回転台

action_parser.py

@@ -72,6 +72,8 @@ def action_parser(raw_action: str):
           (action[1] == 'x' or action[1] == 'y' or action[1] == 'z') and \
           isfloat(action[2]): # NOTE: add velocity?
             action_list.append(action)
+        elif action[0] == 'rot' and len(action) == 2 and action[1].isdigit():
+            action_list.append(action)
         elif action[0] == 'shutter' and len(action) == 1:
             action_list.append(action)
         elif action[0] == 'sleep' and len(action) == 2 and isfloat(action[1]):

exec_actions.py

@@ -2,12 +2,23 @@
 import time
 import signal
 import subprocess
+from typing import Union
 
 from StackShot3X_API_for_Python.commdefs import *
 from action_parser import action_parser
 from StackShot3X_API_for_Python.stackshot_controller import StackShotController
-
-def exec_actions(stop_flag, raw_actions: str, controller: StackShotController, brackets: int, doFocusStacking: bool, doMetashape: bool, moveSpeedPercent: int, config):
+from rotationtable_controller import RotationTableController
+
+def exec_actions(
+        stop_flag,
+        raw_actions: str,
+        stackshot_controller: StackShotController,
+        rotationtable_controller: RotationTableController,
+        brackets: int,
+        doFocusStacking: bool,
+        doMetashape: bool,
+        moveSpeedPercent: int,
+        config):
     # validation and parse actions
     try:
         action_queue = action_parser(raw_actions)
@@ -31,9 +42,9 @@ def exec_actions(stop_flag, raw_actions: str, controller: StackShotController, b
 
     try:
         # send stop command in advance to prevent infinite move, 
-        controller.stop(RailAxis.X)
-        controller.stop(RailAxis.Y)
-        controller.stop(RailAxis.Z)
+        stackshot_controller.stop(RailAxis.X)
+        stackshot_controller.stop(RailAxis.Y)
+        stackshot_controller.stop(RailAxis.Z)
 
         # execute all actions
         for action in action_queue:
@@ -42,7 +53,7 @@ def exec_actions(stop_flag, raw_actions: str, controller: StackShotController, b
                 if stop_flag.value == 1: # true
                     return
 
-            # move axis
+            # move axis (StackShot)
             if action[0] == 'move':
                 axis = None
                 if action[1] == 'x':
@@ -52,21 +63,36 @@ def exec_actions(stop_flag, raw_actions: str, controller: StackShotController, b
                 elif action[1] == 'z':
                     axis = RailAxis.Z
 
-                controller.move_at_speed(axis, RailDir.FWD, float(action[2]), moveSpeedPercent/100.0)
+                stackshot_controller.move_at_speed(axis, RailDir.FWD, float(action[2]), moveSpeedPercent/100.0)
 
                 # wait for rail stop
-                while controller.get_status(axis) != RailStatus.IDLE:
+                while stackshot_controller.get_status(axis) != RailStatus.IDLE:
                     time.sleep(0.2)
 
+            # rotate (Rotation Table)
+            elif action[0] == 'rot':
+                ret = rotationtable_controller.set_speed(500) # TODO とりあえずハードコード。UI追加する？
+                if ret == False:
+                    print("Error in rotation table.")
+                while rotationtable_controller.get_status():
+                    time.sleep(0.1)
+
+                angle = int(action[1])
+                ret = rotationtable_controller.rotate(angle)
+                if ret == False:
+                    print("Error in rotation table.")
+                while rotationtable_controller.get_status():
+                    time.sleep(0.1)
+
             elif action[0] == 'sleep':
                 time.sleep(float(action[1]))
 
-            # shoot camera
+            # shoot camera (StackShot)
             elif action[0] == 'shutter':
-                controller.shutter(1, 1., 2.) # NOTE
+                stackshot_controller.shutter(1, 1., 2.) # NOTE
 
                 # wait for finish shutter
-                while controller.get_status(RailAxis.ANY) != RailStatus.IDLE:
+                while stackshot_controller.get_status(RailAxis.ANY) != RailStatus.IDLE:
                     time.sleep(0.2)
                 while len(os.listdir(image_src_folder)) < brackets:
                     time.sleep(0.2)

gui.py

@@ -21,6 +21,7 @@
 from StackShot3X_API_for_Python.stackshot_controller import StackShotController
 from action_parser import action_parser
 from exec_actions import exec_actions
+from rotationtable_controller import RotationTableController
 
 
 def isValidValue(s, min, max):
@@ -36,16 +37,16 @@ def isValidValue(s, min, max):
         return False
 
 
-def moveAxis(controller, axis, dir, dist, speedPercent):
+def moveAxis(stackshot_controller, axis, dir, dist, speedPercent):
     try:
-        controller.move_at_speed(axis, dir, dist, speedPercent / 100.0)
+        stackshot_controller.move_at_speed(axis, dir, dist, speedPercent / 100.0)
     except:
         # pass
         print('move')
 
-def stopAxis(controller, axis):
+def stopAxis(stackshot_controller, axis):
     try:
-        controller.stop(axis)
+        stackshot_controller.stop(axis)
     except:
         # pass
         print('stop')
@@ -85,19 +86,25 @@ def __init__(self):
         self.working_thread = None
         self.stop_flag = Value('i', 0) # 0: false, 1: true
 
-        # when start app, connect with StackShot3X
-        self.controller = StackShotController()
+        # connect with StackShot3X
+        self.stackshot_controller = StackShotController()
         try:
             print('connecting to Stackshot3X...')
-            self.controller.open()
-            self.working_thread = Thread(target=self.controller.get_status, args=(RailAxis.ANY,), daemon=True)
+            self.stackshot_controller.open()
+            self.working_thread = Thread(target=self.stackshot_controller.get_status, args=(RailAxis.ANY,), daemon=True)
             self.working_thread.start()
             self.working_thread.join(timeout=3)
             if self.working_thread.is_alive() == True:
                 raise RuntimeError("connection failed.")
         except Exception as excpt:
             print(excpt)
             exit()
+            return
+
+        # connect with RotationTable
+        self.rotationtable_controller = RotationTableController()
+        print('connecting to RotationTable...')
+        self.rotationtable_controller.start()
 
     # load config from config.ini
     def loadConfig(self):
@@ -147,7 +154,6 @@ def loadConfig(self):
             self.config.write(f)
             f.close()
 
-
     # select "Image Src Folder" PATH from file dialog and save to config
     def updateImageSrcFolder(self):
         file = QtWidgets.QFileDialog.getExistingDirectory()
@@ -211,22 +217,23 @@ def moveStackShot(self, dir: RailDir, dist: float):
         elif self.gui.zRadioButton.isChecked() == True:
             axis = RailAxis.Z
 
-        moveAxis(self.controller, axis, dir, dist, self.gui.speedPercent.value())
+        moveAxis(self.stackshot_controller, axis, dir, dist, self.gui.speedPercent.value())
         # wait for rail stop
-        while self.controller.get_status(axis) != RailStatus.IDLE:
+        while self.stackshot_controller.get_status(axis) != RailStatus.IDLE:
             time.sleep(0.2)
 
     # start action
     def startAction(self):
         print('start')
+
         self.saveBracketsAndSpeed()
 
         # set stop_flag to 0(false)
         with self.stop_flag.get_lock():
             self.stop_flag.value = 0 # false
 
         # create and thread to execute actions
-        self.working_thread = Thread(target=exec_actions, args=(self.stop_flag, self.gui.actionsPanel.toPlainText(), self.controller, self.gui.brackets.value(), self.gui.doFocusStacking.isChecked(), self.gui.doMetashape.isChecked(), self.gui.speedPercent.value(), self.config), daemon=True)
+        self.working_thread = Thread(target=exec_actions, args=(self.stop_flag, self.gui.actionsPanel.toPlainText(), self.stackshot_controller, self.rotationtable_controller, self.gui.brackets.value(), self.gui.doFocusStacking.isChecked(), self.gui.doMetashape.isChecked(), self.gui.speedPercent.value(), self.config), daemon=True)
         self.working_thread.start()
 
     # stop in progress action
@@ -249,10 +256,12 @@ def closeEvent(self, event: QtGui.QCloseEvent):
         # after stop all axis, disconnect from StackShot3X
         try:
             print('discoonnecting from Stackshot3X...')
-            self.controller.stop(RailAxis.X)
-            self.controller.stop(RailAxis.Y)
-            self.controller.stop(RailAxis.Z)
-            self.controller.close()
+            self.stackshot_controller.stop(RailAxis.X)
+            self.stackshot_controller.stop(RailAxis.Y)
+            self.stackshot_controller.stop(RailAxis.Z)
+            self.stackshot_controller.close()
         except Exception as excpt:
             print(excpt)
             return
+
+        self.rotationtable_controller.end()

rotationtable_controller.py

@@ -0,0 +1,173 @@
+from serial import Serial
+from serial.tools import list_ports
+from threading import Thread
+from time import sleep
+
+
+class RotationTableController():
+    def __init__(self):
+        self.port=''
+        self.baud = 115200
+        self.ser = None
+        self.isConnect = False
+        self.isStart=False
+
+    def start(self):
+        if self.isStart:return
+        self.isStart=True
+        Thread(target=self.connectin_loop,daemon=True).start()
+
+    def end(self):
+        if not self.isStart:return
+
+        self.isStart=False
+
+        if self.isConnect:
+            self.ser.close()
+            self.ser=None
+            self.port=''
+            self.isConnect=False
+
+    #シリアルポートにコマンドを送って反応を見る
+    def chk_connection(self,port:str):
+        try:
+            ser = Serial(port,self.baud,timeout=1.0,write_timeout=0.1,inter_byte_timeout=0.1)
+            cmd='ping\r\n'#死活確認コマンド
+            ser.write(cmd.encode())
+            sleep(0.1)
+            res = ser.read_all()
+            ser.close()
+            if res.decode().rsplit('\r\n')[1]=='True':
+                return True
+            else:
+                return False
+        except:
+            return False
+
+    #シリアルの接続監視
+    #制御基板との接続を検出して自動接続する
+    def connectin_loop(self):
+        while self.isStart:
+            #Comポートのリスト生成
+            ports = list_ports.comports()
+            devices = [info.device for info in ports]
+            #print(devices)
+            if self.isConnect:#切断されたポートがないかチェック
+                sleep(0.1)
+                if not self.port in devices:
+                    print('disconnect',self.port)
+                    self.port=''
+                    self.isConnect=False
+                else:
+                    continue
+
+            #それぞれのポートに接続してテーブル制御ポートを見つける
+            for port in devices:
+                if self.chk_connection(port):
+                    self.port=port
+                    break
+
+            #接続
+            if self.port != '':
+                print('connect',self.port)
+                self.ser = Serial(self.port,self.baud,timeout=1.0)
+                self.isConnect=True
+
+
+    #コマンド送信
+    def send_cmd(self,cmd:str):
+        #print(cmd)
+        self.ser.reset_output_buffer()
+        self.ser.reset_input_buffer()
+        self.ser.write(cmd.encode())
+        sleep(0.2)
+        res = self.ser.read_all()
+        #print(res)
+        try:
+            ret = eval(res.decode().rsplit('\r\n')[1])
+        except:
+            ret=False
+
+        return ret
+
+
+    #回転指令 指定した角度分テーブルを回転する
+    #引数　回転角度[deg] 値をマイナスにすると逆回転
+    #戻り値　正常:True 異常:False
+    def rotate(self,deg:float):
+        if not self.isConnect:
+            return False      
+
+        cmd = f'rot:{deg}\r\n'
+
+        return self.send_cmd(cmd)
+
+    #停止指令　テーブルの回転を即座に停止させる
+    #戻り値　正常:True 異常:False
+    def stop(self):
+        if not self.isConnect:
+            return False      
+
+        cmd = 'stop\r\n'
+
+        return self.send_cmd(cmd)
+
+    #速度変更指令　テーブルの回転速度を変更する（テーブル回転中は変更不可）
+    #引数　回転速度[Hz] 1~25000[Hz] 周波数が高いほど速度が速くなる
+    #戻り値　正常:True 異常:False
+    def set_speed(self,speed:int):
+        if not self.isConnect:
+            return False
+
+        if 0>speed:
+            return False
+
+        speed_us = int(1/speed * 1000000)
+
+        cmd = f'set_speed:{speed_us}\r\n'
+
+        return self.send_cmd(cmd)
+
+    #加速度変更　テーブルの回転加速度を変更する（テーブル回転中は変更不可）
+    #引数　0で最大加速度、値を大きくすると加速度が小さくなり台形制御になる
+    #戻り値　正常:True 異常:False
+    def set_acc(self,acc:int):
+        if not self.isConnect:
+            return False
+
+        cmd = f'set_acc:{acc}\r\n'
+
+        return self.send_cmd(cmd)
+
+    #移動ステータス　テーブルの動作状態を取得する　
+    #戻り値　移動中:True 停止中/異常:False
+    def get_status(self):
+        if not self.isConnect:
+            return False
+
+        cmd = 'get_mov\r\n'
+
+        return self.send_cmd(cmd)        
+
+    #####以下開発用コマンドにつき通常は使用しない######
+    #テーブル回転のパラメータ設定
+    #引数 テーブル1回転のパルス数設定
+    #戻り値　正常:True 異常:False
+    def set_step_per_rev(self,step:int):
+        if not self.isConnect:
+            return False
+
+        cmd = f'set_step:{step}\r\n'
+
+        return self.send_cmd(cmd)
+
+    #パルス出力ピン設定（設定後に再起動必要）
+    #引数　pin番号(基板pin)：0(6), 1(5), 2(8), 3(10), 4(9), 6(4), 7(5), 26(0), 27(1), 28(2), 29(3)
+    #戻り値　正常:True 異常:False
+    def set_pin_config(self,pls_pin:int,dir_pin:int):
+        if not self.isConnect:
+            return False
+
+        cmd = f'set_pin:{pls_pin},{dir_pin}\r\n'
+
+        return self.send_cmd(cmd)