projects/microb2010/mainboard/display.py

   1 import math, sys, time, os, random, re
   2 from visual import *
   3
   4 FLOAT = "([-+]?[0-9]*\.?[0-9]+)"
   5 INT = "([-+]?[0-9][0-9]*)"
   6
   7 AREA_X = 3000.
   8 AREA_Y = 2100.
   9
  10 ROBOT_HEIGHT=5 # 350
  11 CORN_HEIGHT=5  # 150
  12
  13 area = [ (0.0, 0.0, -0.2), (3000.0, 2100.0, 0.2) ]
  14 areasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , area)
  15 area_box = box(size=areasize, color=(0.0, 1.0, 0.0))
  16
  17 scene.autoscale=0
  18
  19 # all positions of robot every 5ms
  20 save_pos = []
  21
  22 robot = box(color=(0.4, 0.4, 0.4))
  23 lspickle = box(color=(0.4, 0.4, 0.4))
  24 rspickle = box(color=(0.4, 0.4, 0.4))
  25
  26 last_pos = (0.,0.,0.)
  27 hcenter_line = curve()
  28 hcenter_line.pos = [(-AREA_X/2, 0., 0.3), (AREA_X/2, 0., 0.3)]
  29 vcenter_line = curve()
  30 vcenter_line.pos = [(0., -AREA_Y/2, 0.3), (0., AREA_Y/2, 0.3)]
  31
  32 yellowarea = [ (0.0, 0.0, -0.5), (500.0, 500.0, 0.5) ]
  33 yellowareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , yellowarea)
  34 yellowarea_box = box(pos=(-AREA_X/2+250,-AREA_Y/2+250,0), size=yellowareasize, color=(1.0, 1.0, 0.0))
  35
  36 bluearea = [ (0.0, 0.0, -0.5), (500.0, 500.0, 0.5) ]
  37 blueareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , bluearea)
  38 bluearea_box = box(pos=(AREA_X/2-250,-AREA_Y/2+250,0), size=blueareasize, color=(0.0, 0.0, 1.0))
  39
  40 greyarea = [ (0.0, 0.0, -0.5), (1520.0, 500.0, 0.5) ]
  41 greyareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , greyarea)
  42 greyarea_box = box(pos=(0,-AREA_Y/2+250,0), size=greyareasize, color=(0.3, 0.6, 0.3))
  43
  44 YELLOW = 0
  45 BLUE = 1
  46 color = YELLOW
  47
  48 def square(sz):
  49     sq = curve()
  50     sq.pos = [(-sz, -sz, 0.3),
  51               (-sz, sz, 0.3),
  52               (sz, sz, 0.3),
  53               (sz, -sz, 0.3),
  54               (-sz, -sz, 0.3),]
  55     return sq
  56
  57 sq1 = square(250)
  58 sq2 = square(500)
  59
  60 robot_x = 0.
  61 robot_y = 0.
  62 robot_a = 0.
  63 robot_lspickle = 0
  64 robot_rspickle = 0
  65 robot_trail = curve()
  66 robot_trail_list = []
  67 max_trail = 500
  68
  69 area_objects = []
  70
  71 OFFSET_CORN_X=150
  72 OFFSET_CORN_Y=222
  73 STEP_CORN_X=225
  74 STEP_CORN_Y=250
  75
  76 WAYPOINTS_NBX = 13
  77 WAYPOINTS_NBY = 8
  78
  79 TYPE_WAYPOINT=0
  80 TYPE_DANGEROUS=1
  81 TYPE_WHITE_CORN=2
  82 TYPE_BLACK_CORN=3
  83 TYPE_OBSTACLE=4
  84 TYPE_BALL=5
  85 TYPE_NEIGH=6
  86
  87 col = [TYPE_WAYPOINT] * WAYPOINTS_NBY
  88 waypoints = [col[:] for i in range(WAYPOINTS_NBX)]
  89 corn_table = [TYPE_WHITE_CORN]*18
  90
  91 corn_side_confs = [
  92     [ 1, 4 ],
  93     [ 0, 4 ],
  94     [ 2, 4 ],
  95     [ 2, 3 ],
  96     [ 0, 3 ],
  97     [ 1, 3 ],
  98     [ 1, 6 ],
  99     [ 0, 6 ],
 100     [ 2, 6 ],
 101     ]
 102 corn_center_confs = [
 103     [ 5, 8 ],
 104     [ 7, 8 ],
 105     [ 5, 9 ],
 106     [ 7, 8 ],
 107     ]
 108
 109 def pt2corn(i,j):
 110     if i == 0 and j == 2: return 0
 111     if i == 0 and j == 4: return 1
 112     if i == 0 and j == 6: return 2
 113     if i == 2 and j == 3: return 3
 114     if i == 2 and j == 5: return 4
 115     if i == 2 and j == 7: return 5
 116     if i == 4 and j == 4: return 6
 117     if i == 4 and j == 6: return 7
 118     if i == 6 and j == 5: return 8
 119     if i == 6 and j == 7: return 9
 120     if i == 8 and j == 4: return 10
 121     if i == 8 and j == 6: return 11
 122     if i == 10 and j == 3: return 12
 123     if i == 10 and j == 5: return 13
 124     if i == 10 and j == 7: return 14
 125     if i == 12 and j == 2: return 15
 126     if i == 12 and j == 4: return 16
 127     if i == 12 and j == 6: return 17
 128     return -1
 129
 130 def corn_get_sym(i):
 131     sym = [15, 16, 17, 12, 13, 14, 10, 11, 8, 9, 6, 7, 3, 4, 5, 0, 1, 2]
 132     return sym[i]
 133
 134 def init_corn_table(conf_side, conf_center):
 135     global corn_table, corn_side_confs, corn_center_confs
 136     print "confs = %d, %d"%(conf_side, conf_center)
 137     for i in range(18):
 138         if i in corn_side_confs[conf_side]:
 139             corn_table[i] = TYPE_BLACK_CORN
 140             continue
 141         if corn_get_sym(i) in corn_side_confs[conf_side]:
 142             corn_table[i] = TYPE_BLACK_CORN
 143             continue
 144         if i in corn_center_confs[conf_center]:
 145             corn_table[i] = TYPE_BLACK_CORN
 146             continue
 147         if corn_get_sym(i) in corn_center_confs[conf_center]:
 148             corn_table[i] = TYPE_BLACK_CORN
 149             continue
 150         corn_table[i] = TYPE_WHITE_CORN
 151
 152 def init_waypoints():
 153     global waypoints, corn_table
 154
 155     for i in range(WAYPOINTS_NBX):
 156         for j in range(WAYPOINTS_NBY):
 157             # corn
 158             c = pt2corn(i, j)
 159             if c >= 0:
 160                 waypoints[i][j] = corn_table[c]
 161                 continue
 162
 163             # balls
 164             if (i & 1) == 0 and j > 3:
 165                 waypoints[i][j] = TYPE_BALL
 166                 continue
 167             if (i == 0 or i == WAYPOINTS_NBX-1) and j > 2:
 168                 waypoints[i][j] = TYPE_BALL
 169                 continue
 170
 171             # too close of border
 172             if (i & 1) == 1 and j == WAYPOINTS_NBY -1:
 173                 waypoints[i][j] = TYPE_OBSTACLE
 174                 continue
 175             # hill
 176             if i >= 2 and i < WAYPOINTS_NBX - 2 and j < 2:
 177                 waypoints[i][j] = TYPE_OBSTACLE
 178                 continue
 179             # dangerous points
 180             if i == 0 or i == WAYPOINTS_NBX-1:
 181                 waypoints[i][j] = TYPE_DANGEROUS
 182                 continue
 183             if (i&1) == 0 and j == WAYPOINTS_NBY-1:
 184                 waypoints[i][j] = TYPE_DANGEROUS
 185                 continue
