def test_score_personal_3(self):
print_test_info()
reco = Reco(
test_data['test_score_personal_3']['input']['extracted_data'],
True,
external_data={
'item_data':
test_item_data,
'user_click':
test_data['test_score_personal_3']['input']['user_click']
})
recoList = reco.get_reco_list()
expectedList = test_data['test_score_personal_3']['output']
for category in expectedList:
for row in expectedList[category]:
self.assertTrue(
row['reco_hashkey'] in
[data['reco_hashkey'] for data in recoList[category]])
recoItem = None
for recoItem in recoList[category]:
if row['reco_hashkey'] == recoItem['reco_hashkey']:
break
self.assertTrue(recoItem is not None)
for i in range(0, len(row['score'])):
if row['score'][i] == -1:
continue
self.assertEqual(
row['score'][i],
int((recoItem['score'] % math.pow(10, 6 - i)) /
math.pow(10, 5 - i)))
self.assertEqual(len(expectedList[category]),
len(recoList[category]))
def save_all_recommend_item():
reco = Reco(json_data, show_external_data=False)
all_list = reco.get_all_list()
print(json.dumps(all_list, indent=4, sort_keys=True, ensure_ascii=False))
with open('testItemData.json', 'w') as outfile:
json.dump(all_list, outfile, indent=4)
with open('testItemDataEncoded.json', 'w') as outfile:
json.dump(all_list, outfile, indent=4, ensure_ascii=False)
def test_distance_rank(self):
print_test_info()
reco = Reco(test_data['empty_data']['input'],
True,
external_data={
'item_data': test_item_data,
'user_click': None
})
array = test_data['test_distance_rank']['input']['array']
data = test_data['test_distance_rank']['input']['data']
expectedRank = test_data['test_distance_rank']['output']['rank']
for i in range(0, len(data)):
rank = reco.get_range(array, data[i])
self.assertEqual(rank, expectedRank[i])
def test_load_all_null(self):
print_test_info()
reco = Reco(test_data['test_load_all_null']['input'],
'',
external_data={
'item_data': test_item_data,
'user_click': None
})
recoList = reco.get_all_list()
expectedList = test_item_data
for category in expectedList:
for row in expectedList[category]:
self.assertTrue(
row['reco_hashkey'] in
[data['reco_hashkey'] for data in recoList[category]])
self.assertEqual(len(expectedList[category]),
len(recoList[category]))
def test_load_all_external_2(self):
print_test_info()
reco = Reco(test_data['test_region_filter_1']['input'],
show_external_data=False,
external_data={
'item_data': test_item_data,
'user_click': None
})
recoList = reco.get_reco_list()
expectedList = test_data['test_region_filter_1']['output']
for category in expectedList:
for row in recoList[category]:
self.assertEqual(1, len(row))
for row in expectedList[category]:
self.assertTrue(
row['reco_hashkey'] in
[data['reco_hashkey'] for data in recoList[category]])
self.assertEqual(len(expectedList[category]),
len(recoList[category]))
from flask import Flask, render_template, request, jsonify
from reco import Reco
import pandas as pd
import numpy as np
from sklearn.neighbors import NearestNeighbors
app = Flask(__name__)
@app.route("/")
def hello():
return "Le chemin de 'racine' est : " + request.path
dataFilms = pd.read_csv("Movies-cleaned.csv", sep=";")
echantillon_isomap = Reco(dataFilms)
@app.route('/movies/', methods=['GET', 'POST'])
def movies():
if request.method == 'POST':
film = request.form['titre']
if len(film) == 0:
return render_template('index.html', msg="Données obligatoire")
choix = dataFilms[dataFilms['movie_title'].str.contains(film,
case=False,
regex=False)]
if len(choix) > 0:
choix = choix.sort_values(by='movie_title',
ascending=False).head(1)
with open('./jsonData.json') as conf_json:
jsonData = json.load(conf_json)
"""
추천모듈 사용방법!!!
#추천 모듈 객체 생성!
recoModule = Reco(jsonData, None) #첫번째 인자는 일정보강 모듈에서 받은 json데이터, 두번째 인자는 유저성향인데 현재 사용하지 않으니 None으로
#추천 데이터 가져오기!
recoModule.getRecoList()
끗!
