| #!/usr/bin/python3 |
| |
| # Creates a UI for a user to select the regions in a camera image where the balls could be placed |
| # for each field layout. |
| # After the balls have been placed on the field and they submit the regions, |
| # galactic_search_path.py will take another picture and based on the yellow regions |
| # in that picture it will determine where the balls are. |
| # This tells us which path the current field is. It then sends the Alliance and Letter of the path |
| # with aos_send to the /camera channel for the robot to excecute the spline for that path. |
| |
| from galactic_search_path import * |
| |
| import getopt |
| import glog |
| import json |
| import matplotlib.patches as patches |
| import matplotlib.pyplot as plt |
| from matplotlib.widgets import Button |
| import numpy as np |
| import os |
| import sys |
| |
| _num_rects = 3 # can be 3 or 2, can be specified in commang line arg |
| |
| _path = Path(Letter.kA, Alliance.kRed, [Rect(None, None, None, None)]) |
| |
| # current index in rects list |
| _rect_index = 0 |
| |
| _fig, _img_ax = plt.subplots() |
| |
| _txt = _img_ax.text(0, 0, "", size=10, backgroundcolor="white") |
| |
| _confirm = Button(plt.axes([0.7, 0.05, 0.1, 0.075]), "Confirm") |
| _cancel = Button(plt.axes([0.81, 0.05, 0.1, 0.075]), "Cancel") |
| _submit = Button(plt.axes([0.4, 0.05, 0.1, 0.1]), "Submit") |
| |
| |
| def draw_txt(txt): |
| txt.set_text( |
| "Click on top left point and bottom right point for rect #%u" % |
| (_rect_index + 1)) |
| txt.set_color(_path.alliance.value) |
| |
| |
| def on_confirm(event): |
| global _rect_index |
| if _path.rects[_rect_index].x1 != None and _path.rects[ |
| _rect_index].x2 != None: |
| _confirm.ax.set_visible(False) |
| _cancel.ax.set_visible(False) |
| _rect_index += 1 |
| clear_rect() |
| if _rect_index == _num_rects: |
| _submit.ax.set_visible(True) |
| else: |
| draw_txt(_txt) |
| _path.rects.append(Rect(None, None, None, None)) |
| plt.show() |
| |
| |
| def on_cancel(event): |
| global _rect_index |
| if _rect_index < _num_rects: |
| _confirm.ax.set_visible(False) |
| _cancel.ax.set_visible(False) |
| clear_rect() |
| _path.rects[_rect_index].x1 = None |
| _path.rects[_rect_index].y1 = None |
| _path.rects[_rect_index].x2 = None |
| _path.rects[_rect_index].y2 = None |
| plt.show() |
| |
| |
| def on_submit(event): |
| plt.close("all") |
| dict = None |
| dict = load_json() |
| if _path.letter.name not in dict: |
| dict[_path.letter.name] = {} |
| if _path.alliance.name not in dict[_path.letter.name]: |
| dict[_path.letter.name][_path.alliance.name] = [] |
| dict[_path.letter.name][_path.alliance.name] = [ |
| rect.to_list() for rect in _path.rects |
| ] |
| with open(RECTS_JSON_PATH, 'w') as rects_json: |
| json.dump(dict, rects_json, indent=2) |
| |
| |
| # Clears rect on screen |
| def clear_rect(): |
| if len(_img_ax.patches) == 0: |
| glog.error("There were no patches found in _img_ax") |
| else: |
| _img_ax.patches[-1].remove() |
| |
| |
| def on_click(event): |
| # This gets called for each click of the rectangle corners, |
| # but also gets called when the user clicks on the Submit button. |
| # At that time _rect_index will equal the length of rects, and so we'll ignore that click. |
