def select_image(): # grab a reference to the image panels global panelA, panelB # open a file chooser dialog and allow the user to select an input # image path = tkFileDialog.askopenfilename() # ensure a file path was selected if len(path) > 0: # load the image from disk, convert it to grayscale, and detect # edges in it image = t.readImage(path) shortestPath = t.solveMaze(image, (0,0), (19,19), 20, 20) img = image_enhancer.highlightPath(image, (0,0), (19,19), shortestPath) # convert the images to PIL format... image = Image.fromarray(image) edged = Image.fromarray(img) # ...and then to ImageTk format image = ImageTk.PhotoImage(image) edged = ImageTk.PhotoImage(edged) # if the panels are None, initialize them if panelA is None or panelB is None: # the first panel will store our original image panelA = Label(image=image) panelA.image = image panelA.pack(side="left", padx=10, pady=10) # while the second panel will store the edge map panelB = Label(image=edged) panelB.image = edged panelB.pack(side="right", padx=10, pady=10) # otherwise, update the image panels else: # update the pannels panelA.configure(image=image) panelB.configure(image=edged) panelA.image = image panelB.image = edged
except AttributeError as attr_error:
print('\n[ERROR] readImage function is not returning binary form of original image in expected format !\n')
exit()
# number of cells in height of maze image
no_cells_height = int(height/task_1a.CELL_SIZE)
# number of cells in width of maze image
no_cells_width = int(width/task_1a.CELL_SIZE)
initial_point = (0, 0) # start point coordinates of maze
# end point coordinates of maze
final_point = ((no_cells_height-1), (no_cells_width-1))
try:
shortestPath = task_1a.solveMaze(
original_binary_img, initial_point, final_point, no_cells_height, no_cells_width)
if len(shortestPath) > 2:
img = image_enhancer.highlightPath(
original_binary_img, initial_point, final_point, shortestPath)
else:
print(
'\n[ERROR] shortestPath returned by solveMaze function is not complete !\n')
exit()
except TypeError as type_err:
print('\n[ERROR] solveMaze function is not returning shortest path in maze image in expected format !\n')
def isInPath(i, j, shortestPath, cell_img):
#########################################################################
# NOTE: YOU ARE NOT ALLOWED TO MAKE ANY CHANGE TO THIS FUNCTION
#
# Function Name: main
# Inputs: None
# Outputs: None
# Purpose: the function first takes 'maze00.jpg' as input and solves the maze by calling computeSum
# function, it then asks the user whether to repeat the same on all maze images
# present in 'task_1c_images' folder or not
if __name__ != '__main__':
curr_dir_path = os.getcwd()
# Importing task_1a and image_enhancer script
try:
task_1a_dir_path = curr_dir_path + '/../../Task 1A/codes'
sys.path.append(task_1a_dir_path)
import task_1a
import image_enhancer
except Exception as e:
print('\ntask_1a.py or image_enhancer.pyc file is missing from Task 1A folder !\n')
exit()
if __name__ == '__main__':
curr_dir_path = os.getcwd()
img_dir_path = curr_dir_path + '/../task_1c_images/' # path to directory of 'task_1c_images'
file_num = 0
img_file_path = img_dir_path + 'maze0' + str(file_num) + '.jpg' # path to 'maze00.jpg' image file
# Importing task_1a and image_enhancer script
try:
task_1a_dir_path = curr_dir_path + '/../../Task 1A/codes'
sys.path.append(task_1a_dir_path)
import task_1a
import image_enhancer
except Exception as e:
print('\n[ERROR] task_1a.py or image_enhancer.pyc file is missing from Task 1A folder !\n')
exit()
# modify the task_1a.CELL_SIZE to 40 since maze images
# in task_1c_images folder have cell size of 40 pixels
task_1a.CELL_SIZE = 40
print('\n============================================')
print('\nFor maze0' + str(file_num) + '.jpg')
try:
original_binary_img = task_1a.readImage(img_file_path)
height, width = original_binary_img.shape
except AttributeError as attr_error:
print('\n[ERROR] readImage function is not returning binary form of original image in expected format !\n')
exit()
no_cells_height = int(height/task_1a.CELL_SIZE) # number of cells in height of maze image
no_cells_width = int(width/task_1a.CELL_SIZE) # number of cells in width of maze image
initial_point = (0, 0) # start point coordinates of maze
final_point = ((no_cells_height-1),(no_cells_width-1)) # end point coordinates of maze
try:
shortestPath = task_1a.solveMaze(original_binary_img, initial_point, final_point, no_cells_height, no_cells_width)
if len(shortestPath) > 2:
img = image_enhancer.highlightPath(original_binary_img, initial_point, final_point, shortestPath)
else:
print('\n[ERROR] shortestPath returned by solveMaze function is not complete !\n')
