def __init__(self):
super(OptionsScreen, self).__init__()
self.font = utils.getFont('VolterGoldfish', 44)
self.infofont = utils.getFont('VolterGoldfish', 18)
self.keyfont = utils.getFont('VolterGoldfish', 24)
self.background = pygame.image.load("../img/backgrounds/options.png").convert()
self.soundBar = pygame.image.load("../img/backgrounds/soundBar.png").convert_alpha()
self.musicBar = pygame.image.load("../img/backgrounds/soundBar.png").convert_alpha()
self.keyImg = pygame.image.load("../img/backgrounds/key.png").convert_alpha()
self.volumeTest = pygame.mixer.Sound("../sounds/volumeTest.wav")
self.menuEntries = ["Music","Sound","Controls","Back"]
self.menuPositions = [(200,100),(200,200),(200,300),(200,500)]
self.menuChoice = 0
self.activeColor = THECOLORS["black"]
self.inactiveColor = THECOLORS["grey64"]
self.soundLevel = 0
if exist('soundLevel'):
self.soundLevel = load('soundLevel')
self.musicLevel = 0
if exist('musicLevel'):
self.musicLevel = load('musicLevel')
self.actionKeys = ['slow time','shield','trap','left','jump','right']
self.keys = ['w','x','c','<','^','>']
self.actionKeysPos = [(200,450),(330,450),(430,450),(530,450),(630,450),(730,450)]
def __init__(self):
super(StartScreen, self).__init__()
self.enterFont = utils.getFont("VolterGoldfish", 40)
self.infoFont = utils.getFont("VolterGoldfish", 18)
self.background = pygame.image.load("../img/backgrounds/title_pix.png").convert()
self.running = True
self.enterColors = (235, 246, 242)
self.frameNumber = 0
self.fade = 1
self.msg = "A game using pygame and pyganim"
def redraw(self):
self.image.fill(utils.green)
self.ghostText = utils.getFont(size=24, style="bold").render(self.winMessage, True, utils.gray)
self.image.blit(self.ghostText, (25, 25))
self.text = utils.getFont(size=24, style="bold").render(self.displayMessage, True, utils.black)
self.image.blit(self.text, (25, 25))
self.rect = self.image.get_rect()
self.rect.x = 100
self.rect.y = 500
def __init__(self):
super(MainMenuScreen, self).__init__()
self.font = utils.getFont('VolterGoldfish', 44)
self.infofont = utils.getFont('VolterGoldfish', 18)
self.background = pygame.image.load("../img/backgrounds/mainMenu.png").convert()
self.menuEntries = ["Start Game","Options","Quit"] ## add continue -> levelMenuScreen
self.menuPositions = [(200,100),(200,300),(200,500)]
self.menuInfo = ["Start or continue your adventure","Change game and user settings","Exit the game. Goodbye!"]
