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Merge remote-tracking branch 'origin/master'

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edo-neo 2025-01-21 10:52:23 +01:00
commit 8ec410c676
4 changed files with 361 additions and 41 deletions
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233
src/components/hikrobot_dll.py Normal file
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import ctypes
import struct
from ctypes import *
import sys
MV_MAX_DEVICE_NUM=256
MV_VS_OK=0x00000000
CHUNK_MASK_IMAGE_PORT=60005536
CHUNK_RESULT_PORT=60005537
mv_lib = ctypes.windll.LoadLibrary("src/test/hikrobot_sc/bin/MvVisionSensorControl.dll")
# define structures
from ctypes import *
class MvVSGvspPixelType(c_int):
MVVS_PixelType_Undefined = 0xFFFFFFFF
MVVS_PixelType_Mono1p = (0x0037)
MVVS_PixelType_Mono2p = (0x0038)
MVVS_PixelType_Mono4p = (0x0039)
MVVS_PixelType_Mono8 = (0x0001)
MVVS_PixelType_Mono8_Signed = (0x0002)
MVVS_PixelType_Mono10 = (0x0003)
MVVS_PixelType_Mono10_Packed = (0x0004)
MVVS_PixelType_Mono12 = (0x0005)
MVVS_PixelType_Mono12_Packed = (0x0006)
MVVS_PixelType_Mono14 = (0x0025)
MVVS_PixelType_Mono16 = (0x0007)
MVVS_PixelType_BayerGR8 = (0x0008)
MVVS_PixelType_BayerRG8 = (0x0009)
MVVS_PixelType_BayerGB8 = (0x000A)
MVVS_PixelType_BayerBG8 = (0x000B)
MVVS_PixelType_BayerGR10 = (0x000C)
MVVS_PixelType_BayerRG10 = (0x000D)
MVVS_PixelType_BayerGB10 = (0x000E)
MVVS_PixelType_BayerBG10 = (0x000F)
MVVS_PixelType_BayerGR12 = (0x0010)
MVVS_PixelType_BayerRG12 = (0x0011)
MVVS_PixelType_BayerGB12 = (0x0012)
MVVS_PixelType_BayerBG12 = (0x0013)
MVVS_PixelType_BayerGR10_Packed = (0x0026)
MVVS_PixelType_BayerRG10_Packed = (0x0027)
MVVS_PixelType_BayerGB10_Packed = (0x0028)
MVVS_PixelType_BayerBG10_Packed = (0x0029)
MVVS_PixelType_BayerGR12_Packed = (0x002A)
MVVS_PixelType_BayerRG12_Packed = (0x002B)
MVVS_PixelType_BayerGB12_Packed = (0x002C)
MVVS_PixelType_BayerBG12_Packed = (0x002D)
MVVS_PixelType_BayerGR16 = (0x002E)
MVVS_PixelType_BayerRG16 = (0x002F)
MVVS_PixelType_BayerGB16 = (0x0030)
MVVS_PixelType_BayerBG16 = (0x0031)
MVVS_PixelType_RGB8_Packed = (0x0014)
MVVS_PixelType_BGR8_Packed = (0x0015)
MVVS_PixelType_RGBA8_Packed = (0x0016)
MVVS_PixelType_BGRA8_Packed = (0x0017)
MVVS_PixelType_RGB10_Packed = (0x0018)
MVVS_PixelType_BGR10_Packed = (0x0019)
MVVS_PixelType_RGB12_Packed = (0x001A)
MVVS_PixelType_BGR12_Packed = (0x001B)
MVVS_PixelType_RGB16_Packed = (0x0033)
MVVS_PixelType_BGR16_Packed = (0x004B)
MVVS_PixelType_RGBA16_Packed = (0x0064)
MVVS_PixelType_BGRA16_Packed = (0x0051)
MVVS_PixelType_RGB10V1_Packed = (0x001C)
MVVS_PixelType_RGB10V2_Packed = (0x001D)
MVVS_PixelType_RGB12V1_Packed = (0X0034)
MVVS_PixelType_RGB565_Packed = (0x0035)
MVVS_PixelType_BGR565_Packed = (0X0036)
MVVS_PixelType_YUV411_Packed = (0x001E)
MVVS_PixelType_YUV422_Packed = (0x001F)
MVVS_PixelType_YUV422_YUYV_Packed = (0x0032)
MVVS_PixelType_YUV444_Packed = (0x0020)
MVVS_PixelType_YCBCR8_CBYCR = (0x003A)
MVVS_PixelType_YCBCR422_8 = (0x003B)
MVVS_PixelType_YCBCR422_8_CBYCRY = (0x0043)
MVVS_PixelType_YCBCR411_8_CBYYCRYY = (0x003C)
MVVS_PixelType_YCBCR601_8_CBYCR = (0x003D)
MVVS_PixelType_YCBCR601_422_8 = (0x003E)
MVVS_PixelType_YCBCR601_422_8_CBYCRY = (0x0044)
MVVS_PixelType_YCBCR601_411_8_CBYYCRYY = (0x003F)
MVVS_PixelType_YCBCR709_8_CBYCR = (0x0040)
MVVS_PixelType_YCBCR709_422_8 = (0x0041)
MVVS_PixelType_YCBCR709_422_8_CBYCRY = (0x0045)
MVVS_PixelType_YCBCR709_411_8_CBYYCRYY = (0x0042)
MVVS_PixelType_RGB8_Planar = (0x0021)
