From 1cd5fce290116af492ff392055e43ae54dd730a9 Mon Sep 17 00:00:00 2001
From: Fischertechnik-OpenSource <fischertechnik-opensource@online.de>
Date: Wed, 12 Feb 2025 11:47:27 +0100
Subject: [PATCH] Update to 3.1.8
---
lib/fischertechnik/camera/CameraFactory.py | 4 ++--
lib/fischertechnik/camera/LineDetector.py | 9 ++++++++-
lib/fischertechnik/mqtt/Client.py | 7 ++++---
3 files changed, 14 insertions(+), 6 deletions(-)
diff --git a/lib/fischertechnik/camera/CameraFactory.py b/lib/fischertechnik/camera/CameraFactory.py
index d4cac43..209d25b 100644
--- a/lib/fischertechnik/camera/CameraFactory.py
+++ b/lib/fischertechnik/camera/CameraFactory.py
@@ -7,9 +7,9 @@ from .MotionDetector import MotionDetector
class CameraFactory():
- def create_line_detector(self, x, y, width, height, min_line_width=5, max_line_width=20, start_range_value=-100, end_range_value=100, number_of_lines=1):
+ def create_line_detector(self, x, y, width, height, min_line_width=5, max_line_width=20, start_range_value=-100, end_range_value=100, number_of_lines=1, invert=False):
"""@ReturnType fischertechnik.camera.LineDetector"""
- return LineDetector(x, y, width, height, min_line_width, max_line_width, start_range_value, end_range_value, number_of_lines)
+ return LineDetector(x, y, width, height, min_line_width, max_line_width, start_range_value, end_range_value, number_of_lines, invert)
def create_ball_detector(self, x, y, width, height, min_ball_diameter=5, max_ball_diameter=20, start_range_value=-100, end_range_value=100, rgb=[255,0,0], hue_tolerance=20):
"""@ReturnType fischertechnik.camera.BallDetector"""
diff --git a/lib/fischertechnik/camera/LineDetector.py b/lib/fischertechnik/camera/LineDetector.py
index 5346b7f..8248be9 100644
--- a/lib/fischertechnik/camera/LineDetector.py
+++ b/lib/fischertechnik/camera/LineDetector.py
@@ -9,7 +9,7 @@ from .DetectorResult import DetectorResult
class LineDetector(Detector):
- def __init__(self, x, y, width, height, min_line_width=5, max_line_width=20, start_range_value=-100, end_range_value=100, number_of_lines=1, identifier="line_detector"):
+ def __init__(self, x, y, width, height, min_line_width=5, max_line_width=20, start_range_value=-100, end_range_value=100, number_of_lines=1, invert=False, identifier="line_detector"):
Detector.__init__(self, identifier)
self.__x = x
self.__y = y
@@ -20,6 +20,7 @@ class LineDetector(Detector):
self.__start_range_value = start_range_value
self.__end_range_value = end_range_value
self.__number_of_lines = number_of_lines
+ self.__invert = invert
self.__lines = None
def analyze_frame(self, frame):
@@ -30,6 +31,10 @@ class LineDetector(Detector):
# convert to grayscale
gray = cv2.cvtColor(crop, cv2.COLOR_BGR2GRAY)
+ # if invert True, white lines are detected
+ if self.__invert == True:
+ gray = cv2.bitwise_not(gray)
+
# blurred image
blur = cv2.GaussianBlur(gray, (5, 5), 0)
@@ -90,6 +95,8 @@ class LineDetector(Detector):
mask = np.zeros(crop.shape[:2], np.uint8)
cv2.drawContours(mask, [contour], -1, 255, -1)
mask = cv2.erode(mask, None, iterations=2)
+ # FT-6868 RPC 6.1.5: Rot und Blau beim Linienfeld vertauscht
+ # [:3] entfernen, dreht das Array um
mean = cv2.mean(crop, mask=mask)[:3]
color = Color(rgb=[int(mean[0]), int(mean[1]), int(mean[2])])
diff --git a/lib/fischertechnik/mqtt/Client.py b/lib/fischertechnik/mqtt/Client.py
index 1400e09..b94b520 100644
--- a/lib/fischertechnik/mqtt/Client.py
+++ b/lib/fischertechnik/mqtt/Client.py
@@ -6,7 +6,7 @@ import paho.mqtt.client as mqtt
class Client:
- KEEP_ALIVE = 60
+ KEEP_ALIVE = 30
def __init__(self, client_id="", clean_session=True, userdata=None, protocol=mqtt.MQTTv311, transport="tcp",
path="/"):
@@ -39,6 +39,7 @@ class Client:
def disconnect(self):
if self.paho_client:
self.paho_client.disconnect()
+ self.paho_client.loop_stop()
def is_connected(self):
return self.connected
@@ -63,7 +64,7 @@ class Client:
if rc != 0:
print("Unexpected connection.")
else:
- for topic in self.handler:
+ for topic in self.handler.copy():
self.paho_client.subscribe(topic, self.handler[topic]["qos"])
self.connected = True
@@ -74,6 +75,6 @@ class Client:
self.connected = False
def __on_message(self, client, userdata, msg):
- for topic in self.handler:
+ for topic in self.handler.copy():
if mqtt.topic_matches_sub(topic, msg.topic):
self.handler[topic]["callback"](msg)
--
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