def RenderAnimatedPart(Data):
""" Renders list of strings that will be injected to frame """
# -----------------------------------------------------------------------------
def Field(Name, Default):
return Data[Name] if Name in Data else Default
# -----------------------------------------------------------------------------
# TODO: string concatenation is slow
robot_sprite = ""
path = ""
sparks = ""
side = 0.5
IT = tIndentTracker(' ')
robot_sprite += SVGGroup(
IT, {
'transform':
'rotate(%g %g %g)' %
((Data['ActualOrientation'] * 180 / pi) + 180.0,
Data['ActualPosition'][0], Data['ActualPosition'][1])
})
# robot_sprite += SVGGroup(IT, {'transform': 'scale(2)'})
robot_sprite += IT(
'<polygon points="%g,%g %g,%g %g,%g" style="fill:lime;'
''
'stroke:purple;stroke-width:0.06" />' %
(Data['ActualPosition'][0] + side / 2.0, Data['ActualPosition'][1] -
side / 2.0, Data['ActualPosition'][0] + side / 2.0,
Data['ActualPosition'][1] + side / 2.0,
Data['ActualPosition'][0] - side, Data['ActualPosition'][1]))
robot_sprite += SVGGroupEnd(IT)
# robot_sprite += SVGGroupEnd(IT)
ActualPath = Field('ActualPath', None)
if ActualPath is not None:
path += IT('<!-- Actual path -->')
path += SVGPath(IT, ShapeFromVertices(ActualPath, 1), {
'stroke': '#40f',
'stroke-width': '0.02'
})
# ??
# Paths in rainbow colours
Paths = Field('Paths', None)
if Paths is not None and len(Paths) > 0:
NumPaths = len(Paths)
path += IT('<!-- Paths in rainbow colours -->')
for PathIx, Path in enumerate(Paths):
if NumPaths >= 2:
Progress = float(PathIx) / float(NumPaths - 1)
else:
Progress = 1.0
Opacity = 1.0 if Progress in [0.0, 1.0] else 0.60 + 0.00 * Progress
ColourStr = ProgressColourStr(Progress, Opacity)
path += IT('<!-- Path %d, (%.1f%%) -->' %
(PathIx, 100.0 * Progress))
path += SVGPath(IT, Path, {"stroke": ColourStr})
Sparks = Field('Sparks', None)
if Sparks is not None and len(Sparks) > 0:
B = (Pt_Break, None)
sparks += IT('<!-- Points of interests (sparks) -->')
for SparkPos in Sparks:
SparkPos = (SparkPos[0], SparkPos[1])
S = (GreekCross(SparkPos, 0.4) + [B] +
PiecewiseArc(SparkPos, 0.25, (0, 2.0 * pi), 8))
sparks += IT('<!-- Goal position -->')
sparks += SVGPath(IT, S, {
'stroke': '#d00',
'stroke-width': '0.1',
'stroke-linecap': 'butt'
})
# End of plot
return [robot_sprite, path, sparks]
def RenderFrameTemplate(Data, draw_dynamic_elements=True):
'''Return Data rendered to an SVG file in a string.
Data is a dictionary with the keys:
Title:
This title is rendered and is embedded in the SVG header.
Grid:
See SVGGrid().
Map:
The map is a 2D array of integers for hazards (1) and clear spaces (0).
StartPos:
The car starts here. The coordinates are units of map squares and the
origin is in the centre of Map[0][0].
GoalPos:
Hopefully the car ends within GoalThreshold of here.
GoalThreshold:
The radius of the goal zone is measured in grid units.
Sparks:
Each time a collision occurs, a coordinate pair is added to Sparks.
Paths:
For the puspose of visualising progressive path modifications, Paths
is a list of Shapes to be rendered in red-to-indigo rainbow colours.
'''
# -----------------------------------------------------------------------------
# Shorthand
A = Pt_Anchor
C = Pt_Control
B = (Pt_Break, None)
# -----------------------------------------------------------------------------
def Field(Name, Default):
return Data[Name] if Name in Data else Default
# -----------------------------------------------------------------------------
IT = tIndentTracker(' ')
Result = ''
Title = Field('Title', '(Untitled)')
Result += SVGStart(IT, Title, {
'width': '28cm',
'height': '19cm',
'viewBox': '0 0 28 19'
})
Result += IT('<defs>')
IT.StepIn()
Result += IT('<marker id="ArrowHead"',
' viewBox="0 0 10 10" refX="0" refY="5"',
' markerUnits="strokeWidth"',
' markerWidth="8" markerHeight="6"', ' orient="auto">'
' <path d="M 0,0 L 10,5 L 0,10"/>', '</marker>')
# Sparks are not used
# Result += SparkSymbolDef(IT, 'spark') if Sparks is not None else ''
# More marker, symbol and gradient definitions can go here.
IT.StepOut()
Result += IT('</defs>')
# Background
Result += IT(
'<rect x="0" y="0" width="28" height="19" stroke="none" fill="white"/>'
)
# Outer group
Result += IT('<!-- Outer group -->')
Result += SVGGroup(IT, {'stroke': 'black', 'stroke-width': '0.025'})
# Grid group
# Substitute for the group created by SVGGrid that is now deleted
Result += SVGGroup(
IT, {
'stroke': 'black',
'stroke-width': 'butt',
'transform': 'matrix(1.5, 0, 0, 1.5, 5.5, 1.5)',
'fill': 'none'
})
Result += IT('<!-- Background -->')
# Extract part of SVG with board
board_data = open(Data['Map']['vector_graphics_file']).read().splitlines()
board_data = board_data[board_data.index("<!-- Board -->") + 1:]
board_data = board_data[0:board_data.index("<!-- Board -->")]
Result += IT("\n".join(board_data))
# Iniial position
StartPos = Field('StartPos', None)
if StartPos is not None:
S = [(A, (-1.0, -1.0)), (A, (-1.0, +1.0)), (A, (+1.0, +1.0)),
(A, (+1.0, -1.0)), (A, (-1.0, -1.0))]
Result += IT('<!-- Initial position -->')
Result += SVGPath(IT, TransformedShape(AffineMtxTS(StartPos, 0.3), S),
{
'stroke': '#09f',
'stroke-width': '0.1',
'stroke-linecap': 'square'
})
# Robot
if draw_dynamic_elements:
Result += IT('{0}')
else:
Result += ''
# Goal position
GoalPos = Field('GoalPos', None)
if GoalPos is not None:
GoalThreshold = Field('GoalThreshold', None)
if GoalThreshold is not None:
Result += IT('<!-- Goal threshold -->')
Result += IT('<circle cx="%g" cy="%g" r="%g"' %
(GoalPos[0], GoalPos[1], GoalThreshold))
IT.StepIn(2)
Result += IT(
'fill="rgba(0, 255, 0, 0.1)" stroke="#0d0" stroke-width="0.02"/>'
)
IT.StepOut(2)
S = (GreekCross(GoalPos, 0.4) + [B] +
PiecewiseArc(GoalPos, 0.25, (0, 2.0 * pi), 8))
Result += IT('<!-- Goal position -->')
Result += SVGPath(IT, S, {
'stroke': '#0d0',
'stroke-width': '0.1',
'stroke-linecap': 'butt'
})
# Sparks
if draw_dynamic_elements:
Result += IT("{2}")
else:
Result += ''
# if Sparks is not None and len(Sparks) > 0:
# Result += IT('<!-- Points of interests (sparks) -->')
# Result += SVGGroup(IT, {'transform': 'translate(-0.5, -0.5)'})
# for SparkPos in Sparks:
# Result += IT(
# ('<use x="%g" y="%g"' % (SparkPos[0], SparkPos[1])) +
# ' width="1" height="1" xlink:href="#spark"/>'
# )
# Result += SVGGroupEnd(IT)
# Actual path
if draw_dynamic_elements:
Result += IT("{1}")
else:
Result += ''
# End board group
# This ends the newly added group substituting the SVGGrid group.
# Moved here the SVGGroupEnd which was for some reason previously appended
# to the Actual path element making the code look convoluted
Result += SVGGroupEnd(IT)
# Title and legend
Result += IT('<!-- Title background -->')
Result += IT(
'<rect x="0" y="0" width="28" height="1.1" stroke="none" fill="white"/>'
)
Result += IT('<!-- Title group -->')
Result += SVGGroup(
IT, {
'font-family': 'sans-serif',
'font-size': '0.36',
'font-weight': 'normal',
'fill': 'black',
'stroke': 'none'
})
Result += IT('<!-- Title -->')
Result += SVGText(IT, (0.5, 0.82), Title, {
'font-size': '0.72',
'font-weight': 'bold'
})
Result += IT('<!-- Legend line labels-->')
Result += SVGText(IT, (19.5, 0.82), 'Actual path')
Result += IT('<!-- Legend lines -->')
Result += SVGGroup(IT, {
'fill': 'none',
'stroke-width': '0.12',
'stroke-linecap': 'round'
})
Result += SVGPath(IT, [(Pt_Anchor, (18.5, 0.7)), (Pt_Anchor, (19.3, 0.7))],
{'stroke': '#40f'})
Result += SVGGroupEnd(IT)
# End of title group
Result += SVGGroupEnd(IT)
# End of outer group
Result += SVGGroupEnd(IT)
Result += SVGEnd(IT)
return Result
def RenderFrameTemplate(Data, draw_dynamic_elements=True):
'''Return Data rendered to an SVG file in a string.
