class Game(object):
""" The Game is the main entry point for the game. You'll want to inherit from this to create a game.
Args:
ip (string, Optional): the ip of the rgb display to target. Defaults to "127.0.0.1"
resources (string, Optional): a list of resources to preload (e.g. Sound).
This enables the use of playSound, stopSound and fadeoutSound.
Defaults to None
songs (string, Optional): a list of music to load into the MusicManager. Can be accessed with "self.music". Defaults to None
states (string, Optional): a list of states to be used with the integrated StateMachine. Defaults to None
"""
def __init__(self,
ip="127.0.0.1",
resources=None,
songs=None,
states=None,
port=6803):
self.rgb = RGB(ip, port)
self.rgb.invertedX = True
self.rgb.invertedY = True
self.framerate = 20
self.previousControllerState = []
self.controllers = []
self.controllerOrientations = []
if not resources:
resources = []
if not songs:
songs = []
if not states:
states = []
self.stateMachine = StateMachine(self, states, self.on_state_changed)
self.music = MusicManager(songs)
pygame.init()
pygame.joystick.init()
pygame.mixer.init()
self.resources = {}
for r in resources:
r.load()
if self.resources.has_key(r.name):
print "double resource key: '", r.name, "'"
self.resources[r.name] = r
pygame.display.set_mode([200, 100])
self.playerCount = pygame.joystick.get_count()
print str(self.playerCount) + " Joysticks connected."
for i in range(self.playerCount):
joystick = pygame.joystick.Joystick(i)
self.controllers.append(joystick)
joystick.init()
self.previousControllerState.append({
'xAxis': 0,
'yAxis': 0,
'aButton': False,
'bButton': False,
'cButton': False,
'dButton': False
})
self.controllerOrientations.append(Orientation.South)
self.keyboardJoystick = False
if self.playerCount == 0:
self.playerCount = 2
self.keyboardJoystick = True
self.previousControllerState.append({
'xAxis': 0,
'yAxis': 0,
'aButton': False,
'bButton': False,
'cButton': False,
'dButton': False
})
self.controllers.append(KeyboardController(controller_id=0))
self.controllerOrientations.append(Orientation.South)
self.previousControllerState.append({
'xAxis': 0,
'yAxis': 0,
'aButton': False,
'bButton': False,
'cButton': False,
'dButton': False
})
self.controllers.append(KeyboardController(controller_id=1))
self.controllerOrientations.append(Orientation.South)
self.lastFrame = time.time()
def poll(self, dt):
pygame.event.pump()
if self.keyboardJoystick:
events = pygame.event.get()
for player in range(len(self.controllers)):
controller = self.controllers[player]
if self.keyboardJoystick:
controller.set_events(events)
previousControllerState = self.previousControllerState[player]
xAxis = -controller.get_axis(0)
yAxis = -controller.get_axis(1)
previousXAxis = previousControllerState['xAxis']
previousYAxis = previousControllerState['yAxis']
xChanged = previousXAxis != xAxis
yChanged = previousYAxis != yAxis
if xChanged or yChanged:
xAxis, yAxis = self._mapAxisToOrientation(player, xAxis, yAxis)
self.onAxisChanged(player, xAxis, yAxis, previousXAxis,
previousYAxis)
previousControllerState['xAxis'] = xAxis
previousControllerState['yAxis'] = yAxis
aButton = controller.get_button(0)
bButton = controller.get_button(1)
cButton = controller.get_button(2)
dButton = controller.get_button(3)
previousAButton = previousControllerState['aButton']
previousBButton = previousControllerState['bButton']
previousCButton = previousControllerState['cButton']
previousDButton = previousControllerState['dButton']
aChanged = previousAButton != aButton
bChanged = previousBButton != bButton
cChanged = previousCButton != cButton
dChanged = previousDButton != dButton
if aChanged or bChanged:
