def on_cbAuto_clicked(
self,
# True is the checkbox is checked; False if not.
checked):
if checked:
# Initialize our state if we're just entering
# auto mode.
self.state = 1
# Create a timer for use in ``fly()``.
self.elapsedTimer = QElapsedTimer()
else:
# Return to a hover when leaving auto mode.
self.controller.hover()
def on_cbAuto_clicked(self, checked):
if checked:
self.state = 1
self.elapsedTimer = QElapsedTimer()
self.rotate = 0
elif not checked:
self.controller.SendLand()
self.controller.SendLand1()
def make_move(self, state):
"""Makes a decision of the player's next move (abstract)
Args:
state: current board state
Returns:
Player's hole number which defines a player's next move
"""
self._running_timer = QElapsedTimer()
self._running_timer.start()
return -1
def put(self, item, block=True, timeout=None):
"""Put an item into the queue.
Parameters
----------
block : bool
If True(default), the caller thread will block until the queue has
a free space available for putting an new item. If False, the `Full`
exception will be raised if there is no free space in the queue
timeout : int
The max time to wait for a new space to be avaible, in milliseconds.
"""
self.mutex.lock()
try:
# Check if the queue has a limit (0 means not)
if self.maxsize > 0:
# Raise Full if block is False and the queue is at max cap.
if not block:
if self._qsize() == self.maxsize:
raise Full
# If a timeout is not provided, wait indefinitely
elif timeout is None:
while self._qsize() == self.maxsize:
self.item_removed.wait(self.mutex)
elif timeout < 0:
raise ValueError("'timeout' must be a non-negative number")
else:
timer = QElapsedTimer()
timer.start()
while self._qsize() == self.maxsize:
remaining = timeout - timer.elapsed()
if remaining <= 0.0:
raise Full
self.item_removed.wait(self.mutex, remaining)
self._put(item)
self.item_added.wakeOne()
finally:
self.mutex.unlock()
def on_cbAuto_clicked(self,
# True is the checkbox is checked; False if not.
checked):
if checked:
# Initialize our state if we're just entering
# auto mode.
self.state = 1
# Create a timer for use in ``fly()``.
self.elapsedTimer = QElapsedTimer()
else:
# Return to a hover when leaving auto mode.
self.controller.hover()
def move(self, a, b, a_fin, b_fin, t):
# For test only: return a random move
global timer
global timeElapsed
global totalMoves
totalMoves += 1 #To keep track of all the moves
# defining the alpha, beta, and depth parameters to be used
alpha = MIN
beta = MAX
depth = 7 #Also tried with 3 and 7
machine = ai()
# timing variables
timer = QElapsedTimer()
timer.start()
t_start = time.time()
val_found = False #To set priorities
for i in range(6):
if a[i] >= 13: #Highest priority is when a pit has more than 13 pebbles -- Heuristic 1
bestMove = i
val_found = True
if not val_found:
children = self.setChildrenIndex(a, b, a_fin,
b_fin) # generating all children
bestMove = -1
bestValue = -float("inf")
# evaluate every child to find the ultimate best move index
for child in children:
# obtaining the weighted value of child from the alpha-beta minimax algorithm
value = machine.minimax(child[0][0].a, child[0][0].b,
child[0][0].a_fin, child[0][0].b_fin,
depth, False, child[0][1], child[0][1],
alpha, beta, t_start, t)
# check if the child value returned by minimax is valid (i.e.: larger than -infinity)
if value > bestValue:
bestMove = child[
1] # if valid, set the new best move to the index that produces current child
bestValue = max(
value, bestValue
) # update best value to the maximum between the old and the current child value
for j in range(6): #Heuristic 5
if b[j] == 0:
(ch1, sec1) = machine.updateLocalState_childrenGeneration(
bestMove, b, a, b_fin, a_fin)
if (ch1.a_fin - a_fin < 3
and a[5 - j] != 0): #Condition for checking
bestMove = 5 - j #Makes avoiding being eaten the best move
if bestMove == -1:
bestMove = 0 #Arbitrary
timeElapsed = timeElapsed + timer.elapsed()
print "Time This Move: %f ms" % timer.elapsed()
print "Total Time Elapsed: %f ms" % timeElapsed
print "Average Time per Move: %f ms" % (timeElapsed / totalMoves)
print "Total Moves: %d" % totalMoves
print "------------------------\n"
return bestMove
def get(self, block=True, timeout=None):
"""Remove and return an item from the queue.
Parameters
----------
block : bool
If True(default), the caller thread will block until the queue has
an item available for putting an new item. If False, the `Empty`
exception will be raised if there is no item in the queue
timeout : int
The max time to wait for a new item to be avaible, in milliseconds.
"""
self.mutex.lock()
try:
if not block:
if not self._qsize():
raise Empty
elif timeout is None:
while not self._qsize():
self.item_added.wait(self.mutex)
elif timeout < 0:
raise ValueError("'timeout' must be a non-negative number")
else:
timer = QElapsedTimer()
timer.start()
while not self._qsize():
remaining = timeout - timer.elapsed()
if remaining <= 0.0:
raise Empty
self.item_added.wait(self.mutex, remaining)
item = self._get()
self.item_removed.wakeOne()
return item
finally:
self.mutex.unlock()
def on_cbAuto_clicked(self,
# True is the checkbox is checked; False if not.
checked):
if checked:
# Initialize our state if we're just entering
# auto mode.
self.state = 1
self.time = 0
self.scan = 1
self.scan_count = 0
self.scan_right = 1
self.scan_forward = 0
self.scan_left = 0
slef.scan_back = 0
self.rotate = False
self.area = 0
# Create a timer for use in ``fly()``.
self.elapsedTimer = QElapsedTimer()
elif not checked:
self.controller.SendLand()
else:
# Return to a hover when leaving auto mode.
self.controller.hover()
def __enter__(self):
# Load in the GUI.
uic.loadUi(self.uiFile, self)
# Open a webcam.
self.cap = cv2.VideoCapture(self.webcamIndex)
assert self.cap.isOpened()
# Scan for possible resolutions from a list of common resolutions.
self.supported_resolution = []
for resolution in (
# 16:9 aspect ratio:
(1920, 1080),
(1280, 720),
# 4:3 aspect ratio:
(1024, 768),
(640, 480),
):
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, resolution[0])
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, resolution[1])
if (
self.cap.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH) == resolution[0]
and self.cap.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT) == resolution[1]
):
self.supported_resolution.append(resolution)
self.cbWebcamResolution.addItem("{}x{}".format(resolution[0], resolution[1]), resolution)
if self.webcamInitialResolution < 0:
self.webcamInitialResolution = len(self.supported_resolution) - 1
self.cbWebcamResolution.setCurrentIndex(self.webcamInitialResolution)
# Set up a timer to read from the webcam.
self.webcamTimer = QTimer(self)
self.webcamTimer.setInterval(0)
self.webcamTimer.timeout.connect(self._on_webcamTimer_timeout)
self.webcamTimer.start()
# Monitor the fps.
self.fpsLabel = QLabel()
self.statusBar().addPermanentWidget(self.fpsLabel)
self.fpsTimer = QElapsedTimer()
self.fpsTimer.start()
return self
class MavControl(ButtonGui):
# DRONE 1
def on_pbTakeoff_pressed(self):
print("TAKE OFF!")
self.controller.SendTakeoff()
def on_pbLand_pressed(self):
print("LAND")
self.controller.SendLand()
def on_pbUp_pressed(self):
print("Up")
self.controller.SetCommand(roll=0, pitch=0,
yaw_velocity=0, z_velocity=0.5)
def on_pbUp_released(self):
print("Up done")
self.controller.hover()
def on_pbDown_pressed(self):
print("Down")
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=0,z_velocity=-0.5)
def on_pbDown_released(self):
print("Down done")
self.controller.hover()
def on_pbForward_pressed(self):
print("Forward")
self.controller.SetCommand(roll=0,pitch=0.5,yaw_velocity=0,z_velocity=0)
def on_pbForward_released(self):
print("Forward done")
self.controller.hover()
def on_pbBackward_pressed(self):
print("Backward")
self.controller.SetCommand(roll=0,pitch=-0.5,yaw_velocity=0,z_velocity=0)
def on_pbBackward_released(self):
print("Backward done")
self.controller.hover()
def on_pbLeft_pressed(self):
print("Left")
self.controller.SetCommand(roll=0.5,pitch=0,yaw_velocity=0,z_velocity=0)
def on_pbLeft_released(self):
print("Left done")
self.controller.hover()
def on_pbRight_pressed(self):
print("Right")
self.controller.SetCommand(roll=-0.5,pitch=0,yaw_velocity=0,z_velocity=0)
def on_pbRight_released(self):
print("Right done")
self.controller.hover()
def on_pbRotateLeft_pressed(self):
print("Rotate Left")
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=0.5,z_velocity=0)
def on_pbRotateLeft_released(self):
print("Rotate Left done")
self.controller.hover()
def on_pbRotateRight_pressed(self):
print("Rotate Right")
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=-0.5,z_velocity=0)
def on_pbRotateRight_released(self):
print("Rotate Right done")
self.controller.hover()
def on_pbFlatTrim_pressed(self):
print("Flat trimmed")
self.controller.SetFlatTrim()
def on_pbEmergency_pressed(self):
print("Emergency signal sent (or reset)")
self.controller.SendEmergency()
def on_pbToggleCamera_pressed(self):
print("Camera Toggled")
self.controller.ToggleCamera()
def on_pbBlinkRed_pressed(self):
print("LEDs Blinking Red")
self.controller.SetLedAnimation(2,3,3)
def on_pbBlinkOrange_pressed(self):
print("LEDs Blinking Orange")
self.controller.SetLedAnimation(3,3,3)
def on_pbBlinkGreen_pressed(self):
print("LEDs Blinking Green")
self.controller.SetLedAnimation(1,3,3)
def on_pbRecord(self):
self.controller.RecordUsb()
################################################
# drone 2
def on_pbTakeoff_2_pressed(self):
print("TAKE OFF!")