Data is a dictionary with the keys:
Title:
This title is rendered and is embedded in the SVG header.
Grid:
See SVGGrid().
Map:
The map is a 2D array of integers for hazards (1) and clear spaces (0).
StartPos:
The car starts here. The coordinates are units of map squares and the
origin is in the centre of Map[0][0].
GoalPos:
Hopefully the car ends within GoalThreshold of here.
GoalThreshold:
The radius of the goal zone is measured in grid units.
Sparks:
Each time a collision occurs, a coordinate pair is added to Sparks.
Paths:
For the puspose of visualising progressive path modifications, Paths
is a list of Shapes to be rendered in red-to-indigo rainbow colours.
'''
# -----------------------------------------------------------------------------
# Shorthand
A = Pt_Anchor
C = Pt_Control
B = (Pt_Break, None)
# -----------------------------------------------------------------------------
def Field(Name, Default):
return Data[Name] if Name in Data else Default
# -----------------------------------------------------------------------------
IT = tIndentTracker(' ')
Result = ''
Title = Field('Title', '(Untitled)')
Result += SVGStart(IT, Title, {
'width': '28cm',
'height': '19cm',
'viewBox': '0 0 28 19'
})
Result += IT('<defs>')
IT.StepIn()
Result += IT(
'<marker id="ArrowHead"',
' viewBox="0 0 10 10" refX="0" refY="5"',
' markerUnits="strokeWidth"',
' markerWidth="8" markerHeight="6"',
' orient="auto">'
' <path d="M 0,0 L 10,5 L 0,10"/>',
'</marker>'
)
# Sparks are not used
# Result += SparkSymbolDef(IT, 'spark') if Sparks is not None else ''
# More marker, symbol and gradient definitions can go here.
IT.StepOut()
Result += IT('</defs>')
# Background
Result += IT(
'<rect x="0" y="0" width="28" height="19" stroke="none" fill="white"/>'
)
# Outer group
Result += IT('<!-- Outer group -->')
Result += SVGGroup(IT, {'stroke': 'black', 'stroke-width': '0.025'})
# Grid group
# Substitute for the group created by SVGGrid that is now deleted
Result += SVGGroup(IT, {'stroke': 'black', 'stroke-width':'butt',
'transform': 'matrix(1.5, 0, 0, 1.5, 5.5, 1.5)', 'fill': 'none'})
Result += IT('<!-- Background -->')
# Extract part of SVG with board
board_data = open(Data['Map']['vector_graphics_file']).read().splitlines()
board_data = board_data[board_data.index("<!-- Board -->")+1:]
board_data = board_data[0:board_data.index("<!-- Board -->")]
Result += IT("\n".join(board_data))
# Iniial position
StartPos = Field('StartPos', None)
if StartPos is not None:
S = [
(A, (-1.0, -1.0)), (A, (-1.0, +1.0)),
(A, (+1.0, +1.0)), (A, (+1.0, -1.0)), (A, (-1.0, -1.0))
]
Result += IT('<!-- Initial position -->')
Result += SVGPath(IT,
TransformedShape(AffineMtxTS(StartPos, 0.3), S),
{'stroke': '#09f', 'stroke-width': '0.1', 'stroke-linecap': 'square'}
)
# Robot
if draw_dynamic_elements:
Result += IT('{0}')
else:
Result += ''
# Goal position
GoalPos = Field('GoalPos', None)
if GoalPos is not None:
GoalThreshold = Field('GoalThreshold', None)
if GoalThreshold is not None:
Result += IT('<!-- Goal threshold -->')
Result += IT(
'<circle cx="%g" cy="%g" r="%g"' %
(GoalPos[0], GoalPos[1], GoalThreshold)
)
IT.StepIn(2)
Result += IT(
'fill="rgba(0, 255, 0, 0.1)" stroke="#0d0" stroke-width="0.02"/>'
)
IT.StepOut(2)
S = (
GreekCross(GoalPos, 0.4) + [B] +
PiecewiseArc(GoalPos, 0.25, (0, 2.0 * pi), 8)
)
Result += IT('<!-- Goal position -->')
Result += SVGPath(IT, S, {
'stroke': '#0d0', 'stroke-width': '0.1', 'stroke-linecap': 'butt'
})
# Sparks
if draw_dynamic_elements:
Result += IT("{2}")
else:
Result += ''
# if Sparks is not None and len(Sparks) > 0:
# Result += IT('<!-- Points of interests (sparks) -->')
# Result += SVGGroup(IT, {'transform': 'translate(-0.5, -0.5)'})
# for SparkPos in Sparks:
# Result += IT(
# ('<use x="%g" y="%g"' % (SparkPos[0], SparkPos[1])) +
# ' width="1" height="1" xlink:href="#spark"/>'
# )
# Result += SVGGroupEnd(IT)
# Actual path
if draw_dynamic_elements:
Result += IT("{1}")
else:
Result += ''
