from os import write
from time import time

from esp_hadouken.GameChild import *

class HighScores(GameChild, list):

    def __init__(self, parent):
        GameChild.__init__(self, parent)
        list.__init__(self, [])
        self.read()

    def read(self):
        for line in open(self.get_path()):
            line = line.strip()
            if line:
                self.append(Score(*line.split(" ")))

    def get_path(self):
        return self.get_resource("scoreboard-scores-path")

    def add(self, player):
        timer = self.get_timer()
        values = (timer["octo"], timer["horse"], timer["diortem"],
                  timer["circulor"], timer["tooth"])
        score = Score(time(), player, timer.total(), *values)
        self.append(score)
        self.write(score)

    def write(self, score):
        scores = open(self.get_path(), "a")
        scores.write(str(score) + "\n")

    def get_most_recent_player(self):
        return self[-1].player


class Score:

    def __init__(self, *args):
        self.date = int(args[0])
        self.player = args[1]
        self.total, self.octo, self.horse, self.diortem, self.circulor, \
                    self.tooth = map(float, args[2:])

    def __str__(self):
        return "%i %s %.3f %.3f %.3f %.3f %.3f %.3f" % \
               (self.date, self.player, self.total, self.octo, self.horse,
                self.diortem, self.circulor, self.tooth)

    def __lt__(self, other):
        return self.total < other.total

    def __repr__(self):
        return self.__str__()
from pygame import Surface

from esp_hadouken.GameChild import *
from esp_hadouken.Input import *
from Row import *
from Heading import *

class Scoreboard(GameChild, Surface):

    active_interval = 0

    def __init__(self, parent):
        GameChild.__init__(self, parent)
        self.init_surface()
        self.set_rect()
        self.heading = Heading(self)
        self.add_rows()
        self.subscribe_to(Input.command_event, self.respond_to_command)
        self.deactivate()

    def init_surface(self):
        config = self.get_configuration()
        step = self.get_step()
        padding = self.get_padding()
        row_height = self.get_row_height()
        height = step * row_height + padding + self.get_heading_height()
        Surface.__init__(self, (config["scoreboard-width"], height))
        self.set_alpha(config["scoreboard-alpha"])

    def get_step(self):
        return self.get_configuration()["scoreboard-interval-length"]

    def get_row_height(self):
        return self.get_configuration()["scoreboard-row-height"]

    def get_padding(self):
        return self.get_configuration()["scoreboard-padding"]

    def get_heading_height(self):
        return self.get_configuration()["scoreboard-heading-height"]
    
    def get_column_widths(self):
        return self.get_configuration()["scoreboard-column-widths"]

    def set_rect(self):
        rect = self.get_rect()
        rect.center = self.get_screen().get_rect().center
        self.rect = rect

    def add_rows(self):
        rows = []
        for ii in range(self.get_step()):
            rows.append(Row(self, ii))
        self.rows = rows

    def respond_to_command(self, event):
        if self.active:
            command = event.command
            if command == "next":
                self.set_active_interval(1)
                self.populate()
            elif command == "previous":
                self.set_active_interval(-1)
                self.populate()

    def set_active_interval(self, increment=0, interval=None):
        if interval is None:
            interval = self.active_interval + increment
        max_interval = self.get_max_interval()
        if interval < 0:
            interval = 0
        elif interval > max_interval:
            interval = max_interval
        self.active_interval = interval

    def get_max_interval(self):
        return len(self.get_high_scores()) / self.get_step()

    def populate(self):
        self.disable_highlights()
        step = self.get_step()
        low = step * self.active_interval
        high = low + step
        interval = self.get_ordered_scores()[low:high]
        interval += [None] * (step - len(interval))
        rows = self.rows
        for ii, score in enumerate(interval):
            score_index = low + ii
            row = rows[ii]
            if score_index == self.get_highlit_score_index():
               row.enable_highlight() 
            row.set_score(score, score_index)
        self.parent.update()

    def disable_highlights(self):
        for row in self.rows:
            row.disable_highlight()

    def get_ordered_scores(self):
        return sorted(self.get_high_scores())

    def activate(self, highlight=True):
        self.active = True
        if highlight:
            self.show_recent_score_interval()
        self.populate()

    def show_recent_score_interval(self):
        ordered = self.get_ordered_scores()
        interval = self.get_highlit_score_index() / self.get_step()
        self.set_active_interval(interval=interval)

    def get_highlit_score_index(self):
        return self.get_ordered_scores().index(self.get_high_scores()[-1])

    def deactivate(self):
        self.active = False

    def update(self):
        if self.active:
            self.clear()
            self.heading.update()
            for row in self.rows:
                row.update()
            self.draw()

    def clear(self):
        self.fill(Color(self.get_configuration()["scoreboard-bg"]))

    def draw(self):
        self.parent.blit(self, self.rect)
from pygame import Surface, Color
from pygame.locals import *

from esp_hadouken.GameChild import *
from esp_hadouken.Font import *

class Row(GameChild, Surface):

    def __init__(self, parent, index):
        GameChild.__init__(self, parent)
        self.index = index
        self.disable_highlight()
        self.init_surface()
        self.set_rect()
        self.set_column_surfaces()

    def enable_highlight(self):
        self.highlit = True

    def disable_highlight(self):
        self.highlit = False

    def init_surface(self):
        parent = self.parent
        width = parent.get_width() - parent.get_padding()
        Surface.__init__(self, (width, parent.get_row_height()))
        self.fill(self.get_color())

    def get_color(self):
        config = self.get_configuration()
        if self.highlit:
            color = config["scoreboard-highlight-color"]
        elif not self.index % 2:
            color = config["scoreboard-row-color-1"]
        else:
            color = config["scoreboard-row-color-2"]
        return Color(color)

    def set_rect(self):
        rect = self.get_rect()
        parent = self.parent
        index = self.index
        padding = parent.get_padding()
        heading = parent.get_heading_height()
        rect.top = padding / 2 + index * parent.get_row_height() + heading
        rect.centerx = parent.get_rect().centerx
        self.rect = rect

    def set_column_surfaces(self):
        self.rank_surf, self.rank_surf_r = self.set_column_surface(0)
        self.initials_surf, self.initials_surf_r = self.set_column_surface(1)
        self.total_surf, self.total_surf_r = self.set_column_surface(2)
        self.split_surfs, self.split_surfs_rs = [], []
        for ii in range(3, 8):
            surf, rect = self.set_column_surface(ii)
            self.split_surfs.append(surf)
            self.split_surfs_rs.append(rect)

    def set_column_surface(self, index):
        ratios = self.parent.get_column_widths()
        relative = self.get_size()
        surf = Surface((relative[0] * ratios[index], relative[1]))
        surf.fill(self.get_color())
        indent = 0
        for ratio in ratios[:index]:
            indent += ratio * relative[0]
        rect = surf.get_rect()
        rect.left = indent
        return surf, rect

    def set_score(self, score, rank):
        self.render_rank(rank)
        self.render_initials(score)
        self.render_total(score)
        if score is None:
            splits = [None] * 5
        else:
            splits = [score.octo, score.horse, score.diortem, score.circulor,
                      score.tooth]
        for ii, split in enumerate(splits):
            self.render_split(ii, split)

    def render_rank(self, rank):
        size = self.get_configuration()["scoreboard-rank-size"]
        rend = Font(self, size).render(str(rank + 1), True, self.get_text_color(),
                                       self.get_color())
        rect = rend.get_rect()
        dest = self.rank_surf
        dest.fill(self.get_color())
        rect.center = dest.get_rect().center
        dest.blit(rend, rect)

    def get_text_color(self):
        return Color(self.get_configuration()["scoreboard-text-color"])

    def render_initials(self, score):
        self.initials_surf.fill(self.get_color())
        if score is None:
            return
        x = 0
        margin = self.get_configuration()["scoreboard-initials-margin"]
        size = self.get_height() - margin * 2
        for letter in score.player:
            self.render_initial(letter, x, size)
            x += size + margin

    def get_blank_char(self):
        return self.get_configuration()["scoreboard-blank-char"]

    def render_initial(self, letter, x, size):
        square = Surface((size, size))
        if letter == self.get_blank_char():
            color = self.get_configuration()["scoreboard-initials-blank-color"]
            color = Color(color)
        else:
            color = self.get_glyph_palette()[ord(letter.lower()) - K_a]
        square.fill(color)
        font_size = self.get_configuration()["scoreboard-initials-size"]
        rend = Font(self, font_size).render(letter, True, self.get_text_color(),
                                            color)
        square_rect = square.get_rect()
        rend_rect = rend.get_rect()
        rend_rect.center = square_rect.center
        square.blit(rend, rend_rect)
        square_rect.centery = self.get_rect().centery
        square_rect.left = x
        self.initials_surf.blit(square, square_rect)

    def render_total(self, score):
        dest = self.total_surf
        dest.fill(self.get_color())
        if score is None:
            return
        text = self.build_time_string(score.total)
        size = self.get_configuration()["scoreboard-total-size"]
        rend = Font(self, size).render(text, True, self.get_text_color(),
                                       self.get_color())
        rect = rend.get_rect()
        rect.center = dest.get_rect().center
        dest.blit(rend, rect)

    def build_time_string(self, time):
        return "%i:%02i" % divmod(int(time), 60)

    def get_blank_time(self):
        return self.get_blank_char()

    def render_split(self, index, time):
        dest = self.split_surfs[index]
        dest.fill(self.get_color())
        if time is None:
            return
        text = self.build_time_string(time)
        size = self.get_configuration()["scoreboard-split-size"]
        rend = Font(self, size).render(text, True, self.get_text_color(),
                                       self.get_color())
        rect = rend.get_rect()
        rect.center = dest.get_rect().center
        dest.blit(rend, rect)

    def update(self):
        self.clear()
        self.draw()

    def clear(self):
        self.fill(self.get_color())

    def draw(self):
        self.blit(self.rank_surf, self.rank_surf_r)
        self.blit(self.initials_surf, self.initials_surf_r)
        self.blit(self.total_surf, self.total_surf_r)
        for ii, surf in enumerate(self.split_surfs):
            self.blit(surf, self.split_surfs_rs[ii])
        self.parent.blit(self, self.rect)
216.73.216.52
216.73.216.52
216.73.216.52
 
January 23, 2021

I wanted to document this chat-controlled robot I made for Babycastles' LOLCAM📸 that accepts a predefined set of commands like a character in an RPG party 〰 commands like walk, spin, bash, drill. It can also understand donut, worm, ring, wheels, and more. The signal for each command is transmitted as a 24-bit value over infrared using two Arduinos, one with an infrared LED, and the other with an infrared receiver. I built the transmitter circuit, and the receiver was built into the board that came with the mBot robot kit. The infrared library IRLib2 was used to transmit and receive the data as a 24-bit value.


fig. 1.1: the LEDs don't have much to do with this post!

I wanted to control the robot the way the infrared remote that came with the mBot controlled it, but the difference would be that since we would be getting input from the computer, it would be like having a remote with an unlimited amount of buttons. The way the remote works is each button press sends a 24-bit value to the robot over infrared. Inspired by Game Boy Advance registers and tracker commands, I started thinking that if we packed multiple parameters into the 24 bits, it would allow a custom move to be sent each time, so I wrote transmitter and receiver code to process commands that looked like this:

bit
name
description
00
time
multiply by 64 to get duration of command in ms
01
02
03
04
left
multiply by 16 to get left motor power
05
06
07
08
right
multiply by 16 to get right motor power
09
10
11
12
left sign
0 = left wheel backward, 1 = left wheel forward
13
right sign
0 = right wheel forward, 1 = right wheel backward
14
robot id
0 = send to player one, 1 = send to player two
15
flip
negate motor signs when repeating command
16
repeats
number of times to repeat command
17
18
19
delay
multiply by 128 to get time between repeats in ms
20
21
22
23
swap
swap the motor power values on repeat
fig 1.2: tightly stuffed bits

The first command I was able to send with this method that seemed interesting was one that made the mBot do a wheelie.

$ ./send_command.py 15 12 15 1 0 0 0 7 0 1
sending 0xff871fcf...


fig 1.3: sick wheels

A side effect of sending the signal this way is any button on any infrared remote will cause the robot to do something. The star command was actually reverse engineered from looking at the code a random remote button sent. For the robot's debut, it ended up with 15 preset commands (that number is in stonks 📈). I posted a highlights video on social media of how the chat controls turned out.

This idea was inspired by a remote frog tank LED project I made for Ribbit's Frog World which had a similar concept: press a button, and in a remote location where 🐸 and 🐠 live, an LED would turn on.


fig 2.1: saying hi to froggo remotely using an LED

😇 The transmitter and receiver Arduino programs are available to be copied and modified 😇