def main():
global sensor
sensor = Sensor()
try:
sensor.connect()
except:
print("Error connecting to sensor")
raise
return
#cv.namedWindow("Threshold", cv.WINDOW_AUTOSIZE);
cv.namedWindow("Contours", cv.WINDOW_AUTOSIZE);
nfunc = np.vectorize(normalize)
images = get_next_image()
baseline_frame = images[-1]
baseline = baseline_frame['image']
width = baseline_frame['cols']
height = baseline_frame['rows']
while 1:
images = get_next_image();
frame = images[-1]
pixels = np.array(frame['image'])
pixels_zeroed = np.subtract(baseline, pixels);
min = np.amin(pixels_zeroed)
max = np.amax(pixels_zeroed)
pixels_normalized = nfunc(pixels_zeroed, min, max)
large = sp.ndimage.zoom(pixels_normalized, 10, order=1)
large = large.astype(np.uint8);
large = cv.medianBlur(large,7)
#large = cv.GaussianBlur(large,(7,7),0)
#stuff, blobs = cv.threshold(large,150,255,cv.THRESH_BINARY)
stuff, blobs = cv.threshold(large,160,255,cv.THRESH_BINARY+cv.THRESH_OTSU)
contours, hierarchy = cv.findContours(blobs, cv.RETR_EXTERNAL, cv.CHAIN_APPROX_SIMPLE)
out = np.zeros((height*10,width*10,3), np.uint8)
cv.drawContours(out,contours,-1,(255,255,0),3)
regions_found = len(contours)
contours = np.vstack(contours).squeeze()
rect = cv.minAreaRect(contours)
box = cv.cv.BoxPoints(rect)
box = np.int0(box)
cv.drawContours(out,[box],0,(0,255,255),2)
#cv.imshow("Threshold", blobs);
cv.imshow("Contours", out)
cv.waitKey(1)
x = rect[0][0]
y = rect[0][1]
angle = rect[2];
if(regions_found < 10):
send(x, y, angle)
time.sleep(0.4)
sensor.close()
print "Done. Everything cleaned up."
q.put(distance)
if __name__ == '__main__':
try:
q = multiprocessing.Queue()
p1 = multiprocessing.Process(target = go)
p1.start()
while True:
p2 = multiprocessing.Process(target = force_to_stop,args=[q])
p2.start()
p2.join()
if q.get() < 10 :
p1.terminate()
print('force to stop')
sensor.close()
#motor.stop()
for i in pin :
GPIO.setup(i,GPIO.OUT)
pwm = GPIO.PWM(i,100)
GPIO.setup(23,GPIO.OUT)
GPIO.setup(4,GPIO.IN)
GPIO.cleanup()
print('cleaned up!')
sys.exit(0)
break
except KeyboardInterrupt:
print('KeyboardInterrupt')
metrics['tags'] = m_tags
if m_name in sen_data:
metrics["data_point"]["value"] = sen_data[m_name]
else:
logging.warn("no key in sensor data: {}".format(m_name))
continue
if timestamp:
metrics['data_point']['timestamp'] = timestamp
content['metrics'].append(metrics)
return content
if __name__ == "__main__":
logging.debug('start')
m = Machinist(MACHINIST_APIKEY)
sen = Sensor(SENSOR_SERIAL_DEVICE)
signal.signal(signal.SIGTERM, lambda *args: sen.close())
signal.signal(signal.SIGINT, lambda *args: sen.close())
sen.open()
try:
while sen.isopen():
now = datetime.datetime.now()
try:
metrics = metrics_data(sen, measured_at=now)
except SensorSerialError:
logging.error('Sensor serial error occurred.', exc_info=True)
time.sleep(10)
continue
try:
set_result = m.set_latest(metrics)
sys.stderr.write(json.dumps(set_result, sort_keys=True, indent=4) + "\n")
except MachinistHTTPError:
