guest_worker/test_pen.py

from pyaxidraw import axidraw
import time
import subprocess
import io
from PIL import Image
import datetime
import tqdm


import colorsys


# TODO: argparse: skip_draw, skip_scan, loop [n times]

class Level(object):

    def __init__(self, minv, maxv, gamma):
        self.minv= minv/255.0
        self.maxv= maxv/255.0
        self._interval= self.maxv - self.minv
        self._invgamma= 1.0/gamma

    def new_level(self, value):
        if value <= self.minv: return 0.0
        if value >= self.maxv: return 1.0
        return ((value - self.minv)/self._interval)**self._invgamma

    def convert_and_level(self, band_values):
        h, s, v= colorsys.rgb_to_hsv(*(i/255.0 for i in band_values))
        new_v= self.new_level(v)
        return tuple(int(255*i)
                for i
                in colorsys.hsv_to_rgb(h, s, new_v))

def level_image(image, minv=0, maxv=255, gamma=1.0):
    """Level the brightness of image (a PIL.Image instance)
    All values ≤ minv will become 0
    All values ≥ maxv will become 255
    gamma controls the curve for all values between minv and maxv"""

    if image.mode != "RGB":
        raise ValueError("this works with RGB images only")

    new_image= image.copy()

    leveller= Level(minv, maxv, gamma)
    levelled_data= [
        leveller.convert_and_level(data)
        for data in image.getdata()]
    new_image.putdata(levelled_data)
    return new_image

now = datetime.datetime.now().isoformat()

print(f"test plotter/scanner/pen at {now}")

absPlotWidth = 26.5/2.54
topLeft = absPlotWidth / (245/ 10 / 2.54)
parkX = (1/2.54)/absPlotWidth + topLeft
parkPos = [26.5/2.54,2,0]
print(parkPos)

ad = axidraw.AxiDraw()

ad.interactive()
ad.connect()
ad.pen_raise()
ad.disconnect()

ad = axidraw.AxiDraw()
ad.plot_setup('test_drawing.svg')        # Load file & configure plot context
# Plotting options can be set, here after plot_setup().
ad.plot_run()
ad.disconnect()



ad = axidraw.AxiDraw()
# park
ad.interactive()
ad.connect()
ad.pen_raise()
ad.moveto(parkPos[0], parkPos[1])

try:
    sleeptime = 2
    print(f"plotted, now wait for the ink to dry {sleeptime}s")

    for i in tqdm.tqdm(range(sleeptime)):
        time.sleep(1)


    cmd = [
        'sudo', 'scanimage', '-d', 'epkowa', '--format', 'tiff',
            '--resolution=100', # lower res, faster (more powerful) scan & wipe
            '-l','25' #y axis, margin from top of the scanner, hence increasing this, moves the scanned image upwards
            ,'-t','22', # x axis, margin from left side scanner (seen from the outside)
            '-x',str(181),
            '-y',str(245)
    ]
    proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
    # opens connection to scanner, but only starts scanning when output becomes ready:
    o, e = proc.communicate(80)

    print('scanned')

    f = io.BytesIO(o)
    img = Image.open(f)
    img = img.transpose(Image.ROTATE_90).transpose(Image.FLIP_TOP_BOTTOM)
    img.save(f'test-{now}.png')
    print(f'\tsaved to test-{now}.png')

    print('effects:')
    leveldImg = level_image(img, 0, 125, 0.95)
    leveldImg.save(f'test-{now}-leveled.png')
    print(f'\tsaved to test-{now}-leveled.png')
except Exception as e:
    print(e)
finally:
    time.sleep(5) # scanner says its done before it slides back
    print('reset pen')
    ad.moveto(0,0)
    ad.disconnect()

    print('disable motors')
    # disable motors
    ad = axidraw.AxiDraw()
    ad.plot_setup()
    ad.options.mode = "manual"
    ad.options.manual_cmd = "disable_xy"
    ad.plot_run()