MVVS_PixelType_RGB10_Planar = (0x0022)
MVVS_PixelType_RGB12_Planar = (0x0023)
MVVS_PixelType_RGB16_Planar = (0x0024)
MVVS_PixelType_Jpeg = (0x0001)
class MV_VS_DATA(Structure):
_fields_ = [
("pImage", POINTER(c_char)), # Pointer of Image
("nImageLen", c_uint), # The Length of Image
("nImageWidth", c_uint), # Image Width
("nImageHeight", c_uint), # Image Height
("nImageNum", c_uint64), # Image Number
("enPixelType", c_int), # Pixel Type (assuming MvVSGvspPixelType is an enum)
("nDevTimeStampHigh", c_uint), # Timestamp high 32 bits
("nDevTimeStampLow", c_uint), # Timestamp low 32 bits
("nReserved0", c_uint), # Reserved, 8-byte aligned
("nHostTimeStamp", c_int64), # Host-generated timestamp
("pChunkData", POINTER(c_char)), # Chunk data
("nChunkDataLen", c_uint), # Chunk Length
("nReserved", c_uint * 64), # Reserved
]
class MV_VS_DEVICE_INFO(ctypes.Structure):
_fields_ = [
("nMajorVer", ctypes.c_ushort), # GigE protocol Major Version
("nMinorVer", ctypes.c_ushort), # GigE protocol Minor Version
("nMacAddrHigh", ctypes.c_uint), # High MAC Address
("nMacAddrLow", ctypes.c_uint), # Low MAC Address
("nIpCfgOption", ctypes.c_uint), # Supported IP Configuration Options
("nIpCfgCurrent", ctypes.c_uint), # IP Configuration
("nCurrentIp", ctypes.c_uint), # Current IP
("nCurrentSubNetMask", ctypes.c_uint), # Current Subnet Mask
("nDefultGateWay", ctypes.c_uint), # Current Gateway
("chManufacturerName", ctypes.c_char * 32), # Manufacturer Name
("chModelName", ctypes.c_char * 32), # Model Name
("chDeviceVersion", ctypes.c_char * 32), # Device Version
("chManufacturerSpecificInfo", ctypes.c_char * 48), # Manufacturer Specific Info
("chSerialNumber", ctypes.c_char * 16), # Serial Number
("chUserDefinedName", ctypes.c_char * 16), # User Defined Name
("nNetExport", ctypes.c_uint), # IP address of connected network port
("nReserved", ctypes.c_uint * 8), # Reserved
]
class MV_VS_DEVICE_INFO_LIST(ctypes.Structure):
_fields_ = [
("nDeviceNum", ctypes.c_uint), # Online Device Number
("pDeviceInfo", ctypes.POINTER(MV_VS_DEVICE_INFO) * MV_MAX_DEVICE_NUM), # Device info array
]
# Define function signatures
mv_lib.MV_VS_GetResultData.argtypes = [c_void_p, POINTER(MV_VS_DATA), c_int]
mv_lib.MV_VS_GetResultData.restype = c_int
mv_lib.MV_VS_ReleaseResultData.argtypes = [ctypes.c_void_p, ctypes.POINTER(MV_VS_DATA)]
mv_lib.MV_VS_ReleaseResultData.restype = ctypes.c_int
mv_lib.MV_VS_EnumDevices.argtypes = [POINTER(MV_VS_DEVICE_INFO_LIST)]
mv_lib.MV_VS_EnumDevices.restype = c_int
mv_lib.MV_VS_CreateHandle.argtypes = [POINTER(c_void_p), c_void_p] # Assuming pHandle is a void* and pstDeviceInfo is a struct
mv_lib.MV_VS_CreateHandle.restype = c_int
mv_lib.MV_VS_Login.argtypes = [c_void_p, c_char_p, c_char_p]
mv_lib.MV_VS_Login.restype = c_int
mv_lib.MV_VS_SetBoolValue.argtypes = [c_void_p, c_char_p, c_bool]
mv_lib.MV_VS_SetBoolValue.restype = c_int
mv_lib.MV_VS_SetEnumValue.argtypes = [c_void_p, c_char_p, c_uint]
mv_lib.MV_VS_SetEnumValue.restype = c_int
mv_lib.MV_VS_StartRun.argtypes = [c_void_p] # handle
mv_lib.MV_VS_StartRun.restype = c_int
def MV_VS_GetFrame(handle):
nRet = MV_VS_OK
stFrameData = MV_VS_DATA()
nRet = mv_lib.MV_VS_GetResultData(handle, byref(stFrameData), 2000)
if nRet == MV_VS_OK:
# Print frame information
print(
f"Frame Width: [{stFrameData.nImageWidth}], Height: [{stFrameData.nImageHeight}], ImageLen: [{stFrameData.nImageLen}]")
# Process chunk data
currentDataTag = 0
while stFrameData.nChunkDataLen > currentDataTag:
chunkLength = \
struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 4 - currentDataTag)[0]
chunkID = struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 8 - currentDataTag)[
0]
print(f"chunkLength [{chunkLength}], chunkID: [{chunkID}]")
if chunkLength <= 0 or chunkLength > stFrameData.nChunkDataLen - 8 - currentDataTag:
# Handle exception
break
if chunkID == CHUNK_RESULT_PORT: # Result data in JSON format
chResultInfo = ctypes.cast(
stFrameData.pChunkData + (stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag),
ctypes.POINTER(ctypes.c_char))
print(f"chResultInfo [{chResultInfo.value.decode()}] end")
elif chunkID == CHUNK_MASK_IMAGE_PORT: # Mask image data
maskModID = struct.unpack_from("<I", stFrameData.pChunkData,
stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag)[0]
maskModFormat = struct.unpack_from("<I", stFrameData.pChunkData,
stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 4)[0]
maskModWidth = struct.unpack_from("<I", stFrameData.pChunkData,
stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 8)[0]
maskModHeight = struct.unpack_from("<I", stFrameData.pChunkData,
stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 12)[0]
print(
f"Mask ModID[{maskModID}], ModFormat[{maskModFormat}], ModWidth[{maskModWidth}], ModHeight[{maskModHeight}], ")
chMaskModImageData = ctypes.cast(
stFrameData.pChunkData + (stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 16),
ctypes.POINTER(ctypes.c_char))
print(f"Mask data length [{chunkLength - 16}]")
currentDataTag += 8 + chunkLength
else:
print(f"Get frame buffer fail! nRet [0x{nRet:x}]")
# Release frame buffer
nRet = mv_lib.MV_VS_ReleaseResultData(handle, ctypes.byref(stFrameData))
if nRet != MV_VS_OK:
print(f"Release frame buffer fail! nRet [0x{nRet:x}]")
else:
print(f"MV_VS_GetResultData fail! nRet [0x{nRet & 0xFFFFFFFF:x}]")

74
src/components/hikrobot_sc.py Normal file
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@ -0,0 +1,74 @@
import ctypes
import struct
from ctypes import *
import sys
from PyQt5.QtCore import pyqtSignal, QMutex
from components.component import Component
from hikrobot_dll import *
class HikrobotSmartCamera(Component):
def __init__(self, config=None, name=None, period=1, lazy=True, paused=False, threaded=True, num_cameras=1):
super().__init__(config=config, name=name, period=period, lazy=lazy, paused=paused, threaded=threaded)
self.lock = QMutex()
self.simulate = "--sim-camera" in sys.argv
self.num_cameras=num_cameras
self.lib=mv_lib
def config_changed(self):
self.lib.MV_VS_DEVICE_INFO_LIST()
for cam_idx in range(self.num_cameras):
pass
@Component.reconfig_on_error
def _get(self):
frame = None
super()._get([frame])
def GetFrame(self,handle):
nRet = MV_VS_OK
stFrameData = MV_VS_DATA()
while True:
nRet = self.lib.MV_VS_GetResultData(handle, ctypes.byref(stFrameData), 1000)
if nRet == MV_VS_OK:
# Print frame information
print(f"Frame Width: [{stFrameData.nImageWidth}], Height: [{stFrameData.nImageHeight}], ImageLen: [{stFrameData.nImageLen}]")
# Process chunk data
currentDataTag = 0
while stFrameData.nChunkDataLen > currentDataTag:
chunkLength = struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 4 - currentDataTag)[0]
chunkID = struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 8 - currentDataTag)[0]
print(f"chunkLength [{chunkLength}], chunkID: [{chunkID}]")
if chunkLength <= 0 or chunkLength > stFrameData.nChunkDataLen - 8 - currentDataTag:
# Handle exception
break
if chunkID == CHUNK_RESULT_PORT: # Result data in JSON format
