class FileDialog(DirectObject):
def __init__(self, title, initial_status, callback):
self.frmLeft = -.7
self.frmBottom = -.12
self.frmRight = .7
self.frmTop = .12
self.frmWidth = self.frmRight - self.frmLeft
self.frmHeight = self.frmTop - self.frmBottom
self.title = title
self.initial_status = initial_status
self.callback = callback
self.result = None
self.done = 0
def activate(self):
# create main dialog frame
# Note: frame position references the CENTER of the frame
self.frm = DirectFrame(
pos = (0,0,0),
frameSize = (self.frmLeft, self.frmRight,self.frmBottom, self.frmTop),
relief = DGG.RIDGE,
borderWidth = (0.01, 0.01),
frameColor = (0.6, 0.6, 0.6, 1.0))
self.frm.reparentTo(base.aspect2d)
# Note: wonderfully enough, label position on the other hand
# references the CENTER of the LEFT border of the label!
titleLabel = DirectLabel(text = self.title,
scale = 0.04,
frameColor = (0.5, 0.5, 0.5, 1),
relief = DGG.RIDGE,
borderWidth = (0.01, 0.01),
text_align = TextNode.ALeft)
titleLabel.setPos(-self.frmWidth/2+.02, 0, self.frmHeight/2-.045)
titleLabel.reparentTo(self.frm)
sc = .04
self.dir_edit_field = DirectEntry(
text = '', # prompt text
scale = sc,
frameColor = (0.65, 0.65, 0.65, 1),
command=self.setText,
width = 32,
numLines = 1,
focus = 1,
focusInCommand=self.efFocusIn,
)
self.dir_edit_field.setPos(-self.frmWidth/2+.02, 0, self.frmHeight/2-.13)
self.dir_edit_field.reparentTo(self.frm)
self.statusLabel = DirectLabel(text = self.initial_status,
scale = 0.04,
frameColor = (0.6, 0.6, 0.6, 1),
# relief = DGG.RIDGE,
# borderWidth = (0.01, 0.01),
text_align = TextNode.ALeft)
self.statusLabel.setPos(-self.frmWidth/2+.02, 0, self.frmHeight/2-.2)
self.statusLabel.reparentTo(self.frm)
# call this if you need to run a form before your mainloop starts steppping the taskMgr
def run(self):
while self.done != 1:
taskMgr.step()
taskMgr.step() # once more to make the last output from the dialog visible
# while we load a zone
self.frm.removeNode()
def end(self):
self.frm.removeNode()
# callback function to set text: called by the Panda3d taskMgr when the user
# has entered something into the DirectEntry widget
def setText(self, textEntered):
print 'dir_edit_field::setText:', textEntered
self.done = self.callback(textEntered)
if self.done != 1:
self.dir_edit_field['focus'] = 1
#clear the text
def efFocusIn(self):
print 'focus in'
self.dir_edit_field.enterText('')
def setStatus(self, status):
self.statusLabel['text'] = status
class FileDialog(DirectObject):
def __init__(self, title, initial_status, callback):
self.frmLeft = -.7
self.frmBottom = -.12
self.frmRight = .7
self.frmTop = .12
self.frmWidth = self.frmRight - self.frmLeft
self.frmHeight = self.frmTop - self.frmBottom
self.title = title
self.initial_status = initial_status
self.callback = callback
self.result = None
self.done = 0
def activate(self):
# create main dialog frame
# Note: frame position references the CENTER of the frame
self.frm = DirectFrame(pos=(0, 0, 0),
frameSize=(self.frmLeft, self.frmRight,
self.frmBottom, self.frmTop),
relief=DGG.RIDGE,
borderWidth=(0.01, 0.01),
frameColor=(0.6, 0.6, 0.6, 1.0))
self.frm.reparentTo(base.aspect2d)
# Note: wonderfully enough, label position on the other hand
# references the CENTER of the LEFT border of the label!
titleLabel = DirectLabel(text=self.title,
scale=0.04,
frameColor=(0.5, 0.5, 0.5, 1),
relief=DGG.RIDGE,
borderWidth=(0.01, 0.01),
text_align=TextNode.ALeft)
titleLabel.setPos(-self.frmWidth / 2 + .02, 0,
self.frmHeight / 2 - .045)
titleLabel.reparentTo(self.frm)
sc = .04
self.dir_edit_field = DirectEntry(
text='', # prompt text
scale=sc,
frameColor=(0.65, 0.65, 0.65, 1),
command=self.setText,
width=32,
numLines=1,
focus=1,
focusInCommand=self.efFocusIn,
)
self.dir_edit_field.setPos(-self.frmWidth / 2 + .02, 0,
self.frmHeight / 2 - .13)
self.dir_edit_field.reparentTo(self.frm)
self.statusLabel = DirectLabel(
text=self.initial_status,
scale=0.04,
frameColor=(0.6, 0.6, 0.6, 1),
# relief = DGG.RIDGE,
# borderWidth = (0.01, 0.01),
text_align=TextNode.ALeft)
self.statusLabel.setPos(-self.frmWidth / 2 + .02, 0,
self.frmHeight / 2 - .2)
self.statusLabel.reparentTo(self.frm)
# call this if you need to run a form before your mainloop starts steppping the taskMgr
def run(self):
while self.done != 1:
taskMgr.step()
taskMgr.step(
) # once more to make the last output from the dialog visible
# while we load a zone
self.frm.removeNode()
def end(self):
self.frm.removeNode()
# callback function to set text: called by the Panda3d taskMgr when the user
# has entered something into the DirectEntry widget
def setText(self, textEntered):
print 'dir_edit_field::setText:', textEntered
self.done = self.callback(textEntered)
if self.done != 1:
self.dir_edit_field['focus'] = 1
#clear the text
def efFocusIn(self):
print 'focus in'
self.dir_edit_field.enterText('')
def setStatus(self, status):
self.statusLabel['text'] = status
class DroneManager(DirectObject.DirectObject):
def __init__(self, base, droneList, delay):
