class FakeGame:
def __init__(self):
self.camera = Camera(None, draw=False)
self.display_camera = Camera(None, window_name='labeled')
centers = []
with open('centers.txt', encoding='utf-8', mode='r') as file:
for line in file:
center = tuple(map(float, line.strip().split(' ')))
centers.append(center)
self.centers = centers
self.graph_builder = GraphBuilder(self.centers)
self.orders = ['thief', 'policeman1', 'policeman2']
self.strategy = Strategy(self.orders)
self.object_list = {
"thief": {
"confidence": 0.99,
"center": self.centers[6], # (width,height)
"size": (0.15, 0.10), # (width,height)
},
"policeman1": {
"confidence": 0.99,
"center": self.centers[1], # (width,height)
"size": (0.15, 0.05), # (width,height)
},
"policeman2": {
"confidence": 0.99,
"center": self.centers[3], # (width,height)
"size": (0.15, 0.05), # (width,height)
}
}
self.counter = 0
self.thief_movements = [13, 14, 15, 16]
self.escape_nodes = {10}
self.graph = None
self.objects_on_graph = None
self.instructions = None
def forward(self):
image = self.camera.get_fake_gaming_board()
self.display_camera.draw_boxes(image, self.object_list)
self.display_camera.display(image)
# build a graph based on object list
graph, objects_on_graph = self.graph_builder.build(self.object_list)
self.graph = graph
self.objects_on_graph = objects_on_graph
# generate instructions based on the graph
instructions = self.strategy.get_next_steps_shortest_path(
graph, objects_on_graph)
logger.info('instructions:{}'.format(instructions))
# instructions['thief'] = [objects_on_graph['thief'], self.thief_movements[self.counter]]
self.instructions = instructions
self.counter += 1
for key, value in instructions.items():
self.object_list[key]['center'] = self.centers[value[1] - 1]
time.sleep(1)
image = self.camera.get_fake_gaming_board()
self.display_camera.draw_boxes(image, self.object_list)
self.display_camera.display(image)
def is_over(self):
"""
Check if the game is over.
Returns
-------
game_over: bool
True if the thief is at the escape point or the policemen have caught the thief, otherwise False.
"""
game_over = False
if self.instructions is None or self.objects_on_graph is None or self.graph is None:
return game_over
if 'thief' in self.objects_on_graph:
if self.objects_on_graph['thief'] in self.escape_nodes:
game_over = True
logger.info('The thief wins!')
else:
for name, instruction in self.instructions.items():
if name != 'thief':
if self.instructions['thief'][1] == instruction[1]:
game_over = True
logger.info('The policemen win!')
return game_over
def get_report(self):
"""
Generate a game report(json, xml or plain text).
Returns
-------
game_report: object or str
a detailed record of the game
"""
game_report = None
return game_report
def shuffle(self):
random.randint(5, 10)
class Game:
"""
Each game is an instance of class Game.
"""
def __init__(self, weight_path, network_config_path, object_config_path,
robots_config_path):
"""
Load necessary modules and files.
Parameters
----------
weight_path: str
file path of YOLOv3 network weights
network_config_path: str
file path of YOLOv3 network configurations
object_config_path: str
file path of object information in YOLOv3 network
robots_config_path: str
file path of robots' remote server configuration
"""
# fix robot movement order
self.orders = ['thief', 'policeman1']
# self.orders = ['policeman1', 'policeman2']
# self.orders = ['thief', 'policeman1', 'policeman2']
# initialize internal states
self.graph = None
self.objects_on_graph = None
self.instructions = None
# set up escape nodes
self.escape_nodes = set()
# construct the camera system
self.camera = Camera(1)
# construct the object detector
self.detector = Detector(weight_path, network_config_path,
object_config_path)
# load gaming board image and get centers' coordinates of triangles
self.gaming_board_image = self.camera.get_image()
self.centers = self.detector.detect_gaming_board(
self.gaming_board_image)
# construct the graph builder
self.graph_builder = GraphBuilder(self.centers)
# construct the strategy module
self.strategy = Strategy(self.orders)
# construct the control system
self.controller = Controller(self.detector, self.camera.get_image,
robots_config_path)
# connect to each robot
self.controller.connect()
def is_over(self):
"""
Check if the game is over.
Returns
-------
game_over: bool
True if the thief is at the escape point or the policemen have caught the thief, otherwise False.
"""
game_over = False
if self.instructions is None or self.objects_on_graph is None or self.graph is None:
return game_over
if 'thief' in self.objects_on_graph:
if self.objects_on_graph['thief'] in self.escape_nodes:
game_over = True
logger.info('The thief wins!')
else:
for name, instruction in self.instructions.items():
if name != 'thief':
if self.instructions['thief'][1] == instruction[1]:
game_over = True
logger.info('The policemen win!')
return game_over
def shuffle(self):
random.randint(5, 10)
def forward(self):
"""
Push the game to the next step.
"""
# get objects' coordinates and categories
image = self.camera.get_image()
object_list = self.detector.detect_objects(image)
# build a graph based on object list
graph, objects_on_graph = self.graph_builder.build(object_list)
self.graph = graph
self.objects_on_graph = objects_on_graph
# generate instructions based on the graph
instructions = self.strategy.get_next_steps_shortest_path(
graph, objects_on_graph)
self.instructions = instructions
logger.info('instructions:{}'.format(instructions))
if self.is_over():
return
# move robots until they reach the right positions
while not self.controller.is_finished(self.centers, object_list,
instructions):
# obtain feedback from camera
image = self.camera.get_image()
object_list = self.detector.detect_objects(image)
# calculate control signals
control_signals = self.controller.calculate_control_signals(
self.centers, object_list, instructions)
# cut extra signals
real_signals = []
for name in self.orders:
for signal in control_signals:
if signal['name'] == name:
# if True:
real_signals.append(signal)
if len(real_signals) > 0:
break
# update internal states
self.controller.update_state(object_list)
# move robots
self.controller.move_robots(real_signals)
# obtain feedback from camera
image = self.camera.get_image()
object_list = self.detector.detect_objects(image)
# update internal states
self.controller.update_state(object_list)
def get_report(self):
"""
Generate a game report(json, xml or plain text).
Returns
-------
game_report: object or str
a detailed record of the game
"""
game_report = None
return game_report
