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Add comprehensive test suite for USDA Vision Camera System

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- Implemented main test script to verify system components and functionality.
- Added individual test scripts for camera exposure settings, API changes, camera recovery, maximum FPS, MQTT events, logging, and timezone functionality.
- Created service file for system management and automatic startup.
- Included detailed logging and error handling in test scripts for better diagnostics.
- Ensured compatibility with existing camera SDK and API endpoints.
This commit is contained in:
Alireza Vaezi
2025-07-28 17:33:49 -04:00
parent 9cb043ef5f
commit 7bc8138f24
72 changed files with 419 additions and 118 deletions
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95
demos/cv_grab.py Normal file
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#coding=utf-8
import cv2
import numpy as np
import mvsdk
import platform
def main_loop():
# 枚举相机
DevList = mvsdk.CameraEnumerateDevice()
nDev = len(DevList)
if nDev < 1:
print("No camera was found!")
return
for i, DevInfo in enumerate(DevList):
print("{}: {} {}".format(i, DevInfo.GetFriendlyName(), DevInfo.GetPortType()))
i = 0 if nDev == 1 else int(input("Select camera: "))
DevInfo = DevList[i]
print(DevInfo)
# 打开相机
hCamera = 0
try:
hCamera = mvsdk.CameraInit(DevInfo, -1, -1)
except mvsdk.CameraException as e:
print("CameraInit Failed({}): {}".format(e.error_code, e.message) )
return
# 获取相机特性描述
cap = mvsdk.CameraGetCapability(hCamera)
# 判断是黑白相机还是彩色相机
monoCamera = (cap.sIspCapacity.bMonoSensor != 0)
# 黑白相机让ISP直接输出MONO数据，而不是扩展成R=G=B的24位灰度
if monoCamera:
mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO8)
else:
mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_BGR8)
# 相机模式切换成连续采集
mvsdk.CameraSetTriggerMode(hCamera, 0)
# 手动曝光，曝光时间30ms
mvsdk.CameraSetAeState(hCamera, 0)
mvsdk.CameraSetExposureTime(hCamera, 30 * 1000)
# 让SDK内部取图线程开始工作
mvsdk.CameraPlay(hCamera)
# 计算RGB buffer所需的大小，这里直接按照相机的最大分辨率来分配
FrameBufferSize = cap.sResolutionRange.iWidthMax * cap.sResolutionRange.iHeightMax * (1 if monoCamera else 3)
# 分配RGB buffer，用来存放ISP输出的图像
# 备注：从相机传输到PC端的是RAW数据，在PC端通过软件ISP转为RGB数据（如果是黑白相机就不需要转换格式，但是ISP还有其它处理，所以也需要分配这个buffer）
pFrameBuffer = mvsdk.CameraAlignMalloc(FrameBufferSize, 16)
while (cv2.waitKey(1) & 0xFF) != ord('q'):
# 从相机取一帧图片
try:
pRawData, FrameHead = mvsdk.CameraGetImageBuffer(hCamera, 200)
mvsdk.CameraImageProcess(hCamera, pRawData, pFrameBuffer, FrameHead)
mvsdk.CameraReleaseImageBuffer(hCamera, pRawData)
# windows下取到的图像数据是上下颠倒的，以BMP格式存放。转换成opencv则需要上下翻转成正的
# linux下直接输出正的，不需要上下翻转
if platform.system() == "Windows":
mvsdk.CameraFlipFrameBuffer(pFrameBuffer, FrameHead, 1)
# 此时图片已经存储在pFrameBuffer中，对于彩色相机pFrameBuffer=RGB数据，黑白相机pFrameBuffer=8位灰度数据
# 把pFrameBuffer转换成opencv的图像格式以进行后续算法处理
frame_data = (mvsdk.c_ubyte * FrameHead.uBytes).from_address(pFrameBuffer)
frame = np.frombuffer(frame_data, dtype=np.uint8)
frame = frame.reshape((FrameHead.iHeight, FrameHead.iWidth, 1 if FrameHead.uiMediaType == mvsdk.CAMERA_MEDIA_TYPE_MONO8 else 3) )
frame = cv2.resize(frame, (640,480), interpolation = cv2.INTER_LINEAR)
