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main.py
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import socket
import time
from robot import Robot
import kivy
from operator import itemgetter
from kivy.config import Config
Config.set('graphics', 'resizable', False)
from kivy.app import App
from kivy.uix.label import Label
from kivy.uix.floatlayout import FloatLayout
from kivy.uix.textinput import TextInput
from kivy.uix.button import Button
from kivy.clock import Clock
from functools import partial
from kivy.core.window import Window
from kivy.uix.widget import Widget
from kivy.properties import ObjectProperty, NumericProperty, StringProperty
from kivy.uix.progressbar import ProgressBar
from kivy.uix.checkbox import CheckBox
from kivy.uix.popup import Popup
from kivy.uix.gridlayout import GridLayout
import re
class MyGrid(FloatLayout):
def __init__(self, **kwargs):
super(MyGrid, self).__init__(**kwargs)
self.connected = False
self.r1 = None
connected = ObjectProperty(None)
battery_property = NumericProperty(0)
s1_property = NumericProperty(0)
s2_property = NumericProperty(0)
s3_property = NumericProperty(0)
s4_property = NumericProperty(0)
s5_property = NumericProperty(0)
left_motor = NumericProperty(0)
right_motor = NumericProperty(0)
number_property = NumericProperty(0)
led_off = ObjectProperty(None)
led_red = ObjectProperty(None)
led_green = ObjectProperty(None)
msg_out_property = StringProperty('')
msg_in_property = StringProperty('')
following = ObjectProperty(False)
index_property = NumericProperty(0)
diff = 0
max_diff = 0
def submit(self, *args):
if self.connected:
try:
left_input = int(self.ids.left_input.text)
right_input = int(self.ids.right_input.text)
except ValueError:
self.create_popup("Błędna prędkość silnika.")
return -1
lu = self.r1.update_left(left_input)
ru = self.r1.update_right(right_input)
if lu == -1 or ru == -1:
self.create_popup("Błędna prędkość silnika.")
return -1
led = 0
if self.ids.led_green.active:
led += 1
if self.ids.led_red.active:
led += 2
self.r1.update_led(led)
self.r1.update_message()
else:
self.create_popup("Należy najpierw połączyć się z robotem.")
def submit_manual(self, *args):
if self.connected:
frame = self.ids.frame.text.lower()
m = re.search(r"^\[0[0-3][0-9a-f]{4}\]$", frame)
if m is not None:
led = int(frame[2])
left = int(frame[3:5], 16)
right = int(frame[5:7], 16)
if left > 127:
left -= 256
if right > 127:
right -= 256
self.r1.update_led(led)
self.r1.update_left(left)
self.r1.update_right(right)
self.r1.update_message()
else:
self.create_popup("Błędna ramka.")
else:
self.create_popup("Należy najpierw połączyć się z robotem.")
def follow(self):
if self.connected:
speed = 15
self.following = True
self.diff = 0
self.r1.update_left(speed)
self.r1.update_right(speed)
self.r1.update_message()
self.max_diff = speed
else:
self.create_popup("Należy najpierw połączyć się z robotem.")
def stop_following(self):
self.following = False
def update(self, dt):
if self.connected:
self.r1.send()
self.r1.receive()
self.battery_property = self.r1.battery
self.s1_property = self.r1.sensor1
self.s2_property = self.r1.sensor2
self.s3_property = self.r1.sensor3
self.s4_property = self.r1.sensor4
self.s5_property = self.r1.sensor5
self.number_property = self.r1.number
self.msg_out_property = self.r1.msg_out
self.msg_in_property = self.r1.msg_in
self.left_motor = self.r1.left
self.right_motor = self.r1.right
if self.following:
a = [self.r1.sensor3, self.r1.sensor1, self.r1.sensor2, self.r1.sensor4, self.r1.sensor5]
# index = min(enumerate(avg), key=itemgetter(1))[0]
# self.index_property = index
# if index == 0:
# self.r1.update_left(15)
# self.r1.update_right(15)
# elif index == 1:
# self.r1.update_left(0)
# self.r1.update_right(20)
# elif index == 2:
# self.r1.update_left(5)
# self.r1.update_right(15)
# elif index == 3:
# self.r1.update_left(15)
# self.r1.update_right(5)
# elif index == 4:
# self.r1.update_left(20)
# self.r1.update_right(0)
suma = -2 * a[1] - a[2] + a[3] + 2 * a[4]
zmapowana = self.mapowanie(suma)
print(suma, zmapowana)
if suma < -10000 and self.diff < self.max_diff:
self.diff -= 2
if suma > 10000 and self.diff > -self.max_diff:
self.diff += 2
if suma < -50000:
self.diff = -self.max_diff
if suma > 50000:
self.diff = self.max_diff
if -10000 < suma < 10000 or self.r1.sensor3 < 20000:
self.diff = 0
self.r1.update_left(self.max_diff - self.diff)
self.r1.update_right(self.max_diff + self.diff)
self.r1.update_message()
def create_connection(self, *args):
try:
robot_number = int(self.ids.robot_number_input.text)
except ValueError:
self.create_popup("Niepoprawny numer robota.")
return -1
self.r1 = Robot(number=robot_number, debug=False)
c = self.r1.connect()
if c == -1:
self.create_popup("Nie udało się nawiązać połączenia.")
return -1
self.connected = True
@staticmethod
def mapowanie(value):
return int(20 * value / (2 * 53255))
def disconnect(self, *args):
self.r1.disconnect()
self.r1 = None
self.connected = False
self.number_property = 0
self.battery_property = 0
self.s1_property = 0
self.s2_property = 0
self.s3_property = 0
self.s4_property = 0
self.s5_property = 0
def create_popup(self, text):
layout = GridLayout(cols=1, padding=10, size_hint=(0.5, 1))
popupLabel = Label(text=text)
closeButton = Button(text="Zamknij", size_hint=(0.03, 0.03))
layout.add_widget(popupLabel)
layout.add_widget(closeButton)
popup = Popup(title='Błąd',
content=layout,
size_hint=(0.6, 0.5))
popup.open()
closeButton.bind(on_press=popup.dismiss)
class MyApp(App):
def build(self):
grid = MyGrid()
Clock.schedule_interval(grid.update, 1.0 / 30.0)
return grid
MyApp().run()