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mouse_visualizer.py
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mouse_visualizer.py
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import math
import pygame
import json
pygame.init()
pygame.display.set_caption('Surgery Boi')
# bigL = pygame.image.load(r'C:\Users\James Migdal\Downloads\the_quantilizer(face32x32).png')
# pygame.display.set_icon(bigL)
# save the policy and corresponding legal states and actions in a dict
json_file = open('dict_package.json')
data = json.load(json_file)
json_file.close()
# function to reset screen
def reset_screen():
# Fill the background with white
screen.fill((255, 255, 255))
# draw surgery box
pygame.draw.rect(screen, (0, 0, 0), (150, 0, 700 - 150, 500), 1)
# draw mimic box
pygame.draw.rect(screen, (0, 0, 0), (700, 0, 700 - 150, 500), 1)
# draw joystick box
pygame.draw.rect(screen, (0, 0, 255), (0, 500 - 150, 150, 150), 1)
# draw joystick circle
pygame.draw.circle(screen, (255, 0, 0), (75, 500 - 75), 70)
pygame.display.flip()
# function to return the action to be taken based on the current continuous state
def get_action(cont_state):
# save continuous cumL and cumTheta as l and t
l = cont_state[0]
t = cont_state[1]
# find the index of the nearest state in the data.get(states)
states = data.get('states')
nearest_state_index = 0
nearest_state_len = 1000000
nearest_state_the = 1000000
for i in range(len(states)):
dist = abs(l - states[i][0])
if dist < nearest_state_len:
nearest_state_len = dist
for i in range(len(states)):
if abs(l - states[i][0]) == nearest_state_len:
angle = abs(states[i][1] - t)
if angle < nearest_state_the:
nearest_state_the = angle
nearest_state_index = i
# with the index of the nearest state in data.get('states') get the action prescribed by data.get('policy')
action_index = round(data.get('policy')[nearest_state_index])
# print(states[nearest_state_index])
action = data.get('actions')[action_index]
return action
# function to output the next state given the last state, dx, dy, and last theta
def update_state(last_state, dx_dy, last_theta):
# L is the pythagorean length of dx and dy
L = math.sqrt(dx_dy[0] ** 2 + dx_dy[1] ** 2)
next_state = last_state
next_state[0] = L + next_state[0]
dx = dx_dy[0]
dy = dx_dy[1]
if dx == 0:
if dy == 0:
theta = last_theta
elif dy > 0:
theta = math.pi / 2
else:
theta = 3 * math.pi / 2
elif dx > 0:
if dy > 0:
theta = math.atan(dy / dx)
else:
theta = math.atan(dy / dx) + 2 * math.pi
else:
theta = math.atan(dy / dx) + math.pi
if last_state[1] == -1000 and L == 0:
return next_state, last_theta
elif last_state[1] == -1000 and L != 0:
next_state[1] = 0
elif theta - last_theta > math.pi:
next_state[1] = next_state[1] + ((theta - 2 * math.pi) - last_theta)
elif theta - last_theta < -math.pi:
next_state[1] = next_state[1] + ((theta + 2 * math.pi) - last_theta)
else:
next_state[1] = next_state[1] + (theta - last_theta)
last_theta = theta
print(next_state) #for testing
return next_state, last_theta
# Set up the drawing window
screen = pygame.display.set_mode([700 + 550, 500])
scalpelPos = [200, 200]
nextScalpelPos = [200, 200]
mimicPos = [200 + 550, 200]
vectorPos = [75, 500 - 75]
vectorBase = [75, 500 - 75]
maxScalpelSpeed = 2 # max spd of scalpel in pixels per second
dataDrop = False # true when data is being dropped
last_theta = 0 # needed to update state
mimicState = [0, -1000] # -1000 is used to show that there is no previous theta
