main_controller_01.py
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[[Real2Virtual202111]]
* main_controller_01.py [#e0ebf173]
- GUI
-- &ref(main_controller_01.py/main_controller_01_gui.png,...
#code(Python){{
## License: Apache 2.0. See LICENSE file in root directory.
## Copyright(c) 2017 Intel Corporation. All Rights Reserv...
#20240710
#####################################################
## Align Depth to Color ##
#####################################################
# First import the library
import os,sys
#import pyrealsense2 as rs
# Import Numpy for easy array manipulation
#import numpy as np
# Import OpenCV for easy image rendering
#import cv2
import copy
import socket
import threading
import sys
from tkinter import *
import tkinter as tk
from tkinter import scrolledtext
#from PIL import Image, ImageTk, ImageOps
import tkinter.ttk as ttk
from tkinter import messagebox
from tkinter import filedialog
import time
import threading
PORT = 9998
class Com:
def __init__(self,host,window):
self.host=host
self.connected=False
self.soc=None
self.handle_thread=None
self.message_window=window
def set_message_window(self,window):
print("set_message_window",end='')
print(self.window)
self.message_window=window
def is_connected(sekf):
return self.connected
def connect_address(self,address):
self.host=address
self.connect()
def connect(self):
print("re connect to host "+self.host)
if self.soc !=None:
print("close the previous host, "+self.soc.ge...
try:
self.soc.close()
self.soc=None
time.sleep(2.0)
except:
print("close failed")
try:
#socket.socket ... socket を作成し、socに代入
self.soc = socket.socket(socket.AF_INET, sock...
#IPアドレスがhostのserver socketにsocを接続
self.soc.connect((self.host,PORT))
except Exception as e:
print("connect error.")
if self.message_window:
self.message_window.write_message("error ...
self.connected=False
#受信担当の関数handlerを物threadでうごかすhandle_...
self.handle_thread=threading.Thread(target=self.h...
#handle_threadをstart
self.handle_thread.start()
self.connected=True
if self.message_window:
self.message_window.write_message("connected ...
def send_command(self,command):
if self.soc!=None:
try:
self.soc.send(bytes(command,"utf-8"))
except KeyboardInterrupt:
if self.message_window:
self.message_window.write_message("er...
self.soc.close()
exit()
else:
if self.host is not None:
self.message_window.write_message("no soc...
else:
self.message_window.write_message("no hos...
#受信の処理。送信threadとは別に、並行して処理を行う。
def handler(self):
print("at client, connected, start handler")
while self.soc is not None:
try:
data = self.soc.recv(1024)
line="[receive]- {}".format(data.decode("...
print(line)
#print(self.message_window)
if self.message_window:
self.message_window.write_message("fr...
if self.message_window.recv_queue!=No...
self.message_window.recv_queue.ap...
except Exception as e:
if self.message_window:
self.message_window.write_message(sel...
if self.soc is not None:
self.soc.close()
self.soc=None
tb=sys.exec_info()[2]
print("message:{0}".format(e.with_traceba...
break
def close(self):
self.soc.close()
self.soc=None
class Coms:
def __init__(self):
self.coms=[None,None,None,None,None,None,None,Non...
#self.coms=[None,None, ...., None]
#... number of sub controllers
def connect_all(self):
self.coms[2]=Com("192.168.14.10" ,self.message_wi...
self.coms[0]=Com("192.168.14.11", self.message_wi...
self.coms[1]=Com("192.168.14.12",self.message_win...
self.coms[3]=Com("192.168.14.13",self.message_win...
self.coms[4]=Com("192.168.14.14",self.message_win...
self.coms[5]=Com("192.168.14.15",self.message_win...
self.coms[6]=Com("192.168.14.16",self.message_win...
self.coms[8]=Com("192.168.14.18",self.message_win...
#
#self.coms[0]=Com("192.168.1.34",self.message_win...
#self.coms[0]=Com("192.168.13.18",self.message_wi...
#self.coms[1]=Com("192.168.1.8",self.message_wind...
#self.coms[2]=Com("192.168.1.10",self.message_win...
#self.coms[3]=Com("192.168.13.131",self.message_w...
#self.coms[4]=Com("192.168.13.132")
#self.coms[5]=Com("192.168.13.133")
#self.coms[6]=Com("192.168.13.134")
#self.coms[7]=Com("192.168.13.16")
#self.coms[7]=Com("192.168.13.135")
#self.coms[7]=Com("192.168.1.22")
for i in range(len(self.coms)):
if self.coms[i]!=None:
self.coms[i].connect()
def connect_com_to_address(self,i,address):
print("connect_com_to_address("+str(i)+","+addres...
if i<0 :
print("wrong plane number")
return
if i>len(self.coms) :
print("wrong plane number")
try:
if self.coms[i] is not None:
print("coms["+str(i)+"] is not None, conn...
self.coms[i].connect_address(address)
else:
print("coms["+str(i)+"] is None, connect,...
self.coms[i]=Com(address,self.message_win...
self.coms[i].connect()
#self.coms[i].set_message_window(self.message...
except Exception as e:
print("coms["+str(i)+"] connect error")
tb=sys.exec_info()[2]
print("message:{0}".format(e.with_traceback(t...
def set_message_window(self,window):
#print(window)
self.message_window=window
for i in range(len(self.coms)):
if self.coms[i]!=None:
self.coms[i].set_message_window(window)
else:
print("coms["+str(i)+"] is None, set_mess...
def send_command_to_i(self,i,command):
if self.coms[i]!=None:
self.coms[i].send_command(command+"\n")
def send_command_to_all(self,command):
for i in range(len(self.coms)):
if self.coms[i]!=None:
self.coms[i].send_command(command+"\n")
def close_all(self):
for i in range(len(self.coms)):
if self.coms[i]!=None:
self.coms[i].close()
class Command_Panel:
def __init__(self,root,coms):
self.coms=coms
self.recv_queue=[]
self.root=root
self.root.title("command panel")
self.root.configure(background="white")
self.root.geometry("850x800")
self.notebook =ttk.Notebook(root)
self.main_tab=tk.Frame(self.notebook, bg='white')
self.script_tab=tk.Frame(self.notebook, bg='white')
self.notebook.add(self.main_tab, text="main", und...
self.notebook.add(self.script_tab, text="script")
self.notebook.pack(expand=True, fill='both', padx...
yy=10
self.connect_label=Label(self.main_tab,text="Serv...
self.connect_label.place(x=30,y=yy)
self.connect_button=Button(self.main_tab, text="c...
self.connect_button.place(x=100,y=yy)
self.set_id_label=Label(self.main_tab,text="set i...
self.set_id_label.place(x=200,y=yy)
self.set_id_button=Button(self.main_tab, text="se...
self.set_id_button.place(x=270,y=yy)
self.clear_message_button=Button(self.main_tab, t...
self.clear_message_button.place(x=370,y=yy)
yy=40
self.command_label=Label(self.main_tab,text="comm...
self.command_label.place(x=30,y=yy)
self.command_field=Entry(self.main_tab,width=50)
self.command_field.place(x=150,y=yy)
self.enter_command_button=Button(self.main_tab,te...
self.enter_command_button.place(x=550,y=yy)
self.run_script_button=Button(self.main_tab,text=...
self.run_script_button.place(x=650,y=yy)
yy=70
self.command_field_label_1=Label(self.main_tab,te...
self.command_field_label_1.place(x=30,y=yy)
self.command_field_for_ith_server=Entry(self.main...
self.command_field_for_ith_server.place(x=150,y=yy)
self.ith_server_field=Entry(self.main_tab,width=5)
self.ith_server_field.place(x=450,y=yy)
self.ith_enter_button=Button(self.main_tab,text="...
self.ith_enter_button.place(x=550,y=yy)
yy=100
self.command_field_label_2=Label(self.main_tab,te...
self.command_field_label_2.place(x=30,y=yy)
self.command_field_for_all_server=Entry(self.main...
self.command_field_for_all_server.place(x=150,y=yy)
self.all_enter_button=Button(self.main_tab,text="...
self.all_enter_button.place(x=550,y=yy)
self.clear_message_button=Button(self.main_tab,te...
self.clear_message_button.place(x=650,y=yy)
yy=130
self.message_frame=tk.Frame(self.main_tab,width=5...
self.message_frame.place(x=30,y=yy)
self.message_area=scrolledtext.ScrolledText(self....
self.message_area.pack()
#script tab
yy=10
self.dir_name_label=Label(self.script_tab,text="d...
self.dir_name_label.place(x=30,y=yy)
self.dir_name_field=Entry(self.script_tab,width=50)
self.dir_name_field.place(x=100,y=yy)
#self.read_button=Button(self.script_tab, text="r...
