def _test_image(self, test_config, detection_mode):
test_image = Image.from_file(self.BASE_PATH + test_config['filename'])
local_world_map = LocalWorldMap()
if 'gripper_mock_location' in test_config:
local_world_map._gripper = Gripper(test_config['gripper_mock_location'])
detection_results = self._local_world_detector.detect_objects(test_image, detection_mode, local_world_map)
Logger.get_instance().log(self, "World Detection Test Results", log_entry_type = LogEntryType.INFORMATIONAL, details = "'{0}': {1}.".format(test_config['filename'], detection_results))
self._verify_results(test_config, detection_results)
def __init__(self, camera_arm_control_service):
self._local_world_detector = LocalWorldDetector(camera_arm_control_service)
self._local_world_map_drawing_service = LocalWorldMapDrawingService()
self._on_detection_complete = EventHandler()
self._detection_mode = LocalWorldMapDetectionMode.NONE
self._local_world_map = LocalWorldMap()
self._camera_arm_control_service = camera_arm_control_service
self._detection_lock = Lock()
class LocalWorldMapService(object):
DETECTION_MODE_SWITCH_WAIT_TIME = 1
@property
def local_world_map(self):
return self._local_world_map
@property
def detection_mode(self):
return self._detection_mode
@detection_mode.setter
def detection_mode(self, value):
self._switch_detection_mode(value)
@property
def on_detection_complete(self):
return self._on_detection_complete
@on_detection_complete.setter
def on_detection_complete(self, value):
self._on_detection_complete = value
def __init__(self, camera_arm_control_service):
self._local_world_detector = LocalWorldDetector(camera_arm_control_service)
self._local_world_map_drawing_service = LocalWorldMapDrawingService()
self._on_detection_complete = EventHandler()
self._detection_mode = LocalWorldMapDetectionMode.NONE
self._local_world_map = LocalWorldMap()
self._camera_arm_control_service = camera_arm_control_service
self._detection_lock = Lock()
def detect_objects(self, image):
self._detection_lock.acquire()
try:
self._execute_detection(image)
finally:
self._detection_lock.release()
self._on_detection_complete.fire()
def _execute_detection(self, image):
local_world_descriptor = self._local_world_detector.detect_objects(image, self._detection_mode, self._local_world_map)
if local_world_descriptor is not None:
self._local_world_map.merge_local_world_descriptor(local_world_descriptor)
def reset(self, local_world_object_types):
self._local_world_map.reset(local_world_object_types)
def draw_local_world_map(self):
self._local_world_map_drawing_service.draw(self._local_world_map)
return self._local_world_map.reference_image
def wait_for_detection(self, local_world_object_types, timeout):
start_time = datetime.datetime.now()
while not self._local_world_map.contains(local_world_object_types):
self._on_detection_complete.join(timeout)
if (datetime.datetime.now() - start_time).total_seconds() > timeout:
raise TimeoutError("Timeout was reached while waiting for the specified detection status.")
return self._local_world_map
def _switch_detection_mode(self, detection_mode):
self._detection_mode = detection_mode
self._detection_lock.acquire()
if self._detection_mode == LocalWorldMapDetectionMode.TREASURE_PICKUP_SUCCESS_DETECTION:
self._local_world_map.reset([LocalWorldObjectType.TREASURE])
elif self._detection_mode != LocalWorldMapDetectionMode.NONE:
self._local_world_map.reset(LocalWorldObjectType.all())
self._detection_lock.release()
class TestLocalWorldMap(object):
SAMPLE_PLAYFIELD = object()
SAMPLE_GRIPPER = object()
SAMPLE_TREASURES = [object(), object()]
SAMPLE_REFERENCE_IMAGE = object()
def setup(self):
self._local_world_map = LocalWorldMap()
self._local_world_descriptor = LocalWorldDescriptor(LocalWorldObjectType.all(), self.SAMPLE_REFERENCE_IMAGE, self.SAMPLE_PLAYFIELD, self.SAMPLE_GRIPPER, self.SAMPLE_TREASURES)
def test_given_complete_local_world_descriptor_when_merging_local_world_descriptor_then_results_are_merged(self):
self._local_world_map.merge_local_world_descriptor(self._local_world_descriptor)
assert_is(self._local_world_map.playfield, self.SAMPLE_PLAYFIELD)
assert_is(self._local_world_map.gripper, self.SAMPLE_GRIPPER)
assert_equals(self._local_world_map.treasures, self.SAMPLE_TREASURES)
def test_given_complete_local_world_descriptor_when_merging_local_world_descriptor_then_local_world_map_contains_the_descriptor_objects(self):
self._local_world_map.merge_local_world_descriptor(self._local_world_descriptor)
assert_true(self._local_world_map.contains(LocalWorldObjectType.PLAYFIELD))
assert_true(self._local_world_map.contains(LocalWorldObjectType.GRIPPER))
assert_true(self._local_world_map.contains(LocalWorldObjectType.TREASURE))
def test_given_partial_descriptor_when_merging_local_world_descriptor_then_last_objects_are_kept(self):
self._local_world_map.merge_local_world_descriptor(self._local_world_descriptor)
self._local_world_descriptor = LocalWorldDescriptor([], self.SAMPLE_REFERENCE_IMAGE)
self._local_world_map.merge_local_world_descriptor(self._local_world_descriptor)
assert_is(self._local_world_map.playfield, self.SAMPLE_PLAYFIELD)
assert_is(self._local_world_map.gripper, self.SAMPLE_GRIPPER)
assert_equals(self._local_world_map.treasures, self.SAMPLE_TREASURES)
assert_is(self._local_world_map.reference_image, self.SAMPLE_REFERENCE_IMAGE)
def test_given_non_empty_local_world_map_when_fully_resetting_local_world_map_then_local_world_map_is_cleared(self):
self._local_world_map.merge_local_world_descriptor(self._local_world_descriptor)
self._local_world_map.reset(LocalWorldObjectType.all())
assert_false(self._local_world_map.contains(LocalWorldObjectType.PLAYFIELD))
assert_false(self._local_world_map.contains(LocalWorldObjectType.GRIPPER))
assert_false(self._local_world_map.contains(LocalWorldObjectType.TREASURE))
def test_given_non_empty_local_world_map_when_partially_resetting_local_world_map_then_local_world_map_is_partially_cleared(self):
self._local_world_map.merge_local_world_descriptor(self._local_world_descriptor)
self._local_world_map.reset([LocalWorldObjectType.GRIPPER])
assert_true(self._local_world_map.contains(LocalWorldObjectType.PLAYFIELD))
assert_false(self._local_world_map.contains(LocalWorldObjectType.GRIPPER))
def setup(self):
self._local_world_map = LocalWorldMap()
self._local_world_descriptor = LocalWorldDescriptor(LocalWorldObjectType.all(), self.SAMPLE_REFERENCE_IMAGE, self.SAMPLE_PLAYFIELD, self.SAMPLE_GRIPPER, self.SAMPLE_TREASURES)