Fix code for new ArUcO markers

bot.py

@@ -39,7 +39,7 @@ class Bot:
         self.tapo = Tapo(self.camera_ip, self.camera_user, self.camera_password)
         self.executor = ThreadPoolExecutor(max_workers=len(os.sched_getaffinity(0)))
 
-        self.last_aruco_corners = {}
+        self.last_aruco_corners = [None] * 4
 
     def _get_presets(self):
         presets = self.tapo.getPresets()
@@ -82,6 +82,9 @@ class Bot:
         vcap = cv2.VideoCapture(
             f"rtsp://{self.camera_user}:{self.camera_password}@{self.camera_ip}:554/stream1"
         )
+        if chat_action_fn:
+            chat_action_fn()
+
         print("Taking color image...")
         ret, pretty_image = vcap.read()
         while pretty_image is None:
@@ -94,22 +97,31 @@ class Bot:
         self.tapo.setDayNightMode("on")
 
         # Iterate until we find all 4 aruco markers or timeout
-        aruco_corners = {}
+        aruco_corners = [None] * 4
+
+        def found_all(corners):
+            return all(c is not None for c in corners)
+
         annotated_image = None
         aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_4X4_50)
         aruco_params = aruco.DetectorParameters()
 
+        if chat_action_fn:
+            chat_action_fn()
+
         t0 = time.time()
         last_chat_action = 0
         print("Taking image with ArUco markers...")
-        while len(aruco_corners) < 4:
+        while not found_all(aruco_corners):
             delta = time.time() - t0
             if delta > timeout:
                 a = self.last_aruco_corners.copy()
-                a.update(aruco_corners)
+                for i in range(4):
+                    if aruco_corners[i] is not None:
+                        a[i] = aruco_corners[i]
                 aruco_corners = a
 
-                if len(aruco_corners) == 4:
+                if found_all(aruco_corners):
                     print("Timeout waiting for ArUco markers, using cached corners")
                     break
 
@@ -146,17 +158,15 @@ class Bot:
         self.tapo.setDayNightMode("auto")
         self.tapo.setPrivacyMode(privacy_mode)
 
-        corners = [aruco_corners[i] for i in range(1, 5)]
+        aruco.drawDetectedMarkers(annotated_image, aruco_corners, np.array(range(4)))
-        ids = np.array([[i] for i in range(1, 5)])
-        aruco.drawDetectedMarkers(annotated_image, corners, ids)
 
         # Annotate the image with the detected markers and apply the perspective transform to the pretty image
 
         # Get the outermost points of each marker
-        bl_marker = corners[0].squeeze()[3]  # bottom left marker
+        tl_marker = aruco_corners[0].squeeze()[0]  # top left marker
-        tl_marker = corners[1].squeeze()[0]  # top left marker
+        tr_marker = aruco_corners[1].squeeze()[1]  # top right marker
-        tr_marker = corners[2].squeeze()[1]  # top right marker
+        bl_marker = aruco_corners[2].squeeze()[3]  # bottom left marker
-        bc_marker = corners[3].squeeze()[3]  # bottom center marker
+        bc_marker = aruco_corners[3].squeeze()[2]  # bottom center marker
 
         # Calculate the fourth point by computing the line through the bottom markers and intersecting with the vertical
         # line through the top right marker
@@ -202,9 +212,10 @@ class Bot:
 
         await chat_action_fn()
 
+        loop = asyncio.get_event_loop()
         photos = await self.take_photo(
             adjust_perspective=adjust_perspective,
-            chat_action_fn=lambda: asyncio.run(chat_action_fn())
+            chat_action_fn=lambda: loop.create_task(chat_action_fn()),
         )
         jpegs = [cv2.imencode(".jpg", photo)[1].tobytes() for photo in photos]