From 50952e4d32bebd12d6237114a3adef71a1ce6c9f Mon Sep 17 00:00:00 2001 From: Cbampeta Date: Wed, 25 Feb 2026 20:51:18 +0100 Subject: [PATCH 1/8] =?UTF-8?q?feat:=20rajout=20d'une=20classe=20qui=20reg?= =?UTF-8?q?arde=20si=20la=20voiture=20=C3=A0=20crashe?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/high_level/autotech_constant.py | 88 +- src/high_level/src/high_level/serveur.py | 3 +- src/high_level/src/programs/__init__.py | 3 +- src/high_level/src/programs/car.py | 60 +- .../src/programs/ps4_controller_program.py | 2 +- uv.lock | 2615 ----------------- 6 files changed, 96 insertions(+), 2675 deletions(-) delete mode 100644 uv.lock diff --git a/src/high_level/src/high_level/autotech_constant.py b/src/high_level/src/high_level/autotech_constant.py index dffa406..13f3166 100644 --- a/src/high_level/src/high_level/autotech_constant.py +++ b/src/high_level/src/high_level/autotech_constant.py @@ -3,69 +3,79 @@ import logging # Car control -MAX_IA_SPEED = 1000 # maximum speed for ia in centimeter per second -MIN_IA_SPEED = -500 # minimum speed for ia in centimeter per second -MAX_CONTROL_SPEED = 2 # maximum speed for controling devices -MIN_CONTROL_SPEED = -2 # minimum speed for controlig devices -MAX_ANGLE = 18 # angle between the two extrem position - - -#I2C -I2C_NUMBER_DATA_RECEIVED = 3 # the number of info data sent by the arduino -I2C_SLEEP_RECEIVED = 0.1 # the time between two demand of info data to the arduino -I2C_SLEEP_ERROR_LOOP = 1 # In seconds its the time bettween two try of i2C if an error occurd -SLAVE_ADDRESS = 0x08 # Adresse of the arduino i2c port - -#Remote control -PORT_REMOTE_CONTROL = 5556 # Port to send data for remote control on :PORT_REMOTE_CONTROL - -#Camera -PORT_STREAMING_CAMERA = 8889 # adresse where to see the stream of the camera if activate is :PORT_STREAMIN_CAMERA/STREAM_PATH/cam +MAX_IA_SPEED = 1000 # maximum speed for ia in centimeter per second +MIN_IA_SPEED = -500 # minimum speed for ia in centimeter per second +MAX_CONTROL_SPEED = 2 # maximum speed for controling devices +MIN_CONTROL_SPEED = -2 # minimum speed for controlig devices +MAX_ANGLE = 18 # angle between the two extrem position + + +# I2C +I2C_NUMBER_DATA_RECEIVED = 3 # the number of info data sent by the arduino +I2C_SLEEP_RECEIVED = 0.1 # the time between two demand of info data to the arduino +I2C_SLEEP_ERROR_LOOP = ( + 1 # In seconds its the time bettween two try of i2C if an error occurd +) +SLAVE_ADDRESS = 0x08 # Adresse of the arduino i2c port + +# Remote control +PORT_REMOTE_CONTROL = ( + 5556 # Port to send data for remote control on :PORT_REMOTE_CONTROL +) + +# Camera +PORT_STREAMING_CAMERA = 8889 # adresse where to see the stream of the camera if activate is :PORT_STREAMIN_CAMERA/STREAM_PATH/cam STREAM_PATH = "map" SIZE_CAMERA_X = 1280 SIZE_CAMERA_Y = 720 -FRAME_RATE = 30 # frame rate of the camera -CAMERA_QUALITY = 10 # the more the better but slow the speed of the stream (10 its passable) +FRAME_RATE = 30 # frame rate of the camera +CAMERA_QUALITY = ( + 10 # the more the better but slow the speed of the stream (10 its passable) +) -#Car +# Car CRASH_DIST = 110 -REAR_BACKUP_DIST = 100 #mm Distance at which the car will NOT reverse due to the obstacle behind it +REAR_BACKUP_DIST = ( + 100 # mm Distance at which the car will NOT reverse due to the obstacle behind it +) -#Lidar +# Lidar LIDAR_DATA_AMPLITUDE = 1 LIDAR_DATA_SIGMA = 45 LIDAR_DATA_OFFSET = 0.5 # Screen car TEXT_HEIGHT = 11 -TEXT_LEFT_OFFSET = 3 # Offset from the left of the screen to ensure no cuttoff - +TEXT_LEFT_OFFSET = 3 # Offset from the left of the screen to ensure no cuttoff script_dir = os.path.dirname(os.path.abspath(__file__)) MODEL_PATH = "/home/intech/CoVAPSy/src/high_level/models/" # Allows the model to be loaded from the same directory as the script regardless of the current working directory (aka where the script is run from) -SOCKET_ADRESS = { - "IP": '192.168.0.10', - "PORT": 10940 -} +SOCKET_ADRESS = {"IP": "192.168.0.10", "PORT": 10940} ANGLE_LOOKUP = np.linspace(-MAX_ANGLE, MAX_ANGLE, 16) SPEED_LOOKUP = np.linspace(0, MAX_IA_SPEED, 16) -Temperature = 0.7 # Temperature parameter for softmax function, used to control the sharpness of the distribution resols around 1 +Temperature = 0.7 # Temperature parameter for softmax function, used to control the sharpness of the distribution resols around 1 # the higher the temperature the more unprobalbe actions become probable, the lower the temperature the more probable actions become probable. # In our case Higher temperature means less agressive driving and lower temperature means more aggressive driving. -LOGGING_LEVEL = logging.DEBUG # can be either NOTSET, DEBUG, INFO, WARNING, ERROR, CRITICAL - -#Startup -CAMERA_STREAM_ON_START = True #If True the camera stream will start at the launch of the car -BACKEND_ON_START = True #If True the backend will start at the launch of the car -LIDAR_STREAM_ON_START = True #If True the lidar stream will start at the launch of the car - -#Backend -SITE_DIR_BACKEND = "/home/intech/CoVAPSy/src/high_level/src/site_controle" # the directory where the backend will look for the site to serve \ No newline at end of file +LOGGING_LEVEL = ( + logging.DEBUG +) # can be either NOTSET, DEBUG, INFO, WARNING, ERROR, CRITICAL + +# Startup +CAMERA_STREAM_ON_START = ( + True # If True the camera stream will start at the launch of the car +) +BACKEND_ON_START = True # If True the backend will start at the launch of the car +LIDAR_STREAM_ON_START = ( + True # If True the lidar stream will start at the launch of the car +) +LIMIT_CRASH_POINT = 10 # number of lidar points that must be under the crash border distance to consider that the car is in a crash situation, +# Backend +SITE_DIR_BACKEND = "/home/intech/CoVAPSy/src/high_level/src/site_controle" # the directory where the backend will look for the site to serve diff --git a/src/high_level/src/high_level/serveur.py b/src/high_level/src/high_level/serveur.py index 83377cd..0300923 100644 --- a/src/high_level/src/high_level/serveur.py +++ b/src/high_level/src/high_level/serveur.py @@ -10,7 +10,7 @@ from PIL import Image, ImageDraw, ImageFont from high_level.autotech_constant import SITE_DIR_BACKEND, TEXT_HEIGHT -from programs.car import AIProgram +from programs.car import AIProgram, CrashCar from programs.initialisation import Initialisation from programs.poweroff import Poweroff from programs.ps4_controller_program import PS4ControllerProgram @@ -52,6 +52,7 @@ def __init__(self): self.temp = None self.initialisation_module = Initialisation(self) + self.crash_car = CrashCar(self.initialisation_module.lidar) self.programs = [ SshProgramme(), diff --git a/src/high_level/src/programs/__init__.py b/src/high_level/src/programs/__init__.py index 3e90718..d0046b6 100644 --- a/src/high_level/src/programs/__init__.py +++ b/src/high_level/src/programs/__init__.py @@ -1,5 +1,5 @@ from .camera_serv import StreamHandler, StreamOutput, StreamServer, frame_buffer -from .car import AIProgram, Car +from .car import AIProgram, Car, CrashCar from .initialisation import Initialisation from .poweroff import Poweroff from .program import Program # in first because other programs depend on it @@ -18,4 +18,5 @@ "StreamHandler", "StreamOutput", "frame_buffer", + "CrashCar", ] diff --git a/src/high_level/src/programs/car.py b/src/high_level/src/programs/car.py index c75d211..b6fd6fb 100644 --- a/src/high_level/src/programs/car.py +++ b/src/high_level/src/programs/car.py @@ -9,19 +9,58 @@ # Import constants from HL.Autotech_constant to share them between