dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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#!/usr/bin/env python3
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import time
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import numpy as np
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import cereal.messaging as messaging
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from PIL import ImageFont, ImageDraw, Image
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font = ImageFont.truetype("arial", size=72)
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def get_frame(idx):
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img = np.zeros((874, 1164, 3), np.uint8)
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img[100:400, 100:100+(idx%10)*100] = 255
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# big number
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im2 = Image.new("RGB", (200,200))
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draw = ImageDraw.Draw(im2)
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draw.text((10, 100), "%02d" % idx, font=font)
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img[400:600, 400:600] = np.array(im2.getdata()).reshape((200,200,3))
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return img.tostring()
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if __name__ == "__main__":
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from common.realtime import Ratekeeper
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rk = Ratekeeper(20)
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pm = messaging.PubMaster(['frame'])
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frm = [get_frame(x) for x in range(30)]
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idx = 0
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while 1:
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print("send %d" % idx)
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dat = messaging.new_message('frame')
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dat.valid = True
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dat.frame = {
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"frameId": idx,
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"image": frm[idx%len(frm)],
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}
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pm.send('frame', dat)
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idx += 1
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rk.keep_time()
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#time.sleep(1.0)
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