class AzathothClient:
def __init__(self):
self.connected = False
self.builder = gtk.Builder()
self.builder.add_from_file('main.glade')
self.mainWindow = self.builder.get_object('window_main')
self.builder.connect_signals(self)
# let's just add widgets as members programatically.
widgets = ('btn_disconnect', 'btn_connect', 'statusbar', 'label_js_x',
'label_js_y', 'rb_js_enable', 'rb_js_disable', 'eb_js_x', 'eb_js_y',
'eb_drivestatus', 'label_drivestatus', 'label_drive_x', 'label_drive_y',
'label_raw_x', 'label_raw_y', 'label_select_cmd', 'label_select_act',
'eb_select_cmd', 'eb_select_act', 'label_estop_cmd', 'label_estop_act',
'eb_estop_cmd', 'eb_estop_act')
for wid in widgets:
setattr(self, wid, self.builder.get_object(wid))
self.context_id = self.statusbar.get_context_id("Azathoth")
self.prev_x = 0
self.prev_y = 0
self.joystick = None
self.joystick_x = 0
self.joystick_y = 0
self.joystick_enabled = False
self.mainWindow.show_all()
def connect(self, host, port=2024):
log.msg(format="Connecting to host %(host)s on port %(port)d", host=host, port=port)
self.statusbar.push(self.context_id, 'Connecting...')
self.factory = ControlFactory(self)
self.connection = reactor.connectTCP(host, port, self.factory)
def disconnect(self):
log.msg("Disconnecting")
self.connection.disconnect()
def setUiState(self, state):
connected_controls = ('btn_disconnect', 'rb_js_enable', 'rb_js_disable',
'btn_select', 'btn_deselect', 'tb_estop', 'tb_reset', 'tb_calibrate',
'imi_calibration')
if state == 'connecting':
self.btn_disconnect.set_sensitive(True)
self.btn_connect.set_sensitive(False)
elif state == 'connected':
for control in connected_controls:
self.builder.get_object(control).set_sensitive(True)
elif state == 'disconnected':
if self.joystick_enabled:
self.rb_js_enable.set_active(False)
self.rb_js_disable.set_active(True)
self.disableJoystick()
for control in connected_controls:
self.builder.get_object(control).set_sensitive(False)
self.btn_connect.set_sensitive(True)
def enableJoystick(self):
self.joystick_enabled = True
try:
self.joystick = Joystick(1)
except:
self.joystick_enabled = False
self.rb_js_enable.set_active(True)
self.rb_js_disable.set_active(False)
self.statusbar.push(self.context_id, 'Joystick device error')
return
self.js_handler = self.joystick.connect('axis', self.axis_event)
self.factory.control.send_select_command(True)
def disableJoystick(self):
self.joystick_enabled = False
self.rb_js_enable.set_active(True)
self.rb_js_disable.set_active(False)
if self.joystick is not None:
self.joystick.disconnect(self.js_handler)
self.joystick.shutdown()
self.joystick = None
self.factory.control.send_select_command(False)
def onStartConnection(self):
self.setUiState('connecting')
def onConnect(self):
self.statusbar.remove_all(self.context_id)
self.statusbar.push(self.context_id, 'Connected')
self.setUiState('connected')
def onConnectionLost(self):
self.setUiState('disconnected')
self.statusbar.remove_all(self.context_id)
self.statusbar.push(self.context_id, 'Disconnected')
if self.calDlg is not None:
self.calDlg.destroy()
def onConnectionFailed(self, reason):
self.setUiState('disconnected')
self.statusbar.remove_all(self.context_id)
self.statusbar.push(self.context_id, 'Connection failed!')
def onUpdateAxis(self):
if self.joystick_x != 0:
self.eb_js_x.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#00FF00'))
elif self.joystick_x == 0:
self.eb_js_x.modify_bg(gtk.STATE_NORMAL, None)
if self.joystick_y != 0:
self.eb_js_y.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#00FF00'))
elif self.joystick_y == 0:
self.eb_js_y.modify_bg(gtk.STATE_NORMAL, None)
self.label_js_x.set_label(str(self.joystick_x))
self.label_js_y.set_label(str(self.joystick_y))
self.factory.control.send_joystick_command(self.joystick_x, self.joystick_y)
def onStatusUpdate(self, status, xpos, ypos, xval, yval):
estop_act = (status & 0x01 == 0x01)
estop_cmd = (status & 0x02 == 0x02)
select_act = (status & 0x04 == 0x04)
select_cmd = (status & 0x08 == 0x08)
moving = (status & 0x10 == 0x10)
if moving:
self.label_drivestatus.set_label("MOVING")
self.eb_drivestatus.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#00FF00'))
else:
self.label_drivestatus.set_label("STOPPED")
self.eb_drivestatus.modify_bg(gtk.STATE_NORMAL, None)
if estop_act:
self.label_estop_act.set_label("RUN")
self.eb_estop_act.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#00FF00'))
else:
self.label_estop_act.set_label("STOP")
self.eb_estop_act.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#FF0000'))
if estop_cmd:
self.label_estop_cmd.set_label("RUN")
self.eb_estop_cmd.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#00FF00'))
else:
self.label_estop_cmd.set_label("STOP")
self.eb_estop_cmd.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#FF0000'))
if select_act:
self.label_select_act.set_label("ROBOT")
self.eb_select_act.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#00FF00'))
else:
self.label_select_act.set_label("CHAIR")
self.eb_select_act.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#00FFFF'))
if select_cmd:
self.label_select_cmd.set_label("ROBOT")
self.eb_select_cmd.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#00FF00'))
else:
self.label_select_cmd.set_label("CHAIR")
self.eb_select_cmd.modify_bg(gtk.STATE_NORMAL, gtk.gdk.Color('#00FFFF'))
self.label_drive_x.set_label(str(xpos))
self.label_drive_y.set_label(str(ypos))
self.label_raw_x.set_label(str(xval))
self.label_raw_y.set_label(str(yval))
def on_window_main_delete_event(self, win, event):
reactor.stop()
def on_imi_quit_activate(self, widget):
reactor.stop()
def on_imi_calibration_activate(self, widget):
self.calDlg = CalibrationDialog(self)
def on_btn_connect_clicked(self, widget):
host = self.builder.get_object('entry_host').get_text()
self.connect(host)
def on_btn_disconnect_clicked(self, widget):
self.disconnect()
def on_rb_js_enable_toggled(self, btn):
if btn.get_active():
self.enableJoystick()
else:
self.disableJoystick()
def on_btn_select_clicked(self, btn):
self.factory.control.send_select_command(True)
def on_btn_deselect_clicked(self, btn):
self.factory.control.send_select_command(False)
def on_tb_estop_clicked(self, btn):
self.factory.control.send_estop_command()
def on_tb_reset_clicked(self, btn):
self.factory.control.send_reset_command()
def on_tb_calibrate_clicked(self, btn):
self.calDlg = CalibrationDialog(self)
def axis_event(self, object, axis, value, init):
if init == 128:
# Ignore this event. One gets sent per axis when the joystick
# is initialized. I should really find out why.
return
if axis == 0:
# dividing by 256 scales the value to fit within a signed char
self.prev_x = self.joystick_x
self.joystick_x = value / 256
if self.joystick_x == self.prev_x:
return
if axis == 1:
# this axis needs to be inverted
self.prev_y = self.joystick_y
self.joystick_y = -value / 256
if self.joystick_y == self.prev_y:
return
self.onUpdateAxis()
def button_event(self, object, button, value, init):
pass
class JsController(Controller):
def __init__(self, model, view, jsdevnum):
Controller.__init__(self, model, view)
self.jsdevnum = jsdevnum
self.joystick = None
self.joystick_x = 0
self.joystick_y = 0
def register_view(self, view):
pass
def register_adapters(self):
a = Adapter(self.model, 'joy_x')
a.connect_widget(self.view['label_js_x'], setter=self.joystick_setter)
self.adapt(a)
a = Adapter(self.model, 'joy_y')
a.connect_widget(self.view['label_js_y'], setter=self.joystick_setter)
self.adapt(a)
def enableJoystick(self):
logging.debug('enableJoystick')
self.joystick_enabled = True
try:
self.joystick = Joystick(self.jsdevnum)
except:
self.joystick_enabled = False
#self.view['rb_js_enable'].set_active(False)
#self.view['rb_js_disable'].set_active(True)
logging.error('could not enable joystick')
return
self.jsAxisHandler = self.joystick.connect('axis', self.on_axis_event)
self.jsButtonHandler = self.joystick.connect('button', self.on_button_event)
def disableJoystick(self):
self.joystick_enabled = False
#self.view['rb_js_enable'].set_active(True)
#self.view['rb_js_disable'].set_active(False)
if self.joystick is not None:
self.joystick.disconnect(self.jsAxisHandler)
self.joystick.disconnect(self.jsButtonHandler)
self.joystick = None
# signal handlers
def on_rb_js_enable_toggled(self, btn):
logging.debug('on_rb_js_enable_toggled')
if btn.get_active():
self.enableJoystick()
else:
self.disableJoystick()
def on_tb_calibrate_clicked(self, btn):
#TODO
pass
def on_axis_event(self, object, axis, value, init):
if init == 128:
# Ignore this event. One gets sent per axis when the joystick
# is initialized. I should really find out why.
return
if axis == 0:
# dividing by 256 scales the value to fit within a signed char
self.prev_x = self.joystick_x
self.joystick_x = value / 256
if self.joystick_x == self.prev_x:
return
elif axis == 1:
# this axis needs to be inverted
self.prev_y = self.joystick_y
self.joystick_y = -value / 256
if self.joystick_y == self.prev_y:
return
else: # ignore other axises
return
self.model.driveModel.joystickCommand(self.joystick_x, self.joystick_y)
def on_button_event(self, object, button, value, init):
pass
# special setters
def joystick_setter(self, wid, val):
if val != 0:
color = gtk.gdk.Color('#00FF00')
else:
color = None
wid.set_label(str(val))
if wid == self.view['label_js_x']:
self.view['eb_js_x'].modify_bg(gtk.STATE_NORMAL, color)
else:
self.view['eb_js_y'].modify_bg(gtk.STATE_NORMAL, color)
