def __init__(self):
self.running = True
self.mousePos = (1, 1)
self.ai = AirHockeyAI()
class Application:
def __init__(self):
self.running = True
self.mousePos = (1, 1)
self.ai = AirHockeyAI()
"""
Initializes the appropriate stuff.
Starts the main loop.
"""
def start(self):
pygame.init()
pygame.joystick.init()
self.font = pygame.font.Font(None, 24)
self.running = True
self.initDisplay()
self.table = Table()
self.consoleThread = Thread(target=self.startInteractiveShell)
self.consoleThread.setDaemon(True)
self.consoleThread.start()
time.sleep(0.1)
self.loop()
"""
Starts interactive console.
ai variable avaliable from console.
"""
def startInteractiveShell(self):
vars = globals()
ai = self.ai
self.rect1 = Rect(Point(0, 0), Point(100, 100))
self.rect2 = Rect(Point(50, 50), Point(150, 150))
rect1 = self.rect1
rect2 = self.rect2
vars.update(locals())
shell = InteractiveConsole(vars)
shell.interact()
"""
See self.loop comment
"""
def stop(self):
self.running = False
"""
Initializes the display with the appropriate screen resolution
Called in self.start
"""
def initDisplay(self):
self.surface = pygame.display.set_mode(SCREEN_RESOLUTION)
pygame.display.set_caption('Air Hockey Robot Simulation')
"""
Main Loop
Loops until self.running == false
"""
def loop(self):
while self.running:
self.handleEvents() #Handles events
self.surface.fill((0, 0, 0)) #Fills display with white
#self.drawQuadrants()
#self.drawArmAndMallet()
#self.drawAngleValues()
#self.rect1.draw(self.surface)
#self.rect2.draw(self.surface)
self.table.tick()
surf = self.scaleSurface(self.table.draw())
self.surface.blit(surf, (BORDER_SIZE*SCALE, BORDER_SIZE*SCALE))
pygame.display.flip() #Draws display buffer to display
"""
Quitting procedure.
"""
pygame.quit()
sys.exit(0)
def scaleSurface(self, surf):
surf = pygame.transform.scale(surf, (int(surf.get_width()*SCALE), int(surf.get_height()*SCALE)))
surf = pygame.transform.flip(surf, False, True)
return surf
"""
Handles pygame events.
"""
def handleEvents(self):
events = pygame.event.get()
for event in events:
if event.type == pygame.QUIT:
self.stop()
elif event.type == pygame.MOUSEMOTION:
self.mousePos = event.dict["pos"]
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
self.stop()
def polarToCartesian(self, length, angle):
x = length * math.cos(math.radians(angle))
y = length * math.sin(math.radians(angle))
return(x, y)
def drawArmAndMallet(self):
base = (0, 0)
target = fromPygame(self.mousePos)
"""Gets angle to the midarm"""
self.globalBaseAngle = self.ai.getBaseAngle(target)
"""Gets angle to the end arm"""
self.globalMidArmAngle = self.ai.getMidArmAngle(target)
""" Handle Servo controls """
self.lowerArm.set(self.globalBaseAngle)
self.upperArm.set(self.globalMidArmAngle)
"""Deals with the coordinate mid arm"""
midArm = self.polarToCartesian(self.ai.upperArmLength, self.globalBaseAngle)
""" Deals with the coordinate for the end of the arm: essentially mathematical version of target"""
cart = self.polarToCartesian(self.ai.lowerArmLength, self.globalMidArmAngle)
endArm = midArm[0]+cart[0], midArm[1]+cart[1]
pygame.draw.circle(self.surface, (255,0,0), (int(toPygame(endArm)[0]), int(toPygame(endArm)[1])), 20)
pygame.draw.line(self.surface, (0, 255, 255), toPygame(base), toPygame(midArm), 3)
pygame.draw.line(self.surface, (0, 255, 0), toPygame(midArm), toPygame(endArm), 3)
def drawQuadrants(self):
pygame.draw.line(self.surface, (255, 0, 0), (0, SCREEN_RESOLUTION[1]/2), (SCREEN_RESOLUTION[0], SCREEN_RESOLUTION[1]/2))
pygame.draw.line(self.surface, (255, 0, 0), (SCREEN_RESOLUTION[0]/2, 0), (SCREEN_RESOLUTION[0]/2, SCREEN_RESOLUTION[1]))
def drawAngleValues(self):
baseAngle = self.globalBaseAngle
midArmAngle = self.globalMidArmAngle
baseAngleText = self.font.render("Base Servo Angle: " + str(baseAngle), True, (255,255,255))
baseAngleTextBox = baseAngleText.get_rect()
baseAngleTextBox.centerx = self.surface.get_rect().centerx
self.surface.blit(baseAngleText, baseAngleTextBox)
midAngleText = self.font.render("Elbow Servo Angle: " + str(midArmAngle - baseAngle + 360), True, (255,255,255))
midAngleTextBox = midAngleText.get_rect()
midAngleTextBox.centerx = self.surface.get_rect().centerx
midAngleTextBox.centery += 30
self.surface.blit(midAngleText, midAngleTextBox)
targetText = self.font.render("Target Pos: " + str(fromPygame(self.mousePos)), True, (255,255,255))
targetTextBox = targetText.get_rect()
targetTextBox.centerx = self.surface.get_rect().centerx
targetTextBox.centery += 60
self.surface.blit(targetText, targetTextBox)
def toPygame(self, pos):
return toPygame(pos)