[Issue #1166] Added library PiBot as a new driver of JdeRobot

src/drivers/PiBot/real/JdeRobotKids.cfg

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+# Opciones -> "mBotReal", "mBotGazebo", "piBot"
+JdeRobotKids.Robot=piBot
+JdeRobotKids.Puerto=/dev/ttyUSB0
+JdeRobotKids.Camara=PiCam # opciones: "PiCam", "WebCam"
+
+# Sin registro:
+#JdeRobotKids.Motors=default -h 0.0.0.0 -p 9999:ws -h 0.0.0.0 -p 11000
+
+# Con registro:
+JdeRobotKids.Motors.Proxy=Motors:default -h 0.0.0.0 -p 9999
+#JdeRobotKids.PiCam.Proxy=Camera:default -h 0.0.0.0 -p 8995
+#JdeRobotKids.Sonar.Proxy=Sonar:default -h 0.0.0.0 -p 8993
+
+#Configuración usada por Gazebo:
+#Motors Endpoints > default -h 0.0.0.0 -p 9999:ws -h 0.0.0.0 -p 11000
+#Sonar Endpoints > default -h 0.0.0.0 -p 8993:ws -h 0.0.0.0 -p 11005
+#CameraGazebo picam Endpoints > default -h 0.0.0.0 -p 8995:ws -h 0.0.0.0 -p 11002
+

src/drivers/PiBot/real/JdeRobotKids.py

@@ -0,0 +1,153 @@
+#(c) JdeRobot-kids 2018
+
+# -*- coding: utf-8 -*-
+import abc
+from abc import ABCMeta
+
+class JdeRobotKids(object):
+    __metaclass__ = ABCMeta
+
+    # METODOS DE VISIONLIB    
+    @abc.abstractmethod
+    def damePosicionDeObjetoDeColor(image, color):
+        print ("damePosicionDeObjetoDeColor abstracto")
+
+    # METODOS COMUNES A LAS TRES PLATAFORMAS    
+    @abc.abstractmethod
+    def quienSoy(self):
+        print ("Soy un tipo de robot abstracto")
+
+    @abc.abstractmethod
+    def avanzar(self, vel):
+        print ("Avanzar abstracto")
+
+    @abc.abstractmethod
+    def retroceder(self, vel):
+        print ("Retroceder abstracto")
+
+    @abc.abstractmethod
+    def parar(self):
+        print ("Parar abstracto")
+
+    @abc.abstractmethod
+    def girarIzquierda(self, vel):
+        print ("Girar izquierda abstracto")
+
+    @abc.abstractmethod
+    def girarDerecha(self, vel):
+        print ("Girar derecha abstracto")
+
+    @abc.abstractmethod
+    def move(self, velV, velW):
+        print ("Move abstracto")
+
+    # METODOS COMUNES A PIBOT Y MBOTREAL
+    @abc.abstractmethod
+    def leerIntensidadLuz(self):
+        print ("leerIntensidadLuz abstracto")
+
+    @abc.abstractmethod
+    def leerUltrasonido(self):
+        print ("leerUltrasonido abstracto")
+
+    @abc.abstractmethod
+    def leerIRSigueLineas(self):
+        print ("leerIRSigueLineas abstracto")
+
+    @abc.abstractmethod
+    def leerIntensidadSonido(self):
+        print ("leerIntensidadSonido abstracto")
+
+    @abc.abstractmethod
+    def leerPotenciometro(self):
+        print ("leerPotenciometro abstracto")
+
+    @abc.abstractmethod
+    def moverServo(self, *args):
+        print ("moverServo abstracto")
+
+    def get_tipo(self):
+        pass
+
+    def set_tipo(self, valor):
+        pass
+
+    tipo = abc.abstractproperty(get_tipo, set_tipo)
+
+    # METODOS PROPIOS DEL MBOTREAL    
+    @abc.abstractmethod
+    def encenderLedPlaca(self, indice, r, g, b):
+        print ("encenderLedPlaca abstracto")
+
+    @abc.abstractmethod
+    def apagarLedPlaca(self, indice):
+        print ("apagarLedPlaca abstracto")
+
+    @abc.abstractmethod
+    def encenderLed(self, puerto, indice, r, g, b):
+        print ("encenderLed abstracto")
+
+    @abc.abstractmethod
+    def apagarLed(self, puerto, indice):
+        print ("apagarLed abstracto")
+
+    @abc.abstractmethod
+    def escribirTexto(self, puerto, texto, dx, dy, brillo):
+        print ("escribirTexto abstracto")
+
+    @abc.abstractmethod
+    def escribirFrase(self, puerto, texto, brillo = 3):
+        print ("escribirFrase abstracto")
+
+    @abc.abstractmethod
+    def dibujosPosibles(self):
+        print ("dibujosPosibles abstracto")
+
+    @abc.abstractmethod
+    def pintarDibujo(self, puerto, nombreDibujo, brillo):
+        print ("pintarDibujo abstracto")
+
+    @abc.abstractmethod
+    def dibujar (self, puerto, dibujo, posicionX, posicionY, brillo, ancho):
+        print ("dibujar abstracto")
+
+    @abc.abstractmethod
+    def escribirReloj(self, puerto, hora, minuto, brillo):
+        print ("escribirReloj abstracto")
+
+    @abc.abstractmethod
+    def borrarMatriz(self, puerto):
+        print ("borrarMatriz abstracto")
+
+    @abc.abstractmethod
+    def leerBoton(self):
+        print ("leerBoton abstracto")
+
+    @abc.abstractmethod
+    def playTono(self, tono, tiempo):
+        print ("playTono abstracto")
+
+    @abc.abstractmethod
+    def valoresMandoPosibles(self):
+        print ("valoresMandoPosibles abstracto")
+
+    @abc.abstractmethod
+    def leerMandoIR(self):
+        print ("leerMandoIR abstracto")
+
+    @abc.abstractmethod
+    def dameImagen(self):
+        print ("dameImagen abstracto")
+
+    @abc.abstractmethod
+    def mostrarImagen(self):
+        print ("mostrarImagen abstracto")
+
+    @abc.abstractmethod
+    def dameSonarVisual (self, image, cameraModel):
+        print ("dameSonarVisual abstracto")
+
+    @abc.abstractmethod
+    def damePosicionDeObjetoDeColor(self, image, color):
+        print ("damePosicionDeObjetoDeColor abstracto")
+

