def __init__(self,
dimensions,
offsets,
scale,
root=None,
run=1,
background=None):
TkSimulator.__init__(self,
dimensions=dimensions,
offsets=offsets,
scale=scale,
root=root,
run=run)
self.backgroundFile = background
if (self.backgroundFile != None):
try:
self.backgroundImage = ImageTk.PhotoImage(
Image.open(background), master=self)
self.canvas.create_image(0,
0,
anchor="nw",
image=self.backgroundImage,
tags="background")
except:
self.backgroundImage = None
print "Error opening image file ", background, " I will ignore it."
print "", sys.exc_info()[0]
print "", sys.exc_info()[1]
print "", sys.exc_info()[2]
def redraw(self):
TkSimulator.redraw(self)
# if we have a background image, redraw it as well.
try:
if (self.backgroundImage != None):
self.canvas.create_image(0,
0,
anchor="nw",
image=self.backgroundImage,
tags="background")
self.canvas.lower("background", "line")
except:
pass
def INIT():
# (width, height), (offset x, offset y), scale:
sim = TkSimulator((441, 434), (22, 420), 40.357554)
# x1, y1, x2, y2 in meters:
sim.addBox(0, 0, 10, 10)
sim.addBox(1, 7.5, 9, 8)
sim.addBox(2, 3, 8, 6)
# (x, y) meters, brightness usually 1 (1 meter radius):
sim.addLight(5, 9, 1)
# port, name, x, y, th, bounding Xs, bounding Ys, color
# (optional TK color name):
sim.addRobot(
60000,
TkPioneer("RedPioneer", 5, 2, -0.86,
((.225, .225, -.225, -.225), (.175, -.175, -.175, .175))))
# add some sensors:
sim.robots[0].addDevice(PioneerFrontSonars())
sim.robots[0].addDevice(PioneerFrontLightSensors())
return sim
def redraw(self):
# first we call the redraw of the super-class
TkSimulator.redraw(self)
# we now add our markers
for (markerX,markerY) in self.markerLoc.keys():
markerName = self.markerLoc[(markerX,markerY)]
markerAngle = self.markerAngle[markerName]
tipX = markerX+(.25*math.cos(markerAngle))
tipY = markerY+(.25*math.sin(markerAngle))
rightX = markerX+(.25*math.cos(markerAngle+(math.pi/2)))
rightY = markerY+(.25*math.sin(markerAngle+(math.pi/2)))
leftX = markerX+(.25*math.cos(markerAngle+(math.pi)))
leftY = markerY+(.25*math.sin(markerAngle+(math.pi)))
self.canvas.create_polygon([(self.scale_x(tipX),self.scale_y(tipY)),
(self.scale_x(leftX),self.scale_y(leftY)),
(self.scale_x(rightX),self.scale_y(rightY))],
tag="line", fill='green')
self.canvas.create_text(self.scale_x(markerX),
self.scale_y(markerY), text=markerName,
fill='red')
def INIT():
sim = TkSimulator((441,434), (22,420), 40.357554)
sim.addBox(0, 0, 10, 10)
sim.addLight(5, 6, 1)
sim.addRobot(60000, TkPioneer("RedPioneer",
5, 2, -0.86,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175))))
# add some sensors:
sim.robots[0].addDevice(PioneerFrontSonars())
sim.robots[0].addDevice(PioneerFrontLightSensors())
return sim
def INIT():
# (width, height), (offset x, offset y), scale:
sim = TkSimulator((441,434), (22,420), 40.357554)
# x1, y1, x2, y2 in meters:
sim.addBox(0, 0, 10, 10)
sim.addBox(3, 4, 7, 4.5)
sim.addBox(2.5, 2, 3, 4.5)
sim.addBox(7, 2, 7.5, 4.5)
# (x, y) meters, brightness usually 1 (1 meter radius):
sim.addLight(5, 6, 1)
# port, name, x, y, th, bounding Xs, bounding Ys, color
# (optional TK color name):
sim.addRobot(60000, TkPioneer("RedPioneer",
