class RoverWindow():
def __init__(self):
'''
Initialize class attributes.
'''
self.control = Controller()
self.control_thread = ControllerThread()
self.root = Tk()
self.root.title("Robot Control Interface")
self.mainframe = None
self.combo_joystick = None
self.combo_bluetooth = None
self.__configure_frame()
self.root.mainloop()
def __configure_frame(self):
'''
'''
self.mainframe = Frame(self.root, padding="3 3 12 12")
self.mainframe.grid(column=0, row=0, sticky=(N, W, E, S))
self.mainframe.columnconfigure(0, weight=1)
self.mainframe.rowconfigure(0, weight=1)
self.message = StringVar()
Label(self.mainframe, textvariable=self.message).grid(column=2, row=2, sticky=W)
self.disconnect_button = Button(self.mainframe, text="Disconnect", command=self.disconnect, state=DISABLED)
self.speed = StringVar()
Label(self.mainframe, textvariable=self.speed).grid(column=2, row=4, sticky=W)
self.disconnect_button.grid(column=3, row=3, sticky=E)
self.root.bind('<Return>', self.disconnect)
self.joystick_section()
self.bluetooth_section()
for child in self.mainframe.winfo_children(): child.grid_configure(padx=5, pady=5)
self.combo_joystick.current(0)
self.combo_bluetooth.current(0)
def joystick_section(self):
'''
'''
Label(self.mainframe, text="Joystick").grid(column=1, row=1, sticky=W)
value = StringVar()
self.combo_joystick = Combobox(self.mainframe, textvariable=value)
self.combo_joystick.grid(column=2, row=1, sticky=(W, E))
self.combo_joystick["values"] = self.control.get_joystick_list()
self.combo_joystick.bind("<<ComboboxSelected>>")
def bluetooth_section(self):
'''
'''
Label(self.mainframe, text="Bluetooth").grid(column=1, row=3, sticky=W)
value = StringVar()
self.combo_bluetooth = Combobox(self.mainframe, textvariable=value)
self.combo_bluetooth.grid(column=2, row=3, sticky=W)
self.combo_bluetooth["values"] = self.control.get_bluetooth_list()
self.combo_bluetooth.bind("<<ComboboxSelected>>")
self.button_bluetooth = Button(self.mainframe, text="Connect", command=self.connect)
self.button_bluetooth.grid(column=3, row=1, sticky=E)
self.root.bind('<Return>', self.connect)
def speed_update(self):
'''
'''
self.speed.set("300 Km/h")
def connect(self):
'''
'''
print "Joystick: %s" % self.combo_joystick.get()
print "Bluetooth: %s" % self.combo_bluetooth.get()
self.control.connect(self.combo_joystick.get(), self.combo_bluetooth.get())
self.message.set("Set speed and move the Rover")
self.button_bluetooth["state"] = "disabled"
self.disconnect_button["state"] = "enabled"
self.speed_update()
self.control_thread.start()
def disconnect(self):
'''
'''
self.control_thread.stop_communication()
time.sleep(1)
counter = 0
while self.control_thread.isAlive() and counter < 16:
print "Waiting to release the thread."
counter = counter + 1
time.sleep(1)
self.control.disconnect()
self.message.set("")
self.combo_joystick.current(0)
self.combo_bluetooth.current(0)
self.disconnect_button["state"] = "disabled"
class Rover(QDeclarativeView):
def __init__(self, parent=None):
'''
Initialize the attributes class.
'''
super(Rover, self).__init__(parent)
self.setWindowTitle("Robotic Control Interface")
self.set_default_values()
self.setSource(QUrl.fromLocalFile("Rover.qml"))
self.setResizeMode(QDeclarativeView.SizeRootObjectToView)
self.ro = self.rootObject()
self.control = Controller()
self.control_thread = ControllerThread()
self.control_start = False
def set_default_values(self):
'''
Set the default values to start the GUI.
'''
self.joystick = ""
self.bluetooth = ""
self.power = 0.0
self.angle = 0.0
self.rc = self.rootContext()
self.rc.setContextProperty("joystick", self.joystick)
self.rc.setContextProperty("bluetooth", self.bluetooth)
self.rc.setContextProperty("power", self.power)
self.rc.setContextProperty("angle", self.angle)
def set_connection(self):
'''
Display the devices selected for the communication.
'''
joystick_list = self.control.get_joystick_list()
for element in joystick_list:
if "DragonRise" in element:
self.joystick = element
break
self.rc.setContextProperty("joystick", self.joystick)
bluetooth_list = self.control.get_bluetooth_list()
for element in bluetooth_list:
if "CURIOSITY" in element:
self.bluetooth = element
break
self.rc.setContextProperty("bluetooth", self.bluetooth)
def set_event_signal(self):
'''
Define the GUI interactions with the system.
'''
self.ro.connection.connect(self.__connect_hw)
self.ro.disconnection.connect(self.__disconnect_hw)
def __connect_hw(self):
'''
Connect to the CONTROL software.
'''
if not self.control_start:
self.control_start = True
self.control.connect(self.joystick, self.bluetooth)
self.control_thread.start()
def __disconnect_hw(self):
'''
Disconnect from the CONTROL software.
'''
self.control_thread.stop_communication()
time.sleep(1)
self.control.disconnect()
time.sleep(1)
sys.exit(0)
def update(self, observer):
'''
Method to update values in the GUI.
'''
self.power = observer.power
self.rc.setContextProperty("power", self.power)
self.angle = observer.angle
self.rc.setContextProperty("angle", self.angle)
