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graphical_interface.py
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graphical_interface.py
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import numpy as np
import os
import cv2
import signal
import sys
import logging
import threading
import tkinter.ttk as ttk
import tkinter as tk
from tkinter import Frame, RAISED, BOTH, Button, RIGHT, Canvas, Scale, HORIZONTAL
import datetime
from robot_controller import RobotController
class GraphicalInterface():
def __init__(self, *args, **kwargs):
threading.Thread.__init__(self)
self.kwargs = kwargs
self.enable_joysticks = True
if 'enable_joysticks' in self.kwargs:
self.enable_joysticks = self.kwargs['enable_joysticks']
logging.getLogger("requests").setLevel(logging.WARNING)
self.stop_robot = False
self.logger = logging.getLogger('GUI')
self.curr_image = None
self.joint_states = []
self.num_empty_commands = 0
self.robot_ctrl = RobotController.getInstance(*args, **kwargs)
self.logger.info('initializing robot...')
self.robot_ctrl.init_robot()
self.logger.info('robot successfully initilized')
if 'robot_init_pos' in self.kwargs:
self.logger.info('Sending robot to center.')
self.robot_ctrl.send_robot_to_center(goal=kwargs['robot_init_pos'])
self.logger.info('Robot centered.')
np.set_printoptions(precision=2)
self.image_size = (640, 360)
if 'image_size' in self.kwargs:
self.image_size = self.kwargs['image_size']
def callback(self):
self.parent.quit()
def run(self):
self.parent = tk.Tk()
self.main_frame = Frame(self.parent)
self.main_frame.pack()
if self.enable_joysticks:
self.create_widgets()
self.robot_controller()
# def signal_handler(sig, frame):
# self.logger.info('You pressed Ctrl+C')
# # cap.release()
# cv2.destroyAllWindows()
# self.logger.info("Stopping Robot...")
# self.stop_robot = True
# self.robot_ctrl.send_joint_command_to_robot([0, 0, 0, 0, 0, 0], use_thread=False)
# sys.exit(0)
# signal.signal(signal.SIGINT, signal_handler)
self.parent.mainloop()
def robot_controller(self):
self.curr_image = self.robot_ctrl.get_image_cv2()
if self.curr_image is None:
self.parent.after(10, self.robot_controller)
return
img = cv2.resize(self.curr_image, self.image_size)
cv2.imshow('frame', img / 255.0)
if cv2.waitKey(1) & 0xFF == ord('q'):
return
if self.stop_robot == True:
return
if self.enable_joysticks:
x = -self.canvas.joystick_x
y = -self.canvas.joystick_y
v = (100 - abs(x)) * (y / 100) + y
w = (100 - abs(y)) * (x / 100) + x
x = (v - w) // 2
y = (v + w) // 2
command_to_send = [x, y, self.scale1.get(), self.scale2.get(), self.scale4.get(), self.scale3.get()]
self.robot_ctrl.send_joint_command_to_robot(command_to_send)
# self.robot_ctrl.update_joint_states()
self.parent.after(10, self.robot_controller)
def create_widgets(self):
self.main_frame.style = ttk.Style()
self.main_frame.winfo_toplevel().title("Nabot Controls")
self.main_frame.style.theme_use('default')
self.main_frame.configure(background='black')
def create_canvas():
class Joystick(tk.Canvas):
pass
self.canvas = Joystick(self.main_frame, width=400, height=400)
self.canvas.joystick_x = 0
self.canvas.joystick_y = 0
self.canvas.is_moving = False
def paint(event):
# self.canvas.create_rectangle(0, 0, 200, 200, fill='red')
reset_canvas()
self.canvas.create_oval(0, 0, 400, 400, fill='black', outline='gray')
x1, y1 = event.x - 75, event.y - 75
x2, y2 = event.x + 75, event.y + 75
self.canvas.create_oval(x1, y1, x2, y2, fill='blue')
self.canvas.joystick_x = (event.x - 200) * 7 / 10
self.canvas.joystick_y = (event.y - 200) * 7 / 10
self.canvas.joystick_x = min(max(self.canvas.joystick_x, -100), 100)
self.canvas.joystick_y = min(max(self.canvas.joystick_y, -100), 100)
def reset(event):
self.canvas.is_moving = False
self.canvas.joystick_x = 0
self.canvas.joystick_y = 0
reset_canvas()
logging.debug('move the robot, x:{} y:{}'.format(self.canvas.joystick_x, self.canvas.joystick_y))
def reset_canvas():
self.canvas.create_rectangle(0, 0, 400, 400, fill='black')
self.canvas.create_oval(0, 0, 400, 400, fill='black', outline='gray')
self.canvas.create_oval(125, 125, 275, 275, fill='gray')
self.canvas.pack(side='left')
# self.canvas.bind('<Button-1>', start)
self.canvas.bind('<B1-Motion>', paint)
self.canvas.bind('<ButtonRelease-1>', reset)
reset_canvas()
def scale1_command(val):
val = self.scale1.get()
def scale1_stop(event):
self.scale1.set(0)
self.scale1 = Scale(from_=100, to=-100, label='head', command=scale1_command)
self.scale1.bind('<ButtonRelease-1>', scale1_stop)
self.scale1.pack(side='left')
def scale2_command(val):
val = self.scale2.get()
def scale2_stop(event):
self.scale2.set(0)
self.scale2 = Scale(from_=100, to=-100, label='elbow', command=scale2_command)
self.scale2.bind('<ButtonRelease-1>', scale2_stop)
self.scale2.pack(side='left')
self.scale3 = Scale(from_=0, to=100, orient=HORIZONTAL, label='Gripper')
self.scale3.pack(side='top')
def scale4_command(val):
val = self.scale4.get()
def scale4_stop(event):
self.scale4.set(0)
self.scale4 = Scale(from_=-100, to=100, orient=HORIZONTAL, command=scale4_command, label='wrist')
self.scale4.bind('<ButtonRelease-1>', scale4_stop)
self.scale4.pack(side='top')
create_canvas()