class Controller(object):
def __init__(self):
self.rcData = RCData()
self.cam = CameraData()
self.cmdManager = CommandManager()
self.actionManager = ActionManager()
self.heightController = heightControl(self.rcData)
#self.recog = Recognition(self.cam)
self.symbolList = []
self.currentCommand = None
self.board = MultiWii('/dev/ttyUSB0')
#self.loadActions()
#self.loadCommands()
#self.loadSymbols()
self.Load.loadAction()
self.Load.loadCommands()
self.Load.loadSymbols()
time.sleep(1)
def start(self): #starten van de threading en processen
self.commandThread = threading.Thread(target=self.commandHandler)
self.symbolThread = threading.Thread(target=self.compareSymbols)
self.symbolThread.start()
self.commandThread.start()
self.distance.start()
self.cam.start()
while True:
self.board.sendCMD(8, MultiWii.SEND_RAW_RC, self.rcData.toArray())
time.sleep(0.1)
def compareSymbols(self): #vergelijken van images
while self.recog.processedImage is None:
pass
oldTimestamp = None
while True:
if oldTimestamp != self.recog.timestamp:
oldTimestamp = self.recog.timestamp
diffs = [
self.recog.compareImage(self.recog.processedImage,
symbol.image)
for symbol in self.symbolList
]
filteredDiffs = [diff for diff in diffs if diff is not None]
index = diffs.index(min(filteredDiffs))
detectedSymbol = self.symbolList[index]
self.currentCommand = detectedSymbol.command
def commandHandler(self): #afhandeling van commando's.
while self.currentCommand is None:
pass
previousCommand = None
commandThread = None
while True:
if self.currentCommand != previousCommand:
previousCommand = self.currentCommand
if commandThread is not None:
self.cmdManager.stopCommand()
while commandThread.isAlive():
pass
commandThread = threading.Thread(
target=self.cmdManager.execute,
args=(self.currentCommand, ))
commandThread.start()
class Controller(object):
def __init__(self):
self.rcData = RCData()
self.cam = CameraData()
self.cmdManager = CommandManager()
self.actionManager = ActionManager()
self.heightController = heightControl(self.rcData)
#self.recog = Recognition(self.cam)
self.symbolList = []
self.currentCommand = None
self.board = MultiWii('/dev/ttyUSB0')
#self.loadActions()
#self.loadCommands()
#self.loadSymbols()
self.Load.loadAction()
self.Load.loadCommands()
self.Load.loadSymbols()
time.sleep(1)
def start(self): #starten van de threading en processen
self.commandThread = threading.Thread(target = self.commandHandler)
self.symbolThread = threading.Thread(target = self.compareSymbols)
self.symbolThread.start()
self.commandThread.start()
self.distance.start()
self.cam.start()
while True:
self.board.sendCMD(8, MultiWii.SEND_RAW_RC, self.rcData.toArray())
time.sleep(0.1)
def compareSymbols(self): #vergelijken van images
while self.recog.processedImage is None:
pass
oldTimestamp = None
while True:
if oldTimestamp != self.recog.timestamp:
oldTimestamp = self.recog.timestamp
diffs = [self.recog.compareImage(self.recog.processedImage, symbol.image) for symbol in self.symbolList]
filteredDiffs = [diff for diff in diffs if diff is not None]
index = diffs.index(min(filteredDiffs))
detectedSymbol = self.symbolList[index]
self.currentCommand = detectedSymbol.command
def commandHandler(self): #afhandeling van commando's.
while self.currentCommand is None: pass
previousCommand = None
commandThread = None
while True:
if self.currentCommand != previousCommand:
previousCommand = self.currentCommand
if commandThread is not None:
self.cmdManager.stopCommand()
while commandThread.isAlive():
pass
commandThread = threading.Thread(target = self.cmdManager.execute, args = (self.currentCommand,))
commandThread.start()
