class Controller():
"""Controller for GUI"""
def __init__(self):
self.AUV = AUV()
self.AUV.start() # Magnet killswitch = 1
def load_default_params(self):
"""Change current parameters back to default parameters"""
self.AUV.config.reset_option('auv', 'tasks')
self.AUV.config.reset_option('auv', 'motor')
def change_params(self):
"""Opens the config file"""
os.system('gedit config/config.ini')
def start_auto_mode(self, value):
"""Checkbox to determine if AUV starts in auto mode when turned on"""
self.AUV.config.set_config('auv', 'start_auto_mode', value)
def manual_mode(self):
"""Manual mode selected (Keyboard)"""
# task.cv_controller.stop()
pass
def manual_move(self, direction, power, rotation, depth):
"""Manual movement of the sub based on button press"""
directions = {
'brake': '`',
'forward': 'w',
'backward': 's',
'strafe_l': 'q',
'strafe_r': 'e',
'rotate_l': 'a',
'rotate_r': 'd',
'up': 'r',
'down': 'f'
}
if any(x in directions[direction] for x in ['w', 'q', 'e', 's']):
self.AUV.keyboard.set_power(m_power=power)
elif any(x in directions[direction] for x in ['a', 'd']):
self.AUV.keyboard.set_power(r_power=power)
elif any(x in directions[direction] for x in ['r', 'f']):
self.AUV.keyboard.set_power(h_power=power)
self.AUV.keyboard.navigate(directions[direction], rotation, depth)
os.system('killall -9 roscore')
os.system('killall -9 rosmaster')
os.system('killall -9 rosout')
roscore = subprocess.Popen('roscore')
time.sleep(1)
return roscore
return False
if __name__ == '__main__':
roscore = start_roscore()
AUV = AUV() # initialize AUV() class
print(
'\n***Plug in magnet after setting up configurations to start AUV.***')
print('\n***Set motor state to on (4) to start motors.***')
AUV.start(
) # TESTING PURPOSES ONLY. REMOVE AFTER TESTING (simulates magnet killswitch = 1 ########################
CLI().cmdloop() # run AUV command interpreter
# close roscore and rosmaster on exit if opened by CLI
if (roscore):
subprocess.Popen.kill(roscore)
os.system('killall -9 rosmaster')
os.system('killall -9 rosout')
class Controller():
""" Controller for GUI"""
def __init__(self):
self.AUV = AUV()
self.AUV.start() # Magnet killswitch = 1
def load_default_params(self):
""" Change current parameters back to default parameters"""
config.reset_option('auv', 'tasks')
config.reset_option('auv', 'motor')
def change_params(self):
""" Opens the config file and updates the parameters"""
self.AUV.open_config()
def get_auto_mode_state(self):
""" Get the start_auto_mode from config.ini"""
return config.get_config('auv', 'start_auto_mode') == 1
def set_auto_mode_state(self, value):
""" Checkbox to determine if AUV starts in auto mode when turned on"""
config.set_config('auv', 'start_auto_mode', value)
def get_task_list(self):
""" Get the list of tasks from config.ini"""
return config.get_config('auv', 'tasks')
def read_task_button(self, text):
""" Read task string from button press"""
if text == 'start tasks':
self.AUV.perform_tasks()
elif text == 'stop tasks':
self.AUV.stop_task()
else:
self.AUV.specific_task_for_gui(text)
def get_color_task(self):
""" Get the task from lower_color"""
return config.get_config('cv', 'lower_color')[0]
def update_color(self, task_name, range0, range1, range2):
""" Read task name and slider range values from GUI"""
lower_color = (task_name + ', ' + str(range0[0]) + ', ' +
str(range1[0]) + ', ' + str(range2[0]))
upper_color = (task_name + ', ' + str(range0[1]) + ', ' +
str(range1[1]) + ', ' + str(range2[1]))
config.set_config('cv', 'lower_color', lower_color)
config.set_config('cv', 'upper_color', upper_color)
self.AUV.update_color()
def manual_mode(self):
""" Manual mode selected (Keyboard)"""
# task.cv_controller.stop()
pass
def manual_move(self, direction, power, rotation, depth):
""" Manual movement of the sub based on button press"""
directions = {
'brake': '`',
'forward': 'w',
'backward': 's',
'strafe_l': 'q',
'strafe_r': 'e',
'rotate_l': 'a',
'rotate_r': 'd',
'up': 'r',
'down': 'f'
}
if any(x in directions[direction] for x in ['w', 'q', 'e', 's']):
self.AUV.keyboard.set_power(m_power=power)
elif any(x in directions[direction] for x in ['a', 'd']):
self.AUV.keyboard.set_power(r_power=power)
elif any(x in directions[direction] for x in ['r', 'f']):
self.AUV.keyboard.set_power(h_power=power)
self.AUV.keyboard.navigate(directions[direction], rotation, depth)