def test_detection_tresor_gauche_retourne_deux_ajustements(self):
detectionTresor = DetectionTresor(self.tresor)
detectionTresor.calculerAjustements()
ajustements = detectionTresor.ajustements
self.assertEqual(len(ajustements), 2)
def test_detection_tresor_gauche_retourne_ajustements_gauche(self):
detectionTresor = DetectionTresor(self.tresor)
detectionTresor.calculerAjustements()
ajustements = detectionTresor.ajustements
self.assertTrue([ajusts for ajusts in ajustements if "left" in ajusts])
self.assertTrue([ajusts for ajusts in ajustements if "forward" in ajusts])
class AnalyseImageEmbarquee(Thread):
def __init__(self, robot):
Thread.__init__(self)
self.robot = robot
self.imageCamera = None
self.ajustementsCalcules = False
self.ajustements = None
self.parametre = None
self.nombreDetection = 0
def definirType(self, parametre):
self.parametre = parametre
def run(self):
while not (self.ajustementsCalcules) and (self.parametre is not None):
time.sleep(1)
self._chargerImage()
self.debuterAlignement(self.parametre)
time.sleep(1)
if self.ajustements is not None:
self._soumettreAjustements()
def debuterAlignement(self, parametre):
if parametre == PARAMETRE_VERT:
self.evaluerPositionDepot("vert")
elif parametre == PARAMETRE_BLEU:
self.evaluerPositionDepot("bleu")
elif parametre == PARAMETRE_JAUNE:
self.evaluerPositionDepot("jaune")
elif parametre == PARAMETRE_ROUGE:
self.evaluerPositionDepot("rouge")
elif parametre == PARAMETRE_TRESOR:
self.evaluerPositionTresor()
elif parametre == PARAMETRE_STATION:
self.evaluerPositionStation()
elif parametre == PARAMETRE_ORIENTATION:
self.evaluerOrientation()
else:
print("CRITICAL ERROR")
def evaluerPositionTresor(self):
self.detectionTresor = DetectionTresor(self.imageCamera)
self.detectionTresor.calculerAjustements()
self.ajustements = self.detectionTresor.ajustements
if self.ajustements is not None:
self.robot.tresorCapturer = True
self.ajustementsCalcules = True
def evaluerPositionStation(self):
self.detectionStation = DetectionStation()
self.detectionStation.trouverAjustements(self.imageCamera)
self.ajustements = self.detectionStation.ajustements
if self.ajustements is not None:
self.ajustementsCalcules = True
def evaluerPositionDepot(self, couleurIleCible):
self.detectionIle = DetectionIle()
self.detectionIle.detecterIle(couleurIleCible, self.imageCamera)
self.ajustements = self.detectionIle.ajustements
if self.ajustements is not None:
self.ajustementsCalcules = True
def _soumettreAjustements(self):
for instructions in self.ajustements:
self.robot.ajouterDirectives(instructions)
def _chargerImage(self):
self.imageCamera = self.robot.threadVideo.getImageCapture()
self._estomperImage()
def _attendreFeedVideo(self):
while self.robot.threadVideo.getImageCapture() is None:
time.sleep(0.5)
print("En attente de la camera")
def _estomperImage(self):
blur = cv2.GaussianBlur(self.imageCamera, (5, 5), 0)
cv2.imwrite(ConfigPath.Config().appendToProjectPath("Cropped.png"), blur)
self.imageCamera = cv2.imread(ConfigPath.Config().appendToProjectPath("Cropped.png"))