update the light library
also replaces smbus by smbus2 to allow for cleaner setups
This commit is contained in:
Romain Bazile
parent
156286a8da
commit
51ff3b7375
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@ -327,8 +327,7 @@ class ImagerProcess(multiprocessing.Process):
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# Publish the status "Interrupted" to via MQTT to Node-RED
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self.imager_client.client.publish("status/imager", '{"status":"Interrupted"}')
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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planktoscope.light.interrupted()
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# Change state to Stop
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self.__imager.change(planktoscope.imager_state_machine.Stop)
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@ -542,6 +541,9 @@ class ImagerProcess(multiprocessing.Process):
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def __pump_message(self):
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"""Sends a message to the pump process"""
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planktoscope.light.pumping()
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# Pump during a given volume
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self.imager_client.client.publish(
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"actuator/pump",
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@ -595,22 +597,15 @@ class ImagerProcess(multiprocessing.Process):
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f"The integrity file already exists in this export path {self.__export_path}"
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)
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# Set the LEDs as Blue
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planktoscope.light.setRGB(0, 0, 255)
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self.__pump_message()
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# FIXME We should probably update the global metadata here with the current datetime/position/etc...
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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# Change state towards Waiting for pump
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self.__imager.change(planktoscope.imager_state_machine.Waiting)
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def __state_capture(self):
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# Set the LEDs as Cyan
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planktoscope.light.setRGB(0, 255, 255)
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planktoscope.light.imaging()
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filename = f"{datetime.datetime.now().strftime('%H_%M_%S_%f')}.jpg"
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@ -638,13 +633,9 @@ class ImagerProcess(multiprocessing.Process):
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self.__img_done = 0
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# Change state towards stop
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self.__imager.change(planktoscope.imager_state_machine.Stop)
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 255)
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planktoscope.light.error()
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return
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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# Add the checksum of the captured image to the integrity file
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try:
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planktoscope.integrity.append_to_integrity_file(filename_path)
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@ -672,13 +663,10 @@ class ImagerProcess(multiprocessing.Process):
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# Change state towards done
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self.__imager.change(planktoscope.imager_state_machine.Stop)
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 255)
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planktoscope.light.ready()
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return
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else:
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# We have not reached the final stage, let's keep imaging
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# Set the LEDs as Blue
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planktoscope.light.setRGB(0, 0, 255)
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# subscribe to status/pump
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self.imager_client.client.subscribe("status/pump")
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@ -688,9 +676,6 @@ class ImagerProcess(multiprocessing.Process):
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self.__pump_message()
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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# Change state towards Waiting for pump
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self.__imager.change(planktoscope.imager_state_machine.Waiting)
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@ -8,13 +8,14 @@
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# Logger library compatible with multiprocessing
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from loguru import logger
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import subprocess # nosec
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# Library to send command over I2C for the light module on the fan
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try:
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import smbus2 as smbus
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except ModuleNotFoundError:
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subprocess.Popen("pip3 install smbus2".split(), stdout=subprocess.PIPE) # nosec
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except ModuleNotFoundError: # We need this to install the library on machine that do not have the module yet
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import subprocess # nosec
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subprocess.run("pip3 install smbus2".split()) # nosec
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import smbus2 as smbus
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import enum
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@ -57,11 +58,6 @@ class EffectColor(enum.IntEnum):
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################################################################################
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# LEDs functions
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################################################################################
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def i2c_update():
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# Update the I2C Bus in order to really update the LEDs new values
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subprocess.Popen("i2cdetect -y 1".split(), stdout=subprocess.PIPE) # nosec
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def setRGB(R, G, B):
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"""Update all LED at the same time"""
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try:
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@ -72,7 +68,6 @@ def setRGB(R, G, B):
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bus.write_byte_data(DEVICE_ADDRESS, Register.red, R & 0xFF)
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bus.write_byte_data(DEVICE_ADDRESS, Register.green, G & 0xFF)
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bus.write_byte_data(DEVICE_ADDRESS, Register.blue, B & 0xFF)
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# i2c_update()
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except Exception as e:
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logger.exception(f"An Exception has occured in the light library at {e}")
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@ -82,7 +77,6 @@ def setRGBOff():
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try:
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with smbus.SMBus(1) as bus:
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bus.write_byte_data(DEVICE_ADDRESS, Register.rgb_off, 0x00)
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# i2c_update()
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except Exception as e:
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logger.exception(f"An Exception has occured in the light library at {e}")
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@ -130,7 +124,6 @@ def ready():
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setRGBColor(bus, EffectColor.Green)
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setRGBSpeed(bus, 1)
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setRGBEffect(bus, Effect.Breathing)
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# i2c_update()
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def error():
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@ -138,7 +131,6 @@ def error():
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setRGBColor(bus, EffectColor.Red)
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setRGBSpeed(bus, 3)
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setRGBEffect(bus, Effect.Water)
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# i2c_update()
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def interrupted():
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@ -146,7 +138,6 @@ def interrupted():
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setRGBColor(bus, EffectColor.Yellow)
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setRGBSpeed(bus, 3)
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setRGBEffect(bus, Effect.Water)
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# i2c_update()
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def pumping():
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@ -154,7 +145,6 @@ def pumping():
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setRGBColor(bus, EffectColor.Blue)
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setRGBSpeed(bus, 3)
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setRGBEffect(bus, Effect.Water)
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# i2c_update()
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def focusing():
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@ -162,7 +152,6 @@ def focusing():
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setRGBColor(bus, EffectColor.Purple)
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setRGBSpeed(bus, 3)
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setRGBEffect(bus, Effect.Water)
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# i2c_update()
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def imaging():
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@ -170,7 +159,6 @@ def imaging():
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setRGBColor(bus, EffectColor.White)
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setRGBSpeed(bus, 1)
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setRGBEffect(bus, Effect.Breathing)
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# i2c_update()
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def segmenting():
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@ -178,7 +166,6 @@ def segmenting():
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setRGBColor(bus, EffectColor.Purple)
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setRGBSpeed(bus, 1)
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setRGBEffect(bus, Effect.Breathing)
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# i2c_update()
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# This is called if this script is launched directly
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@ -53,7 +53,6 @@
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# We can use collections.deque https://docs.python.org/3/library/collections.html#collections.deque
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import paho.mqtt.client as mqtt
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import json
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import planktoscope.light
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# Logger library compatible with multiprocessing
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from loguru import logger
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@ -117,8 +116,6 @@ class MQTT_Client:
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)
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# When connected, run subscribe()
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self.client.subscribe(self.topic)
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# Turn green the light module
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planktoscope.light.setRGB(0, 255, 0)
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@logger.catch
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# Run this function in order to subscribe to all the topics begining by actuator
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@ -60,7 +60,6 @@ class SegmenterProcess(multiprocessing.Process):
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if not os.path.exists(self.__objects_base_path):
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# create the path!
