def main():
db = Database(gps=True, lidar=False, cam=False, imu=True)
db.start()
path = Path_Planning(0, db)
Path.make_path()
p = Path.path
#db.path.generate_path = p
c = Control(db=db)
c.start()
while True:
if db.flag.system_stop:
break
else:
try:
time.sleep(0.1)
pass
except KeyboardInterrupt:
#cv2.destroyAllWindows()
print("Keyboard Interrupt detected!")
db.flag.system_stop = True
break
c.join()
db.join()
return 0
import GstCV
import cv2
import pyzbar.pyzbar as pyzbar
# cv2.aruco
joystick = Joystick()
joystick.connect("/dev/input/js0")
joystick.info()
control = Control()
control.setJoystick(joystick)
control.robot.connect(IP, PORT)
joystick.start()
control.start()
camera = GstCV.CVGstreamer(IP, 5000, 5001, 5005, toAVS=False, codec="JPEG")
camera.start()
#WIDTH, HEIGHT = 320, 240
WIDTH, HEIGHT = 640, 480
#Для автономных полей
SENSIVITY = 80 # чувствительность автономки
# Для наклонной
#SENSIVITY = 75
INTENSIVITY = 110 # порог интенсивности
r = int(
WIDTH * 0.14 + 0), int(HEIGHT * 2 / 5 + 0), int(WIDTH * 4 / 6 + 0), int(
HEIGHT * 10 / 10 +
type=int,
action="store",
nargs=2,
help="dimensions of the output scenario (format: HOR VERT)",
metavar="int",
dest="dim")
argParser.add_argument("--progress-msg",
"-p",
action="store_true",
help="turn on progress messages",
dest="prog_msg")
argParser.add_argument("--img-msg",
"-i",
action="store_true",
help="turn on image parsing error/information messages",
dest="img_msg")
argParser.add_argument("--no-crit-msg",
"-c",
action="store_true",
help="turn off critical messages",
dest="no_crit_msg")
args = argParser.parse_args()
try:
Control.start(args)
except KeyboardInterrupt:
if (not args.no_crit_msg): print("Caught interrupt")
class Start(Thread):
avoidThread = None
detect = None
def __init__(self,
routePoints,
sensorsAlgorithms={'Vision': [VisionDetectSVM]},
avoidClass=FixAvoid,
comunication=AirSimCommunication,
fusionAlgorithm=FusionData_Mean,
configPath='config.yml',
startPoint=None):
Thread.__init__(self)
self.start_point = startPoint
self.status = 'start'
# vehicleComunication = comunication.getVehicle()
# Conectando ao simulador AirSim
self.vehicleComunication = AirSimCommunication()
self.control = Control(self.vehicleComunication, routePoints)
self.unrealControl = UnrealCommunication()
self.stop = False
with open(configPath, 'r') as file_config:
self.config = yaml.full_load(file_config)
if avoidClass is not None:
self.avoidThread = avoidClass(self, self.control)
if sensorsAlgorithms is not None:
self.detect = Detect(self,
self.vehicleComunication,
sensorsAlgorithms,
self.avoidThread,
fusionAlgorithm=fusionAlgorithm)
#self.start()
def start_run(self):
# Start drone
self.control.takeOff()
# got to start point
if self.start_point:
print("Start point", self.start_point)
self.vehicleComunication.moveToPoint(self.start_point[:3],
self.start_point[3], True)
# Start move path
self.control.start()
time.sleep(2)
# Start thread detect
if self.detect is not None:
self.detect.start()
def run(self):
self.start_run()
#Wating from time or collision
max_time = time.time() + self.config['algorithm']['time_max']
while not self.stop:
time.sleep(1)
if time.time() >= max_time:
print("Max time execution")
break
#Reset Plane
self.end_run()
def end_run(self):
#stop detect
self.detect.stop = True
if self.detect is not None:
#Wating detect
self.detect.join()
#stop control
if self.control is not None:
self.control.join()
#Reset Plane
self.unrealControl.reset_plane()
self.vehicleComunication.client.reset()
#Delete detect thread
del self.detect
def get_status(self):
return self.status
def set_status(
self,
status,
):
print("Voo status:", status)
self.status = status
if status == 'collision':
self.detect.stop = True
self.stop = True
import os
import logging
import time
from gui.MainFrame import MainFrame
from Const import *
from Control import Control
from ConfigUtils import Config
from Log import Log
Config.load()
# pyCurl does not like signal
log = Log()
try:
import signal
from signal import SIGPIPE, SIG_IGN
signal.signal(signal.SIGPIPE, signal.SIG_IGN)
except ImportError, e:
log.debug("Main ImportError", e)
print "Cannot handle signal..."
app = wx.PySimpleApp()
app.SetAssertMode(wx.PYAPP_ASSERT_DIALOG)
control = Control()
mainFrame = MainFrame(None, wx.ID_ANY, "Linux Rapidshare Grabber", (0, 0), (800, 600), control)
control.setMainFrame(mainFrame)
control.start()
app.MainLoop()
