def __init__(self):
event.EventLoop.__init__(self)
AI.Detector.__init__(self)
self.load_pipeline(self.options.Pipeline_Name)
self.node.subMessage(messaging.CirclesMessage())
self.node.addObserver(self)
self.log('Looking for the buoy')
self.circles = deque(maxlen=self.options.Max_Samples)
self.times = deque(maxlen=self.options.Max_Samples)
def __init__(self):
event.EventLoop.__init__(self)
AI.Script.__init__(self)
self.load_pipeline(self.options.Pipeline_Name)
self.node.subMessage(msg.CirclesMessage())
self.node.addObserver(self)
self.log('Looking for the buoy')
self.circles = deque(maxlen = self.options.Max_Samples)
self.times = deque(maxlen = self.options.Max_Samples)
self.foundBuoy = False
if self.options.useDepth:
self.auv.depth(self.options.depth)
self.auv.bearingAndWait(self.options.initialBearing)
print('Prepping to go to subMessage')
self.node.subMessage(msg.LinesMessage())
print('Past submessage')
self.found = False
def run(self):
self.load_pipeline('detect_buoy_sim')
self.time_last_seen = None
#get initial bearing
if self.auv.current_bearing == None:
time.sleep(1)
if self.auv.current_bearing == None:
error("No bearing information, giving up.")
raise Exception("No bearing information.")
start_bearing = self.auv.current_bearing
total_right_angles_turned = 0
last_bearing = self.auv.current_bearing
#start circle processing
info('Waiting for circles...')
self.node.subMessage(msg.CirclesMessage())
#monitor progress
while total_right_angles_turned < self.options.TotalRightAnglesToTurn:
time.sleep(min(self.options.Do_Prop_Time, self.options.Warn_Seconds_Between_Sights)/2.)
time_since_seen = 0
if self.time_last_seen is None:
warning('Not seen buoy, waiting')
else:
time_since_seen = time.time() - self.time_last_seen
if time_since_seen > self.options.Do_Prop_Time:
self.auv.prop(0)
if time_since_seen > self.options.Warn_Seconds_Between_Sights:
warning('cannot see buoy: last seen %g seconds ago' %
time_since_seen)
self.auv.strafe(0)
self.auv.prop(0)
if time_since_seen > self.options.Give_Up_Seconds_Between_Sights:
self.log('Buoy Circling: lost sight of the buoy!')
return False
#note travelling left, so turning clockwise ie bearing increasing
if (self.auv.current_bearing != None):
bearing_diff = abs(self.auv.current_bearing - last_bearing)
if min(bearing_diff, 360-bearing_diff) > 90: #assume we don't turn to fast
last_bearing = (last_bearing+90)%360
total_right_angles_turned += 1
self.auv.stop()
self.log('Buoy Circling: completed successfully')
return
+ r).streamline()
p_PipelineDiscoveryRequestMessage.setParseAction(lambda x: messaging.PipelineDiscoveryRequestMessage(*x[0]))
p_PipelineDiscoveryResponseMessage = pp.Group(l \
+ p_str \
+ r).streamline()
p_PipelineDiscoveryResponseMessage.setParseAction(lambda x: messaging.PipelineDiscoveryResponseMessage(*x[0]))
p_LinesMessage = pp.Group(l \
+ p_str + c \
+ p_LineVec \
+ r).streamline()
p_LinesMessage.setParseAction(lambda x: messaging.LinesMessage(*x[0]))
p_CirclesMessage = pp.Group(l \
+ p_str + c \
+ p_CircleVec \
+ r).streamline()
p_CirclesMessage.setParseAction(lambda x: messaging.CirclesMessage(*x[0]))
p_CornersMessage = pp.Group(l \
+ p_str + c \
+ p_CornerVec \
+ r).streamline()
p_CornersMessage.setParseAction(lambda x: messaging.CornersMessage(*x[0]))
p_KeyPointsMessage = pp.Group(l \
+ p_str + c \
+ p_KeyPointVec \
+ r).streamline()
p_KeyPointsMessage.setParseAction(lambda x: messaging.KeyPointsMessage(*x[0]))
p_HistogramMessage = pp.Group(l \
+ p_str + c \
+ p_floatVec \
+ r).streamline()
p_HistogramMessage.setParseAction(lambda x: messaging.HistogramMessage(*x[0]))
