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main.py
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main.py
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"""
Intelligent Robotic Servicing System
Main Interface For the Robotic Arm Control Software
Author: Edwin Mwiti
Copyright: 2020
"""
# imports
from tkinter import *
from tkinter import messagebox
from tkinter import ttk
import Pmw
from time import time, sleep
from datetime import datetime
import os
import sys
import numericValidator
import tk_tools as tools
from pylive import live_plotter
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
from matplotlib.figure import Figure
import ArduinoConnection
class LoginForm(ttk.Frame):
def __init__(self, parent):
"""Constructor"""
ttk.Frame.__init__(self, parent)
self.parent = parent
window_width = 470
window_height = 150
screen_width = self.parent.winfo_screenwidth()
screen_height = self.parent.winfo_screenheight()
x_position = int((screen_width/2) - (window_width/2))
y_position = int((screen_height/2) - (window_height/2))
self.parent.geometry("{}x{}+{}+{}".format(window_width, window_height, x_position, y_position))
self.parent.title("IRSS|Login")
self.parent.configure(background='gray40')
self.widgeter()
def widgeter(self, *args):
"""Create widgets for login window"""
self.parent.bind("<Return>", self.verify_password_a)
self.btnConf = {'font': ('verdana', 9), 'background': 'slategray', 'padx': '4', 'width': '8', 'pady': '4'} # button configurations
self.logo = Label(self.parent, text="IRSS", background='gray40', pady=10, font=('verdana', 13))
self.password = Entry(self.parent, font=('verdana', 12), justify="center")
self.password.configure(show="*")
self.password.focus()
self.filler = Label(self.parent, text="",background='gray40', pady=10, font=('verdana', 13))
self.login_btn = Button(self.parent, self.btnConf, text="Login", pady=5, relief=RIDGE, command=self.verify_password) # mouse click
# place the widgets
self.logo.pack()
self.password.pack()
self.filler.pack()
self.login_btn.pack()
def verify_password(self, event=None):
"""Verify the password"""
# get the password
if self.password.get() != "r":
messagebox.showerror('IRSS', 'Access Denied')
self.password.focus()
else:
# proceed to the main window
self.initialize_main_application()
def verify_password_a(self, event):
"""Respond to enter key press"""
self.verify_password()
def initialize_main_application(self):
"""Show the main window if password correct"""
self.parent.destroy()
self.parent = Tk()
self.main = Main(self.parent)
self.parent.mainloop()
class Main:
def __init__(self, parent):
self.parent = parent
# view fullscreen
screen_width = self.parent.winfo_screenwidth()
screen_height = self.parent.winfo_screenheight()
self.parent.geometry("{}x{}".format(screen_width, screen_height))
self.parent.title("IRSS | Control Software")
# self.parent.state('normal')
self.parent.configure(background='gray40')
self.create_widgets()
def create_widgets(self):
"""Create Widgets for the main window"""
# parent frame
overall = Frame(self.parent, relief=RIDGE, background='gray40')
overall.pack(side=LEFT, fill=BOTH)
leftFrame = Frame(overall, relief=FLAT, background='gray40')
leftFrame.pack(side=TOP, fill=Y)
self.centerFrame = Frame(self.parent, relief=RIDGE, background='gray40')
self.centerFrame.pack(side=LEFT, fill=Y)
rightFrame = Frame(self.parent, relief=FLAT, background='gray30')
rightFrame.pack(side=TOP, fill=Y)
# Mode selection Frame
self.mode = LabelFrame(leftFrame, text="Mode", font=('arial', 11, 'bold'))
self.mode.configure(background='gray40')
self.mode.pack(anchor=W)
self.mode_var = IntVar()
self.manual_mode =Radiobutton(self.mode,
text='Manual',
value=1,
variable=self.mode_var,
indicatoron=0, fg='red',
background='gray10',
font=('verdana', 11, 'bold'),
width=10,
command=self.check_current_mode,
selectcolor='lawngreen').pack(side=LEFT, padx=18, pady=5)
self.intelligent_mode = Radiobutton(self.mode,
text='Intelligent',
value=2,
variable=self.mode_var,
indicatoron=0, fg='red',
background='gray10',
font=('verdana', 11, 'bold'),
width=10,
command=self.check_current_mode,
selectcolor='lawngreen').pack(side=LEFT, padx=18, pady=5)
self.remote_mode = Radiobutton(self.mode,
text='Remote',
value=3,
variable=self.mode_var,
indicatoron=0, fg='red',
background='gray10',
font=('verdana', 11, 'bold'),
width=10,
command=self.check_current_mode,
selectcolor='lawngreen').pack(side=LEFT, padx=18, pady=5)
# ==============================Pick coordinates frame================================================
self.pick_group = LabelFrame(leftFrame, text="Pick Position", font=('arial',11, 'bold'))
self.pick_group.configure(background='gray40')
self.pick_group.pack(anchor=W)
Label(self.pick_group, font=('verdana', 11), text="Enter coordinates of the desired position of gripper center", background='gray40').pack()
# picking position coordinates entry frame
pick_entry_frame = Frame(self.pick_group, relief=FLAT, background='gray40')
pick_entry_frame.configure(background='gray40')
x_coords = Frame(pick_entry_frame, relief=FLAT, background='gray40')
x_coords.pack()
x_label = Label(x_coords, text='x: ', font=('verdana', 11), background='gray40')
self.x = numericValidator.NumericEntry(x_coords, font=('verdana', 11, 'bold'),background='gray70', width=10)
x_label.pack(side=LEFT)
self.x.pack(side=LEFT)
y_coords = Frame(pick_entry_frame, relief=FLAT, background='gray40')
y_coords.pack()
y_label = Label(y_coords, text='y: ', font=('verdana', 11), background='gray40')
self.y = numericValidator.NumericEntry(y_coords, font=('verdana', 11, 'bold'),background='gray70', width=10)
y_label.pack(side=LEFT)
self.y.pack(side=LEFT)
z_coords = Frame(pick_entry_frame, relief=FLAT, background='gray40')
z_coords.pack()
z_label = Label(z_coords, text='z: ', font=('verdana', 11), background='gray40')
self.z = numericValidator.NumericEntry(z_coords, font=('verdana', 11, 'bold'),background='gray70', width=10)
z_label.pack(side=LEFT)
self.z.pack(side=LEFT)
# Inverse Kinematics computing button
self.pick_ik = Button(pick_entry_frame, text="Compute IK", borderwidth=1, font=('verdana', 11, 'bold'), relief=SOLID, background='gray10', fg='orange')
self.pick_ik.pack(pady=5)
pick_entry_frame.pack()
# pick position joint angles
Label(self.pick_group,font=('verdana', 11), text="Joint Angles (deg)", background='gray40').pack(pady=5)
joint_angles_frame = Frame(self.pick_group, relief=FLAT, background='gray40')
shoulder_az = Frame(joint_angles_frame, relief=FLAT, background='gray40')
shoulder_az.pack()
Label(shoulder_az, text='Shoulder Azimuth:', font=('verdana', 11), background='gray40').pack(side=LEFT)
self.shoulder_azimuth = numericValidator.NumericEntry(shoulder_az, width=10, font=('verdana', 11, 'bold'),background='gray70',)
self.shoulder_azimuth.pack(side=LEFT)
shoulder_pivot = Frame(joint_angles_frame, relief=FLAT, background='gray40')
shoulder_pivot.pack()
Label(shoulder_pivot, text='Shoulder Pivot: ', font=('verdana', 11), background='gray40').pack(side=LEFT)
self.shoulder_pivot = numericValidator.NumericEntry(shoulder_pivot,width=10, font=('verdana', 11, 'bold'),background='gray70',)
self.shoulder_pivot.pack(side=LEFT)
elbow_p = Frame(joint_angles_frame, relief=FLAT, background='gray40')
elbow_p.pack()
Label(elbow_p, text='Elbow Pivot: ', font=('verdana', 11), background='gray40').pack(side=LEFT)
self.elbow_pivot = numericValidator.NumericEntry(elbow_p,width=10, font=('verdana', 11, 'bold'),background='gray70')
self.elbow_pivot.pack(side=LEFT)
wrist_p = Frame(joint_angles_frame, relief=FLAT, background='gray40')
wrist_p.pack()
Label(wrist_p, text='Wrist Pitch: ', font=('verdana', 11), background='gray40').pack(side=LEFT)
self.wrist_pivot = numericValidator.NumericEntry(wrist_p, width=10, font=('verdana', 11, 'bold'),background='gray70')
self.wrist_pivot.pack(side=LEFT)
joint_angles_frame.pack(side=TOP)
# pick_x.component('entry').focus_set()
# ===================================END================================================================
# ===================================placing coordinates frame======================================
self.place_group = LabelFrame(leftFrame, text='Place Position',font=('arial', 11, 'bold'), background='gray40')
self.place_group.pack(anchor=W)
Label(self.place_group, font=('verdana', 11), text="Enter coordinates of the desired position of gripper center", background='gray40').pack()
# picking position coordinates entry frame
place_entry_frame = Frame(self.place_group, relief=FLAT)
place_x_coords = Frame(place_entry_frame, relief=FLAT, background='gray40')
place_x_coords.pack()
place_x_label = Label(place_x_coords, text='x: ', font=('verdana', 11), background='gray40')
self.place_x = numericValidator.NumericEntry(place_x_coords, font=('verdana', 11, 'bold'),background='gray70', width=10)
place_x_label.pack(side=LEFT)
self.place_x.pack(side=LEFT)
place_y_coords = Frame(place_entry_frame, relief=FLAT, background='gray40')
place_y_coords.pack()
place_y_label = Label(place_y_coords, text='y: ', font=('verdana', 11), background='gray40')
self.place_y = numericValidator.NumericEntry(place_y_coords,font=('verdana', 11, 'bold'),background='gray70', width=10)
place_y_label.pack(side=LEFT)
self.place_y.pack(side=LEFT)
place_z_coords = Frame(place_entry_frame, relief=FLAT, background='gray40')
place_z_coords.pack()
place_z_label = Label(place_z_coords, text='z: ', font=('verdana', 11), background='gray40')
self.place_z = numericValidator.NumericEntry(place_z_coords, font=('verdana', 11, 'bold'),background='gray70', width=10)
place_z_label.pack(side=LEFT)
self.place_z.pack(side=LEFT)
# Inverse Kinematics computing button
self.place_ik = Button(self.place_group, text="Compute IK", borderwidth=1, font=('verdana', 11, 'bold'), relief=SOLID,
background='gray10', fg='orange')
place_entry_frame.pack()
self.place_ik.pack(pady=5)
# pick position joint angles
Label(self.place_group, font=('verdana', 11), text="Joint Angles (deg)", background='gray40').pack(pady=5)
place_joint_angles = Frame(self.place_group, relief=FLAT, background='gray40')
shoulder_az = Frame(place_joint_angles, relief=FLAT, background='gray40')
shoulder_az.pack()
Label(shoulder_az, text='Shoulder Azimuth:', font=('verdana', 11), background='gray40').pack(side=LEFT)
self.shoulder_azimuth = numericValidator.NumericEntry(shoulder_az, width=10, font=('verdana', 11, 'bold'),background='gray70',)
self.shoulder_azimuth.pack(side=LEFT)
shoulder_pivot = Frame(place_joint_angles, relief=FLAT, background='gray40')
shoulder_pivot.pack()
Label(shoulder_pivot, text='Shoulder Pivot: ', font=('verdana', 11), background='gray40').pack(side=LEFT)
self.shoulder_pivot = numericValidator.NumericEntry(shoulder_pivot, width=10, font=('verdana', 11, 'bold'),background='gray70',)
