def __init__(self, ip=None, camOff=False, staticImage=None):
self.networkManager = NetworkManager(ip)
self.cam = Camera(ip) if camOff != True and staticImage == None else None
self.staticImage = SimpleCV.Image(staticImage) if staticImage != None else None
class Client(object):
cam = None
cardCheckList = []
fn = None
staticImage = None
pause = False
def __init__(self, ip=None, camOff=False, staticImage=None):
self.networkManager = NetworkManager(ip)
self.cam = Camera(ip) if camOff != True and staticImage == None else None
self.staticImage = SimpleCV.Image(staticImage) if staticImage != None else None
def run(self):
#create the 3 "mode object"
#self.balloonFinder = BalloonFinder()
self.cardFinder = CardFinder()
self.fsm = OilStateMachine()
while True:
mode = self.networkManager.fetchMode()
if self.staticImage == None:
frame = self.cam.getImage() if self.cam != None else None
else:
frame = self.staticImage
#switch-statement to select the mode (given by driver @ raspberry)
if mode == 'idle' or self.pause == True:
time.sleep(0.3);
elif mode == CARD:
cards = self.cardFinder.findColorOrder(frame)
if cards != None:
self.cardCheckList.append(cards)
if len(self.cardCheckList) > 1 and all(x == self.cardCheckList[-1] for x in self.cardCheckList[-3:]):
cmd = json.dumps(cards)
self.networkManager.sendCommand(self.networkManager.H_CARDS + cmd)
print cmd
elif mode == BALLOON:
#initial state, only set when it has not been set yet (therefor, initial!)
self.fn = BalloonFinder.startState(self.networkManager, frame, "blue") if self.fn == None else self.fn
#trampoline!
if callable(self.fn):
self.fn = self.fn(frame, "red")
#the oilfinder state-machine does not return periodically, but handles a main loop itself
#todo: make the oilFinder interuptable
elif mode == OIL:
self.fsm.run(startState, self.networkManager)