self.menuChoice = 0
self.activeColor = THECOLORS["black"]
self.inactiveColor = THECOLORS["grey64"]
def __init__(self, pos, size, color, text, action):
Button.__init__(self, pos, size, color, action)
self.fontSize = self.rect.h
self.text = utils.getFont(size=self.fontSize,
style='bold').render(text, True, utils.black)
self.textRect = self.text.get_rect()
while self.textRect.w > self.rect.w:
self.fontSize -= 2
self.text = utils.getFont(size=self.fontSize, style='bold').render(
text, True, utils.black)
self.textRect = self.text.get_rect()
def redraw(self):
self.image.fill(utils.GREEN)
self.ghostText = utils.getFont(size=24,
style='bold').render(self.winMessage,
True, utils.GREY)
self.image.blit(self.ghostText, (25, 25))
self.text = utils.getFont(size=24,
style='bold').render(self.displayMessage,
True, utils.BLACK)
self.image.blit(self.text, (25, 25))
self.rect = self.image.get_rect()
self.rect.x = 100
self.rect.y = 500
def gotoMenu(self):
rect = self.gw.get_rect()
def startPlay():
self.menu = False
playB = TextButton((rect.centerx, rect.centery-50), (200, 80), utils.green, "Play", startPlay)
quitB = TextButton((rect.centerx, rect.centery+50), (200, 80), utils.red, "Quit", self.quitGame)
self.menu = True
while self.menu:
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.quitGame()
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_q:
menu = False
self.gw.fill(utils.white)
text = utils.getFont(size=82, style="bold").render("Tutorial Game", True, utils.black)
textRect = text.get_rect()
textRect.center = self.gw.get_rect().center
textRect.y -= 200
self.gw.blit(text, textRect)
playB.update(self.gw)
quitB.update(self.gw)
pygame.display.update()
self.clock.tick(self.FPS)
def gotoMenu(self):
rect = self.gameWindow.get_rect()
def startPlay():
self.menu = False
playB = TextButton((rect.centerx, rect.centery - 100), (200, 80),
utils.GREEN, "Play", startPlay)
quitB = TextButton((rect.centerx, rect.centery + 50), (200, 80),
utils.RED, "Quit", self.quitGame)
self.menu = True
while self.menu:
for event in pg.event.get():
if event.type == pg.QUIT:
self.quitGame()
if event.type == pg.KEYDOWN:
if event.key == pg.K_q:
self.menu = False
self.gameWindow.fill(utils.WHITE)
text = utils.getFont(size=82,
style='bold').render("Tutorial Game", True,
utils.BLACK)
textRect = text.get_rect()
textRect.center = self.gameWindow.get_rect().center
textRect.y -= 250
self.gameWindow.blit(text, textRect)
playB.update(self.gameWindow)
quitB.update(self.gameWindow)
pg.display.update()
self.clock.tick(self.FPS)
def gotoMenu(self):
rect = self.gw.get_rect()
def startPlay():
self.menu = False
playB = TextButton((rect.centerx, rect.centery - 50), (200, 80),
utils.green, "Play", startPlay)
quitB = TextButton((rect.centerx, rect.centery + 50), (200, 80),
utils.red, "Quit", self.quitGame)
self.menu = True
while self.menu:
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.quitGame()
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_q:
menu = False
self.gw.fill(utils.white)
text = utils.getFont(size=82, style="bold").render(
"Tutorial Game", True, utils.black)
textRect = text.get_rect()
textRect.center = self.gw.get_rect().center
textRect.y -= 200
self.gw.blit(text, textRect)
playB.update(self.gw)
quitB.update(self.gw)
pygame.display.update()
self.clock.tick(self.FPS)
def __init__(self):
pygame.sprite.Sprite.__init__(self)
self.name = random.choice(charList)
self.image = utils.getFont(size=26, style='bold').render(self.name, True, utils.black)
self.rect = self.image.get_rect()
self.rect.x = random.randint(0, 100 - self.rect.width)
self.rect.y = random.randint(0, 100 - self.rect.height)
self.xmove = random.choice([-1, 1])
