def main():
try:
opts, args = getopt.getopt(sys.argv[1:], 'hs:', ['scene='])
except getopt.GetoptError:
printhelp()
sys.exit(1)
scene = None
for opt, arg in opts:
if opt == '-h':
printhelp()
sys.exit(1)
elif opt in ('-s', '--scene'):
scene = arg
else:
printhelp()
sys.exit(1)
if scene is None:
printhelp()
sys.exit(1)
print('Scene:', scene)
arena.init(BROKER, REALM, scene)
print('Go to URL: https://xr.andrew.cmu.edu/?networkedTagSolver=true&scene=' + scene + '&fixedCamera=<username>')
arena.add_topic(TOPIC, on_tag_detect)
arena.handle_events()
def arena_init():
arena.init("arena.andrew.cmu.edu", "realm", "patrick_scene",
scene_callback)
temperature_text = arena.Object(objName="temperature_text",
objType=arena.Shape.text,
color=(255, 0, 0),
location=(-1, 2, -3),
text="Hello world! The temperature is: 0")
humidity_text = arena.Object(objName="humidity_text",
objType=arena.Shape.text,
color=(255, 0, 0),
location=(-1, 1, -3),
text="Hello world! The humidity is: 0")
start_serial(temperature_text, humidity_text)
arena.handle_events()
def main():
try:
opts, args = getopt.getopt(sys.argv[1:], 'hs:u:',
['scene=', 'userfile='])
except getopt.GetoptError:
printhelp()
sys.exit(1)
scene = None
userfile = None
for opt, arg in opts:
if opt == '-h':
printhelp()
sys.exit(1)
elif opt in ('-s', '--scene'):
scene = arg
elif opt in ('-u', '--userfile'):
userfile = arg
else:
printhelp()
sys.exit(1)
if scene is None or userfile is None:
printhelp()
sys.exit(1)
with open(userfile, 'r') as f:
config = json.load(f, object_hook=dict_to_sns)
arena.init(BROKER, REALM, scene)
for user in config:
arenanames[user.uwbname] = user.arenaname
if user.static:
users[user.client_id] = StaticUser(user)
else:
users[user.client_id] = SyncUser(user)
print(
"Go to URL: https://xr.andrew.cmu.edu/?networkedTagSolver=true&scene="
+ scene + "&fixedCamera=" + user.arenaname)
scene.add_topic(TOPIC_DETECT, on_tag_detect)
scene.add_topic(TOPIC_VIO, on_vio)
scene.add_topic(TOPIC_UWB, on_uwb)
arena.handle_events()
def main():
try:
opts, args = getopt.getopt(sys.argv[1:], 'hs:', ['scene='])
except getopt.GetoptError:
printhelp()
sys.exit(1)
scene = None
for opt, arg in opts:
if opt == '-h':
printhelp()
sys.exit(1)
elif opt in ('-s', '--scene'):
scene = arg
else:
printhelp()
sys.exit(1)
if scene is None or userfile is None:
printhelp()
sys.exit(1)
arena.init(BROKER, REALM, scene)
print("Go to URL: https://xr.andrew.cmu.edu/?scene=" + scene)
arena.handle_events()
return
# Check for mouseenter events
# the obj vars are arena objects
# the state vars are just ints that hold if the light is on/off
if jsonMsg["type"] == "mouseenter":
name = jsonMsg["object_id"]
numname = name.split("_") #1 is x, 2 is y
x = int(numname[1])
y = int(numname[2])
icon_select(x, y)
# Check for mouseleve events
if jsonMsg["type"] == "mouseleave":
name = jsonMsg["object_id"]
numname = name.split("_") #1 is x, 2 is y
x = int(numname[1])
y = int(numname[2])
icon_unselect(x, y)
if jsonMsg["type"] == "mousedown":
name = jsonMsg["object_id"]
numname = name.split("_") #1 is x, 2 is y
x = int(numname[1])
y = int(numname[2])
icon_click(x, y)
arena.init(HOST, REALM, SCENE, scene_callback)
print("starting main loop")
draw_board()
arena.handle_events()
import arena
arena.init("oz.andrew.cmu.edu", "realm", "hello")
arena.Object(arena.Shape.cube)
arena.handle_events()
# hello2.py
# demonstrate receiving ARENA callback (JSON) messages
import arena
def scene_callback(msg):
print("scene_callback: ", msg)
arena.init("arena.andrew.cmu.edu", "realm", "example", scene_callback)
# synchronous draw commands
cube = arena.Object(objType=arena.Shape.cube, clickable=True)
# our main event loop
arena.handle_events()
def remove_objects():
print("Cleaning up objects")
for entity in objects:
print("Removing {}".format(entity.objName))
entity.delete()
if __name__ == '__main__':
rospy.init_node('RArena_node')
# rospy.on_shutdown(remove_objects)
# # Instatiate the MQTT client class
print("Connecting to broker: ", mqtt_broker)
arena.init(mqtt_broker, "realm", "drone", cleanup=remove_objects)
remove_objects()
generate_objects()
if status_topic:
rospy.Subscriber(status_topic, NetworkStatusMsg, status_callback)
rospy.loginfo("Subscribed to: {}".format(status_topic))
rate = rospy.Rate(10)
while not rospy.is_shutdown():
