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Stubbed pixel detection, added support to CyberarmEngine#setupFromConfig for inserting states AFTER a provided state

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This commit is contained in:
Cyberarm
2023-12-15 10:59:37 -06:00
parent ef556c148d
commit 146d2f6a51
9 changed files with 160 additions and 7 deletions
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21
TeamCode/src/main/java/dev/cyberarm/engine/V2/CyberarmEngine.java
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@@ -416,6 +416,21 @@ public abstract class CyberarmEngine extends OpMode {
* @param groupName Group name
*/
public void setupFromConfig(TimeCraftersConfiguration configuration, String packageName, Object object, Class<?> objectClass, String groupName) {
setupFromConfig(configuration, packageName, object, objectClass, groupName, null);
}
/**
* Automatically populates states from a TimeCraftersConfiguration Group actions
* requires action comments to start with an @ character followed by the class name
* state must have a construction that takes 3 arguments: object, groupName, and actionName
* @param configuration TimeCraftersConfiguration
* @param packageName Package name where states are defined
* @param object Object to pass as first argument to states constructor
* @param objectClass Class to cast object to
* @param groupName Group name
* @param insertAfterState state to insert states AFTER
*/
public void setupFromConfig(TimeCraftersConfiguration configuration, String packageName, Object object, Class<?> objectClass, String groupName, CyberarmState insertAfterState) {
CyberarmState lastState = null;
String lastActionName = null;
String[] lastActionNameSplit = new String[0];
@@ -446,7 +461,11 @@ public abstract class CyberarmEngine extends OpMode {
{
lastState.addParallelState(state);
} else {
addState(state);
if (insertAfterState != null) {
insertAfterState.addState(state);
} else {
addState(state);
}
lastState = state;
}

24
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/RedCrabMinibot.java
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@@ -8,8 +8,12 @@ import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.IMU;
import com.qualcomm.robotcore.hardware.Servo;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
import org.firstinspires.ftc.robotcore.external.tfod.TFObjectDetector;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.tfod.TfodProcessor;
import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
import java.sql.Time;
@@ -68,11 +72,29 @@ public class RedCrabMinibot {
public final TimeCraftersConfiguration config;
public RedCrabMinibot() {
public enum Path {
LEFT,
CENTER,
RIGHT
}
public final TfodProcessor tfod;
public final VisionPortal visionPortal;
public RedCrabMinibot(boolean autonomous) {
engine = CyberarmEngine.instance;
config = new TimeCraftersConfiguration("cyberarm_RedCrab");
if (autonomous) {
tfod = TfodProcessor.easyCreateWithDefaults();
visionPortal = VisionPortal.easyCreateWithDefaults(
engine.hardwareMap.get(WebcamName.class, "Webcam 1"), tfod);
} else {
tfod = null;
visionPortal = null;
}
/// IMU ///
/// ------------------------------------------------------------------------------------ ///
imu = engine.hardwareMap.get(IMU.class, "imu"); // | Ctrl Hub, I2C Port: 0

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueAudienceEngine.java
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@@ -14,7 +14,7 @@ public class RedCrabAutonomousBlueAudienceEngine extends CyberarmEngine {
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),
"dev.cyberarm.minibots.red_crab.states",
new RedCrabMinibot(),
new RedCrabMinibot(true),
RedCrabMinibot.class,
"Autonomous_BLUE_Audience"
);

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousBlueBackstageEngine.java
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@@ -14,7 +14,7 @@ public class RedCrabAutonomousBlueBackstageEngine extends CyberarmEngine {
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),
"dev.cyberarm.minibots.red_crab.states",
new RedCrabMinibot(),
new RedCrabMinibot(true),
RedCrabMinibot.class,
"Autonomous_BLUE_Backstage"
);

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedAudienceEngine.java
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@@ -14,7 +14,7 @@ public class RedCrabAutonomousRedAudienceEngine extends CyberarmEngine {
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),
"dev.cyberarm.minibots.red_crab.states",
new RedCrabMinibot(),
new RedCrabMinibot(true),
RedCrabMinibot.class,
"Autonomous_RED_Audience"
);

