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.. _py_treasure:

Treasure Hunt
============================

Arrange a maze in your room and place six different color cards in six corners. Then control PiCrawler to search for these color cards one by one!

.. note:: You can download and print the :download:`PDF Color Cards <https://github.com/sunfounder/sf-pdf/raw/master/prop_card/object_detection/color-cards.pdf>` for color detection.


**Run the Code**

.. raw:: html

    <run></run>

.. code-block::

    cd /home/pi/picrawler/examples
    sudo python3 treasure_hunt.py


**View the Image**

After the code runs, the terminal will display the following prompt:

.. code-block::

    No desktop !
    * Serving Flask app "vilib.vilib" (lazy loading)
    * Environment: production
    WARNING: Do not use the development server in a production environment.
    Use a production WSGI server instead.
    * Debug mode: off
    * Running on http://0.0.0.0:9000/ (Press CTRL+C to quit)

Then you can enter ``http://<your IP>:9000/mjpg`` in the browser to view the video screen. such as:  ``http://192.168.18.113:9000/mjpg``

.. image:: img/display.png

**Code**

.. code-block:: python

	from picrawler import Picrawler
	from time import sleep
	from robot_hat import Music,TTS
	from vilib import Vilib
	import readchar
	import random
	import threading

	crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9]) 
	#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])

	music = Music()
	tts = TTS()

	manual = '''
	Press keys on keyboard to control Picrawler!
		w: Forward
		a: Turn left
		s: Backward
		d: Turn right
		space: Say the target again
		esc: Quit
	'''

	color = "red"
	color_list=["red","orange","yellow","green","blue","purple"]
	key_dict = {
		'w': 'forward',
		's': 'backward',
		'a': 'turn_left',
		'd': 'turn_right',
	}
	def renew_color_detect():
		global color
		color = random.choice(color_list)
		Vilib.color_detect(color)
		tts.say("Look for " + color)

	key = None
	lock = threading.Lock()
	def key_scan_thread():
		global key
		while True:
			key_temp = readchar.readkey()
			print('\r',end='')
			with lock:
				key = key_temp.lower()
				if key == readchar.key.SPACE:
					key = 'space'
				elif key == readchar.key.CTRL_C or key in readchar.key.ESCAPE_SEQUENCES:
					key = 'quit'
					break
			sleep(0.01)

	def main():
		global key
		action = None
		Vilib.camera_start(vflip=False,hflip=False)
		Vilib.display(local=False,web=True)
		sleep(0.8)
		speed = 100
		print(manual)

		sleep(1)
		_key_t = threading.Thread(target=key_scan_thread)
		_key_t.setDaemon(True)
		_key_t.start()

		tts.say("game start")
		sleep(0.05)   
		renew_color_detect()
		while True:

			if Vilib.detect_obj_parameter['color_n']!=0 and Vilib.detect_obj_parameter['color_w']>100:
				tts.say("will done")
				sleep(0.05)   
				renew_color_detect()

			with lock:
				if key != None and key in ('wsad'):
					action = key_dict[str(key)]
					key =  None
				elif key == 'space':
					tts.say("Look for " + color)
					key =  None
				elif key == 'quit':
					_key_t.join()
					Vilib.camera_close()
					print("\n\rQuit") 
					break 

			if action != None:
				crawler.do_action(action,1,speed)  
				action = None

			sleep(0.05)          
		 

	if __name__ == "__main__":
		main()


**How it works?**

In general, this project combines the knowledge points of :ref:`py_keyboard`, :ref:`py_vision` and :ref:`py_sound`.

Its flow is shown in the figure below:

.. image:: img/treasure_hunt-f.png