393 lines
12 KiB
Python
393 lines
12 KiB
Python
from __future__ import print_function
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from __future__ import division
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from math import pi
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from time import sleep, time
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from .utils import read_config
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from .imagereaders import NaoImageReader
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from .finders import BallFinder, GoalFinder
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from .movements import NaoMover
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import sys
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class Striker(object):
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def __init__(self, nao_ip, nao_port, res, ball_hsv, goal_hsv,
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ball_min_radius, run_after):
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self.mover = NaoMover(nao_ip=nao_ip, nao_port=nao_port)
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self.mover.stand_up()
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self.video_top = NaoImageReader(nao_ip, port=nao_port, res=res,
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fps=30, cam_id=0)
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self.video_bot = NaoImageReader(nao_ip, port=nao_port, res=res,
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fps=30, cam_id=1)
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self.ball_finder = BallFinder(tuple(ball_hsv[0]), tuple(ball_hsv[1]),
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ball_min_radius)
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self.goal_finder = GoalFinder(tuple(goal_hsv[0]), tuple(goal_hsv[1]))
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self.lock_counter = 0
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self.loss_counter = 0
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self.run_after = run_after
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self.in_move = False
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# this function will scan for the ball, if it is not in sight
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def ball_scan(self):
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# determine current head angle
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yaw = self.mover.get_head_angles()[0]
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mag = abs(yaw)
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# determine direction of head rotation
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sign = 1 if yaw >= 0 else -1
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# the robot starts to move arround his z-Axis in the direction where his head is aligned
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# when the head yaw angle has reached his maximum
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if mag > 2:
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self.mover.move_to(0, 0, sign * pi / 12)
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# rotate head to the left, if head yaw angle is equally zero or larger
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# rotate head to the right, if head yaw angle is smaller than zero
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else:
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self.mover.change_head_angles(sign * pi / 4, 0, 0.5)
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# this function detects the ball in the view of a given camera view
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# and returns the angles of the ball to the camera
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def get_ball_angles_from_camera(self, cam):
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ball = self.ball_finder.find_colored_ball(
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cam.get_frame()
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)
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if ball is None:
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return None
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(x, y), _ = ball
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x, y = cam.to_relative(x, y)
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x, y = cam.to_angles(x, y)
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return x, y
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def distance_to_ball(self):
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return 0.5
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# this function tracks the ball in the camera views
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def ball_tracking(self):
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# get video streams from both cameras
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cams = [self.video_top, self.video_bot]
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in_sight = False
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# try to determine the angle of the ball to the cameras in both streams
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for cam in cams:
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ball_angles = self.get_ball_angles_from_camera(cam)
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# check if the ball angles could be determined
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if ball_angles is not None:
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# safe ball angles in x,y
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x, y = ball_angles
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# ball is in view -> set in_sight variable to true
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in_sight = True
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# reset ball loss counter
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self.loss_counter = 0
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break
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# actions, if the ball is not in sight
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if not in_sight:
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print('No ball in sight')
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# increase ball loss counter
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self.loss_counter += 1
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# if ball is not in view for more than five times,
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# start a ball scan
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if self.loss_counter > 5:
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self.ball_scan()
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return False
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# check if the x angle between the robot and the ball is above a specific threshold
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if abs(x) > 0.15:
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# stop the robot, if the angle is to large
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self.mover.stop_moving()
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# align the robot to the ball
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self.turn_to_ball(x, y)
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return False
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else:
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return True
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def run_to_ball(self):
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self.mover.move_to(1, 0, 0)
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# this function aligns the robot to the ball
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def turn_to_ball(self, ball_x, ball_y):
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# only the x ball angle is relevant for the rotation
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d_yaw, d_pitch = ball_x, 0
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print('ball yaw:', d_yaw)
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# check if the angle between the robot and the ball is above a specific threshold
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if (abs(d_yaw) > 0.01):
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# try to align camera with the ball
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self.mover.change_head_angles(d_yaw, d_pitch,
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abs(d_yaw) / 2)
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sleep(1)
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self.mover.wait()
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# determine current head angle to estimate
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# how far the robot has to rotate arround the z-Axis
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yaw = self.mover.get_head_angles()[0]
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print('head yaw', yaw)
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# determine if the angle of the head to the body is above a specific threshold
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if abs(yaw) > 0.05:
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print('Going to rotate')
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# change the head angles to 0 0
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self.mover.set_head_angles(0, 0, 0.5)
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# rotate robot arround the z-Axis for the estimated angle
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self.mover.move_to(0, 0, yaw)
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self.mover.wait()
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def align_to_ball(self):
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ball_angles = self.get_ball_angles_from_camera(self.video_bot)
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if ball_angles is None:
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raise ValueError('No ball')
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x, y = ball_angles
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goal_x, goal_y = 0.115, 0.32
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dx, dy = goal_x - x, goal_y - y
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if abs(dx) < 0.05 and abs(dy) < 0.05:
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print(x, y)
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return True
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if abs(dy) > 0.05:
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self.mover.move_to(dy * 0.5, 0, 0)
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self.mover.wait()
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if abs(dx) > 0.05:
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self.mover.move_to(0, -dx * 0.5, 0)
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self.mover.wait()
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return False
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def align_to_goal(self):
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ball_angles = self.get_ball_angles_from_camera(self.video_bot)
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if ball_angles is None:
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raise ValueError('No ball')
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x, y = ball_angles
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print(x, y)
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if abs(x) > 0.1:
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self.turn_to_ball(x, y)
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return False
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if y > 0.35:
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self.mover.move_to(-0.05, 0, 0)
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self.mover.wait()
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return False
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elif y < 0.25:
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self.mover.move_to(0.05, 0, 0)
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self.mover.wait()
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return False
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goal_contour = self.goal_finder.find_goal_contour(
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self.video_top.get_frame()
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)
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if goal_contour is not None:
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goal_center_x = self.goal_finder.goal_center(goal_contour)
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gcx_rel, _ = self.video_top.to_relative(goal_center_x, 0)
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if abs(gcx_rel - 0.5) > 0.1:
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increment = 0.1 if gcx_rel > 0.5 else -0.1
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else:
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print('Alignment achieved')
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return True
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else:
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increment = 0.1
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print('No goal found, doing random stuff')
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self.mover.move_to(0, increment, 0)
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self.mover.wait()
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return False
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def close(self):
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self.mover.rest()
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self.video_top.close()
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self.video_bot.close()
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# ____________________ STRIKER __________________________
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#
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# +----> Ball tracking (see below) <-------------+
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# | |
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# | | |
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# | | |
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# | v |
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# | Try goal align |
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# | / \ |
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# lost | can do / \ cannot do |
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# ball | v v |
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# +-- Align until Ball is only in top camera --+
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# success. Move closer.
