Exemplo n.º 1
0
    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()
Exemplo n.º 2
0
    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)
Exemplo n.º 3
0
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()