self.controller.SendTakeoff1()
def on_pbLand_2_pressed(self):
print("LAND")
self.controller.SendLand1()
def on_pbUp_2_pressed(self):
print("Up")
self.controller.SetCommand1(roll=0, pitch=0,
yaw_velocity=0, z_velocity=0.5)
def on_pbUp_2_released(self):
print("Up done")
self.controller.hover1()
def on_pbDown_2_pressed(self):
print("Down")
self.controller.SetCommand1(roll=0,pitch=0,yaw_velocity=0,z_velocity=-0.5)
def on_pbDown_2_released(self):
print("Down done")
self.controller.hover1()
def on_pbForward_2_pressed(self):
print("Forward")
self.controller.SetCommand1(roll=0,pitch=0.5,yaw_velocity=0,z_velocity=0)
def on_pbForward_2_released(self):
print("Forward done")
self.controller.hover1()
def on_pbBackward_2_pressed(self):
print("Backward")
self.controller.SetCommand1(roll=0,pitch=-0.5,yaw_velocity=0,z_velocity=0)
def on_pbBackward_2_released(self):
print("Backward done")
self.controller.hover1()
def on_pbLeft_2_pressed(self):
print("Left")
self.controller.SetCommand1(roll=0.5,pitch=0,yaw_velocity=0,z_velocity=0)
def on_pbLeft_2_released(self):
print("Left done")
self.controller.hover1()
def on_pbRight_2_pressed(self):
print("Right")
self.controller.SetCommand1(roll=-0.5,pitch=0,yaw_velocity=0,z_velocity=0)
def on_pbRight_2_released(self):
print("Right done")
self.controller.hover1()
def on_pbRotateLeft_2_pressed(self):
print("Rotate Left")
self.controller.SetCommand1(roll=0,pitch=0,yaw_velocity=0.5,z_velocity=0)
def on_pbRotateLeft_2_released(self):
print("Rotate Left done")
self.controller.hover1()
def on_pbRotateRight_2_pressed(self):
print("Rotate Right")
self.controller.SetCommand1(roll=0,pitch=0,yaw_velocity=-0.5,z_velocity=0)
def on_pbRotateRight_2_released(self):
print("Rotate Right done")
self.controller.hover1()
def on_pbFlatTrim_2_pressed(self):
print("Flat trimmed")
self.controller.SetFlatTrim1()
def on_pbEmergency_2_pressed(self):
print("Emergency signal sent (or reset)")
self.controller.SendEmergency1()
def on_pbToggleCamera_2_pressed(self):
print("Camera Toggled")
self.controller.ToggleCamera1()
def on_pbBlinkRed_2_pressed(self):
print("LEDs Blinking Red")
self.controller.SetLedAnimation(2,3,3)
def on_pbBlinkOrange_2_pressed(self):
print("LEDs Blinking Orange")
self.controller.SetLedAnimation(3,3,3)
def on_pbBlinkGreen_2_pressed(self):
print("LEDs Blinking Green")
self.controller.SetLedAnimation(1,3,3)
def on_pbRecord_2(self):
self.controller.RecordUsb1()
################################################
@pyqtSlot(bool)
def on_cbAuto_clicked(self, checked):
if checked:
self.state = 1
self.elapsedTimer = QElapsedTimer()
self.rotate = 0
elif not checked:
self.controller.SendLand()
self.controller.SendLand1()
def fly(self, x_center, y_center, cont_area):
self.lbAuto.setText('')
if self.state == 1:
self.lbVideo1.hide()
self.controller.SetCommand(roll=0,pitch=0.1,yaw_velocity=0,z_velocity=0)
self.updateAutoLabel('Takeoff!')
self.controller.SendTakeoff()
self.elapsedTimer.start()
self.state = 2
elif self.state == 2:
self.updateAutoLabel('Wait until take off completed')
if self.elapsedTimer.elapsed() >= 5000:
self.controller.hover()
self.state = 3
self.time = self.elapsedTimer.elapsed()
elif self.state == 3:
if(self.rotate == 1):
self.controller.SetCommand(roll=0.0,pitch=0,yaw_velocity=0.2,z_velocity=0)
else:
self.controller.hover()
if(self.elapsedTimer.elapsed() %100):
self.rotate = 1
else:
self.rotate = 0
if(self.time + 15000 < self.elapsedTimer.elapsed()):
self.controller.hover()
self.state = 4
elif self.state == 4:
self.controller.SendLand()
self.lbVideo.hide()
self.lbVideo1.show()
self.controller.SendTakeoff1()
self.state = 5
self.time = self.elapsedTimer.elapsed()
elif self.state == 5:
self.updateAutoLabel('Wait until take off completed')
if self.elapsedTimer.elapsed() >= 5000 + self.time:
self.state = 6
self.time = self.elapsedTimer.elapsed()
elif self.state == 6:
if(self.rotate == 1):
self.controller.SetCommand1(roll=0.0,pitch=0,yaw_velocity=-0.2,z_velocity=0)
else:
self.controller1.hover1()
if(self.elapsedTimer.elapsed() %100):
self.rotate = 1
else:
self.rotate = 0
if(self.time + 15000 < self.elapsedTimer.elapsed()):
self.controller.hover1()
self.state = 7
elif self.state == 7:
self.controller.SendLand1()
self.lbVideo.show()
self.cbAuto.toggle()
def updateAutoLabel(self,
# A string to add to the explanation.
s):
self.lbAuto.setText(self.lbAuto.text() + s)
class MavControl(ButtonGui):
# This is called when the pbPressed button is pressed.
# Naming is similar for other functions.
def on_pbTakeoff_pressed(self):
print("TAKE OFF!")
self.controller.SendTakeoff()
def on_pbLand_pressed(self):
print("LAND")
self.controller.SendLand()
def on_pbUp_pressed(self):
print("Up")
self.controller.SetCommand(roll=0, pitch=0, yaw_velocity=0, z_velocity=0.5)
def on_pbUp_released(self):
print("Up done.")
self.controller.hover()
def on_pbDown_pressed(self):
print("Down")
self.controller.SetCommand(roll=0, pitch=0, yaw_velocity=0, z_velocity=-0.5)
def on_pbDown_released(self):
print("Down done.")
self.controller.hover()
def on_pbForward_pressed(self):
print("Forward")
self.controller.SetCommand(roll=0, pitch=0.5, yaw_velocity=0, z_velocity=0)
def on_pbForward_released(self):
print("Forward done.")
self.controller.hover()
def on_pbBackward_pressed(self):
print("Back")
self.controller.SetCommand(roll=0, pitch=-0.5, yaw_velocity=0, z_velocity=0)
def on_pbBackward_released(self):
print("Backed it up.")
self.controller.hover()
def on_pbLeft_pressed(self):
print("Left")
self.controller.SetCommand(roll=0.3, pitch=0, yaw_velocity=0, z_velocity=0)
def on_pbLeft_released(self):
print("Left done.")
self.controller.hover()
def on_pbRight_pressed(self):
print("Right")
self.controller.SetCommand(roll=-0.3, pitch=0, yaw_velocity=0, z_velocity=0)
def on_pbRight_released(self):
print("Right done.")
self.controller.hover()
def on_pbRoLeft_pressed(self):
print("Turn down")
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=0.6,z_velocity=0)
def on_pbRoLeft_released(self):
print("For what!")
self.controller.hover()
def on_pbRoRight_pressed(self):
print("Turn up!")
