/
main.py
640 lines (537 loc) · 21.5 KB
/
main.py
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import kivy
from kivy.core.window import Window
from kivy.properties import ObjectProperty
from modbus import Modbus
from threading import Timer
from servo_reg import ServoReg
import pickle
import sys
import os
from copy import deepcopy
from kivy.app import App
from kivy.uix.boxlayout import BoxLayout
from kivy.uix.floatlayout import FloatLayout
# from kivy.modules import keybinding
from pynput.keyboard import Key, Listener
from kivy.uix.button import Button
from kivy.uix.textinput import TextInput
from kivy.uix.label import Label
from kivy.uix.switch import Switch
from kivy.uix.popup import Popup
from kivy.uix.image import Image
from kivy.uix.dropdown import DropDown
from kivy.config import Config
from kivy.core.window import Window
from kivy.graphics import Color, Rectangle
from kivy.lang import Builder
print('app path: ', os.path.join(os.path.abspath("."), ''))
def resource_path(relative_path):
""" Get absolute path to resource, works for dev and for PyInstaller """
try:
# PyInstaller creates a temp folder and stores path in _MEIPASS
if not os.path.exists(os.path.join(os.path.abspath("."), relative_path)):
base_path = sys._MEIPASS
else:
base_path = os.path.abspath(".")
except Exception:
base_path = os.path.abspath(".")
return os.path.join(base_path, relative_path)
kv_path = resource_path('main.kv')
print(kv_path)
with open(kv_path, encoding='utf-8') as f: # Note the name of the .kv
# doesn't match the name of the App
Builder.load_string(f.read())
window_height = 320
window_width = 400
Window.size = (window_width, window_height)
Config.read(resource_path('config.ini'))
Config.set('input', 'mouse', 'mouse,multitouch_on_demand')
Config.set('graphics', 'width', window_width)
Config.set('graphics', 'height', window_height)
Config.set('graphics', 'resizable', 0)
Config.set('kivy', 'window_icon', resource_path('icon.ico'))
Config.write()
appdata_path = os.getenv('APPDATA') + '\\ServolineMotor\\'
if not os.path.exists(appdata_path):
os.makedirs(appdata_path)
class Preset:
def __init__(self, name, speed, accel_time, deccel_time, work_time):
self.name = name
self.speed = speed
self.accel_time = accel_time
self.deccel_time = deccel_time
self.work_time = work_time
class AutoMode(FloatLayout):
reverse = False
start_button = ObjectProperty()
stop_button = ObjectProperty()
mode_button = ObjectProperty()
reverse_switch = ObjectProperty()
def start_servo_time_work(self, instance):
self.motor_timer = Timer(myApp.root_widget.work_time / 1000, self.stop_servo_time_work)
self.motor_timer.start()
self.start_button.disabled = True
self.reverse_switch.disabled = True
# if not self.reverse:
# myApp.root_widget.motor.servo_forward_start()
# else:
# myApp.root_widget.motor.servo_reverse_start()
myApp.root_widget.motor.servo_reverse_start()
def stop_servo_time_work(self, instance=None):
self.motor_timer.cancel()
self.start_button.disabled = False
self.reverse_switch.disabled = False
# if not self.reverse:
# myApp.root_widget.motor.servo_forward_stop()
# else:
# myApp.root_widget.motor.servo_reverse_stop()
myApp.root_widget.motor.servo_reverse_stop()
def change_reverse(self, instance, value):
self.reverse = myApp.root_widget.reverse = value
myApp.root_widget.save_params()
def disable_buttons(self, val):
self.start_button.disabled = val
self.stop_button.disabled = val
self.mode_button.disabled = val
self.reverse_switch.disabled = val
def __init__(self, **kwargs):
super().__init__(**kwargs)
print('start build auto_widget')
self.start_button.bind(on_press=self.start_servo_time_work)
self.stop_button.bind(on_press=self.stop_servo_time_work)
self.mode_button.bind(on_press=myApp.change_mode)
self.reverse_switch.bind(active=self.change_reverse)
self.reverse_switch.active = myApp.root_widget.reverse
print('auto_widget builded')
class ManualMode(FloatLayout):
left_button = ObjectProperty()
right_button = ObjectProperty()
mode_button = ObjectProperty()
def left_btn_state(self, instance, value):
if value is 'down':
myApp.root_widget.motor.servo_forward_start()
else:
myApp.root_widget.motor.servo_forward_stop()
def right_btn_state(self, instance, value):
if value is 'down':
myApp.root_widget.motor.servo_reverse_start()
else:
myApp.root_widget.motor.servo_reverse_stop()
def disable_buttons(self, val):
self.left_button.disabled = val