chResultInfo = ctypes.cast(stFrameData.pChunkData + (stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag), ctypes.POINTER(ctypes.c_char))
print(f"chResultInfo [{chResultInfo.value.decode()}] end")
elif chunkID == CHUNK_MASK_IMAGE_PORT: # Mask image data
maskModID = struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag)[0]
maskModFormat = struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 4)[0]
maskModWidth = struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 8)[0]
maskModHeight = struct.unpack_from("<I", stFrameData.pChunkData, stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 12)[0]
print(f"Mask ModID[{maskModID}], ModFormat[{maskModFormat}], ModWidth[{maskModWidth}], ModHeight[{maskModHeight}], ")
chMaskModImageData = ctypes.cast(stFrameData.pChunkData + (stFrameData.nChunkDataLen - 8 - chunkLength - currentDataTag + 16), ctypes.POINTER(ctypes.c_char))
print(f"Mask data length [{chunkLength - 16}]")
currentDataTag += 8 + chunkLength
# Release frame buffer
nRet = self.lib.MV_VS_ReleaseResultData(handle, ctypes.byref(stFrameData))
if nRet != MV_VS_OK:
print(f"Release frame buffer fail! nRet [0x{nRet:x}]")
else:
print(f"Get frame buffer fail! nRet [0x{nRet:x}]")

94
src/test/hikrobot_sc/test_hikrobot_sc.py
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@ -1,48 +1,11 @@
import ctypes
import os
import time
from ctypes import *
# Load the MvVisionSensorControl library
mv_lib = ctypes.windll.LoadLibrary("bin/MvVisionSensorControl.dll")
MV_MAX_DEVICE_NUM=256
from src.components.hikrobot_dll import *
# Define the necessary structures and constants from MvVisionSensorDefine.h
class MV_VS_DEVICE_INFO(ctypes.Structure):
_fields_ = [
("nMajorVer", ctypes.c_ushort), # GigE protocol Major Version
("nMinorVer", ctypes.c_ushort), # GigE protocol Minor Version
("nMacAddrHigh", ctypes.c_uint), # High MAC Address
("nMacAddrLow", ctypes.c_uint), # Low MAC Address
("nIpCfgOption", ctypes.c_uint), # Supported IP Configuration Options
("nIpCfgCurrent", ctypes.c_uint), # IP Configuration
("nCurrentIp", ctypes.c_uint), # Current IP
("nCurrentSubNetMask", ctypes.c_uint), # Current Subnet Mask
("nDefultGateWay", ctypes.c_uint), # Current Gateway
("chManufacturerName", ctypes.c_char * 32), # Manufacturer Name
("chModelName", ctypes.c_char * 32), # Model Name
("chDeviceVersion", ctypes.c_char * 32), # Device Version
("chManufacturerSpecificInfo", ctypes.c_char * 48), # Manufacturer Specific Info
("chSerialNumber", ctypes.c_char * 16), # Serial Number
("chUserDefinedName", ctypes.c_char * 16), # User Defined Name
("nNetExport", ctypes.c_uint), # IP address of connected network port
("nReserved", ctypes.c_uint * 8), # Reserved
]
MV_MAX_DEVICE_NUM = 256 # Maximum number of supported devices
class MV_VS_DEVICE_INFO_LIST(ctypes.Structure):
_fields_ = [
("nDeviceNum", ctypes.c_uint), # Online Device Number
("pDeviceInfo", ctypes.POINTER(MV_VS_DEVICE_INFO) * MV_MAX_DEVICE_NUM), # Device info array
]
# Define MV_VS_OK from MvVSErrorDefine.h (assuming it's 0)
MV_VS_OK = 0
# Define function signatures
mv_lib.MV_VS_EnumDevices.argtypes = [ctypes.POINTER(MV_VS_DEVICE_INFO_LIST)]
mv_lib.MV_VS_EnumDevices.restype = ctypes.c_int
def print_device_info(device_info_list):
num_devices=device_info_list.nDeviceNum
@ -57,6 +20,7 @@ def print_device_info(device_info_list):
def main():
global MV_VS_OK
print("SC2016 TEST")
device_info_list = MV_VS_DEVICE_INFO_LIST()
@ -75,6 +39,56 @@ def main():
print("Find No Devices!")
