class Gui():
def __init__(self, port="sim"):
"""
A gui used to control the robot.
Contributor: Matthew O'Brien, Xiangqing Zhang, Tianyu Liu
"""
self.speed = None
self.rotation = None
self.time = None
self.distance = None
self.robot = Robot(port)
self.robot.connect()
self.root = tkinter.Tk()
self.root.title("Robot GUI")
self.frame = None
FO = open("mainwindow.xml", "r")
xml_string = FO.read()
FO.close()
self.add_widget(XML(xml_string), self.root).grid()
self.config_widget("btn_connect", {"command": lambda: self.robot.connect()})
self.config_widget("btn_stop", {"command": lambda: self.robot.stop()})
self.config_widget("wilma_bio", {"command": lambda: self.robot.log_information()})
self.speed = tkinter.IntVar()
self.config_widget("speed_entry", {"textvariable": self.speed})
self.rotation = tkinter.IntVar()
self.config_widget("rotation_entry", {"textvariable": self.rotation})
self.time = tkinter.IntVar()
self.config_widget("time_entry", {"textvariable": self.time})
self.config_widget("btn_move_autonomously", {"command": lambda: self.robot.move_autonomously(self.speed.get(), self.rotation.get(), self.time.get())})
self.coordinates = tkinter.StringVar()
self.config_widget("grid_entry", {"textvariable": self.coordinates})
self.config_widget("grid_button", {"command": lambda: self.robot.grid_movement(self.coordinates.get(), self.speed.get(), self.rotation.get())})
self.message = tkinter.StringVar()
self.config_widget("de_en_code_message_entry", {"textvariable": self.message})
self.config_widget("btn_de_en_code_message", {"command": lambda: self.robot.de_en_code_message(self.message)})
self.darkness = tkinter.IntVar()
self.config_widget("darkness_entry", {"textvariable": self.darkness})
self.config_widget("btn_go_forward_until_black_line", {"command": lambda: self.robot.go_forward_until_black_line(self.speed.get(), self.darkness.get())})
self.bumper = tkinter.StringVar()
self.config_widget("bumper_entry", {"textvariable": self.bumper})
self.config_widget("btn_go_forward_until_bumps", {"command": lambda: self.robot.go_forward_until_bumps(self.speed.get(), self.bumper.get())})
self.bytecode = tkinter.StringVar()
self.config_widget("bytecode_entry", {"textvariable": self.bytecode})
self.config_widget("btn_bytecode_entry", {"command": lambda: self.robot.chat_with_another_robot(self.bytecode.get())})
self.config_widget("btn_go_forward_until_ir_signal", {"command": lambda: self.robot.go_forward_until_ir_signal(self.speed.get(), self.bytecode.get())})
self.config_widget("btn_go_forward_until_stuck", {"command": lambda: self.robot.go_forward_until_stuck(self.speed.get())})
self.config_widget("btn_forward", {"command": lambda: self.robot.teleport("Forward")})
self.config_widget("btn_backward", {"command": lambda: self.robot.teleport("Backward")})
self.config_widget("btn_left", {"command": lambda: self.robot.teleport("Left")})
self.config_widget("btn_right", {"command": lambda: self.robot.teleport("Right")})
self.config_widget("btn_follow", {"command": lambda: self.robot.follow_black_line(self.speed.get(), self.darkness.get())})
self.chat_message = tkinter.StringVar()
self.config_widget("chat_with_robot_entry", {"textvariable": self.chat_message})
self.frame.children["chat_with_robot_entry"].bind("<Key-Return>", lambda event: self.robot.chat_with_robot(self.chat_message))
self.config_widget("btn_chat_with_robot_entry", {"command": lambda: self.robot.chat_with_robot(self.chat_message)})
self.config_widget("btn_follow_other_robot", {"command": lambda: self.robot.follow_other_robot(self.speed.get(), self.bytecode.get())})
self.config_widget("btn_take_other_robot", {"command": lambda: self.robot.take_other_robot(self.speed.get(), self.bytecode.get())})
self.config_widget("btn_map_GUI", {"command": lambda: self.map_gui_to_robot()})
self.config_widget("btn_sing_and_dance", {"command": lambda: self.robot.sing_and_dance()})
self.log_frame = ttk.Frame(self.root)
self.log_frame.grid()
self.log_text = tkinter.Text(self.log_frame, width=150, height=20, wrap=tkinter.CHAR) # state=tkinter.DISABLED)
# self.log_text.insert(tkinter.INSERT, "DEBUG")
self.log_text.grid()
robotLogger.logger_list["GuiLogger"].gui = self
info_time = Timer(2, lambda: self.robot.team_info())
info_time.start()
self.root.mainloop()
def map_gui_to_robot(self):
"""
This function calls the main function from the file 'map_GUI' to obtain the list of points
that the user clicked and then calls the 'grid_movement' function to exectute the task.
Feature 7-b
Contributor: Matthew O'Brien
"""
points = map_GUI.main()
self.robot.grid_movement(points, self.speed.get(), self.rotation.get())
def config_widget(self, widget_name, widget_options):
"""
Config the widget.
@Parameter widget_name: The widget's name.
@Parameter widget_options: A DICTIONARY that contains options.
E.g. self.config_widget("time_entry", {textvariable: self.time})
is equivalent to
time_entry["textvariable"] = self.time
Contributor: Xiangqing Zhang
"""
assert self.frame, "Please initialize the GUI!"
self.frame.children[widget_name].config(**widget_options)
def add_widget(self, widget_xml, top_frame=None):
"""
Adds widget(s) to the frame.
@Parameter widget_list: The widget(s) that will be added to the top_frame.
This widget_xml should be in XML format.
@Parameter top_frame: Optional. The default value is self.frame
Reference: http://docs.python.org/3.3/library/xml.etree.elementtree.html
Contributor: Xiangqing Zhang
"""
if not top_frame: top_frame = self.frame
if widget_xml.tag == "root":
self.frame = ttk.Frame(self.root, padding=(20, 30), **widget_xml.attrib)
for each_widget in widget_xml:
ttk_widget, row_column = self.add_widget(each_widget, self.frame)
if not row_column:
ttk_widget.grid()
else:
row_column = row_column.split(",")
rows = int(row_column[0])
columns = int(row_column[1])
ttk_widget.grid(row=rows, column=columns)
return self.frame
else:
opt_list = widget_xml.attrib
if widget_xml:
opt_list = opt_list.copy()
for each_widget in widget_xml:
opt_list[each_widget.tag] = each_widget.text
row_column = None
if "row_column" in opt_list:
row_column = opt_list["row_column"]
del opt_list["row_column"]
try:
gui_result = [getattr(ttk, widget_xml.tag.capitalize())(top_frame, **opt_list), row_column]
except:
gui_result = [getattr(tkinter, widget_xml.tag.capitalize())(top_frame, **opt_list), row_column]
return gui_result
def exit(self):
"""
Disconnect the robot when interrupted or terminated.
Contributor: Xiangqing Zhang
"""
self.robot.stop()
self.robot.disconnect()
