def oneSecTimer(timer):
if (pygame.time.get_ticks() >= timer + 1000):
timer = pygame.time.get_ticks()
if (len(globals.OTTO) < MAX_OTTOS):
if (globals.OTTOTIMER > 0):
globals.OTTOTIMER -= 1
else:
globals.OTTOTIMER = otto.ottoTimerReload
#make otto
otto.Class_Otto()
sounds.playSound(sounds.ottoAliveSound)
return timer
def collide(self, victim):
if victim not in globals.PLAYER.sprites():
if (globals.SOUNDS_ON == True):
#depending on victim play diff sound
if victim in globals.BULLETS.sprites():
sounds.playSound(sounds.robotShotSound)
for a in globals.PLAYER.sprites():
if victim.shooter_obj == a:
globals.SCORE += 1
else:
sounds.playSound(sounds.robotExplodeSound)
if globals.android:
globals.android.vibrate(2)
self.killState = True
def startNewLevel():
sounds.playSound(sounds.nextLevelSound)
globals.OTTOTIMER = otto.ottoTimerReload
globals.LEVEL += 1
# make level wrap back to zero
if globals.LEVEL > maxLevels:
globals.LEVEL = 0
#destroy all the objects
for a in globals.OBJECTS:
a.kill()
#start a new level
pList = misc.distPoints(globals.SCREENSIZE, globals.NUM_OF_ROBOTS / 4, 4)
player.Class_Player(player.player_start_pos, [0,0])
for a in range(globals.NUM_OF_ROBOTS):
robots.Class_Robot(pList[a], [0,0])
#level up robots
for a in globals.ROBOTS.sprites():
a.levelUp(globals.LEVEL)
maze.Class_Maze(globals.SCREENSIZE)
def __init__(self, src_obj, speed, direction, \
list_colors = bullet_color_list_pts, \
size = bullet_pixel_size,\
list_polygon_pts = bullet_polygon_list_pts,\
groups = []):
self.blitImage = None
if (direction == movement.dirEnum.NONE):
#if a direction is not indicated dont fire
# kill yourself
self.killState = True
return
self.size = copy.deepcopy(size)
#needed deepcopy here... guess if its more than one deep have to deepcopy
self.list_polygon_pts = copy.deepcopy(list_polygon_pts)
self.list_colors = copy.deepcopy(list_colors)
# keep a reference to obj shooter so when bullet is done
# we can indicate bullet has been removed
self.shooter_obj = src_obj
# place bullet with direction vector from source object center
# if the direction is purely left or right then dont modify y
# make x = 1/2 src obj x + 1/2 bullet width
# if the direction is purely up or down then make x = 1/4 of src obj
# width, make y = 1/2 src obj height + 1/2 bullet height
# if the direction is diagonal then make y = 1/4 src obj height +
# plus 1/2 bullet width
# make x = 1/2 src obj width + 1/2 bullet width
# Also: rotate sprite image depending on orientation
# it defaults to up - so if direction is up or down
# dont worry about it
# Transformation equations:
# Px' = Px * cos theta - Py * sin theta
# Py' = Py * cos theta + Px * sin theta
pos = copy.deepcopy(src_obj.pos)
angle = 0.0
if (direction == movement.dirEnum.LEFT) | (direction
== movement.dirEnum.RIGHT):
angle = math.pi / 2.0 #90 deg to make it horizontal
if (direction == movement.dirEnum.LEFT):
sign = [-1.0, 1.0]
else:
sign = [1.0, 1.0]
pos[0] += sign[0] * (0.5 * src_obj.size[0] + 0.5 * size[0])
elif (direction == movement.dirEnum.UP) | (direction
== movement.dirEnum.DOWN):
if (direction == movement.dirEnum.UP):
sign = [1.0, -1.0]
else:
sign = [1.0, 1.0]
pos[0] += sign[0] * (0.25 * src_obj.size[0])
pos[1] += sign[1] * (0.5 * src_obj.size[1] + 0.5 * size[1])
else:
if (direction == movement.dirEnum.UPLEFT):
sign = [-1.0, -1.0]
angle = -math.pi / 4.0
