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