fixed merge conflict

.travis.yml

@@ -1,16 +1,19 @@
 dist: trusty
-group: deprecated-2017Q4
+group: edge
 language: python
+#virtualenv:
+#  system_site_packages: true
 python:
-- 2.7_with_system_site_packages
+  - "2.7.13"
 before_install:
 - sudo apt-get -qq update
 - sudo apt-get install -y build-essential python-setuptools debhelper cdbs dh-python fakeroot
   python-pip rsync
 before_script:
+- CURRENT_DATE=$(date +%Y%m%d%H%M)
 - pip install mkdocs
 - VERSION=$(head -1 debian/changelog | awk -F'[()]' '{print $2}')
-- if [ -z ${TRAVIS_TAG} ]; then sed -i -e 's/'"$VERSION"'/'"$VERSION"'-b'"$TRAVIS_BUILD_NUMBER"'/g'
+- if [ -z ${TRAVIS_TAG} ]; then sed -i -e 's/'"$VERSION"'/'"$VERSION"'+'"$CURRENT_DATE"'/g'
   debian/changelog; fi
 - echo $TRAVIS_TAG
 script: sudo make deb

CHANGELOG.md

@@ -16,6 +16,34 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 - fixed camera driver (pi and usb)
 - fixed random artifacts at the beginning of object scan
 
+## [0.5.0] - 2018-04-04
+### Added
+
+### Changed
+
+### Fixed
+
+## [0.6.0] - 2018-11-23
+### Added 
+- introduced Tornado Web Framework
+- added new version of frontend with some fixes
+- added swapping support for high res scans
+- added new refactored firmware v.20181123
+
+### Changed
+- refactored Websocket Server
+- refactored Web Server
+- refactored Streaming Handler
+- refactored project structure
+
+### Fixed
+- Turntable Blocking mode
+- Image Ring Buffer Flushing
+- removed random artifacts at the beginning of object scan
+- stepper missing steps bug (aka stepper wobble)
+- avrdude bug
+- gap at the beginning/end of a scan
+
 ## [0.5.0] - 2018-04-04
 ### Added
 - new documentation parts (tnx to jens hackel)

debian/changelog

@@ -1,3 +1,18 @@
+fabscanpi-server (0.6.0) UNRELEASED; urgency=medium
+  * refactored webserver backend code
+  * introduced Tornado web framework
+  * fixed calibration non blocking bug.
+  * fixed flushing camera buffer
+  * fixed camera settings
+  * better camera stream performance (nearby live now)
+  * fixed gap at the beginning/end of a scan
+  * added swapping support for high res scans
+  * fixed avrdude bug
+  * fixed stepper missing steps bug (aka stepper wobble)
+  * added new version of frontend with some fixes
+
+ -- Mario Lukas <info@fabscan.org>  Sat, 24 Nov 2018 15:47:00 +0100
+
 fabscanpi-server (0.5.0) UNRELEASED; urgency=medium
   * fixed pykka aktor threading bug in streams
   * fixed bug realated to 400 step motors

debian/control

@@ -10,6 +10,6 @@ Package: fabscanpi-server
 Architecture: all
 Homepage: http://fabscan.org
 X-Python-Version: ${python:Versions}
-Depends: ${misc:Depends}, ${python:Depends},  python-opencv, libtbb2, python-pil, python-serial, python-pykka, python-picamera, python-rpi.gpio, python-semver, xvfb, meshlab, strace, avrdude, python-scipy
+Depends: ${misc:Depends}, ${python:Depends},  python-opencv, python-tornado, libtbb2, python-pil, python-serial, python-pykka, python-picamera, python-rpi.gpio, python-semver, xvfb, meshlab, strace, avrdude, python-scipy
 Description:
  FabScanPi Server ist the backend of the Stand-alone, Web-enabled, Open Source 3D laser scanner.