self.ymove = random.choice([-1, 1])
self.speed = 20.0
def redraw(self):
self.image.fill(utils.green)
elements = [str(len(self.displayMessage)), "of", str(len(self.winMessage))]
for i, string in enumerate(elements):
self.text = utils.getFont().render(string, True, utils.black)
self.image.blit(self.text, (20, 5 + i*22))
self.rect = self.image.get_rect()
self.rect.x = 100
self.rect.y = 500
def __init__(self):
pygame.sprite.Sprite.__init__(self)
self.name = random.choice(charList)
self.image = utils.getFont(size=26, style='bold').render(self.name, True, utils.black)
self.rect = self.image.get_rect()
self.rect.x = random.randint(0, 100 - self.rect.width)
self.rect.y = random.randint(0, 100 - self.rect.height)
self.xmove = random.choice([-1, 1])
self.ymove = random.choice([-1, 1])
self.speed = 20.0
def __init__(self):
pg.sprite.Sprite.__init__(self)
self.name = rnd.choice(charList)
self.image = utils.getFont(size=30,
style='bold').render(self.name,
True, utils.BLACK)
self.rect = self.image.get_rect()
self.rect.x = rnd.randint(5, 75)
self.rect.y = rnd.randint(5, 75)
self.xmove = rnd.choice([-2, -1, 1, 2])
self.ymove = rnd.choice([-2, -1, 1, 2, 1])
self.speed = 20.0
def redraw(self):
self.image.fill(utils.green)
elements = [
str(len(self.displayMessage)), "of",
str(len(self.winMessage))
]
for i, string in enumerate(elements):
self.text = utils.getFont().render(string, True, utils.black)
self.image.blit(self.text, (20, 5 + i * 22))
self.rect = self.image.get_rect()
self.rect.x = 100
self.rect.y = 500
def __init__(self):
super(LevelSelectScreen, self).__init__()
self.font = utils.getFont('VolterGoldfish', 44)
self.background = pygame.image.load("../img/backgrounds/levelSelect.png").convert()
self.levelTitles = ["Tutorial","Green Machine", "Strange Orange", "Purple Trouble"]
self.levelBackgrounds = []
self.lvlbgsNames = []
self.currentLevel = 0
self.menuEntries = ["Stage 1","Stage 2","Stage 3","Back"]
self.menuPositions = [(200,100),(200,200),(200,300),(200,500)]
self.activeColor = THECOLORS["black"]
self.inactiveColor = THECOLORS["grey64"]
self.menuChoice = 0
self.running = True
self.frame_number = 0
def __init__(self, levelInd):
super(GameScreen, self).__init__()
self.fadeScreen = pygame.image.load("../img/backgrounds/blackscreen.png").convert()
self.font = getFont("VolterGoldfish", 20)
self.nextColorIcon = pygame.image.load("../img/hud/nextColor23.png").convert_alpha()
self.progressIcon = pygame.image.load("../img/hud/progress.png").convert_alpha()
self.timebar = pygame.image.load("../img/hud/timebar.png").convert_alpha()
self.shieldbar = pygame.image.load("../img/hud/shieldbar.png").convert_alpha()
self.lifebar_ = pygame.image.load("../img/hud/lifebar_.png").convert()
self.level = Level(levelInd)
self.camera = Camera(640, 800, 3200)
# running = True
self.retry = False
self.frame_number = 0
self.anims = []
self.stopDelay = 0
self.stopped = False
self.killFragments = []
self.dust = []
self.starting = True
self.ending = False
self.alpha = 255
# Music load
# pygame.mixer.music.load("../sounds/piano.wav")
# pygame.mixer.music.play(-1)
pygame.mixer.music.set_volume(0.5)
# Player
self.player = Player()
self.fire = Rect((0,3200),(800,5))
self.playerDown = False
self.answerPos = [(100,300),(100,400),(100,500)]
self.answerChoice = 0
self.activecolor = THECOLORS['white']
self.inactivecolor = THECOLORS['grey21']
if exist('powers'):
self.player.timePower, self.player.mines, self.player.shields = load('powers')
def pause(self):
pause = True
while pause:
for event in pg.event.get():
if event.type == pg.QUIT:
self.quitGame()
if event.type == pg.KEYDOWN:
if event.key == pg.K_p:
print("Game unpaused.")
pause = False
text = utils.getFont(size=96, style='bold').render(
"PAUSED", True, utils.BLACK)
textRect = text.get_rect()
textRect.center = self.gameWindow.get_rect().center
self.gameWindow.blit(text, textRect)
pg.display.update()
self.clock.tick(self.FPS)
def pause(self):
pause = True
while pause:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
quit()
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_p:
print "game unpaused"
pause = False
text = utils.getFont(size=96, style="bold").render("Paused", True, utils.black)
textRect = text.get_rect()
textRect.center = self.gw.get_rect().center
self.gw.blit(text, textRect)
pygame.display.update()
self.clock.tick(self.FPS)
def pause(self):
pause = True
while pause:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
quit()
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_p:
print "game unpaused"
pause = False
text = utils.getFont(size=96, style="bold").render(
"Paused", True, utils.black)
textRect = text.get_rect()
textRect.center = self.gw.get_rect().center
self.gw.blit(text, textRect)
pygame.display.update()
self.clock.tick(self.FPS)
game.see_coeff_box = False
def cancel_update():
game.see_coeff_box = False
def defaults():
game.controller.p_const = .1
game.controller.i_const = 1/60
game.controller.d_const = 1/30
reset_func()
game.see_coeff_box = False
settings_startbtn = {"text": "Start! (s)", "font": utils.getFont()}
settings_exitbtn = {"text": "Exit (esc)", "font": utils.getFont()}
settings_input_updatebtn = {"text": "Update coefficients (c)", "font": utils.getFont()}
settings_controller_input_box = {"active": False}
settings_show_sensors = {"text": "Show Sensors", "font": utils.getFont()}
settings_hide_sensors = {"text": "Hide Sensors", "font": utils.getFont()}
settings_reset = {"text": "Reset", "font": utils.getFont()}
settings_update_coeffs = {"text": "Update coefficients", "font": utils.getFont(size=12)}
settings_confirm_update = {"text": "Update!", "font": utils.getFont(size=12)}
settings_cancel_update = {"text": "Cancel", "font": utils.getFont()}
settings_defaults = {"text": "Default Values", "font": utils.getFont(size=12)}
if __name__ == "__main__":
pg.init()
gameWindow = pg.display.set_mode((800, 600))
game = PIDCar(gameWindow)
def newWork(srcName, k, fontSize, subtitle_type):
videoSrc = './videoSrc/%s' % srcName
src = srcName[:-4]
srtSrc = './subtitle/srt/%s.srt' % src
if subtitle_type == "adaptive":
file_name = json.dumps(config) + src
elif subtitle_type == "simple_opposite":
file_name = "simple_opposite+" + src
elif subtitle_type == "whole_background_level":
file_name = "whole_background_level" + src
elif subtitle_type == "low_penalty":
file_name = "low_penalty" + src
outputDir = './videoOutput/%s' % src
if not os.path.exists(outputDir):
os.mkdir(outputDir)
# file_name = "CIE1976-KeyFrameArbitraryColor-FixOutputBug-ExpFrameMeanDelta-distancestandard-60_translossbeta-0.2_DPcolor_tolerance-3-" + src
# file_name = "white-" + src
# file_name = "black-" + src
# Record statistics
log_statistics = {}
log_statistics["frame"] = []
log_statistics["max_min_distance"] = []
log_statistics["max_min_distance_color"] = []
log_statistics["chosen_color"] = []
log_statistics["frame_loss"] = []
# process srt and load video
cap = cv.VideoCapture(videoSrc)
fps = cap.get(cv.CAP_PROP_FPS)
subs = processSRT(srtSrc, fps)
# process colors and font
font = getFont('Consolas', fontSize)
# findChange(cap, src, font, k)
# analysisColorTune(cap)
frame_width = int(cap.get(cv.CAP_PROP_FRAME_WIDTH))
frame_height = int(cap.get(cv.CAP_PROP_FRAME_HEIGHT))
my_palette = load_palette()
color_tune_analyzer = ColorTuneAnalyzer(frame_width=frame_width,
frame_height=frame_height,
n_cluser=config["tune_num"])
status = {}
if subtitle_type == "adaptive" or subtitle_type == "whole_background_level" or subtitle_type == "low_penalty":
previous_sub = None
for sub in subs:
start = time.time()
status[sub] = workOnSingleSub(cap=cap,
now_sub=sub,
palette=my_palette,
font=font,
k=k,
color_analyzer=color_tune_analyzer,
previous_sub=previous_sub,
log_statistics=log_statistics,
subtitle_type=subtitle_type)
previous_sub = sub
print(sub, " : ", time.time() - start)
if subtitle_type == "low_penalty":
for sub in subs:
status[sub]["chosen_color"] = status[sub][
"max_min_distance_color"]
else:
# DP
DP_all_frames(status=status,
subs=subs,
palette=my_palette,
log_statistics=log_statistics)
outputLog(log_statistics,
file_path=os.path.join(outputDir, file_name + ".csv"))
elif subtitle_type == "simple_opposite":
for sub in subs:
start = time.time()
status[sub] = simpleOppositeOnSingleSub(cap, sub, font, k)
print(sub, " : ", time.time() - start)
# output
resultPath = os.path.join(outputDir, file_name + ".mp4")
fourcc = cv.VideoWriter_fourcc(*"mp4v")
# fourcc = cv.VideoWriter_fourcc(*"H264")
videoWriter = cv.VideoWriter(resultPath, fourcc, fps,
(frame_width, frame_height))
# add subtitle and output
cap.set(cv.CAP_PROP_POS_FRAMES, 0)
_, frame = cap.read()
itr = iter(subs)
nowSub = next(itr, None)
resColor = iter(status[nowSub]["chosen_color"])
# resColor = iter(status[nowSub]["max_min_distance_color"])
text = nowSub.text
im = Image.fromarray(cv.cvtColor(frame, cv.COLOR_BGR2RGB))
draw = ImageDraw.Draw(im)
textWidth, textHeight = getTextInfoPIL(draw, text, font)
cap.set(cv.CAP_PROP_POS_FRAMES, 0)
frame_id = 0
while cap.isOpened():
ret, frame = cap.read()
if ret:
if frame_id % 100 == 0:
print("Frame {} Complete!".format(frame_id))
if nowSub is not None:
if frame_id >= nowSub.start and frame_id < nowSub.end:
# RGB
im = Image.fromarray(cv.cvtColor(frame, cv.COLOR_BGR2RGB))
draw = ImageDraw.Draw(im)
drawSubtitle(draw, text,
(frame_width // 2 - textWidth // 2,
frame_height - k * textHeight), font,
next(resColor))
# drawSubtitle(draw, text, (frame_width // 2 - textWidth // 2, frame_height - k * textHeight), font,
# [0, 0, 0])
frame = cv.cvtColor(np.asarray(im), cv.COLOR_RGB2BGR)
videoWriter.write(frame)
frame_id += 1
# change to next subtitle
if (nowSub is not None) and (frame_id >= nowSub.end):
nowSub = next(itr, None)
if nowSub is not None:
resColor = iter(status[nowSub]["chosen_color"])
# resColor = iter(status[nowSub]["max_min_distance_color"])
text = nowSub.text
im = Image.fromarray(cv.cvtColor(frame, cv.COLOR_BGR2RGB))
draw = ImageDraw.Draw(im)
textWidth, textHeight = getTextInfoPIL(draw, text, font)
else:
videoWriter.release()
break
cap.release()
return 0
def gotoMenu(self):
while self.menu:
for event in pg.event.get():
if event.type == pg.QUIT:
self.quitGame()
if event.type == pg.KEYUP:
if event.key == pg.K_s:
return
if event.key == pg.K_ESCAPE:
self.quitGame()
if event.key == pg.K_c:
input_updatebtn()
self.start_btn.get_event(event)
self.exit_btn.get_event(event)
self.input_updatebtn.get_event(event)
self.p_input.get_event(event)
self.i_input.get_event(event)
self.d_input.get_event(event)
self.gameWindow.fill(utils.WHITE)
"""Text to display on screen"""
title = utils.getFont(size=64, style='bold').render("Self-driving Car", False, utils.BLACK)
titleRect = title.get_rect()
titleRect.center = self.gameWindow.get_rect().center
titleRect.y -= 250
font = utils.getFont()
