Revision 14:41fa8b95a9ab, committed 2014-11-28

Comitter:

lsaristo

Date:

Fri Nov 28 21:08:55 2014 +0000

Parent:

13:070846d87d4a

Child:

16:f1beef7beeb9

Commit message:

Updated user-gui.py to better filter input data.

Changed in this revision

--- a/control.c	Sun Nov 16 09:17:20 2014 +0000
+++ b/control.c	Fri Nov 28 21:08:55 2014 +0000
@@ -16,14 +16,12 @@
 
 void get_ps_file(char* moves)
 {
-    char* contents;
+    LocalFileSystem local("local");
     FILE* fp = fopen(_CANVAS_FILE, "r");
     fseek(fp, 0L, SEEK_END);
     int size = ftell(fp);
     fseek(fp, 0L, SEEK_SET);
-    contents = (char*)malloc(size);
-    fread(contents, size, 1, fp);
-    memcpy(moves, contents, size);
+    fread(moves, size, 1, fp);
     fclose(fp);
 }
 
@@ -55,6 +53,7 @@
         }
         forward(10);
         right(90);    
+        
         //
         // Right now the robot controller is clearly a very basic
         // 'hello world' loop that must be changed.      

--- a/control.h	Sun Nov 16 09:17:20 2014 +0000
+++ b/control.h	Fri Nov 28 21:08:55 2014 +0000
@@ -8,7 +8,7 @@
 #define _CONTROL_H
 
 #include <vector>
-#define _CANVAS_FILE "/local/canvas.ps"
+#define _CANVAS_FILE "/local/control.out"     // Should be on local file system. 
 
 /**
  * @brief               Get the formatted file contents from local file.

--- a/main.c	Sun Nov 16 09:17:20 2014 +0000
+++ b/main.c	Fri Nov 28 21:08:55 2014 +0000
@@ -108,6 +108,7 @@
         pi.printf("LP:%f", pos);
         while(1);
     }
+    // If we got here, calibration is complete.
     
     //
     // Main program loop.

--- a/user-gui.py	Sun Nov 16 09:17:20 2014 +0000
+++ b/user-gui.py	Fri Nov 28 21:08:55 2014 +0000
@@ -1,45 +1,41 @@
 #!/usr/bin/python
-""""
-    user-gui.py
+""""Paint program by Dave Michell.
 
-    This program displays a drawing surface for users to draw images
-    for use with our robot. The program ouputs a control-compatible 
-    representation of the drawing. 
-
-    NOTE: A substantial portion of this code was taken from Dave Michell's
-    example illustrating how to draw on a Python-generated canvas. All credit
-    for those portions of the code belong to him. Below is the header from the
-    original document written by him.
-        
-    # Start origin header ########################
+NOTE: A substantial portion of this code was taken from Dave Michell's
+example illustrating how to draw on a Python-generated canvas. All credit
+for those portions of the code belong to him. Below is the header from the
+original document written by him.
     
-    Paint program by Dave Michell.
-    
-    Subject: tkinter "paint" example
-    From: Dave Mitchell <davem@magnet.com>
-    To: python-list@cwi.nl
-    Date: Fri, 23 Jan 1998 12:18:05 -0500 (EST)
-    
-      Not too long ago (last week maybe?) someone posted a request
-    for an example of a paint program using Tkinter. Try as I might
-    I can't seem to find it in the archive, so i'll just post mine
-    here and hope that the person who requested it sees this!
-    
-      All this does is put up a canvas and draw a smooth black line
-    whenever you have the mouse button down, but hopefully it will
-    be enough to start with.. It would be easy enough to add some
-    options like other shapes or colors...
+# Start origin header ########################
+
+Subject: tkinter "paint" example
+From: Dave Mitchell <davem@magnet.com>
+To: python-list@cwi.nl
+Date: Fri, 23 Jan 1998 12:18:05 -0500 (EST)
+
+  Not too long ago (last week maybe?) someone posted a request
+for an example of a paint program using Tkinter. Try as I might
+I can't seem to find it in the archive, so i'll just post mine
+here and hope that the person who requested it sees this!
+
+  All this does is put up a canvas and draw a smooth black line
+whenever you have the mouse button down, but hopefully it will
+be enough to start with.. It would be easy enough to add some
+options like other shapes or colors...
 
                                                 yours,
                                                 dave mitchell
                                                 davem@magnet.com
     
-    # End original header #########################
+# End original header #########################
     
 """
 from Tkinter import *
 import os
 import sys
+import re
+
+"""paint.py: not exactly a paint program. just a smooth line drawing demo."""
 
 TEMP_FILE = "canvas-temp.ps"
 OUTPUT_FILE = "control.out"
@@ -49,7 +45,6 @@
 width = 600
 
 class popupWindow(object):
-    """ Class for window resize popup """
     def __init__(self,master):
         top=self.top=Toplevel(master)
         self.l=Label(top,text="Resize Window")
@@ -95,9 +90,9 @@
         resize(root));
     control_menu.add_separator()
     control_menu.add_command(label="Exit", command=lambda p=root: root.quit())
-    menubar.add_cascade(label="Control Menu", menu=control_menu);
+    menubar.add_cascade(label="Control", menu=control_menu);
     root.config(menu=menubar);
-    message = Label(root, text="Press and hold with the mouse to draw. Deploy to generate output file.");
+    message = Label(root, text="Press and hold with the mouse to draw");
     message.pack(side=BOTTOM)
     root.mainloop()
 
@@ -119,7 +114,6 @@
     
     # Get lineto and moveto data from standard postscript output. 
     l = []
-    ll = []
     canvas.update()
     canvas.postscript(file=TEMP_FILE);
     f = open(TEMP_FILE, "r")
@@ -128,21 +122,110 @@
             l.append(line)
     f.close()
 
-    # Filter output.
-    ll.append(l[0])
-    for i, elem in enumerate(list(l)):
-        x = elem.split(' ')
-        ll.append(elem)
+    # Filter the moves list
+    output = filter_moves(l)
 
     # Write filtered output to the new canvas file.
     l = l[5:]
     f = open(OUTPUT_FILE, "w");
     f.write(str(height) + "/" + str(width)+"\n");
-    for line in l:
+    for line in output:
         f.write(line);
     f.close()
     os.remove(TEMP_FILE);
 
+def filter_moves(moves):
+    """ Return a processed list of moves """
+
+    filtered_moves = list(moves)[5:]
+    output_list = []
+
+    prev = filtered_moves[0]
+    output_list.append(prev)    # Write the first moveto always.
+    prev = filtered_moves[1]
+    output_list.append(prev)
+
+    for move in filtered_moves[2:]:
+        x_coord = move.split()[0]
+        x_coord_prev = prev.split()[0]
+        y_coord = move.split()[1]
+        y_coord_prev = prev.split()[1]
+
+        # Remove redundant moveto's
+        if x_coord != x_coord_prev or y_coord != y_coord_prev:
+            output_list.append(move)
+            prev = move
+            
+    # Flatten on x-coordinate
+    filtered_moves = list(output_list)
+    output_list = [filtered_moves.pop(0)]
+    prev = filtered_moves.pop(0)
+    prev_s = prev.split()
+    prev_y = prev_s[1]
+    prev_x = prev_s[0]
+    while filtered_moves:
+        move = filtered_moves.pop(0)
+        move_s = move.split()
+        move_x = move_s[0]
+        move_y = move_s[1]
+        move_c = move_s[2]
+        
+        if move_c == 'moveto':
+            output_list.append(prev)
+            prev = None
+            output_list.append(move)
+            continue
+
+        if prev and move_x == prev_x:
+            prev_y = move_y
+            continue
+
+        if prev:
+            output_list.append(prev)
+        prev = move
+        prev_s = prev.split()
+        prev_y = prev_s[1]
+        prev_x = prev_s[0]
+    if prev: output_list.append(prev)
+
+    # Flatten on y-coordinate   
+    filtered_moves = list(output_list)
+    output_list = [filtered_moves.pop(0)]
+    prev = filtered_moves.pop(0)
+    prev_s = prev.split()
+    prev_y = prev_s[1]
+    prev_x = prev_s[0]
+    while filtered_moves:
+        move = filtered_moves.pop(0)
+        move_s = move.split()
+        move_x = move_s[0]
+        move_y = move_s[1]
+        move_c = move_s[2]
+        
+        if move_c == 'moveto':
+            output_list.append(prev)
+            prev = None
+            output_list.append(move)
+            continue
+        
+        if prev and move_y == prev_y:
+            prev_x = move_x
+            continue
+        if prev:
+            output_list.append(prev)
+        prev = move
+        prev_s = prev.split()
+        prev_y = prev_s[1]
+        prev_x = prev_s[0]
+    if prev: output_list.append(prev)
+
+    for move in output_list:
+        x_coord = move.split()[0]
+        y_coord = move.split()[1]
+        cmd = move.split()[2]
+
+    return output_list
+
 def b1down(event):
     global b1
     b1 = "down"           # you only want to draw when the button is down