def main(): control = RoboControl(DEBUG=True) network = RoboNetwork('192.168.1.2', 29281, 20, 5, DEBUG=True) controller_connected = False robot_connected = False controller_connected = control.connect() if controller_connected: print("Controller connected!") print("Starting controller program") control.start() else: print("No controller connected") #while not robot_connected: if not robot_connected: robot_connected = network.connect() if robot_connected: print("Robot connected") else: print("No robot detected, timeout") while (not control.exit): #if network.connected and len(control.commands) > 0: if len(control.commands) > 0: command = control.commands.popleft() print(command) if network.connected: network.conn.send(command[0]) network.conn.send(command[1]) network.exit = True
def __init__(self): super(RobotApp, self).__init__() # Setup ui from precompiled file self.setupUi(self) # Connect signals to buttons self.connect_buttons() # Initiate controlling applications self.control = RoboControl(DEBUG=True) self.network = RoboNetwork('192.168.1.2', 29281, 16, '192.168.1.3', 29282, 15, DEBUG=True) # Run controlling applications self.control.start() self.network.start() # Set state flags self.controller_connected = False self.network_connected = False # Overall state self.state = States.DISCONNECTED self.controllerConnect.setEnabled(False) self.controllerDisconnect.setEnabled(False) self.recordPath.setEnabled(False) # Queue data self.filename = None self.queues_data = [] self.queue = [] # Start main thread self.mainThread = MainThread(self) self.mainThread.start()
def __init__(self): super(RobotApp, self).__init__() # Setup ui from precompiled file self.setupUi(self) # Connect signals to buttons self.connect_buttons() # Initiate controlling applications self.control = RoboControl(DEBUG=True) #self.network = RoboNetwork('192.168.1.2', 29281, 16, '192.168.1.3', 29282, 15, DEBUG=True) # Run controlling applications self.control.start() #self.network.start() # UDP Variables self.UDP_TARGET_IP = '10.0.1.3' self.UDP_TARGET_PORT = 5500 # Create UDP socket self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP # Set state flags self.controller_connected = False self.network_connected = True # Overall state self.state = States.DISCONNECTED self.controllerConnect.setEnabled(False) self.controllerDisconnect.setEnabled(False) self.recordPath.setEnabled(False) # Queue data self.filename = None self.queues_data = [] self.queue = [] # Start main thread self.mainThread = MainThread(self) self.mainThread.start()
class RobotApp(QtGui.QMainWindow, main_window_robot.Ui_MainWindow): def __init__(self): super(RobotApp, self).__init__() # Setup ui from precompiled file self.setupUi(self) # Connect signals to buttons self.connect_buttons() # Initiate controlling applications self.control = RoboControl(DEBUG=True) self.network = RoboNetwork('192.168.1.2', 29281, 16, '192.168.1.3', 29282, 15, DEBUG=True) # Run controlling applications self.control.start() self.network.start() # Set state flags self.controller_connected = False self.network_connected = False # Overall state self.state = States.DISCONNECTED self.controllerConnect.setEnabled(False) self.controllerDisconnect.setEnabled(False) self.recordPath.setEnabled(False) # Queue data self.filename = None self.queues_data = [] self.queue = [] # Start main thread self.mainThread = MainThread(self) self.mainThread.start() def connect_buttons(self): """ Connect buttons to methods """ self.controllerConnect.clicked.connect(self.connect_to_controller) self.serverStart.clicked.connect(self.connect_to_network) self.ipSpecify.clicked.connect(self.handle_server_box) self.controllerDisconnect.clicked.connect(self.disconnect_controller) self.loadQueueSet.clicked.connect(self.open) self.queueSetSave.clicked.connect(self.save) self.recordPath.clicked.connect(self.record) self.button_default_style_sheet = self.recordPath.styleSheet() def record(self): if self.state != States.RECORDING: print("Clearing Queue of data") self.queue = [] self.control.recording = True self.recordPath.setText("End Recording") self.recordPath.setStyleSheet('QPushButton {background-color: red; color:white;}') elif self.state == States.RECORDING: self.control.recording = False self.recordPath.setText("Record New Path") self.recordPath.setStyleSheet(self.button_default_style_sheet) self.queueList.addItem("Untitled") self.queue.insert(0, "Untitled") self.queues_data.append(self.queue) def open(self): path = (".") fname = QFileDialog.getOpenFileName(self, "Scenery Robot - Open", path, "Queue