def main():
""" Main function. """
try:
cv = Canvas(8, 2)
except CanvasError as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLACK)
cv.put_str(0, 0, "ABcde")
cv.set_color_ansi(caca.COLOR_LIGHTRED, caca.COLOR_BLACK)
cv.put_str(5, 0, "\\o/")
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.put_str(0, 1, "&$âøÿØ?!")
fonts = caca.get_font_list()
if not fonts:
sys.stderr.write("libcaca was compiled without any fonts\n")
sys.exit(127)
try:
f = Font(fonts[0])
except FontError as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
w = cv.get_width() * f.get_width()
h = cv.get_height() * f.get_height()
buf = ctypes.c_buffer(4 * w * h)
cv.render(f, buf, w, h, 4 * w)
cv.set_size(80, 32)
try:
dp = Display(cv)
except DisplayError as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
try:
if sys.byteorder == 'big':
dit = Dither(32, w, h, 4 * w, 0xff0000, 0xff00, 0xff, 0xff000000)
else:
dit = Dither(32, w, h, 4 * w, 0xff00, 0xff0000, 0xff000000, 0xff)
dit.bitmap(cv, 0, 0, cv.get_width(), cv.get_height(), buf)
except DitherError as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
else:
dp.refresh()
dp.get_event(caca.EVENT_KEY_PRESS, Event(), -1)
def __init__(self, app, spec, driver='gl'):
self.app = app
self.spec = spec
self.widgets = []
self.focus_order = None
self.parser = FileParser(self.app)
self.widgets = self.parser.parse(self.spec["widgets"])
self.canvas = Canvas(self.spec["app"]["width"],
self.spec["app"]["height"])
self.display = Display(self.canvas)
self.display.set_driver(driver)
if len(self.widgets) > 0:
self.focused_widget = self.widgets[0]
self.build_focus_order()
def main():
""" Main function. """
try:
cv = Canvas(80, 24)
dp = Display(cv)
except (CanvasError, DisplayError) as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
cv.set_color_ansi(caca.COLOR_LIGHTGRAY, caca.COLOR_BLACK)
cv.clear()
for i in range(0, 16):
if i >= 8:
y = i + 3
else:
y = i + 2
cv.set_color_ansi(caca.COLOR_LIGHTGRAY, caca.COLOR_BLACK)
cv.printf(3, y, "ANSI %i", i)
for j in range(0, 16):
if j >= 8:
x = 13 + (j * 4)
else:
x = 12 + (j * 4)
if i >= 8:
y = i + 3
else:
y = i + 2
cv.set_color_ansi(i, j)
cv.put_str(x, y, "Aaホ")
cv.set_color_ansi(caca.COLOR_LIGHTGRAY, caca.COLOR_BLACK)
cv.put_str(3, 20, "This is bold This is blink This is italics This is underline")
cv.set_attr(caca.STYLE_BOLD)
cv.put_str(3 + 8, 20, "bold")
cv.set_attr(caca.STYLE_BLINK)
cv.put_str(3 + 24, 20, "blink")
cv.set_attr(caca.STYLE_ITALICS)
cv.put_str(3 + 41, 20, "italics")
cv.set_attr(caca.STYLE_UNDERLINE)
cv.put_str(3 + 60, 20, "underline")
dp.refresh()
dp.get_event(caca.EVENT_KEY_PRESS, Event(), -1)
def __init__(self, *args, **kwargs):
"""
"""
KinematicServer.__init__(self, *args, **kwargs)
self.robots = [
r for (name, r) in self.elements.items() if isinstance(r, Robot)
]
self.cv = Canvas()
self.dp = Display(self.cv)
self.ev = Event()
self.quit = False
self.width = self.cv.get_width()
self.height = self.cv.get_height()
self.camera = Camera(self, 640, 480)
self.camera.translation = [3.5, 0, 1]
self.camera.init()
self.fps = -1.0
self.frames = 0
self.last_t = 0
class TartanDisplay(object):
