def loadimg(self, args=()):
i = args
self.selected = i
self.img = cv2.imread(self.imagelistFiles[i])
self.match.reset()
#load the labels if the xml file exists
xmlfilename = self.imagelistFiles[self.selected][:-3] + "xml"
if os.path.exists(xmlfilename):
root = ET.parse(xmlfilename).getroot()
for l in root.findall('object'):
name = l.find('name')
#print(name.text)
bndbox = l.find('bndbox')
xmin = bndbox.find("xmin")
ymin = bndbox.find("ymin")
xmax = bndbox.find("xmax")
ymax = bndbox.find("ymax")
x = float(xmin.text)
y = float(ymin.text)
w = float(xmax.text) - float(xmin.text)
h = float(ymax.text) - float(ymin.text)
try:
i = self.actionbar.classes.index(name.text)
c = hsv_to_rgb(self.actionbar.colors[i].slideValue / 360,
1, 1)
except:
c = (0, 0, 0)
loadedlabel = label(self.world, self.match, x, y, w, h,
name.text, c)
self.match.labels.append(loadedlabel)
print("loaded xml")
def update(self):
#keybind the labels
if not self.editmode:
for key in self.world.keyspressed:
for i in range(len(self.keybinds)):
if key == self.keybinds[i]:
self.selected = i
#try to update the selected label box to the current selected
if self.controller.labelselect != None:
self.controller.labelselect.label = self.classes[i]
self.controller.labelselect.color = hsv_to_rgb(
self.colors[i].slideValue / 360, 1, 1)
self.controller.labelselect.accuracy = 100
#edit the labels
else:
for i in range(len(self.classes)):
#edit key binds
if self.selectededititem == [i, 0]:
if self.world.keyspressed:
key = self.world.keyspressed[0]
if key <= 127:
if not key in self.keybinds:
self.keybinds[i] = key
if self.selectededititem == [i, 1]:
for key in self.world.keyspress:
if key == pygame.K_RETURN:
self.selectededititem = [None, None]
elif key == pygame.K_BACKSPACE:
self.classes[i] = self.classes[i][0:-1]
elif key <= 127:
self.classes[i] += chr(key)
def __init__(self, **kwargs):
"""
:param hex: 'RRGGBB'
:param r: 0 - 255
:param g: 0 - 255
:param b: 0 - 255
:param h: 0 - 360
:param s: 0 - 100
:param v: 0 - 100
"""
if 'hex' in kwargs:
hex_code = kwargs.get('hex')
self._color = hex_to_rgb(hex_code)
elif 'r' in kwargs and 'g' in kwargs and 'b' in kwargs:
r = bracket(kwargs.get('r'))
g = bracket(kwargs.get('g'))
b = bracket(kwargs.get('b'))
self._color = r, g, b
elif 'h' in kwargs and 's' in kwargs and 'v' in kwargs:
h = bracket(kwargs.get('h'), 0, 360)
s = bracket(kwargs.get('s'), 0, 100)
v = bracket(kwargs.get('v'), 0, 100)
r, g, b = hsv_to_rgb(h / 360.0, s / 100.0, v / 100.0)
self._color = (int(r * 255.0 + 0.5), int(g * 255.0 + 0.5),
int(b * 255.0 + 0.5))
else:
self._color = 0, 0, 0
def brown():
(r, g, b) = hsv_to_rgb(
random.randint(32, 36) / 360,
random.randint(83, 88) / 100,
0.2
# random.randint(20, 60) / 100,
)
print("rgb", (r, g, b))
return [r / 255, g / 255, b / 255]
def updateselect(self, args=()):
i = args #[0]
#print(self.classes[i])
self.selected = i
#try to update the selected label box to the current selected
if self.controller.labelselect != None:
self.controller.labelselect.label = self.classes[i]
self.controller.labelselect.color = hsv_to_rgb(
self.colors[i].slideValue / 360, 1, 1)
self.controller.labelselect.accuracy = 100
def draw(self, x=0, y=0, displayHue=False):
self.previous_slie = self.slide
if x != 0 and y != 0:
self.x = x
self.y = y
xx = 0 #self.controller.xx
yy = 0 #self.controller.yy
pygame.draw.rect(self.world.screen, (220, 220, 220),
(self.x - 10, self.y - 25, 130, 50), 0)
box = [self.x + xx, self.y + yy, self.sliderw, self.sliderh]
pygame.draw.rect(self.world.screen, (200, 200, 200),
(box[0] + 1, box[1] + 1, box[2] - 1, box[3] - 1), 0)
pygame.draw.rect(self.world.screen, (0, 0, 0),
(box[0], box[1], box[2], box[3]), 1)
sliderbox = [
self.x + xx + self.slide - self.slidew / 4,
self.y + yy - self.slideh / 4, self.sliderw / 10, self.sliderh * 2
]
slidercolor = (200, 200, 200)
if checkmousebox(sliderbox, [self.world.mouse_x, self.world.mouse_y]):
slidercolor = (175, 175, 175)
if self.world.mouse_left:
self.clicked = True
if not self.world.mouse_left:
self.clicked = False
if self.clicked:
slidercolor = (150, 150, 150)
self.slide = clamp(self.world.mouse_x - (self.x + xx), 0, 100)
self.getSliderValue()
pygame.draw.rect(self.world.screen, slidercolor,
(sliderbox[0] + 1, sliderbox[1] + 1, sliderbox[2] - 1,
sliderbox[3] - 1), 0)
pygame.draw.rect(
self.world.screen, (0, 0, 0),
(sliderbox[0], sliderbox[1], sliderbox[2], sliderbox[3]), 1)
self.world.screen.blit(
self.world.fontobject.render(
self.label + ": " + str(self.slideValue), 1, (0, 0, 0)),
(self.x + xx, self.y + yy - 20))
#print(hsv_to_rgb(self.slideValue,100,100))
if displayHue:
pygame.draw.rect(self.world.screen,
hsv_to_rgb(self.slideValue / 360, 1, 1),
(self.x + 65, self.y - 20, 10, 10))
def update_hsv(self, _):
color = self.selected_color.palette().color(QPalette.Background)
r, g, b = color.red(), color.green(), color.blue()
lower_hsv, upper_hsv = rgb_to_hsv_range(
r,
g,
b,
min_h=self.hsv_min_hue_sb.value(),
max_h=self.hsv_max_hue_sb.value(),
min_s=self.hsv_min_saturation_sb.value(),
max_s=self.hsv_max_saturation_sb.value(),
min_v=self.hsv_min_value_sb.value(),
max_v=self.hsv_max_value_sb.value(),
)
r, g, b = hsv_to_rgb(*lower_hsv)
palette = QPalette()
palette.setColor(QPalette.Background, QColor(r, g, b))
self.lower_filtered_color.setPalette(palette)
r, g, b = hsv_to_rgb(*upper_hsv)
palette = QPalette()
palette.setColor(QPalette.Background, QColor(r, g, b))
self.upper_filtered_color.setPalette(palette)
def match(self, img, template=None, templatename=""):
if not template is None:
self.template=template
else:
if self.template is None:
return
#cv2.imwrite("test.png",template)
#self.tempautolabels=[]
templabel=[]
self.templateheight,self.templatewidth,_=self.template.shape
#run template matching, get minimum val
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
gray_template = cv2.cvtColor(self.template,cv2.COLOR_BGR2GRAY)
res = cv2.matchTemplate(gray, gray_template, cv2.TM_CCOEFF_NORMED)#TM_SQDIFF_NORMED
min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(res)
# create threshold from min val, find where sqdiff is less than thresh
min_thresh = self.accuracyslider.slideValue#.9# (min_val + 1e-6) * 1.5
match_locations = np.where(res >= min_thresh)
match_locations = (np.array(match_locations).T).tolist()
match_locations = group_points(match_locations,10)
#get the defaults from the actionbar
try:
labeltext = self.controller.actionbar.classes[self.controller.actionbar.defaultmatch]
