# -*- coding: utf-8 -*-
"""
Created on Wed Oct  3 10:27:34 2018

@author: juven
"""


import itertools
import numpy
import time
import sys
import select


from pypot_wheel_speed import *
from RSL_vision import *





def cut_program_if_input():

    if sys.stdin not in select.select([sys.stdin], [], [], 0)[0]:
        return

    line = sys.stdin.readline()   # we could do more than just shuting down by reading this line
    shutdown_wheels()
    exit(0)



def update_movement(initial_speed, error, correction_coef = 5.):
    
    dv = correction_coef * error
    set_wheel_speed(LEFT_WHEEL, initial_speed + dv)
    set_wheel_speed(RIGHT_WHEEL, initial_speed - dv)

#def get_and_analyse_frame():
 #   return -0.25


def start_interaction_loop(initial_speed, frequence, duration, correction_coef):
    
    if frequence != 0.:
        period = 1./frequence

    loop_start = time.time()
    color='black'
    very_first_detection = False
    
    while (time.time() - loop_start < duration):
        
        start = time.time()
        cut_program_if_input()
        change_line = spec_line_detection()
        #print(change_line)
        if change_line == True and very_first_detection==False:
            wait_new_detection = time.time()+ 10
            very_first_detection = True
            color='red'
        if change_line == True and time.time()>wait_new_detection:
            return
            
        pict_analyse = get_and_analyse_frame(color)
        #print(pict_analyse)
        update_movement(initial_speed, pict_analyse, correction_coef)
        stop = time.time()

        print('Analyse and decision time : %f seconds'% (stop - start))
        
        if frequence != 0.:
            time.sleep(max(0., period - (stop - start))) # send warning ?
            
        after_sleep = time.time()
        print('Total loop (Hertz) : ')
        print(1./(after_sleep - start))
        
            

    
def follow_the_line(initial_speed, acquisition_freq, duration, correction_coef):
    
    init_wheels()
    start_interaction_loop(initial_speed, acquisition_freq, duration, correction_coef)
    shutdown_wheels()



def main():
    
    argv = sys.argv
    
    if len(argv) != 5:
        print('Usage : initial_speed acquisition_freq duration correction_coef')
        exit(0)
        
    initial_speed = float(argv[1])
    acquisition_freq = float(argv[2])
    duration = float(argv[3])
    correction_coef = float(argv[4])
    follow_the_line(initial_speed, acquisition_freq, duration, correction_coef)


main()




1fba7f4e7c4bcc3d554f191313f52d03d30ac857
<mask token>


def cut_program_if_input():
    if sys.stdin not in select.select([sys.stdin], [], [], 0)[0]:
        return
    line = sys.stdin.readline()
    shutdown_wheels()
    exit(0)


def update_movement(initial_speed, error, correction_coef=5.0):
    dv = correction_coef * error
    set_wheel_speed(LEFT_WHEEL, initial_speed + dv)
    set_wheel_speed(RIGHT_WHEEL, initial_speed - dv)


def start_interaction_loop(initial_speed, frequence, duration, correction_coef
    ):
    if frequence != 0.0:
        period = 1.0 / frequence
    loop_start = time.time()
    color = 'black'
    very_first_detection = False
    while time.time() - loop_start < duration:
        start = time.time()
        cut_program_if_input()
        change_line = spec_line_detection()
        if change_line == True and very_first_detection == False:
            wait_new_detection = time.time() + 10
            very_first_detection = True
            color = 'red'
        if change_line == True and time.time() > wait_new_detection:
            return
        pict_analyse = get_and_analyse_frame(color)
        update_movement(initial_speed, pict_analyse, correction_coef)
        stop = time.time()
        print('Analyse and decision time : %f seconds' % (stop - start))
        if frequence != 0.0:
            time.sleep(max(0.0, period - (stop - start)))
        after_sleep = time.time()
        print('Total loop (Hertz) : ')
        print(1.0 / (after_sleep - start))


def follow_the_line(initial_speed, acquisition_freq, duration, correction_coef
    ):
    init_wheels()
    start_interaction_loop(initial_speed, acquisition_freq, duration,
        correction_coef)
    shutdown_wheels()


