def main():
global flag,ser ,distance_cm, model, graph, angle
stream = io.BytesIO()
model_loaded = glob.glob('model/*.h5')
for single_mod in model_loaded:
model = load_model(single_mod)
graph = tf.get_default_graph()
print('ok')
# open camera
camera = picamera.PiCamera(resolution=(160, 120))
camera.brightness = 60
ser = serial.Serial("/dev/ttyAMA0", 115200, timeout=0.5)
dis_thread1 = threading.Thread(target=hc_1, args=())
dis_thread1.setDaemon(True)
ang_thread = threading.Thread(target=get_thread, args=())
ang_thread.setDaemon(True)
ang_thread.start()
dis_thread1.start()
print('set')
event1.set()
time.sleep(3)
print(angle[2])
try:
while True:
print(distance_cm)
if distance_cm<27 and distance_cm>2:
car_control.car_stop()
time.sleep(0.5)
while distance_cm<13 or distance_cm >100:
car_control.slow_backward()
car_control.car_stop()
time.sleep(0.1)
event1.clear()
flag += 1
if flag == 3:
time.sleep(3)
print('stop')
camera.capture(stream, format='jpeg')
judge(stream)
distance_cm = 40
event1.set()
else:
smart_forward()
finally:
camera.close()
GPIO.cleanup()
stream.close()
def smart_go_back():
global dire_angle,distance_cm,event1
dire_angle = 180
while abs(angle[2]-dire_angle) > 18:
car_control.car_cycle_right()
car_control.car_cycle_left()
time.sleep(0.05)
car_control.car_stop()
distance_cm = 40
def smart_go_left():
global dire_angle,distance_cm,event1
dire_angle = dire_angle+90
if dire_angle == 270.0:
dire_angle = -90.0
while abs(angle[2]-dire_angle) > 15:
car_control.car_cycle_left()
car_control.car_cycle_right()
time.sleep(0.05)
car_control.car_stop()
distance_cm = 40
def control_car(action_num):
global distance_cm
if action_num == 0:
print('left')
smart_go_left()
elif action_num == 1:
print('right')
smart_go_right()
elif action_num == 2:
print('bibi')
car_control.car_stop()
time.sleep(2)
def control_car(action_num):
"""out put the char and call car_control(we used before)"""
if action_num == 0:
print("Left")
car_control.car_turn_left()
time.sleep(0.25)
elif action_num == 1:
print("Right")
car_control.car_turn_right()
time.sleep(0.25)
elif action_num == 2:
car_control.car_move_forward()
print('Forward')
elif action_num == 3:
car_control.car_move_backward()
print('Backward')
else:
car_control.car_stop()
print('Stop')
def car_drive():
global is_capture_running, key
key = 4
pygame.init()
pygame.display.set_mode((1, 1))
car_control.car_stop()
while is_capture_running:
# 获取人输入的驾驶指令
events = pygame.event.get()
for evt in events:
if evt.type == pygame.KEYDOWN:
key_input = pygame.key.get_pressed()
print(key_input[pygame.K_w], key_input[pygame.K_a],
key_input[pygame.K_d])
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print('Forward')
key = 2
car_control.car_move_forward()
elif key_input[pygame.K_a]:
print('Left')
car_control.car_turn_left()
sleep(0.1)
key = 0
elif key_input[pygame.K_d]:
print('Right')
car_control.car_turn_right()
sleep(0.1)
key = 1
elif key_input[pygame.K_s]:
print('Backward')
car_control.car_move_backward()
sleep(0.1)
key = 3
elif key_input[pygame.K_q] or key_input[pygame.K_e]:
print("Barricade")
car_control.car_stop()
key = 5
elif evt.type == pygame.KEYUP:
key_input = pygame.key.get_pressed()
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print('Forward')
key = 2
car_control.car_turn_straight()
car_control.car_move_forward()
elif key_input[pygame.K_s] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print('Backward')
key = 3
car_control.car_move_backward()
else:
print('Stop')
car_control.car_stop()
# car_control.clean_GPIO()
car_control.clean_GPIO()
def my_car_control():
global is_capture_running, key
key = 4
pygame.init()
pygame.display.set_mode((1, 1))
car_control.car_stop()
sleep(0.1)
print("Start control!")
while is_capture_running:
# get input from human driver
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
key_input = pygame.key.get_pressed()
print(key_input[pygame.K_w], key_input[pygame.K_a],
key_input[pygame.K_d])
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Forward")
key = 2
car_control.car_move_forward()
elif key_input[pygame.K_a]:
print("Left")
car_control.car_turn_left()
sleep(0.1)
key = 0
elif key_input[pygame.K_d]:
print("Right")
car_control.car_turn_right()
sleep(0.1)
key = 1
elif key_input[pygame.K_s]:
print("Backward")
car_control.car_move_backward()
key = 3
elif key_input[pygame.K_k]:
car_control.car_stop()
elif event.type == pygame.KEYUP:
key_input = pygame.key.get_pressed()
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Forward")
key = 2
car_control.car_turn_straight()
car_control.car_move_forward()
elif key_input[pygame.K_s] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Backward")
key = 3
car_control.car_move_backward()
else:
print("Stop")
car_control.car_stop()
#car_control.cleanGPIO()
car_control.cleanGPIO()
if action_num = 0:
print("Left")
car_control.car_turn_left()
time.sleep(0.25)
elif action_num == 1:
print("Right")
car_control.car_turn_right()
time.sleep(0.25)
elif action_num == 2:
car_control.car_move_forward()
print('Forward')
elif action_num == 3:
car_control.car_move_backward()
print('Backward')
elif action_num == 5:
car_control.car_stop()
print("Barricade")
else:
car_control.car_stop()
print('Stop')
class ImageProcessor(threading.Thread):
"""docstring for ImageProcessor"""
def __init__(self, owner):
super(ImageProcessor, self).__init__()
self.stream = io.BytesIO()
self.event = threading.Event()
self.terminated = False
self.owner = owner
self.start()
def my_car_control():
global is_capture_running, key
key = 4
pygame.init()
pygame.display.set_mode((1, 1)) # 窗口
zth_car_control.car_stop()
sleep(0.1)
print("Start control!")
angle = 90
while is_capture_running:
# get input from human driver
for event in pygame.event.get():
# 判断事件是不是按键按下的事件
if event.type == pygame.KEYDOWN:
key_input = pygame.key.get_pressed() # 可以同时检测多个按键
print(key_input[pygame.K_w], key_input[pygame.K_a],
key_input[pygame.K_d])
# 按下前进，保存图片以2开头
if key_input[pygame.K_w] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Forward")
key = 2
zth_car_control.car_move_forward()
# 按下左键，保存图片以0开头
elif key_input[pygame.K_a]:
print("Left")
angle = angle - 5
zth_car_control.car_turn_left(angle)
sleep(0.1)
key = 0
# 按下d右键，保存图片以1开头
elif key_input[pygame.K_d]:
print("Right")
angle = angle + 5
zth_car_control.car_turn_right(angle)
sleep(0.1)
key = 1
# 按下s后退键，保存图片为3开头
elif key_input[pygame.K_s]:
print("Backward")
zth_car_control.car_move_backward()
key = 3
# 按下k停止键，停止
elif key_input[pygame.K_k]:
zth_car_control.car_stop()
# 检测按键是不是抬起
elif event.type == pygame.KEYUP:
key_input = pygame.key.get_pressed()
# w键抬起，轮子回正
#if key_input[pygame.K_w] and not key_input[pygame.K_a] and not key_input[pygame.K_d]:
# print("Forward")
# key = 2
# zth_car_control.car_turn_straight()
#zth_car_control.car_move_forward()
# s键抬起
if key_input[pygame.K_s] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Backward")
key = 3
zth_car_control.car_move_backward()
else:
print("Stop")
zth_car_control.car_stop()
#car_control.cleanGPIO()
zth_car_control.clean_GPIO()
# s键抬起
if key_input[pygame.K_s] and not key_input[
pygame.K_a] and not key_input[pygame.K_d]:
print("Backward")
key = 3
zth_car_control.car_move_backward()
else:
print("Stop")
zth_car_control.car_stop()
#car_control.cleanGPIO()
zth_car_control.clean_GPIO()
if __name__ == '__main__':
global train_labels, train_img, key
print("capture thread")
print('-' * 50)
capture_thread = threading.Thread(target=pi_capture, args=()) # 开启线程
capture_thread.setDaemon(True)
capture_thread.start()
my_car_control()
while is_capture_running:
pass
print("Done!")
zth_car_control.car_stop()
zth_car_control.clean_GPIO()