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#author("2021-12-05T10:33:36+09:00","default:TeleportDresser","TeleportDresser") #author("2021-12-05T10:37:20+09:00","default:TeleportDresser","TeleportDresser") #code(Python){{ import math from tkinter import * import tkinter.font as tkFont import matrix import copy import threading import re from selenium import webdriver from selenium.webdriver.common.keys import Keys from bs4 import BeautifulSoup from PIL import Image import requests import os import subprocess import sys class Cube: ''' Coordiante-system: Right-handed, Matrices are column-major ones ''' def __init__(self,space): # set space self.space=space self.name="" #Let these be in World-coordinates (worldview-matrix already applied) #In right-handed, counter-clockwise order # original cube self.org_cube = [ matrix.Vector3D(-0.5,0.5,-0.5), matrix.Vector3D(0.5,0.5,-0.5), matrix.Vector3D(0.5,-0.5,-0.5), matrix.Vector3D(-0.5,-0.5,-0.5), matrix.Vector3D(-0.5,0.5,0.5), matrix.Vector3D(0.5,0.5,0.5), matrix.Vector3D(0.5,-0.5,0.5), matrix.Vector3D(-0.5,-0.5,0.5) ] # # 0------- 1 # 4 ------ 5- | # | | | | # | | | | # | 3--- | 2 # 7--------6 # y # | # | # +------>x # / # z # # Define the vertices that compose each of the 6 faces. These numbers are # indices to the vertices list defined above. self.cubefaces = [(0,4,5,1),(0,1,2,3),(4,0,3,7),(5,4,7,6),(1,5,6,2),(3,2,6,7)] self.cls = ['red', 'blue', 'yellow', 'green', 'gray', 'white'] driver = webdriver.Chrome("/home/pi/chromedriver") print( 'number of arguments:', len(sys.argv), 'arguments.') arglist = sys.argv print( 'Argument List:', sys.argv) url=arglist[1] print( 'url=', url) #The matrices (Scale, Shear, Rotate, Translate) apply to locally translated cube self.ang = [0.0, 0.0, 0.0] # phi(x), theta(y), psi(z) of the local cube, apply to the original cube self.trans = [0.0, 0.0, 0.0] # translation (x, y, z) of the local cube, apply to the original cube driver.get(url) driver.save_screenshot("ex1.png") driver.close() #The Scale Matrix self.Scale = matrix.Matrix(4, 4) Scalex = 1.0 Scaley = 1.0 Scalez = 1.0 self.Scale[(0,0)] = Scalex self.Scale[(1,1)] = Scaley self.Scale[(2,2)] = Scalez img = Image.open("ex1.png") img_w, img_h = img.size print('img_h:',img_h,',img_w:',img_w) img_wc=img_w/2 img_hc=img_h/2 lx=img_wc-155 rx=img_wc+155 uy=img_hc-270 dy=img_hc+270 im_crop = img.crop((lx,uy,rx,dy)) #with open("ex2.png","wb") as aaa: # aaa.write(im_crop) im_crop.save("ex2.png") print('end save ex2.png') subprocess.run(['/home/pi/python/pi_i2c_nano_neomatrix_ex7.py','ex2.png']) #The Shear Matrix self.Shearxy = matrix.Matrix(4, 4) self.Shearxy[(0,2)] = 0.0 self.Shearxy[(1,2)] = 0.0 self.Shearxz = matrix.Matrix(4, 4) self.Shearxz[(0,1)] = 0.0 self.Shearxz[(2,1)] = 0.0 self.Shearyz = matrix.Matrix(4, 4) self.Shearyz[(1,0)] = 0.0 self.Shearyz[(2,0)] = 0.0 self.Shear = self.Shearxy*self.Shearxz*self.Shearyz #The Rotation Matrices self.Rotx = matrix.Matrix(4,4) self.Roty = matrix.Matrix(4,4) self.Rotz = matrix.Matrix(4,4) #The Translation Matrix (will contain xoffset, yoffset, zoffset) self.Tr = matrix.Matrix(4, 4) self.Tr[(0,3)] = self.trans[0] self.Tr[(1,3)] = self.trans[1] self.Tr[(2,3)] = self.trans[2] # LED-s(+) and a photo-tr(*) on a face # # 0----------------1 # | | # | + | # | + | # | | # | | # | + | # | * + | # | | # 4----------------5 # # self.led_face = [ #0 matrix.Vector3D(-0.5,0.5,-0.5), matrix.Vector3D(0.3,0.5, 0.4), #1 matrix.Vector3D(0.5,0.5,-0.5), matrix.Vector3D(0.4,0.5, -0.3), #2 matrix.Vector3D(-0.5,0.5,0.5), matrix.Vector3D(-0.3,0.5,-0.4), #3 matrix.Vector3D(0.5,0.5,0.5), matrix.Vector3D(-0.4,0.5,0.3) ] self.phtr_face = matrix.Vector3D(-0.3,0.5,0.4) self.face_00=copy.deepcopy([self.led_face,self.phtr_face]) # self.face_01=self.rotateFaceTo(90.0,0.0,0.0,self.face_00) self.face_02=self.rotateFaceTo(0.0,-90.0,0.0,self.face_01) self.face_03=self.rotateFaceTo(0.0,-180.0,0.0,self.face_01) self.face_04=self.rotateFaceTo(0.0,-270.0,0.0,self.face_01) self.face_05=self.rotateFaceTo(0.0,0.0,90.0,self.face_04) self.org_cfaces=[self.face_00,self.face_01,self.face_02,self.face_03,self.face_04,self.face_05] self.update() def moveTo(self,x,y,z): self.trans=[x,y,z] self.update() def rotateTo(self,phy,theta,psi): print("rotateTo(",end="") print(phy,theta,psi,end="") print(")") px=self.get_face_vector(0) #print("b face_vector(0)=",end="") #print(px) px=self.get_face_vector(1) #print("b face_vector(1)=",end="") #print(px) self.ang=[phy,theta,psi] self.update() px=self.get_face_vector(0) #print("a face_vector(0)=",end="") #print(px) px=self.get_face_vector(1) #print("a face_vector(1)=",end="") #print(px) def rotateFaceTo(self,phy,theta,psi,orgface): ang=[phy,theta,psi] #transform original cube to local cube #The Rotation Matrices _Rotx = matrix.Matrix(4,4) _Roty = matrix.Matrix(4,4) _Rotz = matrix.Matrix(4,4) # _Rotx[(1,1)] = math.cos(math.radians(360.0-ang[0])) _Rotx[(1,2)] = -math.sin(math.radians(360.0-ang[0])) _Rotx[(2,1)] = math.sin(math.radians(360.0-ang[0])) _Rotx[(2,2)] = math.cos(math.radians(360.0-ang[0])) _Roty[(0,0)] = math.cos(math.radians(360.0-ang[1])) _Roty[(0,2)] = math.sin(math.radians(360.0-ang[1])) _Roty[(2,0)] = -math.sin(math.radians(360.0-ang[1])) _Roty[(2,2)] = math.cos(math.radians(360.0-ang[1])) _Rotz[(0,0)] = math.cos(math.radians(360.0-ang[2])) _Rotz[(0,1)] = -math.sin(math.radians(360.0-ang[2])) _Rotz[(1,0)] = math.sin(math.radians(360.0-ang[2])) _Rotz[(1,1)] = math.cos(math.radians(360.0-ang[2])) _Tr = matrix.Matrix(4,4) _trans = [0.0, 0.0, 0.0] #The Rotation matrix _Rot = _Rotx*_Roty*_Rotz #Translation (just copying) _Tr[(0,3)] = -_trans[0] _Tr[(1,3)] = -_trans[1] _Tr[(2,3)] = -_trans[2] #The Transformation matrix _Tsf = _Tr*self.Scale*self.Shear*_Rot #orgface=[self.led_face,self.phtr_face] newface=copy.deepcopy(orgface) xface=newface[0] for j in range(len(xface)): v = xface[j] # Scale, Shear, Rotate the vertex around X axis, then around Y axis, and finally around Z axis and Translate. r = _Tsf*v xface[j]=r v=newface[1] r = _Tsf*v newface[1]=r return newface def rotate(self,phy,theta,psi): print(self.get_name(),end=""); print(".rotate(",end="") print(phy,theta,psi,end="") print(")") px=self.get_face_vector(0) #print("b face_vector(0)=",end="") #print(px) px=self.get_face_vector(1) #print("b face_vector(1)=",end="") #print(px) self.ang=[(self.ang[0]+phy)%360.0,(self.ang[1]+theta)%360.0,(self.ang[2]+psi)%360.0] self.update() px=self.get_face_vector(0) #print("a face_vector(0)=",end="") #print(px) px=self.get_face_vector(1) #print("a face_vector(1)=",end="") #print(px) def set_name(self,x): self.name=x def get_name(self): return self.name def get_cube_center(self): print("get_cube_center ",self.get_name(),end="") p1=self.cube[0] p2=self.cube[6] px=p2+p1 px.x=px.x/2 px.y=px.y/2 px.z=px.z/2 print(px) return px def get_face_vector(self,f): print(self.get_name(),".get_face_vector(",end="") #print("cube_id") print(f,end="") print(")=",end="") #print(f) fx=self.cubefaces[f] fx01=fx[0] #print("fx01") #print(fx01) fx02=fx[2] #print("fx02") #print(fx02) fv01=self.cube[fx01] #print("fv01") #print(fv01) fv02=self.cube[fx02] cc=self.get_cube_center() fv01=fv01-cc fv02=fv02-cc #print("fv02") #print(fv02) r=fv01+fv02 r.x=r.x/2 r.y=r.y/2 r.z=r.z/2 #print("get_face_vector return ",end="") print(r) return r def get_next_place_position(self,f): print("get_next_place_position ",self.get_name()," f=",end="") print(f) nfv=self.get_face_vector(f) #print("nfv=") #print(nfv) #The Scale Matrix _Scale = matrix.Matrix(4, 4) Scalex = 2.0 Scaley = 2.0 Scalez = 2.0 _Scale[(0,0)] = Scalex _Scale[(1,1)] = Scaley _Scale[(2,2)] = Scalez v=_Scale*nfv #print("v=") #print(v) cc=self.get_cube_center() px_x=v.x+cc.x px_y=v.y+cc.y px_z=v.z+cc.z pv=matrix.Vector3D(px_x,px_y,px_z) print("get_next_place_position return ",end="") #print("new position=") print(pv) return pv def is_next_door_face(self,my_face,cubex,facex): print("is_nextdoor_face(",end="") print(self.get_name()) print(",my_face=",end="") print(my_face,end="") print(",cubex=",end="") print(cubex.get_name(),end="") print(",facex=",end="") print(facex,end="") print(")") v1=self.get_face_vector(my_face) tx=matrix.Vector3D(self.trans[0],self.trans[1],self.trans[2]) #print("cube1 position") #print(tx) p1=v1+tx #print("cube1.f position") #print(p1) v2=cubex.get_face_vector(facex) #print("cube2 f position") #print(v2) tx2=matrix.Vector3D(cubex.trans[0],cubex.trans[1],cubex.trans[2]) #print("cube2 position") #print(tx2) p2=v2+tx2 #print("cube2.f position") #print(p2) dx=p1-p2 #print("dx") #print(dx) dxx=math.sqrt(dx.x*dx.x+dx.y*dx.y+dx.z*dx.z) print("dxx=",end="") print(dxx) if dxx<0.1: return True return False def rotate_nextdoor_cube_until_match_the_face(self,my_face, next_cube,x_face): print("rotate_nextdoor_cube_until_match_the_face(",end="") print(self.get_name(),",",end="") print("my_face=",end="") print(my_face,end="") print(",next_cube=",end="") print(next_cube.get_name(),end="") print(",x_face=",end="") print(x_face,end="") print(")") #self.print_cfaces() #next_cube.print_cfaces() if self.is_next_door_face( my_face, next_cube, x_face): return True dcx=self.get_face_vector(my_face) if abs(dcx.y) <=0.01 and abs(dcx.z) <=0.01: next_cube.rotate(0.0,90.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,90.0,0.0) if self.is_next_door_face(my_face, next_cube, x_face): return True next_cube.rotate(0.0,90.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,90.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,0.0,90.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,0.0,90.0) if self.is_next_door_face(my_face, next_cube, x_face): return True next_cube.rotate(0.0,0.0,90.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,0.0,90.0) if self.is_next_door_face( my_face, next_cube, x_face): return True if abs(dcx.x) <=0.01 and abs(dcx.z) <=0.01: next_cube.rotate(90.0,0.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(90.0,0.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(90.0,0.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(90.0,0.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,0.0,90.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,0.0,90.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,0.0,90.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,0.0,90.0) if self.is_next_door_face( my_face, next_cube, x_face): return True if abs(dcx.x) <=0.01 and abs(dcx.y) <=0.01: next_cube.rotate(90.0,0.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(90.0,0.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(90.0,0.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(90.0,0.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,90.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,90.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,90.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True next_cube.rotate(0.0,90.0,0.0) if self.is_next_door_face( my_face, next_cube, x_face): return True return False def is_connect_with_the_direction(self, my_face, cubex, facex, d): print("is_connect_with_the_direction(",self.get_name(),",",end="") xface=cubex.cfaces[facex] print(my_face,end="") print(",",cubex.get_name(),",",end="") print(facex,end="") print(",d=",end="") print(d,end="") print(")") xxface=xface[0] #print("xxface=") #print(xxface) ledx=xxface[d] print("ledx=",end="") print(ledx) #cubex_pos=cubex.get_cube_center() #ledxx=ledx+cubex_pos #print("ledxx=",end="") #print(ledxx) mfacex=self.cfaces[my_face] #print("mfacex=",end="") #print(mfacex) ptrx=mfacex[1] print("ptrx=",end="") print(ptrx) #mycube_pos=self.get_cube_center() #ptrxx=ptrx+mycube_pos #print("ptrxx=",end="") #print(ptrxx) #dx=ledxx-ptrxx dx=ledx-ptrx print("dx=",end="") print(dx) dxx=math.sqrt(dx.x*dx.x+dx.y*dx.y+dx.z*dx.z) print("dxx=",end="") print(dxx) if dxx<0.1: return True return False def rotate_nextdoor_cube_until_match_the_direction(self,my_face, next_cube,x_face,d): print("rotate_nextdoor_cube_until_match_the_direction(",self.get_name(),end="") print(",my_face=",end="") print(my_face,end="") print(",next_cube=",next_cube.get_name(),end="") print(",x_face=",end="") print(x_face,end="") print(",d=",end="") print(d,end="") print(")") #self.print_cfaces() #next_cube.print_cfaces() if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True dcx=self.get_face_vector(my_face) if abs(dcx.y) <=0.01 and abs(dcx.z) <=0.01: next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True if abs(dcx.x) <=0.01 and abs(dcx.z)<=0.01: next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True if abs(dcx.x) <=0.01 and abs(dcx.y)<=0.01: next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,0.0,90.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(90.0,0.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True next_cube.rotate(0.0,90.0,0.0) if self.is_connect_with_the_direction(my_face, next_cube, x_face,d): return True return False def update(self): #transform original cube to local cube self.Rotx[(1,1)] = math.cos(math.radians(360.0-self.ang[0])) self.Rotx[(1,2)] = -math.sin(math.radians(360.0-self.ang[0])) self.Rotx[(2,1)] = math.sin(math.radians(360.0-self.ang[0])) self.Rotx[(2,2)] = math.cos(math.radians(360.0-self.ang[0])) self.Roty[(0,0)] = math.cos(math.radians(360.0-self.ang[1])) self.Roty[(0,2)] = math.sin(math.radians(360.0-self.ang[1])) self.Roty[(2,0)] = -math.sin(math.radians(360.0-self.ang[1])) self.Roty[(2,2)] = math.cos(math.radians(360.0-self.ang[1])) self.Rotz[(0,0)] = math.cos(math.radians(360.0-self.ang[2])) self.Rotz[(0,1)] = -math.sin(math.radians(360.0-self.ang[2])) self.Rotz[(1,0)] = math.sin(math.radians(360.0-self.ang[2])) self.Rotz[(1,1)] = math.cos(math.radians(360.0-self.ang[2])) #The Rotation matrix self.Rot = self.Rotx*self.Roty*self.Rotz #Translation (just copying) self.Tr[(0,3)] = self.trans[0] self.Tr[(1,3)] = self.trans[1] self.Tr[(2,3)] = self.trans[2] #The Transformation matrix self.Tsf = self.Tr*self.Scale*self.Shear*self.Rot self.cube=copy.deepcopy(self.org_cube) for i in range(len(self.cubefaces)): for j in range(len(self.cubefaces[0])): v = self.org_cube[self.cubefaces[i][j]] #print("v[%d,%d]="%(i,j)) #print(v) # Scale, Shear, Rotate the vertex around X axis, then around Y axis, and finally around Z axis and Translate. r = self.Tsf*v #print("r[%d,%d]="%(i,j)) #print(v) self.cube[self.cubefaces[i][j]]=r self.cfaces=copy.deepcopy(self.org_cfaces) #print("update cube ",self.get_name()) for i in range(len(self.cfaces)): #print("face(",end="") #print(i,end="") #print(")") xface=self.cfaces[i] xface_led=xface[0] for j in range(len(xface_led)): #print("b led(",end="") #print(j,end="") #print(")=",end="") v = xface_led[j] #print(v) # Scale, Shear, Rotate the vertex around X axis, then around Y axis, and finally around Z axis and Translate. r = self.Tsf*v xface_led[j]=r #print("a led(",end="") #print(j,end="") #print(")=",end="") #print(r) v=xface[1] #print("b ptr()=",end="") r=self.Tsf*v xface[1]=r #print(r) self.cfaces[i]=xface def print_cfaces(self): print("cfaces cube=",self.get_name()) for i in range(len(self.cfaces)): print("face(",end="") print(i,end="") print(")") xface=self.cfaces[i] xface_led=xface[0] for j in range(len(xface_led)): print(" led(",end="") print(j,end="") print(")=",end="") v = xface_led[j] print(v) # Scale, Shear, Rotate the vertex around X axis, then around Y axis, and finally around Z axis and Translate. v=xface[1] print("ptr()=",end="") print(v) }}
