271 lines
7.8 KiB
Python
271 lines
7.8 KiB
Python
from __future__ import print_function
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from __future__ import division
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import cv2
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import numpy as np
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#import imutils
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from naoqi import ALProxy
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from collections import deque
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from imagereaders import NaoImageReader
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from live_recognition import BallFinder
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import time
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import almath
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# Nao configuration
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nao_ip = '192.168.0.11'
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nao_port = 9559
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#res = (3, (960, 1280)) # NAOQi code and acutal resolution
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#res=(1,(240,320))
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res=1
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#res=(2,(480,640))
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fps = 30
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cam_id = 1 # 0 := top, 1 := bottom
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# Recognition stuff
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red_lower = (0, 185, 170) # HSV coded red interval
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red_upper = (6, 255, 255)
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min_radius = 5
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resized_width = None # Maybe we need it maybe don't (None if don't)
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current_value = 0
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global counter
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counter=0
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def move_to(old,y):
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motionProxy = ALProxy("ALMotion", nao_ip, nao_port)
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postureProxy = ALProxy("ALRobotPosture", nao_ip, nao_port)
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# Wake up robot
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motionProxy.wakeUp()
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handStiffness=0.0;
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# shoulder and elbow
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armStiffness = 0.0;
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# head
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headStiffness = 0.9;
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# hip
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hipStiffness = 0.9;
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# knee
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kneeStiffness = 0.9;
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# ankle
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ankleStiffness = 0.9;
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# set the stiffnes
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motionProxy.setStiffnesses("Head", headStiffness)
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motionProxy.setStiffnesses("RHand", handStiffness)
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motionProxy.setStiffnesses("LHand", handStiffness)
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motionProxy.setStiffnesses("LShoulderPitch", armStiffness)
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motionProxy.setStiffnesses("LShoulderRoll", armStiffness)
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motionProxy.setStiffnesses("LElbowRoll", armStiffness)
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motionProxy.setStiffnesses("LWristYaw", handStiffness)
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motionProxy.setStiffnesses("LElbowYaw", armStiffness)
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motionProxy.setStiffnesses("LHipYawPitch", hipStiffness)
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motionProxy.setStiffnesses("LHipPitch", hipStiffness)
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motionProxy.setStiffnesses("LKneePitch", kneeStiffness)
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motionProxy.setStiffnesses("LAnklePitch", ankleStiffness)
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motionProxy.setStiffnesses("LHipRoll", hipStiffness)
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motionProxy.setStiffnesses("LAnkleRoll", ankleStiffness)
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motionProxy.setStiffnesses("RShoulderPitch", armStiffness)
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motionProxy.setStiffnesses("RShoulderRoll", armStiffness)
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motionProxy.setStiffnesses("RElbowRoll", armStiffness)
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motionProxy.setStiffnesses("RWristYaw", handStiffness)
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motionProxy.setStiffnesses("RElbowYaw", armStiffness)
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motionProxy.setStiffnesses("RHipYawPitch", hipStiffness)
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motionProxy.setStiffnesses("RHipPitch", hipStiffness)
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motionProxy.setStiffnesses("RKneePitch", kneeStiffness)
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motionProxy.setStiffnesses("RAnklePitch", ankleStiffness)
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motionProxy.setStiffnesses("RHipRoll", hipStiffness)
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motionProxy.setStiffnesses("RAnkleRoll", ankleStiffness)
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# Send robot to Stand Init
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#postureProxy.goToPosture("StandInit", 0.5)
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# Initialize the move
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motionProxy.moveInit()
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# First call of move API
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# with post prefix to not be bloquing here.
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# motionProxy.post.moveTo(0, 0.0, 0)
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# wait that the move process start running
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# time.sleep(0.1)
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# get robotPosition and nextRobotPosition
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# useSensors = False
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# robotPosition = almath.Pose2D(motionProxy.getRobotPosition(useSensors))
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# nextRobotPosition = almath.Pose2D(motionProxy.getNextRobotPosition())
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# get the first foot steps vector
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# (footPosition, unChangeable and changeable steps)
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# footSteps1 = []
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#try:
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# footSteps1 = motionProxy.getFootSteps()
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#except Exception, errorMsg:
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# print str(errorMsg)
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# PLOT_ALLOW = False
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# Second call of move API
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motionProxy.post.moveTo(0, 0.0, y)
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# get the second foot steps vector
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# footSteps2 = []
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#try:
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# footSteps2 = motionProxy.getFootSteps()
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#except Exception, errorMsg:
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#print str(errorMsg)
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#PLOT_ALLOW = False
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motionProxy.setStiffnesses("Head", 0.7)
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names = ["HeadYaw", "HeadPitch"]
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fractionMaxSpeed = 0.05
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angles=[0, 0]
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motionProxy.setAngles(names,angles,fractionMaxSpeed)
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def get_angle():
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robotIP="192.168.0.11"
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PORT = 9559
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motionProxy = ALProxy("ALMotion", robotIP, PORT)
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names=["HeadPitch","HeadYaw"]
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useSensors=False
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angle=motionProxy.getAngles(names,useSensors)
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#print("angle_is"+str(angles))
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return angle
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def set_angle_new(x,y):
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angle=get_angle()
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robotIP="192.168.0.11"
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PORT = 9559
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motionProxy = ALProxy("ALMotion", robotIP, PORT)
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# activiert gelenke
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motionProxy.setStiffnesses("Head", 0.5)
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names = ["HeadYaw", "HeadPitch"]
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fractionMaxSpeed = 0.3
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#x_mid=160
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#y_mid=120
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#x_diff=x-x_mid
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#y_diff=y-y_mid
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#print("x_diff="+str(x_diff))
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#print("y_diff="+str(y_diff))
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videoProxy=ALProxy('ALVideoDevice', robotIP, PORT)
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ball_angles=videoProxy.getAngularPositionFromImagePosition(1,[x/320,y/240])
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#print(ball_angles)
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ball_angle_x=ball_angles[0]
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ball_angle_y=ball_angles[1]
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#print("ball_angle_x="+str(ball_angle_x))
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#print("ball_angle_y="+str(ball_angle_y))
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#ball_angle_x_diff=ball_angle_x+
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#ball_angle_y_diff=ball_angle_y-99
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#print(ball_angle_x_diff*3.14/180)
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#print(ball_angle_y_diff)
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# print(ball_angles-[-169,99])
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#[-169.53343200683594, 99.27782440185547] (x_mid,y_mid)
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#if abs(ball_angle_x)>0.2 and abs(ball_angle_y)>0.01:
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#angles=[ball_angle_x,0]
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#angles=[0.25*ball_angle_x,0.25*ball_angle_y]
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angles=[0.25*ball_angle_x,0]
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if abs(ball_angle_x)>0.1:
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motionProxy.changeAngles(names, angles, fractionMaxSpeed)
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# if the head has the wright x coordinates
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elif abs(ball_angle_x)<0.1:
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#tts = ALProxy("ALTextToSpeech", "192.168.0.11", 9559)
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#tts.setParameter("pitchShift", 1)
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#tts.setParameter("speed", 50)
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#tts.setVoice("Kenny22Enhanced")
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#tts.say("Ball found")
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global counter
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counter=counter+1
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#print(counter)
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#print("Ball found")
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if counter==5:
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global counter
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counter=0
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print(get_angle())
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a=get_angle()
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if abs(a[1])>0.1:
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move_to(a[0],a[1])
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def set_angle(direction):
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#def main(robotIP,x,y):
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robotIP="192.168.0.11"
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PORT = 9559
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motionProxy = ALProxy("ALMotion", robotIP, PORT)
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# activiert gelenke
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motionProxy.setStiffnesses("Head", 1.0)
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#names = "HeadYaw"
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#useSensors = False
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#commandAngles = motionProxy.getAngles(names, useSensors)
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#type(commandAngles)
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#type(float(commandAngles))
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#current_angle=float(commandAngles)
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#print(current_angle)
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#next_angle=float(commandAngles)-0.2
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#print("next_angle"+str(next_angle))
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#angles = [0,next_angle]
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#print("set_angle")
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# Example showing how to set angles, using a fraction of max speed
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names = ["HeadYaw", "HeadPitch"]
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#global current_value
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a=get_angle()
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#print(a[0])
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# print(a)
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#current_value=current_value-0.2
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if direction=="up":
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angles = [a[1],a[0]-0.2]
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elif direction=="down":
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angles = [a[1], a[0]+0.2]
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elif direction=="right":
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angles= [a[1]-0.2,a[0]]
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elif direction=="left":
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angles=[a[1]+0.2,a[0]]
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fractionMaxSpeed = 0.5
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motionProxy.setAngles(names, angles, fractionMaxSpeed)
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if __name__ == '__main__':
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video = NaoImageReader(nao_ip, port=nao_port, cam_id=cam_id, res=res,
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fps=fps)
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finder = BallFinder(red_lower, red_upper, 5, None)
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try:
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while True:
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try:
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(x, y), radius = finder.find_colored_ball(video.get_frame())
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except TypeError:
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continue
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set_angle_new(x,y)
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'''
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if 0<y<100:
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set_angle("up")
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elif 240>y>200:
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set_angle("down")
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if 0<x<100: # maybe do simultaneous x-y setting
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set_angle("left")
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elif 320>x>220:
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set_angle("right")
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'''
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finally:
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video.close()
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