def move(direction):
# Choose the direction of the request
if direction == 'camleft':
video_dir.move_decrease_x()
elif direction == 'camright':
video_dir.move_increase_x()
elif direction == 'camup':
video_dir.move_increase_y()
elif direction == 'camdown':
video_dir.move_decrease_y()
elif direction == 'camhome':
video_dir.home_x_y()
elif direction == 'record':
subprocess.call(['motion'], shell=True)
elif direction == 'stoprecord':
subprocess.call(['./stop.sh'], shell=True)
elif direction == 'forward':
motor.forward()
elif direction == 'reverse':
motor.backward()
elif direction == 'left':
car_dir.turn_left()
elif direction == 'right':
car_dir.turn_right()
elif direction == 'stop':
motor.ctrl(0)
elif direction == 'home':
car_dir.home()
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
def on_message(ws, data):
print data
# Analyze the command received and control the car accordingly.
#if not data:
if data == ctrl_cmd[0]:
print 'motor moving forward'
motor.forward()
elif data == ctrl_cmd[1]:
print 'recv backward cmd'
motor.backward()
elif data == ctrl_cmd[2]:
print 'recv left cmd'
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'recv right cmd'
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print 'recv home cmd'
car_dir.home()
elif data == ctrl_cmd[4]:
print 'recv stop cmd'
motor.ctrl(0)
elif data == ctrl_cmd[5]:
print 'read cpu temp...'
temp = cpu_temp.read()
tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
elif data == ctrl_cmd[8]:
print 'recv x+ cmd'
video_dir.move_increase_x()
elif data == ctrl_cmd[9]:
print 'recv x- cmd'
video_dir.move_decrease_x()
elif data == ctrl_cmd[10]:
print 'recv y+ cmd'
video_dir.move_increase_y()
elif data == ctrl_cmd[11]:
print 'recv y- cmd'
video_dir.move_decrease_y()
elif data == ctrl_cmd[12]:
print 'home_x_y'
video_dir.home_x_y()
elif data[0:12] == ctrl_cmd[13]: # Change the speed
print data
#numLen = len(data) - len('speed')
#if numLen == 1 or numLen == 2 or numLen == 3:
# tmp = data[-numLen:]
# print 'tmp(str) = %s' % tmp
# spd = int(tmp)
# print 'spd(int) = %d' % spd
# if spd < 24:
# spd = 24
motor.setSpeed(30)
elif data[0:5] == 'turn=': #Turning Angle
print 'data =', data
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print 'Error: angle =', angle
elif data[0:8] == 'forward=':
print 'data =', data
spd = 30
try:
spd = int(spd)
motor.forward(spd)
except:
print 'Error speed =', spd
elif data[0:9] == 'backward=':
print 'data =', data
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backward(spd)
except:
print 'ERROR, speed =', spd
else:
print 'Command Error! Cannot recognize command: ' + data
time_now = time()
if time_now >= time_next:
time_next = time_now + time_delay
frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
frame_small = cv2.resize(frame_gray, (128, 128))
if video_output:
cv2.imshow('video', frame_small)
output_value = process_frame(frame_small)
print(output_value)
if output_value > 0.1:
car_dir.turn_left()
elif output_value < -0.1:
car_dir.turn_right()
else:
car_dir.home()
motor.forward()
#sock.sendto('ai: %.6f' % output_value, (udp_host, udp_port))
ch = cv2.waitKey(key_wait_time) & 0xFF
if ch == 27:
break
if ch == ord('q'):
break
capture.release()
cv2.destroyAllWindows()
def turn_right(self):
"""Similar to turn_left()"""
car_dir.turn_right()
