planktoscope/scripts/mqtt_pump_focus_image.py
2020-01-30 19:42:39 -08:00

179 lines
5.5 KiB
Python

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)