settings_text = utils.getFont(style="bold").render("Controller Settings", False, utils.BLACK)
settings_text_rect = settings_text.get_rect()
settings_text_rect.center = self.gameWindow.get_rect().center
settings_text_rect.y -= 200
settings_text_rect.x -= 165
proportional_word = font.render("Proportional", False, utils.BLACK)
proportional_word_rect = proportional_word.get_rect()
proportional_word_rect.center = self.gameWindow.get_rect().center
proportional_word_rect.y -= 145
proportional_word_rect.x -= 315
integral_word = font.render("Integral", False, utils.BLACK)
integral_word_rect = integral_word.get_rect()
integral_word_rect.center = self.gameWindow.get_rect().center
integral_word_rect.y -= 105
integral_word_rect.x -= 315
derivative_word = font.render("Derivative", False, utils.BLACK)
derivative_word_rect = derivative_word.get_rect()
derivative_word_rect.center = self.gameWindow.get_rect().center
derivative_word_rect.y -= 65
derivative_word_rect.x -= 315
font.set_underline(True)
coefficient_word = font.render("Coefficient", False, utils.BLACK)
coefficient_word_rect = coefficient_word.get_rect()
coefficient_word_rect.center = self.gameWindow.get_rect().center
coefficient_word_rect.y -= 180
coefficient_word_rect.x -= 315
current_word = font.render("Current", False, utils.BLACK)
current_word_rect = current_word.get_rect()
current_word_rect.center = self.gameWindow.get_rect().center
current_word_rect.y -= 180
current_word_rect.x -= 25
font.set_underline(False)
p_value = font.render(str(round(self.controller_coeffs[0], 4)), False, utils.BLUE)
p_value_rect = p_value.get_rect()
p_value_rect.center = self.gameWindow.get_rect().center
p_value_rect.y -= 145
p_value_rect.x -= 25
i_value = font.render(str(round(self.controller_coeffs[1], 4)), False, utils.BLUE)
i_value_rect = i_value.get_rect()
i_value_rect.center = self.gameWindow.get_rect().center
i_value_rect.y -= 105
i_value_rect.x -= 25
d_value = font.render(str(round(self.controller_coeffs[2], 4)), False, utils.BLUE)
d_value_rect = d_value.get_rect()
d_value_rect.center = self.gameWindow.get_rect().center
d_value_rect.y -= 65
d_value_rect.x -= 25
error_message = utils.getFont(size=16, style="bold").render(self.error_msg, False, utils.BLACK)
error_message_rect = error_message.get_rect()
error_message_rect.center = self.gameWindow.get_rect().center
error_message_rect.y -= 80
error_message_rect.x += 215
"""End text displays. Make sure you blit/draw them all"""
self.gameWindow.blit(title, titleRect)
self.gameWindow.blit(settings_text, settings_text_rect)
self.gameWindow.blit(coefficient_word, coefficient_word_rect)
self.gameWindow.blit(proportional_word, proportional_word_rect)
self.gameWindow.blit(integral_word, integral_word_rect)
self.gameWindow.blit(derivative_word, derivative_word_rect)
self.gameWindow.blit(current_word, current_word_rect)
self.gameWindow.blit(p_value, p_value_rect)
self.gameWindow.blit(i_value, i_value_rect)
self.gameWindow.blit(d_value, d_value_rect)
self.error_timer -= 1
if self.error_timer <= 0:
self.show_error_toggle = False
else:
self.show_error_toggle = True
if self.show_error_toggle:
self.gameWindow.blit(error_message, error_message_rect)
self.start_btn.draw(self.gameWindow)
self.exit_btn.draw(self.gameWindow)
self.input_updatebtn.draw(self.gameWindow)
self.p_input.update()
self.p_input.draw(self.gameWindow)
self.i_input.update()
self.i_input.draw(self.gameWindow)
self.d_input.update()
self.d_input.draw(self.gameWindow)
pg.display.update()
self.clock.tick(self.FPS)
def playGame(self): # maybe rename later?
