def __init__(self, coordinate_factory):
self._coordinate_factory = coordinate_factory
self._robot_factory = RobotFactory(coordinate_factory)
self._world_detector = WorldDetector(coordinate_factory, self._robot_factory)
self._world_map_drawing_service = WorldMapDrawingService()
self._on_detection_complete = EventHandler()
self._world_map = WorldMap()
self._display_labels = False
self._camera_follow_mode = False
self._last_detection_timespan = timedelta(0)
class WorldMapService(object):
@property
def detection_speed(self):
return self._last_detection_timespan
@property
def world_map(self):
return self._world_map
@property
def display_labels(self):
return _display_labels
@display_labels.setter
def display_labels(self, value):
self._display_labels = value
@property
def camera_follow_mode(self):
return _camera_follow_mode
@camera_follow_mode.setter
def camera_follow_mode(self, value):
self._camera_follow_mode = value
@property
def on_detection_complete(self):
return self._on_detection_complete
@on_detection_complete.setter
def on_detection_complete(self, value):
self._on_detection_complete = value
def __init__(self, coordinate_factory):
self._coordinate_factory = coordinate_factory
self._robot_factory = RobotFactory(coordinate_factory)
self._world_detector = WorldDetector(coordinate_factory, self._robot_factory)
self._world_map_drawing_service = WorldMapDrawingService()
self._on_detection_complete = EventHandler()
self._world_map = WorldMap()
self._display_labels = False
self._camera_follow_mode = False
self._last_detection_timespan = timedelta(0)
def reset(self, world_object_types):
self._world_map.reset(world_object_types)
def detect_objects(self, image):
start_time = datetime.datetime.now()
try:
self._execute_detection(image)
finally:
end_time = datetime.datetime.now()
self._last_detection_timespan = end_time - start_time
self._on_detection_complete.fire()
return self._world_map
def _execute_detection(self, image):
self._world_descriptor = self._world_detector.detect_objects(image, self._get_object_types_to_detect())
self._world_map.merge_world_descriptor(self._world_descriptor)
def _get_object_types_to_detect(self):
object_types_to_detect = self._world_map.missing_world_object_types
object_types_to_detect.append(WorldObjectType.ROBOT)
return object_types_to_detect
def draw_world_map(self):
self._world_map_drawing_service.draw(self._world_map, self._display_labels, self._camera_follow_mode)
return self._world_map.reference_image
def get_islands(self, island_descriptor):
return [island for island in self._world_map.islands if island.matches(island_descriptor)]
def get_treasures(self):
return self._world_map.treasures
def get_pickable_treasures(self):
island_locations = [island.get_center() for island in self._world_map.islands]
return list(filter(lambda treasure: not treasure.get_pickup_area(self._world_map.playfield, self._world_map.robot).contains(island_locations), self._world_map.treasures))
def get_robot(self):
return self._world_map.robot
def get_playfield(self):
return self._world_map.playfield
def remove_treasure(self, treasure):
self._world_map.treasures.remove(treasure)
def update_estimated_robot_position(self, center = None, angle = None, coordinate_system = CoordinateSystem.GAME):
if center is None:
center = self._world_map.robot.get_center()
if angle is None:
angle = self._world_map.robot.angle
robot = self._robot_factory.create(center, angle, coordinate_system, RobotCreationSource.ESTIMATE)
self._world_map.merge_robot(robot)
def clear_estimated_robot_position(self):
self._world_map.estimated_robot = None
def wait_for_detection(self, world_object_types, strict, timeout):
start_time = datetime.datetime.now();
while not self._world_map.contains(world_object_types, strict):
self._on_detection_complete.join(timeout)
if (datetime.datetime.now() - start_time).total_seconds() > timeout:
raise TimeoutError("Timeout was reached while waiting for the specified detection status.")
return self._world_map
def merge_local_world_map(self, local_world_map):
for treasure in local_world_map.treasures:
treasure_location = treasure.map_to_playfield(self._world_map.playfield)
treasure_location_coordinate = self._coordinate_factory.create(treasure_location, CoordinateSystem.CAMERA)
treasure = Treasure(treasure_location_coordinate, len(self._world_map.treasures))
self._world_map.merge_treasures([treasure], append = True)