"""
recoModule = Reco(jsonData, '2')
"""
print("=====================")
print("filtered list")
print("=====================")
for category in filteredList:
print("category : " + str(category))
i=0
for listItem in filteredList[category]:
print(
"[%2d] %5s %s"
%
(
i,
listItem['region'],
class ItemsOutput(BaseModel):
recommended_products: List[str] = []
@app.get(
'/ready',
summary='Dummy URL for healthchecks',
response_description='OK with status 200',
)
def healthcheck():
return 'OK', 200
@app.post(
'/recommend',
response_model=ItemsOutput,
summary='Items most relevant to given user',
response_description='Recommended items',
)
def recommend(user_items: Items):
"""
- **user_items**: IDs of user items
"""
recommended = app.reco.recommend(user_items.ids)
return {'recommended_products': recommended}
if __name__ == '__main__':
app.reco = Reco(f'{config.WORK_DIR}{config.MODEL_FILE}')
uvicorn.run(app, host='0.0.0.0', port=int(os.environ.get('PORT', 8080)))
def main(args):
"""
Example to load "mapa1.txt"
"""
primera = True
try:
if not os.path.isfile(args.mapfile):
print('Map file %s does not exist' % args.mapfile)
exit(1)
map_file = args.mapfile
# 1. load map and compute costs and path
myMap = Map2D(map_file)
# TODO START ODOMETRY POR SEPARADO
# SLALOM -> FASE 2
if phase_from <= 2 and 2 <= phase_to:
primera = False
if salida is 'A':
starting_point = coord2Meters((1, 7, -math.pi / 2))
pos1 = (starting_point[0], starting_point[1], math.pi)
pos2 = coord2Meters((1, 5, 0))
pos3 = coord2Meters((1, 3, math.pi))
pos4 = coord2Meters((1, 3, -math.pi / 2))
v = 0.15
w_parado = -math.pi / 8
w_movimiento = 0.375
else: # Salida es B
starting_point = coord2Meters((5, 7, -math.pi / 2))
pos1 = (starting_point[0], starting_point[1], 0)
pos2 = coord2Meters((5, 5, math.pi))
pos3 = coord2Meters((5, 3, 0))
pos4 = coord2Meters((5, 3, math.pi))
v = 0.15
w_parado = math.pi / 8
w_movimiento = -0.375
robot = Robot(starting_point)
# Robot logger
start_robot_logger(robot.finished, robot,
"./out/trayectoria_trabajo_2.csv")
robot.startOdometry()
# Disable sensors
robot.enableProximitySensor(False)
robot.enableGyroSensors(False)
# girar 90
robot.setSpeed(0, w_parado)
robot.wait_for_th(pos1[2], 0.02)
# semicirculo 1
robot.setSpeed(v, w_movimiento)
#robot.wait_for_position(pos2[0], pos2[1], 0.2, False)
wait_for_position(pos2[0], pos2[1], pos2[2], robot, 0.2, 0.02)
# semicirculo 2
robot.setSpeed(v, -w_movimiento)
# robot.wait_for_position(pos3[0], pos3[1], 0.2, False)
wait_for_position(pos3[0], pos3[1], pos3[2], robot, 0.2, 0.02)
# Giro 90 grados mirando al frente
robot.setSpeed(0, 0)
robot.resetOdometry(None, None, math.pi)
robot.setSpeed(0, -w_parado)
robot.wait_for_th(pos4[2], 0.02)
# Me detengo
robot.setSpeed(0, 0)
# LABERINTO -> FASE 3
if phase_from <= 3 and 3 <= phase_to:
if salida is 'A':
starting_point = coord2Meters((1, 3, -math.pi / 2))
init_pos = [1, 3]
goal_x = 3
goal_y = 2
else: # Salida es B
starting_point = coord2Meters((5, 3, -math.pi / 2))
init_pos = [5, 3]
goal_x = 3
goal_y = 2
if primera:
robot = Robot(starting_point)
# Robot logger
start_robot_logger(robot.finished, robot,
"./out/trayectoria_trabajo.csv")
robot.startOdometry()
primera = False
# Disable sensors
# TODO: Enable gyro sensors
robot.enableProximitySensor(True)
robot.enableGyroSensors(True)
print("Salida: ", salida)
myMap.fillCostMatrix([goal_x, goal_y])
route = myMap.planPath([init_pos[0], init_pos[1]],
[goal_x, goal_y])
robot_locations = []
# TODO is debug poner que dibuje
last_reached_pos = [init_pos[0], init_pos[1]]
while len(route) > 0:
goal = route.pop(0)
#print('Ruta', route)
partial_goal_x = (goal[0] + 0.5) * myMap.sizeCell / 1000.0
