def draw(self, start, end):
segs = LineSegs()
segs.set_color(*self.color)
segs.moveTo(start._vec) # access to a protected member
segs.drawTo(end._vec) # access to a protected member
segs_node = segs.create()
self.lines += [render.attachNewNode(segs_node)]
class LineEffects():
def __init__(self):
self.linesegs = LineSegs("lines")
self.bullet = None
def remove_bullet(self):
if self.bullet:
self.bullet.detach_node()
def draw_bullet(self, a, b, color):
if color == 1:
color = (1,0,1,1)
elif color == 2:
color = (0,1,1,1)
else:
color = (1,1,1,1)
self.linesegs.set_color(color)
a = a.get_pos(render)
self.linesegs.move_to(a)
self.linesegs.draw_to(b)
lines = self.linesegs.create()
self.bullet = render.attach_new_node(lines)
impact = base.icons["impact"]
impact = impact.copy_to(self.bullet)
impact.set_pos(b)
def draw(self, start, end):
if self.car.fsm.getCurrentOrNextState() != 'Results':
if self.car.name == game.player_car.name:
segs = LineSegs()
segs.set_color(*self.color)
segs.moveTo(start)
segs.drawTo(end)
segs_node = segs.create()
self.gnd_lines += [render.attachNewNode(segs_node)]
def draw_grid(x_size, y_size, s):
lines = LineSegs()
lines.set_color((0, 0, 0, 1))
offset = s / 2
for x in range(x_size):
x = (x * s) - offset
lines.move_to(x, -offset, 0)
lines.draw_to(x, (y_size * s) - offset, 0)
for y in range(y_size):
y = (y * s) - offset
lines.move_to(-offset, y, 0)
lines.draw_to((x_size * s) - offset, y, 0)
grid = NodePath(lines.create())
return grid
def draw_lines(base):
linesegs = LineSegs("lines")
# Border
xs, ys = base.map_size
sequence = SequenceNode("border")
for color in ((0, 0, 0.4, 1), (0, 0, 0.5, 1), (0, 0, 0.6, 1), (0, 0, 0.5,
1)):
linesegs.set_color(color)
linesegs.set_thickness(3)
linesegs.move_to((-xs, 0, 0))
linesegs.draw_to((-xs, ys, 0))
linesegs.draw_to((xs, ys, 0))
linesegs.draw_to((xs, 0, 0))
linesegs.draw_to((-xs, 0, 0))
lines = linesegs.create()
sequence.add_child(lines)
sequence.loop(True)
sequence.set_frame_rate(30)
base.border = render.attach_new_node(sequence)
for i in range(2):
n = NodePath("border")
base.border.instance_to(n)
n.reparent_to(render)
n.set_z(-(i * 5))
# Mine cross
base.models["lines"] = {}
base.models["lines"]["cross"] = NodePath("cross")
sequence = SequenceNode("cross")
for color in ((1, 0, 0, 1), (1, 0, 1, 1), (0, 1, 0, 1), (1, 1, 0, 1)):
linesegs.set_thickness(3)
linesegs.move_to((1, 0, 0))
linesegs.draw_to((-1, 0, 0))
linesegs.move_to((0, 1, 0))
linesegs.draw_to((0, -1, 0))
linesegs.set_color(color)
lines = linesegs.create()
sequence.add_child(lines)
sequence.loop(True)
sequence.set_frame_rate(60)
base.models["lines"]["cross"].attach_new_node(sequence)
base.linesegs = linesegs
def draw_path(self, current_position, path):
from panda3d.core import LineSegs, Vec4, Vec3
path = [Vec3(*v) for v in path]
segments = LineSegs()
segments.set_thickness(2.0)
segments.set_color((1, 1, 0, 1))
segments.move_to(current_position)
for point in path:
segments.draw_to(point)
if self._path_node:
self._path_node.remove_node()
node = segments.create()
self._path_node = render.attach_new_node(node)
self._replan_timer = Timer(1.5)
self._replan_timer.on_target = self._replan
def linesegs_sample(x_segs, y_segs, wrap_x=False, wrap_y=False, **columns):
segs = LineSegs()
for x in range(x_segs + 1):
for y in range(y_segs + 1):
x_e, y_e = x, y
if wrap_x and x == x_segs:
x_e = 0
if wrap_y and y == y_segs:
y_e = 0
values = {
name: f(
float(x_e) / float(x_segs),
float(y_e) / float(y_segs),
)
for name, (dtype, f) in columns.items()
}
if y == 0:
segs.set_color(values['color'])
segs.move_to(values['vertex'])
else:
segs.set_color(values['color'])
segs.draw_to(values['vertex'])
for y in range(y_segs + 1):
for x in range(x_segs + 1):
x_e, y_e = x, y
if wrap_x and x == x_segs:
x_e = 0
if wrap_y and y == y_segs:
y_e = 0
values = {
name: f(
float(x_e) / float(x_segs),
