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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
from typing import Callable, Optional, Union
from time import sleep
from enum import Enum
import numpy as np
import pyarrow as pa
from utils import LABELS
from dora import DoraStatus
DISTANCE = 2
class Operator:
"""
Infering object from images
"""
def __init__(self):
self.over = False
self.start = False
def on_event(
self,
dora_event: dict,
send_output: Callable[[str, Union[bytes, pa.Array], Optional[dict]], None],
) -> DoraStatus:
if dora_event["type"] == "INPUT":
return self.on_input(dora_event, send_output)
return DoraStatus.CONTINUE
def on_input(
self,
dora_input: dict,
send_output: Callable[[str, Union[bytes, pa.array], Optional[dict]], None],
) -> DoraStatus:
if dora_input["id"] == "bbox":
if not self.start:
send_output("led", pa.array([255, 0, 0]), dora_input["metadata"])
self.start = True
bboxs = dora_input["value"].to_numpy()
bboxs = np.reshape(bboxs, (-1, 6))
bottle = False
laser = False
obstacle = False
for bbox in bboxs:
box = True
[
min_x,
min_y,
max_x,
max_y,
confidence,
label,
] = bbox
if (
(min_x + max_x) / 2 > 240
and (min_x + max_x) / 2 < 400
and LABELS[int(label)] == "cup"
):
laser = True
if (
(min_x + max_x) / 2 > 240
and (min_x + max_x) / 2 < 400
and LABELS[int(label)] == "bottle"
):
bottle = True
if LABELS[int(label)] != "ABC" and not obstacle:
obstacle = True
if laser:
send_output("blaster", pa.array([128]), dora_input["metadata"])
else:
send_output("blaster", pa.array([0]), dora_input["metadata"])
if bottle:
send_output("led", pa.array([0, 0, 255]), dora_input["metadata"])
elif obstacle:
send_output("led", pa.array([0, 255, 0]), dora_input["metadata"])
else:
send_output("led", pa.array([0, 0, 0]), dora_input["metadata"])
obstacle = False
bottle = False
laser = False
return DoraStatus.CONTINUE
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