def initUI(self):
self.parent.title("Buttons")
self.style = Style()
self.style.theme_use("default")
frame = Frame(self, relief=GROOVE, borderwidth=5)
frame.pack(fill=BOTH, expand=1)
self.pack(fill = BOTH, expand = 1)
self.imageLabel = Label(frame, image = "")
self.imageLabel.pack(fill=BOTH, expand=1)
closeButton = Button(self, text="Close")
closeButton.pack(side=RIGHT)
okButton = Button(self, text="OK")
okButton.pack(side=RIGHT)
options = [item for item in dir(cv2.cv) if item.startswith("CV_CAP_PROP")]
option = OptionMenu(self, self.key, *options)
self.key.set(options[0])
option.pack(side="left")
spin = Spinbox(self, from_=0, to=1, increment=0.05)
self.val = spin.get()
spin.pack(side="left")
class StarterWindow(Tk):
def __init__(self):
Tk.__init__(self)
self.wm_title("FRCA QBase Reader - Start Menu")
self.exambtn = Button(self, text="start an exam", command=self.startExam)
self.exambtn.pack()
self.maxquestvar = IntVar()
self.maxquest = Spinbox(self, from_=1, to=1667, width=4, textvariable=self.maxquestvar)
self.maxquest.pack()
self.questbtn = Button(self, text="start single questions", command=self.startQuestions)
self.questbtn.pack()
self.um = """User manual:\n
Start either an exam or single questions\n
Go to next question either with mouse or the <right arrow>\n
Toggle checkboxes either with mouse or <keyboard buttons 1-5>\n
In single question mode, show answer either with mouse or <return>\n
In exam mode, results will display after the set question number\n
Text can be made bigger/smaller with <Up> or <Down> keyboard arrows"""
self.usermanual = Label(self, text=self.um, justify=LEFT)
self.usermanual.pack()
def startExam(self):
call(["python", "exam.py", str(self.maxquestvar.get())])
def startQuestions(self):
call(["python", "quest_by_quest.py"])
def ventanaImprimir(self):
t = Toplevel(self)
t.wm_title("Imprimir")
Label(t, text="Numero de Copias por etiqueta").pack()
w = Spinbox(t, from_=1, to=10)
w.pack()
buttonImprimir = Button(t, text="Imprimir", command=lambda:self.imprimir(int(w.get()),t))
buttonImprimir.pack()
def buscar():
root = Tkinter.Toplevel()
jorn = Spinbox(root, from_=0, to=50)
def boton():
listar(jorn.get())
but = Tkinter.Button(root, text="Buscar", command=boton)
jorn.pack(side=LEFT)
but.pack(side=RIGHT)
root.mainloop()
def init_slow_time(root):
slow_time_frame = Frame(root)
slow_time_frame.pack(fill=X)
slow_time_label = Label(slow_time_frame, text='Slowing time [0; 10] sec:')
slow_time_label.pack(side='left')
slow_time = Spinbox(slow_time_frame, from_=0, to=10, width=4)
slow_time.delete(0, 1)
slow_time.insert(0, 5)
slow_time.pack(side='right')
return slow_time_frame, slow_time_label, slow_time
def init_speed_sup(root):
speed_sup_frame = Frame(root)
speed_sup_frame.pack(fill=X)
speed_sup_label = Label(speed_sup_frame,
text='Max initial speed [0; 200]:')
speed_sup_label.pack(side='left')
speed_sup = Spinbox(speed_sup_frame, from_=0, to=200, width=4)
speed_sup.delete(0, 1)
speed_sup.insert(0, 60)
speed_sup.pack(side='right')
return speed_sup_frame, speed_sup_label, speed_sup
def init_speed_inf(root):
speed_inf_frame = Frame(root)
speed_inf_frame.pack(fill=X)
speed_inf_label = Label(speed_inf_frame,
text='Min initial speed [0; 200]:')
speed_inf_label.pack(side='left')
speed_inf = Spinbox(speed_inf_frame, from_=0, to=200, width=4)
speed_inf.delete(0, 1)
speed_inf.insert(0, 30)
speed_inf.pack(side='right')
return speed_inf_frame, speed_inf_label, speed_inf
def init_range_of_vision(root):
range_of_vision_frame = Frame(root)
range_of_vision_frame.pack(fill=X)
range_of_vision_label = Label(range_of_vision_frame,
text='Range of vision [1; 10] (in cars):')
range_of_vision_label.pack(side='left')
range_of_vision = Spinbox(range_of_vision_frame, from_=1, to=10, width=4)
range_of_vision.delete(0, 1)
range_of_vision.insert(0, 3)
range_of_vision.pack(side='right')
return range_of_vision_frame, range_of_vision_label, range_of_vision
def init_spawn_sup(root):
spawn_sup_frame = Frame(root)
spawn_sup_frame.pack(fill=X)
spawn_sup_label = Label(spawn_sup_frame,
text='Max spawn interval [0; 10] sec:')
spawn_sup_label.pack(side='left')
spawn_sup = Spinbox(spawn_sup_frame, from_=0, to=10, width=4)
spawn_sup.delete(0, 1)
spawn_sup.insert(0, 5)
spawn_sup.pack(side='right')
return spawn_sup_frame, spawn_sup_label, spawn_sup
def init_slow_factor(root):
slow_factor_frame = Frame(root)
slow_factor_frame.pack(fill=X)
slow_factor_label = Label(slow_factor_frame, text='Slowing factor [0; 1]:')
slow_factor_label.pack(side='left')
slow_factor = Spinbox(slow_factor_frame,
from_=0,
to=1,
width=4,
increment=0.1)
slow_factor.delete(0, 3)
slow_factor.insert(0, 0.5)
slow_factor.pack(side='right')
return slow_factor_frame, slow_factor_label, slow_factor
def listar(n):
conn = sqlite3.connect('marca.db')
root = Tkinter.Toplevel()
frame = Frame(root)
frame2 = Frame(root)
cursor = conn.execute("SELECT PARTIDO from CRONICAS WHERE JORNADA LIKE '" +
n + "'")
partidos = []
for c in cursor:
partidos.append(c[0])
def cambio():
cursor = conn.execute(
"SELECT CRONICA FROM CRONICAS WHERE PARTIDO LIKE '" +
partido.get() + "'")
for row in cursor:
sql = "SELECT * FROM GOLES WHERE CRONICA LIKE '%" + row[0] + "%'"
cursor = conn.execute(sql)
lista.delete(0, END)
i = 0
for row in cursor:
i += 1
lista.insert(
i, "EQUIPO: " + row[0] + " JUGADOR: " + row[1] +
" MINUTO: " + row[2])
partido = Spinbox(frame, values=partidos, command=cambio)
etiq = Label(frame, text="Elija Partido:")
barra = Scrollbar(frame2)
lista = Listbox(frame2, width=80, height=8)
frame.pack(side=LEFT)
frame2.pack(side=LEFT)
lista.pack(side=LEFT, fill=BOTH)
barra.pack(side=RIGHT, fill=Y)
barra.config(command=lista.yview)
etiq.pack(side=TOP)
partido.pack(side=RIGHT)
root.mainloop()
conn.close()
def choose_cutoff(data, time):
import matplotlib.pyplot as plt
import numpy as np
# import Tkinter as tk
import sys
from Tkinter import Spinbox, Tk, Button, LEFT # , mainloop
# from Tkinter import *
global choose
choose = True
# i = 0
global cut
cut = 100
# global l_line
# l_line = plt.axvline(cut)
def combine_funcs(*funcs):
def combined_func(*args, **kwargs):
for f in funcs:
f(*args, **kwargs)
return combined_func
def destroywindows(**kwargs):
for m in kwargs:
m.destroy()
for f in kwargs:
f.close()
# master.destroy()
def setvalues(var, value):
var = value
return var
def choosefalse():
global choose
choose = False
# print(choose)
def spintocut():
global cut
cut = int(cutspin.get())
# print(cut)
# def callback():
# print("something")
# global l_line
# l_line(cut)
# l_line = plt.axvline(cut)
# plt.draw()
# plt.ion()
# plt.pause(0.05)
# plt.figure('data')
# plt.plot(data)
# plt.show(block=False)
# # plt.draw()
while choose is True:
plt.figure('data')
plt.plot(data)
# l_line = plt.axvline(cut)
plt.axvline(np.shape(data)[0] - cut)
# plt.draw()
plt.show(block=False)
# plt.ion()
# plt.pause(0.05)
# print(choose)
# print(cut)
master = Tk()
# print(type(data[0]))
cutspin = Spinbox(master,
from_=0,
to=np.shape(data)[0],
textvariable=cut) # , command=callback)
cutspin.delete(0)
cutspin.insert(0, cut)
cutspin.pack()
# print(type(cutspin))
# print(cutspin.get())
applyButton = Button(master,
text='apply',
command=combine_funcs(spintocut, plt.close,
master.destroy))
applyButton.pack(side=LEFT)
goonButton = Button(master,
text='go on',
command=combine_funcs(master.destroy, plt.close,
choosefalse))
goonButton.pack(side=LEFT)
quitButton = Button(master, text='quit', command=sys.exit)
quitButton.pack(side=LEFT)
master.mainloop()
# Tk.update()
# plt.update()
# plt.show(block=False)
# l_left.remove()
# l_right.remove()
# plt.draw()
cutoff = cut
return cutoff
def refreshWidget(self):
#print "refresh"
self.card_win.pack_forget()
#Card window
self.card_win = PanedWindow(self.card_win.master, orient=VERTICAL)
self.card_win.pack(side=TOP, expand=True, fill=BOTH, pady=2, padx=2)
#Create the name zone
name_zone = PanedWindow(self.card_win, orient=HORIZONTAL)
name = StringVar()
name.set(self.name)
from deck_creation import blocked_creature
def modifName(*args):
old = self.name in blocked_creature
self.name = name.get()
if old or self.name in blocked_creature:
self.refreshWidget()
name.trace("w", modifName)
name_wid = Entry(name_zone, width=30, textvariable=name)
name_wid.pack()
name_zone.add(name_wid)
#Create the cost ad star stringvar
#print int(floor(self.getCost()))
self.cost = StringVar()
self.stars = StringVar()
cost_wid = Label(None,
textvariable=self.cost,
background='red',
width=5,
anchor=W)
star_wid = Label(None,
textvariable=self.stars,
background='blue',
anchor=E)
self.cost.set(str(int(floor(self.getCost()))))
self.stars.set("*" * self.getStars())
#Add them in name zone
name_zone.add(cost_wid)
name_zone.add(star_wid)
#Create an Image Zone
image_zone = Button(self.card_win, command=self.choosePhoto)
if hasattr(self, "photofile") and self.photofile:
print "Image: ", self.photofile
try:
img = Image.open(self.photofile)
except:
decomp = self.photofile.split('/')
for i in range(1, 6):
try:
fname = "/".join(decomp[-i:])
print "try to open", fname
img = Image.open(fname)
self.photofile = fname
break
except:
self.photofile = None
if self.photofile:
w, h = img.size
if w > 300 or h > 200:
img = img.resize((w / 2, h / 2), Image.LINEAR)
image_zone.image = ImageTk.PhotoImage(img)
image_zone.config(image=image_zone.image)
#print "IMAGE CHANGED"
else:
from os import path
fname = self.name.replace(" ", "_")
if path.isfile("Cards/" + fname + ".png"):
image_zone.config(text='image can be taken from\n' + "Cards/" +
fname + ".png",
background='white',
anchor=CENTER)
else:
image_zone.config(text='clic to choose image',
background='white',
anchor=CENTER)
image_zone.pack
# POWER ZONE
power_zone = PanedWindow(self.card_win, orient=VERTICAL)
#fenetre=self.card_win.master
def removePowerCreator(px):
def removePower(*args):
#print 'avant',list_pow
self.bonus.remove(px)
#print 'apres',list_pow
#self.card_win.pack_forget()
self.refreshWidget()
return removePower
for p in self.bonus:
powline = PanedWindow(self.card_win, orient=HORIZONTAL)
pow_wid = p.initWidget(powline)
powline.add(pow_wid)
removepow = Button(powline,
text="X",
command=removePowerCreator(p),
anchor=E)
removepow.pack()
powline.add(removepow)
power_zone.add(powline)
def addPower(*args):
name = addBonus.get()
print "added :", name
import cardPowers
self.bonus += [eval('cardPowers.' + name + '()')]
self.bonus[-1].parent = self.bonus
self.bonus[-1].card = self
#self.card_win.pack_forget()
self.refreshWidget()
#Add bonus Option menu
addBonus = StringVar(power_zone)
addBonus.set("add bonus") # default value
if not self.pv: addBonus_wid = getSpellMenu(power_zone, addBonus)
else: addBonus_wid = getBonusMenu(power_zone, addBonus)
addBonus.trace('w', addPower)
if self.pv > 0 or len(self.bonus) == 0:
addBonus_wid.pack()
#Add this to power zone
power_zone.add(addBonus_wid)
#Create save zone
save_zone = PanedWindow(self.card_win, orient=HORIZONTAL)
lv = int(localopen("progression", "r").read())
if self.monster_type != "all" and not (lv < 8 and self.name
in blocked_creature):
save_wid = Button(save_zone, text="Save", command=self.postAndSave)
elif self.monster_type != "all":
save_wid = Button(save_zone,
text="creature in campaign",
command=None)
else:
save_wid = Button(save_zone, text="nead type", command=None)
save_wid.pack()
#Create the open button
save_zone.pack()
if Card.monster_list.keys():
self.opening = StringVar(save_zone)
self.opening.set("Open")
choice = Card.monster_list.keys()
choice.sort()
#print all_monsters.keys()
open_wid = OptionMenu(save_zone, self.opening, *choice)
self.opening.trace('w', self.Open)
open_wid.pack()
save_zone.add(open_wid)
if Card.monster_list.keys():
self.delete = StringVar(save_zone)
self.delete.set("Delete")
choice = Card.monster_list.keys()
choice.sort()
delete_wid = OptionMenu(save_zone, self.delete, *choice)
self.delete.trace('w', self.clicDelete)
delete_wid.pack()
save_zone.add(delete_wid)
#Create the type button
self.category = StringVar(save_zone)
self.category.set(self.monster_type)
choice = [
file2name(t, "_monsters.sav")
for t in glob.glob("CardFiles/*_monsters.sav")
]
if "recup" in choice:
choice.remove("recup")
#print all_monsters.keys()
category_wid = OptionMenu(save_zone, self.category, *choice)
self.category.trace('w', self.setFile)
category_wid.pack()
#Add it to save zone
save_zone.add(save_wid)
save_zone.add(category_wid)
#Create a new Strength zone for att and pv
strength_zone = PanedWindow(self.card_win, orient=HORIZONTAL)
att = StringVar()
att.set(str(self.att))
pv = StringVar()
pv.set(str(self.pv))
def modifiedAttPv(*args):
print "modifiedAttPv"
self.pv = int(pv.get())
if self.pv < 1 and self.is_spell == False:
if len(self.bonus) == 0:
self.is_spell = True
self.refreshWidget()
else:
self.pv = 1
self.refreshWidget()
if self.pv > 0 and self.is_spell == True:
if len(self.bonus) == 0:
self.is_spell = False
self.refreshWidget()
else:
self.pv = 0
self.refreshWidget()
self.att = int(att.get())
self.getCost()
att_wid = Spinbox(strength_zone,
from_=0,
to=1000,
textvariable=att,
command=modifiedAttPv)
att_wid.pack()
strength_zone.add(att_wid)
strength_zone.add(
Label(strength_zone,
text=' ',
background='white',
anchor=CENTER))
pv_wid = Spinbox(strength_zone,
from_=0,
to=1000,
textvariable=pv,
command=modifiedAttPv)
pv_wid.pack()
strength_zone.add(pv_wid)
#Put it all in window
self.card_win.add(name_zone)
self.card_win.add(image_zone)
self.card_win.add(power_zone)
self.card_win.add(strength_zone)
self.card_win.add(save_zone)
self.card_win.pack()
class AntroidGUI(Tk):
def __init__(self):
Tk.__init__(self)
self.protocol("WM_DELETE_WINDOW", self.myquit)
self.etat = True
self.readstate = True
self.title("Antroid Map")
self.turns = {}
self.selectTurn = -1
self.caselength = 10
self.CaseMarge = 20
self.var = StringVar()
self.initGUI()
def initGUI(self):
frame = Frame(self, width=630, height=500)
self.panel = PanedWindow(frame, orient=HORIZONTAL)
self.LeftFrame(self.panel)
self.RightFrame(self.panel)
self.panel.add(self.LFrame)
self.panel.add(self.RFrame)
self.panel.pack()
frame.pack()
def LeftFrame(self, parent):
self.LFrame = Frame(parent, width=500, height=500)
self.maptroid = Canvas(self.LFrame, bg='black', width=500, height=500)
if self.selectTurn >= 0:
self.printMap()
self.maptroid.pack()
self.LFrame.pack()
def RightFrame(self, parent):
self.RFrame = Frame(parent, width=130, height=500)
if self.selectTurn >= 0:
self.printInfo()
self.FrameInfo = None
self.updateT = True
self.RFrame.pack()
def setreadstate(self, readstate):
self.readstate = readstate
def addTurn(self, turnnumber, turnvalue):
self.turns[turnnumber] = turnvalue
self.updateGui(turnnumber)
return self.etat
def updateGui(self, turn):
self.selectTurn = turn
self.updateMap()
self.updateInfo()
def updateMap(self):
self.maptroid.delete(ALL)
self.printMap()
def updateInfo(self):
if self.FrameInfo:
if self.updateT:
self.frameT.destroy()
self.printTurn()
self.frameAnts.destroy()
self.frameAnt.destroy()
self.printAnts()
self.updateT = True
else:
self.printInfo()
def updateSpin_turn(self):
turn = int(self.Spin_T.get())
self.updateT = False
self.updateGui(turn)
def validateTurn(self, event):
try:
turn = int(self.Spin_T.get())
except ValueError:
turn = self.selectTurn
if turn in self.turns.keys():
if turn != self.selectTurn:
self.updateT = False
self.updateGui(turn)
else:
turn = self.selectTurn
def choiceAnt(self, event):
i = self.listbox.curselection()
id_a = self.listbox.get(i)
self.frameAnt.destroy()
self.printInfoAnt(int(id_a))
def printInfo(self):
self.FrameInfo = Frame(self.RFrame)
self.printTurn()
self.printAnts()
self.FrameInfo.pack()
def printTurn(self):
frameS = PanedWindow(self.FrameInfo, orient=HORIZONTAL)
turns = Label(frameS, text="Tour :")
self.var.set(str(self.selectTurn))
self.Spin_T = Spinbox(frameS,
values=self.turns.keys(),
command=self.updateSpin_turn,
textvariable=self.var)
self.Spin_T.bind('<Return>', self.validateTurn)
turns.pack()
self.Spin_T.pack()
frameS.add(turns)
frameS.add(self.Spin_T)
frameS.pack()
self.frameT = frameS
def printAnts(self):
frameAnts = Frame(self.FrameInfo)
Text_A = Label(frameAnts, text="Fourmie :")
s1 = Scrollbar(frameAnts)
l1 = Listbox(frameAnts)
id_ants = self.checkAnts()
for i in id_ants:
l1.insert(i, str(i))
s1.config(command=l1.yview)
l1.config(yscrollcommand=s1.set)
l1.bind('<ButtonRelease-1>', self.choiceAnt)
self.listbox = l1
Text_A.pack(side=TOP)
l1.pack(side=LEFT)
s1.pack(side=RIGHT)
frameAnts.pack()
self.printInfoAnt(id_ants[0])
self.frameAnts = frameAnts
def printInfoAnt(self, i):
self.frameAnt = PanedWindow(self.FrameInfo, orient=VERTICAL)
t_Ant = Label(self.frameAnt, text="Information Ant : %d" % (i))
(t_brain, t_energie, t_acide) = self.getInfoAnt(i)
a_b = Label(self.frameAnt, text=t_brain)
a_e = Label(self.frameAnt, text=t_energie)
a_a = Label(self.frameAnt, text=t_acide)
t_Ant.pack(side=TOP)
self.frameAnt.add(t_Ant)
self.frameAnt.add(a_b)
self.frameAnt.add(a_e)
self.frameAnt.add(a_a)
self.frameAnt.pack()
def printMap(self):
turn = self.turns[self.selectTurn]
# Information on this turn
config = turn[0]
