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| from tkinter import *
import tkinter as tk
from tkinter import scrolledtext
import serial
import threading
from tkinter.ttk import Scale
from tkinter import colorchooser,filedialog,messagebox
import time
import math
import sys
import requests
import os
import socket
from collections import deque
import subprocess
import copy
import re
import ipget
import queue
class Remote_Command_Reader:
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
HOST = 'localhost'
PORT = 9998
def __init__(self,pd):
print("start Remote_Command_Reader.__init__")
self.gui=pd
print(self.gui)
self.gui.set_Remote_Command_Reader(self)
self.my_address='localhost'
self.get_my_address()
def python2fwbln(self,py2x_message):
msg=py2x_message+'\n'
self.sock.sendall(msg.encode('utf-8'))
def python2fwb(self,py2x_message):
msg=py2x_message
self.sock.sendall(msg.encode('utf-8'))
def get_my_address(self):
self.my_address = socket.gethostbyname(socket.gethostname())
return self.my_address
def parse(self,line):
self.gui.parse_command(line)
def returnFileList(self):
cpath=os.getcwd()
os.chdir("/home/pi/Pictures")
filenames = [f.name for f in os.scandir()]
filenames.sort()
for fn in filenames:
self.python2fwbln(fn)
os.chdir(cpath)
def shutdown(self):
os.system("sudo shutdown -h now")
def client_start(self,addr):
"""クライアントのスタート"""
try:
self.sock.connect((addr, self.PORT))
print("pi_arduino_uart_ex01.py connected to the server")
except Exception as e:
msg1="connect error, addr="+addr+" port="+str(self.PORT)
print(msg1)
self.gui.write_message(msg1)
tb=sys.exec_info()[2]
msg2="[message]{0}".format(e.with_traceback(tb))
print(msg2)
self.gui.write_message(msg2)
return
addr=self.sock.getsockname()[0]
print("connect, addr="+addr)
handle_thread = threading.Thread(target=self.handler, args=(self.sock,), daemon=True)
handle_thread.start()
def return_message(self,x):
self.sock.send((x+'\n').encode('utf-8'))
def handler(self,sock):
"""サーバからメッセージを受信し、表示する"""
print("start handler from pic_ex04.py")
while True:
data=b''
try:
data = sock.recv(1024)
except Exception as e:
tb=sys.exec_info()[2]
msg2="message]{0}".format(e.with_traceback(tb))
print(msg2)
self.gui.write_message(msg2)
try:
received=data.decode("utf-8")
lines=received.splitlines()
for line in lines:
self.parse(line)
except Exception as e:
tb=sys.exec_info()[2]
msg2="message]{0}".format(e.with_traceback(tb))
print(msg2)
self.gui.write_message(msg2)
class App:
arduino_queue=queue.Queue()
gui_queue=queue.Queue()
init_distance=50.0
allowance_0=4.0
allowance_1=10.0
allowance_2=50.0
waiting=False
def __init__(self,master):
self.root=root
self.root.title("command panel")
self.root.configure(background="white")
self.root.geometry("850x600")
self.server_label=Label(self.root, text='server addr')
self.server_label.place(x=10,y=10)
self.server_field=Entry(self.root, width=40)
self.server_field.place(x=100,y=10)
self.id_label=Label(self.root, text='id')
self.id_label.place(x=10,y=40)
self.id_field=Entry(self.root, width=40)
self.id_field.place(x=100,y=40)
self.command_label=Label(self.root, text='command')
self.command_label.place(x=10,y=60)
self.command_field=Entry(self.root, width=70)
self.command_field.place(x=100,y=60)
self.parse_command_button=Button(self.root, text='parse',bd=2,bg='white',
command=self.click_command_button,width=8, relief=RIDGE)
self.parse_command_button.place(x=700,y=60)
self.arduino_command_label=Label(self.root, text='arduino')
self.arduino_command_label.place(x=10,y=90)
self.arduino_command_field=Entry(self.root, width=70)
self.arduino_command_field.place(x=100,y=90)
self.arduino_send_button=Button(self.root, text='send',bd=2,bg='white',
command=self.arduino_click_button,width=8, relief=RIDGE)
self.arduino_send_button.place(x=700,y=90)
self.message_frame=tk.Frame(self.root,width=100, height=30)
self.message_frame.place(x=30,y=120)
self.message_area=scrolledtext.ScrolledText(self.message_frame)
self.message_area.pack()
self.message_line=0
self.message_clear_button=Button(self.root, text='clear',bd=2,bg='white',
command=self.click_message_clear,width=8, relief=RIDGE)
self.arduino_send_button.place(x=700,y=120)
self.id_field.delete(0,END)
self.id_field.insert(END,'')
self.serial=serial.Serial('/dev/ttyACM0',115200)
self.serial.flush()
thread=threading.Thread(target=self.read_loop,args=[],name='thread1')
ipx=ipget.ipget()
self.send_arduino("show \""+str(ipx.ipaddr('wlan0'))+"\"")
self.send_arduino("show \""+str(ipx.ipaddr('eth0'))+"\"")
thread.start()
gui_thread=threading.Thread(target=self.gui_access_loop,args=[],name='gui_thread')
gui_thread.start()
def set_Remote_Command_Reader(self,reader):
self.reader=reader
def set_tcp_server_address(self,address):
self.server_field.delete(0,END)
self.server_field.insert(END,address)
def connect(self):
server=self.server_field.get()
self.reader.client_start(server)
def shutdown(self):
os.system("sudo shutdown -h now")
def write_message(self,message):
self.gui_queue.put('message '+message)
def send_arduino(self,message):
self.serial.write(message.encode('utf-8'))
self.write_message(">"+message)
self.serial.write('\n'.encode('utf-8'))
def arduino_click_button(self):
inx=self.arduino_command_field.get()
print("inx="+inx)
self.send_arduino(inx)
self.arduino_command_field.delete(0,END)
def click_message_clear(self):
self.message_area.delete('1.0',END)
def click_command_button(self):
inx=self.command_field.get()
print("inx="+inx)
self.parse_command(inx)
self.command_field.delete(0,END)
def set_my_id(self,id):
self.id_field.delete(0,END)
self.id_field.insert(END,id)
def set_init(self):
print("start set_init.")
for i in range(50): print("i="+str(i))
self.waiting=True
print("waiting=True.")
self.send_arduino("get distance.")
print("sending get distance.")
vs=""
for j in range(50): print("j="+str(j))
print("arduin_queue.get()...")
vs=self.arduino_queue.get()
print("arduino_queue.get()="+vs)
if vs=="":
print("vs=no value")
time.sleep(0.2)
else:
print("vs="+vs)
break
self.waiting=False
if vs=="":
self.reader.return_message("something wrong.")
return
print("distance="+vs)
v=float(vs)
if abs(v-self.init_distance)<self.allowance_0:
print("init done.")
self.send_arduino("set current 0.0")
self.reader.return_message("init succeded.")
return
elif v>self.init_distance+self.allowance_2:
print("v>allowance_2")
dx=(v-self.init_distance)*1.5
self.send_arduino("set current "+str(dx))
self.send_arduino("moveTo 0.0")
elif v>self.init_distance+self.allowance_1:
print("v>allowance_1")
dx=(v-self.init_distance)*0.7
self.send_arduino("set current "+str(dx))
self.send_arduino("moveTo 0.0")
elif v<self.init_distance-self.allowance_2:
print("v<allowance_2")
self.send_arduino("set current 0.0")
self.send_arduino("moveTo 10.0")
elif v<self.init_distance-self.allowance_1:
print("v<allowance<1")
self.send_arduino("set current 0.0")
self.send_arduino("moveTo 1.0")
def is_my_id(self,x):
print("is_my_id("+x+")",end="")
id=self.id_field.get()
print(" id="+id)
return re.match(x,id)
def read_loop(self):
print("start read_loop")
while True:
c=self.serial.readline().decode('utf-8').rstrip()
self.message_line=self.message_line+1
print("c="+c)
print("return "+c)
self.reader.return_message(c)
