Fully implemented small zone functionality

display/gui/tkinter_gui.py

@@ -17,7 +17,7 @@
 ALERT_DURATION = 5
 
 LOGGER_WIDTH = 49
-PAD_MENU = 85
+PAD_MENU = 83
 
 COLOR_LIGHT = '#4E4D4A'
 COLOR_DARK = '#353432'
@@ -43,17 +43,18 @@ def __init__(self, name, image_processors={}):
         self.frame.grid(rowspan=3, sticky=(tk.N, tk.S))
 
         ### Top Frame
-        self.top_frame = TopFrame(self.frame, bg=COLOR_DARK, padx=10, pady=10)
+        self.top_frame = TopFrame(self.frame, self, image_processors, 
+                                  bg=COLOR_DARK, padx=0, pady=5)
 
         ### Bottom Frame
         self.bot_frame = BotFrame(self.frame, self, image_processors, 
-                                  bg=COLOR_LIGHT, padx=10, pady=0)
+                                  bg=COLOR_DARK, padx=0, pady=0)
         self.bot_frame.addViewports()
 
         # Grid Frames
         self.top_frame.grid(row=0, column=0)
 #         self.mid_frame.grid(row=1, column=0)
-        self.bot_frame.grid(row=2, column=0, pady=(0, 10))
+        self.bot_frame.grid(row=2, column=0, pady=(0, 5))
 
 
         self.root.bind("<Escape>", lambda e: e.widget.quit())
@@ -235,11 +236,11 @@ def __init__(self, root):
     def createItems(self):
 
         self.label_text = tk.StringVar()
-        font = tkFont.Font(family="Arial", size=12)
+        font = tkFont.Font(family="Verdana", size=12, weight='bold')
 
         # Alert label
         alert_label = tk.Label(self.root, font=font,
-                               textvariable=self.label_text, bg=COLOR_LIGHT)
+                               textvariable=self.label_text, bg=COLOR_LIGHT, pady=5)
         alert_label.grid(row=0, column=0, columnspan=2, sticky=(tk.W+tk.E))
 
         # Set scrollbar
@@ -340,8 +341,11 @@ def apply(self):
 
 class TopFrame(tk.Frame):
 
-    def __init__(self, parent, **options):
+    def __init__(self, parent, ui, image_processors, **options):
         tk.Frame.__init__(self, parent, options)
+        self.parent = parent
+        self.ui = ui
+        self.image_processors = image_processors
         self.bg = self.cget('bg')
 
         self.menu_main = None
@@ -353,15 +357,15 @@ def __init__(self, parent, **options):
     def createItems(self):
 
         # Main menu frame
-        self.menu_main = MenuMain(self, bg=self.bg, highlightthickness=0)
+        self.menu_main = MenuMain(self, self.ui, self.image_processors, bg=self.bg, highlightthickness=0)
         self.menu_main.pack(side=tk.LEFT, padx=PAD_MENU, fill=tk.X, expand=1)
 
         # Tactical frame
         self.tactical_frame = tk.Frame(self, bg=self.bg)
         self.tactical_frame.pack(side=tk.LEFT, padx=0, fill=tk.BOTH, expand=1)
 
         # Calibration menu frame
-        self.menu_cal = MenuCal(self, bg=self.bg, highlightthickness=0)
+        self.menu_cal = MenuCal(self, self.ui, self.image_processors, bg=self.bg, highlightthickness=0)
         self.menu_cal.pack(side=tk.LEFT, padx=PAD_MENU, fill=tk.X, expand=1)
 
 class BotFrame(tk.Frame):
@@ -416,7 +420,7 @@ def createCalLabels(self):
         # Frame for alert info label
         frame = tk.Frame(self, padx=0, pady=0, bg=self.bg)
         self.label_alert = tk.Label(frame, text="Alert Messages",
-                                    font=("Verdana", 21, "bold"), 
+                                    font=("Verdana", 16, "bold"), 
                                     bg=self.bg_light, fg="#353432")
         self.label_alert.pack(side=tk.LEFT, fill=tk.BOTH, expand=1)
         frame.grid(row=0, column=1, sticky=(tk.W + tk.E))
@@ -440,64 +444,68 @@ def update(self):
 
 class MenuCal(tk.Frame):
 
