calibrage auto

etc/install-sys.sh

@@ -8,7 +8,7 @@ sudo apt update
 
 # system
 echo "==== system essential"
-sudo apt -y install build-essential openssl git pkg-config redis supervisor sqlitebrowser samba-client cifs-utils
+sudo apt -y install build-essential openssl git pkg-config redis supervisor sqlitebrowser samba-client cifs-utils gettext
 
 echo "==== python3 install"
 sudo apt -y install python3-dev python3-pip python3-venv default-libmysqlclient-dev libmariadb-dev libpq-dev python3-picamera2

test_tube_scanner/home/locale/en/LC_MESSAGES/django.po

@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PACKAGE VERSION\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2026-02-24 08:51+0100\n"
+"POT-Creation-Date: 2026-04-21 23:48+0200\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -17,49 +17,9 @@ msgstr ""
 "Content-Type: text/plain; charset=UTF-8\n"
 "Content-Transfer-Encoding: 8bit\n"
 "Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
 #: home/apps.py:7
-msgid "Automation"
+msgid "Scanner de tube à essais"
-msgstr ""
-
-#: home/management/commands/init_data.py:63
-msgid "Base configuration"
-msgstr ""
-
-#: home/management/commands/init_data.py:144
-msgid "Non"
-msgstr ""
-
-#: home/management/commands/init_data.py:145
-#: home/management/commands/init_data.py:148
-msgid "Salon"
-msgstr ""
-
-#: home/management/commands/init_data.py:146
-msgid "Cellier"
-msgstr ""
-
-#: home/management/commands/init_data.py:147
-msgid "Cuisine"
-msgstr ""
-
-#: home/management/commands/init_data.py:149
-msgid "Entrée"
-msgstr ""
-
-#: home/management/commands/init_data.py:150
-msgid "Repas"
-msgstr ""
-
-#: home/management/commands/init_data.py:151
-msgid "Chambre 1"
-msgstr ""
-
-#: home/management/commands/init_data.py:152
-msgid "Chambre 2"
-msgstr ""
-
-#: home/management/commands/init_data.py:153
-msgid "Chambre 3"
 msgstr ""
 
 #: home/templates/inc/404.html:9
@@ -80,6 +40,736 @@ msgid ""
 "administrator."
 msgstr ""
 
