def main():
# Open TCP connection to robot
client = TCPClient()
# Startup realsense pipeline
pipeline = rs.pipeline()
#Create a config and configure the pipeline to stream
# different resolutions of color and depth streams
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 60)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 60)
# Start streaming
profile = pipeline.start(config)
# Getting the depth sensor's depth scale (see rs-align example for explanation)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: " , depth_scale)
# Create an align object
# rs.align allows us to perform alignment of depth frames to others frames
# The "align_to" is the stream type to which we plan to align depth frames.
align_to = rs.stream.color
align = rs.align(align_to)
# Declare depth filters
dec_filter = rs.decimation_filter() # Decimation - reduces depth frame density
spat_filter = rs.spatial_filter() # Spatial - edge-preserving spatial smoothing
hole_filling = rs.hole_filling_filter()
temp_filter = rs.temporal_filter() # Temporal - reduces temporal noise
depth_to_disparity = rs.disparity_transform(True)
disparity_to_depth = rs.disparity_transform(False)
# initialize variables for trajectory calculation
buffer_len = 30 #number of points that will be taken into account for trajectory calculation
pts = deque(maxlen=buffer_len)
camera_pts = deque(maxlen=buffer_len)
time_vec = deque(maxlen=buffer_len)
tic = time.time()
tic_frame = None
none_count = 0
preditcion_store = []
points_store = []
catch_point = []
# loop for video
while True:
# Wait for frames from realsense
frames = pipeline.wait_for_frames()
# Align the depth frame to color frame
aligned_frames = align.process(frames)
# Get aligned frames
aligned_depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image
color_frame = aligned_frames.get_color_frame()
# Filter aligned depth frame
#aligned_depth_frame = dec_filter.process(aligned_depth_frame)
aligned_depth_frame = depth_to_disparity.process(aligned_depth_frame)
aligned_depth_frame = spat_filter.process(aligned_depth_frame)
aligned_depth_frame = temp_filter.process(aligned_depth_frame)
aligned_depth_frame = disparity_to_depth.process(aligned_depth_frame)
aligned_depth_frame = hole_filling.process(aligned_depth_frame)
# Get images to work on
depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
# Validate that both frames are valid
if not aligned_depth_frame or not color_frame:
print('Frame is none')
continue
depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
# Detect the orange ball and return image with results
center,radius = bd.detect_ball(color_image)
# update the points queue
if center is not None :
#get depth from depth_image and append to center, append the current center to the points list
depth = depth_image[center[1],center[0]]
if not tic_frame:
tic_frame = time.time()
center.append(depth)
camera_pts.append(center)
# Transform point from camera coordinates to robot coordinate frame
center_world = bte.transform_to_world(center)
pts.append(center_world)
points_store.append(center_world)
#append current time to time vector
toc = time.time()
time_vec.append(toc-tic)
else:
none_count = none_count+1
#if no points were detected for some time (10 frames), reset the point vector and polynomial calculation
if none_count >10:
pts.clear()
camera_pts.clear()
time_vec.clear()
none_count = 0
# if more then x ball positions were detected, calculate the trajectory estimation
if(len(pts) > 7):
toce = time.time()
params_x,params_y,params_z = bte.estimate_trajectory(np.asarray(pts), np.asarray(time_vec))
catch_point = cpc.get_catching_point(params_x,params_y,params_z)
#Send catching point to robot
if catch_point is not None:
client.send_message(np.round(catch_point,2))
print("Processing time:",(time.time()-toce))
print("Sent point: ",np.round(catch_point,2))
catch_point_camera = bte.transform_to_camera(catch_point)
cv2.drawMarker(color_image, tuple(catch_point_camera.astype(int)[:2]), (0, 255, 0) ,cv2.MARKER_CROSS,10)
# calculate future points for ball from the estimated polynomial parameters and draw them
print("Tic frame: ", tic_frame)
print("Time now: ", time.time)
future_points = bte.get_future_points_3D(params_x,params_y,params_z,tic,time.time(),2)
for point in future_points.transpose():
preditcion_store.append(point)
camera_point = bte.transform_to_camera(point)
cv2.drawMarker(color_image, tuple(camera_point.astype(int)[:2]), (255, 0, 0) ,cv2.MARKER_CROSS,5)
# loop over the set of tracked points to draw the balls past movement
print("cam points: ", camera_pts)
for i in range(1, len(camera_pts)):
# compute the thickness of the line and
# draw the connecting lines
thickness = int(np.sqrt(buffer_len / float(i + 1)) * 2.5)
cv2.drawMarker(color_image, (camera_pts[i][0],camera_pts[i][1]), (0, 0, 255), cv2.MARKER_CROSS,10)
break
# Display results
cv2.imshow("Result image", color_image)
out.write(color_image) # uncomment to save video
key = cv2.waitKey(1) & 0xFF
# if the 'q' key is pressed, stop the loop
if key == ord("q"):
break
cv2.imshow("Result image", color_image)
del points_store[0]
points_store = np.asarray(points_store)
preditcion_store = np.asarray(preditcion_store)
print("Catching point: ", catch_point)
print("points: ", points_store)
print('first: ', points_store[:,0])
print('prediction: ',preditcion_store)
visualization(points_store[:,0],points_store[:,1],points_store[:,2],preditcion_store[:,0],preditcion_store[:,1] , preditcion_store[:,2],catch_point)
# close all windows
cv2.destroyAllWindows()
client.close()
class WindowGUI(object):
def __init__(self, width, height, svr_addr, svr_port, host_addr,
host_port): # {{{
""" """
self.lan = 'cn'
self.tcp = TCPClient(4096)
self.log = dict()
# window
self.width = width
self.height = height
self.win = tk.Tk()
self.win.protocol('WM_DELETE_WINDOW', self.onCloseWindow)
self.win.resizable(width=True, height=False)
self.screenwidth = self.win.winfo_screenwidth()
self.screenheight = self.win.winfo_screenheight()
# homebrain address / port
self.server_addr = tk.StringVar()
self.server_port = tk.StringVar()
self.server_addr.set(svr_addr)
self.server_port.set(svr_port)
# host address / port
self.host_addr = tk.StringVar()
self.host_port = tk.StringVar()
self.host_addr.set(host_addr)
self.host_port.set(host_port)
self.filter_key = tk.StringVar()
self.rule_newn_var = tk.StringVar()
self.rule_switch_var = tk.StringVar()
self.rule_btm_sw = 0
self.onGlobalConfigure()
self.createConnectView()
self.win.mainloop()
# }}}
def onGlobalConfigure(self): # {{{
self.win.title(gStrings['title'][self.lan])
style = ttk.Style()
style.theme_create('monitor',
parent="alt",
settings=gStyles['monitor'])
style.theme_use('monitor')
# data = {}
# for e in style.element_names():
# data[e] = style.element_options(e)
# print(data)
# }}}
def onInitWindow(self): # {{{
# set window place and size
alignstr = '%dx%d+%d+%d' % (self.width, self.height,
(self.screenwidth - self.width) / 2,
(self.screenheight - self.height) / 2)
self.win.geometry(alignstr)
# set menu
self.menu_bar = tk.Menu(self.win)
menu_set = tk.Menu(self.menu_bar)
menu_set.add_command(label=gStrings['lanSwitch'][self.lan],
command=self.onSwitchLang)
self.menu_bar.add_cascade(label=gStrings['set'][self.lan],
menu=menu_set)
self.menu_bar.add_command(label=gStrings['quit'][self.lan],
command=self.onCloseWindow)
self.menu_bar.add_command(label=gStrings['about'][self.lan],
state=tk.DISABLED,
command=self.oShowAbout)
self.win.config(menu=self.menu_bar)
# set tabpage
self.tabControl = ttk.Notebook(self.win)
self.bi_tab = ttk.Frame(self.tabControl)
self.tabControl.add(self.bi_tab, text=gStrings['basicInfo'][self.lan])
self.log_tab = ttk.Frame(self.tabControl)
self.tabControl.add(self.log_tab, text=gStrings['logSet'][self.lan])
self.dev_tab = ttk.Frame(self.tabControl)
self.tabControl.add(self.dev_tab, text=gStrings['ruleCtrl'][self.lan])
self.scene_tab = ttk.Frame(self.tabControl)
self.tabControl.add(self.scene_tab,
text=gStrings['sceneAuto'][self.lan])
self.tabControl.pack(expand=1, fill=tk.BOTH)
self.createBasicInfoView(self.bi_tab)
self.createLogSetView(self.log_tab)
self.createRuleControlView(self.dev_tab)
self.createSceneAutoView(self.scene_tab)
# }}}
def onSwitchLang(self): # {{{
if self.lan == 'en':
self.lan = 'cn'
else:
self.lan = 'en'
self.menu_bar.destroy()
self.tabControl.destroy()
self.onInitWindow()
# }}}
def oShowAbout(self): # {{{
pass # }}}}}}
def onCloseWindow(self): # {{{
try:
if self.logthread:
self.onLogTerminate()
except Exception:
pass
self.tcp.close()
self.win.destroy()
# }}}
def onConnect(self): # {{{
addr = self.server_addr.get()
port = self.server_port.get()
if self.tcp.connect(addr, int(port)):
self.conn_frm.destroy()
self.onInitWindow()
else:
self.conn_frm.destroy()
self.onConnectError()
# }}}
def onBack(self, destoryFrm, showFunc): # {{{
destoryFrm.destroy()
showFunc()
# }}}
def createConnectView(self): # {{{
width = 360
height = 200
alignstr = '%dx%d+%d+%d' % (width, height,
(self.screenwidth - width) / 2,
(self.screenheight - height) / 2)
self.win.geometry(alignstr)
self.conn_frm = ttk.Frame(self.win,
padding=20,
width=width,
height=height)
ttk.Label(
self.conn_frm,
text=gStrings['serverAddr'][self.lan],
).grid(row=1, sticky=tk.E, padx=10, pady=10)
ttk.Entry(
self.conn_frm,
textvariable=self.server_addr,
).grid(row=1, column=1, sticky=tk.W, padx=10, pady=10)
ttk.Label(
self.conn_frm,
text=gStrings['serverPort'][self.lan],
).grid(row=2, sticky=tk.E, padx=10, pady=10)
ttk.Entry(
self.conn_frm,
textvariable=self.server_port,
).grid(row=2, column=1, sticky=tk.W, padx=10, pady=10)
ttk.Button(
self.conn_frm,
text=gStrings['connect'][self.lan],
command=self.onConnect,
).grid(row=3, column=1, columnspan=2, sticky=tk.E, padx=12)
self.conn_frm.pack(side=tk.BOTTOM, anchor=tk.CENTER)
# }}}
def onConnectError(self): # {{{
width = 360
height = 150
alignstr = '%dx%d+%d+%d' % (width, height,
(self.screenwidth - width) / 2,
(self.screenheight - height) / 2)
self.win.geometry(alignstr)
self.connerr_frm = ttk.Frame(self.win,
padding=20,
width=width,
height=height)
ttk.Label(
self.connerr_frm,
text=gStrings['connErr'][self.lan],
).grid(row=0, sticky=tk.NS, padx=10, pady=10)
ttk.Button(self.connerr_frm,
text=gStrings['back'][self.lan],
command=lambda: self.onBack(self.connerr_frm, self.
createConnectView)).grid(
row=1,
column=1,
sticky=tk.W,
padx=12)
ttk.Button(
self.connerr_frm,
text=gStrings['quit'][self.lan],
command=self.onCloseWindow,
).grid(row=1, column=2, sticky=tk.E, padx=12)
self.connerr_frm.pack(side=tk.BOTTOM, anchor=tk.CENTER)
# }}}
def createBasicInfoView(self, tab): # {{{
ver_frm = ttk.Frame(tab)
ttk.Label(ver_frm,
text=gStrings['versionInfo'][self.lan],
foreground=gColors['Tomato'],
font=('Arial', 14)).grid(row=0,
column=0,
columnspan=2,
sticky=tk.W)
ver_frm.pack(anchor=tk.W)
ttk.Label(ver_frm,
text=gStrings['hbVer'][self.lan],
width=15,
font=('Arial', 12)).grid(row=1, column=0)
ttk.Label(ver_frm,
text=self.tcp.command('getHomeBrainVersion'),
width=15,
font=('Arial', 12)).grid(row=1, column=1)
ttk.Label(ver_frm,
text=gStrings['reVer'][self.lan],
width=15,
font=('Arial', 12)).grid(row=2, column=0)
ttk.Label(ver_frm,
text=self.tcp.command('getRuleEngineVersion'),
width=15,
font=('Arial', 12)).grid(row=2, column=1)
# }}}
def createLogSetView(self, tab): # {{{
# level frame
i = 0
j = 0
top_frm = ttk.Frame(tab)
top_frm.pack(anchor=tk.W)
# Log Level
level_frm = ttk.Frame(top_frm)
ttk.Label(level_frm,
text=gStrings['loglevel'][self.lan],
foreground=gColors['Tomato'],
font=('Arial', 14)).grid(row=i,
column=j,
columnspan=6,
sticky=tk.W)
level_frm.pack(side=tk.LEFT)
i += 1
j += 1
for t in (gStrings['logModule'][self.lan],
gStrings['logError'][self.lan],
gStrings['logWarn'][self.lan],
gStrings['logNormal'][self.lan],
gStrings['logInfo'][self.lan],
gStrings['logTrace'][self.lan]):
ttk.Label(level_frm, text=t, anchor=tk.CENTER,
width=10).grid(row=i, column=j)
j += 1
i += 1
names = self.tcp.command('getModulesName').split(';')
for name in names:
level = self.tcp.command('getModuleLogLevel', name)
if level == "":
continue
self.log[name] = tk.IntVar()
self.log[name].set(int(level))
ttk.Label(level_frm, text=name, anchor=tk.CENTER,
width=10).grid(row=i, column=1)
for j in range(1, 6):
ttk.Radiobutton(
level_frm,
variable=self.log[name],
value=j,
command=lambda n=name, l=str(j): self.tcp.command(
'setModuleLogLevel', n, l)).grid(row=i, column=j + 1)
i = i + 1
# CLP Watch
watch_frm = ttk.Frame(top_frm)
watch_frm.pack(side=tk.TOP)
witems = (('rules', 'statistics'), ('facts', 'activations'),
('focus', 'instances'), ('slots', 'messages'),
('globals', 'message-handlers'))
ttk.Label(watch_frm,
text=gStrings['watch'][self.lan],
foreground=gColors['Tomato'],
font=('Arial', 14)).grid(row=0,
column=0,
columnspan=3,
sticky=tk.W)
i = 1
for row in witems:
var1 = tk.IntVar()
ttk.Checkbutton(watch_frm,
text=row[0],
width=8,
variable=var1,
command=lambda v=var1, m=row[0]: self.