-    def __init__(self, parent, **options):
+    def __init__(self, parent, ui, image_processors, **options):
 
         tk.Frame.__init__(self, parent, options)
         self.parent = parent
+        self.ui = ui
+        self.image_processors = image_processors
         self.method = None
-        self.size = None
+        self.zone = None
 
         # Build Menu Interface
         self.createItems()
 
     def createItems(self):
 
-        # Calibrate Button
-        tk.Button(self, text="Calibrate\nSystem", font=("Verdana", 12, "bold"),
-                  pady=10, padx=2, bg='green', relief=tk.FLAT, 
-                  command=self.callbackCalibrate).pack(side=tk.TOP, pady=10)
-
-        # Simple separator (Horizontal)
-        separator = tk.Frame(self, width=2, height=2, bd=1, relief=tk.FLAT)
-        separator.pack(side=tk.TOP, pady=10, padx=5, fill=tk.X)
-
-        # Calibration Method
-        tk.Label(self, text="Calibration\nMethod", font=("Verdana", 10, "bold"), bg=COLOR_LIGHT).pack(side=tk.TOP, fill=tk.X)
-        self.method = MultiRadio(self,
-                                    text=("Point", "Color"), value=("POINT", "COLOR"), 
-                                    callback=self.callbackCalibrate, 
-                                    side=tk.TOP, fill=tk.X).pack(fill=tk.X, side=tk.TOP)
-
-        # Simple separator (Horizontal)
-        separator = tk.Frame(self, width=2, height=2, bd=1, relief=tk.FLAT)
-        separator.pack(side=tk.TOP, pady=10, padx=5, fill=tk.X)
+#         # Calibrate Button
+#         tk.Button(self, text="Calibrate\nSystem", font=("Verdana", 12, "bold"),
+#                   pady=10, padx=2, bg='green', relief=tk.FLAT, 
+#                   command=self.callbackCalibrate).pack(side=tk.TOP, pady=10)
+#                   
+#         # Simple separator (Horizontal)
+#         separator = tk.Frame(self, width=2, height=2, bd=1, relief=tk.FLAT)
+#         separator.pack(side=tk.TOP, pady=10, padx=5, fill=tk.X)
+#                   
+#         # Calibration Method
+#         tk.Label(self, text="Calibration\nMethod", font=("Verdana", 10, "bold"), bg=COLOR_LIGHT).pack(side=tk.TOP, fill=tk.X)
+#         self.method = MultiRadio(self,
+#                                     text=("Point", "Color"), value=("POINT", "COLOR"), 
+#                                     callback=self.callbackCalibrate, 
+#                                     side=tk.TOP, fill=tk.X).pack(fill=tk.X, side=tk.TOP)
+#                                     
+#         # Simple separator (Horizontal)
+#         separator = tk.Frame(self, width=2, height=2, bd=1, relief=tk.FLAT)
+#         separator.pack(side=tk.TOP, pady=10, padx=5, fill=tk.X)
 
         # Zone Type
         tk.Label(self, text="Zone Type", font=("Verdana", 10, "bold"), bg=COLOR_LIGHT).pack(side=tk.TOP, fill=tk.X)
-        self.size = MultiRadio(self,
+        self.zone = MultiRadio(self,
                                     text=("Normal", "Small"), value=("NORMAL", "SMALL"),
                                     callback=self.callbackSetZone,
-                                    side=tk.TOP, fill=tk.X).pack(fill=tk.X, side=tk.TOP)
+                                    side=tk.TOP, fill=tk.X)
+        self.zone.pack(fill=tk.X, side=tk.TOP)
 
-    def callbackCalibrate(self):
-        if self.method.variable == "POINT":
-            pass
-        else:
-            pass
+#     def callbackCalibrate(self):
+#         if self.method.variable == "POINT":
+#             pass
+#         else:
+#             pass
 
     def callbackSetZone(self):
-        if self.zone.variable == "NORMAL":
-            pass
-        else:
-            pass
-
+        # Set zone distances
+        for img_proc in self.image_processors:
+            img_proc.scm.setCalibrationDistances(self.zone.variable.get())
+
+        logging.debug('setting zone distances %s' % self.zone.variable.get())
 
 class MenuMain(tk.Frame):
 