labelcolor=hsv_to_rgb(self.controller.actionbar.colors[self.controller.actionbar.defaultmatch].slideValue/360,1,1)
except:
labeltext = "NONE"
labelcolor=(0,0,0)
for m in match_locations:
l=label(self.world,self.controller,m[1],m[0],self.templatewidth,self.templateheight,labeltext,(0,255,0),accuracy=res[m[0]][m[1]]*100,template=templatename)
#self.labels.append(l)
#self.tempautolabels.append(l)
templabel.append(l)
#print(self.match_locations)
self.predict_missing_boxes(labeltext,templabel,templatename=templatename)
def drawWifiScreen(wifis, sidx):
oled.fill(0)
if len(wifis) < 1:
#for a in range(360):
oled.hctext('o_O', 10, 1)
oled.hctext('No WiFi Found', 25, 1)
oled.hctext('[A] to Re-Scan', 56, 1)
np[0] = (10, 10, 10)
else:
ssid, bssid, channel, rssi, authmode, hidden = wifis[sidx]
oled.hctext(hexlify(bssid), 0, 1)
oled.hline(0, 8, 128, 1)
oled.hctext(ssid, 12, 1)
oled.hctext('Ch %d RSSI %d' % (channel, rssi), 25, 1)
oled.hctext(authmodes[authmode], 35, 1)
if hidden: oled.hctext('Hidden', 45, 1)
oled.hctext('< %d/%d >' % (sidx + 1, len(wifis)), 56, 1)
np[0] = hsv_to_rgb(sidx / len(wifis), 1, 12)
oled.show()
np.write()
def draw(self):
#editmode button
box = [self.x, self.y, 64, 32]
c = (200, 200, 200)
hc = (175, 175, 175)
if self.editmode:
c = (0, 200, 0)
hc = (0, 175, 0)
drawbox(box, self.world, c, hc, self.updateedit, text="Edit")
#label boxes
if self.editmode:
for i in range(len(self.classes)):
y = i * 60 + 40
#keybind
c = (200, 200, 200)
hc = (175, 175, 175)
if self.selectededititem == [i, 0]:
c = (0, 200, 200)
hc = (0, 175, 175)
box = [self.x, self.y + y, 32, 32]
if self.keybinds[i] == None:
txt = "NA"
else:
txt = str(chr(self.keybinds[i]))
drawbox(box,
self.world,
c,
hc,
self.updatelabel,
clickargs=(i, 0),
text=txt)
#label
w, h = self.world.fontobject.size(str(self.classes[i]))
w = max(64, w + 20)
c = (200, 200, 200)
hc = (175, 175, 175)
if self.selectededititem == [i, 1]:
c = (0, 200, 200)
hc = (0, 175, 175)
box = [self.x + 32, self.y + y, w, 32]
drawbox(box,
self.world,
c,
hc,
self.updatelabel,
clickargs=(i, 1),
text=self.classes[i])
#Hue slider
self.colors[i].draw(x=self.x + 46 + w,
y=self.y + y + 15,
displayHue=True)
#delete button
box = [self.x + 170 + w, self.y + y, 32, 32]
drawbox(box,
self.world, (200, 0, 0), (175, 0, 0),
self.deletelabel,
clickargs=(i),
text="-")
#add button
box = [self.x, self.y + len(self.classes) * 60 + 80, 64, 32]
drawbox(box,
self.world, (0, 200, 0), (0, 175, 0),
self.createlabel,
text="+")
else:
self.world.screen.blit(
self.world.fontobject.render("match", 1, (0, 0, 0)),
(self.x + 75, self.y))
self.world.screen.blit(
self.world.fontobject.render("miss", 1, (0, 0, 0)),
(self.x + 120, self.y))
for i in range(len(self.classes)):
w, h = self.world.fontobject.size(str(self.classes[i]))
w = max(64, w + 30)
box = [self.x, self.y + i * 40 + 40, w, 32]
c = (200, 200, 200)
hc = (175, 175, 175)
if self.selected == i:
#c=(0,200,0)
#hc=(0,175,0)
c = hsv_to_rgb(self.colors[i].slideValue / 360, 1, 1)
#hc=(clamp(c[0]-25,0,255),clamp(c[1]-25,0,255),c[2]-25)
hc = [clamp(x - 25, 0, 255) for x in c]
if self.keybinds[i] == None:
txt = "NA : " + str(self.classes[i])
else:
txt = str(chr(self.keybinds[i])) + " : " + str(
self.classes[i])
drawbox(box,
self.world,
c,
hc,
self.updateselect,
