ch.unizh.ini.jaer.projects.tobi.goalie
Class Goalie

java.lang.Object
  net.sf.jaer.eventprocessing.EventFilter
      net.sf.jaer.eventprocessing.EventFilter2D
          ch.unizh.ini.jaer.projects.tobi.goalie.Goalie

All Implemented Interfaces:

java.util.Observer, FrameAnnotater

Direct Known Subclasses:

LaserGoalie

public class Goalie
extends EventFilter2D
implements FrameAnnotater, java.util.Observer

Controls a servo motor that swings an arm in the way of a ball rolling towards a goal box. Calibrates itself as well.

Author:

tGoalielbruck/manuel lang

Nested Class Summary

protected class	Goalie.GoalieState
static class	Goalie.State possible states, ACTIVE meaning blocking ball we can see, RELAXED is between blocks.

Field Summary

protected RectangularClusterTracker.Cluster	ball
protected ServoArm	servoArm

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter2D

enclosedFilter, out

Fields inherited from class net.sf.jaer.eventprocessing.EventFilter

annotationEnabled, chip, enclosedFilterChain, filterEnabled, log, perf, propertyTooltipMap, support

Constructor Summary

Goalie(AEChip chip)
Creates a Goaliestance of Goalie

Method Summary

void	annotate(float[][][] frame) not used
void	annotate(javax.media.opengl.GLAutoDrawable drawable) Each annotator enters annotate with graphics context current, in coordinates with pixel 0,0 in LL corner (note opposite from Java2D) and pixel spacing 1 unit after the scaling transform (which is already active).
void	annotate(java.awt.Graphics2D g) not used
void	doLearn()
void	doRelax()
void	doResetLearning()
EventPacket<?>	filterPacket(EventPacket<?> in) Subclasses implement this method to define custom processing.
protected void	finalize()
int	getArmRows()
static java.lang.String	getDescription()
java.lang.Object	getFilterState() should return the filter state in some useful form
int	getLearnDelayMS()
int	getMaxPlayingTimeBeforeRestSec()
int	getMaxYToUseVelocity()
int	getMinPathPointsToUseVelocity()
int	getPixelsToTipOfArm()
int	getRangeOutsideViewToBlockPixels()
int	getRelaxationDelayMs()
int	getRestIntervalSec()
int	getSleepDelaySec()
java.lang.Enum	getState()
int	getTopRowsToIgnore()
RectangularClusterTracker	getTracker() Returns the ball tracker
float	getWakeupBallDistance()
XYTypeFilter	getXYFilter()
void	initFilter() initializes arm lowpass filter
boolean	isLogGoalieEnabled()
boolean	isUseSoonest()
boolean	isUseVelocityForGoalie()
void	resetFilter() should reset the filter to initial state
void	setArmRows(int armRows) Defines the number of retina rows from bottom of image to tip of goalie arm to define tracking region for arm.
void	setFilterEnabled(boolean yes) Resets the filter
void	setLearnDelayMS(int learnDelayMS)
void	setLogGoalieEnabled(boolean logGoalieEnabled)
void	setMaxPlayingTimeBeforeRestSec(int maxPlayingTimeBeforeRestSec)
void	setMaxYToUseVelocity(int maxYToUseVelocity)
void	setMinPathPointsToUseVelocity(int minPathPointsToUseVelocity)
void	setPixelsToTipOfArm(int pixelsToTipOfArm) Defines the distance in image rows to the tip of the goalie arm.
void	setRangeOutsideViewToBlockPixels(int rangeOutsideViewToBlockPixels)
void	setRelaxationDelayMs(int relaxationDelayMs) sets the delay after all targets disappear that the goalie relaxes
void	setRestIntervalSec(int restIntervalSec)
void	setSleepDelaySec(int sleepDelaySec)
void	setState(Goalie.State newState) Sets the state.
void	setTopRowsToIgnore(int topRowsToIgnore)
void	setUseSoonest(boolean useSoonest) If true, then goalie uses ball that will hit soonest.
void	setUseVelocityForGoalie(boolean useVelocityForGoalie) Sets whether the goalie uses the ball velocity or just the position
void	setWakeupBallDistance(float wakeupBallDistance)
void	setXYFilter(XYTypeFilter xYFilter)
void	update(java.util.Observable o, java.lang.Object arg)

