class Camera:
def __init__(self):
config = configparser.ConfigParser()
config.read("./config.ini")
HIntfNum = config.getint("camera", "HIntfNum")
HInitPosition = config.getint("camera", "HInitPosition")
HMinPosition = config.getint("camera", "HMinPosition")
HMaxPosition = config.getint("camera", "HMaxPosition")
HSpeed = config.getint("camera", "HSpeed")
# Vertical direction control parameters
VIntfNum = config.getint("camera", "VIntfNum")
VInitPosition = config.getint("camera", "VInitPosition")
VMinPosition = config.getint("camera", "VMinPosition")
VMaxPosition = config.getint("camera", "VMaxPosition")
VSpeed = config.getint("camera", "VSpeed")
self.HCameraControl = Steering(HIntfNum, HInitPosition, HMinPosition,
HMaxPosition, HSpeed)
self.VCameraControl = Steering(VIntfNum, VInitPosition, VMinPosition,
VMaxPosition, VSpeed)
def cameraRotate(self, direction):
if direction == "A":
self.HCameraControl.forwardRotation()
elif direction == "D":
self.HCameraControl.reverseRotation()
elif direction == "W":
self.VCameraControl.forwardRotation()
elif direction == "S":
self.VCameraControl.reverseRotation()
elif direction == "R":
self.HCameraControl.reset()
self.VCameraControl.reset()
else:
print(
"Your input for camera direction is wrong, please input: D, A, W, S or RESET!"
)
class Camera:
def __init__(self):
'''
Read config file to init camera's parameter
'''
config = configparser.ConfigParser()
config.read("config.ini")
self.statu=""
# Horiazonal direction control parameters
HIntfNum = config.getint("camera", "HIntfNum")
HInitPosition = config.getint("camera", "HInitPosition")
HMinPosition = config.getint("camera", "HMinPosition")
HMaxPosition = config.getint("camera", "HMaxPosition")
HSpeed = config.getint("camera", "HSpeed")
# Vertical direction control parameters
VIntfNum = config.getint("camera", "VIntfNum")
VInitPosition = config.getint("camera", "VInitPosition")
VMinPosition = config.getint("camera", "VMinPosition")
VMaxPosition = config.getint("camera", "VMaxPosition")
VSpeed = config.getint("camera", "VSpeed")
self.HCameraControl = Steering(
HIntfNum, HInitPosition, HMinPosition, HMaxPosition, HSpeed)
self.VCameraControl = Steering(
VIntfNum, VInitPosition, VMinPosition, VMaxPosition, VSpeed)
def cameraRotate(self, direction):
'''
This method is used to contorl the camera's rotating
The value of parameter direction and its meaning as follow:
HR - Turn right
HL - Turn left
VU - Turn upward
VD - Turn downword
'''
if direction == "HL":
self.HCameraControl.forwardRotation()
config = configparser.ConfigParser()
config.read("config.ini")
H = self.HCameraControl.position
config.set("camera", "HInitPosition", str(H))
with open("config.ini", "w+") as f:
config.write(f)
self.statu="LEFT"
elif direction == "HR":
self.HCameraControl.reverseRotation()
config = configparser.ConfigParser()
config.read("config.ini")
H = self.HCameraControl.position
config.set("camera", "HInitPosition", str(H))
with open("config.ini", "w+") as f:
config.write(f)
self.statu = "RIGHT"
elif direction == "VU":
self.VCameraControl.forwardRotation()
config = configparser.ConfigParser()
config.read("config.ini")
V = self.VCameraControl.position
config.set("camera", "VInitPosition", str(V))
with open("config.ini", "w+") as f:
config.write(f)
self.statu = "UP"
elif direction == "VD":
self.VCameraControl.reverseRotation()
config = configparser.ConfigParser()
config.read("config.ini")
V = self.VCameraControl.position
config.set("camera", "VInitPosition", str(V))
with open("config.ini", "w+") as f:
config.write(f)
self.statu = "DOWN"
elif direction == "RESET":
self.HCameraControl.reset()
self.VCameraControl.reset()
config = configparser.ConfigParser()
config.read("config.ini")
H = 80
V = 50
config.set("camera", "HInitPosition", str(H))
config.set("camera", "VInitPosition", str(V))
with open("config.ini", "w+") as f:
config.write(f)
self.statu = "RESET"
else:
print(
"Your input for camera direction is wrong, please input: HR, HL, VU, VD or RESET!")
def __del__(self):
print(self.statu+" over and "+"camera has been deleted")