cv2.imshow("Press q to end", frame)
except mvsdk.CameraException as e:
if e.error_code != mvsdk.CAMERA_STATUS_TIME_OUT:
print("CameraGetImageBuffer failed({}): {}".format(e.error_code, e.message) )
# 关闭相机
mvsdk.CameraUnInit(hCamera)
# 释放帧缓存
mvsdk.CameraAlignFree(pFrameBuffer)
def main():
try:
main_loop()
finally:
cv2.destroyAllWindows()
main()

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demos/cv_grab2.py Normal file
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#coding=utf-8
import cv2
import numpy as np
import mvsdk
import platform
class Camera(object):
def __init__(self, DevInfo):
super(Camera, self).__init__()
self.DevInfo = DevInfo
self.hCamera = 0
self.cap = None
self.pFrameBuffer = 0
def open(self):
if self.hCamera > 0:
return True
# 打开相机
hCamera = 0
try:
hCamera = mvsdk.CameraInit(self.DevInfo, -1, -1)
except mvsdk.CameraException as e:
print("CameraInit Failed({}): {}".format(e.error_code, e.message) )
return False
# 获取相机特性描述
cap = mvsdk.CameraGetCapability(hCamera)
# 判断是黑白相机还是彩色相机
monoCamera = (cap.sIspCapacity.bMonoSensor != 0)
# 黑白相机让ISP直接输出MONO数据，而不是扩展成R=G=B的24位灰度
if monoCamera:
mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO8)
else:
mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_BGR8)
# 计算RGB buffer所需的大小，这里直接按照相机的最大分辨率来分配
FrameBufferSize = cap.sResolutionRange.iWidthMax * cap.sResolutionRange.iHeightMax * (1 if monoCamera else 3)
# 分配RGB buffer，用来存放ISP输出的图像
# 备注：从相机传输到PC端的是RAW数据，在PC端通过软件ISP转为RGB数据（如果是黑白相机就不需要转换格式，但是ISP还有其它处理，所以也需要分配这个buffer）
pFrameBuffer = mvsdk.CameraAlignMalloc(FrameBufferSize, 16)
# 相机模式切换成连续采集
mvsdk.CameraSetTriggerMode(hCamera, 0)
# 手动曝光，曝光时间30ms
mvsdk.CameraSetAeState(hCamera, 0)
mvsdk.CameraSetExposureTime(hCamera, 30 * 1000)
# 让SDK内部取图线程开始工作
mvsdk.CameraPlay(hCamera)
self.hCamera = hCamera
self.pFrameBuffer = pFrameBuffer
self.cap = cap
return True
def close(self):
if self.hCamera > 0:
mvsdk.CameraUnInit(self.hCamera)
self.hCamera = 0
mvsdk.CameraAlignFree(self.pFrameBuffer)
self.pFrameBuffer = 0
def grab(self):
# 从相机取一帧图片
hCamera = self.hCamera
pFrameBuffer = self.pFrameBuffer
try:
pRawData, FrameHead = mvsdk.CameraGetImageBuffer(hCamera, 200)
mvsdk.CameraImageProcess(hCamera, pRawData, pFrameBuffer, FrameHead)
mvsdk.CameraReleaseImageBuffer(hCamera, pRawData)
# windows下取到的图像数据是上下颠倒的，以BMP格式存放。转换成opencv则需要上下翻转成正的
# linux下直接输出正的，不需要上下翻转
if platform.system() == "Windows":
mvsdk.CameraFlipFrameBuffer(pFrameBuffer, FrameHead, 1)
# 此时图片已经存储在pFrameBuffer中，对于彩色相机pFrameBuffer=RGB数据，黑白相机pFrameBuffer=8位灰度数据
# 把pFrameBuffer转换成opencv的图像格式以进行后续算法处理
frame_data = (mvsdk.c_ubyte * FrameHead.uBytes).from_address(pFrameBuffer)
frame = np.frombuffer(frame_data, dtype=np.uint8)
frame = frame.reshape((FrameHead.iHeight, FrameHead.iWidth, 1 if FrameHead.uiMediaType == mvsdk.CAMERA_MEDIA_TYPE_MONO8 else 3) )
return frame
except mvsdk.CameraException as e:
if e.error_code != mvsdk.CAMERA_STATUS_TIME_OUT:
print("CameraGetImageBuffer failed({}): {}".format(e.error_code, e.message) )
return None
def main_loop():
# 枚举相机
DevList = mvsdk.CameraEnumerateDevice()
nDev = len(DevList)
if nDev < 1:
print("No camera was found!")
