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Remove hardcoded camera locations

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also:
- Temporarily comment out CLI menu to make movement testing faster
- remove movement from config
This commit is contained in:
Blizzard Finnegan 2023-03-06 15:08:57 -05:00
parent fb79023fd4
commit cd0be06a9f
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GPG key ID: DE547EDF547DDA49
7 changed files with 179 additions and 300 deletions
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2
dependency-reduced-pom.xml
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@ -4,7 +4,7 @@
<groupId>org.baxter.disco</groupId> <groupId>org.baxter.disco</groupId>
<artifactId>ocr</artifactId> <artifactId>ocr</artifactId>
<name>Disco OCR Accuracy Over Life Testing</name> <name>Disco OCR Accuracy Over Life Testing</name>
<version>4.3.5</version> <version>4.3.6</version>
<description>Testing Discos for long-term accuracy, using automated optical character recognition.</description> <description>Testing Discos for long-term accuracy, using automated optical character recognition.</description>
<organization> <organization>
<name>Baxter International</name> <name>Baxter International</name>

2
pom.xml
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@ -3,7 +3,7 @@
<modelVersion>4.0.0</modelVersion> <modelVersion>4.0.0</modelVersion>
<groupId>org.baxter.disco</groupId> <groupId>org.baxter.disco</groupId>
<artifactId>ocr</artifactId> <artifactId>ocr</artifactId>
<version>4.3.5</version> <version>4.3.6</version>
<packaging>jar</packaging> <packaging>jar</packaging>
<name>Disco OCR Accuracy Over Life Testing</name> <name>Disco OCR Accuracy Over Life Testing</name>
<description>Testing Discos for long-term accuracy, using automated optical character recognition.</description> <description>Testing Discos for long-term accuracy, using automated optical character recognition.</description>

2
runScript.sh
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@ -1,2 +1,2 @@
#! /usr/bin/env sh #! /usr/bin/env sh
sudo java -jar discoTesting-4.3.5.jar 2>/dev/null sudo java -jar discoTesting-4.3.6.jar 2>/dev/null

255
src/main/java/org/baxter/disco/ocr/Cli.java
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@ -18,14 +18,14 @@ import java.util.concurrent.locks.ReentrantLock;
* classes). * classes).
* *
* @author Blizzard Finnegan * @author Blizzard Finnegan
* @version 1.6.1, 10 Feb. 2023 * @version 1.7.0, 06 Mar. 2023
*/ */
public class Cli public class Cli
{ {
/** /**
* Complete build version number * Complete build version number
*/ */
private static final String version = "4.3.5"; private static final String version = "4.3.6";
/** /**
* Currently saved iteration count. * Currently saved iteration count.
@ -55,11 +55,6 @@ public class Cli
*/ */
private static final int mainMenuOptionCount = 7; private static final int mainMenuOptionCount = 7;
/**
* Number of options currently available in the movement sub-menu.
*/
private static final int movementMenuOptionCount = 5;
/** /**
* Number of options currently available in the camera configuration sub-menu. * Number of options currently available in the camera configuration sub-menu.
