542 lines
22 KiB
Python
542 lines
22 KiB
Python
import numpy as np
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import pygame
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import os
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import threading
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from webapp import app
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from event_server_comm import move_grid
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BLACK = np.array([0, 0, 0], dtype=np.uint8)
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WHITE = np.array([255, 255, 255], dtype=np.uint8)
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GRAY = np.array([200, 200, 200], dtype=np.uint8)
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RED = np.array([255, 0, 0], dtype=np.uint8)
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BLUE = np.array([0, 0, 255], dtype=np.uint8)
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YELLOW = np.array([255, 255, 0], dtype=np.uint8)
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GREEN = np.array([0, 255, 0], dtype=np.uint8)
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pygame.init()
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pygame.font.init() # you have to call this at the start,
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# if you want to use this module.
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myfont = pygame.font.SysFont('Comic Sans MS', 55)
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myfont_small = pygame.font.SysFont('Comic Sans MS', 45)
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P0_text = myfont.render('P0', False, tuple(BLACK))
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tiledt = np.dtype([('color', np.uint8, 3), ('star', np.bool)])
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class Board:
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valid_colors = [GRAY, RED, BLUE]
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def __init__(self, dim_x, dim_y, n_coins=2, file=None):
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if file is None:
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self.tiles = np.zeros((dim_y, dim_x), dtype=tiledt)
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for x in range(dim_x):
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for y in range(dim_y):
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self.tiles[y, x]['color'] = Board.valid_colors[np.random.randint(len(Board.valid_colors))]
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coins_distributed = n_coins == 0
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while not coins_distributed:
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coinx = np.random.randint(0, dim_x)
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coiny = np.random.randint(0, dim_y)
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self.tiles[coiny,coinx]['star'] = True
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coins_distributed = sum([t['star'] for t in self.tiles.flatten()]) == n_coins
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else:
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self.tiles = np.load(file)
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def render(self, scale_fac):
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dimy, dimx = self.tiles.shape
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board_surf = pygame.Surface((dimx * scale_fac, dimy * scale_fac))
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star_surf = pygame.Surface((scale_fac, scale_fac), pygame.SRCALPHA)
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pygame.draw.circle(star_surf, YELLOW, (int(0.5 * scale_fac), int(0.5 * scale_fac)), int(0.25 * scale_fac))
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for y in range(self.tiles.shape[0]):
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for x in range(self.tiles.shape[1]):
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pygame.draw.rect(board_surf, tuple(self.tiles[y, x]['color']),
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(x * scale_fac, y * scale_fac, scale_fac, scale_fac), 0)
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pygame.draw.rect(board_surf, (0, 0, 0),
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(x * scale_fac, y * scale_fac, scale_fac, scale_fac), 1)
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if self.tiles[y, x]['star']:
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board_surf.blit(star_surf, (x * scale_fac, y * scale_fac, scale_fac, scale_fac))
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return board_surf
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def get_xdims(self):
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return self.tiles.shape[1]
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def get_ydims(self):
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return self.tiles.shape[0]
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# def __repr__(self):
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# s = ''
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# for y in range(self.tiles.shape[0]):
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# for x in range(self.tiles.shape[1]):
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# if (x,y) == (self.robot.x, self.robot.y):
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# s += self.robot.orientation
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# else:
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# s += '.'
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# s += '\n'
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# return s
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class Robot:
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orientations = ['^', 'left', 'down', 'right']
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resulting_orientation = {
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'^': {'left': '<', 'right': '>'},
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'>': {'left': '^', 'right': 'v'},
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'v': {'left': '>', 'right': '<'},
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'<': {'left': 'v', 'right': '^'},
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}
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def __init__(self, x, y, orientation, use_real_robot=False):
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self.x = x
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self.y = y
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self.orientation = orientation
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self.position_changed = False
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self.use_real_robot = use_real_robot
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def get_forward_coordinates(self):
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# get the coordinates of the neighboring tile in the given direction
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if self.orientation == '^':
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return self.y - 1, self.x
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elif self.orientation == '>':
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return self.y, self.x + 1
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elif self.orientation == 'v':
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return self.y + 1, self.x
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elif self.orientation == '<':
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return self.y, self.x - 1
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else:
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raise Exception("error: undefined direction")
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def get_angle(self):
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angle = {'>': 0, '^': np.pi/2, '<': np.pi, 'v': 3*np.pi/2}[self.orientation]
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return np.rad2deg(angle)
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def render(self, scale_fac):
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robot_surf = pygame.Surface((scale_fac, scale_fac), pygame.SRCALPHA)
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pygame.draw.lines(robot_surf, (0, 0, 0), True, [(0.75 * scale_fac, 0.5 * scale_fac),
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(0.25 * scale_fac, 0.25 * scale_fac),
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(0.25 * scale_fac, 0.75 * scale_fac)], 3)
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robot_surf = pygame.transform.rotate(robot_surf, self.get_angle())
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return robot_surf
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def update_pos(self, dimx, dimy):
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if self.use_real_robot:
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move_grid(self.x, self.y, self.orientation, dimx, dimy)
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self.position_changed = False
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def __repr__(self):
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return f"({self.y}, {self.x}) - {self.orientation}"
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class Command:
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valid_actions = {'forward', 'left', 'right', 'P0', '-'}
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def __init__(self, action=None, color=GRAY):
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if not (action in Command.valid_actions and any([np.all(color == c) for c in Board.valid_colors])):
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raise ValueError("invalid values for command")
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self.action = action
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self.color = color
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def __repr__(self):
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return f"{self.action}: {self.color}"
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def render(self, scale_fac):
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cmd_surf = pygame.Surface((scale_fac, scale_fac))
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cmd_surf.fill(tuple(self.color))
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arrow_surf = pygame.Surface((300, 300), pygame.SRCALPHA)
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pygame.draw.polygon(arrow_surf, (0, 0, 0),
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((0, 100), (0, 200), (200, 200), (200, 300), (300, 150), (200, 0), (200, 100)))
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arrow_surf = pygame.transform.scale(arrow_surf, (int(0.9*scale_fac), int(0.9*scale_fac)))
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if self.action == 'forward':
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arrow_surf = pygame.transform.rotate(arrow_surf, 90)
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elif self.action == 'left':
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arrow_surf = pygame.transform.rotate(arrow_surf, 180)
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if self.action in {'left', 'forward', 'right'}:
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cmd_surf.blit(arrow_surf, (0.05*scale_fac,0.05*scale_fac,0.95*scale_fac,0.95*scale_fac))
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elif self.action == 'P0':
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cmd_surf.blit(P0_text, (0.05*scale_fac,0.05*scale_fac,0.95*scale_fac,0.95*scale_fac))
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return cmd_surf
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class Programmer:
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def __init__(self, prg):
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self.prg = prg
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self.available_inputs = [Command('forward'), Command('left'), Command('right'), Command('P0'),
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Command('-', color=RED), Command('-', color=BLUE), Command('-', color=GRAY)]
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self.command_to_edit = 0
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self.screen_rect = None
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def render(self, scale_fac):
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"""Render surface with possible inputs for the robot.
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:return: surface of the input commands
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"""
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inp_surf = pygame.Surface((len(self.available_inputs) * scale_fac, 1 * scale_fac))
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for i, inp in enumerate(self.available_inputs):
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cmd_surf = inp.render(scale_fac)
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inp_surf.blit(cmd_surf, (i * scale_fac, 0, scale_fac, scale_fac))
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return inp_surf
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def update_selected_command(self, pos):
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print(f"clicked at pos = {pos}")
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xoffset = pos[0] - self.screen_rect.x
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selected_input_index = xoffset * len(self.available_inputs) // self.screen_rect.width
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selected_input = self.available_inputs[selected_input_index]
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edited_command = self.prg.cmds[self.command_to_edit]
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print("command before edit = ", edited_command)
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if selected_input.action != '-':
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edited_command.action = selected_input.action
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else:
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edited_command.color = selected_input.color
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print("command after edit = ", edited_command)
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class Program:
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def __init__(self, robot, board, cmds):
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self.cmds = cmds
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self.robot = robot
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self.board = board
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self.prg_counter = 0
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self.screen_rect = None
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def step(self, state='running', check_victory=True):
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if self.prg_counter >= len(self.cmds):
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return 'game_over'
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cmd = self.cmds[self.prg_counter]
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self.prg_counter += 1
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# current position
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x = self.robot.x
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y = self.robot.y
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# current tile the robot is on
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tile = self.board.tiles[y, x]
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# apply next instruction of the program
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if np.all(cmd.color == GRAY) or np.all(cmd.color == tile['color']):
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# matching color -> execute command
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if cmd.action == 'forward':
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ynew, xnew = self.robot.get_forward_coordinates()
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self.robot.x = xnew
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self.robot.y = ynew
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self.robot.position_changed = True
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#self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
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elif cmd.action in {'left', 'right'}:
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self.robot.orientation = Robot.resulting_orientation[self.robot.orientation][cmd.action]
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#self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
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self.robot.position_changed = True
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elif cmd.action == 'P0':
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self.prg_counter = 0
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else:
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#print("color not matching -> skipping command")
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pass
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# update state for new robot position
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if (not (0 <= self.robot.x < self.board.tiles.shape[1])) or not (0 <= self.robot.y < self.board.tiles.shape[0]):
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# robot leaves the board -> GAME OVER
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print("GAME OVER")
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self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
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return 'game_over'
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# robot collects star on new tile
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tile = self.board.tiles[self.robot.y, self.robot.x]
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if tile['star']:
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tile['star'] = False
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if check_victory and all([not t['star'] for t in self.board.tiles.flatten()]):
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self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
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print("YOU WON")
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return 'won'
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# by default we continue in the running state
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return state
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def render(self, scale_fac, prg_counter_override=None):
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"""Render the current program. This will render all commands and highlight the next command to execute
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(determined by self.prg_counter).
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The prg_counter_override can be used to highlight a different command instead. This is used during input mode
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to highlight the command the user will edit.
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:param scale_fac:
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:param prg_counter_override:
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:return:
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"""
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prg_counter = self.prg_counter
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if prg_counter_override is not None:
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prg_counter = prg_counter_override
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prg_surf = pygame.Surface((5 * scale_fac, 1 * scale_fac))
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for i in range(5):
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if i < len(self.cmds):
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cmd = self.cmds[i]
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cmd_surf = cmd.render(scale_fac)
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else:
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cmd_surf = pygame.Surface((scale_fac,scale_fac))
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cmd_surf.fill(GRAY)
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if prg_counter is not None and i == prg_counter:
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pygame.draw.rect(cmd_surf, tuple(GREEN), (0, 0, scale_fac, scale_fac), 5)
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prg_surf.blit(cmd_surf, (i * scale_fac, 0, scale_fac, scale_fac))
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return prg_surf
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def get_clicked_command(self, pos):
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print(f"clicked at pos = {pos}")
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xoffset = pos[0] - self.screen_rect.x
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clicked_cmd = xoffset * len(self.cmds) // self.screen_rect.width
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print("clicked command = ", clicked_cmd)
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return clicked_cmd
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class Game:
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def __init__(self, dimx, dimy, robotx, roboty, orientation, use_real_robot=False):
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self.robot = Robot(x=robotx, y=roboty, orientation=orientation, use_real_robot=use_real_robot)
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#self.board = Board(dimx, dimy)
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self.board = Board(dimx, dimy, file='levels/56.npy')
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# TODO fix number of commands at 5
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self.cmds = [Command('forward'), Command('left', color=RED), Command('left', color=BLUE), Command('P0'), Command('-')]
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self.state = 'reset'
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self.prg = Program(self.robot, self.board, self.cmds)
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self.programmer = Programmer(self.prg)
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#self.scale_fac = 180
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self.scale_fac = 125
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self.beamer_mode = False
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self.screen = pygame.display.set_mode((int(self.board.tiles.shape[1] * self.scale_fac * 1.1),
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int((self.board.tiles.shape[0] + 2) * self.scale_fac * 1.2)))
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self.game_over_text = myfont.render('GAME OVER', False, WHITE)
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self.won_text = myfont.render('YOU WON', False, BLACK)
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self.run_text = myfont.render('RUN', False, tuple(BLACK))
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self.stop_text = myfont_small.render('STOP', False, tuple(BLACK))
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self.step_text = myfont_small.render('STEP', False, tuple(BLACK))
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self.prg_text = myfont_small.render('CURRENT PROGRAM', False, tuple(GREEN))
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# save initial state
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self.initial_pos = (self.robot.x, self.robot.y, self.robot.orientation)
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self.initial_board_tiles = self.board.tiles.copy()
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def render(self):
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"""Render the game screen.