float(y_e) / float(y_segs),
)
for name, (dtype, f) in columns.items()
}
if x == 0:
segs.set_color(values['color'])
segs.move_to(values['vertex'])
else:
segs.set_color(values['color'])
segs.draw_to(values['vertex'])
return segs.create()
def __init__(self):
self.cameraMode = 0
ShowBase.__init__(self)
self.taskMgr.add(self.spinCameraTask, "spinCameraTask")
self.prepareDron()
samples = [0] * 9
for i in range(0, 9):
samples[i] = [0] * 5
self.samples = samples
self.text_lines = {
0:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.9),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
1:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.8),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
2:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.7),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
3:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.6),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
4:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.5),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
5:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.4),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
6:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.3),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
7:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.2),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
8:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.1),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1)
}
bounds_bottom = LineSegs("bbottom")
bounds_bottom.set_color(1, 0, 0)
bounds_bottom.moveTo(0, 0, 0)
bounds_bottom.drawTo(4096, 0, 0)
bounds_bottom.drawTo(4096, 4096, 0)
bounds_bottom.drawTo(0, 4096, 0)
bounds_bottom.drawTo(0, 0, 0)
NodePath(bounds_bottom.create()).reparentTo(self.render)
bounds_mid = LineSegs("mid")
bounds_mid.set_color(0, 1, 0)
bounds_mid.moveTo(0, 0, 256 / 3)
bounds_mid.drawTo(4096, 0, 256 / 3)
bounds_mid.drawTo(4096, 4096, 256 / 3)
bounds_mid.drawTo(0, 4096, 256 / 3)
bounds_mid.drawTo(0, 0, 256 / 3)
bounds_mid.moveTo(0, 0, 2 * 256 / 3)
bounds_mid.drawTo(4096, 0, 2 * 256 / 3)
bounds_mid.drawTo(4096, 4096, 2 * 256 / 3)
bounds_mid.drawTo(0, 4096, 2 * 256 / 3)
bounds_mid.drawTo(0, 0, 2 * 256 / 3)
NodePath(bounds_mid.create()).reparentTo(self.render)
bounds_top = LineSegs("btop")
bounds_top.set_color(1, 0, 0)
bounds_top.moveTo(0, 0, 256)
bounds_top.drawTo(4096, 0, 256)
bounds_top.drawTo(4096, 0, 0)
bounds_top.moveTo(4096, 0, 256)
bounds_top.drawTo(4096, 4096, 256)
bounds_top.drawTo(4096, 4096, 0)
bounds_top.moveTo(4096, 4096, 256)
bounds_top.drawTo(0, 4096, 256)
bounds_top.drawTo(0, 4096, 0)
bounds_top.moveTo(0, 4096, 256)
bounds_top.drawTo(0, 0, 256)
bounds_top.drawTo(0, 0, 0)
bounds_top.moveTo(0, 0, 256)
NodePath(bounds_top.create()).reparentTo(self.render)
ground_grid = LineSegs("mid")
ground_grid.set_color(0.25, 0.38, 0)
for x in range(128):
ground_grid.moveTo(0, x * 32, 0)
ground_grid.drawTo(4096, x * 32, 0)
ground_grid.moveTo(x * 32, 0, 0)
ground_grid.drawTo(x * 32, 4096, 0)
NodePath(ground_grid.create()).reparentTo(self.render)
self.terrainLine = LineSegs("terrainLine")
self.terrainLine.set_color(1, 1, 1)
#bounds_top.drawTo(0,4096,0)
#bounds_top.moveTo(0,4096,256)
#bounds_top.reparentTo(self.render)
self.accept("space-up", self.changeCamera)
class Wizualizacja(ShowBase):
def __init__(self):
self.cameraMode = 0
ShowBase.__init__(self)
self.taskMgr.add(self.spinCameraTask, "spinCameraTask")
self.prepareDron()
samples = [0] * 9
for i in range(0, 9):
samples[i] = [0] * 5
self.samples = samples
self.text_lines = {
0:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.9),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
1:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.8),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
2:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.7),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
3:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.6),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
4:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.5),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
5:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.4),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
6:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.3),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
7:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.2),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1),
8:
OnscreenText(text=str(0.0),
pos=(-1.6, 0.1),
scale=.05,
fg=(1, 1, 1, 1),
align=TextNode.ALeft,
mayChange=1)
}
bounds_bottom = LineSegs("bbottom")
bounds_bottom.set_color(1, 0, 0)
bounds_bottom.moveTo(0, 0, 0)
bounds_bottom.drawTo(4096, 0, 0)
bounds_bottom.drawTo(4096, 4096, 0)
bounds_bottom.drawTo(0, 4096, 0)
bounds_bottom.drawTo(0, 0, 0)
NodePath(bounds_bottom.create()).reparentTo(self.render)
bounds_mid = LineSegs("mid")
bounds_mid.set_color(0, 1, 0)
bounds_mid.moveTo(0, 0, 256 / 3)
bounds_mid.drawTo(4096, 0, 256 / 3)
bounds_mid.drawTo(4096, 4096, 256 / 3)
bounds_mid.drawTo(0, 4096, 256 / 3)
bounds_mid.drawTo(0, 0, 256 / 3)
bounds_mid.moveTo(0, 0, 2 * 256 / 3)
bounds_mid.drawTo(4096, 0, 2 * 256 / 3)
bounds_mid.drawTo(4096, 4096, 2 * 256 / 3)
bounds_mid.drawTo(0, 4096, 2 * 256 / 3)
bounds_mid.drawTo(0, 0, 2 * 256 / 3)
NodePath(bounds_mid.create()).reparentTo(self.render)
bounds_top = LineSegs("btop")
bounds_top.set_color(1, 0, 0)
bounds_top.moveTo(0, 0, 256)
bounds_top.drawTo(4096, 0, 256)
bounds_top.drawTo(4096, 0, 0)
bounds_top.moveTo(4096, 0, 256)
bounds_top.drawTo(4096, 4096, 256)
bounds_top.drawTo(4096, 4096, 0)
bounds_top.moveTo(4096, 4096, 256)
bounds_top.drawTo(0, 4096, 256)
bounds_top.drawTo(0, 4096, 0)
bounds_top.moveTo(0, 4096, 256)
bounds_top.drawTo(0, 0, 256)
bounds_top.drawTo(0, 0, 0)
bounds_top.moveTo(0, 0, 256)
NodePath(bounds_top.create()).reparentTo(self.render)
ground_grid = LineSegs("mid")
ground_grid.set_color(0.25, 0.38, 0)
for x in range(128):
ground_grid.moveTo(0, x * 32, 0)
ground_grid.drawTo(4096, x * 32, 0)
ground_grid.moveTo(x * 32, 0, 0)
ground_grid.drawTo(x * 32, 4096, 0)
NodePath(ground_grid.create()).reparentTo(self.render)
self.terrainLine = LineSegs("terrainLine")
self.terrainLine.set_color(1, 1, 1)
#bounds_top.drawTo(0,4096,0)
#bounds_top.moveTo(0,4096,256)
#bounds_top.reparentTo(self.render)
self.accept("space-up", self.changeCamera)
def changeCamera(self):
self.cameraMode += 1
if self.cameraMode > 4:
self.cameraMode = 0
#bounds_top.drawTo(0,4096,0)
#bounds_top.moveTo(0,4096,256)
#bounds_top.reparentTo(self.render)
def prepareDron(self):
self.dronActor = Actor("dron")
self.dronActor.setScale(0.2, 0.2, 0.2)
self.dronActor.reparentTo(self.render)
self.dronActor.setPos(2048, 2018, 128)
def spinCameraTask(self, task):
try:
data = self.getParams()
print(data[3], data[4], data[5])
self.dronActor.setPos(data[0], data[1], data[2])
self.dronActor.setHpr(data[5], data[6], data[7])
dronPos = self.dronActor.getPos()
angleDegrees = task.time * 0.0
angle = (task.time * 0.0) * (pi / 180.0)
self.last_data = data
except Exception as e:
data = self.last_data
print(e)
# pprint(data)
labels = {
0: "X = ",
1: "Y = ",
2: "Wysokość bezw. = ",
3: "Wysokość wzgl. = ",
4: "Bateria = ",
5: "Azymut = ",
6: "Pitch = ",
7: "Roll = ",
8: "Czas = "
}
for x in data:
if data.index(x) == 8:
try:
time_string = "Dzień: " + str(ord(x[1])) + ", " + str(
ord(x[2])).zfill(2) + ":" + str(ord(
x[3])).zfill(2) + ":" + str(ord(x[4])).zfill(2)
self.text_lines[data.index(x)].setText(
labels[data.index(x)] + str(time_string))
except IndexError:
self.text_lines[data.index(x)].setText(
labels[data.index(x)] + "")
else:
self.text_lines[data.index(x)].setText(
