def ExecutaSistema():
try:
ReproduzirAlerta.Reproduzir('iniciando')
time.sleep(3)
pesosInit = Path("baseIA.xml")
if not pesosInit.exists():
ReproduzirAlerta.Reproduzir('treinamentoInit')
time.sleep(3)
Init.InicializarParamRNA()
Init.rede = NetworkReader.readFrom('baseIA.xml')
saida_old = 0
dist1_old = 0
dist2_old = 0
dist3_old = 0
seq_sensor = 0
x = 0
y = 0
result = ''
dif = 1
threadSensor = RetornaEntSensor.ThreadSensor()
threadSensor.start()
ReproduzirAlerta.Reproduzir('vamosLa')
time.sleep(5)
while True:
dist1 = (RetornaEntSensor.Sensor.PegaDistanciaSensor(1)) / 100
dist1 = dist1 if dist1 > 0 else 0
dist2 = (RetornaEntSensor.Sensor.PegaDistanciaSensor(2)) / 100
dist2 = dist2 if dist2 > 0 else 0
dist3 = (RetornaEntSensor.Sensor.PegaDistanciaSensor(3)) / 100
dist3 = dist3 if dist3 > 0 else 0
if ((dist1 + 0.5 > dist1_old) and (dist2 + 0.5 > dist2_old)
and (dist3 + 0.5 > dist3_old) and (dist1 - 0.5 < dist1_old)
and (dist2 - 0.5 < dist2_old) and (dist3 - 0.5 < dist3_old)
and (dist3 <= 0.1)):
seq_sensor += 1
else:
dist1_old = dist1
dist2_old = dist2
dist3_old = dist3
seq_sensor = 0
if seq_sensor < 2:
continue
seq_sensor = 0
if x == 0:
distanciaControle = []
threadON = bool(Init.threadON)
if threadON:
print("Treinando rede")
else:
print("Colhendo dados para treinamento")
if (x > 2) and (not threadON):
x = 0
dif = distanciaControle[2] - distanciaControle[0]
if dif == 0:
dif = 1
bias = 1
baseResult = Init.AdicionaBase(dist1 * dif, dist2 * dif,
dist3 * dif)
Init.base.addSample((bias, dist1, dist2, dist3), (baseResult))
distanciaControle.clear()
if y > 100:
y = 0
treinarThread = Init.ThreadTreinar()
treinarThread.start()
y += 1
x += 1
distanciaControle.append(dist2)
dist1 = dist1 * dif
dist2 = dist2 * dif
dist3 = dist3 * dif
saida = AtivarRNA.AtivarEntrada(NetworkReader,
[1, dist1, dist2, dist3])
result = ''
for i in saida:
result += '1' if i > 0.5 else '0'
if ((result != '0001') and (result != '1111')
and (result != '1000') and (result != '1100')):
result = ''
continue
if saida_old == result:
result = ''
continue
try:
threadReproduzir = ReproduzirAlerta.ThreadReproduzir(result)
threadReproduzir.start()
ReproduzirAlerta.Reproduzir(result)
time.sleep(3)
finally:
saida_old = result
result = ''
except:
print("Ocorreu Falha")
