I am working on a python code involving two cameras(flir and logitech camera) and I am using usb relay to control light for each of the camera and getting this error inside motion_start. Relay 1 turns on but then the error comes. I have attached the code block where error comes. The Led indicator on camera does turn on
def motion_start(self):
check = self.initialize_devices()
if len(self.devices) < 3:
print(len(self.devices))
return None
self.move(Decimal(self.motion_params.x_cam2), Decimal(self.motion_params.y_cam2), Decimal(self.motion_params.z_cam2))
relay_controller = RelayApp()
relay_controller.get_Hid_USBRelay()
relay_controller.open_device()
camera_app = SecondaryCameraApp()
cap = camera_app.initialize_camera()
try:
relay_controller.turn_off_all_relays()
time.sleep(0.5)
relay_controller.turn_on_relay(1)
time.sleep(4) # Wait for 4 seconds
# Capture image using the secondary camera
frame = camera_app.capture_image(cap)
transformed_image = camera_app.apply_perspective_transform(frame)
relay_controller.turn_off_relay(1)
time.sleep(0.5)
relay_controller.turn_on_relay(2)
time.sleep(0.5)
relay_controller.turn_off_relay(2)
self.current_data.set_stop_acquisition(False)
for i in range(self.motion_params.y_steps):
if self.current_data.get_stop_acquisition():
print("Acquisition stopped in y loop.")
break
y_position = Decimal(self.motion_params.y_start + i * self.motion_params.y_increment)
print(f"New y_position: {y_position}")
for j in range(self.motion_params.x_steps):
if self.current_data.get_stop_acquisition():
print("Acquisition stopped in x loop.")
break
x_position = Decimal(self.motion_params.x_start + j * self.motion_params.x_increment)
print(f"New x_position: {x_position}")
if not self.motion_params.optimal_z_movement:
print(f"Calling z_movement_incremental for x: {x_position}, y: {y_position}")
self.z_movement_incremental(x_position, y_position, j)
else:
print(f"Calling z_movement_optimal for x: {x_position}, y: {y_position}")
self.z_movement_optimal(x_position, y_position, j)
if j == 0:
self.current_data.set_row_start_z(self.current_data.get_best_z())
print(f"Set row start z to: {self.current_data.get_best_z()}")
print("Homing")
self.move(Decimal(0.1), Decimal(0.1), Decimal(0.1))
print("Homing completed")
time.sleep(0.1)
self.update_positions()
except Exception as e:
print(f"Error during relay or camera control: {e}")
return None
finally:
cap.release() # Ensure the camera is released
relay_controller.close_device() # Ensure the relay device is closed
I had isolated the two classes SecondaryCameraApp and RelayApp in a separate python file with a Controller class then the code runs fine
Full error traceback
Building device list...
['26004899', '26004900']
['27003670']
['26004899', '26004900', '27003670']
['27003670', '26004900', '26004899']
Device Info: KDC101 DC Servo Drive
Device Info: KST101 Stepper Controller v3.1 1
Device Info: KST101 Stepper Controller v3.1 1
Vendor ID: 5824
Product ID: 1503
Move 25 20 0
Move time: 10.698481798171997
Turning off all relays...
Sending buffer: [0, 252, 0, 0, 0, 0, 0, 0, 1]
Command sent successfully.
Attempting to turn on relay 1...
Sending buffer: [0, 255, 1, 0, 0, 0, 0, 0, 1]
Command sent successfully.
Relay 1 turned on.
ERROR:root:Relay and camera control failed: 'module' object is not callable
Full code
Full code
Let me add a smaller version of the code that works
import os
import json
import cv2
import pywinusb.hid as hid
relay control
import numpy as np
from time import sleep, time
import logging
# Configure logging
logging.basicConfig(level=logging.INFO)
# RelayApp class
class RelayApp:
def __init__(self):
config = self.load_configuration()
self.vendor_id = int(config["lightcontrol"]["USB_CFG_VENDOR_ID"], 16)
self.device_id = int(config["lightcontrol"]["USB_CFG_DEVICE_ID"], 16)
self.hid_device = None
self.device = None
self.report = None
def load_configuration(self):
try:
file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'spinnaker_parameters.json')
with open(file_path, 'r') as file:
data = json.load(file)
return data
except FileNotFoundError:
logging.error(f"Configuration file not found: {file_path}")
raise
except json.JSONDecodeError:
logging.error(f"Error decoding JSON in file: {file_path}")
raise
def get_Hid_USBRelay(self):
filter = hid.HidDeviceFilter(vendor_id=self.vendor_id, product_id=self.device_id)
hid_device = filter.get_devices()
self.device = hid_device[0]
def open_device(self):
if self.device.is_active() and not self.device.is_opened():
self.device.open()
self.get_report()
def close_device(self):
if self.device.is_active() and self.device.is_opened():
self.device.close()
def get_report(self):
if not self.device.is_active():
self.report = None
for rep in self.device.find_output_reports() + self.device.find_feature_reports():
self.report = rep
def write_row_data(self, buffer):
if self.report is not None:
try:
logging.info(f"Sending buffer: {buffer}")
self.report.send(raw_data=buffer)
logging.info("Command sent successfully.")
