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@@ -1,2 +0,0 @@
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@@ -1,153 +0,0 @@
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# Byte-compiled / optimized / DLL files
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__pycache__/
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*.py[cod]
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*$py.class
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build/
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develop-eggs/
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downloads/
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eggs/
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*.mo
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*.pot
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*.log
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local_settings.py
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db.sqlite3
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instance/
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profile_default/
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celerybeat-schedule
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celerybeat.pid
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*.sage.py
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env.bak/
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/site
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.mypy_cache/
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.dmypy.json
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dmypy.json
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@@ -1,21 +0,0 @@
|
||||
MIT License
|
||||
|
||||
Copyright (c) 2024 Astatin3
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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||||
The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
|
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
SOFTWARE.
|
||||
@@ -2,29 +2,4 @@
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||||
|
||||
(WIP) An auto creation tool for Ridgebotics 2024
|
||||
|
||||
### Install
|
||||
```shell
|
||||
git clone https://github.com/astatin3/autoPlanner
|
||||
cd autoPlanner
|
||||
pip install -r requirements.txt
|
||||
python3 ./main.py
|
||||
```
|
||||
### Usage:
|
||||
|
||||
##### "Path Editor" Tab:
|
||||
- Click to add nodes
|
||||
- Click on specific points to manipulate paths and nodes
|
||||
|
||||
##### "Button editor" Tab:
|
||||
- Click on specific frames on the timeline to change to that position
|
||||
- When selected on a frame, the robot's position in that time should show up.
|
||||
- Drag positional keyframes around to speed up and speed down the robot's travel between nodes
|
||||
- While a frame is selected, Press the 'e' key to swap to button mode.
|
||||
- In button mode select buttons on the driver and operator controllers.
|
||||
|
||||
##### "Export" Tab:
|
||||
- Click export, and save to a file
|
||||
|
||||
### Known Bugs:
|
||||
- Because the variables don't get transferred over yet, you must click on the button editor tab before exporting.
|
||||
- The driver controller's movement stick is rotated by 90 degrees (Maybe)
|
||||
Has been moved to: [https://github.com/team4388/autoPlanner2025](https://github.com/team4388/autoPlanner2025)
|
||||
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import math
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||||
from copy import copy
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||||
|
||||
import pygame as pg
|
||||
from pygame.locals import *
|
||||
from sys import exit
|
||||
import numpy as np
|
||||
|
||||
import src.render as render
|
||||
|
||||
import src.pathEditor as pathEditor
|
||||
import src.buttonEditor as buttonEditor
|
||||
import src.export as export
|
||||
|
||||
doubleClickDuration = 200
|
||||
|
||||
pg.init()
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||||
pg.font.init()
|
||||
|
||||
topBarHeight = 40
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||||
bottomBarHeight = 60
|
||||
|
||||
screen_width = 1200
|
||||
screen_height = (screen_width * (643/1286)) + topBarHeight + bottomBarHeight
|
||||
|
||||
screen = pg.display.set_mode((screen_width, screen_height))#, pg.RESIZABLE)
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||||
pg.display.set_caption("Auto Planner")
|
||||
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||||
render = render.render(pg, screen, topBarHeight, bottomBarHeight)
|
||||
|
||||
tabIndex = 0
|
||||
tabs = [
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||||
pathEditor.pathEditor(render),
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||||
buttonEditor.buttonEditor(render, pathEditor),
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||||
export.export(pg, render, buttonEditor)
|
||||
]
|
||||
|
||||
tabs[tabIndex].load()
|
||||
|
||||
def addTab(i):
|
||||
x1 = i * (screen_width/(len(tabs)))
|
||||
x2 = (screen_width/(len(tabs)))
|
||||
rect = (x1, 0, x2, topBarHeight)
|
||||
|
||||
def getIsSelected():
|
||||
global tabIndex
|
||||
return tabIndex == i
|
||||
|
||||
def getIsVisible():
|
||||
return True
|
||||
|
||||
def onClick(pos):
|
||||
global tabIndex
|
||||
tabs[tabIndex].unload()
|
||||
tabIndex = i
|
||||
tabs[tabIndex].load()
|
||||
render.renderElements(pos)
|
||||
pg.display.update()
|
||||
|
||||
render.addButton(rect, tabs[i].name, getIsSelected, getIsVisible, onClick)
|
||||
|
||||
for i in range(len(tabs)):
|
||||
