class NAOVisionTestCase(unittest.TestCase):
def setUp(self):
ref_mapping = DefaultConnect4Image().generate2DReference()
self.img = cv2.imread("state_detection_test.png")
self.strategy = NAOVision(ref_mapping, lambda: self.img)
self.strategy.player_id = disc.GREEN
def test_analyse(self):
test_board = np.array(
[
[disc.EMPTY, disc.EMPTY, disc.RED, disc.EMPTY, disc.EMPTY, disc.EMPTY, disc.EMPTY],
[disc.EMPTY, disc.EMPTY, disc.RED, disc.GREEN, disc.EMPTY, disc.EMPTY, disc.EMPTY],
[disc.EMPTY, disc.EMPTY, disc.RED, disc.GREEN, disc.EMPTY, disc.EMPTY, disc.EMPTY],
[disc.EMPTY, disc.EMPTY, disc.RED, disc.GREEN, disc.EMPTY, disc.EMPTY, disc.EMPTY],
[disc.EMPTY, disc.EMPTY, disc.RED, disc.GREEN, disc.EMPTY, disc.EMPTY, disc.RED],
[disc.GREEN, disc.RED, disc.RED, disc.GREEN, disc.RED, disc.RED, disc.GREEN],
]
)
test_state = C4State()
test_state.board = test_board
chosen_action = self.strategy.chooseNextAction(test_state)
self.assertTrue(chosen_action == 3)
def test_debug(self):
test_state = C4State()
board = self.strategy.analyseFullImage(test_state, img=self.img, debug=True)
self.assertTrue(
(
board
== np.array(
[
[-1, -1, 0, 1, -1, -1, -1],
[-1, -1, 0, 1, -1, -1, -1],
[-1, -1, 0, 1, -1, -1, -1],
[-1, -1, 0, 1, -1, -1, -1],
[-1, -1, 0, 1, -1, -1, 0],
[1, 0, 0, 1, -1, 0, 1],
]
)
).all()
)
def state(args):
global nao_motion
print
print "-1 = Empty, 0 = Red, 1 = Green"
print
data.IP = args['--ip']
data.PORT = int(args['--port'])
next_img_func = get_nao_image
if args['--no-robot']:
next_img_func = get_webcam_image
myc4 = Connect4Handler(next_img_func, cam_no=int(args['--cam-no']))
dist = float(args['--dist'])
sloped = args['--sloped']
tries = int(args['--min-detections'])
ref_mapping = DefaultConnect4Image().generate2DReference()
strategy = NAOVision(ref_mapping, lambda: perspective)
strategy.player_id = disc.GREEN
test_state = C4State()
nao_motion = MotionController()
nao_motion.lookAtGameBoard(dist)
while True:
try:
myc4.detectFrontHoles(dist, sloped, tries=tries)
perspective = myc4.front_hole_detector.getPerspective()
if not args['--no-image']:
cv2.imshow("Perspective", perspective)
game_state = strategy.analyseFullImage(test_state, img=perspective, debug=True)
print game_state
print
except BaseException:
pass
if cv2.waitKey(1) == 27:
print "Esc pressed : exit"
close_camera()
break
sleep(0.5)
