def method3():
line_num = 10
# laser config
laserfort = laser(precision=2)
x, y = laserfort.controlLaser()
if (not x == 0) and (not y == 0):
print "[Error]The point is not at center."
sys.exit()
else:
if (not laserfort.X_Axis == 0) and (not laserfort.Y_Axis == 0):
print "[Error]Not in the center"
positions = list()
for i in range(line_num):
positions.append(laserfort.calculateSteps(i))
laserfort.center()
raw_input("[System]Press enter to write data to file")
with open('steps.config', 'w') as fp:
for index in range(256):
if index >= line_num:
fp.write("0 0\n")
else:
line = "%d %d\n" % (positions[index][0], positions[index][1])
fp.write(line)
# laser test
laserfort.table = laserfort.readTableFile('steps.config')
for i in range(len(positions)):
laserfort.shoot1((i/16), (i%16),debug=True)
# return to center and shutdown
laserfort.shutdown()
def method1():
line_num = 10
# laser config
laserfort = laser(precision=2)
x, y = laserfort.controlLaser()
if (not x == 0) and (not y == 0):
print "[Error]The point is not at center."
sys.exit()
else:
if (not laserfort.X_Axis == 0) and (not laserfort.Y_Axis == 0):
print "[Error]Not in the center"
positions = list()
for i in range(line_num):
positions.append(laserfort.calculateSteps(i))
laserfort.center()
raw_input("[System]Press enter to write data to file")
with open('steps.config', 'w') as fp:
for index in range(256):
if index >= line_num:
fp.write("0 0\n")
else:
line = "%d %d\n" % (positions[index][0],
positions[index][1])
fp.write(line)
# laser test
laserfort.table = laserfort.readTableFile('steps.config')
for i in range(len(positions)):
laserfort.shoot1(0, i, debug=True)
# return to center and shutdown
laserfort.shutdown()
def test_cinco_soldados_em_L(self):
soldados = [(0, 0), (0, 1), (0, 2), (1, 0), (2, 0)]
'''
#....
#....
###..
'''
self.assertEqual(2, laser(soldados))
def test_cinco_soldados_em_L(self):
soldados = [(0,0), (0,1), (0,2), (1,0), (2,0)]
'''
#....
#....
###..
'''
self.assertEqual(2, laser(soldados))
def test_seis_soldados(self):
soldados = [(0,0), (0,2), (1,2), (1,3), (2,1), (2,2)]
#soldados = [(1,1), (1,2), (1,3), (2,1), (3,2), (4,3)]
'''
#.#.
..##
.##.
'''
self.assertEqual(3, laser(soldados))
def test_seis_soldados(self):
soldados = [(0, 0), (0, 2), (1, 2), (1, 3), (2, 1), (2, 2)]
#soldados = [(1,1), (1,2), (1,3), (2,1), (3,2), (4,3)]
'''
#.#.
..##
.##.
'''
self.assertEqual(3, laser(soldados))
def method5():
laserfort = laser()
laserfort.controlLaser()
while True:
coordinate = raw_input().split()
if coordinate[0] == "exit":
break
else:
print "x : %s \t y : %s" % (coordinate[0], coordinate[1])
laserfort.move(int(coordinate[1]), int(coordinate[0]), 1, 3000)
laserfort.center()
laserfort.shutdown()
def method5():
laserfort = laser()
laserfort.controlLaser()
while True:
coordinate = raw_input().split()
if coordinate[0] == "exit":
break
else:
print "x : %s \t y : %s" % (coordinate[0], coordinate[1])
laserfort.move(int(coordinate[1]), int(coordinate[0]), 1, 3000)
laserfort.center()
laserfort.shutdown()
def method4():
# laser config
laserfort = laser(precision=2)
x, y = laserfort.controlLaser()
if (not x == 0) and (not y == 0):
print "[Error]The point is not at center."
sys.exit()
else:
if (not laserfort.X_Axis == 0) and (not laserfort.Y_Axis == 0):
print "[Error]Not in the center"
while True:
ay, ax = laserfort.calculateSteps()
laserfort.center()
def method4():
# laser config
laserfort = laser(precision=2)
x,y = laserfort.controlLaser()
if (not x == 0) and (not y == 0):
print "[Error]The point is not at center."
