コード例 #1
0
ファイル: MainWindow.py プロジェクト: spg/JDV
 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)
コード例 #2
0
ファイル: MainWindow.py プロジェクト: spg/JDV
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)