def show_save_dialog(self): """ :return: """ if self.state == State.default: self.horizontal_layout.remove_widget(self.map_widget) self.popup = FileWidget(self.save_map, self.cancel_dialog, "Save") self.horizontal_layout.add_widget(self.popup, index=1) self.state = State.saving
def create_new_map(self): """ :return: """ new_map_widget = PopupMapWidget() new_map_widget.ok_button.bind(on_press=self.on_popup_ok_button) new_map_widget.cancel_button.bind(on_press=self.on_popup_cancel_button) self.popup = Popup(title='New Map', content=new_map_widget, size_hint=(None, None), size=(300, 200), auto_dismiss=True) self.popup.open()
class RobotApp(App): """ """ def __init__(self): """ :return: """ App.__init__(self) # Connection self.connection = "DUMMY" self.proxy = Proxy(self.connection) self.proxy.start() # Model self.robot = SimulatedRobot(self.proxy) self.robot.cell_size = 0.3 self.robot.x = 0.3 self.robot.y = 0.3 self.map_model = Map(self.robot, 3.0, 0.3) self.state = State.default self.brush = "start" self.planning_algorithm = GridNav(self.map_model) self.planner = Planner(self.robot, self.map_model, self.planning_algorithm, self.proxy) # View self.map_widget = None self.panel_widget = None self.toolbar_widget = None self.horizontal_layout = None self.vertical_layout = None self.popup = None self.plan() def build(self): """ :return: """ self.map_widget = MapWidget(self) self.map_widget.set_map(self.map_model) self.panel_widget = PanelWidget(self) self.toolbar_widget = ToolbarWidget(self, orientation="horizontal") self.horizontal_layout = BoxLayout(orientation="horizontal") self.horizontal_layout.add_widget(self.map_widget) self.horizontal_layout.add_widget(self.panel_widget) self.vertical_layout = BoxLayout(orientation="vertical") self.vertical_layout.add_widget(self.toolbar_widget) self.vertical_layout.add_widget(self.horizontal_layout) # Add model listeners. self.setup_listeners() return self.vertical_layout def on_start(self): return def on_stop(self): return def connect_bluetooth(self, mac_address): try: self.connection = BluetoothConnection(mac_address, 0x1001) self.proxy = Proxy(self.connection) self.proxy.start() self.robot = Robot(self.proxy) self.robot.cell_size = 0.3 self.robot.x = 0.3 self.robot.y = 0.3 self.map_model.listeners.clear() self.map_model.path.listeners.clear() self.setup_listeners() except OSError as err: print(err) def disconnect_bluetooth(self): self.stop_plan() self.connection.close() def setup_listeners(self): """ :return: """ self.proxy.listeners.append(self.robot) self.robot.listeners.append(self.map_widget) self.map_model.listeners.append(self.map_widget) self.map_model.path.listeners.append(self.map_widget) def create_new_map(self): """ :return: """ new_map_widget = PopupMapWidget() new_map_widget.ok_button.bind(on_press=self.on_popup_ok_button) new_map_widget.cancel_button.bind(on_press=self.on_popup_cancel_button) self.popup = Popup(title='New Map', content=new_map_widget, size_hint=(None, None), size=(300, 200), auto_dismiss=True) self.popup.open() def open_map(self, instance): """ :param instance: :return: """ map_model = Map(self.robot, None, None, str(self.popup.file_input.text)) self.map_widget.set_map(map_model) self.horizontal_layout.remove_widget(self.popup) self.horizontal_layout.add_widget(self.map_widget, index=1) self.reset_state() def save_map(self, instance): """ :param instance: :return: """ self.map_widget.map_model.file = self.popup.file_input.text self.map_widget.map_model.save() self.horizontal_layout.remove_widget(self.popup) self.horizontal_layout.add_widget(self.map_widget, index=1) self.reset_state() def show_open_dialog(self): """ :return: """ if self.state == State.default: self.horizontal_layout.remove_widget(self.map_widget) self.popup = FileWidget(self.open_map, self.cancel_dialog, "Open") self.horizontal_layout.add_widget(self.popup, index=1) self.state = State.opening def show_save_dialog(self): """ :return: """ if self.state == State.default: self.horizontal_layout.remove_widget(self.map_widget) self.popup = FileWidget(self.save_map, self.cancel_dialog, "Save") self.horizontal_layout.add_widget(self.popup, index=1) self.state = State.saving def on_popup_ok_button(self, instance): """ :param instance: :return: """ content = self.popup.content self.popup.dismiss() self.map_model = Map(self.robot, float(content.size_text_input.text), float(content.cell_text_input.text)) self.map_widget.set_map(self.map_model) def on_popup_cancel_button(self, instance): """ :param instance: :return: """ self.popup.dismiss() def cancel_dialog(self, instance): """ :param instance: :return: """ self.horizontal_layout.remove_widget(self.popup) self.horizontal_layout.add_widget(self.map_widget, index=1) self.reset_state() def reset_state(self): """ :return: """ self.state = State.default def run_plan(self): """ :return: """ self.plan() if self.planner.finished: self.planner = Planner(self.robot, self.map_model, self.planning_algorithm, self.proxy) self.planner.start() def stop_plan(self): """ :return: """ if not self.planner.finished: self.planner.finished = True def plan(self): """ :return: """ self.planning_algorithm = GridNav(self.map_model) self.planning_algorithm.plan() self.map_model.path.update_points(self.planning_algorithm.path) ''' Move this out of here. ''' def handle_touch_down(self, x, y): """ :param x: :param y: :return: """ if self.brush == "start": x = x * self.map_model.cell_size y = y * self.map_model.cell_size self.robot.update_odometry(OdometryReport(x, y, self.robot.heading)) elif self.brush == "goal": self.map_model.set_goal_position(x, y) else: self.map_model.set_cell_state(x, y) self.plan()