def get_colors(self) -> {Color, Color, Color}:
first_digit = self.find_nth_digit(0)
second_digit = self.find_nth_digit(1)
multiplication_factor = self._find_multiplication_factor()
return (
Color.value_of_resistance_digit(first_digit),
Color.value_of_resistance_digit(second_digit),
Color.value_of_resistance_digit(multiplication_factor),
)
def _route_station_command(self):
command: Message = self._communication_service.receive_object()
topic = command.get_topic()
if topic == Topic.START_STAGE:
self._send_confirmation_to_station(Topic.START_STAGE, Stage.TRANSPORT_PUCK)
elif topic == Topic.MOVEMENTS:
self._move(command.get_payload())
self._send_confirmation_to_station(Topic.MOVEMENTS, Stage.STAGE_COMPLETED)
elif topic == Topic.ROTATION:
self._rotate(command.get_payload())
self._send_confirmation_to_station(Topic.ROTATION, Stage.STAGE_COMPLETED)
elif topic == Topic.GRAB_PUCK:
self._grab_puck(Color.value_of_resistance_digit(command.get_payload()))
self._send_confirmation_to_station(Topic.GRAB_PUCK, Stage.STAGE_COMPLETED)
elif topic == Topic.DROP_PUCK:
self._drop_puck()
self._gripper_service.elevate_gripper()
self._send_confirmation_to_station(Topic.DROP_PUCK, Stage.STAGE_COMPLETED)
elif topic == Topic.STAGE_COMPLETED:
self._send_confirmation_to_station(
Topic.STAGE_COMPLETED, Stage.TRANSPORT_PUCK
)
raise StageComplete
def test_givenNumberFour_whenGettingValueOfResistanceDigit_thenReturnYellow(
self):
single_digit = 4
color = Color.value_of_resistance_digit(single_digit)
self.assertEqual(color, Color.YELLOW)
def test_givenNumberEight_whenGettingValueOfResistanceDigit_thenReturnGrey(
self):
single_digit = 8
color = Color.value_of_resistance_digit(single_digit)
self.assertEqual(color, Color.GREY)
def detect(self, image: np.array, color: Color) -> Position:
image = self._cut_image(image)
template = cv2.imread(color.get_template())
res = cv2.matchTemplate(image, template, method=cv2.TM_CCORR_NORMED)
_, _, _, max_loc = cv2.minMaxLoc(res)
top_left = max_loc
return Position(
top_left[0] + self.PUCK_RADIUS + self.HORIZONTAL_CROP[0],
top_left[1] + self.PUCK_RADIUS + self.VERTICAL_CROP[0],
)
def _apply_two_mask(self, image: np.ndarray, color: Color) -> np.ndarray:
hsv_image = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
hsv_bounds = color.get_hsv_bounds()
first_range = hsv_bounds[0][0]
second_range = hsv_bounds[0][1]
first_mask = cv2.inRange(hsv_image, np.array(first_range[0]),
np.array(first_range[1]))
second_mask = cv2.inRange(hsv_image, np.array(second_range[0]),
np.array(second_range[1]))
mask = first_mask + second_mask
hsv_image[np.where(mask == 0)] = 0
prepared_image = cv2.cvtColor(hsv_image, cv2.COLOR_HSV2BGR)
return cv2.cvtColor(prepared_image, cv2.COLOR_BGR2GRAY)
def route_station_command(self):
command: Message = self._communication_service.receive_object()
topic = command.get_topic()
if topic == Topic.START_CYCLE:
print("Stage started")
self.send_confirmation_to_station(Topic.START_CYCLE, Stage.TRANSPORT_PUCK)
elif topic == Topic.MOVEMENTS:
print("Moving to puck")
self.move(command.get_payload())
print("Sending movement confirmation")
grab_puck_it.send_confirmation_to_station(
Topic.MOVEMENTS, Stage.STAGE_COMPLETED
)
elif topic == Topic.ROTATION:
print("Rotating")
self.rotate(command.get_payload())
print("Sending rotation confirmation")
grab_puck_it.send_confirmation_to_station(
Topic.ROTATION, Stage.STAGE_COMPLETED
)
elif topic == Topic.GRAB_PUCK:
print("Grabbing puck")
self.grab_puck(Color.value_of_resistance_digit(command.get_payload()))
print("Sending grab puck confirmation to station")
grab_puck_it.send_confirmation_to_station(
Topic.GRAB_PUCK, Stage.STAGE_COMPLETED
)
elif topic == Topic.DROP_PUCK:
print("Dropping puck")
self.drop_puck()
print("Sending drop puck confirmation to station")
grab_puck_it.send_confirmation_to_station(
Topic.DROP_PUCK, Stage.STAGE_COMPLETED
)
elif topic == Topic.STAGE_COMPLETED:
print("Stage completed")
self.send_confirmation_to_station(
Topic.STAGE_COMPLETED, Stage.TRANSPORT_PUCK
)
raise RuntimeError("Stage complete !")
def _new_prepared_image(self, image: np.ndarray,
puck_color: Color) -> np.ndarray:
hsv_image = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
hsv_bounds = puck_color.get_hsv_bounds()
return cv2.inRange(hsv_image, np.array(hsv_bounds[0][0]),
np.array(hsv_bounds[0][1]))