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calibrage auto

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denis
2026-04-21 23:51:01 +02:00
parent 04da5da162
commit bc72850034
17 changed files with 1138 additions and 942 deletions
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test_tube_scanner/scanner/multiwell.py
+79 -29
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@@ -1,15 +1,20 @@
'''
scanner/multiwell.py
WellIterator: Itérateur personnalisé pour naviguer dans les Wells
MultiWellManager: Manager des multi-puits
Created on 20 avr. 2026
@author: denis
'''
import cv2
import numpy as np
import logging
import time
from django.utils.translation import gettext_lazy as _
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 modules import grbl
from . import models
@@ -74,14 +79,12 @@ class MultiWellManager:
self.process = process
self.cnc_controller = process.grbl
self.stop_playing = Event()
self.well_iterator = None
self.scanner = None
self.well_iterator = None
self.multiwel = None
self.set_default_values()
self.set_multiwell()
self.scan_thread = None
self.test_thread = None
def set_default_values(self, feed=None, step=None, duration=None):
self._feed = feed or self.process.conf.calibration_default_feed
@@ -103,6 +106,7 @@ class MultiWellManager:
self._ybase = self.multiwell.ybase
self._dx = self.multiwell.dx
self._dy = self.multiwell.dy
return self.multiwell.config()
@@ -176,14 +180,18 @@ class MultiWellManager:
def halt_scanning(self):
self.process.data.record = False
return self.stop_playing.set()
self.stop_playing.set()
self.scan_thread = None
self.test_thread = None
self.well_iterator.reset()
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()
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()
except Exception as e:
print("MultiWellManager::scan error", e)
@@ -208,34 +216,62 @@ class MultiWellManager:
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})"}
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})"}
return {"state": "well_position", "msg": f">>> pas de puit"}
def _scanning_test(self, xnext=0, ynext=0):
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 45.0
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 > self.duration:
if time.monotonic() - start > duration:
break
self.cnc_controller.wait_for(1.0)
logger.info(f"Arrêter la simulation")
if auto and cam._last_detection:
if cam._last_detection.get('action')=="grbl":
self.cnc_controller.wait_for(5.0)
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', 'crop']:
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)
break
self.cnc_controller.wait_for(0.1)
logger.info("Fin du centrage")
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)
logger.info(f"Scan terminé — retour à l'origine (X=0, Y=0) en {time.monotonic()-start_test} s")
self.cnc_controller.move_to(0, 0, feed=self.multiwell.feed*2)
def scan_test(self):
Thread(target=self._scanning_test, daemon=True).start()
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()
@property
@@ -303,8 +339,11 @@ class MultiWellManager:
self._dy = value
def set_xy_step(self):
models.MultiWell.objects.filter(position__exact=self.position).update(dx=self.dx, dy=self.dy)
def get_well_order(self):
w = self.well_iterator.get_current()
if w:
return w.order
return None
def set_position(self):
@@ -312,10 +351,21 @@ 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()
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}"}
return {"state": "debug", "msg": f"Debug: {aligner.debug}"}
def set_calib_debug(self, value=True):
""" Active / désactive le mode debug sur le stream."""
aligner = self.process.cam._aligner
aligner.debug = value
return {"state": "debug", "msg": f"Debug: {aligner.debug}"}