def record():
car.reset_odometry()
f = FileNames()
track_name = config.track_name
route_name = f.next_route_name(track_name)
os.makedirs(f.get_route_folder(track_name, route_name))
recording_file_path = f.recording_file_path(track_name, route_name)
make_recording(car = car, recording_file_path = recording_file_path )
car.lcd.display_text("making path")
path_file_path = f.path_file_path(track_name, route_name)
write_path_from_recording_file(inpath=recording_file_path,outpath=path_file_path)
config.route_name = route_name
update_route_selection_menu()
def go():
f = FileNames()
config.run_name = f.next_run_name(config.track_name, config.route_name)
run_folder = f.get_run_folder(config.track_name, config.route_name, config.run_name)
os.makedirs(run_folder)
dump_config(f.config_file_path(config.track_name, config.route_name, config.run_name))
car.reset_odometry()
input_path = f.path_file_path(config.track_name,config.route_name)
stereo_video_paths = f.stereo_video_file_paths(config.track_name,config.route_name,config.run_name)
if config.capture_video:
capture = vision.capture.Capture(stereo_video_paths=stereo_video_paths)
capture.begin()
rte = route.Route()
car.display_text('loading route')
rte.load_from_file(input_path)
rte.smooth(k_smooth=config.k_smooth)
rte.optimize_velocity(max_velocity = config.max_v, max_acceleration = config.max_a)
car.display_text('playing route')
recording_file_path = FileNames().recording_file_path(config.track_name,config.route_name,config.run_name)
car.begin_recording_input(recording_file_path)
car.begin_recording_commands(FileNames().commands_recording_file_path(config.track_name,config.route_name,config.run_name))
try:
play_route(rte, car, k_smooth = config.k_smooth, d_ahead = config.d_ahead, t_ahead = config.t_ahead)
except:
path = f.exception_file_path(config.track_name,config.route_name,config.run_name)
with open(path,'w') as log:
log.write(exception.exception_text())
finally:
car.end_recording_input()
car.end_recording_commands()
if config.capture_video:
capture.end()
car.lcd.display_text("making path")
path_file_path = f.path_file_path(config.track_name,config.route_name,config.run_name)
write_path_from_recording_file(inpath=recording_file_path,outpath=path_file_path)
def main():
print "making a car"
car = Car()
lcd = car.lcd
buttons = (
(LCD.SELECT, "Select", (1, 1, 1)),
(LCD.LEFT, "Left", (1, 0, 0)),
(LCD.UP, "Up", (0, 0, 1)),
(LCD.DOWN, "Down", (0, 1, 0)),
(LCD.RIGHT, "Right", (1, 0, 1)),
)
while not shutdown_flag:
try:
x, y = car.front_position()
v = car.battery_voltage()
car.display_text("{:5.2f},{:5.2f}\n{:3.1f}v s rec >go".format(x, y, v))
if lcd.is_pressed(LCD.SELECT):
car.display_text("recording route\n-> stop")
make_recording(car=car)
car.display_text("recording\ncomplete")
time.sleep(1)
if lcd.is_pressed(LCD.RIGHT):
car.display_text("making route")
write_path_from_recording_file()
car.display_text("playing route")
play_route_main()
except IOError: # I2C error, keep trying
continue
except KeyboardInterrupt:
break
time.sleep(0.1)
car.display_text("goodbye")
del car
print ("goodbye")
time.sleep(1)
lcd.set_backlight(0)
