class Display(threading.Thread):
"""
Implements the race display and user interaction on the Waveshare 1.3" LCD HAT
starting_gate.py creates a single instance of Display to provide the UI. The Display
object starts a separate thread that continuously updates the display. starting_gate.py
is responsible for manging the actual race, including (almost) all interactions with the
sensors, servo, controller and finish line. As the race proceedes, starting_gate.py
calls methods of this class to update the display.
The public methods in this class just update the current display state. The display thread
uses the current state to dispatch to the appropriate rendering logic.
Several of the states block the caller until some action completes. E.g. menu input has
completed or the appropriate textures for the remote car icons have been loaded.
"""
# PUBLIC
def wait_menu(self):
"""
Display configuration menu and operate submenus
"""
self.menu_event.clear()
self.state = RaceState.WAIT_MENU
self.menu_event.wait()
def wait_finish_line(self):
"""
Display notice that the starting gate is establishing a Bluetooth connection to
the finish line.
"""
self.state = RaceState.WAIT_FINISH_LINE
def wait_remote_registration(self):
"""
The local racetrack is ready, configured for a multi-track race, and waiting
for the race coordinator to inidicate that a remote track has joined the circuit.
"""
self.state = RaceState.WAIT_REMOTE_REGISTRATION
def remote_registration_done(self):
"""
The coordinator completed the registration call and returned the remote car icons.
Load the appropriate textures for the race display.
"""
self.registration_event.clear()
self.remote_icons_loaded = False
self.state = RaceState.REMOTE_REGISTRATION_DONE
self.registration_event.wait()
def wait_local_ready(self):
"""
In this state, the display places an overlay on the track saying "Waiting for Cars"
The car_#_present() functions from the DeviceIO module read the
appropriate IR sensor to determine if a car is present in the
indicated lane. In the WAIT_LOCAL_READY state, the Display loop
checks for cars via these callbacks and updates the display to
show car icons at the start of lanes that have cars present.
"""
self.__reset_car_positions()
self.state = RaceState.WAIT_LOCAL_READY
def wait_remote_ready(self):
"""
In this state, the display places an overlay on the track saying
"Waiting for <other track name>"
"""
self.state = RaceState.WAIT_REMOTE_READY
def countdown(self):
"""
All conditions to start the race have been met:
* single track race: all tracks have cars present
* multi track race: local track has all cars and the
controller has signalled that remote tracks are ready
Display a 3, 2, 1 countdown sequence before returning to the caller.
"""
self.countdown_event.clear()
self.countdown_start = time.monotonic()
self.state = RaceState.COUNTDOWN
self.countdown_event.wait()
def race_started(self):
"""
The race is running. Display cars moving randomly down the tracks.
"""
self.start = time.monotonic()
self.state = RaceState.RACE_STARTED
def race_finished(self, results):
"""
The race is complete. Display race results
"""
self.results = results
self.state = RaceState.RACE_FINISHED
self.first_results_display = True
def exit(self):
"""
Exit the display thread.
"""
self.running = False
# PRIVATE
# Maximum distance a car can travel in the race display
MAX_Y = 150
__instance = None
def __load_textures(self):
"""
Load appropriate sized textures based on the number of tracks (and lanes)
"""
multi_track = self.config.multi_track
if multi_track:
banner_size = 48
car_icon_size = 24
checkerboard_size = 34
y_starting_offset = 40
else:
banner_size = 96
car_icon_size = 48
checkerboard_size = 64
y_starting_offset = 10
# Load the background image
background_image = self.pyray.load_image("images/raceoff-2.png")
self.background_texture = self.pyray.load_texture_from_image(
background_image)
self.pyray.unload_image(background_image)
self.y_starting_offset = y_starting_offset
checkerboard_image = self.pyray.load_image(
"images/checkerboard-{}.png".format(checkerboard_size))
question_image = self.pyray.load_image(
"cars/question-{}.png".format(car_icon_size))
first_image = self.pyray.load_image(
"images/1st-{}.png".format(banner_size))
second_image = self.pyray.load_image(
"images/2nd-{}.png".format(banner_size))
