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gt7trackdetect.py
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gt7trackdetect.py
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import time
import sys
import csv
from granturismo.intake import Listener
from granturismo.model import Wheels
# ––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
class TrackBounds:
def __init__(self, **kwargs):
for key, value in kwargs.items():
# Convert the value to the appropriate data type
if key in ['TRACK']:
value = int(value)
elif key in ['DIRECTION']:
value = str(value)
else:
value = float(value)
# Set the attribute on the instance
setattr(self, key, value)
def __str__(self):
# Create a list of strings for the properties
prop_strings = []
for key, value in self.__dict__.items():
prop_strings.append(f'{key}: {value} ({type(value).__name__})')
# Join the strings with newlines
return '\n'.join(prop_strings)
def load_track_bounds(filename):
# Open the CSV file
with open(filename, 'r') as f:
# Read the rows from the CSV file
rows = list(csv.DictReader(f))
# Create a list of TrackBounds instances
track_bounds = []
for row in rows:
track_bounds.append(TrackBounds(**row))
return track_bounds
# ––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
class Packet:
def __init__(self, **kwargs):
for key, value in kwargs.items():
# Convert the value to the appropriate data type
if key in ['POSX', 'POSY', 'POSZ', 'FUEL', 'SPEED', 'TEMPFL', 'TEMPFR', 'TEMPRL', 'TEMPRR', 'CLUTCH']:
value = float(value)
else:
value = int(value)
# Set the attribute on the instance
setattr(self, key, value)
def __str__(self):
# Create a list of strings for the properties
prop_strings = []
for key, value in self.__dict__.items():
prop_strings.append(f'{key}: {value} ({type(value).__name__})')
# Join the strings with newlines
return '\n'.join(prop_strings)
# ––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
def line_intersects(p0_x, p0_y, p1_x, p1_y, p2_x, p2_y, p3_x, p3_y):
s1_x = p1_x - p0_x
s1_y = p1_y - p0_y
s2_x = p3_x - p2_x
s2_y = p3_y - p2_y
s = (-s1_y * (p0_x - p2_x) + s1_x * (p0_y - p2_y)) / (-s2_x * s1_y + s1_x * s2_y)
t = (s2_x * (p0_y - p2_y) - s2_y * (p0_x - p2_x)) / (-s2_x * s1_y + s1_x * s2_y)
d = '--'
if s2_x > 0:
# Second set of coordinates has a positive x direction
d = 'PX'
elif s2_x < 0:
# Second set of coordinates has a negative x direction
d = 'NX'
elif s2_y > 0:
# Second set of coordinates has a positive y direction
d = 'PY'
elif s2_y < 0:
# Second set of coordinates has a negative y direction
d = 'NY'
else:
# Second set of coordinates has no discernible direction
d = '??'
if s >= 0 and s <= 1 and t >= 0 and t <= 1:
# Collision detected
return (1, d)
return (0, d) # No collision
# ––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
def get_bounding_box(x1, y1, x2, y2):
return min(x1, x2), min(y1, y2), max(x1, x2), max(y1, y2)
def get_bounding_box_area(box):
return (box[2] - box[0]) * (box[3] - box[1])
def get_bounding_box_intersection(box1, box2):
left = max(box1[0], box2[0])
right = min(box1[2], box2[2])
top = max(box1[1], box2[1])
bottom = min(box1[3], box2[3])
if left > right or top > bottom:
# The bounding boxes do not overlap
return None
return left, top, right, bottom
def calculate_iou(outer_bounding_box, inner_bounding_box):
# Calculate the area of the intersection of the bounding boxes
intersection = get_bounding_box_intersection(outer_bounding_box, inner_bounding_box)
if intersection is None:
return 0
intersection_area = get_bounding_box_area(intersection)
outer_area = get_bounding_box_area(outer_bounding_box)
inner_area = get_bounding_box_area(inner_bounding_box)
iou = intersection_area / (outer_area + inner_area - intersection_area)
return iou
def find_matching_track(L1X, L1Y, L2X, L2Y, MinX, MinY, MaxX, MaxY, track_bounds, max_matches=3, min_iou=0.02):
# Calculate the outer bounding box for the line defined by L1X, L1Y, L2X and L2Y
outer_bounding_box = get_bounding_box(MinX, MinY, MaxX, MaxY)
# Find the elements with the highest IoUs
matches = []
for element in track_bounds:
# Calculate the inner bounding box for the line defined by P1X, P1Y, P2X and P2Y
inner_bounding_box = get_bounding_box(element.MINX, element.MINY, element.MAXX, element.MAXY)
# Check if the lines intersect
intersects, direction = line_intersects(element.P1X, element.P1Y, element.P2X, element.P2Y, L1X, L1Y, L2X, L2Y)
if intersects == 0:
# The lines do not intersect, so skip this element
continue
# Check if the direction of the element matches the direction of the intersection point
if element.DIRECTION != direction:
# The direction does not match, so skip this element
continue
# Calculate the IoU
iou = calculate_iou(outer_bounding_box, inner_bounding_box)
# The lines intersect, so add the element and its direction to the matches list
matches.append((iou, element.TRACK))
# Sort the matches list in descending order of IoU
matches.sort(key=lambda x: x[0], reverse=True)
# Return the top max_matches elements in the matches list
if not matches:
return None
# Get the best match
best_match = matches[0]
# Filter out matches that are not within 2-3% of the best match
filtered_matches = [match for match in matches if match[0] >= best_match[0] * (1 - min_iou)]
if len(filtered_matches) > max_matches:
filtered_matches = filtered_matches[:max_matches]
return filtered_matches
# ––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––
if __name__ == "__main__":
# Load the track bounds from the CSV file
track_bounds = load_track_bounds('gt7trackdetect.csv')
prevLap = -1
maxX = -999999.9
maxY = -999999.9
minX = 999999.9
minY = 999999.9
gotTrack = -1
try:
ip_address = sys.argv[1]
# To use the Listener session without a `with` clause, you'll need to call the `.start()` function.
listener = Listener(ip_address)
listener.start()
while True:
packet = listener.get()
if packet.flags.loading_or_processing:
continue
if packet.flags.paused:
continue
if packet.lap_count is None:
continue
try:
if packet.flags.car_on_track and gotTrack == -1:
newXYZ = [packet.position.x, packet.position.z]
if packet.lap_count > 0:
if packet.position.x > maxX:
maxX = packet.position.x
if packet.position.x < minX:
minX = packet.position.x
if packet.position.z > maxY:
maxY = packet.position.z
if packet.position.z < minY:
minY = packet.position.z
if packet.lap_count > prevLap:
prevLap = packet.lap_count
if prevLap > 1:
matches = find_matching_track(oldXYZ[0], oldXYZ[1], newXYZ[0], newXYZ[1], minX, minY, maxX, maxY, track_bounds)
if matches:
if len(matches) == 1:
if matches[0][0] > 0.96:
print(f"Got a +96% match: {matches[0][1]} ({round(matches[0][0] * 100, 1)}%)")
gotTrack = matches[0][1]
else:
print(f"Got a possible match: {matches[0][1]} ({round(matches[0][0] * 100, 1)}%)")
else:
print(f"Got {len(matches)} track matches")
oldXYZ = newXYZ
if packet.lap_count < prevLap:
print("Resetting track capture")
prevLap = -1
maxX = -999999.9
maxY = -999999.9
minX = 999999.9
minY = 999999.9
gotTrack = -1
# Check for Ctrl-C
except KeyboardInterrupt:
# Exit the loop
break
finally:
listener.close()