def __init__(self, width=-1, height=-1):
### starting display, and 3d part###
self.display = pi3d.Display.create(x=0, y=0, w=width, h=height,
frames_per_second=20,
background=(0, 0, 0, 255))
pi3d.Light((0, 0, 10))
self.camera = pi3d.Camera(is_3d=False)
self.camera.was_moved = False
self.flat_shader = pi3d.Shader("uv_flat")
#starting input listeners#
self.inputs = pi3d.InputEvents()
self.inputs.get_mouse_movement()
self.width = self.display.width
self.height = self.display.height
self.last_scroll = datetime.now() # variable to limit zooming speed
self.window = self.display
# these are the point where the screen focuses
self.view_longitude = -48.519688
self.view_latitude = -27.606899
#additional points showing on the map
self.points = [(self.view_longitude, self.view_latitude),
(0.0, 0.0),
(180, 36.8),
(-47.886829, -15.793751)]
# this will show as an arrow on the map
self.tracked_object_position = [0, 0, 0]
self.tracking = True
self.following_tracked = True # camera should follow tracked object?
#current zoom level
self.zoom = 10
#current button state
self.button = 0
# mouse coordinates on screen
self.pointer_x = 0
self.pointer_y = 0
# position variations on a "tick"
self.dx = 0
self.dy = 0
#currently loaded tiles
self.tiles = []
self.tiles_set = set()
self.current_center_tile = (0, 0)
#draw gui only, the avoid redrawing the tiles
self.draw_gui_only_flag = False
#should reload the tiles? set on moving the map
self.updated = True
self.tile_list_updated = True
#the tile loader gives the tiles around the current position
self.tile_loader = TileLoader(self)
#waypoint drawing widget
self.waypoints = WaypointsWidget(self.display, self.camera)
self.waypoints.set_points(self.points)
#shows details on the screen as text
self.text = TextWidget(self.display, self.camera)
self.text.set_update_rate(3) # updates every 3 seconds
#shows the crosshair in the middle of the screen
self.crosshair = Crosshair(self.display, self.camera)
#shows the tracking arrow
self.tracked = TrackedObject(self.display, self.camera)
#shows the navball
self.horizon = Horizon(self.camera, self.display)
#shows the mouse pointer
self.pointer = Pointer(self)
#reads telemetry from the serial port
self.telemetry_reader = TelemetryReader(self)
#assorted telemetry received data
self.data = {}
#starts
self.main_loop()
class GroundStation(object):
def __init__(self, width=-1, height=-1):
### starting display, and 3d part###
self.display = pi3d.Display.create(x=0, y=0, w=width, h=height,
frames_per_second=20,
background=(0, 0, 0, 255))
pi3d.Light((0, 0, 10))
self.camera = pi3d.Camera(is_3d=False)
self.camera.was_moved = False
self.flat_shader = pi3d.Shader("uv_flat")
#starting input listeners#
self.inputs = pi3d.InputEvents()
self.inputs.get_mouse_movement()
self.width = self.display.width
self.height = self.display.height
self.last_scroll = datetime.now() # variable to limit zooming speed
self.window = self.display
# these are the point where the screen focuses
self.view_longitude = -48.519688
self.view_latitude = -27.606899
#additional points showing on the map
self.points = [(self.view_longitude, self.view_latitude),
(0.0, 0.0),
(180, 36.8),
(-47.886829, -15.793751)]
# this will show as an arrow on the map
self.tracked_object_position = [0, 0, 0]
self.tracking = True
self.following_tracked = True # camera should follow tracked object?
#current zoom level
self.zoom = 10
#current button state
self.button = 0
# mouse coordinates on screen
self.pointer_x = 0
self.pointer_y = 0
# position variations on a "tick"
self.dx = 0
self.dy = 0
#currently loaded tiles
self.tiles = []
self.tiles_set = set()
self.current_center_tile = (0, 0)
#draw gui only, the avoid redrawing the tiles
self.draw_gui_only_flag = False
#should reload the tiles? set on moving the map
self.updated = True
self.tile_list_updated = True
#the tile loader gives the tiles around the current position
self.tile_loader = TileLoader(self)
#waypoint drawing widget
self.waypoints = WaypointsWidget(self.display, self.camera)
self.waypoints.set_points(self.points)
#shows details on the screen as text
self.text = TextWidget(self.display, self.camera)
self.text.set_update_rate(3) # updates every 3 seconds
#shows the crosshair in the middle of the screen
self.crosshair = Crosshair(self.display, self.camera)
#shows the tracking arrow
self.tracked = TrackedObject(self.display, self.camera)
#shows the navball
self.horizon = Horizon(self.camera, self.display)
#shows the mouse pointer
self.pointer = Pointer(self)
#reads telemetry from the serial port
self.telemetry_reader = TelemetryReader(self)
#assorted telemetry received data
self.data = {}
#starts
self.main_loop()
def zoom_in(self):
self.zoom += 1
if self.zoom > 20:
self.zoom = 20
def zoom_out(self):
self.zoom -= 1
if self.zoom < 2:
self.zoom = 2
def on_scroll(self, zoom_in):
if (datetime.now() - self.last_scroll).microseconds > 100000:
if zoom_in > 0:
self.zoom_in()
elif zoom_in < 0:
self.zoom_out()
self.queue_draw(tile=True)
self.last_scroll = datetime.now()
print(self.zoom)
def set_zoom(self, zoom):
self.zoom = zoom
def set_focus(self, longitude, latitude):
self.view_longitude = longitude
self.view_latitude = latitude
self.queue_draw(tile=True)
#@timeit
def draw_info(self):
"""
draws text data on the screen, currently, gps data and pending tiles to draw
usually takes 1~5ms
250ms when updating!
"""
string = " lat:{0}\n long:{1}".format(self.view_latitude, self.view_longitude)
self.text.set_text(string)
self.text.update()
def set_tracked_position(self, longitude, latitude, yaw):
"""
updates tracked object position, called by telemetry reader
"""
if self.tracked_object_position[0] != longitude or self.tracked_object_position[1] != latitude:
self.tracked_object_position = (longitude, latitude, yaw)
#asks to update the gui alone
self.queue_draw(gui_only=True)
if self.following_tracked and "gps_sats" in self.data:
if self.data["gps_sats"] >= 3:
self.set_focus(longitude, latitude)
self.queue_draw(tile=True)
def set_attitude(self, roll, pitch, yaw=0):
"""
updates the object attitude, called from telemetry reader, written directly on self.horizon.
should probably be changed
"""
if self.horizon.tilt != pitch or self.horizon.roll != roll or self.horizon.yaw != yaw:
self.horizon.set_attitude(roll, pitch, yaw)
self.queue_draw(gui_only=True)
def draw_tiles(self):
"""
Core map-drawing function
checks if the map position has been updated, if not, prints the old tiles.
if so, reloads the tiles as a bidimensional list, and prints them accordingly
"""
span_x = self.width
span_y = self.height
tiles_x = int(ceil(span_x/256.0))
tiles_y = int(ceil(span_y/256.0))
if self.updated or self.tile_list_updated:
# checks if the centered tile changed, so the tile set has to be reloaded
new_center_tile = self.tile_loader.coord_to_gmap_tile_int(self.view_longitude,
self.view_latitude,
self.zoom)
if new_center_tile != self.current_center_tile or self.tile_list_updated:
new_tiles = self.tile_loader.load_area(self.view_longitude,
self.view_latitude,
self.zoom,
tiles_x,
tiles_y)
## using sets to detect sprites to be loaded and unloaded
new_set = set()
for line in new_tiles:
new_set |= set(line)
removing = self.tiles_set-new_set
self.display.remove_sprites(*removing)
adding = new_set - self.tiles_set
self.display.add_sprites(*adding)
self.tiles = new_tiles
self.tiles_set = new_set # updated current tiles
self.current_center_tile = new_center_tile
# tiles have been properly loaded, now we have to place them on the proper positions
tile_number = 0
line_number = 0
x_center = 0
y_center = 0
## offset to keep the current coordinate centered on the screen
offset_x, offset_y = self.tile_loader.gmap_tile_xy_from_coord(self.view_longitude,
self.view_latitude,
self.zoom)
#size of lines and columns
x_tiles = len(self.tiles[0])
y_tiles = len(self.tiles)
#draw it all, fixing the position
for line in self.tiles:
for tile in line:
x = (tile_number - int(x_tiles/2)) * 256 + x_center
y = (line_number - int(y_tiles/2)) * 256 + y_center
final_x = x - offset_x + 128
final_y = y - offset_y + 128
tile.position(final_x+self.dx, -(final_y+self.dy), 100.0)
#tile.draw()
tile_number += 1
tile_number = 0
line_number += 1
#self.draw_points() # must move out of here!
else:
pass
def draw(self):
"""
high level draw function, calls the lower ones
"""
self.draw_tiles()
self.draw_gui()
self.updated = False
#@timeit
def draw_gui(self):
if self.draw_gui_only_flag:
self.tracked.draw(self.tracking,
self.tracked_object_position,
self.view_longitude,
self.view_latitude,
self.zoom)
self.draw_instruments() # 0ms
self.waypoints.draw_points(self.updated,
self.view_longitude,
self.view_latitude,
self.zoom)
self.pointer.update()
self.draw_info() # 5ms
#@timeit
def draw_instruments(self):
"""
draws navball
takes ~0ms
"""
self.horizon.update()
def queue_draw(self, gui_only=False, tile=False):
"""
schedules a draw on next tick, may be complete, or gui-only
"""
self.updated = not gui_only
self.draw_gui_only_flag = True
self.tile_list_updated = tile
def update_mouse(self):
"""
process mouse state
"""
self.inputs.do_input_events()
imx, imy, zoom, imh, imd = self.inputs.get_mouse_movement()
self.pointer.on_move(self.pointer_x+imx, self.pointer_y+imy)
if self.button == 1:
delta_longitude, delta_latitude = dpix_to_dcoord(imx, self.view_latitude, imy, self.zoom)
self.view_longitude -= delta_longitude
self.view_latitude -= delta_latitude
self.queue_draw()
#check map boundaries
if self.view_longitude > 180:
self.view_longitude = 180.0
if self.view_longitude < -180:
self.view_longitude = -180.0
if self.view_latitude > 85.0:
self.view_latitude = 85.0
if self.view_latitude < -85.0:
self.view_latitude = -85.0
#asks for update
self.queue_draw()
if self.inputs.key_state("BTN_LEFT"):
self.button = 1
else:
self.button = 0
if zoom:
self.on_scroll(zoom)
def set_data(self, string, value):
self.data[string] = value
def main_loop(self):
"""
This is the Main Loop of the Game
checks for mouse and keyboard inputs,
draws the screen,
and quits, if esc is pressed
"""
time = 0
start_time = datetime.now()
while self.display.loop_running():
self.update_mouse()
if self.inputs.key_state(27):
self.display.destroy()
self.tile_loader.run = False
self.telemetry_reader.run = False
self.draw()
new_time = datetime.now()
time = ((new_time-start_time).microseconds/1000000.0) * 0.1 + time*0.9
#print "frame took {0:.2f} avg: {1:.2f} , fps:{2:.2f}".format(((new_time-start_time).microseconds/1000000.0), time, 1.0/time)
start_time = new_time