Issue #1656: improve camera configuration, add and allow multiple det…

…ectors

OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/robotCommunication/RobotCommunicationData.java

@@ -19,7 +19,7 @@
 public class RobotCommunicationData {
     private static final Logger LOG = LoggerFactory.getLogger(RobotCommunicationData.class);
     private static final int TIMEOUT_UNTIL_TOKEN_EXPIRES_WHEN_USER_DOESNT_APPROVE = 300000;
-    private static final int TIMEOUT_UNTIL_ASSUME_DISCONNECTED_IF_ROBOT_DOESNT_PUSH = 10000;
+    private static final int TIMEOUT_UNTIL_ASSUME_DISCONNECTED_IF_ROBOT_DOESNT_PUSH = 11000;
     private static final int PUSH_TIMEOUT_INTERVALL = 10000;
 
     private final String token;

OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/transformer/Jaxb2ConfigurationAst.java

@@ -135,6 +135,11 @@ private static ConfigurationComponent block2NewConfigComp(Block block, BlocklyDr
         for ( int i = 1; i < block.getField().size(); i++ ) {
             map.put(block.getField().get(i).getName(), block.getField().get(i).getValue());
         }
+        for ( Value value : block.getValue() ) {
+            String name = value.getName();
+            String val = value.getBlock().getField().get(0).getValue().toString();
+            map.put(name, val);
+        }
         LinkedHashMap<String, List<ConfigurationComponent>> subcomponents = new LinkedHashMap<>();
         List<Statement> statements = block.getStatement();
         if ( statements.size() == 0 ) {

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/astGenerated/txt4/camera.ast

@@ -1,56 +1,4 @@
-SerialWriteAction[value: StringConst[value: Camera Tests]]
-SerialWriteAction[value: StringConst[value: Press right display button to switch to next Detector]]
-SerialWriteAction[value: StringConst[value: Config Settings are 30, Orange, 2]]
-SerialWriteAction[value: StringConst[value: Camera Color]]
-
-(repeat [FOREVER, BoolConst[value: true]]
-AktionStmt [SerialWriteAction[value: SensorExpr [ColorSensor [C, COLOUR, - EMPTY_SLOT -]]]]WaitTimeStmt[time: NumConst[value: 200]]
-if SensorExpr [TouchKeySensor [RIGHT, PRESSED, - EMPTY_SLOT -]]
-,thenStmtFlowCon[flow: BREAK]
-
-)
-SerialWriteAction[value: StringConst[value: Camera Color compared to red]]
-WaitTimeStmt[time: NumConst[value: 300]]
-
-(repeat [FOREVER, BoolConst[value: true]]
-AktionStmt [SerialWriteAction[value: ActionExpr [ColourCompare[op: EQ, colour1: SensorExpr [ColorSensor [C, COLOUR, - EMPTY_SLOT -]], colour2: ColorConst[hexValue: #ff0000], tolerance: NumConst[value: 50]]]]]WaitTimeStmt[time: NumConst[value: 200]]
-if SensorExpr [TouchKeySensor [RIGHT, PRESSED, - EMPTY_SLOT -]]
-,thenStmtFlowCon[flow: BREAK]
-
-)
-SerialWriteAction[value: StringConst[value: Line Information]]
-WaitTimeStmt[time: NumConst[value: 300]]
-
-(repeat [FOREVER, BoolConst[value: true]]
-AktionStmt [SerialWriteAction[value: FunctionExpr [TextJoinFunct [StringConst[value: Number of lines: ], SensorExpr [CameraLineSensor [C, NUMBERLINES, - EMPTY_SLOT -]]]]]]
-AktionStmt [SerialWriteAction[value: FunctionExpr [TextJoinFunct [StringConst[value: Color of first line: ], SensorExpr [CameraLineColourSensor[mode: COLOUR, port: - EMPTY_PORT -, lineId: NumConst[value: 0]]]]]]]
-AktionStmt [SerialWriteAction[value: StringConst[value: Position and Width of line 0]]]
-(repeat [FOR_EACH, Binary [IN, VarDeclaration [NUMBER, item, EmptyExpr [defVal=NUMBER], false, false], SensorExpr [CameraLineInformationSensor[mode: INFORMATION, port: - EMPTY_PORT -, lineId: NumConst[value: 0]]]]]
-AktionStmt [SerialWriteAction[value: Var [item]]]
-)WaitTimeStmt[time: NumConst[value: 200]]
-if SensorExpr [TouchKeySensor [RIGHT, PRESSED, - EMPTY_SLOT -]]
-,thenStmtFlowCon[flow: BREAK]
-
-)
-SerialWriteAction[value: StringConst[value: Ball Information]]
-WaitTimeStmt[time: NumConst[value: 300]]
-
-(repeat [FOREVER, BoolConst[value: true]]
-AktionStmt [SerialWriteAction[value: FunctionExpr [TextJoinFunct [StringConst[value: X: ], FunctionExpr [ListGetIndex [GET, FROM_START, [SensorExpr [CameraBallSensor [C, BALL, - EMPTY_SLOT -]], NumConst[value: 0]]]]]]]]
-AktionStmt [SerialWriteAction[value: FunctionExpr [TextJoinFunct [StringConst[value: Y: ], FunctionExpr [ListGetIndex [GET, FROM_START, [SensorExpr [CameraBallSensor [C, BALL, - EMPTY_SLOT -]], NumConst[value: 1]]]]]]]]
-AktionStmt [SerialWriteAction[value: FunctionExpr [TextJoinFunct [StringConst[value: Diameter: ], FunctionExpr [ListGetIndex [GET, FROM_START, [SensorExpr [CameraBallSensor [C, BALL, - EMPTY_SLOT -]], NumConst[value: 2]]]]]]]]WaitTimeStmt[time: NumConst[value: 200]]
-if SensorExpr [TouchKeySensor [RIGHT, PRESSED, - EMPTY_SLOT -]]
-,thenStmtFlowCon[flow: BREAK]
-
-)
-SerialWriteAction[value: StringConst[value: Motion]]
-WaitTimeStmt[time: NumConst[value: 300]]
-
-(repeat [FOREVER, BoolConst[value: true]]
-AktionStmt [SerialWriteAction[value: SensorExpr [MotionSensor [C, MOTION, - EMPTY_SLOT -]]]]WaitTimeStmt[time: NumConst[value: 200]]
-if SensorExpr [TouchKeySensor [RIGHT, PRESSED, - EMPTY_SLOT -]]
-,thenStmtFlowCon[flow: BREAK]
-
-)
-SerialWriteAction[value: StringConst[value: DONE]]
-WaitTimeStmt[time: NumConst[value: 500]]
+MethodCall [ball, , , VOID]
+MethodCall [color, , , VOID]
+MethodCall [motion, , , VOID]
+MethodCall [line, , , VOID]