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=-0.6,z_velocity=0)
def on_pbRoRight_released(self):
print("Turnt!")
self.controller.hover()
def on_pbEmergency_pressed(self):
print("It's goin' down!")
self.controller.SendEmergency()
def on_pbFlat_pressed(self):
print("flat")
self.controller.SetFlatTrim()
def on_pbLED_pressed(self):
print("RAVE!")
self.controller.SetLedAnimation(4,2,5)
def on_pbCamChange_pressed(self):
print("Look!")
self.controller.ToggleCamera()
@pyqtSlot(bool)
def on_cbAuto_clicked(self,
# True is the checkbox is checked; False if not.
checked):
if checked:
# Initialize our state if we're just entering
# auto mode.
self.state = 1
# Create a timer for use in ``fly()``.
self.elapsedTimer = QElapsedTimer()
else:
# Return to a hover when leaving auto mode.
self.controller.hover()
# This is only called when the Auto checkbox is checked.
def fly(self,
# The x coordinate of the center of the tracked area.
# It ranges between 0 and ``self.lbVideo.width() - 1``.
x_center,
# The y coordinate of the center of the tracked area.
# It ranges between 0 and ``self.lbVideo.height() - 1``.
y_center,
# The area, in pixels, of the tracked region.
cont_area):
# Clear the description of what this does.
self.lbAuto.setText('')
ori_area=cont_area
# Decide what to do based on the state.
if self.state == 1:
# Take off
# ^^^^^^^^
# The Auto checkbox was just checked. Take off
# to start out mission.
self.updateAutoLabel('Takeoff!')
self.controller.SendTakeoff()
print('Takeoff')
#print(cont_area,'area')
# Measure time from takeoff.
self.elapsedTimer.start()
#print(x_center,'xy',y_center)
# Move to the next state, waiting for takeoff to
# finish.
self.state = 2
print('x_center',x_center)
print('y_center',y_center)
print(' area',cont_area)
elif self.state == 2:
# Wait until take off completed
# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
self.updateAutoLabel('Wait until take off completed')
print('state2')
# Don't send any commands until we're flying.
# So, wait 5 seconds then go to the next state.
if self.elapsedTimer.elapsed() >= 5000:
self.state = 8
# Starting timer
elif self.state ==3:
self.controller.hover()
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=0.3,z_velocity=0)
self.updateAutoLabel('search for color')
if (x_center>0 and y_center>0):
self.elapsedTimer.restart()
self.state=7
elif self.state==7:
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=0.2,z_velocity=0)
print(x_center,'xy',y_center)
if (x_center<160 and x_center>0 ):
print(x_center,'xy',y_center)
self.controller.hover()
if self.elapsedTimer.elapsed() >= 3000:
print('state3')
print(cont_area)
self.elapsedTimer.restart()
self.state =8
elif self.state == 4:
# ...your ideas...
print('state 4')
#if (x_center < ???):
# FIX TABBING FOR XCENTER
self.updateAutoLabel('Flying Foward State 4')
#if(x_center>=160 or x_center==-1 ):
# self.state=7
# Changed the speed for safety
#self.controller.SetCommand(0, 0.0625, 0, 0)
#print(cont_area)
#if (cont_area>4000 ) :
# self.elapsedTimer.restart()
# self.controller.hover()
self.state ==5
elif self.state == 5:
self.controller.hover()
if(x_center==-1 and y_center==-1):
self.state=3
if(x_center>=160):
xr_speed=((x_center-160)*0.0031)**1.5
if xr_speed<0.03:
xr_speed=0.03
self.controller.SetCommand(roll=-xr_speed, pitch=0.01, yaw_velocity=0, z_velocity=0)
print('move right')
print('x_center',x_center)
print('y_center',y_center)
elif(x_center<=140):
xl_speed=((140-x_center)*0.0031)**1.5
if xl_speed<0.03:
xl_speed=0.03
self.controller.SetCommand(roll=xl_speed, pitch=0.01, yaw_velocity=0, z_velocity=0)
print('move left')
print('x_center',x_center)
print('y_center',y_center)
else:
self.controller.hover()
self.state=6
elif self.state==6:
self.controller.hover()
if(x_center==-1 and y_center==-1):
self.state=3
if(y_center>=110):
print('move downward')
yu_speed=(y_center-110)*0.005
if yu_speed<0.03:
yu_speed=0.03
self.controller.SetCommand(roll=0, pitch=0.01, yaw_velocity=0, z_velocity=-yu_speed)
print('x_center',x_center)
print('y_center',y_center)
elif(y_center<=90):
print('move upward')
yd_speed=(90-y_center)*0.005
if yd_speed<0.03:
yd_speed=0.03
self.controller.SetCommand(roll=0, pitch=0.01, yaw_velocity=0, z_velocity=yd_speed)
print('x_center',x_center)
print('y_center',y_center)
else:
self.elapsedTimer.restart()
self.state=8
elif self.state==8:
self.controller.hover()
if(cont_area>9000):
print('move backward')
if(x_center==-1 and y_center==-1):
self.state=3
b_speed=((cont_area-9000)*0.0001)**4
if b_speed>=0.3:
b_speed=0.25
if(x_center>=160):
