def frames():
camera = cv2.VideoCapture(Camera.video_source)
if not camera.isOpened():
raise RuntimeError('Could not start camera.')
cvt = CVThread()
cvt.start()
while True:
# read current frame
_, img = camera.read()
if Camera.modeSelect == 'none':
switch.switch(1,0)
cvt.pause()
else:
if cvt.CVThreading:
pass
else:
cvt.mode(Camera.modeSelect, img)
cvt.resume()
try:
img = cvt.elementDraw(img)
except:
pass
# encode as a jpeg image and return it
yield cv2.imencode('.jpg', img)[1].tobytes()
def switchCtrl(command_input, response): if 'Switch_1_on' in command_input: switch.switch(1,1) elif 'Switch_1_off' in command_input: switch.switch(1,0) elif 'Switch_2_on' in command_input: switch.switch(2,1) elif 'Switch_2_off' in command_input: switch.switch(2,0) elif 'Switch_3_on' in command_input: switch.switch(3,1) elif 'Switch_3_off' in command_input: switch.switch(3,0)
def functionSelect(command_input, response):
global functionMode
if 'scan' == command_input:
if OLED_connection:
screen.screen_show(5,'SCANNING')
if modeSelect == 'PT':
radar_send = fuc.radarScan()
print(radar_send)
response['title'] = 'scanResult'
response['data'] = radar_send
time.sleep(0.3)
elif 'findColor' == command_input:
if OLED_connection:
screen.screen_show(5,'FindColor')
if modeSelect == 'PT':
flask_app.modeselect('findColor')
elif 'motionGet' == command_input:
if OLED_connection:
screen.screen_show(5,'MotionGet')
flask_app.modeselect('watchDog')
elif 'stopCV' == command_input:
flask_app.modeselect('none')
switch.switch(1,0)
switch.switch(2,0)
switch.switch(3,0)
move.motorStop()
elif 'KD' == command_input:
if OLED_connection:
screen.screen_show(5,'POLICE')
servoPosInit()
fuc.keepDistance()
RL.police()
elif 'automaticOff' == command_input:
RL.pause()
fuc.pause()
move.motorStop()
time.sleep(0.3)
move.motorStop()
elif 'automatic' == command_input:
if OLED_connection:
screen.screen_show(5,'Automatic')
if modeSelect == 'PT':
fuc.automatic()
else:
fuc.pause()
elif 'automaticOff' == command_input:
fuc.pause()
move.motorStop()
time.sleep(0.2)
move.motorStop()
elif 'trackLine' == command_input:
servoPosInit()
fuc.trackLine()
if OLED_connection:
screen.screen_show(5,'TrackLine')
elif 'trackLineOff' == command_input:
fuc.pause()
move.motorStop()
elif 'steadyCamera' == command_input:
if OLED_connection:
screen.screen_show(5,'SteadyCamera')
fuc.steady(T_sc.lastPos[2])
elif 'steadyCameraOff' == command_input:
fuc.pause()
move.motorStop()
elif 'speech' == command_input:
RL.both_off()
fuc.speech()
elif 'speechOff' == command_input:
RL.both_off()
fuc.pause()
move.motorStop()
time.sleep(0.3)
move.motorStop()
def capture_thread(self, IPinver):
global frame_image, camera
ap = argparse.ArgumentParser() #OpenCV initialization
ap.add_argument("-b",
"--buffer",
type=int,
default=64,
help="max buffer size")
args = vars(ap.parse_args())
pts = deque(maxlen=args["buffer"])
font = cv2.FONT_HERSHEY_SIMPLEX
camera = picamera.PiCamera()
camera.resolution = (640, 480)
camera.framerate = 20
rawCapture = PiRGBArray(camera, size=(640, 480))
context = zmq.Context()
footage_socket = context.socket(zmq.PUB)
print(IPinver)
footage_socket.connect('tcp://%s:5555' % IPinver)
avg = None
motionCounter = 0
lastMovtionCaptured = datetime.datetime.now()
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
frame_image = frame.array
timestamp = datetime.datetime.now()
if FindColorMode:
####>>>OpenCV Start<<<####
hsv = cv2.cvtColor(frame_image, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, colorLower, colorUpper) #1
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.dilate(mask, None, iterations=2)
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
if len(cnts) > 0:
cv2.putText(frame_image, 'Target Detected', (40, 60), font,
0.5, (255, 255, 255), 1, cv2.LINE_AA)
c = max(cnts, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]),
int(M["m01"] / M["m00"]))
X = int(x)
Y = int(y)
if radius > 10:
cv2.rectangle(frame_image,
(int(x - radius), int(y + radius)),
(int(x + radius), int(y - radius)),
(255, 255, 255), 1)
if Y < (240 - tor):
error = (240 - Y) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.up(outv)
Y_lock = 0
elif Y > (240 + tor):
error = (Y - 240) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.down(outv)
Y_lock = 0
else:
Y_lock = 1
if X < (320 - tor * 3):
error = (320 - X) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.lookleft(outv)
servo.turnLeft(coe_Genout(error, 64))
X_lock = 0
elif X > (330 + tor * 3):
error = (X - 240) / 5
outv = int(round((pid.GenOut(error)), 0))
servo.lookright(outv)
servo.turnRight(coe_Genout(error, 64))
X_lock = 0
else:
move.motorStop()
X_lock = 1
if X_lock == 1 and Y_lock == 1:
switch.switch(1, 1)
switch.switch(2, 1)
switch.switch(3, 1)
moveCtrl(ultra.checkdist(), back_R, forward_R)
else:
move.motorStop()
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
else:
cv2.putText(frame_image, 'Target Detecting', (40, 60),
font, 0.5, (255, 255, 255), 1, cv2.LINE_AA)
move.motorStop()
####>>>OpenCV Ends<<<####
if WatchDogMode:
gray = cv2.cvtColor(frame_image, cv2.COLOR_BGR2GRAY)
gray = cv2.GaussianBlur(gray, (21, 21), 0)
if avg is None:
print("[INFO] starting background model...")
avg = gray.copy().astype("float")
rawCapture.truncate(0)
continue
cv2.accumulateWeighted(gray, avg, 0.5)
frameDelta = cv2.absdiff(gray, cv2.convertScaleAbs(avg))
# threshold the delta image, dilate the thresholded image to fill
# in holes, then find contours on thresholded image
thresh = cv2.threshold(frameDelta, 5, 255,
cv2.THRESH_BINARY)[1]
thresh = cv2.dilate(thresh, None, iterations=2)
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
# print('x')
# loop over the contours
for c in cnts:
# if the contour is too small, ignore it
if cv2.contourArea(c) < 5000:
continue
# compute the bounding box for the contour, draw it on the frame,
# and update the text
(x, y, w, h) = cv2.boundingRect(c)
cv2.rectangle(frame_image, (x, y), (x + w, y + h),
(128, 255, 0), 1)
text = "Occupied"
motionCounter += 1
#print(motionCounter)
#print(text)
LED.colorWipe(255, 16, 0)
lastMovtionCaptured = timestamp
switch.switch(1, 1)
switch.switch(2, 1)
switch.switch(3, 1)
if (timestamp - lastMovtionCaptured).seconds >= 0.5:
LED.colorWipe(255, 255, 0)
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
if FindLineMode:
cvFindLine()
cv2.line(frame_image, (300, 240), (340, 240), (128, 255, 128), 1)
cv2.line(frame_image, (320, 220), (320, 260), (128, 255, 128), 1)
if FindLineMode and not frameRender:
encoded, buffer = cv2.imencode('.jpg', frame_findline)
else:
encoded, buffer = cv2.imencode('.jpg', frame_image)
jpg_as_text = base64.b64encode(buffer)
footage_socket.send(jpg_as_text)
rawCapture.truncate(0)
def appCommand(data_input):
global direction_command, turn_command, servo_command
if data_input == 'forwardStart\n':
direction_command = 'forward'
move.move(speed_set, direction_command)
elif data_input == 'backwardStart\n':
direction_command = 'backward'
move.move(speed_set, direction_command)
elif data_input == 'leftStart\n':
turn_command = 'left'
servo.turnLeft()
move.move(speed_set, direction_command)
elif data_input == 'rightStart\n':
turn_command = 'right'
servo.turnRight()
move.move(speed_set, direction_command)
elif 'forwardStop' in data_input:
if turn_command == 'no':
move.motorStop()
elif 'backwardStop' in data_input:
if turn_command == 'no':
move.motorStop()
elif 'leftStop' in data_input:
turn_command = 'no'
servo.turnMiddle()
move.motorStop()
elif 'rightStop' in data_input:
turn_command = 'no'
servo.turnMiddle()
move.motorStop()
if data_input == 'lookLeftStart\n':
