def main():
NetworkTable.setTeam(5587) # TODO set your team number
NetworkTable.setClientMode()
# TODO switch to RIO IP, or IP of laptop running OutlineViewer for setup
NetworkTable.setIPAddress('10.55.87.2')
NetworkTable.initialize()
# TODO find what v4l2-ctl settings you need. Pass each commandline option
# through this array. REQUIRES v4l2-utils to be installed.
call([
"v4l2-ctl", "--set-ctrl=exposure_auto=1",
"--set-ctrl=exposure_absolute=9",
"--set-ctrl=white_balance_temperature_auto=0"
],
shell=False)
cap = cv2.VideoCapture(0)
pipeline = GripPipeline()
while True:
ret, frame = cap.read()
if ret:
# TODO add extra parameters if the pipeline takes more than just a
# single image
pipeline.process(frame)
extra_processing(pipeline)
def __init__( self, capture, log, settings ):
# port="",filters="", hsv=False, original=True, in_file="", out_file="", display=True
self.limits = {}
# Pass the log object
self.log = log
log.init( "initializing saber_track Tracker" )
self.settings = settings
# If the port tag is True, set the
if settings["port"] != "":
logging.basicConfig( level=logging.DEBUG )
NetworkTable.setIPAddress( settings["port"] )
NetworkTable.setClientMode( )
NetworkTable.initialize( )
self.smt_dash = NetworkTable.getTable( "SmartDashboard" )
# initialize the filters. If the filter is the default: "", it will not create trackbars for it.
self.init_filters( settings["filters"] )
# Deal with inputs and outputs
self.settings["out_file"] = str( self.settings["out_file"] ) # set the file that will be written on saved
if settings["in_file"] != "":
self.log.init( "Reading trackfile: " + settings["in_file"] + ".json" )
fs = open( name + ".json", "r" ) # open the file under a .json extention
data = json.loads( fs.read() )
self.limits.update( data )
fs.close( )
# Localize the caputure object
self.capture = capture
# if there are any color limits (Upper and Lower hsv values to track) make the tracking code runs
self.track = len( self.limits ) > 0
self.log.info( "Tracking: " + str(self.track) )
def __init__(self, fakerobot):
try:
if fakerobot:
NetworkTable.setIPAddress("localhost")
else:
NetworkTable.setIPAddress("roboRIO-4915-FRC")
NetworkTable.setClientMode()
NetworkTable.initialize()
self.sd = NetworkTable.getTable("SmartDashboard")
self.visTable = self.sd.getSubTable("Vision")
self.connectionListener = ConnectionListener()
self.visTable.addConnectionListener(self.connectionListener)
self.visTable.addTableListener(self.visValueChanged)
self.targetState = targetState.TargetState(self.visTable)
self.targetHigh = True
self.autoAimEnabled = False
self.imuHeading = 0
self.fpsHistory = []
self.lastUpdate = time.time()
except:
xcpt = sys.exc_info()
print("ERROR initializing network tables", xcpt[0])
traceback.print_tb(xcpt[2])
def main():
cap = cv2.VideoCapture(1)
#Network Tables Setup
logging.basicConfig(level=logging.DEBUG)
NetworkTable.setIPAddress('10.32.56.2')
NetworkTable.setClientMode()
NetworkTable.initialize()
nt = NetworkTable.getTable('SmartDashboard')
while cap.isOpened():
_,frame=cap.read()
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
#Range for green light reflected off of the tape. Need to tune.
lower_green = np.array(constants.LOWER_GREEN, dtype=np.uint8)
upper_green = np.array(constants.UPPER_GREEN, dtype=np.uint8)
#Threshold the HSV image to only get the green color.
mask = cv2.inRange(hsv, lower_green, upper_green)
#Gets contours of the thresholded image.
_,contours, hierarchy = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
#Draw the contours around detected object
cv2.drawContours(frame, contours, -1, (0,0,255), 3)
#Get centroid of tracked object.
#Check to see if contours were found.
if len(contours)>0:
#find largest contour
cnt = max(contours, key=cv2.contourArea)
#get center
center = get_center(cnt)
cv2.circle(frame, center, 3, (0,0,255), 2)
if(center[0] != 0 and center[1]!=0):
center_str_x = "x = "+str(center[0])
center_str_y = "y = "+str(center[1])
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(frame, "Center", constants.TEXT_COORDINATE_1, font, 0.7, (0,0,255), 2)
cv2.putText(frame, center_str_x, constants.TEXT_COORDINATE_2, font, 0.7, (0,0,255), 2)
cv2.putText(frame, center_str_y, constants.TEXT_COORDINATE_3, font, 0.7, (0,0,255), 2)
angle, direction = get_offset_angle(center[0], center[1])
cv2.putText(frame, "Angle: "+str(angle),constants.TEXT_COORDINATE_4, font, 0.7, (0,0,255), 2)
nt.putNumber('CameraAngle', angle)
cv2.putText(frame, "Turn "+direction, constants.TEXT_COORDINATE_5, font, 0.7, (0,0,255), 2)
if direction == right:
nt.putNumber('Direction', 0)
else:
nt.putNumber('Direction', 1)
#show image
cv2.imshow('frame',frame)
cv2.imshow('mask', mask)
cv2.imshow('HSV', hsv)
#close if delay in camera feed is too long
k = cv2.waitKey(1) & 0xFF
if k == 27:
break
cv2.destroyAllWindows()
def init_networktables(ipaddr):
logger.info("Connecting to networktables at %s" % ipaddr)
NetworkTable.setIPAddress(ipaddr)
NetworkTable.setClientMode()
NetworkTable.initialize()
logger.info("Networktables Initialized")
def setupNetworkTable(table, address): # To see messages from networktables, you must setup logging logging.basicConfig(level=logging.DEBUG) NetworkTable.setIPAddress(address) NetworkTable.setClientMode() NetworkTable.initialize() return NetworkTable.getTable(table)
def init_networktables(ipaddr):
logger.info("Connecting to robot %s" % ipaddr)
Networktable.setIPAddress(ipaddr)
Networktable.setClientMode()
Networktable.initialize()
logger.info("Initialized networktables")
logger.info("Waiting...")