#self.read_button.place(x=500,y=yy)
self.dir_button=Button(self.script_tab, text="dir...
self.dir_button.place(x=570,y=yy)
self.run_script_button2=Button(self.script_tab,te...
self.run_script_button2.place(x=680,y=yy)
yy=50
self.file_name_label=Label(self.script_tab,text="...
self.file_name_label.place(x=30,y=yy)
self.file_name_field=Entry(self.script_tab,width=...
self.file_name_field.place(x=100,y=yy)
self.read_button=Button(self.script_tab, text="re...
self.read_button.place(x=500,y=yy)
self.dir_button=Button(self.script_tab, text="sel...
self.dir_button.place(x=570,y=yy)
yy=100
self.script_frame=tk.Frame(self.script_tab,width=...
self.script_frame.place(x=50,y=yy)
self.script_area=scrolledtext.ScrolledText(self.s...
self.script_area.pack()
#self.run_script()
self.set_script()
self.display_help()
def v_rotate_f(self):
#--- virtical rotate
self.send_arm_motion_command("7") #--- grasp ---
time.sleep(3.0)
self.send_magnet_command(0,"go")
time.sleep(5.0)
self.send_arm_motion_command("8") #--- virtical r...
time.sleep(7.0)
self.send_magnet_command(1,"back")
time.sleep(2.0)
self.send_magnet_command(0,"stop")
time.sleep(3.0)
self.send_move_command(28.0,87.0)
time.sleep(4.0)
self.send_magnet_command(1,"back")
self.send_magnet_command(0,"back")
self.send_arm_motion_command("9") #--- release ---
time.sleep(6.0)
self.send_magnet_command(0,"stop")
self.send_magnet_command(1,"stop")
self.send_move_command(28.0,85.0)
time.sleep(5.0)
self.send_arm_motion_command("5") #--- to home---
time.sleep(5.0)
self.send_move_command(28.0,100.0)
self.wait_until_receive(['done mv-x','done mv-yl'...
time.sleep(2.0)
def h_rotate_cw(self):
#---- horizontal rotate , clock wise
self.send_move_command(28.0,110.0)
self.send_arm_motion_command("17") #--- grasp for...
time.sleep(5.0)
self.send_magnet_command(0,"go")
time.sleep(1.0)
self.send_arm_motion_command("18") #--- horizonta...
time.sleep(2.0)
self.send_magnet_command(1,"back")
time.sleep(10.0)
self.send_magnet_command(0,"stop")
time.sleep(2.0)
self.send_magnet_command(1,"stop")
time.sleep(10.0)
self.send_arm_motion_command("16") #--- release
self.send_magnet_command(0,"back")
self.send_magnet_command(1,"back")
time.sleep(5.0)
self.send_magnet_command(0,"stop")
self.send_magnet_command(1,"stop")
time.sleep(2.0)
self.send_arm_motion_command("5") #--- to home---
self.send_move_command(28.0,100.0)
self.wait_until_receive(['done mv-x','done mv-yl'...
time.sleep(2.0)
def place_at_the_rotation_point(self):
#--- move to rotate point
self.send_move_command(28.0,100.0)
self.wait_until_receive(['done mv-x','done mv-yl'...
#---- place the dice
self.send_magnet_command(0,"go")
self.send_arm_motion_command("3") #--- from home ...
time.sleep(3.0)
self.send_arm_motion_command("6") #--- place-02
time.sleep(4.0)
self.send_magnet_command(1,"back")
time.sleep(2.0)
self.send_magnet_command(0,"back")
self.send_arm_motion_command("4") #--- release 01
time.sleep(3.0)
self.send_magnet_command(1,"stop")
self.send_magnet_command(0,"stop")
time.sleep(2.0)
self.send_arm_motion_command("5") #--to home---
time.sleep(5.0)
def set_script(self):
self.clear_message()
#---- start
self.script_area.insert(tk.END,"time.sleep(10.0)\...