addTab(i)
|
||||
|
||||
render.renderElements((screen_width/2, screen_height/2))
|
||||
|
||||
running = True
|
||||
last_click = -1
|
||||
|
||||
def offsetPos(pos):
|
||||
return (pos[0],pos[1])
|
||||
|
||||
while running:
|
||||
for event in pg.event.get():
|
||||
|
||||
if event.type == pg.MOUSEMOTION:
|
||||
pos = pg.mouse.get_pos()
|
||||
render.renderElements(pos)
|
||||
if pos[1] > topBarHeight:
|
||||
tabs[tabIndex].mouseMove(offsetPos(pos))
|
||||
# refreshTabs(pos)
|
||||
|
||||
elif event.type == pg.MOUSEBUTTONDOWN:
|
||||
pos = pg.mouse.get_pos()
|
||||
render.clickElement(pos)
|
||||
if pos[1] > topBarHeight:
|
||||
now = pg.time.get_ticks()
|
||||
if now - last_click <= doubleClickDuration:
|
||||
tabs[tabIndex].doubleClick(offsetPos(pos))
|
||||
else:
|
||||
tabs[tabIndex].mouseDown(offsetPos(pos))
|
||||
last_click = pg.time.get_ticks()
|
||||
# else:
|
||||
# clickTab(pos)
|
||||
|
||||
elif event.type == pg.MOUSEBUTTONUP:
|
||||
pos = pg.mouse.get_pos()
|
||||
if pos[1] > topBarHeight:
|
||||
tabs[tabIndex].mouseUp(offsetPos(pos))
|
||||
|
||||
elif event.type == pg.KEYDOWN:
|
||||
tabs[tabIndex].keyDown(event.key)
|
||||
if event.key == pg.K_TAB:
|
||||
tabs[tabIndex].unload()
|
||||
tabIndex = (tabIndex + 1) % len(tabs)
|
||||
tabs[tabIndex].load()
|
||||
render.renderElements(pg.mouse.get_pos())
|
||||
|
||||
elif event.type == pg.QUIT:
|
||||
running = False
|
||||
|
||||
pg.quit()
|
||||
@@ -1,3 +0,0 @@
|
||||
numpy
|
||||
pygame
|
||||
crossfiledialog
|
||||
@@ -1,654 +0,0 @@
|
||||
import math
|
||||
import copy
|
||||
import json
|
||||
|
||||
render = None
|
||||
pathEditor = None
|
||||
bottomBarRect = None
|
||||
|
||||
# leftSidee = True
|
||||
|
||||
ogNodes = []
|
||||
ogCtrlNodes = []
|
||||
ogRotNodes = []
|
||||
|
||||
keyFrames = []
|
||||
|
||||
matchLength = 15
|
||||
TPS = 50
|
||||
|
||||
tickTime = round(1/TPS*1000)
|
||||
matchTicks = matchLength * TPS
|
||||
displayTickResolution = 4
|
||||
displayTicks = round(matchTicks / displayTickResolution)
|
||||
|
||||
buttonEditColor = (191,0,191)
|
||||
buttonEditNodeRadius = 6
|
||||
|
||||
dragFrameIndex = -1
|
||||
ogDragFramePos = -1
|
||||
|
||||
selFrame = -1
|
||||
|
||||
buttonImages = {}
|
||||
buttonMode = False
|
||||
|
||||
buttonPositions = {
|
||||
'A': ((1089,494),100),
|
||||
'B': ((1187,404),100),
|
||||
'X': ((996,411),100),
|
||||
'Y': ((1093,321),100),
|
||||
|
||||
'Dpad': ((549,619),220),
|
||||
|
||||
'Dpad_Up': ((549,561),70),
|
||||
'Dpad_Down': ((549,677),70),
|
||||
'Dpad_Left': ((485,619),70),
|
||||
'Dpad_Right': ((607,619),70),
|
||||
|
||||
'Menu': ((832,411),100),
|
||||
'Windows': ((629,411),100),
|
||||
|
||||
'Left_Stick': ((375,422),150),
|
||||
'Right_Stick': ((914,622),150),
|
||||
|
||||
'LB': ((352,184),150),
|
||||
'RB': ((1100,184),150),
|
||||
|
||||
'LT': ((356,67),150),
|
||||
'RT': ((1096,67),150)
|
||||
}
|
||||
|
||||
|
||||
|
||||
def getKeyframeAtPos(index):
|
||||
for frame in keyFrames:
|
||||
if frame["timeIndex"] == index:
|
||||
return frame
|
||||
return None
|
||||
|
||||
|
||||
|
||||
def getFrameIndex(frame):
|
||||
if frame == None:
|
||||
return -1
|
||||
return keyFrames.index(frame)
|
||||
|
||||
|
||||
|
||||
def getPosKeyframeAtPos(index):
|
||||
for frame in keyFrames:
|
||||
if frame["timeIndex"] == index and frame['type'] == 'position':
|
||||
return frame
|
||||
return None
|
||||
|
||||
|
||||
|
||||
def getPosKeyframes():
|
||||
frames = []
|
||||
for keyFrame in keyFrames:
|
||||
if keyFrame['type'] == 'position':
|
||||
frames.append(keyFrame)
|
||||
return frames
|
||||
|
||||
|
||||
|
||||
def getButtonKeyframes():
|
||||
frames = []
|
||||
for keyFrame in keyFrames:
|
||||
if keyFrame['type'] == 'controller':
|
||||
frames.append(keyFrame)
|
||||
return frames
|
||||
|
||||
|
||||
|
||||
def getBezierPointCounts():
|
||||
counts = []
|
||||
frames = getPosKeyframes()
|
||||
for i in range(1,len(frames)):
|
||||
counts.append(frames[i]['timeIndex'] - frames[i-1]['timeIndex'])
|
||||
return counts
|
||||
|
||||
|
||||
|
||||
def getPosKeyframeByIndex(index):
|
||||
for frame in keyFrames:
|
||||
if frame['type'] == 'position' and frame["index"] == index:
|
||||
return frame
|
||||
return None
|
||||
|
||||
|
||||
|
||||
def getSurroundingPosFrames(index):
|
||||
prevFrame = None
|
||||
for i in range(index,-1,-1):
|
||||
frame = getPosKeyframeAtPos(i)
|
||||
if frame != None and (dragFrameIndex == -1 or not frame == keyFrames[dragFrameIndex]):
|
||||
prevFrame = frame
|
||||
break
|
||||
nextFrame = None
|
||||
for i in range(index,displayTicks,1):
|
||||
frame = getPosKeyframeAtPos(i)
|
||||
if frame != None and (dragFrameIndex == -1 or not frame == keyFrames[dragFrameIndex]):
|
||||
nextFrame = frame
|
||||
break
|
||||
|
||||
if nextFrame == None and prevFrame == None:
|
||||
return prevFrame, nextFrame
|
||||
# elif nextFrame == None:
|
||||
# return prevFrame, prevFrame
|
||||
# elif prevFrame == None:
|
||||
# return nextFrame, nextFrame
|
||||
|
||||
return prevFrame, nextFrame
|
||||
|
||||
|
||||
|
||||
def getLeftButtonFrame(index):
|
||||
for i in range(index,0,-1):
|
||||
frame = getKeyframeAtPos(i)
|
||||
if frame != None and frame['type'] == 'controller':
|
||||
return frame
|
||||
return None
|
||||
|
||||
|
||||
|
||||
def getButtonFrameAtPos(index):
|
||||
for i in range(len(keyFrames)):
|
||||
frame = keyFrames[i]
|
||||
if frame != None and frame['type'] == 'controller':
|
||||
return frame
|
||||
return None
|
||||
|
||||
|
||||
|
||||
|
||||
def getRobotAtIndex(index):
|