onLogWatchCheck(v, m)).grid(row=i,
column=0,
padx=(16, 2),
pady=2)
var2 = tk.IntVar()
ttk.Checkbutton(watch_frm,
text=row[1],
width=16,
variable=var2,
command=lambda v=var2, m=row[1]: self.
onLogWatchCheck(v, m)).grid(row=i,
column=1,
columnspan=2,
padx=(16, 2),
pady=2)
i += 1
# Log Output
log_frm = ttk.Frame(tab)
ttk.Label(log_frm,
text=gStrings['logOutput'][self.lan],
foreground=gColors['Tomato'],
font=('Arial', 14)).grid(row=0, column=0, sticky=tk.W)
ttk.Label(log_frm, text=gStrings['host'][self.lan]).grid(row=1,
column=0)
ttk.Entry(log_frm, width=16,
textvariable=self.host_addr).grid(row=1, column=1)
ttk.Label(log_frm, text=gStrings['port'][self.lan]).grid(row=1,
column=2,
padx=5)
ttk.Entry(log_frm, width=7, textvariable=self.host_port).grid(row=1,
column=3,
padx=5)
self.output_btn = ttk.Button(
log_frm,
text=gStrings['output'][self.lan],
command=self.onLogOutput,
)
self.output_btn.grid(row=1, column=4, sticky=tk.W, padx=5)
ttk.Button(
log_frm,
text=gStrings['terminate'][self.lan],
command=self.onLogTerminate,
).grid(row=1, column=5, sticky=tk.W, padx=5)
ttk.Button(
log_frm,
text=gStrings['clear'][self.lan],
command=self.onLogClear,
).grid(row=1, column=6, sticky=tk.W, padx=5)
ttk.Label(log_frm, text=gStrings['filter'][self.lan]).grid(row=1,
column=7)
ttk.Entry(log_frm, width=16,
textvariable=self.filter_key).grid(row=1, column=8, padx=5)
ttk.Button(
log_frm,
text=gStrings['printItem'][self.lan],
command=self.onLogPrintListDialog,
).grid(row=1, column=9, sticky=tk.W, padx=(10, 10))
log_frm.pack(anchor="w")
# Log Text
self.log_text = tk.Text(tab,
wrap=tk.NONE,
width=self.width,
height=self.height)
hscroll = tk.Scrollbar(tab,
orient=tk.HORIZONTAL,
command=self.log_text.xview)
hscroll.pack(side=tk.BOTTOM, fill=tk.X)
vscroll = tk.Scrollbar(tab,
orient=tk.VERTICAL,
command=self.log_text.yview)
vscroll.pack(side=tk.RIGHT, fill=tk.Y)
self.log_text.config(yscrollcommand=vscroll.set)
self.log_text.config(xscrollcommand=hscroll.set)
self.log_text.pack()
# }}}
def onLogWatchCheck(self, var, item): # {{{
self.tcp.command('watchItem', str(var.get()), item)
# }}}
def onLogOutput(self): # {{{
self.logthread = LogThread()
addr = self.server_addr.get()
port = self.server_port.get()
def output(log):
if self.filter_key.get():
for line in log.splitlines():
# TODO using re
if self.filter_key.get() in line:
self.log_text.insert(tk.END, line + "\n")
self.log_text.see(tk.END)
else:
self.log_text.insert(tk.END, log)
self.log_text.see(tk.END)
self.logthread.start(addr, port, output)
self.tcp.command('startUDPLog', addr, port)
self.output_btn.configure(state=tk.DISABLED)
# }}}
def onLogTerminate(self): # {{{
self.tcp.command('stopUDPLog')
for i in range(0, 3):
if self.logthread.isAlive():
self.logthread.stop()
time.sleep(0.2)
self.output_btn.configure(state=tk.NORMAL)
# }}}
def onLogClear(self): # {{{
self.log_text.delete(0.0, tk.END)
# }}}
def onLogPrintListDialog(self): # {{{
try:
self.print_dialog.destroy()
except Exception as e:
print("don't worry, that's ok!")
width = 180
height = 235
self.print_dialog = tk.Toplevel()
self.print_dialog.title(gStrings['selectItem'][self.lan])
alignstr = '%dx%d+%d+%d' % (width, height,
(self.screenwidth - self.width) / 2 +
(self.width - width) - 40,
(self.screenheight - self.height) / 2 + 60)
self.print_dialog.geometry(alignstr)
dialog_frm = ttk.Frame(self.print_dialog,
padding=10,
width=width,
height=height)
self.debug_items = ('mem', 'fact', 'instance', 'class', 'rule',
'agenda', 'global')
log_listbox = tk.Listbox(dialog_frm,
selectmode=tk.SINGLE,
height=len(self.debug_items),
font=('Arial', 14))
for item in self.debug_items:
log_listbox.insert(tk.END, gStrings[item][self.lan])
log_listbox.bind('<Button-1>', self.onClickDebugListBox)
log_listbox.pack(side=tk.TOP, anchor=tk.CENTER, fill=tk.BOTH)
ttk.Button(dialog_frm,
text=gStrings['quit'][self.lan],
command=lambda: self.onClickQuit('logprint')).pack(
side=tk.RIGHT, pady=(20, 10))
dialog_frm.pack(side=tk.TOP, anchor=tk.CENTER, fill=tk.BOTH)
# }}}
def createRuleControlView(self, tab): # {{{
sel_frm = ttk.Frame(tab)
sel_frm.pack(pady=(6, 20))
rul_frm = ttk.Frame(tab)
rul_frm.pack(side=tk.BOTTOM, expand=1, fill=tk.Y, pady=(20, 0))
rul_ctl_frm = ttk.Frame(rul_frm)
rul_ctl_frm.pack(fill=tk.Y, anchor=tk.NW)
ttk.Label(rul_ctl_frm,
text=gStrings['ruleSel'][self.lan],
foreground=gColors['Tomato'],
font=('Arial', 14)).pack(side=tk.LEFT)
self.rule_var = tk.StringVar()
self.rule_list = ttk.Combobox(rul_ctl_frm,
takefocus=False,
state='readonly',
width=23,
textvariable=self.rule_var,
exportselection=0,
font=('Arial', 14))
result = self.tcp.command('getRules')
rules = ('<NONE>', )
if len(result) > 0:
rules = result.split(';')
self.rule_list['values'] = rules
self.rule_list.current(0)
self.rule_list.bind("<<ComboboxSelected>>", self.onRuleSelected)
self.rule_list.pack(side=tk.LEFT, padx=(2, 8))
self.rule_refresh_btn = ttk.Button(
rul_ctl_frm,
width=5,
text=gStrings['refresh'][self.lan],
command=self.onRefreshRules,
)
self.rule_refresh_btn.pack(side=tk.LEFT, padx=(8, 8))
self.rule_ci_btn = ttk.Button(rul_ctl_frm,
text=gStrings['commit'][self.lan],
command=self.onRuleCommit)
self.rule_ci_btn.pack(side=tk.LEFT, padx=(8, 8))
ttk.Button(rul_ctl_frm,
text=gStrings['delete'][self.lan],
command=self.onRuleDeleteDialog).pack(side=tk.LEFT,
padx=(8, 8))
ttk.Button(rul_ctl_frm,
textvariable=self.rule_switch_var,
command=self.onRuleSwitch).pack(side=tk.LEFT, padx=(8, 12))
self.rule_newn_btn = ttk.Button(rul_ctl_frm,
text=gStrings['new'][self.lan],
command=lambda: self.onRuleNew('save'))
self.rule_newn_btn.pack(side=tk.LEFT, padx=(8, 8))
self.rule_newn_entry = ttk.Entry(rul_ctl_frm,
textvariable=self.rule_newn_var,
state=tk.DISABLED,
font=('Arial', 14))
self.rule_newn_entry.pack(side=tk.LEFT, padx=(8, 8))
self.rule_cancel_btn = ttk.Button(
rul_ctl_frm,
width=5,
text=gStrings['cancel'][self.lan],
command=lambda: self.onRuleNew('cancel'))
self.rule_text = tk.Text(rul_frm,
wrap=tk.NONE,
width=100,
height=25,
font=('Arial', 14))
hscroll = tk.Scrollbar(rul_frm,
orient=tk.HORIZONTAL,
command=self.rule_text.xview)
hscroll.pack(side=tk.BOTTOM, fill=tk.X)
vscroll = tk.Scrollbar(rul_frm,
orient=tk.VERTICAL,
command=self.rule_text.yview)
vscroll.pack(side=tk.RIGHT, fill=tk.Y)
self.rule_text.config(yscrollcommand=vscroll.set)
self.rule_text.config(xscrollcommand=hscroll.set)
self.rule_text.pack(side=tk.BOTTOM,
anchor=tk.CENTER,
expand=1,
fill=tk.Y)
self.rule_text.bind("<Control-Key-a>", self.onRuleSelectText)
self.rule_text.bind("<Control-Key-A>", self.onRuleSelectText)
self.onRuleSelected()
# Devices
ttk.Label(sel_frm,
text=gStrings['deviceSel'][self.lan],
foreground=gColors['Tomato'],
font=('Arial', 14)).pack(side=tk.LEFT)
self.device_var = tk.StringVar()
self.device_list = ttk.Combobox(sel_frm,
takefocus=False,
state='readonly',
width=20,
textvariable=self.device_var,
exportselection=0,
font=('Arial', 14))
result = self.tcp.command('getDevices')
devices = ('<NONE>', )
if len(result) > 0:
devices = result.split(';')
self.device_list['values'] = devices
self.device_list.current(0)
self.device_list.bind("<<ComboboxSelected>>", self.onDeviceSelected)
self.device_list.pack(side=tk.LEFT)
ttk.Label(sel_frm,
text=gStrings['deviceID'][self.lan],
foreground=gColors['Tomato'],
font=('Arial', 14)).pack(side=tk.LEFT, padx=(15, 0))
# Instances
self.ins_var = tk.StringVar()
self.ins_list = ttk.Combobox(sel_frm,
takefocus=False,
state='readonly',
width=25,
textvariable=self.ins_var,
exportselection=0,
font=('Arial', 14))
inses = self.tcp.command('getInstaces', devices[0])
values = ('<NONE>', )
if len(inses) > 0:
values = inses.split(';')
self.ins_list['values'] = values
self.ins_list.current(0)
self.ins_list.bind("<<ComboboxSelected>>", self.onInstanceSelected)
self.ins_list.pack(side=tk.LEFT)
self.manual_refresh_btn = ttk.Button(
sel_frm,
width=8,
text=gStrings['manualRefresh'][self.lan],
command=self.onInstanceSelected)
self.manual_refresh_btn.pack(side=tk.LEFT, padx=(20, 0))
self.sw_auto_refresh = 0
auto_refresh_ins = tk.IntVar()
auto_refresh_ins.set(3)
self.auto_refresh_btn = ttk.Button(
sel_frm,
width=8,
text=gStrings['autoRefresh'][self.lan],
command=lambda var=auto_refresh_ins: self.onAutoRefreshInstance(var
))
self.auto_refresh_btn.pack(side=tk.LEFT, padx=(15, 0))
self.auto_refresh_entry = ttk.Entry(sel_frm,
width=3,
justify=tk.CENTER,
textvariable=auto_refresh_ins)
self.auto_refresh_entry.pack(side=tk.LEFT, padx=(8, 0))
self.onInstanceSelected()
# }}}
def onDeviceSelected(self, *args): # {{{
inses = self.tcp.command('getInstaces', self.device_list.get())
values = ('<NONE>', )
if len(inses) > 0:
values = inses.split(';')
self.ins_list['values'] = values
self.ins_list.current(0)
self.onInstanceSelected()
# }}}
def onAutoRefreshInstance(self, var): # {{{
# refresh thread
def _refresh_thread(delay):
while not self.stop_auto_refresh:
# self.onInstanceSelected() # blinking because fresh by thread.
self.manual_refresh_btn.invoke()
time.sleep(delay)
if self.sw_auto_refresh == 0:
self.stop_auto_refresh = False
threading.Thread(target=_refresh_thread,
args=(var.get(), )).start()
self.auto_refresh_btn.configure(
text=gStrings['stopRefresh'][self.lan])
self.auto_refresh_entry.configure(state=tk.DISABLED)
self.sw_auto_refresh = 1
else:
self.stop_auto_refresh = True
self.auto_refresh_btn.configure(
text=gStrings['autoRefresh'][self.lan])
self.auto_refresh_entry.configure(state=tk.NORMAL)
self.sw_auto_refresh = 0
# }}}
def onInstanceSelected(self, *args): # {{{
try:
self.pro_frm.destroy()
del self.curslot_vars
except Exception as e:
print("don't worry, that's ok!")
self.pro_frm = ttk.Frame(self.dev_tab)
slots = ()
self.curslot_vars = {}
result = self.tcp.command('getSlots', self.device_list.get())
if len(result) > 0:
slots = result.split(';')
j = 0
for pro in slots:
ttk.Label(self.pro_frm,
text=pro,
anchor=tk.CENTER,
relief=tk.GROOVE,
width=15).grid(row=1,
column=j,
columnspan=2,
pady=(10, 10),
padx=(5, 5))
uuid = self.ins_list.get()
if uuid != '<NONE>':
self.curslot_vars[pro] = tk.StringVar()
val = self.tcp.command('getInstanceValue', uuid, pro)
if not val.strip():
val = 'null'
self.curslot_vars[pro].set(val)
ttk.Entry(
self.pro_frm,
width=10,
font=('Arial', 12),
justify=tk.CENTER,
textvariable=self.curslot_vars[pro],
).grid(row=2, column=j, columnspan=2, pady=(10, 10))
ttk.Button(
self.pro_frm,
width=5,
text=gStrings['setVal'][self.lan] + 'R',
command=lambda u=uuid, p=pro: self.onUpdateValue(
'setR', u, p),
).grid(row=3, column=j, pady=5, padx=2, sticky=tk.E)
ttk.Button(
self.pro_frm,
width=5,
text=gStrings['getVal'][self.lan] + 'R',
command=lambda u=uuid, p=pro: self.onUpdateValue(
'getR', u, p),
).grid(row=4, column=j, pady=5, padx=2, sticky=tk.E)
ttk.Button(
self.pro_frm,
width=5,
text=gStrings['setVal'][self.lan] + 'D',
command=lambda u=uuid, p=pro: self.onUpdateValue(
'setD', u, p),
).grid(row=3, column=j + 1, pady=5, padx=2, sticky=tk.W)
ttk.Button(
self.pro_frm,
width=5,
text=gStrings['getVal'][self.lan] + 'D',
command=lambda u=uuid, p=pro: self.onUpdateValue(
'getD', u, p),
).grid(row=4, column=j + 1, pady=5, padx=2, sticky=tk.W)
j += 2
self.pro_frm.pack()
# }}}
def onUpdateValue(self, target, uuid, pro): # {{{
if target == 'setR':
self.tcp.command('updateInstanceValue', uuid, pro,
self.curslot_vars[pro].get())
elif target == 'setD':
self.tcp.command('updateDeviceValue', uuid, pro,
self.curslot_vars[pro].get())
elif target == 'getR':
val = self.tcp.command('getInstanceValue', uuid, pro)
if not val.strip():
val = 'null'
self.curslot_vars[pro].set(val)
elif target == 'getD':
val = self.tcp.command('getDeviceValue', uuid, pro)
if not val.strip():
val = 'null'
self.curslot_vars[pro].set(val)
else:
print('unkown target:', target)
# }}}
def onRefreshRules(self): # {{{
result = self.tcp.command('getRules')
rules = ('<NONE>', )
if len(result) > 0:
rules = result.split(';')
self.rule_list['values'] = rules
self.rule_list.current(0)
self.onRuleSelected()
# }}}
def onRuleSelectText(self, event):
self.rule_text.tag_add(tk.SEL, "1.0", tk.END)
return 'break'
def onRuleCommit(self): # {{{
name = self.rule_list.get()
doc = self.rule_text.get(0.0, tk.END)
self.tcp.command('commitRuleScript', name, doc.strip())
# self.rule_refresh_btn.invoke()
# }}}
def onRuleDeleteDialog(self): # {{{
width = 320
height = 120
self.rule_dialog = tk.Toplevel()
self.rule_dialog.title(gStrings['delruletitle'][self.lan])
alignstr = '%dx%d+%d+%d' % (width, height,
(self.screenwidth - width) / 2,
(self.screenheight - height) / 2)
self.rule_dialog.geometry(alignstr)
dialog_frm = ttk.Frame(self.rule_dialog,
padding=10,
width=width,
height=height)
ttk.Label(
dialog_frm,
text=gStrings['delete'][self.lan],
).grid(row=1, padx=(5, 2))
ttk.Label(
dialog_frm,
font=('Arial', 14),
text=self.rule_list.get() + " ?",
).grid(row=1, column=1, columnspan=2, padx=(0, 2))
ttk.Button(dialog_frm,
text=gStrings['confirm'][self.lan],
command=lambda: self.onClickConfirm('delrule')).grid(
row=3, column=1, padx=12, pady=(20, 20))
ttk.Button(dialog_frm,
text=gStrings['cancel'][self.lan],
command=lambda: self.onClickCancel('delrule')).grid(
row=3, column=2, padx=12, pady=(20, 20))
dialog_frm.pack(side=tk.TOP, anchor=tk.CENTER, fill=tk.X)
# }}}
def onRuleSelected(self, *args): # {{{
ruleId = self.rule_list.get()
doc = self.tcp.command('getRuleScript', ruleId)
if doc:
self.rule_text.delete(0.0, tk.END)
self.rule_text.insert(0.0, doc)
sw = self.tcp.command('getRuleSwitch', ruleId)
if sw == '1':
self.rule_switch_var.set(gStrings['stop'][self.lan])
else:
self.rule_switch_var.set(gStrings['start'][self.lan])
# }}}
def onRuleSwitch(self): # {{{
ruleId = self.rule_list.get()
val = self.rule_switch_var.get()
if val == gStrings['stop'][self.lan]:
self.tcp.command('switchRule', ruleId, 'false')
else:
self.tcp.command('switchRule', ruleId, 'true')
time.sleep(0.2)
self.onRuleSelected()
# }}}
def onRuleNewDialog(self): # {{{
width = 300
height = 160
self.rule_dialog = tk.Toplevel()
self.rule_dialog.title(gStrings['newruletitle'][self.lan])
alignstr = '%dx%d+%d+%d' % (width, height,
(self.screenwidth - width) / 2,
(self.screenheight - height) / 2)
self.rule_dialog.geometry(alignstr)
self.rule_newn_var.set('rul-')
dialog_frm = ttk.Frame(self.rule_dialog,
padding=10,
width=width,
height=height)
ttk.Label(
dialog_frm,
text=gStrings['rulePrompt'][self.lan],
foreground=gColors['SlateBlue'],
).grid(row=0, column=1, columnspan=2, sticky=tk.E)
ttk.Label(
dialog_frm,
text=gStrings['filename'][self.lan],
).grid(row=1, sticky=tk.E)
ttk.Entry(
dialog_frm,
font=('Arial', 14),
textvariable=self.rule_newn_var,
).grid(row=1, column=1, columnspan=2, sticky=tk.W)
ttk.Button(dialog_frm,
text=gStrings['confirm'][self.lan],
command=lambda: self.onClickConfirm('newrule')).grid(
row=3, column=1, padx=12, pady=(20, 20))
ttk.Button(dialog_frm,
text=gStrings['cancel'][self.lan],
command=lambda: self.onClickCancel('newrule')).grid(
row=3, column=2, padx=12, pady=(20, 20))
dialog_frm.pack(side=tk.TOP, anchor=tk.CENTER)
# }}}
def onRuleNew(self, who): # {{{
if self.rule_btm_sw == 0:
# new rule
self.onRuleNewDialog()
self.rule_list.configure(state=tk.DISABLED)
self.rule_ci_btn.configure(state=tk.DISABLED)
self.rule_refresh_btn.configure(state=tk.DISABLED)
self.rule_newn_entry.configure(state=tk.NORMAL)
self.rule_newn_btn.configure(text=gStrings['save'][self.lan])
self.rule_text.delete(0.0, tk.END)
self.rule_btm_sw = 1
return
# save rule
if who == 'save':
name = self.rule_newn_entry.get()
doc = self.rule_text.get(0.0, tk.END)
self.tcp.command('commitRuleScript', name, doc)
time.sleep(1) # wait save cmd finished
self.rule_list.configure(state=tk.NORMAL)
self.rule_ci_btn.configure(state=tk.NORMAL)
self.rule_refresh_btn.configure(state=tk.NORMAL)
self.rule_newn_entry.configure(state=tk.DISABLED)
self.rule_cancel_btn.forget()
self.rule_newn_var.set('')
self.rule_newn_btn.configure(text=gStrings['new'][self.lan])
self.rule_btm_sw = 0
self.rule_refresh_btn.invoke()
# }}}
def onClickDebugListBox(self, event): # {{{
index = event.widget.nearest(event.y)
self.filter_key.set('clips_')
self.tcp.command("printItem", self.debug_items[index])
# }}}
def onClickConfirm(self, who): # {{{
if who == 'newrule':
rule_id = self.rule_newn_var.get()
self.rule_text.insert(0.0, gFormatRuleStr % (rule_id, rule_id))
self.rule_cancel_btn.pack(side=tk.RIGHT, padx=(10, 10))
self.rule_dialog.destroy()
return
if who == 'delrule':
self.tcp.command('deleteRuleScript', self.rule_list.get())
time.sleep(1) # wait delete cmd finished
self.rule_dialog.destroy()
self.rule_refresh_btn.invoke()
return
if who == 'assert':
fact = self.assert_var.get()
if fact[0] != '(' or fact[-1] != ')':
fact = "(" + fact + ")"
self.tcp.command('assertFact', fact)
self.cmd2_display.set(self.cmd1_display.get())
self.cmd1_display.set(fact)
return
# }}}
def onClickCancel(self, who): # {{{
if who == 'newrule':
self.rule_newn_var.set('')
self.rule_dialog.destroy()
self.onRuleNew('cancel')
return
if who == 'delrule':
self.rule_dialog.destroy()
return
# }}}
def onClickQuit(self, who): # {{{
if who == 'logprint':
self.print_dialog.destroy()
self.filter_key.set('')
return
# }}}
def createSceneAutoView(self, tab): # {{{
mode_frm = ttk.Frame(tab)
mode_frm.pack(anchor=tk.W)
ttk.Label(mode_frm,
text=gStrings['modeTrigger'][self.lan],
foreground=gColors['Tomato'],
font=('Arial', 14)).pack(side=tk.LEFT)
modes_list_frm = ttk.Frame(tab)
modes_list_frm.pack(anchor=tk.CENTER)
scenes = (('comehome', 'leavehome', 'entermovie', 'exitmovie',
'sleepmode', 'getupmode'), )
i = 0
for ms in scenes:
for j in range(0, 6):
btn = ttk.Button(
modes_list_frm,
width=10,
text=gStrings[ms[j]][self.lan],
command=lambda m=ms[j]: self.onSceneSelected(m))
btn.grid(row=i, column=j, padx=(10, 20), pady=(20, 10))
i += 1
fact_frm = ttk.Frame(tab)
fact_frm.pack(anchor=tk.W)
ttk.Label(fact_frm,
text=gStrings['factTrigger'][self.lan],
foreground=gColors['Tomato'],
font=('Arial', 14)).pack(side=tk.LEFT)
fact_stmt_frm = ttk.Frame(tab)
fact_stmt_frm.pack(anchor=tk.CENTER)
self.assert_var = tk.StringVar()
ttk.Entry(
fact_stmt_frm,
font=('Arial', 14),
width=50,
textvariable=self.assert_var,
).grid(row=1, column=1, sticky=tk.W)
ttk.Button(fact_stmt_frm,
text=gStrings['assert'][self.lan],
command=lambda: self.onClickConfirm('assert')).grid(
row=1, column=2, padx=20)
cmd_rec_frm = ttk.Frame(tab, width=self.width)
cmd_rec_frm.pack(side=tk.BOTTOM, fill=tk.X)
self.cmd1_display = tk.StringVar()
self.cmd2_display = tk.StringVar()
ttk.Label(
cmd_rec_frm,
textvariable=self.cmd1_display,
foreground=gColors['Black'],
font=('Arial', 12),
borderwidth=0,
padding=2,
anchor=tk.W,
).pack(side=tk.RIGHT)
ttk.Label(
cmd_rec_frm,
textvariable=self.cmd2_display,
foreground=gColors['Gray'],
font=('Arial', 12),
borderwidth=0,
padding=2,
anchor=tk.E,
).pack(side=tk.LEFT)
# }}}
def onSceneSelected(self, mode): # {{{
fact = "(scene-enter room1 " + mode + ")"
self.tcp.command('assertFact', fact)
self.cmd2_display.set(self.cmd1_display.get())
self.cmd1_display.set(fact)
class comthread(threading.Thread):
def __init__(self, id, dst_ip):
threading.Thread.__init__(self)
self.exitflag = False
self.bank = 0
self.id = id
self.alive = True
self.command = idle_msg
self.dst_ip = dst_ip
self.outputs = []
self.is_request = False
self.is_start = False
self.timer1 = None
if (id % 4) is 0:
self.dst_port = 5001
self.power_port = 0
self.switch_port = 4
self.redled_port = 8
self.blueled_port = 9
elif (id % 4) is 1:
self.dst_port = 5002
self.power_port = 1
self.switch_port = 5
self.redled_port = 10
self.blueled_port = 11
elif (id % 4) is 2:
self.dst_port = 5003
self.power_port = 3
self.switch_port = 7
self.redled_port = 14
self.blueled_port = 15
elif (id % 4) is 3:
self.dst_port = 5004
self.power_port = 2
self.switch_port = 6
self.redled_port = 12
self.blueled_port = 13
lastnumindex = dst_ip.rfind('.')
lastnum = int(dst_ip[lastnumindex + 1:len(dst_ip)])
self.module_ip = dst_ip[:lastnumindex + 1] + str(lastnum + id +
1) + "\r"
# sys.stdout.write('module ip: %r\n' % self.module_ip)
self.client = TCPClient(2, self.dst_ip, self.dst_port)
def stop(self):
sys.stdout.write('[ComThread %r] ' % self.id)
sys.stdout.write('is shutdowning\r\n')
if self.client is not None:
self.client.close()
if self.timer1 is not None:
self.timer1.cancel()
self.alive = False
def run(self):
sys.stdout.write('[ComThread %r] Hello\r\n' % self.id)
# self.client.open()
while self.alive:
if self.client.state is SOCK_CLOSE_STATE:
cur_state = self.client.state
self.client.state = self.client.open()
# if self.client.state != cur_state:
# print(self.client.state)
elif self.client.state is SOCK_OPEN_STATE:
cur_state = self.client.state
self.client.state = self.client.connect()
# if self.client.state != cur_state:
# print(self.client.state)
elif self.client.state is SOCK_CONNECT_STATE:
if self.client.working_state == idle_state:
try:
self.outputs.insert(
0, [self.power_port, POWER_OFF, 'POWER OFF'])
# sys.stdout.write('>')
time.sleep(0.1)
# check input switch value
self.client.working_state = check_sw_1_state
# logger.debug("Waiting SW%r input\r\n" % (switch_port -4))
except:
time.sleep(1)
elif self.client.working_state == check_sw_1_state:
if (self.command == keypressed_msg):
sys.stdout.write(
'[ComThread %r] got key pressed message\r\n' %
self.id)
self.command = idle_msg
self.client.working_state = check_sw_2_state
elif self.client.working_state == check_sw_2_state:
if (self.command == keyreleased_msg):
sys.stdout.write(
'[ComThread %r] got keyreleased message\r\n' %
self.id)
self.command = idle_msg
self.client.working_state = ready_state
elif self.client.working_state == ready_state:
try:
self.outputs.insert(
0, [self.redled_port, LED_OFF, 'RED LED OFF'])
self.outputs.insert(
0, [self.blueled_port, LED_OFF, 'BLUE LED OFF'])
self.outputs.insert(
0, [self.power_port, POWER_ON, 'POWER ON'])
self.outputs.insert(
0, [self.redled_port, LED_ON, 'RED LED ON'])
self.outputs.insert(
0, [self.redled_port, LED_OFF, 'RED LED OFF'])
self.client.working_state = gout_1_state
sys.stdout.write('timer1 start\r\n')
self.timer1 = threading.Timer(10.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
except Exception as e:
sys.stdout.write('%r\r\n' % e)
sys.stdout.write('timer1 stop\r\n')
self.timer1.cancel()
time.sleep(1)
elif self.client.working_state == gout_1_state:
if (len(self.outputs) == 0):
self.client.working_state = init_state
sys.stdout.write('\r\ninit_state\r\n')
else:
time.sleep(0.5)
if IsTimeout is 1:
# self.timer1.cancel()
self.client.outputs.remove()
self.client.working_state = idle_state
elif self.client.working_state == init_state:
response = self.client.readline()
# logger.debug("[init_state] [%r] %r" % (len(response), response))
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
if ("9: Load Boot Loader code then write to Flash via TFTP."
in response):
self.client.write("2")
# print 'timer1 stop'
self.timer1.cancel()
self.client.working_state = menuselect_state
sys.stdout.write('\r\nmenuselect_state\r\n')
self.timer1 = threading.Timer(3.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
response = ""
if IsTimeout is 1:
sys.stdout.write("init_state timeout")
self.timer1.cancel()
self.client.working_state = fail_state
sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == menuselect_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
if ("Warning!! Erase Linux in Flash then burn new one. Are you sure?(Y/N)"
in response):
self.client.write("Y")
self.timer1.cancel()
self.client.working_state = flasherase_state
# sys.stdout.write('\r\nflasherase_state\r\n')
self.timer1 = threading.Timer(3.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
elif ("3: System Boot system code via Flash"
in response):
self.timer1.cancel()
self.client.working_state = fail_state
sys.stdout.write('\r\nfail_state\r\n')
self.timer1 = threading.Timer(3.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
response = ""
if IsTimeout is 1:
sys.stdout.write("menuselect_state timeout")
self.timer1.cancel()
self.client.working_state = fail_state
sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == flasherase_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
if ("Input device IP (10.10.10.123)" in response):
for i in range(12):
self.client.write("\b \b")
time.sleep(0.1)
self.timer1.cancel()
self.client.working_state = localIP_state
# sys.stdout.write('\r\nlocalIP_state\r\n')
self.timer1 = threading.Timer(3.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
response = ""
if IsTimeout is 1:
sys.stdout.write("flasherase_state timeout")
self.timer1.cancel()
self.client.working_state = fail_state
sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == localIP_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
response = ""
self.timer1.cancel()
self.client.write(self.module_ip)
self.client.working_state = localIP2_state
# sys.stdout.write('\r\nlocalIP2_state\r\n')
self.timer1 = threading.Timer(3.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
response = ""
if IsTimeout is 1:
sys.stdout.write("localIP_state timeout")
self.timer1.cancel()
self.client.working_state = fail_state
sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == localIP2_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
self.timer1.cancel()
self.client.working_state = localIPDone_state
# sys.stdout.write('\r\nlocalIPDone_state\r\n')
self.timer1 = threading.Timer(3.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
response = ""
if IsTimeout is 1:
sys.stdout.write("localIP2_state timeout")
self.timer1.cancel()
self.client.working_state = fail_state
sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == localIPDone_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
if ("Input server IP (10.10.10.3)" in response):
for i in range(10):
self.client.write("\b \b")
time.sleep(0.1)
self.timer1.cancel()
self.client.working_state = serverIP_state
# sys.stdout.write('\r\nserverIP_state\r\n')
self.timer1 = threading.Timer(3.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
response = ""
if IsTimeout is 1:
sys.stdout.write("localIPDone_state timeout")
self.timer1.cancel()
self.client.working_state = fail_state
sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == serverIP_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
self.client.write("192.168.10.212\r")