*/ */
@ -90,70 +85,71 @@ public class Cli
ConfigFacade.init(); ConfigFacade.init();
int userInput = 0; //int userInput = 0;
ErrorLogging.logError("Initialising fixture movement. This will take a few moments, and may produce some temporary unnerving sounds from the motor. This is expected behaviour, and no damage is being done.");
MovementFacade.calibrate(); MovementFacade.calibrate();
do //do
{ //{
printMainMenu(); // printMainMenu();
userInput = (int)inputFiltering(inputScanner.nextLine()); // userInput = (int)inputFiltering(inputScanner.nextLine());
switch (userInput) // switch (userInput)
{ // {
case 1: // case 1:
println("Setting up cameras..."); // println("Setting up cameras...");
println("This may take a moment..."); // println("This may take a moment...");
configureCameras(); // configureCameras();
camerasConfigured = true; // camerasConfigured = true;
break; // break;
case 2: // case 2:
setDUTSerials(); // setDUTSerials();
break; // break;
case 3: // case 3:
setIterationCount(); // setIterationCount();
break; // break;
case 4: // case 4:
setActiveCameras(); // setActiveCameras();
break; // break;
case 5: // case 5:
if(!camerasConfigured) // if(!camerasConfigured)
{ // {
prompt("You have not configured the cameras yet! Are you sure you would like to continue? (y/N): "); // prompt("You have not configured the cameras yet! Are you sure you would like to continue? (y/N): ");
String input = inputScanner.nextLine().toLowerCase().trim(); // String input = inputScanner.nextLine().toLowerCase().trim();
if( input.isBlank() || input.charAt(0) != 'y' ) break; // if( input.isBlank() || input.charAt(0) != 'y' ) break;
else // else
ErrorLogging.logError("DEBUG: Potential for error: Un-initialised cameras."); // ErrorLogging.logError("DEBUG: Potential for error: Un-initialised cameras.");
} // }
serialsSet = true; // serialsSet = true;
for(String cameraName : OpenCVFacade.getCameraNames()) // for(String cameraName : OpenCVFacade.getCameraNames())
{ // {
if(ConfigFacade.getValue(cameraName,ConfigProperties.ACTIVE) != 0 && // if(ConfigFacade.getValue(cameraName,ConfigProperties.ACTIVE) != 0 &&
ConfigFacade.getSerial(cameraName) == null ) // ConfigFacade.getSerial(cameraName) == null )
serialsSet = false; // serialsSet = false;
} // }
if(!serialsSet) // if(!serialsSet)
{ // {
prompt("You have not set the serial numbers for your DUTs yet! Are you sure you would like to continue? (y/N): "); // prompt("You have not set the serial numbers for your DUTs yet! Are you sure you would like to continue? (y/N): ");
String input = inputScanner.nextLine().toLowerCase().trim(); // String input = inputScanner.nextLine().toLowerCase().trim();
if( input.isBlank() || input.charAt(0) != 'y' ) break; // if( input.isBlank() || input.charAt(0) != 'y' ) break;
else // else
ErrorLogging.logError("DEBUG: Potential for error: Un-initialised DUT Serial numbers."); // ErrorLogging.logError("DEBUG: Potential for error: Un-initialised DUT Serial numbers.");
} // }
runTests(); // runTests();
break; // break;
case 6: // case 6:
printHelp(); // printHelp();
break; // break;
case 8: // case 8:
break; // break;
default: // default:
//Input handling already done by inputFiltering() // //Input handling already done by inputFiltering()
} // }
} while (userInput != mainMenuOptionCount); //} while (userInput != mainMenuOptionCount);
} }
//If anything ever goes wrong, catch the error and exit //If anything ever goes wrong, catch the error and exit
@ -261,27 +257,6 @@ public class Cli
println("======================================"); println("======================================");
} }
/**
* Predefined print statements for the movement submenu.
*/
//private static void printMovementMenu()
//{
// println("\n\n");
// println("====================================");
// println("Movement Menu:");
// println("------------------------------------");
// println("Current Frequency: " + MovementFacade.getUserFrequency() + "KHz");
// println("Current Motor Time-out: " + MovementFacade.getTimeout());
// println("After " + (MovementFacade.getSlowFraction() * 100) + "% of the movement, motor speed will be " + MovementFacade.getSlowFactor() + "x slower.");
// println("------------------------------------");
// println("1. Change Frequency");
// println("2. Change Motor Time-out");
// println("3. Change Slow-down Point");
// println("4. Change Slow-down Amount");
// println("5. Exit");
// println("====================================");
//}