elif (direction == movement.dirEnum.UPRIGHT):
sign = [1.0, -1.0]
angle = math.pi / 4.0
elif (direction == movement.dirEnum.DOWNLEFT):
sign = [-1.0, 1.0]
angle = math.pi / 4.0
elif (direction == movement.dirEnum.DOWNRIGHT):
sign = [1.0, 1.0]
angle = -math.pi / 4.0
pos[0] += sign[0] * (0.5 * src_obj.size[0] + 0.5 * size[0])
pos[1] += sign[1] * (0.25 * src_obj.size[1] + 0.5 * size[1])
misc.rotate(angle, self.list_polygon_pts)
# put in groups
object.Class_Obj.__init__(
self, pos, speed, groups + [globals.BULLETS, globals.COLLIDABLE])
# movement direction never changes after creation - so no one should call
# movement direction except for object itself
self.updateMovement(direction)
# play sound
if src_obj in globals.ROBOTS:
sounds.playSound(sounds.robotGunSound)
else:
sounds.playSound(sounds.playerGunSound)
def collide(self, victim):
#indicate to shooter that bullet is gone
self.shooter_obj.bullets -= 1
if victim in globals.BULLETS.sprites():
sounds.playSound(sounds.bulletClashSound)
self.killState = True
def collide(self, victim):
if (globals.SOUNDS_ON == True):
sounds.playSound(sounds.playerDeathSound)
self.killState = True
def main():
keybo = Class_ProcessKeybo()
keybo.collisionOn = True
flags = DOUBLEBUF
bpp = 24
screen = pygame.display.set_mode(globals.SCREENSIZE, flags, bpp)
walls.loadImages()
screen.fill(globals.SCREEN_BACKCOLOR)
pygame.display.set_caption("Pyzerk")
clock = pygame.time.Clock()
olddirtyrects = []
init = True
genTickTimer = pygame.time.get_ticks()
globals.OTTOTIMER = otto.ottoTimerReload
# Map the back button to the escape key.
if globals.android:
globals.android.init()
globals.android.map_key(android.KEYCODE_BACK, pygame.K_ESCAPE)
#create a container for generic vars
mainContainerC = Class_Container()
#setup soundtrack
if (globals.SOUNDS_ON == True):
sounds.playSound(sounds.welcomeSound)
sounds.playSound(sounds.robotWalkSound)
mixer.Channel(sounds.SOUNDTRACK_CHAN).play(sounds.soundTrack0Sound, -1)
#main loop
while keybo.running == True:
globals.FPS = 1000.0 / clock.tick(globals.FRAME_RATE_SETTING)
if init == True:
init = False
#startNewLevel()
#show menu instead of starting game
text.Class_Text((0,0), "First Menu Item", globals.WHITE)
# Android-specific:
if globals.android:
if globals.android.check_pause():
globals.android.wait_for_resume()
#keyboard processing
keybo.run(globals.SCREENSIZE, screen, globals.SCREEN_BACKCOLOR, mainContainerC)
#update object movement
updateMovement(mainContainerC)
#look for collisions
detCollisions(keybo)
#tick off here once per second
genTickTimer = oneSecTimer(genTickTimer)
#update objects
for a in globals.OBJECTS:
a.update()
#blank the screen
screen.fill(globals.SCREEN_BACKCOLOR)
dirtyrects = []
for a in globals.OBJECTS.sprites():
dirtyrects += a.draw(screen)
#draw the text
for a in globals.TEXT.sprites():
a.update(str(globals.SCORE))
dirtyrects += a.draw(screen)
#update the display pass in the rectangles to update for each object
pygame.display.update(dirtyrects + olddirtyrects)
olddirtyrects = dirtyrects
#check to see if all robots destroyed or player destroyed to go to next level
if (globals.MENUON == False):
if ((len(globals.PLAYER.sprites()) == 0) | (len(globals.ROBOTS.sprites()) == 0)):
startNewLevel()
def mainLoop(socket):
global led_status, auto_status, opencv_mode, findline_mode, speech_mode, \
auto_mode, command, ap_status, turn_status, blinkThreadStatus
BUFSIZ = 1024 #Define buffer size
while True:
command = socket.recv(BUFSIZ).decode()
print("mainLoop: received %s" % command)
if not command:
continue
# strip end-of-cmd off
if END_OF_CMD in command:
command = command[:-len(END_OF_CMD)]
# TODO: add code to handle receiving multiple commands delimited by end-of-cmd
if SOUND in command:
sounds.playSound(command[len(SOUND):])
elif SPEAK in command:
speak.say(command[len(SPEAK):])
elif VOLUME in command:
speak.changeVolume(command[len(VOLUME):])
elif RATE in command:
speak.changeRate(command[len(RATE):])
elif SHAKE in command:
servos.shakeHead()
elif NOD in command:
servos.nodHead()
elif 'exit' in command:
os.system("sudo shutdown -h now\n")
elif 'quit' in command:
print('shutting down')
return
elif 'spdset' in command:
global spd_adj
spd_adj = float((str(command))[7:]) #Speed Adjustment
print("speed adjustment set to %s" % str(spd_adj))
elif 'scan' in command:
dis_can = servos.scan() # Start Scanning
str_list_1 = dis_can # Divide the list to make it samller to send
str_index = ' ' # Separate the values by space
str_send_1 = str_index.join(str_list_1) + ' '
socket.sendall((str(str_send_1)).encode()) # Send Data
socket.send(
'finished'.encode()
) # Sending 'finished' tell the client to stop receiving the list of dis_can
elif 'EC1set' in command: # pitch Adjustment
newValue = int((str(command))[7:])
config.exportConfig('pitch_middle', newValue)
servos.HEAD_PITCH_MIDDLE = newValue
servos.headPitch(newValue)
elif 'LDMset' in command: # look down max Adjustment
newValue = int((str(command))[7:])
config.exportConfig('look_down_max', newValue)
servos.HEAD_PITCH_DOWN_MAX = newValue
servos.headPitch(newValue)
elif 'LUMset' in command: # look up max Adjustment
newValue = int((str(command))[7:])
config.exportConfig('look_up_max', newValue)
servos.HEAD_PITCH_UP_MAX = newValue
servos.headPitch(newValue)
elif 'EC2set' in command: # yaw Adjustment
newValue = int((str(command))[7:])
config.exportConfig('yaw_middle', newValue)
servos.HEAD_YAW_MIDDLE = newValue
servos.headYaw(newValue)
elif 'LLMset' in command: # look left max Adjustment
newValue = int((str(command))[7:])
config.exportConfig('look_left_max', newValue)
servos.HEAD_YAW_LEFT_MAX = newValue
servos.headYaw(newValue)
elif 'LRMset' in command: # look right max Adjustment
newValue = int((str(command))[7:])
config.exportConfig('look_right_max', newValue)
servos.HEAD_YAW_RIGHT_MAX = newValue
servos.headYaw(newValue)
elif 'STEERINGset' in command: #Motor Steering center Adjustment
newValue = int((str(command))[12:])
config.exportConfig('turn_middle', newValue)
servos.STEERING_MIDDLE = newValue
servos.steerMiddle()
elif 'SLMset' in command: # Steering left max Adjustment
newValue = int((str(command))[7:])
config.exportConfig('turn_left_max', newValue)
servos.STEERING_LEFT_MAX = newValue
servos.steerFullLeft()
elif 'SRMset' in command: # Steering right max Adjustment
newValue = int((str(command))[7:])
config.exportConfig('turn_right_max', newValue)
servos.STEERING_RIGHT_MAX = newValue
servos.steerFullRight()
elif 'EM1set' in command: #Motor A Speed Adjustment
newValue = int((str(command))[7:])
config.exportConfig('E_M1', newValue)
elif 'EM2set' in command: #Motor B Speed Adjustment
newValue = int((str(command))[7:])
config.exportConfig('E_M2', newValue)
