def __init__(self):
# get a logger
self.log = logging.getLogger("GTK_Main")
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = Robot(self.BT_ADDRESS)
self.feed_radio = "real"
self.fix_colour = False
self.half_time = False
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in [
"lappy", "mitsubishi", "lexus", "honda"
]:
self.are_on_vision_pc = True
# setup the window
builder = gtk.Builder()
builder.add_from_file("main_ui.xml")
self.window = builder.get_object("window_main")
# change out the image with are video widget
video_holder_box = builder.get_object("box_videoHolder")
video_holder_img = builder.get_object("image_videoHolder")
self.gst = GstDrawingArea()
video_holder_box.remove(video_holder_img)
video_holder_box.add(self.gst)
# connect to GUI events
self.window.set_events(gtk.gdk.KEY_PRESS_MASK
| gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
builder.connect_signals(self)
# get all wigets that are needed later
self.table_manualControl = builder.get_object("table_manualControl")
# show the GUI
self.gst.show()
self.window.show()
self.log.debug("GTK windows complete")
def __init__(self):
# get a logger
self.log = logging.getLogger("GTK_Main")
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = Robot(self.BT_ADDRESS)
self.feed_radio = "real"
self.fix_colour = False
self.half_time = False
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in ["lappy", "mitsubishi", "lexus", "honda"]:
self.are_on_vision_pc = True
# setup the window
builder = gtk.Builder()
builder.add_from_file("main_ui.xml")
self.window = builder.get_object("window_main")
# change out the image with are video widget
video_holder_box = builder.get_object("box_videoHolder")
video_holder_img = builder.get_object("image_videoHolder")
self.gst = GstDrawingArea()
video_holder_box.remove(video_holder_img)
video_holder_box.add(self.gst)
# connect to GUI events
self.window.set_events(gtk.gdk.KEY_PRESS_MASK|gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
builder.connect_signals(self)
# get all wigets that are needed later
self.table_manualControl = builder.get_object("table_manualControl")
# show the GUI
self.gst.show()
self.window.show()
self.log.debug("GTK windows complete")
class GTK_Main(object):
BT_ADDRESS = "00:16:53:08:A0:E6"
def __init__(self):
# get a logger
self.log = logging.getLogger("GTK_Main")
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = Robot(self.BT_ADDRESS)
self.feed_radio = "real"
self.fix_colour = False
self.half_time = False
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in [
"lappy", "mitsubishi", "lexus", "honda"
]:
self.are_on_vision_pc = True
# setup the window
builder = gtk.Builder()
builder.add_from_file("main_ui.xml")
self.window = builder.get_object("window_main")
# change out the image with are video widget
video_holder_box = builder.get_object("box_videoHolder")
video_holder_img = builder.get_object("image_videoHolder")
self.gst = GstDrawingArea()
video_holder_box.remove(video_holder_img)
video_holder_box.add(self.gst)
# connect to GUI events
self.window.set_events(gtk.gdk.KEY_PRESS_MASK
| gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
builder.connect_signals(self)
# get all wigets that are needed later
self.table_manualControl = builder.get_object("table_manualControl")
# show the GUI
self.gst.show()
self.window.show()
self.log.debug("GTK windows complete")
def save_frame(self, widget=None, data=None):
self.log.debug("_save_frame")
if self.gst.is_playing():
name = self.gst.save_frame_to_file(widget=widget, data=data)
else:
self.log.warning("No video to save frame")
def background_remove(self, widget=None, data=None):
self.log.debug("background_remove")
if self.gst.is_playing():
image = self.gst.get_frame(widget=widget, data=data)
ImageProcess(image).save_png() #TODO
#image = ImageProcess(image).get_image()
#self.gst.show_img(image)
else:
self.log.warning("No video to remove background")
def start_stop(self, widget=None, data=None):
self.log.debug("__start_stop")
if self.gst.is_playing():
self.stop_feed()
else:
self.start_feed()
def on_manual_robot_control(self, widget=None, data=None):
self.log.debug("click")
print data
def on_key_press(self, widget, data=None):
self.log.debug("click")
if data.keyval == 65362: # up
self.log.debug("Up")
self.robot.up()
elif data.keyval == 65364: # down
self.log.debug("Down")
self.robot.down()
elif data.keyval == 65361: # left
self.log.debug("Left")
self.robot.left()
elif data.keyval == 65363: # right
self.log.debug("Right")
self.robot.right()
elif data.keyval == 32: # space
self.log.debug("Kick")
self.robot.kick()
elif data.keyval == 65307: # Esc
self.clean_quit()
elif data.keyval == 65480: # F11
if self.fullscreen:
self.window.unfullscreen()
self.fullscreen = False
else:
self.window.fullscreen()
self.fullscreen = True
elif data.string == "s": # s
self.log.debug("Stop!")
self.robot.stop()
else:
self.log.debug("on_key_press:\n\tevent: '{event}'\n\tkeyval: '{keyval}'\n\tstring: '{str_}'"\
.format(event="key_press_unknown_key", keyval=data.keyval, str_=data.string))
return False # since we dont use the key let the rest of the GUI use it. ie enter and F1
return True # stop the rest of the GUI reacting
def on_key_release(self, widget, data=None):
self.log.debug("un-click")
self.robot.stop()
return True
def clean_quit(self, widget=None, data=None):
self.log.debug("Clean Quit")
self.robot = None
gtk.main_quit()
def start_feed(self):
self.gst.start_video(self.feed_radio,
fixcolour=self.fix_colour,
rotation=self.half_time)
# TODO
#self.button.set_label("Stop")
#self.button.set_active(True)
def stop_feed(self):
self.gst.stop_video()
# TODO
#self.button.set_label("Start Feed")
#self.button.set_active(False)
def fix_video_colour(self, widget=None, data=None):
self.log.debug("fix_video_colour")
self.fix_colour = not self.fix_colour
def flip_video_feed(self, widget=None, data=None):
self.log.debug("half_time")
self.half_time = not self.half_time
def connect_to_brick(self, widget=None, data=None):
self.log.debug("connect_to_brick")
if not widget.get_active():
return False # ingnor button when not acctive
try:
# first try to find are know robot
self.robot.connect()
widget.set_label("Conected")
widget.set_active(True)
except Exception as error:
self.log.error(error)
widget.set_label("Connect")
widget.set_active(False)
def radio_feed_change_real(self, widget=None, data=None):
self.log.debug("radio_feed_change real")
if self.feed_radio != "real":
self.feed_radio = "real"
def radio_feed_change_test(self, widget=None, data=None):
self.log.debug("radio_feed_change test")
if self.feed_radio != "test":
self.feed_radio = "test"
def radio_feed_change_file(self, widget=None, data=None):
self.log.debug("radio_feed_change file")
if self.feed_radio != "file":
self.feed_radio = "file"
def change_manual_control(self, widget=None, data=None):
self.log.debug("change_manual_control")
if widget.get_active():
self.log.warning("Request to chnage to manual")
widget.set_label("Automatic")
for child in self.table_manualControl.get_children():
if child != widget:
child.show()
if type(child) == gtk.VScale():
child.set_value(self.robot.get_power())
else:
self.log.warning("Request to chnage to automatic")
widget.set_label("Manual")
for child in self.table_manualControl.get_children():
if child != widget:
child.hide()
def manual_power_change(self, widget=None, data=None):
self.log.debug("manual_power_change")
self.robot.set_power(widget.get_value())
def on_manual_robot_control_up(self, widget=None, data=None):
self.robot.up()
def on_manual_robot_control_down(self, widget=None, data=None):
self.robot.down()
def on_manual_robot_control_stop(self, widget=None, data=None):
self.robot.stop()
def on_manual_robot_control_left(self, widget=None, data=None):
self.robot.left()
def on_manual_robot_control_right(self, widget=None, data=None):
self.robot.right()
def on_manual_robot_control_kick(self, widget=None, data=None):
self.robot.kick()
def on_manual_robot_control_buzz(self, widget=None, data=None):
self.robot.buzz()
def __del__(self):
self.log.info("__del__")
self.robot = None
class GTK_Main(object):
BT_ADDRESS = "00:16:53:08:A0:E6"
def __init__(self):
# get a logger
self.log = logging.getLogger("GTK_Main")
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = Robot(self.BT_ADDRESS)
self.feed_radio = "real"
self.fix_colour = False
self.half_time = False
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in ["lappy", "mitsubishi", "lexus", "honda"]:
self.are_on_vision_pc = True
# setup the window
builder = gtk.Builder()
builder.add_from_file("main_ui.xml")
self.window = builder.get_object("window_main")
# change out the image with are video widget
video_holder_box = builder.get_object("box_videoHolder")
video_holder_img = builder.get_object("image_videoHolder")
self.gst = GstDrawingArea()
video_holder_box.remove(video_holder_img)
video_holder_box.add(self.gst)
# connect to GUI events
self.window.set_events(gtk.gdk.KEY_PRESS_MASK|gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
builder.connect_signals(self)
# get all wigets that are needed later
self.table_manualControl = builder.get_object("table_manualControl")
# show the GUI
self.gst.show()
self.window.show()
self.log.debug("GTK windows complete")
def save_frame(self, widget=None, data=None):
self.log.debug("_save_frame")
if self.gst.is_playing():
name = self.gst.save_frame_to_file(widget=widget, data=data)
else:
self.log.warning("No video to save frame")
def background_remove(self, widget=None, data=None):
self.log.debug("background_remove")
if self.gst.is_playing():
image = self.gst.get_frame(widget=widget, data=data)
ImageProcess(image).save_png() #TODO
#image = ImageProcess(image).get_image()
#self.gst.show_img(image)
else:
self.log.warning("No video to remove background")
def start_stop(self, widget=None, data=None):
self.log.debug("__start_stop")
if self.gst.is_playing():
self.stop_feed()
else:
self.start_feed()
def on_manual_robot_control(self, widget=None, data=None):
self.log.debug("click")
print data
def on_key_press(self, widget, data=None):
self.log.debug("click")
if data.keyval == 65362: # up
self.log.debug("Up")
self.robot.up()
elif data.keyval == 65364: # down
self.log.debug("Down")
self.robot.down()
elif data.keyval == 65361: # left
self.log.debug("Left")
self.robot.left()
elif data.keyval == 65363: # right
self.log.debug("Right")
self.robot.right()
elif data.keyval == 32: # space
self.log.debug("Kick")
self.robot.kick()
elif data.keyval == 65307: # Esc
self.clean_quit()
elif data.keyval == 65480: # F11
if self.fullscreen:
self.window.unfullscreen()
self.fullscreen = False
else:
self.window.fullscreen()
self.fullscreen = True
elif data.string == "s": # s
self.log.debug("Stop!")
self.robot.stop()
else:
self.log.debug("on_key_press:\n\tevent: '{event}'\n\tkeyval: '{keyval}'\n\tstring: '{str_}'"\
.format(event="key_press_unknown_key", keyval=data.keyval, str_=data.string))
return False # since we dont use the key let the rest of the GUI use it. ie enter and F1
return True # stop the rest of the GUI reacting
def on_key_release(self, widget, data=None):
self.log.debug("un-click")
self.robot.stop()
return True
def clean_quit(self, widget=None, data=None):
self.log.debug("Clean Quit")
self.robot = None
gtk.main_quit()
def start_feed(self):
self.gst.start_video(self.feed_radio, fixcolour=self.fix_colour, rotation=self.half_time)
# TODO
#self.button.set_label("Stop")
#self.button.set_active(True)
def stop_feed(self):
self.gst.stop_video()
# TODO
#self.button.set_label("Start Feed")
#self.button.set_active(False)
def fix_video_colour(self, widget=None, data=None):
self.log.debug("fix_video_colour")
self.fix_colour = not self.fix_colour
def flip_video_feed(self, widget=None, data=None):
self.log.debug("half_time")
self.half_time = not self.half_time
def connect_to_brick(self, widget=None, data=None):
self.log.debug("connect_to_brick")
if not widget.get_active():
return False # ingnor button when not acctive
try:
# first try to find are know robot
self.robot.connect()
widget.set_label("Conected")
widget.set_active(True)
except Exception as error:
self.log.error(error)
widget.set_label("Connect")
widget.set_active(False)
def radio_feed_change_real(self, widget=None, data=None):
self.log.debug("radio_feed_change real")
if self.feed_radio != "real":
self.feed_radio = "real"
def radio_feed_change_test(self, widget=None, data=None):
self.log.debug("radio_feed_change test")
if self.feed_radio != "test":
self.feed_radio = "test"
def radio_feed_change_file(self, widget=None, data=None):
self.log.debug("radio_feed_change file")
if self.feed_radio != "file":
self.feed_radio = "file"
def change_manual_control(self, widget=None, data=None):
self.log.debug("change_manual_control")
if widget.get_active():
self.log.warning("Request to chnage to manual")
widget.set_label("Automatic")
for child in self.table_manualControl.get_children():
if child != widget:
child.show()
if type(child) == gtk.VScale():
child.set_value( self.robot.get_power() )
else:
self.log.warning("Request to chnage to automatic")
widget.set_label("Manual")
for child in self.table_manualControl.get_children():
if child != widget:
child.hide()
def manual_power_change(self, widget=None, data=None):
self.log.debug("manual_power_change")
self.robot.set_power( widget.get_value() )
def on_manual_robot_control_up(self, widget=None, data=None):
self.robot.up()
def on_manual_robot_control_down(self, widget=None, data=None):
self.robot.down()
def on_manual_robot_control_stop(self, widget=None, data=None):
self.robot.stop()
def on_manual_robot_control_left(self, widget=None, data=None):
self.robot.left()
def on_manual_robot_control_right(self, widget=None, data=None):
self.robot.right()
def on_manual_robot_control_kick(self, widget=None, data=None):
self.robot.kick()
def on_manual_robot_control_buzz(self, widget=None, data=None):
self.robot.buzz()
def __del__(self):
self.log.info("__del__")
self.robot = None
def __init__(self):
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = None
self.log = logging.getLogger("GTK_Main")
self.state = self.STATE_IDLE
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in ["lappy", "mitsubishi", "lexus", "honda"]:
self.are_on_vision_pc = True
# setup the window
self.window = gtk.Window(gtk.WINDOW_TOPLEVEL)
self.window.set_title("SDP 6")
self.window.set_default_size(850, 400)
self.window.set_events(gtk.gdk.KEY_PRESS_MASK|gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
# add widgets
root_widget = gtk.HBox()
self.window.add(root_widget)
vbox_rightpanel = gtk.VBox()
root_widget.add(vbox_rightpanel)
vbox_leftpanel = gtk.VBox()
vbox_leftpanel.set_size_request(150, 0)
root_widget.add(vbox_leftpanel)
hbox_rightpanel_top = gtk.HBox()
vbox_rightpanel.add(hbox_rightpanel_top)
hbox_rightpanel_bottom = gtk.HBox()
hbox_rightpanel_bottom.set_size_request(0, 100)
vbox_rightpanel.add(hbox_rightpanel_bottom)
hbox_leftpanel_feed = gtk.HBox()
hbox_leftpanel_feed.set_size_request(150, 0)
vbox_leftpanel.add(hbox_leftpanel_feed)
self.button = gtk.ToggleButton("Start Feed")
self.button.connect("clicked", self.start_stop)
hbox_leftpanel_feed.add(self.button)
vbox_leftpanel_feed_radio = gtk.VBox()
hbox_leftpanel_feed.add(vbox_leftpanel_feed_radio)
radio1 = gtk.RadioButton(group=None, label="Real")
radio1.set_active(True)
radio1.connect("toggled", self.radio_feed_change)
vbox_leftpanel_feed_radio.add(radio1)
self.feed_radio = "real"
radio2 = gtk.RadioButton(group=radio1, label="Test")
vbox_leftpanel_feed_radio.add(radio2)
self.button_fixcolour = gtk.ToggleButton("Fix Colour")
hbox_leftpanel_feed.add(self.button_fixcolour)
button = gtk.Button("Save Frame")
button.connect("clicked", self.save_frame)
vbox_leftpanel.add(button)
self.button_connect = gtk.ToggleButton("Connect")
self.button_connect.connect("clicked", self.__connect)
vbox_leftpanel.add(self.button_connect)
for i in range(0, 4):
button = gtk.Button("test "+str(i))
vbox_leftpanel.add(button)
self.gst = GstDrawingArea()
hbox_rightpanel_top.add(self.gst)
#self.vte = vte.Terminal()
#self.vte.connect ("child-exited", self.respawn_vte)
#self.vte.fork_command()
#hbox_rightpanel_bottom.add(self.vte)
self.window.show_all()
self.log.debug("GTK windows complete")
class GTK_Main(object):
MAX_MOTOR_POWER = 127
BT_ADDRESS = "00:16:53:08:A0:E6"
STATE_IDLE = 0
STATE_UP = 1
STATE_DOWN = 2
STATE_RIGHT = 3
STATE_LEFT = 4
def __init__(self):
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = None
self.log = logging.getLogger("GTK_Main")
self.state = self.STATE_IDLE
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in ["lappy", "mitsubishi", "lexus", "honda"]:
self.are_on_vision_pc = True
# setup the window
self.window = gtk.Window(gtk.WINDOW_TOPLEVEL)
self.window.set_title("SDP 6")
self.window.set_default_size(850, 400)
self.window.set_events(gtk.gdk.KEY_PRESS_MASK|gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
# add widgets
root_widget = gtk.HBox()
self.window.add(root_widget)
vbox_rightpanel = gtk.VBox()
root_widget.add(vbox_rightpanel)
vbox_leftpanel = gtk.VBox()
vbox_leftpanel.set_size_request(150, 0)
root_widget.add(vbox_leftpanel)
hbox_rightpanel_top = gtk.HBox()
vbox_rightpanel.add(hbox_rightpanel_top)
hbox_rightpanel_bottom = gtk.HBox()
hbox_rightpanel_bottom.set_size_request(0, 100)
vbox_rightpanel.add(hbox_rightpanel_bottom)
hbox_leftpanel_feed = gtk.HBox()
hbox_leftpanel_feed.set_size_request(150, 0)
vbox_leftpanel.add(hbox_leftpanel_feed)
self.button = gtk.ToggleButton("Start Feed")
self.button.connect("clicked", self.start_stop)
hbox_leftpanel_feed.add(self.button)
vbox_leftpanel_feed_radio = gtk.VBox()
hbox_leftpanel_feed.add(vbox_leftpanel_feed_radio)
radio1 = gtk.RadioButton(group=None, label="Real")
radio1.set_active(True)
radio1.connect("toggled", self.radio_feed_change)
vbox_leftpanel_feed_radio.add(radio1)
self.feed_radio = "real"
radio2 = gtk.RadioButton(group=radio1, label="Test")
vbox_leftpanel_feed_radio.add(radio2)
self.button_fixcolour = gtk.ToggleButton("Fix Colour")
hbox_leftpanel_feed.add(self.button_fixcolour)
button = gtk.Button("Save Frame")
button.connect("clicked", self.save_frame)
vbox_leftpanel.add(button)
self.button_connect = gtk.ToggleButton("Connect")
self.button_connect.connect("clicked", self.__connect)
vbox_leftpanel.add(self.button_connect)
for i in range(0, 4):
button = gtk.Button("test "+str(i))
vbox_leftpanel.add(button)
self.gst = GstDrawingArea()
hbox_rightpanel_top.add(self.gst)
#self.vte = vte.Terminal()
#self.vte.connect ("child-exited", self.respawn_vte)
#self.vte.fork_command()
#hbox_rightpanel_bottom.add(self.vte)
self.window.show_all()
self.log.debug("GTK windows complete")
#def respawn_vte(self, widget):
# self.log.info("VTE respawn")
# self.vte.fork_command()
def save_frame(self, widget=None, data=None):
self.gst.save_frame(widget=widget, data=data)
def on_key_press(self, widget, data=None):
self.log.debug("click")
if data.keyval == 65362: # up
self.log.debug("Up")
if self.robot != None and self.state != self.STATE_UP:
self.robot.up()
self.state = self.STATE_UP
elif data.keyval == 65364: # down
self.log.debug("Down")
if self.robot != None and self.state != self.STATE_DOWN:
self.robot.down()
self.state = self.STATE_DOWN
elif data.keyval == 65361: # left
self.log.debug("Left")
if self.robot != None and self.state != self.STATE_LEFT:
self.robot.left()
self.state = self.STATE_LEFT
elif data.keyval == 65363: # right
self.log.debug("Right")
if self.robot != None and self.state != self.STATE_RIGHT:
self.robot.right()
self.state = self.STATE_RIGHT
elif data.keyval == 32: # space
self.log.debug("Kick")
if self.robot != None:
self.robot.stop()
self.robot.kick()
self.state = self.STATE_IDLE
elif data.keyval == 65307: # Esc
self.clean_quit()
elif data.keyval == 65480: # F11
if self.fullscreen:
self.window.unfullscreen()
self.fullscreen = False
else:
self.window.fullscreen()
self.fullscreen = True
elif data.string == "s": # s
self.log.debug("Stop!")
if self.robot != None: #TODO: think about state
self.robot.stop()
self.state = self.STATE_IDLE
elif data.string == "t": # s
self.log.debug("Stop!")
if self.robot != None: #TODO: think about state
self.robot.get_state()
else:
self.log.debug("on_key_press:\n\tevent: '{event}'\n\tkeyval: '{keyval}'\n\tstring: '{str_}'"\
.format(event="key_press_unknown_key", keyval=data.keyval, str_=data.string))
return False # since we dont use the key let the rest of the GUI use it. ie enter and F1
return True # stop the rest of the GUI reacting
def on_key_release(self, widget, data=None):
self.log.debug("un-click")
if self.robot != None:
self.robot.stop()
self.state = self.STATE_IDLE
return True
return False # let the rest of the GUI deal with it is we don't use it
def clean_quit(self, widget=None, data=None):
self.log.debug("Clean Quit")
self.robot = None
gtk.main_quit()
def start_stop(self, widget, data=None):
if self.gst.is_playing():
self.stop_feed()
else:
self.start_feed()
def start_feed(self):
fixcolour = self.button_fixcolour.get_active()
self.gst.start_video(self.feed_radio, fixcolour=fixcolour)
self.button.set_label("Stop")
self.button.set_active(True)
def stop_feed(self):
self.gst.stop_video()
self.button.set_label("Start Feed")
self.button.set_active(False)
def radio_feed_change(self, widget, data=None):
if self.feed_radio == "real":
self.feed_radio = "test"
else:
self.feed_radio = "real"
def __connect(self, widget=None, data=None):
if not self.button_connect.get_active():
self.button_connect.set_active(True) # keep it active
return # ingnor button when not acctive
if self.robot != None:
self.log.warning("Tryed to connect to a already connected brick")
return
self.button_connect.set_label("Connecting")
try:
# first try to find are know robot
self.robot = Robot(host=self.BT_ADDRESS)
self.button_connect.set_label("Conected")
self.button_connect.set_active(True)
except Exception as error:
self.log.error(error)
self.button_connect.set_label("Connect")
self.button_connect.set_active(False)
self.robot = None
def __del__(self):
self.log.info("__del__")
self.robot = None
def __init__(self):
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = None
self.log = logging.getLogger("GTK_Main")
self.state = self.STATE_IDLE
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in [
"lappy", "mitsubishi", "lexus", "honda"
]:
self.are_on_vision_pc = True
# setup the window
self.window = gtk.Window(gtk.WINDOW_TOPLEVEL)
self.window.set_title("SDP 6")
self.window.set_default_size(850, 400)
self.window.set_events(gtk.gdk.KEY_PRESS_MASK
| gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
# add widgets
root_widget = gtk.HBox()
self.window.add(root_widget)
vbox_rightpanel = gtk.VBox()
root_widget.add(vbox_rightpanel)
vbox_leftpanel = gtk.VBox()
vbox_leftpanel.set_size_request(150, 0)
root_widget.add(vbox_leftpanel)
hbox_rightpanel_top = gtk.HBox()
vbox_rightpanel.add(hbox_rightpanel_top)
hbox_rightpanel_bottom = gtk.HBox()
hbox_rightpanel_bottom.set_size_request(0, 100)
vbox_rightpanel.add(hbox_rightpanel_bottom)
hbox_leftpanel_feed = gtk.HBox()
hbox_leftpanel_feed.set_size_request(150, 0)
vbox_leftpanel.add(hbox_leftpanel_feed)
self.button = gtk.ToggleButton("Start Feed")
self.button.connect("clicked", self.start_stop)
hbox_leftpanel_feed.add(self.button)
vbox_leftpanel_feed_radio = gtk.VBox()
hbox_leftpanel_feed.add(vbox_leftpanel_feed_radio)
radio1 = gtk.RadioButton(group=None, label="Real")
radio1.set_active(True)
radio1.connect("toggled", self.radio_feed_change)
vbox_leftpanel_feed_radio.add(radio1)
self.feed_radio = "real"
radio2 = gtk.RadioButton(group=radio1, label="Test")
vbox_leftpanel_feed_radio.add(radio2)
self.button_fixcolour = gtk.ToggleButton("Fix Colour")
hbox_leftpanel_feed.add(self.button_fixcolour)
button = gtk.Button("Save Frame")
button.connect("clicked", self.save_frame)
vbox_leftpanel.add(button)
self.button_connect = gtk.ToggleButton("Connect")
self.button_connect.connect("clicked", self.__connect)
vbox_leftpanel.add(self.button_connect)
for i in range(0, 4):
button = gtk.Button("test " + str(i))
vbox_leftpanel.add(button)
self.gst = GstDrawingArea()
hbox_rightpanel_top.add(self.gst)
#self.vte = vte.Terminal()
#self.vte.connect ("child-exited", self.respawn_vte)
#self.vte.fork_command()
#hbox_rightpanel_bottom.add(self.vte)
self.window.show_all()
self.log.debug("GTK windows complete")
class GTK_Main(object):
MAX_MOTOR_POWER = 127
BT_ADDRESS = "00:16:53:08:A0:E6"
STATE_IDLE = 0
STATE_UP = 1
STATE_DOWN = 2
STATE_RIGHT = 3
STATE_LEFT = 4
def __init__(self):
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = None
self.log = logging.getLogger("GTK_Main")
self.state = self.STATE_IDLE
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in [
"lappy", "mitsubishi", "lexus", "honda"
]:
self.are_on_vision_pc = True
# setup the window
self.window = gtk.Window(gtk.WINDOW_TOPLEVEL)
self.window.set_title("SDP 6")
self.window.set_default_size(850, 400)
self.window.set_events(gtk.gdk.KEY_PRESS_MASK
| gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
# add widgets
root_widget = gtk.HBox()
self.window.add(root_widget)
vbox_rightpanel = gtk.VBox()
root_widget.add(vbox_rightpanel)
vbox_leftpanel = gtk.VBox()
vbox_leftpanel.set_size_request(150, 0)
root_widget.add(vbox_leftpanel)
hbox_rightpanel_top = gtk.HBox()
vbox_rightpanel.add(hbox_rightpanel_top)
hbox_rightpanel_bottom = gtk.HBox()
hbox_rightpanel_bottom.set_size_request(0, 100)
vbox_rightpanel.add(hbox_rightpanel_bottom)
hbox_leftpanel_feed = gtk.HBox()
hbox_leftpanel_feed.set_size_request(150, 0)
vbox_leftpanel.add(hbox_leftpanel_feed)
self.button = gtk.ToggleButton("Start Feed")
self.button.connect("clicked", self.start_stop)
hbox_leftpanel_feed.add(self.button)
vbox_leftpanel_feed_radio = gtk.VBox()
hbox_leftpanel_feed.add(vbox_leftpanel_feed_radio)
radio1 = gtk.RadioButton(group=None, label="Real")
radio1.set_active(True)
radio1.connect("toggled", self.radio_feed_change)
vbox_leftpanel_feed_radio.add(radio1)
self.feed_radio = "real"
radio2 = gtk.RadioButton(group=radio1, label="Test")
vbox_leftpanel_feed_radio.add(radio2)
self.button_fixcolour = gtk.ToggleButton("Fix Colour")
hbox_leftpanel_feed.add(self.button_fixcolour)
button = gtk.Button("Save Frame")
button.connect("clicked", self.save_frame)
vbox_leftpanel.add(button)
self.button_connect = gtk.ToggleButton("Connect")
self.button_connect.connect("clicked", self.__connect)
vbox_leftpanel.add(self.button_connect)
for i in range(0, 4):
button = gtk.Button("test " + str(i))
vbox_leftpanel.add(button)
self.gst = GstDrawingArea()
hbox_rightpanel_top.add(self.gst)
#self.vte = vte.Terminal()
#self.vte.connect ("child-exited", self.respawn_vte)
#self.vte.fork_command()
#hbox_rightpanel_bottom.add(self.vte)
self.window.show_all()
self.log.debug("GTK windows complete")
#def respawn_vte(self, widget):
# self.log.info("VTE respawn")
# self.vte.fork_command()
def save_frame(self, widget=None, data=None):
self.gst.save_frame(widget=widget, data=data)
def on_key_press(self, widget, data=None):
self.log.debug("click")
if data.keyval == 65362: # up
self.log.debug("Up")
if self.robot != None and self.state != self.STATE_UP:
self.robot.up()
self.state = self.STATE_UP
elif data.keyval == 65364: # down
self.log.debug("Down")
if self.robot != None and self.state != self.STATE_DOWN:
self.robot.down()
self.state = self.STATE_DOWN
elif data.keyval == 65361: # left
self.log.debug("Left")
if self.robot != None and self.state != self.STATE_LEFT:
self.robot.left()
self.state = self.STATE_LEFT
elif data.keyval == 65363: # right
self.log.debug("Right")
if self.robot != None and self.state != self.STATE_RIGHT:
self.robot.right()
self.state = self.STATE_RIGHT
elif data.keyval == 32: # space
self.log.debug("Kick")
if self.robot != None:
self.robot.stop()
self.robot.kick()
self.state = self.STATE_IDLE
elif data.keyval == 65307: # Esc
self.clean_quit()
elif data.keyval == 65480: # F11
if self.fullscreen:
self.window.unfullscreen()
self.fullscreen = False
else:
self.window.fullscreen()
self.fullscreen = True
elif data.string == "s": # s
self.log.debug("Stop!")
if self.robot != None: #TODO: think about state
self.robot.stop()
self.state = self.STATE_IDLE
elif data.string == "t": # s
self.log.debug("Stop!")
if self.robot != None: #TODO: think about state
self.robot.get_state()
else:
self.log.debug("on_key_press:\n\tevent: '{event}'\n\tkeyval: '{keyval}'\n\tstring: '{str_}'"\
.format(event="key_press_unknown_key", keyval=data.keyval, str_=data.string))
return False # since we dont use the key let the rest of the GUI use it. ie enter and F1
return True # stop the rest of the GUI reacting
def on_key_release(self, widget, data=None):
self.log.debug("un-click")
if self.robot != None:
self.robot.stop()
self.state = self.STATE_IDLE
return True
return False # let the rest of the GUI deal with it is we don't use it
def clean_quit(self, widget=None, data=None):
self.log.debug("Clean Quit")
self.robot = None
gtk.main_quit()
def start_stop(self, widget, data=None):
if self.gst.is_playing():
self.stop_feed()
else:
self.start_feed()
def start_feed(self):
fixcolour = self.button_fixcolour.get_active()
self.gst.start_video(self.feed_radio, fixcolour=fixcolour)
self.button.set_label("Stop")
self.button.set_active(True)
def stop_feed(self):
self.gst.stop_video()
self.button.set_label("Start Feed")
self.button.set_active(False)
def radio_feed_change(self, widget, data=None):
if self.feed_radio == "real":
self.feed_radio = "test"
else:
self.feed_radio = "real"
def __connect(self, widget=None, data=None):
if not self.button_connect.get_active():
self.button_connect.set_active(True) # keep it active
return # ingnor button when not acctive
if self.robot != None:
self.log.warning("Tryed to connect to a already connected brick")
return
self.button_connect.set_label("Connecting")
try:
# first try to find are know robot
self.robot = Robot(host=self.BT_ADDRESS)
self.button_connect.set_label("Conected")
self.button_connect.set_active(True)
except Exception as error:
self.log.error(error)
self.button_connect.set_label("Connect")
self.button_connect.set_active(False)
self.robot = None
def __del__(self):
self.log.info("__del__")
self.robot = None