def simpleNudgeTest():
print "sending start"
cl.flush()
cl.start(13)
test = cl.readAndCheck()
if not test:
print "start not received D="
else:
print "start received!"
delay(9000)
print "nudging"
cl.flush()
cl.nudge(cl.M1)
test = cl.readAndCheck()
if not test:
print "nudge not received D="
else:
print "nudge received!"
delay(3000)
print "sending stop"
cl.flush()
cl.stop()
if not cl.readAndCheck():
print "stop not received D="
else:
print "stop received!"
def simpleNudgeTest(): print "sending start" cl.flush() cl.start( 13 ) test = cl.readAndCheck() if not test: print "start not received D=" else: print "start received!" delay( 9000 ) print "nudging" cl.flush() cl.nudge( cl.M1 ) test = cl.readAndCheck() if not test: print "nudge not received D=" else: print "nudge received!" delay( 3000 ) print "sending stop" cl.flush() cl.stop() if not cl.readAndCheck(): print "stop not received D=" else: print "stop received!"
def mainLoop():
vc = VideoCapture(outfile="sample_video/nudge_movement_raw.avi")
lastNudge = 0
intersect = None
print "startup loop"
while vc.frameBuf.size() < 5 and vc.captureFrame():
frame, intersect, horz = vc.findLines()
vc.drawGrid(frame)
vc.writeFrame()
if intersect:
vc.saveFrameToBuf()
print "sending start"
cl.flush()
cl.start(13)
test = cl.readAndCheck()
if not test:
print "start not received D="
else:
print "start received!"
# t0 = time.time()
while vc.captureFrame() and vc.frameCount < 150:
frame, intersect, horz = vc.findLines()
nudgeMotor = None
nudgeTime = None
mustStop = False
for line in horz:
# print "horz:", line
if line[0] > vc.height - 50 and line[1] == 255:
print "can't continue, gotta stop"
mustStop = True
break
if mustStop:
vc.drawGrid(frame)
vc.writeFrame()
vc.saveFrameToBuf()
break
if intersect and vc.frameCount >= (lastNudge + 15):
if intersect > (vc.width / 2 + 60):
print "BIGGER NUDGE M2!!"
nudgeMotor = cl.M2
nudgeTime = 7
circle(frame, (20, vc.height - 20), 6, (0, 0, 255), 2)
elif intersect > (vc.width / 2 + 30):
print "BIG NUDGE M2!!"
nudgeMotor = cl.M2
nudgeTime = 4
circle(frame, (20, vc.height - 20), 4, (0, 0, 255), 2)
elif intersect > (vc.width / 2 + 15):
print "NUDGE M2!!"
nudgeMotor = cl.M2
nudgeTime = 2
circle(frame, (20, vc.height - 20), 2, (0, 0, 255), 2)
elif intersect < (vc.width / 2 - 60):
print "BIGGER NUDGE M1!!"
nudgeMotor = cl.M1
nudgeTime = 7
circle(frame, (20, vc.height - 20), 6, (0, 255, 0), 2)
elif intersect < (vc.width / 2 - 30):
print "BIG NUDGE M1!!"
nudgeMotor = cl.M1
nudgeTime = 4
circle(frame, (20, vc.height - 20), 4, (0, 255, 0), 2)
elif intersect < (vc.width / 2 - 15):
print "NUDGE M1!!"
nudgeMotor = cl.M1
nudgeTime = 2
circle(frame, (20, vc.height - 20), 2, (0, 255, 0), 2)
if nudgeMotor and nudgeTime:
cl.flush()
cl.nudge(nudgeMotor, nudgeTime)
test = cl.readAndCheck()
if not test:
print "nudge not received D="
else:
print "nudge received!"
lastNudge = vc.frameCount
vc.drawGrid(frame)
vc.writeFrame()
vc.saveFrameToBuf()
print "sending stop"
cl.flush()
cl.stop()
if not cl.readAndCheck():
print "stop not received D="
else:
print "stop received!"
