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#!/usr/bin/env python
import sys
import time
import numpy as np
import PyTango
import threading
from gi.repository import Uca, GObject
from PyTango import Attr, AttrWriteType, DevState
from PyTango.server import Device, DeviceMeta, attribute, device_property, command, server_run
try:
import tifffile
HAVE_TIFFFILE = True
except ImportError:
print("Could not import tifffile, consider to install it")
HAVE_TIFFFILE = False
def get_tango_type(obj_type):
mapping = {
GObject.TYPE_BOOLEAN: PyTango.CmdArgType.DevBoolean,
GObject.TYPE_CHAR: PyTango.CmdArgType.DevUChar,
GObject.TYPE_UCHAR: PyTango.CmdArgType.DevUChar,
GObject.TYPE_FLOAT: PyTango.CmdArgType.DevFloat,
GObject.TYPE_INT: PyTango.CmdArgType.DevShort, # DevInt is invalid?
GObject.TYPE_UINT: PyTango.CmdArgType.DevUShort, # check
GObject.TYPE_UINT64: PyTango.CmdArgType.DevULong,
GObject.TYPE_LONG: PyTango.CmdArgType.DevLong,
GObject.TYPE_DOUBLE: PyTango.CmdArgType.DevDouble,
GObject.TYPE_STRING: PyTango.CmdArgType.DevString,
GObject.TYPE_ENUM: PyTango.CmdArgType.DevShort,
}
tango_type = mapping.get(obj_type, None)
if tango_type is not None:
return tango_type
if obj_type.is_a(GObject.TYPE_ENUM):
return PyTango.CmdArgType.DevUShort
def get_tango_write_type(prop):
if prop.flags & GObject.ParamFlags.WRITABLE:
if prop.flags & GObject.ParamFlags.READABLE:
return AttrWriteType.READ_WRITE
return AttrWriteType.WRITE
if prop.flags & GObject.ParamFlags.READABLE:
return AttrWriteType.READ
raise RuntimeError("{} has no valid param flag".format(prop.name))
def prop_to_attr_name(name):
return name.replace('-', '_')
def attr_to_prop_name(name):
return name.replace('_', '-')
class Camera(Device):
__metaclass__ = DeviceMeta
camera = device_property(dtype=str, default_value='mock')
image = attribute(label="Image", dtype=[[np.uint16]],
max_dim_x=8192, max_dim_y=8192)
def init_device(self):
Device.init_device(self)
self.set_state(DevState.ON)
self.pm = Uca.PluginManager()
self.device = self.pm.get_camerah(self.camera, None)
self.attrs = {}
for prop in self.device.props:
tango_type = get_tango_type(prop.value_type)
write_type = get_tango_write_type(prop)
if tango_type:
name = prop_to_attr_name(prop.name)
attr = Attr(name, tango_type, write_type)
attr_props = PyTango.UserDefaultAttrProp()
attr_props.set_description(prop.blurb)
attr.set_default_properties(attr_props)
write_func = None
if write_type in (AttrWriteType.WRITE, AttrWriteType.READ_WRITE):
write_func = self.do_write
self.attrs[prop.name] = self.add_attribute(attr, self.do_read, write_func)
def grab(self):
array = np.empty(self.shape, dtype=self.dtype)
data = array.__array_interface__['data'][0]
self.device.grab(data)
return array
def do_read(self, attr):
name = attr_to_prop_name(attr.get_name())
attr.set_value(self.device.get_property(name))
def do_write(self, attr):
name = attr_to_prop_name(attr.get_name())
self.device.set_property(name, attr.get_write_value())
@command
def Start(self):
self.shape = (self.device.props.roi_height, self.device.props.roi_width)
self.dtype = np.uint16 if self.device.props.sensor_bitdepth > 8 else np.uint8
self.device.start_recording()
@command
def Stop(self):
self.device.stop_recording()
@command(dtype_in=str, doc_in="Path and filename to store frame")
def Store(self, path):
def grab_and_write():
frame = self.grab()
if HAVE_TIFFFILE:
tifffile.imsave(path, frame)
else:
np.savez(open(path, 'wb'), frame)
threading.Thread(target=grab_and_write).start()
@command
def Trigger(self):
self.device.trigger()
def read_image(self):
return self.grab()
if __name__ == '__main__':
server_run((Camera,))
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