Scribbler-Project/scan.py at master · m-socha/Scribbler-Project · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
from myro import *
import imageParse
import fileParse
import sendMail_avecImage

colourResults = []

def analyzeColours(colourResults, pictureString):

    print(colourResults)

    dictionary = fileParse.getInfo()

    uniqueColours = []
    countColours = []

    for x in colourResults:
	if(not(x in uniqueColours) and x != False):
	    uniqueColours.append(x)

    maxColourCount = 0
    maxColour = [0,0,0]

    for y in uniqueColours:
	colourCount = colourResults.count(y)
	if(colourCount > maxColourCount):
	    maxColour = y

    print(maxColour)

    for n, c in dictionary.iteritems():
	print(n)
	print(c)
	newColour = c[1:len(c)-1]
	newColours = newColour.split(", ")
	print(newColours)
	if(newColours == maxColour):
	     sendMail_avecImage.sendEmail(n, pictureString)
	     break;

    return

def follow():

    colours = fileParse.getArray()

    formattedColours = []

    for x in colours:
	newColour = x[1:len(x)-1]
	formattedColours.append(newColour.split(", "))

    noTargetCount = 0
    pictureCount = 0

    while(noTargetCount <= 10):

	 leftMotor = (6400 - getObstacle()[2])/10000.0
	 rightMotor = (6400 - getObstacle()[0])/10000.0

	 motors(leftMotor, rightMotor)

	 if((getObstacle()[0] < 100) and (getObstacle()[1] < 100) and (getObstacle()[2] < 100)):
	     noTargetCount += 1
	 elif (noTargetCount != 0):
	     noTargetCount = 0

	 pictureCount += 1

	 if (pictureCount % 10 == 0 and leftMotor == 0 and rightMotor == 0):
	     picture = takePicture()
	     colourResults.append(imageParse.parseImage(picture, formattedColours, 20))


    pictureString = "burglarImage.jpg"
    savePicture(picture, pictureString)

    analyzeColours(colourResults, pictureString)
    print("done")

    return

def search():

     while (True):
	motors(-0.2, 0.2) #spin

	if (getObstacle()[1] >  100):
	    follow() #follow once blocked
	    break;

     stop()
     return