src/drivers/PiBot/real/piBot/filters/hsvFilter.py

@@ -0,0 +1,71 @@
+
+from threading import Lock
+import cv2
+import numpy as np
+
+'''Max Values supported by OpenCV'''
+HSVMAX = (179,255,255)
+HSVMIN = (0,0,0)
+
+
+class HsvFilter:
+
+    def __init__(self):
+
+        self.lock = Lock()
+
+        self.MAX = HSVMAX
+        self.MIN = HSVMIN
+
+        self.uLimit = list(HSVMAX)
+        self.dLimit = list(HSVMIN)
+
+    def getName(self):
+        return 'HSV'
+
+    def setUpLimit (self, h, s, v):
+        self.lock.acquire()
+        self.uLimit = [h,s,v]
+        self.lock.release()
+
+
+    def getUpLimit (self):
+        self.lock.acquire()
+        lim = self.uLimit
+        self.lock.release()
+        return lim
+
+    def setDownLimit(self, h, s, v):
+        self.lock.acquire()
+        self.dLimit = [h,s,v]
+        self.lock.release()
+
+    def getDownLimit(self):
+        self.lock.acquire()
+        lim = self.dLimit
+        self.lock.release()
+        return lim
+
+    def getMAX(self):
+        return self.MAX
+
+    def getMIN(self):
+        return self.MIN
+
+    def apply (self, img):
+
+        hup,sup,vup = self.getUpLimit()
+        hdwn,sdwn,vdwn = self.getDownLimit()
+
+        hsv = cv2.cvtColor(img, cv2.COLOR_RGB2HSV)
+
+        # http://docs.opencv.org/3.0-beta/doc/py_tutorials/py_imgproc/py_colorspaces/py_colorspaces.html
+        minValues = np.array([hdwn,sdwn,vdwn],dtype=np.uint8)
+        maxValues = np.array([hup,sup,vup], dtype=np.uint8)
+
+        mask = cv2.inRange(hsv, minValues, maxValues)
+
+        res = cv2.bitwise_and(img,img, mask= mask)
+
+
+        return res