def init_networktables(ipaddr):
logger.info("Connecting to networktables at %s" % ipaddr)
NetworkTable.setIPAddress(ipaddr)
NetworkTable.setClientMode()
NetworkTable.initialize()
logger.info("Networktables Initialized")
def initNetworktables():
logging.basicConfig(level=logging.DEBUG) # to see messages from networktables
NetworkTable.setIPAddress('127.0.0.1')
# NetworkTable.setIPAddress('roborio-5260.local')
NetworkTable.setClientMode()
NetworkTable.initialize()
return NetworkTable.getTable('Pi')
def main():
print('Initializing NetworkTables')
NetworkTable.setIPAddress("10.52.55.98")
NetworkTable.setClientMode()
NetworkTable.initialize()
print('Creating video capture')
cap = cv2.VideoCapture("http://10.52.55.3/mjpg/video.mjpg")
print("here")
bytes = ''
first = False
print('Creating pipeline')
pipeline = GripPipeline()
print('Running pipeline')
while cap.isOpened():
have_frame, frame = cap.read()
if have_frame:
pipeline.process(frame)
extra_processing(pipeline)
print('Capture closed')
def __init__(self, receiverIP):
try:
# IPAddress can be static ip ("10.49.15.2" or name:"roboRIO-4915-FRC"/"localhost")
NetworkTable.setUpdateRate(.01) # default is .05 (50ms/20Hz), .01 (10ms/100Hz)
NetworkTable.setIPAddress(receiverIP)
NetworkTable.setClientMode()
NetworkTable.initialize()
self.sd = NetworkTable.getTable("SmartDashboard")
# we communcate target to robot via VisionTarget table
self.targetTable = self.sd.getSubTable("VisionTarget")
# robot communicates to us via fields within the VisionControl SubTable
# we opt for a different table to ensure we to receive callbacks from our
# own writes.
self.controlTable = self.sd.getSubTable("VisionControl")
self.controlTable.addConnectionListener(self.connectionListener)
self.controlTable.addTableListener(self.visionControlEvent)
self.control = Control()
self.target = Target()
self.fpsHistory = []
self.lastUpdate = time.time()
theComm = self
except:
xcpt = sys.exc_info()
print("ERROR initializing network tables", xcpt[0])
traceback.print_tb(xcpt[2])
def __init__(self):
print "Initializing NetworkTables..."
NetworkTable.setClientMode()
NetworkTable.setIPAddress("roborio-4761-frc.local")
NetworkTable.initialize()
self.table = NetworkTable.getTable("vision")
print "NetworkTables initialized!"
def __init__(self, ip, name):
NetworkTable.setIPAddress(ip)
NetworkTable.setClientMode()
NetworkTable.initialize()
self.visionNetworkTable = NetworkTable.getTable(name)
if constants.SENDTOSMARTDASHBOARD:
constants.smartDashboard = NetworkTable.getTable("SmartDashboard")
def __init__(self, fakerobot):
try:
if fakerobot:
NetworkTable.setIPAddress("localhost")
else:
NetworkTable.setIPAddress("roboRIO-4915-FRC")
NetworkTable.setClientMode()
NetworkTable.initialize()
self.sd = NetworkTable.getTable("SmartDashboard")
self.visTable = self.sd.getSubTable("Vision")
self.connectionListener = ConnectionListener()
self.visTable.addConnectionListener(self.connectionListener)
self.visTable.addTableListener(self.visValueChanged)
self.targetState = targetState.TargetState(self.visTable)
self.targetHigh = True
self.autoAimEnabled = False
self.imuHeading = 0
self.fpsHistory = []
self.lastUpdate = time.time()
except:
xcpt = sys.exc_info()
print("ERROR initializing network tables", xcpt[0])
traceback.print_tb(xcpt[2])
def setupVisionTable():
global visionTable
NetworkTable.setIPAddress("10.46.69.21")
NetworkTable.setClientMode()
NetworkTable.initialize()
visionTable = NetworkTable.getTable("vision")
setRunVision(False)
turnOffLight()
def init_network_tables(ip='127.0.0.1'):
"""Initialize NetworkTables as a client to receive and send values
:param ip: ip address or hostname of the server
"""
NetworkTable.setIPAddress(ip)
NetworkTable.setClientMode()
NetworkTable.initialize()
LOG.info('Network Tables connected as client to {}'.format(ip))
def main():
ip = "10.24.81.2"
NetworkTable.setIPAddress(ip)
NetworkTable.setClientMode()
#print "Initializing Network Tables"
NetworkTable.initialize()
goalFinder = GoalFinder()
stream = urllib.urlopen('http://10.24.81.11/mjpg/video.mjpg')
bytes = ''
#print "Start Target Search Loop..."
#turn true for single picture debuging
first = False
beagle = NetworkTable.getTable("GRIP")
goals_table = beagle.getSubTable("aGoalContours")
while True:
#TODO: Fetch image from camera.
