def FDL(k, fName):
"""Infitie loop function which constantly runs the display given
the file name of the sequences and an initial k"""
global kInput
#Gets the initial de Bruijn Graph
fdlNodes, minSeqLen = getFDLNodes(k, fName)
#Sets up kInput to the appriate scale (3 to the shortest length - 1 ) to ensure
# all sequence reads are always included
if not kInput:
minSeqLen -= 1
kInput = Scale(root,
from_=3,
to=minSeqLen,
orient=HORIZONTAL,
label="K",
relief=FLAT)
kInput.set(k) #sets the initial k value
kInput.pack(side=LEFT, padx=50, pady=10)
#generates all lines from the initial graph
lines = addLines(fdlNodes)
#starts inifinite recursive loop for redraw function
move_nodes(fdlNodes, kInput.get(), kInput.get(), lines, root, fName)
#starts display
root.mainloop()
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 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 create_scale(self, region):
""" Create scale for this parameter"""
if self._is_int:
resolution = 1
else:
resolution = 0.001
frame = Frame(region)
label = Label(frame, text=self._label)
label.pack()
scale = Scale(frame,
from_=self._top,
to=self._bottom,
command=self.update_value,
resolution=resolution)
scale.set(self._value)
scale.pack()
frame.pack(side=LEFT)
def create_controls(self):
canvas = self.area.get_canvas()
start = Button(self, text="Start", command=self.start)
scale = Scale(self,
length=250,
orient="horizontal",
label='Rayon :',
troughcolor='dark grey',
sliderlength=20,
showvalue=0,
from_=0,
to=100,
tickinterval=25,
command=self.update_circle)
scale.set(50)
canvas.create_window(50, 200, window=start)
canvas.create_window(250, 200, window=scale)
return start, scale
def FDL(k,fName):
"""Infitie loop function which constantly runs the display given
the file name of the sequences and an initial k"""
global kInput
#Gets the initial de Bruijn Graph
fdlNodes,minSeqLen = getFDLNodes(k,fName)
#Sets up kInput to the appriate scale (3 to the shortest length - 1 ) to ensure
# all sequence reads are always included
if not kInput:
minSeqLen -= 1
kInput = Scale(root, from_=3, to=minSeqLen,orient=HORIZONTAL,label="K",relief = FLAT)
kInput.set(k) #sets the initial k value
kInput.pack(side=LEFT, padx=50, pady=10)
#generates all lines from the initial graph
lines = addLines(fdlNodes)
#starts inifinite recursive loop for redraw function
move_nodes(fdlNodes, kInput.get(), kInput.get(), lines, root,fName)
#starts display
root.mainloop()
def __init__(self, master):
super(GUI, self).__init__(master)
row1, row2, row3, row4 = self.set_rows(4)
desc = Label(row1,
text="Unify Walk Lengths by mean-Binning the Time Series")
desc.pack(fill=tk.X, ipadx=10, ipady=10, side=tk.TOP)
dirbutton = Button(row1, text="Select Folder", command=self.define_dir)
dirbutton.pack(side=tk.LEFT, expand=True)
o = Label(row1, text="or")
o.pack(side=tk.LEFT, padx=20, expand=True)
filebutton = Button(row1,
text="Select Specific File",
command=self.define_file)
filebutton.pack(side=tk.LEFT, expand=True)
self.show_chosen = Label(row2,
textvariable=self.chosen,
background='white')
self.show_chosen.pack(fill=tk.X,
side=tk.LEFT,
pady=10,
ipady=5,
ipadx=5,
expand=True)
nb = Label(row3, text="Number of Bins:", pady=10)
nb.pack(side=tk.LEFT)
scale = Scale(row3, from_=0, to=150, orient=tk.HORIZONTAL)
scale.set(100)
scale.pack(side=tk.LEFT, fill=tk.X, expand=True)
self.scale = scale
row4.pack(fill=tk.NONE)
self.go_button = Button(row4, text="GO")
self.go_button.pack(side=tk.LEFT, padx=10)
self.close_button = Button(row4, text="Close", command=master.destroy)
self.close_button.pack(side=tk.RIGHT, padx=10)
class EktaproGUI(Tk):
"""
Constructs the main program window
and interfaces with the EktaproController
and the TimerController to access the slide
projectors.
"""
def __init__(self):
self.controller = EktaproController()
self.controller.initDevices()
Tk.__init__(self)
self.protocol('WM_DELETE_WINDOW', self.onQuit)
self.wm_title("EktaproGUI")
self.bind("<Prior>", self.priorPressed)
self.bind("<Next>", self.nextPressed)
self.brightness = 0
self.slide = 1
self.timerController = TimerController(self.controller, self)
self.controlPanel = Frame(self)
self.manualPanel = Frame(self)
self.projektorList = Listbox(self, selectmode=SINGLE)
for i in range(len(self.controller.devices)):
self.projektorList.insert(END, \
"[" + str(i) + "] " + str(self.controller.devices[i]))
if self.projektorList.size >= 1:
self.projektorList.selection_set(0)
self.projektorList.bind("<ButtonRelease>", \
self.projektorSelectionChanged)
self.projektorList.config(width=50)
self.initButton = Button(self.controlPanel, \
text="init", \
command=self.initButtonPressed)
self.nextButton = Button(self.controlPanel, \
text="next slide", \
command=self.nextSlidePressed)
self.nextButton.config(state=DISABLED)
self.prevButton = Button(self.controlPanel, \
text="previous slide", \
command=self.prevSlidePressed)
self.prevButton.config(state=DISABLED)
self.startButton = Button(self.controlPanel, \
text="start timer", \
command=self.startTimer)
self.startButton.config(state=DISABLED)
self.pauseButton = Button(self.controlPanel, \
text="pause", \
command=self.pauseTimer)
self.stopButton = Button(self.controlPanel, \
text="stop", \
command=self.stopTimer)
self.stopButton.config(state=DISABLED)
self.timerLabel = Label(self.controlPanel, \
text="delay:")
self.timerInput = Entry(self.controlPanel, \
width=3)
self.timerInput.insert(0, "5")
self.timerInput.config(state=DISABLED)
self.timerInput.bind("<KeyPress-Return>", self.inputValuesChanged)
self.timerInput.bind("<ButtonRelease>", self.updateGUI)
self.fadeLabel = Label(self.controlPanel, \
text="fade:")
self.fadeInput = Entry(self.controlPanel, \
width=3)
self.fadeInput.insert(0, "1")
self.fadeInput.config(state=DISABLED)
self.fadeInput.bind("<KeyPress-Return>", self.inputValuesChanged)
self.fadeInput.bind("<ButtonRelease>", self.updateGUI)
self.standbyButton = Button(self.controlPanel, \
text="standby", \
command=self.toggleStandby)
self.standbyButton.config(state=DISABLED)
self.syncButton = Button(self.controlPanel, \
text="sync", \
command=self.sync)
self.syncButton.config(state=DISABLED)
self.reconnectButton = Button(self.controlPanel, \
text="reconnect", \
command=self.reconnect)
self.cycle = IntVar()
self.cycleButton = Checkbutton(self.controlPanel, \
text="use all projectors", \
variable=self.cycle, \
command=self.cycleToggled)
self.brightnessScale = Scale(self.manualPanel, from_=0, to=100, resolution=1, \
label="brightness")
self.brightnessScale.set(self.brightness)
self.brightnessScale.bind("<ButtonRelease>", self.brightnessChanged)
self.brightnessScale.config(state=DISABLED)
self.brightnessScale.config(orient=HORIZONTAL)
self.brightnessScale.config(length=400)
self.gotoSlideScale = Scale(self.manualPanel, \
from_=0, to=self.controller.maxTray, \
label="goto slide")
self.gotoSlideScale.set(1)
self.gotoSlideScale.bind("<ButtonRelease>", self.gotoSlideChanged)
self.gotoSlideScale.config(state=DISABLED)
self.gotoSlideScale.config(orient=HORIZONTAL)
self.gotoSlideScale.config(length=400)
self.controlPanel.pack(side=BOTTOM, anchor=W, fill=X)
self.projektorList.pack(side=LEFT, fill=BOTH)
self.manualPanel.pack(side=RIGHT, expand=1, fill=BOTH)
self.initButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.prevButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.nextButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.cycleButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.startButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.pauseButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.stopButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.timerLabel.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.timerInput.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.fadeLabel.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.fadeInput.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.syncButton.pack(side=RIGHT, anchor=N, padx=4, pady=4)
self.standbyButton.pack(side=RIGHT, anchor=N, padx=4, pady=4)
self.reconnectButton.pack(side=RIGHT, anchor=N, padx=4, pady=4)
self.brightnessScale.pack(side=TOP, anchor=W, expand=1, fill=X)
self.gotoSlideScale.pack(side=TOP, anchor=W , expand=1, fill=X)
self.menubar = Menu(self)
self.toolsmenu = Menu(self.menubar)
self.helpmenu = Menu(self.menubar)
self.filemenu = Menu(self.menubar)
self.toolsmenu.add_command(label="Interpret HEX Sequence", \
command=self.interpretHEXDialog)
self.helpmenu.add_command(label="About EktaproGUI", \
command=lambda:tkMessageBox.showinfo("About EktaproGUI", \
"EktaproGUI 1.0 (C)opyright Julian Hoch 2010"))
self.filemenu.add_command(label="Exit", command=self.onQuit)
self.menubar.add_cascade(label="File", menu=self.filemenu)
self.menubar.add_cascade(label="Tools", menu=self.toolsmenu)
self.menubar.add_cascade(label="Help", menu=self.helpmenu)
self.configure(menu=self.menubar)
def initButtonPressed(self):
self.controller.resetDevices()
self.updateGUI()
self.brightnessScale.config(state=NORMAL)
self.gotoSlideScale.config(state=NORMAL)
self.nextButton.config(state=NORMAL)
self.prevButton.config(state=NORMAL)
self.startButton.config(state=NORMAL)
self.timerInput.config(state=NORMAL)
self.fadeInput.config(state=NORMAL)
self.syncButton.config(state=NORMAL)
self.standbyButton.config(state=NORMAL)
def inputValuesChanged(self, event):
try:
fadeDelay = int(self.fadeInput.get())
slideshowDelay = int(self.timerInput.get())
if fadeDelay in range(0, 60):
self.timerController.fadeDelay = fadeDelay
if slideshowDelay in range(1, 60):
self.timerController.slideshowDelay = slideshowDelay
except Exception:
pass
self.updateGUI()
def sync(self):
self.controller.syncDevices()
self.updateGUI()
def reconnect(self):
self.controller.cleanUp()
self.controller.initDevices()
self.updateGUI()
self.projektorList.delete(0, END)
for i in range(len(self.controller.devices)):
self.projektorList.insert(END, \
"[" + str(i) + "] " + str(self.controller.devices[i]))
if self.projektorList.size >= 1:
self.projektorList.selection_set(0)
def projektorSelectionChanged(self, event):
items = map(int, self.projektorList.curselection())
if self.controller.setActiveDevice(items):
self.updateGUI()
def updateGUI(self, event=None):
if self.controller.activeDevice == None:
return
self.brightness = self.controller.activeDevice.brightness
self.brightnessScale.set(self.brightness)
self.slide = self.controller.activeDevice.slide
self.gotoSlideScale.set(self.slide)
for i in range(self.projektorList.size()):
if i == self.controller.activeIndex:
self.projektorList.selection_set(i)
else:
self.projektorList.selection_clear(i)
def brightnessChanged(self, event):
newBrightness = self.brightnessScale.get()
if not self.brightness == newBrightness \
and not self.controller.activeDevice == None:
self.controller.activeDevice.setBrightness(newBrightness)
self.brightness = self.brightnessScale.get()
def gotoSlideChanged(self, event):
if self.controller.activeDevice is None:
return
newSlide = self.gotoSlideScale.get()
if not self.slide == newSlide:
self.controller.activeDevice.gotoSlide(newSlide)
self.slide = newSlide
def nextSlidePressed(self):
if self.controller.activeDevice is None:
return
self.timerController.fadePaused = False
self.timerController.nextSlide()
self.updateGUI()
def prevSlidePressed(self):
if self.controller.activeDevice is None:
return
self.timerController.fadePaused = False
self.timerController.previousSlide()
self.updateGUI()
def startTimer(self):
self.stopButton.config(state=NORMAL)
self.startButton.config(state=DISABLED)
self.timerController.startSlideshow()
def pauseTimer(self):
if self.timerController.fadePaused or self.timerController.slideshowPaused:
self.pauseButton.config(text="pause")
self.timerController.resume()
self.updateGUI()
else:
self.pauseButton.config(text="resume")
self.timerController.pause()
self.updateGUI()
def stopTimer(self):
self.pauseButton.config(text="pause")
self.stopButton.config(state=DISABLED)
self.startButton.config(state=NORMAL)
self.timerController.stopSlideshow()
self.updateGUI()
def cycleToggled(self):
self.timerController.cycle = True if self.cycle.get() == 1 else False
def interpretHEXDialog(self):
interpretDialog = InterpretHEXDialog(self) #@UnusedVariable
def toggleStandby(self):
if self.pauseButton.config()["text"][4] == "pause" \
and self.pauseButton.config()["state"][4] == "normal":
self.pauseTimer()
self.controller.toggleStandby()
def nextPressed(self, event):
if self.startButton.config()["state"][4] == "disabled":
self.pauseTimer()
else:
self.nextSlidePressed()
def priorPressed(self, event):
if self.startButton.config()["state"][4] == "disabled":
self.toggleStandby()
else:
self.prevSlidePressed()
def onQuit(self):
self.controller.cleanUp()
self.destroy()
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()
class GUI:
def __init__(self, model, title='PyCX Simulator', interval=0, stepSize=1,
param_gui_names=None):
self.model = model
self.titleText = title
self.timeInterval = interval
self.stepSize = stepSize
self.param_gui_names = param_gui_names
if param_gui_names is None:
self.param_gui_names = {}
self.param_entries = {}
self.statusStr = ""
self.running = False
self.modelFigure = None
self.currentStep = 0
self.initGUI()
def initGUI(self):
#create root window
self.rootWindow = Tk()
self.statusText = StringVar(value=self.statusStr)
self.setStatusStr("Simulation not yet started")
self.rootWindow.wm_title(self.titleText)
self.rootWindow.protocol('WM_DELETE_WINDOW', self.quitGUI)
self.rootWindow.geometry('550x700')
self.rootWindow.columnconfigure(0, weight=1)
self.rootWindow.rowconfigure(0, weight=1)
self.frameSim = Frame(self.rootWindow)
self.frameSim.pack(expand=YES, fill=BOTH, padx=5, pady=5, side=TOP)
self.status = Label(self.rootWindow, width=40, height=3, relief=SUNKEN,
bd=1, textvariable=self.statusText)
self.status.pack(side=TOP, fill=X, padx=1, pady=1, expand=NO)
self.runPauseString = StringVar()
self.runPauseString.set("Run")
self.buttonRun = Button(self.frameSim, width=30, height=2,
textvariable=self.runPauseString,
command=self.runEvent)
self.buttonRun.pack(side=TOP, padx=5, pady=5)
self.showHelp(self.buttonRun,
"Runs the simulation (or pauses the running simulation)")
self.buttonStep = Button(self.frameSim, width=30, height=2,
text="Step Once", command=self.stepOnce)
self.buttonStep.pack(side=TOP, padx=5, pady=5)
self.showHelp(self.buttonStep, "Steps the simulation only once")
self.buttonReset = Button(self.frameSim, width=30, height=2,
text="Reset", command=self.resetModel)
self.buttonReset.pack(side=TOP, padx=5, pady=5)
self.showHelp(self.buttonReset, "Resets the simulation")
for param in self.model.params:
var_text = self.param_gui_names.get(param, param)
can = Canvas(self.frameSim)
lab = Label(can, width=25, height=1 + var_text.count('\n'),
text=var_text, anchor=W, takefocus=0)
lab.pack(side='left')
ent = Entry(can, width=11)
val = getattr(self.model, param)
if isinstance(val, bool):
val = int(val) # Show 0/1 which can convert back to bool
ent.insert(0, str(val))
ent.pack(side='left')
can.pack(side='top')
self.param_entries[param] = ent
if self.param_entries:
self.buttonSaveParameters = Button(self.frameSim, width=50,
height=1, command=self.saveParametersCmd,
text="Save parameters to the running model", state=DISABLED)
self.showHelp(self.buttonSaveParameters,
"Saves the parameter values.\n" +
"Not all values may take effect on a running model\n" +
"A model reset might be required.")
self.buttonSaveParameters.pack(side='top', padx=5, pady=5)
self.buttonSaveParametersAndReset = Button(self.frameSim, width=50,
height=1, command=self.saveParametersAndResetCmd,
text="Save parameters to the model and reset the model")
self.showHelp(self.buttonSaveParametersAndReset,
"Saves the given parameter values and resets the model")
self.buttonSaveParametersAndReset.pack(side='top', padx=5, pady=5)
can = Canvas(self.frameSim)
lab = Label(can, width=25, height=1, text="Step size ", justify=LEFT,
anchor=W, takefocus=0)
lab.pack(side='left')
self.stepScale = Scale(can, from_=1, to=500, resolution=1,
command=self.changeStepSize, orient=HORIZONTAL,
width=25, length=150)
self.stepScale.set(self.stepSize)
self.showHelp(self.stepScale,
"Skips model redraw during every [n] simulation steps\n" +
"Results in a faster model run.")
self.stepScale.pack(side='left')
can.pack(side='top')
can = Canvas(self.frameSim)
lab = Label(can, width=25, height=1,
text="Step visualization delay in ms ", justify=LEFT,
anchor=W, takefocus=0)
lab.pack(side='left')
self.stepDelay = Scale(can, from_=0, to=max(2000, self.timeInterval),
resolution=10, command=self.changeStepDelay,
orient=HORIZONTAL, width=25, length=150)
self.stepDelay.set(self.timeInterval)
self.showHelp(self.stepDelay, "The visualization of each step is " +
"delays by the given number of " +
"milliseconds.")
self.stepDelay.pack(side='left')
can.pack(side='top')
def setStatusStr(self, newStatus):
self.statusStr = newStatus
self.statusText.set(self.statusStr)
#model control functions
def changeStepSize(self, val):
self.stepSize = int(val)
def changeStepDelay(self, val):
self.timeInterval = int(val)
def saveParametersCmd(self):
for param, entry in self.param_entries.items():
val = entry.get()
if isinstance(getattr(self.model, param), bool):
val = bool(int(val))
setattr(self.model, param, val)
# See if the model changed the value (e.g. clipping)
new_val = getattr(self.model, param)
if isinstance(new_val, bool):
new_val = int(new_val)
entry.delete(0, END)
entry.insert(0, str(new_val))
self.setStatusStr("New parameter values have been set")
def saveParametersAndResetCmd(self):
self.saveParametersCmd()
self.resetModel()
def runEvent(self):
if not self.running:
self.running = True
self.rootWindow.after(self.timeInterval, self.stepModel)
self.runPauseString.set("Pause")
self.buttonStep.configure(state=DISABLED)
if self.param_entries:
self.buttonSaveParameters.configure(state=NORMAL)
self.buttonSaveParametersAndReset.configure(state=DISABLED)
else:
self.stopRunning()
def stopRunning(self):
self.running = False
self.runPauseString.set("Continue Run")
self.buttonStep.configure(state=NORMAL)
self.drawModel()
if self.param_entries:
self.buttonSaveParameters.configure(state=NORMAL)
self.buttonSaveParametersAndReset.configure(state=NORMAL)
def stepModel(self):
if self.running:
if self.model.step() is True:
self.stopRunning()
self.currentStep += 1
self.setStatusStr("Step " + str(self.currentStep))
self.status.configure(foreground='black')
if (self.currentStep) % self.stepSize == 0:
self.drawModel()
self.rootWindow.after(int(self.timeInterval * 1.0 / self.stepSize),
self.stepModel)
def stepOnce(self):
self.running = False
self.runPauseString.set("Continue Run")
self.model.step()
self.currentStep += 1
self.setStatusStr("Step " + str(self.currentStep))
self.drawModel()
if self.param_entries:
self.buttonSaveParameters.configure(state=NORMAL)
def resetModel(self):
self.running = False
self.runPauseString.set("Run")
self.model.reset()
self.currentStep = 0
self.setStatusStr("Model has been reset")
self.drawModel()
def drawModel(self):
if self.modelFigure is None:
self.modelFigure = plt.figure()
plt.ion()
self.model.draw()
# Tell matplotlib to redraw too. The darwin-version works with more
# types of matplotlib backends, but seems to fail on some Linux
# machines. Hence we use the TkAgg specific method when available.
if sys.platform == 'darwin':
self.modelFigure.canvas.manager.show()
else:
self.modelFigure.canvas.manager.window.update()
def start(self):
if self.model.step.__doc__:
self.showHelp(self.buttonStep, self.model.step.__doc__.strip())
self.model.reset()
self.drawModel()
self.rootWindow.mainloop()
def quitGUI(self):
plt.close('all')
self.rootWindow.quit()
self.rootWindow.destroy()
def showHelp(self, widget, text):
def setText(self):
self.statusText.set(text)
self.status.configure(foreground='blue')
def showHelpLeave(self):
self.statusText.set(self.statusStr)
self.status.configure(foreground='black')
widget.bind("<Enter>", lambda e: setText(self))
widget.bind("<Leave>", lambda e: showHelpLeave(self))
class GUI:
def __init__(self,
model,
title='PyCX Simulator',
interval=0,
step_size=1,
param_gui_names=None):
self.model = model
self.titleText = title
self.timeInterval = interval
self.stepSize = step_size
self.param_gui_names = param_gui_names
if param_gui_names is None:
self.param_gui_names = {}
self.param_entries = {}
self.statusStr = ""
self.running = False
self.modelFigure = None
self.currentStep = 0
self.init_gui()
def init_gui(self):
# create root window
self.rootWindow = Tk()
self.statusText = StringVar(value=self.statusStr)
self.set_status_str("Simulation not yet started")
self.rootWindow.wm_title(self.titleText)
self.rootWindow.protocol('WM_DELETE_WINDOW', self.quit_gui)
self.rootWindow.geometry('550x700')
self.rootWindow.columnconfigure(0, weight=1)
self.rootWindow.rowconfigure(0, weight=1)
self.frameSim = Frame(self.rootWindow)
self.frameSim.pack(expand=YES, fill=BOTH, padx=5, pady=5, side=TOP)
self.status = Label(self.rootWindow,
width=40,
height=3,
relief=SUNKEN,
bd=1,
textvariable=self.statusText)
self.status.pack(side=TOP, fill=X, padx=1, pady=1, expand=NO)
self.runPauseString = StringVar()
self.runPauseString.set("Run")
self.buttonRun = Button(self.frameSim,
width=30,
height=2,
textvariable=self.runPauseString,
command=self.run_event)
self.buttonRun.pack(side=TOP, padx=5, pady=5)
self.show_help(
self.buttonRun,
"Runs the simulation (or pauses the running simulation)")
self.buttonStep = Button(self.frameSim,
width=30,
height=2,
text="Step Once",
command=self.step_once)
self.buttonStep.pack(side=TOP, padx=5, pady=5)
self.show_help(self.buttonStep, "Steps the simulation only once")
self.buttonReset = Button(self.frameSim,
width=30,
height=2,
text="Reset",
command=self.reset_model)
self.buttonReset.pack(side=TOP, padx=5, pady=5)
self.show_help(self.buttonReset, "Resets the simulation")
for param in self.model.params:
var_text = self.param_gui_names.get(param, param)
can = Canvas(self.frameSim)
lab = Label(can,
width=25,
height=1 + var_text.count('\n'),
text=var_text,
anchor=W,
takefocus=0)
lab.pack(side='left')
ent = Entry(can, width=11)
val = getattr(self.model, param)
if isinstance(val, bool):
val = int(val) # Show 0/1 which can convert back to bool
ent.insert(0, str(val))
ent.pack(side='left')
can.pack(side='top')
self.param_entries[param] = ent
if self.param_entries:
self.buttonSaveParameters = Button(
self.frameSim,
width=50,
height=1,
command=self.save_parameters_cmd,
text="Save parameters to the running model",
state=DISABLED)
self.show_help(
self.buttonSaveParameters,
"Saves the parameter values.\n Not all values may take effect "
"on a running model\n A model reset might be required.")
self.buttonSaveParameters.pack(side='top', padx=5, pady=5)
self.buttonSaveParametersAndReset = Button(
self.frameSim,
width=50,
height=1,
command=self.save_parameters_and_reset_cmd,
text="Save parameters to the model and reset the model")
self.show_help(
self.buttonSaveParametersAndReset,
"Saves the given parameter values and resets the model")
self.buttonSaveParametersAndReset.pack(side='top', padx=5, pady=5)
can = Canvas(self.frameSim)
lab = Label(can,
width=25,
height=1,
text="Step size ",
justify=LEFT,
anchor=W,
takefocus=0)
lab.pack(side='left')
self.stepScale = Scale(can,
from_=1,
to=500,
resolution=1,
command=self.change_step_size,
orient=HORIZONTAL,
width=25,
length=150)
self.stepScale.set(self.stepSize)
self.show_help(
self.stepScale,
"Skips model redraw during every [n] simulation steps\n" +
" Results in a faster model run.")
self.stepScale.pack(side='left')
can.pack(side='top')
can = Canvas(self.frameSim)
lab = Label(can,
width=25,
height=1,
text="Step visualization delay in ms ",
justify=LEFT,
anchor=W,
takefocus=0)
lab.pack(side='left')
self.stepDelay = Scale(can,
from_=0,
to=max(2000, self.timeInterval),
resolution=10,
command=self.change_step_delay,
orient=HORIZONTAL,
width=25,
length=150)
self.stepDelay.set(self.timeInterval)
self.show_help(
self.stepDelay, "The visualization of each step is " +
"delays by the given number of " + "milliseconds.")
self.stepDelay.pack(side='left')
can.pack(side='top')
def set_status_str(self, new_status):
self.statusStr = new_status
self.statusText.set(self.statusStr)
# model control functions
def change_step_size(self, val):
self.stepSize = int(val)
def change_step_delay(self, val):
self.timeInterval = int(val)
def save_parameters_cmd(self):
for param, entry in self.param_entries.items():
val = entry.get()
if isinstance(getattr(self.model, param), bool):
val = bool(int(val))
setattr(self.model, param, val)
# See if the model changed the value (e.g. clipping)
new_val = getattr(self.model, param)
if isinstance(new_val, bool):
new_val = int(new_val)
entry.delete(0, END)
entry.insert(0, str(new_val))
self.set_status_str("New parameter values have been set")
def save_parameters_and_reset_cmd(self):
self.save_parameters_cmd()
self.reset_model()
def run_event(self):
if not self.running:
self.running = True
self.rootWindow.after(self.timeInterval, self.step_model)
self.runPauseString.set("Pause")
self.buttonStep.configure(state=DISABLED)
if self.param_entries:
self.buttonSaveParameters.configure(state=NORMAL)
self.buttonSaveParametersAndReset.configure(state=DISABLED)
else:
self.stop_running()
def stop_running(self):
self.running = False
self.runPauseString.set("Continue Run")
self.buttonStep.configure(state=NORMAL)
self.draw_model()
if self.param_entries:
self.buttonSaveParameters.configure(state=NORMAL)
self.buttonSaveParametersAndReset.configure(state=NORMAL)
def step_model(self):
if self.running:
if self.model.step() is True:
self.stop_running()
self.currentStep += 1
self.set_status_str("Step " + str(self.currentStep))
self.status.configure(foreground='black')
if self.currentStep % self.stepSize == 0:
self.draw_model()
self.rootWindow.after(int(self.timeInterval * 1.0 / self.stepSize),
self.step_model)
def step_once(self):
self.running = False
self.runPauseString.set("Continue Run")
self.model.step()
self.currentStep += 1
self.set_status_str("Step " + str(self.currentStep))
self.draw_model()
if self.param_entries:
self.buttonSaveParameters.configure(state=NORMAL)
self.currentStep += 1
def reset_model(self):
self.running = False
self.runPauseString.set("Run")
self.model.reset()
self.currentStep = 0
self.set_status_str("Model has been reset")
self.draw_model()
def get_point_color(self, data):
point_colors = []
for i in data:
point_colors.append([0, 0, 0, i / self.model.k])
return point_colors
def draw_model(self):
if self.modelFigure is None:
self.modelFigure = plt.figure()
ax = self.modelFigure.add_subplot(111)
xax = ax.xaxis
xax.tick_top()
points = self.init_values()
ax.axis([0, len(points[0]) + 1, 0, 100])
ax.invert_yaxis()
plt.scatter(points[0],
points[1],
c=self.get_point_color(points[2]),
s=5,
marker='s')
plt.gray()
plt.ion()
dpi = self.modelFigure.get_dpi()
self.modelFigure.set_size_inches(550.0 / float(dpi),
550.0 / float(dpi))
self.modelFigure.canvas.manager.window.resizable("false", "false")
plt.show()
if sys.platform == 'darwin':
self.modelFigure.canvas.manager.show()
else:
points = self.init_values()
plt.scatter(points[0],
points[1],
c=self.get_point_color(points[2]),
s=5,
marker='s')
self.modelFigure.canvas.manager.window.update()
def init_values(self):
data = self.model.draw()
x = []
point_value = 1
for _ in data:
x.append(point_value)
point_value += 1
t = np.empty(len(x))
t.fill(self.currentStep)
return [x, t, data]
def start(self):
if self.model.step.__doc__:
self.show_help(self.buttonStep, self.model.step.__doc__.strip())
self.model.reset()
self.draw_model()
self.rootWindow.mainloop()
def quit_gui(self):
plt.close('all')
self.rootWindow.quit()
self.rootWindow.destroy()
def show_help(self, widget, text):
def set_text(self):
self.statusText.set(text)
self.status.configure(foreground='blue')
def show_help_leave(self):
self.statusText.set(self.statusStr)
self.status.configure(foreground='black')
widget.bind("<Enter>", lambda e: set_text(self))
widget.bind("<Leave>", lambda e: show_help_leave(self))
root.bind("<Key-plus>", lambda ev: changescale(0.15))
root.bind("<Key-minus>", lambda ev: changescale(-0.15))
amountvars = {} # each light name maps to a Tkinter.DoubleVar object which the Scale adjusts
def redraw(*args):
global l, amountvars, update
# read the value out of each Scale
amounts = dict([(k, v.get()) for k, v in amountvars.items()])
mix.setamounts(amounts)
for x in mix.lightnames():
# the Scale sets this; the redraw() callback reads it
amountvars[x] = DoubleVar()
# a new frame for each slider row
f = Frame(root, bd=1, relief="groove")
f.pack(fill="x", expand=1)
# title
Label(f, text=x, width=10, anchor="e").pack(side="left")
# slider
s = Scale(f, from_=0, to=1, res=0.01, orient="horiz", variable=amountvars[x], command=redraw)
s.pack(side="left", fill="x", expand=1)
if x == "ambient": # the 'ambient' level (if present) starts at 1
s.set(1)
root.mainloop()
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))
#!/usr/bin/env python
#coding=utf-8
from Tkinter import (Tk, Scale, Button, Label, Y, HORIZONTAL, X, mainloop)
from time import ctime
#
def resize(ev=None):
label.config(font='Helvetica -%d bold' % scale.get())
top = Tk()
# top.geometry('250 X 150')
txt = ctime()
label = Label(top, text=txt, font='Consolas -12 bold')
label.pack(fill=Y, expand=1)
scale = Scale(top, from_=10, to=40, orient=HORIZONTAL, command=resize)
scale.set(12)
scale.pack(fill=X, expand=1)
quit=Button(top, text='QUIT', command=top.quit, activeforeground='white', activebackground='red')
quit.pack()
mainloop()
class ResolverInterface:
def __init__(self):
self.window_width = 800
self.window_height = 10*40
self.root = Tk()
self.colourSetter = ColourSetter(self)
self.draw(init=True)
self.root.mainloop()
return
def draw(self, init=False):
self.root.geometry("%dx%d" % (self.window_width, self.window_height))
self.root.title("RandomImageResolver")
# set colours
self.root.configure(background="black")
self.tk_iters_scale = Scale(self.root)
self.tk_iters_scale_label = Label(self.root, text="Iters")
self.tk_width_scale = Scale(self.root, command=self.handleGridSizeChange)
self.tk_width_scale_label = Label(self.root, text="Width")
self.tk_height_scale = Scale(self.root, command=self.handleGridSizeChange)
self.tk_height_scale_label = Label(self.root, text="Height")
self.tk_hueStd_scale = Scale(self.root)
self.tk_hueStd_scale_label = Label(self.root, text="HueStd")
self.tk_saturStd_scale = Scale(self.root)
self.tk_saturStd_scale_label = Label(self.root, text="SaturStd")
self.tk_valueStd_scale = Scale(self.root)
self.tk_valueStd_scale_label = Label(self.root, text="ValueStd")
self.tk_stdDecay_scale = Scale(self.root)
self.tk_stdDecay_scale_label = Label(self.root, text="StdDecay")
self.tk_parentNoise_scale = Scale(self.root)
self.tk_parentNoise_scale_label = Label(self.root, text="ParentPosNoise")
self.tk_parentNoiseDecay_scale = Scale(self.root)
self.tk_parentNoiseDecay_scale_label = Label(self.root, text="ParentPosNoiseDecay")
# start width, start height, hue shift std, saturation std, value std
self.tk_randomize = Button(self.root, text="Randomize", command=self.handleRandomize)
self.tk_generate = Button(self.root, text="Generate", command=self.handleGenerate)
self.tk_expand = Button(self.root, text="Expand", command=self.handleExpand)
self.tk_save = Button(self.root, text="Save", command=self.handleSave)
self.tk_iters_scale.configure(bd=0, from_=1, to=10, orient=HORIZONTAL, sliderrelief=FLAT, resolution=1)
self.tk_iters_scale.set(8)
self.tk_width_scale.configure(bd=0, from_=1, to=10, orient=HORIZONTAL, sliderrelief=FLAT, resolution=1)
self.tk_width_scale.set(2)
self.tk_height_scale.configure(bd=0, from_=1, to=10, orient=HORIZONTAL, sliderrelief=FLAT, resolution=1)
self.tk_height_scale.set(2)
self.tk_hueStd_scale.configure(bd=0, from_=0, to=0.1, orient=HORIZONTAL, sliderrelief=FLAT, resolution=0.005)
self.tk_hueStd_scale.set(0.01)
self.tk_saturStd_scale.configure(bd=0, from_=0, to=0.4, orient=HORIZONTAL, sliderrelief=FLAT, resolution=0.01)
self.tk_saturStd_scale.set(0.07)
self.tk_valueStd_scale.configure(bd=0, from_=0, to=0.4, orient=HORIZONTAL, sliderrelief=FLAT, resolution=0.01)
self.tk_valueStd_scale.set(0.07)
self.tk_stdDecay_scale.configure(bd=0, from_=0, to=1., orient=HORIZONTAL, sliderrelief=FLAT, resolution=0.1)
self.tk_stdDecay_scale.set(0.)
self.tk_parentNoise_scale.configure(bd=0, from_=0, to=1, orient=HORIZONTAL, sliderrelief=FLAT, resolution=0.05)
self.tk_parentNoise_scale.set(0.15)
self.tk_parentNoiseDecay_scale.configure(bd=0, from_=0, to=1, orient=HORIZONTAL, sliderrelief=FLAT, resolution=0.1)
self.tk_parentNoiseDecay_scale.set(0.)
self.root.bind("<Configure>", self.resize)
# make sure colourSetter size is synced to default
self.colourSetter.setGridSize((self.tk_width_scale.get(), self.tk_height_scale.get()))
self.colourSetter.randomize()
return
def handleRandomize(self, event=[]):
# generate a new random set of colours
start_width = self.tk_width_scale.get()
start_height = self.tk_height_scale.get()
self.colourSetter.setGridSize((start_width, start_height))
self.colourSetter.randomize()
return
def handleGenerate(self, event=[]):
'''
iters = self.tk_iters_scale.get()
start_width = self.tk_width_scale.get()
start_height = self.tk_height_scale.get()
hueStd = self.tk_hueStd_scale.get()
staurStd = self.tk_saturStd_scale.get()
valueStd = self.tk_valueStd_scale.get()
std_decay = self.tk_stdDecay_scale.get()
parent_pos_noise = self.tk_parentNoise_scale.get()
self.IMGS = newImage(start_size=(start_width, start_height), iters=iters, hsv_std = (hueStd, staurStd, valueStd), std_decay=std_decay, parent_pos_noise=parent_pos_noise)
self.IMGS[-1].show()
'''
iters = self.tk_iters_scale.get()
hueStd = self.tk_hueStd_scale.get()
staurStd = self.tk_saturStd_scale.get()
valueStd = self.tk_valueStd_scale.get()
std_decay = self.tk_stdDecay_scale.get()
parent_pos_noise = self.tk_parentNoise_scale.get()
parent_pos_noise_decay = self.tk_parentNoiseDecay_scale.get()
seed = self.colourSetter.getSeed()
self.IMGS = newImage(seed=seed, iters=iters, hsv_std = (hueStd, staurStd, valueStd), std_decay=std_decay, parent_pos_noise=parent_pos_noise, parent_pos_noise_decay=parent_pos_noise_decay)
self.IMGS[-1].show()
return
def handleExpand(self, event=[]):
hueStd = self.tk_hueStd_scale.get()
staurStd = self.tk_saturStd_scale.get()
valueStd = self.tk_valueStd_scale.get()
std_decay = self.tk_stdDecay_scale.get()
parent_pos_noise = self.tk_parentNoise_scale.get()
parent_pos_noise_decay = self.tk_parentNoiseDecay_scale.get()
new_imgs = newImage(seed=self.IMGS[-1], iters=1, hsv_std = (hueStd, staurStd, valueStd), std_decay=std_decay, parent_pos_noise=parent_pos_noise, parent_pos_noise_decay=parent_pos_noise_decay, inum_offset=len(self.IMGS))
self.IMGS.append(new_imgs[-1])
self.IMGS[-1].show()
return
def handleSave(self, event=[]):
# save the current image with prompt for name
#self.tk_entry.focus()
d = MyDialog(self.root)
self.root.wait_window(d.top)
#print("You said: ", d.value)
fname = d.value.strip()
try:
if '.png' not in fname:
fname = fname+".png"
self.IMGS[-1].save(fname)
print("Saved.")
except:
#print("Error: Have not generated image yet.")
print("Error: Nothing saved")
def handleGridSizeChange(self, event=[]):
self.colourSetter.setGridSize((self.tk_width_scale.get(), self.tk_height_scale.get()))
return
def resize(self, event=[]):
pixelX=self.root.winfo_width()
pixelY=self.root.winfo_height()
self.window_width = pixelX
self.window_height = pixelY
nb_scales = 9
colourSetterWidth = 200
label_width = 150
button_width = 75
scale_height = self.window_height/nb_scales
cur_height = 0
scale_width = self.window_width - label_width - button_width - colourSetterWidth
scale_x = label_width+colourSetterWidth
self.tk_iters_scale.place(x=scale_x, y=cur_height, width = scale_width, height = scale_height)
self.tk_iters_scale_label.place(x=colourSetterWidth, y=cur_height, width = label_width, height = scale_height)
cur_height += scale_height
self.tk_width_scale.place(x=scale_x, y=cur_height, width = scale_width, height = scale_height)
self.tk_width_scale_label.place(x=colourSetterWidth, y=cur_height, width = label_width, height = scale_height)
cur_height += scale_height
self.tk_height_scale.place(x=scale_x, y=cur_height, width = scale_width, height = scale_height)
self.tk_height_scale_label.place(x=colourSetterWidth, y=cur_height, width = label_width, height = scale_height)
cur_height += scale_height
self.tk_hueStd_scale.place(x=scale_x, y=cur_height, width = scale_width, height = scale_height)
self.tk_hueStd_scale_label.place(x=colourSetterWidth, y=cur_height, width = label_width, height = scale_height)
cur_height += scale_height
self.tk_saturStd_scale.place(x=scale_x, y=cur_height, width = scale_width, height = scale_height)
self.tk_saturStd_scale_label.place(x=colourSetterWidth, y=cur_height, width = label_width, height = scale_height)
cur_height += scale_height
self.tk_valueStd_scale.place(x=scale_x, y=cur_height, width = scale_width, height = scale_height)
self.tk_valueStd_scale_label.place(x=colourSetterWidth, y=cur_height, width = label_width, height = scale_height)
cur_height += scale_height
self.tk_stdDecay_scale.place(x=scale_x, y=cur_height, width = scale_width, height = scale_height)
self.tk_stdDecay_scale_label.place(x=colourSetterWidth, y=cur_height, width = label_width, height = scale_height)
cur_height += scale_height
self.tk_parentNoise_scale.place(x=scale_x, y=cur_height, width = scale_width, height = scale_height)
self.tk_parentNoise_scale_label.place(x=colourSetterWidth, y=cur_height, width = label_width, height = scale_height)
cur_height += scale_height
self.tk_parentNoiseDecay_scale.place(x=scale_x, y=cur_height, width = scale_width, height = scale_height)
self.tk_parentNoiseDecay_scale_label.place(x=colourSetterWidth, y=cur_height, width = label_width, height = scale_height)
randomize_height = int(round(self.window_height*0.3))
generate_height = int(round(self.window_height*0.3))
expand_height = int(round(self.window_height*0.2))
save_height = int(round(self.window_height*0.2))
button_cur_ypos = 0.
self.tk_randomize.place(x=self.window_width-button_width, y=button_cur_ypos, width=button_width, height=randomize_height)
button_cur_ypos += randomize_height
self.tk_generate.place(x=self.window_width-button_width, y=button_cur_ypos, width=button_width, height=generate_height)
button_cur_ypos += generate_height
self.tk_expand.place(x=self.window_width-button_width, y=button_cur_ypos, width=button_width, height= expand_height)
button_cur_ypos += expand_height
self.tk_save.place(x=self.window_width-button_width, y=button_cur_ypos, width=button_width, height= save_height)
button_cur_ypos += save_height
self.colourSetter.place(x=0, y=0, width = colourSetterWidth, height = self.window_height)
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 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 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 EktaproGUI(Tk):
"""
Constructs the main program window
and interfaces with the EktaproController
and the TimerController to access the slide
projectors.
"""
def __init__(self):
self.controller = EktaproController()
self.controller.initDevices()
Tk.__init__(self)
self.protocol("WM_DELETE_WINDOW", self.onQuit)
self.wm_title("EktaproGUI")
self.bind("<Prior>", self.priorPressed)
self.bind("<Next>", self.nextPressed)
self.brightness = 0
self.slide = 1
self.timerController = TimerController(self.controller, self)
self.controlPanel = Frame(self)
self.manualPanel = Frame(self)
self.projektorList = Listbox(self, selectmode=SINGLE)
for i in range(len(self.controller.devices)):
self.projektorList.insert(END, "[" + str(i) + "] " + str(self.controller.devices[i]))
if self.projektorList.size >= 1:
self.projektorList.selection_set(0)
self.projektorList.bind("<ButtonRelease>", self.projektorSelectionChanged)
self.projektorList.config(width=50)
self.initButton = Button(self.controlPanel, text="init", command=self.initButtonPressed)
self.nextButton = Button(self.controlPanel, text="next slide", command=self.nextSlidePressed)
self.nextButton.config(state=DISABLED)
self.prevButton = Button(self.controlPanel, text="previous slide", command=self.prevSlidePressed)
self.prevButton.config(state=DISABLED)
self.startButton = Button(self.controlPanel, text="start timer", command=self.startTimer)
self.startButton.config(state=DISABLED)
self.pauseButton = Button(self.controlPanel, text="pause", command=self.pauseTimer)
self.stopButton = Button(self.controlPanel, text="stop", command=self.stopTimer)
self.stopButton.config(state=DISABLED)
self.timerLabel = Label(self.controlPanel, text="delay:")
self.timerInput = Entry(self.controlPanel, width=3)
self.timerInput.insert(0, "5")
self.timerInput.config(state=DISABLED)
self.timerInput.bind("<KeyPress-Return>", self.inputValuesChanged)
self.timerInput.bind("<ButtonRelease>", self.updateGUI)
self.fadeLabel = Label(self.controlPanel, text="fade:")
self.fadeInput = Entry(self.controlPanel, width=3)
self.fadeInput.insert(0, "1")
self.fadeInput.config(state=DISABLED)
self.fadeInput.bind("<KeyPress-Return>", self.inputValuesChanged)
self.fadeInput.bind("<ButtonRelease>", self.updateGUI)
self.standbyButton = Button(self.controlPanel, text="standby", command=self.toggleStandby)
self.standbyButton.config(state=DISABLED)
self.syncButton = Button(self.controlPanel, text="sync", command=self.sync)
self.syncButton.config(state=DISABLED)
self.reconnectButton = Button(self.controlPanel, text="reconnect", command=self.reconnect)
self.cycle = IntVar()
self.cycleButton = Checkbutton(
self.controlPanel, text="use all projectors", variable=self.cycle, command=self.cycleToggled
)
self.brightnessScale = Scale(self.manualPanel, from_=0, to=100, resolution=1, label="brightness")
self.brightnessScale.set(self.brightness)
self.brightnessScale.bind("<ButtonRelease>", self.brightnessChanged)
self.brightnessScale.config(state=DISABLED)
self.brightnessScale.config(orient=HORIZONTAL)
self.brightnessScale.config(length=400)
self.gotoSlideScale = Scale(self.manualPanel, from_=0, to=self.controller.maxTray, label="goto slide")
self.gotoSlideScale.set(1)
self.gotoSlideScale.bind("<ButtonRelease>", self.gotoSlideChanged)
self.gotoSlideScale.config(state=DISABLED)
self.gotoSlideScale.config(orient=HORIZONTAL)
self.gotoSlideScale.config(length=400)
self.controlPanel.pack(side=BOTTOM, anchor=W, fill=X)
self.projektorList.pack(side=LEFT, fill=BOTH)
self.manualPanel.pack(side=RIGHT, expand=1, fill=BOTH)
self.initButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.prevButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.nextButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.cycleButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.startButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.pauseButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.stopButton.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.timerLabel.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.timerInput.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.fadeLabel.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.fadeInput.pack(side=LEFT, anchor=N, padx=4, pady=4)
self.syncButton.pack(side=RIGHT, anchor=N, padx=4, pady=4)
self.standbyButton.pack(side=RIGHT, anchor=N, padx=4, pady=4)
self.reconnectButton.pack(side=RIGHT, anchor=N, padx=4, pady=4)
self.brightnessScale.pack(side=TOP, anchor=W, expand=1, fill=X)
self.gotoSlideScale.pack(side=TOP, anchor=W, expand=1, fill=X)
self.menubar = Menu(self)
self.toolsmenu = Menu(self.menubar)
self.helpmenu = Menu(self.menubar)
self.filemenu = Menu(self.menubar)
self.toolsmenu.add_command(label="Interpret HEX Sequence", command=self.interpretHEXDialog)
self.helpmenu.add_command(
label="About EktaproGUI",
command=lambda: tkMessageBox.showinfo("About EktaproGUI", "EktaproGUI 1.0 (C)opyright Julian Hoch 2010"),
)
self.filemenu.add_command(label="Exit", command=self.onQuit)
self.menubar.add_cascade(label="File", menu=self.filemenu)
self.menubar.add_cascade(label="Tools", menu=self.toolsmenu)
self.menubar.add_cascade(label="Help", menu=self.helpmenu)
self.configure(menu=self.menubar)
def initButtonPressed(self):
self.controller.resetDevices()
self.updateGUI()
self.brightnessScale.config(state=NORMAL)
self.gotoSlideScale.config(state=NORMAL)
self.nextButton.config(state=NORMAL)
self.prevButton.config(state=NORMAL)
self.startButton.config(state=NORMAL)
self.timerInput.config(state=NORMAL)
self.fadeInput.config(state=NORMAL)
self.syncButton.config(state=NORMAL)
self.standbyButton.config(state=NORMAL)
def inputValuesChanged(self, event):
try:
fadeDelay = int(self.fadeInput.get())
slideshowDelay = int(self.timerInput.get())
if fadeDelay in range(0, 60):
self.timerController.fadeDelay = fadeDelay
if slideshowDelay in range(1, 60):
self.timerController.slideshowDelay = slideshowDelay
except Exception:
pass
self.updateGUI()
def sync(self):
self.controller.syncDevices()
self.updateGUI()
def reconnect(self):
self.controller.cleanUp()
self.controller.initDevices()
self.updateGUI()
self.projektorList.delete(0, END)
for i in range(len(self.controller.devices)):
self.projektorList.insert(END, "[" + str(i) + "] " + str(self.controller.devices[i]))
if self.projektorList.size >= 1:
self.projektorList.selection_set(0)
def projektorSelectionChanged(self, event):
items = map(int, self.projektorList.curselection())
if self.controller.setActiveDevice(items):
self.updateGUI()
def updateGUI(self, event=None):
if self.controller.activeDevice == None:
return
self.brightness = self.controller.activeDevice.brightness
self.brightnessScale.set(self.brightness)
self.slide = self.controller.activeDevice.slide
self.gotoSlideScale.set(self.slide)
for i in range(self.projektorList.size()):
if i == self.controller.activeIndex:
self.projektorList.selection_set(i)
else:
self.projektorList.selection_clear(i)
def brightnessChanged(self, event):
newBrightness = self.brightnessScale.get()
if not self.brightness == newBrightness and not self.controller.activeDevice == None:
self.controller.activeDevice.setBrightness(newBrightness)
self.brightness = self.brightnessScale.get()
def gotoSlideChanged(self, event):
if self.controller.activeDevice is None:
return
newSlide = self.gotoSlideScale.get()
if not self.slide == newSlide:
self.controller.activeDevice.gotoSlide(newSlide)
self.slide = newSlide
def nextSlidePressed(self):
if self.controller.activeDevice is None:
return
self.timerController.fadePaused = False
self.timerController.nextSlide()
self.updateGUI()
def prevSlidePressed(self):
if self.controller.activeDevice is None:
return
self.timerController.fadePaused = False
self.timerController.previousSlide()
self.updateGUI()
def startTimer(self):
self.stopButton.config(state=NORMAL)
self.startButton.config(state=DISABLED)
self.timerController.startSlideshow()
def pauseTimer(self):
if self.timerController.fadePaused or self.timerController.slideshowPaused:
self.pauseButton.config(text="pause")
self.timerController.resume()
self.updateGUI()
else:
self.pauseButton.config(text="resume")
self.timerController.pause()
self.updateGUI()
def stopTimer(self):
self.pauseButton.config(text="pause")
self.stopButton.config(state=DISABLED)
self.startButton.config(state=NORMAL)
self.timerController.stopSlideshow()
self.updateGUI()
def cycleToggled(self):
self.timerController.cycle = True if self.cycle.get() == 1 else False
def interpretHEXDialog(self):
interpretDialog = InterpretHEXDialog(self) # @UnusedVariable
def toggleStandby(self):
if self.pauseButton.config()["text"][4] == "pause" and self.pauseButton.config()["state"][4] == "normal":
self.pauseTimer()
self.controller.toggleStandby()
def nextPressed(self, event):
if self.startButton.config()["state"][4] == "disabled":
self.pauseTimer()
else:
self.nextSlidePressed()
def priorPressed(self, event):
if self.startButton.config()["state"][4] == "disabled":
self.toggleStandby()
else:
self.prevSlidePressed()
def onQuit(self):
self.controller.cleanUp()
self.destroy()
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 TelloUI:
"""Wrapper class to enable the GUI."""
def __init__(self, tello, outputpath):
"""
Initial all the element of the GUI,support by Tkinter
:param tello: class interacts with the Tello drone.
Raises:
RuntimeError: If the Tello rejects the attempt to enter command mode.
"""
self.tello = tello # videostream device
self.outputPath = outputpath # the path that save pictures created by clicking the takeSnapshot button
self.frame = None # frame read from h264decoder and used for pose recognition
self.thread = None # thread of the Tkinter mainloop
self.stopEvent = None
# control variables
self.distance = 0.3 # default distance for :sad'move' cmd
self.degree = 30 # default degree for 'cw' or 'ccw' cmd
# if the flag is TRUE,the auto-takeoff thread will stop waiting for the response from tello
self.quit_waiting_flag = False
# initialize the root window and image panel
self.root = tki.Tk()
self.panel = None
# create buttons
self.btn_tracking = tki.Button(self.root,
text="Tracking",
relief="raised",
command=self.Tracking)
self.btn_tracking.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
# self.btn_tracking = tki.Button(self.root, text="Tracking!",
# command=self.Tracking)
# self.tracking.pack(side="bottom", fill="both",
# expand="yes", padx=10, pady=5)
self.btn_snapshot = tki.Button(self.root,
text="Snapshot!",
command=self.takeSnapshot)
self.btn_snapshot.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
# self.btn_pause = tki.Button(self.root, text="Pause", relief="raised", command=self.pauseVideo)
# self.btn_pause.pack(side="bottom", fill="both",
# expand="yes", padx=10, pady=5)
self.btn_landing = tki.Button(self.root,
text="Open Command Panel",
relief="raised",
command=self.openCmdWindow)
self.btn_landing.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
def _updateGUIImage(self, image):
"""
Main operation to initial the object of image,and update the GUI panel
"""
image = ImageTk.PhotoImage(image)
# if the panel none ,we need to initial it
if self.panel is None:
self.panel = tki.Label(image=image)
self.panel.image = image
self.panel.pack(side="left", padx=10, pady=10)
# otherwise, simply update the panel
else:
self.panel.configure(image=image)
self.panel.image = image
def _sendingCommand(self):
"""
start a while loop that sends 'command' to tello every 5 second
"""
while True:
self.tello.send_command('command')
time.sleep(5)
def _setQuitWaitingFlag(self):
"""
set the variable as TRUE,it will stop computer waiting for response from tello
"""
self.quit_waiting_flag = True
def Tracking(self):
# start a thread that constantly pools the video sensor for
# the most recently read frame
self.stopEvent = threading.Event()
self.thread = threading.Thread(target=self.videoLoop, args=())
self.thread.start()
# set a callback to handle when the window is closed
self.root.wm_title("TELLO Controller")
self.root.wm_protocol("WM_DELETE_WINDOW", self.onClose)
# the sending_command will send command to tello every 5 seconds
self.sending_command_thread = threading.Thread(
target=self._sendingCommand)
def videoLoop(self):
"""
The mainloop thread of Tkinter
Raises:
RuntimeError: To get around a RunTime error that Tkinter throws due to threading.
"""
try:
# start the thread that get GUI image and drwa skeleton
time.sleep(0.5)
self.sending_command_thread.start()
while not self.stopEvent.is_set():
system = platform.system()
# read the frame for GUI show
self.frame = self.tello.read()
if self.frame is None or self.frame.size == 0:
continue
integral_y = 0
integral_x = 0
previous_error_y = 0
start_time = time.time()
hsv = cv2.cvtColor(self.frame, cv2.COLOR_BGR2HSV)
low_red = np.array([120, 150, 50], np.uint8)
high_red = np.array([150, 255, 255], np.uint8)
mask = cv2.inRange(hsv, low_red, high_red)
# median = cv2.medianBlur(mask, 15)
font = cv2.FONT_HERSHEY_COMPLEX
ret, contorno, hierarchy = cv2.findContours(
mask, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
mensaje2 = "Bateria =" + str(self.tellobateria()) + "%"
# mensaje3 = "Altura =" + str(self.telloheight()) + "cm"
# cv2.putText(self.frame, mensaje3, (10, 130), font, 1, (255, 0, 0), 1, cv2.LINE_AA)
if self.tellobateria() > 50:
cv2.putText(self.frame, mensaje2, (10, 100), font, 1,
(0, 255, 0), 1, cv2.LINE_AA)
else:
cv2.putText(self.frame, mensaje2, (10, 100), font, 1,
(255, 0, 0), 1, cv2.LINE_AA)
SET_POINT_X = 960 / 2
SET_POINT_Y = 720 / 2
cv2.putText(self.frame, '{},{}'.format(SET_POINT_X,
SET_POINT_Y),
(SET_POINT_X, SET_POINT_Y), font, 0.75,
(255, 255, 255), 1, cv2.LINE_AA)
for cnt in contorno:
area = cv2.contourArea(cnt)
approx = cv2.approxPolyDP(cnt,
0.03 * cv2.arcLength(cnt, True),
True)
if area > 2000:
# start_time = time.time()
M = cv2.moments(cnt)
if (M["m00"] == 0): M["m00"] = 1
x = int(M["m10"] / M["m00"])
y = int(M['m01'] / M['m00'])
nuevoContorno = cv2.convexHull(cnt)
cv2.circle(self.frame, (x, y), 7, (0, 0, 255), -1)
cv2.drawContours(self.frame, [nuevoContorno], -1,
(0, 255, 0), 5)
# start_time = time.time()
if len(approx) == 4:
delay_pid = time.time() - start_time
# start_time = time.time()
# tiempo_transcurrido = time.clock() - tiempo_inicial
# elapsed_time = time() - start_time
mensaje80 = "tiempo =" + str(delay_pid)
cv2.putText(self.frame, mensaje80, (10, 90), font,
1, (255, 255, 255), 1, cv2.LINE_AA)
kpy = 0.0022
kiy = 0.0008
# kdy = 0.02
kpx = 0.0022
kix = 0.0008
# kpx = 0.0022
w = 17
medidas = cv2.minAreaRect(nuevoContorno)
p = medidas[1][0]
f = 1000
# distancia = (w * f)/p
errorx = x - SET_POINT_X
errory = y - SET_POINT_Y
# mensaje = "Distancia =" + str(round(distancia, 2)) + " cm"
# erroryn = errory * kp
derivative_y = (errory -
previous_error_y) / delay_pid
# integral_y = integral_y + errory * delay_pid
# pi = kpy * errory + kiy*integral_y
integral_y = integral_y + errory * delay_pid
integral_x = integral_x + errorx * delay_pid
piy = kpy * errory + kiy * integral_y
pix = kpx * errorx + kix * integral_x
# pi = kp * errory + ki + errory * delay_pid
# pid = kpy * errory + kiy * integral_y + kdy * derivative_y
mensaje90 = "value pi =" + str(piy)
cv2.putText(self.frame, mensaje90, (10, 130), font,
1, (255, 255, 255), 1, cv2.LINE_AA)
# pid = kp * errory + ki + errory * delay_pid + kd * errory / derivative_y
if piy >= 0:
self.telloDown(piy)
previous_error_y = errory
else:
errory2n = piy * (-1)
self.telloUp(errory2n)
if pix >= 0:
self.telloMoveRight(pix)
else:
errorx2n = pix * (-1)
self.telloMoveLeft(errorx2n)
# cv2.putText(self.frame, mensaje, (10, 70), font, 1, (255, 255, 255), 1, cv2.LINE_AA)
# cv2.putText(self.frame, '{},{}'.format(x, y), (x-60, y+45), font, 0.75, (0, 255, 0), 1,
# cv2.LINE_AA)
# if distancia > 100:
# distancia2 = distancia - 100
# self.telloMoveForward(distancia2/100)
# elif distancia < 80:
# distancia3 = 100 - distancia
# self.telloMoveBackward(distancia3/100)
image = Image.fromarray(self.frame)
if system == "Windows" or system == "Linux":
self._updateGUIImage(image)
else:
thread_tmp = threading.Thread(target=self._updateGUIImage,
args=(image))
thread_tmp.start()
time.sleep(0.03)
except RuntimeError as e:
print("[INFO] caught a RuntimeError")
def openCmdWindow(self):
"""
open the cmd window and initial all the button and text
"""
panel = Toplevel(self.root)
panel.wm_title("Command Panel")
# create text input entry
text0 = tki.Label(
panel,
text=
'This Controller map keyboard inputs to Tello control commands\n'
'Adjust the trackbar to reset distance and degree parameter',
font='Helvetica 10 bold')
text0.pack(side='top')
text1 = tki.Label(
panel,
text='W - Move Tello Up\t\t\tArrow Up - Move Tello Forward\n'
'S - Move Tello Down\t\t\tArrow Down - Move Tello Backward\n'
'A - Rotate Tello Counter-Clockwise\tArrow Left - Move Tello Left\n'
'D - Rotate Tello Clockwise\t\tArrow Right - Move Tello Right',
justify="left")
text1.pack(side="top")
self.btn_landing = tki.Button(panel,
text="Land",
relief="raised",
command=self.telloLanding)
self.btn_landing.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_takeoff = tki.Button(panel,
text="Takeoff",
relief="raised",
command=self.telloTakeOff)
self.btn_takeoff.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
# binding arrow keys to drone control
self.tmp_f = tki.Frame(panel, width=100, height=2)
self.tmp_f.bind('<KeyPress-w>', self.on_keypress_w)
self.tmp_f.bind('<KeyPress-s>', self.on_keypress_s)
self.tmp_f.bind('<KeyPress-a>', self.on_keypress_a)
self.tmp_f.bind('<KeyPress-d>', self.on_keypress_d)
self.tmp_f.bind('<KeyPress-Up>', self.on_keypress_up)
self.tmp_f.bind('<KeyPress-Down>', self.on_keypress_down)
self.tmp_f.bind('<KeyPress-Left>', self.on_keypress_left)
self.tmp_f.bind('<KeyPress-Right>', self.on_keypress_right)
self.tmp_f.pack(side="bottom")
self.tmp_f.focus_set()
self.btn_landing = tki.Button(panel,
text="Flip",
relief="raised",
command=self.openFlipWindow)
self.btn_landing.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.distance_bar = Scale(panel,
from_=0.02,
to=5,
tickinterval=0.01,
digits=3,
label='Distance(m)',
resolution=0.01)
self.distance_bar.set(0.2)
self.distance_bar.pack(side="left")
self.btn_distance = tki.Button(
panel,
text="Reset Distance",
relief="raised",
command=self.updateDistancebar,
)
self.btn_distance.pack(side="left",
fill="both",
expand="yes",
padx=10,
pady=5)
self.degree_bar = Scale(panel,
from_=1,
to=360,
tickinterval=10,
label='Degree')
self.degree_bar.set(30)
self.degree_bar.pack(side="right")
self.btn_distance = tki.Button(
panel,
text="Reset Degreejustin bieber love yourself",
relief="raised",
command=self.updateDegreebar)
self.btn_distance.pack(side="right",
fill="both",
expand="yes",
padx=10,
pady=5)
def openFlipWindow(self):
"""
open the flip window and initial all the button and text
"""
panel = Toplevel(self.root)
panel.wm_title("Gesture Recognition")
self.btn_flipl = tki.Button(panel,
text="Flip Left",
relief="raised",
command=self.telloFlip_l)
self.btn_flipl.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_flipr = tki.Button(panel,
text="Flip Right",
relief="raised",
command=self.telloFlip_r)
self.btn_flipr.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_flipf = tki.Button(panel,
text="Flip Forward",
relief="raised",
command=self.telloFlip_f)
self.btn_flipf.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_flipb = tki.Button(panel,
text="Flip Backward",
relief="raised",
command=self.telloFlip_b)
self.btn_flipb.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
def takeSnapshot(self):
"""
save the current frame of the video as a jpg file and put it into outputpath
"""
# grab the current timestamp and use it to construct the filename
ts = datetime.datetime.now()
filename = "{}.jpg".format(ts.strftime("%Y-%m-%d_%H-%M-%S"))
p = os.path.sep.join((self.outputPath, filename))
# save the file
cv2.imshow("gray", self.frame)
cv2.imwrite(p, cv2.cvtColor(self.frame, cv2.COLOR_RGB2BGR))
print("[INFO] saved {}".format(filename))
# def Tracking(self):
def tellobateria(self):
return self.tello.get_battery()
def telloheight(self):
return self.tello.get_height()
def telloTakeOff(self):
return self.tello.takeoff()
def telloLanding(self):
return self.tello.land()
def telloFlip_l(self):
return self.tello.flip('l')
def telloFlip_r(self):
return self.tello.flip('r')
def telloFlip_f(self):
return self.tello.flip('f')
def telloFlip_b(self):
return self.tello.flip('b')
def telloCW(self, degree):
return self.tello.rotate_cw(degree)
def telloCCW(self, degree):
return self.tello.rotate_ccw(degree)
def telloMoveForward(self, distance):
return self.tello.move_forward(distance)
def telloMoveBackward(self, distance):
return self.tello.move_backward(distance)
def telloMoveLeft(self, distance):
return self.tello.move_left(distance)
def telloMoveRight(self, distance):
return self.tello.move_right(distance)
def telloUp(self, dist):
return self.tello.move_up(dist)
def telloDown(self, dist):
return self.tello.move_down(dist)
def updateTrackBar(self):
self.my_tello_hand.setThr(self.hand_thr_bar.get())
def updateDistancebar(self):
self.distance = self.distance_bar.get()
print 'reset distance to %.1f' % self.distance
def updateDegreebar(self):
self.degree = self.degree_bar.get()
print 'reset distance to %d' % self.degree
def on_keypress_w(self, event):
print "up %d m" % self.distance
self.telloUp(self.distance)
def on_keypress_s(self, event):
print "down %d m" % self.distance
self.telloDown(self.distance)
def on_keypress_a(self, event):
print "ccw %d degree" % self.degree
self.tello.rotate_ccw(self.degree)
def on_keypress_d(self, event):
print "cw %d m" % self.degree
self.tello.rotate_cw(self.degree)
def on_keypress_up(self, event):
print "forward %d m" % self.distance
self.telloMoveForward(self.distance)
def on_keypress_down(self, event):
print "backward %d m" % self.distance
self.telloMoveBackward(self.distance)
def on_keypress_left(self, event):
print "left %d m" % self.distance
self.telloMoveLeft(self.distance)
def on_keypress_right(self, event):
print "right %d m" % self.distance
self.telloMoveRight(self.distance)
def on_keypress_enter(self, event):
if self.frame is not None:
self.registerFace()
self.tmp_f.focus_set()
def onClose(self):
"""
set the stop event, cleanup the camera, and allow the rest of
the quit process to continue
"""
print("[INFO] closing...")
self.stopEvent.set()
del self.tello
self.root.quit()
class Generator(Frame):
"""calcul d'une vibration harmonique du type : e=a*sin(2*pi*f*t+p)
scale_A : controleur d'amplitude
"""
def __init__(self, parent, name="X",color="red"):
""" initialisation
parent : un oscilloscope
name : nom du signal
"""
Frame.__init__(self)
self.configure(bd=1, relief="sunken", background = color)
self.parent = parent
self.name = name
self.color = color
self.scale_A = Scale(self, length=300, orient="horizontal",
label=name + " Amplitude", showvalue=1, from_=0, to=10,
tickinterval=1, command=self.update_signal)
self.scale_P = Scale(self, length=300, orient="horizontal",
label=name + " Phase", showvalue=1, from_=0, to=90,
tickinterval=20, command=self.update_signal)
self.scale_F = Scale(self, length=300, orient="horizontal",
label=name + " Fréquence", showvalue=1, from_=0, to=100,
tickinterval=10, command=self.update_signal)
self.scale_A.pack(expand="yes", fill="both")
self.scale_P.pack(expand="yes", fill="both")
self.scale_F.pack(expand="yes", fill="both")
def update_signal(self, event):
"""mise a jour de courbe si modifications (amplitude, frequence, phase)."""
#print("Vibration.update_signal()")
#print("Amplitude :", self.scale_A.get())
scaling=0.05
amp = scaling*self.scale_A.get()
fre = scaling*self.scale_F.get()
pha = scaling*self.scale_P.get()
signal = self.generate_signal(a=amp, f=fre, p=pha)
if not isinstance(self.parent, Tk):
self.parent.set_signal(self.name, signal, self.color)
return signal
def generate_signal(self, a=1.0, f=2.0, p=0):
"""Calcul de l'elongation, amplitude, frequence et phase sur une periode."""
signal = []
samples = 100
for t in range(0, samples):
samples = float(samples)
e = a * sin((2*pi*f*(t/samples)) - p)
signal.append((t/samples,e))
return signal
def get_parameter(self):
"""
Récupère les valeurs des paramètres de la courbe et les renvoie sous forme d'un tuple
"""
return [str(self.scale_A.get()), str(self.scale_F.get()), str(self.scale_P.get())]
def set_parameter(self, amp=1.0, freq=2.0, phase=0):
"""
Modifie les valeurs des paramètres de la courbe
"""
self.scale_A.set(amp)
self.scale_F.set(freq)
self.scale_P.set(phase)
def gui(self):
from Tkinter import Tk, Scale, HORIZONTAL
root = Tk()
x = Scale(root, from_=0, to=self.HUMERUS + self.ULNA + 2, resolution=0.1,
orient = HORIZONTAL, length = 400,
command=lambda i: self.dump_target_position(
float(i), y.get(), z.get(), g.get(), wa.get(), wr.get())
)
x.pack()
x.set(8)
y = Scale(root, from_=0, to=self.HUMERUS + self.ULNA + 2, resolution=0.1,
orient = HORIZONTAL, length = 400,
command=lambda i: self.dump_target_position(
x.get(), float(i), z.get(), g.get(), wa.get(), wr.get())
)
y.pack()
y.set(6)
z = Scale(root, from_=0, to=175,
orient = HORIZONTAL, length = 400,
command=lambda i: self.dump_target_position(
x.get(), y.get(), float(i), g.get(), wa.get(), wr.get())
)
z.pack()
z.set(90)
g = Scale(root, from_=0, to=175,
orient = HORIZONTAL, length = 400,
command=lambda i: self.dump_target_position(
x.get(), y.get(), z.get(), float(i), wa.get(), wr.get())
)
g.pack()
g.set(90)
wa = Scale(root, from_=-85, to=85,
orient = HORIZONTAL, length = 400,
command=lambda i: self.dump_target_position(
x.get(), y.get(), z.get(), g.get(), float(i), wr.get())
)
wa.pack()
wa.set(0)
wr = Scale(root, from_=0, to=175,
orient = HORIZONTAL, length = 400,
command=lambda i: self.dump_target_position(
x.get(), y.get(), z.get(), g.get(), wa.get(), float(i))
)
wr.pack()
wr.set(90)
root.mainloop()
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 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()
#!/usr/bin/python
import commands
from Tkinter import Tk, IntVar, Scale
def adjustVol(vol):
commands.getoutput("/usr/sbin/mixer vol " + vol)
return
root = Tk()
root.geometry('50x100+80+620')
vol = IntVar()
scale = Scale(root, variable=vol, from_=100, to=0, command=adjustVol)
scale.set(commands.getoutput('/usr/sbin/mixer -S').split(':')[1])
scale.pack()
root.mainloop()
class TelloUI:
"""Wrapper class to enable the GUI."""
def __init__(self, tello, outputpath):
"""
Initial all the element of the GUI,support by Tkinter
:param tello: class interacts with the Tello drone.
Raises:
RuntimeError: If the Tello rejects the attempt to enter command mode.
"""
self.tello = tello # videostream device
self.outputPath = outputpath # the path that save pictures created by clicking the takeSnapshot button
self.frame = None # frame read from h264decoder and used for pose recognition
self.thread = None # thread of the Tkinter mainloop
self.stopEvent = None
# control variables
self.distance = 0.1 # default distance for 'move' cmd
self.degree = 10 # default degree for 'cw' or 'ccw' cmd
# if the pose recognition mode is opened
self.pose_mode = False
# if the flag is TRUE,the auto-takeoff thread will stop waiting for the response from tello
self.quit_waiting_flag = False
# if the flag is TRUE,the pose recognition skeleton will be drawn on the GUI picture
self.draw_skeleton_flag = False
# pose recognition
self.my_tello_pose = Tello_Pose()
# record the coordinates of the nodes in the pose recognition skeleton
self.points = []
# list of all the possible connections between skeleton nodes
self.POSE_PAIRS = [[0, 1], [1, 2], [2, 3], [3, 4], [1, 5], [5, 6],
[6, 7], [1, 14], [14, 8], [8, 9], [9, 10], [14, 11],
[11, 12], [12, 13]]
# initialize the root window and image panel
self.root = tki.Tk()
self.panel = None
# self.panel_for_pose_handle_show = None
# create buttons
self.btn_snapshot = tki.Button(self.root,
text="Snapshot!",
command=self.takeSnapshot)
self.btn_snapshot.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_pose = tki.Button(self.root,
text="Pose Recognition Status: Off",
command=self.setPoseMode)
self.btn_pose.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_pause = tki.Button(self.root,
text="Pause",
relief="raised",
command=self.pauseVideo)
self.btn_pause.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_landing = tki.Button(self.root,
text="Open Command Panel",
relief="raised",
command=self.openCmdWindow)
self.btn_landing.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
# start a thread that constantly pools the video sensor for
# the most recently read frame
self.stopEvent = threading.Event()
self.thread = threading.Thread(target=self.videoLoop, args=())
self.thread.start()
# set a callback to handle when the window is closed
self.root.wm_title("TELLO Controller")
self.root.wm_protocol("WM_DELETE_WINDOW", self.onClose)
# the auto-takeoff thread will start if the 'takeoff' button on command window is clicked
self.auto_takeoff_thread = threading.Thread(target=self._autoTakeoff)
# the sending_command will send command to tello every 5 seconds
self.sending_command_thread = threading.Thread(
target=self._sendingCommand)
self.get_GUI_Image_thread = threading.Thread(target=self._getGUIImage)
def videoLoop(self):
"""
The mainloop thread of Tkinter
Raises:
RuntimeError: To get around a RunTime error that Tkinter throws due to threading.
"""
try:
# start the thread that get GUI image and drwa skeleton
# todo adjust 1: 采集图像时间间隔为2s (识别时间平均0.05s)
time.sleep(2)
self.get_GUI_Image_thread.start()
while not self.stopEvent.is_set():
# read the frame for pose recognition
self.frame = self.tello.read()
if self.frame is None or self.frame.size == 0:
continue
# smoothing filter---nparray
self.frame = cv2.bilateralFilter(self.frame, 5, 50, 100)
# PIL image
# self.frame=Image.fromarray(self.frame)
# img.show()
# cv2 image
# self.frame = cv2.cvtColor(np.asarray(self.frame), cv2.COLOR_RGB2BGR)
# every 2 second
# time.sleep(2)
cmd = ''
self.points.append(None)
# process pose-recognition
if self.pose_mode:
# cmd, self.draw_skeleton_flag, self.points = self.my_tello_pose.detect(self.frame)
cmd = self.my_tello_pose.detect_v1(self.frame)
# todo adjust 2: 根据返回的识别结果发送相应的指令
# 移动距离
dis = 0.4
# 间隔时间
slp = 5
# 老虎
if cmd == 'tiger' or cmd == 'tabby':
self.takeSnapshot()
time.sleep(slp)
self.telloMoveLeft(dis)
# 豹
elif cmd == 'leopard':
self.takeSnapshot()
time.sleep(slp)
self.telloMoveLeft(dis)
# 小熊猫
elif cmd == 'lesser panda' or cmd == 'West Highland white terrier' or cmd == 'polecat':
self.takeSnapshot()
time.sleep(slp)
self.telloMoveLeft(dis)
# 非洲大鳄鱼
elif cmd == 'African crocodile' or cmd == 'American alligator':
# self.takeSnapshot()
time.sleep(slp)
self.telloMoveLeft(dis)
# 蝎子
elif cmd == 'scorpion':
# self.takeSnapshot()
time.sleep(slp)
self.telloMoveLeft(dis)
# 蛇
elif cmd == 'green snake' or cmd == 'green mamba' or cmd == 'eel' or cmd == 'cucumber':
# self.takeSnapshot()
time.sleep(slp)
self.telloFlip_b()
time.sleep(slp)
self.telloLanding()
elif cmd=='nematode' or cmd == 'envelope' or cmd=='binder' or cmd =='book jacket' or cmd=='window screen'\
or cmd=='paper towel':
time.sleep(slp)
self.telloMoveLeft(0.2)
# time.sleep(slp)
# if cmd=='show time':#检测到时机向后飞 0.3m,然后降落
# self.telloMoveBackward(0.3)
# time.sleep(3)
# self.telloLanding()
# elif cmd=='bucket':
# self.telloMoveForward(1.0)
# time.sleep(3)
# self.telloLanding()
# process command - map your motion to whatever Tello movement you want!
# if cmd == 'moveback':
# self.telloMoveBackward(0.30)
# elif cmd == 'moveforward':
# self.telloMoveForward(0.30)
# elif cmd == 'land':
# self.telloLanding()
except RuntimeError:
print("[INFO] caught a RuntimeError")
def _getGUIImage(self):
"""
Main operation to read frames from h264decoder and draw skeleton on
frames if the pose mode is opened
"""
# read the system of your computer
system = platform.system()
while not self.stopEvent.is_set():
# read the frame for GUI show
frame = self.tello.read()
if frame is None or frame.size == 0:
continue
if self.pose_mode:
# Draw the detected skeleton points
for i in range(15):
if self.draw_skeleton_flag == True:
cv2.circle(frame,
self.points[i],
8, (0, 255, 255),
thickness=-1,
lineType=cv2.FILLED)
cv2.putText(frame,
"{}".format(i),
self.points[i],
cv2.FONT_HERSHEY_SIMPLEX,
1, (0, 0, 255),
2,
lineType=cv2.LINE_AA)
# Draw Skeleton
# for pair in self.POSE_PAIRS:
# partA = pair[0]
# partB = pair[1]
# if self.points[partA] and self.points[partB]:
# cv2.line(frame, self.points[partA], self.points[partB], (0, 255, 255), 2)
# cv2.circle(frame, self.points[partA], 8, (0, 0, 255), thickness=-1, lineType=cv2.FILLED)
# transfer the format from frame to image
image = Image.fromarray(frame)
# we found compatibility problem between Tkinter,PIL and Macos,and it will
# sometimes result the very long preriod of the "ImageTk.PhotoImage" function,
# so for Macos,we start a new thread to execute the _updateGUIImage function.
if system == "Windows" or system == "Linux":
self._updateGUIImage(image)
# time.sleep(0.5)
else:
thread_tmp = threading.Thread(target=self._updateGUIImage,
args=(image, ))
thread_tmp.start()
time.sleep(0.03)
def _updateGUIImage(self, image):
"""
Main operation to initial the object of image,and update the GUI panel
"""
image = ImageTk.PhotoImage(image)
# if the panel none ,we need to initial it
if self.panel is None:
self.panel = tki.Label(image=image)
self.panel.image = image
self.panel.pack(side="left", padx=10, pady=10)
# otherwise, simply update the panel
else:
self.panel.configure(image=image)
self.panel.image = image
def _autoTakeoff(self):
"""
Firstly,it will waiting for the response that will be sent by Tello if Tello
finish the takeoff command.If computer doesn't receive the response,it may be
because tello doesn't takeoff normally,or because the UDP pack of response is
lost.So in order to confirm the reason,computer will send 'height?'command to
get several real-time height datas and get a average value.If the height is in
normal range,tello will execute the moveup command.Otherwise,tello will land.
Finally,the sending-command thread will start.
"""
response = None
height_tmp = 0 # temp variable to content value of height
height_val = 0 # average value of height
cnt = 0 # effective number of height reading
# todo change 1: set max time out
timeout = 8 # max waiting time of tello's response
timer = threading.Timer(timeout, self._setQuitWaitingFlag)
timer.start()
# waiting for the response from tello
while response != 'ok':
if self.quit_waiting_flag is True:
break
response = self.tello.get_response()
print
"ack:%s" % response
timer.cancel()
# receive the correct response
if response == 'ok':
# self.tello.move_up(0.5)
self.tello.move_up(0.1)
# calculate the height of tello
else:
# todo change 2: calcute the ave height
for i in range(0, 10):
time.sleep(0.5)
height_tmp = self.tello.get_height()
try:
height_val = height_val + height_tmp
cnt = cnt + 1
print
height_tmp, cnt
except:
height_val = height_val
height_val = height_val / cnt
# if the height value is in normal range
if height_val == 9 or height_val == 10 or height_val == 11:
# todo change 3: 成功起飞后的默认提升高度
self.tello.move_up(0.2)
else:
self.tello.land()
# start the sendingCmd thread
self.sending_command_thread.start()
def _sendingCommand(self):
"""
start a while loop that sends 'command' to tello every 5 second
"""
while True:
self.tello.send_command('command')
time.sleep(5)
def _setQuitWaitingFlag(self):
"""
set the variable as TRUE,it will stop computer waiting for response from tello
"""
self.quit_waiting_flag = True
def openCmdWindow(self):
"""
open the cmd window and initial all the button and text
"""
panel = Toplevel(self.root)
panel.wm_title("Command Panel")
# create text input entry
text0 = tki.Label(
panel,
text=
'This Controller map keyboard inputs to Tello control commands\n'
'Adjust the trackbar to reset distance and degree parameter',
font='Helvetica 10 bold')
text0.pack(side='top')
text1 = tki.Label(
panel,
text='W - Move Tello Up\t\t\tArrow Up - Move Tello Forward\n'
'S - Move Tello Down\t\t\tArrow Down - Move Tello Backward\n'
'A - Rotate Tello Counter-Clockwise\tArrow Left - Move Tello Left\n'
'D - Rotate Tello Clockwise\t\tArrow Right - Move Tello Right',
justify="left")
text1.pack(side="top")
self.btn_landing = tki.Button(panel,
text="Land",
relief="raised",
command=self.telloLanding)
self.btn_landing.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_takeoff = tki.Button(panel,
text="Takeoff",
relief="raised",
command=self.telloTakeOff)
self.btn_takeoff.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
# binding arrow keys to drone control
self.tmp_f = tki.Frame(panel, width=100, height=2)
self.tmp_f.bind('<KeyPress-w>', self.on_keypress_w)
self.tmp_f.bind('<KeyPress-s>', self.on_keypress_s)
self.tmp_f.bind('<KeyPress-a>', self.on_keypress_a)
self.tmp_f.bind('<KeyPress-d>', self.on_keypress_d)
self.tmp_f.bind('<KeyPress-Up>', self.on_keypress_up)
self.tmp_f.bind('<KeyPress-Down>', self.on_keypress_down)
self.tmp_f.bind('<KeyPress-Left>', self.on_keypress_left)
self.tmp_f.bind('<KeyPress-Right>', self.on_keypress_right)
self.tmp_f.pack(side="bottom")
self.tmp_f.focus_set()
self.btn_landing = tki.Button(panel,
text="Flip",
relief="raised",
command=self.openFlipWindow)
self.btn_landing.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.distance_bar = Scale(panel,
from_=0.02,
to=5,
tickinterval=0.01,
digits=3,
label='Distance(m)',
resolution=0.01)
self.distance_bar.set(0.2)
self.distance_bar.pack(side="left")
self.btn_distance = tki.Button(
panel,
text="Reset Distance",
relief="raised",
command=self.updateDistancebar,
)
self.btn_distance.pack(side="left",
fill="both",
expand="yes",
padx=10,
pady=5)
self.degree_bar = Scale(panel,
from_=1,
to=360,
tickinterval=10,
label='Degree')
self.degree_bar.set(30)
self.degree_bar.pack(side="right")
self.btn_distance = tki.Button(panel,
text="Reset Degree",
relief="raised",
command=self.updateDegreebar)
self.btn_distance.pack(side="right",
fill="both",
expand="yes",
padx=10,
pady=5)
def openFlipWindow(self):
"""
open the flip window and initial all the button and text
"""
panel = Toplevel(self.root)
panel.wm_title("Gesture Recognition")
self.btn_flipl = tki.Button(panel,
text="Flip Left",
relief="raised",
command=self.telloFlip_l)
self.btn_flipl.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_flipr = tki.Button(panel,
text="Flip Right",
relief="raised",
command=self.telloFlip_r)
self.btn_flipr.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_flipf = tki.Button(panel,
text="Flip Forward",
relief="raised",
command=self.telloFlip_f)
self.btn_flipf.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
self.btn_flipb = tki.Button(panel,
text="Flip Backward",
relief="raised",
command=self.telloFlip_b)
self.btn_flipb.pack(side="bottom",
fill="both",
expand="yes",
padx=10,
pady=5)
def takeSnapshot(self):
"""
save the current frame of the video as a jpg file and put it into outputpath
"""
# grab the current timestamp and use it to construct the filename
ts = datetime.datetime.now()
filename = "{}.jpg".format(ts.strftime("%Y-%m-%d_%H-%M-%S"))
p = os.path.sep.join((self.outputPath, filename))
# save the file
cv2.imwrite(p, cv2.cvtColor(self.frame, cv2.COLOR_RGB2BGR))
print("[INFO] saved {}".format(filename))
def setPoseMode(self):
"""
Toggle the open/close of pose recognition mode
"""
if self.pose_mode is False:
self.pose_mode = True
self.btn_pose.config(text='Pose Recognition Status: On')
else:
self.pose_mode = False
self.btn_pose.config(text='Pose Recognition Status: Off')
def pauseVideo(self):
"""
Toggle the freeze/unfreze of video
"""
if self.btn_pause.config('relief')[-1] == 'sunken':
self.btn_pause.config(relief="raised")
self.tello.video_freeze(False)
else:
self.btn_pause.config(relief="sunken")
self.tello.video_freeze(True)
def telloTakeOff(self):
"""
send the takeoff command to tello,and wait for the first response,
if get the 'error'response,remind the "battery low" warning.Otherwise,
start the auto-takeoff thread
"""
takeoff_response = None
self.tello.takeoff()
time.sleep(0.2)
takeoff_response = self.tello.get_response()
if takeoff_response != 'error':
self.auto_takeoff_thread.start()
else:
print
"battery low,please repalce with a new one"
def telloLanding(self):
return self.tello.land()
def telloFlip_l(self):
return self.tello.flip('l')
def telloFlip_r(self):
return self.tello.flip('r')
def telloFlip_f(self):
return self.tello.flip('f')
def telloFlip_b(self):
return self.tello.flip('b')
def telloCW(self, degree):
return self.tello.rotate_cw(degree)
def telloCCW(self, degree):
return self.tello.rotate_ccw(degree)
def telloMoveForward(self, distance):
return self.tello.move_forward(distance)
def telloMoveBackward(self, distance):
return self.tello.move_backward(distance)
def telloMoveLeft(self, distance):
return self.tello.move_left(distance)
def telloMoveRight(self, distance):
return self.tello.move_right(distance)
def telloUp(self, dist):
return self.tello.move_up(dist)
def telloDown(self, dist):
return self.tello.move_down(dist)
def updateTrackBar(self):
self.my_tello_hand.setThr(self.hand_thr_bar.get())
def updateDistancebar(self):
self.distance = self.distance_bar.get()
print
'reset distance to %.1f' % self.distance
def updateDegreebar(self):
self.degree = self.degree_bar.get()
print
'reset distance to %d' % self.degree
def on_keypress_w(self, event):
print
"up %d m" % self.distance
self.telloUp(self.distance)
def on_keypress_s(self, event):
print
"down %d m" % self.distance
self.telloDown(self.distance)
def on_keypress_a(self, event):
print
"ccw %d degree" % self.degree
self.tello.rotate_ccw(self.degree)
def on_keypress_d(self, event):
print
"cw %d m" % self.degree
self.tello.rotate_cw(self.degree)
def on_keypress_up(self, event):
print
"forward %d m" % self.distance
self.telloMoveForward(self.distance)
def on_keypress_down(self, event):
print
"backward %d m" % self.distance
self.telloMoveBackward(self.distance)
def on_keypress_left(self, event):
print
"left %d m" % self.distance
self.telloMoveLeft(self.distance)
def on_keypress_right(self, event):
print
"right %d m" % self.distance
self.telloMoveRight(self.distance)
def on_keypress_enter(self, event):
if self.frame is not None:
self.registerFace()
self.tmp_f.focus_set()
def onClose(self):
"""
set the stop event, cleanup the camera, and allow the rest of
the quit process to continue
"""
print("[INFO] closing...")
self.stopEvent.set()
del self.tello
self.root.quit()
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 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
relief=FLAT)
coulombInput = Scale(root,
from_=1,
to=1000,
orient=HORIZONTAL,
label="Coulomb",
relief=FLAT)
decayInput = Scale(root,
from_=0,
to=100,
orient=HORIZONTAL,
label="Decay",
relief=FLAT)
#Sets initial FDL constant values
timeInput.set(100)
springInput.set(250)
coulombInput.set(500)
decayInput.set(90)
#Initializes the canvas for animation
canvas = Canvas(width=width, height=height, bg="#f0f0f0")
canvas.pack(fill="both", expand=1, padx=50)
#Adds teh sliders to the tkinter frame after the canvas for positioning
timeInput.pack(side=LEFT, padx=50, pady=10)
springInput.pack(side=LEFT, padx=50, pady=10)
coulombInput.pack(side=LEFT, padx=50, pady=10)
decayInput.pack(side=LEFT, padx=50, pady=10)
#Smallest node size in pixels
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 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 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 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 TelloUI(threading.Thread):
"""Wrapper class to enable the GUI."""
def __init__(self,tello,outputpath):
"""
Initial all the element of the GUI,support by Tkinter
:param tello: class interacts with the Tello drone.
Raises:
RuntimeError: If the Tello rejects the attempt to enter command mode.
"""
self.tello = tello # videostream device
self.outputPath = outputpath # the path that save pictures created by clicking the takeSnapshot button
self.frame = None # frame read from h264decoder and used for pose recognition
self.thread = None # thread of the Tkinter mainloop
self.stopEvent = None
# control variables
self.distance = 0.1 # default distance for 'move' cmd
self.degree = 30 # default degree for 'cw' or 'ccw' cmd
# *************place of cut
# start a thread that constantly pools the video sensor for
# the most recently read frame
self.stopEvent = threading.Event()
self.thread = threading.Thread(target=self.videoLoop, args=())
self.thread.start()
# *************place of cut
'''
#### start main loop
print("before main loop")
self.thread_tk_main = threading.Thread(target=self.root.mainloop(), args=())
self.thread_tk_main.start()
print("after main loop")
'''
threading.Thread.__init__(self)
self.start()
# the sending_command will send command to tello every 5 seconds
# self.sending_command_thread = threading.Thread(target = self._sendingCommand)
def run(self):
# if the flag is TRUE,the auto-takeoff thread will stop waiting for the response from tello
self.quit_waiting_flag = False
# initialize the root window and image panel
self.root = tki.Tk()
self.panel = None
# create buttons
self.btn_snapshot = tki.Button(self.root, text="Snapshot!",
command=self.takeSnapshot)
self.btn_snapshot.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
self.btn_pause = tki.Button(self.root, text="Pause", relief="raised", command=self.pauseVideo)
self.btn_pause.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
self.btn_landing = tki.Button(
self.root, text="Open Command Panel", relief="raised", command=self.openCmdWindow)
self.btn_landing.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
#************************************************
# set a callback to handle when the window is closed
self.root.wm_title("TELLO Controller")
self.root.wm_protocol("WM_DELETE_WINDOW", self.onClose)
print("before main loop")
self.root.mainloop()
def videoLoop(self):
"""
The mainloop thread of Tkinter
Raises:
RuntimeError: To get around a RunTime error that Tkinter throws due to threading.
"""
try:
# start the thread that get GUI image and drwa skeleton
time.sleep(0.5)
# self.sending_command_thread.start()
while not self.stopEvent.is_set():
system = platform.system()
# read the frame for GUI show
self.frame = self.tello.read()
if self.frame is None or self.frame.size == 0:
continue
# transfer the format from frame to image
image = Image.fromarray(self.frame)
# we found compatibility problem between Tkinter,PIL and Macos,and it will
# sometimes result the very long preriod of the "ImageTk.PhotoImage" function,
# so for Macos,we start a new thread to execute the _updateGUIImage function.
if system =="Windows" or system =="Linux":
self._updateGUIImage(image)
else:
thread_tmp = threading.Thread(target=self._updateGUIImage,args=(image,))
thread_tmp.start()
time.sleep(0.03)
except RuntimeError as e:
print("[INFO] caught a RuntimeError", e)
def _updateGUIImage(self,image):
"""
Main operation to initial the object of image,and update the GUI panel
"""
image = ImageTk.PhotoImage(image)
# if the panel none ,we need to initial it
if self.panel is None:
self.panel = tki.Label(image=image)
self.panel.image = image
self.panel.pack(side="left", padx=10, pady=10)
# otherwise, simply update the panel
else:
self.panel.configure(image=image)
self.panel.image = image
def _sendingCommand(self):
"""
start a while loop that sends 'command' to tello every 5 second
"""
while True:
self.tello.send_command('command')
time.sleep(30)
def _setQuitWaitingFlag(self):
"""
set the variable as TRUE,it will stop computer waiting for response from tello
"""
self.quit_waiting_flag = True
def openCmdWindow(self):
"""
open the cmd window and initial all the button and text
"""
panel = Toplevel(self.root)
panel.wm_title("Command Panel")
# create text input entry
text0 = tki.Label(panel,
text='This Controller map keyboard inputs to Tello control commands\n'
'Adjust the trackbar to reset distance and degree parameter',
font='Helvetica 10 bold'
)
text0.pack(side='top')
text1 = tki.Label(panel, text=
'W - Move Tello Up\t\t\tArrow Up - Move Tello Forward\n'
'S - Move Tello Down\t\t\tArrow Down - Move Tello Backward\n'
'A - Rotate Tello Counter-Clockwise\tArrow Left - Move Tello Left\n'
'D - Rotate Tello Clockwise\t\tArrow Right - Move Tello Right',
justify="left")
text1.pack(side="top")
self.btn_landing = tki.Button(
panel, text="Land", relief="raised", command=self.telloLanding)
self.btn_landing.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
self.btn_takeoff = tki.Button(
panel, text="Takeoff", relief="raised", command=self.telloTakeOff)
self.btn_takeoff.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
# binding arrow keys to drone control
self.tmp_f = tki.Frame(panel, width=100, height=2)
self.tmp_f.bind('<KeyPress-w>', self.on_keypress_w)
self.tmp_f.bind('<KeyPress-s>', self.on_keypress_s)
self.tmp_f.bind('<KeyPress-a>', self.on_keypress_a)
self.tmp_f.bind('<KeyPress-d>', self.on_keypress_d)
self.tmp_f.bind('<KeyPress-Up>', self.on_keypress_up)
self.tmp_f.bind('<KeyPress-Down>', self.on_keypress_down)
self.tmp_f.bind('<KeyPress-Left>', self.on_keypress_left)
self.tmp_f.bind('<KeyPress-Right>', self.on_keypress_right)
self.tmp_f.pack(side="bottom")
self.tmp_f.focus_set()
self.btn_landing = tki.Button(
panel, text="Flip", relief="raised", command=self.openFlipWindow)
self.btn_landing.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
self.distance_bar = Scale(panel, from_=0.02, to=5, tickinterval=0.01, digits=3, label='Distance(m)',
resolution=0.01)
self.distance_bar.set(0.2)
self.distance_bar.pack(side="left")
self.btn_distance = tki.Button(panel, text="Reset Distance", relief="raised",
command=self.updateDistancebar,
)
self.btn_distance.pack(side="left", fill="both",
expand="yes", padx=10, pady=5)
self.degree_bar = Scale(panel, from_=1, to=360, tickinterval=10, label='Degree')
self.degree_bar.set(30)
self.degree_bar.pack(side="right")
self.btn_distance = tki.Button(panel, text="Reset Degree", relief="raised", command=self.updateDegreebar)
self.btn_distance.pack(side="right", fill="both",
expand="yes", padx=10, pady=5)
def openFlipWindow(self):
"""
open the flip window and initial all the button and text
"""
panel = Toplevel(self.root)
panel.wm_title("Gesture Recognition")
self.btn_flipl = tki.Button(
panel, text="Flip Left", relief="raised", command=self.telloFlip_l)
self.btn_flipl.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
self.btn_flipr = tki.Button(
panel, text="Flip Right", relief="raised", command=self.telloFlip_r)
self.btn_flipr.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
self.btn_flipf = tki.Button(
panel, text="Flip Forward", relief="raised", command=self.telloFlip_f)
self.btn_flipf.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
self.btn_flipb = tki.Button(
panel, text="Flip Backward", relief="raised", command=self.telloFlip_b)
self.btn_flipb.pack(side="bottom", fill="both",
expand="yes", padx=10, pady=5)
def takeSnapshot(self):
"""
save the current frame of the video as a jpg file and put it into outputpath
"""
# grab the current timestamp and use it to construct the filename
ts = datetime.datetime.now()
filename = "{}.jpg".format(ts.strftime("%Y-%m-%d_%H-%M-%S"))
p = os.path.sep.join((self.outputPath, filename))
# save the file
cv2.imwrite(p, cv2.cvtColor(self.frame, cv2.COLOR_RGB2BGR))
print(self.frame)
print("[INFO] saved {}".format(filename))
def pauseVideo(self):
"""
Toggle the freeze/unfreze of video
"""
if self.btn_pause.config('relief')[-1] == 'sunken':
self.btn_pause.config(relief="raised")
self.tello.video_freeze(False)
else:
self.btn_pause.config(relief="sunken")
self.tello.video_freeze(True)
def telloTakeOff(self):
return self.tello.takeoff()
def telloLanding(self):
return self.tello.land()
def telloFlip_l(self):
return self.tello.flip('l')
def telloFlip_r(self):
return self.tello.flip('r')
def telloFlip_f(self):
return self.tello.flip('f')
def telloFlip_b(self):
return self.tello.flip('b')
def telloCW(self, degree):
return self.tello.rotate_cw(degree)
def telloCCW(self, degree):
return self.tello.rotate_ccw(degree)
def telloMoveForward(self, distance):
return self.tello.move_forward(distance)
def telloMoveBackward(self, distance):
return self.tello.move_backward(distance)
def telloMoveLeft(self, distance):
return self.tello.move_left(distance)
def telloMoveRight(self, distance):
return self.tello.move_right(distance)
def telloUp(self, dist):
return self.tello.move_up(dist)
def telloDown(self, dist):
return self.tello.move_down(dist)
def updateTrackBar(self):
self.my_tello_hand.setThr(self.hand_thr_bar.get())
def updateDistancebar(self):
self.distance = self.distance_bar.get()
print('reset distance to %.1f' % self.distance)
def updateDegreebar(self):
self.degree = self.degree_bar.get()
print('reset distance to %d' % self.degree)
def on_keypress_w(self, event):
print("up %d m" % self.distance)
self.telloUp(self.distance)
def on_keypress_s(self, event):
print("down %d m" % self.distance)
self.telloDown(self.distance)
def on_keypress_a(self, event):
print("ccw %d degree" % self.degree)
self.tello.rotate_ccw(self.degree)
def on_keypress_d(self, event):
print("cw %d m" % self.degree)
self.tello.rotate_cw(self.degree)
def on_keypress_up(self, event):
print("forward %d m" % self.distance)
self.telloMoveForward(self.distance)
def on_keypress_down(self, event):
print("backward %d m" % self.distance)
self.telloMoveBackward(self.distance)
def on_keypress_left(self, event):
print("left %d m" % self.distance)
self.telloMoveLeft(self.distance)
def on_keypress_right(self, event):
print("right %d m" % self.distance)
self.telloMoveRight(self.distance)
def on_keypress_enter(self, event):
if self.frame is not None:
self.registerFace()
self.tmp_f.focus_set()
def onClose(self):
"""
set the stop event, cleanup the camera, and allow the rest of
the quit process to continue
"""
print("[INFO] closing...")
self.stopEvent.set()
del self.tello
self.root.quit()
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 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)
SPRING_CONSTANT = 0.01 # Contant for sprint force COULOMB_CONSTANT = 0.01 # Constant for coulomb force WALL_CONSTANT = 0.250 # Static constant used for a wall force to center the nodes TIME_CONSTANT = 1.0 # Time constant for speed of forces DECAY_CONSTANT = 1.0 # Speed of damping both overall force and velocity #Initializes the Tkinter frame and sliders root = Tk() #Adds horizontal sliders at the bottom for FDL constants timeInput = Scale(root, from_=1, to=500,orient=HORIZONTAL,label="Time",relief = FLAT) springInput = Scale(root, from_=1, to=1000,orient=HORIZONTAL,label="Spring",relief = FLAT) coulombInput = Scale(root, from_=1, to=1000,orient=HORIZONTAL,label="Coulomb",relief = FLAT) decayInput = Scale(root, from_=0, to=100,orient=HORIZONTAL,label="Decay",relief = FLAT) #Sets initial FDL constant values timeInput.set(100) springInput.set(250) coulombInput.set(500) decayInput.set(90) #Initializes the canvas for animation canvas = Canvas(width=width, height=height, bg="#f0f0f0") canvas.pack(fill = "both", expand = 1, padx=50) #Adds teh sliders to the tkinter frame after the canvas for positioning timeInput.pack(side=LEFT, padx=50, pady=10) springInput.pack(side=LEFT, padx=50, pady=10) coulombInput.pack(side=LEFT, padx=50, pady=10) decayInput.pack(side=LEFT, padx=50, pady=10) #Smallest node size in pixels
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) )
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!')
print "If Wekinator is not already listening for OSC, we will get an error."
print "*******"
send_address = '127.0.0.1', 6448
# OSC basic client
c = OSC.OSCClient()
c.connect(send_address) # set the address for all following messages
def showValues():
label1.config(text=str(w1.get()))
label1.after(100, showValues)
oscmsg = OSC.OSCMessage()
oscmsg.setAddress("/wek/inputs")
oscmsg.append(float(w1.get()))
c.send(oscmsg)
master = Tk()
w1 = Scale(master, from_=100, to=0, length=400, tickinterval=10)
w1.set(0)
w1.pack()
label1 = Label(master, fg="green")
label1.pack()
showValues()
master.mainloop()
class Application(object):
def __init__(self):
self.logger = get_logger('dashboard')
self.server = SocketServer.UDPServer(
(settings.DASHBOARD_HOST, settings.DASHBOARD_PORT),
self.handle_request)
self.server.timeout = settings.DASHBOARD_REQUEST_TIMEOUT
self.raw_telem_time = 0
self.raw_telem_bat = 0
self.raw_telem_temp = 0
self.raw_telem_photo = 0
self.__init_main()
self.__init_motor()
self.__init_light()
self.__init_video()
self.__init_telem()
def __init_main(self):
self.window = Tk()
self.window.wm_minsize(400, 400)
def __init_motor(self):
self.w_lf_motor = LabelFrame(self.window, text=u'Моторы')
self.w_scale_motor1 = Scale(self.w_lf_motor, from_=-255, to=255)
self.w_scale_motor2 = Scale(self.w_lf_motor, from_=-255, to=255)
self.w_lf_motor.place(relx=0, rely=0, relwidth=1, relheight=0.3)
self.w_scale_motor1.place(relx=0, rely=0, relwidth=1, relheight=1)
self.w_scale_motor2.place(relx=0.5, rely=0, relwidth=1, relheight=1)
def __init_light(self):
self.w_lf_light = LabelFrame(self.window, text=u'Свет')
self.w_l_light = Label(self.w_lf_light,
text=u'Выключен',
fg='red',
font='Arial 20')
self.w_lf_light.place(relx=0, rely=0.3, relwidth=1, relheight=0.15)
self.w_l_light.place(relx=0, rely=0, relwidth=1, relheight=1)
def __init_video(self):
self.w_lf_video = LabelFrame(self.window, text=u'Видео')
self.w_l_video = Label(self.w_lf_video,
text=u'Выключен',
fg='red',
font='Arial 20')
self.w_b_show = Button(self.w_lf_video,
text=u'mplayer',
command=self.start_mplayer)
self.w_lf_video.place(relx=0, rely=0.45, relwidth=1, relheight=0.15)
self.w_l_video.place(relx=0, rely=0, relwidth=0.7, relheight=1)
self.w_b_show.place(relx=0.7, rely=0, relwidth=0.3, relheight=1)
def __init_telem(self):
# телеметрия
self.w_lf_telem = LabelFrame(self.window, text=u'Телеметрия')
self.w_l_telem_time = Label(self.w_lf_telem,
text=u'0',
font='Arial 15')
self.w_l_telem_bat = Label(self.w_lf_telem, text=u'0', font='Arial 15')
self.w_l_telem_temp = Label(self.w_lf_telem,
text=u'0',
font='Arial 15')
self.w_l_telem_photo = Label(self.w_lf_telem,
text=u'0',
font='Arial 15')
self.w_lf_telem.place(relx=0, rely=0.6, relwidth=1, relheight=0.4)
Label(self.w_lf_telem, text=u'Время:',
font='Arial 15').place(relx=0,
rely=0,
relwidth=0.5,
relheight=0.25)
Label(self.w_lf_telem, text=u'Батарея:',
font='Arial 15').place(relx=0,
rely=0.25,
relwidth=0.5,
relheight=0.25)
Label(self.w_lf_telem, text=u'Температура:',
font='Arial 15').place(relx=0,
rely=0.5,
relwidth=0.5,
relheight=0.25)
Label(self.w_lf_telem, text=u'Освещенность:',
font='Arial 15').place(relx=0,
rely=0.75,
relwidth=0.5,
relheight=0.25)
self.w_l_telem_time.place(relx=0.5,
rely=0,
relwidth=0.5,
relheight=0.25)
self.w_l_telem_bat.place(relx=0.5,
rely=0.25,
relwidth=0.5,
relheight=0.25)
self.w_l_telem_temp.place(relx=0.5,
rely=0.5,
relwidth=0.5,
relheight=0.25)
self.w_l_telem_photo.place(relx=0.5,
rely=0.75,
relwidth=0.5,
relheight=0.25)
def set_motor_value(self, left_value, right_value):
if left_value > 255:
left_value = 255
elif left_value < -255:
left_value = -255
self.w_scale_motor1.set(left_value)
if right_value > 255:
right_value = 255
elif right_value < -255:
right_value = -255
self.w_scale_motor2.set(right_value)
def set_light(self, value):
"""
устанавливает значение для фонарика
:param value:
"""
if value == 1:
self.w_l_light['text'] = u'Включен'
self.w_l_light['fg'] = 'green'
else:
self.w_l_light['text'] = u'Выключен'
self.w_l_light['fg'] = 'red'
def set_video(self, value):
"""
устанавливает значение для фонарика
:param value:
"""
if value == 1:
self.w_l_video['text'] = u'Включен'
self.w_l_video['fg'] = 'green'
else:
self.w_l_video['text'] = u'Выключен'
self.w_l_video['fg'] = 'red'
def set_time(self, value):
"""
устанавливает значение для даты
:param value:
"""
if self.raw_telem_time == value:
return
self.raw_telem_time = value
try:
value = datetime.fromtimestamp(value).strftime('%Y.%m.%d %H:%M:%S')
except Exception as err:
print(err)
self.logger.debug(str(err))
self.w_l_telem_time['text'] = value
def set_bat(self, value):
"""
устанавливает значение для батареи
:param value:
"""
if self.raw_telem_bat == value:
return
self.raw_telem_bat = value
self.w_l_telem_bat['text'] = value
def set_temp(self, value):
"""
устанавливает значение для температуры
:param value:
"""
if self.raw_telem_temp == value:
return
self.raw_telem_temp = value
self.w_l_telem_temp['text'] = '{0} ({1})'.format(
round((value * 3.3 / 1024 - 0.5) / 0.01, 3), value)
def set_photo(self, value):
"""
устанавливает значение для температуры
:param value:
"""
if self.raw_telem_photo == value:
return
self.raw_telem_photo = value
self.w_l_telem_photo['text'] = value
def start_mplayer(self):
"""
включает mplayer
"""
process = subprocess.Popen(settings.VIDEO_SHOW_CMD, shell=True)
def handle_request(self, request, client_address, server):
"""
обработка входных данных
:param request:
:param client_address:
:param server:
:return:
"""
_request, _socket = request
if ',' not in _request:
return
values = [int(i) for i in _request.split(',')]
self.set_motor_value(*values[:2])
self.set_light(values[2])
self.set_video(values[3])
self.set_time(values[4])
self.set_temp(values[5])
self.set_bat(values[6])
self.set_photo(values[7])
def wait_request(self):
""""""
self.server.handle_request()
self.register_mainloop()
def register_mainloop(self):
"""
регистриуем обработчик, который периодический будет обрабатывать события
"""
self.window.after(after_timeout, self.wait_request)
def run(self):
""""""
try:
self.register_mainloop()
self.window.mainloop()
except KeyboardInterrupt:
pass
except Exception as err:
self.logger.debug(err)
import traceback
self.logger.debug(traceback.format_exc())
raise
class GUI:
def __init__(self,
model,
title='PyCX Simulator',
interval=0,
stepSize=1,
param_gui_names=None):
self.model = model
self.titleText = title
self.timeInterval = interval
self.stepSize = stepSize
self.param_gui_names = param_gui_names
if param_gui_names is None:
self.param_gui_names = {}
self.param_entries = {}
self.statusStr = ""
self.running = False
self.modelFigure = None
self.currentStep = 0
self.initGUI()
def initGUI(self):
#create root window
self.rootWindow = Tk()
self.statusText = StringVar(value=self.statusStr)
self.setStatusStr("Simulation not yet started")
self.rootWindow.wm_title(self.titleText)
self.rootWindow.protocol('WM_DELETE_WINDOW', self.quitGUI)
self.rootWindow.geometry('550x700')
self.rootWindow.columnconfigure(0, weight=1)
self.rootWindow.rowconfigure(0, weight=1)
self.frameSim = Frame(self.rootWindow)
self.frameSim.pack(expand=YES, fill=BOTH, padx=5, pady=5, side=TOP)
self.status = Label(self.rootWindow,
width=40,
height=3,
relief=SUNKEN,
bd=1,
textvariable=self.statusText)
self.status.pack(side=TOP, fill=X, padx=1, pady=1, expand=NO)
self.runPauseString = StringVar()
self.runPauseString.set("Run")
self.buttonRun = Button(self.frameSim,
width=30,
height=2,
textvariable=self.runPauseString,
command=self.runEvent)
self.buttonRun.pack(side=TOP, padx=5, pady=5)
self.showHelp(
self.buttonRun,
"Runs the simulation (or pauses the running simulation)")
self.buttonStep = Button(self.frameSim,
width=30,
height=2,
text="Step Once",
command=self.stepOnce)
self.buttonStep.pack(side=TOP, padx=5, pady=5)
self.showHelp(self.buttonStep, "Steps the simulation only once")
self.buttonReset = Button(self.frameSim,
width=30,
height=2,
text="Reset",
command=self.resetModel)
self.buttonReset.pack(side=TOP, padx=5, pady=5)
self.showHelp(self.buttonReset, "Resets the simulation")
for param in self.model.params:
var_text = self.param_gui_names.get(param, param)
can = Canvas(self.frameSim)
lab = Label(can,
width=25,
height=1 + var_text.count('\n'),
text=var_text,
anchor=W,
takefocus=0)
lab.pack(side='left')
ent = Entry(can, width=11)
val = getattr(self.model, param)
if isinstance(val, bool):
val = int(val) # Show 0/1 which can convert back to bool
ent.insert(0, str(val))
ent.pack(side='left')
can.pack(side='top')
self.param_entries[param] = ent
if self.param_entries:
self.buttonSaveParameters = Button(
self.frameSim,
width=50,
height=1,
command=self.saveParametersCmd,
text="Save parameters to the running model",
state=DISABLED)
self.showHelp(
self.buttonSaveParameters, "Saves the parameter values.\n" +
"Not all values may take effect on a running model\n" +
"A model reset might be required.")
self.buttonSaveParameters.pack(side='top', padx=5, pady=5)
self.buttonSaveParametersAndReset = Button(
self.frameSim,
width=50,
height=1,
command=self.saveParametersAndResetCmd,
text="Save parameters to the model and reset the model")
self.showHelp(
self.buttonSaveParametersAndReset,
"Saves the given parameter values and resets the model")
self.buttonSaveParametersAndReset.pack(side='top', padx=5, pady=5)
can = Canvas(self.frameSim)
lab = Label(can,
width=25,
height=1,
text="Step size ",
justify=LEFT,
anchor=W,
takefocus=0)
lab.pack(side='left')
self.stepScale = Scale(can,
from_=1,
to=500,
resolution=1,
command=self.changeStepSize,
orient=HORIZONTAL,
width=25,
length=150)
self.stepScale.set(self.stepSize)
self.showHelp(
self.stepScale,
"Skips model redraw during every [n] simulation steps\n" +
"Results in a faster model run.")
self.stepScale.pack(side='left')
can.pack(side='top')
can = Canvas(self.frameSim)
lab = Label(can,
width=25,
height=1,
text="Step visualization delay in ms ",
justify=LEFT,
anchor=W,
takefocus=0)
lab.pack(side='left')
self.stepDelay = Scale(can,
from_=0,
to=max(2000, self.timeInterval),
resolution=10,
command=self.changeStepDelay,
orient=HORIZONTAL,
width=25,
length=150)
self.stepDelay.set(self.timeInterval)
self.showHelp(
self.stepDelay, "The visualization of each step is " +
"delays by the given number of " + "milliseconds.")
self.stepDelay.pack(side='left')
can.pack(side='top')
def setStatusStr(self, newStatus):
self.statusStr = newStatus
self.statusText.set(self.statusStr)
#model control functions
def changeStepSize(self, val):
self.stepSize = int(val)
def changeStepDelay(self, val):
self.timeInterval = int(val)
def saveParametersCmd(self):
for param, entry in self.param_entries.items():
val = entry.get()
if isinstance(getattr(self.model, param), bool):
val = bool(int(val))
setattr(self.model, param, val)
# See if the model changed the value (e.g. clipping)
new_val = getattr(self.model, param)
if isinstance(new_val, bool):
new_val = int(new_val)
entry.delete(0, END)
entry.insert(0, str(new_val))
self.setStatusStr("New parameter values have been set")
def saveParametersAndResetCmd(self):
self.saveParametersCmd()
self.resetModel()
def runEvent(self):
if not self.running:
self.running = True
self.rootWindow.after(self.timeInterval, self.stepModel)
self.runPauseString.set("Pause")
self.buttonStep.configure(state=DISABLED)
if self.param_entries:
self.buttonSaveParameters.configure(state=NORMAL)
self.buttonSaveParametersAndReset.configure(state=DISABLED)
else:
self.stopRunning()
def stopRunning(self):
self.running = False
self.runPauseString.set("Continue Run")
self.buttonStep.configure(state=NORMAL)
self.drawModel()
if self.param_entries:
self.buttonSaveParameters.configure(state=NORMAL)
self.buttonSaveParametersAndReset.configure(state=NORMAL)
def stepModel(self):
if self.running:
if self.model.step() is True:
self.stopRunning()
self.currentStep += 1
self.setStatusStr("Step " + str(self.currentStep))
self.status.configure(foreground='black')
if (self.currentStep) % self.stepSize == 0:
self.drawModel()
self.rootWindow.after(int(self.timeInterval * 1.0 / self.stepSize),
self.stepModel)
def stepOnce(self):
self.running = False
self.runPauseString.set("Continue Run")
self.model.step()
self.currentStep += 1
self.setStatusStr("Step " + str(self.currentStep))
self.drawModel()
if self.param_entries:
self.buttonSaveParameters.configure(state=NORMAL)
def resetModel(self):
self.running = False
self.runPauseString.set("Run")
self.model.reset()
self.currentStep = 0
self.setStatusStr("Model has been reset")
self.drawModel()
def drawModel(self):
if self.modelFigure is None:
self.modelFigure = plt.figure()
plt.ion()
# plt.show() will cause the plot to be actually displayed
plt.show()
self.model.draw()
# Tell matplotlib to redraw too. The darwin-version works with more
# types of matplotlib backends, but seems to fail on some Linux
# machines. Hence we use the TkAgg specific method when available.
if sys.platform == 'darwin':
self.modelFigure.canvas.manager.show()
else:
self.modelFigure.canvas.manager.window.update()
def start(self):
if self.model.step.__doc__:
self.showHelp(self.buttonStep, self.model.step.__doc__.strip())
self.model.reset()
self.drawModel()
self.rootWindow.mainloop()
def quitGUI(self):
plt.close('all')
self.rootWindow.quit()
self.rootWindow.destroy()
def showHelp(self, widget, text):
def setText(self):
self.statusText.set(text)
self.status.configure(foreground='blue')
def showHelpLeave(self):
self.statusText.set(self.statusStr)
self.status.configure(foreground='black')
widget.bind("<Enter>", lambda e: setText(self))
widget.bind("<Leave>", lambda e: showHelpLeave(self))
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()
def tabla():
global New_Ind_0, New_Ind_1, Amount_People, Index_Variables, Index_Gender
global Tabla_Datos, Lista_Indice, New_Ind_2, State_2, Var_G2, Var_G3
global Var_G6, Index_Var
State_0 = map((lambda var: var.get()), Variable_CB_0)
State_1 = Var_G2.get()
State_2 = Var_G3.get()
New_Ind_0 = []
New_Ind_1 = []
New_Ind_2 = []
print "Variables"
for i in range(len(State_0)):
if State_0[i] == 1:
print i, List_Variables[i]
New_Ind_0.append(Index_Variables[i])
print ''
print "Genero"
print State_1, List_Gender[State_1]
New_Ind_1.append(Index_Gender[State_1])
print ''
print "Parametro"
print State_2, List_Var[State_2]
New_Ind_2.append(Index_Var[State_2])
print ''
Flag_0 = 0 #Bandera para discriminar celdas vacias
Aux_0 = 0 #Auxiliar 0, valor de la celda de datos #Auxiliar 1, valor de la celda de la variable
Lista_Indice = [] #Lista donde se almacena el indice de la tabla de datos
Lista_Temp = [] #Vector auxiliar para armar la Matriz
Tabla_Datos = numpy.zeros(
(0, len(New_Ind_0)
)) #Matriz con los datos de dimensiones 0x(Numero de variables)
for i in range(2, Amount_People,
1): #Desde la primera Columna hasta la ultima
Flag_0 = 0 #Bandera en 0
for j in New_Ind_0: #Desde la primera Fila hasta la ultima
Aux_0 = Sheet.cell(
row=i, column=j
).value #Aux_0 toma el valor de datos de la celda leida #Aux_1 toma el valor de la variable en la misma fila
if Aux_0 is None or Val_Check(
i
) == 1: #Si ni la celda de la variable ni la del dato carecen de valor
Flag_0 = 1 #Bandera en 1
else:
Aux_0 = Sheet.cell(
row=i, column=j
).value * 1.0 #Valor de la tabla pasa de int a float
Lista_Temp.append(
Aux_0
) #Se crea una lista temporal con el valor de la celda de datos
if Flag_0 == 0: #Si la bandera no fue levantada
Tabla_Datos = numpy.vstack(
(Tabla_Datos, Lista_Temp)
) #Se agrega la lista de datos sobre la Tabla que se esta generando
Lista_Indice.append(
i) #Srea una lista indice de la tabla original del Excel
Lista_Temp = [
] #Se reinicia la lista para la siguiente fila #Devuelve la Tablaz y el Indice
global vart
vart = IntVar()
scale = Scale(top,
label=" Number of Clusters",
orient=HORIZONTAL,
variable=vart,
from_=2,
to=10,
length=200,
width=28)
scale.set(3)
scale.place(x=130, y=32, width=150)
Var_G6 = IntVar()
my_objects_5 = []
for i in range(3):
my_objects_5.append(MyClass(i))
k = 0
d = 0
for i in ["Kmeans", "MeanShift", "DBSCAN"]:
my_objects_5[k] = Radiobutton(top, text=i, variable=Var_G6, value=k)
my_objects_5[k].place(x=120, y=105 + d * 20)
k = k + 1
d = d + 1