def __programThread(self):
printf("Interpreter| ##### STARTING PROGRAM #####\n")
fpsTimer = FpsTimer(fps=30)
# Main program loop - where events are checked and run
while not self.isExiting():
# Maintain constant FPS using an FPSTimer
fpsTimer.wait()
if not fpsTimer.ready(): continue
# currRunning keeps track of what was run, so the GUI can draw it
self.currRunning = {"event": -1, "command": -1}
# Check every event, in order of the list
exitCommand = False # If the interpreter reached an "ExitProgram" command
for index, event in enumerate(self.events):
if self.isExiting(): break
if not event.isActive(): continue
# If the event has been activated, run the commandList
self.currRunning["event"] = self.events.index(event)
exitCommand = self.interpretCommandList(event.commandList)
if exitCommand: break
if exitCommand: break
self.events = []
printf("Interpreter| Interpreter Thread Ended")
self.mainThread = None
def __programThread(self):
printf("Interpreter| ##### STARTING PROGRAM #####\n")
fpsTimer = FpsTimer(fps=30)
# Main program loop - where events are checked and run
while not self.isExiting():
# Maintain constant FPS using an FPSTimer
fpsTimer.wait()
if not fpsTimer.ready(): continue
# currRunning keeps track of what was run, so the GUI can draw it
self.currRunning = {"event": -1, "command": -1}
# Check every event, in order of the list
exitCommand = False # If the interpreter reached an "ExitProgram" command
for index, event in enumerate(self.events):
if self.isExiting(): break
if not event.isActive(): continue
# If the event has been activated, run the commandList
self.currRunning["event"] = self.events.index(event)
exitCommand = self.interpretCommandList(event.commandList)
if exitCommand: break
if exitCommand: break
self.events = []
printf("Interpreter| Interpreter Thread Ended")
self.mainThread = None
def __programThread(self):
printf("\n\n\n ##### STARTING PROGRAM #####\n")
fpsTimer = FpsTimer(fps=30)
# Main program loop - where events are checked and run
while not self.isExiting():
# Maintain constant FPS using an FPSTimer
fpsTimer.wait()
if not fpsTimer.ready(): continue
# currRunning keeps track of what was run, so the GUI can draw it
self.currRunning = {}
# Check every event, in order of the list
for index, event in enumerate(self.events):
if self.isExiting(): break
if not event.isActive(): continue
# If the event has been activated, run the commandList
self.__interpretEvent(event)
# Check if a DestroyEvent exists, if so, run it's commandList
destroyEvent = list(filter(lambda event: type(event) == Events.DestroyEvent, self.events))
if len(destroyEvent):
# Make sure the robot, vision, and interpreter can respond before running the destroy event
self.setExiting(False)
self.__interpretEvent(destroyEvent[0])
# Set the robot, vision, and interpreter back to non-responsive mode after running the destroy event
self.setExiting(True)
self.mainThread = None
self.events = []
self.setExiting(False)
def __videoThread(self):
""""
A main thread that focuses soley on grabbing frames from a camera, limited only by self.fps
Thread is created at startThread, which can be called by setPaused
Thread is ended only at endThread
"""
self.frameList = []
fpsTimer = FpsTimer(self.fps)
printf("Video| Starting videoStream thread.")
while self.running:
fpsTimer.wait()
if not fpsTimer.ready(): continue
if self.setCamera is not None: self.__setNewCamera(self.setCamera)
if self.paused: continue
if self.cap is None: continue
# Get a new frame
ret, newFrame = self.cap.read()
if not ret: # If a frame was not successfully returned
printf("Video| ERROR: while reading frame from Cam. Setting camera again...")
self.__setNewCamera(self.cameraID)
cv2.waitKey(1000)
continue
# Do frame related work
with self.frameLock:
self.frame = newFrame
# Add a frame to the frameList that records the 5 latest frames for Vision uses
self.frameList.insert(0, self.frame.copy())
while len(self.frameList) > 10:
del self.frameList[-1]
# Keep track of new frames by counting them. (100 is an arbitrary number)
if self.frameCount >= 100:
self.frameCount = 0
else:
self.frameCount += 1
# Run any work functions that must be run. Expect no results. Work should be run before filters.
if len(self.workList) > 0:
# print("Work: ", self.workList)
with self.workLock:
for workFunc in self.workList:
workFunc(self.frame)
# Run any filters that must be run, save the results in self.filterFrame
if len(self.filterList) > 0:
# print("Filters: ", self.filterList)
with self.filterLock:
filterFrame = self.frame.copy()
for filterFunc in self.filterList:
filterFrame = filterFunc(filterFrame)
# Draw FPS on the screen
fps = str(int(round(fpsTimer.currentFPS, 0)))
cv2.putText(filterFrame, fps, (10, 20), cv2.FONT_HERSHEY_PLAIN, 1.25, (255, 255, 255), 2)
self.filterFrame = filterFrame
else:
self.filterFrame = self.frame
if self.cap is not None:
self.cap.release()
self.mainThread = None
def __videoThread(self):
""""
A main thread that focuses soley on grabbing frames from a camera, limited only by self.fps
Thread is created at startThread, which can be called by setPaused
Thread is ended only at endThread
"""
self.frameList = []
fpsTimer = FpsTimer(self.fps)
printf("Video| Starting videoStream thread.")
while self.running:
fpsTimer.wait()
if not fpsTimer.ready(): continue
if self.setCamera is not None: self.__setNewCamera(self.setCamera)
if self.cap is None: continue
# Get a new frame
ret, newFrame = self.cap.read()
if not ret: # If a frame was not successfully returned
printf(
"Video| ERROR: while reading frame from Cam. Setting camera again..."
)
self.__setNewCamera(self.cameraID)
cv2.waitKey(1000)
continue
# Do frame related work
with self.frameLock:
self.frame = newFrame
# Add a frame to the frameList that records the 5 latest frames for Vision uses
self.frameList.insert(0, self.frame.copy())
while len(self.frameList) > 10:
del self.frameList[-1]
# Keep track of new frames by counting them. (100 is an arbitrary number)
if self.frameCount >= 100:
self.frameCount = 0
else:
self.frameCount += 1
# Run any work functions that must be run. Expect no results. Work should be run before filters.
if len(self.workList) > 0:
# print("Work: ", self.workList)
with self.workLock:
for workFunc in self.workList:
workFunc(self.frame)
# Run any filters that must be run, save the results in self.filterFrame
if len(self.filterList) > 0:
# print("Filters: ", self.filterList)
with self.filterLock:
filterFrame = self.frame.copy()
for filterFunc in self.filterList:
filterFrame = filterFunc(filterFrame)
# Draw FPS on the screen
fps = str(int(round(fpsTimer.currentFPS, 0)))
cv2.putText(filterFrame, fps, (10, 20),
cv2.FONT_HERSHEY_PLAIN, 1.25, (255, 255, 255),
2)
self.filterFrame = filterFrame
else:
self.filterFrame = self.frame
# if self.cap is not None:
# self.cap.release()
self.mainThread = None
