def run():
global memory
camera.sendImageTo(reciever)
actOnProcess = Thread(target=actOn.move, args=(memory, ))
actOnProcess.start()
input('Press enter when ready: ')
try:
camera.start(memory)
except Exception as e:
print(e)
traceback.print_exc()
print('Program stopped')
stop_thread(actOnProcess)
memory['speed'] = 1500
memory['angle'] = 90
memory['running'] = True
actOn.move(memory)
memory['running'] = False
try:
camera.start(memory)
except Exception as e:
print(e)
traceback.print_exc()
print('Program stopped')
stop_thread(actOnProcess)
memory['speed'] = 1500
memory['angle'] = 90
memory['running'] = True
actOn.move(memory)
memory['running'] = False
def stop_thread(actOnProcess):
global memory
memory['running'] = False
actOnProcess.join()
if __name__ == '__main__':
try:
while not memory['true_stop']:
run()
memory['speed'] = 1500
memory['angle'] = 90
memory['running'] = True
actOn.move(memory)
finally:
stop_thread(actOnProcess)
def reciever(helper):
global memory
helper['speed'] = 1590
helper['correction'] = 90
helper['debug'] = memory['debug']
image = helper['image']
if helper['debug']:
helper['draw_image'] = image.copy()
fps = 1 / (time.time() - memory['time'])
print("FPS:{0}".format(fps))
if fps < memory['minfps']:
memory['minfps'] = fps
print("minFPS:{0}".format(memory['minfps']))
memory['itercount'] += 1
memory['totfps'] += fps
print("avgfps:{0}".format(memory['totfps'] / memory['itercount']))
memory['time'] = time.time()
localiser.getOurLocation(helper)
# Get Contours
getContours.get_c(helper)
print("gcnt t:{0}".format(time.time()))
#cc.clean(helper)
if memory['reverse'] < 0:
memory['reverse'] += 1
elif memory['reverse'] > 0:
helper['speed'] = 1400
helper['correction'] = memory['lastAngle']
actOn.move(helper)
memory['reverse'] -= 1
return
if helper['main_y_contour'] is None and helper['main_b_contour'] is None:
# Be careful
helper['midpoints'] = None
helper['speed'] = 1420
memory['reverse'] -= 5
if memory['reverse'] < -20:
memory['reverse'] = 20
elif helper['main_y_contour'] is None:
helper['midpoints'] = np.array([[0, image.shape[1]]])
#followLine.follow(helper, 'blue')
print('Can\'t see yellow')
elif helper['main_b_contour'] is None:
helper['midpoints'] = np.array([[0, 0]])
#followLine.follow(helper, 'yellow')
print('Can\'t see blue')
else:
# determine path to be followed in our coordinate frame
pathfinder.getPathToFollow(helper)
print("pf t:{0}".format(time.time()))
print('Normal operation')
if not helper['midpoints'] is None:
print("everything is ok")
# determine a new path to follow taking into account obstacles
obstacleDetector.amendPath(helper)
print("od t:{0}".format(time.time()))
# determine our location in our coordinate frame
# calculate any corrections
gc.getCorrection(helper)
print("gc t:{0}".format(time.time()))
# detecting corner: gives which direction we are headed in and prints the angle
if helper['main_y_contour'] is not None and helper[
'main_b_contour'] is not None:
print(detectCorner.detectCorner(helper))
# physically adjust course, speed etc
# gCorner.get_corner(helper) # draws a white line
actOn.move(helper)
# Draw things for debug purposes
if helper['debug']:
for e in helper['midpoints']:
cv2.circle(helper['draw_image'], (int(e[0]), int(e[1])), 4,
(0, 0, 255))
else:
actOn.move(helper)
print("ao t:{0}".format(time.time()))
memory['lastAngle'] = helper['correction']
if (memory['debug']):
# display on the image
cv2.imshow("uneditted", image)
cv2.imshow("drawn", helper['draw_image'])
videowriter.writeToFile(helper)
# exit image (doesnt work)
if cv2.waitKey(1) == 'q':
return -1
else:
return 0
return 0