img = cv2.resize(img, (684, 342))
return img, distance
if __name__ == "__main__":
import threading
from control import Control
from car_platform import CarPlatform
from monitoring import Monitoring
testDT = Data()
"""
test code
특정 미션 번호에서 시작하도록 함
"""
testDT.current_mode = 1
testDS = Source(testDT)
car = CarPlatform('COM5', testDT)
testMP = MotionPlanner(testDS, testDT)
test_control = Control(testDT)
monitor = Monitoring(testDS, testDT)
lidar_source_thread = threading.Thread(target=testDS.lidar_stream_main)
left_cam_source_thread = threading.Thread(
target=testDS.left_cam_stream_main)
right_cam_source_thread = threading.Thread(
target=testDS.right_cam_stream_main)
mid_cam_source_thread = threading.Thread(target=testDS.mid_cam_stream_main)
planner_thread = threading.Thread(target=testMP.main)
control_thread = threading.Thread(target=test_control.main)
brake=SerialPacket.BRAKE_NOBRAKE)
def steer_right_test(test_data: Data):
test_data.set_control_value(gear=SerialPacket.GEAR_NEUTRAL,
speed=SerialPacket.SPEED_MIN,
steer=SerialPacket.STEER_MAXRIGHT,
brake=SerialPacket.BRAKE_NOBRAKE)
test_data = Data()
test_platform = CarPlatform('COM5', test_data) # PLEASE CHECK YOUR COMPORT
platform_thread = threading.Thread(target=test_platform.main)
platform_thread.start()
if test_data.read_packet.aorm == SerialPacket.AORM_AUTO:
test_data.detected_mission_number = 1
test_data.current_mode = 1
print("mission num: ", test_data.detected_mission_number,
test_data.current_mode)
t = time.time()
i = 1
while True:
print("read: ", test_data.car_platform_status())
print("WRITE: ", test_data.write_packet.steer)
if time.time() - t < 2:
if i == 1:
steer_right_test(test_data)
else:
steer_left_test(test_data)
else:
t = time.time()
if i == 1: