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uruskan/hell1.py

Last active September 15, 2019 15:20
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gistfile1.txt
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 39.872074 32.732212 0.090000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871994 32.732208 5.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 39.872005 32.732372 5.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871979 32.732376 5.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871975 32.732227 5.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871956 32.732227 5.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871952 32.732376 5.000000 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871937 32.732368 5.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871941 32.732227 5.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871925 32.732227 5.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871922 32.732361 5.000000 1
11 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871910 32.732365 5.000000 1
12 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871906 32.732231 5.000000 1
13 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871891 32.732231 5.000000 1
14 0 3 16 0.000000 0.000000 0.000000 0.000000 39.871895 32.732365 5.000000 1
Raw
hell1.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import print_function
import threading
import logging
import dronekit_sitl
from dronekit import connect, VehicleMode, LocationGlobalRelative, Command, LocationGlobal
import numpy as np
import cv2
from picamera import PiCamera
from picamera.array import PiRGBArray
import math
import time
from pymavlink import mavutil
import serial as sl
import Magnet_control
#print('Connecting to vehicle on: %s' % connection_string)
#vehicle = connect(connection_string, wait_ready=True)
vehicle = connect('/dev/ttyACM0', wait_ready = True)
mag = Magnet_control.magnet()
vehicle.airspeed=3
vehicle.groundspeed=3
ay = 0
ax = 0
def arm_and_takeoff(aTargetAltitude):
"""
Arms vehicle and fly to aTargetAltitude.
"""
print("Basic pre-arm checks")
# Don't try to arm until autopilot is ready
while not vehicle.is_armable:
print(" Waiting for vehicle to initialise...")
time.sleep(1)
print("Arming motors")
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
# Confirm vehicle armed before attempting to take off
while not vehicle.armed:
print(" Waiting for arming...")
time.sleep(1)
print("Taking off!")
vehicle.simple_takeoff(aTargetAltitude) # Take off to target altitude
# Wait until the vehicle reaches a safe height before processing the goto
# (otherwise the command after Vehicle.simple_takeoff will execute
# immediately).
while True:
print(" Altitude: ", vehicle.location.global_relative_frame.alt)
# Break and return from function just below target altitude.
if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:
print("Reached target altitude")
break
time.sleep(1)
def clear_mission():
cmds = vehicle.commands
vehicle.commands.clear()
vehicle.flush()
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
clear_mission()
def getMission():
print "Downloading mission"
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
missionList = []
n_WP = 0
for wp in vehicle.commands:
missionList.append(wp)
n_WP += 1
print "Waypoint Count = %s" % n_WP
return n_WP, missionList
def movetoTakingArea():
cmds = vehicle.commands
cmds.wait_ready()
wpToArea = Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0,
39.871990, 32.732210, 5)
cmds.clear()
cmds.add(wpToArea)
cmds.upload()
def changeModeXL(vehicle, mode):
while vehicle.mode != VehicleMode(mode):
vehicle.mode = VehicleMode(mode)
time.sleep(0.5)
return True
def readmission(aFileName):
print "Reading mission from file: %s\n" % aFileName
cmds = vehicle.commands
missionlist=[]
with open(aFileName) as f:
for i, line in enumerate(f):
if i==0:
if not line.startswith('QGC WPL 110'):
raise Exception('File is not supported WP version')
else:
linearray=line.split('\t')
ln_index=int(linearray[0])
ln_currentwp=int(linearray[1])
ln_frame=int(linearray[2])
ln_command=int(linearray[3])
ln_param1=float(linearray[4])
ln_param2=float(linearray[5])
ln_param3=float(linearray[6])
ln_param4=float(linearray[7])
ln_param5=float(linearray[8])
ln_param6=float(linearray[9])
ln_param7=float(linearray[10])
ln_autocontinue=int(linearray[11].strip())
cmd = Command( 0, 0, 0, ln_frame, ln_command, ln_currentwp, ln_autocontinue, ln_param1, ln_param2, ln_param3, ln_param4, ln_param5, ln_param6, ln_param7)
missionlist.append(cmd)
return missionlist
def uploadSurveyMission(aFileName):
missionlist = readmission(aFileName)
print "Uploading mission from that file : %s" % aFileName
print "Clearing current mission..."
clear_mission()
cmds = vehicle.commands
cmds.wait_ready()
for command in missionlist:
cmds.add(command)
print "Uploading survey mission."
cmds.upload()
def alan_dolu(alt1, alt2):
a1 = LocationGlobalRelative(39.8723430, 32.7323806, alt1) # Tam dolu alanı
vehicle.simple_goto(a1, groundspeed=10) # 39.8723430, 32.7323806
time.sleep(20)
a2 = LocationGlobalRelative(39.8723430, 32.7323806, alt2)
vehicle.simple_goto(a2, groundspeed=10)
time.sleep(15)
def alan_yarim(alt1, alt2):
a1 = LocationGlobalRelative(39.8723286, 32.7320480, alt1) # Yarı dolu alanı
vehicle.simple_goto(a1, groundspeed=10) # 39.8723430, 32.7323806
time.sleep(20)
a2 = LocationGlobalRelative(39.8723286, 32.7320480, alt2)
vehicle.simple_goto(a2, groundspeed=10)
time.sleep(15)
class Sensor(threading.Thread):
logging.basicConfig(level=logging.DEBUG,format='%(message)s', )
def __init__(self):
threading.Thread.__init__(self)
return
def run(self):
ser = sl.Serial('/dev/ttyUSB0', baudrate=9600)
while True:
a1 = str(ser.readline())
b = a1.split('/')
logging.debug('Veriler: %s , %s' ,a1 , time.ctime(time.time()) )
time.sleep(0.1)
return b[0], b[1]
class Output(threading.Thread):
logging.basicConfig(level=logging.DEBUG, format=' %(message)s')
def __init__(self, ilk , son):
threading.Thread.__init__(self)
self.ilk = ilk
self.son = son
return
def run(self):
while True:
logging.debug('Sonuc1: %s , sonuc2: %s , %s' , self.ilk , self.son, time.ctime(time.time()))
return
class Velocity():
def set_velocity_body(self,vehicle, vx, vy, vz):
""" Remember: vz is positive downward!!!
http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html
Bitmask to indicate which dimensions should be ignored by the vehicle
(a value of 0b0000000000000000 or 0b0000001000000000 indicates that
none of the setpoint dimensions should be ignored). Mapping:
bit 1: x, bit 2: y, bit 3: z,
bit 4: vx, bit 5: vy, bit 6: vz,
bit 7: ax, bit 8: ay, bit 9:
"""
msg = vehicle.message_factory.set_position_target_local_ned_encode(
0,
0, 0,
mavutil.mavlink.MAV_FRAME_BODY_NED,
0b0000111111000111, # -- BITMASK -> Consider only the velocities
0, 0, 0, # -- POSITION
vx, vy, vz, # -- VELOCITY
0, 0, 0, # -- ACCELERATIONS
0, 0)
vehicle.send_mavlink(msg)
vehicle.flush()
time.sleep(0.5)
def ironmaiden(x, y, w, h, frame, t, color, a):
cv2.putText(frame, color + str(t), (int(x), int(y + 20)), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (0, 255, 255))
M = cv2.moments(a)
ax = int(M["m10"] / M["m00"])
ay = int(M["m01"] / M["m00"])
cv2.circle(frame, (ax, ay), 3, (255, 255, 255), -1)
cv2.putText(frame, "center", (ax - 20, ay - 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1)
return (ax, ay)
def moving(ax, ay):
v2 = Velocity()
if ax < 240:
v2.set_velocity_body(vehicle, 1, 0, 0)
print("ileri")
elif ax > 240:
v2.set_velocity_body(vehicle, -1, 0, 0)
print("geri")
if ay > 240:
v2.set_velocity_body(vehicle, 0, -1, 0)
print("sol")