/** /**
* Pre-defined method for printing all available cameras in a menu * Pre-defined method for printing all available cameras in a menu
*/ */
@ -367,97 +342,6 @@ public class Cli
println("===================================="); println("====================================");
} }
/**
* Function for testing movement, and modifying hardware values
*/
private static void testMovement()
{
//Loop to allow multiple changes to device GPIO settings
MovementFacade.calibrate();
//do
//{
// println("Testing movement...");
// //MovementFacade.reset();
// MovementFacade.FinalState downwardMove = MovementFacade.goDown();
// switch(downwardMove)
// {
// case UNSAFE:
// ErrorLogging.logError("Movement warning!!! - Time-out too long, motor does not slow down before hitting limit switch. Consider setting this value to be lower.");
// break;
// case FAILED:
// ErrorLogging.logError("Movement warning!!! - Fixture did not hit lower limit switch. Consider changing frequency.");
// ErrorLogging.logError("Fixture movement configuration: Downward movement missed.");
// break;
// case SAFE:
// MovementFacade.FinalState returnMove = MovementFacade.goUp();
// switch(returnMove)
// {
// case UNSAFE:
// ErrorLogging.logError("Movement warning!!! - Time-out too long, motor does not slow down before hitting limit switch. Consider setting this value to be lower.");
// break;
// case FAILED:
// ErrorLogging.logError("Movement warning!!! - Fixture did not hit upper limit switch. Consider changing frequency.");
// ErrorLogging.logError("Fixture movement configuration: Return movement missed.");
// break;
// case SAFE:
// }
// }
// //printMovementMenu();
// userInput = (int)inputFiltering(inputScanner.nextLine());
// switch (userInput)
// {
// /*
// * Menu options:
// * 1. Change Frequency
// * 2. Change Motor Time-out
// * 3. Change slow-down point
// * 4. Change slow-down amount
// * 5. Exit
// */
// case 1:
// prompt("Input the desired frequency value (in KHz): ");
// int newFrequency = (int)inputFiltering(inputScanner.nextLine());
// if (newFrequency != -1)
// {
// //MovementFacade.setFrequency(newFrequency);
// break;
// }
// case 2:
// prompt("Input the desired time-out (in seconds): ");
// double newTimeout = inputFiltering(inputScanner.nextLine());
// if (newTimeout != -1)
// {
// //MovementFacade.setTimeout(newTimeout);
// break;
// }
// case 3:
// prompt("Input the desired percentage of travel to be slower: ");
// double newSlowFraction = inputFiltering(inputScanner.nextLine());
// if(newSlowFraction != -1)
// {
// newSlowFraction = newSlowFraction / 100;
// MovementFacade.setSlowFraction(newSlowFraction);
// break;
// }
// case 4:
// prompt("Input the desired speed reduction factor: ");
// double newSpeedReduceFactor = inputFiltering(inputScanner.nextLine());
// if(newSpeedReduceFactor != -1)
// {
// MovementFacade.setSlowFactor(newSpeedReduceFactor);
// break;
// }
// case movementMenuOptionCount:
// break;
// default:
// ErrorLogging.logError("User Input Error!!! - Invalid input.");
// }
//}
//while(userInput != movementMenuOptionCount);
//ConfigFacade.saveCurrentConfig();
}
/** /**
* Sub-function used to configure cameras. * Sub-function used to configure cameras.
*/ */
@ -802,7 +686,9 @@ public class Cli
*/ */
private static void close() private static void close()
{ {
ErrorLogging.logError("DEBUG: =================");
ErrorLogging.logError("DEBUG: PROGRAM CLOSING."); ErrorLogging.logError("DEBUG: PROGRAM CLOSING.");
ErrorLogging.logError("DEBUG: =================");
if(inputScanner != null) inputScanner.close(); if(inputScanner != null) inputScanner.close();
MovementFacade.closeGPIO(); MovementFacade.closeGPIO();
ErrorLogging.logError("DEBUG: END OF PROGRAM."); ErrorLogging.logError("DEBUG: END OF PROGRAM.");
@ -852,13 +738,6 @@ public class Cli
output = -1; output = -1;
} }
break; break;
case MOVEMENT:
if(output > movementMenuOptionCount)
{
invalidMovementMenuInput();
output = -1;
}
break;
case CAMERA: case CAMERA:
if(output > cameraMenuOptionCount) if(output > cameraMenuOptionCount)
{ {
@ -881,14 +760,6 @@ public class Cli
invalidMenuInput(mainMenuOptionCount); invalidMenuInput(mainMenuOptionCount);
} }
/**
* Prints a message when user inputs an invalid main menu value.
*/
private static void invalidMovementMenuInput()
{
invalidMenuInput(movementMenuOptionCount);
}
/** /**
* Prints a message when user inputs an invalid main menu value. * Prints a message when user inputs an invalid main menu value.
