def __init__(self, laser, ir, navigator):
self.laser = laser
self.ir = ir
self.navigator = navigator
self.state = STATE_MEASURING
self.mapping_state = MAPPING_STATE_FOLLOWING_OUTER_WALL
self.current_section = Section(NORTH)
self.saved_sections = []
self.map_data = [(0, 0)]
self.current_x = 0
self.current_y = 0
self.kitchen_start_x = 0
self.kitchen_start_y = 0
self.kitchen_num_mapped = 0
self.num_kitchen_turns = 0
self.kitchen_mapping = {}
self.invalid_kitchens = []
self.island_data = []
self.edges_data = []
self.num_ok_close = 0
self.num_ok_far = 0
EventBus.subscribe(CMD_TURN_STARTED, self.on_turning_started)
EventBus.subscribe(CMD_TURN_FINISHED, self.on_turning_finished)
def set_motor_speed(left_speed, right_speed=None):
if right_speed is None:
right_speed = left_speed
EventBus.post(
STYR_ADDR,
Event(message_id=CMD_SET_MOTOR_SPEED,
arguments=[left_speed, right_speed]))
def main():
global busy, last_request
setup()
while True:
EventBus.receive()
request_data()
def main():
setup()
while True:
laser.read_data()
gyro.read_data()
ir.request_data()
EventBus.receive()
position.update()
navigator.navigate()
def new_conn(self):
if len(self.conns) <= self.max_conn:
eb = EventBus("http://{}/eventbus".format(self.host))
self.conns.append(eb)
def onopen(message):
print "onopen"
eb.registerHandler(self.address, handler)
def handler(message, replyTo):
print(message)
eb.addEventListener("open", onopen)
threads.deferToThread(eb.connect)
def navigate(self):
self.data['driver'].update()
if self.mode == Navigator.AUTONOMOUS:
next_state = self.state.run(self.data)
curr_type = type(self.state)
next_type = type(next_state)
if curr_type is not Turn and next_type is Turn:
EventBus.notify(CMD_TURN_STARTED)
if curr_type is Stabilize and next_type is not Stabilize:
EventBus.notify(CMD_TURN_FINISHED, self.state.is_right_turn)
self.state = next_state
def update():
global gui, last_data_request_time, curr_test_corn, bt_client
if not gui.exit_demanded:
if gui.finished_setup:
EventBus.receive()
if (datetime.datetime.now() - last_data_request_time) > datetime.timedelta(
milliseconds=DATA_REQUEST_INTERVAL):
if bt_client is not None and bt_client.is_connected:
request_data()
last_data_request_time = datetime.datetime.now()
else:
gui.setup_after_main_loop()
gui.canvas.after(UPDATE_INTERVAL, update)
else:
print("Exit gui in client main")
outbound.bt_restart()
while bt_client is not None and not bt_client.restart_demanded:
pass
gui.close_window()
def bt_request_servo_data():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_REQUEST_SERVO_DATA))
def bt_request_sensor_data():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_REQUEST_SENSOR_DATA))
def request_ip():
EventBus.post(BLUETOOTH_ADDR, BT_task(REQUEST_PI_IP))
def setup():
global eventBus
eventBus = EventBus()
global soundHandler
soundHandler = SoundHandler()
eventBus.addCoinCollectedListener(soundHandler)
eventBus.addKeyCollectedListener(soundHandler)
eventBus.addDoorOpeningListener(soundHandler)
eventBus.addPlayerFootstepListener(soundHandler)
eventBus.addMapTransitionListener(soundHandler)
eventBus.addEndGameListener(soundHandler)
eventBus.addLifeLostListener(soundHandler)
eventBus.addWaspZoomingListener(soundHandler)
eventBus.addBeetleCrawlingListener(soundHandler)
eventBus.addCheckpointReachedListener(soundHandler)
eventBus.addPlayerFallingListener(soundHandler)
eventBus.addBladesStabbingListener(soundHandler)
eventBus.addBoatMovingListener(soundHandler)
eventBus.addTitleShownListener(soundHandler)
eventBus.addGameStartedListener(soundHandler)
global registryHandler
registryHandler = RegistryHandler()
eventBus.addCoinCollectedListener(registryHandler)
eventBus.addKeyCollectedListener(registryHandler)
eventBus.addDoorOpenedListener(registryHandler)
eventBus.addBoatStoppedListener(registryHandler)
eventBus.addCheckpointReachedListener(registryHandler)
global musicPlayer
musicPlayer = MusicPlayer()
def bt_return_sensor_data(data):
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_RETURN_SENSOR_DATA, data))
def bt_forward_left():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_DRIVE_FORWARD_LEFT))
def bt_drive_back():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_DRIVE_BACK))
def set_right_motor_speed(speed):
EventBus.post(
STYR_ADDR,
Event(message_id=CMD_SET_RIGHT_MOTOR_SPEED, arguments=[speed]))
def bt_forward_right():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_DRIVE_FORWARD_RIGHT))
