feat - add photographer mode

Camera is now a singleton

rpi/manager/thymio/manager.py

@@ -3,7 +3,7 @@
 
 from tasks.thymio.follow_line import FollowLine
 from tasks.thymio.object_collector import ObjectCollector
-from tasks.api import API
+from tasks.thymio.photographer import Photographer
 
 from manager.base import BaseManager
 from controller.thymio.controller import ThymioController
@@ -18,15 +18,14 @@ def __init__(self):
         self.logger = logging.getLogger(__name__)
 
         self.tasks = [
-            ObjectCollector(self.controller), 
-            FollowLine(self.controller), 
-            API(self.controller),
+            # ObjectCollector(self.controller), 
+            # FollowLine(self.controller), 
+            Photographer(self.controller),
         ]
 
         self.num_modes = len(self.tasks)
 
     def change_mode(self):
-        print("test")
         current_time = time.time()
 
         if current_time - self.last_mode_change_time <  self.mode_change_delay:

rpi/tasks/thymio/photographer.py

@@ -0,0 +1,45 @@
+import logging
+import cv2 as cv
+
+from controller.thymio.controller import ThymioController
+from vision.camera import Camera
+from tasks.base import Task
+
+from vision import detect_objects
+
+
+class Photographer(Task):
+    def __init__(self, controller: ThymioController):
+        self.controller = controller
+        self.logger = logging.getLogger(__name__)
+        self.cam = Camera()
+        self.controller.set_led("top", [0,32,0])
+
+    def run(self):
+        self.logger.info("PHOTOGRAPHER")
+        img = self.cam.grab_frame_loop()    
+
+        if img is None:
+            return
+
+        found_obj = detect_objects(img, render=True)
+
+        if found_obj:
+            obj = found_obj[0]
+            label = obj.label
+
+            if label == "cube":
+                self.controller.set_led("bottom.left", [32,0,0])
+                self.controller.set_led("bottom.right", [32,0,0])
+            elif label == "star":
+                self.controller.set_led("bottom.left", [0,0,32])
+                self.controller.set_led("bottom.right", [0,0,32])
+            elif label == "ball":
+                self.controller.set_led("bottom.left", [32,0,32])
+                self.controller.set_led("bottom.right", [32,0,32])
+            else:
+                pass
+
+
+    def close(self):
+        pass

rpi/vision/camera.py

@@ -1,10 +1,20 @@
 import cv2 as cv
 
 class Camera:
-    def __init__(self):
+    _instance = None
+
+    def __new__(cls):
+        if cls._instance is None:
+            cls._instance = super().__new__(cls)
+            cls._instance.init_camera()
+        return cls._instance
+
+    def init_camera(self):
         self.cap = cv.VideoCapture(0)
 
     def grab_frame_loop(self):
         _, img = self.cap.read()
-
         return img
+
+    def __del__(self):
+        self.cap.release()