||||
prevFrame, nextFrame = getSurroundingPosFrames(index)
|
||||
|
||||
# print(prevFrame)
|
||||
# print(nextFrame)
|
||||
|
||||
if prevFrame == None and nextFrame == None:
|
||||
return (0,0), 0
|
||||
if prevFrame == None:
|
||||
return nextFrame['position'], nextFrame['rotation']
|
||||
elif nextFrame == None:
|
||||
return prevFrame['position'], prevFrame['rotation']
|
||||
elif nextFrame['timeIndex'] - prevFrame['timeIndex'] == 0:
|
||||
return prevFrame['position'], prevFrame['rotation']
|
||||
|
||||
relPos = -((prevFrame['timeIndex'] - index)/(nextFrame['timeIndex'] - prevFrame['timeIndex']))
|
||||
|
||||
pos = calcBezierPoint(prevFrame['position'], ogCtrlNodes[prevFrame['index']], nextFrame['position'], relPos)
|
||||
|
||||
if prevFrame['rotation'] - nextFrame['rotation'] < -math.pi:
|
||||
rot = ((nextFrame['rotation']-prevFrame['rotation']-math.pi*2)*relPos) + prevFrame['rotation']
|
||||
elif prevFrame['rotation'] - nextFrame['rotation'] > math.pi:
|
||||
rot = ((nextFrame['rotation']-prevFrame['rotation']+math.pi*2)*relPos) + prevFrame['rotation']
|
||||
else:
|
||||
rot = ((nextFrame['rotation']-prevFrame['rotation'])*relPos) + prevFrame['rotation']
|
||||
|
||||
# diff = (nextFrame['rotation']-prevFrame['rotation'])
|
||||
# if diff >= math.pi:
|
||||
# rot = ((nextFrame['rotation']-prevFrame['rotation']-math.pi*2)*relPos) + prevFrame['rotation']
|
||||
# elif diff <= math.pi:
|
||||
# rot = ((nextFrame['rotation']-prevFrame['rotation']+math.pi*2)*relPos) + prevFrame['rotation']
|
||||
# else:
|
||||
# rot = ((nextFrame['rotation']-prevFrame['rotation'])*relPos) + prevFrame['rotation']
|
||||
|
||||
|
||||
return pos, rot
|
||||
|
||||
|
||||
|
||||
# def getTimeBarColor(index):
|
||||
# frame = getKeyframeAtPos(index)
|
||||
# if frame == None:
|
||||
# return (0,0,0)
|
||||
# if frame['type'] == 'position':
|
||||
# return (127,127,0)
|
||||
# elif frame['type'] == 'controller':
|
||||
# return buttonEditColor
|
||||
|
||||
# return (16,16,32)
|
||||
|
||||
|
||||
|
||||
def calcBezierPoint(p0, p1, p2, t):
|
||||
px = p0[0]*(1-t)**2 + 2*(1-t)*t*p1[0] + p2[0]*t**2
|
||||
py = p0[1]*(1-t)**2 + 2*(1-t)*t*p1[1] + p2[1]*t**2
|
||||
return (px, py)
|
||||
|
||||
|
||||
|
||||
|
||||
def reloadBar(pos):
|
||||
toggle = False
|
||||
for i in range(displayTicks):
|
||||
x1 = i * (render.width/(displayTicks))
|
||||
x2 = (render.width/(displayTicks))
|
||||
rect = (x1, bottomBarRect[1], x2, bottomBarRect[3])
|
||||
|
||||
color = (0, 0, 0)
|
||||
|
||||
if i == selFrame:
|
||||
color = (color[0]+64,color[1]+64,color[2]+64)
|
||||
if render.isInRect(pos, rect):
|
||||
color = (color[0]+64,color[1]+64,color[2]+64)
|
||||
if dragFrameIndex != -1 and getKeyframeAtPos(i) == None:
|
||||
if keyFrames[dragFrameIndex]['type'] == 'position':
|
||||
prevFrame, nextFrame = getSurroundingPosFrames(ogDragFramePos)
|
||||
|
||||
if prevFrame == nextFrame:
|
||||
pass
|
||||
elif prevFrame == None:
|
||||
if i < nextFrame['timeIndex']:
|
||||
keyFrames[dragFrameIndex]['timeIndex'] = i
|
||||
elif nextFrame == None:
|
||||
if i > prevFrame['timeIndex']:
|
||||
keyFrames[dragFrameIndex]['timeIndex'] = i
|
||||
elif i > prevFrame['timeIndex'] and i < nextFrame['timeIndex']:
|
||||
keyFrames[dragFrameIndex]['timeIndex'] = i
|
||||
|
||||
else:
|
||||
keyFrames[dragFrameIndex]['timeIndex'] = i
|
||||
else:
|
||||
color = (color[0]+16+(toggle*16),color[1]+16+(toggle*16),color[2]+32+(toggle*16))
|
||||
|
||||
|
||||
frame = getKeyframeAtPos(i)
|
||||
if frame == None:
|
||||
pass
|
||||
elif frame['type'] == 'position':
|
||||
color = (191,191,0)
|
||||
elif frame['type'] == 'controller':
|
||||
color = buttonEditColor
|
||||
|
||||
toggle = not toggle
|
||||
|
||||
render.drawrect(color, rect)
|
||||
# renderSelectIndicator(i)
|
||||
render.update()
|
||||
|
||||
|
||||
|
||||
def clickBar(pos):
|
||||
for i in range(displayTicks):
|
||||
x1 = i * (render.width/(displayTicks))
|
||||
x2 = (render.width/(displayTicks))
|
||||
rect = (x1, bottomBarRect[1], x2, bottomBarRect[3])
|
||||
|
||||
if render.isInRect(pos, rect):
|
||||
global selFrame
|
||||
global dragFrameIndex
|
||||
global ogDragFramePos
|
||||
selFrame = i
|
||||
if dragFrameIndex == -1:
|
||||
dragFrameIndex = getFrameIndex(getKeyframeAtPos(i))
|
||||
ogDragFramePos = i
|
||||
return
|
||||
|
||||
|
||||
|
||||
def createBlankController():
|
||||
returnArr = []
|
||||
for i in range(len(controllerRects)):
|
||||
returnArr.append({
|
||||
'A': False,
|
||||
'B': False,
|
||||
'X': False,
|
||||
'Y': False,
|
||||
'Dpad_Up': False,
|
||||
'Dpad_Down': False,
|
||||
'Dpad_Left': False,
|
||||
'Dpad_Right': False,
|
||||
'Menu': False,
|
||||
'Windows': False,
|
||||
'Left_Stick': False,
|
||||
'Right_Stick': False,
|
||||
'LB': False,
|
||||
'RB': False,
|
||||
'LT': False,
|
||||
'RT': False
|
||||
})
|
||||
return returnArr
|
||||
|
||||
|
||||
|
||||
|
||||
def toggleControllerButton(btnStr, controllerIndex):
|
||||
global keyFrames
|
||||
lastFrame = getLeftButtonFrame(selFrame)
|
||||
if lastFrame == None:
|
||||
keyFrames.append({
|
||||
"type": "controller",
|
||||
"timeIndex": selFrame,
|
||||
"controllers": createBlankController()
|
||||
})
|
||||
frame = keyFrames[len(keyFrames)-1]
|
||||
elif lastFrame['timeIndex'] != selFrame:
|
||||
keyFrames.append({
|
||||
"type": "controller",
|
||||
"timeIndex": selFrame,
|
||||
"controllers": copy.deepcopy(lastFrame['controllers'])
|
||||
})
|
||||
frame = keyFrames[len(keyFrames)-1]
|
||||
else:
|
||||
frame = lastFrame
|
||||
|
||||