exit()
except TypeError as type_err:
print('\n[ERROR] solveMaze function is not returning shortest path in maze image in expected format !\n')
exit()
print('\nShortest Path = %s \n\nLength of Path = %d' % (shortestPath, len(shortestPath)))
digits_list, digits_on_path, sum_of_digits_on_path = computeSum(img_file_path, shortestPath)
print('\nDigits in the image = ', digits_list)
print('\nDigits on shortest path in the image = ', digits_on_path)
print('\nSum of digits on shortest path in the image = ', sum_of_digits_on_path)
print('\n============================================')
cv2.imshow('canvas0' + str(file_num), img)
cv2.waitKey(0)
cv2.destroyAllWindows()
choice = input('\nWant to run your script on all maze images ? ==>> "y" or "n": ')
if choice == 'y':
file_count = len(os.listdir(img_dir_path))
for file_num in range(file_count):
img_file_path = img_dir_path + 'maze0' + str(file_num) + '.jpg' # path to 'maze00.jpg' image file
print('\n============================================')
print('\nFor maze0' + str(file_num) + '.jpg')
try:
original_binary_img = task_1a.readImage(img_file_path)
height, width = original_binary_img.shape
except AttributeError as attr_error:
print('\n[ERROR] readImage function is not returning binary form of original image in expected format !\n')
exit()
no_cells_height = int(height/task_1a.CELL_SIZE) # number of cells in height of maze image
no_cells_width = int(width/task_1a.CELL_SIZE) # number of cells in width of maze image
initial_point = (0, 0) # start point coordinates of maze
final_point = ((no_cells_height-1),(no_cells_width-1)) # end point coordinates of maze
try:
shortestPath = task_1a.solveMaze(original_binary_img, initial_point, final_point, no_cells_height, no_cells_width)
if len(shortestPath) > 2:
img = image_enhancer.highlightPath(original_binary_img, initial_point, final_point, shortestPath)
else:
print('\n[ERROR] shortestPath returned by solveMaze function is not complete !\n')
exit()
except TypeError as type_err:
print('\n[ERROR] solveMaze function is not returning shortest path in maze image in expected format !\n')
exit()
print('\nShortest Path = %s \n\nLength of Path = %d' % (shortestPath, len(shortestPath)))
digits_list, digits_on_path, sum_of_digits_on_path = computeSum(img_file_path, shortestPath)
print('\nDigits in the image = ', digits_list)
print('\nDigits on shortest path in the image = ', digits_on_path)
print('\nSum of digits on shortest path in the image = ', sum_of_digits_on_path)
print('\n============================================')
cv2.imshow('canvas0' + str(file_num), img)
cv2.waitKey(0)
cv2.destroyAllWindows()
else:
print('')
def python_client():
try:
curr_dir_path = os.getcwd()
img_dir_path = curr_dir_path + '/../Maze_Image/' # path to directory of 'Maze_Image'
img_file_path = img_dir_path + '/Task4_maze.jpg' # path to 'Task4_maze.jpg' image file
# Importing task_1a and image_enhancer script
try:
task_1a_dir_path = curr_dir_path
sys.path.append(task_1a_dir_path)
import task_1a
import image_enhancer
# changing the 'CELL_SIZE' variable to 40 x 40 pixels in accordance with the size in image
task_1a.CELL_SIZE = 40
except Exception as e:
print('\n[ERROR] task_1a.py or image_enhancer.pyc file is missing from Task 1A folder !\n')
exit()
# Read the image and find the shortest path
try:
original_binary_img = task_1a.readImage(img_file_path)
height, width = original_binary_img.shape
except AttributeError as attr_err:
print('\n[ERROR] readImage function is not returning binary form of original image in expected format !\n')
exit()
no_cells_height = int(height/task_1a.CELL_SIZE) # number of cells in height of maze image
no_cells_width = int(width/task_1a.CELL_SIZE) # number of cells in width of maze image
try:
print('\n============================================')
# Create socket connection with server
try:
sock = connect_to_server(SERVER_ADDRESS)
if sock == None:
print('\n[ERROR] connect_to_server function is not returning socket object in expected format !\n')
exit()
else:
print('\nConnecting to %s Port %s' %(SERVER_ADDRESS))
except ConnectionRefusedError as connect_err:
print('\n[ERROR] the robot-server.c file is not executing, start the server first !\n')
exit()
# Send the 'digits_list' and 'combination_of_digits' to robot
digits_list = [8, 0, 2, 2]
combination_digits = [2, 2]
combination_locations = [(6,9), (8,6)]
combination = create_combination_dict(combination_digits, combination_locations)
print('\nGiven Digits in image = %s \n\nGiven Combination of Digits with Locations = %s' % (digits_list, combination))
except Exception:
pass
############# NOTE: Edit this part to complete the Task 4 implementation ###############
