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Improved many things related to toggle buttons + pulled last master b…
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…ranch update

Toggle button function now supports multiple buttons,  some code has been cleaned and buttons always keep the same size
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@disketflu
disketflu committed Nov 30, 2021
1 parent a36eafe commit f804ccd
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Showing 3 changed files with 72 additions and 59 deletions.
5 changes: 2 additions & 3 deletions app/OrbitalCam.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,8 @@ def OrbitalController(keyboard, mouse, cam_pos, cam_rot, cam_tgt, dt, width, hei
smoothed_dy += (delta_y - smoothed_dy) * 0.1

speed = dt_sec * cam_rot_speed
if not (mouse.X() < 350 and mouse.X() > 30 and mouse.Y() < height and mouse.Y() > height - 150):
cam_rot.x += smoothed_dy * speed
cam_rot.y += smoothed_dx * speed
cam_rot.x += smoothed_dy * speed
cam_rot.y += smoothed_dx * speed

# clamp X

Expand Down
124 changes: 69 additions & 55 deletions app/poppy_api_rest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,9 +40,11 @@ def lerp(k, a, b):

res_x, res_y = 1920, 1080

#initialize lists for toggle button (swipe style)
#initialize lists and variables for toggle button (swipe style)
mousexlist = []
mouseylist = []
has_switched = False
compliance_mode = False

win = hg.NewWindow("Harfang - Poppy", res_x, res_y, 32)#, hg.WV_Fullscreen)
hg.RenderInit(win)
Expand Down Expand Up @@ -155,8 +157,66 @@ def lerp(k, a, b):

app_clock = 0
app_status = "dancing"
robot_status = "get_value_from_real_robot"

def toggle_button(label, value, x, y):
global has_switched
mat = hg.TransformationMat4(hg.Vec3(x, y, 1), hg.Vec3(0, 0, 0), hg.Vec3(1, 1, 1))
pos = hg.GetT(mat)
axis_x = hg.GetX(mat) * 56
axis_y = hg.GetY(mat) * 24

toggle_vtx = hg.Vertices(vtx_layout, 4)
toggle_vtx.Begin(0).SetPos(pos - axis_x - axis_y).SetTexCoord0(hg.Vec2(0, 1)).End()
toggle_vtx.Begin(1).SetPos(pos - axis_x + axis_y).SetTexCoord0(hg.Vec2(0, 0)).End()
toggle_vtx.Begin(2).SetPos(pos + axis_x + axis_y).SetTexCoord0(hg.Vec2(1, 0)).End()
toggle_vtx.Begin(3).SetPos(pos + axis_x - axis_y).SetTexCoord0(hg.Vec2(1, 1)).End()
toggle_idx = [0, 3, 2, 0, 2, 1]


hg.DrawTriangles(view_id, toggle_idx, toggle_vtx, shader_for_plane, [], [texture_on if value else texture_off], render_state_quad)

if mouse.Down(hg.MB_0):
mousexlist.append(mouse.X())
mouseylist.append(mouse.Y())
else:
mousexlist.clear()
mouseylist.clear()
has_switched = False

if len(mousexlist) > 20:
mousexlist.pop(0)
if len(mouseylist) > 20:
mouseylist.pop(0)

if len(mouseylist) > 0:
mouse_x = median(mousexlist)
mouse_y = median(mouseylist)
if mouse_x > pos.x - axis_x.x and mouse_x < pos.x + axis_x.x and mouse_y > pos.y - axis_y.y and mouse_y < pos.y + axis_y.y and not has_switched:
value = True if not value else False
has_switched = True
mousexlist.clear()
mouseylist.clear()

mat = hg.TranslationMat4(hg.Vec3(pos.x + axis_x.x + 10, y - 10, 1))
hg.SetS(mat, hg.Vec3(1, -1, 1))
hg.DrawText(view_id,
font,
label, shader_font, "u_tex", 0,
mat, hg.Vec3(0, 0, 0), hg.DTHA_Left, hg.DTVA_Top,
[font_color_white], [], text_render_state)
return value

buttonlist = [[100, res_y - 80]]

def is_switching():
for i in buttonlist:
mat = hg.TransformationMat4(hg.Vec3(i[0], i[1], 1), hg.Vec3(0, 0, 0), hg.Vec3(1, 1, 1))
pos = hg.GetT(mat)
axis_x = hg.GetX(mat) * 56
axis_y = hg.GetY(mat) * 24
if (mouse.X() > pos.x - axis_x.x - 10 and mouse.X() < pos.x + axis_x.x + 10 and mouse.Y() > pos.y - axis_y.y - 10 and mouse.Y() < pos.y + axis_y.y + 10 and mouse.Down(hg.MB_0)): # check if mouse is clicked and is within the button area + 10px on every side
return True
return False

def get_v_from_dancing(id_robot):
elapsed_time = app_clock *0.5
Expand Down Expand Up @@ -196,7 +256,6 @@ def get_v_from_dancing(id_robot):

# main loop
current_frame = 0
has_switched = False
while not hg.ReadKeyboard().Key(hg.K_Escape):
keyboard.Update()
mouse.Update()
Expand All @@ -207,7 +266,7 @@ def get_v_from_dancing(id_robot):
render_was_reset, res_x, res_y = hg.RenderResetToWindow(win, res_x, res_y, hg.RF_VSync | hg.RF_MSAA4X | hg.RF_MaxAnisotropy)
res_y = max(res_y, 16)

if hg.ImGuiIsWindowFocused():
if hg.ImGuiIsWindowFocused() and not is_switching():
world, cam_rot, cam_tgt, cam_pos = OrbitalController(keyboard, mouse, cam_pos, cam_rot, cam_tgt, dt, res_x, res_y)
cam.GetTransform().SetWorld(world)

Expand All @@ -224,7 +283,7 @@ def get_v_from_dancing(id_robot):
send_dt = 1/10 # send information to the poppy every send_dt

# get values from the real robot
if robot_status == "get_value_from_real_robot":
if compliance_mode:
timer_requests_not_overload += hg.time_to_sec_f(dt)
if timer_requests_not_overload > send_dt:
timer_requests_not_overload = 0
Expand All @@ -245,7 +304,7 @@ def get_v_from_dancing(id_robot):
hg_m = hg_motors[id]

# check if we are getting value from the real root
if robot_status == "get_value_from_real_robot":
if compliance_mode:
v = hg_m["v"]
else: # sending value to the real robot
if app_status == "dancing":
Expand All @@ -258,10 +317,10 @@ def get_v_from_dancing(id_robot):

# send the next position to the robot
if id == 5:
url_set_motor_pos_registers += f"m{id + 1}:compliant:{'True' if robot_status == 'get_value_from_real_robot' else 'False'};m{id + 1}:led:{led_actual_color};"
url_set_motor_pos_registers += f"m{id + 1}:compliant:{'True' if compliance_mode else 'False'};m{id + 1}:led:{led_actual_color};"
url_set_motor_pos += f"m{id + 1}:{-v}:{send_dt};"
else:
url_set_motor_pos_registers += f"m{id + 1}:compliant:{'True' if robot_status == 'get_value_from_real_robot' else 'False'};m{id + 1}:led:{led_actual_color};"
url_set_motor_pos_registers += f"m{id + 1}:compliant:{'True' if compliance_mode else 'False'};m{id + 1}:led:{led_actual_color};"
url_set_motor_pos += f"m{id + 1}:{v}:{send_dt};"


Expand All @@ -279,7 +338,7 @@ def get_v_from_dancing(id_robot):
hg_m["n"].GetTransform().SetRot(rot)

# check if we are getting value from the real root
if robot_status != "get_value_from_real_robot":
if not compliance_mode:
# send value
timer_requests_not_overload += hg.time_to_sec_f(dt)
if timer_requests_not_overload > send_dt:
Expand Down Expand Up @@ -430,52 +489,7 @@ def get_v_from_dancing(id_robot):
mat, hg.Vec3(0, 0, 0), hg.DTHA_Left, hg.DTVA_Top,
[font_color], [], text_render_state)

#toggle compliance mode
mat = hg.TransformationMat4(hg.Vec3(180, res_y - 70, 1), hg.Vec3(0, 0, 0), hg.Vec3(1, 1, 1))

pos = hg.GetT(mat)
axis_x = hg.GetX(mat) * 100 / 2
axis_y = hg.GetY(mat) * 40 / 2

toggle_vtx = hg.Vertices(vtx_layout, 4)
toggle_vtx.Begin(0).SetPos(pos - axis_x - axis_y).SetTexCoord0(hg.Vec2(0, 1)).End()
toggle_vtx.Begin(1).SetPos(pos - axis_x + axis_y).SetTexCoord0(hg.Vec2(0, 0)).End()
toggle_vtx.Begin(2).SetPos(pos + axis_x + axis_y).SetTexCoord0(hg.Vec2(1, 0)).End()
toggle_vtx.Begin(3).SetPos(pos + axis_x - axis_y).SetTexCoord0(hg.Vec2(1, 1)).End()
toggle_idx = [0, 3, 2, 0, 2, 1]


hg.DrawTriangles(view_id, toggle_idx, toggle_vtx, shader_for_plane, [], [texture_on if robot_status == 'get_value_from_real_robot' else texture_off], render_state_quad)

if mouse.Down(hg.MB_0):
mousexlist.append(mouse.X())
mouseylist.append(mouse.Y())
else:
mousexlist.clear()
mouseylist.clear()
has_switched = False

if len(mousexlist) > 20:
mousexlist.pop(0)
if len(mouseylist) > 20:
mouseylist.pop(0)

if len(mouseylist) > 0:
mouse_x = median(mousexlist)
mouse_y = median(mouseylist)
if mouse_x < 235 and mouse_x > 125 and mouse_y < res_y - 30 and mouse_y > res_y - 100 and not has_switched:
robot_status = 'send_value_to_robot' if robot_status == 'get_value_from_real_robot' else 'get_value_from_real_robot'
has_switched = True
mousexlist.clear()
mouseylist.clear()

mat = hg.TranslationMat4(hg.Vec3(250, res_y - 80, 1))
hg.SetS(mat, hg.Vec3(1, -1, 1))
hg.DrawText(view_id,
font,
"Compliance Mode", shader_font, "u_tex", 0,
mat, hg.Vec3(0, 0, 0), hg.DTHA_Left, hg.DTVA_Top,
[font_color_white], [], text_render_state)
compliance_mode = toggle_button("Compliance Mode ON" if compliance_mode else "Compliance Mode OFF", compliance_mode, 100, res_y - 80)

view_id += 1

Expand Down
2 changes: 1 addition & 1 deletion resources/core/shader/aaa_upsample_fs.sc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ float gaussian(float v, float sigma) {
}

void main() {
vec2 ratio = floor(textureSize(u_attr_hi, 0).xy / textureSize(u_attr_lo, 0).xy);
vec2 ratio = round(textureSize(u_attr_hi, 0).xy / textureSize(u_attr_lo, 0).xy);
vec2 pixel = gl_FragCoord.xy / ratio;
vec2 tmp = floor(pixel-vec2_splat(0.5)) + vec2_splat(0.5);
ivec2 coord = ivec2(tmp);
Expand Down

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