src/drivers/PiBot/real/piBot/filters/rgbFilter.py

@@ -0,0 +1,71 @@
+
+from threading import Lock
+import cv2
+import numpy as np
+
+
+'''Max Values supported by OpenCV'''
+RGBMAX = (255,255,255)
+RGBMIN = (0,0,0)
+
+
+class RgbFilter:
+
+    def __init__(self):
+
+        self.lock = Lock()
+
+        self.MAX = RGBMAX
+        self.MIN = RGBMIN
+
+        self.uLimit = list(RGBMAX)
+        self.dLimit = list(RGBMIN)
+
+    def getName(self):
+        return 'RGB'
+
+    def setUpLimit (self, r, g, b):
+        self.lock.acquire()
+        self.uLimit = [r,g,b]
+        self.lock.release()
+
+
+    def getUpLimit (self):
+        self.lock.acquire()
+        lim = self.uLimit
+        self.lock.release()
+        return lim
+
+    def setDownLimit(self, r, g, b):
+        self.lock.acquire()
+        self.dLimit = [r,g,b]
+        self.lock.release()
+
+    def getDownLimit(self):
+        self.lock.acquire()
+        lim = self.dLimit
+        self.lock.release()
+        return lim
+
+    def getMAX(self):
+        return self.MAX
+
+    def getMIN(self):
+        return self.MIN
+
+    def apply (self, img):
+
+        rup,gup,bup = self.getUpLimit()
+        rdwn,gdwn,bdwn = self.getDownLimit()
+
+
+        minValues = np.array([rdwn,gdwn,bdwn],dtype=np.uint8)
+        maxValues = np.array([rup,gup,bup], dtype=np.uint8)
+
+        mask = cv2.inRange(img, minValues, maxValues)
+
+        res = cv2.bitwise_and(img,img, mask= mask)
+
+
+        return res
+        return img

src/drivers/PiBot/real/piBot/filters/yuvFilter.py

@@ -0,0 +1,76 @@
+
+from threading import Lock
+
+import cv2
+import numpy as np
+
+'''Max Values supported by OpenCV'''
+YUVMAX = (255,255,255)
+YUVMIN = (0,0,0)
+
+
+
+class YuvFilter:
+
+    def __init__(self):
+
+        self.lock = Lock()
+
+        self.MAX = YUVMAX
+        self.MIN = YUVMIN
+
+        self.uLimit = list(YUVMAX)
+        self.dLimit = list(YUVMIN)
+
+    def getName(self):
+        return 'YUV'
+
+    def setUpLimit (self, y, u, v):
+        self.lock.acquire()
+        self.uLimit = [y,u,v]
+        self.lock.release()
+
+
+    def getUpLimit (self):
+        self.lock.acquire()
+        lim = self.uLimit
+        self.lock.release()
+        return lim
+
+    def setDownLimit(self, y, u, v):
+        self.lock.acquire()
+        self.dLimit = [y,u,v]
+        self.lock.release()
+
+    def getDownLimit(self):
+        self.lock.acquire()
+        lim = self.dLimit
+        self.lock.release()
+        return lim
+
+    def getMAX(self):
+        return self.MAX
+
+    def getMIN(self):
+        return self.MIN
+
+    def apply (self, img):
+
+
+        yup,uup,vup = self.getUpLimit()
+        ydwn,udwn,vdwn = self.getDownLimit()
+
+        ''' We convert RGB as BGR because OpenCV 
+        with RGB pass to YVU instead of YUV'''
+
+        yuv = cv2.cvtColor(img, cv2.COLOR_BGR2YUV)
+
+        minValues = np.array([ydwn,udwn,vdwn],dtype=np.uint8)
+        maxValues = np.array([yup,uup,vup], dtype=np.uint8)
+
+        mask = cv2.inRange(yuv, minValues, maxValues)
+
+        res = cv2.bitwise_and(img,img, mask= mask)
+
+
+        return res