+#: scanner/models.py:17
+msgid "Haut gauche"
+msgstr ""
+
+#: scanner/models.py:18
+msgid "Haut droit"
+msgstr ""
+
+#: scanner/models.py:19
+msgid "Bas gauche"
+msgstr ""
+
+#: scanner/models.py:20
+msgid "Bas droit"
+msgstr ""
+
+#: scanner/models.py:21
+msgid "Bas milieu"
+msgstr ""
+
+#: scanner/models.py:22
+msgid "Haut milieu"
+msgstr ""
+
+#: scanner/models.py:26 scanner/models.py:31
+msgid "MP4"
+msgstr ""
+
+#: scanner/models.py:27
+msgid "XVID"
+msgstr ""
+
+#: scanner/models.py:32
+msgid "AVI"
+msgstr ""
+
+#: scanner/models.py:36
+msgid "Nom de la Configuration"
+msgstr ""
+
+#: scanner/models.py:36
+msgid "Nom de la configuration"
+msgstr ""
+
+#: scanner/models.py:36
+msgid "Configuration par défaut"
+msgstr ""
+
+#: scanner/models.py:39
+msgid "Barre latérale"
+msgstr ""
+
+#: scanner/models.py:39
+msgid "Largeur barre latérale (css)"
+msgstr ""
+
+#: scanner/models.py:40
+msgid "Colonnes de la grille par défaut"
+msgstr ""
+
+#: scanner/models.py:40
+msgid "Nombre de colonnes de la grille par défaut"
+msgstr ""
+
+#: scanner/models.py:42
+msgid "Fourcc"
+msgstr ""
+
+#: scanner/models.py:42
+msgid "Opencv fourcc format"
+msgstr ""
+
+#: scanner/models.py:43
+msgid "Video type"
+msgstr ""
+
+#: scanner/models.py:43
+msgid "Opencv video type"
+msgstr ""
+
+#: scanner/models.py:45
+msgid "Grbl Xmax"
+msgstr ""
+
+#: scanner/models.py:45
+msgid "CNC Grbl Xmax en mm"
+msgstr ""
+
+#: scanner/models.py:46
+msgid "Grbl Ymax"
+msgstr ""
+
+#: scanner/models.py:46
+msgid "CNC Grbl Ymax en mm"
+msgstr ""
+
+#: scanner/models.py:47
+msgid "Pixel / mm"
+msgstr ""
+
+#: scanner/models.py:47
+msgid "Rapport pixel / déplacement en pixel/mm"
+msgstr ""
+
+#: scanner/models.py:50
+msgid "Utiliser rpicam"
+msgstr ""
+
+#: scanner/models.py:50
+msgid "Par défaaut. Sinon USB webcam"
+msgstr ""
+
+#: scanner/models.py:51
+msgid "Index de la webcam"
+msgstr ""
+
+#: scanner/models.py:51
+msgid "Index de la webcam (0, 1, ...) si présente"
+msgstr ""
+
+#: scanner/models.py:52
+msgid "Qualité JPEG"
+msgstr ""
+
+#: scanner/models.py:52
+msgid "Qualité JPEG (1-100) pour les images exportées"
+msgstr ""
+
+#: scanner/models.py:53
+msgid "Qualité JPEG pour les vidéos"
+msgstr ""
+
+#: scanner/models.py:53
+msgid "Qualité JPEG (1-100) pour les images extraites des vidéos"
+msgstr ""
+
+#: scanner/models.py:54
+msgid "Fréquence vidéos (fps)"
+msgstr ""
+
+#: scanner/models.py:54
+msgid "Fréquence d'extraction des images des vidéos (images par seconde)"
+msgstr ""
+
+#: scanner/models.py:55
+msgid "Largeur de capture vidéo"
+msgstr ""
+
+#: scanner/models.py:55
+msgid "Largeur de capture vidéo en pixels"
+msgstr ""
+
+#: scanner/models.py:56
+msgid "Hauteur de capture vidéo"
+msgstr ""
+
+#: scanner/models.py:56
+msgid "Hauteur de capture vidéo en pixels"
+msgstr ""
+
+#: scanner/models.py:58
+msgid "Rayon de découpe pour la calibration"
+msgstr ""
+
+#: scanner/models.py:58
+msgid "Rayon en pixels pour découper les images de calibration en px"
+msgstr ""
+
+#: scanner/models.py:59
+msgid "Multi-puits de calibration par défaut"
+msgstr ""
+
+#: scanner/models.py:59
+msgid "Position du multi-puits de calibration par défaut"
+msgstr ""
+
+#: scanner/models.py:60
+msgid "Vitesse de calibration"
+msgstr ""
+
+#: scanner/models.py:60
+msgid "Vitesse de déplacement pour la calibration en mm/mn"
+msgstr ""
+
+#: scanner/models.py:61
+msgid "Pas de calibration"
+msgstr ""
+
+#: scanner/models.py:61
+msgid "Pas de déplacement pour la calibration en mm"
+msgstr ""
+
+#: scanner/models.py:62
+msgid "Duruée calibration"
+msgstr ""
+
+#: scanner/models.py:62
+msgid "Durée de pose entre chaque puits en s"
+msgstr ""
+
+#: scanner/models.py:63
+msgid "Actif"
+msgstr ""
+
+#: scanner/models.py:67
+msgid "Configuration"
+msgstr ""
+
+#: scanner/models.py:75
+msgid "Nom"
+msgstr ""
+
+#: scanner/models.py:75
+msgid "Nom du puit: Ai..Di"
+msgstr ""
+
+#: scanner/models.py:79 scanner/models.py:155
+msgid "Puit"
+msgstr ""
+
+#: scanner/models.py:80
+msgid "Puits"
+msgstr ""
+
+#: scanner/models.py:87
+msgid "Label"
+msgstr ""
+
+#: scanner/models.py:87
+msgid "Label du multi-puit"
+msgstr ""
+
+#: scanner/models.py:89
+msgid "Position"
+msgstr ""
+
+#: scanner/models.py:89
+msgid "Position du multi-puits sur la table"
+msgstr ""
+
+#: scanner/models.py:90
+msgid "Par défaut"
+msgstr ""
+
+#: scanner/models.py:90
+msgid "Multi-puit par défaut"
+msgstr ""
+
+#: scanner/models.py:92
+msgid "Colonnes"
+msgstr ""
+
+#: scanner/models.py:92
+msgid "Nombre de colonnes"
+msgstr ""
+
+#: scanner/models.py:93
+msgid "Lignes"
+msgstr ""
+
+#: scanner/models.py:93
+msgid "Nombre de lignes"
+msgstr ""
+
+#: scanner/models.py:94
+msgid "Diamètre"
+msgstr ""
+
+#: scanner/models.py:94
+msgid "Diamètre des tubes en mm"
+msgstr ""
+
+#: scanner/models.py:96
+msgid "Définition"
+msgstr ""
+
+#: scanner/models.py:96
+msgid "Définition des lignes"
+msgstr ""
+
+#: scanner/models.py:97
+msgid "Ordre ligne"
+msgstr ""
+
+#: scanner/models.py:97
+msgid "Ordre ligne de puit. Lecture en serpentin dans le sens des +- X"
+msgstr ""
+
+#: scanner/models.py:99 scanner/models.py:158
+msgid "Ordre"
+msgstr ""
+
+#: scanner/models.py:99
+msgid "Ordre de lecture du multi-puit"
+msgstr ""
+
+#: scanner/models.py:100 scanner/templates/scanner/calibration.html:54
+msgid "Durée"
+msgstr ""
+
+#: scanner/models.py:100
+msgid "Durée du film en secondes"
+msgstr ""
+
+#: scanner/models.py:101
+msgid "Origine X"
+msgstr ""
+
+#: scanner/models.py:101
+msgid "Base origine X en mm"
+msgstr ""
+
+#: scanner/models.py:102
+msgid "Origine Y"
+msgstr ""
+
+#: scanner/models.py:102
+msgid "Base origine Y en mm"
+msgstr ""
+
+#: scanner/models.py:104
+msgid "Pas X"
+msgstr ""
+
+#: scanner/models.py:104
+msgid "Pas ou interval sur X en mm"
+msgstr ""
+
+#: scanner/models.py:105
+msgid "Pas Y"
+msgstr ""
+
+#: scanner/models.py:105
+msgid "Pas ou interval sur Y en mm"
+msgstr ""
+
+#: scanner/models.py:106 scanner/templates/scanner/calibration.html:23
+msgid "Vitesse"
+msgstr ""
+
+#: scanner/models.py:106
+msgid "Vitesse déplacement en mm/mn "
+msgstr ""
+
+#: scanner/models.py:108
+msgid "Positions"
+msgstr ""
+
+#: scanner/models.py:108
+msgid "Positions des puits générées ?"
+msgstr ""
+
+#: scanner/models.py:109 scanner/models.py:246 scanner/models.py:276
+msgid "Active"
+msgstr ""
+
+#: scanner/models.py:145 scanner/models.py:146 scanner/models.py:156
+#: scanner/models.py:206
+msgid "Multi-puits"
+msgstr ""
+
+#: scanner/models.py:158
+msgid "Ordre de lecture du puit"
+msgstr ""
+
+#: scanner/models.py:159
+msgid "X"
+msgstr ""
+
+#: scanner/models.py:159
+msgid "Axe X en mm"
+msgstr ""
+
+#: scanner/models.py:160
+msgid "Y"
+msgstr ""
+
+#: scanner/models.py:160
+msgid "Axe Y en mm"
+msgstr ""
+
+#: scanner/models.py:166
+msgid "Position d'un puit"
+msgstr ""
+
+#: scanner/models.py:167
+msgid "Position des puits"
+msgstr ""
+
+#: scanner/models.py:203
+msgid "Titre de l'observation"
+msgstr ""
+
+#: scanner/models.py:204
+msgid "Commentaires"
+msgstr ""
+
+#: scanner/models.py:204
+msgid "Descriptions de l'observations"
+msgstr ""
+
+#: scanner/models.py:207 scanner/models.py:250
+msgid "Date de création"
+msgstr ""
+
+#: scanner/models.py:208
+msgid "Date de début"
+msgstr ""
+
+#: scanner/models.py:209 scanner/models.py:251
+msgid "Date de fin"
+msgstr ""
+
+#: scanner/models.py:213 scanner/models.py:341
+msgid "Observation"
+msgstr ""
+
+#: scanner/models.py:214
+msgid "Observations"
+msgstr ""
+
+#: scanner/models.py:229
+msgid "Observation multi-puits détail"
+msgstr ""
+
+#: scanner/models.py:230
+msgid "Observations multi-puits détails"
+msgstr ""
+
+#: scanner/models.py:239
+msgid "En attente"
+msgstr ""
+
+#: scanner/models.py:240
+msgid "En cours"
+msgstr ""
+
+#: scanner/models.py:241
+msgid "Terminé"
+msgstr ""
+
+#: scanner/models.py:242
+msgid "Erreur"
+msgstr ""
+
+#: scanner/models.py:244
+msgid "Nom de la session"
+msgstr ""
+
+#: scanner/models.py:244
+msgid "Session d'observations. 4 Multi-puits maximum"
+msgstr ""
+
+#: scanner/models.py:247
+msgid "Date d'exportation"
+msgstr ""
+
+#: scanner/models.py:247
+msgid "Date d'exportation prévue"
+msgstr ""
+
+#: scanner/models.py:248
+msgid "Date du balayage"
+msgstr ""
+
+#: scanner/models.py:248
+msgid "Date du balayage prévue"
+msgstr ""
+
+#: scanner/models.py:253
+msgid "Status exportation"
+msgstr ""
+
+#: scanner/models.py:256
+msgid "Export médias"
+msgstr ""
+
+#: scanner/models.py:257
+msgid "Programmation de l'exportation des vidéos et images"
+msgstr ""
+
+#: scanner/models.py:259
+msgid "Exportation terminée à"
+msgstr ""
+
+#: scanner/models.py:261
+msgid "Status scanning"
+msgstr ""
+
+#: scanner/models.py:264 scanner/templates/scanner/main.html:35
+msgid "Lancer le balayage"
+msgstr ""
+
+#: scanner/models.py:265
+msgid "Programmation du lancement du balayage"
+msgstr ""
+
+#: scanner/models.py:267
+msgid "Balayage terminé à"
+msgstr ""
+
+#: scanner/models.py:272
+msgid "Session d'observation"
+msgstr ""
+
+#: scanner/models.py:273
+msgid "Sessions d'observation"
+msgstr ""
+
+#: scanner/models.py:276
+msgid "Terminée"
+msgstr ""
+
+#: scanner/models.py:340
+msgid "Session"
+msgstr ""
+
+#: scanner/models.py:362
+msgid "Session observations"
+msgstr ""
+
+#: scanner/models.py:363
+msgid "Sessions observations"
+msgstr ""
+
+#: scanner/process.py:331
+msgid "La session est nulle!..."
+msgstr ""
+
+#: scanner/templates/scanner/base.html:5
+msgid "Barre de côté"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:11
+msgid "Ecran plein"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:25
+msgid "Déconnexion"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:32
+msgid "Mémoire partagée"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:33
+msgid "Disque RAM"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:34
+msgid "Mémoire RAM"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:35
+msgid "Charge CPU"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:36
+msgid "Disque /"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:42
+msgid "Grille"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:70
+msgid "Administration"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:75
+msgid "Administration base de données"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:78
+msgid "Base de données Reductstore"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:81
+msgid "Base de données mariadb"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:84
+msgid "Portainer"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:87
+msgid "Supervisor"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:90
+msgid "Logs des planifications"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:93
+msgid "Logs des services"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:96 scanner/views.py:92
+msgid "Calibration"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:105 scanner/views.py:82
+msgid "Balayage multi-puits"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:108 scanner/views.py:132
+msgid "Gestionnaire d'images"
+msgstr ""
+
+#: scanner/templates/scanner/base.html:111
+msgid "Redifusion vidéos"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:15
+msgid "Position multi-puit"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:36
+msgid "Pas"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:55
+msgid "Durée entre vidéos"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:83
+msgid "Définir la base (x, y) du multi-puit"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:84
+msgid "Définir base"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:99
+msgid "Sauvegarder la position du puit courant"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:120
+msgid "Précéd."
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:124
+msgid "Centrer manuellement"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:125
+msgid "Centrer"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:130
+msgid "Suivant"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:135
+msgid "Centrage auto et sauvegarde des positions"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:136
+msgid "Calibrage auto"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:146
+msgid "Aller à la base"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:151
+msgid "Debug"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:156
+#: scanner/templates/scanner/main.html:31
+msgid "Axes"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:161
+#: scanner/templates/scanner/main.html:32
+msgid "Recadrer"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:165
+msgid "Rayon"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:166
+msgid "Rayon du recadrement"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:167
+msgid "Rayon de cadrage"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:171
+msgid "Tester le cirduit"
+msgstr ""
+
+#: scanner/templates/scanner/calibration.html:174
+#: scanner/templates/scanner/main.html:37
+msgid "ARRET"
+msgstr ""
+
+#: scanner/templates/scanner/images.html:9
+#: scanner/templates/scanner/replay.html:10
+msgid "Retour accueil"
+msgstr ""
+
+#: scanner/templates/scanner/images.html:13
+#: scanner/templates/scanner/replay.html:14
+msgid "Session d'observations"
+msgstr ""
+
+#: scanner/templates/scanner/images.html:26
+msgid "Exporter l'ensemble des images"
+msgstr ""
+
+#: scanner/templates/scanner/images.html:43
+msgid "Télécharger"
+msgstr ""
+
+#: scanner/templates/scanner/main.html:15
+msgid "Choix de la session"
+msgstr ""
+
+#: scanner/templates/scanner/replay.html:27
+msgid "Exporter l'ensemble des vidéos"
+msgstr ""
+
+#: scanner/views.py:174
+msgid "Gestionnaire de vidéos"
+msgstr ""
+
 #: templates/admin/base_site.html:4
 msgid "Django site admin"
 msgstr ""

