from adafruit_servokit import ServoKit import time import Jetson.GPIO as GPIO from multiprocessing import Process from playsound import playsound import pyrealsense2 as rs #mode='auto' mode = 'user' GPIO.cleanup() # Declare the GPIO settings GPIO.setmode(GPIO.BOARD) BS = 15 LS = 13 RS = 11 HS = 16 GPIO.setup(BS, GPIO.IN) Bc = 1 - GPIO.input(BS) GPIO.setup(LS, GPIO.IN) Lc = 1 - GPIO.input(LS) GPIO.setup(RS, GPIO.IN) Rc = 1 - GPIO.input(RS) GPIO.setup(HS, GPIO.IN)
# SPDX-FileCopyrightText: 2021 Melissa LeBlanc-Williams for Adafruit Industries
#
# SPDX-License-Identifier: MIT
"""Tegra T186 pin names"""
import atexit
from Jetson import GPIO
GPIO.setmode(GPIO.TEGRA_SOC)
GPIO.setwarnings(False) # shh!
class Pin:
"""Pins dont exist in CPython so...lets make our own!"""
IN = 0
OUT = 1
LOW = 0
HIGH = 1
PULL_NONE = 0
PULL_UP = 1
PULL_DOWN = 2
id = None
_value = LOW
_mode = IN
def __init__(self, bcm_number):
self.id = bcm_number
def __repr__(self):
def GPIO_main(self):
# self.timer.moveToThread(self.GPIOThreadHandle)
global clickState
global firstTime
global secondTime
global program_step
global print_once_flag
global timeEclipse
global clickFlag
global click_once
global time_long_set
global time_long_long_set
global falling_edge_flag
global rising_edge_flag
global cansel_flag
global ok_flag
# Pin Setup:
GPIO.setmode(GPIO.BOARD) # BOARD pin-numbering scheme
# GPIO.setup([led_pin_1, led_pin_2], GPIO.OUT) # LED pins set as output
GPIO.setup(gpi_grabimage, GPIO.IN) # button pin set as input
# Initial state for LEDs:
# GPIO.output(led_pin_1, GPIO.LOW)
# GPIO.output(led_pin_2, GPIO.LOW)
GPIO.add_event_detect(gpi_grabimage, GPIO.BOTH, callback=self.blink, bouncetime=200)
# print("Starting demo now! Press CTRL+C to exit")
pwm = PCA9685()
pwm.setPWMFreq(50)
pwm.setPWM(3, 0, 0) # 关闭可见激光
pwm.setPWM(4, 0, 0) # 关闭红外光源
pwm.setPWM(5, 0, 0) # 关闭红外激光
try:
while True:
if (clickState == 1):
timeEclipse = time.time() - firstTime
if (timeEclipse > time_long_set):
ok_flag = 1
clickFlag = 1
clickState = 0
firstTime = 0
# print("state 3")
else:
# time.sleep(0.01)
click_once = 0
if (clickState == 2):
timeEclipse = secondTime - firstTime
if (timeEclipse < time_long_set):
cansel_flag = 1
clickFlag = 2
secondTime = 0
firstTime = 0
clickState = 0
if (clickFlag == 1):
# print("this is single click")
clickState = 0
clickFlag = 0
elif (clickFlag == 2):
# print("this is double click")
clickState = 0
clickFlag = 0
if (clickFlag == 3):
clickState = 0
clickFlag = 0
# print("this is changan")
if (program_step == 1 and print_once_flag == 0):
# print("点亮可见激光")
# print("点亮不可见激光")
# print("点亮光源")
pwm.setPWM(3, 0, 4095) # 点亮可见激光
pwm.setPWM(4, 0, 4095) # 点亮红外光源
pwm.setPWM(5, 0, 4095) # 点亮红外激光
print("======================================================================")
print_once_flag = 1
if (program_step == 2 and print_once_flag == 1):
# print("熄灭光源")
pwm.setPWM(4, 0, 0) # 熄灭红外光源
print("抓拍一张激光图像") # 将此句话替换成拍照激光图片的函数即可
time.sleep(0.5)
# self.signal_cap_laserimg.emit()
self.trigger_laser_img()
pwm.setPWM(3, 0, 0) # 熄灭可见激光
pwm.setPWM(5, 0, 0) # 熄灭红外激光
time.sleep(0.5)
print("抓拍一张heise图像") # 将此句话替换成拍照heise图片的函数即可
# self.signal_cap_nolightimg.emit()
self.trigger_nolight_img()
# self.trigger_laser_img()
# self.trigger_nolight_img()
# print("打开光源")
# print("熄灭可见激光")
# print("熄灭不可见激光")
pwm.setPWM(4, 0, 4095) # 打开红外光源
pwm.setPWM(3, 0, 0) # 熄灭可见激光
pwm.setPWM(5, 0, 0) # 熄灭红外激光
print("抓拍一张灰度图像") # 将此句话替换成拍照灰度图片的函数即可
# self.signal_cap_inferredimg.emit()
time.sleep(0.5)
self.trigger_inferred_img()
print('2222')
# time.sleep(0.5)
print('3333')