# get a few final frames
print "get a few more frames"
marker = vc.frameCount + 10
while vc.captureFrame() and vc.frameCount < marker:
frame, intersect, horz = vc.findLines()
vc.drawGrid(frame)
vc.writeFrame(frame)
vc.saveFrameToBuf()
def mainLoop(): vc = VideoCapture( outfile="sample_video/nudge_movement_raw.avi" ) lastNudge = 0 intersect = None print "startup loop" while vc.frameBuf.size() < 5 and vc.captureFrame(): frame, intersect, horz = vc.findLines() vc.drawGrid( frame ) vc.writeFrame( ) if intersect: vc.saveFrameToBuf() print "sending start" cl.flush() cl.start( 13 ) test = cl.readAndCheck() if not test: print "start not received D=" else: print "start received!" # t0 = time.time() while vc.captureFrame() and vc.frameCount < 150: frame, intersect, horz = vc.findLines() nudgeMotor = None nudgeTime = None mustStop = False for line in horz: # print "horz:", line if line[0] > vc.height-50 and line[1] == 255: print "can't continue, gotta stop" mustStop = True break if mustStop: vc.drawGrid( frame ) vc.writeFrame( ) vc.saveFrameToBuf() break if intersect and vc.frameCount >= (lastNudge+15): if intersect > (vc.width/2 + 60): print "BIGGER NUDGE M2!!" nudgeMotor = cl.M2 nudgeTime = 7 circle( frame, (20, vc.height-20), 6, (0,0,255), 2 ) elif intersect > (vc.width/2 + 30): print "BIG NUDGE M2!!" nudgeMotor = cl.M2 nudgeTime = 4 circle( frame, (20, vc.height-20), 4, (0,0,255), 2 ) elif intersect > (vc.width/2 + 15): print "NUDGE M2!!" nudgeMotor = cl.M2 nudgeTime = 2 circle( frame, (20, vc.height-20), 2, (0,0,255), 2 ) elif intersect < (vc.width/2 - 60): print "BIGGER NUDGE M1!!" nudgeMotor = cl.M1 nudgeTime = 7 circle( frame, (20, vc.height-20), 6, (0,255,0), 2 ) elif intersect < (vc.width/2 - 30): print "BIG NUDGE M1!!" nudgeMotor = cl.M1 nudgeTime = 4 circle( frame, (20, vc.height-20), 4, (0,255,0), 2 ) elif intersect < (vc.width/2 - 15): print "NUDGE M1!!" nudgeMotor = cl.M1 nudgeTime = 2 circle( frame, (20, vc.height-20), 2, (0,255,0), 2 ) if nudgeMotor and nudgeTime: cl.flush() cl.nudge( nudgeMotor, nudgeTime ) test = cl.readAndCheck() if not test: print "nudge not received D=" else: print "nudge received!" lastNudge = vc.frameCount vc.drawGrid( frame ) vc.writeFrame( ) vc.saveFrameToBuf() print "sending stop" cl.flush() cl.stop() if not cl.readAndCheck(): print "stop not received D=" else: print "stop received!" # get a few final frames print "get a few more frames" marker = vc.frameCount + 10 while vc.captureFrame() and vc.frameCount < marker: frame, intersect, horz = vc.findLines() vc.drawGrid( frame ) vc.writeFrame( frame ) vc.saveFrameToBuf()
def forwardMovement():
global nextTurn
lastNudge = 0
intersect = None
while vc.captureFrame():
lineFrame, intersect, horz = vc.findLines()
if vc.checkReset():
Log.info("resetting....")