| # If it checked the points of the rect at _rect_index, a list out of bounds exception would be thrown. |
| # Additionally, the event xdata or ydata will be None if the user clicks out of |
| # the bounds of the axis |
| if _rect_index < _num_rects and event.xdata != None and event.ydata != None: |
| if _path.rects[_rect_index].x1 == None: |
| _path.rects[_rect_index].x1, _path.rects[_rect_index].y1 = int( |
| event.xdata), int(event.ydata) |
| elif _path.rects[_rect_index].x2 == None: |
| _path.rects[_rect_index].x2, _path.rects[_rect_index].y2 = int( |
| event.xdata), int(event.ydata) |
| if _path.rects[_rect_index].x2 < _path.rects[_rect_index].x1: |
| tmp = _path.rects[_rect_index].x1 |
| _path.rects[_rect_index].x1 = _path.rects[_rect_index].x2 |
| _path.rects[_rect_index].x2 = tmp |
| if _path.rects[_rect_index].y2 < _path.rects[_rect_index].y1: |
| tmp = _path.rects[_rect_index].y1 |
| _path.rects[_rect_index].y1 = _path.rects[_rect_index].y2 |
| _path.rects[_rect_index].y2 = tmp |
| |
| _img_ax.add_patch( |
| patches.Rectangle( |
| (_path.rects[_rect_index].x1, _path.rects[_rect_index].y1), |
| _path.rects[_rect_index].x2 - _path.rects[_rect_index].x1, |
| _path.rects[_rect_index].y2 - _path.rects[_rect_index].y1, |
| edgecolor='r', |
| linewidth=1, |
| facecolor="none")) |
| _confirm.ax.set_visible(True) |
| _cancel.ax.set_visible(True) |
| plt.show() |
| else: |
| glog.info( |
| "Either submitted or user pressed out of the bounds of the axis") |
| |
| |
| def setup_button(button, on_clicked): |
| button.on_clicked(on_clicked) |
| button.ax.set_visible(False) |
| |
| |
| def setup_ui(): |
| _img_ax.imshow(capture_img()) |
| release_stream() |
| |
| _fig.canvas.mpl_connect("button_press_event", on_click) |
| setup_button(_confirm, on_confirm) |
| setup_button(_cancel, on_cancel) |
| setup_button(_submit, on_submit) |
| draw_txt(_txt) |
| plt.show() |
| |
| |
| def view_rects(): |
| |
| rects_dict = load_json() |
| if (_path.letter.name in rects_dict |
| and _path.alliance.name in rects_dict[_path.letter.name]): |
| _confirm.ax.set_visible(False) |
| _cancel.ax.set_visible(False) |
| _submit.ax.set_visible(False) |
| _img_ax.imshow(capture_img()) |
| |
| for rect_list in rects_dict[_path.letter.name][_path.alliance.name]: |
| rect = Rect.from_list(rect_list) |
| _img_ax.add_patch( |
| patches.Rectangle((rect.x1, rect.y1), |
| rect.x2 - rect.x1, |
| rect.y2 - rect.y1, |
| edgecolor='r', |
| linewidth=1, |
| facecolor="none")) |
| plt.show() |
| else: |
| glog.error("Could not find path %s %s in rects.json", |
| _path.alliance.value, _path.letter.value) |
| |
| |
| def main(argv): |
| global _num_rects |
| |
| glog.setLevel("INFO") |
| opts = getopt.getopt( |
| argv[1:], "a:l:n:", |
| ["alliance = ", "letter = ", "_num_rects = ", "view"])[0] |
| view = False |
| for opt, arg in opts: |
| if opt in ["-a", "--alliance"]: |
| _path.alliance = Alliance.from_value(arg) |
| elif opt in ["-l", "--letter"]: |
| _path.letter = Letter.from_value(arg.upper()) |
| elif opt in ["-n", "--_num_rects"] and arg.isdigit(): |
| _num_rects = int(arg) |
| elif opt == "--view": |
| view = True |
| |
| if view: |
| view_rects() |
| else: |
| setup_ui() |
| |
| |
| if __name__ == "__main__": |
| main(sys.argv) |