return
for i, DevInfo in enumerate(DevList):
print("{}: {} {}".format(i, DevInfo.GetFriendlyName(), DevInfo.GetPortType()))
cams = []
for i in map(lambda x: int(x), raw_input("Select cameras: ").split()):
cam = Camera(DevList[i])
if cam.open():
cams.append(cam)
while (cv2.waitKey(1) & 0xFF) != ord('q'):
for cam in cams:
frame = cam.grab()
if frame is not None:
frame = cv2.resize(frame, (640,480), interpolation = cv2.INTER_LINEAR)
cv2.imshow("{} Press q to end".format(cam.DevInfo.GetFriendlyName()), frame)
for cam in cams:
cam.close()
def main():
try:
main_loop()
finally:
cv2.destroyAllWindows()
main()

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demos/cv_grab_callback.py Normal file
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#coding=utf-8
import cv2
import numpy as np
import mvsdk
import time
import platform
class App(object):
def __init__(self):
super(App, self).__init__()
self.pFrameBuffer = 0
self.quit = False
def main(self):
# 枚举相机
DevList = mvsdk.CameraEnumerateDevice()
nDev = len(DevList)
if nDev < 1:
print("No camera was found!")
return
for i, DevInfo in enumerate(DevList):
print("{}: {} {}".format(i, DevInfo.GetFriendlyName(), DevInfo.GetPortType()))
i = 0 if nDev == 1 else int(input("Select camera: "))
DevInfo = DevList[i]
print(DevInfo)
# 打开相机
hCamera = 0
try:
hCamera = mvsdk.CameraInit(DevInfo, -1, -1)
except mvsdk.CameraException as e:
print("CameraInit Failed({}): {}".format(e.error_code, e.message) )
return
# 获取相机特性描述
cap = mvsdk.CameraGetCapability(hCamera)
# 判断是黑白相机还是彩色相机
monoCamera = (cap.sIspCapacity.bMonoSensor != 0)
# 黑白相机让ISP直接输出MONO数据，而不是扩展成R=G=B的24位灰度
if monoCamera:
mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO8)
else:
mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_BGR8)
# 相机模式切换成连续采集
mvsdk.CameraSetTriggerMode(hCamera, 0)
# 手动曝光，曝光时间30ms
mvsdk.CameraSetAeState(hCamera, 0)
mvsdk.CameraSetExposureTime(hCamera, 30 * 1000)
# 让SDK内部取图线程开始工作
mvsdk.CameraPlay(hCamera)
# 计算RGB buffer所需的大小，这里直接按照相机的最大分辨率来分配
FrameBufferSize = cap.sResolutionRange.iWidthMax * cap.sResolutionRange.iHeightMax * (1 if monoCamera else 3)
# 分配RGB buffer，用来存放ISP输出的图像
# 备注：从相机传输到PC端的是RAW数据，在PC端通过软件ISP转为RGB数据（如果是黑白相机就不需要转换格式，但是ISP还有其它处理，所以也需要分配这个buffer）
self.pFrameBuffer = mvsdk.CameraAlignMalloc(FrameBufferSize, 16)
# 设置采集回调函数
self.quit = False
mvsdk.CameraSetCallbackFunction(hCamera, self.GrabCallback, 0)
# 等待退出
while not self.quit:
time.sleep(0.1)
# 关闭相机
mvsdk.CameraUnInit(hCamera)
# 释放帧缓存
mvsdk.CameraAlignFree(self.pFrameBuffer)
@mvsdk.method(mvsdk.CAMERA_SNAP_PROC)
def GrabCallback(self, hCamera, pRawData, pFrameHead, pContext):
FrameHead = pFrameHead[0]
pFrameBuffer = self.pFrameBuffer
mvsdk.CameraImageProcess(hCamera, pRawData, pFrameBuffer, FrameHead)
mvsdk.CameraReleaseImageBuffer(hCamera, pRawData)
# windows下取到的图像数据是上下颠倒的，以BMP格式存放。转换成opencv则需要上下翻转成正的
# linux下直接输出正的，不需要上下翻转
if platform.system() == "Windows":
mvsdk.CameraFlipFrameBuffer(pFrameBuffer, FrameHead, 1)
# 此时图片已经存储在pFrameBuffer中，对于彩色相机pFrameBuffer=RGB数据，黑白相机pFrameBuffer=8位灰度数据
# 把pFrameBuffer转换成opencv的图像格式以进行后续算法处理
frame_data = (mvsdk.c_ubyte * FrameHead.uBytes).from_address(pFrameBuffer)
frame = np.frombuffer(frame_data, dtype=np.uint8)
frame = frame.reshape((FrameHead.iHeight, FrameHead.iWidth, 1 if FrameHead.uiMediaType == mvsdk.CAMERA_MEDIA_TYPE_MONO8 else 3) )
frame = cv2.resize(frame, (640,480), interpolation = cv2.INTER_LINEAR)
cv2.imshow("Press q to end", frame)
if (cv2.waitKey(1) & 0xFF) == ord('q'):
self.quit = True
def main():
try:
app = App()
app.main()
finally:
cv2.destroyAllWindows()
main()

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demos/demo_mqtt_console.py Normal file
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#!/usr/bin/env python3
"""
Demo script to show MQTT console logging in action.
