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ui.py
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ui.py
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import logging
import time
import PySimpleGUI as sg
from controller import SteamDeckController
from video_stream import VideoStream
from network import connect, LockedClient
from typing import Any, Dict, List, Optional
from spec.ttypes import ARR_status, Mode, Giat
import queue
from thrift.transport.TTransport import TTransportException
logger = logging.getLogger(__name__)
class SteamDeckUI:
FONT = ("Arial", 22)
IMG_SIZE = (1280, 670) # horizontal / vertical
def __init__(self):
self.connected = False
self.network_client = None
self.network_socket = None
self.video_stream = None
self.logs_view = True
self._connect_layout = None
self._op_layout = None
self.ui_state: Dict[str, Any] = {}
self.init_connect_window()
self.event_routes = {
"_button_connect": self._button_connect,
"_button_disconnect": self._button_disconnect,
"_button_ping": self._button_ping,
"_button_view": self._button_view
}
self.unable_connect_count = 0
self.controller: Optional[SteamDeckController] = None
def init_connect_window(self):
self._connect_layout = self.get_connect_layout()
self.window = sg.Window("Connect", self._connect_layout, finalize=True, font=self.FONT)
def init_op_window(self):
self._op_layout = self.get_op_layout()
self.window = sg.Window("Operational Panel", self._op_layout, font=self.FONT).Finalize()
self.window.Maximize()
def get_connect_layout(self) -> List[List[Any]]:
return [
[
sg.Text("RC: "),
sg.Input('hexapod', key="_input_ip_addr", size=32),
sg.Input('9090', key="_input_port", size=5),
],
[
sg.Text("VD: "),
sg.Input('http://hexapod:9999/stream', key='_input_video_addr', size=38)
],
[
sg.Button("Connect", key="_button_connect"),
sg.Text("Unable to connect", key="_text_error", visible=False)
],
]
def get_op_layout(self) -> List[List[Any]]:
return [
[
sg.Text('M: N/A', key="_text_mode"),
sg.Text('SM: N/A', key="_text_sub_mode"),
sg.Text('Speed: N/A', key="_text_speed"),
sg.Text('L1: N/A', key="_text_light1"),
sg.Text('L2: N/A', key="_text_light2"),
sg.Text('Battery: N/A', key="_text_battery"),
],
[
sg.Image(key="_image_stream", visible =(not self.logs_view), size=self.IMG_SIZE),
sg.Multiline('', size=(64,19), key="_multiline_log", autoscroll=True, visible=self.logs_view)
],
[
sg.Text("Connection quality: TBD"),
sg.Button("Ping", key="_button_ping"),
sg.Button("View: LOGS", key="_button_view"),
sg.Button("Disconnect", key="_button_disconnect")
]
]
def event_dispatcher(self, event: str, values: Optional[Dict[str,Any]]):
if values is not None:
self.ui_state = values.copy()
if event in self.event_routes:
self.event_routes[event]()
def _button_connect(self):
if not self.connected:
host = self.ui_state["_input_ip_addr"]
port = int(self.ui_state["_input_port"])
video_addr =self.ui_state["_input_video_addr"]
try:
self.network_socket, self.network_client = connect(host, port)
except TTransportException:
self.unable_connect_count += 1
self.window["_text_error"].update(f"Unable to connect {self.unable_connect_count}", visible=True)
return
self.unable_connect_count = 0
self.connected = True
logger.info("Connected to %s:%s", host, port)
self.window.close()
self.init_op_window()
self.controller = SteamDeckController(self.network_client, collect_logs=self.logs_view)
self.video_stream = VideoStream(video_addr)
if not self.logs_view:
self.video_stream.enable()
else:
logger.warning("Already connected!")
def _button_disconnect(self):
if self.connected:
self.controller.terminate()
self.controller = None
self.network_socket.close()
self.network_client = None
self.video_stream.disable()
self.window.close()
self.init_connect_window()
self.connected = False
logger.info("Disconnected")
else:
logger.warning("Already disconnected!")
def _button_ping(self):
if self.connected:
self.network_client.ping()
def _button_view(self):
txt_map = {
True: "LOGS",
False: "VIDEO"
}
self.logs_view = not self.logs_view
self.window["_multiline_log"].update(visible=self.logs_view)
self.window['_image_stream'].update(visible=not self.logs_view)
self.window["_button_view"].update("View: " + txt_map[self.logs_view])
self.controller.collect_logs = self.logs_view
if self.logs_view:
self.video_stream.disable()
else:
self.video_stream.enable()
def update_op_values(self):
if self.logs_view:
while not self.controller.log_queue.empty():
record = self.controller.log_queue.get()
self.window['_multiline_log'].update(record+"\n", append=True)
else:
self.window['_image_stream'].update(data=self.video_stream.get_frame(), size=self.IMG_SIZE)
robot_state = self.network_client.get_status()
self.window["_text_mode"].update("M: " + Mode._VALUES_TO_NAMES[robot_state.mode])
if robot_state.mode == Mode.WALK:
self.window["_text_sub_mode"].update("SM: "+Giat._VALUES_TO_NAMES[robot_state.sub_mode])
else:
self.window["_text_sub_mode"].update("SM: NA")
self.window["_text_speed"].update("speed: SLOW" if robot_state.speed == 1 else "speed: FAST")
self.window["_text_light1"].update("L1: OFF" if robot_state.light_1 else "L1: ON")
self.window["_text_light2"].update("L2: OFF" if robot_state.light_2 else "L2: ON")
self.window["_text_battery"].update(f"Battery: {robot_state.battery}")
def run(self):
while True:
event, values = self.window.read(timeout=100)
self.event_dispatcher(event, values)
if self.connected:
self.controller.send_update()
self.update_op_values()
self.window.refresh()
if self.logs_view:
time.sleep(0.05)
def refresh(self):
self.window.refresh()
def read(self):
return window.read()
def close(self):
window.close()