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from pyrobot.brain import *
from pyrobot.tools.joystick import Joystick
import pyrobot.system.share as share
from pyrobot.map.lps import LPS
from pyrobot.map.gps import GPS
import thread
class Map(Brain):
def setup(self):
# We want our map to measure in MM, so we first store our current unit of measure
units = self.robot.range.units
# We then reset our measurements to MMs
self.robot.range.units = 'MM'
# Calculate the maximum range of our sensors
rangeMaxMM = self.robot.range.getMaxvalue()
sizeMM = rangeMaxMM * 3 + self.robot.radius
# Reset our unit of measure
self.robot.range.units = units
# Now, we create our Local Perceptual Space window - this will hold our local map
# Map will be 20px by 20px and will represent a height and width of sizeMM (total sensor range)
self.lps = LPS( 40, 40,
widthMM = sizeMM,
heightMM = sizeMM)
# Then create our Global Perceptual Space window - this will hold our global map
# This map will be 500px by 500px and will represent an area ten times the size of our maximum range
self.gps = GPS( cols=300, rows=300,
heightMM = sizeMM * 5, widthMM = sizeMM * 5)
self.joystick = Joystick(share.gui)
self.need_redraw = False
self.lock = thread.allocate_lock()
def step(self):
if not self.lock.acquire(False):
return
#print "Stepping...",
# First we clear out all our old LPS data
self.lps.reset()
# Next we update our LPS with current 'range' sensor readings
self.lps.sensorHits(self.robot, 'range')
# Now redraw our LPS window - the LPS redraw can be improve performance
# Then update our GPS with the new information in the LPS
self.gps.updateFromLPS(self.lps, self.robot)
# Finally, we redraw the GPS window
self.need_redraw = True
self.move(self.joystick.translate, self.joystick.rotate)
self.lock.release()
#print "done stepping!"
def redraw(self):
if (not self.lock.acquire(False)):
return
#print "Redrawing...",
if self.need_redraw:
self.lps.redraw(drawLabels=False)
self.gps.update()
self.gps.redraw()
self.need_redraw = False
self.lock.release()
#print "done redrawing!"
def destroy(self):
# Make sure we close down cleanly
self.lps.destroy()
self.gps.destroy()
self.joystick.destroy()
def INIT(engine):
return Map("Mapping Brain", engine) |
