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, *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. """
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, filename=None):
# Parse command line arguments
self.arg_parser = argparse.ArgumentParser()
self.arg_parser.add_argument("--inittest",
help="Initialize app and quit",
action="store_true",
default=False)
self.arg_parser.add_argument("--loglevel",
help="DEBUG, INFO or WARN",
default="DEBUG")
self.arg_parser.add_argument("--driver",
action="store",
dest="driver",
default="gl",
help="Select display driver: gl, curses, slang")
self.args = self.arg_parser.parse_args()
self.logger = logging.getLogger()
self.logger.setLevel(self.args.loglevel)
# Initialize Spec/State
self.initialize_app_spec(filename)
logging.debug("USING DRIVER: " + self.args.driver)
if self.args.driver:
self.display = TartanDisplay(self, self.spec, self.args.driver)
else:
self.display = TartanDisplay(self, self.spec)
self.local_event_dispatch = LocalEventDispatch(self)
self.digest_rate = 1000 #ms
self.keypress_queue = []
self.event_thing = Event()
self.quit = False
self.styles = []
# Keypress hooks
self.keypress_hooks = []
# Parse spec
self.load_keypress_hooks()
self.load_styles()
# Initialize network connection IF specified
if self.specifies("network", True, ["app"]):
self.remote_messages = []
self.remote_dispatch = RemoteEventDispatch(self)
self.remote_dispatch.init_consume()
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)
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)
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'):
app.randomCells()
dp = Display(cv)
except (CanvasError, DisplayError), 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)
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'):
app.randomCells()
class App:
defaultColorMap = {
"black" : 0,
"blue" : 1,
"green" : 2,
"cyan" : 3,
"red" : 4,
"magenta" : 5,
"brown" : 6,
"lightgray" : 7,
"darkgray" : 8,
"lightblue" : 9,
"lightgreen" : 10,
"lightcyan" : 11,
"lightred" : 12,
"lightmagenta" : 13,
"yellow" : 14,
"white" : 15
}
defaultStyles = [
{
"name": "default",
"bgColor": "black",
"fgColor": "white"
}
]
defaultAppState = {
"styles": defaultStyles,
"app":
{
"remoteMessages":
{
"queues": []
},
"keyHooks":
[
{
"key": "q",
"func": "quitApp"
}
],
"height": 24,
"width": 80
},
"widgets": []
}
def specifies(self, key, value=None, path=None):
spec_doc = self.spec
try:
if path != None and isDict(multiIndex(spec_doc, path)):
target = multiIndex(spec_doc, path)
if value == None:
return key in target.keys()
else:
return target[key] == value
else:
target = self.spec
return key in target.keys() and (
target[key] == value if value != None else True)
except KeyError:
self.logger.warn("Key error when requesting path " + \
str(path) + " for app")
return False
def __init__(self, filename=None):
# Parse command line arguments
self.arg_parser = argparse.ArgumentParser()
self.arg_parser.add_argument("--inittest",
help="Initialize app and quit",
action="store_true",
default=False)
self.arg_parser.add_argument("--loglevel",
help="DEBUG, INFO or WARN",
default="DEBUG")
self.arg_parser.add_argument("--driver",
action="store",
dest="driver",
default="gl",
help="Select display driver: gl, curses, slang")
self.args = self.arg_parser.parse_args()
self.logger = logging.getLogger()
self.logger.setLevel(self.args.loglevel)
# Initialize Spec/State
self.initialize_app_spec(filename)
logging.debug("USING DRIVER: " + self.args.driver)
if self.args.driver:
self.display = TartanDisplay(self, self.spec, self.args.driver)
else:
self.display = TartanDisplay(self, self.spec)
self.local_event_dispatch = LocalEventDispatch(self)
self.digest_rate = 1000 #ms
self.keypress_queue = []
self.event_thing = Event()
self.quit = False
self.styles = []
# Keypress hooks
self.keypress_hooks = []
# Parse spec
self.load_keypress_hooks()
self.load_styles()
# Initialize network connection IF specified
if self.specifies("network", True, ["app"]):
self.remote_messages = []
self.remote_dispatch = RemoteEventDispatch(self)
self.remote_dispatch.init_consume()
def process_style(self, style):
"""
Given a hash representing a style, convert
to a format usable by the engine, i.e.
