class Location3State(State):
def __init__(self):
State.__init__(self, outcomes=['ok', 'match', 'err'], input_keys=['green_shape'])
self.feature_detector = FeatureDetector()
def execute(self, ud):
try:
features = self.feature_detector.get_features()
features = [f for f in features if f.colour == 'red']
features = filter_by_distance(features, 1.)
depths = feature_depths(features)
feature = next((f for i, f in enumerate(features) if depths[i] == min(depths)), None)
if feature is None:
return 'err'
print(feature.shape)
if feature.shape == ud.green_shape:
notify_match()
return 'match'
return 'ok'
except Exception, e:
print(e)
return 'err'
class Location1State(State):
def __init__(self):
State.__init__(self, outcomes=['ok'])
self.feature_detector = FeatureDetector()
def execute(self, ud):
features = self.feature_detector.get_features()
features = [f for f in features if f.colour == 'red']
features = filter_by_distance(features, max_distance=1.)
notify_count(len(features))
return 'ok'
class Location2State(State):
def __init__(self, ud):
State.__init__(self, outcomes=['ok'])
self.feature_detector = FeatureDetector()
self.ud = ud
def execute(self, ud):
features = self.feature_detector.get_features()
green_shape = next(f.shape for f in features if f.colour == 'green')
self.ud.green_shape = green_shape
notify_count(len(features))
print(self.ud.green_shape)
return 'ok'
class Location3State(State):
def __init__(self, ud):
State.__init__(self, outcomes=['ok'])
self.feature_detector = FeatureDetector()
self.ud = ud
def execute(self, ud):
features = self.feature_detector.get_features()
features = [f for f in features if f.colour == 'red']
features = filter_by_distance(features, 1.)
depths = feature_depths(features)
feature = next(f for i, f in enumerate(features) if depths[i] == min(depths))
# feature = select_center(features)
if feature.shape == self.ud.green_shape:
notify_match()
print(feature.shape)
return 'ok'
class Location2State(State):
def __init__(self):
State.__init__(self,
outcomes=['ok', 'err'],
output_keys=['green_shape'])
self.feature_detector = FeatureDetector()
def execute(self, ud):
try:
features = self.feature_detector.get_features()
green_shape = next(f.shape for f in features
if f.colour == 'green')
ud.green_shape = green_shape
notify_count(len(features))
print(green_shape)
return 'ok'
except Exception, e:
print(e)
ud.green_shape = None
return 'err'
def __init__(self):
State.__init__(self, outcomes=['ok'])
self.feature_detector = FeatureDetector()
def __init__(self):
State.__init__(self, outcomes=['ok', 'match', 'err'], input_keys=['green_shape'])
self.feature_detector = FeatureDetector()