except:
print("BAD RIGHT COLOR: Port 1")
healthy = False
try:
touch = TouchSensor(TOUCHSENSOR_PORT)
except:
print("BAD TOUCH: Port 4")
healthy = False
try:
gyro = ShivaGyro(GYROSENSOR_PORT)
except:
print("BAD GYRO: Port 2")
healthy = False
sleep(0.5)
console.reset_console()
# Attachment motor direction
CLK_WISE = 'clock_wise' # positive speed
ANTI_CLK_WISE = 'anti_clck_wise' # negative speed
# Create objects for the ev3 motors and sensors. Only one object will be created for each physical object and used in every program
# LARGEMOTORS USED FOR WHEELS
# Create object functions for basic movements for wheel pair blocks
steer_pair = Shiva_MoveSteering(LARGE_MOTOR_LEFT_PORT, LARGE_MOTOR_RIGHT_PORT)
steer_pair.set_polarity(LargeMotor.POLARITY_INVERSED)
tank_pair = Shiva_MoveTank(LARGE_MOTOR_LEFT_PORT, LARGE_MOTOR_RIGHT_PORT)
tank_pair.set_polarity(LargeMotor.POLARITY_INVERSED)
def display_menu(self, start_page=0, before_run_function=None, after_run_function=None, skip_to_next_page=True):
"""
Console Menu that accepts choices and corresponding functions to call.
The user must press the same button twice: once to see their choice highlited,
a second time to confirm and run the function. The EV3 LEDs show each state change:
Green = Ready for button, Amber = Ready for second button, Red = Running
Parameters:
- `choices` a dictionary of tuples "button-name": ("function-name", function-to-call)
NOTE: Don't call functions with parentheses, unless preceded by lambda: to defer the call
- `before_run_function` when not None, call this function before each function run, passed with function-name
- `after_run_function` when not None, call this function after each function run, passed with function-name
"""
self.current_page = start_page
console = Console()
leds = Leds()
button = Button()
leds.all_off()
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
menu_positions = self.get_menu_positions(console)
last = None # the last choice--initialize to None
self.menu_tone()
self.debug("Starting Menu")
while True:
# display the menu of choices, but show the last choice in inverse
console.reset_console()
self.debug("Reset the display screen")
console.set_font('Lat15-TerminusBold24x12.psf.gz', True)
# store the currently selected menu page
menu_page = self.menu_pages[self.current_page]
# store the currently selected menu items
menu_options_on_page = menu_page.items()
for btn, (name, _) in menu_options_on_page:
align, col, row = menu_positions[btn]
console.text_at(name, col, row, inverse=(btn == last), alignment=align)
self.debug("Waiting for button press...")
pressed = self.wait_for_button_press(button)
self.debug("Registered button press: {}".format(pressed))
# get the choice for the button pressed
if pressed in menu_page:
if last == pressed: # was same button pressed?
console.reset_console()
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "RED")
# call the user's subroutine to run the function, but catch any errors
try:
name, run_function = menu_page[pressed]
if before_run_function is not None:
self.debug('Running before function')
before_run_function(name)
self.press_tone()
type_of_run_function = type(run_function)
self.debug("Type of run_function: {}".format(type_of_run_function))
if isinstance(run_function, str):
self.debug("Running {}".format(run_function))
if run_function == 'next':
self.debug("About to call next")
self.next()
elif run_function =='back':
self.debug("About to call back")
self.back()
elif callable(run_function):
run_function()
except Exception as e:
print("**** Exception when running")
raise(e)
finally:
if after_run_function is not None:
after_run_function(name)
last = None
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
else: # different button pressed
last = pressed
leds.set_color("LEFT", "AMBER")
leds.set_color("RIGHT", "AMBER")
def menu(choices, before_run_function=None, after_run_function=None):
"""
Console Menu that accepts choices and corresponding functions to call.
The user must press the same button twice: once to see their choice highlited,
a second time to confirm and run the function. The EV3 LEDs show each state change:
Green = Ready for button, Amber = Ready for second button, Red = Running
Parameters:
- `choices` a dictionary of tuples "button-name": ("mission-name", function-to-call)
Example:
choices = {
# "button-name": ("mission-name", function-to-call)
# or "button-name": ("mission-name", lambda: call(x, y, z))
"enter": ("CAL", lambda: auto_calibrate(robot, 1.0)),
"up": ("MI2", fmission2),
"right": ("MI3", fmission3),
"down": ("MI4", fmission4),
"left": ("MI5", fmission5)
}
where fmission2, fmission3 are functions;
note don't call them with parentheses, unless preceded by lambda: to defer the call
- `before_run_function` when not None, call this function before each mission run, passed with mission-name
- `after_run_function` when not None, call this function after each mission run, passed with mission-name
"""
console = Console()
leds = Leds()
button = Button()
leds.all_off()
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
menu_positions = get_positions(console)
last = None # the last choice--initialize to None
while True:
# display the menu of choices, but show the last choice in inverse
console.reset_console()
for btn, (name, _) in choices.items():
align, col, row = menu_positions[btn]
console.text_at(name, col, row, inverse=(btn == last), alignment=align)
pressed = wait_for_button_press(button)
# get the choice for the button pressed
if pressed in choices:
if last == pressed: # was same button pressed?
console.reset_console()
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "RED")
# call the user's subroutine to run the mission, but catch any errors
try:
name, mission_function = choices[pressed]
if before_run_function is not None:
before_run_function(name)
mission_function()
except Exception as ex:
print("**** Exception when running")
print(ex)
finally:
if after_run_function is not None:
after_run_function(name)
last = None
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
else: # different button pressed
last = pressed
leds.set_color("LEFT", "AMBER")
leds.set_color("RIGHT", "AMBER")
def menu(choices, before_run_function=None, after_run_function=None, skip_to_next_page=True):
"""
Console Menu that accepts choices and corresponding functions to call.
The user must press the same button twice: once to see their choice highlited,
a second time to confirm and run the function. The EV3 LEDs show each state change:
Green = Ready for button, Amber = Ready for second button, Red = Running
Parameters:
- `choices` a dictionary of tuples "button-name": ("mission-name", function-to-call)
NOTE: Don't call functions with parentheses, unless preceded by lambda: to defer the call
- `before_run_function` when not None, call this function before each mission run, passed with mission-name
- `after_run_function` when not None, call this function after each mission run, passed with mission-name
"""
global proc
console = Console()
leds = Leds()
button = Button()
leds.all_off()
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
menu_positions = get_positions(console)
last = None # the last choice--initialize to None
while True:
# display the menu of choices, but show the last choice in inverse
console.reset_console()
for btn, (name, _) in choices.items():
align, col, row = menu_positions[btn]
console.text_at(name, col, row, inverse=(btn == last), alignment=align)
pressed = wait_for_button_press(button)
# get the choice for the button pressed
if pressed in choices:
if last == pressed: # was same button pressed?
console.reset_console()
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "RED")
# call the user's subroutine to run the mission, but catch any errors
try:
name, mission_function = choices[pressed]
if before_run_function is not None:
before_run_function(name)
if name in ('NEXT', 'BACK', 'OFF'):
mission_function()
else:
# launch a sub process so it could be canceled with the enter button
# store the subprocess in self to reference in the stop function
proc = Process(target=mission_function)
debug('Starting {}'.format(name))
proc.start()
debug('Just started {} in proc {}'.format(name, proc.pid))
sleep(1)
proc.terminate()
# TODO: Need to figure out when to call self.proc.join
except Exception as e:
print("**** Exception when running")
debug('Exception when running {}'.format(e))
finally:
if after_run_function is not None:
after_run_function(name)
last = None
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
else: # different button pressed
last = pressed
leds.set_color("LEFT", "AMBER")
leds.set_color("RIGHT", "AMBER")