def __init__(self, camera):
self._camera = camera.camera
self._camera_node = camera.node
self.original_parent = None
self.handler_map = {'CAM_TOGGLE_FOLLOW': self.test_follow}
# 'CAM_INDEPENDENT' : self._make_independent}
event.register_handlers(self.handler_map)
# This sets up automatic setting of the key down properties
watched_buttons = {
'_forward': ['CAM_FORWARD'],
'_backward': ['CAM_BACK'],
'_left': ['CAM_LEFT'],
'_right': ['CAM_RIGHT'],
'_down': ['CAM_DOWN'],
'_up': ['CAM_UP'],
'_pitch_up': ['CAM_PITCH_UP'],
'_pitch_down': ['CAM_PITCH_DOWN'],
'_zoom_in': ['CAM_ZOOM_IN'],
'_zoom_out': ['CAM_ZOOM_OUT'],
'_yaw_left': ['CAM_YAW_LEFT'],
'_yaw_right': ['CAM_YAW_RIGHT']
}
self.key_observer = ButtonStateObserver(self, watched_buttons)
def __init__(self, camera):
self._camera = camera.camera
self._camera_node = camera.node
self.original_parent = None
self.handler_map = {"CAM_TOGGLE_FOLLOW": self.test_follow}
# 'CAM_INDEPENDENT' : self._make_independent}
event.register_handlers(self.handler_map)
# This sets up automatic setting of the key down properties
watched_buttons = {
"_forward": ["CAM_FORWARD"],
"_backward": ["CAM_BACK"],
"_left": ["CAM_LEFT"],
"_right": ["CAM_RIGHT"],
"_down": ["CAM_DOWN"],
"_up": ["CAM_UP"],
"_pitch_up": ["CAM_PITCH_UP"],
"_pitch_down": ["CAM_PITCH_DOWN"],
"_zoom_in": ["CAM_ZOOM_IN"],
"_zoom_out": ["CAM_ZOOM_OUT"],
"_yaw_left": ["CAM_YAW_LEFT"],
"_yaw_right": ["CAM_YAW_RIGHT"],
}
self.key_observer = ButtonStateObserver(self, watched_buttons)
def __init__(self, subject, buttons):
"""
@type subject: Anything
@param subject: The object which the attribute is set on.
@type buttons: Dict
@param buttons: Maps attribute name to a list of events to watch for
that attribute.
"""
self._attr_codes = {}
self._subject = subject
handler_map = {}
for attr_name, event_types in buttons.iteritems():
# Ensure the attribute exists on the object
if not hasattr(subject, attr_name):
setattr(subject, attr_name, False)
self._attr_codes[attr_name] = set()
# Generate our handler function
handler = self.generate_handler(attr_name)
for event_type in event_types:
event.register_handlers(event_type, handler)
def __init__(self, subject, buttons):
"""
@type subject: Anything
@param subject: The object which the attribute is set on.
@type buttons: Dict
@param buttons: Maps attribute name to a list of events to watch for
that attribute.
"""
self._attr_codes = {}
self._subject = subject
handler_map = {}
for attr_name, event_types in buttons.iteritems():
# Ensure the attribute exists on the object
if not hasattr(subject, attr_name):
setattr(subject, attr_name, False)
self._attr_codes[attr_name] = set()
# Generate our handler function
handler = self.generate_handler(attr_name)
for event_type in event_types:
event.register_handlers(event_type, handler)
def __init__(self, config, input_sys, window): #, keyboard):
self._window = window
self._input_sys = input_sys
# Call C++ Super class constructor
# OIS.MouseListener.__init__( self)
OIS.KeyListener.__init__(self)
Ogre.WindowEventListener.__init__(self)
# self._setup_logging(config.get()
# self.logger.info('* * * Beginning initialization')
self._setup_ois()
event.register_handlers('SIM_UPDATE', self._update)
#self.logger.info('* * * Initialized')
# Register our self as listener for the input events
# mouse.setEventCallback(self)
self.keyboard.setEventCallback(self)
def __init__(self, config, input_sys, window): #, keyboard):
self._window = window
self._input_sys = input_sys
# Call C++ Super class constructor
# OIS.MouseListener.__init__( self)
OIS.KeyListener.__init__(self)
Ogre.WindowEventListener.__init__(self)
# self._setup_logging(config.get()
# self.logger.info('* * * Beginning initialization')
self._setup_ois()
event.register_handlers('SIM_UPDATE', self._update)
#self.logger.info('* * * Initialized')
# Register our self as listener for the input events
# mouse.setEventCallback(self)
self.keyboard.setEventCallback(self)
def __init__(self, config, deps):
core.Subsystem.__init__(self, config.get("name", "Simulation"))
Simulation.SIMULATION = self
self._windowListener = WindowListener(self.windowClosed)
self._simulation = simulation.Simulation(config)
self._root = ogre.Root.getSingleton()
self._debugOutput = config.get("debugOutput", False)
# Load data file
self._guiFileName = self._getGUIFileName(config)
guiData = {}
try:
stream = file(self._guiFileName, "r")
guiData = yaml.load(stream)
stream.close()
except (IOError, yaml.YAMLError):
# File does not exist, ignore
pass
# Load settings and create screen
simGUICfg = guiData.get("SIM", {})
width = simGUICfg.get("windowWidth", 800)
height = simGUICfg.get("windowHeight", 600)
top = simGUICfg.get("windowTop", 100)
left = simGUICfg.get("windowLeft", 100)
params = ogre.NameValuePairList()
params["top"] = str(top)
params["left"] = str(left)
self._window = self._root.createRenderWindow("Simulator", width, height, False, params)
self._debug = config.get("debug", False)
self._backgrounded = False
# Load Scenes and grab the main one
self._simulation.create_all_scenes()
self.scene = self._simulation.get_scene("Main")
# Input System
self._inputForwarder = input.OISInputForwarder({}, self._simulation.input_system, self._window)
event.register_handlers({"SCREENSHOT": self._onScreenshot})
# Determine camera settings
margin = 0.005
width = 0.5 - 1.5 * margin
height = width * 0.75
top = 1 - margin - height
mainHeight = 1 - 2 * margin - height
if not config.get("vehicleView"):
mainHeight = 1
# Setup viewport
camera = self.scene.get_camera("Main").camera
camera.setAutoAspectRatio(True)
viewport = self._window.addViewport(camera, height=mainHeight)
viewport._updateDimensions()
if config.get("vehicleView"):
robot = self.scene._robots["Tortuga"]
forwardCamera = Simulation._createCamera(robot, "_forward", (0.5, 0, 0), (1, 0, 0))
viewport = self._window.addViewport(
forwardCamera, ZOrder=1, top=top, left=margin, height=height, width=width
)
viewport._updateDimensions()
downwardCamera = Simulation._createCamera(robot, "_downward", (0.5, 0, -0.1), (0, 0, -1))
viewport = self._window.addViewport(
downwardCamera, ZOrder=2, top=top, left=0.5 + margin / 2, height=height, width=width
)
viewport._updateDimensions()
self._simulation.start()
time.sleep(1)
if self._debug:
ogrenewt.Debugger.getSingleton().init(self.scene.scene_mgr)
def __init__(self, config, deps):
core.Subsystem.__init__(self, config.get('name', 'Simulation'))
Simulation.SIMULATION = self
self._windowListener = WindowListener(self.windowClosed)
self._simulation = simulation.Simulation(config)
self._root = ogre.Root.getSingleton()
self._debugOutput = config.get('debugOutput', False)
# Load data file
self._guiFileName = self._getGUIFileName(config)
guiData = {}
try:
stream = file(self._guiFileName, 'r')
guiData = yaml.load(stream)
stream.close()
except (IOError, yaml.YAMLError):
# File does not exist, ignore
pass
# Load settings and create screen
simGUICfg = guiData.get('SIM', {})
width = simGUICfg.get("windowWidth", 800)
height = simGUICfg.get("windowHeight", 600)
top = simGUICfg.get("windowTop", 100)
left = simGUICfg.get("windowLeft", 100)
params = ogre.NameValuePairList()
params['top'] = str(top)
params['left'] = str(left)
self._window = self._root.createRenderWindow("Simulator", width,
height, False, params)
self._debug = config.get('debug', False)
self._backgrounded = False
# Load Scenes and grab the main one
self._simulation.create_all_scenes()
self.scene = self._simulation.get_scene('Main')
# Input System
self._inputForwarder = input.OISInputForwarder( \
{}, self._simulation.input_system, self._window)
event.register_handlers({'SCREENSHOT': self._onScreenshot})
# Determine camera settings
margin = 0.005
width = 0.5 - 1.5 * margin
height = width * 0.75
top = 1 - margin - height
mainHeight = 1 - 2 * margin - height
if not config.get('vehicleView'):
mainHeight = 1
# Setup viewport
camera = self.scene.get_camera('Main').camera
camera.setAutoAspectRatio(True)
viewport = self._window.addViewport(camera, height=mainHeight)
viewport._updateDimensions()
if config.get('vehicleView'):
robot = self.scene._robots['Tortuga']
forwardCamera = Simulation._createCamera(robot, '_forward',
(0.5, 0, 0), (1, 0, 0))
viewport = self._window.addViewport(forwardCamera,
ZOrder=1,
top=top,
left=margin,
height=height,
width=width)
viewport._updateDimensions()
downwardCamera = Simulation._createCamera(robot, '_downward',
(0.5, 0, -0.1),
(0, 0, -1))
viewport = self._window.addViewport(downwardCamera,
ZOrder=2,
top=top,
left=0.5 + margin / 2,
height=height,
width=width)
viewport._updateDimensions()
self._simulation.start()
time.sleep(1)
if self._debug:
ogrenewt.Debugger.getSingleton().init(self.scene.scene_mgr)
