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app.py
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app.py
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import qi
import sys
import json
import math
import time
import numpy
import base64
import motion
import random
import argparse
import requests
from random import randint
from tic_tac_toe import TicTacToe
from basic_awareness import HumanTrackedEventWatcher
from PIL import Image, ImageDraw, ImageFont
####################################
# DEVELOPER : VIKRAM SINGH #
# TECHNOLOGY STACK : PYTHON #
####################################
# ==============================================================================
# --- CAMERA INFORMATION ---
# AL_resolution
AL_kQQQQVGA = 8 # Image of 40*30px
AL_kQQQVGA = 7 # Image of 80*60px
AL_kQQVGA = 0 # Image of 160*120px
AL_kQVGA = 1 # Image of 320*240px
AL_kVGA = 2 # Image of 640*480px
AL_k4VGA = 3 # Image of 1280*960px
AL_k16VGA = 4 # Image of 2560*1920px
# Camera IDs
AL_kTopCamera = 0
AL_kBottomCamera = 1
AL_kDepthCamera = 2
# Need to add All color space variables
AL_kBGRColorSpace = 13
# ==============================================================================
# ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
# =============================== CONFIG =======================================
ONEUNITDIST = 0.5
MOVEMENT_WAIT = 1 # In seconds
TIME_CALIBERATED = 4660 # For calculating use program robot_velocity_caliberatoion.py
NODE_IP = "10.9.43.90" # IP Address of the node in which you are running this program
DL_SERVER_URL = "http://10.9.42.46:5000/getPredictions"
TOPIC_NAME = "tic_tac_toe.top" # Name of topic file situated at robots dir => `/home/nao/chat/`
# ==============================================================================
# =============== ORIENTATION BASED ON INITIAL BOT POSITION ====================
PHI = 0 # AMOUNT TO MOVE TO FACE TOWARDS EAST (0`)
# 0
# math.pi/2 -math.pi/2
# math.pi
PENDING_PHI = 0
# ==============================================================================
class Bcolors():
# COLOUR SCHEME FOR PRINTING
HEADER = '\033[95m'
OKBLUE = '\033[94m'
OKGREEN = '\033[92m'
WARNING = '\033[93m'
FAIL = '\033[91m'
ENDC = '\033[0m'
BOLD = '\033[1m'
UNDERLINE = '\033[4m'
class TicTacToeGame(object):
def __init__(self, app, human_tracked_event_watcher, tic_tac_toe):
super(TicTacToeGame, self).__init__()
try:
app.start()
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " +
str(args.port) + ".\n")
sys.exit(1)
session = app.session
self.subscribers_list = []
# SUBSCRIBING SERVICES
self.memory_service = session.service("ALMemory")
self.motion_service = session.service("ALMotion")
self.dialog_service = session.service("ALDialog")
self.posture_service = session.service("ALRobotPosture")
self.speaking_movement = session.service("ALSpeakingMovement")
self.video_service = session.service("ALVideoDevice")
self.tts = session.service("ALTextToSpeech")
self.animation_player_service = session.service("ALAnimationPlayer")
self.tablet_service = session.service("ALTabletService")
self.human_watcher = human_tracked_event_watcher
self.game = tic_tac_toe
# INITIALISING CAMERA POINTERS
self.imageNo2d = 1
self.imageNo3d = 1
# DETECTION CODES
self.MULTIPLE_ENTRY_CODE = -7
self.WRONG_TYPE_CODE = -5
self.EMPTY_BOARD_CODE = -3
self.IDENTIFICATION_ERROR_CODE = -1
self.MISMATCH_ERROR_CODE = 0
self.SUCCESSFULL_DETECTION_CODE = 1
self.NO_DETECTION_CODE = 3
# BOARD SPECS
self.gameOn = False
self.gameBoard = ['.'] * 9
self.heuristicBoard = ['-1'] * 9
self.lastMemoizedBoard = [((-1, -1), "")] * 9
self.boardFound = False
self.boardImgNo = 0
self.computerType = '-'
self.humanType = '-'
self.reGameCall = False
self.overLapBoard = False
self.affirmativeCall = False
self.negativeCall = False
self.tossAsked = False
self.boardIndexToText = [
"first row first column",
"first row second column",
"first row third column",
"second row first column",
"second row second column",
"second row third column",
"third row first column",
"third row second column",
"third row third column"
]
def _printLogs(self, log, pType):
# PRINTING LOGS
printObjects = ["NORMAL", "WARNING", "OKBLUE", "FAIL", "LINE"]
if pType == "NORMAL":
print str(log) + "\n"
if pType == "WARNING":
print Bcolors.WARNING + str(log) + Bcolors.ENDC + "\n"
if pType == "OKBLUE":
print Bcolors.OKBLUE + str(log) + Bcolors.ENDC + "\n"
if pType == "FAIL":
print Bcolors.BOLD + Bcolors.FAIL + str(log) + Bcolors.ENDC + "\n"
if pType == "LINE":
if log == "":
print
if log == "+":
print "+++++++++++++++++++++++++++++++++++++++++++++++++++++++\n"
if log == "-":
print "-------------------------------------------------------\n"
if log == "=":
print "=======================================================\n"
if pType not in printObjects:
# pType unknown, hence do normal print
print str(log) + "\n"
return
def create_callbacks(self):
self.connect_callback("affirmative_event",
self.affirmative_event)
self.connect_callback("negative_event",
self.negative_event)
self.connect_callback("game_toss_event",
self.game_toss_event)
self.connect_callback("play_again_game_event",
self.play_again_game_event)
return
def connect_callback(self, event_name, callback_func):
self._printLogs("Callback connection", "NORMAL")
subscriber = self.memory_service.subscriber(event_name)
subscriber.signal.connect(callback_func)
self.subscribers_list.append(subscriber)
return
def play_again_game_event(self, value):
if self.gameOn:
self.reGameCall = True
self._makePepperSpeak(
"There is already a game on, do you still want to play a new game")
else:
self._makePepperSpeak("Alright then lets play a game")
self.game_toss_event(True)
return
def game_toss_event(self, value):
if self.gameOn:
self._makePepperSpeak("Sorry a game is already on")
return
self._makePepperSpeak(
"Hey I choose Heads, but don't worry I promise you this toss is completely random")
self._makePepperSpeak(
"And whosoever wins the toss will have a chance to play first and choose their type between cross and circle")
# Stopping Awareness
self.human_watcher.stop_basic_awareness()
self._moveHead(0, 1)
time.sleep(1)
# Display gif
toss = ["Heads", "Tails"]
outcome = toss[randint(0, 1)]
self._printLogs("TOSS : " + str(outcome), "WARNING")
# Display toss
self._showOnTablet("toss.mp4", video=True)
time.sleep(5)
if outcome == "Heads":
# computer wins toss
self._showOnTablet("heads.jpg", video=False)
time.sleep(4)
self._clearTablet()
self._makePepperSpeak("Yess ! I won the toss")
self.playTicTacToe(playerOne="COMPUTER", playerType="")
else:
self._showOnTablet("tails.jpg", video=False)
time.sleep(4)
self._clearTablet()
self.tossAsked = True
self._makePepperSpeak("Ohh No ! You won the toss, I lost")
self._makePepperSpeak(
"Say yes or no ! Do you want cross to play with")
self.human_watcher.start_basic_awareness()
return
def affirmative_event(self, value):
self.affirmativeCall = True
if self.tossAsked:
self.tossAsked = False
self.playTicTacToe(playerOne="HUMAN", playerType="x")
if self.reGameCall:
self.reGameCall = False
self._resetGame()
self._makePepperSpeak("Alright then lets play a fresh game")
self.game_toss_event(True)
return
def negative_event(self, value):
self.negativeCall = True
if self.tossAsked:
self.tossAsked = False
self.playTicTacToe(playerOne="HUMAN", playerType="o")
return
def _moveHand(self):
JointNamesL = ["LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll"]