#---- pic a dice
self.script_area.insert(tk.END,"self.send_init_be...
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(3.0)\n")
self.script_area.insert(tk.END,"self.send_stop_be...
self.script_area.insert(tk.END,"time.sleep(1.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(8.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
#--- move to rotate point
self.script_area.insert(tk.END,"self.place_at_the...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
#--- virtical rotate
self.script_area.insert(tk.END,"self.v_rotate_f()...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
#------ horizontal rotate
self.script_area.insert(tk.END,"self.h_rotate_cw(...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
#--- move to the destination
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(3.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(3.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_move_co...
#--- place on the destination
self.script_area.insert(tk.END, "self.wait_until_...
#self.script_area.insert(tk.END,"time.sleep(30.0)...
#---- place the dice
#self.script_area.insert(tk.END,"self.send_arm_mo...
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_arm_mot...
#---- next dice
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.send_move_co...
self.script_area.insert(tk.END,"self.wait_until_r...
self.script_area.insert(tk.END,"self.send_move_co...
self.script_area.insert(tk.END,"self.wait_until_r...
self.script_area.insert(tk.END,"self.send_init_be...
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(3.0)\n")
self.script_area.insert(tk.END,"self.send_stop_be...
self.script_area.insert(tk.END,"time.sleep(1.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(8.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.place_at_the...
self.script_area.insert(tk.END,"self.h_rotate_cw(...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.h_rotate_cw(...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_move_co...
self.script_area.insert(tk.END,"self.wait_until_r...
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_move_co...
self.script_area.insert(tk.END,"self.wait_until_r...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(1.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
def click_read_button(self):
fn=self.file_name_field.get()
print("fn="+fn)
f=None
try:
f=open(fn,"r")
except Exception as e:
print("file open error.")
tb=sys.exec_info()[2]
print("message:{0}".format(e.with_traceback(t...
return
try:
self.script_area.delete(1.0,END)
line=f.readline()
while line:
print(line)
self.script_area.insert(END,line)
line=f.readline()
f.close()
except Exception as e:
print("file "+fn+" read error")
tb=sys.exec_info()[2]
print("message:{0}".format(e.with_traceback(t...
def click_dir_button(self):
iDir = os.path.abspath(os.path.dirname(__file__))
folder_name=tk.filedialog.askdirectory(initialdir...
if len(folder_name)==0:
print("cancel selcting folder")
else:
self.dir_name_field.insert(END,folder_name)
def click_select_file_button(self):
fType = [("python", "*.py")]
iDir=""
xdir=self.dir_name_field.get()
if xdir==None or xdir=="":
iDir=os.path.abspath(os.path.dirname(__file__))
else:
iDir=xdir
iFilePath=filedialog.askopenfilename(filetypes=fT...
if iFilePath==None or iFilePath=="":
print("cancel")
else:
self.file_name_field.delete(0,END)
self.file_name_field.insert(END,iFilePath)
def enter_command(self):
print("enter_command")
command=self.command_field.get()
self.ex(command)
def run_script(self):
print('run_script')
#exec(self.script)
script_thread=threading.Thread(target=self.start_...
print('new thread, start thread')
#self.start_script()
script_thread.start()
def start_script(self):
print('start_script')
self.script=self.script_area.get(0.,END)
print("run_script:"+self.script)
exec(self.script)
def ini_recv_queue(self):
self.recv_queue=[]
def is_not_empty_recv_queue(self):
if len(self.recv_queue)>0 :
print('recv_queue is empty')
return True
print('recv_queue is not empty')
return False
def are_in_the_recv_queue(self,messages):
print('start are_in_the_recv_queue')
for x in messages:
print('is '+x+' in the recv_queue?')
flag=False
for m in self.recv_queue:
print(m+' in the received queue')
if x in m:
print(x + ' is in the '+m)
flag=True
self.write_message("message "+x+" fou...