print("self.waiting="+str(self.waiting))
if self.waiting:
print("waiting==True")
rx=c.split()
print("rx="+str(rx))
lrx=len(rx)
print("lrx="+str(lrx))
if lrx==2:
print("lrx==")
if rx[1]=='mm.':
print("put..."+rx[0])
self.arduino_queue.put(rx[0])
else:
self.arduino_queue.put("")
else:
self.arduino_queue.put("")
def gui_access_loop(self):
print('start gui_access_loop(self)')
while True:
l=self.gui_queue.get()
print('l='+l)
if l.startswith('message '):
mx=l[len('message '):]
print('mx='+mx)
self.gui_write_message(mx)
def gui_write_message(self,message):
self.message_area.insert(tk.END,message)
self.message_area.insert(tk.END,'\n')
def parse_command(self,command):
rest=[""]
strc=[""]
ix=[""]
self.command_field.delete(0,END)
self.command_field.insert(END,command)
command=self.r_b(command)
print("parse_command("+command+")")
if self.parse_key("id=",command,rest):
print("parse_key(id="+command+","+rest[0]+")")
command=self.r_b(rest[0])
if self.parse_String_Constant(command,strc,rest):
print("strc="+strc[0]+",rest="+rest[0])
command=self.r_b(rest[0])
strcx=strc[0]
if strcx=="*" :
if self.parse_arduino(command):
return True
else:
return False
elif self.is_my_id(strcx):
print("start parse_arduino("+command+",rest)")
if self.parse_arduino(command):
return True
else:
return False
else:
return False
return False
elif self.parse_key("set ",command,rest):
command=self.r_b(rest[0])
if self.parse_key("id=",command,rest):
command=self.r_b(rest[0])
if self.parse_String_Constant(command,strc,rest):
strcx=strc[0]
print("strc="+strcx+",rest="+rest[0])
self.set_my_id(strcx)
return True
else:
return False
elif self.parse_key("init",command,rest):
self.set_init()
else:
return False
elif self.parse_key("shutdown",command,rest):
self.shutdown()
return True
def parse_arduino(self,command):
rest=[""]
strc=[""]
ix=[""]
command=self.r_b(command)
if self.parse_key("arduino ",command,rest):
print("parse_key(arduino "+command+","+rest[0]+")")
command=self.r_b(rest[0])
print("xx "+command)
self.arduino_command_field.delete(0,END)
self.arduino_command_field.insert(END,command)
self.send_arduino(command)
return True
elif self.parse_key("init",command,rest):
print("parse_key(init "+command+","+rest[0]+")")
self.set_init()
return True
else:
return False
def parse_key(self,key,inx,rest):
keylen=len(key)
inlen=len(inx)
if inx.startswith(key):
rest[0]=inx[keylen:inlen]
return True
rest[0]=inx
return False
def parse_p_int(self,command,ix,rest):
print("parse_p_int("+command+",ix,rest)")
i=0
c=command[0]
if c in ['0','1','2','3','4','5','6','7','8','9']:
clen=len(command)
while True:
i=i*10+int(c)
command=command[1:clen]
clen=len(command)
if clen==0:
ix[0]=i
rest[0]=""
return True
print("parse_p_int command="+command)
c=command[0]
if not (c in ['0','1','2','3','4','5','6','7','8','9']):
ix[0]=i
rest[0]=command
return True
rest[0]=command
ix[0]=0
return False
def r_b(self,inx):
rx=[""]
while self.parse_key(" ",inx,rx):
inx=rx[0]
return rx[0]
def parse_String_Constant(self,inx,strc,rest):
rx=[""]
xstr=""
if self.parse_key('"',inx,rx):
inx=rx[0]
fx=inx[0]
xlen=len(inx)
while fx!='"':
if xlen==0:
return False
if fx=='\\':
inx=inx[1:xlen]
else:
xstr=xstr+fx
xlen=len(inx)
inx=inx[1:xlen]
fx=inx[0]
if self.parse_key('"',inx,rx):
strc[0]=xstr
rest[0]=rx[0]
return True
return False
if __name__=="__main__":
root = Tk()
root.wm_title('Scrolling')
app = App(root)
rcr=Remote_Command_Reader(app)
ip=rcr.get_my_address()
app.set_tcp_server_address(ip)
app.connect()
ip=rcr.get_my_address()
app.set_tcp_server_address(ip)
app.set_my_id(ip)
root.mainloop()
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