示例#1
0
    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
示例#3
0
    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 = []
示例#5
0
文件: main.py 项目: Luddzik/sdp_12
    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()
示例#6
0
	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 = []