def demo_menu(self, mt, opts):
""" displays a menu
"""
demos = ["make foo", "do bar", "baz everything"]
while True:
menu = Menu(
mt,
title=['Menu demo', '-------------'],
choices=demos,
prompt='Your taste',
line_skip=2,
margin_top=2,
prompt_line=20,
addit=[(0, 23, ' SOMMAIRE: quit '.center(40, '-'))]
)
choice = menu.get_choice()
if choice:
mt.display_text_center(' selected demo : %s ' % demos[choice - 1], 23, pad_char='-')
time.sleep(3)
else:
break
def loop(self):
if not self._actions:
raise ApplicationError(
'actions list as not been initialized by decorators')
title = 'Menu principal'
addit = [(0, 23, ' SOMMAIRE: fin '.center(40, '-'))
] if self._exit_allowed else []
while True:
msg = u'displaying main menu'
self.log_info(msg)
self.display_text(msg)
menu = Menu(self._mt,
title=[title, '-' * len(title)],
choices=[t[0] for t in self._actions],
prompt='Votre choix',
line_skip=2,
margin_top=1,
prompt_line=20,
addit=addit,
cancelable=self._exit_allowed)
try:
choice = menu.get_choice()
self.log_info('selected choice : %s', choice)
if self.terminated:
return True
if not choice:
if self._exit_allowed:
return True
else:
continue
label, method = self._actions[choice - 1]
self.log_info('invoking action : %s', label)
self.display_text(label)
method(self)
if self.terminated:
return True
except DeviceCommunicationError as e:
if 'Interrupted system call' in str(
e): # we got an interruption signal from the outside
self.log_info('system call interrupted by external signal')
return True
else:
self.log_error_banner(e, unexpected=True)
self.log_exception(e)
except KeyboardInterrupt:
self.log_info('external interrupt caught')
return True
def run(self):
""" Application run mainline
"""
self._log.info('creating Minitel instance on %s', self._minitel_port)
self._mt = Minitel(self._minitel_port) # , debug=self._debug)
self._mt.clear_all()
self._mt.display_status(
self._mt.text_style_sequence(inverse=True) +
u'Démonstration YouPinitel'.ljust(self._mt.get_screen_width())
)
if self._arm_port:
arm_type = 'AX12' if AX12_ARM else 'Youpi'
if not AX12_ARM:
self._arm_baudrate = 9600
self._log.info('creating %s arm interface instance on %s (baudrate=%d)',
arm_type, self._arm_port, self._arm_baudrate)
if AX12_ARM:
intf = USB2AX(self._arm_port, baudrate=self._arm_baudrate)
self._arm = GestureController(intf)
self._arm.configure_joints(self._cfg_arm['joints'])
else:
self._log.info('initializing Youpi interface and arm')
self._mt.display_text_center("Initialisation du bras", y=5)
self._mt.display_text_center(u"Veuillez patienter...", y=7)
intf = YoupiArduinoInterface(self._arm_port)
intf.wait_for_ready()
self._mt.clear_screen()
self._arm = YoupiArmController(intf)
# self._arm.base.set_goal_angle(150)
# while math.fabs(self._arm.base.get_current_angle() - 150) >= 1:
# time.sleep(0.1)
self.pose_home = dict(self._arm.get_pose())
self._log.info('Youpi home pose:')
for n, a in self.pose_home.iteritems():
self._log.info('- %-10s : %5.1f', n, a)
elif self._arm_busname:
self._log.info("connecting to arm nROS controller '%s'", self._arm_busname)
bus = dbus.SessionBus()
self._arm = bus.get_object(self._arm_busname, DEFAULT_SERVICE_OBJECT_PATH)
self._arm.joints = dict([
(n, bus.get_object(self._arm_busname, '/joint/%s' % n)) for n in self._arm.get_joint_names()
])
else:
raise Exception('no arm controller connection was configured')
title = 'Menu principal'
while True:
self._log.info('displaying main menu')
menu = Menu(
self._mt,
title=[title, '-' * len(title)],
choices=[t[0] for t in self._demos],
prompt='Votre choix',
line_skip=2,
margin_top=1,
prompt_line=20,
addit=[(0, 23, ' SOMMAIRE: fin '.center(40, '-'))]
)
choice = menu.get_choice()
if choice:
label, method = self._demos[choice - 1]
self._log.info('selected demo : %s', label)
method()
else:
break
self._mt.clear_all()
self._mt.display_text(u"Damien & Eric vous disent à bientôt.")
