From 05dc5ca1fe7aa1beaad2a2f0a3e393c561cb8205 Mon Sep 17 00:00:00 2001 From: tginsbu1 Date: Tue, 30 Sep 2025 12:46:12 -0500 Subject: [PATCH 1/8] fixing returns --- src/camera_rest_node.py | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/src/camera_rest_node.py b/src/camera_rest_node.py index 7b5dc3d..0f27bd3 100644 --- a/src/camera_rest_node.py +++ b/src/camera_rest_node.py @@ -4,7 +4,7 @@ import tempfile from pathlib import Path -from typing import Optional +from typing import Annotated, Optional import cv2 from madsci.common.types.action_types import ActionResult, ActionSucceeded @@ -24,7 +24,7 @@ class CameraNode(RestNode): @action def take_picture( self, focus: Optional[int] = None, autofocus: Optional[bool] = None - ) -> ActionResult: + ) -> Annotated[Path, "The picture taken by the camera"]: """Action that takes a picture using the configured camera. The focus used can be set using the focus parameter.""" camera = cv2.VideoCapture(self.config.camera_address) if not camera.isOpened(): @@ -48,14 +48,14 @@ def take_picture( cv2.imwrite(str(temp_file_path), frame) camera.release() - return ActionSucceeded(files={"image": temp_file_path}) + return temp_file_path @action def read_barcode( self, focus: Optional[int] = None, autofocus: Optional[bool] = None, - ) -> ActionResult: + ) -> tuple[Annotated[str, "The barcode read from the image, or None if no barcode was found"], Annotated[Path, "The picture taken by the camera"]]: """ Takes an image and returns the values of any barcodes present in the image. Camera focus can be adjusted using the provided parameters if necessary. @@ -71,9 +71,8 @@ def read_barcode( """ try: # take an image and collect the image path - action_result = self.take_picture(focus=focus, autofocus=autofocus) - image_path = action_result.files["image"] - + image_path = self.take_picture(focus=focus, autofocus=autofocus) + # try to collect the barcode from the image image = cv2.imread(image_path) barcode = None @@ -86,7 +85,7 @@ def read_barcode( except Exception as e: raise e - return ActionSucceeded(data={"barcode": barcode}, files={"image": image_path}) + return barcode, image_path def adjust_focus_settings( self, From c0a561d3d966b1d0b6e0845a9f03cd960fa2570b Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 14 Oct 2025 14:44:37 -0700 Subject: [PATCH 2/8] Pre commit clean up --- src/camera_rest_node.py | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/src/camera_rest_node.py b/src/camera_rest_node.py index 0f27bd3..63ffa4c 100644 --- a/src/camera_rest_node.py +++ b/src/camera_rest_node.py @@ -7,7 +7,6 @@ from typing import Annotated, Optional import cv2 -from madsci.common.types.action_types import ActionResult, ActionSucceeded from madsci.node_module.helpers import action from madsci.node_module.rest_node_module import RestNode from pyzbar.pyzbar import decode @@ -55,7 +54,12 @@ def read_barcode( self, focus: Optional[int] = None, autofocus: Optional[bool] = None, - ) -> tuple[Annotated[str, "The barcode read from the image, or None if no barcode was found"], Annotated[Path, "The picture taken by the camera"]]: + ) -> tuple[ + Annotated[ + str, "The barcode read from the image, or None if no barcode was found" + ], + Annotated[Path, "The picture taken by the camera"], + ]: """ Takes an image and returns the values of any barcodes present in the image. Camera focus can be adjusted using the provided parameters if necessary. @@ -72,7 +76,7 @@ def read_barcode( try: # take an image and collect the image path image_path = self.take_picture(focus=focus, autofocus=autofocus) - + # try to collect the barcode from the image image = cv2.imread(image_path) barcode = None @@ -130,7 +134,9 @@ def adjust_focus_settings( for _ in range(30): # Discard 30 frames to allow focus to stabilize camera.read() else: - for _ in range(5): # Discard 5 frames in case the camera needs a moment for startup + for _ in range( + 5 + ): # Discard 5 frames in case the camera needs a moment for startup camera.read() From b9ca0c93539fd456b22ec11f7256d9a39a901044 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 14 Oct 2025 15:12:31 -0700 Subject: [PATCH 3/8] Relocated under the rest node --- src/camera_config.py | 12 ------------ 1 file changed, 12 deletions(-) delete mode 100644 src/camera_config.py diff --git a/src/camera_config.py b/src/camera_config.py