def main():
tello_center.register_service(
tello_center.ConfigService(
config={
tello_abs.TelloBackendService.CONFIG_STOP:
True,
tello_abs.TelloBackendService.CONFIG_AUTO_WAIT_FOR_START_IMAGE_AND_STATE:
True,
YoloService.CONFIG_LOOP_DETECTION:
True,
YoloService.CONFIG_DETECT_ON_MAIN_THREAD:
True,
YoloService.CONFIG_YOLO_WEIGHTS:
'fire_89.pt',
YoloService.CONFIG_USE_YOLO:
False,
# FPS config
tello_center.FpsRecoder.key(tello_abs.MyTello.KEY_VIDEO_FPS):
False,
tello_center.FpsRecoder.key(tello_abs.MyTello.KEY_STATE_FPS):
False,
tello_center.FpsRecoder.key(tello_image_process.ImageProcessService.KEY_FPS):
False
}))
tello_center.register_service(
tello_center.PreLoadService(tasks=[YoloService.preload]))
tello_center.register_service(tello_abs.TelloBackendService()) # 提供基础控制和数据
tello_center.register_service(tello_abs.ReactiveImageAndStateService())
tello_center.register_service(tello_image_process.ImageProcessService())
tello_center.register_service(YoloService())
tello_center.start_all_service()
tello_center.lock_loop()
def main():
tello_center.register_service(tello_center.ConfigService(config={
# main config
tello_center.ConfigService.CONFIG_DEBUG: True,
# Tello backend config
tello_abs.TelloBackendService.CONFIG_STOP: False,
tello_abs.TelloBackendService.CONFIG_AUTO_WAIT_FOR_START_IMAGE_AND_STATE: True,
# Yolo config
tello_yolo.YoloService.CONFIG_LOOP_DETECTION: False,
tello_yolo.YoloService.CONFIG_DETECT_ON_MAIN_THREAD: True,
tello_yolo.YoloService.CONFIG_USE_YOLO: False,
# FPS config
tello_center.FpsRecoder.key(tello_abs.MyTello.KEY_VIDEO_FPS): False,
tello_center.FpsRecoder.key(tello_abs.MyTello.KEY_STATE_FPS): False,
tello_center.FpsRecoder.key(tello_image_process.ImageProcessService.KEY_FPS): False,
tello_judge_client.JudgeServerLocal.CONFIG_BOX_INFO: {
1: tello_judge_client.IDX_CAT,
2: tello_judge_client.IDX_GAS_TANK,
3: tello_judge_client.IDX_BABY,
4: tello_judge_client.IDX_FILES,
5: tello_judge_client.IDX_PAINTING
}
}))
tello_center.register_service(tello_center.PreLoadService(tasks=[
tello_yolo.YoloService.preload
]))
tello_center.register_service(tello_imshow.ImshowService())
tello_center.register_service(tello_abs.TelloBackendService()) # 提供基础控制和数据
tello_center.register_service(tello_abs.ReactiveImageAndStateService())
if tello_center.debug():
tello_center.register_service(tello_image_process.ImageProcessService(handlers=[
# tello_image_process.ProxyImageHandler(tello_image_process.FireDetector)
])) # 提供图片预览
tello_center.register_service(tello_judge_client.JudgeServerLocal())
tello_center.register_service(tello_judge_client.JudgeClientService())
tello_center.register_service(tello_world.WorldService()) # 世界模型，提供碰撞检测
# tello_center.register_service(tello_panda.PandaService()) # 提供3D模型预览
tello_center.register_service(tello_yolo.YoloService())
tello_center.register_service(tello_control.MainControl())
tello_center.start_all_service()
tello_center.lock_loop()
if self.call_exit:
raise BaseException()
startup.task_mgr.add(spinCameraTask, 'spinCameraTask')
# startup.task_mgr.add(exitTask, 'exitTask')
tello_center.input_exit_thread()
try:
startup.run()
except SystemExit:
tello_center.call_request_exit()
if __name__ == '__main__':
tello_center.register_service(tello_center.ConfigService(config={
tello_abs.TelloBackendService.CONFIG_STOP: True,
tello_abs.TelloBackendService.CONFIG_AUTO_WAIT_FOR_START_IMAGE_AND_STATE: True