self.gotoMenu()
gameActive = True
rOffsets = []
self.exit_btn.rect = pg.Rect(650, 570, 150, 30)
for i in self.sensorList:
rOffsets.append(i.rOffset)
while gameActive:
sensorRead = []
colorPos = []
for event in pg.event.get():
if event.type == pg.QUIT:
gameActive = False
if event.type == pg.KEYUP:
if event.key == pg.K_ESCAPE:
self.quitGame()
self.exit_btn.get_event(event)
self.reset_btn.get_event(event)
self.update_coeffs_btn.get_event(event)
if self.see_sensors_btn:
self.show_sensors_btn.get_event(event)
else:
self.hide_sensors_btn.get_event(event)
if not self.see_coeff_box:
self.update_coeffs_btn.get_event(event)
else:
self.confirm_update_btn.get_event(event)
self.p2_input.get_event(event)
self.i2_input.get_event(event)
self.d2_input.get_event(event)
self.cancel_btn.get_event(event)
self.defaults_btn.get_event(event)
move = self.car.move(self.radian)
self.gameWindow.fill(utils.WHITE)
self.map.resetMap()
self.car.update(self.map.activeMap)
"""
bgOffset updates the background *and* also returns a tuple
of the offset (x,y) coordinates between player location
on the background and the screen pixel location. This tuple
is used to draw the direction circle to the correct location.
"""
bgOffset = self.map.update(self.gameWindow, self.car.rect, move)
directionLoc = (self.car.rect.centerx + bgOffset[0],
self.car.rect.centery + bgOffset[1])
self.direction.update(self.gameWindow, (directionLoc[0],
directionLoc[1]))
retLocX = directionLoc[0] + int(round(125*self.cos_theta, 0))
retLocY = directionLoc[1] + int(round(125*self.sin_theta, 0))
self.dirReticle.update(self.gameWindow, (retLocX, retLocY))
"""
Sensors move, then the sensors are read.
The information from the read sensors is then
passed to the PID controller
"""
for i in self.sensorList:
sensorRead.append(i.move(directionLoc, self.radian))
colorPos.append((i.rect.centerx, i.rect.centery))
errorCorrection = self.controller.PID(sensorRead, rOffsets, self.radian)
if errorCorrection is not None:
cos_theta, sin_theta, self.radian = errorCorrection
error_message = utils.getFont(size=16, style="bold").render(self.error_msg, False, utils.BLACK)
error_message_rect = error_message.get_rect()
self.exit_btn.draw(self.gameWindow)
self.reset_btn.draw(self.gameWindow)
self.update_coeffs_btn.draw(self.gameWindow)
if self.see_sensors_btn:
self.show_sensors_btn.draw(self.gameWindow)
else:
self.hide_sensors_btn.draw(self.gameWindow)
if not self.see_coeff_box:
self.update_coeffs_btn.draw(self.gameWindow)
else:
self.confirm_update_btn.draw(self.gameWindow)
self.cancel_btn.draw(self.gameWindow)
self.p2_input.draw(self.gameWindow)
self.p2_input.update()
self.i2_input.draw(self.gameWindow)
self.i2_input.update()
self.d2_input.draw(self.gameWindow)
self.d2_input.update()
self.defaults_btn.draw(self.gameWindow)
self.error_timer -= 1
if self.error_timer <= 0:
self.show_error_toggle = False
else:
self.show_error_toggle = True
if self.show_error_toggle:
self.gameWindow.blit(error_message, error_message_rect)
pg.display.update()
self.clock.tick(self.FPS)
self.quitGame()