clickargs=(i),
text=txt)
#auto select functions
#match
box = [self.x + 11 + w, self.y + i * 40 + 40, 32, 32]
c = (200, 200, 200)
hc = (175, 175, 175)
if self.defaultmatch == i:
c = (0, 200, 0)
hc = (0, 175, 0)
drawbox(box,
self.world,
c,
hc,
self.updateautomatch,
clickargs=(i),
text="G")
#miss
box = [self.x + 46 + w, self.y + i * 40 + 40, 32, 32]
c = (200, 200, 200)
hc = (175, 175, 175)
if self.defaultmiss == i:
c = (0, 200, 0)
hc = (0, 175, 0)
drawbox(box,
self.world,
c,
hc,
self.updateautomiss,
clickargs=(i),
text="x")
def strobeSection(self, sectionList):
for sectionNum in sectionList:
for ledNum in self.sectionsDict[sectionNum]:
if ledNum % 3 == 0:
self.lightDict[ledNum] = utils.hsv_to_rgb(1, 0, 1)
def app_start():
apps = []
apps_manifest = ujson.load(open('/apps/apps.json')) # User Apps
for app in apps_manifest['list']:
apps.append((app['name'], '/apps/%s' % app['dir'], app['start']))
apps.extend([ # System Apps
('App Store', '/systemapps', 'appstore'),
('System Info', '/systemapps', 'sysinfo'),
('File Explorer', '/systemapps', 'fileexplorer'),
('WiFi Scan', '/systemapps', 'wifiscan'),
('C01N Config', '/systemapps', 'coinconfig'),
('Credits', '/systemapps', 'credits')
])
sidx = 0
lastbat = BAT.percentage()
needredraw = 1
while True:
sleep_ms(10)
batnow = BAT.percentage()
if abs(lastbat - batnow) > 0.1:
needredraw = 1
lastbat = batnow
if btn.L.value() == 0:
sleep_ms(200)
sidx = (sidx - 1) % len(apps)
needredraw = 1
if btn.R.value() == 0:
sleep_ms(200)
sidx = (sidx + 1) % len(apps)
needredraw = 1
if btn.A.value() == 0:
sleep_ms(200)
originalSysModules = set()
for mod in sys.modules:
originalSysModules.add(mod)
# Hacky Launch Code
exec(
'try:\n\tos.chdir("%s")\n\timport %s as curapp\n\tcurapp.app_start()\nexcept:\n\toled.hctext("App Launch Fail",30,1)\n\toled.show()\nfinally:\n\tos.chdir("/")'
% (apps[sidx][1], apps[sidx][2]))
# Efficient Cleanup of Userspace
for mod in sys.modules:
if mod not in originalSysModules:
del sys.modules[mod]
gc.collect()
needredraw = 1
if needredraw:
needredraw = 0
oled.fill(0)
oled.text('Apps', 0, 1, 1)
oled.fill_rect(108, 2, int(16 * max(min(batnow, 1), 0)), 5, 1)
oled.fill_rect(126, 2, 2, 5, 1)
oled.rect(106, 0, 20, 9, 1)
batstatus = 'USB' if batnow > 1 else '%d%%' % (batnow * 100)
oled.text(batstatus, 104 - len(batstatus) * 8, 1, 1)
oled.hline(0, 10, 128, 1)
oled.hctext(apps[sidx][0], 20, 1)
oled.hctext('[A] to Launch', 45, 1)
oled.hctext('< %d/%d >' % (sidx + 1, len(apps)), 56, 1)
oled.show()
np[0] = hsv_to_rgb(sidx / len(apps), 1, 7)
np.write()
sleep_ms(20)
def update(self):
try:
self.height, self.width, channels = self.img.shape
except:
return
#update the labels selection
tempselect = False
for l in self.labels:
l.update()
#deselecting
if self.world.mouse_left_down:
if (self.x < self.world.mouse_x < self.x + self.width and
self.y < self.world.mouse_y < self.y + self.height):
t = l.checkselect()
if t:
tempselect = True
if self.world.mouse_left_down:
if (self.x < self.world.mouse_x < self.x + self.width
and self.y < self.world.mouse_y < self.y + self.height):
if not tempselect:
self.updatelabelselect(None)
#start single select
if self.world.mouse_left_down:
if self.selectsinglebox:
if (self.x < self.world.mouse_x < self.x + self.width and