# self.client.write("192.168.10.235\r")
self.timer1.cancel()
self.client.working_state = serverIP2_state
# sys.stdout.write('\r\nserverIP2_state\r\n')
self.timer1 = threading.Timer(3.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
response = ""
if IsTimeout is 1:
sys.stdout.write("serverIP_state timeout")
self.timer1.cancel()
self.client.working_state = fail_state
sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == serverIP2_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
self.timer1.cancel()
self.client.working_state = checkOrder_state
sys.stdout.write('\r\ncheckOrder_state\r\n')
self.timer1 = threading.Timer(30.0, timeoutfunc)
IsTimeout = 0
self.timer1.start()
response = ""
if IsTimeout is 1:
sys.stdout.write("serverIP2_state timeout")
self.timer1.cancel()
self.client.working_state = fail_state
# sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == checkOrder_state:
if self.is_request is False:
self.is_request = True
else:
if self.is_start is True:
self.timer1.cancel()
self.client.working_state = serverIPDone_state
# sys.stdout.write('\r\nserverIPDone_state\r\n')
if IsTimeout is 1:
sys.stdout.write("checkOrder_state timeout")
self.timer1.cancel()
self.client.working_state = fail_state
self.is_request = False
sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == serverIPDone_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
if ("Input Linux Kernel filename ()" in response):
self.client.write("std.bin\r")
self.client.working_state = filename_state
# sys.stdout.write('\r\nfilename_state\r\n')
response = ""
elif self.client.working_state == filename_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
# sys.stdout.flush()
# self.timer1.cancel()
self.client.working_state = filenameDone_state
# sys.stdout.write('\r\nfilenameDone_state\r\n')
# self.timer1 = threading.Timer(30.0, timeoutfunc)
# IsTimeout = 0
# self.timer1.start()
response = ""
# if IsTimeout is 1:
# sys.stdout.write("filename_state timeout")
# self.timer1.cancel()
# self.client.working_state = fail_state
# sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == filenameDone_state:
ch = self.client.read()
if (ch != ''):
self.client.str_list.append(ch)
sys.stdout.write("%c" % ch)
# sys.stdout.flush()
if (ch == '\r'):
response = ''.join(self.client.str_list)
# sys.stdout.write('[%r-%r]' % (self.bank, self.id))
del self.client.str_list[:]
if ("done" in response):
# self.timer1.cancel()
self.client.working_state = tftpDone_state
# sys.stdout.write('\r\ntftpDone_state\r\n')
self.is_request = False
self.is_start = False
# self.timer1 = threading.Timer(30.0, timeoutfunc)
# IsTimeout = 0
# self.timer1.start()
elif ("Retry count exceeded; starting again"
in response):
self.client.retrycount += 1
# logger.debug("retrycount: %r\r\n" % self.client.retrycount)
if (self.client.retrycount >= 10):
self.client.retrycount = 0
self.client.working_state = fail_state
sys.stdout.write('\r\nfail_state\r\n')
response = ""
# if IsTimeout is 1:
# sys.stdout.write("filenameDone_state timeout")
# self.timer1.cancel()
# self.client.working_state = fail_state
# sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == tftpDone_state:
ch = self.client.read()
if (ch != ''):
self.client.str_list.append(ch)
# if(ch is '#'):
# sys.stdout.write("%c" % ch)
# sys.stdout.flush()
if (ch == '\r'):
response = ''.join(self.client.str_list)
# sys.stdout.write(response)
sys.stdout.write('%r' % self.id)
del self.client.str_list[:]
if ("Verifying Checksum ... Bad Data CRC"
in response):
# self.timer1.cancel()
sys.stdout.write(
'Flashing Failed. Bad CRC\r\n')
self.client.write("\r\n\r\n")
self.client.working_state = fail_state
sys.stdout.write('\r\fail_state\r\n')
# self.is_start = False
# self.is_request = False
# self.timer1 = threading.Timer(10.0, timeoutfunc)
# IsTimeout = 0
# self.timer1.start()
elif ("Verifying Checksum ... OK" in response):
self.client.working_state = flashVerified_state
sys.stdout.write('\r\nflashverified_state\r\n')
response = ""
elif self.client.working_state == flashVerified_state:
ch = self.client.read()
if (ch != ''):
self.client.str_list.append(ch)
# if(ch is '#'):
# sys.stdout.write("%c" % ch)
# sys.stdout.flush()
if (ch == '\r'):
response = ''.join(self.client.str_list)
# sys.stdout.write(response)
sys.stdout.write('%r' % self.id)
del self.client.str_list[:]
if ("Please press Enter to activate this console."
in response):
# self.timer1.cancel()
sys.stdout.write('enter CRLF \r\n')
self.client.write("\r\n\r\n")
self.client.working_state = done_state
sys.stdout.write('\r\done_state\r\n')
# self.is_start = False
# self.is_request = False
# self.timer1 = threading.Timer(10.0, timeoutfunc)
# IsTimeout = 0
# self.timer1.start()
elif ("failsafe button BTN_1 was pressed"
in response):
self.client.working_state = done_state
sys.stdout.write('\r\ndone_state\r\n')
response = ""
elif self.client.working_state == done_state:
response = self.client.readline()
if (response != ""):
sys.stdout.write(response)
if ("root@" in response): #Standard
# if ("IPS-231-0000 login:"******"\r\n")
sys.stdout.flush()
self.client.write("\r")
sys.stdout.write(
"===============================================\n"
)
sys.stdout.write(
" Bank %r, ID %r Firmware Update Succeeded!!!\n"
% (self.bank, self.id))
sys.stdout.write(
"===============================================\n"
)
sys.stdout.flush()
# BLUELED ON (HIGH)
# self.timer1.cancel()
self.outputs.insert(
0, [self.blueled_port, LED_ON, 'BLUE LED ON'])
self.outputs.insert(
0, [self.power_port, POWER_OFF, 'POWER OFF'])
self.client.working_state = gout_2_state
sys.stdout.write('\r\ngout_2_state\r\n')
elif ("Please press Enter to activate this console."
in response):
self.client.write("\r\n\r\n")
else:
self.client.write("\r\n")
response = ""
# if IsTimeout is 1:
# sys.stdout.write("done_state timeout")
# self.timer1.cancel()
# self.client.working_state = fail_state
# sys.stdout.write('\r\nfail_state\r\n')
elif self.client.working_state == fail_state:
self.outputs.insert(
0, [self.redled_port, LED_ON, 'RED LED ON'])
self.outputs.insert(
0, [self.power_port, POWER_OFF, 'POWER OFF'])
self.client.working_state = gout_2_state
sys.stdout.write('\r\ngout_2_state\r\n')
elif self.client.working_state == gout_2_state:
if (len(self.outputs) == 0):
logger.debug(
"You can remove a module on bank%r now\r\n" %
self.id)
self.client.working_state = idle_state
sys.stdout.write('\r\nidle_state\r\n')
sys.stdout.write('[ComThread %r] Bye! \r\n' % self.id)
self.client.close()
