def __init__(self, gps_rate=None):
# initialize objects
self._gui = gui.GUI()
self._buttons = buttons.Buttons(on_green=self.green_callback,
on_blue=self.blue_callback,
on_red=self.red_callback)
self.rs = RobotState()
print("The first state in the state machine is: %s" % rs.state)
self._gps = gps.GPS()
def __init__(self, gps_rate=None):
# initialize objects
self.stop_blink = threading.Event()
self._gui = gui.GUI()
self._buttons = buttons.Buttons(on_green=self.green_callback,
on_blue=self.blue_callback,
on_red=self.red_callback)
self.rs = RobotState()
print("The first state in the state machine is: %s" % self.rs.state)
print("Mac Address: " + gma())
self._gps = gpsCode.GPS()
class MainApp():
def __init__(self, gps_rate=None):
# initialize objects
self.stop_blink = threading.Event()
self._gui = gui.GUI()
self._buttons = buttons.Buttons(on_green=self.green_callback,
on_blue=self.blue_callback,
on_red=self.red_callback)
self.rs = RobotState()
print("The first state in the state machine is: %s" % self.rs.state)
print("Mac Address: " + gma())
self._gps = gpsCode.GPS()
def start(self, gps_rate=None):
# User login
#self.user_name = self._gui.waitForLogin() # < blocking
tempUser = gma()
self.user_name = "picker_" + tempUser.replace(':', '')
print("User: "******"wss://lcas.lincoln.ac.uk/car/ws",
user_name=self.user_name,
update_orders_cb=self.update_orders_cb)
# setup the main gui window
self._gui.setupMainWindow()
self._gui.setUser("User: "******"Welcome to Call A Robot.")
# start gps thread
self._gps.start()
# start ws thread
self._ws.start()
if gps_rate is None:
## we want gps readings as soon as they arrive
self._gps.set_callback(self._ws.send_gps)
# start gui thread (tkinter only runs on the main thread :-( )
self._gui.loopMainWindow() # < blocking
else:
## we want gps readings at a certain rate
seconds = 1. / float(gps_rate)
while self._gps.has_more_data():
lat, lon, epx, epy, ts = self._gps.get_latest_data()
self._ws.send_gps(lat, lon, epx, epy, ts)
time.sleep(seconds)
def stop(self):
self._gps.stop()
self._ws.stop()
self._buttons.cleanup()
# this receives updated state for the current user
def update_orders_cb(self, state):
if state == "ACCEPT":
if self.rs.state == "CALLED":
print("A Robot is on the way.")
self._gui.setDescription("A Robot is on the way")
self.rs.accepted_robot()
elif state == "INIT":
if self.rs.state == "CALLED":
print("Robot Has Been Cancelled.")
self._gui.setDescription("Robot Has Been Cancelled.")
self._buttons.setGreenLed(False)
self._gui.setGreenButton(False)
self._buttons.setRedLed(False)
self._gui.setRedButton(False)
self.rs.cancel_robot()
elif self.rs.state == "ACCEPTED":
print("Robot Has Been Cancelled.")
self._gui.setDescription("Robot Has Been Cancelled.")
self._buttons.setGreenLed(False)
self._gui.setGreenButton(False)
self._buttons.setRedLed(False)
self._gui.setRedButton(False)
self.rs.cancel_accept()
elif self.rs.state == "ARRIVED":
print("Robot Load Has Been Cancelled.")
self._gui.setDescription("Robot Load Has Been Cancelled.")
self.stop_blink.set()
self._buttons.setBlueLed(False)
self._gui.setBlueButton(False)
self._buttons.setRedLed(False)
self._gui.setRedButton(False)
self.rs.cancel_load()
time.sleep(1)
self._gui.setDescription("Welcome to Call A Robot.")
elif state == "ARRIVED":
if self.rs.state == "ACCEPTED":
self._buttons.setGreenLed(False)
self._gui.setGreenButton(False)
print("Robot has arrived.")
print(
"Please load the tray on the robot\n then press the blue button."
)
self._gui.setDescription(
"Please load the tray on the robot\n then press the blue button."
)
self.blink_thr = threading.Thread(target=self.blue_blink)
self.blink_thr.start()
self.rs.robot_arrived()
elif state == "LOADED":
if self.rs.state == "LOADED":
self.stop_blink.set()
# update internal state
#self.rs.state = state
def green_callback(self, channel):
print("Green button pressed")
if (self.rs.state == "INIT"):
print("Calling Robot.")
self._gui.setDescription("Calling Robot.")
self._buttons.setGreenLed(True)
self._gui.setGreenButton(True)
self._ws.call_robot()
self.rs.call_robot()
self.stop_blink.clear()
# y = threading.Thread(target=check_arrived)
# y.start()
else:
print("A Robot has already been called.")
self._gui.setDescription("A Robot has already been called.")
time.sleep(1)
self._gui.setDescription("Welcome to Call A Robot.")
def red_callback(self, channel):
print("Red button pressed")
if (self.rs.state == "CALLED"):
print("Cancelling...")
self._gui.setDescription("Cancelling...")
self._buttons.setRedLed(True)
self._gui.setRedButton(True)
self._ws.cancel_robot()
self.rs.cancel_robot()
time.sleep(1)
self._gui.setDescription("Robot Sucessfully Cancelled.")
self._buttons.setGreenLed(False)
self._gui.setGreenButton(False)
self._buttons.setRedLed(False)
self._gui.setRedButton(False)
time.sleep(1)
self._gui.setDescription("Welcome to Call A Robot.")
elif (self.rs.state == "ACCEPTED"):
print("Cancelling...")
self._gui.setDescription("Cancelling...")
self._buttons.setRedLed(True)
self._gui.setRedButton(True)
self._ws.cancel_robot()
self.rs.cancel_accept()
time.sleep(1)
self._gui.setDescription("Robot Sucessfully Cancelled.")
self._buttons.setGreenLed(False)
self._gui.setGreenButton(False)
self._buttons.setRedLed(False)
self._gui.setRedButton(False)
time.sleep(1)
self._gui.setDescription("Welcome to Call A Robot.")
elif (self.rs.state == "ARRIVED"):
print("Cancelling...")
self._gui.setDescription("Cancelling...")
self._buttons.setRedLed(True)
self._gui.setRedButton(True)
self._ws.cancel_robot()
self.rs.cancel_robot()
time.sleep(1)
self._gui.setDescription("Robot Sucessfully Cancelled.")
self._buttons.setGreenLed(False)
self._gui.setGreenButton(False)
self._buttons.setRedLed(False)
self._gui.setRedButton(False)
time.sleep(1)
self._gui.setDescription("Welcome to Call A Robot.")
else:
print("No incoming robots to cancel.")
self._gui.setDescription("No incoming robots to cancel.")
time.sleep(1)
self._gui.setDescription("Welcome to Call A Robot.")
def blue_callback(self, channel):
if (self.rs.state == "ARRIVED"):
self._gui.setDescription(
"Thank you the robot will now drive away.")
self._ws.set_loaded()
self.rs.robot_loaded()
time.sleep(2)
self.rs.user_reset()
self._ws.set_init()
self._gui.setDescription("Welcome to Call A Robot.")
else:
print("No robots to load.")
self._gui.setDescription("No robots to load.")
time.sleep(1)
self._gui.setDescription("Welcome to Call A Robot.")
def blue_blink(self):
while not (self.stop_blink.is_set()):
self._buttons.setBlueLed(True)
self._gui.setBlueButton(True)
time.sleep(0.5)
self._buttons.setBlueLed(False)
self._gui.setBlueButton(False)
time.sleep(0.5)
def main():
#Main program
print("Welcome to Call A Robot")
rs = RobotState()
print("The first state in the state machine is: %s" % rs.state)
def green_callback(channel):
print("Green button pressed")
if (rs.state == "INIT"):
print("Calling Robot.")
GPIO.output(greenLED, True)
rs.call_robot()
#Websocket connection for robot call.
#ws.send(json.dumps({'method':'call', 'user': '******'}))
print("A Robot is on the way.")
#arrival testing
sleep(5)
robot_arrived_callback()
else:
print("A Robot has already been called.")
def red_callback(channel):
print("Red button pressed")
if (rs.state == "CALLED"):
print("Cancelling...")
GPIO.output(redLED, True)
rs.cancel_robot()
#Websocket Connection for robot cancel.
#ws.send(json.dumps({'method':'cancel', 'user': '******'}))
sleep(1)
print("Robot Successfully Cancelled.")
GPIO.output(greenLED, False)
GPIO.output(redLED, False)
elif (rs.state == "ARRIVED"):
print("Cancelling...")
GPIO.output(redLED, True)
rs.cancel_load()
#Websocket Connection for robot cancel.
#ws.send(json.dumps({'method':'cancel', 'user': '******'}))
sleep(1)
print("Robot Load Successfully Cancelled.")
GPIO.output(blueLED, False)
GPIO.output(redLED, False)
else:
print("No incoming robots to cancel.")
def blue_callback(channel):
if (rs.state == "ARRIVED"):
#Websocket Connection for robot loaded.
#ws.send(json.dumps({'method':'set_state', 'user': '******', 'state': 'LOADED'}))
rs.robot_loaded()
else:
print("No robots to load.")
def robot_arrived_callback():
rs.robot_arrived()
GPIO.output(greenLED, False)
print("Robot has arrived.")
print(
"Please load the tray on the robot then press the blue button."
