def run(self, app_config):
self.led = machine.Pin(app_config['led'], machine.Pin.OUT)
# Camera resilience - if we fail to init try to deinit and init again
if app_config['camera'] == 'ESP32-CAM':
camera.init(0, format=camera.JPEG) #ESP32-CAM
elif app_config['camera'] == 'M5CAMERA':
camera.init(0,
d0=32,
d1=35,
d2=34,
d3=5,
d4=39,
d5=18,
d6=36,
d7=19,
href=26,
vsync=25,
reset=15,
sioc=23,
siod=22,
xclk=27,
pclk=21) #M5CAMERA
camera.framesize(self.framesize)
mws = MicroWebSrv(routeHandlers=self.routeHandlers, webPath="www/")
mws.Start(threaded=True)
gc.collect()
def index(req, resp):
# parse query string
req.parse_qs()
flash = req.form.get('flash', 'false')
if flash == 'true':
led.on()
# Camera resilience - if we fail to init try to deinit and init again
if (not camera.init()):
camera.deinit()
await asyncio.sleep(1)
# If we fail to init, return a 503
if (not camera.init()):
yield from picoweb.start_response(resp, status=503)
yield from resp.awrite('ERROR: Failed to initialise camera\r\n\r\n')
return
# wait for sensor to start and focus before capturing image
await asyncio.sleep(2)
buf = camera.capture()
led.off()
camera.deinit()
if type(buf) is bytes and len(buf) > 0:
#yield from picoweb.start_response(resp, "image/jpeg")
yield from resp.awrite(buf)
else:
picoweb.http_error(resp, 503)
def __init__(self, processFunction = None, forceOpenCv = False, displaySurface=None, show=True, **argd):
self.__dict__.update(**argd)
super(VideoCapturePlayer, self).__init__(**argd)
logging.debug("Initializing Video Capture Class")
self.processFunction = processFunction
self.processRuns = 0
self.show = show
self.display = displaySurface
if self.display is None:
if show is True:
# create a display surface. standard pygame stuff
self.display = pygame.display.set_mode( self.size, 0 )
else:
pygame.display.init()
#pygame.display.set_mode((0,0),0)
self.display = pygame.surface.Surface(self.size)
if forceOpenCv:
import camera
else:
import pygame.camera as camera
camera.init()
# gets a list of available cameras.
self.clist = camera.list_cameras()
if not self.clist:
raise ValueError("Sorry, no cameras detected.")
logging.info("Opening device %s, with video size (%s,%s)" % (self.clist[0],self.size[0],self.size[1]))
# creates the camera of the specified size and in RGB colorspace
if not forceOpenCv:
try:
self.camera = camera.Camera(self.clist[0], self.size, "RGB")
# starts the camera
self.camera.start()
except:
logging.debug("Ignoring that pygame camera failed - we will try opencv")
forceOpenCv = True
del camera
import camera
self.clist = camera.list_cameras()
if forceOpenCv:
logging.debug("Trying to open the OpenCV wrapped camera")
self.camera = camera.Camera(self.clist[0], self.size, "RGB", imageType="pygame")
self.camera.start()
logging.info("Waiting for camera...")
self.waitForCam()
logging.info("Camera ready.")
self.clock = pygame.time.Clock()
self.processClock = pygame.time.Clock()
