async def counter(websocket, path):
# register(websocket) sends user_event() to websocket
await register(websocket)
try:
await websocket.send(state_event())
async for message in websocket:
data = json.loads(message)
if data["action"] == "left":
STATE["horizontal_angle"] -= 0.5
pantilt.set_horizontal_angle(STATE["horizontal_angle"])
await notify_state()
elif data["action"] == "right":
STATE["horizontal_angle"] += 0.5
pantilt.set_horizontal_angle(STATE["horizontal_angle"])
await notify_state()
elif data["action"] == "up":
STATE["vertical_angle"] += 0.5
pantilt.set_vertical_angle(STATE["vertical_angle"])
await notify_state()
elif data["action"] == "down":
STATE["vertical_angle"] -= 0.5
pantilt.set_vertical_angle(STATE["vertical_angle"])
await notify_state()
elif data["action"] == "off":
pantilt.power_off()
await notify_state()
else:
logging.error("unsupported event: {}", data)
finally:
await unregister(websocket)
def circle(self):
for x in np.arange(0, 2 * math.pi, math.pi / 180):
h_rad = math.sin(x) / 5
v_rad = math.cos(x) / 5
h = h_rad * 180 / math.pi
v = v_rad * 180 / math.pi
pantilt.set_horizontal_angle(h)
pantilt.set_vertical_angle(v)
sleep(0.01)
def test_keypoints(self):
# On a target, on the wall. Camera distance = 800 mm
angle = pantilt.horizontal_position_to_angle(215.9 / 2, 600)
# Aiming for the edge of a 8 1/2 x 11 sheet centered at 800mm
pantilt.set_vertical_angle(0)
pantilt.set_horizontal_angle(0)
sleep(1)
pantilt.set_horizontal_angle(angle)
sleep(1)
pantilt.set_horizontal_angle(-angle)
def square(self):
pantilt.set_horizontal_angle(-10)
pantilt.set_vertical_angle(-10)
for h in np.arange(-10, 10):
pantilt.set_horizontal_angle(h)
sleep(0.1)
for v in np.arange(-10, 10):
pantilt.set_vertical_angle(v)
sleep(0.1)
for h in np.arange(10, -10, -1):
pantilt.set_horizontal_angle(h)
sleep(0.1)
for v in np.arange(10, -10, -1):
pantilt.set_vertical_angle(v)
sleep(0.1)
def test_vertical_sweep(self):
for angle in range(-45, 45):
pantilt.set_vertical_angle(angle)
if angle == 0:
sleep(1)
sleep(0.1)
last_horizontal_error = horizontal_error
data["Horizontal error"] = (horizontal_error, "pixels")
data["Horizontal angle"] = (horizontal_angle, "degrees")
if abs(horizontal_error) > hysteresis:
horizontal_angle = horizontal_angle + P * horizontal_error + D * delta_horizontal_error
draw_broadcast_queue.append((image, objs, labels, rtcom))
data["Broadcast time"] = ((time.perf_counter() - start) * 1000, "ms")
start = time.perf_counter()
rtcom.broadcast_endpoint("perf", perf)
rtcom.broadcast_endpoint("data", data)
data["Network time"] = ((time.perf_counter() - start) * 1000, "ms")
start = time.perf_counter()
pantilt.set_horizontal_angle(horizontal_angle)
pantilt.set_vertical_angle(0)
if "pc" in rtcom and "coordinates" in rtcom["pc"]:
pantilt.set_vertical_angle(
rtcom["pc"]["coordinates"]["vertical_angle"])
data["Pantilt time"] = ((time.perf_counter() - start) * 1000, "ms")
beat += 1
data["Loop runtime"] = ((time.perf_counter() - loop_start_time) * 1000,
"ms")