def find(self, id):
map = Map(id)
with open("%s.json" % id) as json_file:
data = json.load(json_file)['map']
for y in range(data['height']):
for x in range(data['width']):
matching_square = self.match(x, y, data['squares'])
if matching_square:
map.append(
Square(Point(x, y),
type_name=matching_square['type']))
else:
map.append(Square(Point(x, y), Square.OPEN))
return map
def __draw(self, max_width=None):
self.__canvas.delete("all")
self.__robot_last_position = None
self.__robot_avatar = None
self.__square_size = square_size = int(
(max_width - 10) / self.__map.width)
self.__scale = (max_width - 10) / (self.__map.width * self.__map.square_size)
self.__square_map.clear()
for square in self.__map.squares:
fill = self.__fill_for(square.type)
tl = Point(square.point.x * square_size + MapCanvasManager.PADDING,
square.point.y * square_size + MapCanvasManager.PADDING)
br = Point(square.point.x * square_size + square_size + MapCanvasManager.PADDING,
square.point.y * square_size + square_size + MapCanvasManager.PADDING)
rectangle_id = self.__canvas.create_rectangle(
tl.x, tl.y, br.x, br.y, fill=fill, outline='black', tags='square')
self.__square_map[rectangle_id] = (square, tl)
def is_obstacle(self, square, robot):
north = robot.body.point.translate(Point(0, self.__map.square_size))
for line in square.lines(self.__map.square_size, robot.body.point):
start_point = line[0]
end_point = line[1]
start_angle = self.__angle(north, robot.body.point, start_point)
end_angle = self.__angle(north, robot.body.point, end_point)
if (start_angle <= robot.body.heading <= end_angle) or (
start_angle >= robot.body.heading >= end_angle):
return True
return False
def _init_layout(self):
super().window.title("World")
self.__frame_left = tk.Frame(super().window)
self.__frame_left.pack(side=tk.LEFT, ipadx=10, ipady=10)
self.__button_load = tk.Button(self.__frame_left,
text="Load",
command=self.__load_map)
self.__button_load.pack()
self.__button_save = tk.Button(self.__frame_left,
text="Save",
command=self.__save_map)
self.__button_save.pack()
self.__frame_right = tk.Frame(super().window)
self.__frame_right.pack(side=tk.RIGHT)
self.__frame_right_top = tk.Frame(self.__frame_right, height=20)
self.__frame_right_top.pack(ipadx=10, ipady=10)
self.__frame_right_middle = tk.Frame(self.__frame_right, height=100)
self.__frame_right_middle.pack(ipadx=10, ipady=10)
self.__frame_right_bottom = tk.Frame(self.__frame_right, height=20)
self.__frame_right_bottom.pack(ipadx=10, ipady=10)
self.__button_start = tk.Button(self.__frame_right_top,
text="Start",
command=partial(
self._start, self.__start_robot))
self.__button_start.pack()
self.__button_ping = tk.Button(self.__frame_right_top,
text="Ping",
command=self.__ping)
self.__button_ping.pack()
self.__canvas_robot = tk.Canvas(self.__frame_right_middle, width=100)
self.__canvas_robot.pack()
self.__robot_canvas_manager = RobotCanvasManager(self.__canvas_robot)
self.__robot_canvas_manager.draw()
self.__robot = Robot()
self.__robot.body.point = Point(100, 60)
self.__robot.body.time_scale = 10
self.__pin_manager = PinManager(self.__frame_right_bottom)
self.__pin_manager.listener = self.__pin_listener
self.__canvas = tk.Canvas(super().window)
self.__canvas.pack(fill="both", expand=True)
self.__map_canvas_manager = MapCanvasManager(self.__canvas)
self.__map_canvas_manager.locate(self.__robot)
def __init__(self, canvas):
self.__square_map = {}
self.__canvas = canvas
self.__canvas.bind("<Configure>", self.__configure)
self.__canvas.tag_bind(
'square', '<ButtonPress-1>', self.__on_square_click)
self.__robot_last_square = None
self.__robot_last_position = None
self.__robot_avatar = None
self.__square_size = 1
self.__scale = 1
self.__map_repository = MapRepository()
self.__map = Map('map', square_size_cm=MapCanvasManager.SQUARE_SIZE)
for y in range(MapCanvasManager.DEFAULT_ROOM_HEIGHT):
for x in range(MapCanvasManager.DEFAULT_ROOM_WIDTH):
self.__map.append(Square(Point(x, y), type=Square.OPEN))
self.__obstacle_identifier = ObstacleIdentifier(self.__map)
def square(self, x, y):
return Square(Point(x, y), type=Square.SOLID)
def robot(self):
robot = Robot()
robot.body.point = Point(40, 40)
robot.body.heading = 0
return robot
def __create_circle(self, point, r, fill='green'):
radius = Point(r, r)
tl = point - radius
br = point + radius
return self.__canvas.create_oval(tl.x, tl.y, br.x, br.y, fill=fill)
def height(self):
return max(self.__squares,
key=lambda s: s.point.y,
default=Square(Point(0, -1), Square.OPEN)).point.y + 1
def width(self):
return max(self.__squares,
key=lambda s: s.point.x,
default=Square(Point(-1, 0), Square.OPEN)).point.x + 1
def center(self, scale=1):
return self.__point.translate(Point(0.5, 0.5)).scale(scale)
def points(self, scale=1):
return (self.__point.scale(scale),
self.__point.translate(Point(1, 0)).scale(scale),
self.__point.translate(Point(1, 1)).scale(scale),
self.__point.translate(Point(0, 1)).scale(scale))