pwm.setPWM(4, 0, 0) # 熄灭红外光源
print('4444')
print("开始上传激光图像") # 将此句话替换成上传激光图片的函数即可
print("开始上传灰度图像") # 将此句话替换成上传灰度图片的函数即可
# self.signal.emit()
self.signal_send_imgs.emit()
# self.send_conbine_img()
# time.sleep(0.5)
print("显示轮廓图像") # 将此句话替换成显示轮廓图片的函数即可
print("等待确认回复")
print("======================================================================")
print_once_flag = 2
if (program_step == 2 and cansel_flag == 1 and print_once_flag == 2):
cansel_flag = 0
print("取消重新开始")
self.signal_cancel_result.emit()
# self.cancel_result()
print("======================================================================")
print_once_flag = 0
program_step = 0
if (program_step == 2 and ok_flag == 1 and print_once_flag == 2):
ok_flag = 0
print("确认重新开始")
self.signal_confirm_result.emit()
# self.confirm_result()
print("======================================================================")
print_once_flag = 0
program_step = 0
finally:
GPIO.cleanup() # cleanup all GPIOs
def GPIO_main(self):
# self.timer.moveToThread(self.GPIOThreadHandle)
global clickState
global firstTime
global secondTime
global program_step
global print_once_flag
global timeEclipse
global clickFlag
global click_once
global time_long_set
global time_long_long_set
global falling_edge_flag
global rising_edge_flag
global cansel_flag
global ok_flag
# Pin Setup:
GPIO.setmode(GPIO.BOARD) # BOARD pin-numbering scheme
# GPIO.setup([led_pin_1, led_pin_2], GPIO.OUT) # LED pins set as output
GPIO.setup(gpi_grabimage, GPIO.IN) # button pin set as input
GPIO.add_event_detect(gpi_grabimage,
GPIO.BOTH,
callback=self.blink,
bouncetime=200)
# print("Starting demo now! Press CTRL+C to exit")
pwm = PCA9685()
pwm.setPWMFreq(50)
pwm.setPWM(3, 0, 0) # 关闭可见激光
pwm.setPWM(4, 0, 0) # 关闭红外光源
pwm.setPWM(5, 0, 0) # 关闭红外激光
try:
while True:
if (clickState == 1):
timeEclipse = time.time() - firstTime
if (timeEclipse > time_long_set):
ok_flag = 1
clickFlag = 1
clickState = 0
firstTime = 0
# print("state 3")
else:
# time.sleep(0.01)
click_once = 0
if (clickState == 2):
timeEclipse = secondTime - firstTime
if (timeEclipse < time_long_set):
cansel_flag = 1
clickFlag = 2
secondTime = 0
firstTime = 0
clickState = 0
if (clickFlag == 1):
# print("this is single click")
clickState = 0
clickFlag = 0
elif (clickFlag == 2):
# print("this is double click")
clickState = 0
clickFlag = 0
if (clickFlag == 3):
clickState = 0
clickFlag = 0
# print("this is changan")
if (program_step == 1 and print_once_flag == 0):
# print("点亮可见激光")
# print("点亮不可见激光")
# print("点亮光源")
self.label_3.setText('')
pwm.setPWM(3, 0, 4095) # 点亮可见激光
pwm.setPWM(4, 0, 4095) # 点亮红外光源
pwm.setPWM(5, 0, 4095) # 点亮红外激光
print(
"======================================================================"
)
print_once_flag = 1
if (program_step == 2 and print_once_flag == 1):
# print("熄灭光源")
pwm.setPWM(4, 0, 0) # 熄灭红外光源
print("抓拍一张激光图像") # 将此句话替换成拍照激光图片的函数即可
# set laser exposure
current_expo = c_float()
self.clientImID = int(round(time.time() * 1000))
ret = self.cam.MV_CC_GetFloatValue('ExposureTime',
current_expo)
if (current_expo.value != self.laser_exposure):
ret = self.cam.MV_CC_SetFloatValue(
'ExposureTime', self.laser_exposure)
time.sleep(0.25)
self.trigger_laser_img()
while (True):
res = judge_image_property0921.is_laserImage_proper(
self.laserImg)
if (res[0] == 1):
break
elif (res[0] == 0):
if ((self.laser_exposure < 1000)):
self.laser_exposure = 1000
self.trigger_laser_img()
break
if ((self.laser_exposure > 5000)):
self.laser_exposure = 5000
self.trigger_laser_img()
break
self.laser_exposure = max(
1000, self.laser_exposure + 200)
