def __init__(self, transformMatrix):
self.root=Tkinter.Tk()
self.root.title("IRondelle interface")
self.path = [(0,0)]
self.endingSignalReceived = False
self.confirmationStartSignalReceived = False
self.resistance = 0
self.resistanceColors = ['black','black','black']
self.command_letterValue='inconnu'
self.command_rotationValue='Sens inconnu'
self.clearWidgetsReceived = False
self.chronoActive=False
self.startTime = 0.0
self.Timeoffset=0.0
self.mapUpdater = MapUpdater(transformMatrix)
self.obstaclePositions = []
self.colors = self._createColorsDictionary()
self.run()
class GUI:
SUBPLOT_ROWS = 1
SUBPLOT_COLUMNS = 1
SUBPLOT_PLOTPOSITION = 1
HEIGHT=11.7*0.6
WIDTH=5.6*0.6
MAP_SQUARE_SIZE_IN_CENTIMETERS = 2
RESISTANCE_WIDGET_HEIGHT = 100
RESISTANCE_WIDGET_WIDTH = 150
PADDING = 20
REFRESHRATE = 1500
FONT = ("Font", 12)
def __init__(self, transformMatrix):
self.root=Tkinter.Tk()
self.root.title("IRondelle interface")
self.path = [(0,0)]
self.endingSignalReceived = False
self.confirmationStartSignalReceived = False
self.resistance = 0
self.resistanceColors = ['black','black','black']
self.command_letterValue='inconnu'
self.command_rotationValue='Sens inconnu'
self.clearWidgetsReceived = False
self.chronoActive=False
self.startTime = 0.0
self.Timeoffset=0.0
self.mapUpdater = MapUpdater(transformMatrix)
self.obstaclePositions = []
self.colors = self._createColorsDictionary()
self.run()
def clearWidgets(self):
plannedPath = Queue.Queue()
obstacles = Queue.Queue()
endingSignal = Queue.Queue()
resistanceMesure = Queue.Queue()
command_letter = Queue.Queue()
command_rotation = Queue.Queue()
startSignal = Queue.Queue()
confirmationStartSignal = Queue.Queue()
self.path = [(0,0)]
self.endingSignalReceived = False
self.confirmationStartSignalReceived = False
self.clearWidgetsReceived = False
self.resistance = 0
self.resistanceColors = ['black','black','black']
self.command_letterValue='inconnu'
self.command_rotationValue='Sens inconnu'
def _createColorsDictionary(self):
colors = dict()
colors['black'] = [0,0,0]
colors['white'] = [1,1,1]
colors['darkred'] = [1,0,0]
colors['green'] = [0,1,0]
colors['blue'] = [0,0,1]
colors['gray'] = [0.5,0.5,0.5]
colors['paleyellow'] = [1,1,0]
colors['palepurple'] = [0.8,0.2,0.8]
colors['orange'] = [1,0.5,0]
colors['brown'] = [0.5,0.25,0]
return colors
def run(self):
self.drawMap()
self.placeStartSignal()
self.placeChronometer()
self.placeResistanceWidgets()
self.placeCommandWidgets()
self.placeExitButton()
self.refreshWidgets()
self.root.mainloop()
def refreshMap(self):
try:
self.cartographySystem = self.mapUpdater.updateMap()
except ValueError:
print "Erreur position robot"
while not obstacles.empty():
self.obstaclePositions = obstacles.get_nowait()
rowNumber = 117
obstacleDiameterInCentimeters = 14
obstacleRadiusInCentimeters = obstacleDiameterInCentimeters/2
for x, y in self.obstaclePositions:
try:
i, j = convertCoordinatesToMapPoint((x, y), rowNumber, self.MAP_SQUARE_SIZE_IN_CENTIMETERS)
obstacle = CircularObject(obstacleDiameterInCentimeters)
self.cartographySystem.createObject(obstacle, i-obstacleRadiusInCentimeters, j-obstacleRadiusInCentimeters, walkable=False)#upperleft point for placement
except e:
print "Exception pour placer les obstacles"
continue
self.map_handle.set_data(self.cartographySystem.map)
while len(self.subplot.lines) > 0 :
self.subplot.lines.pop()
while not plannedPath.empty():
self.path = plannedPath.get_nowait()
for z in range(len(self.path)):
x, y = self.path[z]
i,j = convertCoordinatesToMapPoint((x, y), rowNumber, self.MAP_SQUARE_SIZE_IN_CENTIMETERS)
i, j = int(i), int(j)
self.path[z] = (i, j)
self.drawPath()
self.map_canvas.get_tk_widget().after(self.REFRESHRATE, self.refreshMap)
def drawMap(self):
self.cartographySystem = self.mapUpdater.updateMap()
mapFigure = matplotlib.figure.Figure(figsize=(self.WIDTH, self.HEIGHT))
self.subplot = mapFigure.add_subplot(self.SUBPLOT_ROWS, self.SUBPLOT_COLUMNS, self.SUBPLOT_PLOTPOSITION)
self.map_handle=self.subplot.imshow(self.cartographySystem.map)
self.map_handle.set_cmap('spectral')
self.map_handle.axes.get_xaxis().set_visible(False)
self.map_handle.axes.get_yaxis().set_visible(False)
mapFigure.subplots_adjust(left=0.02,right=0.98,bottom=0,top=1, wspace=0, hspace=0)
self.map_canvas=FigureCanvasTkAgg(mapFigure, master=self.root)
self.map_canvas.show()
self.map_canvas.get_tk_widget().grid(padx=self.PADDING, pady=self.PADDING, row=0, rowspan=20)
self.refreshMap()
def drawPath(self):
if not self.path:
return
previousPoint = self.path[0]
for nextPoint in self.path:
yPreviousPoint, xPreviousPoint = previousPoint
yNextPoint, xNextPoint = nextPoint
line=matplotlib.lines.Line2D([xPreviousPoint, xNextPoint],[yPreviousPoint, yNextPoint], linestyle='-', color='y', linewidth=3)
self.subplot.add_line(line)
previousPoint = nextPoint
self.map_canvas.draw()
def placeStartSignal(self):
go=Tkinter.Button(self.root, font=self.FONT, text='Envoi du signal de départ', command=self.sendSignal)
go.grid(padx=self.PADDING, pady=self.PADDING, row=0, column=1)
self.confirmation=Tkinter.Label(self.root, font=self.FONT, text='Confirmation non reçue')
self.confirmation.grid(padx=self.PADDING, pady=self.PADDING, row=1, column=1)
def placeExitButton(self):
exit=Tkinter.Button(self.root, font=self.FONT, text='Quitter', command=sys.exit)
exit.grid(padx=self.PADDING, pady=self.PADDING, row=6, column=2, columnspan=2)
def sendSignal(self):
self.clearWidgets()
startSignal.put(True)
self.waitConfirmation()
self.chronoActive=True
self.startTime=time.time()
self.handleChronometer()
self.waitFinishedSignal()
def waitConfirmation(self):
while not confirmationStartSignal.empty():
self.confirmationStartSignalReceived = confirmationStartSignal.get_nowait()
if not self.confirmationStartSignalReceived:
self.confirmation.after(self.REFRESHRATE,self.waitConfirmation)
else:
self.confirmation['text']='Confirmation reçue'
self.confirmation.grid(padx=self.PADDING, pady=self.PADDING, row=1, column=1)
def waitFinishedSignal(self):
while not endingSignal.empty():
self.endingSignalReceived=endingSignal.get_nowait()
if not self.endingSignalReceived:
self.confirmation.after(self.REFRESHRATE,self.waitFinishedSignal)
else:
self.Timeoffset=time.time()-self.startTime+self.Timeoffset;
self.chronoActive=False
startSignal.queue.clear()
def placeChronometer(self):
self.chronometer=Tkinter.Label(self.root, font=self.FONT, text="%02d:%02d" % (0, 0))
self.chronometer.grid(padx=self.PADDING, pady=self.PADDING, row=0, column=2)
rst=Tkinter.Button(self.root, font=self.FONT, text='Reset Chronomètre', command=self.resetChrono)
rst.grid(padx=self.PADDING, pady=self.PADDING, row=1, column=2, columnspan=2)
def handleChronometer(self):
if self.chronoActive:
elapsedTime = time.time() - self.startTime + self.Timeoffset
minutes = int(elapsedTime/60)
seconds = int(elapsedTime - minutes*60.0)
self.chronometer['text'] = "%02d:%02d" % (minutes, seconds)
self.chronometer.after(1000,self.handleChronometer)
def resetChrono(self):
self.chronoActive=False
minutes = 0
seconds = 0
self.Timeoffset=0.0
self.chronometer['text'] = "%02d:%02d" % (minutes, seconds)
startSignal.queue.clear()
def placeResistanceWidgets(self):
self.resistanceLabel = Tkinter.Label(self.root, font=self.FONT, text='Résistance: Inconnue')
self.resistanceLabel.grid(padx=self.PADDING, pady=self.PADDING, row=3, column=1, columnspan=2)
resistanceFigure = matplotlib.figure.Figure(figsize=(3,2))
resistanceSubplot = resistanceFigure.add_subplot(self.SUBPLOT_ROWS, self.SUBPLOT_COLUMNS, self.SUBPLOT_PLOTPOSITION)
self.resistance_handle = resistanceSubplot.imshow(numpy.zeros((self.RESISTANCE_WIDGET_HEIGHT,self.RESISTANCE_WIDGET_WIDTH,3)))
self.resistance_handle.axes.get_xaxis().set_visible(False)
self.resistance_handle.axes.get_yaxis().set_visible(False)
resistanceFigure.subplots_adjust(left=0.02, right=0.98, bottom=0, top=1, wspace=0, hspace=0)
self.resistance_canvas = FigureCanvasTkAgg(resistanceFigure, master=self.root)
self.resistance_canvas.show()
self.resistance_canvas.get_tk_widget().grid(padx=self.PADDING, pady=self.PADDING, row=4, column=1, columnspan=2)
self.refreshResistance()
def refreshResistance(self):
while not resistanceMesure.empty():
self.resistance = resistanceMesure.get_nowait()
self.resistanceColors= [str(color) for (_, color) in Resistance(self.resistance).toColorCode()]
if self.resistance:
self.resistanceLabel['text']='Résistance: '+str(self.resistance)+' Ohms'
else:
self.resistanceLabel['text']='Résistance: Inconnue'
newResistanceColors = self._createResistanceColorBands()
self.resistance_handle.set_data(newResistanceColors)
self.resistance_canvas.draw()
self.resistance_canvas.get_tk_widget().after(self.REFRESHRATE, self.refreshResistance)
def _createResistanceColorBands(self):
new_colors = numpy.zeros((self.RESISTANCE_WIDGET_HEIGHT, self.RESISTANCE_WIDGET_WIDTH, 3))
firstBandStartingPixel = 0
firstBandEndingPixel = self.RESISTANCE_WIDGET_WIDTH/3
secondBandStartingPixel = firstBandEndingPixel + 1
secondBandEndingPixel = 2*self.RESISTANCE_WIDGET_WIDTH/3
thirdBandStartingPixel = secondBandEndingPixel + 1
thirdBandEndingPixel = self.RESISTANCE_WIDGET_WIDTH
band1 = new_colors[:, firstBandStartingPixel:firstBandEndingPixel, :]
band2 = new_colors[:, secondBandStartingPixel:secondBandEndingPixel, :]
band3 = new_colors[:, thirdBandStartingPixel:thirdBandEndingPixel, :]
band1[:,:] = self.colors[self.resistanceColors[0]]
band2[:,:] = self.colors[self.resistanceColors[1]]
band3[:,:] = self.colors[self.resistanceColors[2]]
return new_colors
def placeCommandWidgets(self):
self.command_letterLabel=Tkinter.Label(self.root, font=self.FONT, text='Commande: Coin Inconnu')
self.command_letterLabel.grid(padx=self.PADDING, pady=self.PADDING, row=5, column=1)
self.command_rotationLabel=Tkinter.Label(self.root, font=self.FONT, text='Commande: Sens Inconnu')
self.command_rotationLabel.grid(padx=self.PADDING, pady=self.PADDING, row=6, column=1)
self.refreshCommand()
def refreshCommand(self):
while not command_letter.empty():
self.command_letterValue = command_letter.get_nowait()
while not command_rotation.empty():
self.command_rotationValue = command_rotation.get_nowait()
self.command_letterLabel['text']='Commande: Coin ' + self.command_letterValue
self.command_rotationLabel['text']='Commande: ' + self.command_rotationValue
self.command_letterLabel.after(self.REFRESHRATE,self.refreshCommand)
def refreshWidgets(self):
while not clearWidgets.empty():
self.clearWidgetsReceived = clearWidgets.get_nowait()
if not self.clearWidgetsReceived:
self.confirmation.after(self.REFRESHRATE,self.waitConfirmation)
else:
self.confirmation['text']='Confirmation non reçue'
self.confirmation.grid(padx=self.PADDING, pady=self.PADDING, row=1, column=1)
self.clearWidgets()