added artist

rq_hardware/artist/artist_harware_service.py

@@ -7,10 +7,7 @@ try:
     import artistlib
     from artistlib import utility as artist_utility
 except ModuleNotFoundError:
-    raise ModuleNotFoundError('aRTist API not found.\n' + 
-                              'Use this api: \n' +
-                              'https://github.com/wittlsn/aRTist-PythonLib/tree/artist_thd_wip \n' +
-                              'Contact: simon.wittl@th-deg.de')
+    raise ModuleNotFoundError('aRTist API not found')
 
 import ros2_numpy
 import numpy as np
@@ -24,8 +21,6 @@ class ArtistHardwareInterface(BaseHardwareInterfaceService):
 
     def __init__(self, node_name: str = 'rq_hardware_interface_service'):
         super().__init__(node_name)
-
-        # initialize artist api
         self.api = artistlib.API()
         self.source = artistlib.hardware.XraySource(self.api)
         self.detector = artistlib.hardware.XrayDetector(self.api)
@@ -33,9 +28,7 @@ class ArtistHardwareInterface(BaseHardwareInterfaceService):
     def aquire_projection_callback(self, 
                                    request: AquireProjection.Request,
                                    response: AquireProjection.Response):
-        """
-        artist wrapper for projection aquisition
-        """
+        
         projection_geometry = PyProjection.from_message(request.scan_pose)
         
         self.api.rotate_from_quat('S', projection_geometry.focal_spot_orientation_quad)
@@ -61,8 +54,6 @@ class ArtistHardwareInterface(BaseHardwareInterfaceService):
         response.projection = request.scan_pose
         response.projection.image = ros2_numpy.msgify(Image, projection_image.astype(np.uint16), 'mono16')
 
-        self.publish_projection(response.projection)
-
         return response
     
 

rq_hardware/base_hardware_service.py

@@ -9,17 +9,10 @@ class BaseHardwareInterfaceService(Node):
     def __init__(self, node_name: str = 'rq_base_hardware_interface_service'):
         super().__init__(node_name)
         self.srv = self.create_service(AquireProjection, 'aquire_projection', self.aquire_projection_callback)
-        self.topic = self.create_publisher(Projection, 'current_projection', 1)
-        self.aquired_projections = 0
 
     def aquire_projection_callback(self,
                                    rquest: AquireProjection.Request,
-                                   response: AquireProjection.Response) -> rclpy.Future:
+                                   response: AquireProjection.Response):
         raise NotImplementedError
-    
-    def publish_projection(self, projection: Projection):
-        self.topic.publish(projection)
-        self.aquired_projections += 1
-        self.get_logger().info(f'Published projection number: {self.aquired_projections}')
         
 

rq_hardware/hardware_client.py

@@ -6,7 +6,7 @@ from rq_controller.common import PyProjection
 import rclpy
 from rclpy.node import Node
 
-class HardwareClient(Node):
+class DefectDetectionClient(Node):
 
     def __init__(self):
         super().__init__('rq_hardware_client')
@@ -30,7 +30,7 @@ def main():
 
     rclpy.init()
 
-    minimal_client = HardwareClient()
+    minimal_client = DefectDetectionClient()
     scan_pose = PyProjection.dummy()
 
     future = minimal_client.aquire_projection(scan_pose)