<mask token>

<mask token>


def cut_program_if_input():
    if sys.stdin not in select.select([sys.stdin], [], [], 0)[0]:
        return
    line = sys.stdin.readline()
    shutdown_wheels()
    exit(0)


def update_movement(initial_speed, error, correction_coef=5.0):
    dv = correction_coef * error
    set_wheel_speed(LEFT_WHEEL, initial_speed + dv)
    set_wheel_speed(RIGHT_WHEEL, initial_speed - dv)


def start_interaction_loop(initial_speed, frequence, duration, correction_coef
    ):
    if frequence != 0.0:
        period = 1.0 / frequence
    loop_start = time.time()
    color = 'black'
    very_first_detection = False
    while time.time() - loop_start < duration:
        start = time.time()
        cut_program_if_input()
        change_line = spec_line_detection()
        if change_line == True and very_first_detection == False:
            wait_new_detection = time.time() + 10
            very_first_detection = True
            color = 'red'
        if change_line == True and time.time() > wait_new_detection:
            return
        pict_analyse = get_and_analyse_frame(color)
        update_movement(initial_speed, pict_analyse, correction_coef)
        stop = time.time()
        print('Analyse and decision time : %f seconds' % (stop - start))
        if frequence != 0.0:
            time.sleep(max(0.0, period - (stop - start)))
        after_sleep = time.time()
        print('Total loop (Hertz) : ')
        print(1.0 / (after_sleep - start))


def follow_the_line(initial_speed, acquisition_freq, duration, correction_coef
    ):
    init_wheels()
    start_interaction_loop(initial_speed, acquisition_freq, duration,
        correction_coef)
    shutdown_wheels()


def main():
    argv = sys.argv
    if len(argv) != 5:
        print('Usage : initial_speed acquisition_freq duration correction_coef'
            )
        exit(0)
    initial_speed = float(argv[1])
    acquisition_freq = float(argv[2])
    duration = float(argv[3])
    correction_coef = float(argv[4])
    follow_the_line(initial_speed, acquisition_freq, duration, correction_coef)


<mask token>

<mask token>


def cut_program_if_input():
    if sys.stdin not in select.select([sys.stdin], [], [], 0)[0]:
        return
    line = sys.stdin.readline()
    shutdown_wheels()
    exit(0)


def update_movement(initial_speed, error, correction_coef=5.0):
    dv = correction_coef * error
    set_wheel_speed(LEFT_WHEEL, initial_speed + dv)
    set_wheel_speed(RIGHT_WHEEL, initial_speed - dv)


def start_interaction_loop(initial_speed, frequence, duration, correction_coef
    ):
    if frequence != 0.0:
        period = 1.0 / frequence
    loop_start = time.time()
    color = 'black'
    very_first_detection = False
    while time.time() - loop_start < duration:
        start = time.time()
        cut_program_if_input()
        change_line = spec_line_detection()
        if change_line == True and very_first_detection == False:
            wait_new_detection = time.time() + 10
            very_first_detection = True
            color = 'red'
        if change_line == True and time.time() > wait_new_detection:
            return
        pict_analyse = get_and_analyse_frame(color)
        update_movement(initial_speed, pict_analyse, correction_coef)
        stop = time.time()
        print('Analyse and decision time : %f seconds' % (stop - start))
        if frequence != 0.0:
            time.sleep(max(0.0, period - (stop - start)))
        after_sleep = time.time()
        print('Total loop (Hertz) : ')
        print(1.0 / (after_sleep - start))


def follow_the_line(initial_speed, acquisition_freq, duration, correction_coef
    ):
    init_wheels()
    start_interaction_loop(initial_speed, acquisition_freq, duration,
        correction_coef)
    shutdown_wheels()


def main():
    argv = sys.argv
    if len(argv) != 5:
        print('Usage : initial_speed acquisition_freq duration correction_coef'
            )
        exit(0)
    initial_speed = float(argv[1])
    acquisition_freq = float(argv[2])
    duration = float(argv[3])
    correction_coef = float(argv[4])
    follow_the_line(initial_speed, acquisition_freq, duration, correction_coef)


main()

