def c_openAutoPreset(self, dropDownItem, file):
if file.get_key() is None:
print("No file selected")
return
# file should be blank because it will delete everything in it when it is opened
self.robot.autoScheduler.actionList.clear()
with open(file.get_key(), "r") as presetFile:
try:
preset = json.load(presetFile)
except:
print("File is empty")
return
for action in preset:
coord = None
if action["coord"] != []:
if action["key"] != "bezier":
# creates a field coordinate
coord = coordinates.FieldCoordinate(
action["coord"][0], action["coord"][1],
action["coord"][2], action["coord"][3])
else:
# loops through and makes a list of coordinates
coord = []
for point in action["coord"]:
coord.append(
coordinates.FieldCoordinate(
point[0], point[1], point[2], point[3]))
self.c_addGenericAction(self.genericActionList, action["key"],
coord)
self.updateSchedulerFlag = True
self.updatePresetFileDropdown()
def createRotateInPlaceAction(pathFollower, coord):
newCoord = coordinates.FieldCoordinate("Rotated", pathFollower.robotX,
pathFollower.robotY, coord.angle)
return Action("Rotate to " + newCoord.name,
lambda: driveToPoint(pathFollower, newCoord, 0.5, True),
"rotate", newCoord)
def mouse_down_listener(self, widget, x, y):
x, y = svgToFieldCoordinates(x, y, self.fieldWidth, self.fieldHeight,
self.fieldPixelsPerFoot)
self.selectedCoord = coordinates.FieldCoordinate(
"Selected", x, y, self.selectedCoord.angle)
for point in self.targetPoints:
if math.hypot(x - point.x, y - point.y) < 1:
self.selectedCoord = point
self.updateCursorPosition()
def createRotateTowardsPointAction(robot, coord):
# calculates the angle to rotate to be
# facing at the point coord
xDiff = coord.x - robot.pathFollower.robotX
yDiff = coord.y - robot.pathFollower.robotY
angle = math.atan2(yDiff, xDiff) - math.pi / 2
newCoord = coordinates.FieldCoordinate("Rotated",
robot.pathFollower.robotX,
robot.pathFollower.robotY, angle)
return Action("Rotate towards " + newCoord.name,
lambda: rotateTowardsPoint(robot, newCoord), "face",
newCoord)
def initFieldMap(self, robot):
fieldBox = self.sectionBox()
robotBox = gui.HBox()
fieldBox.append(robotBox)
setPositionBtn = gui.Button("Set Robot to Cursor")
setPositionBtn.set_on_click_listener(self.c_setRobotPosition)
robotBox.append(setPositionBtn)
setRotationBtn = gui.Button("Point Robot at Cursor")
setRotationBtn.set_on_click_listener(self.c_pointAtCursor)
robotBox.append(setRotationBtn)
def setCursorAngle(button, angle):
self.selectedCoord.angle = angle
self.updateCursorPosition()
leftBtn = gui.Button('<')
leftBtn.set_on_click_listener(setCursorAngle, math.radians(90))
robotBox.append(leftBtn)
rightBtn = gui.Button('>')
rightBtn.set_on_click_listener(setCursorAngle, math.radians(-90))
robotBox.append(rightBtn)
upBtn = gui.Button('^')
upBtn.set_on_click_listener(setCursorAngle, 0)
robotBox.append(upBtn)
downBtn = gui.Button('v')
downBtn.set_on_click_listener(setCursorAngle, math.radians(180))
robotBox.append(downBtn)
self.fieldSvg = gui.Svg()
self.makeField('/res:field.png', True)
fieldBox.append(self.fieldSvg)
self.robotPathLines = []
self.selectedCoord = coordinates.FieldCoordinate(
"Center", 0, 0, math.radians(-90))
self.updateCursorPosition()
return fieldBox