convert color names to caca values
"""
self.logger.debug("Loading App Style " + style["name"])
color_mapped_style = {
"name": style["name"],
"fgColor": App.defaultColorMap[style["fgColor"]],
"bgColor": App.defaultColorMap[style["bgColor"]],
}
if "reverse" in style.keys():
color_mapped_style["reverse"] = style["reverse"]
self.logger.debug("Color mapped style:")
self.logger.debug(str(color_mapped_style))
return color_mapped_style
def load_styles(self):
for style in self.spec["styles"]:
self.styles.append(self.process_style(style))
self.logger.debug("Final styles for app:")
self.logger.debug(str(self.styles))
def load_keypress_hooks(self):
for hook in self.spec["app"]["keyHooks"]:
self.register_keypress_hook(hook)
def initialize_default_app_spec(self):
self.logger.info("Initialized default app spec")
self.spec = App.defaultAppState.copy()
self.logger.debug("default spec: " + str(self.spec))
def initialize_app_spec(self, filepath):
self.initialize_default_app_spec()
if filepath != None:
self.logger.info("App loading filepath: " + str(filepath))
loaded_spec = json.load(open(filepath))
self.logger.debug("Loaded spec: " + str(loaded_spec))
self.spec.update(loaded_spec)
self.logger.debug("Updated spec: " + str(self.spec))
def register_keypress_hook(self, hook):
hook["func"] = getattr(hooks, hook["func"])
def get_widget_hook_for_key(self, key):
"""
Return the widget and relevant hook for the key
"""
res = [widget.get_keyhook_for(key) for widget in self.display.widgets]
res = filter(lambda x: x != None,
res)
return res[0] if len(res) > 0 else None
def get_focused_widget_hook_for_key(self, key):
return self.display.focused_widget.get_focused_keyhook_for(key)
def get_focused_widget_catchall_hook(self):
return self.display.focused_widget.get_focused_keyhook_for("ALL")
def get_hook_for_key(self, key):
res = filter(lambda x: x["key"] == key,
self.spec["app"]["keyHooks"])
if len(res) > 0:
res = res[0]
else:
res = None
return res
def process_messages(self, msg_type="remote"):
message_collection = self.remote_messages if msg_type == \
"remote" else self.local_event_dispatch.messages
for message in message_collection:
for widget in self.display.widgets:
hook = widget.get_message_hook_for_channel(message["channel"],
msg_type=msg_type)
if hook:
hook["func"](widget, message=message)
message_collection.remove(message)
def process_keypresses(self):
if self.display.display.get_event(caca.EVENT_KEY_PRESS,
self.event_thing,
self.digest_rate):
if self.event_thing.get_type() == caca.EVENT_KEY_PRESS:
key = chr(self.event_thing.get_key_ch())
hook = self.get_hook_for_key(key)
if hook != None:
hook["func"](self)
else:
hook = self.get_focused_widget_hook_for_key(key)
if hook != None:
hook["func"](hook["widget"])
# Execute hook for widget
else:
hook = self.get_widget_hook_for_key(key)
if hook != None:
# execute the hook
hook["func"](hook["widget"])
else:
hook = self.get_focused_widget_catchall_hook()
if hook != None:
hook["func"](hook["widget"], key=key)
# TODO: Else run unhandled_input hook
key = None # Reset key
def run(self):
self.display.build_display()
if self.args.inittest != True:
while self.quit == False:
self.display.refresh()
self.process_keypresses()
if self.specifies("network", True, ["app"]):
self.process_messages()
self.process_messages(msg_type="local")
self.remote_dispatch.check_queue()
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