JointNamesR = ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"]
# ArmL/R
# [ hand { - : up, + : down }
# shoulder { - : right side horizontal movement, + : left side horizontal movement }
# Palm rotation { + : clockwise, - : anti-clockwise }
# Elbow movement { + : right to left, - : left to right }
# ]
# these hand movements will only work if rotation are possible in those directions
# ArmL1 = [-50, 30, 0, 0]
# ArmL1 = [ x * motion.TO_RAD for x in ArmL1]
ArmR1 = [0, 0, 50, 0]
ArmR1 = [x * motion.TO_RAD for x in ArmR1]
pFractionMaxSpeed = 0.1
self.motion_service.angleInterpolationWithSpeed(
JointNamesR, ArmR1, pFractionMaxSpeed)
return
def _clearTablet(self):
# Hide the web view
self.tablet_service.hideImage()
return
def _showOnTablet(self, imageName, video):
# Display Image On Tablet
base_url = "http://{}/pepper_hack/images/".format(NODE_IP)
view_url = base_url + str(imageName)
try:
if video:
self.tablet_service.playVideo(view_url)
else:
# self.tablet_service.showImageNoCache(view_url) # wont use this because we have toss images which are constant here
self.tablet_service.showImage(view_url)
self._printLogs("Displaying on tablet : " + view_url, "OKBLUE")
except Exception, err:
self._printLogs("Error Showing On Tablet : " + str(err), "FAIL")
self._printLogs("+", "LINE")
return
def _moveHead(self, amntX, amntY):
JointNamesH = ["HeadPitch", "HeadYaw"] # range ([-1,1],[-0.5,0.5]) // HeadPitch :{(-)up,(+)down} , HeadYaw :{(-)left,(+)right}
pFractionMaxSpeed = 0.1
HeadA = [float(amntY), float(amntX)]
self.motion_service.angleInterpolationWithSpeed(
JointNamesH, HeadA, pFractionMaxSpeed)
return
def _makePepperSpeak(self, userMsg):
# MAKING PEPPER SPEAK
# future = self.animation_player_service.run("animations/Stand/Gestures/Give_3", _async=True)
sentence = "\RSPD=" + str(80) + "\ " # Speed
sentence += "\VCT=" + str(100) + "\ " # Voice Shaping
sentence += userMsg
sentence += "\RST\ "
self.tts.say(str(sentence))
# future.value()
return
def _moveForward(self, distToMove):
X = min(distToMove, ONEUNITDIST)
Y = 0.0
Theta = 0.0
x = 0
t0 = time.time()
# Blocking call
a = self.motion_service.moveTo(X, Y, Theta)
t1 = time.time()
t = t1 - t0
t *= 1000
units = float(t) * (1.0 / TIME_CALIBERATED)
# TIME_CALIBERATED is an average time per m length. Need to caliberate according to the flooring.
resDist = 0
if units >= 0.2:
resDist = units
if not a:
self._printLogs(
"Obstacle found in btw, bot moved dist : " + str(resDist), "NORMAL")
else:
self._printLogs("Movement Complete : " +
str(ONEUNITDIST), "NORMAL")
# print "dist in m : ",units
possible = True # movement possible in direction
if units < 0.2:
possible = False
units = resDist
return [possible, units]
def _moveLeft(self, distToMove):
X = 0.0
Y = min(distToMove, ONEUNITDIST)
Theta = 0.0
x = 0
t0 = time.time()
# Blocking call
a = self.motion_service.moveTo(X, Y, Theta)
t1 = time.time()
t = t1 - t0
t *= 1000
units = float(t) * (1.0 / TIME_CALIBERATED)
# TIME_CALIBERATED is an average time per m length. Need to caliberate according to the flooring.
resDist = 0
if units >= 0.2:
resDist = units
if not a:
self._printLogs(
"Obstacle found in btw, bot moved dist : " + str(resDist), "NORMAL")
else:
self._printLogs("Movement Complete : " +
str(ONEUNITDIST), "NORMAL")
# print "dist in m : ",units
possible = True # movement possible in direction
if units < 0.2:
possible = False
units = resDist
return [possible, units]
def _moveRight(self, distToMove):
X = 0.0
Y = - min(distToMove, ONEUNITDIST) # forward
Theta = 0.0
x = 0
t0 = time.time()
# Blocking call
a = self.motion_service.moveTo(X, Y, Theta)
t1 = time.time()
t = t1 - t0
t *= 1000
units = float(t) * (1.0 / TIME_CALIBERATED)