*/ */
@ -939,5 +810,5 @@ public class Cli
/** /**
* Enum of possible menus available * Enum of possible menus available
*/ */
private enum Menus { MAIN,MOVEMENT,CAMERA,OTHER; } private enum Menus { MAIN,CAMERA,OTHER; }
} }

49
src/main/java/org/baxter/disco/ocr/ConfigFacade.java
View file

@ -11,11 +11,9 @@ import java.nio.file.Path;
import java.nio.file.Paths; import java.nio.file.Paths;
import java.time.LocalDateTime; import java.time.LocalDateTime;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.Iterator;
//Apache Commons Configuration imports //Apache Commons Configuration imports
import org.apache.commons.configuration2.INIConfiguration; import org.apache.commons.configuration2.INIConfiguration;
import org.apache.commons.configuration2.SubnodeConfiguration;
import org.apache.commons.configuration2.builder.FileBasedConfigurationBuilder; import org.apache.commons.configuration2.builder.FileBasedConfigurationBuilder;
import org.apache.commons.configuration2.builder.fluent.Parameters; import org.apache.commons.configuration2.builder.fluent.Parameters;
@ -280,6 +278,7 @@ public class ConfigFacade
//********************************************** //**********************************************
//SAVE AND LOAD SETTINGS //SAVE AND LOAD SETTINGS
//********************************************** //**********************************************
//
/** /**
* Save current config to a user-defined file location. * Save current config to a user-defined file location.
@ -436,22 +435,10 @@ public class ConfigFacade
for(String sectionName : configSections) for(String sectionName : configSections)
{ {
Map<ConfigProperties,Double> savedSection = new HashMap<>(); Map<ConfigProperties,Double> savedSection = new HashMap<>();
String subSectionPrefix = "";
for(String cameraName : cameraNames) for(String cameraName : cameraNames)
{ {
if(sectionName.equals(cameraName)) if(!sectionName.equals(cameraName))
{ { saveSingleDefault(cameraName); }
subSectionPrefix = cameraName;
break;
}
}
//If an imported section fails, fallback to saving the default values to
//the given location
if(subSectionPrefix.equals(""))
{
ErrorLogging.logError("CONFIG LOAD ERROR!!! - Failed import from file. Setting default config.");
return saveDefaultConfig(filename);
} }
for(ConfigProperties configState : ConfigProperties.values()) for(ConfigProperties configState : ConfigProperties.values())
@ -485,4 +472,34 @@ public class ConfigFacade
* @return true if loaded successfully, otherwise false * @return true if loaded successfully, otherwise false
*/ */
public static boolean loadConfig() { return loadConfig(configFileLocation); } public static boolean loadConfig() { return loadConfig(configFileLocation); }
/**
* Save default values to a single camera's config.
*
* @param sectionName Name of the config section being saved to.
*
* @return false if error, else true
*/
private static boolean saveSingleDefault(String sectionName)
{
boolean output = false;
Map<ConfigProperties,Double> cameraConfig = new HashMap<>();
for(ConfigProperties property : ConfigProperties.values())
{
String propertyName = sectionName + "." + property.getConfig();
double propertyValue = property.getDefaultValue();
cameraConfig.put(property,propertyValue);
//ErrorLogging.logError("DEBUG: Attempting to save to config: ");
//ErrorLogging.logError("DEBUG: " + propertyName + ", " + propertyValue);
CONFIG_STORE.setProperty(propertyName,propertyValue);
}
configMap.put(sectionName,cameraConfig);
try
{
CONFIG_BUILDER.save();
output = true;
}
catch(Exception e){ ErrorLogging.logError(e); }
return output;
}
} }

142
src/main/java/org/baxter/disco/ocr/MovementFacade.java
View file

@ -20,45 +20,19 @@ import com.pi4j.io.pwm.PwmType;
* Currently missing Run switch compatibility. * Currently missing Run switch compatibility.
* *
* @author Blizzard Finnegan * @author Blizzard Finnegan
* @version 2.4.0, 01 Mar. 2023 * @version 3.0.0, 06 Mar. 2023
*/ */
public class MovementFacade public class MovementFacade
{ {
private static boolean exit = false;
/** /**
* Constructor for MovementFacade. * Boolean used to communicate with runSwitchThread to gracefully exit.
*
* @param LOCK A Lock object, used for interactions with
* the physical lock switch on the fixture.
