kuukar master class

kuukar/kuukar.py

@@ -0,0 +1,19 @@
+from telemetrix_rpi_pico import telemetrix_rpi_pico
+import kuukar.kuukar_leds as kuukar_leds
+import kuukar.kuukar_collision as kuukar_collision
+import kuukar.kuukar_motion as kuukar_motion
+import kuukar.kuukar_lcd as kuukar_lcd
+import kuukar.kuukar_sensors as kuukar_sensors
+import kuukar.kuukar_environment as kuukar_environment
+from kuukar.kuukar_config import SERIAL_MCU, SERIAL_DRV
+
+class kuukar:
+    def __init__(self) -> None:
+        self.mcu = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_MCU, sleep_tune=0.001)
+        self.drv = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_DRV, sleep_tune=0.001)
+        self.sensors = kuukar_sensors.sensors(self.mcu)
+        self.leds = kuukar_leds.leds(self.mcu)
+        self.motion = kuukar_motion.motion(self.mcu, self.drv, self.leds, self.sensors)
+        self.lcd = kuukar_lcd.lcd(self.motion, self.sensors)
+        self.environment = kuukar_environment.environment(self.lcd, self.leds, self.sensors)
+        self.collision = kuukar_collision.collision(self.mcu, self.lcd, self.leds)

kuukar/kuukar_cv.py

@@ -1,17 +1,30 @@
 from kuukar.kuukar_lcd import lcd
 from kuukar.kuukar_leds import leds
+import threading
+import multiprocessing
+import cv2
+
 
 
 class cv:
     def __init__(self, lcd: lcd, leds: leds) -> None:
         self.lcd = lcd
         self.leds = leds
+        self.camera = cv2.VideoCapture(0)
+        threading.Thread(target=self._cv_loop).start()
+
+    def _cv_loop(self):
+        while True:
+            img = self.capture_image()
+            stop_sign = self.detect_sign(img)
+            
 
     def capture_image(self):
-        pass
+        ret, frame = self.camera.read()
-
+        return frame
-    def detect_face(self, image):
+    def detect_sign(self, frame):
-        pass
+        stopsign_cascade = cv2.CascadeClassifier('./stopsign_good.xml')
-
+        image = frame.array
-    def handle_face_detected(self):
+        gray_img=cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
-        pass
+        found_stopsigns=stopsign_cascade.detectMultiScale(gray_img,1.1,5)
+        return found_stopsigns

requirements.txt

@@ -1,3 +1,4 @@
 telemetrix-rpi-pico
 pyaudio
 flask
+opencv-python