def __init__(self, master):
self.master = master # root tk window
self.master.protocol("WM_DELETE_WINDOW", self.closeWin) # control what happens when a window is closed externally (e.g. by the 'x')
self.master.wm_title("Aerospace Robotics LIDAR Viewer") # name window
self.master.geometry('+100+50') # position window 100,100 pixels from top-left corner
# physical objects
self.robot = DaguRover5()
self.laser = RPLIDAR(DIST_MIN, DIST_MAX)
# initialize serial object, prompting user for input if required
self.statusQueue = Queue() # status of serial thread # FIFO queue by default
self.RXQueue = Queue() # data from serial to root # FIFO queue by default
self.TXQueue = Queue() # data from root to serial # FIFO queue by default
self.serThread = SerialThread(self.laser, self.statusQueue, self.RXQueue, self.TXQueue) # initialize thread object
# initialize root variables
self.statusStr = StringVar() # status of serThread
self.restarting = False # are we in the process of soft restarting?
self.paused = False # should the loops be doing nothing right now?
# helper objects
self.data = DataMatrix(**KWARGS) # handle map data
self.slam = Slam(self.robot, self.laser, **KWARGS) # do slam processing
if FAST_MAPPING:
# create the OpenCV window
self.regionFrame = SlamShow(CV_IMG_SIZE, CV_IMG_RES_PIX_PER_MM, 'SLAM Rover: Hit ESC to quit')
# create Tkinter control frames
self.statusFrame = EntryFrame(self.master, self.robot, self.closeWin, self.restartAll, self.saveImage, \
self.serThread.getACK, self.serThread.resetACK, self.TXQueue, self.statusStr,
twoLines=True, setDisplayMode=self.setDisplayMode, **KWARGS)
self.insetFrame = InsetFrame(self.master, self.data.getInsetMatrix(),
sendCommand=self.statusFrame.sendCommand, setRelDestination=self.setRelDestination, **KWARGS)
# pack frame
self.statusFrame.pack(side='bottom', fill='x')
self.insetFrame.pack(side='left', fill='both', expand=True)
else:
# create all the pretty stuff in the Tkinter window
self.statusFrame = EntryFrame(self.master, self.robot, self.closeWin, self.restartAll, self.saveImage, \
self.serThread.getACK, self.serThread.resetACK, self.TXQueue, self.statusStr,
setDisplayMode=self.setDisplayMode, **KWARGS)
self.regionFrame = RegionFrame(self.master, self.data.getMapMatrix(), **KWARGS)
self.insetFrame = InsetFrame(self.master, self.data.getInsetMatrix(),
sendCommand=self.statusFrame.sendCommand, setRelDestination=self.setRelDestination, **KWARGS)
# pack frames
self.statusFrame.pack(side='bottom', fill='x')
self.regionFrame.pack(side='left', fill='both', expand=True)
self.insetFrame.pack(side='right', fill='both', expand=True)
# Start loops
self.serThread.start() # begin fetching data from serial port and processing it
self.updateData() # pull data from queue, put into data matrix
self.updateMap() # draw new data matrix
self.statusFrame.autosendCommand() # check for user input and automatically send it
def __init__(self, master):
self.master = master # root tk window
self.master.protocol("WM_DELETE_WINDOW", self.closeWin) # control what happens when a window is closed externally (e.g. by the 'x')
self.master.wm_title("Aerospace Robotics LIDAR Viewer") # name window
self.master.geometry('+100+50') # position window 100,100 pixels from top-left corner
# physical objects
self.robot = DaguRover5()
self.laser = RPLIDAR(DIST_MIN, DIST_MAX)
# get data from log file
self.logFileIndex = 0
self.logFileContents = [[int(el) for el in rawline.split(' ')] for rawline in logFile.read().strip().split('\n')]
# initialize root variables
self.statusStr = StringVar() # status of serThread
self.restarting = False # are we in the process of soft restarting?
self.paused = False # should the loops be doing nothing right now?
# helper objects
self.data = DataMatrix(**KWARGS) # handle map data
self.slam = Slam(self.robot, self.laser, **KWARGS) # do slam processing
if FAST_MAPPING:
# create the OpenCV window
self.regionFrame = SlamShow(CV_IMG_SIZE, CV_IMG_RES_PIX_PER_MM, 'SLAM Rover: Hit ESC to quit')
# create Tkinter control frames
self.statusFrame = StatusFrame(self.master, self.closeWin, self.restartAll, self.saveImage, self.statusStr, twoLines=True)
self.insetFrame = InsetFrame(self.master, self.data.getInsetMatrix(), **KWARGS)
# pack frame
self.statusFrame.pack(side='bottom', fill='x')
self.insetFrame.pack(side='left', fill='both', expand=True)
else:
# create all the pretty stuff in the Tkinter window
self.statusFrame = StatusFrame(self.master, self.closeWin, self.restartAll, self.saveImage, self.statusStr)
self.regionFrame = RegionFrame(self.master, self.data.getMapMatrix(), setDisplayMode=self.setDisplayMode, **KWARGS)
self.insetFrame = InsetFrame(self.master, self.data.getInsetMatrix(), **KWARGS)
# pack frames
self.statusFrame.pack(side='bottom', fill='x')
self.regionFrame.pack(side='left', fill='both', expand=True)
self.insetFrame.pack(side='right', fill='both', expand=True)
# Start loops
self.updateData() # pull data from queue, put into data matrix
self.updateMap() # draw new data matrix
