def updateInformation(self):
def updateInformationMQ():
if self.location != None:
mq.sendLocation(self.location[0],self.location[1])
if self.realHeight != None:
mq.sendHeight(int(self.realHeight)*10)#in mm
if self.angle != None:
mq.sendAngle(int(self.angle))
if cvresult != None:
mq.sendCvResults(cvresult)
print "updating info"
cam.makePhoto("/dev/shm/autopic.jpg")
cvresult = sd.detectShapes("/dev/shm/autopic.jpg")
print "CvResult " + str(cvresult)
pA = PhotoAnalysis(zip(cvresult[2], cvresult[3]), grid, (864, 648))
if pA.locationCm != None and pA.angle != None:
self.setLocation(pA.locationCm, pA.angle)
print "Location " + str(self.location)
print "Angle " + str(self.angle)
print "GoalLocation " + str(self.goalLocation)
print "Height " + str(self.realHeight)
updateInformationMQ()
if self.goalLocation != None and nearGoal(self.location, self.goalLocation):
print "NEAR THE GOAL"
self.moving = False
if self.goalTablet != None:
#zeg tegen iPad: "Ik ben er"
askTablet(self.goalTablet)
time.sleep(1)
#PROBEER DRIE KEER
for i in range(3):
#trek een foto en lees de QR code
decodedQR = cam.makePhotoAndDecodeQRCode("iPad"+str(i)+".jpg")
time.sleep(0.23)
if not decodedQR:
continue #QR code kon niet gedecodeerd worden
#zet nieuw goal
self.parseQRCommand(decrypt(decodedQR))
break
else:
#DOEN WAT GE MOET DOEN BIJ AANKOMEN OP LOCATIE.
self.pid.setPoint(0)
self.heightCorrectionFlag = False
self.stopAllMotors()
else:
print "No Location found"
def getImage(self):
jpg = "automaticPhoto.jpg"
cam.makePhoto(jpg)
with open(jpg, "rb") as handle:
return xmlrpclib.Binary(handle.read())
import time
import randapparatuur.camera as cam
import randapparatuur.shapeDetection as sd
starttime = time.time()
cam.makePhoto("autopic.jpg")
camtime = time.time()
camelapsed = camtime - starttime
cvresult = sd.detectShapes("autopic.jpg")
elapsed = time.time()-camtime
total = time.time()-starttime
print "cvresult: " + str(cvresult)
print "cam time elapsed: " + str(camelapsed)
print "cv time elapsed: " + str(elapsed)
print "total time elapsed: " + str(total)
