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GUI.py
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GUI.py
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import math, ConfigParser, ast, os, re, time, sys
import wx
import PoMoCoModule
import webbrowser
import wx.lib.agw.hyperlink as hl
if os.name == 'nt': #sys.platform == 'win32':
from serial.tools.list_ports_windows import *
elif os.name == 'posix':
from serial.tools.list_ports_posix import *
else:
raise ImportError("Sorry: no implementation for your platform ('%s') available" % (os.name,))
#naughty magic constants
ROBOTS_FOLDER_PATH = "Robots/"
ROBOT_FOLDER_PATH = "Robots/Hexy V1/"
#----------------------------------------------------------------------
def sendNote(note):
PoMoCoModule.Node.modules[note.receiver].put(note)
def writeAndSendNote(type, message, receiver):
toSend = PoMoCoModule.Note()
toSend.sender = "GUI"
toSend.type = type
toSend.message = message
toSend.receiver = receiver
sendNote(toSend)
class RedirectText(object):
def __init__(self,aWxTextCtrl):
self.out=aWxTextCtrl
def write(self,string):
wx.CallAfter(self.out.WriteText, string)
class MainGui(wx.Frame):
def __init__(self):
super(MainGui, self).__init__(None, title="PoMoCo 2.0 - Position and Motion Controller", size=(730, 750))
self.initUI()
#self.LoadRobot(ROBOT_FOLDER_PATH)
self.Show()
def initUI(self):
self.topPanel = wx.Panel(self)
if os.name == 'nt':
self.topPanel.SetFont(wx.Font(8,wx.FONTFAMILY_MODERN,wx.FONTSTYLE_NORMAL,wx.FONTWEIGHT_NORMAL, faceName="Helvetica"))
self.SetBackgroundColour('LIGHT_GREY')
elif os.name == 'posix':
self.topPanel.SetFont(wx.Font(12,wx.FONTFAMILY_MODERN,wx.FONTSTYLE_NORMAL,wx.FONTWEIGHT_NORMAL, faceName="Helvetica"))
self.SetBackgroundColour('LIGHT GREY')
# robot select
robotPanel = wx.Panel(self.topPanel, size=(100,30))
self.robots = RobotSelect(robotPanel)
# side button for executing Moves
movePanel = wx.Panel(self.topPanel, size=(100, 1000))
self.moveButtons = MoveControls(movePanel)
# controller control panel
controllerPanel = wx.Panel(self.topPanel)
controller = ControllerPanel(controllerPanel)
controller.SetFirmwareV("?")
self.controller = controller
# Servo control and visualization area
servoPanel = wx.Panel(self.topPanel, size=(600, 521))
self.servos = ServoWidget(servoPanel, 600, 521)
# Servo show/hide toggle panel
togglePanel = wx.Panel(self.topPanel)
self.toggle = ServoToggle(togglePanel)
for button in self.toggle.toggleButtons:
button.Bind(wx.EVT_TOGGLEBUTTON, self.OnToggleServo)
self.toggle.disableAllBtn.Bind(wx.EVT_BUTTON, self.OnDisableAll)
self.toggle.centerAllBtn.Bind(wx.EVT_BUTTON, self.OnCenterAll)
self.toggle.enableAllBtn.Bind(wx.EVT_BUTTON, self.OnEnableAll)
self.toggle.offsetsEditBtn.Bind(wx.EVT_BUTTON, self.OnEditOffsets)
#console panel
self.consoleBox = wx.TextCtrl(self.topPanel, size=(380, 230), pos=(5,5), style=wx.TE_MULTILINE)
sys.stdout = RedirectText(self.consoleBox)
### Main GUI Layout
#Left Panel
leftBox = wx.BoxSizer(wx.VERTICAL)
leftBox.Add(robotPanel, proportion=0, border=5)
leftBox.Add(movePanel, proportion=0, border=5)
#Middle Panel
middleBox = wx.BoxSizer(wx.VERTICAL)
middleBox.Add(controllerPanel, proportion=0, border=5,flag=wx.CENTER)
middleBox.Add(servoPanel, proportion=1, border=5,flag=wx.CENTER)
middleBox.Add(togglePanel, proportion=0, border=5,flag=wx.CENTER)
middleBox.AddSpacer(5, proportion=0)
middleBox.Add(self.consoleBox, proportion=2, border=5, flag=wx.EXPAND|wx.CENTER)
middleBox.AddSpacer(5, proportion=0)
#Right Panel
rightBox = wx.BoxSizer(wx.VERTICAL)
rightBox.AddSpacer(5, proportion=0)
#Top Panel
topBox = wx.BoxSizer(wx.HORIZONTAL)
topBox.Add(leftBox, proportion=0, flag=wx.EXPAND)
topBox.Add(middleBox, proportion=1, flag=wx.EXPAND|wx.CENTER)
topBox.Add(rightBox, proportion=0, flag=wx.EXPAND|wx.CENTER)
self.topPanel.SetSizerAndFit(topBox)
