示例#1
0
 def __init__(self, width, height, depth = 3, title = "Camera View", parent = None, visible = 0):
    """
    To specify the resolution of a particular camera, overload this
    constructor with one that initalizes the dimensions itself
    """
    PyrobotImage.__init__(self, width, height, depth, 0)
    Device.__init__(self, 'camera')
    self.app = 0
    self.title = title
    self.filterMode = 1
    self.callbackList = []
    self.filterResults = []
    self.callbackTextList = []
    # specific camera type will define self.rgb = (0, 1, 2) offsets
    # and self.format = "RGB", for example
    self.lastWindowUpdate = 0
    self.updateWindowInterval = 0.0 # update window once a second
    self.update() # call it once to initialize
    self.image = []
    self.data = self.data
    self.grayscale = []
    self.height = self.height
    self.width = self.width
    self.depth = self.depth
    self.filters = self.callbackTextList
    # Required:
    self.startDevice()
    # make these visible by default
    if visible and self.vision:
       self.makeWindow()
示例#2
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 def __init__(self, portname=None, baudrate=None):
     Device.__init__(self, deviceType='ptz')
     if portname == None or baudrate == None:
         if portname == None:
             portname = '/dev/ttyS3'
         if baudrate == None:
             baudrate = 9600
         result = ask("Please enter the parameters for the Canon PTZ",
                      (("Port name", portname),
                       ("Baud rate", baudrate),
                       ))
     else:
         result = {'Port name': portname, 'Baud rate': baudrate}
     self.port = serial.Serial(result['Port name'],
                               baudrate=result['Baud rate'])
     self._send(controlModePacket())
     self._send(initPacket())
     self._send(opticalZoomPacket(0))
     self._send(digitalZoomPacket(1))
     self._send(panSlewPacket(MAX_PAN_SLEW))
     self._send(tiltSlewPacket(MAX_TILT_SLEW))
     self._send(defaultTiltRangePacket())
     self._pan = 0
     self._tilt = 0
     self._zoom = 0
     self._magnify = 1
     self._panSpeed = MAX_PAN_SLEW
     self._tiltSpeed = MAX_TILT_SLEW
     self.supports = ['pan', 'tilt', 'zoom', 'magnify']
     print 'Canon PTZ device ready'
示例#3
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 def __init__(self, portname=None, baudrate=None):
     Device.__init__(self, deviceType='ptz')
     if portname == None or baudrate == None:
         if portname == None:
             portname = '/dev/ttyS3'
         if baudrate == None:
             baudrate = 9600
         result = ask("Please enter the parameters for the Canon PTZ", (
             ("Port name", portname),
             ("Baud rate", baudrate),
         ))
     else:
         result = {'Port name': portname, 'Baud rate': baudrate}
     self.port = serial.Serial(result['Port name'],
                               baudrate=result['Baud rate'])
     self._send(controlModePacket())
     self._send(initPacket())
     self._send(opticalZoomPacket(0))
     self._send(digitalZoomPacket(1))
     self._send(panSlewPacket(MAX_PAN_SLEW))
     self._send(tiltSlewPacket(MAX_TILT_SLEW))
     self._send(defaultTiltRangePacket())
     self._pan = 0
     self._tilt = 0
     self._zoom = 0
     self._magnify = 1
     self._panSpeed = MAX_PAN_SLEW
     self._tiltSpeed = MAX_TILT_SLEW
     self.supports = ['pan', 'tilt', 'zoom', 'magnify']
     print 'Canon PTZ device ready'
示例#4
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 def __init__(self, robot):
     Device.__init__(self, "ptz")
     self.robot = robot
     # Turn on head remote control if off:
     self.robot.setRemoteControl("Head Remote Control", "on")
     time.sleep(1) # pause for a second
     self.dev   = Listener(self.robot.PORT["Head Remote Control"],
                           self.robot.host)
     self.supports = ["pan", "tilt", "roll"]
     self.pose = [0, 0, 0, 0]
示例#5
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 def __init__(self, robot):
     Device.__init__(self, "ptz")
     self.robot = robot
     # Turn on head remote control if off:
     self.robot.setRemoteControl("Head Remote Control", "on")
     time.sleep(1)  # pause for a second
     self.dev = Listener(self.robot.PORT["Head Remote Control"],
                         self.robot.host)
     self.supports = ["pan", "tilt", "roll"]
     self.pose = [0, 0, 0, 0]
示例#6
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 def __init__(self, robot, what, width=400, height=120):
     Device.__init__(self, "view")
     self.width = width
     self.height = height
     self.what = what
     self.robot = robot
     self.dataMin = 0
     self.dataMax = robot.range.getMaxvalue()
     self.dataWindowSize = 400
     self.dataSample = 1
     self.dataCount = 0
     self.lastRun = 0
     self.dataHist = [0] * self.robot.range.count
     self.source = self.what
     self.startDevice()
     self.makeWindow()
示例#7
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 def __init__(self, robot, what, width = 400, height = 120):
     Device.__init__(self, "view")
     self.width = width
     self.height = height
     self.what = what
     self.robot = robot
     self.dataMin = 0
     self.dataMax = robot.range.getMaxvalue()
     self.dataWindowSize = 400
     self.dataSample = 1
     self.dataCount = 0
     self.lastRun = 0
     self.dataHist = [0] * self.robot.range.count
     self.source = self.what
     self.startDevice()
     self.makeWindow()
示例#8
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 def __init__(self, dev = "/dev/dsp", sampleTime = 1.0, fake = 0):
     """
     This is an async device with no update(). 
