def main():
logging.basicConfig()
logging.getLogger().setLevel(logging.INFO)
# Using the correct encoding when printing
sys.stdout = codecs.getwriter('mbcs' if os.name == 'nt' and sys.stdout.isatty() else 'utf-8')(sys.stdout, 'replace')
set_agent('(PrivateChatSession; http://dev.ivybits.tk/projects/hal/)')
try:
sys.argv.remove('-d')
except ValueError:
pass
else:
from xail import main
main.DEBUG_MODE = True
logger.warning('Using debug mode!')
try:
dir = sys.argv[1]
except IndexError:
dir = '.'
hal = HAL()
def loadengine(pattern, name):
engine = getattr(hal.xail, name)
for file in glob(os.path.join(dir, pattern)):
logger.info('%s Engine: Loading %s', name, file)
engine.load(io.open(file, encoding='utf-8'))
loadengine('*.gen', 'substr')
loadengine('*.mtx', 'matrix')
loadengine('*.rgx', 'regex')
for file in glob(os.path.join(dir, '*.xail')):
logger.info('Loading %s', file)
hal.feed(io.open(file, encoding='utf-8'))
user = getuser()
prompt = '-%s:' % user
halpro = '-HAL:'
length = max(len(prompt), len(halpro))
prompt.ljust(length)
halpro.ljust(length)
prompt += ' '
context = {'USERNAME': user}
print(halpro, 'Hello %s. I am HAL %s.'%(user, hal.version))
print()
try:
while True:
line = raw_input(prompt)
try:
print(halpro, hal.answer(line, context))
except IOError as e:
if e.errno != 0:
raise
print() # It gets error 0 when some characters can't be displayed
print()
except (EOFError, KeyboardInterrupt):
pass
finally:
print(halpro, 'Goodbye.')
def bootstrap(self):
from HAL import HAL
write = self.write
timer = self.timer = clock if os.name == 'nt' else time
begin = timer()
write('Initializing Engine...')
self.hal = HAL()
write(' done\n')
try:
dirname = sys.argv[1]
except IndexError:
dirname = os.getcwd()
# Here's the legacy loading
def loadfiles(pattern, attr, name):
engine = getattr(self.hal.xail, attr)
for file in glob(os.path.join(dirname, pattern)):
write('%s Engine: Loading %s...' % (name, file))
engine.load(io.open(file, encoding='utf-8'))
write(' Done\n')
loadfiles('*.gen', 'matrix', 'Matrix')
loadfiles('*.mtx', 'substr', 'Substring')
loadfiles('*.rgx', 'regex', 'Regex')
# New unified XAIL loading
files = glob(os.path.join(dirname, '*.xail'))
max_length = max(map(len, files))
for file in files:
write('Loading %s' % file + ' ' * (max_length - len(file)) + '...')
start = timer()
self.hal.feed(io.open(file, encoding='utf-8'))
write(' Finished in %8.2f ms\n' % ((timer() - start) * 1000))
write('\n')
user = getuser()
prompt = '-%s: '%user
halpro = '-HAL: '
length = max(len(prompt), len(halpro))
prompt.ljust(length)
halpro.ljust(length)
self.prompt, self.halpro = prompt, halpro
self.context = {'USERNAME': user}
write('Loaded in %.2f seconds.\n\n' % (timer() - begin))
write(halpro + 'Hello %s. I am HAL %s.' % (user, self.hal.version) + '\n\n')
self.entry.bind('<Return>', self.answer)
def check_target(self, posx, posy, targetx, targety):
if (abs(targetx - posx) <= 6 and abs(targety - posy) <= 6):
currentTarget.setReached(True)
currentTarget = GUI.map.getNextTarget()
if (currentTarget != None):
return 1
else:
return 0
while True:
currentTarget = GUI.map.getNextTarget()
GUI.map.targetx = currentTarget.getPose().x
GUI.map.targety = currentTarget.getPose().y
posx = HAL.getPose3d().x
posy = HAL.getPose3d().y
targetid = currentTarget.getId()
# TODO
k_obstacle = 0.6
k_car = 0.2
k_target = -0.2
unit_angle = (HAL.getLaserData().maxAngle -
