70 lines
2.0 KiB
Python
70 lines
2.0 KiB
Python
from robot import Robot
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from parser import aip_parser
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from subprocess import Popen, PIPE
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import fcntl
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import os
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# Pygame
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from math import degrees, cos, sin
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import sys, pygame
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from pygame.locals import *
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pygame.init()
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size = width, height = 1000, 300
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black = 0, 0, 0
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screen = pygame.display.set_mode(size)
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# le robot
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r = Robot(1/60)
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# on lance le programme arduino
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ard_process = Popen(["build/app"], stdin=PIPE, stdout=PIPE);
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# stdout du programme arduino en non bloquant pour pouvoir arreter la lecture si il y as plus rien à lire
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fd = ard_process.stdout.fileno()
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fl = fcntl.fcntl(fd, fcntl.F_GETFL)
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fcntl.fcntl(fd, fcntl.F_SETFL, fl | os.O_NONBLOCK)
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# le parser wrapper arduino->simulateur
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parser = aip_parser(ard_process.stdin, ard_process.stdout, r);
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while True:
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for event in pygame.event.get():
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if event.type == pygame.QUIT: sys.exit()
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if event.type == pygame.KEYDOWN:
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if event.key == K_q:
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sys.exit()
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# On envoie le états des pins
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parser.send_pin_state()
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# On demarre un tour de simulation
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ard_process.stdin.write(b'@')
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# tant qu'il y as qqu chose sur le bus on le parse
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while(parser.poll()):
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pass
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# on met à jour la simulation
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r.update()
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# On dessine le bordel
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screen.fill(black)
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robotShape = pygame.Rect(20,15, 10,20);
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rsurf = pygame.Surface((50,50)).convert_alpha();
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# robot
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pygame.draw.rect(rsurf, (255,255,255), robotShape);
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# heading
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pygame.draw.line(rsurf, (255,255,255), (25,25), (25,50))
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# dir2light
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pygame.draw.line(rsurf, (255,255,255), (25,25), (25+25*sin(r.angle2spot),25+25*cos(r.angle2spot)))
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# light
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pygame.draw.polygon(screen, (255,255,0), ([100*a for a in r.light_pos],[100*(a+b) for a,b in zip(r.light_pos,(-1,1))],[100*(a+b) for a,b in zip(r.light_pos,(-1,-1))]))
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rsurf_r = pygame.transform.rotate(rsurf, degrees(r.rot));
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center = rsurf_r.get_rect().center
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screen.blit(rsurf_r, (r.pos[0]*100-center[0],r.pos[1]*100-center[1]))
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pygame.display.flip()
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