def show_bike_1():
time.sleep(17.0)
color = Color_Bike #(0, 0, 255)
location = ObjectLocation(5, 25)
spot = LEDSpot((
0,
0,
0,
), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location', ObjectLocation(90, 3),
8.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(8.0)
get_led_controller().add_animation(spot, 'location',
ObjectLocation(135, 10), 3.0)
time.sleep(3.0)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(90, 2), 3.333)
time.sleep(3.333)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(0, 10), 4.0)
time.sleep(4.0 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_2():
time.sleep(35.5)
color = Color_People #(237, 183, 21)
location = ObjectLocation(80, 10)
spot = LEDSpot((
0,
0,
0,
), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(30, 5), 2.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(2.0)
get_led_controller().add_animation(spot, 'location', ObjectLocation(90, 2),
1.333)
time.sleep(1.333)
get_led_controller().add_animation(spot, 'location',
ObjectLocation(170, 20), 9.666)
time.sleep(9.666 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_1():
color = Color_People #(237, 183, 21)
location = ObjectLocation(155, 2)
spot = LEDSpot((0, 0, 0,), location, 0.75)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(0, 2.0), 8.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(8.0-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_car_1():
time.sleep(40.666)
color = Color_Car #(255, 255, 255)
location = ObjectLocation(-45, 3)
spot = LEDSpot((0, 0, 0,), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location', ObjectLocation(0, 3.0), 3.333)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(3.333-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_2():
time.sleep(8.433)
color = Color_People #(237, 183, 21)
location = ObjectLocation(45, 10)
spot = LEDSpot((0, 0, 0,), location, 2.0)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-90, 5.0), 4.5)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(4.5-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_2():
time.sleep(1.5)
color = Color_People #(237, 183, 21)
location = ObjectLocation(-10, 3.0)
spot = LEDSpot((0, 0, 0,), location, 0.75)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location', ObjectLocation(180, 2.0), 9.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(9.0-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_1():
time.sleep(5.0)
color = Color_People #(237, 183, 21)
location = ObjectLocation(355, 25)
spot = LEDSpot((0, 0, 0,), location, 2.25)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location', ObjectLocation(90, 2.0), 11.666)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(11.666)
get_led_controller().add_animation(spot, 'location', ObjectLocation(160, 5.0), 2.333)
time.sleep(2.333-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_2():
time.sleep(26.0)
color = Color_People #(237, 183, 21)
location = ObjectLocation(-45, 8.0)
spot = LEDSpot((0, 0, 0,), location, 2.25)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location', ObjectLocation(90, 2.0), 5.5)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(5.5)
get_led_controller().add_animation(spot, 'location', ObjectLocation(160, 8), 2.0)
time.sleep(2.0-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_bike_1():
time.sleep(33.0)
color = Color_Bike #(255, 0, 0)
location = ObjectLocation(-30, 15)
spot = LEDSpot((0, 0, 0,), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-90, 2.0), 4.666)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(4.666)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-160, 10), 1.333-0.5)
time.sleep(1.333-0.5-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_car_1():
time.sleep(34.166)
color = Color_Car #(255, 0, 0)
location = ObjectLocation(10, 10)
spot = LEDSpot((0, 0, 0,), location, 2.0)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-90, 2.0), 6.166)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(6.166)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-160, 10.0), 2.333)
time.sleep(2.333-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_1():
time.sleep(1.0)
color = Color_People #(237, 183, 21)
location = ObjectLocation(-30, 15)
spot = LEDSpot((0, 0, 0,), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-90, 5), 5.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(5.0)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-190, 15), 5.0)
time.sleep(5.0-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_car_1():
time.sleep(15.0)
color = Color_Car #(255, 0, 0)
location = ObjectLocation(-30, 25)
spot = LEDSpot((0, 0, 0,), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-90, 3), 2.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(2.0)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-150, 25), 2.0)
time.sleep(2.0-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_bike_2():
time.sleep(35.5)
