def __init__(self):
self.master = Tk()
self.master.title("Robot Monitor")
# self.master.protocol("WM_DELETE_WINDOW", self.handleCloseButton)
self.sensorCanvas = Canvas(self.master,
width=WINDOW_WIDTH,
height=WINDOW_WIDTH,
bg=LIGHT_BACK_COLOR)
self.sensorCanvas.pack(side=LEFT, anchor=NW)
self.redrawSet = []
self.data = RobotData()
self.drawSensorBackground()
self.frameCount = 0
image = Image.open("Roz-Pitch.png")
newSize = self.percentToWindow(0.16)
self.cachedPitchImage = image.resize((newSize, newSize),
Image.ANTIALIAS)
image = Image.open("Roz-Roll.png")
self.cachedRollImage = image.resize((newSize, newSize),
Image.ANTIALIAS)
self.startTime = unix_time_millis(dt.datetime.utcnow())
self.updateSensorValues()
def __init__(self):
self.master = Tk()
self.master.title("Robot Monitor")
# self.master.protocol("WM_DELETE_WINDOW", self.handleCloseButton)
self.sensorCanvas = Canvas(self.master, width=WINDOW_WIDTH, height=WINDOW_WIDTH, bg=LIGHT_BACK_COLOR)
self.sensorCanvas.pack(side=LEFT, anchor=NW)
self.redrawSet = []
self.data = RobotData()
self.drawSensorBackground()
self.frameCount = 0
image = Image.open("Roz-Pitch.png")
newSize = self.percentToWindow(0.16)
self.cachedPitchImage = image.resize((newSize, newSize), Image.ANTIALIAS)
image = Image.open("Roz-Roll.png")
self.cachedRollImage = image.resize((newSize, newSize), Image.ANTIALIAS)
self.startTime = unix_time_millis(dt.datetime.utcnow())
self.updateSensorValues()
class RobotMonitor:
def __init__(self):
self.master = Tk()
self.master.title("Robot Monitor")
# self.master.protocol("WM_DELETE_WINDOW", self.handleCloseButton)
self.sensorCanvas = Canvas(self.master, width=WINDOW_WIDTH, height=WINDOW_WIDTH, bg=LIGHT_BACK_COLOR)
self.sensorCanvas.pack(side=LEFT, anchor=NW)
self.redrawSet = []
self.data = RobotData()
self.drawSensorBackground()
self.frameCount = 0
image = Image.open("Roz-Pitch.png")
newSize = self.percentToWindow(0.16)
self.cachedPitchImage = image.resize((newSize, newSize), Image.ANTIALIAS)
image = Image.open("Roz-Roll.png")
self.cachedRollImage = image.resize((newSize, newSize), Image.ANTIALIAS)
self.startTime = unix_time_millis(dt.datetime.utcnow())
self.updateSensorValues()
#######################################
#
# Support Methods
#
def percentToWindow(self, percentage):
return int(math.floor(percentage * WINDOW_WIDTH))
def rotatePoint(self, points, center, angle):
rads = math.radians(angle)
deltaX = center[0] - points[0]
deltaY = center[1] - points[1]
resultX = (deltaX * math.cos(rads)) - (deltaY * math.sin(rads)) + center[0]
resultY = (deltaX * math.sin(rads)) + (deltaY * math.cos(rads)) + center[1]
return (resultX, resultY)
def rotateLine(self, points, center, angle):
one = self.rotatePoint((points[0], points[1]), (center[0], center[1]), angle)
two = self.rotatePoint((points[2], points[3]), (center[0], center[1]), angle)
return (one[0], one[1], two[0], two[1])
def removeRedrawSet(self):
for item in self.redrawSet:
self.sensorCanvas.delete(item)
self.redrawSet = []
def addRedraw(self, item):
self.redrawSet.append(item)
def drawTwoLine(self, amount, unit, center):
self.addRedraw(self.sensorCanvas.create_text((center[0], (center[1] - COMPASS_FONT_HEIGHT)), font=COMPASS_FONT, text=amount))
self.addRedraw(self.sensorCanvas.create_text((center[0], (center[1] + COMPASS_FONT_HEIGHT)), font=COMPASS_FONT, text=unit))
def drawLabel(self, label, center):
self.addRedraw(self.sensorCanvas.create_text(center, font=COMPASS_FONT, text=label))
def drawOneLine(self, amount, unit, center):
text = str(amount) + " " + str(unit)
self.addRedraw(self.sensorCanvas.create_text(center, font=COMPASS_FONT, text=text))
def drawPrefixedOneLine(self, prefix, amount, unit, center):
text = str(prefix) + " " + str(amount) + " " + str(unit)
self.addRedraw(self.sensorCanvas.create_text(center, font=COMPASS_FONT, text=text))
#######################################
#
# Individual Sensor Redraw Methods
#
def drawIRSensorIndicator(self, points, startAngle, endAngle, color):
self.addRedraw(self.sensorCanvas.create_arc(points, start=startAngle, extent=endAngle, outline="black", fill=color, width=THIN_WIDTH))
def drawFrontIRSensor(self, detected):
percentagePoints = [0.45, -0.02, 0.55, 0.04]
points = map(self.percentToWindow, percentagePoints)
if detected:
color = DETECTED_COLOR
else:
color = BACK_COLOR
self.drawIRSensorIndicator(points, 0, -180, color)
def drawLeftIRSensor(self, detected):
percentagePoints = [0.05, 0.48, 0.11, 0.58]
points = map(self.percentToWindow, percentagePoints)
if detected:
color = DETECTED_COLOR
else:
color = BACK_COLOR
self.drawIRSensorIndicator(points, -90, 180, color)
def drawRightIRSensor(self, detected):
percentagePoints = [0.89, 0.48, 0.95, 0.58]
points = map(self.percentToWindow, percentagePoints)
if detected:
color = DETECTED_COLOR
else:
color = BACK_COLOR
self.drawIRSensorIndicator(points, 90, 180, color)
def drawHeading(self):
percentagePoints = [0.38, 0.22, 0.38, 0.16]
points = map(self.percentToWindow, percentagePoints)
centerX = self.percentToWindow(0.38)
centerY = self.percentToWindow(0.26)
self.addRedraw(self.sensorCanvas.create_line(self.rotateLine(points, (centerX, centerY), 180 + self.data.heading), width=LINE_WIDTH, fill="Red"))
self.drawLabel(self.data.heading, (centerX, centerY))
self.addRedraw(self.sensorCanvas.create_text(self.percentToWindow(0.38), self.percentToWindow(0.18), font=COMPASS_FONT, text="N"))
self.addRedraw(self.sensorCanvas.create_text(self.percentToWindow(0.30), self.percentToWindow(0.26), font=COMPASS_FONT, text="W"))
self.addRedraw(self.sensorCanvas.create_text(self.percentToWindow(0.38), self.percentToWindow(0.34), font=COMPASS_FONT, text="S"))
self.addRedraw(self.sensorCanvas.create_text(self.percentToWindow(0.46), self.percentToWindow(0.26), font=COMPASS_FONT, text="E"))
def drawPitch(self):
percentagePoints = [0.27, 0.51, 0.49, 0.51]
points = map(self.percentToWindow, percentagePoints)
centerX = self.percentToWindow(0.38)
centerY = self.percentToWindow(0.51)
self.addRedraw(self.sensorCanvas.create_line(self.rotateLine(points, (centerX, centerY), -self.data.pitch), width=LINE_WIDTH, fill="Blue"))
image = self.cachedPitchImage.rotate(self.data.pitch, Image.BICUBIC, True)
photo = ImageTk.PhotoImage(image)
self.pitchImage = photo
self.addRedraw(self.sensorCanvas.create_image(centerX, centerY, image=photo))
def drawRoll(self):
percentagePoints = [0.51, 0.51, 0.73, 0.51]
points = map(self.percentToWindow, percentagePoints)
centerX = self.percentToWindow(0.62)
centerY = self.percentToWindow(0.51)
