def process_frontcam(image): """ process the frontcam image """ if not SCHEDULER.is_frontcam_enable(): return STATE = SCHEDULER.get_state() info = EYE.see_front(image) if SCHEDULER.debug_option["show_front_info"]: rospy.logdebug(info) if STATE == "default": # if EYE.is_boostable(image): process_acceleration(info) # signal = is_construction(image) # rospy.logdebug(signal) if STATE == "traffic_light": if is_light_green(image): TURTLE.enable() SCHEDULER.set_state("to_intersection") return if STATE == "to_intersection": signal = check_left_right_sign(image) if signal == "right": SCHEDULER.set_state("intersection_right") elif signal == "left": SCHEDULER.set_state("intersection_left") return if STATE == "intersection_right": # TODO: make algorithms for right if EYE.is_boostable(image): TURTLE.boost() SCHEDULER.set_state("to_construction") return if STATE == "intersection_left": if EYE.is_boostable(image): TURTLE.boost() SCHEDULER.set_state("to_construction") return if STATE == "to_construction": if EYE.is_boostable(image): TURTLE.boost() if is_construction(image): SCHEDULER.set_state("construction_searching") if STATE == "construction_searching": pass
def test_frontcam(image): """ process the frontcam image """ # print("image is subscribed") if not SCHEDULER.is_frontcam_enable(): return if not EYE.is_front_occupied(): STATE = SCHEDULER.get_state() if STATE == "traffic_light": signal = is_light_green(image) rospy.logdebug("[PROC] is_light_green: {}" .format(signal)) if signal: SCHEDULER.set_state("to_intersection") TURTLE.enable() TURTLE.set_speed("fast") TURTLE.set_speed_smooth("normal") elif STATE == "to_intersection": signal = check_left_right_sign(image) rospy.logdebug("[PROC] left or right: {}" .format(signal)) if signal == "right": SCHEDULER.set_state("intersection_right") elif signal == "left": SCHEDULER.set_state("intersection_left") if SCHEDULER.debug_option["show_center_slope"]: SCHEDULER.check_time("frontcam", min=0.5) info = EYE.see_front(image) if info is None: return # rospy.logdebug("[PROC] test_frontcam: state {} {}".format( # info["state"], info["horizon_position"])) # if (info["horizon_position"] < 150): # TURTLE.set_speed("fast") # TURTLE.set_speed_smooth("normal") if (info["state"] == "turning") and (info["turning_to"] is not "None"): rospy.logdebug( "[PROC] turn off for 1.5s") rospy.Timer(rospy.Duration(1.5), EYE.release_front_occupied, oneshot=True) else: rospy.Timer(rospy.Duration(0.1), EYE.release_front_occupied, oneshot=True)
def process_frontcam(image): """ process the frontcam image """ if not SCHEDULER.is_frontcam_enable(): return state = SCHEDULER.get_state() info = EYE.see_front(image) if SCHEDULER.debug_option["show_front_info"]: rospy.logdebug(info) if state == "default": # if EYE.is_boostable(image): process_acceleration(info) # SCHEDULER.set_state("to_intersection") # signal = is_construction(image) # rospy.logdebug(signal) # if is_construction(image): # TURTLE.boost() # SCHEDULER.set_state("construction") if state == "traffic_light": if is_light_green(image): TURTLE.enable() SCHEDULER.set_state("to_intersection") return # NOTE: temporary settings: if state == "to_intersection": # rospy.Timer(rospy.Duration(35), SCHEDULER.enable_lidar, oneshot=True) SCHEDULER.set_state("intersection_left") # if state == "to_intersection": # signal = check_left_right_sign(image) # if signal == "right": # SCHEDULER.set_state("intersection_right") # elif signal == "left": # SCHEDULER.set_state("intersection_left") # return if state == "intersection_right": # TODO: make algorithms for right if EYE.is_boostable(image): TURTLE.boost() SCHEDULER.set_state("to_construction") return # NOTE: temporary settings: if state == "intersection_left": # if EYE.is_boostable(image): # TURTLE.boost() # SCHEDULER.set_state("to_construction") return if state == "to_construction": # if EYE.is_boostable(image): # TURTLE.boost() EYE.check_yellow = True # if is_construction(image): # SCHEDULER.set_state("construction_searching") if state == "construction_searching": pass