class Controller():
'''Main class for controlling the operations of the application'''
def __init__(self):
#Create a new Tkinter interface
self.root = Tk()
#Set an exit protocol
self.root.protocol("WM_DELETE_WINDOW", self.exitRoot)
#Create a model
self.model = Model()
self.model.loadConfig() #Load default configuration parameters
#self.view = View()
#Start timer thread
self.txTimer = TimerThread(self, "tmr")
#Create joystick interface
self.jsFrame = JoystickFrame(self.root)
self.joystick = self.jsFrame.getJSHandle()
self.statusBox = self.jsFrame.getTextHandle()
#Initialise a telnet rxtx thread for wireless communication
self.rxThread = RxTxThread(self,"rxtxthread", self.model.getHost(), self.model.getPort())
if (self.rxThread.getTN() == 0):
self.statusBox.setText('Could not establish a connection. Terminating...')
return
#Start Threads
self.rxThread.start()
self.txTimer.start()
self.statusBox.setText('Connected\n')
print self.rxThread.getRXText()
self.rxThread.checkConnection()
self.root.mainloop()
def processMessages(self, messages):
'''Displays received messages in a window box'''
for msg in messages:
self.statusBox.setText(msg + '\n')
def transmitControl(self):
'''Transmits the coordinates of the joystick if it it being actuated.
Not complete in interfacing.'''
if not self.joystick.isReleased(): #Joystick in use
spdL,spdR = self.joystick.getSpeeds() #Retrieve position as speeds
print spdL, spdR
if self.jsFrame.keyReady(): # WASD Control
keyChar = self.jsFrame.getJSKey() # Retrieve valid keypresses
self.statusBox.setText("Pressed: "+keyChar+"\n")
self.rxThread.txCmd(keyChar) #Transmit typed character
def exitRoot(self):
'''Protocol for exiting main application'''
self.rxThread.txCmd('!') #Stop robot
self.txTimer.pause(True) #Stop timer
self.rxThread.stop() #Stop thread
self.root.destroy()
