Create mqtt_pump_focus_image.py

scripts/mqtt_pump_focus_image.py

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