color = Color_Bike #(0, 0, 255)
location = ObjectLocation(45, 10)
spot = LEDSpot((0, 0, 0,), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-90, 2), 2.333)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(2.333)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(-170, 25), 10.666)
time.sleep(10.666-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_2():
time.sleep(35.5)
color = Color_People #(237, 183, 21)
location = ObjectLocation(80, 10)
spot = LEDSpot((0, 0, 0,), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(30, 5), 2.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(2.0)
get_led_controller().add_animation(spot, 'location', ObjectLocation(90, 2), 1.333)
time.sleep(1.333)
get_led_controller().add_animation(spot, 'location', ObjectLocation(170, 20), 9.666)
time.sleep(9.666-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_bike_1():
time.sleep(17.0)
color = Color_Bike #(0, 0, 255)
location = ObjectLocation(5, 25)
spot = LEDSpot((0, 0, 0,), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location', ObjectLocation(90, 3), 8.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(8.0)
get_led_controller().add_animation(spot, 'location', ObjectLocation(135, 10), 3.0)
time.sleep(3.0)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(90, 2), 3.333)
time.sleep(3.333)
get_led_controller().add_animation(spot, 'location_r', ObjectLocation(0, 10), 4.0)
time.sleep(4.0-0.5)
get_led_controller().add_animation(spot, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_1():
color = Color_People #(237, 183, 21)
location = ObjectLocation(15, 20)
spot = LEDSpot((
0,
0,
0,
), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-45, 10.0), 10.166)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(10.166 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_2():
time.sleep(1.5)
color = Color_People #(237, 183, 21)
location = ObjectLocation(-10, 3.0)
spot = LEDSpot((
0,
0,
0,
), location, 0.75)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location',
ObjectLocation(180, 2.0), 9.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(9.0 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_car_1():
time.sleep(40.666)
color = Color_Car #(255, 255, 255)
location = ObjectLocation(-45, 3)
spot = LEDSpot((
0,
0,
0,
), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location',
ObjectLocation(0, 3.0), 3.333)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(3.333 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_2():
time.sleep(8.433)
color = Color_People #(237, 183, 21)
location = ObjectLocation(45, 10)
spot = LEDSpot((
0,
0,
0,
), location, 2.0)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-90, 5.0), 4.5)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(4.5 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def toggle_working_light_back_right(activate):
global working_light_led_back_right
if activate:
if working_light_led_back_right is None:
color = (237, 183, 21)
location = ObjectLocation(135, 90)
working_light_led_back_right = LEDSpot(color, location, 120)
print "show working light br"
get_led_controller().add_symbol(working_light_led_back_right)
else:
if working_light_led_back_right is not None:
get_led_controller().remove_symbol(working_light_led_back_right)
working_light_led_back_right = None
def show_ped_1():
time.sleep(1.0)
color = Color_People #(237, 183, 21)
location = ObjectLocation(-30, 15)
spot = LEDSpot((
0,
0,
0,
), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-90, 5), 5.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(5.0)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-190, 15), 5.0)
time.sleep(5.0 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_car_1():
time.sleep(15.0)
color = Color_Car #(255, 0, 0)
location = ObjectLocation(-30, 25)
spot = LEDSpot((
0,
0,
0,
), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-90, 3), 2.0)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(2.0)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-150, 25), 2.0)
time.sleep(2.0 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_bike_1():
time.sleep(33.0)
color = Color_Bike #(255, 0, 0)
location = ObjectLocation(-30, 15)
spot = LEDSpot((
0,
0,
0,
), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-90, 2.0), 4.666)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(4.666)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-160, 10), 1.333 - 0.5)
time.sleep(1.333 - 0.5 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_2():
time.sleep(26.0)
color = Color_People #(237, 183, 21)
location = ObjectLocation(-45, 8.0)
spot = LEDSpot((
0,
0,
0,
), location, 2.25)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location',
ObjectLocation(90, 2.0), 5.5)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(5.5)
get_led_controller().add_animation(spot, 'location',
ObjectLocation(160, 8), 2.0)