def notify_mode_changed(new_mode):
EventBus.post(BLUETOOTH_ADDR, BT_task(CMD_MODE_SET, new_mode))
def bt_return_map_data(data):
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_RETURN_MAP_DATA, data))
def bt_return_servo_data(data):
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_RETURN_SERVO_DATA, data))
def bt_request_map_data():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_REQUEST_MAP_DATA))
def bt_restart():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_SERVER_RESTART))
def bt_drive_forward():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_DRIVE_FORWARD))
def bt_switch_to_manual():
EventBus.post(BLUETOOTH_ADDR, BT_task(MANUAL_MODE))
def bt_turn_right():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_TURN_RIGHT))
def bt_return_ip(ip):
EventBus.post(BLUETOOTH_ADDR, BT_task(RETURN_PI_IP, ip))
def bt_turn_left():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_TURN_LEFT))
def startGame(cont = False):
global eventBus
eventBus = EventBus()
# create registry handler
global registryHandler
if cont:
registryHandler.switchToSnapshot()
else:
#registry = Registry("unit", (4, 6), 1)
registry = Registry("central", (6, 22), 2)
#registry = Registry("central", (22, 20), 3)
#registry = Registry("east", (10, 18), 1)
#registry = Registry("wasps", (12, 10), 5)
registryHandler = RegistryHandler(registry)
# grab this for later
registry = registryHandler.registry
# add event listeners
eventBus.addCoinCollectedListener(registryHandler)
eventBus.addKeyCollectedListener(registryHandler)
eventBus.addDoorOpenedListener(registryHandler)
eventBus.addCheckpointReachedListener(registryHandler)
global soundHandler
soundHandler = SoundHandler()
eventBus.addCoinCollectedListener(soundHandler)
eventBus.addKeyCollectedListener(soundHandler)
eventBus.addDoorOpeningListener(soundHandler)
eventBus.addPlayerFootstepListener(soundHandler)
eventBus.addMapTransitionListener(soundHandler)
eventBus.addEndGameListener(soundHandler)
eventBus.addLifeLostListener(soundHandler)
eventBus.addWaspZoomingListener(soundHandler)
eventBus.addBeetleCrawlingListener(soundHandler)
eventBus.addCheckpointReachedListener(soundHandler)
eventBus.addPlayerFallingListener(soundHandler)
# create fixed sprites
global fixedSprites
fixedSprites = pygame.sprite.Group()
fixedCoin = FixedCoin((27, 3))
coinCount = CoinCount(registry.coinCount, (38, 3))
keyCount = KeyCount(registry.keyCount, (0, 3))
lives = Lives(2, (3, 3))
checkpointIcon = CheckpointIcon((-11, -11))
fixedSprites.add(fixedCoin, lives, coinCount, keyCount, checkpointIcon)
# create player
global player
player = Ulmo()
player.coinCount = coinCount
player.keyCount = keyCount
player.lives = lives
player.checkpointIcon = checkpointIcon
# create the map
rpgMap = parser.loadRpgMap(registry.mapName)
player.setup("ulmo", rpgMap, eventBus)
# set the start position
player.setTilePosition(registry.playerPosition[0],
registry.playerPosition[1],
registry.playerLevel)
# return the play state
return PlayState()
def bt_shutdown():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_SERVER_SHUTDOWN))
def setup():
Safety.setup_terminal_abort()
EventBus.subscribe(BT_REQUEST_SENSOR_DATA, communicator.send_sensor_data)
EventBus.subscribe(BT_REQUEST_SERVO_DATA, communicator.send_servo_data)
EventBus.subscribe(BT_REQUEST_MAP_DATA, communicator.send_map_data)
EventBus.subscribe(BT_DRIVE_FORWARD, communicator.drive_forward)
EventBus.subscribe(BT_DRIVE_BACK, communicator.drive_backward)
EventBus.subscribe(BT_TURN_RIGHT, communicator.turn_right)
EventBus.subscribe(BT_TURN_LEFT, communicator.turn_left)
EventBus.subscribe(BT_DRIVE_FORWARD_RIGHT,
communicator.drive_forward_right)
EventBus.subscribe(BT_DRIVE_FORWARD_LEFT, communicator.drive_forward_left)
EventBus.subscribe(AUTONOMOUS_MODE,
(lambda: navigator.set_mode(Navigator.AUTONOMOUS)))
EventBus.subscribe(MANUAL_MODE,
(lambda: navigator.set_mode(Navigator.MANUAL)))
EventBus.subscribe(CMD_TOGGLE_MODE, navigator.toggle_mode)
EventBus.subscribe(REQUEST_PI_IP, communicator.send_ip)
EventBus.subscribe(CMD_RETURN_SENSOR_DATA, ir.sensor_data_received)
Laser.initialize()
Gyro.initialize()
def bt_switch_to_auto():
EventBus.post(BLUETOOTH_ADDR, BT_task(AUTONOMOUS_MODE))
def startGame(cont=False):
global eventBus
eventBus = EventBus()
# create registry handler
global registryHandler
if cont:
registryHandler.switchToSnapshot()
else:
#registry = Registry("unit", (4, 6), 1)