return False
# vc.frameBuf.printHorzDiff()
# if nextTurn == None:
# next = vc.findShapes()
cornerFrame = vc.trackCorners()
vc.drawGrid(lineFrame)
vc.writeFrame(lineFrame)
vc.saveFrameToBuf()
frame = lineFrame
nudgeMotor = None
nudgeTime = None
if vc.lastFlowPnts is not None:
pnts = vc.lastFlowPnts
# Log.debug( 3*vc.height/4 )
# Log.debug( pnt )
if len(pnts) == 2 and abs(pnts[0][0][1] - pnts[1][0][1]) < 10:
# condition where there are only 2 dots on the same horz
# we don't wanna stop on the farthest tracked point
pass
elif pnts[0][0][1] > (3 * vc.height / 4) - 25:
Log.debug("can't continue, gotta stop - corner")
return True
for line in horz:
if line[0] > vc.height - 80 and line[1] == 255:
Log.debug("can't continue, gotta stop - line")
return True
if intersect and vc.frameCount >= (lastNudge + 10):
if intersect > (vc.width / 2 + 60):
nudgeMotor = cl.M2
nudgeTime = 6
circle(frame, (20, vc.height - 20), 6, (0, 0, 255), 2)
elif intersect > (vc.width / 2 + 25):
nudgeMotor = cl.M2
nudgeTime = 4
circle(frame, (20, vc.height - 20), 4, (0, 0, 255), 2)
elif intersect > (vc.width / 2 + 15):
nudgeMotor = cl.M2
nudgeTime = 2
circle(frame, (20, vc.height - 20), 2, (0, 0, 255), 2)
elif intersect < (vc.width / 2 - 60):
nudgeMotor = cl.M1
nudgeTime = 6
circle(frame, (20, vc.height - 20), 6, (0, 255, 0), 2)
elif intersect < (vc.width / 2 - 25):
nudgeMotor = cl.M1
nudgeTime = 4
circle(frame, (20, vc.height - 20), 4, (0, 255, 0), 2)
elif intersect < (vc.width / 2 - 15):
nudgeMotor = cl.M1
nudgeTime = 2
circle(frame, (20, vc.height - 20), 2, (0, 255, 0), 2)
if nudgeMotor and nudgeTime:
cl.flush()
cl.nudge(nudgeMotor, nudgeTime)
test = cl.readAndCheck()
if not test:
Log.warning("nudge %s, %d not received D=" %
(nudgeMotor, nudgeTime))
else:
Log.info("nudge %s, %d received!" % (nudgeMotor, nudgeTime))
lastNudge = vc.frameCount
def forwardMovement(): global nextTurn lastNudge = 0 intersect = None while vc.captureFrame(): lineFrame, intersect, horz = vc.findLines() if vc.checkReset(): Log.info( "resetting...." ) return False # vc.frameBuf.printHorzDiff() # if nextTurn == None: # next = vc.findShapes() cornerFrame = vc.trackCorners() vc.drawGrid( lineFrame ) vc.writeFrame( lineFrame ) vc.saveFrameToBuf() frame = lineFrame nudgeMotor = None nudgeTime = None if vc.lastFlowPnts is not None: pnts = vc.lastFlowPnts # Log.debug( 3*vc.height/4 ) # Log.debug( pnt ) if len(pnts) == 2 and abs(pnts[0][0][1] - pnts[1][0][1]) < 10: # condition where there are only 2 dots on the same horz # we don't wanna stop on the farthest tracked point pass elif pnts[0][0][1] > (3*vc.height/4)-25: Log.debug( "can't continue, gotta stop - corner" ) return True for line in horz: if line[0] > vc.height-80 and line[1] == 255: Log.debug( "can't continue, gotta stop - line" ) return True if intersect and vc.frameCount >= (lastNudge+10): if intersect > (vc.width/2 + 60): nudgeMotor = cl.M2 nudgeTime = 6 circle( frame, (20, vc.height-20), 6, (0,0,255), 2 ) elif intersect > (vc.width/2 + 25): nudgeMotor = cl.M2 nudgeTime = 4 circle( frame, (20, vc.height-20), 4, (0,0,255), 2 ) elif intersect > (vc.width/2 + 15): nudgeMotor = cl.M2 nudgeTime = 2 circle( frame, (20, vc.height-20), 2, (0,0,255), 2 ) elif intersect < (vc.width/2 - 60): nudgeMotor = cl.M1 nudgeTime = 6 circle( frame, (20, vc.height-20), 6, (0,255,0), 2 ) elif intersect < (vc.width/2 - 25): nudgeMotor = cl.M1 nudgeTime = 4 circle( frame, (20, vc.height-20), 4, (0,255,0), 2 ) elif intersect < (vc.width/2 - 15): nudgeMotor = cl.M1 nudgeTime = 2 circle( frame, (20, vc.height-20), 2, (0,255,0), 2 ) if nudgeMotor and nudgeTime: cl.flush() cl.nudge( nudgeMotor, nudgeTime ) test = cl.readAndCheck() if not test: Log.warning( "nudge %s, %d not received D=" % (nudgeMotor, nudgeTime) ) else: Log.info( "nudge %s, %d received!" % (nudgeMotor, nudgeTime) ) lastNudge = vc.frameCount
