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#!/usr/bin/env python
import sys
import time
import numpy as np
import PyTango
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_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=4096, max_dim_y=4096)
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):
frame = self.grab()
if HAVE_TIFFFILE:
tifffile.imsave(path, frame)
else:
np.savez(open(path, 'wb'), frame)
@command
def Trigger(self):
self.device.trigger()
def read_image(self):
return self.grab()
if __name__ == '__main__':
server_run((Camera,))
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