Create mqtt_pump_focus_image.py
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tpollina
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scripts/mqtt_pump_focus_image.py
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178
scripts/mqtt_pump_focus_image.py
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import paho.mqtt.client as mqtt
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from picamera import PiCamera
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from datetime import datetime, timedelta
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import os
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from adafruit_motor import stepper
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from adafruit_motorkit import MotorKit
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from time import sleep
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################################################################################
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kit = MotorKit()
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pump_stepper = kit.stepper1
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pump_stepper.release()
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focus_stepper = kit.stepper2
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focus_stepper.release()
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################################################################################
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camera = PiCamera()
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camera.resolution = (3280, 2464)
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camera.iso = 60
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sleep(3)
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camera.shutter_speed = 100
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camera.exposure_mode = 'off'
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g = camera.awb_gains
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camera.awb_mode = 'off'
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camera.awb_gains = g
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nb_frame=200
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################################################################################
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message = ''
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topic = ''
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count=''
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################################################################################
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def on_connect(client, userdata, flags, rc):
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print("Connected! - " + str(rc))
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client.subscribe("actuator/#")
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def on_subscribe(client, obj, mid, granted_qos):
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print("Subscribed! - "+str(mid)+" "+str(granted_qos))
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def on_message(client, userdata, msg):
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print(msg.topic+" "+str(msg.qos)+" "+str(msg.payload))
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global message
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global topic
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global count
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message=str(msg.payload.decode())
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topic=msg.topic.split("/")[1]
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count=0
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def on_log(client, obj, level, string):
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print(string)
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################################################################################
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client = mqtt.Client()
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client.connect("127.0.0.1",1883,60)
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client.on_connect = on_connect
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client.on_subscribe = on_subscribe
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client.on_message = on_message
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client.on_log = on_log
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client.loop_start()
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################################################################################
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while True:
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################################################################################
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if (topic=="pump"):
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direction=message.split(" ")[0]
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flowrate=message.split(" ")[1]
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volume=message.split(" ")[2]
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nb_step=int(volume)*507
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duration=(int(volume)*60)/float(flowrate)
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delay=(duration/nb_step)-0.005
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client.publish("receiver/pump", "Start");
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while True:
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count+=1
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print(count,nb_step)
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print("pump_stepper.onestep(direction=+action+, style=stepper.DOUBLE")
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sleep(delay)
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if topic!="pump":
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pump_stepper.release()
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print("The pump has been interrompted.")
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client.publish("receiver/pump", "Interrompted");
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break
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if count>nb_step:
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pump_stepper.release()
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print("The pumping is done.")
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topic="wait"
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client.publish("receiver/pump", "Done");
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break
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################################################################################
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elif (topic=="focus"):
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direction=message.split(" ")[0]
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nb_step=int(message.split(" ")[1])
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client.publish("receiver/focus", "Start");
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while True:
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count+=1
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print(count,nb_step)
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print("stage.onestep(direction=+action+, style=stepper.microstep")
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sleep(0.001)
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if topic!="focus":
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pump_focus.release()
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print("The stage has been interrompted.")
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client.publish("receiver/focus", "Interrompted");
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break
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if count>nb_step:
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pump_focus.release()
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print("The focusing is done.")
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topic="wait"
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client.publish("receiver/focus", "Done");
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break
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################################################################################
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elif (topic=="image"):
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delay=int(message.split(" ")[0])
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volume_before=int(message.split(" ")[1])
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nb_frame=int(message.split(" ")[2])
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wait_duration=int(message.split(" ")[3])
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path=str(message.split(" ")[4])
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#sleep a duration before to start
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sleep(delay)
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client.publish("receiver/image", "Start");
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#flushing before to begin
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nb_step=int(volume)*507
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for i in range(nb_step):
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print("pump_stepper.onestep(direction=+action+, style=stepper.DOUBLE")
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time.sleep(0.01)
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directory = os.path.join(path, "PlanktonScope")
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os.makedirs(directory, exist_ok=True)
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path_date = os.path.join(directory, datetime.now().strftime("%m_%d_%Y"))
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os.makedirs(path_date, exist_ok=True)
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path_hour = os.path.join(path_date,datetime.now().strftime("%H"))
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os.makedirs(path_hour, exist_ok=True)
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while True:
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count+=1
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print(count,nb_frame)
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filename = os.path.join(path_hour,datetime.now().strftime("%M_%S_%f")+".jpg")
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camera.capture(filename)
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print("pump_stepper.onestep(direction=+action+, style=stepper.DOUBLE")
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if topic!="image":
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pump_focus.release()
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print("The imaging has been interrompted.")
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client.publish("receiver/image", "Interrompted");
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break
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if count>nb_frame:
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print("The imaging is done.")
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topic="wait"
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client.publish("receiver/image", "Done");
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break
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else:
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print("Waiting")
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sleep(1)
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