def _create_value(self, key, text, tooltip):
slot = tk.LabelFrame(self.csfm, text=text)
label = tk.Label(slot)
label.pack(side=tk.TOP, fill=tk.BOTH)
slot.pack(side=tk.TOP, fill=tk.BOTH, padx=5)
self.values[key] = label
Tooltip.create(label, tooltip)
return label
def _add_CAN(self, sim, canId, device):
# TODO: this is not flexible
lcan = len(sim.can)
row = (lcan % 6) * 2
col = (lcan // 6) * 5
lbl = tk.Label(sim.can_slot, text=str(canId))
lbl.grid(column=col + 0, row=row)
motor = ValueWidget(sim.can_slot, default=0.0)
motor.grid(column=col + 1, row=row)
sim.set_tooltip(motor, "CAN", canId)
fl = CheckButtonWrapper(sim.can_slot, text="F")
fl.grid(column=col + 2, row=row)
rl = CheckButtonWrapper(sim.can_slot, text="R")
rl.grid(column=col + 3, row=row)
Tooltip.create(fl, "Forward limit switch")
Tooltip.create(rl, "Reverse limit switch")
mode_lbl_txt = tk.StringVar(value="")
mode_label = tk.Label(sim.can_slot, textvariable=mode_lbl_txt)
mode_label.grid(column=col + 4, row=row)
labels = tk.Frame(sim.can_slot)
labels.grid(column=col + 0, row=row + 1, columnspan=6)
enc_value = tk.StringVar(value="E: 0")
enc_label = tk.Label(labels, textvariable=enc_value)
enc_label.pack(side=tk.LEFT)
analog_value = tk.StringVar(value="A: 0")
analog_label = tk.Label(labels, textvariable=analog_value)
analog_label.pack(side=tk.LEFT)
pwm_value = tk.StringVar(value="P: 0")
pwm_label = tk.Label(labels, textvariable=pwm_value)
pwm_label.pack(side=tk.LEFT)
Tooltip.create(enc_label, "Encoder Input")
Tooltip.create(analog_label, "Analog Input")
Tooltip.create(pwm_label, "PWM Input")
sim.can[canId] = (
motor,
fl,
rl,
mode_lbl_txt,
enc_value,
analog_value,
pwm_value,
)
def _add_CAN(self, sim, canId, device):
# TODO: this is not flexible
row = len(self.can) * 2
lbl = tk.Label(sim.can_slot, text=str(canId))
lbl.grid(column=0, row=row)
motor = ValueWidget(sim.can_slot, default=0.0)
motor.grid(column=1, row=row)
sim.set_tooltip(motor, 'CAN', canId)
fl = CheckButtonWrapper(sim.can_slot, text='F')
fl.grid(column=2, row=row)
rl = CheckButtonWrapper(sim.can_slot, text='R')
rl.grid(column=3, row=row)
Tooltip.create(fl, 'Forward limit switch')
Tooltip.create(rl, 'Reverse limit switch')
mode_lbl_txt = tk.StringVar(
value=self.can_mode_map[device['mode_select']])
mode_label = tk.Label(sim.can_slot, textvariable=mode_lbl_txt)
mode_label.grid(column=4, row=row)
labels = tk.Frame(sim.can_slot)
labels.grid(column=0, row=row + 1, columnspan=6)
enc_value = tk.StringVar(value='E: 0')
enc_label = tk.Label(labels, textvariable=enc_value)
enc_label.pack(side=tk.LEFT)
analog_value = tk.StringVar(value='A: 0')
analog_label = tk.Label(labels, textvariable=analog_value)
analog_label.pack(side=tk.LEFT)
pwm_value = tk.StringVar(value='P: 0')
pwm_label = tk.Label(labels, textvariable=pwm_value)
pwm_label.pack(side=tk.LEFT)
Tooltip.create(enc_label, "Encoder Input")
Tooltip.create(analog_label, "Analog Input")
Tooltip.create(pwm_label, "PWM Input")
self.can[canId] = (motor, fl, rl, mode_lbl_txt, enc_value,
analog_value, pwm_value)
def set_joy_tooltip(self, widget, idx, typ, idx2):
tooltip = self.config_obj['pyfrc']['joysticks'][str(idx)][typ].get(
str(idx2))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def set_tooltip(self, widget, cat, idx):
tooltip = self.config_obj['pyfrc'][cat].get(str(idx))
if tooltip is not None:
Tooltip.create(widget, tooltip)
def _setup_widgets(self, frame):
top = tk.Frame(frame)
top.grid(column=0, row=0)
bottom = tk.Frame(frame)
bottom.grid(column=0, row=1)
self.field = RobotField(frame, self.manager, self.config_obj)
self.field.grid(column=1, row=0, rowspan=2)
# status bar
self.status = tk.Label(frame, bd=1, relief=tk.SUNKEN, anchor=tk.E)
self.status.grid(column=0, row=2, columnspan=2, sticky=tk.W + tk.E)
# analog
slot = tk.LabelFrame(top, text='Analog')
self.analog = []
for i in range(len(hal_data['analog_in'])):
if hal_data['analog_in'][i]['initialized'] or hal_data[
'analog_out'][i]['initialized']:
label = tk.Label(slot, text=str(i))
label.grid(column=0, row=i + 1)
vw = ValueWidget(slot,
clickable=True,
minval=-10.0,
maxval=10.0)
vw.grid(column=1, row=i + 1)
self.set_tooltip(vw, 'analog', i)
else:
vw = None
self.analog.append(vw)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
# digital
slot = tk.LabelFrame(top, text='Digital')
label = tk.Label(slot, text='PWM')
label.grid(column=0, columnspan=4, row=0)
self.pwm = []
for i in range(len(hal_data['pwm'])):
if hal_data['pwm'][i]['initialized']:
c = i // 10
label = tk.Label(slot, text=str(i))
label.grid(column=0 + 2 * c, row=1 + i % 10)
vw = ValueWidget(slot)
vw.grid(column=1 + 2 * c, row=1 + i % 10)
self.set_tooltip(vw, 'pwm', i)
else:
vw = None
self.pwm.append(vw)
label = tk.Label(slot, text='Digital I/O')
label.grid(column=4, columnspan=6, row=0)
self.dio = []
for i in range(len(hal_data['dio'])):
if hal_data['dio'][i]['initialized']:
c = i // 9
label = tk.Label(slot, text=str(i))
label.grid(column=4 + c * 2, row=1 + i % 9)
pi = PanelIndicator(slot, clickable=True)
pi.grid(column=5 + c * 2, row=1 + i % 9)
self.set_tooltip(pi, 'dio', i)
else:
pi = None
self.dio.append(pi)
label = tk.Label(slot, text='Relay')
label.grid(column=10, columnspan=2, row=0, padx=5)
self.relays = []
for i in range(len(hal_data['relay'])):
if hal_data['relay'][i]['initialized']:
label = tk.Label(slot, text=str(i))
label.grid(column=10, row=1 + i, sticky=tk.E)
pi = PanelIndicator(slot)
pi.grid(column=11, row=1 + i)
self.set_tooltip(pi, 'relay', i)
else:
pi = None
self.relays.append(pi)
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
self.csfm = csfm = tk.Frame(top)
# solenoid (pcm)
self.pcm = {}
# values
self.values = {}
# CAN
self.can_slot = tk.LabelFrame(csfm, text='CAN')
self.can_slot.pack(side=tk.LEFT, fill=tk.BOTH, expand=1, padx=5)
self.can = {}
csfm.pack(side=tk.LEFT, fill=tk.Y)
# joysticks
slot = tk.LabelFrame(bottom, text='Joysticks')
self.joysticks = []
for i in range(4):
axes = []
buttons = []
col = 1 + i * 3
row = 0
label = tk.Label(slot, text='Stick %s' % i)
label.grid(column=col, columnspan=3, row=row)
row += 1
# TODO: make this configurable
for j, t in enumerate(['LX', 'LY', 'LT', 'RY', 'RX', 'RT']):
label = tk.Label(slot, text=t)
label.grid(column=col, row=row)
vw = ValueWidget(slot, clickable=True, default=0.0)
vw.grid(column=col + 1, row=row, columnspan=2)
self.set_joy_tooltip(vw, i, 'axes', t)
axes.append(vw)
row += 1
# POV: this needs improvement
label = tk.Label(slot, text='POV')
label.grid(column=col, row=row)
pov = ValueWidget(slot,
clickable=True,
default=-1,
minval=-1,
maxval=360,
step=45,
round_to_step=True)
pov.grid(column=col + 1, row=row, columnspan=2)
row += 1
for j in range(1, 11):
var = tk.IntVar()
ck = tk.Checkbutton(slot, text=str(j), variable=var)
ck.grid(column=col + 1 + (1 - j % 2),
row=row + int((j - 1) / 2))
self.set_joy_tooltip(ck, i, 'buttons', j)
buttons.append((ck, var))
self.joysticks.append((axes, buttons, [pov]))
slot.pack(side=tk.LEFT, fill=tk.Y, padx=5)
ctrl_frame = tk.Frame(bottom)
# timing control
timing_control = tk.LabelFrame(ctrl_frame, text='Time')
def _set_realtime():
if realtime_mode.get() == 0:
step_button.pack_forget()
step_entry.pack_forget()
self.on_pause(False)
else:
step_button.pack(fill=tk.X)
step_entry.pack()
self.on_pause(True)
realtime_mode = tk.IntVar()
button = tk.Radiobutton(timing_control,
text='Run',
variable=realtime_mode,
value=0,
command=_set_realtime)
button.pack(fill=tk.X)
button = tk.Radiobutton(timing_control,
text='Pause',
variable=realtime_mode,
value=1,
command=_set_realtime)
button.pack(fill=tk.X)
step_button = tk.Button(timing_control,
text='Step',
command=self.on_step_time)
self.step_entry = tk.StringVar()
self.step_entry.set("0.025")
step_entry = tk.Entry(timing_control,
width=6,
textvariable=self.step_entry)
Tooltip.create(step_button,
'Click this to increment time by the step value')
Tooltip.create(step_entry, 'Time to step (in seconds)')
realtime_mode.set(0)
timing_control.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
# simulation control
sim = tk.LabelFrame(ctrl_frame, text='Robot')
self.state_buttons = []
self.mode = tk.IntVar()
def _set_mode():
self.manager.set_mode(self.mode.get())
button = tk.Radiobutton(sim, text='Disabled', variable=self.mode, \
value=self.manager.MODE_DISABLED, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Autonomous', variable=self.mode, \
value=self.manager.MODE_AUTONOMOUS, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Teleoperated', variable=self.mode, \
value=self.manager.MODE_OPERATOR_CONTROL, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
button = tk.Radiobutton(sim, text='Test', variable=self.mode, \
value=self.manager.MODE_TEST, command=_set_mode)
button.pack(fill=tk.X)
self.state_buttons.append(button)
self.robot_dead = tk.Label(sim, text='Robot died!', fg='red')
sim.pack(side=tk.TOP, fill=tk.BOTH, expand=1)
#
# Set up a combo box that allows you to select an autonomous
# mode in the simulator
#
try:
from tkinter.ttk import Combobox
except:
pass
else:
auton = tk.LabelFrame(ctrl_frame, text='Autonomous')
self.autobox = Combobox(auton, state='readonly')
self.autobox.bind('<<ComboboxSelected>>', self.on_auton_selected)
self.autobox['width'] = 12
self.autobox.pack(fill=tk.X)
Tooltip.create(
self.autobox,
"Use robotpy_ext.autonomous.AutonomousModeSelector to use this selection box"
)
from networktables.util import ChooserControl
self.auton_ctrl = ChooserControl(
'Autonomous Mode',
lambda v: self.idle_add(self.on_auton_choices, v),
lambda v: self.idle_add(self.on_auton_selection, v))
auton.pack(side=tk.TOP)
gamedata = tk.LabelFrame(ctrl_frame, text='Game Data')
self.gamedataval = tk.StringVar()
if hasattr(self.gamedataval, 'trace_add'):
self.gamedataval.trace_add('write', self.on_gamedata_selected)
else:
self.gamedataval.trace_variable('w', self.on_gamedata_selected)
self.gamedatabox = Combobox(gamedata,
textvariable=self.gamedataval)
self.gamedatabox['width'] = 12
self.gamedatabox.pack(fill=tk.X)
messages = self.config_obj['pyfrc']['game_specific_messages']
if messages:
self.gamedatabox['values'] = messages
self.gamedatabox.current(0)
self.manager.game_specific_message = self.gamedatabox.get()
Tooltip.create(
self.gamedatabox,
"Use this selection box to simulate game specific data")
gamedata.pack(side=tk.TOP)
ctrl_frame.pack(side=tk.LEFT, fill=tk.Y)