From 82dff02ba39af9e280e099590f0884b5a56053a3 Mon Sep 17 00:00:00 2001
From: gavinspytek <118202559+gavinspytek@users.noreply.github.com>
Date: Mon, 13 Feb 2023 14:30:09 -0600
Subject: [PATCH 1/5] Add files via upload
---
gradbot-main/LICENSE | 674 ++++++++
gradbot-main/Parts-Sketch.fig | 33 +
gradbot-main/README.md | 15 +
gradbot-main/codeflask.min.js | 1 +
gradbot-main/commands.html | 33 +
gradbot-main/dark-mode.css | 4 +
gradbot-main/gradbot.js | 3067 +++++++++++++++++++++++++++++++++
gradbot-main/index.css | 191 ++
gradbot-main/index.html | 217 +++
gradbot-main/light-mode.css | 4 +
gradbot-main/userbot.js | 257 +++
11 files changed, 4496 insertions(+)
create mode 100644 gradbot-main/LICENSE
create mode 100644 gradbot-main/Parts-Sketch.fig
create mode 100644 gradbot-main/README.md
create mode 100644 gradbot-main/codeflask.min.js
create mode 100644 gradbot-main/commands.html
create mode 100644 gradbot-main/dark-mode.css
create mode 100644 gradbot-main/gradbot.js
create mode 100644 gradbot-main/index.css
create mode 100644 gradbot-main/index.html
create mode 100644 gradbot-main/light-mode.css
create mode 100644 gradbot-main/userbot.js
diff --git a/gradbot-main/LICENSE b/gradbot-main/LICENSE
new file mode 100644
index 0000000..b27ad83
--- /dev/null
+++ b/gradbot-main/LICENSE
@@ -0,0 +1,674 @@
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+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+
+ Copyright (C)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
diff --git a/gradbot-main/Parts-Sketch.fig b/gradbot-main/Parts-Sketch.fig
new file mode 100644
index 0000000..55a6d40
--- /dev/null
+++ b/gradbot-main/Parts-Sketch.fig
@@ -0,0 +1,33 @@
+#FIG 3.2 Produced by xfig version 3.2.7a
+Landscape
+Center
+Metric
+A4
+100.00
+Single
+-2
+1200 2
+6 4275 4815 4365 4905
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
+ 4320 4815 4320 4905
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
+ 4275 4860 4365 4860
+-6
+6 4905 5445 4995 5535
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
+ 4950 5445 4950 5535
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
+ 4905 5490 4995 5490
+-6
+6 4275 6075 4365 6165
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
+ 4320 6075 4320 6165
+2 1 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 2
+ 4275 6120 4365 6120
+-6
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+ 4050 4950 5850 4950 5850 6030 4050 6030 4050 4950
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+ 4050 6030 4590 6030 4590 6210 4050 6210 4050 6030
+2 2 0 1 0 7 50 -1 -1 0.000 0 0 -1 0 0 5
+ 4050 4950 4590 4950 4590 4770 4050 4770 4050 4950
diff --git a/gradbot-main/README.md b/gradbot-main/README.md
new file mode 100644
index 0000000..738e983
--- /dev/null
+++ b/gradbot-main/README.md
@@ -0,0 +1,15 @@
+# Gradbot #
+---
+## Table of Contents
+1. Run Gradbot
+2. Gradbot Features
+3. Extra Information
+---
+### Run Gradbot
+---
+### Gradbot Features
+The Gradbot software is a way for students to learn beginning programming techniques in a fun and stable enviornment. Gradbot makes this easy with some of the following features.
+
+---
+### Extra Information
+---
diff --git a/gradbot-main/codeflask.min.js b/gradbot-main/codeflask.min.js
new file mode 100644
index 0000000..d186f85
--- /dev/null
+++ b/gradbot-main/codeflask.min.js
@@ -0,0 +1 @@
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diff --git a/gradbot-main/commands.html b/gradbot-main/commands.html
new file mode 100644
index 0000000..c193ef6
--- /dev/null
+++ b/gradbot-main/commands.html
@@ -0,0 +1,33 @@
+
+
+
+ Coding Your Robot
+
Coding Your Robot
+
+
+
+
+
+
+ 'side.setPower(level);'
+ Sets the power level of
+ the motor on the specified
+ side of the robot.
+ Side can be left or right.
+ Level can range from
+ 0 to 100.
+
+ 'await delay(number);'
+ Waits to move on to the
+ next command. Number is
+ the number of milliseconds
+ you would like the robot
+ to wait.
+
+ 'laser.fire;'
+ Fires the specified laser
+ one time. Use part name to
+ specify which laser to fire from.
+
+
+
\ No newline at end of file
diff --git a/gradbot-main/dark-mode.css b/gradbot-main/dark-mode.css
new file mode 100644
index 0000000..a9300be
--- /dev/null
+++ b/gradbot-main/dark-mode.css
@@ -0,0 +1,4 @@
+/* body {
+ color: #eee;
+ background: #121212;
+ } */
\ No newline at end of file
diff --git a/gradbot-main/gradbot.js b/gradbot-main/gradbot.js
new file mode 100644
index 0000000..3c57e2a
--- /dev/null
+++ b/gradbot-main/gradbot.js
@@ -0,0 +1,3067 @@
+/*
+ This program is a simulator for building robots.
+ Copyright (C) 2021 Robert Lowe
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+/**
+ * @file gradbot.js
+ * @copyright Robert Lowe 2021
+ * @license GPL 3.0
+ */
+
+
+/******************************************
+ * Utility Functions and Objects
+ ******************************************/
+
+
+/**
+ * This function takes an angle in radians and reduces it so its range
+ * is always within [0, 2*PI]
+ * @param {number} a - The angle to reduce
+ * @returns The reduced angle.
+ */
+function reduceAngle(a) {
+ var tau = 2 * Math.PI;
+
+ a %= tau;
+ if(a<0) {
+ a+= tau;
+ }
+
+ return a;
+}
+
+
+/**
+ * Compute the minimum distance from point e to the line segment
+ * ab. Each point is expected to be an object with fields x, y
+ * for the coordinates. This function also computes the angle to
+ * that closest point.
+ * @param {object} a - Endpoint a
+ * @param {object} b - Endpoint b
+ * @param {object} e - Endpoint e
+ * @returns {object} - an object {distance:, angle:}
+ */
+function minLineDist(a, b, e) {
+ //vectors
+ var ab = {x: b.x - a.x, y: b.y - a.y};
+ var be = {x: e.x - b.x, y: e.y - b.y};
+ var ae = {x: e.x - a.x, y: e.y - a.y};
+
+ //dot products
+ ab_be = ab.x * be.x + ab.y * be.y;
+ ab_ae = ab.x * ae.x + ab.y * ae.y;
+
+ //Minimum distance from e to the line segment
+ var result = {distance: Infinity, angle: 0};
+
+ if(ab_be > 0) {
+ // Case 1 - Point b is the closest
+ var y = b.y - e.y;
+ var x = b.x - e.x;
+ result.distance = Math.sqrt(x * x + y * y);
+ result.angle = Math.atan2(y, x);
+ } else if(ab_ae < 0) {
+ // Case 2 - Point a is the closest
+ var y = b.y - e.y;
+ var x = b.x - e.x;
+ result.distance = Math.sqrt(x * x + y * y);
+ result.angle = Math.atan2(y, x);
+ } else {
+ // Case 3 - Perpendicular distance
+ var x1 = ab.x;
+ var y1 = ab.y;
+ var x2 = ae.x;
+ var y2 = ae.y;
+ var mod = Math.sqrt(x1 * x1 + y1 * y1);
+ result.distance = Math.abs(x1 * y2 - y1 * x2) / mod;
+ result.angle = Math.atan2(ab.y, ab.x) + Math.PI/2;
+ }
+
+ return result;
+}
+
+
+
+/**
+ * Find the minimum distance between point p and polygon poly.
+ * It also computes the angle to the nearest point.
+ * @param {object} p - The point as an x, y object.
+ * @param {object} poly - A list of points in the polygon
+ * @returns {object} - an object {distance:, angle:}
+ */
+function minPolyDist(p, poly) {
+ var result = {distance: Infinity, angle: 0};
+ var dist;
+
+ //handle single point polygons
+ if(poly.length == 1) {
+ var dx = poly[0].x - p.x;
+ var dy = poly[0].y - p.y;
+ result.distance = Math.sqrt(dx*dx + dy*dy);
+ result.angle = Math.atan2(dy, dx);
+ return result;
+ }
+
+ //close the path
+ poly = poly.concat([poly[0]]);
+
+ // check all the line segments
+ for(var i=0; i= view2.minx &&
+ view1.miny <= view2.maxy &&
+ view1.maxy >= view2.miny;
+}
+
+
+
+/**
+ * This is a prototype for a positionable object. It handles all the
+ * intricacies of moving an object around.
+ * @param {number} x - x coordinate
+ * @param {number} y - y coordinate
+ * @param {number} heading - the direction in which the object is facing
+ */
+function Positionable(x, y, heading) {
+ this.x = x != undefined ? x : 0;
+ this.y = y != undefined ? y : 0;
+ this.heading = heading != undefined ? heading : 0;
+ this.heading = reduceAngle(this.heading);
+
+ /**
+ * Rotate the positionable.
+ * @param {number} a - The angle to rotate by (in radians)
+ */
+ this.rotate = function(a) {
+ this.heading = reduceAngle(this.heading + a);
+ };
+
+
+ /**
+ * Turn the positionable to face along the given heading.
+ * @param {number} a - The new heading to face along
+ */
+ this.face = function(a) {
+ this.heading = reduceAngle(a);
+ }
+
+
+ /**
+ * Move the positionable to (x,y)
+ * @param {*} x
+ * @param {*} y
+ */
+ this.moveTo = function(x, y) {
+ this.x = x;
+ this.y = y;
+ }
+}
+
+
+
+/******************************************
+ * Simulation Objects
+ ******************************************/
+
+/**
+ * A document for a part.
+ * Functions are an array of dictionaries:
+ * { name: name of the function
+ * doc: explanation of the function
+ * params: Array( {
+ * name : name of parameter
+ * doc : document of parameter
+ * }
+ * }
+ * Vars are an array of dictionaries:
+ * { name: name of var, doc: document of var }
+ * @param {*} name - name of the part
+ */
+function PartDoc() {
+ this.functions = Array();
+ this.vars = Array();
+ this.showName = true;
+
+ this.display = function(parent, name) {
+ var ul = document.createElement("ul");
+ parent.appendChild(ul);
+
+ // process the functions
+ for(var i=0; i" + p.name + " - " + p.doc;
+ parameterList.appendChild(pli);
+
+ }
+
+ code.innerHTML += ")";
+ li.appendChild(code);
+ li.appendChild(document.createElement("br"));
+ li.appendChild(funDoc);
+ li.appendChild(parameterList);
+ ul.appendChild(li);
+ }
+
+ // process the vars
+ for(var i=0; i 100) {
+ //power = 100;
+ //} else if(power < -100) {
+ //power = -100;
+ //}
+ this.power = power;
+ };
+
+
+ /**
+ * Update the part's state.