     dev: sound card device name
     sampleTime: time, in seconds, in which to sample
     """
     Device.__init__(self, "frequency")
     self.fake = fake
     self.deviceName = dev
     self.status = "closed"
     self.number_of_channels= 1
     self.sample_rate= 14400
     self.sample_width= 1
     self.format = ossaudiodev.AFMT_U8
     self.sampleTime = sampleTime
     self.results = [1]*6
     self.lastFreq = int(self.sample_rate * self.sampleTime/ 2.0)
     self.setAsync(1)
示例#9
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 def __init__(self, dev="/dev/dsp", sampleTime=1.0, fake=0):
     """
     This is an async device with no update(). 
     dev: sound card device name
     sampleTime: time, in seconds, in which to sample
     """
     Device.__init__(self, "frequency")
     self.fake = fake
     self.deviceName = dev
     self.status = "closed"
     self.number_of_channels = 1
     self.sample_rate = 14400
     self.sample_width = 1
     self.format = ossaudiodev.AFMT_U8
     self.sampleTime = sampleTime
     self.results = [1] * 6
     self.lastFreq = int(self.sample_rate * self.sampleTime / 2.0)
     self.setAsync(1)
示例#10
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 def __init__(self, robot):
     Device.__init__(self, "laser")
     self.robot = robot
     count = 90
     part = int(count / 8)
     start = 0
     posA = part
     posB = part * 2
     posC = part * 3
     posD = part * 4
     posE = part * 5
     posF = part * 6
     posG = part * 7
     end = count
     self.groups = {
         'all': range(count),
         'right': range(0, posB),
         'left': range(posF, end),
         'front': range(posC, posE),
         'front-right': range(posB, posD),
         'front-left': range(posD, posF),
         'front-all': range(posB, posF),
         'right-front': range(posA, posB),
         'right-back': range(start, posA),
         'left-front': range(posF, posG),
         'left-back': range(posG, end),
         'back-right': [],
         'back-left': [],
         'back': [],
         'back-all': []
     }
     self.units = "ROBOTS"
     self.noise = 0.0
     self.arc = 1.0 * PIOVER180  # in radians
     # -------------------------------------------
     self.rawunits = "METERS"
     self.maxvalueraw = 10.0
     # -------------------------------------------
     # These are fixed in meters: DO NOT CONVERT ----------------
     self.radius = 0.750  # meters
     # ----------------------------------------------------------
     self.count = count
示例#11
0
文件: robocup.py 项目: is44c/pyrobot
 def __init__(self, robot):
     Device.__init__(self, "laser")
     self.robot = robot
     count = 90
     part = int(count/8)
     start = 0
     posA = part
     posB = part * 2
     posC = part * 3
     posD = part * 4
     posE = part * 5
     posF = part * 6
     posG = part * 7
     end = count
     self.groups = {'all': range(count),
                    'right': range(0, posB),
                    'left': range(posF, end),
                    'front': range(posC, posE),
                    'front-right': range(posB, posD),
                    'front-left': range(posD, posF),
                    'front-all': range(posB, posF),
                    'right-front': range(posA, posB),
                    'right-back': range(start, posA),
                    'left-front': range(posF,posG),
                    'left-back': range(posG,end),
                    'back-right': [],
                    'back-left': [],
                    'back': [],
                    'back-all': []}
     self.units    = "ROBOTS"
     self.noise    = 0.0
     self.arc      = 1.0 * PIOVER180 # in radians
     # -------------------------------------------
     self.rawunits = "METERS"
     self.maxvalueraw = 10.0
     # -------------------------------------------
     # These are fixed in meters: DO NOT CONVERT ----------------
     self.radius = 0.750 # meters
     # ----------------------------------------------------------
     self.count = count
示例#12
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 def __init__(self, robot):
     Device.__init__(self, "simulation")
     self.robot = robot
示例#13
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文件: robocup.py 项目: is44c/pyrobot
 def __init__(self, robot):
     Device.__init__(self, "simulation")
     self.robot = robot
示例#14
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def INIT(robot):
    return {"simple": Device()}