from math import ceil
from collections import deque

from pygame import Surface
from pygame.draw import polygon
from pygame.locals import *

from lib.pgfw.pgfw.Sprite import Sprite

class ExitArrow(Sprite):

    def __init__(self, parent):
        Sprite.__init__(self, parent)
        self.load_configuration()
        self.set_mask()
        self.set_hues()
        self.set_frames()
        self.reset()
        self.set_framerate(self.interval)
        self.set_alpha(self.alpha)

    def load_configuration(self):
        config = self.get_configuration("exit-arrow")
        self.width = config["width"]
        self.height = config["height"]
        self.overlap = config["overlap"]
        self.arrow_count = config["arrow-count"]
        self.hue = config["hue"]
        self.frame_count = config["frame-count"]
        self.interval = config["interval"]
        self.saturation = config["saturation"]
        self.offset = config["offset"]
        self.fade_in_length = config["fade-in"]
        self.fade_out_length = config["fade-out"]
        self.alpha = config["alpha"]

    def set_mask(self):
        surface = Surface(self.get_size())
        surface.set_colorkey((0, 0, 0))
        rect = surface.get_rect()
        width = self.width
        x = 0
        for ii in xrange(self.arrow_count):
            points = (x, rect.centery), (x + width, 0), (x + width, rect.bottom)
            polygon(surface, (255, 255, 255), points)
            x += width - self.overlap
        self.mask = surface

    def get_size(self):
        count = self.arrow_count
        return self.width * count - self.overlap * (count - 1), self.height

    def set_hues(self):
        start, end = self.hue
        step = float(end - start) / (self.frame_count - 1)
        hues = deque([start])
        while start < end:
            start += step
            hues.append(start)
        hues.append(end)
        self.hues = hues

    def set_frames(self):
        for _ in xrange(self.frame_count):
            self.append_frame()

    def append_frame(self):
        width, height = self.get_size()
        gradient = Surface((width, height))
        gradient.set_colorkey((0, 0, 0))
        hues = self.hues
        step = float(width) / self.arrow_count / len(hues)
        x = 0
        color = Color(0, 0, 0)
        while x < width:
            for hue in hues:
                color.hsla = hue, self.saturation, 50, 100
                gradient.fill(color, (int(x), 0, ceil(step), height))
                x += step
        hues.rotate(-1)
        mask = self.mask.convert()
        gradient.blit(mask, (0, 0), None, BLEND_RGBA_MIN)
        self.add_frame(gradient)

    def reset(self):
        location = self.location
        base = self.parent.door.background.location
        location.left = base.centerx + self.offset
        location.centery = base.centery
        self.fade(0, out=True)

    def fade(self, length=None, out=None):
        if length is None:
            length = self.fade_out_length if out else self.fade_in_length
        Sprite.fade(self, length, out)

    def update(self):
        self.move(-self.parent.velocity[0])
        Sprite.update(self)
from os.path import join
from math import tan, radians

from pygame import Rect, Surface, Color
from pygame.image import load
from pygame.draw import polygon, ellipse, circle
from pygame.mask import from_surface, Mask
from pygame.locals import *

from lib.pgfw.pgfw.GameChild import GameChild
from lib.pgfw.pgfw.Sprite import Sprite

class Food(Sprite):

    def __init__(self, parent):
        Sprite.__init__(self, parent)
        self.compare = self.get_delegate().compare
        self.time_filter = self.get_game().time_filter
        self.mouth = Mouth(self)
        self.scope = Scope(self)
        self.load_configuration()
        self.load_nodesets()
        self.set_frames()
        self.set_frameset("cursed")
        self.subscribe(self.respond)
        self.register(self.unfreeze)
        self.set_mask()
        self.reset()
        self.set_base()

    def load_configuration(self):
        config = self.get_configuration("food")
        self.root = config["path"]
        self.offset = config["offset"]
        self.dx = config["dx"]
        self.angle_range = config["angle-range"]
        self.crouch_offset = config["crouch"]
        self.drop_velocity = config["drop-velocity"]
        self.dx_boost = config["dx-boost"]
        self.blink_rate = config["blink-rate"]
        self.freeze_length = config["freeze-length"]

    def load_nodesets(self):
        interpolator = self.get_game().interpolator
        self.charge_nodeset = interpolator.get_nodeset("charge")
        self.jump_width_nodeset = interpolator.get_nodeset("jump-width");
        self.jump_height_nodeset = interpolator.get_nodeset("jump-height");

    def set_frames(self):
        root = self.get_resource(join(self.root, str(self.parent.index)))
        self.load_from_path(root, True, omit=True)
        self.add_frameset(0, name="cursed")
        self.add_frameset(1, name="uncursed")
        self.add_frameset([0, 1], name="transforming")
        self.set_crouched()
        self.set_frozen()

    def set_crouched(self):
        cursed = self.frames[0]
        cursed_rect = cursed.get_rect()
        offset = self.crouch_offset
        surface = Surface((cursed_rect.w, cursed_rect.h - offset), SRCALPHA)
        destination = Rect(0, 0, cursed_rect.w, cursed_rect.h / 2 + 1)
        area = destination.move(0, 0)
        destination.bottom = surface.get_rect().bottom
        area.bottom = cursed_rect.bottom
        surface.blit(cursed, destination, area)
        destination.top = 0
        surface.blit(cursed, destination, destination)
        self.add_frame(surface, omit=True)
        self.add_frameset(2, name="crouched")

    def set_frozen(self):
        surface = Surface(self.location.size)
        surface.set_colorkey((0, 0, 0))
        self.add_frame(surface, omit=True)
        self.add_frameset([0, 3], self.blink_rate, "frozen")

    def respond(self, event):
        parent = self.parent
        if parent.active:
            if self.compare(event, "any") and not self.charging() and \
                   not self.frozen:
                self.activate_charge(event.id)
            elif self.compare(event, "any", cancel=True):
                if event.id == self.charge_key:
                    if not self.jumping and parent.is_going():
                        parent.exit_available = False
                        parent.exit_arrow.fade(out=True)
                        self.jump()
                    self.cancel_charge()

    def activate_charge(self, key):
        self.charge_key = key
        self.set_frameset("crouched")
        self.move(0, self.crouch_offset)
        self.parent.siphon.contract()

    def jump(self):
        self.jumping = True
        self.submitted_charge = self.charge
        rect = self.jump_rect = Rect((0, 0), self.get_jump_size())
        rect.bottomleft = self.location.center

    def get_jump_size(self):
        charge = self.submitted_charge
        return int(round(self.jump_width_nodeset.get_y(charge))), \
               int(round(self.jump_height_nodeset.get_y(charge)))

    def cancel_charge(self):
        self.set_frameset("cursed")
        self.move(0, -self.crouch_offset)
        self.charge_key = None
        self.charge_length = 0
        self.charge = 0
        self.parent.siphon.release()

    def set_mask(self):
        self.mask = from_surface(self.get_current_frame())

    def reset(self):
        self.ground = self.parent.platforms[0].rect.top
        self.falling = False
        self.dropping = False
        self.submitted_charge = 0
        self.cancel_jump()
        self.cancel_charge()
        self.place_at_start()
        self.unfreeze()
        self.scope.reset()

    def place_at_start(self):
        self.rect.bottomleft = self.offset, self.ground

    def cancel_jump(self, offset=None):
        self.location.bottom = self.ground
        if offset:
            self.location.right -= offset
        self.jumping = False
        self.gravity_effect = 0
        self.previous_location = None
        self.last_jump_x = 0

    def set_base(self):
        rect = self.rect
        yy = rect.h - 2
        start = None
        for xx in xrange(rect.w):
            visible = self.mask.get_at((xx, yy))
            if start is None:
                if visible:
                    start = xx
            else:
                if not visible:
                    break
        width = xx - start
        self.base = Rect(start, yy, width, 3)

    def freeze(self):
        if not self.frozen:
            self.frozen = True
            if self.charging():
                self.cancel_charge()
            self.set_frameset("frozen")
            self.play(self.unfreeze, delay=self.freeze_length, play_once=True)

    def unfreeze(self):
        self.frozen = False
        self.set_frameset("cursed")

