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Added randomize button
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@izsoandras
izsoandras committed Feb 2, 2022
1 parent 02238c7 commit 83d970c
Showing 1 changed file with 79 additions and 39 deletions.
118 changes: 79 additions & 39 deletions my_gui/custom_elements/course_view/CourseMap.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
import logging
from clients.mqtt.listeners import ParamListener
from dataholders import DataHolder
import numpy as np

CAR_IMG = 0
DIR_SW_IMG = 1
Expand All @@ -26,7 +27,7 @@
MANEUVER_TURN_FOLLOW_RIGHT = 6
MANEUVER_EXIT_THROUGH = 7
MANEUVER_LANE_SW_LEFT = 8
MANEUVER_LANE_SW_RIGHT =9
MANEUVER_LANE_SW_RIGHT = 9
MANEUVER_STOP = 10

NAVI_EVENT_CROSSING_FRONT = 0
Expand All @@ -39,7 +40,8 @@


class CourseMap(tkinter.Frame):
def __init__(self, parent, client: ParamListener, id, dataholder: DataHolder, assets_path='./assets/map', *args, **kwargs):
def __init__(self, parent, client: ParamListener, id, dataholder: DataHolder, assets_path='./assets/map', *args,
**kwargs):
tkinter.Frame.__init__(self, parent, *args, **kwargs)

self.logger = logging.getLogger('RKID.CourseView')
Expand All @@ -57,77 +59,85 @@ def __init__(self, parent, client: ParamListener, id, dataholder: DataHolder, as
'maneuver': MANEUVER_STOP
}

with open(assets_path+'/course.json') as node_file:
with open(assets_path + '/course.json') as node_file:
self.node_info = json.load(node_file)

self.ratio = 1
self.base_img = Image.open(assets_path+'/course.png')
self.base_img = Image.open(assets_path + '/course.png')
self.base_width, self.base_height = self.base_img.size
self.canvas_img = ImageTk.PhotoImage(self.base_img)
self.canvas = tkinter.Canvas(self, width=self.canvas_img.width(), bg='#f0f0f0', height=self.canvas_img.height())
self.image_id = self.canvas.create_image(0, 0, anchor=tkinter.NW, image=self.canvas_img)
self.is_resized = True
self.resized_img = self.canvas_img

figs_paths = ['car_car.png', 'car_dir_sw.png', 'car_exit.png', 'car_lane_left.png', 'car_lane_right.png', 'car_left.png', 'car_right.png', 'car_middle.png', 'car_STOP.png', 'car_line_sensor.png']
figs_paths = ['car_car.png', 'car_dir_sw.png', 'car_exit.png', 'car_lane_left.png', 'car_lane_right.png',
'car_left.png', 'car_right.png', 'car_middle.png', 'car_STOP.png', 'car_line_sensor.png']
self.car_ratio = self.node_info['car_rat']
self.fig_imgs = []
self.fig_imgs_resiz = []
for fig_path in figs_paths:
img = Image.open(assets_path+'/figs/'+fig_path).convert('RGBA')
self.fig_imgs.append(img.resize((int(self.car_ratio*img.width), int(self.car_ratio*img.height)), Image.ANTIALIAS))
img = Image.open(assets_path + '/figs/' + fig_path).convert('RGBA')
self.fig_imgs.append(
img.resize((int(self.car_ratio * img.width), int(self.car_ratio * img.height)), Image.ANTIALIAS))
self.fig_imgs_resiz.append(self.fig_imgs[-1])

self.car_base_width, self.car_base_height = self.fig_imgs[0].size
self.car_img = ImageTk.PhotoImage(self.fig_imgs_resiz[CAR_IMG])
self.car_img_id = self.canvas.create_image((100, 50), image=self.car_img)

self.disabled_gui = []
self.disabled_gui = [{'idx': None, 'tag': None} for i in range(0, 4)]
self.goal_gui = {'idx': None, 'tag': None}
self.goal_car = {'idx': None, 'tag': None}
self.disabled_car = [{'idx': None, 'tag': None} for i in range(0, 4)]
self.marker_rad = self.fig_imgs_resiz[0].height * self.car_ratio

self.send_btn = tkinter.Button(self.canvas, text="Send", bg='RoyalBlue1', activebackground='navy', command=self.on_btn_send_click)
self.send_btn = tkinter.Button(self.canvas, text="Send", bg='RoyalBlue1', activebackground='navy',
command=self.on_btn_send_click)
# self.send_btn.pack(side=tkinter.RIGHT, anchor=tkinter.SE)
self.send_btn.place(x=self.canvas_img.width(),
y=self.canvas_img.height()-10,
width=self.canvas_img.width()/8, height=self.canvas_img.height()/12, anchor=tkinter.SE)
y=self.canvas_img.height(),
width=self.canvas_img.width() / 8, height=self.canvas_img.height() / 12, anchor=tkinter.SE)

self.random_btn = tkinter.Button(self.canvas, text="Randomize", bg='lime green',
activebackground='forest green',
command=self.on_btn_random_click)
self.random_btn.place(x=self.canvas_img.width() - self.canvas_img.width() / 8,
y=self.canvas_img.height(),
width=self.canvas_img.width() / 8, height=self.canvas_img.height() / 12,
anchor=tkinter.SE)

self.canvas.pack(side=tkinter.LEFT, expand=True, fill=tkinter.BOTH, anchor=tkinter.NW)
self.bind('<Configure>', self.on_resize)
self.canvas.bind("<Button-1>",self.on_left_click)
self.canvas.bind("<Button-1>", self.on_left_click)
self.canvas.bind("<Button-3>", self.on_right_click)
self._invalid = True
self.continous_update()


def invalidate(self):
self._invalid = True

def redraw(self):
self._invalid = False

self._draw_marker(self.goal_car, 'DarkGoldenrod3', False)

for d in self.disabled_car:
self._draw_marker(d, 'IndianRed1', False)
self._draw_marker(d, 'IndianRed4', False)

for d in self.disabled_gui:
self._draw_marker(d, 'IndianRed1')

self.disabled_gui = [d for d in self.disabled_gui if d['idx'] is not None]

self._draw_marker(self.goal_car, 'DarkGoldenrod3', False)
self._draw_marker(self.goal_gui, 'gold')

self.update_car()

self.send_btn.place(x=self.canvas_img.width(),
y=self.canvas_img.height() - 10,
y=self.canvas_img.height(),
width=self.canvas_img.width() / 8, height=self.canvas_img.height() / 12, anchor=tkinter.SE)


self.random_btn.place(x=self.canvas_img.width() - self.canvas_img.width() / 8,
y=self.canvas_img.height(),
width=self.canvas_img.width() / 8, height=self.canvas_img.height() / 12, anchor=tkinter.SE)

def _draw_marker(self, marker, color, filled=True):
if marker['tag'] is not None:
Expand All @@ -140,10 +150,10 @@ def _draw_marker(self, marker, color, filled=True):

if filled:
marker["tag"] = self.canvas.create_oval(self.ratio * (x_c - self.marker_rad),
self.ratio * (y_c - self.marker_rad),
self.ratio * (x_c + self.marker_rad),
self.ratio * (y_c + self.marker_rad),
fill=color)
self.ratio * (y_c - self.marker_rad),
self.ratio * (x_c + self.marker_rad),
self.ratio * (y_c + self.marker_rad),
fill=color)
else:
self.car_goal_marker = self.canvas.create_oval(self.ratio * (x_c - self.marker_rad),
self.ratio * (y_c - self.marker_rad),
Expand Down Expand Up @@ -171,14 +181,16 @@ def on_resize(self, event):
self.canvas_img = self.resized_img

for idx, fig_base in enumerate(self.fig_imgs):
self.fig_imgs_resiz[idx] = fig_base.resize((int(self.ratio * self.car_base_width), int(self.ratio * self.car_base_height)),
Image.ANTIALIAS)
self.fig_imgs_resiz[idx] = fig_base.resize(
(int(self.ratio * self.car_base_width), int(self.ratio * self.car_base_height)),
Image.ANTIALIAS)

self._invalid = True
pass

def make_car(self, car_ori, car_dir, maneuver):
img = Image.new('RGBA', ((int(self.ratio * self.car_base_width), int(self.ratio * self.car_base_height))), (0,0,0,0))
img = Image.new('RGBA', ((int(self.ratio * self.car_base_width), int(self.ratio * self.car_base_height))),
(0, 0, 0, 0))

if car_dir * car_ori > 0:
new_img = ImageOps.mirror(self.fig_imgs_resiz[LINE_IMG])
Expand Down Expand Up @@ -223,7 +235,8 @@ def make_car(self, car_ori, car_dir, maneuver):
if new_img is not None:
img.paste(new_img, (0, 0), new_img)

if maneuver in [ MANEUVER_TURN, MANEUVER_TURN_FOLLOW_LEFT, MANEUVER_TURN_FOLLOW_MIDDLE, MANEUVER_TURN_FOLLOW_RIGHT]:
if maneuver in [MANEUVER_TURN, MANEUVER_TURN_FOLLOW_LEFT, MANEUVER_TURN_FOLLOW_MIDDLE,
MANEUVER_TURN_FOLLOW_RIGHT]:
new_img = self.fig_imgs_resiz[DIR_SW_IMG]
img.paste(new_img, (0, 0), new_img)

Expand All @@ -236,8 +249,8 @@ def put_car(self, car_img, node_idx, node_dir):
angle = math.atan2(self.node_info["dirs"][node_idx][1], self.node_info["dirs"][node_idx][0])
self.car_img = ImageTk.PhotoImage(car_img.rotate(math.degrees(angle), expand=True))
self.canvas.itemconfigure(self.car_img_id, image=self.car_img)
x_basic_offs = self.car_ratio * (350 - 600/2)
y_basic_offs = self.car_ratio * (162 - 324/2)
x_basic_offs = self.car_ratio * (350 - 600 / 2)
y_basic_offs = self.car_ratio * (162 - 324 / 2)

car_center = [node_dir * (x_basic_offs * math.cos(angle) - y_basic_offs * math.sin(angle)),
node_dir * (x_basic_offs * math.sin(angle) + y_basic_offs * math.cos(angle))]
Expand Down Expand Up @@ -270,7 +283,9 @@ def update_view(self):
for key in data.keys():
self.car_state[key] = data[key][-1]

for i, c_int in enumerate([self.car_state['disabled1'], self.car_state['disabled2'],self.car_state['disabled3'],self.car_state['disabled4']]):
for i, c_int in enumerate(
[self.car_state['disabled1'], self.car_state['disabled2'], self.car_state['disabled3'],
self.car_state['disabled4']]):
self.disabled_car[i]['idx'] = self.node_name2idx(c_int)

self.goal_car['idx'] = self.node_name2idx(self.car_state['goal node'])
Expand Down Expand Up @@ -325,7 +340,7 @@ def on_right_click(self, event):
self.logger.debug("Why you poke me??")

for idx, crd in enumerate(self.node_info["coords"]):
crd = [c*self.ratio for c in crd]
crd = [c * self.ratio for c in crd]
if math.dist(crd, [event.x, event.y]) < self.ratio * 40:
if not self.node_info['name'][idx].strip():
self.logger.warning(f"Node {idx} has no name, so it can't be disabled!")
Expand All @@ -343,12 +358,14 @@ def on_right_click(self, event):
break

if not deleted:
if len(self.disabled_gui) < 4:
self.disabled_gui.append({
"idx": idx,
"tag": None
})
else:
added = False
for d in self.disabled_gui:
if d['idx'] is None:
d['idx'] = idx
added = True
break

if not added:
self.logger.warning("Maximum number of disabled nodes reached! Remove before adding new ones!")

self.invalidate()
Expand All @@ -368,11 +385,34 @@ def on_btn_send_click(self):
msg = self.node_info['name'][self.goal_gui['idx']]

for d in self.disabled_gui:
if self.node_info['name'][d['idx']] is not None:
if d['idx'] is not None and self.node_info['name'][d['idx']] is not None:
msg = msg + str(self.node_info['name'][d['idx']]).lower()

msg = msg + '\n'

self.client.send_message(self.id, {'msg': msg})

pass

def on_btn_random_click(self):
disabled_num = np.random.randint(0, 5)

goal_idx = np.random.randint(1, 16)

self.goal_gui['idx'] = goal_idx

disabled_idxs = []
while len(disabled_idxs) < disabled_num:
next_rnd = np.random.randint(1, 16)
if next_rnd != goal_idx and next_rnd not in disabled_idxs:
disabled_idxs.append(next_rnd)

for i, idx in enumerate(disabled_idxs):
self.disabled_gui[i]['idx'] = idx

for i in range(disabled_num, 4):
self.disabled_gui[i]['idx'] = None

self.logger.info(f"New Random goal: {goal_idx}, disableds: {disabled_idxs}")
self.invalidate()
self.on_btn_send_click()

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