def connect(self, parameters):
self.stopAll()
if parameters[0] == "WiFi":
try:
self.tcpClient = TCPClient(
(str(parameters[1]), int(parameters[2])), self.out_q,
self.in_q)
except Exception as e:
self.tcpClient = None
Logger.getInstance().error("Cannot start WiFi connection: " +
str(e))
else:
self.tcpClient.start()
Logger.getInstance().info("Connected to WiFi server")
elif parameters[0] == "COM":
try:
self.comClient = COMClient(str(parameters[1]),
int(parameters[2]), self.out_q,
self.in_q)
except Exception as e:
self.comClient = None
Logger.getInstance().error("Cannot start serial connection: " +
str(e))
else:
self.comClient.start()
Logger.getInstance().info("Connected to COM server")
if self.comClient or self.tcpClient:
self.result.emit(True)
else:
self.result.emit(False)
class EmotivController(object):
"""
Emocon
"""
__metaclass__ = Singleton
__socket1 = TCPClient(TARGET_IP, TARGET_PORT1)
__spawn_socket1 = None
def __init__(self):
try:
self.__socket1.connect()
print "EmotivController instance is created"
except IOError:
print "IOError: Can't connect to emotiv server."
def send_packet(self, request):
"""
Send EEG packet to TF Server.
"""
try:
self.__socket1.send(request)
response = self.__socket1.recv(1024)
return response
except IOError:
return 'IOError'
def __init__(self, id, dst_ip):
threading.Thread.__init__(self)
self.exitflag = False
self.bank = 0
self.id = id
self.alive = True
self.command = idle_msg
self.dst_ip = dst_ip
self.outputs = []
self.is_request = False
self.is_start = False
self.timer1 = None
if (id % 4) is 0:
self.dst_port = 5001
self.power_port = 0
self.switch_port = 4
self.redled_port = 8
self.blueled_port = 9
elif (id % 4) is 1:
self.dst_port = 5002
self.power_port = 1
self.switch_port = 5
self.redled_port = 10
self.blueled_port = 11
elif (id % 4) is 2:
self.dst_port = 5003
self.power_port = 3
self.switch_port = 7
self.redled_port = 14
self.blueled_port = 15
elif (id % 4) is 3:
self.dst_port = 5004
self.power_port = 2
self.switch_port = 6
self.redled_port = 12
self.blueled_port = 13
lastnumindex = dst_ip.rfind('.')
lastnum = int(dst_ip[lastnumindex + 1:len(dst_ip)])
self.module_ip = dst_ip[:lastnumindex + 1] + str(lastnum + id +
1) + "\r"
# sys.stdout.write('module ip: %r\n' % self.module_ip)
self.client = TCPClient(2, self.dst_ip, self.dst_port)
class DemoClass():
tcp = TCPClient()
default_Server_IP = "192.168.1.07"
Camera_H_Pos = 90
Camera_V_Pos = 90
SERVO_MIN_ANGLE = 0
SERVO_MAX_ANGLE = 180
Is_Paint_Thread_On = False
global t_Paint_Thread
sonic_Index = 0
sonic_buff = [0] * 20
send_Counter = 0
Is_tcp_Idle = True
def __init__(self, parent=None):
self.Camera_V_Pos = self.Camera_V_Pos + 3
self.Camera_V_Pos = constrain(self.Camera_V_Pos, 0, 90)
self.tcp.connectToServer(address=(self.default_Server_IP, 12345))
self.tcp.sendData(cmd.CMD_CAMERA_UP + str(self.Camera_V_Pos))
def main(assist, ipv4_host, port, color, fpv, bci2000, speech, mapl, mapr):
try:
Console.disable_quick_edit()
file = None
keyboard = False
bci = False
listen = None
listen_th = None
sock = sckt.socket(sckt.AF_INET, sckt.SOCK_DGRAM)
sock.connect(('8.8.8.8', 80))
p_ip = sock.getsockname()[0]
tcp_c = TCPClient(ipv4_host, port)
if tcp_c.join() and input(MSG_READY).lower() == 'y':
if bci2000:
inbuff = queue.Queue()
file = FParse(inbuff)
file.read(bci2000)
bci = True
elif speech:
listen = threading.Event()
inbuff = queue.Queue()
listen_th = threading.Thread(target=speech2txt,
args=(inbuff, listen),
daemon=True)
listen_th.start()
else:
keyboard = True
inbuff = None
GameCtrl.init(tcp_c, color, fpv, keyboard, assist, inbuff, file,
speech, bci, mapl, mapr, listen)
GameCtrl.start()
except KeyboardInterrupt:
pass
if listen_th:
listen_th.join(1)
print(MSG_CLOSE, flush=True)
Console.enable_quick_edit()
def __init__(self, width, height, svr_addr, svr_port, host_addr,
host_port): # {{{
""" """
self.lan = 'cn'
self.tcp = TCPClient(4096)
self.log = dict()
# window
self.width = width
self.height = height
self.win = tk.Tk()
self.win.protocol('WM_DELETE_WINDOW', self.onCloseWindow)
self.win.resizable(width=True, height=False)
self.screenwidth = self.win.winfo_screenwidth()
self.screenheight = self.win.winfo_screenheight()
# homebrain address / port
self.server_addr = tk.StringVar()
self.server_port = tk.StringVar()
self.server_addr.set(svr_addr)
self.server_port.set(svr_port)
# host address / port
self.host_addr = tk.StringVar()
self.host_port = tk.StringVar()
self.host_addr.set(host_addr)
self.host_port.set(host_port)
self.filter_key = tk.StringVar()
self.rule_newn_var = tk.StringVar()
self.rule_switch_var = tk.StringVar()
self.rule_btm_sw = 0
self.onGlobalConfigure()
self.createConnectView()
self.win.mainloop()
print '[ImageSource] Sending name:"%s" and size:"%s"' % (imgname,
str(size))
# ********************************************************
#Initialize UDP socket
udpClient = UDPClient(BUFFER_SIZE)
