class LivePlot(pyglet.window.Window):
## Setup Functions --------------------------------------------------------
def __init__(self, server, *args, **kwargs):
super(LivePlot, self).__init__(*args, **kwargs)
self.keyboard = key.KeyStateHandler()
self.push_handlers(self.keyboard)
self.setup_context()
self.setup_scene()
self.frequency = 60.5
pyglet.clock.schedule_interval(self.step, 1/self.frequency)
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.connect(server)
def setup_context(self):
glClearColor(0, 0, 0, 1)
glEnable(GL_DEPTH_TEST)
glDepthMask(GL_TRUE)
glDisable(GL_CULL_FACE)
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
#glEnable(GL_MULTISAMPLE_ARB)
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST)
glEnable(GL_POLYGON_SMOOTH)
glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST)
glEnable(GL_POINT_SMOOTH)
glHint(GL_POINT_SMOOTH_HINT, GL_NICEST)
#glEnable(GL_LINE_SMOOTH)
#glHint(GL_LINE_SMOOTH_HINT, GL_NICEST)
def setup_scene(self):
self.fps = []
self.fps_display = pyglet.text.Label(
'',
font_name = 'Courier', font_size = 16, bold = True,
color = (255, 255, 255, 100),
x = 5, y = 0,
anchor_x = 'left', anchor_y = 'bottom'
)
self.camera_mode_display = pyglet.text.Label(
'',
font_name = 'Courier', font_size = 16, bold = True,
color = (255, 255, 255, 200),
x = 0, y = 0,
anchor_x = 'right', anchor_y = 'bottom'
)
self.camera = Camera(50, [[1],[1],[3000]])
self.set_exclusive_mouse(True)
self.camera.look_at(np.array([[0],[0],[0]]))
self.cameras = []
self.markers = []
self.cur_view = -1
self.batch = pyglet.graphics.Batch()
self.background = pyglet.graphics.OrderedGroup(0)
self.foreground = pyglet.graphics.OrderedGroup(1)
self.floor_grid = self.batch.add(1, pyglet.gl.GL_LINES, self.background, 'v3f', 'c4f')
self.axes = self.batch.add(1, pyglet.gl.GL_LINES, self.foreground, 'v3f', 'c4f')
self.camera_cones = self.batch.add(1, pyglet.gl.GL_LINES, self.foreground, 'v3f', 'c4f')
self.markers = self.batch.add(1, pyglet.gl.GL_POINTS, self.foreground, 'v3f', 'c4f')
floor_grid = gridLines((-80000, -80000, 0), (160000, 160000, 0), (1000, 1000), [0.15, 0.15, 0.15, 1])
self.floor_grid.resize(len(floor_grid[0]) // 3)
self.floor_grid.vertices = floor_grid[0]
self.floor_grid.colors = floor_grid[1]
axes = drawAxes((0, 0, 0), 1000)
self.axes.resize(len(axes[0]) // 3)
self.axes.vertices = axes[0]
self.axes.colors = axes[1]
## Step function, called every tick ---------------------------------------
def step(self, dt):
self.fps.append(1/dt)
self.fps = self.fps[int(-self.frequency):]
self.fps_display.text = '{:.2f}'.format(sum(self.fps)/len(self.fps))
if self.camera.mode == Camera.FREE:
self.camera_mode_display.text = "FREE"
elif self.camera.mode == Camera.FOLLOW:
self.camera_mode_display.text = "FOLLOW"
elif self.camera.mode == Camera.XY:
self.camera_mode_display.text = "XY"
elif self.camera.mode == Camera.FIXED:
self.camera_mode_display.text = "FIXED"
ready,_,_ = select.select([self.sock], [], [], 0)
#ready = False
if ready:
msg = getMessage(ready[0])
for t,d in msg.iteritems():
if t == "cameras":
self.cameras = d
self.camera.update_views(self.cameras)
cone_color_cycle = [[1.0, 0.3, 0.3, 0.3], \
[0.3, 1.0, 0.3, 0.3], \
[0.3, 0.3, 1.0, 0.3]]
