Spaces:
No application file
No application file
| 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 | |