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diff --git a/memory_lib/board.py b/memory_lib/board.py
index 4c45bac728f31700127af97fd5eb9637cc7a74c1..935b650e9b41b1a26dbfcbe03b6060ed8c20f126 100644
--- a/memory_lib/board.py
+++ b/memory_lib/board.py
@@ -604,6 +604,7 @@ class PieceTakenDetectionEdgesTriggerTestOnArucoFull:
self.fifo_size = 10
self.last_boards: List[Board] = []
self.last_state_change = [0]*16
+ self.last_state = [PieceState.UNKNOWN]*16
self.out_board: Optional[Board] = None
def add_board(self, board: Board) -> None:
@@ -614,13 +615,23 @@ class PieceTakenDetectionEdgesTriggerTestOnArucoFull:
@staticmethod
def _average_state(states: List[PieceState]) -> PieceState:
+ """Get the most present state in a list"""
u = states.count(PieceState.UNKNOWN), PieceState.UNKNOWN
on = states.count(PieceState.ON_BOARD), PieceState.ON_BOARD
off = states.count(PieceState.OFF_BOARD), PieceState.OFF_BOARD
return max(u, on, off, key=lambda t: t[0])[1]
- def _states_by_pieces(self):
- boards_pieces = [board.pieces for board in self.last_boards]
+ @staticmethod
+ def _states_by_pieces(boards: List[Board]) -> list[list[PieceState]]:
+ """For every pieces, get the last X states
+
+ res = [
+ [...state_at_t-3, state_at_t-2, state_at_t-1], # piece 0
+ [...state_at_t-3, state_at_t-2, state_at_t-1], # piece 1
+ ...
+ ]
+ """
+ boards_pieces = [board.pieces for board in boards]
transposed = [elem for elem in zip(*boards_pieces)]
res = []
for last_pieces_for_one_piece in transposed:
@@ -632,7 +643,7 @@ class PieceTakenDetectionEdgesTriggerTestOnArucoFull:
def _average_board(self) -> Board:
next_out_board = Board.from_board(self.last_boards[-1])
- states_by_pieces = self._states_by_pieces()
+ states_by_pieces = self._states_by_pieces(self.last_boards)
average_state_by_pieces = [self._average_state(states) for states in states_by_pieces]
for idx, piece in enumerate(next_out_board.pieces):
diff --git a/memory_lib/piece_state.py b/memory_lib/piece_state.py
new file mode 100644
index 0000000000000000000000000000000000000000..1cc79698f851844c80ddbc69d6aa1c962aa46625
--- /dev/null
+++ b/memory_lib/piece_state.py
@@ -0,0 +1,70 @@
+from abc import ABC, abstractmethod
+from enum import Enum
+
+from memory_lib.model import PieceState
+
+
+class StateMachineInput(ABC):
+ def __init__(self, enum: Enum) -> None:
+ self.enum = enum
+
+
+class State(ABC):
+
+ @abstractmethod
+ def next(self, sm_input: StateMachineInput) -> "State":
+ ...
+
+
+class StateMachine:
+ def __init__(self, inital_state: State) -> None:
+ self.current_state = inital_state
+
+ def next(self, sm_input: StateMachineInput) -> State:
+ return self.current_state.next(sm_input)
+
+
+class StateMachineInputPiece(StateMachineInput):
+ def __init__(self, piece_state: PieceState):
+ super().__init__(piece_state)
+
+
+class State0(State):
+ def next(self, sm_input: StateMachineInputPiece) -> State:
+ return state_1
+
+
+class State1(State):
+ def next(self, sm_input: StateMachineInput) -> State:
+ if sm_input.enum == PieceState.UNKNOWN:
+ return state_2
+ if sm_input.enum == PieceState.ON_BOARD:
+ return state_1
+ if sm_input.enum == PieceState.OFF_BOARD:
+ return state_3 # TODO: output = 1
+
+
+class State2(State):
+ def next(self, sm_input: StateMachineInput) -> State:
+ if sm_input.enum == PieceState.UNKNOWN:
+ return state_2
+ if sm_input.enum == PieceState.ON_BOARD:
+ return state_1
+ if sm_input.enum == PieceState.OFF_BOARD:
+ return state_3 # TODO: output = 1
+
+
+class State3(State):
+ def next(self, sm_input: StateMachineInput) -> State:
+ if sm_input.enum == PieceState.UNKNOWN:
+ return state_2
+ if sm_input.enum == PieceState.ON_BOARD:
+ return state_1
+ if sm_input.enum == PieceState.OFF_BOARD:
+ return state_3 # TODO: output = 1
+
+
+state_0 = State0()
+state_1 = State1()
+state_2 = State2()
+state_3 = State3()
diff --git a/memory_lib/tests/run_memory.py b/memory_lib/tests/run_memory.py
index 3ba4fd2f0c608932515acbbf03903ac4b971069c..6e149ee7cef481bb065bf1a890e4300eab550f1a 100644
--- a/memory_lib/tests/run_memory.py
+++ b/memory_lib/tests/run_memory.py
@@ -35,8 +35,8 @@ def main():
# memory = memory_lib.MemoryABM(cap)
# cap = cv.VideoCapture("res/webcam_05_aruco.avi")
- cap = cv.VideoCapture(0)
- # cap = cv.VideoCapture("res/webcam_11_aruco.avi")
+ # cap = cv.VideoCapture(0)
+ cap = cv.VideoCapture("res/webcam_12_aruco_full.avi")
memory = memory_lib.MemoryArucoFull(cap)
memory.bind_pieces(hello_piece)