def __init__(self):
# get a logger
self.log = logging.getLogger("GTK_Main")
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = Robot(self.BT_ADDRESS)
self.feed_radio = "real"
self.fix_colour = False
self.half_time = False
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in [
"lappy", "mitsubishi", "lexus", "honda"
]:
self.are_on_vision_pc = True
# setup the window
builder = gtk.Builder()
builder.add_from_file("main_ui.xml")
self.window = builder.get_object("window_main")
# change out the image with are video widget
video_holder_box = builder.get_object("box_videoHolder")
video_holder_img = builder.get_object("image_videoHolder")
self.gst = GstDrawingArea()
video_holder_box.remove(video_holder_img)
video_holder_box.add(self.gst)
# connect to GUI events
self.window.set_events(gtk.gdk.KEY_PRESS_MASK
| gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
builder.connect_signals(self)
# get all wigets that are needed later
self.table_manualControl = builder.get_object("table_manualControl")
# show the GUI
self.gst.show()
self.window.show()
self.log.debug("GTK windows complete")
def __init__(self):
# get a logger
self.log = logging.getLogger("GTK_Main")
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = Robot(self.BT_ADDRESS)
self.feed_radio = "real"
self.fix_colour = False
self.half_time = False
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in ["lappy", "mitsubishi", "lexus", "honda"]:
self.are_on_vision_pc = True
# setup the window
builder = gtk.Builder()
builder.add_from_file("main_ui.xml")
self.window = builder.get_object("window_main")
# change out the image with are video widget
video_holder_box = builder.get_object("box_videoHolder")
video_holder_img = builder.get_object("image_videoHolder")
self.gst = GstDrawingArea()
video_holder_box.remove(video_holder_img)
video_holder_box.add(self.gst)
# connect to GUI events
self.window.set_events(gtk.gdk.KEY_PRESS_MASK|gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
builder.connect_signals(self)
# get all wigets that are needed later
self.table_manualControl = builder.get_object("table_manualControl")
# show the GUI
self.gst.show()
self.window.show()
self.log.debug("GTK windows complete")
def __connect(self):
self.button_connect["text"] = "Connecting"
try:
# first try to find are know robot
self.robot = Robot(host=self.BT_ADDRESS)
except RobotNotFoundError: # TODO
# try to find any robot
self.robot = Robot()
except Exception as error:
print "Robot Error" # + str(error)
self.button_connect["text"] = "Connect"
self.button_connect["state"] = "active"
raise error
self.scale_power.set(self.robot.get_power())
self.button_up["state"] = "active"
self.button_dn["state"] = "active"
self.button_le["state"] = "active"
self.button_ri["state"] = "active"
self.button_st["state"] = "active"
self.button_bz["state"] = "active"
self.scale_power["state"] = "active"
self.button_connect["state"] = "disabled"
self.button_connect["text"] = "Connected"
def __connect(self, widget=None, data=None):
if not self.button_connect.get_active():
self.button_connect.set_active(True) # keep it active
return # ingnor button when not acctive
if self.robot != None:
self.log.warning("Tryed to connect to a already connected brick")
return
self.button_connect.set_label("Connecting")
try:
# first try to find are know robot
self.robot = Robot(host=self.BT_ADDRESS)
self.button_connect.set_label("Conected")
self.button_connect.set_active(True)
except Exception as error:
self.log.error(error)
self.button_connect.set_label("Connect")
self.button_connect.set_active(False)
self.robot = None
class GTK_Main(object):
BT_ADDRESS = "00:16:53:08:A0:E6"
def __init__(self):
# get a logger
self.log = logging.getLogger("GTK_Main")
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = Robot(self.BT_ADDRESS)
self.feed_radio = "real"
self.fix_colour = False
self.half_time = False
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in [
"lappy", "mitsubishi", "lexus", "honda"
]:
self.are_on_vision_pc = True
# setup the window
builder = gtk.Builder()
builder.add_from_file("main_ui.xml")
self.window = builder.get_object("window_main")
