def _evHandle(self):
"Handle events in the pygame event queue"
for ev in pygame.event.get():
try:
if ev.type != pygame.VIDEORESIZE:
self.evMgr.dispatch(ev)
elif ev.size != self.size:
self.resize(ev.size)
if hasattr(self, "onresize"): self.onresize(ev)
except: logError()
def run(self):
r = self.robot
args = r, id(self)
if self.log:
print('{} is running in thread {}.'.format(*args), file=stderr)
try:
while r._startup: r.sleep()
r._startTime = time()
r.brain()
if hasattr(r, "shutdown"): r.shutdown()
except: logError()
if self.log:
print('{} is shutting down in thread {}.'.format(*args), file=stderr)
def draw(self, srf=None):
"Draw all sprites and call their update method"
if not srf: srf = pygame.display.get_surface()
for s in self: s.draw(srf)
if self.run:
self._toRemove = set()
self._lock = True
for s in self:
if s.status:
try: s.update()
except: logError()
self._lock = False
if len(self._toRemove):
self.remove(self._toRemove)
del self._toRemove
def _evHandle(self):
"Handle events in the pygame event queue"
for ev in pygame.event.get():
try:
if ev.type != pygame.VIDEORESIZE:
self.evMgr.dispatch(ev)
elif ev.size != self.size:
setattr(ev, "originalSize", self.size)
self._resize_ev = ev
s = hasattr(self, "_scrollSize")
if s: self.scrollTo()
self.resize(ev.size)
if s: self.resizeCoords(ev)
except:
logError()
def run(self):
r = self.robot
args = r, id(self)
if self.log:
print('{} is running in thread {}.'.format(*args), file=stderr)
try:
while r._startup:
r.sleep()
r._startTime = time()
r.brain()
if hasattr(r, "shutdown"): r.shutdown()
except:
logError()
if self.log:
print('{} is shutting down in thread {}.'.format(*args),
file=stderr)
def ondraw(self):
"Update robot sprite each frame"
if not self.active: raise InactiveError()
# Target wheel speed...
sk = self.sketch
v = self.maxSpeed * sk.width
v1, v2 = self._motors
v1 *= v
v2 *= v
# Angular speed and turning radius...
w = (v1 - v2) / (2 * self.radius)
self.spin = w / DEG
if w:
R = (v1 + v2) / (2 * w)
v = w * R
else:
v = v1
# Acceleration...
v = vec2d(v, self.angle)
a = delta(v, self.vel)
if hypot(*a) > 0.05:
self.acc = delta(a, mag=0.05)
else:
self.vel = v
self.acc = 0, 0
# Adjust wheel speed...
p = self.power
self.costumeTime = 0 if p == 0 else round(36 / (1 + 5 * p))
# Update position and angle...
super().ondraw()
# Update sensors if requested...
if self._updateSensors:
try:
self._checkDown()
self._checkFront()
self._drawLEDs()
self._updateSensors = False
except:
logError()
self._startup = False
def ondraw(self):
"Update robot sprite each frame"
if not self.active: raise InactiveError()
# Target wheel speed...
sk = self.sketch
v = self.maxSpeed * sk.width
v1, v2 = self._motors
v1 *= v
v2 *= v
# Angular speed and turning radius...
w = (v1 - v2) / (2 * self.radius)
self.spin = w / DEG
if w:
R = (v1 + v2) / (2 * w)
v = w * R
else: v = v1
# Acceleration...
v = vec2d(v, self.angle)
a = delta(v, self.vel)
if hypot(*a) > 0.05:
self.acc = delta(a, mag=0.05)
else:
self.vel = v
self.acc = 0, 0
# Adjust wheel speed...
p = self.power
self.costumeTime = 0 if p == 0 else round(36 / (1 + 5 * p))
# Update position and angle...
super().ondraw()
# Update sensors if requested...
if self._updateSensors:
try:
self._checkDown()
self._checkFront()
self._drawLEDs()
self._updateSensors = False
except: logError()
self._startup = False
def onaction(self, ev):
try: size = int(self["Size"].data)
except: size = 384
try: step = float(self["Step"].data)
except: step = None
try:
lrbt = [float(x.strip()) for x in self["Grid"].data.split(",")]
if step is None: step = (lrbt[1] - lrbt[0]) / 10
opt = self["Options"]
opt = dict(
resultant = opt[0].selected,
components = opt[1].selected,
draggable = opt[2].selected
)
self.lastDiagram = self.diagram([PVector(v) for v in self.vectors], size, lrbt, step, bg="white", **opt)
except:
self.lastDiagram = None
logError()
def run(self):
r = self.robot
b = self.brain
if self.log:
args = "{}.{}".format(b.__module__, b.__name__), r.name, id(self)
print('{} is controlling "{}" in thread {}.'.format(*args),
file=stderr)
try:
while r._starting: # Wait for sensors before starting brain
r.sleep()
r.startTime = r.sketch.time
b(r)
except:
logError()
r.shutdown()
r.startTime = None
if self.log:
print('{} is shutting down in "{}".'.format(*args), file=stderr)
def record(self):
"Begin screen recording"
self.rec = []
self.recTime = datetime.now()
self.frameTimes = []
try:
param = self["Param"].data.split(" ")
param = [abs(int(c)) for c in param if c]
if len(param) not in (0, 1, 3, 5):
raise ValueError("Parameters not valid")
self.frameRate = max(1, param[0]) if param else 15
if len(param) == 5: r = param[3:] + param[1:3]
elif len(param) == 3: r = [0, 0] + param[1:3]
else: r = None
self.grab = Grabber(r)
except: # Abort!
blink(self, False)
self.grab = None
logError()
def plot(self,
pts,
marker=None,
fill=None,
stroke=(0, 0, 0),
strokeWeight=1,
markerSize=(15, 15),
closed=False):
"Plot a sequence of points as markers or lines (but not both!)"
if fill and marker is None:
if type(pts) not in (list, tuple):
pts = tuple(pts)
Image.polygon(pts, closed, fill, stroke, strokeWeight,
self.size).blitTo(self)
else:
alpha = stroke and getAlpha(stroke) < 255 or fill and getAlpha(
fill) < 255
img = Image(self.size) if alpha else self
if type(marker) is int:
marker = self.renderMarker(marker, markerSize, fill, stroke,
strokeWeight)
if closed and marker is None:
pts = close(pts)
first = True
pt0 = None
for pt in pts:
try:
if pt is not None:
pt = round(pt[0]), round(pt[1])
if marker:
marker.blitTo(img, pt, CENTER)
elif first:
first = False
elif pt0 is not None:
line(img.surface, stroke, pt0, pt, strokeWeight)
pt0 = pt
except:
logError()
if alpha: img.blitTo(self)
return self
def play(self, caption="sc8pr", icon=None, mode=True):
"Initialize pygame and run the main drawing / event handling loop"
# Initialize
pygame.init()
self._clock = pygame.time.Clock()
pygame.key.set_repeat(400, 80)
_pd.set_caption(caption)
try:
try: icon = pygame.image.load(icon)
except: icon = Image.fromBytes(sc8prData("alien")).image
_pd.set_icon(icon)
except: logError()
w, h = self._size
self._fixedAspect = w / h
mode = self._pygameMode(mode)
self._mode = mode
self.image = _pd.set_mode(self._size, mode)
self.key = None
self.mouse = pygame.event.Event(pygame.USEREVENT,
code=None, pos=(0,0), description="Sketch startup")
# Run setup
try:
if hasattr(self, "setup"): self.setup()
else:
main = sys.modules["__main__"]
if hasattr(main, "setup"): main.setup(self)
except: logError()
# Drawing/event loop
while not self.quit:
try:
self.frameCount += 1
br = self.dirtyRegions
flip = br is None
self.draw()
if not flip:
br += self.dirtyRegions
flip = self._largeArea()
self._clock.tick(self.frameRate)
if flip: _pd.flip()
else: _pd.update(br)
if self.capture is not None: self.capture.capture(self)
if self.ondraw: self.ondraw()
self._evHandle()
except: logError()
pygame.quit()
mod = sys.modules.get("sc8pr.text")
if mod: mod.Font.dumpCache()
return self
def play(self, caption="sc8pr", icon=None, mode=True):
"Initialize pygame and run the main drawing / event handling loop"
# Initialize
pygame.init()
self._clock = pygame.time.Clock()
pygame.key.set_repeat(400, 80)
_pd.set_caption(caption)
try:
try:
icon = pygame.image.load(icon)
except:
icon = Image.fromBytes(sc8prData("alien")).image
_pd.set_icon(icon)
except:
logError()
w, h = self._size
self._fixedAspect = w / h
mode = self._pygameMode(mode)
self._mode = mode
self.image = _pd.set_mode(self._size, mode)
self.key = None
self.mouse = pygame.event.Event(pygame.USEREVENT,
code=None,
pos=(0, 0),
description="Sketch startup")
# Run setup
try:
if hasattr(self, "_defer_coords"):
self.setCoords(*self._defer_coords)
del self._defer_coords
if hasattr(self, "setup"): self.setup()
else:
main = sys.modules["__main__"]
if hasattr(main, "setup"): main.setup(self)
except:
logError()
# Drawing/event loop
while not self.quit:
try:
self.frameCount += 1
br = self.dirtyRegions
flip = br is None
self.ondrawList = []
self.draw()
if not flip:
br += self.dirtyRegions
flip = self._largeArea()
self._clock.tick(self.frameRate)
if flip: _pd.flip()
else: _pd.update(br)
if self.capture is not None: self.capture.capture(self)
for gr in self.ondrawList:
try:
gr.ondraw()
except:
logError()
if self.ondraw: self.ondraw()
self._evHandle()
except:
logError()
pygame.quit()
mod = sys.modules.get("sc8pr.text")
if mod: mod.Font.dumpCache()
return self