return -2
if device_info_list.nDeviceNum == 2:
print("Starting dual camera test!")
# Define MV_VS_OK (replace with the actual value)
MV_VS_OK = 0
MV_VS_DEVICE_INFO_1 = device_info_list.pDeviceInfo[0];
MV_VS_DEVICE_INFO_2 = device_info_list.pDeviceInfo[1];
pHandle1 = c_void_p()
pHandle2 = c_void_p()
nRet1 = mv_lib.MV_VS_CreateHandle(byref(pHandle1), MV_VS_DEVICE_INFO_1)
nRet2 = mv_lib.MV_VS_CreateHandle(byref(pHandle2), MV_VS_DEVICE_INFO_2)
if nRet1 != MV_VS_OK or nRet2 != MV_VS_OK:
print(f"Create Handle failed! [{nRet1:#x} {nRet2:#x}]")
return
nRet1 = mv_lib.MV_VS_Login(pHandle1, b"Admin", b"Abc1234")
nRet2 = mv_lib.MV_VS_Login(pHandle2, b"Admin", b"Abc1234")
if nRet1 != MV_VS_OK or nRet2 != MV_VS_OK:
print(f"Login failed! [{nRet1:#x} {nRet2:#x}]")
return
else:
print("Login OK")
nRet1 = mv_lib.MV_VS_SetBoolValue(pHandle1, b"CommandImageMode", 0)
nRet2 = mv_lib.MV_VS_SetBoolValue(pHandle2, b"CommandImageMode", 0)
if nRet1 != MV_VS_OK or nRet2 != MV_VS_OK:
print(f"CommandImageMode failed! [{nRet1 & 0xFFFFFFFF:#x} {nRet2 & 0xFFFFFFFF:#x}]")
return
else:
print("CommandImageMode OK")
nRet1 = mv_lib.MV_VS_SetEnumValue(pHandle1, b"AcquisitionMode", 2)
nRet2 = mv_lib.MV_VS_SetEnumValue(pHandle2, b"AcquisitionMode", 2)
if nRet1 != MV_VS_OK or nRet2 != MV_VS_OK:
print(f"AcquisitionMode failed! [{nRet1 & 0xFFFFFFFF:#x} {nRet2 & 0xFFFFFFFF:#x}]")
return
else:
print("AcquisitionMode OK")
nRet1 = mv_lib.MV_VS_StartRun(pHandle1)
nRet2 = mv_lib.MV_VS_StartRun(pHandle2)
time.sleep(1)
if nRet1 != MV_VS_OK or nRet2 != MV_VS_OK:
print(f"Start run failed! [{nRet1&0xFFFFFFFF:#x} {nRet2&0xFFFFFFFF:#x}]")
return
else:
print("Start run OK")
MV_VS_GetFrame(pHandle1)
MV_VS_GetFrame(pHandle2)
return 0
if __name__ == "__main__":

1
src/ui/test/test.py
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@ -6,7 +6,6 @@ import weakref
from datetime import datetime, timedelta
from PyQt5.QtCore import QTimer, pyqtSlot
from PyQt5.QtWidgets import QMessageBox
from component import Component
from lib.db import Archive, Recipes, Users
from lib.helpers import get_shift
from lib.helpers.step import Step