def fire(self): #pull trigger
GPIO.setup(18, GPIO.OUT) ## Setup GPIO Pin 24 to OUT
GPIO.output(18, True) ## Turn on GPIO pin 24
sleep(3)
GPIO.output(18, False) ## Turn off GPIO pin 24
Timer.Countdown(self.triggerwait,
self.triggertimer).thread.start() #between fire
def fire(self): #pull trigger
self.driver.move(self.servoF, 0)
sleep(.2)
self.driver.move(self.servoF, 0.1)
sleep(.2)
self.driver.move(self.servoF, 0)
Timer.Countdown(self.triggerwait,
self.triggertimer).thread.start() #between fire
def main(display):
#init
dims = MyDims()
cam = Capture.Cam()
cam.scale(dims.scaledown)
dims.camDims(cam.w, cam.h)
#start keyboard, turret
KeyboardPoller.WaitKey().thread.start()
turret = Turret.Controller()
turret.daemon = True
turret.recenter()
turret.start()
#target
hsvtarget = None #HSV:0-180,255,255
rgbtarget = None #for display only
#motion detect mode
cam.getFrame()
avgframe = np.float32(cam.frame)
avgtimer = threading.Event()
avgstarted = False
modemotion = False
#sound warning
warningtimer = threading.Event()
warningstarted = False
while (1):
#capture frame,position
framexy = turret.xy
cam.getFrame()
if display: #default display
displayframe = cam.frame
#track target - hsv target set
if not hsvtarget == None:
#10 second arm warning
if not turret.armed:
if not warningstarted:
Timer.Countdown(1, warningtimer).thread.start()
sleep(.1) #timer set
warningstarted = True
elif not warningtimer.isSet():
warningtimer.set() #once per reset
turret.armed = True
#find best contour in hsv range
framehsv = cv2.cvtColor(cam.frame, cv2.COLOR_BGR2HSV)
framemask = cv2.inRange(framehsv, dims.hsvlower, dims.hsvupper)
if display: #color copy
displaymaskframe = cv2.cvtColor(framemask.copy(),
cv2.COLOR_GRAY2BGR)
displayframe = cv2.addWeighted(cam.frame, 0.7,
displaymaskframe, 0.3, 0)
best_cnt = getBestContour(framemask, dims.areathreshold)
if not best_cnt == None: #if match found
#get center
M = cv2.moments(best_cnt)
cx, cy = int(M['m10'] / M['m00']), int(M['m01'] / M['m00'])
#update turret
turret.sendTarget(dims.coordToPulse((cx, cy)), framexy)
if display:
#display circle target
objcenter = (cx, cy)
objradius = int(
round(math.sqrt(cv2.contourArea(best_cnt)), 2))
cv2.circle(displayframe, objcenter, objradius, (0, 0, 0),
5)
cv2.circle(displayframe, objcenter, objradius, rgbtarget,
3)
#wait for motion
if hsvtarget == None and modemotion == True:
if not avgstarted:
print "accumulating average..."
Timer.Countdown(5, avgtimer).thread.start()
sleep(.1) #timer set
avgstarted = True
if avgtimer.isSet():
cv2.accumulateWeighted(cam.frame, avgframe, 0.8)
resframe = cv2.convertScaleAbs(avgframe)
else:
print "waiting for motion..."
#mask all motion
motionmask = cv2.absdiff(cam.frame, resframe)
motionmask = cv2.cvtColor(motionmask, cv2.COLOR_RGB2GRAY)
_, motionmask = cv2.threshold(motionmask, 25, 255,
cv2.THRESH_BINARY)
if display:
displayframe = motionmask.copy()
#find best
cntmask = motionmask.copy()
cnt = getBestContour(cntmask, dims.areathreshold)
if not cnt == None:
#motion found - mask best, get mean
cv2.rectangle(motionmask, tuple([0, 0]),
tuple([cam.w, cam.h]), (0, 0, 0), -1)
cv2.drawContours(motionmask, tuple([cnt]), 0,
(255, 255, 255), -1)
rgbtarget = cv2.mean(cam.frame, motionmask)
framehsv = cv2.cvtColor(cam.frame, cv2.COLOR_BGR2HSV)
hsvtarget = cv2.mean(framehsv, motionmask)
#set target
dims.setHsvRange(hsvtarget)
modemotion = False
if display:
displayframe = cv2.resize(displayframe,
(dims.displayw, dims.displayh))
cv2.imshow('display', displayframe)
key = cv2.waitKey(1)
#transfer char from opencv window
if key > 0:
KeyboardPoller.keypressed.set()
KeyboardPoller.key = chr(key)
#key handler
if KeyboardPoller.keypressed.isSet():
if KeyboardPoller.key == "a":
turret.moveLeft()
elif KeyboardPoller.key == "q": #quit
print "Exiting..."
turret.quit()
cam.quit()
cv2.destroyAllWindows()
break
elif KeyboardPoller.key == " ": #reset all
print "Reset."
hsvtarget = None
turret.armed = True
avgstarted = False
warningstarted = False
turret.recenter()
if KeyboardPoller.key == "r": #sample center of image
print "reloading"
turret.reloadGun()
elif KeyboardPoller.key == "1": #start motion detect
print "Start motion detect."
modemotion = True
if KeyboardPoller.key == "2": #sample center of image
print "Sample center HSV."
framecenter = cam.frame[(dims.h / 2) -
dims.sampleradius:(dims.h / 2) +
dims.sampleradius, (dims.w / 2) -
dims.sampleradius:(dims.w / 2) +
dims.sampleradius]
framecenterhsv = cv2.cvtColor(framecenter, cv2.COLOR_BGR2HSV)
hsvtarget = [
int(cv2.mean(framecenterhsv)[0]),
int(cv2.mean(framecenterhsv)[1]),
int(cv2.mean(framecenterhsv)[2])
]
rgbtarget = [
int(cv2.mean(framecenter)[0]),
int(cv2.mean(framecenter)[1]),
int(cv2.mean(framecenter)[2])
]
if KeyboardPoller.key == "p": #toggle armed
turret.armed = not turret.armed
if KeyboardPoller.key == "f": #reset all
print "Firing"
turret.fire()
print "Fired"
if KeyboardPoller.key == "l": #target trigger sensitivity
turret.firesensitivity += .01
if KeyboardPoller.key == "m":
turret.firesensitivity -= .01
#if KeyboardPoller.key=="a": #hue
# dims.hsvrange[0] += dims.adjuststep
if KeyboardPoller.key == "z":
dims.hsvrange[0] -= dims.adjuststep
if KeyboardPoller.key == "s": #sat
dims.hsvrange[1] += dims.adjuststep
if KeyboardPoller.key == "x":
dims.hsvrange[1] -= dims.adjuststep
if KeyboardPoller.key == "d": #val
dims.hsvrange[2] += dims.adjuststep
if KeyboardPoller.key == "c":
dims.hsvrange[2] -= dims.adjuststep
if KeyboardPoller.key == "f": #area
dims.areathreshold += dims.adjuststep
if KeyboardPoller.key == "v":
dims.areathreshold -= dims.adjuststep
#adjust target settings/range
if not hsvtarget == None:
dims.setHsvRange(hsvtarget)
print ">> HSV:", hsvtarget[0], hsvtarget[1], hsvtarget[
2], "Range:", dims.hsvrange[0], dims.hsvrange[1], dims.hsvrange[
2], "Area:", dims.areathreshold, "Armed:", turret.armed, turret.firesensitivity
#reset key polling
KeyboardPoller.WaitKey().thread.start()
