Old Robot Vision Code

ScriptManager/ball.py

@@ -173,11 +173,14 @@ def __find_lines(input):
 
 from picamera import PiCamera
 from picamera.array import PiRGBArray
-
+from table import Table
 import io
 
+table = Table(1)
+
 grip = GripPipeline()
 
+
 def main (stop_message):
 
     def connection(stop_message):
@@ -227,13 +230,21 @@ def connection(stop_message):
             cv2.rectangle(grip.mask_output,(x1,y1),(x2,y2),(255,255,255),2)
             sideX = ((x1-x2)/2)+x2
             sideY = ((y1-y2)/2)+y2
+            width = x2-x1
             cv2.circle(grip.mask_output,(int(sideX),int(sideY)),50,(255,255,255),2)
             print("Ball found")
+
+
+            table.updateNumber((sideX, sideY))
+            table.updateNumber(width, key=1)
         except Exception as e:
             print(e)
             print("--------------")
             print("Ball not found")
-        cv2.imshow('frame',grip.mask_output)
+
+            table.updateNumber("B")
+            table.updateNumber("B", key=1)
+
         rawCap.truncate(0)
     ##    xraw.seek(0)
 

ScriptManager/listener.py

@@ -0,0 +1,23 @@
+import time
+from networktables import NetworkTables as nt
+
+nt.initialize(server="10.15.12.2")
+
+table = nt.getTable("chooser_data")
+table2 = nt.getTable("tape_data")
+table3 = nt.getTable("ball_data")
+
+def valueChanged(table, key, value, isNew):
+	print("Changed:", table, key, value)
+
+def connectionListener(info, connected):
+    print("Connected:", info, "Connection:", connected[0],"-",connected[1])
+
+nt.addConnectionListener(connectionListener)
+
+table.addEntryListener(valueChanged)
+table2.addEntryListener(valueChanged)
+table3.addEntryListener(valueChanged)
+
+while True:
+	time.sleep(5)

ScriptManager/scriptmanager.py

@@ -3,10 +3,10 @@
 from networktables import NetworkTables as nt
 
 import tape3
-import thread_example
 import ball
+import thread_example
 
-ip = "10.31.51.43"
+ip = "10.15.12.2"
 
 nt.initialize(server=ip)
 table = nt.getTable("chooser_data")
@@ -34,7 +34,7 @@ def valueChanged(table, key, value, isNew):
 
     if value != 0:
         time.sleep(1)
-        
+
         print("[*]Starting thread: {}".format(value))
         t = threading.Thread(target=target_list[value])
         t.start()

ScriptManager/table.py

@@ -0,0 +1,21 @@
+from networktables import NetworkTables as nt
+
+table_list = ["tape_data", "ball_data"]
+key_list = ["midpoint", "width"]
+
+class Table:
+
+    def __init__(self, table_number):
+        nt.initialize(server='10.31.51.43')
+        self.table = nt.getTable(table_list[table_number])
+
+    def updateNumber(self, midpoint, key = 0):
+        table = self.table
+
+        try:
+            table.putString(key_list[key],str(midpoint))
+        except Exception as e:
+            print(e)
+
+
+#https://robotpy.readthedocs.io/projects/pynetworktables/en/stable/examples.html

ScriptManager/tape3.py

@@ -20,8 +20,8 @@ def __init__(self):
 
         self.__hsv_threshold_input = self.blur_output
         self.__hsv_threshold_hue = [0.0, 180.0]
-        self.__hsv_threshold_saturation = [0.0, 47.0]
-        self.__hsv_threshold_value = [252.0, 255.0]
+        self.__hsv_threshold_saturation = [0.0, 255.0]
+        self.__hsv_threshold_value = [190.0, 255.0]
 
         self.hsv_threshold_output = None
 
@@ -113,9 +113,7 @@ def midpoint(box_list):
     else:
         y += y1
 
-    midx, midy = int(x), int(y)
-
-    return (midx, midy)
+    return (round(x,2),round(y2))
 
 #Defines bounding boxes from contours
 def find_boxes(contours):
@@ -149,13 +147,16 @@ def find_boxes(contours):
 
 from picamera.array import PiRGBArray
 from picamera import PiCamera
+from table import Table
+
+table = Table(0)
 
 BlurType = Enum('BlurType', 'Box_Blur Gaussian_Blur Median_Filter Bilateral_Filter')
 
 g = GripPipeline()
 
 #Minimum area of a bounding box
-size_threshold = 4000
+size_threshold = 250
 
 def main(stop_message):
 
@@ -173,6 +174,7 @@ def connection(stop_message):
     cam = PiCamera()
     cam.resolution = (640, 480)
     cam.framerate = 32
+    cam.exposure_mode = 'off'
     rawCap = PiRGBArray(cam, size=(640, 480))
 
     for frame in cam.capture_continuous(rawCap, format="bgr", use_video_port=True):
@@ -216,14 +218,22 @@ def connection(stop_message):
         #Draws midpoint if one exists
         if mid != 0:
 
-            cv2.circle(frame, (mid[0], mid[1]), 5, (0, 0, 255), -1)
+            cv2.circle(frame, (int(mid[0]),int(mid[1])), 5, (0, 0, 255), -1)
+            table.updateNumber((mid[0], mid[1]))
+            #table.updateNumber(-box_list[0][1][0], key=1)
+            table.updateNumber(-50, key=1)
+
             print("Midpoint:", mid)
+
+        else:
+
+            table.updateNumber("B")
+            table.updateNumber("B", key=1)
 
 
         if box_list != []:
             print("************************")
 
-        cv2.imshow('frame', frame)
 
         rawCap.truncate(0)