class Main():
def __init__(self):
# -- Inicio modulos
pygame.init()
# -- Obtencion de info del hardware
self._info = pygame.display.Info()
# -- Se crea un display utilizando la info
self._display = pygame.display.set_mode([self._info.current_w, self._info.current_h], pygame.FULLSCREEN | pygame.HWSURFACE)
# -- Se definen los controles
self._fuente_top_label = pygame.font.Font(None, 48)
self._fuente_board = pygame.font.Font(None, 30)
self._top_label = Label(self._fuente_top_label, "Butia Control Dashboard v1.0", (255, 255, 255), (0, 0, 0))
self._boton = Button(Label(self._fuente_top_label, "Salir", (255, 255, 255), (0, 0, 0)), Label(self._fuente_top_label, "Salir", (0, 0, 0), (255, 255, 255)))
self._boton_pausar = Button(Label(self._fuente_top_label, "Pausar", (255, 255, 255), (0, 0, 0)), Label(self._fuente_top_label, "Pausar", (0, 0, 0), (255, 255, 255)))
self._boton.set_rect(self._info.current_w/2 - self._boton.get_rect().width / 2, self._info.current_h - (self._boton.get_rect().height + 10))
self._boton_pausar.set_rect(self._info.current_w/2 - self._boton_pausar.get_rect().width / 2, self._info.current_h / 4 * 3 - (self._boton_pausar.get_rect().height / 2))
self._label_estado = Label(self._fuente_board, "Estado:", (255, 255, 255), (0, 0, 0))
self._label_estado_informacion = Label(self._fuente_board, "", (255, 255, 255), (0, 0, 0))
self._label_tarea = Label(self._fuente_board, "Tarea:", (255, 255, 255), (0, 0, 0))
self._label_tarea_informacion = Label(self._fuente_board, "", (255, 255, 255), (0, 0, 0))
self._label_error_butia = Label(self._fuente_board, "Revise la conexion con el butia (!)", (255, 255, 255), (0, 0, 0))
self._label_error_nxt = Label(self._fuente_board, "Revise la conexion con el nxt (!)", (255, 255, 255), (0, 0, 0))
self._cursor = Cursor()
# -- Se definen las variables
self._butia_error = True
self._nxt_error = True
self._salir = False
self._reloj = pygame.time.Clock()
self._chronometer = Chronometer(1)
self._timer = None
self._ready = True
self._times = 0
self._pause = False
# -- Se crean las instancias de butia y nxt
self._butia = Butia()
self._nxt = Nxt()
# -- Se definen los sensores nxt
# -- DEFINICION DEL GAMELOOP
def update(self):
# -- Se actualizan los parametros
# -- Deteccion de eventos
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
self._salir = True
if event.type == pygame.MOUSEBUTTONDOWN:
btn1, btn2, btn3 = pygame.mouse.get_pressed()
if btn1:
if self._boton.on_click(self._cursor):
self._salir = True
if self._boton_pausar.on_click(self._cursor):
if self._pause:
self._pause = False
elif not self._pause:
self._pause = True
# -- Obtencion del info del entorno
# -- Comprobacion de conexiones
if self._butia.get_butia().getFirmwareVersion() == -1:
self._butia_error = True
else:
self._butia_error = False
if not self._nxt.get_nxt():
self._nxt_error = True
else:
self._nxt_error = False
# -- Se corre el seguidor solo si la conexion funciona
if not self._pause:
if not self._butia_error and not self._nxt_error:
if self._butia.get_butia().getGray(5) < 14000 and self._butia.get_butia().getGray(2) < 40000:
self._butia.get_butia().set2MotorSpeed(1, 600, 1, 600)
elif self._butia.get_butia().getGray(5) < 14000 and self._butia.get_butia().getGray(2) > 40000:
self._butia.get_butia().set2MotorSpeed(1, 600, 0, 600)
elif self._butia.get_butia().getGray(5) > 14000 and self._butia.get_butia().getGray(2) < 40000:
self._butia.get_butia().set2MotorSpeed(0, 600, 1, 600)
if self._nxt.get_nxt().get_port(1).getSample() < 20:
if self._ready:
self._label_tarea_informacion.set_text("Recogiendo muestras")
self._label_tarea_informacion.update(self._display, self._info.current_w/4 + self._label_estado.get_rect().width + 20, self._info.current_h/3 + 10 + self._label_estado_informacion.get_rect().height)