test_tube_scanner/modules/capture_interface.py

@@ -49,7 +49,7 @@ class VideoCaptureInterface(abc.ABC):
     # Cadence par défaut en images par seconde
     DEFAULT_FPS: float = 5.0
 
-    def __init__(self, fps: float = DEFAULT_FPS, use_tracking: bool = False, px_per_mm: float = 2.15, display=None):
+    def __init__(self, fps: float = DEFAULT_FPS, use_tracking: bool = False, display=None, parent=None):
         """
         Initialise l'interface de capture.
 
@@ -58,6 +58,7 @@ class VideoCaptureInterface(abc.ABC):
         self._fps: float = fps
         self.use_tracking = use_tracking
         self.display = display
+        self.parent = parent
         self._interval: float = 1.0 / fps       # Intervalle en secondes entre chaque capture
         self._running: bool = False              # Indique si la capture est en cours
         self._thread: Optional[threading.Thread] = None
@@ -73,7 +74,6 @@ class VideoCaptureInterface(abc.ABC):
             min_area_px = settings.TRACKER_MIN_AREA,
         )
         self._aligner = TubeAligner(
-            px_per_mm         = px_per_mm,    # à calibrer selon la caméra
             grbl_threshold_px = 20,      # au-delà → correction GRBL
             dead_zone_px      = 5,       # en-dessous → rien à faire
             display           = display,
@@ -82,7 +82,8 @@ class VideoCaptureInterface(abc.ABC):
         