self.right_button.disabled = val
self.mode_button.disabled = val
def __init__(self, **kwargs):
super().__init__(**kwargs)
print('start build manual_widget')
self.left_button.bind(state=self.left_btn_state)
self.right_button.bind(state=self.right_btn_state)
self.mode_button.bind(on_press=myApp.change_mode)
print('manual_widget builded')
class ParamInput(TextInput):
def params_changed(self, instance, value):
try:
int(value)
except:
instance.text = value[:-1]
if len(instance.text) > 4:
instance.text = value[:-1]
def params_focus(self, instance, value):
if len(instance.text) == 0:
instance.text = '0'
elif int(instance.text) < 0:
instance.text = '0'
myApp.root_widget.check_param_equals()
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.bind(text=self.params_changed)
self.bind(focus=self.params_focus)
self.text = '0'
class AddPresetPopup(Popup):
preset_input = ObjectProperty()
ok_button = ObjectProperty()
cancel_button = ObjectProperty()
def save(self, instance):
if self.preset_input.text != '':
myApp.root_widget.add_preset(self.preset_input.text)
self.dismiss()
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.ok_button.bind(on_release=self.save)
self.cancel_button.bind(on_release=self.dismiss)
class QuestionPopup(Popup):
question = ObjectProperty()
ok_button = ObjectProperty()
cancel_button = ObjectProperty()
ok_func = None
def ok_btn(self, func):
self.ok_func()
self.dismiss()
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.ok_button.bind(on_release=self.ok_btn)
self.cancel_button.bind(on_release=self.dismiss)
class ErrorPopup(Popup):
error = ObjectProperty()
ok_button = ObjectProperty()
def __init__(self, text):
super().__init__()
self.error.text = text
self.ok_button.bind(on_release=self.dismiss)
self.open()
class RootWidget(FloatLayout):
buttons_is_disable = False
sync_param_process = False
com_num = 1
motor = Modbus()
speed = -1
accel_time = -1
deccel_time = -1
auto_speed = -1
auto_accel_time = -1
auto_deccel_time = -1
manual_speed = -1
manual_accel_time = -1
manual_deccel_time = -1
work_time = -1
reverse = False
auto_presets = []
manual_presets = []
selected_preset = -1
com_input = ObjectProperty()
connect_button = ObjectProperty()
speed_input = ObjectProperty()
speed_error_img = ObjectProperty()
accel_time_input = ObjectProperty()
accel_error_img = ObjectProperty()
deccel_time_input = ObjectProperty()
deccel_error_img = ObjectProperty()
work_time_input = ObjectProperty()
work_error_img = ObjectProperty()
motor_switch = ObjectProperty()
apply_param_button = ObjectProperty()
preset_button = ObjectProperty()
add_preset_button = ObjectProperty()
del_preset_button = ObjectProperty()
sync_params_button = ObjectProperty()
def error(self, text):
ErrorPopup(text)
def resource_path(self, relative_path):
print(resource_path(relative_path))
return resource_path(relative_path)
def save_params(self):
with open(appdata_path + 'settings.txt', 'w') as f:
f.write(str(self.com_num) + '\n')
f.write(str(self.auto_speed) + '\n')
f.write(str(self.auto_accel_time) + '\n')
f.write(str(self.auto_deccel_time) + '\n')
f.write(str(self.work_time) + '\n')
f.write(str(self.reverse) + '\n')
f.write(str(self.manual_speed) + '\n')
f.write(str(self.manual_accel_time) + '\n')
f.write(str(self.manual_deccel_time) + '\n')
def load_params(self):
try:
f = open(appdata_path + 'settings.txt')
self.com_num = int(f.readline())
auto_speed = f.readline().strip()
if auto_speed != '-1':
self.speed_input.text = auto_speed
self.accel_time_input.text = f.readline().strip()
self.deccel_time_input.text = f.readline().strip()
self.work_time_input.text = f.readline().strip()
self.work_time = int(self.work_time_input.text)
self.reverse = f.readline().strip() == 'True'
else:
for i in range(4):
f.readline()
manual_speed = int(f.readline())
if manual_speed != -1:
self.manual_speed = manual_speed
self.manual_accel_time = int(f.readline())
self.manual_deccel_time = int(f.readline())
f.close()
except:
print('load params error')
def save_presets(self):
with open(appdata_path + 'presets.prs', 'wb') as f:
presets = [self.auto_presets, self.manual_presets]
pickle.dump(presets, f)
def load_presets(self):
try:
with open(appdata_path + 'presets.prs', 'rb') as f:
presets = pickle.load(f)
self.auto_presets = presets[0]
self.manual_presets = presets[1]
except:
self.auto_presets = []
self.manual_presets = []
def check_param_equals(self):
if int(self.speed_input.text) != self.speed:
self.speed_error_img.color = (1, 1, 1, 1)
else:
self.speed_error_img.color = (1, 1, 1, 0)
if int(self.accel_time_input.text) != self.accel_time:
self.accel_error_img.color = (1, 1, 1, 1)
else:
self.accel_error_img.color = (1, 1, 1, 0)
if int(self.deccel_time_input.text) != self.deccel_time:
self.deccel_error_img.color = (1, 1, 1, 1)
else:
self.deccel_error_img.color = (1, 1, 1, 0)
if int(self.work_time_input.text) != self.work_time:
self.work_error_img.color = (1, 1, 1, 1)
else:
self.work_error_img.color = (1, 1, 1, 0)
def set_param(self, register, value):
if myApp.auto_mode:
if register == ServoReg.SPEED:
self.auto_speed = self.speed = value
self.speed_input.text = str(value)
elif register == ServoReg.ACCEL_TIME:
self.auto_accel_time = self.accel_time = value
self.accel_time_input.text = str(value)
elif register == ServoReg.DECCEL_TIME:
self.auto_deccel_time = self.deccel_time = value
self.deccel_time_input.text = str(value)
else:
if register == ServoReg.SPEED:
self.manual_speed = self.speed = value
self.speed_input.text = str(value)
elif register == ServoReg.ACCEL_TIME:
self.manual_accel_time = self.accel_time = value
self.accel_time_input.text = str(value)
elif register == ServoReg.DECCEL_TIME:
self.manual_deccel_time = self.deccel_time = value
self.deccel_time_input.text = str(value)
if register == ServoReg.DECCEL_TIME and self.sync_param_process:
self.sync_param_process = False
if self.motor_switch.active:
self.disable_buttons(False)
self.check_param_equals()
self.save_params()
def servo_sync_params(self, instance):
self.sync_param_process = True
self.disable_buttons(True)
registers = [ServoReg.SPEED, ServoReg.ACCEL_TIME, ServoReg.DECCEL_TIME]
for register in registers:
def check_answer(*args, **kwargs):
try:
ans = kwargs['ans']
register = kwargs['register']
if ans[:7] == ':010302':
myApp.root_widget.set_param(register, int(ans[7:11], 16))
except:
pass
self.motor.get_param(register, check_answer)
def add_preset_popup(self, instance):
popup = AddPresetPopup()
popup.open()
def add_preset(self, name):
preset = Preset(name, int(self.speed_input.text), int(self.accel_time_input.text),
int(self.deccel_time_input.text), int(self.work_time_input.text))
if myApp.auto_mode:
self.auto_presets.append(preset)
else:
self.manual_presets.append(preset)
self.save_presets()
self.update_presets_dropdown()
def del_preset(self):
if self.selected_preset >= 0:
if myApp.auto_mode:
del self.auto_presets[self.selected_preset]
else:
del self.manual_presets[self.selected_preset]
self.save_presets()
self.update_presets_dropdown()
self.preset_button.text = 'Пресет'
def del_preset_btn(self, instance):
if self.selected_preset >= 0:
quest_popup = QuestionPopup()
quest_popup.ok_func = self.del_preset
quest_popup.question.text = 'Вы действительно хотите удалить пресет?'
quest_popup.open()
def select_preset(self, instance):
self.selected_preset = int(instance.id)
if myApp.auto_mode:
preset = self.auto_presets[self.selected_preset]
else:
preset = self.manual_presets[self.selected_preset]
self.preset_button.text = instance.text
self.speed_input.text = str(preset.speed)
self.accel_time_input.text = str(preset.accel_time)
self.deccel_time_input.text = str(preset.deccel_time)
self.work_time_input.text = str(preset.work_time)
self.dropdown.dismiss()
self.check_param_equals()
def com_changed(self, instance, value):
try:
if len(instance.text) > 2:
instance.text = value[:-1]
self.com_num = int(value)
self.save_params()
except:
instance.text = value[:-1]
def change_connect(self, instance):
if not self.motor.is_connect:
self.connect()
else:
self.disconnect()
def connect(self):
self.motor.connect(self.com_num, myApp)
if not self.motor.is_connect:
pass
else:
self.connect_button.text = 'Отключиться'
self.motor_switch.disabled = False
self.apply_param_button.disabled = False
self.sync_params_button.disabled = False
self.servo_sync_params(None)
def disconnect(self):
self.motor.disconnect()
if not self.motor.is_connect:
self.connect_button.text = 'Соединиться'
self.motor_switch.active = False
self.motor_switch.disabled = True
self.apply_param_button.disabled = True
self.sync_params_button.disabled = True
self.disable_buttons(True)
def disable_buttons(self, val):
self.buttons_is_disable = val
myApp.mode_widget.disable_buttons(val)
def motor_change_state(self, instance, value):
if value:
def check_motor_is_on(*args, **kwargs):
ans = kwargs['ans']
right_ans = kwargs['right_ans']
if ans == right_ans:
myApp.root_widget.disable_buttons(not value)
self.motor.servo_on(func=check_motor_is_on)
else:
self.motor.servo_off()
self.disable_buttons(not value)
def servo_set_params(self, instance):
def apply_param(*args, **kwargs):
ans = kwargs['ans']
right_ans = kwargs['right_ans']
if ans == right_ans:
register = int(ans[5:9], 16)
value = int(ans[9:13], 16)
myApp.root_widget.set_param(register, value)
speed = int(self.speed_input.text)
accel_time = int(self.accel_time_input.text)
deccel_time = int(self.deccel_time_input.text)
values = [speed, accel_time, deccel_time]
registers = [ServoReg.SPEED, ServoReg.ACCEL_TIME, ServoReg.DECCEL_TIME]
self.sync_param_process = True
self.disable_buttons(True)
for i, val in enumerate(values):
try:
if val < 0:
val = 0
if i == 0 and val == 0:
val = 100
self.motor.set_param(register=registers[i], value=val, func=apply_param)
except:
pass
try:
self.work_time = int(self.work_time_input.text)
except:
pass
self.save_params()
def update_presets_dropdown(self):
self.preset_button.text = 'Пресет'
self.selected_preset = -1
self.dropdown.clear_widgets()
if myApp.auto_mode:
presets = self.auto_presets
else:
presets = self.manual_presets
for index, preset in enumerate(presets):
btn = Button(id=str(index), text=str(preset.name), size_hint_y=None, height=25)
btn.bind(on_release=self.select_preset)
self.dropdown.add_widget(btn)
def __init__(self, **kwargs):
super().__init__(**kwargs)
try:
self.load_params()
except:
pass
self.load_presets()
self.com_input.text = str(self.com_num)
print('com bind')
self.com_input.bind(text=self.com_changed)
self.connect_button.bind(on_press=self.change_connect)
self.motor_switch.bind(active=self.motor_change_state)
self.motor_switch.disabled = True
self.dropdown = DropDown()
self.update_presets_dropdown()
self.preset_button.bind(on_release=self.dropdown.open)
print('buttons bind')
self.add_preset_button.bind(on_press=self.add_preset_popup)
self.del_preset_button.bind(on_press=self.del_preset_btn)
self.apply_param_button.bind(on_press=self.servo_set_params)
self.apply_param_button.disabled = True
self.sync_params_button.bind(on_press=self.servo_sync_params)
self.sync_params_button.disabled = True
print('root_widget builded.')
class ServolineMotorApp(App):
auto_mode = True
key_right = 275
key_left = 276
def keyboard_press(self, *args):
if not self.auto_mode:
key_code = args[1]
if key_code == self.key_right and self.mode_widget.left_button.state != 'down':
self.mode_widget.right_button.state = 'down'
elif key_code == self.key_left and self.mode_widget.right_button.state != 'down':
self.mode_widget.left_button.state = 'down'
def keyboard_release(self, *args):
if not self.auto_mode:
key_code = args[1]
if key_code == self.key_right:
self.mode_widget.right_button.state = 'normal'
elif key_code == self.key_left:
self.mode_widget.left_button.state = 'normal'
def change_mode(self, instance):
self.auto_mode = not self.auto_mode
self.root_widget.remove_widget(self.mode_widget)
if self.auto_mode:
self.build_auto_mode()
speed = self.root_widget.auto_speed
accel_time = self.root_widget.auto_accel_time
deccel_time = self.root_widget.auto_deccel_time
self.root_widget.work_time_input.disable = False
else:
self.build_manual_mode()
speed = self.root_widget.manual_speed
accel_time = self.root_widget.manual_accel_time
deccel_time = self.root_widget.manual_deccel_time
self.root_widget.work_time_input.disable = True
self.root_widget.speed_input.text = str(speed)
self.root_widget.accel_time_input.text = str(accel_time)
self.root_widget.deccel_time_input.text = str(deccel_time)
self.root_widget.add_widget(self.mode_widget)
self.root_widget.servo_set_params(None)
self.root_widget.update_presets_dropdown()
def build_auto_mode(self):
self.mode_widget = AutoMode()
def build_manual_mode(self):
self.mode_widget = ManualMode()
def build(self):
print('start build app')
self.root_widget = RootWidget()
self.mode_widget = AutoMode()
self.root_widget.disable_buttons(True)
self.root_widget.add_widget(self.mode_widget)
print('app builded.')
return self.root_widget
def on_stop(self):
self.root_widget.disconnect()
def __init__(self):
super().__init__()
Window.bind(on_key_down=self.keyboard_press)
Window.bind(on_key_up=self.keyboard_release)
myApp = ServolineMotorApp()
if __name__ == '__main__':
myApp.run()