Merge pull request #65 from Twinters007/master

Add static field for 2017

lib/pyfrc/mains/cli_sim.py

@@ -1,13 +1,14 @@
 
 import inspect
 import json
+import logging
 from os.path import abspath, dirname, exists, join
 
+import hal_impl.functions
+
 from ..test_support import pyfrc_fake_hooks
 
-import hal_impl.functions
 
-import logging
 logger = logging.getLogger('pyfrc.sim')
 
 class PyFrcSim:
@@ -43,6 +44,7 @@ def _load_config(self, config_file):
         config_obj['pyfrc']['field'].setdefault('h', 1)
         config_obj['pyfrc']['field'].setdefault('px_per_ft', 10)
         config_obj['pyfrc']['field'].setdefault('objects', [])
+        config_obj['pyfrc']['field'].setdefault('image', None)
 
         config_obj['pyfrc'].setdefault('analog', {})
         config_obj['pyfrc'].setdefault('CAN', {})
@@ -79,7 +81,7 @@ def run(self, options, robot_class, **static_options):
         config_file = join(sim_path, 'config.json')
 
         config_obj = self._load_config(config_file)
-
+        config_obj['simpath'] = sim_path
         fake_time = sim.FakeRealTime()
         hal_impl.functions.hooks = pyfrc_fake_hooks.PyFrcFakeHooks(fake_time)
         hal_impl.functions.reset_hal()

lib/pyfrc/sim/field/field.py

@@ -1,80 +1,92 @@
 
+from os.path import abspath, dirname, join
+from tkinter import PhotoImage
+
 import tkinter as tk
 
 from .elements import DrawableElement
 
+
 class RobotField(object):
-    
+
     def __init__(self, root, manager, config_obj):
         '''
-            initializes all default values and creates 
+            initializes all default values and creates
             a board, waits for run() to be called
             to start the board
-            
+
             manager - sim manager class instance
             board_size - a tuple with values (rows, cols)
         '''
-        
+
         # TODO: support drawing an actual field?
-        
+
         self.manager = manager
         self.elements = []      # robots, walls, missles, etc
-        
+
         field_size = config_obj['pyfrc']['field']['w'], \
-                     config_obj['pyfrc']['field']['h']
+            config_obj['pyfrc']['field']['h']
         px_per_ft = config_obj['pyfrc']['field']['px_per_ft']
-        
+
         # setup board characteristics -- cell size is 1ft
         self.cols, self.rows = field_size
         self.margin = 5
-        self.cellSize = px_per_ft
-        self.canvasWidth = 2*self.margin + self.cols*self.cellSize
-        self.canvasHeight = 2*self.margin + self.rows*self.cellSize
-
+        self.objects = config_obj['pyfrc']['field']['objects']
+        self.cellSize = px_per_ft if self.objects else 485 / self.cols
+
+        self.canvasWidth = 2 * self.margin + self.cellSize * self.cols if self.objects else 2 * self.margin + 485
+        self.canvasHeight = 2 * self.margin + self.cellSize * self.rows if self.objects else 2 * self.margin + 535
+
         self.canvas = tk.Canvas(root, width=self.canvasWidth, height=self.canvasHeight)
         self.canvas.bind("<Key>", self.on_key_pressed)
         self.canvas.bind("<Button-1>", self.on_click)
-        
+
         self.text_id = None
-        
+
         # Draw the field initially
         self.draw_field()
-        
+
         # Load elements from the config
         # -> This probably belongs somewhere else
-        self._load_field_elements(px_per_ft, config_obj['pyfrc']['field']['objects'])
-
-    def _load_field_elements(self, px_per_ft, objects):
-
-        for obj in objects:
-
-            color = obj['color']
-            pts = [(self.margin + int(pt[0]*px_per_ft),
-                    self.margin + int(pt[1]*px_per_ft)) for pt in obj['points']]
-            element = DrawableElement(pts, None, None, color)
-            self.add_moving_element(element)
-
-
+        self._load_field_elements(px_per_ft, config_obj)
+
+    def _load_field_elements(self, px_per_ft, config_obj):
+        if self.objects:
+            for obj in self.objects:
+                color = obj['color']
+                pts = [(self.margin + int(pt[0] * px_per_ft),
+                        self.margin + int(pt[1] * px_per_ft)) for pt in obj['points']]
+                element = DrawableElement(pts, None, None, color)
+                self.add_moving_element(element)
+            return
+
+        image = config_obj['pyfrc']['field']['image']
+        if image is None:
+            self.photo = PhotoImage(file=abspath(join(dirname(__file__), 'field.gif')))
+        else:
+            self.photo = PhotoImage(file=join(config_obj['simpath'], image))
+        self.canvas.create_image((self.canvasWidth / 2, self.canvasHeight / 2), image=self.photo)
+
     def add_moving_element(self, element):
         '''Add elements to the board'''
-        
+
         element.initialize(self.canvas)
         self.elements.append(element)
-    
+
     def grid(self, *args, **kwargs):
         self.canvas.grid(*args, **kwargs)
-        
+
     def on_key_pressed(self, event):
         '''
             likely to take in a set of parameters to treat as up, down, left,
             right, likely to actually be based on a joystick event... not sure
             yet
         '''
-        
+
         return
-    
+
         # TODO
-        
+
         if event.keysym == "Up":
             self.manager.set_joystick(0.0, -1.0, 0)
         elif event.keysym == "Down":
@@ -83,29 +95,29 @@ def on_key_pressed(self, event):
             self.manager.set_joystick(-1.0, 0.0, 0)
         elif event.keysym == "Right":
             self.manager.set_joystick(1.0, 0.0, 0)
-            
+
         elif event.char == " ":
             mode = self.manager.get_mode()
             if mode == self.manager.MODE_DISABLED:
                 self.manager.set_mode(self.manager.MODE_OPERATOR_CONTROL)
             else:
                 self.manager.set_mode(self.manager.MODE_DISABLED)
-    
+
     def on_click(self, event):
         self.canvas.focus_set()
-    
+
     def update_widgets(self):
-        
+
         # TODO: process collisions and such too
-        
+
         for element in self.elements:
             element.perform_move()
-            
+
     def draw_field(self):
         for row in range(self.rows):
             for col in range(self.cols):
                 self.draw_board_cell(row, col)
-            
+
     def draw_board_cell(self, row, col):
         left = self.margin + col * self.cellSize
         right = left + self.cellSize