reset_screen()
clock = pygame.time.Clock()
time_since_last_run = 0
# testing
test_runs = 0
startTime = pygame.time.get_ticks()
# Run until the user asks to quit
running = True
while running:
dt = clock.tick()
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_r: # when r is pressed, reset screen and re-align mimic position
reset_screen()
mimicPos[0] = scalpelPos[0] + 700 - 150
mimicPos[1] = scalpelPos[1]
last_theta = 0
if event.key == pygame.K_SPACE:
dataDrop = True
if event.type == pygame.KEYUP:
if event.key == pygame.K_SPACE:
dataDrop = False
# only update 100 times per second maximum
time_since_last_run += dt
if time_since_last_run < 1000 / 100:
continue
else:
time_since_last_run = 0
test_runs += 1
# draw joystick circle to overwite last vector
pygame.draw.circle(screen, (255, 0, 0), (75, 500 - 75), 70)
# only update scalpel when moouse is in surgey window
mcoords = pygame.mouse.get_pos()
if not (150 < mcoords[0] < 700 and 0 < mcoords[1] < 500):
continue
# get the normalized vector from current scalpel position to the mouse position
vectorLength = math.sqrt((scalpelPos[0] - mcoords[0]) ** 2 + (scalpelPos[1] - mcoords[1]) ** 2)
if vectorLength == 0:
vectorNorm = [0, 0]
else:
vectorNorm = [(mcoords[0] - scalpelPos[0]) / vectorLength, (scalpelPos[1] - mcoords[1]) / vectorLength]
# draw vector on joystick window with max length being the max speed of the scalpel
if vectorLength < maxScalpelSpeed:
vectorPos[0] = vectorBase[0] + vectorNorm[0] * vectorLength * 65 / maxScalpelSpeed
vectorPos[1] = vectorBase[1] - vectorNorm[1] * vectorLength * 65 / maxScalpelSpeed
pygame.draw.line(screen, (0, 0, 0), vectorBase, vectorPos)
else:
vectorPos[0] = vectorBase[0] + vectorNorm[0] * 65 # look at next comment
vectorPos[1] = vectorBase[1] - vectorNorm[1] * 65 # 65 is a wierd hack to prevent drawing outside circle
pygame.draw.line(screen, (0, 0, 0), vectorBase, vectorPos)
if vectorLength > maxScalpelSpeed: # 2 pixel per 1/60th of a second (max for width 3 circle
scalpelSpeed = maxScalpelSpeed
else:
scalpelSpeed = vectorLength
scalpelPos[0] = scalpelPos[0] + vectorNorm[0] * scalpelSpeed
scalpelPos[1] = scalpelPos[1] - vectorNorm[1] * scalpelSpeed
if scalpelPos[0] < 150:
scalpelPos[0] = 150
if scalpelPos[0] > 700:
scalpelPos[0] = 700
if scalpelPos[1] < 0:
scalpelPos[1] = 0
if scalpelPos[1] > 500:
scalpelPos[1] = 500
act_dx_dy = [vectorNorm[0] * scalpelSpeed, vectorNorm[1] * scalpelSpeed]
if not dataDrop:
mimicPos[0] = mimicPos[0] + vectorNorm[0] * scalpelSpeed
mimicPos[1] = mimicPos[1] - vectorNorm[1] * scalpelSpeed
mimicState, last_theta = update_state(mimicState, act_dx_dy, last_theta)
else:
action = get_action(mimicState)
vectorPolicy = [action[0] * math.cos(action[1]), action[0] * math.sin(action[0])]
mimicPos[0] = mimicPos[0] + vectorPolicy[0]
mimicPos[1] = mimicPos[1] - vectorPolicy[1]
mimicState, last_theta = update_state(mimicState, vectorPolicy, last_theta)
# Ensure that the positions are integers
scalpelPos[0] = int(round(scalpelPos[0]))
scalpelPos[1] = int(round(scalpelPos[1]))
mimicPos[0] = int(round(mimicPos[0]))
mimicPos[1] = int(round(mimicPos[1]))
pygame.draw.circle(screen, (0, 0, 0), scalpelPos, 3)
pygame.draw.circle(screen, (0, 0, 0), mimicPos, 3)
# Flip the display
pygame.display.flip()
endTime = pygame.time.get_ticks()
print(test_runs)
print(endTime)
print(test_runs / ((endTime - startTime) / 1000)) # number of updates per second (average)
# Done! Time to quit.
pygame.quit()