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os.makedirs(self.__objects_base_path)
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# Morphocut's pipeline will be created at runtime otherwise shit ensues
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logger.success("planktoscope.segmenter is initialised and ready to go!")
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@ -82,8 +81,7 @@ class SegmenterProcess(multiprocessing.Process):
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lambda p: os.path.splitext(os.path.basename(p))[0], abs_path
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)
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# Set the LEDs as Green
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morphocut.Call(planktoscope.light.setRGB, 0, 255, 0)
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morphocut.Call(planktoscope.light.segmenting())
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# Read image
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img = morphocut.image.ImageReader(abs_path)
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@ -143,9 +141,6 @@ class SegmenterProcess(multiprocessing.Process):
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mask, img_gray, min_area=1000, padding=10, warn_empty=name
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)
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# Set the LEDs as Purple
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morphocut.Call(planktoscope.light.setRGB, 255, 0, 255)
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# For an object, extract a vignette/ROI from the image
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roi_orig = morphocut.image.ExtractROI(img, regionprops, bg_color=255)
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@ -212,8 +207,6 @@ class SegmenterProcess(multiprocessing.Process):
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id_json,
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)
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# Set the LEDs as Green
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morphocut.Call(planktoscope.light.setRGB, 0, 255, 0)
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logger.info("Morphocut's Pipeline has been created")
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@logger.catch
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@ -287,6 +280,7 @@ class SegmenterProcess(multiprocessing.Process):
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try:
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self.__pipe.run()
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except Exception as e:
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planktoscope.light.error()
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logger.exception(f"There was an error in the pipeline {e}")
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logger.info(f"Pipeline has been run for {path}")
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else:
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@ -299,14 +293,7 @@ class SegmenterProcess(multiprocessing.Process):
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self.segmenter_client.client.publish(
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"status/segmenter", '{"status":"Done"}'
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)
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# Set the LEDs as White
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planktoscope.light.setRGB(255, 255, 255)
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# cmd = os.popen("rm -rf /home/pi/PlanktonScope/tmp/*.jpg")
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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planktoscope.light.ready()
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elif action == "stop":
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logger.info("The segmentation has been interrupted.")
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@ -315,6 +302,7 @@ class SegmenterProcess(multiprocessing.Process):
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self.segmenter_client.client.publish(
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"status/segmenter", '{"status":"Interrupted"}'
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)
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planktoscope.light.interrupted()
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elif action == "update_config":
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logger.error("We can't update the configuration while we are segmenting.")
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@ -269,13 +269,11 @@ class StepperProcess(multiprocessing.Process):
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"status/pump", '{"status":"Interrupted"}'
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)
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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planktoscope.light.ready()
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elif last_message["action"] == "move":
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logger.debug("We have received a move pump command")
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# Set the LEDs as Blue
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planktoscope.light.setRGB(0, 0, 255)
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planktoscope.light.pumping()
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if (
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"direction" not in last_message
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@ -315,13 +313,11 @@ class StepperProcess(multiprocessing.Process):
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"status/focus", '{"status":"Interrupted"}'
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)
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# Set the LEDs as Green
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planktoscope.light.setRGB(0, 255, 0)
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planktoscope.light.ready()
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elif last_message["action"] == "move":
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logger.debug("We have received a move focus command")
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# Set the LEDs as Yellow
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planktoscope.light.setRGB(255, 255, 0)
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planktoscope.light.focusing()
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if "direction" not in last_message or "distance" not in last_message:
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logger.error(
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@ -354,7 +350,6 @@ class StepperProcess(multiprocessing.Process):
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# If the command is "pump"
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if command == "pump":
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self.__message_pump(last_message)
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# If the command is "focus"
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elif command == "focus":
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self.__message_focus(last_message)
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@ -507,15 +502,18 @@ class StepperProcess(multiprocessing.Process):
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# check if a new message has been received
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self.treat_command()
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if self.pump_stepper.move():
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planktoscope.light.ready()
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self.actuator_client.client.publish(
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"status/pump",
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'{"status":"Done"}',
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)
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if self.focus_stepper.move():
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planktoscope.light.ready()
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self.actuator_client.client.publish(
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"status/focus",
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'{"status":"Done"}',
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)
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time.sleep(0.0001)
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logger.info("Shutting down the stepper process")
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self.actuator_client.client.publish("status/pump", '{"status":"Dead"}')
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self.actuator_client.client.publish("status/focus", '{"status":"Dead"}')
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