self.addRedraw(self.sensorCanvas.create_line(self.rotateLine(points, (centerX, centerY), -self.data.roll), width=LINE_WIDTH, fill="Blue"))
image = self.cachedRollImage.rotate(self.data.roll, Image.BICUBIC, True)
photo = ImageTk.PhotoImage(image)
self.rollImage = photo
self.addRedraw(self.sensorCanvas.create_image(centerX, centerY, image=photo))
#######################################
#
# Draw Background Parts
#
def drawSensorBackground(self):
# left tread
percentagePoints = [0.01, 0.08, 0.22, 0.99]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points, width=LINE_WIDTH, fill=BACK_COLOR)
# right tread
percentagePoints = [0.78, 0.08, 0.99, 0.99]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points, width=LINE_WIDTH, fill=BACK_COLOR)
# main body
percentagePoints = [0.25, 0.05, 0.75, 0.93]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points, width=LINE_WIDTH, fill=BACK_COLOR)
# front IR sensor
percentagePoints = [0.35, 0.05, 0.42, 0.01, 0.58, 0.01, 0.65, 0.05, 0.65, 0.13, 0.35, 0.13]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_polygon(points, outline="black", fill=LIGHT_BACK_COLOR, width=THIN_WIDTH)
# left IR sensor
percentagePoints = [0.12, 0.38, 0.20, 0.38, 0.20, 0.68, 0.12, 0.68, 0.08, 0.60, 0.08, 0.46]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_polygon(points, outline="black", fill=LIGHT_BACK_COLOR, width=THIN_WIDTH)
# right IR sensor
percentagePoints = [0.88, 0.38, 0.80, 0.38, 0.80, 0.68, 0.88, 0.68, 0.92, 0.60, 0.92, 0.46]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_polygon(points, outline="black", fill=LIGHT_BACK_COLOR, width=THIN_WIDTH)
# left rpm
percentagePoints = [0.03, 0.10, 0.20, 0.27]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points, outline="black", fill=LIGHT_BACK_COLOR, width=THIN_WIDTH)
# left current
percentagePoints = [0.03, 0.80, 0.20, 0.97]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points, outline="black", fill=LIGHT_BACK_COLOR, width=THIN_WIDTH)
# right rpm
percentagePoints = [0.80, 0.10, 0.97, 0.27]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points, outline="black", fill=LIGHT_BACK_COLOR, width=THIN_WIDTH)
# right current
percentagePoints = [0.80, 0.80, 0.97, 0.97]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points, outline="black", fill=LIGHT_BACK_COLOR, width=THIN_WIDTH)
# motion
percentagePoints = [0.51, 0.15, 0.73, 0.37]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points, width=THIN_WIDTH, fill=LIGHT_BACK_COLOR)
# heading
percentagePoints = [0.27, 0.15, 0.49, 0.37]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_oval(points, width=THIN_WIDTH, fill=LIGHT_BACK_COLOR)
# pitch
percentagePoints = [0.27, 0.40, 0.49, 0.62]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_oval(points, width=THIN_WIDTH, fill=LIGHT_BACK_COLOR)
# roll
percentagePoints = [0.51, 0.40, 0.73, 0.62]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_oval(points, width=THIN_WIDTH, fill=LIGHT_BACK_COLOR)
# misc
percentagePoints = [0.27, 0.68, 0.73, 0.91]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points, outline="black", fill=LIGHT_BACK_COLOR, width=THIN_WIDTH)
#######################################
#
# Sensor Update
#
def updateSensorValues(self):
startTime = unix_time_millis(dt.datetime.utcnow())
self.frameCount += 1
self.removeRedrawSet()
self.drawFrontIRSensor(self.data.frontClose)
self.drawOneLine(self.data.frontRange, "mm", (self.percentToWindow(0.5), self.percentToWindow(0.09)))
self.drawLeftIRSensor(self.data.leftClose)
self.drawTwoLine(self.data.leftRange, "mm", (self.percentToWindow(0.16), self.percentToWindow(0.53)))
self.drawRightIRSensor(self.data.rightClose)
self.drawTwoLine(self.data.rightRange, "mm", (self.percentToWindow(0.84), self.percentToWindow(0.53)))
self.drawTwoLine(self.data.leftRPM, "RPM", (self.percentToWindow(0.11), self.percentToWindow(0.18)))
self.drawTwoLine(self.data.leftCurrent, "mA", (self.percentToWindow(0.11), self.percentToWindow(0.88)))
self.drawTwoLine(self.data.rightRPM, "RPM", (self.percentToWindow(0.88), self.percentToWindow(0.18)))
self.drawTwoLine(self.data.rightCurrent, "mA", (self.percentToWindow(0.88), self.percentToWindow(0.88)))
self.drawLabel("MOTION", (self.percentToWindow(0.62), self.percentToWindow(0.20)))
self.drawOneLine(self.data.motionSpeed, "mm/s", (self.percentToWindow(0.62), self.percentToWindow(0.27)))
self.drawOneLine(self.data.motionRotation, "°/s", (self.percentToWindow(0.62), self.percentToWindow(0.32)))
self.drawHeading()
self.drawPitch()
self.drawRoll()
self.drawLabel("MISC", (self.percentToWindow(0.5), self.percentToWindow(0.73)))
self.drawPrefixedOneLine("odometer:", self.data.odometer, "mm", (self.percentToWindow(0.5), self.percentToWindow(0.80)))
self.drawPrefixedOneLine("battery:", self.data.batteryVoltage, "volts", (self.percentToWindow(0.5), self.percentToWindow(0.85)))
self.data.update()
drawTime = int(unix_time_millis(dt.datetime.utcnow()) - startTime)
waitTime = max(FRAME_DELAY - drawTime, 1)
self.drawPrefixedOneLine("draw time:", drawTime, "ms", (self.percentToWindow(0.5), self.percentToWindow(0.98)))
# elapsedTime = int(unix_time_millis(dt.datetime.utcnow()) - self.startTime)
# self.drawPrefixedOneLine(self.frameCount, " - ", elapsedTime, (self.percentToWindow(0.5), self.percentToWindow(0.98)))
self.sensorCanvas.after(waitTime, self.updateSensorValues)
__author__ = 'Matt' ## # This file starts the UI and network communications each in their own thread # # from UI.UiRunner import * from UI.network.RobotDataClient import * from RobotData import ManualControlData, RobotData # Makeshift global variable. # Pass around the array and change it's contents to change it globally robotData = [RobotData()] uiData = ManualControlData() # The objects that do everything dataClient = RobotDataClient(robotData) uiRunner = UiRunner(robotData, uiData, dataClient) # start the threads dataClient.start() uiRunner.start()
class RobotMonitor:
def __init__(self):
self.master = Tk()
self.master.title("Robot Monitor")
# self.master.protocol("WM_DELETE_WINDOW", self.handleCloseButton)
self.sensorCanvas = Canvas(self.master,
width=WINDOW_WIDTH,
height=WINDOW_WIDTH,
bg=LIGHT_BACK_COLOR)
self.sensorCanvas.pack(side=LEFT, anchor=NW)
self.redrawSet = []
self.data = RobotData()
self.drawSensorBackground()
self.frameCount = 0
image = Image.open("Roz-Pitch.png")
newSize = self.percentToWindow(0.16)
self.cachedPitchImage = image.resize((newSize, newSize),
Image.ANTIALIAS)
image = Image.open("Roz-Roll.png")
self.cachedRollImage = image.resize((newSize, newSize),
Image.ANTIALIAS)
self.startTime = unix_time_millis(dt.datetime.utcnow())
self.updateSensorValues()
#######################################
#
# Support Methods
#
def percentToWindow(self, percentage):
return int(math.floor(percentage * WINDOW_WIDTH))
def rotatePoint(self, points, center, angle):
rads = math.radians(angle)
deltaX = center[0] - points[0]
deltaY = center[1] - points[1]
resultX = (deltaX * math.cos(rads)) - (deltaY *
math.sin(rads)) + center[0]
resultY = (deltaX * math.sin(rads)) + (deltaY *
math.cos(rads)) + center[1]
return (resultX, resultY)
def rotateLine(self, points, center, angle):
one = self.rotatePoint((points[0], points[1]), (center[0], center[1]),
angle)
two = self.rotatePoint((points[2], points[3]), (center[0], center[1]),
angle)
return (one[0], one[1], two[0], two[1])
def removeRedrawSet(self):
for item in self.redrawSet:
self.sensorCanvas.delete(item)
self.redrawSet = []
def addRedraw(self, item):
self.redrawSet.append(item)
def drawTwoLine(self, amount, unit, center):
self.addRedraw(
self.sensorCanvas.create_text(
(center[0], (center[1] - COMPASS_FONT_HEIGHT)),
font=COMPASS_FONT,
text=amount))
self.addRedraw(
self.sensorCanvas.create_text(
(center[0], (center[1] + COMPASS_FONT_HEIGHT)),
font=COMPASS_FONT,
text=unit))
def drawLabel(self, label, center):
self.addRedraw(
self.sensorCanvas.create_text(center,
font=COMPASS_FONT,
text=label))
def drawOneLine(self, amount, unit, center):
text = str(amount) + " " + str(unit)
self.addRedraw(
self.sensorCanvas.create_text(center, font=COMPASS_FONT,
text=text))
def drawPrefixedOneLine(self, prefix, amount, unit, center):
text = str(prefix) + " " + str(amount) + " " + str(unit)
self.addRedraw(
self.sensorCanvas.create_text(center, font=COMPASS_FONT,
text=text))
#######################################
#
# Individual Sensor Redraw Methods
#
def drawIRSensorIndicator(self, points, startAngle, endAngle, color):
self.addRedraw(
self.sensorCanvas.create_arc(points,
start=startAngle,
extent=endAngle,
outline="black",
fill=color,
width=THIN_WIDTH))
def drawFrontIRSensor(self, detected):
percentagePoints = [0.45, -0.02, 0.55, 0.04]
points = map(self.percentToWindow, percentagePoints)
if detected:
color = DETECTED_COLOR
else:
color = BACK_COLOR
self.drawIRSensorIndicator(points, 0, -180, color)
def drawLeftIRSensor(self, detected):
percentagePoints = [0.05, 0.48, 0.11, 0.58]
points = map(self.percentToWindow, percentagePoints)
if detected:
color = DETECTED_COLOR
else:
color = BACK_COLOR
self.drawIRSensorIndicator(points, -90, 180, color)
def drawRightIRSensor(self, detected):
percentagePoints = [0.89, 0.48, 0.95, 0.58]
points = map(self.percentToWindow, percentagePoints)
if detected:
color = DETECTED_COLOR
else:
color = BACK_COLOR
self.drawIRSensorIndicator(points, 90, 180, color)
def drawHeading(self):
percentagePoints = [0.38, 0.22, 0.38, 0.16]
points = map(self.percentToWindow, percentagePoints)
centerX = self.percentToWindow(0.38)
centerY = self.percentToWindow(0.26)
self.addRedraw(
self.sensorCanvas.create_line(self.rotateLine(
points, (centerX, centerY), 180 + self.data.heading),
width=LINE_WIDTH,
fill="Red"))
self.drawLabel(self.data.heading, (centerX, centerY))
self.addRedraw(
self.sensorCanvas.create_text(self.percentToWindow(0.38),
self.percentToWindow(0.18),
font=COMPASS_FONT,
text="N"))
self.addRedraw(
self.sensorCanvas.create_text(self.percentToWindow(0.30),
self.percentToWindow(0.26),
font=COMPASS_FONT,
text="W"))
self.addRedraw(
self.sensorCanvas.create_text(self.percentToWindow(0.38),
self.percentToWindow(0.34),
font=COMPASS_FONT,
text="S"))
self.addRedraw(
self.sensorCanvas.create_text(self.percentToWindow(0.46),
self.percentToWindow(0.26),
font=COMPASS_FONT,
text="E"))
def drawPitch(self):
percentagePoints = [0.27, 0.51, 0.49, 0.51]
points = map(self.percentToWindow, percentagePoints)
centerX = self.percentToWindow(0.38)
centerY = self.percentToWindow(0.51)
self.addRedraw(
self.sensorCanvas.create_line(self.rotateLine(
points, (centerX, centerY), -self.data.pitch),
width=LINE_WIDTH,
fill="Blue"))
image = self.cachedPitchImage.rotate(self.data.pitch, Image.BICUBIC,
True)
photo = ImageTk.PhotoImage(image)
self.pitchImage = photo
self.addRedraw(
self.sensorCanvas.create_image(centerX, centerY, image=photo))
def drawRoll(self):
percentagePoints = [0.51, 0.51, 0.73, 0.51]
points = map(self.percentToWindow, percentagePoints)
centerX = self.percentToWindow(0.62)
centerY = self.percentToWindow(0.51)
self.addRedraw(
self.sensorCanvas.create_line(self.rotateLine(
points, (centerX, centerY), -self.data.roll),
width=LINE_WIDTH,
fill="Blue"))
image = self.cachedRollImage.rotate(self.data.roll, Image.BICUBIC,
True)
photo = ImageTk.PhotoImage(image)
self.rollImage = photo
self.addRedraw(
self.sensorCanvas.create_image(centerX, centerY, image=photo))
#######################################
#
# Draw Background Parts
#
def drawSensorBackground(self):
# left tread
percentagePoints = [0.01, 0.08, 0.22, 0.99]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points,
width=LINE_WIDTH,
fill=BACK_COLOR)
# right tread
percentagePoints = [0.78, 0.08, 0.99, 0.99]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points,
width=LINE_WIDTH,
fill=BACK_COLOR)
# main body
percentagePoints = [0.25, 0.05, 0.75, 0.93]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points,
width=LINE_WIDTH,
fill=BACK_COLOR)
# front IR sensor
percentagePoints = [
0.35, 0.05, 0.42, 0.01, 0.58, 0.01, 0.65, 0.05, 0.65, 0.13, 0.35,
0.13
]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_polygon(points,
outline="black",
fill=LIGHT_BACK_COLOR,
width=THIN_WIDTH)
# left IR sensor
percentagePoints = [
0.12, 0.38, 0.20, 0.38, 0.20, 0.68, 0.12, 0.68, 0.08, 0.60, 0.08,
0.46
]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_polygon(points,
outline="black",
fill=LIGHT_BACK_COLOR,
width=THIN_WIDTH)
# right IR sensor
percentagePoints = [
0.88, 0.38, 0.80, 0.38, 0.80, 0.68, 0.88, 0.68, 0.92, 0.60, 0.92,
0.46
]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_polygon(points,
outline="black",
fill=LIGHT_BACK_COLOR,
width=THIN_WIDTH)
# left rpm
percentagePoints = [0.03, 0.10, 0.20, 0.27]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points,
outline="black",
fill=LIGHT_BACK_COLOR,
width=THIN_WIDTH)
# left current
percentagePoints = [0.03, 0.80, 0.20, 0.97]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points,
outline="black",
fill=LIGHT_BACK_COLOR,
width=THIN_WIDTH)
# right rpm
percentagePoints = [0.80, 0.10, 0.97, 0.27]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points,
outline="black",
fill=LIGHT_BACK_COLOR,