Files (*.txt)") if fname.isEmpty(): return self.filename = fname file = None print("Successful open") self.queues_data = self.load_queue_file(self.filename) print(self.queues_data) self.load_queue_window(self.queues_data) def save(self): path = "." fname = QFileDialog.getSaveFileName(self, "Scenery Robot - Save As", path, "Queue Files: (*.txt)") if fname.isEmpty(): return self.filename = fname print('queues_data', self.queues_data) self.save_new_queue(self.filename, self.queues_data) def save_new_queue(self, filename, queues_data, queuename="UNTITLED"): """ This function will open a file and append to it a new queue with a title and data. @params: filename: the save file (text file where info will be stored) list_to_save: the data of the new queue being saved listname: the name of the queue being saved as a list """ print("SAVING THIS OBJECT:") print(queues_data) with open(filename, 'w') as f: for queue in queues_data: for data in queue: f.write(str(data)) f.write('\n') f.write('\n') f.close() def load_queue_window(self, queues_data): """ """ self.queueList.clear() for queue in queues_data: self.queueList.addItem(queue[0]) def load_queue_file(self, filename): """ This function first reads in an entire list, line by line. It then creates a list of lists where each list contains all the points in a list @params: filename: the file to be loaded """ queue_list = [] with open(filename) as f: i = 0 for line in f: if not line.startswith('[') and not line.startswith('\n'): queue_list.append([]) queue_list[i] = [line.rstrip()] elif line.startswith('['): queue_list[i].append(line.rstrip()) else: i += 1 f.close() return queue_list def check_events(self): """ Overall event checking for main thread """ self.check_controller_events() self.check_network_events() self.check_app_events() def check_network_events(self): """ Checks events related to network server """ self.check_network_connected() def check_controller_events(self): """ Checks events related to controller """ self.check_controller_connected() def check_app_events(self): """ Checks variables to update app state """ # If disconnected, wait until controller and network connected to go into manual mode if not self.network_connected and self.state != States.DISCONNECTED: print("Robot got disconnected from network") self.state == States.DISCONNECTED self.robot_control_mode.setText("Robot Control: Disconnected") self.controllerConnect.setEnabled(False) self.controllerDisconnect.setEnabled(False) elif self.network_connected and self.state == States.DISCONNECTED: print("Control is SERVER_ONLY") self.state = States.SERVER_ONLY self.robot_control_mode.setText("Robot Control: Server Control") self.controllerConnect.setEnabled(True) self.controllerDisconnect.setEnabled(False) elif self.network_connected and self.controller_connected and self.state == States.SERVER_ONLY: print("Control is manual") self.state = States.MANUAL self.robot_control_mode.setText("Robot Control: Manual Control") self.controllerConnect.setEnabled(False) self.controllerDisconnect.setEnabled(True) self.recordPath.setEnabled(True) elif (self.state == States.MANUAL or self.state == States.RECORDING) and not self.controller_connected: print("Control is SERVER_ONLY") self.state = States.SERVER_ONLY self.robot_control_mode.setText("Robot Control: Server Control") self.controllerConnect.setEnabled(True) self.controllerDisconnect.setEnabled(False) self.control.recording = False # Controller got disconnected elif self.state == States.MANUAL and self.control.is_recording(): print("Control is recording") self.state = States.RECORDING self.network.receiving = True self.robot_control_mode.setText("Robot Control: Recording") elif self.state == States.RECORDING and not self.control.is_recording(): self.state = States.MANUAL print("Control is manual") self.network.receiving = False self.robot_control_mode.setText("Robot Control: Manual Control") def handle_server_box(self): """ Handle pop up """ self.dialog = QDialog() self.ui = server_connect_dialog.Ui_Dialog() self.ui.setupUi(self.dialog) self.dialog.show() # --------------------- CONTROLLER METHODS --------------------- def connect_to_controller(self): """ Connects to the controller and returns True if connection succeeded and False if not """ self.controller_connected = self.control.connect() return self.controller_connected def disconnect_controller(self): self.control.disconnect() def check_controller_connected(self): """ Checks if controller is connected Enables or disables connected button accordingly Sets label text from control status """ self.controller_connected = self.control.is_connected() #self.controllerConnect.setEnabled(not self.controller_connected) self.controllerConnect.setChecked(True) return self.controller_connected # --------------------- NETWORK METHODS --------------------- def connect_to_network(self): """ Opens server to connect to client """ if not self.network.connection_started: self.network.start_connection() #self.network_connected = True def check_network_connected(self): """ Checks if network is connected Enables or disables connect button accordingly Sets label text from network status """ self.server_connection_label.setText(self.network.status) #if self.network_connected: # self.server_connection_label.setText('Server Connection: Client Connected') self.network_connected = self.network.is_connected() self.serverStart.setEnabled(not self.network_connected and not self.network.connection_started) return self.network_connected # ------------------- MAIN APP EVENTS ------------------------------ def closeEvent(self, event): """ Overriden close event that will terminate main thread """ self.mainThread.running = False super(RobotApp, self).closeEvent(event)
class RobotApp(QtGui.QMainWindow, main_window_robot.Ui_MainWindow): def __init__(self): super(RobotApp, self).__init__() # Setup ui from precompiled file self.setupUi(self) # Connect signals to buttons self.connect_buttons() # Initiate controlling applications self.control = RoboControl(DEBUG=True) #self.network = RoboNetwork('192.168.1.2', 29281, 16, '192.168.1.3', 29282, 15, DEBUG=True) # Run controlling applications self.control.start() #self.network.start() # UDP Variables self.UDP_TARGET_IP = '10.0.1.3' self.UDP_TARGET_PORT = 5500 # Create UDP socket self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP # Set state flags self.controller_connected = False self.network_connected = True # Overall state self.state = States.DISCONNECTED self.controllerConnect.setEnabled(False) self.controllerDisconnect.setEnabled(False) self.recordPath.setEnabled(False) # Queue data self.filename = None self.queues_data = [] self.queue = [] # Start main thread self.mainThread = MainThread(self) self.mainThread.start() def connect_buttons(self): """ Connect buttons to methods """ self.controllerConnect.clicked.connect(self.connect_to_controller) self.serverStart.clicked.connect(self.connect_to_network) self.ipSpecify.clicked.connect(self.handle_server_box) self.controllerDisconnect.clicked.connect(self.disconnect_controller) self.loadQueueSet.clicked.connect(self.open) self.queueSetSave.clicked.connect(self.save) self.recordPath.clicked.connect(self.record) self.button_default_style_sheet = self.recordPath.styleSheet() def record(self): if self.state != States.RECORDING: print("Clearing Queue of data") self.queue = [] self.control.recording = True self.recordPath.setText("End Recording") self.recordPath.setStyleSheet('QPushButton {background-color: red; color:white;}') elif self.state == States.RECORDING: self.control.recording = False self.recordPath.setText("Record New Path") self.recordPath.setStyleSheet(self.button_default_style_sheet) self.queueList.addItem("Untitled") self.queue.insert(0, "Untitled") self.queues_data.append(self.queue) def open(self): path = (".") fname = QFileDialog.getOpenFileName(self, "Scenery Robot - Open", path, "Queue Files (*.txt)") if fname.isEmpty(): return self.filename = fname file = None print("Successful open") self.queues_data = self.load_queue_file(self.filename) print(self.queues_data) self.load_queue_window(self.queues_data) def save(self): path = "." fname = QFileDialog.getSaveFileName(self, "Scenery Robot - Save As", path, "Queue Files: (*.txt)") if fname.isEmpty(): return self.filename = fname print('queues_data', self.queues_data) self.save_new_queue(self.filename, self.queues_data) def save_new_queue(self, filename, queues_data, queuename="UNTITLED"): """ This function will open a file and append to it a new queue with a title and data. @params: filename: the save file (text file where info will be stored) list_to_save: the data of the new queue being saved listname: the name of the queue being saved as a list """ print("SAVING THIS OBJECT:") print(queues_data) with open(filename, 'w') as f: for queue in queues_data: for data in queue: f.write(str(data)) f.write('\n') f.write('\n') f.close() def load_queue_window(self, queues_data): """ """ self.queueList.clear() for queue in queues_data: self.queueList.addItem(queue[0]) def load_queue_file(self, filename): """ This function first reads in an entire list, line by line. It then creates a list of lists where each list contains all the points in a list @params: filename: the file to be loaded """ queue_list = [] with open(filename) as f: i = 0 for line in f: if not line.startswith('[') and not line.startswith('\n'): queue_list.append([]) queue_list[i] = [line.rstrip()] elif line.startswith('['): queue_list[i].append(line.rstrip()) else: i += 1 f.close() return queue_list def check_events(self): """ Overall event checking for main thread """ self.check_controller_events() self.check_network_events() self.check_app_events() def check_network_events(self): """ Checks events related to network server """ self.check_network_connected() def check_controller_events(self): """ Checks events related to controller """ self.check_controller_connected() def check_app_events(self): """ Checks variables to update app state """ # If disconnected, wait until controller and network connected to go into manual mode if not self.network_connected and self.state != States.DISCONNECTED: print("Robot got disconnected from network") self.state == States.DISCONNECTED self.robot_control_mode.setText("Robot Control: Disconnected") self.controllerConnect.setEnabled(False) self.controllerDisconnect.setEnabled(False) elif self.network_connected and self.state == States.DISCONNECTED: print("Control is SERVER_ONLY") self.state = States.SERVER_ONLY self.robot_control_mode.setText("Robot Control: Server Control") self.controllerConnect.setEnabled(True) self.controllerDisconnect.setEnabled(False) elif self.network_connected and self.controller_connected and self.state == States.SERVER_ONLY: print("Control is manual") self.state = States.MANUAL self.robot_control_mode.setText("Robot Control: Manual Control") self.controllerConnect.setEnabled(False) self.controllerDisconnect.setEnabled(True) self.recordPath.setEnabled(True) elif (self.state == States.MANUAL or self.state == States.RECORDING) and not self.controller_connected: print("Control is SERVER_ONLY") self.state = States.SERVER_ONLY self.robot_control_mode.setText("Robot Control: Server Control") self.controllerConnect.setEnabled(True) self.controllerDisconnect.setEnabled(False) self.control.recording = False # Controller got disconnected elif self.state == States.MANUAL and self.control.is_recording(): print("Control is recording") self.state = States.RECORDING self.network.receiving = True self.robot_control_mode.setText("Robot Control: Recording") elif self.state == States.RECORDING and not self.control.is_recording(): self.state = States.MANUAL print("Control is manual") self.network.receiving = False self.robot_control_mode.setText("Robot Control: Manual Control") def handle_server_box(self): """ Handle pop up """ self.dialog = QDialog() self.ui = server_connect_dialog.Ui_Dialog() self.ui.setupUi(self.dialog) self.dialog.show() # --------------------- CONTROLLER METHODS --------------------- def connect_to_controller(self): """ Connects to the controller and returns True if connection succeeded and False if not """ self.controller_connected = self.control.connect() return self.controller_connected def disconnect_controller(self): self.control.disconnect() def check_controller_connected(self): """ Checks if controller is connected Enables or disables connected button accordingly Sets label text from control status """ self.controller_connected = self.control.is_connected() #self.controllerConnect.setEnabled(not self.controller_connected) self.controllerConnect.setChecked(True) return self.controller_connected # --------------------- NETWORK METHODS --------------------- def connect_to_network(self): """ Opens server to connect to client """ #if not self.network.connection_started: # self.network.start_connection() self.network_connected = True def check_network_connected(self): """ Checks if network is connected Enables or disables connect button accordingly Sets label text from network status """ #self.server_connection_label.setText(self.network.status) if self.network_connected: self.server_connection_label.setText('Server Connection: Client Connected') #self.network_connected = self.network.is_connected() #self.serverStart.setEnabled(not self.network_connected and not self.network.connection_started) return self.network_connected # ------------------- MAIN APP EVENTS ------------------------------ def closeEvent(self, event): """ Overriden close event that will terminate main thread """ self.mainThread.running = False super(RobotApp, self).closeEvent(event)