xr_speed=((x_center-160)*0.0031)**1.5
if xr_speed<0.02:
xr_speed=0.02
self.controller.SetCommand(roll=-xr_speed, pitch=-b_speed, yaw_velocity=0, z_velocity=0)
print('move right backward')
print('x_center',x_center)
print('y_center',y_center)
elif(x_center<=140):
xl_speed=((140-x_center)*0.0031)**1.5
if xl_speed<0.02:
xl_speed=0.02
self.controller.SetCommand(roll=xl_speed, pitch=-b_speed, yaw_velocity=0, z_velocity=0)
print('move left backward')
print('x_center',x_center)
print('y_center',y_center)
else:
self.controller.SetCommand(roll=0, pitch=-b_speed, yaw_velocity=0, z_velocity=0)
#self.controller.hover()
print(' area',cont_area)
elif(cont_area<7000):
f_speed=((7000-cont_area)*0.0001)**3.5
if f_speed>=0.3:
f_speed=0.25
if(x_center==-1 and y_center==-1):
self.state=3
if(x_center>=160):
xr_speed=((x_center-160)*0.0031)**2.5
self.controller.SetCommand(roll=-xr_speed, pitch=f_speed, yaw_velocity=0, z_velocity=0)
print('move right forward')
print('x_center',x_center)
print('y_center',y_center)
elif(x_center<=140):
xl_speed=((140-x_center)*0.0031)**2.5
self.controller.SetCommand(roll=xl_speed, pitch=f_speed, yaw_velocity=0, z_velocity=0)
print('move left forward')
print('x_center',x_center)
print('y_center',y_center)
else:
self.controller.SetCommand(roll=0, pitch=f_speed, yaw_velocity=0, z_velocity=0)
print('move foreward')
#self.controller.hover()
print(' area',cont_area)
print('speed:',f_speed)
#if(cont_area<=2500 and (x_center>=170 or x_center<=140)):
# self.controller.hover()
#if(cont_area<=2000):
# self.state=3
#if(x_center<=140 or x_center>= 190):
# self.state=5
else:
pef_area=cont_area
self.controller.hover()
if self.elapsedTimer.elapsed() >= 3000:
self.elapsedTimer.restart()
if(x_center<=140 or x_center>= 190):
self.state=5
if(y_center>=110 or y_center<=90):
self.state=6
if(x_center==-1 and y_center==-1):
self.state=3
else:
self.controller.hover()
print(' area',cont_area)
print('got you!')
#if self.elapsedTimer.elapsed() >= 5000:
# self.state=9
elif self.state == 9:
print('state 5')
self.updateAutoLabel('Land State 5')
self.controller.hover()
if self.elapsedTimer.elapsed() >= 2000:
self.controller.SendLand()
self.cbAuto.toggle()
else:
self.updateAutoLabel('Unknown state! Help!')
# 1. Determine what to do by examining ``x_center``,
# ``y_center``, etc.
#
# 2. Explain what your code will do:
# ``self.updateAutoLabel('Flying up!')``.
#
# 3. Then do it, using something like:
# ``self.controller.SetCommand(roll, pitch,
# yaw_velocity, z_velocity)``, where you fill in
# numbers in place of ``roll``, ``pitch``, etc.
#
# A template for your code::
#
# if (x_center < ???):
# self.updateAutoLabel('Flying left!')
# self.controller.SetCommand(0.3, 0, 0, 0)
# Explain what the drone is doing in auto mode by
# displaying strings telling its intentions.
def updateAutoLabel(self,
# A string to add to the explanation.
s):
self.lbAuto.setText(self.lbAuto.text() + s)
class MainWindow(QMainWindow):
def __init__(
self,
# Webcam index (0 = first, etc.).
webcamIndex=0,
# Resolution, as an index into ``self.supported_resolution``.
webcamInitialResolution=-1,
# Qt Designer file to load.
uiFile=None,
# Other args to pass on to Qt.
*args,
**kwargs
):
super(MainWindow, self).__init__(*args, **kwargs)
self.uiFile = uiFile or join(dirname(__file__), "cv_video.ui")
self.webcamIndex = webcamIndex
self.webcamInitialResolution = webcamInitialResolution
def __enter__(self):
# Load in the GUI.
uic.loadUi(self.uiFile, self)
# Open a webcam.
self.cap = cv2.VideoCapture(self.webcamIndex)
assert self.cap.isOpened()
# Scan for possible resolutions from a list of common resolutions.
self.supported_resolution = []
for resolution in (
# 16:9 aspect ratio:
(1920, 1080),
(1280, 720),
# 4:3 aspect ratio:
(1024, 768),
(640, 480),
):
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, resolution[0])
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, resolution[1])
if (
self.cap.get(cv2.cv.CV_CAP_PROP_FRAME_WIDTH) == resolution[0]
and self.cap.get(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT) == resolution[1]
):
self.supported_resolution.append(resolution)
self.cbWebcamResolution.addItem("{}x{}".format(resolution[0], resolution[1]), resolution)
if self.webcamInitialResolution < 0:
self.webcamInitialResolution = len(self.supported_resolution) - 1
self.cbWebcamResolution.setCurrentIndex(self.webcamInitialResolution)
# Set up a timer to read from the webcam.
self.webcamTimer = QTimer(self)
self.webcamTimer.setInterval(0)
self.webcamTimer.timeout.connect(self._on_webcamTimer_timeout)
self.webcamTimer.start()