# Hack to deal with areana.handle_events blocking.
while len(arena.messages) > 0:
arena.process_message(arena.messages.pop(0))
update_objects()
rate.sleep()
if jsonMsg["type"] == "mousedown":
name = jsonMsg["object_id"]
if name == "pendant":
# The "3" is the lutron id for that light
pendant_state = light_toggle(pendant_obj, pendant_state, "2")
if name == "pantry":
# The "4" is the lutron id for that light
pantry_state = light_toggle(pantry_obj, pantry_state, "4")
if name == "cabinet":
cabinet_state = light_toggle(cabinet_obj, cabinet_state, "7")
# open a telnet (sigh) connection to to lutron caseta system
lutron_connect()
arena.init(HOST, "realm", SCENE, scene_callback)
print("setting up objects")
arena.Object(objType=arena.Shape.cube,
objName="origin",
location=(0, 0, 0),
color=(0, 0, 255),
scale=(0.1, 0.1, 0.1),
persist=True)
arena.Object(objType=arena.Shape.cube,
objName="wall1",
location=(1.5, 1.25, -3.90),
color=(100, 100, 100),
scale=(0.3, 3.0, 6.2),
persist=True,
data='{"material":{"colorWrite": false}, "render-order": "0"}')
print("solved")
animate_win()
draw_board()
if stalemate():
draw_hud(-1)
print("stalemate")
animate_loss()
draw_board()
else:
return
# start the fun shall we?
arena.init(HOST, REALM, SCENE)
# make a parent scene object
sceneParent = arena.Object(persist=False,
objName="sceneParent",
objType=arena.Shape.cube,
location=ORIGIN,
scale=(0.01, 0.01, 0.01),
transparency=arena.Transparency(True, 0))
print("starting main loop")
draw_board()
for x in range(-10, 10):
for z in range(-10, 10):
draw_ray(ORIGIN, (x, 10, z))
sceneParent.update(
data=
'{"animation": {"property": "scale","to": "0.1 0.1 0.1","easing": "linear","dur": 1000}}'
elif USERS[camname].mode == Mode.OCCLUDE:
arblib.occlude_obj(REALM, SCENE, objid,
USERS[camname].target_style)
elif USERS[camname].mode == Mode.RENAME or USERS[
camname].mode == Mode.PARENT:
if len(USERS[camname].typetext) > 0: # edits already made
new_id = USERS[camname].typetext
USERS[camname].typetext = ""
if USERS[camname].mode == Mode.PARENT:
arblib.parent_obj(REALM, SCENE, objid, new_id)
else:
do_rename(camname, objid, new_id)
else: # no edits yet, load previous name to change
USERS[camname].typetext = objid
USERS[camname].set_textright(USERS[camname].typetext)
# parse args and wait for events
init_args()
random.seed()
if DEMO:
arena.init(BROKER,
REALM,
SCENE,
port=PORT,
callback=scene_callback,
democlick=(400, -250))
else:
arena.init(BROKER, REALM, SCENE, port=PORT, callback=scene_callback)
arena.handle_events()
for opt, arg in opts:
if opt == '-h':
print("tracer.py -s <scene> -u <fixedCamera> -c <r,g,b> ")
print(" ex: python3 tracer.py -s myScene -u myCamera -c 255,0,0")
sys.exit()
elif opt in ("-s", "--scene"):
SCENE = arg
elif opt in ("-u", "--user"):
fixedCamera = arg
elif opt in ("-c", "--color"):
cam_color = arg.split(',')
print("Scene: " + SCENE)
print("fixedCamera: " + fixedCamera)
print("color: " + str(cam_color))
arena.init("arena.andrew.cmu.edu", "realm", SCENE)
cameraStr = "camera_" + fixedCamera + "_" + fixedCamera
my_camera = arena.Object(objName=cameraStr,
transparency=arena.Transparency(True, 0),
callback=camera_callback,
persist=False)
print("Go to URL: https://arena.andrew.cmu.edu/?scene=" + SCENE +
"&fixedCamera=" + fixedCamera)
# our main event loop
arena.handle_events()
# balls.py
#
import arena
arena.init("arena.andrew.cmu.edu", "realm", "example")
arena.Object(objType=arena.Shape.cone, location=(1, 0, -3))
arena.handle_events()
# Size Update (Larger = More moist)
size_output = 1.0 + output
size_output = max(min(size_output, 1.5), 1.0)
map_cube.update(scale=(size_output, size_output,
size_output))
time.sleep(0.1)
ser.close()
def scene_callback(msg):
print("scene_callback: ", msg)
arena.init("arena.andrew.cmu.edu", "realm",
"patrick_scene") #, scene_callback)
'''
Stove
'''
'''
Turns the stove on and off
'''
stove_status = False
def stove_button_callback(event):
global stove_status
global stove_cube
global stove_light
global stove_text
if event.event_type == arena.EventType.mousedown:
import arena
arena.init("arena.andrew.cmu.edu", "realm", "headsup-dev-test")
testUI = arena.Object(objName="a-testUI")
testUI.delete()
x = int(name.split("_")[1])
y = int(name.split("_")[2])
if grid[(x - 1)][(y - 1)] != -1:
return
counter = counter + 1
grid[(x - 1)][(y - 1)] = counter % 2
colstring = '#%02x%02x%02x' % color
cubes[(x,y)].update(physics=arena.Physics.static,
data='{"impulse": {"on": "mouseup","force":"0 40 0","position":"10 1 1"},"material": {"color":"'+ colstring+'", "transparent": false, "opacity": 1}}',
clickable=True,
location=(x,y,-3),
scale=(0.6, 0.6, 0.6))
if solved():
print("solved")
animate_win()
draw_board()
if stalemate():
print("stalemate")
animate_loss()
draw_board()
else:
return
# start the fun shall we?
arena.init(HOST, REALM, SCENE, process_message)
print("starting main loop")
draw_board()
arena.handle_events()
All: https://arenaxr.org/volatile
'''
# [TODO] update this to 0.1.0!
import arena
def tag_callback(event=None):
''' Since we expect the position/rotation updates, we can react here.
'''
if event.event_action == arena.EventAction.update and \
event.event_type == arena.EventType.object:
print("Tag position: " + str(event.position))
print("Tag rotation: " + str(event.rotation))
arena.init("arenaxr.org", "realm", "example")
# apriltag_450 will receive position/rotation updates so don't set them
TAG = arena.Object(objName="apriltag_450",
transparency=arena.Transparency(True, 0),
callback=tag_callback,
persist=True)
# duck as child to it can can be rotated relative to apriltag
arena.Object(objName="duck",
objType=arena.Shape.gltf_model,
scale=(0.1, 0.1, 0.1),
rotation=(0.7, 0, 0, 0.7),
parent=TAG.objName,
url="models/Duck.glb",
persist=True)
# our main event loop
import sys
import time
import arena
arena.init("oz.andrew.cmu.edu", "realm", "render")
# Draw origin cube
rotation = (0.0, 0.0, 0.0, 0.0)
scale = (0.1, 0.1, 0.1)
color = (255, 0, 0)
location = (0, 0, 0)
originCube = arena.Object(location=location,
rotation=rotation,
scale=scale,
color=color)
color = (0, 255, 0)
# Draw UWB tag locations
location = (1.079, 0.789, 0.071)
arena.Object(location=location, rotation=rotation, scale=scale, color=color)
location = (1.079, 0.789, 0.778)
arena.Object(location=location, rotation=rotation, scale=scale, color=color)
location = (2.674, 0.789, 0.071)
arena.Object(location=location, rotation=rotation, scale=scale, color=color)
location = (2.674, 0.789, 0.778)
arena.Object(location=location, rotation=rotation, scale=scale, color=color)
arena.handle_events()
# shapes.py
#
# MQTT message format: x,y,z,rotX,rotY,rotZ,rotW,scaleX,scaleY,scaleZ,#colorhex,on/off
import arena
import random
import time
import signal
HOST = "oz.andrew.cmu.edu"
SCENE = "shapes"
arena.init(HOST, "realm", SCENE)
def randmove():
rando = random.random() * 10 - 5
return rando
def rando(val):
rando = random.random() * val
return round(rando, 3)
def randrot():
return round((random.random() * 2 - 1), 3)
def randcolor():
x = random.randint(0,255)
y = random.randint(0,255)
z = random.randint(0,255)
return(x,y,z)
"," + REALM + "," + MQTTH + "," + MID)
MID = MID + '-'
else:
print(
"You need to set SCENE, MQTTH, MID and REALM as environmental variables to specify the program target"
)
print("JSONCFG is optional for setting multiple screens and loications.")