+ */
+ this.update = function() { };
+
+
+ /**
+ * Serialize
+ */
+ this.toJSON = function () {
+ result = {};
+ for (var attr in this) {
+ //skip parents and functions
+ if (attr == "parent" || typeof this[attr] == "function" || attr == "doc") {
+ continue;
+ }
+ result[attr] = this[attr];
+ }
+ return result;
+ };
+
+
+ /**
+ * Return a sendable (postable to a worker) version of this object.
+ */
+ this.sendable = function() {
+ //by default, just use the toJSON function
+ return this.toJSON();
+ };
+
+
+ /**
+ * Receive a message from the user thread
+ * @param {*} message
+ */
+ this.receiveUser = function(message) {
+ //by default, just ignore the message!
+ }
+}
+
+
+
+
+function Motor(parent, x, y, heading, name)
+{
+ //construct the part
+ Part.call(this, parent, x, y, heading, name);
+ this.type = "Motor";
+
+ //document the motor
+ this.doc.functions = Array(
+ { name: 'setPower',
+ doc: 'Set the power of the motor from -100 to 100',
+ params: Array( { name: 'p', doc: 'power setting'})
+ }
+ );
+ this.doc.vars = Array(
+ {name: 'power', doc: 'The current power setting of the motor'}
+ );
+
+
+ // handle speed of the motor
+ this.speed = 0; // motor speed in radians per second
+ this.update = function() {
+ //we are basing this on the sparkfun hobby motors which spin at 65 RPM (max)
+ //This maximum speed is roughly 6.81 radians per second
+ this.speed = 6.81 * this.power / 100;
+ }
+
+
+ /**
+ * Receive a message from the user thread
+ * @param {*} message
+ */
+ this.receiveUser = function(message) {
+ //copy the power setting from the user model
+ this.setPower(message.power);
+ }
+
+
+}
+
+
+function Marker(parent, x, y, name) {
+ //construct the part
+ Part.call(this, parent, x, y, 0, name);
+ this.type = "Marker";
+
+ // document the part
+ this.doc.functions = Array(
+ { name: 'penDown', doc: 'Begin drawing.', params: Array()},
+ { name: 'penUp', doc: 'Stop drawing.', params: Array()},
+ { name: 'setColor', doc: 'Change drawing color.', params: Array(
+ {name: 'c', doc: 'color'}
+ )}
+ );
+ this.doc.vars = Array(
+ { name: 'color', doc: 'The current color of the marker' },
+ { name: 'penDrawing', doc: 'True if the pen is drawing.'}
+ );
+
+ //by default we are coloring black
+ this.color = "black";
+
+ //by default the pen is up
+ this.penDrawing = false;
+
+ //set the marker color
+ this.setColor = function(color) {
+ this.color = color;
+ }
+
+ //lower the pen
+ this.penDown = function() {
+ this.penDrawing = true;
+ }
+
+ //raise the pen
+ this.penUp = function() {
+ this.penDrawing = false;
+ }
+
+
+ /**
+ * Receive a message from the user thread
+ * @param {*} message
+ */
+ this.receiveUser = function(message) {
+ this.color = message.color;
+ this.penDrawing = message.penDrawing;
+ }
+}
+
+
+function Chassis(x, y, heading, name)
+{
+ Part.call(this, null, x, y, heading, name);
+ this.type = "Chassis";
+
+ //no thread at first
+ this.thread = null;
+
+ //handle the subparts of the chassis
+ this.parts = Array();
+ this.addPart = function(p) {
+ this.parts.push(p);
+ };
+
+ // create the left and right motors
+ this.left = new Motor(this, -7, -7, 0, "left");
+ this.right = new Motor(this, -7, 7, Math.PI, "right");
+
+
+ //we start unexploded and healthy!
+ this.hp = 3;
+ this.blowedUp = false;
+ this.explosionVelocities = [];
+
+ // create the robot code
+ this.code = "";
+
+ // set up the laser battery
+ this.laserBattery = 50;
+
+ // deal with explosions
+ this.explode = function() {
+ //terminate the robot thread
+ if(this.thread){
+ this.thread.terminate();
+ }
+ this.blowedUp = true;
+ this.explosionVelocities = [];
+
+ //put all the parts in the world with new velocities
+ this.parts = this.parts.concat([this.left, this.right, this]);
+ var speed = 10;
+ for(var i=0; i= wxmax) {
+ this.x -= wxmax;
+ }
+ if(this.y >= wymax) {
+ this.y -= wymax;
+ }
+ };
+
+
+ /**
+ * Return a sendable (postable to a worker) version of this object.
+ */
+ this.sendable = function() {
+ var result = {};
+ result.name = this.name;
+ result.type = this.type;
+ result.code = this.code;
+ result.parts = [];
+
+ //push the motors onto the parts list
+ result.parts.push(this.left.sendable());
+ result.parts.push(this.right.sendable());
+
+ //push all the parts
+ for(var i=0; i 0.52 && angle < 5.76) {
+ continue;
+ }
+
+ //check for being the closest
+ if(dist.distance < closest) {
+ closest = dist.distance;
+ }
+ }
+
+ //calculate the distance
+ this.distance = closest / 60;
+ if(isNaN(this.distance) || this.distance > 5) {
+ this.distance = Infinity;
+ }
+
+
+ //pass the update into the web worker
+ if(this.parent.thread) {
+ this.parent.thread.postMessage({type: "update", update: {name: this.name, distance: this.distance}});
+ }
+ };
+
+
+ this.update = function() {
+ //populate the last update (if needed)
+ if(this.lastUpdate == undefined) {
+ this.lastUpdate = Date.now();
+ }
+
+ //compute elapsed time
+ var cur = Date.now();
+ var elapsed = (cur - this.lastUpdate) / 1000;
+
+ // trigger the sensor
+ if(elapsed >= 1 / this.freq) {
+ this.updateSensor();
+ this.lastUpdate = cur;
+ }
+ };
+}
+
+
+
+/**
+ * A sensor which determines the intensity of a light source.
+ * It can also be filtered, which makes it only see one color of light.
+ * @param {*} parent
+ * @param {*} x
+ * @param {*} y
+ */
+function LightSensor(parent, x, y) {
+ Part.call(this, parent, x, y);
+ this.type = "LightSensor"
+ this.worldx = 0;
+ this.worldy = 0;
+ this.intensity = 0;
+ this.freq = 10; //frequency in hertz
+
+ this.doc.vars = Array(
+ {name: 'intensity', doc: 'intensity of the sensed light'}
+ );
+
+ this.getRobotLights = function(r) {
+ var lights = [];
+
+ for(var i=0; i 0.52 && angle < 5.76) {
+ continue;
+ }
+
+ //calculate the square distance
+ var dist = dx*dx + dy*dy;
+ if(dist < closest) {
+ closest = dist;
+ }
+ }
+
+ //calculate the intensity
+ closest = closest / 400; // 20px per meter => 400px per meter^2
+
+ // 100% intensity at 1 m so...
+ this.intensity = 100 / closest;
+ if(isNaN(this.intensity)) {
+ this.intensity = 0;
+ }
+ if(this.intensity > 100) {
+ this.intensity=100;
+ }
+
+ //pass the update into the web worker
+ if(this.parent.thread) {
+ this.parent.thread.postMessage({type: "update", update: {name: this.name, intensity: this.intensity}});
+ }
+ };
+
+
+ this.update = function() {
+ //populate the last update (if needed)
+ if(this.lastUpdate == undefined) {
+ this.lastUpdate = Date.now();
+ }
+
+ //compute elapsed time
+ var cur = Date.now();
+ var elapsed = (cur - this.lastUpdate) / 1000;
+
+ // trigger the sensor
+ if(elapsed >= 1 / this.freq) {
+ this.updateSensor();
+ this.lastUpdate = cur;
+ }
+ };
+
+}
+
+
+
+/**
+ * A blast, from a laser. What else would it be?
+ */
+function LaserBlast(x, y, heading, firedBy) {
+ Part.call(this, null, x, y, heading);
+ this.type = "LaserBlast";
+
+ this.outline="red";
+ this.fill="red";
+
+ var speed = 30;
+
+ this.dx = speed * Math.cos(heading);
+ this.dy = speed * Math.sin(heading);
+ this.firedBy = firedBy;
+
+ this.vanish = function() {
+ //take ourselves out of the world objects
+ var toRemove = -1;
+ for(var i = 0; i< simState.worldObjects.length; i++) {
+ if(simState.worldObjects[i].part === this) {
+ toRemove = i;
+ break;
+ }
+ }
+ if(i >= 0) {
+ simState.worldObjects.splice(toRemove, 1);
+ }
+ }
+
+
+ this.update = function() {
+ this.x += this.dx;
+ this.y += this.dy;
+
+ //TODO, dont' hardcode the sizes
+ if(this.x < 0 || this.x > 800 || this.y < 0 || this.y > 600) {
+ this.vanish();
+ }
+ }
+}
+
+
+/**
+ * A frickin' laser beam.
+ */
+function Laser(parent, x, y, heading) {
+ Part.call(this, parent, x, y, heading);
+ this.type = "Laser";
+ this.charged = true;
+ this.lastUpdate = undefined;
+ this.chargeTime = 500;
+
+ this.doc.functions = Array(
+ {name: 'fire', doc: 'Fire the laser beam.', params: Array()}
+ );
+
+ //fire the laser beam
+ this.fire = function() {
+ // no charge, no pew
+ if(!this.charged) { return; }
+
+ // check that we have ample battery power
+ if(this.parent.laserBattery <= 0) {
+ return;
+ }
+
+ //no more power.
+ this.charged = false;
+ this.lastUpdate = Date.now();
+
+ //fire!
+ this.parent.depleteLaserBattery(1);
+ var lb = new LaserBlast(this.worldx, this.worldy, this.parent.heading, this.parent);
+ simState.worldObjects.push(constructView(lb));
+ }
+
+ //update the laser (charge it)
+ this.update = function() {
+ //already charged?
+ if(this.charged) {
+ return;
+ }
+
+ var elapsed = Date.now() - this.lastUpdate;
+ if(elapsed > this.chargeTime) {
+ this.charged = true;
+ this.lastUpdate = undefined;
+ }
+ }
+
+
+ //fire the laser when we receive a message
+ this.receiveUser = function(obj) {
+ this.fire();
+ }
+}
+
+
+/**
+ * Document the system functions.
+ */
+function SystemFunctions() {
+ this.doc = new PartDoc();
+ this.doc.showName = false;
+ this.name = 'System Functions';
+ this.type = '';
+
+ this.doc.functions = Array(
+ { name: 'await delay',
+ doc: 'Wait for a period of time to pass',
+ params: Array({name: 'ms', doc: 'delay in milliseconds'})}
+ );
+}
+
+
+
+/******************************************
+ * Utility Functions and Objects
+ ******************************************/
+
+
+function VectorView(x, y, heading, scale, points) {
+ // set up the fields
+ Positionable.call(this, x, y, heading);
+ this.scale = scale != undefined ? scale : 1;
+ this.points = points != undefined ? points : {};
+ this.outline = undefined;
+ this.fill = undefined;
+ this.polygon = [];
+
+
+ /**
+ * Reset the minx, miny, maxx, and maxy to Infinity and -Infinity
+ */
+ this.resetExtents = function() {
+ //extents of the vector view
+ this.minx = Infinity;
+ this.miny = Infinity;
+ this.maxx = -Infinity;
+ this.maxy = -Infinity;
+ };
+ this.resetExtents();
+
+
+ // draw the shape
+ this.draw = function(canvas, context) {
+ var x;
+ var y;
+ var started = false;
+ this.polygon = [];
+
+ //reset the extents
+ this.resetExtents();
+
+ // skip the blank shapes
+ if(this.points.length == 0) {
+ return;
+ }
+
+ //compute rotation coeffecients
+ var sin_th = Math.sin(this.heading);
+ var cos_th = Math.cos(this.heading);
+
+ context.beginPath();
+ for(var i in points) {
+ var p = points[i];
+
+ // get the raw point and scale
+ x = p.x * this.scale;
+ y = p.y * this.scale;
+
+ // rotate
+ var rx, ry;
+ rx = x * cos_th - y * sin_th;
+ ry = x * sin_th + y * cos_th;
+ x = rx;
+ y = ry;
+
+ // translate
+ x += this.x;
+ y += this.y;
+
+ // add to the polygon
+ this.polygon.push({x: x, y: y});
+
+ //add the line or start the shape
+ if(started) {
+ context.lineTo(x, y);
+ } else {
+ context.moveTo(x, y);
+ started = true;
+ }
+
+ //track extents
+ if(x < this.minx) { this.minx = x; }
+ if(x > this.maxx) { this.maxx = x; }
+ if(y < this.miny) { this.miny = y; }
+ if(y > this.maxy) { this.maxy = y; }
+ }
+ context.closePath();
+
+ // set the colors, if needed
+ if(this.outline) {
+ context.strokeStyle = this.outline;
+ }
+ if(this.fill) {
+ context.fillStyle = this.fill;
+ }
+
+ //draw the path
+ context.fill();
+ context.stroke();
+ };
+
+
+ /**
+ * Determines if the point (x,y) is within the extents of the view.
+ * @param {*} x - x coordinate
+ * @param {*} y - y coordinate
+ * @returns true if (x,y) is inside this view, false otherwise.
+ */
+ this.encloses = function(x, y) {
+ return x >= this.minx && x <= this.maxx &&
+ y >= this.miny && y <= this.maxy;
+ }
+}
+
+
+/**
+ * Construct a view for the given part. It works by calling the correct
+ * constructor for the part.
+ * @param {*} part
+ * @returns The newly constructed part. Returns undefined for parts with no known view.
+ */
+function constructView(part) {
+ if(part.type == "Chassis") {
+ return new ChassisView(part);
+ } else if(part.type == "Motor") {
+ return new MotorView(part);
+ } else if(part.type == "Marker") {
+ return new MarkerView(part);
+ } else if(part.type == "Light") {
+ return new LightView(part);
+ } else if(part.type == "LightSensor") {
+ return new LightSensorView(part);
+ } else if(part.type == "RangeSensor") {
+ return new RangeSensorView(part);
+ } else if(part.type == "Wall") {
+ return new WallView(part);
+ } else if(part.type == "LaserBlast") {
+ return new LaserBlastView(part);
+ } else if(part.type == "Laser") {
+ return new LaserView(part);
+ }
+ // we don't know how to show this part.
+ return undefined;
+}
+
+
+function PartView(part) {
+ // Construct the positionable parts of ourselves
+ Positionable.call(this, part.x, part.y, part.heading);
+
+ // Every PartView has a vector view
+ this.view = null;
+
+ // Scale the view
+ this.scale = 1;
+
+ // We also need a list of sub views
+ this.subviews = [];
+ this.addSubview = function(view) {
+ view.reOrigin();
+ this.subviews.push(view);
+ }
+
+ // remember the part we are viewing!
+ this.part = part;
+
+ /**
+ * Draw the part along with all of its subparts.
+ * @param {*} canvas - The canvas to draw on.
+ * @param {*} context - The context to draw on.
+ */
+ this.draw = function(canvas, context) {
+ // unparented parts are in the world (but not necessarily of
+ // it!)
+ if(!this.part.parent) {
+ this.x = this.part.x;
+ this.y = this.part.y;
+ this.heading = this.part.heading;
+ }
+
+ // set the color
+ this.view.outline = this.part.outline;
+ this.view.fill = this.part.fill;
+
+ // draw the base view (if it exists)
+ if(this.view) {
+ this.view.x = this.x;
+ this.view.y = this.y;
+ this.view.heading = this.heading;
+ this.view.scale = this.scale;
+ this.view.draw(canvas, context);
+ part.worldx = (this.view.minx + this.view.maxx)/2;
+ part.worldy = (this.view.miny + this.view.maxy)/2;
+ }
+
+ // draw each subviews offset to this view's pose
+ for(var i = 0; i < this.subviews.length; i++) {
+ var v = this.subviews[i];
+ v.x = this.x;
+ v.y = this.y;
+ v.face(this.heading);
+ v.scale = this.scale;
+ v.draw(canvas, context);
+ }
+ };
+
+
+ /**
+ * Shift the part's origin to its x,y and set its position to 0,0.
