def bypass(path_cap, path_frame):
# do not need to get frame by read function.
# Directly use global variables
global path_frame
###### Prepare #########
avoid_client.init(capL_id=2, capR_id=1)
# get direction
direction = avoid_client.getOrient()
first_dir = direction ''' first direction. important variable'''
# 先离开障碍物面前
while direction is not 2:
if first_dir is 3:
# 左转，前进，右转
mo.turn_left(common_config.SLEEP_TIME)
mo.forward(common_config.SLEEP_TIME)
mo.turn_right(common_config.SLEEP_TIME)
elif first_dir is 4:
mo.turn_right(common_config.SLEEP_TIME)
mo.forward(common_config.SLEEP_TIME)
mo.turn_left(common_config.SLEEP_TIME)
direction = avoid_client.getOrient()
# 试探性地前进
flag = False
while(!util.hasRoad(process_img(path_frame))): #在没找到地上的路之前
if first_dir is 3:
mo.turn_right(common_config.SLEEP_TIME) if flag is False
direction = avoid_client.getOrient()
if direction is not 2:
mo.turn_left(common_config.SLEEP_TIME)
mo.forward(common_config.SLEEP_TIME)
flag = False
else:
mo.forward(common_config.SLEEP_TIME)
flag = True
elif first_dir is 4:
mo.turn_left(common_config.SLEEP_TIME) if flag is False
direction = avoid_client.getOrient()
if direction is not 2:
mo.turn_right(common_config.SLEEP_TIME)
mo.forward(common_config.SLEEP_TIME)
flag = False
else:
mo.forward(common_config.SLEEP_TIME)
flag = True
# 找到路之后，往回转一下即可
mo.turn_left(common_config.SLEEP_TIME) if first_dir is 3
mo.turn_right(common_config.SLEEP_TIME) if first_dir is 4
import image_preprocess as imgprocess
import common as common_config
import avoid_client
import bypass
## Main function
THRESHOLD = 220
# major variables
cap = cv2.VideoCapture(0)
ret, frame = cap.read()
mo = move.Move()
net = network.load("../config/result/0316-93%")
count = 0 # use for get orient
# prepare initiation
avoid_client.init(capL_id=2, capR_id=1)
## Get Frame part
#Continually updates the frame
class GetFrameThread(Thread):
def __init__(self):
Thread.__init__(self)
self.thread_stop = False
def run(self):
global ret, frame
while not self.thread_stop:
ret, frame = cap.read()
def stop(self):
self.thread_stop = True