return True
except Exception as e:
logging.error(f"Error sending command: {e}")
else:
logging.error("No report available to send data.")
return False
def turn_on_relay(self, relay_number):
logging.info(f"Attempting to turn on relay {relay_number}...")
if relay_number not in [1, 2]:
logging.error("Invalid relay number.")
return
success = self.write_row_data([0, 0xFF, relay_number, 0, 0, 0, 0, 0, 1])
if success:
logging.info(f"Relay {relay_number} turned on.")
else:
logging.error(f"Failed to send command to turn on relay {relay_number}.")
def turn_off_relay(self, relay_number):
logging.info(f"Turning off relay {relay_number}...")
self.write_row_data([0, 0xFD, relay_number, 0, 0, 0, 0, 0, 1])
def turn_off_all_relays(self):
logging.info("Turning off all relays...")
self.write_row_data([0, 0xFC, 0, 0, 0, 0, 0, 0, 1])
# SecondaryCameraApp class
class SecondaryCameraApp:
def __init__(self):
config = self.load_configuration()
self.camera_index = int(config["secondarycamera"]["index"])
self.width = int(config["secondarycamera"]["width"])
self.height = int(config["secondarycamera"]["height"])
self.exposure = int(config["secondarycamera"]["exposure"])
self.focus = int(config["secondarycamera"]["focus"])
self.capture_path = config["secondarycamera"]["capture_path"]
self.transformed_image_path = config["secondarycamera"]["transformed_image_path"]
self.tl = config["secondarycamera"]["tl"]
self.tr = config["secondarycamera"]["tr"]
self.bl = config["secondarycamera"]["bl"]
self.br = config["secondarycamera"]["br"]
def load_configuration(self):
try:
file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'spinnaker_parameters.json')
with open(file_path, 'r') as file:
data = json.load(file)
return data
except FileNotFoundError:
logging.error(f"Configuration file not found: {file_path}")
raise
except json.JSONDecodeError:
logging.error(f"Error decoding JSON in file: {file_path}")
raise
def initialize_camera(self):
cap = cv2.VideoCapture(self.camera_index, cv2.CAP_DSHOW)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
cap.set(cv2.CAP_PROP_FOCUS, self.focus)
cap.set(cv2.CAP_PROP_EXPOSURE, self.exposure)
return cap
def capture_image(self, cap):
start_time = time()
ret, frame = cap.read()
end_time = time()
logging.info(f"Time taken to capture the image: {end_time - start_time:.4f} seconds")
if ret:
cv2.imwrite(self.capture_path, frame)
logging.info(f"Image captured and saved as {self.capture_path}")
else:
logging.error("Failed to capture the image")
return frame
def apply_perspective_transform(self, image):
if image is None:
logging.error("No image to transform")
return None
pts1 = np.float32([self.tl, self.tr, self.bl, self.br])
width, height = 1200, 420
pts2 = np.float32([[0, 0], [width, 0], [0, height], [width, height]])
M = cv2.getPerspectiveTransform(pts1, pts2)
transformed_image = cv2.warpPerspective(image, M, (width, height))
cv2.imwrite(self.transformed_image_path, transformed_image)
logging.info(f"Transformed image saved as {self.transformed_image_path}")
return transformed_image
# SystemController class
class SystemController:
def __init__(self):
self.relay = RelayApp()
self.camera = SecondaryCameraApp()
def control_relay(self):
try:
self.relay.get_Hid_USBRelay()
self.relay.open_device()
self.relay.turn_off_all_relays()
sleep(0.5)
self.relay.turn_on_relay(1)
sleep(6)
self.relay.turn_off_relay(1)
sleep(0.5)
self.relay.turn_on_relay(2)
sleep(0.5)
self.relay.turn_off_all_relays()
except Exception as e:
logging.error(f"Relay control failed: {e}")
finally:
self.relay.close_device()
def control_camera(self):
try:
cap = self.camera.initialize_camera()
ret, frame = cap.read()
if not ret:
logging.error("Failed to grab frame")
return
frame = self.camera.capture_image(cap)
if frame is not None:
self.camera.apply_perspective_transform(frame)
except Exception as e:
logging.error(f"Camera control failed: {e}")
finally:
cap.release()
cv2.destroyAllWindows()
def main(self):
start_time = time()
self.control_relay()
self.control_camera()
end_time = time()
logging.info(f"Total execution time: {end_time - start_time:.2f} seconds")
if __name__ == "__main__":
system_controller = SystemController()
system_controller.main()
Output (this works)
This will turn off relays and then turn one by one the click image and then apply transformaion and save the image
I am trying to incorporate this into the main code. Something is happening when camera is called because LED indicator does turn on after that the error comes
New contributor
Hamza Hasan is a new contributor to this site. Take care in asking for clarification, commenting, and answering.
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12
While I was going through the code I found the problem it was inconsistency in the import of time module in capture_image inside SecondaryCameraApp in the both versions. Got it fixed. Thankyou
New contributor
Hamza Hasan is a new contributor to this site. Take care in asking for clarification, commenting, and answering.
Check out our Code of Conduct.