     # calibrage ou lecture réelle
     #
-    def align_on_well_arrival(self, frame: bytes, cnc_controller) -> dict:
+    
+    def align_on_well_arrival(self, frame: bytes, cnc_controller, tube_diameter: float = 16.0) -> dict:
         """
         Appelé UNE FOIS à l'arrivée sur un nouveau puits.
         Détecte le tube, décide l'action, exécute la correction.
@@ -93,7 +94,7 @@ class VideoCaptureInterface(abc.ABC):
         """
         nparr = np.frombuffer(frame, np.uint8)
         img = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
-        detection = self._aligner.detect_tube(img)
+        detection = self._aligner.detect_tube(img, tube_diameter=tube_diameter)
         
         # Stockage pour process_frame
         self._last_detection = detection        
@@ -108,7 +109,7 @@ class VideoCaptureInterface(abc.ABC):
             dy_mm = detection["offset_y_mm"]
 
             msg = f"align_on_well_arrival: correction CNC move_relative(dx={dx_mm:.3f}, dy={dy_mm:.3f})"     
-            #cnc_controller.move_relative(dx=-dx_mm, dy=-dy_mm, feed=150)    
+            cnc_controller.move_relative(dx=dx_mm, dy=dy_mm, feed=150)    
             
             self._tracker.reset()
             self._last_detection["action"] = "none"
@@ -276,18 +277,14 @@ class VideoCaptureInterface(abc.ABC):
             
             # Mode debug
             if self._aligner.debug:
-                self._last_detection = detection = self._aligner.detect_tube(frame)
+                self._last_detection = self._aligner.detect_tube(frame, self.parent.data.tube_diameter or 16.0)
-                annotated = detection.get('frame_annotated')
+                annotated = self._last_detection.get('frame_annotated')
                 frame = annotated if annotated is not None else frame
-            '''
-            else:
-                detection = self._last_detection or {}    
 
-            # --- Crop logiciel si nécessaire ---
+                #if (self._last_detection.get("action") == "crop" and self._last_detection.get("detected")):
-            if (detection.get("action") == "crop" and detection.get("detected") and not self._aligner.debug ):
+                #    frame = self._aligner.crop_to_tube(frame, self._last_detection)
-                frame = self._aligner.crop_to_tube(frame, detection)
-            '''
             
+            # mode racking
             if self.use_tracking:
                 ts = datetime.now(timezone.utc).timestamp()
                 frame, metrics = self._tracker.process(frame, ts)

test_tube_scanner/modules/grbl.py

@@ -12,7 +12,7 @@ import logging
 import serial
 import time
 import threading
-from typing import Optional
+
 
 logging.basicConfig(level=logging.INFO)
 logger = logging.getLogger(__name__)
@@ -194,7 +194,7 @@ class GRBLController:
         x, y = self.get_mpos()  # Position actuelle
         self.move_to(x + dx, y + dy, feed=feed)
         
-    def move_relative_(self, dx=0, dy=0, feed=1000):
+    def move_relative__(self, dx=0, dy=0, feed=1000):
         self.send("G91")  # Mode relatif
         cmd = f"G0 X{dx} Y{dy} F{feed}"
         self.send(cmd)

test_tube_scanner/modules/picamera2_capture.py

@@ -46,8 +46,8 @@ class PiCamera2Capture(VideoCaptureInterface):
         camera_index: int = 0,
         use_video_config: bool = True,
         use_tracking: bool = False,
-        px_per_mm: float = 2.1,
         display = None,
+        parent = None
 
     ):
         """
@@ -59,7 +59,7 @@ class PiCamera2Capture(VideoCaptureInterface):
         :param use_video_config: True = VideoConfiguration (flux continu, basse latence)
                                  False = StillConfiguration (haute résolution, plus lent)
         """
-        super().__init__(fps=fps, use_tracking=use_tracking, px_per_mm=px_per_mm, display=display)
+        super().__init__(fps=fps, use_tracking=use_tracking, display=display, parent=parent)
         self._width: int = width
         self._height: int = height
         self._jpeg_quality: int = jpeg_quality

test_tube_scanner/modules/picamera2_capture_basic.py

@@ -37,6 +37,9 @@ class PiCamera2Capture(VideoCaptureInterface):
         jpeg_quality: int = 85,
         camera_index: int = 0,
         use_video_config: bool = True,
+        use_tracking: bool = False,
+        display = None, 
+        parent=None,
     ):
         """
         :param fps:              Cadence cible en images par seconde
@@ -47,7 +50,7 @@ class PiCamera2Capture(VideoCaptureInterface):
         :param use_video_config: True = configuration VideoConfiguration (flux continu)
                                  False = StillConfiguration (haute résolution, plus lent)
         """
-        super().__init__(fps=fps)
+        super().__init__(fps=fps, use_tracking=use_tracking, display=display, parent=parent)
         self._width: int = width
         self._height: int = height
         self._jpeg_quality: int = jpeg_quality

test_tube_scanner/modules/tube_aligner.py

@@ -1,9 +1,9 @@
 '''
+modules/tube_aligner.py
 Created on 17 avr. 2026
 
 @author: denis
 '''
-# modules/tube_aligner.py
 
 import cv2
 import logging
@@ -19,13 +19,11 @@ class TubeAligner:
 
     def __init__(
         self,
-        px_per_mm         : float = 10.0,
         grbl_threshold_px : int   = 20,
         dead_zone_px      : int   = 5,
         debug             : bool  = False,      # ← activable depuis la vue
-        display = None,
+        display = None,                         # display function 
     ):
-        self.TUBE_DIAMETER_MM  = 16.0
         self.grbl_threshold_px = grbl_threshold_px
         self.dead_zone_px      = dead_zone_px
         self.debug             = debug
@@ -35,7 +33,8 @@ class TubeAligner:
     # Détection principale
     # ------------------------------------------------------------------ #
 
-    def detect_tube(self, frame: np.ndarray) -> dict:
+    def detect_tube(self, frame: np.ndarray, tube_diameter: float = 16.0) -> dict:
+        TUBE_DIAMETER_MM  = tube_diameter
         h, w    = frame.shape[:2]
         cx_img  = w // 2
         cy_img  = h // 2
@@ -93,16 +92,14 @@ class TubeAligner:
         ty = int(np.mean(all_cy))
         tr = int(np.mean(all_r))
         if tr > 0:
-            self.px_per_mm = (2 * tr) / 16.0
+            self.px_per_mm = (2 * tr) / TUBE_DIAMETER_MM
     
         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:
@@ -162,82 +159,6 @@ class TubeAligner:
         # 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
     # ------------------------------------------------------------------ #
@@ -259,26 +180,18 @@ class TubeAligner:
 
