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#!/usr/bin/env python

"""

Graphics for simulations, based on turtle graphics

Author - Jev Kuznetsov

"""

import math

from time import sleep

import turtle

TESTING = True

class World:

""" wrapper class for visualisations """

def __init__(self, coord=(-10, -10, 10, 10), window_size=(800, 800)):

""" create world with worldcoordinates as coord """

self.screen = turtle.Screen()

self.screen.setup(width=window_size[0], height=window_size[1])

self.screen.setworldcoordinates(*coord)

self.screen.tracer(0, 0)

self.screen.onclick(self.click_callback)

self.turtle = turtle.Turtle()

self.turtle.color('blue')

self._markers = {} # marker objects

self.click_xy = None # last clicked position

def click_callback(self, x, y):

self.click_xy = (x, y)

def add_marker(self,

name,

color='green',

shape="circle",

size=0.5,

trace=False):

""" add marker (markers are Turtle objects) """

m = turtle.Turtle()

m.color(color)

m.shape(shape)

m.shapesize(size, size)

if not trace:

m.penup()

self._markers[name] = m

def move_marker(self, name, xy):

"""move marker to a position

Args:

name (str): marker name

xy (Vector): (x,y) vector

"""

self._markers[name].setpos(xy)

self.screen.update()

def move_robot(self, xy, phi):

""" plot robot state """

self.turtle.setpos(xy)

self.turtle.setheading(math.degrees(phi))

self.screen.update()

def plot_path(self, points, color='red', dotsize=3):

""" plot conntected points """

t = turtle.Turtle()

t.color(color)

t.hideturtle()

for x, y in points:

t.setpos(x, y)

t.dot(dotsize)

self.screen.update()

def main():

""" demo function """

w = World()

# plot path

points = [(-5, -5), (0, 0), (0, 2),

(2, 2), (2, 0), (2, -2), (5, 5)]

w.plot_path(points)

w.add_marker('m')

for x in range(10):

w.move_marker('m', (x/10, 0))

w.move_robot((0, x), math.pi/2)

if not TESTING:

sleep(0.1)

if not TESTING:

print('Please close graphics window...')

turtle.done()

if __name__ == "__main__":

main()