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# |
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# successful |
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# v
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# Kick it!
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#
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# _______________________________________________________
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# ____________________ TRACKING _________________________
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#
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# yes
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# check if ball visible ---> rotate head to the ball
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# ^ | |
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# | | no |
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# | v |
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# +--- ball scan rotation |
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# | |
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# | no V
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# | +---------- already rotating body?
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# | | |
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# | v | yes
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# | head angle too big? v
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# | / \ head angle
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# | yes / \ no is below threshold?
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# | v v | |
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# | stop successful | no | yes
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# | moving exit | v
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# +----- and start | stop rotating body
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# | rotating body | |
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# | | |
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# +---------------------------------+---------+
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#
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# _______________________________________________________
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if __name__ == '__main__':
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cfg = read_config()
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striker = Striker(
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nao_ip=cfg['ip'],
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nao_port=cfg['port'],
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res=cfg['res'],
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ball_hsv=cfg['ball'],
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goal_hsv=cfg['goal'],
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ball_min_radius=cfg['ball_min_radius'],
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run_after=False
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)
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# allow additional arguments when running the function like
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# stand
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# rest
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# kick
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# try to readout arguments
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try:
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args=sys.argv[1]
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except NameError:
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args=''
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# check input argument
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if args:
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# bring robot in stand_up position
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if args == 'stand':
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striker.mover.stand_up()
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# bring robot in rest postion
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elif args == 'rest':
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striker.mover.rest()
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# perform a fancy kick
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elif args == 'kick':
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striker.mover.stand_up()
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striker.mover.kick()
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striker.mover.rest()
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# perform normal state-machine if no input argument is given
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else:
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try:
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# start with ball tracking first
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state = 'tracking'
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# state machine of the striker
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while True:
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# start time meassure for debbuging
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loop_start = time()
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# print the current state of the state machine
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print('State:', state)
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# actions in the tracking state
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if state == 'tracking':
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# start ball approach when ball is visible
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if striker.ball_tracking():
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state = 'ball_approach'
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# actions in the ball_approach state
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elif state == 'ball_approach':
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# get the angle of the ball in the picture of the lower camera
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ball_in_lower = striker.get_ball_angles_from_camera(
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striker.video_bot
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)
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# print the angle of the ball in the lower camera
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print(ball_in_lower)
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# check if the ball is in the lower camera
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# and the angle is above a specific threshold (ball is close enough)
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if (ball_in_lower is not None
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and ball_in_lower[1] > 0.28):
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print('Ball is in lower camera, go to align')
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#striker.mover.stop_moving()
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#state = 'align'
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# perform a simple kick
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state='simple_kick'
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# continue moving, if the ball is not close enough
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# or not in the view of the lower camera
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else:
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print('Continue running')
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striker.run_to_ball()
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# go back to the tracking state
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state = 'tracking'
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# actions in the simple_kick state
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elif state == 'simple_kick':
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#striker.mover.set_head_angles(0,0.25,0.3)
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print('Doing the simple kick')
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# just walk a short distance straight forward,
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# as the ball should be straight ahead in a small distance
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striker.mover.move_to(0.3,0,0)
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striker.mover.wait()
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# go back to the tracking state after the simple_kick
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state = 'tracking'
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elif state == 'align':
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striker.mover.set_head_angles(0, 0.25, 0.3)
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sleep(0.5)
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try:
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success = striker.align_to_ball()
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sleep(0.3)
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if success:
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state = 'kick'
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except ValueError:
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striker.mover.set_head_angles(0, 0, 0.3)
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state = 'tracking'
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elif state == 'kick':
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print('KICK!')
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striker.mover.kick()
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break
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# stop time meassuring for debbuging and print the time of the loop
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loop_end = time()
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print('Loop time:', loop_end - loop_start)
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finally:
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striker.close()
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