/CM_Manager_0_4_0

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initial commit with robot avoidance

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1 parent 7b006d2 commit 70fcdce9b5e6a62384be1a95def1aa1e8fb9bbc6 @bahniks committed Apr 23, 2014
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16 Stuff/Modules/cm.py
@@ -95,40 +95,40 @@ def _setRoomName(self, name):
def _processHeader(self, file):
for line in file:
- if line.count("TrackerVersion") > 0:
+ if "TrackerVersion" in line:
if "iTrack" in line:
self.tracker = "iTrack"
elif "Tracker" in line:
self.tracker = "Tracker"
else:
self.tracker = "Unknown"
- elif line.count("ArenaCenterXY") > 0:
+ elif "ArenaCenterXY" in line:
strg = line.split()
for i in range(len(strg)):
if strg[i] == "(":
pos = i
self.centerX = eval(strg[pos+1])
self.centerY = eval(strg[pos+2])
- elif line.count("TrackerResolution_PixPerCM") > 0:
+ elif "TrackerResolution_PixPerCM" in line:
strg = line.split()
for i in range(len(strg)):
if strg[i] == "(":
pos = i
self.trackerResolution = eval(strg[pos+1])
- elif line.count("%ReinforcedSector") > 0 and line.count("//") == 0:
+ elif "%ReinforcedSector" in line and "//" not in line:
# needs to be updated for double avoidance
strg = line.split()
for i in range(len(strg)):
if strg[i] == "(":
pos = i
self._addReinforcedSector(strg, pos)
- elif line.count("ArenaDiameter") > 0:
+ elif "ArenaDiameter" in line:
strg = line.split()
for i in range(len(strg)):
if strg[i] == "(":
pos = i
self.arenaDiameter = eval(strg[pos+1])
- elif line.count("END_HEADER") > 0:
+ elif "END_HEADER" in line:
break
self.radius = max([self.centerX, self.centerY])
@@ -147,7 +147,7 @@ def _processRoomFile(self, infile, endsplit = 7):
count = -1
for line in infile:
try:
- line = list(map(int, line.split()[:endsplit]))
+ line = list(map(float, line.split()[:endsplit])) # zmenit na int??? float je pro RA
self.data.append(line)
except Exception:
continue
@@ -216,7 +216,7 @@ def _processArenaFile(self, infile):
count = -1
for line in infile:
try:
- line = list(map(int, line.split()[:7]))
+ line = list(map(float, line.split()[:7])) # zmenit na int??? float je pro RA
except Exception:
continue
View
5 Stuff/Modules/cmsf.py
@@ -17,11 +17,16 @@
along with Carousel Maze Manager. If not, see <http://www.gnu.org/licenses/>.
"""
+from collections import OrderedDict
+
+
from cm import CM
from singleframe import SF
class CMSF(SF, CM):
+ cache = OrderedDict()
+
def __init__(self, nameA, *_):
self.nameA = nameA
View
140 Stuff/Modules/explorer.py
@@ -92,9 +92,19 @@ def __init__(self, root):
self.timeLabFrame = ttk.Labelframe(self, text = "Time")
self.timeLabFrame.root = self
self.timeFrame = TimeFrame(self.timeLabFrame, onChange = True)
- arenaText = "Arena frame" if m.mode == "CM" else "Animation"
+ if m.mode == "CM":
+ arenaText = "Arena frame"
+ elif m.mode == "RA":
+ arenaText = "Room frame"
+ else:
+ arenaText = "Animation"
self.arenaFrame = ttk.LabelFrame(self, text = arenaText)
- roomText = "Room frame" if m.mode == "CM" else "Track"
+ if m.mode == "CM":
+ roomText = "Room frame"
+ elif m.mode == "RA":
+ roomText = "Robot frame"
+ else:
+ roomText = "Track"
self.roomFrame = ttk.LabelFrame(self, text = roomText)
self.speedScaleFrame = ttk.Frame(self)
self.speedScaleFrame.rowconfigure(0, weight = 1)
@@ -221,7 +231,7 @@ def __init__(self, root):
self.showShocks.grid(column = 1, row = 1, padx = 3, pady = 2, sticky = (N, W))
self.showTail.grid(column = 1, row = 2, padx = 3, pady = 2, sticky = (N, W))
- if m.mode == "CM":
+ if m.files == "pair":
self.showAnimation.grid(column = 0, row = 0, padx = 2, pady = 1, sticky = (N, W))
self.showTrack.grid(column = 0, row = 1, padx = 2, pady = 1, sticky = (N, W))
@@ -484,16 +494,30 @@ def changedTime(self, value, unit = "0-100"):
if self.showTailVar.get():
self._createTail(curLine)
+ Ax, Ay = curLine[self.cm.indices]
+ Ax *= self.scale
+ Ay *= self.scale
+
if m.mode == "CM":
- Ax, Ay = curLine[7:9]
Rx, Ry = curLine[2:4]
- self.roomCanv.coords("ratR", (Rx + self.ld, Ry + self.ld,\
- Rx + self.ur, Ry + self.ur))
+ Rx *= self.scale
+ Ry *= self.scale
+ self.roomCanv.coords("ratR", (Rx + 16, Ry + 16, Rx + 24, Ry + 24))
self.roomCanv.lift("ratR")
- else:
- Ax, Ay = curLine[2:4]
- self.arenaCanv.coords("ratA", (Ax + self.ld, Ay + self.ld,\
- Ax + self.ur, Ay + self.ur))
+ elif m.mode == "RA":
+ Rx, Ry = curLine[2:4]
+ Rx *= self.scale
+ Ry *= self.scale
+ self.arenaCanv.coords("robotA", (Rx + 16, Ry + 16, Rx + 24, Ry + 24))
+ self.roomCanv.coords("ratR", ((Ax - Rx)/2 + 146, (Ay - Ry)/2 + 146,
+ (Ax - Rx)/2 + 154, (Ay - Ry)/2 + 154))
+ r = self.cm.sectorRadius * self.scale
+ self.arenaCanv.coords("shockZoneA", (Rx + 20 - r, Ry + 20 - r, Rx + 20 + r, Ry + 20 + r))
+ self.arenaCanv.lift("robotA")
+ self.arenaCanv.lift("shockZoneA")
+ self.roomCanv.lift("ratR")
+
+ self.arenaCanv.coords("ratA", (Ax + 16, Ay + 16, Ax + 24, Ay + 24))
self.arenaCanv.lift("ratA")
self._setShockColor(curLine)
@@ -512,7 +536,7 @@ def changedTime(self, value, unit = "0-100"):
def _updateDefaultParameters(self, time):
- indices = slice(7, 9) if m.mode == "CM" else slice(2, 4)
+ indices = self.cm.indices
x0, y0 = self.cm.data[0][indices]
dist = 0
entrances = 0
@@ -592,6 +616,15 @@ def _setShockColor(self, curLine):
if (m.mode == "CM" and curLine[6] > 0) or (m.mode == "MWM" and curLine[-1] > 0):
self.roomCanv.itemconfigure("ratR", fill = "red", outline = "red")
self.shock = True
+ elif m.mode == "RA":
+ if curLine[6] > 0:
+ self.arenaCanv.itemconfigure("ratA", fill = "red", outline = "red")
+ self.roomCanv.itemconfigure("ratR", fill = "red", outline = "red")
+ self.shock = True
+ else:
+ self.arenaCanv.itemconfigure("ratA", fill = "black", outline = "black")
+ self.roomCanv.itemconfigure("ratR", fill = "black", outline = "black")
+ self.shock = False
else:
self.roomCanv.itemconfigure("ratR", fill = "black", outline = "black")
self.shock = False
@@ -643,33 +676,32 @@ def initializeFile(self, filename, new = True, timeReset = True):
if not successful:
return
- r = self.cm.radius
- self.r = r
+ self.scale = 130 / self.cm.radius
self.shock = False
self.arenaCanv.delete("all")
self.roomCanv.delete("all")
if m.mode != "OF":
- self.arenaCanv.create_oval(150 - r, 150 - r, 150 + r, 150 + r, outline = "black",\
+ self.arenaCanv.create_oval(20, 20, 280, 280, outline = "black",
width = 2, tags = "arenaAF")
- self.roomCanv.create_oval(150 - r, 150 - r, 150 + r, 150 + r, outline = "black",\
+ self.roomCanv.create_oval(20, 20, 280, 280, outline = "black",
width = 2, tags = "arenaRF")
else:
- self.arenaCanv.create_rectangle(150 - r, 150 - r, 150 + r, 150 + r,
- outline = "black", width = 2, tags = "arenaAF")
- self.roomCanv.create_rectangle(150 - r, 150 - r, 150 + r, 150 + r, outline = "black",
+ self.arenaCanv.create_rectangle(20, 20, 280, 280, outline = "black",
+ width = 2, tags = "arenaAF")
+ self.roomCanv.create_rectangle(20, 20, 280, 280, outline = "black",
width = 2, tags = "arenaRF")
- if self.cm.centerAngle:
+ if self.cm.centerAngle or m.mode == "RA":
self._createShockSector()
self.maxTime = min([self.cm.data[-1][1], eval(self.timeFrame.timeVar.get()) * 60000])
self.minTime = max([self.cm.data[0][1], eval(self.timeFrame.startTimeVar.get()) * 60000])
- if self.showTrackVar.get() or m.mode != "CM":
+ if self.showTrackVar.get() or m.files != "pair":
self._drawTrack()
- if not self.showTrackVar.get() or m.mode != "CM":
+ if not self.showTrackVar.get() or m.files != "pair":
self._initializeAnimation()
self._setParameterDisplays(timeReset)
@@ -724,22 +756,28 @@ def _createShockSector(self):
self.width = self.cm.width
a1 = radians(self.angle - (self.width / 2))
a2 = radians(self.angle + (self.width / 2))
- Sx1, Sy1 = 150 + (cos(a1) * self.r), 150 - (sin(a1) * self.r)
- Sx2, Sy2 = 150 + (cos(a2) * self.r), 150 - (sin(a2) * self.r)
+ Sx1, Sy1 = 150 + (cos(a1) * 130), 150 - (sin(a1) * 130)
+ Sx2, Sy2 = 150 + (cos(a2) * 130), 150 - (sin(a2) * 130)
self.roomCanv.create_line((Sx1, Sy1, 150, 150, Sx2, Sy2), fill = "red", width = 2,\
tags = "shockZone")
elif m.mode == "MWM":
- x = self.cm.platformX + 150 - self.r
- y = self.cm.platformY + 150 - self.r
+ x = self.cm.platformX + 20
+ y = self.cm.platformY + 20
r = self.cm.platformRadius
self.arenaCanv.create_oval(x - r, y - r, x + r, y + r, outline = "red",
width = 2, tags = "platformAF")
self.roomCanv.create_oval(x - r, y - r, x + r, y + r, outline = "red",
- width = 2, tags = "platformRF")
+ width = 2, tags = "platformRF")
+ elif m.mode == "RA":
+ r = self.cm.sectorRadius * self.scale / 2
+ self.roomCanv.create_oval(150 - r, 150 - r, 150 + r, 150 + r, outline = "red",
+ width = 2, tags = "shockZoneR")
+ self.roomCanv.create_oval(146, 146, 154, 154, outline = "green", fill = "green",
+ width = 2, tags = "robotR")
+
def _drawTrack(self):
- r = self.r
if m.mode == "CM":
data = [line[2:4] + line[6:9] for line in self.cm.data if
self.minTime <= line[1] <= self.maxTime]
@@ -756,20 +794,18 @@ def _drawTrack(self):
arena.append(line[3:5])
last[1] = count
prev = line
- self.arenaCanv.create_line(([item + 150 - r for line in arena for item in line]),
+ self.arenaCanv.create_line(([item + 20 for line in arena for item in line]),
fill = "black", width = 2)
- self.roomCanv.create_line(([item + 150 - r for line in room for item in line]),
+ self.roomCanv.create_line(([item + 20 for line in room for item in line]),
fill = "black", width = 2)
if self.showShocksVar.get():
shocks = [line[2:4] for count, line in enumerate(self.cm.data) if
self.minTime <= line[1] <= self.maxTime and line[6] > 0 and
self.cm.data[count - 1][6] <= 0]
- self.ld = 150 - r - 4
- self.ur = 150 - r + 4
for shock in shocks:
- self.roomCanv.create_oval(shock[0] + self.ld, shock[1] + self.ld,
- shock[0] + self.ur, shock[1] + self.ur,
+ self.roomCanv.create_oval(shock[0] + 16, shock[1] + 16,
+ shock[0] + 24, shock[1] + 24,
outline = "red", width = 3)
else:
data = [line[2:4] for line in self.cm.data if self.minTime <= line[1] <= self.maxTime]
@@ -781,12 +817,11 @@ def _drawTrack(self):
points.append(line)
last = count
prev = line
- self.roomCanv.create_line(([item + 150 - r for line in points for item in line]),
+ self.roomCanv.create_line(([item + 20 for line in points for item in line]),
fill = "black", width = 2)
def _initializeAnimation(self):
- r = self.r
# initial position
for line in self.cm.data:
if line[1] < self.minTime:
@@ -800,27 +835,34 @@ def _initializeAnimation(self):
return
# makes 'the rat' (i.e. two black points)
- self.ld = 150 - r - 4 # 4 is size of the rat dot
- self.ur = 150 - r + 4
-
- if m.mode == "CM":
+ if m.files == "pair":
Rx, Ry = curLine[2:4]
- Ax, Ay = curLine[7:9]
- else:
- Ax, Ay = curLine[2:4]
+ Rx *= self.scale
+ Ry *= self.scale
+
+ Ax, Ay = curLine[self.cm.indices]
+ Ax *= self.scale
+ Ay *= self.scale
if self.showTailVar.get():
- self.arenaCanv.create_line((Ax + 149 - r, Ay + 149 - r, Ax + 151 - r,
- Ay + 151 - r), fill = "blue", width = 2,
- tag = "trailA")
+ self.arenaCanv.create_line((Ax + 19, Ay + 19, Ax + 21, Ay + 21), fill = "blue",
+ width = 2, tag = "trailA")
if m.mode == "CM":
- self.roomCanv.create_line((Rx + 149 - r, Ry + 149 - r, Rx + 151 - r, Ry + 151 - r),
+ self.roomCanv.create_line((Rx + 19, Ry + 19, Rx + 21, Ry + 21),
fill = "blue", width = 2, tag = "trailR")
- self.roomCanv.create_oval(Rx + self.ld, Ry + self.ld, Rx + self.ur, Ry + self.ur,
+ self.roomCanv.create_oval(Rx + 16, Ry + 16, Rx + 24, Ry + 24,
fill = "black", tags = "ratR")
-
- self.arenaCanv.create_oval(Ax + self.ld, Ay + self.ld, Ax + self.ur, Ay + self.ur,
+ elif m.mode == "RA":
+ self.roomCanv.create_oval(Ax - Rx + 146, Ay - Ry + 146, Ax - Rx + 154, Ay - Ry + 154,
+ fill = "black", tags = "ratR")
+ self.arenaCanv.create_oval(Rx + 16, Ry + 16, Rx + 24, Ry + 24, outline = "green",
+ fill = "green", tags = "robotA")
+ r = self.cm.sectorRadius * self.scale
+ self.arenaCanv.create_oval(Rx + 20 - r, Ry + 20 - r, Rx + 20 + r, Ry + 20 + r,
+ outline = "red", tags = "shockZoneA", width = 2)
+
+ self.arenaCanv.create_oval(Ax + 16, Ay + 16, Ax + 24, Ay + 24,
fill = "black", tags = "ratA")
self._setShockColor(curLine)
View
19 Stuff/Modules/filestorage.py
@@ -136,14 +136,14 @@ def tag(self, file):
def pairFiles(self, files):
"checks pairing of files and puts pairs in arenafiles and pairedfiles"
- if ("arena" in files[0] or "Arena" in files[0]) and\
- ("room" in files[1] or "Room" in files[1]):
+ if (m.pairing[m.mode][0].lower() in files[0] or m.pairing[m.mode][0] in files[0]) and\
+ (m.pairing[m.mode][1].lower() in files[1] or m.pairing[m.mode][1] in files[1]):
self.pairedfiles[files[0]] = files[1]
self.wrongfiles.remove(files[0])
self.wrongfiles.remove(files[1])
self.arenafiles.append(files[0])
- elif ("arena" in files[1] or "Arena" in files[1]) and\
- ("room" in files[0] or "Room" in files[0]):
+ elif (m.pairing[m.mode][0].lower() in files[1] or m.pairing[m.mode][0] in files[1]) and\
+ (m.pairing[m.mode][1].lower() in files[0] or m.pairing[m.mode][1] in files[0]):
self.pairedfiles[files[1]] = files[0]
self.wrongfiles.remove(files[0])
self.wrongfiles.remove(files[1])
@@ -661,12 +661,15 @@ def loadFromLogFun(self):
arenafile = file
else:
arenafile = file
- if "Arena" in basename(arenafile):
+ if m.pairing[m.mode][0] in basename(arenafile):
splitName = os.path.split(arenafile)
- roomfile = os.path.join(splitName[0], splitName[1].replace("Arena", "Room"))
- elif "arena" in basename(arenafile):
+ roomfile = os.path.join(splitName[0], splitName[1].replace(m.pairing[m.mode][0],
+ m.pairing[m.mode][1]))
+ elif m.pairing[m.mode][0].lower() in basename(arenafile):
splitName = os.path.split(arenafile)
- roomfile = os.path.join(splitName[0], splitName[1].replace("arena", "room"))
+ roomfile = os.path.join(splitName[0],
+ splitName[1].replace(m.pairing[m.mode][0].lower(),
+ m.pairing[m.mode][1].lower()))
# sorting existing and non-existing files
if os.path.isfile(arenafile):
if m.files == "one" or os.path.isfile(roomfile):
Oops, something went wrong.

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