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OptFlow: fixup line endings

master
Kevin Hester 11 years ago committed by Randy Mackay
parent
fce1277b0e
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a7820e6c71
3 changed files with 215 additions and 215 deletions
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  1. 360
      libraries/AP_OpticalFlow/examples/ADNS3080ImageGrabber/ADNS3080ImageGrabber.py
  2. 20
      libraries/AP_OpticalFlow/examples/ADNS3080ImageGrabber/README.txt
  3. 50
      libraries/AP_OpticalFlow/keywords.txt

360
libraries/AP_OpticalFlow/examples/ADNS3080ImageGrabber/ADNS3080ImageGrabber.py
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# File: ADNS3080ImageGrabber.py
import serial
import string
import math
import time
from Tkinter import *
from threading import Timer
comPort = 'COM8' #default com port
comPortBaud = 115200
class App:
grid_size = 15
num_pixels = 30
image_started = FALSE
image_current_row = 0;
ser = serial.Serial()
pixel_dictionary = {}
def __init__(self, master):
# set main window's title
master.title("ADNS3080ImageGrabber")
frame = Frame(master)
frame.grid(row=0,column=0)
self.comPortStr = StringVar()
self.comPort = Entry(frame,textvariable=self.comPortStr)
self.comPort.grid(row=0,column=0)
self.comPort.delete(0, END)
self.comPort.insert(0,comPort)
self.button = Button(frame, text="Open", fg="red", command=self.open_serial)
self.button.grid(row=0,column=1)
self.entryStr = StringVar()
self.entry = Entry(frame,textvariable=self.entryStr)
self.entry.grid(row=0,column=2)
self.entry.delete(0, END)
self.entry.insert(0,"I")
self.send_button = Button(frame, text="Send", command=self.send_to_serial)
self.send_button.grid(row=0,column=3)
self.canvas = Canvas(master, width=self.grid_size*self.num_pixels, height=self.grid_size*self.num_pixels)
self.canvas.grid(row=1)
## start attempts to read from serial port
self.read_loop()
def __del__(self):
self.stop_read_loop()
def open_serial(self):
# close the serial port
if( self.ser.isOpen() ):
try:
self.ser.close()
except:
i=i # do nothing
# open the serial port
try:
self.ser = serial.Serial(port=self.comPortStr.get(),baudrate=comPortBaud, timeout=1)
print("serial port '" + self.comPortStr.get() + "' opened!")
except:
print("failed to open serial port '" + self.comPortStr.get() + "'")
def send_to_serial(self):
if self.ser.isOpen():
self.ser.write(self.entryStr.get())
print "sent '" + self.entryStr.get() + "' to " + self.ser.portstr
else:
print "Serial port not open!"
def read_loop(self):
try:
self.t.cancel()
except:
aVar = 1 # do nothing
#print("reading")
if( self.ser.isOpen() ) :
self.read_from_serial();
self.t = Timer(0.0,self.read_loop)
self.t.start()
def stop_read_loop(self):
try:
self.t.cancel()
except:
print("failed to cancel timer")
# do nothing
def read_from_serial(self):
if( self.ser.isOpen() ):
while( self.ser.inWaiting() > 0 ):
self.line_processed = FALSE
line = self.ser.readline()
# process the line read
if( line.find("-------------------------") == 0 ):
self.line_processed = TRUE
self.image_started = FALSE
self.image_current_row = 0
if( self.image_started == TRUE ):
if( self.image_current_row >= self.num_pixels ):
self.image_started == FALSE
else:
words = string.split(line,",")
if len(words) >= 30:
self.line_processed = TRUE
x = 0
for v in words:
try:
colour = int(v)
except:
colour = 0;
#self.display_pixel(x,self.image_current_row,colour)
self.display_pixel(self.num_pixels-1-self.image_current_row,self.num_pixels-1-x,colour)
x += 1
self.image_current_row += 1
else:
print("line " + str(self.image_current_row) + "incomplete (" + str(len(words)) + " of " + str(self.num_pixels) + "), ignoring")
#print("bad line: " + line);
if( line.find("image data") >= 0 ):
self.line_processed = TRUE
self.image_started = TRUE
self.image_current_row = 0
# clear canvas
#self.canvas.delete(ALL) # remove all items
#display the line if we couldn't understand it
if( self.line_processed == FALSE ):
print( line )
def display_default_image(self):
# display the grid
for x in range(0, self.num_pixels-1):
for y in range(0, self.num_pixels-1):
colour = x * y / 3.53
self.display_pixel(x,y,colour)
def display_pixel(self, x, y, colour):
if( x >= 0 and x < self.num_pixels and y >= 0 and y < self.num_pixels ) :
#find the old pixel if it exists and delete it
if self.pixel_dictionary.has_key(x+y*self.num_pixels) :
self.old_pixel = self.pixel_dictionary[x+y*self.num_pixels]
self.canvas.delete(self.old_pixel)
del(self.old_pixel)
fillColour = "#%02x%02x%02x" % (colour, colour, colour)
#draw a new pixel and add to pixel_array
self.new_pixel = self.canvas.create_rectangle(x*self.grid_size, y*self.grid_size, (x+1)*self.grid_size, (y+1)*self.grid_size, fill=fillColour)
self.pixel_dictionary[x+y*self.num_pixels] = self.new_pixel
## main loop ##
root = Tk()
#root.withdraw()
#serPort = SerialHandler(comPort,comPortBaud)
# create main display
app = App(root)
app.display_default_image()
print("entering main loop!")
