17 +9,14 @@ 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");
|
||||
this.cy = sId("_cy");
|
||||
this.speed_px_s = sId("_speed_px_s");
|
||||
this.ts = sId("_ts");
|
||||
this.cx = sId("_cx");
|
||||
this.cy = sId("_cy");
|
||||
this.speed_px_s = sId("_speed_px_s");
|
||||
this.axial_speed = sId("_axial_speed");
|
||||
this.axial_pos = sId("_axial_pos");
|
||||
this.area_px = sId("_area_px");
|
||||
this.axial_pos = sId("_axial_pos");
|
||||
this.area_px = sId("_area_px");
|
||||
this.frame_count = sId("_count");
|
||||
|
||||
const goto_0 = sId("_goto-0");
|
||||
@@ -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_xy.addEventListener('click', (e) => { this._send({ type: 'calibrate', topic: "goto_xy" }); });
|
||||
goto_0.addEventListener('click', (e) => { this.clear_buttons(); this._send({ type: 'calibrate', topic: "goto_0" }); });
|
||||
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() }); });
|
||||
crop.addEventListener('click', (e) => { this._send({ type: 'calibrate', topic: "crop", value: this.toggle_crop() }); });
|
||||
calib_debug.addEventListener('click',(e) => { this._send({ type: 'calibrate', topic: "calib_debug" }); });
|
||||
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"}); }
|
||||
|
||||
@@ -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;
|
||||
|
||||
@@ -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):
|
||||
|
||||
@@ -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>
|
||||
@@ -50,75 +50,122 @@
|
||||
<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 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>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div><button id="_up" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">↑ +Y {% trans 'A Droite' %}</button></div>
|
||||
<div><button id="_left" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">← -X {% trans 'En bas' %}</button></div>
|
||||
<div><button id="_right" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">→ +X {% trans 'En haut' %}</button></div>
|
||||
<div><button id="_down" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">↓ -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>
|
||||
<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><button id="_up" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">↑ +Y {% trans 'En haut' %}</button></div>
|
||||
<div><button id="_left" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">← -X {% trans 'A gauches' %}</button></div>
|
||||
<div><button id="_right" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">→ +X {% trans 'A droite' %}</button></div>
|
||||
<div><button id="_down" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">↓ -Y {% trans 'En Bas' %}</button></div>
|
||||
<hr>
|
||||
<button id="_xy-base" class="w3-button w3-warning w3-round-large w3-margin-small w3-block">{% trans 'Définir base ' %}</button>
|
||||
</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="_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>
|
||||
<button id="_calib_debug" class="w3-button w3-teal w3-round-large w3-margin-small w3-block">
|
||||
<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="_halt" class="w3-button w3-red w3-round-large w3-margin-small w3-block"><i class="fa-solid fa-hand"></i> {% trans 'ARRET' %}</button>
|
||||
|
||||
<button id="_test" class="w3-button w3-warning w3-round-large w3-margin-small w3-block">
|
||||
<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 ----
|
||||
(async () => {
|
||||
const manager = new ScannerManager(container);
|
||||
const protocol = location.protocol === "https:" ? "wss" : "ws";
|
||||
const wsUrl = `${protocol}://${location.host}/${ws_route}`;
|
||||
const socket = new MetadataSocket(wsUrl);
|
||||
socket.setManager(manager);
|
||||
socket.connect();
|
||||
manager.registerSocket(socket);
|
||||
})();
|
||||
const use_tracking = "{{ use_tracking }}" == "True";
|
||||
</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}`;
|
||||
const socket = new MetadataSocket(wsUrl);
|
||||
socket.setManager(manager);
|
||||
socket.connect();
|
||||
manager.registerSocket(socket);
|
||||
|
||||
function goto_well(b) { manager.goto_well(b); }
|
||||
</script>
|
||||
{% endblock %}
|
||||
|
||||
|
||||
@@ -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);
|
||||
|
||||
@@ -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>
|
||||
|
||||
@@ -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))
|
||||
|
||||
|
||||
|
||||
@@ -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
|
||||
)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user