# img = cv2.imread("0.jpg")
bytes += stream.read(16384)
b = bytes.rfind('\xff\xd9')
a = bytes.rfind('\xff\xd8', 0, b - 1)
if a != -1 and b != -1:
jpg = bytes[a:b + 2]
bytes = bytes[b + 2:]
img = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8),
cv2.CV_LOAD_IMAGE_COLOR)
goalFinder.process_image(img)
goals_table.putValue("centerX",
NumberArray.from_list(goalFinder.targetXs))
goals_table.putValue("centerY",
NumberArray.from_list(goalFinder.targetYs))
goals_table.putValue(
"width", NumberArray.from_list(goalFinder.targetWidths))
goals_table.putValue(
"height", NumberArray.from_list(goalFinder.targetHeights))
goals_table.putValue("area",
NumberArray.from_list(goalFinder.targetAreas))
#if len(goalFinder.targetAreas) > 0:
# print goalFinder.targetAreas
#Use if you want to the save the image and retrieve it later.
if first:
first = False
cv2.imwrite("test.jpg", img)
goals_table.putNumber("OwlCounter",
goals_table.getNumber("OwlCounter", 0) + 1)
sleep(.01)
def init_networktables():
#TODO: Check to see if NetworkTables is already initialized
if not using_networktables:
raise Exception("Attempted to initialize NetworkTables while NetworkTables is disabled!")
NetworkTable.setIPAddress(args.networktables_ip)
NetworkTable.setClientMode()
NetworkTable.initialize()
global table
table = NetworkTable.getTable("vision")
log.info("Initialized NetworkTables")
def init_ntable():
global ntable
NetworkTable.setIPAddress(config.server["rioAddress"])
NetworkTable.setClientMode()
NetworkTable.initialize()
ntable = NetworkTable.getTable('vision');
ntable.addTableListener(onValueChanged)
def initNetworktables(options):
if options.dashboard:
logger.info("Connecting to networktables in Dashboard mode")
NetworkTable.setDashboardMode()
else:
logger.info("Connecting to networktables at %s", options.robot)
NetworkTable.setIPAddress(options.robot)
NetworkTable.setClientMode()
NetworkTable.initialize()
logger.info("Networktables Initialized")
def init_networktables(options):
if options.dashboard:
logger.info("Connecting to networktables in Dashboard mode")
NetworkTable.setDashboardMode()
else:
logger.info("Connecting to networktables at %s", options.robot)
NetworkTable.setIPAddress(options.robot)
NetworkTable.setClientMode()
NetworkTable.initialize()
logger.info("Networktables Initialized")
def setup(robot_ip, table_id, connection_listener_class=None):
print("Connecting to NetworkTable '{}' on Robot at '{}'".format(table_id, robot_ip))
NetworkTable.setIPAddress(robot_ip)
NetworkTable.setClientMode()
NetworkTable.initialize()
table = NetworkTable.getTable(table_id)
if connection_listener_class:
table.addConnectionListener(connection_listener_class())
return table
def init_filter():
'''Function called by mjpg-streamer to initialize the filter'''
# Connect to the robot
NetworkTable.setIPAddress('127.0.0.1')
NetworkTable.setClientMode()
NetworkTable.initialize()
#os.system("v4l2-ctl -d /dev/video1 -c exposure_auto=1 -c exposure_absolute=20")
#os.system("v4l2-ctl -d /dev/video2 -c exposure_auto=1 -c exposure_absolute=10")
filter = TargetFinder()
return filter.quad_normals
def main():
ip = "10.24.81.2"
NetworkTable.setIPAddress(ip)
NetworkTable.setClientMode()
# print "Initializing Network Tables"
NetworkTable.initialize()
goalFinder = GoalFinder()
stream = urllib.urlopen("http://10.24.81.11/mjpg/video.mjpg")
bytes = ""
# print "Start Target Search Loop..."
# turn true for single picture debuging
first = False
beagle = NetworkTable.getTable("GRIP")
goals_table = beagle.getSubTable("aGoalContours")
while True:
# TODO: Fetch image from camera.
# img = cv2.imread("0.jpg")
bytes += stream.read(16384)
b = bytes.rfind("\xff\xd9")
a = bytes.rfind("\xff\xd8", 0, b - 1)
if a != -1 and b != -1:
jpg = bytes[a : b + 2]
bytes = bytes[b + 2 :]
img = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8), cv2.CV_LOAD_IMAGE_COLOR)
goalFinder.process_image(img)
goals_table.putValue("centerX", NumberArray.from_list(goalFinder.targetXs))
goals_table.putValue("centerY", NumberArray.from_list(goalFinder.targetYs))
goals_table.putValue("width", NumberArray.from_list(goalFinder.targetWidths))
goals_table.putValue("height", NumberArray.from_list(goalFinder.targetHeights))
goals_table.putValue("area", NumberArray.from_list(goalFinder.targetAreas))