5, 2, -0.86,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175))))
# add some sensors:
sim.robots[0].addDevice(PioneerFrontSonars())
sim.robots[0].addDevice(PioneerFrontLightSensors())
return sim
def INIT():
# (width, height), (offset x, offset y), scale:
sim = TkSimulator((441,434), (22,420), 40.357554)
# x1, y1, x2, y2 in meters:
sim.addBox(0, 0, 10, 10)
# (x, y) meters, brightness usually 1 (1 meter radius):
sim.addLight(1, 1, 0.5)
sim.addLight(2, 2, 0.5)
sim.addLight(3, 3, 0.5)
sim.addLight(4, 4, 0.5)
sim.addLight(5, 5, 0.5)
sim.addLight(6, 6, 0.5)
sim.addLight(7, 7, 0.5)
sim.addLight(8, 8, 0.5)
sim.addLight(9, 9, 0.5)
sim.addLight(10, 10, 0.5)
# port, name, x, y, th, bounding Xs, bounding Ys, color
# (optional TK color name):
sim.addRobot(60002, TkPioneer("redRobot",
5, 7, -0.86,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175)),
"red"))
sim.addRobot(60003, TkPioneer("blueRobot",
6, 7, -0.86,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175)),
"blue"))
# add some sensors:
sim.robots[0].addDevice(PioneerFrontLightSensors())
sim.robots[1].addDevice(PioneerFrontLightSensors())
sim.robots[1].addDevice(PioneerFrontSonars())
return sim
def __init__(self, dimensions, offsets, scale, root = None, run = 1):
TkSimulator.__init__(self, dimensions=dimensions,
offsets=offsets, scale=scale, root=root,
run=run)
self.resetMarkers()
def INIT():
# (width, height), (offset x, offset y), scale:
sim = TkSimulator((441,434), (22,420), 40.357554)
# x1, y1, x2, y2 in meters:
sim.addBox(0, 0, 10, 10, "green")
# (x, y) meters, brightness usually 1 (1 meter radius):
sim.addLight(5, 5, 0.3)
# port, name, x, y, th, bounding Xs, bounding Ys, color
# (optional TK color name):
sim.addRobot(60000, TkPioneer("redRobot",
5, 1, 0,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175)),
"red"))
sim.addRobot(60001, TkPioneer("blueRobot",
5, 9, pi,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175)),
"blue"))
sim.addBox(4.8, 0.2, 5.2, 0.6, "black")
sim.addBox(4.8, 9.4, 5.2, 9.8, "white")
# add some sensors:
sim.robots[0].addDevice(PioneerFrontLightSensors())
sim.robots[0].addDevice(PioneerFrontSonars())
sim.robots[1].addDevice(PioneerFrontLightSensors())
sim.robots[1].addDevice(PioneerFrontSonars())
return sim
def INIT():
# (width, height), (offset x, offset y), scale:
sim = TkSimulator((441, 434), (22, 420), 40.357554)
# x1, y1, x2, y2 in meters:
sim.addBox(0, 0, 10, 10)
# (x, y) meters, brightness usually 1 (1 meter radius):
sim.addLight(1, 1, 0.5)
sim.addLight(2, 2, 0.5)
sim.addLight(3, 3, 0.5)
sim.addLight(4, 4, 0.5)
sim.addLight(5, 5, 0.5)
sim.addLight(6, 6, 0.5)
sim.addLight(7, 7, 0.5)
sim.addLight(8, 8, 0.5)
sim.addLight(9, 9, 0.5)
sim.addLight(10, 10, 0.5)
# port, name, x, y, th, bounding Xs, bounding Ys, color
# (optional TK color name):
sim.addRobot(
60002,
TkPioneer("redRobot", 5, 7, -0.86,
((.225, .225, -.225, -.225), (.175, -.175, -.175, .175)),
"red"))
sim.addRobot(
60003,
TkPioneer("blueRobot", 6, 7, -0.86,
((.225, .225, -.225, -.225), (.175, -.175, -.175, .175)),
"blue"))
# add some sensors:
sim.robots[0].addDevice(PioneerFrontLightSensors())
sim.robots[1].addDevice(PioneerFrontLightSensors())
sim.robots[1].addDevice(PioneerFrontSonars())
return sim
