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 ROBOT_WIDTH=320
  14 ROBOT_LENGTH=360
  15
  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))
  19
  20 scene.autoscale=0
  21
  22 # all positions of robot every 5ms
  23 save_pos = []
  24
  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))
  28
  29 last_pos = (0.,0.,0.)
  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)]
  34
  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))
  38
  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))
  42
  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))
  46
  47 YELLOW = 0
  48 BLUE = 1
  49 color = YELLOW
  50
  51 def square(sz):
  52     sq = curve()
  53     sq.pos = [(-sz, -sz, 0.3),
  54               (-sz, sz, 0.3),
  55               (sz, sz, 0.3),
  56               (sz, -sz, 0.3),
  57               (-sz, -sz, 0.3),]
  58     return sq
  59
  60 sq1 = square(250)
  61 sq2 = square(500)
  62
  63 robot_x = 0.
  64 robot_y = 0.
  65 robot_a = 0.
  66 robot_lspickle = 0
  67 robot_rspickle = 0
  68 robot_trail = curve()
  69 robot_trail_list = []
  70 max_trail = 500
  71
  72 area_objects = []
  73
  74 OFFSET_CORN_X=150
  75 OFFSET_CORN_Y=222
  76 STEP_CORN_X=225
  77 STEP_CORN_Y=250
  78
  79 WAYPOINTS_NBX = 13
  80 WAYPOINTS_NBY = 8
  81
  82 TYPE_WAYPOINT=0
  83 TYPE_DANGEROUS=1
  84 TYPE_WHITE_CORN=2
  85 TYPE_BLACK_CORN=3
  86 TYPE_OBSTACLE=4
  87 TYPE_BALL=5
  88 TYPE_NEIGH=6
  89
  90 col = [TYPE_WAYPOINT] * WAYPOINTS_NBY
  91 waypoints = [col[:] for i in range(WAYPOINTS_NBX)]
  92 corn_table = [TYPE_WHITE_CORN]*18
  93
  94 corn_side_confs = [
  95     [ 1, 4 ],
  96     [ 0, 4 ],
  97     [ 2, 4 ],
  98     [ 2, 3 ],
  99     [ 0, 3 ],
 100     [ 1, 3 ],
 101     [ 1, 6 ],
 102     [ 0, 6 ],
 103     [ 2, 6 ],
 104     ]
 105 corn_center_confs = [
 106     [ 5, 8 ],
 107     [ 7, 8 ],
 108     [ 5, 9 ],
 109     [ 7, 8 ],
 110     ]
 111
 112 def pt2corn(i,j):
 113     if i == 0 and j == 2: return 0
 114     if i == 0 and j == 4: return 1
 115     if i == 0 and j == 6: return 2
 116     if i == 2 and j == 3: return 3
 117     if i == 2 and j == 5: return 4
 118     if i == 2 and j == 7: return 5
 119     if i == 4 and j == 4: return 6
 120     if i == 4 and j == 6: return 7
 121     if i == 6 and j == 5: return 8
 122     if i == 6 and j == 7: return 9
 123     if i == 8 and j == 4: return 10
 124     if i == 8 and j == 6: return 11
 125     if i == 10 and j == 3: return 12
 126     if i == 10 and j == 5: return 13
 127     if i == 10 and j == 7: return 14
 128     if i == 12 and j == 2: return 15
 129     if i == 12 and j == 4: return 16
 130     if i == 12 and j == 6: return 17
 131     return -1
 132
 133 def corn_get_sym(i):
 134     sym = [15, 16, 17, 12, 13, 14, 10, 11, 8, 9, 6, 7, 3, 4, 5, 0, 1, 2]
 135     return sym[i]
 136
 137 def init_corn_table(conf_side, conf_center):
 138     global corn_table, corn_side_confs, corn_center_confs
 139     print "confs = %d, %d"%(conf_side, conf_center)
 140     for i in range(18):
 141         if i in corn_side_confs[conf_side]:
 142             corn_table[i] = TYPE_BLACK_CORN
 143             continue
 144         if corn_get_sym(i) in corn_side_confs[conf_side]:
 145             corn_table[i] = TYPE_BLACK_CORN
 146             continue
 147         if i in corn_center_confs[conf_center]:
 148             corn_table[i] = TYPE_BLACK_CORN
 149             continue
 150         if corn_get_sym(i) in corn_center_confs[conf_center]:
 151             corn_table[i] = TYPE_BLACK_CORN
 152             continue
 153         corn_table[i] = TYPE_WHITE_CORN
 154
 155 def init_waypoints():
 156     global waypoints, corn_table
 157
 158     for i in range(WAYPOINTS_NBX):
 159         for j in range(WAYPOINTS_NBY):
 160             # corn
 161             c = pt2corn(i, j)
 162             if c >= 0:
 163                 waypoints[i][j] = corn_table[c]
 164                 continue
 165
 166             # balls
 167             if (i & 1) == 0 and j > 3:
 168                 waypoints[i][j] = TYPE_BALL
 169                 continue
 170             if (i == 0 or i == WAYPOINTS_NBX-1) and j > 2:
 171                 waypoints[i][j] = TYPE_BALL
 172                 continue
 173
 174             # too close of border
