def run():
global direction_command, turn_command, SmoothMode, steadyMode
moving_threading = threading.Thread(
target=move_thread) #Define a thread for moving
moving_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
moving_threading.start() #Thread starts
info_threading = threading.Thread(
target=info_send_client) #Define a thread for communication
info_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() #Thread starts
#info_threading=threading.Thread(target=FPV_thread) #Define a thread for FPV and OpenCV
#info_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
#info_threading.start() #Thread starts
ws_R = 0
ws_G = 0
ws_B = 0
Y_pitch = 300
Y_pitch_MAX = 600
Y_pitch_MIN = 100
while True:
data = ''
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif 'forward' == data:
direction_command = 'forward'
elif 'backward' == data:
direction_command = 'backward'
elif 'DS' in data:
direction_command = 'stand'
elif 'left' == data:
turn_command = 'left'
elif 'right' == data:
turn_command = 'right'
elif 'leftside' == data:
turn_command = 'left'
elif 'rightside' == data:
turn_command = 'right'
elif 'TS' in data:
turn_command = 'no'
elif 'headup' == data:
move.look_up()
elif 'headdown' == data:
move.look_down()
elif 'headhome' == data:
move.look_home()
elif 'headleft' == data:
move.look_left()
elif 'headright' == data:
move.look_right()
elif 'wsR' in data:
try:
set_R = data.split()
ws_R = int(set_R[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif 'wsG' in data:
try:
set_G = data.split()
ws_G = int(set_G[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif 'wsB' in data:
try:
set_B = data.split()
ws_B = int(set_B[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif 'FindColor' in data:
LED.breath_status_set(1)
fpv.FindColor(1)
tcpCliSock.send(('FindColor').encode())
elif 'WatchDog' in data:
LED.breath_status_set(1)
fpv.WatchDog(1)
tcpCliSock.send(('WatchDog').encode())
elif 'steady' in data:
LED.breath_status_set(1)
LED.breath_color_set('blue')
steadyMode = 1
tcpCliSock.send(('steady').encode())
elif 'funEnd' in data:
LED.breath_status_set(0)
fpv.FindColor(0)
fpv.WatchDog(0)
steadyMode = 0
tcpCliSock.send(('FunEnd').encode())
elif 'Smooth_on' in data:
SmoothMode = 1
tcpCliSock.send(('Smooth_on').encode())
elif 'Smooth_off' in data:
SmoothMode = 0
tcpCliSock.send(('Smooth_off').encode())
elif 'Switch_1_on' in data:
switch.switch(1, 1)
tcpCliSock.send(('Switch_1_on').encode())
elif 'Switch_1_off' in data:
switch.switch(1, 0)
tcpCliSock.send(('Switch_1_off').encode())
elif 'Switch_2_on' in data:
switch.switch(2, 1)
tcpCliSock.send(('Switch_2_on').encode())
elif 'Switch_2_off' in data:
switch.switch(2, 0)
tcpCliSock.send(('Switch_2_off').encode())
elif 'Switch_3_on' in data:
switch.switch(3, 1)
tcpCliSock.send(('Switch_3_on').encode())
elif 'Switch_3_off' in data:
switch.switch(3, 0)
tcpCliSock.send(('Switch_3_off').encode())
elif 'CVFL' in data: #2 start
if not FPV.FindLineMode:
FPV.FindLineMode = 1
tcpCliSock.send(('CVFL_on').encode())
else:
# move.motorStop()
# FPV.cvFindLineOff()
FPV.FindLineMode = 0
tcpCliSock.send(('CVFL_off').encode())
elif 'Render' in data:
if FPV.frameRender:
FPV.frameRender = 0
else:
FPV.frameRender = 1
elif 'WBswitch' in data:
if FPV.lineColorSet == 255:
FPV.lineColorSet = 0
else:
FPV.lineColorSet = 255
elif 'lip1' in data:
try:
set_lip1 = data.split()
lip1_set = int(set_lip1[1])
FPV.linePos_1 = lip1_set
except:
pass
elif 'lip2' in data:
try:
set_lip2 = data.split()
lip2_set = int(set_lip2[1])
FPV.linePos_2 = lip2_set
except:
pass
elif 'err' in data: #2 end
try:
set_err = data.split()
err_set = int(set_err[1])
FPV.findLineError = err_set
except:
pass
elif 'setEC' in data: #Z
ECset = data.split()
try:
fpv.setExpCom(int(ECset[1]))
except:
pass
elif 'defEC' in data: #Z
fpv.defaultExpCom()
else:
pass
def run():
global direction_command, turn_command, SmoothMode, steadyMode
moving_threading = threading.Thread(
target=move_thread) #Define a thread for moving
moving_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
moving_threading.start() #Thread starts
info_threading = threading.Thread(
target=info_send_client) #Define a thread for information sending
info_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() #Thread starts
ws_R = 0
ws_G = 0
ws_B = 0
Y_pitch = 300
Y_pitch_MAX = 600
Y_pitch_MIN = 100
while True:
data = ''
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif 'forward' == data:
direction_command = 'forward'
elif 'backward' == data:
direction_command = 'backward'
elif 'DS' in data:
direction_command = 'stand'
elif 'left' == data:
turn_command = 'left'
elif 'right' == data:
turn_command = 'right'
elif 'leftside' == data:
turn_command = 'left'
elif 'rightside' == data:
turn_command = 'right'
elif 'TS' in data:
turn_command = 'no'
elif 'headup' == data:
move.look_up()
elif 'headdown' == data:
move.look_down()
elif 'headhome' == data:
move.look_home()
elif 'headleft' == data:
move.look_left()
elif 'headright' == data:
move.look_right()
elif 'wsR' in data:
try:
set_R = data.split()
ws_R = int(set_R[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif 'wsG' in data:
try:
set_G = data.split()
ws_G = int(set_G[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif 'wsB' in data:
try:
set_B = data.split()
ws_B = int(set_B[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif 'steady' in data:
LED.breath_status_set(1)
LED.breath_color_set('blue')
steadyMode = 1
tcpCliSock.send(('steady').encode())
elif 'funEnd' in data:
LED.breath_status_set(0)
steadyMode = 0
tcpCliSock.send(('FunEnd').encode())
elif 'Smooth_on' in data:
SmoothMode = 1
tcpCliSock.send(('Smooth_on').encode())
elif 'Smooth_off' in data:
SmoothMode = 0
tcpCliSock.send(('Smooth_off').encode())
elif 'Switch_1_on' in data:
switch.switch(1, 1)
tcpCliSock.send(('Switch_1_on').encode())
elif 'Switch_1_off' in data:
switch.switch(1, 0)
tcpCliSock.send(('Switch_1_off').encode())
elif 'Switch_2_on' in data:
switch.switch(2, 1)
tcpCliSock.send(('Switch_2_on').encode())
elif 'Switch_2_off' in data:
switch.switch(2, 0)
tcpCliSock.send(('Switch_2_off').encode())
elif 'Switch_3_on' in data:
switch.switch(3, 1)
tcpCliSock.send(('Switch_3_on').encode())
elif 'Switch_3_off' in data:
switch.switch(3, 0)
tcpCliSock.send(('Switch_3_off').encode())
else:
pass
def FindColor(self, invar):
global FindColorMode
FindColorMode = invar
if not FindColorMode:
move.look_home()