Spline Gui Commit
The Spline Gui Functionality:
Voltage and Acceleration Graph
Exportation to Json files
Ability to click and drag points
Added Usage Document
Moved many pieces around into seperate classes
Removed useless Functionality
Change-Id: I8fd819d4259b0b9b90c68f91ac73e01b3718a510
diff --git a/frc971/control_loops/python/drawing_constants.py b/frc971/control_loops/python/drawing_constants.py
new file mode 100644
index 0000000..89979f0
--- /dev/null
+++ b/frc971/control_loops/python/drawing_constants.py
@@ -0,0 +1,314 @@
+import cairo
+from color import Color, palette
+from constants import *
+import numpy as np
+
+
+def set_color(cr, color, a=1):
+ if color.a == 1.0:
+ cr.set_source_rgba(color.r, color.g, color.b, a)
+ else:
+ cr.set_source_rgba(color.r, color.g, color.b, color.a)
+
+
+def draw_px_cross(cr, x, y, length_px, color=palette["RED"]):
+ """Draws a cross with fixed dimensions in pixel space."""
+ set_color(cr, color)
+ cr.move_to(x, y - length_px)
+ cr.line_to(x, y + length_px)
+ cr.stroke()
+
+ cr.move_to(x - length_px, y)
+ cr.line_to(x + length_px, y)
+ cr.stroke()
+ set_color(cr, palette["WHITE"])
+
+
+def draw_px_x(cr, x, y, length_px1, color=palette["BLACK"]):
+ """Draws a x with fixed dimensions in pixel space."""
+ length_px = length_px1 / np.sqrt(2)
+ set_color(cr, color)
+ cr.move_to(x - length_px, y - length_px)
+ cr.line_to(x + length_px, y + length_px)
+ cr.stroke()
+
+ cr.move_to(x - length_px, y + length_px)
+ cr.line_to(x + length_px, y - length_px)
+ cr.stroke()
+ set_color(cr, palette["WHITE"])
+
+
+def draw_control_points(cr, points, width=10, radius=4, color=palette["BLUE"]):
+ for i in range(0, len(points)):
+ draw_px_x(cr, points[i][0], points[i][1], width, color)
+ set_color(cr, color)
+ cr.arc(points[i][0], points[i][1], radius, 0, 2.0 * np.pi)
+ cr.fill()
+ set_color(cr, palette["WHITE"])
+
+
+def display_text(cr, text, widtha, heighta, widthb, heightb):
+ cr.scale(widtha, -heighta)
+ cr.show_text(text)
+ cr.scale(widthb, -heightb)
+
+
+def draw_HAB(cr):
+ # BASE Constants
+ X_BASE = 0
+ Y_BASE = 0
+ R = 0.381 - .1
+ BACKWALL_X = X_BASE
+ LOADING_Y = mToPx(4.129151) - mToPx(0.696976)
+ # HAB Levels 2 and 3 called in variables backhab
+ # draw loading stations
+ cr.move_to(0, LOADING_Y)
+ cr.line_to(mToPx(0.6), LOADING_Y)
+ cr.move_to(mToPx(R), LOADING_Y)
+ cr.arc(mToPx(R), LOADING_Y, 5, 0, np.pi * 2.0)
+ cr.move_to(0, -1.0 * LOADING_Y)
+ cr.line_to(mToPx(0.6), -1.0 * LOADING_Y)
+ cr.move_to(mToPx(R), -1.0 * LOADING_Y)
+ cr.arc(mToPx(R), -1.0 * LOADING_Y, 5, 0, np.pi * 2.0)
+
+ # HAB Levels 2 and 3 called in variables backhab
+ WIDTH_BACKHAB = mToPx(1.2192)
+
+ Y_TOP_BACKHAB_BOX = Y_BASE + mToPx(0.6096)
+ BACKHAB_LV2_LENGTH = mToPx(1.016)
+
+ BACKHAB_LV3_LENGTH = mToPx(1.2192)
+ Y_LV3_BOX = Y_TOP_BACKHAB_BOX - BACKHAB_LV3_LENGTH
+
+ Y_BOTTOM_BACKHAB_BOX = Y_LV3_BOX - BACKHAB_LV2_LENGTH
+
+ # HAB LEVEL 1
+ X_LV1_BOX = BACKWALL_X + WIDTH_BACKHAB
+
+ WIDTH_LV1_BOX = mToPx(0.90805)
+ LENGTH_LV1_BOX = mToPx(1.6256)
+
+ Y_BOTTOM_LV1_BOX = Y_BASE - LENGTH_LV1_BOX
+
+ # Ramp off Level 1
+ X_RAMP = X_LV1_BOX
+
+ Y_TOP_RAMP = Y_BASE + LENGTH_LV1_BOX
+ WIDTH_TOP_RAMP = mToPx(1.20015)
+ LENGTH_TOP_RAMP = Y_BASE + mToPx(0.28306)
+
+ X_MIDDLE_RAMP = X_RAMP + WIDTH_LV1_BOX
+ Y_MIDDLE_RAMP = Y_BOTTOM_LV1_BOX
+ LENGTH_MIDDLE_RAMP = 2 * LENGTH_LV1_BOX
+ WIDTH_MIDDLE_RAMP = WIDTH_TOP_RAMP - WIDTH_LV1_BOX
+
+ Y_BOTTOM_RAMP = Y_BASE - LENGTH_LV1_BOX - LENGTH_TOP_RAMP
+
+ # Side Bars to Hold in balls
+ X_BARS = BACKWALL_X
+ WIDTH_BARS = WIDTH_BACKHAB
+ LENGTH_BARS = mToPx(0.574675)
+
+ Y_TOP_BAR = Y_TOP_BACKHAB_BOX + BACKHAB_LV2_LENGTH
+
+ Y_BOTTOM_BAR = Y_BOTTOM_BACKHAB_BOX - LENGTH_BARS
+
+ set_color(cr, palette["BLACK"])
+ cr.rectangle(BACKWALL_X, Y_TOP_BACKHAB_BOX, WIDTH_BACKHAB,
+ BACKHAB_LV2_LENGTH)
+ cr.rectangle(BACKWALL_X, Y_LV3_BOX, WIDTH_BACKHAB, BACKHAB_LV3_LENGTH)
+ cr.rectangle(BACKWALL_X, Y_BOTTOM_BACKHAB_BOX, WIDTH_BACKHAB,
+ BACKHAB_LV2_LENGTH)
+ cr.rectangle(X_LV1_BOX, Y_BASE, WIDTH_LV1_BOX, LENGTH_LV1_BOX)
+ cr.rectangle(X_LV1_BOX, Y_BOTTOM_LV1_BOX, WIDTH_LV1_BOX, LENGTH_LV1_BOX)
+ cr.rectangle(X_RAMP, Y_TOP_RAMP, WIDTH_TOP_RAMP, LENGTH_TOP_RAMP)
+ cr.rectangle(X_MIDDLE_RAMP, Y_MIDDLE_RAMP, WIDTH_MIDDLE_RAMP,
+ LENGTH_MIDDLE_RAMP)
+ cr.rectangle(X_RAMP, Y_BOTTOM_RAMP, WIDTH_TOP_RAMP, LENGTH_TOP_RAMP)
+ cr.rectangle(X_BARS, Y_TOP_BAR, WIDTH_BARS, LENGTH_BARS)
+ cr.rectangle(X_BARS, Y_BOTTOM_BAR, WIDTH_BARS, LENGTH_BARS)
+ cr.stroke()
+
+ cr.set_line_join(cairo.LINE_JOIN_ROUND)
+
+ cr.stroke()
+
+ #draw 0, 0
+ set_color(cr, palette["BLACK"])
+ cr.move_to(0, 0)
+ cr.line_to(0, 0 + mToPx(8.2296 / 2.0))
+ cr.move_to(0, 0)
+ cr.line_to(0, 0 + mToPx(-8.2296 / 2.0))
+ cr.move_to(0, 0)
+ cr.line_to(0 + mToPx(8.2296), 0)
+
+ cr.stroke()
+
+
+def draw_rockets(cr):
+ # BASE Constants
+ X_BASE = mToPx(2.41568)
+ Y_BASE = 0
+ # Robot longitudinal radius
+ R = 0.381
+ near_side_rocket_center = [
+ X_BASE + mToPx((2.89973 + 3.15642) / 2.0), Y_BASE + mToPx(
+ (3.86305 + 3.39548) / 2.0)
+ ]
+ middle_rocket_center = [
+ X_BASE + mToPx((3.15642 + 3.6347) / 2.0), Y_BASE + mToPx(
+ (3.39548 + 3.392380) / 2.0)
+ ]
+ far_side_rocket_center = [
+ X_BASE + mToPx((3.63473 + 3.89984) / 2.0), Y_BASE + mToPx(
+ (3.39238 + 3.86305) / 2.0)
+ ]
+
+ cr.move_to(near_side_rocket_center[0], near_side_rocket_center[1])
+ cr.line_to(near_side_rocket_center[0] - 0.8 * mToPx(0.866),
+ near_side_rocket_center[1] - 0.8 * mToPx(0.5))
+ cr.move_to(near_side_rocket_center[0] - R * mToPx(0.866),
+ near_side_rocket_center[1] - R * mToPx(0.5))
+ cr.arc(near_side_rocket_center[0] - R * mToPx(0.866),
+ near_side_rocket_center[1] - R * mToPx(0.5), 5, 0, np.pi * 2.0)
+
+ cr.move_to(middle_rocket_center[0], middle_rocket_center[1])
+ cr.line_to(middle_rocket_center[0], middle_rocket_center[1] - mToPx(0.8))
+ cr.move_to(middle_rocket_center[0], middle_rocket_center[1] - mToPx(R))
+ cr.arc(middle_rocket_center[0], middle_rocket_center[1] - mToPx(R), 5, 0,
+ np.pi * 2.0)
+
+ cr.move_to(far_side_rocket_center[0], far_side_rocket_center[1])
+ cr.line_to(far_side_rocket_center[0] + 0.8 * mToPx(0.866),
+ far_side_rocket_center[1] - 0.8 * mToPx(0.5))
+ cr.move_to(far_side_rocket_center[0] + R * mToPx(0.866),
+ far_side_rocket_center[1] - R * mToPx(0.5))
+ cr.arc(far_side_rocket_center[0] + R * mToPx(0.866),
+ far_side_rocket_center[1] - R * mToPx(0.5), 5, 0, np.pi * 2.0)
+
+ #print(far_side_rocket_center)
+ near_side_rocket_center = [
+ X_BASE + mToPx((2.89973 + 3.15642) / 2.0), Y_BASE - mToPx(
+ (3.86305 + 3.39548) / 2.0)
+ ]
+ middle_rocket_center = [
+ X_BASE + mToPx((3.15642 + 3.6347) / 2.0), Y_BASE - mToPx(
+ (3.39548 + 3.392380) / 2.0)
+ ]
+ far_side_rocket_center = [
+ X_BASE + mToPx((3.63473 + 3.89984) / 2.0), Y_BASE - mToPx(
+ (3.39238 + 3.86305) / 2.0)
+ ]
+
+ cr.move_to(near_side_rocket_center[0], near_side_rocket_center[1])
+ cr.line_to(near_side_rocket_center[0] - 0.8 * mToPx(0.866),
+ near_side_rocket_center[1] + 0.8 * mToPx(0.5))
+
+ cr.move_to(middle_rocket_center[0], middle_rocket_center[1])
+ cr.line_to(middle_rocket_center[0], middle_rocket_center[1] + mToPx(0.8))
+
+ cr.move_to(far_side_rocket_center[0], far_side_rocket_center[1])
+ cr.line_to(far_side_rocket_center[0] + 0.8 * mToPx(0.866),
+ far_side_rocket_center[1] + 0.8 * mToPx(0.5))
+
+ # Leftmost Line
+ cr.move_to(X_BASE + mToPx(2.89973), Y_BASE + mToPx(3.86305))
+ cr.line_to(X_BASE + mToPx(3.15642), Y_BASE + mToPx(3.39548))
+
+ # Top Line
+ cr.move_to(X_BASE + mToPx(3.15642), Y_BASE + mToPx(3.39548))
+ cr.line_to(X_BASE + mToPx(3.63473), Y_BASE + mToPx(3.39238))
+
+ #Rightmost Line
+ cr.move_to(X_BASE + mToPx(3.63473), Y_BASE + mToPx(3.39238))
+ cr.line_to(X_BASE + mToPx(3.89984), Y_BASE + mToPx(3.86305))
+
+ #Back Line
+ cr.move_to(X_BASE + mToPx(2.89973), Y_BASE + mToPx(3.86305))
+ cr.line_to(X_BASE + mToPx(3.89984), Y_BASE + mToPx(3.86305))
+
+ # Bottom Rocket
+ # Leftmost Line
+ cr.move_to(X_BASE + mToPx(2.89973), Y_BASE - mToPx(3.86305))
+ cr.line_to(X_BASE + mToPx(3.15642), Y_BASE - mToPx(3.39548))
+
+ # Top Line
+ cr.move_to(X_BASE + mToPx(3.15642), Y_BASE - mToPx(3.39548))
+ cr.line_to(X_BASE + mToPx(3.63473), Y_BASE - mToPx(3.39238))
+
+ #Rightmost Line
+ cr.move_to(X_BASE + mToPx(3.63473), Y_BASE - mToPx(3.39238))
+ cr.line_to(X_BASE + mToPx(3.89984), Y_BASE - mToPx(3.86305))
+
+ #Back Line
+ cr.move_to(X_BASE + mToPx(2.89973), Y_BASE - mToPx(3.86305))
+ cr.line_to(X_BASE + mToPx(3.89984), Y_BASE - mToPx(3.86305))
+
+ cr.stroke()
+
+
+def draw_cargo_ship(cr):
+ # BASE Constants
+ X_BASE = 0 + mToPx(5.59435)
+ Y_BASE = 0 + 0 #mToPx(4.129151)
+ R = 0.381 - 0.1
+
+ FRONT_PEG_DELTA_Y = mToPx(0.276352)
+ cr.move_to(X_BASE, Y_BASE + FRONT_PEG_DELTA_Y)
+ cr.line_to(X_BASE - mToPx(0.8), Y_BASE + FRONT_PEG_DELTA_Y)
+
+ cr.move_to(X_BASE, Y_BASE + FRONT_PEG_DELTA_Y)
+ cr.arc(X_BASE - mToPx(R), Y_BASE + FRONT_PEG_DELTA_Y, 5, 0, np.pi * 2.0)
+
+ cr.move_to(X_BASE, Y_BASE - FRONT_PEG_DELTA_Y)
+ cr.line_to(X_BASE - mToPx(0.8), Y_BASE - FRONT_PEG_DELTA_Y)
+
+ cr.move_to(X_BASE, Y_BASE - FRONT_PEG_DELTA_Y)
+ cr.arc(X_BASE - mToPx(R), Y_BASE - FRONT_PEG_DELTA_Y, 5, 0, np.pi * 2.0)
+
+ SIDE_PEG_Y = mToPx(1.41605 / 2.0)
+ SIDE_PEG_X = X_BASE + mToPx(1.148842)
+ SIDE_PEG_DX = mToPx(0.55245)
+
+ cr.move_to(SIDE_PEG_X, SIDE_PEG_Y)
+ cr.line_to(SIDE_PEG_X, SIDE_PEG_Y + mToPx(0.8))
+ cr.move_to(SIDE_PEG_X, SIDE_PEG_Y + mToPx(R))
+ cr.arc(SIDE_PEG_X, SIDE_PEG_Y + mToPx(R), 5, 0, np.pi * 2.0)
+
+ cr.move_to(SIDE_PEG_X + SIDE_PEG_DX, SIDE_PEG_Y)
+ cr.line_to(SIDE_PEG_X + SIDE_PEG_DX, SIDE_PEG_Y + mToPx(0.8))
+ cr.move_to(SIDE_PEG_X + SIDE_PEG_DX, SIDE_PEG_Y + mToPx(R))
+ cr.arc(SIDE_PEG_X + SIDE_PEG_DX, SIDE_PEG_Y + mToPx(R), 5, 0, np.pi * 2.0)
+
+ cr.move_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, SIDE_PEG_Y)
+ cr.line_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, SIDE_PEG_Y + mToPx(0.8))
+ cr.move_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, SIDE_PEG_Y + mToPx(R))
+ cr.arc(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, SIDE_PEG_Y + mToPx(R), 5, 0,
+ np.pi * 2.0)
+
+ cr.move_to(SIDE_PEG_X, -1.0 * SIDE_PEG_Y)
+ cr.line_to(SIDE_PEG_X, -1.0 * SIDE_PEG_Y - mToPx(0.8))
+ cr.move_to(SIDE_PEG_X, -1.0 * SIDE_PEG_Y - mToPx(R))
+ cr.arc(SIDE_PEG_X, -1.0 * SIDE_PEG_Y - mToPx(R), 5, 0, np.pi * 2.0)
+
+ cr.move_to(SIDE_PEG_X + SIDE_PEG_DX, -1.0 * SIDE_PEG_Y)
+ cr.line_to(SIDE_PEG_X + SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(0.8))
+ cr.move_to(SIDE_PEG_X + SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(R))
+ cr.arc(SIDE_PEG_X + SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(R), 5, 0,
+ np.pi * 2.0)
+
+ cr.move_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, -1.0 * SIDE_PEG_Y)
+ cr.line_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(0.8))
+ cr.move_to(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(R))
+ cr.arc(SIDE_PEG_X + 2.0 * SIDE_PEG_DX, -1.0 * SIDE_PEG_Y - mToPx(R), 5, 0,
+ np.pi * 2.0)
+
+ cr.rectangle(X_BASE, Y_BASE - mToPx(1.41605 / 2.0), mToPx(2.43205),
+ mToPx(1.41605))
+ cr.stroke()
+
+
+def draw_points(cr, p, size):
+ for i in range(0, len(p)):
+ draw_px_cross(cr, p[i][0], p[i][1], size,
+ Color(0, np.sqrt(0.2 * i), 0))