# if len(goalFinder.targetAreas) > 0:
# print goalFinder.targetAreas
# Use if you want to the save the image and retrieve it later.
if first:
first = False
cv2.imwrite("test.jpg", img)
goals_table.putNumber("OwlCounter", goals_table.getNumber("OwlCounter", 0) + 1)
sleep(0.01)
def __init__(self, options):
NetworkTable.setIPAddress(options.ip)
NetworkTable.setClientMode()
NetworkTable.initialize()
logger.debug('Networktables Initialized')
self.current_session = None
self.sd = NetworkTable.getTable('/')
self.sd.addConnectionListener(self)
with open(options.config) as config_file:
self.config = json.load(config_file)
self.run()
def main():
prev = 0
current = 0
owlMissingCounter = 0
robotMissingCounter = 0
prevRobotMissing = 0
currentRobotMissing = 0
ip = "roboRIO-2481-FRC.local"
NetworkTable.setIPAddress(ip)
NetworkTable.setClientMode()
print "Bird Watcher: Initializing Network Tables"
NetworkTable.initialize()
time.sleep(2)
while True:
beagle = NetworkTable.getTable("GRIP")
goals_table = beagle.getSubTable("aGoalContours")
current = goals_table.getNumber("OwlCounter", 0)
currentRobotMissing = goals_table.getNumber("RobotCounter", 0)
if current == prev:
owlMissingCounter += 1
else:
owlMissingCounter = 0
#print owlMissingCounter
prev = current
if owlMissingCounter > 10:
print "Bird Watcher: Restarting Owl Service"
os.system("systemctl restart Camera")
time.sleep(5)
else:
time.sleep(1)
if currentRobotMissing == prevRobotMissing:
robotMissingCounter += 1
else:
robotMissingCounter = 0
prevRobotMissing = currentRobotMissing
if robotMissingCounter > 10:
print "Robot Watcher: Restarting Owl Service"
os.system("systemctl restart Camera")
time.sleep(5)
def __init__(self):
self.socketio = None
self.value_cache = {
'tracking_enabled': True
}
NetworkTable.setIPAddress(config.ROBOT_IP_ADDRESS)
NetworkTable.setClientMode()
NetworkTable.initialize()
self.sd = NetworkTable.getTable('SmartDashboard')
self.sd.addTableListener(self.on_value_changed)
self.c_listener = NetworkTablesConnectionListener(
self.on_connection_changed)
self.sd.addConnectionListener(self.c_listener)
def main():
NetworkTable.setIPAddress('10.19.37.2')
NetworkTable.setClientMode()
NetworkTable.initialize()
sd = NetworkTable.getTable('SmartDashboard')
#ms_list = []
while True:
time.sleep(0.1)
start_time = datetime.now()
# returns the elapsed milliseconds since the start of the program
vision(sd)
dt = datetime.now() - start_time
ms = (dt.days * 24 * 60 * 60 + dt.seconds) * 1000 + dt.microseconds / 1000.0
print ms
cv2.destroyAllWindows()
def main():
NetworkTable.setIPAddress('10.19.37.2')
NetworkTable.setClientMode()
NetworkTable.initialize()
sd = NetworkTable.getTable('SmartDashboard')
#ms_list = []
while True:
time.sleep(0.1)
start_time = datetime.now()
# returns the elapsed milliseconds since the start of the program
vision(sd)
dt = datetime.now() - start_time
ms = (dt.days * 24 * 60 * 60 +
dt.seconds) * 1000 + dt.microseconds / 1000.0
print ms
cv2.destroyAllWindows()
def __init__(self,parent,id):
wx.Frame.__init__(self,parent,id,"Robot",size=(265,300))
self.frame=wx.Panel(self)
self.front_left=wx.TextCtrl(self.frame,-1,pos=(100,25),size=(150,40),style=wx.NO_BORDER|wx.TE_READONLY)
distance_words=wx.StaticText(self.frame,-1,"Distance",pos=(10,25))
velocity_words=wx.StaticText(self.frame,-1,"Velocity",pos=(10,125))
speed_words=wx.StaticText(self.frame,-1,"Speed",pos=(10,175))
self.front_left.SetBackgroundColour("green")
self.speed_stuff=wx.TextCtrl(self.frame,-1,pos=(100,175),size=(150,40),style=wx.NO_BORDER|wx.TE_READONLY)
self.velocity_stuff=wx.TextCtrl(self.frame,-1,pos=(100,125),size=(150,40),style=wx.NO_BORDER|wx.TE_READONLY)
self.camera_stuff=wx.TextCtrl(self.frame,-1,pos=(100,75),size=(150,40),style=wx.NO_BORDER|wx.TE_READONLY)
vision_words=wx.StaticText(self.frame,-1,"Vision",pos=(10,75))
self.camera_stuff.SetBackgroundColour("green")
self.user_font=wx.Font(18, wx.DEFAULT ,wx.NORMAL, wx.NORMAL)
distance_words.SetFont(self.user_font)
self.front_left.SetFont(self.user_font)
self.camera_stuff.SetFont(self.user_font)
speed_words.SetFont(self.user_font)
velocity_words.SetFont(self.user_font)
vision_words.SetFont(self.user_font)
self.velocity_stuff.SetFont(self.user_font)
self.speed_stuff.SetFont(self.user_font)
self.camera=wx.Button(self.frame,label="Camera",pos=(50,220),size=(150,40))
self.Bind(wx.EVT_BUTTON, self.camera_link,self.camera)
self.Bind(wx.EVT_CLOSE, self.close_window)
#Pynetwork tables stuff
NetworkTable.setIPAddress("127.0.0.1")#Temp for testing
NetworkTable.setClientMode()
NetworkTable.initialize()
self.smrt = NetworkTable.getTable("SmartDashboard")
self.distance = self.smrt.getAutoUpdateValue('Distance', 0)
self.vision = self.smrt.getAutoUpdateValue('Vision', 0)
self.velocity = self.smrt.getAutoUpdateValue('Velocity', 0)
self.speed = self.smrt.getAutoUpdateValue('Speed', 0)
threader=threading.Thread(target=self.threading)
self.keep_open=True
threader.setDaemon(1)
threader.start()
class TCDash(App):
NetworkTable.setIPAddress(
"127.0.0.1") #for robot will be 10.2.17.2 aka ip of rio
NetworkTable.setClientMode()
NetworkTable.initialize()
sd = NetworkTable.getTable("SmartDashboard")
def build(self):
return main()
def main():
print('Initializing NetworkTables')
NetworkTable.setClientMode()
NetworkTable.setIPAddress('localhost')
NetworkTable.initialize()
print('Creating Video Capture')
cap = cv2.VideoCapture(1)
print('Creating Pipeline')
pipeline = GripPipeline()
print('Running Pipeline')
while cap.isOpened():
have_frame, frame = cap.read()
if have_frame:
pipeline.process(frame)
