def __init__(self, parent, title):
super(MainWindow, self).__init__(parent, title=title,
size=(900, 550))
self.panel = wx.Panel(self, -1)
self.__Action = True
self.Tour =1
self.__Obstacle = False
self.Dessin = False
self.Chemin = False
self.gap = 20
self.t1= 0
self.__robotx = 175*2
self.__roboty = 53*2
self.__angleActuelle = 0
self.__coordx1 = -1
self.__coordy1 = -1
self.__coordx2 = -1
self.__coordy2 = 1
self.__base = Base()
wx.FutureCall(2000, self.__DrawLine)
self.Centre()
self.Show()
LogEvent.addHandler(self.__logReceived)
PoseEvent.addHandler(self.__PoseReceived)
TrajectoireEvent.addHandler(self.__TrajectoireReceived)
DessinEvent.addHandler(self.__DessinReceived)
EndEvent.addHandler(self.__endReceived)
ConfirmEvent.addHandler(self.__ConfirmReceived)
class MainWindow(wx.Frame):
def __init__(self, parent, title):
super(MainWindow, self).__init__(parent, title=title,
size=(900, 550))
self.panel = wx.Panel(self, -1)
self.__Action = True
self.Tour =1
self.__Obstacle = False
self.Dessin = False
self.Chemin = False
self.gap = 20
self.t1= 0
self.__robotx = 175*2
self.__roboty = 53*2
self.__angleActuelle = 0
self.__coordx1 = -1
self.__coordy1 = -1
self.__coordx2 = -1
self.__coordy2 = 1
self.__base = Base()
wx.FutureCall(2000, self.__DrawLine)
self.Centre()
self.Show()
LogEvent.addHandler(self.__logReceived)
PoseEvent.addHandler(self.__PoseReceived)
TrajectoireEvent.addHandler(self.__TrajectoireReceived)
DessinEvent.addHandler(self.__DessinReceived)
EndEvent.addHandler(self.__endReceived)
ConfirmEvent.addHandler(self.__ConfirmReceived)
def __bindHandlers(self):
self.Bind(wx.EVT_BUTTON, self.__onNewturnButtonClicked, self.__startnew)
self.Bind(wx.EVT_BUTTON, self.__onButtonClicked, self.__button)
self.Bind(wx.EVT_BUTTON, self.__onAfficheClicked, self.__Affiche)
self.Bind(wx.EVT_BUTTON, self.__onConnectButtonClicked, self.__connectionButton)
def __DrawLine(self):
#option de décalage
self.__offset = 0
self.dc = wx.ClientDC(self.panel)
# La zone de jeux
self.dc.SetBrush(wx.Brush('#ffffff'))
self.dc.DrawRectangle(0 + self.__offset, 0 + self.__offset, 460, 220)
self.dc.DrawRectangle(0 + self.__offset, 230 + self.__offset, 240, 240)
# Aire de dessin
self.dc.SetBrush(wx.Brush('#00ff00'))
self.dc.DrawRectangle(284+ self.__offset,44 + self.__offset, 133, 133)
self.dc.SetBrush(wx.Brush('#ffffff'))
self.dc.DrawRectangle(290 + self.__offset, 50 + self.__offset, 121, 121)
#ligne rouge
self.dc.SetBrush(wx.Brush('#ff0000'))
self.dc.DrawRectangle(156+ self.__offset, 0 + self.__offset, 4,220 )
# Point d'arriver pour les dessins
self.dc.SetBrush(wx.Brush('#00ff00'))
#self.dc.DrawRectangle( 122+ self.__offset, 182 + self.__offset, 5, 5)
#self.dc.DrawRectangle( 46+ self.__offset, 182 + self.__offset, 5, 5)
#self.dc.DrawRectangle( 40+ self.__offset, 190 + self.__offset, 5, 5)
#self.dc.DrawRectangle( 40+ self.__offset, 138 + self.__offset, 5, 5)
#self.dc.DrawRectangle( 40+ self.__offset, 84 + self.__offset, 5, 5)
#self.dc.DrawRectangle( 40+ self.__offset, 32 + self.__offset, 5, 5)
#self.dc.DrawRectangle( 46+ self.__offset, 40 + self.__offset, 5, 5)
#self.dc.DrawRectangle( 122+ self.__offset, 40 + self.__offset, 5, 5)
# Point d'arriver pour la zone de dessins
#self.dc.DrawRectangle( 295 + self.__offset, 55 + self.__offset, 5, 5)
# Met le robot sur la zone
self.dc.SetBrush(wx.Brush('#ff0000'))
self.__xL1 = self.__robotx + (15 * self.__coordx1)
self.__xL2 = self.__robotx + (15 * self.__coordx2)
self.__yL1 = self.__roboty + (15 * self.__coordy1)
self.__yL2 = self.__roboty + (15 * self.__coordy2)
self.dc.DrawLine(self.__robotx, self.__roboty, self.__xL1, self.__yL1)
self.dc.DrawLine(self.__robotx, self.__roboty, self.__xL2, self.__yL2)
self.dc.DrawLine(self.__xL2, self.__yL2, self.__xL1, self.__yL1)
if self.__Obstacle:
self.dc.SetBrush(wx.Brush('#0000ff'))
self.dc.DrawRectangle(self.__x1*2, (100-self.__y1)*2, 20, 20)
#self.dc.DrawRectangle(self.__x1*2, (self.__y1)*2, 20, 20)
self.dc.SetBrush(wx.Brush('#ff0000'))
self.dc.DrawRectangle(self.__x2*2, (100-self.__y2)*2, 20, 20)
#self.dc.DrawRectangle(self.__x2*2, (self.__y2)*2, 20, 20)
gap = self.gap
gap2 = gap +10
self.x21=gap2+self.__x2
self.x22=gap2+self.__x2
self.x23=self.__x2-gap
self.x24=self.__x2-gap
self.y21=self.__y2-gap
self.y22=gap2+self.__y2
self.y23=self.__y2-gap
self.y24=gap2+self.__y2
self.x11=gap2+self.__x1
self.x12=gap2+self.__x1
self.x13=self.__x1-gap
self.x14=self.__x1-gap
self.y11=gap2+self.__y1
self.y12=self.__y1-gap
self.y13=gap2+self.__y1
self.y14=self.__y1-gap
#self.dc.SetBrush(wx.Brush('#ff0000'))
#self.dc.DrawRectangle(self.x21*2,self.y21*2, 5, 5)
#self.dc.DrawRectangle(self.x22*2,self.y22*2, 5, 5)
#self.dc.DrawRectangle(self.x23*2,self.y23*2, 5, 5)
#self.dc.DrawRectangle(self.x24*2,self.y24*2, 5, 5)
#self.dc.SetBrush(wx.Brush('#0000ff'))
#self.dc.DrawRectangle(self.x11*2, self.y11*2, 5, 5)
#self.dc.DrawRectangle(self.x12*2, self.y12*2, 5, 5)
#self.dc.DrawRectangle(self.x13*2, self.y13*2, 5, 5)
#self.dc.DrawRectangle(self.x14*2, self.y14*2, 5, 5)
if self.__Action:
self.__Action = False
self.__button = wx.Button(self.panel, label="Obstacle", pos=(500, 10), size=(100, 25))
self.__Affiche = wx.Button(self.panel, label="Affiche", pos=(500, 50), size=(100, 25))
self.__connectionButton = wx.Button(self.panel, label="Se connecter au ", pos=(500, 90), size=(130, 25))
self.__startnew = wx.Button(self.panel, label="Nouveau tour", pos=(500, 140), size=(130, 25))
self.__loggingArea = wx.TextCtrl(self.panel, pos=(270, 260), size=(200, 200), style=wx.TE_MULTILINE)
self.__ipTextCtrl = wx.TextCtrl(self.panel, value='10.240.254.168', pos=(500, 200), size=(100, 25))
self.__portTextCtrl = wx.TextCtrl(self.panel, value='', pos=(650, 200), size=(100, 25))
self.__Info = wx.TextCtrl(self.panel, value='', pos=(500, 240), size=(300, 100))
font1 = wx.Font(15, wx.SWISS, wx.NORMAL, wx.NORMAL, False, u'Comic Sans MS')
self.__TimeInfo = wx.TextCtrl(self.panel, value='', pos=(500, 340), size=(300, 300),style=wx.TE_MULTILINE)
self.__TimeInfo.SetForegroundColour((0,0,255))
self.__TimeInfo.SetFont(font1)
self.__Info.SetForegroundColour((0,255,0))
self.__Info.SetFont(font1)
self.__Info.AppendText("")
self.label1 = wx.StaticText(self.panel, -1, 'x1 :' ,pos=(670, 50))
self.label2 = wx.StaticText(self.panel, -1, 'y1 :' ,pos=(770, 50))
self.label3 = wx.StaticText(self.panel, -1, 'x2 :' ,pos=(670, 150))