print("\nFor bash you can copy paste the following before running:")
print("export MID=dir")
print("export MQTTH=arena.andrew.cmu.edu")
print("export REALM=realm")
print("export SCENE=example")
print("export JSONCFG=directory_cfg.json")
exit(-1)
arena.init(MQTTH, REALM, SCENE)
if os.environ.get('JSONCFG') is not None:
# Links is base64 encoded
JFILE = os.environ["JSONCFG"]
print("JSONCFG:" + JFILE)
screensData = None
with open(JFILE) as dataFile:
screensData = json.load(dataFile)
cnt = 0
for key in screensData:
print("Key:" + key)
value = screensData[key]
if key == "projector":
print("Projector")
projector_start = arena.Object(persist=True,
blink) + '" },'
morphStr += '"gltf-morph__7": {"morphtarget": "shapes.browOuterUp_L", "value": "' + str(
browOuterUp_L) + '" },'
morphStr += '"gltf-morph__8": {"morphtarget": "shapes.browOuterUp_R", "value": "' + str(
browOuterUp_R) + '" },'
morphStr += '"gltf-morph__9": {"morphtarget": "shapes.mouthPucker", "value": "' + str(
mouthPucker) + '" }'
morphStr += '}'
rotChange = distance.euclidean(face.rot, last_face_state['rotation'])
if rotChange < 0.03:
face.rot = last_face_state['rotation']
last_face_state['rotation'] = face.rot
# print(morphStr)
if face.counter % 2 == 0:
obj = arena.Object(
rotation=face.rot,
# location=(face.trans[0]/10, face.trans[1]/10+3, (face.trans[2]+50)/10-5),
# rotation=(0,0,0.6-openness,1), # quaternion value roughly between -.05 and .05
objName=OBJECT,
# url="models/Facegltf/sampledata.gltf",
objType=arena.Shape.gltf_model,
scale=(15, 15, 15),
location=(0, 2, -5),
data=morphStr)
arena.init(HOST, "realm", SCENE, callback=callback)
arena.handle_events()
import arena
arena.init("arena.andrew.cmu.edu", "realm", "sprng-changeme")
prnum = arena.Object(objName="a-prnum")
prnum.delete()
import sys
sys.path.append("../")
import time
import arena
arena.init("oz.andrew.cmu.edu", "realm", "demo")
arena.start()
# Draw origin cube
scale = (0.1, 0.1, 0.1)
color = (255, 0, 0)
location = (0, 0, 0)
originCube = arena.Object(persist=True,
location=location,
scale=scale,
color=color)
# Draw UWB tag locations
color = (255, 0, 0)
location = (-2.183, 1.407, -6.194)
arena.Object(persist=True, location=location, scale=scale, color=color)
color = (0, 255, 0)
location = (-1.739, 1.159, -6.155)
arena.Object(persist=True, location=location, scale=scale, color=color)
color = (0, 0, 255)
location = (-2.229, 0.280, -6.011)
arena.Object(persist=True, location=location, scale=scale, color=color)
print(msg)
if jsonMsg["type"] != "mouseup":
return
is_video_playing = not is_video_playing
if is_video_playing:
video_play_timestamp = time.time() - (video_pause_timestamp - video_play_timestamp)
else:
video_pause_timestamp = time.time()
video_paused_by = jsonMsg["data"]["source"]
arena.init(
"oz.andrew.cmu.edu",
"realm",
"synchvideoscene",
callback = callback,
)
screen = arena.Object(
objName = "videoscreen",
objType = arena.Shape.cube,
scale = (16, 9, 0.1),
location = (0, 7.2, -15),
data = '{"material": {"src": "//commondatastorage.googleapis.com/gtv-videos-bucket/sample/BigBuckBunny.mp4"}}',
clickable = True
)
status = arena.Object(
objName = "videostatus",
objType = arena.Shape.text,
# balls.py
#
# spray a bunch of spheres into the scene, test physics
import arena