registry = Registry("central", (6, 22), 2)
#registry = Registry("central", (22, 20), 3)
#registry = Registry("east", (10, 18), 1)
#registry = Registry("wasps", (12, 10), 5)
registryHandler = RegistryHandler(registry)
# grab this for later
registry = registryHandler.registry
# add event listeners
eventBus.addCoinCollectedListener(registryHandler)
eventBus.addKeyCollectedListener(registryHandler)
eventBus.addDoorOpenedListener(registryHandler)
eventBus.addCheckpointReachedListener(registryHandler)
global soundHandler
soundHandler = SoundHandler()
eventBus.addCoinCollectedListener(soundHandler)
eventBus.addKeyCollectedListener(soundHandler)
eventBus.addDoorOpeningListener(soundHandler)
eventBus.addPlayerFootstepListener(soundHandler)
eventBus.addMapTransitionListener(soundHandler)
eventBus.addEndGameListener(soundHandler)
eventBus.addLifeLostListener(soundHandler)
eventBus.addWaspZoomingListener(soundHandler)
eventBus.addBeetleCrawlingListener(soundHandler)
eventBus.addCheckpointReachedListener(soundHandler)
eventBus.addPlayerFallingListener(soundHandler)
# create fixed sprites
global fixedSprites
fixedSprites = pygame.sprite.Group()
fixedCoin = FixedCoin((27, 3))
coinCount = CoinCount(registry.coinCount, (38, 3))
keyCount = KeyCount(registry.keyCount, (0, 3))
lives = Lives(2, (3, 3))
checkpointIcon = CheckpointIcon((-11, -11))
fixedSprites.add(fixedCoin, lives, coinCount, keyCount, checkpointIcon)
# create player
global player
player = Ulmo()
player.coinCount = coinCount
player.keyCount = keyCount
player.lives = lives
player.checkpointIcon = checkpointIcon
# create the map
rpgMap = parser.loadRpgMap(registry.mapName)
player.setup("ulmo", rpgMap, eventBus)
# set the start position
player.setTilePosition(registry.playerPosition[0],
registry.playerPosition[1], registry.playerLevel)
# return the play state
return PlayState()
def startGame():
global eventBus
eventBus = EventBus()
# create registry
global registry
registry = Registry()
eventBus.addCoinCollectedListener(registry)
eventBus.addKeyCollectedListener(registry)
eventBus.addDoorOpenedListener(registry)
global soundHandler
soundHandler = SoundHandler()
eventBus.addCoinCollectedListener(soundHandler)
eventBus.addKeyCollectedListener(soundHandler)
eventBus.addDoorOpeningListener(soundHandler)
eventBus.addPlayerFootstepListener(soundHandler)
eventBus.addMapTransitionListener(soundHandler)
eventBus.addEndGameListener(soundHandler)
eventBus.addLifeLostListener(soundHandler)
eventBus.addWaspZoomingListener(soundHandler)
eventBus.addBeetleCrawlingListener(soundHandler)
# create fixed sprites
global fixedSprites
fixedSprites = pygame.sprite.Group()
fixedCoin = FixedCoin((27, 3))
coinCount = CoinCount(0, (38, 3))
keyCount = KeyCount(0, (VIEW_WIDTH - 3, 3))
lives = Lives(2, (3, 3))
fixedSprites.add(fixedCoin, lives, coinCount, keyCount)
# create player
global player
player = Ulmo()
player.coinCount = coinCount
player.keyCount = keyCount
player.lives = lives
# create the map
rpgMap = parser.loadRpgMap("central")
player.setup("ulmo", rpgMap, eventBus)
# set the start position
#player.setTilePosition(2, 16, 2)
player.setTilePosition(6, 20, 2)
#player.setTilePosition(30, 21, 3)
#player.setTilePosition(5, 3, 4)
# return the play state
return PlayState()
def setup():
global eventBus
eventBus = EventBus()
global soundHandler
soundHandler = SoundHandler()
eventBus.addCoinCollectedListener(soundHandler)
eventBus.addKeyCollectedListener(soundHandler)
eventBus.addDoorOpeningListener(soundHandler)
eventBus.addPlayerFootstepListener(soundHandler)
eventBus.addMapTransitionListener(soundHandler)
eventBus.addEndGameListener(soundHandler)
eventBus.addLifeLostListener(soundHandler)
eventBus.addWaspZoomingListener(soundHandler)
eventBus.addBeetleCrawlingListener(soundHandler)
eventBus.addCheckpointReachedListener(soundHandler)
eventBus.addPlayerFallingListener(soundHandler)
eventBus.addBladesStabbingListener(soundHandler)
eventBus.addBoatMovingListener(soundHandler)
eventBus.addTitleShownListener(soundHandler)
eventBus.addGameStartedListener(soundHandler)
global registryHandler
registryHandler = RegistryHandler()
eventBus.addCoinCollectedListener(registryHandler)
eventBus.addKeyCollectedListener(registryHandler)
eventBus.addDoorOpenedListener(registryHandler)
eventBus.addBoatStoppedListener(registryHandler)
eventBus.addCheckpointReachedListener(registryHandler)
global musicPlayer
musicPlayer = MusicPlayer()