Blizzard Finnegan
b2b05c50df
Remove speed from equation, attempt to debug calibration. This is the last shot at calibration. If the solution can't be found by 10am tomorrow, we revert to the old code.
814 lines
30 KiB
Java
814 lines
30 KiB
Java
package org.baxter.disco.ocr;
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//Standard imports
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import java.io.File;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import java.util.Scanner;
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import java.util.concurrent.locks.Lock;
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import java.util.concurrent.locks.ReentrantLock;
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/**
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* CLI for the Fixture.
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*
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* Creates a terminal-based user interface for the other
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* classes in this package (with the exception of Gui-related
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* classes).
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*
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* @author Blizzard Finnegan
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* @version 1.7.0, 06 Mar. 2023
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*/
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public class Cli
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{
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/**
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* Complete build version number
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*/
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private static final String version = "4.3.6";
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/**
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* Currently saved iteration count.
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*/
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private static int iterationCount = 10;
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/**
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* Scanner used for monitoring user input.
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* This is a global object, so that functions
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* can access it without requiring to pass the
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* object around.
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*/
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private static Scanner inputScanner;
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/**
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* Whether the user has set the serial numbers yet.
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*/
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private static boolean serialsSet = false;
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/**
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* Whether the user has successfully configured the cameras.
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*/
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private static boolean camerasConfigured = false;
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/**
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* Number of options currently available in the main menu.
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*/
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private static final int mainMenuOptionCount = 7;
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/**
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* Number of options currently available in the camera configuration sub-menu.
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*/
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private static final int cameraMenuOptionCount = 6;
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/**
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* Lock object, used for temporary interruption of {@link #runTests()}
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*/
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public static final Lock LOCK = new ReentrantLock();
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//private static Thread safeThread;
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//Start of program message; always runs first
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static
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{
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ErrorLogging.logError("START OF PROGRAM");
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}
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public static void main(String[] args)
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{
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//Beginning message to user
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ErrorLogging.logError("========================");
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ErrorLogging.logError("Accuracy Over Life Test");
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ErrorLogging.logError("Version: " + version);
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ErrorLogging.logError("========================");
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try{
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//inputScanner = new Scanner(System.in);
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//ConfigFacade.init();
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//int userInput = 0;
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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.");
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MovementFacade.calibrate();
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//do
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//{
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// printMainMenu();
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// userInput = (int)inputFiltering(inputScanner.nextLine());
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// switch (userInput)
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// {
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// case 1:
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// println("Setting up cameras...");
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// println("This may take a moment...");
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// configureCameras();
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// camerasConfigured = true;
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// break;
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// case 2:
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// setDUTSerials();
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// break;
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// case 3:
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// setIterationCount();
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// break;
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// case 4:
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// setActiveCameras();
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// break;
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// case 5:
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// if(!camerasConfigured)
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// {
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// prompt("You have not configured the cameras yet! Are you sure you would like to continue? (y/N): ");
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// String input = inputScanner.nextLine().toLowerCase().trim();
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// if( input.isBlank() || input.charAt(0) != 'y' ) break;
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// else
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// ErrorLogging.logError("DEBUG: Potential for error: Un-initialised cameras.");
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// }
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// serialsSet = true;
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// for(String cameraName : OpenCVFacade.getCameraNames())
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// {
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// if(ConfigFacade.getValue(cameraName,ConfigProperties.ACTIVE) != 0 &&
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// ConfigFacade.getSerial(cameraName) == null )
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// serialsSet = false;
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// }
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// if(!serialsSet)
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// {
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// prompt("You have not set the serial numbers for your DUTs yet! Are you sure you would like to continue? (y/N): ");
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// String input = inputScanner.nextLine().toLowerCase().trim();
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// if( input.isBlank() || input.charAt(0) != 'y' ) break;
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// else
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// ErrorLogging.logError("DEBUG: Potential for error: Un-initialised DUT Serial numbers.");
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// }
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// runTests();
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// break;
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// case 6:
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// printHelp();
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// break;
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// case 8:
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// break;
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// default:
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// //Input handling already done by inputFiltering()
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// }
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//} while (userInput != mainMenuOptionCount);
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}
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//If anything ever goes wrong, catch the error and exit
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catch(Exception e)
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{
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ErrorLogging.logError(e);
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ErrorLogging.logError("ERROR CAUGHT - CLOSING PROGRAM.");
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}
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//Always return the fixture back to the upper limit switch, close all open connections safely
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finally
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{
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close();
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}
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}
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/**
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* Wrapper around System.out.println().