third_image = self.pyray.load_image(
"images/3rd-{}.png".format(banner_size))
fail_image = self.pyray.load_image(
"images/fail-{}.png".format(banner_size))
# Load textures into VRAM
self.checkerboard_texture = self.pyray.load_texture_from_image(
checkerboard_image)
self.question_texture = self.pyray.load_texture_from_image(
question_image)
first_texture = self.pyray.load_texture_from_image(first_image)
second_texture = self.pyray.load_texture_from_image(second_image)
third_texture = self.pyray.load_texture_from_image(third_image)
self.fail_texture = self.pyray.load_texture_from_image(fail_image)
self.place_textures = [first_texture, second_texture, third_texture]
# Load car textures for local track
for car in range(self.config.num_lanes):
icon = self.config.car_icons[car]
image = self.pyray.load_image("cars/{}-{}.png".format(
icon, car_icon_size))
self.local_textures[car] = self.pyray.load_texture_from_image(
image)
self.pyray.unload_image(image)
if multi_track:
# Load car textures for remote track
for car in range(self.config.remote_num_lanes):
icon = self.config.remote_car_icons[car]
# TODO: Handle error condition where remote image isn't found locally
image = self.pyray.load_image("cars/{}-{}.png".format(
icon, car_icon_size))
self.remote_textures[car] = self.pyray.load_texture_from_image(
image)
self.pyray.unload_image(image)
# Unload image data from CPU memory
self.pyray.unload_image(checkerboard_image)
self.pyray.unload_image(question_image)
self.pyray.unload_image(first_image)
self.pyray.unload_image(second_image)
self.pyray.unload_image(third_image)
self.pyray.unload_image(fail_image)
def __new__(cls, val):
"""
Override the new operator to enforce that all allocations share a singleton object
"""
if Display.__instance is None:
Display.__instance = object.__new__(cls)
Display.__instance.val = val
return Display.__instance
def __init__(self, config):
threading.Thread.__init__(self, daemon=True)
self.config = config
self.pyray = PyRay()
# Value between 0.0 and 1.0 used to determine how far each car moves down
# the screen on each iteration of the display loop. See __race_started() below.
self.progress_threshold = 0.4
# Initialize the dispatch table
self.dispatch = {
RaceState.WAIT_MENU: self.__wait_menu,
RaceState.MENU_DONE: self.__menu_done,
RaceState.WAIT_FINISH_LINE: self.__wait_finish_line,
RaceState.WAIT_REMOTE_REGISTRATION:
self.__wait_remote_registration,
RaceState.REMOTE_REGISTRATION_DONE:
self.__remote_registration_done,
RaceState.WAIT_LOCAL_READY: self.__wait_local_ready,
RaceState.WAIT_REMOTE_READY: self.__wait_remote_ready,
RaceState.COUNTDOWN: self.__countdown,
RaceState.RACE_STARTED: self.__race_started,
RaceState.RACE_FINISHED: self.__race_finished,
RaceState.RACE_TIMEOUT: self.__race_timeout
}
# Declare initial Y offset for car images at the start of a race
self.y_starting_offset = 0
self.local_y = [0, 0, 0, 0]
self.remote_y = [0, 0, 0, 0]
# Declare local texture variables. __load_textures() will load the appropriate
# textures based on whether a single or multi track race is selected.
self.background_texture = None
self.local_textures = [None, None, None, None]
self.remote_textures = [None, None, None, None]
self.checkerboard_texture = None
self.question_texture = None
self.place_textures = []
self.fail_texture = None
self.countdown_start = None
self.font = None
self.menu = None
self.results = None
self.first_results_display = None
self.menu_event = threading.Event()
self.menu_event.clear()
self.countdown_event = threading.Event()
self.countdown_event.clear()
self.remote_icons_loaded = False
self.registration_event = threading.Event()
self.registration_event.clear()
self.state = RaceState.WAIT_MENU
self.running = True
self.start()
def run(self):
"""
Thread used for actual display updates
Note, all pyray interactions must be done in this thread as it creates the GL context!
"""
self.pyray.init_window(240, 240, b"Diecast Remote Raceway")
self.pyray.set_target_fps(30)
self.pyray.hide_cursor()
self.font = self.pyray.load_font(b"fonts/Roboto-Black.ttf")
self.menu = Menu(self.pyray, self.font, self.config)
while self.running and not self.pyray.window_should_close():
# Draw common background used for all displays
self.pyray.begin_drawing()
self.pyray.clear_background(RAYWHITE)
if self.state != RaceState.WAIT_MENU:
# A common background is displayed for all race states after leaving the
# main menu.
self.pyray.draw_texture(self.background_texture, 0, 0, WHITE)
self.__draw_lanes()
# Dispatch to appropriate drawing routine based on current race state
self.dispatch[self.state]()
self.pyray.end_drawing()
def __reset_car_positions(self):
for car in range(self.config.num_lanes):
self.local_y[car] = self.y_starting_offset
if self.config.multi_track:
for car in range(self.config.remote_num_lanes):
self.remote_y[car] = self.y_starting_offset
def __text_box_dense(self, text, x, y, width, height, size):
self.pyray.draw_rectangle_rec([x, y, width, height], WHITE)
self.pyray.draw_text_rec(self.font, text,
[x + 2, y + 2, width - 2, height - 2], size,
2, True, BLACK)
def __text_box(self, text, x, y, width, height, size, inverted=False):
"""
Draws a box at location (x,y) with width and height. Prints text with specified font size
"""
self.pyray.draw_rectangle_lines(x, y, width, height, BLACK)
if inverted:
self.pyray.draw_rectangle_rec([x, y, width, height], GRAY)
self.pyray.draw_text_rec(self.font, text,
[x + 10, y + 2, width - 10, height - 2],
size, 3.5, True, WHITE)
else:
self.pyray.draw_rectangle_rec([x, y, width, height], WHITE)
self.pyray.draw_text_rec(self.font, text,
[x + 10, y + 2, width - 10, height - 2],
size, 3.5, True, BLACK)
@staticmethod
def __font_size(text):
"""
Compute font size that will fit within text box based on length of text string
"""
length = len(text)
if length <= 14:
return 34
elif length < 30:
return 26
else:
return 24
def __text_message(self, text, inverted=False):
if len(text) >= 16:
# Two line text box
self.__text_box(text, 10, 90, 215, 68, self.__font_size(text),
inverted)
else:
# One line textbox
self.__text_box(text, 10, 90, 215, 40, self.__font_size(text),
inverted)
def __draw_lanes(self):
if self.config.multi_track:
self.pyray.draw_text(self.config.track_name, 10, 10, 24, ORANGE)
self.pyray.draw_text(self.config.remote_track_name, 130, 10, 24,
BLACK)
self.pyray.draw_line_ex([120, 5], [120, 235], 4.0, BLACK)
self.pyray.draw_line_ex([35, 40], [35, 230], 34.0, ORANGE)
self.pyray.draw_line_ex([80, 40], [80, 230], 34.0, ORANGE)
self.pyray.draw_texture(self.checkerboard_texture, 18, 196, WHITE)
self.pyray.draw_texture(self.checkerboard_texture, 63, 196, WHITE)
self.pyray.draw_line_ex([155, 40], [155, 230], 34.0, ORANGE)
self.pyray.draw_line_ex([200, 40], [200, 230], 34.0, ORANGE)
self.pyray.draw_texture(self.checkerboard_texture, 138, 196, WHITE)
self.pyray.draw_texture(self.checkerboard_texture, 183, 196, WHITE)
else:
self.pyray.draw_line_ex([64, 10], [64, 230], 64.0, ORANGE)
self.pyray.draw_line_ex([164, 10], [164, 230], 64.0, ORANGE)
self.pyray.draw_texture(self.checkerboard_texture, 32, 166, WHITE)
self.pyray.draw_texture(self.checkerboard_texture, 132, 166, WHITE)
def __draw_cars(self, texture1, texture2, texture3, texture4):
#pylint: disable=bad-whitespace
if self.config.multi_track:
self.pyray.draw_texture(texture1, 22, self.local_y[CAR0], WHITE)
self.pyray.draw_texture(texture2, 68, self.local_y[CAR1], WHITE)
self.pyray.draw_texture(texture3, 142, self.remote_y[CAR0], WHITE)
self.pyray.draw_texture(texture4, 188, self.remote_y[CAR1], WHITE)
else:
self.pyray.draw_texture(texture1, 40, self.local_y[CAR0], WHITE)
self.pyray.draw_texture(texture2, 140, self.local_y[CAR1], WHITE)
def __draw_result(self, track_count, track_number, lane_number, lane_time,
place):
"""
Draw result icon superimposed of appripriate track.