### menu bar
menubar = wx.MenuBar()
self.SetMenuBar(menubar)
fileMenu = wx.Menu()
menubar.Append(fileMenu, '&File')
saveServosMenuItem = fileMenu.Append(wx.NewId(), "Save Servos", "Save the state of the servos in a file")
self.Bind(wx.EVT_MENU, self.OnSaveServos, saveServosMenuItem)
loadServosMenuItem = fileMenu.Append(wx.NewId(), "Load Servos", "Load the state of the servos from a file")
self.Bind(wx.EVT_MENU, self.OnLoadServos, loadServosMenuItem)
exitMenuItem = fileMenu.Append(wx.NewId(), "Exit", "Exit the application")
self.Bind(wx.EVT_MENU, self.OnExit, exitMenuItem)
helpMenu = wx.Menu()
menubar.Append(helpMenu, '&Help')
servoCalibrationWizard = helpMenu.Append(wx.NewId(), "Calibrate Servo Wizard", "Calibrate the Robot's Servos")
self.Bind(wx.EVT_MENU, self.LaunchServoCalibrationWizard, servoCalibrationWizard)
usingPoMoCo = helpMenu.Append(wx.NewId(), "How to use PoMoCo", "Help on how to use PoMoCo")
self.Bind(wx.EVT_MENU, self.UsingPoMoCo, usingPoMoCo)
aboutPoMoCo = helpMenu.Append(wx.NewId(), "About PoMoCo", "Information about PoMoCo")
self.Bind(wx.EVT_MENU, self.LaunchAboutPage, aboutPoMoCo)
def UpdateServoPos(self, num, pos):
for servo in self.servos.servos:
if servo.num == num:
servo.SetDeg(pos)
servo.Refresh()
def UpdateServoOffset(self, num, offset):
for servo in self.servos.servos:
if servo.num == num:
servo.SetOffset(offset)
servo.Refresh()
def UpdateServoActive(self, num, state):
for servo in self.servos.servos:
if servo.num == num:
servo.SetActive(state)
servo.Refresh()
def UpdateConnectionState(self, state):
self.controller.SetConnectionStatus(state)
def UpdatePortList(self, portList):
self.controller.SetPortList(portList)
def UpdateFirmwareVersion(self, version):
self.controller.SetFirmwareV(str(version))
def UpdateArduinoCode(self, code):
self.moveButtons.updateCodeBox(code)
def ServoCalibrationWizard(self, evt):
pass
def UsingPoMoCo(self, evt):
webbrowser.open_new_tab("http://arcbotics.com/products/pomoco/how-to-use-pomoco/")
def LaunchAboutPage(self, evt):
self.aboutPageItem = AboutPage(self.topPanel, 1)
def LaunchServoCalibrationWizard(self, evt):
self.ServoCalibrationWizard = ServoCalibrationWizard(self.topPanel, 1)
def LoadRobot(self, folderPath):
Config = ConfigParser.ConfigParser()
Config.read(folderPath+"robot.inf")
self.robotName = Config.get('robot', 'name')
self.robotVersion = Config.get('robot', 'version')
self.controllerName = Config.get('robot', 'controller')
robotMovesFolder = Config.get('robot', 'movesfolder')
mainFileName = Config.get('robot', 'mainfile')
servoFileName = Config.get('robot', 'servofile')
imageFileName = Config.get('robot', 'imagefile')
self.moveButtons.SetMovesFolder(folderPath+robotMovesFolder)
self.LoadServoConfig(folderPath + servoFileName)
bmp = wx.Bitmap(folderPath+imageFileName)
self.servos.SetBackgroundImage(bmp)
self.Refresh()
def OnExit(self, evt):
self.Close()
pass
def OnSaveServos(self, evt):
saveFileDialog = wx.FileDialog(self, "Save servo file", "", "", "inf files (*.inf)|*.inf", wx.FD_SAVE)
if saveFileDialog.ShowModal() == wx.ID_CANCEL:
return # the user changed idea...
with open(saveFileDialog.GetPath(), 'w') as cfgFile:
Config = ConfigParser.ConfigParser()
for servo in self.servos.servos:
numStr = "servo_%.2d"%int(servo.num)
Config.add_section(numStr)
Config.set(numStr,'num',servo.num)
Config.set(numStr,'active',servo.active)
Config.set(numStr,'deg',servo.deg)
Config.set(numStr,'offset',servo.offset)
Config.set(numStr,'visible',servo.visible)
Config.set(numStr,'posX',servo.pos[0])
Config.set(numStr,'posY',servo.pos[1])
Config.set(numStr,'joint',servo.joint)
Config.write(cfgFile)
cfgFile.close()
def OnLoadServos(self, evt):
openFileDialog = wx.FileDialog(self, "Open servo file", "", "", "inf files (*.inf)|*.inf", wx.FD_OPEN)
if openFileDialog.ShowModal() == wx.ID_CANCEL:
return # the user changed idea...
self.LoadServoConfig(openFileDialog.GetPath())
def LoadServoConfig(self, filePath):
Config = ConfigParser.ConfigParser()
Config.read(filePath)
self.servos.servos = []
for servo in Config.sections():
num = int(Config.get(servo, 'num'))
posX = int(Config.get(servo, 'posX'))
posY = int(Config.get(servo, 'posY'))
pos = (posX, posY)
deg = float(Config.get(servo, 'deg'))
offset = float(Config.get(servo, 'offset'))
visible = ast.literal_eval(Config.get(servo, 'visible'))
active = ast.literal_eval(Config.get(servo, 'active'))
joint = str(Config.get(servo, 'joint'))
self.servos.AddServo(num, pos, deg, offset, visible, active, joint)
button = self.toggle.GetButton(num)
if button:
button.SetValue(visible)
self.Refresh()
def OnToggleServo(self, evt):
button = evt.GetEventObject()
servo = self.servos.getServo(button.GetLabel())
if servo:
servo.visible = button.GetValue()
servo.Render()
else:
servoNum = int(button.GetLabel())
self.servos.AddServo(servoNum, (0,0), active=False)
self.Refresh()
def OnEditOffsets(self, evt):
#show the servo offsets for writing
for servo in self.servos.servos:
servo.OffsetsToggle()
servo.Render()
self.Refresh()
def OnWriteOffsets(self, evt):
#write that shit to the controller
pass
def OnDisableAll(self, evt):
for servo in self.servos.servos:
servo.SetActive(False)
servo.Render()
writeAndSendNote("RequestDisableAll", "", "robot")
self.Refresh()
def OnEnableAll(self, evt):
for servo in self.servos.servos:
servo.SetActive(True)
servo.Render()
writeAndSendNote("RequestEnableAll", "", "robot")
self.Refresh()
def OnCenterAll(self, evt):
for servo in self.servos.servos:
servo.SetDeg(0)
servo.Render()
writeAndSendNote("RequestCenterAll", "", "robot")
self.Refresh()
class AboutPage(wx.Frame):
def __init__(self,parent,id):
wx.Frame.__init__(self, parent, id, 'Hexy Servo Calibration Wizard')
wx.Frame.CenterOnScreen(self)
self.panel = wx.Panel(self)
self.vertical = wx.BoxSizer(wx.VERTICAL)
text = "PoMoCo (Postition and Moction Controller) is an open-source robot control application developed by" \
"ArcBotics LLC."
part1 = wx.StaticText(self.panel, -1, text, style=wx.ALIGN_LEFT)
hyper1 = hl.HyperLinkCtrl(self.panel, -1, "http://www.arcbotics.com\n", URL="http://www.arcbotics.com")
text = "More information is available on it's homepage at:"
part2 = wx.StaticText(self.panel, -1, text, style=wx.ALIGN_LEFT)
hyper2 = hl.HyperLinkCtrl(self.panel, -1, "http://arcbotics.com/products/pomoco\n", URL="http://arcbotics.com/products/pomoco")
text = "or at its github page at:"
part3 = wx.StaticText(self.panel, -1, text, style=wx.ALIGN_LEFT)
hyper3 = hl.HyperLinkCtrl(self.panel, -1, "http://github.com/arcbotics/github\n", URL="http://github.com/arcbotics/github")
text = "PoMoCo is developed and released under the MIT License:\n" \
"\n" \
"The MIT License (MIT)\n" \
"Copyright 2015 ArcBotics LLC.,\n" \
"http://arcbotics.com\n" \
"\n" \
"Permission is hereby granted, free of charge, to any person obtaining a copy\n" \
"of this software and associated documentation files (the 'Software'), to deal\n" \
"in the Software without restriction, including without limitation the rights\n" \
"to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n" \
"copies of the Software, and to permit persons to whom the Software is\n" \
"furnished to do so, subject to the following conditions:\n" \
"\n" \
"The above copyright notice and this permission notice shall be included in\n" \
"all copies or substantial portions of the Software.\n" \
"\n" \
"THE SOFTWARE IS PROVIDED 'AS IS', WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n" \
"IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n" \
"FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n" \
"AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n" \
"LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n" \
"OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n" \
"THE SOFTWARE.\n"
part4 = wx.StaticText(self.panel, -1, text, style=wx.ALIGN_LEFT)
self.vertical.Add(part1, border=5, flag=wx.LEFT|wx.RIGHT|wx.TOP)
self.vertical.Add(hyper1, border=5, flag=wx.LEFT|wx.RIGHT)
self.vertical.Add(part2, border=5, flag=wx.LEFT|wx.RIGHT)
self.vertical.Add(hyper2, border=5, flag=wx.LEFT|wx.RIGHT)
self.vertical.Add(part3, border=5, flag=wx.LEFT|wx.RIGHT)
self.vertical.Add(hyper3, border=5, flag=wx.LEFT|wx.RIGHT)
self.vertical.Add(part4, border=5, flag=wx.LEFT|wx.RIGHT|wx.BOTTOM)
self.panel.SetSizerAndFit(self.vertical)
self.Fit()
self.Show()
class ServoCalibrationWizard(wx.Frame):
def __init__(self,parent,id):
self.activeServo = None
self.parent = parent
self.id = id
self.jointCounter = 0
self.servoOrder = [5,6,7, 9,10,11, 13,14,15, 18, 17, 16, 22,21,20, 26,25,24, 31]
self.servoPosition = ["Front Left Foot", "Front Left Thigh", "Front Left Hip",
"Middle Left Foot", "Middle Left Thigh", "Middle Left Hip",
"Back Left Foot", "Back Left Thigh", "Back Left Hip",
"Back Right Foot", "Back Right Thigh", "Back Right Hip",
"Middle Right Foot", "Middle Right Thigh", "Middle Right Hip",
"Front Right Foot", "Front Right Thigh", "Front Right Hip",
"Head"]
self.servoType = ["Foot", "Thigh", "Hip",
"Foot", "Thigh", "Hip",
"Foot", "Thigh", "Hip",
"Foot", "Thigh", "Hip",
"Foot", "Thigh", "Hip",
"Foot", "Thigh", "Hip",
"Head"]
self.offsetChoices = {}
self.servoMapLocations = {5:[53,47], 6:[70,70], 7:[85,91],
9:[16,158], 10:[34,161], 11:[57,163],
13:[64,261], 14:[80,245], 15:[94,229],
18:[236,260], 17:[222,242], 16:[205,227],
22:[289,157], 21:[264,158], 20:[240,160],
26:[240,46], 25:[225,67], 24:[210,87],
31:[148,89]}
self.initUI()
for servo in self.servoOrder:
writeAndSendNote("SetServoActive", "%d,%s"%(servo, "inactive"), "robot")
self.startCalibratingServo()
def initUI(self):
wx.Frame.__init__(self, self.parent, self.id, 'Hexy Servo Calibration Wizard')
wx.Frame.CenterOnScreen(self)
self.panel = wx.Panel(self)
#Window text at top
self.vertical = wx.BoxSizer(wx.VERTICAL)
calibrationTitle = wx.StaticText(self.panel, -1, "Calibrating Hexy", style=wx.ALIGN_CENTER)
font = wx.Font(18, wx.FONTFAMILY_SWISS, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_BOLD)
calibrationTitle.SetFont(font)
self.vertical.Add(calibrationTitle, border=10, flag=wx.ALL|wx.CENTER)
normalFont = wx.Font(12, wx.FONTFAMILY_SWISS, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_BOLD)
#Left panel - overall guide on which servo is being calibrated
self.leftBox = wx.BoxSizer(wx.VERTICAL)
self.servoTitle = wx.StaticText(self.panel, -1, "Joint 00/18 - None - Servo -1", style=wx.ALIGN_CENTER)
self.servoTitle.SetFont(normalFont)
self.leftBox.Add(self.servoTitle, 0, wx.CENTER)
#image of hexy being calibrated, showing which servo is currently being calibrated
#self.calGuideImage = wx.StaticBitmap(self.panel, wx.ID_ANY, wx.BitmapFromImage(wx.Image('Images//robot_300.jpg', wx.BITMAP_TYPE_ANY)))
#self.leftBox.Add(self.calGuideImage, border=10, flag=wx.ALL)
#alternate image that is capable of drawing servos onto
self.drawPanel = wx.Panel(self, size=(300, 300))
self.drawPanel.Bind(wx.EVT_PAINT, self.OnPaint)
self.drawPanel.Bind(wx.EVT_ERASE_BACKGROUND, self.OnEraseBackground)
self.selectBlinkOn = True #controls whether the blinking servo is blinked on or off
self.timer = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.flashCurrentServo, self.timer)
self.timer.Start(300)
self.leftBox.Add(self.drawPanel, border=10, flag=wx.ALL)
#buttons to choose previous/next servo
self.prevNextButtons = wx.BoxSizer(wx.HORIZONTAL)
self.prevServoBtn = wx.Button(self.panel, label="Previous")
self.prevServoBtn.Bind(wx.EVT_BUTTON, self.prevServo)
self.prevNextButtons.Add(self.prevServoBtn, 0, wx.LEFT)
self.nextServoBtn = wx.Button(self.panel, label="Next")
self.nextServoBtn.Bind(wx.EVT_BUTTON, self.nextServo)
self.prevNextButtons.Add(self.nextServoBtn, 0, wx.RIGHT)
self.leftBox.Add(self.prevNextButtons, 1, wx.CENTER)
#Right pane - calibrating the individual servo
self.rightBox = wx.BoxSizer(wx.VERTICAL)
instructionTitle = wx.StaticText(self.panel, -1, "Adjust below until aligned as shown", style=wx.ALIGN_CENTER)
instructionTitle.SetFont(normalFont)
self.rightBox.Add(instructionTitle, 0, wx.CENTER)
img = wx.EmptyImage(300,300)
self.jointGuideImage = wx.StaticBitmap(self.panel, wx.ID_ANY, wx.BitmapFromImage(wx.Image('Images//Hip_Guide_300.jpg', wx.BITMAP_TYPE_ANY)))
self.rightBox.Add(self.jointGuideImage, border=10, flag=wx.ALL)
self.offsetAdjustSizer = wx.BoxSizer(wx.HORIZONTAL)
self.offsetSlider = wx.Slider(self.panel, id=0, value=0, minValue=-30.0, maxValue=30.0, size=(250, -1), style=wx.SL_HORIZONTAL | wx.SL_AUTOTICKS | wx.SL_LABELS )
self.offsetSlider.Bind(wx.EVT_SLIDER, self.changeOffset)
self.offsetAdjustSizer.Add(self.offsetSlider, 0, border=5)
self.rightBox.Add(self.offsetAdjustSizer, 0, wx.CENTER)
#Bottom portion - finish calibration
self.twoBoxes = wx.BoxSizer(wx.HORIZONTAL)
self.twoBoxes.Add(self.leftBox)
self.twoBoxes.Add(self.rightBox)
self.vertical.Add(self.twoBoxes)
finishedCalibrationBtn = wx.Button(self.panel, label="Finish Calibration")
finishedCalibrationBtn.Bind(wx.EVT_BUTTON, self.OnClose)
self.vertical.Add(finishedCalibrationBtn, border=10, flag=wx.ALL|wx.CENTER)
self.panel.SetSizerAndFit(self.vertical)
self.Fit()
self.Show()
def OnEraseBackground(self, evt):
dc = evt.GetDC()
if not dc:
dc = wx.ClientDC(self.drawPanel)
rect = self.drawPanel.GetUpdateRegion().GetBox()
dc.SetClippingRect(rect)
dc.SetBackground(wx.Brush('WHITE'))
bmp = wx.Bitmap('Images//robot_300.jpg')
dc.DrawBitmap(bmp, 0, 0)
def OnPaint(self, evt):
dc = wx.PaintDC(self.drawPanel)
bmp = wx.Bitmap('Images//robot_300.jpg')
dc.DrawBitmap(bmp, 0, 0)
#draw the servos activated
for servo in self.servoOrder:
self.IndicateServo(dc, servo, 'Red')
for servo in self.offsetChoices:
self.IndicateServo(dc, servo, 'Green')
if self.selectBlinkOn:
self.IndicateServo(dc, self.activeServo, 'Yellow')
else:
self.IndicateServo(dc, self.activeServo, 'Red')
def IndicateServo(self, dc, servo, color):
dc.SetPen(wx.Pen('White', 6, wx.SOLID))
dc.SetBrush(wx.Brush('WHITE', wx.TRANSPARENT))
dc.DrawCircle(self.servoMapLocations[servo][0], self.servoMapLocations[servo][1], 8) # body outline circle
dc.SetPen(wx.Pen(color, 4, wx.SOLID))
dc.DrawCircle(self.servoMapLocations[servo][0], self.servoMapLocations[servo][1], 8) # body outline circle
def flashCurrentServo(self, evt):
if self.selectBlinkOn:
self.selectBlinkOn = False
else:
self.selectBlinkOn = True
x = self.servoMapLocations[self.activeServo][0]
y = self.servoMapLocations[self.activeServo][1]
self.drawPanel.RefreshRect(wx.Rect(x-10, y-10, 20, 20))
def startCalibratingServo(self):
#set current servo inactive
if self.activeServo:
writeAndSendNote("SetServoActive", "%d,%s"%(self.activeServo, "inactive"), "robot")
#save the current servo state
offset = self.offsetSlider.GetValue()
self.offsetChoices[self.activeServo] = offset
#change servo diagram picture accordingly
if self.servoType[self.jointCounter] == "Foot":
self.jointGuideImage.SetBitmap(wx.BitmapFromImage(wx.Image('Images//Foot_Guide_300.jpg', wx.BITMAP_TYPE_ANY)))
if self.servoType[self.jointCounter] == "Thigh":
self.jointGuideImage.SetBitmap(wx.BitmapFromImage(wx.Image('Images//Thigh_Guide_300.jpg', wx.BITMAP_TYPE_ANY)))
if self.servoType[self.jointCounter] == "Hip":
self.jointGuideImage.SetBitmap(wx.BitmapFromImage(wx.Image('Images//Hip_Guide_300.jpg', wx.BITMAP_TYPE_ANY)))
if self.servoType[self.jointCounter] == "Head":
self.jointGuideImage.SetBitmap(wx.BitmapFromImage(wx.Image('Images//Head_Guide_300.jpg', wx.BITMAP_TYPE_ANY)))
#activate and center new servo
self.activeServo = self.servoOrder[self.jointCounter]
self.servoTitle.SetLabel("%.2d/%.2d - %s - Servo %.2d"%(self.jointCounter+1, len(self.servoOrder), self.servoPosition[self.jointCounter], self.activeServo))
self.panel.Layout() #re-centers the text
writeAndSendNote("SetServoActive", "%d,%s"%(self.activeServo, "active"), "robot")
writeAndSendNote("SetServoPos", "%d,%.1f"%(self.activeServo, 0), "robot")
self.Refresh()
#reload servo offset, if it existed before. If not, set slider to zero.