This script demonstrates the enhanced MQTT logging by starting just the MQTT client
and showing the console output.
"""
import sys
import os
import time
import signal
import logging
# Add the current directory to Python path
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
from usda_vision_system.core.config import Config
from usda_vision_system.core.state_manager import StateManager
from usda_vision_system.core.events import EventSystem
from usda_vision_system.core.logging_config import setup_logging
from usda_vision_system.mqtt.client import MQTTClient
def signal_handler(signum, frame):
"""Handle Ctrl+C gracefully"""
print("\n🛑 Stopping MQTT demo...")
sys.exit(0)
def main():
"""Main demo function"""
print("🚀 MQTT Console Logging Demo")
print("=" * 50)
print()
print("This demo shows enhanced MQTT console logging.")
print("You'll see colorful console output for MQTT events:")
print(" 🔗 Connection status")
print(" 📋 Topic subscriptions")
print(" 📡 Incoming messages")
print(" ⚠️ Disconnections and errors")
print()
print("Press Ctrl+C to stop the demo.")
print("=" * 50)
# Setup signal handler
signal.signal(signal.SIGINT, signal_handler)
try:
# Setup logging with INFO level for console visibility
setup_logging(log_level="INFO", log_file="mqtt_demo.log")
# Load configuration
config = Config()
# Initialize components
state_manager = StateManager()
event_system = EventSystem()
# Create MQTT client
mqtt_client = MQTTClient(config, state_manager, event_system)
print(f"\n🔧 Configuration:")
print(f" Broker: {config.mqtt.broker_host}:{config.mqtt.broker_port}")
print(f" Topics: {list(config.mqtt.topics.values())}")
print()
# Start MQTT client
print("🚀 Starting MQTT client...")
if mqtt_client.start():
print("✅ MQTT client started successfully!")
print("\n👀 Watching for MQTT messages... (Press Ctrl+C to stop)")
print("-" * 50)
# Keep running and show periodic status
start_time = time.time()
last_status_time = start_time
while True:
time.sleep(1)
# Show status every 30 seconds
current_time = time.time()
if current_time - last_status_time >= 30:
status = mqtt_client.get_status()
uptime = current_time - start_time
print(f"\n📊 Status Update (uptime: {uptime:.0f}s):")
print(f" Connected: {status['connected']}")
print(f" Messages: {status['message_count']}")
print(f" Errors: {status['error_count']}")
if status['last_message_time']:
print(f" Last Message: {status['last_message_time']}")
print("-" * 50)
last_status_time = current_time
else:
print("❌ Failed to start MQTT client")
print(" Check your MQTT broker configuration in config.json")
print(" Make sure the broker is running and accessible")
except KeyboardInterrupt:
print("\n🛑 Demo stopped by user")
except Exception as e:
print(f"\n❌ Error: {e}")
finally:
# Cleanup
try:
if 'mqtt_client' in locals():
mqtt_client.stop()
print("🔌 MQTT client stopped")
except:
pass
print("\n👋 Demo completed!")
print("\n💡 To run the full system with this enhanced logging:")
print(" python main.py")
if __name__ == "__main__":
main()

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demos/grab.py Normal file
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#coding=utf-8
import mvsdk
def main():
# 枚举相机
DevList = mvsdk.CameraEnumerateDevice()
nDev = len(DevList)
if nDev < 1:
print("No camera was found!")