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabAutonomousRedBackstageEngine.java
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@@ -14,7 +14,7 @@ public class RedCrabAutonomousRedBackstageEngine extends CyberarmEngine {
setupFromConfig(
new TimeCraftersConfiguration("cyberarm_RedCrab"),
"dev.cyberarm.minibots.red_crab.states",
new RedCrabMinibot(),
new RedCrabMinibot(true),
RedCrabMinibot.class,
"Autonomous_RED_Backstage"
);

2
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/engines/RedCrabTeleOpEngine.java
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@@ -10,6 +10,6 @@ import dev.cyberarm.minibots.red_crab.states.Pilot;
public class RedCrabTeleOpEngine extends CyberarmEngine {
@Override
public void setup() {
addState(new Pilot(new RedCrabMinibot()));
addState(new Pilot(new RedCrabMinibot(false)));
}
}

38
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/PathEnactor.java Normal file
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@@ -0,0 +1,38 @@
package dev.cyberarm.minibots.red_crab.states;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
public class PathEnactor extends CyberarmState {
private final RedCrabMinibot robot;
private String pathGroupName;
public PathEnactor(RedCrabMinibot robot, String groupName, String actionName) {
this.robot = robot;
}
@Override
public void start() {
String path;
switch (engine.blackboardGetInt("AutonomousPath")) {
case 1:
path = "CENTER";
break;
case 2:
path = "RIGHT";
break;
default:
path = "LEFT";
break;
}
this.pathGroupName = String.format("AutonomousPixelPath_%s", path);
}
@Override
public void exec() {
engine.setupFromConfig(
robot.config, "dev.cyberarm.minibots.red_crab.states", robot, robot.getClass(), pathGroupName, this);
finished();
}
}

74
TeamCode/src/main/java/dev/cyberarm/minibots/red_crab/states/PathSelector.java Normal file
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@@ -0,0 +1,74 @@
package dev.cyberarm.minibots.red_crab.states;
import org.firstinspires.ftc.robotcore.external.tfod.Recognition;
import java.util.ArrayList;
import java.util.List;
import dev.cyberarm.engine.V2.CyberarmState;
import dev.cyberarm.minibots.red_crab.RedCrabMinibot;
public class PathSelector extends CyberarmState {
private final RedCrabMinibot robot;
private final int timeoutMS;
private final int fallbackPath;
private List<Recognition> recognitions = new ArrayList<>();
public PathSelector(RedCrabMinibot robot, String groupName, String actionName) {
this.robot = robot;
this.timeoutMS = robot.config.variable(groupName, actionName, "timeoutMS").value();
this.fallbackPath = robot.config.variable(groupName, actionName, "fallbackPath").value();
}
@Override
public void init() {
robot.tfod.setClippingMargins(0, 0, 0, 0);
robot.tfod.setMinResultConfidence(0.8f);
engine.blackboardSet("autonomousPath", fallbackPath);
}
@Override
public void exec() {
recognitions = robot.tfod.getRecognitions();
for (Recognition recognition : recognitions) {
double x = (recognition.getLeft() + recognition.getRight()) / 2;
double y = (recognition.getTop() + recognition.getBottom()) / 2;
if (recognition.getLabel().equals("pixel")) {
if (x < 120) {
engine.blackboardSet("autonomousPath", RedCrabMinibot.Path.LEFT.ordinal());
} else if (x >= 120 && x < 240) {
engine.blackboardSet("autonomousPath", RedCrabMinibot.Path.CENTER.ordinal());
} else {
engine.blackboardSet("autonomousPath", RedCrabMinibot.Path.RIGHT.ordinal());
}
}
}
if (runTime() >= timeoutMS) {
robot.visionPortal.close();
robot.tfod.shutdown();
finished();
}
}
@Override
public void telemetry() {
engine.telemetry.addLine();
engine.telemetry.addData("# Objects Detected", recognitions.size());
for(Recognition recognition : recognitions) {
double x = (recognition.getLeft() + recognition.getRight()) / 2;
double y = (recognition.getTop() + recognition.getBottom()) / 2;
engine.telemetry.addLine();
engine.telemetry.addData("Image", "%s (%.0f %% Conf.)", recognition.getLabel(), recognition.getConfidence() * 100);
engine.telemetry.addData("- Position", "%.0f / %.0f", x, y);
engine.telemetry.addData("- Size", "%.0f x %.0f", recognition.getWidth(), recognition.getHeight());
}
}
}