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*
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* Because its easier to read, and less to type.
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*/
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private static void println(String input) { System.out.println(input); }
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/**
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* Wrapper around System.out.print().
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*
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* Because its easier to read, and less to type.
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*/
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private static void prompt(String input) { System.out.print(input); }
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/**
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* Wrapper around System.out.print().
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*
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* Because its easier to read, and less to type.
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*/
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private static void print(String input) { System.out.print(input); }
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/**
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* Prints a complete list of descriptions for all
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* available functions in the menu.
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*/
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private static void printHelp()
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{
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println("========================================");
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println("Explanations:");
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println("----------------------------------------");
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println("1. Test fixture movement: Make the " +
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"\n\tfixture move in all possible " +
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"\n\tdirections, to check range"+
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"\n\tof motion." +
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"\n\tAvailable variables to change:"+
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"\n\t\tPWM Frequency"+
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"\n\t\tMotor Time-out");
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println("----------------------------------------");
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println("2. Configure camera: Change values " +
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"\n\tfor the camera, to adjust image" +
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"\n\tfor use in OCR. Can modify"+
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"\n\tconfig file, if requested." +
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"\n\tAvailable variables to change:"+
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"\n\t\tCrop dimensions"+
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"\n\t\tComposite frame count"+
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"\n\t\tThreshold value");
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println("----------------------------------------");
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println("3. Set serial numbers: Set the serial " +
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"\n\tnumber for the device under test." +
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"\n\tThis is used in final data saving.");
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println("----------------------------------------");
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println("4. Change test iteration count:"+
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"\n\tChange the number of times to"+
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"\n\trun the tests of the device(s)"+
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"\n\tunder test.");
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println("----------------------------------------");
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println("5. Toggle active cameras: Change which cameras" +
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"\n\twill be used during Run Tests.");
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println("----------------------------------------");
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println("6. Run tests: Run tests, with defined"+
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"\n\tnumber of iterations. Uses"+
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"\n\tvalues defined in config file.");
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println("----------------------------------------");
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println("7. Help: Show this help page.");
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println("----------------------------------------");
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println("8. Exit: Close the program.");
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println("========================================");
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println("Press Enter to continue...");
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inputScanner.nextLine();
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}
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/**
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* Print function for the main menu.
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*/
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private static void printMainMenu()
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{
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println("\n\n");
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println("======================================");
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println("Main Menu:");
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println("--------------------------------------");
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println("Current iteration count: " + iterationCount);
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println("--------------------------------------");
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println("1. Configure camera");
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println("2. Set serial numbers");
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println("3. Change test iteration count");
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println("4. Toggle active cameras");
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println("5. Run tests");
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println("6. Help");
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println("7. Exit");
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println("======================================");
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}
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/**
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* Pre-defined method for printing all available cameras in a menu
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*/
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private static void printCameraMenu(List<String> cameraList)
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{
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println("Available cameras to configure:");
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println("------------------------------------");
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for(int index = 0; index < cameraList.size(); index++)
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{
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int humanIndex = index+1;
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String cameraName = (String)cameraList.get(index);
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println(humanIndex + " - " + cameraName);
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}
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println( (cameraList.size() + 1) + " - Exit to Main Menu");
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println("------------------------------------");
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}
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/**
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* Pre-defined method for printing all available cameras and the associated serials in a menu
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*/
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private static void printSerialMenu(List<String> cameraList)
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{
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println("Available serial numbers to set:");
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println("------------------------------------");
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for(int index = 0; index < cameraList.size(); index++)
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{
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int humanIndex = index+1;
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String cameraName = (String)cameraList.get(index);
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print(humanIndex + " - " + cameraName + " : ");
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if(ConfigFacade.getSerial(cameraName) != null)
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println(ConfigFacade.getSerial(cameraName));