import random
import time
import signal
arena.init("arena.andrew.cmu.edu", "realm", "systest-balls")
def rando():
return float(random.randint(0, 10000)) / 1000
def randcolor():
x = random.randint(0, 255)
y = random.randint(0, 255)
z = random.randint(0, 255)
return (x, y, z)
def signal_handler(sig, frame):
exit()
signal.signal(signal.SIGINT, signal_handler)
counter = 0
while True:
# transCubes.py
#
# draw a symmetric structure of transparent mostly red blue (yellow) rectangles
import arena
import random
import time
import signal
arena.init("arena.andrew.cmu.edu", "realm", "systest-transCubes")
def randmove():
rando = random.random() * 10 - 5
return rando
def rando(val):
rand = random.random() * val
return round(rand, 3)
def randrot():
return round((random.random() * 2 - 1), 3)
def unhex(a):
return int(a, 16)
def randgold():
ref_tag_rotq[2], ref_tag_rotq[3]
})
else: # Solving for client rig, default localization operation
print("Localizing", client_id, "on", str(detected_tag.id))
ref_tag_pose = TAGS.get(detected_tag.id)
if ref_tag_pose is None:
# Tag not found. TODO: query ATLAS for it
print("Tag not found, not in build mode")
return
rig_pose = ref_tag_pose @ np.linalg.inv(dtag_pose) @ np.linalg.inv(
vio_pose)
rig_pos = rig_pose[0:3, 3]
rig_rotq = Rotation.from_matrix(rig_pose[0:3, 0:3]).as_quat()
RIGS[client_id] = rig_pose
arena.updateRig(
client_id, (rig_pos[0], rig_pos[1], rig_pos[2]),
(rig_rotq[0], rig_rotq[1], rig_rotq[2], rig_rotq[3]))
# mqtt_response = {
# "new_pose": {
# 'position': { 'x': new_pos[0], 'y': new_pos[1], 'z': new_pos[2]},
# 'rotation': { 'x': new_rotq[0],'y': new_rotq[1],'z': new_rotq[2],'w': new_rotq[3]}
# }
# }
arena.init(HOST, "realm", TOPIC, on_tag_detect)
arena.handle_events()
# hello2.py
# demonstrate receiving ARENA callback (JSON) messages
import arena
def scene_callback(msg):
print("scene_callback: ", msg)
arena.init("oz.andrew.cmu.edu", "realm", "hello", scene_callback)
# synchronous draw commandds
cube = arena.Object(arena.Shape.cube, clickable=True)
# our main event loop
arena.handle_events()
counter = counter + 1
grid[(x - 1)][(y - 1)] = counter % 2
colstring = '#%02x%02x%02x' % color
cubes[(x, y)].update(
physics=arena.Physics.static,
data=
'{"impulse": {"on": "mouseup","force":"0 40 0","position":"10 1 1"},"material": {"color":"'
+ colstring + '", "transparent": false, "opacity": 1}}',
clickable=True,
location=(x, y, -3),
scale=(0.6, 0.6, 0.6))
if solved():
print("solved")
animate_win()
draw_board()
if stalemate():
print("stalemate")
animate_loss()
draw_board()
else:
return
# start the fun shall we?
arena.init(HOST, REALM, SCENE, process_message, port=3003)
print("starting main loop")
draw_board()
arena.handle_events()
# shapes.py
#
# MQTT message format: x,y,z,rotX,rotY,rotZ,rotW,scaleX,scaleY,scaleZ,#colorhex,on/off
import arena
import random
import time
import signal
arena.init("arena.andrew.cmu.edu", "realm", "systest-shapes")
def randmove():
rando = random.random() * 10 - 5
return rando
def rando(val):
rando = random.random() * val
return round(rando, 3)
def randrot():
return round((random.random() * 2 - 1), 3)
def randcolor():
x = random.randint(0, 255)
y = random.randint(0, 255)
z = random.randint(0, 255)
return (x, y, z)