elif 'stop' in command: #When server receive "stop" from client,car stops moving
socket.send('9'.encode())
motor.motorStop()
#setup()
if led_status == 0:
headlights.turn(headlights.BOTH, headlights.OFF)
colorWipe(ledStrip, rpi_ws281x.Color(0, 0, 0))
elif 'lightsON' in command: #Turn on the LEDs
headlights.turn(headlights.BOTH, headlights.WHITE)
led_status = 1
socket.send('lightsON'.encode())
elif 'lightsOFF' in command: #Turn off the LEDs
headlights.turn(headlights.BOTH, headlights.OFF)
led_status = 0
socket.send('lightsOFF'.encode())
elif 'SteerLeft' in command: #Turn more to the left
headlights.turn(headlights.RIGHT, headlights.OFF)
headlights.turn(headlights.LEFT, headlights.YELLOW)
servos.turnSteering(servos.LEFT)
turn_status = LEFT_TURN
elif 'SteerRight' in command: #Turn more to the Right
headlights.turn(headlights.LEFT, headlights.OFF)
headlights.turn(headlights.RIGHT, headlights.YELLOW)
servos.turnSteering(servos.RIGHT)
turn_status = RIGHT_TURN
elif 'middle' in command: #Go straight
headlights.turn(headlights.BOTH, headlights.BLUE)
turn_status = NO_TURN
servos.steerMiddle()
elif 'Left' in command: #Turn hard left
headlights.turn(headlights.RIGHT, headlights.OFF)
headlights.turn(headlights.LEFT, headlights.YELLOW)
servos.steerFullLeft()
turn_status = LEFT_TURN
socket.send('3'.encode())
elif 'Right' in command: #Turn hard right
headlights.turn(headlights.LEFT, headlights.OFF)
headlights.turn(headlights.RIGHT, headlights.YELLOW)
servos.steerFullRight()
turn_status = RIGHT_TURN
socket.send('4'.encode())
elif 'backward' in command: #When server receive "backward" from client,car moves backward
socket.send('2'.encode())
motor.move(motor.BACKWARD, right_spd * spd_adj)
elif 'forward' in command: #When server receive "forward" from client,car moves forward
socket.send('1'.encode())
motor.move(motor.FORWARD, right_spd * spd_adj)
elif 'l_up' in command: #Camera look up
servos.changePitch(servos.UP)
socket.send('5'.encode())
elif 'l_do' in command: #Camera look down
servos.changePitch(servos.DOWN)
socket.send('6'.encode())
elif 'l_le' in command: #Camera look left
servos.changeYaw(servos.LEFT)
socket.send('7'.encode())
elif 'l_ri' in command: #Camera look right
servos.changeYaw(servos.RIGHT)
socket.send('8'.encode())
elif 'ahead' in command: #Camera look ahead
servos.lookAhead()
elif 'Off' in command: #When server receive "Off" from client, Auto Mode switches off
opencv_mode = 0
findline_mode = 0
speech_mode = 0
auto_mode = 0
auto_status = 0
time.sleep(.3) # wait for threads to detect the off state
dis_scan = 1
socket.send('auto_status_off'.encode())
motor.motorStop()
headlights.turn(headlights.BOTH, headlights.OFF)
servos.steerMiddle()
turn_status = NO_TURN
elif 'auto' in command: #When server receive "auto" from client,start Auto Mode
if auto_status == 0:
socket.send('0'.encode())
auto_status = 1
auto_mode = 1
dis_scan = 0
elif 'opencv' in command: #When server receive "auto" from client,start Auto Mode
if auto_status == 0:
auto_status = 1
opencv_mode = 1
socket.send('oncvon'.encode())
elif 'findline' in command: #Find line mode start
if auto_status == 0:
socket.send('findline'.encode())
auto_status = 1
findline_mode = 1
elif 'voice_3' in command: #Speech recognition mode start
if auto_status == 0:
auto_status = 1
speech_mode = 1
socket.send('voice_3'.encode())