return
for i, DevInfo in enumerate(DevList):
print("{}: {} {}".format(i, DevInfo.GetFriendlyName(), DevInfo.GetPortType()))
i = 0 if nDev == 1 else int(input("Select camera: "))
DevInfo = DevList[i]
print(DevInfo)
# 打开相机
hCamera = 0
try:
hCamera = mvsdk.CameraInit(DevInfo, -1, -1)
except mvsdk.CameraException as e:
print("CameraInit Failed({}): {}".format(e.error_code, e.message) )
return
# 获取相机特性描述
cap = mvsdk.CameraGetCapability(hCamera)
PrintCapbility(cap)
# 判断是黑白相机还是彩色相机
monoCamera = (cap.sIspCapacity.bMonoSensor != 0)
# 黑白相机让ISP直接输出MONO数据，而不是扩展成R=G=B的24位灰度
if monoCamera:
mvsdk.CameraSetIspOutFormat(hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO8)
# 相机模式切换成连续采集
mvsdk.CameraSetTriggerMode(hCamera, 0)
# 手动曝光，曝光时间30ms
mvsdk.CameraSetAeState(hCamera, 0)
mvsdk.CameraSetExposureTime(hCamera, 30 * 1000)
# 让SDK内部取图线程开始工作
mvsdk.CameraPlay(hCamera)
# 计算RGB buffer所需的大小，这里直接按照相机的最大分辨率来分配
FrameBufferSize = cap.sResolutionRange.iWidthMax * cap.sResolutionRange.iHeightMax * (1 if monoCamera else 3)
# 分配RGB buffer，用来存放ISP输出的图像
# 备注：从相机传输到PC端的是RAW数据，在PC端通过软件ISP转为RGB数据（如果是黑白相机就不需要转换格式，但是ISP还有其它处理，所以也需要分配这个buffer）
pFrameBuffer = mvsdk.CameraAlignMalloc(FrameBufferSize, 16)
# 从相机取一帧图片
try:
pRawData, FrameHead = mvsdk.CameraGetImageBuffer(hCamera, 2000)
mvsdk.CameraImageProcess(hCamera, pRawData, pFrameBuffer, FrameHead)
mvsdk.CameraReleaseImageBuffer(hCamera, pRawData)
# 此时图片已经存储在pFrameBuffer中，对于彩色相机pFrameBuffer=RGB数据，黑白相机pFrameBuffer=8位灰度数据
# 该示例中我们只是把图片保存到硬盘文件中
status = mvsdk.CameraSaveImage(hCamera, "./grab.bmp", pFrameBuffer, FrameHead, mvsdk.FILE_BMP, 100)
if status == mvsdk.CAMERA_STATUS_SUCCESS:
print("Save image successfully. image_size = {}X{}".format(FrameHead.iWidth, FrameHead.iHeight) )
else:
print("Save image failed. err={}".format(status) )
except mvsdk.CameraException as e:
print("CameraGetImageBuffer failed({}): {}".format(e.error_code, e.message) )
# 关闭相机
mvsdk.CameraUnInit(hCamera)
# 释放帧缓存
mvsdk.CameraAlignFree(pFrameBuffer)
def PrintCapbility(cap):
for i in range(cap.iTriggerDesc):
desc = cap.pTriggerDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iImageSizeDesc):
desc = cap.pImageSizeDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iClrTempDesc):
desc = cap.pClrTempDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iMediaTypeDesc):
desc = cap.pMediaTypeDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iFrameSpeedDesc):
desc = cap.pFrameSpeedDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iPackLenDesc):
desc = cap.pPackLenDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iPresetLut):
desc = cap.pPresetLutDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iAeAlmSwDesc):
desc = cap.pAeAlmSwDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iAeAlmHdDesc):
desc = cap.pAeAlmHdDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iBayerDecAlmSwDesc):
desc = cap.pBayerDecAlmSwDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
for i in range(cap.iBayerDecAlmHdDesc):
desc = cap.pBayerDecAlmHdDesc[i]
print("{}: {}".format(desc.iIndex, desc.GetDescription()) )
main()

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demos/mqtt_publisher_test.py Normal file
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#!/usr/bin/env python3
"""
MQTT Publisher Test Script for USDA Vision Camera System
This script allows you to manually publish test messages to the MQTT topics
to simulate machine state changes for testing purposes.