# create a surface to capture to. for performance purposes, you want the
# bit depth to be the same as that of the display surface.
self.snapshot = pygame.surface.Surface(self.size, 0, self.display)
def init():
particle.init()
render.add_screen_sprites(cursor, cursor.hover_text)
map.load_map("2")
camera.init(map.width(), map.height())
def init():
particle.init()
render.add_screen_sprites(cursor, cursor.hover_text)
map.load_map("2")
camera.init(map.width(), map.height())
def capture4():
os.chdir('webserver')
camera.init(1)
for i in range(100):
f = open('frame'+str(i)+'.jpg', 'w')
buf = camera.capture()
f.write(buf)
camera.deinit()
f.close()
def envia_foto(Bot, mensaje=''):
global camara
#------------------ejemplo envio de foto-------------------------------------------------------
# camera.init(0, format=camera.JPEG)
try:
camera.init(0, format=camera.JPEG)
except OSError as exc:
camera.deinit()
Bot.send_message(Bot.canal, exc.args[0])
print(exc.args)
return
Led = Pin(4, Pin.OUT) # define flash
Led.on() #enciende flash
# girar vertical
camera.flip(0)
# giro horizontal
camera.mirror(0)
camera.framesize(camara.tamanyo_imagen)
#'FRAME_240X240'/4, 'FRAME_96X96'/0, 'FRAME_CIF'/6, 'FRAME_FHD'/14, 'FRAME_HD'/11, 'FRAME_HQVGA'/3, 'FRAME_HVGA'/7, 'FRAME_P_3MP'/16, 'FRAME_P_FHD'/20, 'FRAME_P_HD'/15, 'FRAME_QCIF'/2, 'FRAME_QHD'/18, 'FRAME_QQVGA'/1, 'FRAME_QSXGA'/21, 'FRAME_QVGA'/5, 'FRAME_QXGA'/17, 'FRAME_SVGA'/9, 'FRAME_SXGA'/12, 'FRAME_UXGA'/13, 'FRAME_VGA'/8, 'FRAME_WQXGA'/19, 'FRAME_XGA'/10
# efectos especiales
camera.speffect(camara.efecto_especial)
# EFFECT_NONE (default) EFFECT_NEG EFFECT_BW EFFECT_RED EFFECT_GREEN EFFECT_BLUE EFFECT_RETRO
# white balance
camera.whitebalance(camara.balance_blancos)
# The options are the following:
# WB_NONE (default) WB_SUNNY WB_CLOUDY WB_OFFICE WB_HOME
# saturation
camera.saturation(camara.saturacion)
# -2,2 (default 0). -2 grayscale
# brightness
camera.brightness(camara.brillo)
# -2,2 (default 0). 2 brightness
# contrast
camera.contrast(camara.contraste)
#-2,2 (default 0). 2 highcontrast
# quality
camera.quality(camara.calidad)
# 10-63 lower number means higher quality
bufer = camera.capture()
print('captura realizada')
Led.off() #apaga flash
with open('file.jpg', 'w') as k:
k.write(bufer)
bufer = None
camera.deinit()
Bot.envia_archivo_multipart(configuracion.Chat_Id, 'file.jpg', 'sendPhoto',
'photo', mensaje)
def run(tfile):
camera.init()
led.on()
time.sleep(0.5)
buf = camera.capture()
led.off()
camera.deinit()
print(buf[0:8])
f = open(tfile, 'wb')
f.write(buf)
f.close()
def test():
begin = utime.ticks_ms()
time = utime.ticks_ms()
camera.init(1)
i = 0
while (time - begin < 3000):
buf = camera.capture()
i = i + 1
time = utime.ticks_ms()
camera.deinit()
print('Took', i, ' pictures')
def __init__(self):
print('Entering camera focus mode')
#1) Init camera
camera.init()
camera.camera_handler.toggleShowOutput(True)
#2) Init stepper
stepper.init()
stepper.setDirection(-1) #Counter clockwise
#3) Init sensor
photo_resistor.init()
def capture3():
os.chdir('webserver')
f = open('data.jpg', 'w')
camera.init(1)
buf = camera.capture()
f.write(buf)
f = open('data'+str(1)'+.jpg', 'w')
buf = camera.capture()
f.write(buf)
camera.deinit()
f.close()
def __init__(self):
print('Entering calibration mode')
self.state = STATE_CALIBRATE_SENSOR_ON
self.angles = []
#1) Init camera
camera.init()
camera.camera_handler.toggleShowOutput(True)
#2) Init stepper
stepper.init()
stepper.setDirection(-1) #Counter clockwise
#3) Init sensor
photo_resistor.init()
def init(): glEnable(GL_COLOR_MATERIAL) glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE) glEnable(GL_NORMALIZE) lighting.init() hud.init() camera.init() global playing, alpha playing = True alpha = 0 global lines lines = list(info.dialogue[settings.level]) + [info.missionhelp[settings.level]] hud.dialoguebox.settext(lines.pop(0))
def init(): glEnable(GL_COLOR_MATERIAL) glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE) glEnable(GL_NORMALIZE) lighting.init() hud.init() camera.init() cursor.tobuild = None global playing, ending, alpha, lastsave playing = True ending = False alpha = 0 lastsave = 0 sound.playmusic(info.music[settings.level])
def testThread():
begin = utime.ticks_ms()
time = utime.ticks_ms()
camera.init(1)
i = 0
while (time - begin < 3000):
if (n < 5):
_thread.start_new_thread(cap, ())
else:
pass
i = i + 1
time = utime.ticks_ms()
machine.sleep(500)
camera.deinit()
print('Took', i, ' pictures')
def setup_cam(logger):
QUALITY = 40
try:
camera.init(0)
except OSError as e:
# TODO: there should be a safeguard here to prevent constant restart
time.sleep(2)
logger.error(
"unable to initialize camera. restarting.\n err: {}".format(e))
machine.reset()
else:
logger.debug("Camera initialized")
camera.quality(QUALITY)
logger.debug("Camera quality set to {}".format(QUALITY))
return camera
def __init__(self):
print('Scanner engaged')
#1) Init camera
camera.init()
camera.camera_handler.toggleShowOutput(True)
#2) Init stepper
stepper.init()
stepper.setDirection(-1) #Counter clockwise
#3) Init sensor
photo_resistor.init()
#4) Init filters
filters.init()
#Init vars
self.current_state = STATE_ROLL
self.processed_count = 0
self.log = []
self.last_processed_data = []
def callbackSee(client, userdata, message):
print "Topic=" + message.topic
print "Message=" + message.payload
cmd = message.payload
if cmd == "see":
polly, cam = camera.init()
message = camera.see(polly, cam)
distMsg = scan()
message = message + distMsg
PollyApi.speak(polly, message)
elif cmd == "tweet":
polly, cam = camera.init()
message = camera.see(polly, cam)
distMsg = scan()
message = message + distMsg
PollyApi.speak(polly, message)
camera.tweet(message)
else:
print "Wrong Command, Please Enter Again"
def capture2s():
os.chdir('webserver')
camera.init(1)
begin = utime.ticks_ms()
time = begin
prev = time
i=0
machine.sleep(500)
#while(time - begin < 2000):
#if(time - prev > -1):
prev = time
i=i+1
name = 'frame'+str(i)+'.jpg'
print(name)
f = open(name, 'w')
buf = camera.capture()
f.write(buf)
f.close()
#time = utime.ticks_ms()
camera.deinit()
def start():
wc = 0
while True:
cr = camera.init()
print("Camera ready?: ", cr)
if cr:
break
time.sleep(2)
wc += 1
if wc >= 5:
break
return cr
def main():
cam.init()
#dis.init(1920, 1080)
while(True):
# capture frame-by-frame
img = cam.read()
# our operations on the frame come here
gray = vis.gray(img)
# display the resulting frame
dis.show(gray)
# handle key input
if cv2.waitKey(1) & 0xFF == ord('q'): # quit
break
if cv2.waitKey(1) & 0xFF == ord('c'): # calibrate
calibrate()
# clean up camera
cam.destroy()
def index(req, resp):
# parse query string
req.parse_qs()
flash = req.form.get('flash', 'false')
if flash == 'true':
led.on()
camera.init()
# wait for sensor to start and focus before capturing image
await asyncio.sleep(2)
buf = camera.capture()
led.off()
camera.deinit()
if len(buf) > 0:
yield from picoweb.start_response(resp, "image/jpeg")
yield from resp.awrite(buf)
else:
picoweb.http_error(resp, 503)
def start():
global cr
wc = 0
while True:
cr = camera.init(0, format=camera.JPEG)
print("Camera ready?: ", cr)
if cr:
camera.framesize(7)
break
time.sleep(2)
wc += 1
if wc >= 5:
break
return cr
def initCam(autoAdjust=True,
retainCameraSettings=False,
gain=-5,
shutter=0.005):
"""
autoAdjust: If True, the function will attempt to automatically set the shutter and gain values by iteration. This will take a while
retainCameraSettings: If True, no camera settings will be changed. The Gain and Shutter values will be left as they are, but this function checks if the camera is saturated.
"""
cam.printNumOfCam()
cam.init()
if autoAdjust:
cam.autoAdjustShutter()
elif retainCameraSettings == False:
cam.setGain(gain)
cam.setShutter(shutter)
sat = cam.isSaturated()
print("Camera saturation: ", sat)
if sat:
raise RuntimeWarning(
"WARNING: Camera is saturated. Optimisation will not work properly."
)
cam.capture()
def main():
# urlは環境に合わせて適宜変更
url = 'http://192.168.0.2:8080/save'
errr_count = 0
camera.deinit()
try:
print('カメラ初期化中...')
camera.init()
print('カメラ初期化完了')
utime.sleep(1)
except:
print('カメラの初期化に失敗しました。５秒後に再起動します。')
utime.sleep(5)
machine.reset()
while True:
try:
print('撮影中...')
buf = camera.capture()
print('撮影完了...')
print('画像変換中...')
img_byte = base64.b64encode(buf)
utime.sleep(2)
img_json = ujson.dumps({"image": img_byte})
utime.sleep(2)
print('サーバーへ送信中...')