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This will render the board and the robot.
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Depending on the display mode it will also render the current program and the input commands for the robot.
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:param prg_counter:
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:return:
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"""
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if self.beamer_mode:
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dx = self.xoffset
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dy = 0
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else:
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dx = int(0.05 * self.screen.get_width())
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dy = int(0.05 * self.screen.get_height())
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self.screen.fill(tuple(BLACK))
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# render the board
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board_surf = self.board.render(self.scale_fac)
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# render robot onto the board surface
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robot_surf = self.robot.render(self.scale_fac)
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board_surf.blit(robot_surf, (self.robot.x * self.scale_fac, self.robot.y * self.scale_fac, self.scale_fac, self.scale_fac))
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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))
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# render program
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if self.state == 'input':
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# in input mode we highlight the command which is selected for edit
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prg_surf = self.prg.render(self.scale_fac, prg_counter_override=self.programmer.command_to_edit)
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else:
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# in other modes we render the current program counter
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prg_surf = self.prg.render(self.scale_fac)
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prg_surf = pygame.transform.scale(prg_surf, (self.screen.get_width() * 2 // 3, self.scale_fac * 2 // 3))
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self.prg.screen_rect = pygame.Rect(
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(dx, board_surf.get_height() + 2 * dy, prg_surf.get_width(), prg_surf.get_height()))
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# render input fields and buttons
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inp_surf = self.programmer.render(self.scale_fac)
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inp_surf = pygame.transform.scale(inp_surf, (self.screen.get_width() * 2 // 3, self.scale_fac * 2 // 3))
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self.programmer.screen_rect = pygame.Rect(
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(dx, board_surf.get_height() + prg_surf.get_height() + 3 * dy, inp_surf.get_width(), inp_surf.get_height()))
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btn_surf = pygame.Surface((3 * self.scale_fac // 2, self.scale_fac))
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self.btn_rect = pygame.Rect((2 * dx + prg_surf.get_width(), board_surf.get_height() + 2 * dy,
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btn_surf.get_height(), btn_surf.get_width()))
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if self.state == 'input':
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btn_surf.fill(tuple(GREEN))
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btn_surf.blit(self.run_text, (0, 10))
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elif self.state == 'running':
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btn_surf.fill(tuple(RED))
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btn_surf.blit(self.stop_text, (0, 10))
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elif self.state == 'stepping':
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btn_surf.fill(tuple(YELLOW))
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btn_surf.blit(self.step_text, (0, 10))
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if not self.beamer_mode:
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# if we are not in beamer mode we render program and inputs below the board
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self.screen.blit(prg_surf, self.prg.screen_rect)
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self.screen.blit(inp_surf, self.programmer.screen_rect)
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self.screen.blit(btn_surf, self.btn_rect)
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else:
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prg_surf = pygame.transform.scale(prg_surf, (dx, dx//5))
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# in beamer mode we render the program to the left of the board to appear on the laptop
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self.screen.blit(prg_surf, (0,100))
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prg_descr_surb = pygame.Surface((500, 100))
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#prg_descr_surb.blit(self.prg_text)
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self.screen.blit(self.prg_text, (50, 50))
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mode_text = myfont_small.render(f'STATE: {self.state}', False, tuple(GREEN))
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self.screen.blit(mode_text, (50, dx//5 + 350))
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# render messages
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if self.state == 'game_over':
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game_over_surf = pygame.Surface(((self.screen.get_width() - dx) // 2, self.screen.get_height() // 2))
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game_over_surf.fill(tuple(BLACK))
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game_over_surf.blit(self.game_over_text, ((game_over_surf.get_width() - self.game_over_text.get_width()) // 2,
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(game_over_surf.get_height() - self.game_over_text.get_height()) // 2))
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self.screen.blit(game_over_surf, (dx + (self.screen.get_width() - dx) // 4, self.screen.get_height() // 4))
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pygame.display.update()
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pygame.time.wait(1500)
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self.state = 'reset'
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elif self.state == 'won':
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won_surf = pygame.Surface(((self.screen.get_width() - dx) // 2, self.screen.get_height() // 2))
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won_surf.fill(tuple(WHITE))
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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, (dx + (self.screen.get_width() - dx) // 4, self.screen.get_height() // 4))
|
|
pygame.display.update()
|
|
pygame.time.wait(1500)
|
|
self.state = 'reset'
|
|
|
|
pygame.display.flip()
|
|
|
|
def process_inputs(self):
|
|
# proceed events
|
|
for event in pygame.event.get():
|
|
if event.type == pygame.QUIT:
|
|
self.state = 'quit'
|
|
# handle MOUSEBUTTONUP
|
|
elif event.type == pygame.MOUSEBUTTONUP:
|
|
pos = pygame.mouse.get_pos()
|
|
|
|
# select command to edit by the programmer
|
|
if self.prg.screen_rect is not None:
|
|
if self.prg.screen_rect.collidepoint(pos):
|
|
print(f"clicked at pos = {pos}")
|
|
self.programmer.command_to_edit = self.prg.get_clicked_command(pos)
|
|
|
|
# set the selected command to a new value
|
|
if self.programmer.screen_rect is not None:
|
|
if self.programmer.screen_rect.collidepoint(pos):
|
|
self.programmer.update_selected_command(pos)
|
|
|
|
# clicked RUN/STOP button
|
|
if self.btn_rect is not None and self.btn_rect.collidepoint(*pos):
|
|
print(f"clicked at pos = {pos}")
|
|
if self.state == 'running':
|
|
self.state = 'input'
|
|
elif self.state == 'input':
|
|
self.state = 'running'
|
|
elif self.state == 'stepping':
|
|
self.state = self.prg.step(self.state)
|
|
elif event.type == pygame.KEYUP:
|
|
if event.key == pygame.K_x:
|
|
if not self.beamer_mode:
|
|
# switch to beamer mode
|
|
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.xoffset + self.board.tiles.shape[1] * self.scale_fac,
|
|
self.board.tiles.shape[0] * self.scale_fac),
|
|
pygame.NOFRAME)
|
|
self.beamer_mode = True
|
|
else:
|
|
# switch to normal mode
|
|
os.environ['SDL_VIDEO_WINDOW_POS'] = '0, 0'
|
|
self.scale_fac = 125
|
|
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.beamer_mode = False
|
|
elif event.key == pygame.K_s:
|
|
# run program
|
|
self.state = 'running'
|
|
elif event.key == pygame.K_SPACE:
|
|
if self.state != 'stepping':
|
|
self.state = 'stepping'
|
|
else:
|
|
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):
|
|
self.prg.prg_counter = 0
|
|
self.robot.x = self.initial_pos[0]
|
|
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.initial_board_tiles.copy()
|
|
return 'input'
|
|
|
|
def run(self):
|
|
running = True
|
|
while running:
|
|
self.state = self.process_inputs()
|
|
if self.state == 'input':
|
|
pass
|
|
elif self.state == 'running':
|
|
self.state = self.prg.step()
|
|
elif self.state == 'reset':
|
|
self.state = self.reset()
|
|
elif self.state == 'quit':
|
|
running = False
|
|
elif self.state == 'stepping':
|
|
pass
|
|
elif self.state == 'game_over' or self.state == 'won':
|
|
pass
|
|
else:
|
|
print("unknown state")
|
|
return
|
|
|
|
self.render()
|
|
if self.robot.position_changed:
|
|
self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
|
|
|
|
pygame.time.wait(100)
|
|
|
|
if __name__ == "__main__":
|
|
# 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=5, roboty=1, orientation='>', use_real_robot=False)
|
|
game.run()
|
|
|
|
# TODOs
|
|
# - in stepping mode (s) it is possible to drive outside of the map
|
|
# - when no P0 command is present the program counter will overflow |