def __init__(self, wboot = True):
__builtins__['robot']= self
self.x = env.w/2
self.y = env.h/2
self.angle = 0
self.mA = 0
self.mB = 0
self.mC = 0
self.p = 0
self.rotA = self.rotB = self.rotC = 0
self.radius = 21
self.dragged = False
self.dragoffset = []
#self.image = pygame.image.load("./robot.jpg").convert()
#path = os.path.dirname(os.path.abspath(sys.argv[0]))
#self.image = pygame.image.load(path + "/robot.png").convert_alpha() # imgs.robot.convert()
self.image = imgs.robot.convert_alpha()
#self.image = pygame.image.load("black_and_blacker.png").convert_alpha()
self.lock = Lock()
self.root = os.path.abspath(os.path.dirname(sys.argv[0]))
# directory with programs to the path
sys.path.append(self.root + os.sep + '__progs__')
self.lcd = pygame.Surface((204, 130))
pygame.draw.rect(self.lcd, pygame.Color(0x43, 0x6c, 0x30),
((0, 0), (204, 130)))
if wboot:
#print "booting"
RoboThread(target=self.boot).start()
self.sensors = {1: BaseSensor(1),
2: BaseSensor(2),
3: BaseSensor(3),
4: BaseSensor(4)}
self.ports = {}
self.bckgDialog = BackgroundDialog(bckg=env.cfg["others"]["background"])
self.port_1 = SensorDialog(port=1)
self.port_2 = SensorDialog(port=2)
self.port_3 = SensorDialog(port=3)
self.port_4 = SensorDialog(port=4)
self.console = ConsoleDialog(init_code='from api import *',
init_text= 4*'\n' +
NXTEMU_ASCII +
"Welcome to the Robot Live Console." \
"Type help if you are lost.", ps1='robot>')
def __init__(self, wboot=True):
__builtins__['robot'] = self
self.x = env.w / 2
self.y = env.h / 2
self.angle = 0
self.mA = 0
self.mB = 0
self.mC = 0
self.p = 0
self.rotA = self.rotB = self.rotC = 0
self.radius = 21
self.dragged = False
self.dragoffset = []
#self.image = pygame.image.load("./robot.jpg").convert()
#path = os.path.dirname(os.path.abspath(sys.argv[0]))
#self.image = pygame.image.load(path + "/robot.png").convert_alpha() # imgs.robot.convert()
self.image = imgs.robot.convert_alpha()
#self.image = pygame.image.load("black_and_blacker.png").convert_alpha()
self.lock = Lock()
self.root = os.path.abspath(os.path.dirname(sys.argv[0]))
# directory with programs to the path
sys.path.append(self.root + os.sep + '__progs__')
self.lcd = pygame.Surface((204, 130))
pygame.draw.rect(self.lcd, pygame.Color(0x43, 0x6c, 0x30),
((0, 0), (204, 130)))
if wboot:
#print "booting"
RoboThread(target=self.boot).start()
self.sensors = {
1: BaseSensor(1),
2: BaseSensor(2),
3: BaseSensor(3),
4: BaseSensor(4)
}
self.ports = {}
self.bckgDialog = BackgroundDialog(
bckg=env.cfg["others"]["background"])
self.port_1 = SensorDialog(port=1)
self.port_2 = SensorDialog(port=2)
self.port_3 = SensorDialog(port=3)
self.port_4 = SensorDialog(port=4)
self.console = ConsoleDialog(init_code='from api import *',
init_text= 4*'\n' +
NXTEMU_ASCII +
"Welcome to the Robot Live Console." \
"Type help if you are lost.", ps1='robot>')
class Robot(NXTBrick):
proc = None
die = False
inputs = {}
background = None
bckg = None
sensors = {}
paused = False
touchPoints = {
"topleft": [
[29.0, -133.60281897270363],
[28.319604517012593, -132.13759477388825],
[27.65863337187866, -130.6012946450045],
],
"left": [
[-29, 42.721999467666336],
[-28.319604517012593, 41.389942632819086],
],
"topright": [
[27.018512172212592, -51.00900595749453],
[27.65863337187866, -49.398705354995535],