+ */
+ this.reOrigin = function() {
+ //compute rotation coeffecients
+ var sin_th = Math.sin(this.heading);
+ var cos_th = Math.cos(this.heading);
+
+ for(var i=0; i < this.view.points.length; i++) {
+ var p = this.view.points[i];
+ var rx, ry;
+ rx = p.x * cos_th - p.y * sin_th;
+ ry = p.x * sin_th + p.y * cos_th;
+ p.x = rx + this.x;
+ p.y = ry + this.y;
+ }
+
+ this.heading = 0;
+ this.view.heading = 0;
+ this.view.x = 0;
+ this.view.y = 0;
+ this.x = 0;
+ this.y = 0;
+ };
+
+
+ /**
+ * Move the part to x, y (in part coordinates)
+ * @param {*} x
+ * @param {*} y
+ */
+ this.moveTo = function(x, y) {
+ var dx = x - this.part.x;
+ var dy = y - this.part.y;
+
+ // Move all the points in the view
+ for(var i=0; i < this.view.points.length; i++) {
+ var p = this.view.points[i];
+ p.x += dx;
+ p.y += dy;
+ }
+
+ // move the part position
+ this.part.x = x;
+ this.part.y = y;
+ }
+
+
+ /**
+ * Convert a global coordinate to a part view coordinate.
+ * @param {*} x
+ * @param {*} y
+ * @returns Location object {x:, y:}
+ */
+ this.globalToPartLoc = function(x, y) {
+ var sin_th = Math.sin(-this.heading);
+ var cos_th = Math.cos(-this.heading);
+ var result = {};
+
+ x /= this.scale;
+ y /= this.scale;
+ x -= this.x / this.scale;
+ y -= this.y / this.scale;
+
+ result.x = x * cos_th - y * sin_th;
+ result.y = x * sin_th + y * cos_th;
+
+ return result;
+ };
+}
+
+
+/**
+ * Constructor for the chassis view object. This visualizes an entire
+ * robot.
+ * @param {*} part - The chassis part
+ */
+function ChassisView(part) {
+ // initialize the partview
+ PartView.call(this, part);
+
+ // add the motors to the subview list.
+ this.addSubview(constructView(part.left));
+ this.addSubview(constructView(part.right));
+
+ //add the other parts to the view
+ for(var i=0; i" + part.type + "";
+ li.onclick = function() {displayPartDoc(part); };
+ partList.appendChild(li);
+}
+
+
+/**
+ * Display part documentation.
+ * @param {*} part
+ */
+function displayPartDoc(part) {
+ var doc = document.getElementById('codePartDoc');
+ doc.innerHTML = '';
+ var e = document.createElement('div');
+ e.classList.add('toolboxHead');
+ e.innerHTML = part.name;
+ doc.appendChild(e);
+ part.doc.display(doc, part.name);
+}
+
+
+/**
+ * Draw the simulator canvas.
+ */
+function drawSim() {
+ var canvas = document.getElementById('simfg');
+ var context = canvas.getContext("2d");
+
+ //scale the view
+ simView.scale=2;
+
+ // clear the frame
+ context.clearRect(0, 0, canvas.width, canvas.height);
+
+ //draw the world objects
+ for(i in simState.worldObjects) {
+ simState.worldObjects[i].scale = 2;
+ simState.worldObjects[i].draw(canvas, context);
+ }
+
+ //draw the robot
+ simView.draw(canvas, context);
+
+ //draw the opponent (if there is one)
+ if(opponent) {
+ opponentView.scale=2;
+ opponentView.draw(canvas, context);
+ }
+}
+
+
+/**
+ * Draws the build canvas.
+ */
+function drawBuild() {
+ var canvas = document.getElementById("buildCanvas");
+ var context = canvas.getContext("2d");
+
+ //draw the build window
+ graphPaperFill("buildCanvas");
+ buildView.draw(canvas, context);
+}
+
+
+/**
+ * Fill the canvas with the given ID with a graph paper like pattern.
+ * @param {*} - id
+ */
+function graphPaperFill(id) {
+ var back = document.getElementById(id);
+ var context = back.getContext("2d");
+ context.fillStyle = "white";
+ context.fillRect(0, 0, back.width, back.height);
+
+ context.beginPath();
+ for (var lx = 0; lx < back.width; lx += 20) {
+ context.moveTo(lx, 0);
+ context.lineTo(lx, back.height);
+ }
+ for (var ly = 0; ly < back.height; ly += 20) {
+ context.moveTo(0, ly);
+ context.lineTo(back.width, ly);
+ }
+ context.strokeStyle = "lightblue";
+ context.stroke();
+
+ context.strokeRect(0, 0, back.width, back.height);
+}
+
+
+/*
+ * Simulation Events
+ */
+
+/**
+ * Handler for mouse down events on the sim canvas.
+ */
+function simMouseDown(event) {
+
+ // get the target of the click
+ simState.dragTarget = null;
+ if(simView.view.encloses(event.offsetX, event.offsetY)) {
+ simState.dragTarget = simView;
+ } else {
+ for(i in simState.worldObjects) {
+ var obj = simState.worldObjects[i];
+ if(obj.view.encloses(event.offsetX, event.offsetY)) {
+ simState.dragTarget = obj;
+ break;
+ }
+ }
+ }
+
+ if(!simState.dragTarget) {
+ return false;
+ }
+
+ //record this position
+ simState.lastX = event.offsetX;
+ simState.lastY = event.offsetY;
+
+ //get the mode
+ if(document.getElementById('dragRotate').checked) {
+ simState.dragMode = DRAG_ROTATE;
+ } else if(document.getElementById('dragMove').checked) {
+ simState.dragMode = DRAG_MOVE;
+ simState.dragTarget.part.moveTo(event.offsetX, event.offsetY);
+ } else if(document.getElementById('dragResize').checked) {
+ simState.dragMode = DRAG_RESIZE;
+ } else {
+ simState.dragMode = DRAG_NONE;
+ }
+
+ //refresh the canvas
+ drawSim();
+
+ return true;
+}
+
+
+/**
+ * Handler for mouse up events on the sim canvas.
+ */
+function simMouseUp(event) {
+ // one last move (if that is what we are up to!)
+ if(simState.dragMode == DRAG_MOVE) {
+ simState.dragTarget.part.moveTo(event.offsetX, event.offsetY);
+ } else if (simState.dragMode == DRAG_RESIZE && simState.dragTarget.part.type == 'Wall'){
+ if (simState.dragTarget.part.resizeFactor < 5){
+ simState.dragTarget.part.resizeFactor = simState.dragTarget.part.resizeFactor + 1;
+ }else{
+ simState.dragTarget.part.resizeFactor = 1;
+ }
+ for (var i=0; simState.worldObjects.length; i++){
+ if (simState.worldObjects[i].part.name == simState.dragTarget.part.name){
+ simState.worldObjects.splice(i, 1);
+ break;
+ };
+ }
+ simState.worldObjects.push(new WallView(simState.dragTarget.part));
+ }
+
+ // end the drag mode
+ simState.dragMode = DRAG_NONE;
+
+ //if this is not the robot, select it
+ if(simState.dragTarget && simState.dragTarget.part.type != "Chassis") {
+ selectPart(simState.dragTarget, simState);
+ }
+
+ //refresh the canvas
+ drawSim();
+ return true;
+}
+
+
+/**
+ * Handler for mouse move events on the sim canvas.
+ */
+function simMouseMove(event) {
+ // if we have no drag mode, do nothing
+ if(simState.dragMode == DRAG_NONE) {
+ return false;
+ }
+
+ // process movement
+ if(simState.dragMode == DRAG_MOVE) {
+ simState.dragTarget.part.moveTo(event.offsetX, event.offsetY);
+ }
+
+ //process rotation
+ if(simState.dragMode == DRAG_ROTATE) {
+ simState.dragTarget.part.rotate((event.offsetY-simState.lastY) * 0.1);
+ }
+
+ //record this position
+ simState.lastX = event.offsetX;
+ simState.lastY = event.offsetY;
+
+ // refresh the canvas
+ drawSim();
+
+ return true;
+}
+
+
+/**
+ * Add a light to the simulator.
+ * @param {*} event
+ */
+function simAddLight(event) {
+ var canvas = document.getElementById("simfg");
+ var light = new Light(null, canvas.width/2, canvas.height/2);
+
+ simState.worldObjects.push(constructView(light));
+ drawSim();
+}
+
+
+/**
+ * Add a wall to the simulator.
+ * @param {*} event
+ */
+function simAddWall(event) {
+ var canvas = document.getElementById("simfg");
+ var wall = new Wall(null, canvas.width/2, canvas.height/2);
+
+ simState.worldObjects.push(constructView(wall));
+ drawSim();
+}
+
+
+
+/*
+ * Build Events
+ */
+
+/**
+ * Show the editor for the part specified by "view".
+ * @param {*} view
+ */
+function showPartEditor(view, state) {
+ //populate the type and name
+ document.getElementById(state.prefix +"PartType").innerHTML = view.part.type;
+ document.getElementById(state.prefix +"PartName").value = view.part.name;
+
+ //get the colors populated
+ document.getElementById(state.prefix + "PartOutlineColor").value = view.part.outline;
+ document.getElementById(state.prefix + "PartFillColor").value = view.part.fill;
+
+
+ //show the editor pane
+ document.getElementById(state.prefix + "PartEditor").style.display="block";
+}
+
+
+/**
+ * Hide the part editor.
+ */
+function hidePartEditor(state) {
+ //hide the editor pane
+ document.getElementById(state.prefix + "PartEditor").style.display="none";
+}
+
+
+/**
+ * Select the partview in the editor.
+ * @param {*} view
+ */
+function selectPart(view, state) {
+ // deselect (if needed)
+ if(state.editTarget != null) {
+ deselectPart(state);
+ }
+
+ // grab the original color
+ state.editOriginalOutline = view.part.outline;
+
+ // set up the target
+ state.editTarget = view;
+
+ //show the editor
+ showPartEditor(view, state);
+
+ // color it coral
+ view.part.outline = "coral";
+
+
+ // redraw the canvas
+ if(state.prefix == "build") {
+ drawBuild();
+ } else if(state.prefix == "sim") {
+ drawSim();
+ }
+}
+
+
+/**
+ * Deselect the selected partview (if there is one)
+ */
+function deselectPart(state) {
+ // do nothing if there is no selected part
+ if(state.editTarget == null) {
+ return;
+ }
+
+ // retore the original color
+ state.editTarget.part.outline = state.editOriginalOutline;
+
+ // remove the selection
+ state.editTarget = null;
+ hidePartEditor(state);
+
+ // redraw the canvas
+ if(state.prefix == "build") {
+ drawBuild();
+ } else if(state.prefix == "sim") {
+ drawSim();
+ }
+}
+
+
+/**
+ * Apply the editor to the given state.
+ */
+function applyEditor(state) {
+ //get the color from the editor
+ var fill = document.getElementById(state.prefix + "PartFillColor").value;
+ var outline = document.getElementById(state.prefix + "PartOutlineColor").value;
+
+ //get the part name
+ var name = document.getElementById(state.prefix + "PartName").value;
+
+ //get the part we are editing
+ var part = state.editTarget.part;
+
+ //deselect the part
+ deselectPart(state);
+
+ //set the fields
+ part.fill = fill;
+ part.outline = outline;
+ part.name = name;
+
+ // redraw the canvas
+ if(state.prefix == "build") {
+ drawBuild();
+ } else if(state.prefix == "sim") {
+ drawSim();
+ }
+}
+
+
+/**
+ * Handle build canvas mouse down
+ * @param {*} event
+ */
+function buildMouseDown(event) {
+ var x = event.offsetX;
+ var y = event.offsetY;
+
+ // assume we have found nothing
+ buildState.dragTarget = null;
+ buildState.dragMode = DRAG_NONE;
+
+ // check for clicking on a robot subpart
+ for(var i=0; i < buildView.subviews.length; i++) {
+ var partView = buildView.subviews[i];
+ if(partView.view.encloses(x, y)) {
+ buildState.dragTarget = partView;
+ if(buildState.dragTarget.part.type != "Motor") {
+ buildState.dragMode = DRAG_MOVE;
+ }
+ break;
+ }
+ }
+
+ // if no subpart is selected, see if we have selected the chassis body.
+ if(buildState.dragTarget == null && buildView.view.encloses(x,y)) {
+ buildState.dragTarget = buildView;
+ }
+
+ // if we still lack a subpart, return
+ if(!buildState.dragTarget) {
+ return;
+ }
+
+ //record last x and last y
+ buildState.lastX = x;
+ buildState.lastY = y;
+}
+
+
+/**
+ * Handle build canvas mouse move
+ * @param {*} event
+ */
+function buildMouseMove(event) {
+ //if there is no return target, stop!
+ if(!buildState.dragTarget) { return; }
+
+ var x = event.offsetX;
+ var y = event.offsetY;
+
+ //move the part (if that is our mode)
+ if(buildState.dragMode == DRAG_MOVE) {
+ if(buildView.view.encloses(x, y)) {
+ var p = buildState.dragTarget.globalToPartLoc(x, y);
+ buildState.dragTarget.moveTo(p.x, p.y);
+ drawBuild();
+ }
+ }
+
+ //record last x and last y
+ buildState.lastX = x;
+ buildState.lastY = y;
+}
+
+
+/**
+ * Handle build canvas mouse up
+ * @param {*} event
+ */
+function buildMouseUp(event) {
+ // if there was a drag target, it is now the selected object
+ if(buildState.dragTarget) {
+ selectPart(buildState.dragTarget, buildState);
+ }
+
+ // clear the drag target
+ buildState.dragTarget = null;
+ buildState.dragMode = DRAG_NONE;
+}
+
+
+/**
+ * Handle the apply button for the build part editor.
+ * @param {*} event
+ */
+function buildApply(event) {
+ applyEditor(buildState);
+}
+
+
+/**
+ * Handle the apply button for the sim part editor.
+ * @param {*} event
+ */
+function simApply(event) {
+ applyEditor(simState);
+}
+
+
+/**
+ * Handle the build cancel button
+ * @param {*} event
+ */
+function buildCancel(event) {
+ deselectPart(buildState);
+}
+
+
+/**
+ * Handle the sim cancel button
+ * @param {*} event
+ */
+function simCancel(event) {
+ deselectPart(simState);
+}
+
+
+
+/**
+ * Handle the build delete button.
+ * @param {*} event
+ */
+function buildDeletePart(event) {
+ var part = buildState.editTarget.part;
+
+ if(part.type == "Motor" || part.type == "Chassis") {
+ alert("You cannot remove this part.");
+ return;
+ }
+
+ if(!confirm("Are you sure you want to remove " + part.name + "?")) {
+ return;
+ }
+
+ deselectPart(buildState);
+
+ // remove it from the robot parts list
+ robot.parts.splice(robot.parts.indexOf(part), 1);
+
+ // rebuild the robot
+ buildView = new ChassisBuildView(robot);
+ drawBuild();
+}
+
+
+/**
+ * Handle the sim delete button.
+ * @param {*} event
+ */
+function simDeletePart(event) {
+ var part = simState.editTarget.part;
+
+ if(part.type == "Motor" || part.type == "Chassis") {
+ alert("You cannot remove this part.");
+ return;
+ }
+
+ if(!confirm("Are you sure you want to remove " + part.name + "?")) {
+ return;
+ }
+
+ deselectPart(simState);
+
+ var partArray = [];
+ for(var i=0; i
+
+
+ Gradbot Simulator
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+ Drag Mode
+
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+ Simulation Controls
+
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+ Object Editor
+
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+ Type:
+
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+ Add Object
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+ Manage Oponent
+
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+
+ *Note: refresh page after running simulation with opponent*
+
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+