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ps3rover20.py
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ps3rover20.py
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#!/usr/bin/env python
'''
ps3rover20.py Drive the Brookstone Rover 2.0 via the P3 Controller, displaying
the streaming video using OpenCV.
Copyright (C) 2014 Simon D. Levy
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as
published by the Free Software Foundation, either version 3 of the
License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
'''
# You may want to adjust these buttons for your own controller
BUTTON_LIGHTS = 3 # Square button toggles lights
BUTTON_STEALTH = 1 # Circle button toggles stealth mode
BUTTON_CAMERA_UP = 0 # Triangle button raises camera
BUTTON_CAMERA_DOWN = 2 # X button lowers camera
# Avoid button bounce by enforcing lag between button events
MIN_BUTTON_LAG_SEC = 0.5
# Avoid close-to-zero values on axis
MIN_AXIS_ABSVAL = 0.01
from rover import Rover20
import time
import pygame
import sys
import signal
# Supports CTRL-C to override threads
def _signal_handler(signal, frame):
frame.f_locals['rover'].close()
sys.exit(0)
# Try to start OpenCV for video
try:
import cv
except:
cv = None
# Rover subclass for PS3 + OpenCV
class PS3Rover(Rover20):
def __init__(self):
# Set up basics
Rover20.__init__(self)
self.wname = 'Rover 2.0: Hit ESC to quit'
self.quit = False
# Set up controller using PyGame
pygame.display.init()
pygame.joystick.init()
self.controller = pygame.joystick.Joystick(0)
self.controller.init()
# Defaults on startup: lights off, ordinary camera
self.lightsAreOn = False
self.stealthIsOn = False
# Tracks button-press times for debouncing
self.lastButtonTime = 0
# Try to create OpenCV named window
try:
if cv:
cv.NamedWindow(self.wname, cv.CV_WINDOW_AUTOSIZE )
else:
pass
except:
pass
self.pcmfile = open('rover20.pcm', 'w')
# Automagically called by Rover class
def processAudio(self, pcmsamples, timestamp_10msec):
for samp in pcmsamples:
self.pcmfile.write('%d\n' % samp)
# Automagically called by Rover class
def processVideo(self, jpegbytes, timestamp_10msec):
# Update controller events
pygame.event.pump()
# Toggle lights
self.lightsAreOn = self.checkButton(self.lightsAreOn, BUTTON_LIGHTS, self.turnLightsOn, self.turnLightsOff)
# Toggle night vision (infrared camera)
self.stealthIsOn = self.checkButton(self.stealthIsOn, BUTTON_STEALTH, self.turnStealthOn, self.turnStealthOff)
# Move camera up/down
if self.controller.get_button(BUTTON_CAMERA_UP):
self.moveCameraVertical(1)
elif self.controller.get_button(BUTTON_CAMERA_DOWN):
self.moveCameraVertical(-1)
else:
self.moveCameraVertical(0)
# Set treads based on axes
self.setTreads(self.axis(1), self.axis(3))
# Display video image if possible
try:
if cv:
# Save image to file on disk and load as OpenCV image
fname = 'tmp.jpg'
fd = open(fname, 'w')
fd.write(jpegbytes)
fd.close()
image = cv.LoadImage(fname)
# Show image
cv.ShowImage(self.wname, image )
if cv.WaitKey(1) & 0xFF == 27: # ESC
self.quit = True
else:
pass
except:
pass
# Converts Y coordinate of specified axis to +/-1 or 0
def axis(self, index):
value = -self.controller.get_axis(index)
if value > MIN_AXIS_ABSVAL:
return 1
elif value < -MIN_AXIS_ABSVAL:
return -1
else:
return 0
# Handles button bounce by waiting a specified time between button presses
def checkButton(self, flag, buttonID, onRoutine=None, offRoutine=None):
if self.controller.get_button(buttonID):
if (time.time() - self.lastButtonTime) > MIN_BUTTON_LAG_SEC:
self.lastButtonTime = time.time()
if flag:
if offRoutine:
offRoutine()
flag = False
else:
if onRoutine:
onRoutine()
flag = True
return flag
# main -----------------------------------------------------------------------------------
if __name__ == '__main__':
# Create a PS3 Rover object
rover = PS3Rover()
# Set up signal handler for CTRL-C
signal.signal(signal.SIGINT, _signal_handler)
# Loop until user hits quit button on controller
while not rover.quit:
pass
# Shut down Rover
rover.close()