def setPixelVisibility(points):
pixels = []
firstInvPixels = []
lastInvPixels = []
visiblePixels = []
if points[0] in Amputation.visibleArea:
for p in points:
if p in Amputation.visibleArea:
visiblePixels.append(p)
else:
lastInvPixels.append(p)
else:
i = 0
for p in points:
if p in Amputation.visibleArea:
i = 1
visiblePixels.append(p)
elif i < 1:
firstInvPixels.append(p)
else:
lastInvPixels.append(p)
pixels += convert(firstInvPixels)
pixels += convert(visiblePixels, color=Colors.green)
pixels += convert(lastInvPixels)
return pixels
def blower(self, position):
if position == 0:
ret = self.end_effector.send(
convert(DATA(EIG.OFF_BLOWER, position)))
print(ret)
return ret[0]
else:
ret = self.end_effector.send(convert(DATA(EIG.ON_BLOWER,
position)))
print(ret)
return ret[0]
def vacuum_granular(self, position):
if position == 0:
ret = self.end_effector.send(
convert(DATA(EIG.OFF_GRANULAR_VACUUM, position)))
print(ret)
return ret[0]
else:
ret = self.end_effector.send(
convert(DATA(EIG.ON_GRANULAR_VACUUM, position)))
print(ret)
return ret[0]
def vacuum_solid(self, position):
if position == 0:
ret = self.end_effector.send(
convert(DATA(EIG.OFF_CYLINDER_VACUUM, position)))
print(ret)
return ret[0]
else:
ret = self.end_effector.send(
convert(DATA(EIG.ON_CYLINDER_VACUUM, position)))
print(ret)
return ret[0]
def move_cylinder(self, position):
"""
:param position: maximum value is 13000
:return:
"""
if position > EIG.MAX_CYLINDER:
print(
f'invalid position : {position} is more than maximum position')
position = EIG.MAX_CYLINDER
self.end_effector.send(
convert(DATA(EIG.MOVE_CYLINDER_MOTOR, position)))
ret = self.end_effector.send(
convert(DATA(EIG.MOVE_CYLINDER_MOTOR, position)))
print(ret)
return ret[0]
def drawDDA(self, points = []):
if not points:
points = self.__scene.getEndingPointsPos()
while len(points) >= CDA.getMinPointsCount():
self.__pixelsToDraw += convert(CDA.getPixels(points))
points.pop(0)
self.__drawPixels()
def start(self):
self.env.act(0)
obs = convert(self.env.getScreenGrayscale())
self.state = np.stack([[obs for _ in range(4)]], axis=0)
self.t_alive = 0
self.total_reward = 0
return self.state
def drawBresenham(self,points = []):
self.__tmp = []
if not points:
points = self.__scene.getEndingPointsPos()
while len(points) >= Bresenham.getMinPointsCount():
self.__tmp += Bresenham.getPixels(points)
self.__pixelsToDraw += convert(Bresenham.getPixels(points))
points.pop(0)
self.__drawPixels()
def drawLineFilling(self):
points = self.__scene.getEndingPointsPos()
vertexes = list(points)
points.append(points[0])
self.drawBresenham(points)
pixels = LineFilling.getPixels(vertexes, self.__tmp)
self.__pixelsToDraw += convert(pixels, color=Colors.blue)
self.__pixelsToDraw.reverse()
self.__drawPixels()
def save(self, *args, **kwargs):
if not self.pk:
self.status = Status.objects.get(name='Pending')
self.slug = slugify(self.name)
self.size = round(self.audio_file.size/(1024*1024),2)
self.filetype = self.audio_file.name.split('.')[-1]
self.duration = convert(int(getattr_recursive(mutagen.File(self.audio_file), ['info', 'length'])))
super(Library, self).save(*args, **kwargs)
def drawFill(self):
fillPoint = None
points = self.__scene.getEndingPointsPos()
if len(points) > 1:
fillPoint = points.pop()
points.append(points[0])
self.drawBresenham(points)
pixels = Fill.getPixels(fillPoint or points[0],self.__tmp)
self.__pixelsToDraw += convert(pixels, color=Colors.blue)
self.__pixelsToDraw.reverse()
self.__drawPixels()
def move_granular(self, position):
"""
:param position: maximum value is 9000
:return:
"""
if position > EIG.MAX_GRANULAR:
print(
f'invalid position : {position} is more than maximum position')
position = EIG.MAX_GRANULAR
ret = self.end_effector.send(
convert(DATA(EIG.MOVE_GRANULAR_MOTOR, position)))
print(ret)
return ret[0]
def step(self, action):
reward = self.env.act(self.action_set[action])
# make next state
obs = convert(self.env.getScreenGrayscale())
obs = np.reshape(obs, [1, 1, obs.shape[0], obs.shape[1]])
next_state = np.append(self.state[:, 1:, ...], obs, axis=1)
self.t_alive += 1
self.total_reward += reward
self.state = next_state
return self.state, reward, self.env.game_over()
def move_syringe(self, position):
"""
:param position: maximum value is 13000
:return:
"""
if position > EIG.MAX_SYRINGE:
print(
f'invalid position : {position} is more than maximum position')
position = EIG.MAX_SYRINGE
ret = self.end_effector.send(
convert(DATA(EIG.MOVE_PULLER_MOTOR, position)))
print(ret)
return ret[0]
def drawParabola(self):
points = self.__scene.getEndingPointsPos()
self.__pixelsToDraw += convert(Parabola.getPixels(points))
self.__pixelsToDraw.reverse()
self.__drawPixels()
def drawCircle(self):
points = self.__scene.getEndingPointsPos()
self.__pixelsToDraw += convert(Circle.getPixels(points))
self.__drawPixels()
