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tamam3.py
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tamam3.py
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#!/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
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
#print('Connecting to vehicle on: %s' % connection_string)
#vehicle = connect(connection_string, wait_ready=True)
vehicle = connect('/dev/ttyACM0', wait_ready = True)
vehicle.airspeed=3
vehicle.groundspeed=3
yarimAlan = LocationGlobalRelative(39.872240,32.732374,5)
doluAlan = LocationGlobalRelative(39.872235,32.732020,5)
nokta1 = LocationGlobalRelative()
nokta2 = LocationGlobalRelative()
nokta3 = LocationGlobalRelative()
nokta4 = LocationGlobalRelative()
nokta5 = LocationGlobalRelative()
ay = 0
ax = 0
monkeyKing = Magnet_control.magnet()
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 go(p):
vehicle.simple_goto(p)
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(0.1)
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)
print ax,ay
return (ax, ay)
def moving(ax, ay):
v2 = Velocity()
if ax < 240:
v2.set_velocity_body(vehicle, 0.6, 0, 0)
print("ileri")
elif ax > 240:
v2.set_velocity_body(vehicle, -0.6, 0, 0)
print("geri")
if ay > 240:
v2.set_velocity_body(vehicle, 0, -0.6, 0)
print("sol")
elif ay < 240:
v2.set_velocity_body(vehicle, 0, 0.6, 0)
print("sag")
arm_and_takeoff(5)
time.sleep(1)
vehicle.simple_goto(nokta1)
time.sleep(8)
################################################################
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(6) #Bi bekleyelim goruyor muyuz diye
if ax == 0 and ay == 0: #Gormuyoruz bu yuzden gorebilecegimiz bir noktaya gidelim
#Buraya koordinatlar gelecek.
vehicle.simple_goto(nokta2,0.5)
time.sleep(5)
camera.close()
###############################################################
merkez1 = False
print("ikinci kez kamerayi aciyorum")
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 ("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(6)
if (ax == 0 and ay == 0):
vehicle.simple_goto(nokta3,0.5)
time.sleep(5)
camera.close()
###############################################################
merkez3 = False
print("Ucuncu kez 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):
vehicle.simple_goto(nokta4,0.5)
time.sleep(5)
camera.close()
##################################################################
###############################################################
merkez4 = False
print("Kamera dorduncu kez 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):
vehicle.simple_goto(nokta5,0.5)
time.sleep(5)
camera.close()
merkez5 = False
print("Kamera besinci kez 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:
print "Sen uçma knk"
vehicle.mode = VehicleMode("RTL")
if ( 180<=ax<=300 and 180<=ay<=300):
merkez5 = True
if (merkez5 == True):
monkeyKing.turnOn()
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc5 = LocationGlobalRelative(lat, lon, 1.25)
vehicle.simple_goto(currentLoc5)
time.sleep(6)
currentLoc5High = LocationGlobalRelative(lat,lon,1.25)
vehicle.simple_goto(currentLoc5High)
"""
Normalde burada ağırlık ölçüm vs. yapmalıydı
"""
time.sleep(5)
vehicle.simple_goto(doluAlan)
time.sleep(10)
monkeyKing.turnOff()
camera.close()
cv2.destroyAllWindows()
break
if ( 180<=ax<=300 and 180<=ay<=300):
merkez4 = True
if (merkez4 == True):
monkeyKing.turnOn()
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc4 = LocationGlobalRelative(lat, lon, 1.25)
vehicle.simple_goto(currentLoc4)
time.sleep(6)
camera.close()
currentLoc4High = LocationGlobalRelative(lat,lon,5)
vehicle.simple_goto(currentLoc4High)
time.sleep(6)
"""
Burada normalde kalkip siseyi aldigini vs. kontrol etmesi ve ona gore alanlara ilerlemesi lazim
"""
vehicle.simple_goto(yarimAlan)
time.sleep(10)
monkeyKing.turnOff()
cv2.destroyAllWindows()
break
#####################################################################3
if ( 180<=ax<=300 and 180<=ay<=300):
merkez3 = True
if (merkez3 == True):
monkeyKing.turnOn()
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc3 = LocationGlobalRelative(lat, lon, 1.25)
vehicle.simple_goto(currentLoc3)
time.sleep(6)
camera.close()
currentLoc3High = LocationGlobalRelative(lat,lon,5)
vehicle.simple_goto(currentLoc3High)
time.sleep(6)
"""
Burada normalde kalkip siseyi aldigini vs. kontrol etmesi ve ona gore alanlara ilerlemesi lazim
"""
vehicle.simple_goto(doluAlan)
time.sleep(10)
monkeyKing.turnOff()
cv2.destroyAllWindows()
break
#####################################################################3
if ( 180<=ax<=300 and 180<=ay<=300):
merkez2 = True
if (merkez2 == True):
monkeyKing.turnOn()
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc2 = LocationGlobalRelative(lat, lon, 1.25)
vehicle.simple_goto(currentLoc2)
time.sleep(6)
camera.close()
currentLoc2High = LocationGlobalRelative(lat,lon,5)
vehicle.simple_goto(currentLoc2High)
time.sleep(6)
"""
Burada normalde kalkip siseyi aldigini vs. kontrol etmesi ve ona gore alanlara ilerlemesi lazim
"""
vehicle.simple_goto(yarimAlan)
time.sleep(8)
monkeyKing.turnOff()
cv2.destroyAllWindows()
break
#####################################################################3
if ( 180<=ax<=300 and 180<=ay<=300):
merkez = True
if (merkez == True):
monkeyKing.turnOn()
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc = LocationGlobalRelative(lat, lon, 1.2)
vehicle.simple_goto(currentLoc)
time.sleep(5)
camera.close()
currentLocHigh = LocationGlobalRelative(lat,lon,5)
vehicle.simple_goto(currentLocHigh)
time.sleep(6)
"""
Burada normalde kalkip siseyi aldigini vs. kontrol etmesi ve ona gore alanlara ilerlemesi lazim
th = Sensor()
ilk , son = th.run()
th1 = Output(ilk , son)
th1.start()
for duration in range (0,5):
weight = float(th1.son)
if weight > minWeight and weight < maxWeight:
#Bu duruma gore git falan
"""
vehicle.simple_goto(doluAlan)
time.sleep(8)
monkeyKing.turnOff()
break
#####################################################################3