elif ay < 240:
v2.set_velocity_body(vehicle, 0, 1, 0)
print("sag")
arm_and_takeoff(5)
time.sleep(2)
print("Set default/target airspeed to 10")
clear_mission()
cmds = vehicle.commands
cmds.wait_ready()
firstArea = Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0,
39.8720907, 32.7319237, 5)
cmds.add(firstArea())
cmds.upload()
time.sleep(1)
changeModeXL(vehicle,"AUTO")
################################################################
merkez = False
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print ("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
time.sleep(8)
if (ax == 0 and ay == 0):
clear_mission()
cmds = vehicle.commands
cmds.wait_ready()
firstArea = Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0,
39.8720907, 32.7319237, 5)
cmds.add(firstArea)
cmds.upload()
time.sleep(1)
changeModeXL(vehicle,"AUTO")
if ( 180<=ax<=300 and 180<=ay<=300):
merkez = True
if (merkez == True):
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
lowerAltitudeWP = Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0,
lat, lon, 1.6)
cmds.wait_ready()
cmds.add(lowerAltitudeWP)
cmds.upload()
vehicle.changeModeXL(vehicle,"AUTO")
time.sleep(1)
camera.close()
clear_mission()
cv2.destroyAllWindows()
break
#####################################################################3
merkez = False
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print ("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
if (ax == 0 and ay == 0):
#1.6 metrede bulunamadi
vehicle.groundspeed = 1
vehicle.airspeed = 1
changeModeXL(vehicle,"LOITER")
uploadSurveyMission("gridPlainMission.txt")
changeModeXL(vehicle,"AUTO")
if ( 200<=ax<=280 and 200<=ay<=280):
merkez = True
if (merkez == True):
mag.turnOn()
lat1 = vehicle.location.global_relative_frame.lat
lon1 = vehicle.location.global_relative_frame.lon # O an ki konum
lowerAltitudeWP1 = Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0,
lat1, lon1, 0.35)
cmds.wait_ready()
cmds.add(lowerAltitudeWP1)
cmds.upload()
vehicle.changeModeXL(vehicle,"AUTO")
time.sleep(4)
clear_mission()
riseWithPayload = Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0,
lat1, lon1, 2)
cmds.wait_ready()
cmds.add(riseWithPayload)
cmds.upload()
vehicle.changeModeXL(vehicle,"AUTO")
i1 = 0
dataW = []
while(i1 < 3):
t = Sensor()
ilk, son = t.run()
th = Output(ilk , son)
th.start()
weight = float((th3.weight).replace("\n", ""))
dataW.append(weight)
time.sleep(1)
i1 = i1 + 1
toplamW = dataW[0] + dataW[1] + dataW[2]
ortalamaW = toplamW / 3
fail = True
if ortalamaW == 0:
print ("Mission failed succesfully.")
if ortalamaW != 0:
fail = False
camera.close()
if fail == False:
birakmaAlani = Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0, 0, 0, 0,
39.8723430, 32.7323806, 5)
cmds.wait_ready()
cmds.add(birakmaAlani)
cmds.upload()
vehicle.changeModeXL(vehicle,"AUTO")
time.sleep(10)
mag.turnOff()
print ("Payload birakildi.")
