1 import math, sys, time, os, random, re
4 FLOAT = "([-+]?[0-9]*\.?[0-9]+)"
5 INT = "([-+]?[0-9][0-9]*)"
16 area = [ (0.0, 0.0, -0.2), (3000.0, 2100.0, 0.2) ]
17 areasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , area)
18 area_box = box(size=areasize, color=(0.0, 1.0, 0.0))
22 # all positions of robot every 5ms
25 robot = box(color=(0.4, 0.4, 0.4))
26 lspickle = box(color=(0.4, 0.4, 0.4))
27 rspickle = box(color=(0.4, 0.4, 0.4))
30 hcenter_line = curve()
31 hcenter_line.pos = [(-AREA_X/2, 0., 0.3), (AREA_X/2, 0., 0.3)]
32 vcenter_line = curve()
33 vcenter_line.pos = [(0., -AREA_Y/2, 0.3), (0., AREA_Y/2, 0.3)]
35 yellowarea = [ (0.0, 0.0, -0.5), (500.0, 500.0, 0.5) ]
36 yellowareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , yellowarea)
37 yellowarea_box = box(pos=(-AREA_X/2+250,-AREA_Y/2+250,0), size=yellowareasize, color=(1.0, 1.0, 0.0))
39 bluearea = [ (0.0, 0.0, -0.5), (500.0, 500.0, 0.5) ]
40 blueareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , bluearea)
41 bluearea_box = box(pos=(AREA_X/2-250,-AREA_Y/2+250,0), size=blueareasize, color=(0.0, 0.0, 1.0))
43 greyarea = [ (0.0, 0.0, -0.5), (1520.0, 500.0, 0.5) ]
44 greyareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , greyarea)
45 greyarea_box = box(pos=(0,-AREA_Y/2+250,0), size=greyareasize, color=(0.3, 0.6, 0.3))
53 sq.pos = [(-sz, -sz, 0.3),
66 robot_lspickle_deployed = 0
67 robot_rspickle_deployed = 0
68 robot_lspickle_autoharvest = 0
69 robot_rspickle_autoharvest = 0
92 col = [TYPE_WAYPOINT] * WAYPOINTS_NBY
93 waypoints = [col[:] for i in range(WAYPOINTS_NBX)]
94 corn_table = [TYPE_WHITE_CORN]*18
107 corn_center_confs = [
115 if i == 0 and j == 2: return 0
116 if i == 0 and j == 4: return 1
117 if i == 0 and j == 6: return 2
118 if i == 2 and j == 3: return 3
119 if i == 2 and j == 5: return 4
120 if i == 2 and j == 7: return 5
121 if i == 4 and j == 4: return 6
122 if i == 4 and j == 6: return 7
123 if i == 6 and j == 5: return 8
124 if i == 6 and j == 7: return 9
125 if i == 8 and j == 4: return 10
126 if i == 8 and j == 6: return 11
127 if i == 10 and j == 3: return 12
128 if i == 10 and j == 5: return 13
129 if i == 10 and j == 7: return 14
130 if i == 12 and j == 2: return 15
131 if i == 12 and j == 4: return 16
132 if i == 12 and j == 6: return 17
136 sym = [15, 16, 17, 12, 13, 14, 10, 11, 8, 9, 6, 7, 3, 4, 5, 0, 1, 2]
139 def init_corn_table(conf_side, conf_center):
140 global corn_table, corn_side_confs, corn_center_confs
141 print "confs = %d, %d"%(conf_side, conf_center)
143 if i in corn_side_confs[conf_side]:
144 corn_table[i] = TYPE_BLACK_CORN
146 if corn_get_sym(i) in corn_side_confs[conf_side]:
147 corn_table[i] = TYPE_BLACK_CORN
149 if i in corn_center_confs[conf_center]:
150 corn_table[i] = TYPE_BLACK_CORN
152 if corn_get_sym(i) in corn_center_confs[conf_center]:
153 corn_table[i] = TYPE_BLACK_CORN
155 corn_table[i] = TYPE_WHITE_CORN
157 def init_waypoints():
158 global waypoints, corn_table
160 for i in range(WAYPOINTS_NBX):
161 for j in range(WAYPOINTS_NBY):
165 waypoints[i][j] = corn_table[c]
169 if (i & 1) == 0 and j > 3:
170 waypoints[i][j] = TYPE_BALL
172 if (i == 0 or i == WAYPOINTS_NBX-1) and j > 2:
173 waypoints[i][j] = TYPE_BALL
176 # too close of border
177 if (i & 1) == 1 and j == WAYPOINTS_NBY -1:
178 waypoints[i][j] = TYPE_OBSTACLE
181 if i >= 2 and i < WAYPOINTS_NBX - 2 and j < 2:
182 waypoints[i][j] = TYPE_OBSTACLE
185 if i == 0 or i == WAYPOINTS_NBX-1:
186 waypoints[i][j] = TYPE_DANGEROUS
188 if (i&1) == 0 and j == WAYPOINTS_NBY-1:
189 waypoints[i][j] = TYPE_DANGEROUS
192 waypoints[i][j] = TYPE_WAYPOINT
194 print i, waypoints[i]
198 def toggle_obj_disp():
202 if area_objects == []:
203 c = sphere(radius=5, color=(0., 0.,1.),
