class Scene:
#initializes the root of the sceneGraph, empty dictionariies for the Naos and a socket that connects to the server
def __init__(self, socket = None):
if (socket == None):
self.__socket = Sock("localhost", 3200, None, None)
self.__socket.start()
else:
self.__socket = socket
self.__root = tree_node.Tree_Node(0)
self.__naos_left = {}
self.__naos_right = {}
self.__idcount = 1
self.__nodes = [self.__root]
self.__ball_node = None
#creates and maintains the scenegraph in a loop. Not to be used by the agent, just on stand alone usage (eg. for analyzing)
def start(self):
msg = self.__socket.receive()
data = parser.parse_sexp(msg)
#print(data)
self.createScene(data)
while True:
msg = self.__socket.receive()
data = parser.parse_sexp(msg)
self.updateScene(data)
#print(data)
#should be called by the agent before it calls get_position.
#receives one scene graph message and either creates a new scene graph or updates an existing one.
def run_cycle(self, data = None):
if (data == None):
msg = self.__socket.receive()
data = parser.parse_sexp(msg)
header = data[1]
if (header[0] == "RSG"):
self.__root = tree_node.Tree_Node(0)
self.__naos_left = {}
self.__naos_right = {}
self.__idcount = 1
self.__nodes = [self.__root]
self.__ball_node = None
self.create_scene(data)
if (header[0] == "RDS"):
#print("monitor:" + str(data[0][0][1]))
self.update_scene(data)
#creates a completely new sceneGraph. Should be called if the server sends (RSG 0 1)
def create_scene(self, msg):
header = msg[1]
graph = msg[2]
if (header[0] != "RSG"):
print("Error: Message doesn't contain a complete scene graph")
return
if (header[1] != 0 | header[2] != 1):
print("Wrong scene graph version")
return
self.seek_children(self.__root, graph)
return
# seeks the children of a node and appends them to it. msg should contain all the child-nodes like:
# [ [nd, [nd]], [nd] , [nd, [nd, [nd]]] ] (showing just the structure, information is missing)
def seek_children(self, node, msg):
for element in msg:
#print("Rufe fuer " + str(node.getId()) + " einen " + str(element[1]) + " Knoten")
node.append(self.create_node(element))
return
# decides which node to create reading the given message. msg should look like:
# [nd, TRF, [SLT, nx, ny, nz, 0, ox, oy, oz, 0, ax, ay, az, 0, Px, Py, Pz, 1] ]
def create_node(self, msg):
if(msg[0] != "nd"):
print("Error: Message doesn't contain a node")
return None
if(msg[1] == "TRF"):
node = self.create_trans_node(msg[2])
if (len(msg) > 3):
#print(str(node.getId()) + " hat noch Kinderknoten...")
self.seek_children(node, msg[3:])
if(msg[1] == "Light"):
node = self.create_light_node(msg[2:])
if(msg[1] == "SMN"):
node = self.create_smn_node(msg[2:])
if(msg[1] == "StaticMesh"):
node = self.create_static_mesh_node(msg[2:])
return node
# creates a transformation node. msg should be a list containing the transformation matrix like:
# [SLT, nx, ny, nz, 0, ox, oy, oz, 0, ax, ay, az, 0, Px, Py, Pz, 1]
def create_trans_node(self,msg):
if(msg[0] != "SLT"):
print("Error: Not a transformation node")
return None
matrix = numpy.array( ((msg[1],msg[5],msg[9],msg[13]),
(msg[2],msg[6],msg[10],msg[14]),
(msg[3],msg[7],msg[11],msg[15]),
(msg[4],msg[8],msg[12],msg[16])) )
node = trans_node.Trans_Node(self.__idcount, matrix)
self.__nodes.append(node)
self.__idcount += 1
return node
# creates a light node. msg should be a list containing lists full of information concerning the node like:
# [ [setDiffuse, x, y, z, w], [setAmbient, x, y, z, w], [setSpecular, x, y, z, w] ]
def create_light_node(self,msg):
if((msg[0][0] != "setDiffuse") | (msg[1][0] != "setAmbient") | (msg[2][0] != "setSpecular")):
print("Error: Not a light node")
return None
diffuse = numpy.array([msg[0][1],msg[0][2],msg[0][3],msg[0][4]])
ambient = numpy.array([msg[1][1],msg[1][2],msg[1][3],msg[1][4]])
specular = numpy.array([msg[2][1],msg[2][2],msg[2][3],msg[2][4]])
node = light_node.Light_Node(self.__idcount,diffuse,ambient,specular)
self.__nodes.append(node)
self.__idcount += 1
return node
# creates a smn node. msg should be a list containing lists full of information concerning the node like:
# [ [load, StdUnitBox], [sSc, 1, 31, ], [sMat, matGrey] ]
def create_smn_node(self,msg):
transparent = None
visible = None
for element in msg:
if (element[0] == "load"):
load = element[1:]
if (element[0] == "sSc"):
sSc = element [1:]
if (element[0] == "sMat"):
sMat = element[1]
if (element[0] == "setTransparent"):
transparent = 1
if (element[0] == "setVisible"):
visible = element[1]
node = smn_node.Smn_Node(self.__idcount, load, sSc, visible, transparent, sMat)
self.__nodes.append(node)
self.__idcount += 1
return node
# creates a static mesh node. msg should be a list containing lists full of information concerning the node like:
# [ [load, models/rlowerarm.obj], [sSc, 0.05, 0.05, 0.05], [resetMaterials, matLeft, naowhite] ]
def create_static_mesh_node(self,msg):
transparent = None
visible = None
for element in msg:
if (element[0] == "load"):
load = element[1]
if (element[0] == "sSc"):
sSc = element [1:]
if (element[0] == "resetMaterials"):
reset = element[1:]
if (element[0] == "setTransparent"):
transparent = 1
if (element[0] == "setVisible"):
visible = element[1]
node = stat_mesh_node.Stat_Mesh_Node(self.__idcount, load, sSc, visible, transparent, reset)
