Example #1
0
 def _show(self, frame):
   cb = self.hidecbs[self.frames_names[frame]]
   if cb is not None:
     cb()
   if frame in self.tabs:
     frame.pack(fill=X, expand=1)
   else:
     raise CancelGUIAction("Requested frame not found: ", frame)
Example #2
0
 def __init__(self):
     try:
         from soar.serial import Serial
     except ImportError:
         print(
             "You are missing some serial support libraries. Probably you are on windows and you need to get pywin32. Check out http://sourceforge.net/projects/pywin32/ for details."
         )
         raise CancelGUIAction
     self.portName = settings.SERIAL_PORT_NAME
     self.sonarsChanged = [0, 0, 0, 0, 0, 0, 0, 0]
     self.connectionState = STATE_NO_SYNC
     self.port = None
     self.lastxpos, self.lastypos = 0, 0
     self.storedsonars = SharedVar([0, 0, 0, 0, 0, 0, 0, 0])
     self.temperature = SharedVar(0)
     self.ldr = SharedVar([0, 0])
     self.trans, self.rot = SharedVar(0), SharedVar(0)
     self.odpose = SharedVar((0, 0, 0))
     self.stalled = SharedVar(False)
     self.analogInputs = SharedVar([0, 0, 0, 0])
     self.analogOut = SharedVar(0)
     self.asynchronous = True
     self.setters = {
         "motorOutput": self.motorOutput,
         "discreteMotorOutput": self.discreteMotorOutput,
         "say": self.cmdSay,
         "analogOutput": self.analogOutput,
         "setMaxEffectiveSonarDistance": self.setMaxEffectiveSonarDistance,
         "enableAccelerationCap": self.enableAccelerationCap,
         "setMaxVelocities": self.setMaxVelocities
     }
     self.getters = {
         "pose": self.odpose.get,
         "sonarDistances": self.storedsonars.get,
         "stalled": self.stalled.get,
         "analogInputs": self.analogInputs.get
     }
     debug("Pioneer variables set up", 2)
     self.serialready = False
     try:
         self.open(Serial)
         debug("Serial Connection started", 2)
     except:
         debug("Could not open the serial port", 0)
         raise CancelGUIAction("Error opening serial port")
     self.cmdEnable(1)
     debug("Robot cmdEnabled", 2)
     app.soar.addFlowTriplet(
         (self.startmoving, self.update, self.stopmoving))
     self.currentthread = None
     self.acceptMotorCmds = False
     self.startSerialThread()
Example #3
0
 def removeFrame(self, frame): 
   if isinstance(frame,StringType):
     frame = self.names_frames[frame]
   if frame in self.tabs:
     self.tabs[frame].forget()
     frame.forget()
     self.tabs.pop(frame)
     self.active_tabs.pop(frame)
     title = self.frames_names.pop(frame)
     self.namepool.release(title)
     self.names_frames.pop(title)
   else:
     raise CancelGUIAction("Requested frame not found: ", frame)
Example #4
0
 def addFrame(self, title):
   self.hidecbs[title] = None
   if title in self.names_frames:
     raise CancelGUIAction("Requested frame already exists: "+title)
   frame = Frame(self)
   self.active_tabs[frame] = IntVar()
   self.names_frames[title] = frame
   self.frames_names[frame] = title
   title_text = title
   if os.name == "posix" and platform.system() == "Darwin":
     title_text = " " + title_text + " "
   tab = Checkbutton(self.tabframe,
                     text = title_text,
                     indicatoron = False,
                     variable = self.active_tabs[frame],
                     command = lambda: self._toggle(frame))
   tab.select()
   tab.pack(fill=BOTH, side=LEFT)
   self.tabs[frame] = tab
   self._show(frame)
   return frame
Example #5
0
    def __init__(self):
        try:
            from soar.serial import Serial
        except ImportError:
            print "You are missing some serial support libraries. Probably you are on windows and you need to get pywin32. Check out http://sourceforge.net/projects/pywin32/ for details."
            raise CancelGUIAction
        self.sonarValues = [0, 0, 0, 0, 0, 0]
        self.all_Values = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
        self.port = None
        self.serialReady = False
        self.ldrvalue = [0, 0]
        self.p_value = [0, 0]
        self.acc_values = [0, 0, 0, 0, 0, 0]
        self.pos_values = [0, 0, 0]
        self.EKF = Locator_EKF([0., 0.], 0.)
        self.offset_counter = 0
        self.thread_flag = 0
        self.heading = 0.
        self.offset_counter_iteration = 200
        self.Ultrasonic_rear_right = 0
        self.Ultrasonic_right = 0
        self.Ultrasonic_front = 0
        self.Ultrasonic_left = 0
        self.Ultrasonic_rear_left = 0
        self.Ultrasonic_back = 0
        self.portName = -1
        self.sonarsChanged = [0, 0, 0, 0, 0, 0, 0, 0]  #Change to 6 after
        self.from_update = 0
        self.connectionState = STATE_NO_SYNC
        self.port = None
        self.lastxpos, self.lastypos = 0, 0
        self.storedsonars = SharedVar([0, 0, 0, 0, 0, 0, 0,
                                       0])  #Change to 6 after
        self.trans, self.rot = SharedVar(0), SharedVar(0)
        self.odpose = SharedVar((0, 0, 0))
        self.stalled = SharedVar(False)
        self.analogInputs = SharedVar([0, 0, 0, 0])
        self.analogOut = SharedVar(0)
        self.asynchronous = True
        self.zero_recv_cnt = 0  # Added -> Not in pioneer
        self.setters = {
            "motorOutput": self.motorOutput,
            "discreteMotorOutput": self.discreteMotorOutput,
            "say": self.cmdSay,
            "analogOutput": self.analogOutput,
            "setMaxEffectiveSonarDistance": self.setMaxEffectiveSonarDistance,
            "enableAccelerationCap": self.enableAccelerationCap,
            "setMaxVelocities": self.setMaxVelocities
        }
        self.getters = {
            "pose": self.odpose.get,
            "sonarDistances": self.storedsonars.get,
            "stalled": self.stalled.get,
            "analogInputs": self.analogInputs.get
        }
        debug("eBot variables set up", 2)
        self.serialReady = False
        self.prev_sonar = [0, 0, 0, 0, 0, 0]
        try:
            self.connect(Serial)
            self.open()
            debug("Serial Connection started", 2)
            print "eBot connection successful"
        except:
            sys.stderr.write("Couldn't connect to eBot.\n")
            sys.stderr.write(
                "- Check if eBot is on, paired and connected. If not, power up and try again. \n"
            )
            #sys.stderr.write("- Check to see if COM port below is eBot. If not, remove device and try again. \n")
            debug("Could not open the serial port", 0)
            print 5
            raise CancelGUIAction("Error opening serial port")

        app.soar.addFlowTriplet(
            (self.startmoving, self.update, self.stopmoving))
        self.currentthread = None
        self.acceptMotorCmds = False
        self.startSerialThread()
        sleep(7)
Example #6
0
 def _hide(self, frame):
   if frame in self.tabs:
     frame.forget()
   else:
     raise CancelGUIAction("Requested frame not found: ", frame)