Yants = turn[1]
EAnts = turn[2]
InitMap = turn[3]
Cases = turn[4]
(MaxX, MaxY, N) = InitMap
self.MinX = 0
self.MinY = 0
MaxX_map = MaxX * self.caselength + (self.CaseMarge * 2)
MaxY_map = MaxY * self.caselength + (self.CaseMarge * 2)
#configure canvas
self.maptroid.config(scrollregion=(0, 0, MaxX_map, MaxY_map))
x1 = self.CaseMarge
y1 = self.CaseMarge
x2 = MaxX * self.caselength + self.CaseMarge
y2 = MaxY * self.caselength + self.CaseMarge
self.maptroid.create_rectangle(x1, y1, x2, y2, fill="white")
# affiche case
for case in Cases:
self.printCase(case)
# affiche your ants
for ant in Yants:
# nb A : Your Ant 'ID X Y DX DY E A B'
(id_a, x, y, dx, dy, e, a, b) = ant
self.printAnt((x, y, dx, dy, b))
# affiche enemy ants
for ant in EAnts:
self.printAnt(ant)
#to move map
self.maptroid.bind('<ButtonPress-1>', self.grab)
self.maptroid.bind('<B1-Motion>', self.drag)
self.maptroid.bind('<MouseWheel>', self.mapZoom)
self.maptroid.bind("<Button-4>", self.mapZoom)
self.maptroid.bind("<Button-5>", self.mapZoom)
def printCase(self, case):
(x, y, c, s) = case
(x1, y1, x2, y2) = self.getPoint(x, y)
color = COLOR[c][s]
if c % 2 == 0:
self.maptroid.create_rectangle(x1, y1, x2, y2, fill=color)
else:
self.maptroid.create_rectangle(x1,
y1,
x2,
y2,
fill=COLOR[GRASS][s])
self.maptroid.create_oval(x1, y1, x2, y2, fill=color)
def printAnt(self, ant):
(x, y, dx, dy, brain) = ant
(x1, y1, x2, y2) = self.getPoint(x, y)
self.maptroid.create_oval(x1, y1, x2, y2, fill="red4")
def getPoint(self, x, y):
x1 = (x - self.MinX) * self.caselength + self.CaseMarge
y1 = (y - self.MinY) * self.caselength + self.CaseMarge
x2 = x1 + self.caselength
y2 = y1 + self.caselength
return (x1, y1, x2, y2)
def grab(self, event):
self._y = event.y
self._x = event.x
def drag(self, event):
self.maptroid.yview('scroll', self._y - event.y, 'units')
self.maptroid.xview('scroll', self._x - event.x, 'units')
self._y = event.y
self._x = event.x
def mapZoom(self, event):
# respond to Linux or Windows wheel event
if event.num == 5 or event.delta == -120:
self.caselength -= 5
self.caselength = max(self.caselength, 10)
if event.num == 4 or event.delta == 120:
self.caselength += 5
self.caselength = min(self.caselength, 40)
self.CaseMarge = self.caselength
self.updateMap()
def getInfoAnt(self, id_ant):
turn = self.turns[self.selectTurn]
YAnt = turn[1]
B_Text = "Brain :"
E_Text = "Energie :"
A_Text = "Acide :"
for ant in YAnt:
(id_a, x, y, dx, dy, e, a, b) = ant
if b != 1:
b = 0
if (id_ant == id_a):
B_Text = "Brain : " + BRAIN[b]
E_Text = "Energie : %d" % (e)
A_Text = "Acide : %d" % (a)
return (B_Text, E_Text, A_Text)
def checkAnts(self):
turn = self.turns[self.selectTurn]
YAnt = turn[1]
ants_id = []
for ant in YAnt:
(id_a, x, y, dx, dy, e, a, b) = ant
ants_id.append(id_a)
return ants_id
def myquit(self):
self.etat = False
if not self.readstate:
self.quit()
def create_entry(_main_row_, _desc_txt, _def_txt_, t_len, ckbc=None, fn=None):
''' creates a tkinter entry '''
_row_ = Frame(_main_row_)
if ckbc <> None and fn <> None:
label0 = Label(_row_, width=3, text=" ", anchor='w')
cvar = IntVar()
label1 = Checkbutton(_row_,
width=0,
variable=cvar,
command=fn,
anchor='w')
label2 = Label(_row_, width=t_len, text=_desc_txt + " ", anchor='w')
ckbc.append([cvar, label1])
else:
label0 = Label(_row_, width=3, text=" >", anchor='w')
label1 = Label(_row_, width=t_len, text=_desc_txt, anchor='w')
label2 = Label(_row_, width=2, text=" :", anchor='w')
if type(_def_txt_) == str:
Ent_It = Entry(_row_) #, width=13)
Ent_It.insert('end', _def_txt_)
elif type(_def_txt_) in [list, tuple]:
if type(_def_txt_[1]) in [set]:
_nums_ = [str(x) for x in sorted(list(_def_txt_[1]))]
Ent_It = StringVar()
aux_spin = Spinbox(_row_,
textvariable=Ent_It,
values=tuple(_nums_))
Ent_It.set(_def_txt_[0])
else:
Ent_It = StringVar()
aux_ddl = Drop_Down_List(
_row_,
textvariable=Ent_It,
values=tuple(_def_txt_[1]),
#state = "readonly"
)
aux_ddl.bind("<Key>", lambda e: "break") # Magic
Ent_It.set(_def_txt_[0])
finalspace = Label(_row_, width=5, text=" ", anchor='w')
# Just packing
label0.pack(side='left', padx=1)
label1.pack(side='left', padx=6)
label2.pack(side='left', padx=0)
if type(_def_txt_) == str:
Ent_It.pack(side='left', expand=True, fill=X)
elif type(_def_txt_) in [list, tuple] and type(_def_txt_[1]) == set:
aux_spin.pack(side='left', expand=True, fill=X)
else:
aux_ddl.pack(side='left', expand=True, fill=X)
finalspace.pack(side='right', padx=0)
_row_.pack(side='top', fill=X, pady=3)
# For tracing purposes list appending
return Ent_It
class Outlier4dfp(Frame):
def __init__(self,
parent,
filename=None,
filename_roi=None,
filename_csv=None,
dirname=None,
obj_return_value=None):
Frame.__init__(self, parent)
self.parent = parent
self.obj_return_value = obj_return_value
# check filenames
if filename is None or not os.path.isfile(filename):
if dirname is not None:
filename = tkFileDialog.askopenfilename(initialdir=dirname)
else:
filename = tkFileDialog.askopenfilename()
if not os.path.isfile(filename):
parent.destroy()
return
if filename_roi is None or not os.path.isfile(filename_roi):
if dirname is not None:
filename_roi = tkFileDialog.askopenfilename(initialdir=dirname)
else:
filename_roi = tkFileDialog.askopenfilename()
if not os.path.isfile(filename_roi):
parent.destroy()
return
if dirname is None:
self.dirname = os.path.dirname(filename)
else:
self.dirname = dirname
if filename_csv is None:
filename_csv = os.path.join(
self.dirname,
filename_wo_ext(os.path.basename(filename)) + '.csv')
self.filename = filename
self.filename_roi = filename_roi
self.filename_csv = filename_csv
self.dat = nib.load(filename).get_data()
self.shape = self.dat.shape
print self.shape
dz = self.shape[2]
df = self.shape[-1]
self.badenc = np.zeros((dz, df), dtype=np.int16)
self.prev = np.zeros((dz, df), dtype=np.int16)
self.z = 0
self.initUI()
self.run()
#if filename_csv is not None and os.path.isfile(filename_csv):
# self.run_read()
def reset(self):
dz = self.shape[2]
df = self.shape[-1]
self.badenc[:, :] = np.zeros((dz, df), dtype=np.int16)
self.prev[:, :] = np.zeros((dz, df), dtype=np.int16)
def make_checkbox_all(self, frame, width=4, ncol=20):
self.lst_checkbox_slices_values = []
self.lst_checkbox_slices = []
ii = 0
for z in range(self.shape[2]):
self.lst_checkbox_slices_values.append(
[BooleanVar() for f in range(self.shape[3])])
boxes = [
Checkbutton(frame,
text=str('%s' % f),
variable=self.lst_checkbox_slices_values[z][f],
width=width) for f in range(self.shape[3])
]
jj = 0
for f in range(self.shape[3]):
btn = boxes[f]
btn.grid(row=z, column=f)
jj += 1
if ncol is not None and ncol <= jj:
ii += 1
jj = 0
self.lst_checkbox_slices.append(boxes)
if jj > 0:
ii += 1
def make_checkbox(self, frame, width=4, ncol=20):
#self.lst_checkbox_slices_values = [BooleanVar() for f in range(self.shape[3])]
self.lst_checkbox_slices_values = [
IntVar() for f in range(self.shape[3])
]
self.lst_checkbox_slices = [
Checkbutton(frame,
text=str('%s' % f),
variable=self.lst_checkbox_slices_values[f],
width=width,
command=functools.partial(self.click_check, f))
for f in range(self.shape[3])
]
ii = 0
jj = 0
for f in range(self.shape[3]):
btn = self.lst_checkbox_slices[f]
btn.grid(row=ii, column=jj)
jj += 1
if ncol is not None and ncol <= jj:
jj = 0
ii += 1
if jj > 0:
ii += 1
def click_check(self, f):
value = self.lst_checkbox_slices_values[f].get()
if value == 1:
value = 0
else:
value = 1
self.lst_checkbox_slices_values[f].set(value)
self.badenc[self.z, f] = value
print self.z, f, self.badenc[self.z, f]
def set_z(self, z=None):
if z is None:
z = self.z
else:
self.z = z
for i in range(len(self.lst_checkbox_slices_values)):
chkbox = self.lst_checkbox_slices_values[i]
# FIXME
# avail chkbox
if self.prev[z, i] > 0 or self.badenc[z, i] > 0:
to_check = True
to_check = 1
self.lst_checkbox_slices[i].select()
else:
to_check = False
to_check = 0
self.lst_checkbox_slices[i].deselect()
chkbox.set(to_check)
# avail
def run(self):
dat = self.dat
roi = nib.load(self.filename_roi).get_data().astype(bool)
print dat.shape
print roi.shape
dz = self.shape[2]
df = self.shape[3]
self.values = np.zeros((dz, df), dtype=dat.dtype)
for z in range(dz):
for f in range(df):
self.values[z, f] = dat[:, :, z, f][roi[:, :, z]].mean()
self.draw_slice()
def draw_slice(self):
z = self.z
df = self.shape[3]
print z
#r = self.frame_graph.axes.boxplot(self.values.T)
sorted_values = np.sort(self.values[z, :])
q1 = sorted_values[df / 4]
q2 = sorted_values[df / 2]
q3 = sorted_values[df - df / 4]
iqr = q3 - q1
#if1 = q1 - 1.5*iqr
#if2 = q3 + 1.5*iqr
of1 = q1 - 3 * iqr
of2 = q3 + 3 * iqr
xx = np.arange(df)
z_mean = self.values[z, :].mean()
z_std = self.values[z, :].std()
#z_min = self.values[z,:].min()
#z_max = self.values[z,:].max()
#self.frame_graph.axes.hold(False)
self.frame_graph.axes.clear()
self.frame_graph.axes.plot([0, df], [z_mean, z_mean], 'k-')
#self.frame_graph.axes.hold(True)
self.frame_graph.axes.plot([0, df],
[z_mean + 1 * z_std, z_mean + 1 * z_std],
'y--')
self.frame_graph.axes.plot([0, df],
[z_mean + 2 * z_std, z_mean + 2 * z_std],
'g--')
self.frame_graph.axes.plot([0, df],
[z_mean + 3 * z_std, z_mean + 3 * z_std],
'b--')
self.frame_graph.axes.plot([0, df], [of2, of2], 'r-')
for f in range(df):
if self.prev[z, f] > 0:
self.frame_graph.axes.plot(f, self.values[z, f], 'ko')
self.frame_graph.axes.text(f + 0.2, self.values[z, f], str(f))
elif of1 < self.values[z, f] < of2:
#if self.values[z,f] < z_mean + 3*z_std:
self.frame_graph.axes.plot(f, self.values[z, f], 'bo')
if self.values[z, f] > z_mean + 3 * z_std:
self.frame_graph.axes.text(f + 0.2, self.values[z, f],
str(f))
else:
self.frame_graph.axes.plot(f, self.values[z, f], 'ro')
self.frame_graph.axes.text(f + 0.2, self.values[z, f], str(f))
self.frame_graph.draw()
self.set_z(z)
def run_read(self):
filename = tkFileDialog.askopenfilename(initialdir=self.dirname)
if filename == '':
return
with open(filename) as f:
values = [[int(tmp) for tmp in line.strip().split(',')]
for line in f.readlines()]
self.prev[:, :] = values
def run_save(self):
filename = tkFileDialog.asksaveasfilename(
initialdir=os.path.dirname(self.filename_csv),
initialfile=os.path.basename(self.filename_csv))
if filename == '':
return
dz = self.shape[2]
df = self.shape[-1]
badenc = self.badenc.copy()
badenc[self.prev > 0] = 1
with open(filename, 'w') as f:
for z in range(dz):
f.write('%s\n' % (','.join([str(tmp)
for tmp in badenc[z, :]])))
with open(os.path.join(self.dirname, 'badenc.dat'), 'wb') as fout:
if False:
for z in range(dz):
row = struct.pack('i' * df, *badenc[z, :])
fout.write(row)
fout.write('%s %s\n' % (dz, df))
for z in range(dz):
row = ' '.join(str(tmp) for tmp in badenc[z, :])
fout.write('%s\n' % row)
if self.obj_return_value is not None:
self.obj_return_value.delete(0, len(self.obj_return_value.get()))
self.obj_return_value.insert(0, filename)
def initUI(self):
self.frame_top = Frame(self)
self.frame_graph = MplCanvas(self)
self.frame_bottom = Frame(self)
Label(self.frame_top, text='Z = ').pack(side=LEFT)
self.spin_z = Spinbox(self.frame_top,
from_=0,
to=self.shape[2] - 1,
increment=1,
command=self.change_z)
self.spin_z.pack(side=LEFT)
self.make_checkbox(self.frame_bottom, width=4)
Label(self.frame_top, text=' CSV').pack(side=LEFT)
self.txt_filename_csv = Entry(self.frame_top)
self.txt_filename_csv.pack(side=LEFT)
self.button_read = Button(self.frame_top,
text='Read',
command=self.run_read)
self.button_read.pack(side=LEFT)
self.button_save = Button(self.frame_top,
text='Save',
command=self.run_save)
self.button_save.pack(side=LEFT)
Label(self.frame_top, text=' ').pack(side=LEFT)
button_reset = Button(self.frame_top, text='Reset',
command=self.reset).pack(side=LEFT)
self.frame_top.pack(side=TOP)
self.frame_graph.get_tk_widget().pack(fill=BOTH, expand=TRUE)
self.frame_bottom.pack(fill=BOTH, expand=TRUE)
self.pack(fill=BOTH, expand=True)
def change_z(self):
self.z = int(self.spin_z.get())
self.draw_slice()
def reset_box(self, box, text):
box.delete(0, len(box.get()))
box.insert(0, text)
class Cockpit(ttkFrame):
'''
Remote controller GUI
'''
KEY_ANG_SPEED = "ang-speed"
KEY_ANGLES = "angles"
KEY_ACCEL = "accel"
PID_KEYS = ["P", "I", "D"]
DEFAULT_DRONE_IP = "192.168.1.130"
DEFAULT_DRONE_PORT = 2121
DIR_NONE = 0
DIR_VERTICAL = 1
DIR_HORIZONTAL = 2
MAX_ACCEL = 10.0 #TODO angles. Replace by m/s²
MAX_ACCEL_Z = 0.1 #m/s²
MAX_ANGLE_SPEED = 50.0 #º/s
def __init__(self, parent, isDummy = False, droneIp = DEFAULT_DRONE_IP, dronePort = DEFAULT_DRONE_PORT):
'''
Constructor
'''
ttkFrame.__init__(self, parent)
self._started = IntVar()
self._integralsEnabled = IntVar()
self._target = [0.0] * 4
self._selectedPidConstats = "--"
self._pidConstants = {
Cockpit.KEY_ANG_SPEED:{
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ANGLES: {
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ACCEL:{
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
}
}
self.parent = parent
self.initUI()
self._controlKeysLocked = False
if not isDummy:
self._link = INetLink(droneIp, dronePort)
else:
self._link = ConsoleLink()
self._link.open()
self._updateInfoThread = Thread(target=self._updateInfo)
self._updateInfoThreadRunning = False
self._readingState = False
self._start()
def initUI(self):
self.parent.title("Drone control")
self.style = Style()
self.style.theme_use("default")
self.pack(fill=BOTH, expand=1)
self.parent.bind_all("<Key>", self._keyDown)
self.parent.bind_all("<KeyRelease>", self._keyUp)
if system() == "Linux":
self.parent.bind_all("<Button-4>", self._onMouseWheelUp)
self.parent.bind_all("<Button-5>", self._onMouseWheelDown)
else:
#case of Windows
self.parent.bind_all("<MouseWheel>", self._onMouseWheel)
#Commands
commandsFrame = tkFrame(self)
commandsFrame.grid(column=0, row=0, sticky="WE")
self._startedCB = Checkbutton(commandsFrame, text="On", variable=self._started, command=self._startedCBChanged)
self._startedCB.pack(side=LEFT, padx=4)
self._integralsCB = Checkbutton(commandsFrame, text="Int.", variable=self._integralsEnabled, \
command=self._integralsCBChanged, state=DISABLED)
self._integralsCB.pack(side=LEFT, padx=4)
self._quitButton = Button(commandsFrame, text="Quit", command=self.exit)
self._quitButton.pack(side=LEFT, padx=2, pady=2)
# self._angleLbl = Label(commandsFrame, text="Angle")
# self._angleLbl.pack(side=LEFT, padx=4)
#
# self._angleEntry = Entry(commandsFrame, state=DISABLED)
# self._angleEntry.pack(side=LEFT)
#Info
infoFrame = tkFrame(self)
infoFrame.grid(column=1, row=1, sticky="E", padx=4)
#Throttle
Label(infoFrame, text="Throttle").grid(column=0, row=0, sticky="WE")
self._throttleTexts = [StringVar(),StringVar(),StringVar(),StringVar()]
Entry(infoFrame, textvariable=self._throttleTexts[3], state=DISABLED, width=5).grid(column=0, row=1)
Entry(infoFrame, textvariable=self._throttleTexts[0], state=DISABLED, width=5).grid(column=1, row=1)
Entry(infoFrame, textvariable=self._throttleTexts[2], state=DISABLED, width=5).grid(column=0, row=2)
Entry(infoFrame, textvariable=self._throttleTexts[1], state=DISABLED, width=5).grid(column=1, row=2)
#Angles
Label(infoFrame, text="Angles").grid(column=0, row=3, sticky="WE")
self._angleTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._angleTexts[index], state=DISABLED, width=5).grid(column=index, row=4)
#Accels
Label(infoFrame, text="Accels").grid(column=0, row=5, sticky="WE")
self._accelTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._accelTexts[index], state=DISABLED, width=5).grid(column=index, row=6)
#Speeds
Label(infoFrame, text="Speeds").grid(column=0, row=7, sticky="WE")
self._speedTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._speedTexts[index], state=DISABLED, width=5).grid(column=index, row=8)
#Height
Label(infoFrame, text="Height").grid(column=0, row=9, sticky="W")
self._heightText = StringVar()
Entry(infoFrame, state=DISABLED, width=5).grid(column=1, row=9)
#control
controlFrame = tkFrame(self)
controlFrame.grid(column=0, row=1, sticky="W")
self._throttle = DoubleVar()
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=-100.0, \
tickinterval=0, variable=self._throttle, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
self._thrustScale.bind("<Double-Button-1>", self._onThrustScaleDoubleButton1, "+")
self._thrustScale.grid(column=0)
self._shiftCanvas = Canvas(controlFrame, bg="white", height=400, width=400, \
relief=SUNKEN)
self._shiftCanvas.bind("<Button-1>", self._onMouseButton1)
#self._shiftCanvas.bind("<ButtonRelease-1>", self._onMouseButtonRelease1)
self._shiftCanvas.bind("<B1-Motion>", self._onMouseButton1Motion)
self._shiftCanvas.bind("<Double-Button-1>", self._onMouseDoubleButton1)
self._shiftCanvas.bind("<Button-3>", self._onMouseButton3)
#self._shiftCanvas.bind("<ButtonRelease-3>", self._onMouseButtonRelease3)
self._shiftCanvas.bind("<B3-Motion>", self._onMouseButton3Motion)
self._shiftCanvas.grid(row=0,column=1, padx=2, pady=2)
self._shiftCanvas.create_oval(2, 2, 400, 400, outline="#ff0000")
self._shiftCanvas.create_line(201, 2, 201, 400, fill="#ff0000")
self._shiftCanvas.create_line(2, 201, 400, 201, fill="#ff0000")
self._shiftMarker = self._shiftCanvas.create_oval(197, 197, 205, 205, outline="#0000ff", fill="#0000ff")
self._yaw = DoubleVar()
self._yawScale = Scale(controlFrame, orient=HORIZONTAL, from_=-100.0, to=100.0, \
tickinterval=0, variable=self._yaw, \
length=200, showvalue=1, \
command=self._onYawScaleChanged)
self._yawScale.bind("<Double-Button-1>", self._onYawScaleDoubleButton1, "+")
self._yawScale.grid(row=1, column=1)
self._controlKeyActive = False
#PID calibration
pidCalibrationFrame = tkFrame(self)
pidCalibrationFrame.grid(column=0, row=2, sticky="WE");
self._pidSelected = StringVar()
self._pidSelected.set("--")
self._pidListBox = OptionMenu(pidCalibrationFrame, self._pidSelected, "--", \
Cockpit.KEY_ANG_SPEED, Cockpit.KEY_ANGLES, Cockpit.KEY_ACCEL, \
command=self._onPidListBoxChanged)
self._pidListBox.pack(side=LEFT, padx=2)
self._pidListBox.config(width=10)
self._axisSelected = StringVar()
self._axisSelected.set("--")
self._axisListBox = OptionMenu(pidCalibrationFrame, self._axisSelected, "--", "X", "Y", "Z", \
command=self._onAxisListBoxChanged)
self._axisListBox.pack(side=LEFT, padx=2)
self._axisListBox.config(state=DISABLED)
Label(pidCalibrationFrame, text="P").pack(side=LEFT, padx=(14, 2))
self._pidPString = StringVar()
self._pidPString.set("0.00")
self._pidPSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=100.0, increment=0.01, state=DISABLED, \
textvariable=self._pidPString, command=self._onPidSpinboxChanged)
self._pidPSpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="I").pack(side=LEFT, padx=(14, 2))
self._pidIString = StringVar()
self._pidIString.set("0.00")
self._pidISpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=100.0, increment=0.01, state=DISABLED, \
textvariable=self._pidIString, command=self._onPidSpinboxChanged)
self._pidISpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="D").pack(side=LEFT, padx=(14, 2))
self._pidDString = StringVar()
self._pidDString.set("0.00")
self._pidDSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=100.0, increment=0.01, state=DISABLED, \
textvariable=self._pidDString, command=self._onPidSpinboxChanged)
self._pidDSpinbox.pack(side=LEFT, padx=2)
#debug
debugFrame = tkFrame(self)
debugFrame.grid(column=0, row=3, sticky="WE")
self._debugMsg = Message(debugFrame, anchor="nw", justify=LEFT, relief=SUNKEN, width=300)
self._debugMsg.pack(fill=BOTH, expand=1)
def _start(self):
self._readDroneConfig()
def exit(self):
self._link.send({"key": "close", "data": None})
self._stopUpdateInfoThread()
self._link.close()
self.quit()
def _updateTarget(self):
markerCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = ((markerCoords[0] + markerCoords[2]) / 2, (markerCoords[1] + markerCoords[3]) / 2)
self._target[1] = float(coords[0] - 201) * Cockpit.MAX_ACCEL / 200.0
self._target[0] = float(coords[1] - 201) * Cockpit.MAX_ACCEL / 200.0
#Remote control uses clockwise angle, but the drone's referece system uses counter-clockwise angle
self._target[2] = -self._yaw.get() * Cockpit.MAX_ANGLE_SPEED / 100.0
self._target[3] = self._throttle.get() * Cockpit.MAX_ACCEL_Z / 100.0
self._sendTarget()
def _keyDown(self, event):
if event.keysym == "Escape":
self._throttle.set(0)
self._started.set(0)
self._thrustScale.config(state=DISABLED)
self._stopUpdateInfoThread()
self._sendIsStarted()
elif event.keysym.startswith("Control"):
self._controlKeyActive = True
elif not self._controlKeysLocked and self._controlKeyActive:
if event.keysym == "Up":
self._thrustScaleUp()
elif event.keysym == "Down":
self._thrustScaleDown()
elif event.keysym == "Left":
self._yawLeft()
elif event.keysym == "Right":
self._yawRight()
elif event.keysym == "space":
self._yawReset()
self._thrustReset()
elif not self._controlKeysLocked and not self._controlKeyActive:
if event.keysym == "Up":
self._moveShiftCanvasMarker((0,-5))
elif event.keysym == "Down":
self._moveShiftCanvasMarker((0,5))
elif event.keysym == "Left":
self._moveShiftCanvasMarker((-5,0))
elif event.keysym == "Right":
self._moveShiftCanvasMarker((5,0))
elif event.keysym == "space":
self._resetShiftCanvasMarker()
def _keyUp(self, eventArgs):
if eventArgs.keysym.startswith("Control"):
self._controlKeyActive = False
def _onMouseButton1(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseButtonRelease1(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 197, 197, 205, 205)
def _limitCoordsToSize(self, coords, size):
if coords[0] > size:
x = size
elif coords[0] < 0:
x = 0
else:
x = coords[0]
if coords[1] > size:
y = size
elif coords[1] < 0:
y = 0
else:
y = coords[1]
return (x,y)
def _moveShiftCanvasMarker(self, shift):
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
newCoords = (lastCoords[0] + shift[0], lastCoords[1] + shift[1])
newCoords = self._limitCoordsToSize(newCoords, 400)
self._shiftCanvas.coords(self._shiftMarker, newCoords[0], newCoords[1], newCoords[0] + 8, newCoords[1] + 8)
self._updateTarget()
def _resetShiftCanvasMarker(self):
self._shiftCanvas.coords(self._shiftMarker, 197, 197, 205, 205)
self._updateTarget()
def _onMouseButton1Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0], eventArgs.y - self._lastMouseCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseDoubleButton1(self, eventArgs):
self._resetShiftCanvasMarker()
def _onMouseButton3(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
self._mouseDirection = Cockpit.DIR_NONE
def _onMouseButtonRelease3(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 197, 197, 205, 205)
def _onMouseButton3Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0], eventArgs.y - self._lastMouseCoords[1])
if self._mouseDirection == Cockpit.DIR_NONE:
if abs(deltaCoords[0]) > abs(deltaCoords[1]):
self._mouseDirection = Cockpit.DIR_HORIZONTAL
else:
self._mouseDirection = Cockpit.DIR_VERTICAL
if self._mouseDirection == Cockpit.DIR_HORIZONTAL:
deltaCoords = (deltaCoords[0], 0)
else:
deltaCoords = (0, deltaCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _thrustScaleUp(self):
if self._started.get():
newValue = self._thrustScale.get() + 1
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustScaleDown(self):
if self._started.get():
newValue = self._thrustScale.get() - 1
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustReset(self):
if self._started.get():
self._thrustScale.set(0.0)
self._updateTarget()
def _onThrustScaleDoubleButton1(self, eventArgs):
self._thrustReset()
return "break"
def _yawRight(self):
newValue = self._yaw.get() + 1
self._yaw.set(newValue)
self._updateTarget()
def _yawLeft(self):
newValue = self._yaw.get() - 1
self._yaw.set(newValue)
self._updateTarget()
def _yawReset(self):
self._yaw.set(0)
self._updateTarget()
def _onMouseWheelUp(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleUp()
else:
self._yawRight()
def _onMouseWheelDown(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleDown()
else:
self._yawLeft()
def _onMouseWheel(self, eventArgs):
factor = int(eventArgs.delta/120)
if not self._controlKeyActive:
if self._started.get():
newValue = self._thrustScale.get() + factor
self._thrustScale.set(newValue)
self._updateTarget()
else:
newValue = self._yaw.get() + factor
self._yaw.set(newValue)
self._updateTarget()
def _onYawScaleChanged(self, eventArgs):
self._updateTarget()
def _onYawScaleDoubleButton1(self, eventArgs):
self._yawReset()
return "break"
def _startedCBChanged(self):
if not self._started.get():
self._throttle.set(0)
self._thrustScale.config(state=DISABLED)
self._integralsCB.config(state=DISABLED)
self._stopUpdateInfoThread()
else:
self._thrustScale.config(state="normal")
self._integralsCB.config(state="normal")
self._startUpdateInfoThread()
self._sendIsStarted()
def _integralsCBChanged(self):
self._link.send({"key": "integrals", "data":self._integralsEnabled.get() != 0})
def _onThrustScaleChanged(self, eventArgs):
self._updateTarget()
def _sendTarget(self):
self._link.send({"key": "target", "data": self._target})
def _sendIsStarted(self):
isStarted = self._started.get() != 0
self._link.send({"key": "is-started", "data": isStarted})
def _sendPidCalibrationData(self):
if self._pidSelected.get() != "--" and self._axisSelected.get() != "--":
pidData = {
"pid": self._pidSelected.get(),
"axis": self._axisSelected.get(),
"p": float(self._pidPSpinbox.get()),
"i": float(self._pidISpinbox.get()),
"d": float(self._pidDSpinbox.get())}
self._link.send({"key": "pid-calibration", "data": pidData})
def _updatePidCalibrationData(self):
pid = self._pidSelected.get()
axis = self._axisSelected.get()
if pid != "--" and axis != "--":
self._pidConstants[pid][axis]["P"] = float(self._pidPSpinbox.get())
self._pidConstants[pid][axis]["I"] = float(self._pidISpinbox.get())
self._pidConstants[pid][axis]["D"] = float(self._pidDSpinbox.get())
def _readDroneConfig(self):
self._link.send({"key": "read-drone-config", "data": None}, self._onDroneConfigRead)
def _readDroneState(self):
if not self._readingState:
self._readingState = True
self._link.send({"key": "read-drone-state", "data": None}, self._onDroneStateRead)
def _readPidConfigItem(self, message, cockpitKey, axises, configKeys):
for i in range(len(axises)):
for j in range(len(Cockpit.PID_KEYS)):
self._pidConstants[cockpitKey][axises[i]][Cockpit.PID_KEYS[j]] = message[configKeys[j]][i]
def _onDroneConfigRead(self, message):
#TODO Show current configuration within the GUI (at least relevant settings)
if message:
#Angle-speeds
self._readPidConfigItem(message, Cockpit.KEY_ANG_SPEED, ["X", "Y", "Z"], \
[Configuration.PID_ANGLES_SPEED_KP, \
Configuration.PID_ANGLES_SPEED_KI, \
Configuration.PID_ANGLES_SPEED_KD])
#Angles
self._readPidConfigItem(message, Cockpit.KEY_ANGLES, ["X", "Y"], \
[Configuration.PID_ANGLES_KP, \
Configuration.PID_ANGLES_KI, \
Configuration.PID_ANGLES_KD])
#Accels
self._readPidConfigItem(message, Cockpit.KEY_ACCEL, ["X", "Y", "Z"], \
[Configuration.PID_ACCEL_KP, \
Configuration.PID_ACCEL_KI, \
Configuration.PID_ACCEL_KD])
def _onDroneStateRead(self, state):
if state:
for index in range(4):
self._throttleTexts[index].set("{0:.3f}".format(state["_throttles"][index]))
for index in range(3):
self._accelTexts[index].set("{0:.3f}".format(state["_accels"][index]))
self._angleTexts[index].set("{0:.3f}".format(state["_angles"][index]))
else:
self._stopUpdateInfoThread()
self._readingState = False
def _onPidSpinboxChanged(self):
self._updatePidCalibrationData()
self._sendPidCalibrationData()
def _onPidListBoxChanged(self, pid):
self._axisSelected.set("--")
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._selectedPidConstats = pid
if pid == "--":
self._axisListBox.config(state=DISABLED)
self._controlKeysLocked = False
else:
self._axisListBox.config(state="normal")
self._controlKeysLocked = True
def _onAxisListBoxChanged(self, axis):
if axis == "--" or (self._selectedPidConstats == Cockpit.KEY_ANGLES and axis == "Z"):
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._controlKeysLocked = axis != "--"
else:
self._pidPString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["P"]))
self._pidIString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["I"]))
self._pidDString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["D"]))
self._pidPSpinbox.config(state="normal")
self._pidISpinbox.config(state="normal")
self._pidDSpinbox.config(state="normal")
self._controlKeysLocked = True
def _updateInfo(self):
while self._updateInfoThreadRunning:
self._readDroneState()
time.sleep(1.0)
def _startUpdateInfoThread(self):
self._updateInfoThreadRunning = True
if not self._updateInfoThread.isAlive():
self._updateInfoThread.start()
def _stopUpdateInfoThread(self):
self._updateInfoThreadRunning = False
if self._updateInfoThread.isAlive():
self._updateInfoThread.join()
class Cockpit(ttkFrame):
'''
Remote device GUI
'''
#TODO: 20160415 DPM - Set these values from configuration file
#--- config
THROTTLE_BY_USER = True
THROTTLE_RESOLUTION = 0.1
# Joystick enabled or not, if any
JOYSTICK_ENABLED = True
DEFAULT_DRONE_IP = "192.168.1.130"
DEFAULT_DRONE_PORT = 2121
#--- end config
KEY_ANG_SPEED = "ang-speed"
KEY_ANGLES = "angles"
KEY_ACCEL = "accel"
PID_KEYS = ["P", "I", "D"]
DIR_NONE = 0
DIR_VERTICAL = 1
DIR_HORIZONTAL = 2
def __init__(self,
parent,
isDummy=False,
droneIp=DEFAULT_DRONE_IP,
dronePort=DEFAULT_DRONE_PORT):
'''
Constructor
'''
ttkFrame.__init__(self, parent)
self._target = [0.0] * 4
self._selectedPidConstats = "--"
self._pidConstants = {
Cockpit.KEY_ANG_SPEED: {
"X": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z": {
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ANGLES: {
"X": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y": {
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ACCEL: {
"X": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y": {
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z": {
"P": 0.0,
"I": 0.0,
"D": 0.0
}
}
}
self.parent = parent
self.initUI()
self._controlKeysLocked = False
if not isDummy:
self._link = INetLink(droneIp, dronePort)
else:
self._link = ConsoleLink()
self._link.open()
self._updateInfoThread = Thread(target=self._updateInfo)
self._updateInfoThreadRunning = False
self._readingState = False
self._start()
def initUI(self):
self.parent.title("Drone control")
self.style = Style()
self.style.theme_use("default")
self.pack(fill=BOTH, expand=1)
self.parent.bind_all("<Key>", self._keyDown)
self.parent.bind_all("<KeyRelease>", self._keyUp)
if system() == "Linux":
self.parent.bind_all("<Button-4>", self._onMouseWheelUp)
self.parent.bind_all("<Button-5>", self._onMouseWheelDown)
else:
#case of Windows
self.parent.bind_all("<MouseWheel>", self._onMouseWheel)
#Commands
commandsFrame = tkFrame(self)
commandsFrame.grid(column=0, row=0, sticky="WE")
self._started = IntVar()
self._startedCB = Checkbutton(commandsFrame,
text="On",
variable=self._started,
command=self._startedCBChanged)
self._startedCB.pack(side=LEFT, padx=4)
# self._integralsCB = Checkbutton(commandsFrame, text="Int.", variable=self._integralsEnabled, \
# command=self._integralsCBChanged, state=DISABLED)
# self._integralsCB.pack(side=LEFT, padx=4)
self._quitButton = Button(commandsFrame,
text="Quit",
command=self.exit)
self._quitButton.pack(side=LEFT, padx=2, pady=2)
# self._angleLbl = Label(commandsFrame, text="Angle")
# self._angleLbl.pack(side=LEFT, padx=4)
#
# self._angleEntry = Entry(commandsFrame, state=DISABLED)
# self._angleEntry.pack(side=LEFT)
#Info
infoFrame = tkFrame(self)
infoFrame.grid(column=1, row=1, sticky="NE", padx=4)
#Throttle
Label(infoFrame, text="Throttle").grid(column=0, row=0, sticky="WE")
self._throttleTexts = [
StringVar(), StringVar(),
StringVar(), StringVar()
]
Entry(infoFrame,
textvariable=self._throttleTexts[3],
state=DISABLED,
width=5).grid(column=0, row=1)
Entry(infoFrame,
textvariable=self._throttleTexts[0],
state=DISABLED,
width=5).grid(column=1, row=1)
Entry(infoFrame,
textvariable=self._throttleTexts[2],
state=DISABLED,
width=5).grid(column=0, row=2)
Entry(infoFrame,
textvariable=self._throttleTexts[1],
state=DISABLED,
width=5).grid(column=1, row=2)
#Angles
Label(infoFrame, text="Angles").grid(column=0, row=3, sticky="WE")
self._angleTexts = [StringVar(), StringVar(), StringVar()]
for index in range(3):
Entry(infoFrame,
textvariable=self._angleTexts[index],
state=DISABLED,
width=5).grid(column=index, row=4)
#Accels
Label(infoFrame, text="Accels").grid(column=0, row=5, sticky="WE")
self._accelTexts = [StringVar(), StringVar(), StringVar()]
for index in range(3):
Entry(infoFrame,
textvariable=self._accelTexts[index],
state=DISABLED,
width=5).grid(column=index, row=6)
#Speeds
Label(infoFrame, text="Speeds").grid(column=0, row=7, sticky="WE")
self._speedTexts = [StringVar(), StringVar(), StringVar()]
for index in range(3):
Entry(infoFrame,
textvariable=self._speedTexts[index],
state=DISABLED,
width=5).grid(column=index, row=8)
#Height
Label(infoFrame, text="Height").grid(column=0, row=9, sticky="E")
self._heightText = StringVar()
Entry(infoFrame,
textvariable=self._heightText,
state=DISABLED,
width=5).grid(column=1, row=9)
#Loop rate
Label(infoFrame, text="Loop @").grid(column=0, row=10, sticky="E")
self._loopRateText = StringVar()
Entry(infoFrame,
textvariable=self._loopRateText,
state=DISABLED,
width=5).grid(column=1, row=10)
Label(infoFrame, text="Hz").grid(column=2, row=10, sticky="W")
#control
controlFrame = tkFrame(self)
controlFrame.grid(column=0, row=1, sticky="W")
self._throttle = DoubleVar()
if Cockpit.THROTTLE_BY_USER:
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=0.0, \
tickinterval=0, variable=self._throttle, resolution=Cockpit.THROTTLE_RESOLUTION, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
else:
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=-100.0, \
tickinterval=0, variable=self._throttle, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
self._thrustScale.bind("<Double-Button-1>",
self._onThrustScaleDoubleButton1, "+")
self._thrustScale.grid(column=0)
self._shiftCanvas = Canvas(controlFrame, bg="white", height=400, width=400, \
relief=SUNKEN)
self._shiftCanvas.bind("<Button-1>", self._onMouseButton1)
#self._shiftCanvas.bind("<ButtonRelease-1>", self._onMouseButtonRelease1)
self._shiftCanvas.bind("<B1-Motion>", self._onMouseButton1Motion)
self._shiftCanvas.bind("<Double-Button-1>", self._onMouseDoubleButton1)
self._shiftCanvas.bind("<Button-3>", self._onMouseButton3)
#self._shiftCanvas.bind("<ButtonRelease-3>", self._onMouseButtonRelease3)
self._shiftCanvas.bind("<B3-Motion>", self._onMouseButton3Motion)
self._shiftCanvas.grid(row=0, column=1, padx=2, pady=2)
self._shiftCanvas.create_oval(1, 1, 400, 400, outline="#ff0000")
self._shiftCanvas.create_line(200, 2, 200, 400, fill="#ff0000")
self._shiftCanvas.create_line(2, 200, 400, 200, fill="#ff0000")
self._shiftMarker = self._shiftCanvas.create_oval(196,
196,
204,
204,
outline="#0000ff",
fill="#0000ff")
self._yaw = DoubleVar()
self._yawScale = Scale(controlFrame, orient=HORIZONTAL, from_=-100.0, to=100.0, \
tickinterval=0, variable=self._yaw, \
length=200, showvalue=1, \
command=self._onYawScaleChanged)
self._yawScale.bind("<Double-Button-1>", self._onYawScaleDoubleButton1,
"+")
self._yawScale.grid(row=1, column=1)
self._controlKeyActive = False
#PID calibration
pidCalibrationFrame = tkFrame(self)
pidCalibrationFrame.grid(column=0, row=2, sticky="WE")
self._pidSelected = StringVar()
self._pidSelected.set("--")
self._pidListBox = OptionMenu(pidCalibrationFrame, self._pidSelected, "--", \
Cockpit.KEY_ANG_SPEED, Cockpit.KEY_ANGLES, Cockpit.KEY_ACCEL, \
command=self._onPidListBoxChanged)
self._pidListBox.pack(side=LEFT, padx=2)
self._pidListBox.config(width=10)
self._axisSelected = StringVar()
self._axisSelected.set("--")
self._axisListBox = OptionMenu(pidCalibrationFrame, self._axisSelected, "--", "X", "Y", "Z", \
command=self._onAxisListBoxChanged)
self._axisListBox.pack(side=LEFT, padx=2)
self._axisListBox.config(state=DISABLED)
Label(pidCalibrationFrame, text="P").pack(side=LEFT, padx=(14, 2))
self._pidPString = StringVar()
self._pidPString.set("0.00")
self._pidPSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidPString, command=self._onPidSpinboxChanged)
self._pidPSpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="I").pack(side=LEFT, padx=(14, 2))
self._pidIString = StringVar()
self._pidIString.set("0.00")
self._pidISpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidIString, command=self._onPidSpinboxChanged)
self._pidISpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="D").pack(side=LEFT, padx=(14, 2))
self._pidDString = StringVar()
self._pidDString.set("0.00")
self._pidDSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidDString, command=self._onPidSpinboxChanged)
self._pidDSpinbox.pack(side=LEFT, padx=2)
#debug
debugFrame = tkFrame(self)
debugFrame.grid(column=0, row=3, sticky="WE")
self._debugMsg = Message(debugFrame,
anchor="nw",
justify=LEFT,
relief=SUNKEN,
width=300)
self._debugMsg.pack(fill=BOTH, expand=1)
def _start(self):
self._readDroneConfig()
if Cockpit.JOYSTICK_ENABLED:
self._joystickManager = JoystickManager.getInstance()
self._joystickManager.start()
joysticks = self._joystickManager.getJoysticks()
if len(joysticks) != 0:
self._joystick = joysticks[0]
self._joystick.onAxisChanged += self._onJoystickAxisChanged
self._joystick.onButtonPressed += self._onJoystickButtonPressed
else:
self._joystick = None
def _onJoystickAxisChanged(self, sender, index):
if self._started.get() and sender == self._joystick:
axisValue = self._joystick.getAxisValue(index)
if index == 0:
self._yaw.set(axisValue)
self._updateTarget()
elif index == 1 and not Cockpit.THROTTLE_BY_USER:
thrust = -axisValue
self._throttle.set(thrust)
self._updateTarget()
elif index == 2 and Cockpit.THROTTLE_BY_USER:
rowThrottle = (axisValue + 100.0) / 2.0
if rowThrottle < 10.0:
throttle = rowThrottle * 6.0
elif rowThrottle < 90.0:
throttle = 60.0 + ((rowThrottle - 10.0) / 8.0)
else:
throttle = 70.0 + (rowThrottle - 90.0) * 3.0
self._throttle.set(throttle)
self._sendThrottle()
elif index == 3:
x = 196 + axisValue * 2
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = (x, lastCoords[1])
self._plotShiftCanvasMarker(coords)
elif index == 4:
y = 196 + axisValue * 2
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = (lastCoords[0], y)
self._plotShiftCanvasMarker(coords)
def _onJoystickButtonPressed(self, sender, index):
if sender == self._joystick and index == 7:
if self._started.get() == 0:
self._startedCB.select()
else:
self._startedCB.deselect()
# Tkinter's widgets seem not to be calling the event-handler
# when they are changed programmatically. Therefore, the
# even-handler is called explicitly here.
self._startedCBChanged()
def exit(self):
self._link.send({"key": "close", "data": None})
self._stopUpdateInfoThread()
self._link.close()
if Cockpit.JOYSTICK_ENABLED:
self._joystickManager.stop()
self.quit()
def _updateTarget(self):
markerCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = ((markerCoords[0] + markerCoords[2]) / 2,
(markerCoords[1] + markerCoords[3]) / 2)
self._target[0] = float(
coords[1] - 200) / 2.0 # X-axis angle / X-axis acceleration
self._target[1] = float(
coords[0] - 200) / 2.0 # Y-axis angle / Y-axis acceleration
#Remote control uses clockwise angle, but the drone's referece system uses counter-clockwise angle
self._target[2] = -self._yaw.get() # Z-axis angular speed
# Z-axis acceleration (thrust). Only when the motor throttle is not controlled by user directly
if Cockpit.THROTTLE_BY_USER:
self._target[3] = 0.0
else:
self._target[3] = self._throttle.get()
self._sendTarget()
def _keyDown(self, event):
if event.keysym == "Escape":
self._throttle.set(0)
self._started.set(0)
self._thrustScale.config(state=DISABLED)
self._stopUpdateInfoThread()
self._sendIsStarted()
elif event.keysym.startswith("Control"):
self._controlKeyActive = True
elif not self._controlKeysLocked and self._controlKeyActive:
if event.keysym == "Up":
self._thrustScaleUp()
elif event.keysym == "Down":
self._thrustScaleDown()
elif event.keysym == "Left":
self._yawLeft()
elif event.keysym == "Right":
self._yawRight()
elif event.keysym == "space":
self._yawReset()
if not Cockpit.THROTTLE_BY_USER:
self._thrustReset()
elif not self._controlKeysLocked and not self._controlKeyActive:
if event.keysym == "Up":
self._moveShiftCanvasMarker((0, -5))
elif event.keysym == "Down":
self._moveShiftCanvasMarker((0, 5))
elif event.keysym == "Left":
self._moveShiftCanvasMarker((-5, 0))
elif event.keysym == "Right":
self._moveShiftCanvasMarker((5, 0))
elif event.keysym == "space":
self._resetShiftCanvasMarker()
def _keyUp(self, eventArgs):
if eventArgs.keysym.startswith("Control"):
self._controlKeyActive = False
def _onMouseButton1(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseButtonRelease1(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
def _limitCoordsToSize(self, coords, size, width):
maxSize = size - (width / 2.0)
minSize = -(width / 2.0)
if coords[0] > maxSize:
x = maxSize
elif coords[0] < minSize:
x = minSize
else:
x = coords[0]
if coords[1] > maxSize:
y = maxSize
elif coords[1] < minSize:
y = minSize
else:
y = coords[1]
return (x, y)
def _plotShiftCanvasMarker(self, coords):
coords = self._limitCoordsToSize(coords, 400, 8)
self._shiftCanvas.coords(self._shiftMarker, coords[0], coords[1],
coords[0] + 8, coords[1] + 8)
self._updateTarget()
def _moveShiftCanvasMarker(self, shift):
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
newCoords = (lastCoords[0] + shift[0], lastCoords[1] + shift[1])
self._plotShiftCanvasMarker(newCoords)
def _resetShiftCanvasMarker(self):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
self._updateTarget()
def _onMouseButton1Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0],
eventArgs.y - self._lastMouseCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseDoubleButton1(self, eventArgs):
self._resetShiftCanvasMarker()
def _onMouseButton3(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
self._mouseDirection = Cockpit.DIR_NONE
def _onMouseButtonRelease3(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
def _onMouseButton3Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0],
eventArgs.y - self._lastMouseCoords[1])
if self._mouseDirection == Cockpit.DIR_NONE:
if abs(deltaCoords[0]) > abs(deltaCoords[1]):
self._mouseDirection = Cockpit.DIR_HORIZONTAL
else:
self._mouseDirection = Cockpit.DIR_VERTICAL
if self._mouseDirection == Cockpit.DIR_HORIZONTAL:
deltaCoords = (deltaCoords[0], 0)
else:
deltaCoords = (0, deltaCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _thrustScaleUp(self):
#TODO: 20160526 DPM: El valor de incremento de aceleración (1.0) puede ser muy alto
if self._started.get():
newValue = self._thrustScale.get() \
+ (Cockpit.THROTTLE_RESOLUTION if Cockpit.THROTTLE_BY_USER else 1.0)
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustScaleDown(self):
#TODO: 20160526 DPM: El valor de decremento de aceleración (1.0) puede ser muy alto
if self._started.get():
newValue = self._thrustScale.get() \
- (Cockpit.THROTTLE_RESOLUTION if Cockpit.THROTTLE_BY_USER else 1.0)
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustReset(self):
if self._started.get():
self._thrustScale.set(0.0)
self._updateTarget()
def _onThrustScaleDoubleButton1(self, eventArgs):
self._thrustReset()
return "break"
def _yawRight(self):
newValue = self._yaw.get() + 1
self._yaw.set(newValue)
self._updateTarget()
def _yawLeft(self):
newValue = self._yaw.get() - 1
self._yaw.set(newValue)
self._updateTarget()
def _yawReset(self):
self._yaw.set(0)
self._updateTarget()
def _onMouseWheelUp(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleUp()
else:
self._yawRight()
def _onMouseWheelDown(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleDown()
else:
self._yawLeft()
def _onMouseWheel(self, eventArgs):
factor = eventArgs.delta / (1200.0 if Cockpit.THROTTLE_BY_USER
and not self._controlKeyActive else 120.0)
if not self._controlKeyActive:
if self._started.get():
newValue = self._thrustScale.get() + factor
self._thrustScale.set(newValue)
self._updateTarget()
else:
newValue = self._yaw.get() + factor
self._yaw.set(newValue)
self._updateTarget()
def _onYawScaleChanged(self, eventArgs):
self._updateTarget()
def _onYawScaleDoubleButton1(self, eventArgs):
self._yawReset()
return "break"
def _startedCBChanged(self):
if not self._started.get():
self._throttle.set(0)
self._thrustScale.config(state=DISABLED)
#self._integralsCB.config(state=DISABLED)
self._stopUpdateInfoThread()
else:
self._thrustScale.config(state="normal")
#self._integralsCB.config(state="normal")
self._startUpdateInfoThread()
self._sendIsStarted()
# def _integralsCBChanged(self):
#
# self._link.send({"key": "integrals", "data":self._integralsEnabled.get() != 0})
#
def _onThrustScaleChanged(self, eventArgs):
if Cockpit.THROTTLE_BY_USER:
self._sendThrottle()
else:
self._updateTarget()
def _sendThrottle(self):
self._link.send({"key": "throttle", "data": self._throttle.get()})
def _sendTarget(self):
self._link.send({"key": "target", "data": self._target})
def _sendIsStarted(self):
isStarted = self._started.get() != 0
self._link.send({"key": "is-started", "data": isStarted})
def _sendPidCalibrationData(self):
if self._pidSelected.get() != "--" and self._axisSelected.get(
) != "--":
pidData = {
"pid": self._pidSelected.get(),
"axis": self._axisSelected.get(),
"p": float(self._pidPSpinbox.get()),
"i": float(self._pidISpinbox.get()),
"d": float(self._pidDSpinbox.get())
}
self._link.send({"key": "pid-calibration", "data": pidData})
def _updatePidCalibrationData(self):
pid = self._pidSelected.get()
axis = self._axisSelected.get()
if pid != "--" and axis != "--":
self._pidConstants[pid][axis]["P"] = float(self._pidPSpinbox.get())
self._pidConstants[pid][axis]["I"] = float(self._pidISpinbox.get())
self._pidConstants[pid][axis]["D"] = float(self._pidDSpinbox.get())
def _readDroneConfig(self):
self._link.send({
"key": "read-drone-config",
"data": None
}, self._onDroneConfigRead)
def _readDroneState(self):
if not self._readingState:
self._readingState = True
self._link.send({
"key": "read-drone-state",
"data": None
}, self._onDroneStateRead)
def _readPidConfigItem(self, message, cockpitKey, axises, configKeys):
for i in range(len(axises)):
for j in range(len(Cockpit.PID_KEYS)):
self._pidConstants[cockpitKey][axises[i]][
Cockpit.PID_KEYS[j]] = message[configKeys[j]][i]
def _onDroneConfigRead(self, message):
#TODO Show current configuration within the GUI (at least relevant settings)
if message:
#Angle-speeds
self._readPidConfigItem(message, Cockpit.KEY_ANG_SPEED, ["X", "Y", "Z"], \
[Configuration.PID_ANGLES_SPEED_KP, \
Configuration.PID_ANGLES_SPEED_KI, \
Configuration.PID_ANGLES_SPEED_KD])
#Angles
self._readPidConfigItem(message, Cockpit.KEY_ANGLES, ["X", "Y"], \
[Configuration.PID_ANGLES_KP, \
Configuration.PID_ANGLES_KI, \
Configuration.PID_ANGLES_KD])
#Accels
self._readPidConfigItem(message, Cockpit.KEY_ACCEL, ["X", "Y", "Z"], \
[Configuration.PID_ACCEL_KP, \
Configuration.PID_ACCEL_KI, \
Configuration.PID_ACCEL_KD])
def _onDroneStateRead(self, state):
if state:
for index in range(4):
self._throttleTexts[index].set("{0:.3f}".format(
state["_throttles"][index]))
for index in range(3):
self._accelTexts[index].set("{0:.3f}".format(
state["_accels"][index]))
self._angleTexts[index].set("{0:.3f}".format(
state["_angles"][index]))
currentPeriod = state["_currentPeriod"]
if currentPeriod > 0.0:
freq = 1.0 / currentPeriod
self._loopRateText.set("{0:.3f}".format(freq))
else:
self._loopRateText.set("--")
else:
self._stopUpdateInfoThread()
self._readingState = False
def _onPidSpinboxChanged(self):
self._updatePidCalibrationData()
self._sendPidCalibrationData()
def _onPidListBoxChanged(self, pid):
self._axisSelected.set("--")
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._selectedPidConstats = pid
if pid == "--":
self._axisListBox.config(state=DISABLED)
self._controlKeysLocked = False
else:
self._axisListBox.config(state="normal")
self._controlKeysLocked = True
def _onAxisListBoxChanged(self, axis):
if axis == "--" or (self._selectedPidConstats == Cockpit.KEY_ANGLES
and axis == "Z"):
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._controlKeysLocked = axis != "--"
else:
self._pidPString.set("{:.2f}".format(
self._pidConstants[self._selectedPidConstats][axis]["P"]))
self._pidIString.set("{:.2f}".format(
self._pidConstants[self._selectedPidConstats][axis]["I"]))
self._pidDString.set("{:.2f}".format(
self._pidConstants[self._selectedPidConstats][axis]["D"]))
self._pidPSpinbox.config(state="normal")
self._pidISpinbox.config(state="normal")
self._pidDSpinbox.config(state="normal")
self._controlKeysLocked = True
def _updateInfo(self):
while self._updateInfoThreadRunning:
self._readDroneState()
time.sleep(1.0)
def _startUpdateInfoThread(self):
self._updateInfoThreadRunning = True
if not self._updateInfoThread.isAlive():
self._updateInfoThread.start()
def _stopUpdateInfoThread(self):
self._updateInfoThreadRunning = False
if self._updateInfoThread.isAlive():
self._updateInfoThread.join()
class TTTUI(object):
default_ply = 6
neither_color = '#%02x%02x%02x' % (255, 255, 255) # white
player_color = '#%02x%02x%02x' % (62, 188, 0) # green
computer_color = '#%02x%02x%02x' % (192, 35, 3) # red
win_color = '#%02x%02x%02x' % (25, 111, 254) # blue
def __init__(self):
# TTT related
self.ttt = Board(ply=9)
self.human_first = True
# UI related
self.root = Tk()
self.root.resizable(0, 0)
self.root.title("3D TTT")
# TTT frames
self.ttt_frames = [Frame(self.root) for x in range(3)]
for i in range(3):
self.ttt_frames[i].grid(row=0, column=i)
self.button_pos = dict()
self._init_board()
# control frame
self.control_frame = Frame(self.root, padx=5, pady=5)
self.control_frame.grid(row=1, column=1)
self.new_game_btn = Button(self.control_frame, text='New Game', \
command=lambda: self.reset())
self.new_game_btn.pack(side=LEFT, fill=BOTH, expand=True)
self.toggle_human_first_btn = Button(self.control_frame, \
text='Human First', command=lambda: self.toggle_human_first())
self.toggle_human_first_btn.pack(side=RIGHT, fill=BOTH, expand=True)
self.ply_box = Spinbox(self.control_frame, from_=1, to=20, \
textvariable=self.ttt.difficulty, command=lambda: self.reset())
self.ply_box.pack(side=RIGHT, fill=BOTH, expand=True)
# start UI
self.update_pieces()
self.start()
self.root.mainloop()
def toggle_human_first(self):
self.human_first = not self.human_first
self.toggle_human_first_btn.config(text='Human First' if \
self.human_first else 'Computer First')
self.reset()
def _find_button(self, frame, r, c):
for child in frame.children.values():
info = child.grid_info()
if info['row'] == r and info['column'] == c:
return child
return None
def update_pieces(self):
player_pieces = self.ttt.get_moves(self.ttt.human)
computer_pieces = self.ttt.get_moves(self.ttt.ai)
cnt = 0
for b, board in enumerate(self.ttt.board):
for r, row in enumerate(board):
for c, col in enumerate(row):
color = self.neither_color
text = '-'
occupied = False
if cnt in player_pieces:
color = self.player_color
text = self.ttt.human
if cnt in computer_pieces:
color = self.computer_color
text = self.ttt.ai
if self.ttt.complete and cnt in self.ttt.winning_combo:
color = self.win_color
btn = self.button_pos[cnt]
btn.config(text=text, bg=color, state=DISABLED if \
