fix display and support beacon in robotsim

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 == "":