Changeset 425

Timestamp:

02/25/09 19:01:28 (3 years ago)

Author:

mosttw

Message:

Added crude speed graphing

Location:

trunk/software/rb

Files:

: 1 added
: 6 modified

controller.py (modified) (1 diff)
gui/analog.py (modified) (4 diffs)
gui/compass.py (modified) (2 diffs)
gui/gui.glade (modified) (2 diffs)
gui/gui.py (modified) (4 diffs)
gui/gui.xml (modified) (2 diffs)
gui/speedgraph.py (added)

Legend:

: Unmodified
: Added
: Removed

trunk/software/rb/controller.py

r420	r425
4	4	class Controller():
5	5	def __init__(self):
6		#self.drive = rb.drive.FakeDrive(rbconfig.left_motor_port,
7		# rbconfig.right_motor_port)
8		self.drive = rb.drive.Drive(rbconfig.left_motor_port,
9		rbconfig.right_motor_port)
	6	self.mode = "stop"
	7	self.drive = rb.drive.FakeDrive(rbconfig.left_motor_port,
	8	rbconfig.right_motor_port)
	9	#~ self.drive = rb.drive.Drive(rbconfig.left_motor_port,
	10	#~ rbconfig.right_motor_port)
	11
	12	def set_mode(self, mode):
	13	'''
	14	Set the current mode. Override this method in a subclass
	15	to do something useful.
	16	'''
	17	self.mode = mode

trunk/software/rb/gui/analog.py

r422	r425
	1	from math import pi
1	2	import gtk
2	3
…	…
19	20	def redraw(self, event):
20	21	self.queue_draw()
21		~~if self.controller.drive.left.target == 0 and self.controller.drive.right.target == 0:~~
22		~~self.builder.get_object("stop").set_active(True)~~
23	22
24	23	# /\
…	…
31	30	# -1 _\/_ -1
32	31	def expose_cb(self, da, event):
33		~~from math import pi~~
34	32	alloc = self.get_allocation()
35	33	w, h = alloc.width, alloc.height
…	…
47	45	x = float(self.controller.drive.left.target - self.controller.drive.right.target)
48	46	y = float(self.controller.drive.left.target + self.controller.drive.right.target)
49		log_debug("left=%f, right=%f, x=%f, y=%f" %
50		(self.controller.drive.left.target, self.controller.drive.right.target,
51		( x/4+0.5), (-y/4+0.5)))
	47	#~ log_debug("left=%f, right=%f, x=%f, y=%f" %
	48	#~ (self.controller.drive.left.target, self.controller.drive.right.target,
	49	#~ ( x/4+0.5), (-y/4+0.5)))
52	50	x = ( x/4+0.5) * w
53	51	y = (-y/4+0.5) * h

trunk/software/rb/gui/compass.py

r402	r425
75	75	return False
76	76
77		~~def queue_redraw(self):~~
78		~~alloc = self.allocation~~
79		~~self.queue_draw_area(alloc.x, alloc.y, alloc.width, alloc.height)~~
80
81	77	def new_direction(self, color, direction):
82	78	'''
…	…
107	103	def update(self, new_direction):
108	104	self.direction = new_direction
109		self.compass_widget.queue_redraw()
	105	self.compass_widget.queue_draw()
110	106
111	107

trunk/software/rb/gui/gui.glade

r403	r425
1	1	<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2	2	<!DOCTYPE glade-interface SYSTEM "glade-2.0.dtd">
3		<!--Generated with glade3 3.4.5 on ~~Thu Feb 19 03:42:00~~ 2009 -->
	3	<!--Generated with glade3 3.4.5 on Wed Feb 25 17:23:04 2009 -->
4	4	<glade-interface>
5	5	<widget class="GtkWindow" id="window">
…	…
55	55	<property name="type">tab</property>
56	56	<property name="position">1</property>
	57	<property name="tab_fill">False</property>
	58	</packing>
	59	</child>
	60	<child>
	61	<widget class="GtkVBox" id="speed_vbox">
	62	<property name="visible">True</property>
	63	<child>
	64	<widget class="GtkAlignment" id="speed_graph">
	65	<property name="visible">True</property>
	66	<child>
	67	<placeholder/>
	68	</child>
	69	</widget>
	70	</child>
	71	<child>
	72	<widget class="GtkLabel" id="speed_status_label">
	73	<property name="visible">True</property>
	74	<property name="ellipsize">PANGO_ELLIPSIZE_END</property>
	75	</widget>
	76	<packing>
	77	<property name="expand">False</property>
	78	<property name="position">1</property>
	79	</packing>
	80	</child>
	81	</widget>
	82	<packing>
	83	<property name="position">2</property>
	84	</packing>
	85	</child>
	86	<child>
	87	<widget class="GtkLabel" id="speed_label">
	88	<property name="visible">True</property>
	89	<property name="label" translatable="yes">Speed</property>
	90	</widget>
	91	<packing>
	92	<property name="type">tab</property>
	93	<property name="position">2</property>
57	94	<property name="tab_fill">False</property>
58	95	</packing>

trunk/software/rb/gui/gui.py

r424	r425
8	8	from rb.gui.compass import CompassWidget
9	9	from rb.gui.analog import AnalogWidget
	10	from rb.gui.speedgraph import SpeedGraph
10	11
11	12	import os.path
…	…
21	22	def __init__(self):
22	23	Controller.__init__(self)
23
24	24	gobject.threads_init()
25	25
…	…
43	43
44	44	# Add widgets
45		self.analog = AnalogWidget(self)
	45	self.analog = AnalogWidget(self)
46	46	self.compass = CompassWidget()
	47	self.speed_graph = SpeedGraph(self.drive)
47	48	self.builder.get_object("analog_body").add(self.analog)
48	49	self.builder.get_object("compass_body").add(self.compass)
	50	self.builder.get_object("speed_graph").add(self.speed_graph)
49	51
50	52	self.window.show_all()
51	53	gtk.main()
52	54
	55	def set_mode(self, mode):
	56	Controller.set_mode(self, mode) # set the mode attribute
	57	# TODO: disable manual motor control when in autonomous mode
	58	if mode == 'stop':
	59	self.set_speed(0, 0)
	60	elif mode == 'autonomous':
	61	print "Autonomous mode not yet implemented"
	62	elif mode == 'manual':
	63	print "Switching to manual mode"
	64
53	65	def key_press_cb(self, widget, event):
54		nb = self.builder.get_object("notebook")
55		tab = nb.get_current_page()
	66	nb = self.builder.get_object("notebook")
	67	tab = nb.get_current_page()
56	68
57	69	# E-Stop
58		if event.keyval in (gtk.keysyms.Escape, gtk.keysyms.space):
59		self.set_~~speed(0, 0~~)
	70	if event.keyval in (gtk.keysyms.Escape, gtk.keysyms.space):
	71	self.set_mode('stop')
60	72
61	73	# Switch tabs
…	…
88	100
89	101	def mode_cb(self, widget=None, data=None):
90		log_debug("gui: Stopping motors")
91		self.set_speed(0, 0)
	102	'''
	103	Callback for mode selection toggle buttons.
	104	'''
	105	new_mode = {
	106	'mode_stop': 'stop',
	107	'mode_manual': 'manual',
	108	'mode_auto': 'autonomous',
	109	}[widget.get_name()]
	110	self.set_mode(new_mode)

trunk/software/rb/gui/gui.xml

r403	r425
1	1	<?xml version="1.0"?>
2		<!--Generated with glade3 3.4.5 on ~~Thu Feb 19 03:42:00~~ 2009 -->
	2	<!--Generated with glade3 3.4.5 on Wed Feb 25 17:23:04 2009 -->
3	3	<interface>
4	4	<object class="GtkWindow" id="window">
…	…
49	49	<packing>
50	50	<property name="position">1</property>
	51	<property name="tab_fill">False</property>
	52	</packing>
	53	</child>
	54	<child>
	55	<object class="GtkVBox" id="speed_vbox">
	56	<property name="visible">True</property>
	57	<child>
	58	<object class="GtkAlignment" id="speed_graph">
	59	<property name="visible">True</property>
	60	<child>
	61	<placeholder/>
	62	</child>
	63	</object>
	64	</child>
	65	<child>
	66	<object class="GtkLabel" id="speed_status_label">
	67	<property name="visible">True</property>
	68	<property name="ellipsize">PANGO_ELLIPSIZE_END</property>
	69	</object>
	70	<packing>
	71	<property name="expand">False</property>
	72	<property name="position">1</property>
	73	</packing>
	74	</child>
	75	</object>
	76	</child>
	77	<child type="tab">
	78	<object class="GtkLabel" id="speed_label">
	79	<property name="visible">True</property>
	80	<property name="label" translatable="yes">Speed</property>
	81	</object>
	82	<packing>
	83	<property name="position">2</property>
51	84	<property name="tab_fill">False</property>
52	85	</packing>