Usage:
python mqtt_publisher_test.py
The script provides an interactive menu to:
1. Send 'on' state to vibratory conveyor
2. Send 'off' state to vibratory conveyor
3. Send 'on' state to blower separator
4. Send 'off' state to blower separator
5. Send custom message
"""
import paho.mqtt.client as mqtt
import time
import sys
from datetime import datetime
# MQTT Configuration (matching your system config)
MQTT_BROKER_HOST = "192.168.1.110"
MQTT_BROKER_PORT = 1883
MQTT_USERNAME = None # Set if your broker requires authentication
MQTT_PASSWORD = None # Set if your broker requires authentication
# Topics (from your config.json)
MQTT_TOPICS = {
"vibratory_conveyor": "vision/vibratory_conveyor/state",
"blower_separator": "vision/blower_separator/state"
}
class MQTTPublisher:
def __init__(self):
self.client = None
self.connected = False
def setup_client(self):
"""Setup MQTT client"""
try:
self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION1)
self.client.on_connect = self.on_connect
self.client.on_disconnect = self.on_disconnect
self.client.on_publish = self.on_publish
if MQTT_USERNAME and MQTT_PASSWORD:
self.client.username_pw_set(MQTT_USERNAME, MQTT_PASSWORD)
return True
except Exception as e:
print(f"❌ Error setting up MQTT client: {e}")
return False
def connect(self):
"""Connect to MQTT broker"""
try:
print(f"🔗 Connecting to MQTT broker at {MQTT_BROKER_HOST}:{MQTT_BROKER_PORT}...")
self.client.connect(MQTT_BROKER_HOST, MQTT_BROKER_PORT, 60)
self.client.loop_start() # Start background loop
# Wait for connection
timeout = 10
start_time = time.time()
while not self.connected and (time.time() - start_time) < timeout:
time.sleep(0.1)
return self.connected
except Exception as e:
print(f"❌ Failed to connect to MQTT broker: {e}")
return False
def disconnect(self):
"""Disconnect from MQTT broker"""
if self.client:
self.client.loop_stop()
self.client.disconnect()
def on_connect(self, client, userdata, flags, rc):
"""Callback when client connects"""
if rc == 0:
self.connected = True
print(f"✅ Connected to MQTT broker successfully!")
else:
self.connected = False
print(f"❌ Connection failed with return code {rc}")
def on_disconnect(self, client, userdata, rc):
"""Callback when client disconnects"""
self.connected = False
print(f"🔌 Disconnected from MQTT broker")
def on_publish(self, client, userdata, mid):
"""Callback when message is published"""
print(f"📤 Message published successfully (mid: {mid})")
def publish_message(self, topic, payload):
"""Publish a message to a topic"""
if not self.connected:
print("❌ Not connected to MQTT broker")
return False
try:
timestamp = datetime.now().strftime('%H:%M:%S.%f')[:-3]
print(f"📡 [{timestamp}] Publishing message:")
print(f" 📍 Topic: {topic}")
print(f" 📄 Payload: '{payload}'")
result = self.client.publish(topic, payload)
if result.rc == mqtt.MQTT_ERR_SUCCESS:
print(f"✅ Message queued for publishing")
return True
else:
print(f"❌ Failed to publish message (error: {result.rc})")
return False
except Exception as e:
print(f"❌ Error publishing message: {e}")
return False
def show_menu(self):
"""Show interactive menu"""
print("\n" + "=" * 50)
print("🎛️ MQTT PUBLISHER TEST MENU")
print("=" * 50)
print("1. Send 'on' to vibratory conveyor")
print("2. Send 'off' to vibratory conveyor")
print("3. Send 'on' to blower separator")
print("4. Send 'off' to blower separator")
print("5. Send custom message")
print("6. Show current topics")
print("0. Exit")
print("-" * 50)
def handle_menu_choice(self, choice):
"""Handle menu selection"""
if choice == "1":
self.publish_message(MQTT_TOPICS["vibratory_conveyor"], "on")
elif choice == "2":
self.publish_message(MQTT_TOPICS["vibratory_conveyor"], "off")
elif choice == "3":
self.publish_message(MQTT_TOPICS["blower_separator"], "on")
elif choice == "4":
self.publish_message(MQTT_TOPICS["blower_separator"], "off")
elif choice == "5":
self.custom_message()
elif choice == "6":
self.show_topics()
elif choice == "0":
return False
else:
print("❌ Invalid choice. Please try again.")