self.shoulder_pivot.pack(side=LEFT)
elbow_p = Frame(place_joint_angles, relief=FLAT, background='gray40')
elbow_p.pack()
Label(elbow_p, text='Elbow Pivot: ', font=('verdana', 11), background='gray40').pack(side=LEFT)
self.elbow_pivot = numericValidator.NumericEntry(elbow_p, width=10, font=('verdana', 11, 'bold'),background='gray70',)
self.elbow_pivot.pack(side=LEFT)
wrist_p = Frame(place_joint_angles, relief=FLAT, background='gray40')
wrist_p.pack()
Label(wrist_p, text='Wrist Pitch: ', font=('verdana', 11), background='gray40').pack(side=LEFT)
self.wrist_pivot = numericValidator.NumericEntry(wrist_p, width=10, font=('verdana', 11, 'bold'),background='gray70',)
self.wrist_pivot.pack(side=LEFT)
place_joint_angles.pack(side=TOP)
# ===================================END====================================================================
# ===================================Operation Buttons======================================================
operations = Frame(leftFrame, relief=FLAT, background='gray40')
operations.pack(side=LEFT, anchor=W, fill=Y)
#===============================OPERATION BUTTONS================================================
# Load Button
self.load_parameters = Button(operations, text=' UPLOAD ', font=('lucida', 11, 'bold'), fg='red', width = 11, background='gray60', command=self.load_to_console)
self.load_parameters.pack(padx=4,pady=10, side=LEFT)
# run button
self.btnRun = Button(operations, text='RUN ', font=('lucida', 11, 'bold'), fg='red', width = 10, background='gray60',command=self.run)
self.btnRun.pack(padx=4,pady=10, side=LEFT)
self.btnStop = Button(operations, text='STOP', font=('lucida', 11, 'bold'), fg='red', width=10, background='gray60',command=self.stop)
self.btnStop.pack(padx=4,pady=10, side=LEFT)
self.btnExit = Button(operations, text='EXIT', font=('lucida', 11, 'bold'), fg='red', width=10, background='gray60',command=self.exit)
self.btnExit.pack(padx=4,pady=10, side=LEFT)
# =================================END========================================================================
# ==================================No of objects to be picked================================================
parametersFrame = LabelFrame(self.centerFrame, background='gray40', text='Operation Parameters', font=('arial', 11, 'bold'))
parametersFrame.pack(side=TOP)
objects = Frame(parametersFrame, background='gray40')
objectsLabel = Label(objects, text='No. of Objects: ', font=('verdana', 11), background='gray40')
self.objectsEntry = numericValidator.NumericEntry(objects, background='gray70', font=('verdana', 11, 'bold'), width=20)
objectsLabel.pack(side=LEFT)
self.objectsEntry.pack(side=LEFT, pady=4)
objects.pack(side=TOP)
servoFrame = Frame(parametersFrame, background='gray40')
servoLabel = Label(servoFrame, text="Servo Speed: ", font=('verdana', 11), background='gray40')
# servoEntry = Entry(servoFrame, background='gray70', width=10)
self.servoEntry = Pmw.Counter(servoFrame,
entry_width=30,
entryfield_value='12.5',
datatype={'counter':'real', 'separator':'.'},
entryfield_validate={'validator':'real', 'min':0.0, 'max':15.0, 'separator':'.'},
increment=.2,
)
servoLabel.pack(side=LEFT)
self.servoEntry.pack(side=LEFT, fill=Y, pady=4)
servoFrame.pack(side=LEFT)
# ==================================END======================================================================
# status bar
sbar = Frame(overall, relief=SUNKEN, background='gray40')
self.statusbar = Label(sbar, text='Status:', bd=1, anchor=W, font=('consolas', 13, 'bold'))
self.statusbar.configure(background='gray40', fg='lawngreen')
self.cstat = Label(sbar, text='...', fg='lawngreen', background='gray40', font=('consolas', 13, 'bold'))
self.statusbar.pack(anchor=W, side=LEFT)
self.cstat.pack(anchor=W, side=LEFT)
sbar.pack(fill=X)
jaw_label = Label(self.centerFrame, text='Set Jaw width(mm)', font=('verdana', 10, 'bold'), background='gray40')
jaw_label.pack(anchor=CENTER)
# CREATE THE JAW WIDTH SLIDER
self.slider_var = DoubleVar()
self.scaler = Scale(self.centerFrame,
variable=self.slider_var,
orient=HORIZONTAL,
from_=0,
to=90,
tickinterval=0.2,
sliderlength=4,
relief=FLAT,
length=355,
fg='steelblue',
bg='gray40',
activebackground='brown',
font=('consolas', 11, 'bold')
)
self.scaler.pack(anchor=CENTER)
# ==================System info==============================================
# Show the robot arm image
simulator = LabelFrame(self.centerFrame, text='System Information', font=('arial', 11, 'bold'), height=700)
simulator.pack(side=TOP, fill=Y, anchor=W)
simulator.configure(background='gray40')
# environment_parameters = LabelFrame(simulator, text='<<<Loaded Parameters:>', font=('consolas', 11))
# environment_parameters.configure(background='gray40', fg='black')
# environment_parameters.pack(side=TOP)
tFrame = Frame(simulator, relief=FLAT)
Label(tFrame, text='Modified: ', fg='black', background='gray40', font=('consolas', 11)).pack(side=LEFT)
self.ctime = Label(tFrame, text='_', fg='black', background='gray40', font=('consolas', 11))
self.ctime.pack(anchor=W)
tFrame.pack(anchor=W)
filler = Label(simulator, text='============================================', background='gray40',
fg='black')
filler.pack()
username = Frame(simulator, relief=FLAT)
Label(username, text='Current User :', fg='black', background='gray40', font=('consolas', 11)).pack(side=LEFT)
self.uname = Label(username, text='e5430', background='gray40', fg='black', font=('consolas', 11))
self.uname.pack(anchor=W)
username.pack(anchor=W)
operatinSys = Frame(simulator, relief=FLAT)
Label(operatinSys, text='OS :', fg='black', background='gray40', font=('consolas', 11)).pack(side=LEFT)
self.operatingsys = Label(operatinSys, text='_', background='gray40', fg='black', font=('consolas', 11))
self.operatingsys.pack(anchor=W)
operatinSys.pack(anchor=W)
controller = Frame(simulator, relief=FLAT)
Label(controller, text='Microcontroller :', fg='black', background='gray40', font=('consolas', 11)).pack(
side=LEFT)
self.control = Label(controller, text='Arduino UNO ATMEGA328P', background='gray40', fg='black',
font=('consolas', 11))
self.control.pack(anchor=W)
controller.pack(anchor=W)
configuration = Frame(simulator, relief=FLAT)
Label(configuration, text='DoF :', fg='black', background='gray40', font=('consolas', 11)).pack(side=LEFT)
self.config = Label(configuration, text='6', background='gray40', fg='black', font=('consolas', 11))
self.config.pack(anchor=W)
configuration.pack(anchor=W)
run = Frame(simulator, relief=FLAT)
Label(run, text='Run mode:', fg='black', background='gray40', font=('consolas', 11)).pack(side=LEFT)
self.run_mode = Label(run, text='_', background='gray40', fg='black', font=('consolas', 11))
self.run_mode.pack(anchor=W)
run.pack(anchor=W)
coords = Frame(simulator, relief=FLAT)
Label(coords, text='Pick coordinates : ', fg='black', background='gray40', font=('consolas', 11)).pack(
side=LEFT)
self.pick_coords = Label(coords, text='_', background='gray40', fg='black', font=('consolas', 11))
self.pick_coords.pack(anchor=W)
coords.pack(anchor=W)
pcoords = Frame(simulator, relief=FLAT)
Label(pcoords, text='Place Coordinates : ', fg='black', background='gray40', font=('consolas', 11)).pack(
side=LEFT)
self.place_coords = Label(pcoords, text='_', background='gray40', fg='black', font=('consolas', 11))
self.place_coords.pack(anchor=W)
pcoords.pack(anchor=W)
speed = Frame(simulator, relief=FLAT)
Label(speed, text='Servo speed : ', fg='black', background='gray40', font=('consolas', 11)).pack(side=LEFT)
self.servo_speed = Label(speed, text='_', background='gray40', fg='black', font=('consolas', 11))
self.servo_speed.pack(anchor=W)
speed.pack(anchor=W)
objs = Frame(simulator, relief=FLAT)
Label(objs, text='Objects : ', fg='black', background='gray40', font=('consolas', 11)).pack(side=LEFT)
self.object = Label(objs, text='_', background='gray40', fg='black', font=('consolas', 11))
self.object.pack(anchor=W)
objs.pack(anchor=W)
grip = Frame(simulator, relief=FLAT)
Label(grip, text='Gripper width : ', fg='black', background='gray40', font=('consolas', 11)).pack(side=LEFT)
self.gripper_width = Label(grip, text='_', background='gray40', fg='black', font=('consolas', 11))
self.gripper_width.pack(anchor=W)
grip.pack(anchor=W)
# =====================END========================================================
# Serial port
self.centerLower = Frame(self.centerFrame, background='gray40')
self.centerLower.pack(side=TOP)
serialFrame = Frame(self.centerLower, background='gray40')
serialFrame.pack(fill=X, side=TOP)
serialLabel = Label(serialFrame, text='Serial Port: ', background='gray40', font=('verdana', 11))
serialLabel.pack(side=LEFT, anchor=W, fill=X)
self.ports=['COM13', 'COM17']
self.serialport = ttk.Combobox(serialFrame, font=('courier', 11),
values=['COM13', 'COM17'])
self.serialport.pack(side=LEFT)
self.serialport.current(0)
self.connect_status = Frame(self.centerLower, background='gray40')
self.connect_status.pack(side=BOTTOM)
self.connectLabel = Label(self.connect_status, text='', background='gray40', font=('verdana', 10, 'bold'))
self.connectLabel.pack(anchor=CENTER)
# =====================ANALOG GAUGES================================================
# subdividing the right frame
rightupper = LabelFrame(rightFrame, bg='gray40', text='Monitors', font=('verdana', 10, 'bold'))
rightupper.pack()
self.inputVoltage = tools.Gauge(rightupper,
width=180,
height=150,
min_value=0.0, max_value=5,
label='Volts-In',
unit='V',
bg='gray40',
yellow=100,
red=100,
red_low=80)
self.inputVoltage.set_value(4.5)
self.inputVoltage.grid(row=0, column=0)
self.motorOne = tools.Gauge(rightupper,
width=180,
height=150,
min_value=0.0, max_value=5,
label='M1',
unit='mW',
bg='gray40',
red_low=70,
yellow=100)
self.motorOne.set_value(4)
self.motorOne.grid(row=0, column=1)
self.motorTwo = tools.Gauge(rightupper,
width=180,
height=150,
min_value=0.0, max_value=5,
label='M2',
unit='mW',
bg='gray40',
red_low=70,
yellow=100)
self.motorTwo.set_value(4.5)
self.motorTwo.grid(row=0, column=2)
self.motorThree = tools.Gauge(rightupper,
width=180,
height=150,
min_value=0.0, max_value=5,
label='M3',
unit='mW',
bg='gray40',
red_low=70,
yellow=100)
self.motorThree.set_value(4.5)
self.motorThree.grid(row=1, column=0)
self.motorFour = tools.Gauge(rightupper,
width=180,
height=150,
min_value=0.0, max_value=5,
label='M4',
unit='mW',
bg='gray40',
red_low=70,
yellow=100)
self.motorFour.set_value(3)
self.motorFour.grid(row=1, column=1)
#
self.motorFive = tools.Gauge(rightupper,
width=180,
height=150,
min_value=0.0, max_value=5,
label='M5',
unit='mw',
bg='gray40',
red_low=70,
yellow=100)
self.motorFive.set_value(4.5)
self.motorFive.grid(row=1, column=2)
#
self.gripperMotor = tools.Gauge(rightupper,
width=180,
height=150,
min_value=0.0, max_value=5,
label='Gmotor',
unit='mW',
bg='gray40',
red_low=70,
yellow=100)
self.gripperMotor.set_value(4.5)
self.gripperMotor.grid(row=2, column=0)
self.gripperForce = tools.Gauge(rightupper,
width=180,
height=150,
min_value=0.0, max_value=5,
label='GrForce',
unit='mN',
bg='gray40',
red_low=70,
yellow=100)
self.gripperForce.set_value(4.5)
self.gripperForce.grid(row=2, column=1)
self.proximitySensor = tools.Gauge(rightupper,
width=180,
height=150,
min_value=0.0, max_value=5,
label='Contact',
unit='mm',
bg='gray40',
yellow=100,
red=100)
self.proximitySensor.set_value(4.5)
self.proximitySensor.grid(row=2, column=2)
# ===============================END================================================
# ============================GRIPPER FORCE GRAPH====================================
rightLower = LabelFrame(rightFrame, bg='gray40', text='Gripper Force', font=('verdana', 10, 'bold'))
rightLower.pack(fill=X)
figure = Figure(figsize=(4.5, 2.5), dpi=100)
figure.tight_layout(h_pad=5)
subplot = figure.add_subplot(111)
# subplot.set_xlabel('Time(s)')
subplot.set_ylabel('Force(N)')
subplot.plot([1,2,3,4,5,6,7,8], [5,6,7,5,6,1,2,3], color='orange')
graphcanvas = FigureCanvasTkAgg(figure, rightLower)
graphcanvas.draw()
graphcanvas.get_tk_widget().pack(fill=X)
# =================================END===============================================
def check_current_mode(self):
"""call respective functions for the selected robot operation mode"""
# update status bar
print(self.mode_var.get())
def console_mode(self):
"""Display the current mode of operation"""
rmode = self.mode_var.get()
mode = 'ERROR'
if rmode == 1:
mode = 'Manual...'
elif rmode == 2:
mode = 'Intelligent...'
elif rmode == 3:
mode = 'Remote...'
return mode
def load_to_console(self):
"""Console display configurations"""
now = datetime.now()
current_time = now.strftime("%H:%M:%S")
current_time = str(current_time)
self.ctime.config(text=current_time)
user = os.getlogin()
self.uname.config(text=user)
opsys = sys.platform
self.operatingsys.config(text=opsys)
all_coordinates = self.get_all_coordinates()
# get the operation coordinates
self.get_all_coordinates()
self.pick_coords.config(text=all_coordinates[0])
self.place_coords.config(text=all_coordinates[1])
self.servo_speed.config(text=str(self.get_servo_speed()))
self.object.config(text=str(self.get_no_of_objects()))
self.run_mode.config(text=str(self.console_mode()))
# create connection with the Arduino board
self.connect_status = ArduinoConnection.create_arduino_connection(self.get_port())
# check the connection status
if self.connect_status is True:
self.conn_status = 'Connection successful'
# create label to display the status
self.connectLabel.config(text=self.conn_status, fg='green')
else:
self.conn_status = 'Connection failed. Please try again.'
self.connectLabel.config(text=self.conn_status, fg='red')
def get_port(self):
"""Fetch the serial port chosen"""
return self.serialport.get()
def get_all_coordinates(self):
"""Get all coordinates => Pick and place
(pick), (place)
(x, y, z), (x, y, z)
"""
return [(self.x.get(),self.y.get(),self.z.get()), (self.place_x.get(), self.place_y.get(), self.place_z.get())]
def get_servo_speed(self):
s = self.servoEntry.getvalue()
return s
def get_no_of_objects(self):
o = self.objectsEntry.get()
return o
def run(self):
"""Run the arm"""
#update status bar
self.cstat.config(text='RUNNING...')
def stop(self):
pass
def exit(self):
self.parent.destroy()
if __name__ == "__main__":
root = Tk()
Pmw.initialise()
LoginForm(root)
root.mainloop()