if not btnStr in ['Dpad_Up', 'Dpad_Down', 'Dpad_Left', 'Dpad_Right']:
|
||||
|
||||
frame['controllers'][controllerIndex][btnStr] = not frame['controllers'][controllerIndex][btnStr]
|
||||
|
||||
# Dpad Stuff
|
||||
elif frame['controllers'][controllerIndex][btnStr] == True:
|
||||
for btn in ['Dpad_Up', 'Dpad_Down', 'Dpad_Left', 'Dpad_Right']:
|
||||
frame['controllers'][controllerIndex][btn] = False
|
||||
else:
|
||||
for btn in ['Dpad_Up', 'Dpad_Down', 'Dpad_Left', 'Dpad_Right']:
|
||||
frame['controllers'][controllerIndex][btn] = False
|
||||
frame['controllers'][controllerIndex][btnStr] = True
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
def getControllerButtons(controllerIndex):
|
||||
frame = getLeftButtonFrame(selFrame)
|
||||
if frame == None:
|
||||
return createBlankController()[0]
|
||||
else:
|
||||
return frame['controllers'][controllerIndex]
|
||||
|
||||
|
||||
|
||||
def renderXboxControllers():
|
||||
for i in range(len(controllerRects)):
|
||||
|
||||
rect = controllerRects[i]
|
||||
|
||||
offsetSize = rect[2]/buttonImages['Controller'].get_width()
|
||||
|
||||
def offsetControllerButton(index):
|
||||
pos, size = buttonPositions[index]
|
||||
rect2 = ((pos[0]-(size/2), pos[1]-(size/2), size, size))
|
||||
return (rect[0]+(rect2[0])*offsetSize,rect[1]+(rect2[1])*offsetSize,rect2[2]*offsetSize,rect2[2]*offsetSize)
|
||||
|
||||
render.image(buttonImages['Controller'], rect)
|
||||
|
||||
btns = getControllerButtons(i)
|
||||
|
||||
for btn in ['A','B','X','Y','Menu','Windows','LB','RB','LT','RT','Left_Stick','Right_Stick']:
|
||||
if btns[btn]:
|
||||
render.image(render.invert(buttonImages[btn]), offsetControllerButton(btn))
|
||||
else:
|
||||
render.image(buttonImages[btn], offsetControllerButton(btn))
|
||||
|
||||
if btns['Dpad_Up']:
|
||||
render.image(buttonImages['Dpad_Up'], offsetControllerButton('Dpad'))
|
||||
elif btns['Dpad_Down']:
|
||||
render.image(buttonImages['Dpad_Down'], offsetControllerButton('Dpad'))
|
||||
elif btns['Dpad_Left']:
|
||||
render.image(buttonImages['Dpad_Left'], offsetControllerButton('Dpad'))
|
||||
elif btns['Dpad_Right']:
|
||||
render.image(buttonImages['Dpad_Right'], offsetControllerButton('Dpad'))
|
||||
else:
|
||||
render.image(buttonImages['Dpad'], offsetControllerButton('Dpad'))
|
||||
|
||||
|
||||
# for btn in ['Dpad_Up','Dpad_Down','Dpad_Left','Dpad_Right']:
|
||||
# if
|
||||
# render.drawrect((255,255,255), offsetControllerButton(btn))
|
||||
|
||||
|
||||
|
||||
def controllerClick(pos):
|
||||
for i in range(len(controllerRects)):
|
||||
|
||||
rect = controllerRects[i]
|
||||
|
||||
offsetSize = rect[2]/buttonImages['Controller'].get_width()
|
||||
|
||||
def offsetControllerButton(index):
|
||||
pos, size = buttonPositions[index]
|
||||
rect2 = ((pos[0]-(size/2), pos[1]-(size/2), size, size))
|
||||
return (rect[0]+(rect2[0])*offsetSize,rect[1]+(rect2[1])*offsetSize,rect2[2]*offsetSize,rect2[2]*offsetSize)
|
||||
|
||||
for btn in ['A','B','X','Y','Menu','Windows','LB','RB','LT','RT','Left_Stick','Right_Stick','Dpad_Up','Dpad_Down','Dpad_Left','Dpad_Right']:
|
||||
if render.isInRect(pos, offsetControllerButton(btn)):
|
||||
toggleControllerButton(btn, i)
|
||||
|
||||
|
||||
|
||||
|
||||
def renderTimeText():
|
||||
if selFrame == -1:
|
||||
return
|
||||
seconds = round((((selFrame*displayTickResolution)+1)/matchTicks)*matchLength,2)
|
||||
text = f'{str(seconds)} s / {str(matchLength)}.0 s'
|
||||
|
||||
text = render.font.render(text, True, (255,255,255))
|
||||
|
||||
# global leftSide
|
||||
|
||||
# if leftSide:
|
||||
# rect = text.get_rect(bottomright=(render.width,render.height+render.topBarHeight))
|
||||
# else:
|
||||
rect = text.get_rect(bottomleft=(0,render.height+render.topBarHeight))
|
||||
|
||||
render.screen.blit(text, rect)
|
||||
|
||||
|
||||
|
||||
|
||||
class buttonEditor:
|
||||
name = "Button Editor"
|
||||
|
||||
def __init__(self, tmprender, tmppathEditor):
|
||||
global render
|
||||
global pathEditor
|
||||
render = tmprender
|
||||
pathEditor = tmppathEditor
|
||||
|
||||
global indicatorBarHeight
|
||||
indicatorBarHeight = round(render.screen.get_width()/displayTicks)
|
||||
|
||||
global bottomBarRect
|
||||
bottomBarRect = (0, (render.screen.get_height()-render.bottomBarHeight), render.screen.get_width(), render.bottomBarHeight)
|
||||
|
||||
global buttonImages
|
||||
buttonImages = {
|
||||
"Controller": render.loadImg('images/XboxOne_Diagram_Simple.png'),
|
||||
|
||||
"A": render.loadImg('images/XboxOne_A.png'),
|
||||
"B": render.loadImg('images/XboxOne_B.png'),
|
||||
"X": render.loadImg('images/XboxOne_X.png'),
|
||||
"Y": render.loadImg('images/XboxOne_Y.png'),
|
||||
|
||||
"Dpad": render.loadImg('images/XboxOne_Dpad.png'),
|
||||
"Dpad_Up": render.loadImg('images/XboxOne_Dpad_Up.png'),
|
||||
"Dpad_Down": render.loadImg('images/XboxOne_Dpad_Down.png'),
|
||||
"Dpad_Left": render.loadImg('images/XboxOne_Dpad_Left.png'),
|
||||
"Dpad_Right": render.loadImg('images/XboxOne_Dpad_Right.png'),
|
||||
|
||||
"Menu": render.loadImg('images/XboxOne_Menu.png'),
|
||||
"Windows": render.loadImg('images/XboxOne_Windows.png'),
|
||||
|
||||
"Left_Stick": render.loadImg('images/XboxOne_Left_Stick.png'),
|
||||
"Left_Stick_Click": render.loadImg('images/XboxOne_Left_Stick_Click.png'),
|
||||
"Right_Stick": render.loadImg('images/XboxOne_Right_Stick.png'),
|
||||
"Right_Stick_Click": render.loadImg('images/XboxOne_Right_Stick_Click.png'),
|
||||
|
||||
|
||||
"LB": render.loadImg('images/XboxOne_LB.png'),
|
||||
"RB": render.loadImg('images/XboxOne_RB.png'),
|
