class MainModel(object):
'''
The model behind the main window
'''
_ConfigFileName = 'BalancingBotConfig.txt'
def __init__(self, serialPort=6):
'''
Constructor
'''
self.SerialPort = serialPort
self.SpeedControlParams = {
'P': 0,
'I': 0,
'D': 0
} # P,I,D parameters for the speed controller
self.BalancerParams = {
'K1': 0,
'K2': 0,
'K3': 0,
'K4': 0,
'DPhi': 0
} # Coefficients K1, .. K4
self._Settings = Settings(self)
self._Settings.Load()
print("MainModel load:")
print(self.SpeedControlParams)
print(self.BalancerParams)
self.MaxAgeBuffer = MaxAgeBuffer(timedelta(seconds=10))
#dataReceiver = TestDataReceiver()
self._DataAdapter = DataAdapter(SerialDataGateway(self.SerialPort),
self)
self._DataAdapter.Start()
def OnCoefficientsReceived(self, balancerParams):
self.BalancerParams = balancerParams
def SetSpeedControlParams(self, params):
'''
params is expected to a tuple holding three values that can be converted to floats representing the P,I,D parameters
'''
floatParams = tuple(float(param) for param in params)
self.SpeedControlParams['P'] = floatParams[0]
self.SpeedControlParams['I'] = floatParams[1]
self.SpeedControlParams['D'] = floatParams[2]
self._DataAdapter.SendSpeedControllerParams(floatParams)
def SetSpeed(self, speed):
self._DataAdapter.SendSpeed(float(speed))
def SetBalancerParams(self, balancerParams):
'''
params is expected to a tuple holding four values that can be converted to floats representing the K1,... K4 parameters
'''
floatParams = tuple(
float(balancerParam) for balancerParam in balancerParams)
self.BalancerParams['K1'] = floatParams[0]
self.BalancerParams['K2'] = floatParams[1]
self.BalancerParams['K3'] = floatParams[2]
self.BalancerParams['K4'] = floatParams[3]
self.BalancerParams['DPhi'] = floatParams[4]
self._DataAdapter.SendBalancerParams(floatParams)
def Close(self):
self._DataAdapter.Stop()
print("MainModel close:")
print(self.SpeedControlParams)
print(self.BalancerParams)
self._Settings.Save()
class SampleApp(Tk):
def save_settings(self_SampleApp):
self_SampleApp.settings.OnOff = self_SampleApp.frames["MainPage"].OffBtn["text"]
self_SampleApp.settings.SetTemp = self_SampleApp.frames["MainPage"].SetTemp["text"]
self_SampleApp.settings.Temp1 = self_SampleApp.frames["PagePrg"].Temp1["text"]
self_SampleApp.settings.Temp2 = self_SampleApp.frames["PagePrg"].Temp2["text"]
self_SampleApp.settings.Temp3 = self_SampleApp.frames["PagePrg"].Temp3["text"]
self_SampleApp.settings.Time1 = self_SampleApp.frames["PagePrg"].Time1["text"]
self_SampleApp.settings.Time2 = self_SampleApp.frames["PagePrg"].Time2["text"]
self_SampleApp.settings.Time3 = self_SampleApp.frames["PagePrg"].Time3["text"]
self_SampleApp.settings.Save()
def on_closing(self):
self.save_settings()
if messagebox.askokcancel("Quit", "Do you want to quit?"):
self.destroy()
def __init__(self, server_queue ):
Tk.__init__(self)
# the container is where we'll stack a bunch of frames
# on top of each other, then the one we want visible
# will be raised above the others
container = Frame(self)
container.pack(side="top", fill="both", expand=True)
container.grid_rowconfigure(0, weight=1)
container.grid_columnconfigure(0, weight=1)
if os.name == 'nt':
# on windows
self.geometry("480x320+200+200")
elif(os.name == 'posix') :
# on raspberry
# hide mouse cursor
self.config(cursor="none")
# go fullscreen
self.geometry("{0}x{1}+0+0".format(
self.winfo_screenwidth(), self.winfo_screenheight()))
self.overrideredirect(1)
# set pin 40 as outpot to command the 220V relay
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setup(RELAY_PIN,GPIO.OUT)
GPIO.output(RELAY_PIN,GPIO.HIGH)
# Load Settings
self.settings = Settings()
self.settings.Load()
self.frames = {}
self.frames["PagePrg"] = PagePrg(parent=container, controller=self, queue=server_queue)
self.frames["PagePrg"].Temp1["text"] = self.settings.Temp1
self.frames["PagePrg"].Temp2["text"] = self.settings.Temp2
self.frames["PagePrg"].Temp3["text"] = self.settings.Temp3
self.frames["PagePrg"].Time1["text"] = self.settings.Time1
self.frames["PagePrg"].Time2["text"] = self.settings.Time2
self.frames["PagePrg"].Time3["text"] = self.settings.Time3
self.frames["MainPage"] = MainPage(parent=container, controller=self, queue=server_queue)
self.frames["MainPage"].SetTemp["text"] = self.settings.SetTemp
self.frames["MainPage"].OffBtn["text"] = self.settings.OnOff
# put all of the pages in the same location;
# the one on the top of the stacking order
# will be the one that is visible.
self.frames["PagePrg"].grid(row=0, column=0, sticky="nsew")
self.frames["MainPage"].grid(row=0, column=0, sticky="nsew")
self.show_frame("MainPage")
# clicking 3 times enables the right settings
self.frames["MainPage"].OffBtnClick()
self.frames["MainPage"].OffBtnClick()
self.frames["MainPage"].OffBtnClick()
Tk.protocol(self,"WM_DELETE_WINDOW", self.on_closing)
def show_frame(self, page_name):
'''Show a frame for the given page name'''
frame = self.frames[page_name]
frame.tkraise()