         # 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,
+        cv2.circle(frame, (cx_img, cy_img), self.dead_zone_px, (0, 255, 100), 1, cv2.LINE_AA)
-                   (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,
+        cv2.circle(frame, (cx_img, cy_img), self.grbl_threshold_px, (0, 80, 255), 1, cv2.LINE_AA)
-                   (0, 80, 255), 1, cv2.LINE_AA)
-
         # Croix centre image
-        cv2.drawMarker(frame, (cx_img, cy_img),
+        cv2.drawMarker(frame, (cx_img, cy_img), (255, 255, 255), cv2.MARKER_CROSS, 24, 1, cv2.LINE_AA)
-                       (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),
+            cv2.arrowedLine(frame, (cx_img, cy_img), (tx, ty), color, 2, cv2.LINE_AA, tipLength=0.2)
-                            color, 2, cv2.LINE_AA, tipLength=0.2)
 
         # Panneau info — fond semi-transparent
         overlay = frame.copy()
@@ -298,10 +211,8 @@ class TubeAligner:
                         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.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.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)
-        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:

test_tube_scanner/modules/tube_aligner_old.py

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

test_tube_scanner/modules/tube_aligner_old2.py

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

test_tube_scanner/modules/videofile_capture.py

@@ -40,8 +40,8 @@ class VideoFileCapture(VideoCaptureInterface):
         height: Optional[int] = None,
         video_lists = [],
         use_tracking: bool = False,
-        px_per_mm: float = 2.1,
         display = None,
+        parent = None,
     ):
         """
         :param video_file:   fichier video
@@ -50,7 +50,7 @@ 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, use_tracking=use_tracking, px_per_mm=px_per_mm, display=display)
+        super().__init__(fps=fps, use_tracking=use_tracking, display=display, parent=parent)
         self._video_file: str = video_file
         self._jpeg_quality: int = jpeg_quality
         self._width: Optional[int] = width

test_tube_scanner/modules/webcam_capture.py

@@ -39,8 +39,8 @@ class WebcamCapture(VideoCaptureInterface):
         width: Optional[int] = None,
         height: Optional[int] = None,
         use_tracking: bool = False,
-        px_per_mm: float = 2.1,
         display = None,
+        parent = None,
     ):
         """
         :param device_index:  Index du périphérique V4L2 (0 = première webcam)
@@ -49,7 +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, use_tracking=use_tracking, px_per_mm=px_per_mm, display=display)
+        super().__init__(fps=fps, use_tracking=use_tracking, display=display, parent=parent)
         self._device_index: int = device_index
         self._jpeg_quality: int = jpeg_quality
         self._width: Optional[int] = width

test_tube_scanner/scanner/multiwell.py

@@ -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
 
 
@@ -75,13 +80,11 @@ class MultiWellManager:
         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()
-
+        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:
+            if self.scan_thread is None:
                 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()
+                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()
+        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)
+                if auto and cam._last_detection:
-    
+                    if cam._last_detection.get('action')=="grbl":
-            logger.info(f"Arrêter la simulation")            
+                        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})")
+        logger.info(f"Scan terminé — retour à l'origine (X=0, Y=0) en {time.monotonic()-start_test} s")
-        self.cnc_controller.move_to(xnext, ynext, feed=self.multiwell.feed*2)
+        self.cnc_controller.move_to(0, 0, feed=self.multiwell.feed*2)
         
         
-    def scan_test(self):
+    def scan_test(self, auto=False):
-        Thread(target=self._scanning_test, daemon=True).start()
+        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):
+    def get_well_order(self):
-        models.MultiWell.objects.filter(position__exact=self.position).update(dx=self.dx, dy=self.dy)
+        w = self.well_iterator.get_current() 
+        if w:
+            return w.order
+        return None
 
 
     def set_position(self):
@@ -312,6 +351,9 @@ 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()
 
         
     def calib_toggle_debug(self):
@@ -319,3 +361,11 @@ class MultiWellManager:
         aligner = self.process.cam._aligner
         aligner.debug = not 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}"}    
+    
+    

test_tube_scanner/scanner/process.py

@@ -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()
@@ -439,22 +431,18 @@ 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, 
@@ -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:

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

@@ -1,88 +1,76 @@
 
 class ScannerManager {
 
-    constructor(container) {
+    constructor(container, options = {}) {
         this.container = container;
         this.socket = null;
-        this.axes = 0;
+        this.debug_count = 0;
-        this.cropping = 0;
+        
-        this.debug_count = 0
+        this.ts = options.ts; 
+        this.cx = options.cx; 
+        this.cy = options.cy; 
+        this.x  = options.x; 
+        this.y  = options.y;        
+        this.xbase= options.xbase; 
+        this.ybase= options.ybase; 
+        this.test = options.test; 
+        this.halt = options.halt;      
+        this.speed_px_s  = options.speed_px_s; 
+        this.axial_speed = options.axial_speed; 
+        this.axial_pos   = options.axial_pos; 
+        this.area_px     = options.area_px; 
+        this.frame_count = options.frame_count; 
+        this.goto_0  = options.goto_0; 
+        this.goto_xy = options.goto_xy; 
+        this.xy_base = options.xy_base; 
+        this.up      = options.up; 
+        this.down    = options.down; 
+        this.left    = options.left; 
+        this.right   = options.right; 
+        this.duration= options.duration; 
+        this.feed    = options.feed; 
+        this.step    = options.step; 
+        this.well    = options.well; 
+        this.debug   = options.debug; 
+        this.calib_debug = options.calib_debug; 
+        this.calib_center= options.calib_center; 
+        this.previous    = options.previous;   
+        this.next        = options.next;     
+        this.set_well    = options.set_well; 
+        this.well_btn    = options.well_btn;  
+        this.median      = options.median; 
+        this.crop        = options.crop; 
+        this.crop_radius = options.crop_radius;
+        this.calib_auto  = options.calib_auto;
     }
     
     init_controls() {       
-        this.ts = sId("_ts");
+        this.up.addEventListener('mousedown',      (e) => { this._send({ type: 'calibrate', topic: "up" }); });
-        this.cx = sId("_cx");
+        this.down.addEventListener('mousedown',    (e) => { this._send({ type: 'calibrate', topic: "down" }); });
-        this.cy = sId("_cy");
+        this.left.addEventListener('mousedown',    (e) => { this._send({ type: 'calibrate', topic: "left" }); });
-        this.speed_px_s  = sId("_speed_px_s");
+        this.right.addEventListener('mousedown',   (e) => { this._send({ type: 'calibrate', topic: "right" }); });
-        this.axial_speed = sId("_axial_speed");
-        this.axial_pos   = sId("_axial_pos");
-        this.area_px     = sId("_area_px");
-        this.frame_count = sId("_count");
 
