class App(Frame):
def __init__(self, master, write_sockets, read_socket):
"""
write_sockets: list of 3 sockets already connected to the robots
"""
Frame.__init__(self, master)
# game_state contains all the real time information about the game
self.game_state = State(home_robots=[
Robot(rid=0, team=1, color="blue", sock=write_sockets[0]),
Robot(rid=1, team=1, color="red", sock=write_sockets[1]),
Robot(rid=2, team=1, color="pink", sock=write_sockets[2])
],
away_robots=[
Robot(rid=0, team=2),
Robot(rid=1, team=2),
Robot(rid=2, team=2)
],
ball=Ball())
self.master = master
self.read_socket = read_socket
# Threads for listening data and updating ui
# self.listener = Thread(target=self.listen_data)
# self.listener.start()
self.dato_0 = Label(master,
text="1",
fg="Black",
font=("Helvetica", 30),
padx=100)
self.dato_0.grid(column=0)
self.instrucciones_0 = []
self.instrucciones_0.append(
Button(master,
text="Turn off",
command=lambda: self.sendInstruction(
"0", [self.game_state.home_robots[0].socket]),
font=('Helvetica', 16)))
self.instrucciones_0.append(
Button(master,
text="Turn on",
command=lambda: self.sendInstruction(
"1", [self.game_state.home_robots[0].socket]),
font=('Helvetica', 16)))
for i in self.instrucciones_0:
i.grid(column=0)
self.dato_1 = Label(master,
text="1",
fg="Black",
font=("Helvetica", 30),
padx=100)
self.dato_1.grid(column=1)
self.instrucciones_1 = []
self.instrucciones_1.append(
Button(master,
text="Turn off",
command=lambda: self.sendInstruction(
"0", [self.game_state.home_robots[1].socket]),
font=('Helvetica', 16)))
self.instrucciones_1.append(
Button(master,
text="Turn on",
command=lambda: self.sendInstruction(
"1", [self.game_state.home_robots[1].socket]),
font=('Helvetica', 16)))
for i in self.instrucciones_1:
i.grid(column=1)
self.dato_2 = Label(master,
text="2",
fg="Black",
font=("Helvetica", 30),
padx=100)
self.dato_2.grid(column=2)
self.instrucciones_2 = []
self.instrucciones_2.append(
Button(master,
text="Turn off",
command=lambda: self.sendInstruction(
"0", [self.game_state.home_robots[2].socket]),
font=('Helvetica', 16)))
self.instrucciones_2.append(
Button(master,
text="Turn on",
command=lambda: self.sendInstruction(
"1", [self.game_state.home_robots[2].socket]),
font=('Helvetica', 16)))
for i in self.instrucciones_2:
i.grid(column=2)
# Sends to all robots
self.dato_3 = Label(master,
text="ALL",
fg="red",
font=("Helvetica", 30, "bold"),
padx=100)
self.dato_3.grid(column=3)
self.instrucciones_3 = []
self.instrucciones_3.append(
Button(master,
text="Turn off",
command=lambda: self.sendInstruction(
"0",
[robot.socket
for robot in self.game_state.home_robots]),
font=('Helvetica', 16)))
self.instrucciones_3.append(
Button(master,
text="Turn on",
command=lambda: self.sendInstruction(
"1",
[robot.socket
for robot in self.game_state.home_robots]),
font=('Helvetica', 16)))
for i in self.instrucciones_3:
i.grid(column=3)
# Match details
score = f"{self.game_state.home_goals} - {self.game_state.away_goals}"
self.score = Label(master,
text=score,
fg="green",
font=("Helvetica", 40, "bold"),
padx=150)
self.score.grid(column=4)
self.update_data()
def listen(self):
self.read_socket.listen(0)
while True:
client, addr = self.read_socket.accept()
while True:
content = client.recv(45) # Serialized protobuff data
if len(content) == 0:
break
else:
self.game_state.update(content)
print("new message")
client.close()
def sendInstruction(self, instruction, sockets):
"""
instruction: string with instruction, full documentation is in notion.
destinations: list with tuples (ip, port)
"""
for sock in sockets:
sock.send(instruction.encode("utf-8"))
print(f"sent {instruction} to {sock.getpeername()}.")
def update_data(self):
"""
Updates GUI in real time based on data received by the sockets.
1.- Reads from ground and vision sockets
2.- Parses the data
3.- Updates self.game_state
"""
# TODO: (total sockets) - Benchmark read_socket (1) vs one socket for each reading (3)
self.dato_0.configure(text=self.game_state.home_robots[0].x)
self.dato_1.configure(text=self.game_state.home_robots[1].x)
self.dato_2.configure(text=self.game_state.home_robots[2].x)
score = f"{self.game_state.home_goals} - {self.game_state.away_goals}"
self.score.configure(text=score)
self.after(50, self.update_data)
class Main(tk.Tk):
def __init__(self, read_socket):
super().__init__()
style = ttk.Style()
style.theme_use("clam")
style.configure("Dashboard.TFrame", background=COLOR_LIGHT_BACKGROUND)
style.configure("BackgroundRED.TFrame", background="red")
style.configure("BackgroundBLUE.TFrame", background="blue")
style.configure("BackgroundGREEN.TFrame", background="green")
style.configure("BackgroundYELLOW.TFrame", background="yellow")
style.configure("BackgroundPURPLE.TFrame", background="purple")
style.configure("BackgroundWHITE.TFrame", background="white")
style.configure("BackgroundORANGE.TFrame", background="orange")
style.configure("BackgroundPINK.TFrame", background="pink")
style.configure("Background.TFrame", background=COLOR_PRIMARY)
style.configure("Dashboard.TLabel",
background=COLOR_LIGHT_BACKGROUND,
foreground=COLOR_DARK_TEXT,
font="Courier 46")
style.configure("LightText.TLabel",
background=COLOR_PRIMARY,
foreground=COLOR_LIGHT_TEXT,
font=("TkDefaultFont", 11))
style.configure("Button.TButton",
background=[COLOR_SECONDARY],
foreground=COLOR_LIGHT_TEXT,
font=("TkDefaultFont", 11))
style.configure("info_button.TButton",
background="black",
foreground="white",
font=("TkDefaultFont", 11))
style.map("Button.TButton",
background=[("active", COLOR_PRIMARY),
("disabled", COLOR_LIGHT_TEXT)])
SCREEN_WIDTH = self.winfo_screenwidth()
SCREEN_HEIGHT = self.winfo_screenheight()
self["background"] = COLOR_PRIMARY
self.columnconfigure(0, weight=1)
self.rowconfigure(0, weight=1)
container = ttk.Frame(self)
container["height"] = SCREEN_HEIGHT
container["width"] = SCREEN_WIDTH
container.grid()
container.columnconfigure(0, weight=1)
self.frames = {}
self.is_powered_on = False
settings_frame = Settings(container,
self,
lambda: self.show_frame(Dashboard),
height=SCREEN_HEIGHT,
width=SCREEN_WIDTH)
dashboard_frame = Dashboard(container,
self,
lambda: self.show_frame(Settings),
height=SCREEN_HEIGHT,
width=SCREEN_WIDTH)
settings_frame.grid(row=0, column=0, sticky="NESW")
dashboard_frame.grid(row=0, column=0, sticky="NESW")
self.frames[Settings] = settings_frame
self.frames[Dashboard] = dashboard_frame
self.show_frame(Dashboard)
self.title('ALPHA SOCCER FC v1.0')
self.geometry(f"{SCREEN_WIDTH}x{SCREEN_HEIGHT}")
self.resizable(False, False)
print(SCREEN_HEIGHT, SCREEN_WIDTH)
self.global_state = State(home_robots=[
Robot(rid=0, team=1, color="blue", sock=None, x=0, y=0, yaw=0),
Robot(rid=1, team=1, color="green", sock=None, x=0, y=0, yaw=0),
Robot(rid=2, team=1, color="red", sock=None, x=0, y=0, yaw=0)
],
away_robots=[
Robot(rid=0,
team=2,
color="blue",
sock=None,
x=0,
y=0,
yaw=0),
Robot(rid=1,
team=2,
color="green",
sock=None,
x=0,
y=0,
yaw=0),
Robot(rid=2,
team=2,
color="red",
sock=None,
x=0,
y=0,
yaw=0)
],
ball=Ball())
self.read_socket = read_socket
self.update()
def show_frame(self, container):
frame = self.frames[container]
frame.tkraise()
def update(self):
#Team 1
self.frames[Dashboard].team1.robot1.x.set(
self.global_state.home_robots[0].x)
self.frames[Dashboard].team1.robot1.y.set(
self.global_state.home_robots[0].y)
self.frames[Dashboard].team1.robot1.vision_angle.set(
self.global_state.home_robots[0].yaw)
self.frames[Dashboard].team1.robot2.x.set(
self.global_state.home_robots[1].x)
self.frames[Dashboard].team1.robot2.y.set(
self.global_state.home_robots[1].y)
self.frames[Dashboard].team1.robot2.vision_angle.set(
self.global_state.home_robots[1].yaw)
self.frames[Dashboard].team1.robot3.x.set(
self.global_state.home_robots[2].x)
self.frames[Dashboard].team1.robot3.y.set(
self.global_state.home_robots[2].y)
self.frames[Dashboard].team1.robot3.vision_angle.set(
self.global_state.home_robots[2].yaw)
#Team 2
self.frames[Dashboard].team2.robot1.y.set(
self.global_state.away_robots[0].y)
self.frames[Dashboard].team2.robot1.x.set(
self.global_state.away_robots[0].x)
self.frames[Dashboard].team2.robot2.y.set(
self.global_state.away_robots[1].y)
self.frames[Dashboard].team2.robot2.x.set(
self.global_state.away_robots[1].x)
self.frames[Dashboard].team2.robot3.y.set(
self.global_state.away_robots[2].y)
self.frames[Dashboard].team2.robot3.x.set(
self.global_state.away_robots[2].x)
#Ball
self.frames[Dashboard].ball.x.set(self.global_state.ball.x)
self.frames[Dashboard].ball.y.set(self.global_state.ball.y)
self.after(30, self.update)
def listen(self):
self.read_socket.listen(0)
while True:
client, addr = self.read_socket.accept()
while True:
content = client.recv(45) # Serialized protobuff data
if len(content) == 0:
break
else:
self.global_state.update(content)
client.close()
