def main():
"""获取数据，然后预测获得的数据，编辑数据，控制车行驶"""
global model, graph
model_loaded = glob.glob('model/*.h5') # glob.glob()匹配指定的文件
for single_mod in model_loaded:
model = load_model(single_mod)
graph = tf.get_default_graph()
try:
with picamera.PiCamera(resolution=(160, 120)) as camera:
time.sleep(2)
output = ProcessOutput()
camera.start_recording(output, format='mjpeg')
while not output.done:
camera.wait_recording(1)
camera.stop_recording()
finally:
zth_car_control.clean_GPIO()
def my_car_control():
global is_capture_running, key
key = 4
pygame.init()
pygame.display.set_mode((1, 1)) # 窗口
zth_car_control.car_stop()
sleep(0.1)
print("Start control!")
while is_capture_running:
# get input from human driver
#
for event in pygame.event.get():
# 判断事件是不是按键按下的事件
if event.type == pygame.KEYDOWN:
key_input = pygame.key.get_pressed() # 可以同时检测多个按键
print(key_input[pygame.K_w], key_input[pygame.K_a],
key_input[pygame.K_d])
# 按下前进，保存图片以2开头
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Forward")
key = 2
zth_car_control.car_move_forward()
# 按下左键，保存图片以0开头
elif key_input[pygame.K_a]:
print("Left")
zth_car_control.car_turn_left()
sleep(0.1)
key = 0
# 按下d右键，保存图片以1开头
elif key_input[pygame.K_d]:
print("Right")
zth_car_control.car_turn_right()
sleep(0.1)
key = 1
# 按下s后退键，保存图片为3开头
elif key_input[pygame.K_s]:
print("Backward")
zth_car_control.car_move_backward()
key = 3
# 按下k停止键，停止
elif key_input[pygame.K_k]:
zth_car_control.car_stop()
# 检测按键是不是抬起
elif event.type == pygame.KEYUP:
key_input = pygame.key.get_pressed()
# w键抬起，轮子回正
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Forward")
key = 2
zth_car_control.car_turn_straight()
zth_car_control.car_move_forward()
# s键抬起
elif key_input[pygame.K_s] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Backward")
key = 3
zth_car_control.car_move_backward()
else:
print("Stop")
zth_car_control.car_stop()
# car_control.cleanGPIO()
zth_car_control.clean_GPIO()
# s键抬起
elif key_input[pygame.K_s] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Backward")
key = 3
zth_car_control.car_move_backward()
else:
print("Stop")
zth_car_control.car_stop()
# car_control.cleanGPIO()
zth_car_control.clean_GPIO()
if __name__ == '__main__':
global train_labels, train_img, key
print("capture thread")
print('-' * 50)
capture_thread = threading.Thread(target=pi_capture, args=()) # 开启线程
capture_thread.setDaemon(True)
capture_thread.start()
my_car_control()
while is_capture_running:
pass
print("Done!")
zth_car_control.car_stop()
zth_car_control.clean_GPIO()