||||
"LT": render.loadImg('images/XboxOne_LT.png'),
|
||||
"RT": render.loadImg('images/XboxOne_RT.png')
|
||||
|
||||
}
|
||||
|
||||
ControllerSize = (render.width/2, render.width*(buttonImages['Controller'].get_height()/buttonImages['Controller'].get_width())/2)
|
||||
ControllerYOffset = (render.height-ControllerSize[1])/2
|
||||
global controllerRects
|
||||
controllerRects = [
|
||||
(0, render.topBarHeight+ControllerYOffset, ControllerSize[0], ControllerSize[1]),
|
||||
(ControllerSize[0], render.topBarHeight+ControllerYOffset, ControllerSize[0], ControllerSize[1])
|
||||
]
|
||||
|
||||
def refresh(self):
|
||||
render.clear()
|
||||
if not buttonMode:
|
||||
global ogNodes
|
||||
global ogCtrlNodes
|
||||
global ogRotNodes
|
||||
|
||||
render.drawField()
|
||||
|
||||
pointCounts = getBezierPointCounts()
|
||||
for i in range(0,len(ogCtrlNodes)):
|
||||
render.bezier(ogNodes[i], ogCtrlNodes[i], ogNodes[i+1], pointCounts[i])
|
||||
|
||||
buttonFrames = getButtonKeyframes()
|
||||
for frame in buttonFrames:
|
||||
pos, rot = getRobotAtIndex(frame['timeIndex'])
|
||||
render.circle(buttonEditColor, pos, buttonEditNodeRadius)
|
||||
|
||||
if selFrame != -1 and len(ogNodes) > 0:
|
||||
pos, rot = getRobotAtIndex(selFrame)
|
||||
render.robotSquare(pos, rot)
|
||||
|
||||
|
||||
else:
|
||||
renderXboxControllers()
|
||||
|
||||
renderTimeText()
|
||||
|
||||
reloadBar((0,0))
|
||||
render.update()
|
||||
|
||||
|
||||
|
||||
def mouseDown(self, pos):
|
||||
if buttonMode and pos[1] < bottomBarRect[1]:
|
||||
controllerClick(pos)
|
||||
self.refresh()
|
||||
elif pos[1] > bottomBarRect[1]:
|
||||
clickBar(pos)
|
||||
self.refresh()
|
||||
|
||||
|
||||
|
||||
def mouseUp(self, pos):
|
||||
global dragFrameIndex
|
||||
if dragFrameIndex != -1:
|
||||
dragFrameIndex = -1
|
||||
ogDragFramePos = -1
|
||||
self.refresh()
|
||||
reloadBar((0, 0))
|
||||
|
||||
|
||||
|
||||
def mouseMove(self, pos):
|
||||
global dragFrameIndex
|
||||
if dragFrameIndex != -1 or pos[1] > bottomBarRect[1]:
|
||||
reloadBar(pos)
|
||||
|
||||
# global leftSide
|
||||
|
||||
# if leftSide and pos[0] > (render.width/2):
|
||||
# leftSide = False
|
||||
# self.refresh()
|
||||
# if not leftSide and pos[0] < (render.width/2):
|
||||
# leftSide = True
|
||||
# self.refresh()
|
||||
|
||||
# if pos[1] > bottomBarRect[1]:
|
||||
|
||||
|
||||
|
||||
def doubleClick(self, pos):
|
||||
pass
|
||||
# if pos[1] > bottomBarRect[1]:
|
||||
# clickBar(pos)
|
||||
# self.refresh()
|
||||
|
||||
|
||||
def keyDown(self, key):
|
||||
global selFrame
|
||||
global buttonMode
|
||||
if key == render.pg.K_LEFT and selFrame > 0:
|
||||
selFrame -= 1
|
||||
self.refresh()
|
||||
elif key == render.pg.K_RIGHT and selFrame < displayTicks-1:
|
||||
selFrame += 1
|
||||
self.refresh()
|
||||
elif buttonMode and key == render.pg.K_DELETE and selFrame != -1:
|
||||
frame = getKeyframeAtPos(selFrame)
|
||||
if frame != None and frame['type'] != 'position':
|
||||
global keyFrames
|
||||
keyFrames.remove(frame)
|
||||
self.refresh()
|
||||
elif selFrame != -1 and key == render.pg.K_e:
|
||||
buttonMode = not buttonMode
|
||||
self.refresh()
|
||||
|
||||
|
||||
def updateNodes(self, loadKeyframes):
|
||||
global ogNodes
|
||||
global ogCtrlNodes
|
||||
global ogRotNodes
|
||||
ogNodes = pathEditor.nodes.copy()
|
||||
ogCtrlNodes = pathEditor.curveEditPoints.copy()
|
||||
ogRotNodes = pathEditor.nodeRotations.copy()
|
||||
|
||||
if not loadKeyframes:
|
||||
return
|
||||
|
||||
for i in range(len(ogNodes)):
|
||||
frame = getPosKeyframeByIndex(i)
|
||||
frame['position'] = ogNodes[i]
|
||||
frame['rotation'] = ogRotNodes[i]
|
||||
|
||||
|
||||
|
||||
def load(self):
|
||||
global selFrame
|
||||
global buttonMode
|
||||
selFrame = -1
|
||||
buttonMode = False
|
||||
|
||||
global ogNodes
|
||||
global ogCtrlNodes
|
||||
global ogRotNodes
|
||||
|
||||
if len(ogNodes) != len(pathEditor.nodes):
|
||||
|
||||
global keyFrames
|
||||
|
||||
for i in range(len(keyFrames)-1,-1,-1):
|
||||
if keyFrames[i]['type'] == 'position':
|
||||
keyFrames.pop(i)
|
||||
|
||||
self.updateNodes(False)
|
||||
|
||||
for i in range(len(ogNodes)):
|
||||
if len(ogNodes) == 1:
|
||||
timeIndex = 0
|
||||
else:
|
||||
timeIndex = round((i)/(len(ogNodes)-1) * (displayTicks-1))
|
||||
keyFrames.append({
|
||||
"type": "position",
|
||||
"timeIndex": timeIndex,
|
||||
"index": i,
|
||||
"position": ogNodes[i],
|
||||
"rotation": ogRotNodes[i]
|
||||
})
|
||||
else:
|
||||
self.updateNodes(True)
|
||||
|
||||
self.refresh()
|
||||
|
||||
|
||||
def unload(self):
|
||||
pass
|
||||
-252
@@ -1,252 +0,0 @@
|
||||
import crossfiledialog
|
||||
import struct
|
||||
import copy
|
||||
|
||||
pg = None
|
||||
buttonEditor = None
|
||||
events = []
|
||||
|
||||
#Save according to https://github.com/Team4388/2024AcrossTheRidgebotiverse/blob/Prep-For-Denver/src/main/java/frc4388/robot/commands/Autos/neo%20AutoRecoding%20format.txt
|
||||
|
||||
|
||||
moveMultiplier = 0.1
|
||||
rotMultiplier = 1
|
||||
|
||||
|
||||
def buttonsToBytes(buttons):
|
||||
data = 0
|
||||
for i in range(16):
|
||||
data |= buttons[i] << i
|
||||
return data.to_bytes(2, "little", signed=True)
|
||||
|
||||
|
||||
def toByte(num):
|
||||
if num > 255:
|
||||
raise OverflowError
|
||||
return num.to_bytes(1, 'big', signed=False)
|
||||
|
||||
|
||||
|
||||
def toShort(num):
|
||||
if num > 65535:
|
||||
raise OverflowError
|
||||
return num.to_bytes(2, 'big', signed=True)
|
||||
|
||||
|
||||
def toInt(num):
|
||||
return struct.pack('>i', num)
|
||||
|
||||
|
||||
def toDouble(num):
|
||||
return struct.pack('>d', num)
|
||||
|
||||
|
||||
|
||||
|
||||
class xboxController:
|
||||
def __init__(self):
|
||||
self.buttons = [False for i in range(16)]
|
||||
self.leftStick = (0,0)
|
||||
self.rightStick = (0,0)
|
||||
self.LT = -1
|
||||
self.RT = -1
|
||||
self.POV = -1
|
||||
|
||||
|
||||
def getPOVhat(up, down, left, right):
|
||||
if up and right:
|
||||
return 45
|
||||
elif right and down:
|
||||
return 135
|
||||
elif down and left:
|
||||
return 225
|
||||
elif left and up:
|
||||
return 315
|
||||
elif up:
|
||||
return 0
|
||||
elif right:
|
||||
return 90
|
||||
elif down:
|
||||
return 180
|
||||
elif left:
|
||||
return 270
|
||||
else:
|
||||
return -1
|
||||
|
||||
|
||||
|
||||
|
||||
def getSticksAtFrame(index):
|
||||
|
||||
fractionIndex = round(index/buttonEditor.displayTickResolution)
|
||||
|
||||
newpos, newrot = buttonEditor.getRobotAtIndex(fractionIndex)
|
||||
oldpos, oldrot = buttonEditor.getRobotAtIndex(fractionIndex-1)
|
||||
|
||||
# print(oldrot-newrot)
|
||||
|
||||
diffPos = ((oldpos[0]-newpos[0])*moveMultiplier, (oldpos[1]-newpos[1])*moveMultiplier)
|
||||
diffRot = (oldrot-newrot)*rotMultiplier
|
||||
|
||||
if abs(diffPos[0]) > 1 or abs(diffPos[1]) > 1 or abs(diffRot) > 1:
|
||||
print("Error! Robot moved too fast!, Try to edit 'Multiplier' values in export.py")
|
||||
return (0, 0), 0
|
||||
|
||||
|
||||
print(diffPos)
|
||||
|
||||
# print(diffRot)
|
||||
|
||||
return diffPos, diffRot
|
||||
|
||||
|
||||
|
||||
def getControllersAtFrame(index):
|
||||
controllers = [xboxController(), xboxController()]
|
||||
if index >= buttonEditor.matchTicks:
|
||||
return controllers
|
||||
|
||||
pos, rot = getSticksAtFrame(index)
|
||||
|
||||
controllers[0].leftStick = pos
|
||||
controllers[0].rightStick = (rot,0)
|
||||
|
||||
btns = buttonEditor.getLeftButtonFrame(index)
|
||||
if btns == None:
|
||||
btns = buttonEditor.createBlankController()
|
||||
else:
|
||||
btns = btns['controllers']
|
||||
|
||||
for i in range(len(controllers)):
|
||||
ctrlr = btns[i]
|
||||
|
||||
controllers[i].buttons[0] = ctrlr['A']
|
||||
controllers[i].buttons[1] = ctrlr['B']
|
||||
controllers[i].buttons[2] = ctrlr['X']
|
||||
controllers[i].buttons[3] = ctrlr['Y']
|
||||
|
||||
controllers[i].buttons[4] = ctrlr['LB']
|
||||
controllers[i].buttons[5] = ctrlr['RB']
|
||||
|
||||
controllers[i].buttons[6] = ctrlr['Menu']
|
||||
controllers[i].buttons[7] = ctrlr['Windows']
|
||||
|
||||
controllers[i].buttons[8] = ctrlr['Left_Stick']
|
||||
controllers[i].buttons[9] = ctrlr['Right_Stick']
|
||||
|
||||
controllers[i].LT = (ctrlr['LT']*2)-1
|
||||
controllers[i].RT = (ctrlr['RT']*2)-1
|
||||
|
||||
controllers[i].POV = getPOVhat(ctrlr['Dpad_Up'], ctrlr['Dpad_Down'],
|
||||
ctrlr['Dpad_Left'], ctrlr['Dpad_Right'])
|
||||
|
||||
|
||||
|
||||
return controllers
|
||||
|
||||
|
||||
|
||||
def getFrameData(index):
|
||||
controllers = getControllersAtFrame(index)
|
||||
data = b''
|
||||
for ctrlr in controllers:
|
||||
# print(ctrlr.leftStick[0])
|
||||
data += toDouble(ctrlr.leftStick[0])
|
||||
data += toDouble(ctrlr.leftStick[1])
|
||||
data += toDouble(ctrlr.LT)
|
||||
data += toDouble(ctrlr.RT)
|
||||
data += toDouble(ctrlr.rightStick[0])
|
||||
data += toDouble(ctrlr.rightStick[1])
|
||||
|
||||
data += buttonsToBytes(ctrlr.buttons)
|
||||
|
||||
# for btn in ctrlr.buttons:
|
||||
# data += toBit(data)
|
||||
# print(toBit(data))
|
||||
|
||||
data += toShort(ctrlr.POV)
|
||||
|
||||
data += toInt(index * buttonEditor.tickTime)
|
||||
|
||||
return data
|
||||
|
||||
|
||||
|
||||
def getHeader():
|
||||
header = toByte(6) # Num Axes per controller
|
||||
header += toByte(1) # Num POVs
|
||||
header += toByte(2) # Num Controllers
|
||||
header += toShort(buttonEditor.matchTicks) # Num Frames
|
||||
return header
|
||||
|
||||
|
||||
|
||||
def getData():
|
||||
data = b''
|
||||
for i in range(buttonEditor.matchTicks):
|
||||
data += getFrameData(i)
|
||||
return getHeader() + data
|
||||
|
||||
|
||||
|
||||
def save():
|
||||
path = crossfiledialog.save_file('Save auto file', './')
|
||||
# path = "./file.txt"
|
||||
with open(path, "wb") as f:
|
||||
f.write(getData())
|
||||
|
||||
class export:
|
||||
name = "Export"
|
||||
|
||||
def __init__(self, tmppg, tmprender, tmpbuttonEditor):
|
||||
global pg
|
||||
pg = tmppg
|
||||
global render
|
||||
render = tmprender
|
||||
global buttonEditor
|
||||
buttonEditor = tmpbuttonEditor
|
||||
|
||||
self.loaded = False
|
||||
|
||||
def getIsSelected():
|
||||
return False
|
||||
|
||||
def getIsVisible():
|
||||
return self.loaded
|
||||
|
||||
def onClick(pos):
|
||||
save()
|
||||
|
||||
render.addButton((round(render.width/4),round(render.screen.get_height()/4),round(render.width/2),round(render.height/2)),
|
||||
"Export", getIsSelected, getIsVisible, onClick)
|
||||
|
||||
def mouseDown(self, pos):
|
||||
pass
|
||||
|
||||
def mouseUp(self, pos):
|
||||
pass
|
||||
|
||||
def mouseMove(self, pos):
|
||||
pass
|
||||
|
||||
def doubleClick(self, pos):
|
||||
pass
|
||||
|
||||
def keyDown(self, key):
|
||||
pass
|
||||
|
||||
def load(self):
|
||||
self.loaded = True
|
||||
|
||||
# for keyFrame in buttonEditor.keyFrames:
|
||||
# keyFrame['timeIndex'] = keyFrame['timeIndex'] * buttonEditor.displayTickResolution
|
||||
|
||||
|
||||
render.clear()
|
||||
pg.display.update()
|
||||
|
||||
def unload(self):
|
||||
self.loaded = False
|
||||
|
||||
# for keyFrame in buttonEditor.keyFrames:
|
||||
# keyFrame['timeIndex'] = round(keyFrame['timeIndex'] / buttonEditor.displayTickResolution)
|
||||
@@ -1,171 +0,0 @@
|
||||
import math
|
||||
from pygame.locals import *
|
||||
|
||||
nodeColor = (255, 255, 255)
|
||||
nodeRadius = 12
|
||||
|
||||
rotNodeDist = 35
|
||||
rotNodeColor = (255, 0, 255)
|
||||
rotNodeRadius = 8
|
||||
|
||||
lineApproximationLineColor = (127, 127, 127, 0.5)
|
||||
lineApproximationLineWidth = 3
|
||||
|
||||
curveEditPointColor = (0, 255, 255)
|
||||
curveEditPointRadius = 8
|
||||
|
||||
curvePointCount = 80
|
||||
|
||||
nodes = []
|
||||
curveEditPoints = []
|
||||
nodeRotations = []
|
||||
|
||||
clickType = -1
|
||||
clickIndex = -1
|
||||
|
||||
render = None
|
||||
|
||||
|
||||
|
||||
|
||||
def refresh():
|
||||
render.clear()
|
||||
render.drawField()
|
||||
|
||||
for i in range(0,len(curveEditPoints)):
|
||||
render.line(lineApproximationLineColor, nodes[i], curveEditPoints[i], lineApproximationLineWidth)
|
||||
render.line(lineApproximationLineColor, curveEditPoints[i], nodes[i+1], lineApproximationLineWidth)
|
||||
|
||||
render.bezier(nodes[i], curveEditPoints[i], nodes[i+1], curvePointCount)
|
||||
|
||||
render.circle(curveEditPointColor, curveEditPoints[i], curveEditPointRadius)
|
||||
for i in range(0,len(nodeRotations)):
|
||||
posX = (math.sin(nodeRotations[i])*rotNodeDist/render.offsetSize) + nodes[i][0]
|
||||
posY = (math.cos(nodeRotations[i])*rotNodeDist/render.offsetSize) + nodes[i][1]
|
||||
render.circle(rotNodeColor, (posX, posY), rotNodeRadius)
|
||||
render.robotSquare(nodes[i], nodeRotations[i])
|
||||
for pos in nodes:
|
||||
|
||||
render.circle(nodeColor, pos, nodeRadius)
|
||||
render.update()
|
||||
|
||||
|
||||
|
||||
def getElemAt(pos):
|
||||
for i in range(0,len(nodes)):
|
||||
if getDist(pos, nodes[i], nodeRadius):
|
||||
return 0, i
|
||||
for i in range(0,len(nodeRotations)):
|
||||
posX = (math.sin(nodeRotations[i])*rotNodeDist/render.offsetSize) + nodes[i][0]
|
||||
posY = (math.cos(nodeRotations[i])*rotNodeDist/render.offsetSize) + nodes[i][1]
|
||||
if getDist(pos, (posX, posY), nodeRadius):
|
||||
return 2, i
|
||||
for i in range(0,len(curveEditPoints)):
|
||||
if getDist(pos, curveEditPoints[i], curveEditPointRadius):
|
||||
return 1, i
|
||||
return -1, -1
|
||||
|
||||
|
||||
|
||||
def getDist(pos1, pos2, dist):
|
||||
return math.sqrt(math.pow(pos1[0]-pos2[0], 2) + math.pow(pos1[1]-pos2[1], 2)) <= dist
|
||||
|
||||
|
||||
|
||||
def addNode(pos):
|
||||
nodes.append(pos)
|
||||
if len(nodes) > 1:
|
||||
index = len(nodes)-1
|
||||
# Middle point between current point and previous point
|
||||
editPos = (nodes[index-1][0]+pos[0])/2,(nodes[index-1][1]+pos[1])/2
|
||||
curveEditPoints.append(editPos)
|
||||
nodeRotations.append(nodeRotations[index-1])
|
||||
else:
|
||||
nodeRotations.append(math.pi/2)
|
||||
refresh()
|
||||
|
||||
|
||||
|
||||
def nearestCirclePoint(center, pos, R):
|
||||
vX = pos[0] - center[0]
|
||||
vY = pos[1] - center[1]
|
||||
magV = math.sqrt(vX*vX + vY*vY)
|
||||
aX = center[0] + vX / magV * R
|
||||
aY = center[1] + vY / magV * R
|
||||
return (aX, aY)
|
||||
|
||||
|
||||
|
||||
def points2rad(center, pos):
|
||||
diffX = center[0] - pos[0]
|
||||
diffY = center[1] - pos[1]
|
||||
return -math.atan2(diffY, diffX) - (math.pi/2)
|
||||
|
||||
class pathEditor:
|
||||
name = "Path Editor"
|
||||
|
||||
|
||||
def __init__(self, tmprender):
|
||||
# global screen
|
||||
# screen = tmpscreen
|
||||
global render
|
||||
render = tmprender
|
||||
|
||||
refresh()
|
||||
|
||||
|
||||
|
||||
def mouseDown(self, pos):
|
||||
global clickType
|
||||
global clickIndex
|
||||
clickType, clickIndex = getElemAt(pos)
|
||||
if clickType == -1:
|
||||
addNode(pos)
|
||||
|
||||
|
||||
|
||||
def mouseUp(self, pos):
|
||||
global clickType
|
||||
global clickIndex
|
||||
if clickType != -1:
|
||||
clickType = -1
|
||||
clickIndex = -1
|
||||
|
||||
|
||||
|
||||
def mouseMove(self, pos):
|
||||
if clickType != -1:
|
||||
if clickType == 0:
|
||||
nodes[clickIndex] = pos
|
||||
if clickType == 1:
|
||||
curveEditPoints[clickIndex] = pos
|
||||
if clickType == 2:
|
||||
nodeRotations[clickIndex] = points2rad(nodes[clickIndex], nearestCirclePoint(nodes[clickIndex], pos, rotNodeDist/render.offsetSize))
|
||||
refresh()
|
||||
|
||||
|
||||
|
||||
def doubleClick(self, pos):
|
||||
clickType, clickIndex = getElemAt(pos)
|
||||
if clickType == -1:
|
||||
pass
|
||||
elif clickType == 0:
|
||||
if clickIndex > 0:
|
||||
if clickIndex < len(nodes)-1:
|
||||
newPos = (nodes[clickIndex-1][0]+nodes[clickIndex][0])/2,(nodes[clickIndex-1][1]+nodes[clickIndex][1])/2
|
||||
curveEditPoints[clickIndex] = newPos
|
||||
curveEditPoints.pop(clickIndex-1)
|
||||
elif clickIndex == 0 and len(nodes) > 1:
|
||||
curveEditPoints.pop(clickIndex)
|
||||
nodes.pop(clickIndex)
|
||||
nodeRotations.pop(clickIndex)
|
||||
refresh()
|
||||
|
||||
def keyDown(self, key):
|
||||
pass
|
||||
|
||||
def load(self):
|
||||
refresh()
|
||||
|
||||
def unload(self):
|
||||
pass
|
||||
-211
@@ -1,211 +0,0 @@
|
||||
import math
|
||||
import os
|
||||
import sys
|
||||
from pygame.locals import *
|
||||
import numpy as np
|
||||
|
||||
curvePointColor = (255, 255, 0)
|
||||
curvePointRadius = 2
|
||||
|
||||
selTabBorderSize = 2
|
||||
selTabBorderIndent = 3
|
||||
|
||||
nodeSquareRadius = 35
|
||||
nodeSquareColor = (127, 127, 127, 0.5)
|
||||
nodeSquareWidth = 3
|
||||
|
||||
nodeTickLength = 5
|
||||
|
||||
def image_path(relative_path):
|
||||
try:
|
||||
base_path = sys._MEIPASS
|
||||
except Exception:
|
||||
base_path = os.path.abspath(".")
