def __init__(self, IO):
print 'I am a toddler playing in a sandbox'
self.IO = IO
self.inp = [0, 0, 0, 0, 0, 0, 0, 0]
self.RobotVision = robot_vision(self.IO)
self.robot_manager = Robot_manager(self.IO, self.RobotVision)
self.IO.servoEngage()
class Toddler:
def __init__(self, IO):
print 'I am a toddler playing in a sandbox'
self.IO = IO
self.inp = [0, 0, 0, 0, 0, 0, 0, 0]
self.RobotVision = robot_vision(self.IO)
self.robot_manager = Robot_manager(self.IO, self.RobotVision)
self.IO.servoEngage()
# This is a callback that will be called repeatedly.
# It has its dedicated thread so you can keep block it.
def Control(self, OK):
# Move forward and backward in collision
# self.buttonSensor.move_back_due_collision()
# test the light sensors
# while (1):
# self.lightSensor.measure_values_on_axis()#calculate_light_sensor_difference()
# time.sleep(0.1)
# while (1):
# self.sensors.update_analog_sensors_meas()
# print self.sensors.analogs_sensors
# time.sleep(0.1)
while (1):
#x = 1
#print self.IO.getSensors()[5]
self.robot_manager.run_robot()
# This is a callback that will be called repeatedly.
# It has its dedicated thread so you can keep block it.
def Vision(self, OK):
# color_list = ['red','green','blue']
# Object_detected_list = [False, False, False]
#self.RobotVision.Set_Resolution('high')
self.RobotVision.Set_Resolution('low')
while (OK):
image = self.RobotVision.ImgObtain()
self.RobotVision.detect_resources_new_version(image)
self.RobotVision.handler_for_tsiai_super()
#self.RobotVision.detect_white_landmarks(image)
#self.RobotVision.Check_Black_Patch(image)
#########################################################################
#image = self.RobotVision.ImgObtain()
self.RobotVision.Check_Black_Patch_tsiai(image)
#time1 = time.time()
#self.RobotVision.find_objects_Mophology(image)
#self.RobotVision.find_objects_pix_num(image)
#self.RobotVision.detect_resources_new_version(image)
#self.RobotVision.identify_resource_figure(self.RobotVision.Mario_origin)
#self.RobotVision.handler_for_tsiai_super()
#self.RobotVision.find_objects_segmentation(image)
#time2 = time.time()
#print "time used",time2-time1
#print "time used",time2-time1
#time1 = time.time()
#self.RobotVision.Check_Object('Mario')
#self.RobotVision.Check_by_template('Mario')
#time2 = time.time()
#print "time used",time2-time1
#self.RobotVision.Lock_Cubes(self.RobotVision.Mario,self.RobotVision.Mario_thre)
#
# self.RobotVision.Lock_Cubes(self.RobotVision.Zoidberg,self.RobotVision.Zoidberg_thre)
#
# #image = self.RobotVision.ImgObtain()
# time1 = time.time()
# #self.RobotVision.Check_Object('Mario')
# self.RobotVision.Blue_filter()
# time2 = time.time()
# print "time used",time2-time1
#self.RobotVision.Lock_Cubes(self.RobotVision.Zoidberg,self.RobotVision.Zoidberg_thre)
#start = time.time()
#self.RobotVision.detect_resources_new_version(image)
#print "TIME IS " , time.time() - start
#Find Mario
#self.RobotVision.show_template(self.RobotVision.Watching[0])
#Color_Obect_detection
# using old approach
#self.RobotVision.find_objects(image)
# using segmentation approach
#self.RobotVision.find_objects_segmentation(image)
# print "=====final result for a turn==========="
# print objects_num_list
# print "===================================="
# counter = 0
# print detection
# print "length of object list"
# print len(detection)
# for element in detection:
# print 'area'
# if len(element)>0:
# print 'color is ', color_list[counter]
# if len(element) == 1:
# print self.RobotVision.color_list[counter],'object detected'
# self.RobotVision.Object_detected_list[counter] = True
# print element
# counter = counter + 1
# time.sleep(0.5)
"""
self.IO.cameraSetResolution('low')
hasImage=False
res=0
sw=False
swPrev=False
while OK():
if self.inp[4]:
for i in range(0,5):
self.IO.cameraGrab()
img=self.IO.cameraRead()
if img.__class__==numpy.ndarray:
hasImage=True
cv2.imwrite('camera-'+datetime.datetime.now().isoformat()+'.png',img)
self.IO.imshow('window',img)
self.IO.setStatus('flash',cnt=2)
time.sleep(0.5)
if hasImage:
self.IO.imshow('window',img)
sw=self.inp[5]
if sw!=swPrev and sw:
res=(res+1)%4
if res==0:
self.IO.cameraSetResolution('low')
self.IO.setError('flash',cnt=1)
if res==1:
self.IO.cameraSetResolution('medium')
self.IO.setError('flash',cnt=2)
if res==2:
self.IO.cameraSetResolution('high')
self.IO.setError('flash',cnt=3)
if res==3:
self.IO.cameraSetResolution('full')
self.IO.setError('flash',cnt=4)
time.sleep(0.5)
swPrev=sw
time.sleep(0.05)
"""
def stop_motors_on_interupt(self):
self.IO.servoDisengage()
print('You pressed Ctrl+C!')
time.sleep(1)
self.IO.setMotors(0, 0)
time.sleep(1)
self.IO.servoDisengage()
self.IO.setMotors(0, 0)