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/collectorResults/txt4/camera.txt

@@ -1,5 +1,5 @@
 Sensors: 
-[UsedSensor [C, CAMERA, COLOUR], UsedSensor [C, COLOUR, COLOUR], UsedSensor [DISPLAY, BUTTON, PRESSED], UsedSensor [, COLOURCOMPARE, COLOURCOMPARE], UsedSensor [C, CAMERA, LINE], UsedSensor [C, LINE, LINE], UsedSensor [C, CAMERA, BALL], UsedSensor [C, BALL, BALL], UsedSensor [C, CAMERA, MOTION], UsedSensor [C, MOTION, MOTION]]
+[UsedSensor [M, CAMERA, MOTION], UsedSensor [M, MOTION, MOTION], UsedSensor [M2, CAMERA, MOTION], UsedSensor [M2, MOTION, MOTION], UsedSensor [DISPLAY, BUTTON, PRESSED], UsedSensor [B, CAMERA, BALL], UsedSensor [B, BALL, BALL], UsedSensor [B2, CAMERA, BALL], UsedSensor [B2, BALL, BALL], UsedSensor [L, CAMERA, LINE], UsedSensor [L, LINE, LINE], UsedSensor [L2, CAMERA, LINE], UsedSensor [L2, LINE, LINE], UsedSensor [C2, CAMERA, COLOUR], UsedSensor [C2, COLOUR, COLOUR], UsedSensor [C3, CAMERA, COLOUR], UsedSensor [C3, COLOUR, COLOUR], UsedSensor [, COLOURCOMPARE, COLOURCOMPARE]]
 Actors: 
 [UsedActor [DISPLAY, DISPLAY]]
 Methods: 

OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/camera.py

@@ -17,31 +17,102 @@
 TXT_M_USB1_1_camera.set_width(320)
 TXT_M_USB1_1_camera.set_fps(15)
 TXT_M_USB1_1_camera.start()
-CAMERA_HEIGHT = 240
-CAMERA_WIDTH = 320
-
-motion_detector = txt_factory.camera_factory.create_motion_detector(0, 0, CAMERA_WIDTH, CAMERA_HEIGHT, CAMERA_WIDTH * CAMERA_HEIGHT * (2 / 100) / 500)
-TXT_M_USB1_1_camera.add_detector(motion_detector)
-color_detector = txt_factory.camera_factory.create_color_detector(112, 84, 96, 72, 1)
-TXT_M_USB1_1_camera.add_detector(color_detector)
-line_detector = txt_factory.camera_factory.create_line_detector(60, 45, 200, 150, 5, 100, -100, 100, 6)
-TXT_M_USB1_1_camera.add_detector(line_detector)
-ball_detector = txt_factory.camera_factory.create_ball_detector(0, 0, 320, 240, 10, 100, -100, 100, [255, 165, 0], 20)
-TXT_M_USB1_1_camera.add_detector(ball_detector)
+
+motion_detector_M = txt_factory.camera_factory.create_motion_detector(0, 100, 320, 20, 100)
+TXT_M_USB1_1_camera.add_detector(motion_detector_M)
+motion_detector_M2 = txt_factory.camera_factory.create_motion_detector(0, 100, 320, 20, 49)
+TXT_M_USB1_1_camera.add_detector(motion_detector_M2)
+color_detector_C2 = txt_factory.camera_factory.create_color_detector(0, 100, 320, 20, 1)
+TXT_M_USB1_1_camera.add_detector(color_detector_C2)
+color_detector_C3 = txt_factory.camera_factory.create_color_detector(0, 100, 320, 20, 1)
+TXT_M_USB1_1_camera.add_detector(color_detector_C3)
+line_detector_L = txt_factory.camera_factory.create_line_detector(0, 100, 100, 100, 12, 50, -100, 100, 6)
+TXT_M_USB1_1_camera.add_detector(line_detector_L)
+line_detector_L2 = txt_factory.camera_factory.create_line_detector(20, 10, 479, 290, 20, 60, -100, 100, 4)
+TXT_M_USB1_1_camera.add_detector(line_detector_L2)
+ball_detector_B = txt_factory.camera_factory.create_ball_detector(0, 100, 320, 20, 10,100, -100, 100, [255, 165, 0], 20)
+TXT_M_USB1_1_camera.add_detector(ball_detector_B)
+ball_detector_B2 = txt_factory.camera_factory.create_ball_detector(0, 100, 320, 20, 10,100, -100, 100, [102, 102, 0], 20)
+TXT_M_USB1_1_camera.add_detector(ball_detector_B2)
 txt_factory.initialized()
 time.sleep(0.1)
 
 
-def get_ball_information():
-    if ball_detector.detected():
-        return [ball_detector.get_center_x(),
-                ball_detector.get_center_y(),
-                ball_detector.get_diameter()]
+def ____motion():
+    print("Motiondetectors")
+    while True:
+        print(motion_detector_M.detected())
+        print(motion_detector_M2.detected())
+        print("#######")
+        time.sleep(500/1000)
+        if display.get_attr("buttonRight.pressed"):
+            break
+    time.sleep(500/1000)
+
+def ____ball():
+    print("Ball Detectors")
+    while True:
+        print(get_ball_information(ball_detector_B)[0])
+        print(get_ball_information(ball_detector_B)[1])
+        print(get_ball_information(ball_detector_B)[2])
+        print("---------")
+        print(get_ball_information(ball_detector_B2)[0])
+        print(get_ball_information(ball_detector_B2)[1])
+        print(get_ball_information(ball_detector_B2)[2])
+        print("#######")
+        time.sleep(500/1000)
+        if display.get_attr("buttonRight.pressed"):
+            break
+    time.sleep(500/1000)
+
+def ____line():
+    print("Line Detector 1")
+    while True:
+        print(line_detector_L.get_line_count())
+        for ___i in range(int(0), int(line_detector_L.get_line_count()), int(1)):
+            print("".join(str(arg) for arg in ["Line:", ___i]))
+            print(get_line_information(line_detector_L, ___i)[0])
+            print(get_line_information(line_detector_L, ___i)[1])
+            print(get_line_colour(line_detector_L, ___i))
+        print("#######")
+        time.sleep(500/1000)
+        if display.get_attr("buttonRight.pressed"):
+            break
+    time.sleep(500/1000)
+    print("Line Detector 2")
+    while True:
+        print(line_detector_L2.get_line_count())
+        for ___j in range(int(0), int(line_detector_L2.get_line_count()), int(1)):
+            print("".join(str(arg) for arg in ["Line:", ___j]))
+            for ___item in get_line_information(line_detector_L2, ___j):
+                print(___item)
+        print("#######")
+        time.sleep(500/1000)
+        if display.get_attr("buttonRight.pressed"):
+            break
+
+def ____color():
+    print("Color Detectors")
+    while True:
+        print(get_camera_colour(color_detector_C2))
+        print(get_camera_colour(color_detector_C3))
+        print(compare_colour(get_camera_colour(color_detector_C2), 0x000000, 20))
+        print("#######")
+        time.sleep(500/1000)
+        if display.get_attr("buttonRight.pressed"):
+            break
+    time.sleep(500/1000)
+
+def get_ball_information(detector):
+    if detector.detected():
+        return [detector.get_center_x(),
+                detector.get_center_y(),
+                detector.get_diameter()]
     return [-1, -1, -1]
 
