def main():
match_id = int(sys.argv[1])
serial_port = sys.argv[2]
ss = SubottoSerial(serial_port, 115200)
# Here we wait for the SUB_READY command, otherwise we risk to
# send commands before the unit is ready
print ss.wait_for_ready()
core = SubottoCore(match_id)
# Run a test match
ss.set_slave_mode()
score = [0, 0]
cached_score = [None, None]
try:
while True:
events = ss.receive_events()
for ev in events:
team, var, desc, source = SubottoSerial.ASYNC_DESC[ev]
score[team] += var
print "%s; result is %d -- %d" % (desc, score[0], score[1])
if var > 0:
core.act_goal(core.order[team], source)
elif var < 0:
core.act_goal_undo(core.order[team], source)
core.update()
for i in [0, 1]:
this_score = core.score[core.detect_team(core.order[i])]
if this_score != cached_score[i]:
ss.set_score(this_score, i)
cached_score[i] = this_score
time.sleep(0.2)
except KeyboardInterrupt:
pass
class Interface:
_numDebugebugLines = 0
DEVICE = ["arduino","core"]
MAX_NUM_CONSOLE_ROWS = 100
connected = False
toDisconnect = False
score = {dev:[0,0] for dev in DEVICE}
lastToScore = {dev:None for dev in DEVICE}
# === init function ===
def __init__(self):
filename = "main.glade"
self.builder = Gtk.Builder()
self.builder.add_from_file(filename)
self.builder.connect_signals(self)
self.mainWindow = self.builder.get_object("mainWindow")
self.connectionWindow = self.builder.get_object("connectionWindow")
self.debugConsole = Gtk.ListStore(str)
self.consoleView = self.builder.get_object("console")
self.consoleView.set_model(self.debugConsole)
self.consoleView.insert_column(Gtk.TreeViewColumn("Debug Log", Gtk.CellRendererText(), text=0),0)
self.scoreTextView = {
"arduino":{"RED":self.builder.get_object("redArduinoScore"),
"BLUE":self.builder.get_object("blueArduinoScore")},
"core":{"RED":self.builder.get_object("redCoreScore"),
"BLUE":self.builder.get_object("blueCoreScore")}
}
self.lastToScoreBar = {
"arduino":{"RED":self.builder.get_object("redArduinoLastToScore"),
"BLUE":self.builder.get_object("blueArduinoLastToScore")},
"core":{"RED":self.builder.get_object("redCoreLastToScore"),
"BLUE":self.builder.get_object("blueCoreLastToScore")},
}
self.sensorSwitch = {
"RED":{
"VOID":None,
"GOAL":self.builder.get_object("redGoalSwitch"),
"SUPERGOAL":self.builder.get_object("redSupergoalSwitch"),
"PLUS_ONE":self.builder.get_object("redAddButtonSwitch"),
"MINUS_ONE":self.builder.get_object("redUndoButtonSwitch")
},
"BLUE":{
"VOID":None,
"GOAL":self.builder.get_object("blueGoalSwitch"),
"SUPERGOAL":self.builder.get_object("blueSupergoalSwitch"),
"PLUS_ONE":self.builder.get_object("blueAddButtonSwitch"),
"MINUS_ONE":self.builder.get_object("blueUndoButtonSwitch")
}
}
self.core = SubottoCore(int(sys.argv[1]))
for i in [0,1]:
self.score["core"][i] = self.getCoreScore(i)
GObject.timeout_add(300, self.loopFunction)
self.core = SubottoCore(int(sys.argv[1]))
# === control functions ===
# write on the console
def debugLog(self,string):
self._numDebugebugLines += 1
self.debugConsole.append([string])
#if len(self.debugConsole) > self.MAX_NUM_CONSOLE_ROWS:
# self.debugConsole.remove(self.debugConsole.get_iter_first())
# === main loop ===
def loopFunction(self,*args):
if self.connected:
self.updateScore()
elif self.toDisconnect:
self.disconnect()
else:
self.debugLog("Not connected")
self.core.update()
return True
# === connection/disconnection functions ===
# connect to socket
def connect(self):
if not self.connected:
try:
self.debugLog("Getting data..")
TCP_IP = self.builder.get_object("tcpipText").get_text()
TCP_PORT = int(self.builder.get_object("tcpportText").get_text())
PWD = self.builder.get_object("pwdText").get_text()
self.debugLog("Connecting to socket...")
self.debugLog("TCP_IP: " + TCP_IP)
self.debugLog("TCP_PORT: " + str(TCP_PORT))
self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.s.connect((TCP_IP, TCP_PORT))
self.debugLog("Connected!")
self.s.send(PWD)
self.connected = True
self.debugLog("Creating arduino controller object...")
self.ac = ArdCon(self.s,self.debugLog)
self.debugLog("Arduino controller object Created!")
self.debugLog("Asking Arduino data...")
for i in [0,1]:
self.getArduinoScore(i)
self.connectionWindow.hide()
except:
traceback.print_exc()
self.debugLog("Connection failed\n")
else:
self.connected = True
self.debugLog("Connection successful\n")
# disconnect from socket
def disconnect(self):
self.toDisconnect = False
#if not self.connected:
try:
self.s.close()
except:
pass
self.connectionWindow.show()
self.connected = False
self.debugLog("Disconnected\n")
def readEvents(self):
try:
rcv = self.ac.receiveData()
while rcv is not None:
self.debugLog(str(rcv))
self.sendEventToCore(rcv)
rcv = self.ac.receiveData()
except:
traceback.print_exc()
self.connected = False
self.toDisconnect = True
self.debugLog("Disconnected")
# === update functions ===
# asks the score to arduino and the core; updates arduino score
def updateScore(self):
self.readEvents()
for i in [0,1]:
self.score["core"][i] = self.getCoreScore(i)
if self.score["arduino"][i] == None:
self.debugLog("Arduino score unknown")
self.lastToScore["arduino"] = None
else:
if self.score["core"][i] != self.score["arduino"][i]:
# server takes priority over arduino
self.setArduinoScore(i,self.score["core"][i])
self.lastToScore["arduino"] = None
self.updateView(i)
# update scores on the main window
def updateView(self,team):
for dev in self.DEVICE:
score = self.score[dev][team]
if score == None:
self.scoreTextView[dev][self.ac.ARD_TEAM[team]].set_text("Unknown")
else:
self.scoreTextView[dev][self.ac.ARD_TEAM[team]].set_text(str(score))
if self.lastToScore[dev] == team:
self.lastToScoreBar[dev][self.ac.ARD_TEAM[team]].set_fraction(1)
else:
self.lastToScoreBar[dev][self.ac.ARD_TEAM[team]].set_fraction(0)
# === core communication ===
# get score from the core
def getCoreScore(self,i):
return self.core.score[self.core.detect_team(self.core.order[i])]
# send an event received from arduino
def sendEventToCore(self,data):
team = self.ac.ARD_TEAM.index(data["team"])
self.score["arduino"][team] = data["score"]
event = self.ac.CORE_EVENT[data["team"]][data["event"]]
if event is None:
pass
elif event in self.ac.UNDO_EVENT:
self.core.act_goal_undo(self.core.order[team], event)
else:
self.core.act_goal(self.core.order[team], event)
self.lastToScore["core"] = team
self.lastToScore["arduino"] = team
# === arduino communication ===
# get arduino score
def getArduinoScore(self,i):
self.ac.askData(self.ac.ARD_TEAM[i])
# set arduino score
def setArduinoScore(self,team,score):
scoreChange = score - self.score["arduino"][team]
self.ac.sendScoreCommand(self.ac.ARD_TEAM[team],scoreChange)
self.getArduinoScore(team)
# === event handlers ===
# called when the console shows
def onConsoleShow(self,*args):
adj = self.consoleView.get_vadjustment()
adj.set_value( adj.get_page_size() )
# called when a new line is added to the console
def onSizeAllocate(self,*args):
numDebugLines = self._numDebugebugLines
self._numDebugebugLines = 0
adj = self.consoleView.get_vadjustment()
if adj.get_value() >= adj.get_upper() - adj.get_page_size() - numDebugLines * adj.get_step_increment():
adj.set_value( adj.get_upper() - adj.get_page_size() )
# called when a switch is switched
def onSwitchNotify(self,*args):
if self.connected:
for team in self.ac.ARD_TEAM:
for event in self.ac.EVENT:
if args[0] == self.sensorSwitch[team][event]:
toActivate = self.sensorSwitch[team][event].get_active()
self.ac.sendSensorCommand(team,event,toActivate)
self.debugLog("switch " + str(team) + " " + str(event) + " was turned " + str(toActivate))
# called when the connection button is hit
def onConnection(self,*args):
self.debugLog("Connecting...")
self.connect()
# called when the main window is closed
def onDestroyWindow(self,*args):
try:
del(self.ac)
self.disconnect()
except:
traceback.print_exc()
pass
sys.exit(0)
