brandonhs/imagestuff.py

## imagestuff.py
# ------------------------------------------
#
# 	Project:      Parking System
#	Author:       VEX
#	Created:      Brandon Stevens
#	Description:  Parking Space System
#
# ------------------------------------------

from vexcode import *
from math import *

import os

# cause python has no sign function?
def sign(x):
    if x == 0:
        return 0
    elif x > 0:
        return 1
    elif x < 0:
        return -1
    return x # should never reach here

def get_position():
    x = location.position(X, MM)
    y = location.position(Y, MM)
    return (x,y)

def to_coords(pix):
    x, y = pix
    return ((x*200)-900,(y*200)-900)

def from_coords(coords):
    x, y = coords
    return ((x+900)/200,(y+900)/200)

def length(vec):
    x, y = vec
    return sqrt(x**2 + y**2)

def degrees(rad):
    return rad*(180/pi)

def create_line(a, b, x_first=True):
    ax, ay = a
    bx, by = b
    path = [ a ];
    x = ax
    y = ay
    dx = -1
    if ax == bx:
        dx = 0
    elif bx > ax:
        dx = 1
    dy = -1
    if ay == by:
        dy = 0
    elif by > ay:
        dy = 1

    # allows for user to decide whether horizontal or vertical will get preference
    horiz = abs(bx - ax) >= abs(by - ay)
    if x_first:
        horiz = abs(bx - ax) > abs(by - ay)

    if dx == 0 or dy == 0:
        path.append((x,y))
    elif horiz:
        t = (by - ay) / (bx - ax);
        m = (1 - abs(t)) / 2;
        while x != bx or y != by:
            ideal = ay + (x - ax) * t
            if (ideal - y) * dy >= m:
                y += dy;
            else:
                x += dx
            path.append((x,y))
    else:
        cotan = (bx - ax) / (by - ay)
        m = (1 - abs(cotan)) / 2
        while x != bx or y != by:
            ideal = ax + (y - ay) * cotan
            if (ideal - x) * dx >= m:
                x += dx
            else:
                y += dy
            path.append((x,y))
    path.append(b) # incredibly hacky way to ensure the dest is b
    return path

def generate_path(positions, x_first=True):
    lines = [ ]
    start_pos = positions[0]
    for pos in positions[1:]:
        line = create_line(start_pos, pos, x_first)
        lines += line
        start_pos = pos
    return lines

import itertools

def remove_consecutive_duplicates(l):
    preprocessed_list = []
    for x in itertools.groupby(l):
        preprocessed_list.append(x[0])
    return preprocessed_list

def dumb_generate_path(lot, positions):
    lines = [ ]
    start_pos = positions[0]
    for pos in positions[1:]:
        line = create_line(start_pos, pos, False)
        for coord in line:
            if lot[9-coord[1]][coord[0]] == 2:
                brain.print(9-coord[1], coord[0], '\n')
                line = create_line(start_pos, pos, True)
        lines += line
        start_pos = pos
    return lines


async def draw_path(path: [tuple]):
    # brain.print(f'Processing path: {path}\n')
    preprocessed_list = []
    for x in itertools.groupby(path):
        preprocessed_list.append(x[0])
    path = preprocessed_list
    x, y = get_position()
    a = 0
    for pos in path:
        px, py = to_coords(pos)
        dx = px - x
        dy = py - y
        if px == x and py == y:
            pen.move(DOWN)
        a = atan2(dx, dy)
        drivetrain.turn_to_heading(degrees(a), DEGREES)
        l = length((dx,dy))
        #brain.print(l)
        #brain.new_line()
        drivetrain.drive_for(FORWARD, l, MM)
        x, y = get_position()
        pen.move(DOWN)
    pen.move(UP)

async def dumb_draw_path(lot, path: [tuple]):
    brain.print(f'Processing path: {path}\n')
    preprocessed_list = []
    for x in itertools.groupby(path):
        preprocessed_list.append(x[0])
    path = preprocessed_list
    x, y = get_position()
    a = 0
    for pos in path:
        px, py = to_coords(pos)
        dx = px - x
        dy = py - y
        if px == x and py == y:
            pen.move(DOWN)
        wx, wy = (from_coords((px, py)))
        wx = int(wx)
        wy = int(wy)
        brain.print(lot[9-wy][wx])
        if lot[wy][wx] != 2:
            a = atan2(dx, dy)
            drivetrain.turn_to_heading(degrees(a), DEGREES)
            l = length((dx,dy))
            brain.new_line()
            drivetrain.drive_for(FORWARD, l, MM)
        else:
            drivetrain.drive_for(FORWARD, 200, MM)
        x, y = get_position()
        pen.move(DOWN)
    pen.move(UP)

def generate_spiral(center, max_value):
    path = []
    cx, cy = center
    d = UP
    i = 1
    j = True
    while i <= max_value:
        path.append((cx, cy))
        if d == UP:
            cy += i
            d = RIGHT
        elif d == DOWN:
            cy -= i
            d = LEFT
        elif d == LEFT:
            cx -= i
            d = UP
        elif d == RIGHT:
            cx += i
            d = DOWN
        if j:
            j  = False
        else:
            i += 1
            j = True
    return path

def home():
    x, y  = get_position()
    px, py = to_coords((0,0))
    dx = px-x
    dy = py-y
    a = atan2(dx, dy)
    l = length((dx,dy))
    drivetrain.turn_to_heading(degrees(a), DEGREES)
    drivetrain.drive_for(FORWARD, l, MM)

# A *
class Node():

    def __init__(self, parent=None, position=None):
        self.parent = parent
        self.position = position

        self.g = 0
        self.h = 0
        self.f = 0


def A_Star(grid, start, end):
    start_node = Node(None, start)
    start_node.g = start_node.h = start_node.f = 0
    end_node = Node(None, end)
    end_node.g = end_node.h = end_node.f = 0

    open_list = []
    closed_list = []

    open_list.append(start_node)

    while len(open_list) > 0:
        js.eval('postMessage({command: "WorkerAlive"})') # trick the system into thinking we havent frozen
        current_node = open_list[0]
        current_index = 0
        for index, item in enumerate(open_list):
            if item.f < current_node.f:
                current_node = item
                current_index = index

        open_list.pop(current_index)
        closed_list.append(current_node)

        if current_node.position == end_node.position:
            path = []
            current = current_node
            while current is not None:
                path.append(current.position)
                current = current.parent
            return path[::-1]

        children = []
        for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0), (-1, -1), (-1, 1), (1, -1), (1, 1)]:
            node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])

            if node_position[0] > (len(grid) - 1) or node_position[0] < 0 or node_position[1] > (len(grid[len(grid)-1]) -1) or node_position[1] < 0:
                continue

            if grid[node_position[0]][node_position[1]] == 2:
                continue

            new_node = Node(current_node, node_position)
            children.append(new_node)

        for child in children:
            for closed_child in closed_list:
                if child.position == closed_child.position:
                    continue

            child.g = current_node.g + 1
            child.h = ((child.position[0] - end_node.position[0]) ** 2) + ((child.position[1] - end_node.position[1]) ** 2)
            child.f = child.g + child.h

            for open_node in open_list:
                if child.position == open_node.position and child.g > open_node.g:
                    continue

            open_list.append(child)

import js

# PARKING CODE

OPEN = 1
FULL = 2
DRIVE = 0

def create_lot(rows, cols):
    lot = [ ]
    for i in range(rows):
        row = [ ]
        for j in range(cols):
            if j == 0 or j == cols-1:
                row.append(DRIVE)
            else:
                row.append(FULL)
        lot.append(row)
    return lot

def get_spot(lot):
    open_spots = [ ]
    x, y = from_coords(get_position())
    for row in range(len(lot)):
        for col in range(len(lot[row])):
            if lot[row][col] == OPEN:
                open_spots.append((row, col))

    min_dist = 10000
    spot = (-1, -1)
    for (row, col) in open_spots:
        d = length((x-row, y-col))
        if d < min_dist:
            min_dist = d
            spot = (col, row)

    return spot

# COLOR STUFF :D

from js import XMLHttpRequest, Blob
import pyodide
import json

def pull_image(url):
    data = {"a": 1}
    req = XMLHttpRequest.new()
    req.responseType = 'blob'
    req.open("GET", url, False)
    req.send()
    return req.response

def set_arbitrary_color(col):
    js.eval('postMessage({command: "PrintSetColor", color: "' + col + '", brandon: "brandon is best yes :D"})')

# lol
def gradient_fill(col1, col2, width, height):
    r1, g1, b1 = col1
    r2, g2, b2 = col2
    offset = 0
    for j in range(0, height, 1):
        for i in range(int(abs(offset)), width+int(abs(offset)), 1):
            js.eval('postMessage({command: "WorkerAlive"})') # ensure vexcode doesn't try to shutdown the program (haha another exploit)
            p = i / float(width+int(abs(offset)) - 1)
            r = int((1.0-p) * r1 + p * r2 + 0.5)
            g = int((1.0-p) * g1 + p * g2 + 0.5)
            b = int((1.0-p) * b1 + p * b2 + 0.5)
            rgb = (r << 16) | (g << 8) | (b)
            col = '#' + hex(rgb)[2:].zfill(6)
            set_arbitrary_color(col)
            brain.print('█')
        offset += 0.1
        brain.print('\n')

def gradient_fillstring(string, col1, col2):
    r1, g1, b1 = col1
    r2, g2, b2 = col2
    arr = string.split('\n')
    arr2 = []
    for c in arr:
        arr2 = list(c)
        width = len(arr2)
        for i, a in enumerate(arr2):
            js.eval('postMessage({command: "WorkerAlive"})') # ensure vexcode doesn't try to shutdown the program (haha another exploit)
            p = i / float(width - 1)
            r = int((1.0-p) * r1 + p * r2 + 0.5)
            g = int((1.0-p) * g1 + p * g2 + 0.5)
            b = int((1.0-p) * b1 + p * b2 + 0.5)
            rgb = (r << 16) | (g << 8) | (b)
            col = '#' + hex(rgb)[2:].zfill(6)
            set_arbitrary_color(col)
            brain.print(a)
        brain.print('\n')

def hex_to_rgb(string):
    arr = list(string)
    color = []
    for x, y in zip(*[iter(arr)]*2):
        c = x + y
        color.append(int(c, 16))
    return color

ROWS = 10
COLS = 10

explanation = '''  \n
An Explanation of how this (color thing) works:
Vexcode uses a system at its core called pyodide. This system allows for python to be executed in a browser.
A feature of the system vexcode uses is the ability for n-way communication between workers and hosts. This
is how vexcode is able to communicate with its renderer which renders the robot.
Pyodide not only allows for python execution in javascript, but javascript execution in python. Although slightly
paradoxical, this feature is how the vexcode python api is able to communicate with the site. An unforseen consequence
of this is that not only can the vexcode api communicate with the browser, but so can I. Using the simple code,
js.eval('postMessage...etc'), we can send the same commands vexcode does. It took me a little while but I managed to
reverse engineer the command system vexcode uses.

The following is a list of every command I found:
WorkerAlive - Communicates with the system to tell it that the worker is not stuck. This is how I circumvented the requirement for waits in loops
PythonReady - Send when the code is ready
PythonInitError - An error occured while initializing
PythonError - Throws an error which gets printed in the main console
PythonRunning - Send when the code is running
PythonRunComplete - Sent when the code has completed running
UnityCommand - Command sent from the unity engine backend (yes, the game engine)
WaitForUnityReady - Honestly I dont know
PrintText - print text to the console (literally brain.print)
PrintNewLine - Prints a newline
PrintSetColor - This is a fun one. This command allows for any color to be set to the brain color. The parameter for this is color.
                It accepts a hex value, like #FFFFFF
PrintClearLines - Clears the console line by line
UpdateBraintimer - Updates the internal brain timer
PythonVariableValues - Internal command for monitor_variable
PythonSensorMonitor - Updates the internal sensor monitor?
PythonStopProject - Stops the project'''

def main():
    brain.clear()

    global ROWS
    global COLS
    global explanation

    a = '''
        const getUrl = (url) => {
            var req = new XMLHttpRequest();
            req.responseType = 'blob';
            req.open("GET", url, false);
            req.send();
            return req.response;
        }

        const rgbToHex = (r, g, b) => {
            return "#" + ((1 << 24) + (r << 16) + (g << 8) + b).toString(16).slice(1);
        }

        var w = 43;
        var h = 76;
        var canvas = new OffscreenCanvas(w, h);
        var ctx = canvas.getContext('2d');
        var img = getUrl('data:image/jpeg;base64,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')
        var blob = img;
        console.log(blob.type);
        createImageBitmap(blob, 0, 0, w, h).then((bmp) => {
            ctx.drawImage(bmp, 0, 0);
            var imageData = ctx.getImageData(0, 0, w, h);
            // postMessage({command: 'PrintText', text: imageData.data.toString()});
            for (let i = 0; i < w*h*4; i+=4) {
                let r = imageData.data[i];
                let g = imageData.data[i+1];
                let b = imageData.data[i+2];
                let a = imageData.data[i+3];
                let hex = rgbToHex(r, g, b);
                postMessage({command: "PrintSetColor", color: hex})
                postMessage({command: 'PrintText', text: '██'});
                if (i % (w*4) == 0 && i != 0) postMessage({command: 'PrintNewLine'});
            }
        }).catch((e) => {
            console.log(e);
        });
    '''


    lot = [
        [2, 2, 2, 2, 2, 2, 2, 2, 2],
        [0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 2, 1, 2, 2, 2, 2, 1, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 2, 2, 2, 2, 2, 2, 2, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 2, 2, 2, 2, 2, 2, 2, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 0],
        [0, 2, 1, 2, 2, 2, 2, 2, 0],
        [0, 0, 0, 0, 0, 0, 0, 0, 0]]

    start = (0, 0)
    # end = (2, 1)

    prom = js.eval(a)

    gradient_fill((210, 41, 255), (0, 213, 230), 58, 20)

    brain.print('\n\n')

    gradient_fillstring('''\
██████╗░██████╗░░█████╗░███╗░░██╗██████╗░░█████╗░███╗░░██╗
██╔══██╗██╔══██╗██╔══██╗████╗░██║██╔══██╗██╔══██╗████╗░██║
██████╦╝██████╔╝███████║██╔██╗██║██║░░██║██║░░██║██╔██╗██║
██╔══██╗██╔══██╗██╔══██║██║╚████║██║░░██║██║░░██║██║╚████║
██████╦╝██║░░██║██║░░██║██║░╚███║██████╔╝╚█████╔╝██║░╚███║
╚═════╝░╚═╝░░╚═╝╚═╝░░╚═╝╚═╝░░╚══╝╚═════╝░░╚════╝░╚═╝░░╚══╝''', (210, 41, 255), (0, 213, 230))

    gradient_fillstring('Parking Space Algorithm Using a-star Pathfinding', (255, 0, 0), (255, 0, 255))
    brain.print('\n\n')

    img = pull_image('https://cors-anywhere.herokuapp.com/http://hmg-prod.s3.amazonaws.com/images/dog-puppy-on-garden-royalty-free-image-1586966191.jpg')

    class LMAO:

        # the only way to get around vecodes DUMB addition of asyncs to the beginning of every def
        def __init__(self, x):
            brain.print(x)


    canvas = js.OffscreenCanvas.new(256, 256)
    ctx = canvas.getContext('2d')

    # import pyodide

    # prom.then(lambda x: (
    #     ctx.drawImage(x, 0, 0),
    #     LMAO(ctx.getImageData(0, 0, 256, 256))
    # )).catch(lambda e: brain.print(e))

    # col = hex_to_rgb('753a88')
    # gradient_fill(hex_to_rgb('cc2b5e'), col, 58, 20)
    # gradient_fillstring(explanation, (210, 41, 255), (0, 213, 230))

    spot = get_spot(lot[::-1])
    path = A_Star(lot[::-1], start, spot)
    dumb_path = dumb_generate_path(lot, path)
    await draw_path(dumb_path)
    # await draw_path(path)

    # brain.print("Haha! Custom color codes are possible cause I exploited a bug in vexcode vr's main system LMAO.")

vr_thread(main())
	# ------------------------------------------
	#
	# Project: Parking System
	# Author: VEX
	# Created: Brandon Stevens
	# Description: Parking Space System
	#
	# ------------------------------------------

	from vexcode import *
	from math import *

	import os

	# cause python has no sign function?
	def sign(x):
	if x == 0:
	return 0
	elif x > 0:
	return 1
	elif x < 0:
	return -1
	return x # should never reach here

	def get_position():
	x = location.position(X, MM)
	y = location.position(Y, MM)
	return (x,y)

	def to_coords(pix):
	x, y = pix
	return ((x200)-900,(y200)-900)

	def from_coords(coords):
	x, y = coords
	return ((x+900)/200,(y+900)/200)

	def length(vec):
	x, y = vec
	return sqrt(x2 + y2)

	def degrees(rad):
	return rad*(180/pi)

	def create_line(a, b, x_first=True):
	ax, ay = a
	bx, by = b
	path = [ a ];
	x = ax
	y = ay
	dx = -1
	if ax == bx:
	dx = 0
	elif bx > ax:
	dx = 1
	dy = -1
	if ay == by:
	dy = 0
	elif by > ay:
	dy = 1

	# allows for user to decide whether horizontal or vertical will get preference
	horiz = abs(bx - ax) >= abs(by - ay)
	if x_first:
	horiz = abs(bx - ax) > abs(by - ay)

	if dx == 0 or dy == 0:
	path.append((x,y))
	elif horiz:
	t = (by - ay) / (bx - ax);
	m = (1 - abs(t)) / 2;
	while x != bx or y != by:
	ideal = ay + (x - ax) * t
	if (ideal - y) * dy >= m:
	y += dy;
	else:
	x += dx
	path.append((x,y))
	else:
	cotan = (bx - ax) / (by - ay)
	m = (1 - abs(cotan)) / 2
	while x != bx or y != by:
	ideal = ax + (y - ay) * cotan
	if (ideal - x) * dx >= m:
	x += dx
	else:
	y += dy
	path.append((x,y))
	path.append(b) # incredibly hacky way to ensure the dest is b
	return path

	def generate_path(positions, x_first=True):
	lines = [ ]
	start_pos = positions[0]
	for pos in positions[1:]:
	line = create_line(start_pos, pos, x_first)
	lines += line
	start_pos = pos
	return lines

	import itertools

	def remove_consecutive_duplicates(l):
	preprocessed_list = []
	for x in itertools.groupby(l):
	preprocessed_list.append(x[0])
	return preprocessed_list

	def dumb_generate_path(lot, positions):
	lines = [ ]
	start_pos = positions[0]
	for pos in positions[1:]:
	line = create_line(start_pos, pos, False)
	for coord in line:
	if lot[9-coord[1]][coord[0]] == 2:
	brain.print(9-coord[1], coord[0], '\n')
	line = create_line(start_pos, pos, True)
	lines += line
	start_pos = pos
	return lines


	async def draw_path(path: [tuple]):
	# brain.print(f'Processing path: {path}\n')
	preprocessed_list = []
	for x in itertools.groupby(path):
	preprocessed_list.append(x[0])
	path = preprocessed_list
	x, y = get_position()
	a = 0
	for pos in path:
	px, py = to_coords(pos)
	dx = px - x
	dy = py - y
	if px == x and py == y:
	pen.move(DOWN)
	a = atan2(dx, dy)
	drivetrain.turn_to_heading(degrees(a), DEGREES)
	l = length((dx,dy))
	#brain.print(l)
	#brain.new_line()
	drivetrain.drive_for(FORWARD, l, MM)
	x, y = get_position()
	pen.move(DOWN)
	pen.move(UP)

	async def dumb_draw_path(lot, path: [tuple]):
	brain.print(f'Processing path: {path}\n')
	preprocessed_list = []
	for x in itertools.groupby(path):
	preprocessed_list.append(x[0])
	path = preprocessed_list
	x, y = get_position()
	a = 0
	for pos in path:
	px, py = to_coords(pos)
	dx = px - x
	dy = py - y
	if px == x and py == y:
	pen.move(DOWN)
	wx, wy = (from_coords((px, py)))
	wx = int(wx)
	wy = int(wy)
	brain.print(lot[9-wy][wx])
	if lot[wy][wx] != 2:
	a = atan2(dx, dy)
	drivetrain.turn_to_heading(degrees(a), DEGREES)
	l = length((dx,dy))
	brain.new_line()
	drivetrain.drive_for(FORWARD, l, MM)
	else:
	drivetrain.drive_for(FORWARD, 200, MM)
	x, y = get_position()
	pen.move(DOWN)
	pen.move(UP)

	def generate_spiral(center, max_value):
	path = []
	cx, cy = center
	d = UP
	i = 1
	j = True
	while i <= max_value:
	path.append((cx, cy))
	if d == UP:
	cy += i
	d = RIGHT
	elif d == DOWN:
	cy -= i
	d = LEFT
	elif d == LEFT:
	cx -= i
	d = UP
	elif d == RIGHT:
	cx += i
	d = DOWN
	if j:
	j = False
	else:
	i += 1
	j = True
	return path

	def home():
	x, y = get_position()
	px, py = to_coords((0,0))
	dx = px-x
	dy = py-y
	a = atan2(dx, dy)
	l = length((dx,dy))
	drivetrain.turn_to_heading(degrees(a), DEGREES)
	drivetrain.drive_for(FORWARD, l, MM)

	# A *
	class Node():

	def __init__(self, parent=None, position=None):
	self.parent = parent
	self.position = position

	self.g = 0
	self.h = 0
	self.f = 0


	def A_Star(grid, start, end):
	start_node = Node(None, start)
	start_node.g = start_node.h = start_node.f = 0
	end_node = Node(None, end)
	end_node.g = end_node.h = end_node.f = 0

	open_list = []
	closed_list = []

	open_list.append(start_node)

	while len(open_list) > 0:
	js.eval('postMessage({command: "WorkerAlive"})') # trick the system into thinking we havent frozen
	current_node = open_list[0]
	current_index = 0
	for index, item in enumerate(open_list):
	if item.f < current_node.f:
	current_node = item
	current_index = index

	open_list.pop(current_index)
	closed_list.append(current_node)

	if current_node.position == end_node.position:
	path = []
	current = current_node
	while current is not None:
	path.append(current.position)
	current = current.parent
	return path[::-1]

	children = []
	for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0), (-1, -1), (-1, 1), (1, -1), (1, 1)]:
	node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])

	if node_position[0] > (len(grid) - 1) or node_position[0] < 0 or node_position[1] > (len(grid[len(grid)-1]) -1) or node_position[1] < 0:
	continue

	if grid[node_position[0]][node_position[1]] == 2:
	continue

	new_node = Node(current_node, node_position)
	children.append(new_node)

	for child in children:
	for closed_child in closed_list:
	if child.position == closed_child.position:
	continue

	child.g = current_node.g + 1
	child.h = ((child.position[0] - end_node.position[0]) 2) + ((child.position[1] - end_node.position[1]) 2)
	child.f = child.g + child.h

	for open_node in open_list:
	if child.position == open_node.position and child.g > open_node.g:
	continue

	open_list.append(child)

	import js

	# PARKING CODE

	OPEN = 1
	FULL = 2
	DRIVE = 0

	def create_lot(rows, cols):
	lot = [ ]
	for i in range(rows):
	row = [ ]
	for j in range(cols):
	if j == 0 or j == cols-1:
	row.append(DRIVE)
	else:
	row.append(FULL)
	lot.append(row)
	return lot

	def get_spot(lot):
	open_spots = [ ]
	x, y = from_coords(get_position())
	for row in range(len(lot)):
	for col in range(len(lot[row])):
	if lot[row][col] == OPEN:
	open_spots.append((row, col))

	min_dist = 10000
	spot = (-1, -1)
	for (row, col) in open_spots:
	d = length((x-row, y-col))
	if d < min_dist:
	min_dist = d
	spot = (col, row)

	return spot

	# COLOR STUFF :D

	from js import XMLHttpRequest, Blob
	import pyodide
	import json

	def pull_image(url):
	data = {"a": 1}
	req = XMLHttpRequest.new()
	req.responseType = 'blob'
	req.open("GET", url, False)
	req.send()
	return req.response

	def set_arbitrary_color(col):
	js.eval('postMessage({command: "PrintSetColor", color: "' + col + '", brandon: "brandon is best yes :D"})')

	# lol
	def gradient_fill(col1, col2, width, height):
	r1, g1, b1 = col1
	r2, g2, b2 = col2
	offset = 0
	for j in range(0, height, 1):
	for i in range(int(abs(offset)), width+int(abs(offset)), 1):
	js.eval('postMessage({command: "WorkerAlive"})') # ensure vexcode doesn't try to shutdown the program (haha another exploit)
	p = i / float(width+int(abs(offset)) - 1)
	r = int((1.0-p) * r1 + p * r2 + 0.5)
	g = int((1.0-p) * g1 + p * g2 + 0.5)
	b = int((1.0-p) * b1 + p * b2 + 0.5)
	rgb = (r << 16) \| (g << 8) \| (b)
	col = '#' + hex(rgb)[2:].zfill(6)
	set_arbitrary_color(col)
	brain.print('█')
	offset += 0.1
	brain.print('\n')

	def gradient_fillstring(string, col1, col2):
	r1, g1, b1 = col1
	r2, g2, b2 = col2
	arr = string.split('\n')
	arr2 = []
	for c in arr:
	arr2 = list(c)
	width = len(arr2)
	for i, a in enumerate(arr2):
	js.eval('postMessage({command: "WorkerAlive"})') # ensure vexcode doesn't try to shutdown the program (haha another exploit)
	p = i / float(width - 1)
	r = int((1.0-p) * r1 + p * r2 + 0.5)
	g = int((1.0-p) * g1 + p * g2 + 0.5)
	b = int((1.0-p) * b1 + p * b2 + 0.5)
	rgb = (r << 16) \| (g << 8) \| (b)
	col = '#' + hex(rgb)[2:].zfill(6)
	set_arbitrary_color(col)
	brain.print(a)
	brain.print('\n')

	def hex_to_rgb(string):
	arr = list(string)
	color = []
	for x, y in zip([iter(arr)]2):
	c = x + y
	color.append(int(c, 16))
	return color

	ROWS = 10
	COLS = 10

	explanation = ''' \n
	An Explanation of how this (color thing) works:
	Vexcode uses a system at its core called pyodide. This system allows for python to be executed in a browser.
	A feature of the system vexcode uses is the ability for n-way communication between workers and hosts. This
	is how vexcode is able to communicate with its renderer which renders the robot.
	Pyodide not only allows for python execution in javascript, but javascript execution in python. Although slightly
	paradoxical, this feature is how the vexcode python api is able to communicate with the site. An unforseen consequence
	of this is that not only can the vexcode api communicate with the browser, but so can I. Using the simple code,
	js.eval('postMessage...etc'), we can send the same commands vexcode does. It took me a little while but I managed to
	reverse engineer the command system vexcode uses.

	The following is a list of every command I found:
	WorkerAlive - Communicates with the system to tell it that the worker is not stuck. This is how I circumvented the requirement for waits in loops
	PythonReady - Send when the code is ready
	PythonInitError - An error occured while initializing
	PythonError - Throws an error which gets printed in the main console
	PythonRunning - Send when the code is running
	PythonRunComplete - Sent when the code has completed running
	UnityCommand - Command sent from the unity engine backend (yes, the game engine)
	WaitForUnityReady - Honestly I dont know
	PrintText - print text to the console (literally brain.print)
	PrintNewLine - Prints a newline
	PrintSetColor - This is a fun one. This command allows for any color to be set to the brain color. The parameter for this is color.
	It accepts a hex value, like #FFFFFF
	PrintClearLines - Clears the console line by line
	UpdateBraintimer - Updates the internal brain timer
	PythonVariableValues - Internal command for monitor_variable
	PythonSensorMonitor - Updates the internal sensor monitor?
	PythonStopProject - Stops the project'''

	def main():
	brain.clear()

	global ROWS
	global COLS
	global explanation

	a = '''
	const getUrl = (url) => {
	var req = new XMLHttpRequest();
	req.responseType = 'blob';
	req.open("GET", url, false);
	req.send();
	return req.response;
	}

	const rgbToHex = (r, g, b) => {
	return "#" + ((1 << 24) + (r << 16) + (g << 8) + b).toString(16).slice(1);
	}

	var w = 43;
	var h = 76;
	var canvas = new OffscreenCanvas(w, h);
	var ctx = canvas.getContext('2d');
	var img = getUrl('data:image/jpeg;base64,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')
	var blob = img;
	console.log(blob.type);
	createImageBitmap(blob, 0, 0, w, h).then((bmp) => {
	ctx.drawImage(bmp, 0, 0);
	var imageData = ctx.getImageData(0, 0, w, h);
	// postMessage({command: 'PrintText', text: imageData.data.toString()});
	for (let i = 0; i < wh4; i+=4) {
	let r = imageData.data[i];
	let g = imageData.data[i+1];
	let b = imageData.data[i+2];
	let a = imageData.data[i+3];
	let hex = rgbToHex(r, g, b);
	postMessage({command: "PrintSetColor", color: hex})
	postMessage({command: 'PrintText', text: '██'});
	if (i % (w*4) == 0 && i != 0) postMessage({command: 'PrintNewLine'});
	}
	}).catch((e) => {
	console.log(e);
	});
	'''


	lot = [
	[2, 2, 2, 2, 2, 2, 2, 2, 2],
	[0, 0, 0, 0, 0, 0, 0, 0, 0],
	[0, 2, 1, 2, 2, 2, 2, 1, 0],
	[0, 0, 0, 0, 0, 0, 0, 0, 0],
	[0, 2, 2, 2, 2, 2, 2, 2, 0],
	[0, 0, 0, 0, 0, 0, 0, 0, 0],
	[0, 2, 2, 2, 2, 2, 2, 2, 0],
	[0, 0, 0, 0, 0, 0, 0, 0, 0],
	[0, 2, 1, 2, 2, 2, 2, 2, 0],
	[0, 0, 0, 0, 0, 0, 0, 0, 0]]

	start = (0, 0)
	# end = (2, 1)

	prom = js.eval(a)

	gradient_fill((210, 41, 255), (0, 213, 230), 58, 20)

	brain.print('\n\n')

	gradient_fillstring('''\
	██████╗░██████╗░░█████╗░███╗░░██╗██████╗░░█████╗░███╗░░██╗
	██╔══██╗██╔══██╗██╔══██╗████╗░██║██╔══██╗██╔══██╗████╗░██║
	██████╦╝██████╔╝███████║██╔██╗██║██║░░██║██║░░██║██╔██╗██║
	██╔══██╗██╔══██╗██╔══██║██║╚████║██║░░██║██║░░██║██║╚████║
	██████╦╝██║░░██║██║░░██║██║░╚███║██████╔╝╚█████╔╝██║░╚███║
	╚═════╝░╚═╝░░╚═╝╚═╝░░╚═╝╚═╝░░╚══╝╚═════╝░░╚════╝░╚═╝░░╚══╝''', (210, 41, 255), (0, 213, 230))

	gradient_fillstring('Parking Space Algorithm Using a-star Pathfinding', (255, 0, 0), (255, 0, 255))
	brain.print('\n\n')

	img = pull_image('https://cors-anywhere.herokuapp.com/http://hmg-prod.s3.amazonaws.com/images/dog-puppy-on-garden-royalty-free-image-1586966191.jpg')

	class LMAO:

	# the only way to get around vecodes DUMB addition of asyncs to the beginning of every def
	def __init__(self, x):
	brain.print(x)


	canvas = js.OffscreenCanvas.new(256, 256)
	ctx = canvas.getContext('2d')

	# import pyodide

	# prom.then(lambda x: (
	# ctx.drawImage(x, 0, 0),
	# LMAO(ctx.getImageData(0, 0, 256, 256))
	# )).catch(lambda e: brain.print(e))

	# col = hex_to_rgb('753a88')
	# gradient_fill(hex_to_rgb('cc2b5e'), col, 58, 20)
	# gradient_fillstring(explanation, (210, 41, 255), (0, 213, 230))

	spot = get_spot(lot[::-1])
	path = A_Star(lot[::-1], start, spot)
	dumb_path = dumb_generate_path(lot, path)
	await draw_path(dumb_path)
	# await draw_path(path)

	# brain.print("Haha! Custom color codes are possible cause I exploited a bug in vexcode vr's main system LMAO.")

	vr_thread(main())