self.__nodes.append(node)
self.__idcount += 1
if (load == "models/naobody.obj"):
if(reset[1] == "matLeft"):
self.__naos_left[reset[0]] = node
if(reset[1] == "matRight"):
self.__naos_right[reset[0]] = node
if(load == "models/soccerball.obj"):
self.__ball_node = node
return node
# updates the sceneGraph. Should be called if the server sends (RDS 0 1)
def update_scene(self, msg):
header = msg[1]
graph = msg[2]
if (header[0] != "RDS"):
print("Error: Message doesn't a contain partial scene graph")
return
if (header[1] != 0 | header[2] != 1):
print("Wrong scene graph version")
return
idcount = self.__idcount
self.__idcount = 0
self.update_children(graph)
self.__idcount += 1
return
# iterates through a list of nodes and updates them if necessary
def update_children(self, msg):
for element in msg:
if (element[0] == "nd"):
self.__idcount += 1
if(len(element) > 1):
if((element[1] == "StaticMesh") | (element[1] == "SMN")):
self.update_children(element[2:])
else:
self.update_children(element[1:])
if (element[0] == "SLT"):
matrix = numpy.array( ((element[1],element[5],element[9],element[13]),
(element[2],element[6],element[10],element[14]),
(element[3],element[7],element[11],element[15]),
(element[4],element[8],element[12],element[16])) )
self.__nodes[self.__idcount].set_matrix(matrix)
# returns a matrix containing the position and orientation of the nao with id naoID of one team.
# team needs to be either "left" or "right"
# NaoID needs to be the number of the nao (the one that is printed on his back)
# calculates the position by multiplying the transformation matrixes from the root down to the nao
def get_position(self, team, naoID):
key = "matNum" + str(naoID)
if(team == "left"):
if (self.__naos_left.has_key(key)):
nao = self.__naos_left[key]
else:
return None
elif(team == "right"):
if (self.__naos_right.has_key(key)):
nao = self.__naos_right[key]
else:
return None
else:
return None
result = self.calc_position(nao)
return result
# returns a list containing the position and orientation of the nao with id naoID of one team.
# team needs to be either "left" or "right"
# NaoID needs to be the number of the nao (the one that is printed on his back)
def get_position_xy(self, team, naoID):
result = self.get_position(team, naoID)
if(result != None):
return [result[0][3],result[1][3]]
else:
return None
# returns the xy-coordinates of the current position of the ball on the pitch
def get_ball_position(self):
if (self.__ball_node):
result = self.calc_position(self.__ball_node)
else:
return None
return [result[0][3],result[1][3]]
# IS CALLED BY get_position methods, YOU DON'T NEED to call it on your own!
# Use get_position(team, player_id) or get_position_xy(team, player_id) to get a nao's position
# and get_ball_position() to get the ball's position instead
# calculates the position of a mobile entity by multiplying the transformation matrixes from the root down to the given node
def calc_position(self, node):
parent = node.get_parent()
matrices = []
while (parent != self.__root):
matrices.append(parent.get_matrix())
parent = parent.get_parent()
result = matrices.pop()
while (len(matrices) > 0):
result = numpy.dot(result, matrices.pop())
return result
# returns the dictionary containing the nao id : node id pairs of the left team
def get_naos_left(self):
return self.__naos_left
# returns the dictionary containing the nao id : node id pairs of the right team
def get_naos_right(self):
return self.__naos_right
# find node with id
def find_node(self, node_id):
#for node in self.__nodes:
# if node.get_id() == node_id:
if(self.__nodes[node_id]):
return self.__nodes[node_id]
print 'Node not found'
# returns the socket that is used to receive data
def get_socket(self):
return self.__socket
class IrcClient:
sock = None
console = NonBlockConsole()
host = ''
port = -1
username = ''
password = ''
channel = ''
#
def __init__(self, host, port, username, password):
self.host = host
self.port = port
self.username = username
self.password = password
self.sock = Sock(host = host, port = port)
def get_response(self):
return self.sock.receive()
def join_chann(self, chan):
if self.channel != '':
self.leave_chann();
self.sock.deliver("JOIN #{1}\r\n".format(self.username, chan))
self.channel = chan
def privmsg(self, msg):
self.sock.deliver('PRIVMSG #{} :{}\r\n'.format(self.channel, msg))
def take_input(self):
values = self.console.get_commands()
for key in values:
if key == "quit":
return 1
if key == "send password":
self.send_password()
if key == "send username":
self.send_username()
if key == "send":
self.sock.deliver(values[key][0])
if key == "msg":
self.privmsg(values[key][0])
if key == "join":
self.join_chann(values[key][0])
if key == "pong":
self.send_pong(values[key][0])
if key == "enable membership":
self.enable_membership()
def shutdown(self):
self.leave_chann()
self.sock.end_con()
#
def send_pong(self, msg):
self.sock.deliver('PONG :{}\r\n'.format(msg))
def send_username(self):
self.sock.deliver('NICK {}\r\n'.format(self.username))
def send_password(self):
self.sock.deliver('PASS {}\r\n'.format(self.password))
def enable_membership(self):
self.sock.deliver('CAP REQ :twitch.tv/membership\r\n')
def leave_chann(self):
self.sock.deliver('PART #{}\r\n'.format(self.channel))