# below data should be of type string string
recv_data = ''
new_shortpath = ''
hosp_vac = 4 # hospital vacancie
# Sending digit_list and combination
send_to_server(sock, digits_list)
send_to_server(sock, combination)
# for esp to send @started@
recv_data = receive_from_server(sock)
# starting (4,4) end ist fireszone (6,9). runs only the first time
if(recv_data[0:9] == "@started@"):
cord_start = (4,4)
cord_stop, combination = next_fz(hosp_vac,combination) # Tells the next fire zone or exit cordinates
new_shortpath = task_1a.solveMaze(original_binary_img,cord_start,cord_stop,no_cells_height,no_cells_width)
send_to_server(sock,new_shortpath)
while (1):
recv_data = receive_from_server(sock)
if(recv_data[:-1]!= "@HA reached, Task accomplished!@"):
n = int(recv_data[3])
bot_vac = hosp_vac - n
cord_start = recv_data[5:10]
cord_start=(new_shortpath[-2][0],new_shortpath[-2][1])
cord_stop,combination = next_fz(bot_vac,combination)
new_shortpath = task_1a.solveMaze(original_binary_img,cord_start,cord_stop,no_cells_height,no_cells_width)
send_to_server(sock, new_shortpath)
else:
sock.close()
sys.exit()
break
##########################################################################################
except KeyboardInterrupt:
sys.exit()
def python_client():
try:
curr_dir_path = os.getcwd()
img_dir_path = curr_dir_path + '/../Maze_Image/' # path to directory of 'Maze_Image'
img_file_path = img_dir_path + '/Task4_maze.jpg' # path to 'Task4_maze.jpg' image file
# Importing task_1a and image_enhancer script
try:
task_1a_dir_path = curr_dir_path
sys.path.append(task_1a_dir_path)
import task_1a
import image_enhancer
# changing the 'CELL_SIZE' variable to 40 x 40 pixels in accordance with the size in image
task_1a.CELL_SIZE = 40
except Exception as e:
print(
'\n[ERROR] task_1a.py or image_enhancer.pyc file is missing from Task 1A folder !\n'
)
exit()
# Read the image and find the shortest path
try:
original_binary_img = task_1a.readImage(img_file_path)
height, width = original_binary_img.shape
except AttributeError as attr_err:
print(
'\n[ERROR] readImage function is not returning binary form of original image in expected format !\n'
)
exit()
no_cells_height = int(
height /
task_1a.CELL_SIZE) # number of cells in height of maze image
no_cells_width = int(
width /
task_1a.CELL_SIZE) # number of cells in width of maze image
try:
print('\n============================================')
# Create socket connection with server
try:
sock = connect_to_server(SERVER_ADDRESS)
if sock == None:
print(
'\n[ERROR] connect_to_server function is not returning socket object in expected format !\n'
)
exit()
else:
print('\nConnecting to %s Port %s' % (SERVER_ADDRESS))
except ConnectionRefusedError as connect_err:
print(
'\n[ERROR] the robot-server.c file is not executing, start the server first !\n'
)
exit()
# Send the 'digits_list' and 'combination_of_digits' to robot
digits_list = [8, 0, 2, 2]
combination_digits = [2, 2]
combination_locations = [(6, 9), (8, 6)]
combination = create_combination_dict(combination_digits,
combination_locations)
print(
'\nGiven Digits in image = %s \n\nGiven Combination of Digits with Locations = %s'
% (digits_list, combination))
except Exception:
pass
############# NOTE: Edit this part to complete the Task 4 implementation ###############
sent = ''
received = ''
length = 0
for x in combination:
temp1 = len(combination[x])
length = length + temp1
# sent_data_i = "hello"
# sent, received = send_to_receive_from_server(sock, sent_data_i)
# while received[1] != 's':
# sent, received = send_to_receive_from_server(sock,sent_data_i)
sent_data_f = str(digits_list) + '|' + str(combination)
# send_data(sock,sent_data_f)
# initial_point1 = (4, 4) # start point coordinates of maze
# final_point1 = ((no_cells_height - 1), (no_cells_width - 1))
# shortestPath1 = solveMaze(original_binary_img, initial_point1, final_point1, no_cells_height, no_cells_width)
initial_point1 = (4, 4)
new_path1 = [[]]
v = 0
for x in combination_locations:
final_point1 = x
np = (task_1a.solveMaze(original_binary_img, initial_point1,
final_point1, no_cells_height,
no_cells_width))
new_path1.append(np)
v = v + 1
# send_data(sock,new_path)
initial_point1 = final_point1
new_path = "|"
for x in new_path1:
new_path = new_path + str(x) + "|"
# send_data(sock,new_path)
for i in range(0, 4):
send_data(sock, "okay")
received = recv_data(sock)
print("%s" % received)
# while received[1] != '$':
# received = recv_data(sock)
# received=recv_data(sock)
# while received[1]!='H':
# received=recv_data(sock)
##########################################################################################
except KeyboardInterrupt:
sys.exit()
