def __init__(self):
print 'main controller class'
print 'making websocket server'
self.hand=MyRobotHand(self.showmsg)
self.he=MyHwEngine()
self.regjoints()
self.root=tk.Tk()
self.queue = Queue.Queue()
self.gui = gui.MyUI(self.root, self.queue, self.onexit, self.onuibutton)
self.showmsg('My WebSocket Secure Server')
self.showmsg('Python Software and Web Browser Bridge')
self.running = True
self.thread1 = threading.Thread(target=self.workerThread1)
self.thread1.start()
self.periodicCall()
self.root.mainloop()
class MainClass():
def __init__(self):
print 'main controller class'
print 'making websocket server'
self.hand=MyRobotHand(self.showmsg)
self.he=MyHwEngine()
self.regjoints()
self.root=tk.Tk()
self.queue = Queue.Queue()
self.gui = gui.MyUI(self.root, self.queue, self.onexit, self.onuibutton)
self.showmsg('My WebSocket Secure Server')
self.showmsg('Python Software and Web Browser Bridge')
self.running = True
self.thread1 = threading.Thread(target=self.workerThread1)
self.thread1.start()
self.periodicCall()
self.root.mainloop()
def regjoints(self):
self.he.registerjoint(self.hand.base)
self.he.registerjoint(self.hand.shoulder)
self.he.registerjoint(self.hand.bicep)
self.he.registerjoint(self.hand.elbow)
self.he.registerjoint(self.hand.handL)
self.he.registerjoint(self.hand.handR)
def periodicCall(self):
self.gui.processIncoming()
if not self.running:
import sys
sys.exit(1)
else:
pass
#print 'running'
self.root.after(100, self.periodicCall)
def workerThread1(self):
self.ws=None
port=9001
self.ws=MySimpleWssServer.MyWssServer(self, port)
self.t = threading.Thread(target=self.dostart)
self.t.setDaemon(True)
self.t.start()
print 'made'
self.showmsg('WebSocket Daemon Started on: '+str(port)+'\n\n')
def dostart(self):
self.ws.run_forever()
def onuibutton(self, val):
print 'onbutton=',val
if val=='Connect Arduino':
try:
self.he.start()
self.he.configjoints()
print 'configuring joint speed'
self.he.configjointspeed()
self.showmsg('connection initiated')
except:
box.showerror('Error', 'Can\'t Connect')
elif val=='Power ON':
if not self.he.hw.isconnected():
box.showerror('Warning', 'Arduino Not Connected')
return
self.he.pw_on()
elif val=='Power OFF':
if not self.he.hw.isconnected():
box.showerror('Warning', 'Arduino Not Connected')
return
self.he.pw_off()
elif val=='Test':
#self.hand.base.set(90)
self.hand.grip_open()
#call execution cycle now.
rsp=self.he.updatejoints()
#self.he.print_response(rsp)
print 'rsp=',rsp
elif val=='Test2':
#self.hand.base.set(120)
self.hand.grip_close()
rsp=self.he.updatejoints()
print 'rsp=',rsp
def onmsg(self, msg):
self.showmsg(msg)
print 'msg=', msg
if 'give_init' in msg:
print 'sending init infor'
try:
rsp=self.he.readjoints()
self.ws.send_msg('hw=base='+str(self.hand.base.getlastpos())+'='+msg+':'+'success')
self.ws.send_msg('hw=shoulder='+str(self.hand.shoulder.getlastpos())+'='+msg+':'+'success')
self.ws.send_msg('hw=bicep='+str(self.hand.bicep.getlastpos())+'='+msg+':'+'success')
self.ws.send_msg('hw=elbow='+str(self.hand.elbow.getlastpos())+'='+msg+':'+'success')
except:
print 'cant send init'
pass
try:
info=msg.split('=')
id=int(info[1])
val=int(info[2])
print 'id=',id,' val=',val
if id==21:
self.hand.base.moveto(val)
rsp=self.he.updatejoints()
print 'rsp=',rsp
elif id==22:
self.hand.shoulder.moveto(val)
rsp=self.he.updatejoints()
print 'rsp=',rsp
elif id==23:
self.hand.bicep.moveto(val)
rsp=self.he.updatejoints()
print 'rsp=',rsp
elif id==24:
self.hand.elbow.moveto(val)
rsp=self.he.updatejoints()
print 'rsp=',rsp
elif id==25 and val==1:
self.hand.grip_close()
rsp=self.he.updatejoints()
print 'rsp=',rsp
elif id==25 and val==0:
self.hand.grip_open()
rsp=self.he.updatejoints()
print 'rsp=',rsp
rsp=self.he.readjoints()
except:
pass
self.ws.send_msg('echo='+msg+' : '+'success')
def showmsg(self,msg):
self.queue.put(msg)
def onexit(self):
print 'onexit'
self.running=False
#self.ws.close()
import sys
sys.exit(0)
print 'closed'
'''
'''
def handleConnected(self):
print 'new client'
self.showmsg('new client')
'''
try:
rsp=self.he.readjoints()
self.ws.send_msg('base='+ str(self.hand.base.lastpos)+' : '+'success' )
self.ws.send_msg('shoulder='+ str(self.hand.shoulder.lastpos)+' : '+'success')
self.ws.send_msg('bicep='+ str(self.hand.bicep.lastpos)+' : '+'success')
self.ws.send_msg('elbow='+ str(self.hand.elbow.lastpos)+' : '+'success')
except:
print 'cant send init'
pass
'''
def handleClosed(self):
print 'closed'
self.showmsg('connection closed')