def __init__(self): # initialize controlls self.camera = camera.CameraController() self.inferface = interface.InterfaceController() self.motor = motor.MotorController() self.joystick = joystick.JoystickController() self.ai = jetson_ai.JetsonAI() self.ultrasonic = ultrasonic.UltrasonicController()
# IDLE INTERFACE MODE:
# -check interface input
# -update interface output
# -update mode frome input
# AUTONOMOUS MODE:
# -check ultrasonic proximity
# -check for remote kill signal
# -capture image
# -generate motor output from image and ai model
# -activate motors
# DATA CAPTURE MODE:
# -get joystick output
# -capture image
# -save data
# -convert to motor controll
# -activate motors
# -check kill signal
# DIAGNOSTIC MODE:
# -check image capture
# -check ultrasonic capture
# -check remote controll
# -check joystick
pass
cam = camera.CameraController()
def __init__(self):
ShowBase.__init__(self)
wp = core.WindowProperties()
wp.setTitle("Dorfdelf")
self.win.requestProperties(wp)
self.render.setAntialias(core.AntialiasAttrib.MAuto)
self.setBackgroundColor(0.5, 0.5, 0.5)
self.disableMouse()
self.enableParticles()
font = self.loader.loadFont('media/calibri.ttf')
font.setPixelsPerUnit(120)
font.setPageSize(512, 1024)
loading = OnscreenText(text='Loading...',
scale=0.2,
pos=(0.0, 0.0),
fg=(1, 1, 1, 1),
shadow=(0.3, 0.3, 0.3, 1.0),
align=core.TextNode.ACenter,
mayChange=True,
font=font,
parent=self.aspect2d)
self.graphicsEngine.renderFrame()
self.graphicsEngine.renderFrame()
loading.setText('Generating world')
self.graphicsEngine.renderFrame()
self.graphicsEngine.renderFrame()
self.world = world.World(128, 128, 100)
self.world.generate()
loading.setText('Creating world geometry')
self.graphicsEngine.renderFrame()
self.graphicsEngine.renderFrame()
self.world_geometry = geometry.WorldGeometry(self.world)
self.camLens.setFocalLength(1)
self.camera.setPos(0, 0, 100)
self.camera.lookAt(self.world.midpoint.x, self.world.midpoint.y, 100)
self.cam.setPos(0, 0, 0)
self.cam.setHpr(0, -45, 0)
self.cc = camera.CameraController(self.world.size,
self.mouseWatcherNode, self.camera,
self.cam)
self.gui = gui.GUI(self.pixel2d, font)
self.world_geometry.node.setPos(0, 0, 0)
self.world_geometry.node.reparentTo(self.render)
self.explore_mode = True
self.current_slice = int(self.world.midpoint.z)
self.accept_keyboard()
self.accept('mouse1', self.toggle_block)
self.accept('console-command', self.console_command)
self.designation = designation.Designation()
self.dorfs = []
self.tool = lambda w, x, y, z: None
self.toolargs = ()
self.tools = {
'bomb': tools.bomb,
'block': tools.block,
'd': self.designation.add
}
self.console = console.Console(self)
self.picker = block_picker.BlockPicker(self.world, self)
self.zmap = zmap.ZMap(self.world, self)
self.change_slice(0)
arrow = LineNodePath()
arrow.reparentTo(self.render)
arrow.drawArrow2d(Vec3(-5, -5, self.world.midpoint.z),
Vec3(15, -5, self.world.midpoint.z), 30, 3)
arrow.create()
loading.hide()
from flask import Flask
from flask import jsonify, render_template
import os
app = Flask(__name__, template_folder='.')
import camera
os.environ['DEVICE'] = "/dev/video0"
#os.environ['MJPG_STREAMER_URL'] = ""
camera = camera.CameraController(os.environ['DEVICE'])
mpg_url = os.environ.get(
'MJPG_STREAMER_URL',
"data:image/jpeg;base64,/9j/4AAQSkZJRgABAQAAAQABAAD/2wCEAAkGBwgHBgkIBwgUFQkVFhkVFhYYGBUaGRAhGB0iIiAWHx8kKDEjJCYsJx8fLT0tOTAuOjowIys/QDY4TzQ5OjQBCgoKDQ0OGBAPFzUeHSUtNS0tLSstKy0rMC83KzcuLTUrNS0tLS8tKy01Ny03LysrLSsxNTc2MC0rLS0rLSsrLf/AABEIAKgBLQMBIgACEQEDEQH/xAAbAAEBAQADAQEAAAAAAAAAAAAABgECBAUHA//EAC4QAQACAgEDAwIDCQEAAAAAAAABAgMRBBITIQYiMQVBFjJRFSMkQkNhcYGRFP/EABQBAQAAAAAAAAAAAAAAAAAAAAD/xAAUEQEAAAAAAAAAAAAAAAAAAAAA/9oADAMBAAIRAxEAPwD4aAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAN0AwAAGgwAAAAawAAAAAAAAAAAAAAAAAAAAAAB7Xpzk/TcM8iPquKs1jpy491313xz4wz4/LeJmJ+3iN/DxQF3S3onJjtTPniOq0W3FMvV47kTXxWIrXU11r+bU2iYjTpcXJ6V431fiW31cOcFq5JtW9um1omItqY/P8A6msTqYSICo5FvTWPn8aOL0TinHl7kz/6JpF7Y5ikRuIv0xfUxOt/q73Kv6O5WXNauSMdbd+dRXLqs9cRj6dVifNY3rfTEz8eOmYkBU/RMXpW/C4lvq/KmvI3friK5p+86mZjxHj41vVvM7j2x2OJj9HxfBfNytaphm0dOe2rRae5XzGpnWtzrWtxFZ3uI4BVcmPSccCYwXtPJnHGp/e+20Y7zufGuqbxSs/NdT4+8xxw4vTFuJXvcmIyxi3/AF+q1+3O6zHT0xPcmNanXTHmYn5lwFraPQ97XnrtWIvj1Ed/3V7nu8/b2f2/TXl+mPH6V52GnHw1isdFcmS1e514uju3yebRqY1NKRG/O4+dIZuwUn038Nfs6eRzp/jI7msW82p9tppG4jWt9MfMT/j5ehlw+h6ditOZe3vnqnpzR7ZmIiLePMxFrW3ER4prW58xQC+n8DW6OPPLiMMe6bdrNuZmZ3WJiOrWp8bm2tRvetMz5PRHIrauTLWm923SmXxPx0/liY8edeaxbXzG4QQDlkrFbTFbxMfrG9T/AN8uIAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA//2Q=="
)
pan = 0
tilt = 0
focus = 0
@app.route("/settings")
def settings():
return jsonify({"mpg_url": mpg_url, "device": os.environ['DEVICE']})
@app.route("/buttons")
def buttons():
return render_template('./buttons.html',
stream_url=mpg_url,
focus_min=0,
focus_max=1440,