Methods inherited from class net.sf.jaer.eventprocessing.EventFilter2D

checkOutputPacketEventType, checkOutputPacketEventType, getEnclosedFilter, resetOut, setEnclosedFilter

Methods inherited from class net.sf.jaer.eventprocessing.EventFilter

getChip, getEnclosedFilterChain, getEnclosingFilter, getPrefs, getPropertyChangeSupport, getPropertyTooltip, isAnnotationEnabled, isEnclosed, isFilterEnabled, prefsEnabledKey, setAnnotationEnabled, setChip, setEnclosed, setEnclosedFilter, setEnclosedFilterChain, setEnclosingFilter, setPreferredEnabledState, setPrefs, setPropertyTooltip

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface net.sf.jaer.graphics.FrameAnnotater

isAnnotationEnabled, setAnnotationEnabled

Field Detail

servoArm

protected ServoArm servoArm

ball

protected volatile RectangularClusterTracker.Cluster ball

Constructor Detail

Goalie

public Goalie(AEChip chip)

Creates a Goaliestance of Goalie

Method Detail

getDescription

public static java.lang.String getDescription()

filterPacket

public EventPacket<?> filterPacket(EventPacket<?> in)

Description copied from class: EventFilter2D

Subclasses implement this method to define custom processing.

Specified by:

filterPacket in class EventFilter2D

Parameters:

in - the input packet

Returns:

the output packet

getFilterState

public java.lang.Object getFilterState()

Description copied from class: EventFilter

should return the filter state in some useful form

Specified by:

getFilterState in class EventFilter

resetFilter

public void resetFilter()

Description copied from class: EventFilter

should reset the filter to initial state

Specified by:

resetFilter in class EventFilter

initFilter

public void initFilter()

initializes arm lowpass filter

Specified by:

initFilter in class EventFilter

setFilterEnabled

public void setFilterEnabled(boolean yes)

Description copied from class: EventFilter2D

Resets the filter

Overrides:

setFilterEnabled in class EventFilter2D

Parameters:

yes - true to reset

See Also:

EventFilter.setPreferredEnabledState()

annotate

public void annotate(float[][][] frame)

not used

Specified by:

annotate in interface FrameAnnotater

Parameters:

frame - the RGB pixel information. First dimension is Y, second is X, third is RGB

annotate

public void annotate(java.awt.Graphics2D g)

not used

Specified by:

annotate in interface FrameAnnotater

Parameters:

g - the Graphics2D context

annotate

public void annotate(javax.media.opengl.GLAutoDrawable drawable)

Description copied from interface: FrameAnnotater

Each annotator enters annotate with graphics context current, in coordinates with pixel 0,0 in LL corner (note opposite from Java2D) and pixel spacing 1 unit after the scaling transform (which is already active). The FrameAnnotater then can use JOGL calls to render to the screen by getting the GL context, e.g. the following code, used in the context of an AEChip object, draws a golden lines from LL to UR of the pixel array.

        GL gl = drawable.getGL();
        gl.glBegin(GL.GL_LINES);
        gl.glColor3f(.5f, .5f, 0);
        gl.glVertex2f(0, 0);
        gl.glVertex2f(getSizeX() - 1, getSizeY() - 1);
        gl.glEnd();
 

Specified by:

annotate in interface FrameAnnotater

Parameters:

drawable - the OpenGL drawable components, e.g., GLCanvas

isUseVelocityForGoalie

public boolean isUseVelocityForGoalie()

setUseVelocityForGoalie

public void setUseVelocityForGoalie(boolean useVelocityForGoalie)

Sets whether the goalie uses the ball velocity or just the position

Parameters:

useVelocityForGoalie - true to use ball velocity

getRelaxationDelayMs

public int getRelaxationDelayMs()

setRelaxationDelayMs

public void setRelaxationDelayMs(int relaxationDelayMs)

sets the delay after all targets disappear that the goalie relaxes

Parameters:

relaxationDelayMs - delay in ms

isUseSoonest

public boolean isUseSoonest()

setUseSoonest

public void setUseSoonest(boolean useSoonest)

If true, then goalie uses ball that will hit soonest. If false, goalie uses ball that is closest to goal.

