def web_socket_transfer_data(request):
#function is called when a websocket connection is established
sp = sphero.Sphero()
print "Connected to Web-Client"
while True:
try:
data = json.loads(msgutil.receive_message(
request)) #read websocket and deserialize the JSON object
command = data["command"]
listDevicesThread = None
connectionThread = None
if (command == "listDevices"):
print 'list spheros'
devices = sp.findSpheros()
jDev = []
for d in devices:
jDev.append({'name': d[1], 'address': d[0]})
print "found: ", jDev
if len(jDev) == 0:
print "Pair Sphero to computer via Bluetooth Manager first."
print "Then, try to select address again."
msgutil.send_message(request, json.dumps(
jDev)) #serialize list into JSON and send over the socket
elif (command == "cancelListDevices"):
print "cancel device search"
listDevicesThread.terminate()
listDevicesThread = None
elif (command == "connectToDevice"):
name = data["name"]
address = data["address"]
print "connect to: ", name, address
try:
sp.connect(address)
msgutil.send_message(request,
json.dumps({'connected': True}))
print "connection successful"
except Exception, e:
print str(e)
msgutil.send_message(request,
json.dumps({'connected': False}))
print "connection failed"
elif (command == "cancelConnection"):
print "cancel attempted connection"
connectionThread.terminate()
connectionThread = None
elif (command == "disconnect"):
try:
sp.disconnect()
except:
pass
xcord, ycord = np.indices(values.shape)
bright = np.zeros(values.shape, values.dtype)
prod = np.zeros(values.shape, np.int64)
overlaid = np.zeros(small.shape, small.dtype)
red = [0, 0, 255]
cv2.imshow('hsv', values)
cv2.namedWindow("overlay")
cv2.setMouseCallback("overlay", recordTarget)
cv2.imshow('overlay', overlaid)
targetX = bright.shape[0] / 2
targetY = bright.shape[1] / 2
if doSphero:
s = sphero.Sphero()
connect()
last = startTime = datetime.datetime.now()
frames = 0
fps = 0
while True:
flag, frame = cam.read()
cv2.resize(frame, smallSize, small, interpolation=cv2.INTER_LINEAR)
#small = cv2.pyrDown(frame)
cv2.cvtColor(small, cv2.COLOR_BGR2HSV, hsv)
values = hsv[:, :, 2]
cv2.imshow('hsv', values)
#%% Imports
import sphero #it allows you to conect with your sphero, you have this library in your RBMS folder
import numpy as np
import astar
#%%
sph = sphero.Sphero(
'68:86:E7:07:5A:69'
) # connection with the sphero (you should look for the adress in your bluetooth setings)
#%%
sph.set_rgb(
255, 0,
0) # with this function you can change the colours(RGB) of your sphero
import time
#%%
#nmap=
#path = astar.find_path(nmap, (), (0,0))
path = [(0, 36), (36, 36), (35, 0), (36, 1)]
current = (0, 0)
for i in range(0, len(path)):
nextp = path[i]
vel = np.sqrt((current[1] - nextp[1])**2 + (nextp[0] - current[0])**2)
#dev=float(nextp[1]-current[1])/(nextp[0]-current[0])
alfa = (np.pi) / 2 - (np.arctan2(nextp[1] - current[1],
(nextp[0] - current[0])))
print(alfa)
from os import sys, path
sys.path.append(path.dirname(path.dirname(path.abspath(__file__))))
import sphero
import pyglet
from pyglet.window import key
window = pyglet.window.Window(360, 360)
s = sphero.Sphero('/dev/rfcomm0')
print("connect sphero")
try:
s.connect()
except:
print("err!")
s.close()
print("""Bluetooth info:name: %s \nbta: %s """ %
(s.get_bluetooth_info().name, s.get_bluetooth_info().bta))
@window.event
def on_key_press(symbol, modifiers):
if symbol == key.SPACE:
print("space")
s.set_rotation_rate(0x00)
elif symbol == key.UP:
print("UP")
s.roll(0xFF, 0)
elif symbol == key.RIGHT:
print("RIGHT")
s.roll(0xFF, 90)
elif symbol == key.DOWN: