diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0c894b51bba4ebf7f5c1062b6bd34f3a339cde90..778b3ade817184f81af9d7de1a458658dd0a0f2c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,199 +1,15 @@
cmake_minimum_required(VERSION 2.8.3)
-project(ddviz-python)
+project(ddviz)
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
nav_msgs
- mccd_msgs
rospy
)
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# nav_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES ddviz-python
-# CATKIN_DEPENDS nav_msgs rospy
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
+catkin_python_setup()
+catkin_package()
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
+catkin_install_python(
+ PROGRAMS nodes/ddviz
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/ddviz-python.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/ddviz-python_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_ddviz-python.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/README.md b/README.md
index e4a79c7e23a738f4edcb4f307f3425b78a490d70..99569a88f036e55879643afe8445e80d242a7dde 100644
--- a/README.md
+++ b/README.md
@@ -8,5 +8,5 @@ pip3 install --upgrade pyglet
## Launch
```
-rosrun ddviz-python ddviz-python.py
+rosrun ddviz ddviz
```
diff --git a/nodes/ddviz b/nodes/ddviz
new file mode 100755
index 0000000000000000000000000000000000000000..1e653c7adc4a1303be867f42e2f04d44d998c6fa
--- /dev/null
+++ b/nodes/ddviz
@@ -0,0 +1,13 @@
+#!/usr/bin/env python3
+
+import rospy
+from ddviz import run_simulation
+
+if __name__ == '__main__':
+
+ try:
+ rospy.init_node("ddviz")
+ run_simulation()
+ rospy.spin()
+ except rospy.ROSInterruptException:
+ exit(0)
\ No newline at end of file
diff --git a/package.xml b/package.xml
index a3a6694103536eb8a1808769aa788e58948f8e56..5eb6744a53da5722b9a1fd8d2a8baa6ff0bc1b6e 100644
--- a/package.xml
+++ b/package.xml
@@ -1,68 +1,19 @@
<?xml version="1.0"?>
<package format="2">
- <name>ddviz-python</name>
- <version>0.0.0</version>
- <description>The ddviz-python package</description>
+ <name>ddviz</name>
+ <version>1.0.0</version>
+ <description>2D visualisation of CdF terrain in realtime</description>
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="thomas@todo.todo">thomas</maintainer>
+ <maintainer email="charles.javerliat@gmail.com">Charles JAVERLIAT</maintainer>
+ <maintainer email="thomas.vadebout@insa-lyon.fr">Thomas VADEBOUT</maintainer>
+ <license>GPLv3</license>
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>TODO</license>
-
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/ddviz-python</url> -->
-
-
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <build_depend>nav_msgs</build_depend>
- <build_depend>mccd_msgs</build_depend>
- <build_depend>rospy</build_depend>
- <build_export_depend>nav_msgs</build_export_depend>
- <build_export_depend>mccd_msgs</build_export_depend>
- <build_export_depend>rospy</build_export_depend>
+
<exec_depend>nav_msgs</exec_depend>
<exec_depend>mccd_msgs</exec_depend>
<exec_depend>rospy</exec_depend>
+ <exec_depend>pyglet</exec_depend>
-
- <!-- The export tag contains other, unspecified, tags -->
- <export>
- <!-- Other tools can request additional information be placed here -->
-
- </export>
</package>
diff --git a/ressources/galere.png b/resources/galere.png
similarity index 100%
rename from ressources/galere.png
rename to resources/galere.png
diff --git a/resources/icon.png b/resources/icon.png
new file mode 100644
index 0000000000000000000000000000000000000000..902baaef49dc64f2b2e7b708800288c0fe8faf5a
Binary files /dev/null and b/resources/icon.png differ
diff --git a/resources/sample_0.png b/resources/sample_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..182dfd6c0a4ebb55d0ca2437b2a1f74ed617eb72
Binary files /dev/null and b/resources/sample_0.png differ
diff --git a/resources/sample_1.png b/resources/sample_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..99a8a4ef588d30742bbc0d73a48c0c8f56a14a18
Binary files /dev/null and b/resources/sample_1.png differ
diff --git a/resources/sample_2.png b/resources/sample_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ab08dd247f1bd4e955643747eb64365aa377b34
Binary files /dev/null and b/resources/sample_2.png differ
diff --git a/resources/sample_3.png b/resources/sample_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..01cb6c30fb16d5f87500ba1ef709845261e9f3f5
Binary files /dev/null and b/resources/sample_3.png differ
diff --git a/ressources/terrain.svg b/resources/terrain.svg
similarity index 100%
rename from ressources/terrain.svg
rename to resources/terrain.svg
diff --git a/ressources/terrain_high.png b/resources/terrain_high.png
similarity index 100%
rename from ressources/terrain_high.png
rename to resources/terrain_high.png
diff --git a/ressources/terrain_low.png b/resources/terrain_low.png
similarity index 100%
rename from ressources/terrain_low.png
rename to resources/terrain_low.png
diff --git a/setup.py b/setup.py
index 03efc82002174f4148b2b9f0768255511bee958b..15968c6c3d69eb293b02ef981f613e6686f9ca2f 100644
--- a/setup.py
+++ b/setup.py
@@ -3,7 +3,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml
setup_args = generate_distutils_setup(
- packages='ddviz_python'],
+ packages=['ddviz'],
package_dir={'': 'src'},
)
diff --git a/src/DynamicObject.py b/src/DynamicObject.py
deleted file mode 100644
index f254e4e72dd6eeeb410bb867bc16f3b8f0b6d7a5..0000000000000000000000000000000000000000
--- a/src/DynamicObject.py
+++ /dev/null
@@ -1,42 +0,0 @@
-"""
-Something that can be viewed on the visualization window
-and which can evolve over time (position, rotation, status)
-"""
-
-from pyglet import sprite
-from pyglet import image
-
-class DynamicObject():
-
- def __init__(self, sprite_file_dir):
- self.sprite_file_dir = sprite_file_dir
-
- self.x = 0 # x coordinate in mm
- self.y = 0 # y coordinate in mm
- self.r = 0 # angle in radians
-
- sprite_img = image.load(sprite_file_dir)
-
- # set anchor at the middle of the image (useful for sprite pos and rot)
- sprite_img.anchor_x = sprite_img.width // 2
- sprite_img.anchor_y = sprite_img.height // 2
-
- self.sprite = sprite.Sprite(sprite_img, x=self.x, y=self.y)
-
- def set_x(self, x):
- self.x = x
- self.sprite.x = self.x
-
- def set_y(self, y):
- self.y = y
- self.sprite.y = self.y
-
- def set_r(self, r):
- self.r = r
- self.sprite.rotation = 90 + self.r * 57.2957795 # rad -> deg
- print(self.sprite.rotation)
-
- def __repr__(self):
- print("___DynamicObject___")
- print("sprite_file_dir : "+self.sprite_file_dir)
-
diff --git a/src/LaGalere.py b/src/LaGalere.py
deleted file mode 100644
index f6fa3bae0e9808882b1603b1de4c54fb2357d071..0000000000000000000000000000000000000000
--- a/src/LaGalere.py
+++ /dev/null
@@ -1,11 +0,0 @@
-
-from Robot import Robot
-import globals
-import os
-
-sprite_file_dir = os.path.join(globals.RESOURES_DIR, "galere.png")
-
-
-class LaGalere(Robot):
- def __init__(self):
- Robot.__init__(self, sprite_file_dir)
diff --git a/src/Robot.py b/src/Robot.py
deleted file mode 100644
index e2c710eb0eafc42ba230a5725b55bed9becb956d..0000000000000000000000000000000000000000
--- a/src/Robot.py
+++ /dev/null
@@ -1,7 +0,0 @@
-
-from DynamicObject import DynamicObject
-
-class Robot(DynamicObject):
-
- def __init__(self, sprite_file_dir):
- DynamicObject.__init__(self, sprite_file_dir)
diff --git a/src/VisualizationCore.py b/src/VisualizationCore.py
deleted file mode 100644
index e4a26d535fc426b6fb1696a639bccf653b9e970f..0000000000000000000000000000000000000000
--- a/src/VisualizationCore.py
+++ /dev/null
@@ -1,53 +0,0 @@
-
-import pyglet
-from pyglet import image
-from pyglet import gl
-import globals
-import os
-
-winWidth = 1500
-winHeight = 1000
-
-dynamicObjecsList = []
-
-
-def loadBackground():
- return image.load(os.path.join(globals.RESOURES_DIR, "terrain_high.png"))
-
-
-def update(up):
- pass
-
-
-def initVisualization():
- # allow use of an extra sample buffer (antialiasing)
- config = pyglet.gl.Config(sample_buffers=1, samples=4)
- window = pyglet.window.Window(
- config=config, width=winWidth, height=winHeight, resizable=False)
- bg = loadBackground()
-
- # scale to fit well terrain
- x_scaling = winWidth/bg.width
- y_scaling = winHeight/bg.height
- gl.glScalef(x_scaling, y_scaling, 1)
- print("window launched with scaling " + str((x_scaling, y_scaling)))
-
- @window.event
- def on_draw():
- window.clear()
- bg.blit(0, 0, 0)
-
- for dynObj in dynamicObjecsList:
- dynObj.sprite.draw()
-
- @window.event
- def on_close():
- exit(0)
-
- # enter in event loop until window is closed -> blocking
- pyglet.clock.schedule_interval(update, 1/10)
- pyglet.app.run()
-
-
-def addDynamicObject(dynObj):
- dynamicObjecsList.append(dynObj)
diff --git a/src/__init__.py b/src/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/src/board.py b/src/board.py
new file mode 100644
index 0000000000000000000000000000000000000000..6a318a7cb87965cbd0a13f36e701269df1952c74
--- /dev/null
+++ b/src/board.py
@@ -0,0 +1,75 @@
+from utils import load_sprite, ppm
+from math import pi, sin, degrees
+from robot import Robot
+from sample import SampleType, Sample
+
+sample_test = Sample(SampleType.RED)
+
+
+class Board:
+
+ def __init__(self, texture_path, width, height):
+ self._bg_sprite = load_sprite(texture_path, width * ppm, height * ppm)
+ self._width = width
+ self._height = height
+ self._robot = Robot()
+ self._samples = list()
+
+ def init_board(self):
+ # Robot starts in the camp
+ self._robot.x = self._robot.height / 2 + 0.03
+ self._robot.y = self._robot.width / 2 + 1.05
+ self._robot.theta = 90
+
+ # Create samples
+ self._samples.clear()
+
+ sample1 = Sample(SampleType.RED)
+ sample1.x = 0.85
+ sample1.y = 0.45
+ sample1.theta = 56
+
+ sample2 = Sample(SampleType.GREEN)
+ sample2.x = 0.72
+ sample2.y = 0.55
+ sample2.theta = 24
+
+ sample3 = Sample(SampleType.BLUE)
+ sample3.x = 0.9
+ sample3.y = 0.6
+ sample3.theta = 12
+
+ sample4 = Sample(SampleType.ROCKS)
+ sample4.x = 1.0
+ sample4.y = 0.45
+ sample4.theta = -87
+
+ self._samples.extend([sample1, sample2, sample3, sample4])
+
+ def draw(self):
+ self._bg_sprite.draw()
+
+ # Draw samples on the board
+ for sample in self._samples:
+ sample.draw()
+
+ # TODO: dessiner l'abris de chantier
+
+ # TODO: dessiner la vitrine
+
+ # TODO: dessiner la statuette
+
+
+ # dessiner le robot
+ self._robot.draw()
+
+ def update(self, dt):
+ self._robot.update(dt)
+
+ @property
+ def width(self):
+ return self._width
+
+ @property
+ def height(self):
+ return self._height
\ No newline at end of file
diff --git a/src/ddviz-python.py b/src/ddviz-python.py
deleted file mode 100755
index 2fad949f92ff398744233f2d807714773099f2ff..0000000000000000000000000000000000000000
--- a/src/ddviz-python.py
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/env python3
-
-from LaGalere import LaGalere
-import VisualizationCore
-
-import rospy
-from mccd_msgs.msg import Odometry
-
-
-class DdvizNode:
-
- def odomCallback(self, odom):
- self.pos_x = odom.x
- self.pos_y = odom.y
- self.rot = odom.theta
- self.updateVisualization()
-
- def __init__(self):
- self.galere = LaGalere()
-
- self.odomSubscriber = rospy.Subscriber(
- "/mccd/odom", Odometry, self.odomCallback)
- self.initVisualization()
-
- rospy.spin()
-
- def initVisualization(self):
- self.galere.set_x(1500)
- self.galere.set_y(1000)
- self.galere.set_r(3*1.57)
- VisualizationCore.addDynamicObject(self.galere)
- VisualizationCore.initVisualization()
-
- def updateVisualization(self):
- self.galere.set_x(self.pos_x*1000)
- self.galere.set_y(self.pos_y*1000)
- self.galere.set_r(-self.rot)
-
-
-if __name__ == '__main__':
-
- rospy.init_node("ddviz")
-
- try:
- DdvizNode()
- except rospy.ROSInterruptException:
- pass
diff --git a/src/ddviz.py b/src/ddviz.py
new file mode 100755
index 0000000000000000000000000000000000000000..be09e9eb26b6f9cf35cdaefcbcf2d9e2c27a033f
--- /dev/null
+++ b/src/ddviz.py
@@ -0,0 +1,44 @@
+from pyglet import gl, window, clock, app
+from board import Board
+from utils import ppm, load_img
+
+# Terrain dimensions (in meters)
+board_width = 3
+board_height = 2
+
+window_width = 1500
+window_height = 930
+
+max_fps = 60
+
+window = window.Window(caption="ddviz", config=gl.Config(), width=window_width, height=window_height, resizable=True)
+window.set_icon(load_img("icon.png"))
+window.maximize()
+
+board = Board("terrain_high.png", board_width, board_height)
+board.init_board()
+
+def update(dt):
+ board.update(dt)
+
+@window.event
+def on_draw():
+ gl.glClearColor(0.92, 0.94, 0.94, 1.0)
+ window.clear()
+
+ # Center everything and render the whole board
+ gl.glPushMatrix()
+ gl.glTranslatef((window.width - board_width * ppm) / 2, (window.height - board_height * ppm) / 2, 0)
+ board.draw()
+
+ # TODO: draw estimated score, speed, ...
+
+ gl.glPopMatrix()
+
+@window.event
+def on_close():
+ exit(0)
+
+def run_simulation():
+ clock.schedule_interval(update, 1 / max_fps)
+ app.run()
\ No newline at end of file
diff --git a/src/entity.py b/src/entity.py
new file mode 100644
index 0000000000000000000000000000000000000000..b7c1298a747371d69a7924b523aed35e2e4d54ce
--- /dev/null
+++ b/src/entity.py
@@ -0,0 +1,57 @@
+from utils import load_sprite, ppm
+
+class Entity:
+
+ def __init__(self, texture_path, width, height):
+ self._sprite = load_sprite(texture_path, width * ppm, height * ppm)
+ self._sprite.image.anchor_x = self._sprite.image.width // 2
+ self._sprite.image.anchor_y = self._sprite.image.height // 2
+ self._sprite.x = 0
+ self._sprite.y = 0
+ self._sprite.rotation = 0
+ self._x = 0
+ self._y = 0
+ self._theta = 0
+ self._width = width
+ self._height = height
+
+ def draw(self):
+ self._sprite.draw()
+
+ def update(self, dt):
+ pass
+
+ @property
+ def width(self):
+ return self._width
+
+ @property
+ def height(self):
+ return self._height
+
+ @property
+ def x(self):
+ return self._x
+
+ @x.setter
+ def x(self, x):
+ self._x = x
+ self._sprite.x = x * ppm
+
+ @property
+ def y(self):
+ return self._y
+
+ @y.setter
+ def y(self, y):
+ self._y = y
+ self._sprite.y = y * ppm
+
+ @property
+ def theta(self):
+ return self._theta
+
+ @theta.setter
+ def theta(self, theta):
+ self._theta = theta
+ self._sprite.rotation = theta
\ No newline at end of file
diff --git a/src/globals.py b/src/globals.py
index d5880392e3a5dfba8f10e9252b9f657489bc6433..e77d0b1715a1166a6ad436a240021187c0f8146c 100644
--- a/src/globals.py
+++ b/src/globals.py
@@ -3,4 +3,4 @@ import os
from posixpath import dirname
ROOT_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), os.pardir)
-RESOURES_DIR = os.path.join(ROOT_DIR, "ressources")
+RESOURES_DIR = os.path.join(ROOT_DIR, "resources")
diff --git a/src/robot.py b/src/robot.py
new file mode 100644
index 0000000000000000000000000000000000000000..fef39746ad75ef3101e97b202ee5ed80a1816bc4
--- /dev/null
+++ b/src/robot.py
@@ -0,0 +1,18 @@
+from entity import Entity
+from math import degrees
+import rospy
+from mccd_msgs.msg import Odometry
+
+class Robot(Entity):
+
+ def __init__(self):
+ super().__init__("galere.png", 0.348, 0.281)
+ self._odom_sub = rospy.Subscriber("/mccd/odom", Odometry, self.odometry_cb)
+
+ def update(self, dt):
+ pass
+
+ def odometry_cb(self, odom):
+ self.x = odom.x
+ self.y = odom.y
+ self.theta = degrees(odom.theta)
\ No newline at end of file
diff --git a/src/sample.py b/src/sample.py
new file mode 100644
index 0000000000000000000000000000000000000000..8c9b35c88dfa15bb2062f8bb5a2bb7c7e8fdab81
--- /dev/null
+++ b/src/sample.py
@@ -0,0 +1,20 @@
+from entity import Entity
+from enum import IntEnum
+
+class SampleType(IntEnum):
+ ROCKS = 0
+ RED = 1
+ GREEN = 2
+ BLUE = 3
+
+class Sample(Entity):
+
+ def __init__(self, type):
+ super().__init__("sample_" + str(int(type)) + ".png", 0.13, 0.15)
+
+ def update(self, dt):
+ pass
+
+ def draw(self):
+ super().draw()
+ # TODO: take into account flipped samples (render them differently ?)
\ No newline at end of file
diff --git a/src/utils.py b/src/utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..7deaefdf4a7c7dd53442bf77c5ad85a0e1f07b3d
--- /dev/null
+++ b/src/utils.py
@@ -0,0 +1,14 @@
+import os
+import globals
+from pyglet import image, sprite
+
+ppm = 400 # pixels per meter, used to convert from world to screen coords
+
+def load_img(img_name):
+ return image.load(os.path.join(globals.RESOURES_DIR, img_name))
+
+def load_sprite(img_name, width, height):
+ s = sprite.Sprite(load_img(img_name))
+ s.scale_x = width / s.image.width
+ s.scale_y = height / s.image.height
+ return s
\ No newline at end of file