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import sensor, image, time, math
import uart
import signs_detect
import traffic_light
from consts import *
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.HVGA)
sensor.skip_frames(time = 4000)
clock = time.clock()
WIDTH = 480
HEIGHT = 320
MAX_AREA = WIDTH * HEIGHT / 10
MIN_AREA = 40
HORIZON = 150
STRETCH = 40
SQUEEZE = 400
STEERING_ENTHOUSIASM = 3.0
ROAD_MIN_BRIGHTNESS = 0xa0
points = [(STRETCH, HORIZON),
(WIDTH-1-STRETCH, HORIZON),
(WIDTH-1+SQUEEZE, HEIGHT-1),
(-SQUEEZE, HEIGHT-1)]
def drive(driveImg):
img.to_grayscale()
img.replace(vflip=True, hmirror=True)
img.rotation_corr(corners=points)
img.gaussian(3)
offset_sum = 0.0
offset_count = 0.0
for blob in img.find_blobs([(ROAD_MIN_BRIGHTNESS, 0xff)], pixels_threshold=100):
img.draw_rectangle(blob.rect())
area_weight = MIN_AREA + min(MAX_AREA, blob.w() * blob.h()) # limit max area_weight so small blobs still have impact
horizontal_pos = (blob.x() + blob.w()/2) / WIDTH
offset_sum += horizontal_pos * area_weight
offset_count += area_weight
# dit tegen niemand zeggen
if offset_count < 0.01: return
avg = offset_sum / offset_count
avg = avg * 2 - 1
avg *= STEERING_ENTHOUSIASM
avg = max(-1, min(1, avg))
print(avg)
steerByte = int((avg + 1.0) * (DUI_CMD_STEER_END - DUI_CMD_STEER_START) / 2 + DUI_CMD_STEER_START)
uart.uart_buffer(steerByte)
speed = signs_detect.init_kpts("speed")
stop = signs_detect.init_kpts("stop")
car = signs_detect.init_kpts("image")
while(True):
img = sensor.snapshot()
data = traffic_light.traf_lights(img)
if data is not None:
uart.uart_buffer(data)
sign_img = sensor.snapshot()
data_sign = signs_detect.sign_detection(sign_img)
if data_sign is not None:
uart.uart_buffer(data_sign)
drive_img = sensor.snapshot()
drive(drive_img)
#uart.uart_buffer(DUI_CMD_SPEED_END)
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