def initialiseFromConfig(config, send_queues, recv_queues):
from collections import defaultdict
from ev3sim.robot import initialise_bot, RobotInteractor
ev3sim.visual.utils.GLOBAL_COLOURS = config.get("colours", {})
# Keep track of index w.r.t. filename.
robot_paths = defaultdict(lambda: 0)
for index, robot in enumerate(config.get("robots", [])):
robot_path = find_abs(robot, allowed_areas=bot_locations())
initialise_bot(config, robot_path, f"Robot-{index}",
robot_paths[robot_path])
robot_paths[robot_path] += 1
ScriptLoader.instance.setRobotQueues(f"Robot-{index}",
send_queues[index],
recv_queues[index])
for opt in config.get("interactors", []):
try:
ScriptLoader.instance.addActiveScript(fromOptions(opt))
except Exception as exc:
print(
f"Failed to load interactor with the following options: {opt}. Got error: {exc}"
)
SettingsManager.instance.setMany(config["settings"])
if ScriptLoader.instance.active_scripts:
ScriptLoader.instance.startUp()
ScriptLoader.instance.loadElements(config.get("elements", []))
for interactor in ScriptLoader.instance.active_scripts:
if isinstance(interactor, RobotInteractor):
interactor.connectDevices()
for interactor in ScriptLoader.instance.active_scripts:
interactor.startUp()
else:
print("No interactors successfully loaded. Quitting...")
def action():
with open(
os.path.join(
find_abs(sim_config["bots"][index],
bot_locations()), fname),
"w") as f:
f.write("# Put your code here!\n")
def clickBots(self):
# Shouldn't happen but lets be safe.
if self.batch_index == -1:
return
from ev3sim.visual.manager import ScreenObjectManager
sim_path = self.available_batches[self.batch_index][1]
with open(sim_path, "r") as f:
sim_config = yaml.safe_load(f)
complete_path = find_abs(sim_config["bots"][0], bot_locations())
relative_dir, relative_path = make_relative(complete_path,
bot_locations())
return ScreenObjectManager.instance.pushScreen(
ScreenObjectManager.SCREEN_BOT_EDIT,
bot_file=complete_path,
bot_dir_file=(relative_dir, relative_path),
)
def run_code(script_name):
real = find_abs("examples/robots/default_testing", ["package"])
rel_dir, rel_path = make_relative(real, bot_locations())
with open(join(real, "config.bot"), "r") as f:
bot_config = yaml.safe_load(f)
bot_config["script"] = script_name
bot_config["type"] = "mindstorms" if script_name.endswith(
".ev3") else "python"
with open(join(real, "config.bot"), "w") as f:
f.write(yaml.dump(bot_config))
sim_path = find_abs("presets/testing.sim", ["package"])
with open(sim_path, "r") as f:
test_config = yaml.safe_load(f)
test_config["bots"] = [rel_path]
with open(sim_path, "w") as f:
f.write(yaml.dump(test_config))
return run_sim(sim_path)
def playSim(self, preset):
abs_path = find_abs(preset, allowed_areas=preset_locations())
with open(abs_path, "r") as f:
preset_config = yaml.safe_load(f)
sim_path = find_abs(preset_config["sim_location"],
allowed_areas=batch_locations())
with open(sim_path, "r") as f:
sim_config = yaml.safe_load(f)
to_remove = []
for index in range(len(sim_config["bots"])):
# Try loading this bot.
try:
with open(
os.path.join(
find_abs(sim_config["bots"][index],
bot_locations()), "config.bot"),
"r") as f:
bot_config = yaml.safe_load(f)
if not BotValidator.validate_json(bot_config):
to_remove.append(index)
if bot_config.get("type", "python") == "python":
fname = bot_config.get("script", "code.py")
else:
fname = bot_config.get("script", "program.ev3")
if not os.path.exists(
os.path.join(
find_abs(sim_config["bots"][index],
bot_locations()), fname)):
def action():
with open(
os.path.join(
find_abs(sim_config["bots"][index],
bot_locations()), fname),
"w") as f:
f.write("# Put your code here!\n")
ScreenObjectManager.instance.forceCloseError(
f"Your bot {sim_config['bots'][index]} does not contain the file {fname}. You may have renamed or deleted it by accident. In order to use this bot, you need to add this file back. Click \"Add {fname}\" to create this file, or do it manually.",
(f"Add {fname}", action),
)
return
except:
to_remove.append(index)
if to_remove:
for index in to_remove[::-1]:
del sim_config["bots"][index]
with open(sim_path, "w") as f:
f.write(yaml.dump(sim_config))
if not sim_config["bots"]:
# We cannot play, there no are valid bots.
return ScreenObjectManager.instance.pushScreen(
ScreenObjectManager.SCREEN_BOTS,
batch_file=sim_path,
next=ScreenObjectManager.instance.SCREEN_SIM,
next_kwargs={"batch": sim_path},
)
return ScreenObjectManager.instance.pushScreen(
ScreenObjectManager.instance.SCREEN_SIM,
batch=sim_path,
)
def generateObjects(self):
# First, find all bot files.
if not self.in_error:
self.available_bots = []
error_bots = []
for rel_dir in bot_locations():
try:
actual_dir = find_abs_directory(rel_dir)
except:
continue
for bot in BotValidator.all_valid_in_dir(actual_dir):
try:
# Show everything except dir and .bot
with open(os.path.join(actual_dir, bot, "config.bot"),
"r") as f:
config = yaml.safe_load(f)
# If we are hidden, or in edit mode with hidden_edit, then don't show.
if not config.get("hidden", False) and not (
config.get("hidden_edit", False)
and len(self.bot_keys) == 0):
self.available_bots.append(
(bot, os.path.join(actual_dir,
bot), rel_dir, bot))
except Exception as e:
sentry_sdk.capture_exception(e)
error_bots.append(os.path.join(actual_dir, bot))
if self.first_launch and error_bots:
self.first_launch = False
self.in_error = True
self.addErrorDialog(
'A problem occured loading the following bots:<br><br><font color="#cc0000">'
+ "<br>".join(bot for bot in error_bots) + "</font>")
return
self.bg = pygame_gui.elements.UIPanel(
relative_rect=pygame.Rect(0, 0, *self._size),
starting_layer_height=-1,
manager=self,
object_id=pygame_gui.core.ObjectID("background"),
)
self._all_objs.append(self.bg)
# Scrolling container
old_y = getattr(getattr(self, "scrolling_container", None), "cur_y", 0)
self.scrolling_container = CustomScroll(
relative_rect=pygame.Rect(0, 0, *self._size),
manager=self,
object_id=pygame_gui.core.ObjectID("scroll_container"),
)
self.scrolling_container.num_elems = len(self.available_bots)
scrolling_size = (self._size[0] / 4 + self._size[0] / 5,
self._size[1] * 0.9 - min(self._size[1] / 6, 90))
# Setting dimensions and positions on a UIScrollingContainer seems buggy. This works.
self.scrolling_container.set_dimensions(scrolling_size)
self.scrolling_container.set_position(scrolling_size)
self.scrolling_container.cur_y = old_y
self.scrolling_container.set_scroll(old_y)
self._all_objs.append(self.scrolling_container)
button_size = self._size[0] / 4, 60
info_size = self._size[0] / 4 - 20, 15
bot_rect = lambda i: (self._size[0] / 10, self._size[1] / 10 + i *
button_size[1] * 1.5)
info_rect = lambda b_r: (
b_r[0] + button_size[0] - info_size[0] - 10,
b_r[1] + button_size[1] - info_size[1] - 5,
)
self.bot_buttons = []
self.bot_descriptions = []
for i, (show, bot, rel_dir,
filename) in enumerate(self.available_bots):
self.bot_buttons.append(
pygame_gui.elements.UIButton(
relative_rect=pygame.Rect(*bot_rect(i), *button_size),
text=show,
manager=self,
container=self.scrolling_container,
object_id=pygame_gui.core.ObjectID(
show + "-" + str(i), "list_button_highlighted"
if i == self.bot_index else "list_button"),
))
self.addButtonEvent(show + "-" + str(i), self.setBotIndex, i)
self.bot_descriptions.append(
pygame_gui.elements.UILabel(
relative_rect=pygame.Rect(*info_rect(bot_rect(i)),
*info_size),
text=rel_dir,
manager=self,
container=self.scrolling_container,
object_id=pygame_gui.core.ObjectID(
show + "-dir-" + str(i), "button_info_selected"
if i == self.bot_index else "button_info"),
))
self._all_objs.extend(self.bot_buttons)
self._all_objs.extend(self.bot_descriptions)
preview_size = self._size[0] / 4, self._size[1] / 4
preview_size = (
min(preview_size[0], (preview_size[1] * 4) // 3),
min(preview_size[1], (preview_size[0] * 3) // 4),
)
try:
if self.bot_index >= len(self.available_bots):
self.bot_index = -1
if self.bot_index == -1:
image = pygame.Surface(preview_size)
image.fill(pygame.Color(self.bg.background_colour))
else:
with open(
os.path.join(self.available_bots[self.bot_index][1],
"config.bot"), "r") as f:
config = yaml.safe_load(f)
bot_preview = os.path.join(
self.available_bots[self.bot_index][1],
config.get("preview_path", "preview.png"))
image = pygame.image.load(bot_preview)
except Exception as e:
sentry_sdk.capture_exception(e)
self.setBotIndex(-1)
self.addErrorDialog(
'<font color="#cc0000">The bot you have selected has some internal errors EV3Sim cannot resolve.</font><br><br>'
+
"If you'd like to fix this, then try manually editing the bot file in a text editor."
)
return
if image.get_size() != preview_size:
image = pygame.transform.smoothscale(
image, [int(v) for v in preview_size])
self.preview_image = pygame_gui.elements.UIImage(
relative_rect=pygame.Rect(self._size[0] * 0.9 - preview_size[0],
self._size[1] * 0.1, *preview_size),
image_surface=image,
manager=self,
object_id=pygame_gui.core.ObjectID("preview-image"),
)
self._all_objs.append(self.preview_image)
if len(self.bot_keys) == 0:
code_size = preview_size[0] * 0.4, preview_size[1] * 0.4
code_button_pos = (
self._size[0] * 0.9 - code_size[0] - 10,
self._size[1] * 0.1 + preview_size[1] + 10,
)
code_icon_size = code_size[1] * 0.6, code_size[1] * 0.6
self.code_button = pygame_gui.elements.UIButton(
relative_rect=pygame.Rect(*code_button_pos, *code_size),
text="",
manager=self,
object_id=pygame_gui.core.ObjectID("bot-code",
"settings_buttons"),
)
self.addButtonEvent("bot-code", self.clickCode)
if not self.code_enable:
self.code_button.disable()
code_icon_path = find_abs("ui/code.png",
allowed_areas=asset_locations())
self.code_icon = pygame_gui.elements.UIImage(
relative_rect=pygame.Rect(
*self.iconPos(code_button_pos, code_size, code_icon_size),
*code_icon_size),
image_surface=pygame.image.load(code_icon_path),
manager=self,
object_id=pygame_gui.core.ObjectID("code-icon"),
)
self._all_objs.append(self.code_button)
self._all_objs.append(self.code_icon)
edit_button_pos = (
self._size[0] * 0.9 - preview_size[0],
self._size[1] * 0.1 + preview_size[1] + 10,
)
self.edit_button = pygame_gui.elements.UIButton(
relative_rect=pygame.Rect(*edit_button_pos, *code_size),
text="",
manager=self,
object_id=pygame_gui.core.ObjectID("bot-edit",
"settings_buttons"),
)
self.addButtonEvent("bot-edit", self.clickEdit)
if not self.edit_enable:
self.edit_button.disable()
edit_icon_path = find_abs("ui/edit.png",
allowed_areas=asset_locations())
self.edit_icon = pygame_gui.elements.UIImage(
relative_rect=pygame.Rect(
*self.iconPos(edit_button_pos, code_size, code_icon_size),
*code_icon_size),
image_surface=pygame.image.load(edit_icon_path),
manager=self,
object_id=pygame_gui.core.ObjectID("edit-icon"),
)
self._all_objs.append(self.edit_button)
self._all_objs.append(self.edit_icon)
new_size = self._size[0] / 8, min(self._size[1] / 6, 90)
new_icon_size = new_size[1] * 0.6, new_size[1] * 0.6
new_bot_pos = (bot_rect(0)[0] + button_size[0] - new_size[0],
self._size[1] * 0.9 - new_size[1])
self.new_bot = pygame_gui.elements.UIButton(
relative_rect=pygame.Rect(*new_bot_pos, *new_size),
text="",
manager=self,
object_id=pygame_gui.core.ObjectID("new_bot", "action_button"),
)
self.addButtonEvent("new_bot", self.clickNew)
new_bot_path = find_abs("ui/add.png",
allowed_areas=asset_locations())
self.new_icon = pygame_gui.elements.UIImage(
relative_rect=pygame.Rect(
*self.iconPos(new_bot_pos, new_size, new_icon_size),
*new_icon_size),
image_surface=pygame.image.load(new_bot_path),
manager=self,
object_id=pygame_gui.core.ObjectID("new_bot-icon"),
)
self._all_objs.append(self.new_bot)
self._all_objs.append(self.new_icon)
remove_bot_pos = (bot_rect(0)[0],
self._size[1] * 0.9 - new_size[1])
self.remove_bot = pygame_gui.elements.UIButton(
relative_rect=pygame.Rect(*remove_bot_pos, *new_size),
text="",
manager=self,
object_id=pygame_gui.core.ObjectID("remove_bot",
"cancel-changes"),
)
self.addButtonEvent("remove_bot", self.clickRemove)
if not self.remove_enable:
self.remove_bot.disable()
remove_bot_path = find_abs("ui/bin.png",
allowed_areas=asset_locations())
self.remove_icon = pygame_gui.elements.UIImage(
relative_rect=pygame.Rect(
*self.iconPos(remove_bot_pos, new_size, new_icon_size),
*new_icon_size),
image_surface=pygame.image.load(remove_bot_path),
manager=self,
object_id=pygame_gui.core.ObjectID("remove_bot-icon"),
)
self._all_objs.append(self.remove_bot)
self._all_objs.append(self.remove_icon)
super().generateObjects()
else:
# Bot key locations, for selecting bots in batch files.
self.bot_loc_spots = []
for i in range(len(self.bot_keys)):
if i == self.key_index:
self.bot_loc_spots.append(
self.createBotImage(i, bg=pygame.Color("#80b918")))
else:
self.bot_loc_spots.append(self.createBotImage(i))
self.sizeBotImage(i, big_mode=len(self.bot_keys) == 1)
img = self.preview_images[i]
if img is None:
continue
if img.get_size() != self.bot_loc_spots[i].rect.size:
img = pygame.transform.smoothscale(
img, (self.bot_loc_spots[i].rect.width,
self.bot_loc_spots[i].rect.height))
self.bot_loc_spots[i].set_image(img)
self._all_objs.extend(self.bot_loc_spots)
select_size = (self._size[0] / 4 - 20) / 2, min(
self._size[1] / 4, 120)
select_button_pos = (self._size[0] * 0.9 - select_size[0] * 2 - 15,
self._size[1] * 0.9 - select_size[1])
self.select_button = pygame_gui.elements.UIButton(
relative_rect=pygame.Rect(*select_button_pos, *select_size),
text="SELECT",
manager=self,
object_id=pygame_gui.core.ObjectID("select-bot",
"action_button"),
)
self.addButtonEvent("select-bot", self.clickSelect)
if not self.select_enable:
self.select_button.disable()
self._all_objs.append(self.select_button)
done_size = (self._size[0] / 4 - 20) / 2, min(
self._size[1] / 4, 120)
done_button_pos = (self._size[0] * 0.9 - select_size[0] - 5,
self._size[1] * 0.9 - select_size[1])
self.done_button = pygame_gui.elements.UIButton(
relative_rect=pygame.Rect(*done_button_pos, *done_size),
text="DONE",
manager=self,
object_id=pygame_gui.core.ObjectID("select-done",
"action_button"),
)
self.addButtonEvent("select-done", self.clickDone)
if self.key_index == 0:
self.done_button.disable()
self._all_objs.append(self.done_button)
super().generateObjects()
def run_bot(bot_folder, script_name=None, edit=False):
from ev3sim.validation.bot_files import BotValidator
if not exists(join(bot_folder, "config.bot")):
return raise_error(
f"The bot {bot_folder} has been messed with, it is missing config.bot. If it has been deleted, please put it back there."
)
with open(join(bot_folder, "config.bot"), "r") as f:
config = yaml.safe_load(f)
if script_name is not None:
config["script"] = script_name
config["type"] = "mindstorms" if script_name.endswith(
".ev3") else "python"
with open(join(bot_folder, "config.bot"), "w") as f:
f.write(yaml.dump(config))
if not BotValidator.validate_file(bot_folder):
return raise_error(
f"There is something wrong with the robot {bot_folder}, and so it cannot be opened or used."
)
try:
relative_dir, relative_path = make_relative(bot_folder, ["workspace"])
if relative_path.startswith("robots"):
raise ValueError()
sim_paths = [join(dirname(bot_folder), "sim.sim")]
except:
relative_dir, relative_path = make_relative(bot_folder,
bot_locations())
sim_paths = [
find_abs("presets/soccer.sim", ["package"]),
find_abs("presets/rescue.sim", ["package"]),
]
if not edit:
found = False
for sim in sim_paths:
with open(sim, "r") as f:
config = yaml.safe_load(f)
for botpath in config["bots"]:
if botpath == relative_path:
found = True
break
if found:
return run_sim(sim)
# Not in the predefined presets.
# Use the testing preset.
sim_path = find_abs("presets/testing.sim", ["package"])
with open(sim_path, "r") as f:
test_config = yaml.safe_load(f)
test_config["bots"] = [relative_path]
with open(sim_path, "w") as f:
f.write(yaml.dump(test_config))
return run_sim(sim_path)
else:
return [ScreenObjectManager.SCREEN_BOT_EDIT], [{
"bot_file":
bot_folder,
"bot_dir_file": (relative_dir, relative_path),
}]