159 lines
4.3 KiB
Python
159 lines
4.3 KiB
Python
# On Ubuntu gstreamer interface is missing on OpenCV
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# On Fedora enable RPM fusion repo and install packages
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# dnf install python3-opencv gstreamer-plugins-bad-free gstreamer-plugins-ugly gstreamer1-plugins-bad-freeworld gstreamer1-plugins-good gstreamer1-libav python3-evdev
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from time import sleep
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import sys
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import socket
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import cv2
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import numpy as np
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import time
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from threading import Thread
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_, hostname = sys.argv
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sock.settimeout(0)
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sock.bind(("", 37021))
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#WIDTH, HEIGHT = 1920, 1080
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WIDTH, HEIGHT = 1280, 720
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WIDTH, HEIGHT = 640, 480
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#WIDTH, HEIGHT = 320, 240
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CROSSHAIR_THICKNESS = 3
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CROSSHAIR_SIZE = 50
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from glob import glob
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from evdev import InputDevice, categorize, ecodes
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state = dict()
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shoot = False
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robot_shoot_timestamp = 0
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class GamepadReader(Thread):
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def run(self):
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global shoot
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global robot_shoot_timestamp
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gamepad = InputDevice(glob("/dev/input/by-id/usb-Microsoft_Controller*event*")[0])
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print("Opening:", gamepad)
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for event in gamepad.read_loop():
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if not event:
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continue
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if event.type == 3:
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state["axis%d" % event.code] = event.value
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elif event.type == 1:
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state["button%d" % event.code] = event.value
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elif event.type == 0:
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pass # dno?
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else:
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print(event.type, event.value, event.code)
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if state.get("button310", 0) or state.get("button311", 0):
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shoot = True
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t = GamepadReader(daemon=True)
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t.start()
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print("Resolving hostname:", hostname)
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while True:
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try:
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sockaddr = socket.getaddrinfo(hostname, 37020)[0][-1]
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except OSError:
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sleep(0.5)
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else:
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break
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print("Sending let's play packet to", sockaddr)
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msg = "play:%d:%d" % (WIDTH, HEIGHT)
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sock.sendto(msg.encode("ascii"), sockaddr)
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pipeline = 'udpsrc port=5000 caps = "application/x-rtp, encoding-name=(string)H264" ! rtpjitterbuffer mode=3 ! rtph264depay ! decodebin ! videoconvert ! appsink'
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print("gst-launch-1.0 -v", pipeline.replace("appsink", "autovideosink"))
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sleep(5)
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cap = cv2.VideoCapture(pipeline)
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if not cap.isOpened():
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print("Didn't receive video feed")
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quit()
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red = np.zeros((HEIGHT,WIDTH,3), np.uint8)
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cv2.rectangle(red, (0, 0), (WIDTH, HEIGHT), (0, 0, 255), thickness=-1)
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cv2.namedWindow("window", cv2.WND_PROP_FULLSCREEN)
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cv2.setWindowProperty("window",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)
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blood = 1.0
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shoot_box_width = 0
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while True:
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ret, frame = cap.read()
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if ret == False:
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break
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# cv2.putText(frame, "yoyo",
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# (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 255, 0), 3)
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cv2.rectangle(frame, (WIDTH//2-CROSSHAIR_THICKNESS//2, HEIGHT//2-CROSSHAIR_SIZE//2), (WIDTH//2+CROSSHAIR_THICKNESS//2, HEIGHT//2+CROSSHAIR_SIZE//2), (0, 255, 0), thickness=-1)
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cv2.rectangle(frame, (WIDTH//2-CROSSHAIR_SIZE//2, HEIGHT//2-CROSSHAIR_THICKNESS//2), (WIDTH//2+CROSSHAIR_SIZE//2, HEIGHT//2+CROSSHAIR_THICKNESS//2), (0, 255, 0), thickness=-1)
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cv2.rectangle(frame, (10, HEIGHT-20), (int(WIDTH*0.30), HEIGHT-10),(0, 0, 0),thickness=-1)
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if blood > 0:
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blood -= 0.02
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frame = cv2.addWeighted( red, blood, frame, (1-blood), 0.0);
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msg = "speed:%d:%d" % (state.get("axis1", 0), state.get("axis3", 0))
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sock.sendto(msg.encode("ascii"), sockaddr)
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if shoot and time.time() - robot_shoot_timestamp >=1:
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msg = "shoot"
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robot_shoot_timestamp = time.time()
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shoot_box_width = 0
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#cv2.rectangle(frame, (WIDTH-10, HEIGHT-10), (40, 100),(0, 0, 0),thickness=-1)
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sock.sendto(msg.encode("ascii"), sockaddr)
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shoot = False
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else:
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shoot = False
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if time.time() - robot_shoot_timestamp <=1:
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shoot_box_width += int((WIDTH*0.30)/22)
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else:
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shoot_box_width = int(WIDTH*0.30)
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cv2.rectangle(frame, (10, HEIGHT-20), (shoot_box_width, HEIGHT-10),(0, 255, 0),thickness=-1)
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cv2.imshow("window",frame)
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if cv2.waitKey(1) & 0xFF == ord('q'):
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break
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try:
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#print("got:", sock.recv(100))
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data = sock.recv(100)
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cmd = data.decode("ascii")
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#print(cmd)
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if cmd == "hit":
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robot_hit_timestamp = time.time()
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blood = 2.2
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except BlockingIOError:
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pass
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#print("nuffing")
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