############################################################
"""
i1 = 0
dataW = []
while(i1 < 3):
t = Sensor()
ilk, son = t.run()
th = Output(ilk , son)
th.start()
weight = float((th3.weight).replace("\n", ""))
dataW.append(weight)
time.sleep(1)
i1 = i1 + 1
toplamW = dataW[0] + dataW[1] + dataW[2]
ortalamaW = toplamW / 3
if(th.son == '0.00'):
fail = True
if (fail == True): #basarisizlik durumunda#########################################################
p = LocationGlobalRelative(39.8720907, 32.7319237, 5)
go(p, 3)
time.sleep(5)
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print ("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
if ( 200<=ax<=280 and 200<=ay<=280):
merkez = True
if (merkez == True):
lat1 = vehicle.location.global_relative_frame.lat
lon1 = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.50)
vehicle.simple_goto(currentLoc2)
time.sleep(3)
camera.close()
cv2.destroyAllWindows()
merkez = False
break
#basarisizlik durumunda#########################################################
if (fail == False):
p_son = LocationGlobalRelative(lat, lon, 5)
vehicle.simple_goto(p_son, 5)
time.sleep(10)
print("BASLADI")
raw_data = []
i2 = 0
while i < 10:
t2 = Sensor()
ilk2 , son2 = t2.run()
th2 = Output(ilk2, son2)
th2.start()
op = float((th3.weight).replace("\n", ""))
raw_data.append(op)
time.sleep(1)
i2 = i2 + 1
print(raw_data)
toplam = raw_data[0] + raw_data[1] + raw_data[2] + raw_data[3] + raw_data[4] + raw_data[5] + raw_data[6] + \
raw_data[7] + raw_data[8] + raw_data[9]
ortalama = toplam / 10
print(ortalama)
if (ortalama > 600):
alan_dolu(5, 1)
mag.turnOff()
alan_no = 1
time.sleep(10)
else:
alan_yarim(5, 1)
mag.turnOff()
alan_no = 2
time.sleep(10)
print("Birinci sise bitti!!!")
break
###############################################################
###########ikinci sise########################################
go() #ikinci sise konumunu ekle!!!!
merkez = False
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print ("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
if ( 180<=ax<=300 and 180<=ay<=300):
merkez = True
if (merkez == True):
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc = LocationGlobalRelative(lat, lon, 2.5)
vehicle.simple_goto(currentLoc)
time.sleep(4)
camera.close()
cv2.destroyAllWindows()
break
#####################################################################3
merkez = False
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print ("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
if ( 200<=ax<=280 and 200<=ay<=280):
merkez = True
if (merkez == True):
lat1 = vehicle.location.global_relative_frame.lat
lon1 = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.50)
mag.turnOn()
vehicle.simple_goto(currentLoc2)
time.sleep(3)
camera.close()
cv2.destroyAllWindows()
break
############################################################
###########ikinci while########################################
fail = False
while True:
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
time.sleep(10)
ps = LocationGlobalRelative(lat, lon, 1.25)
vehicle.simple_goto(ps, 3)
i1 = 0
dataW = []
while(i1 < 3):
t = Sensor()
ilk, son = t.run()
th = Output(ilk , son)
th.start()
weight = float((th3.weight).replace("\n", ""))
dataW.append(weight)
time.sleep(1)
i1 = i1 + 1
toplamW = dataW[0] + dataW[1] + dataW[2]
ortalamaW = toplamW / 3
if(th.son == '0.00'):
fail = True
if (fail == True): #basarisizlik durumunda#########################################################
p = LocationGlobalRelative(39.8720907, 32.7319237, 5)
go(p, 3)
time.sleep(5)
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print ("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
if ( 200<=ax<=280 and 200<=ay<=280):
merkez = True
if (merkez == True):
lat1 = vehicle.location.global_relative_frame.lat
lon1 = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.50)
vehicle.simple_goto(currentLoc2)
time.sleep(3)
camera.close()
cv2.destroyAllWindows()
merkez = False
break
#basarisizlik durumunda#########################################################
if (fail == False):
p_son = LocationGlobalRelative(lat, lon, 5)
vehicle.simple_goto(p_son, 5)
time.sleep(10)
if (alan_no == 1):
alan_yarim(5, 1)
mag.turnOff()
time.sleep(10)
else:
alan_dolu(5, 1)
mag.turnOff()
time.sleep(10)
print("RTL modu")
break
###########ikinci while########################################
vehicle.mode = VehicleMode("RTL")
"""
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