def start():
print colored("Robot ping and control script, written in Python", 'magenta')
print colored("Let's go!\n", 'magenta')
#Start the camera feed
cam.camera("CamOn")
print colored("Leaving time for camera warmup, please wait", 'red')
time.sleep(1)
def start():
print colored("Robot ping and control script, written in Python", 'magenta')
print colored("Let's go!\n", 'magenta')
#Start the camera feed
cam.camera("CamOn")
print colored("Leaving time for camera warmup, please wait", 'red')
time.sleep(1)
#Start Sensors and Communication threads
comms.Comms().start()
sensors.Ping().start()
sensors.Temp().start()
def run(self):
try:
server_socket.bind(address)
except:
print colored("Address already in use", "red")
server_socket.close()
sys.exit(0)
print colored("Socket ready", "blue")
while True:
recv_data, addr = server_socket.recvfrom(2048)
hostIP = addr[0]
try:
host = gethostbyaddr(hostIP)[0]
except:
host = hostIP
port = addr[1]
# print("Address: " + str(addr))
# print("Host's IP: " + str(hostIP) + ", Hostname: " + str(host) + ", Port: " + str(port))
if host == "Xav'sPad" or "BenPiOne" or "Guspi" or "snail" or "localhost" or "fxapi":
pass
else: # It's malicious
print colored("Unauthorised connection attempted - " + str(host) + " - closing socket", "red")
server_socket.close()
print colored("Socket closed to everyone", "red")
break
if recv_data == "Client connected":
print colored("Client " + str(host) + " connected - and is friendly", "red")
sendToUI("Welcome!")
if recv_data == "Client disconnected":
print colored("Client " + str(host) + " disconnected", "red")
sendToUI("Goodbye!")
if (recv_data in CMDS) == True:
motors.move(recv_data)
cam.camera(recv_data)
cam.servo(recv_data)
if recv_data == " ":
pass
elif recv_data not in CMDS: # if it's not any of the above, it's something else and we need to know what
print colored("Received: %s" % recv_data, "blue") # print out the message
# print colored("Length: %.0f" % len(recv_data), 'blue') # print out the length of the message
print colored("Sender hostname: " + str(host), "blue") # print out the sender's IP
cv2.line(new, (x1, y1), (x2, y2), self.line_color, 10)
else:
pass
new = cv2.addWeighted(self.rot, 1, new, 1, 1)
# cv2.imshow('Heading', new)
# cam.show()
return new
if __name__ == "__main__":
import cam
import time
from tools import median
camObj = cam.camera(0)
LaneDetect = ImageProcess()
medFilter = median(4)
while (1):
camObj.run()
fix = camObj.update()
LaneDetect.run(fix)
steeri = LaneDetect.update()
steer = medFilter.run(steeri)
print("steer = ", steer)
LaneDetect.showLanes(camObj)
LaneDetect.showHeading(camObj)
filename = 'C:/Users/jazzy/Documents/Python/pics/heading_' + str(
i) + '.jpg'
cv2.imwrite(filename, LaneDetect.headingcam)
import cv2
import numpy as np
curr_spd = 0.0
exit_flag = 0
CAM_PORT = 0 #default is 0
timeout = 0.5
car = MotorController()
control = KC(car)
car.setDrive(curr_spd)
car.run()
#cap = cv2.VideoCapture(CAM_PORT)#,cv2.CAP_DSHOW) #create camera instance
cam = camera(CAM_PORT)
input_queue = queue.Queue()
def camera_op(): #reads and displays video
#take a snapshot
while not exit_flag:
frame = cam.run()
cv2.imshow('frame', frame)
cam.show() #shouldn't need later on
print('Camera closed')
class move_op(threading.Thread
): #subclass for Thread that calls the keyboard control function
def __init__(self, queue):