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else
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println("");
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}
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println( (cameraList.size() + 1) + " - Exit to Main Menu");
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println("------------------------------------");
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}
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/**
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* Pre-defined method for printing all available cameras and the associated serials in a menu
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*/
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private static void printActiveToggleMenu(List<String> cameraList)
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{
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println("Available cameras to toggle:");
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println("------------------------------------");
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for(int index = 0; index < cameraList.size(); index++)
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{
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int humanIndex = index+1;
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String cameraName = (String)cameraList.get(index);
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print(humanIndex + " - " + cameraName + " : ");
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String activity = (ConfigFacade.getValue(cameraName, ConfigProperties.ACTIVE) != 0 ? "active" : "disabled");
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println(activity);
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}
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println( (cameraList.size() + 1) + " - Exit to Main Menu");
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println("------------------------------------");
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}
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/**
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* Pre-defined menu for printing camera configuration options
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*/
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private static void printCameraConfigMenu(String cameraName, double tesseractValue)
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{
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println("\n\n");
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println("====================================");
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println("Camera Config Menu:");
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println("------------------------------------");
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println("Current composite frame count: " +
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ConfigFacade.getValue(cameraName,ConfigProperties.COMPOSITE_FRAMES));
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println("Current threshold value: " +
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ConfigFacade.getValue(cameraName,ConfigProperties.THRESHOLD_VALUE));
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String cropValue = ((ConfigFacade.getValue(cameraName,ConfigProperties.CROP) != 0) ? "yes" : "no");
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println("Will the image be cropped? " + cropValue);
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String thresholdImage = ((ConfigFacade.getValue(cameraName,ConfigProperties.THRESHOLD) != 0) ? "yes" : "no");
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println("Will the image be thresholded? " + thresholdImage);
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println("Tesseract parsed value for camera " + cameraName + ": " + tesseractValue);
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println("------------------------------------");
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println("1. Change Crop Region");
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println("2. Change Composite Frame Count");
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println("3. Change Threshold Value");
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println("4. Toggle crop");
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println("5. Toggle threshold");
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println("6. Exit");
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println("====================================");
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}
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/**
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* Sub-function used to configure cameras.
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*/
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private static void configureCameras()
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{
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List<String> cameraList = new ArrayList<>(OpenCVFacade.getCameraNames());
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//Always wake the camera, to ensure that the image is useful
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MovementFacade.iterationMovement(true);
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double tesseractValue = 0.0;
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//Main camera config loop
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do
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{
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//Show the menu
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printCameraMenu(cameraList);
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//Pick a camera to configure
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int userInput;
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String cameraName = "";
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do
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{
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prompt("Enter a camera number to configure: ");
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userInput = (int)inputFiltering(inputScanner.nextLine());
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userInput--;
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} while (cameraList.size() < userInput && userInput < 0);
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//Leave do-while loop if the user asks to
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if(userInput == (cameraList.size())) break;
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else if(userInput < 0) continue;
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else cameraName = cameraList.get((userInput));
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//Single camera config loop
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do
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{
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//Press button twice, to make sure the DUT is awake
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MovementFacade.pressButton();
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try{ Thread.sleep(2000); } catch(Exception e){ ErrorLogging.logError(e); }
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MovementFacade.pressButton();
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try{ Thread.sleep(2000); } catch(Exception e){ ErrorLogging.logError(e); }
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//Show image
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File image = OpenCVFacade.showImage(cameraName);
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//Parse the image with Tesseract, to show user what the excel output will be
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tesseractValue = TesseractFacade.imageToDouble(image);
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//User input parsing
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ConfigProperties modifiedProperty = null;
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do
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{
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//list configurable settings
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printCameraConfigMenu(cameraName,tesseractValue);
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userInput = (int)inputFiltering(inputScanner.nextLine(),Menus.CAMERA);
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switch (userInput)
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{
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case 1:
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modifiedProperty = ConfigProperties.CROP_X;
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break;
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case 2:
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modifiedProperty = ConfigProperties.COMPOSITE_FRAMES;
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break;
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case 3:
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modifiedProperty = ConfigProperties.THRESHOLD_VALUE;
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break;
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case 4:
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modifiedProperty = ConfigProperties.CROP;
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break;
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case 5:
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modifiedProperty = ConfigProperties.THRESHOLD;
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break;
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case 6:
