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)
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)