self.label4 = wx.StaticText(self.panel, -1, 'y2 :' ,pos=(770, 150))
self.x1 = wx.TextCtrl(self.panel,-1,value=u"111",pos=(700, 50),size=(50,20))
self.y1 = wx.TextCtrl(self.panel,-1,value=u"48",pos=(800, 50),size=(50,20))
self.x2 = wx.TextCtrl(self.panel,-1,value=u"100",pos=(700, 150),size=(50,20))
self.y2 = wx.TextCtrl(self.panel,-1,value=u"82",pos=(800, 150),size=(50,20))
# mac mini 254.168 10.240.213.142
self.__bindHandlers()
def __onNewturnButtonClicked(self, event):
self.t1 = time.clock()
print ""
self.__base.NewTurn()
def __onConnectButtonClicked(self, event):
#Affiche les obstacle
self.__x1=int(self.x1.GetValue())
self.__x2=int(self.x2.GetValue())
self.__y1=int(self.y1.GetValue())
self.__y2=int(self.y2.GetValue())
#Affichage des obstacle
self.__Obstacle= True
self.dc.Clear()
self.__DrawLine()
self.t1 = time.clock()
self.__connectionButton.Disable()
self.__ipTextCtrl.Disable()
self.__base.connectToRobot(self.__ipTextCtrl.GetValue(),self.__portTextCtrl.GetValue())
self.__base.setObstacle(self.__x1, self.__y1, self.__x2, self.__y2)
self.__base.StartRobot()
def __ConfirmReceived(self, message):
wx.CallAfter(self.__printToLoggingInfo, message)
def __endReceived(self,message):
t2 = time.clock()
total = t2 - self.t1
min = int(round(total/60,0))
sec = int(round(total%60,0))
if min < 10 > sec:
message = "temps : 0" + str(min) + ":0" + str(sec)
if min < 10 <= sec:
message = "temps : 0" + str(min) + ":" + str(sec)
if min >= 10 > sec:
message = "temps : " + str(min) + ":0" + str(sec)
if min >= 10 <= sec:
message = "temps : " + str(min) + ":" + str(sec)
wx.CallAfter(self.__printTemps, message)
def __logReceived(self, message):
wx.CallAfter(self.__printToLoggingArea, message)
def __PoseReceived(self, message):
wx.CallAfter(self.__Pose,message)
def __Pose(self,message):
self.dc.Clear()
Angle = message.theta
self.__RotationTriangle(Angle)
self.__robotx = message.x*2
self.__roboty = (110-message.y)*2
#self.__roboty = (message.y)*2
self.__DrawLine()
if self.Dessin:
self.__AfficherDessin(self.__listeDessin)
if self.Chemin:
self.__AfficherTrajectoire(self.__listeChemin)
def __DessinReceived(self, message):
wx.CallAfter(self.__Dessin,message)
def __Dessin(self,message):
self.Dessin =True
self.__listeDessin= message.liste
self.__AfficherDessin(self.__listeDessin)
def __TrajectoireReceived(self, message):
wx.CallAfter(self.__trajectoire,message)
def __trajectoire(self,message):
self.Chemin =True
self.__listeChemin = message.liste
self.__AfficherTrajectoire(self.__listeChemin)
def __AfficherTrajectoire(self, liste):
self.dc.Clear()
self.__DrawLine()
if self.Dessin:
self.__AfficherDessin(self.__listeDessin)
Depart = True
x1 = y1 = 0
for x, y in liste :
if Depart :
Depart = False
else:
#self.dc.DrawLine((x1*2)+self.__offset,(y1*2)+self.__offset, (x*2)+self.__offset,(y*2)+self.__offset)
self.dc.DrawLine((x1*2)+self.__offset,((110-y1)*2)+self.__offset, (x*2)+self.__offset,((110-y)*2)+self.__offset)
x1 = x
y1 = y
def __AfficherDessin(self,liste):
self.Dessin = True
self.dc.Clear()
print "Efface"
self.__DrawLine()
Depart = True
x1 = y1 = 0
for x, y in liste :
print "DEssin"
if Depart :
xdepart = x
ydepart = y
Depart = False
else:
self.dc.DrawLine((x1*4)+self.__offset, (-y1*4)+ 470, (x*4)+self.__offset, (-y*4)+470)
x1 = x
y1 = y
self.dc.DrawLine((x*4)+self.__offset, (-y*4)+ 470, (xdepart*4)+self.__offset, (-ydepart*4)+470)
def __printToLoggingArea(self, message):
currentTime = time.strftime("%H:%M:%S", time.localtime())
self.__loggingArea.AppendText(currentTime + ' : ' + message + '\n')
def __printTemps(self, message):
self.__TimeInfo.AppendText('Tour '+str(self.Tour)+' : ')
print str(message)
self.__TimeInfo.AppendText(message+'\n')
self.Tour += 1
def __printToLoggingInfo(self, message):
print str(message)
self.__Info.SetValue(message)
def __RotationTriangle(self, angles):
x = ((self.__robotx - self.__xL1 ) / 15)
y = ((self.__roboty - self.__yL1) / 15)
_angle = angles - self.__angleActuelle
self.__angleActuelle += _angle
self.__coordx1 = 0 - (x * math.cos(math.radians(_angle)) - (y * math.sin(math.radians(_angle))))
self.__coordy1 = 0 - (x * math.sin(math.radians(_angle)) + (y * math.cos(math.radians(_angle))))
x1 = ((self.__robotx - self.__xL2) / 15)
y1 = ((self.__roboty - self.__yL2) / 15)
self.__coordx2 = 0 - (x1 * math.cos(math.radians(_angle)) - (y1 * math.sin(math.radians(_angle))))
self.__coordy2 = 0 - (x1 * math.sin(math.radians(_angle)) + (y1 * math.cos(math.radians(_angle))))
def __onButtonClicked(self, event):
O = Obstacle(None,"Obstacle")
O.Show()
def __onAfficheClicked(self, event):
#Affiche les obstacle
self.__x1=int(self.x1.GetValue())
self.__x2=int(self.x2.GetValue())
self.__y1=int(self.y1.GetValue())
self.__y2=int(self.y2.GetValue())
#Valeur par default pour bu de test
#self.__x1 = 120+ self.__offset
#self.__y1 = 50+self.__offset
#self.__x2 = 110+ self.__offset
#self.__y2 = 50+self.__offset
#self.__x2 = 50+ self.__offset
#self.__y2 = 100+self.__offset
#self.__x1 = 80+ self.__offset
#self.__y1 = 50+self.__offset
#Affichage des obstacle
# Bleu
self.dc.SetBrush(wx.Brush('#0000ff'))
self.dc.DrawRectangle(self.__x1*2, self.__y1*2, 20, 20)
# Rouge
self.dc.SetBrush(wx.Brush('#ff0000'))
self.dc.DrawRectangle(self.__x2*2, self.__y2*2, 20, 20)
self.__Obstacle= True
#Affichage des noeuds des obstacles
#t = Trajectoire(150.00, 350.00, 210.00, 70.00)
t = Trajectoire(self.__x1,self.__y1 ,self.__x2 ,self.__y2)
#liste = t.PathFinding(175.00, 60.00,25.00, 105.00 )
#self.__AfficherTrajectoire(liste)
liste =t.PathFinding(56.0, 50.0, 175.00, 53.00 )
self.__AfficherTrajectoire(liste)
time.sleep(2)
liste =t.PathFinding(30.0, 40.0, 175.00, 53.00 )
self.__AfficherTrajectoire(liste)
time.sleep(2)
liste =t.PathFinding(50.0, 16.0, 175.00, 53.00 )
self.__AfficherTrajectoire(liste)
time.sleep(2)
liste =t.PathFinding(56.0, 60.0, 175.00, 53.00 )
self.__AfficherTrajectoire(liste)
time.sleep(2)
liste =t.PathFinding(40.0, 42.0, 175.00, 53.00 )
self.__AfficherTrajectoire(liste)
time.sleep(2)
liste =t.PathFinding(40.0, 69.0, 175.00, 53.00 )
self.__AfficherTrajectoire(liste)
time.sleep(2)
liste =t.PathFinding(40, 77, 175.00, 53.00 )
self.__AfficherTrajectoire(liste)
time.sleep(2)
liste =t.PathFinding(30.0, 71.0, 175.00, 53.00 )
self.__AfficherTrajectoire(liste)
time.sleep(2)
liste =t.PathFinding(56.0, 60.0, 175.00, 53.00 )
self.__AfficherTrajectoire(liste)