sys.exit()
else:
if (not laserfort.X_Axis == 0) and (not laserfort.Y_Axis == 0):
print "[Error]Not in the center"
while True:
ay, ax= laserfort.calculateSteps()
laserfort.center()
def generate_powerup(self, x, y, x_vel, y_vel):
num = random.randint(0, 1)
if num:
return
num = random.randint(0, 7)
# num=7
if num == 0:
return expandpaddle(x, y, x_vel, y_vel)
elif num == 1:
return shrinkpaddle(x, y, x_vel, y_vel)
elif num == 2:
return ballmultiplier(x, y, x_vel, y_vel)
elif num == 3:
return fastball(x, y, x_vel, y_vel)
elif num == 4:
return paddlegrab(x, y, x_vel, y_vel)
elif num == 5:
return thruball(x, y, x_vel, y_vel)
elif num == 6:
return laser(x, y, x_vel, y_vel)
elif num == 7:
return fireball(x, y, x_vel, y_vel)
def test_nenhum_soldado(self):
soldados = []
self.assertEqual(0, laser(soldados))
"""
def level_run(self, running):
# Initial variable set
self.level_count = 0
color_setting = ColorSet()
color = color_setting.get_colors()
old_color = color
counter = 0
score = 0
finalScore = 0
top = 0
bottom = self.height - 1
refresh_start = False
refresh_count = 0
calc_start = False
calc_count = 0
new_level = 0
level_length = 100
score_label = "Score: "
laser_label = "Laser: "
laser_interval = 30 # number of steps before laser replinishes
laser_max = 5 # max number of lasers player can have
laser_count = 5
self.place_hero()
moveH = 0
moveV = 0
createLaser = False
# place score label in bottom left hand corner
self.stdscr.move(self.height, 0)
self.stdscr.addstr(score_label)
# Primary loop
while running:
asyncore.loop(timeout = 1, count = 1)
timer = int(round(time.clock() * 1000)) # Referenced to maintain updates and refresh rate
p = self.socket.getData()
while p != "":
client, cmd, val = p.split('*')
val = int(val)
if cmd == "mH":
if client == str(self.socket.clientB):
moveH += val
elif cmd == "mV":
if client == str(self.socket.clientA):
moveV += val
elif cmd == "fL":
createLaser = True
p = self.socket.getData()
#move hero after all packets processed
if self.heroCol + moveH < self.width and self.heroCol + moveH > 0:
if self.level_grid[self.heroRow + moveV][self.heroCol + moveH] != '&' and self.level_grid[self.heroRow + moveV][self.heroCol + moveH] != '#' :
self.move_hero(moveV, moveH)
self.socket.buildPacket("mP", "-1," + str(moveH) + "," + str(moveV))
moveV = 0
moveH = 0
else:
self.socket.buildPacket("end", score)
asyncore.loop(timeout = 1, count = 1)
return score
#fire laser
if createLaser:
createLaser = False
if client == str(self.socket.clientB) and laser_count > 0:
l = laser(self.currID, self.heroRow, self.heroCol + 1, self.width - 1)
self.lasers.append(l)
self.socket.buildPacket("cL", str(self.currID))
laser_count -= 1
self.currID += 1
player_height = self.heroRow
player_depth = self.heroCol
# Update all aspects of game at designated intervals
if calc_start is False:
calc_count = timer
calc_start = True
elif calc_start and (timer - calc_count) > 100: # Interval to update game elements(milliseconds)
counter += 1
new_level += 1
if counter == level_length:
if bottom - top > 7:
top += 1
bottom -= 1
counter = 0
self.level_count += 1
# Change color palette upon reaching new level
elif counter == level_length - 1:
old_color = color
while old_color == color:
color = color_setting.get_colors()
new_level = 0
self.level_update(top, bottom, player_height, player_depth)
score += 1 # update score whenever level updates
if (score % laser_interval == 0) and laser_count < laser_max:
laser_count = laser_count + 1
calc_start = False
# Refreash screen at designated intervals
if refresh_start is False:
refresh_count = timer
refresh_start = True
self.level_draw(color, old_color, new_level)
self.stdscr.move(self.height, len(score_label))
self.stdscr.addstr(str(score))
self.stdscr.move(self.height, self.width-(len(score_label)+10))
self.stdscr.addstr(laser_label)
# add a red bar for each laser
for i in range(laser_count):
self.stdscr.addstr('|', curses.color_pair(10))
self.stdscr.addstr(' ')
# make sure rest of laser bar is blacked out
for i in range(laser_max - laser_count):
self.stdscr.addstr(' ')
# check for collisions after drawing level
if self.level_grid[self.heroRow][self.heroCol] != '@':
self.socket.buildPacket("end", score)
asyncore.loop(timeout = 1, count = 1)
return score
elif refresh_start and (timer - refresh_count) > 16: # Interval to refresh game screen(milliseconds)
refresh_start = False
self.stdscr.refresh()
def test_tres_soldados_em_L(self):
soldados = [(1, 2), (1, 1), (2, 1)]
self.assertEqual(2, laser(soldados))
def test_tres_soldados_em_linha(self):
soldados = [(1,2), (1,1), (1,3)]
self.assertEqual(1, laser(soldados))
for event in pygame.event.get():
if event == pygame.QUIT:
pygame.quit()
if event.type == pygame.KEYDOWN:
if (event.key == pygame.K_LEFT):
movement = -2
elif (event.key == pygame.K_RIGHT):
movement = 2
if event.key == pygame.K_SPACE:
bool = True
if event.key == pygame.K_SPACE:
if timer > 600:
timer = 0
elote.append(
laser(natalia.sisterMidX(), natalia.sisterMidY()))
elif (event.type == pygame.KEYUP):
if event.key == pygame.K_RIGHT or pygame.K_LEFT:
movement = 0
count = 0
for e in emis:
if (e != None):
screen.blit(e.getEmi(), (e.getX(), e.getY()))
if (timer2 > 1000) & (emis.index(e) % 2 == 0):
el.append(laser(e.getX() + 16, e.getY() + 32))
elif (timer2 == 500) & emis.index(e) % 2 != 0:
el.append(laser(e.getX() + 16, e.getY() + 32))
elif (e == None):
count += 1
if (count == len(emis)):
def level_run(self, running):
# Initial variable set
self.level_count = 0
color_setting = ColorSet()
color = color_setting.get_colors()
old_color = color
counter = 0
score = 0
top = 0
bottom = self.height - 1
refresh_start = False
refresh_count = 0
calc_start = False
calc_count = 0
new_level = 0
level_length = 100
score_label = "Score: "
laser_label = "Laser: "
laser_interval = 30 # number of steps before laser replinishes
laser_max = 5 # max number of lasers player can have
laser_count = 5
self.place_hero()
# place score label in bottom left hand corner
self.stdscr.move(self.height, 0)
self.stdscr.addstr(score_label)
# Primary loop
while running:
asyncore.loop(timeout = 1, count = 1)
timer = int(round(time.clock() * 1000)) # Referenced to maintain updates and refresh rate
p = self.socket.getData()
while p != "":
cmd, val = p.split('*')
if ',' in val:
id, x, y = val.split(',')
id = int(id)
x = int(x)
y = int(y)
else:
val = int(val)
if cmd == "mP":
self.move_hero(y, x)
#move enemy
elif cmd == "mE":
for e in self.enemies:
if e.ID == id:
if e.width >= 0 and e.width < self.width:
self.level_grid[e.height][e.width] = ' '
e.height = y
e.width = x
self.level_grid[e.height][e.width] = '&'
break
#move wall
elif cmd == "mW":
for o in self.obstacles:
if o.ID == id:
if o.width >= 0 and o.width < self.width:
self.level_grid[o.height][o.width] = ' '
o.height = y
o.width = x
self.level_grid[o.height][o.width] = '#'
break
#move laser
elif cmd == "mL":
for l in self.lasers:
if l.ID == id:
if l.col >= 0 and l.col < self.width:
self.level_grid[l.row][l.col] = ' '
