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denis
2026-04-22 13:38:52 +02:00
parent 4c9271612d
commit 8df347fa7f
7 changed files with 136 additions and 135 deletions
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test_tube_scanner/scanner/multiwell.py
+87 -74
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@@ -13,10 +13,9 @@ from threading import Thread, Event
#from django.utils.translation import gettext_lazy as _
from django.utils import timezone
from django.utils.html import mark_safe
from django.conf import settings
from . import models
CALIBRATION_AUTO_DURATION = 45.0
CALIBRATION_AUTO_TIMEOUT = 3.0
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)
@@ -113,8 +112,8 @@ class MultiWellManager:
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>""")
for wl in self.well_iterator:
multiwells.append(f"""<button class="w3-button well" value="{wl.order}" onclick="goto_well(this)">{wl.well.name}</button>""")
multiwells.append('''</div>''')
self.well_iterator.reset()
return mark_safe("\n".join(multiwells))
@@ -138,14 +137,16 @@ class MultiWellManager:
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()
cam = self.process.cam
cam._aligner.set_tube_diameter(multiwell.diameter)
self.stop_playing = Event()
for w in wells:
for wl in wells:
if self.stop_playing.is_set():
break
self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
uuid = f'{self.process.data.session}-{multiwell.position}-{w.well.name}'
uuid = f'{self.process.data.session}-{multiwell.position}-{wl.well.name}'
self._grid_scanning_capture(uuid, multiwell.duration)
logger.info(f"Scan terminé — retour à l'origine (X={xnext:.1f} Y={ynext:.1f})")
@@ -176,102 +177,114 @@ class MultiWellManager:
session.scanning_task.enabled = False
session.save()
logger.info(f"==== Session {session.name} terminée à {session.finished} après {session.finished - started} secondes.")
self.scan_thread = None
def halt_scanning(self):
self.process.data.record = False
self.stop_playing.set()
self.scan_thread = None
self.test_thread = None
self.well_iterator.reset()
self.process.cam._aligner.debugg = False
def scanning(self, sid):
try:
if self.scan_thread is None:
session = models.Session.objects.get(pk=sid)
observations = models.SessionObservation.observation_by_session(sid)
self.scan_thread = Thread(target=self._start_scanning, args=(session, observations, ), daemon=True).start()
if self.scan_thread:
return
session = models.Session.objects.get(pk=sid)
observations = models.SessionObservation.observation_by_session(sid)
self.scan_thread = 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})"}
wl = self.well_iterator.previous()
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
return {"state": "previous", "msg": f">>> ({wl.x}, {wl.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})"}
wl = self.well_iterator.next()
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
return {"state": "next", "msg": f">>> ({wl.x}, {wl.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})"}
wl = self.well_iterator.seek(numwell)
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
return {"state": "goto", "msg": f">>> ({wl.x}, {wl.y})"}
def set_well_position(self):
w = self.well_iterator.get_current()
if w:
w.x, w.y = self.cnc_controller.get_mpos()
w.save()
if w.order == 0:
models.MultiWell.objects.filter(position__exact=w.multiwell.position).update(xbase=w.x, ybase=w.y)
return {"state": "well_position", "msg": f">>> saved ({w.x}, {w.y})"}
wl = self.well_iterator.get_current()
if wl:
wl.x, wl.y = self.cnc_controller.get_mpos()
wl.save()
if wl.order == 0:
models.MultiWell.objects.filter(position__exact=wl.multiwell.position).update(xbase=wl.x, ybase=wl.y)
return {"state": "well_position", "msg": f">>> saved ({wl.x}, {wl.y})"}
return {"state": "well_position", "msg": f">>> pas de puit"}
def _scanning_test(self, auto=False):
