first integration

2 files changed, 14 insertions, 8 deletions

diff --git a/nicla/road.py b/nicla/road.py
index c5ffae3..8d60dff 100644
--- a/nicla/road.py
+++ b/nicla/road.py
@@ -1,5 +1,6 @@
 import sensor, image, time, math
 import uart
+import traffic_light
 from consts import *
 
 sensor.reset()
@@ -23,8 +24,8 @@ points = [(STRETCH, HORIZON),
           (WIDTH-1+SQUEEZE, HEIGHT-1),
           (-SQUEEZE, HEIGHT-1)]
 
-def main():
-  img = sensor.snapshot()
+def drive(driveImg):
+  img = driveImg.copy()
   img.to_grayscale()
   img.replace(vflip=True, hmirror=True)
   img.rotation_corr(corners=points)
@@ -49,8 +50,14 @@ def main():
 
   steerByte = int((avg + 1.0) * (DUI_CMD_STEER_END - DUI_CMD_STEER_START) / 2 + DUI_CMD_STEER_START)
   uart.uart_buffer(steerByte)
+  sensor.dealloc_extra_fb()
 
 while(True):
-  main()
+  img = sensor.snapshot()
+  data = traffic_light.traf_lights(img)
+  if data is not None:
+      print(data)
+      uart.uart_buffer(data)
+  drive(img)
   uart.uart_buffer(DUI_CMD_SPEED_END)
   clock.tick()
diff --git a/nicla/traffic_light.py b/nicla/traffic_light.py
index 3d81139..517e2c3 100644
--- a/nicla/traffic_light.py
+++ b/nicla/traffic_light.py
@@ -30,11 +30,9 @@ def rgb2hsv(rgb):
     h = (h/6.0) % 1.0
     return (h, s, v)
 
-while(True):
-    clock.tick()
-    img = sensor.snapshot()
-    ## todo: downsample img
-    original = img.copy(copy_to_fb=True)
+
+def traf_lights(img)
+    original = img.copy()
     img = img.to_grayscale()
     for blob in img.find_blobs([(0, 60)], pixels_threshold=100):
         aspect = blob.h() / blob.w()
@@ -63,3 +61,4 @@ while(True):
         img.draw_rectangle(blob.rect())
         img.draw_circle(lights[light_status-1][0], lights[light_status-1][1], 2)
         print(("", "rood", "geel", "groen")[light_status])
+        sensor.dealloc_extra_fb()