-def get_camera_colour():
-    if color_detector.detected():
-        result = color_detector.get_result().value.get_hex()
+def get_camera_colour(detector):
+    if detector.detected():
+        result = detector.get_result().value.get_hex()
         return int(result[1:], 16)
     else:
         return -1
@@ -60,16 +131,16 @@ def compare_colour(hex1, hex2, tolerance):
     value_diff = abs(hsv1[2] - hsv2[2])
     return (hue_diff <= (tolerance / 360) and saturation_diff <= 0.5 and value_diff <= 0.5)
 
-def get_line_colour(index):
-    line = line_detector.get_line_by_index(index)
+def get_line_colour(detector, index):
+    line = detector.get_line_by_index(index)
     if line:
         colour = line.color.get_hex()
         return int(colour[1:], 16)
     else:
         return -1
 
-def get_line_information(index):
-    line = line_detector.get_line_by_index(index)
+def get_line_information(detector, index):
+    line = detector.get_line_by_index(index)
     if line is not None:
         return [line.position, line.width]
     else:
@@ -78,61 +149,24 @@ def get_line_information(index):
 def camera_initialized():
     while True:
         try:
-            ball_detector.detected()
-            line_detector.detected()
-            color_detector.detected()
-            motion_detector.detected()
+            ball_detector_B.detected()
+            ball_detector_B2.detected()
+            line_detector_L.detected()
+            line_detector_L2.detected()
+            color_detector_C2.detected()
+            color_detector_C3.detected()
+            motion_detector_M.detected()
+            motion_detector_M2.detected()
             break
         except Exception:
             pass
 
 def run():
     camera_initialized()
-    print("Camera Tests")
-    print("Press right display button to switch to next Detector")
-    print("Config Settings are 30, Orange, 2")
-    print("Camera Color")
-    while True:
-        print(get_camera_colour())
-        time.sleep(200/1000)
-        if display.get_attr("buttonRight.pressed"):
-            break
-    print("Camera Color compared to red")
-    time.sleep(300/1000)
-    while True:
-        print(compare_colour(get_camera_colour(), 0xff0000, 50))
-        time.sleep(200/1000)
-        if display.get_attr("buttonRight.pressed"):
-            break
-    print("Line Information")
-    time.sleep(300/1000)
-    while True:
-        print("".join(str(arg) for arg in ["Number of lines: ", line_detector.get_line_count()]))
-        print("".join(str(arg) for arg in ["Color of first line: ", get_line_colour(0)]))
-        print("Position and Width of line 0")
-        for ___item in get_line_information(0):
-            print(___item)
-        time.sleep(200/1000)
-        if display.get_attr("buttonRight.pressed"):
-            break
-    print("Ball Information")
-    time.sleep(300/1000)
-    while True:
-        print("".join(str(arg) for arg in ["X: ", get_ball_information()[0]]))
-        print("".join(str(arg) for arg in ["Y: ", get_ball_information()[1]]))
-        print("".join(str(arg) for arg in ["Diameter: ", get_ball_information()[2]]))
-        time.sleep(200/1000)
-        if display.get_attr("buttonRight.pressed"):
-            break
-    print("Motion")
-    time.sleep(300/1000)
-    while True:
-        print(motion_detector.detected())
-        time.sleep(200/1000)
-        if display.get_attr("buttonRight.pressed"):
-            break
-    print("DONE")
-    time.sleep(500/1000)
+    ____ball()
+    ____color()
+    ____motion()
+    ____line()
 
 def main():
     try: