def need_refuel(self):
debug = self.debug
opt = self.ship_config['refuel']
frame = get_frame()
crop = frame[opt['need_refuel_crop_y1']:opt['need_refuel_crop_y2'],
opt['need_refuel_crop_x1']:opt['need_refuel_crop_x2']]
red = crop.copy()
red[:, :, 0] = 0
red[:, :, 1] = 0
lower_mask = np.array([0, 0, 252])
upper_mask = np.array([0, 0, 255])
gray = cv2.inRange(red, lower_mask, upper_mask)
kernel = np.ones((4, 4), np.uint8)
erosion = cv2.erode(gray, kernel, iterations=1)
contours = cv2.findContours(erosion, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[1]
w = 0
contour = None
if len(contours) > 0:
contour = max(contours, key=cv2.contourArea)
cv2.drawContours(crop, [contour], 0, (255, 255, 0), 1)
w = cv2.boundingRect(contour)[2]
debug_image = None
if debug:
debug_image = join_images(
crop, cv2.cvtColor(erosion, cv2.COLOR_GRAY2RGB))
return opt['min_refuel'] > w, debug_image, w
def is_jumping(self):
debug = self.debug
opt = self.ship_config['radar']
frame = get_frame()
crop = frame[opt['radar_crop_y1']:opt['radar_crop_y2'],
opt['radar_crop_x1']:opt['radar_crop_x2']]
lower_mask = np.array([200, 200, 200])
upper_mask = np.array([255, 255, 255])
mask = cv2.inRange(crop, lower_mask, upper_mask)
kernel = np.ones((4, 4), np.uint8)
dilation = cv2.dilate(mask, kernel, iterations=1)
rows = dilation.shape[0]
circles = cv2.HoughCircles(dilation,
cv2.HOUGH_GRADIENT,
2,
rows / 8,
param1=20,
param2=50,
minRadius=26,
maxRadius=29)
center = None
radius = None
if circles is not None:
circles = np.uint16(np.around(circles))
for c in circles:
circle = c[0]
center = (circle[0], circle[1])
radius = circle[2]
debug_image = None
if debug:
debug_image = crop
if center is not None and radius is not None:
cv2.circle(debug_image, center, radius, (0, 0, 255), 5)
debug_image = join_images(
crop, cv2.cvtColor(dilation, cv2.COLOR_GRAY2RGB))
return circles is not None and len(circles) > 0, debug_image
def is_refueling(self):
debug = self.debug
opt = self.ship_config['refuel']
frame = get_frame()
crop = frame[opt['need_refuel_crop_y1']:opt['need_refuel_crop_y2'],
opt['need_refuel_crop_x1']:opt['need_refuel_crop_x2']]
lower_mask = np.array([240, 240, 240])
upper_mask = np.array([255, 255, 255])
mask = cv2.inRange(crop, lower_mask, upper_mask)
contours = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[1]
debug_image = None
if debug:
debug_image = join_images(crop,
cv2.cvtColor(mask, cv2.COLOR_GRAY2RGB))
return len(contours) > 0, debug_image
def is_fuel_scoop_active(self):
debug = self.debug
opt = self.ship_config['refuel']
is_active = False
frame = get_frame()
crop = frame[opt['fuel_scoop_crop_y1']:opt['fuel_scoop_crop_y2'],
opt['fuel_scoop_crop_x1']:opt['fuel_scoop_crop_x2']]
debug_image = None
if debug:
debug_image = crop.copy()
crop[:, :, 0] = 0
crop[:, :, 1] = 0
lower_mask = np.array([0, 0, 252])
upper_mask = np.array([0, 0, 255])
gray = cv2.inRange(crop, lower_mask, upper_mask)
kernel = np.ones((2, 2), np.uint8)
erosion = cv2.erode(gray, kernel, iterations=1)
kernel = np.ones((2, 2), np.uint8)
dilation = cv2.dilate(erosion, kernel, iterations=4)
contours = cv2.findContours(dilation, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[1]
if len(contours) > 0:
is_active = True
if debug:
debug_image = join_images(
debug_image, cv2.cvtColor(dilation, cv2.COLOR_GRAY2RGB))
return is_active, debug_image
def center_ship(self, back=False):
debug = self.debug
opt = self.ship_config['radar']
frame = get_frame()
frame = frame[opt['radar_crop_y1']:opt['radar_crop_y2'],
opt['radar_crop_x1']:opt['radar_crop_x2']]
frame = cv2.resize(frame, (0, 0), fx=2, fy=2.12)
debug_img = None
if debug:
debug_img = frame.copy()
# get blue mask
mask = frame.copy()
mask[:, :, 0] = 0
mask[:, :, 1] = 0
lower_mask = np.array([0, 0, 252])
upper_mask = np.array([0, 0, 255])
mask = cv2.inRange(mask, lower_mask, upper_mask)
mask = cv2.dilate(mask, np.ones((2, 2), np.uint8), iterations=1)
mask = cv2.bitwise_not(mask)
# get circle
circles = cv2.HoughCircles(mask,
cv2.HOUGH_GRADIENT,
4,
50,
param1=100,
param2=30,
minRadius=54,
maxRadius=54)
center = None
radius = None
if circles is not None:
circles = np.uint16(np.around(circles))
for c in circles:
circle = c[0]
center = (circle[0], circle[1])
radius = circle[2]
if debug_img is not None:
mask2color = cv2.cvtColor(mask, cv2.COLOR_GRAY2RGB)
if center is not None and radius is not None:
cv2.circle(debug_img, center, radius, (0, 255, 0), 1)
cv2.circle(debug_img, center, 4, (0, 255, 0), -1)
cv2.circle(mask2color, center, radius, (0, 0, 255), 1)
cv2.circle(mask2color, center, 4, (0, 0, 255), -1)
debug_img = join_images(debug_img, mask2color)
cx = None
cy = None
error = False
# get position
point_position = 0
if center is not None and radius is not None:
frame = frame[center[1] - 60:center[1] + 60,
center[0] - 60:center[0] + 60]
crop = frame.copy()
crop[:, :, 1] = 0
crop[:, :, 2] = 0
if debug_img is not None:
debug_img = join_images(debug_img, crop)
# get front point
lower_mask = np.array([254, 0, 0])
upper_mask = np.array([255, 0, 0])
mask = cv2.inRange(crop, lower_mask, upper_mask)
if mask is not None:
mask = cv2.resize(mask, (0, 0), fx=2, fy=2)
thresh = cv2.threshold(mask, 127, 255, 0)[1]
kernel = np.ones((5, 5), np.uint8)
mask = cv2.erode(thresh.copy(), kernel, iterations=3)
contours = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[1]
if len(contours) > 0:
cnt = get_contour_by_size(contours, 10, 10, 3)
M = cv2.moments(cnt)
if M['m00'] > 0:
cx = int(M['m10'] / M['m00'])
cy = int(M['m01'] / M['m00'])
point_position = 1
else:
error = True
else:
# get back point
lower_mask = np.array([240, 0, 0])
upper_mask = np.array([255, 0, 0])
mask = cv2.inRange(crop, lower_mask, upper_mask)
if mask is not None:
mask = cv2.resize(mask, (0, 0), fx=2, fy=2)
thresh = cv2.threshold(mask, 0, 255, 0)[1]
mask = cv2.dilate(thresh, kernel, iterations=4)
contours = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[1]
if len(contours) > 0:
cnt = get_contour_by_size(contours, 47, 47, 2)
M = cv2.moments(cnt)
if M['m00'] > 0:
cx = int(M['m10'] / M['m00'])
cy = int(M['m01'] / M['m00'])
point_position = 2
else:
error = True
else:
error = True
else:
print 'ERROR: MASK IS NULL!'
error = True
if debug_img is not None:
if cx is not None and cy is not None:
color = (0, 255, 0)
if point_position is 2:
color = (0, 0, 255)
frame = cv2.resize(frame, (0, 0), fx=2, fy=2)
cv2.circle(frame, (cx, cy), 2, color, 4)
debug_img = join_images(
debug_img,
join_images(frame,
cv2.cvtColor(mask, cv2.COLOR_GRAY2RGB),
True))
else:
debug_img = join_images(debug_img, crop)
else:
print 'ERROR: MASK IS NULL!'
error = True
else:
print 'ERROR: CIRCLE NOT FOUND'
error = True
# move
keys = []
if cx is not None and cy is not None:
if (point_position > 0):
width, height = cv2.resize(crop, (0, 0), fx=2, fy=2).shape[:2]
deltaX = width / 2 - cx
deltaY = height / 2 - cy
margin = opt['margin']
if not back:
if point_position == 1:
if deltaX < -margin:
keys.append(Buttons.D)
elif deltaX > margin:
keys.append(Buttons.A)
if deltaY < -margin:
keys.append(Buttons.NP_2)
elif deltaY > margin:
keys.append(Buttons.NP_8)
elif point_position == 2:
if deltaX < -margin:
keys.append(Buttons.D)
else:
keys.append(Buttons.A)
if deltaY < -margin:
keys.append(Buttons.NP_2)
else:
keys.append(Buttons.NP_8)
else:
if point_position == 1:
if deltaX < -margin:
keys.append(Buttons.A)
else:
keys.append(Buttons.D)
if deltaY < -margin:
keys.append(Buttons.NP_8)
else:
keys.append(Buttons.NP_2)
elif point_position == 2:
if deltaX < -margin:
keys.append(Buttons.A)
elif deltaX > margin:
keys.append(Buttons.D)
if deltaY < -margin:
keys.append(Buttons.NP_8)
elif deltaY > margin:
keys.append(Buttons.NP_2)
click_keys(keys, opt['move_time'])
return len(keys) > 0, error, debug_img
def avoid(self, last_keys=None, speed=1):
debug = self.debug
opt = self.ship_config['avoid']
frame = get_frame()
crop = frame[opt['danger_zone_crop_y1']:opt['danger_zone_crop_y2'],
opt['danger_zone_crop_x1']:opt['danger_zone_crop_x2']]
debug_image = None
if debug:
debug_image = crop
lower_mask = np.array([60, 60, 60])
upper_mask = np.array([255, 255, 255])
mask = cv2.inRange(crop, lower_mask, upper_mask)
kernel = np.ones((8, 8), np.uint8)
erosion = cv2.erode(mask, kernel, iterations=4)
dilation = cv2.dilate(erosion, kernel, iterations=10)
mask = dilation
contours = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[1]
M = None
deltaX = 0
deltaY = 0
if len(contours) > 0:
contour = max(contours, key=cv2.contourArea)
if debug_image is not None:
cv2.drawContours(debug_image, [contour], 0, (255, 255, 0), 1)
M = cv2.moments(contour)
cX = int(M["m10"] / M["m00"])
cY = int(M["m01"] / M["m00"])
cv2.circle(crop, (cX, cY), 7, (0, 0, 0), -1)
cv2.circle(crop, (opt['avoid_center_x'], opt['avoid_center_y']), 7,
(255, 0, 0), -1)
deltaX = opt['avoid_center_x'] - cX
deltaY = opt['avoid_center_y'] - cY
if deltaX < 5 and deltaX > -5:
deltaX = 0
if deltaY < 5 and deltaY > -5:
deltaY = 0
keys = []
if M is not None:
if deltaX < 0 and last_keys is None:
keys.append(Buttons.A)
elif deltaX > 0 and last_keys is None:
keys.append(Buttons.D)
elif last_keys is not None and Buttons.A in last_keys:
keys.append(Buttons.A)
elif last_keys is not None and Buttons.D in last_keys:
keys.append(Buttons.D)
elif deltaX < 0 and last_keys is not None and Buttons.A not in last_keys:
keys.append(Buttons.A)
elif deltaX > 0 and last_keys is not None and Buttons.D not in last_keys:
keys.append(Buttons.D)
if deltaY > 0 and last_keys is None:
keys.append(Buttons.NP_2)
elif last_keys is None:
keys.append(Buttons.NP_8)
elif last_keys is not None and Buttons.NP_2 in last_keys:
keys.append(Buttons.NP_2)
elif last_keys is not None and Buttons.NP_8 in last_keys:
keys.append(Buttons.NP_8)
elif deltaY > 0 and last_keys is not None and Buttons.NP_2 not in last_keys:
keys.append(Buttons.NP_2)
elif last_keys is not None and Buttons.NP_8 not in last_keys:
keys.append(Buttons.NP_8)
elif last_keys is not None:
keys = last_keys
if len(keys) > 0:
click_keys(keys, speed)
if debug_image is not None:
debug_image = cv2.resize(join_images(
crop, cv2.cvtColor(mask, cv2.COLOR_GRAY2RGB), True), (0, 0),
fx=0.5,
fy=0.5)
return M is not None, keys, debug_image