Revision 932 trunk/code/projects/mapping/python/map.py
| map.py (revision 932) | ||
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| 38 | 38 |
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| 39 | 39 |
self.set_size_request(self.xres, self.yres) |
| 40 | 40 |
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| 41 |
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| 42 | 41 |
self.socket = socket |
| 43 |
self.bots = [] |
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| 42 |
self.bots = [i for i in xrange(16)] |
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| 44 | 43 |
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| 45 | 44 |
self.draw = map_model() |
| 46 |
self.draw.bot = [1,1,pi/2] # x y theta |
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| 45 |
self.draw.bot = [[1,1,pi/2],0] # x y theta |
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| 47 | 46 |
self.draw.add_dependent(self.redraw) |
| 48 | 47 |
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| 49 | 48 |
self.scale_const = 50 |
| ... | ... | |
| 71 | 70 |
self.ctx = self.window.cairo_create() |
| 72 | 71 |
self.ctx.new_path() |
| 73 | 72 |
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| 74 |
x, y, theta = self.draw.bot |
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| 73 |
tbot = self.draw.bot |
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print tbot |
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x, y, theta = tbot[:3] |
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| 75 | 76 |
y = -y #because we don't want to draw down more units |
| 76 | 77 |
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| 77 | 78 |
#draw blob |
| ... | ... | |
| 156 | 157 |
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| 157 | 158 |
buf = self.socket.recv(100) |
| 158 | 159 |
if (buf): |
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items = unpack('4c2hf5h')
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print items |
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items = unpack('4c2hf5h',buf)
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src = ord(items[0]) |
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old = self.draw.bot #the info of bot src at prev iter |
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newx = items[4] / 30.0 |
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newy = items[5] / 30.0 |
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new = [newx, newy] + [items[i] for i in range(6,12)] |
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self.draw.bot = new |
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| 161 | 167 |
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| 162 | 168 |
# info = self.draw.bot |
| 163 | 169 |
# dx = random() * 2 - 1 |
| 164 | 170 |
# dy = random() * 2 - 1 |
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| 166 | 172 |
# self.draw.bot = [info[0] + dx, info[1] + dx, info[2]] |
| 167 | 173 |
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| 168 | 174 |
return True |
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