/
sample.py
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/
sample.py
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# coding:utf-8
import time
import threading
import multiprocessing as mp
import queue
import sys
sys.path.append('../../')
import cv2
import mumeikaneshige as mk
import movidius
class SampleRobot(mk.Mumeikaneshige):
"""
中間発表で見せた挙動をするロボット
"""
def __init__(self):
# 親クラスのコンストラクタは最初に必ず明示的に呼ぶ
super().__init__()
# キーボード入力のスレッドの生成
self.key_queue = mp.Queue()
self.th_key_input = threading.Thread(target = self.key_input,
args = (self.key_queue,))
self.th_key_input.start() # スレッドをスタートする
# self.controllers['Arm'].cmd_queue.put(-20)
# 画像の中の棒で叩ける四角形の座標[(x1, y1), (x2, y2)]
self.smash_point = [(290, 330), (400, 350)]
# movidius召喚
path_to_graph = '../../movidius/graph'
categories = ('background','aeroplane', 'bicycle', 'bird', 'boat',
'bottle', 'bus', 'car', 'cat', 'chair','cow',
'diningtable', 'dog', 'horse','motorbike', 'person',
'pottedplant', 'sheep','sofa', 'train', 'tvmonitor')
self.ssd_detector = movidius.MobileSSD('../../movidius/graph', categories)
def key_input(self, key_queue):
while True:
keys = input() # 入力を受け取る
key_queue.put(keys, True) # 受け取ったら即キューに送信
def run(self):
# 実際の動作をここに書く
while True:
# Webカメラの画像を取得
frame1, frame2 = self.senders['Webcamera'].msg_queue.get()
# Movidiusで演算
result = self.ssd_detector.detect(cv2.resize(frame2, (300,300)))
# 人の座標
person_rect = None
for item in result:
if item['category'] == 'person':
person_pos = ((item['x1'], item['y1']), (item['x2'], item['y2']))
break
# 人が画像内にいない場合
if person_rect is None:
return 'extermed_coc'
# if 知っている人か
# wav ”＠＠さんこんにちは、何分お休みになりますか？”
# while 入力待ちjuliusからの文字列”＊＊分”
# "**分で記録して”おやすみなさい” カウントダウンして待つ"
#else 知らない人か
# wav "誰ですか名前を登録します"
while True:
try:
# Webカメラの画像を取得
frame1, frame2 = self.senders['Webcamera'].msg_queue.get()
# Movidiusで演算
result = self.ssd_detector.detect(cv2.resize(frame2, (300,300)))
# 人の座標
person_rect = None
for item in result:
if item['category'] == 'person':
person_pos = ((item['x1'], item['y1']), (item['x2'], item['y2']))
break
# 人が画像内にいない場合
if person_rect is None:
return 'extermed_coc'
except queue.Empty:
pass
# キーボードのキューの確認
try:
keys = None # 何かしら入れておく特に大きな意味はない
# 0.1秒経過してもキューが空だったらmp.Empty例外が出る
keys = self.key_queue.get(timeout = 0.1)
if 's' in keys or 'S' in keys: #ストップ
self.controllers['Motor'].cmd_queue.put((0,0))
elif 'g' in keys or 'G' in keys:
self.controllers['Motor'].cmd_queue.put((10000, 10000))
elif 'r' in keys or 'R' in keys:
self.controllers['Motor'].cmd_queue.put((-5000, 5000))
elif 'l' in keys or 'L' in keys:
self.controllers['Motor'].cmd_queue.put((5000, -5000))
elif 'b' in keys or 'B' in keys:
self.controllers['Motor'].cmd_queue.put((-10000,-10000))
elif 'a' in keys or 'A' in keys:
self.controllers['Arm'].cmd_queue.put(50)
time.sleep(1)
self.controllers['Arm'].cmd_queue.put(-20)
elif 'e' in keys or 'E' in keys:
self.controllers['Motor'].cmd_queue.put((e,e))
else:
pass
except queue.Empty:
pass
# Juliusから送られる文字列の確認
try:
julius_msg = None
julius_msg = self.senders['Julius'].msg_queue.get(timeout = 0.1)
if '止まれ' in julius_msg:
self.controllers['Motor'].cmd_queue.put((0,0))
self.controllers['JTalk'].cmd_queue.put('./voice-sample/yes.wav')
elif '進め' in julius_msg:
self.controllers['Motor'].cmd_queue.put((10000,10000))
self.controllers['JTalk'].cmd_queue.put('./voice-sample/yes.wav')
elif '右' in julius_msg:
self.controllers['Motor'].cmd_queue.put((-5000, 5000))
self.controllers['JTalk'].cmd_queue.put('./voice-sample/yes.wav')
elif '左' in julius_msg:
self.controllers['Motor'].cmd_queue.put((5000, -5000))
self.controllers['JTalk'].cmd_queue.put('./voice-sample/yes.wav')
elif '下がれ' in julius_msg:
self.controllers['Motor'].cmd_queue.put((-10000,-10000))
self.controllers['JTalk'].cmd_queue.put('./voice-sample/yes.wav')
elif 'やれ' in julius_msg:
self.controllers['JTalk'].cmd_queue.put('./voice-sample/test.wav')
self.controllers['Arm'].cmd_queue.put(50)
time.sleep(1)
self.controllers['Arm'].cmd_queue.put(-20)
else :
pass
except queue.Empty:
pass
def main():
robot = SampleRobot()
robot.run()
del robot
if __name__ == '__main__':
main()