def CameraCatch(path='Kamii_Sinogi/'):
light.set_light("white", "still", True)
with picamera.PiCamera() as camera:
camera.start_preview()
time.sleep(1)
camera.capture(path + 'Face/stp.jpg')
face_token = FaceDetect(path + 'Face/stp.jpg')
light.set_solid(False)
light.set_light("blue", "still")
return face_token
def CameraJudge(setname='Sinogi', judgetimes=3, path='Kamii_Sinogi/'):
light.set_light("white", "still")
path = HistorySave(path + 'Face/history/')
with picamera.PiCamera() as camera:
camera.start_preview()
time.sleep(1)
for now in range(0, judgetimes):
camera.capture(path + '%d' % now + '.jpg')
unknownface = FaceDetect(path + '%d' % now + '.jpg')
possibleface = FaceSearch(unknownface, 'Sinogi')
if (FaceCompare(unknownface, possibleface) == 0): return 0
time.sleep(0.5)
return 1
file_open.close()
time_now = time.localtime()
# for i in setting["autoctrl_open"]:
# if cmp(time_now[3:4], i):
# with open('/home/pi/Kamii_Sinogi/Face/source/setting.json','w') as file_open:
# setting["sys_control"] = True
# json.dump(setting, file_open)
# file_open.close()
# for i in setting["autoctrl_close"]:
# if cmp(time_now[3:4],i):
# with open('/home/pi/Kamii_Sinogi/Face/source/setting.json','w') as file_close:
# setting["sys_control"] = False
# json.dump(setting,file_close)
# file_close.close()
if setting["sys_control"]==False:
light.set_light("black","still")
continue
operate.angle_qingxie = setting["steer_angle"]
operate.unlock_direction = setting["unlock_direction"]
if opt.CameraJudge() == True:
if setting["safety_mode"] == 0:
bluetooth_check = True
elif setting["safety_mode"] == 1:
bluetooth_check = False
elif setting["safety_mode"] == 2:
bluetooth_check = bluetooth.sys_bluetooth()
light.set_light("qing","sblink")
if bluetooth_check == True:
if setting["unlock_direction"] != 1:
operate.op_operate(setting["steer_angle"], 'r')
elif setting['unlock_direction'] == 1:
def op_operate(angle_qingxie=-15, unlock_direction='r'):
angle_rarm_close = 90
angle_larm_close = 90
angle_body_close = 0
angle_leg_close = 0
angle_rarm_open = -90
angle_larm_open = -90
angle_body_open = -angle_qingxie
angle_leg_open = -angle_qingxie
unlock = Adafruit_PCA9685.PCA9685()
leg = Adafruit_PCA9685.PCA9685()
body = Adafruit_PCA9685.PCA9685()
larm = Adafruit_PCA9685.PCA9685()
rarm = Adafruit_PCA9685.PCA9685()
port_rarm = 5
port_larm = 4
port_body = 2
port_leg = 1
port_unlock = 0
unlock.set_pwm_freq(60)
leg.set_pwm_freq(60)
body.set_pwm_freq(60)
larm.set_pwm_freq(60)
rarm.set_pwm_freq(60)
light.set_light("green","sblink",True)
op_set_angle(larm, port_larm, angle_larm_open)
op_set_angle(rarm, port_rarm, angle_rarm_open)
print 'Moving servo on arm to open.'
time.sleep(time_sleep)
op_set_angle(body, port_body, angle_body_open)
print 'Moving servo on body to open.'
op_set_angle(leg, port_leg, angle_leg_open)
print 'Moving servo on leg to open.'
# time.sleep(time_sleep)
if unlock_direction == 'r':
unlock.set_pwm(port_unlock, 0, num_runlock)
elif unlock_direction == 'l':
unlock.set_pwm(port_unlock, 0, num_lunlock)
print 'Unlock.'
light.set_light("green","still",True)
time.sleep(time_wait)
unlock.set_pwm(port_unlock, 0, num_lock)
print 'Lock.'
light.set_light("blue","still",True)
op_set_angle(larm, port_larm, angle_larm_close)
op_set_angle(rarm, port_rarm, angle_rarm_close)
time.sleep(4*time_sleep)
print 'Moving servo on arm to close.'
op_set_angle(body, port_body, angle_body_close)
print 'Moving servo on body to close.'
op_set_angle(leg, port_leg, angle_leg_close)
print 'Moving servo on leg to close.'
time.sleep(time_sleep)
light.set_solid(False)