def __init__(self, path):
self.model = Model(True)
self.path = path
self.fileName = os.path.basename(path)
self._parsedJson: dict = None
self._build()
logger.log("Preset: %s" % self.fileName)
import utils.cgal.geometry as Geom
from model.entity import Entity
from model.modelService import Model
from model.vertex import Vertex
from utils.cgal.drawing import CreatePolygon
from utils.cgal.types import Polygon
from utils.vertexUtils import ptToStringId, convertToPoint
OBSTACLE_COLOR = "Grey"
mode = Model()
class Obstacle(Entity):
def __init__(self, name, pts):
"""
canvas: tk.Canvas
color: color string
name: str
pts: [utils.cgal.types.Point]
"""
super().__init__(color=OBSTACLE_COLOR, name=name)
self.vertices = []
self._vertexByLocation = {}
self._pts = pts
self.polygon = Polygon(self._pts)
self.createVertices(pts)
def createVertices(self, pts):
from model.entity import Entity
from model.modelService import Model
from model.vertex import Vertex
from utils.cgal.drawing import CreateLine
from utils.cgal.types import Segment
COLOR = "Black"
SECONDARY_COLOR = "Red"
DASH_PATTERN = (3, 3)
model = Model()
class DebugEdge(Entity):
def __init__(self, name, pts, isConstraint=False, isDirected=False):
"""
The shape is not created by default.
params
===
canvas: Canvas object (not tk.Canvas)
color: color string
name: str
pts: A list of 2 utils.cgal.types.Point or a utils.cgal.types.Segment
"""
super().__init__(color=SECONDARY_COLOR if isConstraint else COLOR,
name=name)
if isinstance(pts, list):
class Preset(object):
def __init__(self, path):
self.model = Model(True)
self.path = path
self.fileName = os.path.basename(path)
self._parsedJson: dict = None
self._build()
logger.log("Preset: %s" % self.fileName)
def _build(self):
if (not os.path.isfile(self.path)):
raise FileNotFoundError("%s does not exist" % self.path)
with open(self.path, 'r') as jsonFile:
self._parsedJson = json.load(jsonFile)
self._populateModel()
processReducedVisibilityGraph()
def _populateModel(self):
for e in self._parsedJson:
if (e == 'cable'):
self._createCableAndRobots(self._parsedJson[e])
elif (e == 'cableLength'):
self.model.setMaxCable(float(self._parsedJson[e]))
elif (e == 'destinations'):
self._createDestinations(self._parsedJson[e])
elif (e == 'obstacles'):
self._createObstacles(self._parsedJson[e])
else:
logger.log('unexpected json parameter %s' % e)
def _parsePt(self, ptString):
if "," in ptString:
return Point(*[float(c) for c in ptString.split(",")])
pt = self.model.entities[ptString].loc
return Point(pt.x(), pt.y())
def _createCableAndRobots(self, ptList):
self._createRobots([ptList[0], ptList[-1]])
self.model.cable.append(self.model.robots[0])
for pt in ptList[1:-1]:
p = self._parsePt(pt)
self.model.cable.append(
self.model.getVertexByLocation(p.x(), p.y()))
self.model.cable.append(self.model.robots[1])
c = Cable(name="CABLE-O", pts=self.model.cable, isOrigin=True)
self.model.entities[c.name] = c
def _createRobots(self, ptList):
i = 1
colors = ['Red', 'Blue']
for pt in ptList:
coords = [float(c) for c in pt.split(',')]
r = Robot(color=colors[i - 1], name="R%d" % i, loc=Point(*coords))
self.model.entities[r.name] = r
self.model.addVertexByLocation(r)
self.model.robots.append(r)
i += 1
def _createDestinations(self, ptList):
i = 0
for p in ptList:
coords = [float(c) for c in p.split(',')]
d = Destination(robot=self.model.robots[i], loc=Point(*coords))
self.model.robots[i].destination = d
self.model.entities[d.name] = d
self.model.addVertexByLocation(d)
i += 1
def _createObstacles(self, obsArr):
i = 0
for obsVerts in obsArr:
pts = [Point(*[float(c) for c in v.split(',')]) for v in obsVerts]
o = Obstacle(name='O%s' % i, pts=pts)
self.model.entities[o.name] = o
self.model.obstacles.append(o)
numVerts = len(o.vertices)
i += 1
for j in range(numVerts):
v = o.vertices[j]
prevV = o.vertices[j - 1]
nextV = o.vertices[j + 1 if j + 1 < numVerts else 0]
v.adjacentOnObstacle = {prevV, nextV}
self.model.entities[v.name] = v
self.model.vertices.append(v)
self.model.addVertexByLocation(v)