<mask token>
import itertools
import numpy
import time
import sys
import select
from pypot_wheel_speed import *
from RSL_vision import *


def cut_program_if_input():
    if sys.stdin not in select.select([sys.stdin], [], [], 0)[0]:
        return
    line = sys.stdin.readline()
    shutdown_wheels()
    exit(0)


def update_movement(initial_speed, error, correction_coef=5.0):
    dv = correction_coef * error
    set_wheel_speed(LEFT_WHEEL, initial_speed + dv)
    set_wheel_speed(RIGHT_WHEEL, initial_speed - dv)


def start_interaction_loop(initial_speed, frequence, duration, correction_coef
    ):
    if frequence != 0.0:
        period = 1.0 / frequence
    loop_start = time.time()
    color = 'black'
    very_first_detection = False
    while time.time() - loop_start < duration:
        start = time.time()
        cut_program_if_input()
        change_line = spec_line_detection()
        if change_line == True and very_first_detection == False:
            wait_new_detection = time.time() + 10
            very_first_detection = True
            color = 'red'
        if change_line == True and time.time() > wait_new_detection:
            return
        pict_analyse = get_and_analyse_frame(color)
        update_movement(initial_speed, pict_analyse, correction_coef)
        stop = time.time()
        print('Analyse and decision time : %f seconds' % (stop - start))
        if frequence != 0.0:
            time.sleep(max(0.0, period - (stop - start)))
        after_sleep = time.time()
        print('Total loop (Hertz) : ')
        print(1.0 / (after_sleep - start))


def follow_the_line(initial_speed, acquisition_freq, duration, correction_coef
    ):
    init_wheels()
    start_interaction_loop(initial_speed, acquisition_freq, duration,
        correction_coef)
    shutdown_wheels()


def main():
    argv = sys.argv
    if len(argv) != 5:
        print('Usage : initial_speed acquisition_freq duration correction_coef'
            )
        exit(0)
    initial_speed = float(argv[1])
    acquisition_freq = float(argv[2])
    duration = float(argv[3])
    correction_coef = float(argv[4])
    follow_the_line(initial_speed, acquisition_freq, duration, correction_coef)


main()

# -*- coding: utf-8 -*-
"""
Created on Wed Oct  3 10:27:34 2018

@author: juven
"""


import itertools
import numpy
import time
import sys
import select


from pypot_wheel_speed import *
from RSL_vision import *





def cut_program_if_input():

    if sys.stdin not in select.select([sys.stdin], [], [], 0)[0]:
        return

    line = sys.stdin.readline()   # we could do more than just shuting down by reading this line
    shutdown_wheels()
    exit(0)



def update_movement(initial_speed, error, correction_coef = 5.):
    
    dv = correction_coef * error
    set_wheel_speed(LEFT_WHEEL, initial_speed + dv)
    set_wheel_speed(RIGHT_WHEEL, initial_speed - dv)

#def get_and_analyse_frame():
 #   return -0.25


def start_interaction_loop(initial_speed, frequence, duration, correction_coef):
    
    if frequence != 0.:
        period = 1./frequence

    loop_start = time.time()
    color='black'
    very_first_detection = False
    
    while (time.time() - loop_start < duration):
        
        start = time.time()
        cut_program_if_input()
        change_line = spec_line_detection()
        #print(change_line)
        if change_line == True and very_first_detection==False:
            wait_new_detection = time.time()+ 10
            very_first_detection = True
            color='red'
        if change_line == True and time.time()>wait_new_detection:
            return
            
        pict_analyse = get_and_analyse_frame(color)
        #print(pict_analyse)
        update_movement(initial_speed, pict_analyse, correction_coef)
        stop = time.time()

        print('Analyse and decision time : %f seconds'% (stop - start))
        
        if frequence != 0.:
            time.sleep(max(0., period - (stop - start))) # send warning ?
            
        after_sleep = time.time()
        print('Total loop (Hertz) : ')
        print(1./(after_sleep - start))
        
            

    
def follow_the_line(initial_speed, acquisition_freq, duration, correction_coef):
    
    init_wheels()
    start_interaction_loop(initial_speed, acquisition_freq, duration, correction_coef)
    shutdown_wheels()



def main():
    
    argv = sys.argv
    
    if len(argv) != 5:
        print('Usage : initial_speed acquisition_freq duration correction_coef')
        exit(0)
        
    initial_speed = float(argv[1])
    acquisition_freq = float(argv[2])
    duration = float(argv[3])
    correction_coef = float(argv[4])
    follow_the_line(initial_speed, acquisition_freq, duration, correction_coef)


main()



