class MainApplication(tk.Frame):
def __init__(self, master):
"""
This class creates main application frame, and manages all process and objects used in project.
:param master: tkinter.Tk obj.
"""
tk.Frame.__init__(self, master)
self.master = master
self.motors = MotorsController()
self.bg_color = "grey"
self.create_right_frame()
self.create_left_frame()
self.create_midle_frame()
self.keyboard = Keyboard()
self.init_keyboard()
def create_left_frame(self):
"""
This function creates left panel which is used to manage speed.
:return: None
"""
self.frame_left = tk.Frame(root, bg=self.bg_color)
self.frame_left.place(relheight=1, relwidth=.2)
self.add_widgets_to_left_frame()
def add_widgets_to_left_frame(self):
"""
Adding widgets connected with speed display and management.
:return: None
"""
self.speed_limit_widget = tk.Label(
self.frame_left,
text=f"Speed Limit:\n{int(self.joystick.speed_limit*100)}%",
relief="groove",
borderwidth=5,
bg=self.bg_color)
self.speed_limit_up_button = tk.Button(self.frame_left,
bg=self.bg_color,
text="+",
command=self.speed_limit_up)
self.speed_limit_down_button = tk.Button(self.frame_left,
bg=self.bg_color,
text="-",
command=self.speed_limit_down)
self.left_motor_speed_bar = SpeedBar(
self.frame_left, "L", self.motors.get_relative_left_motor_speed)
self.right_motor_speed_bar = SpeedBar(
self.frame_left, "R", self.motors.get_relative_right_motor_speed)
self.motors_speed_frame = tk.LabelFrame(master=self.frame_left,
bg=self.bg_color,
text="Motors speed")
self.motors_speed_label = tk.Label(
master=self.motors_speed_frame,
bg=self.bg_color,
anchor="w",
text=" Left motor speed: {1:7.0f}% \n"
"Right motor speed: {1:7.0f}%".format(
int(100 * self.motors.get_relative_left_motor_speed()),
int(100 * self.motors.get_relative_right_motor_speed())))
self.last_measured_motors_speeds = (-1, -1)
def upadate_motor_speed_label():
"""
This function is updating information on speed label. It is necessary to run it if you want your speed
data to be displayed properly.
:return: None
"""
if not self.last_measured_motors_speeds == (
self.motors.get_relative_left_motor_speed(),
self.motors.get_relative_right_motor_speed()):
self.last_measured_motors_speeds = (
self.motors.get_relative_left_motor_speed(),
self.motors.get_relative_right_motor_speed())
self.motors_speed_label.config(
text=" Left motor speed: {0:7.0f}% \n"
"Right motor speed: {1:7.0f}%".format(
int(100 * self.motors.get_relative_left_motor_speed()),
int(100 *
self.motors.get_relative_right_motor_speed())))
self.after(50, upadate_motor_speed_label)
upadate_motor_speed_label()
self.motors_speed_label.place(relheight=1, relwidth=1, relx=0, rely=0)
self.speed_limit_widget.place(relheight=0.16,
relwidth=.4,
relx=0.3,
rely=0)
self.speed_limit_down_button.place(relheight=0.16,
relwidth=.3,
relx=0,
rely=0)
self.speed_limit_up_button.place(relheight=0.16,
relwidth=.3,
relx=0.7,
rely=0)
self.left_motor_speed_bar.place(relheight=0.6,
relwidth=.2,
relx=0.2,
rely=0.25)
self.right_motor_speed_bar.place(relheight=0.6,
relwidth=.2,
relx=0.6,
rely=0.25)
self.motors_speed_frame.place(relheight=0.1,
relwidth=1,
relx=0,
rely=0.9)
def create_right_frame(self):
"""
This function creates panel which allows you to control pod.
:return: None
"""
self.frame_right = tk.Frame(root, bg="white")
self.frame_right.place(relheight=1, relwidth=.2, relx=0.8)
self.frame_right.grid_columnconfigure(0, weight=1)
self.frame_right.grid_rowconfigure(0, weight=1)
self.add_widgets_to_right_frame()
def add_widgets_to_right_frame(self):
"""
This function adds widgets to right frame.
It sets widgets to control move, taking photos and videos.
:return: None
"""
self.video_button = ImgButton(self.frame_right,
photo_file="icons/rec.png",
action=self.video,
scale=.5)
self.video_button.place(relheight=0.3, relwidth=1, relx=0, rely=0.3)
self.photo_button = ImgButton(self.frame_right,
photo_file="icons/aparat5.png",
action=self.photo,
scale=.5)
self.photo_button.bind(
"<ButtonRelease-1>",
lambda event: self.photo_button.change_image("icons/aparat5.png"))
self.photo_button.bind(
"<ButtonPress-1>",
lambda event: self.photo_button.change_image("icons/aparat4.png"))
self.photo_button.place(relheight=0.3, relwidth=1, relx=0, rely=0.0)
self.joystick = Joysitck(self.motors, master=self.frame_right)
self.joystick.place(relheight=0.4, relwidth=1, relx=0, rely=0.6)
self.joystick.update()
self.video_button.update()
self.photo_button.update()
def create_midle_frame(self):
"""
This function creates frame which displays camera view.
:return: None
"""
self.frame_middle = tk.Frame(root, bg="blue")
self.frame_middle.place(relheight=1, relwidth=.6, relx=.2)
self.camera = Camera(self.frame_middle)
self.camera.place(relheight=1, relwidth=1)
self.camera.show_frames()
self.camera.monitor_video_recording()
def init_keyboard(self):
"""
This function binds keyboard keys to functions.
:return: None
"""
keys_list = self._read_default_keyboard_settings()
self.keyboard.add_keys(keys_list)
def _read_default_keyboard_settings(self):
keys_list = []
with open("saves/default_settings.txt") as file:
for line in file:
key_data = line.split()
key = self._create_new_key(key_data)
keys_list.append(key)
return keys_list
def _create_new_key(self, key_data):
new_key = Key()
new_key.name = key_data[0]
new_key.set_function_on_press(eval(key_data[1]))
new_key.set_function_on_hold(eval(key_data[2]))
new_key.set_function_on_release(eval(key_data[3]))
return new_key
def photo(self):
"""
This function allows you to take photo.
:return: None
"""
print("pstryk")
self.camera.take_photo()
def start_photo(self):
self.photo_button.change_image("icons/aparat4.png")
def end_photo(self):
self.photo()
self.photo_button.change_image("icons/aparat5.png")
def video(self):
"""
This function allows you to start and stop video.
:return: None
"""
self.video_button.click()
if self.video_button.counted_clicks % 2 == 1:
self.video_button.change_image("icons/stop.png")
self.camera.prepare_recording()
self.camera.isrecording = True
else:
self.video_button.change_image("icons/rec.png")
self.camera.isrecording = False
self.camera.video_file.release()
def speed_limit_up(self):
"""
This function allows you to increase speed limit.
:return: None
"""
self.joystick.speed_limit += 0.01
self.speed_limit_widget.config(
text=f"Speed Limit:\n{int(self.joystick.speed_limit * 100)}%")
def speed_limit_down(self):
"""
This function allows you to decrease speed limit.
:return: None
"""
self.joystick.speed_limit -= 0.01
self.speed_limit_widget.config(
text=f"Speed Limit:\n{int(self.joystick.speed_limit * 100)}%")
