"""
Capstone Project. Code to run on a LAPTOP (NOT the robot).
Displays the Graphical User Interface (GUI) and communicates with the robot.
Authors: Your professors (for the framework)
and Emily Millard.
Spring term, 2018-2019.
"""
# DONE 1: Put your name in the above.
import tkinter
from tkinter import ttk
import mqtt_remote_method_calls as mqtt
import m1_laptop_code as m1
import m2_laptop_code as m2
def get_my_frame(root, window, mqtt_sender):
# Construct your frame:
frame = ttk.Frame(window, padding=10, borderwidth=5, relief="ridge")
frame_label = ttk.Label(frame, text="Emily Millard")
frame_label.grid()
speed_label = ttk.Label(frame, text="Speed")
speed_label.grid()
# DONE 2: Put your name in the above.
# Add the rest of your GUI to your frame:
# TODO: Put your GUI onto your frame (using sub-frames if you wish).
speed_entry_box = ttk.Entry(frame, width=8)
speed_entry_box.insert(0, "100")
arm_calibrate_button = ttk.Button(frame, text="Calibrate Arm")
location_label = ttk.Label(frame, text="New Arm Location")
arm_location_entry_box = ttk.Entry(frame, width=8)
arm_location_entry_box.insert(0, "5")
arm_to_button = ttk.Button(frame, text="Arm to Location")
arm_up_button = ttk.Button(frame, text="Arm Up")
arm_down_button = ttk.Button(frame, text="Arm Down")
color_label = ttk.Label(frame, text="Color to Stop")
stop_color_entry_box = ttk.Entry(frame, width=8)
stop_color_entry_box.insert(0, "red")
forward_until_color_button = ttk.Button(frame, text="Forward Until Color")
speed_entry_box.grid()
arm_calibrate_button.grid()
arm_calibrate_button['command'] = lambda: arm_calibration(speed_entry_box, mqtt_sender)
location_label.grid()
arm_location_entry_box.grid()
arm_to_button.grid()
arm_to_button['command'] = lambda: arm_to(speed_entry_box, arm_location_entry_box, mqtt_sender)
arm_up_button.grid()
arm_up_button['command'] = lambda: handle_arm_up(speed_entry_box, mqtt_sender)
arm_down_button.grid()
arm_down_button['command'] = lambda: handle_arm_down(speed_entry_box, mqtt_sender)
color_label.grid()
stop_color_entry_box.grid()
forward_until_color_button.grid()
forward_until_color_button['command'] = lambda: \
forward_until_color(speed_entry_box, stop_color_entry_box, mqtt_sender)
# Return your frame:
return frame
class MyLaptopDelegate(object):
"""
Defines methods that are called by the MQTT listener when that listener
gets a message (name of the method, plus its arguments)
from the ROBOT via MQTT.
"""
def __init__(self, root):
self.root = root # type: tkinter.Tk
self.mqtt_sender = None # type: mqtt.MqttClient
def set_mqtt_sender(self, mqtt_sender):
self.mqtt_sender = mqtt_sender
# TODO: Add methods here as needed.
# TODO: Add functions here as needed.
def handle_arm_up(speed_entry_box, mqtt_sender):
print("handle arm up:", speed_entry_box.get())
speed = int(speed_entry_box.get())
mqtt_sender.send_message("arm_up", [speed])
def handle_arm_down(speed_entry_box, mqtt_sender):
print("handle arm down:", speed_entry_box.get())
speed = int(speed_entry_box.get())
mqtt_sender.send_message("arm_down", [speed])
def arm_calibration(speed_entry_box, mqtt_sender):
print("Calibrating")
speed = int(speed_entry_box.get())
mqtt_sender.send_message("arm_calibrate", [speed])
def arm_to(speed_entry_box, arm_location_entry_box, mqtt_sender):
print("moving arm to:", arm_location_entry_box.get())
speed = int(speed_entry_box.get())
location = int(arm_location_entry_box.get())
mqtt_sender.send_message("arm_to", [speed, location])
def forward_until_color(speed_entry_box, stop_color_entry_box, mqtt_sender):
print("forward until detection of color:", stop_color_entry_box.get())
speed = int(speed_entry_box.get())
color = str(stop_color_entry_box.get())
mqtt_sender.send_message("forward_to_color", [speed, color])