)
while (rs.state == "ARRIVED"):
GPIO.output(blueLED, True)
sleep(0.5)
GPIO.output(blueLED, False)
sleep(0.5)
if GPIO.event_detected(blueButton):
print("Blue button pressed")
if GPIO.event_detected(redButton):
print("Red button pressed")
GPIO.add_event_detect(greenButton,
GPIO.FALLING,
callback=green_callback,
bouncetime=200)
GPIO.add_event_detect(redButton,
GPIO.FALLING,
callback=red_callback,
bouncetime=1100)
GPIO.add_event_detect(blueButton,
GPIO.FALLING,
callback=blue_callback,
bouncetime=200)
pause()
def main():
#Main program
print("Welcome to Call A Robot")
label_text.set("Welcome to Call A Robot.")
rs = RobotState()
print("The first state in the state machine is: %s" % rs.state)
print("Logged in: " + user)
user_text.set("User: "******"Green button pressed")
if (rs.state == "INIT"):
print("Calling Robot.")
label_text.set("Calling Robot.")
GPIO.output(greenLED, True)
gbutton.configure(bg="green")
rs.call_robot()
#Websocket connection for robot call.
ws.send(json.dumps({'method': 'call', 'user': user}))
print("A Robot is on the way.")
label_text.set("A Robot is on the way")
y = threading.Thread(target=check_arrived)
y.start()
else:
print("A Robot has already been called.")
label_text.set("A Robot has already been called.")
sleep(1)
label_text.set("A Robot is on the way")
def red_callback(channel):
print("Red button pressed")
if (rs.state == "CALLED"):
print("Cancelling...")
label_text.set("Cancelling...")
GPIO.output(redLED, True)
rbutton.configure(bg="red")
rs.cancel_robot()
#Websocket Connection for robot cancel.
ws.send(json.dumps({'method': 'cancel', 'user': user}))
sleep(1)
print("Robot Successfully Cancelled.")
label_text.set("Robot Successfully Cancelled.")
GPIO.output(greenLED, False)
gbutton.configure(bg="white")
GPIO.output(redLED, False)
rbutton.configure(bg="white")
sleep(1)
label_text.set("Welcome to Call A Robot.")
elif (rs.state == "ARRIVED"):
print("Cancelling...")
label_text.set("Cancelling...")
GPIO.output(redLED, True)
rbutton.configure(bg="red")
rs.cancel_load()
#Websocket Connection for robot cancel.
ws.send(json.dumps({'method': 'cancel', 'user': user}))
sleep(1)
print("Robot Load Successfully Cancelled.")
label_text.set("Robot Successfully Cancelled.")
GPIO.output(blueLED, False)
bbutton.configure(bg="white")
GPIO.output(redLED, False)
rbutton.configure(bg="white")
sleep(1)
label_text.set("Welcome to Call A Robot.")
else:
print("No incoming robots to cancel.")
label_text.set("No incoming robots to cancel.")
sleep(1)
label_text.set("Welcome to Call A Robot.")
def blue_callback(channel):
if (rs.state == "ARRIVED"):
label_text.set("Thank you the robot will now drive away.")
#Websocket Connection for robot loaded.
ws.send(
json.dumps({
'method': 'set_state',
'user': user,
'state': 'LOADED'
}))
rs.robot_loaded()
sleep(2)
label_text.set("Welcome to Call A Robot.")
ws.send(
json.dumps({
'method': 'set_state',
'user': user,
'state': 'INIT'
}))
rs.user_reset()
else:
print("No robots to load.")
label_text.set("No robots to load.")
sleep(1)
label_text.set("Welcome to Call A Robot.")
def robot_arrived_callback():
rs.robot_arrived()
GPIO.output(greenLED, False)
gbutton.configure(bg="white")
print("Robot has arrived.")
print(
"Please load the tray on the robot then press the blue button."
)
label_text.set(
"Please load the tray on the robot then press the blue button."
)
x = threading.Thread(target=blue_blink)
x.start()
def blue_blink():
while (rs.state == "ARRIVED"):
bbutton.configure(bg="blue")
GPIO.output(blueLED, True)
sleep(0.5)
bbutton.configure(bg="white")
GPIO.output(blueLED, False)
sleep(0.5)
def check_arrived():
# Robot arrival
ws.send(json.dumps({'method': 'get_states', 'user': user}))
while rs.state == "CALLED":
sleep(5)
jsondata = ws.recv()
data = loads(jsondata)
states = data['states']
for key in states:
if key == user:
print(states[key])
if states[key] == "ARRIVED":
print("Robot Arrived")
robot_arrived_callback()
# if GPIO.event_detected(blueButton):
# print("Blue button pressed")
# elif GPIO.event_detected(redButton):
# print("Red button pressed")
GPIO.add_event_detect(greenButton,
GPIO.RISING,
callback=green_callback,
bouncetime=1100)
GPIO.add_event_detect(redButton,
GPIO.FALLING,
callback=red_callback,
bouncetime=1100)
GPIO.add_event_detect(blueButton,
GPIO.FALLING,
callback=blue_callback,
bouncetime=1100)
root.focus_force()
#getPositionData(gpsd)
root.mainloop()