def __init__(self):
# Various
self.fr = FreeRunner()
self.network_index = -1
# GTK building
builder = gtk.Builder()
builder.add_from_file("../data/freerunner-utility.xml")
builder.connect_signals(self)
self.pwr_toggle = builder.get_object("pwr_toggle")
self.usb_toggle = builder.get_object("usb_toggle")
self.op_in_progress = builder.get_object("op_in_progress")
self.connect_button = builder.get_object("connect")
self.window = builder.get_object("window")
# Button extension and initialisation
self.usb_toggle.fr_attribute = "usb_mode"
self.usb_toggle.alternatives = (('I am a DEVICE', 'device'), ('I am a HOST', 'host'))
self.usb_toggle.set_active(self.fr.usb_mode.strip() == 'host')
self.toggler(self.usb_toggle)
self.pwr_toggle.fr_attribute = "pwr_mode"
self.pwr_toggle.alternatives = (('I am GIVING energy to USB', 1), ('I am TAKING energy via USB', 0))
self.pwr_toggle.set_active(self.fr.pwr_mode.strip() == '0')
self.toggler(self.pwr_toggle)
# Showtime!
self.window.maximize()
self.window.show()
def __init__(self):
self.fr = FreeRunner()
self.boat = boat.FreeBoat(freerunner=self.fr)
self.gui_file = "../data/freerunner-gui.xml"
super(FreeRunnerControlPanel, self).__init__()
# Collect all buttons in order to be able to gray them out later on
self.all_buttons=[]
self.all_buttons.append(self.builder.get_object("log_data"))
self.all_buttons.append(self.builder.get_object("wireless_bridge"))
self.all_buttons.append(self.builder.get_object("wireless_watchdog"))
self.all_buttons.append(self.builder.get_object("use_accelerometer"))
self.all_buttons.append(self.builder.get_object("quit_button"))
self.all_buttons.append(self.builder.get_object("run_button"))
self.all_buttons.append(self.builder.get_object("use_gps"))
self.all_buttons.append(self.builder.get_object("battery_info"))
# The following bit replace the placeholder drawing area with the scene
tmp = self.builder.get_object("drawingarea")
self.scene = LockScreen(self._set_button_sensitivity)
tmp.destroy()
box = self.builder.get_object("frame1")
box.add(self.scene)
# Each subsystem has its name, name in self.active_system
# set indicates the system is active. self.active_systems is passed
# to the instance of FreeRunner. All systems are initially OFF
self.active_systems = set()
self.run_mode = False
self.logging_mode = False
self.wifi = None
self.watchdog = False
gobject.timeout_add(10, self.loop)
self.window.maximize()
self.window.show_all()
class FreeRunnerControlPanel(object):
'''
Provide the visual environment for interacting with the boat.
'''
def __init__(self):
# Various
self.fr = FreeRunner()
self.network_index = -1
# GTK building
builder = gtk.Builder()
builder.add_from_file("../data/freerunner-utility.xml")
builder.connect_signals(self)
self.pwr_toggle = builder.get_object("pwr_toggle")
self.usb_toggle = builder.get_object("usb_toggle")
self.op_in_progress = builder.get_object("op_in_progress")
self.connect_button = builder.get_object("connect")
self.window = builder.get_object("window")
# Button extension and initialisation
self.usb_toggle.fr_attribute = "usb_mode"
self.usb_toggle.alternatives = (('I am a DEVICE', 'device'), ('I am a HOST', 'host'))
self.usb_toggle.set_active(self.fr.usb_mode.strip() == 'host')
self.toggler(self.usb_toggle)
self.pwr_toggle.fr_attribute = "pwr_mode"
self.pwr_toggle.alternatives = (('I am GIVING energy to USB', 1), ('I am TAKING energy via USB', 0))
self.pwr_toggle.set_active(self.fr.pwr_mode.strip() == '0')
self.toggler(self.pwr_toggle)
# Showtime!
self.window.maximize()
self.window.show()
def toggler(self, widget):
'''
Helper method that connects a toggle button to a FreeRunner propriety
each toggable widget has a "fr_attribute" and two couples of
button_label/attr_value, the first of which refers to the
"button up" state.
'''
label, value = widget.alternatives[widget.get_active()]
setattr(self.fr, widget.fr_attribute, value)
widget.set_label(label)
def throbber(self, func):
'''
Helper method that execute a routine while displaying a "throbber"
'''
self.op_in_progress.show_all()
# make sure the throbbing starts now
while gtk.events_pending():
gtk.main_iteration()
try:
func()
finally:
self.op_in_progress.hide()
def on_usb_toggle_toggled(self, widget):
self.toggler(widget)
def on_power_toggle_toggled(self, widget):
self.toggler(widget)
def on_select_wifi_clicked(self, widget):
self.network_index = (self.network_index + 1) % len(self.fr.configured_networks)
network = self.fr.configured_networks[self.network_index]
widget.set_label("Connect to " + network +
"\n(click to change)")
self.connect_button.set_sensitive(True)
def on_connect_clicked(self, widget):
self.fr.connect_to_network(self.fr.configured_networks[self.network_index])
widget.set_sensitive(False)
def on_window_destroy(self, widget, data=None):
gtk.main_quit()
def on_quit_clicked(self, widget):
gtk.main_quit()
class FreeRunnerControlPanel(GeneralControlPanel):
def __init__(self):
self.fr = FreeRunner()
self.boat = boat.FreeBoat(freerunner=self.fr)
self.gui_file = "../data/freerunner-gui.xml"
super(FreeRunnerControlPanel, self).__init__()
# Collect all buttons in order to be able to gray them out later on
self.all_buttons=[]
self.all_buttons.append(self.builder.get_object("log_data"))
self.all_buttons.append(self.builder.get_object("wireless_bridge"))
self.all_buttons.append(self.builder.get_object("wireless_watchdog"))
self.all_buttons.append(self.builder.get_object("use_accelerometer"))
self.all_buttons.append(self.builder.get_object("quit_button"))
self.all_buttons.append(self.builder.get_object("run_button"))
self.all_buttons.append(self.builder.get_object("use_gps"))
self.all_buttons.append(self.builder.get_object("battery_info"))
# The following bit replace the placeholder drawing area with the scene
tmp = self.builder.get_object("drawingarea")
self.scene = LockScreen(self._set_button_sensitivity)
tmp.destroy()
box = self.builder.get_object("frame1")
box.add(self.scene)
# Each subsystem has its name, name in self.active_system
# set indicates the system is active. self.active_systems is passed
# to the instance of FreeRunner. All systems are initially OFF
self.active_systems = set()
self.run_mode = False
self.logging_mode = False
self.wifi = None
self.watchdog = False
gobject.timeout_add(10, self.loop)
self.window.maximize()
self.window.show_all()
def _set_button_sensitivity(self, status):
'''
Allow to change sensitivity of all buttons on screen.
'''
for button in self.all_buttons:
button.set_sensitive(status)
def loop(self):
'''
Executes callbacks if the program is in runmode (button on the GUI)
'''
if self.run_mode == True:
# WiFi ops (including Watchdog)
if self.wifi:
wifi_msg = self.wifi.read()
if wifi_msg:
self.boat.send_command(wifi_msg)
if self.wifi.remote_address:
if self.last_sent_wifi_message != self.boat.last_msg:
self.wifi.write(self.boat.last_msg)
self.last_sent_wifi_message = self.boat.last_msg
elapsed = time() - self.wifi.last_wifi_in_time
if self.watchdog and WIFI_MAYBE_LOST < elapsed:
self.wifi.ping()
if WIFI_CONSIDER_LOST < elapsed:
self.boat.send_command(SET_PILOT_MODE, RC)
self.wifi = None
# Logging ops
if self.logging_mode:
self.do_log()
# Pll message
self.boat.poll_message(self.active_systems)
return True #Necessary to keep it being scheduled by GObject
def _subsystem(self, subsystem, widget):
'''
Helper function to manage the self.active_systems record
'''
if widget.get_active():
self.active_systems.add(subsystem)
else:
self.active_systems.remove(subsystem)
def on_run_button_toggled(self, widget):
self.run_mode = widget.get_active()
if self.run_mode:
self.boat.send_command(SET_LOG_INTERVAL, 3)
else:
self.boat.send_command(SET_LOG_INTERVAL, 0)
def on_use_accelerometer_toggled(self, widget):
self._subsystem('accelerometer', widget)
def on_use_gps_toggled(self, widget):
self._subsystem('GPS', widget)
if widget.get_active():
self.fr.gps_up()
else:
self.fr.gps_down()
def on_battery_info_toggled(self, widget):
self._subsystem('battery_info', widget)
def on_wireless_watchdog_toggled(self, widget):
self.watchdog = True if widget.get_active() else False
def on_wireless_bridge_toggled(self, widget):
if widget.get_active():
self.wifi = wifibridge.WifiBridge()
self.last_sent_wifi_message = ''
else:
self.wifi = None
def on_log_data_toggled(self, widget):
self.logging_mode = widget.get_active()
