def __init__(self, Houston):
""" To initialize Dice """
super(Dice, self).__init__()
################ INSTANCES ################
self.houston = Houston
self.dice_maneuver = DiceManeuver()
################ THRESHOLD VARIABLES ################
#self.found_threshold = 300
self.back_up_threshold = 200
################ FLAG VARIABLES ################
self.is_found = False
self.stop_task = False
self.is_complete = False
self.is_die_number_changed = False
self.is_first_found = False
################ TIMER VARIABLES ################
self.not_found_timer = 0
self.found_timer = 0
self.last_time = 0
# self.back_up_counter = 0
self.counter = Counter()
################ DICTIONARIES ################
self.direction_list = []
self.dies = {0: 1, 1: 6}
self.die_phases = {
None: self.dice_maneuver.no_shape_found,
'vertical': self.dice_maneuver.centered_and_shape_found,
'horizontal': self.dice_maneuver.centered_and_shape_found,
'square': self.dice_maneuver.centered_and_shape_found
}
################ AUV MOBILITY VARIABLES ################
self.r_power = 100
self.h_power = 100
self.m_power = 120
################ THREAD VARIABLES ################
self.thread_dice = None
self.mutex = Lock()
################ DICE VARIABLES ################
self.die_1 = 1
self.die_2 = 6
################ FRAME VARIABLES ################
self.laptop_camera = (640, 480)
self.sub_driver_camera = (744, 480)
def __init__(self, Houston):
""" To initialize Dice """
super(Dice, self).__init__()
################ INSTANCES ################
self.houston = Houston
self.dice_maneuver = DiceManeuver()
self.detectdice = None
################ THRESHOLD VARIABLES ################
#self.found_threshold = 300
################ FLAG VARIABLES ################
self.is_found = False
self.is_detect_done = False
self.is_navigate_done = False
self.is_done = False
self.stop_task = False
self.is_task_running = False
self.is_complete = False
################ TIMER VARIABLES ################
self.not_found_timer = 0
self.found_timer = 0
self.last_time = 0
self.counter = Counter()
################ DICTIONARIES ################
self.direction_list = []
################ AUV MOBILITY VARIABLES ################
self.r_power=100
self.h_power=100
self.m_power=120
################ THREAD VARIABLES ################
self.thread_dice = None
self.mutex = Lock()
class Dice(Task):
def __init__(self, Houston):
""" To initialize Dice """
super(Dice, self).__init__()
################ INSTANCES ################
self.houston = Houston
self.dice_maneuver = DiceManeuver()
self.detectdice = None
################ THRESHOLD VARIABLES ################
#self.found_threshold = 300
################ FLAG VARIABLES ################
self.is_found = False
self.is_detect_done = False
self.is_navigate_done = False
self.is_done = False
self.stop_task = False
self.is_task_running = False
self.is_complete = False
################ TIMER VARIABLES ################
self.not_found_timer = 0
self.found_timer = 0
self.last_time = 0
self.counter = Counter()
################ DICTIONARIES ################
self.direction_list = []
################ AUV MOBILITY VARIABLES ################
self.r_power=100
self.h_power=100
self.m_power=120
################ THREAD VARIABLES ################
self.thread_dice = None
self.mutex = Lock()
# reset ##################################################################################
def reset(self):
self.detectdice = None
self.is_found = False
self.is_detect_done = False
self.is_navigate_done = False
self.is_done = False
self.is_complete = False
self.not_found_timer = 0
self.found_timer = 0
self.last_time = 0
self.counter = Counter()
self.direction_list = []
self.thread_dice = None
self.stop_task = False
self.dice_maneuver.reset()
# start ##################################################################################
def start(self, task_name, navigation, cvcontroller, m_power=120, rotation=15):
self.local_cvcontroller = cvcontroller
self.is_task_running = True
cvcontroller.start(task_name)
count = 0
self.mutex.acquire()
while not self.stop_task:
# try:
found, direction, shape, width_height = cvcontroller.detect(task_name)
if found:
self.direction_list.append(direction)
if (time.time()-self.last_time > 0.05):
self.last_time = time.time()
count += 1
try:
most_occur_coords = self.get_most_occur_coordinates(self.direction_list, self.counter)
except:
most_occur_coords = [0, 0]
print 'shape: {}, widthxheight: {}'.format(shape, width_height)
print 'current count: {}'.format(count)
print 'coordinates: {}'.format(most_occur_coords)
print '--------------------------------------------'
print 'type: navigation cv 0, or task to cancel task'
self.navigate(navigation, found, most_occur_coords, m_power, rotation, shape, width_height)
