Changeset 218

Timestamp:

09/28/08 20:51:26 (3 years ago)

Author:

mosttw

Message:

Extremely barebones GTK+ keyboard control

Location:

trunk/software/rb

Files:

• core/event.py (modified) (1 diff)
• gui/__init__.py (modified) (4 diffs)
• gui/barebones-keypad.glade (added)
• gui/barebones-keypad.gtk (added)
• gui/gui-gnome.glade (deleted)

trunk/software/rb/core/event.py

@@ -130 +130 @@
                         func(event)
                 except Exception, e:
-                        if rbconfig.debug:
+                        import rbconfig
+                        if getattr(rbconfig, 'debug', False):
                                 raise e # For debugging
-                        log_error("Callback function %r for %r threw an error: %r" % 
-                                        (func, event, e), callback=func, event=event)
+                        #~ log_error("Callback function %r for %r threw an error: %r" % 
+                                        #~ (func, event, e), callback=func, event=event)
         else:
                 return False

trunk/software/rb/gui/__init__.py

@@ -20 +20 @@
 __version__ = '0.01'
 
-import pygtk
-pygtk.require("2.0")
+import os.path
 
+import pygtk; pygtk.require("2.0")
 import gtk
 import gtk.glade
-import gnome.ui
 
 import rbconfig
@@ -32 +31 @@
 from rb.motor.command import Motor
 
-
-GLADE_FILE = 'rb/gui/gui-gnome.glade'
-ROBOT_NAME = 'RATT'
+# Full path to the GUI definition file
+GTKBUILDER_FILE = os.path.join(os.path.dirname(__file__), 'barebones-keypad.gtk')
 
 
@@ -43 +41 @@
         
         require('rb.motor.motor_controller.serial_motor_controller', '/dev/ttyS0')
-        require('rb.motor.utils.motor_command_relay')
+        require('rb.motor.command.motor_command_relay')
         
         lmotor = Motor(rbconfig.left_motor, rbconfig.left_motor_orient)
         rmotor = Motor(rbconfig.right_motor, rbconfig.right_motor_orient)
         
-        gnome.init("robotcontrol", __version__)
-        rbgui = RobotGUI(motors)
+        kpgui = KeypadGUI(lmotor, rmotor)
         gtk.main()
 
 
-class RobotGUI(object):
+class KeypadGUI(object):
         '''
-        A GUI for controlling the robot.
+        A GUI for simplistic motor control.
         '''
         
@@ -62 +59 @@
                 self.rmotor = right_motor
                 
-                self.tree = gtk.glade.XML(GLADE_FILE)
-                self.window = self.tree.get_widget("robotcontroller")
+                builder = gtk.Builder()
+                builder.add_from_file(GTKBUILDER_FILE)
+                builder.connect_signals(self)
                 
-                self.lslider = self.tree.get_widget("left_motor")
-                self.rslider = self.tree.get_widget("right_motor")
-                #self.lspeed = self.lslider.get_value()
-                #self.rspeed = self.rslider.get_value()
+                self.window = builder.get_object('window')
+                self.buttons = map(builder.get_object, [
+                        "stopbutton", "forwardbutton", "reversebutton",
+                        "leftbutton", "rightbutton"
+                ])
+                self.window.show()
                 
+                # Whether the toggle state of the set of buttons is currently being updated
+                # Used to distinguish between user-activated toggling and that performed by `toggle_only()`.
+                self.updating_set = False
                 
-                connections = {
-                        'on_rbwindow_destroy': gtk.main_quit,
-                        'on_forward_button_activate': lambda: self.set_speeds(255, 255),
-                        'on_stop_button_activate': self.stop,
-                        'on_backward_button_activate': lambda: self.set_speeds(-255, -255),
-                        'on_left_forward_activate': lambda: self.set_speeds(left=255),
-                        'on_right_forward_activate': lambda: self.set_speeds(right=255),
-                        'on_left_backward_activate': lambda: self.set_speeds(left=-255),
-                        'on_right_backward_activate': lambda: self.set_speeds(right=-255),
-                }
-                self.tree.signal_autoconnect(connections)
-                
-                self.set_speeds(0, 0)
-                
-                self.window.show()
                 log_debug("gui: Done creating window")
         
-        def set_speeds(self, left=None, right=None):
-                if left is not None:
-                        log_info("gui: Setting left motor speed to %s" % left)
-                        self.lslider.set_value(left)
-                        self.lmotor.to_speed(left)
-                
-                if right is not None:
-                        log_info("gui: Setting right motor speed to %s" % right)
-                        self.rslider.set_value(right)
-                        self.rmotor.to_speed(right)
+        def on_window_destroy(self, widget, data=None):
+                gtk.main_quit()
+                log_debug("gui: Window closed")
         
-        def stop(self):
+        ##
+        # Handlers for the button set
+        
+        def on_stopbutton_toggled(self, widget, data=None):
+                if not self.toggle_only(widget):
+                        return
                 self.lmotor.stop()
                 self.rmotor.stop()
-
+        
+        def on_forwardbutton_toggled(self, widget, data=None):
+                if not self.toggle_only(widget):
+                        return
+                self.lmotor.forward()
+                self.rmotor.forward()
+        
+        def on_reversebutton_toggled(self, widget, data=None):
+                if not self.toggle_only(widget):
+                        return
+                self.lmotor.backward()
+                self.rmotor.backward()
+        
+        def on_leftbutton_toggled(self, widget, data=None):
+                if not self.toggle_only(widget):
+                        return
+                self.lmotor.backward()
+                self.rmotor.forward()
+        
+        def on_rightbutton_toggled(self, widget, data=None):
+                if not self.toggle_only(widget):
+                        return
+                self.lmotor.forward()
+                self.rmotor.backward()
+                self.toggle_only(widget)
+        
+        def toggle_only(self, active_button):
+                '''
+                Ensure that only `active_button` is active.  Return ``False`` if it isn't, else ``True``.
+                '''
+                if self.updating_set:
+                        return False
+                if not active_button.get_active():
+                        # You can't disable the active button by hitting it again.  Re-enable it.
+                        active_button.set_active(True)
+                        return False
+                self.updating_set = True
+                try:
+                        for b in self.buttons:
+                                if b != active_button and b.get_active():
+                                        b.set_active(False)
+                finally:
+                        self.updating_set = False
+                return True