Parameters:

useSoonest - true to use soonest threat, false to use closest threat

See Also:

setUseVelocityForGoalie(boolean)

getTopRowsToIgnore

public int getTopRowsToIgnore()

setTopRowsToIgnore

public void setTopRowsToIgnore(int topRowsToIgnore)

getArmRows

public int getArmRows()

setArmRows

public void setArmRows(int armRows)

Defines the number of retina rows from bottom of image to tip of goalie arm to define tracking region for arm. If this is too small then the arm will be tracked as balls, greatly confusing things. Constrained to range 0-chip.getSizeY()/2.

Parameters:

armRows - the number of rows of pixels

getLearnDelayMS

public int getLearnDelayMS()

Returns:

the delay before learning starts

setLearnDelayMS

public void setLearnDelayMS(int learnDelayMS)

update

public void update(java.util.Observable o,
                   java.lang.Object arg)

Specified by:

update in interface java.util.Observer

doResetLearning

public void doResetLearning()

doLearn

public void doLearn()

doRelax

public void doRelax()

getPixelsToTipOfArm

public int getPixelsToTipOfArm()

setPixelsToTipOfArm

public void setPixelsToTipOfArm(int pixelsToTipOfArm)

Defines the distance in image rows to the tip of the goalie arm. This number is slightly different than the armRows parameter because of perspective.

Parameters:

pixelsToTipOfArm - the number of image rows to the tip

getTracker

public RectangularClusterTracker getTracker()

Returns the ball tracker

getWakeupBallDistance

public float getWakeupBallDistance()

setWakeupBallDistance

public void setWakeupBallDistance(float wakeupBallDistance)

getSleepDelaySec

public int getSleepDelaySec()

setSleepDelaySec

public void setSleepDelaySec(int sleepDelaySec)

getXYFilter

public XYTypeFilter getXYFilter()

setXYFilter

public void setXYFilter(XYTypeFilter xYFilter)

getRangeOutsideViewToBlockPixels

public int getRangeOutsideViewToBlockPixels()

setRangeOutsideViewToBlockPixels

public void setRangeOutsideViewToBlockPixels(int rangeOutsideViewToBlockPixels)

finalize

protected void finalize()
                 throws java.lang.Throwable

Overrides:

finalize in class java.lang.Object

Throws:

java.lang.Throwable

getMinPathPointsToUseVelocity

public int getMinPathPointsToUseVelocity()

setMinPathPointsToUseVelocity

public void setMinPathPointsToUseVelocity(int minPathPointsToUseVelocity)

getMaxYToUseVelocity

public int getMaxYToUseVelocity()

setMaxYToUseVelocity

public void setMaxYToUseVelocity(int maxYToUseVelocity)

getState

public java.lang.Enum getState()

setState

public void setState(Goalie.State newState)

Sets the state. On transition to ACTIVE the tracker is reset

isLogGoalieEnabled

public boolean isLogGoalieEnabled()

setLogGoalieEnabled

public void setLogGoalieEnabled(boolean logGoalieEnabled)

getMaxPlayingTimeBeforeRestSec

public int getMaxPlayingTimeBeforeRestSec()

setMaxPlayingTimeBeforeRestSec

public void setMaxPlayingTimeBeforeRestSec(int maxPlayingTimeBeforeRestSec)

getRestIntervalSec

public int getRestIntervalSec()

setRestIntervalSec

public void setRestIntervalSec(int restIntervalSec)