servo_command = 'lookleft'
servo_move.resume()
elif data_input == 'lookRightStart\n':
servo_command = 'lookright'
servo_move.resume()
elif data_input == 'downStart\n':
servo_command = 'down'
servo_move.resume()
elif data_input == 'upStart\n':
servo_command = 'up'
servo_move.resume()
elif 'lookLeftStop' in data_input:
servo_move.pause()
servo_command = 'no'
elif 'lookRightStop' in data_input:
servo_move.pause()
servo_command = 'no'
elif 'downStop' in data_input:
servo_move.pause()
servo_command = 'no'
elif 'upStop' in data_input:
servo_move.pause()
servo_command = 'no'
if data_input == 'aStart\n':
if LED.ledfunc != 'police':
LED.ledfunc = 'police'
ledthread.resume()
elif LED.ledfunc == 'police':
LED.ledfunc = ''
ledthread.pause()
elif data_input == 'bStart\n':
if LED.ledfunc != 'rainbow':
LED.ledfunc = 'rainbow'
ledthread.resume()
elif LED.ledfunc == 'rainbow':
LED.ledfunc = ''
ledthread.pause()
elif data_input == 'cStart\n':
switch.switch(1, 1)
switch.switch(2, 1)
switch.switch(3, 1)
elif data_input == 'dStart\n':
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
elif 'aStop' in data_input:
pass
elif 'bStop' in data_input:
pass
elif 'cStop' in data_input:
pass
elif 'dStop' in data_input:
pass
print(data_input)
def run():
global servo_move, speed_set, servo_command, functionMode, init_get, R_set, G_set, B_set, SR_mode
servo.servo_init()
move.setup()
findline.setup()
direction_command = 'no'
turn_command = 'no'
servo_command = 'no'
speed_set = 100
rad = 0.5
info_threading = threading.Thread(
target=info_send_client) #Define a thread for FPV and OpenCV
info_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() #Thread starts
servo_move = Servo_ctrl()
servo_move.start()
servo_move.pause()
findline.setup()
while True:
data = ''
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif 'forward' == data:
direction_command = 'forward'
move.move(speed_set, direction_command)
elif 'backward' == data:
direction_command = 'backward'
move.move(speed_set, direction_command)
elif 'DS' in data:
direction_command = 'no'
move.move(speed_set, direction_command)
elif 'left' == data:
# turn_command = 'left'
servo.turnLeft()
elif 'right' == data:
# turn_command = 'right'
servo.turnRight()
elif 'TS' in data:
# turn_command = 'no'
servo.turnMiddle()
elif 'Switch_1_on' in data:
switch.switch(1, 1)
tcpCliSock.send(('Switch_1_on').encode())
elif 'Switch_1_off' in data:
switch.switch(1, 0)
tcpCliSock.send(('Switch_1_off').encode())
elif 'Switch_2_on' in data:
switch.switch(2, 1)
tcpCliSock.send(('Switch_2_on').encode())
elif 'Switch_2_off' in data:
switch.switch(2, 0)
tcpCliSock.send(('Switch_2_off').encode())
elif 'Switch_3_on' in data:
switch.switch(3, 1)
tcpCliSock.send(('Switch_3_on').encode())
elif 'Switch_3_off' in data:
switch.switch(3, 0)
tcpCliSock.send(('Switch_3_off').encode())
elif 'function_1_on' in data:
servo.ahead()
time.sleep(0.2)
tcpCliSock.send(('function_1_on').encode())
radar_send = servo.radar_scan()
tcpCliSock.sendall(radar_send.encode())
print(radar_send)
time.sleep(0.3)
tcpCliSock.send(('function_1_off').encode())
elif 'function_2_on' in data:
functionMode = 2
fpv.FindColor(1)
tcpCliSock.send(('function_2_on').encode())
elif 'function_3_on' in data:
functionMode = 3
fpv.WatchDog(1)
tcpCliSock.send(('function_3_on').encode())
elif 'function_4_on' in data:
functionMode = 4
servo_move.resume()
tcpCliSock.send(('function_4_on').encode())
elif 'function_5_on' in data:
functionMode = 5
servo_move.resume()
tcpCliSock.send(('function_5_on').encode())
elif 'function_6_on' in data:
if MPU_connection:
functionMode = 6
servo_move.resume()
tcpCliSock.send(('function_6_on').encode())
#elif 'function_1_off' in data:
# tcpCliSock.send(('function_1_off').encode())
elif 'function_2_off' in data:
functionMode = 0
fpv.FindColor(0)
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
tcpCliSock.send(('function_2_off').encode())
elif 'function_3_off' in data:
functionMode = 0
fpv.WatchDog(0)
tcpCliSock.send(('function_3_off').encode())
elif 'function_4_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
tcpCliSock.send(('function_4_off').encode())
elif 'function_5_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
tcpCliSock.send(('function_5_off').encode())
elif 'function_6_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
init_get = 0
tcpCliSock.send(('function_6_off').encode())
elif 'lookleft' == data:
servo_command = 'lookleft'
servo_move.resume()
elif 'lookright' == data:
servo_command = 'lookright'
servo_move.resume()
elif 'up' == data:
servo_command = 'up'
servo_move.resume()
elif 'down' == data:
servo_command = 'down'
servo_move.resume()
elif 'stop' == data:
if not functionMode:
servo_move.pause()
servo_command = 'no'
pass
elif 'home' == data:
servo.ahead()
elif 'CVrun' == data:
if not FPV.CVrun:
FPV.CVrun = 1
tcpCliSock.send(('CVrun_on').encode())
else:
FPV.CVrun = 0
tcpCliSock.send(('CVrun_off').encode())
elif 'wsR' in data:
try:
set_R = data.split()
R_set = int(set_R[1])
led.colorWipe(R_set, G_set, B_set)
except:
pass
elif 'wsG' in data:
try:
set_G = data.split()
G_set = int(set_G[1])
led.colorWipe(R_set, G_set, B_set)
except:
pass
elif 'wsB' in data:
try:
set_B = data.split()
B_set = int(set_B[1])
led.colorWipe(R_set, G_set, B_set)
except:
pass
elif 'pwm0' in data:
try:
set_pwm0 = data.split()
pwm0_set = int(set_pwm0[1])
servo.setPWM(0, pwm0_set)
except:
pass
elif 'pwm1' in data:
try:
set_pwm1 = data.split()
pwm1_set = int(set_pwm1[1])
servo.setPWM(1, pwm1_set)
except:
pass
elif 'pwm2' in data:
try:
set_pwm2 = data.split()
pwm2_set = int(set_pwm2[1])
servo.setPWM(2, pwm2_set)
except:
pass
elif 'Speed' in data:
try:
set_speed = data.split()
speed_set = int(set_speed[1])
except:
pass
elif 'Save' in data:
try:
servo.saveConfig()
except:
pass
elif 'CVFL' in data:
if not FPV.FindLineMode:
FPV.FindLineMode = 1
tcpCliSock.send(('CVFL_on').encode())
else:
move.motorStop()
FPV.FindLineMode = 0
tcpCliSock.send(('CVFL_off').encode())
elif 'Render' in data:
if FPV.frameRender:
FPV.frameRender = 0
else:
FPV.frameRender = 1
elif 'WBswitch' in data:
if FPV.lineColorSet == 255:
FPV.lineColorSet = 0
else:
FPV.lineColorSet = 255
elif 'lip1' in data:
try:
set_lip1 = data.split()
lip1_set = int(set_lip1[1])
FPV.linePos_1 = lip1_set
except:
pass
elif 'lip2' in data:
try:
set_lip2 = data.split()
lip2_set = int(set_lip2[1])
FPV.linePos_2 = lip2_set
except:
pass
elif 'err' in data:
try:
set_err = data.split()
err_set = int(set_err[1])
FPV.findLineError = err_set
except:
pass
elif 'FCSET' in data:
FCSET = data.split()
fpv.colorFindSet(int(FCSET[1]), int(FCSET[2]), int(FCSET[3]))
elif 'setEC' in data: #Z
ECset = data.split()
try:
fpv.setExpCom(int(ECset[1]))
except:
pass
elif 'defEC' in data: #Z
fpv.defaultExpCom()
elif 'police' in data:
if LED.ledfunc != 'police':
tcpCliSock.send(('rainbow_off').encode())
LED.ledfunc = 'police'
ledthread.resume()
tcpCliSock.send(('police_on').encode())
elif LED.ledfunc == 'police':
LED.ledfunc = ''
ledthread.pause()
tcpCliSock.send(('police_off').encode())
elif 'rainbow' in data:
if LED.ledfunc != 'rainbow':
tcpCliSock.send(('police_off').encode())
LED.ledfunc = 'rainbow'
ledthread.resume()
tcpCliSock.send(('rainbow_on').encode())
elif LED.ledfunc == 'rainbow':
LED.ledfunc = ''
ledthread.pause()
tcpCliSock.send(('rainbow_off').encode())
elif 'sr' in data:
if not SR_mode:
if SR_dect:
SR_mode = 1
tcpCliSock.send(('sr_on').encode())
sr.resume()
elif SR_mode:
SR_mode = 0
sr.pause()
move.motorStop()
tcpCliSock.send(('sr_off').encode())
else:
pass
print(data)