def detectBallProcess(ballLocation, ballLocated):
name = multiprocessing.current_process().name
print name, " Starting"
# setup camera stream
videoProxy, cam = camera.setupCamera(ip, port)
try:
while True:
# get and process a camera frame
image = camera.getFrame(videoProxy, cam)
if image is not False:
# Check if we can find a ball, and point the head towards it if so
ballDet = camera.findBall(image)
if ballDet != False:
ballLocated.value = True
centerOnBall(ballDet, ballLocation)
print "Ball detected"
else:
ballLocated.value = False
print "No ball detected"
if cv2.waitKey(33) == 27:
videoProxy.unsubscribe(cam)
break
sleep(0.2)
except:
pass
print name, " Exiting"
def main():
global videoProxy, cam, blocked
setup()
say("Please give me the command start, to start")
# start timer
start = time()
end = time()
try:
while end - start < duration:
updateSonar()
# get and process a camera frame
image = camera.getFrame(videoProxy, cam)
if image is not False:
# Check if we can find a ball, and point the head towards it if so
ballDet = camera.findBall(image)
if not blocked:
onBallDetect(ballDet)
# close the video proxy and end the script if escape is pressed
if cv2.waitKey(33) == 27:
videoProxy.unsubscribe(cam)
break
# start a random walk
if not walking and not blocked and not foundBall:
initRandomWalk()
# look around if we are not doing much special
if not blocked and not foundBall:
# look around
lookAround()
# update time
end = time()
say("This was my presentation")
except KeyboardInterrupt:
print "Interrupted by user, shutting down"
except Exception, e:
print "Unexpected error:", sys.exc_info()[0], ": ", str(e)