-
Notifications
You must be signed in to change notification settings - Fork 0
/
debug.py
113 lines (102 loc) · 3.43 KB
/
debug.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
import socket
import sys
import time
from zss_debug_pb2 import Debug_Msgs, Debug_Msg, Debug_Arc
class Debugger(object):
def __init__(self):
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.debug_address = ('localhost', 20001)
def draw_circle(self, package, x, y, radius=300, color=Debug_Msg.WHITE):
msg = package.msgs.add()
msg.type = Debug_Msg.ARC
msg.color = color
arc = msg.arc
arc.rectangle.point1.x = x - radius
arc.rectangle.point1.y = y - radius
arc.rectangle.point2.x = x + radius
arc.rectangle.point2.y = y + radius
arc.start = 0
arc.end = 360
arc.FILL = True
def draw_line(self, package, x1, y1, x2, y2, color=Debug_Msg.WHITE):
msg = package.msgs.add()
msg.type = Debug_Msg.LINE
msg.color = color
line = msg.line
line.start.x = x1
line.start.y = y1
line.end.x = x2
line.end.y = y2
line.FORWARD = True
line.BACK = True
def draw_lines(self, package, x1, y1, x2, y2, color=Debug_Msg.WHITE):
for i in range(len(x1)):
msg = package.msgs.add()
msg.type = Debug_Msg.LINE
msg.color = color
line = msg.line
line.start.x = x1[i]
line.start.y = y1[i]
line.end.x = x2[i]
line.end.y = y2[i]
line.FORWARD = True
line.BACK = True
def draw_point(self, package, x, y, color=Debug_Msg.WHITE):
msg = package.msgs.add()
# line 1
msg.type = Debug_Msg.LINE
msg.color = color
line = msg.line
line.start.x = x + 50
line.start.y = y + 50
line.end.x = x - 50
line.end.y = y - 50
line.FORWARD = True
line.BACK = True
# line 2
msg = package.msgs.add()
msg.type = Debug_Msg.LINE
msg.color = color
line = msg.line
line.start.x = x - 50
line.start.y = y + 50
line.end.x = x + 50
line.end.y = y - 50
line.FORWARD = True
line.BACK = True
def draw_points(self, package, x, y, color=Debug_Msg.WHITE):
for i in range(len(x)):
# line 1
msg = package.msgs.add()
msg.type = Debug_Msg.LINE
msg.color = color
line = msg.line
line.start.x = x[i] + 50
line.start.y = y[i] + 50
line.end.x = x[i] - 50
line.end.y = y[i] - 50
line.FORWARD = True
line.BACK = True
# line 2
msg = package.msgs.add()
msg.type = Debug_Msg.LINE
msg.color = color
line = msg.line
line.start.x = x[i] - 50
line.start.y = y[i] + 50
line.end.x = x[i] + 50
line.end.y = y[i] - 50
line.FORWARD = True
line.BACK = True
def send(self, package):
self.sock.sendto(package.SerializeToString(), self.debug_address)
if __name__ == '__main__':
debugger = Debugger()
package = Debug_Msgs()
debugger.draw_circle(package, x=0, y=500)
debugger.draw_line(package, x1=0, y1=2500, x2=600, y2=2500)
debugger.draw_lines(package, x1=[0, 0], y1=[0, 2000], x2=[
2000, 2000], y2=[0, 2000])
debugger.draw_point(package, x=500, y=500)
debugger.draw_points(package, x=[1000, 2000], y=[3000, 3000])
debugger.send(package)