def run(self):
global Count,ALPHA,BETA,HeadMoveExitFlagGlobal,GetColumnFlag,StateChangeExitFlagGlobal,Weight
print "Creating ALVideoDevice proxy to ", self.IP
nameId, camProxy = GetImgRemote.getCamID(self.IP, self.PORT, time.strftime('%X')) # please change the string if can't capture images
cv2.namedWindow('img')
#cv2.namedWindow('imgSource')
WINDOWNAME = 'AdjustColor'
cv2.namedWindow(WINDOWNAME)
cv2.resizeWindow(WINDOWNAME, 640, 480)
FindObject.creatTrackbar(WINDOWNAME, nothing)
while True:
#time.sleep(0.1)
t1=time.clock()
img = GetImgRemote.getimages(nameId, camProxy)
cv2.imshow("imgSource", img)
color = FindObject.getTrackbarValue(WINDOWNAME)
if GetColumnFlag is False:
newimg, CenterP, Count,Weight = FindObject.FindCoordinate(img, color)
else:
newimg, CenterP, Count,Weight,GarbageCenter = FindObject.FindGarbage(img,color)
if Count > 0:
#print CenterP[0][0], CenterP[0][1]
# self.memory.insertData("directionSearch", 0)
alpha, beta = Focus.FocusObject(CenterP)
#print "alpha=", alpha
#print "beta=", beta
if GetColumnFlag is False:
Focus.headMove(self.IP, self.PORT, [alpha, beta])
ALPHA = alpha
BETA = beta
else:
alpha1, beta1 = Focus.FocusObject(GarbageCenter)
Focus.headMove(self.IP, self.PORT, [alpha1, beta1])
ALPHA=alpha
BETA=beta
if Count <= 0:
# self.memory.insertData("directionSearch", 0)
ALPHA = None
BETA = None
cv2.imshow("img", newimg)
key=cv2.waitKey(1)
t2 = time.clock()
#print 'vision time:', t2 - t1
if HeadMoveExitFlagGlobal == True:
break
if key == 27:
Focus.headRest(self.IP, self.PORT)
self.motion.rest()
HeadMoveExitFlagGlobal = True
StateChangeExitFlagGlobal = True
sentence = "I stop the Head Move!"
self.tts.say(str(sentence))
Focus.headRest(self.IP,self.PORT)
