added possibility to load level file

gauss-turing/game/gauss_turing.py

@@ -1,12 +1,15 @@
 import numpy as np
-import random
 import pygame
 import os
+import threading
+
+from webapp import app
 
 from event_server_comm import move_grid
 
 BLACK = np.array([0, 0, 0], dtype=np.uint8)
 WHITE = np.array([255, 255, 255], dtype=np.uint8)
+GRAY = np.array([200, 200, 200], dtype=np.uint8)
 RED = np.array([255, 0, 0], dtype=np.uint8)
 BLUE = np.array([0, 0, 255], dtype=np.uint8)
 YELLOW = np.array([255, 255, 0], dtype=np.uint8)
@@ -21,18 +24,28 @@ myfont_small = pygame.font.SysFont('Comic Sans MS', 45)
 
 P0_text = myfont.render('P0', False, tuple(BLACK))
 
-tiledt = np.dtype([('x', np.uint8), ('y', np.uint8), ('color', np.uint8, 3), ('star', np.bool)])
+tiledt = np.dtype([('color', np.uint8, 3), ('star', np.bool)])
 
 
 
 class Board:
-    valid_colors = [WHITE, RED, BLUE]
+    valid_colors = [GRAY, RED, BLUE]
 
-    def __init__(self, dim_x, dim_y):
+    def __init__(self, dim_x, dim_y, n_coins=2, file=None):
+        if file is None:
             self.tiles = np.zeros((dim_y, dim_x), dtype=tiledt)
             for x in range(dim_x):
                 for y in range(dim_y):
-                self.tiles[y, x]['color'] = random.choice(Board.valid_colors)
+                    self.tiles[y, x]['color'] = Board.valid_colors[np.random.randint(len(Board.valid_colors))]
+
+            coins_distributed = n_coins == 0
+            while not coins_distributed:
+                coinx = np.random.randint(0, dim_x)
+                coiny = np.random.randint(0, dim_y)
+                self.tiles[coiny,coinx]['star'] = True
+                coins_distributed = sum([t['star'] for t in self.tiles.flatten()]) == n_coins
+        else:
+            self.tiles = np.load(file)
 
     def render(self, scale_fac):
         dimy, dimx = self.tiles.shape
@@ -80,11 +93,12 @@ class Robot:
     }
 
 
-    def __init__(self, x, y, orientation):
+    def __init__(self, x, y, orientation, use_real_robot=False):
         self.x = x
         self.y = y
         self.orientation = orientation
         self.position_changed = False
+        self.use_real_robot = use_real_robot
 
     def get_forward_coordinates(self):
         # get the coordinates of the neighboring tile in the given direction
@@ -112,6 +126,7 @@ class Robot:
         return robot_surf
 
     def update_pos(self, dimx, dimy):
+        if self.use_real_robot:
             move_grid(self.x, self.y, self.orientation, dimx, dimy)
         self.position_changed = False
 
@@ -122,7 +137,7 @@ class Robot:
 class Command:
     valid_actions = {'forward', 'left', 'right', 'P0', '-'}
 
-    def __init__(self, action=None, color=WHITE):
+    def __init__(self, action=None, color=GRAY):
         if not (action in Command.valid_actions and any([np.all(color == c) for c in Board.valid_colors])):
             raise ValueError("invalid values for command")
         self.action = action
@@ -157,7 +172,7 @@ class Programmer:
     def __init__(self, prg):
         self.prg = prg
         self.available_inputs = [Command('forward'), Command('left'), Command('right'), Command('P0'),
-                                 Command('-', color=RED), Command('-', color=BLUE), Command('-', color=WHITE)]
+                                 Command('-', color=RED), Command('-', color=BLUE), Command('-', color=GRAY)]
         self.command_to_edit = 0
         self.screen_rect = None
 
@@ -195,7 +210,9 @@ class Program:
         self.prg_counter = 0
         self.screen_rect = None
 
-    def step(self, state='running'):
+    def step(self, state='running', check_victory=True):
+        if self.prg_counter >= len(self.cmds):
+            return 'game_over'
         cmd = self.cmds[self.prg_counter]
         self.prg_counter += 1
 
@@ -207,7 +224,7 @@ class Program:
         tile = self.board.tiles[y, x]
 
         # apply next instruction of the program
-        if np.all(cmd.color == WHITE) or np.all(cmd.color == tile['color']):
+        if np.all(cmd.color == GRAY) or np.all(cmd.color == tile['color']):
             # matching color -> execute command
             if cmd.action == 'forward':
                 ynew, xnew = self.robot.get_forward_coordinates()
@@ -222,7 +239,8 @@ class Program:
             elif cmd.action == 'P0':
                 self.prg_counter = 0
         else:
-            print("color not matching -> skipping command")
+            #print("color not matching -> skipping command")
+            pass
 
         # update state for new robot position
         if (not (0 <= self.robot.x < self.board.tiles.shape[1])) or not (0 <= self.robot.y < self.board.tiles.shape[0]):
@@ -236,7 +254,8 @@ class Program:
         if tile['star']:
             tile['star'] = False
 
-        if all([not t['star'] for t in self.board.tiles.flatten()]):
+        if check_victory and all([not t['star'] for t in self.board.tiles.flatten()]):
+            self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
             print("YOU WON")
             return 'won'
 
@@ -264,7 +283,7 @@ class Program:
                 cmd_surf = cmd.render(scale_fac)
             else:
                 cmd_surf = pygame.Surface((scale_fac,scale_fac))
-                cmd_surf.fill(WHITE)
+                cmd_surf.fill(GRAY)
             if prg_counter is not None and i == prg_counter:
                 pygame.draw.rect(cmd_surf, tuple(GREEN), (0, 0, scale_fac, scale_fac), 5)
             prg_surf.blit(cmd_surf, (i * scale_fac, 0, scale_fac, scale_fac))
@@ -280,17 +299,14 @@ class Program:
 
 
 class Game:
-    def __init__(self, dimx, dimy, robotx, roboty):
-        self.robot = Robot(x=robotx, y=roboty, orientation='v')
-        self.board = Board(dimx, dimy)
-        coin1x = np.random.randint(0, dimx)
-        coin1y = np.random.randint(0, dimy)
-        self.board.tiles[coin1y,coin1x]['star'] = True
-        self.board.tiles[3,2]['star'] = True
+    def __init__(self, dimx, dimy, robotx, roboty, orientation, use_real_robot=False):
+        self.robot = Robot(x=robotx, y=roboty, orientation=orientation, use_real_robot=use_real_robot)
+        #self.board = Board(dimx, dimy)
+        self.board = Board(dimx, dimy, file='levels/56.npy')
 
         # TODO fix number of commands at 5
         self.cmds = [Command('forward'), Command('left', color=RED), Command('left', color=BLUE), Command('P0'), Command('-')]
-        self.state = 'won'
+        self.state = 'reset'
 
         self.prg = Program(self.robot, self.board, self.cmds)
 
@@ -302,15 +318,17 @@ class Game:
         self.screen = pygame.display.set_mode((int(self.board.tiles.shape[1] * self.scale_fac * 1.1),
                                                int((self.board.tiles.shape[0] + 2) * self.scale_fac * 1.2)))
 
-        self.game_over_text = myfont.render('GAME OVER', False, BLACK)
+        self.game_over_text = myfont.render('GAME OVER', False, WHITE)
         self.won_text = myfont.render('YOU WON', False, BLACK)
         self.run_text = myfont.render('RUN', False, tuple(BLACK))
         self.stop_text = myfont_small.render('STOP', False, tuple(BLACK))
         self.step_text = myfont_small.render('STEP', False, tuple(BLACK))
+        self.prg_text = myfont_small.render('CURRENT PROGRAM', False, tuple(GREEN))
+
 
         # save initial state
         self.initial_pos = (self.robot.x, self.robot.y, self.robot.orientation)
-        self.inital_board_tiles = self.board.tiles.copy()
+        self.initial_board_tiles = self.board.tiles.copy()
 
     def render(self):
         """Render the game screen.
@@ -322,7 +340,7 @@ class Game:
         :return:
         """
         if self.beamer_mode:
-            dx = 0
+            dx = self.xoffset
             dy = 0
         else:
             dx = int(0.05 * self.screen.get_width())
@@ -337,9 +355,6 @@ class Game:
         board_surf.blit(robot_surf, (self.robot.x * self.scale_fac, self.robot.y * self.scale_fac, self.scale_fac, self.scale_fac))
         self.screen.blit(board_surf, (dx, dy, dx + self.board.tiles.shape[1] * self.scale_fac, dy + self.board.tiles.shape[0] * self.scale_fac))
 
-        if not self.beamer_mode:
-            # if we are not in beamer mode we also show the current program / inputs
-
         # render program
         if self.state == 'input':
             # in input mode we highlight the command which is selected for edit
@@ -348,15 +363,13 @@ class Game:
             # in other modes we render the current program counter
             prg_surf = self.prg.render(self.scale_fac)
         prg_surf = pygame.transform.scale(prg_surf, (self.screen.get_width() * 2 // 3, self.scale_fac * 2 // 3))
-            self.prg.screen_rect = pygame.Rect((dx, board_surf.get_height() + 2 * dy, prg_surf.get_width(), prg_surf.get_height()))
-            self.screen.blit(prg_surf, self.prg.screen_rect)
-
+        self.prg.screen_rect = pygame.Rect(
+            (dx, board_surf.get_height() + 2 * dy, prg_surf.get_width(), prg_surf.get_height()))
         # render input fields and buttons
         inp_surf = self.programmer.render(self.scale_fac)
         inp_surf = pygame.transform.scale(inp_surf, (self.screen.get_width() * 2 // 3, self.scale_fac * 2 // 3))
-            self.programmer.screen_rect = pygame.Rect((dx, board_surf.get_height() + prg_surf.get_height() + 3 * dy, inp_surf.get_width(), inp_surf.get_height()))
-            self.screen.blit(inp_surf, self.programmer.screen_rect)
-
+        self.programmer.screen_rect = pygame.Rect(
+            (dx, board_surf.get_height() + prg_surf.get_height() + 3 * dy, inp_surf.get_width(), inp_surf.get_height()))
         btn_surf = pygame.Surface((3 * self.scale_fac // 2, self.scale_fac))
         self.btn_rect = pygame.Rect((2 * dx + prg_surf.get_width(), board_surf.get_height() + 2 * dy,
                                      btn_surf.get_height(), btn_surf.get_width()))
@@ -369,25 +382,42 @@ class Game:
         elif self.state == 'stepping':
             btn_surf.fill(tuple(YELLOW))
             btn_surf.blit(self.step_text, (0, 10))
+
+        if not self.beamer_mode:
+            # if we are not in beamer mode we render program and inputs below the board
+            self.screen.blit(prg_surf, self.prg.screen_rect)
+
+            self.screen.blit(inp_surf, self.programmer.screen_rect)
+
             self.screen.blit(btn_surf, self.btn_rect)
+        else:
+            prg_surf = pygame.transform.scale(prg_surf, (dx, dx//5))
+            # in beamer mode we render the program to the left of the board to appear on the laptop
+            self.screen.blit(prg_surf, (0,100))
+
+            prg_descr_surb = pygame.Surface((500, 100))
+            #prg_descr_surb.blit(self.prg_text)
+            self.screen.blit(self.prg_text, (50, 50))
+            mode_text = myfont_small.render(f'STATE: {self.state}', False, tuple(GREEN))
+            self.screen.blit(mode_text, (50, dx//5 + 350))
 
         # render messages
         if self.state == 'game_over':
-            game_over_surf = pygame.Surface((self.screen.get_width() // 2, self.screen.get_height() // 2))
-            game_over_surf.fill(tuple(GREEN))
+            game_over_surf = pygame.Surface(((self.screen.get_width() - dx) // 2, self.screen.get_height() // 2))
+            game_over_surf.fill(tuple(BLACK))
             game_over_surf.blit(self.game_over_text, ((game_over_surf.get_width() - self.game_over_text.get_width()) // 2,
                                                       (game_over_surf.get_height() - self.game_over_text.get_height()) // 2))
-            self.screen.blit(game_over_surf, (self.screen.get_width() // 4, self.screen.get_height() // 4))
+            self.screen.blit(game_over_surf, (dx + (self.screen.get_width() - dx) // 4, self.screen.get_height() // 4))
             pygame.display.update()
             pygame.time.wait(1500)
             self.state = 'reset'
         elif self.state == 'won':
-            won_surf = pygame.Surface((self.screen.get_width() // 2, self.screen.get_height() // 2))
-            won_surf.fill(tuple(GREEN))
+            won_surf = pygame.Surface(((self.screen.get_width() - dx) // 2, self.screen.get_height() // 2))
+            won_surf.fill(tuple(WHITE))
             won_surf.blit(self.won_text,
                                 ((won_surf.get_width() - self.won_text.get_width()) // 2,
                                  (won_surf.get_height() - self.won_text.get_height()) // 2))
-            self.screen.blit(won_surf, (self.screen.get_width() // 4, self.screen.get_height() // 4))
+            self.screen.blit(won_surf, (dx + (self.screen.get_width() - dx) // 4, self.screen.get_height() // 4))
             pygame.display.update()
             pygame.time.wait(1500)
             self.state = 'reset'
@@ -427,9 +457,10 @@ class Game:
                 if event.key == pygame.K_x:
                     if not self.beamer_mode:
                         # switch to beamer mode
-                        os.environ['SDL_VIDEO_WINDOW_POS'] = '1920, 280'
+                        self.xoffset = 1000
+                        os.environ['SDL_VIDEO_WINDOW_POS'] = f'{1920-self.xoffset}, 280'
                         self.scale_fac = 180
-                        self.screen = pygame.display.set_mode((self.board.tiles.shape[1] * self.scale_fac,
+                        self.screen = pygame.display.set_mode((self.xoffset + self.board.tiles.shape[1] * self.scale_fac,
                                                           self.board.tiles.shape[0] * self.scale_fac),
                                                          pygame.NOFRAME)
                         self.beamer_mode = True
@@ -450,6 +481,15 @@ class Game:
                         self.state = self.prg.step(self.state)
                 elif event.key == pygame.K_r:
                     self.state = 'reset'
+                elif event.key == pygame.K_n:
+                    self.initial_board_tiles = Board(self.board.get_xdims(), self.board.get_ydims()).tiles.copy()
+                    self.state = 'reset'
+            elif event.type == pygame.USEREVENT:
+                for i, cmd in enumerate(event.cmds):
+                    self.cmds[i].action = cmd.action
+                    self.cmds[i].color = np.array(cmd.color, dtype=np.uint8)
+                self.reset()
+                self.state = 'running'
         return self.state
 
     def reset(self):
@@ -458,7 +498,7 @@ class Game:
         self.robot.y = self.initial_pos[1]
         self.robot.orientation = self.initial_pos[2]
         self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
-        self.board.tiles = self.inital_board_tiles.copy()
+        self.board.tiles = self.initial_board_tiles.copy()
         return 'input'
 
     def run(self):
@@ -488,10 +528,13 @@ class Game:
             pygame.time.wait(100)
 
 if __name__ == "__main__":
-    seed = 2
-    random.seed(seed)
+    # launch webapp in thread
+    webserver_thread = threading.Thread(target=app.run, kwargs={'host': '0.0.0.0', 'port': 5000})
+    webserver_thread.start()
+
+    seed = 4
     np.random.seed(seed)
-    game = Game(dimx=7, dimy=4, robotx=3, roboty=1)
+    game = Game(dimx=7, dimy=4, robotx=5, roboty=1, orientation='>', use_real_robot=False)
     game.run()
 
 # TODOs

gauss-turing/game/level_generator.py

@@ -0,0 +1,124 @@
+from gauss_turing import Program, Board, Command, Robot
+import numpy as np
+import json
+
+levels = {
+    0: lambda cmds: len(cmds) <= 3,
+    1: lambda cmds: len(cmds) == 3
+}
+
+def rate_level(robot_path, cmds, board):
+    path_length = len(set(robot_path))
+    n_cmds = len(cmds)
+    n_cmd_colors = len(set([tuple(c.color) for c in cmds]))
+
+    difficulty = (path_length - 1) * (n_cmds + n_cmd_colors)
+
+    # place coins on the robot path to create a solution
+    if difficulty > 0:
+        n_coins = np.random.randint(1, min(path_length, 5)) - 1
+
+        # put one coin on last tile visited
+        coins = [robot_path[-1]]
+
+        # distribute other coins randomly on the path
+        # path without first and list tile
+        unique_tiles = list(set(robot_path) - {robot_path[-1]} - {robot_path[0]})
+
+        for _ in range(n_coins):
+            c = np.random.randint(0, len(unique_tiles))
+            new_coin = unique_tiles.pop(c)
+            coins.append(new_coin)
+        pass
+    else:
+        coins = []
+
+    return difficulty, coins
+
+def generate_level(dimx, dimy, max_steps=100):
+    n_cmds = np.random.randint(2, 6)
+    assert n_cmds <= 5
+
+    # generate random board without any coins
+    board = Board(dimx, dimy, n_coins=0)
+
+    cmds = []
+    actions = list(sorted(Command.valid_actions - {'-'}))
+    # generate random commands
+    for i in range(n_cmds):
+        action = np.random.choice(actions)
+        color = Board.valid_colors[np.random.randint(len(Board.valid_colors))]
+        cmds.append(Command(action, color))
+
+    # generate robot at random position
+    rx = np.random.randint(0, dimx-1)
+    ry = np.random.randint(0, dimy-1)
+    orientation = np.random.choice(['>','v','<','^'])
+    r = Robot(rx, ry, orientation)
+
+    prg = Program(r, board, cmds)
+    continue_running = True
+    state = 'running'
+    prg_counter_old = prg.prg_counter
+
+    robot_path = [(r.x, r.y)]
+    step = 0
+
+    while continue_running and step < max_steps:
+        #print(f"prg_counter = {prg.prg_counter} - robot: {r} - state: {state}")
+        state = prg.step(state, check_victory=False)
+
+        robot_path.append((r.x, r.y))
+
+        stuck = prg.prg_counter == prg_counter_old
+
+        prg_counter_old = prg.prg_counter
+
+        if state == 'game_over' or stuck:
+            continue_running = False
+
+        step += 1
+
+    last_pos = robot_path[-1]
+    if not ((0 <= last_pos[0] < dimx) and (0 <= last_pos[1] < dimy)):
+        # remove last entry of path if robot leaves the board
+        robot_path.pop(-1)
+
+    difficulty, coins = rate_level(robot_path, cmds, board)
+
+    # put coins on the board
+    for coin in coins:
+        board.tiles[coin[1], coin[0]]['star'] = True
+    n_coins = len(coins)
+
+
+    return difficulty, board, n_coins, set(robot_path), (rx, ry, orientation), cmds
+
+if __name__ == "__main__":
+    np.random.seed(2)
+
+    levels = {}
+
+    for i in range(100):
+        diff, board, n_coins, robot_path, init_robot_pos, solution = generate_level(7, 4)
+        if diff > 0:
+            print("difficulty: ", diff, "n_coins: ", n_coins, "path length: ", len(robot_path))
+            if diff in levels:
+                if n_coins > levels[diff]['n_coins'] and len(robot_path) > levels[diff]['path_length']:
+                    levels[diff] = {'board': board, 'init_robot_pos': init_robot_pos, 'solution': solution,
+                                    'n_coins': n_coins, 'path_length': len(robot_path)}
+            else:
+                levels[diff] = {'board': board, 'init_robot_pos': init_robot_pos, 'solution': solution,
+                                'n_coins': n_coins, 'path_length': len(robot_path)}
+
+    level_info = {}
+    for l, data in levels.items():
+        np.save(f'levels/{l}.npy', data['board'].tiles)
+        sol = [(cmd.action, tuple(map(int, cmd.color))) for cmd in data['solution']]
+        level_info[l] = {'init_robot_pos': data['init_robot_pos'], 'solution': sol,
+                                    'n_coins': int(data['n_coins']), 'path_length': int(data['path_length']),
+                         'file': f'levels/{l}.npy'}
+
+    with open('levels/level_info.json', 'w') as f:
+        json.dump(level_info, f, indent=4)
+    pass

gauss-turing/game/static/style.css

@@ -0,0 +1,61 @@
+.cmd-canvas {
+    outline: 3px solid #dddddd;;
+    width: 430px;
+    height: 120px;
+    margin: 50px auto 0;
+    position: relative;
+}
+
+.programmer-canvas {
+    outline: 3px solid #dddddd;;
+    width: 338px;
+    height: 220px;
+    margin: 50px auto 0;
+    position: relative;
+}
+
+.register {
+    outline: 3px dashed #dddddd;;
+    width: 120px;
+    height: 240px;
+    margin: 0px auto 0;
+    position: relative;
+}
+
+.box{
+    width: 62px;
+    height: 100px;
+    position: absolute !important;
+    top: 100px;
+    font-size: 15px;
+    color: #000000;
+    line-height: 25px;
+    text-align: center;
+    cursor: move;
+}
+
+.top-buffer { margin-top:20px; }
+
+.center {
+  margin: 20px;
+  position: absolute;
+  left: 50%;
+  -ms-transform: translateX(-50%, -50%);
+  transform: translateX(-50%, -50%);
+}
+
+.cmd0 { left: 0; top: 0;  background-color: #E74C3C;     position: absolute !important;}
+.cmd1 { left: 92px; top: 0; background-color: #8E44AD;     position: absolute !important;}
+.cmd2 { left: 184px; top: 0; background-color: #5DADE2; }
+.cmd3 { left: 276px; top: 0; background-color: #1ABC9C; }
+.cmd4 { left: 368px; top: 0; background-color: #F1C40F; }
+
+.programmer_cmd0 { left: 0; top: 0;  background-color: #E74C3C;     position: absolute !important;}
+.programmer_cmd1 { left: 92px; top: 0; background-color: #8E44AD;     position: absolute !important;}
+.programmer_cmd2 { left: 184px; top: 0; background-color: #5DADE2; }
+.programmer_cmd3 { left: 276px; top: 0; background-color: #1ABC9C; }
+.programmer_cmd4 { left: 38px; top: 120px; background-color: #F1C40F; }
+.programmer_cmd5 { left: 138px; top: 120px; background-color: #F39C12; }
+.programmer_cmd6 { right: 38px; top: 120px; background-color: #34495E; }
+
+.card_hidden { background-color: #dddddd; }

gauss-turing/game/templates/drag_example.html

@@ -0,0 +1,136 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
+    <title>imaginaerraum.de</title>
+
+    <script src="static/jquery-3.5.1.js"></script>
+    <script src="static/jquery-ui.min.js"></script>
+    <script src="static/bootstrap.min.js"></script>
+
+    <link rel="stylesheet" href="static/bootstrap.css">
+    <link rel="stylesheet" href="static/style.css">
+
+
+</head>
+<body>
+<!-- container -->
+<div class="container">
+    <!-- current program -->
+    <div class="row top-buffer">
+        Aktuelles Programm:
+        <div class="cmd-canvas">
+            {% for cmd in current_program %}
+                <div class="box cmd{{ loop.index0 }}"  id="prg_cmd{{ loop.index0 }}" data-action="{{ cmd.action }}" data-color="{{ cmd.color }}" data-img="prg_cmd_img{{ loop.index0 }}"
+                     style="background-color: rgba({{ cmd.color[0] }},{{ cmd.color[1] }},{{ cmd.color[2] }},0.85)">
+                    <img id="prg_cmd_img{{ loop.index0 }}" src="static/{{ cmd.action }}.png">
+                    {{ loop.index0 }}
+                </div>
+            {% endfor %}
+        </div>
+    </div>
+
+    <!-- possible commands -->
+    <div class="row top-buffer">
+        Mögliche Befehle:
+        <div class="programmer-canvas">
+            {% for cmd in valid_commands %}
+                <div class="box programmer_cmd{{ loop.index0 }}"  id="valid_cmd{{ loop.index0 }}" data-action="{{ cmd.action }}"
+                     data-color="{{ cmd.color }}" data-img="valid_cmd_img{{ loop.index0 }}"
+                     style="background-color: rgba({{ cmd.color[0] }},{{ cmd.color[1] }},{{ cmd.color[2] }},0.85)">
+                    <img id="valid_cmd_img{{ loop.index0 }}" src="static/{{ cmd.action }}.png">
+                </div>
+            {% endfor %}
+        </div>
+    </div>
+
+    <div class="row top-buffer center">
+        <div class="col-sm">
+            <input class="btn btn-primary" id="btnSubmit" type="submit" value="Befehle abschicken" />
+        </div>
+        <div class="col-sm">
+            <div id = "alert_placeholder"></div>
+        </div>
+    </div>
+</div><!-- container -->
+
+
+<script>
+    $(document).ready(function () {
+
+        var please_wait = $(".notification").hide();
+
+    var box = $(".box");
+
+    bootstrap_alert = function() {};
+    bootstrap_alert.warning = function(message) {
+            $('#alert_placeholder').html('<div class="alert alert-primary"><a class="close" data-dismiss="alert">×</a><span>'+message+'</span></div>')
+        };
+
+
+    $("#btnSubmit").click(function () {
+           //alert("button");
+        var cmds = {
+            {% for i in range(5) %}
+                "cmd{{ i }}": {"color": document.getElementById("prg_cmd{{ i }}").getAttribute("data-color"),
+                               "action": document.getElementById("prg_cmd{{ i }}").getAttribute("data-action")},
+            {% endfor %}
+        }
+            //bootstrap_alert.warning('Bitte warten bis alle Spieler ihre Aktion gewählt haben!'); //$(please_wait).show();
+    var cmds_json = JSON.stringify(cmds);
+
+            $.post("/send_cmds", {"cmds_json": cmds_json}, function (data) {
+                console.log(data);
+                /*
+                if (data === 'OK') {
+                    location.reload();  // reload page to get new cards for next round
+                }
+                else {
+                    console.log('waiting...')
+                    $.get("/send_cmds", "", function (data) {
+                         if (data === 'OK') {
+                            location.reload();  // reload page to get new cards for next round
+                        }
+                    })
+                }
+                */
+            });
+
+        });
+
+    var edited_command = null;
+
+    box.click(function () {
+        //debugger
+        if ( this.id.includes('prg_cmd') ) {
+            // program card clicked -> select clicked card for editing
+            edited_command = this;
+        }
+        else if (this.id.includes('valid_cmd')) {
+            // progamming card clicked -> edit currently selected card
+            var this_card_action = this.getAttribute('data-action');
+            var this_card_color = this.getAttribute('data-color');
+            if (!!edited_command) { // only if there is a card selected
+                console.log("editing command " + edited_command);
+                if (this_card_action === "-") {
+                    // set color
+                    edited_command.setAttribute("data-color", this_card_color);
+                    edited_command.style["backgroundColor"] = this.style["backgroundColor"];
+                }
+                else {
+                    // set action
+                    edited_command.setAttribute("data-action", this_card_action)
+                    var edited_cmd_img = document.getElementById(edited_command.getAttribute("data-img"));
+                    var prg_img = document.getElementById(this.getAttribute("data-img"));
+                    edited_cmd_img.src = prg_img.src;
+                }
+            }
+        }
+    });
+
+});
+</script>
+
+</body>
+</html>

gauss-turing/game/webapp.py

@@ -0,0 +1,163 @@
+from flask import Flask, render_template, request, session, make_response
+import socket
+import time
+import numpy as np
+from playsound import playsound
+from itertools import zip_longest
+import random
+import json
+import pygame
+
+app = Flask(__name__)
+app.secret_key = b'RoboRallyRolling'
+
+probabilities = [0.21428571428571427, 0.14285714285714285, 0.07142857142857142, 0.07142857142857142,
+                 0.21428571428571427, 0.21428571428571427, 0.07142857142857142]
+
+#deck = roborally.CardDeck()
+
+class Cmd:
+    possible_moves = ['forward', 'left', 'right', 'P0']
+    possible_colors = [(200,200,200), (255, 0, 0), (0,0,255)]
+
+    def __init__(self, action, color):
+        self.action = action
+        self.color = color
+
+    def __str__(self):
+        return "Cmd No. " + self.action
+
+    def __repr__(self):
+        return self.action + " " + str(self.color)
+
+
+available_robots = {
+    0: {'id': 11, 'ip': '192.168.1.11', 'x': 1, 'y': 2, 'orientation': '>'},
+    1: {'id': 12, 'ip': '192.168.1.12', 'x': 3, 'y': 3, 'orientation': '>'}
+}
+
+
+players = {}
+
+
+class Player:
+    MAX_PLAYERS = 4
+    player_counter = 0
+
+    def __init__(self):
+        if Player.player_counter < Player.MAX_PLAYERS:
+            self.id = Player.player_counter
+            Player.player_counter += 1
+
+            self.max_cards = 9
+
+            self.player_hand = deck.draw_cards(self.max_cards)
+            print("current hand: ", [str(c) for c in self.player_hand])
+
+            self.action_count = 5
+            self.action_chosen = False
+
+            self.initialize_robot()
+
+        else:
+            print("max players reached!")
+
+    def initialize_robot(self):
+        x = available_robots[self.id]['x']
+        y = available_robots[self.id]['y']
+        marker_id = available_robots[self.id]['id']
+        ip = available_robots[self.id]['ip']
+        orientation = available_robots[self.id]['orientation']
+        self.robot = game.board.create_robot(x, y, orientation, self.id, marker_id)
+
+        if game.comm_socket is not None:
+            cmd = f"initialize_robot, {marker_id}, {ip}, {x-1}, {y-1}, {orientation}\n"
+            game.comm_socket.sendall(cmd.encode())
+            data = game.comm_socket.recv(32)
+
+            if data.decode() == 'OK\n':
+                print("robot sucessfully initialized!")
+            else:
+                print("error: could not initialize robot!")
+                self.robot = None
+
+    def draw_new_cards(self):
+        self.player_hand += deck.draw_cards(self.max_cards - len(self.player_hand))
+
+
+@app.route('/send_cmds', methods=['POST', 'GET'])
+def send_cmds():
+    if request.method == 'POST':
+        cmds = json.loads(request.form['cmds_json'])
+
+        cmd_list = []
+        for cmd_nr in [f"cmd{i}" for i in range(5)]:
+            cmd = cmds[cmd_nr]
+            action = cmd['action']
+            color_str = cmd['color']
+            color_str = color_str.strip("()").split(",")
+            color = tuple(map(int, color_str))
+            cmd_list.append(Cmd(action, color))
+        print("got commands: ", cmd_list)
+        ev = pygame.event.Event(pygame.USEREVENT, {'cmds': cmd_list})
+        pygame.event.post(ev)
+
+        # send commands to the game
+
+        # if game.ready():
+        #     game.process_actions()
+        #
+        #     return 'OK'
+        # else:
+        #     return 'please wait'
+        return "OK"
+    elif request.method == 'GET':
+        # GET is used when we have to wait for other players to finish
+        while not game.processing_done:  # wait for other players to choose commands and processing to finish
+            pass
+
+        return 'OK'
+
+WHITE = (255, 255, 255)
+GRAY = (200, 200, 200)
+RED = (255, 0, 0)
+BLUE = (0, 0, 255)
+
+@app.route('/', methods=['GET', 'POST'])
+def hello_world():
+    prg = [Cmd('forward', GRAY), Cmd('left', GRAY), Cmd('right', BLUE),
+                   Cmd('P0', GRAY), Cmd('right', RED)]
+    valid_cmds = [Cmd('forward', WHITE), Cmd('right', WHITE), Cmd('left', WHITE),
+                  Cmd('P0', WHITE), Cmd('-', RED), Cmd('-', BLUE), Cmd('-', GRAY)]
+
+    if request.method == 'GET':
+        robot_info = None
+        return render_template('drag_example.html', current_program=prg, valid_commands=valid_cmds, robot_info=robot_info)
+    elif request.method == 'POST':
+        # print(request.form)
+
+        if request.form.get('drag') and request.form.get('drop'):
+            # swap cards in the current hand
+            i1 = int(request.form.get('drag'))  # number of first card
+            i2 = int(request.form.get('drop'))  # number of second card
+
+            card1 = deck.deck[i1]  # get card by number
+            card2 = deck.deck[i2]
+
+            print("swapping {} and {}".format(card1, card2))
+
+            j1 = player_hand.index(card1)  # get index of card in the hand
+            j2 = player_hand.index(card2)
+
+            player_hand[j1], player_hand[j2] = player_hand[j2], player_hand[j1]  # swap the cards in the list
+
+            # print("current hand: ", [str(c) for c in player_hand[player_id]])
+
+            return 'OK'
+        else:
+            return render_template('drag_example.html', cmds=player_hand, player_id=player_id)
+
+
+if __name__ == '__main__':
+    #app.run(host='192.168.1.222', port=5000)
+    app.run(host='0.0.0.0', port=5000)

remote_control/aruco_estimator.py

@@ -140,7 +140,7 @@ class ArucoEstimator:
             {'name': 'Draw grid', 'type': 'bool', 'value': self.draw_grid, 'tip': "Draw grid spanned by the markers 0 - 3"},
             {'name': 'Grid columns', 'type': 'int', 'value': self.grid_columns, 'tip': "Number of columns for the grid"},
             {'name': 'Grid rows', 'type': 'int', 'value': self.grid_rows, 'tip': "Number of rows for the grid"},
-            {'name': 'Display mode', 'type': 'list', 'values': ['color', 'grayscale'], 'value': 'color', 'tip': "Display mode for the video"},
+            {'name': 'Display mode', 'type': 'list', 'values': ['color', 'grayscale'], 'value': 'grayscale', 'tip': "Display mode for the video"},
             {'name': 'Autoexposure', 'type': 'bool', 'value': True},
             {'name': 'Controlled robot', 'type': 'list', 'values': self.robot_marker_ids, 'tip': 'Robot to control'},
             RobotMarkerGroup(name="Robot markers", children=robot_marker_group),