Changeset 459

Timestamp:

03/14/09 17:41:06 (3 years ago)

Author:

mosttw

Message:

Added shell to GUI

Location:

trunk/software

Files:

• rb/drive.py (modified) (1 diff)
• rb/gui/gui.py (modified) (3 diffs)
• rb/shell.py (modified) (5 diffs)
• shell (modified) (1 diff)

trunk/software/rb/drive.py

@@ -244 +244 @@
                 v1 = sin(time.time()) * .05 - random.random() * .01
                 v2 = cos(time.time()) * .05 - random.random() * .01
-                return (self.left.target + v1, self.right.target + v2)
+                return (
+                        clip(self.left.target + v1, -1.0, 1.0),
+                        clip(self.right.target + v2, -1.0, 1.0)
+                )
 
 

trunk/software/rb/gui/gui.py

@@ -3 +3 @@
 import gtk
 
+import os.path
+from thread import start_new_thread
+
 import rbconfig
-from rb.core.event   import connect
+from rb.shell        import Shell
 from rb.core.logging import log_debug, log_info
 from rb.controller   import Controller
@@ -12 +15 @@
 from rb.transcript import TranscriptLogger
 
-import os.path
 
 # Full path to the GUI definition file
@@ -71 +73 @@
                 self.set_navigator('analog')
                 
+                start_new_thread(self._run_shell, ())
                 gtk.main()
+        
+        def _run_shell(self):
+                Shell(self).cmdloop()
+                gobject.idle_add(gtk.main_quit)
         
         def process(self, type, data):

trunk/software/rb/shell.py

@@ -28 +28 @@
 from rb.transcript import TranscriptLogger
 
-class Shell(cmd.Cmd, Controller):
+
+class Shell(cmd.Cmd):
         '''
         A robot control shell.
@@ -35 +36 @@
         prompt = getattr(rbconfig, 'name', 'robot').lower() + '> '
 
-        def __init__(self):
+        def __init__(self, controller):
+                self.controller = controller
                 cmd.Cmd.__init__(self)
-                Controller.__init__(self)
-                self.set_navigator('shell')
-                try:
-                        self.cmdloop()
-                except:
-                        self.drive.running = False
         
         def preloop(self):
                 self.eval_locals = {
-                        'drive': self.drive
+                        'drive': self.controller.drive
                 }
-                self.init_drive()
                 
                 try:
@@ -116 +111 @@
                 try:
                         lspeed, rspeed = unpack(cmd, (0.0, float), (0.0, float))
-                        self.drive.setspeed(lspeed, rspeed)
+                        self.controller.drive.setspeed(lspeed, rspeed)
                 except ValueError:
                         print "Invalid parameters"
 
         def do_getspeed(self, cmd):
-                self.drive.getspeed()
+                self.controller.drive.getspeed()
 
         def do_setgain(self, cmd):
@@ -127 +122 @@
                         kp, ki, kd, m = unpack(cmd, (0, int), (0, int), (0, int), ('b', str))
                         if   m == 'l':
-                                self.drive.setgain((kp,ki,kd),None)
+                                self.controller.drive.setgain((kp,ki,kd),None)
                         elif m == 'r':
-                                self.drive.setgain(None,(kp,ki,kd))
+                                self.controller.drive.setgain(None,(kp,ki,kd))
                         else:
-                                self.drive.setgain((kp,ki,kd),(kp,ki,kd))
+                                self.controller.drive.setgain((kp,ki,kd),(kp,ki,kd))
                 except ValueError:
                         print "Invalid Parameters"
 
         def do_getspeed(self, cmd):
-                print self.drive.getspeed()
+                print self.controller.drive.getspeed()
 
         def do_setdc(self, cmd):
                 ldc, rdc = unpack(cmd, (0, int), (0, int))
-                print self.drive.setdc(ldc, rdc)
+                print self.controller.drive.setdc(ldc, rdc)
 
         def do_disable(self, cmd):
-                print self.drive.disable()
+                print self.controller.drive.disable()
         def help_disable(self):
                 print "Disable the drive"
 
         def do_enable(self, cmd):
-                print self.drive.enable()
+                print self.controller.drive.enable()
         def help_enable(self):
                 print "Enable the drive"
 
         def do_getdc(self, cmd):
-                print self.drive.getdc()
+                print self.controller.drive.getdc()
 
         def do_getgain(self, cmd):
-                print self.drive.getgain()
+                print self.controller.drive.getgain()
 
         def do_getstat(self, cmd):
-                print self.drive.getstat()
+                print self.controller.drive.getstat()
 
         def do_eewrite(self, cmd):
-                print self.drive.eewrite()
+                print self.controller.drive.eewrite()
         
         def do_stop(self, cmd):
-                self.drive.set_speeds(0.0, 0.0)
+                self.controller.drive.set_speeds(0.0, 0.0)
         
         def help_stop(self):
@@ -186 +181 @@
                 print ("Without arguments, list available commands.  With a command "
                        "name as an argument, get more information on that command")
+
+
+class ShellController(Controller):
+        def __init__(self):
+                Controller.__init__(self)
+                self.init_drive()
+                self.set_navigator('shell')
+                try:
+                        Shell(self).cmdloop()
+                finally:
+                        self.drive.running = False
+
 
 def unpack(str, *specs):

trunk/software/shell

@@ -1 +1 @@
 #!/usr/bin/python2.5
 
-from rb.shell import Shell
-Shell()
+from rb.shell import ShellController
+ShellController()