return True
def custom_message(self):
"""Send custom message"""
print("\n📝 Custom Message")
print("Available topics:")
for i, (name, topic) in enumerate(MQTT_TOPICS.items(), 1):
print(f" {i}. {name}: {topic}")
try:
topic_choice = input("Select topic (1-2): ").strip()
if topic_choice == "1":
topic = MQTT_TOPICS["vibratory_conveyor"]
elif topic_choice == "2":
topic = MQTT_TOPICS["blower_separator"]
else:
print("❌ Invalid topic choice")
return
payload = input("Enter message payload: ").strip()
if payload:
self.publish_message(topic, payload)
else:
print("❌ Empty payload, message not sent")
except KeyboardInterrupt:
print("\n❌ Cancelled")
def show_topics(self):
"""Show configured topics"""
print("\n📋 Configured Topics:")
for name, topic in MQTT_TOPICS.items():
print(f" 🏭 {name}: {topic}")
def run(self):
"""Main interactive loop"""
print("📤 MQTT Publisher Test")
print("=" * 50)
print(f"🎯 Broker: {MQTT_BROKER_HOST}:{MQTT_BROKER_PORT}")
if not self.setup_client():
return False
if not self.connect():
print("❌ Failed to connect to MQTT broker")
return False
try:
while True:
self.show_menu()
choice = input("Enter your choice: ").strip()
if not self.handle_menu_choice(choice):
break
except KeyboardInterrupt:
print("\n\n🛑 Interrupted by user")
except Exception as e:
print(f"\n❌ Error: {e}")
finally:
self.disconnect()
print("👋 Goodbye!")
return True
def main():
"""Main function"""
publisher = MQTTPublisher()
try:
publisher.run()
except Exception as e:
print(f"❌ Unexpected error: {e}")
sys.exit(1)
if __name__ == "__main__":
main()

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demos/mqtt_test.py Normal file
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#!/usr/bin/env python3
"""
MQTT Test Script for USDA Vision Camera System
This script tests MQTT message reception by connecting to the broker
and listening for messages on the configured topics.
Usage:
python mqtt_test.py
The script will:
1. Connect to the MQTT broker
2. Subscribe to all configured topics
3. Display received messages with timestamps
4. Show connection status and statistics
"""
import paho.mqtt.client as mqtt
import time
import json
import signal
import sys
from datetime import datetime
from typing import Dict, Optional
# MQTT Configuration (matching your system config)
MQTT_BROKER_HOST = "192.168.1.110"
MQTT_BROKER_PORT = 1883
MQTT_USERNAME = None # Set if your broker requires authentication
MQTT_PASSWORD = None # Set if your broker requires authentication
# Topics to monitor (from your config.json)
MQTT_TOPICS = {
"vibratory_conveyor": "vision/vibratory_conveyor/state",
"blower_separator": "vision/blower_separator/state"
}
class MQTTTester:
def __init__(self):
self.client: Optional[mqtt.Client] = None
self.connected = False
self.message_count = 0
self.start_time = None
self.last_message_time = None
self.received_messages = []
def setup_client(self):
"""Setup MQTT client with callbacks"""
try:
# Create MQTT client
self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION1)
# Set callbacks
self.client.on_connect = self.on_connect
self.client.on_disconnect = self.on_disconnect
self.client.on_message = self.on_message
self.client.on_subscribe = self.on_subscribe
# Set authentication if provided
if MQTT_USERNAME and MQTT_PASSWORD:
self.client.username_pw_set(MQTT_USERNAME, MQTT_PASSWORD)
print(f"🔐 Using authentication: {MQTT_USERNAME}")
return True
except Exception as e:
print(f"❌ Error setting up MQTT client: {e}")
return False
def connect(self):
"""Connect to MQTT broker"""
try:
print(f"🔗 Connecting to MQTT broker at {MQTT_BROKER_HOST}:{MQTT_BROKER_PORT}...")
self.client.connect(MQTT_BROKER_HOST, MQTT_BROKER_PORT, 60)
return True
except Exception as e:
print(f"❌ Failed to connect to MQTT broker: {e}")
return False
def on_connect(self, client, userdata, flags, rc):
"""Callback when client connects to broker"""
if rc == 0:
self.connected = True
self.start_time = datetime.now()
print(f"✅ Successfully connected to MQTT broker!")
print(f"📅 Connection time: {self.start_time.strftime('%Y-%m-%d %H:%M:%S')}")
print()
# Subscribe to all topics
print("📋 Subscribing to topics:")
for machine_name, topic in MQTT_TOPICS.items():
result, mid = client.subscribe(topic)
if result == mqtt.MQTT_ERR_SUCCESS:
print(f" ✅ {machine_name}: {topic}")
else:
print(f" ❌ {machine_name}: {topic} (error: {result})")
print()
print("🎧 Listening for MQTT messages...")
