pylabrobot.brooks.precise_flex.PreciseFlexVision#

class pylabrobot.brooks.precise_flex.PreciseFlexVision(driver: PreciseFlexDriver)#

Bases: object

IntelliGuide vision capability for a PreciseFlex with a camera gripper.

Reached as driver.vision, built at setup only when the controller has the IntelliGuide module, so its existence is the capability gate (no per-method guards). The wire primitives translate GPL vision commands over the driver’s transport; the orchestrations compose them. Nothing here moves the arm.

What the vision server holds:

Vision server
├─ cameras                  its hardware
├─ tool types               what it can instantiate
└─ Project (the active one)
   ├─ Processes             pipelines
   └─ Tools                 instances of the tool types

Methods

`__init__`(driver)
`capture_image`([camera])	Fetch one frame for `camera` directly off the vision server as an array, no motion.
`discover_configuration`()	Discover the vision server's capabilities into `self.configuration`; no motion.
`enumerate_project`()	List the loaded project's processes and tools (`system.listprocesses` / `listtools`).
`request_camera_count`()	Number of cameras PreciseVision sees (`System.CameraCount`); read-only, no motion.
`request_camera_height`([camera])	A camera's native frame height in px (`system.cameraframeheight <camera>`).
`request_camera_name`([camera])	A camera's friendly name, e.g. `Cam1` (`system.cameraname <camera>`).
`request_camera_resolutions`([camera])	A camera's supported resolution modes (`system.cameraresolutions <camera>`).
`request_camera_type`([camera])	A camera's capture backend, e.g. `DirectShow` (`system.cameratype <camera>`).
`request_camera_width`([camera])	A camera's native frame width in px (`system.cameraframewidth <camera>`).
`request_is_licensed`()	Whether the vision server reports a valid license (`system.islicensed`).
`request_processes`()	List all process names in the active project (`system.listprocesses`).
`request_project_name`()	The active project's name (`system.projectname`).
`request_projects`()	List all projects on the vision server (`system.listprojects`).
`request_stereo_parameters`([robot_number, ...])	Read the IntelliGuide stereo-locator configuration (`StereoParam` get); no motion.
`request_vision_tool_properties`(tool)	List the property names of one tool (`system.toolproperties <tool>`).
`request_vision_tool_property`(tool, property_name)	Read a PreciseVision tool property over the controller (`VToolProperty <tool> <prop>`).
`request_vision_tool_property_info`(tool, ...)	The type / enum / range metadata for one tool property (`system.toolpropertyinfo`).
`request_vision_tool_property_value`(tool, ...)	Read one tool property value (`property get <tool>.<property>`).
`request_vision_tool_type`(tool)	The tool's type/class, e.g. `Acquire` or `FiducialLocator` (`system.tooltype`).
`request_vision_tool_types`()	List the tool types the vision server can instantiate (`system.tooltypes`).
`request_vision_tools`()	List all tool names in the active project (`system.listtools`).
`request_vision_version`()	The vision server's version (`system.engineversion`).
`save_image`([camera, acquire_prefix, ...])	Acquire and save a frame via the acquire tool's ACQUIRE_AND_SAVE mode; no arm motion.
`setup`()	Discover the vision server's capabilities, cache and log them; best-effort, no motion.
`start_led`([camera, brightness, delay, ...])	Turn on the IntelliGuide camera lighting (LightControl vision tool); no arm motion.
`stop_led`([camera, use_server])	Turn off the IntelliGuide camera lighting (the `start_led` counterpart); no arm motion.

Parameters:: driver (PreciseFlexDriver)