class Capp(threading.Thread):
##
# Constructor
#
# Parameters
# master = root Tk object
# robot = robot object
#
# Initiates the visible frame
def __init__(self, master, robot):
self.robot=robot # Save robot-object
threading.Thread.__init__(self)
self.frame = Frame(master, width=400, height=400) # Initiate main frame
self.frame.grid()
master.title("Plogen")
self.bRight = Button(self.frame, text="Right") # Initiate "Right" button
self.bRight.grid(column=2, row=1) # Where
self.bRight.bind("<Button-1>", self.right) # Set event-handler for left mouse-button down
self.bRight.bind("<ButtonRelease-1>", self.up) # Set event-handler for left mouse-button up
self.bLeft = Button(self.frame, text="Left") # Again with "Left"
self.bLeft.grid(column=0, row=1)
self.bLeft.bind("<Button-1>", self.left)
self.bLeft.bind("<ButtonRelease-1>", self.up)
self.bForward = Button(self.frame, text="Forward") # ...
self.bForward.grid(column=1, row=0)
self.bForward.bind("<Button-1>", self.forward)
self.bForward.bind("<ButtonRelease-1>", self.up)
self.bBackward = Button(self.frame, text="Backward") # ...
self.bBackward.grid(column=1, row=1)
self.bBackward.bind("<Button-1>", self.backward)
self.bBackward.bind("<ButtonRelease-1>", self.up)
self.bLock = Button(self.frame, text="Start Auto", command=self.setAuto)
self.bLock.grid(column=4, row=0)
self.bPlot = Button(self.frame, text="Start Reg Plot", command=self.startPlot)
self.bPlot.grid(column=4, row=1)
self.bOpen = Button(self.frame, text="Öppna", command=self.gripOpen)
self.bOpen.grid(column=3, row=0)
self.bClose = Button(self.frame, text="Stäng", command=self.gripClose)
self.bClose.grid(column=3, row=1)
self.input = StringVar() # Text-field used to read input from user
self.input.set("")
self.eInput = Entry(self.frame, textvariable = self.input, bg="white")
self.eInput.grid(column=1, row=7, columnspan=2, pady=10)
self.sensordata = ThreadSafeLabel(self.frame, self.robot) # Our custom label which should update itself
self.sensordata.grid(column=0, columnspan=3, row=2, rowspan=4)
self.lRegulator = Label(self.frame, text = "Regulator:")
self.lRegulator.grid(column=0, row=8, pady=0, padx=0)
self.lRegP = Label(self.frame, text = "P:")
self.lRegP.grid(column=0, row=9, pady=0, padx=0)
self.sRegP = StringVar()
self.sRegP.set("2")
self.eRegP = Entry(self.frame, textvariable=self.sRegP, bg="white")
self.eRegP.grid(column=1, row=9, pady=0, padx=0)
self.lRegD = Label(self.frame, text = "D:")
self.lRegD.grid(column=0, row=10, pady=0, padx=0)
self.sRegD = StringVar()
self.sRegD.set("14")
self.eRegD = Entry(self.frame, textvariable=self.sRegD, bg="white")
self.eRegD.grid(column=1, row=10, pady=0, padx=0)
self.lSpeed = Label(self.frame, text = "Speed:")
self.lSpeed.grid(column=2, row=9, pady=0, padx=0)
self.sSpeed = StringVar()
self.sSpeed.set("250")
self.eSpeed = Entry(self.frame, textvariable=self.sSpeed, bg="white")
self.eSpeed.grid(column=3, row=9, pady=0, padx=0)
self.lTimer = Label(self.frame, text = "Crossing Timer:")
self.lTimer.grid(column=2, row=10, pady=0, padx=0)
self.sTimer = StringVar()
self.sTimer.set("3")
self.eTimer = Entry(self.frame, textvariable=self.sTimer, bg="white")
self.eTimer.grid(column=3, row=10, pady=0, padx=0)
self.bSendRegParams = Button(self.frame, text="Send", command=self.sendRegParams)
self.bSendRegParams.grid(column=2, row=14, pady=0, padx=0)
def up(self, event): # Some of event handlers.
self.robot.setButtonPressed(0)
self.robot.stop()
def right(self, event):
self.robot.setButtonPressed(1)
self.robot.right()
def left(self, event):
self.robot.setButtonPressed(1)
self.robot.left()
def forward(self, event):
self.robot.setButtonPressed(1)
self.robot.forward()
def backward(self, event):
self.robot.setButtonPressed(1)
self.robot.backward()
def setSpeed(self):
setting = self.input.get()
if setting.isdigit() and int(setting) <= 100 and setting >= 0 :
self.robot.setSpeed(int(setting))
def setAuto(self):
self.robot.enableAuto()
def startPlot(self):
self.plot = Plot(self.robot)
self.plot.start()
def setMode(self):
cur = self.lbMode.curselection()
if cur == 0:
self.robot.setMode(MODE_MANUAL)
elif cur == 1:
self.robot.setMode(MODE_LINE_FOLLOW)
elif cur == 2:
self.robot.setMode(MODE_PD)
elif cur == 2:
self.robot.setMode(MODE_AUTO)
def sendRegParams(self):
self.robot.sendRegParams(self.sRegP.get(), self.sRegD.get(), speed = self.sSpeed.get(), timer = self.sTimer.get())
def gripOpen(self):
self.robot.grip(OPEN)
def gripClose(self):
self.robot.grip(CLOSE)
def run(self):
while self.robot.bt.error() != ERROR :
message = self.robot.bt.readcmd()
if isinstance(message, str) : # If a string is returned
if debug == 2 :
for i in range(0, len(message)):
print "R: ", hex(ord(message[i])), " ", # Print to console
if message[0] == chr(CMD_SENSOR_DATA):
if not(len(message) % 2) :
print "Error illformed message from Plogen."
continue
for i in range(1, len(message)-1, 2):
if message[i] == IR_LONG_LEFT:
self.robot.IRLongLeft = ord(message[i+1])
if message[i] == IR_LONG_RIGHT:
self.robot.IRLongRight = ord(message[i+1])
if message[i] == IR_SHORT_LEFT:
self.robot.IRShortLeft = ord(message[i+1])
if message[i] == IR_SHORT_RIGHT:
self.robot.IRShortRight = ord(message[i+1])
if message[i] == IR_SHORT_BACK:
self.robot.IRShortBack = ord(message[i+1])
if message[i] == IR_DIFF:
self.robot.IRDiff = ord(message[i+1])
if message[i] == IR_ANGLE:
self.robot.IRAngle = ord(message[i+1])
if message[i] == TAPE:
self.robot.numTape += 1
self.robot.tape = ord(message[i+1])
if message[i] == TAPE_VALUE:
self.robot.tapeValue = ord(message[i+1])
if message[0] == chr(CMD_REG_PARAMS):
if not(len(message) % 3):
print "Error illformed message from Plogen."
continue
for i in range(1, len(message)-1, 3):
if message[i] == REG_P:
self.robot.regP = (ord(message[i+1]) * 256) + ord(message[i+2])
if self.robot.regP > (1 << 8) :
self.robot.regP -= (1 << 16)
if message[i] == REG_D:
self.robot.regD = (ord(message[i+1]) * 256) + ord(message[i+2])
if self.robot.regD > (1 << 8) :
self.robot.regD -= (1 << 16)
if message[i] == REG_SPEED:
self.robot.speed = (ord(message[i+1]) * 256) + ord(message[i+2])
if self.robot.speed > (1 << 8) :
self.robot.speed -= (1 << 16)
elif isinstance(message, int) : print "E: ", hex(message) # We recieved an integer, something is wrong, output to console
else : print "Message.typ() == : ", type(message)
print 'Exiting app thread!.'