track_count 1 if single track race, 2 if multi track race
track_number 1 if local track, 2 if remote track
lane_number which lane in the track specified by track_number
lane_time elapsed time for the specified lane, or NOT_FINISHED
place 1, 2, or 3 for First, Second or Third place
"""
if self.first_results_display:
print("__draw_result(", track_count, track_number, lane_number,
lane_time, place, ")")
if track_count == 1:
x_offset = 15 + (lane_number - 1) * 100
y_offset = 20 + (place) * 40
time_y_offset = 180
time_width = 96
else:
x_offset = 10 + (lane_number - 1) * 48 + (track_number - 1) * 120
y_offset = 40 + (place) * 50
time_y_offset = 204
time_width = 46
texture = self.fail_texture if lane_time == NOT_FINISHED else self.place_textures[
place]
self.pyray.draw_texture(texture, x_offset, y_offset, WHITE)
if lane_time == NOT_FINISHED:
display_time = "FAIL"
else:
display_time = "{:.3f}".format(lane_time)
if track_count == 1:
self.__text_box(display_time, x_offset, time_y_offset, time_width,
30, 28)
else:
self.__text_box_dense(display_time, x_offset, time_y_offset,
time_width, 20, 16)
def __wait_menu(self):
self.menu.process_menus()
self.state = RaceState.MENU_DONE
self.__load_textures()
self.menu_event.set()
def __menu_done(self):
pass
def __wait_finish_line(self):
finish_line_name = self.config.finish_line_name
self.__text_message("Connecting to " + finish_line_name)
def __wait_remote_registration(self):
self.__text_message("Waiting for: remote track")
def __remote_registration_done(self):
# Load car textures for remote track
if self.remote_icons_loaded:
return
print("__remote_registration_done: remote_num_lanes=",
self.config.remote_num_lanes)
print(" remote_car_icons=", self.config.remote_car_icons)
for car in range(self.config.remote_num_lanes):
icon = self.config.remote_car_icons[car]
self.local_y[car] = 40
image = self.pyray.load_image("cars/{}-{}.png".format(icon, 24))
self.remote_textures[car] = self.pyray.load_texture_from_image(
image)
self.pyray.unload_image(image)
self.remote_icons_loaded = True
self.registration_event.set()
def __wait_local_ready(self):
texture1 = self.local_textures[0] if car_1_present(
) else self.question_texture
texture2 = self.local_textures[1] if car_2_present(
) else self.question_texture
if self.config.multi_track:
self.__draw_cars(texture1, texture2, self.question_texture,
self.question_texture)
else:
self.__draw_cars(texture1, texture2, self.question_texture,
self.question_texture)
self.__text_message("Waiting for: Cars")
def __wait_remote_ready(self):
wait_msg = "Waiting for: " + self.config.remote_track_name
self.__draw_cars(self.local_textures[CAR0], self.local_textures[CAR1],
self.question_texture, self.question_texture)
self.__text_message(wait_msg)
def __countdown(self):
self.__draw_cars(self.local_textures[CAR0], self.local_textures[CAR1],
self.remote_textures[CAR0],
self.remote_textures[CAR1])
now = time.monotonic()
if now - self.countdown_start > 3.0:
self.countdown_event.set()
elif now - self.countdown_start > 2.0:
self.__text_message("Starting in 1")
elif now - self.countdown_start > 1.0:
self.__text_message("Starting in 2")
else:
self.__text_message("Starting in 3")
def __race_started(self):
delta = time.monotonic() - self.start
delta_bytes = bytes('{:06.3f}'.format(delta), 'ascii')
self.__draw_cars(self.local_textures[0], self.local_textures[1],
self.remote_textures[0], self.remote_textures[1])
self.__text_box(delta_bytes, 26, 95, 180, 55, 50)
for car in range(self.config.num_lanes):
if random.random(
) < self.progress_threshold and self.local_y[car] < Display.MAX_Y:
self.local_y[car] += 1
for car in range(self.config.remote_num_lanes):
if random.random(
) < self.progress_threshold and self.remote_y[car] < Display.MAX_Y:
self.remote_y[car] += 1
def __race_finished(self):
# TODO: use IP address in results payload to determine own track vs other track to
# disambiguate in the event both tracks are set to the same name.
if self.first_results_display:
print("__race_finished(): results =", self.results)
track_count = 2 if self.config.multi_track else 1
place = 0
for result in self.results:
track_number = 1 if result[
"trackName"] == self.config.track_name else 2
lane_number = result["laneNumber"]
lane_time = result["laneTime"]
self.__draw_result(track_count, track_number, lane_number,
lane_time, place)
place += 1
if place > 2:
break
self.first_results_display = False
def __race_timeout(self):
self.__text_message("Race Timed Out")
pyray.draw_rectangle_rec(touch_area, GRAY)
pyray.draw_rectangle(225, 15, SCREEN_WIDTH - 240, SCREEN_HEIGHT - 30,
RAYWHITE)
pyray.draw_text('GESTURES TEST AREA', SCREEN_WIDTH - 270,
SCREEN_HEIGHT - 40, 20, pyray.fade(GRAY, 0.5))
for i, val in enumerate(gesture_strings):
if i % 2 == 0:
pyray.draw_rectangle(10, 30 + 20 * i, 200, 20,
pyray.fade(LIGHTGRAY, 0.5))
else:
pyray.draw_rectangle(10, 30 + 20 * i, 200, 20,
pyray.fade(LIGHTGRAY, 0.3))
if i < len(gesture_strings) - 1:
pyray.draw_text(val, 35, 36 + 20 * i, 10, DARKGRAY)
else:
pyray.draw_text(val, 35, 36 + 20 * i, 10, MAROON)
pyray.draw_rectangle_lines(10, 29, 200, SCREEN_HEIGHT - 50, GRAY)
pyray.draw_text('DETECTED GESTURES', 50, 15, 10, GRAY)
if current_gesture != pyray.GESTURE_NONE:
pyray.draw_circle_v(touch_position, 30, MAROON)
pyray.end_drawing()
# De-Initialization
pyray.close_window() # Close window and OpenGL context