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modifiedProperty = ConfigProperties.PRIME;
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break;
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default:
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}
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} while(modifiedProperty == null);
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//Toggle threshold/crop
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if(modifiedProperty == ConfigProperties.THRESHOLD ||
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modifiedProperty == ConfigProperties.CROP)
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{
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double newValue = ConfigFacade.getValue(cameraName,modifiedProperty);
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newValue = Math.abs(newValue - 1);
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ConfigFacade.setValue(cameraName,modifiedProperty,newValue);
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}
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//Redefine crop points
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else if(modifiedProperty == ConfigProperties.CROP_X)
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{ OpenCVFacade.setCrop(cameraName); }
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//Modify number of composite frames, or threshold value
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else if(modifiedProperty == ConfigProperties.COMPOSITE_FRAMES ||
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modifiedProperty == ConfigProperties.THRESHOLD_VALUE)
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{
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prompt("Enter new value for this property (" + modifiedProperty.toString() + ": " +
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//Prompt is in int, as the ultimate values are cast
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//to int anyways, a decimal would be confusing
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(int)ConfigFacade.getValue(cameraName,modifiedProperty) + "): ");
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userInput = (int)inputFiltering(inputScanner.nextLine());
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ConfigFacade.setValue(cameraName,modifiedProperty,userInput);
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}
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//Exit loop
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else break;
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} while(true);
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} while(true);
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//Save the current config to the config file
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ConfigFacade.saveCurrentConfig();
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println("Configuration complete!");
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}
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/**
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* Sub-function used for defining the serial numbers of the devices under test
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*/
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private static void setDUTSerials()
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{
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//Get a list of available cameras
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List<String> cameraList = new ArrayList<>(OpenCVFacade.getCameraNames());
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//Main serial setting loop
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do
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{
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//Main menu
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printSerialMenu(cameraList);
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//Pick a camera to configure
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int userInput;
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String cameraName = "";
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do
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{
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prompt("Enter the camera you wish to set the serial of: ");
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userInput = (int)inputFiltering(inputScanner.nextLine());
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//Compensate for off-by-one errors
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userInput--;
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} while (cameraList.size() < userInput || userInput < 0);
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//Leave do-while loop if the user asks to
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if(userInput == (cameraList.size())) break;
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else cameraName = cameraList.get((userInput));
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//Save the serial number.
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//No parsing is ever done on this serial number.
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prompt("Enter the serial number you wish to use for this camera: ");
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ConfigFacade.setSerial(cameraName,inputScanner.nextLine());
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} while(true);
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}
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/**
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* CLI-level setter for {@link #iterationCount}
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*/
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private static void setIterationCount()
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{
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int input;
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do
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{
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prompt("Input the number of test iterations to complete: ");
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input = (int)inputFiltering(inputScanner.nextLine());
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} while(input == -1);
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iterationCount = input;
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}
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/**
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* Function to modify the currently active cameras
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*/
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private static void setActiveCameras()
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{
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//Get available cameras
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List<String> cameraList = new ArrayList<>(OpenCVFacade.getCameraNames());
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//Main loop
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do
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{
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//Print menu
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printActiveToggleMenu(cameraList);
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//Pick a camera to configure
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int userInput;
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String cameraName = "";
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do
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{
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prompt("Enter the camera you wish to toggle: ");
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userInput = (int)inputFiltering(inputScanner.nextLine());
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userInput--;
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} while (cameraList.size() < userInput || userInput < 0);
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//Leave do-while loop if the user asks to
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if(userInput == (cameraList.size())) break;
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else cameraName = cameraList.get((userInput));
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//Toggle whether the camera is active, at the config level
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double newValue = ConfigFacade.getValue(cameraName,ConfigProperties.ACTIVE);
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newValue = Math.abs(newValue - 1);
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ConfigFacade.setValue(cameraName,ConfigProperties.ACTIVE,newValue);
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} while(true);
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}
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/**
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* Starts running tests
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*/
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private static void runTests()
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{
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println("====================================");
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ErrorLogging.logError("Initialising tests...");
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//Bring the iteration count into the function as a final variable
|
|
//useful for multithreading, which isn't necessary in CLI
|
|
final int localIterations = iterationCount;
|
|
|
|
//Save whether to prime the devices; defaults to false
|
|
boolean prime = false;
|
|
|
|
//Create a List of *active* cameras.