# Monitor the fps.
self.fpsLabel = QLabel()
self.statusBar().addPermanentWidget(self.fpsLabel)
self.fpsTimer = QElapsedTimer()
self.fpsTimer.start()
return self
def __exit__(self, exc_type, exc_value, traceback):
self.cap.release()
self.webcamTimer.timeout.disconnect(self._on_webcamTimer_timeout)
self.webcamTimer.stop()
@pyqtSlot(int)
def on_cbWebcamResolution_currentIndexChanged(
self,
# The index of the current item in the combobox
index,
):
resolution = self.cbWebcamResolution.itemData(index)
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, resolution[0])
self.cap.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, resolution[1])
@pyqtSlot()
def _on_webcamTimer_timeout(self):
# Get a frame from the webcam.
success_flag, cvImage = self.cap.read()
assert success_flag
self._processImage(cvImage)
self.fpsLabel.setText("{} fps".format(round(1000.0 / self.fpsTimer.elapsed())))
self.fpsTimer.restart()
# This routine is called whenever a webcam image is available to process. It
# should also display the resulting image.
def _processImage(
self,
# The OpenCV image to process.
cvImage,
):
# Don't process; to demonstrate, simply display the image.
cvImageToQt(cvImage, self.lOrig)
class MavControl(ButtonGui):
# This is called when the pbPressed button is pressed.
# Naming is similar for other functions.
def on_pbTakeoff_pressed(self):
print("TAKE OFF!")
self.controller.SendTakeoff()
def on_pbLand_pressed(self):
print("LAND")
self.controller.SendLand()
def on_pbUp_pressed(self):
print("Up")
self.controller.SetCommand(roll=0,
pitch=0,
yaw_velocity=0,
z_velocity=0.5)
def on_pbUp_released(self):
print("Up done.")
self.controller.hover()
@pyqtSlot(bool)
def on_cbAuto_clicked(
self,
# True is the checkbox is checked; False if not.
checked):
if checked:
# Initialize our state if we're just entering
# auto mode.
self.state = 1
# Create a timer for use in ``fly()``.
self.elapsedTimer = QElapsedTimer()
else:
# Return to a hover when leaving auto mode.
self.controller.hover()
# This is only called when the Auto checkbox is checked.
def fly(
self,
# The x coordinate of the center of the tracked area.
# It ranges between 0 and ``self.lbVideo.width() - 1``.
x_center,
# The y coordinate of the center of the tracked area.
# It ranges between 0 and ``self.lbVideo.height() - 1``.
y_center,
# The area, in pixels, of the tracked region.
cont_area):
# Clear the description of what this does.
self.lbAuto.setText('')
# Decide what to do based on the state.
if self.state == 1:
# Take off
# ^^^^^^^^
# The Auto checkbox was just checked. Take off
# to start out mission.
self.updateAutoLabel('Takeoff!')
#self.controller.SendTakeoff()
# Measure time from takeoff.
self.elapsedTimer.start()
# Move to the next state, waiting for takeoff to
# finish.
self.state = 2
elif self.state == 2:
# Wait until take off completed
# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
self.updateAutoLabel('Wait until take off completed')
# Don't send any commands until we're flying.
# So, wait 5 seconds then go to the next state.
if self.elapsedTimer.elapsed() >= 5000:
self.state = 3
elif self.state == 3:
# ...your ideas...
self.updateAutoLabel('State 3')
else:
self.updateAutoLabel('Unknown state! Help!')
# 1. Determine what to do by examining ``x_center``,
# ``y_center``, etc.
#
# 2. Explain what your code will do:
# ``self.updateAutoLabel('Flying up!')``.
#
# 3. Then do it, using something like:
# ``self.controller.SetCommand(roll, pitch,
# yaw_velocity, z_velocity)``, where you fill in
# numbers in place of ``roll``, ``pitch``, etc.
#
# A template for your code::
#
# if (x_center < ???):
# self.updateAutoLabel('Flying left!')
# self.controller.SetCommand(0.3, 0, 0, 0)
# Explain what the drone is doing in auto mode by
# displaying strings telling its intentions.
def updateAutoLabel(
self,
# A string to add to the explanation.
s):
self.lbAuto.setText(self.lbAuto.text() + s)
class MavControl(ButtonGui):
# This is called when the pbPressed button is pressed.
# Naming is similar for other functions.
def on_pbTakeoff_pressed(self):
print("TAKE OFF!")
self.controller.SendTakeoff()
def on_pbLand_pressed(self):
print("LAND")
self.controller.SendLand()
def on_pbUp_pressed(self):
print("Up")
self.controller.SetCommand(roll=0, pitch=0,
yaw_velocity=0, z_velocity=0.5)
def on_pbUp_released(self):
print("Up done.")
self.controller.hover()
@pyqtSlot(bool)
def on_cbAuto_clicked(self,
# True is the checkbox is checked; False if not.
checked):
if checked:
# Initialize our state if we're just entering
# auto mode.
self.state = 1
# Create a timer for use in ``fly()``.
self.elapsedTimer = QElapsedTimer()
else:
# Return to a hover when leaving auto mode.
self.controller.hover()
# This is only called when the Auto checkbox is checked.
def fly(self,
# The x coordinate of the center of the tracked area.
# It ranges between 0 and ``self.lbVideo.width() - 1``.
x_center,
# The y coordinate of the center of the tracked area.
# It ranges between 0 and ``self.lbVideo.height() - 1``.
y_center,
# The area, in pixels, of the tracked region.
cont_area):
# Clear the description of what this does.
self.lbAuto.setText('')
# Decide what to do based on the state.
if self.state == 1:
# Take off
# ^^^^^^^^
# The Auto checkbox was just checked. Take off
# to start out mission.
self.updateAutoLabel('Takeoff!')