[28.319604517012593, -47.862405226111754],
],
"right": [
[29.698484809834994, -43.97583689433345],
[29, -42.721999467666336],
[29, -47.278000532333664],
[28.319604517012593, -41.389942632819086],
[28.319604517012593, -48.610057367180914],
]
}
def __init__(self, wboot=True):
__builtins__['robot'] = self
self.x = env.w / 2
self.y = env.h / 2
self.angle = 0
self.mA = 0
self.mB = 0
self.mC = 0
self.p = 0
self.rotA = self.rotB = self.rotC = 0
self.radius = 21
self.dragged = False
self.dragoffset = []
#self.image = pygame.image.load("./robot.jpg").convert()
#path = os.path.dirname(os.path.abspath(sys.argv[0]))
#self.image = pygame.image.load(path + "/robot.png").convert_alpha() # imgs.robot.convert()
self.image = imgs.robot.convert_alpha()
#self.image = pygame.image.load("black_and_blacker.png").convert_alpha()
self.lock = Lock()
self.root = os.path.abspath(os.path.dirname(sys.argv[0]))
# directory with programs to the path
sys.path.append(self.root + os.sep + '__progs__')
self.lcd = pygame.Surface((204, 130))
pygame.draw.rect(self.lcd, pygame.Color(0x43, 0x6c, 0x30),
((0, 0), (204, 130)))
if wboot:
#print "booting"
RoboThread(target=self.boot).start()
self.sensors = {
1: BaseSensor(1),
2: BaseSensor(2),
3: BaseSensor(3),
4: BaseSensor(4)
}
self.ports = {}
self.bckgDialog = BackgroundDialog(
bckg=env.cfg["others"]["background"])
self.port_1 = SensorDialog(port=1)
self.port_2 = SensorDialog(port=2)
self.port_3 = SensorDialog(port=3)
self.port_4 = SensorDialog(port=4)
self.console = ConsoleDialog(init_code='from api import *',
init_text= 4*'\n' +
NXTEMU_ASCII +
"Welcome to the Robot Live Console." \
"Type help if you are lost.", ps1='robot>')
def getDistanceTo(self, point):
dx = point[0] - self.x
dy = point[1] - self.y
return math.sqrt(dx**2 + dy**2)
def mouseOver(self):
mpos = pygame.mouse.get_pos()
if self.getDistanceTo(mpos) < self.radius:
return True
else:
return False
def drag(self):
mpos = pygame.mouse.get_pos()
self.x = mpos[0]
self.y = mpos[1]
#pygame.image.save(self.image, "robot_.png")
self.stayIn()
def rot_center(self, image, angle):
"""rotate an image while keeping its center and size"""
orig_rect = image.get_rect()
#rot_image = pygame.transform.rotate(image, angle)
rot_image = pygame.transform.rotozoom(image, angle, 1)
rot_rect = orig_rect.copy()
rot_rect.center = rot_image.get_rect().center
rot_image = rot_image.subsurface(rot_rect).copy()
return rot_image
def draw(self):
env.screen.blit(env.background, (0, 0))
env.screen.blit(self.rot_center(self.image, -self.angle),
(self.x - 30, self.y - 30))
env.screen.blit(self.lcd,
((640 + (378 / 2 - 100) - 2, 90), (204, 130)))
env.app.paint()
pygame.display.flip()
def touchesAt(self, positions):
for pos in positions:
dx = cos(radians(pos[1] + robot.angle)) * pos[0]
dy = sin(radians(pos[1] + robot.angle)) * pos[0]
#print 30 + round(dx), 30 + round(dy)
x = int(self.x + round(dx))
y = int(self.y + round(dy))
#env.background.set_at((x, y), (0, 0, 255, 0))
try:
o = env.background.get_at((x, y))
except IndexError:
return True
if o == (190, 190, 190, 255):
return True
return False
def touches(self):
out = {}
for p in self.touchPoints:
out[p] = self.touchesAt(p)
return out
def stayIn(self):
if self.x > 623:
self.x = 623
if self.x < 23:
self.x = 23
if self.y > 463:
self.y = 463
if self.y < 23:
self.y = 23
def tick(self):
# self.stayIn()
angle = 0
rotA = rotB = 0
touchedA = touchedB = False
if not robot.paused:
if not self.touchesAt(self.touchPoints["topleft"]):
rotA = self.mA / 30.0
else:
touchedA = True
rotA -= self.mA / 40.0
if not self.touchesAt(self.touchPoints["topright"]):
rotB = self.mB / 30.0
else:
touchedB = True
rotB -= self.mB / 40.0
rotC = self.mC / 30.0
angle += (rotA - rotB) / 3
self.angle += angle
p = (rotA + rotB) / 2 / 1.8
#print angle, self.angle, self.mA, self.mB
self.rotA += rotA
self.rotB += rotB
self.rotC += rotC
self.x += math.sin(math.radians(self.angle)) * p
self.y += -math.cos(math.radians(self.angle)) * p
self.draw()
if touchedA:
self.rotA += -2 * rotA
if touchedB:
self.rotB += -2 * rotB
# print background.get_at((int(self.x), int(self.y)))
def onCenter(self):
#print "onCenter"
# Turning off ? yes/no
if self.screen_y == -1:
if self.screen_x == 0:
sys.exit(0)
else:
self.screen_y += 1
self.screen_x = 0
self.scrout()
return
if [self.screen_x, self.screen_y, self.screen_z] == [0, 3, 0]:
if self.proc == None:
module = __import__('e' + self.progs[self.prog])
self.proc = RoboThread(target=module.main,
cleaner=self.cleaner)
self.proc.setName("brick")
ClearScreen()
self.scr_runner = RoboThread(target=robot.running)
self.scr_runner.start()
self.proc.start()
return
if self.screen_z:
self.screen_z += 1
self.screen_x = 0
else:
if self.screen_x == 0:
self.screen_y += 1
else:
self.screen_z += 1
self.screen_x = 0
# taking care of empty __progs__ directory
if self.screen_y == 2 and len(self.progs) == 0:
self.screen_y -= 1
#print self.screen_x, self.screen_y, self.screen_z
self.scrout()
def onBack(self):
#taking care of turning off screen
if self.screen_y == -1:
self.screen_y += 1
self.screen_x = 0
self.scrout()
return
if self.proc == None:
if self.scr_view == None:
if self.screen_z:
self.screen_z -= 1
else:
self.screen_y -= 1
else:
self.viewing = False
self.scr_view = None
self.screen_z -= 1
self.screen_x = 0
self.scrout()
else:
self.die = True
self.scr_running = False
#print self.screen_x, self.screen_y, self.screen_z
def onLeft(self):
if self.proc == None and self.scr_view == None:
self.screen_x -= 1
self.scrout()
def onRight(self):
if self.proc == None and self.scr_view == None:
self.screen_x += 1
self.scrout()
def cleaner(self):
ClearScreen()
self.scr_running = False
Off(OUT_ABC)
ResetTachoCount(OUT_ABC)
self.proc = None
#self.screen_y -= 1
self.scrout()
#print "cleaner"
def onConsole(self):
if self.console.is_open():
if not self.console_clicked:
self.console_clicked = True
return
return self.consoleQuit(self.console)
width = env.w + env.WALL_HEIGHT * 2 + 378
height = env.h + env.WALL_HEIGHT * 2 + 200
env.window = pygame.display.set_mode((width, height))
env.screen = pygame.display.get_surface()
env.background = pygame.Surface(env.screen.get_size()).convert()
env.init(self.ports)
ClearScreen()
self.header()
self.textCenterOut(LCD_LINE5 + 2, "Live Console")
self.console.connect(gui.CHANGE, self.consoleQuit, self.console)
self.console.connect(gui.CLOSE, self.consoleQuit, self.console)
self.console.open()
self.console.rect.y = env.h + env.WALL_HEIGHT * 2 + 5
# focusing the input
x = int(self.console.rect.x) + 86 + 10
y = int(self.console.rect.y) + 86 + 38 + 50
self.console_clicked = False
self.console.own_focus(x, y)
def consoleQuit(self, d):
env.window = pygame.display.set_mode(
(env.w + env.WALL_HEIGHT * 2 + 378, env.h + env.WALL_HEIGHT * 2))
env.screen = pygame.display.get_surface()
env.background = pygame.Surface(env.screen.get_size()).convert()
env.init(self.ports)
ClearScreen()
self.scrout()
d.close()
def imgUpdate(self):
image = imgs.robot.convert_alpha()
for x in self.inputs:
inp = self.inputs[x]
if inp['slot'] != '':
dx = inp['slot'] * 7
if inp['slot'] == 3:
dx += 1
dw = 1 if inp['slot'] == 2 else 0
pygame.draw.rect(image, (0xfa, 0x70, 0x0d),
(13 + dx, 9, 5 + dw, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (20, 9, 5, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (27, 9, 6, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (35, 9, 5, 5))
self.image = image
def dialogClose(self, d):
self.paused = False
d.close()
def open_and_center(self, dlg):
if dlg.is_open():
return self.dialogClose(dlg)
dlg.change()
dlg.open()
dlg.rect.x = 120
dlg.connect(gui.CLOSE, self.dialogClose, dlg)
self.paused = True
def writeit(self, d):
env.write_config()
self.imgUpdate()
d.close()
# background
def bckg_return(self, d):
self.paused = False
out = d.out()
if out is not None and os.path.isfile(out):
robot.background = out
env.init(self.ports)
if robot.background is not "":
env.cfg['others']['background'] = robot.background
try:
img = pygame.image.load(robot.background)
if img.get_alpha() != None:
img = img.convert_alpha()
else:
img = img.convert()
img = pygame.transform.scale(img, (640, 480))
env.background.blit(img, (3, 3))
except:
pass
else:
env.cfg['others']['background'] = "None"
else:
robot.background = None
env.init(self.ports)
self.writeit(d)
def background_dialog(self):
self.bckgDialog.connect(gui.CHANGE, self.bckg_return, self.bckgDialog)
self.open_and_center(self.bckgDialog)
def add_sensor(self, d, i):
self.paused = False
out = d.out()
env.cfg["inputs"][i]["type"] = out["type"]
env.cfg["inputs"][i]["slot"] = out["slot"]
robot.inputs[i] = out
self.sensors[i] = sensor_generator(out['type'], out['slot'])
self.ports[i] = out['slot']
env.init(self.ports)
self.writeit(d)
# port 1
def port1_return(self, d):
self.add_sensor(d, 1)
def port1(self):
self.port_1.connect(gui.CHANGE, self.port1_return, self.port_1)
self.open_and_center(self.port_1)
# port 2
def port2_return(self, d):
self.add_sensor(d, 2)
def port2(self):
self.port_2.connect(gui.CHANGE, self.port2_return, self.port_2)
self.open_and_center(self.port_2)
# port 3
def port3_return(self, d):
self.add_sensor(d, 3)
def port3(self):
self.port_3.connect(gui.CHANGE, self.port3_return, self.port_3)
self.open_and_center(self.port_3)
# port 4
def port4_return(self, d):
self.add_sensor(d, 4)
def port4(self):
self.port_4.connect(gui.CHANGE, self.port4_return, self.port_4)
self.open_and_center(self.port_4)
class Robot(NXTBrick):
proc = None
die = False
background = None
bckg = None
sensors = {}
paused = False
touchPoints = {
"topleft": [
[29.0, -133.60281897270363],
[28.319604517012593, -132.13759477388825],
[27.65863337187866, -130.6012946450045],
],
"left": [
[-29, 42.721999467666336],
[-28.319604517012593, 41.389942632819086],
],
"topright": [
[27.018512172212592, -51.00900595749453],
[27.65863337187866, -49.398705354995535],
[28.319604517012593, -47.862405226111754],
],
"right": [
[29.698484809834994, -43.97583689433345],
[29, -42.721999467666336],
[29, -47.278000532333664],
[28.319604517012593, -41.389942632819086],
[28.319604517012593, -48.610057367180914],
]
}
def __init__(self, wboot = True):
__builtins__['robot']= self
self.x = env.w/2
self.y = env.h/2
self.angle = 0
self.mA = 0
self.mB = 0
self.mC = 0
self.p = 0
self.rotA = self.rotB = self.rotC = 0
self.radius = 21
self.dragged = False
self.brick_hidden = False
self.dragoffset = []
self.image = imgs.robot.convert_alpha()
self.lock = Lock()
self.root = os.path.abspath(os.path.dirname(sys.argv[0]))
# directory with programs to the path
sys.path.append(self.root + os.sep + '__progs__')
self.lcd = pygame.Surface((204, 130))
pygame.draw.rect(self.lcd, pygame.Color(0x43, 0x6c, 0x30),
((0, 0), (204, 130)))
self._cur_lcd_line = 7
if wboot:
#print "booting"
RoboThread(target=self.boot).start()
self.sensors = {1: BaseSensor(None),
2: BaseSensor(None),
3: BaseSensor(None),
4: BaseSensor(None)}
self.ports = {}
self.bckgDialog = BackgroundDialog(bckg=env.cfg["others"]["background"])
self.port_1 = SensorDialog(port=1)
self.port_2 = SensorDialog(port=2)
self.port_3 = SensorDialog(port=3)
self.port_4 = SensorDialog(port=4)
self.port_dialogs = [self.port_1, self.port_2, self.port_3, self.port_4]
self.console = ConsoleDialog(init_code='from api import *',
init_text= 4*'\n' +
NXTEMU_ASCII +
"Welcome to the Robot Live Console." \
"Type help if you are lost.", ps1='robot>')
def getDistanceTo(self, point):
dx = point[0] - self.x
dy = point[1] - self.y
return math.sqrt(dx**2 + dy**2)
def mouseOver(self):
mpos = pygame.mouse.get_pos()
if self.getDistanceTo(mpos) < self.radius:
return True
else:
return False
def drag(self):
mpos = pygame.mouse.get_pos()
self.x = mpos[0]
self.y = mpos[1]
#pygame.image.save(self.image, "robot_.png")
self.stayIn()
def rot_center(self, image, angle):
"""rotate an image while keeping its center and size"""
orig_rect = image.get_rect()
#rot_image = pygame.transform.rotate(image, angle)
rot_image = pygame.transform.rotozoom(image, angle, 1)
rot_rect = orig_rect.copy()
rot_rect.center = rot_image.get_rect().center
rot_image = rot_image.subsurface(rot_rect).copy()
return rot_image
def draw(self):
env.screen.blit(env.background, (0,0))
env.screen.blit(self.rot_center(self.image, -self.angle),
(self.x - 30, self.y - 30))
if not self.brick_hidden:
env.screen.blit(self.lcd, ((640 + (378/2 - 100)-2, 90), (204, 130)))
env.app.paint()
pygame.display.flip()
def touchesAt(self, positions):
for pos in positions:
dx = cos(radians(pos[1] + robot.angle)) * pos[0]
dy = sin(radians(pos[1] + robot.angle)) * pos[0]
#print 30 + round(dx), 30 + round(dy)
x = int(self.x + round(dx))
y = int(self.y + round(dy))
#env.background.set_at((x, y), (0, 0, 255, 0))
try:
o = env.background.get_at((x, y))
except IndexError:
return True
if o == (190, 190, 190, 255):
return True
return False
def touches(self):
out = {}
for p in self.touchPoints:
out[p] = self.touchesAt(p)
return out
def stayIn(self):
if robot.brick_hidden:
if self.x > 936:
self.x = 936
else:
if self.x > 623:
self.x = 623
if self.x < 23:
self.x = 23
if self.y > 463:
self.y = 463
if self.y < 23:
self.y = 23
def tick(self):
# self.stayIn()
angle = 0
rotA = rotB = 0
touchedA = touchedB = False
if not robot.paused:
if not self.touchesAt(self.touchPoints["topleft"]):
rotA = self.mA / 30.0
else:
touchedA = True
rotA -= self.mA / 40.0
if not self.touchesAt(self.touchPoints["topright"]):
rotB = self.mB / 30.0
else:
touchedB = True
rotB -= self.mB / 40.0
rotC = self.mC / 30.0
angle += (rotA - rotB) / 3
self.angle += angle
p = (rotA + rotB) / 2 / 1.8
#print angle, self.angle, self.mA, self.mB
self.rotA += rotA
self.rotB += rotB
self.rotC += rotC
self.x += math.sin(math.radians(self.angle)) * p
self.y += -math.cos(math.radians(self.angle)) * p
self.draw()
if touchedA:
self.rotA += -2*rotA
if touchedB:
self.rotB += -2*rotB
# print background.get_at((int(self.x), int(self.y)))
def onCenter(self):
#print "onCenter"
# Turning off ? yes/no
if self.screen_y == -1:
if self.screen_x == 0:
sys.exit(0)
else:
self.screen_y += 1
self.screen_x = 0
self.scrout()
return
if [self.screen_x, self.screen_y, self.screen_z] == [0, 3, 0]:
if self.proc == None:
module = __import__('e' + self.progs[self.prog])
self.proc = RoboThread(target=module.main,
cleaner=self.cleaner)
self.proc.setName("brick")
ClearScreen()
self.scr_runner = RoboThread(target=robot.running)
self.scr_runner.start()
self.proc.start()
return
if self.screen_z:
self.screen_z += 1
self.screen_x = 0
else:
if self.screen_x == 0:
self.screen_y += 1
else:
self.screen_z += 1
self.screen_x = 0
# taking care of empty __progs__ directory
if self.screen_y == 2 and len(self.progs) == 0:
self.screen_y -= 1
#print self.screen_x, self.screen_y, self.screen_z
self.scrout()
def onBack(self):
#taking care of turning off screen
if self.screen_y == -1:
self.screen_y += 1
self.screen_x = 0
self.scrout()
return
if self.proc == None:
if self.scr_view == None:
if self.screen_z:
self.screen_z -= 1
else:
self.screen_y -= 1
else:
self.viewing = False
self.scr_view = None
self.screen_z -= 1
self.screen_x = 0
self.scrout()
else:
self.die = True
self.scr_running = False
#print self.screen_x, self.screen_y, self.screen_z
def onLeft(self):
if self.proc == None and self.scr_view == None:
self.screen_x -= 1
self.scrout()
def onRight(self):
if self.proc == None and self.scr_view == None:
self.screen_x += 1
self.scrout()
def cleaner(self):
ClearScreen()
self.scr_running = False
Off(OUT_ABC)
ResetTachoCount(OUT_ABC)
self.proc = None
#self.screen_y -= 1
self.scrout()
#print "cleaner"
def onConsole(self):
if self.console.is_open():
if not self.console_clicked:
self.console_clicked = True
return
return self.consoleQuit(self.console)
width = env.w + env.WALL_HEIGHT*2 + 378
height = env.h + env.WALL_HEIGHT*2 + 200
env.window = pygame.display.set_mode((width, height))
env.screen = pygame.display.get_surface()
env.background = pygame.Surface(env.screen.get_size()).convert()
env.init(self.ports)
ClearScreen()
self.header()
self.textCenterOut(LCD_LINE5 + 2, "Live Console")
self.console.connect(gui.CHANGE, self.consoleQuit, self.console)
self.console.connect(gui.CLOSE, self.consoleQuit, self.console)
self.console.open()
self.console.rect.y = env.h + env.WALL_HEIGHT*2 + 5
# focusing the input
x = int(self.console.rect.x) + 86 + 10
y = int(self.console.rect.y) + 86 + 38 + 50
self.console_clicked = False
self.console.own_focus(x,y)
def consoleQuit(self, d):
env.window = pygame.display.set_mode((env.w + env.WALL_HEIGHT*2 + 378,
env.h + env.WALL_HEIGHT*2))
env.screen = pygame.display.get_surface()
env.background = pygame.Surface(env.screen.get_size()).convert()
env.init(self.ports)
ClearScreen()
self.scrout()
d.close()
def imgUpdate(self):
image = imgs.robot.convert_alpha()
for i in self.sensors:
sensor = self.sensors[i]
if sensor.slot != None and sensor.slot != 0:
dx = sensor.slot * 7
if sensor.slot == 3:
dx += 1
dw = 1 if sensor.slot == 2 else 0
pygame.draw.rect(image, (0xfa, 0x70, 0x0d),
(13+dx, 9, 5+dw, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (20, 9, 5, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (27, 9, 6, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (35, 9, 5, 5))
self.image = image
def dialogClose(self, d):
self.paused = False
d.close()
def open_and_center(self, dlg):
if dlg.is_open():
return self.dialogClose(dlg)
dlg.change()
dlg.open()
dlg.rect.x = 120
dlg.connect(gui.CLOSE, self.dialogClose, dlg)
self.paused = True
def writeit(self, d):
env.write_config()
self.imgUpdate()
d.close()
# background
def bckg_return(self, d):
self.paused = False
out = d.out()
if out is not None and os.path.isfile(out):
robot.background = out
env.init(self.ports)
if robot.background is not "":
env.cfg['others']['background'] = robot.background
try:
img = pygame.image.load(robot.background)
if img.get_alpha() != None:
img = img.convert_alpha()
else:
img = img.convert()
img = pygame.transform.scale(img, (640, 480))
env.background.blit(img, (3, 3))
except:
pass
else:
env.cfg['others']['background'] = "None"
else:
robot.background = None
env.init(self.ports)
self.writeit(d)
def background_dialog(self):
self.bckgDialog.connect(gui.CHANGE, self.bckg_return, self.bckgDialog)
self.open_and_center(self.bckgDialog)
def add_sensor(self, d, i):
self.paused = False
out = d.out()
env.cfg["inputs"][i]["type"] = out["type"]
env.cfg["inputs"][i]["slot"] = out["slot"]
self.sensors[i] = sensor_generator(out['type'], out['slot'])
self.ports[i] = out['slot']
env.init(self.ports)
self.writeit(d)
# port 1
def port1_return(self, d):
self.add_sensor(d, 1)
def port1(self):
self.port_1.connect(gui.CHANGE, self.port1_return, self.port_1)
self.open_and_center(self.port_1)
self.port_1.port_connect_update()
#self.port_1.pt['sensors']._rows[2][0]['widget'].widget.pcls = 'down'
# port 2
def port2_return(self, d):
self.add_sensor(d, 2)
def port2(self):
self.port_2.connect(gui.CHANGE, self.port2_return, self.port_2)
self.open_and_center(self.port_2)
self.port_2.port_connect_update()
# port 3
def port3_return(self, d):
self.add_sensor(d, 3)
def port3(self):
self.port_3.connect(gui.CHANGE, self.port3_return, self.port_3)
self.open_and_center(self.port_3)
self.port_3.port_connect_update()
# port 4
def port4_return(self, d):
self.add_sensor(d, 4)
def port4(self):
self.port_4.connect(gui.CHANGE, self.port4_return, self.port_4)
self.open_and_center(self.port_4)
self.port_4.port_connect_update()
def save_config(self, filename):
env.write_config(filename)
def load_config(self, filename):
env.cfg = env.read_config(filename)
for i, inp in env.cfg['inputs'].iteritems():
self.sensors[i] = sensor_generator(inp['type'], inp['slot'])
self.ports[i] = inp['slot']
self.port_dialogs[i - 1].inp = inp
self.port_dialogs[i - 1].build_slots()
env.init(self.ports)
robot.imgUpdate()
self.save_config('./config.yml')