class MainFrame(Frame):
def __init__(self, master=None):
Frame.__init__(self, master)
self.root = master
self.createPage()
def createPage(self):
Button(self, text='连接', command=self.connect).grid(row=0,
sticky=W,
pady=10)
Label(self, text='vx:').grid(row=1, sticky=E)
Label(self, text='vy:').grid(row=2, sticky=E)
Label(self, text='vw:').grid(row=3, sticky=E)
self.entry_vx = Entry(self)
self.entry_vy = Entry(self)
self.entry_vw = Entry(self)
self.entry_vx.grid(row=1, column=1)
self.entry_vy.grid(row=2, column=1)
self.entry_vw.grid(row=3, column=1)
self.entry_vx.insert(0, '0')
self.entry_vy.insert(0, '0')
self.entry_vw.insert(0, '0')
Button(self, text='设置速度', command=self.set_speed).grid(row=4,
column=3,
sticky=W,
pady=10)
Label(self, text='x:').grid(row=5, sticky=E)
Label(self, text='y:').grid(row=6, sticky=E)
Label(self, text='yaw:').grid(row=7, sticky=E)
self.entry_x = Entry(self)
self.entry_y = Entry(self)
self.entry_yaw = Entry(self)
self.entry_x.grid(row=5, column=1)
self.entry_y.grid(row=6, column=1)
self.entry_yaw.grid(row=7, column=1)
self.entry_x.insert(0, '0')
self.entry_y.insert(0, '0')
self.entry_yaw.insert(0, '0')
Button(self, text='设置位置', command=self.set_pose).grid(row=8,
column=3,
sticky=W,
pady=10)
def connect(self):
# 创建连接
self.robot = Transport(HOST, PORT)
# 设置机器人信息反馈回调函数
self.robot.subscribe_speed(print_speed)
self.robot.subscribe_pose(print_pose)
# 启动连接
self.robot.connect()
keep = threading.Thread(target=self.keep_connection, name='connection')
keep.setDaemon(True)
keep.start()
def keep_connection(self):
# 保持连接
self.robot.keep_alive(5)
def set_speed(self):
vx = float(self.entry_vx.get())
vy = float(self.entry_vy.get())
vw = float(self.entry_vw.get())
self.robot.set_speed(vx, vy, vw)
def set_pose(self):
x = float(self.entry_x.get())
y = float(self.entry_y.get())
yaw = float(self.entry_yaw.get())
self.robot.set_pose(x, y, yaw)
#coding=utf-8
''' demo '''
from __future__ import print_function
from Transport import Transport
from Config import HOST, PORT
def print_speed(speed):
print(u'[机器人速度] x:', speed[0], ' y:', speed[1], ' w:', speed[2])
def print_pose(pose):
print(u'[机器人位置] x:', pose[0], ' y:', pose[1], ' yaw:', pose[2])
if __name__ == "__main__":
# 创建连接
robot = Transport(HOST, PORT)
# 设置机器人信息反馈回调函数
robot.subscribe_speed(print_speed)
robot.subscribe_pose(print_pose)
# 启动连接
robot.connect()
# 保持连接
robot.keep_alive(5)