# ********************************************************
#Send Image Information via UDP packet in the format "IMAGE_NAME,IMAGE_SIZE"
udpClient.sendUDPmsg(imgname + ',' + str(size), RPI_IP, UDP_PORT)
#Assert that message with Image Name and Image Size was received
ret = udpClient.receiveUDPmsg(delay)
print "[ImageSource] Mensagem recebida do MidiSource", ret
# ********************************************************
#Connect to RPI TCP server
if (ret == "OK"):
tcpClient = TCPClient(RPI_IP, TCP_PORT, BUFFER_SIZE)
tcpClient.connectTCP()
print '[ImageSource] TCP Client ready to send the image'
#tcpClient.sendFileByNameAndClose(imgname)
# ********************************************************
#Send Image
tcpClient.sendDataBySize(img.read(), size)
# ********************************************************
#Close TCP socket
tcpClient.closeTCPclient()
print '[ImageSource] TCPClient closed'
#**************************MIDI PART******************************************
# ********************************************************
#Wait for UDP Packet Flag saying MIDI is ready to be sent
ret = udpClient.receiveUDPmsg(delay)
def run(self):
SOCK_CLOSE_STATE = 1
SOCK_OPENTRY_STATE = 2
SOCK_OPEN_STATE = 3
SOCK_CONNECTTRY_STATE = 4
SOCK_CONNECT_STATE = 5
idle_state = 1
datasent_state = 2
sys.stdout.write('thread for %r ' % self.serverip)
sys.stdout.write('is starting\r\n')
# TCPClient instance creation
client = TCPClient(2, self.serverip, self.serverport)
filename = self.serverip + '_log.txt'
#print(filename)
IsTimeout = 0
self.f = open(filename, 'w+')
while True:
if client.state is SOCK_CLOSE_STATE:
cur_state = client.state
client.state = client.open()
if client.state != cur_state:
sys.stdout.write('client.state is %r\r\n' % client.state)
time.sleep(1)
elif client.state is SOCK_OPEN_STATE:
cur_state = client.state
client.state = client.connect()
if client.state != cur_state:
sys.stdout.write('client.state is %r\r\n' % client.state)
time.sleep(1)
elif client.state is SOCK_CONNECT_STATE:
if client.working_state == idle_state:
try:
client.write(msg)
client.working_state = datasent_state
self.istimeout = 0
self.totaltrycount += 1
self.timer1 = threading.Timer(5.0, self.myTimer)
self.timer1.start()
except Exception as e:
sys.stdout.write('%r\r\n' % e)
elif client.working_state == datasent_state:
response = client.readline()
if (response != ""):
sys.stdout.write(response)
sys.stdout.write('\n')
sys.stdout.flush()
self.timer1.cancel()
self.istimeout = 0
if (msg in response):
logstr = '[' + self.serverip + ']' + strftime(
"%d %b %Y %H:%M:%S",
localtime()) + ': success\r\n'
sys.stdout.write(logstr)
self.successcount += 1
time.sleep(10)
client.working_state = idle_state
else:
logstr = '[' + self.serverip + ']' + strftime(
"%d %b %Y %H:%M:%S",
localtime()) + ': fail by broken data\r\n'
sys.stdout.write(logstr)
self.failcount += 1
self.f.write(logstr)
self.f.write("\r\n")
time.sleep(10)
client.working_state = idle_state
if self.istimeout is 1:
self.timer1.cancel()
self.istimeout = 0
logstr = '[' + self.serverip + ']' + strftime(
"%d %b %Y %H:%M:%S",
localtime()) + ': fail by timeout\r\n'
sys.stdout.write(logstr)
self.failcount += 1
self.f.write(logstr)
self.f.write("\r\n")
time.sleep(5)
client.working_state = idle_state
response = ""
# # # # # # # # # # # # # # #
# Socket Helpers #
# # # # # # # # # # # # # # #
from sys import argv
from TCPClient import TCPClient
if len(argv) == 3:
ip = argv[1]
port = int(argv[2])
else:
ip = '127.0.0.1'
port = 1337
TCP = TCPClient(ip, port)
def readString():
str = TCP.readline()
print '<', str
return str
def readArray():
return readString().split(' ')
def write(str):
if isinstance(str, (list, tuple)):
str = ' '.join(str)
print '>', str
class ScratchServer(BaseHTTPRequestHandler):
tcp = TCPClient()
Camera_H_Pos = 90
Camera_V_Pos = 90
SERVO_MIN_ANGLE = 0
SERVO_MAX_ANGLE = 180
Is_Paint_Thread_On = False
global t_Paint_Thread
sonic_Index = 0
sonic_buff = [0]*20
send_Counter = 0
Is_tcp_Idle = True
def do_GET(self):
self.send_response(200)
self.end_headers()
self.wfile.write(self.parsePath(self.path))
def parsePath(self, path):
pathParts = path.split('/')
if len(pathParts) < 2:
ScratchServer.lastError = "ERROR: No Command detected"
return ScratchServer.lastError
cmd = pathParts[1]
if cmd == "favicon.ico": return
if (cmd != "poll" and cmd != "lastError"): ScratchServer.lastError = ""
if cmd == "crossdomain.xml":
return self.getXDomainResponse()
elif cmd == "connect":
server_ip = pathParts[2]
return self.connect2Car(server_ip)
elif cmd == "disconnect":
return self.disconnectFromCar()
elif cmd == "cUp":
return self.cameraUp(pathParts[2])
elif cmd == "cDown":
return self.cameraDown(pathParts[2])
elif cmd == "cLeft":
return self.cameraLeft(pathParts[2])
elif cmd == "cRight":
return self.cameraRight(pathParts[2])
elif cmd == "centerCamera":
return self.centerCamera()
elif cmd == "moveForward":
return self.moveForward(pathParts[2])
elif cmd == "moveBackward":
return self.moveBackward(pathParts[2])
