class Houston():
# implements(Task)
def __init__(self, navigation, task_list):
""" To initilize Houston """
################ INSTANCES ################
self.gate = Gate(self)
self.path_1 = Path(self)
self.dice = Dice(self)
self.path_2 = Path(self)
self.chip_1 = Chip(self)
self.chip_2 = Chip(self)
self.roulette = Roulette(self)
self.slots = Slots(self)
self.pinger_a = PingerA(self)
self.pinger_b = PingerB(self)
self.cash_in = CashIn(self)
#self.buoy = Buoy(self)
self.navigation = navigation
self.cvcontroller = CVController()
self.config = Config()
self.counts = Counter()
################ THRESHOLD VARIABLES ################
self.task_timer = 300
self.break_timer = 600
################ FLAG VARIABLES ################
self.is_killswitch_on = False
################ TIMER/COUNTER VARIABLES ################
self.last_time = time.time()
################ TASKS LIST ################
self.tasks = task_list
################ DICTIONARIES ################
"""
self.tasks values listed below
'gate', 'path', 'dice', 'chip', 'path', 'chip', 'slots', 'pinger_b',
'roulette', 'pinger_a', 'cash_in'
"""
self.state_num = 0
self.states = [
self.gate,
self.path_1,
self.dice,
self.chip_1,
self.path_2,
self.slots,
self.chip_2,
self.pinger_a,
self.roulette,
self.pinger_b,
self.cash_in
]
################ AUV MOBILITY VARIABLES ################
#self.rotational_movement = {-1: }
self.height = 1
self.queue_direction = []
self.rotation = 15
self.power = 120
################ TASK THREAD ################
self.task_thread = None
################ ROS VARIABLES ################
self.r = rospy.Rate(30) #30hz
self.msg = CVIn()
################ CURRENT TASK VARIABLE ################
self.current_task = None
# print_task ##################################################################################
def print_tasks(self):
counter = 0
for i in self.tasks:
print '{}: {}'.format(counter, i)
counter += 1
# do_task ##################################################################################
def start_all_tasks(self):
if self.state_num > 10:
print 'no more tasks to complete'
self.state = self.states[self.state_num]
if not self.state.is_task_running:
self.state.reset()
print 'doing task: {}'.format(self.tasks[self.state_num])
self.navigation.cancel_h_nav()
self.navigation.cancel_m_nav()
self.navigation.cancel_r_nav()
self.task_thread_start(self.state, self.tasks[self.state_num], self.navigation, self.cvcontroller, self.power, self.rotation)
else:
print '\nTask is currently running.'
print '\nPlease wait for task to finish or cancel'
if self.state.is_complete:
self.state_num += 1
# do_one_task ##################################################################################
def do_one_task(self, task_num):
print '\nattempting to run task number: {}\
\ntask: {}'.format(task_num, self.tasks[task_num])
self.state = self.states[task_num]
if not self.state.is_task_running:
self.state.reset()
self.navigation.cancel_h_nav()
self.navigation.cancel_m_nav()
self.navigation.cancel_r_nav()
self.task_thread_start(self.state, self.tasks[task_num], self.navigation, self.cvcontroller, self.power, self.rotation)
else:
print '\nTask is currently running.'