# TIME_CALIBERATED is an average time per m length. Need to caliberate according to the flooring.
resDist = 0
if units >= 0.2:
resDist = units
if not a:
self._printLogs(
"Obstacle found in btw, bot moved dist : " + str(resDist), "NORMAL")
else:
self._printLogs("Movement Complete : " +
str(ONEUNITDIST), "NORMAL")
# print "dist in m : ",units
possible = True # movement possible in direction
if units < 0.2:
possible = False
units = resDist
return [possible, units]
def _moveBack(self, distToMove):
X = - min(distToMove, ONEUNITDIST) # forward
Y = 0.0
Theta = 0.0
x = 0
t0 = time.time()
# Blocking call
a = self.motion_service.moveTo(X, Y, Theta)
t1 = time.time()
t = t1 - t0
t *= 1000
units = float(t) * (1.0 / TIME_CALIBERATED)
# TIME_CALIBERATED is an average time per m length. Need to caliberate according to the flooring.
resDist = 0
if units >= 0.2:
resDist = units
if not a:
self._printLogs(
"Obstacle found in btw, bot moved dist : " + str(resDist), "NORMAL")
else:
self._printLogs("Movement Complete : " +
str(ONEUNITDIST), "NORMAL")
# print "dist in m : ",units
possible = True # movement possible in direction
if units < 0.2:
possible = False
units = resDist
return [possible, units]
def _turnTheta(self, theta):
X = 0.0
Y = 0.0
Theta = theta
# theta = math.radians(-45)
# theta = -math.pi/2
# Blocking call
a = self.motion_service.moveTo(X, Y, Theta)
if not a:
self._printLogs("Obstacle found in between cannot move", "NORMAL")
else:
self._printLogs("Movement Complete", "NORMAL")
return a
def _insideCircle(self, p1, p2):
# p1 being centre of the circle, check wether p2 is inside the circle for given radius
radius = 10 # here taking 10px
return math.sqrt((p1[0] - p2[0])**2 + (p1[1] - p2[1])**2) <= radius
def _sortOnX(self, elem):
return elem[0]
def _sortOnY(self, elem):
return elem[1]
def _resolveCellType(self, name):
if name == "blank":
return '.'
if name == "cross":
return 'x'
if name == "circle":
return 'o'
return -1
def _coinInterpretation(self, coinType):
if coinType == 'x':
return "cross"
if coinType == 'o':
return "circle"
if coinType == '.':
return "blank"
return -1
def _checkBoardInVicinity(self, cameraId):
coinConfidence = 4 # min no of coins identified to tell possibility of a board present
self._printLogs("Capturing Image For Board", "NORMAL")
# Capture Image in RGB
# WARNING : The same Name could be used only six time.
strName = "capture2DImage_{}".format(random.randint(1, 10000000000))
clientRGB = self.video_service.subscribeCamera(
strName, cameraId, AL_kVGA, 11, 10)
imageRGB = self.video_service.getImageRemote(clientRGB)
imageWidth = imageRGB[0]
imageHeight = imageRGB[1]
array = imageRGB[6]
image_string = str(bytearray(array))
# Create a PIL Image from our pixel array.
im = Image.frombytes("RGB", (imageWidth, imageHeight), image_string)
# CHECK IF BOARD IS IN THE IMAGE OR NOT
metadata = self._sendImageToServer(
imageWidth, imageHeight, image_string)
res = metadata["isPresent"]
boxX0 = 640 # max width
boxX1 = 0
boxY0 = 480 # max height
boxY1 = 0
if res:
objects = metadata["objects"]
coins = []
self._printLogs("Number of Objects : " +
str(len(objects)), "NORMAL")
# Creating Bounding Box
for coin in objects:
label = coin["label"]
x0 = float(coin["Left"])
y0 = float(coin["Top"])
x1 = float(coin["Right"])
y1 = float(coin["Bottom"])
boxX0 = min(boxX0, x0)
boxY0 = min(boxY0, y0)
boxX1 = max(boxX1, x1)
boxY1 = max(boxY1, y1)
if len(objects) >= coinConfidence:
return (True, (boxX0, boxY0), (boxX1, boxY1))
return (False, (boxX0, boxY0), (boxX1, boxY1))
def _localiseRobot(self):
print "Starting Localisation"
''' Work in progress on this, Presently Hardcoding '''
for i in range(3):
res = False
x = 45
if i == 2:
x = 25
while not res:
res = self._turnTheta(math.radians(x))
time.sleep(2)
self._turnTheta(math.radians(-25))
time.sleep(2) # adding time between movements for smoothe transition
self._moveLeft(0.4)
time.sleep(2)
self._moveRight(0.1)
time.sleep(2)
self._moveForward(0.5)
time.sleep(2)
self._moveForward(0.2)
time.sleep(2)
self._moveHead(0, 0.2)
# # LOCALISATION ALGORITHM
# cameraId = 0
# for i in range(8):
# self._turnTheta(math.radians(-45))
# res = self._checkBoardInVicinity(cameraId)
# success = res[0]
# boxP1 = res[1]
# boxP2 = res[2]
# if success:
# '''
# -> Board Found
# -> align with zero skewness first
# -> do lateral movements align left right properly with help of
# box points and image dimensions
# -> do forward / backward movement with respect to box ratio to image ratio
# If box covers 60% and more can stop movement
# -> do head movements to align centre of board
# '''
return
def _resetGame(self):
self._printLogs("Reseting the game", "NORMAL")
self.gameOn = False
self.gameBoard = ['.'] * 9
self.heuristicBoard = ['-1'] * 9
self.lastMemoizedBoard = [((-1, -1), "")] * 9
self.boardFound = False
self.computerType = '-'
self.humanType = '-'
self.affirmativeCall = False
self.negativeCall = False
self.tossAsked = False
self.overLapBoard = False
self.human_watcher.start_basic_awareness()
return
def _printBoard(self, board):
print "\n ", board[0], board[1], board[2]
print " ", board[3], board[4], board[5]
print " ", board[6], board[7], board[8]
print "\n"
return
def _compareBoard(self, tempBoard):
newCellCount = 0
referenceCode = 0
metadata = {}
metadata["success"] = False
metadata["pos"] = -1
metadata["cellType"] = ''
metadata["referenceCode"] = ''
for i in range(9):
if self.gameBoard[i] != tempBoard[i]:
if self.gameBoard[i] == '.':
metadata["pos"] = i
metadata["cellType"] = tempBoard[i]
newCellCount += 1
if newCellCount >= 2: # more than one new entries found
metadata["success"] = False
metadata["referenceCode"] = self.MULTIPLE_ENTRY_CODE
return metadata
else:
metadata["success"] = False
metadata["referenceCode"] = self.MISMATCH_ERROR_CODE
return metadata
if newCellCount == 1:
metadata["success"] = True
metadata["referenceCode"] = self.SUCCESSFULL_DETECTION_CODE
else:
metadata["success"] = False
metadata["referenceCode"] = self.NO_DETECTION_CODE
# return {success, pos, cellType, referenceCode=self.MISMATCH_ERROR_CODE}
return metadata
def _sendImageToServer(self, imageWidth, imageHeight, imageString):
result = {}
coordinates = {}
metadata = {}
isPresent = False
try:
self._printLogs("Sending Image To DL Server...", "NORMAL")
url = DL_SERVER_URL
payload = {
"imageWidth" : imageWidth,
