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
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)