print '\nPlease wait for task to finish or cancel'
# stop_task ##################################################################################
def stop_task(self):
# self.state = self.states[self.state_num]
try:
self.state.stop_task = True
except:
print 'no task currently running to stop'
self.navigation.cancel_h_nav()
self.navigation.cancel_m_nav()
self.navigation.cancel_r_nav()
# return_raw_frame ##################################################################################
def return_raw_frame(self):
if self.state.is_task_running:
return self.cvcontroller.current_raw_frame()
else:
print 'camera is currently not running'
# return_processed_frame ##################################################################################
def return_processed_frame(self):
if self.state.is_task_running:
return self.cvcontroller.current_processed_frame()
else:
print 'camera is currently not running'
# task_thread_start ##################################################################################
def task_thread_start(self, task_call, task_name, navigation, cvcontroller, power, rotation):
self.reset_thread()
self.task_thread = Thread(target = task_call.start, args = (task_name, navigation, cvcontroller, power, rotation))
self.task_thread.start()
# reset_thread ##################################################################################
def reset_thread(self):
if self.task_thread:
self.task_thread = None
# TODO currently unused. will remove eventually
# get_task ##################################################################################
def get_task(self):
self.tasks = self.config.get_config('auv', 'tasks')
# ['gate', 'path', 'dice', 'chip', 'path', 'chip', 'slots', 'pinger_b',
# 'roulette', 'pinger_a', 'cash_in']
# start ##################################################################################
def start(self):
#self.get_task()
# similar start to other classes, such as auv, and keyboard
#self.is_killswitch_on = True
self.navigation.start()
# stop ##################################################################################
def stop(self):
# similar start to other classes, such as auv, and keyboard
#self.is_killswitch_on = False
self.navigation.stop()
class Houston():
# implements(Task)
def __init__(self, navigation, task_list):
""" To initilize Houston """
################ INSTANCES ################
self.pregate = PreGate(self)
self.gate = Gate(self)
self.path_1 = Path(self)
self.dice = Dice(self)
self.path_2 = Path(self)
self.chip = Chip(self)
self.roulette = Roulette(self)
self.slots = Slots(self)
self.pinger_a = PingerA(self)
self.pinger_b = PingerB(self)
self.cash_in = CashIn(self)
# self.buoy = Buoy(self)
self.navigation = navigation
self.cvcontroller = CVController()
self.counts = Counter()
self.orientation = Orientation()
###########################################
########## RUN ALL TASK QUEUE #############
self.states_run_all = [
self.pregate, self.gate, self.path_1, self.dice, self.path_2,
self.slots
]
################ THRESHOLD VARIABLES ################
self.task_timer = 300
self.break_timer = 600
################ FLAG VARIABLES ################
self.is_killswitch_on = False
self.is_task_running = False
################ TIMER/COUNTER VARIABLES ################
self.last_time = time.time()
################ TASKS LIST ################
"""
self.tasks values listed below
'pregate', 'gate', 'path', 'dice', 'path', 'slots', 'chip', 'pinger_a',
'roulette', 'pinger_b', 'cash_in'
"""
self.tasks = task_list
################ DICTIONARIES ################
self.state_num = 0
self.states = [
self.pregate, self.gate, self.path_1, self.dice, self.path_2,
self.slots, self.pinger_a, self.chip, self.roulette, self.pinger_b,
self.cash_in
]
self.gui_states = {
'pregate': self.pregate,
'gate': self.gate,
'path': self.path_1,
'dice': self.dice
}
self.one_or_all_tasks = {
'one': self.do_one_task,
'all': self.start_all_tasks
}
self.gui_task_calls = {
'pregate': 0,
'gate': 1,
'path_1': 2,
'dice': 3,
'path_2': 4,
'slots': 5,
'pinger_a': 6,
'chip': 7,
'roulette': 8,
'pinger_b': 9,
'cash_in': 10
}
################ AUV MOBILITY VARIABLES ################
#self.rotational_movement = {-1: }
self.height = 1
self.queue_direction = []
self.rotation = 15
self.power = 120
self.r_power = 80
################ TASK THREAD ################
self.task_thread = None
self.all_task_loop = True
################ ROS VARIABLES ################
self.r = rospy.Rate(30) #30hz
self.msg = CVIn()
################ CURRENT TASK VARIABLE ################
self.current_task = None
# reset ##################################################################################
def reset(self):
self.is_task_running = False
self.all_task_loop = True
self.orientation.reset()
# print_task ##################################################################################
def print_tasks(self):
counter = 0
for i in self.tasks:
print '{}: {}'.format(counter, i)
counter += 1
# start_task ##################################################################################
def start_task(self, one_or_all, task_choice):
if not self.is_task_running:
self.task_thread_start(one_or_all, task_choice)
else:
print '\nTask is currently running.'