elif cmd == "stop":
return self.stop()
elif cmd == "stepForward":
return self.stepForward(pathParts[2], pathParts[3])
elif cmd == "stepBackward":
return self.stepBackward(pathParts[2], pathParts[3])
elif cmd == "turnLeft":
return self.turnLeft(pathParts[2])
elif cmd == "turnRight":
return self.turnRight(pathParts[2])
elif cmd == "center":
return self.center();
elif cmd == "lightRed":
return self.lightRed()
elif cmd == "lightGreen":
return self.lightGreen()
elif cmd == "lightBlue":
return self.lightBlue()
elif cmd == "buzz":
return self.buzz(pathParts[2])
elif cmd == "distance":
return self.distance()
elif cmd == "lastError":
return self.getLastError()
elif cmd == "lastMessage":
return self.lastMessage()
elif cmd == "poll":
return self.poll()
elif cmd == "reset_all":
return self.resetAll()
ScratchServer.lastError = "ERROR: '" + pathParts[1] + "' is not a valid command"
return ScratchServer.lastError
def lastMessage(self):
print ScratchServer.msg
return ScratchServer.msg
def getLastError(self):
print ScratchServer.lastError
return ScratchServer.lastError
def getXDomainResponse(self):
resp = "<cross-domain-policy>\n"
resp += "<allow-access-from domain=\"*\" to-ports=\"8085\"/>\n"
resp += "</cross-domain-policy>\x00"
return resp
def poll(self):
ScratchServer.msg = "sonic " + str(ScratchServer.iSonic)
if ScratchServer.lastError != "": ScratchServer.msg += "\nERROR: " + ScratchServer.lastError
print ScratchServer.msg
return ScratchServer.msg
def centerCamera(self):
try:
ScratchServer.Camera_V_Pos = 90
ScratchServer.Camera_H_Pos = 90
self.tcp.sendData(cmd.CMD_CAMERA_UP + str(ScratchServer.Camera_V_Pos))
self.tcp.sendData(cmd.CMD_CAMERA_LEFT + str(ScratchServer.Camera_H_Pos))
except Exception, e:
ScratchServer.lastError = "Error: " + e.message
print ScratchServer.lastError
return ScratchServer.lastError
return ""
from TCPClient import TCPClient
import Constants
def read_cmd_code():
try:
return int(input('Execute: '))
except ValueError:
print("ERROR: Not a number")
print("Example: 1")
return read_cmd_code()
if __name__ == '__main__':
client = TCPClient("localhost", 5001)
if client.fail:
print("Contolla il server")
exit(1)
cmd = ""
while True:
print("Available actions")
cn = 1
for cmd in Constants.actions:
print(cn.__str__() + " - " + cmd)
cn += 1
cmd = read_cmd_code() - 1
client.send_message(Constants.actions[cmd])
if Constants.actions[cmd] == "exit":
break
client.close_socket()
exit(0)
from TCPClient import TCPClient
import time
app = TCPClient() # Create new class object
app.address = ('localhost', 5000) # Set up ip and port for connection
app.start() # Start connection and running forever
time.sleep(5) # Delay 5 secs
app.send("test1") # Send message
time.sleep(2) # Delay 2 secs
print(app.rcvmsg) # Print out to see receive message
time.sleep(1) # Delay 2 secs
app.stop() # Stop running
class MainWindow(QMainWindow, Ui_MainWindow):
tcp = TCPClient()
default_Server_IP = "192.168.1.108"
Camera_H_Pos = 90
Camera_V_Pos = 90
SERVO_MIN_ANGLE = 0
SERVO_MAX_ANGLE = 180
Is_Paint_Thread_On = False
global t_Paint_Thread
sonic_Index = 0
sonic_buff = [0] * 20
send_Counter = 0
Is_tcp_Idle = True
def __init__(self, parent=None):
QMainWindow.__init__(self, parent)
self.setupUi(self)
self.setFixedSize(self.width(), self.height())
self.msgDlg = Messgae_Dialog()
self.loadLogo()
self.webView.setZoomFactor(1.2)
#self.webView.setUrl(QUrl().fromLocalFile("/html/car_photo.html"))
#self.webView.setUrl(QtCore.QUrl("file:/html/car_photo.html"))
photo_Path = os.getcwd() + '/html/car_photo.html'
self.webView.load(QtCore.QUrl.fromUserInput(photo_Path))
#self.webView.page().settings().setAttribute(QtWebEngineWidgets.QWebEngineSettings.ShowScrollBars, False)
self.webView.page().mainFrame().setScrollBarPolicy(
Qt.Horizontal, Qt.ScrollBarAlwaysOff)
self.webView.page().mainFrame().setScrollBarPolicy(
Qt.Vertical, Qt.ScrollBarAlwaysOff)
try:
file_Config = open("Config.txt", "r")
self.default_Server_IP = file_Config.read()
except (Exception, e):
print((
"Config.txt is not exist,If the Program is the first executed, To ignore this information",
e))
finally:
file_Config.close()
self.lineEdit_IP_Addr.setText(self.default_Server_IP)
self.wgt_Drawing = PaintArea(self)
self.wgt_Drawing.setGeometry(10, 10, 400, 300)
self.wgt_Drawing.setVisible(False)
self.mutex = threading.Lock()
#self.t_Recv_Sonic_Thread = Recv_Sonic_Thread(self)
#self.t_Scan_Sonic_Thread = Scan_Sonic_Thread(self)
#self.t_Paint_Thread = Piant_Thread(self.wgt_Drawing)
#self.t_Paint_Thread.start()
def loadLogo(self):
scene = QGraphicsScene(self)
#scene.setSceneRect(-600, -600, 1200, 1200)
#pic = QPixmap("imgs/logo02.png")
pic = QPixmap(":/imgs/logo_Nomal")
scene.addPixmap(pic)
view = self.logo
view.setStyleSheet("background:transparent")
view.setScene(scene)
view.setRenderHint(QPainter.Antialiasing)
view.show()
@pyqtSlot()
def on_btn_Up_pressed(self):
self.Camera_V_Pos = self.Camera_V_Pos + self.slider_Camera.value()
