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fix display and support beacon in robotsim
author
zer0
<zer0@carbon.local>
Fri, 7 May 2010 23:00:44 +0000
(
01:00
+0200)
committer
zer0
<zer0@carbon.local>
Fri, 7 May 2010 23:00:44 +0000
(
01:00
+0200)
projects/microb2010/mainboard/display.py
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diff --git
a/projects/microb2010/mainboard/display.py
b/projects/microb2010/mainboard/display.py
index
297dbce
..
5700edc
100644
(file)
--- a/
projects/microb2010/mainboard/display.py
+++ b/
projects/microb2010/mainboard/display.py
@@
-9,6
+9,7
@@
AREA_Y = 2100.
ROBOT_HEIGHT=5 # 350
CORN_HEIGHT=5 # 150
ROBOT_HEIGHT=5 # 350
CORN_HEIGHT=5 # 150
+BALL_CYLINDER=1 # 0
ROBOT_WIDTH=320
ROBOT_LENGTH=250
ROBOT_WIDTH=320
ROBOT_LENGTH=250
@@
-26,6
+27,8
@@
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))
lspickle = box(color=(0.4, 0.4, 0.4))
rspickle = box(color=(0.4, 0.4, 0.4))
+opp = box(color=(0.7, 0.2, 0.2))
+
last_pos = (0.,0.,0.)
hcenter_line = curve()
hcenter_line.pos = [(-AREA_X/2, 0., 0.3), (AREA_X/2, 0., 0.3)]
last_pos = (0.,0.,0.)
hcenter_line = curve()
hcenter_line.pos = [(-AREA_X/2, 0., 0.3), (AREA_X/2, 0., 0.3)]
@@
-236,8
+239,15
@@
def toggle_obj_disp():
pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
area_objects.append(c)
elif waypoints[i][j] == TYPE_BALL:
pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
area_objects.append(c)
elif waypoints[i][j] == TYPE_BALL:
- c = sphere(radius=50, color=(1., 0.,0.),
- pos=(x-AREA_X/2,y-AREA_Y/2,50))
+ if BALL_CYLINDER == 1:
+ c = cylinder(axis=(0,0,1), radius=50,
+ length=CORN_HEIGHT,
+ color=(1., 0.,0.),
+ pos=(x-AREA_X/2,y-AREA_Y/2,CORN_HEIGHT/2))
+ else:
+ c = sphere(radius=50, color=(1., 0.,0.),
+ pos=(x-AREA_X/2,y-AREA_Y/2,50))
+
area_objects.append(c)
else:
c = sphere(radius=5, color=(0., 0.,1.),
area_objects.append(c)
else:
c = sphere(radius=5, color=(0., 0.,1.),
@@
-262,6
+272,10
@@
def toggle_color():
else:
color = YELLOW
else:
color = YELLOW
+def set_opp(x, y):
+ opp.size = (300, 300, ROBOT_HEIGHT)
+ opp.pos = (x, y, ROBOT_HEIGHT/2)
+
def set_robot():
global robot, last_pos, robot_trail, robot_trail_list
global save_pos, robot_x, robot_y, robot_a
def set_robot():
global robot, last_pos, robot_trail, robot_trail_list
global save_pos, robot_x, robot_y, robot_a
@@
-364,7
+378,7
@@
while True:
if not m:
m = re.match("cobboard=%s,%s"%(INT,INT), l)
if m:
if not m:
m = re.match("cobboard=%s,%s"%(INT,INT), l)
if m:
- print "cobboard: %x,%x"%(int(m.groups()[0]),int(m.groups()[1]))
+
#
print "cobboard: %x,%x"%(int(m.groups()[0]),int(m.groups()[1]))
side = int(m.groups()[0])
flags = int(m.groups()[1])
if side == 0:
side = int(m.groups()[0])
flags = int(m.groups()[1])
if side == 0:
@@
-374,6
+388,17
@@
while True:
robot_rspickle_deployed = ((flags & 1) * 2)
robot_rspickle_autoharvest = ((flags & 2) != 0)
robot_rspickle_deployed = ((flags & 1) * 2)
robot_rspickle_autoharvest = ((flags & 2) != 0)
+ if scene.mouse.events != 0:
+ oppx, oppy, oppz = scene.mouse.getevent().project(normal=(0,0,1))
+ set_opp(oppx, oppy)
+ try:
+ if color == YELLOW:
+ fw.write("opp %d %d"%(int(oppx + 1500), int(oppy + 1050)))
+ else:
+ fw.write("opp %d %d"%(int(1500 - oppx), int(1050 - oppy)))
+ except:
+ print "not connected"
+
if scene.kb.keys == 0:
continue
if scene.kb.keys == 0:
continue
@@
-403,6
+428,8
@@
while True:
toggle_obj_disp()
elif k == "i":
toggle_color()
toggle_obj_disp()
elif k == "i":
toggle_color()
+ else:
+ print k
# EOF
if l == "":
# EOF
if l == "":