from Tkinter import * import tkMessageBox import threading, time, Queue, copy, sys import string #from robotImg import * # Later should copy the whole file into this class Constants: colorNames = { 0:"black", 1:"white", 2:"red", 3:"green", 4:"blue", 5:"yellow", 6:"magenta", 7:"cyan", 8:"grey", 9:"pink", 10:"purple", 11:"brown", 12:"orange"} # Black corresponds to an obstacle--not traversible. Everything else is traversible. # Should really be implemented as an array rather than hashtable, but this makes it easier to read. colorDef = { 0:"#000000", 1:"#FFFFFF", 2:"#FF0000", 3:"#00FF00", 4:"#0000FF", 5:"#FFFF00", 6:"#FF00FF", 7:"#00FFFF", 8:"#A0A0A0", 9:"#FFC0CB", 10:"#800080", 11:"#A52A2A", 12:"#FFA500"} # Can also get these using canvas.winfo_rgb("red"), then divide by 256 (to map from 0-65535 range to 0-255 range) directions = { 0:"east", 1:"north", 2:"west", 3:"south" } EAST = 0 NORTH = 1 WEST = 2 SOUTH = 3 numColors = len(colorNames) numDirections = 4 class RobotWorld: """Our datastructure for representing the robot's world. The root window is immediately withdraw, leaving a persistent daemon process running even if the robot display window is killed. I can't tell if this is a stroke of genius or a horrible hack, but this was the only way I found to get it to work with Tkinter. To send commands to the robot, we put commands onto the queue, and a consumer process pops them off and executes the command (deals with parallel processing synchronization issues). """ def __init__(self): self.windowIsRunning = False self.root = Tk() self.root.withdraw() # Hide the root window (so user can't kill Tk/mainloop process by closing window) self.commandQueue = Queue.Queue() # infinite size queue for commands to send to robot self.simulatorDelay = 200 # 200ms --> 5 Hz updates self.consumer() # will poll the queue occasionally to see if there're commands self.mazeWorld() #print("DEBUG: About to fork") thread = threading.Thread(target=self.mainloopProcess) thread.daemon = True thread.start() #print("DEBUG: After fork") def setSimulatorDelay(self, delay): self.simulatorDelay = delay def checkGoal(self): if self.goalTest != None and (not self.goalAttained) and self.goalTest(): #print(self.goalMessage) tkMessageBox.showinfo('Success', self.goalMessage) self.goalAttained = True def mazeWorld(self): self.closeWindow(quiet=True) self.gridX = 5 # horizontal dimension self.gridY = 5 # vertical dimension self.robotX = 1 # (0,0) is origin (top-left corner). (robotX,robotY)=(1,0) is one to the right from the origin self.robotY = 4 self.robotDir = Constants.EAST self.goalTest = (lambda : self.robotX == 3 and self.robotY == 1) # self.goalTest = (lambda : self.robotX == 2 and self.robotY == 4) self.goalMessage = "SUCCESS: You got to the goal. Congratulations!" self.goalAttained = False self.cellPix = 100 # dimensions of each gridcell in pixels (square gridcells, so width=height) self.linePix = 2 # width of black line separating adjacent grid cells self.grid = [ [1,0,1,1,1], [1,0,1,3,1], [1,0,0,1,1], [1,1,1,1,1], [1,1,1,1,1]] self.targetGrid = None self.startDisplay() def mazeWorld2(self): self.closeWindow(quiet=True) self.gridX = 5 # horizontal dimension self.gridY = 5 # vertical dimension self.robotX = 1 # (0,0) is origin (top-left corner). (robotX,robotY)=(1,0) is one to the right from the origin self.robotY = 4 self.robotDir = Constants.EAST self.goalTest = (lambda : self.robotX == 3 and self.robotY == 3) # self.goalTest = (lambda : self.robotX == 2 and self.robotY == 4) self.goalMessage = "SUCCESS: You got to the goal. Congratulations!" self.goalAttained = False self.cellPix = 100 # dimensions of each gridcell in pixels (square gridcells, so width=height) self.linePix = 2 # width of black line separating adjacent grid cells self.grid = [ [1,1,1,1,1], [1,1,0,0,1], [1,1,0,0,1], [1,1,0,3,1], [1,1,0,1,1]] self.targetGrid = None self.startDisplay() def potholeWorld(self): self.closeWindow(quiet=True) self.gridX = 6 # horizontal dimension self.gridY = 5 # vertical dimension self.robotX = 0 # (0,0) is origin (top-left corner). (robotX,robotY)=(1,0) is one to the right from the origin self.robotY = 3 self.robotDir = Constants.EAST self.cellPix = 80 # dimensions of each gridcell in pixels (square gridcells, so width=height) self.linePix = 2 # width of black line separating adjacent grid cells self.goalTest = self.gridMatchesTarget self.goalMessage = "SUCCESS: You've filled in all the potholes. Congratulations!" self.goalAttained = False self.grid = [ [1,1,1,1,1,1], [1,1,1,1,1,1], [1,1,1,1,1,1], [1,1,1,1,1,1], [0,0,1,0,1,0]] self.targetGrid = [ [1,1,1,1,1,1], [1,1,1,1,1,1], [1,1,1,1,1,1], [1,1,1,1,1,1], [0,0,8,0,8,0]] self.startDisplay() def startWorld3(self): self.closeWindow(quiet=True) self.gridX = 5 # horizontal dimension self.gridY = 1 # vertical dimension self.robotX = 0 # (0,0) is origin (top-left corner). (robotX,robotY)=(1,0) is one to the right from the origin self.robotY = 0 self.robotDir = Constants.EAST self.cellPix = 90 # dimensions of each gridcell in pixels (square gridcells, so width=height) self.linePix = 2 # width of black line separating adjacent grid cells self.goalTest = self.gridMatchesTarget self.goalMessage = "SUCCESS: You've filled in all the potholes. Congratulations!" self.goalAttained = False self.grid = [ [1,1,1,1,1,1] ] self.targetGrid = [ [1, 'A', 'B', 'A', 1,1] ] self.startDisplay() def gridMatchesTarget(self): """ Check if grid and targetGrid match. For each element in the target grid which is numerical, we demand an exact match to that target. For the other values, we demand a bijection (one-to-one) between the values in the grid and in the targetGrid. """ # FIXME: Not sure if I'm using "break" correctly below. Only breaks out of inner loop? targetToGridMap = {} # Used to check that we have a bijection between the alphabets in the target grid gridToTargetMap = {} # and those in the current grid matches = True for i in range(self.gridX): for j in range(self.gridY): targetCol = self.targetGrid[j][i] gridCol = self.grid[j][i] if (not isinstance(targetCol, str)) and targetCol != gridCol: matches = False break if targetCol in targetToGridMap: if targetToGridMap[targetCol] != gridCol: matches = False break targetToGridMap[targetCol] = gridCol if gridCol in gridToTargetMap: if gridToTargetMap[gridCol] != targetCol: matches = False break gridToTargetMap[gridCol] = targetCol return matches # def gridExactlyMatchesTarget(self): # # matches = True # for i in range(self.gridX): # for j in range(self.gridY): # if self.grid[j][i] != self.targetGrid[i][j]: # matches = False # break # # return matches #canvas.move(robotRef, -102, -204) #canvas.itemconfig(robotRef, image=robotBlueR) #canvas.coords(robotRef,204,102) #robotRef2 = canvas.create_image((linePix+cellPix)*(robotX+1)+linePix, (linePix+cellPix)*robotY+linePix, image=tmpImage, anchor = NW) #canvas.move(robotRef2, -102, -204) #canvas.itemconfig(robotRef2, image=tmpImage) #canvas.coords(robotRef2,404,102) #print(self.canvas.coords(robotRef)) def