test_table_send.py

import cv2
import numpy as np
from realsense.view import FieldView
from path_planning import PathPlanning


def f(x):
    return x - 1250


planner = PathPlanning(send=True)
size = 720, 1280, 3
v = FieldView()
window_name = 'main'
cv2.namedWindow(window_name)

pos1, pos2, pos3, zone = 1250, 1250, 2500, 1
move_table_pos = (pos1, pos2, pos3)
points, flip_points = planner.main((pos1, pos2, pos3, zone))
planner.send(points, flip_points, retry=False)

v.zone = zone
img = v.draw_field(move_table_pos, points)
img = cv2.resize(img, (int(1280 * 0.65), int(720 * 0.65)))
cv2.imshow(window_name, img)
k = cv2.waitKey(0)

while True:
    k = cv2.waitKey(1)
    if k == ord('i'):
        results = [True, True, True]
        retry_points, retry_flip_points = planner.retry((pos1, pos2, pos3, zone), results)
        planner.send(retry_points, retry_flip_points, True)
        img = v.draw_retry(move_table_pos, points, retry_points, results)
        img = cv2.resize(img, (int(1280 * 0.65), int(720 * 0.65)))
        cv2.imshow(window_name, img)
    if k == ord('q'):
        break