def detect_lines(frame):
#print ('lines')
if frame == 0:
pixy.change_prog ("line")
line_get_all_features ()
i_count = line_get_intersections (100, intersections)
v_count = line_get_vectors (100, vectors)
try:
max_vectors = filter_vectors(vectors, v_count)
if max_vectors:
move(degrees(get_angle(add_vectors(max_vectors))))
except KeyboardInterrupt:
stop()
def run(self):
try:
server_socket.bind(address)
except:
print colored("Address already in use", "red")
server_socket.close()
sys.exit(0)
print colored("Socket ready", "blue")
while True:
recv_data, addr = server_socket.recvfrom(2048)
hostIP = addr[0]
try:
host = gethostbyaddr(hostIP)[0]
except:
host = hostIP
port = addr[1]
# print("Address: " + str(addr))
# print("Host's IP: " + str(hostIP) + ", Hostname: " + str(host) + ", Port: " + str(port))
if host == "Xav'sPad" or "BenPiOne" or "Guspi" or "snail" or "localhost" or "fxapi":
pass
else: # It's malicious
print colored("Unauthorised connection attempted - " + str(host) + " - closing socket", "red")
server_socket.close()
print colored("Socket closed to everyone", "red")
break
if recv_data == "Client connected":
print colored("Client " + str(host) + " connected - and is friendly", "red")
sendToUI("Welcome!")
if recv_data == "Client disconnected":
print colored("Client " + str(host) + " disconnected", "red")
sendToUI("Goodbye!")
if (recv_data in CMDS) == True:
motors.move(recv_data)
cam.camera(recv_data)
cam.servo(recv_data)
if recv_data == " ":
pass
elif recv_data not in CMDS: # if it's not any of the above, it's something else and we need to know what
print colored("Received: %s" % recv_data, "blue") # print out the message
# print colored("Length: %.0f" % len(recv_data), 'blue') # print out the length of the message
print colored("Sender hostname: " + str(host), "blue") # print out the sender's IP
def moveDirection(req, time=3):
direction = req["direction"]
print("Moving: " + direction)
move(direction)
print("Finished Moving")
("m_reserved", c_uint),
("m_angle", c_uint) ]
vectors = VectorArray(100)
intersections = IntersectionLineArray(100)
frame = 0
while 1:
line_get_all_features ()
i_count = line_get_intersections (100, intersections)
v_count = line_get_vectors (100, vectors)
'''
if i_count > 0 or v_count > 0:
print ('frame %3d:' % (frame))
frame = frame + 1
for index in range (0, i_count):
print ('[INTERSECTION: INDEX=%d ANGLE=%d]' % (intersections[index].m_index, intersections[index].m_angle))
for index in range (0, v_count):
print ('[VECTOR: (%3d %3d) (%3d %3d)]' % (vectors[index].m_x0, vectors[index].m_y0, vectors[index].m_x1, vectors[index].m_y1))
'''
try:
max_vectors = filter_vectors(vectors, v_count)
if max_vectors:
move(degrees(get_angle(add_vectors(max_vectors))))
except KeyboardInterrupt:
stop()
#print(max_vectors)
from flask import Flask, render_template, Response, flash, request, redirect, url_for, make_response
import motors
import os
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BCM) #set up GPIO
GPIO.setwarnings(False)
# Raspberry pi camera module (reqires picamera package)
from camera_pi import Camera
app = Flask(__name__) #set up flask server
app.secret_key = os.urandom(24)
motor = motors.move() #create motor object
############# routes ############
@app.route('/')
def index():
return render_template('index.html')
@app.route('/video_feed')
def video_feed():
return Response(gen(Camera()),
mimetype='multipart/x-mixed-replace; boundary=frame')
#Uses methods from motors.py to send commands to the GPIO to operate the motors
def navigate(self):
lastOrientationDegree = 0;
turn_degrees_needed = 0;
turn_degrees_accum = 0;
imu = Imu();
#clean angle;
imu.get_delta_theta();
#Condition distance more than 2 meters.
while distance > 2 and self.stopNavigation != False:
#print("degrees: ", imu.NORTH_YAW);
#print("coords: ", imu.get_gps_coords());
#print("orientation degrees", orientationDegree);
if(lastOrientationDegree != orientationDegree):
turn_degrees_needed = orientationDegree;
turn_degrees_accum = 0;
#clean angle;
imu.get_delta_theta();
lastOrientationDegree = orientationDegree;
#If same direction, keep route
#while math.fabs(turn_degrees_needed) > 10:
imu_angle = imu.get_delta_theta()['z']%360;
if(imu_angle > 180):
imu_angle = imu_angle - 360;
#print("grados imu: ", imu_angle);
#threshold
if(math.fabs(imu_angle) > 1):
turn_degrees_accum += imu_angle;
#print("grados acc: ", turn_degrees_accum);
turn_degrees_needed = (orientationDegree + turn_degrees_accum)%360;
if(turn_degrees_needed > 180):
turn_degrees_needed = turn_degrees_needed - 360;
elif (turn_degrees_needed < -180):
turn_degrees_needed = turn_degrees_needed + 360;
#print("grados a voltear: ", turn_degrees_needed);
if(math.fabs(turn_degrees_needed) < 10):
print("Tengo un margen menor a 10 grados");
velocity = destiny['distance'] * 10;
if (velocity > 300):
velocity = 200;
motors.move(velocity, velocity);
else:
#girar
if(turn_degrees_needed > 0):
print("Going to move left")
motors.move(70, -70);
else:
print("Going to move right")
motors.move(-70, 70);
#ir derecho;
#recorrer 2 metros
destiny = imu.get_degrees_and_distance_to_gps_coords(latitude2, longitud2);
#time.sleep(1);
motors.move(0,0);
print("End thread Navigation");