deleted file mode 100644 index 2a712af..0000000 --- a/src/camera_config.py +++ /dev/null @@ -1,12 +0,0 @@ -"""Configuration class for the camera node module.""" - -from typing import Union - -from madsci.common.types.node_types import RestNodeConfig - - -class CameraConfig(RestNodeConfig): - """Configuration for the camera node module.""" - - camera_address: Union[int, str] = 0 - """The camera address, either a number for windows or a device path in Linux/Mac.""" From 832574268c5a5fe7b716389c5571088a5fe16bac Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 14 Oct 2025 15:25:58 -0700 Subject: [PATCH 4/8] Added resource template for camera deck along with a startup handler --- src/camera_rest_node.py | 86 +++++++++++++++++++++++++++++++++++------ 1 file changed, 75 insertions(+), 11 deletions(-) diff --git a/src/camera_rest_node.py b/src/camera_rest_node.py index 63ffa4c..25da719 100644 --- a/src/camera_rest_node.py +++ b/src/camera_rest_node.py @@ -4,48 +4,112 @@ import tempfile from pathlib import Path -from typing import Annotated, Optional +from typing import Annotated, Optional, Union import cv2 +from madsci.common.types.auth_types import OwnershipInfo +from madsci.common.types.node_types import RestNodeConfig +from madsci.common.types.resource_types import Slot from madsci.node_module.helpers import action from madsci.node_module.rest_node_module import RestNode from pyzbar.pyzbar import decode -from camera_config import CameraConfig + +class CameraNodeConfig(RestNodeConfig): + """Configuration for the camera node module.""" + + camera_address: Union[int, str] = 0 + """The camera address, either a number for windows or a device path in Linux/Mac.""" class CameraNode(RestNode): """Node that interfaces with MADSci and provides a USB camera interface""" - config_model = CameraConfig + config: CameraNodeConfig = CameraNodeConfig() + config_model = CameraNodeConfig camera: cv2.VideoCapture = None + def startup_handler(self) -> None: + """Called to (re)initialize the node. Should be used to open connections to devices or initialize any other resources.""" + + if self.resource_client: + self.resource_owner = OwnershipInfo(node_id=self.node_definition.node_id) + + # Create picture capture deck template + capture_deck_slot = Slot( + resource_name="camera_capture_deck", + resource_class="CameraCaptureDeck", + capacity=1, + attributes={ + "slot_type": "capture_deck", + "can_capture": True, + "light": "on", + "description": "Camera capture deck where items are placed for imaging", + }, + ) + + self.resource_client.init_template( + resource=capture_deck_slot, + template_name="camera_capture_deck_slot", + description="Template for camera capture deck slot. Represents the position where items are placed for picture taking.", + required_overrides=["resource_name"], + tags=["camera", "capture", "deck", "slot", "imaging"], + created_by=self.node_definition.node_id, + version="1.0.0", + ) + + # Initialize capture deck resource + deck_resource_name = "camera_capture_deck_" + str( + self.node_definition.node_name + ) + self.capture_deck = self.resource_client.create_resource_from_template( + template_name="camera_capture_deck_slot", + resource_name=deck_resource_name, + add_to_database=True, + ) + self.logger.log( + f"Initialized capture deck resource from template: {self.capture_deck.resource_id}" + ) + else: + self.capture_deck = None + + self.camera = cv2.VideoCapture(self.config.camera_address) + if not self.camera.isOpened(): + raise Exception("Unable to connect to camera") + self.logger.log("Camera node initialized!") + + def state_handler(self) -> None: + """Periodically called to update the current state of the node.""" + if self.camera is not None: + self.node_state = {"camera_status": "connected"} + self.logger.log("Camera is operational.") + else: + self.node_state = {"camera_status": "disconnected"} + self.logger.log_warning("Camera is not connected.") + @action def take_picture( self, focus: Optional[int] = None, autofocus: Optional[bool] = None ) -> Annotated[Path, "The picture taken by the camera"]: """Action that takes a picture using the configured camera. The focus used can be set using the focus parameter.""" - camera = cv2.VideoCapture(self.config.camera_address) - if not camera.isOpened(): - raise Exception("Unable to connect to camera") # * Handle autofocus/refocusing