def __init__(self, master, robot):
self.robot=robot # Save robot-object
threading.Thread.__init__(self)
self.frame = Frame(master, width=400, height=400) # Initiate main frame
self.frame.grid()
master.title("Plogen")
self.bRight = Button(self.frame, text="Right") # Initiate "Right" button
self.bRight.grid(column=2, row=1) # Where
self.bRight.bind("<Button-1>", self.right) # Set event-handler for left mouse-button down
self.bRight.bind("<ButtonRelease-1>", self.up) # Set event-handler for left mouse-button up
self.bLeft = Button(self.frame, text="Left") # Again with "Left"
self.bLeft.grid(column=0, row=1)
self.bLeft.bind("<Button-1>", self.left)
self.bLeft.bind("<ButtonRelease-1>", self.up)
self.bForward = Button(self.frame, text="Forward") # ...
self.bForward.grid(column=1, row=0)
self.bForward.bind("<Button-1>", self.forward)
self.bForward.bind("<ButtonRelease-1>", self.up)
self.bBackward = Button(self.frame, text="Backward") # ...
self.bBackward.grid(column=1, row=1)
self.bBackward.bind("<Button-1>", self.backward)
self.bBackward.bind("<ButtonRelease-1>", self.up)
self.bLock = Button(self.frame, text="Start Auto", command=self.setAuto)
self.bLock.grid(column=4, row=0)
self.bPlot = Button(self.frame, text="Start Reg Plot", command=self.startPlot)
self.bPlot.grid(column=4, row=1)
self.bOpen = Button(self.frame, text="Öppna", command=self.gripOpen)
self.bOpen.grid(column=3, row=0)
self.bClose = Button(self.frame, text="Stäng", command=self.gripClose)
self.bClose.grid(column=3, row=1)
self.input = StringVar() # Text-field used to read input from user
self.input.set("")
self.eInput = Entry(self.frame, textvariable = self.input, bg="white")
self.eInput.grid(column=1, row=7, columnspan=2, pady=10)
self.sensordata = ThreadSafeLabel(self.frame, self.robot) # Our custom label which should update itself
self.sensordata.grid(column=0, columnspan=3, row=2, rowspan=4)
self.lRegulator = Label(self.frame, text = "Regulator:")
self.lRegulator.grid(column=0, row=8, pady=0, padx=0)
self.lRegP = Label(self.frame, text = "P:")
self.lRegP.grid(column=0, row=9, pady=0, padx=0)
self.sRegP = StringVar()
self.sRegP.set("2")
self.eRegP = Entry(self.frame, textvariable=self.sRegP, bg="white")
self.eRegP.grid(column=1, row=9, pady=0, padx=0)
self.lRegD = Label(self.frame, text = "D:")
self.lRegD.grid(column=0, row=10, pady=0, padx=0)
self.sRegD = StringVar()
self.sRegD.set("14")
self.eRegD = Entry(self.frame, textvariable=self.sRegD, bg="white")
self.eRegD.grid(column=1, row=10, pady=0, padx=0)
self.lSpeed = Label(self.frame, text = "Speed:")
self.lSpeed.grid(column=2, row=9, pady=0, padx=0)
self.sSpeed = StringVar()
self.sSpeed.set("250")
self.eSpeed = Entry(self.frame, textvariable=self.sSpeed, bg="white")
self.eSpeed.grid(column=3, row=9, pady=0, padx=0)
self.lTimer = Label(self.frame, text = "Crossing Timer:")
self.lTimer.grid(column=2, row=10, pady=0, padx=0)
self.sTimer = StringVar()
self.sTimer.set("3")
self.eTimer = Entry(self.frame, textvariable=self.sTimer, bg="white")
self.eTimer.grid(column=3, row=10, pady=0, padx=0)
self.bSendRegParams = Button(self.frame, text="Send", command=self.sendRegParams)
self.bSendRegParams.grid(column=2, row=14, pady=0, padx=0)
