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import csv
import pandas as pd
from statistics import mode
from setting_AI import *
csv_path = "dataCSV/direction_control.csv"
csv_mask_path = "dataCSV/direction_control_mask.csv"
csv_straight_path = "dataCSV/direction_straight.csv"
csv_back_control_path = "dataCSV/back_control.csv"
def ADD_DATA_CSV_MASK_DIRECTION(direction, angle):
with open(csv_mask_path, mode='a', newline='', encoding='utf-8') as csvfile:
writer = csv.writer(csvfile)
writer.writerow([direction, angle])
data_csv = pd.read_csv(csv_mask_path)
if len(data_csv) == 10000:
file_start = pd.read_csv(csv_mask_path, nrows=0)
file_start_new = pd.DataFrame(columns=file_start.columns)
file_start_new.to_csv(csv_mask_path, index=False)
def ADD_DATA_CSV_DIRECTION(direction, angle):
with open(csv_path, mode='a', newline='', encoding='utf-8') as csvfile:
writer = csv.writer(csvfile)
writer.writerow([direction, angle])
def ADD_DATA_CSV_DIRECTION_STRAIGHT(direction, angle):
with open(csv_straight_path, mode='a', newline='', encoding='utf-8') as csvfile:
writer = csv.writer(csvfile)
writer.writerow([direction, angle])
data_csv = pd.read_csv(csv_straight_path)
if len(data_csv) == 500:
CLEAN_DATA_CSV_DIRECTION_STRAIGHT()
def CLEAN_DATA_CSV_DIRECTION():
# Clear "direction_control.csv"
file_start = pd.read_csv(csv_path, nrows=0)
file_start_new = pd.DataFrame(columns=file_start.columns)
file_start_new.to_csv(csv_path, index=False)
# Clear "direction_control_mask.csv"
file_start = pd.read_csv(csv_mask_path, nrows=0)
file_start_new = pd.DataFrame(columns=file_start.columns)
file_start_new.to_csv(csv_mask_path, index=False)
def ADD_DATA_CSV_BACK_CONTROL(direction, angle):
with open(csv_back_control_path, mode='a', newline='', encoding='utf-8') as csvfile:
writer = csv.writer(csvfile)
writer.writerow([direction, angle])
def CLEAN_DATA_CSV_BACK_CONTROL():
# Clear "back_control.csv"
file_start = pd.read_csv(csv_back_control_path, nrows=0)
file_start_new = pd.DataFrame(columns=file_start.columns)
file_start_new.to_csv(csv_back_control_path, index=False)
def CLEAN_DATA_CSV_DIRECTION_STRAIGHT():
# Clear "direction_control.csv"
file_start = pd.read_csv(csv_straight_path, nrows=0)
file_start_new = pd.DataFrame(columns=file_start.columns)
file_start_new.to_csv(csv_straight_path, index=False)
def BOTTOM_DATA_CSV_CHECK():
data_csv_ = pd.read_csv(csv_path)
last_row = data_csv_.iloc[-1]
return (last_row["direction"], last_row["angle"])
def CHECK_PUSH():
push_variable = None
dr_back, an_back = None, None
data_csv_ = pd.read_csv(csv_mask_path)
direction_list_to_mode = list(data_csv_['direction'][-count_control:])
if len(direction_list_to_mode) > 0:
direction_mode = mode(direction_list_to_mode)
max_angle = max(list(data_csv_['angle'][:count_control]))
if len(pd.read_csv(csv_path)) == 0:
dr_back, an_back = direction_mode, max_angle
ADD_DATA_CSV_DIRECTION(direction_mode, max_angle)
# ADD_DATA_CSV_BACK_CONTROL(direction_mode, max_angle)
return f"{direction_mode}:{max_angle:03d}", dr_back, an_back
else:
bottom_data_csv_check = BOTTOM_DATA_CSV_CHECK()
if bottom_data_csv_check[0] != direction_mode or (abs(bottom_data_csv_check[1] - max_angle) >= threshold_scale):
CLEAN_DATA_CSV_DIRECTION()
# ADD_DATA_CSV_DIRECTION(direction_mode, max_angle)
dr_back, an_back = direction_mode, max_angle
return f"{direction_mode}:{max_angle:03d}", dr_back, an_back
else:
return push_variable, dr_back, an_back
return push_variable, dr_back, an_back
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