def configureFSM(self, callback):
"""Finite state machine for mouse-movement transitions"""
self.fsm = FSM('STOPPED', callback)
self.fsm.add_transition('LMB_PRESS', 'STOPPED', None, 'MOTION_IDLING')
self.fsm.add_transition('RMB_PRESS', 'STOPPED', None, 'TILT_IDLING')
self.fsm.add_transition('MOUSE_STOP', 'TILT_IDLING', None, 'TILT_IDLING')
self.fsm.add_transition('MOUSE_LEFT', 'TILT_IDLING', None, 'TILT_IDLING')
self.fsm.add_transition('MOUSE_RIGHT', 'TILT_IDLING', None, 'TILT_IDLING')
self.fsm.add_transition('MOUSE_UP', 'TILT_IDLING', 'tiltUp', 'TILT')
self.fsm.add_transition('MOUSE_DOWN', 'TILT_IDLING', 'tiltDown', 'TILT')
self.fsm.add_transition('MB_RELEASE', 'TILT_IDLING', None, 'STOPPED')
self.fsm.add_transition('MOUSE_LEFT', 'TILT', None, 'TILT')
self.fsm.add_transition('MOUSE_RIGHT', 'TILT', None, 'TILT')
self.fsm.add_transition('MOUSE_STOP', 'TILT', None, 'TILT')
self.fsm.add_transition('MOUSE_UP', 'TILT', 'tiltUp', 'TILT')
self.fsm.add_transition('MOUSE_DOWN', 'TILT', 'tiltDown', 'TILT')
self.fsm.add_transition('MB_RELEASE', 'TILT', None, 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'MOTION_IDLING', None, 'MOTION_IDLING')
self.fsm.add_transition('MOUSE_LEFT', 'MOTION_IDLING', 'spinLeft', 'SPIN')
self.fsm.add_transition('MOUSE_RIGHT', 'MOTION_IDLING', 'spinRight', 'SPIN')
self.fsm.add_transition('MOUSE_UP', 'MOTION_IDLING', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_DOWN', 'MOTION_IDLING', 'reverse', 'REVERSE')
self.fsm.add_transition('MB_RELEASE', 'MOTION_IDLING', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_LEFT', 'REVERSE', None, 'REVERSE')
self.fsm.add_transition('MOUSE_RIGHT', 'REVERSE', None, 'REVERSE')
self.fsm.add_transition('MOUSE_STOP', 'REVERSE', None, 'REVERSE')
self.fsm.add_transition('MOUSE_UP', 'REVERSE', 'slowDown', 'REVERSE')
self.fsm.add_transition('MOUSE_DOWN', 'REVERSE', 'speedUp', 'REVERSE')
self.fsm.add_transition('MB_RELEASE', 'REVERSE', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_LEFT', 'SPIN', 'spinLeft', 'SPIN')
self.fsm.add_transition('MOUSE_RIGHT', 'SPIN', 'spinRight', 'SPIN')
self.fsm.add_transition('MOUSE_STOP', 'SPIN', None, 'SPIN')
self.fsm.add_transition('MOUSE_UP', 'SPIN', None, 'SPIN')
self.fsm.add_transition('MOUSE_DOWN', 'SPIN', None, 'SPIN')
self.fsm.add_transition('MB_RELEASE', 'SPIN', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'FORWARD', None, 'FORWARD')
self.fsm.add_transition('MOUSE_LEFT', 'FORWARD', 'turnLeft', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_RIGHT', 'FORWARD', 'turnRight', 'TURN_RIGHT')
self.fsm.add_transition('MOUSE_UP', 'FORWARD', 'speedUp', 'SPEED_UP')
self.fsm.add_transition('MOUSE_DOWN', 'FORWARD', 'slowDown', 'SLOW_DOWN')
self.fsm.add_transition('MB_RELEASE', 'FORWARD', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'SPEED_UP', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_UP', 'SPEED_UP', 'speedUp', 'SPEED_UP')
self.fsm.add_transition('MOUSE_DOWN', 'SPEED_UP', 'slowDown', 'SLOW_DOWN')
self.fsm.add_transition('MOUSE_LEFT', 'SPEED_UP', 'turnLeft', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_RIGHT', 'SPEED_UP', 'turnRight', 'TURN_RIGHT')
self.fsm.add_transition('MB_RELEASE', 'SPEED_UP', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'SLOW_DOWN', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_UP', 'SLOW_DOWN', 'speedUp', 'SPEED_UP')
self.fsm.add_transition('MOUSE_DOWN', 'SLOW_DOWN', 'slowDown', 'SLOW_DOWN')
self.fsm.add_transition('MOUSE_LEFT', 'SLOW_DOWN', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_RIGHT', 'SLOW_DOWN', 'forward', 'FORWARD')
self.fsm.add_transition('MB_RELEASE', 'SLOW_DOWN', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'TURN_LEFT', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_LEFT', 'TURN_LEFT', 'turnLeft', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_RIGHT', 'TURN_LEFT', 'turnRight', 'TURN_RIGHT')
self.fsm.add_transition('MOUSE_UP', 'TURN_LEFT', 'forward', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_DOWN', 'TURN_LEFT', 'forward', 'TURN_LEFT')
self.fsm.add_transition('MB_RELEASE', 'TURN_LEFT', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'TURN_RIGHT', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_LEFT', 'TURN_RIGHT', 'turnLeft', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_RIGHT', 'TURN_RIGHT', 'turnRight', 'TURN_RIGHT')
self.fsm.add_transition('MOUSE_UP', 'TURN_RIGHT', 'forward', 'TURN_RIGHT')
self.fsm.add_transition('MOUSE_DOWN', 'TURN_RIGHT', 'forward', 'TURN_RIGHT')
self.fsm.add_transition('MB_RELEASE', 'TURN_RIGHT', 'stop', 'STOPPED')
class ClientPanel(DevicePanel):
"""Customized wx panel for controllable vehicle"""
def __init__(self, parent, id, callback=defaultaction):
# adjustables
width = 600
height = 600
# baseclass constructor
DevicePanel.__init__(self, parent, id, callback)
# control window
panelid = wx.NewId()
self.panel = wx.Panel(self, panelid, size=(width,height), style=wx.SIMPLE_BORDER)
# status
self.text = wx.StaticText(self, -1, "", (width, 100), (width, -1), wx.ALIGN_CENTER)
font = wx.Font(18, wx.SWISS, wx.NORMAL, wx.NORMAL)
self.text.SetFont(font)
# event handler callbacks
em.eventManager.Register(self.onMouseClick, wx.EVT_LEFT_DOWN, self.panel)
em.eventManager.Register(self.onMouseRelease, wx.EVT_LEFT_UP, self.panel)
em.eventManager.Register(self.onMouseClick, wx.EVT_RIGHT_DOWN, self.panel)
em.eventManager.Register(self.onMouseRelease, wx.EVT_RIGHT_UP, self.panel)
em.eventManager.Register(self.OnPaint, wx.EVT_PAINT, self.panel)
em.eventManager.Register(self.onMove, wx.EVT_MOTION, self.panel)
em.eventManager.Register(self.onLeavePanel, wx.EVT_LEAVE_WINDOW, self.panel)
em.eventManager.Register(self.onEnterPanel, wx.EVT_ENTER_WINDOW, self.panel)
wx.EVT_TIMER(self,-1, self.onTimer)
# device context isn't available until window is actually drawn
self.dc = None
# rather than reacting to all mouse movements, we accumulate
# and send updates at fixed intervals
self.interval = 100
self.timer = None
# number of pixels mouse has to move in a polling period to register
self.xsensitivity = 3
self.ysensitivity = 3
# set up finite state machine transitions
self.configureFSM(self.onTransition)
# how to do this automatically?
self._sizer.Add(self.panel)
self._sizer.Add(self.text)
self._sizer.Fit(self)
def onTransition(self, method):
self.callback(self.device, method)
print self.device, method
#self.callback(method)
# update text in GUI to match finite state machine
self.text.SetLabel(method)
def configureFSM(self, callback):
"""Finite state machine for mouse-movement transitions"""
self.fsm = FSM('STOPPED', callback)
self.fsm.add_transition('LMB_PRESS', 'STOPPED', None, 'MOTION_IDLING')
self.fsm.add_transition('RMB_PRESS', 'STOPPED', None, 'TILT_IDLING')
self.fsm.add_transition('MOUSE_STOP', 'TILT_IDLING', None, 'TILT_IDLING')
self.fsm.add_transition('MOUSE_LEFT', 'TILT_IDLING', None, 'TILT_IDLING')
self.fsm.add_transition('MOUSE_RIGHT', 'TILT_IDLING', None, 'TILT_IDLING')
self.fsm.add_transition('MOUSE_UP', 'TILT_IDLING', 'tiltUp', 'TILT')
self.fsm.add_transition('MOUSE_DOWN', 'TILT_IDLING', 'tiltDown', 'TILT')
self.fsm.add_transition('MB_RELEASE', 'TILT_IDLING', None, 'STOPPED')
self.fsm.add_transition('MOUSE_LEFT', 'TILT', None, 'TILT')
self.fsm.add_transition('MOUSE_RIGHT', 'TILT', None, 'TILT')
self.fsm.add_transition('MOUSE_STOP', 'TILT', None, 'TILT')
self.fsm.add_transition('MOUSE_UP', 'TILT', 'tiltUp', 'TILT')
self.fsm.add_transition('MOUSE_DOWN', 'TILT', 'tiltDown', 'TILT')
self.fsm.add_transition('MB_RELEASE', 'TILT', None, 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'MOTION_IDLING', None, 'MOTION_IDLING')
self.fsm.add_transition('MOUSE_LEFT', 'MOTION_IDLING', 'spinLeft', 'SPIN')
self.fsm.add_transition('MOUSE_RIGHT', 'MOTION_IDLING', 'spinRight', 'SPIN')
self.fsm.add_transition('MOUSE_UP', 'MOTION_IDLING', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_DOWN', 'MOTION_IDLING', 'reverse', 'REVERSE')
self.fsm.add_transition('MB_RELEASE', 'MOTION_IDLING', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_LEFT', 'REVERSE', None, 'REVERSE')
self.fsm.add_transition('MOUSE_RIGHT', 'REVERSE', None, 'REVERSE')
self.fsm.add_transition('MOUSE_STOP', 'REVERSE', None, 'REVERSE')
self.fsm.add_transition('MOUSE_UP', 'REVERSE', 'slowDown', 'REVERSE')
self.fsm.add_transition('MOUSE_DOWN', 'REVERSE', 'speedUp', 'REVERSE')
self.fsm.add_transition('MB_RELEASE', 'REVERSE', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_LEFT', 'SPIN', 'spinLeft', 'SPIN')
self.fsm.add_transition('MOUSE_RIGHT', 'SPIN', 'spinRight', 'SPIN')
self.fsm.add_transition('MOUSE_STOP', 'SPIN', None, 'SPIN')
self.fsm.add_transition('MOUSE_UP', 'SPIN', None, 'SPIN')
self.fsm.add_transition('MOUSE_DOWN', 'SPIN', None, 'SPIN')
self.fsm.add_transition('MB_RELEASE', 'SPIN', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'FORWARD', None, 'FORWARD')
self.fsm.add_transition('MOUSE_LEFT', 'FORWARD', 'turnLeft', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_RIGHT', 'FORWARD', 'turnRight', 'TURN_RIGHT')
self.fsm.add_transition('MOUSE_UP', 'FORWARD', 'speedUp', 'SPEED_UP')
self.fsm.add_transition('MOUSE_DOWN', 'FORWARD', 'slowDown', 'SLOW_DOWN')
self.fsm.add_transition('MB_RELEASE', 'FORWARD', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'SPEED_UP', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_UP', 'SPEED_UP', 'speedUp', 'SPEED_UP')
self.fsm.add_transition('MOUSE_DOWN', 'SPEED_UP', 'slowDown', 'SLOW_DOWN')
self.fsm.add_transition('MOUSE_LEFT', 'SPEED_UP', 'turnLeft', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_RIGHT', 'SPEED_UP', 'turnRight', 'TURN_RIGHT')
self.fsm.add_transition('MB_RELEASE', 'SPEED_UP', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'SLOW_DOWN', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_UP', 'SLOW_DOWN', 'speedUp', 'SPEED_UP')
self.fsm.add_transition('MOUSE_DOWN', 'SLOW_DOWN', 'slowDown', 'SLOW_DOWN')
self.fsm.add_transition('MOUSE_LEFT', 'SLOW_DOWN', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_RIGHT', 'SLOW_DOWN', 'forward', 'FORWARD')
self.fsm.add_transition('MB_RELEASE', 'SLOW_DOWN', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'TURN_LEFT', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_LEFT', 'TURN_LEFT', 'turnLeft', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_RIGHT', 'TURN_LEFT', 'turnRight', 'TURN_RIGHT')
self.fsm.add_transition('MOUSE_UP', 'TURN_LEFT', 'forward', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_DOWN', 'TURN_LEFT', 'forward', 'TURN_LEFT')
self.fsm.add_transition('MB_RELEASE', 'TURN_LEFT', 'stop', 'STOPPED')
self.fsm.add_transition('MOUSE_STOP', 'TURN_RIGHT', 'forward', 'FORWARD')
self.fsm.add_transition('MOUSE_LEFT', 'TURN_RIGHT', 'turnLeft', 'TURN_LEFT')
self.fsm.add_transition('MOUSE_RIGHT', 'TURN_RIGHT', 'turnRight', 'TURN_RIGHT')
self.fsm.add_transition('MOUSE_UP', 'TURN_RIGHT', 'forward', 'TURN_RIGHT')
self.fsm.add_transition('MOUSE_DOWN', 'TURN_RIGHT', 'forward', 'TURN_RIGHT')
self.fsm.add_transition('MB_RELEASE', 'TURN_RIGHT', 'stop', 'STOPPED')
def onTimer(self, event):
# compare with previous position
xdelta = self.position[0] - self.last_position[0]
ydelta = self.position[1] - self.last_position[1]
# mouse moving appreciably left
if abs(xdelta) > self.xsensitivity:
if xdelta < 0:
input_symbol = "MOUSE_LEFT"
else:
input_symbol = "MOUSE_RIGHT"
# mouse moving appreciably right
elif abs(ydelta) > self.ysensitivity:
if ydelta < 0:
input_symbol = "MOUSE_UP"
else:
input_symbol = "MOUSE_DOWN"
else:
input_symbol = "MOUSE_STOP"
# finite state machine action
self.fsm.process( input_symbol )
# needed to calculate the mouse movement delta
self.last_position = self.position
def OnPaint(self, event):
"""Called on startup and window refresh"""
# drawing requires a device context, initialize if necessary
if not self.dc:
self.dc = wx.ClientDC(self.panel)
self.PrepareDC(self.dc)
self.dc.SetPen(wx.Pen("BLACK"))
self.dc.SetBrush(wx.Brush("BLACK"))
self.dc.SetBackground(wx.Brush("RED"))
self.dc.Clear()
def onMouseClick(self, event):
"""Mouse Button Pressed"""
# sanity check, old timer should have been nixed prior to new left click ...
if self.timer:
return
# current mouse coords are our new "zero" position
self.position = event.GetPosition()
self.last_position = self.position
# state machine action
if event.LeftDown():
self.fsm.process( "LMB_PRESS" )
elif event.RightDown():
self.fsm.process( "RMB_PRESS" )
# green for go
self.dc.SetBackground(wx.Brush("GREEN"))
self.dc.Clear()
# callback in milliseconds
self.timer = wx.Timer(self)
self.timer.Start(self.interval)
def onEnterPanel(self, event):
"""Mouse moved into control area"""
self.dc.SetBackground(wx.Brush("YELLOW"))
self.dc.Clear()
def onLeavePanel(self, event):
"""Mouse moved outside window border"""
# stop moving if cursor leaves control area ...
self.removeTimer()
# red for stopped
self.dc.SetBackground(wx.Brush("RED"))
self.dc.Clear()
def onMouseRelease(self, event):
"""Mouse Button Released"""
self.removeTimer()
# yellow for yield
self.dc.SetBackground(wx.Brush("YELLOW"))
self.dc.Clear()
def removeTimer( self ):
if self.timer:
self.timer.Stop()
del self.timer
self.timer = None
# state machine action
self.fsm.process( "MB_RELEASE" )
def onMove(self, event):
"""Capture mouse movement events"""
# only if left mouse is down ...
if self.timer:
self.position = event.GetPosition()
