class Car(object):
"""docstring for Car"""
def __init__(self, control):
super(Car, self).__init__()
self.live_stream = None
self.camera = PiVideoStream(resolution=(320, 240), framerate=16)
self.control = control
self.driver = HumanDriver()
def exit(self):
self.camera.stop()
self.control.stop()
if self.live_stream:
self.live_stream.stop()
print('exit')
def start(self):
i2c.setup(mode_motors=3)
self.control.start()
self.camera.start()
@get_sensors
@record # inputs (camera + sensor) and output
def drive(self, img, sensors):
if self.live_stream:
self.live_stream.send(frame=img, sensors=sensors)
command = self.control.read()
if command == 'quit':
self.exit()
sys.exit(1)
elif command == 'stream':
try:
if not self.live_stream:
self.live_stream = LiveStreamClient().start()
except Exception as e:
print('live_stream', e)
elif command == 'stop':
i2c.stop()
if command == 'auto_logic_based':
if not isinstance(self.driver, LogicBasedDriver):
self.driver = LogicBasedDriver()
elif command == 'auto_neural_network':
if not isinstance(self.driver, AutonomousDriver):
ai = AutonomousDriver().start()
ai.learn()
self.driver = ai # utonomousDriver().start()
else:
self.driver = HumanDriver()
pass # human control
speed, turn = self.driver.action(command, img)
i2c.set_speed(speed)
i2c.set_turn(turn)
# CONSTRAINTS
for sonar in i2c.SONARS:
if sonar == i2c.I2C_SONAR_2:
continue
if sensors.get(str(sonar), [30])[0] < 20:
i2c.stop()
return {'command': command, 'speed': speed, 'turn': turn}
motor_x.stop()
motor_y.stop()
sys.exit(0)
# Run this file to start
if __name__ == '__main__':
# Set up QApplication
app = QApplication(sys.argv)
# Set up gui
main_window = MainWindow()
# Set up camera video stream
vs = PiVideoStream(resolution=RESOLUTION, framerate=FRAME_RATE, use_video_port=USE_VIDEO_PORT)
vs.start()
# Set up Stepper motor driver
pio = pigpio.pi()
motor_x = Stepper(pio, MM_PER_STEP, NEN_pin=X_NEN_pin, DIR_pin=X_DIR_pin, STP_pin=X_STP_pin)
motor_y = Stepper(pio, MM_PER_STEP, NEN_pin=Y_NEN_pin, DIR_pin=Y_DIR_pin, STP_pin=Y_STP_pin)
# Set up well position controller and evaluators
target_coordinates = (0, 0) # to be determined
e1 = (WellBottomFeaturesEvaluator(RESOLUTION, ENABLE_DEBUG_MODE_EVALUATOR, qtui=main_window), 1)
# e2 = (HoughTransformEvaluator(RESOLUTION, ENABLE_DEBUG_MODE), 1)
wpc = WellPositionController(SETPOINTS_FILE,
MAX_ALLOWED_ERROR_MM,
motor_x,
motor_y,
MM_PER_PIXEL,