extra_processing(pipeline)
print('Capture Closed')
def __init__(self, fakerobot):
try:
if fakerobot:
NetworkTable.setIPAddress("localhost")
else:
NetworkTable.setIPAddress("roboRIO-4915-FRC")
NetworkTable.setClientMode()
NetworkTable.initialize()
self.smartDashboard = NetworkTable.getTable("SmartDashboard")
self.connectionListener = ConnectionListener()
self.smartDashboard.addConnectionListener(self.connectionListener)
self.visTable = self.smartDashboard.getSubTable("vision")
self.visTable.addTableListener(self.visValueChanged)
self.targetState = targetState.TargetState(self.visTable)
except:
xcpt = sys.exc_info()
print("ERROR initializing network tables", xcpt[0])
traceback.print_tb(xcpt[2])
def __init__(self):
client = False
if len(sys.argv) > 1:
client = True
NetworkTable.setIPAddress(sys.argv[1])
NetworkTable.setClientMode()
NetworkTable.initialize()
# Default write flush is 0.05, could adjust for less latency
#NetworkTable.setWriteFlushPeriod(0.01)
self.nt = NetworkTable.getTable('/benchmark')
self.updates = 0
if client:
self.nt.addTableListener(self.on_update)
self.recv_benchmark()
else:
self.send_benchmark()
def __init__(self):
client = False
if len(sys.argv) > 1:
client = True
NetworkTable.setIPAddress(sys.argv[1])
NetworkTable.setClientMode()
NetworkTable.initialize()
# Default write flush is 0.05, could adjust for less latency
#NetworkTable.setWriteFlushPeriod(0.01)
self.nt = NetworkTable.getTable('/benchmark')
self.updates = 0
if client:
self.nt.addTableListener(self.on_update)
self.recv_benchmark()
else:
self.send_benchmark()
class test:
ip = 'roborio-2643-frc.local'
ip2 = '10.26.43.20'
NetworkTable.setIPAddress(ip2)
NetworkTable.setClientMode()
NetworkTable.initialize()
table = NetworkTable.getTable("Vision")
x = 0
def sendVal(val):
self.table.putNumber("Hello", val)
while 1:
table.putNumber("Hello", x)
print(table.getNumber("Hello", 0))
x += 1
import math
import random
from networktables import NetworkTable
import socket
logfile = open('log.txt', 'w')
addr = "10.45.34.12"
try:
hostname = "roborio-4534-frc.local"
addr = socket.gethostbyname(hostname)
logfile.write(addr)
except:
pass
NetworkTable.setIPAddress(addr)
NetworkTable.setClientMode()
NetworkTable.initialize()
logfile.write("Initialized")
table = NetworkTable.getTable('vision')
### GLOBALS ###
displayThreshold = False
### END GLOBALS ###
### CONSTANTS ###
# Camera's physical height (inches) above ground
boilerCameraAltitude = 24
gearCameraAltitude = 5
else:
can.configure(image=can_off)
num_totes = int(elevator.getNumber('tote_count', 0))
for tote in totes:
tote.configure(image=tote_off)
for index in range(num_totes):
totes[4 - index].configure(image=tote_on)
if elevator.getBoolean('has_game_piece', False):
totes[-1].configure(image=tote_on)
root.after(100, update)
if __name__ == "__main__":
can = Label(root, image=can_off)
can.grid(row=0)
totes = []
for i in range(6):
totes.append(Label(root, image=tote_off))
totes[i].grid(row=i + 1)
NetworkTable.setIPAddress("roborio-865.local")
NetworkTable.setClientMode()
NetworkTable.initialize()
elevator = NetworkTable.getTable("Elevator")
update()
root.mainloop()
now = datetime.datetime.now()
print("Vision Log for " + str(now.day) + "/" + str(now.month) + "/" +
str(now.year) + " ~ " + str(now.hour) + ":" + str(now.minute) + ":" +
str(now.second))
print("OpenCV version: " + str(cv2.__version__))
print("Starting Vision...")
bytes = ''
version = int(cv2.__version__[:1])
streamRunning = True
pipeline = GripPipeline()
try:
NetworkTable.setTeam(2551)
NetworkTable.setIPAddress("roborio-2551-frc.local")
NetworkTable.setClientMode()
NetworkTable.initialize()
print("Initializing Network Tables...")
except:
print("Network Tables already initialized")
pass
#NetworkTable.setTeam(2551)
#NetworkTable.setIPAddress("roborio-2551-frc.local")
#NetworkTable.setClientMode()
#NetworkTable.initialize()
#print("Initializing Network Tables...")
sd = NetworkTable.getTable('GRIP/myContoursReport')
default='/mnt/',
help='specify directory in which to log data')
parser.add_argument(
'--output-dir', metavar='ODIR',
default='/opt/',
help='specify directory in which to deposit structure.jpg')
parser.add_argument(
'--robot', metavar='IP', dest='robot',
default='roborio-3223-frc.local',
help='specify ip address of robot')
return parser
parser = setup_options_parser()
args = parser.parse_args()
NetworkTable.setIPAddress(args.robot)
NetworkTable.setClientMode()
NetworkTable.initialize()
file_name = os.path.join(args.output_dir, "structure.jpg")
tmp_name = os.path.join(args.output_dir, "structure.tmp.jpg")
vision = Vision()
vision.mode = 5
vision.setup_mode_listener()
logger = DataLogger(args.log_dir)
now = time.time()
with vision:
while True:
#client code what would be on driver station
#send whatever you want to the table
#here is where one can make a cli interface or read from a file
import sys
import time
from networktables import NetworkTable
import logging
from PythonApplication1 import logging
logging.basicConfig(level=logging.DEBUG)
NetworkTable.setIPAddress(
"127.0.0.1") #for robot will be 10.2.17.2 aka ip of rio
NetworkTable.setClientMode()
NetworkTable.initialize()
sd = NetworkTable.getTable("SmartDashboard")
value = 217
while True:
print('Sending... ', value)
sd.putNumber('VALUE', value)
time.sleep(1)
#
import sys
import time
from networktables import NetworkTable
# To see messages from networktables, you must setup logging
import logging
logging.basicConfig(level=logging.DEBUG)
if len(sys.argv) != 2:
print("Error: specify an IP to connect to!")