self.stop_playing = Event()
self.process.data.tube_diameter = self.multiwell.diameter
cam = self.process.cam
duration = self.duration if not auto else CALIBRATION_AUTO_DURATION
start_test = time.monotonic()
for w in self.well_iterator:
if self.stop_playing.is_set():
break
self.cnc_controller.wait_for(2.0)
self.cnc_controller.move_to(w.x, w.y, feed=w.multiwell.feed)
self.process._send(current=w.order)
start = time.monotonic()
while not self.stop_playing.is_set():
if time.monotonic() - start > duration:
cam._aligner.set_tube_diameter(self.multiwell.diameter)
duration = self.duration if not auto else settings.CALIBRATION_AUTO_DURATION
try:
start_test = time.monotonic()
for wl in self.well_iterator:
if self.stop_playing.is_set():
break
if auto and cam._last_detection:
if cam._last_detection.get('action')=="grbl":
self.cnc_controller.wait_for(CALIBRATION_AUTO_TIMEOUT)
dx_mm = cam._last_detection["offset_x_mm"]
dy_mm = cam._last_detection["offset_y_mm"]
self.cnc_controller.move_to(self.cnc_controller.x + dx_mm, self.cnc_controller.y + dy_mm, feed=150)
msg = f"Correction CNC move_relative(dx={dx_mm:.3f}, dy={dy_mm:.3f})"
self.process._send(state='center', msg=msg)
elif cam._last_detection.get('action') in ['none',]:
msg = f"ok {w.multiwell.position}-{w.well.name}: ({self.cnc_controller.x}, {self.cnc_controller.y})"
logger.info(msg)
self.process._send(state='save', msg=msg)
w.x, w.y = self.cnc_controller.x, self.cnc_controller.y
w.save()
if w.order == 0:
models.MultiWell.objects.filter(position__exact=self.position).update(xbase=w.x, ybase=w.y)
self.cnc_controller.wait_for(2.0)
self.cnc_controller.move_to(wl.x, wl.y, feed=wl.multiwell.feed)
self.process._send(current=wl.order)
start = time.monotonic()
while not self.stop_playing.is_set():
if time.monotonic() - start > duration:
break
self.cnc_controller.wait_for(0.1)
logger.info("Fin du centrage")
if auto:
msg = cam.align_detection["msg"]
if cam.align_detection.get('detected'):
if cam.align_detection.get('action')=="grbl":
self.cnc_controller.wait_for(settings.CALIBRATION_AUTO_TIMEOUT)
dx_mm, dy_mm = cam.align_detection["offset_x_mm"], cam.align_detection["offset_y_mm"]
self.cnc_controller.move_to(self.cnc_controller.x + dx_mm, self.cnc_controller.y + dy_mm, feed=150)
self.process._send(state='center', msg=msg)
elif cam.align_detection.get('action') in ['none',]:
logger.info(msg)
self.process._send(state='save', msg=msg)
wl.x, wl.y = self.cnc_controller.x, self.cnc_controller.y
wl.save()
if wl.order == 0:
models.MultiWell.objects.filter(position__exact=self.position).update(xbase=wl.x, ybase=wl.y)
break
else:
logger.info(msg)
self.process._send(state='center', msg=msg)
self.cnc_controller.wait_for(0.1)
logger.info("Fin du centrage")
except Exception as e:
print(e)
self.well_iterator.reset()
logger.info(f"Scan terminé — retour à l'origine (X=0, Y=0) en {time.monotonic()-start_test} s")
self.process.cam._aligner.debug = False
logger.info(f"Scan terminé — retour à l'origine (X=0, Y=0) en {int(time.monotonic()-start_test)} s")
self.cnc_controller.move_to(0, 0, feed=self.multiwell.feed*2)
self.test_thread = None
def scan_test(self, auto=False):
if self.test_thread is None:
self.test_thread = Thread(target=self._scanning_test, args=(auto, ), daemon=True).start()
if self.test_thread:
return
self.test_thread = Thread(target=self._scanning_test, args=(auto, ), daemon=True).start()
@property
@@ -340,9 +353,9 @@ class MultiWellManager:
def get_well_order(self):
w = self.well_iterator.get_current()
if w:
return w.order
wl = self.well_iterator.get_current()
if wl:
return wl.order
return None
@@ -351,9 +364,9 @@ class MultiWellManager:
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
w = self.well_iterator.seek(0) # base puit 0
w.x, w.y = x, y
w.save()
wl = self.well_iterator.seek(0) # base puit 0
wl.x, wl.y = x, y
wl.save()
def calib_toggle_debug(self):