class AutonomousTester:
def __init__(self):
self.initialized = False
self.init_time = None
self.chooser = None
self.state = "auto"
self.currentChoice = None
self.until = None
def initialize_chooser(self, tm):
if self.chooser is None:
self.chooser = ChooserControl("Autonomous Mode")
self.choices = self.chooser.getChoices()
if len(self.choices) == 0:
return False
self.state = "disabled"
self.currentChoice = -1
self.until = tm
self.init_time = tm
self.initialized = True
return True
def on_step(self, tm):
if not self.initialized:
if not self.initialize_chooser(tm):
assert (
tm < 10
), "Robot didn't create a chooser within 10 seconds, probably an error"
return True
if self.state == "auto":
if tm >= self.until:
self.until = tm + 1
self.state = "disabled"
control.set_operator_control(enabled=False)
elif self.state == "disabled":
if tm >= self.until:
control.set_autonomous()
self.state = "auto"
self.until = tm + autonomous_seconds
self.currentChoice += 1
if self.currentChoice >= len(self.choices):
return False
self.chooser.setSelected(self.choices[self.currentChoice])
return True
class AutonomousTester:
def __init__(self):
self.initialized = False
self.init_time = None
self.chooser = None
self.state = "auto"
self.currentChoice = None
self.until = None
def initialize_chooser(self, tm):
if self.chooser is None:
self.chooser = ChooserControl("Autonomous Mode")
self.choices = self.chooser.getChoices()
if len(self.choices) == 0:
return False
self.state = "disabled"
self.currentChoice = -1
self.until = tm
self.init_time = tm
self.initialized = True
return True
def on_step(self, tm):
if not self.initialized:
if not self.initialize_chooser(tm):
assert (
tm < 10
), "Robot didn't create a chooser within 10 seconds, probably an error"
return True
if self.state == "auto":
if tm >= self.until:
self.until = tm + 1
self.state = "disabled"
control.set_operator_control(enabled=False)
elif self.state == "disabled":
if tm >= self.until:
control.set_autonomous()
self.state = "auto"
self.until = tm + autonomous_seconds
self.currentChoice += 1
if self.currentChoice >= len(self.choices):
return False
self.chooser.setSelected(self.choices[self.currentChoice])
return True
def initialize_chooser(self, tm):
if self.chooser is None:
self.chooser = ChooserControl('Autonomous Mode')
self.choices = self.chooser.getChoices()
if len(self.choices) == 0:
return False
self.state = 'disabled'
self.currentChoice = -1
self.until = tm
self.init_time = tm
self.initialized = True
return True
def test_chooser_control(nt):
c = ChooserControl('Autonomous Mode')
assert c.getChoices() == ()
assert c.getSelected() is None
c.setSelected("foo")
assert c.getSelected() == 'foo'
t = nt.getTable('/SmartDashboard/Autonomous Mode')
assert t.getString('selected', None) == 'foo'
t.putStringArray('options', ('option1', 'option2'))
assert c.getChoices() == ('option1', 'option2')
def test_chooser_control(nt):
c = ChooserControl("Autonomous Mode", inst=nt)
assert c.getChoices() == ()
assert c.getSelected() is None
c.setSelected("foo")
assert c.getSelected() == "foo"
t = nt.getTable("/SmartDashboard/Autonomous Mode")
assert t.getString("selected", None) == "foo"
t.putStringArray("options", ("option1", "option2"))
assert c.getChoices() == ("option1", "option2")
def test_chooser_control(nt):
c = ChooserControl("Autonomous Mode")
assert c.getChoices() == ()
assert c.getSelected() is None
c.setSelected("foo")
assert c.getSelected() == "foo"
t = nt.getTable("/SmartDashboard/Autonomous Mode")
assert t.getString("selected", None) == "foo"
t.putStringArray("options", ("option1", "option2"))
assert c.getChoices() == ("option1", "option2")
def test_chooser_control(nt):
c = ChooserControl('Autonomous Mode')
assert c.getChoices() == ()
assert c.getSelected() is None
c.setSelected("foo")
assert c.getSelected() == 'foo'
t = nt.getTable('/SmartDashboard/Autonomous Mode')
assert t.getString('selected') == 'foo'
t.putStringArray('options', ('option1', 'option2'))
assert c.getChoices() == ('option1', 'option2')
def _setup_widgets(self, frame):
top = tk.Frame(frame)
top.grid(column=0, row=0)
bottom = tk.Frame(frame)
bottom.grid(column=0, row=1)
self.field = RobotField(frame, self.manager, self.config_obj)
self.field.grid(column=1, row=0, rowspan=2)
# status bar
self.status = tk.Label(frame, bd=1, relief=tk.SUNKEN, anchor=tk.E)
self.status.grid(column=0, row=2, columnspan=2, sticky=tk.W + tk.E)
# analog
slot = tk.LabelFrame(top, text="Analog")
self.analog = []
for i in range(len(hal_data["analog_in"])):
if hal_data["analog_in"][i]["initialized"] or hal_data["analog_out"][i]["initialized"]:
label = tk.Label(slot, text=str(i))
label.grid(column=0, row=i + 1)
vw = ValueWidget(slot, clickable=True, minval=-10.0, maxval=10.0)
vw.grid(column=1, row=i + 1)
self.set_tooltip(vw, "analog", i)
else:
vw = None
self.analog.append(vw)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
# digital
slot = tk.LabelFrame(top, text="Digital")
label = tk.Label(slot, text="PWM")
label.grid(column=0, columnspan=4, row=0)
self.pwm = []
for i in range(len(hal_data["pwm"])):
if hal_data["pwm"][i]["initialized"]:
c = i // 10
label = tk.Label(slot, text=str(i))
label.grid(column=0 + 2 * c, row=1 + i % 10)
vw = ValueWidget(slot)
vw.grid(column=1 + 2 * c, row=1 + i % 10)
self.set_tooltip(vw, "pwm", i)
else:
vw = None
self.pwm.append(vw)
label = tk.Label(slot, text="Digital I/O")
label.grid(column=4, columnspan=6, row=0)
self.dio = []
for i in range(len(hal_data["dio"])):
if hal_data["dio"][i]["initialized"]:
c = i // 9
label = tk.Label(slot, text=str(i))
label.grid(column=4 + c * 2, row=1 + i % 9)
pi = PanelIndicator(slot, clickable=True)
pi.grid(column=5 + c * 2, row=1 + i % 9)
self.set_tooltip(pi, "dio", i)
else:
pi = None
self.dio.append(pi)
label = tk.Label(slot, text="Relay")
label.grid(column=10, columnspan=2, row=0, padx=5)
self.relays = []
for i in range(len(hal_data["relay"])):
if hal_data["relay"][i]["initialized"]:
label = tk.Label(slot, text=str(i))
label.grid(column=10, row=1 + i, sticky=tk.E)
pi = PanelIndicator(slot)
pi.grid(column=11, row=1 + i)
self.set_tooltip(pi, "relay", i)
else:
pi = None
self.relays.append(pi)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
csfm = tk.Frame(top)
# solenoid
slot = tk.LabelFrame(csfm, text="Solenoid")
self.solenoids = []
for i in range(len(hal_data["solenoid"])):
label = tk.Label(slot, text=str(i))
c = int(i / 2) * 2
r = i % 2
label.grid(column=0 + c, row=r)
pi = PanelIndicator(slot)
pi.grid(column=1 + c, row=r)
self.set_tooltip(pi, "solenoid", i)
self.solenoids.append(pi)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
# CAN
self.can_slot = tk.LabelFrame(csfm, text="CAN")
self.can_slot.pack(side=tk.LEFT, fill=tk.BOTH, expand=1, padx=5)
self.can_mode_map = {
tsrxc.kMode_CurrentCloseLoop: "PercentVbus",
tsrxc.kMode_DutyCycle: "PercentVbus",
tsrxc.kMode_NoDrive: "Disabled",
tsrxc.kMode_PositionCloseLoop: "Position",
tsrxc.kMode_SlaveFollower: "Follower",
tsrxc.kMode_VelocityCloseLoop: "Speed",
tsrxc.kMode_VoltCompen: "Voltage",
}
self.can = {}
# detect new devices
for k in sorted(hal_data["CAN"].keys()):
self._add_CAN(k, hal_data["CAN"][k])
csfm.pack(side=tk.LEFT, fill=tk.Y)
# joysticks
slot = tk.LabelFrame(bottom, text="Joysticks")
self.joysticks = []
for i in range(4):
axes = []
buttons = []
col = 1 + i * 3
row = 0
label = tk.Label(slot, text="Stick %s" % i)
label.grid(column=col, columnspan=3, row=row)
row += 1
# TODO: make this configurable
for j, t in enumerate(["X", "Y", "Z", "T", "4", "5"]):
label = tk.Label(slot, text=t)
label.grid(column=col, row=row)
vw = ValueWidget(slot, clickable=True, default=0.0)
vw.grid(column=col + 1, row=row, columnspan=2)
self.set_joy_tooltip(vw, i, "axes", t)
axes.append(vw)
row += 1
# POV: this needs improvement
label = tk.Label(slot, text="POV")
label.grid(column=col, row=row)
pov = ValueWidget(slot, clickable=True, default=-1, minval=-1, maxval=360, step=45, round_to_step=True)
pov.grid(column=col + 1, row=row, columnspan=2)
row += 1
for j in range(1, 11):
var = tk.IntVar()
ck = tk.Checkbutton(slot, text=str(j), variable=var)
ck.grid(column=col + 1 + (1 - j % 2), row=row + int((j - 1) / 2))
self.set_joy_tooltip(ck, i, "buttons", j)
buttons.append((ck, var))
self.joysticks.append((axes, buttons, [pov]))
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
ctrl_frame = tk.Frame(bottom)
# timing control
timing_control = tk.LabelFrame(ctrl_frame, text="Time")
def _set_realtime():
if realtime_mode.get() == 0:
step_button.pack_forget()
step_entry.pack_forget()
self.on_pause(False)
else:
step_button.pack(fill=tk.X)
step_entry.pack()
self.on_pause(True)
realtime_mode = tk.IntVar()
button = tk.Radiobutton(timing_control, text="Run", variable=realtime_mode, value=0, command=_set_realtime)
button.pack(fill=tk.X)
button = tk.Radiobutton(timing_control, text="Pause", variable=realtime_mode, value=1, command=_set_realtime)
button.pack(fill=tk.X)
step_button = tk.Button(timing_control, text="Step", command=self.on_step_time)
self.step_entry = tk.StringVar()
self.step_entry.set("0.025")
step_entry = tk.Entry(timing_control, width=6, textvariable=self.step_entry)
Tooltip.create(step_button, "Click this to increment time by the step value")
Tooltip.create(step_entry, "Time to step (in seconds)")
realtime_mode.set(0)
timing_control.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
# simulation control
sim = tk.LabelFrame(ctrl_frame, text="Robot")
self.state_buttons = []
self.mode = tk.IntVar()
def _set_mode():
self.manager.set_mode(self.mode.get())
button = tk.Radiobutton(
sim, text="Disabled", variable=self.mode, value=self.manager.MODE_DISABLED, command=_set_mode
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim, text="Autonomous", variable=self.mode, value=self.manager.MODE_AUTONOMOUS, command=_set_mode
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim, text="Teleoperated", variable=self.mode, value=self.manager.MODE_OPERATOR_CONTROL, command=_set_mode
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text="Test", variable=self.mode, value=self.manager.MODE_TEST, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
self.robot_dead = tk.Label(sim, text="Robot died!", fg="red")
sim.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
#
# Set up a combo box that allows you to select an autonomous
# mode in the simulator
#
try:
from tkinter.ttk import Combobox
except:
pass
else:
auton = tk.LabelFrame(ctrl_frame, text="Autonomous")
self.autobox = Combobox(auton, state="readonly")
self.autobox.bind("<<ComboboxSelected>>", self.on_auton_selected)
self.autobox["width"] = 12
self.autobox.pack(fill=tk.X)
Tooltip.create(self.autobox, "Use robotpy_ext.autonomous.AutonomousModeSelector to use this selection box")
from networktables.util import ChooserControl
self.auton_ctrl = ChooserControl(
"Autonomous Mode",
lambda v: self.idle_add(self.on_auton_choices, v),
lambda v: self.idle_add(self.on_auton_selection, v),
)
auton.pack(side=tk.TOP)
ctrl_frame.pack(side=tk.LEFT, fill=tk.Y)
class SimUI(object):
def __init__(self, manager, fake_time, config_obj):
"""
initializes all default values and creates
a board, waits for run() to be called
to start the board
manager - sim manager class instance
"""
self.manager = manager
self.fake_time = fake_time
self.config_obj = config_obj
# Set up idle_add
self.queue = queue.Queue()
self.root = tk.Tk()
self.root.wm_title("PyFRC Robot Simulator v%s" % __version__)
# setup mode switch
frame = tk.Frame(self.root)
frame.pack(side=tk.TOP, anchor=tk.W)
self._setup_widgets(frame)
self.root.resizable(width=0, height=0)
self.mode_start_tm = 0
self.text_id = None
# connect to the controller
self.manager.on_mode_change(lambda mode: self.idle_add(self.on_robot_mode_change, mode))
self.on_robot_mode_change(self.manager.get_mode())
# create pygame joystick if supported
try:
from .pygame_joysticks import UsbJoysticks
except ImportError:
logger.warn("pygame not detected, real joystick support not loaded")
self.usb_joysticks = None
else:
self.usb_joysticks = UsbJoysticks(self)
logger.info("pygame was detected, real joystick support loaded!")
try:
self.root.lift()
self.root.attributes("-topmost", True)
self.root.attributes("-topmost", False)
except Exception:
pass
self.timer_fired()
def _setup_widgets(self, frame):
top = tk.Frame(frame)
top.grid(column=0, row=0)
bottom = tk.Frame(frame)
bottom.grid(column=0, row=1)
self.field = RobotField(frame, self.manager, self.config_obj)
self.field.grid(column=1, row=0, rowspan=2)
# status bar
self.status = tk.Label(frame, bd=1, relief=tk.SUNKEN, anchor=tk.E)
self.status.grid(column=0, row=2, columnspan=2, sticky=tk.W + tk.E)
# analog
slot = tk.LabelFrame(top, text="Analog")
self.analog = []
for i in range(len(hal_data["analog_in"])):
if hal_data["analog_in"][i]["initialized"] or hal_data["analog_out"][i]["initialized"]:
label = tk.Label(slot, text=str(i))
label.grid(column=0, row=i + 1)
vw = ValueWidget(slot, clickable=True, minval=-10.0, maxval=10.0)
vw.grid(column=1, row=i + 1)
self.set_tooltip(vw, "analog", i)
else:
vw = None
self.analog.append(vw)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
# digital
slot = tk.LabelFrame(top, text="Digital")
label = tk.Label(slot, text="PWM")
label.grid(column=0, columnspan=4, row=0)
self.pwm = []
for i in range(len(hal_data["pwm"])):
if hal_data["pwm"][i]["initialized"]:
c = i // 10
label = tk.Label(slot, text=str(i))
label.grid(column=0 + 2 * c, row=1 + i % 10)
vw = ValueWidget(slot)
vw.grid(column=1 + 2 * c, row=1 + i % 10)
self.set_tooltip(vw, "pwm", i)
else:
vw = None
self.pwm.append(vw)
label = tk.Label(slot, text="Digital I/O")
label.grid(column=4, columnspan=6, row=0)
self.dio = []
for i in range(len(hal_data["dio"])):
if hal_data["dio"][i]["initialized"]:
c = i // 9
label = tk.Label(slot, text=str(i))
label.grid(column=4 + c * 2, row=1 + i % 9)
pi = PanelIndicator(slot, clickable=True)
pi.grid(column=5 + c * 2, row=1 + i % 9)
self.set_tooltip(pi, "dio", i)
else:
pi = None
self.dio.append(pi)
label = tk.Label(slot, text="Relay")
label.grid(column=10, columnspan=2, row=0, padx=5)
self.relays = []
for i in range(len(hal_data["relay"])):
if hal_data["relay"][i]["initialized"]:
label = tk.Label(slot, text=str(i))
label.grid(column=10, row=1 + i, sticky=tk.E)
pi = PanelIndicator(slot)
pi.grid(column=11, row=1 + i)
self.set_tooltip(pi, "relay", i)
else:
pi = None
self.relays.append(pi)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
csfm = tk.Frame(top)
# solenoid
slot = tk.LabelFrame(csfm, text="Solenoid")
self.solenoids = []
for i in range(len(hal_data["solenoid"])):
label = tk.Label(slot, text=str(i))
c = int(i / 2) * 2
r = i % 2
label.grid(column=0 + c, row=r)
pi = PanelIndicator(slot)
pi.grid(column=1 + c, row=r)
self.set_tooltip(pi, "solenoid", i)
self.solenoids.append(pi)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
# CAN
self.can_slot = tk.LabelFrame(csfm, text="CAN")
self.can_slot.pack(side=tk.LEFT, fill=tk.BOTH, expand=1, padx=5)
self.can_mode_map = {
tsrxc.kMode_CurrentCloseLoop: "PercentVbus",
tsrxc.kMode_DutyCycle: "PercentVbus",
tsrxc.kMode_NoDrive: "Disabled",
tsrxc.kMode_PositionCloseLoop: "Position",
tsrxc.kMode_SlaveFollower: "Follower",
tsrxc.kMode_VelocityCloseLoop: "Speed",
tsrxc.kMode_VoltCompen: "Voltage",
}
self.can = {}
# detect new devices
for k in sorted(hal_data["CAN"].keys()):
self._add_CAN(k, hal_data["CAN"][k])
csfm.pack(side=tk.LEFT, fill=tk.Y)
# joysticks
slot = tk.LabelFrame(bottom, text="Joysticks")
self.joysticks = []
for i in range(4):
axes = []
buttons = []
col = 1 + i * 3
row = 0
label = tk.Label(slot, text="Stick %s" % i)
label.grid(column=col, columnspan=3, row=row)
row += 1
# TODO: make this configurable
for j, t in enumerate(["X", "Y", "Z", "T", "4", "5"]):
label = tk.Label(slot, text=t)
label.grid(column=col, row=row)
vw = ValueWidget(slot, clickable=True, default=0.0)
vw.grid(column=col + 1, row=row, columnspan=2)
self.set_joy_tooltip(vw, i, "axes", t)
axes.append(vw)
row += 1
# POV: this needs improvement
label = tk.Label(slot, text="POV")
label.grid(column=col, row=row)
pov = ValueWidget(slot, clickable=True, default=-1, minval=-1, maxval=360, step=45, round_to_step=True)
pov.grid(column=col + 1, row=row, columnspan=2)
row += 1
for j in range(1, 11):
var = tk.IntVar()
ck = tk.Checkbutton(slot, text=str(j), variable=var)
ck.grid(column=col + 1 + (1 - j % 2), row=row + int((j - 1) / 2))
self.set_joy_tooltip(ck, i, "buttons", j)
buttons.append((ck, var))
self.joysticks.append((axes, buttons, [pov]))
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
ctrl_frame = tk.Frame(bottom)
# timing control
timing_control = tk.LabelFrame(ctrl_frame, text="Time")
def _set_realtime():
if realtime_mode.get() == 0:
step_button.pack_forget()
step_entry.pack_forget()
self.on_pause(False)
else:
step_button.pack(fill=tk.X)
step_entry.pack()
self.on_pause(True)
realtime_mode = tk.IntVar()
button = tk.Radiobutton(timing_control, text="Run", variable=realtime_mode, value=0, command=_set_realtime)
button.pack(fill=tk.X)
button = tk.Radiobutton(timing_control, text="Pause", variable=realtime_mode, value=1, command=_set_realtime)
button.pack(fill=tk.X)
step_button = tk.Button(timing_control, text="Step", command=self.on_step_time)
self.step_entry = tk.StringVar()
self.step_entry.set("0.025")
step_entry = tk.Entry(timing_control, width=6, textvariable=self.step_entry)
Tooltip.create(step_button, "Click this to increment time by the step value")
Tooltip.create(step_entry, "Time to step (in seconds)")
realtime_mode.set(0)
timing_control.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
# simulation control
sim = tk.LabelFrame(ctrl_frame, text="Robot")
self.state_buttons = []
self.mode = tk.IntVar()
def _set_mode():
self.manager.set_mode(self.mode.get())
button = tk.Radiobutton(
sim, text="Disabled", variable=self.mode, value=self.manager.MODE_DISABLED, command=_set_mode
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim, text="Autonomous", variable=self.mode, value=self.manager.MODE_AUTONOMOUS, command=_set_mode
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim, text="Teleoperated", variable=self.mode, value=self.manager.MODE_OPERATOR_CONTROL, command=_set_mode
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text="Test", variable=self.mode, value=self.manager.MODE_TEST, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
self.robot_dead = tk.Label(sim, text="Robot died!", fg="red")
sim.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
#
# Set up a combo box that allows you to select an autonomous
# mode in the simulator
#
try:
from tkinter.ttk import Combobox
except:
pass
else:
auton = tk.LabelFrame(ctrl_frame, text="Autonomous")
self.autobox = Combobox(auton, state="readonly")
self.autobox.bind("<<ComboboxSelected>>", self.on_auton_selected)
self.autobox["width"] = 12
self.autobox.pack(fill=tk.X)
Tooltip.create(self.autobox, "Use robotpy_ext.autonomous.AutonomousModeSelector to use this selection box")
from networktables.util import ChooserControl
self.auton_ctrl = ChooserControl(
"Autonomous Mode",
lambda v: self.idle_add(self.on_auton_choices, v),
lambda v: self.idle_add(self.on_auton_selection, v),
)
auton.pack(side=tk.TOP)
ctrl_frame.pack(side=tk.LEFT, fill=tk.Y)
def _add_CAN(self, canId, device):
row = len(self.can) * 2
lbl = tk.Label(self.can_slot, text=str(canId))
lbl.grid(column=0, row=row)
motor = ValueWidget(self.can_slot, default=0.0)
motor.grid(column=1, row=row)
self.set_tooltip(motor, "CAN", canId)
fl = CheckButtonWrapper(self.can_slot, text="F")
fl.grid(column=2, row=row)
rl = CheckButtonWrapper(self.can_slot, text="R")
rl.grid(column=3, row=row)
Tooltip.create(fl, "Forward limit switch")
Tooltip.create(rl, "Reverse limit switch")
mode_lbl_txt = tk.StringVar(value=self.can_mode_map[device["mode_select"]])
mode_label = tk.Label(self.can_slot, textvariable=mode_lbl_txt)
mode_label.grid(column=4, row=row)
labels = tk.Frame(self.can_slot)
labels.grid(column=0, row=row + 1, columnspan=6)
enc_value = tk.StringVar(value="E: 0")
enc_label = tk.Label(labels, textvariable=enc_value)
enc_label.pack(side=tk.LEFT)
analog_value = tk.StringVar(value="A: 0")
analog_label = tk.Label(labels, textvariable=analog_value)
analog_label.pack(side=tk.LEFT)
pwm_value = tk.StringVar(value="P: 0")
pwm_label = tk.Label(labels, textvariable=pwm_value)
pwm_label.pack(side=tk.LEFT)
Tooltip.create(enc_label, "Encoder Input")
Tooltip.create(analog_label, "Analog Input")
Tooltip.create(pwm_label, "PWM Input")
self.can[canId] = (motor, fl, rl, mode_lbl_txt, enc_value, analog_value, pwm_value)
def idle_add(self, callable, *args):
"""Call this with a function as the argument, and that function
will be called on the GUI thread via an event
This function returns immediately
"""
self.queue.put((callable, args))
def __process_idle_events(self):
"""This should never be called directly, it is called via an
event, and should always be on the GUI thread"""
while True:
try:
callable, args = self.queue.get(block=False)
except queue.Empty:
break
callable(*args)
def run(self):
# and launch the thread
self.root.mainloop() # This call BLOCKS
def timer_fired(self):
"""Polling loop for events from other threads"""
self.__process_idle_events()
# grab the simulation lock, gather all of the
# wpilib objects, and display them on the screen
self.update_widgets()
# call next timer_fired (or we'll never call timer_fired again!)
delay = 100 # milliseconds
self.root.after(delay, self.timer_fired) # pause, then call timer_fired again
def update_widgets(self):
# TODO: support multiple slots?
# joystick stuff
if self.usb_joysticks is not None:
self.usb_joysticks.update()
# analog module
for i, (ain, aout) in enumerate(zip(hal_data["analog_in"], hal_data["analog_out"])):
aio = self.analog[i]
if aio is not None:
if ain["initialized"]:
aio.set_disabled(False)
ain["voltage"] = aio.get_value()
elif aout["initialized"]:
aio.set_value(aout["voltage"])
# digital module
for i, ch in enumerate(hal_data["dio"]):
dio = self.dio[i]
if dio is not None:
if not ch["initialized"]:
dio.set_disabled()
else:
# determine which one changed, and set the appropriate one
ret = dio.sync_value(ch["value"])
if ret is not None:
ch["value"] = ret
for i, ch in enumerate(hal_data["pwm"]):
pwm = self.pwm[i]
if pwm is not None:
pwm.set_value(ch["value"])
for i, ch in enumerate(hal_data["relay"]):
relay = self.relays[i]
if relay is not None:
if ch["fwd"]:
relay.set_on()
elif ch["rev"]:
relay.set_back()
else:
relay.set_off()
# solenoid
for i, ch in enumerate(hal_data["solenoid"]):
sol = self.solenoids[i]
if not ch["initialized"]:
sol.set_disabled()
else:
sol.set_value(ch["value"])
# CAN
for k, (motor, fl, rl, mode_lbl_txt, enc_txt, analog_txt, pwm_txt) in self.can.items():
can = hal_data["CAN"][k]
mode = can["mode_select"]
mode_lbl_txt.set(self.can_mode_map[mode])
# change how output works based on control mode
if mode == tsrxc.kMode_DutyCycle:
# based on the fact that the vbus has 1023 steps
motor.set_value(can["value"] / 1023)
elif mode == tsrxc.kMode_VoltCompen:
# assume voltage is 12 divide by muliplier in cantalon code (256)
motor.set_value(can["value"] / 12 / 256)
elif mode == tsrxc.kMode_SlaveFollower:
# follow the value of the motor value is equal too
motor.set_value(self.can[can["value"]][0].get_value())
#
# currently other control modes are not correctly implemented
#
else:
motor.set_value(can["value"])
enc_txt.set("E: %s" % can["enc_position"])
analog_txt.set("A: %s" % can["analog_in_position"])
pwm_txt.set("P: %s" % can["pulse_width_position"])
ret = fl.sync_value(can["limit_switch_closed_for"])
if ret is not None:
can["limit_switch_closed_for"] = ret
ret = rl.sync_value(can["limit_switch_closed_rev"])
if ret is not None:
can["limit_switch_closed_rev"] = ret
# joystick/driver station
# sticks = _core.DriverStation.GetInstance().sticks
# stick_buttons = _core.DriverStation.GetInstance().stick_buttons
for i, (axes, buttons, povs) in enumerate(self.joysticks):
joy = hal_data["joysticks"][i]
jaxes = joy["axes"]
for j, ax in enumerate(axes):
jaxes[j] = ax.get_value()
jbuttons = joy["buttons"]
for j, (ck, var) in enumerate(buttons):
jbuttons[j + 1] = True if var.get() else False
jpovs = joy["povs"]
for j, pov in enumerate(povs):
jpovs[j] = int(pov.get_value())
self.field.update_widgets()
tm = self.fake_time.get()
mode_tm = tm - self.mode_start_tm
self.status.config(text="Time: %.03f mode, %.03f total" % (mode_tm, tm))
def set_tooltip(self, widget, cat, idx):
tooltip = self.config_obj["pyfrc"][cat].get(str(idx))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def set_joy_tooltip(self, widget, idx, typ, idx2):
tooltip = self.config_obj["pyfrc"]["joysticks"][str(idx)][typ].get(str(idx2))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def on_auton_choices(self, choices):
self.autobox["values"] = choices[:]
def on_auton_selection(self, selection):
self.autobox.set(selection)
def on_auton_selected(self, e):
self.auton_ctrl.setSelected(self.autobox.get())
def on_robot_mode_change(self, mode):
self.mode.set(mode)
self.mode_start_tm = self.fake_time.get()
# this is not strictly true... a robot can actually receive joystick
# commands from the driver station in disabled mode. However, most
# people aren't going to use that functionality...
controls_disabled = False if mode == self.manager.MODE_OPERATOR_CONTROL else True
state = tk.DISABLED if controls_disabled else tk.NORMAL
for axes, buttons, povs in self.joysticks:
for axis in axes:
axis.set_disabled(disabled=controls_disabled)
for ck, var in buttons:
ck.config(state=state)
for pov in povs:
pov.set_disabled(disabled=controls_disabled)
if not self.manager.is_alive():
for button in self.state_buttons:
button.config(state=tk.DISABLED)
self.robot_dead.pack()
#
# Time related callbacks
#
def on_pause(self, pause):
if pause:
self.fake_time.pause()
else:
self.fake_time.resume()
def on_step_time(self):
val = self.step_entry.get()
try:
tm = float(self.step_entry.get())
except ValueError:
tk.messagebox.showerror("Invalid step time", "'%s' is not a valid number" % val)
return
if tm > 0:
self.fake_time.resume(tm)
import time
from networktables import NetworkTables
from networktables.util import ChooserControl
# To see messages from networktables, you must setup logging
import logging
logging.basicConfig(level=logging.DEBUG)
if len(sys.argv) != 2:
print("Error: specify an IP to connect to!")
exit(0)
ip = sys.argv[1]
NetworkTables.initialize(server=ip)
def on_choices(value):
print("OnChoices", value)
def on_selected(value):
print("OnSelected", value)
cc = ChooserControl("Autonomous Mode", on_choices, on_selected)
while True:
time.sleep(1)
class SimUI(object):
def __init__(self, manager, fake_time, config_obj):
"""
initializes all default values and creates
a board, waits for run() to be called
to start the board
manager - sim manager class instance
"""
self.manager = manager
self.fake_time = fake_time
self.config_obj = config_obj
# Set up idle_add
self.queue = queue.Queue()
self.root = tk.Tk()
self.root.wm_title("PyFRC Robot Simulator v%s" % __version__)
self.root.protocol("WM_DELETE_WINDOW", self._delete_window)
# setup mode switch
frame = tk.Frame(self.root)
frame.pack(side=tk.TOP, anchor=tk.W)
self._setup_widgets(frame)
self.root.resizable(width=0, height=0)
# Allow extending the simulation from 3rd party libraries
# -> TODO: better API for this
self.extensions = []
for ep in iter_entry_points(group="robotpysim", name=None):
try:
extension = ep.load()
except ImportError:
logger.debug("Error importing extension '%s'", ep.name, exc_info=True)
else:
logger.debug("Loaded simulation extension '%s'", ep.name)
extension = extension()
if hasattr(extension, "update_tk_widgets"):
self.extensions.append(extension)
self.mode_start_tm = 0
self.text_id = None
# connect to the controller
self.manager.on_mode_change(
lambda mode: self.idle_add(self.on_robot_mode_change, mode)
)
self.on_robot_mode_change(self.manager.get_mode())
# create pygame joystick if supported
try:
from .pygame_joysticks import UsbJoysticks
except ImportError:
logger.warn("pygame not detected, real joystick support not loaded")
self.usb_joysticks = None
else:
self.usb_joysticks = UsbJoysticks(self)
logger.info("pygame was detected, real joystick support loaded!")
try:
self.root.lift()
self.root.attributes("-topmost", True)
self.root.attributes("-topmost", False)
except Exception:
pass
self.timer_fired()
def _delete_window(self):
self.root.destroy()
if self.usb_joysticks is not None:
self.usb_joysticks.close()
def _setup_widgets(self, frame):
top = tk.Frame(frame)
top.grid(column=0, row=0)
bottom = tk.Frame(frame)
bottom.grid(column=0, row=1)
self.field = RobotField(frame, self.manager, self.config_obj)
self.field.grid(column=1, row=0, rowspan=2)
# status bar
self.status = tk.Label(frame, bd=1, relief=tk.SUNKEN, anchor=tk.E)
self.status.grid(column=0, row=2, columnspan=2, sticky=tk.W + tk.E)
# analog
slot = tk.LabelFrame(top, text="Analog")
self.analog = []
for i in range(len(hal_data["analog_in"])):
if (
hal_data["analog_in"][i]["initialized"]
or hal_data["analog_out"][i]["initialized"]
):
label = tk.Label(slot, text=str(i))
label.grid(column=0, row=i + 1)
vw = ValueWidget(slot, clickable=True, minval=-10.0, maxval=10.0)
vw.grid(column=1, row=i + 1)
self.set_tooltip(vw, "analog", i)
else:
vw = None
self.analog.append(vw)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
# digital
slot = tk.LabelFrame(top, text="Digital")
label = tk.Label(slot, text="PWM")
label.grid(column=0, columnspan=4, row=0)
self.pwm = []
for i in range(len(hal_data["pwm"])):
if hal_data["pwm"][i]["initialized"]:
c = i // 10
label = tk.Label(slot, text=str(i))
label.grid(column=0 + 2 * c, row=1 + i % 10)
vw = ValueWidget(slot)
vw.grid(column=1 + 2 * c, row=1 + i % 10)
self.set_tooltip(vw, "pwm", i)
else:
vw = None
self.pwm.append(vw)
label = tk.Label(slot, text="Digital I/O")
label.grid(column=4, columnspan=6, row=0)
self.dio = []
for i in range(len(hal_data["dio"])):
if hal_data["dio"][i]["initialized"]:
c = i // 9
label = tk.Label(slot, text=str(i))
label.grid(column=4 + c * 2, row=1 + i % 9)
pi = PanelIndicator(slot, clickable=True)
pi.grid(column=5 + c * 2, row=1 + i % 9)
self.set_tooltip(pi, "dio", i)
else:
pi = None
self.dio.append(pi)
label = tk.Label(slot, text="Relay")
label.grid(column=10, columnspan=2, row=0, padx=5)
self.relays = []
for i in range(len(hal_data["relay"])):
if hal_data["relay"][i]["initialized"]:
label = tk.Label(slot, text=str(i))
label.grid(column=10, row=1 + i, sticky=tk.E)
pi = PanelIndicator(slot)
pi.grid(column=11, row=1 + i)
self.set_tooltip(pi, "relay", i)
else:
pi = None
self.relays.append(pi)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
self.csfm = csfm = tk.Frame(top)
# solenoid (pcm)
self.pcm = {}
# values
self.values = {}
# CAN
self.can_slot = tk.LabelFrame(csfm, text="CAN")
self.can_slot.pack(side=tk.LEFT, fill=tk.BOTH, expand=1, padx=5)
self.can = {}
csfm.pack(side=tk.LEFT, fill=tk.Y)
# joysticks
slot = tk.LabelFrame(bottom, text="Joysticks")
self.joysticks = []
for i in range(4):
axes = []
buttons = []
col = 1 + i * 3
row = 0
label = tk.Label(slot, text="Stick %s" % i)
label.grid(column=col, columnspan=3, row=row)
row += 1
# TODO: make this configurable
for j, t in enumerate(["X", "Y", "Z", "T", "4", "5"]):
label = tk.Label(slot, text=t)
label.grid(column=col, row=row)
vw = ValueWidget(slot, clickable=True, default=0.0)
vw.grid(column=col + 1, row=row, columnspan=2)
self.set_joy_tooltip(vw, i, "axes", t)
axes.append(vw)
row += 1
# POV: this needs improvement
label = tk.Label(slot, text="POV")
label.grid(column=col, row=row)
pov = ValueWidget(
slot,
clickable=True,
default=-1,
minval=-1,
maxval=360,
step=45,
round_to_step=True,
)
pov.grid(column=col + 1, row=row, columnspan=2)
row += 1
for j in range(1, 11):
var = tk.IntVar()
ck = tk.Checkbutton(slot, text=str(j), variable=var)
ck.grid(column=col + 1 + (1 - j % 2), row=row + int((j - 1) / 2))
self.set_joy_tooltip(ck, i, "buttons", j)
buttons.append((ck, var))
self.joysticks.append((axes, buttons, [pov]))
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
ctrl_frame = tk.Frame(bottom)
# timing control
timing_control = tk.LabelFrame(ctrl_frame, text="Time")
def _set_realtime():
if realtime_mode.get() == 0:
step_button.pack_forget()
step_entry.pack_forget()
self.on_pause(False)
else:
step_button.pack(fill=tk.X)
step_entry.pack()
self.on_pause(True)
realtime_mode = tk.IntVar()
button = tk.Radiobutton(
timing_control,
text="Run",
variable=realtime_mode,
value=0,
command=_set_realtime,
)
button.pack(fill=tk.X)
button = tk.Radiobutton(
timing_control,
text="Pause",
variable=realtime_mode,
value=1,
command=_set_realtime,
)
button.pack(fill=tk.X)
step_button = tk.Button(timing_control, text="Step", command=self.on_step_time)
self.step_entry = tk.StringVar()
self.step_entry.set("0.025")
step_entry = tk.Entry(timing_control, width=6, textvariable=self.step_entry)
Tooltip.create(step_button, "Click this to increment time by the step value")
Tooltip.create(step_entry, "Time to step (in seconds)")
realtime_mode.set(0)
timing_control.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
# simulation control
sim = tk.LabelFrame(ctrl_frame, text="Robot")
self.state_buttons = []
self.mode = tk.IntVar()
def _set_mode():
self.manager.set_mode(self.mode.get())
button = tk.Radiobutton(
sim,
text="Disabled",
variable=self.mode,
value=self.manager.MODE_DISABLED,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim,
text="Autonomous",
variable=self.mode,
value=self.manager.MODE_AUTONOMOUS,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim,
text="Teleoperated",
variable=self.mode,
value=self.manager.MODE_OPERATOR_CONTROL,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim,
text="Test",
variable=self.mode,
value=self.manager.MODE_TEST,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
self.robot_dead = tk.Label(sim, text="Robot died!", fg="red")
sim.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
#
# Set up a combo box that allows you to select an autonomous
# mode in the simulator
#
try:
from tkinter.ttk import Combobox
except:
pass
else:
auton = tk.LabelFrame(ctrl_frame, text="Autonomous")
self.autobox = Combobox(auton, state="readonly")
self.autobox.bind("<<ComboboxSelected>>", self.on_auton_selected)
self.autobox["width"] = 12
self.autobox.pack(fill=tk.X)
Tooltip.create(
self.autobox,
"Use robotpy_ext.autonomous.AutonomousModeSelector to use this selection box",
)
from networktables.util import ChooserControl
self.auton_ctrl = ChooserControl(
"Autonomous Mode",
lambda v: self.idle_add(self.on_auton_choices, v),
lambda v: self.idle_add(self.on_auton_selection, v),
)
auton.pack(side=tk.TOP)
messages = self.config_obj["pyfrc"]["game_specific_messages"]
if messages:
gamedata = tk.LabelFrame(ctrl_frame, text="Game Data")
self.gamedataval = tk.StringVar()
if hasattr(self.gamedataval, "trace_add"):
self.gamedataval.trace_add("write", self.on_gamedata_selected)
else:
self.gamedataval.trace_variable("w", self.on_gamedata_selected)
self.gamedatabox = Combobox(gamedata, textvariable=self.gamedataval)
self.gamedatabox["width"] = 12
self.gamedatabox.pack(fill=tk.X)
self.gamedatabox["values"] = messages
self.gamedatabox.current(0)
self.manager.game_specific_message = self.gamedatabox.get()
Tooltip.create(
self.gamedatabox,
"Use this selection box to simulate game specific data",
)
gamedata.pack(side=tk.TOP)
def _reset_robot():
for robot in self.manager.robots:
robot.physics_controller.reset_position()
button = tk.Button(ctrl_frame, text="Reset Robot", command=_reset_robot)
button.pack(side=tk.TOP)
ctrl_frame.pack(side=tk.LEFT, fill=tk.Y)
def _render_pcm(self):
for k, data in sorted(hal_data["pcm"].items()):
if k not in self.pcm:
slot = tk.LabelFrame(self.csfm, text="Solenoid (PCM %s)" % k)
solenoids = []
self.pcm[k] = solenoids
for i in range(len(data)):
label = tk.Label(slot, text=str(i))
c = int(i / 2) * 2
r = i % 2
label.grid(column=0 + c, row=r)
pi = PanelIndicator(slot)
pi.grid(column=1 + c, row=r)
self.set_tooltip(pi, "solenoid", i)
solenoids.append(pi)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
solenoids = self.pcm[k]
for i, ch in enumerate(data):
sol = solenoids[i]
if not ch["initialized"]:
sol.set_disabled()
else:
sol.set_value(ch["value"])
def _render_values(self):
for k, v in hal_data["robot"].items():
if not k.endswith("_angle"):
continue
gyro_label = self.values.get(k)
if not gyro_label:
gyro_label = self._create_value(k, k, "Angle (Degrees)")
gyro_label["text"] = "%.3f" % v
for i, gyro in enumerate(hal_data["analog_gyro"]):
if not gyro["initialized"]:
continue
k = "Gyro %s" % i
gyro_label = self.values.get(k)
if not gyro_label:
gyro_label = self._create_value(k, k, "Angle (Degrees)")
gyro_label["text"] = "%.3f" % gyro["angle"]
for i, encoder in enumerate(hal_data["encoder"]):
if not encoder["initialized"]:
continue
k = "Encoder %s" % i
label = self.values.get(k)
if not label:
txt = "Encoder (%s,%s)" % (
encoder["config"]["ASource_Channel"],
encoder["config"]["BSource_Channel"],
)
label = self._create_value(k, txt, "Count / Distance")
label["text"] = "%s / %.3f" % (
encoder["count"],
encoder["count"] * encoder["distance_per_pulse"],
)
for k, v in hal_data.get("custom", {}).items():
label = self.values.get(k)
if not label:
label = self._create_value(k, k, k)
if isinstance(v, float):
label["text"] = "%.3f" % v
else:
label["text"] = str(v)
def _create_value(self, key, text, tooltip):
slot = tk.LabelFrame(self.csfm, text=text)
label = tk.Label(slot)
label.pack(side=tk.TOP, fill=tk.BOTH)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
self.values[key] = label
Tooltip.create(label, tooltip)
return label
def idle_add(self, callable, *args):
"""Call this with a function as the argument, and that function
will be called on the GUI thread via an event
This function returns immediately
"""
self.queue.put((callable, args))
def __process_idle_events(self):
"""This should never be called directly, it is called via an
event, and should always be on the GUI thread"""
while True:
try:
callable, args = self.queue.get(block=False)
except queue.Empty:
break
callable(*args)
def run(self):
# and launch the thread
self.root.mainloop() # This call BLOCKS
def timer_fired(self):
"""Polling loop for events from other threads"""
self.__process_idle_events()
# grab the simulation lock, gather all of the
# wpilib objects, and display them on the screen
self.update_widgets()
# call next timer_fired (or we'll never call timer_fired again!)
delay = 100 # milliseconds
self.root.after(delay, self.timer_fired) # pause, then call timer_fired again
def update_widgets(self):
# TODO: support multiple slots?
# joystick stuff
if self.usb_joysticks is not None:
self.usb_joysticks.update()
# analog module
for i, (ain, aout) in enumerate(
zip(hal_data["analog_in"], hal_data["analog_out"])
):
aio = self.analog[i]
if aio is not None:
if ain["initialized"]:
aio.set_disabled(False)
ain["voltage"] = aio.get_value()
elif aout["initialized"]:
aio.set_value(aout["voltage"])
# digital module
for i, ch in enumerate(hal_data["dio"]):
dio = self.dio[i]
if dio is not None:
if not ch["initialized"]:
dio.set_disabled()
else:
# determine which one changed, and set the appropriate one
ret = dio.sync_value(ch["value"])
if ret is not None:
ch["value"] = ret
for i, ch in enumerate(hal_data["pwm"]):
pwm = self.pwm[i]
if pwm is not None:
pwm.set_value(ch["value"])
for i, ch in enumerate(hal_data["relay"]):
relay = self.relays[i]
if relay is not None:
if ch["fwd"]:
relay.set_on()
elif ch["rev"]:
relay.set_back()
else:
relay.set_off()
# solenoid
self._render_pcm()
# gyro/encoder
self._render_values()
# joystick/driver station
# sticks = _core.DriverStation.GetInstance().sticks
# stick_buttons = _core.DriverStation.GetInstance().stick_buttons
for i, (axes, buttons, povs) in enumerate(self.joysticks):
joy = hal_data["joysticks"][i]
jaxes = joy["axes"]
for j, ax in enumerate(axes):
jaxes[j] = ax.get_value()
jbuttons = joy["buttons"]
for j, (ck, var) in enumerate(buttons):
jbuttons[j + 1] = True if var.get() else False
jpovs = joy["povs"]
for j, pov in enumerate(povs):
jpovs[j] = int(pov.get_value())
for extension in self.extensions:
extension.update_tk_widgets(self)
self.field.update_widgets()
tm = self.fake_time.get()
mode_tm = tm - self.mode_start_tm
self.status.config(text="Time: %.03f mode, %.03f total" % (mode_tm, tm))
def set_tooltip(self, widget, cat, idx):
tooltip = self.config_obj["pyfrc"][cat].get(str(idx))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def set_joy_tooltip(self, widget, idx, typ, idx2):
tooltip = self.config_obj["pyfrc"]["joysticks"][str(idx)][typ].get(str(idx2))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def on_auton_choices(self, choices):
self.autobox["values"] = choices[:]
def on_auton_selection(self, selection):
self.autobox.set(selection)
def on_auton_selected(self, e):
self.auton_ctrl.setSelected(self.autobox.get())
def on_gamedata_selected(self, *args):
self.manager.game_specific_message = self.gamedatabox.get()
def on_robot_mode_change(self, mode):
self.mode.set(mode)
self.mode_start_tm = self.fake_time.get()
# this is not strictly true... a robot can actually receive joystick
# commands from the driver station in disabled mode. However, most
# people aren't going to use that functionality...
controls_disabled = (
False if mode == self.manager.MODE_OPERATOR_CONTROL else True
)
state = tk.DISABLED if controls_disabled else tk.NORMAL
for axes, buttons, povs in self.joysticks:
for axis in axes:
axis.set_disabled(disabled=controls_disabled)
for ck, var in buttons:
ck.config(state=state)
for pov in povs:
pov.set_disabled(disabled=controls_disabled)
if not self.manager.is_alive():
for button in self.state_buttons:
button.config(state=tk.DISABLED)
self.robot_dead.pack()
#
# Time related callbacks
#
def on_pause(self, pause):
if pause:
self.fake_time.pause()
else:
self.fake_time.resume()
def on_step_time(self):
val = self.step_entry.get()
try:
tm = float(self.step_entry.get())
except ValueError:
tk.messagebox.showerror(
"Invalid step time", "'%s' is not a valid number" % val
)
return
if tm > 0:
self.fake_time.resume(tm)
def _setup_widgets(self, frame):
top = tk.Frame(frame)
top.grid(column=0, row=0)
bottom = tk.Frame(frame)
bottom.grid(column=0, row=1)
self.field = RobotField(frame, self.manager, self.config_obj)
self.field.grid(column=1, row=0, rowspan=2)
# status bar
self.status = tk.Label(frame, bd=1, relief=tk.SUNKEN, anchor=tk.E)
self.status.grid(column=0, row=2, columnspan=2, sticky=tk.W + tk.E)
# analog
slot = tk.LabelFrame(top, text='Analog')
self.analog = []
for i in range(len(hal_data['analog_in'])):
if hal_data['analog_in'][i]['initialized'] or hal_data[
'analog_out'][i]['initialized']:
label = tk.Label(slot, text=str(i))
label.grid(column=0, row=i + 1)
vw = ValueWidget(slot,
clickable=True,
minval=-10.0,
maxval=10.0)
vw.grid(column=1, row=i + 1)
self.set_tooltip(vw, 'analog', i)
else:
vw = None
self.analog.append(vw)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
# digital
slot = tk.LabelFrame(top, text='Digital')
label = tk.Label(slot, text='PWM')
label.grid(column=0, columnspan=4, row=0)
self.pwm = []
for i in range(len(hal_data['pwm'])):
if hal_data['pwm'][i]['initialized']:
c = i // 10
label = tk.Label(slot, text=str(i))
label.grid(column=0 + 2 * c, row=1 + i % 10)
vw = ValueWidget(slot)
vw.grid(column=1 + 2 * c, row=1 + i % 10)
self.set_tooltip(vw, 'pwm', i)
else:
vw = None
self.pwm.append(vw)
label = tk.Label(slot, text='Digital I/O')
label.grid(column=4, columnspan=6, row=0)
self.dio = []
for i in range(len(hal_data['dio'])):
if hal_data['dio'][i]['initialized']:
c = i // 9
label = tk.Label(slot, text=str(i))
label.grid(column=4 + c * 2, row=1 + i % 9)
pi = PanelIndicator(slot, clickable=True)
pi.grid(column=5 + c * 2, row=1 + i % 9)
self.set_tooltip(pi, 'dio', i)
else:
pi = None
self.dio.append(pi)
label = tk.Label(slot, text='Relay')
label.grid(column=10, columnspan=2, row=0, padx=5)
self.relays = []
for i in range(len(hal_data['relay'])):
if hal_data['relay'][i]['initialized']:
label = tk.Label(slot, text=str(i))
label.grid(column=10, row=1 + i, sticky=tk.E)
pi = PanelIndicator(slot)
pi.grid(column=11, row=1 + i)
self.set_tooltip(pi, 'relay', i)
else:
pi = None
self.relays.append(pi)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
csfm = tk.Frame(top)
# solenoid
slot = tk.LabelFrame(csfm, text='Solenoid')
self.solenoids = []
for i in range(len(hal_data['solenoid'])):
label = tk.Label(slot, text=str(i))
c = int(i / 2) * 2
r = i % 2
label.grid(column=0 + c, row=r)
pi = PanelIndicator(slot)
pi.grid(column=1 + c, row=r)
self.set_tooltip(pi, 'solenoid', i)
self.solenoids.append(pi)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
# CAN
# self.can_slot = tk.LabelFrame(csfm, text='CAN')
# self.can_slot.pack(side=tk.LEFT, fill=tk.BOTH, expand=1, padx=5)
# self.can_mode_map = {}
# tsrxc.kMode_CurrentCloseLoop: 'PercentVbus',
# tsrxc.kMode_DutyCycle:'PercentVbus',
# tsrxc.kMode_NoDrive:'Disabled',
# tsrxc.kMode_PositionCloseLoop:'Position',
# tsrxc.kMode_SlaveFollower:'Follower',
# tsrxc.kMode_VelocityCloseLoop:'Speed',
# tsrxc.kMode_VoltCompen:'Voltage'
# }
self.can = {}
# detect new devices
# for k in sorted(hal_data['CAN'].keys()):
# self._add_CAN(k, hal_data['CAN'][k])
csfm.pack(side=tk.LEFT, fill=tk.Y)
# joysticks
slot = tk.LabelFrame(bottom, text='Joysticks')
self.joysticks = []
for i in range(4):
axes = []
buttons = []
col = 1 + i * 3
row = 0
label = tk.Label(slot, text='Stick %s' % i)
label.grid(column=col, columnspan=3, row=row)
row += 1
# TODO: make this configurable
for j, t in enumerate(['X', 'Y', 'Z', 'T', '4', '5']):
label = tk.Label(slot, text=t)
label.grid(column=col, row=row)
vw = ValueWidget(slot, clickable=True, default=0.0)
vw.grid(column=col + 1, row=row, columnspan=2)
self.set_joy_tooltip(vw, i, 'axes', t)
axes.append(vw)
row += 1
# POV: this needs improvement
label = tk.Label(slot, text='POV')
label.grid(column=col, row=row)
pov = ValueWidget(slot,
clickable=True,
default=-1,
minval=-1,
maxval=360,
step=45,
round_to_step=True)
pov.grid(column=col + 1, row=row, columnspan=2)
row += 1
for j in range(1, 11):
var = tk.IntVar()
ck = tk.Checkbutton(slot, text=str(j), variable=var)
ck.grid(column=col + 1 + (1 - j % 2),
row=row + int((j - 1) / 2))
self.set_joy_tooltip(ck, i, 'buttons', j)
buttons.append((ck, var))
self.joysticks.append((axes, buttons, [pov]))
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
ctrl_frame = tk.Frame(bottom)
# timing control
timing_control = tk.LabelFrame(ctrl_frame, text='Time')
def _set_realtime():
if realtime_mode.get() == 0:
step_button.pack_forget()
step_entry.pack_forget()
self.on_pause(False)
else:
step_button.pack(fill=tk.X)
step_entry.pack()
self.on_pause(True)
realtime_mode = tk.IntVar()
button = tk.Radiobutton(timing_control,
text='Run',
variable=realtime_mode,
value=0,
command=_set_realtime)
button.pack(fill=tk.X)
button = tk.Radiobutton(timing_control,
text='Pause',
variable=realtime_mode,
value=1,
command=_set_realtime)
button.pack(fill=tk.X)
step_button = tk.Button(timing_control,
text='Step',
command=self.on_step_time)
self.step_entry = tk.StringVar()
self.step_entry.set("0.025")
step_entry = tk.Entry(timing_control,
width=6,
textvariable=self.step_entry)
Tooltip.create(step_button,
'Click this to increment time by the step value')
Tooltip.create(step_entry, 'Time to step (in seconds)')
realtime_mode.set(0)
timing_control.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
# simulation control
sim = tk.LabelFrame(ctrl_frame, text='Robot')
self.state_buttons = []
self.mode = tk.IntVar()
def _set_mode():
self.manager.set_mode(self.mode.get())
button = tk.Radiobutton(sim, text='Disabled', variable=self.mode, \
value=self.manager.MODE_DISABLED, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Autonomous', variable=self.mode, \
value=self.manager.MODE_AUTONOMOUS, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Teleoperated', variable=self.mode, \
value=self.manager.MODE_OPERATOR_CONTROL, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Test', variable=self.mode, \
value=self.manager.MODE_TEST, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
self.robot_dead = tk.Label(sim, text='Robot died!', fg='red')
sim.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
#
# Set up a combo box that allows you to select an autonomous
# mode in the simulator
#
try:
from tkinter.ttk import Combobox
except:
pass
else:
auton = tk.LabelFrame(ctrl_frame, text='Autonomous')
self.autobox = Combobox(auton, state='readonly')
self.autobox.bind('<<ComboboxSelected>>', self.on_auton_selected)
self.autobox['width'] = 12
self.autobox.pack(fill=tk.X)
Tooltip.create(
self.autobox,
"Use robotpy_ext.autonomous.AutonomousModeSelector to use this selection box"
)
from networktables.util import ChooserControl
self.auton_ctrl = ChooserControl(
'Autonomous Mode',
lambda v: self.idle_add(self.on_auton_choices, v),
lambda v: self.idle_add(self.on_auton_selection, v))
auton.pack(side=tk.TOP)
ctrl_frame.pack(side=tk.LEFT, fill=tk.Y)
class SimUI(object):
def __init__(self, manager, fake_time, config_obj):
'''
initializes all default values and creates
a board, waits for run() to be called
to start the board
manager - sim manager class instance
'''
self.manager = manager
self.fake_time = fake_time
self.config_obj = config_obj
# Set up idle_add
self.queue = queue.Queue()
self.root = tk.Tk()
self.root.wm_title("PyFRC Robot Simulator v%s" % __version__)
# setup mode switch
frame = tk.Frame(self.root)
frame.pack(side=tk.TOP, anchor=tk.W)
self._setup_widgets(frame)
self.root.resizable(width=0, height=0)
self.mode_start_tm = 0
self.text_id = None
# connect to the controller
self.manager.on_mode_change(
lambda mode: self.idle_add(self.on_robot_mode_change, mode))
self.on_robot_mode_change(self.manager.get_mode())
# create pygame joystick if supported
try:
from .pygame_joysticks import UsbJoysticks
except ImportError:
logger.warn(
'pygame not detected, real joystick support not loaded')
self.usb_joysticks = None
else:
self.usb_joysticks = UsbJoysticks(self)
logger.info('pygame was detected, real joystick support loaded!')
try:
self.root.lift()
self.root.attributes('-topmost', True)
self.root.attributes('-topmost', False)
except Exception:
pass
self.timer_fired()
def _setup_widgets(self, frame):
top = tk.Frame(frame)
top.grid(column=0, row=0)
bottom = tk.Frame(frame)
bottom.grid(column=0, row=1)
self.field = RobotField(frame, self.manager, self.config_obj)
self.field.grid(column=1, row=0, rowspan=2)
# status bar
self.status = tk.Label(frame, bd=1, relief=tk.SUNKEN, anchor=tk.E)
self.status.grid(column=0, row=2, columnspan=2, sticky=tk.W + tk.E)
# analog
slot = tk.LabelFrame(top, text='Analog')
self.analog = []
for i in range(len(hal_data['analog_in'])):
if hal_data['analog_in'][i]['initialized'] or hal_data[
'analog_out'][i]['initialized']:
label = tk.Label(slot, text=str(i))
label.grid(column=0, row=i + 1)
vw = ValueWidget(slot,
clickable=True,
minval=-10.0,
maxval=10.0)
vw.grid(column=1, row=i + 1)
self.set_tooltip(vw, 'analog', i)
else:
vw = None
self.analog.append(vw)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
# digital
slot = tk.LabelFrame(top, text='Digital')
label = tk.Label(slot, text='PWM')
label.grid(column=0, columnspan=4, row=0)
self.pwm = []
for i in range(len(hal_data['pwm'])):
if hal_data['pwm'][i]['initialized']:
c = i // 10
label = tk.Label(slot, text=str(i))
label.grid(column=0 + 2 * c, row=1 + i % 10)
vw = ValueWidget(slot)
vw.grid(column=1 + 2 * c, row=1 + i % 10)
self.set_tooltip(vw, 'pwm', i)
else:
vw = None
self.pwm.append(vw)
label = tk.Label(slot, text='Digital I/O')
label.grid(column=4, columnspan=6, row=0)
self.dio = []
for i in range(len(hal_data['dio'])):
if hal_data['dio'][i]['initialized']:
c = i // 9
label = tk.Label(slot, text=str(i))
label.grid(column=4 + c * 2, row=1 + i % 9)
pi = PanelIndicator(slot, clickable=True)
pi.grid(column=5 + c * 2, row=1 + i % 9)
self.set_tooltip(pi, 'dio', i)
else:
pi = None
self.dio.append(pi)
label = tk.Label(slot, text='Relay')
label.grid(column=10, columnspan=2, row=0, padx=5)
self.relays = []
for i in range(len(hal_data['relay'])):
if hal_data['relay'][i]['initialized']:
label = tk.Label(slot, text=str(i))
label.grid(column=10, row=1 + i, sticky=tk.E)
pi = PanelIndicator(slot)
pi.grid(column=11, row=1 + i)
self.set_tooltip(pi, 'relay', i)
else:
pi = None
self.relays.append(pi)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
csfm = tk.Frame(top)
# solenoid
slot = tk.LabelFrame(csfm, text='Solenoid')
self.solenoids = []
for i in range(len(hal_data['solenoid'])):
label = tk.Label(slot, text=str(i))
c = int(i / 2) * 2
r = i % 2
label.grid(column=0 + c, row=r)
pi = PanelIndicator(slot)
pi.grid(column=1 + c, row=r)
self.set_tooltip(pi, 'solenoid', i)
self.solenoids.append(pi)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
# CAN
# self.can_slot = tk.LabelFrame(csfm, text='CAN')
# self.can_slot.pack(side=tk.LEFT, fill=tk.BOTH, expand=1, padx=5)
# self.can_mode_map = {}
# tsrxc.kMode_CurrentCloseLoop: 'PercentVbus',
# tsrxc.kMode_DutyCycle:'PercentVbus',
# tsrxc.kMode_NoDrive:'Disabled',
# tsrxc.kMode_PositionCloseLoop:'Position',
# tsrxc.kMode_SlaveFollower:'Follower',
# tsrxc.kMode_VelocityCloseLoop:'Speed',
# tsrxc.kMode_VoltCompen:'Voltage'
# }
self.can = {}
# detect new devices
# for k in sorted(hal_data['CAN'].keys()):
# self._add_CAN(k, hal_data['CAN'][k])
csfm.pack(side=tk.LEFT, fill=tk.Y)
# joysticks
slot = tk.LabelFrame(bottom, text='Joysticks')
self.joysticks = []
for i in range(4):
axes = []
buttons = []
col = 1 + i * 3
row = 0
label = tk.Label(slot, text='Stick %s' % i)
label.grid(column=col, columnspan=3, row=row)
row += 1
# TODO: make this configurable
for j, t in enumerate(['X', 'Y', 'Z', 'T', '4', '5']):
label = tk.Label(slot, text=t)
label.grid(column=col, row=row)
vw = ValueWidget(slot, clickable=True, default=0.0)
vw.grid(column=col + 1, row=row, columnspan=2)
self.set_joy_tooltip(vw, i, 'axes', t)
axes.append(vw)
row += 1
# POV: this needs improvement
label = tk.Label(slot, text='POV')
label.grid(column=col, row=row)
pov = ValueWidget(slot,
clickable=True,
default=-1,
minval=-1,
maxval=360,
step=45,
round_to_step=True)
pov.grid(column=col + 1, row=row, columnspan=2)
row += 1
for j in range(1, 11):
var = tk.IntVar()
ck = tk.Checkbutton(slot, text=str(j), variable=var)
ck.grid(column=col + 1 + (1 - j % 2),
row=row + int((j - 1) / 2))
self.set_joy_tooltip(ck, i, 'buttons', j)
buttons.append((ck, var))
self.joysticks.append((axes, buttons, [pov]))
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
ctrl_frame = tk.Frame(bottom)
# timing control
timing_control = tk.LabelFrame(ctrl_frame, text='Time')
def _set_realtime():
if realtime_mode.get() == 0:
step_button.pack_forget()
step_entry.pack_forget()
self.on_pause(False)
else:
step_button.pack(fill=tk.X)
step_entry.pack()
self.on_pause(True)
realtime_mode = tk.IntVar()
button = tk.Radiobutton(timing_control,
text='Run',
variable=realtime_mode,
value=0,
command=_set_realtime)
button.pack(fill=tk.X)
button = tk.Radiobutton(timing_control,
text='Pause',
variable=realtime_mode,
value=1,
command=_set_realtime)
button.pack(fill=tk.X)
step_button = tk.Button(timing_control,
text='Step',
command=self.on_step_time)
self.step_entry = tk.StringVar()
self.step_entry.set("0.025")
step_entry = tk.Entry(timing_control,
width=6,
textvariable=self.step_entry)
Tooltip.create(step_button,
'Click this to increment time by the step value')
Tooltip.create(step_entry, 'Time to step (in seconds)')
realtime_mode.set(0)
timing_control.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
# simulation control
sim = tk.LabelFrame(ctrl_frame, text='Robot')
self.state_buttons = []
self.mode = tk.IntVar()
def _set_mode():
self.manager.set_mode(self.mode.get())
button = tk.Radiobutton(sim, text='Disabled', variable=self.mode, \
value=self.manager.MODE_DISABLED, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Autonomous', variable=self.mode, \
value=self.manager.MODE_AUTONOMOUS, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Teleoperated', variable=self.mode, \
value=self.manager.MODE_OPERATOR_CONTROL, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Test', variable=self.mode, \
value=self.manager.MODE_TEST, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
self.robot_dead = tk.Label(sim, text='Robot died!', fg='red')
sim.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
#
# Set up a combo box that allows you to select an autonomous
# mode in the simulator
#
try:
from tkinter.ttk import Combobox
except:
pass
else:
auton = tk.LabelFrame(ctrl_frame, text='Autonomous')
self.autobox = Combobox(auton, state='readonly')
self.autobox.bind('<<ComboboxSelected>>', self.on_auton_selected)
self.autobox['width'] = 12
self.autobox.pack(fill=tk.X)
Tooltip.create(
self.autobox,
"Use robotpy_ext.autonomous.AutonomousModeSelector to use this selection box"
)
from networktables.util import ChooserControl
self.auton_ctrl = ChooserControl(
'Autonomous Mode',
lambda v: self.idle_add(self.on_auton_choices, v),
lambda v: self.idle_add(self.on_auton_selection, v))
auton.pack(side=tk.TOP)
ctrl_frame.pack(side=tk.LEFT, fill=tk.Y)
def _add_CAN(self, canId, device):
row = len(self.can) * 2
lbl = tk.Label(self.can_slot, text=str(canId))
lbl.grid(column=0, row=row)
motor = ValueWidget(self.can_slot, default=0.0)
motor.grid(column=1, row=row)
self.set_tooltip(motor, 'CAN', canId)
fl = CheckButtonWrapper(self.can_slot, text='F')
fl.grid(column=2, row=row)
rl = CheckButtonWrapper(self.can_slot, text='R')
rl.grid(column=3, row=row)
Tooltip.create(fl, 'Forward limit switch')
Tooltip.create(rl, 'Reverse limit switch')
mode_lbl_txt = tk.StringVar(
value=self.can_mode_map[device['mode_select']])
mode_label = tk.Label(self.can_slot, textvariable=mode_lbl_txt)
mode_label.grid(column=4, row=row)
labels = tk.Frame(self.can_slot)
labels.grid(column=0, row=row + 1, columnspan=6)
enc_value = tk.StringVar(value='E: 0')
enc_label = tk.Label(labels, textvariable=enc_value)
enc_label.pack(side=tk.LEFT)
analog_value = tk.StringVar(value='A: 0')
analog_label = tk.Label(labels, textvariable=analog_value)
analog_label.pack(side=tk.LEFT)
pwm_value = tk.StringVar(value='P: 0')
pwm_label = tk.Label(labels, textvariable=pwm_value)
pwm_label.pack(side=tk.LEFT)
Tooltip.create(enc_label, "Encoder Input")
Tooltip.create(analog_label, "Analog Input")
Tooltip.create(pwm_label, "PWM Input")
self.can[canId] = (motor, fl, rl, mode_lbl_txt, enc_value,
analog_value, pwm_value)
def idle_add(self, callable, *args):
'''Call this with a function as the argument, and that function
will be called on the GUI thread via an event
This function returns immediately
'''
self.queue.put((callable, args))
def __process_idle_events(self):
'''This should never be called directly, it is called via an
event, and should always be on the GUI thread'''
while True:
try:
callable, args = self.queue.get(block=False)
except queue.Empty:
break
callable(*args)
def run(self):
# and launch the thread
self.root.mainloop() # This call BLOCKS
def timer_fired(self):
'''Polling loop for events from other threads'''
self.__process_idle_events()
# grab the simulation lock, gather all of the
# wpilib objects, and display them on the screen
self.update_widgets()
# call next timer_fired (or we'll never call timer_fired again!)
delay = 100 # milliseconds
self.root.after(delay,
self.timer_fired) # pause, then call timer_fired again
def update_widgets(self):
# TODO: support multiple slots?
#joystick stuff
if self.usb_joysticks is not None:
self.usb_joysticks.update()
# analog module
for i, (ain, aout) in enumerate(
zip(hal_data['analog_in'], hal_data['analog_out'])):
aio = self.analog[i]
if aio is not None:
if ain['initialized']:
aio.set_disabled(False)
ain['voltage'] = aio.get_value()
elif aout['initialized']:
aio.set_value(aout['voltage'])
# digital module
for i, ch in enumerate(hal_data['dio']):
dio = self.dio[i]
if dio is not None:
if not ch['initialized']:
dio.set_disabled()
else:
# determine which one changed, and set the appropriate one
ret = dio.sync_value(ch['value'])
if ret is not None:
ch['value'] = ret
for i, ch in enumerate(hal_data['pwm']):
pwm = self.pwm[i]
if pwm is not None:
pwm.set_value(ch['value'])
for i, ch in enumerate(hal_data['relay']):
relay = self.relays[i]
if relay is not None:
if ch['fwd']:
relay.set_on()
elif ch['rev']:
relay.set_back()
else:
relay.set_off()
# solenoid
for i, ch in enumerate(hal_data['solenoid']):
sol = self.solenoids[i]
if not ch['initialized']:
sol.set_disabled()
else:
sol.set_value(ch['value'])
# CAN
for k, (motor, fl, rl, mode_lbl_txt, enc_txt, analog_txt,
pwm_txt) in self.can.items():
can = hal_data['CAN'][k]
mode = can['mode_select']
mode_lbl_txt.set(self.can_mode_map[mode])
#change how output works based on control mode
if mode == tsrxc.kMode_DutyCycle:
#based on the fact that the vbus has 1023 steps
motor.set_value(can['value'] / 1023)
elif mode == tsrxc.kMode_VoltCompen:
#assume voltage is 12 divide by muliplier in cantalon code (256)
motor.set_value(can['value'] / 12 / 256)
elif mode == tsrxc.kMode_SlaveFollower:
#follow the value of the motor value is equal too
motor.set_value(self.can[can['value']][0].get_value())
#
# currently other control modes are not correctly implemented
#
else:
motor.set_value(can['value'])
enc_txt.set('E: %s' % can['enc_position'])
analog_txt.set('A: %s' % can['analog_in_position'])
pwm_txt.set('P: %s' % can['pulse_width_position'])
ret = fl.sync_value(can['limit_switch_closed_for'])
if ret is not None:
can['limit_switch_closed_for'] = ret
ret = rl.sync_value(can['limit_switch_closed_rev'])
if ret is not None:
can['limit_switch_closed_rev'] = ret
# joystick/driver station
#sticks = _core.DriverStation.GetInstance().sticks
#stick_buttons = _core.DriverStation.GetInstance().stick_buttons
for i, (axes, buttons, povs) in enumerate(self.joysticks):
joy = hal_data['joysticks'][i]
jaxes = joy['axes']
for j, ax in enumerate(axes):
jaxes[j] = ax.get_value()
jbuttons = joy['buttons']
for j, (ck, var) in enumerate(buttons):
jbuttons[j + 1] = True if var.get() else False
jpovs = joy['povs']
for j, pov in enumerate(povs):
jpovs[j] = int(pov.get_value())
self.field.update_widgets()
tm = self.fake_time.get()
mode_tm = tm - self.mode_start_tm
self.status.config(text="Time: %.03f mode, %.03f total" %
(mode_tm, tm))
def set_tooltip(self, widget, cat, idx):
tooltip = self.config_obj['pyfrc'][cat].get(str(idx))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def set_joy_tooltip(self, widget, idx, typ, idx2):
tooltip = self.config_obj['pyfrc']['joysticks'][str(idx)][typ].get(
str(idx2))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def on_auton_choices(self, choices):
self.autobox['values'] = choices[:]
def on_auton_selection(self, selection):
self.autobox.set(selection)
def on_auton_selected(self, e):
self.auton_ctrl.setSelected(self.autobox.get())
def on_robot_mode_change(self, mode):
self.mode.set(mode)
self.mode_start_tm = self.fake_time.get()
# this is not strictly true... a robot can actually receive joystick
# commands from the driver station in disabled mode. However, most
# people aren't going to use that functionality...
controls_disabled = False if mode == self.manager.MODE_OPERATOR_CONTROL else True
state = tk.DISABLED if controls_disabled else tk.NORMAL
for axes, buttons, povs in self.joysticks:
for axis in axes:
axis.set_disabled(disabled=controls_disabled)
for ck, var in buttons:
ck.config(state=state)
for pov in povs:
pov.set_disabled(disabled=controls_disabled)
if not self.manager.is_alive():
for button in self.state_buttons:
button.config(state=tk.DISABLED)
self.robot_dead.pack()
#
# Time related callbacks
#
def on_pause(self, pause):
if pause:
self.fake_time.pause()
else:
self.fake_time.resume()
def on_step_time(self):
val = self.step_entry.get()
try:
tm = float(self.step_entry.get())
except ValueError:
tk.messagebox.showerror("Invalid step time",
"'%s' is not a valid number" % val)
return
if tm > 0:
self.fake_time.resume(tm)
def _setup_widgets(self, frame):
top = tk.Frame(frame)
top.grid(column=0, row=0)
bottom = tk.Frame(frame)
bottom.grid(column=0, row=1)
self.field = RobotField(frame, self.manager, self.config_obj)
self.field.grid(column=1, row=0, rowspan=2)
# status bar
self.status = tk.Label(frame, bd=1, relief=tk.SUNKEN, anchor=tk.E)
self.status.grid(column=0, row=2, columnspan=2, sticky=tk.W+tk.E)
# analog
slot = tk.LabelFrame(top, text='Analog')
self.analog = []
for i in range(len(hal_data['analog_in'])):
if hal_data['analog_in'][i]['initialized'] or hal_data['analog_out'][i]['initialized']:
label = tk.Label(slot, text=str(i))
label.grid(column=0, row=i+1)
vw = ValueWidget(slot, clickable=True, minval=-10.0, maxval=10.0)
vw.grid(column=1, row=i+1)
self.set_tooltip(vw, 'analog', i)
else:
vw = None
self.analog.append(vw)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
# digital
slot = tk.LabelFrame(top, text='Digital')
label = tk.Label(slot, text='PWM')
label.grid(column=0, columnspan=4, row=0)
self.pwm = []
for i in range(len(hal_data['pwm'])):
if hal_data['pwm'][i]['initialized']:
c = i // 10
label = tk.Label(slot, text=str(i))
label.grid(column=0+2*c, row=1 + i % 10)
vw = ValueWidget(slot)
vw.grid(column=1+2*c, row=1 + i % 10)
self.set_tooltip(vw, 'pwm', i)
else:
vw = None
self.pwm.append(vw)
label = tk.Label(slot, text='Digital I/O')
label.grid(column=4, columnspan=6, row=0)
self.dio = []
for i in range(len(hal_data['dio'])):
if hal_data['dio'][i]['initialized']:
c = i // 9
label = tk.Label(slot, text=str(i))
label.grid(column=4+c*2, row=1 + i % 9)
pi = PanelIndicator(slot, clickable=True)
pi.grid(column=5+c*2, row=1 + i % 9)
self.set_tooltip(pi, 'dio', i)
else:
pi = None
self.dio.append(pi)
label = tk.Label(slot, text='Relay')
label.grid(column=10, columnspan=2, row=0, padx=5)
self.relays = []
for i in range(len(hal_data['relay'])):
if hal_data['relay'][i]['initialized']:
label = tk.Label(slot, text=str(i))
label.grid(column=10, row=1 + i, sticky=tk.E)
pi = PanelIndicator(slot)
pi.grid(column=11, row=1 + i)
self.set_tooltip(pi, 'relay', i)
else:
pi = None
self.relays.append(pi)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
csfm = tk.Frame(top)
# solenoid
slot = tk.LabelFrame(csfm, text='Solenoid')
self.solenoids = []
for i in range(len(hal_data['solenoid'])):
label = tk.Label(slot, text=str(i))
c = int(i/2)*2
r = i%2
label.grid(column=0+c, row=r)
pi = PanelIndicator(slot)
pi.grid(column=1+c, row=r)
self.set_tooltip(pi, 'solenoid', i)
self.solenoids.append(pi)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
# CAN
# self.can_slot = tk.LabelFrame(csfm, text='CAN')
# self.can_slot.pack(side=tk.LEFT, fill=tk.BOTH, expand=1, padx=5)
# self.can_mode_map = {}
# tsrxc.kMode_CurrentCloseLoop: 'PercentVbus',
# tsrxc.kMode_DutyCycle:'PercentVbus',
# tsrxc.kMode_NoDrive:'Disabled',
# tsrxc.kMode_PositionCloseLoop:'Position',
# tsrxc.kMode_SlaveFollower:'Follower',
# tsrxc.kMode_VelocityCloseLoop:'Speed',
# tsrxc.kMode_VoltCompen:'Voltage'
# }
self.can = {}
# detect new devices
# for k in sorted(hal_data['CAN'].keys()):
# self._add_CAN(k, hal_data['CAN'][k])
# csfm.pack(side=tk.LEFT, fill=tk.Y)
# joysticks
slot = tk.LabelFrame(bottom, text='Joysticks')
self.joysticks = []
for i in range(4):
axes = []
buttons = []
col = 1 + i*3
row = 0
label = tk.Label(slot, text='Stick %s' % i)
label.grid(column=col, columnspan=3, row=row)
row += 1
# TODO: make this configurable
for j, t in enumerate(['X', 'Y', 'Z', 'T', '4', '5']):
label = tk.Label(slot, text=t)
label.grid(column=col, row=row)
vw = ValueWidget(slot, clickable=True, default=0.0)
vw.grid(column=col+1, row=row, columnspan=2)
self.set_joy_tooltip(vw, i, 'axes', t)
axes.append(vw)
row += 1
# POV: this needs improvement
label = tk.Label(slot, text='POV')
label.grid(column=col, row=row)
pov = ValueWidget(slot, clickable=True, default=-1, minval=-1, maxval=360, step=45, round_to_step=True)
pov.grid(column=col+1, row=row, columnspan=2)
row += 1
for j in range(1, 11):
var = tk.IntVar()
ck = tk.Checkbutton(slot, text=str(j), variable=var)
ck.grid(column=col+1+(1-j%2), row=row + int((j - 1) / 2))
self.set_joy_tooltip(ck, i, 'buttons', j)
buttons.append((ck, var))
self.joysticks.append((axes, buttons, [pov]))
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
ctrl_frame = tk.Frame(bottom)
# timing control
timing_control = tk.LabelFrame(ctrl_frame, text='Time')
def _set_realtime():
if realtime_mode.get() == 0:
step_button.pack_forget()
step_entry.pack_forget()
self.on_pause(False)
else:
step_button.pack(fill=tk.X)
step_entry.pack()
self.on_pause(True)
realtime_mode = tk.IntVar()
button = tk.Radiobutton(timing_control, text='Run', variable=realtime_mode,
value=0, command=_set_realtime)
button.pack(fill=tk.X)
button = tk.Radiobutton(timing_control, text='Pause', variable=realtime_mode,
value=1, command=_set_realtime)
button.pack(fill=tk.X)
step_button = tk.Button(timing_control, text='Step', command=self.on_step_time)
self.step_entry = tk.StringVar()
self.step_entry.set("0.025")
step_entry = tk.Entry(timing_control, width=6, textvariable=self.step_entry)
Tooltip.create(step_button, 'Click this to increment time by the step value')
Tooltip.create(step_entry, 'Time to step (in seconds)')
realtime_mode.set(0)
timing_control.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
# simulation control
sim = tk.LabelFrame(ctrl_frame, text='Robot')
self.state_buttons = []
self.mode = tk.IntVar()
def _set_mode():
self.manager.set_mode(self.mode.get())
button = tk.Radiobutton(sim, text='Disabled', variable=self.mode, \
value=self.manager.MODE_DISABLED, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Autonomous', variable=self.mode, \
value=self.manager.MODE_AUTONOMOUS, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Teleoperated', variable=self.mode, \
value=self.manager.MODE_OPERATOR_CONTROL, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Test', variable=self.mode, \
value=self.manager.MODE_TEST, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
self.robot_dead = tk.Label(sim, text='Robot died!', fg='red')
sim.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
#
# Set up a combo box that allows you to select an autonomous
# mode in the simulator
#
try:
from tkinter.ttk import Combobox
except:
pass
else:
auton = tk.LabelFrame(ctrl_frame, text='Autonomous')
self.autobox = Combobox(auton, state='readonly')
self.autobox.bind('<<ComboboxSelected>>', self.on_auton_selected)
self.autobox['width'] = 12
self.autobox.pack(fill=tk.X)
Tooltip.create(self.autobox, "Use robotpy_ext.autonomous.AutonomousModeSelector to use this selection box")
from networktables.util import ChooserControl
self.auton_ctrl = ChooserControl('Autonomous Mode',
lambda v: self.idle_add(self.on_auton_choices, v),
lambda v: self.idle_add(self.on_auton_selection, v))
auton.pack(side=tk.TOP)
ctrl_frame.pack(side=tk.LEFT, fill=tk.Y)
class SimUI(object):
def __init__(self, manager, fake_time, config_obj):
"""
initializes all default values and creates
a board, waits for run() to be called
to start the board
manager - sim manager class instance
"""
self.manager = manager
self.fake_time = fake_time
self.config_obj = config_obj
# Set up idle_add
self.queue = queue.Queue()
self.root = tk.Tk()
self.root.wm_title("PyFRC Robot Simulator v%s" % __version__)
self.root.protocol("WM_DELETE_WINDOW", self._delete_window)
# setup mode switch
frame = tk.Frame(self.root)
frame.pack(side=tk.TOP, anchor=tk.W)
self._setup_widgets(frame)
self.root.resizable(width=0, height=0)
# Allow extending the simulation from 3rd party libraries
# -> TODO: better API for this
self.extensions = []
for ep in iter_entry_points(group="robotpysim", name=None):
try:
extension = ep.load()
except ImportError:
logger.debug("Error importing extension '%s'",
ep.name,
exc_info=True)
else:
logger.debug("Loaded simulation extension '%s'", ep.name)
extension = extension()
if hasattr(extension, "update_tk_widgets"):
self.extensions.append(extension)
self.mode_start_tm = 0
self.text_id = None
# connect to the controller
self.manager.on_mode_change(
lambda mode: self.idle_add(self.on_robot_mode_change, mode))
self.on_robot_mode_change(self.manager.get_mode())
# create pygame joystick if supported
try:
from .pygame_joysticks import UsbJoysticks
except ImportError:
logger.warn(
"pygame not detected, real joystick support not loaded")
self.usb_joysticks = None
else:
self.usb_joysticks = UsbJoysticks(self)
logger.info("pygame was detected, real joystick support loaded!")
try:
self.root.lift()
self.root.attributes("-topmost", True)
self.root.attributes("-topmost", False)
except Exception:
pass
self.timer_fired()
def _delete_window(self):
self.root.destroy()
if self.usb_joysticks is not None:
self.usb_joysticks.close()
def _setup_widgets(self, frame):
top = tk.Frame(frame)
top.grid(column=0, row=0)
bottom = tk.Frame(frame)
bottom.grid(column=0, row=1)
self.field = RobotField(frame, self.manager, self.config_obj)
self.field.grid(column=1, row=0, rowspan=2)
# status bar
self.status = tk.Label(frame, bd=1, relief=tk.SUNKEN, anchor=tk.E)
self.status.grid(column=0, row=2, columnspan=2, sticky=tk.W + tk.E)
# analog
slot = tk.LabelFrame(top, text="Analog")
self.analog = []
for i in range(len(hal_data["analog_in"])):
if (hal_data["analog_in"][i]["initialized"]
or hal_data["analog_out"][i]["initialized"]):
label = tk.Label(slot, text=str(i))
label.grid(column=0, row=i + 1)
vw = ValueWidget(slot,
clickable=True,
minval=-10.0,
maxval=10.0)
vw.grid(column=1, row=i + 1)
self.set_tooltip(vw, "analog", i)
else:
vw = None
self.analog.append(vw)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
# digital
slot = tk.LabelFrame(top, text="Digital")
label = tk.Label(slot, text="PWM")
label.grid(column=0, columnspan=4, row=0)
self.pwm = []
for i in range(len(hal_data["pwm"])):
if hal_data["pwm"][i]["initialized"]:
c = i // 10
label = tk.Label(slot, text=str(i))
label.grid(column=0 + 2 * c, row=1 + i % 10)
vw = ValueWidget(slot)
vw.grid(column=1 + 2 * c, row=1 + i % 10)
self.set_tooltip(vw, "pwm", i)
else:
vw = None
self.pwm.append(vw)
label = tk.Label(slot, text="Digital I/O")
label.grid(column=4, columnspan=6, row=0)
self.dio = []
for i in range(len(hal_data["dio"])):
if hal_data["dio"][i]["initialized"]:
c = i // 9
label = tk.Label(slot, text=str(i))
label.grid(column=4 + c * 2, row=1 + i % 9)
pi = PanelIndicator(slot, clickable=True)
pi.grid(column=5 + c * 2, row=1 + i % 9)
self.set_tooltip(pi, "dio", i)
else:
pi = None
self.dio.append(pi)
label = tk.Label(slot, text="Relay")
label.grid(column=10, columnspan=2, row=0, padx=5)
self.relays = []
for i in range(len(hal_data["relay"])):
if hal_data["relay"][i]["initialized"]:
label = tk.Label(slot, text=str(i))
label.grid(column=10, row=1 + i, sticky=tk.E)
pi = PanelIndicator(slot)
pi.grid(column=11, row=1 + i)
self.set_tooltip(pi, "relay", i)
else:
pi = None
self.relays.append(pi)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
self.csfm = csfm = tk.Frame(top)
# solenoid (pcm)
self.pcm = {}
# values
self.values = {}
# CAN
self.can_slot = tk.LabelFrame(csfm, text="CAN")
self.can_slot.pack(side=tk.LEFT, fill=tk.BOTH, expand=1, padx=5)
self.can = {}
csfm.pack(side=tk.LEFT, fill=tk.Y)
# joysticks
slot = tk.LabelFrame(bottom, text="Joysticks")
self.joysticks = []
for i in range(4):
axes = []
buttons = []
col = 1 + i * 3
row = 0
label = tk.Label(slot, text="Stick %s" % i)
label.grid(column=col, columnspan=3, row=row)
row += 1
# TODO: make this configurable
for j, t in enumerate(["X", "Y", "Z", "T", "4", "5"]):
label = tk.Label(slot, text=t)
label.grid(column=col, row=row)
vw = ValueWidget(slot, clickable=True, default=0.0)
vw.grid(column=col + 1, row=row, columnspan=2)
self.set_joy_tooltip(vw, i, "axes", t)
axes.append(vw)
row += 1
# POV: this needs improvement
label = tk.Label(slot, text="POV")
label.grid(column=col, row=row)
pov = ValueWidget(
slot,
clickable=True,
default=-1,
minval=-1,
maxval=360,
step=45,
round_to_step=True,
)
pov.grid(column=col + 1, row=row, columnspan=2)
row += 1
for j in range(1, 11):
var = tk.IntVar()
ck = tk.Checkbutton(slot, text=str(j), variable=var)
ck.grid(column=col + 1 + (1 - j % 2),
row=row + int((j - 1) / 2))
self.set_joy_tooltip(ck, i, "buttons", j)
buttons.append((ck, var))
self.joysticks.append((axes, buttons, [pov]))
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
ctrl_frame = tk.Frame(bottom)
# timing control
timing_control = tk.LabelFrame(ctrl_frame, text="Time")
def _set_realtime():
if realtime_mode.get() == 0:
step_button.pack_forget()
step_entry.pack_forget()
self.on_pause(False)
else:
step_button.pack(fill=tk.X)
step_entry.pack()
self.on_pause(True)
realtime_mode = tk.IntVar()
button = tk.Radiobutton(
timing_control,
text="Run",
variable=realtime_mode,
value=0,
command=_set_realtime,
)
button.pack(fill=tk.X)
button = tk.Radiobutton(
timing_control,
text="Pause",
variable=realtime_mode,
value=1,
command=_set_realtime,
)
button.pack(fill=tk.X)
step_button = tk.Button(timing_control,
text="Step",
command=self.on_step_time)
self.step_entry = tk.StringVar()
self.step_entry.set("0.025")
step_entry = tk.Entry(timing_control,
width=6,
textvariable=self.step_entry)
Tooltip.create(step_button,
"Click this to increment time by the step value")
Tooltip.create(step_entry, "Time to step (in seconds)")
realtime_mode.set(0)
timing_control.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
# simulation control
sim = tk.LabelFrame(ctrl_frame, text="Robot")
self.state_buttons = []
self.mode = tk.IntVar()
def _set_mode():
self.manager.set_mode(self.mode.get())
button = tk.Radiobutton(
sim,
text="Disabled",
variable=self.mode,
value=self.manager.MODE_DISABLED,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim,
text="Autonomous",
variable=self.mode,
value=self.manager.MODE_AUTONOMOUS,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim,
text="Teleoperated",
variable=self.mode,
value=self.manager.MODE_OPERATOR_CONTROL,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim,
text="Test",
variable=self.mode,
value=self.manager.MODE_TEST,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
self.robot_dead = tk.Label(sim, text="Robot died!", fg="red")
sim.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
#
# Set up a combo box that allows you to select an autonomous
# mode in the simulator
#
try:
from tkinter.ttk import Combobox
except:
pass
else:
auton = tk.LabelFrame(ctrl_frame, text="Autonomous")
self.autobox = Combobox(auton, state="readonly")
self.autobox.bind("<<ComboboxSelected>>", self.on_auton_selected)
self.autobox["width"] = 12
self.autobox.pack(fill=tk.X)
Tooltip.create(
self.autobox,
"Use robotpy_ext.autonomous.AutonomousModeSelector to use this selection box",
)
from networktables.util import ChooserControl
self.auton_ctrl = ChooserControl(
"Autonomous Mode",
lambda v: self.idle_add(self.on_auton_choices, v),
lambda v: self.idle_add(self.on_auton_selection, v),
)
auton.pack(side=tk.TOP)
messages = self.config_obj["pyfrc"]["game_specific_messages"]
if messages:
gamedata = tk.LabelFrame(ctrl_frame, text="Game Data")
self.gamedataval = tk.StringVar()
if hasattr(self.gamedataval, "trace_add"):
self.gamedataval.trace_add("write",
self.on_gamedata_selected)
else:
self.gamedataval.trace_variable("w",
self.on_gamedata_selected)
self.gamedatabox = Combobox(gamedata,
textvariable=self.gamedataval)
self.gamedatabox["width"] = 12
self.gamedatabox.pack(fill=tk.X)
self.gamedatabox["values"] = messages
self.gamedatabox.current(0)
self.manager.game_specific_message = self.gamedatabox.get()
Tooltip.create(
self.gamedatabox,
"Use this selection box to simulate game specific data",
)
gamedata.pack(side=tk.TOP)
def _reset_robot():
for robot in self.manager.robots:
robot.physics_controller.reset_position()
button = tk.Button(ctrl_frame,
text="Reset Robot",
command=_reset_robot)
button.pack(side=tk.TOP)
ctrl_frame.pack(side=tk.LEFT, fill=tk.Y)
def _render_pcm(self):
for k, data in sorted(hal_data["pcm"].items()):
if k not in self.pcm:
slot = tk.LabelFrame(self.csfm, text="Solenoid (PCM %s)" % k)
solenoids = []
self.pcm[k] = solenoids
for i in range(len(data)):
label = tk.Label(slot, text=str(i))
c = int(i / 2) * 2
r = i % 2
label.grid(column=0 + c, row=r)
pi = PanelIndicator(slot)
pi.grid(column=1 + c, row=r)
self.set_tooltip(pi, "solenoid", i)
solenoids.append(pi)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
solenoids = self.pcm[k]
for i, ch in enumerate(data):
sol = solenoids[i]
if not ch["initialized"]:
sol.set_disabled()
else:
sol.set_value(ch["value"])
def _render_values(self):
for k, v in hal_data["robot"].items():
if not k.endswith("_angle"):
continue
gyro_label = self.values.get(k)
if not gyro_label:
gyro_label = self._create_value(k, k, "Angle (Degrees)")
gyro_label["text"] = "%.3f" % v
for i, gyro in enumerate(hal_data["analog_gyro"]):
if not gyro["initialized"]:
continue
k = "Gyro %s" % i
gyro_label = self.values.get(k)
if not gyro_label:
gyro_label = self._create_value(k, k, "Angle (Degrees)")
gyro_label["text"] = "%.3f" % gyro["angle"]
for i, encoder in enumerate(hal_data["encoder"]):
if not encoder["initialized"]:
continue
k = "Encoder %s" % i
label = self.values.get(k)
if not label:
txt = "Encoder (%s,%s)" % (
encoder["config"]["ASource_Channel"],
encoder["config"]["BSource_Channel"],
)
label = self._create_value(k, txt, "Count / Distance")
label["text"] = "%s / %.3f" % (
encoder["count"],
encoder["count"] * encoder["distance_per_pulse"],
)
for k, v in hal_data.get("custom", {}).items():
label = self.values.get(k)
if not label:
label = self._create_value(k, k, k)
if isinstance(v, float):
label["text"] = "%.3f" % v
else:
label["text"] = str(v)
def _create_value(self, key, text, tooltip):
slot = tk.LabelFrame(self.csfm, text=text)
label = tk.Label(slot)
label.pack(side=tk.TOP, fill=tk.BOTH)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
self.values[key] = label
Tooltip.create(label, tooltip)
return label
def idle_add(self, callable, *args):
"""Call this with a function as the argument, and that function
will be called on the GUI thread via an event
This function returns immediately
"""
self.queue.put((callable, args))
def __process_idle_events(self):
"""This should never be called directly, it is called via an
event, and should always be on the GUI thread"""
while True:
try:
callable, args = self.queue.get(block=False)
except queue.Empty:
break
callable(*args)
def run(self):
# and launch the thread
self.root.mainloop() # This call BLOCKS
def timer_fired(self):
"""Polling loop for events from other threads"""
self.__process_idle_events()
# grab the simulation lock, gather all of the
# wpilib objects, and display them on the screen
self.update_widgets()
# call next timer_fired (or we'll never call timer_fired again!)
delay = 100 # milliseconds
self.root.after(delay,
self.timer_fired) # pause, then call timer_fired again
def update_widgets(self):
# TODO: support multiple slots?
# joystick stuff
if self.usb_joysticks is not None:
self.usb_joysticks.update()
# analog module
for i, (ain, aout) in enumerate(
zip(hal_data["analog_in"], hal_data["analog_out"])):
aio = self.analog[i]
if aio is not None:
if ain["initialized"]:
aio.set_disabled(False)
ain["voltage"] = aio.get_value()
elif aout["initialized"]:
aio.set_value(aout["voltage"])
# digital module
for i, ch in enumerate(hal_data["dio"]):
dio = self.dio[i]
if dio is not None:
if not ch["initialized"]:
dio.set_disabled()
else:
# determine which one changed, and set the appropriate one
ret = dio.sync_value(ch["value"])
if ret is not None:
ch["value"] = ret
for i, ch in enumerate(hal_data["pwm"]):
pwm = self.pwm[i]
if pwm is not None:
pwm.set_value(ch["value"])
for i, ch in enumerate(hal_data["relay"]):
relay = self.relays[i]
if relay is not None:
if ch["fwd"]:
relay.set_on()
elif ch["rev"]:
relay.set_back()
else:
relay.set_off()
# solenoid
self._render_pcm()
# gyro/encoder
self._render_values()
# joystick/driver station
# sticks = _core.DriverStation.GetInstance().sticks
# stick_buttons = _core.DriverStation.GetInstance().stick_buttons
for i, (axes, buttons, povs) in enumerate(self.joysticks):
joy = hal_data["joysticks"][i]
jaxes = joy["axes"]
for j, ax in enumerate(axes):
jaxes[j] = ax.get_value()
jbuttons = joy["buttons"]
for j, (ck, var) in enumerate(buttons):
jbuttons[j + 1] = True if var.get() else False
jpovs = joy["povs"]
for j, pov in enumerate(povs):
jpovs[j] = int(pov.get_value())
for extension in self.extensions:
extension.update_tk_widgets(self)
self.field.update_widgets()
tm = self.fake_time.get()
mode_tm = tm - self.mode_start_tm
self.status.config(text="Time: %.03f mode, %.03f total" %
(mode_tm, tm))
def set_tooltip(self, widget, cat, idx):
tooltip = self.config_obj["pyfrc"][cat].get(str(idx))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def set_joy_tooltip(self, widget, idx, typ, idx2):
tooltip = self.config_obj["pyfrc"]["joysticks"][str(idx)][typ].get(
str(idx2))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def on_auton_choices(self, choices):
self.autobox["values"] = choices[:]
def on_auton_selection(self, selection):
self.autobox.set(selection)
def on_auton_selected(self, e):
self.auton_ctrl.setSelected(self.autobox.get())
def on_gamedata_selected(self, *args):
self.manager.game_specific_message = self.gamedatabox.get()
def on_robot_mode_change(self, mode):
self.mode.set(mode)
self.mode_start_tm = self.fake_time.get()
# this is not strictly true... a robot can actually receive joystick
# commands from the driver station in disabled mode. However, most
# people aren't going to use that functionality...
controls_disabled = (False if mode
== self.manager.MODE_OPERATOR_CONTROL else True)
state = tk.DISABLED if controls_disabled else tk.NORMAL
for axes, buttons, povs in self.joysticks:
for axis in axes:
axis.set_disabled(disabled=controls_disabled)
for ck, var in buttons:
ck.config(state=state)
for pov in povs:
pov.set_disabled(disabled=controls_disabled)
if not self.manager.is_alive():
for button in self.state_buttons:
button.config(state=tk.DISABLED)
self.robot_dead.pack()
#
# Time related callbacks
#
def on_pause(self, pause):
if pause:
self.fake_time.pause()
else:
self.fake_time.resume()
def on_step_time(self):
val = self.step_entry.get()
try:
tm = float(self.step_entry.get())
except ValueError:
tk.messagebox.showerror("Invalid step time",
"'%s' is not a valid number" % val)
return
if tm > 0:
self.fake_time.resume(tm)
def _setup_widgets(self, frame):
top = tk.Frame(frame)
top.grid(column=0, row=0)
bottom = tk.Frame(frame)
bottom.grid(column=0, row=1)
self.field = RobotField(frame, self.manager, self.config_obj)
self.field.grid(column=1, row=0, rowspan=2)
# status bar
self.status = tk.Label(frame, bd=1, relief=tk.SUNKEN, anchor=tk.E)
self.status.grid(column=0, row=2, columnspan=2, sticky=tk.W + tk.E)
# analog
slot = tk.LabelFrame(top, text="Analog")
self.analog = []
for i in range(len(hal_data["analog_in"])):
if (hal_data["analog_in"][i]["initialized"]
or hal_data["analog_out"][i]["initialized"]):
label = tk.Label(slot, text=str(i))
label.grid(column=0, row=i + 1)
vw = ValueWidget(slot,
clickable=True,
minval=-10.0,
maxval=10.0)
vw.grid(column=1, row=i + 1)
self.set_tooltip(vw, "analog", i)
else:
vw = None
self.analog.append(vw)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
# digital
slot = tk.LabelFrame(top, text="Digital")
label = tk.Label(slot, text="PWM")
label.grid(column=0, columnspan=4, row=0)
self.pwm = []
for i in range(len(hal_data["pwm"])):
if hal_data["pwm"][i]["initialized"]:
c = i // 10
label = tk.Label(slot, text=str(i))
label.grid(column=0 + 2 * c, row=1 + i % 10)
vw = ValueWidget(slot)
vw.grid(column=1 + 2 * c, row=1 + i % 10)
self.set_tooltip(vw, "pwm", i)
else:
vw = None
self.pwm.append(vw)
label = tk.Label(slot, text="Digital I/O")
label.grid(column=4, columnspan=6, row=0)
self.dio = []
for i in range(len(hal_data["dio"])):
if hal_data["dio"][i]["initialized"]:
c = i // 9
label = tk.Label(slot, text=str(i))
label.grid(column=4 + c * 2, row=1 + i % 9)
pi = PanelIndicator(slot, clickable=True)
pi.grid(column=5 + c * 2, row=1 + i % 9)
self.set_tooltip(pi, "dio", i)
else:
pi = None
self.dio.append(pi)
label = tk.Label(slot, text="Relay")
label.grid(column=10, columnspan=2, row=0, padx=5)
self.relays = []
for i in range(len(hal_data["relay"])):
if hal_data["relay"][i]["initialized"]:
label = tk.Label(slot, text=str(i))
label.grid(column=10, row=1 + i, sticky=tk.E)
pi = PanelIndicator(slot)
pi.grid(column=11, row=1 + i)
self.set_tooltip(pi, "relay", i)
else:
pi = None
self.relays.append(pi)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
self.csfm = csfm = tk.Frame(top)
# solenoid (pcm)
self.pcm = {}
# values
self.values = {}
# CAN
self.can_slot = tk.LabelFrame(csfm, text="CAN")
self.can_slot.pack(side=tk.LEFT, fill=tk.BOTH, expand=1, padx=5)
self.can = {}
csfm.pack(side=tk.LEFT, fill=tk.Y)
# joysticks
slot = tk.LabelFrame(bottom, text="Joysticks")
self.joysticks = []
for i in range(4):
axes = []
buttons = []
col = 1 + i * 3
row = 0
label = tk.Label(slot, text="Stick %s" % i)
label.grid(column=col, columnspan=3, row=row)
row += 1
# TODO: make this configurable
for j, t in enumerate(["X", "Y", "Z", "T", "4", "5"]):
label = tk.Label(slot, text=t)
label.grid(column=col, row=row)
vw = ValueWidget(slot, clickable=True, default=0.0)
vw.grid(column=col + 1, row=row, columnspan=2)
self.set_joy_tooltip(vw, i, "axes", t)
axes.append(vw)
row += 1
# POV: this needs improvement
label = tk.Label(slot, text="POV")
label.grid(column=col, row=row)
pov = ValueWidget(
slot,
clickable=True,
default=-1,
minval=-1,
maxval=360,
step=45,
round_to_step=True,
)
pov.grid(column=col + 1, row=row, columnspan=2)
row += 1
for j in range(1, 11):
var = tk.IntVar()
ck = tk.Checkbutton(slot, text=str(j), variable=var)
ck.grid(column=col + 1 + (1 - j % 2),
row=row + int((j - 1) / 2))
self.set_joy_tooltip(ck, i, "buttons", j)
buttons.append((ck, var))
self.joysticks.append((axes, buttons, [pov]))
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
ctrl_frame = tk.Frame(bottom)
# timing control
timing_control = tk.LabelFrame(ctrl_frame, text="Time")
def _set_realtime():
if realtime_mode.get() == 0:
step_button.pack_forget()
step_entry.pack_forget()
self.on_pause(False)
else:
step_button.pack(fill=tk.X)
step_entry.pack()
self.on_pause(True)
realtime_mode = tk.IntVar()
button = tk.Radiobutton(
timing_control,
text="Run",
variable=realtime_mode,
value=0,
command=_set_realtime,
)
button.pack(fill=tk.X)
button = tk.Radiobutton(
timing_control,
text="Pause",
variable=realtime_mode,
value=1,
command=_set_realtime,
)
button.pack(fill=tk.X)
step_button = tk.Button(timing_control,
text="Step",
command=self.on_step_time)
self.step_entry = tk.StringVar()
self.step_entry.set("0.025")
step_entry = tk.Entry(timing_control,
width=6,
textvariable=self.step_entry)
Tooltip.create(step_button,
"Click this to increment time by the step value")
Tooltip.create(step_entry, "Time to step (in seconds)")
realtime_mode.set(0)
timing_control.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
# simulation control
sim = tk.LabelFrame(ctrl_frame, text="Robot")
self.state_buttons = []
self.mode = tk.IntVar()
def _set_mode():
self.manager.set_mode(self.mode.get())
button = tk.Radiobutton(
sim,
text="Disabled",
variable=self.mode,
value=self.manager.MODE_DISABLED,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim,
text="Autonomous",
variable=self.mode,
value=self.manager.MODE_AUTONOMOUS,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim,
text="Teleoperated",
variable=self.mode,
value=self.manager.MODE_OPERATOR_CONTROL,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(
sim,
text="Test",
variable=self.mode,
value=self.manager.MODE_TEST,
command=_set_mode,
)
button.pack(fill=tk.X)
self.state_buttons.append(button)
self.robot_dead = tk.Label(sim, text="Robot died!", fg="red")
sim.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
#
# Set up a combo box that allows you to select an autonomous
# mode in the simulator
#
try:
from tkinter.ttk import Combobox
except:
pass
else:
auton = tk.LabelFrame(ctrl_frame, text="Autonomous")
self.autobox = Combobox(auton, state="readonly")
self.autobox.bind("<<ComboboxSelected>>", self.on_auton_selected)
self.autobox["width"] = 12
self.autobox.pack(fill=tk.X)
Tooltip.create(
self.autobox,
"Use robotpy_ext.autonomous.AutonomousModeSelector to use this selection box",
)
from networktables.util import ChooserControl
self.auton_ctrl = ChooserControl(
"Autonomous Mode",
lambda v: self.idle_add(self.on_auton_choices, v),
lambda v: self.idle_add(self.on_auton_selection, v),
)
auton.pack(side=tk.TOP)
messages = self.config_obj["pyfrc"]["game_specific_messages"]
if messages:
gamedata = tk.LabelFrame(ctrl_frame, text="Game Data")
self.gamedataval = tk.StringVar()
if hasattr(self.gamedataval, "trace_add"):
self.gamedataval.trace_add("write",
self.on_gamedata_selected)
else:
self.gamedataval.trace_variable("w",
self.on_gamedata_selected)
self.gamedatabox = Combobox(gamedata,
textvariable=self.gamedataval)
self.gamedatabox["width"] = 12
self.gamedatabox.pack(fill=tk.X)
self.gamedatabox["values"] = messages
self.gamedatabox.current(0)
self.manager.game_specific_message = self.gamedatabox.get()
Tooltip.create(
self.gamedatabox,
"Use this selection box to simulate game specific data",
)
gamedata.pack(side=tk.TOP)
def _reset_robot():
for robot in self.manager.robots:
robot.physics_controller.reset_position()
button = tk.Button(ctrl_frame,
text="Reset Robot",
command=_reset_robot)
button.pack(side=tk.TOP)
ctrl_frame.pack(side=tk.LEFT, fill=tk.Y)
