OldUser101 Testing

robot/__init__.py

@@ -29,7 +29,7 @@
     MARKER,
     BASE_MARKER,
     ARENA_MARKER,
-    POTATO_MARKER,
+    TARGET_MARKER,
     MARKER_TYPE,
     TEAM
 )

robot/apriltags3.py

@@ -21,7 +21,7 @@
 import numpy as np
 import scipy.spatial.transform as transform
 
-from robot.game_config import MARKER
+from robot.game_config import MARKER, MARKER_TYPE
 
 
 ######################################################################
@@ -435,7 +435,7 @@ def detect(self, img, estimate_tag_pose=False, camera_params=None):
                 if camera_params is None:
                     raise ValueError(
                         "camera_params must be provided to detect if estimate_tag_pose is set to True")
-                tag_size = MARKER(tag.id).size
+                tag_size = MARKER.get_size(tag.id)
 
                 camera_fx, camera_fy, camera_cx, camera_cy = [
                     c for c in camera_params]

robot/game_config/__init__.py

@@ -3,7 +3,7 @@
     MARKER,
     MARKER_TYPE,
     ARENA_MARKER,
-    POTATO_MARKER,
+    TARGET_MARKER,
     BASE_MARKER,
 )
 from .startup_poems import POEM_ON_STARTUP
@@ -19,7 +19,7 @@
 __all__ = (
     "TEAM",
     "MARKER",
-    "POTATO_MARKER",
+    "TARGET_MARKER",
     "MARKER_TYPE",
     "BASE_MARKER",
     "ARENA_MARKER",

robot/game_config/markers.py

@@ -2,6 +2,7 @@
 import typing
 
 from .teams import TEAM
+#from teams import TEAM
 
 """
 Hiiii!
@@ -13,20 +14,23 @@
 Byee!
  - Holly (2023-2024)
 
+
+Don't know what to say. - Nathan Gill (2024 - 2025)
+No semi-colons please - Scott Wilson (2024 - 2025)
 [Put your future messages here]
 """
 
 class MARKER_TYPE(enum.Enum): # Keep something like this to determine if a marker is a wall or not.
-    POTATO = enum.auto()
+    TARGET = enum.auto()
     ARENA = enum.auto()
 
 
 class BASE_MARKER: # Base marker class that POTATO_MARKER and ARENA_MARKER derive from.
     team_marker_colors: dict = { # Colour definitions for each team defined in TEAMS
-        TEAM.RUSSET: (255, 64, 0), # RED
-        TEAM.SWEET: (255, 255, 32), # YELLOW
-        TEAM.MARIS_PIPER: (50,255,0), # GREEN
-        TEAM.PURPLE: (255, 32, 255), # PURPLE
+        TEAM.RUBY: (0, 0, 255), # RED
+        TEAM.JADE: (0, 255, 0), # GREEN
+        TEAM.TOPAZ: (0, 255, 255), # YELLOW
+        TEAM.DIAMOND: (255, 0, 0), # BLUE
     }
 
     def __init__(
@@ -47,10 +51,10 @@ def __repr__(self) -> str:
     @property
     def bounding_box_color(self) -> tuple:
         if self.type == MARKER_TYPE.ARENA: # If it is a wall
-            return tuple(reversed((125, 249, 225))) # Turquoise
-        elif self.owning_team==TEAM.ARENA: # If it is a Hot Potato (game object owned by ARENA)
+            return tuple(reversed((225, 249, 125))) # Turquoise
+        elif self.owning_team==TEAM.ARENA: # If it is a Sheep (game object owned by ARENA)
             return tuple(reversed((255,255,255))) # White
-        else: # If it is a Jacket Potato (game object owned by a team.)
+        else: # If it is a Jewel (game object owned by a team.)
             return tuple(reversed(self.team_marker_colors[self.owning_team])) # Picks the team colour from above
 
 class ARENA_MARKER(BASE_MARKER): # Not much going on here. This represents a wall.
@@ -61,17 +65,24 @@ def __repr__(self) -> str:
         return f"<Marker(ARENA)/>"
 
 
-class POTATO_MARKER(BASE_MARKER): # This is a game object rather than a wall. Add properties you want to keep track of
+class TARGET_MARKER(BASE_MARKER): # This is a game object rather than a wall. Add properties you want to keep track of
     def __init__(
         self, id: int, owner: TEAM
     ) -> None:
-        super().__init__(id, MARKER_TYPE.POTATO)
+        super().__init__(id, MARKER_TYPE.TARGET)
         self.owning_team = owner
 
     def __repr__(self) -> str:
-        return f"<Marker(POTATO) owning_team={self.owning_team} />"
+        return f"<Marker(TARGET) owning_team={self.owning_team} />"
 
 class MARKER(BASE_MARKER): # This is literally just how the code gets the different marker types.
+    @staticmethod
+    def get_size(id: int):
+        tg = MARKER.by_id(id)
+        if tg.owning_team == TEAM["ARENA"]:
+            return 0.2
+        return 0.08
+
     @staticmethod
     def by_id(id: int, team: typing.Union[TEAM, None] = None) -> BASE_MARKER: # team is currently unused, but it is referenced throughout the code. It is the team of the robot I believe (check this)
         """
@@ -97,14 +108,20 @@ def by_id(id: int, team: typing.Union[TEAM, None] = None) -> BASE_MARKER: # team
         there). In practice these markers start at 100.
         """
 
