def __init__(self):
"""
:return:
"""
App.__init__(self)
# Connection
self.connection = "DUMMY"
self.proxy = Proxy(self.connection)
self.proxy.start()
# Model
self.robot = SimulatedRobot(self.proxy)
self.robot.cell_size = 0.3
self.robot.x = 0.3
self.robot.y = 0.3
self.map_model = Map(self.robot, 3.0, 0.3)
self.state = State.default
self.brush = "start"
self.planning_algorithm = GridNav(self.map_model)
self.planner = Planner(self.robot, self.map_model, self.planning_algorithm, self.proxy)
# View
self.map_widget = None
self.panel_widget = None
self.toolbar_widget = None
self.horizontal_layout = None
self.vertical_layout = None
self.popup = None
self.plan()
def connect_bluetooth(self, mac_address):
try:
self.connection = BluetoothConnection(mac_address, 0x1001)
self.proxy = Proxy(self.connection)
self.proxy.start()
self.robot = Robot(self.proxy)
self.robot.cell_size = 0.3
self.robot.x = 0.3
self.robot.y = 0.3
self.map_model.listeners.clear()
self.map_model.path.listeners.clear()
self.setup_listeners()
except OSError as err:
print(err)
class RobotApp(App):
"""
"""
def __init__(self):
"""
:return:
"""
App.__init__(self)
# Connection
self.connection = "DUMMY"
self.proxy = Proxy(self.connection)
self.proxy.start()
# Model
self.robot = SimulatedRobot(self.proxy)
self.robot.cell_size = 0.3
self.robot.x = 0.3
self.robot.y = 0.3
self.map_model = Map(self.robot, 3.0, 0.3)
self.state = State.default
self.brush = "start"
self.planning_algorithm = GridNav(self.map_model)
self.planner = Planner(self.robot, self.map_model, self.planning_algorithm, self.proxy)
# View
self.map_widget = None
self.panel_widget = None
self.toolbar_widget = None
self.horizontal_layout = None
self.vertical_layout = None
self.popup = None
self.plan()
def build(self):
"""
:return:
"""
self.map_widget = MapWidget(self)
self.map_widget.set_map(self.map_model)
self.panel_widget = PanelWidget(self)
self.toolbar_widget = ToolbarWidget(self, orientation="horizontal")
self.horizontal_layout = BoxLayout(orientation="horizontal")
self.horizontal_layout.add_widget(self.map_widget)
self.horizontal_layout.add_widget(self.panel_widget)
self.vertical_layout = BoxLayout(orientation="vertical")
self.vertical_layout.add_widget(self.toolbar_widget)
self.vertical_layout.add_widget(self.horizontal_layout)
# Add model listeners.
self.setup_listeners()
return self.vertical_layout
def on_start(self):
return
def on_stop(self):
return
def connect_bluetooth(self, mac_address):
try:
self.connection = BluetoothConnection(mac_address, 0x1001)
self.proxy = Proxy(self.connection)
self.proxy.start()
self.robot = Robot(self.proxy)
self.robot.cell_size = 0.3
self.robot.x = 0.3
self.robot.y = 0.3
self.map_model.listeners.clear()
self.map_model.path.listeners.clear()
self.setup_listeners()
except OSError as err:
print(err)
def disconnect_bluetooth(self):
self.stop_plan()
self.connection.close()
def setup_listeners(self):
"""
:return:
"""
self.proxy.listeners.append(self.robot)
self.robot.listeners.append(self.map_widget)
self.map_model.listeners.append(self.map_widget)
self.map_model.path.listeners.append(self.map_widget)
def create_new_map(self):
"""
:return:
"""
new_map_widget = PopupMapWidget()
new_map_widget.ok_button.bind(on_press=self.on_popup_ok_button)
new_map_widget.cancel_button.bind(on_press=self.on_popup_cancel_button)
self.popup = Popup(title='New Map', content=new_map_widget, size_hint=(None, None), size=(300, 200),
auto_dismiss=True)
self.popup.open()
def open_map(self, instance):
"""
:param instance:
:return:
"""
map_model = Map(self.robot, None, None, str(self.popup.file_input.text))
self.map_widget.set_map(map_model)
self.horizontal_layout.remove_widget(self.popup)
self.horizontal_layout.add_widget(self.map_widget, index=1)
self.reset_state()
def save_map(self, instance):
"""
:param instance:
:return:
"""
self.map_widget.map_model.file = self.popup.file_input.text
self.map_widget.map_model.save()
self.horizontal_layout.remove_widget(self.popup)
self.horizontal_layout.add_widget(self.map_widget, index=1)
self.reset_state()
def show_open_dialog(self):
"""
:return:
"""
if self.state == State.default:
self.horizontal_layout.remove_widget(self.map_widget)
self.popup = FileWidget(self.open_map, self.cancel_dialog, "Open")
self.horizontal_layout.add_widget(self.popup, index=1)
self.state = State.opening
def show_save_dialog(self):
"""
:return:
"""
if self.state == State.default:
self.horizontal_layout.remove_widget(self.map_widget)
self.popup = FileWidget(self.save_map, self.cancel_dialog, "Save")
self.horizontal_layout.add_widget(self.popup, index=1)
self.state = State.saving
def on_popup_ok_button(self, instance):
"""
:param instance:
:return:
"""
content = self.popup.content
self.popup.dismiss()
self.map_model = Map(self.robot, float(content.size_text_input.text), float(content.cell_text_input.text))
self.map_widget.set_map(self.map_model)
def on_popup_cancel_button(self, instance):
"""
:param instance:
:return:
"""
self.popup.dismiss()
def cancel_dialog(self, instance):
"""
:param instance:
:return:
"""
self.horizontal_layout.remove_widget(self.popup)
self.horizontal_layout.add_widget(self.map_widget, index=1)
self.reset_state()
def reset_state(self):
"""
:return:
"""
self.state = State.default
def run_plan(self):
"""
:return:
"""
self.plan()
if self.planner.finished:
self.planner = Planner(self.robot, self.map_model, self.planning_algorithm, self.proxy)
self.planner.start()
def stop_plan(self):
"""
:return:
"""
if not self.planner.finished:
self.planner.finished = True
def plan(self):
"""
:return:
"""
self.planning_algorithm = GridNav(self.map_model)
self.planning_algorithm.plan()
self.map_model.path.update_points(self.planning_algorithm.path)
'''
Move this out of here.
'''
def handle_touch_down(self, x, y):
"""
:param x:
:param y:
:return:
"""
if self.brush == "start":
x = x * self.map_model.cell_size
y = y * self.map_model.cell_size
self.robot.update_odometry(OdometryReport(x, y, self.robot.heading))
elif self.brush == "goal":
self.map_model.set_goal_position(x, y)
else:
self.map_model.set_cell_state(x, y)
self.plan()