def __init__(self, app, spec, driver='gl'):
self.app = app
self.spec = spec
self.widgets = []
self.focus_order = None
self.parser = FileParser(self.app)
self.widgets = self.parser.parse(self.spec["widgets"])
self.canvas = Canvas(self.spec["app"]["width"],
self.spec["app"]["height"])
self.display = Display(self.canvas)
self.display.set_driver(driver)
if len(self.widgets) > 0:
self.focused_widget = self.widgets[0]
self.build_focus_order()
def mark_dirty(self):
self.dirty = True
def mark_clean(self):
self.dirty = False
def build_focus_order(self):
self.focus_order = self.widgets
def refresh(self):
self.canvas.clear()
self.build_display()
self.display.refresh()
def blit(self, widget):
self.canvas.blit(widget.anchor[0], widget.anchor[1], widget.canvas)
def build_display(self):
self.canvas.clear()
for widget in self.widgets:
widget.draw()
self.blit(widget)
def main():
""" Main function. """
try:
cv = Canvas(0, 0)
dp = Display(cv)
except (CanvasError, DisplayError) as err:
sys.stderr.write("%s\n" % err)
sys.exit(2)
sprite = Canvas(0, 0)
sprite.set_color_ansi(caca.COLOR_LIGHTRED, caca.COLOR_BLACK)
sprite.import_from_memory(THE_PIG, "text")
sprite.set_handle(sprite.get_width()//2, sprite.get_height()//2)
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.put_str(0, 0, "Centered sprite")
cv.blit(cv.get_width()//2, cv.get_height()//2, sprite, NullCanvas())
dp.refresh()
dp.get_event(caca.EVENT_KEY_PRESS, Event(), -1)
sys.exit(0)
def main():
""" Main function. """
try:
cv = Canvas(8, 2)
except CanvasError as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLACK)
cv.put_str(0, 0, "ABcde")
cv.set_color_ansi(caca.COLOR_LIGHTRED, caca.COLOR_BLACK)
cv.put_str(5, 0, "\\o/")
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.put_str(0, 1, "&$âøÿØ?!")
fonts = caca.get_font_list()
if not fonts:
sys.stderr.write("libcaca was compiled without any fonts\n")
sys.exit(127)
try:
f = Font(fonts[0])
except FontError as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
w = cv.get_width() * f.get_width()
h = cv.get_height() * f.get_height()
buf = ctypes.c_buffer(4 * w * h)
cv.render(f, buf, w, h, 4 * w)
cv.set_size(80, 32)
try:
dp = Display(cv)
except DisplayError as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
try:
if sys.byteorder == 'big':
dit = Dither(32, w, h, 4 * w, 0xff0000, 0xff00, 0xff, 0xff000000)
else:
dit = Dither(32, w, h, 4 * w, 0xff00, 0xff0000, 0xff000000, 0xff)
dit.bitmap(cv, 0, 0, cv.get_width(), cv.get_height(), buf)
except DitherError as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
else:
dp.refresh()
dp.get_event(caca.EVENT_KEY_PRESS, Event(), -1)
def main():
""" Main function. """
try:
cv = Canvas(80, 24)
dp = Display(cv)
except (CanvasError, DisplayError) as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
cv.set_color_ansi(caca.COLOR_LIGHTGRAY, caca.COLOR_BLACK)
cv.clear()
for i in range(0, 16):
if i >= 8:
y = i + 3
else:
y = i + 2
cv.set_color_ansi(caca.COLOR_LIGHTGRAY, caca.COLOR_BLACK)
cv.printf(3, y, "ANSI %i", i)
for j in range(0, 16):
if j >= 8:
x = 13 + (j * 4)
else:
x = 12 + (j * 4)
if i >= 8:
y = i + 3
else:
y = i + 2
cv.set_color_ansi(i, j)
cv.put_str(x, y, "Aaホ")
cv.set_color_ansi(caca.COLOR_LIGHTGRAY, caca.COLOR_BLACK)
cv.put_str(
3, 20,
"This is bold This is blink This is italics This is underline"
)
cv.set_attr(caca.STYLE_BOLD)
cv.put_str(3 + 8, 20, "bold")
cv.set_attr(caca.STYLE_BLINK)
cv.put_str(3 + 24, 20, "blink")
cv.set_attr(caca.STYLE_ITALICS)
cv.put_str(3 + 41, 20, "italics")
cv.set_attr(caca.STYLE_UNDERLINE)
cv.put_str(3 + 60, 20, "underline")
dp.refresh()
dp.get_event(caca.EVENT_KEY_PRESS, Event(), -1)
def main():
""" Main function. """
try:
cv = Canvas(0, 0)
except CanvasError as err:
sys.stderr.write("%s\n" % err)
sys.exit(2)
for idx in range(1, 200):
cv.create_frame(idx)
sys.stderr.write("canvas created, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
cv.set_size(150, 80)
sys.stderr.write("canvas expanded, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
for idx in range(0, 16):
cv.set_frame(idx)
cv.set_color_ansi(caca.COLOR_WHITE, idx)
cv.fill_box(0, 0, 40, 15, ':')
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.put_str((idx * 5) // 2, idx, "カカ")
cv.set_color_ansi(caca.COLOR_DEFAULT, caca.COLOR_TRANSPARENT)
cv.set_size(41, 16)
sys.stderr.write("canvas shrinked, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
try:
dp = Display(cv)
except DisplayError as err:
sys.stderr.write("%s\n" % err)
sys.exit(2)
dp.set_time(50000)
sys.stderr.write("display attached, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
n = 0
while not dp.get_event(caca.EVENT_KEY_PRESS, Event(), 0):
cv.set_frame(n % 16)
dp.refresh()
n += 1
def __init__(self, *args, **kwargs):
"""
"""
KinematicServer.__init__(self, *args, **kwargs)
self.robots = [r for (name, r) in self.elements.items()
if isinstance(r, Robot)]
self.cv = Canvas()
self.dp = Display(self.cv)
self.ev = Event()
self.quit = False
self.width = self.cv.get_width()
self.height = self.cv.get_height()
self.camera = Camera(self, 640 , 480)
self.camera.translation = [3.5, 0, 1]
self.camera.init()
self.fps = -1.0
self.frames = 0
self.last_t = 0
def main():
""" Main function. """
lst = caca.get_display_driver_list()
cur = 0
try:
cv = Canvas(0, 0)
dp = Display(cv)
except (CanvasError, DisplayError) as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLACK)
while True:
cv.put_str(1, 0, "Available drivers:")
cur_driver = dp.get_driver()
n = 0
for driver, desc in lst:
if driver == cur_driver:
cv.put_str(2, n + 2, "%s %s (%s)" % ('*', driver, desc))
else:
cv.put_str(2, n + 2, "%s %s (%s)" % (' ', driver, desc))
n += 1
cv.put_str(2, n + 3, "Switching driver in 5 seconds")
dp.refresh()
if dp.get_event(caca.EVENT_KEY_PRESS, Event(), 5000000):
break
cur += 1
if cur < len(lst) and lst[cur][0] == "raw":
cur += 1
if cur >= len(lst):
cur = 0
dp.set_driver(lst[cur][0])
def main():
""" Main function. """
try:
cv = Canvas(0, 0)
except CanvasError as err:
sys.stderr.write("%s\n" % err)
sys.exit(2)
for idx in range(1, 200):
cv.create_frame(idx)
sys.stderr.write("canvas created, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
cv.set_size(150, 80)
sys.stderr.write("canvas expanded, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
for idx in range(0, 16):
cv.set_frame(idx)
cv.set_color_ansi(caca.COLOR_WHITE, idx)
cv.fill_box(0, 0, 40, 15, ':')
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.put_str((idx * 5) // 2, idx, "カカ")
cv.set_color_ansi(caca.COLOR_DEFAULT, caca.COLOR_TRANSPARENT)
cv.set_size(41, 16)
sys.stderr.write("canvas shrinked, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
try:
dp = Display(cv)
except DisplayError as err:
sys.stderr.write("%s\n" % err)
sys.exit(2)
dp.set_time(50000)
sys.stderr.write("display attached, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
n = 0
while not dp.get_event(caca.EVENT_KEY_PRESS, Event(), 0):
cv.set_frame(n % 16)
dp.refresh()
n += 1
def main():
""" Main function. """
lst = caca.get_display_driver_list()
cur = 0
try:
cv = Canvas(0, 0)
dp = Display(cv)
except (CanvasError, DisplayError) as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLACK)
while True:
cv.put_str(1, 0, "Available drivers:")
cur_driver = dp.get_driver()
n = 0
for driver, desc in lst:
if driver == cur_driver:
cv.put_str(2, n + 2, "%s %s (%s)" % ('*', driver, desc))
else:
cv.put_str(2, n + 2, "%s %s (%s)" % (' ', driver, desc))
n += 1
cv.put_str(2, n + 3, "Switching driver in 5 seconds")
dp.refresh()
if dp.get_event(caca.EVENT_KEY_PRESS, Event(), 5000000):
break
cur += 1
if cur < len(lst) and lst[cur][0] == "raw":
cur += 1
if cur >= len(lst):
cur = 0
dp.set_driver(lst[cur][0])
def main():
""" Main function. """
try:
cv = Canvas(0, 0)
dp = Display(cv)
except (CanvasError, DisplayError) as err:
sys.stderr.write("%s\n" % err)
sys.exit(2)
sprite = Canvas(0, 0)
sprite.set_color_ansi(caca.COLOR_LIGHTRED, caca.COLOR_BLACK)
sprite.import_from_memory(THE_PIG, "text")
sprite.set_handle(sprite.get_width()//2, sprite.get_height()//2)
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.put_str(0, 0, "Centered sprite")
cv.blit(cv.get_width()//2, cv.get_height()//2, sprite, NullCanvas())
dp.refresh()
dp.get_event(caca.EVENT_KEY_PRESS, Event(), -1)
sys.exit(0)
% (cv.get_width(), cv.get_height()))
for idx in range(0, 16):
cv.set_frame(idx)
cv.set_color_ansi(caca.COLOR_WHITE, idx)
cv.fill_box(0, 0, 40, 15, ':')
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.put_str(idx * 5 / 2, idx, "カカ")
cv.set_color_ansi(caca.COLOR_DEFAULT, caca.COLOR_TRANSPARENT)
cv.set_size(41, 16)
sys.stderr.write("canvas shrinked, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
try:
dp = Display(cv)
except DisplayError, err:
sys.stderr.write("%s\n" % err)
sys.exit(2)
dp.set_time(50000)
sys.stderr.write("display attached, size is %dx%d\n" \
% (cv.get_width(), cv.get_height()))
n = 0
while not dp.get_event(caca.EVENT_KEY_PRESS, Event(), 0):
cv.set_frame(n % 16)
dp.refresh()
n += 1
if __name__ == "__main__":
cv.set_color_ansi(caca.COLOR_DEFAULT, caca.COLOR_BLACK)
posx = (cv.get_height() - self.height) // 2
posy = (cv.get_width() - self.width) // 2
for x in range(0, self.ca.height):
for y in range(0, self.ca.width):
if self.ca.get(x, y):
cv.put_str(posy+y, posx+x, "@")
def zeroCells(self):
for x in range(0, self.ca.height):
for y in range(0, self.ca.width):
self.ca.set(x, y, 0)
