def print_out(self):
int_to_char = {
self.__BLANK: '. ',
self._BLACK: 'X ',
self._WHITE: 'O ',
}
print(self._FC_YELLOW + self.name)
cell = ChessboardCell()
# print column name on table head
header = ' '
for col_id in range(self._COLS, -1, -1):
cell.from_col_row_id(col_id=col_id, row_id=1)
header += cell.col_letter + ' '
print(self._FC_YELLOW + header)
# print layout row by row
for row_id in range(0, self._ROWS):
rowNum = self._ROWS - row_id
col_string = ''
for col_id in range(0, self._COLS):
col_string += int_to_char[self._layout_array[18 -
col_id][18 -
row_id]]
row_string = "%02d" % rowNum + ' '
print(self._FC_YELLOW + row_string + self._FC_RESET + col_string +
self._FC_YELLOW + row_string)
print(self._FC_YELLOW + header)
def print_out_died_area(self):
int_to_char = {
0: 'x ',
1: 'O ',
15: '. ',
16: '- ',
17: '* ',
8: 'B ',
3: 'W '
}
print(self._FC_YELLOW + 'Died area')
cell = ChessboardCell()
# print column name on table head
header = ' '
for col_id in range(19, -1, -1):
cell.from_col_row_id(col_id=col_id, row_id=1)
header += cell.col_letter + ' '
print(self._FC_YELLOW + header)
# print layout row by row
for row_id in range(0, 19):
rowNum = 19 - row_id
col_string = ''
for col_id in range(0, 19):
value = self.__died_area_array[18 - col_id][18 - row_id]
if value == 0:
col_string += self._BG_RED + int_to_char[
value] + self._FC_RESET
else:
col_string += int_to_char[value]
row_string = "%02d" % rowNum + ' '
print(self._FC_YELLOW + row_string + self._FC_RESET + col_string +
self._FC_YELLOW + row_string)
print(self._FC_YELLOW + header)
def move_four_corners(self, pause_second=5):
target_cells = ['A1', 'A19', 'T1', 'T19']
for this_cell in target_cells:
cell = ChessboardCell()
cell.from_name(this_cell)
target_FK = self.__chessboard_helper.get_interpolated_FK_from_cell(
cell)
self.__move_to_FK_Position(target_FK)
rospy.sleep(pause_second)
def move_row_by_row(self,
start_cell_name='T1',
step=1,
is_upper_letter=True):
cell = ChessboardCell()
cell.from_name(start_cell_name)
start_cell_id = cell.id
for index in range(start_cell_id, 361, step):
if index % 19 == 0:
# change postion to new row
cell.from_id(180)
temp_FK = self.__chessboard_helper.get_interpolated_FK_from_cell(
cell)
self.__move_to_FK_Position(temp_FK)
cell.from_id(index)
print(cell.to_diction())
target_FK = self.__chessboard_helper.get_interpolated_FK_from_cell(
cell)
if is_upper_letter:
self.__robot.current_pose.name = cell.name.upper()
target_FK.z = 0.001
else:
self.__robot.current_pose.name = cell.name.lower()
target_FK.z = 0.098
self.__move_to_FK_Position(target_FK)
rospy.sleep(10)
self.__robot.update_current_pose_to_diction()
self.__robot.write_pose_diction_to_json_file()
def get_first_died_cell(self):
'''
return:
None means not found!
'''
cell = ChessboardCell()
for row_id in range(0, self._ROWS):
for col_id in range(0, self._COLS):
if self.__died_area_array[col_id][row_id] == 0:
cell.from_col_row_id(col_id, row_id)
return cell
return None
def play(self, cell_name, color_code):
# print('[Info] ChessBoard.play(cell_name=%s,color=%s)' %(cell_name,color))
cell = ChessboardCell()
cell.from_name(cell_name)
# value = self.__BLANK
# if color =='Black':
# value = self._BLACK
# elif color == 'White':
# value = self._WHITE
# else:
# logging.info('ChessBoard.play(cell_name=%s,color=%s)' %(cell_name,color))
self._layout_array[cell.col_id][cell.row_id] = color_code
def get_first_cell(self, target_color):
'''
return:
(x,y) is the target position
(-1,-1) means not found!
'''
cell = ChessboardCell()
for row_id in range(0, self._ROWS):
for col_id in range(0, self._COLS):
if self._layout_array[col_id][row_id] == target_color:
cell.from_col_row_id(col_id, row_id)
return cell
return None
def test_pickup_from_warehouse(self, auto_pause):
self.__robot.eye_open('origin')
# self.__robot.eye_open('candy')
for i in range(0, 360):
self.__robot.action_pickup_chess_from_warehouse()
this_cell = ChessboardCell()
this_cell.from_id(i)
self.__robot.action_place_chess_to_a_cell(this_cell.name)
if auto_pause:
key = click.getchar()
if key == '\x1b':
#Escape
zero = self.__robot.get_target_pose_by_name('ZERO')
self.__robot.goto_here(zero)
print('You can shout down the power now.')