self.counter = Counter()
self.direction_list = []
self.last_time = time.time()
# except:
# print 'dice detect error'
cvcontroller.stop()
self.mutex.release()
self.is_task_running = False
# stop ##################################################################################
def stop(self):
self.local_cvcontroller.stop()
#TODO remove soon, since thread is being created in Houston
# run_detect_for_task ##################################################################################
def run_detect_for_task(self, m_power=120, rotation=15):
self.reset_thread()
self.thread_dice = Thread(target = self.detect, args = (m_power,rotation))
#self.thread_dice = Thread(target=self.test)
self.thread_dice.start()
#self.thread_dice.join()
# reset_thread ##################################################################################
def reset_thread(self):
if self.thread_dice:
self.thread_dice = None
# detect ##################################################################################
def detect(self, frame):
print('detect_dice')
if not self.detectdice:
self.detectdice = DiceDetector.DiceDetector()
#found, coordinates = self.detectdice.detect()
return self.detectdice.detect()
# navigate ##################################################################################
def navigate(self, navigation, found, coordinates, power, rotation, shape, width_height):
if not self.dice_maneuver.is_moving_forward:
navigation.cancel_r_nav()
navigation.cancel_m_nav()
navigation.cancel_h_nav()
# if found:
if not self.dice_maneuver.is_rotated_to_center:
print 'is in if statement'
if shape:
print 'inside shape'
if coordinates[0] == 0:
self.dice_maneuver.is_rotated_to_center = True
else:
self.dice_maneuver.rotate_to_center(navigation, coordinates, power, rotation)
else:
self.dice_maneuver.find_die(navigation, power, rotation)
else:
print 'is in else statement'
self.dice_maneuver.touch_die(navigation, coordinates, power, rotation)
# else:
# pass
# complete ##################################################################################
def complete(self):
self.is_complete = True
# bail_task ##################################################################################
def bail_task(self):
pass
def search(self):
pass
# restart_task ##################################################################################
def restart_task(self):
pass
# run_detect_for_task ##################################################################################
def run_detect_for_task(self):
pass
# reset_thread ##################################################################################
def reset_thread(self):
pass
# get_most_occur_coordinates ##################################################################################
def get_most_occur_coordinates(self, direction_list, counter):
for sublist in direction_list:
counter.update(combinations(sublist, 2))
for key, count in counter.most_common(1):
most_occur = key
return most_occur
class Dice(Task):
def __init__(self, Houston):
""" To initialize Dice """
super(Dice, self).__init__()
################ INSTANCES ################
self.houston = Houston
self.dice_maneuver = DiceManeuver()
self.task_name = 'dice'
################ THRESHOLD VARIABLES ################
# self.found_threshold = 300
self.back_up_threshold = 200
################ FLAG VARIABLES ################
self.is_found = False
self.stop_task = False
self.is_complete = False
self.is_die_number_changed = False
self.is_first_found = False
################ TIMER VARIABLES ################
self.not_found_timer = 0
self.found_timer = 0
self.last_time = 0
# self.back_up_counter = 0
self.counter = Counter()
################ DICTIONARIES ################
self.direction_list = []
self.dies = {0: 1, 1: 6}
self.die_phases = {
None: self.dice_maneuver.no_shape_found,
'vertical': self.dice_maneuver.centered_and_shape_found,
'horizontal': self.dice_maneuver.centered_and_shape_found,
'square': self.dice_maneuver.centered_and_shape_found
}
################ AUV MOBILITY VARIABLES ################
self.r_power = 100
self.h_power = 100
self.m_power = 120
################ THREAD VARIABLES ################
self.thread_dice = None
self.mutex = Lock()
################ DICE VARIABLES ################
self.die_1 = 1
self.die_2 = 6
################ FRAME VARIABLES ################
self.laptop_camera = (640, 480)
self.sub_driver_camera = (744, 480)
self.m_distance_forward_dock = 18.5
# self.m_distance_forward_dock = 3
self.m_distance_forward_path = 9.5
# self.m_distance_forward_path = 0.7
self.m_distance_forward_ram_dice = 2.1
self.m_distance_backward_ram_dice = 2
# self.m_distance_forward_ram_dice = 1.1
# self.m_distance_backward_ram_dice = 1
self.reset()
# reset ##################################################################################
def reset(self):
self.is_found = False
self.is_done = False
self.is_complete = False
self.is_die_number_changed = False
self.is_first_found = False
self.not_found_timer = 0
self.found_timer = 0
self.last_time = 0
self.counter = Counter()
self.direction_list = []
self.thread_dice = None
self.stop_task = False
self.dice_maneuver.reset()
# start ##################################################################################
def start(self,
task_name,
navigation,
cvcontroller,
m_power=120,
rotation=5):
self.local_cvcontroller = cvcontroller
self.dice_maneuver.navigation = navigation
cvcontroller.change_dice(6)
cvcontroller.camera_direction = 'forward'
cvcontroller.start(task_name)
count = 0
self.mutex.acquire()
self.dice_maneuver.is_running_task = True
time.sleep(1)
while not self.stop_task and not self.complete():
navigation.do_depth_cap(self.h_power)
# try:
found, direction, shape, width_height = cvcontroller.detect(
task_name)
if found and not self.is_first_found:
# cancel navigation passed on from path once auv first see's a dice
self.is_first_found = True
navigation.cancel_all_nav()
if found:
self.direction_list.append(direction)
if time.time() - self.last_time > 0.05:
self.last_time = time.time()
count += 1
try:
most_occur_coords = self.get_most_occur_coordinates(
self.direction_list, self.counter)
except:
most_occur_coords = [0, 0]
self.navigate(navigation, found, most_occur_coords, m_power,
rotation, shape, width_height)
# print 'running {} task'.format(task_name)
# print 'widthxheight: {}'.format(width_height)
# print 'current count: {}'.format(count)
# print 'coordinates: {}'.format(most_occur_coords)
# print '--------------------------------------------'
# print 'type: navigation cv 0, or task to cancel task'
self.counter = Counter()
self.direction_list = []
if self.dice_maneuver.is_1st_die_touched and not self.is_die_number_changed:
cvcontroller.change_dice(5)
self.is_die_number_changed = True
self.dice_maneuver.reset_after_1st_die()
# except:
# print 'dice detect error'
cvcontroller.stop()
navigation.run_queue_waypoints()
time.sleep(2)
direction, degree = navigation.waypoint.get_directions_with_heading(
navigation.saved_heading_path1)
navigation.cancel_and_r_nav(direction, degree, self.r_power)
navigation.go_to_depth(3.5, self.h_power)
time.sleep(17)
navigation.m_nav('distance', 'forward', self.m_power, 12.3)
time.sleep(20)
# navigation.m_nav('power', 'forward', self.m_power)
self.dice_maneuver.is_running_task = False
self.mutex.release()
# stop ##################################################################################
def stop(self):
self.local_cvcontroller.stop()
# run_detect_for_task ##################################################################################
def run_detect_for_task(self, m_power=120, rotation=5):
pass
# reset_thread ##################################################################################
def reset_thread(self):
pass
# detect ##################################################################################
def detect(self, frame):
pass
# navigate ##################################################################################
def navigate(self, navigation, found, coordinates, power, rotation, shape,
width_height):
if self.dice_maneuver.is_moving_forward:
self.dice_maneuver.nothing_found_counter = 0
return
# if found:
# if not self.dice_maneuver.is_rotated_to_center and shape:
# if coordinates[0] == 0:
# self.dice_maneuver.is_rotated_to_center = True
# else:
# self.dice_maneuver.rotate_to_center(navigation, coordinates, power, rotation)
# else:
self.die_phases[shape](navigation, coordinates, power, rotation,
width_height)
# complete ##################################################################################
def complete(self):
self.is_complete = self.dice_maneuver.completed_dice_check()
return self.is_complete
# bail_task ##################################################################################
def bail_task(self):
pass
def search(self):
pass
# restart_task ##################################################################################
def restart_task(self):
pass
# run_detect_for_task ##################################################################################
def run_detect_for_task(self):
pass
# reset_thread ##################################################################################
def reset_thread(self):
pass
# get_most_occur_coordinates ##################################################################################
def get_most_occur_coordinates(self, direction_list, counter):
for sublist in direction_list:
counter.update(combinations(sublist, 2))
for key, count in counter.most_common(1):
most_occur = key
return most_occur