def __init__(self):
self.ares = Ares(Android.robot, Android.camera, Android.info)
self.thread = None
self.lock = RLock()
self.event = Event()
from ares.main import Ares from cerebral.pack1.hippocampus import Android camera = Android.camera robot = Android.robot info = Android.info ares = Ares(robot, camera, info) data = ares.compute_vector(40000, 30000, 500, -10) print(data)
class SuperAres:
def __init__(self):
self.ares = Ares(Android.robot, Android.camera, Android.info)
self.thread = None
self.lock = RLock()
self.event = Event()
def start_follow(self):
with self.lock:
if self.thread is None:
self.thread = Thread(target=self._follow)
self.thread.start()
return True
return False
def stop(self):
with self.lock:
super_agility.stop()
super_theia.stop()
if self.thread is not None:
self.event.set()
self.thread.join()
self.thread = None
self.event.clear()
return True
def _follow(self):
# Stop robot, zero, and center head.
super_agility.stop()
super_agility.set_vector((0, 0))
agility.center_head()
if self.event.is_set():
return
# Find thing to follow.
blob = super_theia.find()
if blob is None:
return
# Get target information.
target_area = blob[2] * blob[3]
# Begin gait watcher.
super_agility.start_watch()
# Main loop.
lost_counter = 0
while not self.event.is_set():
found, bb, center = super_theia.get_status()
if found:
lost_counter = 0
# Target is good. First, get current data.
hr = agility.head_rotation()
area = bb[2] * bb[3]
x = center[0]
# Set head. This is more important than moving.
head_data = agility.look_at(center[0], center[1])
agility.move_head(head_data)
# Compute and set the direction vector.
vector = self.ares.compute_vector(target_area, area, x, hr)
super_agility.set_vector(vector)
else:
lost_counter += 1
if lost_counter > 10:
# A lot of lost frames. Target is probably out of head range. Center head, rotate body.
agility.center_head()
super_agility.set_vector((0, 0.15))
elif center is not None:
# Might have temporarily gone out of view. Scan head, auto velocity control.
agility.look_at(center[0], center[1])
agility.scan(0)
# Rest a bit. You don't need to go super super fast.
# Like, human response time is around 200 ms.
time.sleep(0.05)