def __init__(self, layout_file):
"""
A GUI to demonstrate the basic functionality of the system.
:param layout_file:
:return:
"""
self.master = Tk()
self.master.wm_title("MAPS Demonstration GUI")
# Interfaces to external programs
self.data_recorder = DataRecorder(topics=["/pressure_events"])
self.command_interface = MAPSInterface()
self.sensor_objs = []
self.sensor_widgets = {}
# Read Layout File and create Sensor Widgets
self.read_layout(layout_file)
# State Variables for Widgets
self.filter_state = IntVar()
self.record_button_text = StringVar()
self.record_button_text.set("Record Data")
# Declare container for command/config widgets
self.container = Frame(self.master)
# Declare Widgets
self.calibrate_button = Button(self.container, text="Calibrate", command=self.calibrate_button_callback)
self.record_button = Button(self.container, textvariable=self.record_button_text, command=self.record_callback)
#self.filter_button = Checkbutton(self.container, text="Filter", variable=self.filter_state)
self.threshold_label = Label(self.container, text="Threshold(%): ")
self.threshold_slider = Scale(self.container, from_=0.0, to=100.0, orient=HORIZONTAL)
# Position widgets within container
self.calibrate_button.grid(row=0, column=0, pady=10)
self.threshold_label.grid(row=2, column=0, pady=10)
self.threshold_slider.grid(row=4, column=0, pady=10)
self.record_button.grid(row=6, column=0, pady=10)
#self.filter_button.grid(row=8, column=0, pady=10)
# Add container to window
self.container.grid(row=0, column=Sensor.max_width+1, rowspan=5)
class DemonstrationGui(object):
def __init__(self, layout_file):
"""
A GUI to demonstrate the basic functionality of the system.
:param layout_file:
:return:
"""
self.master = Tk()
self.master.wm_title("MAPS Demonstration GUI")
# Interfaces to external programs
self.data_recorder = DataRecorder(topics=["/pressure_events"])
self.command_interface = MAPSInterface()
self.sensor_objs = []
self.sensor_widgets = {}
# Read Layout File and create Sensor Widgets
self.read_layout(layout_file)
# State Variables for Widgets
self.filter_state = IntVar()
self.record_button_text = StringVar()
self.record_button_text.set("Record Data")
# Declare container for command/config widgets
self.container = Frame(self.master)
# Declare Widgets
self.calibrate_button = Button(self.container, text="Calibrate", command=self.calibrate_button_callback)
self.record_button = Button(self.container, textvariable=self.record_button_text, command=self.record_callback)
#self.filter_button = Checkbutton(self.container, text="Filter", variable=self.filter_state)
self.threshold_label = Label(self.container, text="Threshold(%): ")
self.threshold_slider = Scale(self.container, from_=0.0, to=100.0, orient=HORIZONTAL)
# Position widgets within container
self.calibrate_button.grid(row=0, column=0, pady=10)
self.threshold_label.grid(row=2, column=0, pady=10)
self.threshold_slider.grid(row=4, column=0, pady=10)
self.record_button.grid(row=6, column=0, pady=10)
#self.filter_button.grid(row=8, column=0, pady=10)
# Add container to window
self.container.grid(row=0, column=Sensor.max_width+1, rowspan=5)
def read_layout(self, fname):
"""
Read the layout file to create the grid positioning the sensor widgets
:param fname: The file name of the layout file to read
:return: None
"""
self.sensor_objs = read_layout_file(fname)
self.sensor_widgets = {}
for idx, sensor in self.sensor_objs.iteritems():
canvas = sensor.create_canvas(self.master)
canvas.grid(row=sensor.row, column=sensor.col, padx=1, pady=1)
self.sensor_widgets[idx] = sensor
def update_timer(self):
"""
The timer that updates the widgets
:return: None
"""
for ind, lbl in self.sensor_widgets.iteritems():
self.sensor_widgets[ind].update_canvas(get_current_value(int(ind)), get_threshold(int(ind)))
self.master.after(10, self.update_timer)
def record_callback(self):
"""
The callback function called when the "record" button is clicked
:return:
"""
if not self.data_recorder.recording:
self.data_recorder.start()
self.record_button_text.set("Stop Recording")
else:
self.data_recorder.stop()
self.record_button_text.set("Record Data")
def ros_event_callback(self, data):
"""
The callback function called when a ros pressure event is received
:param data: Pressure data
:return:
"""
sensor, value = EventManager.decode_sensor_message(data.data)
if sensor is not None:
sensor = str(sensor)
self.sensor_widgets[sensor].trigger()
self.master.after(100, self.sensor_widgets[sensor].remove_trigger)
def pocket_fail_callback(self, data):
"""
The callback function called when a pocket fails
:param data: The sensor that failed
:return:
"""
sensor = data.data
self.sensor_widgets[sensor].fail()
self.master.after(100, self.sensor_widgets[sensor].remove_fail)
def calibrate_button_callback(self):
"""
The callback function called when the calibrate button is pressed
:return: None
"""
self.command_interface.calibrate(self.threshold_slider.get()/100.0)
def run(self):
"""
Start the event loop for the GUI
:return: None
"""
rospy.Subscriber("/pressure_events", String, self.ros_event_callback)
rospy.Subscriber("/failure_events", String, self.pocket_fail_callback)
self.update_timer()
self.master.mainloop()
