def __init__(self, filename):
# If we're not going to use this function ANYWHERE ELSE
# why expose it? Make it a local function.
def loadImage(filename):
image = pygame.image.load(filename)
if image.get_alpha() is None:
image = image.convert()
else:
image = image.convert_alpha()
return image
self.image = loadImage(filename)
self.angle = vector2D(1, 0)
self.position = vector2D(0, 0)
def __init__(self,com):
self.MD = MecanumBase()
self.cmdbuf = self.MD.stop()
self.cmd = 0
self.cmdstr = [u'停止',u'平移',u'旋转']
self.seropened = False
self.ser = None
self.mp = (0,0)
self.effective = 0
self.driving = False
self.center = vector2D(216,213)
self.END =0
pygame.init()
self.scr = pygame.display.set_mode((537,429),0,32)
self.background = pygame.image.load(script_path+'//'+'background.jpg').convert()
self.label = label(self.scr,(460,30),'left',text=u'端口:',textsize=13,forecolor=(0,0,0,0),textcolor=(255,255,0),textfont='stsong')
self.textbox = textbox(self.scr,(460+self.label.getsize()[0],30),anchor='left',siz = (32,20),textcolor=(255,0,0),forecolor=(200,200,200,255),cusorcolor=(255,0,0))
self.textbox.focused = 1
self.label2 = label(self.scr,(460,60),'left',text=u'未连接',textsize=13,forecolor=(0,0,0,0),textfont='stsong',textcolor=(255,255,0),borderon=1,bordercolor = (255,255,255,255))
self.openbt = button(self.scr,(460,90),'left',(60,25),textsize = 15,bordercolor=(0,0,255),forecolor=(200,200,200,255),text = u'连接',textcolor=(255,255,0),textfont='stsong')
self.cmdlabel = label(self.scr,(460,120),'left',text=u'停止',textsize=13,forecolor=(0,0,0,0),textcolor=(255,255,0),borderon=1,bordercolor = (255,255,255,255),textfont='stsong')
self.transbt = button(self.scr,(460,150),'left',(60,25),textsize = 15,bordercolor=(0,0,255),forecolor=(200,200,200,255),text = u'平移',textcolor=(255,255,0),textfont='stsong')
self.rotatebt = button(self.scr,(460,180),'left',(60,25),textsize = 15,bordercolor=(0,0,255),forecolor=(200,200,200,255),text = u'旋转',textcolor=(255,255,0),textfont='stsong')
self.stopbt = button(self.scr,(216,213),'center',(60,60),textsize = 30,bordercolor=(0,0,255),forecolor=(200,200,200,0),text = u'停止',textcolor=(255,255,0),textfont='stsong')
self.cursorlabel = label(self.scr,(0,0),'lefttop',text='',textsize=15,forecolor=(0,0,0,255),textcolor=(255,255,255),textfont='stsong',borderon = 0,visible = False)
self.clk = pygame.time.Clock()
def __init__(self, resolution=(640,480)):
pygame.init()
self.screen = pygame.display.set_mode(resolution)
self.clock = pygame.time.Clock()
self.mysprite = imagedata.sprite("test2.png")
self.mysat = imagedata.sprite("test3.png")
self.mysatvec = vector2D(50,0)
def __init__(self, parent, xpos = 0, ypos = 0, angle = 0.0, xsize = 1.0, ysize = 1.0, **args): self.childlist = [] self.parent = parent if parent is not None: parent.addNode(self) self.id = sgnode.ids sgnode.ids += 1 sgnode.nodelist.append(self) # Setup base node properties self.__position = vector2D( xpos, ypos ) self.__angle = vector2D() self.__angle.angle = angle self.__size = vector2D( xsize, ysize ) # Here we'll do specific startup stuff. doStartup(**args)
def run(self):
while True:
ev = pygame.event.get()
for e in ev:
if e.type == QUIT: self.END = 1
self.scr.blit(self.background,(0,0))
self.label.update()
self.label2.update()
self.cmdlabel.update()
self.cursorlabel.update()
self.textbox.update(ev)
self.openbt.update(ev,self.openbtcallback)
self.transbt.update(ev,self.transbtcallback)
self.rotatebt.update(ev,self.rotatebtcallback)
self.stopbt.update(ev,self.stopbtcallback)
if self.seropened:
if not self.driving:
for e in ev:
if e.type == MOUSEMOTION:
self.mp = e.pos
self.mpv = vector2D(self.mp[0],self.mp[1])-self.center
if self.mpv.Len>55 and self.mpv.Len<210:
a1,a2 = self.direct_measure(self.mpv)
self.cursorlabel.visible = 1
self.cursorlabel.position = self.mp
if self.cmd == 1:
self.cursorlabel.text = u'平移 x:'+str(int(self.mpv.X))+' y:'+str(int(self.mpv.Y))
elif self.cmd == 2:
self.cursorlabel.text = u'旋转 '+str(int(a2))+u'度'
else:
self.cursorlabel.visible = False
else:
self.cursorlabel.visible = 0
elif e.type == MOUSEBUTTONUP:
self.mp = e.pos
self.mpv = vector2D(self.mp[0],self.mp[1])-self.center
if self.mpv.Len>55 and self.mpv.Len<210:
a1,a2 = self.direct_measure(self.mpv)
if self.cmd == 1:
self.cmdbuf = self.MD.translateV(VELTRANSLATE,int(a1))
self.lstclk = time.clock()
self.endclk = self.lstclk+4*self.mpv.Len/VELTRANSLATE
self.driving = True
elif self.cmd == 2:
self.cmdbuf = self.MD.rotateV(-VELROTATE*np.sign(a2))
self.lstclk = time.clock()
self.endclk = self.lstclk+abs(a2)/VELROTATE
self.driving = True
else:
self.cmdbuf = self.MD.stop()
else:
pygame.draw.circle(self.scr,(255,0,0),self.mp,5)
if time.clock()-self.endclk>0:
self.driving = False
self.cmdbuf = self.MD.stop()
self.cursorlabel.visible=False
self.ser.write(self.cmdbuf)
pygame.display.update()
self.clk.tick(30)
if self.END: break
if self.seropened:
self.cmdbuf = self.MD.stop()
for i in range(20):
self.ser.write(self.cmdbuf)
time.sleep(0.05)
self.ser.close()
self.ser.close()
pygame.quit()