def checkIfHasStopped(): isStopped = False check1 = CamFunctions.getPanPos() time.sleep(0.1) check2 = CamFunctions.getPanPos() time.sleep(0.1) check3 = CamFunctions.getPanPos() if (check3 - check2)<=2.0 and (check2 - check1)<=2.0: isStopped = True return isStopped
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
#Load Dll
api = dType.load()
#Connect Dobot
state = dType.ConnectDobot(api, "", 115200)[0]
print("Etat de la connexion / Connect status : {}] \n".format(CON_STR[state]))
if (state == dType.DobotConnect.DobotConnect_NoError):
# Run camera in order to retrieve the position of the green dot and the size of the region delimited by the red dots
result, target, screen_size = Cfonct.run()
# Initialize robot
Dfonct.Init(api)
# Get the height of the screen's plane
z_min = Dfonct.Calc_Z_Min(api)
Dfonct.Touch(api, z_min)
# Launch robot calibration
ecran = screen.screen(api, screen_size[0], screen_size[1])
# Convert the coordinates of the green dot to the robot's basis
# Largeur
x = target[1]
# Longueur
y = target[0]
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
#Load Dll
api = dType.load()
#Connect Dobot
state = dType.ConnectDobot(api, "", 115200)[0]
print("Etat de la connexion / Connect status : {}] \n".format(CON_STR[state]))
if (state == dType.DobotConnect.DobotConnect_NoError):
# Run camera to retrieve the position of the graphical objects and the size of the screen.
result, centroidsTouches, screen_size = Cfonct.run()
# Initialize robot
Dfonct.Init(api)
# Get the height of the screen's plane
z_min = Dfonct.Calc_Z_Min(api)
Dfonct.Touch(api, z_min)
# Launch robot calibration
ecran = screen.screen(api, screen_size[0], screen_size[1])
input("Open the calculatrice app.\nPress Enter to continue...")
# Touch all graphical objects detected
for touche in centroidsTouches:
x = touche[1]
# rgb, thermal video captures
#cam_rgb = cv.VideoCapture("rtsp://192.168.2.233:8554/video0")
cam_thrm = cv.VideoCapture("rtsp://192.168.2.233:8555/video1")
prevPanPos = 0.0
# prevPanPos = moveCamera.getPanPos()
# flag == 1 move right, flag == 2 move left
moveFlag = 2
angle_cnt = 0
pos_cnt = 0
# list of static camera positions
camPositions = [ 0.0, 23.0, 46.0, 69.0, 92.0, 115.0, 138.0]
camPos_indx = 0
camPos_indx += 1
CamFunctions.setPanPos(camPositions[camPos_indx])
CamFunctions.setZeroPos()
fireCnt = 0
fire_frame = []
y_FirePix = []
while 1:
# check if camera has stopped before ask for image signal
while not checkIfHasStopped():
# while False, sleep for 250 milliseconds
time.sleep(.1)
# read rgb, thermal image
#retRgb, frameRgb = cam_rgb.read()
retThrm, frameThrm = cam_thrm.read()
moveFlag = 2
angle_cnt = 0
pos_cnt = 0
droneFlag = 0
fireCnt = 0
# list of static camera positions
camPositions = [0.0, 23.0, 46.0, 69.0, 92.0, 115.0, 138.0]
camPositions = [
50.0, 42.0, 36.0, 28.0, 20.0, 12.0, 4.0, 12.0, 20.0, 28.0, 36.0, 42.0,
50.0
]
camPos_indx = 0
cam_thrm.set(cv.CAP_PROP_POS_FRAMES, 0)
CamFunctions.setPanPos(camPositions[camPos_indx])
retThrm, frameThrm = cam_thrm.read()
#if frameRgb is None:
#print("\nProblem with the rgb image signal...!\n")
if frameThrm is None:
print("\nProblem with the thermal image signal...!\n")
cnt = 0
while 1:
CamFunctions.setPanPos(camPositions[camPos_indx])
camPos_indx += 1
camPos_indx = camPos_indx % 13
time.sleep(1)
CamFunctions.setTiltPos(8)
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
#Load Dll
api = dType.load()
#Connect Dobot
state = dType.ConnectDobot(api, "", 115200)[0]
print("Etat de la connexion / Connect status : {}] \n".format(CON_STR[state]))
if (state == dType.DobotConnect.DobotConnect_NoError):
# Run camera and in case a keyboard was detected, retrieve what position to press to write 'hello world'
result, hello_im, z_min, ecran = Cfonct.run(api)
if hello_im is not None:
# Write 'hello world' on the keyboard
for b in hello_im:
x = b[1]
y = b[0]
[xf, yf] = ecran.Calc_Coordinates(x, y)
Dfonct.Movement(api, xf, yf, z_min + 20)
Dfonct.Touch(api, z_min)
#Disconnect Dobot
dType.DisconnectDobot(api)
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
#Load Dll
api = dType.load()
#Connect Dobot
state = dType.ConnectDobot(api, "", 115200)[0]
print("Etat de la connexion / Connect status : {}] \n".format(CON_STR[state]))
if (state == dType.DobotConnect.DobotConnect_NoError):
# Run camera in order to get the filename of the scenario to launch, as well as robot calibration parameters
result, filename, z_min, ecran = Cfonct.run(api)
print(filename)
# Read scenario filename and execute it.
screen_size = None
scrolling = False
x, y, u, v = -1, -1, -1, -1
if result:
with open(filename, 'r') as File:
for line in File:
if line == "###BEGIN###\n":
testing = True
input("Press enter to start test.")