# End board group
# This ends the newly added group substituting the SVGGrid group.
# Moved here the SVGGroupEnd which was for some reason previously appended
# to the Actual path element making the code look convoluted
Result += SVGGroupEnd(IT)
# Title and legend
Result += IT('<!-- Title background -->')
Result += IT(
'<rect x="0" y="0" width="28" height="1.1" stroke="none" fill="white"/>'
)
Result += IT('<!-- Title group -->')
Result += SVGGroup(IT, {
'font-family': 'sans-serif',
'font-size': '0.36',
'font-weight': 'normal',
'fill': 'black',
'stroke': 'none'
})
Result += IT('<!-- Title -->')
Result += SVGText(IT, (0.5, 0.82), Title, {
'font-size': '0.72',
'font-weight': 'bold'
})
Result += IT('<!-- Legend line labels-->')
Result += SVGText(IT, (19.5, 0.82), 'Actual path')
Result += IT('<!-- Legend lines -->')
Result += SVGGroup(IT, {
'fill': 'none',
'stroke-width': '0.12',
'stroke-linecap': 'round'
})
Result += SVGPath(IT,
[(Pt_Anchor, (18.5, 0.7)), (Pt_Anchor, (19.3, 0.7))],
{'stroke': '#40f'}
)
Result += SVGGroupEnd(IT)
# End of title group
Result += SVGGroupEnd(IT)
# End of outer group
Result += SVGGroupEnd(IT)
Result += SVGEnd(IT)
return Result
def RenderAnimatedPart(Data):
""" Renders list of strings that will be injected to frame """
# -----------------------------------------------------------------------------
def Field(Name, Default):
return Data[Name] if Name in Data else Default
# -----------------------------------------------------------------------------
# TODO: string concatenation is slow
robot_sprite = ""
path = ""
sparks = ""
side = 0.5
IT = tIndentTracker(' ')
robot_sprite += SVGGroup(IT, {'transform': 'rotate(%g %g %g)' % (
(Data['ActualOrientation'] * 180 / pi) + 180.0,
Data['ActualPosition'][0], Data['ActualPosition'][1])
})
# robot_sprite += SVGGroup(IT, {'transform': 'scale(2)'})
robot_sprite += IT('<polygon points="%g,%g %g,%g %g,%g" style="fill:lime;'
''
'stroke:purple;stroke-width:0.06" />'
% (Data['ActualPosition'][0] + side / 2.0, Data['ActualPosition'][1] - side / 2.0,
Data['ActualPosition'][0] + side / 2.0, Data['ActualPosition'][1] + side / 2.0,
Data['ActualPosition'][0] - side, Data['ActualPosition'][1]
))
robot_sprite += SVGGroupEnd(IT)
# robot_sprite += SVGGroupEnd(IT)
ActualPath = Field('ActualPath', None)
if ActualPath is not None:
path += IT('<!-- Actual path -->')
path += SVGPath(IT,
ShapeFromVertices(ActualPath, 1),
{'stroke': '#40f', 'stroke-width': '0.02'}
)
# ??
# Paths in rainbow colours
Paths = Field('Paths', None)
if Paths is not None and len(Paths) > 0:
NumPaths = len(Paths)
path += IT('<!-- Paths in rainbow colours -->')
for PathIx, Path in enumerate(Paths):
if NumPaths >= 2:
Progress = float(PathIx) / float(NumPaths - 1)
else:
Progress = 1.0
Opacity = 1.0 if Progress in [0.0, 1.0] else 0.60 + 0.00 * Progress
ColourStr = ProgressColourStr(Progress, Opacity)
path += IT('<!-- Path %d, (%.1f%%) -->' % (PathIx, 100.0 * Progress))
path += SVGPath(IT, Path, {"stroke": ColourStr})
Sparks = Field('Sparks', None)
if Sparks is not None and len(Sparks) > 0:
B = (Pt_Break, None)
sparks += IT('<!-- Points of interests (sparks) -->')
for SparkPos in Sparks:
SparkPos = (SparkPos[0], SparkPos[1])
S = (
GreekCross(SparkPos, 0.4) + [B] +
PiecewiseArc(SparkPos, 0.25, (0, 2.0 * pi), 8)
)
sparks += IT('<!-- Goal position -->')
sparks += SVGPath(IT, S, {
'stroke': '#d00', 'stroke-width': '0.1', 'stroke-linecap': 'butt'
})
# End of plot
return [robot_sprite, path, sparks]
def RenderToSVG(Data):
'''Return data rendered to an SVG file in a string.
