def __init__(self, pitch, color, our_side, video_port=0, comm_port="/dev/ttyUSB0", comms=1):
"""
Entry point for the SDP system.
Params:
[int] video_port port number for the camera
[string] comm_port port number for the arduino
[int] pitch 0 - main pitch, 1 - secondary pitch
[string] our_side the side we're on - 'left' or 'right'
*[int] port The camera port to take the feed from
*[Robot_Controller] attacker Robot controller object - Attacker Robot has a RED
power wire
*[Robot_Controller] defender Robot controller object - Defender Robot has a YELLOW
power wire
"""
assert pitch in [0, 1]
assert color in ["yellow", "blue"]
assert our_side in ["left", "right"]
self.pitch = pitch
# Set up the Arduino communications
self.arduino = Arduino(comm_port, 115200, 1, comms)
# Set up camera for frames
self.camera = Camera(port=video_port, pitch=self.pitch)
frame = self.camera.get_frame()
center_point = self.camera.get_adjusted_center(frame)
# Set up vision
self.calibration = tools.get_colors(pitch)
self.vision = Vision(
pitch=pitch,
color=color,
our_side=our_side,
frame_shape=frame.shape,
frame_center=center_point,
calibration=self.calibration,
)
# Set up postprocessing for vision
self.postprocessing = Postprocessing()
# Set up main planner
self.planner = Planner(our_side=our_side, pitch_num=self.pitch)
# Set up GUI
self.GUI = GUI(calibration=self.calibration, arduino=self.arduino, pitch=self.pitch)
self.color = color
self.side = our_side
self.preprocessing = Preprocessing()
self.attacker = Attacker_Controller()
self.defender = Defender_Controller()
def __init__(self, pitch, ourTeamColor='yellow', otherTeamColor='blue', ballColor='red', record = False, extras = False):
self.pitch = pitch
self.camera = Camera(pitch=pitch)
self.calibration = tools.get_colors(pitch)
self.tracker = MyTracker(self.calibration, self.pitch, extras=extras)
#self.tracker = MyTracker([ourTeamColor, otherTeamColor, ballColor, 'pink', 'bright_green'], self.calibration)
self.points = {} # point dictionary for tracked colors
self.GUI_name = "Killer Robot App"
self.calibration_gui= CameraCalibrationGUI(calibration=self.calibration , name=self.GUI_name)
self.record = record
def __init__(self, pitch, color, our_side, video_port=0, comm_port='/dev/ttyUSB0', comms=1):
"""
Entry point for the SDP system.
Params:
[int] video_port port number for the camera
[string] comm_port port number for the arduino
[int] pitch 0 - main pitch, 1 - secondary pitch
[string] our_side the side we're on - 'left' or 'right'
*[int] port The camera port to take the feed from
*[Robot_Controller] attacker Robot controller object - Attacker Robot has a RED
power wire
*[Robot_Controller] defender Robot controller object - Defender Robot has a YELLOW
power wire
"""
assert pitch in [0, 1]
assert color in ['yellow', 'blue']
assert our_side in ['left', 'right']
self.pitch = pitch
# Set up the Arduino communications
self.arduino = Arduino(comm_port, 115200, 1, comms)
# Set up camera for frames
self.camera = Camera(port=video_port, pitch=self.pitch)
frame = self.camera.get_frame()
center_point = self.camera.get_adjusted_center(frame)
# Set up vision
self.calibration = tools.get_colors(pitch)
self.vision = Vision(
pitch=pitch, color=color, our_side=our_side,
frame_shape=frame.shape, frame_center=center_point,
calibration=self.calibration)
# Set up postprocessing for vision
self.postprocessing = Postprocessing()
# Set up main planner
self.planner = Planner(our_side=our_side, pitch_num=self.pitch)
# Set up GUI
self.GUI = GUI(calibration=self.calibration, arduino=self.arduino, pitch=self.pitch)
self.color = color
self.side = our_side
self.preprocessing = Preprocessing()
self.attacker = Attacker_Controller()
self.defender = Defender_Controller()
def __init__(self, pitch, color, our_side, video_port=0):
"""
Entry point for the SDP system.