-        const goto_0  = sId("_goto-0");
+        this.goto_0.addEventListener('click',      (e) => { this.clear_buttons(); this._send({ type: 'calibrate', topic: "goto_0" }); });
-        const goto_xy = sId("_goto-xy");
+        this.goto_xy.addEventListener('click',     (e) => { this.clear_buttons(); this._send({ type: 'calibrate', topic: "goto_xy" }); });
-        const xy_base = sId("_xy-base");
+        this.xy_base.addEventListener('click',     (e) => { this._send({ type: 'calibrate', topic: "xy_base" }); });
-        const xy_step  = sId("_xy-step");
-        const up    = sId("_up");
-        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");
-        this.x      = sId("_x");
-        this.y      = sId("_y");
-        this.dx     = sId("_dx");
-        this.dy     = sId("_dy");
-        this.xbase  = sId("_xbase");
-        this.ybase  = sId("_ybase");
-        this.debug  = sId("_debug");
-        this.well_btn = sId("_well_btn");  
         
-        const test   = sId("_test");
+        this.calib_debug.addEventListener('click', (e) => { this._send({ type: 'calibrate', topic: "calib_debug" }); });       
-        const halt   = sId("_halt");
+        this.previous.addEventListener('click',    (e) => { this._send({ type: 'calibrate', topic: "previous" }); });
+        this.next.addEventListener('click',        (e) => { this._send({ type: 'calibrate', topic: "next" }); });       
+        this.set_well.addEventListener('click',    (e) => { this._send({ type: 'calibrate', topic: "set_well" }); });       
         
-        const calib_debug = sId("_calib_debug");
+        this.median.addEventListener('click',      (e) => { this._send({ type: 'calibrate', topic: "median" }); });
-        const calib_center = sId("_calib_center");
+        this.crop.addEventListener('click',        (e) => { this._send({ type: 'calibrate', topic: "crop" }); });
-        const previous = sId("_previous");        
+        this.crop_radius.addEventListener('change',(e) => { this._send({ type: 'calibrate', topic: "crop_radius", value: this.crop_radius.value }); });
-        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.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" }); });
-        
-        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.test.addEventListener('click',         (e) => { this._send({ type: 'calibrate', topic: "test" }); });
-        this.dy.addEventListener("change", (e) => { this._send({ type: 'calibrate', topic: "dy", value: e.target.value }); });
+        this.calib_center.addEventListener('click', (e) => { this._send({ type: 'calibrate', topic: "center" }); });
-
+        this.calib_auto.addEventListener('click',   (e) => { this._send({ type: 'calibrate', topic: "auto" }); });
-        test.addEventListener('click',  (e) => { this._send({ type: 'calibrate', topic: "test" }); });
+        this.halt.addEventListener('click',         (e) => { this._send({ type: 'calibrate', topic: "halt" }); });
-        calib_center.addEventListener('click',  (e) => { this._send({ type: 'calibrate', topic: "center" }); });
-        halt.addEventListener('click',  (e) => { this._send({ type: 'calibrate', topic: "halt" }); });
     }
 
     registerSocket(socket)  {
@@ -94,7 +82,6 @@ class ScannerManager {
         try {            
             if (payload.jpeg)   { this.container.src = `data:image/jpeg;base64,${payload.jpeg}`; }
             if (payload.xbase)  { this.xbase.textContent = payload.xbase;  this.ybase.textContent = payload.ybase; }
-            if (payload.dxy)    { this.dy.value=payload.dy; this.dx.value=payload.dx; }
             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); }
@@ -108,6 +95,12 @@ class ScannerManager {
                 this.frame_count.textContent = payload.count;           
             }
             if (payload.buttons) { this.well_btn.innerHTML = payload.buttons; }
+            if (payload.current >= 0) {                 
+                document.querySelectorAll('button.w3-button.well').forEach(btn => {
+                    if (btn.value==payload.current) { btn.classList.add('w3-green'); return; }
+                    btn.classList.remove('w3-green'); 
+                });
+             }
 
         } catch(e) { console.log(e); }
     }
@@ -115,8 +108,6 @@ class ScannerManager {
     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',

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

@@ -1,40 +1,34 @@
 
 class ScannerManager {
 
-    constructor(container) {
+    constructor(container, options = {}) {
         this.container = container;
         this.socket = null;
-        this.axes = 0;
+        this.debug_count = 0;
-        this.cropping = 1;
+        
-        this.debug_count = 0
+        this.ts = options.ts; 
+        this.cx = options.cx; 
+        this.cy = options.cy; 
+        this.x  = options.x; 
+        this.y  = options.y; 
+        this.session = options.session; 
+        this.scan_bt  = options.scan; 
+        this.halt_bt    = options.halt; 
+        this.debug   = options.debug; 
+        this.median  = options.median; 
+        this._rop    = options.crop; 
+        this.speed_px_s   = options.speed_px_s; 
+        this.axial_speed  = options.axial_speed; 
+        this.axial_pos    = options.axial_pos; 
+        this.area_px      = options.area_px; 
+        this.frame_count  = options.frame_count; 
     }
 
-    toggle_median() { this.axes = !this.axes; return this.axes; }
-    toggle_crop()   { this.croping = !this.croping; return this.croping; }
-
     init_controls() {
-        this.cx =  sId("_cx");
+        this.median.addEventListener('click',(e) => { this._send({ type: 'calibrate', topic: "median" }); });
-        this.cy =  sId("_cy");
+        this.crop.addEventListener('click',  (e) => { this._send({ type: 'calibrate', topic: "crop" }); });
-        this.speed_px_s =  sId("_speed_px_s");
+        this.scan_bt.addEventListener('click',  (e) => { this.scan(); });
-        this.axial_speed = sId("_axial_speed");
+        this.halt_bt.addEventListener('click',  (e) => { this.halt(); });
-        this.axial_pos = sId("_axial_pos");
-        this.area_px = sId("_area_px");
-        this.frame_count = sId("_count");
-                
-        this.session= sId("_session");
-        this.ts      = sId("_ts");
-        this.x      = sId("_x");
-        this.y      = sId("_y");
-        this.debug  = sId("_debug");
-        const scan  = sId("_scan");
-        const halt   = sId("_halt");
-        const median = sId("_median");
-        const crop = sId("_crop");
-
-        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() }); });
-        scan.addEventListener('click',  (e) => { this.scan(); });
-        halt.addEventListener('click',  (e) => { this.halt(); });
     }
 
     registerSocket(socket)  {

test_tube_scanner/scanner/templates/scanner/calibration.html

@@ -11,7 +11,7 @@
     <div class="container w3-black">
         <div class="header">
             <div class="w3-row w3-row-padding">
-                <div class="w3-col" style="width:15%">
+                <div class="w3-col" style="width:20%">
 		            {% trans 'Position multi-puit' %}<br>
 		            <select id="_well" class="w3-select">
 		                {% for w in wells %}
@@ -32,7 +32,7 @@
 		            </select>
 	            </div>
 
