from mission.constants.missions import Gate, Path, Dice, Highway, Track, Roulette, CashIn
from mission.missions.will_common import is_mainsub
HYDROPHONES_PINGER_DEPTH = 4.7
NONSURFACE_MIN_DEPTH = 0.3
# Note: These values are copied straight from the Teagle configuration.
# They need to be updated for Transdec!!
gate = Gate(
depth=2.0,
gate_width_threshold=0.4,
charge_dist=16 if is_mainsub() else 12
)
path = Path(
depth=1.0,
search_forward=6 if is_mainsub() else 2,
search_stride = 10 if is_mainsub() else 8,
search_right_first=True,
search_speed=0.1,
post_dist=2.5,
failure_back_up_dist=0.5 if is_mainsub() else 0.1,
failure_back_up_speed=0.2 if is_mainsub() else 0.1,
)
dice = Dice(
depth=2.0,
max_depth=2.7,
green_ycrcb_y_min=16,
green_ycrcb_y_max=121,
green_erode_kernel_size=4,
green_dilate_kernel_size=3,
yellow_hls_h_min=17,
yellow_hls_h_max=49,
yellow_ycrcb_cb_min=0,
yellow_ycrcb_cb_max=111,
yellow_lab_a_min=0,
yellow_lab_a_max=200,
yellow_lab_b_min=154,
yellow_lab_b_max=255,
yellow_erode_kernel_size=1,
yellow_dilate_kernel_size=1,
blur_kernel=1,
max_error=5000,
max_buoy_error=1500,
min_circularity=0.62,
min_percent_frame=0.001,
ex=243,
ey=171,
max_y_diff=150,
min_x_diff=50,
)
gate = Gate(
depth=0.5,
distance=2,
vel_time=3,
)
green_ycrcb_y_max=255,
green_erode_kernel_size=4,
green_dilate_kernel_size=8,
yellow_hls_h_min=0,
yellow_hls_h_max=50,
yellow_ycrcb_cb_min=0,
yellow_ycrcb_cb_max=106,
yellow_lab_a_min=114,
yellow_lab_a_max=255,
yellow_lab_b_min=151,
yellow_lab_b_max=255,
yellow_erode_kernel_size=3,
yellow_dilate_kernel_size=9,
blur_kernel=1,
max_error=5000,
max_buoy_error=1500,
min_circularity=0.48,
min_percent_frame=0.001,
ex=243,
ey=171,
max_y_diff=150,
min_x_diff=50,
)
gate = Gate(
depth=1.5,
distance=20,
vel_time=36,
artemis_vel_time=35,
)
green_ycrcb_y_max=255,
green_erode_kernel_size=4,
green_dilate_kernel_size=3,
yellow_hls_h_min=55,
yellow_hls_h_max=87,
yellow_ycrcb_cb_min=0,
yellow_ycrcb_cb_max=132,
yellow_lab_a_min=0,
yellow_lab_a_max=112,
yellow_lab_b_min=122,
yellow_lab_b_max=255,
yellow_erode_kernel_size=1,
yellow_dilate_kernel_size=1,
blur_kernel=1,
max_error=5000,
max_buoy_error=1500,
min_circularity=0.62,
min_percent_frame=0.001,
ex=243,
ey=171,
max_y_diff=100,
min_x_diff=50,
)
gate = Gate(
depth=1.5,
distance=7,
vel_time=10,
artemis_vel_time=10,
)
green_ycrcb_y_max=121,
green_erode_kernel_size=4,
green_dilate_kernel_size=3,
yellow_hls_h_min=17,
yellow_hls_h_max=49,
yellow_ycrcb_cb_min=0,
yellow_ycrcb_cb_max=111,
yellow_lab_a_min=0,
yellow_lab_a_max=200,
yellow_lab_b_min=154,
yellow_lab_b_max=255,
yellow_erode_kernel_size=1,
yellow_dilate_kernel_size=1,
blur_kernel=1,
max_error=5000,
max_buoy_error=1500,
min_circularity=0.62,
min_percent_frame=0.001,
ex=243,
ey=171,
max_y_diff=150,
min_x_diff=50,
)
gate = Gate(
depth=0.5,
distance=2,
vel_time=3,
artemis_vel_time=10,
)