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Surface_Inspection_Integration/AutoOpticalInspection.m
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classdef AutoOpticalInspection < handle | |
%AOI Automated Optical Inspection | |
properties | |
% Logger Instance | |
log | |
% Finite State Machine | |
fsm | |
% Timer to handle stepping the FSM | |
tmr | |
% Modules | |
mod_im_proc | |
mod_im_acq | |
mod_proc_ctrl | |
mod_gui | |
% GUI Binding | |
app_gui | |
gui_enabled = 1 | |
end | |
methods | |
function self = AutoOpticalInspection() | |
%AOI Construct an instance of this class | |
% Add the modules path | |
addpath('./Modules'); | |
% Set up logging | |
import logging.logging.*; | |
logPath = './Logs'; | |
logName = [datestr(datetime('now'),'yyyy_mm_dd__HH_MM_SS') '.log']; | |
self.log = logging.getLogger('AOI_Logger','path',[logPath '/' logName]); | |
% Set up Finite State Machine | |
self.fsm = StateFlowChart(); | |
self.fsm.log = self.log; | |
% === Instantiate Modules === | |
% Image Processing | |
self.mod_im_proc = Mod_ImageProcessor(self.log); | |
% Image Acquisition | |
self.mod_im_acq = Mod_ImageAcquisition(self.log); | |
% Process Control Master with Event Trigger Methods | |
methodSignatures = struct(); | |
methodSignatures.method_begin_inspection = @self.ev_Req_Begin_Inspection; | |
methodSignatures.method_complete_inspection = @self.ev_Req_Complete_Inspection; | |
methodSignatures.method_capture_image = @self.ev_Req_Image_Capture; | |
methodSignatures.method_setState_CurrentPose = @self.setState_CurrentPose; | |
self.mod_proc_ctrl = Mod_ProcessControl(self.log,methodSignatures); | |
% Provide the FSM with method handles for relavant tasks from | |
% modules | |
self.fsm.functions.Send_Section_Statuses = @self.func_send_section_statuses; | |
self.fsm.functions.Send_Capture_Complete = @self.func_send_capture_complete; | |
self.fsm.functions.Capture_Image = @self.func_captureImage; | |
self.fsm.functions.Process_Images = @self.func_processImages; | |
self.fsm.functions.Update_GUI = @self.update_GUI; | |
% === Set up timer to Execute FSM === | |
self.tmr = timer('ExecutionMode','fixedSpacing'); | |
self.tmr.TimerFcn = {@self.stepFSM_Callback}; | |
% == Initialize GUI == | |
if(self.gui_enabled) | |
self.mod_gui = gui(); | |
end | |
% === Begin the Process === | |
self.mod_proc_ctrl.connect(); | |
self.tmr.start; | |
end | |
function self = setState_CurrentPose(self, curPoseData) | |
%SETSTATE_CURRENTPOSE Passes current pose information to FSM | |
% CurPoseID should be a member of the curPoseData struct, it is | |
% pulled out and specified to the FSM, as it is a required | |
% value for image acquisition. | |
% Generic Data Container for Current Pose Information | |
self.fsm.curPoseData = curPoseData; | |
% Set the current PoseID for the FSM | |
self.fsm.curPoseID = curPoseData.PoseID; | |
end | |
function self = stepFSM_Callback(self,obj,event) | |
%self.update_GUI(); | |
self.fsm.step; | |
%self.update_GUI(); | |
end | |
function self = update_GUI(self) | |
if(self.gui_enabled) | |
try | |
updateGUI(self.mod_gui, self.fsm); | |
catch exc | |
disp(exc); | |
disp(exc.stack); | |
end | |
end | |
end | |
function self = dispose(self) | |
self.log.info('AutoOpticalInspection shutting down.'); | |
% Stop and Delete Timer | |
stop(self.tmr); | |
delete(self.tmr); | |
% Close Connection to the Process Controller | |
self.mod_proc_ctrl.dispose(); | |
% Close Connection to the Camera | |
self.mod_im_acq.dispose(); | |
% Delete GUI | |
if(self.gui_enabled) | |
self.mod_gui.delete; | |
end | |
% Delete Instances of Modules | |
delete(self.mod_proc_ctrl); | |
delete(self.mod_im_acq); | |
delete(self.mod_im_proc); | |
% Delete FSM | |
delete(self.fsm); | |
end | |
end | |
% Module Functions to be called from FSM | |
methods | |
function func_send_section_statuses(self, statusData) | |
self.mod_proc_ctrl.send_section_statuses(statusData); | |
end | |
function func_send_capture_complete(self) | |
self.mod_proc_ctrl.send_capture_complete(); | |
end | |
function img = func_captureImage(self,curPoseData) | |
img = self.mod_im_acq.captureImage(curPoseData); | |
end | |
function [statusData filepath] = func_processImages(self,imageContainer) | |
[statusData filepath] = self.mod_im_proc.processImages(imageContainer); | |
end | |
end | |
% Event Trigger Methods | |
methods | |
function self = ev_Req_Begin_Inspection(self) | |
self.fsm.ev_Req_Begin_Inspection(); | |
end | |
function self = ev_Req_Complete_Inspection(self) | |
self.fsm.inspection_ready = true; | |
end | |
function self = ev_Req_Image_Capture(self) | |
self.fsm.capture_ready = true; | |
end | |
end | |
end | |