232 lines
7.2 KiB
Python
232 lines
7.2 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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class Striker(object):
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def __init__(self, nao_ip, nao_port, res, red_hsv, white_hsv,
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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(red_hsv[0]), tuple(red_hsv[1]),
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min_radius)
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self.goal_finder = GoalFinder(white_hsv[0], white_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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def ball_scan(self):
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yaw = self.mover.get_head_angles()[0]
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mag = abs(yaw)
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sign = 1 if yaw >= 0 else -1
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if mag > 2:
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self.mover.move_to(0, 0, sign * pi / 12)
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else:
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self.mover.change_head_angles(sign * pi / 4, 0, 0.5)
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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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def ball_tracking(self):
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cams = [self.video_top, self.video_bot]
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in_sight = False
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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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if ball_angles is not None:
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x, y = ball_angles
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in_sight = True
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self.loss_counter = 0
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break
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if not in_sight:
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print('No ball in sight')
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self.loss_counter += 1
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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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if abs(x) > 0.15:
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self.mover.stop_moving()
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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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def turn_to_ball(self, ball_x, ball_y):
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d_yaw, d_pitch = ball_x, 0
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print('ball yaw:', d_yaw)
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if (abs(d_yaw) > 0.01):
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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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yaw = self.mover.get_head_angles()[0]
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print('head yaw', yaw)
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if abs(yaw) > 0.05:
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print('Going to rotate')
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self.mover.set_head_angles(0, 0, 0.5)
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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, 0.25
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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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self.mover.move_to(dy * 0.5, 0, 0)
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self.mover.wait()
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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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# +----> Ball tracking until lock <--------------+
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# | (search + rotation) |
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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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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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red_hsv=cfg['red'],
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white_hsv=cfg['white'],
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min_radius=cfg['min_radius'],
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run_after=False
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)
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try:
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state = 'tracking'
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while True:
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loop_start = time()
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print('State:', state)
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if state == 'tracking':
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if striker.ball_tracking():
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state = 'ball_approach'
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elif state == 'ball_approach':
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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(ball_in_lower)
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if (ball_in_lower is not None
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and ball_in_lower[1] > 0.25):
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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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else:
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print('Continue running')
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striker.run_to_ball()
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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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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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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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