exit(0)
ip = sys.argv[1]
NetworkTable.setIPAddress(ip)
NetworkTable.setClientMode()
NetworkTable.initialize()
def valueChanged(key, value, isNew):
print("valueChanged: key: '%s'; value: %s; isNew: %s" %
(key, value, isNew))
NetworkTable.addGlobalListener(valueChanged)
while True:
time.sleep(1)
def __init__(self, ip="roboRIO-3242-FRC.local"):
NetworkTable.setIPAddress(ip)
NetworkTable.setClientMode()
NetworkTable.initialize()
self.table = NetworkTable.getTable("rpi")
frame_0 = directory + 'Raw/'
frame_p = directory + 'Processed/'
filename = directory + 'imageValues.npz'
url = 'http://10.5.1.11/axis-cgi/mjpg/video.cgi?resolution=640x480'
freqFramesCam = 20 # how often we're sampling the camera to save files
freqFramesNT = 10 # how often we're sending to network tables
validCount = 0 # initialize how many validUpdates we've had
#############################################################################
from networktables import NetworkTable
import logging
if NetworkTable._staticProvider is None:
logging.basicConfig(level=logging.DEBUG)
NetworkTable.setIPAddress('10.5.1.2')
NetworkTable.setClientMode()
NetworkTable.initialize()
sd = NetworkTable.getTable("Camera")
##############################################################################
cap = cv2.VideoCapture(url) # capture camera, 0 is laptop cam, numbers after that are cameras attached
# Check to make sure cap was initialized in capture
if cap.isOpened():
print 'Cap succesfully opened'
print cap.grab()
else:
print 'Cap initialization failed'
from networktables import NetworkTable
import time
NetworkTable.setIPAddress("10.32.42.20")
NetworkTable.setClientMode()
NetworkTable.initialize()
table = NetworkTable.getTable("rpi")
import time
from networktables import NetworkTable
# import colorama
# from colorama import Fore, Back, Style
# colorama.init()
# AUTHOR: Robbie Selwyn
IP = "roborio-8-frc.local"
NetworkTable.setIPAddress(IP)
NetworkTable.setClientMode()
NetworkTable.initialize()
table = NetworkTable.getTable("data_table")
recording = False
f = None
time.sleep(1)
print "Started Listening"
while True:
if table.getString("start", "") == "true" and not recording:
print "Received Start"
recording = True
f = open("can-data.csv", "w")
import sys
import time
from networktables import NetworkTable
from networktables.util import ChooserControl
# To see messages from networktables, you must setup logging
import logging
logging.basicConfig(level=logging.DEBUG)
if len(sys.argv) != 2:
print("Error: specify an IP to connect to!")
exit(0)
ip = sys.argv[1]
NetworkTable.setIPAddress(ip)
NetworkTable.setClientMode()
NetworkTable.initialize()
def on_choices(value):
print('OnChoices', value)
def on_selected(value):
print('OnSelected', value)
cc = ChooserControl('Autonomous Mode',
on_choices,
on_selected)
def main():
# brightness adjusted, used to be 30, now is 70
os.system("v4l2-ctl -d /dev/video0 "
"-c brightness=70 "
"-c contrast=10 "
"-c saturation=100 "
"-c white_balance_temperature_auto=0 "
"-c power_line_frequency=2 "
"-c white_balance_temperature=4500 "
"-c sharpness=25 "
"-c backlight_compensation=0 "
"-c exposure_auto=1 "
"-c exposure_absolute=5 "
"-c pan_absolute=0 "
"-c tilt_absolute=0 "
"-c zoom_absolute=0")
NetworkTable.setIPAddress("roboRIO-687-FRC.local")
NetworkTable.setClientMode()
NetworkTable.initialize()
table = NetworkTable.getTable("NerdyVision")
print("NetworkTables initialized")
angle_to_turn = 0
while 687:
aligned = False
previous_angle_to_turn = angle_to_turn
ret, frame = cap.read()
capture_time = time.time()
# blur = cv2.GaussianBlur(frame, (11, 11), 0)
kernel = np.ones((5, 5), np.uint8)
erosion = cv2.erode(frame, kernel, iterations=1)
dilation = cv2.dilate(erosion, kernel, iterations=1)
res, mask = NerdyFunctions.mask(NerdyConstants.LOWER_GREEN, NerdyConstants.UPPER_GREEN, dilation)
_, cnts, _ = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
if len(cnts) > 0:
c = max(cnts, key=cv2.contourArea)
area = cv2.contourArea(c)
if area > NerdyConstants.MIN_GOAL_AREA:
goal = NerdyFunctions.polygon(c, 0.025)
if len(goal) == 4:
cv2.drawContours(res, [goal], 0, (255, 0, 0), 5)
M = cv2.moments(goal)
if M['m00'] > 0:
cx, cy = NerdyFunctions.calc_center(M)
center = (cx, cy)
cv2.circle(res, center, 5, (255, 0, 0), -1)
error = cx - NerdyConstants.FRAME_CX
angle_to_turn = NerdyFunctions.calc_horiz_angle(error)
print("ANGLE_TO_TURN: " + str(angle_to_turn))
aligned = NerdyFunctions.is_aligned(angle_to_turn)
print("IS_ALIGNED: " + str(aligned))
processed_time = time.time()
delta_time = processed_time - capture_time
print("PROCESSED_TIME: " + str(delta_time))
# Has to be commented out because ssh doesn't allow opencv windows open
# NerdyFunctions.draw_static(res)
# cv2.imshow("NerdyVision", res)
try:
table.putBoolean('IS_ALIGNED', aligned)
if previous_angle_to_turn != angle_to_turn:
table.putNumber('ANGLE_TO_TURN', angle_to_turn)
table.putNumber('PROCESSED_TIME', delta_time)
else :
table.putNumber('ANGLE_TO_TURN', 0)
table.putNumber('PROCESSED_TIME', 0)
table.putBoolean('VISION_ON', True)
except:
print("DATA NOT SENDING...")