|
|
List<String> cameraList = new ArrayList<>();
|
|
for(String cameraName : OpenCVFacade.getCameraNames())
|
|
{
|
|
prime = (ConfigFacade.getValue(cameraName,ConfigProperties.PRIME) != 0) || prime;
|
|
|
|
if(ConfigFacade.getValue(cameraName,ConfigProperties.ACTIVE) != 0)
|
|
{
|
|
cameraList.add(cameraName);
|
|
}
|
|
}
|
|
|
|
//Initialise the workbook, with the number of cameras and the final output location
|
|
DataSaving.initWorkbook(ConfigFacade.getOutputSaveLocation(),cameraList.size());
|
|
|
|
//Wake the device, then wait to ensure they're awake before continuing
|
|
ErrorLogging.logError("DEBUG: Waking devices...");
|
|
MovementFacade.pressButton();
|
|
try{ Thread.sleep(2000); } catch(Exception e){ ErrorLogging.logError(e); }
|
|
|
|
//Create final maps for result images, result values, and camera names
|
|
Map<File,Double> resultMap = new HashMap<>();
|
|
Map<String,File> cameraToFile = new HashMap<>();
|
|
|
|
//Initialise cameraToFile, so keys don't shuffle.
|
|
for(String cameraName : cameraList)
|
|
{
|
|
cameraToFile.put(cameraName,new File("/dev/null"));
|
|
}
|
|
|
|
ErrorLogging.logError("DEBUG: Starting tests...");
|
|
//Start actually running tests
|
|
//All portions of the test check with the GPIO Run/Pause switch before
|
|
//continuing, using the Lock object.
|
|
for(int i = 0; i < localIterations; i++)
|
|
{
|
|
println("");
|
|
ErrorLogging.logError("====================================");
|
|
ErrorLogging.logError("Starting iteration " + (i+1) + " of " + localIterations + "...");
|
|
|
|
//Loop the below if errors are created errors include
|
|
// - reading of LO on the DUT (Tesseract reads this generally as 1.0 or 117.0)
|
|
// - Failed reading from the DUT (Tesseract fails this reading, and TesseractFacade.imageToDouble() returns Double.NEGATIVE_INFINITY)
|
|
boolean fail = false;
|
|
do
|
|
{
|
|
fail = false;
|
|
//Move the fixture for one iteration, with whether or not the DUTs need to be primed
|
|
while(!LOCK.tryLock()) {}
|
|
MovementFacade.iterationMovement(prime);
|
|
LOCK.unlock();
|
|
|
|
//Wait for the DUT to display an image
|
|
try{ Thread.sleep(1500); } catch(Exception e){ ErrorLogging.logError(e); }
|
|
|
|
//For all available cameras:
|
|
// take an image, process it, and save it to a file
|
|
// put that file into the camera name file Map
|
|
for(String cameraName : cameraList)
|
|
{
|
|
while(!LOCK.tryLock()) {}
|
|
File file = OpenCVFacade.completeProcess(cameraName);
|
|
LOCK.unlock();
|
|
|
|
while(!LOCK.tryLock()) {}
|
|
cameraToFile.replace(cameraName,file);
|
|
LOCK.unlock();
|
|
}
|
|
|
|
//ONCE ALL IMAGES ARE CREATED
|
|
//Re-iterate over list of cameras, parse the images with Tesseract, then add
|
|
//the parsed value to the map
|
|
for(String cameraName : cameraList)
|
|
{
|
|
while(!LOCK.tryLock()) {}
|
|
File file = cameraToFile.get(cameraName);
|
|
LOCK.unlock();
|
|
while(!LOCK.tryLock()) {}
|
|
Double result = TesseractFacade.imageToDouble(file);
|
|
LOCK.unlock();
|
|
while(!LOCK.tryLock()) {}
|
|
resultMap.put(file,result);
|
|
ErrorLogging.logError("Tesseract final output: " + result);
|
|
LOCK.unlock();
|
|
if(result <= 10 ||
|
|
result >= 100 ||
|
|
result == Double.NEGATIVE_INFINITY)
|
|
{
|
|
MovementFacade.goUp();
|
|
try{ Thread.sleep(20000); }
|
|
catch(Exception e){ ErrorLogging.logError(e); }
|
|
MovementFacade.pressButton();
|
|
fail = true;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
while(fail);
|
|
|
|
//Write all given values to the Excel file
|
|
while(!LOCK.tryLock()) {}
|
|
DataSaving.writeValues(i,resultMap,cameraToFile);
|
|
LOCK.unlock();
|
|
|
|
//Clear the result map
|
|
//DO NOT CLEAR camera to file Map. This will change the order of the objects within it
|
|
resultMap.clear();
|
|
}
|
|
//Close the Excel workbook
|
|
DataSaving.closeWorkbook(cameraList.size());
|
|
//Alert the user to testing being complete
|
|
println("=======================================");
|
|
println("Testing complete!");
|
|
}
|
|
|
|
|
|
/**
|
|
* Function used if a config file was successfully imported.
|
|
*/
|
|
public static void configImported()
|
|
{ camerasConfigured = true; }
|
|
|
|
/**
|
|
* Function that closes GPIO and logging.
|
|
*/
|
|
private static void close()
|
|
{
|
|
ErrorLogging.logError("DEBUG: =================");
|
|
ErrorLogging.logError("DEBUG: PROGRAM CLOSING.");
|
|
ErrorLogging.logError("DEBUG: =================");
|
|
if(inputScanner != null) inputScanner.close();
|
|
MovementFacade.closeGPIO();
|
|
ErrorLogging.logError("DEBUG: END OF PROGRAM.");
|
|
ErrorLogging.closeLogs();
|
|
println("The program has exited successfully. Please press Ctrl-c to return to the terminal prompt.");
|
|
}
|
|
|
|
/**
|
|
* Parse the user's input at the main menu, and check it for errors.
|
|
*
|
|
* @param input The unparsed user input, directly from the {@link Scanner}
|
|
*/
|
|
private static double inputFiltering(String input)
|
|
{ return inputFiltering(input, Menus.OTHER); }
|
|
|
|
/**
|
|
* Parse the user's input, and check it for errors.
|
|
*
|
|
* @param input The unparsed user input, directly from the {@link Scanner}
|
|
* @param menu Which menu is being parsed
|
|
*
|
|
* @return The parsed value from the user. Returns -1 upon any error.
|
|
*/
|
|
private static double inputFiltering(String input, Menus menu)
|
|
{
|
|
double output = -1;
|
|
input.trim();
|
|
try(Scanner sc = new Scanner(input))
|
|
{
|
|
if(!sc.hasNextDouble())
|
|
{
|
|
invalidInput();
|
|
return output;
|
|
}
|
|
output = sc.nextDouble();
|
|
if(output < 0)
|
|
{
|
|
negativeInput();
|
|
output = -1;
|
|
}
|
|
switch (menu)
|
|
{
|
|
case MAIN:
|
|
if(output > mainMenuOptionCount)
|
|
{
|
|
invalidMainMenuInput();
|
|
output = -1;
|
|
}
|
|
break;
|
|
case CAMERA:
|
|
if(output > cameraMenuOptionCount)
|
|
{
|
|
invalidCameraMenuInput();
|
|
output = -1;
|
|
}
|
|
break;
|
|
case OTHER:
|
|
break;
|
|
}
|
|
}
|
|
return output;
|
|
}
|
|
|
|
/**
|
|
* Prints a message when user inputs an invalid main menu value.
|
|
*/
|
|
private static void invalidMainMenuInput()
|
|
{
|
|
invalidMenuInput(mainMenuOptionCount);
|
|
}
|
|
|
|
/**
|
|
* Prints a message when user inputs an invalid main menu value.
|
|
*/
|
|
private static void invalidCameraMenuInput()
|
|
{
|
|
invalidMenuInput(cameraMenuOptionCount);
|
|
}
|
|
|
|
/**
|
|
* Prints a message when user inputs an invalid menu value.
|
|
*/
|
|
private static void invalidMenuInput(int menuLength)
|
|
{
|
|
invalidInput("Please input a number from 1 to " + menuLength + ".");
|
|
}
|
|
|
|
/**
|
|
* Prints a response for when the user's input is negative.
|
|
*/
|
|
private static void negativeInput()
|
|
{
|
|
invalidInput("Please input a positive number.");
|
|
}
|
|
|
|
/**
|
|
* Prints a generic response when the user's input is invalid.
|
|
*/
|
|
private static void invalidInput()
|
|
{
|
|
invalidInput("Please input a valid number.");
|
|
}
|
|
|
|
/**
|
|
* Prints a defined response; used when user input is invalid.
|
|
*
|
|
* @param input Custom message to print in the error block.
|
|
*/
|
|
private static void invalidInput(String input)
|
|
{
|
|
ErrorLogging.logError("DEBUG: Invalid User Input!!! - Message to user: '" + input + "'");
|
|
println("");
|
|
println("=================================================");
|
|
println("Invalid input! - " + input);
|
|
println("=================================================");
|
|
println("");
|
|
}
|
|
|
|
/**
|
|
* Enum of possible menus available
|
|
*/
|
|
private enum Menus { MAIN,CAMERA,OTHER; }
|
|
}
|