HAL.getLaserData().minAngle) / len(HAL.getLaserData().values)
unit_range = 1 / (HAL.getLaserData().maxRange -
HAL.getLaserData().minRange)
target_vector = [
k_target * (GUI.map.targetx - posx),
k_target * (GUI.map.targety - posy)
from GUI import GUI
from HAL import HAL
import cv2 as cv
import numpy as np
from scipy.stats import mode
# Parameter initialization
size_accumulator = 10
directions_map = np.zeros([size_accumulator, 5])
frame_previous = HAL.getImage()
gray_previous = cv.cvtColor(frame_previous, cv.COLOR_BGR2GRAY)
hsv = np.zeros_like(frame_previous)
hsv[:, :, 1] = 255
threshold = 10.0, # Threshold value for magnitude
param = {
'pyr_scale': 0.5, # Image scale (<1) to build pyramids for each image
'levels': 3, # Number of pyramid layers
'winsize': 15, # Averaging window size
'iterations': 3, # Number of iterations the algorithm does at each pyramid level
'poly_n': 5, # Size of the pixel neighborhood used to find polynomial expansion in each pixel
'poly_sigma': 1.1, # Standard deviation of the Gaussian that is used to smooth derivatives used as a basis for the polynomial expansion
'flags': cv.OPTFLOW_LK_GET_MIN_EIGENVALS
}
while True:
frame = HAL.getImage()
# Initialize some values
error_last = 0
error_sum = 0
# Set controller gains
#Kp = .00075
#Kd = .00001
#Ki = .00001
Kp = .001
Kd = .001
Ki = .000001
while True:
# load the current image
image = HAL.getImage()
# Find the red line in the image
mask = cv2.inRange(image, lower, upper)
output = cv2.bitwise_and(image, image, mask = mask)
# Locate the centroid of the red line
M = cv2.moments(mask, binaryImage=True)
# Display a white circle at the centroid of the line
if M['m00'] != 0:
cx = int(M['m10'] / M['m00'])
cy = int(M['m01'] / M['m00'])
cv2.circle(image, (cx, cy), 10, (255, 255, 255), -1)
else:
cx = 0
from GUI import GUI
from HAL import HAL
import math
import numpy as np
# Enter sequential code!
threshold_angle = 0.01
threshold_distance = 0.25
threshold = 0.01
kp = 1.0
while True:
# Enter iterative code!
# creating Objects
currentTarget = GUI.map.getNextTarget()
laser_data = HAL.getLaserData ()
# definging Variables
pos = [HAL.getPose3d().x, HAL.getPose3d().y]
dist = [-1*(currentTarget.getPose().x - pos[0]), -1*(currentTarget.getPose().y - pos[1])]
mod_dist = math.sqrt(dist[0]**2 + dist[1]**2)
GUI.map.targetx = currentTarget.getPose().x
GUI.map.targety = currentTarget.getPose().y
if (dist[1] <= 0.001):
currentTarget.setReached(True)
GUI.map.carx = 1.5*(dist[0] / mod_dist)
GUI.map.cary = 1.5*(dist[1] / mod_dist)
GUI.map.obsx = 0.0
GUI.map.obsy = 0.0
# Creating the Histogram
class Application(tk.Frame):
def __init__(self, master):
tk.Frame.__init__(self, master)
self.root = master
self.grid(sticky='WENS')
self.createWidgets()
self.queue = Queue()
self.after(100, self.update_console)
Thread(target=self.bootstrap).start()
def write(self, text):
self.queue.put(text)
sys.stdout.write(text)
def clear(self):
self.queue.put(None)
def update_console(self):
try:
while True:
line = self.queue.get_nowait()
if line is None:
self.console.delete(1.0, 'end')
else:
self.console.insert('end', str(line))
self.console.see('end')
self.console.update_idletasks()
except Empty:
pass
self.after(100, self.update_console)
def bootstrap(self):
from HAL import HAL
write = self.write
timer = self.timer = clock if os.name == 'nt' else time
begin = timer()
write('Initializing Engine...')
