48 lines
1.1 KiB
Python
48 lines
1.1 KiB
Python
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import os
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import sys
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parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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sys.path.append(parent_dir)
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from utils import label_filter
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from loguru import logger
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from utils import tlabel
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import zmq
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import time
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from by_cmd_py import by_cmd_py
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import time
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import signal
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context = zmq.Context()
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socket = context.socket(zmq.REQ)
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socket.connect("tcp://localhost:6667")
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logger.info("subtask yolo client init")
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filter = label_filter(socket)
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filter.switch_camera(2)
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cmd_py_obj = by_cmd_py()
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def car_stop():
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for _ in range(3):
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cmd_py_obj.send_speed_x(0)
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time.sleep(0.2)
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cmd_py_obj.send_speed_y(0)
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time.sleep(0.2)
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cmd_py_obj.send_speed_omega(0)
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def signal_handler(sig, frame):
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car_stop()
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offset = 0
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signal.signal(signal.SIGTERM, signal_handler)
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while True:
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time.sleep(0.2)
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ret, box = filter.get(tlabel.LMARK)
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if ret:
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# 宽度大于 41 停车
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print(f"width: {box[0][2] - box[0][0]} height: {box[0][3] - box[0][1]}")
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# if ret:
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# error = (box[0][2] + box[0][0] - 320) / 2 + offset
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# print(error)
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# cmd_py_obj.send_speed_omega(-error * 0.8)
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car_stop()
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