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()
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'
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'
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]
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]
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()
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()
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)
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)
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
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
def __init__(self, robot):
Device.__init__(self, "simulation")
self.robot = robot
def __init__(self, robot):
Device.__init__(self, "simulation")
self.robot = robot
def INIT(robot):
return {"simple": Device()}