Grid is a dictionary with the keys:
Title: This title is rendered and is embedded in the SVG header.
Grid: See SVGGrid().
Paths: A list of Shapes to be rendered in red-to-indigo rainbow colours.
BadPaths: A list of Shapes to be rendered in a faded colour.
'''
#-----------------------------------------------------------------------------
def Field(Name, Default):
return Data[Name] if Name in Data else Default
#-----------------------------------------------------------------------------
IT = tIndentTracker(' ')
Result = ''
Title = Field('Title', '(Untitled)')
Result += SVGStart(IT, Title, {
'width': '28cm',
'height': '19cm',
'viewBox': '0 0 28 19',
})
Result += IT('<defs>')
IT.StepIn()
Result += IT(
'<marker id="ArrowHead"',
' viewBox="0 0 10 10" refX="0" refY="5"',
' markerUnits="strokeWidth"',
' markerWidth="16" markerHeight="12"',
' orient="auto">'
' <path d="M 0,0 L 10,5 L 0,10 z"/>',
'</marker>'
)
# More marker, symbol and gradient definitions can go here.
IT.StepOut()
Result += IT('</defs>')
# Background
Result += IT(
'<!-- Background -->',
'<rect x="0" y="0" width="28" height="19" stroke="none" fill="white"/>'
)
# Outer group
Result += IT('<!-- Outer group -->')
Result += SVGGroup(IT, {'stroke': 'black', 'stroke-width': '0.025'})
# Plots of both rejected and tentatively accepted paths
Result += IT('<!-- Grid -->')
Result += SVGGrid(IT, Data['Grid'])
# Rejected paths
BadPaths = Field('BadPaths', None)
if BadPaths is not None:
Result += IT('<!-- Rejected paths -->')
Result += SVGGroup(IT, {
'opacity': '0.10', 'stroke': '#ff0099'
})
NumBadPaths = len(BadPaths)
for PathIx, Path in enumerate(BadPaths):
Result += SVGPath(IT, Path)
Result += SVGGroupEnd(IT)
# Axes
Result += IT('<!-- Axes -->')
RangeMin = Data['Grid']['RangeMinima']
RangeMax = Data['Grid']['RangeMaxima']
Result += SVGGroup(IT, {
'stroke': 'black',
'stroke-width': '0.05',
'stroke-linecap': 'square',
'marker-end': 'url(#ArrowHead)'
})
Result += SVGPath(IT,
[(Pt_Anchor, (RangeMin[0], 0.0)), (Pt_Anchor, (RangeMax[0] + 0.1, 0.0))]
)
Result += SVGPath(IT,
[(Pt_Anchor, (0.0, RangeMin[1])), (Pt_Anchor, (0.0, RangeMax[1] + 0.1))]
)
Result += SVGGroupEnd(IT)
# Paths in rainbow colours
Paths = Field('Paths', None)
if Paths is not None:
NumPaths = len(Paths)
Result += IT('<!-- Paths in rainbow colours -->')
for PathIx, Path in enumerate(Paths):
if NumPaths >= 2:
Progress = float(PathIx) / float(NumPaths - 1)
else:
Progress = 1.0
Opacity = 1.0 if Progress in [0.0, 1.0] else 0.60 + 0.00 * Progress
ColourStr = ProgressColourStr(Progress, Opacity)
Result += IT('<!-- Path %d, (%.1f%%) -->' % (PathIx, 100.0 * Progress))
Result += SVGPath(IT, Path, {"stroke": ColourStr})
# End of plot
Result += SVGGroupEnd(IT)
# Title and legend
Result += IT('<!-- Title background -->')
Result += IT(
'<rect x="0" y="0" width="28" height="1.1" stroke="none" fill="white"/>'
)
Result += IT('<!-- Title group -->')
Result += SVGGroup(IT, {
'font-family': 'sans-serif',
'font-size': '0.36',
'font-weight': 'normal',
'fill': 'black',
'stroke': 'none'
})
Result += IT('<!-- Title -->')
Result += SVGText(IT, (0.5, 0.82), Title, {
'font-size': '0.72',
'font-weight': 'bold'
})
Result += IT('<!-- Legend line labels-->')
Result += SVGText(IT, (23.5, 0.82), 'Initial')
Result += SVGText(IT, (26.0, 0.82), 'Final')
Result += IT('<!-- Legend lines -->')
Result += SVGGroup(IT, {
'fill': 'none',
'stroke-width': '0.1',
'stroke-linecap': 'round'
})
Result += SVGPath(IT,
[(Pt_Anchor, (22.5, 0.7)), (Pt_Anchor, (23.3, 0.7))],
{'stroke': ProgressColourStr(0.0)}
)
Result += SVGPath(IT,
[(Pt_Anchor, (25.0, 0.7)), (Pt_Anchor, (25.8, 0.7))],
{'stroke': ProgressColourStr(1.0)}
)
Result += SVGGroupEnd(IT)
# End of title group
Result += SVGGroupEnd(IT)
# End of outer group
Result += SVGGroupEnd(IT)
Result += SVGEnd(IT)
return Result
def RenderFrameTemplate(Data, draw_dynamic_elements=True):
'''Return Data rendered to an SVG file in a string.
