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calibrage auto

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This commit is contained in:
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/process.py
+21 -33
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@@ -4,7 +4,6 @@ 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
@@ -36,7 +35,8 @@ class ProcessData:
record: bool = False
uuid: str = None
session: int = 0
frame: bytes = None
tube_diameter: float = 16.0
logger = get_task_logger(__name__)
redisDB = Redis(host=settings.REDIS_HOST, port=settings.REDIS_PORT, db=0, decode_responses=True)
@@ -148,7 +148,7 @@ class ScannerProcess(Task):
self.cam = None
self.grbl = None
self.crop = None
self.multiwel = None
#self.multiwel = None
self.conf = None
self.record_queue = Queue()
self.data = ProcessData()
@@ -187,9 +187,9 @@ class ScannerProcess(Task):
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=[],
parent=self,
)
'''
settings.MEDIA_ROOT / 'simulation' / 'part1-5fps.mp4',
@@ -209,8 +209,8 @@ class ScannerProcess(Task):
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,
parent=self,
)
else:
from modules.picamera2_capture import PiCamera2Capture
@@ -220,8 +220,8 @@ class ScannerProcess(Task):
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,
parent=self,
)
self.cam.set_frame_callback(self._on_frame)
@@ -263,12 +263,9 @@ class ScannerProcess(Task):
self._send(**msg)
def _on_frame(self, jpeg_bytes: bytes, ts: datetime, metrics: dict) -> None:
self.data.frame = jpeg_bytes
if self.data.record:
# record images
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)
def _recording(self):
@@ -399,37 +396,32 @@ class ScannerProcess(Task):
elif topic == 'goto_xy':
self.grbl.move_to(self.manager.xbase, self.manager.ybase, feed=self.manager.feed)
self.manager.well_iterator.reset()
self.manager.well_iterator.seek(0)
elif topic == 'xy_base':
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':
pass
#self.manager.scan_test()
self.manager.scan_test()
continue
elif topic == 'auto':
self.manager.set_calib_debug(True)
self.cam.set_circular_crop(self.crop)
self.manager.scan_test(auto=True)
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_scanning()
continue
elif topic == 'calib_debug':
msg = self.manager.calib_toggle_debug()
@@ -439,23 +431,19 @@ class ScannerProcess(Task):
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(
xbase=self.manager.xbase,
ybase=self.manager.ybase,
@@ -466,8 +454,8 @@ class ScannerProcess(Task):
dx=self.manager.dx,
dy=self.manager.dy,
buttons=buttons,
current=self.manager.get_well_order(),
)
except Exception as e:
logger.error(f'scanner listen_to_redis: {e}')
finally: