def make_image_button(self, active, inactive, state):
active = util.pixbuf_from_file(active)
inactive = util.pixbuf_from_file(inactive)
if state:
tempButton = image_button.ImageButton(active)
else:
tempButton = image_button.ImageButton(inactive)
# save these for later
tempButton.active = active
tempButton.inactive = inactive
return tempButton
def make_image_button(self, active, inactive, state):
active = util.pixbuf_from_file(active)
inactive = util.pixbuf_from_file(inactive)
if state:
tempButton = image_button.ImageButton(active)
else:
tempButton = image_button.ImageButton(inactive)
# save these for later
tempButton.active = active
tempButton.inactive = inactive
return tempButton
def setup_background(self):
bg = util.pixbuf_from_file("background.png")
pixmap, mask = bg.render_pixmap_and_mask()
# called after the window is shown
style = self.window.get_style().copy()
style.bg_pixmap[0] = pixmap
self.window.set_style(style)
def setup_background(self):
bg = util.pixbuf_from_file('background.png')
pixmap, mask = bg.render_pixmap_and_mask()
# called after the window is shown
style = self.window.get_style().copy()
style.bg_pixmap[0] = pixmap
self.window.set_style(style)
def __init__(self, processor, table, competition, no_cam = False):
self.processor = processor
self.no_cam = no_cam
if no_cam == False:
camera = camera_widget.CameraWidget((640,480))
self.processor.set_camera_widget(camera)
else:
self.ui_filename = 'dashboard_no_cam.ui'
util.initialize_from_xml(self)
if no_cam != True:
self.camera_widget = util.replace_widget(self.camera_widget, camera)
#util.replace_widget(self.targeting_tuning_widget, self.targeting_tuner.get_widget())
self.robot_widget = util.replace_widget(self.robot_widget, robot_widget.RobotWidget(table))
#self.targeting_tuner.initialize()
self.table = table
self.window.set_title("Kwarqs Dashboard")
self.window.connect('realize', self.on_realize)
if competition:
self.window.move(0,0)
self.window.resize(1356, 515)
# load the status buttons
active_pixbuf = util.pixbuf_from_stock(gtk.STOCK_YES, gtk.ICON_SIZE_BUTTON)
inactive_pixbuf = util.pixbuf_from_stock(gtk.STOCK_NO, gtk.ICON_SIZE_BUTTON)
for name in ['shuttle_status','ready_status','angle_status']:
old_widget = getattr(self, name)
text = old_widget.get_label()
setattr(self, name, util.replace_widget(old_widget, toggle_button.ToggleButton(active_pixbuf, inactive_pixbuf, text, clickable=False, default=False)))
#load the angle buttons
for mode in ['truss', 'shoot', 'max']:
active = util.pixbuf_from_file('angle_' + mode + '_active.png')
inactive = util.pixbuf_from_file('angle_' + mode + '_inactive.png')
name = '%s_angle_button' % mode
setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
# setup the mode buttons
for mode in ['passing', 'loading', 'manual', 'shooting']:
active = util.pixbuf_from_file(mode + '-on.png')
inactive = util.pixbuf_from_file(mode + '-off.png')
name = '%s_mode_button' % mode
setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
# setup the fire button
active = util.pixbuf_from_file('fire-on.png')
inactive = util.pixbuf_from_file('fire-off.png')
self.fire_button = util.replace_widget(self.fire_button, image_button.ImageButton(inactive))
self.fire_button.connect('clicked', self.on_fire_clicked)
# save these for later
self.fire_button.active_pixbuf = active
self.fire_button.inactive_pixbuf = inactive
# setup the toggle buttons
active = util.pixbuf_from_file('toggle-on.png')
inactive = util.pixbuf_from_file('toggle-off.png')
for name in [ 'auto_scam_button','auto_load_button','auto_retract_button',]:
setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
# connect widgets to pynetworktables
if self.table is not None:
# don't import this unless we have a table, so we can support running
# on a laptop without networktables
import ui.widgets.network_tables as nt
nt.attach_toggle(table, 'auto load', self.auto_load_button)
nt.attach_toggle(table, 'auto scam', self.auto_scam_button)
nt.attach_toggle(table, 'auto igus', self.auto_retract_button)
#angle chooser
angle_select_widgets = {'shoot angle': self.shoot_angle_button,
'truss angle': self.truss_angle_button,
'max angle': self.max_angle_button}
nt.attach_chooser_buttons(table, 'Shooting Goal', angle_select_widgets)
# other chooser
widgets = {'Passing Mode': self.passing_mode_button,
'Loading Mode': self.loading_mode_button,
'Manual Mode': self.manual_mode_button,
'Shooting Mode': self.shooting_mode_button }
nt.attach_chooser_buttons(table, 'Operator Control Mode', widgets)
# robot widget
nt.attach_fn(table, 'Scam Angle', lambda k, v: self.robot_widget.set_angle(v), self.robot_widget)
nt.attach_fn(table, 'robot distance', lambda k, v: self.robot_widget.set_distance(v),self.robot_widget)
# modes
nt.attach_fn(table, 'Robot Mode', self.on_robot_mode_update, self.window)
# connection listener
nt.attach_connection_listener(table, self.on_connection_connect, self.on_connection_disconnect, self.window)
def __init__(self, NetworkTable, frontProcessor, backProcessor, competition):
self.netTable = NetworkTable
util.initialize_from_xml(self)
self.shootPower = [10, 30, 50, 70, 90]
self.currentShootPower = 4
# starts the timer
self.starttime = None
# self.window.modify_bg(gtk.STATE_NORMAL, gtk.gdk.color_parse('#aaaaaa'))
import pango
self.font = pango.FontDescription("bold 18")
self.fontMono = pango.FontDescription("Monospace 14")
self.fontDistanceBig = pango.FontDescription("bold 100")
# from wpilib import DriverStation
# DriverStation.GetInstance()
"""# demo: load the images into pixbufs so that Gtk can use them
active = util.pixbuf_from_file('toggle-on.png')
inactive = util.pixbuf_from_file('toggle-off.png')
# demo: create a ToggleButton widget. There are lots of widgets you can create
real_widget = toggle_button.ToggleButton(active, inactive, clickable=True)
# demo: replace a fake widget in the glade file with a 'real' widget
util.replace_widget(self.toggleButton, real_widget)
# demo: connect to the toggled event of the real widget, so that our
# function gets called when the button state is changed
real_widget.connect('toggled', self.on_toggleButton_toggled)
"""
# ----- Begin Position Set -----
self.netTable.PutNumber("position", 0)
# ----- End Position Set-----
# ----- Begin Fire Button -----
self.netTable.PutBoolean("BallLoaded", False)
self.FireButton = self.image_button(
"fire_good.png", "fire_bad.png", False, self.FireButton, "clicked", self.on_fire_clicked
)
network_tables.attach_fn(self.netTable, "BallLoaded", self.on_ball_loaded, self.FireButton)
# ----- End Fire Button -----
# ------ Begin Compressor Label -----
network_tables.attach_fn(self.netTable, "Compressor", self.update_compressor_image, self.compressoronoff)
self.on = util.pixbuf_from_file("compressoron.jpg")
self.off = util.pixbuf_from_file("compressoroff.jpg")
# ------ End Compressor Label -----
# ----- Begin AutoWinch Toggle -----
active = util.pixbuf_from_file("booleanT.png")
inactive = util.pixbuf_from_file("booleanF.png")
real_widget = toggle_button.ToggleButton(active, inactive, clickable=True)
util.replace_widget(self.autoWinchToggle, real_widget)
real_widget.connect("toggled", self.on_autoWinch_toggled)
# ----- End AutoWinch Toggle -----
# ----- Begin Cameras -----
self.BackCameraImage = util.replace_widget(
self.BackCameraImage, target_widget.TargetWidget((320, 240), self.netTable)
)
# ----- End Cameras -----
# ----- Begin Distance Bar -----
self.distanceBar.modify_font(self.fontMono)
self.distanceBar.configure(2.5, 0, 2.5)
self.netTable.PutNumber("Distance", 0)
self.update_distance(None, 0)
network_tables.attach_fn(self.netTable, "Distance", self.update_distance, self.distanceBar)
# ----- End Distance Bar -----
# ----- Begin Arm -----
self.netTable.PutNumber("ArmSet", 0)
self.netTable.PutNumber("ArmState", 0)
self.armStateButtonLockDown = self.image_button(
"armDownSel.png",
"armDown.png",
False,
self.armStateButtonLockDown,
"clicked",
self.on_ArmStateLockedDown_pressed,
)
self.armStateButtonUnlock = self.image_button(
"armUnlockedSel.png",
"armUnlocked.png",
False,
self.armStateButtonUnlock,
"clicked",
self.on_ArmStateUnlocked_pressed,
)
self.armStateButtonLockUp = self.image_button(
"armUpSel.png", "armUp.png", False, self.armStateButtonLockUp, "clicked", self.on_ArmStateLockedUp_pressed
)
network_tables.attach_fn(self.netTable, "ArmState", self.update_arm_indicator, self.armStateButtonLockDown)
# ----- End Arm -----
# ----- Begin Timer -----
self.timer.modify_font(self.font)
self.on_timer()
# ----- Begin Timer -----
# ----- Begin Robot State Image -----
self.netTable.PutBoolean("BallLoaded", False)
self.RobotStateImage = util.replace_widget(self.RobotStateImage, robot_widget.RobotStateImage())
network_tables.attach_fn(self.netTable, "ArmState", self.RobotStateImage.updatearm, self.RobotStateImage)
network_tables.attach_fn(self.netTable, "BallLoaded", self.RobotStateImage.updateball, self.RobotStateImage)
# this is for whatever the catapult's angle is.
network_tables.attach_fn(self.netTable, "ShootAngle", self.RobotStateImage.updatecatapult, self.RobotStateImage)
# self.update_robot_state_image(None,None)
# ----- End Robot State Image -----
# ----- Begin Robot Angle Widget -----
self.RobotAngleWidget = util.replace_widget(self.RobotAngleWidget, robot_angle_widget.RobotAngleWidget())
self.netTable.PutNumber("GyroAngle", 0)
# robot angle widget sending the variable to itself
network_tables.attach_fn(self.netTable, "GyroAngle", self.RobotAngleWidget.update, self.window)
network_tables.attach_fn(self.netTable, "GyroEnabled", self.on_gyro_enabled, self.window)
self.RobotAngleWidget.connect(
"angle-enabled-changed", lambda w: self.netTable.PutBoolean("GyroEnabled", w.angle_enabled)
)
# ----- End Robot Angle Widget -----
# ------ Begin Power Bar Slider -----
powerslider = self.PowerBarSlider.get_value()
# ------ End Power Bar Slider -------
# ------ Begin Graph Window -----
self.GraphOpener = graphwindow.GraphOpener(self.netTable)
# self.GraphPlot=graphwindow.GraphPlot(self.netTable)
# ------ End Graph Window -------
"""
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this is to help Matt navigate the code, and he apologizes.
"""
if competition:
self.window.move(0, 0)
self.window.resize(1356, 525)
backProcessor.set_camera_widget(self.BackCameraImage)
self.imageProcessors = [backProcessor]
self.tuning_widget = util.replace_widget(
self.tuning_widget, detector_tuning_widget.DetectorTuningWidget(backProcessor)
)
self.tuning_widget.initialize()
# get notified when the robot switches modes
network_tables.attach_fn(self.netTable, "RobotMode", self.on_robot_mode_update, self.window)
# setup the autonomous chooser
self.autonomous_tuner = util.replace_widget(
self.autonomous_tuner, autonomous_tuning_widget.AutonomousTuningWidget(self.netTable)
)
# show the window AND all of its child widgets. If you don't call show_all, the
# children may not show up
self.window.show_all()
self.setup_background()
# make sure the UI kills itself when the UI window exits
self.window.connect("destroy", self.on_destroy)
def __init__(self, processor, table, competition):
self.processor = processor
t = targeter.Targeter((640,480), table)
self.targeting_tuner = targeting_tuning_widget.TargetingTuningWidget(processor, t)
util.initialize_from_xml(self)
self.camera_widget = util.replace_widget(self.camera_widget, t)
util.replace_widget(self.targeting_tuning_widget, self.targeting_tuner.get_widget())
self.robot_widget = util.replace_widget(self.robot_widget, robot_widget.RobotWidget(table))
self.targeting_tuner.initialize()
self.table = table
self.window.set_title("Kwarqs Dashboard")
self.window.connect('realize', self.on_realize)
if competition:
self.window.move(0,0)
self.window.resize(1356, 525)
# load the status buttons
active_pixbuf = util.pixbuf_from_stock(gtk.STOCK_YES, gtk.ICON_SIZE_BUTTON)
inactive_pixbuf = util.pixbuf_from_stock(gtk.STOCK_NO, gtk.ICON_SIZE_BUTTON)
for name in ['wheel_status', 'ready_status', 'horizontal_status', 'vertical_status', 'target_status']:
old_widget = getattr(self, name)
text = old_widget.get_label()
setattr(self, name, util.replace_widget(old_widget, toggle_button.ToggleButton(active_pixbuf, inactive_pixbuf, text, clickable=False, default=False)))
# wheel status is special
self.wheel_status.connect('toggled', self.on_wheel_status_toggled)
# setup the mode buttons
for mode in ['climbing', 'loading', 'manual', 'shooting']:
active = util.pixbuf_from_file(mode + '-on.png')
inactive = util.pixbuf_from_file(mode + '-off.png')
name = '%s_mode_button' % mode
setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
# setup the fire button
active = util.pixbuf_from_file('fire-on.png')
inactive = util.pixbuf_from_file('fire-off.png')
self.fire_button = util.replace_widget(self.fire_button, image_button.ImageButton(inactive))
self.fire_button.connect('clicked', self.on_fire_clicked)
# save these for later
self.fire_button.active_pixbuf = active
self.fire_button.inactive_pixbuf = inactive
# setup the toggle buttons
active = util.pixbuf_from_file('toggle-on.png')
inactive = util.pixbuf_from_file('toggle-off.png')
for name in ['wheel_on_button', 'auto_feed_button', 'auto_target_button', 'unused_1']:
setattr(self, name, util.replace_widget(getattr(self, name), toggle_button.ToggleButton(active, inactive, clickable=True, default=False)))
# attach to the targeter widget
self.camera_widget.connect('target-update', self.on_target_update)
# setup the auto target stuff
# -> all of these buttons/RadioButtons use the same callback
for name in ['top', 'mid', 'low', 'button']:
getattr(self, 'auto_target_%s' % name).connect('toggled', self.on_auto_target_toggled)
self.auto_target_button.set_active(True)
self.shooting_mode_button.connect('toggled', self.on_shooting_mode_toggled)
# connect widgets to pynetworktables
if self.table is not None:
# don't import this unless we have a table, so we can support running
# on a laptop without networktables
import ui.widgets.network_tables as nt
nt.attach_toggle(table, 'Wheel On', self.wheel_on_button)
nt.attach_toggle(table, 'Wheel OK', self.wheel_status)
nt.attach_toggle(table, 'Auto Feeder', self.auto_feed_button)
nt.attach_chooser_combo(table, 'Autonomous Mode', self.autonomous_chooser)
# other chooser
widgets = {'Climbing Mode': self.climbing_mode_button,
'Loading Mode': self.loading_mode_button,
'Manual Mode': self.manual_mode_button,
'Auto Target Mode': self.shooting_mode_button }
nt.attach_chooser_buttons(table, 'Operator Control Mode', widgets)
# robot widget
nt.attach_fn(table, 'Angle', lambda k, v: self.robot_widget.set_angle(v), self.robot_widget)
nt.attach_fn(table, 'Frisbees', lambda k, v: self.robot_widget.set_frisbee_count(v), self.robot_widget)
# modes
nt.attach_fn(table, 'Robot Mode', self.on_robot_mode_update, self.window)
# connection listener
nt.attach_connection_listener(table, self.on_connection_connect, self.on_connection_disconnect, self.window)
def __init__(self, NetworkTable, frontProcessor, backProcessor,
competition):
self.netTable = NetworkTable
util.initialize_from_xml(self)
self.shootPower = [10, 30, 50, 70, 90]
self.currentShootPower = 4
#starts the timer
self.starttime = None
#self.window.modify_bg(gtk.STATE_NORMAL, gtk.gdk.color_parse('#aaaaaa'))
import pango
self.font = pango.FontDescription("bold 18")
self.fontMono = pango.FontDescription("Monospace 14")
self.fontDistanceBig = pango.FontDescription("bold 100")
#from wpilib import DriverStation
#DriverStation.GetInstance()
'''# demo: load the images into pixbufs so that Gtk can use them
active = util.pixbuf_from_file('toggle-on.png')
inactive = util.pixbuf_from_file('toggle-off.png')
# demo: create a ToggleButton widget. There are lots of widgets you can create
real_widget = toggle_button.ToggleButton(active, inactive, clickable=True)
# demo: replace a fake widget in the glade file with a 'real' widget
util.replace_widget(self.toggleButton, real_widget)
# demo: connect to the toggled event of the real widget, so that our
# function gets called when the button state is changed
real_widget.connect('toggled', self.on_toggleButton_toggled)
'''
# ----- Begin Position Set -----
self.netTable.PutNumber('position', 0)
# ----- End Position Set-----
# ----- Begin Fire Button -----
self.netTable.PutBoolean("BallLoaded", False)
self.FireButton = self.image_button('fire_good.png', 'fire_bad.png',
False, self.FireButton, 'clicked',
self.on_fire_clicked)
network_tables.attach_fn(self.netTable, "BallLoaded",
self.on_ball_loaded, self.FireButton)
# ----- End Fire Button -----
#------ Begin Compressor Label -----
network_tables.attach_fn(self.netTable, "Compressor",
self.update_compressor_image,
self.compressoronoff)
self.on = util.pixbuf_from_file('compressoron.jpg')
self.off = util.pixbuf_from_file('compressoroff.jpg')
#------ End Compressor Label -----
#----- Begin AutoWinch Toggle -----
active = util.pixbuf_from_file('booleanT.png')
inactive = util.pixbuf_from_file('booleanF.png')
real_widget = toggle_button.ToggleButton(active,
inactive,
clickable=True)
util.replace_widget(self.autoWinchToggle, real_widget)
real_widget.connect('toggled', self.on_autoWinch_toggled)
# ----- End AutoWinch Toggle -----
# ----- Begin Cameras -----
self.BackCameraImage = util.replace_widget(
self.BackCameraImage,
target_widget.TargetWidget((320, 240), self.netTable))
# ----- End Cameras -----
# ----- Begin Distance Bar -----
self.distanceBar.modify_font(self.fontMono)
self.distanceBar.configure(2.5, 0, 2.5)
self.netTable.PutNumber("Distance", 0)
self.update_distance(None, 0)
network_tables.attach_fn(self.netTable, "Distance",
self.update_distance, self.distanceBar)
# ----- End Distance Bar -----
# ----- Begin Arm -----
self.netTable.PutNumber("ArmSet", 0)
self.netTable.PutNumber("ArmState", 0)
self.armStateButtonLockDown = self.image_button(
'armDownSel.png', 'armDown.png', False,
self.armStateButtonLockDown, 'clicked',
self.on_ArmStateLockedDown_pressed)
self.armStateButtonUnlock = self.image_button(
'armUnlockedSel.png', 'armUnlocked.png', False,
self.armStateButtonUnlock, 'clicked',
self.on_ArmStateUnlocked_pressed)
self.armStateButtonLockUp = self.image_button(
'armUpSel.png', 'armUp.png', False, self.armStateButtonLockUp,
'clicked', self.on_ArmStateLockedUp_pressed)
network_tables.attach_fn(self.netTable, "ArmState",
self.update_arm_indicator,
self.armStateButtonLockDown)
# ----- End Arm -----
# ----- Begin Timer -----
self.timer.modify_font(self.font)
self.on_timer()
# ----- Begin Timer -----
# ----- Begin Robot State Image -----
self.netTable.PutBoolean("BallLoaded", False)
self.RobotStateImage = util.replace_widget(
self.RobotStateImage, robot_widget.RobotStateImage())
network_tables.attach_fn(self.netTable, "ArmState",
self.RobotStateImage.updatearm,
self.RobotStateImage)
network_tables.attach_fn(self.netTable, "BallLoaded",
self.RobotStateImage.updateball,
self.RobotStateImage)
#this is for whatever the catapult's angle is.
network_tables.attach_fn(self.netTable, "ShootAngle",
self.RobotStateImage.updatecatapult,
self.RobotStateImage)
#self.update_robot_state_image(None,None)
# ----- End Robot State Image -----
# ----- Begin Robot Angle Widget -----
self.RobotAngleWidget = util.replace_widget(
self.RobotAngleWidget, robot_angle_widget.RobotAngleWidget())
self.netTable.PutNumber("GyroAngle", 0)
# robot angle widget sending the variable to itself
network_tables.attach_fn(self.netTable, 'GyroAngle',
self.RobotAngleWidget.update, self.window)
network_tables.attach_fn(self.netTable, 'GyroEnabled',
self.on_gyro_enabled, self.window)
self.RobotAngleWidget.connect(
'angle-enabled-changed',
lambda w: self.netTable.PutBoolean('GyroEnabled', w.angle_enabled))
# ----- End Robot Angle Widget -----
# ------ Begin Power Bar Slider -----
powerslider = self.PowerBarSlider.get_value()
# ------ End Power Bar Slider -------
# ------ Begin Graph Window -----
self.GraphOpener = graphwindow.GraphOpener(self.netTable)
#self.GraphPlot=graphwindow.GraphPlot(self.netTable)
# ------ End Graph Window -------
'''
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this is to help Matt navigate the code, and he apologizes.
'''
if competition:
self.window.move(0, 0)
self.window.resize(1356, 525)
backProcessor.set_camera_widget(self.BackCameraImage)
self.imageProcessors = [backProcessor]
self.tuning_widget = util.replace_widget(
self.tuning_widget,
detector_tuning_widget.DetectorTuningWidget(backProcessor))
self.tuning_widget.initialize()
# get notified when the robot switches modes
network_tables.attach_fn(self.netTable, 'RobotMode',
self.on_robot_mode_update, self.window)
# setup the autonomous chooser
self.autonomous_tuner = util.replace_widget(
self.autonomous_tuner,
autonomous_tuning_widget.AutonomousTuningWidget(self.netTable))
# show the window AND all of its child widgets. If you don't call show_all, the
# children may not show up
self.window.show_all()
self.setup_background()
# make sure the UI kills itself when the UI window exits
self.window.connect('destroy', self.on_destroy)