 186
 187             waypoints[i][j] = TYPE_WAYPOINT
 188
 189         print i, waypoints[i]
 190     return waypoints
 191
 192
 193 def toggle_obj_disp():
 194     global area_objects
 195
 196     """
 197     if area_objects == []:
 198         c = sphere(radius=5, color=(0., 0.,1.),
 199                    pos=(1238.-AREA_X/2, 1313.-AREA_Y/2, 5))
 200         area_objects.append(c)
 201         c = sphere(radius=5, color=(0., 0.,1.),
 202                    pos=(1364.-AREA_X/2, 1097.-AREA_Y/2, 5))
 203         area_objects.append(c)
 204         c = sphere(radius=5, color=(0., 0.,1.),
 205                    pos=(1453.-AREA_X/2, 1176.-AREA_Y/2, 5))
 206         area_objects.append(c)
 207         c = sphere(radius=5, color=(0., 0.,1.),
 208                    pos=(1109.-AREA_X/2, 1050.-AREA_Y/2, 5))
 209         area_objects.append(c)
 210 """
 211     if area_objects == []:
 212         i = 0
 213         j = 0
 214         x = OFFSET_CORN_X
 215         while x < 3000:
 216             if (i & 1) == 0:
 217                 y = OFFSET_CORN_Y
 218             else:
 219                 y = OFFSET_CORN_Y + STEP_CORN_Y/2
 220             j = 0
 221             while y < 2100:
 222                 print x,y
 223                 if waypoints[i][j] == TYPE_WHITE_CORN:
 224                     c = cylinder(axis=(0,0,1), length=CORN_HEIGHT,
 225                                  radius=25, color=(0.8,0.8,0.8),
 226                                  pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
 227                     area_objects.append(c)
 228                 elif waypoints[i][j] == TYPE_BLACK_CORN:
 229                     c = cylinder(axis=(0,0,1), length=CORN_HEIGHT,
 230                                  radius=25, color=(0.2,0.2,0.2),
 231                                  pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
 232                     area_objects.append(c)
 233                 elif waypoints[i][j] == TYPE_BALL:
 234                     c = sphere(radius=50, color=(1., 0.,0.),
 235                                pos=(x-AREA_X/2,y-AREA_Y/2,50))
 236                     area_objects.append(c)
 237                 else:
 238                     c = sphere(radius=5, color=(0., 0.,1.),
 239                                pos=(x-AREA_X/2,y-AREA_Y/2,5))
 240                     area_objects.append(c)
 241                 j += 1
 242                 y += STEP_CORN_Y
 243             i += 1
 244             x += STEP_CORN_X
 245     else:
 246         for o in area_objects:
 247             if o.visible:
 248                 o.visible = 0
 249             else:
 250                 o.visible = 1
 251
 252 def toggle_color():
 253     global color
 254     global BLUE, YELLOW
 255     if color == YELLOW:
 256         color = BLUE
 257     else:
 258         color = YELLOW
 259
 260 def set_robot():
 261     global robot, last_pos, robot_trail, robot_trail_list
 262     global save_pos, robot_x, robot_y, robot_a
 263
 264     if color == YELLOW:
 265         tmp_x = robot_x - AREA_X/2
 266         tmp_y = robot_y - AREA_Y/2
 267         tmp_a = robot_a
 268     else:
 269         tmp_x = -robot_x + AREA_X/2
 270         tmp_y = -robot_y + AREA_Y/2
 271         tmp_a = robot_a
 272
 273     robot.pos = (tmp_x, tmp_y, ROBOT_HEIGHT/2)
 274     axis = (math.cos(tmp_a*math.pi/180),
 275             math.sin(tmp_a*math.pi/180),
 276             0)
 277
 278     robot.axis = axis
 279     robot.size = (250, 320, ROBOT_HEIGHT)
 280
 281     lspickle.pos = (tmp_x + (robot_lspickle*60) * math.cos((tmp_a+90)*math.pi/180),
 282                     tmp_y + (robot_lspickle*60) * math.sin((tmp_a+90)*math.pi/180),
 283                     ROBOT_HEIGHT/2)
 284     lspickle.axis = axis
 285     lspickle.size = (20, 320, 5)
 286
 287     rspickle.pos = (tmp_x + (robot_rspickle*60) * math.cos((tmp_a-90)*math.pi/180),
 288                     tmp_y + (robot_rspickle*60) * math.sin((tmp_a-90)*math.pi/180),
 289                     ROBOT_HEIGHT/2)
 290     rspickle.axis = axis
 291     rspickle.size = (20, 320, 5)
 292
 293     # save position
 294     save_pos.append((robot.pos.x, robot.pos.y, tmp_a))
 295
 296     pos = robot.pos.x, robot.pos.y, 0.3
 297     if pos != last_pos:
 298         robot_trail_list.append(pos)
 299         last_pos = pos
 300     robot_trail_l = len(robot_trail_list)
 301     if robot_trail_l > max_trail:
 302         robot_trail_list = robot_trail_list[robot_trail_l - max_trail:]
 303     robot_trail.pos = robot_trail_list
 304
 305 def graph():
 306     pass
 307
 308 def save():
 309     f = open("/tmp/robot_save", "w")
 310     for p in save_pos:
 311         f.write("%f %f %f\n"%(p[0], p[1], p[2]))
 312     f.close()
 313
 314 def silent_mkfifo(f):
 315     try:
 316         os.mkfifo(f)
 317     except:
 318         pass
 319
 320 #init_corn_table(random.randint(0,8), random.randint(0,3))
 321 init_corn_table(0, 0)
 322 waypoints = init_waypoints()
 323 toggle_obj_disp()
 324
 325 while True:
 326     silent_mkfifo("/tmp/.robot_sim2dis")
 327     silent_mkfifo("/tmp/.robot_dis2sim")
 328     while True:
 329         fr = open("/tmp/.robot_sim2dis", "r")
 330         fw = open("/tmp/.robot_dis2sim", "w", 0)
 331         while True:
 332             m = None
 333             l = fr.readline()
 334
 335             # parse position
 336             if not m:
 337                 m = re.match("pos=%s,%s,%s"%(INT,INT,INT), l)
 338                 if m:
 339                     robot_x = int(m.groups()[0])
 340                     robot_y = int(m.groups()[1])
 341                     robot_a = int(m.groups()[2])
 342                     set_robot()
 343
 344             # parse ballboard
 345             if not m:
 346                 m = re.match("ballboard=%s"%(INT), l)
 347                 if m:
 348                     print "ballboard: %d"%(int(m.groups()[0]))
 349
 350             # parse cobboard
 351             if not m:
 352                 m = re.match("cobboard=%s"%(INT), l)
 353                 if m:
 354                     mode = int(m.groups()[0])
 355                     if (mode & 0x01) == 0:
 356                         robot_lspickle = 0
 357                     elif (mode & 0x02) == 0:
 358                         robot_lspickle = 1
 359                     else:
 360                         robot_lspickle = 2
 361                     if (mode & 0x04) == 0:
 362                         robot_rspickle = 0
 363                     elif (mode & 0x08) == 0:
 364                         robot_rspickle = 1
 365                     else:
 366                         robot_rspickle = 2
 367
 368             if scene.kb.keys == 0:
 369                 continue
 370
 371             k = scene.kb.getkey()
 372             x,y,z = scene.center
 373             if k == "left":
 374                 scene.center = x-10,y,z
 375             elif k == "right":
 376                 scene.center = x+10,y,z
 377             elif k == "up":
 378                 scene.center = x,y+10,z
 379             elif k == "down":
 380                 scene.center = x,y-10,z
 381             elif k == "l":
 382                 fw.write("l")
 383             elif k == "r":
 384                 fw.write("r")
 385             elif k == "c":
 386                 robot_trail_list = []
 387             elif k == "x":
 388                 save_pos = []
 389             elif k == "g":
 390                 graph()
 391             elif k == "s":
 392                 save()
 393             elif k == "h":
 394                 toggle_obj_disp()
 395             elif k == "i":
 396                 toggle_color()
 397
 398             # EOF
 399             if l == "":
 400                 break
 401
 402         fr.close()
 403         fw.close()
 404