    def update(self):
        if self.parent.active:
            if self.jumping:
                self.propell()
                if not self.falling and self.rect.bottom >= self.ground and \
                       self.last_jump_x > 0:
                    collide = self.collide_with_platform()
                    if collide:
                        self.cancel_jump(collide)
                    else:
                        self.falling = True
                elif self.rect.top > self.display_surface.get_height():
                    self.parent.queue_reset()
            elif self.parent.is_going():
                self.move(-self.parent.velocity[0])
            if self.falling:
                index = self.location.collidelist(self.parent.platforms)
                if index > -1:
                    platform = self.parent.platforms[index].location
                    intersection = self.location.clip(platform)
                    if platform.left > self.location.left:
                        self.location.right = platform.left
                    else:
                        self.location.left = platform.right
                    self.dropping = True
            self.update_charge()
        self.scope.place()
        Sprite.update(self)
        if self.charging():
            self.mouth.update()
        self.scope.update()

    def propell(self):
        self.previous_location = Rect(self.location)
        if not self.dropping:
            rect = self.jump_rect
            w, h = rect.size = self.get_jump_size()
            x = self.dx + (self.parent.velocity[0] - 1) * self.dx_boost + \
                self.last_jump_x
            if w == 0:
                w = .00000000001
            y = (-2 * h / (.5 * w ** 2)) * x ** 2 + (4 * h / w) * x
            self.location.center = rect.move(int(round(x)),
                                             int(round(-y))).bottomleft
            self.last_jump_x = x
        else:
            self.move(*self.drop_velocity)

    def collide_with_platform(self):
        base = self.base
        previous = base.move(*self.previous_location.topleft)
        current = base.move(*self.location.topleft)
        box = Rect(previous.topleft, (current.right - previous.left,
                                      current.bottom - previous.top))
        platform_index = box.collidelist(self.parent.platforms)
        if platform_index > -1:
            stripe = Surface(box.size)
            stripe.set_colorkey((0, 0, 0))
            polygon(stripe, (255, 255, 255),
                    ((0, 0), (base.w, 0), box.size, (box.w - base.w, box.h)))
            stripe_mask = from_surface(stripe)
            platform = self.parent.platforms[platform_index]
            platform_mask = from_surface(Surface((platform.location.w, 3)))
            offset = platform.location.left - box.left, \
                     platform.location.top - 1 - box.top
            overlap = stripe_mask.overlap(platform_mask, offset)
            if overlap:
                for x in xrange(stripe_mask.get_size()[0]):
                    if stripe_mask.get_at((x, overlap[1] + 1)):
                        break
                return box.w - base.w - x

    def update_charge(self):
        if self.charging():
            self.charge_length += self.time_filter.get_last_frame_duration()
            self.charge = self.charge_nodeset.get_y(self.charge_length)

    def charging(self):
        return self.charge_key is not None


class Mouth(Surface, GameChild):

    transparent_color = (255, 0, 255)

    def __init__(self, parent):
        GameChild.__init__(self, parent)
        self.set_images()
        self.init_surface()
        self.set_background()
        self.load_configuration()

    def set_images(self):
        get = self.get_resource
        self.lower_jaw = load(get("food", "lower-jaw-path")).convert_alpha()
        self.lower_jaw_rect = self.lower_jaw.get_rect()
        self.upper_jaw = load(get("food", "upper-jaw-path")).convert_alpha()
        self.upper_jaw_rect = self.upper_jaw.get_rect()

    def init_surface(self):
        Surface.__init__(self, self.get_configuration("food", "mouth-size"),
                         SRCALPHA)

    def set_background(self):
        surface = Surface(self.get_size())
        key = self.transparent_color
        surface.fill(key)
        surface.set_colorkey(key)
        surface.set_alpha(self.get_configuration("food", "mouth-bg-alpha"))
        self.background = surface

    def load_configuration(self):
        config = self.get_configuration("food")
        self.offset = config["mouth-offset"]
        self.background_shrink = config["mouth-bg-shrink"]
        self.gap = config["mouth-gap"]

    def update(self):
        self.display_surface = self.parent.display_surface
        self.init_surface()
        self.clear_background()
        self.rect = self.get_position(self.parent.location)
        self.draw_jaws()
        mask = self.draw_mask()
        self.draw_background(mask, self.rect)
        self.display_surface.blit(self, self.rect)
        if self.parent.scope.active:
            scope_rect = self.get_position(self.parent.scope.extra_location)
            self.draw_background(mask, scope_rect)
            self.display_surface.blit(self, scope_rect)

    def clear_background(self):
        self.background.fill(self.transparent_color)

    def get_position(self, base):
        offset = self.offset
        rect = self.get_rect()
        rect.center = base.left + offset[0], base.bottom - offset[1]
        return rect

    def draw_jaws(self):
        rect = self.rect
        center = rect.h / 2
        offset = max(self.gap, int(round(self.parent.charge * center)))
        lower_rect = self.lower_jaw_rect
        lower_rect.bottom = center + offset
        self.blit(self.lower_jaw, lower_rect)
        upper_rect = self.upper_jaw_rect
        upper_rect.top = center - offset
        self.blit(self.upper_jaw, upper_rect)

    def draw_mask(self):
        surface = Surface(self.get_size(), SRCALPHA)
        width = self.rect.w
        height = int(round(self.rect.h * self.parent.charge))
        rect = Rect(0, 0, width, height)
        rect.centery = self.rect.h / 2
        ellipse(surface, (255, 255, 255), rect)
        self.blit(surface, (0, 0), None, BLEND_RGBA_MIN)
        return rect

    def draw_background(self, ellipse_rect, rect):
        shrink = self.background_shrink
        if ellipse_rect.h >= -shrink[0]:
            ellipse(self.background, (0, 0, 0), ellipse_rect.inflate(*shrink))
            self.display_surface.blit(self.background, rect)


class LowerJaw(Sprite):

    def __init__(self, parent):
        Sprite.__init__(self, parent)
        self.load_from_path(self.get_resource("food", "lower-jaw-path"), True)


class UpperJaw(Sprite):

    def __init__(self, parent):
        Sprite.__init__(self, parent)
        self.load_from_path(self.get_resource("food", "upper-jaw-path"), True)


class Scope(Sprite):

    def __init__(self, parent):
        Sprite.__init__(self, parent)
        self.active = False
        self.limit = 400
        self.reset()

    def offset_points(self, points):
        offset = []
        for point in points:
            offset.append((point[0], point[1] + 2))
        return offset

    def reset(self):
        if self.active:
            self.parent.remove_locations(self.extra_location)
            self.active = False

    def place(self):
        if self.parent.parent.is_going():
            if not self.active and self.parent.location.right <= 0:
                self.active = True
                self.extra_location = self.parent.add_location()
            if self.active:
                if self.parent.location.right > 0:
                    self.reset()
                else:
                    if self.parent.location.right <= -self.limit:
                        self.parent.parent.queue_reset()
                    self.set_frame()
                    location = self.location
                    location.centery = self.parent.location.centery
                    self.extra_location.reset_motion_overflow()
                    self.extra_location.midright = location.right - 15, \
                                                   location.centery

    def set_frame(self):
        surface = Surface((76, 60))
        rect = surface.get_rect()
        key = (255, 0, 255)
        surface.fill(key)
        surface.set_colorkey(key)
        background = (128, 128, 128)
        distance = self.parent.location.right
        if distance < -self.limit:
            distance = -self.limit
        foreground = Color(0, 0, 0)
        limit = self.limit
        foreground.hsla = int(120 * (limit + distance) / limit), 95, 55, 100
        points = (0, rect.h / 2 - 1), (8, rect.h / 2 - 11), (8, rect.h / 2 + 9)
        polygon(surface, background, self.offset_points(points))
        polygon(surface, foreground, points)
        square = Rect(8, rect.h / 2 - 6, 10, 10)
        surface.fill(background, square.move(0, 2))
        surface.fill(foreground, square)
        center = 46, rect.h / 2 - 1
        radius = 29
        circle(surface, background, (center[0], center[1] + 2), radius, 10)
        area = circle(surface, foreground, center, radius, 10)
        ellipse(surface, foreground, area.inflate(-1, 0), 9)
        ellipse(surface, foreground, area.inflate(0, -1), 9)
        ellipse(surface, foreground, area.inflate(-2, -1), 8)
        ellipse(surface, foreground, area.inflate(-1, -2), 8)
        self.clear_frames()
        self.add_frame(surface)

    def update(self):
        if self.parent.parent.is_going() and self.active:
            Sprite.update(self)
216.73.216.107
216.73.216.107
216.73.216.107
 
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 😇