def main():
'''
Main
'''
signal.signal(signal.SIGINT, ctrl_c_handler)
parser = build_parser()
args = parser.parse_args()
if args.save:
rec_folder = "rec_%s" % time.strftime("%d_%m_%Y_%H_%M_")
rec_folder = os.path.join(config.pre_path, rec_folder)
rec_dirs = [rec_folder + '/' + str(i) for i in range(2)]
for directory in rec_dirs:
if not os.path.exists(directory):
os.makedirs(directory)
cam_1_conf = config.camera_parser_config('camera_1.ini')
cam_2_conf = config.camera_parser_config('camera_2.ini')
disp_conf = config.display_parser_config('display.ini')
cam_1 = Camera('cam_1', cam_1_conf)
cam_2 = Camera('cam_2', cam_2_conf)
atexit.register(cleanup, [cam_1, cam_2])
pygame.init()
screen = pygame.display.set_mode(disp_conf['doshape'])
surface = [pygame.Surface(disp_conf['oshape']) for i in range(2)]
running = True
img_ind = 0
while running:
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
image_1 = cam_1.get()
image_2 = cam_2.get()
pygame.pixelcopy.array_to_surface(surface[0], image_1)
pygame.pixelcopy.array_to_surface(surface[1], image_2)
screen.blit(surface[0], (0, 0))
screen.blit(surface[1], (disp_conf['oshape'][0], 0))
pygame.display.flip()
if args.save:
file_1_name = 'img_%05d.bmp' % img_ind
file_2_name = 'img_%05d.bmp' % img_ind
file_1_name = os.path.join(rec_dirs[0], file_1_name)
file_2_name = os.path.join(rec_dirs[1], file_2_name)
pygame.image.save(surface[0], file_1_name)
pygame.image.save(surface[1], file_2_name)
img_ind += 1
cam_1.stop()
cam_2.stop()
pygame.quit()
def __init__(self, name, disp_conf, cam_confs, cam_num=2):
'''
Init function for Display
'''
if cam_num < 0 or not cam_confs:
raise DisplayError("Display object has no cameras to instantiate.")
self.cam_list = []
for i in range(cam_num):
cam_conf = config.camera_parser_config(cam_confs[i])
cam = camera.Camera('cam_' + str(i + 1), cam_conf)
self.cam_list.append(cam)
self.frame_counter = 0
self.disp_conf = disp_conf
self.sv_thread_list = []
self.capturing = True
t = Thread(target=self._check_threads)
t.daemon = True
t.start()
from robocar42 import config, util, models
from robocar42.car import Car
from robocar42.display import Display
logger = util.configure_log('drive')
NUM_CLASSES = 4
delta_time = 750
conf_level = 0.3
rc_car = Car(config.vehicle_parser_config(
'vehicle.ini')) # parses values from vehicle.ini into an object Car
disp_conf = config.display_parser_config(
'display.ini') # parses values from display.ini
cam_1 = config.camera_parser_config(
'camera_1.ini') # parses values from camera_1.ini
cam_2 = config.camera_parser_config(
'camera_2.ini') # parses values from camera_2.ini
model_conf = config.model_parser_config(
'model_1.ini') # sets values from model_1.ini
links = ['/fwd', '/fwd/lf', '/fwd/rt', '/rev', '/rev/lf', '/rev/rt',
''] # list of commands for a controller
actions = [pygame.K_UP, pygame.K_LEFT, pygame.K_RIGHT, pygame.K_DOWN]
attributes = ['cam_1', 'cam_2', 'action'] # list of attributes
rev_action = 3 # other drive values are 0 - 2
def check_cameras():
'''
checks to see if the cameras are online
import pygame
import pyping
from robocar42 import config, util, models
from robocar42.car import Car
from robocar42.display import Display
logger = util.configure_log('drive')
NUM_CLASSES = 4
delta_time = 1000
conf_level = 0.3
rc_car = Car(config.vehicle_parser_config('vehicle.ini'))
disp_conf = config.display_parser_config('display.ini')
cam_1 = config.camera_parser_config('camera_1.ini')
cam_2 = config.camera_parser_config('camera_2.ini')
model_conf = config.model_parser_config('model_1.ini')
links = ['/fwd', '/fwd/lf', '/fwd/rt', '/rev', '/rev/lf', '/rev/rt', '']
actions = [pygame.K_UP,pygame.K_LEFT,pygame.K_RIGHT,pygame.K_DOWN]
attributes=['cam_1', 'cam_2', 'action']
rev_action = 3
def check_cameras():
try:
cam_1_ret = pyping.ping(cam_1['cam_url'], udp=True).ret_code
cam_2_ret = pyping.ping(cam_2['cam_url'], udp=True).ret_code
if not cam_1_ret and not cam_2_ret:
return True
except:
def setUp(self):
cam_conf = config.camera_parser_config('camera_1.ini')
disp_conf = config.display_parser_config('display.ini')
self.cam = Camera('cam', cam_conf, disp_conf['oshape'], True)