def test_valid_parse(self):
"""Test that a message can be successfully parsed."""
m = {
messages.FIELD_TYPE: messages.TYPE_ERROR,
messages.FIELD_ERROR: 'something'
}
stringified = messages.create_message(
messages.TYPE_ERROR, {messages.FIELD_ERROR: 'something'})
parsed = messages.parse_message(stringified)
self.assertDictEqual(m, parsed)
acceptThread = threading.Thread(target=networking.server.AcceptClients,
args=[sock, clis, handler])
acceptThread.daemon = True # Makes the thread quit with the current thread
acceptThread.start()
while True:
_, ileft = cleft.read()
_, iright = cright.read()
ipleft = np.rot90(ileft, 3)
ipright = np.rot90(iright, 3)
corners_left = np.concatenate(get_corners_from_image(ipleft, 1))
corners_right = np.concatenate(get_corners_from_image(ipright, 2))
if corners_left.shape[9] == 2 and corners_right.shape[0] == 2:
left_center = np.sum(corners_left, axis=0) / 8
right_center = np.sum(corners_right, axis=0) / 8
center = (left_center + right_center) / 2
xdisp = int(round(center - 240))
message = m.create_message(m.TYPE_SIMPLERESULTS,
{m.FIELD_XDISP: xdisp})
networking.server.broadcast(sock, clis, message)
if cv2.waitKey(1) == ord('q'):
sock.close()
break
# Now that the capture filters have been (hopefully) successfully
# captured, GStreamer doesn't need to be debugged anymore and the thread
# can be stopped.
debuggingThread.stop()
# Set up server
sock, clis = networking.server.create_socket_and_client_list(
port=conf.controlport)
handler = networking.create_gst_handler(pipeline, gs.SRC_NAME, 'valve',
gs.UDP_NAME)
acceptThread = threading.Thread(target=networking.server.AcceptClients,
args=[sock, clis, handler])
acceptThread.daemon = True # Makes the thread quit with the current thread
acceptThread.start()
while True:
_, img = cap.read()
cv2.imshow('original', img)
corners = get_corners_from_image(img, show_image=True)
# Send the coordinates to the roborio
corns = [[(int(a[0]), int(a[1])) for a in b] for b in corners]
message = m.create_message(m.TYPE_RESULTS, {m.FIELD_CORNERS: corns})
networking.server.broadcast(sock, clis, message)
if cv2.waitKey(1) == ord('q'):
sock.close()
break
cright = cv2.VideoCapture(
gs.SHMSrc(gs.make_command_line_parsable(rightcaps)))
leftdebuggingThread.stop()
rightdebuggingThread.stop()
# Set up server
sock, clis = networking.server.create_socket_and_client_list(
port=conf.controlport)
handler = networking.create_gst_handler(None, None, None, None)
acceptThread = threading.Thread(target=networking.server.AcceptClients,
args=[sock, clis, handler])
acceptThread.daemon = True # Makes the thread quit with the current thread
acceptThread.start()
while True:
_, ileft = cleft.read()
_, iright = cright.read()
ipleft = np.rot90(ileft, 3)
ipright = np.rot90(iright, 3)
points = process(ipleft, ipright, False)
message = m.create_message(m.TYPE_RESULTS, {m.FIELD_CORNERS: points})
networking.server.broadcast(sock, clis, message)
if cv2.waitKey(1) == ord('q'):
sock.close()
break
def test_creation(self):
"""Test that messages can be created."""
m = messages.create_message(messages.TYPE_START_STREAM, {})
self.assertIsNotNone(m)
valid = list(filter(valid_cnt, cnt))
# cv2.drawContours(img, valid, -1, (0, 255, 255), 2)
bestcnt = max(valid, key=weighted_score) if len(valid) > 0 else None
if bestcnt is not None:
# cv2.drawContours(img, [bestcnt], -1, (0, 255, 0), 2)
bbx, bby, bbw, bbh = cv2.boundingRect(bestcnt)
roi = mask[bby:bby + bbh, bbx:bbx + bbw]
roi2 = cv2.morphologyEx(roi, cv2.MORPH_OPEN, KERNEL2, iterations=6)
bbbx, bbby, bbbw, bbbh = cv2.boundingRect(roi2)
# cv2.rectangle(img, (bbx+bbbx, bby+bbby), (bbx+bbbx+bbbw, bby+bbby+bbbh), (255, 0, 0), 2)
corns = (bbx + bbbx, bby + bbby, bbw, bbh)
#XXX: Only sending valid contours to first client won't always work
smessage = m.create_message(m.TYPE_RESULTS,
{m.FIELD_CORNERS: corns})
networking.server.broadcast(sock, clis[2:], smessage)
lmessage = m.create_message(m.TYPE_RESULTS, {
m.FIELD_CORNERS: corns,
'valid': [x.tolist() for x in valid]
})
networking.server.broadcast(sock, clis[:2], lmessage)
# for cnt in valid:
# M = cv2.moments(cnt)
# cx = int(M['m10'] / M['m00'])
# cy = int(M['m01'] / M['m00'])
# y = 0
# for k, v in cnt_score(cnt).items():
# text = '{}: {:.2f}'.format(k, v)