|
||||
|
||||
return os.path.join(base_path, relative_path)
|
||||
|
||||
|
||||
class render():
|
||||
|
||||
|
||||
def __init__(self, pg, screen, topBarHeight, bottomBarHeight):
|
||||
self.pg = pg
|
||||
self.screen = screen
|
||||
|
||||
self.topBarHeight = topBarHeight
|
||||
self.bottomBarHeight = bottomBarHeight
|
||||
|
||||
self.width = self.screen.get_width()
|
||||
self.height = self.screen.get_width() * (643/1286)
|
||||
self.rect = (0, self.topBarHeight, self.width, self.height+bottomBarHeight)
|
||||
|
||||
self.font = self.pg.font.Font(None, 25)
|
||||
|
||||
self.fieldImg = self.loadImg("images/Field.png")
|
||||
self.offsetSize = self.fieldImg.get_width() / self.width
|
||||
self.fieldImg = pg.transform.scale(self.fieldImg, (self.width, self.height))
|
||||
|
||||
self.elements = []
|
||||
|
||||
|
||||
|
||||
|
||||
def invert(self, img):
|
||||
inv = self.pg.Surface(img.get_rect().size, self.pg.SRCALPHA)
|
||||
inv.fill((255,255,255))
|
||||
inv.blit(img, (0,0), None, BLEND_RGB_SUB)
|
||||
return inv
|
||||
|
||||
|
||||
|
||||
def line(self, color, pos1, pos2, width):
|
||||
self.pg.draw.line(self.screen, color, pos1, pos2, round(width/self.offsetSize))
|
||||
|
||||
|
||||
|
||||
def circle(self, color, pos, radius):
|
||||
self.pg.draw.circle(self.screen, color, pos, radius/self.offsetSize)
|
||||
|
||||
|
||||
|
||||
def drawrect(self, color, rect):
|
||||
self.pg.draw.rect(self.screen, color, rect)
|
||||
|
||||
|
||||
|
||||
# def drawText(self, text, color,):
|
||||
|
||||
# text = self.font.render(text, True, color)
|
||||
|
||||
# rect = text.get_rect()
|
||||
|
||||
# self.screen.blit(text, rect)
|
||||
# # text_rect = text.get_rect(center=(rect[0]+(rect[2]/2), rect[1]+(rect[3]/2)))
|
||||
|
||||
|
||||
|
||||
def isInRect(self, pos, rect):
|
||||
return pos[0] >= rect[0] and \
|
||||
pos[0] <= rect[0]+rect[2] and \
|
||||
pos[1] >= rect[1] and \
|
||||
pos[1] <= rect[1]+rect[3]
|
||||
|
||||
|
||||
|
||||
def image(self, img, rect):
|
||||
self.screen.blit(self.pg.transform.scale(img, (rect[2], rect[3])), rect)
|
||||
|
||||
|
||||
|
||||
def loadImg(self, path):
|
||||
return self.pg.image.load(image_path(path)).convert_alpha()
|
||||
|
||||
|
||||
|
||||
def robotSquare(self, pos, rot):
|
||||
pos1 = ((math.sin(rot + math.pi*-0.25)*nodeSquareRadius/self.offsetSize) + pos[0],
|
||||
(math.cos(rot + math.pi*-0.25)*nodeSquareRadius/self.offsetSize) + pos[1])
|
||||
pos2 = ((math.sin(rot + math.pi*0.25)*nodeSquareRadius/self.offsetSize) + pos[0],
|
||||
(math.cos(rot + math.pi*0.25)*nodeSquareRadius/self.offsetSize) + pos[1])
|
||||
pos3 = ((math.sin(rot + math.pi*0.75)*nodeSquareRadius/self.offsetSize) + pos[0],
|
||||
(math.cos(rot + math.pi*0.75)*nodeSquareRadius/self.offsetSize) + pos[1])
|
||||
pos4 = ((math.sin(rot + math.pi*1.25)*nodeSquareRadius/self.offsetSize) + pos[0],
|
||||
(math.cos(rot + math.pi*1.25)*nodeSquareRadius/self.offsetSize) + pos[1])
|
||||
|
||||
pos5 = ((math.sin(rot)*(nodeSquareRadius+nodeTickLength)/self.offsetSize) + pos[0],
|
||||
(math.cos(rot)*(nodeSquareRadius+nodeTickLength)/self.offsetSize) + pos[1])
|
||||
pos6 = ((math.sin(rot)*(nodeSquareRadius-nodeTickLength)/self.offsetSize) + pos[0],
|
||||
(math.cos(rot)*(nodeSquareRadius-nodeTickLength)/self.offsetSize) + pos[1])
|
||||
|
||||
self.line(nodeSquareColor, pos1, pos2, nodeSquareWidth*self.offsetSize)
|
||||
self.line(nodeSquareColor, pos2, pos3, nodeSquareWidth*self.offsetSize)
|
||||
self.line(nodeSquareColor, pos3, pos4, nodeSquareWidth*self.offsetSize)
|
||||
self.line(nodeSquareColor, pos4, pos1, nodeSquareWidth*self.offsetSize)
|
||||
|
||||
self.line(nodeSquareColor, pos5, pos6, nodeSquareWidth*self.offsetSize)
|
||||
|
||||
|
||||
|
||||
|
||||
def bezier(self, p0, p1, p2, curvePointCount):
|
||||
#for p in [p0, p1, p2]:
|
||||
# pg.draw.circle(self.screen, (255, 255, 255), p, 5)
|
||||
for t in np.arange(0, 1, 1/curvePointCount):
|
||||
px = p0[0]*(1-t)**2 + 2*(1-t)*t*p1[0] + p2[0]*t**2
|
||||
py = p0[1]*(1-t)**2 + 2*(1-t)*t*p1[1] + p2[1]*t**2
|
||||
self.circle(curvePointColor, (px, py), curvePointRadius)
|
||||
self.circle(curvePointColor, p2, curvePointRadius)
|
||||
#self.drawrect(curvePointColor, (round(px+0.5), round(py+0.5), curvePointRadius, curvePointRadius))
|
||||
|
||||
|
||||
|
||||
def clear(self):
|
||||
self.pg.draw.rect(self.screen, (0, 0, 0), self.rect)
|
||||
|
||||
|
||||
|
||||
def drawField(self):
|
||||
self.screen.blit(self.fieldImg, self.rect)
|
||||
|
||||
|
||||
|
||||
def renderElements(self, pos):
|
||||
for elem in self.elements:
|
||||
if elem['type'] == 'button' and elem['getIsVisible']():
|
||||
# print(elem['getIsSelected']())
|
||||
self.renderButton(elem['rect'], elem['text'], elem['getIsSelected'](), pos)
|
||||
|
||||
|
||||
|
||||
def clickElement(self, pos):
|
||||
for elem in self.elements:
|
||||
if elem['type'] == 'button' and elem['getIsVisible']() and self.isInRect(pos, elem['rect']):
|
||||
elem['onClick'](pos)
|
||||
|
||||
|
||||
|
||||
def update(self):
|
||||
self.pg.display.update()
|
||||
|
||||
|
||||
|
||||
def addButton(self, rect, text, getIsSelected, getIsVisible, onClick):
|
||||
self.elements.append({
|
||||
"type": "button",
|
||||
"text": text,
|
||||
"getIsSelected": getIsSelected,
|
||||
"getIsVisible": getIsVisible,
|
||||
"onClick": onClick,
|
||||
"rect": rect
|
||||
})
|
||||
|
||||
|
||||
|
||||
def renderButton(self, rect, text, selected, mousePos):
|
||||
|
||||
# print(isInRect(mousePos, rect))
|
||||
|
||||
if self.isInRect(mousePos, rect):
|
||||
color = (16,64,32)
|
||||
else:
|
||||
color = (16,16,32)
|
||||
|
||||
if selected:
|
||||
borderColor = (0,255,0)
|
||||
else:
|
||||
borderColor = (64,127,127)
|
||||
|
||||
text = self.font.render(text, True, (255,255,255))
|
||||
text_rect = text.get_rect(center=(rect[0]+(rect[2]/2), rect[1]+(rect[3]/2)))
|
||||
|
||||
self.pg.draw.rect(self.screen, color, rect)
|
||||
rect = (rect[0]+selTabBorderIndent,rect[1]+selTabBorderIndent,
|
||||
rect[2]-selTabBorderIndent*2,rect[3]-selTabBorderIndent*2)
|
||||
self.pg.draw.rect(self.screen, borderColor, rect)
|
||||
rect = (rect[0]+selTabBorderSize,rect[1]+selTabBorderSize,
|
||||
rect[2]-selTabBorderSize*2,rect[3]-selTabBorderSize*2)
|
||||
self.pg.draw.rect(self.screen, color, rect)
|
||||
|
||||
self.screen.blit(text, text_rect)
|
||||
|
||||
self.update()
|
||||
Reference in New Issue
Block a user