width=THIN_WIDTH)
# right current
percentagePoints = [0.80, 0.80, 0.97, 0.97]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points,
outline="black",
fill=LIGHT_BACK_COLOR,
width=THIN_WIDTH)
# motion
percentagePoints = [0.51, 0.15, 0.73, 0.37]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points,
width=THIN_WIDTH,
fill=LIGHT_BACK_COLOR)
# heading
percentagePoints = [0.27, 0.15, 0.49, 0.37]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_oval(points,
width=THIN_WIDTH,
fill=LIGHT_BACK_COLOR)
# pitch
percentagePoints = [0.27, 0.40, 0.49, 0.62]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_oval(points,
width=THIN_WIDTH,
fill=LIGHT_BACK_COLOR)
# roll
percentagePoints = [0.51, 0.40, 0.73, 0.62]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_oval(points,
width=THIN_WIDTH,
fill=LIGHT_BACK_COLOR)
# misc
percentagePoints = [0.27, 0.68, 0.73, 0.91]
points = map(self.percentToWindow, percentagePoints)
self.sensorCanvas.create_rectangle(points,
outline="black",
fill=LIGHT_BACK_COLOR,
width=THIN_WIDTH)
#######################################
#
# Sensor Update
#
def updateSensorValues(self):
startTime = unix_time_millis(dt.datetime.utcnow())
self.frameCount += 1
self.removeRedrawSet()
self.drawFrontIRSensor(self.data.frontClose)
self.drawOneLine(
self.data.frontRange, "mm",
(self.percentToWindow(0.5), self.percentToWindow(0.09)))
self.drawLeftIRSensor(self.data.leftClose)
self.drawTwoLine(
self.data.leftRange, "mm",
(self.percentToWindow(0.16), self.percentToWindow(0.53)))
self.drawRightIRSensor(self.data.rightClose)
self.drawTwoLine(
self.data.rightRange, "mm",
(self.percentToWindow(0.84), self.percentToWindow(0.53)))
self.drawTwoLine(
self.data.leftRPM, "RPM",
(self.percentToWindow(0.11), self.percentToWindow(0.18)))
self.drawTwoLine(
self.data.leftCurrent, "mA",
(self.percentToWindow(0.11), self.percentToWindow(0.88)))
self.drawTwoLine(
self.data.rightRPM, "RPM",
(self.percentToWindow(0.88), self.percentToWindow(0.18)))
self.drawTwoLine(
self.data.rightCurrent, "mA",
(self.percentToWindow(0.88), self.percentToWindow(0.88)))
self.drawLabel(
"MOTION", (self.percentToWindow(0.62), self.percentToWindow(0.20)))
self.drawOneLine(
self.data.motionSpeed, "mm/s",
(self.percentToWindow(0.62), self.percentToWindow(0.27)))
self.drawOneLine(
self.data.motionRotation, "°/s",
(self.percentToWindow(0.62), self.percentToWindow(0.32)))
self.drawHeading()
self.drawPitch()
self.drawRoll()
self.drawLabel("MISC",
(self.percentToWindow(0.5), self.percentToWindow(0.73)))
self.drawPrefixedOneLine(
"odometer:", self.data.odometer, "mm",
(self.percentToWindow(0.5), self.percentToWindow(0.80)))
self.drawPrefixedOneLine(
"battery:", self.data.batteryVoltage, "volts",
(self.percentToWindow(0.5), self.percentToWindow(0.85)))
self.data.update()
drawTime = int(unix_time_millis(dt.datetime.utcnow()) - startTime)
waitTime = max(FRAME_DELAY - drawTime, 1)
self.drawPrefixedOneLine(
"draw time:", drawTime, "ms",
(self.percentToWindow(0.5), self.percentToWindow(0.98)))
# elapsedTime = int(unix_time_millis(dt.datetime.utcnow()) - self.startTime)
# self.drawPrefixedOneLine(self.frameCount, " - ", elapsedTime, (self.percentToWindow(0.5), self.percentToWindow(0.98)))
self.sensorCanvas.after(waitTime, self.updateSensorValues)
