def main():
# CMD args parser
parser = argparse.ArgumentParser(description='openmv stress test')
parser.add_argument("-j", "--disable_fb", action = "store_true", help = "Disable FB JPEG compression")
parser.add_argument("-p", "--port", action = "store", help = "OpenMV serial port")
parser.add_argument("-t", "--time", action = "store", default = 100, help = "Max time before stopping the script")
parser.add_argument("-s", "--script", action = "store",\
default="../scripts/examples/01-Basics/helloworld.py", help = "OpenMV script file")
# Parse CMD args
args = parser.parse_args()
# init openmv
if (args.port):
portname = args.port
elif 'darwin' in sys.platform:
portname = "/dev/cu.usbmodem14221"
else:
portname = "/dev/openmvcam"
print("\n>>>Reading script: %s\n" %(args.script))
with open(args.script, "r") as f:
script = f.read()
print("%s\n" %(script))
connected = False
for i in range(10):
try:
# Open serial port.
# Set small timeout when connecting
pyopenmv.init(portname, baudrate=921600, timeout=0.050)
connected = True
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print ( "Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
sys.exit(1)
# Set higher timeout after connecting.
pyopenmv.set_timeout(0.500)
# Enable/Disable framebuffer compression.
print(">>>Enable FB JPEG compression %s" %(str(not args.disable_fb)))
pyopenmv.enable_fb(not args.disable_fb)
# Interrupt running script.
pyopenmv.stop_script()
max_timeout = int(args.time)
for i in xrange(1000):
pyopenmv.exec_script(script)
sleep(randint(0, max_timeout)/1000)
pyopenmv.stop_script()
def __init__(self, port="/dev/openmvcam"):
self.port = port
self.connected = False
pyopenmv.disconnect()
rospy.loginfo("Connecting...")
for i in range(10):
try:
# opens CDC port.
# Set small timeout when connecting
pyopenmv.init(self.port, baudrate=921600, timeout=0.050)
self.connected = True
break
except Exception as e:
self.connected = False
sleep(0.100)
if not self.connected:
rospy.logerr("Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
return
rospy.loginfo("Connected!")
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(script)
# init pub
self.pub_image = rospy.Publisher("/image", Image, queue_size=10)
# init thread
self.running = False
self.thread = Thread(target=self.run)
self.thread.start()
rospy.on_shutdown(self.shutdown)
def camera_connect():
"""
Camera connection loop.
"""
connected = False
pyopenmv.disconnect()
# try and connect
for i in range(10):
try:
# opens CDC port.
# Set small timeout when connecting
pyopenmv.init(port_name, baudrate=921600, timeout=0.050)
connected = True
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print("Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
sys.exit(1)
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1 * 2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(blob_script)
# init screen
running = True
Clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 15)
return running, Clock, font
connected = True
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print ( "Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
sys.exit(1)
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(script)
# init screen
running = True
Clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 15)
while running:
Clock.tick(100)
# read framebuffer
fb = pyopenmv.fb_dump()
if fb != None:
# create image from RGB888
connected = True
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print ( "Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
sys.exit(1)
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(script)
# init screen
running = True
Clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 15)
while running:
Clock.tick(100)
# read framebuffer
fb = pyopenmv.fb_dump()
if fb != None:
# create image from RGB888
def camera_exec():
"""
Main camera execution loop that runs until program is aborted.
1. Camera tries to connect continuously until successful
2. Camera outputs frame buffer -> video stream
3. Camera outputs text buffer -> data about target object
- Data is passed to robot for evaluation
"""
pygame.init()
locals()
plot_num = 0
running, Clock, font = camera_connect()
while running:
Clock.tick(100)
# read framebuffer
fb = None
while (True):
try:
fb = pyopenmv.fb_dump()
break
except Exception as e:
# try and reconnect on failure
camera_connect()
# signal to UArm that camera has connected
camera_started.set()
if fb is not None:
# create image from RGB888
image = pygame.image.frombuffer(fb[2].flat[0:], (fb[0], fb[1]),
'RGB')
screen = pygame.display.set_mode((fb[0], fb[1]), pygame.DOUBLEBUF,
32)
fps = Clock.get_fps()
# blit stuff
screen.blit(image, (0, 0))
screen.blit(font.render("FPS %.2f" % (fps), 1, (255, 0, 0)),
(0, 0))
# update display
pygame.display.flip()
# get output from text buffer
tx_len = pyopenmv.tx_buf_len()
# object was found by camera if there is outputted text
if tx_len:
'''
if UArm has signaled to the camera to identify the object and the camera has not already
assigned values to the global variables associated with the object's location
'''
if camera_event.is_set() and (data_ready.is_set() is False):
# read the most recent data at index 0 from the text buffer
buff = pyopenmv.tx_buf(tx_len).decode()
split_buff = str(buff).splitlines()
if h_angle_key in split_buff[0]:
# Most recent line in buff contains needed information
global h_angle, v_angle, is_centered
tok = split_buff[0].split()
# set angles to corresponding values determined by camera
h_angle, v_angle = float(tok[1]), float(tok[3])
if tok[5] == "True":
is_centered = True
else:
is_centered = False
# signal that global variables have been set
data_ready.set()
if plot_ready.is_set():
print("success_rate: ", success_history)
plot_distance(distance_history, plot_num)
plot_success(success_history, plot_num)
plot_num += 1
plot_ready.clear()
print("success rate for ", len(success_history), " tests: ",
success_history.count(True) / len(success_history))
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
running = False
if event.key == pygame.K_c:
pygame.image.save(image, "capture.png")
pygame.quit()
pyopenmv.stop_script()