"""
The module is designed by team Robokit of Phystech Lyceum and team Starkit
of MIPT under mentorship of Azer Babaev
with paticipation of junior student Matvei Ivaschenko
and team coach Dmitrij Ustinov.
The module is designed for creating strategy matrix of "forward" player.
Strategy is defined by direction and power of kick in selected segment of field.
Order of operation with "strategy_designer" module:
- launch under python interpreter;
- using menu item "Load from file" choose file with strategy data. Usually
with name "Init_params/startegy_data.json";
- select sector for modification by click;
- operating slider "YAW" at right upper side set direction of kick;
- operating slider "POWER" set power of kick;
- click button "RECORD"
- select next sector for modification;
- save changes into file;
- quit;
There is console window at right side of program window reporting about steps of operation.
Last configuration of program is saved in the file "startegy_designer_config.json"
which must be in the same directory as program itself.
"""
import wx
import wx.lib.agw.rulerctrl, wx.lib.intctrl, wx.lib.masked.ipaddrctrl, wx.adv, wx.lib.floatcanvas.FCObjects, wx.lib.agw.speedmeter
import sys
import io
#import serial, serial.tools.list_ports, socket,
import time
import random
import json
import threading
import os
#import pkg_resources.py2_warn
import math
current_work_directory = os.getcwd()
[docs]current_work_directory = current_work_directory.replace('\\', '/') + '/'
[docs]class RedirectText(object):
def __init__(self,aWxTextCtrl):
self.out = aWxTextCtrl
[docs] def write(self,string):
self.out.WriteText(string)
[docs]class MyPanel(wx.Panel):
def __init__(self,parent=None):
wx.Panel.__init__(self,parent,id=-1)
self.parent = parent
self.Bind(wx.EVT_PAINT, self.OnPaint)
[docs] def OnPaint(self, evt):
self.dc = wx.PaintDC(self)
#dc.SetBackground(wx.Brush('#1ac500'))
#dc.SetPen(wx.Pen('#d4d4d4'))
self.SetClientSize(800, 600)
self.dc.SetBrush(wx.Brush('#1ac500'))
self.dc.DrawRectangle(0, 0, 800, 600)
pen1 = wx.Pen('#ffffff', 10, wx.SOLID)
pen1.SetJoin(wx.JOIN_MITER)
self.dc.SetPen(pen1)
self.dc.DrawRectangle(40, 40, 720, 520)
self.dc.DrawRectangle(0, 200, 40, 200)
self.dc.DrawRectangle(760, 200, 40, 200)
self.dc.DrawRectangle(40, 160, 40, 280)
self.dc.DrawRectangle(720, 160, 40, 280)
self.dc.DrawCircle(400,300,60)
self.dc.DrawLine(400,45,400,555)
self.dc.DrawLine(390,300,410,300)
self.dc.DrawLine(210,300,230,300)
self.dc.DrawLine(220,290,220,310)
self.dc.DrawLine(570,300,590,300)
self.dc.DrawLine(580,290,580,310)
pen2 = wx.Pen('#000000', 1, wx.SOLID)
pen3 = wx.Pen('#ffff00', 1, wx.SOLID)
self.dc.SetPen(pen2)
for vert in range(19):
self.dc.DrawLine(40 + vert * 40, 40, 40 + vert * 40, 560)
for horiz in range(14):
self.dc.DrawLine(40, 40 + horiz * 40, 760, 40 + horiz * 40)
self.dc.DrawRectangle(38 + self.parent.activeSector[0] * 40 , 38 + self.parent.activeSector[1] * 40, 44, 44) # activeSector
for i in range(len(self.parent.strategy_data)):
column = 60 + self.parent.strategy_data[i][0] * 40
raw = 60 + self.parent.strategy_data[i][1] * 40
arrow_length = 30 / self.parent.strategy_data[i][2]
arrow_start_x = column - arrow_length / 2 * math.cos(self.parent.strategy_data[i][3])
arrow_end_x = column + arrow_length / 2 * math.cos(self.parent.strategy_data[i][3])
arrow_start_y = raw + arrow_length / 2 * math.sin(self.parent.strategy_data[i][3])
arrow_end_y = raw - arrow_length / 2 * math.sin(self.parent.strategy_data[i][3])
self.dc.DrawLine(arrow_start_x, arrow_start_y, arrow_end_x, arrow_end_y)
self.dc.DrawCircle(arrow_end_x, arrow_end_y,2)
distance = 300/ self.parent.activeSectorPower
column = 60 + self.parent.activeSector[0] * 40
raw = 60 + self.parent.activeSector[1] * 40
arrow_length = 30 / self.parent.activeSectorPower
arrow_start_x = column - arrow_length / 2 * math.cos(self.parent.activeSectorYaw)
arrow_end_x = column + arrow_length / 2 * math.cos(self.parent.activeSectorYaw)
arrow_end_x_inf = column + distance * math.cos(self.parent.activeSectorYaw)
arrow_start_y = raw + arrow_length / 2 * math.sin(self.parent.activeSectorYaw)
arrow_end_y = raw - arrow_length / 2 * math.sin(self.parent.activeSectorYaw)
arrow_end_y_inf = raw - distance * math.sin(self.parent.activeSectorYaw)
if arrow_end_x_inf > 800:
arrow_end_x_inf = 800
arrow_end_y_inf = raw - (800- column) * math.tan(self.parent.activeSectorYaw)
if arrow_end_x_inf < 0:
arrow_end_x_inf = 0
arrow_end_y_inf = raw + column * math.tan(self.parent.activeSectorYaw)
if arrow_end_y_inf > 600:
arrow_end_y_inf = 600
arrow_end_x_inf = column - (600 - raw) / math.tan(self.parent.activeSectorYaw)
if arrow_end_y_inf < 0:
arrow_end_y_inf = 0
arrow_end_x_inf = column + raw / math.tan(self.parent.activeSectorYaw)
self.dc.SetPen(pen3)
self.dc.DrawLine(arrow_start_x, arrow_start_y, arrow_end_x_inf, arrow_end_y_inf)
self.dc.DrawCircle(arrow_end_x, arrow_end_y,2)
self.dc.DrawCircle(arrow_end_x_inf, arrow_end_y_inf,2)
[docs]class Strategy_Designer(wx.Frame):
def __init__(self, *args, **kw):
super(Strategy_Designer, self).__init__(*args, **kw)
self.COLUMNS = 18
self.RAWS = 13
self.strategy_data = []
for column in range(self.COLUMNS):
for raw in range(self.RAWS):
self.strategy_data.append([column,raw,1,0])
self.strategy_data_file_is_loaded = False
self.panel = wx.Panel(self)
self.filename = 'strategy_data.json'
self.controlslider = [0,0]
self.controlvalue = [0,0]
self.activeSectorYaw = 0
self.activeSectorPower = 1
self.activeSector = [0,0]
self.InitUI()
[docs] def InitUI(self):
self.console_Panel = wx.Panel(self)
self.log = wx.TextCtrl(self.console_Panel, -1, style=wx.TE_MULTILINE)
log_box = wx.BoxSizer(wx.VERTICAL)
log_box.Add(self.log, proportion = 1, flag=wx.EXPAND|wx.BOTTOM|wx.TOP)
self.console_Panel.SetSizer(log_box)
redir = RedirectText(self.log)
sys.stdout = redir
#sys.stderr = redir
self.CreateMenuBar()
self.videopanel = MyPanel(self)
self.videopanel.SetBackgroundStyle(wx.BG_STYLE_SYSTEM)
self.videopanel.SetBackgroundColour(wx.BLACK)
self.videopanel.SetMinSize((800,600))
self.yaw_control_pnl = wx.Panel(self, pos=(800, 0) , size = (130,150), style = wx.TAB_TRAVERSAL|wx.BORDER_RAISED)
self.yaw_control_pnl.SetBackgroundColour(wx.SystemSettings.GetColour(wx.SYS_COLOUR_MENU))
val1 = 0
controlName0 = wx.StaticText(self.yaw_control_pnl, label='YAW', pos = (0,0), size=(70,25), style= wx.ALIGN_LEFT)
self.controlslider[0] = wx.Slider(self.yaw_control_pnl, id = 0, value=val1, minValue=-180, maxValue=180, pos = (0,25), size = (130,25))
self.controlvalue[0] = wx.SpinCtrl(self.yaw_control_pnl, id = 0, value="0", pos=(70,0), size=wx.DefaultSize,
style=wx.SP_WRAP, min= -180, max=180, initial=0)
self.controlslider[0].Bind(wx.EVT_SLIDER, self.On_Slider_move)
self.controlvalue[0].Bind(wx.EVT_SPINCTRL, self.On_SPINCTRL_change)
self.controlvalue[0].Bind(wx.EVT_TEXT, self.On_SPINCTRL_change)
controlName1 = wx.StaticText(self.yaw_control_pnl, label='POWER', pos = (0,100), size=(70,25), style= wx.ALIGN_LEFT)
self.controlslider[1] = wx.Slider(self.yaw_control_pnl, id = 1, value= 1, minValue=1, maxValue=3, pos = (0,125), size = (130,25))
self.controlvalue[1] = wx.SpinCtrl(self.yaw_control_pnl, id = 1, value="1", pos=(70,100), size=wx.DefaultSize,
style=wx.SP_WRAP, min= 1, max=3, initial=1)
self.controlslider[1].Bind(wx.EVT_SLIDER, self.On_Slider_move)
self.controlvalue[1].Bind(wx.EVT_SPINCTRL, self.On_SPINCTRL_change)
self.controlvalue[1].Bind(wx.EVT_TEXT, self.On_SPINCTRL_change)
self.quit_button = wx.Button(self.panel, wx.ID_ANY, "Quit")
self.save_and_exit_button = wx.Button(self.panel, wx.ID_ANY, "Save&Exit")
self.record_button = wx.Button(self.panel, wx.ID_ANY, "Record")
self.load_file_button = wx.Button(self.panel, wx.ID_ANY, "Load File")
self.button_box = wx.BoxSizer(wx.HORIZONTAL)
vbox = wx.BoxSizer(wx.VERTICAL)
hbox1 = wx.BoxSizer(wx.HORIZONTAL)
hbox2 = wx.BoxSizer(wx.HORIZONTAL)
self.button_box.Add(self.quit_button, proportion=0)
self.button_box.Add(self.save_and_exit_button, proportion=0)
self.button_box.Add(self.load_file_button, proportion=0)
self.button_box.Add(self.record_button, proportion=0, flag= wx.EXPAND | wx.LEFT)
self.panel.SetSizer(self.button_box)
self.button_sizer = wx.BoxSizer(wx.HORIZONTAL)
self.button_sizer.Add(self.panel, proportion=2, flag=wx.EXPAND )
image_sizer = wx.BoxSizer(wx.HORIZONTAL)
image_sizer.Add(self.videopanel, proportion=0)
image_sizer.Add(self.yaw_control_pnl, proportion=0, flag=wx.ALIGN_LEFT)
sizer = wx.BoxSizer(wx.VERTICAL)
sizer.Add(self.button_sizer, proportion=0, flag=wx.EXPAND )
sizer.Add(image_sizer, proportion=2, flag=wx.EXPAND)
sizer.SetMinSize((810, 680))
whole_window = wx.BoxSizer(wx.HORIZONTAL)
whole_window.Add(sizer, proportion = 0, flag=wx.EXPAND )
whole_window.Add(self.console_Panel, proportion = 1, flag=wx.EXPAND|wx.BOTTOM|wx.TOP )
self.SetMinSize((1000, 710))
self.CreateStatusBar()
self.SetSizer(whole_window)
self.SetSize((1000, 710))
self.SetTitle('Strategy Designer')
self.Centre()
self.videopanel.Bind(wx.EVT_LEFT_DOWN, self.On_Left_Down_Field)
self.Bind(wx.EVT_SLIDER, self.On_Slider_move)
self.Bind(wx.EVT_MENU, self.On_Load_File, id = 1 )
self.Bind(wx.EVT_MENU, self.On_Save, id = 2 )
self.Bind(wx.EVT_MENU, self.On_Save_as, id = 3 )
self.Bind(wx.EVT_MENU, self.On_Quit_select, id = 5 )
self.Bind(wx.EVT_MENU, self.OnAbout, id = 21 )
self.Bind(wx.EVT_MENU, self.Quick_Start, id = 22 )
self.quit_button.Bind(wx.EVT_BUTTON, self.On_Quit_select)
self.record_button.Bind(wx.EVT_BUTTON, self.On_Record )
self.load_file_button.Bind(wx.EVT_BUTTON, self.On_Load_File)
self.save_and_exit_button.Bind(wx.EVT_BUTTON, self.On_Save_and_Exit)
[docs] def On_Slider_move(self, event):
id = event.GetId()
val = self.controlslider[id].GetValue()
self.controlvalue[id].SetValue(val)
if id == 0: self.activeSectorYaw = math.radians(val)
if id == 1: self.activeSectorPower = val
self.videopanel.Refresh()
[docs] def On_SPINCTRL_change(self, event):
id = event.GetId()
val = self.controlvalue[id].GetValue()
self.controlslider[id].SetValue(val)
if id == 0: self.activeSectorYaw = math.radians(val)
if id == 1: self.activeSectorPower = val
self.videopanel.Refresh()
[docs] def On_Left_Down_Field(self, event):
mouse_position = event.GetPosition()
column_position = mouse_position[0] // 40 - 1
raw_position = mouse_position[1] // 40 - 1
legalPosition = False
if 0 <= column_position < 18 and 0 <= raw_position < 13 : legalPosition = True
if legalPosition:
self.activeSector = [column_position, raw_position]
print((column_position, raw_position))
self.videopanel.Refresh()
[docs] def Quick_Start(self, event):
print('1. Здесь можно дать послеловательность действий оператора',
'\n2. Это должно помочь')
[docs] def OnAbout(self, event):
aboutInfo = wx.adv.AboutDialogInfo()
aboutInfo.SetName("Strategy Designer")
aboutInfo.SetVersion('Version 1.0')
aboutInfo.SetDescription("With this app you can tune fast and convenient\n strategy of ball kicks depending on ball position.")
aboutInfo.SetCopyright("(C) 2020")
aboutInfo.SetWebSite("www.robokit.su")
aboutInfo.AddDeveloper("Matvei Ivaschenko")
wx.adv.AboutBox(aboutInfo)
[docs] def On_Save(self, event):
data = {"strategy_data": self.strategy_data}
with open(self.filename, "w") as f:
json.dump(data, f)
[docs] def On_Save_as(self, event):
save_file_dialog = wx.FileDialog(None, message="Select .json file with strategy data",
wildcard = '*.json', style =wx.FD_SAVE|wx.FD_OVERWRITE_PROMPT)
success_code = save_file_dialog.ShowModal()
if success_code == wx.ID_OK:
self.filename = save_file_dialog.GetPath()
self.filename = self.filename.replace('\\', '/')
data = {"strategy_data": self.strategy_data}
with open(self.filename, "w") as f:
json.dump(data, f)
[docs] def On_Save_and_Exit(self, event):
self.On_Save(event)
self.On_Quit_select(event)
[docs] def On_Quit_select(self, e):
#with open(current_work_directory + "Threshold_Tuner_config.json", "w") as f:
# json.dump(self.config, f)
sys.stdout = sys.__stdout__
sys.stderr = sys.__stderr__
sys.exit(0)
[docs] def On_Record(self, e):
index = -1
for i in range(len(self.strategy_data)):
if self.strategy_data[i][0] == self.activeSector[0] and self.strategy_data[i][1] == self.activeSector[1]:
index = i
self.strategy_data[i] = [self.activeSector[0], self.activeSector[1], self.activeSectorPower, self.activeSectorYaw]
break
if index == -1:
self.strategy_data.append([self.activeSector[0], self.activeSector[1], self.activeSectorPower, self.activeSectorYaw])
self.videopanel.Refresh()
[docs] def On_Load_File(self, event):
load_file_dialog = wx.FileDialog(None, message="Select .json file with strategy data", defaultFile = self.filename, wildcard = '*.json')
success_code = load_file_dialog.ShowModal()
if success_code == wx.ID_OK:
self.filename = load_file_dialog.GetPath()
self.defaultFile = self.filename
self.filename = self.filename.replace('\\', '/')
with open(self.filename, "r") as f:
loaded_Dict = json.loads(f.read())
if loaded_Dict.get('strategy_data') != None:
self.strategy_data_file_is_loaded = True
self.strategy_data = loaded_Dict['strategy_data']
print( 'stratedy_data_file_is_loaded =', self.strategy_data_file_is_loaded)
self.videopanel.Refresh()
[docs]def main():
app = wx.App()
th = Strategy_Designer(None)
th.Show()
app.MainLoop()
if __name__ == '__main__':
main()