area_color_cycle = [[1.0, 0.3, 0.3, 0.5], \
[0.3, 1.0, 0.3, 0.5], \
[0.3, 0.3, 1.0, 0.5]]
verts = []
colors = []
for cam in d:
v,c = drawCameraCone(cam, cone_color_cycle[0], area_color_cycle[0])
verts += v
colors += c
cone_color_cycle = cone_color_cycle[1:] + cone_color_cycle[:1]
area_color_cycle = area_color_cycle[1:] + area_color_cycle[:1]
self.camera_cones.resize(len(verts) // 3)
self.camera_cones.vertices = verts
self.camera_cones.colors = colors
elif t == "markers":
markers = []
for m in d:
markers += list(m['mark'])
self.markers.resize(len(d))
self.markers.vertices = markers
self.markers.colors = [0, 0, 1, 1] * len(d)
vc = np.array([[6000 * dt], [6000 * dt], [6000 * dt]])
vc *= np.array([[self.keyboard[key.W] - self.keyboard[key.S]], \
[self.keyboard[key.D] - self.keyboard[key.A]], \
[self.keyboard[key.LSHIFT] - self.keyboard[key.LCTRL]]])
self.camera.translate(vc)
# Hack for pyglet bug
try:
self.switch_to()
self.dispatch_event('on_draw')
self.flip()
except AttributeError:
pass
## Rendering --------------------------------------------------------------
def render(self):
w,h = self.get_size()
self.camera.prerender(w, h)
rot = time.time() * 0.5
glLineWidth(1)
glPointSize(10)
glDisable(GL_DEPTH_TEST)
self.batch.draw()
self.camera.postrender()
def render_2d(self):
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
w,h = self.get_size()
glOrtho(0, w, 0, h, -1.0, 2.0)
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
## Draw Text
glDisable(GL_DEPTH_TEST)
self.fps_display.draw()
self.camera_mode_display.draw()
glEnable(GL_DEPTH_TEST)
glPopMatrix()
glMatrixMode(GL_PROJECTION)
glPopMatrix()
## Events -----------------------------------------------------------------
## Input events
def on_key_press(self, symbol, modifiers):
pass
def on_key_release(self, symbol, modifiers):
if symbol == key.ESCAPE:
self.close()
elif symbol == key.F:
if not self.fullscreen:
pos = self.get_location()
screens = pyglet.window.get_platform().get_default_display().get_screens()
for s in screens:
if pos[0] >= s.x and \
pos[0] < s.x + s.width and \
pos[1] >= s.y and \
pos[1] < s.y + s.height:
screen = s
break
self.set_fullscreen(True, screen)
else:
self.set_fullscreen(False)
elif symbol == key._1:
self.camera.set_mode(Camera.FREE)
self.set_exclusive_mouse(True)
elif symbol == key._2:
self.camera.set_mode(Camera.FOLLOW)
self.set_exclusive_mouse(False)
elif symbol == key._3:
self.camera.set_mode(Camera.XY)
self.set_exclusive_mouse(False)
elif symbol == key._4:
self.camera.set_mode(Camera.FIXED)
self.set_exclusive_mouse(False)
elif symbol == key.SPACE:
self.camera.next_view()
def on_mouse_motion(self, x, y, dx, dy):
self.camera.rotate(-dx/700, dy/700)
## Window events
def on_resize(self, width, height):
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
fov = 50
aspect = width / height
if width < height:
fov = 360/math.pi * math.atan(math.tan(fov * math.pi/360) / aspect)
gluPerspective(fov, aspect, 0.1, 200000)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# Update text labels
self.camera_mode_display.x = width - 5
return pyglet.event.EVENT_HANDLED
def on_draw(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
self.render()
self.render_2d()