debian/fabscanpi-server.init

@@ -50,7 +50,7 @@ do_start() {
 
    RETVAL="$?"
    if [ $RETVAL != 0 ]; then
-     avrdude -c arduino -p m328p -P /dev/ttyAMA0 -b 57600 -l /dev/null
+     avrdude-autoreset -c arduino -p m328p -P /dev/ttyAMA0 -b 57600 -l /dev/null
       /sbin/start-stop-daemon --start --user $DAEMONUSER    \
             --make-pidfile --pidfile $PIDFILE  --background      \
             --exec /bin/bash -- -c "$DAEMON $DAEMON_ARGS"

docs/faq.md

@@ -211,6 +211,11 @@ NOTE: For details and specifications please consult the hardware chapter.
 
 - **No connection to Arduino, how can i fix that?**
 
+   When your FabScanPi-Server version is 0.5.0 and your avrdude version is Version 6.3-20171130 ( check for version with avrdude -v )
+   then edit the file `/usr/bin/avrdude-autoreset` and replace all `avrdude-original` with `avrdude`. Upgrade to the newest FabScanpi-Server
+   version >= 0.6.0 and you are done. After a restart it should work like usual. 
+   Keep in mind that it is more recommended to use the newest version of the image which will include a working fix. 
+
    First you need to find out more about the problem. Have a look to the log file (see "How can i view the log file?" in F.A.Q.). 
    Find the section where the init sequence of the server starts. Look for the folowing line ... 
 
@@ -249,6 +254,7 @@ NOTE: For details and specifications please consult the hardware chapter.
 
 ----
 
+
 - **How to flash the FabScanPi HAT Bootloader?**
 
 
@@ -326,6 +332,55 @@ or
 
 #### Scanning issues<a name="scanningIssues"></a>
 
+- **My scan looks like a cylinder**
+
+|![drawing_400](images/problem_2.png)   | ![drawing_400](images/problem_2b.png)  |   
+|---|---|
+|   This is the object.     |  This is the scan.    |  
+
+The problem occurs when the laser is not aligned vertically. The following pictures show
+the disalignment (blue) and how it should be aligned (red).
+
+
+ |![drawing_400](images/problem_2c.png)   | ![drawing_400](images/problem_2d.png)  |   
+|---|---|
+|   Disaligned Laser line     |  Aligned Laser line.   |  
+
+The solution for this problem is turning the laser module as long as the line hits
+the back wall of the scanner vertically. Be sure that the laser also passes the center 
+of the turntable ( this can be reached by turning the laser mount)
+
+
+- **My scan looks doubled**
+
+|![drawing_400](images/problem_1.png)   | ![drawing_400](images/problem_1b.png)  |   
+|---|---|
+|   This is the object.     |  This is the scan. The scan looks double.   |  
+
+
+ In this case check the label on your motor. Since the end of 2017 the stepper motor has 400
+ steps per full turn. The default config is set to 16x 400 = 6400 steps. If the scan looks like
+ on the picture, change the motor steps in the default config to 3200. 
+
+       "turntable": {
+        "steps": 3200,
+        "radius": 70
+       }
+       
+| ![drawing_200](images/motor_1.png)    | ![drawing_200](images/motor_2.png)  |   
+|---|---|
+|  Motor with 400 steps.     |  Motor with 200 steps.  |  
+
+
+
+
+
+
+
+
+
+
+
 - **The turntable is jerking during the scan process what can I do?**
 
   This behavior is quite normal because every time a new image has been shot the table just moves to the next position. If the table is turning smoothly (clockwise) during scan preview everything should be fine.

docs/news.md

@@ -1,3 +1,43 @@
+### FabScanPi 0.6.0 release. (2018-11-25)
+This release mainly fixes a lot of bugs and the Tornado Framework is introduced. This brings more 
+stability to the webserver part. The whole webserver code was refactored. Since AVRDude was upgraded
+in Raspbian stretch, version 0.5.0 does not work anymore. The AVRDude bug was responsible for serial 
+connection and firmware flashing problems (it is not a bootloader problem as described in the F.A.Q).
+
+Changelog for this version: 
+
+  * refactored webserver backend code
+  * introduced Tornado web framework
+  * fixed calibration non blocking bug.
+  * fixed flushing camera buffer
+  * fixed camera settings
+  * better camera stream performance (nearby live now)
+  * fixed gap at the beginning/end of a scan
+  * added swapping support for high res scans
+  * fixed avrdude bug
+  * fixed stepper missing steps bug (aka stepper wobble)
+  * added new version of frontend with some fixes
+
+
+### FabScanPi 0.5.0 release. (2018-04-04)
+The new release brings a better camera performance and also the USB cam module back. 
+We switched to a newer version of OpenCV which leads also to a better performance 
+and a more stable calibration process.
+
+Changelog for this version:
+
+  * fixed pykka aktor threading bug in streams
+  * fixed bug realated to 400 step motors
+  * replaced magic numbers by config values (tnx to jwalt)
+  * fixed typo in documentation (tnx to kradrat)
+  * new documentation parts (tnx to jens hackel)
+  * fixed green cam bug
+  * added deleting old calibration data before new calibration
+  * refactored camera driver ( much faster than before )
+  * added abort sequence when scanner is not calibrated
+  * added new handlers for gracefull application shutdown
+  * fixed start stop init script and added better logging to it
+
 ### FabScanPi 0.4.3 and updated documentation. (2017-07-26)
 First of all i would like to thank all FabScanPi builders/users/community members for 
 reporting bugs and sharing experiences. Special thanks goes to Jens Hackel for his

docs/software.md

@@ -212,6 +212,7 @@ INFO: To get a perfectly flat and stable surface glue the calibration sheet on a
 
  [Download calibration mount and sheet!](https://github.com/mariolukas/FabScan-Case/tree/master/calibration)
 
+Version V1 and V2 have the same size. Both will fit. But V2 is more printer friendly.
 
 Note: Please check if your print of the calibration sheet has the correct scale. Each black square should have the same side length as stated on the calibration sheet (e.g.11 mm (1,1 cm). If the size is not correct please correct the parameter "pattern square size" in the configuration file. 
 

requirements.txt

@@ -3,4 +3,5 @@ pillow
 Pykka
 numpy
 semver
+tornado
 mock

setup.py

@@ -22,14 +22,14 @@
 def version_number():
     with open('debian/changelog', 'r') as changelog_file:
         first_line = changelog_file.readline(100)
-        result = re.match("fabscanpi-server \(([0-9\.a-z\-]+)\) ([a-zA-Z]+); urgency=([a-z]+)", first_line)
+        result = re.match("fabscanpi-server \(([0-9\.a-z\+]+)\) ([a-zA-Z]+); urgency=([a-z]+)", first_line)
         if result is None:
             return '0.0.0'
         return result.group(1)
 
 
 def create_version_file():
-    with open("src/fabscan/FSVersion.py","w+") as version_file:
+    with open("src/fabscan/FSVersion.py", "w+") as version_file:
         version_file.write('__version__ = "%s"\n ' % str(version_number()))
 
 create_version_file()

src/fabscan/FSConfig.py

@@ -6,7 +6,7 @@
 
 import os
 import json
-from fabscan.util.FSInject import singleton
+from fabscan.lib.util.FSInject import singleton
 import io
 import numpy as np
 

src/fabscan/FSEvents.py

@@ -6,7 +6,7 @@
 
 import multiprocessing
 from Queue import Empty
-from fabscan.util.FSInject import singleton
+from fabscan.lib.util.FSInject import singleton
 import logging
 
 class FSEvent():

src/fabscan/FSScanner.py

@@ -11,12 +11,12 @@
 
 from fabscan.FSVersion import __version__
 from fabscan.FSEvents import FSEventManagerInterface, FSEvents
-from fabscan.vision.FSMeshlab import FSMeshlabTask
+from fabscan.worker.FSMeshlab import FSMeshlabTask
 from fabscan.FSConfig import ConfigInterface
 from fabscan.FSSettings import SettingsInterface
 from fabscan.scanner.interfaces.FSScanProcessor import FSScanProcessorCommand, FSScanProcessorInterface
-from fabscan.util.FSInject import inject, singleton
-from fabscan.util.FSUpdate import upgrade_is_available, do_upgrade
+from fabscan.lib.util.FSInject import inject, singleton
+from fabscan.lib.util.FSUpdate import upgrade_is_available, do_upgrade
 
 class FSState(object):
     IDLE = "IDLE"

src/fabscan/FSSettings.py

@@ -6,7 +6,7 @@
 
 import os
 import json
-from fabscan.util.FSInject import inject, singleton
+from fabscan.lib.util.FSInject import inject, singleton
 
 class SettingsInterface(object):
       def __init__(self, settings, first=True):

src/fabscan/__init__.py

@@ -4,7 +4,7 @@
 __maintainer__ = "Mario Lukas"
 __email__ = "info@mariolukas.de"
 
-from fabscan.server import FSServer
+from fabscan.server import FSScanServer
 from fabscan.daemon import Daemon
 from fabscan.FSVersion import __version__
 import logging
@@ -28,10 +28,10 @@ def __init__(self, pidfile, configfile, basedir, host, port, debug, allowRoot, l
 
 
 	def run(self):
-        #server = FSServer(config_file)
-        #fabscan = FSServer(self._configfile, self._basedir, self._host, self._port, self._debug, self._allowRoot)
+        #server = FSScanServer(config_file)
+        #fabscan = FSScanServer(self._configfile, self._basedir, self._host, self._port, self._debug, self._allowRoot)
 
-		fabscan = FSServer(self._configfile)
+		fabscan = FSScanServer(self._configfile)
 		fabscan.run()
 
 def main():
@@ -130,7 +130,7 @@ def main():
             elif "restart" == args.daemon:
                 daemon.restart()
         else:
-            fabscan = FSServer(args.config, args.settings)
+            fabscan = FSScanServer(args.config, args.settings)
             fabscan.run()
     except Exception, e:
         logger.fatal("Fatal error: %s", e)

src/fabscan/config/default.config.json

@@ -14,7 +14,7 @@
             "square_size": 11,
             "rows": 6,
             "columns": 8,
-            "origin_distance": 35
+            "origin_distance": 37.2
         },
         "camera_matrix": [],
         "distortion_vector": [],
@@ -51,9 +51,10 @@
         "type": "PICAM"
     },
     "serial": {
-        "baudrate": 57600,
+        "baudrate": 115200,
         "autoflash": "True",
         "port": "/dev/ttyAMA0"
     },
-    "texture_illumination": 140
-}
+    "texture_illumination": 140,
+    "keep_raw_images": "True"
+}

src/fabscan/config/dev.config.json

@@ -14,7 +14,7 @@
             "square_size": 11,
             "rows": 6,
             "columns": 8,
-            "origin_distance": 35
+            "origin_distance": 37.2
         },
         "camera_matrix": [],
         "distortion_vector": [],
@@ -31,9 +31,9 @@
     "meshlab": {
         "path": "/usr/bin/"
     },
-    "process_numbers": 8,
+    "process_numbers": 4,
     "turntable": {
-        "steps": 6400,
+        "steps": 3200,
         "radius": 70
     },
     "camera": {
@@ -51,9 +51,10 @@
         "type": "PICAM"
     },
     "serial": {
-        "baudrate": 57600,
+        "baudrate": 115200,
         "autoflash": "True",
         "port": "/dev/ttyAMA0"
     },
-    "texture_illumination": 140
+    "texture_illumination": 140,
+    "keep_raw_images": "True"
 }