-        ARENA_WALL_LOWER_ID = 40
-        if id >= ARENA_WALL_LOWER_ID:
+        if id > 99:
             return ARENA_MARKER(id)
-
-        wrappingId = id % 20 # Make sure that the ID range wraps after 20 values.
-        if wrappingId<4: # If it is a Jacket Potato (has a team)
-            owning_team = TEAM[f"T{wrappingId}"] # Set to the corresponding TEAM enum.
-        else: # If it is a Hot Potato (Has no team)
-            owning_team = TEAM["ARENA"]
 
-        return POTATO_MARKER(id, owning_team)
+        if id < 24:
+            owning_team = TEAM["ARENA"]
+        elif id == 30 or id == 31 or id == 53:
+            owning_team = TEAM["T3"]
+        elif id == 28 or id == 29 or id == 52:
+            owning_team = TEAM["T2"]
+        elif id == 26 or id == 27 or id == 51:
+            owning_team = TEAM["T1"]
+        elif id == 24 or id == 25 or id == 50:
+            owning_team = TEAM["T0"]
+        else:
+            raise Exception("AHHHHHH!")
+
+        return TARGET_MARKER(id, owning_team)

robot/game_config/startup_poems.py

@@ -1,17 +1,20 @@
 from random import randint
 
 class POEM_ON_STARTUP:
+    ## These jokes are terrible, (ChatGPT 4o Generated)
     jokes = [
-        "Why did the potato cross the road? \
-            He saw a fork up ahead.",
-        "What do you say to a baked potato that's angry? \
-            Anything you like, just butter it up.",
-        "Funny Potato Joke",
-        "Farm Facts: There are around 5000 different varieties of potato",
-        "Farm Facts: Potatoes were first domesticated in Peru around 4500 years ago around Lake Titicaca",
-        "Farm Facts: The word potato originates from the Taino \"batata\", meaning sweet potato.",
-        "Farm Facts: China is the leading producer of potatoes, with 94.3 million tonnes produced in 2021",
-        "Farm Facts: The maximum theoretical voltage "
+        "Why don't dragons tell secrets? \
+            Because they always breathe fire!",
+        "Why did the ruby go to school? \
+            To become a little more polished!",
+        "Why do sheep make terrible detectives? \
+            Because they always follow the herd!",
+        "What's a dragon's favourite type of exercise? \
+            Flame-ups!",            
+        "What did the diamond say to the ruby at the party? \
+            You're looking radiant tonight!",            
+        "Why was the sheep so quiet? \
+            Because it was feeling a little wool-gathered!",  
     ]
 
     @staticmethod

robot/game_config/teams.py

@@ -6,15 +6,17 @@
 that the school will be competing as.
 """
 class TEAM(enum.Enum): 
-    RUSSET = "Solanum Tuberosum 'Ranger Russet'" # This matches T0, for example.
-    SWEET = "Ipomoea batatas"
-    MARIS_PIPER = "Solanum Tuberosum 'Maris Piper'"
-    PURPLE = "Solanum Tuberosum 'Vitolette'"
-    ARENA = "HOTTTTT!" 
+
+    ## These easter eggs are locations that the corresponding gems were found (ChatGPT 4o Generated)
+    RUBY = "Mogok Valley, Myanmar (Burma)" # This matches T0, for example.
+    JADE = "Hetian (Hotan), Xinjiang, China"
+    TOPAZ = "St. John's Island (Zabargad Island), Egypt"
+    DIAMOND = "Golconda, India"
+    ARENA = "Nothing!"
     # There is no T value for ARENA, so there is no way that the assignment of team to a marker can accidentally assign ARENA if the logic goes wrong.
 
-    T0 = "Solanum Tuberosum 'Ranger Russet'"
-    T1 = "Ipomoea batatas"
-    T2 = "Solanum Tuberosum 'Maris Piper'"
-    T3 = "Solanum Tuberosum 'Vitolette'"
+    T0 = "Mogok Valley, Myanmar (Burma)"
+    T1 = "Hetian (Hotan), Xinjiang, China"
+    T2 = "St. John's Island (Zabargad Island), Egypt"
+    T3 = "Golconda, India"
 

robot/vision.py

@@ -359,14 +359,14 @@ def _draw_bounding_box(self, frame, detections):
         """
         polygon_is_closed = True
         for detection in detections:
-            marker_info = MARKER(detection.id, self.zone)
+            marker_info = MARKER.by_id(detection.id, self.zone)
             marker_info_colour = marker_info.bounding_box_color
             marker_code = detection.id
 
             # The reverse is because OpenCV expects BGR but we use RGB
-            colour = reversed(marker_info_colour
+            colour = tuple(reversed(marker_info_colour
                               if marker_info_colour is not None
-                              else DEFAULT_BOUNDING_BOX_COLOUR)
+                              else DEFAULT_BOUNDING_BOX_COLOUR))
 
             # need to have this EXACT integer_corners syntax due to opencv bug
             # https://stackoverflow.com/questions/17241830/

robot/wrapper.py

@@ -67,7 +67,7 @@ def __init__(self,
                  start_enable_5v = True,
                  ):
 
-        self.zone = game_config.TEAM.RUSSET
+        self.zone = game_config.TEAM.RUBY
         self.mode = "competition"
         self._max_motor_voltage = max_motor_voltage