root.mainloop()
app.stop_read_loop()
print("exiting")
# File: ADNS3080ImageGrabber.py
import serial
import string
import math
import time
from Tkinter import *
from threading import Timer
comPort = 'COM8' #default com port
comPortBaud = 115200
class App:
grid_size = 15
num_pixels = 30
image_started = FALSE
image_current_row = 0;
ser = serial.Serial()
pixel_dictionary = {}
def __init__(self, master):
# set main window's title
master.title("ADNS3080ImageGrabber")
frame = Frame(master)
frame.grid(row=0,column=0)
self.comPortStr = StringVar()
self.comPort = Entry(frame,textvariable=self.comPortStr)
self.comPort.grid(row=0,column=0)
self.comPort.delete(0, END)
self.comPort.insert(0,comPort)
self.button = Button(frame, text="Open", fg="red", command=self.open_serial)
self.button.grid(row=0,column=1)
self.entryStr = StringVar()
self.entry = Entry(frame,textvariable=self.entryStr)
self.entry.grid(row=0,column=2)
self.entry.delete(0, END)
self.entry.insert(0,"I")
self.send_button = Button(frame, text="Send", command=self.send_to_serial)
self.send_button.grid(row=0,column=3)
self.canvas = Canvas(master, width=self.grid_size*self.num_pixels, height=self.grid_size*self.num_pixels)
self.canvas.grid(row=1)
## start attempts to read from serial port
self.read_loop()
def __del__(self):
self.stop_read_loop()
def open_serial(self):
# close the serial port
if( self.ser.isOpen() ):
try:
self.ser.close()
except:
i=i # do nothing
# open the serial port
try:
self.ser = serial.Serial(port=self.comPortStr.get(),baudrate=comPortBaud, timeout=1)
print("serial port '" + self.comPortStr.get() + "' opened!")
except:
print("failed to open serial port '" + self.comPortStr.get() + "'")
def send_to_serial(self):
if self.ser.isOpen():
self.ser.write(self.entryStr.get())
print "sent '" + self.entryStr.get() + "' to " + self.ser.portstr
else:
print "Serial port not open!"
def read_loop(self):
try:
self.t.cancel()
except:
aVar = 1 # do nothing
#print("reading")
if( self.ser.isOpen() ) :
self.read_from_serial();
self.t = Timer(0.0,self.read_loop)
self.t.start()
def stop_read_loop(self):
try:
self.t.cancel()
except:
print("failed to cancel timer")
# do nothing
def read_from_serial(self):
if( self.ser.isOpen() ):
while( self.ser.inWaiting() > 0 ):
self.line_processed = FALSE
line = self.ser.readline()
# process the line read
if( line.find("-------------------------") == 0 ):
self.line_processed = TRUE
self.image_started = FALSE
self.image_current_row = 0
if( self.image_started == TRUE ):
if( self.image_current_row >= self.num_pixels ):
self.image_started == FALSE
else:
words = string.split(line,",")
if len(words) >= 30:
self.line_processed = TRUE
x = 0
for v in words:
try:
colour = int(v)
except:
colour = 0;
#self.display_pixel(x,self.image_current_row,colour)
self.display_pixel(self.num_pixels-1-self.image_current_row,self.num_pixels-1-x,colour)
x += 1
self.image_current_row += 1
else:
print("line " + str(self.image_current_row) + "incomplete (" + str(len(words)) + " of " + str(self.num_pixels) + "), ignoring")
#print("bad line: " + line);
if( line.find("image data") >= 0 ):
self.line_processed = TRUE
self.image_started = TRUE
self.image_current_row = 0
# clear canvas
#self.canvas.delete(ALL) # remove all items
#display the line if we couldn't understand it
if( self.line_processed == FALSE ):
print( line )
def display_default_image(self):
# display the grid
for x in range(0, self.num_pixels-1):
for y in range(0, self.num_pixels-1):
colour = x * y / 3.53
self.display_pixel(x,y,colour)
def display_pixel(self, x, y, colour):
if( x >= 0 and x < self.num_pixels and y >= 0 and y < self.num_pixels ) :
#find the old pixel if it exists and delete it
if self.pixel_dictionary.has_key(x+y*self.num_pixels) :
self.old_pixel = self.pixel_dictionary[x+y*self.num_pixels]
self.canvas.delete(self.old_pixel)
del(self.old_pixel)
fillColour = "#%02x%02x%02x" % (colour, colour, colour)
#draw a new pixel and add to pixel_array
self.new_pixel = self.canvas.create_rectangle(x*self.grid_size, y*self.grid_size, (x+1)*self.grid_size, (y+1)*self.grid_size, fill=fillColour)
self.pixel_dictionary[x+y*self.num_pixels] = self.new_pixel
## main loop ##
root = Tk()
#root.withdraw()
#serPort = SerialHandler(comPort,comPortBaud)
# create main display
app = App(root)
app.display_default_image()
print("entering main loop!")
