Oi sensor

See merge request !49

oi-sensor/oi-sensor.py

@@ -16,6 +16,20 @@ import numpy as np
 import asyncio
 import logging
 from asyncua import Server
+import argparse
+
+SLEEP_DURATION = 10e-3 # 10 milliseconds
+
+# command line handling
+parser = argparse.ArgumentParser(description='Run optical inspection OPC UA server.')
+a = parser.add_argument
+a('--ipv4', help='The IPv4 address on which the OPC UA server runs', default="0.0.0.0")
+a('--port', help='The port on which the OPC UA server runs', default="4840")
+a('--camera', help='The index of the camera (i.e. indxed in /dev/videoX)', default=0)
+args = parser.parse_args()
+ipv4 = args.ipv4
+port = args.port
+camera = int(args.camera)
 
 def nothing(x):
     # any operation
@@ -26,7 +40,7 @@ async def main():
     # setup our server
     server = Server()
     await server.init()
-    server.set_endpoint("opc.tcp://0.0.0.0:4840/freeopcua/server/")
+    server.set_endpoint("opc.tcp://%s:%s/freeopcua/server/" %(ipv4, port))
 
     # set up our own namespace, not really necessary but should as spec
     uri = "http://examples.freeopcua.github.io"
@@ -38,22 +52,23 @@ async def main():
     await myvar.set_writable()
 
     # init camera
-    cap = cv2.VideoCapture(0)
+    cap = cv2.VideoCapture(camera)
     cv2.namedWindow("Trackbars")
     cv2.createTrackbar("L-H", "Trackbars", 0, 180, nothing)
     cv2.createTrackbar("L-S", "Trackbars", 0, 255, nothing)
-    cv2.createTrackbar("L-V", "Trackbars", 3, 255, nothing)
-    cv2.createTrackbar("U-H", "Trackbars", 39, 180, nothing)
-    cv2.createTrackbar("U-S", "Trackbars", 155, 255, nothing)
-    cv2.createTrackbar("U-V", "Trackbars", 148, 255, nothing)
+    cv2.createTrackbar("L-V", "Trackbars", 0, 255, nothing)
+    cv2.createTrackbar("U-H", "Trackbars", 135, 180, nothing)
+    cv2.createTrackbar("U-S", "Trackbars", 190, 255, nothing)
+    cv2.createTrackbar("U-V", "Trackbars", 190, 255, nothing)
     font = cv2.FONT_HERSHEY_COMPLEX
 
     _logger.info("Starting server!")
     async with server:
 
         while True:
-            # XXX: find out why we need to sleep (otherwise OPC UA server stops work)
-            await asyncio.sleep(0.0001)
+            # script runs concurrently OPC UA server and openCV optical shape
+            # recognition. Thus give (roughly) some CPU time so both can work together.
+            await asyncio.sleep(SLEEP_DURATION)
 
             # read and process camera 
             _, frame = cap.read()
@@ -82,18 +97,16 @@ async def main():
 
                 if area > 400:
                     cv2.drawContours(frame, [approx], 0, (0, 0, 0), 5)
-                    if len(approx) == 3:
+                    number_of_points = len(approx)
+                    if number_of_points == 3:
                         cv2.putText(frame, "Triangle", (x, y), font, 1, (0, 0, 0))
                         await myvar.write_value(1.0)
-                        #_logger.info("Triangle")
-                    elif len(approx) == 4:
+                    elif number_of_points == 4:
                         cv2.putText(frame, "Rectangle", (x, y), font, 1, (0, 0, 0))
                         await myvar.write_value(2.0)
-                        #_logger.info("Rectangle")
-                    elif 7 < len(approx) < 20:
-                        cv2.putText(frame, "Circle", (x, y), font, 1, (0, 0, 0))
+                    elif 7 < number_of_points < 20:
+                        cv2.putText(frame, "Circle (%s)" %number_of_points, (x, y), font, 1, (0, 0, 0))
                         await myvar.write_value(3.0)
-                        #_logger.info("Circle")
                     else:
                         await myvar.write_value(0.0)