self.onButtonChanged(player, aButton, bButton, previousAButton,
previousBButton)
previousControllerState['aButton'] = aButton
previousControllerState['bButton'] = bButton
if cChanged:
if not cButton:
self._onChangeOrientation(player)
previousControllerState['cButton'] = cButton
if dChanged:
if not dButton:
self.onStartMenuTriggered(player)
previousControllerState['dButton'] = dButton
def run(self):
clock = pygame.time.Clock()
while True:
dt = clock.tick(self.framerate) / 1000.0
#dt = time.time() - self.lastFrame
self.update(dt)
self.draw(self.rgb)
self.rgb.send()
self.lastFrame = time.time()
def update(self, dt):
self.poll(dt)
self.stateMachine.update(dt)
def draw(self, rgb):
rgb.clear(BLACK)
self.stateMachine.draw(rgb)
def onAxisChanged(self, player, xAxis, yAxis, previousXAxis,
previousYAxis):
if (self._isZero(xAxis) and self._notIsZero(previousXAxis)) or \
(self._isZero(yAxis) and self._notIsZero(previousYAxis)):
self.onClampedAxisChanged(player, 0, 0)
elif (self._notIsZero(xAxis) and self._isZero(previousXAxis)) or \
(self._notIsZero(yAxis) and self._isZero(previousYAxis)):
x = 1 if xAxis > 0.1 else 0
x = -1 if xAxis < -0.1 else x
y = 1 if yAxis > 0.1 else 0
y = -1 if yAxis < -0.1 else y
if x != 0 or y != 0:
self.onClampedAxisChanged(player, x, y)
self.stateMachine.onAxisChanged(player, xAxis, yAxis, previousXAxis,
previousYAxis)
def onButtonChanged(self, player, a_button, b_button, previous_a_button,
previous_b_button):
self.stateMachine.onButtonChanged(player, a_button, b_button,
previous_a_button, previous_b_button)
def onClampedAxisChanged(self, player, x, y):
self.stateMachine.onClampedAxisChanged(player, x, y)
def on_state_changed(self, state, change_type):
pass
def playSound(self, name):
res = self.resources[name]
if isinstance(res, Sound):
self.resources[name].play()
else:
print "tried to play non-sound resource"
def stopSound(self, name):
res = self.resources[name]
if isinstance(res, Sound):
self.resources[name].stop()
else:
print "tried to stop non-sound resource"
def fadeoutSound(self, name, time):
res = self.resources[name]
if isinstance(res, Sound):
self.resources[name].fadeout(time)
else:
print "tried to fadeout non-sound resource"
def setState(self, name):
self.stateMachine.setState(name)
def onStartMenuTriggered(self, player):
sys.exit(0)
def _isZero(self, d):
return abs(d) < 0.1
def _notIsZero(self, d):
return abs(d) > 0.1
def _mapAxisToOrientation(self, player, xAxis, yAxis):
orientation = self.controllerOrientations[player]
if orientation == Orientation.North:
xAxis = -xAxis
yAxis = -yAxis
elif orientation == Orientation.West:
xTmp = xAxis
xAxis = -yAxis
yAxis = xTmp
elif orientation == Orientation.East:
xTmp = xAxis
xAxis = yAxis
yAxis = -xTmp
return xAxis, yAxis
def _onChangeOrientation(self, player):
self.controllerOrientations[player] = (
self.controllerOrientations[player] + 1) % Orientation.Count
class Game:
def __init__(self, ip="127.0.0.1", resources=None, songs=None, states=None):
self.rgb = RGB(ip)
self.rgb.invertedX = False
self.rgb.invertedY = True
self.framerate = 20
self.previousControllerState = []
self.controllers = []
self.controllerOrientations = []
if not resources:
resources = []
if not songs:
songs = []
if not states:
states = []
self.stateMachine = StateMachine(states)
self.music = MusicManager(songs)
pygame.init()
pygame.joystick.init()
pygame.mixer.init()
self.resources = {}
for r in resources:
r.load()
if self.resources.has_key(r.name):
print "double resource key: '", r.name,"'"
self.resources[r.name] = r
pygame.display.set_mode([200,100])
self.playerCount = pygame.joystick.get_count()
print str(self.playerCount) + " Joysticks connected."