res = urequests.post(url, data=img_json)
print(res.text)
utime.sleep(2)
except:
errr_count += 1
print(errr_count)
if errr_count == 10:
# machine.reset()
break
def open():
""" Open the camera """
if Camera.opened == False:
for i in range(10):
res = camera.init()
if res == False:
print("Camera not initialized")
camera.deinit()
time.sleep(0.5)
else:
break
else:
print("Failed to initialized camera reboot")
machine.reset()
# Photo on 800x600, motion detection / 8 (100x75), each square detection 8x8 (12.5 x 9.375)
Camera.opened = True
def start():
global cr
wc = 0
while True:
try:
cr = camera.init(0, format=camera.JPEG)
except:
print('error initiating camera')
print("Camera ready?: ", cr)
if cr:
camera.framesize(camera.FRAME_VGA)
camera.quality(10)
break
time.sleep(2)
wc += 1
if wc >= 5:
break
return cr
@author: douglas
"""
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Thu Mar 25 19:47:48 2021
@author: douglas
"""
from time import sleep
import camera
camera.init(0, format=camera.JPEG, framesize=camera.FRAME_SVGA)
camera.quality(40)
def server():
import socket
import utime
loop_t = 100
header= 'HTTP/1.0 200 OK\n'\
'Content-type: application/octet-stream\n' \
'Cache-Control: no-cache\n' \
'Connection: close\n\n\n' \
bund1 = "--boundarydncross\n" \
credentials_state, cred_ssid, cred_psw = wifi.get_credentials()
print(tr_swap)
gc.collect()
file = open('/structure/index.html', 'r')
chtml = file.read()
chtml = chtml.replace('$tr_swap',
tr_swap).replace('$cred_ssid', cred_ssid).replace(
'$cred_psw', cred_psw)
file.close()
return chtml
# setup networking
wc = 0
while True:
cr = camera.init(0, format=camera.JPEG)
print("Camera ready?: ", cr)
if cr:
break
time.sleep(2)
wc += 1
if wc >= 5:
break
if not cr:
print("Camera not ready. Can't continue!")
else:
file = open('/structure/logo.png', 'r')
logo_img = file.read()
file.close()
print(rq[0], rq[1], ca)
except:
ok = False
else:
cs.send(b'%s' %
hdr['favicon']) # handle favicon request early
clean_up(cs)
ok = False
yield
if ok: # No soc.recv timeout or favicon request
await ports[p](cs, rq)
wc = 0
while True:
cr = camera.init()
print("Camera ready?: ", cr)
if cr:
break
time.sleep(2)
wc += 1
if wc >= 5:
break
if not cr:
print("Camera not ready. Can't continue!")
else:
# reconfigure camera
# camera.speffect(2) # black and white
# camera.quality(10) # increase quality from 12 (default) to 10
# setup networking
def __init__(self,
processFunction=None,
forceOpenCv=False,
displaySurface=None,
show=True,
**argd):
self.__dict__.update(**argd)
super(VideoCapturePlayer, self).__init__(**argd)
logging.debug("Initializing Video Capture Class")
self.processFunction = processFunction
self.processRuns = 0
self.show = show
self.display = displaySurface
if self.display is None:
if show is True:
# create a display surface. standard pygame stuff
self.display = pygame.display.set_mode(self.size, 0)
else:
pygame.display.init()
#pygame.display.set_mode((0,0),0)
self.display = pygame.surface.Surface(self.size)
if forceOpenCv:
import camera
else:
import pygame.camera as camera
camera.init()
# gets a list of available cameras.
self.clist = camera.list_cameras()
if not self.clist:
raise ValueError("Sorry, no cameras detected.")
logging.info("Opening device %s, with video size (%s,%s)" %
(self.clist[0], self.size[0], self.size[1]))
# creates the camera of the specified size and in RGB colorspace
if not forceOpenCv:
try:
self.camera = camera.Camera(self.clist[0], self.size, "RGB")
# starts the camera
self.camera.start()
except:
logging.debug(
"Ignoring that pygame camera failed - we will try opencv")
forceOpenCv = True
del camera
import camera
self.clist = camera.list_cameras()
if forceOpenCv:
logging.debug("Trying to open the OpenCV wrapped camera")
self.camera = camera.Camera(self.clist[0],
self.size,
"RGB",
imageType="pygame")
self.camera.start()
logging.info("Waiting for camera...")
self.waitForCam()
logging.info("Camera ready.")
self.clock = pygame.time.Clock()
self.processClock = pygame.time.Clock()
# create a surface to capture to. for performance purposes, you want the
# bit depth to be the same as that of the display surface.
self.snapshot = pygame.surface.Surface(self.size, 0, self.display)
def main():
sound=True
buzzdisp.init()
buzzdisp.headline("Spider Buzz!")