*/ */
//public MovementFacade(Lock LOCK) private static boolean exit = false;
//{
// //ErrorLogging.logError("DEBUG: Starting lock thread...");
// runSwitchThread = new Thread(() ->
// {
// boolean unlock = false;
// while(!exit)
// {
// if(runSwitch.isOn())
// {
// ErrorLogging.logError("Run switch turned off!");
// while(!LOCK.tryLock())
// {}
// unlock = true;
// }
// else
// {
// //ErrorLogging.logError("Run switch on!");
// if(unlock)
// { LOCK.unlock(); unlock = false; }
// }
// //try{ Thread.sleep(100); } catch(Exception e) { ErrorLogging.logError(e); }
// }
// }, "Run switch monitor.");
// runSwitchThread.start();
// //ErrorLogging.logError("DEBUG: Lock thread started!");
//}
/**
* Thread that watches the physical Run switch on the device so that
* fixture movement can be stopped.
*/
private static Thread runSwitchThread; private static Thread runSwitchThread;
/** /**
@ -74,11 +48,6 @@ public class MovementFacade
*/ */
private static final int PWM_FREQ_CONVERT = 19200; private static final int PWM_FREQ_CONVERT = 19200;
/**
* Max allowed frequency by current fixture design.
*/
//private static int MAX_FREQUENCY = 175000;
/** /**
* Max allowed speed by current fixture design. * Max allowed speed by current fixture design.
* Motor appears to start acting erratically over 192kHz. * Motor appears to start acting erratically over 192kHz.
@ -108,7 +77,14 @@ public class MovementFacade
*/ */
private static final int TRAVEL_DIST = 30; private static final int TRAVEL_DIST = 30;
/**
* What percentage of the travel to slow down the motor.
*/
private static final double STEP_1 = 2/3; private static final double STEP_1 = 2/3;
/**
* What percentage of the travel to slow down the motor farther.
*/
private static final double STEP_2 = 5/6; private static final double STEP_2 = 5/6;
/** /**
@ -116,6 +92,9 @@ public class MovementFacade
*/ */
private static double SPEED = MIN_SPEED; private static double SPEED = MIN_SPEED;
/**
* Frequency fed to the PWM pin, which the motor controller converts into movement speed.
*/
private static int FREQUENCY = (int)(SPEED * PWM_FREQ_CONVERT); private static int FREQUENCY = (int)(SPEED * PWM_FREQ_CONVERT);
/** /**
@ -254,7 +233,7 @@ public class MovementFacade
if(unlock) if(unlock)
{ Cli.LOCK.unlock(); unlock = false; } { Cli.LOCK.unlock(); unlock = false; }
} }
//try{ Thread.sleep(100); } catch(Exception e) { ErrorLogging.logError(e); } try{ Thread.sleep(100); } catch(Exception e) { ErrorLogging.logError(e); }
} }
}, "Run switch monitor."); }, "Run switch monitor.");
runSwitchThread.start(); runSwitchThread.start();
@ -273,11 +252,9 @@ public class MovementFacade
motorDirection = outputBuilder("motorDirection", "Motor Direction", MOTOR_DIRECTION_ADDR); motorDirection = outputBuilder("motorDirection", "Motor Direction", MOTOR_DIRECTION_ADDR);
pistonActivate = outputBuilder("piston" , "Piston Activate", PISTON_ADDR); pistonActivate = outputBuilder("piston" , "Piston Activate", PISTON_ADDR);
//Initialise PWM object. This object is never used, //Initialise PWM object.
//as the PWM signal is simply a clock for the motor.
