def __init__(self,
width,
height,
obstacles=(),
localino_anchors=[
LocalinoAnchor(),
LocalinoAnchor(),
LocalinoAnchor()
]):
"""Initialize all things present in the environment"""
self.width = width
self.height = height
# Generate Localino Tags
wheelchair_tag = LocalinoTag()
person_tag = LocalinoTag()
# Initialize the physical objects
self.obstacles = obstacles
self.person = Person(
localino_tag=person_tag
) # person does not need to know the environment but needs a localino tag
self.wheelchair = Wheelchair(
environment=self, localino_tag=wheelchair_tag
) # wheelchair's sensors need to know the environement and it contains a localino tag
# Initialize the services
self.localino_service = LocalinoService(anchors=localino_anchors,
wheelchair_tag=wheelchair_tag,
person_tag=person_tag)
self.alexa = Alexa()
# Initialize the pi
self.pi = Pi(alexa=self.alexa,
lidar=self.wheelchair.lidar,
localino=self.localino_service,
encoder=self.wheelchair.encoder,
berryimu=self.wheelchair.berryimu)
# Verify that all objects are in a valid position
if not self.verify():
print("Invalid Initial State")
os.setpgrp()
hosts = ['192.168.1.20', '192.168.1.21']
"""
One power strip has ip 192.168.1.20; the other, .21
x.x.x.20 will control bulbs 0-5
x.x.x.21 will control bulbs 6-11
"""
power_strip_on_list = Array('i', 13)
# Create a "CheckFace" object, in webcam_pulse/lib/check_face_visible.py
face_check_process = CheckFace(camera_obj=camera_obj)
# Start a process to request all bulbs to turn off.
# Pi process defined in control_pi.py
pi = Pi(hosts=hosts)
pi.start()
pi.join()
# Processes are dead; continue.
# Use camera to get a pulse from a face
# Perform this _once_ initially
pulse_val = 0
App = getPulseApp(args, camera_obj)
# Generate a pulse
while pulse_val == 0 or pulse_val == -1:
pulse_val = App.main_loop()
time.sleep(1.0 / 16.0)
pulse_val = App.bpm