logo = buzzdisp.initLogo()
players = []
wrong = []
host = 0
playerImages=[]
scores=[]
#initialize buzz controls
devices=buzz.deviceInit()
if sound:
sons.init()
sons.play("generique.mp3")
buzz.lightRun(devices)
buzz.lightRun(devices)
buzzdisp.info("Maitre de jeu: Appuyez sur votre bouton rouge")
while 1:
click = buzz.getPress(devices)
if click%5 == 0: ## buzz button was clicked
host = click//5
buzz.light(devices,host,1)
buzzdisp.info("Maitre de jeu: Appuyez sur votre bouton orange pour confirmer")
if buzz.getPress(devices) == click+2:
buzz.blink(devices,host)
buzz.light(devices,host,1)
break
buzz.light(devices,host,0)
buzzdisp.info("Maitre de jeu: Appuyez sur votre bouton rouge")
mode=1
buzzdisp.headline("Inscriptions")
webcam = camera.init()
while len(players)<(len(devices)*4)-1:
while 1:
buzzdisp.info("Joueur " + str(len(players)+1) + ", mettez vous devant la camera et appuyez sur votre bouton rouge")
buzzdisp.bigImage(logo)
click = buzz.getPress(devices)
if click == (host*5)+4:
break
if click % 5 == 0 and click != host*5:
pNum = click // 5
if not pNum in players:
if sound:
sons.play("camera.aiff")
img = buzzdisp.camImage(webcam)
buzzdisp.info("Appuyez sur le bouton orange pour accepter ou le bouton vert pour continuer")
while 1:
confclick = buzz.getPress(devices)
if confclick == pNum*5+2:
playerImages.append(img)
players.append(pNum)
scores.append(0)
buzz.light(devices,pNum,1)
buzzdisp.addPlayer(img,len(players))
break
if confclick == pNum*5+3:
break
if confclick == pNum*5+2:
break
if click == (host*5)+4:
break
buzz.lightRun(devices)
buzzdisp.updateScores(playerImages, scores)
buzzdisp.headline("Les inscriptions sont closes")
buzzdisp.info("Maitre: Appuyez sur le bouton bleu pour demarrer le jeu")
while 1:
while buzz.getPress(devices) != host*5+1:
test=1
if sound:
sons.play("zero.mp3")
buzzdisp.headline("Nouvelle question....")
buzzdisp.info("")
buzzdisp.bigImage(logo)
buzz.lightRun(devices)
clicker = 0
wrong = []
while 1:
click = buzz.getPress(devices)
if click%5 == 0 and click != host*5: #Player buzzed in
clicker = click/5
#If Player has already answered wrong their Buzz is not accepted
if not clicker in wrong and clicker in players:
pIndex = players.index(clicker)
if sound:
sons.play("ringin.mp3")
buzz.light(devices,clicker,1)
buzzdisp.bigImage(playerImages[pIndex])
buzzdisp.headline("Joueur " + str(pIndex+1))
#Wait for right or wrong decision
while 1:
click = buzz.getPress(devices)
if click == host*5+3:
if sound:
sons.play("wrong.mp3")
buzzdisp.headline("MAUVAISE REPONSE")
wrong.append(clicker)
buzz.light(devices,clicker,0)
break
if click == host*5+2:
if sound:
sons.play("right.mp3")
buzzdisp.headline("BONNE REPONSE!")
