def __init__(self, node):
msg.MessageObserver.__init__(self)
self.node = node
self.auv = control.AUV(node)
self.motor_state_lock = threading.Lock()
self.motor_state = {}
self.motor_state[msg.MotorID.Prop] = 0
self.motor_state[msg.MotorID.HBow] = 0
self.motor_state[msg.MotorID.VBow] = 0
self.motor_state[msg.MotorID.HStern] = 0
self.motor_state[msg.MotorID.VStern] = 0
self.bearing = 0
self.pitch = 0
self.depth = 0
self.strafe = 0
self.prop = 0
self.last_telemetry_lock = threading.Lock()
self.last_telemetry = None
self.tk = tk.Tk()
self.tk.bind_all('<Key>', self.onKey)
#self.tk.withdraw()
self.frame = tk.Frame(self.tk)
self.frame.grid()
self.motorlabel = tk.Label(self.frame, text=self.motorText())
self.motorlabel.grid(row=1, column=1)
self.telemetrylabel = tk.Label(self.frame, text=self.telemetryText())
self.telemetrylabel.grid(row=2, column=1)
self.demandlabel = tk.Label(self.frame, text=self.demandText())
self.demandlabel.grid(row=2, column=1)
self.display_tick()
self.node.addObserver(self)
self.node.subMessage(msg.TelemetryMessage())
self.node.subMessage(msg.MotorStateMessage())
+ p_Controller + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_MotorDemand \
+ r).streamline()
p_ControllerStateMessage.setParseAction(lambda x: messaging.ControllerStateMessage(*x[0]))
p_MotorStateMessage = pp.Group(l \
+ p_MotorID + c \
+ p_int \
+ r).streamline()
p_MotorStateMessage.setParseAction(lambda x: messaging.MotorStateMessage(*x[0]))
p_ScriptResponseMessage = pp.Group(l \
+ p_ScriptResponse \
+ r).streamline()
p_ScriptResponseMessage.setParseAction(lambda x: messaging.ScriptResponseMessage(*x[0]))
p_GraphableMessage = pp.Group(l \
+ p_str + c \
+ p_float \
+ r).streamline()
p_GraphableMessage.setParseAction(lambda x: messaging.GraphableMessage(*x[0]))
p_NodeAddedMessage = pp.Group(l \
+ p_str + c \
+ p_int + c \
+ p_NodeType + c \
+ p_LocalNodeInputNodeOutputMap + c \
+ p_LocalNodeOutputNodeInputVecMap + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_MotorDemand \
+ r).streamline()
p_ControllerStateMessage.setParseAction(
lambda x: messaging.ControllerStateMessage(*x[0]))
p_MotorStateMessage = pp.Group(l \
+ p_MotorID + c \
+ p_int \
+ r).streamline()
p_MotorStateMessage.setParseAction(
lambda x: messaging.MotorStateMessage(*x[0]))
p_ScriptResponseMessage = pp.Group(l \
+ p_ScriptResponse \
+ r).streamline()
p_ScriptResponseMessage.setParseAction(
lambda x: messaging.ScriptResponseMessage(*x[0]))
p_GraphableMessage = pp.Group(l \
+ p_str + c \
+ p_float \
+ r).streamline()
p_GraphableMessage.setParseAction(lambda x: messaging.GraphableMessage(*x[0]))
p_NodeAddedMessage = pp.Group(l \
+ p_str + c \
+ p_int + c \
+ p_NodeType + c \
+ p_LocalNodeInputNodeOutputMap + c \