self.Camera_V_Pos = constrain(self.Camera_V_Pos, self.SERVO_MIN_ANGLE,
self.SERVO_MAX_ANGLE)
self.slider_Camera_V.setValue(self.Camera_V_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_UP + str(self.Camera_V_Pos))
@pyqtSlot()
def on_btn_Up_released(self):
self.tcp.sendData(cmd.CMD_CAMERA_STOP)
@pyqtSlot()
def on_btn_Left_pressed(self):
self.Camera_H_Pos = self.Camera_H_Pos + self.slider_Camera.value()
self.Camera_H_Pos = constrain(self.Camera_H_Pos, self.SERVO_MIN_ANGLE,
self.SERVO_MAX_ANGLE)
self.slider_Camera_H.setValue(self.Camera_H_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_LEFT + str(self.Camera_H_Pos))
@pyqtSlot()
def on_btn_Left_released(self):
self.tcp.sendData(cmd.CMD_CAMERA_STOP)
@pyqtSlot()
def on_btn_Down_pressed(self):
self.Camera_V_Pos = self.Camera_V_Pos - self.slider_Camera.value()
self.Camera_V_Pos = constrain(self.Camera_V_Pos, 80,
self.SERVO_MAX_ANGLE)
self.slider_Camera_V.setValue(self.Camera_V_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_DOWN + str(self.Camera_V_Pos))
@pyqtSlot()
def on_btn_Down_released(self):
self.tcp.sendData(cmd.CMD_CAMERA_STOP)
@pyqtSlot()
def on_btn_Right_pressed(self):
self.Camera_H_Pos = self.Camera_H_Pos - self.slider_Camera.value()
self.Camera_H_Pos = constrain(self.Camera_H_Pos, self.SERVO_MIN_ANGLE,
self.SERVO_MAX_ANGLE)
self.slider_Camera_H.setValue(self.Camera_H_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_LEFT + str(self.Camera_H_Pos))
@pyqtSlot()
def on_btn_Right_released(self):
self.tcp.sendData(cmd.CMD_CAMERA_STOP)
@pyqtSlot()
def on_btn_Home_clicked(self):
self.Camera_H_Pos = 90
self.Camera_V_Pos = 90
self.slider_Camera_H.setValue(self.Camera_H_Pos)
self.slider_Camera_V.setValue(self.Camera_V_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_LEFT +
str(90 + self.slider_FineServo2.value()))
self.tcp.sendData(cmd.CMD_CAMERA_UP +
str(90 + self.slider_FineServo2.value()))
@pyqtSlot()
def on_btn_Forward_pressed(self):
#self.tcp.sendData(cmd.CMD_FORWARD + str(self.slider_Speed.value()))
self.setMoveSpeed(cmd.CMD_FORWARD, self.slider_Speed.value())
@pyqtSlot()
def on_btn_Forward_released(self):
self.tcp.sendData(cmd.CMD_STOP)
@pyqtSlot()
def on_btn_TurnLeft_pressed(self):
self.tcp.sendData(cmd.CMD_TURN_LEFT +
str(self.slider_Direction.value() +
self.slider_FineServo1.value()))
@pyqtSlot()
def on_btn_TurnLeft_released(self):
self.tcp.sendData(cmd.CMD_TURN_CENTER +
str(90 + self.slider_FineServo1.value()))
@pyqtSlot()
def on_btn_TurnRight_pressed(self):
self.tcp.sendData(cmd.CMD_TURN_RIGHT +
str(self.slider_Direction.value() +
self.slider_FineServo1.value()))
@pyqtSlot()
def on_btn_TurnRight_released(self):
self.tcp.sendData(cmd.CMD_TURN_CENTER +
str(90 + self.slider_FineServo1.value()))
@pyqtSlot()
def on_btn_Backward_pressed(self):
#self.tcp.sendData(cmd.CMD_BACKWARD + str(self.slider_Speed.value()))
self.setMoveSpeed(cmd.CMD_BACKWARD, self.slider_Speed.value())
@pyqtSlot()
def on_btn_Backward_released(self):
self.tcp.sendData(cmd.CMD_STOP)
@pyqtSlot()
def on_btn_Mode_clicked(self):
if self.btn_Mode.text() == "VIDEO":
self.webView.setVisible(False)
self.wgt_Drawing.setVisible(True)
if self.btn_Connect.text() == "DisConnect":
self.t_Paint_Thread = Piant_Thread(self)
self.t_Paint_Thread.start()
self.t_Recv_Sonic_Thread = Recv_Sonic_Thread(self)
self.t_Recv_Sonic_Thread.start()
self.t_Scan_Sonic_Thread = Scan_Sonic_Thread(self)
self.t_Scan_Sonic_Thread.start()
self.Is_Paint_Thread_On = True
self.btn_Mode.setText("RADAR")
elif self.btn_Mode.text() == "RADAR":
self.wgt_Drawing.setVisible(False)
self.webView.setVisible(True)
if self.Is_Paint_Thread_On == True:
if self.t_Paint_Thread.is_alive():
#stop_thread(self.t_Paint_Thread)
self.t_Paint_Thread.isRun = False
print(("Stop_thread ... -> t_Paint_Thread",
self.t_Paint_Thread.getName()))
if self.t_Recv_Sonic_Thread.is_alive():
#stop_thread(self.t_Recv_Sonic_Thread)
self.t_Recv_Sonic_Thread.isRun = False
print(("Stop_thread ... -> t_Recv_Sonic_Thread",
self.t_Recv_Sonic_Thread.getName()))
if self.t_Scan_Sonic_Thread.is_alive():
#stop_thread(self.t_Scan_Sonic_Thread)
self.t_Scan_Sonic_Thread.isRun = False
print(("Stop_thread ... -> t_Scan_Sonic_Thread",
self.t_Scan_Sonic_Thread.getName()))
self.Is_Paint_Thread_On = False
self.btn_Mode.setText("VIDEO")
@pyqtSlot()
def on_btn_Connect_clicked(self):
if self.btn_Connect.text() == "Connect":
server_ip = self.lineEdit_IP_Addr.text()
print(("Connecting......", server_ip))
try:
self.tcp.connectToServer(address=(server_ip, 12345))
except Exception as e:
print((
"Connect to server Faild!: Server IP is right? Server is opend?",
e))
self.msgDlg.showMessage(
"Connect to server Faild! \n\t1. Server IP is right? \n\t2. Server is opend?"
)
return
print("Connecttion Successful !")
if self.default_Server_IP != server_ip:
file_Config = open("Config.txt", "w")
file_Config.write(server_ip)
file_Config.close()
print("default_Server_IP is Changed!")
self.webView.setUrl(
QUrl("http://" + server_ip + ":8090/javascript_simple.html"))
self.lineEdit_IP_Addr.setEnabled(False)
self.btn_Connect.setText("DisConnect")
elif self.btn_Connect.text() == "DisConnect":
self.tcp.disConnect()
self.webView.stop()
self.webView.setUrl(QUrl().fromLocalFile("/html/car_photo.html"))
#self.webView.setUrl(QUrl("file:/html/car_photo.html"))
self.lineEdit_IP_Addr.setEnabled(True)
self.btn_Connect.setText("Connect")
@pyqtSlot(bool)
def on_webView_loadFinished(self, p0):
self.webView.setZoomFactor(1.2)
def keyPressEvent(self, event):
if event.key() == Qt.Key_Up:
self.Camera_V_Pos = self.Camera_V_Pos + self.slider_Camera.value(
) + self.slider_FineServo3.value()
self.Camera_V_Pos = constrain(self.Camera_V_Pos,
self.SERVO_MIN_ANGLE,
self.SERVO_MAX_ANGLE)
self.slider_Camera_V.setValue(self.Camera_V_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_UP + str(self.Camera_V_Pos))
self.wgt_Drawing.max_range = self.Camera_V_Pos
self.wgt_Drawing.repaint()
elif event.key() == Qt.Key_Down:
self.Camera_V_Pos = self.Camera_V_Pos - self.slider_Camera.value(
) + self.slider_FineServo3.value()
self.Camera_V_Pos = constrain(self.Camera_V_Pos, 80,
self.SERVO_MAX_ANGLE)
self.slider_Camera_V.setValue(self.Camera_V_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_DOWN + str(self.Camera_V_Pos))
self.wgt_Drawing.max_range = self.Camera_V_Pos
self.wgt_Drawing.repaint()
elif event.key() == Qt.Key_Left:
self.Camera_H_Pos = self.Camera_H_Pos + self.slider_Camera.value(
) + self.slider_FineServo2.value()
self.Camera_H_Pos = constrain(self.Camera_H_Pos,
self.SERVO_MIN_ANGLE,
self.SERVO_MAX_ANGLE)
self.slider_Camera_H.setValue(self.Camera_H_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_LEFT + str(self.Camera_H_Pos))
elif event.key() == Qt.Key_Right:
self.Camera_H_Pos = self.Camera_H_Pos - self.slider_Camera.value(
) + self.slider_FineServo2.value()
self.Camera_H_Pos = constrain(self.Camera_H_Pos,
self.SERVO_MIN_ANGLE,
self.SERVO_MAX_ANGLE)
self.slider_Camera_H.setValue(self.Camera_H_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_LEFT + str(self.Camera_H_Pos))
elif event.key() == Qt.Key_R:
self.tcp.sendData(cmd.CMD_RGB_R)
elif event.key() == Qt.Key_G:
self.tcp.sendData(cmd.CMD_RGB_G)
elif event.key() == Qt.Key_B:
self.tcp.sendData(cmd.CMD_RGB_B)
elif event.key() == Qt.Key_H:
self.Camera_H_Pos = 90
self.Camera_V_Pos = 90
self.slider_Camera_H.setValue(self.Camera_H_Pos)
self.slider_Camera_V.setValue(self.Camera_V_Pos)
self.tcp.sendData(cmd.CMD_CAMERA_LEFT +
str(90 + self.slider_FineServo2.value()))
self.tcp.sendData(cmd.CMD_CAMERA_UP +
str(90 + self.slider_FineServo2.value()))
if event.isAutoRepeat():
pass
else:
#print "You Pressed Key : ", event.key(), event.text()
if event.key() == Qt.Key_W:
self.setMoveSpeed(cmd.CMD_FORWARD, self.slider_Speed.value())
elif event.key() == Qt.Key_S:
self.setMoveSpeed(cmd.CMD_BACKWARD, self.slider_Speed.value())
elif event.key() == Qt.Key_A:
self.tcp.sendData(cmd.CMD_TURN_LEFT +
str(self.slider_Direction.value() +
self.slider_FineServo1.value()))
elif event.key() == Qt.Key_D:
self.tcp.sendData(cmd.CMD_TURN_RIGHT +
str(self.slider_Direction.value() +
self.slider_FineServo1.value()))
elif event.key() == Qt.Key_V:
self.tcp.sendData(cmd.CMD_BUZZER_ALARM)
def keyReleaseEvent(self, event):
if event.isAutoRepeat():
pass
else:
#print "You Released Key : ", event.key()
if event.key() == Qt.Key_W or event.key() == Qt.Key_S:
self.tcp.sendData(cmd.CMD_STOP)
elif event.key() == Qt.Key_A or event.key() == Qt.Key_D:
self.tcp.sendData(cmd.CMD_TURN_CENTER +
str(90 + self.slider_FineServo1.value()))
elif event.key() == Qt.Key_V:
self.tcp.sendData(cmd.CMD_BUZZER_ALARM)
if event.key() == Qt.Key_Up or event.key() == Qt.Key_Down or event.key(
) == Qt.Key_Left or event.key() == Qt.Key_Right:
self.tcp.sendData(cmd.CMD_CAMERA_STOP)
def setMoveSpeed(self, CMD, spd):
self.tcp.sendData(CMD + str(int(spd // 3)))
self.tcp.sendData(CMD)
time.sleep(0.07)
self.tcp.sendData(CMD + str(int(spd // 3 * 2)))
time.sleep(0.07)
self.tcp.sendData(CMD + str(int(spd)))
@pyqtSlot("int")
def on_slider_Camera_valueChanged(self, value):
self.tcp.sendData(cmd.CMD_CAMERA_SLIDER + str(value))
@pyqtSlot("int")
def on_slider_Speed_valueChanged(self, value):
pass
#self.tcp.sendData(cmd.CMD_SPEED_SLIDER + str(value))
@pyqtSlot("int")
def on_slider_Direction_valueChanged(self, value):
pass
#self.tcp.sendData(cmd.CMD_DIR_SLIDER + str(value))
@pyqtSlot()
def on_btn_RGB_R_clicked(self):
self.tcp.sendData(cmd.CMD_RGB_R)
@pyqtSlot()
def on_btn_RGB_G_clicked(self):
self.tcp.sendData(cmd.CMD_RGB_G)
@pyqtSlot()
def on_btn_RGB_B_clicked(self):
self.tcp.sendData(cmd.CMD_RGB_B)
@pyqtSlot()
def on_btn_Buzzer_clicked(self):
pass
#self.tcp.sendData(cmd.CMD_BUZZER_ALARM)
@pyqtSlot()
def on_btn_Buzzer_pressed(self):
self.tcp.sendData(cmd.CMD_BUZZER_ALARM + "1")
@pyqtSlot()
def on_btn_Buzzer_released(self):
self.tcp.sendData(cmd.CMD_BUZZER_ALARM)
midi = open(midiname,'r')
# f is a file-like object.
old_file_position = midi.tell()
midi.seek(0, os.SEEK_END)
size = midi.tell()
midi.seek(old_file_position, os.SEEK_SET)
#size = os.path.getsize(midiname)
print '[MidiSource] Sending name:"%s" and size:"%s",' % (midiname,str(size))
udpServer.sendUDPmsgToLastClient(midiname+','+str(size)+',')
# ********************************************************
ret = udpServer.receiveUDPmsg(delay)
print "[MidiSource] Mensagem recebida do ImageSource " , ret
# ********************************************************
#Connect to Android TCP server on Android_IP and TCP_PORT
if(ret=="OK"):
tcpClient = TCPClient(imageSource_addr[0],TCP_PORT,BUFFER_SIZE)
tcpClient.connectTCP()
print '[MidiSource] TCP Client ready to send the MIDI'
#tcpClient.sendFileByNameAndClose(imgname)
# ********************************************************
#Send Image
tcpClient.sendDataBySize(midi.read(), size)
# ********************************************************
#Close TCP socket
tcpClient.closeTCPclient()
print '[MidiSource] TCPClient closed'
# ********************************************************
#Send MIDI
# ********************************************************
#If transfer has finished, Close TCP socket
def main():
# Open TCP connection to robot
client = TCPClient()
# Startup realsense pipeline
pipeline = rs.pipeline()
#Create a config and configure the pipeline to stream
# different resolutions of color and depth streams
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 60)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 60)
# Start streaming
profile = pipeline.start(config)
# Getting the depth sensor's depth scale (see rs-align example for explanation)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: " , depth_scale)
