/
startide.py
executable file
·10153 lines (8039 loc) · 353 KB
/
startide.py
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#! /usr/bin/env python3
# -*- coding: utf-8 -*-
#
# startIDE for the ftCommunity firmware on TXT and TX-Pi
# (c) 2017-2019 Peter David Habermehl
#
from PyQt4 import QtCore, QtGui
import sys, time, os, json, shutil
import threading as thd
import ftrobopy as txt
import random, math
import serial
import serial.tools.list_ports
import translator
from TouchStyle import *
from TouchAuxiliary import *
from robointerface import *
from datetime import datetime
from HAT import TxPiHat
try:
import ftduino_direct as ftd
FTDUINO_DIRECT=True
except:
FTDUINO_DIRECT=False
try:
import smbus
i2c = smbus.SMBus(1)
except:
i2c = None
# set GPIO for display HW buttons to false until checked for display size
try:
import RPi.GPIO as gpio
GPIO_available=True
except:
GPIO_available=False
GPIO = False
HAT_allowed=False
# set serial path for libroboint (i.e. to use Intelligent Interface on USB-Serial-Adapter)
#RIFSERIAL="/dev/ttyUSB0"
RIFSERIAL=""
# do not check for missing interfaces
IGNOREMISSING=False
#FTTXTADDRESS="192.168.178.24"
FTTXTADDRESS="auto"
hostdir = os.path.dirname(os.path.realpath(__file__))
projdir = os.path.join(hostdir , "projects")
moddir = os.path.join(hostdir , "modules")
logdir = os.path.join(hostdir , "logfiles")
pixdir = os.path.join(hostdir , "pixmaps")
arrdir = os.path.join(hostdir , "arrays")
if not os.path.exists(projdir):
os.mkdir(projdir)
if not os.path.exists(moddir):
os.mkdir(moddir)
if not os.path.exists(logdir):
os.mkdir(logdir)
if not os.path.exists(arrdir):
os.mkdir(arrdir)
try:
with open( os.path.join(hostdir, "manifest") ,"r", encoding="utf-8") as f:
r=f.readline()
while not "version" in r:
r=f.readline()
if "version" in r:
vstring = "v" + r[ r.index(":")+2 : ]
else: vstring=""
f.close()
except:
vstring="n/a"
#
# set fallback locale information for webinterface
#
try:
with open(os.path.join(hostdir, ".locale") ,"w") as f:
r=f.write(translator.getActiveLocale())
f.close()
except:
pass
PORTRAIT=1
LANDSCAPE=0
TXTsndStack = [ "---", "Plane", "Alarm", "Bell", "Brakes", "Horn(short)", "Horn(long)", "WoodCrack", "Excavator", "Fantasy1", "Fantasy2", "Fantasy3", "Fantasy4", "Farm", "Emergency", "Fireplace", "Racecar", "Helicopter", "Hydraulic", "Engine", "EngineStart", "PropPlane", "RollerCoaster", "ShipHorn", "Tractor", "Truck", "EyeBlink", "HeadUp", "HeadDown"]
#
# some auxiliaries
#
def USBScan(vidpid):
d=[]
for dev in serial.tools.list_ports.grep("vid:pid="+vidpid):
d.append(dev[0])
return d
def clean(text,maxlen):
res=""
valid="abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890_-."
for ch in text:
if ch in valid: res=res+ch
return res[:maxlen]
def queryVarName(vari, recent):
if len(vari)==0:
t=TouchMessageBox(QCoreApplication.translate("ecl","Variables"), None)
t.setCancelButton()
t.setText(QCoreApplication.translate("ecl","No Variables defined!"))
t.setTextSize(2)
t.setBtnTextSize(2)
t.setPosButton(QCoreApplication.translate("ecl","Okay"))
(v1,v2)=t.exec_()
return recent
vari.sort()
cvari=vari[0]
for i in vari:
if i==recent: cvari=recent
(s,r)=TouchAuxListRequester(QCoreApplication.translate("ecl","Variables"),QCoreApplication.translate("ecl","Select variable"),vari,cvari,"Okay").exec_()
if s: return r
else: return recent
class QDblPushButton(QPushButton):
doubleClicked = pyqtSignal()
clicked = pyqtSignal()
def __init__(self, *args, **kwargs):
QPushButton.__init__(self, *args, **kwargs)
self.timer = QTimer()
self.timer.setSingleShot(True)
self.timer.timeout.connect(self.clicked.emit)
super().clicked.connect(self.checkDoubleClick)
@pyqtSlot()
def checkDoubleClick(self):
if self.timer.isActive():
self.doubleClicked.emit()
self.timer.stop()
else:
self.timer.start(250)
#
# the exec thread incl. parsing of the code
#
class execThread(QThread):
updateText=pyqtSignal(str)
clearText=pyqtSignal()
execThreadFinished=pyqtSignal()
showMessage=pyqtSignal(str)
requestKeyboard=pyqtSignal(int, str)
requestDial=pyqtSignal(str, int, int, int, str)
requestBtn=pyqtSignal(str, str, list)
requestArray=pyqtSignal(str,list,str)
canvasSig=pyqtSignal(str)
def __init__(self, codeList, output, starter, RIF,TXT,FTD,HAT, parent):
QThread.__init__(self, parent)
self.codeList=codeList
self.output=output
self.starter=starter
self.msg=0 # für Messages aus dem GUI Thread
self.RIF=RIF
self.TXT=TXT
self.FTD=FTD
self.SRD=None
self.hat=HAT
self.parent=parent
self.parent.msgBack.connect(self.msgBack)
self.parent.IMsgBack.connect(self.IMsgBack)
self.parent.gfxData.connect(self.gfxData)
self.parent.mousePos.connect(self.mousePos)
self.parent.stop.connect(self.stop)
self.parent.canvasReturn.connect(self.onCanvasReturn)
self.parent.click.connect(self.onTouch)
self.parent.release.connect(self.onRelease)
def run(self):
self.parent.outputClicked.connect(self.goOn)
# VID:PID for servoDuino (SRD)
SRDVIDPID="1a86:7523"
self.count=0
self.halt=False
self.trace=False
self.singlestep=False
self.nextStep=False
self.logging=False
self.silent=False
self.requireTXT=False
self.requireRIF=False
self.requireFTD=False
self.requireSRD=False
self.requireHAT=False
self.jmpTable=[]
self.LoopStack=[]
self.modTable=[]
self.modStack=[]
self.modLStack=[]
self.modMStack=[]
self.impmod=[]
self.memory=[]
self.getCanvasData()
self.touched=False
self.touchEventX=0
self.touchEventY=0
self.actXPos=0
self.actYPos=0
cnt=0
mcnt=0
rif_m = [False, False, False, False]
txt_m = [False, False, False, False]
ftd_m = [False, False, False, False]
rif_o = [False, False, False, False, False, False, False, False]
txt_o = [False, False, False, False, False, False, False, False]
ftd_o = [False, False, False, False, False, False, False, False]
rif_i = [False, False, False, False, False, False, False, False]
txt_i = [False, False, False, False, False, False, False, False]
ftd_i = [False, False, False, False, False, False, False, False]
#input types
txt_it = [0,0,0,0,0,0,0,0]
ftd_it = [0,0,0,0,0,0,0,0] # 1=switch 2=voltage 3=resistance 4=distance
txt_c = [0,0,0,0]
ftd_c = [0,0,0,0] # 1=counter 2=distance
# scan code for interfaces, jump and module tags, output and motor channels
txtanaloginputfailure=""
ftdanaloginputfailure=""
ftdcounterinputfailure=""
extmodfailure=False
RS=False
self.arrays=[]
self.array=[]
for line in self.codeList:
a=line.split()
if len(a)<2: a.append("x")
if "TXT" in a[1]:
self.requireTXT=True
elif "RIF" in a[1]:
self.requireRIF=True
elif "FTD" in a[1]:
self.requireFTD=True
elif "HAT" in a[1]:
self.requireHAT=True
elif "SRD"==a[1]:
self.requireSRD=True
elif "SRDVIDPID" in a[1]:
SRDVIDPID=a[2]
elif a[0]=="Tag":
self.jmpTable.append([line[4:], cnt])
elif a[0]=="Module":
self.modTable.append([line[7:], cnt])
mcnt=mcnt+1
elif a[0]=="MEnd":
mcnt=mcnt-1
elif a[0] == "CallExt" and not (a[1] in self.impmod):
try:
with open(os.path.join(moddir,a[1]),"r", encoding="utf-8") as f:
module=json.load(f)
f.close()
nmp = len(self.codeList)
for mline in module:
self.codeList.append(mline)
self.impmod.append(a[1])
except:
extmodfailure=True
emf=a[1]
#
# configure i/o of the devices:
#
elif a[0]=="RIFShift":
if int(a[1])>0:
RS=True
else:
RS=False
if len(a)>2:
if ("Output"==a[0]) or ("WaitIn" in a[0]) or ("IfIn" in a[0]) or ("Motor" in a[0]) or ("QueryIn"==a[0]) or ("FromIn"==a[0]):
if a[1]=="RIF" and RS==False:
if ("Motor" in a[0]):
rif_m[int(a[2])-1]=True
elif ("Output" in a[0]):
rif_o[int(a[2])-1]=True
elif ("IfInDig"==a[0]) or ("WaitInDig"==a[0]):
rif_i[int(a[2])-1]=True
elif (("IfIn"==a[0]) or ("WaitIn"==a[0])) and a[3]=="S":
rif_i[int(a[2])-1]=True
if "MotorP"==a[0]:
rif_i[int(a[3])-1]=True
rif_i[int(a[4])-1]=True
if "QueryIn"==a[0]:
pass
#if a[3]=="D": rif_i[int(a[2])-1]=True
elif a[1]=="TXT": #TXT
if ("Motor" in a[0]):
txt_m[int(a[2])-1]=True
elif ("Output" in a[0]):
txt_o[int(a[2])-1]=True
elif ("IfInDig"==a[0]) or ("WaitInDig"==a[0]):
txt_i[int(a[2])-1]=True
if "MotorP"==a[0]:
txt_i[int(a[3])-1]=True
txt_i[int(a[4])-1]=True
if "MotorE"==a[0]:
txt_i[int(a[3])-1]=True
if "MotorES"==a[0]:
txt_m[int(a[3])-1]=True
if "QueryIn"==a[0] or "IfIn"==a[0] or "WaitIn"==a[0] or "FromIn"==a[0]:
if (a[3]=="S" or a[3]=="R" or a[3]=="V" or a[3]=="D"):
txt_i[int(a[2])-1]=True
if (a[3]=="S"):
if (txt_it[int(a[2])-1]==0) or (txt_it[int(a[2])-1]==1):
txt_it[int(a[2])-1]=1
else:
txtanaloginputfailure=a[2]
elif (a[3]=="R"):
if (txt_it[int(a[2])-1]==0) or (txt_it[int(a[2])-1]==2):
txt_it[int(a[2])-1]=2
else:
txtanaloginputfailure=a[2]
elif (a[3]=="V"):
if (txt_it[int(a[2])-1]==0) or (txt_it[int(a[2])-1]==3):
txt_it[int(a[2])-1]=3
else:
txtanaloginputfailure=a[2]
elif (a[3]=="D"):
if (txt_it[int(a[2])-1]==0) or (txt_it[int(a[2])-1]==4):
txt_it[int(a[2])-1]=4
else:
txtanaloginputfailure=a[2]
elif a[3]=="C":
txt_c[int(a[2])-1]=True
elif a[1]=="FTD": # ftduino
if ("Motor" in a[0]):
ftd_m[int(a[2])-1]=True
elif ("Output" in a[0]):
ftd_o[int(a[2])-1]=True
elif ("IfInDig"==a[0]) or ("WaitInDig"==a[0]):
ftd_i[int(a[2])-1]=True
if "MotorP"==a[0]:
ftd_i[int(a[3])-1]=True
ftd_i[int(a[4])-1]=True
if "MotorE"==a[0]:
ftd_i[int(a[3])-1]=True
if "MotorES"==a[0]:
ftd_m[int(a[3])-1]=True
if "QueryIn"==a[0] or "IfIn"==a[0] or "WaitIn"==a[0] or "FromIn"==a[0]:
if (a[3]=="S" or a[3]=="R" or a[3]=="V"):
ftd_i[int(a[2])-1]=True
if (a[3]=="S"):
if (ftd_it[int(a[2])-1]==0) or (ftd_it[int(a[2])-1]==1):
ftd_it[int(a[2])-1]=1
else:
ftdanaloginputfailure=a[2]
elif (a[3]=="R"):
if (ftd_it[int(a[2])-1]==0) or (ftd_it[int(a[2])-1]==2):
ftd_it[int(a[2])-1]=2
else:
ftdanaloginputfailure=a[2]
elif (a[3]=="V"):
if (ftd_it[int(a[2])-1]==0) or (ftd_it[int(a[2])-1]==3):
ftd_it[int(a[2])-1]=3
else:
ftdanaloginputfailure=a[2]
elif a[3]=="C":
if (ftd_c[int(a[2])-1]==1) or (ftd_c[int(a[2])-1]==0):
ftd_c[int(a[2])-1]=1
else:
ftdcounterinputfailure=a[2]
elif a[3]=="D":
if (ftd_c[int(a[2])-1]==2) or (ftd_c[int(a[2])-1]==0):
ftd_c[int(a[2])-1]=2
else:
ftdcounterinputfailure=a[2]
cnt=cnt+1
self.clrOut()
if self.requireSRD:
#if 1:
try:
SRDdevices=USBScan(SRDVIDPID)
if len(SRDdevices)==1:
self.SRD=serial.Serial(SRDdevices[0], 115200, timeout=0.3, writeTimeout = 0.3)
time.sleep(0.3)
self.SRD.flushInput()
self.SRD.flushOutput()
found=False
#Hier jetzt mal checken, ob das device auf ein "report_code" antwortet...
for i in range(0,3):
self.SRD.write("report_code\n".encode("utf-8"))
#time.sleep(0.05)
n=self.SRD.readline().decode("utf-8")[:-2]
if n == "servoDuino": found=True
self.SRD.flushInput()
self.SRD.flushOutput()
if not found:
self.SRD.close()
self.SRD=None
self.msgOut(QCoreApplication.translate("exec","servoDuino not found!\nProgram terminated\n"))
if not IGNOREMISSING: self.stop()
else:
self.msgOut(QCoreApplication.translate("exec","servoDuino detect error!\nProgram terminated\n"))
if not IGNOREMISSING: self.stop()
#else:
except:
self.msgOut(QCoreApplication.translate("exec","servoDuino not found!\nProgram terminated\n"))
if not IGNOREMISSING: self.stop()
if self.requireTXT and self.TXT==None:
self.msgOut(QCoreApplication.translate("exec","TXT not found!\nProgram terminated\n"))
if not IGNOREMISSING: self.stop()
elif self.requireRIF and self.RIF==None:
self.msgOut(QCoreApplication.translate("exec","RoboIF not found!\nProgram terminated\n"))
if not IGNOREMISSING: self.stop()
elif self.requireFTD and self.FTD==None:
self.msgOut(QCoreApplication.translate("exec","ftduino not found!\nProgram terminated\n"))
if not IGNOREMISSING: self.stop()
elif extmodfailure:
self.msgOut(QCoreApplication.translate("exec","External Module")+ " \n'"+emf+"' "+QCoreApplication.translate("exec","not found.\nProgram terminated\n"))
self.stop()
elif txtanaloginputfailure!="":
self.msgOut(QCoreApplication.translate("exec","TXT analog I")+txtanaloginputfailure+QCoreApplication.translate("exec","\ntypes inconsistent!\nProgram terminated\n"))
self.stop()
elif ftdanaloginputfailure!="":
self.msgOut(QCoreApplication.translate("exec","FTD analog I")+ftdanaloginputfailure+QCoreApplication.translate("exec","\ntypes inconsistent!\nProgram terminated\n"))
self.stop()
elif ftdcounterinputfailure!="":
self.msgOut(QCoreApplication.translate("exec","FTD counter C")+ftdcounterinputfailure+QCoreApplication.translate("exec","\ncounter/distance mismatch!\nProgram terminated\n"))
self.stop()
elif mcnt<0:
self.msgOut(QCoreApplication.translate("exec","MEnd found with-\nout Module!\nProgram terminated\n"))
self.stop()
elif mcnt>0:
self.msgOut(QCoreApplication.translate("exec","MEnd missing!\nProgram terminated\n"))
self.stop()
elif txt_m[0] and (txt_o[0] or txt_o[1]):
self.msgOut(QCoreApplication.translate("exec","TXT M1 and O1/O2\nused in parallel!\nProgram terminated\n"))
self.stop()
elif txt_m[1] and (txt_o[2] or txt_o[3]):
self.msgOut(QCoreApplication.translate("exec","TXT M2 and O3/O4\nused in parallel!\nProgram terminated\n"))
self.stop()
elif txt_m[2] and (txt_o[4] or txt_o[5]):
self.msgOut(QCoreApplication.translate("exec","TXT M3 and O5/O6\nused in parallel!\nProgram terminated\n"))
self.stop()
elif txt_m[3] and (txt_o[6] or txt_o[7]):
self.msgOut(QCoreApplication.translate("exec","TXT M4 and O7/O8\nused in parallel!\nProgram terminated\n"))
self.stop()
elif rif_m[0] and (rif_o[0] or rif_o[1]):
self.msgOut(QCoreApplication.translate("exec","RIF M1 and O1/O2\nused in parallel!\nProgram terminated\n"))
self.stop()
elif rif_m[1] and (rif_o[2] or rif_o[3]):
self.msgOut(QCoreApplication.translate("exec","RIF M2 and O3/O4\nused in parallel!\nProgram terminated\n"))
self.stop()
elif rif_m[2] and (rif_o[4] or rif_o[5]):
self.msgOut(QCoreApplication.translate("exec","RIF M3 and O5/O6\nused in parallel!\nProgram terminated\n"))
self.stop()
elif rif_m[3] and (rif_o[6] or rif_o[7]):
self.msgOut(QCoreApplication.translate("exec","RIF M4 and O7/O8\nused in parallel!\nProgram terminated\n"))
self.stop()
elif ftd_m[0] and (ftd_o[0] or ftd_o[1]):
self.msgOut(QCoreApplication.translate("exec","FTD M1 and O1/O2\nused in parallel!\nProgram terminated\n"))
self.stop()
elif ftd_m[1] and (ftd_o[2] or ftd_o[3]):
self.msgOut(QCoreApplication.translate("exec","FTD M2 and O3/O4\nused in parallel!\nProgram terminated\n"))
self.stop()
elif ftd_m[2] and (ftd_o[4] or ftd_o[5]):
self.msgOut(QCoreApplication.translate("exec","FTD M3 and O5/O6\nused in parallel!\nProgram terminated\n"))
self.stop()
elif ftd_m[3] and (ftd_o[6] or ftd_o[7]):
self.msgOut(QCoreApplication.translate("exec","FTD M4 and O7/O8\nused in parallel!\nProgram terminated\n"))
self.stop()
if not self.halt and self.RIF!=None:
s = self.RIF.GetDeviceTypeString()
if s=="Robo LT Controller":
if rif_m[2] or rif_m[3]:
self.msgOut(QCoreApplication.translate("exec","M3 and M4 not available\non Robo LT!\nProgram terminated\n"))
self.stop()
elif rif_o[4] or rif_o[5] or rif_o[6] or rif_o[7]:
self.msgOut(QCoreApplication.translate("exec","O5 to O8 not available\non Robo LT!\nProgram terminated\n"))
self.stop()
elif rif_i[3] or rif_i[4] or rif_i[5] or rif_i[6] or rif_i[7]:
self.msgOut(QCoreApplication.translate("exec","I4 to I8 not available\non Robo LT!\nProgram terminated\n"))
self.stop()
if not self.halt and self.requireHAT and self.hat == None:
self.msgOut(QCoreApplication.translate("exec","HAT not available.\nProgram terminated\n"))
self.stop()
# TXT I/O initialisieren...
if self.TXT!=None and not self.halt:
M = [ self.TXT.C_OUTPUT, self.TXT.C_OUTPUT, self.TXT.C_OUTPUT, self.TXT.C_OUTPUT ]
I = [ (self.TXT.C_SWITCH, self.TXT.C_DIGITAL ),
(self.TXT.C_SWITCH, self.TXT.C_DIGITAL ),
(self.TXT.C_SWITCH, self.TXT.C_DIGITAL ),
(self.TXT.C_SWITCH, self.TXT.C_DIGITAL ),
(self.TXT.C_SWITCH, self.TXT.C_DIGITAL ),
(self.TXT.C_SWITCH, self.TXT.C_DIGITAL ),
(self.TXT.C_SWITCH, self.TXT.C_DIGITAL ),
(self.TXT.C_SWITCH, self.TXT.C_DIGITAL ) ]
self.TXT.setConfig(M, I)
self.TXT.updateConfig()
self.TXT.updateWait()
self.txt_i=[0,0,0,0,0,0,0,0]
self.txt_m=[0,0,0,0]
self.txt_o=[0,0,0,0,0,0,0,0]
for i in range(0,8):
if txt_o[i]:
self.txt_o[i]=self.TXT.output(i+1)
if txt_i[i]:
if (txt_it[i]==1) or (txt_it[i]==0): self.txt_i[i]=self.TXT.input(i+1)
elif txt_it[i]==2: self.txt_i[i]=self.TXT.resistor(i+1)
elif txt_it[i]==3: self.txt_i[i]=self.TXT.voltage(i+1)
elif txt_it[i]==4: self.txt_i[i]=self.TXT.ultrasonic(i+1)
self.TXT.updateWait()
if i<4:
if txt_m[i]: self.txt_m[i]=self.TXT.motor(i+1)
# FTD I/O initialisieren...
if self.FTD!=None and not self.halt:
for i in range(0,8):
if ftd_it[i]==2:
self.FTD.comm("input_set_mode I"+str(i+1)+" Resistance")
elif ftd_it[i]==3:
self.FTD.comm("input_set_mode I"+str(i+1)+" Voltage")
if i<4:
if ftd_c[i]==1:
self.FTD.comm("counter_set_mode C"+str(i+1)+" Any")
if ftd_c[0]==2:
self.FTD.comm("ultrasonic_enable True")
else:
self.FTD.comm("ultrasonic_enable False")
# und los gehts
self.cce=False #complete confusion error
self.RIFShift=0
if not self.halt:
self.msgOut("<Start>")
self.count=0
self.parent.processEvents()
self.interrupt=-1
self.timestamp=time.time()
#if 1:
try:
if self.trace:
while not self.halt and self.count<len(self.codeList):
line=self.codeList[self.count]
self.cmdPrint(str(self.count)+":"+line)
self.parseLine(line)
if self.singlestep:
while not self.nextStep and not self.halt:
self.parent.processEvents()
time.sleep(0.005)
self.nextStep=False
self.count=self.count+1
self.parent.processEvents()
else:
while not self.halt and self.count<len(self.codeList):
line=self.codeList[self.count]
self.parseLine(line)
if self.singlestep:
while not self.nextStep and not self.halt:
self.parent.processEvents()
time.sleep(0.005)
self.nextStep=False
self.count=self.count+1
self.parent.processEvents()
#else:
except:
self.cce=True
self.halt=True
if not self.halt: self.msgOut("<End>")
else:
if self.cce:
self.msgOut("CompleteConfusionError\nin code:\n"+self.codeList[self.count])
self.msgOut("<Break in line "+str(self.count)+">")
else:
self.msgOut("<Break in line "+str(self.count)+">")
try:
if self.logging: self.logfile.close()
except:
pass
self.cmdCanvas("Canvas hide")
self.cmdCanvas("SHOWSTOPBTN")
#
# Alle Interfaces abschalten!
#
if self.RIF!=None:
try:
for i in range(1,33):
self.RIF.SetOutput(i,0)
except:
pass
if self.TXT!=None:
for i in range(0,8):
self.TXT.setPwm(i,0)
if self.FTD!=None:
self.FTD.comm("pwm_halt")
for i in range(1,9):
self.FTD.comm("output_set O"+str(i)+" 1 0")
if self.SRD!=None:
self.SRD.flushInput()
self.SRD.flushOutput()
self.SRD.write(("pwm_halt\n").encode("utf-8"))
time.sleep(0.05)
self.SRD.close()
self.execThreadFinished.emit()
def __del__(self):
self.halt = True
self.wait()
def goOn(self):
self.nextStep=True
def stop(self):
self.halt=True
def msgBack(self, num):
self.msg=num
def IMsgBack(self,var):
self.imesg=var
def gfxData(self, xr, yr, xp, yp, pred, pgreen, pblue):
self.CxRes = xr
self.CyRes = yr
self.CxPos = xp
self.CyPos = yp
self.CpRed = pred
self.CpGreen = pgreen
self.CpBlue = pblue
self.msg=1
self.can=1
def mousePos(self, x, y):
self.actXPos=x
self.actYPos=y
self.msg=1
#self.can=1
def parseLine(self,line):
stack=line.split()
if line[0:1] == "#":
if "TRACEON" in line: self.trace=True
elif "TRACEOFF" in line: self.trace=False
if "STEPON" in line:
self.singlestep=True
self.cmdPrint("STEPON: tap screen!")
elif "STEPOFF" in line: self.singlestep=False
if "GETELAPSEDTIME" in line:
self.cmdPrint("[sec]: "+str(time.time()-self.timestamp))
if "TIMERCLEAR" in line:
self.timestamp=time.time()
if "MEMDUMP" in line:
self.cmdPrint("Memory dump")
self.cmdPrint("-----------")
for line in self.memory: self.cmdPrint(str(line))
if "SHOWSTOPBTN" in line:
self.cmdCanvas("SHOWSTOPBTN")
if "HIDESTOPBTN" in line:
self.cmdCanvas("HIDESTOPBTN")
if "SHOWTITLEBAR" in line:
self.cmdCanvas("SHOWTITLEBAR")
if "HIDETITLEBAR" in line:
self.cmdCanvas("HIDETITLEBAR")
elif stack[0]== "Stop": self.count=len(self.codeList)
elif stack[0]== "Output": self.cmdOutput(stack)
elif stack[0]== "Motor": self.cmdMotor(stack)
elif stack[0]== "MotorP": self.cmdMotorPulsewheel(stack)
elif stack[0]== "MotorE": self.cmdMotorEncoder(stack)
elif stack[0]== "MotorES": self.cmdMotorEncoderSync(stack)
elif stack[0]== "Servo": self.cmdServo(stack)
elif stack[0]== "Delay": self.cmdDelay(stack)
elif stack[0]== "TimerQuery": self.cmdPrint("Timer: "+str(int((time.time()-self.timestamp)*1000)))
elif stack[0]== "TimerClear": self.timestamp=time.time()
elif stack[0]== "IfTimer": self.cmdIfTimer(stack)
elif stack[0]== "IfTime": self.cmdIfTime(stack)
elif stack[0]== "IfDate": self.cmdIfDate(stack)
elif stack[0]== "QueryNow": self.cmdQueryNow(stack)
elif stack[0]== "Interrupt": self.cmdInterrupt(stack)
elif stack[0]== "Jump": self.cmdJump(stack)
elif stack[0]== "LoopTo": self.cmdLoopTo(stack)
elif stack[0]== "WaitInDig": self.cmdWaitForInputDig(stack)
elif stack[0]== "IfInDig": self.cmdIfInputDig(stack)
elif stack[0]== "WaitIn": self.cmdWaitForInput(stack)
elif stack[0]== "IfIn": self.cmdIfInput(stack)
elif stack[0]== "Print": self.cmdPrint(line[6:])
elif stack[0]== "QueryIn": self.cmdQueryIn(stack)
elif stack[0]== "Clear": self.clrOut()
elif stack[0]== "Message": self.cmdMessage(line[8:])
elif stack[0]== "Log": self.cmdLog(stack)
elif stack[0]== "Sound": self.cmdSound(stack)
elif stack[0]== "Module": self.count=len(self.codeList)
elif stack[0]== "Call": self.cmdCall(stack)
elif stack[0]== "CallExt": self.cmdCall(stack)
elif stack[0]== "Return": self.cmdReturn()
elif stack[0]== "MEnd": self.cmdMEnd()
elif stack[0]== "Init": self.cmdInit(stack)
elif stack[0]== "FromIn": self.cmdFromIn(stack)
elif stack[0]== "FromKeypad": self.cmdFromKeypad(stack)
elif stack[0]== "FromDial": self.cmdFromDial(stack)
elif stack[0]== "FromButtons": self.cmdFromButtons(stack)
elif stack[0]== "FromRIIR": self.cmdFromRIIR(stack)
elif stack[0]== "FromPoly": self.cmdFromPoly(stack)
elif stack[0]== "FromSys": self.cmdFromSys(stack)
elif stack[0]== "QueryVar": self.cmdQueryVar(stack)
elif stack[0]== "Calc": self.cmdCalc(stack)
elif stack[0]== "IfVar": self.cmdIfVar(stack)
elif stack[0]== "IfTouchArea": self.cmdIfTouchArea(stack)
elif stack[0]== "Tag": pass
elif stack[0]== "Canvas": self.cmdCanvas(line)
elif stack[0]== "Pen": self.cmdPen(line)
elif stack[0]== "Color": self.cmdColor(line)
elif stack[0]== "Text": self.cmdText(line)
elif stack[0]== "VarToText": self.cmdVarToText(line)
elif stack[0]== "CounterClear": self.cmdCounterClear(stack)
elif stack[0]== "RIFShift": self.RIFShift=int(stack[1])
elif stack[0]== "WaitForTouch": self.cmdWaitForTouch()
elif stack[0]== "WaitForRelease": self.cmdWaitForRelease()
elif stack[0]== "ArrayInit": self.cmdArrayInit(stack)
elif stack[0]== "Array": self.cmdArray(stack)
elif stack[0]== "ArrayStat": self.cmdArrayStat(stack)
elif stack[0]== "ArrayLoad": self.cmdArrayLoad(stack)
elif stack[0]== "ArraySave": self.cmdArraySave(stack)
elif stack[0]== "QueryArray": self.cmdQueryArray(stack)
elif stack[0]== "LookUpTable": self.cmdLookUpTable(stack)
elif stack[0]== "I2CWrite": self.cmdI2CWrite(stack)
elif stack[0]== "I2CRead": self.cmdI2CRead(stack)
elif stack[0]== "USBWrite": self.cmdUSBComm(stack)
elif stack[0]== "USBRead": self.cmdUSBComm(stack)
else:
self.cmdPrint("DontKnowWhatToDo\nin code:\n"+line)
self.halt=True
if time.time()>self.interrupt and self.interrupt>0:
self.interruptExec()
def interruptExec(self):
self.cmdCall(self.interruptCommand.split())
if self.interruptTime==0:
self.interrupt=-1
return
else:
self.interrupt=time.time()+self.interruptTime
def getVal(self,var):
try:
return int(var)
except:
for i in self.memory:
if i[0]==var: return int(i[1])
self.halt=True
self.cmdPrint("Variable '"+var+"'\nreferenced without\nInit!\nProgram terminated")
return 0
def onTouch(self,thing):
self.touchEventX=thing.x()
self.touchEventY=thing.y()
self.touched=True
def onRelease(self,thing):
self.touchEventX=thing.x()
self.touchEventY=thing.y()
self.touched=False
def cmdWaitForTouch(self):
self.touched=False
while self.touched==False and not self.halt:
self.parent.processEvents()
def cmdWaitForRelease(self):
self.touched=True
while self.touched==True and not self.halt:
self.parent.processEvents()
def cmdLookUpTable(self, stack):
if not (stack[2] in self.arrays):
self.cmdPrint("Array '" + stack[2] + "'\nreferenced without\nArrayInit!\nProgram terminated")
self.halt=True
elif not (stack[4] in self.arrays):
self.cmdPrint("Array '" + stack[4] + "'\nreferenced without\nArrayInit!\nProgram terminated")
self.halt=True
else:
inp=self.array[self.arrays.index(stack[2])]
oup=self.array[self.arrays.index(stack[4])]
ival = self.getVal(stack[5])
if (ival<min(inp)) or (ival>max(inp)):
self.cmdPrint("Input out of\nArray boundaries!\nProgram terminated")
self.halt=True
elif (len(inp) != len(oup)) or len(inp)<2:
self.cmdPrint("Array size mismatch!\nProgram terminated")
self.halt=True
else:
n=0
while (inp[n]<ival) and n<len(inp):
n=n+1
a=inp[n-1]
b=inp[n]
m=(a+b)/2
x=(ival-a)/(b-a)
if stack[3]=="nearest":
if ival<m: oval=oup[n-1]
else: oval=oup[n]
elif stack[3]=="linear":
oval=(oup[n]-oup[n-1]) * x + oup[n-1]
cc=0
for i in self.memory:
if i[0]==stack[1]:
self.memory[cc][1] = int(oval)
break
cc=cc+1
def cmdQueryArray(self, stack):
if stack[1] in self.arrays:
st=stack[1]+": "
for i in self.array[self.arrays.index(stack[1])]:
st=st+str(i)+";"
self.cmdPrint(st[:-1])
else:
self.halt=True
self.cmdPrint("Array '" + stack[1] + "'\nreferenced without\nArrayInit!\nProgram terminated")
def cmdArraySave(self, stack):
if stack[1] in self.arrays:
if stack[2]=="replace":
fname=os.path.join(arrdir, stack[1]+".arr")
elif stack[2]=="rename":
fname=os.path.join(arrdir, stack[1]+time.strftime("%Y%m%d-%H%M%S")+".arr")
else:
files=os.listdir(arrdir)
for i in files:
if i[-4:]!=".arr": files.remove(i)
files.sort()
s=False
if len(files)>0:
self.msg=0
self.requestArray.emit(QCoreApplication.translate("ecl","Save"),files,stack[1])
while self.msg==0:
time.sleep(0.01)
r=self.imesg
if r!="-1": s=True
if not s:
self.cmdPrint("Error saving array '"+stack[1]+"'.")
return
fname=os.path.join(arrdir, r)
if os.path.exists(fname) and stack[2]=="rename":
self.cmdPrint("Error saving array '"+stack[1]+"'.")
return
try:
expfile=open(fname,"w",encoding="utf-8")
for i in self.array[self.arrays.index(stack[1])]:
expfile.write(str(i)+";")
expfile.close()
except:
self.cmdPrint("Error saving array '"+stack[1]+"'.")
else:
self.halt=True
self.cmdPrint("Array '" + stack[1] + "'\nreferenced without\nArrayInit!\nProgram terminated")
def cmdArrayLoad(self, stack):
if stack[1] in self.arrays:
if stack[2]=="byName": fname=os.path.join(arrdir, stack[1]+".arr")
else:
files=os.listdir(arrdir)
for i in files:
if i[-4:]!=".arr": files.remove(i)
files.sort()
s=False
if len(files)>0:
self.msg=0
self.requestArray.emit(QCoreApplication.translate("ecl","Load"),files,stack[1])
while self.msg==0:
time.sleep(0.01)
r=self.imesg
if r!="-1": s=True
if not s:
self.cmdPrint("Error loading array '"+stack[1]+"'.")
return
fname=os.path.join(arrdir, r)
if os.path.exists(fname):
impfile=open(fname,"r",encoding="utf-8")
t=impfile.read().split(";")
t.pop()
for i in range(0,len(t)):
t[i]=int(t[i])
self.array[self.arrays.index(stack[1])]=t
impfile.close()
else:
self.cmdPrint("Error loading array '"+stack[1]+"'.")
return
else:
self.halt=True
self.cmdPrint("Array '" + stack[1] + "'\nreferenced without\nArrayInit!\nProgram terminated")
def cmdArrayInit(self,stack):
if stack[1] in self.arrays:
self.array[ self.arrays.index(stack[1]) ] = []
else:
self.arrays.append(stack[1])
self.array.append([])
if len(stack)>2:
self.array[ self.arrays.index(stack[1]) ] = stack[2].split(";")
for i in range(0, len(self.array[ self.arrays.index(stack[1]) ])):
self.array[ self.arrays.index(stack[1]) ][i]= int(self.array[ self.arrays.index(stack[1]) ][i])
def cmdArray(self,stack):
var=stack[1]
val=self.getVal(var)
arr=stack[3]
idx=self.getVal(stack[4])
if not (arr in self.arrays):
self.cmdPrint("Array '" + stack[1] + "'\nreferenced without\nArrayInit!\nProgram terminated")
self.halt=True
if self.halt: return
if stack[2]=="appendTo":
self.array[self.arrays.index(arr)].append(val)