l.row = y
l.col = x
self.level_grid[l.row][l.col] = '-'
#create enemy
elif cmd == "cE":
enemy = EnemyGen(id, y, x, top, bottom, self.level_grid, player_height, player_depth, self.level_count)
self.enemies.append(enemy)
#create wall
elif cmd == "cW":
wall = Obstacle(id, y, x, self)
self.obstacles.append(wall)
#create laser
elif cmd == "cL":
l = laser(val, self.heroRow, self.heroCol + 1, self.width - 1)
self.lasers.append(l)
laser_count -= 1
#delete enemy
elif cmd == "delE":
for e in self.enemies[:]:
if e.ID == id:
e.width = x
e.height = y
EnemyGen.enemy_death(e, self, top, bottom)
self.del_enemies.append(e)
self.enemies.remove(e)
break
#delete laser
if cmd == "delL":
for l in self.lasers[:]:
if l.ID == id:
if l.col >= 0 and l.col < self.width:
self.level_grid[l.row][l.col] = ' '
self.lasers.remove(l)
break
#delete wall
elif cmd == "delW":
for o in self.obstacles[:]:
if o.ID == id:
if o.width >= 0 and o.width < self.width:
self.level_grid[o.height][o.width] = ' '
self.obstacles.remove(o)
break
#laser enemy
elif cmd == "eE":
for e in self.enemies[:]:
if e.ID == id:
if e.width >= 0 and e.width < self.width:
self.level_grid[e.height][e.width] = ' '
e.height = y
e.width = x
self.level_grid[e.height][e.width] = '}'
self.del_enemies.append(e)
self.enemies.remove(e)
break
#explode wall
elif cmd == "eW":
for o in self.obstacles[:]:
if o.ID == id:
if o.width >= 0 and o.width < self.width:
self.level_grid[o.height][o.width] = ' '
o.height = y
o.width = x
self.del_obstacles.append(o)
self.obstacles.remove(o)
break
elif cmd == "end":
return val
p = self.socket.getData()
#get user input
vIn, hIn = self.getInput()
#fire laser
if vIn == 2:
self.socket.buildPacket("fL", vIn)
else:
#vertical movement
if vIn != 0:
self.socket.buildPacket("mV", vIn)
#horizontal movement
if hIn != 0:
self.socket.buildPacket("mH", hIn)
player_height = self.heroRow
player_depth = self.heroCol
# Update all aspects of game at designated intervals
if calc_start is False:
calc_count = timer
calc_start = True
elif calc_start and (timer - calc_count) > 100: # Interval to update game elements(milliseconds)
counter += 1
new_level += 1
if counter == level_length:
if bottom - top > 7:
top += 1
bottom -= 1
counter = 0
self.level_count += 1
# Change color palette upon reaching new level
elif counter == level_length - 1:
old_color = color
while old_color == color:
color = color_setting.get_colors()
new_level = 0
self.level_update(top, bottom, player_height, player_depth)
score += 1 # update score whenever level updates
if (score % laser_interval == 0) and laser_count < laser_max:
laser_count += 1
calc_start = False
# Refreash screen at designated intervals
if refresh_start is False:
refresh_count = timer
refresh_start = True
self.level_draw(color, old_color, new_level)
# add score and laser count
self.stdscr.move(self.height, len(score_label))
self.stdscr.addstr(str(score))
self.stdscr.move(self.height, self.width-(len(score_label)+10))
self.stdscr.addstr(laser_label)
# add a red bar for each laser
for i in range(laser_count):
self.stdscr.addstr('|', curses.color_pair(10))
self.stdscr.addstr(' ')
# make sure rest of laser bar is blacked out
for i in range(laser_max - laser_count):
self.stdscr.addstr(' ')
elif refresh_start and (timer - refresh_count) > 16: # Interval to refresh game screen(milliseconds)
refresh_start = False
self.stdscr.refresh()
def test_dois_soldados_em_fila(self):
soldados = [(1, 1), (1, 2)]
self.assertEqual(1, laser(soldados))
# show the forwarding time
print "It cost %f sec" % (tEnd - tStart)
# show the output tables
dt.print_catagory_table(output)
dt.print_probability_table(output)
# get targets coordinates
coordinates = dt.get_coordinates(output)
# save video snapshots
if args.save:
images = list()
images_name = sorted(os.listdir('/tmp/crops/'))
for image_name in images_name:
tmp = cv2.imread('/tmp/crops/' + image_name)
images.append(cv2.imread('/tmp/crops/' + image_name))
sri.saveImage(images)
del images, images_path
# send the message to laser fort via ROS
if args.ros:
laser = laser()
for coordinate in coordinates:
laser.shoot1(coordinate['X-Axis'], coordinate['Y-Axis'])
laser.shutdown()
# free memory
del img_list
del net
import sys
import cv2
from target import *
from display import draw
import laser
print('Iniciando RADAR')
x = pygame.init()
pygame.font.init()
defaultFont = pygame.font.get_default_font()
fontRenderer = pygame.font.Font(defaultFont, 20)
radarDisplay = pygame.display.set_mode((1400, 800))
pygame.display.set_caption('Tela do RADAR')
ls = laser.laser()
servoPIN = 16
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(servoPIN, GPIO.OUT)
p = GPIO.PWM(servoPIN, 50)
p.start(0)
targets = {}
try:
while True:
for a in range(0, 180):
def test_nenhum_soldado(self):
soldados = []
self.assertEqual(0, laser(soldados))
def test_dois_soldados_em_fila(self):
soldados = [(1,1), (1,2)]
self.assertEqual(1, laser(soldados))
def test_dois_soldados_em_diagonal(self):
soldados = [(1,1), (2,2)]
self.assertEqual(2, laser(soldados))
def test_tres_soldados_em_L(self):
soldados = [(1,2), (1,1), (2,1)]
self.assertEqual(2, laser(soldados))
from music import music from laser import laser lasernumber = 5 device = 1 dummy = 0 instrument = 61 mc = music(lasernumber ,0,60,True, instrument); mc.test(); harfe = laser(lasernumber, device, dummy); harfe.calibration() while(1): # ak = cv2.waitKey(1) # if ak != -1: # ak = chr(ak) # if ak == 'c': # sys.exit() keylist = harfe.readInputUntilRecognition(0) for i in range(lasernumber): harfe.beams[i] = 0; for key in keylist:
def test_dois_soldados_em_diagonal(self):
soldados = [(1, 1), (2, 2)]
self.assertEqual(2, laser(soldados))
def test_tres_soldados_em_coluna(self):
soldados = [(1, 1), (2, 1), (3, 1)]
self.assertEqual(1, laser(soldados))
def cria_lasers(L, janela, nave):
if len(L) < 4:
novo_laser = laser(janela, nave)
L.append(novo_laser)
def test_tres_soldados_em_linha(self):
soldados = [(1, 2), (1, 1), (1, 3)]
self.assertEqual(1, laser(soldados))
def test_um_soldado(self):
soldados = [(1,1)]
self.assertEqual(1, laser(soldados))
def test_tres_soldados_em_coluna(self):
soldados = [(1,1), (2,1), (3,1)]
self.assertEqual(1, laser(soldados))
def test_um_soldado(self):
soldados = [(1, 1)]
self.assertEqual(1, laser(soldados))
# show the forwarding time
print "It cost %f sec" % (tEnd - tStart)
# show the output tables
dt.print_catagory_table(output)
dt.print_probability_table(output)
# get targets coordinates
coordinates = dt.get_coordinates(output)
# save video snapshots
if args.save:
images = list()
images_name = sorted(os.listdir('/tmp/crops/'))
for image_name in images_name:
tmp = cv2.imread('/tmp/crops/' + image_name)
images.append(cv2.imread('/tmp/crops/' + image_name))
sri.saveImage(images)
del images, images_path
# send the message to laser fort via ROS
if args.ros:
laser = laser()
for coordinate in coordinates:
laser.shoot1(coordinate['X-Axis'], coordinate['Y-Axis'])
laser.shutdown()
# free memory
del img_list
del net
