def main():
try:
camera_control = CameraControl()
camera_control.start()
while True:
qrcode = camera_control.get_qr_code()
if qrcode:
print qrcode
time.sleep(1)
except KeyboardInterrupt:
camera_control.stop()
camera_control.join()
def __init__(self):
""" Constructs the World """
self.sky = SkyDome("Resources/Models/skydome.egg")
self.sky.sky.setScale(Vec3(10, 10, 10))
self.setupPhysX()
self.setup3DAudio()
self.car = Car(self.physxScene, self.audio3d, "defender.xml")
self.car.setActiveAudioProfile('outside')
self.setupLight()
self.initTrack()
taskMgr.add(self.simulate, 'PhysX Simulation')
# To to use Steering Wheel change inputHandler to SteeringControl
self.inputHandler = KeyControl(self.car)
#self.inputHandler = SteeringControl( self.car )
self.cameraControl = CameraControl(self.car)
self.cameraControl.enableTowerCamera()
self.speedometer = Speedometer()
render.setShaderAuto()
self.accept('escape', sys.exit)
def main():
servo_control = ServoControl(11)
servo_control.setup_gpio()
camera_control = CameraControl()
camera_control.start()
try:
camera_control.wait_for_camera()
while True:
scanned_qrcode = []
if is_at_start(camera_control):
# If at start we will work towards left
print('is_at_start')
direction = DIRECTION_LEFT
state = STATE_START
#elif is_at_end(camera_control):
# # If at the end we will work towards right
# print('is_at_end')
# direction = DIRECTION_RIGHT
# state = STATE_STOP
else:
# If not at start or not at end, move to start
print('Not at start or end, moving to start')
state = move_to_start(camera_control, servo_control)
direction = DIRECTION_LEFT
servo_control.move_stop()
while True:
curr_state = work(camera_control, servo_control,
scanned_qrcode, direction, state)
state = curr_state
if state == STATE_STOP:
print('at stop')
break
time.sleep(1)
except KeyboardInterrupt:
servo_control.stop()
camera_control.stop()
camera_control.join()
def __init__(self):
""" Constructs the World """
self.sky = SkyDome( "Resources/Models/skydome.egg" )
self.sky.sky.setScale( Vec3( 10,10,10))
self.setupPhysX()
self.setup3DAudio()
self.car = Car( self.physxScene, self.audio3d, "defender.xml" )
self.car.setActiveAudioProfile( 'outside' )
self.setupLight()
self.initTrack()
taskMgr.add(self.simulate, 'PhysX Simulation')
# To to use Steering Wheel change inputHandler to SteeringControl
self.inputHandler = KeyControl( self.car )
#self.inputHandler = SteeringControl( self.car )
self.cameraControl = CameraControl( self.car )
self.cameraControl.enableTowerCamera()
self.speedometer = Speedometer();
render.setShaderAuto()
self.accept( 'escape', sys.exit )
class World( DirectObject ):
""" Dynamic world """
def __init__(self):
""" Constructs the World """
self.sky = SkyDome( "Resources/Models/skydome.egg" )
self.sky.sky.setScale( Vec3( 10,10,10))
self.setupPhysX()
self.setup3DAudio()
self.car = Car( self.physxScene, self.audio3d, "defender.xml" )
self.car.setActiveAudioProfile( 'outside' )
self.setupLight()
self.initTrack()
taskMgr.add(self.simulate, 'PhysX Simulation')
# To to use Steering Wheel change inputHandler to SteeringControl
self.inputHandler = KeyControl( self.car )
#self.inputHandler = SteeringControl( self.car )
self.cameraControl = CameraControl( self.car )
self.cameraControl.enableTowerCamera()
self.speedometer = Speedometer();
render.setShaderAuto()
self.accept( 'escape', sys.exit )
# To turn on physx visual debugging, uncomment below
#self.enablePhysxDebug()
def initTrack(self):
""" Loads the track model and the collision model for it. """
kitchen = PhysxKitchen()
trackCollision = loader.loadModel( "Resources/Models/TrackCollision.egg" )
fenceCollision = loader.loadModel( "Resources/Models/FenceCollision.egg")
self.track = loader.loadModel( "Resources/Models/Track.egg" )
triMeshDesc = PhysxTriangleMeshDesc()
triMeshDesc.setFromNodePath( trackCollision )
triMesh = kitchen.cookTriangleMesh( triMeshDesc )
triMeshShapeDesc = PhysxTriangleMeshShapeDesc()
triMeshShapeDesc.setMesh( triMesh )
triMeshDesc2 = PhysxTriangleMeshDesc()
triMeshDesc2.setFromNodePath( fenceCollision )
triMesh2 = kitchen.cookTriangleMesh( triMeshDesc2 )
triMeshShapeDesc2 = PhysxTriangleMeshShapeDesc()
triMeshShapeDesc2.setMesh( triMesh2 )
actor = PhysxActorDesc()
actor.setName( 'trackcollision' )
actor.addShape( triMeshShapeDesc )
actor.addShape( triMeshShapeDesc2 )
self.physxtrack = self.physxScene.createActor( actor )
self.track.reparentTo( render )
loader.loadModel( "Resources/Models/Fence.egg" ).reparentTo( self.track )
loader.loadModel( "Resources/Models/Rocks.egg" ).reparentTo( self.track )
linfog = Fog( "Fog" )
linfog.setColor( Vec4( 0.8, 0.85, 0.8, 1 ) )
linfog.setExpDensity( 0.003 )
self.track.attachNewNode(linfog)
render.setFog(linfog)
def enablePhysxDebug(self):
""" Turns on physx visual debuggging """
self.debugNP = render.attachNewNode(self.physxScene.getDebugGeomNode())
self.debugNP.node().on()
self.debugNP.node().visualizeWorldAxes(True)
def setupPhysX(self):
""" Sets up the physx world """
self.physx = PhysxManager.getGlobalPtr()
sceneDesc = PhysxSceneDesc()
sceneDesc.setGravity(Vec3(0, 0, -9.81))
self.physxScene = self.physx.createScene(sceneDesc)
mGround = self.physxScene.getMaterial( 0 )
mGround.setRestitution(0.0)
mGround.setStaticFriction(0.8)
mGround.setDynamicFriction(0.2)
def setup3DAudio(self):
""" Initializes the 3D audio manager """
self.audio3d = Audio3DManager( base.sfxManagerList[0], base.cam )
def setupLight(self):
""" Sets up the scene lighting """
ambient_source = AmbientLight('ambient')
ambient_source.setColor(Vec4( 0.6, 0.65, 0.7, 1 ))
ambient = render.attachNewNode(ambient_source.upcastToPandaNode())
render.setLight( ambient )
sun = render.attachNewNode( DirectionalLight( 'sun' ) )
sun.node().setScene( render )
render.setLight( sun )
sun.reparentTo( self.car.chassisModel )
sun.setH( -60 )
sun.setP( -60 )
sun.setPos( 0, 0, 10 )
sun.node().getLens().setFov( 70 )
sun.node().getLens().setNearFar( 1, 20 )
sun.node().getLens().setFilmSize( 16, 16 )
sun.node().setColor( Vec4( 1, 0.96, 1, 1 ))
sun.node().setShadowCaster( True )
self.sun = sun
def simulate(self, task):
""" Simulation loop, called every frame """
dt = globalClock.getDt()
self.physxScene.simulate(dt)
self.physxScene.fetchResults()
self.car.simulate(dt)
self.cameraControl.simulate(dt)
self.sun.setH( render, -60 )
self.sun.setP( render, -60 )
self.speedometer.updateSpeedometer( self.car.speed )
self.inputHandler.simulate( dt )
return task.cont
class World(DirectObject):
""" Dynamic world """
def __init__(self):
""" Constructs the World """
self.sky = SkyDome("Resources/Models/skydome.egg")
self.sky.sky.setScale(Vec3(10, 10, 10))
self.setupPhysX()
self.setup3DAudio()
self.car = Car(self.physxScene, self.audio3d, "defender.xml")
self.car.setActiveAudioProfile('outside')
self.setupLight()