occupied else NORMAL)
cnt += 1
def place_human(self, position):
if position in self.ttt.allowed_moves and not self.ttt.complete:
self.ttt.move(position, self.ttt.human)
self.ttt.human_turn = False
self.update_pieces()
self.place_computer()
def place_computer(self):
if not self.ttt.complete:
self.ttt.computers_move()
self.update_pieces()
def reset(self):
self.ttt.reset()
self.ttt.difficulty = self.default_ply if not \
self.ply_box.get().isdigit() else int(self.ply_box.get())
self.ttt.human_turn = self.human_first
self.update_pieces()
self.start()
def _init_board(self):
cnt = 0
for b, board in enumerate(self.ttt.board):
for x, row in enumerate(board):
for y, cell in enumerate(row):
padding = (0, 0)
if y == 2 and b != 2:
padding = (0, 12)
btn = Button(self.ttt_frames[b], width=8, height=4, \
command=lambda x=cell: self.place_human(x))
btn.grid(row=x, column=y, padx=padding)
self.button_pos[cnt] = btn
cnt += 1
def start(self):
if not self.ttt.human_turn:
self.place_computer()
class ToolBar(Frame):
def __init__(self, root, printer, settings, logger, *arg):
self.app = root
self.printer = printer
self.settings = settings
self.logger = logger
self.app.printing = False
self.app.connected = False
self.app.paused = False
Frame.__init__(self, root, *arg)
topBar = Frame(self)
topBar.grid(row=1, column=1, columnspan=3, sticky=W)
speedBar = Frame(self)
speedBar.grid(row=1, column=5, sticky=E)
bottomBar = Frame(self)
bottomBar.grid(row=2, column=1, columnspan=6, sticky=W+E)
self.bPort = Button(topBar, text="Port", width=BWIDTH, command=self.doPort)
self.bPort.pack(side=LEFT, padx=2, pady=2)
ports = self.scanSerial()
self.spPort = Spinbox(topBar, values=ports, state="readonly")
self.spPort.pack(side=LEFT, padx=2, pady=2)
l = Label(topBar, text=" @ ")
l.pack(side=LEFT, padx=2, pady=2)
self.spBaud = Spinbox(topBar, values=baudChoices)
self.spBaud.pack(side=LEFT, padx=2, pady=2)
self.spBaud.delete(0, END)
self.spBaud.insert(0, 115200)
self.spBaud.config(state="readonly")
self.bConnectMode = CM_CONNECT
self.bConnect = Button(topBar, text=connectText[CM_CONNECT], width=BWIDTH, command=self.doConnect)
self.bConnect.pack(side=LEFT, padx=2, pady=2)
if len(ports) == 0:
self.bConnect.config(state=DISABLED)
else:
self.bConnect.config(state=NORMAL)
self.bReset = Button(topBar, text="Reset", width=BWIDTH, command=self.doReset, state=DISABLED)
self.bReset.pack(side=LEFT, padx=2, pady=2)
l = Label(speedBar, text="Speed:", justify=RIGHT)
l.grid(row=1, column=1, sticky=E)
self._speedJob = None
self.currentSpeed = self.app.FeedMultiply
self.scSpeed = Scale(speedBar, from_=MINSPEED, to=MAXSPEED, orient=HORIZONTAL, command=self.updateSpeedCommand)
self.scSpeed.grid(row=1, column=2)
self.scSpeed.set(self.currentSpeed);
l = Label(speedBar, text="Fan:", width=10, anchor=E, justify=RIGHT)
l.grid(row=1, column=3, sticky=E)
self._fanJob = None
self.currentFanSpeed = self.app.FanSpeed
self.scFan = Scale(speedBar, from_=0, to=255, orient=HORIZONTAL, command=self.updateFanSpeedCommand)
self.scFan.grid(row=1, column=4)
self.scFan.set(self.currentFanSpeed);
if self.settings.speedcommand is not None:
self.cbvAssertFan = IntVar()
if self.settings.forcefanspeed:
self.cbvAssertFan.set(1)
else:
self.cbvAssertFan.set(0)
self.cbAssertFan = Checkbutton(speedBar, text="Force", variable=self.cbvAssertFan,
command=self.clickAssertFan)
self.cbAssertFan.grid(row=1, column=5)
self.bSliceMode = SM_SLICE
self.bSlice = Button(bottomBar, text=sliceText[SM_SLICE], width=BWIDTH*2, command=self.doSlice)
self.bSlice.pack(side=LEFT, padx=2, pady=2)
self.bLoad = Button(bottomBar, text="Load GCode", width=BWIDTH, command=self.doLoad)
self.bLoad.pack(side=LEFT, padx=2, pady=2)
self.setSliceText()
self.bSD = Button(bottomBar, text="SD", width=BWIDTH, command=self.doSD, state=DISABLED)
self.bSD.pack(side=LEFT, padx=2, pady=2)
self.bPrintMode = PR_PRINT
self.bPrint = Button(bottomBar, text=printText[PR_PRINT], width=BWIDTH, command=self.doPrint, state=DISABLED)
self.bPrint.pack(side=LEFT, padx=2, pady=2)
self.bPauseMode = PM_PAUSE
self.bPause = Button(bottomBar, text=pauseText[PM_PAUSE], width=BWIDTH, command=self.doPause, state=DISABLED)
self.bPause.pack(side=LEFT, padx=2, pady=2)
self.bAbandon = Button(bottomBar, text="Abandon SD Print", width=BWIDTH+8, command=self.doAbandon, state=DISABLED)
self.bAbandon.pack(side=LEFT, padx=2, pady=2)
self.cbvLiftOnPause = IntVar()
if self.settings.liftonpause:
self.cbvLiftOnPause.set(1)
else:
self.cbvLiftOnPause.set(0)
self.cbLiftOnPause = Checkbutton(bottomBar, text="Lift Head/Retract on Pause", variable=self.cbvLiftOnPause,
command=self.clickLiftOnPause)
self.cbLiftOnPause.pack(side=LEFT, padx=2)
self.cbvResumeAtPause = IntVar()
if self.settings.resumeatpausepoint:
self.cbvResumeAtPause.set(1)
else:
self.cbvResumeAtPause.set(0)
self.cbResumeAtPause = Checkbutton(bottomBar, text="Resume print at pause point", variable=self.cbvResumeAtPause,
command=self.clickResumeAtPause)
self.cbResumeAtPause.pack(side=LEFT, padx=2)
def clickAssertFan(self):
if self.cbvAssertFan.get() == 1:
self.settings.forcefanspeed = True
self.settings.setModified()
else:
self.settings.forcefanspeed = False
self.settings.setModified()
def clickLiftOnPause(self):
if self.cbvLiftOnPause.get() == 1:
self.settings.liftonpause = True
self.settings.setModified()
else:
self.settings.liftonpause = False
self.settings.setModified()
def clickResumeAtPause(self):
if self.cbvResumeAtPause.get() == 1:
self.settings.resumeatpausepoint = True
self.settings.setModified()
else:
self.settings.resumeatpausepoint = False
self.settings.setModified()
def setSliceText(self):
if self.settings.slicer == SLIC3R:
sl = "slic3r:%s" % self.app.slic3r.getProfile()
else:
sl = "skeinforge:%s" % self.app.skeinforge.getProfile()
sliceText[SM_SLICE] = "Slice (%s)" % sl
if self.bSliceMode == SM_SLICE:
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
lt = len(sliceText[SM_SLICE])+2
if lt < BWIDTH:
lt = BWIDTH
self.bSlice.config(text=sliceText[SM_SLICE], width=lt)
def updateSpeedCommand(self, *arg):
if self._speedJob:
self.app.master.after_cancel(self._speedJob)
self._speedJob = self.app.master.after(500, self.updateSpeed)
def updateSpeed(self, *arg):
v = self.scSpeed.get()
self.setSpeed(v)
def setSpeed(self, v):
if v < MINSPEED or v > MAXSPEED:
self.logger.logMsg("Attempt to change speed outside of allowable range (%d-%d)" % (MINSPEED, MAXSPEED))
elif int(v) != self.currentSpeed:
if self.app.connected:
self.currentSpeed = int(v)
self.logger.logMsg("changing speed percentage to %d%%" % self.currentSpeed)
cmd = "M220 S%d" % self.currentSpeed
self.printer.send_now(cmd)
else:
self.logger.logMsg("Printer is off-line")
self.scSpeed.set(self.currentSpeed)
def updateFanSpeedCommand(self, *arg):
if self._fanJob:
self.app.master.after_cancel(self._fanJob)
self._fanJob = self.app.master.after(500, self.updateFanSpeed)
def updateFanSpeed(self, *arg):
v = self.scFan.get()
self.setFanSpeed(v)
self.app.FanSpeed = v
def forceFanSpeed(self, v):
self.currentFanSpeed = -1
self.setFanSpeed(v)
def setFanSpeed(self, v):
if int(v) != self.currentFanSpeed:
if self.app.connected:
self.currentFanSpeed = int(v)
cmd = "M106 S%d" % self.currentFanSpeed
self.printer.send_now(cmd)
else:
self.logger.logMsg("Printer is off-line")
self.scFan.set(self.currentFanSpeed)
def syncSpeeds(self):
self.currentSpeed = self.app.FeedMultiply
self.scSpeed.set(self.currentSpeed)
self.currentFanSpeed = self.app.FanSpeed
self.scFan.set(self.currentFanSpeed)
def initializeToolbar(self):
self.bReset.config(state=DISABLED)
self.bSliceMode = SM_SLICE
self.bSlice.config(text=sliceText[SM_SLICE])
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
if not self.app.sdprinting and not self.app.sdpaused:
self.bPrintMode = PR_PRINT
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPauseMode = PM_PAUSE
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
def setSDPrint(self):
self.bPause.config(text=pauseText[PM_PAUSE], state=NORMAL)
self.bPauseMode = PM_PAUSE
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
self.bAbandon.config(state=NORMAL)
def clearSDPrint(self):
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
self.bPauseMode = PM_PAUSE
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
self.bAbandon.config(state=DISABLED)
self.checkAllowPrint()
def setCancelMode(self):
self.bSliceMode = SM_CANCEL
self.bSlice.config(text=sliceText[SM_CANCEL], width=BWIDTH)
self.bLoad.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.allowSliceMenu(False)
def setLoading(self, flag):
if flag:
self.bLoad.config(state=DISABLED)
self.bSlice.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.allowSliceMenu(False)
else:
self.bLoad.config(state=NORMAL)
self.bSlice.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
def clearCancelMode(self):
self.bSliceMode = SM_SLICE
lt = len(sliceText[SM_SLICE])+2
if lt < BWIDTH:
lt = BWIDTH
self.bSlice.config(text=sliceText[SM_SLICE], width=lt)
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
def doConnect(self):
if self.bConnectMode == CM_CONNECT:
port = self.spPort.get()
baud = int(self.spBaud.get())
self.printer.onlinecb = self.onlinecb
try:
self.printer.connect(port, baud)
except SerialException:
self.logger.logMsg("Unable to open printer port %s" % port)
else:
if self.app.printing:
self.logger.logMsg("Please wait until printing has finished or is paused")
else:
self.printer.disconnect()
self.printer.onlinecb = None
self.app.printerConnected(False)
# self.app.connected = False
self.bConnectMode = CM_CONNECT
self.bConnect.config(text=connectText[CM_CONNECT])
self.bReset.config(state=DISABLED)
self.bSD.config(state=DISABLED)
if self.app.paused:
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
self.bPauseMode = PM_PAUSE
self.app.printing = False
self.app.paused = False
def doReset(self):
if tkMessageBox.askyesno("Reset?", "Are you sure you want to reset the printer?", parent=self.app):
self.printer.reset()
self.printer.printing = 0
self.app.printing = False
self.bSlice.config(state=NORMAL)
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
self.bPrintMode = PR_PRINT
self.bPrint.config(text=printText[PR_PRINT], state=NORMAL)
if self.app.paused:
self.printer.paused = 0
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
self.bPauseMode = PM_PAUSE
self.app.paused = False
def onlinecb(self):
self.logger.logMsg("Printer is on-line")
self.app.printerConnected(True)
# self.app.connected = True
self.bConnectMode = CM_DISCONNECT
self.bConnect.config(text=connectText[CM_DISCONNECT])
self.bReset.config(state=NORMAL)
self.bSD.config(state=NORMAL)
self.checkAllowPrint()
def checkAllowPrint(self):
if self.app.connected and len(self.app.gcode) != 0 and not self.app.printing and not self.app.sdprinting:
self.bPrint.config(text=printText[PR_PRINT], state=NORMAL)
self.bPrintMode = PR_PRINT
def printComplete(self):
self.app.endTime = time.time()
self.app.elapsedTime = self.app.endTime - self.app.startTime
self.logger.logMsg("Printing completed at %s" % time.strftime('%H:%M:%S', time.localtime()))
self.logger.logMsg("Total elapsed time: %s" % formatElapsed(self.app.elapsedTime))
self.bPrintMode = PR_PRINT
self.bPrint.config(text=printText[PR_PRINT], state=NORMAL)
self.bPauseMode = PM_PAUSE
self.bPause.config(text=pauseText[PM_PAUSE], state=DISABLED)
self.app.printing = False
self.bSlice.config(state=NORMAL)
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
self.app.paused = False
self.app.gc.updatePrintProgress(0)
self.app.closeAllReports()
if self.settings.endprintmacro is not None:
self.app.doMacro(name=self.settings.endprintmacro, silent=True)
def doPause(self):
if self.bPauseMode == PM_PAUSE:
if self.app.printing:
self.app.paused = True
self.printer.pause()
elif self.app.sdprinting:
self.app.sdpaused = True
self.printer.send_now("M25")
self.app.sdprinting = False
self.bPause.config(text=pauseText[PM_RESUME])
self.bPauseMode = PM_RESUME
self.bPrint.config(text=printText[PR_RESTART], state=NORMAL)
self.bPrintMode = PR_RESTART
else:
if self.app.sdpaused:
self.printer.send_now("M24")
self.app.sdpaused = False
self.app.sdprinting = True
self.bPause.config(text=pauseText[PM_PAUSE])
self.bPauseMode = PM_PAUSE
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
else:
self.hitPrint = False
if self.settings.resumeatpausepoint:
self.printer.send_now("G1 X%s Y%s F%s" % (self.app.pausePoint[XAxis], self.app.pausePoint[YAxis], self.settings.xyfeed))
self.printer.send_now("G1 Z%s F%s" % (self.app.pausePoint[ZAxis], self.settings.zfeed))
self.printer.send_now("G92 E%s" % self.app.pausePoint[EAxis])
self.printer.send_now("G1 F%s" % self.settings.xyfeed)
self.printer.startcb = self.startcb
self.printer.resume()
def doAbandon(self):
self.printer.send_now("M25")
self.app.sdpaused = False
self.app.sdprinting = False
self.clearSDPrint()
def doSlice(self):
if self.bSliceMode == SM_SLICE:
self.bLoad.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.openSTLFile()
else:
self.app.slicerCancel = True
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
def doLoad(self):
self.app.openGCodeFile()
def doPrint(self):
if self.app.sdpaused:
self.printer.send_now("M26 S0")
self.printer.send_now("M24")
self.app.sdpaused = False
self.app.sdprinting = True
self.bPause.config(text=pauseText[PM_PAUSE])
self.bPauseMode = PM_PAUSE
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
else:
if len(self.app.gcode) == 0:
self.logger.logMsg("Nothing to print")
else:
#if not self.app.paused:
self.app.gc.updatePrintProgress(0, restart=True)
self.bPauseMode = PM_PAUSE
self.bPause.config(text=pauseText[PM_PAUSE], state=NORMAL)
self.hitPrint = True
self.printer.startcb = self.startcb
self.printer.startprint(self.app.gcode)
def startcb(self):
self.printer.startcb = None
if not self.app.paused:
self.app.startTime = time.time()
self.logger.logMsg("Printing Started at %s" % time.strftime('%H:%M:%S', time.localtime(self.app.startTime)))
self.app.printing = True
self.bSlice.config(state=DISABLED)
self.bLoad.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.allowSliceMenu(False)
self.bPrint.config(text=printText[PR_RESTART], state=DISABLED)
self.bPrintMode = PR_RESTART
self.printer.endcb = self.endcb
else:
if self.hitPrint:
self.app.startTime = time.time()
self.logger.logMsg("Printing restarted at %s" % time.strftime('%H:%M:%S', time.localtime()))
else:
self.logger.logMsg("Printing resumed at %s" % time.strftime('%H:%M:%S', time.localtime()))
self.bPause.config(text=pauseText[PM_PAUSE])
self.bPauseMode = PM_PAUSE
self.app.printing = True
self.bSlice.config(state=DISABLED)
self.bLoad.config(state=DISABLED)
self.app.allowLoadGCodeMenu(False)
self.app.allowSliceMenu(False)
self.app.paused = False
self.bPrint.config(state=DISABLED)
self.printer.endcb = self.endcb
def endcb(self):
self.printer.endcb = None
if not self.app.paused:
self.printComplete()
if self.app.sduploading:
self.app.sduploading = False
self.printer.send_now("M29")
else:
self.app.event_generate(MWM_REQUESTPOSITIONREPORT)
# record the current printer position and how many intervals were willing to wait fo the response
self.maxWait114 = MAXWAIT114;
self.waitPos = self.printer.queueindex
self.check114Response()
def check114Response(self) :
# tick off 1 interval, and make sure we haven't either received the report or we've waited max intervals
self.maxWait114 -= 1
if self.app.m114count == 0 or self.maxWait114 <= 0:
# one way or the other we're done waiting here
if self.maxWait114 <= 0:
self.app.m114count = 0
self.logger.logMsg("Location report not received - proceeding")
self.app.pausePoint[XAxis] = self.app.location[XAxis]
self.app.pausePoint[YAxis] = self.app.location[YAxis]
self.app.pausePoint[ZAxis] = self.app.location[ZAxis]
self.app.pausePoint[EAxis] = self.app.location[EAxis]
self.logger.logMsg("Pause location: X:%f Y:%f Z:%f E:%f" %
(self.app.pausePoint[XAxis], self.app.pausePoint[YAxis], self.app.pausePoint[ZAxis], self.app.pausePoint[EAxis]))
if self.settings.liftonpause:
self.printer.send_now("G1 E%s F%s" % (self.app.pausePoint[EAxis]-2, self.settings.efeed))
self.printer.send_now("G1 Z%s F%s" % (self.app.pausePoint[ZAxis]+10, self.settings.zfeed))
self.bPause.config(text=pauseText[PM_RESUME])
self.bPauseMode = PM_RESUME
self.app.printing = False
self.bSlice.config(state=NORMAL)
self.bLoad.config(state=NORMAL)
self.app.allowLoadGCodeMenu(True)
self.app.allowSliceMenu(True)
if self.app.sduploading:
self.bPrint.config(text=printText[PR_PRINT], state=DISABLED)
self.bPrintMode = PR_PRINT
else:
self.bPrint.config(text=printText[PR_RESTART], state=NORMAL)
self.bPrintMode = PR_RESTART
else:
# we still are waiting for the report, but reset everything if the printer is still moving
if self.waitPos != self.printer.queueindex:
self.waitPos = self.printer.queueindex
self.maxWait114 = MAXWAIT114
self.app.master.after(500, self.check114Response)
def doPort(self):
l = self.scanSerial()
self.spPort.config(values=l)
if len(l) == 0:
self.bConnect.config(state=DISABLED)
else:
self.bConnect.config(state=NORMAL)
def scanSerial(self):
"""scan for available ports. return a list of device names."""
baselist=[]
if os.name=="nt":
try:
key=_winreg.OpenKey(_winreg.HKEY_LOCAL_MACHINE,"HARDWARE\\DEVICEMAP\\SERIALCOMM")
i=0
while(1):
baselist+=[_winreg.EnumValue(key,i)[1]]
i+=1
except:
pass
return baselist+glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyACM*') +glob.glob("/dev/tty.*")+glob.glob("/dev/cu.*")+glob.glob("/dev/rfcomm*")
def doSD(self):
self.app.doSD()
def run(self): # run the whole app
self.root = tk.Tk()
self.root2 = tk.Tk()
self.root3 = tk.Tk()
self.root.title('Keyboard Simulation')
# keyboard setup
self.canvas = tk.Canvas(self.root,
width=self.winWidth,
height=self.winHeight)
self.canvas.pack(side=LEFT)
#
self.S = Scrollbar(self.root2)
self.T = Text(self.root2, height=4, width=50)
self.S.pack(side=RIGHT, fill=Y, expand=True)
self.T.pack(side=LEFT, fill=Y, expand=True)
#self.S.pack()
#self.T.pack()
self.S.config(command=self.T.yview)
self.T.config(yscrollcommand=self.S.set)
self.T.delete(1.0, END)
self.T.insert(END, self.inputText)
self.T.see(END)
l = Label(self.root3, text="Hover time Limit:", state='disabled')
l.pack()
w = Spinbox(self.root3, from_=0, to=10)
w.pack()
w.delete(0, "end")
w.insert(0, 4)
l2 = Label(self.root3, text="Hover select progress:")
l2.pack()
self.progress = ttk.Progressbar(self.root3,
orient="horizontal",
length=200,
mode="determinate")
self.progress["value"] = 0
self.progress["maximum"] = 10
self.progress.pack()
def hv_toggle():
if self.hv_btn.config('text')[-1] == "Hover Select: On":
self.hv_btn.config(text="Hover Select: off")
self.hoverOn = not self.hoverOn
else:
self.hv_btn.config(text="Hover Select: On")
self.hoverOn = not self.hoverOn
self.hv_btn = tk.Button(self.root3,
text="Hover Select: On",
command=hv_toggle)
self.hv_btn.pack()
def ck_toggle():
if self.ck_btn.config('text')[-1] == "Click Select: On":
self.ck_btn.config(text="Click Select: off")
self.clickOn = not self.clickOn
else:
self.ck_btn.config(text="Click Select: On")
self.clickOn = not self.clickOn
self.ck_btn = tk.Button(self.root3,
text="Click Select: On",
command=ck_toggle)
self.ck_btn.pack()
#self.hoverlimit = int(w.get())
if self.clickOn:
self.root.bind('<Button-1>', self.clickEvent)
def timerFired():
try:
self.hoverlimit = int(w.get())
except:
pass
self.progress["value"] = self.progress[
"maximum"] * self.hoverDt / self.hoverlimit
self.lightUpHovering()
self.movementLogging()
if self.hoverOn:
self.hoverSelect()
self.redrawAll()
self.canvas.after(self.dt, timerFired)
self.appStartTime = time.time()
timerFired()
self.root.protocol("WM_DELETE_WINDOW", self.exitEvent)
self.root2.protocol("WM_DELETE_WINDOW", self.exitEvent)
self.root3.protocol("WM_DELETE_WINDOW", self.exitEvent)
self.root.mainloop() # This call BLOCKS
self.root2.mainloop()
self.root3.mainloop()
class TTTUI(object):
default_ply = 6
neither_color = '#%02x%02x%02x' % (255, 255, 255) # white
player_color = '#%02x%02x%02x' % (62, 188, 0) # green
computer_color = '#%02x%02x%02x' % (192, 35, 3) # red
win_color = '#%02x%02x%02x' % (25, 111, 254) # blue
def __init__(self):
# TTT related
self.ttt = Board(ply=9)
self.human_first = True
# UI related
self.root = Tk()
self.root.resizable(0, 0)
self.root.title("3D TTT")
# TTT frames
self.ttt_frames = [Frame(self.root) for x in range(3)]
for i in range(3):
self.ttt_frames[i].grid(row=0, column=i)
self.button_pos = dict()
self._init_board()
# control frame
self.control_frame = Frame(self.root, padx=5, pady=5)
self.control_frame.grid(row=1, column=1)
self.new_game_btn = Button(self.control_frame, text='New Game', \
command=lambda: self.reset())
self.new_game_btn.pack(side=LEFT, fill=BOTH, expand=True)
self.toggle_human_first_btn = Button(self.control_frame, \
text='Human First', command=lambda: self.toggle_human_first())
self.toggle_human_first_btn.pack(side=RIGHT, fill=BOTH, expand=True)
self.ply_box = Spinbox(self.control_frame, from_=1, to=20, \
textvariable=self.ttt.difficulty, command=lambda: self.reset())
self.ply_box.pack(side=RIGHT, fill=BOTH, expand=True)
# start UI
self.update_pieces()
self.start()
self.root.mainloop()
def toggle_human_first(self):
self.human_first = not self.human_first
self.toggle_human_first_btn.config(text='Human First' if \
self.human_first else 'Computer First')
self.reset()
def _find_button(self, frame, r, c):
for child in frame.children.values():
info = child.grid_info()
if info['row'] == r and info['column'] == c:
return child
return None
def update_pieces(self):
player_pieces = self.ttt.get_moves(self.ttt.human)
computer_pieces = self.ttt.get_moves(self.ttt.ai)
cnt = 0
for b, board in enumerate(self.ttt.board):
for r, row in enumerate(board):
for c, col in enumerate(row):
color = self.neither_color
text = '-'
occupied = False
if cnt in player_pieces:
color = self.player_color
text = self.ttt.human
if cnt in computer_pieces:
color = self.computer_color
text = self.ttt.ai
if self.ttt.complete and cnt in self.ttt.winning_combo:
color = self.win_color
btn = self.button_pos[cnt]
btn.config(text=text, bg=color, state=DISABLED if \
occupied else NORMAL)
cnt += 1
def place_human(self, position):
if position in self.ttt.allowed_moves and not self.ttt.complete:
self.ttt.move(position, self.ttt.human)
self.ttt.human_turn = False
self.update_pieces()
self.place_computer()
def place_computer(self):
if not self.ttt.complete:
self.ttt.computers_move()
self.update_pieces()
def reset(self):
self.ttt.reset()
self.ttt.difficulty = self.default_ply if not \
self.ply_box.get().isdigit() else int(self.ply_box.get())
self.ttt.human_turn = self.human_first
self.update_pieces()
self.start()
def _init_board(self):
cnt = 0
for b, board in enumerate(self.ttt.board):
for x, row in enumerate(board):
for y, cell in enumerate(row):
padding = (0, 0)
if y == 2 and b != 2:
padding = (0, 12)
btn = Button(self.ttt_frames[b], width=8, height=4, \
command=lambda x=cell: self.place_human(x))
btn.grid(row=x, column=y, padx=padding)
self.button_pos[cnt] = btn
cnt += 1
def start(self):
if not self.ttt.human_turn:
self.place_computer()
class Cockpit(ttkFrame):
'''
Remote device GUI
'''
#TODO: 20160415 DPM - Set these values from configuration file
#--- config
THROTTLE_BY_USER = True
THROTTLE_RESOLUTION = 0.1
# Joystick enabled or not, if any
JOYSTICK_ENABLED = True
DEFAULT_DRONE_IP = "192.168.1.130"
DEFAULT_DRONE_PORT = 2121
#--- end config
KEY_ANG_SPEED = "ang-speed"
KEY_ANGLES = "angles"
KEY_ACCEL = "accel"
PID_KEYS = ["P", "I", "D"]
DIR_NONE = 0
DIR_VERTICAL = 1
DIR_HORIZONTAL = 2
def __init__(self, parent, isDummy = False, droneIp = DEFAULT_DRONE_IP, dronePort = DEFAULT_DRONE_PORT):
'''
Constructor
'''
ttkFrame.__init__(self, parent)
self._target = [0.0] * 4
self._selectedPidConstats = "--"
self._pidConstants = {
Cockpit.KEY_ANG_SPEED:{
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ANGLES: {
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
},
Cockpit.KEY_ACCEL:{
"X":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Y":{
"P": 0.0,
"I": 0.0,
"D": 0.0
},
"Z":{
"P": 0.0,
"I": 0.0,
"D": 0.0
}
}
}
self.parent = parent
self.initUI()
self._controlKeysLocked = False
if not isDummy:
self._link = INetLink(droneIp, dronePort)
else:
self._link = ConsoleLink()
self._link.open()
self._updateInfoThread = Thread(target=self._updateInfo)
self._updateInfoThreadRunning = False
self._readingState = False
self._start()
def initUI(self):
self.parent.title("Drone control")
self.style = Style()
self.style.theme_use("default")
self.pack(fill=BOTH, expand=1)
self.parent.bind_all("<Key>", self._keyDown)
self.parent.bind_all("<KeyRelease>", self._keyUp)
if system() == "Linux":
self.parent.bind_all("<Button-4>", self._onMouseWheelUp)
self.parent.bind_all("<Button-5>", self._onMouseWheelDown)
else:
#case of Windows
self.parent.bind_all("<MouseWheel>", self._onMouseWheel)
#Commands
commandsFrame = tkFrame(self)
commandsFrame.grid(column=0, row=0, sticky="WE")
self._started = IntVar()
self._startedCB = Checkbutton(commandsFrame, text="On", variable=self._started, command=self._startedCBChanged)
self._startedCB.pack(side=LEFT, padx=4)
# self._integralsCB = Checkbutton(commandsFrame, text="Int.", variable=self._integralsEnabled, \
# command=self._integralsCBChanged, state=DISABLED)
# self._integralsCB.pack(side=LEFT, padx=4)
self._quitButton = Button(commandsFrame, text="Quit", command=self.exit)
self._quitButton.pack(side=LEFT, padx=2, pady=2)
# self._angleLbl = Label(commandsFrame, text="Angle")
# self._angleLbl.pack(side=LEFT, padx=4)
#
# self._angleEntry = Entry(commandsFrame, state=DISABLED)
# self._angleEntry.pack(side=LEFT)
#Info
infoFrame = tkFrame(self)
infoFrame.grid(column=1, row=1, sticky="NE", padx=4)
#Throttle
Label(infoFrame, text="Throttle").grid(column=0, row=0, sticky="WE")
self._throttleTexts = [StringVar(),StringVar(),StringVar(),StringVar()]
Entry(infoFrame, textvariable=self._throttleTexts[3], state=DISABLED, width=5).grid(column=0, row=1)
Entry(infoFrame, textvariable=self._throttleTexts[0], state=DISABLED, width=5).grid(column=1, row=1)
Entry(infoFrame, textvariable=self._throttleTexts[2], state=DISABLED, width=5).grid(column=0, row=2)
Entry(infoFrame, textvariable=self._throttleTexts[1], state=DISABLED, width=5).grid(column=1, row=2)
#Angles
Label(infoFrame, text="Angles").grid(column=0, row=3, sticky="WE")
self._angleTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._angleTexts[index], state=DISABLED, width=5).grid(column=index, row=4)
#Accels
Label(infoFrame, text="Accels").grid(column=0, row=5, sticky="WE")
self._accelTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._accelTexts[index], state=DISABLED, width=5).grid(column=index, row=6)
#Speeds
Label(infoFrame, text="Speeds").grid(column=0, row=7, sticky="WE")
self._speedTexts = [StringVar(),StringVar(),StringVar()]
for index in range(3):
Entry(infoFrame, textvariable=self._speedTexts[index], state=DISABLED, width=5).grid(column=index, row=8)
#Height
Label(infoFrame, text="Height").grid(column=0, row=9, sticky="E")
self._heightText = StringVar()
Entry(infoFrame, textvariable=self._heightText, state=DISABLED, width=5).grid(column=1, row=9)
#Loop rate
Label(infoFrame, text="Loop @").grid(column=0, row=10, sticky="E")
self._loopRateText = StringVar()
Entry(infoFrame, textvariable=self._loopRateText, state=DISABLED, width=5).grid(column=1, row=10)
Label(infoFrame, text="Hz").grid(column=2, row=10, sticky="W")
#control
controlFrame = tkFrame(self)
controlFrame.grid(column=0, row=1, sticky="W")
self._throttle = DoubleVar()
if Cockpit.THROTTLE_BY_USER:
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=0.0, \
tickinterval=0, variable=self._throttle, resolution=Cockpit.THROTTLE_RESOLUTION, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
else:
self._thrustScale = Scale(controlFrame, orient=VERTICAL, from_=100.0, to=-100.0, \
tickinterval=0, variable=self._throttle, \
length=200, showvalue=1, \
state=DISABLED,
command=self._onThrustScaleChanged)
self._thrustScale.bind("<Double-Button-1>", self._onThrustScaleDoubleButton1, "+")
self._thrustScale.grid(column=0)
self._shiftCanvas = Canvas(controlFrame, bg="white", height=400, width=400, \
relief=SUNKEN)
self._shiftCanvas.bind("<Button-1>", self._onMouseButton1)
#self._shiftCanvas.bind("<ButtonRelease-1>", self._onMouseButtonRelease1)
self._shiftCanvas.bind("<B1-Motion>", self._onMouseButton1Motion)
self._shiftCanvas.bind("<Double-Button-1>", self._onMouseDoubleButton1)
self._shiftCanvas.bind("<Button-3>", self._onMouseButton3)
#self._shiftCanvas.bind("<ButtonRelease-3>", self._onMouseButtonRelease3)
self._shiftCanvas.bind("<B3-Motion>", self._onMouseButton3Motion)
self._shiftCanvas.grid(row=0,column=1, padx=2, pady=2)
self._shiftCanvas.create_oval(1, 1, 400, 400, outline="#ff0000")
self._shiftCanvas.create_line(200, 2, 200, 400, fill="#ff0000")
self._shiftCanvas.create_line(2, 200, 400, 200, fill="#ff0000")
self._shiftMarker = self._shiftCanvas.create_oval(196, 196, 204, 204, outline="#0000ff", fill="#0000ff")
self._yaw = DoubleVar()
self._yawScale = Scale(controlFrame, orient=HORIZONTAL, from_=-100.0, to=100.0, \
tickinterval=0, variable=self._yaw, \
length=200, showvalue=1, \
command=self._onYawScaleChanged)
self._yawScale.bind("<Double-Button-1>", self._onYawScaleDoubleButton1, "+")
self._yawScale.grid(row=1, column=1)
self._controlKeyActive = False
#PID calibration
pidCalibrationFrame = tkFrame(self)
pidCalibrationFrame.grid(column=0, row=2, sticky="WE");
self._pidSelected = StringVar()
self._pidSelected.set("--")
self._pidListBox = OptionMenu(pidCalibrationFrame, self._pidSelected, "--", \
Cockpit.KEY_ANG_SPEED, Cockpit.KEY_ANGLES, Cockpit.KEY_ACCEL, \
command=self._onPidListBoxChanged)
self._pidListBox.pack(side=LEFT, padx=2)
self._pidListBox.config(width=10)
self._axisSelected = StringVar()
self._axisSelected.set("--")
self._axisListBox = OptionMenu(pidCalibrationFrame, self._axisSelected, "--", "X", "Y", "Z", \
command=self._onAxisListBoxChanged)
self._axisListBox.pack(side=LEFT, padx=2)
self._axisListBox.config(state=DISABLED)
Label(pidCalibrationFrame, text="P").pack(side=LEFT, padx=(14, 2))
self._pidPString = StringVar()
self._pidPString.set("0.00")
self._pidPSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidPString, command=self._onPidSpinboxChanged)
self._pidPSpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="I").pack(side=LEFT, padx=(14, 2))
self._pidIString = StringVar()
self._pidIString.set("0.00")
self._pidISpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidIString, command=self._onPidSpinboxChanged)
self._pidISpinbox.pack(side=LEFT, padx=2)
Label(pidCalibrationFrame, text="D").pack(side=LEFT, padx=(14, 2))
self._pidDString = StringVar()
self._pidDString.set("0.00")
self._pidDSpinbox = Spinbox(pidCalibrationFrame, width=5, from_=0.0, to=10000.0, increment=0.01, state=DISABLED, \
textvariable=self._pidDString, command=self._onPidSpinboxChanged)
self._pidDSpinbox.pack(side=LEFT, padx=2)
#debug
debugFrame = tkFrame(self)
debugFrame.grid(column=0, row=3, sticky="WE")
self._debugMsg = Message(debugFrame, anchor="nw", justify=LEFT, relief=SUNKEN, width=300)
self._debugMsg.pack(fill=BOTH, expand=1)
def _start(self):
self._readDroneConfig()
if Cockpit.JOYSTICK_ENABLED:
self._joystickManager = JoystickManager.getInstance()
self._joystickManager.start()
joysticks = self._joystickManager.getJoysticks()
if len(joysticks) != 0:
self._joystick = joysticks[0]
self._joystick.onAxisChanged += self._onJoystickAxisChanged
self._joystick.onButtonPressed += self._onJoystickButtonPressed
else:
self._joystick = None
def _onJoystickAxisChanged(self, sender, index):
if self._started.get() and sender == self._joystick:
axisValue = self._joystick.getAxisValue(index)
if index == 0:
self._yaw.set(axisValue)
self._updateTarget()
elif index == 1 and not Cockpit.THROTTLE_BY_USER:
thrust = -axisValue
self._throttle.set(thrust)
self._updateTarget()
elif index == 2 and Cockpit.THROTTLE_BY_USER:
rowThrottle = (axisValue + 100.0)/2.0
if rowThrottle < 10.0:
throttle = rowThrottle * 6.0
elif rowThrottle < 90.0:
throttle = 60.0 + ((rowThrottle - 10.0) / 8.0)
else:
throttle = 70.0 + (rowThrottle - 90.0) * 3.0
self._throttle.set(throttle)
self._sendThrottle()
elif index == 3:
x = 196 + axisValue * 2
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = (x, lastCoords[1])
self._plotShiftCanvasMarker(coords)
elif index == 4:
y = 196 + axisValue * 2
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = (lastCoords[0], y)
self._plotShiftCanvasMarker(coords)
def _onJoystickButtonPressed(self, sender, index):
if sender == self._joystick and index == 7:
if self._started.get() == 0:
self._startedCB.select()
else:
self._startedCB.deselect()