self.accionar_mecanismo()
self._label_tarea_informacion.set_text("Recorriendo el mundo")
self._label_tarea_informacion.set_text("Ninguna")
else:
self._label_tarea_informacion.set_text("Pausado")
self._butia.get_butia().set2MotorSpeed(0, 0, 0, 0)
def accionar_mecanismo(self):
# -- Secuencia que realiza la pala
# -- Ajustar valores de rotacion para alcanzar la medida exacta
self._ready = False
self._butia.get_butia().set2MotorSpeed(0, 0, 0, 0)
self._nxt.get_nxt().get_port("a").turn(-20, 160)
self._nxt.get_nxt().get_port("b").turn(20, 640)
try:
self._nxt.get_nxt().get_port("a").turn(20, 220)
except Exception:
self._nxt.get_nxt().get_port("b").turn(-20, 10)
self._nxt.get_nxt().get_port("a").turn(20, 110)
self._nxt.get_nxt().get_port("b").turn(-20, 320)
self._nxt.get_nxt().get_port("a").turn(-20, 110)
self._nxt.get_nxt().get_port("b").turn(-20, 320)
#self.motorA.turn(-20, 110)
self._nxt.get_nxt().get_port("a").turn(20, 90)
self._times += 1
if self._times < 3:
self.motorC.turn(-20, 450)
else:
self._nxt.get_nxt("a").turn(-20, 50)
self._nxt.get_nxt("c").turn(20, 450*2)
self._nxt.get_nxt("a").turn(20, 50)
self._times = 0
self._timer = Timer(5)
def render(self):
# -- Se redibuja la pantalla con las actualizaciones pertinentes
self._display.fill((0, 0, 0))
self._boton.on_collide(self._display, self._cursor)
self._boton_pausar.on_collide(self._display, self._cursor)
self._cursor.update()
self._top_label.update(self._display, self._info.current_w/2 - self._top_label.get_rect().width/2, 10)
self._label_estado.update(self._display, self._info.current_w/4, self._info.current_h/3)
self._label_estado_informacion.update(self._display, self._info.current_w/4 + self._label_estado.get_rect().width + 20, self._info.current_h/3)
self._label_tarea.update(self._display, self._info.current_w/4, self._info.current_h/3 + 10 + self._label_estado.get_rect().height)
self._label_tarea_informacion.update(self._display, self._info.current_w/4 + self._label_estado.get_rect().width + 20, self._info.current_h/3 + 10 + self._label_estado_informacion.get_rect().height)
if not self._butia_error and not self._nxt_error:
self._label_estado_informacion.set_text("Activo")
if self._butia_error and self._chronometer.get_value():
self._label_error_butia.update(self._display, self._info.current_w/5 * 3, self._info.current_h/3)
self._label_estado_informacion.set_text("Error")
if self._nxt_error and self._chronometer.get_value():
self._label_error_nxt.update(self._display, self._info.current_w/5 * 3, self._info.current_h/3 + 10 + self._label_error_nxt.get_rect().height)
self._label_estado_informacion.set_text("Error")
pygame.display.flip()
def sleep(self):
# -- Se espera
self._reloj.tick(100)
def run(self):
while not self._salir:
self.update()
self.render()
self.sleep()
def set_ready(self):
self._ready = True
class SceneManager(object):
"""A Singleton that manages all scenes and tracks the appilcation's
running state. The static instance variable can be used to access this
object. This class must be created atleast once. The game loop will run
until the application closes.
=== Private Attributes ===
_screen_size:
The size of the screen in pixels.
_screen:
The surface that represents the screen.
_clock:
A object that records the time inbettween calls to its tick
function.
_fps_counter:
A label that displays the current framerate.
_scenes:
A list of all available scenes.
_running:
Whether or not the application is currently running.
_is_fullscreen:
Whether or not the application is currently in fullscreen mode.
_active_scene_index:
The currently active scene's index.
_active_scene:
The currently active scene.
