def alignToTargetIsland(self):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower,
self.video)
self.positionAdjuster = PositionAdjuster(self.wheelManager,
self.vision, self.maestro,
self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getCloserToIsland()
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def alignToTargetIslandTest(self, color):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower, self.video)
self.positionAdjuster = PositionAdjuster(self.wheelManager, self.vision, self.maestro, self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.alignToIsland(color)
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def alignToChargingStation(self):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower, self.video)
self.positionAdjuster = PositionAdjuster(self.wheelManager, self.vision, self.maestro, self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getCloserToChargingStation()
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
class BotDispatcher():
def __init__(self, wheelManager, maestro, spc):
self.wheelManager = wheelManager
self.maestro = maestro
self.cameraTower = CameraTower(self.maestro)
self.treasureAngle = 0
self.botVoltage = 0
self.spc = spc
self.serialPortCommunicatorIsReadByManchester = False
self.lastPositionGoneTo = (0,0)
def followPath(self, coordinates):
print(coordinates)
print("Bot going to "
" : (" + str( coordinates["positionTOx"])+
" " + str( coordinates["positionTOy"]) +
")")
botPosition= (int(coordinates["positionFROMx"]),int(coordinates["positionFROMy"]))
orientation = int(coordinates["orientation"])
referentialConverter = ReferentialConverter(botPosition,orientation)
pointConverted = referentialConverter.convertWorldToRobot((int(coordinates["positionTOx"]), int(coordinates["positionTOy"])))
self.serialPortCommunicatorIsReadByManchester = True
self.wheelManager.moveTo(pointConverted)
self.serialPortCommunicatorIsReadByManchester = False
def alignToTreasure(self, maestro):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower, self.video)
self.maestro = maestro
self.positionAdjuster = PositionAdjuster(self.wheelManager, self.vision, self.maestro, self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getCloserToTreasure()
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def detectTreasure(self):
self.__initializeVideoCapture()
print "Video supposed to be initialize is open : ", self.video.isOpened()
treasureDetector = TreasuresDetector(self.cameraTower, self.video )
anglesList = treasureDetector.buildTresorsAngleList()
self.video.release()
return anglesList
def setRobotOrientation(self, robotAngle, angleToGetRobotTo):
self.wheelManager.setOrientation(robotAngle, angleToGetRobotTo)
def alignToChargingStation(self):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower, self.video)
self.positionAdjuster = PositionAdjuster(self.wheelManager, self.vision, self.maestro, self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getCloserToChargingStation()
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def getRobotBackOnMapAfterCharging(self):
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.stopCharging()
self.serialPortCommunicatorIsReadByManchester = False
def getRobotBackOnMapWhenOutOfBound(self):
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getBackToMapAfterGrabingBackgroundTreausre()
self.serialPortCommunicatorIsReadByManchester = False
def readManchester(self):
serial = SerialPortCommunicator()
manchester = ManchesterCode(serial)
return manchester.getAsciiManchester()
def alignToTargetIsland(self):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower, self.video)
self.positionAdjuster = PositionAdjuster(self.wheelManager, self.vision, self.maestro, self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getCloserToIsland()
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def alignToTargetIslandTest(self, color):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower, self.video)
self.positionAdjuster = PositionAdjuster(self.wheelManager, self.vision, self.maestro, self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.alignToIsland(color)
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def __initializeVideoCapture(self):
if platform.linux_distribution()[0].lower() == "Ubuntu".lower():
self.video = cv2.VideoCapture(1)
system("v4l2-ctl --device=1 --set-ctrl gain=50")
elif platform.linux_distribution()[0].lower() == "Fedora".lower():
self.video = cv2.VideoCapture(0)
class BotDispatcher():
def __init__(self, wheelManager, maestro, spc):
self.wheelManager = wheelManager
self.maestro = maestro
self.cameraTower = CameraTower(self.maestro)
self.treasureAngle = 0
self.botVoltage = 0
self.spc = spc
self.serialPortCommunicatorIsReadByManchester = False
self.lastPositionGoneTo = (0, 0)
def followPath(self, coordinates):
print(coordinates)
print("Bot going to "
" : (" + str(coordinates["positionTOx"]) + " " +
str(coordinates["positionTOy"]) + ")")
botPosition = (int(coordinates["positionFROMx"]),
int(coordinates["positionFROMy"]))
orientation = int(coordinates["orientation"])
referentialConverter = ReferentialConverter(botPosition, orientation)
pointConverted = referentialConverter.convertWorldToRobot(
(int(coordinates["positionTOx"]), int(coordinates["positionTOy"])))
self.serialPortCommunicatorIsReadByManchester = True
self.wheelManager.moveTo(pointConverted)
self.serialPortCommunicatorIsReadByManchester = False
def alignToTreasure(self, maestro):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower,
self.video)
self.maestro = maestro
self.positionAdjuster = PositionAdjuster(self.wheelManager,
self.vision, self.maestro,
self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getCloserToTreasure()
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def detectTreasure(self):
self.__initializeVideoCapture()
print "Video supposed to be initialize is open : ", self.video.isOpened(
)
treasureDetector = TreasuresDetector(self.cameraTower, self.video)
anglesList = treasureDetector.buildTresorsAngleList()
self.video.release()
return anglesList
def setRobotOrientation(self, robotAngle, angleToGetRobotTo):
self.wheelManager.setOrientation(robotAngle, angleToGetRobotTo)
def alignToChargingStation(self):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower,
self.video)
self.positionAdjuster = PositionAdjuster(self.wheelManager,
self.vision, self.maestro,
self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getCloserToChargingStation()
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def getRobotBackOnMapAfterCharging(self):
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.stopCharging()
self.serialPortCommunicatorIsReadByManchester = False
def getRobotBackOnMapWhenOutOfBound(self):
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getBackToMapAfterGrabingBackgroundTreausre()
self.serialPortCommunicatorIsReadByManchester = False
def readManchester(self):
serial = SerialPortCommunicator()
manchester = ManchesterCode(serial)
return manchester.getAsciiManchester()
def alignToTargetIsland(self):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower,
self.video)
self.positionAdjuster = PositionAdjuster(self.wheelManager,
self.vision, self.maestro,
self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.getCloserToIsland()
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def alignToTargetIslandTest(self, color):
self.__initializeVideoCapture()
self.vision = RobotVision(self.wheelManager, self.cameraTower,
self.video)
self.positionAdjuster = PositionAdjuster(self.wheelManager,
self.vision, self.maestro,
self.spc)
self.serialPortCommunicatorIsReadByManchester = True
self.positionAdjuster.alignToIsland(color)
self.serialPortCommunicatorIsReadByManchester = False
self.video.release()
def __initializeVideoCapture(self):
if platform.linux_distribution()[0].lower() == "Ubuntu".lower():
self.video = cv2.VideoCapture(1)
system("v4l2-ctl --device=1 --set-ctrl gain=50")
elif platform.linux_distribution()[0].lower() == "Fedora".lower():
self.video = cv2.VideoCapture(0)