Data is a dictionary with the keys:
Title:
This title is rendered and is embedded in the SVG header.
Grid:
See SVGGrid().
Map:
The map is a 2D array of integers for hazards (1) and clear spaces (0).
StartPos:
The car starts here. The coordinates are units of map squares and the
origin is in the centre of Map[0][0].
GoalPos:
Hopefully the car ends within GoalThreshold of here.
GoalThreshold:
The radius of the goal zone is measured in grid units.
Sparks:
Each time a collision occurs, a coordinate pair is added to Sparks.
Paths:
For the puspose of visualising progressive path modifications, Paths
is a list of Shapes to be rendered in red-to-indigo rainbow colours.
'''
#-----------------------------------------------------------------------------
# Shorthand
A = Pt_Anchor
C = Pt_Control
B = (Pt_Break, None)
#-----------------------------------------------------------------------------
def Field(Name, Default):
return Data[Name] if Name in Data else Default
#-----------------------------------------------------------------------------
IT = tIndentTracker(' ')
Result = ''
SparkSymbol = ''
Sparks = Field('Sparks', None)
Title = Field('Title', '(Untitled)')
Result += SVGStart(IT, Title, {
'width': '28cm',
'height': '19cm',
'viewBox': '0 0 28 19'
})
Result += IT('<defs>')
IT.StepIn()
Result += IT(
'<marker id="ArrowHead"',
' viewBox="0 0 10 10" refX="0" refY="5"',
' markerUnits="strokeWidth"',
' markerWidth="8" markerHeight="6"',
' orient="auto">'
' <path d="M 0,0 L 10,5 L 0,10 z"/>',
'</marker>'
)
Result += SparkSymbolDef(IT, 'spark') if Sparks is not None else ''
# More marker, symbol and gradient definitions can go here.
IT.StepOut()
Result += IT('</defs>')
# Background
Result += IT(
'<!-- Background -->',
'<rect x="0" y="0" width="28" height="19" stroke="none" fill="white"/>'
)
# Outer group
Result += IT('<!-- Outer group -->')
Result += SVGGroup(IT, {'stroke': 'black', 'stroke-width': '0.025'})
# Plot with grid
Result += IT('<!-- Grid -->')
Result += SVGGrid(IT, Data['Grid'])
# Maze
Map = Field('Map', None)
if Map is not None:
Result += IT('<!-- Hazards -->')
Result += SVGGroup(IT, {
'fill': '#a40',
'stroke': 'black',
'stroke-width': '0.01',
'stroke-linecap': 'butt',
})
scale_color = 255.0/len(Map)
arrow_colors = {MAP_SPECIAL_DIRECTION: '00F5F1', MAP_SPECIAL_OPTIMAL: 'F58F00'}
for i in range(len(Map)):
for j in range(len(Map[0])):
if Map[i][j] == 1:
#Result += IT('<circle cx="%g" cy="%g" r="0.495"/>\n' % (i, j))
Result += IT('<rect x="%g" y="%g" width="1" height="1" stroke="none" fill="#B30000"/>\n'
%(i - 0.5, j - 0.5))
elif type(Map[i][j]) is list:
if Map[i][j][0] == MAP_SPECIAL_EUCLIDEAN_DISTANCE:
Result += IT('<rect x="%g" y="%g" width="1" height="1" stroke="none" fill="rgb(%g,%g,%g)"/>\n'
%(i - 0.5, j - 0.5,
max(0, 255-int(scale_color*Map[i][j][1])),
max(0, 255-int(scale_color*Map[i][j][1])),
max(0, 255-int(scale_color*Map[i][j][1]))
))
else:
Result += SVGGroup(IT, {'transform': 'translate(%g, %g)' % (i, j)})
Result += SVGGroup(IT, {'transform': 'scale(0.0005)'})
Result += SVGGroup(IT, {'transform': 'rotate(%g, %g, %g)' % (45*Map[i][j][1] -270, i-0.5, i-0.5)})
Result += IT('<polygon style="stroke:none; '
'fill:#%s;" points="100,600 100,-200 '
'500,200 500,-100 0,-600 -500,-100 -500,'
'200 -100,-200 -100,600 "/>'%(arrow_colors[Map[i][j][0]],))
Result += SVGGroupEnd(IT)
Result += SVGGroupEnd(IT)
Result += SVGGroupEnd(IT)
Result += SVGGroupEnd(IT)
# Iniial position
StartPos = Field('StartPos', None)
if StartPos is not None:
S = [
(A, (-1.0, -1.0)), (A, (-1.0, +1.0)),
(A, (+1.0, +1.0)), (A, (+1.0, -1.0)), (A, (-1.0, -1.0))
]
Result += IT('<!-- Initial position -->')
Result += SVGPath(IT,
TransformedShape(AffineMtxTS(StartPos, 0.3), S),
{'stroke': '#09f', 'stroke-width': '0.1', 'stroke-linecap': 'square'}
)
# Robot
if draw_dynamic_elements:
Result += '{0}'
else:
Result += ''
#side = 0.2
#Result += SVGGroup(IT, {'transform': 'rotate(%g %g %g)'%(
# (Data['ActualOrientation'] * 180 / pi) + 180.0,
# Data['ActualPosition'][0], Data['ActualPosition'][1])
#})
#Result += IT('<polygon points="%g,%g %g,%g %g,%g" style="fill:lime;stroke:purple;stroke-width:0.01" />'
#%(Data['ActualPosition'][0] + side/2.0, Data['ActualPosition'][1] - side/2.0,
#Data['ActualPosition'][0] + side/2.0, Data['ActualPosition'][1] + side/2.0,
# Data['ActualPosition'][0] - side, Data['ActualPosition'][1]
#))
#Result += SVGGroupEnd(IT)
# Goal position
GoalPos = Field('GoalPos', None)
if GoalPos is not None:
GoalThreshold = Field('GoalThreshold', None)
if GoalThreshold is not None:
Result += IT('<!-- Goal threshold -->')
Result += IT(
'<circle cx="%g" cy="%g" r="%g"' %
(GoalPos[0], GoalPos[1], GoalThreshold)
)
IT.StepIn(2)
Result += IT(
'fill="rgba(0, 255, 0, 0.1)" stroke="#0d0" stroke-width="0.02"/>'
)
IT.StepOut(2)
S = (
GreekCross(GoalPos, 0.4) + [B] +
PiecewiseArc(GoalPos, 0.25, (0, 2.0 * pi), 8)
)
Result += IT('<!-- Goal position -->')
Result += SVGPath(IT, S, {
'stroke': '#0d0', 'stroke-width': '0.1', 'stroke-linecap': 'butt'
})
# Sparks
if Sparks is not None and len(Sparks) > 0:
Result += IT('<!-- Points of collision (sparks) -->')
Result += SVGGroup(IT, {'transform': 'translate(-0.5, -0.5)'})
for SparkPos in Sparks:
Result += IT(
('<use x="%g" y="%g"' % (SparkPos[0], SparkPos[1])) +
' width="1" height="1" xlink:href="#spark"/>'
)
Result += SVGGroupEnd(IT)
# Actual path
if draw_dynamic_elements:
Result += "{1}"
else:
Result += ''
#
#ActualPath = Field('ActualPath', None)
#if ActualPath is not None:
# Result += IT('<!-- Actual path -->')
# Result += SVGPath(IT,
# ShapeFromVertices(ActualPath, 1),
# {'stroke': '#40f', 'stroke-width': '0.02'}
# )
#
#
## ??
## Paths in rainbow colours
#Paths = Field('Paths', None)
#if Paths is not None and len(Paths) > 0:
#
# NumPaths = len(Paths)
#
# Result += IT('<!-- Paths in rainbow colours -->')
# for PathIx, Path in enumerate(Paths):
# if NumPaths >= 2:
# Progress = float(PathIx) / float(NumPaths - 1)
# else:
# Progress = 1.0
# Opacity = 1.0 if Progress in [0.0, 1.0] else 0.60 + 0.00 * Progress
# ColourStr = ProgressColourStr(Progress, Opacity)
# Result += IT('<!-- Path %d, (%.1f%%) -->' % (PathIx, 100.0 * Progress))
# Result += SVGPath(IT, Path, {"stroke": ColourStr})
#
## End of plot
#
#Result += SVGGroupEnd(IT)
# Title and legend
Result += IT('<!-- Title background -->')
Result += IT(
'<rect x="0" y="0" width="28" height="1.1" stroke="none" fill="white"/>'
)
Result += IT('<!-- Title group -->')
Result += SVGGroup(IT, {
'font-family': 'sans-serif',
'font-size': '0.36',
'font-weight': 'normal',
'fill': 'black',
'stroke': 'none'
})
Result += IT('<!-- Title -->')
Result += SVGText(IT, (0.5, 0.82), Title, {
'font-size': '0.72',
'font-weight': 'bold'
})
Result += IT('<!-- Legend line labels-->')
Result += SVGText(IT, (19.5, 0.82), 'Actual path')
#Result += SVGText(IT, (22.6, 0.82), 'Estimated')
#Result += SVGText(IT, (26.0, 0.82), 'Actual')
Result += IT('<!-- Legend lines -->')
Result += SVGGroup(IT, {
'fill': 'none',
'stroke-width': '0.12',
'stroke-linecap': 'round'
})
Result += SVGPath(IT,
[(Pt_Anchor, (18.5, 0.7)), (Pt_Anchor, (19.3, 0.7))],
{'stroke': '#40f'}
)
#Result += SVGPath(IT,
# [(Pt_Anchor, (21.6, 0.7)), (Pt_Anchor, (22.4, 0.7))],
# {'stroke': '#f09', 'stroke-dasharray': '0.075 0.15'}
#)
#
#Result += SVGPath(IT,
# [(Pt_Anchor, (25.0, 0.7)), (Pt_Anchor, (25.8, 0.7))],
# {'stroke': '#40f'}
#)
Result += SVGGroupEnd(IT)
# End of title group
Result += SVGGroupEnd(IT)
# End of outer group
Result += SVGGroupEnd(IT)
Result += SVGEnd(IT)
return Result
def RenderAnimatedPart(Data):
""" Renders list of strings that will be injected to frame """
#-----------------------------------------------------------------------------
def Field(Name, Default):
return Data[Name] if Name in Data else Default
#-----------------------------------------------------------------------------
robot_sprite = ""
side = 0.5
IT = tIndentTracker(' ')
robot_sprite += SVGGroup(IT, {'transform': 'rotate(%g %g %g)'%(
(Data['ActualOrientation'] * 180 / pi) + 180.0,
Data['ActualPosition'][0], Data['ActualPosition'][1])
})
#robot_sprite += SVGGroup(IT, {'transform': 'scale(2)'})
robot_sprite += IT('<polygon points="%g,%g %g,%g %g,%g" style="fill:lime;'
''
'stroke:purple;stroke-width:0.06" />'
%(Data['ActualPosition'][0] + side/2.0, Data['ActualPosition'][1] - side/2.0,
Data['ActualPosition'][0] + side/2.0, Data['ActualPosition'][1] + side/2.0,
Data['ActualPosition'][0] - side, Data['ActualPosition'][1]
))
robot_sprite += SVGGroupEnd(IT)
#robot_sprite += SVGGroupEnd(IT)
path = ""
ActualPath = Field('ActualPath', None)
if ActualPath is not None:
path += IT('<!-- Actual path -->')
path += SVGPath(IT,
ShapeFromVertices(ActualPath, 1),
{'stroke': '#40f', 'stroke-width': '0.02'}
)
# ??
# Paths in rainbow colours
Paths = Field('Paths', None)
if Paths is not None and len(Paths) > 0:
NumPaths = len(Paths)
path += IT('<!-- Paths in rainbow colours -->')
for PathIx, Path in enumerate(Paths):
if NumPaths >= 2:
Progress = float(PathIx) / float(NumPaths - 1)
else:
Progress = 1.0
Opacity = 1.0 if Progress in [0.0, 1.0] else 0.60 + 0.00 * Progress
ColourStr = ProgressColourStr(Progress, Opacity)
path += IT('<!-- Path %d, (%.1f%%) -->' % (PathIx, 100.0 * Progress))
path += SVGPath(IT, Path, {"stroke": ColourStr})
# End of plot
path += SVGGroupEnd(IT)
return [robot_sprite, path]