self.base = base
# the actual dimensions of the bcs drone lab in meters
# self.roomSize = Vec3(3.40, 4.56, 2.56)
# confined dimensions because the room and drone coordinates dont match up yet.
# Also, flying near the windows/close to walls/too high often makes the llighthouse positioning system loose track
self.roomSize = Vec3(1.5, 2.5, 1.7)
self.initDrones(droneList)
self.initUI()
self.currentFormation = 0
self.isRotating = False
self.currentTimeslot = 0
self.timeslotLengthMilli = delay
def initDrones(self, droneList):
"""Initializes the drones defined in droneList."""
self.isStarted = False
self.isConnected = False
self.drones = [] # this is the list of all drones
self.currentDronePos = [
] # this is the list of the most recent position that was sent by each drone
if droneList == []:
print("No drones to spawn")
else:
for i in range(0, len(droneList)):
position = droneList[i][0]
uri = droneList[i][1]
self.drones.append(Drone(self, position, uri=uri))
self.base.taskMgr.add(self.updateDronesTask, "UpdateDrones")
self.base.taskMgr.add(self.updateTimeslotTask, "UpdateTimeslot")
def updateDronesTask(self, task):
"""Run the update methods of all drones."""
for drone in self.drones:
drone.update()
return task.cont
def updateTimeslotTask(self, task):
timeslotAmount = 2
task.delayTime = self.timeslotLengthMilli / 1000
self.currentTimeslot += 1
if self.currentTimeslot >= timeslotAmount:
self.currentTimeslot = 0
for drone in self.drones:
drone.updateSentPosition(self.currentTimeslot)
return task.again
def initUI(self):
# initialize drone control panel
buttonSize = (-4, 4, -.2, .8)
buttonDistance = 0.15
entrySize = (0, 2, -.2, .8)
# frame = DirectFrame(frameColor=(.2, .2, .2, 1), frameSize=(-.5, .5, -.7, .15), pos=(-.9, 0, -.6), scale=.5)
frame = DirectFrame(frameColor=(.2, .2, .2, 1),
frameSize=(-.5, .5, -.7, .15),
pos=(-.9, 0, -.4),
scale=.5)
button = DirectButton(text="Start",
scale=.1,
frameSize=buttonSize,
command=self.startLandAll)
button["extraArgs"] = [button]
button.reparentTo(frame)
button = DirectButton(text="Random Target",
scale=.1,
frameSize=buttonSize,
command=self.setRandomTargets)
button.reparentTo(frame)
button.setPos(Vec3(0, 0, -1 * buttonDistance))
button = DirectButton(text="Stop",
scale=.1,
frameSize=buttonSize,
command=self.stopAll)
button.reparentTo(frame)
button.setPos(Vec3(0, 0, -2 * buttonDistance))
button = DirectButton(text="Return",
scale=.1,
frameSize=buttonSize,
command=self.returnToWaitingPosition)
button.reparentTo(frame)
button.setPos(Vec3(0, 0, -3 * buttonDistance))
button = DirectButton(text="Connect",
scale=.1,
frameSize=buttonSize,
command=self.toggleConnections)
button["extraArgs"] = [button]
button.reparentTo(frame)
button.setPos(Vec3(0, 0, -4 * buttonDistance))
button = DirectButton(text="Rotate",
scale=.1,
frameSize=buttonSize,
command=self.toggleRotation)
button.reparentTo(frame)
button.setPos(Vec3(0, 0, -5 * buttonDistance))
button = DirectButton(text="Move",
scale=.1,
frameSize=buttonSize,
command=self.moveFormation)
button.reparentTo(frame)
button.setPos(Vec3(0, 0, -6 * buttonDistance))
self.moveX = DirectEntry(text="",
initialText="0",
scale=.1,
frameSize=entrySize)
self.moveX.reparentTo(frame)
self.moveX.setPos(Vec3(0.5, 0, -6 * buttonDistance))
self.moveY = DirectEntry(text="",
initialText="0",
scale=.1,
frameSize=entrySize)
self.moveY.reparentTo(frame)
self.moveY.setPos(Vec3(0.75, 0, -6 * buttonDistance))
self.moveZ = DirectEntry(text="",
initialText="0",
scale=.1,
frameSize=entrySize)
self.moveZ.reparentTo(frame)
self.moveZ.setPos(Vec3(1, 0, -6 * buttonDistance))
self.rotSpeed = DirectEntry(text="",
initialText="3",
scale=.1,
frameSize=entrySize)
self.rotSpeed.reparentTo(frame)
self.rotSpeed.setPos(Vec3(0.5, 0, -5 * buttonDistance))
# initialize an UI element with all available formations
loadFormationSelectionFrame(self)
def startLandAll(self, button):
if not self.isStarted:
self.isStarted = True
button["text"] = "Land"
print("starting all")
for drone in self.drones:
pos = drone.getPos()
drone.setTarget(target=Vec3(pos[0], pos[1], 1))
else:
self.isStarted = False
button["text"] = "Start"
print("landing all")
for drone in self.drones:
pos = drone.getPos()
drone.setTarget(target=Vec3(pos[0], pos[1], 0))
def returnToWaitingPosition(self):
"""Makes all drones hover above their starting position. Useful to make the drones land just where they started."""
if not self.isStarted:
print("can't return to waiting position, drones are not started")
return
print("returning to waiting positions")
for drone in self.drones:
drone.setTarget(drone.waitingPosition)
def setRandomTargets(self):
"""Set random targets for all drones."""
if not self.isStarted:
print("can't set random targets, drones are not started")
return
print("setting random targets")
for drone in self.drones:
drone.setRandomTarget()
def stopAll(self):
"""Stops all drones and makes them hover where they are."""
if not self.isStarted:
print("can't stop drones, drones are not started")
return
print("stopping drones")
for drone in self.drones:
drone.setTarget(target=drone.getPos())
def toggleConnections(self, button):
"""Connects/Disconnects the virtual drones to/from the real drones."""
# connect drones
if not self.isConnected:
self.isConnected = True
button["text"] = "Disconnect"
print("initializing drivers")
cflib.crtp.init_drivers(enable_debug_driver=False)
print("connecting drones")
for drone in self.drones:
drone.connect()
# time.sleep(5) # wait a moment so that the position estimator reports a consisten position
# disconnect drones
else:
self.isConnected = False
button["text"] = "Connect"
print("disconnecting drones")
for drone in self.drones:
if drone.isConnected:
drone.disconnect()
def applyFormation(self, formation):
"""Applies the supplied formation to the drones."""
if not self.isStarted:
print("Can't apply formation, drones are not started")
return
# name = formation[0]
dronePositions = formation[1]
requiredDrones = len(dronePositions)
availableDrones = self.drones.__len__()
maxNumber = availableDrones
if requiredDrones > availableDrones:
print(
"The formation contains {0} points but there are only {1} available drones"
.format(requiredDrones, availableDrones))
if requiredDrones < availableDrones:
print(
"The formation contains {0} points but there are {1} available drones, some drones will remain stationary"
.format(requiredDrones, availableDrones))
maxNumber = requiredDrones
# print("applying {} formation".format(formation[0]))
for i in range(0, maxNumber):
self.drones[i].setNewRandVec()
self.drones[i].setTarget(
Vec3(dronePositions[i, 0], dronePositions[i, 1],
dronePositions[i, 2]))
self.currentFormation = formation
def moveFormation(self):
if (self.currentFormation == 0):
return
newFormation = self.currentFormation
newFormation[1] += [
float(self.moveX.get()),
float(self.moveY.get()),
float(self.moveZ.get())
]
self.applyFormation(newFormation)
def toggleRotation(self):
if (self.currentFormation == 0):
return
if not self.isRotating:
self.isRotating = True
self.base.taskMgr.doMethodLater(0, self.rotateFormationTask,
"RotateDrones")
else:
self.isRotating = False
self.base.taskMgr.remove("RotateDrones")
def rotateFormationTask(self, task):
task.delayTime = 0.1
newFormation = self.currentFormation
speed = 2
try:
speed = float(self.rotSpeed.get())
except:
speed = 2
r = R.from_euler('xyz', [0, 0, speed], degrees=True)
newFormation[1] = r.apply(newFormation[1])
self.applyFormation(newFormation)
return task.again
def getRandomRoomCoordinate(self) -> Vec3:
"""Returns random 3D coordinates withing the confines of the room."""
newX = random.uniform(-self.roomSize.x / 2, self.roomSize.x / 2)
newY = random.uniform(-self.roomSize.y / 2, self.roomSize.y / 2)
newZ = random.uniform(0 + 0.3, self.roomSize.z)
return Vec3(newX, newY, newZ)
def getAllPositions(self):
"""Returns a list of the positions of all drones. Usefull when recording their paths for later."""
lst = []
for drone in self.drones:
pos = drone.getPos()
lst.append([pos.x, pos.y, pos.z])
return lst
def getAllVelocities(self):
"""Returns a list of the velocities of all drones. Usefull when recording their paths for later."""
lst = []
for drone in self.drones:
vel = drone.getVel()
lst.append([vel.x, vel.y, vel.z])
return lst
