usage: sudo python3 server_start.py [-h] [-p PORT] [-a BIND_ADDRESS] [-v | -q] [--logfile LOGFILE]
test client: python3 testClient.py [ip address]
optional arguments:
-h, --help show this help message and exit
-p PORT, --port PORT port on which the server should run
-a BIND_ADDRESS, --bind_address BIND_ADDRESS adress on which the server will bind
-v, --verbose Prints info messages
-q, --quiet Prints only error messages
--logfile LOGFILE Logs will be written to this file| Identifier | Command | Description |
|---|---|---|
| GOO | get_circle_offset | returns the (X, Y) offset the gripper has to move to reach the nearest detected circle |
| GRP | grab_point | returns the coordinates to grab the detected part and a rotation offset for the gripper |
| GCO | get_cable_offset | returns the offset between the cable and it's vertical baseline |
| IMG | image | creates and saves an image without any other stuff |
| MGR | move_gripper | moves the selected gripper gripper into specified direction -> (X, Y) offset |
| OGR | open_gripper | opens the selected gripper |
| CGR | close_gripper | closes the selected gripper |
| PRH | schunk_prh | schunk acknowledge |
| LED | lights | sets the LEDs to specified HEX values |
| CLB | calibrate | calls the calibration to generate an empty config.ini and calibrates the scaling between pixels and millimeters |
| EXT | exit | exits the server and sends EX to the client |
| BGD | make_background_image | generates an image which will be used to remove the background while detecting cables |
| Bezeichner | Fehler | Beschreibung |
|---|---|---|
| eunc | unknown command | command doesn't exist |
| einc | invalid command | didn't understand specific command usage (maybe wrong parameters?) |
| eint | internal error | an error occured while processing the command |
(install in this order)
Python3 is required to run!
- DirMngr : sudo apt-get install dirmngr
install pip packages manually or with sudo pip3 -r requirements.txt : - Pillow: sudo pip3 install Pillow
- Flask: sudo pip3 install Flask
- NumPy: sudo pip3 install numpy
- SymPy: sudo pip3 install sympy
- Neopixel: sudo pip3 install rpi_ws281x adafruit-circuitpython-neopixel
- OpenCV sudo pip3 install opencv-python
Not every version of debian/raspbian covers the pre-build OpenCV package mentioned above. If the installation fails, you have to build OpenCV manually. To do so, first install the paket libfaac with the following instructions:
sudo nano /etc/apt/sources.list
deb http://www.deb-multimedia.org/ stretch main non-free hinzufügen
sudo apt-get install debian-keyring
gpg --keyserver pgp.mit.edu --recv-keys 1F41B907
gpg --armor --export 1F41B907 | apt-key add
sudo apt-get update
sudo apt-get install deb-multimedia-keyring
sudo apt-get update
sudo apt-get install libfaac-devAfter this you can build OpenCV with this tutorial:
Check of OpenCV is installed correctly:
import cv2
cv2.__version__If the module cv2 can't be found, go to:
/usr/local/lib/python2.x/dist-packagesand copy the directory cv2 to
/usr/local/lib/python3.x/dist-packages