print '\nPlease wait for task to finish or cancel'
# start_task_from_gui ##################################################################################
def start_task_from_gui(self, one_or_all, task_name):
if not self.is_task_running:
self.task_thread_start(one_or_all, self.gui_task_calls[task_name])
else:
print '\nTask is currently running.'
print '\nPlease wait for task to finish or cancel'
# start_all_tasks ##################################################################################
def start_all_tasks(self, _):
time.sleep(7)
# self.navigation.h_nav('down', 6, 100)
# time.sleep(5)
self.is_task_running = True
self.navigation.cancel_all_nav()
self.all_task_loop = True
self.state_num = 0
while self.all_task_loop:
if self.state_num > len(self.states_run_all) - 1:
self.all_task_loop = False
print 'no more tasks to complete'
# self.run_orientation()
# Added to show mark we are able to set orientation before hand
# print 'start_orientation {}'.format(self.orientation.start_orientation)
# print 'start_angle {}'.format(self.orientation.start_angle)
# self.navigation.r_nav(self.orientation.start_orientation, self.orientation.start_angle, self.r_power)
# self.navigation.ros_sleep(3)
# self.navigation.m_nav('power', 'forward', self.power)
# self.navigation.ros_sleep(3)
else:
self.state = self.states_run_all[self.state_num]
self.state.reset()
print 'doing task: {}'.format(self.state.task_name)
self.state.start(self.state.task_name, self.navigation,
self.cvcontroller, self.power, self.rotation)
if self.state.complete():
self.state_num += 1
self.is_task_running = False
# run_orientation ##################################################################################
def run_orientation(self):
self.orientation.set_orientation(self.navigation, self.power,
self.r_power)
# do_one_task ##################################################################################
def do_one_task(self, task_num):
self.is_task_running = True
self.navigation.cancel_h_nav()
self.navigation.cancel_m_nav()
self.navigation.cancel_r_nav()
self.state = self.states[task_num]
print '\nattempting to run task number: {}\
\ntask: {}'.format(task_num, self.state.task_name)
self.state.reset()
self.state.start(self.state.task_name, self.navigation,
self.cvcontroller, self.power, self.rotation)
self.is_task_running = False
# stop_task ##################################################################################
def stop_task(self):
try:
self.state.stop_task = True
self.all_task_loop = False
except:
print 'no task currently running to stop'
self.navigation.cancel_h_nav()
self.navigation.cancel_m_nav()
self.navigation.cancel_r_nav()
# return_raw_frame ##################################################################################
def return_raw_frame(self):
if self.state.is_task_running:
return self.cvcontroller.current_raw_frame()
else:
print 'camera is currently not running'
# return_processed_frame ##################################################################################
def return_processed_frame(self):
if self.state.is_task_running:
return self.cvcontroller.current_processed_frame()
else:
print 'camera is currently not running'
# task_thread_start ##################################################################################
# def task_thread_start(self, task_call, task_name, navigation, cvcontroller, power, rotation):
# self.reset_thread()
# self.task_thread = Thread(target = task_call.start, args = (task_name, navigation, cvcontroller, power, rotation))
# # self.task_thread = Thread(target = self.one_or_all_tasks.start, args = ())
# self.task_thread.start()
def task_thread_start(self, one_or_all, task_choice):
self.reset_thread()
self.task_thread = Thread(target=self.one_or_all_tasks[one_or_all],
args=(task_choice, ))
self.task_thread.start()
# reset_thread ##################################################################################
def reset_thread(self):
if self.task_thread:
self.task_thread = None
# TODO currently unused. will remove eventually
# get_task ##################################################################################
def get_task(self):
self.tasks = config.get_config('auv', 'tasks')
# ['gate', 'path', 'dice', 'chip', 'path', 'chip', 'slots', 'pinger_b',
# 'roulette', 'pinger_a', 'cash_in']
# start ##################################################################################
def start(self):
#self.get_task()
# similar start to other classes, such as auv, and keyboard
#self.is_killswitch_on = True
self.navigation.start()
# stop ##################################################################################
def stop(self):
# similar start to other classes, such as auv, and keyboard
#self.is_killswitch_on = False
self.navigation.stop()