def main():
# Calibrate camera to servo. This is a function
get_angle = MU.calibrate_with_camera(
13, 303, 50, 40) #MU.calibrate_with_camera(13, 303, 50, 34)
# Servo handler
servo = ServoHandler(18, 100, 2.5, 20)
# Pump Handler
pump = PumpHandler(16)
# Camera handler
cam = CameraHandler(0, 8)
# Keep track of the threads
threads.append(cam)
# This goes into a thread
cam.start()
# Create a background frame for comparisson
background_frame = MU.get_background(cam)
while True:
smoothed_frame = cam.get_frame()
component = MU.detect_main_change(background_frame, smoothed_frame)
if len(component) != 0:
component = component[0]
# if the contour is too small, ignore it -> Not significant movement
if MU.detect_contour(component):
# Get the countour as a circle around the main change
(x, y), radius = MU.get_enclosure(component)
angle = int(get_angle(int(x)))
print angle
# Change the position only when it was changed (significantly)
servo.set_angle(angle)
# The pump shoots!!!
pump.shot(1)
# Reduce the speed of the readings
dummy_event = threading.Event()
dummy_event.wait(1)
def __archive_cameras(self, cams, result_path):
"""
Archives images from array of cameras. Places directory of all results at the given path.
"""
camera_handlers = []
for camera in cams:
# Create a new thread to handle the camera.
camera_handler = CameraHandler(camera, result_path)
# Run the thread.
camera_handler.start()
# Add the thread to the array of threads.
camera_handlers.append(camera_handler)
# Sleep to shift the starting time of all the threads.
# time.sleep(interval / len(cams)) # Old
time.sleep(0.5)
# Wait for all the threads to finish execution.
for camera_handler in camera_handlers:
camera_handler.join()
def setupCamera(self):
self.camHandler = CameraHandler()
self.camHandler.setTarget(self.environ.getX(), self.environ.getY(),
self.environ.getZ())
def __init__(self, showbase):
# Initialise Window
self.showbase = showbase
# total time since start of game, to keep ticks updating on time (rather, not before)
self.total_time = 0
# packets queue
self.incoming = deque()
# this is unnecessary lol but meh ill comment it anyway
self.hp = OnscreenText(text="HP: " + str(100.0),
pos=(0.95, -0.95),
scale=0.07,
fg=(1, 1, 1, 1),
align=TextNode.ACenter,
mayChange=1)
# Keys array (down if 1, up if 0)
self.keys = {"left": 0, "right": 0, "up": 0, "down": 0, "c": 0, "x": 0}
self.skybox = Skybox(self.showbase)
self.ch = CameraHandler()
# maybe this shit too, or this can stay here and just pass in an array of spells
self.showbase.spell_man = SpellManager(
self.showbase.num_warlocks
) # until the Game() class is created in here which i think it should
for i in self.showbase.spells:
self.showbase.spell_man.add_spell(i)
self.game = Game(self.showbase, game_tick)
self.warlock = self.game.warlock[self.showbase.which]
self.warlock.attach_ring(self.showbase)
self.tick = 0
self.temp_tick = 0
# Set event handlers for keys
self.showbase.accept("escape", sys.exit)
# holding c will focus the camera on clients warlock
self.showbase.accept("c", set_value, [self.keys, "c", 1])
self.showbase.accept("c-up", set_value, [self.keys, "c", 0])
# variable to track which spell has been requested
self.current_spell = -1
# keys to change spell
self.showbase.accept("q", self.set_spell, [0])
self.showbase.accept("w", self.set_spell, [1])
self.showbase.accept("e", self.set_spell, [2])
self.showbase.accept("r", self.set_spell, [3])
# mouse 1 is for casting the spell set by the keys
self.showbase.accept("mouse1", self.cast_spell)
# mouse 3 is for movement, or canceling keys for casting spell
self.showbase.accept("mouse3", self.update_destination)
# sets the camera up behind clients warlock looking down on it from angle
follow = self.warlock.model
self.ch.setTarget(follow.getPos().getX(),
follow.getPos().getY(),
follow.getPos().getZ())
self.ch.turnCameraAroundPoint(follow.getH(), 0)
# Add the game loop procedure to the task manager.
self.showbase.taskMgr.add(self.game_loop, "Game Loop")
logging.info("arduino start")
arduino = ArduinoManager(
"/dev/ttyACM0",
115200,
0,
queueJob,
"A",
sendCamera,
fpReceived,
fpNow,
)
ph.registerHandler(arduino)
jobList.append(arduino)
logging.info("camera start")
c = CameraHandler(queueJob, "R", sendCamera, currentRunNumber, algoVer)
ph.registerHandler(c)
jobList.append(c)
if algoVer == 1:
resultsFolder = "/home/pi/checklist-results"
imageFolder = "/home/pi/checklist-images"
statusFolder = "/home/pi/checklist-status"
remvoveFilesInFolder(resultsFolder)
remvoveFilesInFolder(imageFolder)
remvoveFilesInFolder(statusFolder)
while True:
if queueJob.qsize() != 0:
from Config import *
import direct.directbase.DirectStart
from direct.gui.OnscreenText import OnscreenText
from pandac.PandaModules import PandaNode, NodePath, Camera, TextNode, GeomTristrips, Geom, GeomVertexFormat, GeomVertexData, GeomVertexWriter, GeomNode, TransformState, OrthographicLens, TextureStage, TexGenAttrib, PNMImage, Texture, ColorBlendAttrib
from panda3d.core import *
from direct.gui.DirectGui import *
from direct.interval.IntervalGlobal import *
from direct.task import Task
import Effect
import Sprite
from CameraHandler import CameraHandler
camhandler = CameraHandler()
terrain = render.attachNewNode('terrain')
tile1 = loader.loadModel(GAME + "/models/slopes/flat")
tile1.setScale(3.0)
tile1.reparentTo(terrain)
tile1.setColor(0, 0, 1, 1)
tile1.setPos(9, 0, 0)
sprite1 = Sprite.Sprite(GAME + '/textures/sprites/4C_F_1.png', 3)
sprite1.node.reparentTo(terrain)
sprite1.node.setPos(9, 0, 0)
tile2 = loader.loadModel(GAME + "/models/slopes/flat")
tile2.setScale(3.0)
tile2.reparentTo(terrain)
tile2.setColor(0, 0, 1, 1)
tile2.setPos(-9, 0, 0)
sprite2 = Sprite.Sprite(GAME + '/textures/sprites/4C_F_1.png', 1)