self.initTrack()
taskMgr.add(self.simulate, 'PhysX Simulation')
# To to use Steering Wheel change inputHandler to SteeringControl
self.inputHandler = KeyControl(self.car)
#self.inputHandler = SteeringControl( self.car )
self.cameraControl = CameraControl(self.car)
self.cameraControl.enableTowerCamera()
self.speedometer = Speedometer()
render.setShaderAuto()
self.accept('escape', sys.exit)
# To turn on physx visual debugging, uncomment below
#self.enablePhysxDebug()
def initTrack(self):
""" Loads the track model and the collision model for it. """
kitchen = PhysxKitchen()
trackCollision = loader.loadModel(
"Resources/Models/TrackCollision.egg")
fenceCollision = loader.loadModel(
"Resources/Models/FenceCollision.egg")
self.track = loader.loadModel("Resources/Models/Track.egg")
triMeshDesc = PhysxTriangleMeshDesc()
triMeshDesc.setFromNodePath(trackCollision)
triMesh = kitchen.cookTriangleMesh(triMeshDesc)
triMeshShapeDesc = PhysxTriangleMeshShapeDesc()
triMeshShapeDesc.setMesh(triMesh)
triMeshDesc2 = PhysxTriangleMeshDesc()
triMeshDesc2.setFromNodePath(fenceCollision)
triMesh2 = kitchen.cookTriangleMesh(triMeshDesc2)
triMeshShapeDesc2 = PhysxTriangleMeshShapeDesc()
triMeshShapeDesc2.setMesh(triMesh2)
actor = PhysxActorDesc()
actor.setName('trackcollision')
actor.addShape(triMeshShapeDesc)
actor.addShape(triMeshShapeDesc2)
self.physxtrack = self.physxScene.createActor(actor)
self.track.reparentTo(render)
loader.loadModel("Resources/Models/Fence.egg").reparentTo(self.track)
loader.loadModel("Resources/Models/Rocks.egg").reparentTo(self.track)
linfog = Fog("Fog")
linfog.setColor(Vec4(0.8, 0.85, 0.8, 1))
linfog.setExpDensity(0.003)
self.track.attachNewNode(linfog)
render.setFog(linfog)
def enablePhysxDebug(self):
""" Turns on physx visual debuggging """
self.debugNP = render.attachNewNode(self.physxScene.getDebugGeomNode())
self.debugNP.node().on()
self.debugNP.node().visualizeWorldAxes(True)
def setupPhysX(self):
""" Sets up the physx world """
self.physx = PhysxManager.getGlobalPtr()
sceneDesc = PhysxSceneDesc()
sceneDesc.setGravity(Vec3(0, 0, -9.81))
self.physxScene = self.physx.createScene(sceneDesc)
mGround = self.physxScene.getMaterial(0)
mGround.setRestitution(0.0)
mGround.setStaticFriction(0.8)
mGround.setDynamicFriction(0.2)
def setup3DAudio(self):
""" Initializes the 3D audio manager """
self.audio3d = Audio3DManager(base.sfxManagerList[0], base.cam)
def setupLight(self):
""" Sets up the scene lighting """
ambient_source = AmbientLight('ambient')
ambient_source.setColor(Vec4(0.6, 0.65, 0.7, 1))
ambient = render.attachNewNode(ambient_source.upcastToPandaNode())
render.setLight(ambient)
sun = render.attachNewNode(DirectionalLight('sun'))
sun.node().setScene(render)
render.setLight(sun)
sun.reparentTo(self.car.chassisModel)
sun.setH(-60)
sun.setP(-60)
sun.setPos(0, 0, 10)
sun.node().getLens().setFov(70)
sun.node().getLens().setNearFar(1, 20)
sun.node().getLens().setFilmSize(16, 16)
sun.node().setColor(Vec4(1, 0.96, 1, 1))
sun.node().setShadowCaster(True)
self.sun = sun
def simulate(self, task):
""" Simulation loop, called every frame """
dt = globalClock.getDt()
self.physxScene.simulate(dt)
self.physxScene.fetchResults()
self.car.simulate(dt)
self.cameraControl.simulate(dt)
self.sun.setH(render, -60)
self.sun.setP(render, -60)
self.speedometer.updateSpeedometer(self.car.speed)
self.inputHandler.simulate(dt)
return task.cont