labels[data.index(x)] + str(float("{:10.3f}".format(x))))
# print(data[0], data[1], data[2])
self.dronActor.setPos(data[0], data[1], data[2])
self.dronActor.setHpr(data[5], data[6], data[7])
dronPos = self.dronActor.getPos()
angleDegrees = task.time * 0.0
angle = (task.time * 0.0) * (pi / 180.0)
#self.camera.setPos(dronPos.getX()+40, dronPos.getY()-40, dronPos.getZ()+3)
#self.camera.setPos(dronPos.getX()+20*sin(angle), dronPos.getY()-20*cos(angle), dronPos.getZ()+3)
#self.camera.setPos(dronPos.getX(), dronPos.getY(),280)
if self.cameraMode == 0:
self.camera.setPos(self.dronActor.getPos())
self.camera.setPos(self.camera, 0, 10, 20)
self.camera.lookAt(self.dronActor)
elif self.cameraMode == 1:
self.camera.setPos(0, 0, 255)
self.camera.lookAt(self.dronActor)
elif self.cameraMode == 2:
self.camera.setPos(4096, 4096, 255)
self.camera.lookAt(self.dronActor)
if self.cameraMode == 3:
self.camera.setPos(self.dronActor, 0, 20, 3)
self.camera.lookAt(self.dronActor)
if self.cameraMode == 4:
self.camera.setPos(self.dronActor, 0, 45, 6)
self.camera.lookAt(self.dronActor)
#self.camera.setPos(dronPos.getX(), dronPos.getY(),280)
self.drawTerrainLine(data[3])
return Task.cont
def drawTerrainLine(self, relativeHeight):
dronePos = self.dronActor.getPos()
tHeight = dronePos.getZ() - relativeHeight
self.terrainLine.drawTo(dronePos.getX(), dronePos.getY(), tHeight)
NodePath(self.terrainLine.create()).reparentTo(self.render)
def getParams(self):
data = [0] * 9
r = requests.get('http://192.168.0.19:5000/singleRead')
loadedData = json.loads(r.text)
for i in range(0, 8):
self.samples[i].append(loadedData[i])
if len(self.samples[i]) > 5:
del self.samples[i][0]
uart = loadedData[8]
del loadedData[8]
data[0] = median(self.samples[0])
data[1] = median(self.samples[1])
data[2] = median(self.samples[2])
data[3] = median(self.samples[3])
data[4] = median(self.samples[4])
data[5] = median(self.samples[5])
data[6] = median(self.samples[6])
data[7] = median(self.samples[7])
data[8] = uart
return data
def walk(self, direction):
self.dronWalking = direction
def stop(self):
self.dronWalking = False
def setTurn(self, value):
self.dronTurn = value
def line_art(sd, stemlet_length, stemlet_diameter, rest_segments, style):
segs = LineSegs()
segs.set_thickness(2.0)
if style.stem:
segs.set_color(style.stem)
segs.move_to(0, 0, 0)
segs.draw_to(0, 0, stemlet_length)
# Ring around base
if style.ring:
# Segment base ring
segs.set_color(style.ring)
for r in range(style.ring_segs):
from_v = r / style.ring_segs * 2 * math.pi
to_v = (r + 1) / style.ring_segs * 2 * math.pi
segs.move_to(
math.sin(from_v) * stemlet_diameter,
math.cos(from_v) * stemlet_diameter,
0,
)
segs.draw_to(
math.sin(to_v) * stemlet_diameter,
math.cos(to_v) * stemlet_diameter,
0,
)
# Endcap ring
if rest_segments == 1:
for r in range(style.ring_segs):
from_v = r / style.ring_segs * 2 * math.pi
to_v = (r + 1) / style.ring_segs * 2 * math.pi
segs.move_to(
math.sin(from_v) * stemlet_diameter,
math.cos(from_v) * stemlet_diameter,
stemlet_length,
)
segs.draw_to(
math.sin(to_v) * stemlet_diameter,
math.cos(to_v) * stemlet_diameter,
stemlet_length,
)
# Bark
if style.bark:
segs.set_color(style.bark)
for r in range(style.ring_segs):
lobing = 1 + math.sin(2 * math.pi * sd.lobes * r / style.ring_segs)
v = r / style.ring_segs * 2 * math.pi
segs.move_to(
math.sin(v) * stemlet_diameter * lobing,
math.cos(v) * stemlet_diameter * lobing,
0,
)
segs.draw_to(
math.sin(v) * stemlet_diameter * lobing,
math.cos(v) * stemlet_diameter * lobing,
stemlet_length,
)
# x/y indicators
if style.xyz_at_top:
indicator_z = stemlet_length
else:
indicator_z = 0.0
if style.x:
segs.set_color(style.x)
segs.move_to(0, 0, indicator_z)
segs.draw_to(stemlet_diameter, 0, indicator_z)
if style.y:
segs.set_color(style.y)
segs.move_to(0, 0, indicator_z)
segs.draw_to(0, stemlet_diameter, indicator_z)
return segs.create()
