def __init__(self, wboot = True):
__builtins__['robot']= self
self.x = env.w/2
self.y = env.h/2
self.angle = 0
self.mA = 0
self.mB = 0
self.mC = 0
self.p = 0
self.rotA = self.rotB = self.rotC = 0
self.radius = 21
self.dragged = False
self.dragoffset = []
#self.image = pygame.image.load("./robot.jpg").convert()
#path = os.path.dirname(os.path.abspath(sys.argv[0]))
#self.image = pygame.image.load(path + "/robot.png").convert_alpha() # imgs.robot.convert()
self.image = imgs.robot.convert_alpha()
#self.image = pygame.image.load("black_and_blacker.png").convert_alpha()
self.lock = Lock()
self.root = os.path.abspath(os.path.dirname(sys.argv[0]))
# directory with programs to the path
sys.path.append(self.root + os.sep + '__progs__')
self.lcd = pygame.Surface((204, 130))
pygame.draw.rect(self.lcd, pygame.Color(0x43, 0x6c, 0x30),
((0, 0), (204, 130)))
if wboot:
#print "booting"
RoboThread(target=self.boot).start()
self.sensors = {1: BaseSensor(1),
2: BaseSensor(2),
3: BaseSensor(3),
4: BaseSensor(4)}
self.dialog = SettingsDialog()
def __init__(self, wboot = True):
__builtins__['robot']= self
self.x = env.w/2
self.y = env.h/2
self.angle = 0
self.mA = 0
self.mB = 0
self.mC = 0
self.p = 0
self.rotA = self.rotB = self.rotC = 0
self.radius = 21
self.dragged = False
self.dragoffset = []
#self.image = pygame.image.load("./robot.jpg").convert()
#path = os.path.dirname(os.path.abspath(sys.argv[0]))
#self.image = pygame.image.load(path + "/robot.png").convert_alpha() # imgs.robot.convert()
self.image = imgs.robot.convert_alpha()
#self.image = pygame.image.load("black_and_blacker.png").convert_alpha()
self.lock = Lock()
self.root = os.path.abspath(os.path.dirname(sys.argv[0]))
# directory with programs to the path
sys.path.append(self.root + os.sep + '__progs__')
self.lcd = pygame.Surface((204, 130))
pygame.draw.rect(self.lcd, pygame.Color(0x43, 0x6c, 0x30),
((0, 0), (204, 130)))
if wboot:
#print "booting"
RoboThread(target=self.boot).start()
self.sensors = {1: BaseSensor(1),
2: BaseSensor(2),
3: BaseSensor(3),
4: BaseSensor(4)}
self.dialog = SettingsDialog()
def showSettings(self):
dialog = SettingsDialog(self, self.textPad)
dialog.setModal(False)
dialog.exec_()
class Robot(NXTBrick):
proc = None
die = False
inputs = {}
background = None
bckg = None
sensors = {}
touchPoints = {
"topleft": [
[29.0, -133.60281897270363],
[28.319604517012593, -132.13759477388825],
[27.65863337187866, -130.6012946450045],
],
"left": [
[-29, 42.721999467666336],
[-28.319604517012593, 41.389942632819086],
],
"topright": [
[27.018512172212592, -51.00900595749453],
[27.65863337187866, -49.398705354995535],
[28.319604517012593, -47.862405226111754],
],
"right": [
[29.698484809834994, -43.97583689433345],
[29, -42.721999467666336],
[29, -47.278000532333664],
[28.319604517012593, -41.389942632819086],
[28.319604517012593, -48.610057367180914],
]
}
def __init__(self, wboot = True):
__builtins__['robot']= self
self.x = env.w/2
self.y = env.h/2
self.angle = 0
self.mA = 0
self.mB = 0
self.mC = 0
self.p = 0
self.rotA = self.rotB = self.rotC = 0
self.radius = 21
self.dragged = False
self.dragoffset = []
#self.image = pygame.image.load("./robot.jpg").convert()
#path = os.path.dirname(os.path.abspath(sys.argv[0]))
#self.image = pygame.image.load(path + "/robot.png").convert_alpha() # imgs.robot.convert()
self.image = imgs.robot.convert_alpha()
#self.image = pygame.image.load("black_and_blacker.png").convert_alpha()
self.lock = Lock()
self.root = os.path.abspath(os.path.dirname(sys.argv[0]))
# directory with programs to the path
sys.path.append(self.root + os.sep + '__progs__')
self.lcd = pygame.Surface((204, 130))
pygame.draw.rect(self.lcd, pygame.Color(0x43, 0x6c, 0x30),
((0, 0), (204, 130)))
if wboot:
#print "booting"
RoboThread(target=self.boot).start()
self.sensors = {1: BaseSensor(1),
2: BaseSensor(2),
3: BaseSensor(3),
4: BaseSensor(4)}
self.dialog = SettingsDialog()
def getDistanceTo(self, point):
dx = point[0] - self.x
dy = point[1] - self.y
return math.sqrt(dx**2 + dy**2)
def mouseOver(self):
mpos = pygame.mouse.get_pos()
if self.getDistanceTo(mpos) < self.radius:
return True
else:
return False
def drag(self):
mpos = pygame.mouse.get_pos()
self.x = mpos[0]
self.y = mpos[1]
#pygame.image.save(self.image, "robot_.png")
self.stayIn()
def rot_center(self, image, angle):
"""rotate an image while keeping its center and size"""
orig_rect = image.get_rect()
rot_image = pygame.transform.rotate(image, angle)
rot_rect = orig_rect.copy()
rot_rect.center = rot_image.get_rect().center
rot_image = rot_image.subsurface(rot_rect).copy()
return rot_image
def draw(self):
env.screen.blit(env.background, (0,0))
env.screen.blit(self.rot_center(self.image, -self.angle),
(self.x - 30, self.y - 30))
env.screen.blit(self.lcd, ((640 + (378/2 - 100)-2, 90), (204, 130)))
env.app.paint()
pygame.display.flip()
def touchesAt(self, positions):
for pos in positions:
dx = cos(radians(pos[1] + robot.angle)) * pos[0]
dy = sin(radians(pos[1] + robot.angle)) * pos[0]
#print 30 + round(dx), 30 + round(dy)
x = int(self.x + round(dx))
y = int(self.y + round(dy))
#env.background.set_at((x, y), (0, 0, 255, 0))
try:
o = env.background.get_at((x, y))
except IndexError:
return True
if o == (190, 190, 190, 255):
return True
return False
def touches(self):
out = {}
for p in self.touchPoints:
out[p] = self.touchesAt(p)
return out
def stayIn(self):
if self.x > 623:
self.x = 623
if self.x < 23:
self.x = 23
if self.y > 463:
self.y = 463
if self.y < 23:
self.y = 23
def tick(self):
# self.stayIn()
angle = 0
rotA = rotB = 0
touchedA = touchedB = False
if not self.touchesAt(self.touchPoints["topleft"]):
rotA = self.mA / 30.0
else:
touchedA = True
rotA -= self.mA / 40.0
if not self.touchesAt(self.touchPoints["topright"]):
rotB = self.mB / 30.0
else:
touchedB = True
rotB -= self.mB / 40.0
rotC = self.mC / 30.0
angle += (rotA - rotB) / 3
self.angle += angle
p = (rotA + rotB) / 2 / 1.8
# #print self.angle, self.mA, self.mB, self
self.rotA += rotA
self.rotB += rotB
self.rotC += rotC
self.x += math.sin(math.radians(self.angle)) * p
self.y += -math.cos(math.radians(self.angle)) * p
self.angle = round(self.angle)
self.draw()
if touchedA:
self.rotA += -2*rotA
if touchedB:
self.rotB += -2*rotB
# print background.get_at((int(self.x), int(self.y)))
def onCenter(self):
# Turning off
if self.screen == -1 and self.btn_x == 0:
sys.exit(0)
if self.screen < 4:
self.screen += 1
# taking care of empty __progs__ directory
if self.screen == 2 and len(self.progs) == 0:
self.screen -= 1
if self.screen == 4:
if self.proc == None:
module = __import__('e' + self.progs[self.prog])
self.proc = RoboThread(target=module.main,
cleaner=self.cleaner)
self.proc.setName("brick")
ClearScreen()
self.scr_runner = RoboThread(target=robot.running)
self.scr_runner.start()
self.proc.start()
else:
self.scrout()
#print "center"
def onBack(self):
# exiting
#if self.screen == 0:
# sys.exit(0)
if self.screen == -1:
self.screen += 2
if self.proc == None:
self.screen -= 1
self.scrout()
else:
self.die = True
self.scr_running = False
#print "back"
def onLeft(self):
#print "left"
if self.screen == 2:
self.prog = (self.prog - 1) % len(self.progs)
if self.screen == -1:
self.btn_x = 0
self.scrout()
def onRight(self):
#print "right"
if self.screen == 2:
self.prog = (self.prog + 1) % len(self.progs)
if self.screen == -1:
self.btn_x = 1
self.scrout()
def cleaner(self):
ClearScreen()
self.scr_running = False
Off(OUT_ABC)
ResetTachoCount(OUT_ABC)
self.proc = None
self.screen -= 1
self.scrout()
#print "cleaner"
def onDialog(self):
self.dialog.connect(gui.CHANGE, self.dialogReturn, self.dialog)
self.dialog.open()
self.dialog.rect.x = 120
def imgUpdate(self):
image = imgs.robot.convert_alpha()
for x in self.inputs:
inp = self.inputs[x]
if inp['slot'] != '':
dx = inp['slot']*7
if inp['slot'] == 3:
dx += 1
dw = 1 if inp['slot'] == 2 else 0
pygame.draw.rect(image, (0xfa, 0x70, 0x0d),
(13+dx, 9, 5+dw, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (20, 9, 5, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (27, 9, 6, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (35, 9, 5, 5))
self.image = image
def dialogReturn(self, d):
out = d.out()
robot.inputs = out['inputs']
for i in out['inputs']:
inp = out['inputs'][i]
self.sensors[i] = sensor_generator(inp['type'], inp['slot'])
if out['others'][0][1] == 'custom' and out['others'][1][1] != '':
robot.background = out['others'][1][1]
env.init()
img = pygame.image.load(robot.background)
if img.get_alpha() != None:
img = img.convert_alpha()
else:
img = img.convert()
env.background.blit(img, (3, 3))
else:
robot.background = None
env.init()
self.imgUpdate()
d.close()
class Robot(NXTBrick):
proc = None
die = False
inputs = {}
background = None
bckg = None
sensors = {}
def __init__(self, wboot = True):
__builtins__['robot']= self
self.x = env.w/2
self.y = env.h/2
self.angle = 0
self.mA = 0
self.mB = 0
self.mC = 0
self.p = 0
self.rotA = self.rotB = self.rotC = 0
self.radius = 21
self.dragged = False
self.dragoffset = []
#self.image = pygame.image.load("./robot.jpg").convert()
#path = os.path.dirname(os.path.abspath(sys.argv[0]))
#self.image = pygame.image.load(path + "/robot.png").convert_alpha() # imgs.robot.convert()
self.image = imgs.robot.convert_alpha()
#self.image = pygame.image.load("black_and_blacker.png").convert_alpha()
self.lock = Lock()
self.root = os.path.abspath(os.path.dirname(sys.argv[0]))
# directory with programs to the path
sys.path.append(self.root + os.sep + '__progs__')
self.lcd = pygame.Surface((204, 130))
pygame.draw.rect(self.lcd, pygame.Color(0x43, 0x6c, 0x30),
((0, 0), (204, 130)))
if wboot:
#print "booting"
RoboThread(target=self.boot).start()
self.sensors = {1: BaseSensor(1),
2: BaseSensor(2),
3: BaseSensor(3),
4: BaseSensor(4)}
self.dialog = SettingsDialog()
def getDistanceTo(self, point):
dx = point[0] - self.x
dy = point[1] - self.y
return math.sqrt(dx**2 + dy**2)
def mouseOver(self):
mpos = pygame.mouse.get_pos()
if self.getDistanceTo(mpos) < self.radius:
return True
else:
return False
def drag(self):
mpos = pygame.mouse.get_pos()
self.x = mpos[0]
self.y = mpos[1]
#pygame.image.save(self.image, "robot_.png")
self.stayIn()
def rot_center(self, image, angle):
"""rotate an image while keeping its center and size"""
orig_rect = image.get_rect()
rot_image = pygame.transform.rotate(image, angle)
rot_rect = orig_rect.copy()
rot_rect.center = rot_image.get_rect().center
rot_image = rot_image.subsurface(rot_rect).copy()
return rot_image
def draw(self):
env.screen.blit(env.background, (0,0))
env.screen.blit(self.rot_center(self.image, -self.angle),
(self.x - 30, self.y - 30))
env.screen.blit(self.lcd, ((640 + (378/2 - 100)-2, 90), (204, 130)))
env.app.paint()
pygame.display.flip()
def stayIn(self):
if self.x > 623:
self.x = 623
if self.x < 23:
self.x = 23
if self.y > 463:
self.y = 463
if self.y < 23:
self.y = 23
def tick(self):
self.stayIn()
rotA = self.mA / 30.0
rotB = self.mB / 30.0
rotC = self.mC / 30.0
angle = (rotA - rotB) / 4
self.angle += angle
p = (rotA + rotB) / 2 / 1.8
# #print self.angle, self.mA, self.mB, self
self.rotA += rotA
self.rotB += rotB
self.rotC += rotC
self.x += math.sin(math.radians(self.angle)) * p
self.y += -math.cos(math.radians(self.angle)) * p
self.draw()
# print background.get_at((int(self.x), int(self.y)))
def onCenter(self):
# Turning off
if self.screen == -1 and self.btn_x == 0:
sys.exit(0)
if self.screen < 4:
self.screen += 1
# taking care of empty __progs__ directory
if self.screen == 2 and len(self.progs) == 0:
self.screen -= 1
if self.screen == 4:
if self.proc == None:
module = __import__('e' + self.progs[self.prog])
self.proc = RoboThread(target=module.main,
cleaner=self.cleaner)
self.proc.setName("brick")
ClearScreen()
self.scr_runner = RoboThread(target=robot.running)
self.scr_runner.start()
self.proc.start()
else:
self.scrout()
#print "center"
def onBack(self):
# exiting
#if self.screen == 0:
# sys.exit(0)
if self.screen == -1:
self.screen += 2
if self.proc == None:
self.screen -= 1
self.scrout()
else:
self.die = True
self.scr_running = False
#print "back"
def onLeft(self):
#print "left"
if self.screen == 2:
self.prog = (self.prog - 1) % len(self.progs)
if self.screen == -1:
self.btn_x = 0
self.scrout()
def onRight(self):
#print "right"
if self.screen == 2:
self.prog = (self.prog + 1) % len(self.progs)
if self.screen == -1:
self.btn_x = 1
self.scrout()
def cleaner(self):
ClearScreen()
self.scr_running = False
Off(OUT_ABC)
ResetTachoCount(OUT_ABC)
self.proc = None
self.screen -= 1
self.scrout()
#print "cleaner"
def onDialog(self):
self.dialog.connect(gui.CHANGE, self.dialogReturn, self.dialog)
self.dialog.open()
self.dialog.rect.x = 120
def imgUpdate(self):
image = imgs.robot.convert_alpha()
for x in self.inputs:
inp = self.inputs[x]
if inp['slot'] != '':
dx = inp['slot']*7
if inp['slot'] == 3:
dx += 1
dw = 1 if inp['slot'] == 2 else 0
pygame.draw.rect(image, (0xfa, 0x70, 0x0d),
(13+dx, 9, 5+dw, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (20, 9, 5, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (27, 9, 6, 5))
#pygame.draw.rect(image, (0xfa, 0x70, 0x0d), (35, 9, 5, 5))
self.image = image
def dialogReturn(self, d):
out = d.out()
robot.inputs = out['inputs']
for i in out['inputs']:
inp = out['inputs'][i]
self.sensors[i] = sensor_generator(inp['type'], inp['slot'])
if out['others'][0][1] == 'custom' and out['others'][1][1] != '':
robot.background = out['others'][1][1]
env.init()
img = pygame.image.load(robot.background)
if img.get_alpha() != None:
img = img.convert_alpha()
else:
img = img.convert()
env.background.blit(img, (3, 3))
else:
robot.background = None
env.init()
self.imgUpdate()
d.close()
def settings(self, event=None):
dialog = SettingsDialog(self)