table.putBoolean('IS_ALINGED', False)
table.putNumber('ANGLE_TO_TURN', 0)
table.putNumber('PROCESSED_TIME', 0)
table.putBoolean('VISION_ON', False)
cv2.waitKey(1)
cap.release()
cv2.destroyAllWindows()
sig = as_array(ic)
back = as_array(ia)
vc.on_time = 1250000 * 8 # units are nanoseconds.
vc.led_enabled = False
# frame time is 30 milliseconds, so make it smaller than that.
import cv2, threading
import cPickle as pickle
from pylab import plot, ion
ion()
from cv2 import cv
from time import time
from networktables import NetworkTable
try:
NetworkTable.setIPAddress("roboRIO-2228-FRC.local")
NetworkTable.setClientMode()
NetworkTable.initialize()
except:
print("ERROR in creating network tables: " + str(sys.exc_info()[0]))
sd = NetworkTable.getTable("SmartDashboard")
class Struct:
#useful one liner for creating struct like variables
#see declaration of Utils.show
def __init__(self, **entries): self.__dict__.update(entries)
class Utils:
#class containing various extrenuous functions
#including those for displaying images
def __init__(self):
NetworkTable.setIPAddress('127.0.0.1')
NetworkTable.setClientMode()
NetworkTable.initialize()
self.nt = NetworkTable.getTable("vision")
import logging
from networktables import NetworkTable
import subprocess
import time
logging.basicConfig(level=logging.DEBUG)
log = logging.getLogger()
log.debug("Initializing NetworkTables...")
NetworkTable.setIPAddress("roborio-4761-frc.local")
NetworkTable.setClientMode()
NetworkTable.initialize()
table = NetworkTable.getTable("control_daemon")
log.debug("NetworkTables intitialized!")
def reset_flags():
log.debug("Setting default values for flags...")
table.putBoolean("shutdown_flag", False)
table.putBoolean("reboot_flag", False)
log.debug("Default flag values set!")
reset_flags()
log.debug("Entering main loop...")
while True:
table.putNumber("last_updated", time.time())
if table.getBoolean("reboot_flag", False):
reset_flags()
log.info("Reboot flag is true! Rebooting...")
subprocess.Popen(["reboot"])
directory = 'C:/Users/Ithier/Documents/FIRST/2017/Off Season/'
filename = directory + 'imageValues.npz' # folder npz file is in. NPZ file contains hsv values and brightness value
url = 0
debug = 1
validCount = 0 # how many valid targets we've found
n = 0
freqFramesNT = 10 # how often we're sending to network tables
#############################################################################
from networktables import NetworkTable
import logging
#if NetworkTable._staticProvider is None:
try:
logging.basicConfig(level=logging.DEBUG)
NetworkTable.setIPAddress('10.5.1.2')
NetworkTable.setClientMode()
NetworkTable.initialize()
except:
if debug == 1:
print("Network tables has already been initialized")
sd = NetworkTable.getTable("Camera")
#############################################################################
cap = cv2.VideoCapture(
url
) # capture camera, 0 is laptop cam, numbers after that are cameras attached
time.sleep(2)
# Check to make sure cap was initialized in capture
if debug:
if cap.isOpened():
from __future__ import print_function
from networktables import NetworkTable
from networktables.util import ChooserControl
import sys
import time
import logging
logging.basicConfig(level=logging.DEBUG)
NetworkTable.setIPAddress("127.0.0.1")
NetworkTable.setClientMode()
NetworkTable.initialize()
def foo(value):
print("foo", value)
def bar(value):
print("bar", value)
def valueChanged(key, value, isNew):
print("valueChanged: %s = %s" % (key, value) )
NetworkTable.addGlobalListener(valueChanged)
cc = ChooserControl("control_preset",
foo,
bar)
sd = NetworkTable.getTable("SmartDashboard")
# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-n",
"--num-frames",
type=int,
default=100,
help="# of frames to loop over for FPS test")
ap.add_argument("-d",
"--display",
type=int,
default=-1,
help="Whether or not frames should be displayed")
args = vars(ap.parse_args())
NetworkTable.setIPAddress(
"roborio-2609-frc.local") #Change the address to your own
NetworkTable.setClientMode()
NetworkTable.initialize()
sd = NetworkTable.getTable("RaspberryPi")
# grab a pointer to the video stream and initialize the FPS counter
print("[INFO] sampling frames from webcam...")