try: if focus is not None or autofocus is not None: self.logger.log_info("Adjusting focus settings") - self.adjust_focus_settings(camera, focus, autofocus) + self.adjust_focus_settings(self.camera, focus, autofocus) except Exception as e: self.logger.log_error(f"Failed to adjust focus settings: {e}") - success, frame = camera.read() + success, frame = self.camera.read() if not success: - if camera.isOpened(): - camera.release() + if self.camera.isOpened(): + self.camera.release() raise Exception("Unable to read from camera") with tempfile.NamedTemporaryFile(suffix=".jpg", delete=False) as temp_file: temp_file_path = Path(temp_file.name) cv2.imwrite(str(temp_file_path), frame) - camera.release() + self.camera.release() return temp_file_path From 2d3344af5add974d3a45e8c160dbb7722243cb53 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 14 Oct 2025 15:26:20 -0700 Subject: [PATCH 5/8] UpdateS --- pdm.lock | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/pdm.lock b/pdm.lock index ddb4690..9995a54 100644 --- a/pdm.lock +++ b/pdm.lock @@ -5,7 +5,7 @@ groups = ["default", "dev"] strategy = ["inherit_metadata"] lock_version = "4.5.0" -content_hash = "sha256:b54443212dbcbb6bf168678b7b4b7cb1410e08ee99d62d253eb9e9290cdf64b2" +content_hash = "sha256:d05034ab58ec2d1b5f46e8dc9e0cf76912de53d28cf29eacf53fe46d80a63c0f" [[metadata.targets]] requires_python = ">=3.9.1" @@ -1410,6 +1410,21 @@ files = [ {file = "pyyaml-6.0.2.tar.gz", hash = "sha256:d584d9ec91ad65861cc08d42e834324ef890a082e591037abe114850ff7bbc3e"}, ] +[[package]] +name = "pyzbar" +version = "0.1.9" +summary = "Read one-dimensional barcodes and QR codes from Python 2 and 3." +groups = ["default"] +dependencies = [ + "enum34>=1.1.6; python_version == \"2.7\"", + "pathlib>=1.0.1; python_version == \"2.7\"", +] +files = [ + {file = "pyzbar-0.1.9-py2.py3-none-any.whl", hash = "sha256:4559628b8192feb25766d954b36a3753baaf5c97c03135aec7e4a026036b475d"}, + {file = "pyzbar-0.1.9-py2.py3-none-win32.whl", hash = "sha256:8f4c5264c9c7c6b9f20d01efc52a4eba1ded47d9ba857a94130afe33703eb518"}, + {file = "pyzbar-0.1.9-py2.py3-none-win_amd64.whl", hash = "sha256:13e3ee5a2f3a545204a285f41814d5c0db571967e8d4af8699a03afc55182a9c"}, +] + [[package]] name = "pyzmq" version = "26.3.0" From 8dcad116ffa16b15d582b537009c28941dbbf578 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Wed, 15 Oct 2025 20:20:26 -0700 Subject: [PATCH 6/8] Clean up --- src/camera_rest_node.py | 76 +++++++++++++++++++---------------------- 1 file changed, 35 insertions(+), 41 deletions(-) diff --git a/src/camera_rest_node.py b/src/camera_rest_node.py index 25da719..25dcb8a 100644 --- a/src/camera_rest_node.py +++ b/src/camera_rest_node.py @@ -7,7 +7,6 @@ from typing import Annotated, Optional, Union import cv2 -from madsci.common.types.auth_types import OwnershipInfo from madsci.common.types.node_types import RestNodeConfig from madsci.common.types.resource_types import Slot from madsci.node_module.helpers import action @@ -32,46 +31,41 @@ class CameraNode(RestNode): def startup_handler(self) -> None: """Called to (re)initialize the node. Should be used to open connections to devices or initialize any other resources.""" - if self.resource_client: - self.resource_owner = OwnershipInfo(node_id=self.node_definition.node_id) - - # Create picture capture deck template - capture_deck_slot = Slot( - resource_name="camera_capture_deck", - resource_class="CameraCaptureDeck", - capacity=1, - attributes={ - "slot_type": "capture_deck", - "can_capture": True, - "light": "on", - "description": "Camera capture deck where items are placed for imaging", - }, - ) - - self.resource_client.init_template( - resource=capture_deck_slot, - template_name="camera_capture_deck_slot", - description="Template for camera capture deck slot. Represents the position where items are placed for picture taking.", - required_overrides=["resource_name"], - tags=["camera", "capture", "deck", "slot", "imaging"], - created_by=self.node_definition.node_id, - version="1.0.0", - ) - - # Initialize capture deck resource - deck_resource_name = "camera_capture_deck_" + str( - self.node_definition.node_name - ) - self.capture_deck = self.resource_client.create_resource_from_template( - template_name="camera_capture_deck_slot", - resource_name=deck_resource_name, - add_to_database=True, - ) - self.logger.log( - f"Initialized