"""
instance = None
_screen_size: Tuple[int, int]
_screen: pygame.Surface
_clock: pygame.time.Clock
_fps_counter: Component
_scenes: List
_running: bool
_is_fullscreen: bool
_active_scene_index: int
_active_scene: object
def __init__(self) -> None:
"""Create a new SceneManager and setup the static instance variable."""
if (SceneManager.instance is None):
SceneManager.instance = self
# Tell pygame to center the window
os.environ['SDL_VIDEO_CENTERED'] = '1'
pygame.font.init()
self._screen_size = (0, 0)
self._is_fullscreen = True
self._clock = pygame.time.Clock()
self._scenes = [MainMenuScene, SettingsScene, GameScene]
self._running = True
self._setup_screen()
# Always visible components
self._root = Panel(self._screen.get_rect(),
style=Style(background_color=(255, 0, 0),
border_width=0))
self._fps_counter = Label(text="Calculating",
rect=pygame.Rect(0, 25, 75, 20),
style=Style(background_color=(255, 0, 0),
border_width=0,
primary_color=(255, 255, 255)),
parent=self._root)
self._rest_fps_counter_position()
# Start the game
self.change_scene(0)
self._run_game_loop()
def set_screen_size(self, size: Tuple[int, int]) -> None:
"""Set the screen size. This method re-creates the active scene."""
em.EventManager.instance.set_invalid()
if (self._is_fullscreen):
self._screen_size = (0, 0)
else:
self._screen_size = (max(size[0], MINIMUM_SCREEN_SIZE[0]),
max(size[1], MINIMUM_SCREEN_SIZE[1]))
self._setup_screen()
self._root.set_rect(self._screen.get_rect())
self._rest_fps_counter_position()
self.change_scene(self._active_scene_index)
def _setup_screen(self) -> None:
"""Create the screen object."""
pygame.display.init()
pygame.display.set_caption("Battleships")
pygame.key.set_repeat(250, 50)
flags = pygame.RESIZABLE
if (self._is_fullscreen):
flags |= pygame.FULLSCREEN
self._screen = pygame.display.set_mode(self._screen_size, flags)
self._screen_size = self._screen.get_rect().size
def is_fullscreen(self) -> bool:
"""Whether or not the the application is in fullscreen mode."""
return self._is_fullscreen
def toggle_fullscreen(self) -> None:
"""Toggles the application mode between fullscreen and windowed."""
self._is_fullscreen = not self._is_fullscreen
pygame.display.quit()
if (self._is_fullscreen):
self.set_screen_size((0, 0))
else:
self.set_screen_size(DEFAULT_WINDOWED_MODE_SIZE)
def _rest_fps_counter_position(self):
"""Sets the position of the fps counter."""
fps_rect = self._fps_counter.get_rect()
fps_rect.right = self._screen_size[0] - 25
self._fps_counter.set_rect(fps_rect)
def get_screen_size(self) -> Tuple[int, int]:
"""Get the size of the screen in pixels."""
return self._screen_size
def get_root(self) -> Component:
"""Get the topmost component."""
return self._root
def change_scene(self, scene_index: int) -> None:
"""Switch the current scene to the scene at index <scene_index>."""
self._root.clear_children()
self._active_scene_index = scene_index
self._active_scene = self._scenes[scene_index](self._root)
self._root.add_child(self._fps_counter)
em.EventManager.instance.set_invalid()
def quit_game(self) -> None:
"""Close the application."""
self._running = False
def _run_game_loop(self) -> None:
"""Run the game loop until the application closes"""
while self._running:
# Handle Events
em.EventManager.instance.update()
# Update
self._root.update(self._clock.tick()) # Framerate Limit
if (self._clock.get_fps() != float("inf")):
self._fps_counter.set_text(str(int(self._clock.get_fps())))
else:
self._fps_counter.set_text("Infinity")
# Draw
changed = []
self._root.render(self._screen, changed)
pygame.display.update(changed)
pygame.quit()
def set_text(self, text: str) -> None:
"""Set the textbox's text."""
Label.set_text(self, text)
if (not self.is_focused()):
self._set_cursor_pos(len(self.get_text()))