def writeDATA(s):
try:
temp = sensor.read_temperature()
pascals = sensor.read_pressure()
press = pascals / 100
hum = sensor.read_humidity()
except:
print 'Sensor Error. Please try again.'
#hum = 50
#press = 1000
#temp = 85.3
print str(temp)
print str(press)
print str(hum)
t = time.strftime("%Y%m%d%H%M%S", time.localtime())
sendData(s,t, humidity = hum , pressure = press, temperature=temp)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
faces = face_cascade.detectMultiScale(gray, 1.3, 5)
#finds dimensions for each face found
for (x, y, w, h) in faces:
count = 0
cv2.rectangle(img, (x, y), (x + w, y + h), (255, 0, 0))
state = 2
centerX = x + (w / 2)
centerY = y + (h / 2)
size = w * h
if follow is False:
if centerX > 280 and centerX < 360:
while tf == True:
time.sleep(1)
client.sendData("Howdy")
#client.killSocket()
tf = False
xx, yy = keys.getHead()
if xx > 5700 and xx < 6300:
print("moves")
move2you(w)
if w >= 89 and w <= 120:
follow = True
break
else:
print("turns")
turn2center(xx)
faceLR = motion(keys, state, centerX, centerY, size, faceLR)
if len(faces) == 0:
count += 1
def getBuckets():
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
time.sleep(1)
win = "Frame"
keys = KeyControl(win)
keys.arrow('f')
time.sleep(.1)
keys.head('d')
keys.arm('sh3')
found = False
client.sendData("Entering Score Zone")
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
img = frame.array
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
hsv = hsv[0:480, 160:480]
lowerOrange = np.array([150, 0, 200])
upperOrange = np.array([165, 135, 255])
orangeMask = cv2.inRange(hsv, lowerOrange, upperOrange)
orangePath = np.argwhere(orangeMask != 0)
print(len(orangePath))
if len(orangePath) >= 500:
found = True
mean = np.mean(orangePath, axis=0)
floor = mean.astype(int)
y = floor[0]
x = floor[1]
rawCapture.truncate(0)
if found == False: #if not found, search room for bucket
keys.arrow('l')
time.sleep(.5)
keys.arrow('s')
else:
if x >= 150 and x <= 170: #if bucket is centered then go forward
if y >= 300: #if close enough, then make bucket
keys.arrow('f')
time.sleep(1.75)
keys.arrow('s')
keys.arrow('l')
time.sleep(.75)
keys.arrow('s')
keys.arrow('h2')
print("letgo")
time.sleep(2)
cv2.destroyAllWindows()
break
else: #else go forward
keys.arrow('f')
time.sleep(1)
keys.arrow('s')
if x < 150: #center bucket
keys.arrow('r')
time.sleep(.25)
keys.arrow('s')
if x > 170:
keys.arrow('l')
time.sleep(.25)
keys.arrow('s')
cv2.imshow("HSV", hsv)
cv2.imshow('Image', orangeMask)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
def getIce():
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
time.sleep(1)
win = "Frame"
keys = KeyControl(win)
keys.head('l')
keys.arm('sh1')
keys.arm('h2')
frameCount = 0
frameCountOther = 0
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
found = False
img = frame.array
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
#hsv = hsv[300:480,160:480] #make screen smaller
#pink values
lowerPink = np.array([150, 0, 200])
upperPink = np.array([165, 135, 255])
pinkMask = cv2.inRange(hsv, lowerPink, upperPink)
pinkPath = np.argwhere(pinkMask != 0)
if len(pinkPath) >= 500:
found = True
else:
found = False
if found == True:
frameCount += 1
frameCountOther = 0
else:
frameCount = 0
frameCountOther += 1
#closes hand and moves arm down after grabbing the ice
if frameCount >= 60:
client.sendData("Thank you for the pink ice")
keys.arm('h1')
time.sleep(1.5)
keys.arm('sh2')
keys.arm('u')
time.sleep(.5)
break
#asks for pink ice if it doesn't see the pink ice
if frameCountOther >= 30:
client.sendData("I Want the pink ice")
frameCountOther = 0
key = cv2.waitKey(1) & 0xFF
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cv2.imshow('Image', pinkMask)
cv2.imshow("HSV", hsv)
rawCapture.truncate(0)
camera.close()
def findHuman():
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
time.sleep(1)
win = "Frame"
keys = KeyControl(win)
keys.arrow('f')
time.sleep(.25)
client.sendData("Entering Mining Zone")
keys.head('u')
found = False
