def runLeft(state, speed, direction):
[
leftval, rightval, lflag, lcount, rcount, leftpoint, rightpoint,
cntlower, cntupper
] = state
lcount += 1
if (lcount >= 2):
if leftpoint == 0:
customControlServer.stop()
leftpoint = 1
if leftpoint == 1:
if cntlower == 0:
print("left1")
move_onetimeLeft(speed[0])
a = cntupper
elif cntlower != 0 or cntupper > leftval + 2:
lcount += 1
if lcount >= 2:
leftpoint = 0
rightpoint = 0
lcount = 0
lflag = 1
else:
print("left3")
move_onetimeLeft(speed[0])
elif direction > 3:
leftpoint = 1
rightpoint = 0
else:
print("left2")
move_onetimeLeft(speed[0])
return [leftval, lflag, lcount, leftpoint, rightpoint]
def runRight(state, speed, direction):
[
leftval, rightval, lflag, lcount, rcount, leftpoint, rightpoint,
cntlower, cntupper
] = state
rcount += 1
if (rcount >= 4):
if rightpoint == 0:
customControlServer.stop()
rightpoint = 1
if rightpoint == 1:
if cntupper == 0:
print("right1")
move_onetimeRight(speed[0])
b = cntlower
elif cntupper != 0 or cntlower > rightval + 2:
rcount = rcount + 1
if rcount >= 2:
leftpoint = 0
rightpoint = 0
rcount = 0
rflag = 1
else:
print("right3")
move_onetimeRight(speed[0])
elif direction < -3:
leftpoint = 0
rightpoint = 1
else:
print("right2")
move_onetimeRight(speed[0])
return [rightval, rflag, rcount, leftpoint, rightpoint]
direction = car.whereControl()
if len(ListLowerZero[0]) == 0:
leftpoint = 2
lflag = 0
elif len(ListUpperZero[0]) == 0:
rightpoint = 2
rflag = 0
state = [
leftval, rightval, lflag, lcount, rcount, leftpoint,
rightpoint,
len(ListLowerZero[0]),
len(ListUpperZero[0])
]
speed = [lrspeed, slrspeed]
if stopflag == 1:
customControlServer.stop()
else:
[
leftval, rightval, lflag, lcount, rcount, leftpoint,
rightpoint
] = mv.move_autocar(direction, state, speed)
print('sinhodong =' + str(TrafficLight) + 'rider' +
str(lider.liderflag))
print("leftpoint" + len(ListUpperZero[0]) + "rightpoint" +
len(ListLowerZero[0]))
t1 = time.time()
t2 = time.time()
cv2.imshow("ROI", lines_img)
# cv2.imshow('cdstP',cdstP)
#cv2.imshow('source', mask)
def move_onetimeRight(speed):
customControlServer.forward()
time.sleep(0.1)
customControlServer.right(speed)
time.sleep(0.1)
customControlServer.stop()
def move_onetimeLeft(speed):
customControlServer.forward()
time.sleep(0.25)
customControlServer.left(speed)
time.sleep(0.1)
customControlServer.stop()