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Commit 8cb5c801 authored by Adrien Lescourt's avatar Adrien Lescourt
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Add piece state machine doc

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doc/pieces_states.drawio 0 → 100644
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doc/pieces_states.drawio.svg 0 → 100644
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\ No newline at end of file
memory_lib/board.py
+ 14
− 3
View file @ 8cb5c801
......@@ -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):
......
memory_lib/piece_state.py 0 → 100644
+ 70
− 0
View file @ 8cb5c801
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()
memory_lib/tests/run_memory.py
+ 2
− 2
View file @ 8cb5c801
......@@ -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)
......
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