Params:
[int] pitch 0 - main pitch, 1 - secondary pitch
[string] colour The colour of our teams plates
[string] our_side the side we're on - 'left' or 'right'
[int] video_port port number for the camera
Fields
pitch
camera
calibration
vision
postporcessing
color
side
preprocessing
model_positions
regular_positions
"""
assert pitch in [0, 1]
assert color in ['yellow', 'blue']
assert our_side in ['left', 'right']
self.pitch = pitch
# Set up camera for frames
self.camera = Camera(port=video_port, pitch=pitch)
self.frame = self.camera.get_frame()
center_point = self.camera.get_adjusted_center(self.frame)
# Set up vision
self.calibration = tools.get_colors(pitch)
self.vision = Vision(
pitch=pitch, color=color, our_side=our_side,
frame_shape=self.frame.shape, frame_center=center_point,
calibration=self.calibration)
# Set up preprocessing and postprocessing
self.postprocessing = Postprocessing()
self.preprocessing = Preprocessing()
self.color = color
self.side = our_side
self.frameQueue = []
def __init__(self,
pitch,
color,
our_side,
video_port=0,
comm_port='/dev/ttyACM0',
comms=1):
"""
Entry point for the SDP system.
Params:
[int] video_port port number for the camera
[string] comm_port port number for the arduino
[int] pitch 0 - main pitch, 1 - secondary pitch
[string] our_side the side we're on - 'left' or 'right'
*[int] port The camera port to take the feed from
*[Robot_Controller] attacker Robot controller object - Attacker Robot has a RED
power wire
*[Robot_Controller] defender Robot controller object - Defender Robot has a YELLOW
power wire
"""
assert pitch in [0, 1]
assert color in ['yellow', 'blue']
assert our_side in ['left', 'right']
self.pitch = pitch
# Set up communications if thre are any
try:
self.robotComs = RobotCommunications(debug=False)
except:
print("arduino unplugged moving on to vision")
# Set up robot communications to bet sent to planner.
if self.USE_REAL_ROBOT:
try:
self.robotCom = RobotCommunications(debug=False)
except:
self.robotCom = TestCommunications(debug=True)
print 'Not connected to the radio, using TestCommunications instead.'
else:
self.robotCom = TestCommunications(debug=True)
# Set up main planner
if(self.robotCom is not None):
# currently we are assuming we are the defender
self.planner = Planner(our_side=our_side,
pitch_num=self.pitch,
robotCom=self.robotCom,
robotType='defender')
# Set up camera for frames
self.camera = Camera(port=video_port, pitch=self.pitch)
frame = self.camera.get_frame()
center_point = self.camera.get_adjusted_center(frame)
# Set up vision
self.calibration = tools.get_colors(pitch)
print self.calibration
self.vision = Vision(
pitch=pitch,
color=color,
our_side=our_side,
frame_shape=frame.shape,
frame_center=center_point,
calibration=self.calibration)
# Set up postprocessing for vision
self.postprocessing = Postprocessing()
# Set up GUI
self.GUI = GUI(calibration=self.calibration, pitch=self.pitch)
self.color = color
self.side = our_side
self.preprocessing = Preprocessing()
def __init__(self, pitch, color, our_side, video_port=0, comm_port='/dev/ttyACM0', comms=1):
"""
Entry point for the SDP system.
Params:
[int] video_port port number for the camera
[string] comm_port port number for the arduino
[int] pitch 0 - main pitch, 1 - secondary pitch
[string] our_side the side we're on - 'left' or 'right'
*[int] port The camera port to take the feed from
*[Robot_Controller] attacker Robot controller object - Attacker Robot has a RED
power wire
*[Robot_Controller] defender Robot controller object - Defender Robot has a YELLOW
power wire
"""
assert pitch in [0, 1]
assert color in ['yellow', 'blue']
assert our_side in ['left', 'right']
self.pitch = pitch
# Set up the Arduino communications
self.arduino = arduinoComm.Communication("/dev/ttyACM0", 9600)
time.sleep(0.5)
self.arduino.grabberUp()
self.arduino.grab()
# Set up camera for frames
self.camera = Camera(port=video_port, pitch=self.pitch)
frame = self.camera.get_frame()
center_point = self.camera.get_adjusted_center(frame)
# Set up vision
self.calibration = tools.get_colors(pitch)
self.vision = Vision(
pitch=pitch, color=color, our_side=our_side,
frame_shape=frame.shape, frame_center=center_point,
calibration=self.calibration)
# Set up postprocessing for vision
self.postprocessing = Postprocessing()
# Set up GUI
self.GUI = GUI(calibration=self.calibration, arduino=self.arduino, pitch=self.pitch)
# Set up main planner
self.planner = Planner(our_side=our_side, pitch_num=self.pitch, our_color=color, gui=self.GUI, comm = self.arduino)
self.color = color
self.side = our_side
self.timeOfNextAction = 0
self.preprocessing = Preprocessing()
#it doesn't matter whether it is an Attacker or a Defender Controller
self.controller = Attacker_Controller(self.planner._world, self.GUI)
self.robot_action_list = []