scores[pIndex] = scores[pIndex] + 100
buzzdisp.updateScores(playerImages, scores)
buzz.light(devices,clicker,0)
break
if click == host*5+1:
break
if click == host*5+1 or click == host*5+2: #Next Question button
break
while 1:
for event in pygame.event.get():
if event.type == QUIT:
buzz.release(devices)
return
pass
# Run the person detection model
# This version reads the images from the ov2640 camera on the esp32-cam board
# with minor changes this also works for the m5 timer camera
import sys
import microlite
import camera
from machine import Pin, PWM
# initialize the camera to read 96x96 pixel gray scale images
try:
# uncomment for esp32-cam-mb with ov2640 sensor
camera.init(0, format=camera.GRAYSCALE, framesize=camera.FRAME_96X96)
# uncomment for the m5 timer camera with ov3660 sensor
# camera.init(0,format=camera.GRAYSCALE,framesize=camera.FRAME_96X96,
# sioc=23,siod=25,xclk=27,vsync=22,href=26,pclk=21,
# d0=32,d1=35,d2=34,d3=5,d4=39,d5=18,d6=36,d7=19,
# reset=15)
except:
print("Error when initializing the camera")
sys.exit()
# initialize the flash-light LED, it is connected to GPIO 4
flash_light = PWM(Pin(4))
# switch it off
flash_light.duty(0)
# change for m5 timer camera
def index(req, resp):
# parse query string
req.parse_qs()
flash = req.form.get('flash', 'false')
if flash == 'true':
led.on()
stream = req.form.get('stream', 'false')
stream = True if stream == 'true' else False
# Camera resilience - if we fail to init try to deinit and init again
if app_config['camera'] == 'ESP32-CAM':
if (not camera.init(0, format=camera.JPEG)):
camera.deinit()
await asyncio.sleep(1)
# If we fail to init, return a 503
if (not camera.init(0, format=camera.JPEG)):
yield from picoweb.start_response(resp, status=503)
yield from resp.awrite('ERROR: Failed to initialise camera\r\n\r\n')
return
elif app_config['camera'] == 'M5CAMERA':
if (not camera.init(0, d0=32, d1=35, d2=34, d3=5, d4=39, d5=18, d6=36, d7=19,
href=26, vsync=25, reset=15, sioc=23, siod=22, xclk=27, pclk=21)):
camera.deinit()
await asyncio.sleep(1)
# If we fail to init, return a 503
if (not camera.init(0, d0=32, d1=35, d2=34, d3=5, d4=39, d5=18, d6=36, d7=19,
href=26, vsync=25, reset=15, sioc=23, siod=22, xclk=27, pclk=21)): #M5CAMERA
yield from picoweb.start_response(resp, status=503)
yield from resp.awrite('ERROR: Failed to initialise camera\r\n\r\n')
return
# wait for sensor to start and focus before capturing image
await asyncio.sleep(2)
n_frame = 0
while True:
n_try = 0
buf = False
while (n_try < 10 and buf == False): #{
# wait for sensor to start and focus before capturing image
buf = camera.capture()
if (buf == False): await asyncio.sleep(2)
n_try = n_try + 1
if (not stream):
led.off()
camera.deinit()
if (type(buf) is bytes and len(buf) > 0):
try:
if (not stream):
yield from picoweb.start_response(resp, "image/jpeg")
yield from resp.awrite(buf)
print('JPEG: Output frame')
break
if (n_frame == 0):
yield from picoweb.start_response(resp, "multipart/x-mixed-replace; boundary=myboundary")
yield from resp.awrite('--myboundary\r\n')
yield from resp.awrite('Content-Type: image/jpeg\r\n')
yield from resp.awrite('Content-length: ' + str(len(buf)) + '\r\n\r\n')
yield from resp.awrite(buf)
except:
# Connection gone?
print('Connection closed by client')
led.off()
camera.deinit()
return
else:
if (stream):
led.off()
camera.deinit()
#picoweb.http_error(resp, 503)
yield from picoweb.start_response(resp, status=503)
if (stream and n_frame > 0):
yield from resp.awrite('Content-Type: text/html; charset=utf-8\r\n\r\n')
yield from resp.awrite('Issues:\r\n\r\n' + str(buf))
return
print('MJPEG: Output frame ' + str(n_frame))
n_frame = n_frame + 1
import pygame, datetime, math
from pygame.locals import *
math.tau = 2 * math.pi
import camera, settings, state, thing, grid, control
pygame.init()
camera.init()
thing.init()