files and ease of use from high_level.autotech_constant import ( - CRASH_DIST, LIDAR_DATA_AMPLITUDE, LIDAR_DATA_OFFSET, LIDAR_DATA_SIGMA, MAX_ANGLE, MODEL_PATH, - REAR_BACKUP_DIST, + LIMIT_CRASH_POINT, ) from .program import Program from .utils.driver import Driver +class CrashCar: + def __init__(self, lidar): + self.log = logging.getLogger(__name__) + self.lidar = lidar + self.crashed = False + # Load reference lidar contour once + try: + self.reference_lidar = np.load( + "/home/intech/CoVAPSy/src/high_level/src/programs/data/min_lidar.npy" + ) + self.log.info("Reference lidar contour loaded") + Thread(target=self.has_Crashed, daemon=True).start() + except Exception as e: + self.log.error(f"Unable to load reference lidar contour: {e}") + raise + + def has_Crashed(self) -> bool: + while True: + current = self.lidar.r_distance[:1080] + + if current is None or len(current) != len(self.reference_lidar): + self.log.warning("Lidar size mismatch") + self.crashed = False + time.sleep(0.1) + else: + # Points that are inside the vehicle contour + penetration_mask = (current > 0) & (current < self.reference_lidar) + + penetration_count = np.sum(penetration_mask) + + self.log.debug(f"Penetration points: {penetration_count}") + + if penetration_count >= LIMIT_CRASH_POINT: # ← tu peux ajuster ici + self.log.info("Crash detected via contour penetration") + self.crashed = True + else: + self.crashed = False + time.sleep(0.1) + + class Car: def __init__(self, driving_strategy, serveur, model): self.log = logging.getLogger(__name__) @@ -60,21 +99,6 @@ def stop(self): self.direction = 0 self.log.info("Motor stop") - def has_Crashed(self): - - small_distances = [ - d for d in self.lidar.r_distance[200:880] if 0 < d < CRASH_DIST - ] # 360 to 720 is the front of the car. 1/3 of the fov of the lidar - self.log.debug(f"Distances: {small_distances}") - if len(small_distances) > 2: - # min_index = self.lidar.rDistance.index(min(small_distances)) - while self.tof.get_distance() < REAR_BACKUP_DIST: - self.log.info(f"Rear obstacle detected {self.tof.get_distance()}") - self.target_speed = 0 - time.sleep(0.1) - return True - return False - def turn_around(self): """Turn the car around.""" self.log.info("Turning around") @@ -113,7 +137,7 @@ def main(self): self.turn_around() self.reverse_count = 0 - if self.has_Crashed(): + if self.serveur.crash_car.crashed: self.log.info("Obstacle detected") color= self.camera.is_green_or_red(lidar_data) if color == 0: diff --git a/src/high_level/src/programs/ps4_controller_program.py b/src/high_level/src/programs/ps4_controller_program.py index 4f9fb81..0080d11 100644 --- a/src/high_level/src/programs/ps4_controller_program.py +++ b/src/high_level/src/programs/ps4_controller_program.py @@ -155,5 +155,5 @@ def on_L3_y_at_rest(self): except KeyboardInterrupt: print("Program stop") - 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self.crash_car = CrashCar(self.initialisation_module.lidar) + self.crash_car = CrashCar(self) self.programs = [ SshProgramme(), diff --git a/src/high_level/src/programs/car.py b/src/high_level/src/programs/car.py index b6fd6fb..4da8b18 100644 --- a/src/high_level/src/programs/car.py +++ b/src/high_level/src/programs/car.py @@ -22,15 +22,17 @@ class CrashCar: - def __init__(self, lidar): + def __init__(self, serveur): self.log = logging.getLogger(__name__) - self.lidar = lidar + self.serveur = serveur self.crashed = False # Load reference lidar contour once try: self.reference_lidar = np.load( "/home/intech/CoVAPSy/src/high_level/src/programs/data/min_lidar.npy" - ) + )[ + :1080 + ] # Load only the first 1080 values to match the lidar data used by the AI self.log.info("Reference lidar contour loaded") Thread(target=self.has_Crashed, daemon=True).start() except Exception as e: @@ -38,11 +40,19 @@ def __init__(self, lidar): raise def has_Crashed(self) -> bool: + + while self.serveur.lidar is None: + self.log.debug("Lidar not yet ready for crash detection") + time.sleep(0.1) while True: - current = self.lidar.r_distance[:1080] + current = self.serveur.lidar.r_distance[:1080] if current is None or len(current) != len(self.reference_lidar): - self.log.warning("Lidar size mismatch") + self.log.warning( + str(len(current) if current is not None else "None") + + " lidar points received, expected " + + str(len(self.reference_lidar)) + ) self.crashed = False time.sleep(0.1) else: diff --git a/src/high_level/src/programs/initialisation.py b/src/high_level/src/programs/initialisation.py index dc679d4..e701d70 100644 --- a/src/high_level/src/programs/initialisation.py +++ b/src/high_level/src/programs/initialisation.py @@ -23,6 +23,11 @@ def __init__(self, server) -> None: self.lidar_init = ProgramState.INITIALIZATION self.tof_init = ProgramState.INITIALIZATION + self.arduino_I2C = None + self.camera = None + self.lidar = None + self.tof = None + threading.Thread(target=self.init_camera, daemon=True).start() threading.Thread(target=self.init_lidar, daemon=True).start() threading.Thread(target=self.init_tof, daemon=True).start() From c9e0f2030cacaea01ad72692ca5483afa5fdff80 Mon Sep 17 00:00:00 2001 From: Cbampeta Date: Sat, 28 Feb 2026 18:27:27 +0100 Subject: [PATCH 3/8] feat: adding a crashing status on the site --- src/high_level/src/high_level/backend.py | 1 + src/high_level/src/high_level/serveur.py | 8 +- src/high_level/src/site_controle/app.js | 2 + src/high_level/src/site_controle/index.html | 138 ++++++++++---------- 4 files changed, 76 insertions(+), 73 deletions(-) diff --git a/src/high_level/src/high_level/backend.py b/src/high_level/src/high_level/backend.py index b2ddf7c..c7a0288 100644 --- a/src/high_level/src/high_level/backend.py +++ b/src/high_level/src/high_level/backend.py @@ -127,6 +127,7 @@ def _get_telemetry(self) -> Dict[str, Any]: "car_control": prog_name, "program_id": last_ctrl, "tof": self.server.tof.distance, + "crashed": getattr(self.server.crash_car, "car_crashed", False), }, "timestamp": time.time(), } diff --git a/src/high_level/src/high_level/serveur.py b/src/high_level/src/high_level/serveur.py index 94d0117..25623cc 100644 --- a/src/high_level/src/high_level/serveur.py +++ b/src/high_level/src/high_level/serveur.py @@ -82,19 +82,19 @@ def __init__(self): self.scroll_offset = 3 @property - def camera(self) -> Camera: + def camera(self) -> Camera | None: return self.initialisation_module.camera @property - def lidar(self) -> Lidar: + def lidar(self) -> Lidar | None: return self.initialisation_module.lidar @property - def tof(self) -> ToF: + def tof(self) -> ToF | None: return self.initialisation_module.tof @property - def arduino_I2C(self) -> I2CArduino: + def arduino_I2C(self) -> I2CArduino | None: return self.initialisation_module.arduino_I2C @property diff --git a/src/high_level/src/site_controle/app.js b/src/high_level/src/site_controle/app.js index bd33a9e..eca8941 100644 --- a/src/high_level/src/site_controle/app.js +++ b/src/high_level/src/site_controle/app.js @@ -187,6 +187,8 @@ function updateTelemetry(t) { t.car.car_control ?? "None"; document.getElementById("tof").textContent = t.car.tof.toFixed(2); + document.getElementById("crash_status").textContent = + t.car.crashed ? "CRASHED" : "OK"; speedHistory.real.push(t.car.current_speed); speedHistory.demand.push(t.car.target_speed); diff --git a/src/high_level/src/site_controle/index.html b/src/high_level/src/site_controle/index.html index 1b03a71..27c8100 100644 --- a/src/high_level/src/site_controle/index.html +++ b/src/high_level/src/site_controle/index.html @@ -1,88 +1,88 @@ + CoVAPSy – Remote Control + -
- -