key = click.getchar()
def test_col_by_col(self, start_col):
self.__robot.eye_open('origin')
self.__robot.action_pickup_chess_from_warehouse()
self.__robot.action_place_chess_to_a_cell('A' + str(start_col))
self.__robot.action_pickup_chess_from_warehouse()
self.__robot.action_place_chess_to_a_cell('B' + str(start_col))
for iCol in range(0, 19):
for iRow in range(start_col, 19):
this_cell = ChessboardCell()
this_cell.from_id(iRow * 19 + iCol)
next_cell = ChessboardCell()
next_cell.from_id(iRow * 19 + iCol)
print('******************************* %s' % this_cell.name)
print('******************************* %s' % next_cell.name)
self.__robot.action_pickup_chess_from_a_cell(this_cell.name)
self.__robot.action_place_chess_to_a_cell(next_cell.name)
if self.__last_pressed_key == '\x1b': #Esc
self.__robot.eef_sleep()
zero = self.__robot.get_target_pose_by_name('ZERO')
self.__robot.goto_here(zero)
return
def test_row_by_row(self, start_cell_name):
self.__robot.eye_open('origin')
first_cell = ChessboardCell()
first_cell.from_name(start_cell_name)
second_cell = ChessboardCell()
# pickup from warehouse, the first one
self.__robot.action_pickup_chess_from_warehouse()
self.__robot.action_place_chess_to_a_cell(first_cell.name)
# pickup from warehouse, the second one
self.__robot.action_pickup_chess_from_warehouse()
second_cell.from_id(first_cell.id + 1)
self.__robot.action_place_chess_to_a_cell(second_cell.name)
for i in range(first_cell.row_id * 19, 361):
this_cell = ChessboardCell()
this_cell.from_id(i)
next_cell = ChessboardCell()
next_cell.from_id(i + 2)
print('******************************* %s' % this_cell.name)
print('******************************* %s' % next_cell.name)
self.__robot.action_pickup_chess_from_a_cell(this_cell.name)
self.__robot.action_place_chess_to_a_cell(next_cell.name)
if self.__last_pressed_key == '\x1b': #Esc
self.__robot.eef_sleep()
zero = self.__robot.get_target_pose_by_name('ZERO')
self.__robot.goto_here(zero)
return
def create_four_corners(self):
corners = [(0, 0), (0, 18), (18, 0), (18, 18)]
for col, row in corners:
cell = ChessboardCell()
cell.from_col_row_id(col, row)
self.__Deal_with_this_cell(cell)
def compare_with(self, target_layout, do_print_out=False):
'''
return:
total_diff_cells: the number of different cells.
last_cell_name: first cell_name that different, might be None
my_color: color of last_cell
target_color: color of last_cell
'''
diffs = []
cell = ChessboardCell()
my_cell_color = target_cell_color = self.__BLANK
int_to_char = {
self.__BLANK: '. ',
self._BLACK: 'X ',
self._WHITE: 'O '
}
if do_print_out:
title = self._FC_RESET + ' '
title += self._BG_RED + self._FC_YELLOW + self.name
title += self._FC_RESET + ' '
title += self._BG_RED + self._FC_YELLOW + target_layout.name + self._FC_RESET
print(title)
# print column name on table head
header = ' '
for col_id in range(self._COLS, -1, -1):
cell.from_col_row_id(col_id=col_id, row_id=1)
header += cell.col_letter + ' '
header += ' ' + header
print(self._FC_YELLOW + header)
# print layout row by row
for row_id in range(self._ROWS - 1, -1, -1):
rowNum = row_id + 1
my_col_string = target_col_string = ''
for col_id in range(self._COLS - 1, -1, -1):
print_color = self._FC_RESET
target_cell_color = target_layout.get_cell_color_col_row(
col_id=col_id, row_id=row_id)
if (self._layout_array[col_id][row_id] != target_cell_color):
#color is different
print_color = self._BG_RED + self._FC_YELLOW
cell.from_col_row_id(col_id=col_id, row_id=row_id)
my_cell_color = self._layout_array[col_id][row_id]
diffs.append((cell.name, my_cell_color, target_cell_color))
if do_print_out:
my_col_string += print_color + int_to_char[
self._layout_array[col_id][row_id]] + self._FC_RESET
k = target_layout.get_cell_color_col_row(col_id, row_id)
target_col_string += print_color + int_to_char[
k] + self._FC_RESET
if do_print_out:
row_string = self._FC_YELLOW + "%02d" % rowNum
col_string = row_string + ' ' + my_col_string + ' ' + row_string + ' ' + target_col_string + ' ' + row_string
print(col_string)
if do_print_out:
print(self._FC_YELLOW + header)
print(self._BG_RED + self._FC_YELLOW + '%s' % diffs +
self._FC_RESET)
return diffs
def set_cell_value_from_name(self, cell_name, new_value):
cell = ChessboardCell()
cell.from_name(cell_name)
self.set_cell_value(cell.col_id, cell.row_id, new_value)
def died_cell_removed_first_one(self):
cell = ChessboardCell()
cell = self.get_first_died_cell()
self.__died_area_array[cell.col_id][cell.row_id] = 15
def play_col_row(self, col_id, row_id, color_code):
cell = ChessboardCell()
cell.from_col_row_id(col_id=col_id, row_id=row_id)
self.play(cell.name, color_code)
# TODO: replace with logging
print('--------------------------------------------space X, Y')
print(self.__cell_space_x)
print(self.__cell_space_y)
def get_interpolated_FK_from_cell(self, cell):
# target_FK = Pose_FK()
x = cell.col_id * self.__cell_space_x + self.__chessboard_left
y = cell.row_id * self.__cell_space_y + self.__chessboard_bottom
z = 0.02
w = 0
return x, y, z, w
if __name__ == "__main__":
test1 = ChessboardLayout('Test1')
test1.play('T19', app_config.game_rule.cell_color.black)
test1.print_out()
cell = test1.get_first_cell(app_config.game_rule.cell_color.black)
cell = ChessboardCell()
# cell.from_col_row_id(x,y)
print('x=%d, y=%d, name=%s' % (cell.col_id, cell.row_id, cell.name))
test2 = ChessboardLayout('Test2')
test2.play('T19', app_config.game_rule.cell_color.black)
test2.play('K10', app_config.game_rule.cell_color.white)
x = test2.compare_with(test1, do_print_out=True)
print(x)