pygame.display.set_caption("Prototype: pawn")
clock = pygame.time.Clock()
playing = True
font = pygame.font.Font(None, 24)
while playing:
dt = 0.001 * clock.tick()
mstate = {
"pos": pygame.mouse.get_pos(),
"ldown": False,
"lup": False,
"mdown": False,
"mup": False,
"rdown": False,
"rup": False,
"wheel": 0,
}
kstate = {
"pressed": pygame.key.get_pressed(),
"down": set(),
}
for event in pygame.event.get():
if event.type == QUIT:
import camera
import movement
import os
import pygame
os.environ['SDL_VIDEODRIVER'] = 'dummy'
pygame.init()
pygame.display.set_mode((1, 1))
condition = True
st = 0.5
camera.init()
#movement.car.init()
print('HAJIMAE')
while condition:
for event in pygame.event.get():
#print(event)
if event.type == pygame.KEYDOWN:
print(event.key)
if event.key == pygame.K_UP:
print('UP')
movement.forward(st)
os.chdir('/home/pi/Desktop/New_beginning/w')
camera.take_picture()
elif event.key == pygame.K_DOWN:
movement.reverse(st)
print('DOWN')
elif event.key == pygame.K_LEFT:
os.chdir('/home/pi/Desktop/New_beginning/a')
camera.take_picture()
movement.left(st)
print('LEFT')
def init():
camera.init()
def init():
global marker_array_pub, marker_pub, tf_broadcaster, tf_listener
global move_group, turntable
global camera_mesh, camera_pos, camera_size, min_distance, max_distance, num_positions, num_spins, object_size, photobox_pos, photobox_size, reach, simulation, test, turntable_pos, working_dir
rospy.init_node('acquisition')
camera_mesh = rospy.get_param('~camera_mesh', None)
camera_orientation = rospy.get_param('~camera_orientation', None)
camera_pos = rospy.get_param('~camera_pos', [0.0, 0.0, 0.0])
camera_size = rospy.get_param('~camera_size', [0.1, 0.1, 0.1])
min_distance = rospy.get_param('~min_distance', 0.2)
max_distance = rospy.get_param('~max_distance', min_distance)
max_velocity = rospy.get_param('~max_velocity', 0.1)
num_positions = rospy.get_param('~num_positions', 15)
num_spins = rospy.get_param('~num_spins', 8)
object_size = numpy.array(rospy.get_param('~object_size', [0.2, 0.2, 0.2]))
photobox_pos = rospy.get_param('~photobox_pos', [0.0, -0.6, 0.0])
photobox_size = rospy.get_param('~photobox_size', [0.7, 0.7, 1.0])
ptpip = rospy.get_param('~ptpip', None)
reach = rospy.get_param('~reach', 0.85)
simulation = '/gazebo' in get_node_names()
test = rospy.get_param('~test', True)
turntable_pos = rospy.get_param(
'~turntable_pos', photobox_pos[:2] + [photobox_pos[2] + 0.05])
turntable_radius = rospy.get_param('~turntable_radius', 0.2)
wall_thickness = rospy.get_param('~wall_thickness', 0.04)
marker_array_pub = rospy.Publisher('visualization_marker_array',
MarkerArray,
queue_size=1,
latch=True)
marker_pub = rospy.Publisher('visualization_marker',
Marker,
queue_size=1,
latch=True)
tf_broadcaster = tf.TransformBroadcaster()
tf_listener = tf.TransformListener()
move_group = MoveGroupCommander('manipulator')
move_group.set_max_acceleration_scaling_factor(
1.0 if simulation else max_velocity)
move_group.set_max_velocity_scaling_factor(
1.0 if simulation else max_velocity)
robot = RobotCommander()
scene = PlanningSceneInterface(synchronous=True)
try:
st_control = load_source(
'st_control',
os.path.join(RosPack().get_path('iai_scanning_table'), 'scripts',
'iai_scanning_table', 'st_control.py'))
turntable = st_control.ElmoUdp()
if turntable.check_device():
turntable.configure()
turntable.reset_encoder()
turntable.start_controller()
turntable.set_speed_deg(30)
except Exception as e:
print(e)
sys.exit('Could not connect to turntable.')
if simulation:
move_home()
elif not test:
working_dir = rospy.get_param('~working_dir', None)
if working_dir is None:
sys.exit('Working directory not specified.')
elif not camera.init(
os.path.join(os.path.dirname(os.path.abspath(__file__)), '..',
'out', working_dir, 'images'), ptpip):
sys.exit('Could not initialize camera.')
