def __init__(self):
app_config = AppConfig().config
motor_l = app_config['navigation_config']['motor_L']
motor_r = app_config['navigation_config']['motor_R']
self.motor_L = Motor(motor_l)
self.motor_R = Motor(motor_r)
self.d_sleep = 0.4
log.info('Navigation System Initialized')
def process(self, arg_data):
try:
data_in = json.loads(arg_data)
log.info(data_in)
qr_command = data_in['action']
navigation = Navigation()
function = getattr(navigation, qr_command)
function()
except Exception as ex:
log.debug(f'Invalid QR Value: {data_in}')
def move_360(self):
self.motor_R.backward()
self.motor_L.forward()
sleep(1)
self.stop()
log.info('[ROVER] Rotate 360')
def rotate_right(self):
self.motor_R.backward()
self.motor_L.forward()
log.info('[ROVER] Rotating Right')
sleep(self.d_sleep)
self.stop()
def rotate_left(self):
self.motor_L.backward()
self.motor_R.forward()
log.info('[ROVER] Rotating Left')
sleep(self.d_sleep)
self.stop()
def move_backward(self):
self.motor_L.backward()
self.motor_R.backward()
log.info('[ROVER] Moving Backward')
sleep(self.d_sleep)
self.stop()
def move_forward(self):
self.motor_L.forward()
self.motor_R.forward()
log.info('[ROVER] Moving forward')
sleep(self.d_sleep)
self.stop()
import cv2
from lib.common import AppConfig, log
from lib.rover_events import process_event
from lib.qr_reader import QrReader
from pyzbar.pyzbar import decode
from lib.rover_navigation import Navigation
# from lib.voice import VoiceService
import asyncio
if __name__ == '__main__':
log.info('Rover Initialization Started ....')
app_config = AppConfig().config
log.info('Rover Initialization Completed ....')
navigation = Navigation()
log.info('Voice Service Initialization Started ....')
# voice = VoiceService()
# asyncio.run(voice.say('Rover-AI voice service is activated'))
log.info('Voice Service Initialization Completed ....')
log.info('Started Rover Camera ....')
vs = cv2.VideoCapture(app_config['rover_cam']['device_id'])
log.info('Rover Camera started successfully')
qr_reader = QrReader()
while True:
ret, frame = vs.read()
frame = cv2.resize(frame, (400, 400))
img_grey = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
value = decode(img_grey)
if not value:
pass
else: