def on_init(self):
self._pos = Vector2(0, 0)
self._th = 0.0
self.size = Vector2(45, 38)
self.aux = []
self._data_pos = None
self._data_th = None
self._data_sonar = None
self._data_index = None
def __setstate__(self, state):
self._initial_value = state['_initial_value']
self._size = state['_size']
self._center = Vector2(self._size // 2, self._size // 2)
self._map = None
self._min_pos_real = self._center.copy()
self._max_pos_real = self._center.copy()
self.min_pos = Vector2(0, 0)
self.max_pos = Vector2(0, 0)
self.clear()
def __init__(self, size=None, initial_value=None):
self._initial_value = initial_value
self._size = size or psi.config.MAX_TILE
self._center = Vector2(self._size // 2, self._size // 2)
self._map = None
self._min_pos_real = self._center.copy()
self._max_pos_real = self._center.copy()
self.min_pos = Vector2(0, 0)
self.max_pos = Vector2(0, 0)
self.clear()
def on_draw(self, tick):
tsize = psi.config.TILE_PIXEL_SIZE
ht = tsize/2
# for pos in self.marks:
psi.graphics.draw_box(200, 0, tsize, tsize, psi.CYAN)
psi.graphics.draw_box(0, 200, tsize, tsize, psi.CYAN)
psi.graphics.draw_box(200, 200, tsize, tsize, psi.CYAN)
psi.graphics.draw_box(-200, 0, tsize, tsize, psi.CYAN)
psi.graphics.draw_box(0, -200, tsize, tsize, psi.CYAN)
psi.graphics.draw_box(-200, -200, tsize, tsize, psi.CYAN)
psi.graphics.draw_box(-200, 200, tsize, tsize, psi.CYAN)
psi.graphics.draw_box(200, -200, tsize, tsize, psi.CYAN)
for i in self.inside:
psi.graphics.draw_box(i[0], i[1], tsize, tsize, (.3, .3, .3, .5))
for i in self.outside:
psi.graphics.draw_box(i[0], i[1], tsize, tsize, (.2, .6, .2, .5))
for a in self.aux:
ax = Vector2(a[0], a[1])
psi.graphics.draw_box(ax.x, ax.y, tsize, tsize, psi.BLUE)
psi.graphics.draw_line([self.center+[ht, ht], ax+(ht, ht)])
psi.graphics.draw_line([self.mark+(ht, ht), ax+(ht, ht)])
if self.mark is not None:
psi.graphics.draw_box(self.mark.x, self.mark.y, tsize, tsize, psi.GREEN)
psi.graphics.draw_box(self.center.x, self.center.y, tsize, tsize, psi.GREEN)
psi.graphics.draw_line([self.center+[ht, ht], self.mark+(ht, ht)])
def on_mouse_down(self, button, pos):
tsize = psi.config.TILE_PIXEL_SIZE
update = False
if button == psi.MOUSE_RIGHT:
self.center = psi.calc.virtual_coord(pos)
self.center = psi.calc.snap_to_grid(self.center)
update = True
if button == psi.MOUSE_LEFT:
self.mark = psi.calc.virtual_coord(pos)
self.mark = psi.calc.snap_to_grid(self.mark)
update = True
if update:
d = scipy.spatial.distance.euclidean(self.center, self.mark)
th = np.rad2deg(np.arctan2(self.center[1]-self.mark[1], self.center[0]-self.mark[0]))
self.inside = set()
self.aux = []
timer = Timer()
timer.tic
points = bresenham(int(self.center[0]), int(self.center[1]), int(self.mark[0]), int(self.mark[1]), tsize)
self.inside.update(points)
for angle in xrange(-15, 15, 2):
# angle = a_/2.
r = psi.calc.rotation_matrix(angle)
p = (Vector2(*r.dot(self.mark-self.center).tolist()))+self.center
points = bresenham(int(self.center[0]), int(self.center[1]), int(p[0]), int(p[1]), tsize)
self.inside.update(points)
t = timer.toc()
print '\n::: %.4f seconds.'%t
def on_draw(self, event):
dc = wx.PaintDC(self)
self.SetCurrent()
if not self.initialized:
self.initialized = True
self.canvas_size = Vector2(*self.GetSize())
psi.app.on_init()
def on_init(self):
self.mark = None
self.aux = []
self.inside = []
self.outside = []
self.center = Vector2(0, 0)
self.var = 'lol'
self.lll = 'lll'
self.component = None
def __init__(self):
self._is_middle_down = False
self._last_mouse_position = Vector2(0, 0)
self._render_batch = RenderBatch(GL_QUADS)
self._overlay_batch = RenderBatch(GL_LINES)
self._grid = None
self._mapgrid_colors = None
self._mapgrid_vertexes = None
self._mapgrid_vertexbuffer = None
self._batches = []
self.camera = Camera()
def __init__(self, parent):
super(CanvasWidget, self).__init__(parent, -1)
self.initialized = False
self.mouse_position = None
self.canvas_size = Vector2(0, 0)
self.Bind(wx.EVT_PAINT, self.on_draw)
self.Bind(wx.EVT_SIZE, self.on_resize)
# self.Bind(wx.EVT_IDLE, self.on_idle)
self.Bind(wx.EVT_LEFT_DOWN, self.on_mouse_down)
self.Bind(wx.EVT_LEFT_UP, self.on_mouse_up)
self.Bind(wx.EVT_MIDDLE_DOWN, self.on_mouse_down)
self.Bind(wx.EVT_MIDDLE_UP, self.on_mouse_up)
self.Bind(wx.EVT_RIGHT_DOWN, self.on_mouse_down)
self.Bind(wx.EVT_RIGHT_UP, self.on_mouse_up)
self.Bind(wx.EVT_MOUSEWHEEL, self.on_mouse_wheel)
self.Bind(wx.EVT_MOTION, self.on_mouse_motion)
if wx.Platform == '__WXMSW__':
self.Bind(wx.EVT_LEFT_DCLICK, self.on_mouse_down)
self.Bind(wx.EVT_RIGHT_DCLICK, self.on_mouse_down)
self.Bind(wx.EVT_MIDDLE_DCLICK, self.on_mouse_down)
def on_mouse_motion(self, event):
x, y = event.GetPosition()
pos = Vector2(x, self.canvas_size.y - y)
self.mouse_position = pos
psi.app.on_mouse_motion(pos)
def on_resize(self, event):
size = Vector2(*event.GetSize())
psi.app.on_window_resize(size)
def __init__(self, pos=Vector2(0, 0)):
self.pos = pos
self.half_size = Vector2(300, 300)
self.zoom = 1.0
self._zoom_step = 0.5
self._scale_rate = 1 / self.zoom
def __init__(self):
super(BaseRobot, self).__init__()
self.pos = Vector2(0, 0)
self.th = 0.0
self.size = Vector2(45, 38) # robot size by cm