def testCapture():
vc = VideoCapture(outfile="sample_video/other_side_test3.avi")
while vc.captureFrame():
vc.writeFrame()
vc.saveFrameToBuf()
if vc.frameCount > 50:
break
print "sending start"
cl.flush()
cl.start(13)
test = cl.readAndCheck()
if not test:
print "start not received D="
else:
print "start received!"
while vc.captureFrame():
vc.writeFrame()
vc.saveFrameToBuf()
if vc.frameCount > 250:
break
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 testCapture(): vc = VideoCapture( outfile="sample_video/other_side_test3.avi" ) while vc.captureFrame(): vc.writeFrame() vc.saveFrameToBuf() if vc.frameCount > 50: break print "sending start" cl.flush() cl.start( 13 ) test = cl.readAndCheck() if not test: print "start not received D=" else: print "start received!" while vc.captureFrame(): vc.writeFrame() vc.saveFrameToBuf() if vc.frameCount > 250: break 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()
else:
kwargs['level'] = logging.INFO
if not args.console:
kwargs['filename'] = log_path
kwargs['format'] = '%(levelname)s %(module)s.%(funcName)s: %(message)s'
kwargs['datefmt'] = '%H:%M:%S'
logging.basicConfig(**kwargs)
# log uncaught exceptions
# thanks http://stackoverflow.com/a/8054179
# def logException( type, value, tb ):
# Log.exception( "Uncaught exception: {0}".format( str(value) ), exc_info=True )
# sys.excepthook = logException
vc = VideoCapture(outfile=args.outfile, fourcc=args.fourcc)
cl.setup()
print "starting in 10 seconds..."
delay(10000)
# spend some frames letting the camera warm up
for i in range(10):
vc.captureFrame()
try:
mainLoop()
except KeyboardInterrupt:
Log.info("we're done here")
vc.cleanUp()
else:
kwargs['level'] = logging.INFO
if not args.console:
kwargs['filename'] = log_path
kwargs['format'] = '%(levelname)s %(module)s.%(funcName)s: %(message)s'
kwargs['datefmt'] = '%H:%M:%S'
logging.basicConfig( **kwargs )
# log uncaught exceptions
# thanks http://stackoverflow.com/a/8054179
# def logException( type, value, tb ):
# Log.exception( "Uncaught exception: {0}".format( str(value) ), exc_info=True )
# sys.excepthook = logException
vc = VideoCapture( outfile=args.outfile, fourcc=args.fourcc )
cl.setup()
print "starting in 10 seconds..."
delay( 10000 )
# spend some frames letting the camera warm up
for i in range(10):
vc.captureFrame()
try:
mainLoop()
except KeyboardInterrupt:
Log.info( "we're done here" )
vc.cleanUp()
