class first_center(Task):
def on_first_run(self, results):
self.update_data(results)
path_found = self.path_results.visible > 0
self.centered_checker = ConsistencyCheck(8, 10)
self.center = DownwardTarget(
lambda self=self:
(self.path_results.center_x, self.path_results.center_y),
target=(0, 0),
deadband=(.05, .05),
px=0.5,
py=0.5,
dx=0.02,
dy=0.02,
valid=path_found)
def on_run(self, results):
self.update_data(results)
self.center()
# if not check_seen(results):
# self.finish(success=False)
if self.centered_checker.check(self.center.finished):
self.center.stop()
self.finish()
class center(Task):
def update_data(self):
self.pipe_results = shm.pipe_results.get()
def on_first_run(self):
self.update_data()
pipe_found = self.pipe_results.heuristic_score > 0
self.centered_checker = ConsistencyCheck(8, 10)
self.center = DownwardTarget(
lambda self=self:
(self.pipe_results.center_x, self.pipe_results.center_y),
target=get_downward_camera_center,
deadband=(30, 30),
px=0.002,
py=0.002,
dx=0.002,
dy=0.002,
valid=pipe_found)
#self.logi("Beginning to center on the pipe")
def on_run(self):
self.update_data()
self.center()
#self.logi("Results Y: {}".format(str(self.pipe_results.center_y)))
#self.logi("Center: {}".format(str(get_downward_camera_center()[1])))
if not check_seen():
self.finish(success=False)
if self.centered_checker.check(self.center.finished):
self.center.stop()
self.finish()
class center(Task):
def update_data(self):
self.pipe_results = shm.pipe_results.get()
def on_first_run(self):
self.update_data()
pipe_found = self.pipe_results.heuristic_score > 0
self.centered_checker = ConsistencyCheck(18, 20)
self.center = DownwardTarget(lambda self=self:
(self.pipe_results.center_x * 100, self.
pipe_results.center_y * 100),
target=(0, 0),
deadband=(4, 4),
px=0.03,
py=0.03,
dx=0.01,
dy=0.01,
valid=pipe_found)
self.logi("Beginning to center on the pipe")
self.logi("Pipe center" + str(self.pipe_results.center_x) + " " +
str(self.pipe_results.center_y))
def on_run(self):
self.update_data()
self.center()
if self.centered_checker.check(self.center.finished):
self.center.stop()
self.finish()
class center(Task):
def update_data(self):
self.pipe_results = shm.pipe_results.get()
def on_first_run(self):
self.update_data()
pipe_found = self.pipe_results.heuristic_score > 0
self.centered_checker = ConsistencyCheck(18, 20)
self.center = DownwardTarget(lambda self=self: (self.pipe_results.center_x, self.pipe_results.center_y),
target=lambda self=self: get_camera_center(self.pipe_results),
deadband=(30,30), px=0.003, py=0.003, dx=0.001, dy=0.001,
valid=pipe_found)
self.logi("Beginning to center on the pipe")
def on_run(self):
self.update_data()
self.center()
if self.centered_checker.check(self.center.finished):
self.center.stop()
self.finish()