from communication.Serial import Serial
from bridge.RobotIO import RobotIO
# configure argument parset
parser = argparse.ArgumentParser(description='Controlls robot')
parser.add_argument('--debug', dest='debug', action='store_true')
parser.set_defaults(feature=False)
args = parser.parse_args()
# configure logging and exception handler
logging_config = LoggingConfig(config.logging['log_file'],
config.logging['log_entries'])
logging_config.enable_debug(args.debug)
logger = logging_config.get_logger()
sys.excepthook = logging_config.set_error_hadler
# configure mqtt connection, serial and RobotIO bridge
mqtt_connection = MqttConnection(config.mqtt['host'], config.mqtt['port'],
config.mqtt['user'], config.mqtt['password'])
serial = Serial(config.serial)
robot_io = RobotIO(mqtt_connection, serial, logger)
mqtt_connection.listen(robot_io.received_command)
mqtt_connection.connect()
serial.add_callback(robot_io.received_serial_message)
serial.connect()
# listen to serial commands in an infinite loop
while True:
serial.listen()
sleep(0.05)
def serial(self) -> Serial:
return Serial(
self.configuration_repository().get_config(
SerialCommunicationCfg.get_classname()), self.root_logger())
# configure argument parser
parser = argparse.ArgumentParser(description='Robot configuration')
parser.add_argument(
'detector_type', action='store',
help='Select detector type available types: colored-object, specific-face. For '
'specific face an --extra-cfg is required with an image path containing the face file to be followed'
)
parser.add_argument(
'--extra_cfg', dest='extra_cfg', action='store',
help='Extra parameter for detector_type'
)
parser.add_argument('--show-video', dest='video', action='store_true', help='shows images on GUI')
parser.set_defaults(feature=False)
args = parser.parse_args()
serial = Serial(config.serial) #configure serial
serial.connect()
detector = ObjectDetectorFactory.get(args.detector_type, args.extra_cfg)
object_follower = ObjectFollower(detector, RobotSerialCommandsConverter(), config_navigation.object_size_threshold)
image_debug = ImageDebug((0, 255, 255), 2)
frame_provider = VideoStream(usePiCamera=True, resolution=(1024, 768)).start()
time.sleep(2.0)
while not cv2.waitKey(30) & 0xFF == ord('q'):
frame = frame_provider.read()
# image is resised by with with some amount in px for better performance
frame = imutils.resize(frame, width=config_navigation.resize_image_by_width)
frame = imutils.rotate(frame, config_navigation.rotate_camera_by)
object_follower.process(frame)
from multiprocessing import Queue
from flask import Flask, Response, request
import config
from communication.Serial import Serial
from navigation.RobotSerialCommandsConverter import RobotSerialCommandsConverter
from navigation.LongRunningCommand import LongRunningCommand
app = Flask(__name__)
serial = Serial(config.serial['port'], config.serial['baud_rate'])
serial.connect()
commands_converter = RobotSerialCommandsConverter()
communication_queue = Queue(maxsize=3)
process = LongRunningCommand(serial, communication_queue, 5000)
process.daemon = True
process.start()
@app.route("/api/motors", methods=["POST"])
# this is a naive implementation, will be refactored in the final release
def motors_command():
request_params = request.form
command = request_params['command']
angle = 90 if request_params['angle'] == 'None' else int(
request_params['angle'])
if command == 'left':
angle = 90 - angle
elif command == 'right':
angle = 90 + angle
from communication.Serial import Serial
from communication.SerialMqttBridge import SerialMqttBridge
# configure argument parser
parser = argparse.ArgumentParser(description='Controlls robot')
parser.add_argument('--debug', dest='debug', action='store_true')
parser.set_defaults(feature=False)
args = parser.parse_args()
# configure logging and exception handler
logging_config = LoggingConfig(config.logging['log_file'],
config.logging['log_entries'])
logging_config.enable_debug(args.debug)
logger = logging_config.get_logger()
sys.excepthook = logging_config.set_error_hadler
# configure mqtt connection, serial and SerialMqttBridge bridge
mqtt_connection = MqttConnection(config.mqtt['host'], config.mqtt['port'],
config.mqtt['user'], config.mqtt['password'])
serial = Serial(config.serial['port'], config.serial['baud_rate'])
bridge = SerialMqttBridge(mqtt_connection, serial, logger)
mqtt_connection.listen(bridge.received_command)
mqtt_connection.connect()
serial.add_callback(bridge.received_serial_message)
serial.connect()
# listen to serial commands in an infinite loop
while True:
serial.loop()
sleep(0.05)