time.sleep(2.0 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_ped_1():
time.sleep(5.0)
color = Color_People #(237, 183, 21)
location = ObjectLocation(355, 25)
spot = LEDSpot((
0,
0,
0,
), location, 2.25)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location',
ObjectLocation(90, 2.0), 11.666)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(11.666)
get_led_controller().add_animation(spot, 'location',
ObjectLocation(160, 5.0), 2.333)
time.sleep(2.333 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_car_1():
time.sleep(34.166)
color = Color_Car #(255, 0, 0)
location = ObjectLocation(10, 10)
spot = LEDSpot((
0,
0,
0,
), location, 2.0)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-90, 2.0), 6.166)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(6.166)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-160, 10.0), 2.333)
time.sleep(2.333 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def show_bike_2():
time.sleep(35.5)
color = Color_Bike #(0, 0, 255)
location = ObjectLocation(45, 10)
spot = LEDSpot((
0,
0,
0,
), location, 2)
get_led_controller().add_symbol(spot)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-90, 2), 2.333)
get_led_controller().add_animation(spot, 'color', color, 0.5)
time.sleep(2.333)
get_led_controller().add_animation(spot, 'location_r',
ObjectLocation(-170, 25), 10.666)
time.sleep(10.666 - 0.5)
get_led_controller().add_animation(spot, 'color', (
0,
0,
0,
), 0.5)
time.sleep(0.5)
spot.dead = True
def play_start_sequence():
color = (255, 226, 64)
location_1 = ObjectLocation(-179, 15)
spot_1 = LEDSpot((0, 0, 0,), location_1, 2)
location_2 = ObjectLocation(179, 15)
spot_2 = LEDSpot((0, 0, 0,), location_2, 2)
final_radius = 75
get_led_controller().add_symbol(spot_1)
get_led_controller().add_symbol(spot_2)
get_led_controller().add_animation(spot_1, 'color', color, 0.5)
get_led_controller().add_animation(spot_2, 'color', color, 0.5)
get_led_controller().add_animation(spot_1, 'location', ObjectLocation(-45, 15), 2.5)
get_led_controller().add_animation(spot_2, 'location_r', ObjectLocation(45, 15), 2.5)
time.sleep(0.5)
get_led_controller().add_animation(spot_1, 'radius', final_radius, 2.0)
get_led_controller().add_animation(spot_2, 'radius', final_radius, 2.0)
time.sleep(2.0)
get_led_controller().add_animation(spot_1, 'color', (0, 0, 0,), 0.5)
get_led_controller().add_animation(spot_2, 'color', (0, 0, 0,), 0.5)
time.sleep(0.5)
spot_1.dead = True
spot_2.dead = True
def run(self):
NUMBER_OF_VALUES = 99
NUMBER_OF_MINIMUM_VALUES_PER_AREA = 10
lidar = lidarModule.Lidar()
# values = []
spots = []
for i in range(NUMBER_OF_VALUES):
# values.append([])
spots.append({
'active':
False,
'spot':
LEDSpot(Color_Bike, ObjectLocation(i * 1.8 - 10.0, 2), 0.3)
})
# stepNumber, distance = lidar.getData()
# while stepNumber <> 0:
# stepNumber, distance = lidar.getData()
# print '### Step is at 0 now ###'
minStepDist = [
290, 290, 290, 290, 290, 290, 290, 290, 291, 291, 292, 294, 295,
297, 300, 271, 241, 217, 197, 180, 166, 154, 144, 135, 128, 121,
115, 109, 104, 100, 96, 92, 89, 86, 83, 81, 79, 77, 75, 73, 71, 70,
69, 67, 66, 65, 64, 64, 63, 62, 62, 61, 61, 61, 60, 60, 60, 60, 60,
60, 60, 61, 61, 61, 62, 62, 63, 64, 64, 65, 66, 67, 69, 70, 71, 73,
75, 77, 79, 81, 83, 86, 89, 92, 96, 100, 104, 109, 115, 121, 128,
135, 144, 154, 166, 180, 224, 224, 224
]
maxStepDist = [
450, 450, 470, 500, 600, 600, 610, 620, 610, 610, 600, 590, 590,
570, 560, 560, 560, 560, 560, 560, 560, 560, 550, 540, 540, 540,
540, 540, 550, 550, 570, 560, 560, 560, 550, 550, 550, 540, 550,
540, 550, 560, 540, 530, 530, 530, 520, 500, 490, 500, 510, 500,
490, 490, 500, 500, 500, 500, 490, 480, 480, 480, 470, 470, 460,
460, 430, 420, 420, 400, 400, 400, 400, 390, 390, 390, 390, 390,
390, 400, 410, 420, 430, 450, 440, 440, 440, 450, 460, 470, 510,
520, 520, 530, 530, 530, 530, 530, 530
]
lidar.resetDataCount()
# values = pickle.load(open("/home/pi/me310-audi-enlight/lidar/scan6MinimumValues", "rb" ))
# print '### MIN ###'
# print map(np.min, values)
# print '### MAX ###'
# print map(np.max, values)
# print '### STD ###'
# print map(np.std, values)
# print '###########'
# stdValues = map(np.std, values)
# minValues = map(np.min, values)
while not self.stopped:
stepNumber, distance = lidar.getData()
if stepNumber == -1:
continue
if distance >= maxStepDist[stepNumber] or distance <= minStepDist[
stepNumber]:
if (spots[stepNumber]['active']):
get_led_controller().remove_symbol(
spots[stepNumber]['spot'])
spots[stepNumber]['active'] = False
else:
if maxStepDist[stepNumber] - distance > 50:
if (not spots[stepNumber]['active']):
get_led_controller().add_symbol(
spots[stepNumber]['spot'])
spots[stepNumber]['active'] = True
else:
if (spots[stepNumber]['active']):
get_led_controller().remove_symbol(
spots[stepNumber]['spot'])
spots[stepNumber]['active'] = False
for spot in spots:
get_led_controller().remove_symbol(spot['spot'])