self.y < self.world.mouse_y < self.y + self.height):
self.selectbox[0] = self.world.mouse_x
self.selectbox[1] = self.world.mouse_y
self.selecting = True
self.selected = False
#start multi select
if self.world.mouse_left_down:
if self.selectmultibox:
if (self.x < self.world.mouse_x < self.x + self.width and
self.y < self.world.mouse_y < self.y + self.height):
self.selectbox[0] = self.world.mouse_x
self.selectbox[1] = self.world.mouse_y
self.selecting = True
self.selected = False
self.lines = []
self.intersections = []
#self.labels=[]
self.tempautolabels = []
if self.selecting:
self.selectbox[2] = clamp(self.world.mouse_x - self.selectbox[0],
self.x - self.selectbox[0],
self.x + self.width - self.selectbox[0])
self.selectbox[3] = clamp(self.world.mouse_y - self.selectbox[1],
self.y - self.selectbox[1],
self.y + self.height - self.selectbox[1])
#single
if self.selectsinglebox:
if self.world.mouse_left_up:
self.selecting = False
self.selectmultibox = False
if abs(self.selectbox[2]) > 0 and abs(
self.selectbox[3]) > 0:
self.selected = True
#create the label
#if not self.controller.actionbar.classes==None:
if not self.controller.actionbar.selected == None:
labeltext = self.controller.actionbar.classes[
self.controller.actionbar.selected]
labelcolor = hsv_to_rgb(
self.controller.actionbar.colors[
self.controller.actionbar.selected].
slideValue / 360, 1, 1)
else:
labeltext = "None"
labelcolor = (0, 0, 0)
l = label(self.world, self, self.selectbox[0] - self.x,
self.selectbox[1] - self.y,
self.selectbox[2], self.selectbox[3],
labeltext, labelcolor)
self.labels.append(l)
self.selectsinglebox = False
#select the label that was just created
self.updatelabelselect(l)
l.selected = True
else:
self.selected = False
return
#multi
if self.selectmultibox:
if self.world.mouse_left_up:
self.selecting = False
self.selectmultibox = False
if abs(self.selectbox[2]) > 0 and abs(
self.selectbox[3]) > 0:
self.selected = True
else:
self.selected = False
return
#create the template
if self.selectbox[2] > 0:
x1 = self.selectbox[0] - self.x
x2 = self.selectbox[0] + self.selectbox[2] - self.x
else:
x1 = self.selectbox[0] + self.selectbox[2] - self.x
x2 = self.selectbox[0] - self.x
if self.selectbox[3] > 0:
y1 = self.selectbox[1] - self.y
y2 = self.selectbox[1] + self.selectbox[3] - self.y
else:
y1 = self.selectbox[1] + self.selectbox[3] - self.y
y2 = self.selectbox[1] - self.y
self.template = self.img[y1:y2, x1:x2]
#run template matching, get minimum val
gray = cv2.cvtColor(self.img, cv2.COLOR_BGR2GRAY)
template = cv2.cvtColor(self.template, cv2.COLOR_BGR2GRAY)
res = cv2.matchTemplate(
gray, template,
cv2.TM_CCOEFF_NORMED) #TM_SQDIFF_NORMED
min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(res)
# create threshold from min val, find where sqdiff is less than thresh
min_thresh = .9 # (min_val + 1e-6) * 1.5
match_locations = np.where(res >= min_thresh)
match_locations = (np.array(match_locations).T).tolist()
match_locations = group_points(match_locations, 10)
#get the defaults from the actionbar
try:
labeltext = self.controller.actionbar.classes[
self.controller.actionbar.defaultmatch]
labelcolor = hsv_to_rgb(
self.controller.actionbar.colors[
self.controller.actionbar.defaultmatch].
slideValue / 360, 1, 1)
except:
labeltext = "NONE"
labelcolor = (0, 0, 0)
for m in match_locations:
l = label(self.world, self, m[1], m[0],
self.selectbox[2], self.selectbox[3],
labeltext, (0, 255, 0))
#self.labels.append(l)
self.tempautolabels.append(l)
#print(self.match_locations)
self.predict_missing_boxes(labeltext)
def predict_missing_boxes(self, goodlabeltext):
#get the defaults from the actionbar
try:
labeltext = self.controller.actionbar.classes[
self.controller.actionbar.defaultmiss]
labelcolor = hsv_to_rgb(
self.controller.actionbar.colors[
self.controller.actionbar.defaultmiss].slideValue / 360, 1,
1)
except:
labeltext = "NONE"
labelcolor = (0, 0, 0)
for p in self.tempautolabels:
x = p.x
y = p.y
#print(str(x)+","+str(y))
hline = line(self.world, self.x, self.y, [x, x + 10], [y, y])
vline = line(self.world, self.x, self.y, [x, x], [y, y + 10])
self.lines.append(hline)
self.lines.append(vline)
#combine the overlapping lines
slopethresh = .005
interceptthresh = 15
for i in range(len(self.lines)):
for j in range(len(self.lines)):
if not i == j:
try:
#for vertical lines
if (isNaN(self.lines[i].slope)
and isNaN(self.lines[j].slope)):
if np.mean(
self.lines[i].xlist
) - interceptthresh < np.mean(
self.lines[j].xlist) < np.mean(
self.lines[i].xlist) + interceptthresh:
self.lines[i].xlist[0] = (
self.lines[i].xlist[0] +
self.lines[i].xlist[1]) / 2
del self.lines[j]
except Exception as e:
#print(e)
pass
try:
if not (isNaN(self.lines[i].slope)
and isNaN(self.lines[j].slope)):
if self.lines[i].slope - slopethresh < self.lines[
j].slope < self.lines[
i].slope + slopethresh:
if self.lines[
i].intercept - interceptthresh < self.lines[
j].intercept < self.lines[
i].intercept + interceptthresh:
self.lines[i].slope = (
self.lines[i].slope +
self.lines[j].slope) / 2
self.lines[i].intercept = (
self.lines[i].intercept +
self.lines[j].intercept) / 2
del self.lines[j]
except Exception as e:
#print(e)
pass
print("total lines: " + str(len(self.lines)))
#find the intersect of all the lines
'''
1. go through the lines
2. check if all the other lines dont intersect, that is if they have a different slope
'''
colnum = 0
for l1 in self.lines:
for l2 in self.lines:
if l1 != l2:
#get the intersection
x = intersection(l1, l2)
p = []
if not x == None:
if not isNaN(l1.slope):
p = [x, l1.returny(x)]
else:
p = [x, l2.returny(x)]
if p:
if not p in self.intersections:
self.intersections.append(p)
print("total intersections: " + str(len(self.intersections)))
#find the missing points (intersections with no prediction box) with tolerance
tolerance = 5
for p in self.intersections:
#point = [p[1],p[0]]
inMatch = False
#for a in self.match_locations:
for a in self.tempautolabels:
if a.label == goodlabeltext: #"match":
x = a.x
y = a.y
if (p[0] - tolerance < x < p[0] + tolerance
and p[1] - tolerance < y < p[1] + tolerance):
#if not point in self.match_locations:
inMatch = True
if not inMatch:
l = label(self.world, self, p[0], p[1], self.selectbox[2],
self.selectbox[3], labeltext, labelcolor)
self.tempautolabels.append(l)
#self.miss_locations.append(point)
print("total labels: " + str(len(self.tempautolabels)))
#add the temp labels and the labels, delete the temp labels
self.labels = self.labels + self.tempautolabels
return self.tempautolabels
oled.show()
sleep_ms(1000)
oled.poweroff()
machine.deepsleep()
print('C01N Started!')
connectWifi()
oled.fill(0)
badgelogo = loadPBM('/badge.pbm')
hue = 0
particles = []
for i in range(20): particles.append([64,32,randint(-5,5),randint(-5,5)]) # x,y,vx,vy
while btn.B.value():
hue = hue + (1/100) % 1
np[0] = hsv_to_rgb(hue,1,15)
np.write()
oled.fill(0)
for p in particles:
if (p[0]-64)**2 + (p[1]-32)**2 > 784: oled.fill_rect(p[0],p[1],3,3,1)
if p[0] < 0 or p[1] < 0 or p[0] > 128 or p[1] > 64 or (p[2] == 0 and p[3] == 0):
p[0] = 64
p[1] = 32
p[2] = randint(-5,5)
p[3] = randint(-5,5)
else:
p[0] += p[2]
p[1] += p[3]
if (time() >> 2) % 2:
oled.blit(badgelogo,0,0,0)
else: