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main.py
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main.py
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import time
from cv2 import *
import cv2
import numpy as np
from socketIO_client import SocketIO
import sys
import RPi.GPIO as GPIO
import random
import yaml
#z -34 other, -37 motor,
#mm location of lid
xlid = 50
ylid = 140
#mm location of image
xcam = 100
ycam = 126
camd = 104
#pixel dimen of image
wpic = 472
hpic = 302
#mm to pixel ratio
k = 43/94
#mm location and amount of bins
ybin = 115
cam = VideoCapture(0)
step = 1
type = -1
loop = 0
status = 'na'
partList = [1,2,3,4]
coords = (0,0)
GPIO.setmode(GPIO.BOARD)
motorE = 18
pumpA = 16
sol = 12
GPIO.setup(motorE,GPIO.OUT)
GPIO.setup(pumpA,GPIO.OUT)
GPIO.setup(sol,GPIO.OUT)
GPIO.output(motorE,GPIO.LOW)
GPIO.output(pumpA,GPIO.LOW)
GPIO.output(sol,GPIO.LOW)
#Activate Enables
GPIO.output(motorE,GPIO.HIGH)
def callback(*args):
print(args);
# if not Worker, throw exception
if(args[0] != 'Worker'):
print('[ERROR] Handshake Unsuccessful. Killing process')
raise ValueError('Server did not accept handshake')
print('[INFO] Handshake Successful. Starting as Worker Node')
socketIO = SocketIO('localhost', 8000)
# Start handshake
try:
print('[INFO] Sending Handshake Packet')
socketIO.emit('handShake', {"clientType": 1}, callback)
socketIO.wait_for_callbacks(seconds=1) # wait for response packet
except Exception as e:
sys.exit(e);
def on_start(*args):
global step
global loop
if (loop==0):
random.shuffle(partList)
step = 2
#Move to take pic
imgloc = "G1 X"+str(xcam)+" Y"+str(ycam)+" F2500"
socketIO.emit('chadMove', { "line": imgloc})
#time.sleep(1)
socketIO.on('machineStatus', on_machine_status)
def phaseTwo():
global step
global type
global loop
global i
global xbin
step = 3
s, frame = cam.read()
undistort(frame)
img2 = cv2.imread('images/mainPic.jpg',0)
method = cv2.TM_CCOEFF_NORMED;
LU = (103,87)
RU = (329, 84)
LD = (106, 210)
ALU = (56, 61)
ARU = (154, 61)
ALD = (56, 13)
myTuple = (LU, RU, LD, ALU, ARU, ALD)
if (loop>3):
print ("Nothing Left, Going Home!")
socketIO.emit('chadMove', { "line": "G1 X0 Y0 F2500"});
socketIO.emit('done');
GPIO.output(motorE,GPIO.LOW)
GPIO.output(pumpA,GPIO.LOW)
GPIO.output(sol,GPIO.LOW)
GPIO.cleanup()
sys.exit()
elif (partList[loop] == 1):
type = 1
xbin = 155
coords = findBattery(img2, method, myTuple)
elif (partList[loop] == 2):
type = 2
xbin = 95
coords = findCircuitboard(img2, method, myTuple)
elif (partList[loop] == 3):
type = 3
xbin = 50
coords = findSounddriver(img2, method, myTuple)
elif (partList[loop] == 4):
type = 4
xbin = 5
coords = findMotor(img2, method, myTuple)
socketIO.emit('bundle', {'loop': loop, 'event': 0, 'type': type})
print ("Component Type: {}".format(type))
print (*partList)
print ("Loop "+str(loop))
xp = coords[0] #change
yp = coords[1] #change
print("pixel: "+str(xp)+", "+str(yp))
if (type==1):
#X = 106
#Y = 27
Z = -35.5
#xoff = 13
#yoff = 20
elif (type==2):
#X = 115
#Y = 57
Z = -35
#xoff = 12
#yoff = 11
elif (type==3):
#X = 73
#Y = 54
Z = -35
#xoff = 17
#yoff = 13
elif (type==4):
#X = 64
#Y = 31
Z = -37
#xoff = 17
#yoff = 18
#X = (xcam-(wpic*k)/2+xp*k)-xoff
#Y = (ycam-camd+(hpic*k)/2-yp*k)-yoff
#Y = ycam-camd-(hpic*k)/2+(hpic-yp)*k
#Y = ycam-camd-(hpic*k)/2+yp*k
X = coords[0] - 1;
Y = coords[1] + 1;
gmove = "G1 X" + str(X) + " Y" + str(Y) + " F2500"
print ("Component is at: ")
print (gmove)
if (X<0) or (Y<0):
step = 2
loop+=1
phaseTwo()
else:
socketIO.emit('bundle', {'loop': loop, 'event': 1, 'type': type})
socketIO.emit('chadMove', { "line": gmove })
socketIO.emit('chadMove', { "line": "G1 Z"+str(Z)+" F1500" })
time.sleep(1)
socketIO.on('machineStatus', on_machine_status)
def on_machine_status(*args):
global step
global status
print("current: "+args[0]['status'])
print("previous: "+status)
if(args[0]['status'] == 'Idle') and (status == 'Run'):
socketIO.off('machineStatus')
status = 'na'
if (step==1):
global loop
GPIO.output(sol,GPIO.HIGH)
GPIO.output(pumpA,GPIO.LOW)
time.sleep(1)
GPIO.output(sol,GPIO.LOW)
socketIO.emit('bundle', {'loop': loop, 'event': 4, 'type': type})
loop += 1
on_start()
elif (step==2):
phaseTwo()
elif (step==3):
phaseThree()
else:
status = args[0]['status']
def phaseThree():
global step
global type
global loop
global xbin
step = 1
GPIO.output(pumpA,GPIO.HIGH)
time.sleep(.5)
#if loop == 0:
#time.sleep(1.5)
socketIO.emit('bundle', {'loop': loop, 'event': 2, 'type': type})
#xbin = (type*160)/numbins - 160/(2*numbins)
gbin = "G1 X" + str(xbin) + " Y" + str(ybin) + " F2500"
print ("Bin is at: ")
print (gbin)
socketIO.emit('bundle', {'loop': loop, 'event': 3, 'type': type})
socketIO.emit('chadMove', { "line": "G1 Z0 F1500" })
socketIO.emit('chadMove', { "line": gbin});
time.sleep(1)
socketIO.on('machineStatus', on_machine_status)
def on_end():
print("Something's Wrong! STOP!")
GPIO.output(motorE,GPIO.LOW)
GPIO.output(pumpA,GPIO.LOW)
GPIO.output(sol,GPIO.LOW)
GPIO.cleanup()
sys.exit()
def undistort(frame):
with open('data.yaml', 'r') as a:
doc = yaml.load(a)
newmtx = doc["camera_matrix"]
newdist = doc["dist_coeff"]
img = frame
h, w = img.shape[:2]
newcameramtx, roi=cv2.getOptimalNewCameraMatrix(newmtx,newdist,(w,h),1,(w,h))
#---undistort
mapx,mapy = cv2.initUndistortRectifyMap(newmtx,newdist,None,newcameramtx,(w,h),5)
dst = cv2.remap(img,mapx,mapy,cv2.INTER_LINEAR)
# crop the image
x,y,w,h = roi
result = dst[y:y+h, x:x+w]
result = cv2.flip(result,0)
result = cv2.flip(result,1)
cv2.imwrite('images/mainPic.jpg', result)
def convPixel(myTuple, pixLoc):
k1 = (myTuple[4][0] - myTuple[3][0]) / (myTuple[1][0] - myTuple[0][0])
k2 = (myTuple[3][1] - myTuple[5][1]) / (myTuple[2][1] - myTuple[0][1])
realX = (int)((pixLoc[0] - myTuple[0][0])*k1 + myTuple[3][0])
realY = (int)(myTuple[3][1] - (pixLoc[1] - myTuple[0][1])*k2)
location = (realX, realY);
return location;
def rotation(img):
img = cv2.transpose(img)
img = cv2.flip(img, 1)
return img
def findLocation(template, img, method):
'''rotates through all 4 orientation of template
returns a tuple of : (location coordinate,
camera picture with rectangle and dot,
image of the template at the correct orientation)
'''
success = True
max = -1.0
for i in range (0,4):
#cv2.imshow('template', template)
w, h = template.shape[::-1]
res = cv2.matchTemplate(img,template,method)
min_value, max_value, min_location, max_location = cv2.minMaxLoc(res)
if max < max_value:
max = max_value
save = template
rectValue = (min_value, max_value, max_location, w, h);
template = rotation(template)
i+=1
min_val, max_val, max_loc, w, h = rectValue
print(min_val, max_val)
top_left = max_loc
bottom_right = (top_left[0] + w, top_left[1] + h)
img = cv2.cvtColor(img, cv2.COLOR_GRAY2RGB)
cv2.imwrite('lazybum.jpg',img)
location = ((int)(top_left[0]+w/2), (int) (top_left[1]+h/2))
cv2.rectangle(img,top_left, bottom_right, (0,0,255), 5)
cv2.circle(img, location, 3, (0,255,0), 2)
#cv2.imshow('window1',img)
#displayImg(save,img)
result = (location, save, img, max_val);
return result
def findBattery(img2, method, myTuple):
template = cv2.imread('images/battery.jpg',0)
img = img2.copy()
location, save, img, success = findLocation(template,img, method)
cv2.imwrite('grblweb/images/BatteryRect.jpg', img)
cv2.imwrite('batteryTemp.jpg', save)
realLoc = convPixel(myTuple, location)
if (success < 0.6):
return (-1,-1)
return realLoc
def findCircuitboard(img2, method, myTuple):
template = cv2.imread('images/circuitboard.jpg',0)
img = img2.copy()
location, save, img, success = findLocation(template,img, method)
cv2.imwrite('grblweb/images/CircuitboardRect.jpg', img)
cv2.imwrite('CircuitboardTemp.jpg', save)
realLoc = convPixel(myTuple, location)
return realLoc
def findSounddriver(img2, method, myTuple):
template = cv2.imread('images/sounddriver.jpg',0)
img = img2.copy()
location, save, img, success = findLocation(template,img, method)
cv2.imwrite('grblweb/images/SounddriverRect.jpg', img)
cv2.imwrite('SounddriverTemp.jpg', save)
realLoc = convPixel(myTuple, location)
return realLoc
def findMotor(img2, method, myTuple):
template = cv2.imread('images/motor.jpg',0)
img = img2.copy()
location, save, img, success = findLocation(template,img, method)
cv2.imwrite('grblweb/images/MotorRect.jpg', img)
cv2.imwrite('MotorTemp.jpg', save)
realLoc = convPixel(myTuple, location)
return realLoc
socketIO.on('start', on_start)
socketIO.on('end', on_end)
#socketIO.on('manualPump', on_pump);
socketIO.wait()