root = tk.Tk()
def key_callback(event):
def draw_callback():
draw()
vis.draw()
root.update_idletasks()
#path.benchmark(env,draw_callback=draw_callback,iterations=10)
path.update(env)
draw_callback()
vis = Visualizer(root, 800, 600, key_callback=key_callback)
b = structures.Box(np.array([250, 150]), np.array([150, 200]))
b2 = structures.Box(np.array([450, 250]), np.array([150, 200]))
env = structures.Environment()
env.add_polygon(b)
env.add_polygon(b2)
path = structures.Path()
path.generate_path()
path.perturb_path()
path.generate_path_normals()
def draw():
vis.clear()
for h in handle.neighbors():
vs = h.face_vertices()
vis.add_drawable(Polygon2D(vs,fill="blue"))
"""
draw_skeleton()
vis.draw()
lock.release()
def click_callback(event):
lock.acquire()
v = Vertex(event.x,event.y)
print v
if dt.dag_locate(v):
dt.insert_site(v)
vis.clear()
draw_faces()
draw_skeleton()
vis.draw()
lock.release()
vis = Visualizer(root,800,600,key_callback=key_callback,mouse_callback=mouse_callback,click_callback=click_callback)
draw_faces()
draw_skeleton()
vis.run()
root.mainloop()
await goToCubes(robot, markersMap, robot_pose, cmap)
# await goToCubes(robot, testMarkersMap, robot_pose, cmap)
class RobotThread(threading.Thread):
"""Thread to run cozmo code separate from main thread
"""
def __init__(self):
threading.Thread.__init__(self, daemon=True)
def run(self):
# Please refrain from enabling use_viewer since it uses tk, which must be in main thread
cozmo.run_program(run, use_3d_viewer=False, use_viewer=False)
stopevent.set()
if __name__ == '__main__':
# global cmap,
global stopevent
stopevent = threading.Event()
robot_thread = RobotThread()
robot_thread.start()
visualizer = Visualizer(cmap)
visualizer.start()
stopevent.set()
# robot = None
# run(robot)
