def __init__(self,roomconfig):
self.TARGET_FPS = 15
pygame.init()
self.clock = pygame.time.Clock()
self.roomlist = self.build_rooms(roomconfig)
try:
self.sound = Sound()
except:
print "Error initializing sound"
sys.exit(1)
try:
self.pt = PanTiltNetwork([1,2])
# set to max speed
self.pt.set_max_speed()
except:
print "Couldn't initialize pan-tilt unit"
self.pt = None
pass
try:
assert(options.objects is not None)
except:
print "Make sure you define 1 or more vicon objects through -o"
sys.exit(1)
if options.vicon_file is not None:
self.simulation_mode = True
else:
self.simulation_mode = False
print "Running in live mode. "\
"Game will hang here if you are not connected to a Vicon Proxy server"
if self.simulation_mode:
self.f = open(options.vicon_file,'r')
# should we read ahead?
for i in xrange(options.line):
self.f.readline()
else:
# Initialize the object...
print "Waiting for Vicon..."
self.vp = ViconProxy()
# set up balls
self.balls = []
for o in options.objects:
self.balls.append(Ball(self.f if self.simulation_mode else self.vp,o))
# initial targets
self.targets = [None]*len(self.roomlist) # target for each room
for t in xrange(len(self.targets)):
self.set_target(t)
print self.targets
for tidx in xrange(len(self.targets)):
self.show_target(tidx)
class Game:
def __init__(self,roomconfig):
self.TARGET_FPS = 15
pygame.init()
self.clock = pygame.time.Clock()
self.roomlist = self.build_rooms(roomconfig)
try:
self.sound = Sound()
except:
print "Error initializing sound"
sys.exit(1)
try:
self.pt = PanTiltNetwork([1,2])
# set to max speed
self.pt.set_max_speed()
except:
print "Couldn't initialize pan-tilt unit"
self.pt = None
pass
try:
assert(options.objects is not None)
except:
print "Make sure you define 1 or more vicon objects through -o"
sys.exit(1)
if options.vicon_file is not None:
self.simulation_mode = True
else:
self.simulation_mode = False
print "Running in live mode. "\
"Game will hang here if you are not connected to a Vicon Proxy server"
if self.simulation_mode:
self.f = open(options.vicon_file,'r')
# should we read ahead?
for i in xrange(options.line):
self.f.readline()
else:
# Initialize the object...
print "Waiting for Vicon..."
self.vp = ViconProxy()
# set up balls
self.balls = []
for o in options.objects:
self.balls.append(Ball(self.f if self.simulation_mode else self.vp,o))
# initial targets
self.targets = [None]*len(self.roomlist) # target for each room
for t in xrange(len(self.targets)):
self.set_target(t)
print self.targets
for tidx in xrange(len(self.targets)):
self.show_target(tidx)
def run(self):
done = False
while not done:
timeChange = self.clock.tick(self.TARGET_FPS)
if self.simulation_mode: # read from file
obj = get_now_file(self.f,debug=True)
else: # read from vicon_proxy
obj = get_now(self.vp)
for j,b in enumerate(self.balls):
b.set_pos(obj)
print b.get_pos()
# determine whether any of the balls have made the target
for i,t in enumerate(self.targets):
for j,b in enumerate(self.balls):
pos = b.get_pos()
vel = b.get_vel()
if t.isin(pos[0],pos[1]):
print "Ball %d: %d,%d in target %d" % (j,pos[0],pos[1],i)
print self.targets[i]
if vel<options.min_vel:
# t.note
print "MATCH"
self.sound.play_note(t.note,self.roomlist[i].instrument)
time.sleep(options.show_sleep)
self.sound.note_off(t.note)
# self.sound.play_applause()
self.set_target(i)
self.show_target(i)
def show_target(self,tidx):
""" Show a given target with pan-tilt and sound. """
t = self.targets[tidx]
r = self.roomlist[tidx]
pc = t.get_center()
print "center: %d,%d" % (pc[0],pc[1])
ptmap = r.mapper.map(pc)
pan,tilt = ptmap[0]
if self.pt:
# select appropriate pan-tilt for this room
self.pt.select(r.pantilt)
self.pt.go_block(pan,tilt,True)
self.sound.play_note(t.note,r.instrument)
time.sleep(options.show_sleep)
self.sound.note_off(t.note)
def set_target(self,tidx):
""" Choose targets (but do not choose partitions where balls are currently located).
Specify target to set.
"""
r = self.roomlist[tidx]
#print "Room %d" % i
bad = [] # this is a list of partitions in which any of the balls are located
for b in self.balls:
for n,p in enumerate(r.partitions):
pos = b.get_pos()
if p.isin(pos[0],pos[1]):
#print "Ball found in partition %d" % n
bad.append(n)
# set difference between all partitions and bad partitions
valid_list = list(set(range(len(r.partitions)))-set(bad))
if len(valid_list)==0:
# many balls, no valid partitions?
current_partition = np.random.randint(len(r.partitions))
else:
current_partition = valid_list[np.random.randint(len(valid_list))]
self.targets[tidx] = r.partitions[current_partition]
#print self.targets
def build_rooms(self,roomconfig):
"""Build rooms based on text file."""
notes = [69, 81, 74, 79, 57, 62, 67, 93, 86, 91]
roomlist = []
f = open(roomconfig,'r')
while True:
line = f.readline()
if not line: break
if not line.startswith('#'): # ignore comments
xmin,xmax,ymin,ymax,n,p,m,inst = line.split() # split on spaces
#r = Room(*[int(n) for n in xmin,xmax,ymin,ymax]) # why is this so slow?
r = Room(int(xmin),int(xmax),int(ymin),int(ymax))
print "Room created"
#r = Room(-400,400,-200,200)
r.partition(int(n),notes)
r.pantilt=int(p)
r.mapper = Mapper(m) # will be a mapper for this specific pan-tilt
r.instrument = int(inst)
roomlist.append(r)
f.close()
return roomlist