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
img = frame.array
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
faces = face_cascade.detectMultiScale(gray, 1.3, 5)
width = 0
#draws the contours around face
for (x, y, w, h) in faces:
found = True
cv2.rectangle(img, (x, y), (x + w, y + h), (255, 0, 0))
centerX = x + (w / 2)
centerY = y + (h / 2)
width = w
size = w * h
rawCapture.truncate(0)
print(found)
if found == False: #if not found, search room for face
keys.arrow('r')
time.sleep(.5)
keys.arrow('s')
else:
print(centerX)
if centerX >= 280 and centerX <= 360: #if person is centered then go forward
print("Width:", width)
if width >= 100: #if close enough, then break out of function
keys.arrow('s')
client.sendData("Give me ice")
cv2.destroyAllWindows()
break
else: #else go forward
print(w)
keys.arrow('f')
time.sleep(1)
keys.arrow('s')
if centerX < 280: #center face
keys.arrow('r')
time.sleep(.5)
keys.arrow('s')
if centerX > 360: #center face
keys.arrow('l')
time.sleep(.5)
keys.arrow('s')
cv2.imshow('Image', img)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
centerX = 160
time.sleep(.5)
camera.close()
def rockField():
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
kernel = np.ones((5, 5), np.uint8)
# allow the camera to warmup
time.sleep(1)
win = "Frame"
keys = KeyControl(win)
#keys.head('u')
keys.head('d')
pastFirstLine = False
inRocks = False
frameTime = 0
client.sendData("Entering Rock Field")
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
pic = frame.array
hsv = cv2.cvtColor(pic, cv2.COLOR_BGR2HSV)
#hsv = cv2.blur(hsv, (5,5))
hsv = hsv[300:480, 160:480]
lowerOrange = np.array([10, 50, 50])
upperOrange = np.array([35, 255, 255])
orangeMask = cv2.inRange(hsv, lowerOrange, upperOrange)
orangePath = np.argwhere(orangeMask != 0)
#values of white
lowerWhite = np.array([100, 0, 200])
upperWhite = np.array([180, 135, 255])
xLowWhite = np.array([0, 0, 200])
xUpperWhite = np.array([10, 135, 255])
#masks image to get more of the white from the folders
whiteMask1 = cv2.inRange(hsv, lowerWhite, upperWhite)
whiteMask2 = cv2.inRange(hsv, xLowWhite, xUpperWhite)
whiteMask = whiteMask1 + whiteMask2
whitePath = np.argwhere(whiteMask != 255)
cv2.imshow("HSV", hsv)
cv2.imshow("Frame", whiteMask)
#keys.arrow("f")
#time.sleep(1.5)
#print(mask)
#cv2.imshow("HSV", mask1)
#cv2.imshow("HSV1", hsv)
#pic = brighten(pic)
# pic = cv2.cvtColor(pic, cv2.COLOR_BGR2GRAY)
# ret,thresh = cv2.threshold(pic,127,255,0)
# pic = cv2.blur(pic, (3,3))
# pic = pic[420:480,160:480]
# pic = cv2.Canny(pic, 100, 170)
# pic = cv2.dilate(pic, kernel, iterations=5)
# pixels = np.argwhere(pic == 0)
orangeMean = np.mean(orangePath, axis=0)
orangeFloor = orangeMean.astype(int)
orangeY = orangeFloor[0]
orangeX = orangeFloor[1]
whiteMean = np.mean(whitePath, axis=0)
whiteFloor = whiteMean.astype(int)
whiteY = whiteFloor[0]
whiteX = whiteFloor[1]
mid = 160
#print(whiteX)
#cv2.namedWindow("Frame", cv2.WINDOW_NORMAL)
key = cv2.waitKey(1) & 0xFF
while sys.stdin in select.select([sys.stdin], [], [], 0)[0]:
line = sys.stdin.readline()
if line[0] == "q":
keys.arrow('s')
exit()
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
#checks for orange at bottom of camera for first line
#print(pastFirstLine, frameTime)
#print(inRocks)
pastFirstLine = True
#Checks if first line is crossed, if so starts short timer
if pastFirstLine == True:
frameTime += 1
if frameTime >= 60: #when timer reaches 15, declares in rockfield
inRocks = True
if inRocks == True: #if in rock field
#print("True:", orangeY)
if orangeY >= 120: #if next line in about to be crossed then break function
cv2.destroyAllWindows()
break
#print(whiteX)
#if white is not in the middle, go forward
if whiteX >= 155 and whiteX <= 165:
keys.arrow('f')
#if white is on the left side of screen, go right
if whiteX < 155:
keys.arrow('r')
#if white is on the right side of screen, go left
if whiteX > 165:
keys.arrow('l')
camera.close()
def sendData(self, data):
server = self.params["server"]
return client.sendData(server["host"], server["port"], data)