def do_GET(self):
try:
self.send_response(200)
op = self.path[1:]
if op == "index.html" or op == "":
self.send_header("Content-type", "text/html")
self.end_headers()
self.wfile.write(
"<html><head>"
+ "<meta http-equiv='Content-Type'"
+ "content='text/html; charset=utf-8' />"
+ "<script type='text/javascript' src='//ajax.googleapis.com/ajax/libs/jquery/1.9.0/jquery.min.js'></script>"
+ "<script type='text/javascript'>"
+ "function runCommand(name){ $.get(name, '' , "
+ "function(data){ /*alert(data);*/ }); } "
+ "</script>"
+ "</head><body>"
+ "<h1>Available commands</h1>"
)
for moveName in moves:
self.wfile.write(
"<a style='min-width:20em;margin:1em;font-size:120%;' href='javascript:"
+ 'runCommand("'
+ moveName
+ '")'
+ "'>"
+ moveName
+ "</a><br>"
)
self.wfile.write("</body></html>")
else:
self.send_header("Content-type", "text/plain")
self.end_headers()
moveName = op.replace("%20", " ")
if moveName in moves:
self.wfile.write(json.dumps({"operation": op}))
runMovement(move, moveName)
else:
self.wfile.write(json.dumps({"operation": "not found"}))
return
except IOError:
self.send_error(404, "File Not Found: %s" % self.path)
def replantFoot(self,endHipAngle,stepTime=1):
runMovement(self.replantFoot_function,endHipAngle,stepTime)
def setFootY(self,footY,stepTime=1):
runMovement(self.setFootY_function,footY,stepTime)
def setHipDeg(self,endHipAngle,stepTime=1):
runMovement(self.setHipDeg_function,endHipAngle,stepTime)
def __init__(self, master, controller):
self.con = controller
self.master = master
self.frame = Frame(self.master)
self.frame.pack()
#setup menu system
menu = Menu(root)
root.config(menu=menu)
filemenu = Menu(menu)
menu.add_cascade(label="File", menu=filemenu)
filemenu.add_command(label="New")
filemenu.add_command(label="Save Offsets", command=self.saveOffsets)
# TODO: bring these over from servitorGui
#filemenu.add_command(label="Open Offsets", command=self.openOffsets)
#filemenu.add_command(label="Save Positions", command=self.savePositions)
#filemenu.add_command(label="Open Positions", command=self.openPositions)
filemenu.add_separator()
filemenu.add_command(label="Exit", command=self.quitApp)
master.createcommand('exit', self.quitApp)
#setup kill button
self.killButton = Button(self.frame, text="Kill All Servos",fg="red",
font=("Helvetica", 20),command=self.estop)
self.killButton.grid(row=0,column=14)
self.loadOffsets()
self.servos = []
#setup left side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(0+i*4,[1,8+i*5])
self.newServo(1+i*4,[1,9+i*5])
self.newServo(2+i*4,[1,10+i*5])
self.newServo(3+i*4,[1,11+i*5])
self.addSpace([0,12+i*5])
#setup right side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(16+i*4,[11,8+i*5])
self.newServo(17+i*4,[11,9+i*5])
self.newServo(18+i*4,[11,10+i*5])
self.newServo(19+i*4,[11,11+i*5])
self.addSpace([11,12+i*5])
#add some spaces for asthetics
self.addSpace([10,1])
# generate buttons for all move functions
counter = 0
for move_name in moves:
b = Button(self.frame, text=move_name)
b.move_name = move_name
b.sel = lambda b = b: runMovement(move,b.move_name)
b.config(command = b.sel)
b.grid(row=counter+8, column=0)
#b.pack()
counter += 1
self.poll()
self.estop()
def pointCircle(self, centerHipAngle = 0, radius = 15, orientation = 1, stepTime = 0.5):
runMovement(self.pointCircle_function, centerHipAngle, radius, orientation, stepTime)
def setFootY(self, footY = 1000, footRx = 0, stepTime = 1):
runMovement(self.setFootY_function, footY, footRx, stepTime)
def __init__(self, master, controller):
self.con = controller
self.master = master
self.frame = Frame(self.master)
self.frame.pack()
#setup menu system
menu = Menu(root)
root.config(menu=menu)
filemenu = Menu(menu)
menu.add_cascade(label="File", menu=filemenu)
#filemenu.add_command(label="New")
#filemenu.add_command(label="Save Offsets", command=self.saveOffsets)
# TODO: bring these over from servitorGui
#filemenu.add_command(label="Open Offsets", command=self.openOffsets)
#filemenu.add_command(label="Save Positions", command=self.savePositions)
#filemenu.add_command(label="Open Positions", command=self.openPositions)
#filemenu.add_separator()
filemenu.add_command(label="Exit", command=self.quitApp)
#setup kill button
#self.killButton = Button(self.frame, text="Kill All Servos",fg="red",
# font=("Helvetica", 12),command=self.estop)
#self.killButton.grid(row=0,column=4)
#arrays for icons, commands
iconList = ["move_fwdleft.gif", "move_left.gif", "move_backleft.gif", "move_fwds.gif", "stop.gif", "move_back.gif", "move_fwdright.gif", "move_right.gif", "move_backright.gif", "rotate_ccw.gif", "rotate_cw.gif", "dance.gif", "sign_x.gif", "sign_hexy.gif", "sign_name.gif"]
commandList = ["crab_fwdleft", "crab_left", "crab_backleft", "crab_fwd", "", "crab_back", "crab_fwdright", "crab_right", "crab_backright", "RotateLeft", "RotateRight", "dance_random", "sign_x", "sign_hexy", "sign_name"]
#draw all the buttons and add icons/ commands
counter = 0
for icons in iconList:
b = Button(self.frame)
b.icon = PhotoImage(file="./Icons/" + icons)
b.config(image=b.icon, width="150", height="150")
b.move_name = commandList[counter]
# modified command if the command is Stop
if b.move_name=="":
b.config(command = self.estop)
elif b.move_name=="sign_name":
b.sel = lambda b = b: move(b.move_name)
b.config(command = b.sel)
else:
b.sel = lambda b = b: runMovement(move,b.move_name)
b.config(command = b.sel)
b.grid(row=(counter%3)*2+2, column=(counter/3)*2)
#b.pack()
counter += 1
"""
for icons in iconList:
b = Button(self.frame)
b.icon = PhotoImage(file="./Icons/" + icons)
b.config(image=b.icon, width="150", height="150")
b.move_name = commandList[counter]
b.sel = lambda b = b: runMovement(move,b.move_name)
# exception if the command is Stop
if b.move_name=="":
b.config(command = self.estop)
#elif b.move_name=="sign_name":
#b.config(command = execfile("./DemoMoves/sign_name.py"))
else:
b.config(command = b.sel)
b.grid(row=(counter%3)*2+2, column=(counter/3)*2)
#b.pack()
counter += 1
"""
"""
#fwd left
self.fwdLeftPhoto = PhotoImage(file="./Icons/move_fwdleft.gif")
self.fwdLeftButton = Button(self.frame)
#self.fwdLeftButton.move_name = "crab_fwdleft"
#self.fwdLeftButton.sel = lambda self.fwdLeftButton = self.fwdLeftButton: runMovement(move, self.fwdLeftButton.move_name)
#self.fwdLeftButton.config(image=self.fwdLeftPhoto, width="150", height="150", command = self.fwdLeftButton.sel)
self.fwdLeftButton.func = lambda func = func: runMovement(move,"crab_fwdleft")
self.fwdLeftButton.config(image=self.fwdLeftPhoto, width="150", height="150", command=self.fwdLeftButton.func)
self.fwdLeftButton.grid(row=2, column=0)
#fwd
self.fwdPhoto = PhotoImage(file="./Icons/move_fwds.gif")
self.fwdButton = Button(self.frame)
self.fwdButton.config(image=self.fwdPhoto, width="150", height="150")
self.fwdButton.grid(row=2, column=2)
#fwd right
self.fwdRightPhoto = PhotoImage(file="./Icons/move_fwdright.gif")
self.fwdRightButton = Button(self.frame)
self.fwdRightButton.config(image=self.fwdRightPhoto, width="150", height="150")
self.fwdRightButton.grid(row=2, column=4)
#left
self.leftPhoto = PhotoImage(file="./Icons/move_left.gif")
self.leftButton = Button(self.frame)
self.leftButton.config(image=self.leftPhoto, width="150", height="150")
self.leftButton.grid(row=4, column=0)
#stop
self.stopPhoto = PhotoImage(file="./Icons/stop.gif")
self.stopButton = Button(self.frame, command=self.estop)
self.stopButton.config(image=self.stopPhoto, width="150", height="150")
self.stopButton.grid(row=4, column=2)
#right
self.rightPhoto = PhotoImage(file="./Icons/move_right.gif")
self.rightButton = Button(self.frame)
self.rightButton.config(image=self.rightPhoto, width="150", height="150")
self.rightButton.grid(row=4, column=4)
#back left
self.backLeftPhoto = PhotoImage(file="./Icons/move_backleft.gif")
self.backLeftButton = Button(self.frame)
self.backLeftButton.config(image=self.backLeftPhoto, width="150", height="150")
self.backLeftButton.grid(row=6, column=0)
#back
self.backPhoto = PhotoImage(file="./Icons/move_back.gif")
self.backButton = Button(self.frame)
self.backButton.config(image=self.backPhoto, width="150", height="150")
self.backButton.grid(row=6, column=2)
#back right
self.backRightPhoto = PhotoImage(file="./Icons/move_backright.gif")
self.backRightButton = Button(self.frame)
self.backRightButton.config(image=self.backRightPhoto, width="150", height="150")
self.backRightButton.grid(row=6, column=4)
#rotate left
self.rotLeftPhoto = PhotoImage(file="./Icons/rotate_ccw.gif")
self.rotLeftButton = Button(self.frame)
self.rotLeftButton.config(image=self.rotLeftPhoto, width="150", height="150")
self.rotLeftButton.grid(row=2, column=6)
#rotate right
self.rotRightPhoto = PhotoImage(file="./Icons/rotate_cw.gif")
self.rotRightButton = Button(self.frame)
self.rotRightButton.config(image=self.rotRightPhoto, width="150", height="150")
self.rotRightButton.grid(row=4, column=6)
#dance
self.dancePhoto = PhotoImage(file="./Icons/dance.gif")
self.danceButton = Button(self.frame)
self.danceButton.config(image=self.dancePhoto, width="150", height="150")
self.danceButton.grid(row=6, column=6)
#sign stylised "X"
self.signxPhoto = PhotoImage(file="./Icons/sign_x.gif")
self.signxButton = Button(self.frame)
self.signxButton.config(image=self.signxPhoto, width="150", height="150")
self.signxButton.grid(row=2, column=8)
#sign Hexy
self.signHexyPhoto = PhotoImage(file="./Icons/sign_hexy.gif")
self.signHexyButton = Button(self.frame)
self.signHexyButton.config(image=self.signHexyPhoto, width="150", height="150")
self.signHexyButton.grid(row=4, column=8)
#write name
self.writeNamePhoto = PhotoImage(file="./Icons/sign_name.gif")
self.writeNameButton = Button(self.frame)
self.writeNameButton.config(image=self.writeNamePhoto, width="150", height="150")
self.writeNameButton.grid(row=6, column=8)
"""
self.addSpace([1, 1])
self.addSpace([3, 3])
self.addSpace([5, 5])
self.addSpace([7, 5])
self.loadOffsets()
# TODO add code to make sensible looking GUI
# required buttons: fwds, bkwds, left, right, (diagonals?), turn_cw, turn_ccw
# special buttons: sign Hexy (X?), sign custom message (requires dialog box)
# stretch commands: modulate height, modulate body angles
self.servos = []
# remove code for slider generation
"""
#setup left side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(0+i*4,[1,8+i*5])
self.newServo(1+i*4,[1,9+i*5])
self.newServo(2+i*4,[1,10+i*5])
self.newServo(3+i*4,[1,11+i*5])
#self.addSpace([0,12+i*5])
#setup right side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(16+i*4,[11,8+i*5])
self.newServo(17+i*4,[11,9+i*5])
self.newServo(18+i*4,[11,10+i*5])
self.newServo(19+i*4,[11,11+i*5])
#self.addSpace([11,12+i*5])
"""
#add some spaces for asthetics
#self.addSpace([10,10])
# generate buttons for all move functions
"""
counter = 0
for move_name in moves:
b = Button(self.frame, text=move_name, font=("Helvetica", 7))
b.move_name = move_name
b.sel = lambda b = b: runMovement(move,b.move_name)
b.config(command = b.sel)
b.grid(row=counter+8, column=0)
#b.pack()
counter += 1
"""
# don't need the following line as there are no sliders to update
#self.poll()
self.estop()
def replantFoot(self, endHipAngle, stepTime=1):
runMovement(self.replantFoot_function, endHipAngle, stepTime)
def setFootY(self, footY, stepTime=1):
runMovement(self.setFootY_function, footY, stepTime)
def setHipDeg(self, endHipAngle, stepTime=1):
runMovement(self.setHipDeg_function, endHipAngle, stepTime)
def __init__(self, master, controller):
self.con = controller
self.master = master
self.frame = Frame(self.master)
self.frame.pack()
# Setup menu system
menu = Menu(root)
root.config(menu=menu)
filemenu = Menu(menu)
menu.add_cascade(label="File", menu=filemenu)
filemenu.add_command(label="New")
filemenu.add_command(label="Save Offsets", command=self.saveOffsets)
# TODO: Bring these over from servitorGui
#filemenu.add_command(label="Open Offsets", command=self.openOffsets)
#filemenu.add_command(label="Save Positions", command=self.savePositions)
#filemenu.add_command(label="Open Positions", command=self.openPositions)
filemenu.add_separator()
filemenu.add_command(label="Exit", command=self.quitApp)
master.createcommand('exit', self.quitApp)
# Setup kill button
self.killButton = Button(self.frame,
text="Kill All Servos",
fg="red",
font=("Helvetica", 20),
command=self.estop)
self.killButton.grid(row=0, column=14)
self.loadOffsets()
self.servos = []
# Setup left side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(0 + i * 4, [1, 8 + i * 5])
self.newServo(1 + i * 4, [1, 9 + i * 5])
self.newServo(2 + i * 4, [1, 10 + i * 5])
self.newServo(3 + i * 4, [1, 11 + i * 5])
self.addSpace([0, 12 + i * 5])
# Setup right side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(16 + i * 4, [11, 8 + i * 5])
self.newServo(17 + i * 4, [11, 9 + i * 5])
self.newServo(18 + i * 4, [11, 10 + i * 5])
self.newServo(19 + i * 4, [11, 11 + i * 5])
self.addSpace([11, 12 + i * 5])
# Add some spaces for aesthetics
self.addSpace([10, 1])
# Generate buttons for all move functions
counter = 0
for move_name in moves:
b = Button(self.frame, text=move_name)
b.move_name = move_name
b.sel = lambda b=b: runMovement(move, b.move_name)
b.config(command=b.sel)
b.grid(row=counter + 8, column=0)
#b.pack()
counter += 1
self.poll()
self.estop()
def gui_estop(self):
servotorComm.runMovement(self.estop)
def gui_estop(self):
servotorComm.runMovement(self.estop)
def __init__(self, master):
self.con = servotorComm.Controller() # Servo controller
self.hexy = hexapod(self.con)
self.master = master
self.frame = Frame(self.master)
self.frame.pack()
#setup menu system
menu = Menu(root)
root.config(menu=menu)
filemenu = Menu(menu)
menu.add_cascade(label="File", menu=filemenu)
filemenu.add_command(label="New")
filemenu.add_command(label="Save Offsets", command=self.saveOffsets)
# TODO: bring these over from servitorGui
#filemenu.add_command(label="Open Offsets", command=self.openOffsets)
#filemenu.add_command(label="Save Positions", command=self.savePositions)
#filemenu.add_command(label="Open Positions", command=self.openPositions)
filemenu.add_separator()
filemenu.add_command(label="Exit", command=self.quitApp)
#setup kill button
self.killButton = Button(self.frame,
text="Kill All Servos",
fg="red",
font=("Helvetica", 20),
command=self.gui_estop)
self.killButton.grid(row=0, column=14)
self.loadOffsets()
self.servos = []
#setup left side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(0 + i * 4, [1, 8 + i * 5])
self.newServo(1 + i * 4, [1, 9 + i * 5])
self.newServo(2 + i * 4, [1, 10 + i * 5])
self.newServo(3 + i * 4, [1, 11 + i * 5])
self.addSpace([0, 12 + i * 5])
#setup right side, 4 groups of 4 servo controls
for i in xrange(4):
self.newServo(16 + i * 4, [11, 8 + i * 5])
self.newServo(17 + i * 4, [11, 9 + i * 5])
self.newServo(18 + i * 4, [11, 10 + i * 5])
self.newServo(19 + i * 4, [11, 11 + i * 5])
self.addSpace([11, 12 + i * 5])
#add some spaces for asthetics
self.addSpace([10, 1])
# generate buttons for all move functions
counter = 0
for move_name in dir(self):
if "move_" in move_name:
b = Button(
self.frame,
text=move_name[5:],
command=lambda func=getattr(self, "move_" + move_name[
5:]): servotorComm.runMovement(func))
b.grid(row=counter + 8, column=0)
#b.pack()
counter += 1
#servoBars = []
self.poll()
self.estop()
def runCommand(self, op):
# Use op as name of Move
runMovement(self.move, op)