partial_goal_y = (goal[1] + 0.5) * myMap.sizeCell / 1000.0
#print('Partials: ', partial_goal_x, partial_goal_y)
#print('El goal: ', goal)
#print('Estoy: ', robot.readOdometry())
no_obstacle = robot.go(partial_goal_x, partial_goal_y)
x_odo, y_odo, th_odo = robot.readOdometry()
if not no_obstacle:
# There are a obstacle
print('Obstacle detected')
x, y, th = myMap.odometry2Cells(x_odo, y_odo, th_odo)
#print('ODOMETRIIIA:', x, y, th)
# Delete connections from detected wall
myMap.deleteConnection(int(x), int(y), myMap.rad2Dir(th))
myMap.deleteConnection(int(x), int(y),
(myMap.rad2Dir(th) + 1) % 8)
myMap.deleteConnection(int(x), int(y),
(myMap.rad2Dir(th) - 1) % 8)
route = myMap.replanPath(last_reached_pos[0],
last_reached_pos[1], goal_x,
goal_y)
else:
robot_locations.append([
int(x_odo * 1000),
int(y_odo * 1000),
int(th_odo * 1000)
])
last_reached_pos = goal
if last_reached_pos[0] == goal_x and last_reached_pos[1] == goal_y:
print('The goal has been reached')
else:
print('Can\'t reached the goal')
# ORIENTARSE Y AVANZAR UN POCO PARA DELANTE
# Avanza un poco hacia delante para cruzar la linea de meta
robot.orientate(math.pi / 2)
robot.setSpeed(0.2, 0)
time.sleep(2)
robot.setSpeed(0, 0)
[x, y, th] = robot.readOdometry()
print("Estoy principio 4", x, y, th)
# COGER PELOTA -> FASE 4
if phase_from <= 4 and 4 <= phase_to:
if primera:
if salida is 'A':
robot = Robot(coord2Meters([3, 3, math.pi / 2]))
else:
robot = Robot(coord2Meters([3, 3, math.pi / 2]))
if is_debug:
start_robot_drawer(robot.finished, robot)
else:
start_robot_logger(robot.finished, robot,
"trayectoria_tracking.csv")
# 1. launch updateOdometry thread()
robot.startOdometry()
primera = False
# Disable sensors
# TODO: Enable gyro sensors
robot.enableProximitySensor(False)
robot.enableGyroSensors(False)
redMin = (168, 180, 80)
redMax = (2, 255, 255)
res = robot.trackObject(salida,
colorRangeMin=redMin,
colorRangeMax=redMax)
print('Espero a que la camara se apague')
time.sleep(3) # espera en segundos
print('Supongo que la camara esta apagada')
# RECONOCIMIENTO -> FASE 5
[x, y, th] = robot.readOdometry()
print("Principio de la 5", x, y, th)
if phase_from <= 5 and 5 <= phase_to:
# TODO si es la primera activar odometria y demas
# NO PUEDE SER LA PRIEMRA FASE, TIENE QUE COGER PELOTA PRIMERO
reco = Reco()
if salida is 'A':
turn_speed = 0.1
objective_angle = 7 * math.pi / 8
cell_to_recognize = coord2Meters([4, 6, 0])
cell_to_exit_left = coord2Meters([3, 7, 0])
cell_to_exit_left[0] = cell_to_exit_left[0] - 0.1
cell_to_exit_right_1 = coord2Meters([5, 6, 0])
cell_to_exit_right_2 = coord2Meters([6, 6, 0])
cell_to_exit_right_2[0] = cell_to_exit_right_2[0] + 0.05
cell_to_exit_right_3 = coord2Meters([6, 7, 0])
else:
turn_speed = -0.1
objective_angle = math.pi / 8
cell_to_recognize = coord2Meters([2, 6, 0])
cell_to_exit_left_1 = coord2Meters([1, 6, 0])
cell_to_exit_left_2 = coord2Meters([0, 6, 0])
cell_to_exit_left_3 = coord2Meters([0, 7, 0])
cell_to_exit_right = coord2Meters([3, 7, 0])
robot.enableProximitySensor(True)
robot.orientate(objective_angle)
robot.setSpeed(0, 0)
previous_value = 1000
idem = 0
for i in range(1, 5):
[_, _, new_value] = robot.readSensors()
robot.setSpeed(0, turn_speed)
new_value = 1000
while previous_value >= new_value:
if previous_value == new_value:
idem = idem + 1
else:
idem = 0
previous_value = new_value
[_, _, new_value] = robot.readSensors()
new_value = math.floor(new_value)
print("new value", new_value)
time.sleep(0.1)
idem = idem + 1
print("idem", idem)
robot.setSpeed(0, -turn_speed)
time.sleep(0.1 * 4 * idem / 5)
retro_value = 0.1
time_retro = abs((0.55 - previous_value / 100)) / retro_value
