def __init__(self):
pygame.init()
pygame.display.init()
self.quit = False
self.rover = RoverShell()
self.fps = 48
self.windowSize = [290, 230]
self.imageRect = (0, 0, 320, 240)
self.displayCaption = "RALVINN CAMERA"
pygame.display.set_caption(self.displayCaption)
print "Battery: " + str(self.rover.getBatteryPercentage())
self.screen = pygame.display.set_mode(self.windowSize)
self.clock = pygame.time.Clock()
self.run()
def __init__(self):
pygame.init()
pygame.display.init()
self.quit = False
self.rover = RoverShell()
self.fps = 48
self.windowSize = [290, 230]
self.imageRect = (0, 0, 320, 240)
self.displayCaption = "RALVINN CAMERA"
pygame.display.set_caption(self.displayCaption)
print "Battery: " + str(self.rover.getBatteryPercentage())
self.screen = pygame.display.set_mode(self.windowSize)
self.clock = pygame.time.Clock()
self.run()
class RoverControl():
def __init__(self):
pygame.init()
pygame.display.init()
self.quit = False
self.rover = RoverShell()
self.fps = 48
self.windowSize = [290, 230]
self.imageRect = (0, 0, 320, 240)
self.displayCaption = "RALVINN CAMERA"
pygame.display.set_caption(self.displayCaption)
print "Battery: " + str(self.rover.getBatteryPercentage())
self.screen = pygame.display.set_mode(self.windowSize)
self.clock = pygame.time.Clock()
self.run()
def run(self):
sleep(1.5)
while not self.quit:
self.update_rover_state()
self.resfresh_video_feed()
self.qr_code()
self.rover.quit = True
pygame.quit()
def resfresh_video_feed(self):
"""
"""
self.rover.lock.acquire()
image = self.rover.currentImage
self.rover.lock.release()
cv_image = create_opencv_image_from_stringio(cStringIO.StringIO(image))
image = cvimage_to_pygame(cv_image)
# Save the array of bytes into an image file named qr.png
fname = 'qrimage.png'
fd = open(fname, 'w')
fd.write(str(self.rover.currentImage))
fd.close()
self.screen.blit(image, (0, 0))
# Show image array over PyGame display
pygame.display.update(self.imageRect)
self.clock.tick(self.fps)
@staticmethod
def qr_code():
# decode the qr image.
qr = qrtools.QR()
if qr.decode('qr.png'):
print qr.data
else:
pass
def update_rover_state(self):
"""
"""
for event in pygame.event.get():
if event.type == QUIT:
self.quit = True
elif event.type == KEYDOWN:
if event.key in (K_j, K_k, K_SPACE, K_u, K_i, K_o):
self.updatePeripherals(event.key)
elif event.key in (K_w, K_a, K_s, K_d, K_q, K_e, K_z, K_c, K_r, K_l):
self.updateTreads(event.key)
else:
pass
elif event.type == KEYUP:
if event.key in (K_w, K_a, K_s, K_d, K_q, K_e, K_z, K_c, K_r, K_l):
self.updateTreads()
elif event.key in (K_j, K_k):
self.updatePeripherals()
else:
pass
else:
pass
def takepicure(self):
"""
"""
with open(self.newpicturename, 'w') as pic:
self.rover.lock.acquire()
pic.write(self.rover.currentImage)
self.rover.lock.release()
@property
def newpicturename(self):
"""
:return:
"""
todaysDate = str(date.today())
uniquekey = ''.join(choice(ascii_lowercase + ascii_uppercase))
for _ in range(4):
return todaysDate + '_' + uniquekey + '.jpq'
def updateTreads(self, key=None):
# tread speed ranges from 0 (none) to one (full speed) so [.5 ,.5] would be half full speed
"""
:param key:
"""
if key is None:
self.rover.treads = [0, 0]
elif key is K_w:
self.rover.treads = [1, 1]
elif key is K_s:
self.rover.treads = [-1, -1]
elif key is K_a:
self.rover.treads = [-1, 1]
elif key is K_d:
self.rover.treads = [1, -1]
elif key is K_q:
self.rover.treads = [.1, 1]
elif key is K_e:
self.rover.treads = [1, .1]
elif key is K_z:
self.rover.treads = [-.1, -1]
elif key is K_c:
self.rover.treads = [-1, -.1]
elif key is K_l:
pass
else:
pass
def updatePeripherals(self, key=None):
"""
:param key:
"""
if key is None:
self.rover.peripherals['camera'] = 0
elif key is K_j:
self.rover.peripherals['camera'] = 1
elif key is K_k:
self.rover.peripherals['camera'] = -1
elif key is K_u:
self.rover.peripherals['stealth'] = not \
self.rover.peripherals['stealth']
elif key is K_i:
self.rover.peripherals['lights'] = not \
self.rover.peripherals['lights']
elif key is K_o:
self.rover.peripherals['detect'] = not \
self.rover.peripherals['detect']
elif key is K_SPACE:
self.takepicure()
else:
pass
class RoverControl():
def __init__(self):
pygame.init()
pygame.display.init()
self.quit = False
self.rover = RoverShell()
self.fps = 48
self.windowSize = [290, 230]
self.imageRect = (0, 0, 320, 240)
self.displayCaption = "RALVINN CAMERA"
pygame.display.set_caption(self.displayCaption)
print "Battery: " + str(self.rover.getBatteryPercentage())
self.screen = pygame.display.set_mode(self.windowSize)
self.clock = pygame.time.Clock()
self.run()
def run(self):
sleep(1.5)
while not self.quit:
self.update_rover_state()
self.resfresh_video_feed()
self.qr_code()
self.rover.quit = True
pygame.quit()
def resfresh_video_feed(self):
"""
"""
self.rover.lock.acquire()
image = self.rover.currentImage
self.rover.lock.release()
cv_image = create_opencv_image_from_stringio(cStringIO.StringIO(image))
image = cvimage_to_pygame(cv_image)
# Save the array of bytes into an image file named qr.png
fname = 'qr.png'
fd = open(fname, 'w')
fd.write(str(self.rover.currentImage))
fd.close()
self.screen.blit(image, (0, 0))
# Show image array over PyGame display
pygame.display.update(self.imageRect)
self.clock.tick(self.fps)
@staticmethod
def qr_code():
# decode the qr image.
qr = qrtools.QR()
if qr.decode('qr.png'):
print qr.data
else:
pass
def update_rover_state(self):
"""
"""
for event in pygame.event.get():
if event.type == QUIT:
self.quit = True
elif event.type == KEYDOWN:
if event.key in (K_j, K_k, K_SPACE, K_u, K_i, K_o):
self.updatePeripherals(event.key)
elif event.key in (K_w, K_a, K_s, K_d, K_q, K_e, K_z, K_c, K_r, K_l):
self.updateTreads(event.key)
else:
pass
elif event.type == KEYUP:
if event.key in (K_w, K_a, K_s, K_d, K_q, K_e, K_z, K_c, K_r, K_l):
self.updateTreads()
elif event.key in (K_j, K_k):
self.updatePeripherals()
else:
pass
else:
pass
def takepicure(self):
"""
"""
with open(self.newpicturename, 'w') as pic:
self.rover.lock.acquire()
pic.write(self.rover.currentImage)
self.rover.lock.release()
@property
def newpicturename(self):
"""
:return:
"""
todaysDate = str(date.today())
uniquekey = ''.join(choice(ascii_lowercase + ascii_uppercase))
for _ in range(4):
return todaysDate + '_' + uniquekey + '.jpq'
def updateTreads(self, key=None):
# tread speed ranges from 0 (none) to one (full speed) so [.5 ,.5] would be half full speed
"""
:param key:
"""
if key is None:
self.rover.treads = [0, 0]
elif key is K_w:
self.rover.treads = [1, 1]
elif key is K_s:
self.rover.treads = [-1, -1]
elif key is K_a:
self.rover.treads = [-1, 1]
elif key is K_d:
self.rover.treads = [1, -1]
elif key is K_q:
self.rover.treads = [.1, 1]
elif key is K_e:
self.rover.treads = [1, .1]
elif key is K_z:
self.rover.treads = [-.1, -1]
elif key is K_c:
self.rover.treads = [-1, -.1]
elif key is K_l:
pass
else:
pass
def updatePeripherals(self, key=None):
"""
:param key:
"""
if key is None:
self.rover.peripherals['camera'] = 0
elif key is K_j:
self.rover.peripherals['camera'] = 1
elif key is K_k:
self.rover.peripherals['camera'] = -1
elif key is K_u:
self.rover.peripherals['stealth'] = not \
self.rover.peripherals['stealth']
elif key is K_i:
self.rover.peripherals['lights'] = not \
self.rover.peripherals['lights']
elif key is K_o:
self.rover.peripherals['detect'] = not \
self.rover.peripherals['detect']
elif key is K_SPACE:
self.takepicure()
else:
pass