root.mainloop()
app.stop_read_loop()
print("exiting")

20
libraries/AP_OpticalFlow/examples/ADNS3080ImageGrabber/README.txt
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@ -1,11 +1,11 @@ @@ -1,11 +1,11 @@
Instructions for running the ADNS3080ImageGrabber.py
1. Start Arduino and upload the AP_OpticalFlow_test.pde to the APM
2. Install Python 2.7 from http://www.python.org/getit/
3. Start the Python IDLE editor
4. File, Open, .../arduino-0022/libraries/AP_OpticalFlow/examples/ADNS3080ImageGrabber/ADNS3080ImageGrabber.py
5. Run, Run Module - the Python Shell and then ADNS3080ImageGrabber applications should appear
6. on the ADNS3080ImageGrabber screen, change the default com port, "COM8" to the correct port (sorry, doesn't auto detect)
7. wait a few moments, then push the Send button to start/stop grabbing images from the sensor (a new image should appear every 2 seconds)
Instructions for running the ADNS3080ImageGrabber.py
1. Start Arduino and upload the AP_OpticalFlow_test.pde to the APM
2. Install Python 2.7 from http://www.python.org/getit/
3. Start the Python IDLE editor
4. File, Open, .../arduino-0022/libraries/AP_OpticalFlow/examples/ADNS3080ImageGrabber/ADNS3080ImageGrabber.py
5. Run, Run Module - the Python Shell and then ADNS3080ImageGrabber applications should appear
6. on the ADNS3080ImageGrabber screen, change the default com port, "COM8" to the correct port (sorry, doesn't auto detect)
7. wait a few moments, then push the Send button to start/stop grabbing images from the sensor (a new image should appear every 2 seconds)
Note: you should see the the AP_OpticalFlow_ADNS3080's menu and any errors appear in the Python Shell

50
libraries/AP_OpticalFlow/keywords.txt
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AP_OpticalFlow KEYWORD1
AP_OpticalFlow_ADNS3080 KEYWORD1
AP_OpticalFlow_ADNS3080_APM2 KEYWORD1
init KEYWORD2
read KEYWORD2
update KEYWORD2
read_register KEYWORD2
write_register KEYWORD2
reset KEYWORD2
motion KEYWORD2
get_led_always_on KEYWORD2
set_led_always_on KEYWORD2
get_resolution KEYWORD2
set_resolution KEYWORD2
get_frame_rate_auto KEYWORD2
set_frame_rate_auto KEYWORD2
get_frame_period KEYWORD2
set_frame_period KEYWORD2
get_frame_rate KEYWORD2
set_frame_rate KEYWORD2
get_shutter_speed_auto KEYWORD2
set_shutter_speed_auto KEYWORD2
get_shutter_speed KEYWORD2
set_shutter_speed KEYWORD2
clear_motion KEYWORD2
AP_OpticalFlow KEYWORD1
AP_OpticalFlow_ADNS3080 KEYWORD1
AP_OpticalFlow_ADNS3080_APM2 KEYWORD1
init KEYWORD2
read KEYWORD2
update KEYWORD2
read_register KEYWORD2
write_register KEYWORD2
reset KEYWORD2
motion KEYWORD2
get_led_always_on KEYWORD2
set_led_always_on KEYWORD2
get_resolution KEYWORD2
set_resolution KEYWORD2
get_frame_rate_auto KEYWORD2
set_frame_rate_auto KEYWORD2
get_frame_period KEYWORD2
set_frame_period KEYWORD2
get_frame_rate KEYWORD2
set_frame_rate KEYWORD2
get_shutter_speed_auto KEYWORD2
set_shutter_speed_auto KEYWORD2
get_shutter_speed KEYWORD2
set_shutter_speed KEYWORD2
clear_motion KEYWORD2
print_pixel_data KEYWORD2
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