pwm = pwmBuilder("pwm","PWM Pin",PWM_PIN_ADDR); pwm = pwmBuilder("pwm","PWM Pin",PWM_PIN_ADDR);
//pwm.on(DUTY_CYCLE, FREQUENCY); //pwm.on(DUTY_CYCLE, FREQUENCY);
} }
/** /**
@ -378,27 +355,26 @@ public class MovementFacade
public static int resetArm() public static int resetArm()
{ {
int counter = 0; int counter = 0;
//ErrorLogging.logError("Setting minimum frequency of PWM..."); ErrorLogging.logError("DEBUG: Setting minimum frequency of PWM...");
//ErrorLogging.logError("Minimum frequency: " + MIN_FREQUENCY);
pwm.on(DUTY_CYCLE, MIN_FREQUENCY); pwm.on(DUTY_CYCLE, MIN_FREQUENCY);
if(upperLimit.isHigh()) if(upperLimit.isHigh())
{ {
//ErrorLogging.logError("Motor at highest point! Lowering to reset."); ErrorLogging.logError("DEBUG: Motor at highest point! Lowering to reset.");
motorDirection.low(); motorDirection.low();
//ErrorLogging.logError("Motor on!"); ErrorLogging.logError("DEBUG: Motor offset on.");
motorEnable.on(); motorEnable.on();
try{ Thread.sleep(500); } try{ Thread.sleep(500); }
catch (Exception e){ ErrorLogging.logError(e); } catch (Exception e){ ErrorLogging.logError(e); }
motorEnable.off(); motorEnable.off();
//ErrorLogging.logError("Motor off!"); ErrorLogging.logError("DEBUG: Motor offset off.");
} }
//ErrorLogging.logError("Moving motor to highest point."); ErrorLogging.logError("DEBUG: Moving motor to highest point.");
motorDirection.high(); motorDirection.high();
//ErrorLogging.logError("Motor on!"); ErrorLogging.logError("DEBUG: Motor return on.");
motorEnable.on(); motorEnable.on();
//ErrorLogging.logError("Is the upper limit switch reached? " + upperLimit.isHigh()); ErrorLogging.logError("DEBUG: Is the upper limit switch reached? " + upperLimit.isHigh());
while(!upperLimit.isHigh()) while(!upperLimit.isHigh())
{ {
try{ Thread.sleep(100); } try{ Thread.sleep(100); }
@ -406,7 +382,7 @@ public class MovementFacade
counter++; counter++;
} }
motorEnable.off(); motorEnable.off();
//ErrorLogging.logError("Motor returned after " + counter + " polls."); ErrorLogging.logError("DEBUG: Motor returned after " + counter + " polls.");
return counter; return counter;
} }
@ -418,10 +394,11 @@ public class MovementFacade
ErrorLogging.logError("Initial Calibration reset."); ErrorLogging.logError("Initial Calibration reset.");
resetArm(); resetArm();
ErrorLogging.logError("Coarse calibrating..."); ErrorLogging.logError("Coarse calibrating...");
SPEED = calib(1, MAX_SPEED, 1); SPEED = calib(3, MAX_SPEED, 1);
ErrorLogging.logError("Coarse calibrating..."); ErrorLogging.logError("Fine calibrating...");
SPEED = calib(SPEED,(SPEED+1),0.1); SPEED = calib(SPEED,(SPEED+1),0.1);
ErrorLogging.logError("Speed set to " + (SPEED - SPEED_BUFFER)); ErrorLogging.logError("Calibration complete!");
ErrorLogging.logError("DEBUG: Speed set to " + (SPEED - SPEED_BUFFER));
setSpeed(SPEED - SPEED_BUFFER); setSpeed(SPEED - SPEED_BUFFER);
} }
@ -436,39 +413,47 @@ public class MovementFacade
*/ */
private static double calib(double start, double max, double iterate) private static double calib(double start, double max, double iterate)
{ {
ErrorLogging.logError("Calibrating. Iterating from " + start + " to " + max + " in " + iterate + " steps."); ErrorLogging.logError("DEBUG: Calibrating. Iterating from " + start + " to " + max + " in " + iterate + " steps.");
//start -= iterate;
for(double i = start; i < max; i+=iterate) for(double i = start; i < max; i+=iterate)
{ {
//ErrorLogging.logError("Testing speed " + i + "..."); ErrorLogging.logError("DEBUG: Testing speed " + i + "...");
if(!setSpeed(i)) if(!setSpeed(i))
{ {
//ErrorLogging.logError("Speed set unsuccessfully! returning " + MIN_SPEED + "..."); ErrorLogging.logError("DEBUG: Speed set unsuccessfully! returning " + MIN_SPEED + "...");
return MIN_SPEED; return MIN_SPEED;
} }
//ErrorLogging.logError("Motor travelling down."); ErrorLogging.logError("DEBUG: Motor travelling down.");
motorDirection.low(); motorDirection.low();
//ErrorLogging.logError("Motor on!"); ErrorLogging.logError("DEBUG: Motor Frequency: " + FREQUENCY);
pwm.on(DUTY_CYCLE,FREQUENCY);
ErrorLogging.logError("DEBUG: Motor calibrate on.");
motorEnable.on(); motorEnable.on();
for(int j = 0; j < 5; j++) for(int j = 0; j < 20; j++)
{ {
try{ Thread.sleep(100); } try{ Thread.sleep(100); }
catch (Exception e){ ErrorLogging.logError(e); } catch (Exception e){ ErrorLogging.logError(e); }
if(lowerLimit.isHigh()) break; if(lowerLimit.isHigh())
{
ErrorLogging.logError("DEBUG: Breaking loop early!");
break;
}
} }
motorEnable.off(); motorEnable.off();
//ErrorLogging.logError("Motor off!"); ErrorLogging.logError("DEBUG: Motor calibrate off.");
if(upperLimit.isHigh()) if(upperLimit.isHigh())
{ {
ErrorLogging.logError("Motor faild to move! Returning " + (i - iterate)); ErrorLogging.logError("DEBUG: Upper limit is high = " + upperLimit.isHigh());
ErrorLogging.logError("DEBUG: Motor failed to move! Returning " + (i - iterate));
return i-iterate; return i-iterate;
} }
else else
{ {
//ErrorLogging.logError("Motor moved at speed " + i + ". Checking for errors."); ErrorLogging.logError("DEBUG: Motor moved at speed " + i + ". Checking for errors.");
if(resetArm() < 10 && i > 1.0) if(resetArm() < 10 && i > 3.0)
{ {
ErrorLogging.logError("Motor failed to move! Returning " + (i - iterate)); ErrorLogging.logError("DEBUG: Motor failed to move! Returning " + (i - iterate));
return i - iterate; return i - iterate;
} }
} }
@ -496,6 +481,7 @@ public class MovementFacade
} }
SPEED = newSpeed; SPEED = newSpeed;
FREQUENCY = (int)(SPEED * PWM_FREQ_CONVERT); FREQUENCY = (int)(SPEED * PWM_FREQ_CONVERT);
ErrorLogging.logError("DEBUG: Setting frequency to " + FREQUENCY);
pwm.on(DUTY_CYCLE, FREQUENCY); pwm.on(DUTY_CYCLE, FREQUENCY);
return output; return output;
} }
@ -504,11 +490,9 @@ public class MovementFacade
* Internal function to send the fixture to a given limit switch. * Internal function to send the fixture to a given limit switch.
* *
* Detects if the limit switch is active before activating motor. * Detects if the limit switch is active before activating motor.
* * Motor movement is written to slow down at {@link #STEP_1} and {@link #STEP_2}
* Motor slows down after timeout is halfway through, to protect hardware.
* *
* @param moveUp Whether to send the fixture up or down. (True = up, False = down) * @param moveUp Whether to send the fixture up or down. (True = up, False = down)
* @param timeout How long (in seconds) to wait before timing out.
* @return true if movement was successful; otherwise false * @return true if movement was successful; otherwise false
*/ */
private static FinalState gotoLimit(boolean moveUp) private static FinalState gotoLimit(boolean moveUp)
@ -536,28 +520,28 @@ public class MovementFacade
int POLL_COUNT = TRAVEL_TIME * TIME_CONVERSION; int POLL_COUNT = TRAVEL_TIME * TIME_CONVERSION;
int VEL_STEP_1 = (int)(STEP_1 * POLL_COUNT); int VEL_STEP_1 = (int)(STEP_1 * POLL_COUNT);
int VEL_STEP_2 = (int)(STEP_2 * POLL_COUNT); int VEL_STEP_2 = (int)(STEP_2 * POLL_COUNT);
//int mostlyThere = (int) (POLL_COUNT * slowFraction);
//int slowerSpeed = (int) (FREQUENCY / speedReduceFactor);
ErrorLogging.logError("Total Poll count: " + POLL_COUNT); ErrorLogging.logError("DEBUG: Total Poll count: " + POLL_COUNT);