-    def __init__(self, parent, **options):
+    def __init__(self, parent, ui, image_processors, **options):
 
         tk.Frame.__init__(self, parent, options)
         self.parent = parent
+        self.ui = ui
         self.power = False
         self.text_power = tk.StringVar()
         self.button_power = None

display/tactical/tactical.py

@@ -49,19 +49,21 @@ def update(self):
                 #continue
 
             self.displayTarget(target)
+
+            zone_distances = self.data_proc.tca.image_processors[0].scm.getCalibrationDistances()
 
             # Display alerts
-            if distance((0, 0), target.pos) < 4.8:
+            if distance((0, 0), target.pos) < zone_distances[0] - 0.2:
                 target.left_safe = False
-            if distance((0, 0), target.pos) < 9.8:
+            if distance((0, 0), target.pos) < zone_distances[1] - 0.2:
                 target.left_alert = False
 
-            if distance((0, 0), target.pos) >= 10 and target.left_alert == False:
+            if distance((0, 0), target.pos) >= zone_distances[1] and target.left_alert == False:
                 self.data_proc.tca.ui.displayAlert("Target has left the ALERT zone!!!")
                 self.data_proc.tca.ui.logAlert("Target has left the ALERT zone!!!")
                 target.left_alert = True
                 target.left_safe = True
-            elif distance((0, 0), target.pos) >= 5 and target.left_safe == False:
+            elif distance((0, 0), target.pos) >= zone_distances[0] and target.left_safe == False:
                 self.data_proc.tca.ui.displayAlert("Target has entered the ALERT zone!!!")
                 self.data_proc.tca.ui.logAlert("Target has entered the ALERT zone!!!")
                 target.left_safe = True

processors/data/target.py

@@ -6,7 +6,6 @@
 
 from display.tactical.tactical import PERSIST_TIME, MAXLEN_DEQUE
 import prediction
-from processors.image.calibration import DISTANCES_NORMAL, DISTANCES_SMALL
 
 ORIGIN = [0, 0]
 
@@ -20,8 +19,9 @@ class Target(object):
     SAFE_RADIUS = 5
     TURN_THRESHOLD_DEGREES = 4
 
-    def __init__(self, pos, config=None):
+    def __init__(self, pos, config=None, ttm=None):
         self.pos = pos
+        self.ttm = ttm
         self.kalman = None
         self.prediction = None
         self.missed_updates = 0
@@ -48,12 +48,15 @@ def __init__(self, pos, config=None):
             Target.TIME_STEP = config.getfloat('track', 'time_step')
             Target.PREDICTION_RADIUS = config.getfloat('track', 'prediction_radius')
             Target.TURN_THRESHOLD_DEGREES = config.getfloat('track', 'turn_threshold')
-            if config.get('calibration', 'zone_size') == 'NORMAL':
-                Target.PREDICTION_RADIUS = DISTANCES_NORMAL[2]
-                Target.SAFE_RADIUS = DISTANCES_NORMAL[1]
-            elif config.get('calibration', 'zone_size') == 'SMALL':
-                Target.PREDICTION_RADIUS = DISTANCES_SMALL[2]
-                Target.SAFE_RADIUS = DISTANCES_SMALL[1]
+            zone_distances = self.ttm.data_processor.tca.image_processors[0].scm.getCalibrationDistances()
+            Target.PREDICTION_RADIUS = zone_distances[2]
+            Target.SAFE_RADIUS = zone_distances[1]
+#             if config.get('calibration', 'zone_size') == 'NORMAL':
+#                 Target.PREDICTION_RADIUS = DISTANCES_NORMAL[2]
+#                 Target.SAFE_RADIUS = DISTANCES_NORMAL[1]
+#             elif config.get('calibration', 'zone_size') == 'SMALL':
+#                 Target.PREDICTION_RADIUS = DISTANCES_SMALL[2]
+#                 Target.SAFE_RADIUS = DISTANCES_SMALL[1]
 
     def update(self, pos):
 