for i in range(self.playerCount):
joystick = pygame.joystick.Joystick(i)
self.controllers.append(joystick)
joystick.init()
self.previousControllerState.append({
'xAxis': 0,
'yAxis': 0,
'aButton': False,
'bButton': False,
'cButton': False,
'dButton': False
})
self.controllerOrientations.append(Orientation.South)
self.keyboardJoystick = False
if self.playerCount == 0:
self.playerCount = 2
self.keyboardJoystick = True
self.previousControllerState.append({
'xAxis': 0,
'yAxis': 0,
'aButton': False,
'bButton': False,
'cButton': False,
'dButton': False
})
self.controllers.append(KeyboardController(id=0))
self.controllerOrientations.append(Orientation.South)
self.previousControllerState.append({
'xAxis': 0,
'yAxis': 0,
'aButton': False,
'bButton': False,
'cButton': False,
'dButton': False
})
self.controllers.append(KeyboardController(id=1))
self.controllerOrientations.append(Orientation.South)
self.lastFrame = time.time()
def poll(self, dt):
pygame.event.pump()
if self.keyboardJoystick:
events = pygame.event.get()
for player in range(len(self.controllers)):
controller = self.controllers[player]
if self.keyboardJoystick:
controller.set_events(events)
previousControllerState = self.previousControllerState[player]
xAxis = -controller.get_axis(0)
yAxis = -controller.get_axis(1)
previousXAxis = previousControllerState['xAxis']
previousYAxis = previousControllerState['yAxis']
xChanged = previousXAxis != xAxis
yChanged = previousYAxis != yAxis
if xChanged or yChanged:
xAxis, yAxis = self._mapAxisToOrientation(player, xAxis, yAxis)
self.onAxisChanged(player, xAxis, yAxis, previousXAxis, previousYAxis)
previousControllerState['xAxis'] = xAxis
previousControllerState['yAxis'] = yAxis
aButton = controller.get_button(0)
bButton = controller.get_button(1)
cButton = controller.get_button(2)
dButton = controller.get_button(3)
previousAButton = previousControllerState['aButton']
previousBButton = previousControllerState['bButton']
previousCButton = previousControllerState['cButton']
previousDButton = previousControllerState['dButton']
aChanged = previousAButton != aButton
bChanged = previousBButton != bButton
cChanged = previousCButton != cButton
dChanged = previousDButton != dButton
if aChanged or bChanged:
self.onButtonChanged(player, aButton, bButton, previousAButton, previousBButton)
previousControllerState['aButton'] = aButton
previousControllerState['bButton'] = bButton
if cChanged:
if not cButton:
self._onChangeOrientation(player)
previousControllerState['cButton'] = cButton
if dChanged:
if not dButton:
self.onStartMenuTriggered(player)
previousControllerState['dButton'] = dButton
def run(self):
clock = pygame.time.Clock()
while True:
dt = clock.tick(self.framerate) / 1000.0
#dt = time.time() - self.lastFrame
self.update(dt)
self.draw(self.rgb)
self.rgb.send()
self.lastFrame = time.time()
def update(self, dt):
self.poll(dt)
self.stateMachine.update(dt)
def draw(self, rgb):
rgb.clear(BLACK)
self.stateMachine.draw(rgb)
def onAxisChanged(self, player, xAxis, yAxis, previousXAxis, previousYAxis):
#todo rotation
if (self._notIsZero(xAxis) and self._isZero(previousXAxis)) or \
(self._notIsZero(yAxis) and self._isZero(previousYAxis)):
x = 1 if xAxis > 0.1 else 0
x = -1 if xAxis < -0.1 else x
y = 1 if yAxis > 0.1 else 0
y = -1 if yAxis < -0.1 else y
if x != 0 or y != 0:
self.onClampedAxisChanged(player, x, y)
self.stateMachine.onAxisChanged(player, xAxis, yAxis, previousXAxis, previousYAxis)
def onButtonChanged(self, player, aButton, bButton, previousAButton, previousBButton):
self.stateMachine.onButtonChanged(player, aButton, bButton, previousAButton, previousBButton)
def onClampedAxisChanged(self, player, x, y):
self.stateMachine.onClampedAxisChanged(player, x, y)
def playSound(self, name):