204 pos=(1238.-AREA_X/2, 1313.-AREA_Y/2, 5))
205 area_objects.append(c)
206 c = sphere(radius=5, color=(0., 0.,1.),
207 pos=(1364.-AREA_X/2, 1097.-AREA_Y/2, 5))
208 area_objects.append(c)
209 c = sphere(radius=5, color=(0., 0.,1.),
210 pos=(1453.-AREA_X/2, 1176.-AREA_Y/2, 5))
211 area_objects.append(c)
212 c = sphere(radius=5, color=(0., 0.,1.),
213 pos=(1109.-AREA_X/2, 1050.-AREA_Y/2, 5))
214 area_objects.append(c)
216 if area_objects == []:
224 y = OFFSET_CORN_Y + STEP_CORN_Y/2
228 if waypoints[i][j] == TYPE_WHITE_CORN:
229 c = cylinder(axis=(0,0,1), length=CORN_HEIGHT,
230 radius=25, color=(0.8,0.8,0.8),
231 pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
232 area_objects.append(c)
233 elif waypoints[i][j] == TYPE_BLACK_CORN:
234 c = cylinder(axis=(0,0,1), length=CORN_HEIGHT,
235 radius=25, color=(0.2,0.2,0.2),
236 pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
237 area_objects.append(c)
238 elif waypoints[i][j] == TYPE_BALL:
239 c = sphere(radius=50, color=(1., 0.,0.),
240 pos=(x-AREA_X/2,y-AREA_Y/2,50))
241 area_objects.append(c)
243 c = sphere(radius=5, color=(0., 0.,1.),
244 pos=(x-AREA_X/2,y-AREA_Y/2,5))
245 area_objects.append(c)
251 for o in area_objects:
266 global robot, last_pos, robot_trail, robot_trail_list
267 global save_pos, robot_x, robot_y, robot_a
270 tmp_x = robot_x - AREA_X/2
271 tmp_y = robot_y - AREA_Y/2
274 tmp_x = -robot_x + AREA_X/2
275 tmp_y = -robot_y + AREA_Y/2
278 robot.pos = (tmp_x, tmp_y, ROBOT_HEIGHT/2)
279 axis = (math.cos(tmp_a*math.pi/180),
280 math.sin(tmp_a*math.pi/180),
284 robot.size = (ROBOT_LENGTH, ROBOT_WIDTH, ROBOT_HEIGHT)
286 lspickle.pos = (tmp_x + (robot_lspickle_deployed*60) * math.cos((tmp_a+90)*math.pi/180),
287 tmp_y + (robot_lspickle_deployed*60) * math.sin((tmp_a+90)*math.pi/180),
290 lspickle.size = (20, ROBOT_WIDTH, 5)
291 if robot_lspickle_autoharvest:
292 lspickle.color = (1, 0, 0)
294 lspickle.color = (0.4, 0.4, 0.4)
296 rspickle.pos = (tmp_x + (robot_rspickle_deployed*60) * math.cos((tmp_a-90)*math.pi/180),
297 tmp_y + (robot_rspickle_deployed*60) * math.sin((tmp_a-90)*math.pi/180),
300 rspickle.size = (20, ROBOT_WIDTH, 5)
301 if robot_rspickle_autoharvest:
302 rspickle.color = (1, 0, 0)
304 rspickle.color = (0.4, 0.4, 0.4)
307 save_pos.append((robot.pos.x, robot.pos.y, tmp_a))
309 pos = robot.pos.x, robot.pos.y, 0.3
311 robot_trail_list.append(pos)
313 robot_trail_l = len(robot_trail_list)
314 if robot_trail_l > max_trail:
315 robot_trail_list = robot_trail_list[robot_trail_l - max_trail:]
316 robot_trail.pos = robot_trail_list
322 f = open("/tmp/robot_save", "w")
324 f.write("%f %f %f\n"%(p[0], p[1], p[2]))
327 def silent_mkfifo(f):
333 #init_corn_table(random.randint(0,8), random.randint(0,3))
334 init_corn_table(0, 0)
335 waypoints = init_waypoints()
339 silent_mkfifo("/tmp/.robot_sim2dis")
340 silent_mkfifo("/tmp/.robot_dis2sim")
342 fr = open("/tmp/.robot_sim2dis", "r")
343 fw = open("/tmp/.robot_dis2sim", "w", 0)
350 m = re.match("pos=%s,%s,%s"%(INT,INT,INT), l)
352 robot_x = int(m.groups()[0])
353 robot_y = int(m.groups()[1])
354 robot_a = int(m.groups()[2])
359 m = re.match("ballboard=%s"%(INT), l)
361 print "ballboard: %d"%(int(m.groups()[0]))
365 m = re.match("cobboard=%s,%s"%(INT,INT), l)
367 print "cobboard: %x,%x"%(int(m.groups()[0]),int(m.groups()[1]))
368 side = int(m.groups()[0])
369 flags = int(m.groups()[1])
371 robot_lspickle_deployed = ((flags & 1) * 2)
372 robot_lspickle_autoharvest = ((flags & 2) != 0)
374 robot_rspickle_deployed = ((flags & 1) * 2)
375 robot_rspickle_autoharvest = ((flags & 2) != 0)
377 if scene.kb.keys == 0:
380 k = scene.kb.getkey()
383 scene.center = x-10,y,z
385 scene.center = x+10,y,z
387 scene.center = x,y+10,z
389 scene.center = x,y-10,z
395 robot_trail_list = []