def __init__(self, draw_gui=False, intrusion=None):
""" Ctor """
object.__init__(self)
self._has_gui = draw_gui
self._gui_size = 0
self._frame_count = 0
self._gui_output = None
# Initialise background (500 x 500)
self._background = [[
Rgb(DEFAULT_BG_R, DEFAULT_BG_G, DEFAULT_BG_B)
for _ in range(0, 500)
] for _ in range(0, 500)]
self._turtles = {}
self._id_counter = 0
self._update_interval = None
rospy.set_param("background_r", DEFAULT_BG_R)
rospy.set_param("background_g", DEFAULT_BG_G)
rospy.set_param("background_b", DEFAULT_BG_B)
rospy.loginfo("Starting turtle frame with parent node %s",
rospy.get_name())
trt_x = random.randrange(0, self.get_width())
trt_y = random.randrange(0, self.get_height())
self._spawn_turtle(trt_x, trt_y)
# Colouring the background
# Window is 500 x 500, starting bottom left at 0,0 and ending top right at 499,499
# Top left: Pastel purple
self._draw_area(Rgb.pastel_purple(), Point(0, 250), Point(249, 499))
# Top right: Pastel yellow
self._draw_area(Rgb.pastel_yellow(), Point(250, 250), Point(499, 499))
# Bottom left: Pastel green
self._draw_area(Rgb.pastel_green(), Point(0, 0), Point(249, 249))
# Bottom right: Pastel blue
self._draw_area(Rgb.pastel_blue(), Point(250, 0), Point(499, 249))
# Intrusion zone (middle): Red
self._draw_red(intrusion)
# Initialise GUI (if requested)
self._redraw()
# Initialise update timer (16 msec)
self._update_interval = rospy.Duration(0.016)
rospy.Timer(self._update_interval, self._update_turtles)
def _get_output_letter(rgb):
""" Produce a letter for the given Rgb. Returns "?" for unknown colours. """
if rgb == Rgb.pastel_purple():
return "p"
elif rgb == Rgb.pastel_yellow():
return "y"
elif rgb == Rgb.pastel_green():
return "g"
elif rgb == Rgb.pastel_blue():
return "b"
elif rgb == Rgb.strong_red():
return " "
return "?"