class ScripterExt(Scripter):
def run_main(self):
args = self.get_args()
connection = args.connection
if connection is None:
conn_str = self.n_cfg.udp_ext['picam_1_to_robot']
else:
conn_str = connection
self.logger.log_info("Starting camera, connecting robot")
self.camera = PicamImpl(PicamImpl.RAW_BAYER)
self.dconn = DronekitConnector(conn_str)
self.logger.log_info("Startup complete")
dirname = 'sc_%d' % int(time.time())
self.camera.set_save_directory(dirname)
started = False
self.logger.log_info("Start mission capture")
while not self.exit_all_loops:
if self.dconn.get_mode() == 'AUTO':
started = True
try:
self.camera.capture_single()
except Exception as e:
self.logger.log_error("Could not capture frame: %s" % e)
if started and self.dconn.get_mode() != 'AUTO':
break
def close_script(self):
try:
self.dconn.disconnect()
except:
pass
def run_main(self):
args = self.get_args()
args_ = {}
if args.pin is None:
raise Exception("Servo pin required")
else:
try:
args_['servo_pin'] = int(args.pin)
except:
raise Exception("Valid servo pin required")
self.fpw = FilterPosWheel(**args_)
camera = PicamImpl()
camera.set_save_directory('tests', 'filter_pos')
while not self.exit_threads:
progress("\
n: rotate to next filter\n\
p: rotate to previous filter\n\
a: capture image\n\
e: exit\n\
filter id, >0 : rotate to filter no.\n\
")
try:
c = input()
if c == "n":
self.logger.log_info("Rotate to next filter...")
self.fpw.rotate_to_next()
self.logger.log_info("Filter reached: %d" %
self.fpw.filter_id)
elif c == "p":
self.logger.log_info("Rotate to previous filter...")
self.fpw.rotate_to_prev()
self.logger.log_info("Filter reached: %d" %
self.fpw.filter_id)
elif c == "e":
self.logger.log_info("Exiting...")
break
elif c == "a":
self.logger.log_info("Capturing image...")
camera.capture_single()
else:
try:
fid = int(c)
self.logger.log_info("Rotate to filter %d..." % fid)
self.fpw.rotate_to_filter(fid)
self.logger.log_info("Filter reached: %d" %
self.fpw.filter_id)
except:
self.logger.log_info("Got keyboard input %s" % c)
except Exception as e:
self.logger.log_debug(e)
def run_main(self):
args = self.get_args()
args_ = {}
if args.pin is None:
raise Exception("Servo pin required")
else:
args_['servo_pin'] = args.pin
if args.filters is None:
raise Exception("Filter count required")
else:
args_['filter_count'] = args.filters
if args.c_thresh:
args_['c_threshold'] = args.c_thresh
# else:
# args_['c_threshold'] = 1000
if args.c_thresh_var:
args_['c_threshold_var'] = args.c_thresh_var
# else:
# args_['c_threshold'] = 50
fcw = FilterContWheel(**args_)
if args.speed:
speed = args.speed
else:
speed = 0.5
camera = PicamImpl()
camera.set_save_directory('tests', 'filter_cont')
while not self.exit_threads:
progress("====================================\n\
n: rotate to next filter\n\
r: rotate at current set speed\n\
s: stop rotation\n\
w: increase speed (max 1)\n\
q: decrease speed (min -1)\n\
d: check if notch is detected\n\
c: calibrate c threshold\n\
a: capture image\n\
e: exit\n\
filter id, >0 : rotate to filter no.\n\
====================================\n\
")
try:
c = input()
if c == "n":
self.logger.log_info("Rotate to next filter...")
fcw.rotate_to_next(speed)
self.logger.log_info("Filter reached: %d" % fcw.filter_id)
elif c == "r":
self.logger.log_info("Rotate at speed %f" % speed)
fcw.rotate(speed)
elif c == "s":
fcw.halt()
self.logger.log_info("Rotation stopped")
elif c == "w":
if speed < 1.0:
speed += 0.1
self.logger.log_info("Speed set to %f" % speed)
elif c == "q":
if speed > -1.0:
speed -= 0.1
self.logger.log_info("Speed set to %f" % speed)
elif c == "d":
self.logger.log_info("Check notch detected...")
detected = str(fcw.is_notch_detected())
self.logger.log_info("Notch detected: %s" % detected)
elif c == "c":
self.logger.log_info("Calibrating c threshold...")
a = fcw.detect_c_threshold()
self.logger.log_info("C threshold found: %d" %
fcw.c_threshold)
self.logger.log_info("C threshold found: %s" % str(a))
elif c == "a":
self.logger.log_info("Capturing image...")
camera.capture_single()
elif c == "e":
self.logger.log_info("Exiting...")
break
else:
try:
fid = int(c)
except:
self.logger.log_info("Got keyboard input %s" % c)
else:
self.logger.log_info("Rotate to filter %d..." % fid)
fcw.rotate_to_filter(fid)
self.logger.log_info("Filter reached: %d" %
fcw.filter_id)
except Exception as e:
self.logger.log_debug(e)
#!/usr/bin/env python3
import time
import sys
import signal
import threading
from picam_lib import PicamImpl
#### Setup
print("Starting camera, connecting robot")
camera = PicamImpl(PicamImpl.RAW_BAYER)
subdir = "swc_" % int(time.time())
camera.set_save_directory(subdir)
print("Startup complete")
#### Functions
exit_all_loops = False
exit_code = 1
def _sigint_handler(sig, frame):
global exit_all_loops
exit_all_loops = True
def _sigterm_handler(sig, frame):
global exit_all_loops, exit_code
exit_all_loops = True