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from __future__ import annotations
from rq_hardware.hardware_client import HardwareClient
from rq_ddetection.defect_detection_client import DefectDetectionClient
from rq_controller.common import PyProjection, PyRegionOfIntrest
import rclpy
from rclpy.node import Node
from scipy.spatial.transform import Rotation
import numpy as np
class WorkflowNode(Node):
def __init__(self):
super().__init__('rq_workflow_node')
self.hardware_interface = HardwareClient()
self.defect_detection_interface = DefectDetectionClient()
def defect_detection(self, projections: list[PyProjection]) -> list[PyRegionOfIntrest]:
future = self.defect_detection_interface.multi_projection_defect_detection(
projections)
rclpy.spin_until_future_complete(self.defect_detection_interface, future)
response = future.result()
roi_list = self.defect_detection_interface.response_2_py(response)
return roi_list
def aquire_projection(self, projection: PyProjection):
future = self.hardware_interface.aquire_projection(projection)
rclpy.spin_until_future_complete(self.hardware_interface, future)
response = future.result()
projection = self.hardware_interface.projection_response_2_py(response)
return projection
def check_reachability(self, projection: PyProjection):
future = self.hardware_interface.check_reachability(projection)
rclpy.spin_until_future_complete(self.hardware_interface, future)
response = future.result()
reached, cost, _ = self.hardware_interface.reachability_response_2_py(response)
return reached, cost
def main():
rclpy.init()
workflow = WorkflowNode()
number_of_projections = 10
projection_list = list()
angles = np.linspace(0, np.pi, number_of_projections)
rotation = Rotation.from_euler('z', angles, degrees=False)
fod_mm = 1000.
fdd_mm = 2000.
src_pos = np.array([0, fod_mm, 0])
det_pos = np.array([0, fod_mm-fdd_mm, 0])
for i in range(number_of_projections):
src_pos_rotated = rotation[i].apply(src_pos)
det_pos_rotated = rotation[i].apply(det_pos)
quad = (rotation[i] * Rotation.from_euler('x', 90, degrees=True)).as_quat()
scan_pose = PyProjection.dummy()
scan_pose.focal_spot_mm = src_pos_rotated
scan_pose.detector_postion_mm = det_pos_rotated
scan_pose.detector_orientation_quad = quad
scan_pose.voltage_kv = 100.
scan_pose.current_ua = 1.
scan_pose.exposure_time_ms = 500.
reachable, cost = workflow.check_reachability(scan_pose)
if reachable:
print("Pose can be reached -> scan...")
else:
print("Pose not reachable -> skip ...")
continue
projection = workflow.aquire_projection(scan_pose)
projection_list.append(projection)
defect_roi = workflow.defect_detection(projection_list)
for roi in defect_roi:
print(f'Roi center: {roi.center_points_mm}')
print(f'Roi dimension: {roi.dimensions_mm}')
if __name__ == '__main__':
main()