ErrorLogging.logError("Transition 1: " + VEL_STEP_1); ErrorLogging.logError("DEBUG: Transition 1: " + VEL_STEP_1);
ErrorLogging.logError("Transition 2: " + VEL_STEP_2); ErrorLogging.logError("DEBUG: Transition 2: " + VEL_STEP_2);
ErrorLogging.logError("Travel time: " + TRAVEL_TIME); ErrorLogging.logError("DEBUG: Travel time: " + TRAVEL_TIME);
ErrorLogging.logError("Travel speed: " + SPEED); ErrorLogging.logError("DEBUG: Travel speed: " + SPEED);
ErrorLogging.logError("DEBUG: STEP_1: " + STEP_1);
ErrorLogging.logError("DEBUG: STEP_2: " + STEP_2);
motorEnable.on(); motorEnable.on();
for(int i = 0; i < (POLL_COUNT);i++) for(int i = 0; i < (POLL_COUNT);i++)
{ {
ErrorLogging.logError("Iteration " + i); ErrorLogging.logError("DEBUG: Iteration " + i);
try{ Thread.sleep(POLL_WAIT); } catch(Exception e){ ErrorLogging.logError(e); } try{ Thread.sleep(POLL_WAIT); } catch(Exception e){ ErrorLogging.logError(e); }
if(i >= VEL_STEP_1 && i < VEL_STEP_2) if(i >= VEL_STEP_1 && i < VEL_STEP_2)
{ {
output = FinalState.UNSAFE; output = FinalState.UNSAFE;
ErrorLogging.logError("Slow down!"); ErrorLogging.logError("DEBUG: Slowing down.");
pwm.on(DUTY_CYCLE, FREQUENCY / 2); pwm.on(DUTY_CYCLE, FREQUENCY / 2);
} }
else if(i >= VEL_STEP_2) else if(i >= VEL_STEP_2)
{ {
ErrorLogging.logError("Slow down more!"); ErrorLogging.logError("DEBUG: Slowing down more.");
pwm.on(DUTY_CYCLE, FREQUENCY / 4); pwm.on(DUTY_CYCLE, FREQUENCY / 4);
output = FinalState.SAFE; output = FinalState.SAFE;
} }

27
src/main/java/org/baxter/disco/ocr/OpenCVFacade.java
View file

@ -37,7 +37,7 @@ import java.util.List;
* Performs image capture, as well as image manipulation. * Performs image capture, as well as image manipulation.
* *
* @author Blizzard Finnegan * @author Blizzard Finnegan
* @version 2.0.1, 15 Feb. 2023 * @version 2.1.0, 06 Mar. 2023
*/ */
public class OpenCVFacade public class OpenCVFacade
{ {
@ -57,28 +57,35 @@ public class OpenCVFacade
* Width of the image created by the camera. * Width of the image created by the camera.
* !!See camera documentation before modifying!! * !!See camera documentation before modifying!!
*/ */
private static final int IMG_WIDTH = 3264; private static final int IMG_WIDTH = 800;
//Previously used code:
//private static final int IMG_WIDTH = 800;
/** /**
* Height of the image created by the camera. * Height of the image created by the camera.
* !!See camera documentation before modifying!! * !!See camera documentation before modifying!!
*/ */
private static final int IMG_HEIGHT = 2448; private static final int IMG_HEIGHT = 600;
//Previously used code:
//private static final int IMG_HEIGHT = 600;
/** /**
* FourCC code of the image created by the camera. * FourCC code of the image created by the camera.
* !!See camera documentation before modifying!! * !!See camera documentation before modifying!!
*/ */
private static final String CAMERA_CODEC = "mjpg"; private static final String CAMERA_CODEC = "mjpg";
/**
* Name of custom-created symlink for cameras.
* This configuration must be done manually on initial install.
*/
private static final String CAMERA_FILE_PREFIX = "video-cam-";
//Initial Camera creation //Initial Camera creation
static static
{ {
//Pis should already be configured to create this symlink. File devDirectory = new File("/dev");
newCamera("left", "/dev/video-cam1"); for(File cameraFile : devDirectory.listFiles(
newCamera("right","/dev/video-cam2"); (file) -> { return file.getName().contains(CAMERA_FILE_PREFIX); }))
{
String cameraName = cameraFile.getName().
substring(CAMERA_FILE_PREFIX.length());
newCamera(cameraName, cameraFile.getAbsolutePath());
}
} }
/** /**