class Agent(object):
def __init__(self):
self._chess_camera = ChessCamera()
self._motion_coordinator = None
self._logger = logging.getLogger(__name__)
self._player = StockfishPlayer()
def __enter__(self):
self._motion_coordinator = Coordinator()
self._motion_coordinator.reset()
return self
def __exit__(self, exc_type, exc_val, exc_tb):
self._motion_coordinator.close()
self._motion_coordinator = None
return False
def _candidate_move(self):
cbm = self._chess_camera.current_colored_board_mask()
b = game.get_board()
moves = possible_moves_for_board(b, cbm)
return moves[0] if moves else None
def _next_move(self):
candidates = []
for i in range(NUM_REQUIRED_MATCHING_CANDIDATES):
candidates.append(self._candidate_move())
time.sleep(2)
return candidates[0] if len(set(candidates)) == 1 else None
def _write_status(self):
b = game.get_board()
cbm = self._chess_camera.current_colored_board_mask()
cbm_board = pawn_board_from_colored_board_mask(cbm)
pgn = game.pgn()
formatted_datetime = time.strftime("%x %X")
text = unicode("\n\n").join(
[formatted_datetime,
unicode(cbm_board),
unicode(b), pgn])
with io.open(lib_path('status.txt'), 'w', encoding='utf8') as f:
f.write(text)
def perception_action_sequence(self):
b = game.get_board()
if b.is_game_over():
self._logger.info("Game has ended, result: {}".format(b.result()))
game.start_new_game()
elif b.turn == chess.WHITE:
m = self._next_move()
if m is not None:
game.apply_move(m)
else:
m = self._player.select_move(b)
self._motion_coordinator.move_piece(m, b) # 执行arm.py里的move方法
game.apply_move(m)
self._write_status()
def main():
args = _get_args()
setup_console_logging()
rb = RandomBoard(seed=args.seed)
_create_collection_folder(args.base_path, rb)
end = False
cam = ChessCamera()
while not end:
cbf = cam.current_chessboard_frame()
img = cbf.img.copy()
for i in range(1, 8):
mx_pt = int((i / 8.0) * BOARD_SIZE)
cv2.line(img, (0, mx_pt), (BOARD_SIZE, mx_pt), (255, 255, 255))
cv2.line(img, (mx_pt, 0), (mx_pt, BOARD_SIZE), (255, 255, 255))
for i in range(64):
piece = rb.pieces[i]
x = (i % 8) * SQUARE_SIZE
y = BOARD_SIZE - (i / 8) * SQUARE_SIZE - SQUARE_SIZE
if piece is not None:
text = str(piece)
cv2.putText(img, text, (x + 10, y + 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1,
cv2.LINE_AA)
cv2.imshow(os.path.relpath(__file__), img)
key = cv2.waitKey(1) & 0xFF
if key == ord('r'):
rb.increment()
_create_collection_folder(args.base_path, rb)
elif key == ord('c'):
_capture_chessboard(args.base_path, rb, cbf.img)
elif key == ord('q'):
end = True
cv2.destroyAllWindows()
def __init__(self):
self._chess_camera = ChessCamera()
self._motion_coordinator = None
self._logger = logging.getLogger(__name__)
self._player = StockfishPlayer()