# Tkinter's widgets seem not to be calling the event-handler
# when they are changed programmatically. Therefore, the
# even-handler is called explicitly here.
self._startedCBChanged()
def exit(self):
self._link.send({"key": "close", "data": None})
self._stopUpdateInfoThread()
self._link.close()
if Cockpit.JOYSTICK_ENABLED:
self._joystickManager.stop()
self.quit()
def _updateTarget(self):
markerCoords = self._shiftCanvas.coords(self._shiftMarker)
coords = ((markerCoords[0] + markerCoords[2]) / 2, (markerCoords[1] + markerCoords[3]) / 2)
self._target[0] = float(coords[1] - 200) / 2.0 # X-axis angle / X-axis acceleration
self._target[1] = float(coords[0] - 200) / 2.0 # Y-axis angle / Y-axis acceleration
#Remote control uses clockwise angle, but the drone's referece system uses counter-clockwise angle
self._target[2] = -self._yaw.get() # Z-axis angular speed
# Z-axis acceleration (thrust). Only when the motor throttle is not controlled by user directly
if Cockpit.THROTTLE_BY_USER:
self._target[3] = 0.0
else:
self._target[3] = self._throttle.get()
self._sendTarget()
def _keyDown(self, event):
if event.keysym == "Escape":
self._throttle.set(0)
self._started.set(0)
self._thrustScale.config(state=DISABLED)
self._stopUpdateInfoThread()
self._sendIsStarted()
elif event.keysym.startswith("Control"):
self._controlKeyActive = True
elif not self._controlKeysLocked and self._controlKeyActive:
if event.keysym == "Up":
self._thrustScaleUp()
elif event.keysym == "Down":
self._thrustScaleDown()
elif event.keysym == "Left":
self._yawLeft()
elif event.keysym == "Right":
self._yawRight()
elif event.keysym == "space":
self._yawReset()
if not Cockpit.THROTTLE_BY_USER:
self._thrustReset()
elif not self._controlKeysLocked and not self._controlKeyActive:
if event.keysym == "Up":
self._moveShiftCanvasMarker((0,-5))
elif event.keysym == "Down":
self._moveShiftCanvasMarker((0,5))
elif event.keysym == "Left":
self._moveShiftCanvasMarker((-5,0))
elif event.keysym == "Right":
self._moveShiftCanvasMarker((5,0))
elif event.keysym == "space":
self._resetShiftCanvasMarker()
def _keyUp(self, eventArgs):
if eventArgs.keysym.startswith("Control"):
self._controlKeyActive = False
def _onMouseButton1(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseButtonRelease1(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
def _limitCoordsToSize(self, coords, size, width):
maxSize = size-(width/2.0)
minSize = -(width/2.0)
if coords[0] > maxSize:
x = maxSize
elif coords[0] < minSize:
x = minSize
else:
x = coords[0]
if coords[1] > maxSize:
y = maxSize
elif coords[1] < minSize:
y = minSize
else:
y = coords[1]
return (x,y)
def _plotShiftCanvasMarker(self, coords):
coords = self._limitCoordsToSize(coords, 400, 8)
self._shiftCanvas.coords(self._shiftMarker, coords[0], coords[1], coords[0] + 8, coords[1] + 8)
self._updateTarget()
def _moveShiftCanvasMarker(self, shift):
lastCoords = self._shiftCanvas.coords(self._shiftMarker)
newCoords = (lastCoords[0] + shift[0], lastCoords[1] + shift[1])
self._plotShiftCanvasMarker(newCoords)
def _resetShiftCanvasMarker(self):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
self._updateTarget()
def _onMouseButton1Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0], eventArgs.y - self._lastMouseCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _onMouseDoubleButton1(self, eventArgs):
self._resetShiftCanvasMarker()
def _onMouseButton3(self, eventArgs):
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
self._mouseDirection = Cockpit.DIR_NONE
def _onMouseButtonRelease3(self, eventArgs):
self._shiftCanvas.coords(self._shiftMarker, 196, 196, 204, 204)
def _onMouseButton3Motion(self, eventArgs):
deltaCoords = (eventArgs.x - self._lastMouseCoords[0], eventArgs.y - self._lastMouseCoords[1])
if self._mouseDirection == Cockpit.DIR_NONE:
if abs(deltaCoords[0]) > abs(deltaCoords[1]):
self._mouseDirection = Cockpit.DIR_HORIZONTAL
else:
self._mouseDirection = Cockpit.DIR_VERTICAL
if self._mouseDirection == Cockpit.DIR_HORIZONTAL:
deltaCoords = (deltaCoords[0], 0)
else:
deltaCoords = (0, deltaCoords[1])
self._moveShiftCanvasMarker(deltaCoords)
self._lastMouseCoords = (eventArgs.x, eventArgs.y)
def _thrustScaleUp(self):
#TODO: 20160526 DPM: El valor de incremento de aceleración (1.0) puede ser muy alto
if self._started.get():
newValue = self._thrustScale.get() \
+ (Cockpit.THROTTLE_RESOLUTION if Cockpit.THROTTLE_BY_USER else 1.0)
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustScaleDown(self):
#TODO: 20160526 DPM: El valor de decremento de aceleración (1.0) puede ser muy alto
if self._started.get():
newValue = self._thrustScale.get() \
- (Cockpit.THROTTLE_RESOLUTION if Cockpit.THROTTLE_BY_USER else 1.0)
self._thrustScale.set(newValue)
self._updateTarget()
def _thrustReset(self):
if self._started.get():
self._thrustScale.set(0.0)
self._updateTarget()
def _onThrustScaleDoubleButton1(self, eventArgs):
self._thrustReset()
return "break"
def _yawRight(self):
newValue = self._yaw.get() + 1
self._yaw.set(newValue)
self._updateTarget()
def _yawLeft(self):
newValue = self._yaw.get() - 1
self._yaw.set(newValue)
self._updateTarget()
def _yawReset(self):
self._yaw.set(0)
self._updateTarget()
def _onMouseWheelUp(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleUp()
else:
self._yawRight()
def _onMouseWheelDown(self, eventArgs):
if not self._controlKeyActive:
self._thrustScaleDown()
else:
self._yawLeft()
def _onMouseWheel(self, eventArgs):
factor = eventArgs.delta/(1200.0 if Cockpit.THROTTLE_BY_USER and not self._controlKeyActive else 120.0)
if not self._controlKeyActive:
if self._started.get():
newValue = self._thrustScale.get() + factor
self._thrustScale.set(newValue)
self._updateTarget()
else:
newValue = self._yaw.get() + factor
self._yaw.set(newValue)
self._updateTarget()
def _onYawScaleChanged(self, eventArgs):
self._updateTarget()
def _onYawScaleDoubleButton1(self, eventArgs):
self._yawReset()
return "break"
def _startedCBChanged(self):
if not self._started.get():
self._throttle.set(0)
self._thrustScale.config(state=DISABLED)
#self._integralsCB.config(state=DISABLED)
self._stopUpdateInfoThread()
else:
self._thrustScale.config(state="normal")
#self._integralsCB.config(state="normal")
self._startUpdateInfoThread()
self._sendIsStarted()
# def _integralsCBChanged(self):
#
# self._link.send({"key": "integrals", "data":self._integralsEnabled.get() != 0})
#
def _onThrustScaleChanged(self, eventArgs):
if Cockpit.THROTTLE_BY_USER:
self._sendThrottle()
else:
self._updateTarget()
def _sendThrottle(self):
self._link.send({"key": "throttle", "data": self._throttle.get()})
def _sendTarget(self):
self._link.send({"key": "target", "data": self._target})
def _sendIsStarted(self):
isStarted = self._started.get() != 0
self._link.send({"key": "is-started", "data": isStarted})
def _sendPidCalibrationData(self):
if self._pidSelected.get() != "--" and self._axisSelected.get() != "--":
pidData = {
"pid": self._pidSelected.get(),
"axis": self._axisSelected.get(),
"p": float(self._pidPSpinbox.get()),
"i": float(self._pidISpinbox.get()),
"d": float(self._pidDSpinbox.get())}
self._link.send({"key": "pid-calibration", "data": pidData})
def _updatePidCalibrationData(self):
pid = self._pidSelected.get()
axis = self._axisSelected.get()
if pid != "--" and axis != "--":
self._pidConstants[pid][axis]["P"] = float(self._pidPSpinbox.get())
self._pidConstants[pid][axis]["I"] = float(self._pidISpinbox.get())
self._pidConstants[pid][axis]["D"] = float(self._pidDSpinbox.get())
def _readDroneConfig(self):
self._link.send({"key": "read-drone-config", "data": None}, self._onDroneConfigRead)
def _readDroneState(self):
if not self._readingState:
self._readingState = True
self._link.send({"key": "read-drone-state", "data": None}, self._onDroneStateRead)
def _readPidConfigItem(self, message, cockpitKey, axises, configKeys):
for i in range(len(axises)):
for j in range(len(Cockpit.PID_KEYS)):
self._pidConstants[cockpitKey][axises[i]][Cockpit.PID_KEYS[j]] = message[configKeys[j]][i]
def _onDroneConfigRead(self, message):
#TODO Show current configuration within the GUI (at least relevant settings)
if message:
#Angle-speeds
self._readPidConfigItem(message, Cockpit.KEY_ANG_SPEED, ["X", "Y", "Z"], \
[Configuration.PID_ANGLES_SPEED_KP, \
Configuration.PID_ANGLES_SPEED_KI, \
Configuration.PID_ANGLES_SPEED_KD])
#Angles
self._readPidConfigItem(message, Cockpit.KEY_ANGLES, ["X", "Y"], \
[Configuration.PID_ANGLES_KP, \
Configuration.PID_ANGLES_KI, \
Configuration.PID_ANGLES_KD])
#Accels
self._readPidConfigItem(message, Cockpit.KEY_ACCEL, ["X", "Y", "Z"], \
[Configuration.PID_ACCEL_KP, \
Configuration.PID_ACCEL_KI, \
Configuration.PID_ACCEL_KD])
def _onDroneStateRead(self, state):
if state:
for index in range(4):
self._throttleTexts[index].set("{0:.3f}".format(state["_throttles"][index]))
for index in range(3):
self._accelTexts[index].set("{0:.3f}".format(state["_accels"][index]))
self._angleTexts[index].set("{0:.3f}".format(state["_angles"][index]))
currentPeriod = state["_currentPeriod"]
if currentPeriod > 0.0:
freq = 1.0/currentPeriod
self._loopRateText.set("{0:.3f}".format(freq))
else:
self._loopRateText.set("--")
else:
self._stopUpdateInfoThread()
self._readingState = False
def _onPidSpinboxChanged(self):
self._updatePidCalibrationData()
self._sendPidCalibrationData()
def _onPidListBoxChanged(self, pid):
self._axisSelected.set("--")
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._selectedPidConstats = pid
if pid == "--":
self._axisListBox.config(state=DISABLED)
self._controlKeysLocked = False
else:
self._axisListBox.config(state="normal")
self._controlKeysLocked = True
def _onAxisListBoxChanged(self, axis):
if axis == "--" or (self._selectedPidConstats == Cockpit.KEY_ANGLES and axis == "Z"):
self._pidPString.set("--")
self._pidIString.set("--")
self._pidDString.set("--")
self._pidPSpinbox.config(state=DISABLED)
self._pidISpinbox.config(state=DISABLED)
self._pidDSpinbox.config(state=DISABLED)
self._controlKeysLocked = axis != "--"
else:
self._pidPString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["P"]))
self._pidIString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["I"]))
self._pidDString.set("{:.2f}".format(self._pidConstants[self._selectedPidConstats][axis]["D"]))
self._pidPSpinbox.config(state="normal")
self._pidISpinbox.config(state="normal")
self._pidDSpinbox.config(state="normal")
self._controlKeysLocked = True
def _updateInfo(self):
while self._updateInfoThreadRunning:
self._readDroneState()
time.sleep(1.0)
def _startUpdateInfoThread(self):
self._updateInfoThreadRunning = True
if not self._updateInfoThread.isAlive():
self._updateInfoThread.start()
def _stopUpdateInfoThread(self):
self._updateInfoThreadRunning = False
if self._updateInfoThread.isAlive():
self._updateInfoThread.join()
def refreshWidget(self) :
#print "refresh"
self.card_win.pack_forget()
#Card window
self.card_win = PanedWindow(self.card_win.master, orient=VERTICAL)
self.card_win.pack(side=TOP, expand=True, fill=BOTH, pady=2, padx=2)
#Create the name zone
name_zone=PanedWindow(self.card_win, orient=HORIZONTAL)
name = StringVar()
name.set(self.name)
def modifName(*args) :
self.name=name.get()
name.trace("w", modifName)
name_wid=Entry(name_zone, width=30,textvariable=name)
name_wid.pack()
name_zone.add(name_wid)
#Create the cost ad star stringvar
#print int(floor(self.getCost()))
self.cost=StringVar()
self.stars=StringVar()
cost_wid=Label(None, textvariable=self.cost, background='red',width=5, anchor=W)
star_wid=Label(None, textvariable=self.stars, background='blue', anchor=E)
self.cost.set(str(int(floor(self.getCost()))))
self.stars.set("*"*self.getStars())
#Add them in name zone
name_zone.add(cost_wid)
name_zone.add(star_wid)
#Create an Image Zone
image_zone=Button(self.card_win, command=self.choosePhoto)
if hasattr(self,"photofile") and self.photofile :
print "Image: ",self.photofile
try :
img=Image.open(self.photofile)
except :
decomp=self.photofile.split('/')
for i in range(1,6) :
try :
fname="/".join(decomp[-i:])
print "try to open",fname
img=Image.open(fname)
self.photofile=fname
break
except :
self.photofile=None
if self.photofile :
w, h = img.size
if w>300 or h>200 :
img=img.resize((w/2,h/2),Image.LINEAR)
image_zone.image=ImageTk.PhotoImage(img)
image_zone.config(image=image_zone.image)
#print "IMAGE CHANGED"
else :
from os import path
name=self.name.replace(" ","_")
if path.isfile("Cards/"+name+".png") :
image_zone.config(text='image can be taken from\n'+"Cards/"+name+".png",background='white',anchor=CENTER)
else :
image_zone.config(text='clic to choose image',background='white',anchor=CENTER)
image_zone.pack
# POWER ZONE
power_zone=PanedWindow(self.card_win, orient=VERTICAL)
#fenetre=self.card_win.master
def removePowerCreator(px) :
def removePower(*args) :
#print 'avant',list_pow
self.bonus.remove(px)
#print 'apres',list_pow
#self.card_win.pack_forget()
self.refreshWidget()
return removePower
for p in self.bonus :
powline = PanedWindow(self.card_win, orient=HORIZONTAL)
pow_wid=p.initWidget(powline)
powline.add(pow_wid)
removepow=Button(powline, text="X", command=removePowerCreator(p), anchor=E)
removepow.pack()
powline.add(removepow)
power_zone.add(powline)
def addPower(*args) :
name=addBonus.get()
print "added :",name
import cardPowers
self.bonus+=[eval('cardPowers.'+name+'()')]
self.bonus[-1].parent=self.bonus
self.bonus[-1].card=self
#self.card_win.pack_forget()
self.refreshWidget()
#Add bonus Option menu
addBonus = StringVar(power_zone)
addBonus.set("add bonus") # default value
if not self.pv: addBonus_wid = getSpellMenu(power_zone, addBonus)
else: addBonus_wid = getBonusMenu(power_zone, addBonus)
addBonus.trace('w', addPower)
if self.pv>0 or len(self.bonus)==0 :
addBonus_wid.pack()
#Add this to power zone
power_zone.add(addBonus_wid)
#Create save zone
save_zone = PanedWindow(self.card_win, orient=HORIZONTAL)
if self.monster_type != "all":
save_wid = Button(save_zone, text="Save", command=self.postAndSave)
else:
save_wid = Button(save_zone, text="---", command=None)
save_wid.pack()
#Create the open button
save_zone.pack()
if Card.monster_list.keys():
self.opening = StringVar(save_zone)
self.opening.set("Open")
choice = Card.monster_list.keys()
choice.sort()
#print all_monsters.keys()
open_wid = OptionMenu(save_zone, self.opening,*choice)
self.opening.trace('w', self.Open)
open_wid.pack()
save_zone.add(open_wid)
if Card.monster_list.keys():
self.delete = StringVar(save_zone)
self.delete.set("Delete")
choice = Card.monster_list.keys()
choice.sort()
delete_wid = OptionMenu(save_zone, self.delete,*choice)
self.delete.trace('w', self.clicDelete)
delete_wid.pack()
save_zone.add(delete_wid)
#Create the type button
self.category = StringVar(save_zone)
self.category.set(self.monster_type)
choice = [t[t.index("\\")+1:t.index("_monsters.sav")] for t in glob.glob("CardFiles/*_monsters.sav")]
if "recup" in choice:
choice.remove("recup")
#print all_monsters.keys()
category_wid = OptionMenu(save_zone, self.category,*choice)
self.category.trace('w', self.setFile)
category_wid.pack()
#Add it to save zone
save_zone.add(save_wid)
save_zone.add(category_wid)
#Create a new Strength zone for att and pv
strength_zone=PanedWindow(self.card_win, orient=HORIZONTAL)
att=StringVar()
att.set(str(self.att))
pv=StringVar() ; pv.set(str(self.pv))
def modifiedAttPv(*args) :
self.pv=int(pv.get())
if self.pv<1 and self.is_spell==False :
if len(self.bonus)==0 :
self.is_spell=True
self.refreshWidget()
else :
self.pv=1
self.refreshWidget()
if self.pv>0 and self.is_spell==True :
if len(self.bonus)==0 :
self.is_spell=False
self.refreshWidget()
else :
self.pv=0
self.refreshWidget()
self.att=int(att.get())
self.getCost()
att_wid = Spinbox(strength_zone, from_=0, to=1000,textvariable=att,command=modifiedAttPv)
att_wid.pack()
strength_zone.add(att_wid)
strength_zone.add(Label(strength_zone, text=' ', background='white',
anchor=CENTER))
pv_wid = Spinbox(strength_zone, from_=0, to=1000,textvariable=pv,command=modifiedAttPv)
pv_wid.pack()
strength_zone.add(pv_wid)
#Put it all in window
self.card_win.add(name_zone)
self.card_win.add(image_zone)
self.card_win.add(power_zone)
self.card_win.add(strength_zone)
self.card_win.add(save_zone)
self.card_win.pack()
class ChargenColor:
def __init__(self, parent):
self.colorNegative = []
self.colorNeutral = []
self.colorPositive = []
self.scaleNegative = 0.0
self.scalePositive = 0.0
self.cNegative = '#ff0000'
self.cNeutral = '#000000'
self.cPositive = '#0000ff'
self.minNegativeLbl = Label(rootC, text='Min Found: -')
self.maxPositiveLbl = Label(rootC, text='Max Found: -')
self.scaleLbl = Label(rootC, text='Scale: - to -')
self.sclSelectPositive = Spinbox(rootC)
self.sclSelectPositive.insert(0, 0.0)
self.sclSelectNegative = Spinbox(rootC)
self.sclSelectNegative.insert(0, 0.0)
self.buttonNegativeCharge = Button(
rootC, text='Negative Charge Color', command=self.chooseNegativeCharge)
self.buttonNeutralCharge = Button(
rootC, text='Neutral Charge Color', command=self.chooseNeutralCharge)
self.buttonPositiveCharge = Button(
rootC, text='Positive Charge Color', command=self.choosePositiveCharge)
self.buttonBG = Button(
rootC, text='Background Color', command=self.chooseBackground)
self.buttonUpdateColor = Button(
rootC, text='Update', command=self.updateColor)
self.title = Label(rootC, text="Select your colors")
self.buttonClose = Button(rootC, text="Close", command=rootC.destroy)
self.buttonBG.pack()
self.title.pack()
self.buttonNegativeCharge.pack()
self.buttonNeutralCharge.pack()
self.buttonPositiveCharge.pack()
self.minNegativeLbl.pack()
self.maxPositiveLbl.pack()
self.scaleLbl.pack()
self.sclSelectNegative.pack()
self.sclSelectPositive.pack()
self.buttonUpdateColor.pack()
self.buttonClose.pack()
def chooseNegativeCharge(self):
self.colorNegative = askcolor(
color=self.cNegative, title="Negative Charge Color")
self.buttonNegativeCharge.config(fg=self.colorNegative[1])
self.cNegative = self.colorNegative[1]
def chooseNeutralCharge(self):
self.colorNeutral = askcolor(
color=self.cNeutral, title="Neutral Charge Color")
self.buttonNeutralCharge.config(fg=self.colorNeutral[1])
self.cNeutral = self.colorNeutral[1]
def choosePositiveCharge(self):
self.colorPositive = askcolor(
color=self.cPositive, title="Positive Charge Color")
self.buttonPositiveCharge.config(fg=self.colorPositive[1])
self.cPositive = self.colorPositive[1]
def chooseBackground(self):
bgcolor = askcolor(
color=self.cPositive, title="Positive Charge Color")
cmd.set_color("bg_chargy_color", bgcolor[0])
cmd.bg_color("bg_chargy_color")
def updateColor(self):
selection = 'all'
stored.atoms_charge = []
stored.atoms_colors = []
cmd.map_new('chargyc_map', selection="(all)")
if not self.colorNeutral:
tkMessageBox.showerror("Error", "Set Neutral Color, Please")
return
if not self.colorNegative:
tkMessageBox.showerror("Error", "Set Negative Color, Please")
return
if not self.colorPositive:
tkMessageBox.showerror("Error", "Set Positive Color, Please")
return
cmd.iterate_state(1, '(' + selection + ')',
'stored.atoms_charge.append(partial_charge)')
_i = 0
minValue = None
maxValue = None
while _i < len(stored.atoms_charge):
color = []
if _i == 0:
maxValue = stored.atoms_charge[_i]
minValue = stored.atoms_charge[_i]
if(stored.atoms_charge[_i] > maxValue):
maxValue = stored.atoms_charge[_i]
if stored.atoms_charge[_i] < minValue:
minValue = stored.atoms_charge[_i]
_i += 1
self.minNegativeLbl["text"] = 'Min Found: ' + str(round(minValue, 3))
self.maxPositiveLbl["text"] = 'Max Found: ' + str(round(maxValue, 3))
if(self.scaleNegative == 0.0 and self.scalePositive == 0.0):
self.scaleNegative = round(minValue, 3)
self.scalePositive = round(maxValue, 3)
self.sclSelectNegative.delete(0, "end")
self.sclSelectPositive.delete(0, "end")
self.sclSelectNegative.insert(0, round(minValue, 3))
self.sclSelectPositive.insert(0, round(maxValue, 3))
else:
self.scaleNegative = float(self.sclSelectNegative.get())
self.scalePositive = float(self.sclSelectPositive.get())
minValue = float(self.sclSelectNegative.get())
maxValue = float(self.sclSelectPositive.get())
self.scaleLbl["text"] = 'Scale: ' + str(
self.scaleNegative) + ' to ' + str(self.scalePositive)
middleValue = 0
if(maxValue < 0):
maxValue = 0
if(minValue > 0):
minValue = 0
_i = 0
while _i < len(stored.atoms_charge):
color = []
cmd.set_color("neutral_color", self.colorNeutral[0])
cmd.set_color("positive_color", self.colorPositive[0])
cmd.set_color("negative_color", self.colorNegative[0])
if(stored.atoms_charge[_i] >= middleValue):
if(stored.atoms_charge[_i] == middleValue):
cmd.set_color(str(_i) + "_color", self.colorNeutral[0])
else:
cmd.set_color(str(_i) + "_color", self.getColor(
self.colorNeutral[0], self.colorPositive[0], maxValue, stored.atoms_charge[_i] if stored.atoms_charge[_i] < maxValue else maxValue))
else:
cmd.set_color(str(_i) + "_color", self.getColor(
self.colorNeutral[0], self.colorNegative[0], abs(minValue), abs(stored.atoms_charge[_i]) if abs(stored.atoms_charge[_i]) < abs(minValue) else abs(minValue)))
index = cmd.get_color_index(str(_i) + "_color")
stored.atoms_colors.append(index)
_i += 1
cmd.alter_state(1, '(' + selection + ')',
"color=stored.atoms_colors.pop(0)")
cmd.ramp_new('chargy_ramp', 'chargyc_map', range=[self.scaleNegative, ((self.scaleNegative+self.scalePositive)/2.0), self.scalePositive],
color=['negative_color', 'neutral_color', 'positive_color'])
def getColor(self, color, colorMax, step, index):
colorStep = [0, 0, 0]
colorStep[0] = ((colorMax[0]-color[0])/step)
colorStep[1] = ((colorMax[1]-color[1])/step)
colorStep[2] = ((colorMax[2]-color[2])/step)
return [
1.0 if (color[0] + (colorStep[0]*index)) /
255.0 >= 1 else (color[0] + (colorStep[0]*index))/255.0,
1.0 if (color[1] + (colorStep[1]*index)) /
255.0 >= 1 else (color[1] + (colorStep[1]*index))/255.0,
1.0 if (color[2] + (colorStep[2]*index)) /
255.0 >= 1 else (color[2] + (colorStep[2]*index))/255.0
]
class AntroidGUI(Tk):
def __init__(self):
Tk.__init__(self)
self.protocol("WM_DELETE_WINDOW", self.myquit)
self.etat = True
self.readstate = True
self.title("Antroid Map")
self.turns = {}
self.selectTurn = -1
self.caselength = 10
self.CaseMarge = 20
self.var = StringVar()
self.initGUI()
def initGUI(self):
frame = Frame(self, width =630, height = 500)
self.panel = PanedWindow(frame, orient=HORIZONTAL)
self.LeftFrame(self.panel)
self.RightFrame(self.panel)
self.panel.add(self.LFrame)
self.panel.add(self.RFrame)
self.panel.pack()
frame.pack()
def LeftFrame(self, parent):
self.LFrame=Frame(parent, width = 500, height = 500)
self.maptroid = Canvas(self.LFrame,bg='black',width=500,height=500)
if self.selectTurn >= 0:
self.printMap()
self.maptroid.pack()
self.LFrame.pack()
def RightFrame(self, parent):
self.RFrame = Frame(parent, width = 130, height = 500)
if self.selectTurn >= 0:
self.printInfo()
self.FrameInfo = None
self.updateT = True
self.RFrame.pack()
def setreadstate(self, readstate):
self.readstate = readstate
def addTurn(self, turnnumber, turnvalue):
self.turns[turnnumber] = turnvalue
self.updateGui(turnnumber)
return self.etat
def updateGui(self, turn):
self.selectTurn = turn
self.updateMap()
self.updateInfo()
def updateMap(self):
self.maptroid.delete(ALL)
self.printMap()
def updateInfo(self):
if self.FrameInfo:
if self.updateT:
self.frameT.destroy()
self.printTurn()
self.frameAnts.destroy()
self.frameAnt.destroy()
self.printAnts()
self.updateT = True
else:
self.printInfo()
def updateSpin_turn(self):
turn = int(self.Spin_T.get())
self.updateT = False
self.updateGui(turn)
def validateTurn(self, event):
try:
turn = int(self.Spin_T.get())
except ValueError:
turn = self.selectTurn
if turn in self.turns.keys():
if turn != self.selectTurn:
self.updateT = False
self.updateGui(turn)
else:
turn = self.selectTurn
def choiceAnt(self,event):
i = self.listbox.curselection()
id_a = self.listbox.get(i)
self.frameAnt.destroy()
self.printInfoAnt(int(id_a))
def printInfo(self):
self.FrameInfo=Frame(self.RFrame)
self.printTurn()
self.printAnts()
self.FrameInfo.pack()
def printTurn(self):
frameS = PanedWindow(self.FrameInfo, orient=HORIZONTAL)
turns = Label(frameS, text="Tour :")
self.var.set(str(self.selectTurn))
self.Spin_T = Spinbox(frameS, values=self.turns.keys(), command =
self.updateSpin_turn ,textvariable=self.var)
self.Spin_T.bind('<Return>', self.validateTurn)
turns.pack()
self.Spin_T.pack()
frameS.add(turns)
frameS.add(self.Spin_T)
frameS.pack()
self.frameT = frameS
def printAnts(self):
frameAnts = Frame(self.FrameInfo)
Text_A = Label(frameAnts, text="Fourmie :")
s1 = Scrollbar(frameAnts)
l1 = Listbox(frameAnts)
id_ants = self.checkAnts()
for i in id_ants: l1.insert(i, str(i))
s1.config(command = l1.yview)
l1.config(yscrollcommand = s1.set)
l1.bind('<ButtonRelease-1>',self.choiceAnt)
self.listbox = l1
Text_A.pack(side = TOP)
l1.pack(side = LEFT)
s1.pack(side = RIGHT)
frameAnts.pack()
self.printInfoAnt(id_ants[0])
self.frameAnts = frameAnts
def printInfoAnt(self, i):
self.frameAnt = PanedWindow(self.FrameInfo, orient=VERTICAL)
t_Ant = Label(self.frameAnt, text="Information Ant : %d" %(i))
(t_brain,t_energie,t_acide) = self.getInfoAnt(i)
a_b = Label(self.frameAnt, text=t_brain)
a_e = Label(self.frameAnt, text=t_energie)
a_a = Label(self.frameAnt, text=t_acide)
t_Ant.pack(side = TOP)
self.frameAnt.add(t_Ant)
self.frameAnt.add(a_b)
self.frameAnt.add(a_e)
self.frameAnt.add(a_a)
self.frameAnt.pack()
def printMap(self):
turn = self.turns[self.selectTurn]
# Information on this turn
config = turn[0]
Yants = turn[1]
EAnts = turn[2]
InitMap = turn[3]
Cases = turn[4]
(MaxX,MaxY,N) = InitMap
self.MinX = 0
self.MinY = 0
MaxX_map = MaxX * self.caselength + (self.CaseMarge *2)
MaxY_map = MaxY * self.caselength + (self.CaseMarge *2)
#configure canvas
self.maptroid.config(scrollregion=(0,0,MaxX_map,MaxY_map))
x1 = self.CaseMarge
y1 = self.CaseMarge
x2 = MaxX * self.caselength + self.CaseMarge
y2 = MaxY * self.caselength +self.CaseMarge
self.maptroid.create_rectangle(x1, y1, x2, y2, fill="white")
# affiche case
for case in Cases:
self.printCase(case)
# affiche your ants
for ant in Yants:
# nb A : Your Ant 'ID X Y DX DY E A B'
(id_a,x,y,dx,dy,e,a,b) = ant
self.printAnt((x,y,dx,dy,b))
# affiche enemy ants
for ant in EAnts:
self.printAnt(ant)
#to move map
self.maptroid.bind('<ButtonPress-1>',self.grab)
self.maptroid.bind('<B1-Motion>',self.drag)
self.maptroid.bind('<MouseWheel>',self.mapZoom)
self.maptroid.bind("<Button-4>", self.mapZoom)
self.maptroid.bind("<Button-5>", self.mapZoom)
def printCase(self, case):
(x,y,c,s) = case
(x1, y1, x2, y2) = self.getPoint(x, y)
color = COLOR[c][s]
if c%2 == 0:
self.maptroid.create_rectangle(x1, y1, x2, y2, fill=color)
else:
self.maptroid.create_rectangle(x1, y1, x2, y2, fill=COLOR[GRASS][s])
self.maptroid.create_oval(x1, y1, x2, y2, fill=color)
def printAnt(self, ant):
(x,y,dx,dy,brain) = ant
(x1, y1, x2, y2) = self.getPoint(x, y)
self.maptroid.create_oval(x1, y1, x2, y2, fill="red4")
def getPoint(self, x, y):
x1 = (x - self.MinX) * self.caselength + self.CaseMarge
y1 = (y - self.MinY) * self.caselength + self.CaseMarge
x2 = x1 + self.caselength
y2 = y1 + self.caselength
return (x1, y1, x2, y2)
def grab(self,event):
self._y = event.y
self._x = event.x
def drag(self, event):
self.maptroid.yview('scroll',self._y-event.y,'units')
self.maptroid.xview('scroll',self._x-event.x,'units')
self._y = event.y
self._x = event.x
def mapZoom(self, event):
# respond to Linux or Windows wheel event
if event.num == 5 or event.delta == -120:
self.caselength -= 5
self.caselength = max(self.caselength, 10)
if event.num == 4 or event.delta == 120:
self.caselength += 5
self.caselength = min(self.caselength, 40)
self.CaseMarge = self.caselength
self.updateMap()
def getInfoAnt(self,id_ant):
turn = self.turns[self.selectTurn]
YAnt = turn[1]
B_Text = "Brain :"
E_Text = "Energie :"
A_Text = "Acide :"
for ant in YAnt:
(id_a,x,y,dx,dy,e,a,b) = ant
if b != 1 :
b = 0
if(id_ant == id_a):
B_Text = "Brain : " + BRAIN[b]
E_Text = "Energie : %d" % (e)
A_Text = "Acide : %d" % (a)
return (B_Text,E_Text,A_Text)
def checkAnts(self):
turn = self.turns[self.selectTurn]
YAnt = turn[1]
ants_id = []
for ant in YAnt:
(id_a,x,y,dx,dy,e,a,b) = ant
ants_id.append(id_a)
return ants_id
def myquit(self):
self.etat = False
if not self.readstate:
self.quit()
