def reset(self):
self.current_stage = Stage.SEARCH_FOR_MINERAL
self.mr = MineralRecognition(self.rbc.Camera)
self.cm.reset()
self.wo.reset()
self.doit.reset()
self.weighing_count = self.WEIGHING_TIMEOUT
def __init__(self, rbc, socket=False, vision_display=False):
self.rbc = rbc
self.socket = socket
self.mr = MineralRecognition(self.rbc.Camera)
self.cm = CollectMineral(self.rbc)
self.wo = WeighObject(self.rbc)
self.doit = DepositObjectIntoTray(self.rbc)
def __init__(self, rbc):
self.rbc = rbc
self.mr = MineralRecognition(self.rbc.Camera)
self.dfm = DistanceFromMineral(self.rbc.Camera.getWidth(),
self.rbc.Camera.getHeight(), 0.095)
self.current_stage = Stage.GO_TO_MINERAL
self.grab_object = GrabObject(self.rbc)
class MineralAnalysis:
WEIGHING_TIMEOUT = 64
weighing_count = 0
weights = []
prev_stage = Stage.NONE
current_stage = Stage.SEARCH_FOR_MINERAL
def __init__(self, rbc, socket=False, vision_display=False):
self.rbc = rbc
self.socket = socket
self.mr = MineralRecognition(self.rbc.Camera)
self.cm = CollectMineral(self.rbc)
self.wo = WeighObject(self.rbc)
self.doit = DepositObjectIntoTray(self.rbc)
def reset(self):
self.current_stage = Stage.SEARCH_FOR_MINERAL
self.mr = MineralRecognition(self.rbc.Camera)
self.cm.reset()
self.wo.reset()
self.doit.reset()
self.weighing_count = self.WEIGHING_TIMEOUT
def _stage_to_string(self, stage):
return {
Stage.NONE: 'NaN',
Stage.SEARCH_FOR_MINERAL: 'Searching for Mineral',
Stage.COLLECT_MINERAL: 'Collecting Mineral',
Stage.WEIGH_MINERAL: 'Weighing Mineral',
Stage.SEARCH_FOR_DEPOSIT_TRAY: 'Searching for Deposit Tray',
Stage.DEPOSIT_MINERAL_INTO_TRAY:
'Depositing Mineral into Deposit Tray'
}.get(stage, 'NaN')
def _socket_send_current_stage(self):
if not self.socket:
return
if self.prev_stage == self.current_stage:
return
self.socket.send(
Constants.JSON_PREFIX.format(
'{', 'Mineral Analysis',
self._stage_to_string(self.current_stage), '', '', '}'))
self.prev_stage = self.current_stage
def _send_weight_to_socket(self):
if self.weighing_count < self.WEIGHING_TIMEOUT:
self.weighing_count += 1
self.weights.append(self.rbc.WeightMeasurer.getValue())
return
avg_weight = round(sum(self.weights) / len(self.weights),
3) if len(self.weights) > 0 else 0
if self.socket:
self.socket.send(
Constants.JSON_PREFIX.format(
'{', 'Mineral Analysis',
self._stage_to_string(self.current_stage), 'Weight',
avg_weight, '}'))
self.weighing_count = 0
self.weights = []
def execute(self, command=False):
self._socket_send_current_stage()
if self.current_stage == Stage.SEARCH_FOR_MINERAL:
if self.mr.get_location_minerals(self.rbc.Camera.getImage()):
self.current_stage = Stage.COLLECT_MINERAL
return False
self._spin()
return False
if self.current_stage == Stage.COLLECT_MINERAL:
if self.cm.execute():
self.current_stage = Stage.WEIGH_MINERAL
return False
if self.current_stage == Stage.WEIGH_MINERAL:
if self.wo.isWeighing():
self._send_weight_to_socket()
if self.wo.execute():
if self.socket:
self.socket.send(
Constants.JSON_PREFIX.format(
'{', 'Mineral Analysis',
self._stage_to_string(self.current_stage),
'Weight', 0.0, '}'))
self.current_stage = Stage.SEARCH_FOR_DEPOSIT_TRAY
return False
if self.current_stage == Stage.SEARCH_FOR_DEPOSIT_TRAY:
distance = distance_from_deposit_tray(self.rbc.Camera.getImage(),
self.rbc.Camera.getWidth(),
self.rbc.Camera.getHeight())
if distance is not False and distance is not True:
x, y, distance = distance
if distance is not False and distance < 100:
# Found match
self.current_stage = Stage.DEPOSIT_MINERAL_INTO_TRAY
return False
self._spin()
return False
if self.current_stage == Stage.DEPOSIT_MINERAL_INTO_TRAY:
# Dew it
return self.doit.execute()
return True
def _spin(self):
self.rbc.turnOnSpot(3)
class CollectMineral:
MAXIMUM_DISTANCE = 0.1
MINIMUM_DISTANCE = 0.01
IDLE_TIME = 64
idle_time_elapsed = 0
def __init__(self, rbc):
self.rbc = rbc
self.mr = MineralRecognition(self.rbc.Camera)
self.dfm = DistanceFromMineral(self.rbc.Camera.getWidth(),
self.rbc.Camera.getHeight(), 0.095)
self.current_stage = Stage.GO_TO_MINERAL
self.grab_object = GrabObject(self.rbc)
def reset(self):
self.current_stage = Stage.GO_TO_MINERAL
self.grab_object.reset()
self.idle_time_elapsed = 0
def execute(self):
data = self.mr.get_location_minerals(self.rbc.Camera.getImage())
if self.current_stage == Stage.GO_TO_MINERAL:
largest_match = self.mr.get_largest_location(data)
if not largest_match:
return False
distance = self.dfm.getDistance(largest_match[2], largest_match[3],
largest_match[4])
if self.goToPosition(largest_match[0] + largest_match[2] / 2,
distance, largest_match[4]):
self.current_stage = Stage.PICK_UP_MINERAL
return False
if self.current_stage == Stage.PICK_UP_MINERAL:
if self.grab_object.execute():
self.current_stage = Stage.GOING_IDLE
return False
if self.current_stage == Stage.GOING_IDLE:
self.idle_time_elapsed += 1
return self.idle_time_elapsed > self.IDLE_TIME
return True
def goToPosition(self, x, distance, flag):
X_DEV = int(self.rbc.Camera.getWidth() / 10)
max_x = self.rbc.Camera.getWidth()
if x < (max_x / 2) - X_DEV:
self.rbc.turnOnSpot(-3)
return False
if x > (max_x / 2) + X_DEV:
self.rbc.turnOnSpot(3)
return False
if flag == mf.BIG:
if distance < self.MINIMUM_DISTANCE:
self.rbc.goStraight(-3)
return False
if distance > self.MAXIMUM_DISTANCE:
self.rbc.goStraight(3)
return False
if flag == mf.SMALL:
if distance < self.MINIMUM_DISTANCE:
self.rbc.goStraight(-3)
return False
if distance > self.MAXIMUM_DISTANCE:
self.rbc.goStraight(3)
return False
return True