def Key_Pressed(self, sender, args):
if self.fullscreen and str(args.KeyData) == "Escape":
self.FormBorderStyle = FormBorderStyle.Fixed3D
self.WindowState = FormWindowState.Maximized
self.fullscreen = False
self.splitpanel.Panel1Collapsed =False
if not self.testing:
try:
if not (self.client_interface.getconnectionstatus()):
MessageBox.Show("Connection Lost")
return
except:
self.client_interface = ClientInterface(PI_IP, PI_PORT, self.testing)
if self.is_Armed:
key_entry = self.key_map.getKeyEntry(str(args.KeyData))
if key_entry.getKeyValue() != "Empty":
counterPartKey_entry = self.key_map.getKeyEntryI(key_entry.getCounterPart())
if not counterPartKey_entry.getIsPressed() and not key_entry.getIsPressed():
if self.input_type == 'hold':
key_entry.setIsPressed(True)
self.Keydown_custom = KeyDown_Custom(key_entry, self.client_interface, self.input_type)
self.Keydown_custom.start()
else:
code = key_entry.getCode()
if code[1] == '1' and key_entry.getSpeed() < 255:
key_entry.setSpeed(key_entry.getSpeed() + 8)
elif code[1] == '2' and key_entry.getSpeed() > 0:
key_entry.setSpeed(key_entry.getSpeed() - 8)
self.key_map.getKeyEntryI(key_entry.getCounterPart()).setSpeed(key_entry.getSpeed())
key_entry.setIsPressed(True)
self.Keydown_custom = KeyDown_Custom(key_entry, self.client_interface, self.input_type)
self.Keydown_custom.start()
def Key_Pressed(self, sender, args):
if not self.testing:
if not (self.client_interface.getconnectionstatus()):
MessageBox.Show("Connection Lost")
return
key_entry = self.key_map.getKeyEntry(str(args.KeyData))
if key_entry.getKeyValue() != "Empty":
counterPartKey_entry = self.key_map.getKeyEntryI(key_entry.getCounterPart())
if not counterPartKey_entry.getIsPressed() and not key_entry.getIsPressed():
if self.input_type == 'hold':
key_entry.setIsPressed(True)
self.Keydown_custom = KeyDown_Custom(key_entry, self.client_interface, self.input_type)
self.Keydown_custom.start()
else:
code = key_entry.getCode()
if code[1] == '1' and key_entry.getSpeed() < 255:
key_entry.setSpeed(key_entry.getSpeed() + 16)
elif code[1] == '2' and key_entry.getSpeed() > 0:
key_entry.setSpeed(key_entry.getSpeed() - 16)
self.key_map.getKeyEntryI(key_entry.getCounterPart()).setSpeed(key_entry.getSpeed())
key_entry.setIsPressed(True)
self.Keydown_custom = KeyDown_Custom(key_entry, self.client_interface, self.input_type)
self.Keydown_custom.start()
class MyForm(Form):
'''
classdocs
'''
def __init__(self):
#globals
self.key_map = Key_Map()
self.input_type = 'hold'
self._lblDirection1 = System.Windows.Forms.Label()
self._lblDirection2 = System.Windows.Forms.Label()
self._lblDirection3 = System.Windows.Forms.Label()
self._lblDirection4 = System.Windows.Forms.Label()
self._lblDirection5 = System.Windows.Forms.Label()
self._lblDirection6 = System.Windows.Forms.Label()
try:
self.testing = sys.argv[1]=='testing'
except IndexError:
self.testing = False
try:
PI_IP = "192.168.0.103"
PI_PORT = 9999
self.client_interface = ClientInterface(PI_IP, PI_PORT, self.testing)
if not self.testing:
self.client_interface.start()
except timeout:
MessageBox.Show("Something has gone wrong with client_interface")
self.InitializeGUI()
self.LoadPastState()
def InitializeGUI(self):
#initialize events
self.KeyDown += KeyEventHandler(self.Key_Pressed)
self.KeyUp += KeyEventHandler(self.Key_Released)
#
#image rotation stuff
#
self.current_angle = float()
self.bitmap = System.Drawing.Bitmap("compass.png")
self.pictyaBOX = System.Windows.Forms.PictureBox()
self.pictyaBOX.Image = self.bitmap
self.pictyaBOX.Size = System.Drawing.Size(self.bitmap.Width,self.bitmap.Height)
self.pictyaBOX.Location = System.Drawing.Point(200, 200)
self.pictyaBOX.MouseClick += MouseEventHandler(self.CallRotate)
self.Controls.Add(self.pictyaBOX)
# Configure motor value labels
self._lblDirection1.Text = '128'
self._lblDirection1.Location = System.Drawing.Point(180, 50)
self._lblDirection1.Size = System.Drawing.Size(50, 13)
self._lblDirection2.Text = '128'
self._lblDirection2.Location = System.Drawing.Point(180, 65)
self._lblDirection2.Size = System.Drawing.Size(50, 13)
self._lblDirection3.Text = '128'
self._lblDirection3.Location = System.Drawing.Point(180, 80)
self._lblDirection3.Size = System.Drawing.Size(50, 13)
self._lblDirection4.Text = '128'
self._lblDirection4.Location = System.Drawing.Point(180, 95)
self._lblDirection4.Size = System.Drawing.Size(50, 13)
self._lblDirection5.Text = '128'
self._lblDirection5.Location = System.Drawing.Point(180, 110)
self._lblDirection5.Size = System.Drawing.Size(50, 13)
self._lblDirection6.Text = '128'
self._lblDirection6.Location = System.Drawing.Point(180, 125)
self._lblDirection6.Size = System.Drawing.Size(50, 13)
#labels to label the other labels
self._lblD1 = System.Windows.Forms.Label()
self._lblD2 = System.Windows.Forms.Label()
self._lblD3 = System.Windows.Forms.Label()
self._lblD4 = System.Windows.Forms.Label()
self._lblD5 = System.Windows.Forms.Label()
self._lblD6 = System.Windows.Forms.Label()
self._lblD1.Location = System.Drawing.Point(75,50)
self._lblD1.Size = System.Drawing.Size(120,13)
self._lblD1.Text = "X:"
self._lblD2.Location = System.Drawing.Point(75,65)
self._lblD2.Size = System.Drawing.Size(120,13)
self._lblD2.Text = "Y:"
self._lblD3.Location = System.Drawing.Point(75,80)
self._lblD3.Size = System.Drawing.Size(120,13)
self._lblD3.Text = "Z:"
self._lblD4.Location = System.Drawing.Point(75,95)
self._lblD4.Size = System.Drawing.Size(120,13)
self._lblD4.Text = "Roll:"
self._lblD5.Location = System.Drawing.Point(75,110)
self._lblD5.Size = System.Drawing.Size(120,13)
self._lblD5.Text = "Pitch:"
self._lblD6.Location = System.Drawing.Point(75,125)
self._lblD6.Size = System.Drawing.Size(120,13)
self._lblD6.Text = "Yaw:"
#labels for IMU values
self._lblIMU_roll = System.Windows.Forms.Label()
self._lblIMU_pitch = System.Windows.Forms.Label()
self._lblIMU_yaw = System.Windows.Forms.Label()
self._lblIMU_roll.Location = System.Drawing.Point(300,325)
self._lblIMU_roll.Size = System.Drawing.Size(120,13)
self._lblIMU_roll.Text = "####"
self._lblIMU_pitch.Location = System.Drawing.Point(300,340)
self._lblIMU_pitch.Size = System.Drawing.Size(120,13)
self._lblIMU_pitch.Text = "####"
self._lblIMU_yaw.Location = System.Drawing.Point(300,355)
self._lblIMU_yaw.Size = System.Drawing.Size(120,13)
self._lblIMU_yaw.Text = "####"
#main menu
self._menuStrip1 = System.Windows.Forms.MenuStrip()
self._fileToolStripMenuItem11 = System.Windows.Forms.ToolStripMenuItem("Settings", None, System.EventHandler(self.Show_A_BOX))
self._fileToolStripMenuItem12 = System.Windows.Forms.ToolStripMenuItem("Exit", None, System.EventHandler(self.Exit))
self._fileToolStripMenuItem11.Text = 'Settings'
self._fileToolStripMenuItem1 = System.Windows.Forms.ToolStripMenuItem("File", None, *System.Array[System.Windows.Forms.ToolStripItem]((self._fileToolStripMenuItem11, self._fileToolStripMenuItem12,)))
#
# menuStrip1
#
self._menuStrip1.Items.AddRange(System.Array[System.Windows.Forms.ToolStripItem]((self._fileToolStripMenuItem1, )))
self._menuStrip1.Location = System.Drawing.Point(0, 0)
self._menuStrip1.Name = 'menuStrip1'
self._menuStrip1.Size = System.Drawing.Size(292, 24)
self._menuStrip1.TabIndex = 0
self._menuStrip1.Text = 'menuStrip1'
#
# fileToolStripMenuItem
#
self._fileToolStripMenuItem1.Name = 'fileToolStripMenuItem1'
self._fileToolStripMenuItem1.Size = System.Drawing.Size(35, 20)
self._fileToolStripMenuItem1.Text = 'File'
# Form
self.Controls.Add(self._menuStrip1)
self.MainMenuStrip = self._menuStrip1
self.Text = 'SWIM-R'
self.ClientSize = System.Drawing.Size(850, 720)
self.WindowState = System.Windows.Forms.FormWindowState.Maximized
label_thread = Thread(target = self.go, args=())
label_thread.setDaemon(1)
label_thread.start()
self.FormClosing += System.Windows.Forms.FormClosingEventHandler(self.Exit)
#
# Add the controls to the form.
#
self.Controls.Add(self._lblDirection1)
self.Controls.Add(self._lblDirection2)
self.Controls.Add(self._lblDirection3)
self.Controls.Add(self._lblDirection4)
self.Controls.Add(self._lblDirection5)
self.Controls.Add(self._lblDirection6)
self.Controls.Add(self._lblD1)
self.Controls.Add(self._lblD2)
self.Controls.Add(self._lblD3)
self.Controls.Add(self._lblD4)
self.Controls.Add(self._lblD5)
self.Controls.Add(self._lblD6)
self.Controls.Add(self._lblIMU_roll)
self.Controls.Add(self._lblIMU_pitch)
self.Controls.Add(self._lblIMU_yaw)
#Configure the image
image2 = Image.FromFile("GUI_drawing.png")
self._pictureBox2 = PictureBox()
self._pictureBox2.SizeMode = PictureBoxSizeMode.StretchImage
self._pictureBox2.Image = image2
self._pictureBox2.Name = "pictureBox2"
self._pictureBox2.Dock = DockStyle.Fill
self.Controls.Add(self._pictureBox2)
def Key_Pressed(self, sender, args):
if not self.testing:
if not (self.client_interface.getconnectionstatus()):
MessageBox.Show("Connection Lost")
return
key_entry = self.key_map.getKeyEntry(str(args.KeyData))
if key_entry.getKeyValue() != "Empty":
counterPartKey_entry = self.key_map.getKeyEntryI(key_entry.getCounterPart())
if not counterPartKey_entry.getIsPressed() and not key_entry.getIsPressed():
if self.input_type == 'hold':
key_entry.setIsPressed(True)
self.Keydown_custom = KeyDown_Custom(key_entry, self.client_interface, self.input_type)
self.Keydown_custom.start()
else:
code = key_entry.getCode()
if code[1] == '1' and key_entry.getSpeed() < 255:
key_entry.setSpeed(key_entry.getSpeed() + 16)
elif code[1] == '2' and key_entry.getSpeed() > 0:
key_entry.setSpeed(key_entry.getSpeed() - 16)
self.key_map.getKeyEntryI(key_entry.getCounterPart()).setSpeed(key_entry.getSpeed())
key_entry.setIsPressed(True)
self.Keydown_custom = KeyDown_Custom(key_entry, self.client_interface, self.input_type)
self.Keydown_custom.start()
def Key_Released(self, sender, args):
key_entry = self.key_map.getKeyEntry(str(args.KeyData))
key_entry.setIsPressed(False)
def Show_A_BOX(self, sender, args):
self.key_map.setKILLAll(True)
self.controls_entry = ControlsEntry()
self.controls_entry.initializeGUI(self.key_map, self.input_type)
self.controls_entry.Show()
self.controls_entry.FormClosing += FormClosingEventHandler(self.Controls_Closing_Event)
def Controls_Closing_Event(self, sender, args):
self.input_type = self.controls_entry.getInputType()
self.key_map.setKILLAll(False)
def Exit(self, sender, args):
self.key_map.setKILLAll(True)
time.sleep(.01)
def LoadPastState(self):
g = open('config.swmr', 'r')
data = cPickle.load(g)
self.input_type = data.pop(12, 'tap')
self.key_map.setNewDictValues(data)
#TODO add something in file to load here and set data accordingly
def CallRotate(self,sender,args):
if args.Button == MouseButtons.Right:
self.pictyaBOX.Image = self.DoRotate(self.bitmap, 30)
else:
self.pictyaBOX.Image = self.DoRotate(self.bitmap, -30)
def DoRotate(self, img = System.Drawing.Image, angle = float()):
self.current_angle += angle
returnBitmap = System.Drawing.Bitmap(img.Width, img.Height)
returnBitmap.SetResolution(img.HorizontalResolution, img.VerticalResolution)
g = System.Drawing.Graphics.FromImage(returnBitmap)
g.TranslateTransform(img.Width/2, img.Height / 2)
g.RotateTransform(self.current_angle);
g.InterpolationMode = System.Drawing.Graphics.InterpolationMode.PropertyType.HighQualityBicubic
g.TranslateTransform(-img.Width/2,-img.Height / 2)
g.DrawImageUnscaled(img, Point(0, 0))
g.Dispose()
return returnBitmap
def go(self):
x1 = self.key_map.getKeyEntryI(6)
x2 = self.key_map.getKeyEntryI(7)
y1 = self.key_map.getKeyEntryI(8)
y2 = self.key_map.getKeyEntryI(9)
z1 = self.key_map.getKeyEntryI(10)
z2 = self.key_map.getKeyEntryI(11)
roll1 = self.key_map.getKeyEntryI(0)
roll2 = self.key_map.getKeyEntryI(1)
pitch1 = self.key_map.getKeyEntryI(2)
pitch2 = self.key_map.getKeyEntryI(3)
yaw1 = self.key_map.getKeyEntryI(4)
yaw2 = self.key_map.getKeyEntryI(5)
while True:
if self.input_type == "hold":
if x1.getSpeed() == 127 and x2.getSpeed() != 127:
self._lblDirection1.Text = str(x2.getSpeed())
elif x1.getSpeed() != 127 and x2.getSpeed() == 127:
self._lblDirection1.Text = str(x1.getSpeed())
else:
self._lblDirection1.Text = str(127)
if y1.getSpeed() == 127 and y2.getSpeed() != 127:
self._lblDirection2.Text = str(y2.getSpeed())
elif y1.getSpeed() != 127 and y2.getSpeed() == 127:
self._lblDirection2.Text = str(y1.getSpeed())
else:
self._lblDirection2.Text = str(127)
if z1.getSpeed() == 127 and z2.getSpeed() != 127:
self._lblDirection3.Text = str(z2.getSpeed())
elif z1.getSpeed() != 127 and z2.getSpeed() == 127:
self._lblDirection3.Text = str(z1.getSpeed())
else:
self._lblDirection3.Text = str(127)
if roll1.getSpeed() == 127 and roll2.getSpeed() != 127:
self._lblDirection4.Text = str(roll2.getSpeed())
elif roll1.getSpeed() != 127 and roll2.getSpeed() == 127:
self._lblDirection4.Text = str(roll1.getSpeed())
else:
self._lblDirection4.Text = str(127)
if pitch1.getSpeed() == 127 and pitch2.getSpeed() != 127:
self._lblDirection5.Text = str(pitch2.getSpeed())
elif pitch1.getSpeed() != 127 and pitch2.getSpeed() == 127:
self._lblDirection5.Text = str(pitch1.getSpeed())
else:
self._lblDirection5.Text = str(127)
if yaw1.getSpeed() == 127 and yaw2.getSpeed() != 127:
self._lblDirection6.Text = str(yaw2.getSpeed())
elif yaw1.getSpeed() != 127 and yaw2.getSpeed() == 127:
self._lblDirection6.Text = str(yaw1.getSpeed())
else:
self._lblDirection6.Text = str(127)
elif self.input_type == 'tap':
self._lblDirection1.Text = str(x1.getSpeed())
self._lblDirection2.Text = str(y1.getSpeed())
self._lblDirection3.Text = str(z1.getSpeed())
self._lblDirection4.Text = str(roll1.getSpeed())
self._lblDirection5.Text = str(pitch1.getSpeed())
self._lblDirection6.Text = str(yaw1.getSpeed())
time.sleep(.01)
class MyForm(Form):
'''
classdocs
'''
def __init__(self):
#globals
'''
self.joy = SlimDX.DirectInput.Joystick
self.state = SlimDX.DirectInput.JoystickState()
dinput = SlimDX.DirectInput.DirectInput()
for device in dinput.GetDevices(SlimDX.DirectInput.DeviceClass.GameController, SlimDX.DirectInput.DeviceEnumerationFlags.AttachedOnly):
try:
self.joy = SlimDX.DirectInput.Joystick(dinput, device.InstanceGuid);
self.joy.SetCooperativeLevel(self, CooperativeLevel.Exclusive | CooperativeLevel.Foreground);
break;
except:
pass
if self.joy == None:
MessageBox.Show("There are no joysticks attached to the system.")
return
for deviceObject in self.joy.GetObjects():
if deviceObject.ObjectType != 0 and SlimDX.DirectInput.ObjectDeviceType.Axis != 0:
gar = self.joy.GetObjectPropertiesById(int(deviceObject.ObjectType))
gar.SetRange(-1000,1000)
self.joy.Acquire();
'''
self.screen = Screen.PrimaryScreen.Bounds
self.working_area = Screen.PrimaryScreen.WorkingArea
self.scaleFactor = float(self.working_area.Width)/1920.0
self.key_map = Key_Map()
self.data_archive_location = str()
self.input_type = 'hold'
self.is_Armed = False
self.formClosed = False
self.fullscreen = False
self.kill = False
self.PITCH_LIMIT = 103 * self.scaleFactor
self.DEPTH_LIMIT = 743 * self.scaleFactor
try:
self.testing = sys.argv[1]=='testing'
except IndexError:
self.testing = False
try:
PI_IP = "192.168.0.104"
PI_PORT = 9999
self.Cursor = Cursors.WaitCursor
self.client_interface = ClientInterface(PI_IP, PI_PORT, self.testing)
time.sleep(1)
except socket.timeout:
MessageBox.Show("Something has gone wrong with client_interface")
self.InitializeGUI()
self.LoadPastState()
def InitializeGUI(self):
#initialize events
self.KeyPreview = True
self.KeyDown += KeyEventHandler(self.Key_Pressed)
self.KeyUp += KeyEventHandler(self.Key_Released)
#initialize all controls
self.WindowState = FormWindowState.Maximized
self.Size = Size(self.working_area.Width, self.working_area.Height)
self.input_val_label_x = Label()
self.input_val_label_y = Label()
self.input_val_label_z = Label()
self.input_val_label_roll = Label()
self.input_val_label_pitch = Label()
self.input_val_label_yaw = Label()
self.input_label_x = Label()
self.input_label_y = Label()
self.input_label_z = Label()
self.input_label_roll = Label()
self.input_label_pitch = Label()
self.input_label_yaw = Label()
self.compass_needle = PictureBox()
self.pitch_indicator = PictureBox()
self.roll_indicator = PictureBox()
self.depth_indicator = PictureBox()
self._lblIMU_roll = Label()
self._lblIMU_pitch = Label()
self._lblIMU_yaw = Label()
self._lblWaterTemp = Label()
self._lblCaseTemp = Label()
self._lblHumidity = Label()
self._lblBatteryLife = Label()
self.input_label_depth = Label()
self.splitpanel = SplitContainer()
self._panel = Panel()
self.MainWindow = PictureBox()
self._pictLeft = PictureBox()
self._pictRight = PictureBox()
self._pictBottomLeft = PictureBox()
self._pictBottomRight = PictureBox()
self._pictMid = PictureBox()
self._menuStrip1 = MenuStrip()
self._menuStrip1.SuspendLayout()
self.SuspendLayout()
# Configure motor value labels
self.input_val_label_x.Text = '127'
self.input_val_label_x.Location = Point(180, 50)
self.input_val_label_x.Size = Size(50, 13)
self.input_val_label_y.Text = '127'
self.input_val_label_y.Location = Point(180, 65)
self.input_val_label_y.Size = Size(50, 13)
self.input_val_label_z.Text = '127'
self.input_val_label_z.Location = Point(180, 80)
self.input_val_label_z.Size = Size(50, 13)
self.input_val_label_roll.Text = '127'
self.input_val_label_roll.Location = Point(180, 95)
self.input_val_label_roll.Size = Size(50, 13)
self.input_val_label_pitch.Text = '127'
self.input_val_label_pitch.Location = Point(180, 110)
self.input_val_label_pitch.Size = Size(50, 13)
self.input_val_label_yaw.Text = '127'
self.input_val_label_yaw.Location = Point(180, 125)
self.input_val_label_yaw.Size = Size(50, 13)
#labels to label the other labels
self.input_label_x.Location = Point(75,50)
self.input_label_x.Size = Size(120,13)
self.input_label_x.Text = "X:"
self.input_label_y.Location = Point(75,65)
self.input_label_y.Size = Size(120,13)
self.input_label_y.Text = "Y:"
self.input_label_z.Location = Point(75,80)
self.input_label_z.Size = Size(120,13)
self.input_label_z.Text = "Z:"
self.input_label_roll.Location = Point(75,95)
self.input_label_roll.Size = Size(120,13)
self.input_label_roll.Text = "Roll:"
self.input_label_pitch.Location = Point(75,110)
self.input_label_pitch.Size = Size(120,13)
self.input_label_pitch.Text = "Pitch:"
self.input_label_yaw.Location = Point(75,125)
self.input_label_yaw.Size = Size(120,13)
self.input_label_yaw.Text = "Yaw:"
#labels for IMU values
height = int(self.working_area.Height - 140)
box_height = 17
box_width = 175
h_middle = int(self.working_area.Width / 2)
box_boarder = 7
self._lblIMU_roll.Location = Point(h_middle - 2*box_width - 3*box_boarder, height)
self._lblIMU_roll.Size = Size(box_width,box_height)
self._lblIMU_roll.Text = "####"
self._lblIMU_roll.Font = Font("Microsoft Sans Serif", 9.5, FontStyle.Bold, GraphicsUnit.Point)
self._lblIMU_roll.Anchor = AnchorStyles.Bottom
self._lblIMU_pitch.Location = Point(h_middle - box_width - box_boarder,height)
self._lblIMU_pitch.Size = Size(box_width,box_height)
self._lblIMU_pitch.Text = "####"
self._lblIMU_pitch.Font = Font("Microsoft Sans Serif", 9.5, FontStyle.Bold, GraphicsUnit.Point)
self._lblIMU_pitch.Anchor = AnchorStyles.Bottom
self._lblIMU_yaw.Location = Point(h_middle + box_boarder,height)
self._lblIMU_yaw.Size = Size(box_width,box_height)
self._lblIMU_yaw.Text = "####"
self._lblIMU_yaw.Font = Font("Microsoft Sans Serif", 9.5, FontStyle.Bold, GraphicsUnit.Point)
self._lblIMU_yaw.Anchor = AnchorStyles.Bottom
self.input_label_depth.Location = Point(h_middle + box_width + 3*box_boarder, height)
self.input_label_depth.Size = Size(box_width,box_height)
self.input_label_depth.Text = "####"
self.input_label_depth.Font = Font("Microsoft Sans Serif", 9.5, FontStyle.Bold, GraphicsUnit.Point)
self.input_label_depth.Anchor = AnchorStyles.Bottom
self._lblWaterTemp.Location = Point(h_middle - 2*box_width - 3*box_boarder, height + box_height + box_boarder)
self._lblWaterTemp.Size = Size(box_width,box_height)
self._lblWaterTemp.Text = "####"
self._lblWaterTemp.Font = Font("Microsoft Sans Serif", 9.5, FontStyle.Bold, GraphicsUnit.Point)
self._lblWaterTemp.Anchor = AnchorStyles.Bottom
self._lblCaseTemp.Location = Point(h_middle - box_width - box_boarder, height + box_height + box_boarder)
self._lblCaseTemp.Size = Size(box_width,box_height)
self._lblCaseTemp.Text = "####"
self._lblCaseTemp.Font = Font("Microsoft Sans Serif", 9.5, FontStyle.Bold, GraphicsUnit.Point)
self._lblCaseTemp.Anchor = AnchorStyles.Bottom
self._lblHumidity.Location = Point(h_middle + box_boarder, height + box_height + box_boarder)
self._lblHumidity.Size = Size(box_width,box_height)
self._lblHumidity.Text = "####"
self._lblHumidity.Font = Font("Microsoft Sans Serif", 9.5, FontStyle.Bold, GraphicsUnit.Point)
self._lblHumidity.Anchor = AnchorStyles.Bottom
self._lblBatteryLife.Location = Point(h_middle + box_width + 3*box_boarder, height + box_height + box_boarder)
self._lblBatteryLife.Size = Size(box_width,box_height)
self._lblBatteryLife.Text = "####"
self._lblBatteryLife.Font = Font("Microsoft Sans Serif", 9.5, FontStyle.Bold, GraphicsUnit.Point)
self._lblBatteryLife.Anchor = AnchorStyles.Bottom
#panel
self.splitpanel.BackColor = Color.Transparent
self.splitpanel.Dock = DockStyle.Fill
self.splitpanel.Name = 'splitp'
self.splitpanel.Size = Size(self.ClientRectangle.Width, self.ClientRectangle.Height)
self.splitpanel.Orientation = Orientation.Horizontal
self.splitpanel.SplitterDistance = self._menuStrip1.Height-1
self.splitpanel.Margin = Padding(0)
self.splitpanel.IsSplitterFixed = True
self.splitpanel.FixedPanel = FixedPanel.Panel1
self.splitpanel.SplitterWidth = 1
self.splitpanel.Panel2.Controls.Add(self.MainWindow)
#Configure the main image
self.MainWindow.BackColor = Color.White
self.MainWindow.Dock = DockStyle.Fill
self.MainWindow.SizeMode = PictureBoxSizeMode.CenterImage
self.MainWindow.Location = Point(0, 1)
GUI_drawing = Image.FromFile("images/temp.gif")
self.MainWindow.Image = GUI_drawing
self.MainWindow.Name = "MainWindow"
#configure bottom left
self._pictBottomLeft.BackColor = Color.Transparent
self._pictBottomLeft.SizeMode = PictureBoxSizeMode.StretchImage
pictBottomLeft_image = Image.FromFile( "images/bottomleft.png")
self._pictBottomLeft.Image = pictBottomLeft_image
self._pictBottomLeft.Size = Size(pictBottomLeft_image.Width * self.scaleFactor, pictBottomLeft_image.Height * self.scaleFactor)
self._pictBottomLeft.Location = Point(0, self.MainWindow.Height - pictBottomLeft_image.Height * self.scaleFactor)
self._pictBottomLeft.Anchor = (AnchorStyles.Bottom \
| AnchorStyles.Left)
#Configure left image
self._pictLeft.BackColor = Color.Transparent
self._pictLeft.SizeMode = PictureBoxSizeMode.StretchImage
self._pictLeft.Location = Point(0,0)
self._pictLeft.Anchor = ((AnchorStyles.Top \
| AnchorStyles.Bottom) \
| AnchorStyles.Left)
pictLeft_image = Image.FromFile( 'images/left.png')
self._pictLeft.Image = pictLeft_image
self._pictLeft.Size = Size(pictLeft_image.Width * self.scaleFactor, self.MainWindow.Height - pictBottomLeft_image.Height * self.scaleFactor)
#configure bottom right
self._pictBottomRight.BackColor = Color.Transparent
self._pictBottomRight.SizeMode = PictureBoxSizeMode.StretchImage
pictBottomRight_image = Image.FromFile( "images/bottomright.png")
self._pictBottomRight.Image = pictBottomRight_image
self._pictBottomRight.Size = Size(pictBottomLeft_image.Width * self.scaleFactor, pictBottomRight_image.Height * self.scaleFactor)
self._pictBottomRight.Location = Point(self.MainWindow.Width - pictBottomRight_image.Width * self.scaleFactor, self.MainWindow.Height - pictBottomRight_image.Height * self.scaleFactor)
self._pictBottomRight.Anchor = (AnchorStyles.Bottom \
| AnchorStyles.Right)
#Configure right image
self._pictRight.BackColor = Color.Transparent
self._pictRight.SizeMode = PictureBoxSizeMode.StretchImage
pictRight_image = Image.FromFile( 'images/right.png')
self._pictRight.Size = Size(pictLeft_image.Width * self.scaleFactor, self.MainWindow.Height - pictBottomRight_image.Height * self.scaleFactor)
self._pictRight.Location = Point(self.MainWindow.Width - pictRight_image.Width * self.scaleFactor, 0)
self._pictRight.Anchor = ((AnchorStyles.Top \
| AnchorStyles.Bottom) \
| AnchorStyles.Right)
self._pictRight.Image = pictRight_image
#Configure middle bar
self._pictMid.BackColor = Color.Transparent
self._pictMid.SizeMode = PictureBoxSizeMode.StretchImage
pictMid_image = Image.FromFile( 'images/middle.png')
self._pictMid.Size = Size(pictMid_image.Width * self.scaleFactor, pictMid_image.Height * self.scaleFactor)
self._pictMid.Location = Point(self.MainWindow.Width/2 - (pictMid_image.Width * self.scaleFactor)/2, self.MainWindow.Height - pictMid_image.Height * self.scaleFactor)
self._pictMid.Anchor = ((AnchorStyles.Left \
| AnchorStyles.Bottom) \
| AnchorStyles.Right)
self._pictMid.Image = pictMid_image
#image needle stuff
self.compass_needle.BackColor = Color.Transparent
self.compass_needle_image = Image.FromFile( "images/compass.png")
self.compass_needle.SizeMode = PictureBoxSizeMode.StretchImage
self.compass_needle.Image = self.compass_needle_image
self.compass_needle.Size = Size(self.compass_needle_image.Width * self.scaleFactor, self.compass_needle_image.Height * self.scaleFactor)
self.compass_needle.Location = Point(self._pictBottomRight.Width *.604 - self.compass_needle.Width/2, self._pictBottomRight.Height *.555 - self.compass_needle.Width/2)
self._pictBottomRight.Controls.Add(self.compass_needle)
self.compass_needle.Anchor = (AnchorStyles.Bottom \
| AnchorStyles.Right)
#roll indicator
self.roll_indicator.BackColor = Color.Transparent
self.roll_indicator_image = Image.FromFile( "images/roll_indicator_285x285.png")
self.roll_indicator.SizeMode = PictureBoxSizeMode.StretchImage
self.roll_indicator.Image = self.roll_indicator_image
self.roll_indicator.Size = Size(self.roll_indicator_image.Width * self.scaleFactor, self.roll_indicator_image.Height * self.scaleFactor)
self.roll_indicator.Location = Point(self._pictBottomLeft.Width *.407 - self.roll_indicator.Width/2, self._pictBottomLeft.Height *.555 - self.roll_indicator.Width/2)
self._pictBottomLeft.Controls.Add(self.roll_indicator)
self.roll_indicator.Anchor = (AnchorStyles.Bottom \
| AnchorStyles.Left)
#pitch indicator
self.pitch_indicator.BackColor = Color.Transparent
self.pitch_indicator_image = Image.FromFile( "images/pitch_indicator_285x285.png")
self.pitch_indicator.SizeMode = PictureBoxSizeMode.StretchImage
self.pitch_indicator.Image = self.pitch_indicator_image
self.pitch_indicator.Size = Size(self.pitch_indicator_image.Width * self.scaleFactor, self.pitch_indicator_image.Height * self.scaleFactor)
self.pitch_indicator.Location = Point(1,1)
self.roll_indicator.Controls.Add(self.pitch_indicator)
self.pitch_indicator.Anchor = (AnchorStyles.Bottom \
| AnchorStyles.Left)
self.pitch_indicator.Name = "pitch_indicator"
#depth indicator
self.depth_indicator.BackColor = Color.Transparent
self.depth_indicator_image = Image.FromFile( "images/depth_indicator_285x285.png")
self.depth_indicator.SizeMode = PictureBoxSizeMode.StretchImage
self.depth_indicator.Image = self.depth_indicator_image
self.depth_indicator.Size = Size(self.depth_indicator_image.Width * self.scaleFactor, self.depth_indicator_image.Height * self.scaleFactor)
self.depth_indicator.Location = Point(self._pictLeft.Width/2. -self.depth_indicator.Width/2.,0-self.depth_indicator.Height/2.)
self._pictRight.Controls.Add(self.depth_indicator)
self.depth_indicator.Anchor = (AnchorStyles.Top \
| AnchorStyles.Left)
self.depth_indicator.Name = "depth_indicator"
#main menu
self._fileToolStripMenuItem12 = ToolStripMenuItem("&Fullscreen", None, System.EventHandler(self.Fullscreen))
self._fileToolStripMenuItem12.ShortcutKeys = (Keys.Control | Keys.F)
self._fileToolStripMenuItem13 = ToolStripMenuItem("Arm\t", None, System.EventHandler(self.Arm))
self._fileToolStripMenuItem13.ShortcutKeys = (Keys.Control | Keys.A)
self._fileToolStripMenuItem14 = ToolStripMenuItem("E&xit\t", None, System.EventHandler(self.Exit))
self._fileToolStripMenuItem14.ShortcutKeys = (Keys.Control | Keys.X)
self._fileToolStripMenuItem14.ShowShortcutKeys = False
self._fileToolStripMenuItem1 = ToolStripMenuItem("&File")
self._fileToolStripMenuItem1.DropDownItems.Add(self._fileToolStripMenuItem12)
self._fileToolStripMenuItem1.DropDownItems.Add(self._fileToolStripMenuItem13)
self._fileToolStripMenuItem1.DropDownItems.Add(self._fileToolStripMenuItem14)
self._fileToolStripMenuItem22 = ToolStripMenuItem("&Controls", None, System.EventHandler(self.ShowSettings))
self._fileToolStripMenuItem22.ShortcutKeys = (Keys.Control | Keys.C)
self._fileToolStripMenuItem23 = ToolStripMenuItem("&Output", None, System.EventHandler(self.ShowSettings))
self._fileToolStripMenuItem23.ShortcutKeys = (Keys.Control | Keys.O)
self._fileToolStripMenuItem2 = ToolStripMenuItem("S&ettings")
self._fileToolStripMenuItem2.DropDownItems.Add(self._fileToolStripMenuItem22)
self._fileToolStripMenuItem2.DropDownItems.Add(self._fileToolStripMenuItem23)
#
# menuStrip1
#
self._menuStrip1.Items.AddRange(System.Array[ToolStripItem]((self._fileToolStripMenuItem1, self._fileToolStripMenuItem2,)))
self._menuStrip1.Location = Point(0, 0)
self._menuStrip1.Name = 'menuStrip1'
self._menuStrip1.Size = Size(292, 24)
self._menuStrip1.TabIndex = 0
self._menuStrip1.Text = 'menuStrip1'
# Form
self.MainMenuStrip = self._menuStrip1
self.Text = 'SWIM-R'
self.joy = False
self.joystick = None
self.joy_thread = Thread(target=self.update_joy, args=())
self.joy_thread.setDaemon(1)
self.joy_thread.start()
self.video_thread = Thread(target = self.update_video, args=())
self.video_thread.setDaemon(1)
self.video_thread.start()
self.label_thread = Thread(target = self.update_labels, args=())
self.label_thread.setDaemon(1)
self.label_thread.start()
self.FormClosing += FormClosingEventHandler(self.Exit)
self.Load += System.EventHandler(self.FormLoad)
#
# Add the controls to the form.
#
self.MainWindow.Controls.Add(self.input_val_label_x)
self.MainWindow.Controls.Add(self.input_val_label_y)
self.MainWindow.Controls.Add(self.input_val_label_z)
self.MainWindow.Controls.Add(self.input_val_label_roll)
self.MainWindow.Controls.Add(self.input_val_label_pitch)
self.MainWindow.Controls.Add(self.input_val_label_yaw)
self.MainWindow.Controls.Add(self.input_label_x)
self.MainWindow.Controls.Add(self.input_label_y)
self.MainWindow.Controls.Add(self.input_label_z)
self.MainWindow.Controls.Add(self.input_label_roll)
self.MainWindow.Controls.Add(self.input_label_pitch)
self.MainWindow.Controls.Add(self.input_label_yaw)
self.MainWindow.Controls.Add(self._lblIMU_roll)
self.MainWindow.Controls.Add(self._lblIMU_pitch)
self.MainWindow.Controls.Add(self._lblIMU_yaw)
self.MainWindow.Controls.Add(self._lblWaterTemp)
self.MainWindow.Controls.Add(self._lblCaseTemp)
self.MainWindow.Controls.Add(self._lblHumidity)
self.MainWindow.Controls.Add(self._lblBatteryLife)
self.MainWindow.Controls.Add(self.input_label_depth)
self.MainWindow.Controls.Add(self._pictLeft)
self.MainWindow.Controls.Add(self._pictBottomLeft)
self.MainWindow.Controls.Add(self._pictRight)
self.MainWindow.Controls.Add(self._pictBottomRight)
self.MainWindow.Controls.Add(self._pictMid)
self.splitpanel.Panel1.Controls.Add(self._menuStrip1)
self.Controls.Add(self.splitpanel)
self._menuStrip1.ResumeLayout(False);
self._menuStrip1.PerformLayout();
self.ResumeLayout(False);
self.PerformLayout()
print "Form Initialized"
def FormLoad(self,sender,args):
if not self.testing:
while not self.client_interface.getconnectionstatus():
time.sleep(1)
self.Cursor = Cursors.Default
def Key_Pressed(self, sender, args):
if self.fullscreen and str(args.KeyData) == "Escape":
self.FormBorderStyle = FormBorderStyle.Fixed3D
self.WindowState = FormWindowState.Maximized
self.fullscreen = False
self.splitpanel.Panel1Collapsed =False
if not self.testing:
try:
if not (self.client_interface.getconnectionstatus()):
MessageBox.Show("Connection Lost")
return
except:
self.client_interface = ClientInterface(PI_IP, PI_PORT, self.testing)
if self.is_Armed:
key_entry = self.key_map.getKeyEntry(str(args.KeyData))
if key_entry.getKeyValue() != "Empty":
counterPartKey_entry = self.key_map.getKeyEntryI(key_entry.getCounterPart())
if not counterPartKey_entry.getIsPressed() and not key_entry.getIsPressed():
if self.input_type == 'hold':
key_entry.setIsPressed(True)
self.Keydown_custom = KeyDown_Custom(key_entry, self.client_interface, self.input_type)
self.Keydown_custom.start()
else:
code = key_entry.getCode()
if code[1] == '1' and key_entry.getSpeed() < 255:
key_entry.setSpeed(key_entry.getSpeed() + 8)
elif code[1] == '2' and key_entry.getSpeed() > 0:
key_entry.setSpeed(key_entry.getSpeed() - 8)
self.key_map.getKeyEntryI(key_entry.getCounterPart()).setSpeed(key_entry.getSpeed())
key_entry.setIsPressed(True)
self.Keydown_custom = KeyDown_Custom(key_entry, self.client_interface, self.input_type)
self.Keydown_custom.start()
def Key_Released(self, sender, args):
key_entry = self.key_map.getKeyEntry(str(args.KeyData))
key_entry.setIsPressed(False)
def ShowSettings(self, sender, args):
self.key_map.setKILLAll(True)
self.kill = True
self.controls_entry = Settings()
if sender.Text == "&Controls":
self.controls_entry.initializeGUI(self.key_map,0)
else:
self.controls_entry.initializeGUI(self.key_map,1)
self.controls_entry.Show()
self.controls_entry.FormClosing += FormClosingEventHandler(self.Controls_Closing_Event)
def Controls_Closing_Event(self, sender, args):
self.input_type = self.controls_entry.getInputType()
self.data_archive_location = self.controls_entry.getDataLocation()
self.use_data_archiving = self.controls_entry.getUseDataArchiving()
self.key_map.setKILLAll(False)
self.kill = False
if not self.video_thread.is_alive():
self.video_thread = Thread(target = self.update_video, args=())
self.video_thread.start()
if not self.label_thread.is_alive():
self.label_thread = Thread(target = self.update_labels, args=())
self.label_thread.start()
def Arm(self, sender, args):
if not self.is_Armed:
self.is_Armed = True
self.client_interface.setARM(True)
self._fileToolStripMenuItem13.Text = "Disarm"
if self.use_data_archiving:
self.data_archive_thread = Thread(target = self.do_data_archive, args=())
self.data_archive_thread.start()
else:
self.client_interface.setARM(False)
self._fileToolStripMenuItem13.Text = "Arm"
self.is_Armed = False
def Fullscreen(self, sender, args):
if not self.fullscreen:
self.FormBorderStyle = FormBorderStyle.None
self.TopMost = True
self.splitpanel.Panel1Collapsed =True
self.Location = Point(0,0)
self.fullscreen = True
self.WindowState = FormWindowState.Normal
self.Size = Size(self.screen.Width, self.screen.Height)
else:
self.FormBorderStyle = FormBorderStyle.Fixed3D
self.WindowState = FormWindowState.Maximized
self.fullscreen = False
self.splitpanel.Panel1Collapsed =False
def Exit(self, sender, args):
self.key_map.setKILLAll(True)
time.sleep(.01)
self.Control_Dict = {
'1':self.client_interface.setRoll,
'2':self.client_interface.setPitch,
'3':self.client_interface.setYaw,
'4':self.client_interface.setX,
'5':self.client_interface.setY,
'6':self.client_interface.setZ
}
for key in self.Control_Dict.keys():
Set = self.Control_Dict[key]
Set(127)
self.kill = True
self.is_Armed = False
self.client_interface.setARM(False)
'''
if self.joy != None:
self.joy.Unacquire()
self.joy.Dispose();
self.joy = None;
'''
if not self.formClosed:
self.formClosed = True
self.Close()
return
def LoadPastState(self):
defaultfile = "DefaultData.csv"
data = object()
try:
g = open('config.swmr', 'r')
data = cPickle.load(g)
self.input_type = data.pop(12, 'tap')
self.key_map.setNewDictValues(data)
self.data_archive_location = data.pop(13, defaultfile)
if not os.path.exists(self.data_archive_location):
self.data_archive_location = defaultfile
self.use_data_archiving = data.pop(14, False)
print "Past state loaded"
except IOError:
f = open('config.swmr', 'w')
default_dict = {
0:'E',
1:'Q',
2:'S',
3:'W',
4:'A',
5:'D',
6:'Up',
7:'Down',
8:'Left',
9:'Right',
10:'Space',
11:'B',
12:'tap',
13:defaultfile,
14:False
}
cPickle.dump(default_dict, f)
f.close()
self.input_type = default_dict[12]
self.key_map.setNewDictValues(default_dict)
self.data_archive_location = default_dict[13]
self.use_data_archiving = default_dict[14]
print "Past state NOT loaded"
def RotateImage(self, img = Image, angle = float()):
returnBitmap = Bitmap(img.Width, img.Height)
try:
returnBitmap.SetResolution(img.HorizontalResolution, img.VerticalResolution)
returnBitmap.MakeTransparent()
g = Graphics.FromImage(returnBitmap)
g.TranslateTransform(img.Width/2, img.Height / 2)
g.RotateTransform(angle);
g.InterpolationMode = Graphics.InterpolationMode.PropertyType.HighQualityBicubic
g.TranslateTransform(-img.Width/2,-img.Height / 2)
g.DrawImageUnscaled(img, Point(0, 0))
g.Dispose()
except:
pass
return returnBitmap
def MoveVerticalIndicators(self, img = PictureBox, input = float()):
new_location = img.Location
try:
input *= -1 # flip the sign because windows are numbered upside down
if img.Name == 'pitch_indicator':
if input > 45:
new_location.Y = self.PITCH_LIMIT
elif input < -45:
new_location.Y =-self.PITCH_LIMIT
else:
new_location.Y = input * (self.PITCH_LIMIT/45.)
'''
depth scale is 20
'''
if img.Name == 'depth_indicator':
if input > 0:
new_location.Y = 0
elif input < -20:
new_location.Y = self.DEPTH_LIMIT - img.Height * .5
else:
new_location.Y = -input * (self._pictRight.Height/20.) - img.Height/2.
except:
pass
return new_location
def do_data_archive(self):
if not os.path.exists(self.data_archive_location):
self.data_file = open(self.data_archive_location, 'a')
self.data_file.writelines("DateTime, WaterTemp, CaseTemp, Humdity, Depth\n")
else:
self.data_file = open(self.data_archive_location, 'a')
while self.is_Armed:
now = datetime.datetime.now()
if now.second == 0 and now.microsecond/100000 == 0:
self.data_file.writelines("{0}, {1}, {2}, {3}, {4}\n".format(str(now.strftime("%Y-%m-%d %I:%M %p")), \
str(float(self.client_interface.getWaterTemperature())), \
str(float(self.client_interface.getCaseTemperature())),\
str(float(self.client_interface.getHumidity())), \
str(float(self.client_interface.getDepth()))))
time.sleep(.1)
self.data_file.close()
def update_joy(self):
try:
self.joystick = SwimJoystick()
print "joystick attached!"
self.joy = True
except:
self.joy = False
while not self.kill:
if self.joy:
self.client_interface.setX(self.joystick.getForward())
self.client_interface.setYaw(self.joystick.getYaw())
self.client_interface.setZ(self.joystick.getVertical())
self.client_interface.setRoll(self.joystick.getRoll())
self.client_interface.setPitch(self.joystick.getPitch())
self.client_interface.setARM(self.joystick.getARM())
#print self.client_interface.getpacket()
self.is_Armed = self.joystick.getARM()
if self.is_Armed:
self._fileToolStripMenuItem13.Text = "Disarm"
else:
self._fileToolStripMenuItem13.Text = "Arm"
time.sleep(0.1)
def update_video(self):
#if not self.testing:
self.MainWindow.SizeMode = PictureBoxSizeMode.StretchImage
while not self.kill:
try:
sourceURL = "http://192.168.0.103/jpg/image.jpg"
#sourceURL = "http://192.168.0.103/video.mp4"
buffer = Array.CreateInstance(System.Byte, 100000)
read = 0
total = 0
req = clr.Convert(System.Net.WebRequest.Create(sourceURL),System.Net.HttpWebRequest)
resp = req.GetResponse()
stream = resp.GetResponseStream()
read = stream.Read(buffer, total, 1000)
while (read != 0):
total += read
read = stream.Read(buffer, total, 1000)
ms = System.IO.MemoryStream( buffer, 0, total )
self.MainWindow.Image = Bitmap.FromStream( ms )
time.sleep(.01)
try:
pass
# file = System.IO.FileStream("video.avi", System.IO.FileMode.Create, System.IO.FileAccess.Write)
# ms.Read(buffer, 0, total)
# file.Write( buffer, 0, total )
# file.Close()
# f = open("video.avi", "wb")
# f.write(System.IO.MemoryStream( buffer, 0, total ))
# f.close()
except Exception,e:
print "no video save: {0}".format(e)
except Exception as e:
print "this one: " + str(e)
def update_labels(self):
while not self.kill:
try:
if not self.client_interface.getconnectionstatus():
self._fileToolStripMenuItem13.Text = "Arm"
self.is_Armed = False
speeds = self.client_interface.getpacket()
self.input_val_label_x.Text = str(speeds['X'])
self.input_val_label_y.Text = str(speeds['Y'])
self.input_val_label_z.Text = str(speeds['Z'])
self.input_val_label_roll.Text = str(speeds['ROLL'])
self.input_val_label_pitch.Text = str(speeds['PITCH'])
self.input_val_label_yaw.Text = str(speeds['YAW'])
except:
print "SPEED LABELS ERROR!!"
try:
self.roll_indicator.Image = self.RotateImage(self.roll_indicator_image, float(self.client_interface.getRoll()))
self.roll_indicator.BackColor = Color.Transparent
self._lblIMU_roll.Text = "Roll: {0} [deg]".format( str(float(self.client_interface.getRoll())))
self.pitch_indicator.Location = self.MoveVerticalIndicators(self.pitch_indicator, float(self.client_interface.getPitch()))
self._lblIMU_pitch.Text = "Pitch: {0} [deg]".format( str(float(self.client_interface.getPitch())))
self.depth_indicator.Location = self.MoveVerticalIndicators(self.depth_indicator, float(self.client_interface.getDepth()))
self.input_label_depth.Text = "Depth: {0} [ft]".format( str(float(self.client_interface.getDepth())))
self.compass_needle.Image = self.RotateImage(self.compass_needle_image, float(self.client_interface.getYaw()))
self.compass_needle.BackColor = Color.Transparent
self._lblIMU_yaw.Text = "Yaw: {0} [deg]".format( str(float(self.client_interface.getYaw())))
self._lblWaterTemp.Text = "Water Temp: {0} [degC]".format( str(float(self.client_interface.getWaterTemperature())))
self._lblCaseTemp.Text = "Case Temp: {0} [degC]".format( str(float(self.client_interface.getCaseTemperature())))
self._lblHumidity.Text = "Humidity: {0} [%]".format( str(float(self.client_interface.getHumidity())))
self._lblBatteryLife.Text = "Battery: {0} [V]".format( str(float(self.client_interface.getBatteryLife())))
except:
print "IMU LABELS ERROR!!"
time.sleep(.1)