#self.controller.SendTakeoff()
# Measure time from takeoff.
self.elapsedTimer.start()
# Move to the next state, waiting for takeoff to
# finish.
self.state = 2
elif self.state == 2:
# Wait until take off completed
# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
self.updateAutoLabel('Wait until take off completed')
# Don't send any commands until we're flying.
# So, wait 5 seconds then go to the next state.
if self.elapsedTimer.elapsed() >= 5000:
self.state = 3
elif self.state == 3:
# ...your ideas...
self.updateAutoLabel('State 3')
else:
self.updateAutoLabel('Unknown state! Help!')
# 1. Determine what to do by examining ``x_center``,
# ``y_center``, etc.
#
# 2. Explain what your code will do:
# ``self.updateAutoLabel('Flying up!')``.
#
# 3. Then do it, using something like:
# ``self.controller.SetCommand(roll, pitch,
# yaw_velocity, z_velocity)``, where you fill in
# numbers in place of ``roll``, ``pitch``, etc.
#
# A template for your code::
#
# if (x_center < ???):
# self.updateAutoLabel('Flying left!')
# self.controller.SetCommand(0.3, 0, 0, 0)
# Explain what the drone is doing in auto mode by
# displaying strings telling its intentions.
def updateAutoLabel(self,
# A string to add to the explanation.
s):
self.lbAuto.setText(self.lbAuto.text() + s)
class Method(object):
"""Base class for gameplay methods
Attributes:
_name: title of the method
_short_name: shorter title
_run_time_limit: amount of seconds that method can run; if the method
will run out of time then its player will loose the game
_player: number of player which uses this method (0 or 1)
_disabled: if True then method will not be active in GUI
_ai_level: level of the AI experience (from 1 to 5)
_running_timer: QElapsedTimer object that is used to check if the
method has run out of the time limit
"""
_name = "Unknown"
_short_name = "Unknown"
_run_time_limit = 60
_player = 1
_disabled = False
_ai_level = 1
_running_timer = None
def __init__(self, player_num, ai_level=1, run_time_limit=60):
"""Inits a method with player number and AI level
Args:
player_num: player's number (0 or 1)
ai_level: player's AI experience level (from 1 to 5)
run_time_limit: running time limit
"""
self._player = player_num
self._ai_level = ai_level
self._run_time_limit = run_time_limit
def name(self):
"""Returns method's name"""
return self._name
def short_name(self):
"""Returns method's short name"""
return self._short_name
def is_disabled(self):
"""If the method is disabled"""
return self._disabled
def set_run_time_limit(self, run_time_limit):
"""Sets running time limit"""
self._run_time_limit = run_time_limit
def set_player(self, player_num):
"""Sets a player number (0 or 1)"""
self._player = player_num
def is_time_expired(self, time_limit=-1):
"""Checks if the method is running out of time limit
It uses QElapsedTimer object (self._running_timer) to check the
elapsed time. Timer starts in self.make_move function
Args:
time_limit: in seconds
Returns:
True/False whether the method is running out of time limit
"""
if time_limit<0:
time_limit = self._run_time_limit
return self._running_timer.hasExpired(time_limit*1000)
def make_move(self, state):
"""Makes a decision of the player's next move (abstract)
Args:
state: current board state
Returns:
Player's hole number which defines a player's next move
"""
self._running_timer = QElapsedTimer()
self._running_timer.start()
return -1
class MavControl(ButtonGui):
# This is called when the pbPressed button is pressed.
# Naming is similar for other functions.
def on_pbTakeoff_pressed(self):
print("TAKE OFF!")
self.controller.SendTakeoff()
def on_pbLand_pressed(self):
print("LAND")
self.controller.SendLand()
def on_pbUp_pressed(self):
print("Up")
self.controller.SetCommand(roll=0, pitch=0,
yaw_velocity=0, z_velocity=0.5)
def on_pbUp_released(self):
print("Up done")
self.controller.hover()
################ Josh added ################
def on_pbDown_pressed(self):
print("Down")
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=0,z_velocity=-0.5)
def on_pbDown_released(self):
print("Down done")
self.controller.hover()
def on_pbForward_pressed(self):
print("Forward")
self.controller.SetCommand(roll=0,pitch=0.5,yaw_velocity=0,z_velocity=0)
def on_pbForward_released(self):
print("Forward done")
self.controller.hover()
def on_pbBackward_pressed(self):
print("Backward")
self.controller.SetCommand(roll=0,pitch=-0.5,yaw_velocity=0,z_velocity=0)
def on_pbBackward_released(self):
print("Backward done")
self.controller.hover()
def on_pbLeft_pressed(self):
print("Left")
self.controller.SetCommand(roll=0.5,pitch=0,yaw_velocity=0,z_velocity=0)
def on_pbLeft_released(self):
print("Left done")
self.controller.hover()
def on_pbRight_pressed(self):
print("Right")
self.controller.SetCommand(roll=-0.5,pitch=0,yaw_velocity=0,z_velocity=0)
def on_pbRight_released(self):
print("Right done")
self.controller.hover()
def on_pbRotateLeft_pressed(self):
print("Rotate Left")
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=0.5,z_velocity=0)
def on_pbRotateLeft_released(self):
print("Rotate Left done")
self.controller.hover()
def on_pbRotateRight_pressed(self):
print("Rotate Right")
self.controller.SetCommand(roll=0,pitch=0,yaw_velocity=-0.5,z_velocity=0)
def on_pbRotateRight_released(self):
print("Rotate Right done")
self.controller.hover()
def on_pbFlatTrim_pressed(self):
print("Flat trimmed")
self.controller.SetFlatTrim()
def on_pbEmergency_pressed(self):
print("Emergency signal sent (or reset)")
self.controller.SendEmergency()
def on_pbToggleCamera_pressed(self):
print("Camera Toggled")
self.controller.ToggleCamera()
def on_pbBlinkRed_pressed(self):
print("LEDs Blinking Red")
self.controller.SetLedAnimation(2,3,3)
def on_pbBlinkOrange_pressed(self):
print("LEDs Blinking Orange")
self.controller.SetLedAnimation(3,3,3)
def on_pbBlinkGreen_pressed(self):
print("LEDs Blinking Green")
self.controller.SetLedAnimation(1,3,3)
def on_pbDance_pressed(self):
print("I'm Dancing")
def on_pbDance_released(self):
print("Done dancing")
def on_pbTakePicture_released(self):
print("Taking Picture")
global_flags.image_flag = 1
# def on_pbGoToRectangle_pressed(self, x_center,y_center):
# print("Going to selected rectangle")
# #x_center = self.x_center
# #y_center = self.y_center
# if (x_center == -1) and (y_center == -1):
# #self.controller.SendLand()
# print('Out of Range')
# elif(x_center > 85):
# print('Go Right')
# #self.controller.SetCommand(-0.1, 0, 0, 0)
# elif (x_center < 60):
# print('Go Left')
# #self.controller.SetCommand(0.1, 0, 0, 0)
# elif(y_center > 65):
# print('Go Down')
# #self.controller.SetCommand(0, 0, 0, -0.1)
# elif (y_center < 40):
# print('Go Up')
# #self.controller.SetCommand(0, 0, 0, 0.1)
# else:
# self.controller.hover()
# #print('hover')
def on_pbRecord(self):
self.controller.RecordUsb()
################################################
@pyqtSlot(bool)