capture deck resource from template: {self.capture_deck.resource_id}" - ) - else: - self.capture_deck = None + # Create picture capture deck template + capture_deck_slot = Slot( + resource_name="camera_capture_deck", + resource_class="CameraCaptureDeck", + capacity=1, + attributes={ + "slot_type": "capture_deck", + "can_capture": True, + "light": "on", + "description": "Camera capture deck where items are placed for imaging", + }, + ) + + self.resource_client.init_template( + resource=capture_deck_slot, + template_name="camera_capture_deck_slot", + description="Template for camera capture deck slot. Represents the position where items are placed for picture taking.", + required_overrides=["resource_name"], + tags=["camera", "capture", "deck", "slot", "imaging"], + created_by=self.node_definition.node_id, + version="1.0.0", + ) + + # Initialize capture deck resource + deck_resource_name = "camera_capture_deck_" + str( + self.node_definition.node_name + ) + self.capture_deck = self.resource_client.create_resource_from_template( + template_name="camera_capture_deck_slot", + resource_name=deck_resource_name, + add_to_database=True, + ) + self.logger.log( + f"Initialized capture deck resource from template: {self.capture_deck.resource_id}" + ) self.camera = cv2.VideoCapture(self.config.camera_address) if not self.camera.isOpened(): From 52b4c226c604a7cd3e346d53d1caf2c72c5c0f24 Mon Sep 17 00:00:00 2001 From: tginsbu1 Date: Fri, 17 Oct 2025 15:51:50 -0500 Subject: [PATCH 7/8] Update to v0.5.0-rc.2 --- .pre-commit-config.yaml | 4 +- pdm.lock | 537 ++++++++++++++++++++++++++++++++++------ pyproject.toml | 6 +- 3 files changed, 464 insertions(+), 83 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index caed31b..38a6f96 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,6 +1,6 @@ repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v5.0.0 + rev: v6.0.0 hooks: - id: check-yaml - id: check-toml @@ -16,7 +16,7 @@ repos: - id: nbstripout - repo: https://github.com/astral-sh/ruff-pre-commit # Ruff version. - rev: v0.11.5 + rev: v0.14.1 hooks: # Run the linter. - id: ruff diff --git a/pdm.lock b/pdm.lock index 9995a54..b2d6dfe 100644 --- a/pdm.lock +++ b/pdm.lock @@ -5,7 +5,7 @@ groups = ["default", "dev"] strategy = ["inherit_metadata"] lock_version = "4.5.0" -content_hash = "sha256:d05034ab58ec2d1b5f46e8dc9e0cf76912de53d28cf29eacf53fe46d80a63c0f" +content_hash = "sha256:0bc850fc45699696a021ed952e02080ef7009ce6753cbc4b83c4c04f6362fe43" [[metadata.targets]] requires_python = ">=3.9.1" @@ -63,6 +63,59 @@ files = [ 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"pydantic-extra-types>=2.10.2", @@ -819,13 +819,13 @@ dependencies = [ "uvicorn[standard]>=0.32.0", ] files = [ - {file = "madsci_common-0.5.0rc2-py3-none-any.whl", hash = "sha256:13e4f811850cbe59194c9ce8d54d8f90ddba9abe7cf1e46472e123454dad2483"}, - {file = "madsci_common-0.5.0rc2.tar.gz", hash = "sha256:99dd5d107416873870d95b5f33e511541fa4c498034550e86da013b8279007e3"}, + {file = "madsci_common-0.5.0-py3-none-any.whl", hash = "sha256:69f123576a414c046cff5b238ac9b2ab5f3ae895bde69688f1bb3b56bcada3d5"}, + {file = "madsci_common-0.5.0.tar.gz", hash = "sha256:68c7a2fbd27262ea0d228c1a20c18173d68e653908ebb672bbcdd9fe019f2835"}, ] [[package]] name = "madsci-node-module" -version = "0.5.0rc2" +version = "0.5.0" requires_python = ">=3.9.1" summary = "The Modular Autonomous Discovery for Science (MADSci) Node Module Helper Classes." groups = ["default"] @@ -835,8 +835,8 @@ dependencies = [ "regex", ] files = [ - {file = "madsci_node_module-0.5.0rc2-py3-none-any.whl", hash = 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a/src/camera_rest_node.py +++ b/src/camera_rest_node.py @@ -7,6 +7,7 @@ from typing import Annotated, Optional, Union import cv2 +from madsci.common.ownership import get_current_ownership_info from madsci.common.types.node_types import RestNodeConfig from madsci.common.types.resource_types import Slot from madsci.node_module.helpers import action @@ -62,6 +63,7 @@ def startup_handler(self) -> None: template_name="camera_capture_deck_slot", resource_name=deck_resource_name, add_to_database=True, + overrides={"owner": get_current_ownership_info().model_dump(mode="json")}, ) self.logger.log( f"Initialized capture deck resource from template: {self.capture_deck.resource_id}"