"imageHeight" : imageHeight,
"image_string" : base64.b64encode(imageString),
"imageID" : self.imageNo2d
}
headers = {'content-type': 'application/json'}
res = requests.post(url, data=json.dumps(payload), headers=headers)
result = res.json()
self._printLogs("[*] Sent to : " + str(url), "OKBLUE")
self._printLogs(
"[*] Response to finding board is : " + str(result), "OKBLUE")
except Exception, err:
self._printLogs(
"Error Found on connecting to server : " + str(err), "FAIL")
self._printLogs("+", "LINE")
if result and result["boardFound"]:
# print " *** Board Found *** \n"
self.boardFound = True
metadata["objects"] = result["objects"]
isPresent = True
else:
# print "Board Not Found\n"
self.boardFound = False
metadata["isPresent"] = isPresent
return metadata
def _understandingBoard(self, coins):
tempBoard = [-1] * 9
rawBoard = [((-1, -1), "")] * 9
cs = [] # centeroids
for obj in coins:
label = obj["label"]
x0 = float(obj["Left"])
y0 = float(obj["Top"])
x1 = float(obj["Right"])
y1 = float(obj["Bottom"])
xc = float(x0 + x1) / 2
yc = float(y0 + y1) / 2
cs.append((xc, yc, label))
''' LOGIC
0 -> min (3 of all)x, min(1 of 3(x))y
2 -> max (3 of all)x, min(1 of 3(x))y
6 -> max (3 of all)y, min(1 of 3(y))x
8 -> max (3 of all)y, max(1 of 3(y))x
remove above coordinates
3 -> min of x
5 -> max of x
1 -> min of y
7 -> max of y
remove all obove
4 -> last left coordinate
'''
listLeft = []
listLeft.extend(cs) # as disk cannot be copied with x=y as both will have same reference then
onX = sorted(cs, key=self._sortOnX)
onY = sorted(cs, key=self._sortOnY)
temp = sorted([onX[i] for i in range(3)], key=self._sortOnY)[0]
listLeft.remove(temp)
rawBoard[0] = ((temp[0], temp[1]), temp[2])
tempBoard[0] = self._resolveCellType(temp[2])
temp = sorted([onX[i] for i in range(6, 9)], key=self._sortOnY)[0]
listLeft.remove(temp)
rawBoard[2] = ((temp[0], temp[1]), temp[2])
tempBoard[2] = self._resolveCellType(temp[2])
temp = sorted([onY[i] for i in range(6, 9)], key=self._sortOnX)[0]
listLeft.remove(temp)
rawBoard[6] = ((temp[0], temp[1]), temp[2])
tempBoard[6] = self._resolveCellType(temp[2])
temp = sorted([onY[i] for i in range(6, 9)], key=self._sortOnX)[2]
listLeft.remove(temp)
rawBoard[8] = ((temp[0], temp[1]), temp[2])
tempBoard[8] = self._resolveCellType(temp[2])
onX = sorted(listLeft, key=self._sortOnX)
onY = sorted(listLeft, key=self._sortOnY)
temp = onX[0]
listLeft.remove(temp)
rawBoard[3] = ((temp[0], temp[1]), temp[2])
tempBoard[3] = self._resolveCellType(temp[2])
temp = onX[-1]
listLeft.remove(temp)
rawBoard[5] = ((temp[0], temp[1]), temp[2])
tempBoard[5] = self._resolveCellType(temp[2])
temp = onY[0]
listLeft.remove(temp)
rawBoard[1] = ((temp[0], temp[1]), temp[2])
tempBoard[1] = self._resolveCellType(temp[2])
temp = onY[-1]
listLeft.remove(temp)
rawBoard[7] = ((temp[0], temp[1]), temp[2])
tempBoard[7] = self._resolveCellType(temp[2])
temp = listLeft[0]
listLeft.remove(temp) # list empty by now
rawBoard[4] = ((temp[0], temp[1]), temp[2])
tempBoard[4] = self._resolveCellType(temp[2])
self.lastMemoizedBoard = []
self.lastMemoizedBoard.extend(rawBoard)
# self._printBoard(self.lastMemoizedBoard)
self._printBoard(tempBoard)
return tempBoard
''' _heuristicUnderstadingFromPast():
The thing I am trying to achieve here is incase of poor recognition as the points
can only be evaluated with respect to each other, so if all 9 coins are not detected
it will be unable to position the coin at right index at the board, hence I am using a memoized board
to help situating the present coordinates and understanding their position from past.
DISCLAIMER -> Will work once robot and board are stationary.