def on_cbAuto_clicked(self,
# True is the checkbox is checked; False if not.
checked):
if checked:
# Initialize our state if we're just entering
# auto mode.
self.state = 1
self.time = 0
self.scan = 1
self.scan_count = 0
self.scan_right = 1
self.scan_forward = 0
self.scan_left = 0
slef.scan_back = 0
self.rotate = False
self.area = 0
# Create a timer for use in ``fly()``.
self.elapsedTimer = QElapsedTimer()
elif not checked:
self.controller.SendLand()
else:
# Return to a hover when leaving auto mode.
self.controller.hover()
# This is only called when the Auto checkbox is checked.
def fly(self,
# The x coordinate of the center of the tracked area.
# It ranges between 0 and ``self.lbVideo.width() - 1``.
x_center,
# The y coordinate of the center of the tracked area.
# It ranges between 0 and ``self.lbVideo.height() - 1``.
y_center,
# The area, in pixels, of the tracked region.
cont_area, found_red):
# Clear the description of what this does.
self.lbAuto.setText('')
# Decide what to do based on the state.
if self.state == 1:
# Take off
# ^^^^^^^^
# The Auto checkbox was just checked. Take off
# to start out mission.
self.updateAutoLabel('Takeoff!')
self.controller.SendTakeoff()
#print x_center,y_center,cont_area
# Measure time from takeoff.
self.elapsedTimer.start()
# Move to the next state, waiting for takeoff to
# finish.
self.state = 2
elif self.state == 2:
# Wait until take off completed
# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
self.updateAutoLabel('Wait until take off completed')
# Don't send any commands until we're flying.
# So, wait 5 seconds then go to the next state.
if self.elapsedTimer.elapsed() >= 5000:
self.state = 3
self.time = self.elapsedTimer.elapsed()
self.updateAutoLabel('Looking for Landing')
elif self.state == 3:
if self.elapsedTimer.elapsed() >= 3000:
self.controller.hover()
global_flags.image_flag = 1
# if found land
if global_flags.found_landing == 1
self.state = 4
elif self.time >= (self.elapsedTimer.elapsed() + 10000):
self.time = self.elapsedTimer.elapsed()
# first start going right
if self.scan_right == 1:
self.controller.SetCommand(-0.1, 0.0, 0, 0)
self.scan_count += 1
if(self.scan_count == self.scan):
self.scan_right = 0
self.scan_forward = 1
self.scan_count = 0
elif self.scan_forward == 1:
self.controller.SetCommand(0.0, 0.1, 0, 0)
self.scan_count += 1
if(self.scan_count == self.scan):
self.scan_forward = 0
self.scan_left = 1
# increase the count so the circle becomes bigger
self.scan += 1
self.scan_count = 0
elif self.scan_left == 1:
self.controller.SetCommand(0.1, 0.0, 0, 0)
self.scan_count += 1
if(self.scan_count == self.scan):
self.scan_left = 0
self.scan_back = 1
self.scan_count = 0
elif self.scan_back == 1:
self.controller.SetCommand(0.0, -0.1, 0, 0)
self.scan_count += 1
if(self.scan_count == self.scan):
self.scan_forward = 0
self.scan_right = 1
self.scan += 1
self.scan_count = 0
elif self.state == 4:
global_flags.image_flag = 1
self.updateAutoLabel('Landing')
self.controller.SendLand()
self.cbAuto.toggle()
else:
self.updateAutoLabel('Unknown state! Help!')
self.controller.SendLand()
# 1. Determine what to do by examining ``x_center``,
# ``y_center``, etc.
#
# 2. Explain what your code will do:
# ``self.updateAutoLabel('Flying up!')``.
#
# 3. Then do it, using something like:
# ``self.controller.SetCommand(roll, pitch,
# yaw_velocity, z_velocity)``, where you fill in
# numbers in place of ``roll``, ``pitch``, etc.
#
# A template for your code::
#
# if (x_center < ???):
# self.updateAutoLabel('Flying left!')
# self.controller.SetCommand(0.3, 0, 0, 0)
# Explain what the drone is doing in auto mode by
# displaying strings telling its intentions.
def updateAutoLabel(self,
# A string to add to the explanation.
s):
self.lbAuto.setText(self.lbAuto.text() + s)
