def __init__(self):
self.skeleton = glskeleton.GLSkeleton(draw_fn=self.draw,
tick_fn=self.tick,
event_fn=self.event)
## self.control = IntegratedControl(speed=config.control_gain, smoothing=config.control_smoothing, mode=config.control_mode, scaling=config.control_smoothing)
## self.barrier_descriptors = {}
## f = open("barriers.yaml")
## yaml_barrier_descriptors = yaml.load(f)
## for barrier in yaml_barrier_descriptors:
## name = barrier.keys()[0]
## entry = barrier[name]
## self.barrier_descriptors[name] = BarrierDescriptor(name,entry)
## f.close()
# connect to network ports
self.receiver = NetworkReceive(config.control_port, "!dddd")
self.control_receiver = NetworkReceive(config.event_port, "!d")
self.fbk_port = NetworkSend(config.fbk_port, config.fbk_ip, "!c")
## self.car = Snapable(snap=config.snappiness)
self.load_images()
self.background_width = self.background_image.get_width()
edge = 0
self.edge = edge
self.active_mode = 1
self.JS_value = 0
self.lock_state = 1
self.orthosis_angle = 0
self.state = STATE_WAITING
self.create_back_surface()
self.skeleton.main_loop()
def __init__(self):
self.skeleton = glskeleton.GLSkeleton(draw_fn=self.draw,
tick_fn=self.tick,
event_fn=self.event)
self.control = IntegratedControl(speed=config.control_gain,
smoothing=config.control_smoothing,
mode=config.control_mode,
scaling=config.control_smoothing)
self.barrier_descriptors = {}
f = open("barriersErrP.yaml")
yaml_barrier_descriptors = yaml.load(f)
for barrier in yaml_barrier_descriptors:
name = barrier.keys()[0]
entry = barrier[name]
self.barrier_descriptors[name] = BarrierDescriptor(name, entry)
f.close()
# connect to network ports
self.receiver = NetworkReceive(config.control_port, "!dddddd")
self.control_receiver = NetworkReceive(config.event_port, "!d")
self.fbk_port = NetworkSend(config.fbk_port, config.fbk_ip, "!c")
self.car = Snapable(snap=config.snappiness)
self.load_images()
self.noise = 0
self.tyre_level = 0
self.played_score = 0
self.skeleton.fps = 120
self.lane_width = self.lane_image.get_width()
self.nlanes = config.nlanes
self.barriers = BarrierModel(self.nlanes)
edge = (self.skeleton.w - self.nlanes * self.lane_width) / 2
centers = [
edge + self.lane_width / 2 + i * self.lane_width
for i in range(self.nlanes)
]
self.edge = edge
self.car.set_centers(numpy.array(centers))
self.control_value = 0
self.position = 0
self.control_mode = 0
self.info = 0
self.trialnumber = 0
self.maxscore = 0
self.scoring = False
self.speed = 4
self.time_to_reach_end = config.speed
self.car_jump = 0
self.car_swivel = 0
self.fps = 60
self.car_lane = 0
self.score = 0
self.score_deflection = 0
self.state = STATE_WAITING
self.create_back_surface()
self.skeleton.main_loop()