# Create an align object
# rs.align allows us to perform alignment of depth frames to others frames
# The "align_to" is the stream type to which we plan to align depth frames.
align_to = rs.stream.color
align = rs.align(align_to)
# Declare depth filters
dec_filter = rs.decimation_filter() # Decimation - reduces depth frame density
spat_filter = rs.spatial_filter() # Spatial - edge-preserving spatial smoothing
hole_filling = rs.hole_filling_filter()
temp_filter = rs.temporal_filter() # Temporal - reduces temporal noise
depth_to_disparity = rs.disparity_transform(True)
disparity_to_depth = rs.disparity_transform(False)
# initialize variables for trajectory calculation
buffer_len = 30 #number of points that will be taken into account for trajectory calculation
pts = deque(maxlen=buffer_len)
camera_pts = deque(maxlen=buffer_len)
time_vec = deque(maxlen=buffer_len)
tic = time.time()
tic_frame = None
none_count = 0
preditcion_store = []
points_store = []
catch_point = []
# loop for video
while True:
# Wait for frames from realsense
frames = pipeline.wait_for_frames()
# Align the depth frame to color frame
aligned_frames = align.process(frames)
# Get aligned frames
aligned_depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image
color_frame = aligned_frames.get_color_frame()
# Filter aligned depth frame
#aligned_depth_frame = dec_filter.process(aligned_depth_frame)
aligned_depth_frame = depth_to_disparity.process(aligned_depth_frame)
aligned_depth_frame = spat_filter.process(aligned_depth_frame)
aligned_depth_frame = temp_filter.process(aligned_depth_frame)
aligned_depth_frame = disparity_to_depth.process(aligned_depth_frame)
aligned_depth_frame = hole_filling.process(aligned_depth_frame)
# Get images to work on
depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
# Validate that both frames are valid
if not aligned_depth_frame or not color_frame:
print('Frame is none')
continue
depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
# Detect the orange ball and return image with results
center,radius = bd.detect_ball(color_image)
# update the points queue
if center is not None :
#get depth from depth_image and append to center, append the current center to the points list
depth = depth_image[center[1],center[0]]
if not tic_frame:
tic_frame = time.time()
center.append(depth)
camera_pts.append(center)
# Transform point from camera coordinates to robot coordinate frame
center_world = bte.transform_to_world(center)
pts.append(center_world)
points_store.append(center_world)
#append current time to time vector
toc = time.time()
time_vec.append(toc-tic)
else:
none_count = none_count+1
#if no points were detected for some time (10 frames), reset the point vector and polynomial calculation
if none_count >10:
pts.clear()
camera_pts.clear()
time_vec.clear()
none_count = 0
# if more then x ball positions were detected, calculate the trajectory estimation
if(len(pts) > 7):
toce = time.time()
params_x,params_y,params_z = bte.estimate_trajectory(np.asarray(pts), np.asarray(time_vec))
catch_point = cpc.get_catching_point(params_x,params_y,params_z)
#Send catching point to robot
if catch_point is not None:
client.send_message(np.round(catch_point,2))
print("Processing time:",(time.time()-toce))
print("Sent point: ",np.round(catch_point,2))
catch_point_camera = bte.transform_to_camera(catch_point)
cv2.drawMarker(color_image, tuple(catch_point_camera.astype(int)[:2]), (0, 255, 0) ,cv2.MARKER_CROSS,10)
# calculate future points for ball from the estimated polynomial parameters and draw them
print("Tic frame: ", tic_frame)
print("Time now: ", time.time)
future_points = bte.get_future_points_3D(params_x,params_y,params_z,tic,time.time(),2)
for point in future_points.transpose():
preditcion_store.append(point)
camera_point = bte.transform_to_camera(point)
cv2.drawMarker(color_image, tuple(camera_point.astype(int)[:2]), (255, 0, 0) ,cv2.MARKER_CROSS,5)
# loop over the set of tracked points to draw the balls past movement
print("cam points: ", camera_pts)
for i in range(1, len(camera_pts)):
# compute the thickness of the line and
# draw the connecting lines
thickness = int(np.sqrt(buffer_len / float(i + 1)) * 2.5)
cv2.drawMarker(color_image, (camera_pts[i][0],camera_pts[i][1]), (0, 0, 255), cv2.MARKER_CROSS,10)
break
# Display results
cv2.imshow("Result image", color_image)
out.write(color_image) # uncomment to save video
key = cv2.waitKey(1) & 0xFF
# if the 'q' key is pressed, stop the loop
if key == ord("q"):
break
cv2.imshow("Result image", color_image)
del points_store[0]
points_store = np.asarray(points_store)
preditcion_store = np.asarray(preditcion_store)
print("Catching point: ", catch_point)
print("points: ", points_store)
print('first: ', points_store[:,0])
print('prediction: ',preditcion_store)
visualization(points_store[:,0],points_store[:,1],points_store[:,2],preditcion_store[:,0],preditcion_store[:,1] , preditcion_store[:,2],catch_point)
# close all windows
cv2.destroyAllWindows()
client.close()
def __init__(self):
super(TCPLocust, self).__init__()
self.client = TCPClient()
class ScratchServer(BaseHTTPRequestHandler):
tcp = TCPClient()
Camera_H_Pos = 90
Camera_V_Pos = 90
SERVO_MIN_ANGLE = 0
SERVO_MAX_ANGLE = 180
Is_Paint_Thread_On = False
global t_Paint_Thread
sonic_Index = 0
sonic_buff = [0] * 20
send_Counter = 0
Is_tcp_Idle = True
def do_GET(self):
self.send_response(200)
self.end_headers()
self.wfile.write(self.parsePath(self.path).encode('utf-8'))
def parsePath(self, path):
pathParts = path.split('/')
if len(pathParts) < 2:
ScratchServer.lastError = "ERROR: No Command detected"