print(" (Manually turn machines on/off to trigger messages)")
print(" (Press Ctrl+C to stop)")
print("-" * 60)
else:
self.connected = False
print(f"❌ Connection failed with return code {rc}")
print(" Return codes:")
print(" 0: Connection successful")
print(" 1: Connection refused - incorrect protocol version")
print(" 2: Connection refused - invalid client identifier")
print(" 3: Connection refused - server unavailable")
print(" 4: Connection refused - bad username or password")
print(" 5: Connection refused - not authorised")
def on_disconnect(self, client, userdata, rc):
"""Callback when client disconnects from broker"""
self.connected = False
if rc != 0:
print(f"🔌 Unexpected disconnection from MQTT broker (code: {rc})")
else:
print(f"🔌 Disconnected from MQTT broker")
def on_subscribe(self, client, userdata, mid, granted_qos):
"""Callback when subscription is confirmed"""
print(f"📋 Subscription confirmed (mid: {mid}, QoS: {granted_qos})")
def on_message(self, client, userdata, msg):
"""Callback when a message is received"""
try:
# Decode message
topic = msg.topic
payload = msg.payload.decode("utf-8").strip()
timestamp = datetime.now()
# Update statistics
self.message_count += 1
self.last_message_time = timestamp
# Find machine name
machine_name = "unknown"
for name, configured_topic in MQTT_TOPICS.items():
if topic == configured_topic:
machine_name = name
break
# Store message
message_data = {
"timestamp": timestamp,
"topic": topic,
"machine": machine_name,
"payload": payload,
"message_number": self.message_count
}
self.received_messages.append(message_data)
# Display message
time_str = timestamp.strftime('%H:%M:%S.%f')[:-3] # Include milliseconds
print(f"📡 [{time_str}] Message #{self.message_count}")
print(f" 🏭 Machine: {machine_name}")
print(f" 📍 Topic: {topic}")
print(f" 📄 Payload: '{payload}'")
print(f" 📊 Total messages: {self.message_count}")
print("-" * 60)
except Exception as e:
print(f"❌ Error processing message: {e}")
def show_statistics(self):
"""Show connection and message statistics"""
print("\n" + "=" * 60)
print("📊 MQTT TEST STATISTICS")
print("=" * 60)
if self.start_time:
runtime = datetime.now() - self.start_time
print(f"⏱️ Runtime: {runtime}")
print(f"🔗 Connected: {'Yes' if self.connected else 'No'}")
print(f"📡 Messages received: {self.message_count}")
if self.last_message_time:
print(f"🕐 Last message: {self.last_message_time.strftime('%Y-%m-%d %H:%M:%S')}")
if self.received_messages:
print(f"\n📋 Message Summary:")
for msg in self.received_messages[-5:]: # Show last 5 messages
time_str = msg["timestamp"].strftime('%H:%M:%S')
print(f" [{time_str}] {msg['machine']}: {msg['payload']}")
print("=" * 60)
def run(self):
"""Main test loop"""
print("🧪 MQTT Message Reception Test")
print("=" * 60)
print(f"🎯 Broker: {MQTT_BROKER_HOST}:{MQTT_BROKER_PORT}")
print(f"📋 Topics: {list(MQTT_TOPICS.values())}")
print()
# Setup signal handler for graceful shutdown
def signal_handler(sig, frame):
print(f"\n\n🛑 Received interrupt signal, shutting down...")
self.show_statistics()
if self.client and self.connected:
self.client.disconnect()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Setup and connect
if not self.setup_client():
return False
if not self.connect():
return False
# Start the client loop
try:
self.client.loop_forever()
except KeyboardInterrupt:
pass
except Exception as e:
print(f"❌ Error in main loop: {e}")
return True
def main():
"""Main function"""
tester = MQTTTester()
try:
success = tester.run()
if not success:
print("❌ Test failed")
sys.exit(1)
except Exception as e:
print(f"❌ Unexpected error: {e}")
sys.exit(1)
if __name__ == "__main__":
main()

4
demos/readme.txt Normal file
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mvsdk.py: 相机SDK接口库（参考文档 WindowsSDK安装目录\Document\MVSDK_API_CHS.chm）
grab.py: 使用SDK采集图片，并保存到硬盘文件
cv_grab.py: 使用SDK采集图片，转换为opencv的图像格式