class DonkeyRemoteContoller:
def __init__(self, donkey_name, mqtt_broker, sensor_size=(120, 160, 3)):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name,
broker=mqtt_broker)
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name,
broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.sensor_size = sensor_size
def get_sensor_size(self):
return self.sensor_size
def wait_until_connected(self):
pass
def take_action(self, action):
self.controller_pub.run(action)
def quit(self):
self.camera_sub.shutdown()
self.controller_pub.shutdown()
def get_original_image(self):
return self.img
def observe(self):
jpg = self.camera_sub.run()
self.img = self.jpgToImg.run(jpg)
return self.img
class DonkeyRemoteContoller:
def __init__(self, donkey_name, mqtt_broker, sensor_size=(120, 160, 3)):
self.camera_sub = MQTTValueSub("donkey/%s/camera" % donkey_name, broker=mqtt_broker)#, def_value=(np.zeros((40, 40)), {"cte": 0}))
self.controller_pub = MQTTValuePub("donkey/%s/controls" % donkey_name, broker=mqtt_broker)
self.jpgToImg = JpgToImgArr()
self.sensor_size = sensor_size
def get_sensor_size(self):
return self.sensor_size
def wait_until_connected(self):
pass
def take_action(self, action):
self.controller_pub.run(action)
def quit(self):
self.camera_sub.shutdown()
self.controller_pub.shutdown()
def get_original_image(self):
return self.img
def observe(self):
jpg = self.camera_sub.run()
#data = self.camera_sub.run()
# #print("State: {}".format(state))
# #jpg, info = state
self.img = self.jpgToImg.run(jpg)
# return self.img#, info
return self.img