# change out the image with are video widget
video_holder_box = builder.get_object("box_videoHolder")
video_holder_img = builder.get_object("image_videoHolder")
self.gst = GstDrawingArea()
video_holder_box.remove(video_holder_img)
video_holder_box.add(self.gst)
# connect to GUI events
self.window.set_events(gtk.gdk.KEY_PRESS_MASK
| gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
builder.connect_signals(self)
# get all wigets that are needed later
self.table_manualControl = builder.get_object("table_manualControl")
# show the GUI
self.gst.show()
self.window.show()
self.log.debug("GTK windows complete")
def save_frame(self, widget=None, data=None):
self.log.debug("_save_frame")
if self.gst.is_playing():
name = self.gst.save_frame_to_file(widget=widget, data=data)
else:
self.log.warning("No video to save frame")
def background_remove(self, widget=None, data=None):
self.log.debug("background_remove")
if self.gst.is_playing():
image = self.gst.get_frame(widget=widget, data=data)
ImageProcess(image).save_png() #TODO
#image = ImageProcess(image).get_image()
#self.gst.show_img(image)
else:
self.log.warning("No video to remove background")
def start_stop(self, widget=None, data=None):
self.log.debug("__start_stop")
if self.gst.is_playing():
self.stop_feed()
else:
self.start_feed()
def on_manual_robot_control(self, widget=None, data=None):
self.log.debug("click")
print data
def on_key_press(self, widget, data=None):
self.log.debug("click")
if data.keyval == 65362: # up
self.log.debug("Up")
self.robot.up()
elif data.keyval == 65364: # down
self.log.debug("Down")
self.robot.down()
elif data.keyval == 65361: # left
self.log.debug("Left")
self.robot.left()
elif data.keyval == 65363: # right
self.log.debug("Right")
self.robot.right()
elif data.keyval == 32: # space
self.log.debug("Kick")
self.robot.kick()
elif data.keyval == 65307: # Esc
self.clean_quit()
elif data.keyval == 65480: # F11
if self.fullscreen:
self.window.unfullscreen()
self.fullscreen = False
else:
self.window.fullscreen()
self.fullscreen = True
elif data.string == "s": # s
self.log.debug("Stop!")
self.robot.stop()
else:
self.log.debug("on_key_press:\n\tevent: '{event}'\n\tkeyval: '{keyval}'\n\tstring: '{str_}'"\
.format(event="key_press_unknown_key", keyval=data.keyval, str_=data.string))
return False # since we dont use the key let the rest of the GUI use it. ie enter and F1
return True # stop the rest of the GUI reacting
def on_key_release(self, widget, data=None):
self.log.debug("un-click")
self.robot.stop()
return True
def clean_quit(self, widget=None, data=None):
self.log.debug("Clean Quit")
self.robot = None
gtk.main_quit()
def start_feed(self):
self.gst.start_video(self.feed_radio,
fixcolour=self.fix_colour,
rotation=self.half_time)
# TODO
#self.button.set_label("Stop")
#self.button.set_active(True)
def stop_feed(self):
self.gst.stop_video()
# TODO
#self.button.set_label("Start Feed")
#self.button.set_active(False)
def fix_video_colour(self, widget=None, data=None):
self.log.debug("fix_video_colour")
self.fix_colour = not self.fix_colour
def flip_video_feed(self, widget=None, data=None):
self.log.debug("half_time")
self.half_time = not self.half_time
def connect_to_brick(self, widget=None, data=None):
self.log.debug("connect_to_brick")
if not widget.get_active():
return False # ingnor button when not acctive
try:
# first try to find are know robot
self.robot.connect()
widget.set_label("Conected")
widget.set_active(True)
except Exception as error:
self.log.error(error)
widget.set_label("Connect")
widget.set_active(False)
def radio_feed_change_real(self, widget=None, data=None):
self.log.debug("radio_feed_change real")
if self.feed_radio != "real":
self.feed_radio = "real"
def radio_feed_change_test(self, widget=None, data=None):
self.log.debug("radio_feed_change test")
if self.feed_radio != "test":
self.feed_radio = "test"
def radio_feed_change_file(self, widget=None, data=None):
self.log.debug("radio_feed_change file")
if self.feed_radio != "file":
self.feed_radio = "file"
def change_manual_control(self, widget=None, data=None):
self.log.debug("change_manual_control")
if widget.get_active():
self.log.warning("Request to chnage to manual")
widget.set_label("Automatic")
for child in self.table_manualControl.get_children():
if child != widget:
child.show()
if type(child) == gtk.VScale():
child.set_value(self.robot.get_power())
else:
self.log.warning("Request to chnage to automatic")
widget.set_label("Manual")
for child in self.table_manualControl.get_children():
if child != widget:
child.hide()
def manual_power_change(self, widget=None, data=None):
self.log.debug("manual_power_change")
self.robot.set_power(widget.get_value())
def on_manual_robot_control_up(self, widget=None, data=None):
self.robot.up()
def on_manual_robot_control_down(self, widget=None, data=None):
self.robot.down()
def on_manual_robot_control_stop(self, widget=None, data=None):
self.robot.stop()
def on_manual_robot_control_left(self, widget=None, data=None):
self.robot.left()
def on_manual_robot_control_right(self, widget=None, data=None):
self.robot.right()
def on_manual_robot_control_kick(self, widget=None, data=None):
self.robot.kick()
def on_manual_robot_control_buzz(self, widget=None, data=None):
self.robot.buzz()
def __del__(self):
self.log.info("__del__")
self.robot = None
class GTK_Main(object):
BT_ADDRESS = "00:16:53:08:A0:E6"
def __init__(self):
# get a logger
self.log = logging.getLogger("GTK_Main")
# save init values
self.fullscreen = False # this is technicaly not consistant as it is not chnaged on system uests
self.robot = Robot(self.BT_ADDRESS)
self.feed_radio = "real"
self.fix_colour = False
self.half_time = False
# do some jazz to see if we are on dice and or video pc
self.hostname = gethostname()
self.are_in_inf = False
self.are_on_vision_pc = False
if self.hostname.endswith("inf.ed.ac.uk"):
self.are_in_inf = True
if self.hostname.split(".")[0] in ["lappy", "mitsubishi", "lexus", "honda"]:
self.are_on_vision_pc = True
# setup the window
builder = gtk.Builder()
builder.add_from_file("main_ui.xml")
self.window = builder.get_object("window_main")
# change out the image with are video widget
video_holder_box = builder.get_object("box_videoHolder")
video_holder_img = builder.get_object("image_videoHolder")
self.gst = GstDrawingArea()
video_holder_box.remove(video_holder_img)
video_holder_box.add(self.gst)
# connect to GUI events
self.window.set_events(gtk.gdk.KEY_PRESS_MASK|gtk.gdk.KEY_RELEASE_MASK)
self.window.connect("key_press_event", self.on_key_press)
self.window.connect("key_release_event", self.on_key_release)
self.window.connect("destroy", self.clean_quit)
builder.connect_signals(self)
# get all wigets that are needed later
self.table_manualControl = builder.get_object("table_manualControl")
# show the GUI
self.gst.show()
self.window.show()
self.log.debug("GTK windows complete")
def save_frame(self, widget=None, data=None):
self.log.debug("_save_frame")
if self.gst.is_playing():
name = self.gst.save_frame_to_file(widget=widget, data=data)
else:
self.log.warning("No video to save frame")
def background_remove(self, widget=None, data=None):
self.log.debug("background_remove")
if self.gst.is_playing():
image = self.gst.get_frame(widget=widget, data=data)
ImageProcess(image).save_png() #TODO
#image = ImageProcess(image).get_image()
#self.gst.show_img(image)
else:
self.log.warning("No video to remove background")
def start_stop(self, widget=None, data=None):
self.log.debug("__start_stop")
if self.gst.is_playing():
self.stop_feed()
else:
self.start_feed()
def on_manual_robot_control(self, widget=None, data=None):
self.log.debug("click")
print data
def on_key_press(self, widget, data=None):
self.log.debug("click")
if data.keyval == 65362: # up
self.log.debug("Up")
self.robot.up()
elif data.keyval == 65364: # down
self.log.debug("Down")
self.robot.down()
elif data.keyval == 65361: # left
self.log.debug("Left")
self.robot.left()
elif data.keyval == 65363: # right
self.log.debug("Right")
self.robot.right()
elif data.keyval == 32: # space
self.log.debug("Kick")
self.robot.kick()
elif data.keyval == 65307: # Esc
self.clean_quit()
elif data.keyval == 65480: # F11
if self.fullscreen:
self.window.unfullscreen()
self.fullscreen = False
else:
self.window.fullscreen()
self.fullscreen = True
elif data.string == "s": # s
self.log.debug("Stop!")
self.robot.stop()
else:
self.log.debug("on_key_press:\n\tevent: '{event}'\n\tkeyval: '{keyval}'\n\tstring: '{str_}'"\
.format(event="key_press_unknown_key", keyval=data.keyval, str_=data.string))
return False # since we dont use the key let the rest of the GUI use it. ie enter and F1
return True # stop the rest of the GUI reacting
def on_key_release(self, widget, data=None):
self.log.debug("un-click")
self.robot.stop()
return True
def clean_quit(self, widget=None, data=None):
self.log.debug("Clean Quit")
self.robot = None
gtk.main_quit()
def start_feed(self):
self.gst.start_video(self.feed_radio, fixcolour=self.fix_colour, rotation=self.half_time)
# TODO
#self.button.set_label("Stop")
#self.button.set_active(True)
def stop_feed(self):
self.gst.stop_video()
# TODO
#self.button.set_label("Start Feed")
#self.button.set_active(False)
def fix_video_colour(self, widget=None, data=None):
self.log.debug("fix_video_colour")
self.fix_colour = not self.fix_colour
def flip_video_feed(self, widget=None, data=None):
self.log.debug("half_time")
self.half_time = not self.half_time
def connect_to_brick(self, widget=None, data=None):
self.log.debug("connect_to_brick")
if not widget.get_active():
return False # ingnor button when not acctive
try:
# first try to find are know robot
self.robot.connect()
widget.set_label("Conected")
widget.set_active(True)
except Exception as error:
self.log.error(error)
widget.set_label("Connect")
widget.set_active(False)
def radio_feed_change_real(self, widget=None, data=None):
self.log.debug("radio_feed_change real")
if self.feed_radio != "real":
self.feed_radio = "real"
def radio_feed_change_test(self, widget=None, data=None):
self.log.debug("radio_feed_change test")
if self.feed_radio != "test":
self.feed_radio = "test"
def radio_feed_change_file(self, widget=None, data=None):
self.log.debug("radio_feed_change file")
if self.feed_radio != "file":
self.feed_radio = "file"
def change_manual_control(self, widget=None, data=None):
self.log.debug("change_manual_control")
if widget.get_active():
self.log.warning("Request to chnage to manual")
widget.set_label("Automatic")
for child in self.table_manualControl.get_children():
if child != widget:
child.show()
if type(child) == gtk.VScale():
child.set_value( self.robot.get_power() )
else:
self.log.warning("Request to chnage to automatic")
widget.set_label("Manual")
for child in self.table_manualControl.get_children():
if child != widget:
child.hide()
def manual_power_change(self, widget=None, data=None):
self.log.debug("manual_power_change")
self.robot.set_power( widget.get_value() )
def on_manual_robot_control_up(self, widget=None, data=None):
self.robot.up()
def on_manual_robot_control_down(self, widget=None, data=None):
self.robot.down()
def on_manual_robot_control_stop(self, widget=None, data=None):
self.robot.stop()
def on_manual_robot_control_left(self, widget=None, data=None):
self.robot.left()
def on_manual_robot_control_right(self, widget=None, data=None):
self.robot.right()
def on_manual_robot_control_kick(self, widget=None, data=None):
self.robot.kick()
def on_manual_robot_control_buzz(self, widget=None, data=None):
self.robot.buzz()
def __del__(self):
self.log.info("__del__")
self.robot = None
class Application(Frame):
MAX_MOTOR_POWER = 127
BT_ADDRESS = "00:16:53:08:A0:E6"
def __init__(self, master=None):
Frame.__init__(self, master)
self.pack()
self.__createWidgets()
self.bind_all('<Key>', self.__keypress)
self.robot = None
def __send_command_up(self):
if self.robot != None:
self.robot.up()