-	            <div class="w3-col" style="width:15%">
+	            <div class="w3-col" style="width:10%">
 		            <div>{% trans 'Pas' %}</div>
 		            <select id="_step" class="w3-select">
 		                <option value="0.1">0.1 mm</option>
@@ -50,7 +50,7 @@
 		                <option value="50.0">50.0 mm</option>
 		            </select>
 	            </div>
-	            <div class="w3-col" style="width:15%">
+	            <div class="w3-col" style="width:10%">
 	                <div>{% trans 'Durée' %}</div>
 		            <select id="_duration" class="w3-select" title="{% trans 'Durée entre vidéos' %}">
 		                <option value="1.0">1 s</option>
@@ -59,10 +59,13 @@
 		                <option value="4.0">4 s</option>
 		                <option value="5.0" selected>5 s</option>
 		                <option value="10">10 s</option>
+		                <option value="15">15 s</option>
+		                <option value="20">20 s</option>
+		                <option value="30">30 s</option>
 		            </select>	            
 	            </div>
-	            <div class="w3-col" style="width:40%">
+	            <div class="w3-col" style="width:45%">
-	               <div class="w3-margin-top w3-padding w3-right">
+	               <div class="w3-margin-top w3-padding w3-right-align">
 	                   <span id="_ts"></span><br>
 	               </div>
 	            </div>
@@ -70,77 +73,105 @@
         </div>
              
         <div class="move w3-center">
+            <div class="w3-row w3-border w3-bold w3-margin-bottom">
+                <div class="w3-half">X<br><span id="_x"></span></div>
+                <div class="w3-half">Y<br><span id="_y"></span></div>
+            </div>
+            <div class="w3-row">
+                <div class="w3-col">
+		            <button id="_xy-base" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block" 
+		                    title="{% trans 'Définir la base (x, y) du multi-puit' %}">
+		               {% trans 'Définir base' %}<br><i class="fa-solid fa-circle-check w3-text-orange w3-xxlarge"></i>
+		            </button>              
+                </div>
+	            <div class="w3-col">
+	                <button id="_right" class="w3-button w3-dark-xlight w3-round-large w3-padding-small">
+	                   +X<br><i class="fa-solid fa-circle-up w3-xxlarge"></i>
+	                </button>
+	            </div>
+	            <div class="w3-third">
+	                <button id="_down" class="w3-button w3-dark-xlight w3-round-large w3-padding-small">
+	                   -Y<br><i class="fa-solid fa-circle-arrow-left w3-xxlarge"></i>
+	                </button>
+	            </div>
+                <div class="w3-third">
+                    <button id="_set_well" class="w3-button w3-dark-xlight w3-round-large w3-padding-small" 
+                            title="{% trans 'Sauvegarder la position du puit courant' %}">
+                        <span class="w3-small">Position</span><br><i class="fa-solid fa-circle-check w3-xxlarge w3-text-orange"></i> 
+                    </button>
+                </div>	            
+	            <div class="w3-third">
+	                <button id="_up" class="w3-button w3-dark-xlight w3-round-large w3-padding-small">
+	                   +Y<br><i class="fa-solid fa-circle-arrow-right w3-xxlarge"></i>
+	                </button>
+	            </div>
+	            <div class="w3-col">
+	                <button id="_left" class="w3-button w3-dark-xlight w3-round-large w3-padding-small">
+	                   -X<br><i class="fa-solid fa-circle-down w3-xxlarge"></i>
+	                </button>
+	            </div>
+            </div>
        