if __name__ == "__main__":
cv = Canvas()
dp = Display(cv)
ev = Event()
app = CellApp(80, 20)
app.zeroCells()
while True:
if dp.get_event(caca.EVENT_KEY_PRESS, ev, 2):
ch = ev.get_key_ch()
if ch == ord('q'):
break
elif ch == ord('s'):
app.auto = True
elif ch == ord('n'):
app.nextCycle()
elif ch == ord('r'):
try:
f = Font(fonts[0])
except FontError, err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
w = cv.get_width() * f.get_width()
h = cv.get_height() * f.get_height()
buf = ctypes.c_buffer(4 * w * h)
cv.render(f, buf, w, h, 4 * w)
cv.set_size(80, 32)
try:
dp = Display(cv)
except DisplayError, err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
if sys.byteorder == 'big':
dit = Dither(32, w, h, 4 * w, 0xff0000, 0xff00, 0xff, 0xff000000)
else:
dit = Dither(32, w, h, 4 * w, 0xff00, 0xff0000, 0xff000000, 0xff)
dit.bitmap(cv, 0, 0, cv.get_width(), cv.get_height(), buf)
dp.refresh()
dp.get_event(caca.EVENT_KEY_PRESS, Event(), -1)
if __name__ == "__main__":
cv.set_color_ansi(caca.COLOR_DEFAULT, caca.COLOR_BLACK)
posx = (cv.get_height() - self.height) // 2
posy = (cv.get_width() - self.width) // 2
for x in range(0, self.ca.height):
for y in range(0, self.ca.width):
if self.ca.get(x, y):
cv.put_str(posy+y, posx+x, "@")
def zeroCells(self):
for x in range(0, self.ca.height):
for y in range(0, self.ca.width):
self.ca.set(x, y, 0)
if __name__ == "__main__":
cv = Canvas()
dp = Display(cv)
ev = Event()
app = CellApp(80, 20)
app.zeroCells()
while True:
if dp.get_event(caca.EVENT_KEY_PRESS, ev, 2):
ch = ev.get_key_ch()
if ch == ord('q'):
break
elif ch == ord('s'):
app.auto = True
elif ch == ord('n'):
app.nextCycle()
elif ch == ord('r'):
def main():
""" Main function. """
events = []
quit = 0
quit_string = ["", "q", "qu", "qui", "quit"]
try:
cv = Canvas(80, 24)
dp = Display(cv)
except (CanvasError, DisplayError) as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
h = cv.get_height() - 1
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.draw_line(0, 0, cv.get_width() - 1, 0, ' ')
cv.draw_line(0, h, cv.get_width() - 1, h, ' ')
cv.put_str(0, h, "Type \"quit\" to exit")
dp.refresh()
while quit < 4:
ev = Event()
if dp.get_event(caca.EVENT_ANY, ev, -1):
if ev.get_type() == caca.EVENT_KEY_PRESS:
key = ev.get_key_ch()
if key == ord('u') and quit == 1:
quit += 1
elif key == ord('i') and quit == 2:
quit += 1
elif key == ord('t') and quit == 3:
quit += 1
elif key == ord('q'):
quit = 1
else:
quit = 0
events.append(ev)
cv.set_color_ansi(caca.COLOR_LIGHTGRAY, caca.COLOR_BLACK)
cv.clear()
#print current event
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.draw_line(0, 0, cv.get_width() - 1, 0, ' ')
if events:
print_event(cv, 0, 0, events[-1])
cv.draw_line(0, h, cv.get_width() - 1, h, ' ')
cv.put_str(0, h, "Type \"quit\" to exit: %s" % quit_string[quit])
#print previous events
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLACK)
counts = list(range(0, len(events) - 1))
counts.reverse()
if len(events) > 1:
j = 0
for i in counts:
if j < h - 1 and events[i].get_type():
print_event(cv, 0, ((len(events) - 1) - i), events[i])
j += 1
dp.refresh()
