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")
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)
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 _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)