             <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 id="_well_btn" class="w3-col w3-margin-top w3-margin-bottom"></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">&#x2191; +Y {% trans 'A Droite' %}</button></div>
+                <div class="w3-third">
-            <div><button id="_left" class="w3-button w3-dark-xlight w3-round-large w3-margin-small  w3-block">&#x2190; -X {% trans 'En bas' %}</button></div>
+                    <button id="_previous" class="w3-button w3-dark-xlight w3-round-large w3-padding-small">
-            <div><button id="_right" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">&#x2192; +X {% trans 'En haut' %}</button></div>
+                        <span class="w3-small">{% trans 'Précéd.' %}</span><br><i class="fa-solid fa-circle-left w3-xxlarge"></i>
-            <div><button id="_down" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">&#x2193; -Y {% trans 'A Gauche' %}</button></div>
-       
-            <div class="w3-row">
-                <div id="_well_btn" class="w3-col"></div>   
-                <div class="w3-half">
-                    <button id="_previous" class="w3-button w3-light-blue w3-round-large w3-block" title="{% trans 'Précédent' %}">
-                        <i class="fa-solid fa-circle-left w3-large"></i>
                     </button>
                 </div>
-                <div class="w3-half">
+                <div class="w3-third">
-                    <button id="_next" class="w3-button w3-light-blue w3-round-large w3-block" title="{% trans 'Suivant' %}">
+                    <button id="_calib_center" class="w3-button w3-dark-xlight w3-round-large w3-padding-small" title="{% trans 'Centrer manuellement' %}">
-                        <i class="fa-solid fa-circle-right w3-large"></i>
+                       <span class="w3-small">{% trans 'Centrer' %}</span><br><i class="fa-regular fa-circle w3-xxlarge w3-text-orange"></i>
+                    </button>                
+                </div>                 
+                <div class="w3-third">
+                    <button id="_next" class="w3-button w3-dark-xlight w3-round-large w3-padding-small">
+                        <span class="w3-small">{% trans 'Suivant' %}</span><br><i class="fa-solid fa-circle-right w3-xxlarge"></i>
                     </button>
                 </div> 
                 <div class="w3-col">
-		            <button id="_set_well" class="w3-button w3-warning w3-round-large w3-block">
+		            <button id="_calib_auto" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block" 
-		               <i class="fa-solid fa-circle-check"></i> {% trans 'Définir position' %}
+		                  title="{% trans 'Centrage auto et sauvegarde des positions' %}">
-		            </button>                
+		               {% trans 'Calibrage auto' %}<br><i class="fa-solid fa-robot w3-text-orange w3-xxlarge"></i>
-                </div>
-                <div class="w3-col">
-                    <button id="_calib_center" class="w3-button w3-warning w3-round-large w3-block">
-                       <i class="fa-regular fa-circle"></i> {% trans 'Centrer manuel' %}
 		            </button>                   
                 </div>  
             </div>
         </div>
         <div class="scan w3-center">     
+            <button id="_goto-0" class="w3-button  w3-dark-xlight w3-round w3-round-large w3-margin-small w3-block">
+                Origine (0, 0)<br><i class="fa-solid fa-house w3-text-amber w3-xlarge"></i>
+            </button>
+            <button id="_goto-xy" class="w3-button  w3-dark-xlight 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>)<br><i class="fa-solid fa-bullseye w3-text-amber w3-xlarge"></i>
+            </button>
             <div class="w3-row">
-                <div class="w3-half">X<br><span id="_x"></span></div>
+                <div class="w3-half">
-                <div class="w3-half">Y<br><span id="_y"></span></div>
+		            <button id="_calib_debug" class="w3-button w3-dark-xlight w3-round-large w3-padding-small">
+		                {% trans 'Debug' %}<br><i class="fa-solid fa-triangle-exclamation w3-text-amber w3-xlarge"></i>
+		            </button>                
                 </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>
+                <div class="w3-half">
-            <button id="_goto-xy" class="w3-button w3-light-blue w3-round-large w3-margin-small w3-block w3-margin-bottom">
+		            <button id="_median" class="w3-button w3-dark-xlight w3-round-large w3-padding-small">
-                {% trans 'Aller à la base' %}<br>(<span id="_xbase"></span>, <span id="_ybase"></span>)
+		                {% trans 'Axes' %}&nbsp;<br><i class="fa-solid fa-crosshairs w3-text-amber w3-xlarge"></i>
 		            </button>               
-            <button id="_xy-base" class="w3-button w3-warning w3-round-large w3-margin-small w3-block">
+                </div>
-                <i class="fa-solid fa-circle-check"></i> {% trans 'Définir base' %}
+                <div class="w3-col">
+		            <button id="_crop" class="w3-button w3-dark-xlight w3-round-large w3-padding-small w3-margin-top w3-block">
+		                {% trans 'Recadrer' %}<br><i class="fa-solid fa-crop w3-text-amber w3-xlarge"></i>
 		            </button>               
-            <hr>
+                </div>
-            <button id="_calib_debug" class="w3-button w3-teal w3-round-large w3-margin-small w3-block">
+                <div class="w3-col w3-padding-small w3-border w3-round-large w3-margin-top">
-                <i class="fa-solid fa-triangle-exclamation"></i> {% trans 'Debug' %}
+                    <span class="w3-bold w3-text-amber">{% trans 'Rayon' %}</span><br>
-            </button>
+                    <input id="_crop_radius" type="number" min="100" max="1200" step="1" class="w3-round" title="{% trans 'Rayon du recadrement' %}"
-            <button id="_median" class="w3-button w3-teal w3-round-large w3-margin-small w3-block">
+                            value="{{ conf.calibration_crop_radius }}" title="{% trans 'Rayon de cadrage' %}"> px
-                <i class="fa-solid fa-crosshairs"></i> {% trans 'Axes' %}
+                </div>
-            </button>
+            </div>        
-            <button id="_crop" class="w3-button w3-teal w3-round-large w3-margin-small w3-block w3-margin-bottom">
+            <button id="_test" class="w3-button w3-dark-xlight w3-round-large w3-margin-small w3-block">
-                <i class="fa-solid fa-crop"></i> {% trans 'Recadrer' %}
+                {% trans 'Tester le cirduit' %}<br><i class="fa-solid fa-circle-check w3-text-orange w3-xxlarge"></i>
-            </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">
-                <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' %}
+                {% trans 'ARRET' %}<br><i class="fa-solid fa-hand w3-xxlarge"></i>
             </button>
         </div>
         {% include 'scanner/scan-image.html' %}
@@ -154,10 +185,49 @@
         const container = sId("scan-img");
         const ws_route = "{{ ws_route }}";   
         const use_tracking = "{{ use_tracking }}" == "True";
+        
+        const options = {
+	        ts : sId("_ts"),
+	        cx : sId("_cx"),
+	        cy : sId("_cy"),
+            x  : sId("_x"),
+            y  : sId("_y"),	       
+            xbase: sId("_xbase"),
+            ybase: sId("_ybase"),
+            test : sId("_test"),
+            halt : sId("_halt"),           
+	        speed_px_s  : sId("_speed_px_s"),
+	        axial_speed : sId("_axial_speed"),
+	        axial_pos   : sId("_axial_pos"),
+	        area_px     : sId("_area_px"),
+	        frame_count : sId("_count"),
+	        goto_0  : sId("_goto-0"),
+	        goto_xy : sId("_goto-xy"),
+	        xy_base : sId ("_xy-base"),
+	        up      : sId("_up"),
+	        down    : sId("_down"),
+	        left    : sId("_left"),
+	        right   : sId("_right"),
+	        duration: sId("_duration"),
+	        feed    : sId("_feed"),
+	        step    : sId("_step"),
+	        well    : sId("_well"),
+	        debug   : sId("_debug"),
+	        calib_debug : sId("_calib_debug"),
+	        calib_auto  : sId("_calib_auto"),
+	        calib_center: sId("_calib_center"),
+	        previous    : sId("_previous"),        
+	        next        : sId("_next"),        
+	        set_well    : sId("_set_well"), 
+	        well_btn    : sId("_well_btn"),  
+            median      : sId("_median"),
+            crop        : sId("_crop"),
+            crop_radius : sId("_crop_radius")
+        };          
     </script>
     <script src="/static/scanner/js/calibration.js"></script>
     <script>
-        const manager  = new ScannerManager(container);
+        const manager  = new ScannerManager(container, options);
         const protocol = location.protocol === "https:" ? "wss" : "ws";
         const wsUrl    = `${protocol}://${location.host}/${ws_route}`;
         const socket   = new MetadataSocket(wsUrl);

test_tube_scanner/scanner/templates/scanner/main.html

@@ -47,19 +47,34 @@
         const container     = sId("scan-img");
         const ws_route      = "{{ ws_route }}";
         const use_tracking  = "{{ use_tracking }}" == "True";
+        const options = {
+            ts: sId("_ts"),
+            cx: sId("_cx"),
+            cy: sId("_cy"),
+            x : sId("_x"),
+            y : sId("_y"),
+            session: sId("_session"),
+            scan   : sId("_scan"),
+            halt   : sId("_halt"),
+            debug  : sId("_debug"),
+            median : sId("_median"),
+            crop   : sId("_crop"), 
+            speed_px_s  : sId("_speed_px_s"),
+            axial_speed : sId("_axial_speed"),
+            axial_pos   : sId("_axial_pos"),
+            area_px     : sId("_area_px"),
+            frame_count : sId("_count")
+        };                      
     </script>        
     <script src="/static/scanner/js/main.js"></script>
     <script>
-        // ---- Point d'entrée ----
+        const manager  = new ScannerManager(container, options);
-        (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);
-        })();
     </script>
 {% endblock %}