}))
tello_center.register_service(tello_center.PreLoadService(tasks=[
tello_image_process.ImageProcessService.preload
]))
tello_center.register_service(tello_abs.TelloBackendService()) # 提供基础控制和数据
tello_center.register_service(tello_abs.ReactiveImageAndStateService())
tello_center.register_service(tello_image_process.ImageProcessService(handlers=[
# tello_image_process.ProxyImageHandler(tello_image_process.FireDetector)
])) # 提供图片处理
tello_center.register_service(tello_world.WorldService()) # 世界模型，提供碰撞检测
tello_center.register_service(PandaService()) # 提供3D模型预览
tello_center.start_all_service()
tello_center.lock_loop()
if __name__ == '__main__':
tello_center.register_service(
tello_center.ConfigService(
config={
# main config
tello_center.ConfigService.CONFIG_DEBUG:
True,
# Tello backend config
tello_abs.TelloBackendService.CONFIG_STOP:
False,
tello_abs.TelloBackendService.CONFIG_AUTO_WAIT_FOR_START_IMAGE_AND_STATE:
True,
# Yolo config
tello_yolo.YoloService.CONFIG_LOOP_DETECTION:
False,
tello_yolo.YoloService.CONFIG_DETECT_ON_MAIN_THREAD:
True,
tello_yolo.YoloService.CONFIG_USE_YOLO:
False,
# FPS config
tello_center.FpsRecoder.key(tello_abs.MyTello.KEY_VIDEO_FPS):
False,
tello_center.FpsRecoder.key(tello_abs.MyTello.KEY_STATE_FPS):
False,
tello_center.FpsRecoder.key(tello_image_process.ImageProcessService.KEY_FPS):
False,
}))
tello_center.register_service(
self.preload.put_loaded(FireDetector.PRELOAD_FIRE_POS,
np.copy(pos))
elif self.pos_handler is not None:
self.pos_handler(None)
if __name__ == '__main__':
tello_center.register_service(
tello_center.ConfigService(
config={
tello_abs.TelloBackendService.CONFIG_STOP:
True,
tello_abs.TelloBackendService.CONFIG_AUTO_WAIT_FOR_START_IMAGE_AND_STATE:
True,
# FPS config
tello_center.FpsRecoder.key(tello_abs.MyTello.KEY_VIDEO_FPS):
False,
tello_center.FpsRecoder.key(tello_abs.MyTello.KEY_STATE_FPS):
False,
tello_center.FpsRecoder.key(ImageProcessService.KEY_FPS):
False
}))
tello_center.register_service(
tello_center.PreLoadService(tasks=[ImageProcessService.preload]))
tello_center.register_service(tello_abs.TelloBackendService()) # 提供基础控制和数据
tello_center.register_service(tello_abs.ReactiveImageAndStateService())
tello_center.register_service(
ImageProcessService(
handlers=[ProxyImageHandler(FireDetector)])) # 提供图片处理
@param chest_idx:
@param obj_name:
@return: CODE_ERROR_TARGET = 0, CODE_CONTINUE = 1, CODE_TASK_DONE = 2
"""
if self.targets is None:
self.targets = self.server.get_targets()
for i in range(len(self.targets)):
self.targets_idx[self.targets[i]] = i + 1
self.chest_info[chest_idx].obj_name = obj_name
return self.update_chest_info()
if __name__ == '__main__':
logger = sl4p.Sl4p('__main__')
tello_center.register_service(tello_center.ConfigService(config={}))
tello_center.register_service(JudgeClientService())
tello_center.register_service(JudgeServerLocal())
tello_center.start_all_service()
client = tello_center.service_proxy_by_class(
JudgeClientService) # type: JudgeClientService
client.server.takeoff()
client.server.seen_fire()
logger.info(code2name[client.put_chest_info(1, NAME_BABY)])
logger.info(code2name[client.put_chest_info(3, NAME_CAT)])
logger.info(code2name[client.put_chest_info(2, NAME_GAS_TANK)])
logger.info(code2name[client.put_chest_info(4, NAME_FILES)])
logger.info(code2name[client.put_chest_info(5, NAME_PAINTING)])