return ScratchServer.lastError
cmd = pathParts[1]
if cmd == "favicon.ico": return
if (cmd != "poll" and cmd != "lastError"): ScratchServer.lastError = ""
if cmd == "crossdomain.xml":
return self.getXDomainResponse()
elif cmd == "connect":
server_ip = pathParts[2]
return self.connect2Car(server_ip)
elif cmd == "disconnect":
return self.disconnectFromCar()
elif cmd == "cUp":
return self.cameraUp(pathParts[2])
elif cmd == "cDown":
return self.cameraDown(pathParts[2])
elif cmd == "cLeft":
return self.cameraLeft(pathParts[2])
elif cmd == "cRight":
return self.cameraRight(pathParts[2])
elif cmd == "centerCamera":
return self.centerCamera()
elif cmd == "moveForward":
return self.moveForward(pathParts[2])
elif cmd == "moveBackward":
return self.moveBackward(pathParts[2])
elif cmd == "stop":
return self.stop()
elif cmd == "stepForward":
return self.stepForward(pathParts[2], pathParts[3])
elif cmd == "stepBackward":
return self.stepBackward(pathParts[2], pathParts[3])
elif cmd == "turnLeft":
return self.turnLeft(pathParts[2])
elif cmd == "turnRight":
return self.turnRight(pathParts[2])
elif cmd == "center":
return self.center()
elif cmd == "lightRed":
return self.lightRed()
elif cmd == "lightGreen":
return self.lightGreen()
elif cmd == "lightBlue":
return self.lightBlue()
elif cmd == "buzz":
return self.buzz(pathParts[2])
elif cmd == "distance":
return self.distance()
elif cmd == "lastError":
return self.getLastError()
elif cmd == "lastMessage":
return self.lastMessage()
elif cmd == "poll":
return self.poll()
elif cmd == "reset_all":
return self.resetAll()
ScratchServer.lastError = "ERROR: '" + pathParts[
1] + "' is not a valid command"
return ScratchServer.lastError
def lastMessage(self):
print(ScratchServer.msg)
return ScratchServer.msg
def getLastError(self):
print(ScratchServer.lastError)
return ScratchServer.lastError
def getXDomainResponse(self):
resp = "<cross-domain-policy>\n"
resp += "<allow-access-from domain=\"*\" to-ports=\"8085\"/>\n"
resp += "</cross-domain-policy>\x00"
return resp
def poll(self):
ScratchServer.msg = "sonic " + str(ScratchServer.iSonic)
if ScratchServer.lastError != "":
ScratchServer.msg += "\nERROR: " + ScratchServer.lastError
print(ScratchServer.msg)
return ScratchServer.msg
def centerCamera(self):
try:
ScratchServer.Camera_V_Pos = 90
ScratchServer.Camera_H_Pos = 90
self.tcp.sendData(cmd.CMD_CAMERA_UP +
str(ScratchServer.Camera_V_Pos))
self.tcp.sendData(cmd.CMD_CAMERA_LEFT +
str(ScratchServer.Camera_H_Pos))
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
return ""
def resetAll(self):
try:
print("returning crossdomain.xml")
self.centerCamera(0)
self.stop()
self.center(0)
self.buzz(1000)
return "Reset Complete"
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
def connect2Car(self, server_ip):
print("Connecting......", server_ip)
try:
self.tcp.connectToServer(address=(str(server_ip), 12345))
except Exception as e:
#print(type(server_ip),type(e))
ScratchServer.lastError = e #"Connect to server " + server_ip + " Failed!: " +
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Connection Successful !"
print(ScratchServer.msg)
return ScratchServer.msg
def disconnectFromCar(self):
try:
self.tcp.disConnect()
print("Disconnection Successful !")
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Disconnected"
print(ScratchServer.msg)
return ScratchServer.msg
def distance(self):
try:
sonic = 0
iTry = 0
while sonic == 0 and iTry < 3:
self.tcp.sendData(cmd.CMD_ULTRASONIC)
sonic = self.tcp.recvData()
ScratchServer.iSonic = float(sonic)
except Exception as e:
ScratchServer.msg = "Sonic Data error :\n" + e
ScratchServer.lastError = ScratchServer.msg
print(ScratchServer.msg)
ScratchServer.iSonic = 0
return ScratchServer.msg
ScratchServer.msg = "distance received: " + str(ScratchServer.iSonic)
print(ScratchServer.msg)
return str(ScratchServer.iSonic)
def cameraUp(self, angle):
try:
angle = int(angle)
ScratchServer.Camera_V_Pos = 90 + angle
ScratchServer.Camera_V_Pos = constrain(ScratchServer.Camera_V_Pos,
self.SERVO_MIN_ANGLE,
self.SERVO_MAX_ANGLE)
self.tcp.sendData(cmd.CMD_CAMERA_UP +
str(ScratchServer.Camera_V_Pos))
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Camera V moved up to " + str(
ScratchServer.Camera_V_Pos)
print(ScratchServer.msg)
return ScratchServer.msg
def cameraDown(self, angle):
try:
angle = int(angle)
ScratchServer.Camera_V_Pos = 90 - angle
ScratchServer.Camera_V_Pos = constrain(ScratchServer.Camera_V_Pos,
80, self.SERVO_MAX_ANGLE)
self.tcp.sendData(cmd.CMD_CAMERA_DOWN +
str(ScratchServer.Camera_V_Pos))
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Camera V moved down to " + str(
ScratchServer.Camera_V_Pos)
print(ScratchServer.msg)
return ScratchServer.msg
def cameraLeft(self, angle):
try:
angle = int(angle)
ScratchServer.Camera_H_Pos = 90 + angle
ScratchServer.Camera_H_Pos = constrain(ScratchServer.Camera_H_Pos,
self.SERVO_MIN_ANGLE,
self.SERVO_MAX_ANGLE)
self.tcp.sendData(cmd.CMD_CAMERA_LEFT +
str(ScratchServer.Camera_H_Pos))
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Camera h moved LEFT to " + str(
ScratchServer.Camera_H_Pos)
print(ScratchServer.msg)
return ScratchServer.msg
def cameraRight(self, angle):
try:
angle = int(angle)
ScratchServer.Camera_H_Pos = 90 - angle
ScratchServer.Camera_H_Pos = constrain(ScratchServer.Camera_H_Pos,
self.SERVO_MIN_ANGLE,
self.SERVO_MAX_ANGLE)
self.tcp.sendData(cmd.CMD_CAMERA_RIGHT +
str(ScratchServer.Camera_H_Pos))
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Camera h moved RIGHT to " + str(
ScratchServer.Camera_H_Pos)
print(ScratchServer.msg)
return ScratchServer.msg
def lightRed(self):
try:
self.tcp.sendData(cmd.CMD_RGB_R)
ScratchServer.msg = "Light to Red"
print(ScratchServer.msg)
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
return ScratchServer.msg
def lightGreen(self):
try:
self.tcp.sendData(cmd.CMD_RGB_G)
ScratchServer.msg = "Light to Green"
print(ScratchServer.msg)
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
return ScratchServer.msg
def lightBlue(self):
try:
self.tcp.sendData(cmd.CMD_RGB_B)
ScratchServer.msg = "Light to Blue"
print(ScratchServer.msg)
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
return ScratchServer.msg
def buzz(self, duration):
try:
duration = int(duration)
print("Buzzing started")
self.tcp.sendData(cmd.CMD_BUZZER_ALARM + "1")
time.sleep(float(duration) / 1000)
self.tcp.sendData(cmd.CMD_BUZZER_ALARM + "0")
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Buzzed for " + str(duration) + "ms"
print(ScratchServer.msg)
return ScratchServer.msg
def moveForward(self, speed):
try:
speed = int(speed)
print("Moving Forward")
self.setMoveSpeed(cmd.CMD_FORWARD, speed)
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Moving forward at speed " + str(speed)
print(ScratchServer.msg)
return ScratchServer.msg
def moveBackward(self, speed):
try:
speed = int(speed)
print("Moving Backward")
self.setMoveSpeed(cmd.CMD_BACKWARD, speed)
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Moving Backward at speed " + str(speed)
print(ScratchServer.msg)
return ScratchServer.msg
def stop(self):
try:
print("Stopping")
self.tcp.sendData(cmd.CMD_STOP)
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Stopped"
print(ScratchServer.msg)
return ScratchServer.msg
def stepForward(self, speed, duration):
try:
speed = int(speed)
duration = int(duration)
print("Stepping Forward")
self.setMoveSpeed(cmd.CMD_FORWARD, speed)
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Stepping forward at speed " + str(speed)
print(ScratchServer.msg)
time.sleep(float(duration) / 1000)
self.tcp.sendData(cmd.CMD_STOP)
ScratchServer.msg2 = "Stopped moving after " + str(duration) + "ms"
return ScratchServer.msg + "\n" + ScratchServer.msg2
def stepBackward(self, speed, duration):
try:
speed = int(speed)
duration = int(duration)
print("Stepping Backward")
self.setMoveSpeed(cmd.CMD_BACKWARD, speed)
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Stepping Backward at speed " + str(speed)
print(ScratchServer.msg)
time.sleep(float(duration) / 1000)
self.tcp.sendData(cmd.CMD_STOP)
ScratchServer.msg2 = "Stopped moving after " + str(duration) + "ms"
return ScratchServer.msg + "\n" + ScratchServer.msg2
def turnLeft(self, angle):
try:
angle = int(angle)
print("Turning Left")
self.tcp.sendData(cmd.CMD_TURN_LEFT + str(angle))
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Turned Left to " + str(angle)
print(ScratchServer.msg)
return ScratchServer.msg
def center(self):
try:
print("Centering")
self.tcp.sendData(cmd.CMD_TURN_CENTER + str(90))
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Centered"
print(ScratchServer.msg)
return ScratchServer.msg
def turnRight(self, angle):
try:
angle = int(angle)
print("Turning Right")
self.tcp.sendData(cmd.CMD_TURN_RIGHT + str(angle))
except Exception as e:
ScratchServer.lastError = "Error: " + e
print(ScratchServer.lastError)
return ScratchServer.lastError
ScratchServer.msg = "Turned Right to " + str(angle)
print(ScratchServer.msg)
return ScratchServer.msg
def setMoveSpeed(self, CMD, spd):
self.tcp.sendData(CMD + str(float(spd) / 3))
time.sleep(0.07)
self.tcp.sendData(CMD + str(float(spd) / 3 * 2))
time.sleep(0.07)
self.tcp.sendData(CMD + str(spd))
str(mode) + "] [bus:" + str(bus) + "] [device:" +
str(device) + "]")
spi_thread = SPIThread(q_spi_write, mode, bus, device)
Logger.log_spi("Initialized spi-server with: " + "[mode:" +
str(mode) + "] [bus:" + str(bus) + "] [device:" +
str(device) + "]")
# GAME
Logger.log_game("Initializing game")
game_thread = GameThread()
Logger.log_game("Initialized game")
# TCP-SERVER
Logger.log_tcp("Initializing tcp-server with: " + "[host:" +
str(host) + "] [port:" + str(port) + "]")
tcp_thread = TCPClient(host, port, q_tcp_read, q_tcp_write)
Logger.log_tcp("Initialized tcp-server with:" + "[host:" + str(host) +
"] [port:" + str(port) + "]")
# START
# MOTION TRACKING
if useMotion:
Logger.log_game("Starting Motion Tracking")
motion_thread.start()
Logger.log_game("Started Motion Tracking")
# SPI-SERVER
if useSPI:
Logger.log_spi("Starting spi-server")
spi_thread.start()
if __name__ == '__main__':
import cv2
from TCPClient import TCPClient
from cmdline import command
#cap = cv2.VideoCapture('http://192.168.1.157:8090/?action=stream/frame.mjpg')
cap = cv2.VideoCapture(0) ## to use your webcam instead of stream
tcp = TCPClient()
cmd = command()
bConnected = False
#### uncomment the below lines to interact with the car over TCP
#### these have been commented out in the absence of the car itself to test its interactino with a TF NN
#### Note this needs testing with py3.7!!
# tcp.sendData(cmd.LED_BLUE.encode())
# tcp.sendData(cmd.LED_RED.encode())
# tcp.sendData(cmd.LED_GREEN.encode())
# try:
# tcp.connectToServer(address = ("192.168.1.157", 12345))
bConnected = True
# #tcp.sendData(">RGB Blue".encode())
# except Exception:
# print("Connect to server Failed!: Check the Server IP is correct and open!")
while bConnected:
ret, frame = cap.read()
gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
faces = cv2.CascadeClassifier('haarcascade_frontalface_default.xml').detectMultiScale(gray, 1.3,5)
for (x, y, w, h) in faces:
cv2.rectangle(frame, (x, y), (x+w, y+h), (255, 255, 0), 2)
roi_gray = gray[y:y+h, x:x+w]