Result => Finally it will help us detect the positions even if incomplete detections are made, i.e. all 9 detections not necessary
'''
def _heuristicUnderstadingFromPast(self, point, label):
multipleMatch = 0
for idx, cell in enumerate(self.lastMemoizedBoard):
if self._insideCircle(cell[0], point):
self.heuristicBoard[idx] = self._resolveCellType(label)
multipleMatch += 1
if multipleMatch >= 2:
self._printLogs("Change Radius Measurement", "FAIL")
return
def _tryOverlappingWithHeuristic(self):
tempBoard = ['-'] * 9
for i in range(9):
# as heuristicBoard is the latest updated board though with incomplete updation.
if self.heuristicBoard[i] != '-1':
# if self.heuristicBoard[i] == '.' and self.gameBoard[i] != '.':
# # ASSUMPTION : donot update any earlier detected coin with a present detected blank
# tempBoard[i] = self.gameBoard[i]
# else:
# tempBoard[i] = self.heuristicBoard[i]
tempBoard[i] = self.heuristicBoard[i]
else:
tempBoard[i] = self.gameBoard[i]
self._printLogs("Overlaped Board with heuristicBoard", "NORMAL")
self._printBoard(tempBoard)
data = self._compareBoard(tempBoard)
success = data["success"]
update = {}
if success:
if data["cellType"] != self.humanType:
update["code"] = self.WRONG_TYPE_CODE
return (False, update)
else:
update["code"] = self.SUCCESSFULL_DETECTION_CODE
update["pos"] = data["pos"]
self.gameBoard[data["pos"]] = self.humanType # updating board
return (True, update)
else:
update["code"] = data["referenceCode"]
return (False, update)
return
def _checkBoardComposition(self, cameraId):
self._printLogs("Capturing Image For Board", "NORMAL")
# Capture Image in RGB
# WARNING : The same Name could be used only six time.
strName = "capture2DImage_{}".format(random.randint(1, 10000000000))
clientRGB = self.video_service.subscribeCamera(
strName, cameraId, AL_kVGA, 11, 10)
imageRGB = self.video_service.getImageRemote(clientRGB)
imageWidth = imageRGB[0]
imageHeight = imageRGB[1]
array = imageRGB[6]
image_string = str(bytearray(array))
# Create a PIL Image from our pixel array.
im = Image.frombytes("RGB", (imageWidth, imageHeight), image_string)
# CHECK IF BOARD IS IN THE IMAGE OR NOT
metadata = self._sendImageToServer(
imageWidth, imageHeight, image_string)
res = metadata["isPresent"]
update = {}
if res:
self.heuristicBoard = ['-1'] * 9 # reseting the board for new image
objects = metadata["objects"]
coins = []
self._printLogs("Number of Objects : " +
str(len(objects)), "NORMAL")
# Creating Bounding Box
for coin in objects:
label = coin["label"]
x0 = float(coin["Left"])
y0 = float(coin["Top"])
x1 = float(coin["Right"])
y1 = float(coin["Bottom"])
# Because my cross and circle training is weak,still minimum threshold of 50% is set at DL Servers end
if float(coin["confidence"]) > 70.0 or label == "cross" or label == "circle":
coins.append(coin)
xc = float(x0 + x1) / 2
yc = float(y0 + y1) / 2
self._heuristicUnderstadingFromPast((xc, yc), label)
draw = ImageDraw.Draw(im)
draw.rectangle([(x0, y0), (x1, y1)], fill=None, outline="red")
del draw
# Save the image.
base_url = "./images/captured/"
image_name_2d = base_url + "img2d-" + str(self.imageNo2d) + ".png"
im.save(image_name_2d, "PNG") # Stored in images folder in the pwd, if not present then create one
self.boardImgNo = self.imageNo2d
self.imageNo2d += 1
try:
self._printLogs("Number of Detections : " +
str(len(coins)), "NORMAL")
self._printLogs("-", "LINE")
self._printLogs("Printing heuristicBoard", "NORMAL")
self._printBoard(self.heuristicBoard)
self._printLogs("-", "LINE")
if len(coins) == 0:
update["code"] = self.EMPTY_BOARD_CODE
return (False, update)
if len(coins) != len(objects):
update["code"] = self.IDENTIFICATION_ERROR_CODE
return (False, update)
tempBoard = self._understandingBoard(coins)
data = self._compareBoard(tempBoard)
success = data["success"]
if success:
if data["cellType"] != self.humanType:
update["code"] = self.WRONG_TYPE_CODE
return (False, update)
else:
update["code"] = self.SUCCESSFULL_DETECTION_CODE
update["pos"] = data["pos"]
self.gameBoard[data["pos"]] = self.humanType # updating board
return (True, update)