if self.activeServo in self.offsetChoices:
offset = self.offsetChoices[self.activeServo]
self.offsetSlider.SetValue(offset)
else:
self.offsetSlider.SetValue(0)
def changeOffset(self, evt):
#change offset output based on slider
offset = self.offsetSlider.GetValue()
self.offsetChoices[self.activeServo] = offset
writeAndSendNote("SetServoOffset", "%d,%.1f"%(self.activeServo, offset), "robot")
def nextServo(self, evt):
#find out which is next servo, set it active
self.jointCounter += 1
if self.jointCounter > len(self.servoOrder)-1:
self.jointCounter = len(self.servoOrder)-1
else:
self.startCalibratingServo()
def prevServo(self, evt):
#find out which is previous servo, set it active
self.jointCounter -= 1
if self.jointCounter < 0:
self.jointCounter = 0
else:
self.startCalibratingServo()
def OnClose(self, evt):
self.timer.Stop()
self.Destroy()
class RobotSelect():
def __init__(self, panel):
self.panel = panel
self.robots = None
#stuff the list with all the directories in ROBOTS_FOLDER_PATH
for folder in os.listdir('Robots'):
if os.path.isdir(folder):
self.robots.append(str(folder))
self.robots = ["Hexy V1"]
cb = wx.ComboBox(self.panel, pos=(5, 5), choices=self.robots, style=wx.CB_READONLY)
if len(self.robots) >= 1:
cb.SetValue(self.robots[0])
ROBOT_FOLDER_PATH = ROBOTS_FOLDER_PATH + self.robots[0] + "\\"
def OnComboSelect(self):
pass
class ArduinoRecordWindow(wx.Frame):
def __init__(self,parent,id):
wx.Frame.__init__(self, parent, id, 'Record Arduino Moves', size=(400,300))
wx.Frame.CenterOnScreen(self)
self.panel = wx.Panel(self)
icon = wx.Bitmap('Images//RecBtn.png')
self.recordBtn = wx.BitmapButton(self.panel, bitmap=icon, size=(30, 30))
self.recordBtn.Bind(wx.EVT_BUTTON, self.recordMoves)
icon = wx.Bitmap('Images//StopBtn.png')
self.stopBtn = wx.BitmapButton(self.panel, bitmap=icon, size=(30, 30))
self.stopBtn.Bind(wx.EVT_BUTTON, self.stopRecordMoves)
self.moveNameLabel = wx.StaticText(self.panel, label="Move Name:")
self.moveName = wx.TextCtrl(self.panel, size=(300, 20))
self.moveName.SetValue("hexy")
self.arduinoCode = wx.TextCtrl(self.panel, style=wx.TE_MULTILINE|wx.TE_READONLY)
text = "How to record a move for Arduino:\n" \
"0.) (Optional) Choose a move name in the box above\n" \
"1.) Press the red record above button above\n" \
"2.) Run a move or multiple moves in PoMoCo\n" \
"3.) Press the black stop button above\n" \
"4.) Copy the generated move code to the Arduino IDE"
self.arduinoCode.ChangeValue(text)
#GUI Layout
self.horizontal = wx.BoxSizer()
self.horizontal.Add(self.recordBtn, flag=wx.CENTER)
self.horizontal.Add(self.stopBtn, flag=wx.CENTER)
self.horizontal.Add(self.moveNameLabel, flag=wx.CENTER)
self.horizontal.Add(self.moveName, flag=wx.CENTER)
self.vertical = wx.BoxSizer(wx.VERTICAL)
self.vertical.Add(self.horizontal, flag=wx.EXPAND)
self.vertical.Add(self.arduinoCode, proportion=1, flag=wx.EXPAND)
self.panel.SetSizerAndFit(self.vertical)
self.Show()
def recordMoves(self, evt):
moveNameStr = self.moveName.GetValue()
self.arduinoCode.ChangeValue("Recording PoMoCo Moves...\nStop when finished for Arduino Code")
writeAndSendNote("StartRecording", moveNameStr, "controller")
def stopRecordMoves(self, evt):
writeAndSendNote("StopRecording", "", "controller")
def updateCodeBox(self, code):
self.arduinoCode.ChangeValue(code)
class MoveControls():
def __init__(self, panel):
self.panel = panel
self.moveFolderPath = None
self.moves = []
self.moveBtns = []
#self.firmwareLabel = wx.StaticText(self.panel, label="Moves", pos=(30,7))
icon = wx.Bitmap('Images//Refresh.png')
refreshBtn = wx.BitmapButton(self.panel, bitmap=icon, pos=(5,5), size=(30, 22))
refreshBtn.Bind(wx.EVT_BUTTON, self.loadButtons)
icon = wx.Bitmap('Images//Arduino.png')
refreshBtn = wx.BitmapButton(self.panel, bitmap=icon, pos=(35,5), size=(30, 22))
refreshBtn.Bind(wx.EVT_BUTTON, self.ArduinoRecord)
def updateCodeBox(self, code):
if self.arduinoCodeWindow:
self.arduinoCodeWindow.updateCodeBox(code)
def ArduinoRecord(self, evt):
self.arduinoCodeWindow = ArduinoRecordWindow(self.panel,1)
def SetMovesFolder(self, folderPath):
self.moveFolderPath = folderPath
self.loadButtons()
def loadButtons(self, evt=None):
offsetY=30
if len(self.moveBtns) > 0:
for button in self.moveBtns:
button.Destroy()
self.moves = []
self.moveBtns = []
if self.moveFolderPath:
for fileName in os.listdir(self.moveFolderPath):
if os.path.splitext(fileName)[1] == '.py':
fileName = os.path.splitext(fileName)[0]
s1 = re.sub('(.)([A-Z][a-z]+)', r'\1 \2', fileName)
self.moves.append(s1)
self.moves.sort()
for move in self.moves:
cbtn = wx.Button(self.panel, style=wx.BU_LEFT, label=str(move), pos=(5,offsetY), size=(85, 20))
cbtn.moveName = move
cbtn.Bind(wx.EVT_BUTTON, self.OnMoveButton)
self.moveBtns.append(cbtn)
offsetY += 22
def OnMoveButton(self, evt):
moveName = evt.GetEventObject().moveName
writeAndSendNote("RunMove", "%s"%(moveName), "robot")
class ServoWidget(wx.Panel):
def __init__(self, parent, width , height):
self.parent = parent
self.servos = []
self.dragImage = None
self.dragShape = None
self.dragPos = None
self.hiliteShape = None
self.parent.SetCursor(wx.StockCursor(wx.CURSOR_ARROW))
self.bg_bmp = wx.EmptyBitmap(width, height)
self.parent.Bind(wx.EVT_ERASE_BACKGROUND, self.OnEraseBackground)
self.parent.Bind(wx.EVT_PAINT, self.OnPaint)
self.parent.Bind(wx.EVT_LEFT_DOWN, self.OnLeftDown)
self.parent.Bind(wx.EVT_LEFT_UP, self.OnLeftUp)
self.parent.Bind(wx.EVT_MOTION, self.OnMotion)
self.parent.Bind(wx.EVT_LEFT_DCLICK, self.OnLeftDClick)
self.parent.Bind(wx.EVT_LEAVE_WINDOW, self.OnLeaveWindow)
self.LastDrivenTimer = wx.Timer(self.parent)
self.parent.Bind(wx.EVT_TIMER, self.LastDrivenCheck, self.LastDrivenTimer)
self.LastDrivenTimer.Start(50)
def LastDrivenCheck(self, evt):
for servo in self.servos:
servo.CheckDriven()
def SetBackgroundImage(self, bmp):
self.bg_bmp = bmp
def AddServo(self, num, pos, deg=float(0.0), offset=float(0.0), visible=True, active=False, joint=""):
servo = ServoControl(self, num, pos, deg, offset, visible, active, joint)
self.servos.append(servo)
def OnToggleServo(self, evt):
obj = evt.GetEventObject()
isPressed = obj.GetValue()
servo = self.getServo(int(obj.label))
servo.SetActive(isPressed)
self.parent.Update()
def getServo(self, servoNum):
for servo in self.servos:
if servo.num == int(servoNum):
return servo
return None
def OnLeaveWindow(self, evt):
pass
# tile the background bitmap
def TileBackground(self, dc):
dc.SetBackground(wx.Brush('WHITE'))
dc.DrawBitmap(self.bg_bmp, 0, 0)
# Go through our list of shapes and draw them in whatever place they are.
def DrawShapes(self, dc):
for shape in self.servos:
if shape.visible:
shape.Draw(dc)
# This is actually a sophisticated 'hit test', but in this
# case we're also determining which shape, if any, was 'hit'.
def FindShape(self, pt):
for shape in self.servos:
if shape.HitTest(pt):
return shape
return None
# Clears the background, then redraws it. If the DC is passed, then
# we only do so in the area so designated. Otherwise, it's the whole thing.
def OnEraseBackground(self, evt):
dc = evt.GetDC()
if not dc:
dc = wx.ClientDC(self)
rect = self.parent.GetUpdateRegion().GetBox()
dc.SetClippingRect(rect)
self.TileBackground(dc)
# Fired whenever a paint event occurs
def OnPaint(self, evt):
dc = wx.PaintDC(self.parent)
#self.PrepareDC(dc)
self.DrawShapes(dc)
def OnLeftDClick(self, evt):
pt = evt.GetPosition()
shape = self.FindShape(pt)
if shape:
if shape.ActiveOnButtonTest(pt):
#print shape.num,"turned active"
shape.SendActive(True)
self.parent.RefreshRect(shape.GetRect(), True)
self.parent.Update()
if shape.ActiveOffButtonTest(pt):
#print shape.num,"turned inactive"
shape.SendActive(False)
self.parent.RefreshRect(shape.GetRect(), True)
self.parent.Update()
if shape.OffsetPlusTest(pt):
shape.SendOffset(shape.offset + 1)
shape.Render()
self.parent.RefreshRect(shape.GetRect(), True)
self.parent.Update()
if shape.OffsetMinusTest(pt):
shape.SendOffset(shape.offset - 1)
shape.Render()
self.parent.RefreshRect(shape.GetRect(), True)
self.parent.Update()
if shape.ServoControlTest(pt):
shape.SendDeg(0)
shape.Refresh()
if shape.offsetsShown:
rect = wx.Rect(shape.pos[0]+12, shape.pos[1]+40, 24, 10)
if rect.InsideXY(pt.x, pt.y):
shape.offset = 0
shape.Render()
self.parent.RefreshRect(shape.GetRect(), True)
self.parent.Update()
# Left mouse button is down.
def OnLeftDown(self, evt):
pt = evt.GetPosition()
# Did the mouse go down on one of our shapes?
shape = self.FindShape(pt)
# If a shape was 'hit', then set that as the shape we're going to
# drag around. Get our start position. Dragging has not yet started.
# That will happen once the mouse moves, OR the mouse is released.
if shape:
if(shape.ControlTest(pt)):
if shape.ServoControlTest(pt):
self.dragPos = True
self.dragPosServo = shape
if shape.ActiveOnButtonTest(pt):
#print shape.num,"turned active"
shape.SendActive(True)
self.parent.RefreshRect(shape.GetRect(), True)
self.parent.Update()
if shape.ActiveOffButtonTest(pt):
#print shape.num,"turned inactive"
shape.SendActive(False)
self.parent.RefreshRect(shape.GetRect(), True)
self.parent.Update()
if shape.OffsetPlusTest(pt):
shape.SendOffset(shape.offset + 1)
shape.Render()
self.parent.RefreshRect(shape.GetRect(), True)
self.parent.Update()
if shape.OffsetMinusTest(pt):
shape.SendOffset(shape.offset - 1)
shape.Render()
self.parent.RefreshRect(shape.GetRect(), True)
self.parent.Update()
else:
self.dragShape = shape
self.dragStartPos = pt
# Left mouse button up.
def OnLeftUp(self, evt):
self.dragPos = None
self.dragPosServo = None
if not self.dragImage or not self.dragShape:
self.dragImage = None
self.dragShape = None
return
# Hide the image, end dragging, and nuke out the drag image.
self.dragImage.Hide()
self.dragImage.EndDrag()
self.dragImage = None
if self.hiliteShape:
self.parent.RefreshRect(self.hiliteShape.GetRect())
self.hiliteShape = None
# reposition and draw the shape
# Note by jmg 11/28/03
# Here's the original:
#
# self.dragShape.pos = self.dragShape.pos + evt.GetPosition() - self.dragStartPos
#
# So if there are any problems associated with this, use that as
# a starting place in your investigation. I've tried to simulate the
# wx.Point __add__ method here -- it won't work for tuples as we
# have now from the various methods
#
# There must be a better way to do this :-)
#
self.dragShape.pos = (
self.dragShape.pos[0] + evt.GetPosition()[0] - self.dragStartPos[0],
self.dragShape.pos[1] + evt.GetPosition()[1] - self.dragStartPos[1]
)
self.dragShape.visible = True
self.parent.RefreshRect(self.dragShape.GetRect())
self.dragShape = None
# The mouse is moving
def OnMotion(self, evt):
#servo control dragging trumps dragging shape dragging
if self.dragPos:
self.dragPosServo.SetServoControl(evt.GetPosition())
#get position relative to "center" of servo
else:
# Ignore mouse movement if we're not dragging.
if not self.dragShape or not evt.Dragging() or not evt.LeftIsDown():
return
# if we have a shape, but haven't started dragging yet
if self.dragShape and not self.dragImage:
# only start the drag after having moved a couple pixels
tolerance = 2
pt = evt.GetPosition()
dx = abs(pt.x - self.dragStartPos.x)
dy = abs(pt.y - self.dragStartPos.y)
if dx <= tolerance and dy <= tolerance:
return
# refresh the area of the window where the shape was so it
# will get erased.
self.dragShape.visible = False
self.parent.RefreshRect(self.dragShape.GetRect(), True)
self.parent.Update()
self.dragImage = wx.DragImage(self.dragShape.bmp,
wx.StockCursor(wx.CURSOR_HAND))
hotspot = self.dragStartPos - self.dragShape.pos
self.dragImage.BeginDrag(hotspot, self.parent, self.dragShape.fullscreen)
self.dragImage.Move(pt)
self.dragImage.Show()
# if we have shape and image then move it, posibly highlighting another shape.
elif self.dragShape and self.dragImage:
onShape = self.FindShape(evt.GetPosition())
unhiliteOld = False
hiliteNew = False
# figure out what to hilite and what to unhilite
if self.hiliteShape:
if onShape is None or self.hiliteShape is not onShape:
unhiliteOld = True
if onShape and onShape is not self.hiliteShape and onShape.visible:
hiliteNew = True
# if needed, hide the drag image so we can update the window
if unhiliteOld or hiliteNew:
self.dragImage.Hide()
if unhiliteOld:
dc = wx.ClientDC(self.parent)
self.hiliteShape.Draw(dc)
self.hiliteShape = None
if hiliteNew:
dc = wx.ClientDC(self.parent)
self.hiliteShape = onShape
self.hiliteShape.Draw(dc, wx.INVERT)
# now move it and show it again if needed
self.dragImage.Move(evt.GetPosition())
if unhiliteOld or hiliteNew:
self.dragImage.Show()
if os.name == 'posix':
self.parent.Refresh()
self.parent.Update()
self.parent.RefreshRect(self.dragShape.GetRect(), True)