class ContinuousTMPViewer(object):
def __init__(self,
suction_height,
regions,
tl_x=0,
tl_y=0,
width=500,
height=150,
title='Grid',
background='tan'):
self.tk = Tk()
# tk.geometry('%dx%d+%d+%d'%(width, height, 100, 0))
self.tk.withdraw()
self.top = Toplevel(self.tk)
self.top.wm_title(title)
self.top.protocol('WM_DELETE_WINDOW', self.top.destroy)
self.suction_height = suction_height
self.regions = regions
self.tl_x = tl_x
self.tl_y = tl_y
self.width = width
self.height = height
self.canvas = Canvas(self.top,
width=self.width,
height=self.height,
background=background)
self.canvas.pack()
# self.center()
self.move_frame(self.tl_x, self.tl_y)
max_width = max(
map(get_width,
regions.values())) # Really should take width of max minus min
self.dist_to_pixel = (self.width - 2 * PIXEL_BUFFER
) / max_width # Maintains aspect ratio
self.dist_width = self.width / self.dist_to_pixel
self.dist_height = self.height / self.dist_to_pixel
self.ground_height = self.height - self.dist_to_pixel * ENV_HEIGHT
self.robot_dist = self.dist_height / 2.
self.robot = []
self.blocks = []
self.holding = None
self.environment = []
self.draw_environment()
def center(self):
self.top.update_idletasks()
w = self.top.winfo_screenwidth()
h = self.top.winfo_screenheight()
size = tuple(
int(_) for _ in self.top.geometry().split('+')[0].split('x'))
x = w / 2 - size[0] / 2
y = h / 2 - size[1] / 2
self.top.geometry("%dx%d+%d+%d" % (size + (x, y)))
def move_frame(self, x, y):
self.top.update_idletasks()
size = tuple(
int(_) for _ in self.top.geometry().split('+')[0].split('x'))
self.top.geometry("%dx%d+%d+%d" % (size + (x, y)))
def scale_x(self, x): # x \in [-self.dist_width/2, self.dist_width/2]
return self.dist_to_pixel * (x + self.dist_width / 2.)
def scale_y(self, y): # y \in [0, self.dist_height]
return self.ground_height - self.dist_to_pixel * y
def draw_block(self, x, y, width, height, name='', color='blue'):
self.blocks.extend([
self.canvas.create_rectangle(self.scale_x(x - width / 2.),
self.scale_y(y),
self.scale_x(x + width / 2.),
self.scale_y(y + height),
fill=color,
outline='black',
width=2),
self.canvas.create_text(self.scale_x(x),
self.scale_y(y + height / 2),
text=name),
])
# def draw_holding(self, x, width, height, color='blue'):
# self.holding = self.canvas.create_rectangle(self.scale_x(x - width / 2.),
# self.scale_y(self.robot_dist - SUCTION_HEIGHT / 2 - height),
# self.scale_x(x + width / 2.),
# self.scale_y(self.robot_dist - SUCTION_HEIGHT / 2),
# fill=color, outline='black', width=2)
def draw_region(self, region, name='', color='red'):
x1, x2 = map(self.scale_x, region)
y1, y2 = self.ground_height, self.height
self.environment.extend([
self.canvas.create_rectangle(x1,
y1,
x2,
y2,
fill=color,
outline='black',
width=2),
self.canvas.create_text((x1 + x2) / 2, (y1 + y2) / 2, text=name),
])
def draw_environment(self):
# TODO: automatically draw in order
self.environment = []
for name, region in sorted(self.regions.items(),
key=lambda pair: get_width(pair[1]),
reverse=True):
self.draw_region(region, name=name, color=name)
def draw_robot(
self,
x,
y,
color='yellow'
): # TODO - could also visualize as top grasps instead of side grasps
#y = self.robot_dist
self.robot = [
self.canvas.create_rectangle(
self.scale_x(x - SUCTION_WIDTH / 2.),
self.scale_y(y - self.suction_height / 2.),
self.scale_x(x + SUCTION_WIDTH / 2.),
self.scale_y(y + self.suction_height / 2.),
fill=color,
outline='black',
width=2),
self.canvas.create_rectangle(
self.scale_x(x - STEM_WIDTH / 2.),
self.scale_y(y + self.suction_height / 2.),
self.scale_x(x + STEM_WIDTH / 2.),
self.scale_y(y + self.suction_height / 2. + STEM_HEIGHT),
fill=color,
outline='black',
width=2),
]
def clear_state(self):
for block in self.blocks:
self.canvas.delete(block)
for part in self.robot:
self.canvas.delete(part)
if self.holding is not None:
self.canvas.delete(self.holding)
def clear_all(self):
self.canvas.delete('all')
def save(self, filename):
# TODO: screen recording based on location like I did before
# TODO: only works on windows
# self.canvas.postscript(file='%s.ps'%filename, colormode='color')
#from PIL import ImageGrab
try:
import pyscreenshot as ImageGrab
except ImportError:
return None
x, y = self.top.winfo_x(), 2 * self.top.winfo_y()
width, height = self.top.winfo_width(), self.top.winfo_height(
) # winfo_width, winfo_reqheight
path = filename + '.png'
ImageGrab.grab((x, y, x + width, y + height)).save(path)
return path
def hiya(self):
if not self.nand_mode:
showinfo(
'Info',
'Now you will be asked to choose the SD card path that will be used '
'for installing the custom firmware (or an output folder).\n\nIn order to avoid '
'boot errors please assure it is empty before continuing.')
self.sd_path = askdirectory()
# Exit if no path was selected
if self.sd_path == '':
return
# If adding a No$GBA footer, check if CID and ConsoleID values are OK
elif self.nand_operation.get() == 2:
cid = self.cid.get()
console_id = self.console_id.get()
# Check lengths
if len(cid) != 32:
showerror('Error', 'Bad eMMC CID')
return
elif len(console_id) != 16:
showerror('Error', 'Bad Console ID')
return
# Parse strings to hex
try:
cid = cid.decode('hex')
except TypeError:
showerror('Error', 'Bad eMMC CID')
return
try:
console_id = bytearray(reversed(console_id.decode('hex')))
except TypeError:
showerror('Error', 'Bad Console ID')
return
dialog = Toplevel(self)
# Open as dialog (parent disabled)
dialog.grab_set()
dialog.title('Status')
# Disable maximizing
dialog.resizable(0, 0)
frame = Frame(dialog, bd=2, relief=SUNKEN)
scrollbar = Scrollbar(frame)
scrollbar.pack(side=RIGHT, fill=Y)
self.log = ThreadSafeText(frame,
bd=0,
width=52,
height=20,
yscrollcommand=scrollbar.set)
self.log.pack()
scrollbar.config(command=self.log.yview)
frame.pack()
Button(dialog, text='Close', command=dialog.destroy,
width=16).pack(pady=10)
# Center in window
dialog.update_idletasks()
width = dialog.winfo_width()
height = dialog.winfo_height()
dialog.geometry(
'%dx%d+%d+%d' %
(width, height, root.winfo_x() + (root.winfo_width() / 2) -
(width / 2), root.winfo_y() + (root.winfo_height() / 2) -
(height / 2)))
# Check if we'll be adding a No$GBA footer
if self.nand_mode and self.nand_operation.get() == 2:
Thread(target=self.add_footer, args=(cid, console_id)).start()
else:
Thread(target=self.check_nand).start()