self.hal = HAL()
write(' done\n')
try:
dirname = sys.argv[1]
except IndexError:
dirname = os.getcwd()
# Here's the legacy loading
def loadfiles(pattern, attr, name):
engine = getattr(self.hal.xail, attr)
for file in glob(os.path.join(dirname, pattern)):
write('%s Engine: Loading %s...' % (name, file))
engine.load(io.open(file, encoding='utf-8'))
write(' Done\n')
loadfiles('*.gen', 'matrix', 'Matrix')
loadfiles('*.mtx', 'substr', 'Substring')
loadfiles('*.rgx', 'regex', 'Regex')
# New unified XAIL loading
files = glob(os.path.join(dirname, '*.xail'))
max_length = max(map(len, files))
for file in files:
write('Loading %s' % file + ' ' * (max_length - len(file)) + '...')
start = timer()
self.hal.feed(io.open(file, encoding='utf-8'))
write(' Finished in %8.2f ms\n' % ((timer() - start) * 1000))
write('\n')
user = getuser()
prompt = '-%s: '%user
halpro = '-HAL: '
length = max(len(prompt), len(halpro))
prompt.ljust(length)
halpro.ljust(length)
self.prompt, self.halpro = prompt, halpro
self.context = {'USERNAME': user}
write('Loaded in %.2f seconds.\n\n' % (timer() - begin))
write(halpro + 'Hello %s. I am HAL %s.' % (user, self.hal.version) + '\n\n')
self.entry.bind('<Return>', self.answer)
def answer(self, e=None):
write = self.write
input = self.input.get()
answer = self.hal.answer(input, self.context)
write(self.prompt + input + '\n')
write(self.halpro + answer + '\n\n')
self.input.set('')
def createWidgets(self):
font_console = Font(family='Consolas', size=11)
self.input = tk.StringVar()
self.config(borderwidth=10)
self.console = ScrolledText(self, font=font_console, state='normal')
self.entry = ttk.Entry(self, textvariable=self.input, font=font_console)
submit = ttk.Button(self, text='Submit')
self.console.grid(columnspan=3, sticky='WENS')
tk.LabelFrame(self, height=5).grid(row=1)
self.entry.grid(row=2, sticky='WE')
tk.LabelFrame(self, width=5).grid(row=2, column=1)
submit.grid(row=2, column=2)
submit['command'] = self.answer
self.root.columnconfigure(0, weight=1)
self.root.rowconfigure(0, weight=1)
self.root.wm_title('HAL')
self.columnconfigure(0, weight=1)
self.columnconfigure(1, weight=0)
self.rowconfigure(0, weight=1)
# Enter sequential code!
from GUI import GUI
from HAL import HAL
while True:
# Enter iterative code!
img = HAL.get_ventral_image()
GUI.showImage(img)
from GUI import GUI
from HAL import HAL
# Enter sequential code!
import cv2
import numpy as np
while True:
frame = HAL.getImage()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
blur = cv2.GaussianBlur(gray, (30, 30), 0)
#Otsu's Thresholding
ret, th = cv2.threshold(blur, 0, 255,cv2.THRESH_BINARY+cv2.THRESH_OTSU)
#Adaptive Gaussian Thresholding
th1 = cv2.adaptiveThreshold(gray,255,cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY,11,2)
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
blue_lower = np.array([0, 120, 97], dtype='uint8')
blue_upper = np.array([179, 255, 255], dtype='uint8')
mask = cv2.inRange(hsv, blue_lower, blue_upper)
erosion = cv2.erode(mask, kernel, iterations=2)
dialation = cv2.dialate(erosion, kernel, iterations=2)
cont = cv2.findContours(dialation, cv2.RETR_LIST, cv2.cv2.CHAIN_APPROX_SIMPLE)
areas = [cv2.contourArea(c) for c in cont]
if len(areas) > 0:
area_max = np.argmax(areas)