startDisplay(self): """Creates the main display window for our robot""" #print("DEBUG: Running startDisplay") assert not self.windowIsRunning #print(self.grid) self.world = Toplevel() self.world.title("Robot World") # (" + self.worldName + ")") self.world.protocol('WM_DELETE_WINDOW', self.closeWindow) self.robotImg = RobotImages(self.world, self.cellPix) self.canvasWidth = self.linePix*(self.gridX+1) + self.cellPix*self.gridX; self.canvasHeight = self.linePix*(self.gridY+1) + self.cellPix*self.gridY; # create the canvas, size in pixels self.canvas = Canvas(self.world, width = self.canvasWidth, height = self.canvasHeight, bg = 'black') self.gridRectRef = copy.deepcopy(self.grid) # brain-dead way to create array of right dimension; will # overwrite elements later. Used to store references to gridcells self.canvas.pack() for i in range(self.gridY): for j in range(self.gridX): self.gridRectRef[i][j] = self.canvas.create_rectangle(1+(self.linePix+self.cellPix)*j+self.linePix, 1+(self.linePix+self.cellPix)*i+self.linePix, 1+(self.linePix+self.cellPix)*j+self.linePix+self.cellPix+1, 1+(self.linePix+self.cellPix)*i+self.linePix+self.cellPix+1, fill = Constants.colorDef[self.grid[i][j]]) self.robotRef = None self.drawRobot() self.windowIsRunning = True def drawRobot(self): if self.robotRef != None: self.canvas.delete(self.robotRef) currentColor = self.grid[self.robotY][self.robotX] # print("Current color: ", currentColor) self.robotRef = self.canvas.create_image(2+(self.linePix+self.cellPix)*self.robotX+self.linePix, 2+(self.linePix+self.cellPix)*self.robotY+self.linePix, image=self.robotImg.img(currentColor, self.robotDir), anchor = NW) def paint(self, colorIndex): """Paint the current square (occupied by the robot) a new color, specified by colorIndex""" assert 0 <= colorIndex < Constants.numColors self.canvas.itemconfig(self.gridRectRef[self.robotY][self.robotX], fill=Constants.colorDef[colorIndex]) self.grid[self.robotY][self.robotX] = colorIndex self.drawRobot() def moveForward(self): if self.robotDir == Constants.EAST: newX = self.robotX + 1 newY = self.robotY elif self.robotDir == Constants.NORTH: newX = self.robotX newY = self.robotY - 1 elif self.robotDir == Constants.WEST: newX = self.robotX - 1 newY = self.robotY else: assert self.robotDir == Constants.SOUTH newX = self.robotX newY = self.robotY + 1 if newX < 0 or newY < 0 or newX >= self.gridX or newY >= self.gridY or self.grid[newY][newX] == 0: print("ROBOT: Can't move forward. There's a wall in front of the robot.") else: self.robotX = newX self.robotY = newY self.drawRobot() def turnLeft(self): if self.robotDir == 3: self.robotDir = 0 else: self.robotDir += 1 self.drawRobot() def turnRight(self): if self.robotDir == 0: self.robotDir = 3 else: self.robotDir -= 1 self.drawRobot() def mainloopProcess(self): #print("DEBUG: Starting mainloop") self.root.mainloop() #print("DEBUG: Ended mainloop") #def buttonHandler(self): # self.windowIsRunning = False # self.world.destroy() def closeWindow(self, quiet=False): #if not quiet: # print('Robot World window closed. Enter "robot.showWorld()" to restart.') if self.windowIsRunning: self.world.destroy() self.windowIsRunning = False def consumer(self): """Consumes commands off self.commandQueue, and executes them on the robot.""" try: command = self.commandQueue.get(block=False) except Queue.Empty: #print("Queue empty") pass else: # time.sleep(1) if not self.windowIsRunning: self.startDisplay() if command != None: command() self.checkGoal() #self.counter += data #print("Got %d" % data) #self.textLabel.config(text="Count: %d" % self.counter) self.root.after(self.simulatorDelay, self.consumer) # simulatorDelay defaults to 100 ms --> 10 Hz updates class RobotImages: def __init__(self, root, imageDim): self.root = root self.imageDim = imageDim self.origImg = [[]]*4 self.origImg[Constants.EAST] = self.robotRightImg() # right/east self.origImg[Constants.NORTH] = self.origImg[Constants.EAST].copy() self.origImg[Constants.WEST] = self.origImg[Constants.EAST].copy() self.origImg[Constants.SOUTH] = self.origImg[Constants.EAST].copy() # Get all the rotated versions of the image for i in range(self.imageDim): for j in range(self.imageDim): pixColor = self.origImg[Constants.EAST].get(i,j) (r,g,b) = map(int, string.split(pixColor)) self.origImg[Constants.WEST].put("#%02x%02x%02x"%(r,g,b), (self.imageDim-1-i,j)) # left/west self.origImg[Constants.NORTH].put("#%02x%02x%02x"%(r,g,b), (j,self.imageDim-1-i)) # up/north self.origImg[Constants.SOUTH].put("#%02x%02x%02x"%(r,g,b), (self.imageDim-1-j,i)) # down/south #self.robotPics = [[None]*Constants.numDirections]*Constants.numColors # Buggy: All reference the same row self.robotPics = [[None]*Constants.numDirections for i in range(Constants.numColors)] def img(self, bgColor, direction): """Give a PhotoImage object of the robot facing a particular direction and with a certain background color. DIRECTION and BGCOLOR are as specified using constants defined in the Constants class.""" assert 0 <= direction < Constants.numDirections assert 0 <= bgColor < Constants.numColors if self.robotPics[bgColor][direction] == None: # Use memoization of the images #print("DEBUG: RobotImages generating with bgColor=%d, direction=%d" % (bgColor,direction)) self.robotPics[bgColor][direction] = self.generateImage(direction, bgColor) return self.robotPics[bgColor][direction] def generateImage(self, direction, bgColorIndex): """Take a robot image (with a blue background), and recolor the background, returning the result. img is a photoImage object. bgColor should be a string like '#FF0080'. """ img = self.origImg[direction] # Original image from which we'll create the one with the modified background newImg = img.copy() #newImg.put("#%02x%02x%02x"%(0,255,0), (0,20)) assert 0 <= bgColorIndex < Constants.numColors bgColor = Constants.colorDef[bgColorIndex] assert bgColor[0:1] == '#' and len(bgColor) == 7, "Badly formatted input bgColor" newBackgroundR = int("0x" + bgColor[1:3], 0) newBackgroundG = int("0x" + bgColor[3:5], 0) newBackgroundB = int("0x" + bgColor[5:7], 0) imageDim = newImg.width() #print(imageDim, newImg.height(), direction, bgColorIndex) assert (imageDim == newImg.height()), "Unequal heigh/width (%d,%d). Tested only on square images." % (imageDim, newImg.height()) self.foo = img for i in range(imageDim): for j in range(imageDim): pixColor = img.get(i,j) while pixColor == 'None': # Weird workaround. I don't know why img.get sometimes returns 'None', but then # trying it again usuall works. # print("WARNING", pixColor, i, j) pixColor = img.get(i,j) (r,g,b) = map(int, string.split(pixColor)) if (r == 0 and g == 0): newR = int(newBackgroundR * b/255) newG = int(newBackgroundG * b/255) newB = int(newBackgroundB * b/255) else: (newR,newG,newB) = (r,g,b) newImg.put("#%02x%02x%02x"%(newR,newG,newB), (i,j)) return newImg def robotRightImg(self): #imgData has base64 encoding of a the images, indexed byt image width. 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+r'BpPwBpL/EVK46IM4MAFcZAimElMTcAGOEwQfeQIieRECgAdUkBsQoJMJ6RGvAQPZMANWUBWxII0EQQ+r' +r'MDqnIQdZGZUYoQeQwAodIwfgcxA00ABHlEVgqZViORBIsAVx9Yw9aBDtKAjJ4ZZhGZcG8QCR4AH+AgGe' +r'MIYKaU+4ERhv6ZcGIQFlkGVUQT8WKBDywTuBAZWMORB+EGZ1ol3PMJnicyExZIs7GZVLlzdYwBYd8Jl4' +r'eUeWCQFGUIWZKRDFNB9O6ZmTSQCwYFWQt46zuZltqZoEVRCZgJi24QKfOJsCoZsEojsrU5gGoQuRhBx9' +r'oARUEBMPUAJHRwBIgAQEUIHCaArk/2FkPzNohaYA44MdA7ADHBACotAOVCAPLUAOERABX0AFYLBxanhx' +r'11E+VfE9hUYEp0JTMeAOs3AOShAUCgoUEYAJ+fc5YHZEuEYVyGNperACz4MckKEDV2BTTvChI5AOMdAD' +r'spUAZuWDhcCW5yYYJ5ADD6AABmYIz2IekhMFU0Aaf5GjfwFE/jCZcKOb6xNodcBNGjANokAHAjABlkAx' +r'VnUbNvAOTXobvChbaxCCcOMHgWA6FeCc3QIUodAItIAGOFAKrVB/VEALMpCmMvAIwKBZmhUVwfYJcuAI' +r'pfkyaAANVbBTmKEEESABOAADSFAJpaACKuAIhkoDTfAPbMAGsI5ACAFwpjLgAXIQDTdohbqwAyPQHJ7l' +r'FkoQAFQmAKCqmSVQCNwJD6VQDLYABP5AA3X6MhKwCOSjEixBooRhYzWBA3rwoMsTAqAADZFWAQI4PLNG' +r'W8qZESRJC27adFnVIUqgDfBXrAfxALpgDlsTRSHKEgZgApXQqtD6BGqwATVQA3YQBhzAAX6yCwEJNwEB' +r'ADs=') assert self.imageDim in imgData, "Robot picture not available in desired image width." img = PhotoImage(format='gif',data=imgData[self.imageDim]) #print("New image size: %d x %d" % (img.width(), img.height())) return img # ----------------------------------------------------------------------------------------- # ----------------------------------------------------------------------------------------- # ----------------------------------------------------------------------------------------- a = RobotWorld() def showWorld(): a.commandQueue.put(None) def moveForward(): a.commandQueue.put(a.moveForward) def turnLeft(): a.commandQueue.put(a.turnLeft) #def turnRight(): # a.commandQueue.put(a.turnRight) def paintWhite(): a.commandQueue.put(lambda:a.paint(1)) def paintRed(): a.commandQueue.put(lambda:a.paint(2)) def paintGreen(): a.commandQueue.put(lambda:a.paint(3)) def paintBlue(): a.commandQueue.put(lambda:a.paint(4)) def paintYellow(): a.commandQueue.put(lambda:a.paint(5)) def paintMagenta(): a.commandQueue.put(lambda:a.paint(6)) def paintCyan(): a.commandQueue.put(lambda:a.paint(7)) def paintGrey(): # accept both spellings: grey or gray a.commandQueue.put(lambda:a.paint(8)) def paintGray(): # accept both spellings: grey or gray a.commandQueue.put(lambda:a.paint(8)) def paintPink(): a.commandQueue.put(lambda:a.paint(9)) def paintPurple(): a.commandQueue.put(lambda:a.paint(10)) def paintBrown(): a.commandQueue.put(lambda:a.paint(11)) def paintOrange(): a.commandQueue.put(lambda:a.paint(12)) def setFastSpeed(): a.commandQueue.put(lambda:a.setSimulatorDelay(40)) # 40ms delay --> 25 Hz def setNormalSpeed(): a.commandQueue.put(lambda:a.setSimulatorDelay(200)) # 200ms delay --> 5 Hz def setSlowSpeed(): a.commandQueue.put(lambda:a.setSimulatorDelay(1000)) # 1000ms delay --> 1 Hz #def setVerySlowSpeed(): # a.commandQueue.put(lambda:a.setSimulatorDelay(1000)) # 1000ms delay # colorNames = { 0:"black", 1:"white", 2:"red", 3:"green", 4:"blue", 5:"yellow", 6:"magenta", 7:"cyan", 8:"grey", 9:"pink", 10:"purple", 11:"brown", 12:"orange"} def mazeWorld(): a.commandQueue.put(a.mazeWorld) def mazeWorld1(): a.commandQueue.put(a.mazeWorld) def mazeWorld2(): a.commandQueue.put(a.mazeWorld2) def potholeWorld(): a.commandQueue.put(a.potholeWorld) def world3(): a.commandQueue.put(a.startWorld3) # colorNames = { 0:"black", 1:"white", 2:"red", 3:"green", 4:"blue", 5:"yellow", 6:"magenta", 7:"cyan", 8:"grey"}