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ORCEdit.py
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ORCEdit.py
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import RobotLibrary
import time
import tkinter as tk
from NodeEditor import NodeEditor
from PoseEditor import PoseEditor
import pickle
from pathlib import Path
from tkinter import *
from tkinter import ttk
from tkinter import filedialog
class orcEditConfig:
def __init__(self):
self.lastRobotConfigPath = "/"
self.robotConfigCache = None
self.lastRobotPosePath = "/"
def writeConfig(self, filename):
with open(fileName, 'rb') as input:
pickle.dump(self, output, pickle.HIGHEST_PROTOCOL)
def loadConfig(self, filename):
with open(fileName, 'rb') as input:
loadedData = pickle.load(input).lastRobotConfigPath
self.lastRobotConfigPath = loadedData.lastRobotConfigPath
self.robotConfigCache = loadedData.robotConfigCache
self.lastRobotPosePath = loadedData.lastRobotPosePath
class orcEdit:
def updateNodes(self, event):
for sliderNode in self.sliderNodes:
val = sliderNode[0].get()
sliderNode[1].moveAngle(val, self.robotAdjustSpeed)
def nodeName(self, node):
return node.label
def poseNodeName(self, node):
rVal = ""
if (node.parent is not None):
rVal += self.poseNodeName(node.parent) + ':'
rVal += node.label
return rVal
def writePose(self):
filename = filedialog.asksaveasfilename(initialdir = self.workingDir,
filetypes=[("Pose Files","*.rps")])
pose = RobotLibrary.Pose()
for node in self.nodes:
poseNodeLabel = self.poseNodeName(node)
pose.poseData.append([poseNodeLabel, node.destinationPos])
pose.writeToFile(filename)
def loadPose(self):
filename = filedialog.askopenfilename(initialdir="/",
title="open File",
filetypes=[("Pose Files","*.rps")])
pose = RobotLibrary.Pose()
pose.loadFromFile(fileName = filename)
for nodeAngle in pose.poseData:
nodePath = nodeAngle[0]
angle = nodeAngle[1]
for sliderNode in self.sliderNodes:
sliderNodePath = self.poseNodeName(sliderNode[1])
if (sliderNodePath == nodePath):
slider = sliderNode[0]
Node = sliderNode[1]
slider.set(angle)
Node.moveAngle(angle,self.robotAdjustSpeed)
def nodeEditorForms(self, frame):
#Build UI
hierarchyFrame = ttk.Frame(root, width = (root.winfo_width())-16)
hierarchyFrame.pack(side="left", fill = "both")
nodeFrame = ttk.Frame(root)
nodeFrame.pack(side="right")
# Creating Node hierarchy window
ttk.Label(hierarchyFrame, text ="Hierarchy").pack()
self.nodeView = ttk.Treeview(hierarchyFrame)
vsb = ttk.Scrollbar(hierarchyFrame, orient="vertical", command=self.nodeView.yview)
vsb.place(relx = 1, x = -15, y=0, relheight = 1.0, height = -15)
hsb = ttk.Scrollbar(hierarchyFrame, orient="horizontal", command=self.nodeView.xview)
hsb.place(rely = 1, y = -15, x=0, relwidth = 1.0)
self.nodeView.configure(yscrollcommand=vsb.set)
self.nodeView.configure(xscrollcommand=hsb.set)
self.nodeView.column("#0", stretch = True)
self.nodeView.heading("#0",text="ServoNode", anchor=tk.W)
self.nodeView.place(x=0, y=0, relheight = 1.0, height = -31, relwidth = 1.0, width = -15)
self.nodeView.pack(side="left", fill = "y")
# Create NodeData
#Form Labels
nodenameLabel = ttk.Label(nodeFrame, text = "Node Label").grid(
column = 0, row = 0, sticky = "e")
kitIDLabel = ttk.Label(nodeFrame, text = "Kit ID").grid(
column = 0, row = 1, sticky = "e")
servoIDLabel = ttk.Label(nodeFrame, text = "Servo ID").grid(
column = 0, row = 2, sticky = "e")
restPosLabel = ttk.Label(nodeFrame, text = "Rest Pos").grid(
column = 0, row = 3, sticky = "e")
offsetLabel = ttk.Label(nodeFrame, text = "Servo Offset").grid(
column = 0, row = 4, sticky = "e")
actuationLabel = ttk.Label(nodeFrame, text = "Actuation Range").grid(
column = 0, row = 5, sticky = "e")
mirrorLabel = ttk.Label(nodeFrame, text = "Mirror").grid(
column = 0, row = 6, sticky = "e")
#Form Entries Vars
self.botNode = tk.StringVar()
self.kitID = tk.StringVar()
self.servoID = tk.StringVar()
self.restPos = tk.StringVar()
self.offset = tk.StringVar()
self.actuation = tk.StringVar()
self.mirror = tk.StringVar()
#Form Objects
self.botNodeEntry = ttk.Entry(nodeFrame, textvariable = self.botNode)
self.botNodeEntry.grid( column = 1, row = 0)
self.kitIDEntry = ttk.Entry(nodeFrame, textvariable = self.kitID)
self.kitIDEntry.grid( column = 1, row = 1)
self.servoIDEntry = ttk.Entry(nodeFrame, textvariable = self.servoID)
self.servoIDEntry.grid( column = 1, row = 2)
self.restPosEntry = ttk.Entry(nodeFrame, textvariable = self.restPos)
self.restPosEntry.grid( column = 1, row = 3)
self.offsetEntry = ttk.Entry(nodeFrame, textvariable = self.offset)
self.offsetEntry.grid( column = 1, row = 4)
self.actuationEntry = ttk.Entry(nodeFrame, textvariable = self.actuation)
self.actuationEntry.grid( column = 1, row = 5)
self.mirrorEntry = ttk.Entry(nodeFrame, textvariable = self.mirror)
self.mirrorEntry.grid( column = 1, row = 6)
nodeSaveButton = ttk.Button(nodeFrame, text ="Save Node", command = self.updateNodeView)
nodeSaveButton.grid(column = 0, row = 7, sticky = "e")
newNodeButton = ttk.Button(nodeFrame, text ="Add Child")
newNodeButton.grid(column = 1, row = 7, sticky = "w")
#Bind functionallity to objects
self.nodeView.bind("<1>", self.populateForm)
#Load tree
self.initForm()
self.updateNodeView()
#End of nodeEditorForms()
def __init__(self, root):
root.title("Robot Editor")
self.config = orcEditConfig()
self.robotAdjustSpeed = 360
#Generate/Load Bot
self.robot = RobotLibrary.RoBoi()
self.nodes = self.robot.getNodeList()
#self.nodes.sort(key = self.nodeName)
self.activeBotNode = self.robot.root
self.sliderNodes = []
#Build UI
#SetRootNotebook
self.topleveltabs = ttk.Notebook(root)
nodeEditorTab = ttk.Frame(self.topleveltabs)
self.nodeEditor = NodeEditor(nodeEditorTab, self.robot, self)
poseEditorTab = ttk.Frame(self.topleveltabs)
self.poseEditor = PoseEditor(poseEditorTab, self.robot, self)
self.topleveltabs.add(nodeEditorTab, text = "Configuration")
self.topleveltabs.add(poseEditorTab, text = "Poses")
self.topleveltabs.pack(expand = 1, fill = 'both')
def populateNodeForm(self, event):
item = self.nodeView.identify('item',event.x,event.y)
if self.activeBotNode is not None and self.robot.getNode(self.nodeView.item(item,"text")) is not None:
self.activeBotNode = self.robot.getNode(self.nodeView.item(item,"text"))
self.botNode.set(self.activeBotNode.label)
self.kitID.set(str(self.activeBotNode.kitID))
self.servoID.set(str(self.activeBotNode.servoID))
self.restPos.set(str(self.activeBotNode.restPos))
self.offset.set(str(self.activeBotNode.offset))
self.actuation.set(str(self.activeBotNode.actuation_range))
self.mirror.set(str(self.activeBotNode.mirror))
def initForm(self):
self.activeBotNode = self.robot.root
self.botNode.set(self.activeBotNode.label)
self.kitID.set(str(self.activeBotNode.kitID))
self.servoID.set(str(self.activeBotNode.servoID))
self.restPos.set(str(self.activeBotNode.restPos))
self.offset.set(str(self.activeBotNode.offset))
self.actuation.set(str(self.activeBotNode.actuation_range))
self.mirror.set(str(self.activeBotNode.mirror))
def updateNodeView(self):
if self.activeBotNode is not None:
self.activeBotNode.label = self.botNode.get()
self.activeBotNode.kitID = int(self.kitID.get())
self.activeBotNode.servoID = int(self.servoID.get())
self.activeBotNode.restPos = float(self.restPos.get())
self.activeBotNode.offset = float(self.offset.get())
self.activeBotNode.actuation_range = float(self.actuation.get())
self.activeBotNode.mirror = bool(self.mirror.get())
self.nodeView.delete(*self.nodeView.get_children())
for node in self.nodes:
if node.parent is None:
self.nodeView.insert('', "end", node.label, text = node.label)
else:
self.nodeView.insert(node.parent.label, "end", node.label, text = node.label)
root = Tk()
editor = orcEdit(root)
root.mainloop()
editor.robot.disengage()
print("Program Ended")