@@ -82,6 +85,10 @@ def update(self, pos):
 
         self.kal_pred = cv.KalmanPredict(self.kalman)
         self.prediction = [self.kal_pred[0, 0], self.kal_pred[1, 0]] 
+
+        zone_distances = self.ttm.data_processor.tca.image_processors[0].scm.getCalibrationDistances()
+        Target.PREDICTION_RADIUS = zone_distances[2]
+        Target.SAFE_RADIUS = zone_distances[1]
 
         if self.valid:
             # Calculate prediction line when target is located in alert zone

processors/data/track.py

@@ -18,9 +18,10 @@ class TargetTrackModule(object):
     UNKNOWN_GATE = 1.5
     CONSTANTS_SET = False
 
-    def __init__(self, dataProcessor):
+    def __init__(self, data_processor):
         self.targets = []
-        self.config = dataProcessor.config
+        self.data_processor = data_processor
+        self.config = data_processor.config
         if (TargetTrackModule.CONSTANTS_SET is False and
             self.config is not None):
             TargetTrackModule.CONSTANTS_SET = True
@@ -66,7 +67,7 @@ def processDetections(self, unmatchedList):
         for pos in unmatchedList:
             logging.debug("New Target:")
             logging.debug(pos)
-            self.targets.append(Target(pos, self.config))
+            self.targets.append(Target(pos, self.config, self))
 
     def associateTrack(self, pos, target):
         # TODO reimplement

processors/image/calibration.py

@@ -99,6 +99,7 @@ class SourceCalibrationModule(object):
 
     CAL_THRESHOLDS = CalibrationThreshold()
     DISPLAY_COLORS = False, False
+    ZONE_DISTANCES = []
 
     def __init__(self, image_processor):
         self.image_processor = image_processor
@@ -117,9 +118,6 @@ def __init__(self, image_processor):
         side_thresh_max = np.array(self.config.get
                                    ('calibration', 'side_color_max').
                                    split(','), np.uint8)
-
-#         self.colors = [[center_thresh_min, center_thresh_max],
-#                        [side_thresh_min, side_thresh_max]]
 
         # Initialize calibration colors to those in config file
         # This is no longer needed, but must initialize to something
@@ -139,9 +137,9 @@ def __init__(self, image_processor):
 
         # Set calibration target distances
         if self.config.get('calibration', 'zone_size') == 'NORMAL':
-            self.setCalibrationDistances(DISTANCES_NORMAL)
+            self.setCalibrationDistances('NORMAL')
         elif self.config.get('calibration', 'zone_size') == 'SMALL':
-            self.setCalibrationDistances(DISTANCES_SMALL)
+            self.setCalibrationDistances('SMALL')
 
     def calibrate(self, cal_points=None):
         """Calibrates the image processor
@@ -366,13 +364,19 @@ def getDisplayColors(self):
 
         return SourceCalibrationModule.DISPLAY_COLORS
 
-    def setCalibrationDistances(self, zone_distances=(5, 10, 12)):
+    def setCalibrationDistances(self, zone_type='NORMAL'):
         """ Sets Distances for safe, alert, and prediction zone boundaries
         
         Arguments:
             zone_size -- Three element iterable containing boundary lengths
             
         """
+        if zone_type == 'NORMAL':
+            zone_distances = DISTANCES_NORMAL
+        else:
+            zone_distances = DISTANCES_SMALL
+
+        SourceCalibrationModule.ZONE_DISTANCES = zone_distances
 
         # Calibration point position calculations
         DISTANCES = [distance * SCALE for distance in zone_distances]
@@ -383,6 +387,11 @@ def setCalibrationDistances(self, zone_distances=(5, 10, 12)):
         self.center_points = [[distance * coordinate for coordinate in CENTER_POINTS]
                          for distance in DISTANCES]
         self.left_points = [[-1 * x, y, z] for x, y, z in self.right_points]
+
+    def getCalibrationDistances(self):
+        """ Returns calibration distances in 3 element tuple """
+
+        return SourceCalibrationModule.ZONE_DISTANCES
 
 class CalibrationData(object):
     """Saves or loads calibration data to/from file.