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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# FollowMe Butia - Main
# Copyright (C) 2010-2013
# This program was created to use with the robot Butia.
# Butia is a project from Facultad de Ingenieria - Uruguay
# Facultad de Ingenieria web site: <http://www.fing.edu.uy/>
# Butia project web site: <http://www.fing.edu.uy/inco/proyectos/butia/>
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
#
# Contact information:
# Alan Aguiar <alanjas@gmail.com>
# Aylen Ricca <ar18_90@hotmail.com>
# Rodrigo Dearmas <piegrande46@hotmail.com>
import gtk
import pygame
from robot import Robot
from followme import FollowMe
class Main:
def __init__(self, parent):
self.parent = parent
self.clock = pygame.time.Clock()
self.calibrating = True
self.show_size = (960.0, 720.0)
self.r = None
self.c = None
def mode_calibrating(self, calibrating):
self.calibrating = calibrating
if self.calibrating:
if (self.r != None and self.r.modules != []):
self.r.stop_robot()
def put_threshold(self, threshold):
self.threshold = threshold
def put_colorC(self, colorC):
if (self.calibrating == False):
self.colorC = colorC
def put_pixels(self, pixels):
self.pixels = pixels
def put_show_size(self, show_size):
self.show_size = show_size
self.c.calc(self.show_size)
def put_grid(self, grid):
self.c.show_grid = grid
def put_color_mode(self, mode):
self.mode = mode
self.c.get_camera(self.mode)
def put_threshold_view(self, view):
self.c.use_threshold_view = view
def put_outline_view(self, outline):
self.c.use_outline_view = outline
def put_rects_view(self, rects):
self.c.use_rects_view = rects
def put_brightness(self, brightness):
self.c.brightness = brightness
self.c.set_camera_flags()
def run(self):
self.r = Robot((320, 240))
self.threshold = (25, 25, 25)
self.colorC = (255, 255, 255)
self.pixels = 10
self.show_size = (960, 720)
self.mode = 'RGB'
self.c = FollowMe(self.parent)
if (self.c.cam == None):
while gtk.events_pending():
gtk.main_iteration()
for event in pygame.event.get():
if event.type == pygame.QUIT:
break
else:
run = True
while run:
while gtk.events_pending():
gtk.main_iteration()
for event in pygame.event.get():
if event.type == pygame.QUIT:
run = False
if (self.calibrating):
self.colorC = self.c.calibrate()
if self.parent:
self.parent.put_color(self.colorC)
else:
mask, pos = self.c.get_position(self.colorC, self.threshold, self.pixels)
self.c.generate_capture_to_show()
self.c.show_centroid_position(pos)
if self.c.use_outline_view:
self.c.show_outline(mask)
if self.c.use_rects_view:
self.c.show_rects(mask)
self.c.show_in_screen(self.colorC)
if (self.r != None and self.r.modules != []):
self.r.move_robot(pos)
pygame.display.flip()
self.clock.tick(10)
self.c.stop_camera()
if self.r:
if self.r.butia:
self.r.butia.close()
self.r.butia.closeService()
if self.r.bobot:
self.r.bobot.kill()
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