class LibcacaServer(KinematicServer):
def __init__(self, *args, **kwargs):
"""
"""
KinematicServer.__init__(self, *args, **kwargs)
self.robots = [
r for (name, r) in self.elements.items() if isinstance(r, Robot)
]
self.cv = Canvas()
self.dp = Display(self.cv)
self.ev = Event()
self.quit = False
self.width = self.cv.get_width()
self.height = self.cv.get_height()
self.camera = Camera(self, 640, 480)
self.camera.translation = [3.5, 0, 1]
self.camera.init()
self.fps = -1.0
self.frames = 0
self.last_t = 0
def compute_fps(self):
now = time.time()
if self.last_t == 0:
self.last_t = now
return
PER = 2.0
if now - self.last_t >= PER:
self.fps = self.frames / PER
self.frames = 0
self.last_t = now
return
else:
self.frames += 1
def key_cb(self):
UP, DOWN, LEFT, RIGHT = 273, 274, 275, 276
if self.dp.get_event(caca.EVENT_KEY_PRESS, self.ev, 0):
ch = self.ev.get_key_ch()
if ch == ord('q'):
self.quit = True
elif ch == UP:
self.camera.rotate(0, 1)
elif ch == DOWN:
self.camera.rotate(0, -1)
elif ch == LEFT:
self.camera.rotate(1, 0)
elif ch == RIGHT:
self.camera.rotate(-1, 0)
def project(self, p):
u, v = self.camera.project(p)
up, vp = int(u * self.width / self.camera.width), int(
(v) * self.height / self.camera.height)
return up, self.height - vp
def draw_floor(self):
lines = []
L = 5
w = 1
N = int(L / w)
self.cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLACK)
for i in range(-N, N + 1):
lines.append([i * w, L, 0.005])
lines.append([i * w, -L, 0.005])
lines.append([L, i * w, 0.005])
lines.append([-L, i * w, 0.005])
for i in range(len(lines) / 2):
p1 = lines[2 * i]
p2 = lines[2 * i + 1]
u1, v1 = self.project(p1)
u2, v2 = self.project(p2)
self.cv.draw_thin_line(int(u1), int(v1), int(u2), int(v2))
def draw_robot(self, r):
self.cv.set_color_ansi(caca.COLOR_GREEN, caca.COLOR_BLACK)
for j in r.moving_joint_list:
u, v = self.project(j.T[:3, 3])
radius = 0
if j.parent:
up, vp = self.project(j.parent.T[:3, 3])
self.cv.draw_thin_line(int(u), int(v), int(up), int(vp))
self.cv.set_color_ansi(caca.COLOR_RED, caca.COLOR_BLACK)
for j in r.moving_joint_list:
u, v = self.project(j.T[:3, 3])
self.cv.draw_circle(u, v, radius, '@')
def run(self):
try:
while not self.quit:
self.key_cb()
self.compute_fps()
self.cv.clear()
self.draw_floor()
for r in self.robots:
self.draw_robot(r)
self.cv.put_str(0, 0, "%3.1f FPS" % self.fps)
self.dp.refresh()
del self.cv, self.dp, self.ev
except:
del self.cv, self.dp, self.ev
def main():
""" Main function. """
events = []
quit = 0
quit_string = ["", "q", "qu", "qui", "quit"]
try:
cv = Canvas(80, 24)
dp = Display(cv)
except (CanvasError, DisplayError) as err:
sys.stderr.write("%s\n" % err)
sys.exit(127)
h = cv.get_height() - 1
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.draw_line(0, 0, cv.get_width() - 1, 0, ' ')
cv.draw_line(0, h, cv.get_width() - 1, h, ' ')
cv.put_str(0, h, "Type \"quit\" to exit")
dp.refresh()
while quit < 4:
ev = Event()
if dp.get_event(caca.EVENT_ANY, ev, -1):
if ev.get_type() == caca.EVENT_KEY_PRESS:
key = ev.get_key_ch()
if key == ord('u') and quit == 1:
quit += 1
elif key == ord('i') and quit == 2:
quit += 1
elif key == ord('t') and quit == 3:
quit += 1
elif key == ord('q'):
quit = 1
else:
quit = 0
events.append(ev)
cv.set_color_ansi(caca.COLOR_LIGHTGRAY, caca.COLOR_BLACK)
cv.clear()
#print current event
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLUE)
cv.draw_line(0, 0, cv.get_width() - 1, 0, ' ')
if events:
print_event(cv, 0, 0, events[-1])
cv.draw_line(0, h, cv.get_width() - 1, h, ' ')
cv.put_str(0, h, "Type \"quit\" to exit: %s" % quit_string[quit])
#print previous events
cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLACK)
counts = list(range(0, len(events)-1))
counts.reverse()
if len(events) > 1:
j = 0
for i in counts:
if j < h - 1 and events[i].get_type():
print_event(cv, 0, ((len(events) - 1) - i), events[i])
j += 1
dp.refresh()
class LibcacaServer(KinematicServer):
def __init__(self, *args, **kwargs):
"""
"""
KinematicServer.__init__(self, *args, **kwargs)
self.robots = [r for (name, r) in self.elements.items()
if isinstance(r, Robot)]
self.cv = Canvas()
self.dp = Display(self.cv)
self.ev = Event()
self.quit = False
self.width = self.cv.get_width()
self.height = self.cv.get_height()
self.camera = Camera(self, 640 , 480)
self.camera.translation = [3.5, 0, 1]
self.camera.init()
self.fps = -1.0
self.frames = 0
self.last_t = 0
def compute_fps(self):
now = time.time()
if self.last_t == 0:
self.last_t = now
return
PER = 2.0
if now - self.last_t >= PER:
self.fps = self.frames / PER
self.frames = 0
self.last_t = now
return
else:
self.frames += 1
def key_cb(self):
UP, DOWN, LEFT, RIGHT = 273,274,275,276
if self.dp.get_event(caca.EVENT_KEY_PRESS, self.ev, 0):
ch = self.ev.get_key_ch()
if ch == ord('q'):
self.quit = True
elif ch == UP:
self.camera.rotate(0, 1)
elif ch == DOWN:
self.camera.rotate(0, -1)
elif ch == LEFT:
self.camera.rotate(1, 0)
elif ch == RIGHT:
self.camera.rotate(-1, 0)
def project(self, p):
u, v = self.camera.project(p)
up, vp = int(u*self.width/self.camera.width), int((v)*self.height/self.camera.height)
return up, self.height - vp
def draw_floor(self):
lines=[]
L = 5
w = 1
N = int(L/w)
self.cv.set_color_ansi(caca.COLOR_WHITE, caca.COLOR_BLACK)
for i in range(-N,N+1):
lines.append([i*w, L,0.005])
lines.append([i*w,-L,0.005])
lines.append([L , i*w,0.005])
lines.append([-L , i*w,0.005] )
for i in range(len(lines)/2):
p1 = lines[2*i]
p2 = lines[2*i+1]
u1, v1 = self.project(p1)
u2, v2 = self.project(p2)
self.cv.draw_thin_line(int(u1), int(v1), int(u2), int(v2))
def draw_robot(self, r):
self.cv.set_color_ansi(caca.COLOR_GREEN, caca.COLOR_BLACK)
for j in r.moving_joint_list:
u, v = self.project(j.T[:3,3])
radius = 0
if j.parent:
up, vp = self.project(j.parent.T[:3,3])
self.cv.draw_thin_line(int(u), int(v), int(up), int(vp))
self.cv.set_color_ansi(caca.COLOR_RED, caca.COLOR_BLACK)
for j in r.moving_joint_list:
u, v = self.project(j.T[:3,3])
self.cv.draw_circle(u, v, radius, '@')
def run(self):
try:
while not self.quit:
self.key_cb()
self.compute_fps()
self.cv.clear()
self.draw_floor()
for r in self.robots:
self.draw_robot(r)
self.cv.put_str(0,0,"%3.1f FPS"%self.fps)
self.dp.refresh()
del self.cv, self.dp, self.ev
except:
del self.cv, self.dp, self.ev