stream = cv2.VideoCapture(0)
fps = FPS().start()
# loop over some frames
while fps._numFrames < args["num_frames"]:
# grab the frame from the stream and resize it to have a maximum
# width of 640 pixels
(grabbed, frame) = stream.read()
frame = imutils.resize(frame, width=640)
from networktables import NetworkTable
NetworkTable.setIPAddress("10.0.0.2")
NetworkTable.setClientMode()
NetworkTable.initialize()
table = NetworkTable.getTable("rpi")
table.putNumber("visionX", 2)
table.putNumber("visionY", 4)
print("done")
def init_network_tables(ipAddress, table):
NetworkTable.setIPAddress(ipAddress)
NetworkTable.setClientMode()
NetworkTable.initialize()
vp = NetworkTable.getTable(table)
return vp
def main():
# brightness adjusted, used to be 30, now is 70
os.system("v4l2-ctl -d /dev/video0 "
"-c brightness=70 "
"-c contrast=10 "
"-c saturation=100 "
"-c white_balance_temperature_auto=0 "
"-c power_line_frequency=2 "
"-c white_balance_temperature=4500 "
"-c sharpness=25 "
"-c backlight_compensation=0 "
"-c exposure_auto=1 "
"-c exposure_absolute=5 "
"-c pan_absolute=0 "
"-c tilt_absolute=0 "
"-c zoom_absolute=0")
NetworkTable.setIPAddress("roboRIO-687-FRC.local")
NetworkTable.setClientMode()
NetworkTable.initialize()
table = NetworkTable.getTable("NerdyVision")
print("NetworkTables initialized")
angle_to_turn = 0
while 687:
aligned = False
previous_angle_to_turn = angle_to_turn
ret, frame = cap.read()
capture_time = time.time()
# blur = cv2.GaussianBlur(frame, (11, 11), 0)
kernel = np.ones((5, 5), np.uint8)
erosion = cv2.erode(frame, kernel, iterations=1)
dilation = cv2.dilate(erosion, kernel, iterations=1)
res, mask = NerdyFunctions.mask(NerdyConstants.LOWER_GREEN, NerdyConstants.UPPER_GREEN, dilation)
_, cnts, _ = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
center = None
if len(cnts) > 1:
centers_x = [0]
centers_y = [0]
for i in range(len(cnts)):
c = cnts[i]
area = cv2.contourArea(c)
# if NerdyConstants.MIN_GEAR_AREA < area < NerdyConstants.MAX_GEAR_AREA:
x, y, w, h = cv2.boundingRect(c)
aspect_ratio = float(w) / h
if NerdyConstants.MIN_GEAR_ASPECT < aspect_ratio < NerdyConstants.MAX_GEAR_ASPECT:
goal = NerdyFunctions.polygon(c, 0.02)
cv2.drawContours(res, [goal], 0, (255, 0, 0), 5)
M = cv2.moments(goal)
if M['m00'] > 0:
cx = int(M['m10'] / M['m00'])
cy = int(M['m01'] / M['m00'])
center = (cx, cy)
cv2.circle(res, center, 5, (255, 0, 0), -1)
centers_x.append(cx)
centers_y.append(cy)
if len(centers_x) == 3 and len(centers_y) == 3:
target_x = (centers_x[1] + centers_x[2])/2
target_y = (centers_y[1] + centers_y[2])/2
target = (target_x, target_y)
cv2.circle(res, target, 5, (0, 255, 0), -1)
print(target_x)
print(target_y)
error = target_x - NerdyConstants.FRAME_CX
angle_to_turn = NerdyFunctions.calc_horiz_angle(error)
print("ANGLE_TO_TURN: " + str(angle_to_turn))
aligned = NerdyFunctions.is_aligned(angle_to_turn)
print("IS_ALIGNED: " + str(aligned))
processed_time = time.time()
delta_time = processed_time - capture_time
print("PROCESSED_TIME: " + str(delta_time))
# NerdyFunctions.draw_static(res)
# cv2.imshow("NerdyVision", res)
try:
table.putBoolean('IS_ALIGNED', aligned)
if previous_angle_to_turn != angle_to_turn:
table.putNumber('ANGLE_TO_TURN', angle_to_turn)
table.putNumber('PROCESSED_TIME', delta_time)
else :
table.putNumber('ANGLE_TO_TURN', 0)
table.putNumber('PROCESSED_TIME', 0)
table.putBoolean('VISION_ON', True)
except:
print("DATA NOT SENDING...")
table.putBoolean('IS_ALINGED', False)
table.putNumber('ANGLE_TO_TURN', 0)
table.putNumber('PROCESSED_TIME', 0)
table.putBoolean('VISION_ON', False)
cv2.waitKey(1)
cap.release()
cv2.destroyAllWindows()
def makeNetworkTable(IP):
NetworkTable.setIPAddress(IP)
NetworkTable.setClientMode()
NetworkTable.initialize()
return NetworkTable.getTable("vision")
- lscpu Max 900MHz
- Raspbian Jessie 4.1.17-v7+ #838 (2016/02/09)
Including all OpenCV and NetworkTable processing this averages:
- 7 FPS with Microsoft LifeCam HD 3000 (-vw 640 -vh 480)
- 28 FPS with Microsoft LifeCam HD 3000 (-vw 320 -vh 240)
'''
import copy
import math
import time
from networktables import NetworkTable
import logging
logging.basicConfig(level=logging.DEBUG) # for pynetworktables
NetworkTable.setIPAddress("roboRIO-226-FRC.local")
NetworkTable.setClientMode()
NetworkTable.initialize()
table = NetworkTable.getTable("SharkCV")
FOV_DIAGONAL = 68.5 # Microsoft LifeCam HD 3000
DISTANCE_SIZE = [20, 14] # 20x14in target
def Stronghold226(frame):
orig = copy.deepcopy(frame)
# THRESHOLD
frame.color_hsv()
mask = frame.threshold([75, 155, 55], [100, 255, 255])
