X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fdisplay.py;h=b5084072c5622d08bedae101a4840570394b2438;hp=ad8cff204a1272c8aeb6e61a8cd26398d4ec2b1e;hb=96748eb468a27a784f148c89db593372357d9e2d;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/mainboard/display.py b/projects/microb2010/mainboard/display.py
index ad8cff2..b508407 100644
--- a/projects/microb2010/mainboard/display.py
+++ b/projects/microb2010/mainboard/display.py
@@ -1,6 +1,9 @@
-import math, sys, time, os, random
+import math, sys, time, os, random, re
 from visual import *
 
+FLOAT = "([-+]?[0-9]*\.?[0-9]+)"
+INT = "([-+]?[0-9][0-9]*)"
+
 AREA_X = 3000.
 AREA_Y = 2100.
 
@@ -16,11 +19,11 @@ scene.autoscale=0
 # all positions of robot every 5ms
 save_pos = []
 
-robot = box(pos = (0, 0, ROBOT_HEIGHT/2),
-            size = (250,320,ROBOT_HEIGHT),
-            color = (0.3, 0.3, 0.3) )
+robot = box(color=(0.4, 0.4, 0.4))
+lspickle = box(color=(0.4, 0.4, 0.4))
+rspickle = box(color=(0.4, 0.4, 0.4))
 
-last_pos = robot.pos.x, robot.pos.y, robot.pos.z
+last_pos = (0.,0.,0.)
 hcenter_line = curve()
 hcenter_line.pos = [(-AREA_X/2, 0., 0.3), (AREA_X/2, 0., 0.3)]
 vcenter_line = curve()
@@ -38,6 +41,10 @@ greyarea = [ (0.0, 0.0, -0.5), (1520.0, 500.0, 0.5) ]
 greyareasize = reduce(lambda x,y:tuple([abs(x[i])+abs(y[i]) for i in range(len(x))]) , greyarea)
 greyarea_box = box(pos=(0,-AREA_Y/2+250,0), size=greyareasize, color=(0.3, 0.6, 0.3))
 
+YELLOW = 0
+BLUE = 1
+color = YELLOW
+
 def square(sz):
     sq = curve()
     sq.pos = [(-sz, -sz, 0.3),
@@ -50,6 +57,11 @@ def square(sz):
 sq1 = square(250)
 sq2 = square(500)
 
+robot_x = 0.
+robot_y = 0.
+robot_a = 0.
+robot_lspickle = 0
+robot_rspickle = 0
 robot_trail = curve()
 robot_trail_list = []
 max_trail = 500
@@ -181,6 +193,21 @@ def init_waypoints():
 def toggle_obj_disp():
     global area_objects
 
+    """
+    if area_objects == []:
+        c = sphere(radius=5, color=(0., 0.,1.),
+                   pos=(1238.-AREA_X/2, 1313.-AREA_Y/2, 5))
+        area_objects.append(c)
+        c = sphere(radius=5, color=(0., 0.,1.),
+                   pos=(1364.-AREA_X/2, 1097.-AREA_Y/2, 5))
+        area_objects.append(c)
+        c = sphere(radius=5, color=(0., 0.,1.),
+                   pos=(1453.-AREA_X/2, 1176.-AREA_Y/2, 5))
+        area_objects.append(c)
+        c = sphere(radius=5, color=(0., 0.,1.),
+                   pos=(1109.-AREA_X/2, 1050.-AREA_Y/2, 5))
+        area_objects.append(c)
+"""
     if area_objects == []:
         i = 0
         j = 0
@@ -222,19 +249,49 @@ def toggle_obj_disp():
             else:
                 o.visible = 1
 
+def toggle_color():
+    global color
+    global BLUE, YELLOW
+    if color == YELLOW:
+        color = BLUE
+    else:
+        color = YELLOW
 
-def set_robot(x, y, a):
+def set_robot():
     global robot, last_pos, robot_trail, robot_trail_list
-    global save_pos
+    global save_pos, robot_x, robot_y, robot_a
+
+    if color == YELLOW:
+        tmp_x = robot_x - AREA_X/2
+        tmp_y = robot_y - AREA_Y/2
+        tmp_a = robot_a
+    else:
+        tmp_x = -robot_x + AREA_X/2
+        tmp_y = -robot_y + AREA_Y/2
+        tmp_a = robot_a
+
+    robot.pos = (tmp_x, tmp_y, ROBOT_HEIGHT/2)
+    axis = (math.cos(tmp_a*math.pi/180),
+            math.sin(tmp_a*math.pi/180),
+            0)
 
-    robot.pos = (x - AREA_X/2, y - AREA_Y/2, ROBOT_HEIGHT/2)
-    robot.axis = (math.cos(a*math.pi/180),
-                  math.sin(a*math.pi/180),
-                  0)
+    robot.axis = axis
     robot.size = (250, 320, ROBOT_HEIGHT)
 
+    lspickle.pos = (tmp_x + (robot_lspickle*60) * math.cos((tmp_a+90)*math.pi/180),
+                    tmp_y + (robot_lspickle*60) * math.sin((tmp_a+90)*math.pi/180),
+                    ROBOT_HEIGHT/2)
+    lspickle.axis = axis
+    lspickle.size = (20, 320, 5)
+
+    rspickle.pos = (tmp_x + (robot_rspickle*60) * math.cos((tmp_a-90)*math.pi/180),
+                    tmp_y + (robot_rspickle*60) * math.sin((tmp_a-90)*math.pi/180),
+                    ROBOT_HEIGHT/2)
+    rspickle.axis = axis
+    rspickle.size = (20, 320, 5)
+
     # save position
-    save_pos.append((robot.pos.x, robot.pos, a))
+    save_pos.append((robot.pos.x, robot.pos.y, tmp_a))
 
     pos = robot.pos.x, robot.pos.y, 0.3
     if pos != last_pos:
@@ -260,7 +317,8 @@ def silent_mkfifo(f):
     except:
         pass
 
-init_corn_table(random.randint(0,8), random.randint(0,3))
+#init_corn_table(random.randint(0,8), random.randint(0,3))
+init_corn_table(0, 0)
 waypoints = init_waypoints()
 toggle_obj_disp()
 
@@ -271,12 +329,41 @@ while True:
         fr = open("/tmp/.robot_sim2dis", "r")
         fw = open("/tmp/.robot_dis2sim", "w", 0)
         while True:
+            m = None
             l = fr.readline()
-            try:
-                x,y,a = map(lambda x:int(x), l[:-1].split(" "))
-                set_robot(x,y,a)
-            except ValueError:
-                pass
+
+            # parse position
+            if not m:
+                m = re.match("pos=%s,%s,%s"%(INT,INT,INT), l)
+                if m:
+                    robot_x = int(m.groups()[0])
+                    robot_y = int(m.groups()[1])
+                    robot_a = int(m.groups()[2])
+                    set_robot()
+
+            # parse ballboard
+            if not m:
+                m = re.match("ballboard=%s"%(INT), l)
+                if m:
+                    print "ballboard: %d"%(int(m.groups()[0]))
+
+            # parse cobboard
+            if not m:
+                m = re.match("cobboard=%s"%(INT), l)
+                if m:
+                    mode = int(m.groups()[0])
+                    if (mode & 0x01) == 0:
+                        robot_lspickle = 0
+                    elif (mode & 0x02) == 0:
+                        robot_lspickle = 1
+                    else:
+                        robot_lspickle = 2
+                    if (mode & 0x04) == 0:
+                        robot_rspickle = 0
+                    elif (mode & 0x08) == 0:
+                        robot_rspickle = 1
+                    else:
+                        robot_rspickle = 2
 
             if scene.kb.keys == 0:
                 continue
@@ -305,6 +392,8 @@ while True:
                 save()
             elif k == "h":
                 toggle_obj_disp()
+            elif k == "i":
+                toggle_color()
 
             # EOF
             if l == "":