def run(self):
self.up_plane_process.start()
self.down_plane_process.start()
tee = self.periscope.target
exit_app = False
iteration = 0
while not exit_app:
p1_intersect = self.periscope.laser.intersect_plane(self.periscope.mirror_down.triangle)
p2_intersect = self.periscope.laser.reflect_plane(self.periscope.mirror_down.triangle).\
intersect_plane(self.periscope.mirror_up.triangle)
p_aim = self.periscope.ray_to_aim().intersect_plane(
Triangle(Point3d(tee.location.x, 0.5, 0.2),
Point3d(tee.location.x, 0.4, 0.1),
Point3d(tee.location.x, 0.3, 0.5)
))
self.renderer.render(p1_intersect, p2_intersect, tee, p_aim)
exit_app, need_rebuild = self.__move_target()
if need_rebuild:
self.down_plane_queue.put(self.periscope.target)
self.up_plane_queue.put(self.periscope.target)
self.update_log(iteration, p_aim)
iteration += 1
self.apply_changes(self.periscope.mirror_down.triangle, self.down_plane_points)
self.apply_changes(self.periscope.mirror_up.triangle, self.up_plane_points)
self.up_plane_process.terminate()
self.down_plane_process.terminate()
self.write_log()
exit()
def __init__(self, input_model: str = '2d'):
self.log_list = []
pygame.init()
self.input_model = input_model
config = parse(input_model)
self.periscope: Periscope = Periscope(config)
p_target = self.periscope.ray_to_aim().intersect_plane(
Triangle(Point3d(0.2, 0.5, 0.2),
Point3d(0.2, 0.4, 0.1),
Point3d(0.2, 0.3, 0.5)
))
tee = Target(p_target, config["target_radius"])
self.periscope.set_target(tee)
self.renderer = Renderer(self.periscope)
# Shared memory
self.down_plane_points = mp.Array('d', 6)
self.up_plane_points = mp.Array('d', 6)
self.__init_share_memory()
self.up_plane_queue = mp.Queue()
self.down_plane_queue = mp.Queue()
self.up_plane_process: mp.Process = mp.Process(
target=DirectAlgorithm.plane_direct_process,
args=(self.up_plane_queue, self.up_plane_points, self.periscope, MirrorLocation.UP))
self.down_plane_process: mp.Process = mp.Process(
target=DirectAlgorithm.plane_direct_process,
args=(self.down_plane_queue, self.down_plane_points, self.periscope, MirrorLocation.DOWN))
def backray(self, p3_intersect, p_aim, delta):
new_taget = Point3d(p_aim.x + delta, p_aim.y, p_aim.z)
ret_ray = Ray(new_taget, Vector(p3_intersect, p_aim))
p3_new = ret_ray.intersect_plane(self.periscope.mirror_3.triangle)
p2_new = ret_ray.reflect_plane(self.periscope.mirror_3.triangle). \
intersect_plane(self.periscope.mirror_up.triangle)
p1_new = ret_ray.reflect_plane(self.periscope.mirror_3.triangle). \
reflect_plane(self.periscope.mirror_up.triangle).intersect_plane(self.periscope.mirror_down.triangle)
target = ret_ray.reflect_plane(self.periscope.mirror_3.triangle). \
reflect_plane(self.periscope.mirror_up.triangle).reflect_plane(self.periscope.mirror_down.triangle).dir
p5 = Point3d(p1_new.x + 0.25 * target.x, p1_new.y + 0.25 * target.y,
p1_new.z + 0.25 * target.z)
return (p5.get_point(), p1_new.get_point(), p2_new.get_point(),
p3_new.get_point(), new_taget.get_point(), p_aim.get_point())
def apply_changes(plane: Triangle, arr: mp.Array):
plane.point_b = Point3d(arr[0], arr[1], arr[2])
plane.point_c = Point3d(arr[3], arr[4], arr[5])
def __init__(
self,
input_model: str = '2d',
algorithm: SolveAlgorithm = SolveAlgorithm.DIRECT,
mode: str = '',
):
self.log_list = []
pygame.init()
self.input_model = input_model
self.mode = mode
config = parse(input_model)
self.periscope: Periscope = Periscope(config)
p_target = self.periscope.ray_to_aim().intersect_plane(
Triangle(Point3d(0.4, 0.7, 0.2), Point3d(0.5, 0.4, 0.1),
Point3d(0.2, 0.6, 0.5)))
p_target = Point3d(0.62, 0.66, 0)
tee = Target(p_target, config["target_radius"])
self.periscope.set_target(tee)
self.renderer = Renderer(self.periscope)
# Shared memory
self.down_plane_points = mp.Array('d', 6)
self.up_plane_points = mp.Array('d', 6)
self.plane_3_points = mp.Array('d', 6)