def __send_command_down(self):
if self.robot != None:
self.robot.down()
def __send_command_left(self):
if self.robot != None:
self.robot.left()
def __send_command_right(self):
if self.robot != None:
self.robot.right()
def __send_command_stop(self):
if self.robot != None:
self.robot.stop()
def __send_command_kick(self):
if self.robot != None:
self.robot.kick()
def __send_command_buzz(self):
if self.robot != None:
self.robot.buzz()
def __send_command_power(self, value):
if self.robot != None:
self.robot.set_power(value)
def __connect(self):
self.button_connect["text"] = "Connecting"
try:
# first try to find are know robot
self.robot = Robot(host=self.BT_ADDRESS)
except RobotNotFoundError: # TODO
# try to find any robot
self.robot = Robot()
except Exception as error:
print "Robot Error" # + str(error)
self.button_connect["text"] = "Connect"
self.button_connect["state"] = "active"
raise error
self.scale_power.set(self.robot.get_power())
self.button_up["state"] = "active"
self.button_dn["state"] = "active"
self.button_le["state"] = "active"
self.button_ri["state"] = "active"
self.button_st["state"] = "active"
self.button_bz["state"] = "active"
self.scale_power["state"] = "active"
self.button_connect["state"] = "disabled"
self.button_connect["text"] = "Connected"
def __createWidgets(self):
self.QUIT = Button(self)
self.QUIT["text"] = "QUIT"
self.QUIT["command"] = self.quit
self.QUIT.pack({"side": "bottom"})
self.button_up = Button(self)
self.button_up["text"] = "Up"
self.button_up["command"] = self.__send_command_up
self.button_up["state"] = "disabled"
self.button_dn = Button(self)
self.button_dn["text"] = "Down"
self.button_dn["command"] = self.__send_command_down
self.button_dn["state"] = "disabled"
self.button_le = Button(self)
self.button_le["text"] = "Left"
self.button_le["command"] = self.__send_command_left
self.button_le["state"] = "disabled"
self.button_ri = Button(self)
self.button_ri["text"] = "Right"
self.button_ri["command"] = self.__send_command_right
self.button_ri["state"] = "disabled"
self.button_st = Button(self)
self.button_st["text"] = "Stop"
self.button_st["command"] = self.__send_command_stop
self.button_st["state"] = "disabled"
self.button_bz = Button(self)
self.button_bz["text"] = "Buzz"
self.button_bz["command"] = self.__send_command_buzz
self.button_bz["state"] = "disabled"
self.button_connect = Button(self)
self.button_connect["text"] = "Connect"
self.button_connect["command"] = self.__connect
self.scale_power = Scale(self)
self.scale_power["from_"] = -1 * self.MAX_MOTOR_POWER
self.scale_power["to"] = self.MAX_MOTOR_POWER
self.scale_power["orient"] = "horizontal"
self.scale_power["command"] = self.__send_command_power
self.scale_power["state"] = "disabled"
self.button_connect.pack({"side": "bottom"})
self.scale_power.pack({"side": "bottom"})
self.button_bz.pack({"side": "bottom"})
self.button_up.pack({"side": "top"})
self.button_dn.pack({"side": "bottom"})
self.button_le.pack({"side": "left"})
self.button_ri.pack({"side": "right"})
self.button_st.pack({"side": "top"})
def __keypress(self, event):
if event.keysym == 'Escape':
root.destroy()
elif event.keysym == 'Up':
self.__send_command_up()
elif event.keysym == 'Down':
self.__send_command_down()
elif event.keysym == 'Left':
self.__send_command_left()
elif event.keysym == 'Right':
self.__send_command_right()
elif event.keysym == 'space':
self.__send_command_kick()
elif event.keysym == 's':
self.__send_command_stop()
elif event.keysym == 'b':
self.__send_command_buzz()
elif event.keysym == 'c':
self.__connect()