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()