CoVAPSy – Remote Control

-
+
+ +

CoVAPSy – Remote Control

+
-
+
- -
-

Télémétrie:

-

LiPo: -- V

-

NiMH: -- V

-

Vitesse réelle: --

-

Vitesse demandée: --

-

Direction demandée: --

-

Distance ToF: -- cm

-

Programme actif: --

-
+ +
+

Télémétrie:

+

LiPo: -- V

+

NiMH: -- V

+

Vitesse réelle: --

+

Vitesse demandée: --

+

Direction demandée: --

+

Distance ToF: -- cm

+

Programme actif: --

+

Statut de la voiture: --

+
- -
- -

Caméra:

- - -
- -
- - - -
- -
- -
+ +
+ +

Caméra:

+ + +
+ +
+ + + +
+ +
+ +
- -
- -
- -
-

IA – Choisir un modèle

+ +
+ +
+ +
+

IA – Choisir un modèle

- - -
+ + +
- -
-

Programmes:

- - - - - - - - - - - -
IDNomÉtatContrôle voitureActions
-
- + +
+

Programmes:

+ + + + + + + + + + + +
IDNomÉtatContrôle voitureActions
+
-
- +
+ + - + + \ No newline at end of file From 050b60644dd5358eabc4957fbf8f02b733aafadb Mon Sep 17 00:00:00 2001 From: Cbampeta Date: Sat, 28 Feb 2026 18:36:57 +0100 Subject: [PATCH 4/8] fix: some issus on the crashed implementation --- src/high_level/src/high_level/backend.py | 3 +-- src/high_level/src/site_controle/app.js | 2 -- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/src/high_level/src/high_level/backend.py b/src/high_level/src/high_level/backend.py index c7a0288..53ebfb9 100644 --- a/src/high_level/src/high_level/backend.py +++ b/src/high_level/src/high_level/backend.py @@ -117,7 +117,6 @@ def _get_telemetry(self) -> Dict[str, Any]: target_speed = float(getattr(self.server, "target_speed", 0.0)) direction = float(getattr(self.server, "direction", 0.0)) - return { "battery": {"lipo": voltage_lipo, "nimh": voltage_nimh}, "car": { @@ -127,7 +126,7 @@ def _get_telemetry(self) -> Dict[str, Any]: "car_control": prog_name, "program_id": last_ctrl, "tof": self.server.tof.distance, - "crashed": getattr(self.server.crash_car, "car_crashed", False), + "crashed": self.server.crash_car.crashed, }, "timestamp": time.time(), } diff --git a/src/high_level/src/site_controle/app.js b/src/high_level/src/site_controle/app.js index eca8941..c87561c 100644 --- a/src/high_level/src/site_controle/app.js +++ b/src/high_level/src/site_controle/app.js @@ -300,8 +300,6 @@ async function fetchLidarInit() { function initLidar(info, retryDelay = 1000) { const theta = decodeBase64ToFloat32Array(info.xTheta); const carBorder = info.car_border ? decodeBase64ToFloat32Array(info.car_border) : null; - console.log("Lidar theta:", theta); - console.log("Car border:", carBorder); const canvas = document.getElementById("lidar"); if (!canvas) return; From a537923ad33e43d73f0e4dba6ee9a258ae9b55cf Mon Sep 17 00:00:00 2001 From: Cbampeta Date: Sun, 1 Mar 2026 18:14:08 +0100 Subject: [PATCH 5/8] =?UTF-8?q?feat:=20petit=20changement=20pour=20plus=20?= =?UTF-8?q?de=20lisibilit=C3=A9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/high_level/src/driver/__init__.py | 6 + src/high_level/src/driver/camera.py | 385 ++++++++++++++++++ src/high_level/src/driver/lidar.py | 211 ++++++++++ src/high_level/src/driver/master_i2c.py | 74 ++++ src/high_level/src/driver/tof.py | 40 ++ .../src/high_level/autotech_constant.py | 2 + src/high_level/src/programs/car.py | 16 +- 7 files changed, 729 insertions(+), 5 deletions(-) create mode 100644 src/high_level/src/driver/__init__.py create mode 100644 src/high_level/src/driver/camera.py create mode 100644 src/high_level/src/driver/lidar.py create mode 100644 src/high_level/src/driver/master_i2c.py create mode 100644 src/high_level/src/driver/tof.py diff --git a/src/high_level/src/driver/__init__.py b/src/high_level/src/driver/__init__.py new file mode 100644 index 0000000..c845b58 --- /dev/null +++ b/src/high_level/src/driver/__init__.py @@ -0,0 +1,6 @@ +from .camera import Camera +from .lidar import Lidar +from .master_i2c import I2CArduino +from .tof import ToF + +__all__ = ["Camera", "Lidar", "I2CArduino", "ToF"] diff --git a/src/high_level/src/driver/camera.py b/src/high_level/src/driver/camera.py new file mode 100644 index 0000000..cd8f57c --- /dev/null +++ b/src/high_level/src/driver/camera.py @@ -0,0 +1,385 @@ +import asyncio +import logging +import os +import threading +import time +from typing import Optional, cast + +import aiohttp +import cv2 +import numpy as np +import scipy as sp +from aiortc import ( + RTCConfiguration, + RTCPeerConnection, + RTCSessionDescription, + VideoStreamTrack, +) +from av import VideoFrame +from PIL import Image + +N_IMAGES = 100 # Number of images to capture +SAVE_DIR = "Captured_Frames" # Directory to save frames +DEBUG_DIR = "Debug" # Directory for debug images +DEBUG_DIR_wayfinding = "Debug_Wayfinding" # Directory for wayfinding debug images +COLOUR_KEY = {"green": 1, "red": -1, "none": 0} +COLOR_THRESHOLD = 20 # Threshold for color intensity difference +Y_OFFSET = -80 # Offset for the y-axis in the image + + +class Camera: + """ + Camera = client WebRTC (WHEP) vers MediaMTX. + MediaMTX ouvre la PiCam (source: rpiCamera). Python ne fait que consommer. + """ + + def __init__(self, whep_url: str = "http://192.168.0.20:8889/cam/whep"): + self.log = logging.getLogger(__name__) + self.whep_url = whep_url + self.debug_counter = 0 + self.last_frame = np.zeros((0, 0, 0)) + self._lock = threading.Lock() + + self._stop_flag = threading.Event() + self._frame_queue: asyncio.Queue[VideoFrame] = asyncio.Queue(maxsize=2) + self._thread = threading.Thread(target=self._thread_main, daemon=True) + + self._thread.start() + + # --------- thread -> event loop asyncio --------- + def _thread_main(self): + asyncio.run(self._run_forever()) + + async def _run_forever(self): + # boucle de reconnexion automatique + while not self._stop_flag.is_set(): + try: + await self._run_once(self.whep_url) + except Exception as e: + self.log.warning("WHEP client error: %s", e) + + # petit backoff avant de retenter + await asyncio.sleep(0.5) + + async def _processing_loop(self): + while not self._stop_flag.is_set(): + frame = await self._frame_queue.get() + # H264 decoding -> numpy (OUTSIDE WebRTC) + img_bgr = frame.to_ndarray(format="bgr24") + img_rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB) + + # optional but recommended (algorithm stability) + img_rgb = cv2.resize(img_rgb, (320, 240)) + + with self._lock: + self.last_frame = img_rgb + + async def _wait_ice_complete(self, pc: RTCPeerConnection, timeout: float = 2.0): + if pc.iceGatheringState == "complete": + return + + ev = asyncio.Event() + + @pc.on("icegatheringstatechange") + def _on_ice(): + if pc.iceGatheringState == "complete": + ev.set() + + try: + await asyncio.wait_for(ev.wait(), timeout=timeout) + except asyncio.TimeoutError: + self.log.warning("ICE gathering not complete after timeout") + pass + + async def _run_once(self, url: str): + config = RTCConfiguration(iceServers=[]) + + pc = RTCPeerConnection(configuration=config) + pc.addTransceiver("video", direction="recvonly") + + frame_received = asyncio.Event() + + @pc.on("connectionstatechange") + async def on_state(): + if pc.connectionState in ("failed", "disconnected", "closed"): + self.log.warning("WebRTC state: %s", pc.connectionState) + await pc.close() + + @pc.on("track") + async def on_track(track: VideoStreamTrack): + if track.kind != "video": + return + + self.log.info("WHEP: receiving video track") + frame_received.set() + + processing_task = asyncio.create_task(self._processing_loop()) + + try: + while not self._stop_flag.is_set(): + frame = cast(VideoFrame, await track.recv()) + + # NEVER block here + if self._frame_queue.full(): + try: + self._frame_queue.get_nowait() + except asyncio.QueueEmpty: + pass + + await self._frame_queue.put(frame) + + except Exception as e: + self.log.warning("WebRTC track ended: %s", e) + processing_task.cancel() + + # --- offer/answer WHEP --- + offer = await pc.createOffer() + await pc.setLocalDescription(offer) + + await self._wait_ice_complete(pc, timeout=3.0) + + async with aiohttp.ClientSession() as session: + async with session.post( + url, + data=pc.localDescription.sdp, + headers={"Content-Type": "application/sdp"}, + timeout=aiohttp.ClientTimeout(total=5), + ) as resp: + if resp.status != 201: + raise RuntimeError(f"WHEP failed: HTTP {resp.status}") + answer_sdp = await resp.text() + + await pc.setRemoteDescription( + RTCSessionDescription(sdp=answer_sdp, type="answer") + ) + + # wait until we have a video track (otherwise useless) + try: + await asyncio.wait_for(frame_received.wait(), timeout=5) + except asyncio.TimeoutError: + await pc.close() + raise RuntimeError("WHEP: no video track received") + + # stay alive as long as not stopped + while not self._stop_flag.is_set() and pc.connectionState != "closed": + await asyncio.sleep(0.1) + + await pc.close() + + # ---------------------------- + # Program interface + # ---------------------------- + def stop(self): + """Stops the WHEP client (does not stop MediaMTX).""" + self._stop_flag.set() + + # ---------- + # Public API + # ---------- + def get_last_image(self) -> np.ndarray: + with self._lock: + return self.last_frame.copy() + + def camera_matrix(self, vector_size=128, image=None) -> np.ndarray: + """ + Create a matrix of -1, 0, and 1 for a line in the image. The matrix size is 128. + """ + if image is None: + image = self.get_last_image() + height, width, _ = image.shape + if vector_size > width: + raise ValueError("Vector size cannot be greater than image width") + + # Slice the middle 5% of the image height + sliced_image = image[ + height // 2 - height // 40 + Y_OFFSET : height // 2 + + height // 40 + + Y_OFFSET, + :, + :, + ] + + # Ensure the width of the sliced image is divisible by vector_size + adjusted_width = (width // vector_size) * vector_size + sliced_image = sliced_image[:, :adjusted_width, :] + + # Initialize the output matrix + output_matrix = np.zeros(vector_size, dtype=int) + bucket_size = adjusted_width // vector_size + + # Calculate red and green intensities for all segments at once + reshaped_red = sliced_image[:, :, 0].reshape( + sliced_image.shape[0], vector_size, bucket_size + ) + reshaped_green = sliced_image[:, :, 1].reshape( + sliced_image.shape[0], vector_size, bucket_size + ) + red_intensities = np.mean(reshaped_red, axis=(0, 2)) + green_intensities = np.mean(reshaped_green, axis=(0, 2)) + + # Determine the color for each segment + output_matrix[red_intensities > green_intensities + COLOR_THRESHOLD] = ( + COLOUR_KEY["red"] + ) + output_matrix[green_intensities > red_intensities + COLOR_THRESHOLD] = ( + COLOUR_KEY["green"] + ) + output_matrix[ + np.abs(red_intensities - green_intensities) <= COLOR_THRESHOLD + ] = COLOUR_KEY["none"] + + # Recreate the image from the matrix + if self.log.isEnabledFor(logging.DEBUG): + path = os.path.join( + DEBUG_DIR, f"debug_combined_image{self.debug_counter}.jpg" + ) + self.recreate_image_from_matrix( + sliced_image, output_matrix, adjusted_width, vector_size + ).save(path) + + return output_matrix + + def recreate_image_from_matrix( + self, + image: np.ndarray, + matrix: np.ndarray, + adjusted_width: int, + vector_size: int = 128, + ) -> Image.Image: + """ + Recreate an image from the matrix of -1, 0, and 1 and append it to the bottom of the sliced image. + """ + + # Create a blank image (20 pixels high) + recreated_image = np.zeros((20, vector_size, 3), dtype=np.uint8) + recreated_image[:, matrix == COLOUR_KEY["red"], :] = [255, 0, 0] # Red + recreated_image[:, matrix == COLOUR_KEY["green"], :] = [0, 255, 0] # Green + recreated_image[:, matrix == COLOUR_KEY["none"], :] = [128, 128, 128] # Gray + + # Resize the recreated image to match the width of the sliced image + scale_factor = adjusted_width // vector_size + recreated_image_resized = np.repeat(recreated_image, scale_factor, axis=1) + + # Adjust the width of the recreated image to match the sliced image + if recreated_image_resized.shape[1] > adjusted_width: + recreated_image_resized = recreated_image_resized[:, :adjusted_width, :] + elif recreated_image_resized.shape[1] < adjusted_width: + padding = adjusted_width - recreated_image_resized.shape[1] + recreated_image_resized = np.pad( + recreated_image_resized, + ((0, 0), (0, padding), (0, 0)), + mode="constant", + constant_values=0, + ) + recreated_image_resized[:, -padding:, 2] = 255 # Blue channel for padding + + # Append the recreated image to the bottom of the sliced image + combined_image = np.vstack((image, recreated_image_resized)) + self.debug_counter += 1 + return Image.fromarray(combined_image).convert("RGB") + + def is_green_or_red(self, lidar): + """ + Check if the car is facing a green or red wall by analyzing the bottom half of the image. + """ + image = self.get_last_image() + height, _, _ = image.shape + bottom_half = image[height // 2 :, :, :] # Slice the bottom half of the image + lidar = np.max( + sp.ndimage.zoom( + lidar[595:855], image.shape[1] / len(lidar[595:855]), mode="nearest" + )[None, :], + 0, + ) # Resize lidar data to match the image size + print((lidar < 0.5).sum()) + print(f"min lidar: {lidar.min()}, max lidar: {lidar.max()}") + red_intensity = np.mean( + bottom_half[:, :, 0] * (lidar < 0.5) + ) # Red channel in RGB + green_intensity = np.mean( + bottom_half[:, :, 1] * (lidar < 0.5) + ) # Green channel in RGB + + if green_intensity > red_intensity + COLOR_THRESHOLD: + return COLOUR_KEY["green"] + elif red_intensity > green_intensity + COLOR_THRESHOLD: + return COLOUR_KEY["red"] + return COLOUR_KEY["none"] + + def is_running_in_reversed( + self, image: Optional[np.ndarray] = None, LEFT_IS_GREEN: bool = True + ): + """ + Check if the car is running in reverse. + If the car is in reverse, green will be on the right side of the image and red on the left. + """ + if image is None: + image = self.get_last_image() + matrix = self.camera_matrix(image=image) + if COLOUR_KEY["green"] not in matrix or COLOUR_KEY["red"] not in matrix: + # If there are no green or no red pixels, return False + return False + green_indices = (matrix == COLOUR_KEY["green"]) * np.arange(1, len(matrix) + 1) + average_green_index = np.mean( + green_indices[green_indices > 0] + ) # Average index of green + + red_indices = (matrix == COLOUR_KEY["red"]) * np.arange(1, len(matrix) + 1) + average_red_index = np.mean( + red_indices[red_indices > 0] + ) # Average index of redcolor is red + + if LEFT_IS_GREEN and average_red_index > average_green_index: + if self.log.isEnabledFor(logging.DEBUG): + self.log.debug( + f"green: {average_green_index}, red: {average_red_index}" + ) + vector_size = 128 + self.debug_counter += 1 + height, width, _ = image.shape + sliced_image = image[ + height // 2 - height // 40 + Y_OFFSET : height // 2 + + height // 40 + + Y_OFFSET, + :, + :, + ] + + # Ensure the width of the sliced image is divisible by vector_size + adjusted_width = (width // vector_size) * vector_size + sliced_image = sliced_image[:, :adjusted_width, :] + debug_slice_image = self.recreate_image_from_matrix( + sliced_image, matrix, adjusted_width, vector_size + ) + + debug_slice_image.save( + os.path.join( + DEBUG_DIR_wayfinding, + f"wrong_direction_{self.debug_counter}_slice.jpg", + ) + ) + Image.fromarray(image).convert("RGB").save( + os.path.join( + DEBUG_DIR_wayfinding, f"wrong_direction{self.debug_counter}.jpg" + ) + ) + return True + elif not LEFT_IS_GREEN and average_green_index > average_red_index: + return True + + +if __name__ == "__main__": + logging.basicConfig(level=logging.INFO) + + cam = Camera("http://192.168.1.10:8889/cam/whep") + + print("Got frame. camera_matrix:", cam.camera_matrix()[:10]) + time.sleep(5) + print("seconde frame", cam.camera_matrix()[:10]) + print("Ctrl+C to exit") + try: + while True: + print(cam.camera_matrix()[:10]) + time.sleep(0.1) + except KeyboardInterrupt: + cam.stop() diff --git a/src/high_level/src/driver/lidar.py b/src/high_level/src/driver/lidar.py new file mode 100644 index 0000000..d334f65 --- /dev/null +++ b/src/high_level/src/driver/lidar.py @@ -0,0 +1,211 @@ +# MIT License +# +# Copyright (c) 2020 cassc +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + + +import _thread as thread +import logging +import os +import socket + +import matplotlib.pyplot as plt +import numpy as np + + +class Lidar: + measure_msg_heads = {"ME", "GE", "MD", "GD"} + + def deg_to_theta(self, deg): + return deg / 360 * 2 * np.pi + + def make_socket(self, ip, port): + sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + sock.connect((ip, port)) + sock.settimeout(5) + return sock + + # decode 3 byte integer data line + def decode_distance(self, data): + + def partition(n: int, lst): + for i in range(0, len(lst), n): + yield lst[i : i + n] + + # remove checksum bytes for every 65 bytes of data + parts = ["".join(part[:-1]) for part in list(partition(65, data))] + # repack data + data = "".join(parts) + # transform 3-byte int + ns = [ord(d) - 0x30 for d in data] + ns = [f"{d:06b}" for d in ns] + ns = list(partition(3, ns)) + ns = [int("".join(c3), 2) for c3 in ns] + # set out-of-range value to zero + ns = [0 if n == 65533 else n for n in ns] + + self.r_distance = np.array(ns) + self.m_step = self.start_step + self.measuring = False + return ns + + def __init__(self, ip, port, start_step=0): + self.log = logging.getLogger(__name__) + self.ip = ip + self.port = port + # For decoding measuring data + self.measuring = False + self.skip = 0 + self.head = None + # Starting step id + self.start_step = start_step + # Current step id, for decoding polar distance data + self.m_step = start_step + # Array of distance + self.r_distance = np.zeros(1081 - start_step, dtype=int) + # Buffer to receive packets + self.buf = "" + self.expected_packet_size = ( + 65 * 50 + 44 + ) # TODO hardcoded for full range measurement + + ids = np.arange(1081 - start_step) + self.x_theta = self.deg_to_theta((ids + start_step) * 270.0 / 1080 + 45 - 90) + + self.sock = self.make_socket(ip, port) + self.__start_reader__() + + def send(self, cmd: str): + self.sock.sendall(cmd.encode()) + + def start_plotter(self, autorange=False): + + def to_cartesian(x_theta, x_r): + x = np.cos(x_theta) * x_r + y = np.sin(x_theta) * x_r + return x, y + + plt.show() + plt.figure() + axc = plt.subplot(121) + axp = plt.subplot(122, projection="polar") + # axp.set_thetamax(deg2theta(45)) + # axp.set_thetamax(deg2theta(270 + 45)) + axp.grid(True) + self.log.info("Plotter started, press any key to exit") + + self.log.debug(f"{self.x_theta}, {self.r_distance}") + while True: + x, y = to_cartesian(self.x_theta, self.r_distance) + + axp.clear() + axc.clear() + + axp.plot(self.x_theta, self.r_distance) + + axc.plot(x, y) + + if not autorange: + axp.set_rmax(8000) + axc.set_xlim(-5000, 5000) + axc.set_ylim(-5000, 5000) + + plt.pause(1e-17) + + if plt.waitforbuttonpress(timeout=0.02): + os._exit(0) + + # Change hokuyo IP address, requires reboot + def change_ip(self, ip: str, gateway: str, netmask="255.255.255.0"): + def format_zeros(addr): + return "".join([n.rjust(3, "0") for n in addr.split(".")]) + + ip = format_zeros(ip) + gateway = format_zeros(gateway) + netmask = format_zeros(netmask) + cmd = f"$IP{ip}{netmask}{gateway}\r\n" + self.log.debug(f"ChangeIP cmd: {cmd}") + self.send(cmd) + + # Start continous read mode + def start_continuous(self, start: int, end: int, with_intensity=False): + head = "ME" if with_intensity else "MD" + cmd = f"{head}{start:04d}{end:04d}00000\r\n" + self.log.debug(cmd) + self.head = cmd.strip() + self.send(cmd) + + # Start single read + def single_read(self, start: int, end: int, with_intensity=False): + head = "GE" if with_intensity else "GD" + cmd = f"{head}{start:04d}{end:04d}01000\r\n" + self.send(cmd) + + def stop(self): + cmd = "QT\r\n" + self.send(cmd) + + def reboot(self): + cmd = "RB\r\n" + self.send(cmd) + self.send(cmd) + + def handle_msg_line(self, line): + if line == self.head: + self.measuring = True + self.skip = 0 + self.m_step = self.start_step + return True + + if self.measuring: + if self.skip < 2: + self.skip += 1 + return True + else: + self.buf += line.strip() + # self.log.debug(f'buf size {len(self.buf)}') + if len(self.buf) >= self.expected_packet_size: + self.decode_distance(self.buf) + self.buf = "" + return True + + return False + + def __start_reader__(self): + def handle_measuring(msg): + lines = msg.split() + for line in lines: + if not self.handle_msg_line(line): + self.log.debug(f"ignore {line}") + + def loop(): + try: + while True: + try: + m, _ = self.sock.recvfrom(1024) + msg = m.decode() + handle_measuring(msg) + except socket.timeout: + self.log.error("Read timeout, sensor disconnected?") + os._exit(1) + finally: + self.sock.close() + + thread.start_new_thread(loop, ()) diff --git a/src/high_level/src/driver/master_i2c.py b/src/high_level/src/driver/master_i2c.py new file mode 100644 index 0000000..c5464c9 --- /dev/null +++ b/src/high_level/src/driver/master_i2c.py @@ -0,0 +1,74 @@ +import logging +import struct +import threading +import time + +import smbus + +from high_level.autotech_constant import ( + I2C_NUMBER_DATA_RECEIVED, + I2C_SLEEP_ERROR_LOOP, + I2C_SLEEP_RECEIVED, + SLAVE_ADDRESS, +) + + +class I2CArduino: + def __init__(self, serveur): + self.log = logging.getLogger(__name__) + self.serveur = serveur + self.current_speed = 0 + self.send_running = True + self.receive_running = True + + # battery info + self.voltage_lipo = 0 + self.voltage_nimh = 0 + + # initialization of i2c bus + self.bus = smbus.SMBus(1) # 1 indicates /dev/i2c-1 + self.log.info("I2C: bus opened on /dev/i2c-1") + + # initialization of i2c send and received + threading.Thread(target=self.start_send, daemon=True).start() + threading.Thread(target=self.start_received, daemon=True).start() + + def start_send(self): + """send speed and direction to the microcontroller regularly.""" + time.sleep(1) # Give some time for the target_speed and direction to be set + self.log.info("Thread I2C loop started") + while self.send_running: + try: + data = struct.pack( + "= length: + float_values = struct.unpack( + "f" * I2C_NUMBER_DATA_RECEIVED, bytes(data[:length]) + ) + list_values = list(float_values) + + # we record the values + self.voltage_lipo = list_values[0] + self.voltage_nimh = list_values[1] + self.current_speed = list_values[2] + else: + self.log.warning( + "I2C: unexpected size (%d but %d excepted)", len(data), length + ) + time.sleep(I2C_SLEEP_RECEIVED) diff --git a/src/high_level/src/driver/tof.py b/src/high_level/src/driver/tof.py new file mode 100644 index 0000000..845a5a2 --- /dev/null +++ b/src/high_level/src/driver/tof.py @@ -0,0 +1,40 @@ +import board +import busio +from adafruit_vl53l1x import VL53L1X +import logging +import threading +import time + +class ToF: + """ + Class representing a Time of Flight (ToF) sensor. + """ + + def __init__(self): + self.log = logging.getLogger(__name__) + i2c = busio.I2C(board.SCL, board.SDA) + self.vl53 = VL53L1X(i2c) + self.distance = 0 + threading.Thread(target=self.get_tof_distance, daemon=True).start() + + def get_tof_distance(self): + """ + Get the distance from the rear ToF sensor. + """ + self.vl53.stop_ranging() # Ensure sensor is stopped before starting + time.sleep(0.1) # Short delay to ensure sensor is ready + self.vl53.start_ranging() + while True: + try: + if self.vl53.data_ready: + distance = self.vl53.distance + if distance is None: + self.distance = 0 # en cm + else: + self.distance = distance # en cm + self.vl53.clear_interrupt() + time.sleep(0.05) + except Exception as e: + self.log.error(f"Error reading rear ToF sensor: {e}") + return None + diff --git a/src/high_level/src/high_level/autotech_constant.py b/src/high_level/src/high_level/autotech_constant.py index 13f3166..f60e2c8 100644 --- a/src/high_level/src/high_level/autotech_constant.py +++ b/src/high_level/src/high_level/autotech_constant.py @@ -77,5 +77,7 @@ True # If True the lidar stream will start at the launch of the car ) LIMIT_CRASH_POINT = 10 # number of lidar points that must be under the crash border distance to consider that the car is in a crash situation, +FREQUENCY_CRASH_DETECTION = 0.1 # in seconds, the time between two crash detection + # Backend SITE_DIR_BACKEND = "/home/intech/CoVAPSy/src/high_level/src/site_controle" # the directory where the backend will look for the site to serve diff --git a/src/high_level/src/programs/car.py b/src/high_level/src/programs/car.py index efcaa90..e5539bc 100644 --- a/src/high_level/src/programs/car.py +++ b/src/high_level/src/programs/car.py @@ -18,14 +18,21 @@ MAX_ANGLE, MODEL_PATH, LIMIT_CRASH_POINT, + FREQUENCY_CRASH_DETECTION, ) from .program import Program from .utils.driver import Driver +class Border_zone: + ZONE1 = [0, 370] + ZONE2 = [371, 750] + ZONE3 = [751, 1080] + + class CrashCar: - def __init__(self, serveur): + def __init__(self, serveur) -> None: self.log = logging.getLogger(__name__) self.serveur = serveur self.crashed = False @@ -57,7 +64,6 @@ def has_Crashed(self) -> bool: + str(len(self.reference_lidar)) ) self.crashed = False - time.sleep(0.1) else: # Points that are inside the vehicle contour penetration_mask = (current > 0) & (current < self.reference_lidar) @@ -66,12 +72,12 @@ def has_Crashed(self) -> bool: self.log.debug(f"Penetration points: {penetration_count}") - if penetration_count >= LIMIT_CRASH_POINT: # ← tu peux ajuster ici + if penetration_count >= LIMIT_CRASH_POINT: self.log.info("Crash detected via contour penetration") self.crashed = True else: self.crashed = False - time.sleep(0.1) + time.sleep(FREQUENCY_CRASH_DETECTION) # time between two crash detection class Car: @@ -152,7 +158,7 @@ def main(self) -> None: if self.serveur.crash_car.crashed: self.log.info("Obstacle detected") - color= self.camera.is_green_or_red(lidar_data) + color = self.camera.is_green_or_red(lidar_data) if color == 0: small_distances = [ d for d in self.lidar.r_distance if 0 < d < CRASH_DIST From f5dd91850726d93eca28d2a9ccfcd4a7a6f3959d Mon Sep 17 00:00:00 2001 From: Cbampeta Date: Sun, 1 Mar 2026 18:41:22 +0100 Subject: [PATCH 6/8] fix: some error from the merging --- src/high_level/src/high_level/server.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/high_level/src/high_level/server.py b/src/high_level/src/high_level/server.py index 6d944b7..be261a4 100644 --- a/src/high_level/src/high_level/server.py +++ b/src/high_level/src/high_level/server.py @@ -14,7 +14,7 @@ from actionneur_capteur.master_i2c import I2CArduino from actionneur_capteur.tof import ToF from high_level.autotech_constant import SITE_DIR_BACKEND, TEXT_HEIGHT -from programs.car import AIProgram +from programs.car import AIProgram, CrashCar from programs.initialization import Initialization from programs.poweroff import Poweroff from programs.ps4_controller_program import PS4ControllerProgram @@ -56,7 +56,7 @@ def __init__(self): self.temp = None self.initialization_module = Initialization(self) - + self.crash_car = CrashCar(self) self.programs = [ SshProgram(), self.initialization_module, @@ -75,19 +75,19 @@ def __init__(self): self.scroll_offset = 3 @property - def camera(self) -> Camera: + def camera(self) -> Camera | None: return self.initialization_module.camera @property - def lidar(self) -> Lidar: + def lidar(self) -> Lidar | None: return self.initialization_module.lidar @property - def tof(self) -> ToF: + def tof(self) -> ToF | None: return self.initialization_module.tof @property - def arduino_I2C(self) -> I2CArduino: + def arduino_I2C(self) -> I2CArduino | None: return self.initialization_module.arduino_I2C @property From 5e98e2bf6e0e79168d6df134a0cfdf53b6a5f22b Mon Sep 17 00:00:00 2001 From: Cbampeta Date: Sun, 1 Mar 2026 19:45:25 +0100 Subject: [PATCH 7/8] fix: deleting actionneur_capteur doc and refactoring for using driver instead --- src/high_level/scripts/Live_display_lidar.py | 10 +- src/high_level/scripts/launch_serveur.py | 2 +- src/high_level/scripts/live_display_lidar.py | 2 +- src/high_level/scripts/min_lidar.py | 2 +- src/high_level/scripts/onetime_lidar.py | 2 +- src/high_level/scripts/simple.py | 2 +- .../src/actionneur_capteur/__init__.py | 6 - .../src/actionneur_capteur/camera.py | 385 ------------------ .../src/actionneur_capteur/lidar.py | 211 ---------- .../src/actionneur_capteur/master_i2c.py | 74 ---- src/high_level/src/actionneur_capteur/tof.py | 40 -- src/high_level/src/high_level/server.py | 8 +- src/high_level/src/programs/car.py | 6 +- src/high_level/src/programs/initialization.py | 2 +- 14 files changed, 18 insertions(+), 734 deletions(-) delete mode 100644 src/high_level/src/actionneur_capteur/__init__.py delete mode 100644 src/high_level/src/actionneur_capteur/camera.py delete mode 100644 src/high_level/src/actionneur_capteur/lidar.py delete mode 100644 src/high_level/src/actionneur_capteur/master_i2c.py delete mode 100644 src/high_level/src/actionneur_capteur/tof.py diff --git a/src/high_level/scripts/Live_display_lidar.py b/src/high_level/scripts/Live_display_lidar.py index cda82b3..3aabc28 100644 --- a/src/high_level/scripts/Live_display_lidar.py +++ b/src/high_level/scripts/Live_display_lidar.py @@ -1,15 +1,15 @@ import time -from actionneur_capteur.lidar import Lidar +from driver.lidar import Lidar -IP = '192.168.0.20' +IP = "192.168.0.20" PORT = 10940 -if __name__ == '__main__': +if __name__ == "__main__": sensor = Lidar(IP, PORT) sensor.stop() # sensor.singleRead(0, 1080) time.sleep(2) - sensor.startContinuous(0, 1080) - sensor.startPlotter() \ No newline at end of file + sensor.start_continuous(0, 1080) + sensor.start_plotter() diff --git a/src/high_level/scripts/launch_serveur.py b/src/high_level/scripts/launch_serveur.py index 0b63f0e..d50a788 100644 --- a/src/high_level/scripts/launch_serveur.py +++ b/src/high_level/scripts/launch_serveur.py @@ -20,7 +20,7 @@ log_serveur = logging.getLogger("src.HL") log_serveur.setLevel(level=logging.DEBUG) - log_lidar = logging.getLogger("src.HL.actionneur_capteur.Lidar") + log_lidar = logging.getLogger("src.HL.driver.Lidar") log_lidar.setLevel(level=logging.INFO) boot = Server() diff --git a/src/high_level/scripts/live_display_lidar.py b/src/high_level/scripts/live_display_lidar.py index 6f4ab39..a27ba05 100644 --- a/src/high_level/scripts/live_display_lidar.py +++ b/src/high_level/scripts/live_display_lidar.py @@ -1,6 +1,6 @@ import time -from actionneur_capteur import Lidar +from driver import Lidar IP = "192.168.0.10" PORT = 10940 diff --git a/src/high_level/scripts/min_lidar.py b/src/high_level/scripts/min_lidar.py index 271b292..0de5db9 100644 --- a/src/high_level/scripts/min_lidar.py +++ b/src/high_level/scripts/min_lidar.py @@ -5,7 +5,7 @@ import numpy as np -from src.actionneur_capteur.lidar import Lidar +from src.driver.lidar import Lidar IP = "192.168.0.10" PORT = 10940 diff --git a/src/high_level/scripts/onetime_lidar.py b/src/high_level/scripts/onetime_lidar.py index 2872d21..60ad010 100644 --- a/src/high_level/scripts/onetime_lidar.py +++ b/src/high_level/scripts/onetime_lidar.py @@ -1,4 +1,4 @@ -from actionneur_capteur import Lidar +from driver import Lidar IP = "192.168.0.10" PORT = 10940 diff --git a/src/high_level/scripts/simple.py b/src/high_level/scripts/simple.py index 29a1324..59a9942 100644 --- a/src/high_level/scripts/simple.py +++ b/src/high_level/scripts/simple.py @@ -2,7 +2,7 @@ from rpi_hardware_pwm import HardwarePWM -from actionneur_capteur import Lidar +from driver import Lidar IP = "192.168.0.10" PORT = 10940 diff --git a/src/high_level/src/actionneur_capteur/__init__.py b/src/high_level/src/actionneur_capteur/__init__.py deleted file mode 100644 index c845b58..0000000 --- a/src/high_level/src/actionneur_capteur/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -from .camera import Camera -from .lidar import Lidar -from .master_i2c import I2CArduino -from .tof import ToF - -__all__ = ["Camera", "Lidar", "I2CArduino", "ToF"] diff --git a/src/high_level/src/actionneur_capteur/camera.py b/src/high_level/src/actionneur_capteur/camera.py deleted file mode 100644 index cd8f57c..0000000 --- a/src/high_level/src/actionneur_capteur/camera.py +++ /dev/null @@ -1,385 +0,0 @@ -import asyncio -import logging -import os -import threading -import time -from typing import Optional, cast - -import aiohttp -import cv2 -import numpy as np -import scipy as sp -from aiortc import ( - RTCConfiguration, - RTCPeerConnection, - RTCSessionDescription, - VideoStreamTrack, -) -from av import VideoFrame -from PIL import Image - -N_IMAGES = 100 # Number of images to capture -SAVE_DIR = "Captured_Frames" # Directory to save frames -DEBUG_DIR = "Debug" # Directory for debug images -DEBUG_DIR_wayfinding = "Debug_Wayfinding" # Directory for wayfinding debug images -COLOUR_KEY = {"green": 1, "red": -1, "none": 0} -COLOR_THRESHOLD = 20 # Threshold for color intensity difference -Y_OFFSET = -80 # Offset for the y-axis in the image - - -class Camera: - """ - Camera = client WebRTC (WHEP) vers MediaMTX. - MediaMTX ouvre la PiCam (source: rpiCamera). Python ne fait que consommer. - """ - - def __init__(self, whep_url: str = "http://192.168.0.20:8889/cam/whep"): - self.log = logging.getLogger(__name__) - self.whep_url = whep_url - self.debug_counter = 0 - self.last_frame = np.zeros((0, 0, 0)) - self._lock = threading.Lock() - - self._stop_flag = threading.Event() - self._frame_queue: asyncio.Queue[VideoFrame] = asyncio.Queue(maxsize=2) - self._thread = threading.Thread(target=self._thread_main, daemon=True) - - self._thread.start() - - # --------- thread -> event loop asyncio --------- - def _thread_main(self): - asyncio.run(self._run_forever()) - - async def _run_forever(self): - # boucle de reconnexion automatique - while not self._stop_flag.is_set(): - try: - await self._run_once(self.whep_url) - except Exception as e: - self.log.warning("WHEP client error: %s", e) - - # petit backoff avant de retenter - await asyncio.sleep(0.5) - - async def _processing_loop(self): - while not self._stop_flag.is_set(): - frame = await self._frame_queue.get() - # H264 decoding -> numpy (OUTSIDE WebRTC) - img_bgr = frame.to_ndarray(format="bgr24") - img_rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB) - - # optional but recommended (algorithm stability) - img_rgb = cv2.resize(img_rgb, (320, 240)) - - with self._lock: - self.last_frame = img_rgb - - async def _wait_ice_complete(self, pc: RTCPeerConnection, timeout: float = 2.0): - if pc.iceGatheringState == "complete": - return - - ev = asyncio.Event() - - @pc.on("icegatheringstatechange") - def _on_ice(): - if pc.iceGatheringState == "complete": - ev.set() - - try: - await asyncio.wait_for(ev.wait(), timeout=timeout) - except asyncio.TimeoutError: - self.log.warning("ICE gathering not complete after timeout") - pass - - async def _run_once(self, url: str): - config = RTCConfiguration(iceServers=[]) - - pc = RTCPeerConnection(configuration=config) - pc.addTransceiver("video", direction="recvonly") - - frame_received = asyncio.Event() - - @pc.on("connectionstatechange") - async def on_state(): - if pc.connectionState in ("failed", "disconnected", "closed"): - self.log.warning("WebRTC state: %s", pc.connectionState) - await pc.close() - - @pc.on("track") - async def on_track(track: VideoStreamTrack): - if track.kind != "video": - return - - self.log.info("WHEP: receiving video track") - frame_received.set() - - processing_task = asyncio.create_task(self._processing_loop()) - - try: - while not self._stop_flag.is_set(): - frame = cast(VideoFrame, await track.recv()) - - # NEVER block here - if self._frame_queue.full(): - try: - self._frame_queue.get_nowait() - except asyncio.QueueEmpty: - pass - - await self._frame_queue.put(frame) - - except Exception as e: - self.log.warning("WebRTC track ended: %s", e) - processing_task.cancel() - - # --- offer/answer WHEP --- - offer = await pc.createOffer() - await pc.setLocalDescription(offer) - - await self._wait_ice_complete(pc, timeout=3.0) - - async with aiohttp.ClientSession() as session: - async with session.post( - url, - data=pc.localDescription.sdp, - headers={"Content-Type": "application/sdp"}, - timeout=aiohttp.ClientTimeout(total=5), - ) as resp: - if resp.status != 201: - raise RuntimeError(f"WHEP failed: HTTP {resp.status}") - answer_sdp = await resp.text() - - await pc.setRemoteDescription( - RTCSessionDescription(sdp=answer_sdp, type="answer") - ) - - # wait until we have a video track (otherwise useless) - try: - await asyncio.wait_for(frame_received.wait(), timeout=5) - except asyncio.TimeoutError: - await pc.close() - raise RuntimeError("WHEP: no video track received") - - # stay alive as long as not stopped - while not self._stop_flag.is_set() and pc.connectionState != "closed": - await asyncio.sleep(0.1) - - await pc.close() - - # ---------------------------- - # Program interface - # ---------------------------- - def stop(self): - """Stops the WHEP client (does not stop MediaMTX).""" - self._stop_flag.set() - - # ---------- - # Public API - # ---------- - def get_last_image(self) -> np.ndarray: - with self._lock: - return self.last_frame.copy() - - def camera_matrix(self, vector_size=128, image=None) -> np.ndarray: - """ - Create a matrix of -1, 0, and 1 for a line in the image. The matrix size is 128. - """ - if image is None: - image = self.get_last_image() - height, width, _ = image.shape - if vector_size > width: - raise ValueError("Vector size cannot be greater than image width") - - # Slice the middle 5% of the image height - sliced_image = image[ - height // 2 - height // 40 + Y_OFFSET : height // 2 - + height // 40 - + Y_OFFSET, - :, - :, - ] - - # Ensure the width of the sliced image is divisible by vector_size - adjusted_width = (width // vector_size) * vector_size - sliced_image = sliced_image[:, :adjusted_width, :] - - # Initialize the output matrix - output_matrix = np.zeros(vector_size, dtype=int) - bucket_size = adjusted_width // vector_size - - # Calculate red and green intensities for all segments at once - reshaped_red = sliced_image[:, :, 0].reshape( - sliced_image.shape[0], vector_size, bucket_size - ) - reshaped_green = sliced_image[:, :, 1].reshape( - sliced_image.shape[0], vector_size, bucket_size - ) - red_intensities = np.mean(reshaped_red, axis=(0, 2)) - green_intensities = np.mean(reshaped_green, axis=(0, 2)) - - # Determine the color for each segment - output_matrix[red_intensities > green_intensities + COLOR_THRESHOLD] = ( - COLOUR_KEY["red"] - ) - output_matrix[green_intensities > red_intensities + COLOR_THRESHOLD] = ( - COLOUR_KEY["green"] - ) - output_matrix[ - np.abs(red_intensities - green_intensities) <= COLOR_THRESHOLD - ] = COLOUR_KEY["none"] - - # Recreate the image from the matrix - if self.log.isEnabledFor(logging.DEBUG): - path = os.path.join( - DEBUG_DIR, f"debug_combined_image{self.debug_counter}.jpg" - ) - self.recreate_image_from_matrix( - sliced_image, output_matrix, adjusted_width, vector_size - ).save(path) - - return output_matrix - - def recreate_image_from_matrix( - self, - image: np.ndarray, - matrix: np.ndarray, - adjusted_width: int, - vector_size: int = 128, - ) -> Image.Image: - """ - Recreate an image from the matrix of -1, 0, and 1 and append it to the bottom of the sliced image. - """ - - # Create a blank image (20 pixels high) - recreated_image = np.zeros((20, vector_size, 3), dtype=np.uint8) - recreated_image[:, matrix == COLOUR_KEY["red"], :] = [255, 0, 0] # Red - recreated_image[:, matrix == COLOUR_KEY["green"], :] = [0, 255, 0] # Green - recreated_image[:, matrix == COLOUR_KEY["none"], :] = [128, 128, 128] # Gray - - # Resize the recreated image to match the width of the sliced image - scale_factor = adjusted_width // vector_size - recreated_image_resized = np.repeat(recreated_image, scale_factor, axis=1) - - # Adjust the width of the recreated image to match the sliced image - if recreated_image_resized.shape[1] > adjusted_width: - recreated_image_resized = recreated_image_resized[:, :adjusted_width, :] - elif recreated_image_resized.shape[1] < adjusted_width: - padding = adjusted_width - recreated_image_resized.shape[1] - recreated_image_resized = np.pad( - recreated_image_resized, - ((0, 0), (0, padding), (0, 0)), - mode="constant", - constant_values=0, - ) - recreated_image_resized[:, -padding:, 2] = 255 # Blue channel for padding - - # Append the recreated image to the bottom of the sliced image - combined_image = np.vstack((image, recreated_image_resized)) - self.debug_counter += 1 - return Image.fromarray(combined_image).convert("RGB") - - def is_green_or_red(self, lidar): - """ - Check if the car is facing a green or red wall by analyzing the bottom half of the image. - """ - image = self.get_last_image() - height, _, _ = image.shape - bottom_half = image[height // 2 :, :, :] # Slice the bottom half of the image - lidar = np.max( - sp.ndimage.zoom( - lidar[595:855], image.shape[1] / len(lidar[595:855]), mode="nearest" - )[None, :], - 0, - ) # Resize lidar data to match the image size - print((lidar < 0.5).sum()) - print(f"min lidar: {lidar.min()}, max lidar: {lidar.max()}") - red_intensity = np.mean( - bottom_half[:, :, 0] * (lidar < 0.5) - ) # Red channel in RGB - green_intensity = np.mean( - bottom_half[:, :, 1] * (lidar < 0.5) - ) # Green channel in RGB - - if green_intensity > red_intensity + COLOR_THRESHOLD: - return COLOUR_KEY["green"] - elif red_intensity > green_intensity + COLOR_THRESHOLD: - return COLOUR_KEY["red"] - return COLOUR_KEY["none"] - - def is_running_in_reversed( - self, image: Optional[np.ndarray] = None, LEFT_IS_GREEN: bool = True - ): - """ - Check if the car is running in reverse. - If the car is in reverse, green will be on the right side of the image and red on the left. - """ - if image is None: - image = self.get_last_image() - matrix = self.camera_matrix(image=image) - if COLOUR_KEY["green"] not in matrix or COLOUR_KEY["red"] not in matrix: - # If there are no green or no red pixels, return False - return False - green_indices = (matrix == COLOUR_KEY["green"]) * np.arange(1, len(matrix) + 1) - average_green_index = np.mean( - green_indices[green_indices > 0] - ) # Average index of green - - red_indices = (matrix == COLOUR_KEY["red"]) * np.arange(1, len(matrix) + 1) - average_red_index = np.mean( - red_indices[red_indices > 0] - ) # Average index of redcolor is red - - if LEFT_IS_GREEN and average_red_index > average_green_index: - if self.log.isEnabledFor(logging.DEBUG): - self.log.debug( - f"green: {average_green_index}, red: {average_red_index}" - ) - vector_size = 128 - self.debug_counter += 1 - height, width, _ = image.shape - sliced_image = image[ - height // 2 - height // 40 + Y_OFFSET : height // 2 - + height // 40 - + Y_OFFSET, - :, - :, - ] - - # Ensure the width of the sliced image is divisible by vector_size - adjusted_width = (width // vector_size) * vector_size - sliced_image = sliced_image[:, :adjusted_width, :] - debug_slice_image = self.recreate_image_from_matrix( - sliced_image, matrix, adjusted_width, vector_size - ) - - debug_slice_image.save( - os.path.join( - DEBUG_DIR_wayfinding, - f"wrong_direction_{self.debug_counter}_slice.jpg", - ) - ) - Image.fromarray(image).convert("RGB").save( - os.path.join( - DEBUG_DIR_wayfinding, f"wrong_direction{self.debug_counter}.jpg" - ) - ) - return True - elif not LEFT_IS_GREEN and average_green_index > average_red_index: - return True - - -if __name__ == "__main__": - logging.basicConfig(level=logging.INFO) - - cam = Camera("http://192.168.1.10:8889/cam/whep") - - print("Got frame. camera_matrix:", cam.camera_matrix()[:10]) - time.sleep(5) - print("seconde frame", cam.camera_matrix()[:10]) - print("Ctrl+C to exit") - try: - while True: - print(cam.camera_matrix()[:10]) - time.sleep(0.1) - except KeyboardInterrupt: - cam.stop() diff --git a/src/high_level/src/actionneur_capteur/lidar.py b/src/high_level/src/actionneur_capteur/lidar.py deleted file mode 100644 index d334f65..0000000 --- a/src/high_level/src/actionneur_capteur/lidar.py +++ /dev/null @@ -1,211 +0,0 @@ -# MIT License -# -# Copyright (c) 2020 cassc -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in all -# copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -# SOFTWARE. - - -import _thread as thread -import logging -import os -import socket - -import matplotlib.pyplot as plt -import numpy as np - - -class Lidar: - measure_msg_heads = {"ME", "GE", "MD", "GD"} - - def deg_to_theta(self, deg): - return deg / 360 * 2 * np.pi - - def make_socket(self, ip, port): - sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - sock.connect((ip, port)) - sock.settimeout(5) - return sock - - # decode 3 byte integer data line - def decode_distance(self, data): - - def partition(n: int, lst): - for i in range(0, len(lst), n): - yield lst[i : i + n] - - # remove checksum bytes for every 65 bytes of data - parts = ["".join(part[:-1]) for part in list(partition(65, data))] - # repack data - data = "".join(parts) - # transform 3-byte int - ns = [ord(d) - 0x30 for d in data] - ns = [f"{d:06b}" for d in ns] - ns = list(partition(3, ns)) - ns = [int("".join(c3), 2) for c3 in ns] - # set out-of-range value to zero - ns = [0 if n == 65533 else n for n in ns] - - self.r_distance = np.array(ns) - self.m_step = self.start_step - self.measuring = False - return ns - - def __init__(self, ip, port, start_step=0): - self.log = logging.getLogger(__name__) - self.ip = ip - self.port = port - # For decoding measuring data - self.measuring = False - self.skip = 0 - self.head = None - # Starting step id - self.start_step = start_step - # Current step id, for decoding polar distance data - self.m_step = start_step - # Array of distance - self.r_distance = np.zeros(1081 - start_step, dtype=int) - # Buffer to receive packets - self.buf = "" - self.expected_packet_size = ( - 65 * 50 + 44 - ) # TODO hardcoded for full range measurement - - ids = np.arange(1081 - start_step) - self.x_theta = self.deg_to_theta((ids + start_step) * 270.0 / 1080 + 45 - 90) - - self.sock = self.make_socket(ip, port) - self.__start_reader__() - - def send(self, cmd: str): - self.sock.sendall(cmd.encode()) - - def start_plotter(self, autorange=False): - - def to_cartesian(x_theta, x_r): - x = np.cos(x_theta) * x_r - y = np.sin(x_theta) * x_r - return x, y - - plt.show() - plt.figure() - axc = plt.subplot(121) - axp = plt.subplot(122, projection="polar") - # axp.set_thetamax(deg2theta(45)) - # axp.set_thetamax(deg2theta(270 + 45)) - axp.grid(True) - self.log.info("Plotter started, press any key to exit") - - self.log.debug(f"{self.x_theta}, {self.r_distance}") - while True: - x, y = to_cartesian(self.x_theta, self.r_distance) - - axp.clear() - axc.clear() - - axp.plot(self.x_theta, self.r_distance) - - axc.plot(x, y) - - if not autorange: - axp.set_rmax(8000) - axc.set_xlim(-5000, 5000) - axc.set_ylim(-5000, 5000) - - plt.pause(1e-17) - - if plt.waitforbuttonpress(timeout=0.02): - os._exit(0) - - # Change hokuyo IP address, requires reboot - def change_ip(self, ip: str, gateway: str, netmask="255.255.255.0"): - def format_zeros(addr): - return "".join([n.rjust(3, "0") for n in addr.split(".")]) - - ip = format_zeros(ip) - gateway = format_zeros(gateway) - netmask = format_zeros(netmask) - cmd = f"$IP{ip}{netmask}{gateway}\r\n" - self.log.debug(f"ChangeIP cmd: {cmd}") - self.send(cmd) - - # Start continous read mode - def start_continuous(self, start: int, end: int, with_intensity=False): - head = "ME" if with_intensity else "MD" - cmd = f"{head}{start:04d}{end:04d}00000\r\n" - self.log.debug(cmd) - self.head = cmd.strip() - self.send(cmd) - - # Start single read - def single_read(self, start: int, end: int, with_intensity=False): - head = "GE" if with_intensity else "GD" - cmd = f"{head}{start:04d}{end:04d}01000\r\n" - self.send(cmd) - - def stop(self): - cmd = "QT\r\n" - self.send(cmd) - - def reboot(self): - cmd = "RB\r\n" - self.send(cmd) - self.send(cmd) - - def handle_msg_line(self, line): - if line == self.head: - self.measuring = True - self.skip = 0 - self.m_step = self.start_step - return True - - if self.measuring: - if self.skip < 2: - self.skip += 1 - return True - else: - self.buf += line.strip() - # self.log.debug(f'buf size {len(self.buf)}') - if len(self.buf) >= self.expected_packet_size: - self.decode_distance(self.buf) - self.buf = "" - return True - - return False - - def __start_reader__(self): - def handle_measuring(msg): - lines = msg.split() - for line in lines: - if not self.handle_msg_line(line): - self.log.debug(f"ignore {line}") - - def loop(): - try: - while True: - try: - m, _ = self.sock.recvfrom(1024) - msg = m.decode() - handle_measuring(msg) - except socket.timeout: - self.log.error("Read timeout, sensor disconnected?") - os._exit(1) - finally: - self.sock.close() - - thread.start_new_thread(loop, ()) diff --git a/src/high_level/src/actionneur_capteur/master_i2c.py b/src/high_level/src/actionneur_capteur/master_i2c.py deleted file mode 100644 index c5464c9..0000000 --- a/src/high_level/src/actionneur_capteur/master_i2c.py +++ /dev/null @@ -1,74 +0,0 @@ -import logging -import struct -import threading -import time - -import smbus - -from high_level.autotech_constant import ( - I2C_NUMBER_DATA_RECEIVED, - I2C_SLEEP_ERROR_LOOP, - I2C_SLEEP_RECEIVED, - SLAVE_ADDRESS, -) - - -class I2CArduino: - def __init__(self, serveur): - self.log = logging.getLogger(__name__) - self.serveur = serveur - self.current_speed = 0 - self.send_running = True - self.receive_running = True - - # battery info - self.voltage_lipo = 0 - self.voltage_nimh = 0 - - # initialization of i2c bus - self.bus = smbus.SMBus(1) # 1 indicates /dev/i2c-1 - self.log.info("I2C: bus opened on /dev/i2c-1") - - # initialization of i2c send and received - threading.Thread(target=self.start_send, daemon=True).start() - threading.Thread(target=self.start_received, daemon=True).start() - - def start_send(self): - """send speed and direction to the microcontroller regularly.""" - time.sleep(1) # Give some time for the target_speed and direction to be set - self.log.info("Thread I2C loop started") - while self.send_running: - try: - data = struct.pack( - "= length: - float_values = struct.unpack( - "f" * I2C_NUMBER_DATA_RECEIVED, bytes(data[:length]) - ) - list_values = list(float_values) - - # we record the values - self.voltage_lipo = list_values[0] - self.voltage_nimh = list_values[1] - self.current_speed = list_values[2] - else: - self.log.warning( - "I2C: unexpected size (%d but %d excepted)", len(data), length - ) - time.sleep(I2C_SLEEP_RECEIVED) diff --git a/src/high_level/src/actionneur_capteur/tof.py b/src/high_level/src/actionneur_capteur/tof.py deleted file mode 100644 index 845a5a2..0000000 --- a/src/high_level/src/actionneur_capteur/tof.py +++ /dev/null @@ -1,40 +0,0 @@ -import board -import busio -from adafruit_vl53l1x import VL53L1X -import logging -import threading -import time - -class ToF: - """ - Class representing a Time of Flight (ToF) sensor. - """ - - def __init__(self): - self.log = logging.getLogger(__name__) - i2c = busio.I2C(board.SCL, board.SDA) - self.vl53 = VL53L1X(i2c) - self.distance = 0 - threading.Thread(target=self.get_tof_distance, daemon=True).start() - - def get_tof_distance(self): - """ - Get the distance from the rear ToF sensor. - """ - self.vl53.stop_ranging() # Ensure sensor is stopped before starting - time.sleep(0.1) # Short delay to ensure sensor is ready - self.vl53.start_ranging() - while True: - try: - if self.vl53.data_ready: - distance = self.vl53.distance - if distance is None: - self.distance = 0 # en cm - else: - self.distance = distance # en cm - self.vl53.clear_interrupt() - time.sleep(0.05) - except Exception as e: - self.log.error(f"Error reading rear ToF sensor: {e}") - return None - diff --git a/src/high_level/src/high_level/server.py b/src/high_level/src/high_level/server.py index be261a4..3f01ca0 100644 --- a/src/high_level/src/high_level/server.py +++ b/src/high_level/src/high_level/server.py @@ -9,10 +9,10 @@ from luma.oled.device import ssd1306 from PIL import Image, ImageDraw, ImageFont -from actionneur_capteur.camera import Camera -from actionneur_capteur.lidar import Lidar -from actionneur_capteur.master_i2c import I2CArduino -from actionneur_capteur.tof import ToF +from driver.camera import Camera +from driver.lidar import Lidar +from driver.master_i2c import I2CArduino +from driver.tof import ToF from high_level.autotech_constant import SITE_DIR_BACKEND, TEXT_HEIGHT from programs.car import AIProgram, CrashCar from programs.initialization import Initialization diff --git a/src/high_level/src/programs/car.py b/src/high_level/src/programs/car.py index 952017b..18605ff 100644 --- a/src/high_level/src/programs/car.py +++ b/src/high_level/src/programs/car.py @@ -7,9 +7,9 @@ import numpy as np import onnxruntime as ort -from actionneur_capteur import Lidar -from actionneur_capteur.camera import Camera -from actionneur_capteur.tof import ToF +from driver import Lidar +from driver.camera import Camera +from driver.tof import ToF # Import constants from HL.Autotech_constant to share them between files and ease of use from high_level.autotech_constant import ( diff --git a/src/high_level/src/programs/initialization.py b/src/high_level/src/programs/initialization.py index 53d0c10..7cca3c9 100644 --- a/src/high_level/src/programs/initialization.py +++ b/src/high_level/src/programs/initialization.py @@ -2,7 +2,7 @@ import threading from enum import Enum -from actionneur_capteur import Camera, I2CArduino, Lidar, ToF +from driver import Camera, I2CArduino, Lidar, ToF from high_level.autotech_constant import SOCKET_ADRESS from .program import Program From 9a8f950b67337334a63ef2e7a8a15464c218a8b2 Mon Sep 17 00:00:00 2001 From: Cbampeta Date: Mon, 2 Mar 2026 11:12:32 +0100 Subject: [PATCH 8/8] feat: driver -> drivers --- src/high_level/scripts/Live_display_lidar.py | 2 +- src/high_level/scripts/live_display_lidar.py | 2 +- src/high_level/scripts/onetime_lidar.py | 2 +- src/high_level/scripts/simple.py | 2 +- src/high_level/src/{driver => drivers}/__init__.py | 0 src/high_level/src/{driver => drivers}/camera.py | 0 src/high_level/src/{driver => drivers}/lidar.py | 0 src/high_level/src/{driver => drivers}/master_i2c.py | 0 src/high_level/src/{driver => drivers}/tof.py | 0 src/high_level/src/high_level/server.py | 8 ++++---- src/high_level/src/programs/car.py | 6 +++--- src/high_level/src/programs/initialization.py | 2 +- 12 files changed, 12 insertions(+), 12 deletions(-) rename src/high_level/src/{driver => drivers}/__init__.py (100%) rename src/high_level/src/{driver => drivers}/camera.py (100%) rename src/high_level/src/{driver => drivers}/lidar.py (100%) rename src/high_level/src/{driver => drivers}/master_i2c.py (100%) rename src/high_level/src/{driver => drivers}/tof.py (100%) diff --git a/src/high_level/scripts/Live_display_lidar.py b/src/high_level/scripts/Live_display_lidar.py index 3aabc28..f443f19 100644 --- a/src/high_level/scripts/Live_display_lidar.py +++ b/src/high_level/scripts/Live_display_lidar.py @@ -1,5 +1,5 @@ import time -from driver.lidar import Lidar +from drivers.lidar import Lidar IP = "192.168.0.20" diff --git a/src/high_level/scripts/live_display_lidar.py b/src/high_level/scripts/live_display_lidar.py index a27ba05..37202d4 100644 --- a/src/high_level/scripts/live_display_lidar.py +++ b/src/high_level/scripts/live_display_lidar.py @@ -1,6 +1,6 @@ import time -from driver import Lidar +from drivers import Lidar IP = "192.168.0.10" PORT = 10940 diff --git a/src/high_level/scripts/onetime_lidar.py b/src/high_level/scripts/onetime_lidar.py index 60ad010..0a50bce 100644 --- a/src/high_level/scripts/onetime_lidar.py +++ b/src/high_level/scripts/onetime_lidar.py @@ -1,4 +1,4 @@ -from driver import Lidar +from drivers import Lidar IP = "192.168.0.10" PORT = 10940 diff --git a/src/high_level/scripts/simple.py b/src/high_level/scripts/simple.py index 59a9942..fbc11be 100644 --- a/src/high_level/scripts/simple.py +++ b/src/high_level/scripts/simple.py @@ -2,7 +2,7 @@ from rpi_hardware_pwm import HardwarePWM -from driver import Lidar +from drivers import Lidar IP = "192.168.0.10" PORT = 10940 diff --git a/src/high_level/src/driver/__init__.py b/src/high_level/src/drivers/__init__.py similarity index 100% rename from src/high_level/src/driver/__init__.py rename to src/high_level/src/drivers/__init__.py diff --git a/src/high_level/src/driver/camera.py b/src/high_level/src/drivers/camera.py similarity index 100% rename from src/high_level/src/driver/camera.py rename to src/high_level/src/drivers/camera.py diff --git a/src/high_level/src/driver/lidar.py b/src/high_level/src/drivers/lidar.py similarity index 100% rename from src/high_level/src/driver/lidar.py rename to src/high_level/src/drivers/lidar.py diff --git a/src/high_level/src/driver/master_i2c.py b/src/high_level/src/drivers/master_i2c.py similarity index 100% rename from src/high_level/src/driver/master_i2c.py rename to src/high_level/src/drivers/master_i2c.py diff --git a/src/high_level/src/driver/tof.py b/src/high_level/src/drivers/tof.py similarity index 100% rename from src/high_level/src/driver/tof.py rename to src/high_level/src/drivers/tof.py diff --git a/src/high_level/src/high_level/server.py b/src/high_level/src/high_level/server.py index 3f01ca0..7e73efd 100644 --- a/src/high_level/src/high_level/server.py +++ b/src/high_level/src/high_level/server.py @@ -9,10 +9,10 @@ from luma.oled.device import ssd1306 from PIL import Image, ImageDraw, ImageFont -from driver.camera import Camera -from driver.lidar import Lidar -from driver.master_i2c import I2CArduino -from driver.tof import ToF +from drivers.camera import Camera +from drivers.lidar import Lidar +from drivers.master_i2c import I2CArduino +from drivers.tof import ToF from high_level.autotech_constant import SITE_DIR_BACKEND, TEXT_HEIGHT from programs.car import AIProgram, CrashCar from programs.initialization import Initialization diff --git a/src/high_level/src/programs/car.py b/src/high_level/src/programs/car.py index 18605ff..e13ac56 100644 --- a/src/high_level/src/programs/car.py +++ b/src/high_level/src/programs/car.py @@ -7,9 +7,9 @@ import numpy as np import onnxruntime as ort -from driver import Lidar -from driver.camera import Camera -from driver.tof import ToF +from drivers import Lidar +from drivers.camera import Camera +from drivers.tof import ToF # Import constants from HL.Autotech_constant to share them between files and ease of use from high_level.autotech_constant import ( diff --git a/src/high_level/src/programs/initialization.py b/src/high_level/src/programs/initialization.py index 7cca3c9..e9e7f68 100644 --- a/src/high_level/src/programs/initialization.py +++ b/src/high_level/src/programs/initialization.py @@ -2,7 +2,7 @@ import threading from enum import Enum -from driver import Camera, I2CArduino, Lidar, ToF +from drivers import Camera, I2CArduino, Lidar, ToF from high_level.autotech_constant import SOCKET_ADRESS from .program import Program