def create_voices(self):
voice_ids = ['1', '2', '3', '4']
SCALES = OrderedDict([
('pan_pos', {'min': -1, 'max': 1, 'start': 0.5, 'res': 0.001}),
('volume', {'min': 0, 'max': 1, 'start': 0.666, 'res': 0.001}),
('slide_duration_msecs', {'min': 0, 'max': 2000, 'start': 60, 'res': 1}),
('slide_duration_prop', {'min': 0, 'max': 2, 'start': 0.666, 'res': 0.001}),
('binaural_diff', {'min': 0, 'max': 66, 'start': 0.2, 'res': 0.01})
])
for vid in voice_ids:
counter = 0
for sca in SCALES:
name = 'voice_' + vid + '_' + sca
setattr(self, 'min_' + name, SCALES[sca]['min'])
setattr(self, 'max_' + name, SCALES[sca]['max'])
this_sca = Scale(self, label=sca, orient=HORIZONTAL,
from_=getattr(self, 'min_' + name),
to=getattr(self, 'max_' + name),
resolution=SCALES[sca]['res'])
this_sca.enable = ('enable' in SCALES[sca].keys() and
SCALES[sca]['enable'] or None)
this_sca.disable = ('disable' in SCALES[sca].keys() and
SCALES[sca]['disable'] or None)
this_sca.grid(column=int(2 + int(vid)), row=counter, sticky=E + W)
this_sca.bind("<ButtonRelease>", self.scale_handler)
this_sca.ref = name
counter += 1
CHECK_BUTTONS = OrderedDict(
[('mute', False),
('automate_binaural_diffs', True),
('automate_note_duration_prop', True),
('use_proportional_slide_duration', {'val': True, 'label': 'proportional slide'}),
('automate_pan', True),
('automate_wavetables', True)])
for vid in voice_ids:
counter = 0
cb_frame = LabelFrame(self, text="Voice {0} - Automation".format(vid))
setattr(self, 'voice_' + vid + '_cb_frame', cb_frame)
for cb in CHECK_BUTTONS:
options = CHECK_BUTTONS[cb]
name = 'voice_' + vid + '_' + cb
label = (options['label'] if isinstance(options, dict) and
'label' in options.keys() else
(cb[9:] if cb[:9] == 'automate_' else cb))
setattr(self, name, IntVar(value=type(options) == dict and options['val'] or options))
self.this_cb = Checkbutton(cb_frame, text=label, variable=getattr(self, name))
self.this_cb.bind('<Button-1>', self.check_boxes_handler)
self.this_cb.disable = None
self.this_cb.grid(sticky=W, column=0, row=counter)
self.this_cb.ref = name
counter += 1
# add trigger wavetable-button
trigWavetableButton = Button(cb_frame, text='Next Wavetable')
trigWavetableButton.bind('<Button-1>', self.trigger_waveform_handler)
trigWavetableButton.ref = 'voice_' + vid + "_trigger_wavetable"
trigWavetableButton.grid(row=counter)
cb_frame.grid(column=int(vid) + 2, row=5, sticky=E + W + N, rowspan=8)
for vid in voice_ids:
generation_types = ["random", "random_harmonic", "harmonic"]
partial_pools = ["even", "odd", "all"]
prefix = 'voice_' + vid + '_'
types_name = prefix + 'wavetable_generation_type'
pools_name = prefix + 'partial_pool'
setattr(self, types_name, StringVar())
getattr(self, types_name).set("random")
setattr(self, pools_name, StringVar())
getattr(self, pools_name).set("all")
target_frame = getattr(self, 'voice_' + vid + '_cb_frame')
gen_typ_frame = LabelFrame(target_frame, text="type")
gen_typ_frame.grid(row=len(target_frame.winfo_children()), sticky=W)
for gen_t in generation_types:
gen_t_entry = Radiobutton(gen_typ_frame, value=gen_t, text=gen_t, anchor=W,
variable=getattr(self, types_name))
gen_t_entry.bind('<ButtonRelease-1>', self.wt_handler)
gen_t_entry.ref = types_name
gen_t_entry.grid(row=len(gen_typ_frame.winfo_children()), sticky=W)
pp_frame = LabelFrame(target_frame, text="harmonics")
for pp in partial_pools:
pp_entry = Radiobutton(pp_frame, value=pp, text=pp, anchor=W,
variable=getattr(self, pools_name))
pp_entry.bind('<ButtonRelease-1>', self.wt_handler)
pp_entry.ref = pools_name
pp_entry.grid(row=len(pp_frame.winfo_children()), sticky=E + W)
this_num_partials = Scale(pp_frame, label='number of harmonics', orient=HORIZONTAL,
from_=1, to=24, resolution=1)
this_num_partials.ref = prefix + 'num_partials'
this_num_partials.grid(column=0, row=len(pp_frame.winfo_children()), sticky=E + W)
this_num_partials.bind("<ButtonRelease>", self.scale_handler)
pp_frame.grid(row=len(target_frame.winfo_children()), sticky=E + W)
def create_monitor(self):
self.monitor_frame = LabelFrame(self, text="Monitor and Transport")
this_cycle = Scale(self.monitor_frame, label='cycle_pos', orient=HORIZONTAL,
from_=1, to=16, resolution=1)
this_cycle.disable, this_cycle.enable = (None, None)
this_cycle.ref = 'cycle_pos'
this_cycle.grid(column=0, row=0, sticky=E + W)
self.updateButton = Button(self.monitor_frame,
text='Reload all Settings',
command=self.request_update)
self.updateButton.grid(row=1, sticky=E + W)
self.ForceCaesuraButton = Button(self.monitor_frame,
text='Force Caesura',
command=self.force_caesura)
self.ForceCaesuraButton.grid(row=2, sticky=E + W)
self.saveBehaviourButton = Button(self.monitor_frame,
text='Save current behaviour',
command=self.request_saving_behaviour)
self.saveBehaviourButton.grid(row=3, sticky=E + W)
self.saveBehaviourNameEntry = Entry(self.monitor_frame)
self.saveBehaviourNameEntry.grid(row=4, sticky=E + W)
self.saveBehaviourNameEntry.bind('<KeyRelease>', self.request_saving_behaviour)
self.selected_behaviour = StringVar()
self.selected_behaviour.trace('w', self.new_behaviour_chosen)
self.savedBehavioursMenu = OptionMenu(self.monitor_frame,
self.selected_behaviour, None,)
self.savedBehavioursMenu.grid(row=5, sticky=E + W)
self.monitor_frame.grid(column=0, row=10, sticky=E + W)
class JoystickFrame(LabelFrame):
def __init__(self, master, tracker, text="Joystick", **options):
LabelFrame.__init__(self, master, text=text, **options)
self.tracker = tracker
self.width = 400
self.height = 400
self.canvas = Canvas(self, height=self.height, width=self.width)
self.canvas.grid()
self.canvas.create_oval((self.width/2 - 3, self.height/2 - 3,
self.width/2 + 3, self.height/2 + 3))
self.canvas.bind("<Button-1>",
bg_caller(lambda event: self.move_tracker(event)))
self.canvas.bind("<Motion>", self.update_label)
self.motion_label = Label(self, text="",
font=tkFont.Font(family="Courier"))
self.motion_label.grid()
f = LabelFrame(self, text="Sensitivity")
self.sensitivity_scale = Scale(f, from_=0, to=10,
resolution=0.01,
orient=HORIZONTAL,
length=self.width)
self.sensitivity_scale.set(5)
self.sensitivity_scale.grid()
f.grid()
@property
def sensitivity(self):
return self.sensitivity_scale.get() / 2000.
def get_delta(self, event):
dx = event.x - int(self.canvas['width'])/2.
dy = event.y - int(self.canvas['height'])/2.
dx_rad = dx*self.sensitivity
dy_rad = dy*self.sensitivity
dtheta = dy_rad
dphi = -dx_rad
return (dtheta, dphi)
def update_label(self, event):
dtheta, dphi = self.get_delta(event)
self.motion_label.configure(text="<{:8.5f}, {:8.5f}>".format(dtheta,
dphi))
def move_tracker(self, event):
dtheta, dphi = self.get_delta(event)
self.tracker.move(0, dtheta, dphi)
logger.info("Moved tracker by ({}, {})".format(dtheta, dphi))
def draw_game_info_grid(self):
'''
Draw control and inform part of game to right side of the window.
'''
self.info = Canvas(self.root, height=self.h - self.gridh, width=self.w - self.gridw)
self.info.pack(side="left")
label_stones = Label(self.info, text="Current stones:", font=("Helvetica", 10))
label_stones.grid(row=1, column=0)
label_max_time = Label(self.info, text="Max time:", font=("Helvetica", 10))
label_max_time.grid(row=2, column=0)
label_scale = Label(self.info, text='Game speed [ms]:', font=("Helvetica", 10), foreground='black')
label_scale.grid(row=5, column=0)
helv36 = font.Font(family="helvetica", size=16, weight='bold')
self.scale_var = IntVar()
scale = Scale(self.info, variable=self.scale_var, command=self.sleep_time_change_handler, from_=0, to=1000, resolution=10, width="15", orient=HORIZONTAL, length="225")
scale.set(200)
scale.grid(row=5, column=1, columnspan=3)
self.button = Button(self.info, text="Play", width="20", height="2", command=self.play_button_click_handler)
self.button['font'] = helv36
self.button.grid(row=6, column=0, columnspan=4)
# labels for num stones, max time of move, etc
self.label_player_stones = [-1, -1]
self.label_player_max_time = [-1, -1]
self.labels_inform = [-1, -1]
self.labels_player_name = [-1, -1]
self.option_menus = [-1, -1]
self.option_menus_vars = [-1, -1]
for i in range(2):
self.label_player_stones[i] = Label(self.info, text='2', font=("Helvetica", 10), foreground=self.colors[i])
self.label_player_stones[i].grid(row=1, column=2 * (i + 1) - 1, columnspan=2)
self.label_player_max_time[i] = Label(self.info, text="%.2f [ms]" % 0.0, font=("Helvetica", 10), foreground=self.colors[i])
self.label_player_max_time[i].grid(row=2, column=2 * (i + 1) - 1, columnspan=2)
self.labels_inform[i] = Label(self.info, text='', font=("Helvetica", 10), foreground='black')
self.labels_inform[i].grid(row=i + 3, column=0, columnspan=4)
self.labels_player_name[i] = Label(self.info, text="Player%d:" % (i), font=("Helvetica", 12), foreground=self.colors[i])
self.labels_player_name[i].grid(row=0, column=2 * i)
self.option_menus_vars[i] = StringVar(self.root)
self.option_menus_vars[i].set(self.interractivePlayerName)
self.option_menus[i] = OptionMenu(self.info, self.option_menus_vars[i], *self.possiblePlayers)
self.option_menus[i].grid(row=0, column=2 * i + 1)
class Screen(Observer):
def __init__(self, parent, model_x, model_y, bg="white"):
self.canvas = Canvas(parent, bg=bg)
self.model_x = model_x
self.model_y = model_y
print("parent", parent.cget("width"), parent.cget("height"))
self.showX = True
self.showY = True
self.frame = Frame(parent)
# Signal X
self.magnitude_x = Scale(self.frame,
length=250,
orient="horizontal",
name="m_x",
label="Magnitude X",
sliderlength=20,
showvalue=0,
from_=0,
to=5,
tickinterval=25)
self.frequency_x = Scale(self.frame,
length=250,
orient="horizontal",
name="f_x",
label="Frequency X",
sliderlength=20,
showvalue=0,
from_=0,
to=5,
tickinterval=25)
self.phase_x = Scale(self.frame,
length=250,
orient="horizontal",
name="p_x",
label="Phase X",
sliderlength=20,
showvalue=0,
from_=0,
to=5,
tickinterval=25)
# Signal Y
self.magnitude_y = Scale(self.frame,
length=250,
orient="horizontal",
name="m_y",
label="Magnitude Y",
sliderlength=20,
showvalue=0,
from_=0,
to=5,
tickinterval=25)
self.frequency_y = Scale(self.frame,
length=250,
orient="horizontal",
name="f_y",
label="Frequency Y",
sliderlength=20,
showvalue=0,
from_=0,
to=5,
tickinterval=25)
self.phase_y = Scale(self.frame,
length=250,
orient="horizontal",
name="p_y",
label="Phase Y",
sliderlength=20,
showvalue=0,
from_=0,
to=5,
tickinterval=25)
self.frame2 = Frame(parent, bg="black")
self.varX = IntVar()
self.varY = IntVar()
self.varXY = IntVar()
self.lbl = Label(self.frame2, text="Courbes", fg="black")
# Boutons de sélection (X, Y ou X-Y)
self.caseX = Checkbutton(self.frame2,
text="X",
variable=self.varX,
command=self.getX)
self.caseY = Checkbutton(self.frame2,
text="Y",
variable=self.varY,
command=self.getY)
self.caseXY = Checkbutton(self.frame2,
text="XY",
variable=self.varXY,
command=self.getXY)
self.caseXY.select()
self.wi = self.canvas.cget("width")
self.hi = self.canvas.cget("height")
self.stepx = 0
self.stepy = 0
# Step x
self.step_x = Entry(parent, name="x")
# Step y
self.step_y = Entry(parent, name="y")
def update(self, model):
print("View update")
if model.getId() == 0:
signal = model.get_signal()
self.plot_signal(signal)
elif model.getId() == 1:
signal = model.get_signal()
self.plot_signal(signal, "blue")
else:
raise ("Error")
# Signal X
def get_magnitude(self, whichOne):
if whichOne == 0:
return self.magnitude_x
elif whichOne == 1:
return self.magnitude_y
else:
raise ("Error")
def get_frequency(self, whichOne):
if whichOne == 0:
return self.frequency_x
elif whichOne == 1:
return self.frequency_y
else:
raise ("Error")
def get_phase(self, whichOne):
if whichOne == 0:
return self.phase_x
elif whichOne == 1:
return self.phase_y
else:
raise ("Error")
def get_step_x(self):
return self.step_x
def get_step_y(self):
return self.step_y
def getX(self):
print("update_X(self,event)")
self.caseY.deselect()
self.caseXY.deselect()
self.showX = True
self.showY = False
self.update(self.model_x)
if self.canvas.find_withtag("signal_y"):
self.canvas.delete("signal_y")
def getY(self):
print("update_Y(self,event)")
self.caseX.deselect()
self.caseXY.deselect()
self.showX = False
self.showY = True
self.update(self.model_y)
if self.canvas.find_withtag("signal_x"):
self.canvas.delete("signal_x")
def getXY(self):
print("update_XY(self,event)")
self.caseX.deselect()
self.caseY.deselect()
self.showX = True
self.showY = True
self.update(self.model_x)
self.update(self.model_y)
def plot_signal(self, signal, color="red"):
w, h = self.wi, self.hi
width, height = int(w), int(h)
if color == "red" and self.showX == True:
if self.canvas.find_withtag("signal_x"):
self.canvas.delete("signal_x")
if signal and len(signal) > 1:
plot = [(x * width, height / 2.0 * (y + 1))
for (x, y) in signal]
signal_id = self.canvas.create_line(plot,
fill=color,
smooth=1,
width=3,
tags="signal_x")
elif color == "blue" and self.showY == True:
if self.canvas.find_withtag("signal_y"):
self.canvas.delete("signal_y")
if signal and len(signal) > 1:
plot = [(x * width, height / 2.0 * (y + 1))
for (x, y) in signal]
signal_id = self.canvas.create_line(plot,
fill=color,
smooth=1,
width=3,
tags="signal_y")
def grid(self, step_x, step_y):
w, h = self.wi, self.hi
width, height = int(w), int(h)
self.stepx = (width - 10) / step_x * 1.
self.stepy = (height - 10) / step_y * 1.
for t in range(1, step_x + 2):
x = t * self.stepx
self.canvas.create_line(x, 0, x, height, tags="grid")
#self.canvas.create_line(x,height/2-4,x,height/2+4)
for t in range(1, step_y + 2):
y = t * self.stepy
self.canvas.create_line(0, y, width, y, tags="grid")
#self.canvas.create_line(width/2-4,y,width/2+4,y)
def resize(self, event):
if event:
self.wi = event.width
self.hi = event.height
self.canvas.delete("grid")
self.plot_signal(self.model_x.get_signal())
self.plot_signal(self.model_y.get_signal(), "blue")
self.grid(25, 25)
def packing(self):
self.canvas.pack(fill="both", expand=1)
self.step_x.pack(expand=1, fill="both")
self.step_y.pack(expand=1, fill="both")
self.frame.pack(expand=1, fill="both")
self.magnitude_x.grid(row=0, column=0)
self.magnitude_y.grid(row=0, column=1)
self.frequency_x.grid(row=1, column=0)
self.frequency_y.grid(row=1, column=1)
self.phase_x.grid(row=2, column=0)
self.phase_y.grid(row=2, column=1)
self.frame2.pack(side="bottom", expand=1)
self.lbl.grid(row=0, column=0)
self.caseX.grid(row=0, column=1)
self.caseY.grid(row=0, column=2)
self.caseXY.grid(row=0, column=3)
class ObjectDialog(Dialog):
"""
A custom dialog that allows the user to configure placing objects in the virtual environment
"""
def __init__(self, parent, x=None, y=None, populator=None):
"""
Construct the instance of the object dialog
:param parent: The parent tk instance that spawns the dialog
"""
self._entries = {
"x_coordinate" : None,
"y_coordinate" : None,
"name" : None,
"mesh" : None,
"scale" : None
}
self._scale_text = StringVar()
self._scale_text.set(str(1))
Dialog.__init__(self, parent, "ObjectBuilder", True, x, y, populator)
def body(self, parent):
"""
Define the custom body of the dialog
:param parent: The parent instance of the dialog
"""
# Define the labels of all of the sub widgets that are to be used
Label(parent, text="Name:").grid(row=0, column=0, sticky=W)
Label(parent, text="X-Coord:").grid(row=1, column=0, sticky=W)
Label(parent, text="Y-Coord:").grid(row=1, column=2, sticky=W)
Label(parent, text="Mesh:").grid(row=2, column=0, sticky=W)
Label(parent, text="Scale:").grid(row=3, column=0, sticky=W)
Label(parent, textvariable=self._scale_text, bg="grey").grid(row=3, column=1, sticky=W)
#Define the text entry widgets
self._object_name = Label(parent, text=self._entries["name"])
self._object_name.grid(column=1, row=0, sticky=W)
self._x_coord = Label(parent, text=self._entries["x_coordinate"])
self._x_coord.grid(column=1, row=1, sticky=W)
self._y_coord = Label(parent, text=self._entries["y_coordinate"])
self._y_coord.grid(column=3, row=1, stick=W)
self._mesh = Entry(parent, width=15, text=self._entries["mesh"])
if self._entries["mesh"] is None:
self._mesh.insert(0, "No mesh loaded")
else:
self._mesh.insert(0, self._entries["mesh"])
self._mesh.grid(column=1, row=2, columnspan=2, sticky=W)
Button(parent, text="Load", width=5, command=self._load_mesh, default=ACTIVE).grid(column=3, row=2)
self._scale = Scale(parent, from_=1, to=100, orient=HORIZONTAL, length=140, variable=self._scale_text, showvalue=0)
if self._entries["scale"] is not None:
self._scale.set(self._entries["scale"])
self._scale_text.set(str(self._entries["scale"]))
self._scale.grid(row=3, column=2, columnspan=2, sticky=W)
def validate(self):
(result, message) = DataValidator.validate(DataStore.EVENT.OBJECT_EDIT,
{
"name" : self._entries["name"],
"mesh" : self._mesh.get()
})
if result is not True:
tkMessageBox.showerror("Input Error", message)
return result
def apply(self):
self._entries["scale"] = self._scale.get()
self._entries["mesh"] = self._mesh.get()
def _load_mesh(self):
"""
Open a file dialog to load a mesh filepath
:return:
"""
Debug.printi("Load Mesh called", Debug.Level.INFO)
types = \
[
("DirectX", "*.x")
]
dialog = tkFileDialog.Open(self, filetypes=types)
file_path = dialog.show()
file_path = self._move_img(file_path)
self._mesh.delete(0, END)
self._mesh.insert(0, str(file_path))
Debug.printi("Mesh Filepath:" + file_path, Debug.Level.INFO)
def _move_img(self, file_path):
"""
Move the DirectX file to the Data folder automagically
:param file_path: The file path of the file to be moved
:return:
"""
try:
src = file_path
file_name = self._scrub_name(file_path)
dest = os.path.dirname(os.path.realpath(__file__)) + "/" + file_name
shutil.copy(src, dest)
Debug.printi("Moving file " + file_path + " to location "
+ os.path.dirname(os.path.realpath(__file__))
+ "/" + file_name, Debug.Level.INFO)
return file_name
# eg. src and dest are the same file
except shutil.Error as e:
print('Error: %s' % e + " " + dest)
return file_name
# eg. source or destination doesn't exist
except IOError as e:
print('Error: %s' % e.strerror + " " + dest)
return file_name
def _scrub_name(self, file_path):
"""
Scrubs the file name so taht it is /really/long/abs/path/fil.x
to
Data/file.x
"""
split = file_path.split("/")
f_name = "Data/" + split[-1]
return f_name
def populate(self, manager):
self._entries["x_coordinate"] = manager.x_coordinate
self._entries["y_coordinate"] = manager.y_coordinate
self._entries["name"] = manager.name
self._entries["mesh"] = manager.mesh
self._entries["scale"] = manager.scale
def auto_populate(self):
self._mesh.delete(0, END)
self._mesh.insert(0, Defaults.Object.MESH)
self._scale.set(Defaults.Object.SCALE)
class ToolBar(Frame):
def __init__(self, root, printer, settings, logger, *arg):
self.app = root
self.printer = printer
self.settings = settings
self.logger = logger
self.app.printing = False
self.app.connected = False
self.app.paused = False
Frame.__init__(self, root, *arg)
topBar = Frame(self)
topBar.grid(row=1, column=1, columnspan=3, sticky=W)
speedBar = Frame(self)
speedBar.grid(row=1, column=5, sticky=E)
bottomBar = Frame(self)
bottomBar.grid(row=2, column=1, columnspan=6, sticky=W+E)
self.bPort = Button(topBar, text="Port", width=BWIDTH, command=self.doPort)
self.bPort.pack(side=LEFT, padx=2, pady=2)
ports = self.scanSerial()
self.spPort = Spinbox(topBar, values=ports, state="readonly")
self.spPort.pack(side=LEFT, padx=2, pady=2)
l = Label(topBar, text=" @ ")
l.pack(side=LEFT, padx=2, pady=2)
self.spBaud = Spinbox(topBar, values=baudChoices)
self.spBaud.pack(side=LEFT, padx=2, pady=2)
self.spBaud.delete(0, END)
self.spBaud.insert(0, 115200)
self.spBaud.config(state="readonly")
self.bConnectMode = CM_CONNECT
self.bConnect = Button(topBar, text=connectText[CM_CONNECT], width=BWIDTH, command=self.doConnect)
self.bConnect.pack(side=LEFT, padx=2, pady=2)
if len(ports) == 0:
self.bConnect.config(state=DISABLED)
else:
self.bConnect.config(state=NORMAL)
self.bReset = Button(topBar, text="Reset", width=BWIDTH, command=self.doReset, state=DISABLED)
self.bReset.pack(side=LEFT, padx=2, pady=2)
l = Label(speedBar, text="Speed:", justify=RIGHT)
l.grid(row=1, column=1, sticky=E)
self._speedJob = None
self.currentSpeed = self.app.FeedMultiply
self.scSpeed = Scale(speedBar, from_=MINSPEED, to=MAXSPEED, orient=HORIZONTAL, command=self.updateSpeedCommand)
self.scSpeed.grid(row=1, column=2)
self.scSpeed.set(self.currentSpeed);
l = Label(speedBar, text="Fan:", width=10, anchor=E, justify=RIGHT)
l.grid(row=1, column=3, sticky=E)
self._fanJob = None
self.currentFanSpeed = self.app.FanSpeed
self.scFan = Scale(speedBar, from_=0, to=255, orient=HORIZONTAL, command=self.updateFanSpeedCommand)
self.scFan.grid(row=1, column=4)
self.scFan.set(self.currentFanSpeed);
if self.settings.speedcommand is not None:
self.cbvAssertFan = IntVar()
if self.settings.forcefanspeed:
self.cbvAssertFan.set(1)
else:
self.cbvAssertFan.set(0)
self.cbAssertFan = Checkbutton(speedBar, text="Force", variable=self.cbvAssertFan,
command=self.clickAssertFan)
self.cbAssertFan.grid(row=1, column=5)
self.bSliceMode = SM_SLICE
self.bSlice = Button(bottomBar, text=sliceText[SM_SLICE], width=BWIDTH*2, command=self.doSlice)
self.bSlice.pack(side=LEFT, padx=2, pady=2)
self.bLoad = Button(bottomBar, text="Load GCode", width=BWIDTH, command=self.doLoad)
self.bLoad.pack(side=LEFT, padx=2, pady=2)
self.setSliceText()
self.bSD = Button(bottomBar, text="SD", width=BWIDTH, command=self.doSD, state=DISABLED)
self.bSD.pack(side=LEFT, padx=2, pady=2)
self.bPrintMode = PR_PRINT
self.bPrint = Button(bottomBar, text=printText[PR_PRINT], width=BWIDTH, command=self.doPrint, state=DISABLED)
self.bPrint.pack(side=LEFT, padx=2, pady=2)
self.bPauseMode = PM_PAUSE
self.bPause = Button(bottomBar, text=pauseText[PM_PAUSE], width=BWIDTH, command=self.doPause, state=DISABLED)
self.bPause.pack(side=LEFT, padx=2, pady=2)
self.bAbandon = Button(bottomBar, text="Abandon SD Print", width=BWIDTH+8, command=self.doAbandon, state=DISABLED)
self.bAbandon.pack(side=LEFT, padx=2, pady=2)
self.cbvLiftOnPause = IntVar()
if self.settings.liftonpause:
self.cbvLiftOnPause.set(1)
else:
self.cbvLiftOnPause.set(0)
self.cbLiftOnPause = Checkbutton(bottomBar, text="Lift Head/Retract on Pause", variable=self.cbvLiftOnPause,
command=self.clickLiftOnPause)
self.cbLiftOnPause.pack(side=LEFT, padx=2)
self.cbvResumeAtPause = IntVar()
if self.settings.resumeatpausepoint:
self.cbvResumeAtPause.set(1)
else:
self.cbvResumeAtPause.set(0)
self.cbResumeAtPause = Checkbutton(bottomBar, text="Resume print at pause point", variable=self.cbvResumeAtPause,
command=self.clickResumeAtPause)
self.cbResumeAtPause.pack(side=LEFT, padx=2)
def clickAssertFan(self):
if self.cbvAssertFan.get() == 1:
self.settings.forcefanspeed = True
self.settings.setModified()
else:
self.settings.forcefanspeed = False
self.settings.setModified()
def clickLiftOnPause(self):
if self.cbvLiftOnPause.get() == 1:
self.settings.liftonpause = True
self.settings.setModified()
else:
self.settings.liftonpause = False
self.settings.setModified()
def clickResumeAtPause(self):
if self.cbvResumeAtPause.get() == 1:
self.settings.resumeatpausepoint = True
self.settings.setModified()
else:
self.settings.resumeatpausepoint = False
self.settings.setModified()
def setSliceText(self):
if self.settings.slicer == SLIC3R:
sl = "slic3r:%s" % self.app.slic3r.getProfile()
else:
sl = "skeinforge:%s" % self.app.skeinforge.getProfile()
sliceText[SM_SLICE] = "Slice (%s)" % sl
if self.bSliceMode == SM_SLICE:
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
lt = len(sliceText[SM_SLICE])+2
if lt < BWIDTH:
lt = BWIDTH
self.bSlice.config(text=sliceText[SM_SLICE], width=lt)
def updateSpeedCommand(self, *arg):
if self._speedJob:
self.app.master.after_cancel(self._speedJob)
self._speedJob = self.app.master.after(500, self.updateSpeed)
def updateSpeed(self, *arg):
v = self.scSpeed.get()
self.setSpeed(v)
def setSpeed(self, v):
if v < MINSPEED or v > MAXSPEED:
self.logger.logMsg("Attempt to change speed outside of allowable range (%d-%d)" % (MINSPEED, MAXSPEED))
elif int(v) != self.currentSpeed:
if self.app.connected:
self.currentSpeed = int(v)
self.logger.logMsg("changing speed percentage to %d%%" % self.currentSpeed)
cmd = "M220 S%d" % self.currentSpeed
self.printer.send_now(cmd)
else:
self.logger.logMsg("Printer is off-line")
self.scSpeed.set(self.currentSpeed)
def updateFanSpeedCommand(self, *arg):
if self._fanJob:
self.app.master.after_cancel(self._fanJob)
self._fanJob = self.app.master.after(500, self.updateFanSpeed)
def updateFanSpeed(self, *arg):
v = self.scFan.get()
self.setFanSpeed(v)
self.app.FanSpeed = v
def forceFanSpeed(self, v):
self.currentFanSpeed = -1
self.setFanSpeed(v)
def setFanSpeed(self, v):
if int(v) != self.currentFanSpeed:
if self.app.connected:
self.currentFanSpeed = int(v)
cmd = "M106 S%d" % self.currentFanSpeed
self.printer.send_now(cmd)
else:
self.logger.logMsg("Printer is off-line")
self.scFan.set(self.currentFanSpeed)
def syncSpeeds(self):
self.currentSpeed = self.app.FeedMultiply
self.scSpeed.set(self.currentSpeed)
self.currentFanSpeed = self.app.FanSpeed
self.scFan.set(self.currentFanSpeed)
def initializeToolbar(self):
self.bReset.config(state=DISABLED)
self.bSliceMode = SM_SLICE
self.bSlice.config(text=sliceText[SM_SLICE])
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
if not self.app.sdprinting and not self.app.sdpaused:
self.bPrintMode = PR_PRINT
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPauseMode = PM_PAUSE
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
def setSDPrint(self):
self.bPause.config(text=pauseText[PM_PAUSE], state=NORMAL)
self.bPauseMode = PM_PAUSE
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
self.bAbandon.config(state=NORMAL)
def clearSDPrint(self):
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
self.bPauseMode = PM_PAUSE
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
self.bAbandon.config(state=DISABLED)
self.checkAllowPrint()
def setCancelMode(self):
self.bSliceMode = SM_CANCEL
self.bSlice.config(text=sliceText[SM_CANCEL], width=BWIDTH)
self.bLoad.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.allowSliceMenu(False)
def setLoading(self, flag):
if flag:
self.bLoad.config(state=DISABLED)
self.bSlice.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.allowSliceMenu(False)
else:
self.bLoad.config(state=NORMAL)
self.bSlice.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
def clearCancelMode(self):
self.bSliceMode = SM_SLICE
lt = len(sliceText[SM_SLICE])+2
if lt < BWIDTH:
lt = BWIDTH
self.bSlice.config(text=sliceText[SM_SLICE], width=lt)
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
def doConnect(self):
if self.bConnectMode == CM_CONNECT:
port = self.spPort.get()
baud = int(self.spBaud.get())
self.printer.onlinecb = self.onlinecb
try:
self.printer.connect(port, baud)
except SerialException:
self.logger.logMsg("Unable to open printer port %s" % port)
else:
if self.app.printing:
self.logger.logMsg("Please wait until printing has finished or is paused")
else:
self.printer.disconnect()
self.printer.onlinecb = None
self.app.printerConnected(False)
# self.app.connected = False
self.bConnectMode = CM_CONNECT
self.bConnect.config(text=connectText[CM_CONNECT])
self.bReset.config(state=DISABLED)
self.bSD.config(state=DISABLED)
if self.app.paused:
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
self.bPauseMode = PM_PAUSE
self.app.printing = False
self.app.paused = False
def doReset(self):
if tkMessageBox.askyesno("Reset?", "Are you sure you want to reset the printer?", parent=self.app):
self.printer.reset()
self.printer.printing = 0
self.app.printing = False
self.bSlice.config(state=NORMAL)
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
self.bPrintMode = PR_PRINT
self.bPrint.config(text=printText[PR_PRINT], state=NORMAL)
if self.app.paused:
self.printer.paused = 0
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
self.bPauseMode = PM_PAUSE
self.app.paused = False
def onlinecb(self):
self.logger.logMsg("Printer is on-line")
self.app.printerConnected(True)
# self.app.connected = True
self.bConnectMode = CM_DISCONNECT
self.bConnect.config(text=connectText[CM_DISCONNECT])
self.bReset.config(state=NORMAL)
self.bSD.config(state=NORMAL)
self.checkAllowPrint()
def checkAllowPrint(self):
if self.app.connected and len(self.app.gcode) != 0 and not self.app.printing and not self.app.sdprinting:
self.bPrint.config(text=printText[PR_PRINT], state=NORMAL)
self.bPrintMode = PR_PRINT
def printComplete(self):
self.app.endTime = time.time()
self.app.elapsedTime = self.app.endTime - self.app.startTime
self.logger.logMsg("Printing completed at %s" % time.strftime('%H:%M:%S', time.localtime()))
self.logger.logMsg("Total elapsed time: %s" % formatElapsed(self.app.elapsedTime))
self.bPrintMode = PR_PRINT
self.bPrint.config(text=printText[PR_PRINT], state=NORMAL)
self.bPauseMode = PM_PAUSE
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
self.app.printing = False
self.bSlice.config(state=NORMAL)
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
self.app.paused = False
self.app.gc.updatePrintProgress(0)
self.app.closeAllReports()
if self.settings.endprintmacro is not None:
self.app.doMacro(name=self.settings.endprintmacro, silent=True)
def doPause(self):
if self.bPauseMode == PM_PAUSE:
if self.app.printing:
self.app.paused = True
self.printer.pause()
elif self.app.sdprinting:
self.app.sdpaused = True
self.printer.send_now("M25")
self.app.sdprinting = False
self.bPause.config(text=pauseText[PM_RESUME])
self.bPauseMode = PM_RESUME
self.bPrint.config(text=printText[PR_RESTART], state=NORMAL)
self.bPrintMode = PR_RESTART
else:
if self.app.sdpaused:
self.printer.send_now("M24")
self.app.sdpaused = False
self.app.sdprinting = True
self.bPause.config(text=pauseText[PM_PAUSE])
self.bPauseMode = PM_PAUSE
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
else:
self.hitPrint = False
if self.settings.resumeatpausepoint:
self.printer.send_now("G1 X%s Y%s F%s" % (self.app.pausePoint[XAxis], self.app.pausePoint[YAxis], self.settings.xyfeed))
self.printer.send_now("G1 Z%s F%s" % (self.app.pausePoint[ZAxis], self.settings.zfeed))
self.printer.send_now("G92 E%s" % self.app.pausePoint[EAxis])
self.printer.send_now("G1 F%s" % self.settings.xyfeed)
self.printer.startcb = self.startcb
self.printer.resume()
def doAbandon(self):
self.printer.send_now("M25")
self.app.sdpaused = False
self.app.sdprinting = False
self.clearSDPrint()
def doSlice(self):
if self.bSliceMode == SM_SLICE:
self.bLoad.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.openSTLFile()
else:
self.app.slicerCancel = True
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
def doLoad(self):
self.app.openGCodeFile()
def doPrint(self):
if self.app.sdpaused:
self.printer.send_now("M26 S0")
self.printer.send_now("M24")
self.app.sdpaused = False
self.app.sdprinting = True
self.bPause.config(text=pauseText[PM_PAUSE])
self.bPauseMode = PM_PAUSE
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
else:
if len(self.app.gcode) == 0:
self.logger.logMsg("Nothing to print")
else:
#if not self.app.paused:
self.app.gc.updatePrintProgress(0, restart=True)
self.bPauseMode = PM_PAUSE
self.bPause.config(text=pauseText[PM_PAUSE], state=NORMAL)
self.hitPrint = True
self.printer.startcb = self.startcb
self.printer.startprint(self.app.gcode)
def startcb(self):
self.printer.startcb = None
if not self.app.paused:
self.app.startTime = time.time()
self.logger.logMsg("Printing Started at %s" % time.strftime('%H:%M:%S', time.localtime(self.app.startTime)))
self.app.printing = True
self.bSlice.config(state=DISABLED)
self.bLoad.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.allowSliceMenu(False)
self.bPrint.config(text=printText[PR_RESTART], state=DISABLED)
self.bPrintMode = PR_RESTART
self.printer.endcb = self.endcb
else:
if self.hitPrint:
self.app.startTime = time.time()
self.logger.logMsg("Printing restarted at %s" % time.strftime('%H:%M:%S', time.localtime()))
else:
self.logger.logMsg("Printing resumed at %s" % time.strftime('%H:%M:%S', time.localtime()))
self.bPause.config(text=pauseText[PM_PAUSE])
self.bPauseMode = PM_PAUSE
self.app.printing = True
self.bSlice.config(state=DISABLED)
self.bLoad.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.allowSliceMenu(False)
self.app.paused = False
self.bPrint.config(state=DISABLED)
self.printer.endcb = self.endcb
def endcb(self):
self.printer.endcb = None
if not self.app.paused:
self.printComplete()
if self.app.sduploading:
self.app.sduploading = False
self.printer.send_now("M29")
else:
self.app.event_generate(MWM_REQUESTPOSITIONREPORT)
# record the current printer position and how many intervals were willing to wait fo the response
self.maxWait114 = MAXWAIT114;
self.waitPos = self.printer.queueindex
self.check114Response()
def check114Response(self) :
# tick off 1 interval, and make sure we haven't either received the report or we've waited max intervals
self.maxWait114 -= 1
if self.app.m114count == 0 or self.maxWait114 <= 0:
# one way or the other we're done waiting here
if self.maxWait114 <= 0:
self.app.m114count = 0
self.logger.logMsg("Location report not received - proceeding")
self.app.pausePoint[XAxis] = self.app.location[XAxis]
self.app.pausePoint[YAxis] = self.app.location[YAxis]
self.app.pausePoint[ZAxis] = self.app.location[ZAxis]
self.app.pausePoint[EAxis] = self.app.location[EAxis]
self.logger.logMsg("Pause location: X:%f Y:%f Z:%f E:%f" %
(self.app.pausePoint[XAxis], self.app.pausePoint[YAxis], self.app.pausePoint[ZAxis], self.app.pausePoint[EAxis]))
if self.settings.liftonpause:
self.printer.send_now("G1 E%s F%s" % (self.app.pausePoint[EAxis]-2, self.settings.efeed))
self.printer.send_now("G1 Z%s F%s" % (self.app.pausePoint[ZAxis]+10, self.settings.zfeed))
self.bPause.config(text=pauseText[PM_RESUME])
self.bPauseMode = PM_RESUME
self.app.printing = False
self.bSlice.config(state=NORMAL)
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
if self.app.sduploading:
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
else:
self.bPrint.config(text=printText[PR_RESTART], state=NORMAL)
self.bPrintMode = PR_RESTART
else:
# we still are waiting for the report, but reset everything if the printer is still moving
if self.waitPos != self.printer.queueindex:
self.waitPos = self.printer.queueindex
self.maxWait114 = MAXWAIT114
self.app.master.after(500, self.check114Response)
def doPort(self):
l = self.scanSerial()
self.spPort.config(values=l)
if len(l) == 0:
self.bConnect.config(state=DISABLED)
else:
self.bConnect.config(state=NORMAL)
def scanSerial(self):
"""scan for available ports. return a list of device names."""
baselist=[]
if os.name=="nt":
try:
key=_winreg.OpenKey(_winreg.HKEY_LOCAL_MACHINE,"HARDWARE\\DEVICEMAP\\SERIALCOMM")
i=0
while(1):
baselist+=[_winreg.EnumValue(key,i)[1]]
i+=1
except:
pass
return baselist+glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyACM*') +glob.glob("/dev/tty.*")+glob.glob("/dev/cu.*")+glob.glob("/dev/rfcomm*")
def doSD(self):
self.app.doSD()
def __init__(self, root):
"""
Create a DSP interface instance.
:param root: is the Tk() interface where the DPS will be drawedstring with the prot name i.e. /dev/ttyUSB0 or COM5 for Windows
:returns: a new instance of DPS graphical interface
"""
self.root = root
root.title("DPS power supplier interface")
root.protocol("WM_DELETE_WINDOW", self.wnwcmdclose)
self.dps = None
self.poller = None
self.waver = None
self.strtme = time()
self.dpsfwave = None
self.maxoutv = 5
self.maxoutc = 5
menubar = Menu(root)
filemenu = Menu(menubar, tearoff=0)
filemenu.add_command(label="Exit", command=self.wnwcmdclose)
menubar.add_cascade(label="File", menu=filemenu)
scopemenu = Menu(menubar, tearoff=0)
scopemenu.add_command(label="Load sampled points...",
command=self.mnucmdloadsmppts)
scopemenu.add_command(label="Save sampled points as...",
command=self.mnucmdsavesmppts)
menubar.add_cascade(label="Scope", menu=scopemenu)
wavemenu = Menu(menubar, tearoff=0)
wavemenu.add_command(label="New wave", command=self.mnucmdnewwve)
wavemenu.add_command(label="Load wave...", command=self.mnucmdloadwve)
wavemenu.add_command(label="Edit wave...", command=self.mnucmdedtwve)
wavemenu.add_command(label="Save wave as...",
command=self.mnucmdsavewve)
menubar.add_cascade(label="Wave", menu=wavemenu)
memmenu = Menu(menubar, tearoff=0)
memmenu.add_command(label="Edit memories...",
command=self.mnucmdedtmem)
menubar.add_cascade(label="Memory", menu=memmenu)
helpmenu = Menu(menubar, tearoff=0)
helpmenu.add_command(label="Help...", command=self.mnucmdhelp)
helpmenu.add_command(label="About...", command=self.mnucmdabout)
menubar.add_cascade(label="Help", menu=helpmenu)
root.config(menu=menubar)
row = 0
col = 0
rowspan = 1
colspan = 1
insertlabelrow(root, row, col, ("Serial: ", None, "Addr,Baud: "), E)
col += colspan
self.svardpsport = StringVar()
self.svardpsport.set('/dev/ttyUSB0')
self.entryserport = Entry(root,
textvariable=self.svardpsport,
width=ENTRYWIDTH,
justify='right')
self.entryserport.grid(row=row, column=col, sticky=W)
col += colspan
col += colspan
self.svardpsaddbrt = StringVar()
self.svardpsaddbrt.set('1, 9600')
self.entrydpsadd = Entry(root,
textvariable=self.svardpsaddbrt,
width=ENTRYWIDTH,
justify='right')
self.entrydpsadd.grid(row=row, column=col, sticky=W)
col += colspan
colspan = 2
self.ivarconctd = IntVar()
self.ivarconctd.set(0)
Checkbutton(root,
variable=self.ivarconctd,
text='Connect',
command=self.butcmdconnect).grid(row=row,
column=col,
columnspan=colspan,
sticky=E + W)
row += rowspan
col = 0
colspan = 1
Separator(root, orient='horizontal').grid(row=row,
columnspan=8,
sticky=E + W,
pady=8)
row += rowspan
rowspan = 1
colspan = 2
col = 0
self.ivarbrghtnes = IntVar()
s = Scale(root,
label='Brightness',
variable=self.ivarbrghtnes,
from_=0,
to=5,
resolution=1,
orient="horizontal")
s.bind("<ButtonRelease-1>", self.sclbndbrghtnss)
s.grid(row=row, column=col, columnspan=colspan, sticky=E + W)
col += colspan
colspan = 1
Label(root, text="Model: ").grid(row=row, column=col, sticky=E)
col += colspan
self.ivarmodel = IntVar()
Entry(root,
textvariable=self.ivarmodel,
state="readonly",
width=ENTRYWIDTH,
justify='right').grid(row=row, column=col, sticky=W)
col += colspan
colspan = 2
self.ivarsetmem = IntVar()
s = Scale(root,
label='Mem Recall',
variable=self.ivarsetmem,
from_=1,
to=9,
resolution=1,
orient="horizontal")
s.bind("<ButtonRelease-1>", self.sclbndmemory)
s.grid(row=row, column=col, columnspan=colspan, sticky=E + W)
row += rowspan
colspan = 1
col = 0
insertlabelrow(
root, row, col,
(("Vinp [V]: ", VCOL), None, "Out Mode: ", None, "Protection: "),
E)
self.dvarvinp = DoubleVar()
self.svarwrmde = StringVar()
self.setworkmode(0)
self.svarprot = StringVar()
self.setprotection(0)
insertentryrow(
root, row, col,
(None, self.dvarvinp, None, self.svarwrmde, None, self.svarprot),
'right', W, 'readonly')
colspan = 1
row += rowspan
col = 0
insertlabelrow(root, row, col,
(("Vmax [V]: ", VCOL), None, ("Cmax [A]: ", CCOL), None,
("Pmax [W]: ", PCOL)), E)
self.dvarvmaxm0 = DoubleVar()
self.dvarcmaxm0 = DoubleVar()
self.dvarpmaxm0 = DoubleVar()
entries = insertentryrow(root, row, col,
(None, self.dvarvmaxm0, None, self.dvarcmaxm0,
None, self.dvarpmaxm0), 'right', W)
for e, f in zip(entries,
(self.entbndvmax, self.entbndcmax, self.entbndpmax)):
e.bind('<FocusOut>', f)
e.bind('<Return>', f)
row += rowspan
col = 0
insertlabelrow(root, row, col,
(("Vout [V]: ", VCOL), None, ("Cout [A]: ", CCOL), None,
("Pout [W]: ", PCOL)), E)
self.dvarvout = DoubleVar()
self.dvarcout = DoubleVar()
self.dvarpout = DoubleVar()
insertentryrow(
root, row, col,
(None, self.dvarvout, None, self.dvarcout, None, self.dvarpout),
'right', W, 'readonly')
row += rowspan
col = 0
self.scope = Scope(root, [], row, col)
row += 9
col = 4
Label(root, text="Rte[s/Sa]: ").grid(row=row, column=col, sticky=E)
col += colspan
self.dvarsecsmp = DoubleVar()
self.dvarsecsmp.set(self.scope.sampletime())
e = Entry(root,
textvariable=self.dvarsecsmp,
width=ENTRYWIDTH,
justify='right').grid(row=row, column=col, sticky=W)
row += rowspan
col = 0
colspan = 2
self.ivaracquire = IntVar()
self.ivaracquire.set(0)
Checkbutton(root,
variable=self.ivaracquire,
text='Run Acquisition',
command=self.butcmdacquire).grid(row=row,
column=col,
columnspan=2,
sticky=E + W)
col += colspan
self.ivarkeylock = IntVar()
self.ivarkeylock.set(0)
Checkbutton(root,
variable=self.ivarkeylock,
text="Key Lock",
command=self.butcmdkeylock).grid(row=row,
column=col,
sticky=E + W,
columnspan=colspan)
col += colspan
self.ivaroutenab = IntVar()
self.ivaroutenab.set(0)
Checkbutton(root,
variable=self.ivaroutenab,
text="Output Enable",
command=self.butcmdoutenable).grid(row=row,
column=col,
sticky=E + W,
columnspan=colspan)
row += rowspan
col = 0
rowspan = 1
colspan = 3
self.dvarvscale = DoubleVar()
self.voltscale = Scale(root,
label='Vset [V]',
foreground=VCOL,
variable=self.dvarvscale,
from_=0,
to=self.maxoutv,
resolution=1,
orient="horizontal") #, label='Vset[V]'
self.voltscale.bind("<ButtonRelease-1>", self.sclbndvolt)
self.voltscale.grid(row=row,
column=col,
columnspan=colspan,
sticky=E + W)
col += colspan
self.dvarcscale = DoubleVar()
self.curntscale = Scale(root,
label='Cset[A]',
foreground=CCOL,
variable=self.dvarcscale,
from_=0,
to=self.maxoutc,
resolution=1,
orient="horizontal") #,label='Cset[A]'
self.curntscale.bind("<ButtonRelease-1>", self.sclbndcrnt)
self.curntscale.grid(row=row,
column=col,
columnspan=colspan,
sticky=E + W)
row += rowspan
col = 0
self.dvarvscalef = DoubleVar()
sc = Scale(root,
foreground=VCOL,
variable=self.dvarvscalef,
from_=0,
to=0.99,
resolution=0.01,
orient="horizontal")
sc.bind("<ButtonRelease-1>", self.sclbndvolt)
sc.grid(row=row, column=col, columnspan=colspan, sticky=E + W)
col += colspan
self.dvarcscalef = DoubleVar()
sc = Scale(root,
foreground=CCOL,
variable=self.dvarcscalef,
from_=0,
to=0.99,
resolution=0.01,
orient="horizontal")
sc.bind("<ButtonRelease-1>", self.sclbndcrnt)
sc.grid(row=row, column=col, columnspan=colspan, sticky=E + W)
row += rowspan
col = 0
colspan = 1
Separator(root, orient='horizontal').grid(row=row,
columnspan=6,
sticky=E + W,
pady=8)
row += rowspan
colspan = 1
col = 0
Label(root, text="Waveform: ").grid(row=row, column=col, sticky=E)
col += colspan
colspan = 2
self.svarwave = StringVar()
Entry(root,
textvariable=self.svarwave,
width=ENTRYWIDTH,
justify='right',
state='readonly').grid(row=row,
column=col,
columnspan=colspan,
sticky=E + W)
col += colspan
colspan = 1
self.ivarplaywv = IntVar()
self.ivarplaywv.set(0)
Checkbutton(root,
variable=self.ivarplaywv,
text='Play',
command=self.butcmdplaywave).grid(row=row,
column=col,
sticky=E + W)
col += colspan
self.ivarpausewv = IntVar()
self.ivarpausewv.set(0)
Checkbutton(root,
variable=self.ivarpausewv,
text='Pause',
command=self.butcmdpausewave).grid(row=row,
column=col,
sticky=E + W)
col += colspan
self.ivarloopwv = IntVar()
self.ivarloopwv.set(0)
Checkbutton(root, variable=self.ivarloopwv,
text='Loop').grid(row=row, column=col, sticky=E + W)
self.scope.update()
self.scope.redraw()
class PVapplicaton(Frame):
"""
classdocs
"""
def __init__(self, master=None):
"""
Constructor
"""
Frame.__init__(self,
master,
name='pvApplication',
bg='black',
padx=5,
pady=5)
# set black background, pad sides with 15 points, top/bottom 5 points
# fill=BOTH fills in padding with background color
# w/o fill=BOTH padding is default color
# side=TOP is the default
self.pack(fill=BOTH)
master.resizable(False, False) # not resizable in x or y
master.title(PVAPP_TXT) # set title bar of master (a.k.a. root)
master.protocol("WM_DELETE_WINDOW", self._quit) # close window to quit
self.validationConstants = self.readJSON('validationConstants')
self.messagetext = self.readJSON('messagetext' + '.' + LANGUAGE)
MAX_STRINGS = self.validationConstants["pvapplication"]["numStrs"]
MAX_MODULES = self.validationConstants["pvapplication"]["numMods"]
MAX_SUNS = self.validationConstants["pvapplication"]["sysEe"]
CAPTION_FONT = nametofont('TkCaptionFont') # font for titles
# PVsystem
pvSys = self.pvSys = PVsystem()
# variables
numStrs = self.numStrs = IntVar(self, NUMBERSTRS, 'numStrs')
numMods = self.numMods = IntVar(self, NUMBERMODS, 'numMods')
numCells = self.numCells = IntVar(self, NUMBERCELLS, 'numCells')
txtIsys = self.txtIsys = DoubleVar(self, name='txtIsys')
txtVsys = self.txtVsys = DoubleVar(self, name='txtVsys')
txtPsys = self.txtPsys = DoubleVar(self, name='txtPsys')
txtImp = self.txtImp = StringVar(self, name='txtImp')
txtVmp = self.txtVmp = StringVar(self, name='txtVmp')
txtPmp = self.txtPmp = StringVar(self, name='txtPmp')
txtIsc = self.txtIsc = StringVar(self, name='txtIsc')
txtVoc = self.txtVoc = StringVar(self, name='txtVoc')
txtFF = self.txtFF = StringVar(self, name='txtFF')
txtEff = self.txtEff = StringVar(self, name='txtEff')
sysEe = self.sysEe = DoubleVar(self, 1, name='sysEe')
txtImp.set("{:7.3f}".format(self.pvSys.Imp)) # [A]
txtVmp.set("{:7.3f}".format(self.pvSys.Vmp)) # [V]
txtPmp.set("{:7.3f}".format(self.pvSys.Pmp / 1000)) # [kW]
txtIsc.set("{:7.3f}".format(self.pvSys.Isc)) # [A]
txtVoc.set("{:7.3f}".format(self.pvSys.Voc)) # [V]
txtFF.set("{:7.3f}".format(self.pvSys.FF * 100)) # [%]
txtEff.set("{:7.3f}".format(self.pvSys.eff * 100)) # [%]
self.msgtext = StringVar(self, READY_MSG, 'msgtext')
# must register vcmd and invcmd as Tcl functions
vcmd = (self.register(self.validateWidget), '%d', '%i', '%P', '%s',
'%S', '%v', '%V', '%W')
invcmd = (self.register(self.invalidWidget), '%d', '%i', '%P', '%s',
'%S', '%v', '%V', '%W')
# SP logo
# convert image to tk-compatible format (.gif, .pgm, or .ppm)
self.SPlogo = ImageTk.PhotoImage(Image.open(SPLOGO))
# bg='black' fills extra space with black
# anchor=W aligns photoimage on left side, NW is no different
# padding is ignored by images, use borderwidth
Label(self, image=self.SPlogo, borderwidth=5, bg='black',
anchor=W).pack(fill=BOTH)
# fill=BOTH expands the photoimage to fill parent frame
# w/o fill=BOTH photoimage is centered in frame even with anchor=W
# Intro text
introText = 'PVmismatch calculates I-V and P-V curves as well as the'
introText += ' max power point (MPP) for any sized system.\nSet the'
introText += ' number of strings in the system, the number of modules'
introText += ' per string and the number cells per module.'
# anchor=W aligns message on left side, NW is no different
# fg='white' sets text color to white, default is black, so it doesn't
# show on black background
# default aspect is 150%, about as wide as high, or set width>0
Message(self,
text=introText,
width=750,
bg='black',
fg='white',
anchor=W).pack(fill=BOTH)
# fill=BOTH expands the message to fill parent frame
# w/o fill=BOTH message is centered in frame even with anchor=W
# PVsystem frame
pvSysFrame = self.pvSysFrame = Frame(master, name='pvSysFrame')
# fill=BOTH keeps widgets in frame on left when window is resized
pvSysFrame.pack(fill=BOTH)
# PVsystem matplotlib figure canvas
self.pvSysPlotFrame = Frame(pvSysFrame, name='pvSysPlotFrame')
pvSysPlotFrame = self.pvSysPlotFrame
pvSysPlotFrame.pack(side=RIGHT)
pvSysPlot = self.pvSysPlot = pvSys.plotSys()
self.pvSysFigCanvas = FigureCanvasTkAgg(pvSysPlot,
master=pvSysPlotFrame,
resize_callback=None)
pvSysFigCanvas = self.pvSysFigCanvas
pvSysFigCanvas.get_tk_widget()._name = 'pvSysFigCanvas' # IGNORE:W0212
pvSysFigCanvas.show()
# NB: FigureCanvasTkAgg._tkcanvas is FigureCanvasTkAgg.get_tk_widget()
pvSysFigCanvas.get_tk_widget().pack(fill=BOTH)
pvSysToolbar = NavigationToolbar2TkAgg(pvSysFigCanvas, pvSysPlotFrame)
pvSysToolbar.update()
pvSysToolbar.pack(fill=BOTH)
# PVsystem data frame
pvSysDataFrame = self.pvSysDataFrame = Frame(pvSysFrame,
name='pvSysDataFrame')
pvSysDataFrame.pack(side=LEFT)
_row = 0
Label(pvSysDataFrame, text='PVsystem',
font=CAPTION_FONT).grid(row=_row, columnspan=3, sticky=W)
# number of strings
_row += 1 # row 1
Label(pvSysDataFrame, text='Number of Strings').grid(row=_row,
columnspan=2,
sticky=W)
# use textVar to set number of strings from LOAD, RESET or default
spinboxCnf = {
'name': 'numStrSpinbox',
'from_': 1,
'to': MAX_STRINGS,
'textvariable': numStrs,
'width': 5,
'validate': 'all',
'validatecommand': vcmd,
'invalidcommand': invcmd,
'command': self.updatePVsys
}
self.numStrSpinbox = Spinbox(pvSysDataFrame, cnf=spinboxCnf)
self.numStrSpinbox.bind("<Return>", self.keyBinding)
self.numStrSpinbox.grid(row=_row, column=2)
# number of modules
_row += 1 # row 2
Label(pvSysDataFrame, text='Number of Modules').grid(row=_row,
columnspan=2,
sticky=W)
# number of modules spinbox
spinboxCnf = {
'name': 'numModSpinbox',
'from_': 1,
'to': MAX_MODULES,
'textvariable': numMods,
'width': 5,
'validate': 'all',
'validatecommand': vcmd,
'invalidcommand': invcmd,
'command': self.updatePVsys
}
self.numModSpinbox = Spinbox(pvSysDataFrame, cnf=spinboxCnf)
self.numModSpinbox.bind("<Return>", self.keyBinding)
self.numModSpinbox.grid(row=_row, column=2)
# number of cells
_row += 1 # row 3
Label(pvSysDataFrame, text='Number of Cells').grid(row=_row,
columnspan=2,
sticky=W)
# http://www.logilab.org/card/pylintfeatures#basic-checker
# pylint: disable = W0142
self.numCellOption = OptionMenu(pvSysDataFrame,
numCells,
*MODSIZES,
command=self.updatePVsys)
# pylint: enable = W0142
self.numCellOption._name = 'numCellOption' # IGNORE:W0212
self.numCellOption.grid(row=_row, column=2)
# Advanced Configuration button
_row += 1 # row 14
buttonCnf = {
'name': 'advCnfButton',
'text': 'Advanced Configuration',
'command': self.startAdvCnf_tk
}
pvStrButton = self.pvStrButton = Button(pvSysDataFrame, buttonCnf)
pvStrButton.grid(row=_row, columnspan=3, sticky=(E + W))
# slider to explore IV curves
_row += 1 # row 4, 5 & 6
self.pvSysScale = Scale(pvSysDataFrame,
orient=HORIZONTAL,
label='I-V Curve',
font=CAPTION_FONT,
command=self.getIV,
showvalue=False,
from_=0,
to=(pvSys.pvconst.npts - 1))
self.pvSysScale.grid(row=_row, columnspan=3, sticky=(E + W))
# Isys
Label(pvSysDataFrame, text='Isys [A]').grid(row=(_row + 1))
self.pvIsys = Entry(pvSysDataFrame, textvariable=txtIsys, width=7)
self.pvIsys.grid(row=(_row + 2))
# Vsys
Label(pvSysDataFrame, text='Vsys [V]').grid(row=(_row + 1), column=1)
self.pvVsys = Entry(pvSysDataFrame, textvariable=txtVsys, width=7)
self.pvVsys.grid(row=(_row + 2), column=1)
# Psys
Label(pvSysDataFrame, text='Psys [kW]').grid(row=(_row + 1), column=2)
self.pvPsys = Entry(pvSysDataFrame, textvariable=txtPsys, width=7)
self.pvPsys.grid(row=(_row + 2), column=2)
# Imp, Vmp & Pmp
_row += 3 # row 7, 8, 9, 10, 11 & 12
Label(pvSysDataFrame, text='I-V Characteristics',
font=CAPTION_FONT).grid(row=_row, columnspan=3, sticky=W)
Label(pvSysDataFrame, text='Imp [A]').grid(row=(_row + 1))
Label(pvSysDataFrame, text='Vmp [V]').grid(row=(_row + 1), column=1)
Label(pvSysDataFrame, text='Pmp [kW]').grid(row=(_row + 1), column=2)
self.pvImp = Entry(pvSysDataFrame,
textvariable=txtImp,
width=7,
state='readonly')
self.pvImp.grid(row=(_row + 2))
self.pvVmp = Entry(pvSysDataFrame,
textvariable=txtVmp,
width=7,
state='readonly')
self.pvVmp.grid(row=(_row + 2), column=1)
self.pvPmp = Entry(pvSysDataFrame,
textvariable=txtPmp,
width=7,
state='readonly')
self.pvPmp.grid(row=(_row + 2), column=2)
# Isc, Voc & FF
Label(pvSysDataFrame, text='Isc [A]').grid(row=(_row + 3))
Label(pvSysDataFrame, text='Voc [V]').grid(row=(_row + 3), column=1)
Label(pvSysDataFrame, text='FF [%]').grid(row=(_row + 3), column=2)
self.pvIsc = Entry(pvSysDataFrame,
textvariable=txtIsc,
width=7,
state='readonly')
self.pvIsc.grid(row=(_row + 4))
self.pvVoc = Entry(pvSysDataFrame,
textvariable=txtVoc,
width=7,
state='readonly')
self.pvVoc.grid(row=(_row + 4), column=1)
self.pvFF = Entry(pvSysDataFrame,
textvariable=txtFF,
width=7,
state='readonly')
self.pvFF.grid(row=(_row + 4), column=2)
Label(pvSysDataFrame, text='Efficiency [%]').grid(row=(_row + 5),
columnspan=2)
self.pvEff = Entry(pvSysDataFrame,
textvariable=txtEff,
width=7,
state='readonly')
self.pvEff.grid(row=(_row + 5), column=2)
# set suns
_row += 6 # row 13
Label(pvSysDataFrame, text='Irradiance [suns]',
font=CAPTION_FONT).grid(row=_row, columnspan=2, sticky=W)
# number of modules spinbox
spinboxCnf = {
'name': 'sunSpinbox',
'from_': 0.2,
'to': MAX_SUNS,
'increment': 0.1,
'textvariable': sysEe,
'width': 5,
'validate': 'all',
'validatecommand': vcmd,
'invalidcommand': invcmd,
'command': self.updatePVsys
}
self.sunSpinbox = Spinbox(pvSysDataFrame, cnf=spinboxCnf)
self.sunSpinbox.bind("<Return>", self.keyBinding)
self.sunSpinbox.grid(row=_row, column=2)
# PVstring button
_row += 1 # row 14
buttonCnf = {
'name': 'pvStrButton',
'text': 'PVstring',
'command': self.startPVstring_tk
}
pvStrButton = self.pvStrButton = Button(pvSysDataFrame, buttonCnf)
pvStrButton.grid(row=_row, columnspan=3, sticky=(E + W))
# toolbar
toolbar = self.toolbarframe = Frame(master, name='toolbar')
toolbar.pack(fill=BOTH)
self.QUIT = Button(toolbar, text='Quit', command=self._quit)
self.QUIT.pack(side=RIGHT)
self.SAVE = Button(toolbar, text='Save', command=self._save)
self.SAVE.pack(side=RIGHT)
self.LOAD = Button(toolbar, text='Load', command=self._load)
self.LOAD.pack(side=RIGHT)
self.RESET = Button(toolbar, text='Reset', command=self._reset)
self.RESET.pack(side=RIGHT)
self.UPDATE = Button(toolbar, text='Update', command=self._update)
self.UPDATE.pack(side=RIGHT)
self.HELP = Button(toolbar, text='Help', command=self._help)
self.HELP.pack(side=RIGHT)
self.MESSAGE = Message(toolbar,
textvariable=self.msgtext,
width=500,
fg='red')
self.MESSAGE.pack(side=LEFT)
# Validation substitutions
# %d Type of action: 1 for insert, 0 for delete, or -1 for focus, forced or
# textvariable validation.
# %i Index of char string to be inserted/deleted, if any, otherwise -1.
# %P The value of the spinbox should edition occur. If you are configuring
# the spinbox widget to have a new textvariable, this will be the value
# of that textvariable.
# %s The current value of spinbox before edition.
# %S The text string being inserted/deleted, if any. Otherwise it is an
# empty string.
# %v The type of validation currently set.
# %V The type of validation that triggered the callback (key, focusin,
# focusout, forced).
# %W The name of the spinbox widget.
# TODO: Fix these functions so that delete and overwrite work
def validateWidget(self, *args):
# W = Tkinter.W = 'w' is already used, so use W_ instead
(d, i, P, s, S, v, V, W_) = args # @UnusedVariable # IGNORE:W0612
logging.debug(
"OnValidate: d={}, i={}, P={}, s={}, S={}, v={}, V={}, W={}".
format(*args))
if W_ == ".pvSysFrame.pvSysDataFrame.numStrSpinbox":
valType = INTEGERS
valTest = lambda val: int(val) # IGNORE:W0108
elif W_ == ".pvSysFrame.pvSysDataFrame.numModSpinbox":
valType = INTEGERS
valTest = lambda val: int(val) # IGNORE:W0108
elif W_ == ".pvSysFrame.pvSysDataFrame.sunSpinbox":
valType = FLOATS
valTest = lambda val: float(val) # IGNORE:W0108
else:
return False
w = self.nametowidget(W_)
w.config(validate=v)
if S in valType:
try:
valTest(P)
except ValueError:
return False
return True
else:
return False
def invalidWidget(self, *args):
(d, i, P, s, S, v, V, W_) = args # @UnusedVariable # IGNORE:W0612
logging.debug(
"OnInvalid: d={}, i={}, P={}, s={}, S={}, v={}, V={}, W={}".format(
*args))
if W_ == ".pvSysFrame.pvSysDataFrame.numStrSpinbox":
errText = 'Invalid number of strings!'
elif W_ == ".pvSysFrame.pvSysDataFrame.numModSpinbox":
errText = 'Invalid number of modules!'
elif W_ == ".pvSysFrame.pvSysDataFrame.sunSpinbox":
errText = 'Invalid irradiance!'
else:
errText = 'Unknown widget!'
w = self.nametowidget(W_)
w.config(validate=v)
self.msgtext.set(errText)
self.bell()
def getIV(self, *args):
logging.debug('args:\n\t%r', args)
x = np.float64(float(args[0]) / self.pvSys.pvconst.npts / 2.)
xp = np.concatenate(
(self.pvSys.pvconst.negpts, self.pvSys.pvconst.pts),
axis=0).flatten()
Vsys = np.interp(x, xp, self.pvSys.Vsys)
Isys = np.interp(x, xp, self.pvSys.Isys)
Psys = Vsys * Isys / 1000
self.txtVsys.set("{:7.3f}".format(Vsys))
self.txtIsys.set("{:7.3f}".format(Isys))
self.txtPsys.set("{:7.3f}".format(Psys))
def startPVstring_tk(self):
top = Toplevel()
app = PVstring_tk(self, top)
app.mainloop()
# please destroy me or I'll continue to run in background
top.destroy()
def startAdvCnf_tk(self):
"""
open advnaced config window
"""
top = Toplevel(name='advCnfTop')
app = AdvCnf_tk(self, top)
app.mainloop()
# please destroy me or I'll continue to run in background
top.destroy()
def keyBinding(self, event):
logging.debug('event widget:\n\t%r', event.widget)
logging.debug('event widget get:\n\t%r', event.widget.get())
self.updatePVsys()
def updatePVsys(self, *args, **kwargs):
logging.debug('args:\n\t%r', args)
logging.debug('kwargs:\n\t%r', kwargs)
if args and isinstance(args[0], PVsystem_cls):
pvsys = args[0]
for n, pvstr in enumerate(pvsys.pvstrs):
for pvmod in pvstr.pvmods:
pvmod.calcMod()
pvstr.calcString()
logging.debug('updating pvstring #%d: Pmp = %g[W]', n,
pvstr.Pstring.max())
return
PVAPP = "pvapplication"
try:
numStrs = self.numStrs.get()
if not (0 < numStrs <= self.validationConstants[PVAPP]["numStrs"]):
raise PVValidationError('numStrs', numStrs)
numMods = self.numMods.get()
if not (0 < numMods <= self.validationConstants[PVAPP]["numMods"]):
raise PVValidationError('numMods', numMods)
sysEe = self.sysEe.get()
if not (0 < sysEe <= self.validationConstants[PVAPP]["sysEe"]):
raise PVValidationError('sysEe', sysEe)
except PVValidationError as err:
logging.debug('err:\n\t%r', err)
errtext = self.messagetext[PVAPP][err.argname]
self.msgtext.set(errtext)
self.bell()
return
numCells = self.numCells.get()
self.msgtext.set(self.messagetext[PVAPP]["Ready"])
pvconst = self.pvSys.pvconst
pvcell = PVcell(Ee=sysEe)
if numCells == 24:
numCells = STD24
elif numCells == 72:
numCells = STD72
elif numCells == 96:
numCells = STD96
elif numCells == 128:
numCells = STD128
pvmods = PVmodule(cell_pos=numCells, pvcells=pvcell)
self.pvSys = PVsystem(pvconst,
numStrs,
numberMods=numMods,
pvmods=pvmods)
self.updateIVstats()
def updateIVstats(self):
# reuse sysPlot figure and update pvSysFigCanvas
self.pvSysPlot = self.pvSys.plotSys(self.pvSysPlot)
self.pvSysFigCanvas.show()
self.txtImp.set("{:7.3f}".format(self.pvSys.Imp)) # [A]
self.txtVmp.set("{:7.3f}".format(self.pvSys.Vmp)) # [V]
self.txtPmp.set("{:7.3f}".format(self.pvSys.Pmp / 1000)) # [kW]
self.txtIsc.set("{:7.3f}".format(self.pvSys.Isc)) # [A]
self.txtVoc.set("{:7.3f}".format(self.pvSys.Voc)) # [V]
self.txtFF.set("{:7.3f}".format(self.pvSys.FF * 100)) # [%]
self.txtEff.set("{:7.3f}".format(self.pvSys.eff * 100)) # [%]
def _help(self):
logging.debug('show docs in browser')
webbrowser.open(DOCS)
def _update(self):
self.msgtext.set(READY_MSG)
self.updatePVsys()
def _reset(self):
# number of strings integer variable
self.numStrs.set(NUMBERSTRS) # default
# number of modules integer variable
self.numMods.set(NUMBERMODS) # default
# number of cells integer variable
self.numCells.set(NUMBERCELLS) # default value is 96
self.msgtext.set(READY_MSG)
# TODO: need to reset advCnf too
logging.debug('reset')
def _load(self):
logging.debug('load *.pv file')
def _save(self):
logging.debug('save *.pv file')
def _quit(self):
# this is necessary on Windows to prevent
# Fatal Python Error: PyEval_RestoreThread: NULL tstate
self.master.quit() # stops mainloop
self.master.destroy()
def readJSON(self, JSONfilename):
if not JSONfilename.endswith('json'):
JSONfilename += '.json'
JSONfullpath = os.path.join(JSONDIR, JSONfilename)
with open(JSONfullpath, 'r') as JSONfile:
JSONObjects = json.load(JSONfile)
logging.debug('JSON objects loaded from %s.', JSONfullpath)
return JSONObjects
spd = 50
def changeSpeed(ev=None):
tmp = 'speed'
global spd
spd = speed.get()
data = tmp + str(
spd
) # Change the integers into strings and combine them with the string 'speed'.
print 'sendData = %s' % data
tcpCliSock.send(data) # Send the speed data to the server(Raspberry Pi)
label = Label(top, text='Speed:', fg='red') # Create a label
label.grid(row=6, column=0) # Label layout
speed = Scale(top, from_=0, to=100, orient=HORIZONTAL,
command=changeSpeed) # Create a scale
speed.set(50)
speed.grid(row=6, column=1)
def main():
top.mainloop()
if __name__ == '__main__':
main()
class DataCollector:
def __init__(self, master):
self.master = master
master.title("Robostats Data Collector")
global Labels
self.grassLabels = Labels
#class vars
self.isRecording = False
self.directory_name = StringVar()
self.grassLabel = StringVar()
self.grassLabel.set(self.grassLabels[0])
self.lastcaptime = 0
self.count = [IntVar() for i in range(len(self.grassLabels))]
#self.countText = [StringVar(), StringVar(), StringVar()]
self.countText = [StringVar() for i in range(len(self.grassLabels))]
for i in range(len(self.grassLabels)):
self.countText[i].set(self.grassLabels[i] + ":" +
str(self.count[i].get()))
self.capRate = 10
global CameraNum
self.cap = cv2.VideoCapture(CameraNum)
self.controlFrame = Frame(self.master)
self.directory_label = Label(self.controlFrame, text="Save Directory:")
self.dir_box = Entry(self.controlFrame,
width=50,
textvariable=self.directory_name)
self.directoryButton = Button(self.controlFrame,
text="Browse",
command=self.set_directory)
self.rateFrame = Frame(self.master)
self.rateLabel = Label(self.rateFrame, text="Captures per second: ")
self.rateSlider = Scale(self.rateFrame,
from_=.1,
to=30,
orient=HORIZONTAL,
resolution=0.1,
sliderlength=15,
length=300,
command=self.set_rate)
self.buttonFrame = Frame(self.master)
self.startButton = Button(self.buttonFrame,
text="Start",
command=self.start_record,
height=5,
width=12,
bg="#47BD5C")
self.stopButton = Button(self.buttonFrame,
text="Stop",
command=self.stop_record,
height=5,
width=12,
bg="red")
self.labelButtonFrame = Frame(self.master)
self.typeButton = [
Button(self.labelButtonFrame,
text=self.grassLabels[i],
height=3,
command=lambda num=i: self.set_label(num),
width=int(50 / len(self.grassLabels)))
for i in range(len(self.grassLabels))
]
self.typeButton[0].config(relief=SUNKEN, bg="#F7C45D")
# self.typeButton = [
# Button(self.labelButtonFrame, text=self.grassLabels[0], command=lambda:self.set_label(0), height=3, width=10, relief=SUNKEN, bg="#F7C45D"),
# Button(self.labelButtonFrame, text=self.grassLabels[1], command=lambda:self.set_label(1), height=3, width=10),
# Button(self.labelButtonFrame, text=self.grassLabels[2], command=lambda:self.set_label(2), height=3, width=10)
# ]
self.infoFrame = Frame(self.master)
self.countLabel = [
Label(self.infoFrame, textvariable=self.countText[i])
for i in range(len(self.grassLabels))
]
# self.countLabel = [
# Label(self.infoFrame, textvariable=self.countText[0]),
# Label(self.infoFrame, textvariable=self.countText[1]),
# Label(self.infoFrame, textvariable=self.countText[2])
# ]
#layout
#self.imageFrame.grid(row=0, column=0)
#self.lmain.grid(row=0, column=0)
curFrameRow = 0
self.controlFrame.grid(row=curFrameRow, column=0)
self.directory_label.grid(row=1, column=0)
self.dir_box.grid(row=1, column=1)
self.directoryButton.grid(row=1, column=2)
curFrameRow += 1
self.rateFrame.grid(row=curFrameRow, column=0)
self.rateLabel.grid(row=0, column=0)
self.rateSlider.grid(row=0, column=1)
curFrameRow += 1
self.buttonFrame.grid(row=curFrameRow, column=0, pady=10)
self.startButton.grid(row=0, padx=5)
self.stopButton.grid(row=0, column=1, padx=5)
curFrameRow += 1
self.labelButtonFrame.grid(row=curFrameRow, column=0)
col = 0
for button in self.typeButton:
button.grid(row=0, column=col, padx=10)
col += 1
curFrameRow += 1
self.infoFrame.grid(row=curFrameRow, column=0, pady=10)
col = 0
for label in self.countLabel:
label.grid(row=0, column=col)
col += 1
def set_directory(self):
filename = tkFileDialog.askdirectory()
self.directory_name.set(filename)
self.update_counters()
def set_label(self, num):
print "num: " + str(num)
for i, button in enumerate(self.typeButton):
if i != num:
button.config(relief=RAISED, bg=self.master.cget('bg'))
else:
button.config(relief=SUNKEN, bg="#F7C45D")
self.grassLabel.set(self.grassLabels[num])
def set_rate(self, val):
self.capRate = float(val)
def show_frame(self):
_, frame = self.cap.read()
#frame = cv2.flip(frame, 1)
cv2.imshow("Robostats Data Collector", frame)
cv2.waitKey(1)
#cv2image = cv2.cvtColor(frame, cv2.COLOR_BGR2RGBA)
#img = Image.fromarray(cv2image)
#imgtk = ImageTk.PhotoImage(image=img)
#self.lmain.imgtk = imgtk
#self.lmain.configure(image=imgtk)
#save if started
if self.isRecording:
if os.path.exists(self.directory_name.get()):
millis = int(round(time.time() * 1000))
if millis > self.lastcaptime + (1000 / self.capRate):
labelDir = self.directory_name.get(
) + "/" + self.grassLabel.get()
if not os.path.exists(labelDir):
os.makedirs(labelDir)
#check existing files
listOfFiles = [f for f in os.listdir(labelDir)]
print listOfFiles
maxNum = 0
if len(listOfFiles) > 0:
fileNums = [
int(re.search(r'\d+', n).group())
for n in listOfFiles
]
maxNum = max(fileNums)
filename = labelDir + "/" + self.grassLabel.get() + str(
maxNum + 1) + ".png"
#print("saved" + str(filename))
cv2.imwrite(filename, frame)
self.lastcaptime = millis
self.update_counters()
self.controlFrame.after(10, self.show_frame)
def start_record(self):
self.isRecording = True
def stop_record(self):
self.isRecording = False
def update_counters(self):
for i, label in enumerate(self.grassLabels):
labelDir = self.directory_name.get() + "/" + label
if not os.path.exists(labelDir):
os.makedirs(labelDir)
#check existing files
listOfFiles = [f for f in os.listdir(labelDir)]
maxNum = 0
if len(listOfFiles) > 0:
fileNums = [
int(re.search(r'\d+', n).group()) for n in listOfFiles
]
maxNum = max(fileNums)
#print maxNum
self.count[i].set(maxNum)
for i in range(len(self.grassLabels)):
self.countText[i].set(self.grassLabels[i] + ":" +
str(self.count[i].get()))
class OfflineVisualiser(Visualiser):
"""A VTK-powered offline visualiser which runs in its own thread.
In addition to the functions provided by the standard visualiser,
the following additional functions are provided:
precache_height_quantities() - Precache all the vtkpoints
structures for any dynamic height based quantities to render.
"""
def __init__(self, source, frameDelay=100, frameStep=1):
"""The source parameter is assumed to be a NetCDF sww file.
The frameDelay parameter is the number of milliseconds waited between frames.
"""
Visualiser.__init__(self, source)
self.frameNumber = 0
fin = NetCDFFile(self.source, 'r')
self.maxFrameNumber = fin.variables['time'].shape[0] - 1
fin.close()
#self.frameNumberTkVariable = StringVar()
#self.frameNumberTkVariable.set('Frame - %05g'%self.framNumber)
self.frameDelay = frameDelay
self.xmin = None
self.xmax = None
self.ymin = None
self.ymax = None
self.zmin = None
self.zmax = None
self.frameStep= frameStep
self.vtk_heightQuantityCache = []
for i in range(self.maxFrameNumber + 1): # maxFrameNumber is zero indexed.
self.vtk_heightQuantityCache.append({})
self.paused = False
self.movie = False
def setup_grid(self):
fin = NetCDFFile(self.source, 'r')
self.vtk_cells = vtkCellArray()
N_tri = fin.variables['volumes'].shape[0]
for v in range(N_tri):
self.vtk_cells.InsertNextCell(3)
for i in range(3):
self.vtk_cells.InsertCellPoint(fin.variables['volumes'][v][i])
fin.close()
def update_height_quantity(self, quantityName, dynamic=True):
polydata = self.vtk_polyData[quantityName] = vtkPolyData()
if dynamic is True:
#print ' - Frame',self.frameNumber,'of',self.maxFrameNumber
if not self.vtk_heightQuantityCache[self.frameNumber].has_key(quantityName):
self.vtk_heightQuantityCache[self.frameNumber][quantityName]\
= self.read_height_quantity(quantityName, True, self.frameNumber);
polydata.SetPoints(self.vtk_heightQuantityCache[self.frameNumber][quantityName])
else:
polydata.SetPoints(self.read_height_quantity(quantityName, False))
polydata.SetPolys(self.vtk_cells)
def get_3d_bounds(self):
return [self.xmin, self.xmax, self.ymin, self.ymax, self.zmin, self.zmax]
def read_height_quantity(self, quantityName, dynamic=True, frameNumber=0):
"""Read in a height based quantity from the NetCDF source file
and return a vtkPoints object. frameNumber is ignored if
dynamic is false."""
fin = NetCDFFile(self.source, 'r')
points = vtkPoints()
if dynamic is True:
N_vert = fin.variables[quantityName].shape[1]
else:
N_vert = len(fin.variables[quantityName])
x = num.ravel(num.array(fin.variables['x'], num.float))
y = num.ravel(num.array(fin.variables['y'], num.float))
if dynamic is True:
q = num.array(fin.variables[quantityName][frameNumber], num.float)
else:
q = num.ravel(num.array(fin.variables[quantityName], num.float))
q *= self.height_zScales[quantityName]
q += self.height_offset[quantityName]
for v in range(N_vert):
points.InsertNextPoint(x[v], y[v], q[v])
if self.xmin == None or self.xmin > x[v]:
self.xmin = x[v]
if self.xmax == None or self.xmax < x[v]:
self.xmax = x[v]
if self.ymin == None or self.ymin > y[v]:
self.ymin = y[v]
if self.ymax == None or self.ymax < y[v]:
self.ymax = y[v]
if self.zmin == None or self.zmin > q[v]:
self.zmin = q[v]
if self.zmax == None or self.zmax < q[v]:
self.zmax = q[v]
fin.close()
return points
def precache_height_quantities(self):
"""Precache any height-based quantities. Call before rendering
beigns."""
for q in self.height_quantities:
if self.height_dynamic[q] is True:
print 'Precaching %s' % q
for i in range(self.maxFrameNumber + 1): # maxFrameNumber is zero-indexed
print ' - Frame %d of %d' % (i, self.maxFrameNumber)
self.vtk_heightQuantityCache[i][q]\
= self.read_height_quantity(q, True, i)
def build_quantity_dict(self):
quantities = {}
fin = NetCDFFile(self.source, 'r')
for q in filter(lambda n:n != 'x' and n != 'y' and n != 'z' and n != 'time' and n != 'volumes', fin.variables.keys()):
if len(fin.variables[q].shape) == 1: # Not a time-varying quantity
quantities[q] = num.ravel(num.array(fin.variables[q], num.float))
else: # Time-varying, get the current timestep data
quantities[q] = num.array(fin.variables[q][self.frameNumber], num.float)
fin.close()
return quantities
def setup_gui(self):
Visualiser.setup_gui(self)
self.tk_quit.grid(row=0, column=0, sticky=W+E)
self.tk_movie_toggle = Button(self.tk_controlFrame, text="Movie off", command=self.movie_toggle)
self.tk_movie_toggle.grid(row=0, column=6, sticky=W+E)
self.tk_restart = Button(self.tk_controlFrame, text="<<<", command=self.restart, width=5)
self.tk_restart.grid(row=1, column=0, sticky=W+E)
self.tk_back10 = Button(self.tk_controlFrame, text="<<", command=self.back10, width=5)
self.tk_back10.grid(row=1, column=1, sticky=W+E)
self.tk_back = Button(self.tk_controlFrame, text="<", command=self.back, width=5)
self.tk_back.grid(row=1, column=2, sticky=W+E)
self.tk_pauseResume = Button(self.tk_controlFrame, text="Pause", command=self.pauseResume, width=15)
self.tk_pauseResume.grid(row=1, column=3, sticky=W+E)
self.tk_forward = Button(self.tk_controlFrame, text=">", command=self.forward, width=5)
self.tk_forward.grid(row=1, column=4, sticky=W+E)
self.tk_forward10 = Button(self.tk_controlFrame, text=">>", command=self.forward10, width=5)
self.tk_forward10.grid(row=1, column=5, sticky=W+E)
self.tk_forwardEnd = Button(self.tk_controlFrame, text=">>>", command=self.forwardEnd, width=5)
self.tk_forwardEnd.grid(row=1, column=6, sticky=W+E)
self.tk_frameNumber = Label(self.tk_controlFrame, text='Frame')
self.tk_frameNumber.grid(row=2, column=0, sticky=W+E)
self.tk_gotoFrame = Scale(self.tk_controlFrame, from_=0, to=self.maxFrameNumber, orient=HORIZONTAL)
self.tk_gotoFrame.grid(row=2, column=1, columnspan=2, sticky=W+E)
self.tk_stepLabel = Label(self.tk_controlFrame, text='Step')
self.tk_stepLabel.grid(row=2, column=4, sticky=W+E)
self.tk_frameStep = Scale(self.tk_controlFrame, from_=0, to=self.maxFrameNumber, orient=HORIZONTAL)
self.tk_frameStep.grid(row=2, column=5, columnspan=2, sticky=W+E)
# Make the buttons stretch to fill all available space
for i in range(7):
self.tk_controlFrame.grid_columnconfigure(i, weight=1)
def run(self):
self.alter_tkroot(Tk.after, (self.frameDelay, self.animateForward))
Visualiser.run(self)
def restart(self):
self.frameNumber = 0
self.redraw_quantities()
self.update_labels()
self.pause()
if self.movie:
self.save_image()
def forwardEnd(self):
self.frameNumber = self.maxFrameNumber
self.redraw_quantities()
self.update_labels()
self.pause()
def movie_toggle(self):
if self.movie == True:
self.movie = False
self.tk_movie_toggle.config(text='Movie off')
else:
self.movie = True
self.tk_movie_toggle.config(text='Movie on ')
def save_image(self):
from vtk import vtkJPEGWriter, vtkJPEGWriter, vtkPNGWriter
from vtk import vtkPNMWriter, vtkWindowToImageFilter
from os import path
sourcebase, _ = path.splitext(self.source)
fname = sourcebase+'%05g.png' % self.frameNumber
#print fname
extmap = {'.jpg' : vtkJPEGWriter,
'.jpeg' : vtkJPEGWriter,
'.png' : vtkPNGWriter,
'.pnm' : vtkPNMWriter,
}
basename, ext = path.splitext(fname)
try: Writer = extmap[ext.lower()]
except KeyError:
error_msg("Don't know how to handle %s files" % ext, parent=self)
return
renWin = self.vtk_renderer.GetRenderWindow()
w2i = vtkWindowToImageFilter()
writer = Writer()
w2i.SetInput(renWin)
w2i.Update()
writer.SetInput(w2i.GetOutput())
writer.SetFileName(fname)
renWin.Render()
writer.Write()
def back10(self):
if self.frameNumber - 10 >= 0:
self.frameNumber -= 10
else:
self.frameNumber = 0
self.redraw_quantities()
self.update_labels()
self.pause()
def back(self):
if self.frameNumber > 0:
self.frameNumber -= 1
self.redraw_quantities()
self.update_labels()
self.pause()
def pauseResume(self):
if self.paused is True:
self.resume()
else:
self.pause()
def pause(self):
self.paused = True
self.tk_pauseResume.config(text="Resume")
def resume(self):
self.paused = False
self.tk_pauseResume.config(text="Pause")
self.frameNumber = self.tk_gotoFrame.get()
self.frameStep = self.tk_frameStep.get()
self.tk_root.after(self.frameDelay, self.animateForward)
def forward(self):
if self.frameNumber < self.maxFrameNumber:
self.frameNumber += 1
self.redraw_quantities()
self.update_labels()
self.pause()
def forward_step(self):
if self.frameNumber + self.frameStep <= self.maxFrameNumber:
self.frameNumber += self.frameStep
self.redraw_quantities()
self.update_labels()
else:
self.frameNumber = self.maxFrameNumber
self.redraw_quantities()
self.update_labels()
self.pause()
if self.movie:
self.save_image()
def forward10(self):
if self.frameNumber + 10 <= self.maxFrameNumber:
self.frameNumber += 10
else:
self.frameNumber = self.maxFrameNumber
self.redraw_quantities()
self.update_labels()
self.pause()
def animateForward(self):
if self.paused is not True:
self.forward_step()
self.tk_root.after(self.frameDelay, self.animateForward)
def update_labels(self):
#self.tk_frameNumber.config(text='%05g of %05g'%(self.frameNumber,self.maxFrameNumber))
self.tk_gotoFrame.set(self.frameNumber)
self.tk_frameStep.set(self.frameStep)
def shutdown(self):
#self.pause()
self.tk_root.withdraw()
self.tk_root.destroy()
class FrameScale(object):
# TODO Bugs: When the scale bar is dragged to overlap the other the values does not update correctly
# TODO The histogram should be updated when scale is changed
def __init__(self, a, frame, view):
self.view = view
amin = np.amin(a)
amax = np.amax(a)
# Image min and max values
self.min_var = IntVar(value=amin)
self.max_var = IntVar(value=amax)
self.min_label = Label(frame, text="Min.")
self.max_label = Label(frame, text="Max.")
self.min_entry = Entry(frame, textvariable=self.min_var)
self.max_entry = Entry(frame, textvariable=self.max_var)
self.min_entry.bind(
"<Return>", lambda event: self.min_entry_change(
self.min_scale, self.min_var.get()))
self.max_entry.bind(
"<Return>", lambda event: self.max_entry_change(
self.max_scale, self.max_var.get()))
self.min_scale = Scale(frame,
orient=HORIZONTAL,
from_=amin,
to=amax - 1,
length=150,
command=self.min_change)
self.max_scale = Scale(frame,
orient=HORIZONTAL,
from_=amin + 1,
to=amax,
length=150,
command=self.max_change)
self.min_scale.set(amin)
self.max_scale.set(amax)
self.min_label.grid(row=0, column=0, sticky='w')
self.max_label.grid(row=1, column=0, sticky='w')
self.min_entry.grid(row=0, column=1, ipady=2)
self.max_entry.grid(row=1, column=1, ipady=2)
self.min_scale.grid(row=0, column=2, sticky='e', padx=10)
self.max_scale.grid(row=1, column=2, sticky='e', padx=10)
#Scale bar
def min_change(self, val):
val = int(val)
temp = self.max_var.get()
if (val < temp):
self.min_var.set(val)
self.view.change_clim(val, temp)
else:
self.min_var.set(temp - 1)
self.view.change_clim(temp - 1, temp)
#Scale bar
def max_change(self, val):
val = int(val)
temp = self.min_var.get()
if (val > temp):
self.max_var.set(val)
self.view.change_clim(temp, val)
else:
self.min_var.set(temp + 1)
self.view.change_clim(temp, temp + 1)
#Entry
#TODO: only allow numbers as input. Use nbr_check from FrameFormat.
def min_entry_change(self, scale, value):
if (value < int(self.max_var.get())):
scale.configure(from_=value - 20, to=value + 20)
scale.set(value)
else:
scale.configure(from_=value - 20, to=value + 20)
scale.set(int(self.max_var.get()) - 1)
#Entry
#TODO: only allow numbers as input. Use nbr_check from FrameFormat.
def max_entry_change(self, scale, value):
if (value > int(self.min_var.get())):
scale.configure(from_=value - 20, to=value + 20)
scale.set(value)
else:
scale.configure(from_=value - 20, to=value + 20)
scale.set(int(self.min_var.get()) + 1)
def update_limit(self, a):
self.min_change(np.amin(a))
self.max_change(np.amax(a))
self.min_entry_change(self.min_scale, np.amin(a))
self.max_entry_change(self.max_scale, np.amax(a))
class Cockpit(ttkFrame):
'''
Remote device GUI
'''
#TODO: 20160415 DPM - Set these values from configuration file
#--- config
THROTTLE_BY_USER = True
THROTTLE_RESOLUTION = 0.1
# Joystick enabled or not, if any
JOYSTICK_ENABLED = True
DEFAULT_DRONE_IP = "192.168.1.130"
DEFAULT_DRONE_PORT = 2121
#--- end config
KEY_ANG_SPEED = "ang-speed"
KEY_ANGLES = "angles"
KEY_ACCEL = "accel"
PID_KEYS = ["P", "I", "D"]
DIR_NONE = 0
DIR_VERTICAL = 1
DIR_HORIZONTAL = 2
def __init__(self, parent, isDummy = False, droneIp = DEFAULT_DRONE_IP, dronePort = DEFAULT_DRONE_PORT):
'''
Constructor
'''
ttkFrame.__init__(self, parent)
self._target = [0.0] * 4
self._selectedPidConstats = "--"
self._pidConstants = {
Cockpit.KEY_ANG_SPEED:{
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ANGLES: {
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ACCEL:{
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
}
}
self.parent = parent
self.initUI()
self._controlKeysLocked = False
if not isDummy:
self._link = INetLink(droneIp, dronePort)
else:
self._link = ConsoleLink()
self._link.open()
self._updateInfoThread = Thread(target=self._updateInfo)
self._updateInfoThreadRunning = False
self._readingState = False
self._start()
def initUI(self):
self.parent.title("Drone control")
self.style = Style()
self.style.theme_use("default")
self.pack(fill=BOTH, expand=1)
self.parent.bind_all("<Key>", self._keyDown)
self.parent.bind_all("<KeyRelease>", self._keyUp)
if system() == "Linux":
self.parent.bind_all("<Button-4>", self._onMouseWheelUp)
self.parent.bind_all("<Button-5>", self._onMouseWheelDown)
else:
#case of Windows
self.parent.bind_all("<MouseWheel>", self._onMouseWheel)
#Commands
commandsFrame = tkFrame(self)
commandsFrame.grid(column=0, row=0, sticky="WE")
self._started = IntVar()
self._startedCB = Checkbutton(commandsFrame, text="On", variable=self._started, command=self._startedCBChanged)
self._startedCB.pack(side=LEFT, padx=4)
# self._integralsCB = Checkbutton(commandsFrame, text="Int.", variable=self._integralsEnabled, \
# command=self._integralsCBChanged, state=DISABLED)
# self._integralsCB.pack(side=LEFT, padx=4)
self._quitButton = Button(commandsFrame, text="Quit", command=self.exit)
self._quitButton.pack(side=LEFT, padx=2, pady=2)
# self._angleLbl = Label(commandsFrame, text="Angle")
# self._angleLbl.pack(side=LEFT, padx=4)
#
# self._angleEntry = Entry(commandsFrame, state=DISABLED)
# self._angleEntry.pack(side=LEFT)
#Info
infoFrame = tkFrame(self)
infoFrame.grid(column=1, row=1, sticky="NE", padx=4)
#Throttle
Label(infoFrame, text="Throttle").grid(column=0, row=0, sticky="WE")
self._throttleTexts = [StringVar(),StringVar(),StringVar(),StringVar()]
Entry(infoFrame, textvariable=self._throttleTexts[3], state=DISABLED, width=5).grid(column=0, row=1)
Entry(infoFrame, textvariable=self._throttleTexts[0], state=DISABLED, width=5).grid(column=1, row=1)
Entry(infoFrame, textvariable=self._throttleTexts[2], state=DISABLED, width=5).grid(column=0, row=2)
Entry(infoFrame, textvariable=self._throttleTexts[1], state=DISABLED, width=5).grid(column=1, row=2)
#Angles
Label(infoFrame, text="Angles").grid(column=0, row=3, sticky="WE")
self._angleTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._angleTexts[index], state=DISABLED, width=5).grid(column=index, row=4)
#Accels
Label(infoFrame, text="Accels").grid(column=0, row=5, sticky="WE")
self._accelTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._accelTexts[index], state=DISABLED, width=5).grid(column=index, row=6)
#Speeds
Label(infoFrame, text="Speeds").grid(column=0, row=7, sticky="WE")
self._speedTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._speedTexts[index], state=DISABLED, width=5).grid(column=index, row=8)
#Height
Label(infoFrame, text="Height").grid(column=0, row=9, sticky="E")
self._heightText = StringVar()
Entry(infoFrame, textvariable=self._heightText, state=DISABLED, width=5).grid(column=1, row=9)
#Loop rate
Label(infoFrame, text="Loop @").grid(column=0, row=10, sticky="E")
self._loopRateText = StringVar()
Entry(infoFrame, textvariable=self._loopRateText, state=DISABLED, width=5).grid(column=1, row=10)
Label(infoFrame, text="Hz").grid(column=2, row=10, sticky="W")
#control
controlFrame = tkFrame(self)
controlFrame.grid(column=0, row=1, sticky="W")
self._throttle = DoubleVar()
if Cockpit.THROTTLE_BY_USER:
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=0.0, \
tickinterval=0, variable=self._throttle, resolution=Cockpit.THROTTLE_RESOLUTION, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
else:
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=-100.0, \
tickinterval=0, variable=self._throttle, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
self._thrustScale.bind("<Double-Button-1>", self._onThrustScaleDoubleButton1, "+")
self._thrustScale.grid(column=0)
self._shiftCanvas = Canvas(controlFrame, bg="white", height=400, width=400, \
relief=SUNKEN)
self._shiftCanvas.bind("<Button-1>", self._onMouseButton1)
#self._shiftCanvas.bind("<ButtonRelease-1>", self._onMouseButtonRelease1)
self._shiftCanvas.bind("<B1-Motion>", self._onMouseButton1Motion)
self._shiftCanvas.bind("<Double-Button-1>", self._onMouseDoubleButton1)
self._shiftCanvas.bind("<Button-3>", self._onMouseButton3)
#self._shiftCanvas.bind("<ButtonRelease-3>", self._onMouseButtonRelease3)
self._shiftCanvas.bind("<B3-Motion>", self._onMouseButton3Motion)
self._shiftCanvas.grid(row=0,column=1, padx=2, pady=2)
self._shiftCanvas.create_oval(1, 1, 400, 400, outline="#ff0000")
self._shiftCanvas.create_line(200, 2, 200, 400, fill="#ff0000")
self._shiftCanvas.create_line(2, 200, 400, 200, fill="#ff0000")
self._shiftMarker = self._shiftCanvas.create_oval(196, 196, 204, 204, outline="#0000ff", fill="#0000ff")
self._yaw = DoubleVar()
self._yawScale = Scale(controlFrame, orient=HORIZONTAL, from_=-100.0, to=100.0, \
tickinterval=0, variable=self._yaw, \
length=200, showvalue=1, \
command=self._onYawScaleChanged)
self._yawScale.bind("<Double-Button-1>", self._onYawScaleDoubleButton1, "+")
self._yawScale.grid(row=1, column=1)
self._controlKeyActive = False
#PID calibration
pidCalibrationFrame = tkFrame(self)
pidCalibrationFrame.grid(column=0, row=2, sticky="WE");
self._pidSelected = StringVar()
self._pidSelected.set("--")
self._pidListBox = OptionMenu(pidCalibrationFrame, self._pidSelected, "--", \
Cockpit.KEY_ANG_SPEED, Cockpit.KEY_ANGLES, Cockpit.KEY_ACCEL, \
command=self._onPidListBoxChanged)
self._pidListBox.pack(side=LEFT, padx=2)
self._pidListBox.config(width=10)
self._axisSelected = StringVar()
self._axisSelected.set("--")
self._axisListBox = OptionMenu(pidCalibrationFrame, self._axisSelected, "--", "X", "Y", "Z", \
command=self._onAxisListBoxChanged)
self._axisListBox.pack(side=LEFT, padx=2)
self._axisListBox.config(state=DISABLED)
Label(pidCalibrationFrame, text="P").pack(side=LEFT, padx=(14, 2))
self._pidPString = StringVar()
self._pidPString.set("0.00")
self._pidPSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidPString, command=self._onPidSpinboxChanged)
self._pidPSpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="I").pack(side=LEFT, padx=(14, 2))
self._pidIString = StringVar()
self._pidIString.set("0.00")
self._pidISpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidIString, command=self._onPidSpinboxChanged)
self._pidISpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="D").pack(side=LEFT, padx=(14, 2))
self._pidDString = StringVar()
self._pidDString.set("0.00")
self._pidDSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidDString, command=self._onPidSpinboxChanged)
self._pidDSpinbox.pack(side=LEFT, padx=2)
#debug
debugFrame = tkFrame(self)
debugFrame.grid(column=0, row=3, sticky="WE")
self._debugMsg = Message(debugFrame, anchor="nw", justify=LEFT, relief=SUNKEN, width=300)
self._debugMsg.pack(fill=BOTH, expand=1)
def _start(self):
self._readDroneConfig()
if Cockpit.JOYSTICK_ENABLED:
self._joystickManager = JoystickManager.getInstance()
self._joystickManager.start()
joysticks = self._joystickManager.getJoysticks()
if len(joysticks) != 0:
self._joystick = joysticks[0]
self._joystick.onAxisChanged += self._onJoystickAxisChanged
self._joystick.onButtonPressed += self._onJoystickButtonPressed
else:
self._joystick = None
def _onJoystickAxisChanged(self, sender, index):
if self._started.get() and sender == self._joystick:
axisValue = self._joystick.getAxisValue(index)
if index == 0:
self._yaw.set(axisValue)
self._updateTarget()
elif index == 1 and not Cockpit.THROTTLE_BY_USER:
thrust = -axisValue
self._throttle.set(thrust)
self._updateTarget()
elif index == 2 and Cockpit.THROTTLE_BY_USER:
rowThrottle = (axisValue + 100.0)/2.0
if rowThrottle < 10.0:
throttle = rowThrottle * 6.0
elif rowThrottle < 90.0:
throttle = 60.0 + ((rowThrottle - 10.0) / 8.0)
else:
throttle = 70.0 + (rowThrottle - 90.0) * 3.0
self._throttle.set(throttle)
self._sendThrottle()
elif index == 3:
x = 196 + axisValue * 2
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = (x, lastCoords[1])
self._plotShiftCanvasMarker(coords)
elif index == 4:
y = 196 + axisValue * 2
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = (lastCoords[0], y)
self._plotShiftCanvasMarker(coords)
def _onJoystickButtonPressed(self, sender, index):
if sender == self._joystick and index == 7:
if self._started.get() == 0:
self._startedCB.select()
else:
self._startedCB.deselect()
# Tkinter's widgets seem not to be calling the event-handler
# when they are changed programmatically. Therefore, the
# even-handler is called explicitly here.
self._startedCBChanged()
def exit(self):
self._link.send({"key": "close", "data": None})
self._stopUpdateInfoThread()
self._link.close()
if Cockpit.JOYSTICK_ENABLED:
self._joystickManager.stop()
self.quit()
def _updateTarget(self):
markerCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = ((markerCoords[0] + markerCoords[2]) / 2, (markerCoords[1] + markerCoords[3]) / 2)
self._target[0] = float(coords[1] - 200) / 2.0 # X-axis angle / X-axis acceleration
self._target[1] = float(coords[0] - 200) / 2.0 # Y-axis angle / Y-axis acceleration
#Remote control uses clockwise angle, but the drone's referece system uses counter-clockwise angle
self._target[2] = -self._yaw.get() # Z-axis angular speed
# Z-axis acceleration (thrust). Only when the motor throttle is not controlled by user directly
if Cockpit.THROTTLE_BY_USER:
self._target[3] = 0.0
else:
self._target[3] = self._throttle.get()
self._sendTarget()
def _keyDown(self, event):
if event.keysym == "Escape":
self._throttle.set(0)
self._started.set(0)
self._thrustScale.config(state=DISABLED)
self._stopUpdateInfoThread()
self._sendIsStarted()
elif event.keysym.startswith("Control"):
self._controlKeyActive = True
elif not self._controlKeysLocked and self._controlKeyActive:
if event.keysym == "Up":
self._thrustScaleUp()
elif event.keysym == "Down":
self._thrustScaleDown()
elif event.keysym == "Left":
self._yawLeft()
elif event.keysym == "Right":
self._yawRight()
elif event.keysym == "space":
self._yawReset()
if not Cockpit.THROTTLE_BY_USER:
self._thrustReset()
elif not self._controlKeysLocked and not self._controlKeyActive:
if event.keysym == "Up":
self._moveShiftCanvasMarker((0,-5))
elif event.keysym == "Down":
self._moveShiftCanvasMarker((0,5))
elif event.keysym == "Left":
self._moveShiftCanvasMarker((-5,0))
elif event.keysym == "Right":
self._moveShiftCanvasMarker((5,0))
elif event.keysym == "space":
self._resetShiftCanvasMarker()
def _keyUp(self, eventArgs):
if eventArgs.keysym.startswith("Control"):
self._controlKeyActive = False
def _onMouseButton1(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseButtonRelease1(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
def _limitCoordsToSize(self, coords, size, width):
maxSize = size-(width/2.0)
minSize = -(width/2.0)
if coords[0] > maxSize:
x = maxSize
elif coords[0] < minSize:
x = minSize
else:
x = coords[0]
if coords[1] > maxSize:
y = maxSize
elif coords[1] < minSize:
y = minSize
else:
y = coords[1]
return (x,y)
def _plotShiftCanvasMarker(self, coords):
coords = self._limitCoordsToSize(coords, 400, 8)
self._shiftCanvas.coords(self._shiftMarker, coords[0], coords[1], coords[0] + 8, coords[1] + 8)
self._updateTarget()
def _moveShiftCanvasMarker(self, shift):
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
newCoords = (lastCoords[0] + shift[0], lastCoords[1] + shift[1])
self._plotShiftCanvasMarker(newCoords)
def _resetShiftCanvasMarker(self):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
self._updateTarget()
def _onMouseButton1Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0], eventArgs.y - self._lastMouseCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseDoubleButton1(self, eventArgs):
self._resetShiftCanvasMarker()
def _onMouseButton3(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
self._mouseDirection = Cockpit.DIR_NONE
def _onMouseButtonRelease3(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
def _onMouseButton3Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0], eventArgs.y - self._lastMouseCoords[1])
if self._mouseDirection == Cockpit.DIR_NONE:
if abs(deltaCoords[0]) > abs(deltaCoords[1]):
self._mouseDirection = Cockpit.DIR_HORIZONTAL
else:
self._mouseDirection = Cockpit.DIR_VERTICAL
if self._mouseDirection == Cockpit.DIR_HORIZONTAL:
deltaCoords = (deltaCoords[0], 0)
else:
deltaCoords = (0, deltaCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _thrustScaleUp(self):
#TODO: 20160526 DPM: El valor de incremento de aceleración (1.0) puede ser muy alto
if self._started.get():
newValue = self._thrustScale.get() \
+ (Cockpit.THROTTLE_RESOLUTION if Cockpit.THROTTLE_BY_USER else 1.0)
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustScaleDown(self):
#TODO: 20160526 DPM: El valor de decremento de aceleración (1.0) puede ser muy alto
if self._started.get():
newValue = self._thrustScale.get() \
- (Cockpit.THROTTLE_RESOLUTION if Cockpit.THROTTLE_BY_USER else 1.0)
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustReset(self):
if self._started.get():
self._thrustScale.set(0.0)
self._updateTarget()
def _onThrustScaleDoubleButton1(self, eventArgs):
self._thrustReset()
return "break"
def _yawRight(self):
newValue = self._yaw.get() + 1
self._yaw.set(newValue)
self._updateTarget()
def _yawLeft(self):
newValue = self._yaw.get() - 1
self._yaw.set(newValue)
self._updateTarget()
def _yawReset(self):
self._yaw.set(0)
self._updateTarget()
def _onMouseWheelUp(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleUp()
else:
self._yawRight()
def _onMouseWheelDown(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleDown()
else:
self._yawLeft()
def _onMouseWheel(self, eventArgs):
factor = eventArgs.delta/(1200.0 if Cockpit.THROTTLE_BY_USER and not self._controlKeyActive else 120.0)
if not self._controlKeyActive:
if self._started.get():
newValue = self._thrustScale.get() + factor
self._thrustScale.set(newValue)
self._updateTarget()
else:
newValue = self._yaw.get() + factor
self._yaw.set(newValue)
self._updateTarget()
def _onYawScaleChanged(self, eventArgs):
self._updateTarget()
def _onYawScaleDoubleButton1(self, eventArgs):
self._yawReset()
return "break"
def _startedCBChanged(self):
if not self._started.get():
self._throttle.set(0)
self._thrustScale.config(state=DISABLED)
#self._integralsCB.config(state=DISABLED)
self._stopUpdateInfoThread()
else:
self._thrustScale.config(state="normal")
#self._integralsCB.config(state="normal")
self._startUpdateInfoThread()
self._sendIsStarted()
# def _integralsCBChanged(self):
#
# self._link.send({"key": "integrals", "data":self._integralsEnabled.get() != 0})
#
def _onThrustScaleChanged(self, eventArgs):
if Cockpit.THROTTLE_BY_USER:
self._sendThrottle()
else:
self._updateTarget()
def _sendThrottle(self):
self._link.send({"key": "throttle", "data": self._throttle.get()})
def _sendTarget(self):
self._link.send({"key": "target", "data": self._target})
def _sendIsStarted(self):
isStarted = self._started.get() != 0
self._link.send({"key": "is-started", "data": isStarted})
def _sendPidCalibrationData(self):
if self._pidSelected.get() != "--" and self._axisSelected.get() != "--":
pidData = {
"pid": self._pidSelected.get(),
"axis": self._axisSelected.get(),
"p": float(self._pidPSpinbox.get()),
"i": float(self._pidISpinbox.get()),
"d": float(self._pidDSpinbox.get())}
self._link.send({"key": "pid-calibration", "data": pidData})
def _updatePidCalibrationData(self):
pid = self._pidSelected.get()
axis = self._axisSelected.get()
if pid != "--" and axis != "--":
self._pidConstants[pid][axis]["P"] = float(self._pidPSpinbox.get())
self._pidConstants[pid][axis]["I"] = float(self._pidISpinbox.get())
self._pidConstants[pid][axis]["D"] = float(self._pidDSpinbox.get())
def _readDroneConfig(self):
self._link.send({"key": "read-drone-config", "data": None}, self._onDroneConfigRead)
def _readDroneState(self):
if not self._readingState:
self._readingState = True
self._link.send({"key": "read-drone-state", "data": None}, self._onDroneStateRead)
def _readPidConfigItem(self, message, cockpitKey, axises, configKeys):
for i in range(len(axises)):
for j in range(len(Cockpit.PID_KEYS)):
self._pidConstants[cockpitKey][axises[i]][Cockpit.PID_KEYS[j]] = message[configKeys[j]][i]
def _onDroneConfigRead(self, message):
#TODO Show current configuration within the GUI (at least relevant settings)
if message:
#Angle-speeds
self._readPidConfigItem(message, Cockpit.KEY_ANG_SPEED, ["X", "Y", "Z"], \
[Configuration.PID_ANGLES_SPEED_KP, \
Configuration.PID_ANGLES_SPEED_KI, \
Configuration.PID_ANGLES_SPEED_KD])
#Angles
self._readPidConfigItem(message, Cockpit.KEY_ANGLES, ["X", "Y"], \
[Configuration.PID_ANGLES_KP, \
Configuration.PID_ANGLES_KI, \
Configuration.PID_ANGLES_KD])
#Accels
self._readPidConfigItem(message, Cockpit.KEY_ACCEL, ["X", "Y", "Z"], \
[Configuration.PID_ACCEL_KP, \
Configuration.PID_ACCEL_KI, \
Configuration.PID_ACCEL_KD])
def _onDroneStateRead(self, state):
if state:
for index in range(4):
self._throttleTexts[index].set("{0:.3f}".format(state["_throttles"][index]))
for index in range(3):
self._accelTexts[index].set("{0:.3f}".format(state["_accels"][index]))
self._angleTexts[index].set("{0:.3f}".format(state["_angles"][index]))
currentPeriod = state["_currentPeriod"]
if currentPeriod > 0.0:
freq = 1.0/currentPeriod
self._loopRateText.set("{0:.3f}".format(freq))
else:
self._loopRateText.set("--")
else:
self._stopUpdateInfoThread()
self._readingState = False
def _onPidSpinboxChanged(self):
self._updatePidCalibrationData()
self._sendPidCalibrationData()
def _onPidListBoxChanged(self, pid):
self._axisSelected.set("--")
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._selectedPidConstats = pid
if pid == "--":
self._axisListBox.config(state=DISABLED)
self._controlKeysLocked = False
else:
self._axisListBox.config(state="normal")
self._controlKeysLocked = True
def _onAxisListBoxChanged(self, axis):
if axis == "--" or (self._selectedPidConstats == Cockpit.KEY_ANGLES and axis == "Z"):
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._controlKeysLocked = axis != "--"
else:
self._pidPString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["P"]))
self._pidIString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["I"]))
self._pidDString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["D"]))
self._pidPSpinbox.config(state="normal")
self._pidISpinbox.config(state="normal")
self._pidDSpinbox.config(state="normal")
self._controlKeysLocked = True
def _updateInfo(self):
while self._updateInfoThreadRunning:
self._readDroneState()
time.sleep(1.0)
def _startUpdateInfoThread(self):
self._updateInfoThreadRunning = True
if not self._updateInfoThread.isAlive():
self._updateInfoThread.start()
def _stopUpdateInfoThread(self):
self._updateInfoThreadRunning = False
if self._updateInfoThread.isAlive():
self._updateInfoThread.join()
class Cockpit(ttkFrame):
'''
Remote controller GUI
'''
KEY_ANG_SPEED = "ang-speed"
KEY_ANGLES = "angles"
KEY_ACCEL = "accel"
PID_KEYS = ["P", "I", "D"]
DEFAULT_DRONE_IP = "192.168.1.130"
DEFAULT_DRONE_PORT = 2121
DIR_NONE = 0
DIR_VERTICAL = 1
DIR_HORIZONTAL = 2
MAX_ACCEL = 10.0 #TODO angles. Replace by m/s²
MAX_ACCEL_Z = 0.1 #m/s²
MAX_ANGLE_SPEED = 50.0 #º/s
def __init__(self, parent, isDummy = False, droneIp = DEFAULT_DRONE_IP, dronePort = DEFAULT_DRONE_PORT):
'''
Constructor
'''
ttkFrame.__init__(self, parent)
self._started = IntVar()
self._integralsEnabled = IntVar()
self._target = [0.0] * 4
self._selectedPidConstats = "--"
self._pidConstants = {
Cockpit.KEY_ANG_SPEED:{
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ANGLES: {
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ACCEL:{
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
}
}
self.parent = parent
self.initUI()
self._controlKeysLocked = False
if not isDummy:
self._link = INetLink(droneIp, dronePort)
else:
self._link = ConsoleLink()
self._link.open()
self._updateInfoThread = Thread(target=self._updateInfo)
self._updateInfoThreadRunning = False
self._readingState = False
self._start()
def initUI(self):
self.parent.title("Drone control")
self.style = Style()
self.style.theme_use("default")
self.pack(fill=BOTH, expand=1)
self.parent.bind_all("<Key>", self._keyDown)
self.parent.bind_all("<KeyRelease>", self._keyUp)
if system() == "Linux":
self.parent.bind_all("<Button-4>", self._onMouseWheelUp)
self.parent.bind_all("<Button-5>", self._onMouseWheelDown)
else:
#case of Windows
self.parent.bind_all("<MouseWheel>", self._onMouseWheel)
#Commands
commandsFrame = tkFrame(self)
commandsFrame.grid(column=0, row=0, sticky="WE")
self._startedCB = Checkbutton(commandsFrame, text="On", variable=self._started, command=self._startedCBChanged)
self._startedCB.pack(side=LEFT, padx=4)
self._integralsCB = Checkbutton(commandsFrame, text="Int.", variable=self._integralsEnabled, \
command=self._integralsCBChanged, state=DISABLED)
self._integralsCB.pack(side=LEFT, padx=4)
self._quitButton = Button(commandsFrame, text="Quit", command=self.exit)
self._quitButton.pack(side=LEFT, padx=2, pady=2)
# self._angleLbl = Label(commandsFrame, text="Angle")
# self._angleLbl.pack(side=LEFT, padx=4)
#
# self._angleEntry = Entry(commandsFrame, state=DISABLED)
# self._angleEntry.pack(side=LEFT)
#Info
infoFrame = tkFrame(self)
infoFrame.grid(column=1, row=1, sticky="E", padx=4)
#Throttle
Label(infoFrame, text="Throttle").grid(column=0, row=0, sticky="WE")
self._throttleTexts = [StringVar(),StringVar(),StringVar(),StringVar()]
Entry(infoFrame, textvariable=self._throttleTexts[3], state=DISABLED, width=5).grid(column=0, row=1)
Entry(infoFrame, textvariable=self._throttleTexts[0], state=DISABLED, width=5).grid(column=1, row=1)
Entry(infoFrame, textvariable=self._throttleTexts[2], state=DISABLED, width=5).grid(column=0, row=2)
Entry(infoFrame, textvariable=self._throttleTexts[1], state=DISABLED, width=5).grid(column=1, row=2)
#Angles
Label(infoFrame, text="Angles").grid(column=0, row=3, sticky="WE")
self._angleTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._angleTexts[index], state=DISABLED, width=5).grid(column=index, row=4)
#Accels
Label(infoFrame, text="Accels").grid(column=0, row=5, sticky="WE")
self._accelTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._accelTexts[index], state=DISABLED, width=5).grid(column=index, row=6)
#Speeds
Label(infoFrame, text="Speeds").grid(column=0, row=7, sticky="WE")
self._speedTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._speedTexts[index], state=DISABLED, width=5).grid(column=index, row=8)
#Height
Label(infoFrame, text="Height").grid(column=0, row=9, sticky="W")
self._heightText = StringVar()
Entry(infoFrame, state=DISABLED, width=5).grid(column=1, row=9)
#control
controlFrame = tkFrame(self)
controlFrame.grid(column=0, row=1, sticky="W")
self._throttle = DoubleVar()
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=-100.0, \
tickinterval=0, variable=self._throttle, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
self._thrustScale.bind("<Double-Button-1>", self._onThrustScaleDoubleButton1, "+")
self._thrustScale.grid(column=0)
self._shiftCanvas = Canvas(controlFrame, bg="white", height=400, width=400, \
relief=SUNKEN)
self._shiftCanvas.bind("<Button-1>", self._onMouseButton1)
#self._shiftCanvas.bind("<ButtonRelease-1>", self._onMouseButtonRelease1)
self._shiftCanvas.bind("<B1-Motion>", self._onMouseButton1Motion)
self._shiftCanvas.bind("<Double-Button-1>", self._onMouseDoubleButton1)
self._shiftCanvas.bind("<Button-3>", self._onMouseButton3)
#self._shiftCanvas.bind("<ButtonRelease-3>", self._onMouseButtonRelease3)
self._shiftCanvas.bind("<B3-Motion>", self._onMouseButton3Motion)
self._shiftCanvas.grid(row=0,column=1, padx=2, pady=2)
self._shiftCanvas.create_oval(2, 2, 400, 400, outline="#ff0000")
self._shiftCanvas.create_line(201, 2, 201, 400, fill="#ff0000")
self._shiftCanvas.create_line(2, 201, 400, 201, fill="#ff0000")
self._shiftMarker = self._shiftCanvas.create_oval(197, 197, 205, 205, outline="#0000ff", fill="#0000ff")
self._yaw = DoubleVar()
self._yawScale = Scale(controlFrame, orient=HORIZONTAL, from_=-100.0, to=100.0, \
tickinterval=0, variable=self._yaw, \
length=200, showvalue=1, \
command=self._onYawScaleChanged)
self._yawScale.bind("<Double-Button-1>", self._onYawScaleDoubleButton1, "+")
self._yawScale.grid(row=1, column=1)
self._controlKeyActive = False
#PID calibration
pidCalibrationFrame = tkFrame(self)
pidCalibrationFrame.grid(column=0, row=2, sticky="WE");
self._pidSelected = StringVar()
self._pidSelected.set("--")
self._pidListBox = OptionMenu(pidCalibrationFrame, self._pidSelected, "--", \
Cockpit.KEY_ANG_SPEED, Cockpit.KEY_ANGLES, Cockpit.KEY_ACCEL, \
command=self._onPidListBoxChanged)
self._pidListBox.pack(side=LEFT, padx=2)
self._pidListBox.config(width=10)
self._axisSelected = StringVar()
self._axisSelected.set("--")
self._axisListBox = OptionMenu(pidCalibrationFrame, self._axisSelected, "--", "X", "Y", "Z", \
command=self._onAxisListBoxChanged)
self._axisListBox.pack(side=LEFT, padx=2)
self._axisListBox.config(state=DISABLED)
Label(pidCalibrationFrame, text="P").pack(side=LEFT, padx=(14, 2))
self._pidPString = StringVar()
self._pidPString.set("0.00")
self._pidPSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=100.0, increment=0.01, state=DISABLED, \
textvariable=self._pidPString, command=self._onPidSpinboxChanged)
self._pidPSpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="I").pack(side=LEFT, padx=(14, 2))
self._pidIString = StringVar()
self._pidIString.set("0.00")
self._pidISpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=100.0, increment=0.01, state=DISABLED, \
textvariable=self._pidIString, command=self._onPidSpinboxChanged)
self._pidISpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="D").pack(side=LEFT, padx=(14, 2))
self._pidDString = StringVar()
self._pidDString.set("0.00")
self._pidDSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=100.0, increment=0.01, state=DISABLED, \
textvariable=self._pidDString, command=self._onPidSpinboxChanged)
self._pidDSpinbox.pack(side=LEFT, padx=2)
#debug
debugFrame = tkFrame(self)
debugFrame.grid(column=0, row=3, sticky="WE")
self._debugMsg = Message(debugFrame, anchor="nw", justify=LEFT, relief=SUNKEN, width=300)
self._debugMsg.pack(fill=BOTH, expand=1)
def _start(self):
self._readDroneConfig()
def exit(self):
self._link.send({"key": "close", "data": None})
self._stopUpdateInfoThread()
self._link.close()
self.quit()
def _updateTarget(self):
markerCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = ((markerCoords[0] + markerCoords[2]) / 2, (markerCoords[1] + markerCoords[3]) / 2)
self._target[1] = float(coords[0] - 201) * Cockpit.MAX_ACCEL / 200.0
self._target[0] = float(coords[1] - 201) * Cockpit.MAX_ACCEL / 200.0
#Remote control uses clockwise angle, but the drone's referece system uses counter-clockwise angle
self._target[2] = -self._yaw.get() * Cockpit.MAX_ANGLE_SPEED / 100.0
self._target[3] = self._throttle.get() * Cockpit.MAX_ACCEL_Z / 100.0
self._sendTarget()
def _keyDown(self, event):
if event.keysym == "Escape":
self._throttle.set(0)
self._started.set(0)
self._thrustScale.config(state=DISABLED)
self._stopUpdateInfoThread()
self._sendIsStarted()
elif event.keysym.startswith("Control"):
self._controlKeyActive = True
elif not self._controlKeysLocked and self._controlKeyActive:
if event.keysym == "Up":
self._thrustScaleUp()
elif event.keysym == "Down":
self._thrustScaleDown()
elif event.keysym == "Left":
self._yawLeft()
elif event.keysym == "Right":
self._yawRight()
elif event.keysym == "space":
self._yawReset()
self._thrustReset()
elif not self._controlKeysLocked and not self._controlKeyActive:
if event.keysym == "Up":
self._moveShiftCanvasMarker((0,-5))
elif event.keysym == "Down":
self._moveShiftCanvasMarker((0,5))
elif event.keysym == "Left":
self._moveShiftCanvasMarker((-5,0))
elif event.keysym == "Right":
self._moveShiftCanvasMarker((5,0))
elif event.keysym == "space":
self._resetShiftCanvasMarker()
def _keyUp(self, eventArgs):
if eventArgs.keysym.startswith("Control"):
self._controlKeyActive = False
def _onMouseButton1(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseButtonRelease1(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 197, 197, 205, 205)
def _limitCoordsToSize(self, coords, size):
if coords[0] > size:
x = size
elif coords[0] < 0:
x = 0
else:
x = coords[0]
if coords[1] > size:
y = size
elif coords[1] < 0:
y = 0
else:
y = coords[1]
return (x,y)
def _moveShiftCanvasMarker(self, shift):
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
newCoords = (lastCoords[0] + shift[0], lastCoords[1] + shift[1])
newCoords = self._limitCoordsToSize(newCoords, 400)
self._shiftCanvas.coords(self._shiftMarker, newCoords[0], newCoords[1], newCoords[0] + 8, newCoords[1] + 8)
self._updateTarget()
def _resetShiftCanvasMarker(self):
self._shiftCanvas.coords(self._shiftMarker, 197, 197, 205, 205)
self._updateTarget()
def _onMouseButton1Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0], eventArgs.y - self._lastMouseCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseDoubleButton1(self, eventArgs):
self._resetShiftCanvasMarker()
def _onMouseButton3(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
self._mouseDirection = Cockpit.DIR_NONE
def _onMouseButtonRelease3(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 197, 197, 205, 205)
def _onMouseButton3Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0], eventArgs.y - self._lastMouseCoords[1])
if self._mouseDirection == Cockpit.DIR_NONE:
if abs(deltaCoords[0]) > abs(deltaCoords[1]):
self._mouseDirection = Cockpit.DIR_HORIZONTAL
else:
self._mouseDirection = Cockpit.DIR_VERTICAL
if self._mouseDirection == Cockpit.DIR_HORIZONTAL:
deltaCoords = (deltaCoords[0], 0)
else:
deltaCoords = (0, deltaCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _thrustScaleUp(self):
if self._started.get():
newValue = self._thrustScale.get() + 1
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustScaleDown(self):
if self._started.get():
newValue = self._thrustScale.get() - 1
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustReset(self):
if self._started.get():
self._thrustScale.set(0.0)
self._updateTarget()
def _onThrustScaleDoubleButton1(self, eventArgs):
self._thrustReset()
return "break"
def _yawRight(self):
newValue = self._yaw.get() + 1
self._yaw.set(newValue)
self._updateTarget()
def _yawLeft(self):
newValue = self._yaw.get() - 1
self._yaw.set(newValue)
self._updateTarget()
def _yawReset(self):
self._yaw.set(0)
self._updateTarget()
def _onMouseWheelUp(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleUp()
else:
self._yawRight()
def _onMouseWheelDown(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleDown()
else:
self._yawLeft()
def _onMouseWheel(self, eventArgs):
factor = int(eventArgs.delta/120)
if not self._controlKeyActive:
if self._started.get():
newValue = self._thrustScale.get() + factor
self._thrustScale.set(newValue)
self._updateTarget()
else:
newValue = self._yaw.get() + factor
self._yaw.set(newValue)
self._updateTarget()
def _onYawScaleChanged(self, eventArgs):
self._updateTarget()
def _onYawScaleDoubleButton1(self, eventArgs):
self._yawReset()
return "break"
def _startedCBChanged(self):
if not self._started.get():
self._throttle.set(0)
self._thrustScale.config(state=DISABLED)
self._integralsCB.config(state=DISABLED)
self._stopUpdateInfoThread()
else:
self._thrustScale.config(state="normal")
self._integralsCB.config(state="normal")
self._startUpdateInfoThread()
self._sendIsStarted()
def _integralsCBChanged(self):
self._link.send({"key": "integrals", "data":self._integralsEnabled.get() != 0})
def _onThrustScaleChanged(self, eventArgs):
self._updateTarget()
def _sendTarget(self):
self._link.send({"key": "target", "data": self._target})
def _sendIsStarted(self):
isStarted = self._started.get() != 0
self._link.send({"key": "is-started", "data": isStarted})
def _sendPidCalibrationData(self):
if self._pidSelected.get() != "--" and self._axisSelected.get() != "--":
pidData = {
"pid": self._pidSelected.get(),
"axis": self._axisSelected.get(),
"p": float(self._pidPSpinbox.get()),
"i": float(self._pidISpinbox.get()),
"d": float(self._pidDSpinbox.get())}
self._link.send({"key": "pid-calibration", "data": pidData})
def _updatePidCalibrationData(self):
pid = self._pidSelected.get()
axis = self._axisSelected.get()
if pid != "--" and axis != "--":
self._pidConstants[pid][axis]["P"] = float(self._pidPSpinbox.get())
self._pidConstants[pid][axis]["I"] = float(self._pidISpinbox.get())
self._pidConstants[pid][axis]["D"] = float(self._pidDSpinbox.get())
def _readDroneConfig(self):
self._link.send({"key": "read-drone-config", "data": None}, self._onDroneConfigRead)
def _readDroneState(self):
if not self._readingState:
self._readingState = True
self._link.send({"key": "read-drone-state", "data": None}, self._onDroneStateRead)
def _readPidConfigItem(self, message, cockpitKey, axises, configKeys):
for i in range(len(axises)):
for j in range(len(Cockpit.PID_KEYS)):
self._pidConstants[cockpitKey][axises[i]][Cockpit.PID_KEYS[j]] = message[configKeys[j]][i]
def _onDroneConfigRead(self, message):
#TODO Show current configuration within the GUI (at least relevant settings)
if message:
#Angle-speeds
self._readPidConfigItem(message, Cockpit.KEY_ANG_SPEED, ["X", "Y", "Z"], \
[Configuration.PID_ANGLES_SPEED_KP, \
Configuration.PID_ANGLES_SPEED_KI, \
Configuration.PID_ANGLES_SPEED_KD])
#Angles
self._readPidConfigItem(message, Cockpit.KEY_ANGLES, ["X", "Y"], \
[Configuration.PID_ANGLES_KP, \
Configuration.PID_ANGLES_KI, \
Configuration.PID_ANGLES_KD])
#Accels
self._readPidConfigItem(message, Cockpit.KEY_ACCEL, ["X", "Y", "Z"], \
[Configuration.PID_ACCEL_KP, \
Configuration.PID_ACCEL_KI, \
Configuration.PID_ACCEL_KD])
def _onDroneStateRead(self, state):
if state:
for index in range(4):
self._throttleTexts[index].set("{0:.3f}".format(state["_throttles"][index]))
for index in range(3):
self._accelTexts[index].set("{0:.3f}".format(state["_accels"][index]))
self._angleTexts[index].set("{0:.3f}".format(state["_angles"][index]))
else:
self._stopUpdateInfoThread()
self._readingState = False
def _onPidSpinboxChanged(self):
self._updatePidCalibrationData()
self._sendPidCalibrationData()
def _onPidListBoxChanged(self, pid):
self._axisSelected.set("--")
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._selectedPidConstats = pid
if pid == "--":
self._axisListBox.config(state=DISABLED)
self._controlKeysLocked = False
else:
self._axisListBox.config(state="normal")
self._controlKeysLocked = True
def _onAxisListBoxChanged(self, axis):
if axis == "--" or (self._selectedPidConstats == Cockpit.KEY_ANGLES and axis == "Z"):
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._controlKeysLocked = axis != "--"
else:
self._pidPString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["P"]))
self._pidIString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["I"]))
self._pidDString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["D"]))
self._pidPSpinbox.config(state="normal")
self._pidISpinbox.config(state="normal")
self._pidDSpinbox.config(state="normal")
self._controlKeysLocked = True
def _updateInfo(self):
while self._updateInfoThreadRunning:
self._readDroneState()
time.sleep(1.0)
def _startUpdateInfoThread(self):
self._updateInfoThreadRunning = True
if not self._updateInfoThread.isAlive():
self._updateInfoThread.start()
def _stopUpdateInfoThread(self):
self._updateInfoThreadRunning = False
if self._updateInfoThread.isAlive():
self._updateInfoThread.join()
class Cockpit(ttkFrame):
'''
Remote device GUI
'''
#TODO: 20160415 DPM - Set these values from configuration file
#--- config
THROTTLE_BY_USER = True
THROTTLE_RESOLUTION = 0.1
# Joystick enabled or not, if any
JOYSTICK_ENABLED = True
DEFAULT_DRONE_IP = "192.168.1.130"
DEFAULT_DRONE_PORT = 2121
#--- end config
KEY_ANG_SPEED = "ang-speed"
KEY_ANGLES = "angles"
KEY_ACCEL = "accel"
PID_KEYS = ["P", "I", "D"]
DIR_NONE = 0
DIR_VERTICAL = 1
DIR_HORIZONTAL = 2
def __init__(self,
parent,
isDummy=False,
droneIp=DEFAULT_DRONE_IP,
dronePort=DEFAULT_DRONE_PORT):
'''
Constructor
'''
ttkFrame.__init__(self, parent)
self._target = [0.0] * 4
self._selectedPidConstats = "--"
self._pidConstants = {
Cockpit.KEY_ANG_SPEED: {
"X": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z": {
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ANGLES: {
"X": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y": {
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ACCEL: {
"X": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z": {
"P": 0.0,
"I": 0.0,
"D": 0.0
}
}
}
self.parent = parent
self.initUI()
self._controlKeysLocked = False
if not isDummy:
self._link = INetLink(droneIp, dronePort)
else:
self._link = ConsoleLink()
self._link.open()
self._updateInfoThread = Thread(target=self._updateInfo)
self._updateInfoThreadRunning = False
self._readingState = False
self._start()
def initUI(self):
self.parent.title("Drone control")
self.style = Style()
self.style.theme_use("default")
self.pack(fill=BOTH, expand=1)
self.parent.bind_all("<Key>", self._keyDown)
self.parent.bind_all("<KeyRelease>", self._keyUp)
if system() == "Linux":
self.parent.bind_all("<Button-4>", self._onMouseWheelUp)
self.parent.bind_all("<Button-5>", self._onMouseWheelDown)
else:
#case of Windows
self.parent.bind_all("<MouseWheel>", self._onMouseWheel)
#Commands
commandsFrame = tkFrame(self)
commandsFrame.grid(column=0, row=0, sticky="WE")
self._started = IntVar()
self._startedCB = Checkbutton(commandsFrame,
text="On",
variable=self._started,
command=self._startedCBChanged)
self._startedCB.pack(side=LEFT, padx=4)
# self._integralsCB = Checkbutton(commandsFrame, text="Int.", variable=self._integralsEnabled, \
# command=self._integralsCBChanged, state=DISABLED)
# self._integralsCB.pack(side=LEFT, padx=4)
self._quitButton = Button(commandsFrame,
text="Quit",
command=self.exit)
self._quitButton.pack(side=LEFT, padx=2, pady=2)
# self._angleLbl = Label(commandsFrame, text="Angle")
# self._angleLbl.pack(side=LEFT, padx=4)
#
# self._angleEntry = Entry(commandsFrame, state=DISABLED)
# self._angleEntry.pack(side=LEFT)
#Info
infoFrame = tkFrame(self)
infoFrame.grid(column=1, row=1, sticky="NE", padx=4)
#Throttle
Label(infoFrame, text="Throttle").grid(column=0, row=0, sticky="WE")
self._throttleTexts = [
StringVar(), StringVar(),
StringVar(), StringVar()
]
Entry(infoFrame,
textvariable=self._throttleTexts[3],
state=DISABLED,
width=5).grid(column=0, row=1)
Entry(infoFrame,
textvariable=self._throttleTexts[0],
state=DISABLED,
width=5).grid(column=1, row=1)
Entry(infoFrame,
textvariable=self._throttleTexts[2],
state=DISABLED,
width=5).grid(column=0, row=2)
Entry(infoFrame,
textvariable=self._throttleTexts[1],
state=DISABLED,
width=5).grid(column=1, row=2)
#Angles
Label(infoFrame, text="Angles").grid(column=0, row=3, sticky="WE")
self._angleTexts = [StringVar(), StringVar(), StringVar()]
for index in range(3):
Entry(infoFrame,
textvariable=self._angleTexts[index],
state=DISABLED,
width=5).grid(column=index, row=4)
#Accels
Label(infoFrame, text="Accels").grid(column=0, row=5, sticky="WE")
self._accelTexts = [StringVar(), StringVar(), StringVar()]
for index in range(3):
Entry(infoFrame,
textvariable=self._accelTexts[index],
state=DISABLED,
width=5).grid(column=index, row=6)
#Speeds
Label(infoFrame, text="Speeds").grid(column=0, row=7, sticky="WE")
self._speedTexts = [StringVar(), StringVar(), StringVar()]
for index in range(3):
Entry(infoFrame,
textvariable=self._speedTexts[index],
state=DISABLED,
width=5).grid(column=index, row=8)
#Height
Label(infoFrame, text="Height").grid(column=0, row=9, sticky="E")
self._heightText = StringVar()
Entry(infoFrame,
textvariable=self._heightText,
state=DISABLED,
width=5).grid(column=1, row=9)
#Loop rate
Label(infoFrame, text="Loop @").grid(column=0, row=10, sticky="E")
self._loopRateText = StringVar()
Entry(infoFrame,
textvariable=self._loopRateText,
state=DISABLED,
width=5).grid(column=1, row=10)
Label(infoFrame, text="Hz").grid(column=2, row=10, sticky="W")
#control
controlFrame = tkFrame(self)
controlFrame.grid(column=0, row=1, sticky="W")
self._throttle = DoubleVar()
if Cockpit.THROTTLE_BY_USER:
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=0.0, \
tickinterval=0, variable=self._throttle, resolution=Cockpit.THROTTLE_RESOLUTION, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
else:
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=-100.0, \
tickinterval=0, variable=self._throttle, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
self._thrustScale.bind("<Double-Button-1>",
self._onThrustScaleDoubleButton1, "+")
self._thrustScale.grid(column=0)
self._shiftCanvas = Canvas(controlFrame, bg="white", height=400, width=400, \
relief=SUNKEN)
self._shiftCanvas.bind("<Button-1>", self._onMouseButton1)
#self._shiftCanvas.bind("<ButtonRelease-1>", self._onMouseButtonRelease1)
self._shiftCanvas.bind("<B1-Motion>", self._onMouseButton1Motion)
self._shiftCanvas.bind("<Double-Button-1>", self._onMouseDoubleButton1)
self._shiftCanvas.bind("<Button-3>", self._onMouseButton3)
#self._shiftCanvas.bind("<ButtonRelease-3>", self._onMouseButtonRelease3)
self._shiftCanvas.bind("<B3-Motion>", self._onMouseButton3Motion)
self._shiftCanvas.grid(row=0, column=1, padx=2, pady=2)
self._shiftCanvas.create_oval(1, 1, 400, 400, outline="#ff0000")
self._shiftCanvas.create_line(200, 2, 200, 400, fill="#ff0000")
self._shiftCanvas.create_line(2, 200, 400, 200, fill="#ff0000")
self._shiftMarker = self._shiftCanvas.create_oval(196,
196,
204,
204,
outline="#0000ff",
fill="#0000ff")
self._yaw = DoubleVar()
self._yawScale = Scale(controlFrame, orient=HORIZONTAL, from_=-100.0, to=100.0, \
tickinterval=0, variable=self._yaw, \
length=200, showvalue=1, \
command=self._onYawScaleChanged)
self._yawScale.bind("<Double-Button-1>", self._onYawScaleDoubleButton1,
"+")
self._yawScale.grid(row=1, column=1)
self._controlKeyActive = False
#PID calibration
pidCalibrationFrame = tkFrame(self)
pidCalibrationFrame.grid(column=0, row=2, sticky="WE")
self._pidSelected = StringVar()
self._pidSelected.set("--")
self._pidListBox = OptionMenu(pidCalibrationFrame, self._pidSelected, "--", \
Cockpit.KEY_ANG_SPEED, Cockpit.KEY_ANGLES, Cockpit.KEY_ACCEL, \
command=self._onPidListBoxChanged)
self._pidListBox.pack(side=LEFT, padx=2)
self._pidListBox.config(width=10)
self._axisSelected = StringVar()
self._axisSelected.set("--")
self._axisListBox = OptionMenu(pidCalibrationFrame, self._axisSelected, "--", "X", "Y", "Z", \
command=self._onAxisListBoxChanged)
self._axisListBox.pack(side=LEFT, padx=2)
self._axisListBox.config(state=DISABLED)
Label(pidCalibrationFrame, text="P").pack(side=LEFT, padx=(14, 2))
self._pidPString = StringVar()
self._pidPString.set("0.00")
self._pidPSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidPString, command=self._onPidSpinboxChanged)
self._pidPSpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="I").pack(side=LEFT, padx=(14, 2))
self._pidIString = StringVar()
self._pidIString.set("0.00")
self._pidISpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidIString, command=self._onPidSpinboxChanged)
self._pidISpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="D").pack(side=LEFT, padx=(14, 2))
self._pidDString = StringVar()
self._pidDString.set("0.00")
self._pidDSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidDString, command=self._onPidSpinboxChanged)
self._pidDSpinbox.pack(side=LEFT, padx=2)
#debug
debugFrame = tkFrame(self)
debugFrame.grid(column=0, row=3, sticky="WE")
self._debugMsg = Message(debugFrame,
anchor="nw",
justify=LEFT,
relief=SUNKEN,
width=300)
self._debugMsg.pack(fill=BOTH, expand=1)
def _start(self):
self._readDroneConfig()
if Cockpit.JOYSTICK_ENABLED:
self._joystickManager = JoystickManager.getInstance()
self._joystickManager.start()
joysticks = self._joystickManager.getJoysticks()
if len(joysticks) != 0:
self._joystick = joysticks[0]
self._joystick.onAxisChanged += self._onJoystickAxisChanged
self._joystick.onButtonPressed += self._onJoystickButtonPressed
else:
self._joystick = None
def _onJoystickAxisChanged(self, sender, index):
if self._started.get() and sender == self._joystick:
axisValue = self._joystick.getAxisValue(index)
if index == 0:
self._yaw.set(axisValue)
self._updateTarget()
elif index == 1 and not Cockpit.THROTTLE_BY_USER:
thrust = -axisValue
self._throttle.set(thrust)
self._updateTarget()
elif index == 2 and Cockpit.THROTTLE_BY_USER:
rowThrottle = (axisValue + 100.0) / 2.0
if rowThrottle < 10.0:
throttle = rowThrottle * 6.0
elif rowThrottle < 90.0:
throttle = 60.0 + ((rowThrottle - 10.0) / 8.0)
else:
throttle = 70.0 + (rowThrottle - 90.0) * 3.0
self._throttle.set(throttle)
self._sendThrottle()
elif index == 3:
x = 196 + axisValue * 2
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = (x, lastCoords[1])
self._plotShiftCanvasMarker(coords)
elif index == 4:
y = 196 + axisValue * 2
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = (lastCoords[0], y)
self._plotShiftCanvasMarker(coords)
def _onJoystickButtonPressed(self, sender, index):
if sender == self._joystick and index == 7:
if self._started.get() == 0:
self._startedCB.select()
else:
self._startedCB.deselect()
# Tkinter's widgets seem not to be calling the event-handler
# when they are changed programmatically. Therefore, the
# even-handler is called explicitly here.
self._startedCBChanged()
def exit(self):
self._link.send({"key": "close", "data": None})
self._stopUpdateInfoThread()
self._link.close()
if Cockpit.JOYSTICK_ENABLED:
self._joystickManager.stop()
self.quit()
def _updateTarget(self):
markerCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = ((markerCoords[0] + markerCoords[2]) / 2,
(markerCoords[1] + markerCoords[3]) / 2)
self._target[0] = float(
coords[1] - 200) / 2.0 # X-axis angle / X-axis acceleration
self._target[1] = float(
coords[0] - 200) / 2.0 # Y-axis angle / Y-axis acceleration
#Remote control uses clockwise angle, but the drone's referece system uses counter-clockwise angle
self._target[2] = -self._yaw.get() # Z-axis angular speed
# Z-axis acceleration (thrust). Only when the motor throttle is not controlled by user directly
if Cockpit.THROTTLE_BY_USER:
self._target[3] = 0.0
else:
self._target[3] = self._throttle.get()
self._sendTarget()
def _keyDown(self, event):
if event.keysym == "Escape":
self._throttle.set(0)
self._started.set(0)
self._thrustScale.config(state=DISABLED)
self._stopUpdateInfoThread()
self._sendIsStarted()
elif event.keysym.startswith("Control"):
self._controlKeyActive = True
elif not self._controlKeysLocked and self._controlKeyActive:
if event.keysym == "Up":
self._thrustScaleUp()
elif event.keysym == "Down":
self._thrustScaleDown()
elif event.keysym == "Left":
self._yawLeft()
elif event.keysym == "Right":
self._yawRight()
elif event.keysym == "space":
self._yawReset()
if not Cockpit.THROTTLE_BY_USER:
self._thrustReset()
elif not self._controlKeysLocked and not self._controlKeyActive:
if event.keysym == "Up":
self._moveShiftCanvasMarker((0, -5))
elif event.keysym == "Down":
self._moveShiftCanvasMarker((0, 5))
elif event.keysym == "Left":
self._moveShiftCanvasMarker((-5, 0))
elif event.keysym == "Right":
self._moveShiftCanvasMarker((5, 0))
elif event.keysym == "space":
self._resetShiftCanvasMarker()
def _keyUp(self, eventArgs):
if eventArgs.keysym.startswith("Control"):
self._controlKeyActive = False
def _onMouseButton1(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseButtonRelease1(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
def _limitCoordsToSize(self, coords, size, width):
maxSize = size - (width / 2.0)
minSize = -(width / 2.0)
if coords[0] > maxSize:
x = maxSize
elif coords[0] < minSize:
x = minSize
else:
x = coords[0]
if coords[1] > maxSize:
y = maxSize
elif coords[1] < minSize:
y = minSize
else:
y = coords[1]
return (x, y)
def _plotShiftCanvasMarker(self, coords):
coords = self._limitCoordsToSize(coords, 400, 8)
self._shiftCanvas.coords(self._shiftMarker, coords[0], coords[1],
coords[0] + 8, coords[1] + 8)
self._updateTarget()
def _moveShiftCanvasMarker(self, shift):
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
newCoords = (lastCoords[0] + shift[0], lastCoords[1] + shift[1])
self._plotShiftCanvasMarker(newCoords)
def _resetShiftCanvasMarker(self):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
self._updateTarget()
def _onMouseButton1Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0],
eventArgs.y - self._lastMouseCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseDoubleButton1(self, eventArgs):
self._resetShiftCanvasMarker()
def _onMouseButton3(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
self._mouseDirection = Cockpit.DIR_NONE
def _onMouseButtonRelease3(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
def _onMouseButton3Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0],
eventArgs.y - self._lastMouseCoords[1])
if self._mouseDirection == Cockpit.DIR_NONE:
if abs(deltaCoords[0]) > abs(deltaCoords[1]):
self._mouseDirection = Cockpit.DIR_HORIZONTAL
else:
self._mouseDirection = Cockpit.DIR_VERTICAL
if self._mouseDirection == Cockpit.DIR_HORIZONTAL:
deltaCoords = (deltaCoords[0], 0)
else:
deltaCoords = (0, deltaCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _thrustScaleUp(self):
#TODO: 20160526 DPM: El valor de incremento de aceleración (1.0) puede ser muy alto
if self._started.get():
newValue = self._thrustScale.get() \
+ (Cockpit.THROTTLE_RESOLUTION if Cockpit.THROTTLE_BY_USER else 1.0)
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustScaleDown(self):
#TODO: 20160526 DPM: El valor de decremento de aceleración (1.0) puede ser muy alto
if self._started.get():
newValue = self._thrustScale.get() \
- (Cockpit.THROTTLE_RESOLUTION if Cockpit.THROTTLE_BY_USER else 1.0)
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustReset(self):
if self._started.get():
self._thrustScale.set(0.0)
self._updateTarget()
def _onThrustScaleDoubleButton1(self, eventArgs):
self._thrustReset()
return "break"
def _yawRight(self):
newValue = self._yaw.get() + 1
self._yaw.set(newValue)
self._updateTarget()
def _yawLeft(self):
newValue = self._yaw.get() - 1
self._yaw.set(newValue)
self._updateTarget()
def _yawReset(self):
self._yaw.set(0)
self._updateTarget()
def _onMouseWheelUp(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleUp()
else:
self._yawRight()
def _onMouseWheelDown(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleDown()
else:
self._yawLeft()
def _onMouseWheel(self, eventArgs):
factor = eventArgs.delta / (1200.0 if Cockpit.THROTTLE_BY_USER
and not self._controlKeyActive else 120.0)
if not self._controlKeyActive:
if self._started.get():
newValue = self._thrustScale.get() + factor
self._thrustScale.set(newValue)
self._updateTarget()
else:
newValue = self._yaw.get() + factor
self._yaw.set(newValue)
self._updateTarget()
def _onYawScaleChanged(self, eventArgs):
self._updateTarget()
def _onYawScaleDoubleButton1(self, eventArgs):
self._yawReset()
return "break"
def _startedCBChanged(self):
if not self._started.get():
self._throttle.set(0)
self._thrustScale.config(state=DISABLED)
#self._integralsCB.config(state=DISABLED)
self._stopUpdateInfoThread()
else:
self._thrustScale.config(state="normal")
#self._integralsCB.config(state="normal")
self._startUpdateInfoThread()
self._sendIsStarted()
# def _integralsCBChanged(self):
#
# self._link.send({"key": "integrals", "data":self._integralsEnabled.get() != 0})
#
def _onThrustScaleChanged(self, eventArgs):
if Cockpit.THROTTLE_BY_USER:
self._sendThrottle()
else:
self._updateTarget()
def _sendThrottle(self):
self._link.send({"key": "throttle", "data": self._throttle.get()})
def _sendTarget(self):
self._link.send({"key": "target", "data": self._target})
def _sendIsStarted(self):
isStarted = self._started.get() != 0
self._link.send({"key": "is-started", "data": isStarted})
def _sendPidCalibrationData(self):
if self._pidSelected.get() != "--" and self._axisSelected.get(
) != "--":
pidData = {
"pid": self._pidSelected.get(),
"axis": self._axisSelected.get(),
"p": float(self._pidPSpinbox.get()),
"i": float(self._pidISpinbox.get()),
"d": float(self._pidDSpinbox.get())
}
self._link.send({"key": "pid-calibration", "data": pidData})
def _updatePidCalibrationData(self):
pid = self._pidSelected.get()
axis = self._axisSelected.get()
if pid != "--" and axis != "--":
self._pidConstants[pid][axis]["P"] = float(self._pidPSpinbox.get())
self._pidConstants[pid][axis]["I"] = float(self._pidISpinbox.get())
self._pidConstants[pid][axis]["D"] = float(self._pidDSpinbox.get())
def _readDroneConfig(self):
self._link.send({
"key": "read-drone-config",
"data": None
}, self._onDroneConfigRead)
def _readDroneState(self):
if not self._readingState:
self._readingState = True
self._link.send({
"key": "read-drone-state",
"data": None
}, self._onDroneStateRead)
def _readPidConfigItem(self, message, cockpitKey, axises, configKeys):
for i in range(len(axises)):
for j in range(len(Cockpit.PID_KEYS)):
self._pidConstants[cockpitKey][axises[i]][
Cockpit.PID_KEYS[j]] = message[configKeys[j]][i]
def _onDroneConfigRead(self, message):
#TODO Show current configuration within the GUI (at least relevant settings)
if message:
#Angle-speeds
self._readPidConfigItem(message, Cockpit.KEY_ANG_SPEED, ["X", "Y", "Z"], \
[Configuration.PID_ANGLES_SPEED_KP, \
Configuration.PID_ANGLES_SPEED_KI, \
Configuration.PID_ANGLES_SPEED_KD])
#Angles
self._readPidConfigItem(message, Cockpit.KEY_ANGLES, ["X", "Y"], \
[Configuration.PID_ANGLES_KP, \
Configuration.PID_ANGLES_KI, \
Configuration.PID_ANGLES_KD])
#Accels
self._readPidConfigItem(message, Cockpit.KEY_ACCEL, ["X", "Y", "Z"], \
[Configuration.PID_ACCEL_KP, \
Configuration.PID_ACCEL_KI, \
Configuration.PID_ACCEL_KD])
def _onDroneStateRead(self, state):
if state:
for index in range(4):
self._throttleTexts[index].set("{0:.3f}".format(
state["_throttles"][index]))
for index in range(3):
self._accelTexts[index].set("{0:.3f}".format(
state["_accels"][index]))
self._angleTexts[index].set("{0:.3f}".format(
state["_angles"][index]))
currentPeriod = state["_currentPeriod"]
if currentPeriod > 0.0:
freq = 1.0 / currentPeriod
self._loopRateText.set("{0:.3f}".format(freq))
else:
self._loopRateText.set("--")
else:
self._stopUpdateInfoThread()
self._readingState = False
def _onPidSpinboxChanged(self):
self._updatePidCalibrationData()
self._sendPidCalibrationData()
def _onPidListBoxChanged(self, pid):
self._axisSelected.set("--")
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._selectedPidConstats = pid
if pid == "--":
self._axisListBox.config(state=DISABLED)
self._controlKeysLocked = False
else:
self._axisListBox.config(state="normal")
self._controlKeysLocked = True
def _onAxisListBoxChanged(self, axis):
if axis == "--" or (self._selectedPidConstats == Cockpit.KEY_ANGLES
and axis == "Z"):
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._controlKeysLocked = axis != "--"
else:
self._pidPString.set("{:.2f}".format(
self._pidConstants[self._selectedPidConstats][axis]["P"]))
self._pidIString.set("{:.2f}".format(
self._pidConstants[self._selectedPidConstats][axis]["I"]))
self._pidDString.set("{:.2f}".format(
self._pidConstants[self._selectedPidConstats][axis]["D"]))
self._pidPSpinbox.config(state="normal")
self._pidISpinbox.config(state="normal")
self._pidDSpinbox.config(state="normal")
self._controlKeysLocked = True
def _updateInfo(self):
while self._updateInfoThreadRunning:
self._readDroneState()
time.sleep(1.0)
def _startUpdateInfoThread(self):
self._updateInfoThreadRunning = True
if not self._updateInfoThread.isAlive():
self._updateInfoThread.start()
def _stopUpdateInfoThread(self):
self._updateInfoThreadRunning = False
if self._updateInfoThread.isAlive():
self._updateInfoThread.join()
class EnviroDialog(Dialog):
"""
Dialog for editing the simulation environment details
"""
def __init__(self, parent, populator=None, manager=None):
"""
Construct the dialog
:param parent: The tk element that is the parent of the dialog
:return: An instance of EnviroDialog
"""
self._entries = {
"floor_texture": None,
"wall_height": None,
"edge_width": None,
"sky_texture": None,
"start_node": None
}
Dialog.__init__(self, parent=parent, title="EnvironmentConfiguration", populator=populator, manager=manager)
def body(self, parent):
"""
Overridden method defining the body of the dialog
:param parent:
:return:
"""
self._floorSel = ImagePicker(parent, "Floor Texture:",
default=self._entries["floor_texture"], auto_move=True, move_fold="Data")
self._floorSel.grid(row=0, columnspan=4)
self._skySel = ImagePicker(parent, "Sky Texture:", default=self._entries["sky_texture"], auto_move=True, move_fold="Data")
self._skySel.grid(row=1, columnspan=4)
Label(parent, text="Wall Height:", width=10, anchor=W).grid(row=2, column=0, sticky=W)
Label(parent, text="Edge Width:", width=10, anchor=W).grid(row=3, column=0, sticky=W)
self._wallScale = Scale(parent, from_=10, to=1000, orient=HORIZONTAL)
if self._entries["wall_height"] is not None:
self._wallScale.set(self._entries["wall_height"])
self._wallScale.grid(row=2, column=1, columnspan=2, sticky=W)
self._edgeScale = Scale(parent, from_=10, to=1000, orient=HORIZONTAL)
if self._entries["edge_width"] is not None:
self._edgeScale.set(self._entries["edge_width"])
self._edgeScale.grid(row=3, column=1, columnspan=2, sticky=W)
Label(parent, text="Starting Node:", anchor=W).grid(row=4, column=0, sticky=W)
self._start_node = Label(parent, text=self._entries["start_node"], anchor=W)
self._start_node.grid(row=4, column=1, sticky=W)
def populate(self, manager):
self._entries["floor_texture"] = manager.floor_texture
self._entries["edge_width"] = manager.edge_width
self._entries["sky_texture"] = manager.sky_texture
self._entries["start_node"] = manager.start_node
self._entries["edge_width"] = manager.edge_width
self._entries["wall_height"] = manager.wall_height
def validate(self):
(result, message) = DataValidator.validate(DataStore.EVENT.ENVIRONMENT_EDIT, {
"floor_texture" : self._floorSel.get(),
"sky_texture" : self._skySel.get()
})
if result is not True:
tkMessageBox.showerror("Input Error", message)
return result
def apply(self):
self._entries["floor_texture"] = self._floorSel.get()
self._entries["edge_width"] = self._edgeScale.get()
self._entries["sky_texture"] = self._skySel.get()
self._entries["wall_height"] = self._wallScale.get()
self._manager.inform(DataStore.EVENT.ENVIRONMENT_EDIT, self._entries)
def auto_populate(self):
self._floorSel.set(Defaults.Environment.FLOOR_TEXTURE)
self._skySel.set(Defaults.Environment.SKY_TEXTURE)
self._wallScale.set(Defaults.Environment.WALL_HEIGHT)
self._edgeScale.set(Defaults.Environment.EDGE_WIDTH)
self._start_node.config(text=Defaults.Environment.START_NODE)
class SettingWindow(Toplevel):
def __init__(self, master, max_num_features, num_frames, mser_image):
Toplevel.__init__(self, master)
self.protocol('WM_DELETE_WINDOW', self.withdraw)
self.notebook = ttk.Notebook(self)
frame_feats = ttk.Frame(self.notebook)
frame_forest = ttk.Frame(self.notebook)
frame_mser = ttk.Frame(self.notebook)
frame_other = ttk.Frame(self.notebook)
self.notebook.add(frame_feats, text="Features ")
self.notebook.add(frame_forest, text=" Forest ")
self.notebook.add(frame_mser, text=" MSER ")
self.notebook.add(frame_other, text=" Other ")
self.max_num_feats = max_num_features
self.selection = None
self.mser_image = mser_image
rand_row = random.randint(1, 512 - 200)
rand_col = random.randint(1, 512 - 110)
self.mser_area = mser_image[rand_row:rand_row + 180,
rand_col:rand_col + 100]
# read images from icons folder
self.hf0_img = PhotoImage(file="./icons/hf0.gif")
self.hf1_img = PhotoImage(file="./icons/hf1.gif")
self.hf2_img = PhotoImage(file="./icons/hf2.gif")
self.hf3_img = PhotoImage(file="./icons/hf3.gif")
self.hf4_img = PhotoImage(file="./icons/hf4.gif")
self.hf5_img = PhotoImage(file="./icons/hf5.gif")
self.features_vars = list()
for i in range(max_num_features):
self.features_vars.append(IntVar())
Label(frame_feats,
text="Patch size (" + u"\N{GREEK SMALL LETTER PI}" + "):").grid(
row=0, column=0, pady=5)
self.patch_size_spinbox = Spinbox(frame_feats, from_=3, to=30, width=3)
self.patch_size_spinbox.delete(0, END)
self.patch_size_spinbox.insert(END, 10)
self.patch_size_spinbox.grid(row=0, column=1, padx=5)
f1 = ttk.Labelframe(frame_feats, text='Mean filter')
f1.grid(row=1, columnspan=2)
Label(f1, text=u"\N{GREEK SMALL LETTER PI}").grid(row=0, column=0)
Checkbutton(f1, text="R",
variable=self.features_vars[0]).grid(row=0, column=1)
Checkbutton(f1, text="G",
variable=self.features_vars[1]).grid(row=0, column=2)
Checkbutton(f1, text="B",
variable=self.features_vars[2]).grid(row=0, column=3)
Label(f1, text=u"\N{GREEK SMALL LETTER PI}" + "/2").grid(row=1,
column=0)
Checkbutton(f1, text="R",
variable=self.features_vars[3]).grid(row=1, column=1)
Checkbutton(f1, text="G",
variable=self.features_vars[4]).grid(row=1, column=2)
Checkbutton(f1, text="B",
variable=self.features_vars[5]).grid(row=1, column=3)
f2 = ttk.Labelframe(frame_feats, text="Gaussian filter")
f2.grid(row=2, columnspan=2)
Label(f2, text=str(1.0)).grid(row=0, column=0)
Checkbutton(f2, text="R",
variable=self.features_vars[6]).grid(row=0, column=1)
Checkbutton(f2, text="G",
variable=self.features_vars[7]).grid(row=0, column=2)
Checkbutton(f2, text="B",
variable=self.features_vars[8]).grid(row=0, column=3)
Label(f2, text=str(3.5)).grid(row=1, column=0)
Checkbutton(f2, text="R",
variable=self.features_vars[9]).grid(row=1, column=1)
Checkbutton(f2, text="G",
variable=self.features_vars[10]).grid(row=1, column=2)
Checkbutton(f2, text="B",
variable=self.features_vars[11]).grid(row=1, column=3)
f3 = ttk.Labelframe(frame_feats, text="Laplacian of gaussian")
f3.grid(row=3, columnspan=2)
Label(f3, text=str(2.0)).grid(row=0, column=0)
Checkbutton(f3, text="R",
variable=self.features_vars[12]).grid(row=0, column=1)
Checkbutton(f3, text="G",
variable=self.features_vars[13]).grid(row=0, column=2)
Checkbutton(f3, text="B",
variable=self.features_vars[14]).grid(row=0, column=3)
Label(f3, text=str(3.5)).grid(row=1, column=0)
Checkbutton(f3, text="R",
variable=self.features_vars[15]).grid(row=1, column=1)
Checkbutton(f3, text="G",
variable=self.features_vars[16]).grid(row=1, column=2)
Checkbutton(f3, text="B",
variable=self.features_vars[17]).grid(row=1, column=3)
f4 = ttk.Labelframe(frame_feats, text="Haar-like features")
f4.grid(row=1, rowspan=2, column=3, padx=5)
Checkbutton(f4, image=self.hf0_img,
variable=self.features_vars[18]).grid(row=0, column=0)
Checkbutton(f4, image=self.hf1_img,
variable=self.features_vars[19]).grid(row=0, column=1)
Checkbutton(f4, image=self.hf2_img,
variable=self.features_vars[20]).grid(row=1, column=0)
Checkbutton(f4, image=self.hf3_img,
variable=self.features_vars[21]).grid(row=1, column=1)
Checkbutton(f4, image=self.hf4_img,
variable=self.features_vars[22]).grid(row=2, column=0)
Checkbutton(f4, image=self.hf5_img,
variable=self.features_vars[23]).grid(row=2, column=1)
buttons_paned_window = PanedWindow(frame_feats, orient=VERTICAL)
buttons_paned_window.grid(row=3, column=3)
self.select_all_button = Button(buttons_paned_window,
text="Select all",
command=self._select_all)
buttons_paned_window.add(self.select_all_button)
self.clear_selection_button = Button(buttons_paned_window,
text="Clear selection",
command=self._clear_selection)
buttons_paned_window.add(self.clear_selection_button)
# default values
for j in [0, 1, 3, 6, 7, 9, 15, 21, 23]:
self.features_vars[j].set(1)
# FOREST FRAMES
# number of trees
f5 = ttk.Labelframe(frame_forest, text="Number of trees")
f5.grid(row=0, columnspan=2, pady=5, padx=5)
Label(f5, text="N").grid(row=1, column=0)
self.num_trees_scale = Scale(f5,
from_=5,
to=500,
resolution=5,
orient=HORIZONTAL)
self.num_trees_scale.set(300)
self.num_trees_scale.grid(row=0, column=1, rowspan=2)
# depth single tree
f6 = ttk.Labelframe(frame_forest, text="Depth single tree")
f6.grid(row=1, columnspan=2, pady=5, padx=5)
Label(f6, text="d").grid(row=1, column=0)
self.depth_tree_scale = Scale(f6, from_=2, to=20, orient=HORIZONTAL)
self.depth_tree_scale.set(3)
self.depth_tree_scale.grid(row=0, column=1, rowspan=2)
# percentage number of features
f7 = ttk.Labelframe(frame_forest, text="% subset of features")
f7.grid(row=2, columnspan=2, pady=5, padx=5)
Label(f7, text="m").grid(row=1, column=0)
self.percentage_feats_scale = Scale(f7,
from_=0.0,
to=1,
resolution=0.05,
orient=HORIZONTAL)
self.percentage_feats_scale.set(0.5)
self.percentage_feats_scale.grid(row=0, column=1, rowspan=2)
# mser frame
# delta
f8 = ttk.Labelframe(frame_mser, text="Delta")
f8.grid(row=0, columnspan=2, pady=5, padx=5)
Label(f8, text=u"\N{GREEK SMALL LETTER DELTA}").grid(row=1, column=0)
self.delta_scale = Scale(f8,
from_=1,
to=10,
resolution=1,
orient=HORIZONTAL)
self.delta_scale.set(2)
self.delta_scale.grid(row=0, column=1, rowspan=2)
# min area
f9 = ttk.Labelframe(frame_mser, text="Minimum area")
f9.grid(row=1, columnspan=2, pady=5, padx=5)
Label(f9, text="m").grid(row=1, column=0)
self.min_area_scale = Scale(f9, from_=2, to=200, orient=HORIZONTAL)
self.min_area_scale.set(10)
self.min_area_scale.grid(row=0, column=1, rowspan=2)
# percentage number of features
f10 = ttk.Labelframe(frame_mser, text="Maximum area")
f10.grid(row=2, columnspan=2, pady=5, padx=5)
Label(f10, text="M").grid(row=1, column=0)
self.max_area_scale = Scale(f10,
from_=50,
to=1000,
resolution=5,
orient=HORIZONTAL)
self.max_area_scale.set(350)
self.max_area_scale.grid(row=0, column=1, rowspan=2)
# mser image
f11 = ttk.Labelframe(frame_mser)
f11.grid(row=0, rowspan=3, column=2, padx=5)
self.mser_img_array = Image.fromarray(self.mser_area, "RGB")
self.mser_img = ImageTk.PhotoImage(self.mser_img_array)
img_label = Label(f11, image=self.mser_img)
img_label.grid(row=0, column=0)
buttons_p_w_mser = PanedWindow(f11, orient=HORIZONTAL)
try_button = Button(f11, text="Try", command=self.try_mser)
buttons_p_w_mser.add(try_button)
change_button = Button(f11, text="New img", command=self.change_mser)
buttons_p_w_mser.add(change_button)
buttons_p_w_mser.grid(row=1, column=0)
# other frame
f12 = ttk.Labelframe(frame_other, text="Refinement")
f12.grid(row=0, columnspan=2, pady=5, padx=5)
Label(f12, text=u"\N{GREEK CAPITAL LETTER PHI}_l").grid(row=1,
column=0)
self.low_thresh_scale = Scale(f12,
from_=0,
to=1,
resolution=0.05,
orient=HORIZONTAL,
length=90)
self.low_thresh_scale.set(0.45)
self.low_thresh_scale.grid(row=0, column=1, rowspan=2)
Label(f12, text=u"\N{GREEK CAPITAL LETTER PHI}_h").grid(row=3,
column=0)
self.high_thresh_scale = Scale(f12,
from_=0,
to=1,
resolution=0.05,
orient=HORIZONTAL,
length=90)
self.high_thresh_scale.set(0.65)
self.high_thresh_scale.grid(row=2, column=1, rowspan=2)
f13 = ttk.Labelframe(frame_other, text="Dots distance")
f13.grid(row=1, columnspan=2, pady=5, padx=5)
Label(f13, text=u" \N{GREEK SMALL LETTER SIGMA}").grid(row=1,
column=0)
self.dots_distance_scale = Scale(f13,
from_=1,
to=20,
resolution=1,
orient=HORIZONTAL,
length=90)
self.dots_distance_scale.set(6)
self.dots_distance_scale.grid(row=0, column=1, rowspan=2)
f14 = ttk.Labelframe(frame_other, text="Tracks")
f14.grid(row=0, column=3, pady=5, padx=5)
Label(f14, text="N").grid(row=1, column=0)
self.num_frames_tracks_spinbox = Spinbox(f14,
from_=2,
to=num_frames,
width=10)
self.num_frames_tracks_spinbox.delete(0, END)
self.num_frames_tracks_spinbox.insert(END, num_frames)
self.num_frames_tracks_spinbox.grid(row=0, column=1, rowspan=2)
Label(f14, text=u"\N{GREEK SMALL LETTER TAU}").grid(row=3, column=0)
self.gaps_scale = Scale(f14,
from_=1,
to=10,
resolution=1,
orient=HORIZONTAL,
length=90)
self.gaps_scale.set(2)
self.gaps_scale.grid(row=2, column=1, rowspan=2)
self.notebook.pack(padx=1, pady=1)
save_button = Button(self,
text=" Save and Close window ",
command=self.withdraw)
save_button.pack(pady=2)
def _select_all(self):
for i, var in enumerate(self.features_vars):
var.set(1)
def _clear_selection(self):
for i, var in enumerate(self.features_vars):
var.set(0)
def change_mser(self):
rand_row = random.randint(1, 512 - 200)
rand_col = random.randint(1, 512 - 110)
self.mser_area = self.mser_image[rand_row:rand_row + 180,
rand_col:rand_col + 100]
self.update_mser_image(self.mser_area)
def try_mser(self):
delta = self.delta_scale.get()
min_area = self.min_area_scale.get()
max_area = self.max_area_scale.get()
image = self.mser_area
red_c = image[:, :, 0]
red_c = cv2.equalizeHist(red_c)
det_img = image.copy()
mser = cv2.MSER(delta, _min_area=min_area, _max_area=max_area)
regions = mser.detect(red_c)
cp = list()
new_c = np.zeros(self.mser_area.shape, dtype=np.uint8)
for r in regions:
for point in r:
cp.append(point)
det_img[point[1], point[0], 0] = 0
det_img[point[1], point[0], 1] = 0
det_img[point[1], point[0], 2] = 204
#new_c[point[1], point[0]] = 255
self.update_mser_image(det_img)
def update_mser_image(self, new_image):
self.mser_img_array = Image.fromarray(new_image)
self.mser_img.paste(self.mser_img_array)
def get_patch_size(self):
patch_size = self.patch_size_spinbox.get()
return int(patch_size)
def get_num_frames_tracks(self):
num_frames_tracks = self.num_frames_tracks_spinbox.get()
return int(num_frames_tracks)
def get_mser_opts(self):
return [
self.delta_scale.get(),
self.min_area_scale.get(),
self.max_area_scale.get()
]
def get_forest_opts(self):
return [
self.num_trees_scale.get(),
self.depth_tree_scale.get(),
self.percentage_feats_scale.get()
]
def get_low_thresh(self):
return self.low_thresh_scale.get()
def get_high_thresh(self):
return self.high_thresh_scale.get()
def get_dots_distance(self):
return int(self.dots_distance_scale.get())
def get_selection_mask(self):
if self.selection is not None:
return self.selection
selection_mask = np.zeros((self.max_num_feats, ), dtype='bool')
for i, var in enumerate(self.features_vars):
selection_mask[i] = var.get()
self.selection = selection_mask
return selection_mask
class Logplayer(Frame):
def __init__(self, root, logfn, viewer, analyzator=None, logdir=None, **kwargs):
self.root=root
self.logdir = logdir
self.analyzator = analyzator
if not self.logdir:
self.logdir=os.path.join(os.path.dirname(os.path.dirname(__file__)),'log')
Frame.__init__(self, **kwargs)
self.view=viewer(self, x=800, y=600, onLeft=self.clickL, onRight=self.clickR)
self.createWidgets()
self.bind_all("<Left>", self.prev)
self.bind_all("<Right>", self.next)
self.view.redraw()
self.root.update()
if not logfn:
logfn = self.logSelectDialog()
self.dirname, self.filename = os.path.split(logfn)
self.startRun(logfn,0)
self.view.redraw()
self.root.after(10,self.view.zoomExtens)
self.running=False
def logSelectDialog(self):
self.root.update()
timestamps, dirs, fns = zip(*sorted(listdir(self.logdir), reverse=True))
o=SelcectDialog(self.root, "select log", timestamps)
self.root.wait_window(o.top)
index=timestamps.index(o.option)
return os.path.join(dirs[index], fns[index])
def createWidgets(self):
self.controlFrame=Frame(self)
self.posScale = Scale(self.controlFrame, orient='horizontal',
length=210,
from_=0, tickinterval=0,
command=self.pos_callback,
showvalue=0,sliderlength=10, resolution=1)
#self.posScale.bind('<Button-1>',self.pos_start_drag)
#self.posScale.bind('<ButtonRelease-1>', self.pos_set)
self.playB=Button(self.controlFrame, text="play", command=self.playToggle)
self.nextB=Button(self.controlFrame, text="next", command=self.nextRun)
self.prevB=Button(self.controlFrame, text="prev", command=self.prevRun)
self.camera=tkimg(self, width=640, height=512)
self.controlFrame.grid(row=0,column=1, sticky="nw")
self.view.grid(row=1, column=1, sticky="nsew")
self.grid_columnconfigure(1,weight=1)
self.grid_rowconfigure(1,weight=1)
self.camera.grid(row = 1, column = 2, sticky = 'ne')
self.playB.grid(row=0, column=1)
self.prevB.grid(row=0, column=2)
self.nextB.grid(row=0, column=3)
self.posScale.grid(row=0, column=0)
def playToggle(self, *args):
if self.running:
self.root.after_cancel(self.cycleId)
else:
self.cycleId=self.root.after(20, self.showrun)
self.running=not self.running
def nextRun(self, *args):
self.changeRun(1)
def prevRun(self, *args):
self.changeRun(-1)
def changeRun(self, step):
if self.running:
self.root.after_cancel(self.cycleId)
self.running=False
run=self.loggenerator.run+step
if run >= len(self.loggenerator.runconfig) or run<0:
timestamps, dirs, fns = zip(*sorted(listdir(self.logdir)))
index=fns.index(self.filename)+step
if 0<=index<len(fns):
run = 0 if step==1 else -1
self.startRun(os.path.join(dirs[index], fns[index]), run)
else:
self.startRun(os.path.join(self.dirname, self.filename), run)
def restart(self, keeppostion=True, startposition=None):
self.loggenerator.startrun(self.loggenerator.run, startposition=startposition)
self.data=list(self.loggenerator)
if not keeppostion:
self.position=0
self.posScale.set(self.position)
self.showData(self.position)
def startRun(self, fn, run, keeppostion=False):
self.dirname, self.filename = os.path.split(fn)
print("starting log %s run %i"%(fn,run))
self.loggenerator=EduroMaxiReader(fn)
self.loggenerator.startrun(run)
self.root.title("%s %s run %i"%(self.dirname,self.filename, self.loggenerator.run+1))
self.data=list(self.loggenerator)
if not keeppostion:
self.position=0
self.posScale.set(self.position)
self.showData(self.position)
self.posScale.configure(to_= len(self.data)-1)
self.view.reset()
self.camera.clear()
def showData(self,position):
self.position=position
self.posScale.set(position)
time, pose, msgs = self.data[position]
self.view.MsgListener(time, pose, msgs)
#if self.analyzator:
# self.analyzator(time, pose, msgs)
self.view.robot.update(*pose)
self.view.redraw_lasers()
self.view.robot.redraw(self.view)
if msgs['CAMERALOG']:
_, shot = msgs['CAMERALOG']
if shot:
shot = os.path.join(self.dirname, shot.split('/')[-1])
self.camera.showImg(shot)
def clickL(self, x, y):
#self.loggenerator.correction=Position(self.loggenerator.correction.x+x-self.view.robot.x, self.loggenerator.correction.y+y-self.view.robot.y, self.loggenerator.correction.a)
#print(self.loggenerator.correction)
A=self.data[self.position][1]
S=self.data[0][1]
#self.restart(keeppostion=True, startposition=Position(S.x+x-A.x, S.y+y-A.y, S.a))
print("left", x,y)
def clickR(self, x, y):
#try to modify start position so that actual position heading is in direction of this click
#actual position
A=self.data[self.position][1]
#start position
S=self.data[0][1]
#polar vector from actual to start
dist=((A.x-S.x)**2+(A.y-S.y)**2)**0.5
if S.x==A.x:#when x distance is 0 then angle +-90 (when y dist is 0 then it doesnt matter
beta=-pi/2 if S.y>=A.y else pi/2
else:
beta=atan((A.y-S.y)/(A.x-S.x))
#angle difference from actual position to click
#TODO solve +-90 same as above
delta=A.a-atan((A.y-y)/(A.x-x))
newStart = Position(A.x+cos(beta+delta)*dist, A.y+sin(beta+delta)*dist, S.a-delta)
#self.restart(keeppostion=True, startposition=newStart)
print("right", x, y)
def showrun(self):
pos=self.position+1
if pos<len(self.data):
self.showData(pos)
self.cycleId=self.root.after(20, self.showrun)
else:
self.running=False
def next(self, event):
pos=self.position+1
if pos<len(self.data):
self.posScale.set(pos)
def prev(self, event):
pos=self.position-1
if pos>=0:
self.posScale.set(pos)
def pos_callback(self, pos, *args):
if not self.running:
self.showData(int(pos))
def gui():
from Tkinter import Tk, Label, Entry,Button, Scale, Checkbutton,W,HORIZONTAL, Frame, StringVar, IntVar, DoubleVar, Radiobutton, BooleanVar, E
global root
root = Tk()
root.wm_title("Compute R_complete")
line = 0
global insFile, hklFile, nHKL, nParams, nHKLLabel, fracFree, status, nParamsLabel, nCPU, rCompleteLabel, cycles, lsType, cleanup,nFree, nRunsLabel, mergeCheck, compileMap
insFile = StringVar()
hklFile = StringVar()
nHKL = IntVar()
nParams = IntVar()
nFree = IntVar()
fracFree = DoubleVar()
fracFree.set(5.0)
nCPU = IntVar()
nCPU.set(maxCPU)
cycles = IntVar()
cycles.set(10)
lsType = IntVar()
lsType.set(1)
cleanup = BooleanVar()
cleanup.set(True)
mergeCheck = BooleanVar()
mergeCheck.set(True)
compileMap = BooleanVar()
compileMap.set(True)
Label(root, text='Instruction File:').grid(row=line, column=0, sticky=E)
Entry(root, textvariable=insFile).grid(row=line, column=1)
Button(root, text='Browse', command=browseINS).grid(row=line, column=2)
line += 1
Label(root, text='Reflection File:').grid(row=line, column=0, sticky=E)
Entry(root, textvariable=hklFile).grid(row=line, column=1)
Button(root, text='Browse', command=browseHKL).grid(row=line, column=2)
line += 1
Checkbutton(root, var=mergeCheck, text='Merge Reflections').grid(row=line, column=1, sticky=W)
line += 1
Button(root, text='Load', command=load).grid(row=line, columnspan=3)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='# of reflections:').grid(row=line, sticky=E)
nHKLLabel = Label(root, text='???')
nHKLLabel.grid(row=line, column=1, sticky=W)
line += 1
Label(root, text='# of atoms:').grid(row=line, sticky=E)
nParamsLabel = Label(root, text='???')
nParamsLabel.grid(row=line, column=1, sticky=W)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='Select Parameters').grid(row=line, column=1)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='# of free reflections:').grid(row=line, sticky=E)
nFreeEntry = Entry(root, width=5, textvariable=nFree)
nFreeEntry.grid(row=line, column=1, sticky=W)
nFreeEntry.bind('<Return>', setScale)
nRunsLabel = Label(root, text='# runs')
nRunsLabel.grid(row=line, column=2)
line += 1
Label(root, text='% of free reflections:').grid(row=line, column=0, sticky=E)
w = Scale(root, from_=0.1, to=10.0, resolution=0.1, orient=HORIZONTAL, length=200, var=fracFree, command=percentScale)
w.grid(row=line, column=1, columnspan=2, sticky=W)
line += 1
Label(root, text='stable <-------------------------------> fast').grid(row=line, column=1, columnspan=2, sticky=W)
line += 1
Frame(root, height=10).grid(row=line)
line += 1
Label(root, text='Refinement cycles:').grid(row=line, column=0, sticky=E)
ls = Scale(root, from_=0, to=50, resolution=1, orient=HORIZONTAL, length=200, var=cycles)
ls.grid(row=line, column=1, columnspan=2, sticky=W)
line += 1
Label(root, text='fast <--------------------> less model bias').grid(row=line, column=1, columnspan=2, sticky=W)
line += 1
Frame(root, height=10).grid(row=line)
line += 1
Label(root, text='# of CPUs:').grid(row=line, column=0, sticky=E)
ww = Scale(root, from_=1, to=maxCPU, orient=HORIZONTAL, length=200, var=nCPU)
ww.grid(row=line, column=1, columnspan=2, sticky=W)
line += 1
Label(root, text='Refinement Type:').grid(row=line, column=0, sticky=E)
Radiobutton(root, text='CGLS', var=lsType, value=1).grid(row=line, column=1, sticky=W)
Radiobutton(root, text='L.S.', var=lsType, value=2).grid(row=line, column=2, sticky=W)
line += 1
Frame(root, height=10).grid(row=line)
line += 1
Label(root, text='Compile map:').grid(row=line, column=0, sticky=E)
Checkbutton(root, var=compileMap).grid(row=line, column=1, sticky=W)
line += 1
Label(root, text='Cleanup:').grid(row=line, column=0, sticky=E)
Checkbutton(root, var=cleanup).grid(row=line, column=1, sticky=W)
line += 1
Button(root, text='RUN', command=run, width=25).grid(row=line, columnspan=3)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='R_complete:').grid(row=line, column=0, sticky=E)
rCompleteLabel = Label(root, text='???')
rCompleteLabel.grid(row=line, column=1, sticky=W)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='Status:').grid(row=line, column=0, sticky=E)
status = Label(root, text='Idle... Please load files.')
status.grid(row=line, column=1, columnspan=2, sticky=W)
global IDLE
IDLE = True
root.mainloop()
class SettingWindow(Toplevel):
def __init__(self, master, max_num_features, num_frames, mser_image):
Toplevel.__init__(self, master)
self.protocol('WM_DELETE_WINDOW', self.withdraw)
self.notebook = ttk.Notebook(self)
frame_feats = ttk.Frame(self.notebook)
frame_forest = ttk.Frame(self.notebook)
frame_mser = ttk.Frame(self.notebook)
frame_other = ttk.Frame(self.notebook)
self.notebook.add(frame_feats, text="Features ")
self.notebook.add(frame_forest, text=" Forest ")
self.notebook.add(frame_mser, text=" MSER ")
self.notebook.add(frame_other, text=" Other ")
self.max_num_feats = max_num_features
self.selection = None
self.mser_image = mser_image
rand_row = random.randint(1, 512-200)
rand_col = random.randint(1, 512-110)
self.mser_area = mser_image[rand_row:rand_row+180, rand_col:rand_col+100]
# read images from icons folder
self.hf0_img = PhotoImage(file="./icons/hf0.gif")
self.hf1_img = PhotoImage(file="./icons/hf1.gif")
self.hf2_img = PhotoImage(file="./icons/hf2.gif")
self.hf3_img = PhotoImage(file="./icons/hf3.gif")
self.hf4_img = PhotoImage(file="./icons/hf4.gif")
self.hf5_img = PhotoImage(file="./icons/hf5.gif")
self.features_vars = list()
for i in range(max_num_features):
self.features_vars.append(IntVar())
Label(frame_feats, text="Patch size (" + u"\N{GREEK SMALL LETTER PI}" + "):").grid(row=0, column=0, pady=5)
self.patch_size_spinbox = Spinbox(frame_feats, from_=3, to=30, width=3)
self.patch_size_spinbox.delete(0, END)
self.patch_size_spinbox.insert(END, 10)
self.patch_size_spinbox.grid(row=0, column=1, padx=5)
f1 = ttk.Labelframe(frame_feats, text='Mean filter')
f1.grid(row=1, columnspan=2)
Label(f1, text=u"\N{GREEK SMALL LETTER PI}").grid(row=0, column=0)
Checkbutton(f1, text="R", variable=self.features_vars[0]).grid(row=0, column=1)
Checkbutton(f1, text="G", variable=self.features_vars[1]).grid(row=0, column=2)
Checkbutton(f1, text="B", variable=self.features_vars[2]).grid(row=0, column=3)
Label(f1, text=u"\N{GREEK SMALL LETTER PI}" + "/2").grid(row=1, column=0)
Checkbutton(f1, text="R", variable=self.features_vars[3]).grid(row=1, column=1)
Checkbutton(f1, text="G", variable=self.features_vars[4]).grid(row=1, column=2)
Checkbutton(f1, text="B", variable=self.features_vars[5]).grid(row=1, column=3)
f2 = ttk.Labelframe(frame_feats, text="Gaussian filter")
f2.grid(row=2, columnspan=2)
Label(f2, text=str(1.0)).grid(row=0, column=0)
Checkbutton(f2, text="R", variable=self.features_vars[6]).grid(row=0, column=1)
Checkbutton(f2, text="G", variable=self.features_vars[7]).grid(row=0, column=2)
Checkbutton(f2, text="B", variable=self.features_vars[8]).grid(row=0, column=3)
Label(f2, text=str(3.5)).grid(row=1, column=0)
Checkbutton(f2, text="R", variable=self.features_vars[9]).grid(row=1, column=1)
Checkbutton(f2, text="G", variable=self.features_vars[10]).grid(row=1, column=2)
Checkbutton(f2, text="B", variable=self.features_vars[11]).grid(row=1, column=3)
f3 = ttk.Labelframe(frame_feats, text="Laplacian of gaussian")
f3.grid(row=3, columnspan=2)
Label(f3, text=str(2.0)).grid(row=0, column=0)
Checkbutton(f3, text="R", variable=self.features_vars[12]).grid(row=0, column=1)
Checkbutton(f3, text="G", variable=self.features_vars[13]).grid(row=0, column=2)
Checkbutton(f3, text="B", variable=self.features_vars[14]).grid(row=0, column=3)
Label(f3, text=str(3.5)).grid(row=1, column=0)
Checkbutton(f3, text="R", variable=self.features_vars[15]).grid(row=1, column=1)
Checkbutton(f3, text="G", variable=self.features_vars[16]).grid(row=1, column=2)
Checkbutton(f3, text="B", variable=self.features_vars[17]).grid(row=1, column=3)
f4 = ttk.Labelframe(frame_feats, text="Haar-like features")
f4.grid(row=1, rowspan=2, column=3, padx=5)
Checkbutton(f4, image=self.hf0_img, variable=self.features_vars[18]).grid(row=0, column=0)
Checkbutton(f4, image=self.hf1_img, variable=self.features_vars[19]).grid(row=0, column=1)
Checkbutton(f4, image=self.hf2_img, variable=self.features_vars[20]).grid(row=1, column=0)
Checkbutton(f4, image=self.hf3_img, variable=self.features_vars[21]).grid(row=1, column=1)
Checkbutton(f4, image=self.hf4_img, variable=self.features_vars[22]).grid(row=2, column=0)
Checkbutton(f4, image=self.hf5_img, variable=self.features_vars[23]).grid(row=2, column=1)
buttons_paned_window = PanedWindow(frame_feats, orient=VERTICAL)
buttons_paned_window.grid(row=3, column=3)
self.select_all_button = Button(buttons_paned_window, text="Select all", command=self._select_all)
buttons_paned_window.add(self.select_all_button)
self.clear_selection_button = Button(buttons_paned_window, text="Clear selection", command=self._clear_selection)
buttons_paned_window.add(self.clear_selection_button)
# default values
for j in [0, 1, 3, 6, 7, 9, 15, 21, 23]:
self.features_vars[j].set(1)
# FOREST FRAMES
# number of trees
f5 = ttk.Labelframe(frame_forest, text="Number of trees")
f5.grid(row=0, columnspan=2, pady=5, padx=5)
Label(f5, text="N").grid(row=1, column=0)
self.num_trees_scale = Scale(f5, from_=5, to=500, resolution=5, orient=HORIZONTAL)
self.num_trees_scale.set(300)
self.num_trees_scale.grid(row=0, column=1, rowspan=2)
# depth single tree
f6 = ttk.Labelframe(frame_forest, text="Depth single tree")
f6.grid(row=1, columnspan=2, pady=5, padx=5)
Label(f6, text="d").grid(row=1, column=0)
self.depth_tree_scale = Scale(f6, from_=2, to=20, orient=HORIZONTAL)
self.depth_tree_scale.set(3)
self.depth_tree_scale.grid(row=0, column=1, rowspan=2)
# percentage number of features
f7 = ttk.Labelframe(frame_forest, text="% subset of features")
f7.grid(row=2, columnspan=2, pady=5, padx=5)
Label(f7, text="m").grid(row=1, column=0)
self.percentage_feats_scale = Scale(f7, from_=0.0, to=1, resolution=0.05, orient=HORIZONTAL)
self.percentage_feats_scale.set(0.5)
self.percentage_feats_scale.grid(row=0, column=1, rowspan=2)
# mser frame
# delta
f8 = ttk.Labelframe(frame_mser, text="Delta")
f8.grid(row=0, columnspan=2, pady=5, padx=5)
Label(f8, text=u"\N{GREEK SMALL LETTER DELTA}").grid(row=1, column=0)
self.delta_scale = Scale(f8, from_=1, to=10, resolution=1, orient=HORIZONTAL)
self.delta_scale.set(2)
self.delta_scale.grid(row=0, column=1, rowspan=2)
# min area
f9 = ttk.Labelframe(frame_mser, text="Minimum area")
f9.grid(row=1, columnspan=2, pady=5, padx=5)
Label(f9, text="m").grid(row=1, column=0)
self.min_area_scale = Scale(f9, from_=2, to=200, orient=HORIZONTAL)
self.min_area_scale.set(10)
self.min_area_scale.grid(row=0, column=1, rowspan=2)
# percentage number of features
f10 = ttk.Labelframe(frame_mser, text="Maximum area")
f10.grid(row=2, columnspan=2, pady=5, padx=5)
Label(f10, text="M").grid(row=1, column=0)
self.max_area_scale = Scale(f10, from_=50, to=1000, resolution=5, orient=HORIZONTAL)
self.max_area_scale.set(350)
self.max_area_scale.grid(row=0, column=1, rowspan=2)
# mser image
f11 = ttk.Labelframe(frame_mser)
f11.grid(row=0, rowspan=3, column=2, padx=5)
self.mser_img_array = Image.fromarray(self.mser_area, "RGB")
self.mser_img = ImageTk.PhotoImage(self.mser_img_array)
img_label = Label(f11, image=self.mser_img)
img_label.grid(row=0, column=0)
buttons_p_w_mser = PanedWindow(f11, orient=HORIZONTAL)
try_button = Button(f11, text="Try", command=self.try_mser)
buttons_p_w_mser.add(try_button)
change_button = Button(f11, text="New img", command=self.change_mser)
buttons_p_w_mser.add(change_button)
buttons_p_w_mser.grid(row=1, column=0)
# other frame
f12 = ttk.Labelframe(frame_other, text="Refinement")
f12.grid(row=0, columnspan=2, pady=5, padx=5)
Label(f12, text=u"\N{GREEK CAPITAL LETTER PHI}_l").grid(row=1, column=0)
self.low_thresh_scale = Scale(f12, from_=0, to=1, resolution=0.05, orient=HORIZONTAL, length=90)
self.low_thresh_scale.set(0.45)
self.low_thresh_scale.grid(row=0, column=1, rowspan=2)
Label(f12, text=u"\N{GREEK CAPITAL LETTER PHI}_h").grid(row=3, column=0)
self.high_thresh_scale = Scale(f12, from_=0, to=1, resolution=0.05, orient=HORIZONTAL, length=90)
self.high_thresh_scale.set(0.65)
self.high_thresh_scale.grid(row=2, column=1, rowspan=2)
f13 = ttk.Labelframe(frame_other, text="Dots distance")
f13.grid(row=1, columnspan=2, pady=5, padx=5)
Label(f13, text=u" \N{GREEK SMALL LETTER SIGMA}").grid(row=1, column=0)
self.dots_distance_scale = Scale(f13, from_=1, to=20, resolution=1, orient=HORIZONTAL, length=90)
self.dots_distance_scale.set(6)
self.dots_distance_scale.grid(row=0, column=1, rowspan=2)
f14 = ttk.Labelframe(frame_other, text="Tracks")
f14.grid(row=0, column=3, pady=5, padx=5)
Label(f14, text="N").grid(row=1, column=0)
self.num_frames_tracks_spinbox = Spinbox(f14, from_=2, to=num_frames, width=10)
self.num_frames_tracks_spinbox.delete(0, END)
self.num_frames_tracks_spinbox.insert(END, num_frames)
self.num_frames_tracks_spinbox.grid(row=0, column=1, rowspan=2)
Label(f14, text=u"\N{GREEK SMALL LETTER TAU}").grid(row=3, column=0)
self.gaps_scale = Scale(f14, from_=1, to=10, resolution=1, orient=HORIZONTAL, length=90)
self.gaps_scale.set(2)
self.gaps_scale.grid(row=2, column=1, rowspan=2)
self.notebook.pack(padx=1, pady=1)
save_button = Button(self, text=" Save and Close window ", command=self.withdraw)
save_button.pack(pady=2)
def _select_all(self):
for i, var in enumerate(self.features_vars):
var.set(1)
def _clear_selection(self):
for i, var in enumerate(self.features_vars):
var.set(0)
def change_mser(self):
rand_row = random.randint(1, 512-200)
rand_col = random.randint(1, 512-110)
self.mser_area = self.mser_image[rand_row:rand_row+180, rand_col:rand_col+100]
self.update_mser_image(self.mser_area)
def try_mser(self):
delta = self.delta_scale.get()
min_area = self.min_area_scale.get()
max_area = self.max_area_scale.get()
image = self.mser_area
red_c = image[:,:,0]
red_c = cv2.equalizeHist(red_c)
det_img = image.copy()
mser = cv2.MSER(delta, _min_area=min_area, _max_area=max_area)
regions = mser.detect(red_c)
cp = list()
new_c = np.zeros(self.mser_area.shape, dtype=np.uint8)
for r in regions:
for point in r:
cp.append(point)
det_img[point[1], point[0], 0] = 0
det_img[point[1], point[0], 1] = 0
det_img[point[1], point[0], 2] = 204
#new_c[point[1], point[0]] = 255
self.update_mser_image(det_img)
def update_mser_image(self, new_image):
self.mser_img_array = Image.fromarray(new_image)
self.mser_img.paste(self.mser_img_array)
def get_patch_size(self):
patch_size = self.patch_size_spinbox.get()
return int(patch_size)
def get_num_frames_tracks(self):
num_frames_tracks = self.num_frames_tracks_spinbox.get()
return int(num_frames_tracks)
def get_mser_opts(self):
return [self.delta_scale.get(), self.min_area_scale.get(), self.max_area_scale.get()]
def get_forest_opts(self):
return [self.num_trees_scale.get(), self.depth_tree_scale.get(), self.percentage_feats_scale.get()]
def get_low_thresh(self):
return self.low_thresh_scale.get()
def get_high_thresh(self):
return self.high_thresh_scale.get()
def get_dots_distance(self):
return int(self.dots_distance_scale.get())
def get_selection_mask(self):
if self.selection is not None:
return self.selection
selection_mask = np.zeros((self.max_num_feats, ), dtype='bool')
for i, var in enumerate(self.features_vars):
selection_mask[i] = var.get()
self.selection = selection_mask
return selection_mask
class Equilibrium_GUI(Frame):
def __init__(self, parent):
Frame.__init__(self, parent)
self.parent = parent
self.manager = Equilibrium_manager()
# Slider setting the animation pace, in ms/frame
self.slider = None
self.diameter = None
# Variables making sure data is properly set before rendering
# associated with checkboxes to give user feedback
self.configured = IntVar()
self.configured.set(0)
self.configured_box = None
self.loaded = IntVar()
self.configured.set(0)
self.loaded_box = None
self.init_UI(self.parent)
self.test_auto_conf()
#self.plot_figure(self.parent)
def init_UI(self, frame):
frame.title("Pegasus system")
b_import = Button(master=frame,
text='Importer',
command=self.open_data_file)
b_import.grid(row=1, column=0)
b_export = Button(master=frame,
text='Exporter',
command=self.export_data)
b_export.grid(row=1, column=1)
b_play = Button(master=frame, text='Play', command=self.render)
b_play.grid(row=1, column=2)
b_display = Button(master=frame, text='Afficher', command=self.display)
b_display.grid(row=1, column=3)
b_import = Button(master=frame,
text='Séparer pas/trot',
command=self.open_split_file_popup)
b_import.grid(row=1, column=5)
b_config = Button(master=frame,
text='Configurer',
command=self.open_conf_file)
b_config.grid(row=1, column=6)
b_quit = Button(master=frame, text='Quitter', command=self._quit)
b_quit.grid(row=1, column=7)
slider_label_fast = Label(master=frame, text="Rapide")
slider_label_fast.grid(row=2, column=2)
slider_label_slow = Label(master=frame, text="Lent")
slider_label_slow.grid(row=2, column=0)
self.slider = Scale(master=frame,
from_=150,
to=15,
orient=HORIZONTAL,
length=100)
self.slider.set(25)
self.slider.grid(row=2, column=1)
slider_label_large = Label(master=frame, text="Large")
slider_label_large.grid(row=2, column=6)
slider_label_tiny = Label(master=frame, text="Réduit")
slider_label_tiny.grid(row=2, column=4)
self.diameter = Scale(master=frame,
from_=1,
to=35,
resolution=0.1,
orient=HORIZONTAL,
length=100)
self.diameter.set(35)
self.diameter.grid(row=2, column=5)
self.configured_box = Checkbutton(master=frame,
text="Configuré",
variable=self.configured,
state=DISABLED)
self.configured_box.grid(row=3, column=0)
self.loaded_box = Checkbutton(master=frame,
text="Données chargées",
variable=self.loaded,
state=DISABLED)
self.loaded_box.grid(row=3, column=1)
def test_auto_conf(self):
onlyfiles = [f for f in listdir(".") if isfile(join(".", f))]
if ("equi_librium.conf" in onlyfiles):
self.manager.read_config_file("equi_librium.conf")
self.configured.set(1)
def open_data_file(self):
if (self.configured.get() == 1):
ftypes = [('All files', '*')]
dlg = tkFileDialog.Open(self, filetypes=ftypes)
fl = dlg.show()
if fl != '':
self.manager.read_data_file(fl)
self.loaded.set(1)
else:
tkMessageBox.showwarning(
"Configuration non effectuee",
"Il faut configurer avant d'importer les données")
def open_split_file_popup(self):
w = popupWindow(self.master, self.manager)
self.master.wait_window(w.top)
def open_conf_file(self):
ftypes = [('conf files', '*.conf'), ('All files', '*')]
dlg = tkFileDialog.Open(self, filetypes=ftypes)
fl = dlg.show()
if fl != '':
self.manager.read_config_file(fl)
self.configured.set(1)
def export_data(self):
ftypes = [('All files', '*')]
dlg = tkFileDialog.SaveAs(self, filetypes=ftypes)
fl = dlg.show()
if fl != '':
self.manager.set_diameter(self.diameter.get())
self.manager.export_chart(fl + ".csv")
def display(self):
self.manager.set_diameter(self.diameter.get())
self.manager.display_data()
def render(self):
self.manager.render_animation(self.slider.get())
#self.plot_figure(self.parent)
def plot_figure(self, frame):
f = Figure(figsize=(5, 4), dpi=100)
#f = self.manager.render_animation()
#a = f.add_subplot(111)
#t = arange(0.0,3.0,0.01)
#s = sin(2*pi*t)
#a.plot(t,s)
canvas = FigureCanvasTkAgg(f, master=frame)
canvas.show()
canvas.get_tk_widget().grid(row=0, columnspan=5)
# canvas.get_tk_widget().pack(side=Tk.TOP, fill=Tk.BOTH, expand=1)
# toolbar = NavigationToolbar2TkAgg( canvas, root )
# toolbar.update()
# canvas._tkcanvas.pack(side=Tk.TOP, fill=Tk.BOTH, expand=1)
canvas._tkcanvas.grid(row=0, columnspan=5)
def on_key_event(event):
print('you pressed %s' % event.key)
key_press_handler(event, canvas) #, toolbar)
canvas.mpl_connect('key_press_event', on_key_event)
def _quit(self):
self.quit() # stops mainloop
self.destroy() # this is necessary on Windows to prevent
class OfflineVisualiser(Visualiser):
"""A VTK-powered offline visualiser which runs in its own thread.
In addition to the functions provided by the standard visualiser,
the following additional functions are provided:
precache_height_quantities() - Precache all the vtkpoints
structures for any dynamic height based quantities to render.
"""
def __init__(self, source, frameDelay=100, frameStep=1):
"""The source parameter is assumed to be a NetCDF sww file.
The frameDelay parameter is the number of milliseconds waited between frames.
"""
Visualiser.__init__(self, source)
self.frameNumber = 0
fin = NetCDFFile(self.source, 'r')
self.maxFrameNumber = fin.variables['time'].shape[0] - 1
fin.close()
#self.frameNumberTkVariable = StringVar()
#self.frameNumberTkVariable.set('Frame - %05g'%self.framNumber)
self.frameDelay = frameDelay
self.xmin = None
self.xmax = None
self.ymin = None
self.ymax = None
self.zmin = None
self.zmax = None
self.frameStep = frameStep
self.vtk_heightQuantityCache = []
for i in range(self.maxFrameNumber +
1): # maxFrameNumber is zero indexed.
self.vtk_heightQuantityCache.append({})
self.paused = False
self.movie = False
def setup_grid(self):
fin = NetCDFFile(self.source, 'r')
self.vtk_cells = vtkCellArray()
N_tri = fin.variables['volumes'].shape[0]
for v in range(N_tri):
self.vtk_cells.InsertNextCell(3)
for i in range(3):
self.vtk_cells.InsertCellPoint(fin.variables['volumes'][v][i])
fin.close()
def update_height_quantity(self, quantityName, dynamic=True):
polydata = self.vtk_polyData[quantityName] = vtkPolyData()
if dynamic is True:
#print ' - Frame',self.frameNumber,'of',self.maxFrameNumber
if not self.vtk_heightQuantityCache[self.frameNumber].has_key(
quantityName):
self.vtk_heightQuantityCache[self.frameNumber][quantityName]\
= self.read_height_quantity(quantityName, True, self.frameNumber)
polydata.SetPoints(
self.vtk_heightQuantityCache[self.frameNumber][quantityName])
else:
polydata.SetPoints(self.read_height_quantity(quantityName, False))
polydata.SetPolys(self.vtk_cells)
def get_3d_bounds(self):
return [
self.xmin, self.xmax, self.ymin, self.ymax, self.zmin, self.zmax
]
def read_height_quantity(self, quantityName, dynamic=True, frameNumber=0):
"""Read in a height based quantity from the NetCDF source file
and return a vtkPoints object. frameNumber is ignored if
dynamic is false."""
fin = NetCDFFile(self.source, 'r')
points = vtkPoints()
if dynamic is True:
N_vert = fin.variables[quantityName].shape[1]
else:
N_vert = len(fin.variables[quantityName])
x = num.ravel(num.array(fin.variables['x'], num.float))
y = num.ravel(num.array(fin.variables['y'], num.float))
if dynamic is True:
q = num.array(fin.variables[quantityName][frameNumber], num.float)
else:
q = num.ravel(num.array(fin.variables[quantityName], num.float))
q *= self.height_zScales[quantityName]
q += self.height_offset[quantityName]
for v in range(N_vert):
points.InsertNextPoint(x[v], y[v], q[v])
if self.xmin is None or self.xmin > x[v]:
self.xmin = x[v]
if self.xmax is None or self.xmax < x[v]:
self.xmax = x[v]
if self.ymin is None or self.ymin > y[v]:
self.ymin = y[v]
if self.ymax is None or self.ymax < y[v]:
self.ymax = y[v]
if self.zmin is None or self.zmin > q[v]:
self.zmin = q[v]
if self.zmax is None or self.zmax < q[v]:
self.zmax = q[v]
fin.close()
return points
def precache_height_quantities(self):
"""Precache any height-based quantities. Call before rendering
beigns."""
for q in self.height_quantities:
if self.height_dynamic[q] is True:
print 'Precaching %s' % q
for i in range(self.maxFrameNumber +
1): # maxFrameNumber is zero-indexed
print ' - Frame %d of %d' % (i, self.maxFrameNumber)
self.vtk_heightQuantityCache[i][q]\
= self.read_height_quantity(q, True, i)
def build_quantity_dict(self):
quantities = {}
fin = NetCDFFile(self.source, 'r')
for q in filter(
lambda n: n != 'x' and n != 'y' and n != 'z' and n != 'time'
and n != 'volumes', fin.variables.keys()):
if len(fin.variables[q].shape) == 1: # Not a time-varying quantity
quantities[q] = num.ravel(
num.array(fin.variables[q], num.float))
else: # Time-varying, get the current timestep data
quantities[q] = num.array(fin.variables[q][self.frameNumber],
num.float)
fin.close()
return quantities
def setup_gui(self):
Visualiser.setup_gui(self)
self.tk_quit.grid(row=0, column=0, sticky=W + E)
self.tk_movie_toggle = Button(self.tk_controlFrame,
text="Movie off",
command=self.movie_toggle)
self.tk_movie_toggle.grid(row=0, column=6, sticky=W + E)
self.tk_restart = Button(self.tk_controlFrame,
text="<<<",
command=self.restart,
width=5)
self.tk_restart.grid(row=1, column=0, sticky=W + E)
self.tk_back10 = Button(self.tk_controlFrame,
text="<<",
command=self.back10,
width=5)
self.tk_back10.grid(row=1, column=1, sticky=W + E)
self.tk_back = Button(self.tk_controlFrame,
text="<",
command=self.back,
width=5)
self.tk_back.grid(row=1, column=2, sticky=W + E)
self.tk_pauseResume = Button(self.tk_controlFrame,
text="Pause",
command=self.pauseResume,
width=15)
self.tk_pauseResume.grid(row=1, column=3, sticky=W + E)
self.tk_forward = Button(self.tk_controlFrame,
text=">",
command=self.forward,
width=5)
self.tk_forward.grid(row=1, column=4, sticky=W + E)
self.tk_forward10 = Button(self.tk_controlFrame,
text=">>",
command=self.forward10,
width=5)
self.tk_forward10.grid(row=1, column=5, sticky=W + E)
self.tk_forwardEnd = Button(self.tk_controlFrame,
text=">>>",
command=self.forwardEnd,
width=5)
self.tk_forwardEnd.grid(row=1, column=6, sticky=W + E)
self.tk_frameNumber = Label(self.tk_controlFrame, text='Frame')
self.tk_frameNumber.grid(row=2, column=0, sticky=W + E)
self.tk_gotoFrame = Scale(self.tk_controlFrame,
from_=0,
to=self.maxFrameNumber,
orient=HORIZONTAL)
self.tk_gotoFrame.grid(row=2, column=1, columnspan=2, sticky=W + E)
self.tk_stepLabel = Label(self.tk_controlFrame, text='Step')
self.tk_stepLabel.grid(row=2, column=4, sticky=W + E)
self.tk_frameStep = Scale(self.tk_controlFrame,
from_=0,
to=self.maxFrameNumber,
orient=HORIZONTAL)
self.tk_frameStep.grid(row=2, column=5, columnspan=2, sticky=W + E)
# Make the buttons stretch to fill all available space
for i in range(7):
self.tk_controlFrame.grid_columnconfigure(i, weight=1)
def run(self):
self.alter_tkroot(Tk.after, (self.frameDelay, self.animateForward))
Visualiser.run(self)
def restart(self):
self.frameNumber = 0
self.redraw_quantities()
self.update_labels()
self.pause()
if self.movie:
self.save_image()
def forwardEnd(self):
self.frameNumber = self.maxFrameNumber
self.redraw_quantities()
self.update_labels()
self.pause()
def movie_toggle(self):
if self.movie == True:
self.movie = False
self.tk_movie_toggle.config(text='Movie off')
else:
self.movie = True
self.tk_movie_toggle.config(text='Movie on ')
def save_image(self):
from vtk import vtkJPEGWriter, vtkJPEGWriter, vtkPNGWriter
from vtk import vtkPNMWriter, vtkWindowToImageFilter
from os import path
sourcebase, _ = path.splitext(self.source)
fname = sourcebase + '%05g.png' % self.frameNumber
#print fname
extmap = {
'.jpg': vtkJPEGWriter,
'.jpeg': vtkJPEGWriter,
'.png': vtkPNGWriter,
'.pnm': vtkPNMWriter,
}
basename, ext = path.splitext(fname)
try:
Writer = extmap[ext.lower()]
except KeyError:
error_msg("Don't know how to handle %s files" % ext, parent=self)
return
renWin = self.vtk_renderer.GetRenderWindow()
w2i = vtkWindowToImageFilter()
writer = Writer()
w2i.SetInput(renWin)
w2i.Update()
writer.SetInput(w2i.GetOutput())
writer.SetFileName(fname)
renWin.Render()
writer.Write()
def back10(self):
if self.frameNumber - 10 >= 0:
self.frameNumber -= 10
else:
self.frameNumber = 0
self.redraw_quantities()
self.update_labels()
self.pause()
def back(self):
if self.frameNumber > 0:
self.frameNumber -= 1
self.redraw_quantities()
self.update_labels()
self.pause()
def pauseResume(self):
if self.paused is True:
self.resume()
else:
self.pause()
def pause(self):
self.paused = True
self.tk_pauseResume.config(text="Resume")
def resume(self):
self.paused = False
self.tk_pauseResume.config(text="Pause")
self.frameNumber = self.tk_gotoFrame.get()
self.frameStep = self.tk_frameStep.get()
self.tk_root.after(self.frameDelay, self.animateForward)
def forward(self):
if self.frameNumber < self.maxFrameNumber:
self.frameNumber += 1
self.redraw_quantities()
self.update_labels()
self.pause()
def forward_step(self):
if self.frameNumber + self.frameStep <= self.maxFrameNumber:
self.frameNumber += self.frameStep
self.redraw_quantities()
self.update_labels()
else:
self.frameNumber = self.maxFrameNumber
self.redraw_quantities()
self.update_labels()
self.pause()
if self.movie:
self.save_image()
def forward10(self):
if self.frameNumber + 10 <= self.maxFrameNumber:
self.frameNumber += 10
else:
self.frameNumber = self.maxFrameNumber
self.redraw_quantities()
self.update_labels()
self.pause()
def animateForward(self):
if self.paused is not True:
self.forward_step()
self.tk_root.after(self.frameDelay, self.animateForward)
def update_labels(self):
#self.tk_frameNumber.config(text='%05g of %05g'%(self.frameNumber,self.maxFrameNumber))
self.tk_gotoFrame.set(self.frameNumber)
self.tk_frameStep.set(self.frameStep)
def shutdown(self):
#self.pause()
self.tk_root.withdraw()
self.tk_root.destroy()
class FourBarGUI(object):
"""
GUI to model a 4-bar mechanism.
"""
def __init__(self, wdw, r, c):
"""
Determines layout of the canvas,
number of rows and colums is r and c.
"""
wdw.title('a 4-bar mechanism')
self.fbr = FourBar()
self.rows = r
self.cols = c
self.ox = c/3
self.oy = 3*r/4
# print "A =" , (self.ox, self.oy)
self.togo = False
# the canvas and start, stop, and clear buttons
self.c = Canvas(wdw, width=self.cols, height=self.rows, bg='green')
self.c.grid(row=1, column=2, columnspan=2)
self.startbut = Button(wdw, text='start', command = self.start)
self.startbut.grid(row=3, column=2, sticky=W+E)
self.stopbut = Button(wdw, text='stop', command = self.stop)
self.stopbut.grid(row=3, column=3, sticky=W+E)
self.clearbut = Button(wdw, text='clear', command = self.clear)
self.clearbut.grid(row=3, column=4, columnspan=3, sticky=W+E)
# the length of the crank
self.crank_lbl = Label(wdw, text='crank', justify=LEFT)
self.crank_lbl.grid(row=0, column=0)
self.crank_bar = IntVar()
self.L = Scale(wdw, orient='vertical', from_=0, to=self.rows/2, \
tickinterval=20, resolution=1, length=self.rows, \
variable=self.crank_bar, command=self.draw_mechanism)
self.L.set(self.fbr.crank)
self.L.grid(row=1, column=0)
# the angle that drives the crank
self.angle_lbl = Label(wdw, text='angle', justify=LEFT)
self.angle_lbl.grid(row=0, column=1)
self.angle = DoubleVar()
self.t = Scale(wdw, orient='vertical', from_=0, to=6.30, \
tickinterval=0.30, resolution=0.01, length=self.rows, \
variable=self.angle, command=self.draw_mechanism)
self.t.grid(row=1, column=1)
self.angle.set(self.fbr.angle)
# the bar at the right
self.right_bar_lbl = Label(wdw, text='right bar', justify=LEFT)
self.right_bar_lbl.grid(row=0, column=4)
self.right_bar = IntVar()
self.r = Scale(wdw, orient='vertical', from_=0, to=self.rows/2, \
tickinterval=20, resolution=1, length=self.rows, \
variable=self.right_bar, command=self.draw_mechanism)
self.r.grid(row=1, column=4)
self.right_bar.set(self.fbr.right)
# the top bar attached to the crank
self.top_bar_lbl = Label(wdw, text='top bar', justify=LEFT)
self.top_bar_lbl.grid(row=0, column=5)
self.r_top_bar = IntVar()
self.R = Scale(wdw, orient='vertical', from_=0, to=self.rows/2, \
tickinterval=20, resolution=1, length=self.rows, \
variable=self.r_top_bar, command=self.draw_mechanism)
self.R.grid(row=1, column=5)
self.r_top_bar.set(self.fbr.top)
# the scale for the coupler bar
self.coupler_bar_lbl = Label(wdw, text='coupler', justify=LEFT)
self.coupler_bar_lbl.grid(row=0, column=6)
self.coupler_bar = IntVar()
self.cpl = Scale(wdw, orient='vertical', from_=0, to=self.rows/2, \
tickinterval=20, resolution=1, length=self.rows, \
variable=self.coupler_bar, command=self.draw_mechanism)
self.cpl.grid(row=1, column=6)
self.coupler_bar.set(self.fbr.coupler)
# the horizontal bottom bar
self.flat_lbl = Label(wdw, text='right joint', justify=RIGHT)
self.flat_lbl.grid(row=2, column=1)
self.flat = IntVar()
self.f = Scale(wdw, orient='horizontal', from_=0, to=self.rows/2, \
tickinterval=50, resolution=1, length=self.cols, \
variable=self.flat, command=self.draw_mechanism)
self.f.grid(row=2, column=2, columnspan=2)
self.flat.set(self.fbr.flat)
# coordinates of the coupler point appear on top
self.ex = Entry(wdw) # for x value
self.ex.grid(row=0, column=2)
self.ex.insert(INSERT, "x = ")
self.ey = Entry(wdw) # for y value
self.ey.grid(row=0, column=3)
self.ey.insert(INSERT,"y = ")
# check button for drawing of coupler curve
self.curve = IntVar()
self.cb = Checkbutton(wdw, text='coupler', \
variable=self.curve, onvalue=1, offvalue=0)
self.curve.set(1)
self.cb.grid(row=3, column=0)
# draw the mechanism on canvas
self.draw_mechanism(0)
def update_values(self):
"""
Takes all values of the scales and updates
the data attributes of self.fbr.
"""
self.fbr.flat = self.flat.get()
self.fbr.crank = self.crank_bar.get()
self.fbr.top = self.r_top_bar.get()
self.fbr.right = self.right_bar.get()
self.fbr.coupler = self.coupler_bar.get()
self.fbr.angle = self.angle.get()
#self.fbr.print_joints()
def draw_coupler_point(self, p):
"""
Draws coupler point with coordinates in p
if the curve checkbox is on.
Note that the previous values for the coordinates
of the coupler point are stored in the entry fields.
"""
if self.curve.get() == 1:
px = self.ox + p[0]
py = self.oy - p[1]
eqx = self.ex.get()
Lx = eqx.split('=')
if Lx[1] == ' ':
qx = 0.0
else:
qx = float(Lx[1])
eqy = self.ey.get()
Ly = eqy.split('=')
if Ly[1] == ' ':
qy = 0.0
else:
qy = float(Ly[1])
if (qx != 0.0) and (qy != 0.0):
qx = self.ox + qx
qy = self.oy - qy
self.c.create_line(qx, qy, px, py, width=1)
def fill_entries(self, p):
"""
Fills the entry fields with the coordinates
of the coupler point in p.
"""
sx = 'x = %f' % p[0]
sy = 'y = %f' % p[1]
self.ex.delete(0, END)
self.ex.insert(INSERT, sx)
self.ey.delete(0, END)
self.ey.insert(INSERT, sy)
def draw_link(self, p, q, s):
"""
Draws the link from point with coordinates in p
to the point with coordinates in q, using s as tag.
"""
self.c.delete(s)
px = self.ox + p[0]
py = self.oy - p[1]
qx = self.ox + q[0]
qy = self.oy - q[1]
self.c.create_line(px, py, qx, qy, width=2, tags=s)
def draw_mechanism(self, v):
"""
Fills the canvas with the current model
of the planar 4-bar mechanism.
Because this command is called by the sliders,
the argument v is needed but not used.
"""
self.update_values()
L = self.fbr.joints()
for i in range(0, len(L)):
p = L[i]
px = self.ox + p[0]
py = self.oy - p[1]
sj = 'joint%d' % i
self.c.delete(sj)
self.c.create_oval(px-6, py-6, px+6, py+6, width=1, \
outline='black', fill='red', tags=sj)
self.draw_link(L[0], L[2], 'link0')
self.draw_link(L[1], L[3], 'link1')
self.draw_link(L[2], L[3], 'link2')
self.draw_link(L[2], L[4], 'link3')
self.draw_coupler_point(L[4])
self.fill_entries(L[4])
def start(self):
"""
Starts the animation, adding 0.01 to angle.
"""
self.togo = True
while self.togo:
theta = self.angle.get()
theta = theta + 0.01
if theta > 6.28:
theta = 0
self.angle.set(theta)
self.draw_mechanism(0)
self.c.update()
def stop(self):
"""
Stops the animation.
"""
self.togo = False
def clear(self):
"""
Clears the canvas.
"""
self.c.delete(ALL)
class DPSinterface:
"""
DSPinterface is a Tk graphical interface to drive a DPS power supplier.
"""
def __init__(self, root):
"""
Create a DSP interface instance.
:param root: is the Tk() interface where the DPS will be drawedstring with the prot name i.e. /dev/ttyUSB0 or COM5 for Windows
:returns: a new instance of DPS graphical interface
"""
self.root = root
root.title("DPS power supplier interface")
root.protocol("WM_DELETE_WINDOW", self.wnwcmdclose)
self.dps = None
self.poller = None
self.waver = None
self.strtme = time()
self.dpsfwave = None
self.maxoutv = 5
self.maxoutc = 5
menubar = Menu(root)
filemenu = Menu(menubar, tearoff=0)
filemenu.add_command(label="Exit", command=self.wnwcmdclose)
menubar.add_cascade(label="File", menu=filemenu)
scopemenu = Menu(menubar, tearoff=0)
scopemenu.add_command(label="Load sampled points...",
command=self.mnucmdloadsmppts)
scopemenu.add_command(label="Save sampled points as...",
command=self.mnucmdsavesmppts)
menubar.add_cascade(label="Scope", menu=scopemenu)
wavemenu = Menu(menubar, tearoff=0)
wavemenu.add_command(label="New wave", command=self.mnucmdnewwve)
wavemenu.add_command(label="Load wave...", command=self.mnucmdloadwve)
wavemenu.add_command(label="Edit wave...", command=self.mnucmdedtwve)
wavemenu.add_command(label="Save wave as...",
command=self.mnucmdsavewve)
menubar.add_cascade(label="Wave", menu=wavemenu)
memmenu = Menu(menubar, tearoff=0)
memmenu.add_command(label="Edit memories...",
command=self.mnucmdedtmem)
menubar.add_cascade(label="Memory", menu=memmenu)
helpmenu = Menu(menubar, tearoff=0)
helpmenu.add_command(label="Help...", command=self.mnucmdhelp)
helpmenu.add_command(label="About...", command=self.mnucmdabout)
menubar.add_cascade(label="Help", menu=helpmenu)
root.config(menu=menubar)
row = 0
col = 0
rowspan = 1
colspan = 1
insertlabelrow(root, row, col, ("Serial: ", None, "Addr,Baud: "), E)
col += colspan
self.svardpsport = StringVar()
self.svardpsport.set('/dev/ttyUSB0')
self.entryserport = Entry(root,
textvariable=self.svardpsport,
width=ENTRYWIDTH,
justify='right')
self.entryserport.grid(row=row, column=col, sticky=W)
col += colspan
col += colspan
self.svardpsaddbrt = StringVar()
self.svardpsaddbrt.set('1, 9600')
self.entrydpsadd = Entry(root,
textvariable=self.svardpsaddbrt,
width=ENTRYWIDTH,
justify='right')
self.entrydpsadd.grid(row=row, column=col, sticky=W)
col += colspan
colspan = 2
self.ivarconctd = IntVar()
self.ivarconctd.set(0)
Checkbutton(root,
variable=self.ivarconctd,
text='Connect',
command=self.butcmdconnect).grid(row=row,
column=col,
columnspan=colspan,
sticky=E + W)
row += rowspan
col = 0
colspan = 1
Separator(root, orient='horizontal').grid(row=row,
columnspan=8,
sticky=E + W,
pady=8)
row += rowspan
rowspan = 1
colspan = 2
col = 0
self.ivarbrghtnes = IntVar()
s = Scale(root,
label='Brightness',
variable=self.ivarbrghtnes,
from_=0,
to=5,
resolution=1,
orient="horizontal")
s.bind("<ButtonRelease-1>", self.sclbndbrghtnss)
s.grid(row=row, column=col, columnspan=colspan, sticky=E + W)
col += colspan
colspan = 1
Label(root, text="Model: ").grid(row=row, column=col, sticky=E)
col += colspan
self.ivarmodel = IntVar()
Entry(root,
textvariable=self.ivarmodel,
state="readonly",
width=ENTRYWIDTH,
justify='right').grid(row=row, column=col, sticky=W)
col += colspan
colspan = 2
self.ivarsetmem = IntVar()
s = Scale(root,
label='Mem Recall',
variable=self.ivarsetmem,
from_=1,
to=9,
resolution=1,
orient="horizontal")
s.bind("<ButtonRelease-1>", self.sclbndmemory)
s.grid(row=row, column=col, columnspan=colspan, sticky=E + W)
row += rowspan
colspan = 1
col = 0
insertlabelrow(
root, row, col,
(("Vinp [V]: ", VCOL), None, "Out Mode: ", None, "Protection: "),
E)
self.dvarvinp = DoubleVar()
self.svarwrmde = StringVar()
self.setworkmode(0)
self.svarprot = StringVar()
self.setprotection(0)
insertentryrow(
root, row, col,
(None, self.dvarvinp, None, self.svarwrmde, None, self.svarprot),
'right', W, 'readonly')
colspan = 1
row += rowspan
col = 0
insertlabelrow(root, row, col,
(("Vmax [V]: ", VCOL), None, ("Cmax [A]: ", CCOL), None,
("Pmax [W]: ", PCOL)), E)
self.dvarvmaxm0 = DoubleVar()
self.dvarcmaxm0 = DoubleVar()
self.dvarpmaxm0 = DoubleVar()
entries = insertentryrow(root, row, col,
(None, self.dvarvmaxm0, None, self.dvarcmaxm0,
None, self.dvarpmaxm0), 'right', W)
for e, f in zip(entries,
(self.entbndvmax, self.entbndcmax, self.entbndpmax)):
e.bind('<FocusOut>', f)
e.bind('<Return>', f)
row += rowspan
col = 0
insertlabelrow(root, row, col,
(("Vout [V]: ", VCOL), None, ("Cout [A]: ", CCOL), None,
("Pout [W]: ", PCOL)), E)
self.dvarvout = DoubleVar()
self.dvarcout = DoubleVar()
self.dvarpout = DoubleVar()
insertentryrow(
root, row, col,
(None, self.dvarvout, None, self.dvarcout, None, self.dvarpout),
'right', W, 'readonly')
row += rowspan
col = 0
self.scope = Scope(root, [], row, col)
row += 9
col = 4
Label(root, text="Rte[s/Sa]: ").grid(row=row, column=col, sticky=E)
col += colspan
self.dvarsecsmp = DoubleVar()
self.dvarsecsmp.set(self.scope.sampletime())
e = Entry(root,
textvariable=self.dvarsecsmp,
width=ENTRYWIDTH,
justify='right').grid(row=row, column=col, sticky=W)
row += rowspan
col = 0
colspan = 2
self.ivaracquire = IntVar()
self.ivaracquire.set(0)
Checkbutton(root,
variable=self.ivaracquire,
text='Run Acquisition',
command=self.butcmdacquire).grid(row=row,
column=col,
columnspan=2,
sticky=E + W)
col += colspan
self.ivarkeylock = IntVar()
self.ivarkeylock.set(0)
Checkbutton(root,
variable=self.ivarkeylock,
text="Key Lock",
command=self.butcmdkeylock).grid(row=row,
column=col,
sticky=E + W,
columnspan=colspan)
col += colspan
self.ivaroutenab = IntVar()
self.ivaroutenab.set(0)
Checkbutton(root,
variable=self.ivaroutenab,
text="Output Enable",
command=self.butcmdoutenable).grid(row=row,
column=col,
sticky=E + W,
columnspan=colspan)
row += rowspan
col = 0
rowspan = 1
colspan = 3
self.dvarvscale = DoubleVar()
self.voltscale = Scale(root,
label='Vset [V]',
foreground=VCOL,
variable=self.dvarvscale,
from_=0,
to=self.maxoutv,
resolution=1,
orient="horizontal") #, label='Vset[V]'
self.voltscale.bind("<ButtonRelease-1>", self.sclbndvolt)
self.voltscale.grid(row=row,
column=col,
columnspan=colspan,
sticky=E + W)
col += colspan
self.dvarcscale = DoubleVar()
self.curntscale = Scale(root,
label='Cset[A]',
foreground=CCOL,
variable=self.dvarcscale,
from_=0,
to=self.maxoutc,
resolution=1,
orient="horizontal") #,label='Cset[A]'
self.curntscale.bind("<ButtonRelease-1>", self.sclbndcrnt)
self.curntscale.grid(row=row,
column=col,
columnspan=colspan,
sticky=E + W)
row += rowspan
col = 0
self.dvarvscalef = DoubleVar()
sc = Scale(root,
foreground=VCOL,
variable=self.dvarvscalef,
from_=0,
to=0.99,
resolution=0.01,
orient="horizontal")
sc.bind("<ButtonRelease-1>", self.sclbndvolt)
sc.grid(row=row, column=col, columnspan=colspan, sticky=E + W)
col += colspan
self.dvarcscalef = DoubleVar()
sc = Scale(root,
foreground=CCOL,
variable=self.dvarcscalef,
from_=0,
to=0.99,
resolution=0.01,
orient="horizontal")
sc.bind("<ButtonRelease-1>", self.sclbndcrnt)
sc.grid(row=row, column=col, columnspan=colspan, sticky=E + W)
row += rowspan
col = 0
colspan = 1
Separator(root, orient='horizontal').grid(row=row,
columnspan=6,
sticky=E + W,
pady=8)
row += rowspan
colspan = 1
col = 0
Label(root, text="Waveform: ").grid(row=row, column=col, sticky=E)
col += colspan
colspan = 2
self.svarwave = StringVar()
Entry(root,
textvariable=self.svarwave,
width=ENTRYWIDTH,
justify='right',
state='readonly').grid(row=row,
column=col,
columnspan=colspan,
sticky=E + W)
col += colspan
colspan = 1
self.ivarplaywv = IntVar()
self.ivarplaywv.set(0)
Checkbutton(root,
variable=self.ivarplaywv,
text='Play',
command=self.butcmdplaywave).grid(row=row,
column=col,
sticky=E + W)
col += colspan
self.ivarpausewv = IntVar()
self.ivarpausewv.set(0)
Checkbutton(root,
variable=self.ivarpausewv,
text='Pause',
command=self.butcmdpausewave).grid(row=row,
column=col,
sticky=E + W)
col += colspan
self.ivarloopwv = IntVar()
self.ivarloopwv.set(0)
Checkbutton(root, variable=self.ivarloopwv,
text='Loop').grid(row=row, column=col, sticky=E + W)
self.scope.update()
self.scope.redraw()
def sclbndvolt(self, event):
"""
Voltage scale bind command to set the voltage on the DSP.
:param event: the event describing what changed
"""
if self.isconnected():
self.dps.set(['vset'], [self.getvscale()])
def sclbndcrnt(self, event):
"""
Current scale bind command to set the current on the DSP.
:param event: the event describing what changed
"""
if self.isconnected():
self.dps.set(['cset'], [self.getcscale()])
def sclbndmemory(self, event):
"""
Memory-set bind command to set the memory on the DSP.
:param event: the event describing what changed
"""
if self.isconnected():
m = self.ivarsetmem.get()
self.dps.set(['mset'], [m])
self.updatefields(True)
def sclbndbrghtnss(self, event):
"""
Brightness bind command to set the brightness on the DSP.
:param event: the event describing what changed
"""
if self.isconnected():
b = self.ivarbrghtnes.get()
self.dps.set(['brght'], [b])
def mnucmdnewwve(self):
"""
New wave menu command to initialize a new wave.
"""
self.dpsfwave = Dpsfile()
self.svarwave.set('unnamed')
def mnucmdloadwve(self):
"""
Load wave menu command to load a wave file.
"""
fname = tkFileDialog.askopenfilename(initialdir=".",
title="Select wave file to load",
filetypes=(("dps files", "*.dps"),
("all files", "*.*")))
if fname:
self.svarwave.set(os.path.basename(fname))
self.dpsfwave = Dpsfile()
self.dpsfwave.load(fname)
def mnucmdedtwve(self):
"""
Edit wave menu command to open the edit wave window.
"""
if self.dpsfwave is not None:
Wveinterface(self.root, self.dpsfwave.getpoints())
else:
tkMessageBox.showinfo('No wave loaded',
'Load or create a new wave file to modify')
def mnucmdsavewve(self):
"""
Save wave menu command to save the current wave in memory.
"""
if self.dpsfwave is not None:
fname = tkFileDialog.asksaveasfilename(
initialdir=".",
title="Select wave file to save",
filetypes=(("dps files", "*.dps"), ("all files", "*.*")))
if fname:
self.dpsfwave.save(fname)
self.svarwave.set(os.path.basename(fname))
else:
tkMessageBox.showinfo('No wave in memory',
'Load or create a wave file to modify')
def mnucmdloadsmppts(self):
"""
Load sampled points menu command to load in the graphical view sampled before.
"""
fname = tkFileDialog.askopenfilename(initialdir=".",
title="Select data file to load",
filetypes=(("dps files", "*.dps"),
("all files", "*.*")))
if fname:
self.scope.load(fname)
def mnucmdsavesmppts(self):
"""
Save sampled points menu command to save the last points sampled showed in the graphical view.
"""
fname = tkFileDialog.asksaveasfilename(
initialdir=".",
title="Select data file to save",
filetypes=(("dps files", "*.dps"), ("all files", "*.*")))
if fname:
self.scope.save(fname)
def mnucmdedtmem(self):
"""
Memory menu command to edit the values of preset memories on DSP.
"""
if self.isconnected():
Meminterface(self.root, self.dps, self.updatefields)
def mnucmdabout(self):
"""
About menu command to show the window with program information.
"""
Txtinterface(
self.root, 'About', """DPS interface is designed by Simone Pernice
That project was born as a textual driver to interface any DPS device.
After the driver I made also a graphical interface to manage DPS devices.
This project was born because I was not able to find any Linux
application to manage DPS devices via USB.
For question email to me: [email protected]
Version {} relesed on {}
First release on 3rd February 2019 Turin Italy
DPS interface is under licence {}
If you like this program please make a donation with PayPal to [email protected]"""
.format(__version__, __date__, __license__))
def mnucmdhelp(self):
"""
Help menu command to show basic help on usage.
"""
Txtinterface(
self.root, 'Help',
"""This is an interface to remote controll a power supplier of DPS series.
The white fields can be edited, the gray are read only.
To connect to DPS power supplier first link it to the PC through an USB cable.
The data required to connect is on the first row of the graphical interface.
Write the serial address on the first field (COMxx for Windows or
/dev/ttyUSBx for Linux).
Address and baudrate do not require update because they are the default
for DPS power supplier. Turn on DPS with up key pressed to change those values.
Press 'Connect' check button and if the device is present it is linked.
Press again the same check button to disconnect the DPS.
Once the link to DPS is in place all the data on the interface are updated and
on the DPS the keylock is set.
The second block of graphical interface contains all data about DPS.
The brightness set which can be changed through the scale regulation.
The model number. The memory from which recall the preset parameters.
The input voltage, the output mode cv (constant voltage) or cc (constant current).
The protection mode: none (no protection triggered), ovp (over voltage protection),
ocp (over current protection), opp (over power protection).
The maximum voltage, current and power to provide before triggering the
self protection.
The next row contains output voltage, current and power in textual form.
A time diagram of the DPS output voltage, current and power is avaiable.
It is possible to play with the mouse on that screen:
- wheel press to fit in the screen all the enabled drawings
- wheel to zoom in time
- shift+wheel to zoom on Y for the highlighted curves
- ctrl+wheel to change the enabled curves
- left button drag to move the highlighted curve
The same mouse functions are available in the fields below the diagram:
- voltage per division, current per division and watt per division
- zero position for voltage, current and power
- check button to view voltage, current and power
- time: second per divisions and zero position for time
The sample time is used for the acquisition. DPS is quite slot, the minimum read
time is around 1 second. The suggested rate is to have a sample for displayed pixel.
The next buttons are:
- Run acquisition: starts a thread that read the DPS status, update the interface
fields as well as the time diagram.
The acquisition points can be saved and loaded to be showed lated with menu
commands on DPS scope load/save. They can be also edited through the
wave edit window and played.
- Key lock: set or reset the DPS key lock. It should be on in order to have faster
communication. If key lock is on less fields of DPS are read since user can
change them only through the PC interface.
- Output enable to enable the DPS output
Eventually there are the voltage and current scale. Thery are split in two:
- the first is for coarse (1 unit/step) adjustment the unit of voltage/current
- the second is for fine (0.01 unit/step) adjustament of voltage/current
On the last block of interface there is a waveform field showing the wave loaded.
Wave is a set of required output voltage and current at give timings. It is possible
play and pause it through the respective commands of the interface. If loop is
set when the wave play is completed it restarts.
The acquisition may slow the wave player, use low acquisition sample time
to avoid delays.""")
def butcmdconnect(self):
"""
Connect check button command to connect to the DSP.
It reads: serial port address, DPS address and serial speed from other interface fields.
If it is capable to link to the DPS:
- the maximum voltage and current are read and scale maximums set accordingly
- the DPS current data are read and set accordingly in the interface
- the localDPS interface is locked so that the user cannot change them but has to go through the graphical interface
if the DPS is locked the polling is faster because less data needs to be read from DPS
- the input fields are disabled
"""
if self.ivarconctd.get():
try:
flds = self.svardpsaddbrt.get().split(',')
if len(flds) > 0:
ch = int(flds[0])
else:
ch = 1
if len(flds) > 1:
br = int(flds[1])
else:
br = 9600
self.dps = DPSdriver(self.svardpsport.get(), ch, br)
except Exception as e:
tkMessageBox.showerror('Error', 'Cannot connect: ' + str(e))
self.ivarconctd.set(0)
self.dps = None
return
m = self.dps.get(['model'])
m = m[0]
self.ivarmodel.set(m)
to = m / 100
self.voltscale.config(to=to)
self.maxoutv = to
to = m % 100
self.curntscale.config(to=to)
self.maxoutv = to
self.scope.resetpoints()
self.ivarkeylock.set(1)
self.butcmdkeylock()
self.updatefields(True)
self.entryserport.config(state='readonly')
self.entrydpsadd.config(state='readonly')
else:
# Stop polling
self.ivaracquire.set(0)
if self.poller:
self.poller.wake()
time.sleep(1.) # Wait to be sure the thread exits
# Stop waveform generation
self.ivarplaywv.set(0)
if self.waver:
self.waver.wake()
time.sleep(1.) # Wait to be sure the thread exits
self.dps = None
self.entryserport.config(state=NORMAL)
self.entrydpsadd.config(state=NORMAL)
def butcmdacquire(self):
"""
Acquire check button command to manage the acquisition thread to read the DSP data.
If the button is not selected the thread is lunched.
If the button is selected the thread is stopped.
"""
if self.ivaracquire.get():
if not self.isconnected():
self.ivaracquire.set(0)
return
self.scope.resetpoints()
self.strtme = time()
self.poller = Poller(self.ivaracquire, self.dvarsecsmp,
self.updatefields)
else:
self.poller.wake()
def butcmdkeylock(self):
"""
Key lock button command to enable or disable the key lock on DPS remote interface.
"""
if self.isconnected():
self.dps.set(['lock'], [self.ivarkeylock.get()])
else:
self.ivarkeylock.set(0)
def butcmdoutenable(self):
"""
DPS output button command to enable or disable the DPS output power.
"""
if self.isconnected():
self.dps.set(['onoff'], [self.ivaroutenab.get()])
else:
self.ivaroutenab.set(0)
def butcmdplaywave(self):
"""
Wave generator check button command to manage the wave generation thread to make a waveform on the DSP.
If the button is not selected the thread is lunched.
If the button is selected the thread is stopped.
"""
if self.ivarplaywv.get():
if not self.isconnected():
self.ivarplaywv.set(0)
return
if not self.dpsfwave:
tkMessageBox.showinfo('No wave in memory',
'Load or create a wave file to modify')
self.ivarplaywv.set(0)
return
if not self.ivaroutenab.get():
self.ivaroutenab.set(1)
self.butcmdoutenable()
self.waver = Waver(self.setvcdps, self.ivarplaywv,
self.ivarpausewv, self.ivarloopwv,
self.dpsfwave.getpoints())
else:
self.waver.wake()
def butcmdpausewave(self):
"""
Wave generator pause check button command to temporary pause the wave generations.
"""
self.waver.wake()
def wnwcmdclose(self):
"""
DPS main window close. Before exiting the supplier is disconnected the external supplier.
"""
if self.ivarconctd.get():
self.ivarconctd.set(0)
self.butcmdconnect()
self.root.destroy()
def entbndvmax(self, event):
"""
Maximum voltage entry bind to set the protection maximum ouput voltage of the DSP.
:param event: the event describing what changed
"""
if self.isconnected():
if self.dvarvmaxm0.get() > self.maxoutv * PROTEXCEED:
self.dvarvmaxm0.set(self.maxoutv * PROTEXCEED)
elif self.dvarvmaxm0.get() < 0.:
self.dvarvmaxm0.set(0.)
self.dps.set(['m0ovp'], [self.dvarvmaxm0.get()])
def entbndcmax(self, event):
"""
Maximum current entry bind to set the protection maximum output curret of the DSP.
:param event: the event describing what changed
"""
if self.isconnected():
if self.dvarcmaxm0.get() > self.maxoutc * PROTEXCEED:
self.dvarcmaxm0.set(self.maxoutc * PROTEXCEED)
elif self.dvarcmaxm0.get() < 0.:
self.dvarcmaxm0.set(0.)
self.dps.set(['m0ocp'], [self.dvarcmaxm0.get()])
def entbndpmax(self, event):
"""
Maximum power entry bind to set the protection maximum output power of the DSP.
:param event: the event describing what changed
"""
if self.isconnected():
if self.dvarpmaxm0.get(
) > self.maxoutv * self.maxoutc * PROTEXCEED * PROTEXCEED:
self.dvarpmaxm0.set(self.maxoutv * self.maxoutc * PROTEXCEED *
PROTEXCEED)
elif self.dvarpmaxm0.get() < 0.:
self.dvarcmaxm0.set(0.)
self.dps.set(['m0opp'], [self.dvarpmaxm0.get()])
def setvcdps(self, v, c):
"""
Set the DPS output voltage and current moving their scales accordingly.
:param v: the required voltage, if negative it is not changed
:param c: the required current, if negative it is not changed
"""
if v >= 0:
if c >= 0:
self.setvscale(v)
self.setcscale(c)
self.dps.set(['vset', 'cset'], [v, c])
else:
self.setvscale(v)
self.dps.set(['vset'], [v])
elif c >= 0:
self.setcscale(c)
self.dps.set(['cset'], [c])
def isconnected(self):
"""
Check if the DPS is connected, if not display a message.
:returns: True if connected, False if not
"""
if self.dps is None:
tkMessageBox.showinfo('Not connected',
'Enstablish a connection before')
return False
return True
def setvscale(self, v):
"""
Set the voltage scale, nothing is changed on the DPS.
:param v: the voltage to set
"""
if v > self.maxoutv: v = self.maxoutv
elif v < 0: v = 0
self.dvarvscale.set(int(v))
self.dvarvscalef.set(round(v - int(v), 2))
def getvscale(self):
"""
Get the voltage scale set value.
:returns: the voltage set
"""
return self.dvarvscale.get() + self.dvarvscalef.get()
def setcscale(self, c):
"""
Set the current scale, nothing is changed on the DPS.
:param c: the current to set
"""
if c > self.maxoutc: c = self.maxoutc
elif c < 0: c = 0
self.dvarcscale.set(int(c))
self.dvarcscalef.set(round(c - int(c), 2))
def getcscale(self):
"""
Get the current scale set value.
:returns: the current set
"""
return self.dvarcscale.get() + self.dvarcscalef.get()
def updatefields(self, forcereadall=False):
"""
Reads data stored in DPS and updates the interface fields accordingly.
In order to be as fast as possible, if keylock is enabled, reads only the fields that can change without uses access.
If keylock is disabled all the fields are read because user may have changed something from the interface.
:param forcereadall: if True read and update all the DPS fields regardless of the keylock status
:returns: the point read. A point is made by (time, voltage, current, power)
"""
if not forcereadall and self.ivarkeylock.get(
): # If user keep locked fewer data are read, otherwise all
data = self.dps.get(
['vout', 'cout', 'pout', 'vinp', 'lock', 'prot', 'cvcc'])
self.dvarvout.set(data[0])
self.dvarcout.set(data[1])
self.dvarpout.set(data[2])
self.dvarvinp.set(data[3])
self.ivarkeylock.set(data[4])
self.setprotection(data[5])
self.setworkmode(data[6])
vcp = data[0:3]
else: # All data is read
data = self.dps.get([
'vset', 'cset', 'vout', 'cout', 'pout', 'vinp', 'lock', 'prot',
'cvcc', 'onoff', 'brght', 'mset', 'm0ovp', 'm0ocp', 'm0opp'
])
self.setvscale(data[0])
self.setcscale(data[1])
self.dvarvout.set(data[2])
self.dvarcout.set(data[3])
self.dvarpout.set(data[4])
self.dvarvinp.set(data[5])
self.ivarkeylock.set(data[6])
self.setprotection(data[7])
self.setworkmode(data[8])
self.ivaroutenab.set(data[9])
self.ivarbrghtnes.set(data[10])
self.ivarsetmem.set(data[11])
self.dvarvmaxm0.set(data[12])
self.dvarcmaxm0.set(data[13])
self.dvarpmaxm0.set(data[14])
vcp = data[2:5]
vcp.insert(TPOS, time() - self.strtme)
self.scope.addpoint(vcp)
return vcp
def setprotection(self, p):
"""
Set the protection field with an user readable string explaining the DPS protection status.
:param p: the protection statu returned by the DPS
"""
self.svarprot.set({0: 'none', 1: 'ovp', 2: 'ocp', 3: 'opp'}[p])
def setworkmode(self, wm):
"""
Set the workmode field with an user readable string explaining the DPS work mode.
:param wm: the working mode returned by the DPS
"""
self.svarwrmde.set({0: 'cv', 1: 'cc'}[wm])
class Controls:
def __init__(self, profile):
self.profile = profile
self.show_rgb_mask = False
self.show_hsv_mask = False
def start(self, master):
self.master = master
master.title("Controls")
self.rgb_red_min = Scale(master, from_=0, to=255, background="red")
self.rgb_red_max = Scale(master, from_=0, to=255, background="red")
self.hue_label = Label(master, text="hue", background="white")
self.sat_label = Label(master, text="sat", background="white")
self.val_label = Label(master, text="val", background="white")
self.rgb_green_min = Scale(master, from_=0, to=255, background="green")
self.rgb_green_max = Scale(master, from_=0, to=255, background="green")
self.rgb_blue_min = Scale(master, from_=0, to=255, background="blue")
self.rgb_blue_max = Scale(master, from_=0, to=255, background="blue")
self.hsv_hue_min = Scale(master, from_=0, to=255, background="white")
self.hsv_hue_max = Scale(master, from_=0, to=255, background="white")
self.hsv_sat_min = Scale(master, from_=0, to=255, background="white")
self.hsv_sat_max = Scale(master, from_=0, to=255, background="white")
self.hsv_val_min = Scale(master, from_=0, to=255, background="white")
self.hsv_val_max = Scale(master, from_=0, to=255, background="white")
# set default values
self.rgb_red_min.set(self.profile.red[0])
self.rgb_red_max.set(self.profile.red[1])
self.rgb_green_min.set(self.profile.green[0])
self.rgb_green_max.set(self.profile.green[1])
self.rgb_blue_min.set(self.profile.blue[0])
self.rgb_blue_max.set(self.profile.blue[1])
self.hsv_hue_min.set(self.profile.hsv_hue[0])
self.hsv_hue_max.set(self.profile.hsv_hue[1])
self.hsv_sat_min.set(self.profile.hsv_sat[0])
self.hsv_sat_max.set(self.profile.hsv_sat[1])
self.hsv_val_min.set(self.profile.hsv_val[0])
self.hsv_val_max.set(self.profile.hsv_val[1])
self.show_rgb_mask_var = IntVar()
self.show_rgb_mask_check = Checkbutton(master,
text="RGB Mask",
variable=self.show_rgb_mask_var)
self.show_hsv_mask_var = IntVar()
self.show_hsv_mask_check = Checkbutton(master,
text="HSV Mask",
variable=self.show_hsv_mask_var)
# LAYOUT
self.rgb_red_min.grid(row=0, column=0)
self.rgb_red_max.grid(row=0, column=1)
self.hue_label.grid(row=1, column=0, columnspan=2)
self.sat_label.grid(row=1, column=2, columnspan=2)
self.val_label.grid(row=1, column=4, columnspan=2)
self.rgb_green_min.grid(row=0, column=2)
self.rgb_green_max.grid(row=0, column=3)
self.rgb_blue_min.grid(row=0, column=4)
self.rgb_blue_max.grid(row=0, column=5)
self.hsv_hue_min.grid(row=2, column=0)
self.hsv_hue_max.grid(row=2, column=1)
self.hsv_sat_min.grid(row=2, column=2)
self.hsv_sat_max.grid(row=2, column=3)
self.hsv_val_min.grid(row=2, column=4)
self.hsv_val_max.grid(row=2, column=5)
self.show_rgb_mask_check.grid(row=3, column=0)
self.show_hsv_mask_check.grid(row=3, column=1)
def update_profile(self):
self.rgb_red_min.set(
min(self.rgb_red_min.get(), self.rgb_red_max.get()))
self.rgb_red_max.set(
max(self.rgb_red_min.get(), self.rgb_red_max.get()))
self.profile.red = [self.rgb_red_min.get(), self.rgb_red_max.get()]
self.profile.green = [
self.rgb_green_min.get(),
self.rgb_green_max.get()
]
self.profile.blue = [self.rgb_blue_min.get(), self.rgb_blue_max.get()]
self.profile.hsv_hue = [self.hsv_hue_min.get(), self.hsv_hue_max.get()]
self.profile.hsv_sat = [self.hsv_sat_min.get(), self.hsv_sat_max.get()]
self.profile.hsv_val = [self.hsv_val_min.get(), self.hsv_val_max.get()]
self.show_rgb_mask = self.show_rgb_mask_var.get() == 1
self.show_hsv_mask = self.show_hsv_mask_var.get() == 1
class SteeringFrame(Frame):
def __init__(self, parent):
Frame.__init__(self, parent)
self.parent = parent
self.initialize()
def initialize(self):
self.grid()
self.entryVariable = StringVar()
self.entry = Entry(self, textvariable=self.entryVariable)
self.entry.grid(column=0,row=0,sticky='EW')
self.entry.bind("<Return>", self.OnPressEnter)
button = Button(self,text="Set Steering", command=self.OnButtonClick)
button.grid(column=1,row=0)
self.labelVariable = StringVar()
label = Label(self,textvariable=self.labelVariable,
anchor="w",fg="white",bg="green")
label.grid(column=0,row=1,columnspan=1,sticky='EW')
self.labelVariable.set("Start..")
left = Button(self,text="Left", command=self.Left)
left.grid(column=0,row=2)
right = Button(self,text="Right", command=self.Right)
right.grid(column=1,row=2)
centre = Button(self,text="Centre", command=self.Centre)
centre.grid(column=3,row=2)
self.steerVariable = StringVar()
steerState = Label(self,textvariable=self.steerVariable,
anchor="w",fg="white",bg="green")
steerState.grid(column=0,row=3,columnspan=1,sticky='EW')
self.steerVariable.set("Start..")
self.turn_angle = steering.GetTurnAngle();
self.slider = Scale(self, from_=-self.turn_angle, to=self.turn_angle,
orient=HORIZONTAL, command=self.setSteerState)
self.slider.grid(column=0, row=4, columnspan=3, sticky='EW')
self.grid_columnconfigure(0,weight=1)
self.update()
#self.geometry(self.geometry()) # caused busy wait?
self.entry.focus_set()
#self.entry.selection_range(0, Tkinter.END) # caused busy wait?
def OnButtonClick(self):
steerAngle = int(self.entryVariable.get())
steering.SetAngle(steerAngle)
self.slider.set(steerAngle)
self.labelVariable.set("Steering set: " + str(steerAngle) )
self.entry.focus_set()
self.entry.selection_range(0, END)
def OnPressEnter(self,event):
steerAngle = int(self.entryVariable.get())
steering.SetAngle(steerAngle)
self.slider.set(steerAngle)
self.labelVariable.set("Steering set: " + str(steerAngle) )
self.entry.focus_set()
self.entry.selection_range(0, END)
def Left(self):
self.steerVariable.set("LEFT")
steering.TurnLeft()
self.slider.set(-self.turn_angle)
def Right(self):
self.steerVariable.set("RIGHT")
steering.TurnRight()
self.slider.set(self.turn_angle)
def Centre(self):
self.steerVariable.set("CENTRE")
steering.TurnStraight()
self.slider.set(0)
def setSteerState(self, val):
val = self.slider.get()
steering.SetAngle(val)
steerAngle = val;
self.steerVariable.set("Steering: " + str(val) )
def gui():
from Tkinter import Tk, Label, Entry, Button, Scale, Checkbutton, W, HORIZONTAL, Frame, StringVar, IntVar, DoubleVar, Radiobutton, BooleanVar, E
global root
root = Tk()
root.wm_title("Compute R_complete")
line = 0
global insFile, hklFile, nHKL, nParams, nHKLLabel, fracFree, status, nParamsLabel, nCPU, rCompleteLabel, cycles, lsType, cleanup, nFree, nRunsLabel, mergeCheck, compileMap
insFile = StringVar()
hklFile = StringVar()
nHKL = IntVar()
nParams = IntVar()
nFree = IntVar()
fracFree = DoubleVar()
fracFree.set(5.0)
nCPU = IntVar()
nCPU.set(maxCPU)
cycles = IntVar()
cycles.set(10)
lsType = IntVar()
lsType.set(1)
cleanup = BooleanVar()
cleanup.set(True)
mergeCheck = BooleanVar()
mergeCheck.set(True)
compileMap = BooleanVar()
compileMap.set(True)
Label(root, text='Instruction File:').grid(row=line, column=0, sticky=E)
Entry(root, textvariable=insFile).grid(row=line, column=1)
Button(root, text='Browse', command=browseINS).grid(row=line, column=2)
line += 1
Label(root, text='Reflection File:').grid(row=line, column=0, sticky=E)
Entry(root, textvariable=hklFile).grid(row=line, column=1)
Button(root, text='Browse', command=browseHKL).grid(row=line, column=2)
line += 1
Checkbutton(root, var=mergeCheck, text='Merge Reflections').grid(row=line,
column=1,
sticky=W)
line += 1
Button(root, text='Load', command=load).grid(row=line, columnspan=3)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='# of reflections:').grid(row=line, sticky=E)
nHKLLabel = Label(root, text='???')
nHKLLabel.grid(row=line, column=1, sticky=W)
line += 1
Label(root, text='# of atoms:').grid(row=line, sticky=E)
nParamsLabel = Label(root, text='???')
nParamsLabel.grid(row=line, column=1, sticky=W)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='Select Parameters').grid(row=line, column=1)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='# of free reflections:').grid(row=line, sticky=E)
nFreeEntry = Entry(root, width=5, textvariable=nFree)
nFreeEntry.grid(row=line, column=1, sticky=W)
nFreeEntry.bind('<Return>', setScale)
nRunsLabel = Label(root, text='# runs')
nRunsLabel.grid(row=line, column=2)
line += 1
Label(root, text='% of free reflections:').grid(row=line,
column=0,
sticky=E)
w = Scale(root,
from_=0.1,
to=10.0,
resolution=0.1,
orient=HORIZONTAL,
length=200,
var=fracFree,
command=percentScale)
w.grid(row=line, column=1, columnspan=2, sticky=W)
line += 1
Label(root, text='stable <-------------------------------> fast').grid(
row=line, column=1, columnspan=2, sticky=W)
line += 1
Frame(root, height=10).grid(row=line)
line += 1
Label(root, text='Refinement cycles:').grid(row=line, column=0, sticky=E)
ls = Scale(root,
from_=0,
to=50,
resolution=1,
orient=HORIZONTAL,
length=200,
var=cycles)
ls.grid(row=line, column=1, columnspan=2, sticky=W)
line += 1
Label(root, text='fast <--------------------> less model bias').grid(
row=line, column=1, columnspan=2, sticky=W)
line += 1
Frame(root, height=10).grid(row=line)
line += 1
Label(root, text='# of CPUs:').grid(row=line, column=0, sticky=E)
ww = Scale(root,
from_=1,
to=maxCPU,
orient=HORIZONTAL,
length=200,
var=nCPU)
ww.grid(row=line, column=1, columnspan=2, sticky=W)
line += 1
Label(root, text='Refinement Type:').grid(row=line, column=0, sticky=E)
Radiobutton(root, text='CGLS', var=lsType, value=1).grid(row=line,
column=1,
sticky=W)
Radiobutton(root, text='L.S.', var=lsType, value=2).grid(row=line,
column=2,
sticky=W)
line += 1
Frame(root, height=10).grid(row=line)
line += 1
Label(root, text='Compile map:').grid(row=line, column=0, sticky=E)
Checkbutton(root, var=compileMap).grid(row=line, column=1, sticky=W)
line += 1
Label(root, text='Cleanup:').grid(row=line, column=0, sticky=E)
Checkbutton(root, var=cleanup).grid(row=line, column=1, sticky=W)
line += 1
Button(root, text='RUN', command=run, width=25).grid(row=line,
columnspan=3)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='R_complete:').grid(row=line, column=0, sticky=E)
rCompleteLabel = Label(root, text='???')
rCompleteLabel.grid(row=line, column=1, sticky=W)
line += 1
Frame(root, height=20).grid(row=line)
line += 1
Label(root, text='Status:').grid(row=line, column=0, sticky=E)
status = Label(root, text='Idle... Please load files.')
status.grid(row=line, column=1, columnspan=2, sticky=W)
global IDLE
IDLE = True
root.mainloop()
#Percentage of data to analize:
percentg_val = DoubleVar()
percentg_val.set(0) #Initialize a value
#Define and show slider
PercentgEntry = Scale(frame1,
label="Percentage of data to analize:",
bg="LightCyan2",
from_=0,
to=100,
orient=HORIZONTAL,
length=300,
resolution=0.5,
variable=percentg_val)
PercentgEntry.grid(row=17, column=0, columnspan=2, sticky=W)
#Button to open root browser
latestThread = None #analysis thread
b = None
class browser_thread(threading.Thread):
"""thread for opening a TBrowser"""
def __init__(self):
self.exit = threading.Event()
threading.Thread.__init__(self)
def run(self):
global b
b = ROOT.TBrowser()
class VRConfigDialog(Dialog):
"""
Defines a custom dialog for editing the Virtual Reality params
"""
def __init__(self, parent, populator=None, manager=None):
"""
Construct the dialog
"""
self._entries = {
"frame_angle" : None,
"distortion" : False,
"windowed" : False,
"eye_height" : None,
"minimum_dist_to_wall" : None
}
self._win_var = IntVar(0)
self._distortion_var = IntVar(0)
Dialog.__init__(self, parent=parent, title="VRConfiguration", populator=populator, manager=manager)
def body(self, parent):
"""
Overridden method defining the body of the dialog
:param parent:
:return:
"""
# Define all of the labels for our options
Label(parent, text="Frame Angle:", padx=3, anchor=SW, height=2).grid(row=0, column=0, sticky=W)
Label(parent, text="Eye Height:", padx=3, anchor=SW, height=2).grid(row=1, column=0, pady=2, sticky=W )
Label(parent, text="MinDistToWall:", padx=3, anchor=SW, height=2).grid(row=2, column=0, pady=2, sticky=W)
Label(parent, text="Distortion:", padx=3).grid(row=3, column=0, pady=2, sticky=W)
Label(parent, text="Windowed:", padx=3).grid(row=4, column=0, pady=2, sticky=W)
# Define the sub-widgets that the labels are referring to
self._frameAngle = Scale(parent, from_=-20, to=20, orient=HORIZONTAL)
if self._entries["frame_angle"] is not None:
self._frameAngle.set(self._entries["frame_angle"])
else:
self._frameAngle.set(-5)
self._frameAngle.grid(row=0, column=1, padx=3)
self._eyeHeight = Scale(parent, from_=0, to=500, orient=HORIZONTAL)
if self._entries["eye_height"] is not None:
self._eyeHeight.set( self._entries["eye_height"] )
else:
self._eyeHeight.set(50)
self._eyeHeight.grid(row=1, column=1, padx=3)
self._minDistToWall = Scale(parent, from_=1, to=300, orient=HORIZONTAL)
if self._entries["minimum_dist_to_wall"] is not None:
self._minDistToWall.set( self._entries["minimum_dist_to_wall"] )
else:
self._minDistToWall.set(20)
self._minDistToWall.grid(row=2, column=1, padx=3)
self._distortion = Checkbutton(parent, variable=self._distortion_var, offvalue=0, onvalue=1, text="Enable", command=self._toggle_distortion)
self._distortion.grid(row=3, column=1, padx=3)
self._windowed = Checkbutton(parent, variable=self._win_var, offvalue=0, onvalue=1, text="Enable", command=self._toggle_windowed)
self._windowed.grid(row=4, column=1, padx=3)
def _toggle_distortion(self):
"""
Toggle the distortion flag
:return:
"""
self._distortion_var.set(0 if self._distortion_var.get() == 1 else 1)
val = self._entries["distortion"]
self._entries["distortion"] = not val
Debug.printi("Distortion toggled to " + (str(not val)), Debug.Level.INFO)
self._distortion.toggle()
def _toggle_windowed(self):
"""
Toggle the windowed flag
:return:
"""
self._win_var.set(0 if self._win_var.get() == 1 else 1)
val = self._entries["windowed"]
self._entries["windowed"] = not val
Debug.printi("Windowing toggled to " + (str(not val)), Debug.Level.INFO)
self._windowed.toggle()
def populate(self, manager):
self._entries["frame_angle"] = manager.frame_angle
self._entries["distortion"] = manager.distortion
self._entries["windowed"] = manager.windowed
self._entries["eye_height"] = manager.eye_height
self._entries["minimum_dist_to_wall"] = manager.minimum_dist_to_wall
self._win_var.set( 0 if manager.windowed is False else 1 )
self._distortion_var.set( 0 if manager.distortion is False else 1 )
def validate(self):
(result, message) = DataValidator.validate(DataStore.EVENT.VR_EDIT, self._entries)
if result is not True:
tkMessageBox.showerror("Input Error", message)
return result
def apply(self):
self._entries["frame_angle"] = self._frameAngle.get()
self._entries["eye_height"] = self._eyeHeight.get()
self._entries["minimum_dist_to_wall"] = self._minDistToWall.get()
self._manager.inform(DataStore.EVENT.VR_EDIT, self._entries)
def auto_populate(self):
self._frameAngle.set(Defaults.VR.FRAME_ANGLE)
self._eyeHeight.set(Defaults.VR.EYE_HEIGHT)
self._minDistToWall.set(Defaults.VR.MIN_DIST_TO_WALL)
self._distortion_var.set(Defaults.VR.DISTORTION)
self._win_var.set(Defaults.VR.WINDOWED)
class SPIFrame(Frame):
def __init__(self, parent):
Frame.__init__(self, parent)
self.parent = parent
self.initialize()
def initialize(self):
self.grid()
self.entryVariable = StringVar()
self.entry = Entry(self, textvariable=self.entryVariable)
self.entry.grid(column=0,row=0,sticky='EW')
self.entry.bind("<Return>", self.OnPressEnter)
button = Button(self,text="SPI send", command=self.OnButtonClick)
button.grid(column=1,row=0)
#ramp = Button(self,text="RAMP", command=self.setlabvar)
#ramp.grid(column=1,row=1)
self.labelVariable = StringVar()
label = Label(self,textvariable=self.labelVariable,
anchor="w",fg="white",bg="blue")
label.grid(column=0,row=1,columnspan=1,sticky='EW')
self.labelVariable.set("Start..")
self.slider = Scale(self, from_=0, to=80, orient=HORIZONTAL,
command=self.setlabvar)
self.slider.grid(column=0, row=2, columnspan=3, sticky='EW')
self.PID = PIDTune(self)
self.PID.grid(column=0, row=3, columnspan=3, sticky='EW')
self.grid_columnconfigure(0,weight=1)
self.update()
#self.geometry(self.geometry()) # caused busy wait?
self.entry.focus_set()
#self.entry.selection_range(0, Tkinter.END) # caused busy wait?
def setlabvar(self, val):
val = self.slider.get()
speed.SetAcceleration(val)
accel = val;
self.labelVariable.set("Duty set: " + str(val) )
def OnButtonClick(self):
accel = int(self.entryVariable.get())
self.slider.set(accel)
speed.SetAcceleration(accel)
self.labelVariable.set("Duty set: " + str(accel) )
self.entry.focus_set()
self.entry.selection_range(0, END)
def OnPressEnter(self,event):
accel = int(self.entryVariable.get())
self.slider.set(accel)
speed.SetAcceleration(accel)
self.labelVariable.set("Duty set: " + str(accel) )
self.entry.focus_set()
self.entry.selection_range(0, END)
class Application(Frame):
def __init__(self, master=None):
Frame.__init__(self, master)
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.send_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.sock.bind((host, port))
self.grid()
self.columnconfigure(0, minsize=100)
self.columnconfigure(1, minsize=200)
self.columnconfigure(2, minsize=200)
self.columnconfigure(3, minsize=150)
self.columnconfigure(4, minsize=150)
self.columnconfigure(5, minsize=150)
self.columnconfigure(6, minsize=150)
self.create_widgets()
self.settables = self.assemble_settables()
self.gui_logger = logging.getLogger('gui')
self.request_update()
def create_widgets(self):
self.create_monitor()
self.create_check_buttons()
self.create_ranges()
self.create_scales()
self.create_radio_buttons()
self.create_voices()
self.quitButton = Button(self, text='Quit', command=self.quit)
self.quitButton.grid(columnspan=7, sticky=E + W)
def assemble_settables(self):
settables = self.winfo_children()
for w in settables:
settables += w.winfo_children()
return filter(lambda w: w.__class__.__name__ in ['Scale', 'Checkbutton'], settables)
def create_radio_buttons(self):
# Scale related
entries = ['DIATONIC', 'HARMONIC', 'MELODIC', 'PENTATONIC', 'PENTA_MINOR']
self.scale = StringVar()
self.scale.set('DIATONIC')
self.rb_frame = Frame(self)
for e in entries:
rb = Radiobutton(self.rb_frame, value=e, text=e, anchor=W,
command=self.send_scale, variable=self.scale)
rb.grid(row=len(self.rb_frame.winfo_children()), sticky=W)
self.rb_frame.grid(column=1, row=len(self.grid_slaves(column=1)), rowspan=3)
def create_monitor(self):
self.monitor_frame = LabelFrame(self, text="Monitor and Transport")
this_cycle = Scale(self.monitor_frame, label='cycle_pos', orient=HORIZONTAL,
from_=1, to=16, resolution=1)
this_cycle.disable, this_cycle.enable = (None, None)
this_cycle.ref = 'cycle_pos'
this_cycle.grid(column=0, row=0, sticky=E + W)
self.updateButton = Button(self.monitor_frame,
text='Reload all Settings',
command=self.request_update)
self.updateButton.grid(row=1, sticky=E + W)
self.ForceCaesuraButton = Button(self.monitor_frame,
text='Force Caesura',
command=self.force_caesura)
self.ForceCaesuraButton.grid(row=2, sticky=E + W)
self.saveBehaviourButton = Button(self.monitor_frame,
text='Save current behaviour',
command=self.request_saving_behaviour)
self.saveBehaviourButton.grid(row=3, sticky=E + W)
self.saveBehaviourNameEntry = Entry(self.monitor_frame)
self.saveBehaviourNameEntry.grid(row=4, sticky=E + W)
self.saveBehaviourNameEntry.bind('<KeyRelease>', self.request_saving_behaviour)
self.selected_behaviour = StringVar()
self.selected_behaviour.trace('w', self.new_behaviour_chosen)
self.savedBehavioursMenu = OptionMenu(self.monitor_frame,
self.selected_behaviour, None,)
self.savedBehavioursMenu.grid(row=5, sticky=E + W)
self.monitor_frame.grid(column=0, row=10, sticky=E + W)
def request_update(self):
self.send({'sys': 'update'})
def request_saving_behaviour(self, event=None):
"""callback for save behaviour button and textentry"""
if event and event.widget == self.saveBehaviourNameEntry:
if event.keysym == 'Return':
name = self.saveBehaviourNameEntry.get()
self.saveBehaviourNameEntry.delete(0, len(name))
else:
return
else: # button was pressed
name = self.saveBehaviourNameEntry.get()
if name:
self.send({'sys': ['save_behaviour', name]})
def force_caesura(self):
self.send({'force_caesura': True})
def create_voices(self):
voice_ids = ['1', '2', '3', '4']
SCALES = OrderedDict([
('pan_pos', {'min': -1, 'max': 1, 'start': 0.5, 'res': 0.001}),
('volume', {'min': 0, 'max': 1, 'start': 0.666, 'res': 0.001}),
('slide_duration_msecs', {'min': 0, 'max': 2000, 'start': 60, 'res': 1}),
('slide_duration_prop', {'min': 0, 'max': 2, 'start': 0.666, 'res': 0.001}),
('binaural_diff', {'min': 0, 'max': 66, 'start': 0.2, 'res': 0.01})
])
for vid in voice_ids:
counter = 0
for sca in SCALES:
name = 'voice_' + vid + '_' + sca
setattr(self, 'min_' + name, SCALES[sca]['min'])
setattr(self, 'max_' + name, SCALES[sca]['max'])
this_sca = Scale(self, label=sca, orient=HORIZONTAL,
from_=getattr(self, 'min_' + name),
to=getattr(self, 'max_' + name),
resolution=SCALES[sca]['res'])
this_sca.enable = ('enable' in SCALES[sca].keys() and
SCALES[sca]['enable'] or None)
this_sca.disable = ('disable' in SCALES[sca].keys() and
SCALES[sca]['disable'] or None)
this_sca.grid(column=int(2 + int(vid)), row=counter, sticky=E + W)
this_sca.bind("<ButtonRelease>", self.scale_handler)
this_sca.ref = name
counter += 1
CHECK_BUTTONS = OrderedDict(
[('mute', False),
('automate_binaural_diffs', True),
('automate_note_duration_prop', True),
('use_proportional_slide_duration', {'val': True, 'label': 'proportional slide'}),
('automate_pan', True),
('automate_wavetables', True)])
for vid in voice_ids:
counter = 0
cb_frame = LabelFrame(self, text="Voice {0} - Automation".format(vid))
setattr(self, 'voice_' + vid + '_cb_frame', cb_frame)
for cb in CHECK_BUTTONS:
options = CHECK_BUTTONS[cb]
name = 'voice_' + vid + '_' + cb
label = (options['label'] if isinstance(options, dict) and
'label' in options.keys() else
(cb[9:] if cb[:9] == 'automate_' else cb))
setattr(self, name, IntVar(value=type(options) == dict and options['val'] or options))
self.this_cb = Checkbutton(cb_frame, text=label, variable=getattr(self, name))
self.this_cb.bind('<Button-1>', self.check_boxes_handler)
self.this_cb.disable = None
self.this_cb.grid(sticky=W, column=0, row=counter)
self.this_cb.ref = name
counter += 1
# add trigger wavetable-button
trigWavetableButton = Button(cb_frame, text='Next Wavetable')
trigWavetableButton.bind('<Button-1>', self.trigger_waveform_handler)
trigWavetableButton.ref = 'voice_' + vid + "_trigger_wavetable"
trigWavetableButton.grid(row=counter)
cb_frame.grid(column=int(vid) + 2, row=5, sticky=E + W + N, rowspan=8)
for vid in voice_ids:
generation_types = ["random", "random_harmonic", "harmonic"]
partial_pools = ["even", "odd", "all"]
prefix = 'voice_' + vid + '_'
types_name = prefix + 'wavetable_generation_type'
pools_name = prefix + 'partial_pool'
setattr(self, types_name, StringVar())
getattr(self, types_name).set("random")
setattr(self, pools_name, StringVar())
getattr(self, pools_name).set("all")
target_frame = getattr(self, 'voice_' + vid + '_cb_frame')
gen_typ_frame = LabelFrame(target_frame, text="type")
gen_typ_frame.grid(row=len(target_frame.winfo_children()), sticky=W)
for gen_t in generation_types:
gen_t_entry = Radiobutton(gen_typ_frame, value=gen_t, text=gen_t, anchor=W,
variable=getattr(self, types_name))
gen_t_entry.bind('<ButtonRelease-1>', self.wt_handler)
gen_t_entry.ref = types_name
gen_t_entry.grid(row=len(gen_typ_frame.winfo_children()), sticky=W)
pp_frame = LabelFrame(target_frame, text="harmonics")
for pp in partial_pools:
pp_entry = Radiobutton(pp_frame, value=pp, text=pp, anchor=W,
variable=getattr(self, pools_name))
pp_entry.bind('<ButtonRelease-1>', self.wt_handler)
pp_entry.ref = pools_name
pp_entry.grid(row=len(pp_frame.winfo_children()), sticky=E + W)
this_num_partials = Scale(pp_frame, label='number of harmonics', orient=HORIZONTAL,
from_=1, to=24, resolution=1)
this_num_partials.ref = prefix + 'num_partials'
this_num_partials.grid(column=0, row=len(pp_frame.winfo_children()), sticky=E + W)
this_num_partials.bind("<ButtonRelease>", self.scale_handler)
pp_frame.grid(row=len(target_frame.winfo_children()), sticky=E + W)
def wt_handler(self, event):
print event.widget.tk
ref = event.widget.ref
self.send({ref: getattr(self, ref).get()})
def create_check_buttons(self):
self.cb_frame = LabelFrame(self, text="Global Settings")
for cb in CHECK_BUTTONS:
label = cb
target_parent = self.cb_frame
if isinstance(CHECK_BUTTONS[cb], dict) and 'sub_frame' in CHECK_BUTTONS[cb].keys():
target_parent = getattr(self, CHECK_BUTTONS[cb]['sub_frame'])
setattr(self, cb, IntVar(value=type(CHECK_BUTTONS[cb]) == dict and
CHECK_BUTTONS[cb]['val'] or
CHECK_BUTTONS[cb]))
self.this_cb = Checkbutton(target_parent, text=label, variable=getattr(self, cb))
self.this_cb.bind('<Button-1>', self.check_boxes_handler)
self.this_cb.disable = (type(CHECK_BUTTONS[cb]) == dict and
'disable' in CHECK_BUTTONS[cb].keys())
self.this_cb.grid(sticky=W, column=0, row=len(target_parent.winfo_children()))
self.this_cb.ref = cb
for but in GLOBAL_BUTTONS:
label = but
ele = GLOBAL_BUTTONS[but]
this_but = Button(self.cb_frame, text=but)
this_but.bind('<ButtonRelease-1>', getattr(self, ele['handler']))
this_but.ref = but
this_but.grid(sticky=W, column=0, row=len(self.cb_frame.winfo_children()))
self.cb_frame.grid(column=0, row=0, rowspan=10, sticky=N)
def new_behaviour_chosen(self, a, b, c):
self.send({'sys': ['change_behaviour', self.selected_behaviour.get()]})
def set_value(self, name, val):
'''sets a widget to the specified value
various different widget types need custom setting functionality'''
direct = ['scale', 'wavetable_generation_type', 'partial_pool']
if filter(lambda x: match("(voice_\d_|)" + x, name), direct):
self.gui_logger.info("setting: '{0}' to '{1}' in GUI".format(name, val))
getattr(self, name).set(val)
return
if name == 'saved_behaviours' and len(val):
self.savedBehavioursMenu.destroy()
self.savedBehavioursMenu = OptionMenu(self.monitor_frame,
self.selected_behaviour, *sorted(val))
self.savedBehavioursMenu.grid(row=5, sticky=E + W)
return
for w in self.settables:
typ = w.__class__.__name__
if w.ref == name:
#print "setting '{0}' of type: '{1}' to: {2}".format(name, typ, val)
if typ == 'Scale':
w.set(val)
elif typ == "Checkbutton":
w.select() if val else w.deselect()
def check_boxes_handler(self, event):
'''handles checkbox events.
shows and hides gui elements according to their enable/disable fields'''
#print event.__dict__
#print event.widget.__dict__
ref = event.widget.ref
val = not getattr(self, ref).get() # because is read before the var is changed
self.send({ref: val})
#print ref, val
# handle gui elements
# enable/disable functionality temporarily(?) commented on:
# Wed Aug 17 09:39:54 CEST 2011
# if event.widget.disable:
# for w in self.children.values():
#
# # this try clause is for debugging, remove when stable
# try:
# w.ref
# #print w.ref
# except:
# pass
# if (w.__class__.__name__ == 'Scale' and
# (w.disable or w.enable)):
# if w.disable == ref:
# if val:
# w.grid()
# else:
# w.grid_remove()
# elif w.enable == ref:
# if val:
# w.grid_remove()
# else:
# w.grid()
# #print w.disable, w.enable
def create_scales(self):
counter = 0
for sca in SCALES:
label = SCALES[sca]['label'] if 'label' in SCALES[sca].keys() else sca
setattr(self, 'min_' + sca, SCALES[sca]['min'])
setattr(self, 'max_' + sca, SCALES[sca]['max'])
self.this_scale = Scale(self, label=label, orient=HORIZONTAL,
from_=getattr(self, 'min_' + sca),
to=getattr(self, 'max_' + sca),
resolution=SCALES[sca]['res'])
self.this_scale.set(SCALES[sca]['start'])
self.this_scale.enable = ('enable' in SCALES[sca].keys() and
SCALES[sca]['enable'] or None)
self.this_scale.disable = ('disable' in SCALES[sca].keys() and
SCALES[sca]['disable'] or None)
if 'pos' in SCALES[sca].keys():
pos = SCALES[sca]['pos']
col = pos['c']
row = pos['r']
else:
row = counter
col = 1
counter += 1
self.this_scale.grid(column=col, row=row, sticky=E + W)
self.this_scale.ref = sca
self.this_scale.bind("<ButtonRelease>", self.scale_handler)
def scale_handler(self, event):
self.send({event.widget.ref: event.widget.get()})
self.gui_logger.info("handling scale: {0}, with new value: {1}".format(
event.widget.ref, event.widget.get()))
def trigger_waveform_handler(self, event):
self.send({event.widget.ref: True})
#print event.widget.ref, "- triggering wavetable"
def send_scale(self):
do = {'scale': self.scale.get()}
self.send(do)
#print do
def send(self, msg):
self.gui_logger.info("sending: {0}".format(msg))
self.send_sock.sendto(json.dumps(msg), (remote_host, send_port))
def create_ranges(self):
counter = 0
for ran in RANGES:
setattr(self, 'min_' + ran, RANGES[ran]['min'])
setattr(self, 'max_' + ran, RANGES[ran]['max'])
self.this_min_scale = Scale(self, label='min ' + ran, orient=HORIZONTAL,
from_=getattr(self, 'min_' + ran),
to=getattr(self, 'max_' + ran),
resolution=RANGES[ran]['res'])
self.this_max_scale = Scale(self, label='max ' + ran, orient=HORIZONTAL,
from_=getattr(self, 'min_' + ran),
to=getattr(self, 'max_' + ran),
resolution=RANGES[ran]['res'])
self.this_min_scale.set(RANGES[ran]['min_start'])
self.this_max_scale.set(RANGES[ran]['max_start'])
self.this_min_scale.enable = ('enable' in RANGES[ran].keys() and
RANGES[ran]['enable'] or None)
self.this_min_scale.disable = ('disable' in RANGES[ran].keys() and
RANGES[ran]['disable'] or None)
self.this_max_scale.enable = ('enable' in RANGES[ran].keys() and
RANGES[ran]['enable'] or None)
self.this_max_scale.disable = ('disable' in RANGES[ran].keys() and
RANGES[ran]['disable'] or None)
self.this_min_scale.grid(column=2, row=counter, sticky=E + W)
self.this_max_scale.grid(column=2, row=counter + 1, sticky=E + W)
self.this_min_scale.ref = 'min_' + ran
self.this_max_scale.ref = 'max_' + ran
self.this_min_scale.bind("<ButtonRelease>", self.scale_handler)
self.this_max_scale.bind("<ButtonRelease>", self.scale_handler)
counter += 2
def socket_read_handler(self, file, mask):
data_object = json.loads(file.recv(1024))
do = data_object.items()[0]
#print "do:", do
self.set_value(do[0], do[1])
class Visualiser(object):
'''
Generic Offline Visualiser. Subclasses need to be used that specify
how to handle a data source.
'''
### Public functions ###
def __init__(self,
title="Visualisation",
width=400,
height=400,
recording=False,
recordPattern=None,
paused=False,
source=None):
'''
Constructor.
Params:
title: string - Title of the visualisation window
width: int - Width of the visualisation window
height: int - Height of the visualisation window
recording: boolean - Start with recording enabled?
recordPattern: string - Pattern for recorded images,
e.g., cylinders%05g.png
paused: boolean - Start with playback paused?
source:- The data source to read.
What is required here varies by visualiser.
'''
# Visualisation options
self.vis_features = []
self.vis_frame = 0
self.vis_frameStep = 1
self.vis_jumping = False
self.vis_recording = recording
self.vis_recordPattern = recordPattern
self.vis_paused = paused
self.vis_source = source
# VTK structures
self.vtk_cells = vtkCellArray()
self.vtk_renderer = vtkRenderer()
# Tk structures
self.tk_root = Tk()
self.tk_root.title(title)
self.tk_root.grid_rowconfigure(0, weight=1)
self.tk_root.grid_columnconfigure(0, weight=3)
self.tk_root.bind('<Destroy>', self.destroyed)
if not self.vis_paused: self.tk_root.after(100, self.animate)
self.tk_renderWidget = vtkTkRenderWidget(self.tk_root,
width=width,
height=height)
self.tk_renderWidget.grid(row=0, column=0, sticky=N+S+E+W)
self.tk_renderWidget.GetRenderWindow().AddRenderer(self.vtk_renderer)
self.tk_featureFrame = Frame(self.tk_root)
self.tk_featureFrame.grid(row=0, column=1, rowspan=2)
Label(self.tk_featureFrame, text='Features:').grid(row=0, column=0)
self.tk_controlFrame = Frame(self.tk_root)
self.tk_controlFrame.grid(row=1, column=0)
self.tk_quit = Button(self.tk_controlFrame, text="Quit",
command=self.shutdown)
self.tk_quit.grid(row=0, column=0, columnspan=2)
def pause():
if self.vis_paused:
self.tk_pause.config(text='Pause')
self.tk_root.after(100, self.animate)
else:
self.tk_pause.config(text='Resume')
self.vis_paused ^= True
self.tk_pause = Button(self.tk_controlFrame, text="Pause", command=pause)
self.tk_pause.grid(row=0, column=2, columnspan=2)
if self.vis_recordPattern is not None:
def record():
if self.vis_recording:
self.tk_record.config(text='Start Recording')
else:
self.tk_record.config(text='Stop Recording')
self.vis_recording ^= True
self.tk_record = Button(self.tk_controlFrame, text="Start Recording", command=record)
self.tk_record.grid(row=0, column=4, columnspan=2)
if self.vis_recording:
self.tk_record.config(text="Stop Recording")
def make_seek_button(label, column, frame):
def jump():
self.jumpTo(frame)
b = Button(self.tk_controlFrame,
text=label,
command=jump)
b.grid(row=1, column=column, sticky=W+E)
return b
self.tk_seek_start = make_seek_button("|<", 0, 0)
self.tk_seek_back10 = make_seek_button("<<", 1,
lambda: self.vis_frame - 10)
self.tk_seek_back1 = make_seek_button("<", 2,
lambda: self.vis_frame - 1)
self.tk_seek_forward1 = make_seek_button(">", 3,
lambda: self.vis_frame + 1)
self.tk_seek_forward10 = make_seek_button(">>", 4,
lambda: self.vis_frame + 10)
self.tk_seek_end = make_seek_button(">|", 5,
self.getMaxFrameNumber)
Label(self.tk_controlFrame, text='Frame').grid(row=2, column=0,
sticky=W+E)
def changeFrame(frame):
if not self.vis_jumping:
self.vis_jumping = True
self.jumpTo(self.tk_frame.get())
self.vis_jumping = False
self.tk_frame = Scale(self.tk_controlFrame, command=changeFrame,
from_=0, to=0, orient=HORIZONTAL)
self.tk_frame.grid(row=2, column=1, columnspan=2, sticky=W+E)
Label(self.tk_controlFrame, text='Step').grid(row=2, column=3,
sticky=W+E)
def changeFrameStep(step):
self.vis_frameStep = int(step)
self.tk_frameStep = Scale(self.tk_controlFrame, command=changeFrameStep,
from_=1, to=1, orient=HORIZONTAL)
self.tk_frameStep.grid(row=2, column=4, columnspan=2, sticky=W+E)
self.setupGrid()
def add_feature(self, feature):
'''Add a feature to this visualiser'''
self.vis_features.append(feature)
feature.button(self.tk_featureFrame).grid(row=len(self.vis_features),
column=0, sticky=W+E)
feature.visualiser = self
def run(self):
'''Start the visualiser'''
self.redraw()
self.tk_root.mainloop()
### Private funcitions ###
def resetSliders(self):
'''
Recalculate the upper bound on the frame and frameStep
sliders.
'''
maxFrame = self.getMaxFrameNumber()
self.tk_frame.config(to=maxFrame)
self.tk_frameStep.config(to=maxFrame)
def jumpTo(self, frame):
'''
Jump to a given frame. If frame is a function, jump to the
return value of frame().
'''
oldFrame = self.vis_frame
if hasattr(frame, '__call__'):
self.vis_frame = frame()
else:
self.vis_frame = frame
maxFrame = self.getMaxFrameNumber()
if self.vis_frame < 0:
self.vis_frame = 0
elif self.vis_frame > maxFrame:
self.vis_frame = maxFrame
self.vis_paused = True
self.tk_pause.config(text='Resume')
self.tk_frame.set(self.vis_frame)
self.redraw(oldFrame != self.vis_frame)
def redraw(self, update=False):
self.resetSliders()
for feature in [ f for f in self.vis_features if not f.dynamic ]:
feature.draw(self.vtk_renderer)
if update:
for feature in [ f for f in self.vis_features if f.dynamic]:
f.redraw(self.vtk_renderer)
self.tk_renderWidget.GetRenderWindow().Render()
self.tk_root.update_idletasks()
### Gui events ###
def destroyed(self, event):
if event.widget == self.tk_root:
self.shutdown()
def shutdown(self):
self.tk_root.withdraw()
self.tk_root.destroy()
def animate(self):
if not self.vis_paused:
self.jumpTo(self.vis_frame + self.vis_frameStep)
if self.vis_recording and self.vis_recordPattern is not None:
self.save_image()
self.tk_root.after(100, self.animate)
def save_image(self):
extmap = {'.jpg' : vtkJPEGWriter,
'.jpeg' : vtkJPEGWriter,
'.png' : vtkPNGWriter,
'.pnm' : vtkPNMWriter}
_, ext = splitext(self.vis_recordPattern)
try: writer = extmap[ext.lower()]()
except KeyError:
print 'ERROR: Can\'t handle %s extension. Recording disabled.' % ext
self.vis_recordPattern = None
return
win = self.vtk_renderer.GetRenderWindow()
w2i = vtkWindowToImageFilter()
w2i.SetInput(win)
w2i.Update()
writer.SetInput(w2i.GetOutput())
writer.SetFileName(self.vis_recordPattern % self.vis_frame)
win.Render()
writer.Write()
### Things subclasses need to override ###
def setupGrid(self):
'''
Populate the vtkCellArray instance at
self.vtk_cells. Subclasses are required to override this
function to read from their source as appropriate.
'''
raise NotImplementedError('Subclass needs to override Visualiser::setupGrid!')
def getMaxFrameNumber(self):
'''
Return the maximum frame number. This will need to be defined
by a subclass.
'''
raise NotImplementedError('Subclass needs to override Visualiser::getMaxFrameNumber!')
def getQuantityPoints(self, quantityName, dynamic=True, frameNumber=0):
'''
Return the points of a quantity at a given frame as a list
[float]. Subclasses need to override this.
'''
raise NotImplementedError('Subclass needs to override Visualiser::getQuantityPoints!')
def getQuantityDict(self):
'''
Return the values of all quantities at a given time as a
dictionary. Sublclasses need to override this.
'''
raise NotImplementedError('Subclass needs to override Visualiser::getQuantityDict!')
class Scraper():
def __init__(self, img_filename='snap.png'):
self.canvas = Canvas()
self.scales = []
self.canvas.pack()
self._current_image = None
self._original_image = None
self.root = self._load_gui()
self.open_image(img_filename)
self.repaint()
self.root.mainloop()
@property
def image(self):
return self._current_image
@image.setter
def image(self, value):
self._current_image = value
@property
def original_image(self):
return self._original_image
@image.setter
def image(self, value):
self._original_image = value
def open_image(self, filename):
self.original_image = Image.open(filename).copy()
self.image = self.original_image
def repaint(self):
rgb_min = (self.scale_red_min.get(), self.scale_green_min.get(), self.scale_blue_min.get())
rgb_max = (self.scale_red_max.get(), self.scale_green_max.get(), self.scale_blue_max.get())
print "repainting", rgb_min, rgb_max
self.image = strip_colors(self.original_image, rgb_min, rgb_max)
self._paint(self.image)
def _paint(self, image):
if image is not None:
# check if we need to resize the canvas, based on the size of the image being painted
image_width, image_height = image.size
if self.canvas.winfo_width() != image_width or self.canvas.winfo_height() != image_height:
self.canvas.config(width=image_width, height=image_height)
# paint the image to the canvas
self._img_tk = ImageTk.PhotoImage(image)
self.canvas.create_image(0, 0, image=self._img_tk, anchor=NW)
else:
print 'there is no image to paint'
return -1
def _load_gui(self):
root = Tk()
root.title("Scraper")
main_frame = Frame(root)
main_frame.grid(column=0, row=0, sticky=(N, W, E, S))
main_frame.columnconfigure(0, weight=1)
main_frame.rowconfigure(0, weight=1)
main_frame.pack()
self.scale_red_min = Scale(main_frame, from_=0, to=255, orient=HORIZONTAL, command=self._update_red_min)
self.scale_red_min.grid(column=1, row=1)
self.scale_red_max = Scale(main_frame, from_=0, to=255, orient=HORIZONTAL, command=self._update_red_max)
self.scale_red_max.grid(column=2, row=1)
self.scale_red_max.set(255)
self.scale_green_min = Scale(main_frame, from_=0, to=255, orient=HORIZONTAL, command=self._update_green_min)
self.scale_green_min.grid(column=1, row=2)
self.scale_green_max = Scale(main_frame, from_=0, to=255, orient=HORIZONTAL, command=self._update_green_max)
self.scale_green_max.grid(column=2, row=2)
self.scale_green_max.set(255)
self.scale_blue_min = Scale(main_frame, from_=0, to=255, orient=HORIZONTAL, command=self._update_blue_min)
self.scale_blue_min.grid(column=1, row=3)
self.scale_blue_max = Scale(main_frame, from_=0, to=255, orient=HORIZONTAL, command=self._update_blue_max)
self.scale_blue_max.grid(column=2, row=3)
self.scale_blue_max.set(255)
return root
def _update_red_min(self, value):
print 'updating red min to %s' % value
if self.scale_red_min.get() > self.scale_red_max.get():
self.scale_red_max.set(self.scale_red_min.get())
self.repaint()
def _update_red_max(self, value):
print 'updating red max to %s' % value
if self.scale_red_max.get() < self.scale_red_min.get():
self.scale_red_min.set(self.scale_red_max.get())
self.repaint()
def _update_green_min(self, value):
print 'updating green min to %s' % value
if self.scale_green_min.get() > self.scale_green_max.get():
self.scale_green_max.set(self.scale_green_min.get())
self.repaint()
def _update_green_max(self, value):
print 'updating green max to %s' % value
if self.scale_green_max.get() < self.scale_green_min.get():
self.scale_green_min.set(self.scale_green_max.get())
self.repaint()
def _update_blue_min(self, value):
print 'updating blue min to %s' % value
if self.scale_blue_min.get() > self.scale_blue_max.get():
self.scale_blue_max.set(self.scale_blue_min.get())
self.repaint()
def _update_blue_max(self, value):
print 'updating blue max to %s' % value
if self.scale_blue_max.get() < self.scale_blue_min.get():
self.scale_blue_min.set(self.scale_blue_max.get())
self.repaint()
def sunfounder_client(ip, key):
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from Tkinter import Tk, Button, Label, Scale, HORIZONTAL
print "Connecting to IP", ip
ctrl_cmd = ['forward', 'backward', 'left', 'right', 'stop', 'read cpu_temp', 'home', 'distance', 'x+', 'x-', 'y+', 'y-', 'xy_home']
top = Tk() # Create a top window
top.title('Sunfounder Raspberry Pi Smart Video Car')
HOST = ip # Server(Raspberry Pi) IP address
PORT = 21567
BUFSIZ = 1024 # buffer size
ADDR = (HOST, PORT)
tcpCliSock = socket(AF_INET, SOCK_STREAM) # Create a socket
tcpCliSock.connect(ADDR) # Connect with the server
# =============================================================================
# The function is to send the command forward to the server, so as to make the
# car move forward.
# =============================================================================
def forward_fun(event):
print "\nUser command = forward"
print "Encrypted command = ",crypto.AES_encrypt('forward',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('forward',key)))
def backward_fun(event):
print '\nUser command = backward'
print "Encrypted command = ",crypto.AES_encrypt('backward',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('backward',key)))
def left_fun(event):
print '\nUser command = left'
print "Encrypted command = ",crypto.AES_encrypt('left',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('left',key)))
def right_fun(event):
print '\nUser command = right'
print "Encrypted command = ",crypto.AES_encrypt('right',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('right',key)))
def stop_fun(event):
print '\nUser command = stop'
print "Encrypted command = ",crypto.AES_encrypt('stop',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('stop',key)))
def home_fun(event):
print '\nUser command = home'
print "Encrypted command = ",crypto.AES_encrypt('home',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('home',key)))
def x_increase(event):
print '\nUser command = x+'
print "Encrypted command = ",crypto.AES_encrypt('x+',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('x+',key)))
def x_decrease(event):
print '\nUser command = x-'
print "Encrypted command = ",crypto.AES_encrypt('x-',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('x-',key)))
def y_increase(event):
print '\nUser command = y+'
print "Encrypted command = ",crypto.AES_encrypt('y+',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('y+',key)))
def y_decrease(event):
print '\nUser command = y-'
print "Encrypted command = ",crypto.AES_encrypt('y-',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('y-',key)))
def xy_home(event):
print '\nUser command = xy_home'
print "Encrypted command = ",crypto.AES_encrypt('xy_home',key)[2]
tcpCliSock.send(str(crypto.AES_encrypt('xy_home',key)))
# =============================================================================
# Exit the GUI program and close the network connection between the client
# and server.
# =============================================================================
def quit_fun(event):
print "\nShutting down program..."
top.quit()
tcpCliSock.send(str(crypto.AES_encrypt('stop',key)))
tcpCliSock.close()
# =============================================================================
# Create buttons
# =============================================================================
Btn0 = Button(top, width=5, text='Forward')
Btn1 = Button(top, width=5, text='Backward')
Btn2 = Button(top, width=5, text='Left')
Btn3 = Button(top, width=5, text='Right')
Btn4 = Button(top, width=5, text='Quit')
Btn5 = Button(top, width=5, height=2, text='Home')
# =============================================================================
# Buttons layout
# =============================================================================
Btn0.grid(row=0,column=1)
Btn1.grid(row=2,column=1)
Btn2.grid(row=1,column=0)
Btn3.grid(row=1,column=2)
Btn4.grid(row=3,column=2)
Btn5.grid(row=1,column=1)
# =============================================================================
# Bind the buttons with the corresponding callback function.
# =============================================================================
Btn0.bind('<ButtonPress-1>', forward_fun) # When button0 is pressed down, call the function forward_fun().
Btn1.bind('<ButtonPress-1>', backward_fun)
Btn2.bind('<ButtonPress-1>', left_fun)
Btn3.bind('<ButtonPress-1>', right_fun)
Btn0.bind('<ButtonRelease-1>', stop_fun) # When button0 is released, call the function stop_fun().
Btn1.bind('<ButtonRelease-1>', stop_fun)
Btn2.bind('<ButtonRelease-1>', stop_fun)
Btn3.bind('<ButtonRelease-1>', stop_fun)
Btn4.bind('<ButtonRelease-1>', quit_fun)
Btn5.bind('<ButtonRelease-1>', home_fun)
# =============================================================================
# Create buttons
# =============================================================================
Btn07 = Button(top, width=5, text='X+', bg='red')
Btn08 = Button(top, width=5, text='X-', bg='red')
Btn09 = Button(top, width=5, text='Y-', bg='red')
Btn10 = Button(top, width=5, text='Y+', bg='red')
Btn11 = Button(top, width=5, height=2, text='HOME', bg='red')
# =============================================================================
# Buttons layout
# =============================================================================
Btn07.grid(row=1,column=5)
Btn08.grid(row=1,column=3)
Btn09.grid(row=2,column=4)
Btn10.grid(row=0,column=4)
Btn11.grid(row=1,column=4)
# =============================================================================
# Bind button events
# =============================================================================
Btn07.bind('<ButtonPress-1>', x_increase)
Btn08.bind('<ButtonPress-1>', x_decrease)
Btn09.bind('<ButtonPress-1>', y_decrease)
Btn10.bind('<ButtonPress-1>', y_increase)
Btn11.bind('<ButtonPress-1>', xy_home)
#Btn07.bind('<ButtonRelease-1>', home_fun)
#Btn08.bind('<ButtonRelease-1>', home_fun)
#Btn09.bind('<ButtonRelease-1>', home_fun)
#Btn10.bind('<ButtonRelease-1>', home_fun)
#Btn11.bind('<ButtonRelease-1>', home_fun)
# =============================================================================
# Bind buttons on the keyboard with the corresponding callback function to
# control the car remotely with the keyboard.
# =============================================================================
top.bind('<KeyPress-a>', left_fun) # Press down key 'A' on the keyboard and the car will turn left.
top.bind('<KeyPress-d>', right_fun)
top.bind('<KeyPress-s>', backward_fun)
top.bind('<KeyPress-w>', forward_fun)
top.bind('<KeyPress-h>', home_fun)
top.bind('<KeyRelease-a>', home_fun) # Release key 'A' and the car will turn back.
top.bind('<KeyRelease-d>', home_fun)
top.bind('<KeyRelease-s>', stop_fun)
top.bind('<KeyRelease-w>', stop_fun)
spd = 50
def changeSpeed(ev=None):
tmp = 'speed'
global spd
spd = speed.get()
data = tmp + str(spd) # Change the integers into strings and combine them with the string 'speed'.
#print 'sendData = %s' % data
print '\nUser command = ', data
print "Encrypted command = ",crypto.AES_encrypt(data,key)[2]
tcpCliSock.send(str(crypto.AES_encrypt(data,key))) # Send the speed data to the server(Raspberry Pi)
label = Label(top, text='Speed:', fg='red') # Create a label
label.grid(row=6, column=0) # Label layout
speed = Scale(top, from_=0, to=100, orient=HORIZONTAL, command=changeSpeed) # Create a scale
speed.set(50)
speed.grid(row=6, column=1)
def main():
top.mainloop()
if __name__ == '__main__':
main()
class Tool_Path_Generator:
def __init__(self, top=None):
'''This class configures and populates the toplevel window.
top is the toplevel containing window.'''
_bgcolor = '#e6e6e6' # X11 color: 'gray85'
_fgcolor = '#000000' # X11 color: 'black'
font11 = "-size 15 -weight normal -slant roman " \
"-underline 0 -overstrike 0"
self.axial_length = DoubleVar()
self.printbed_diameter = DoubleVar()
self.final_diameter = DoubleVar()
self.filament_width_og = DoubleVar()
self.helix_angle = DoubleVar()
self.smear_factor = DoubleVar()
self.flow_rate = DoubleVar()
self.uv_offset = DoubleVar()
self.use_strong_pattern = BooleanVar()
self.axial_length.set(200.0)
self.printbed_diameter.set(10.0)
self.final_diameter.set(15.0)
self.filament_width_og.set(0.41)
self.helix_angle.set(45.0)
self.smear_factor.set(100.0)
self.flow_rate.set(0.0015)
self.uv_offset.set(32.5)
self.use_strong_pattern.set(True)
top.geometry("700x550")
top.title("SkelePrint Tool Path Generator")
top.configure(background="#e6e6e6")
top.configure(highlightbackground="#e6e6e6")
top.configure(highlightcolor="black")
self.Label7 = Label(top)
self.Label7.grid(row=0, column=0, sticky=W)
self.Label7.configure(background="#e6e6e6")
self.Label7.configure(font=font11)
self.Label7.configure(foreground="#000000")
self.Label7.configure(text='''SkelePrint Tool Path Generator''')
self.Labelframe1 = LabelFrame(top)
self.Labelframe1.grid(row=1, column=0, sticky=N+S)
self.Labelframe1.configure(relief=GROOVE)
self.Labelframe1.configure(foreground="black")
self.Labelframe1.configure(text='''Dimensions''')
self.Labelframe1.configure(background="#e6e6e6")
self.Labelframe1.configure(highlightbackground="#e6e6e6")
self.Labelframe1.configure(highlightcolor="black")
self.axial_length_entry = Entry(self.Labelframe1)
self.axial_length_entry.grid(row=0, column=1)
self.axial_length_entry.configure(background="white")
self.axial_length_entry.configure(font="TkFixedFont")
self.axial_length_entry.configure(foreground="#000000")
self.axial_length_entry.configure(highlightbackground="#e6e6e6")
self.axial_length_entry.configure(highlightcolor="black")
self.axial_length_entry.configure(insertbackground="black")
self.axial_length_entry.configure(selectbackground="#c4c4c4")
self.axial_length_entry.configure(selectforeground="black")
self.axial_length_entry.configure(textvariable=self.axial_length)
self.Label1 = Label(self.Labelframe1)
self.Label1.grid(row=0, column=0, sticky=E)
self.Label1.configure(activebackground="#e6e6e6")
self.Label1.configure(activeforeground="black")
self.Label1.configure(background="#e6e6e6")
self.Label1.configure(foreground="#000000")
self.Label1.configure(highlightbackground="#e6e6e6")
self.Label1.configure(highlightcolor="black")
self.Label1.configure(text='''Axial Length''')
self.Label2 = Label(self.Labelframe1)
self.Label2.grid(row=0, column=2, sticky=W)
self.Label2.configure(activebackground="#e6e6e6")
self.Label2.configure(activeforeground="black")
self.Label2.configure(background="#e6e6e6")
self.Label2.configure(disabledforeground="#e6e6e6")
self.Label2.configure(foreground="#000000")
self.Label2.configure(highlightbackground="#e6e6e6")
self.Label2.configure(highlightcolor="black")
self.Label2.configure(text='''mm''')
self.Label3 = Label(self.Labelframe1)
self.Label3.grid(row=1, column=0, sticky=E)
self.Label3.configure(activebackground="#e6e6e6")
self.Label3.configure(activeforeground="black")
self.Label3.configure(background="#e6e6e6")
self.Label3.configure(foreground="#000000")
self.Label3.configure(highlightbackground="#e6e6e6")
self.Label3.configure(highlightcolor="black")
self.Label3.configure(text='''Printbed Diameter''')
self.Entry2 = Entry(self.Labelframe1)
self.Entry2.grid(row=1, column=1)
self.Entry2.configure(background="white")
self.Entry2.configure(font="TkFixedFont")
self.Entry2.configure(foreground="#000000")
self.Entry2.configure(highlightbackground="#e6e6e6")
self.Entry2.configure(highlightcolor="black")
self.Entry2.configure(insertbackground="black")
self.Entry2.configure(selectbackground="#c4c4c4")
self.Entry2.configure(selectforeground="black")
self.Entry2.configure(textvariable=self.printbed_diameter)
self.Label4 = Label(self.Labelframe1)
self.Label4.grid(row=1, column=2, sticky=W)
self.Label4.configure(activebackground="#e6e6e6")
self.Label4.configure(activeforeground="black")
self.Label4.configure(background="#e6e6e6")
self.Label4.configure(foreground="#000000")
self.Label4.configure(highlightbackground="#e6e6e6")
self.Label4.configure(highlightcolor="black")
self.Label4.configure(text='''mm''')
self.Label5 = Label(self.Labelframe1)
self.Label5.grid(row=2, column=0, sticky=E)
self.Label5.configure(activebackground="#e6e6e6")
self.Label5.configure(activeforeground="black")
self.Label5.configure(background="#e6e6e6")
self.Label5.configure(foreground="#000000")
self.Label5.configure(highlightbackground="#e6e6e6")
self.Label5.configure(highlightcolor="black")
self.Label5.configure(text='''Final Print Diameter''')
self.final_diameter_entry = Entry(self.Labelframe1)
self.final_diameter_entry.grid(row=2, column=1)
self.final_diameter_entry.configure(background="white")
self.final_diameter_entry.configure(font="TkFixedFont")
self.final_diameter_entry.configure(foreground="#000000")
self.final_diameter_entry.configure(highlightbackground="#e6e6e6")
self.final_diameter_entry.configure(highlightcolor="black")
self.final_diameter_entry.configure(insertbackground="black")
self.final_diameter_entry.configure(selectbackground="#c4c4c4")
self.final_diameter_entry.configure(selectforeground="black")
self.final_diameter_entry.configure(textvariable=self.final_diameter)
self.Label6 = Label(self.Labelframe1)
self.Label6.grid(row=2, column=2, sticky=W)
self.Label6.configure(activebackground="#e6e6e6")
self.Label6.configure(activeforeground="black")
self.Label6.configure(background="#e6e6e6")
self.Label6.configure(foreground="#000000")
self.Label6.configure(highlightbackground="#e6e6e6")
self.Label6.configure(highlightcolor="black")
self.Label6.configure(text='''mm''')
self.Entry4 = Entry(self.Labelframe1)
self.Entry4.grid(row=3, column=1)
self.Entry4.configure(background="white")
self.Entry4.configure(font="TkFixedFont")
self.Entry4.configure(foreground="#000000")
self.Entry4.configure(highlightbackground="#e6e6e6")
self.Entry4.configure(highlightcolor="black")
self.Entry4.configure(insertbackground="black")
self.Entry4.configure(selectbackground="#c4c4c4")
self.Entry4.configure(selectforeground="black")
self.Entry4.configure(textvariable=self.filament_width_og)
self.Label7 = Label(self.Labelframe1)
self.Label7.grid(row=3, column=2, sticky=W)
self.Label7.configure(activebackground="#e6e6e6")
self.Label7.configure(activeforeground="black")
self.Label7.configure(background="#e6e6e6")
self.Label7.configure(foreground="#000000")
self.Label7.configure(highlightbackground="#e6e6e6")
self.Label7.configure(highlightcolor="black")
self.Label7.configure(text='''mm''')
self.Label8 = Label(self.Labelframe1)
self.Label8.grid(row=3, column=0, sticky=E)
self.Label8.configure(activebackground="#e6e6e6")
self.Label8.configure(activeforeground="black")
self.Label8.configure(background="#e6e6e6")
self.Label8.configure(foreground="#000000")
self.Label8.configure(highlightbackground="#e6e6e6")
self.Label8.configure(highlightcolor="black")
self.Label8.configure(text='''Filament Width''')
self.tip = Label(self.Labelframe1, width=300, height=300)
__location__ = os.path.realpath(
os.path.join(os.getcwd(), os.path.dirname(__file__)))
img = Image.open(os.path.join(__location__, 'dimensions.png'))
one = ImageTk.PhotoImage(img)
self.tip = Label(self.Labelframe1, image=one)
self.tip.image = one
self.tip.configure(background="#e6e6e6")
self.tip.grid(row=4, columnspan=3)
self.Labelframe2 = LabelFrame(top)
self.Labelframe2.grid(row=1, column=1, sticky=N+S)
self.Labelframe2.configure(relief=GROOVE)
self.Labelframe2.configure(foreground="black")
self.Labelframe2.configure(text='''Print Properties''')
self.Labelframe2.configure(background="#e6e6e6")
self.Labelframe2.configure(highlightbackground="#e6e6e6")
self.Labelframe2.configure(highlightcolor="black")
self.Label9 = Label(self.Labelframe2)
self.Label9.grid(row=0, column=0, sticky=E)
self.Label9.configure(activebackground="#e6e6e6")
self.Label9.configure(activeforeground="black")
self.Label9.configure(background="#e6e6e6")
self.Label9.configure(foreground="#000000")
self.Label9.configure(highlightbackground="#e6e6e6")
self.Label9.configure(highlightcolor="black")
self.Label9.configure(text='''Helix Angle''')
self.Entry5 = Entry(self.Labelframe2)
self.Entry5.grid(row=0, column=1)
self.Entry5.configure(background="white")
self.Entry5.configure(font="TkFixedFont")
self.Entry5.configure(foreground="#000000")
self.Entry5.configure(highlightbackground="#e6e6e6")
self.Entry5.configure(highlightcolor="black")
self.Entry5.configure(insertbackground="black")
self.Entry5.configure(selectbackground="#c4c4c4")
self.Entry5.configure(selectforeground="black")
self.Entry5.configure(textvariable=self.helix_angle)
self.Label10 = Label(self.Labelframe2)
self.Label10.grid(row=0, column=2, sticky=W)
self.Label10.configure(activebackground="#e6e6e6")
self.Label10.configure(activeforeground="black")
self.Label10.configure(background="#e6e6e6")
self.Label10.configure(foreground="#000000")
self.Label10.configure(highlightbackground="#e6e6e6")
self.Label10.configure(highlightcolor="black")
self.Label10.configure(text='''degrees [0 - 90]''')
self.strong_targeter_button = Radiobutton(self.Labelframe2)
self.strong_targeter_button.grid(row=1, column=0, sticky=E)
self.strong_targeter_button.configure(variable=self.use_strong_pattern)
self.strong_targeter_button.configure(value=True)
self.strong_targeter_button.configure(activebackground="#e6e6e6")
self.strong_targeter_button.configure(activeforeground="black")
self.strong_targeter_button.configure(background="#e6e6e6")
self.strong_targeter_button.configure(foreground="#000000")
self.strong_targeter_button.configure(highlightbackground="#e6e6e6")
self.strong_targeter_button.configure(highlightcolor="black")
self.strong_targeter_label = Label(self.Labelframe2)
self.strong_targeter_label.grid(row=1, column=1, sticky=W)
self.strong_targeter_label.configure(activebackground="#e6e6e6")
self.strong_targeter_label.configure(activeforeground="black")
self.strong_targeter_label.configure(background="#e6e6e6")
self.strong_targeter_label.configure(foreground="#000000")
self.strong_targeter_label.configure(highlightbackground="#e6e6e6")
self.strong_targeter_label.configure(highlightcolor="black")
self.strong_targeter_label.configure(text="Strong angle pattern")
self.default_targeter_button = Radiobutton(self.Labelframe2)
self.default_targeter_button.grid(row=2, column=0, sticky=E)
self.default_targeter_button.configure(activebackground="#e6e6e6")
self.default_targeter_button.configure(activeforeground="black")
self.default_targeter_button.configure(background="#e6e6e6")
self.default_targeter_button.configure(foreground="#000000")
self.default_targeter_button.configure(highlightbackground="#e6e6e6")
self.default_targeter_button.configure(highlightcolor="black")
self.default_targeter_button.configure(
variable=self.use_strong_pattern)
self.default_targeter_button.configure(value=False)
self.default_targeter_label = Label(self.Labelframe2)
self.default_targeter_label.grid(row=2, column=1, sticky=W)
self.default_targeter_label.configure(activebackground="#e6e6e6")
self.default_targeter_label.configure(activeforeground="black")
self.default_targeter_label.configure(background="#e6e6e6")
self.default_targeter_label.configure(foreground="#000000")
self.default_targeter_label.configure(highlightbackground="#e6e6e6")
self.default_targeter_label.configure(highlightcolor="black")
self.default_targeter_label.configure(text="Default angle pattern")
self.Scale1 = Scale(self.Labelframe2)
self.Scale1.grid(row=5, column=1, columnspan=2, sticky=S+W)
self.Scale1.configure(activebackground="#e6e6e6")
self.Scale1.configure(background="#e6e6e6")
self.Scale1.configure(font="TkTextFont")
self.Scale1.configure(foreground="#000000")
self.Scale1.configure(from_="5.0")
self.Scale1.configure(highlightbackground="#d9d9d9")
self.Scale1.configure(highlightcolor="black")
self.Scale1.configure(length="150")
self.Scale1.configure(orient="horizontal")
self.Scale1.configure(resolution="5.0")
self.Scale1.configure(troughcolor="#d9d9d9")
self.Scale1.configure(variable=self.smear_factor)
self.Label8 = Label(self.Labelframe2)
self.Label8.grid(row=3, column=0, sticky=E)
self.Label8.configure(background="#e6e6e6")
self.Label8.configure(foreground="#000000")
self.Label8.configure(text='''Flow rate''')
self.Entry6 = Entry(self.Labelframe2)
self.Entry6.grid(row=3, column=1)
self.Entry6.configure(background="white")
self.Entry6.configure(font="TkFixedFont")
self.Entry6.configure(foreground="#000000")
self.Entry6.configure(highlightbackground="#e6e6e6")
self.Entry6.configure(highlightcolor="black")
self.Entry6.configure(insertbackground="black")
self.Entry6.configure(selectbackground="#c4c4c4")
self.Entry6.configure(selectforeground="black")
self.Entry6.configure(textvariable=self.flow_rate)
self.Label12 = Label(self.Labelframe2)
self.Label12.grid(row=3, column=2, sticky=W)
self.Label12.configure(activebackground="#e6e6e6")
self.Label12.configure(activeforeground="black")
self.Label12.configure(background="#e6e6e6")
self.Label12.configure(foreground="#000000")
self.Label12.configure(highlightbackground="#d9d9d9")
self.Label12.configure(highlightcolor="black")
self.Label12.configure(text='''cm^3 / s''')
self.uv_label = Label(self.Labelframe2)
self.uv_label.grid(row=4, column=0, sticky=E)
self.uv_label.configure(activebackground="#e6e6e6")
self.uv_label.configure(activeforeground="black")
self.uv_label.configure(background="#e6e6e6")
self.uv_label.configure(foreground="#000000")
self.uv_label.configure(highlightbackground="#d9d9d9")
self.uv_label.configure(highlightcolor="black")
self.uv_label.configure(text="UV Distance")
self.uv_entry = Entry(self.Labelframe2)
self.uv_entry.grid(row=4, column=1)
self.uv_entry.configure(background="white")
self.uv_entry.configure(font="TkFixedFont")
self.uv_entry.configure(foreground="#000000")
self.uv_entry.configure(highlightbackground="#e6e6e6")
self.uv_entry.configure(highlightcolor="black")
self.uv_entry.configure(insertbackground="black")
self.uv_entry.configure(selectbackground="#c4c4c4")
self.uv_entry.configure(selectforeground="black")
self.uv_entry.configure(textvariable=self.uv_offset)
self.uv_label_2 = Label(self.Labelframe2)
self.uv_label_2.grid(row=4, column=2, sticky=W)
self.uv_label_2.configure(activebackground="#e6e6e6")
self.uv_label_2.configure(activeforeground="black")
self.uv_label_2.configure(background="#e6e6e6")
self.uv_label_2.configure(foreground="#000000")
self.uv_label_2.configure(highlightbackground="#d9d9d9")
self.uv_label_2.configure(highlightcolor="black")
self.uv_label_2.configure(text='''mm''')
self.Label11 = Label(self.Labelframe2)
self.Label11.grid(row=5, column=0, sticky=S+E)
self.Label11.configure(activebackground="#e6e6e6")
self.Label11.configure(activeforeground="black")
self.Label11.configure(background="#e6e6e6")
self.Label11.configure(foreground="#000000")
self.Label11.configure(highlightbackground="#d9d9d9")
self.Label11.configure(highlightcolor="black")
self.Label11.configure(text='''Layer Height %''')
self.Label13 = Label(self.Labelframe2)
self.Label13.grid(row=6, columnspan=3)
self.Label13.configure(activebackground="#f9f9f9")
self.Label13.configure(activeforeground="black")
self.Label13.configure(background="#e6e6e6")
self.Label13.configure(foreground="#000000")
self.Label13.configure(highlightbackground="#d9d9d9")
self.Label13.configure(highlightcolor="black")
self.Label13.configure(text='''caution: layer height % is experimental
default = 100% (ie. layer height = filament width)''')
self.Message1 = Message(self.Labelframe2)
self.Message1.grid(row=8, columnspan=3)
self.Message1.configure(anchor=N)
self.Message1.configure(background="#e6e6e6")
self.Message1.configure(foreground="#000000")
self.Message1.configure(highlightbackground="#e6e6e6")
self.Message1.configure(highlightcolor="black")
self.Message1.configure(text='''Helix Angle Conditions:
If the angle is > 90, it will be set to 90 degrees
If angle is < 0, it will be set to 0 degrees
If angle = 0, the layer will consist of a single helix printed as close \
together as possible
If angle = 90, the layer will consist of many straight lines''')
self.tip2 = Label(self.Labelframe2, width=300, height=91)
img2 = Image.open(os.path.join(__location__, 'theta.jpg'))
two = ImageTk.PhotoImage(img2)
self.tip2 = Label(self.Labelframe2, image=two)
self.tip2.image = two
self.tip2.configure(background="#e6e6e6")
self.tip2.grid(row=7, columnspan=3)
self.Label8 = Label(top)
self.Label8.grid(row=5, columnspan=2)
self.Label8.configure(background="#e6e6e6")
self.Label8.configure(foreground="#000000")
self.Label8.configure(text='''G Code file will be saved on your Desktop under:
"gcode/timestamp_skeleprint_gcode.gcode"''')
self.Button1 = Button(top)
self.Button1.grid(row=2, columnspan=2)
self.Button1.configure(activebackground="#e6e6e6")
self.Button1.configure(activeforeground="#e6e6e6")
self.Button1.configure(background="#e6e6e6")
self.Button1.configure(command=lambda: tpg_gui_support.tpg(
self.axial_length.get(),
self.filament_width_og.get(),
self.printbed_diameter.get(),
self.final_diameter.get(),
self.helix_angle.get(),
self.smear_factor.get(),
self.flow_rate.get(),
self.uv_offset.get(),
self.use_strong_pattern.get()))
self.Button1.configure(foreground="#000000")
self.Button1.configure(highlightbackground="#e6e6e6")
self.Button1.configure(highlightcolor="black")
self.Button1.configure(relief=RAISED)
self.Button1.configure(text='''Generate G Code''')
self.menubar = Menu(top, font="TkMenuFont", bg=_bgcolor, fg=_fgcolor)
top.configure(menu=self.menubar)
