def test_drive_distance_at_lower_bound(self):
img_src = self._pictures_dir + "straight_no_turn_3in.jpg"
follower = Follower(test_img_src=img_src)
follower.follow()
self.assertEqual(follower._speed, 0)
def test_drive_distance_valid(self):
img_src = self._pictures_dir + "straight_no_turn_5in.jpg"
follower = Follower(test_img_src=img_src)
follower.follow()
self.assertEqual(follower._speed, LEADER_MAX_SPEED)
def test_drive_distance_below_lower_bound(self):
img_src = self._pictures_dir + "straight_no_turn_third_car_length.jpg"
follower = Follower(test_img_src=img_src)
follower.follow()
self.assertAlmostEqual(follower._speed, 0)
def test_detect_tag_not_found(self):
img_src = self._pictures_dir + "no_tag.jpg"
follower = Follower(test_img_src=img_src)
follower.follow()
self.assertEqual(follower._tag_data, self._default_tag_data)
def test_detect_tag_found(self):
img_src = self._pictures_dir + "straight_no_turn_5in.jpg"
follower = Follower(test_img_src=img_src)
follower.follow()
self.assertNotEqual(follower._tag_data, self._default_tag_data)
def main():
tag = TagRecognition()
bt = Bluetoothctl()
BT_ADDR = "5C:BA:37:26:6D:9A"
# If an ARTag is detected, the vehicle will become a follower.
# If an ARTag is not detected, the vehicle will become a leader.
if tag.detect():
vehicle = Follower()
else:
if not is_controller_connected():
# If a controller is not connected, remove it to avoid problems
# connecting with it again.
disconnect_and_remove_device(bt, BT_ADDR)
bt.start_scan()
while not is_controller_connected():
bt.connect(BT_ADDR)
sleep(Follower.CYCLE_TIME)
vehicle = Leader()
# This loop makes the vehicle move. If the vehicle sees an ARTag then
# it is a follower vehicle, otherwise it is a leader vehicle.
timer_set = False
start_time = time.time()
while True:
tag_visible = tag.detect()
if isinstance(vehicle, Leader):
vehicle.lead()
if tag_visible:
while is_controller_connected():
bt.disconnect('5C:BA:37:26:6D:9A')
sleep(Follower.CYCLE_TIME)
vehicle = Follower()
else:
vehicle.follow()
if tag_visible:
timer_set = False
elif not timer_set:
start_time = time.time()
timer_set = True
if (time.time() - start_time) > 5 and timer_set:
timer_set = False
disconnect_and_remove_device(bt,BT_ADDR)
bt.start_scan()
bt.connect('5C:BA:37:26:6D:9A')
sleep(Follower.CYCLE_TIME)
if is_controller_connected():
vehicle = Leader()
else:
start_time = time.time()
timer_set = True
def main() -> None:
args = parseArguments()
follower = Follower(args["detector"], args["tracker"], args["classifier"],
args["sourceFPS"], args["videoIn"], args["useGPU"])
follower.setHyperparam(slowStartPhase=args["firstPhase"],
trackOverDetect=args["ratioToverD"],
k=args["knn"],
driftRatio=0.05,
driftTollerance=100)
follower.setLogParam(showLog=args["showLog"],
destImgs=args["imgsOut"],
destVideo=args["videoOut"],
destFps=10)
while True:
end = follower.follow()
if end is None:
break
elif end == (-1, -1):
print("Unknown position...")
else:
print("Leader position:", end)