# add ground plane
ps = PoseStamped()
ps.header.frame_id = robot.get_planning_frame()
scene.add_plane('ground', ps)
# add photobox
ps.pose.position.x = photobox_pos[
0] + photobox_size[0] / 2 + wall_thickness / 2
ps.pose.position.y = photobox_pos[1]
ps.pose.position.z = photobox_pos[2] + photobox_size[2] / 2
scene.add_box('box_wall_left', ps,
(wall_thickness, photobox_size[1], photobox_size[2]))
ps.pose.position.x = photobox_pos[
0] - photobox_size[0] / 2 - wall_thickness / 2
ps.pose.position.y = photobox_pos[1]
ps.pose.position.z = photobox_pos[2] + photobox_size[2] / 2
scene.add_box('box_wall_right', ps,
(wall_thickness, photobox_size[1], photobox_size[2]))
ps.pose.position.x = photobox_pos[0]
ps.pose.position.y = photobox_pos[
1] - photobox_size[1] / 2 - wall_thickness / 2
ps.pose.position.z = photobox_pos[2] + photobox_size[2] / 2
scene.add_box('box_wall_back', ps,
(photobox_size[0], wall_thickness, photobox_size[2]))
ps.pose.position.x = photobox_pos[0]
ps.pose.position.y = photobox_pos[1]
ps.pose.position.z = photobox_pos[2] - wall_thickness / 2
scene.add_box('box_ground', ps,
(photobox_size[0], photobox_size[1], wall_thickness))
# add turntable
turntable_height = turntable_pos[2] - photobox_pos[2]
ps.pose.position.x = turntable_pos[0]
ps.pose.position.y = turntable_pos[1]
ps.pose.position.z = photobox_pos[2] + turntable_height / 2
scene.add_cylinder('turntable', ps, turntable_height, turntable_radius)
# add object on turntable
ps.pose.position.x = turntable_pos[0]
ps.pose.position.y = turntable_pos[1]
ps.pose.position.z = turntable_pos[2] + object_size[2] / 2
scene.add_cylinder('object', ps, object_size[2], max(object_size[:2]) / 2)
# add cable mounts
scene.remove_attached_object('upper_arm_link', 'upper_arm_cable_mount')
scene.remove_attached_object('forearm_link', 'forearm_cable_mount')
scene.remove_world_object('upper_arm_cable_mount')
scene.remove_world_object('forearm_cable_mount')
if ptpip is None and not simulation:
size = [0.08, 0.08, 0.08]
ps.header.frame_id = 'upper_arm_link'
ps.pose.position.x = -0.13
ps.pose.position.y = -0.095
ps.pose.position.z = 0.135
scene.attach_box(ps.header.frame_id, 'upper_arm_cable_mount', ps, size)
ps.header.frame_id = 'forearm_link'
ps.pose.position.x = -0.275
ps.pose.position.y = -0.08
ps.pose.position.z = 0.02
scene.attach_box(ps.header.frame_id, 'forearm_cable_mount', ps, size)
# add camera
eef_link = move_group.get_end_effector_link()
ps = PoseStamped()
ps.header.frame_id = eef_link
scene.remove_attached_object(eef_link, 'camera_0')
scene.remove_attached_object(eef_link, 'camera_1')
scene.remove_world_object('camera_0')
scene.remove_world_object('camera_1')
ps.pose.position.y = camera_pos[1]
ps.pose.position.z = camera_pos[2]
if camera_mesh:
ps.pose.position.x = camera_pos[0]
quaternion = tf.transformations.quaternion_from_euler(
math.radians(camera_orientation[0]),
math.radians(camera_orientation[1]),
math.radians(camera_orientation[2]))
ps.pose.orientation.x = quaternion[0]
ps.pose.orientation.y = quaternion[1]
ps.pose.orientation.z = quaternion[2]
ps.pose.orientation.w = quaternion[3]
scene.attach_mesh(eef_link, 'camera_0', ps,
os.path.expanduser(camera_mesh), camera_size)
if not simulation:
scene.attach_mesh(eef_link, 'camera_1', ps,
os.path.expanduser(camera_mesh),
numpy.array(camera_size) * 1.5)
vertices = scene.get_attached_objects(
['camera_0'])['camera_0'].object.meshes[0].vertices
camera_size[0] = max(vertice.x for vertice in vertices) - min(
vertice.x for vertice in vertices)
camera_size[1] = max(vertice.y for vertice in vertices) - min(
vertice.y for vertice in vertices)
camera_size[2] = max(vertice.z for vertice in vertices) - min(
vertice.z for vertice in vertices)
else:
ps.pose.position.x = camera_pos[0] + camera_size[0] / 2
scene.attach_box(eef_link, 'camera_0', ps, camera_size)
joueur.init() #On initialise le joueur...
monstres.init()#...les monstres...
boulesdefeu.init()#... et les boules de feu.
bonus.init()
niveaux = ["tutoriel", "niveau1", "niveau2", "niveau3", "fin du jeu"]#Liste des niveaux
niveauActuel = 0 #Niveau dans lequel le joueur se trouve actuellement
interface.init() #Initialisation de l'interface (compteurs de bonus)
carte.init(niveaux[niveauActuel],True) #On charge le terrain du jeu depuis un fichier
cache.init(largeur,hauteur,niveaux[niveauActuel])
#On initialise la camera, la centrant sur le joueur et lui mettant les dimensions de la fenêtre:
camera.init(joueur.x,joueur.y,largeur,hauteur,carte.w*32,carte.h*32)
#On initialise l' "afficheur", qui permettra le rendu des textures à l'écran
afficheur.init(0,0)
afficheur.mettreWindow(window)
afficheur.update(camera.x, camera.y)
musiquelancee = False
end = False
def reinitialiserNiveau():#Permet de réinitialiser tout sauf l'état de la carte
joueur.init()
monstres.init()
boulesdefeu.init()
bonus.init()
interface.init()