 175             if (i & 1) == 1 and j == WAYPOINTS_NBY -1:
 176                 waypoints[i][j] = TYPE_OBSTACLE
 177                 continue
 178             # hill
 179             if i >= 2 and i < WAYPOINTS_NBX - 2 and j < 2:
 180                 waypoints[i][j] = TYPE_OBSTACLE
 181                 continue
 182             # dangerous points
 183             if i == 0 or i == WAYPOINTS_NBX-1:
 184                 waypoints[i][j] = TYPE_DANGEROUS
 185                 continue
 186             if (i&1) == 0 and j == WAYPOINTS_NBY-1:
 187                 waypoints[i][j] = TYPE_DANGEROUS
 188                 continue
 189
 190             waypoints[i][j] = TYPE_WAYPOINT
 191
 192         print i, waypoints[i]
 193     return waypoints
 194
 195
 196 def toggle_obj_disp():
 197     global area_objects
 198
 199     """
 200     if area_objects == []:
 201         c = sphere(radius=5, color=(0., 0.,1.),
 202                    pos=(1238.-AREA_X/2, 1313.-AREA_Y/2, 5))
 203         area_objects.append(c)
 204         c = sphere(radius=5, color=(0., 0.,1.),
 205                    pos=(1364.-AREA_X/2, 1097.-AREA_Y/2, 5))
 206         area_objects.append(c)
 207         c = sphere(radius=5, color=(0., 0.,1.),
 208                    pos=(1453.-AREA_X/2, 1176.-AREA_Y/2, 5))
 209         area_objects.append(c)
 210         c = sphere(radius=5, color=(0., 0.,1.),
 211                    pos=(1109.-AREA_X/2, 1050.-AREA_Y/2, 5))
 212         area_objects.append(c)
 213 """
 214     if area_objects == []:
 215         i = 0
 216         j = 0
 217         x = OFFSET_CORN_X
 218         while x < 3000:
 219             if (i & 1) == 0:
 220                 y = OFFSET_CORN_Y
 221             else:
 222                 y = OFFSET_CORN_Y + STEP_CORN_Y/2
 223             j = 0
 224             while y < 2100:
 225                 print x,y
 226                 if waypoints[i][j] == TYPE_WHITE_CORN:
 227                     c = cylinder(axis=(0,0,1), length=CORN_HEIGHT,
 228                                  radius=25, color=(0.8,0.8,0.8),
 229                                  pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
 230                     area_objects.append(c)
 231                 elif waypoints[i][j] == TYPE_BLACK_CORN:
 232                     c = cylinder(axis=(0,0,1), length=CORN_HEIGHT,
 233                                  radius=25, color=(0.2,0.2,0.2),
 234                                  pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
 235                     area_objects.append(c)
 236                 elif waypoints[i][j] == TYPE_BALL:
 237                     c = sphere(radius=50, color=(1., 0.,0.),
 238                                pos=(x-AREA_X/2,y-AREA_Y/2,50))
 239                     area_objects.append(c)
 240                 else:
 241                     c = sphere(radius=5, color=(0., 0.,1.),
 242                                pos=(x-AREA_X/2,y-AREA_Y/2,5))
 243                     area_objects.append(c)
 244                 j += 1
 245                 y += STEP_CORN_Y
 246             i += 1
 247             x += STEP_CORN_X
 248     else:
 249         for o in area_objects:
 250             if o.visible:
 251                 o.visible = 0
 252             else:
 253                 o.visible = 1
 254
 255 def toggle_color():
 256     global color
 257     global BLUE, YELLOW
 258     if color == YELLOW:
 259         color = BLUE
 260     else:
 261         color = YELLOW
 262
 263 def set_robot():
 264     global robot, last_pos, robot_trail, robot_trail_list
 265     global save_pos, robot_x, robot_y, robot_a
 266
 267     if color == YELLOW:
 268         tmp_x = robot_x - AREA_X/2
 269         tmp_y = robot_y - AREA_Y/2
 270         tmp_a = robot_a
 271     else:
 272         tmp_x = -robot_x + AREA_X/2
 273         tmp_y = -robot_y + AREA_Y/2
 274         tmp_a = robot_a
 275
 276     robot.pos = (tmp_x, tmp_y, ROBOT_HEIGHT/2)
 277     axis = (math.cos(tmp_a*math.pi/180),
 278             math.sin(tmp_a*math.pi/180),
 279             0)
 280
 281     robot.axis = axis
 282     robot.size = (ROBOT_LENGTH, ROBOT_WIDTH, ROBOT_HEIGHT)
 283
 284     robot_lspickle = 2 # XXX
 285     lspickle.pos = (tmp_x + (robot_lspickle*60) * math.cos((tmp_a+90)*math.pi/180),
 286                     tmp_y + (robot_lspickle*60) * math.sin((tmp_a+90)*math.pi/180),
 287                     ROBOT_HEIGHT/2)
 288     lspickle.axis = axis
 289     lspickle.size = (20, ROBOT_WIDTH, 5)
 290
 291     robot_rspickle = 2 # XXX
 292     rspickle.pos = (tmp_x + (robot_rspickle*60) * math.cos((tmp_a-90)*math.pi/180),
 293                     tmp_y + (robot_rspickle*60) * math.sin((tmp_a-90)*math.pi/180),
 294                     ROBOT_HEIGHT/2)
 295     rspickle.axis = axis
 296     rspickle.size = (20, ROBOT_WIDTH, 5)
 297
 298     # save position
 299     save_pos.append((robot.pos.x, robot.pos.y, tmp_a))
 300
 301     pos = robot.pos.x, robot.pos.y, 0.3
 302     if pos != last_pos:
 303         robot_trail_list.append(pos)
 304         last_pos = pos
 305     robot_trail_l = len(robot_trail_list)
 306     if robot_trail_l > max_trail:
 307         robot_trail_list = robot_trail_list[robot_trail_l - max_trail:]
 308     robot_trail.pos = robot_trail_list
 309
 310 def graph():
 311     pass
 312
 313 def save():
 314     f = open("/tmp/robot_save", "w")
 315     for p in save_pos:
 316         f.write("%f %f %f\n"%(p[0], p[1], p[2]))
 317     f.close()
 318
 319 def silent_mkfifo(f):
 320     try:
 321         os.mkfifo(f)
 322     except:
 323         pass
 324
 325 #init_corn_table(random.randint(0,8), random.randint(0,3))
 326 init_corn_table(0, 0)
 327 waypoints = init_waypoints()
 328 toggle_obj_disp()
 329
 330 while True:
 331     silent_mkfifo("/tmp/.robot_sim2dis")
 332     silent_mkfifo("/tmp/.robot_dis2sim")
 333     while True:
 334         fr = open("/tmp/.robot_sim2dis", "r")
 335         fw = open("/tmp/.robot_dis2sim", "w", 0)
 336         while True:
 337             m = None
 338             l = fr.readline()
 339
 340             # parse position
 341             if not m:
 342                 m = re.match("pos=%s,%s,%s"%(INT,INT,INT), l)
 343                 if m:
 344                     robot_x = int(m.groups()[0])
 345                     robot_y = int(m.groups()[1])
 346                     robot_a = int(m.groups()[2])
 347                     set_robot()
 348
 349             # parse ballboard
 350             if not m:
 351                 m = re.match("ballboard=%s"%(INT), l)
 352                 if m:
 353                     print "ballboard: %d"%(int(m.groups()[0]))
 354
 355             # parse cobboard
 356             if not m:
 357                 m = re.match("cobboard=%s,%s"%(INT,INT), l)
 358                 if m:
 359                     print "cobboard: %x,%x"%(int(m.groups()[0]),int(m.groups()[1]))
 360                     side = int(m.groups()[0])
 361                     flags = int(m.groups()[1])
 362                     if side == 0:
 363                         if (flags & 0x01) == 0:
 364                             robot_lspickle = 1
 365                         else:
 366                             robot_lspickle = 2
 367                     else:
 368                         if (flags & 0x01) == 0:
 369                             robot_rspickle = 1
 370                         else:
 371                             robot_rspickle = 2
 372
 373             if scene.kb.keys == 0:
 374                 continue
 375
 376             k = scene.kb.getkey()
 377             x,y,z = scene.center
 378             if k == "left":
 379                 scene.center = x-10,y,z
 380             elif k == "right":
 381                 scene.center = x+10,y,z
 382             elif k == "up":
 383                 scene.center = x,y+10,z
 384             elif k == "down":
 385                 scene.center = x,y-10,z
 386             elif k == "l":
 387                 fw.write("l")
 388             elif k == "r":
 389                 fw.write("r")
 390             elif k == "c":
 391                 robot_trail_list = []
 392             elif k == "x":
 393                 save_pos = []
 394             elif k == "g":
 395                 graph()
 396             elif k == "s":
 397                 save()
 398             elif k == "h":
 399                 toggle_obj_disp()
 400             elif k == "i":
 401                 toggle_color()
 402
 403             # EOF
 404             if l == "":
 405                 break
 406
 407         fr.close()
 408         fw.close()
 409