def hyperloop():
imageFolder = None
imageNum = 0
logger = Logger('relog')
logger.setLogLevel('debug')
logger.info('Started replay')
state = State()
for p in sys.argv:
if (os.path.isdir(p)):
imageFolder = p
elif (p.isdigit()):
imageNum = int(p)
elif (p == "-lap"):
state.Approaching = Signal.LAP
elif (p == "-up"):
state.Approaching = Signal.UPPER
elif (p == "-lo"):
state.Approaching = Signal.LOWER
elif (p == "-s"):
state.Approaching = Signal.UPPER
if (state.Approaching != Signal.LAP):
state.setStopSignal(1)
camera = Camera(None, True)
if imageFolder:
# program loop
files = sorted_aphanumeric(os.listdir(imageFolder))
while True:
try:
file = os.path.join(imageFolder, files[imageNum])
logger.info("[" + str(imageNum) + "] Loaded file: " + file)
image = cv2.imread(file, 1)
camera.capture(image)
key = cv2.waitKey(0) & 0xFF
if key == ord("n"):
# cv2.destroyAllWindows()
if (imageNum + 1 < len(files)):
imageNum += 1
elif key == ord("b"):
# cv2.destroyAllWindows()
if (imageNum - 1 >= 0):
imageNum -= 1
elif key == ord('q'):
break
except KeyboardInterrupt:
break
except Exception as e:
logger.logError(e)
traceback.print_exc(limit=3, file=sys.stdout)
logger.info('Stopped')
def hyperloop():
logger = Logger()
logger.setLogLevel('info')
logger.info('Started')
state = State()
for p in sys.argv:
if (p == "--standalone" or p == "-s"):
state.Standalone = True
logger.info("Standalone mode activated")
elif (p == "--nocamera" or p == "-n"):
state.NoImageTransfer = True
logger.info("Camera image transfer X11 disabled")
elif (p == "--record" or p == "-r"):
state.RecordImage = True
logger.info("Record mode activated")
elif (p == "--measure" or p == "-m"):
state.MeasureMode = True
logger.info("Measure mode activated")
elif (p == "--invert" or p == "-i"):
state.InvertCamera = True
logger.info("Inverted camera activated")
vs = PiVideoStream(resolution=(480, 368), framerate=32).start()
piCamera = vs.camera
piCamera.exposure_mode = 'sports'
piCamera.ISO = 1600
camera = Camera(vs, not state.NoImageTransfer)
# camera warmup
camera.warmup()
communication = Communication(logger)
acceleration = Acceleration(logger)
# reads any input incoming over UART / i2c / GPIO
communication.readThreadStart()
# measure acceleration
acceleration.measureThreadStart()
fps = FPS().start()
# program loop
while True:
try:
if ((not state.Stopped and state.Loaded) or state.Standalone):
# if (state.StopSignalNum == 0 or (state.Approaching and not state.StopSignalNum == 0) or state.Standalone):
# capture image from videostream and analyze
camera.capture()
fps.update()
if (state.StopSignalNum == 0 and state.LapSignalCount < 2 and not state.Approaching == Signal.UPPER):
communication.sendSpeedPercent(25)
state.Approaching = Signal.UPPER
logger.info("Approaching upper signal")
# if we found our stop signal, announce it
elif (state.StopSignalNum != 0 and not state.StopSignalAnnounced):
communication.sendSpeedPercent(100)
communication.buzzSignalNumber(state.StopSignalNum)
state.setStopSignalAnnounced(True)
state.Approaching = Signal.LAP
logger.info("Approaching lap signal")
# if we passed the lap signal twice, deccelerate to X percent
elif (state.StopSignalAnnounced and state.LapSignalCount >= 2 and not state.Approaching == Signal.LOWER):
communication.sendSpeedPercent(25)
state.Approaching = Signal.LOWER
logger.info("Approaching lower signal")
elif (state.StopSignalAnnounced and state.StopSignalNum == state.CurrentNum and not state.ApproachStop):
communication.sendApproachStop()
communication.sendSpeedPercent(25)
state.ApproachStop = True
logger.info("Approaching stop")
if (cv2.waitKey(1) & 0xFF) == ord('q'):
break
except KeyboardInterrupt:
break
except Exception as e:
logger.logError(e)
traceback.print_exc(limit=3, file=sys.stdout)
fps.stop()
communication.sendStartStop('stop')
time.sleep(1)
logger.info('FPS: ' + str(fps.fps()))
logger.info('Aborting running threads')
communication.readThreadStop()
acceleration.measureThreadStop()
logger.info('Stopped')
