def main(self):
"""
This main method brings in to action the controller class which so far
does nothing but set up the vision and its ouput
"""
counter = 1L
timer = time.clock()
try:
c = True
while c != 27: # the ESC key
frame = self.camera.get_frame()
pre_options = self.preprocessing.options
# Apply preprocessing methods toggled in the UI
preprocessed = self.preprocessing.run(frame, pre_options)
frame = preprocessed['frame']
if 'background_sub' in preprocessed:
cv2.imshow('bg sub', preprocessed['background_sub'])
# Find object positions
# model_positions have their y coordinate inverted
# IMPORTANT
model_positions, regular_positions = self.vision.locate(frame)
model_positions = self.postprocessing.analyze(model_positions)
# Update planner world beliefs
self.planner.update_world(model_positions)
self.planner.plan()
# Use 'y', 'b', 'r' to change color.
c = waitKey(2) & 0xFF
actions = []
fps = float(counter) / (time.clock() - timer)
# Draw vision content and actions
self.GUI.draw(
frame, model_positions, actions, regular_positions, fps, None,
None, None, None, False,
our_color=self.color, our_side=self.side, key=c, preprocess=pre_options)
counter += 1
except:
# This exception is stupid TODO: refactor.
print("TODO SOMETHING CLEVER HERE")
raise
finally:
tools.save_colors(self.pitch, self.calibration)
def control_loop(self):
#TODO change this description ESC doesn't work
"""
The main loop for the control system. Runs until ESC is pressed.
Takes a frame from the camera; processes it, gets the world state;
gets the actions for the robots to perform; passes it to the robot
controllers before finally updating the GUI.
"""
counter = 1L
timer = time.clock()
try:
key = 255
while key != 27: # the ESC key
# update the vision system with the next frame
self.vision.update()
pre_options = self.vision.preprocessing.options
# Find appropriate action
command = self.planner.update(self.vision.model_positions)
self.controller.update(command)
# Information about states
regular_positions = self.vision.regular_positions
model_positions = self.vision.model_positions
defenderState = (str(self.planner.current_plan), "0")
# Use 'y', 'b', 'r' to change color.
key = waitKey(delay=2) & 0xFF # Returns 255 if no keypress detected
gui_actions = []
fps = float(counter) / (time.clock() - timer)
# Draw vision content and actions
self.GUI.draw(
self.vision.frame, model_positions, gui_actions, regular_positions, fps, None,
defenderState, None, None, False,
our_color=self.color, our_side=self.side, key=key, preprocess=pre_options)
counter += 1
except Exception as e:
print(e.message)
traceback.print_exc(file=sys.stdout)
finally:
tools.save_colors(self.pitch, self.vision.calibration)
def wow(self):
"""
Ready your sword, here be dragons.
"""
counter = 1L
timer = time.clock()
try:
c = True
while c != 27: # the ESC key
frame = self.camera.get_frame()
pre_options = self.preprocessing.options
# Apply preprocessing methods toggled in the UI
preprocessed = self.preprocessing.run(frame, pre_options)
frame = preprocessed['frame']
if 'background_sub' in preprocessed:
cv2.imshow('bg sub', preprocessed['background_sub'])
# Find object positions
# model_positions have their y coordinate inverted
model_positions, regular_positions = self.vision.locate(frame)
model_positions = self.postprocessing.analyze(model_positions)
# Find appropriate action
self.planner.update_world(model_positions)
attacker_actions = self.planner.plan('attacker')
defender_actions = self.planner.plan('defender')
if self.attacker is not None:
self.attacker.execute(self.arduino, attacker_actions)
if self.defender is not None:
self.defender.execute(self.arduino, defender_actions)
# Information about the grabbers from the world
grabbers = {
'our_defender': self.planner._world.our_defender.catcher_area,
'our_attacker': self.planner._world.our_attacker.catcher_area
}
# Information about states
attackerState = (self.planner.attacker_state, self.planner.attacker_strat_state)
defenderState = (self.planner.defender_state, self.planner.defender_strat_state)
# Use 'y', 'b', 'r' to change color.
c = waitKey(2) & 0xFF
actions = []
fps = float(counter) / (time.clock() - timer)
# Draw vision content and actions
self.GUI.draw(
frame, model_positions, actions, regular_positions, fps, attackerState,
defenderState, attacker_actions, defender_actions, grabbers,
our_color=self.color, our_side=self.side, key=c, preprocess=pre_options)
counter += 1
except:
if self.defender is not None:
self.defender.shutdown(self.arduino)
if self.attacker is not None:
self.attacker.shutdown(self.arduino)
raise
finally:
# Write the new calibrations to a file.
tools.save_colors(self.pitch, self.calibration)
if self.attacker is not None:
self.attacker.shutdown(self.arduino)
if self.defender is not None:
self.defender.shutdown(self.arduino)
def saveCalibrations(self):
tools.save_colors(self.vision.pitch, self.calibration)
def wow(self):
"""
Ready your sword, here be dragons.
"""
counter = 1L
timer = time.clock()
try:
c = True
while c != 27: # the ESC key
frame = self.camera.get_frame()
pre_options = self.preprocessing.options
# Apply preprocessing methods toggled in the UI
preprocessed = self.preprocessing.run(frame, pre_options)
frame = preprocessed['frame']
if 'background_sub' in preprocessed:
cv2.imshow('bg sub', preprocessed['background_sub'])
# Find object positions
# model_positions have their y coordinate inverted
model_positions, regular_positions = self.vision.locate(frame)
model_positions = self.postprocessing.analyze(model_positions)
# Find appropriate action
self.planner.update_world(model_positions)
if time.time() >= self.timeOfNextAction:
if self.robot_action_list == []:
plan = self.planner.plan()
if isinstance(plan, list):
self.robot_action_list = plan
else:
self.robot_action_list = [(plan, 0)]
if self.controller is not None:
self.controller.execute(self.arduino, self)
# Information about the grabbers from the world
grabbers = {
'our_defender': self.planner._world.our_defender.catcher_area,
'our_attacker': self.planner._world.our_attacker.catcher_area
}
# Information about states
robotState = 'test'
# Use 'y', 'b', 'r' to change color.
c = waitKey(2) & 0xFF
actions = []
fps = float(counter) / (time.clock() - timer)
# Draw vision content and actions
self.GUI.draw(
frame, model_positions, actions, regular_positions, fps, robotState,
"we dont need it", '', "we dont need it", grabbers,
our_color='blue', our_side=self.side, key=c, preprocess=pre_options)
counter += 1
if c == ord('a'):
self.arduino.grabberUp()
self.arduino.grab()
except:
if self.controller is not None:
self.controller.shutdown(self.arduino)
raise
finally:
# Write the new calibrations to a file.
tools.save_colors(self.pitch, self.calibration)
if self.controller is not None:
self.controller.shutdown(self.arduino)
def wow(self):
"""
Ready your sword, here be dragons.
"""
counter = 1L
timer = time.clock()
try:
c = True
while c != 27: # the ESC key
frame = self.camera.get_frame()
pre_options = self.preprocessing.options
# Apply preprocessing methods toggled in the UI
preprocessed = self.preprocessing.run(frame, pre_options)
frame = preprocessed["frame"]
if "background_sub" in preprocessed:
cv2.imshow("bg sub", preprocessed["background_sub"])
# Find object positions
# model_positions have their y coordinate inverted
model_positions, regular_positions = self.vision.locate(frame)
model_positions = self.postprocessing.analyze(model_positions)
# Find appropriate action
self.planner.update_world(model_positions)
attacker_actions = self.planner.plan("attacker")
defender_actions = self.planner.plan("defender")
if self.attacker is not None:
self.attacker.execute(self.arduino, attacker_actions)
if self.defender is not None:
self.defender.execute(self.arduino, defender_actions)
# Information about the grabbers from the world
grabbers = {
"our_defender": self.planner._world.our_defender.catcher_area,
"our_attacker": self.planner._world.our_attacker.catcher_area,
}
# Information about states
attackerState = (self.planner.attacker_state, self.planner.attacker_strat_state)
defenderState = (self.planner.defender_state, self.planner.defender_strat_state)
# Use 'y', 'b', 'r' to change color.
c = waitKey(2) & 0xFF
actions = []
fps = float(counter) / (time.clock() - timer)
# Draw vision content and actions
self.GUI.draw(
frame,
model_positions,
actions,
regular_positions,
fps,
attackerState,
defenderState,
attacker_actions,
defender_actions,
grabbers,
our_color=self.color,
our_side=self.side,
key=c,
preprocess=pre_options,
)
counter += 1
except:
if self.defender is not None:
self.defender.shutdown(self.arduino)
if self.attacker is not None:
self.attacker.shutdown(self.arduino)
raise
finally:
# Write the new calibrations to a file.
tools.save_colors(self.pitch, self.calibration)
if self.attacker is not None:
self.attacker.shutdown(self.arduino)
if self.defender is not None:
self.defender.shutdown(self.arduino)