self.trigger_laser_img()
elif (res[0] == 2):
if ((self.laser_exposure > 5000)):
self.laser_exposure = 5000
self.trigger_laser_img()
break
if ((self.laser_exposure < 1000)):
self.laser_exposure = 1000
self.trigger_laser_img()
break
self.laser_exposure = min(
5000, self.laser_exposure - 200)
self.trigger_laser_img()
pwm.setPWM(3, 0, 0) # 熄灭可见激光
pwm.setPWM(5, 0, 0) # 熄灭红外激光
# print("打开光源")
# print("熄灭可见激光")
# print("熄灭不可见激光")
pwm.setPWM(4, 0, 4095) # 打开红外光源
pwm.setPWM(3, 0, 0) # 熄灭可见激光
pwm.setPWM(5, 0, 0) # 熄灭红外激光
current_expo = c_float()
ret = self.cam.MV_CC_GetFloatValue('ExposureTime',
current_expo)
if (current_expo.value != self.inferred_exposure):
ret = self.cam.MV_CC_SetFloatValue(
'ExposureTime', self.inferred_exposure)
time.sleep(0.25)
print("抓拍一张灰度图像") # 将此句话替换成拍照灰度图片的函数即可
self.trigger_inferred_img()
while (True):
res = judge_image_property0921.is_grayImage_proper(
self.inferredImg)
if (res[0] == 1):
break
elif (res[0] == 0):
if ((self.inferred_exposure < 100)):
self.inferred_exposure = 100
self.trigger_inferred_img()
break
if ((self.inferred_exposure > 3000)):
self.inferred_exposure = 3000
self.trigger_inferred_img()
break
self.inferred_exposure = max(
100, self.inferred_exposure + 200)
self.trigger_inferred_img()
elif (res[0] == 2):
if ((self.inferred_exposure > 3000)):
self.inferred_exposure = 3000
self.trigger_inferred_img()
break
if ((self.inferred_exposure < 100)):
self.inferred_exposure = 100
self.trigger_inferred_img()
break
self.inferred_exposure = min(
3000, self.inferred_exposure - 200)
self.trigger_inferred_img()
pwm.setPWM(4, 0, 0) # 熄灭红外光源
print("开始上传激光图像") # 将此句话替换成上传激光图片的函数即可
print("开始上传灰度像") # 将此句话替换成上传灰度图片的函数即可
self.signal_send_imgs.emit()
print("显示轮廓图像") # 将此句话替换成显示轮廓图片的函数即可
print("等待确认回复")
print(
"======================================================================"
)
print_once_flag = 2
if (program_step == 2 and cansel_flag == 1
and print_once_flag == 2):
cansel_flag = 0
print("取消重新开始")
self.signal_cancel_result.emit()
# self.cancel_result()
print(
"======================================================================"
)
print_once_flag = 0
program_step = 0
if (program_step == 2 and ok_flag == 1
and print_once_flag == 2):
ok_flag = 0
print("确认重新开始")
self.signal_confirm_result.emit()
# self.confirm_result()
print(
"======================================================================"
)
print_once_flag = 0
program_step = 0
finally:
GPIO.cleanup() # cleanup all GPIOs
def setPins(self):
GPIO.setmode(GPIO.BOARD) # enable mode to use pin numbers
GPIO.setup(self.gpio_low_input, GPIO.OUT, initial=GPIO.HIGH)
GPIO.setup(self.triggerPin, GPIO.OUT)
GPIO.setup(self.echoPin, GPIO.IN)
import cv2
import numpy as np
import math
import time
import Jetson.GPIO as GPIO
# MOTORS SETUP
# GPIO.cleanup() #clean trash from ports
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
# Motor left
GPIO.setup(18, GPIO.OUT) # IN1
GPIO.setup(17, GPIO.OUT) # IN2
# Motor right
GPIO.setup(23, GPIO.OUT) # IN3
GPIO.setup(22, GPIO.OUT) # IN4
# define color detection boundaries
lowerBound = np.array([29, 85, 6])
upperBound = np.array([64, 255, 255])
# camera setup
dispW = 640
dispH = 480
flip = 2
camSet = 'nvarguscamerasrc ! video/x-raw(memory:NVMM), width=1980, height=1080, format=NV12, framerate=59/1 ! nvvidconv flip-method=' + str(
flip) + ' ! video/x-raw, width=' + str(dispW) + ', height=' + str(
dispH
) + ', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink'
cam = cv2.VideoCapture(camSet)
# setting up kernel properties with matrices
kernelOpen = np.ones((5, 5))