print("tiempo", time_retro)
if previous_value > 55:
robot.setSpeed(retro_value, 0)
else:
robot.setSpeed(-retro_value, 0)
time.sleep(time_retro)
robot.setSpeed(0, 0)
time.sleep(0.3)
if salida == 'A':
robot.resetOdometry(1.8, None, math.pi - 0.001)
else:
robot.resetOdometry(1, None, 0)
[x, y, th] = robot.readOdometry()
print("Ajustadas x e y", x, y, th, math.pi / 2)
robot.orientate((math.pi / 2) - turn_speed)
robot.setSpeed(0, 0)
for i in range(1, 20):
[_, _, previous_value] = robot.readSensors()
print("previous value", previous_value)
robot.resetOdometry(None, 3.2 - previous_value / 100, None)
time_retro = abs((0.55 - previous_value / 100)) / retro_value
"""
print("tiempo",time_retro)
if previous_value > 55:
robot.setSpeed(retro_value, 0)
else:
robot.setSpeed(-retro_value, 0)
time.sleep(time_retro)
"""
robot.setSpeed(0, 0)
print('YA HE PILLADO LA PELOTA Y VOY A: ', cell_to_recognize)
robot.go(cell_to_recognize[0], cell_to_recognize[1])
#print('y me MARCHEEEEE')
# ORIENTARSE HACIA ARRIBA (mirando al frente)
robot.orientate(math.pi / 2)
robot.enableProximitySensor(False)
R2D2 = cv2.imread("reco/R2-D2_s.png", cv2.IMREAD_COLOR)
BB8 = cv2.imread("reco/BB8_s.png", cv2.IMREAD_COLOR)
R2D2_detected, R2D2_points = reco.search_img(R2D2)
BB8_detected, BB8_points = reco.search_img(BB8)
print(R2D2_detected, BB8_detected)
turn_speed = 0.4
advance_time = 3.8
# SALIR POR LA PUERTA CORRESPONDIENTE
if BB8_detected and logo == 'BB8' and salida == 'A':
print('1')
robot.go(cell_to_exit_left[0], cell_to_exit_left[1])
elif R2D2_detected and logo == 'BB8' and salida == 'A':
print('2')
#turn_speed = -turn_speed
#advance_time = advance_time * 2
robot.go(cell_to_exit_right_1[0], cell_to_exit_right_1[1])
robot.go(cell_to_exit_right_2[0], cell_to_exit_right_2[1])
robot.go(cell_to_exit_right_3[0], cell_to_exit_right_3[1])
elif R2D2_detected and logo == 'R2D2' and salida == 'A':
print('3')
robot.go(cell_to_exit_left[0], cell_to_exit_left[1])
elif BB8_detected and logo == 'R2D2' and salida == 'A':
print('4')
robot.go(cell_to_exit_right_1[0], cell_to_exit_right_1[1])
robot.go(cell_to_exit_right_2[0], cell_to_exit_right_2[1])
robot.go(cell_to_exit_right_3[0], cell_to_exit_right_3[1])
turn_speed = -turn_speed
advance_time = advance_time * 2
elif BB8_detected and logo == 'BB8' and salida == 'B':
print('5')
robot.go(cell_to_exit_right[0], cell_to_exit_right[1])
turn_speed = -turn_speed
elif R2D2_detected and logo == 'BB8' and salida == 'B':
print('6')
robot.go(cell_to_exit_left_1[0], cell_to_exit_left_1[1])
robot.go(cell_to_exit_left_2[0], cell_to_exit_left_2[1])
robot.go(cell_to_exit_left_3[0], cell_to_exit_left_3[1])
advance_time = advance_time * 2
elif R2D2_detected and logo == 'R2D2' and salida == 'B':
print('7')
robot.go(cell_to_exit_right[0], cell_to_exit_right[1])
turn_speed = -turn_speed
elif BB8_detected and logo == 'R2D2' and salida == 'B':
print('8')
robot.go(cell_to_exit_left_1[0], cell_to_exit_left_1[1])
robot.go(cell_to_exit_left_2[0], cell_to_exit_left_2[1])
robot.go(cell_to_exit_left_3[0], cell_to_exit_left_3[1])
advance_time = advance_time * 2
elif salida == 'A':
robot.go(cell_to_exit_left[0], cell_to_exit_left[1])
else:
robot.go(cell_to_exit_right[0], cell_to_exit_right[1])
# SPRIIIIINT FINAAAAAL HACIA LA LINEA DE METAAAAA
robot.orientate((math.pi / 2) - 0.1)
robot.setSpeed(0.2, 0)
time.sleep(2.5)
robot.setSpeed(0, 0)
robot.stopOdometry()
except KeyboardInterrupt:
# except the program gets interrupted by Ctrl+C on the keyboard.
# THIS IS IMPORTANT if we want that motors STOP when we Ctrl+C ...
# robot.stopOdometry()
robot.catch("up")
robot.stopOdometry()
reco.stop_camera()