res = self.resources[name]
if isinstance(res, Sound):
self.resources[name].play()
else:
print "tried to play non-sound resource"
def stopSound(self, name):
res = self.resources[name]
if isinstance(res, Sound):
self.resources[name].stop()
else:
print "tried to stop non-sound resource"
def fadeoutSound(self, name, time):
res = self.resources[name]
if isinstance(res, Sound):
self.resources[name].fadeout(time)
else:
print "tried to fadeout non-sound resource"
def setState(self, name):
self.stateMachine.setState(name)
def onStartMenuTriggered(self, player):
sys.exit(0)
def _isZero(self, d):
return abs(d) < 0.1
def _notIsZero(self, d):
return abs(d) > 0.1
def _mapAxisToOrientation(self, player, xAxis, yAxis):
orientation = self.controllerOrientations[player]
if orientation == Orientation.North:
xAxis = -xAxis
yAxis = -yAxis
elif orientation == Orientation.West:
xTmp = xAxis
xAxis = -yAxis
yAxis = xTmp
elif orientation == Orientation.East:
xTmp = xAxis
xAxis = yAxis
yAxis = -xTmp
return xAxis, yAxis
def _onChangeOrientation(self, player):
self.controllerOrientations[player] = (self.controllerOrientations[player] + 1) % Orientation.Count
class NekoNekoChan(object):
def __init__(self):
Config.update()
self.sound = Sound()
# sensor values
self.sensLeft = ColorSensor(INPUT_1)
self.sensRight = ColorSensor(INPUT_4) # TODO: Sensoren anschließen
self.sensIR = InfraredSensor(INPUT_2)
self.sensTouch = TouchSensor(INPUT_3)
self.btn = Button()
self.sensValues = {}
# Classes for features
self.drive = Drive()
self.cross = Cross()
# statemachine
self.fsm = StateMachine()
# adding States
self.fsm.states["followLine"] = State("followLine")
self.fsm.states["followLine"].addFunc(self.drive.followLine,
self.sensValues)
self.fsm.states["brake"] = State("brake")
self.fsm.states["crossFirstTurn"] = State("crossFirstTurn")
self.fsm.states["crossFirstTurn"].addFunc(self.cross.firstTurn,
self.sensValues)
self.fsm.states["checkNextExit"] = State("checkNextExit")
self.fsm.states["checkNextExit"].addFunc(self.drive.followLine,
self.sensValues)
# adding Transitions
self.fsm.transitions["toFollowLine"] = Transition("followLine")
self.fsm.transitions["toBrake"] = Transition("brake")
self.fsm.transitions["toBrake"].addFunc(self.drive.brake)
self.fsm.transitions["toCrossFirstTurn"] = Transition("crossFirstTurn")
def checkBlue(self):
hue = self.sensValues["ColorLeft"][0]
return hue > 0.4 and hue < 0.68 # TODO: measure best threshold for blue values
def run(self):
self.fsm.setState("followLine")
while True:
# update sensor values
self.sensValues["ColorLeft"] = self.sensLeft.hls
self.sensValues["ColorRight"] = self.sensRight.hls
self.sensValues["IR"] = self.sensIR.proximity
self.sensValues["Touch"] = self.sensTouch.is_pressed
# copy current State
curState = self.fsm.currentState
#Debug.print(self.sensValues["ColorLeft"], self.sensValues["ColorRight"]) # TODO: find Lightness thresholds
if self.btn.down:
sleep(1)
if self.btn.down:
Config.update()
self.drive.updateConfig()
self.sound.beep()
if curState == None:
self.fsm.transition("toFollowLine")
elif self.sensValues["ColorLeft"][1] < 10.0 or self.sensValues[
"ColorRight"][1] < 10.0:
self.fsm.transition("toBrake")
elif self.btn.any():
break
elif curState.name != "followLine":
self.fsm.transition("toFollowLine")
"""
# EmergencyStop TODO: Wert für Abgrund definieren
# if self.sensValues["ColorLeft"] == ABGRUND or self.sensValues["ColorRight"] == ABGRUND:
# self.fsm.transition("toBrake")
# if clauses for changing state
# calibrate sensors
# wait for button press before starting
# line following
# intersection first turn
# elif self.checkBlue():
# self.fsm.transition("toCrossFirstTurn")
# detect ball
# collect ball, turn around
# intersection turn = entry turn
"""
self.fsm.execute()
sleep(0.01)