self.__init_share_memory()
self.up_plane_queue = mp.Queue()
self.down_plane_queue = mp.Queue()
self.plane_3_queue = mp.Queue()
if algorithm == SolveAlgorithm.DIRECT:
self.up_plane_process: mp.Process = mp.Process(
target=DirectAlgorithm.plane_direct_process,
args=(self.up_plane_queue, self.up_plane_points,
self.periscope, MirrorLocation.UP))
self.down_plane_process: mp.Process = mp.Process(
target=DirectAlgorithm.plane_direct_process,
args=(self.down_plane_queue, self.down_plane_points,
self.periscope, MirrorLocation.DOWN))
self.plane_3_process: mp.Process = mp.Process(
target=DirectAlgorithm.plane_direct_process,
args=(self.plane_3_queue, self.plane_3_points, self.periscope,
MirrorLocation.THIRD))
else: # algorithm == SolveAlgorithm.NEURAL_NET:
from keras.models import load_model
from src.algorithms.net import NeuralNetAlgorithm
model = load_model(
str(get_project_root()) + '\\src\\neuralnet\\' +
self.input_model + '_model.h5')
self.up_plane_process: mp.Process = mp.Process(
target=NeuralNetAlgorithm.run,
args=(self.up_plane_queue, self.up_plane_points,
self.periscope, MirrorLocation.UP, model))
self.down_plane_process: mp.Process = mp.Process(
target=NeuralNetAlgorithm.run,
args=(self.down_plane_queue, self.down_plane_points,
self.periscope, MirrorLocation.DOWN, model))
self.plane_3_process: mp.Process = mp.Process(
target=NeuralNetAlgorithm.run,
args=(self.plane_3_queue, self.plane_3_points, self.periscope,
MirrorLocation.THIRD, model))
def run(self):
self.up_plane_process.start()
self.down_plane_process.start()
tee = self.periscope.target
prev_tee = self.periscope.prev_target
str_down = f'sending 1st target coord: {self.periscope.target.get_description()} to down plane process by ' + mp.process.current_process(
).name + '\n'
print(str_down)
with open('первый_опыт.txt', 'a') as f:
f.write(str_down)
self.down_plane_queue.put(self.periscope.target) # send
str_up = f'sending 1st target coord: {self.periscope.target.get_description()} to up plane process by ' + mp.process.current_process(
).name + '\n'
print(str_up)
with open('первый_опыт.txt', 'a') as f:
f.write(str_up)
self.up_plane_queue.put(self.periscope.target) # send
exit_app = False
iteration = 0
max_iteration = 4
sleep_time = 2
while not exit_app and iteration <= max_iteration:
p1_intersect = self.periscope.laser.intersect_plane(
self.periscope.mirror_down.triangle)
p2_intersect = self.periscope.laser.reflect_plane(self.periscope.mirror_down.triangle). \
intersect_plane(self.periscope.mirror_up.triangle)
p_aim = self.periscope.ray_to_aim().intersect_plane(
Triangle(Point3d(tee.location.x, 0.5, 0.2),
Point3d(tee.location.x, 0.4, 0.1),
Point3d(tee.location.x, 0.3, 0.5)))
self.renderer.render(p1_intersect, p2_intersect, tee, prev_tee,
p_aim)
if iteration == max_iteration:
sleep(sleep_time)
break
self.update_log(iteration, p_aim, 'before move')
exit_app, need_rebuild = self.__move_target(iteration)
str_down = f'sending target coord: {self.periscope.target.get_description()} to down plane process by ' + mp.process.current_process(
).name + '\n'
print(str_down)
with open('первый_опыт.txt', 'a') as f:
f.write(str_down)
self.down_plane_queue.put(self.periscope.target) # send
str_up = f'sending target coord: {self.periscope.target.get_description()} to up plane process by ' + mp.process.current_process(
).name + '\n'
print(str_up)
with open('первый_опыт.txt', 'a') as f:
f.write(str_up)
self.up_plane_queue.put(self.periscope.target) # send
self.update_log(iteration, p_aim, 'after move')
iteration += 1
self.apply_changes(self.periscope.mirror_down.triangle,
self.down_plane_points)
self.apply_changes(self.periscope.mirror_up.triangle,
self.up_plane_points)
# update log
sleep(sleep_time)
self.up_plane_process.terminate()
self.down_plane_process.terminate()
self.write_log()
exit()