break
if flag==False:
return False
return True
def enter_ith_command(self):
command=self.command_field_for_ith_server.get()
ith_s=self.ith_server_field.get()
ith=int(ith_s)
print("send "+command+" to "+str(ith))
self.write_message("send "+command+" to "+str(ith))
self.coms.send_command_to_i(ith,command)
self.command_field_for_ith_server.delete(0,END)
def enter_all_command(self):
command=self.command_field_for_all_server.get()
print("send "+command+" to all")
self.write_message("send "+command+" to all")
self.coms.send_command_to_all(command)
self.command_field_for_all_server.delete(0,END)
def ex(self,command):
print("parse "+command)
command=self.r_b(command)
if self.parse_command(command):
self.write_message("OK")
print("OK")
else:
self.write_message("ERROR")
print("ERROR")
def write_message(self, message):
self.message_area.insert(tk.END,message)
self.message_area.insert(tk.END,'\n')
self.message_area.yview_moveto(1)
def clear_message(self):
self.message_area.delete("1.0",END)
def click_connect_button(self):
self.coms.connect_all()
def click_set_id_button(self):
self.ex("send \"set id=\\\"x\\\"\" to 2")
self.ex("send \"set id=\\\"y-l\\\"\" to 0")
self.ex("send \"set id=\\\"y-r\\\"\" to 1")
self.ex("send \"set id=\\\"b-0\\\"\" to 3")
self.ex("send \"set id=\\\"m-0\\\"\" to 4")
self.ex("send \"set id=\\\"m-1\\\"\" to 5")
self.ex("send \"set id=\\\"m-2\\\"\" to 6")
#self.ex("send \"set id=\\\"x\\\"\" to 2")
self.ex("send \"set id=\\\"a-0\\\"\" to 8")
#
#self.ex("send \"set id 90 \" to 3")
#self.ex("send \"set id 120 \" to 4")
#self.ex("send \"set id 150 \" to 5")
#self.ex("send \"set id 180 \" to 6")
#self.ex("send \"set id 210 \" to 7")
def send_move_command(self,x,y):
self.ex("send \"id=\\\"x\\\" arduino moveTo "+str...
self.ex("send \"id=\\\"y-l\\\" arduino moveTo "+s...
self.ex("send \"id=\\\"y-r\\\" arduino moveTo "+s...
def send_init_belt_command(self):
self.ex("send \"id=\\\"b-0\\\" arduino set thresh...
def send_stop_belt_command(self):
self.ex("send \"id=\\\"b-0\\\" arduino set thresh...
def send_arm_motion_command(self,n):
self.ex("send \"id=\\\"a-0\\\" rcb4 motion "+n+" ...
def send_magnet_command(self,i,subcommand):
self.ex("send \"id=\\\"m-"+str(i)+"\\\" arduino "...
def wait_until_receive(self,messages,timeout):
last_time=time.time()
for m in messages:
self.write_message("start receive "+m)
self.ini_recv_queue()
while True:
if self.is_not_empty_recv_queue():
if self.are_in_the_recv_queue(messages):
self.write_message("all messages rece...
self.ini_recv_queue()
return
time_now=time.time()
if time_now - last_time >timeout:
self.write_message("time over to receive ...
print('time over')
self.ini_recv_queue()
return
time.sleep(1.0)
def display_help(self):
self.write_message("send \"<command>\" to <i>\"")
self.write_message("send \"<command>\" to all\"")
self.write_message("connect <i> to \"<host ip>\"")
self.write_message("moveTo (<f> , <f>)")
self.write_message("arm motion <i>")
self.write_message("init belt")
self.write_message("stop belt")
self.write_message("magnet <i> go")
self.write_message("magnet <i> back")
self.write_message("magnet <i> off")
self.write_message("magnet <i> stop")
#
# command
# send "<command>" to <i>
# send "<command>" to all
# connect <i> to "<host ip>"
# moveTo (<f> , <f>)
# arm motion <i>
# init belt
# stop belt
#
def parse_command(self,command):
rest=[""]
strc=[""]
ix=[0]
command=self.r_b(command)
print("parse_command("+command+")")
if self.parse_key("send ",command,rest):
print("parse_key(send "+command+","+rest[0]+"...
command=self.r_b(rest[0])
if self.parse_String_Constant(command,strc,re...
print("strc="+strc[0]+",rest="+rest[0])
command=self.r_b(rest[0])
if self.parse_key("to ",command,rest):
command=self.r_b(rest[0])
if self.parse_key("all",command,rest):
self.write_message("send \""+strc...
self.coms.send_command_to_all(str...
#self.command_field_for_all_serve...
return True
elif self.parse_p_int(command,ix,rest):
self.write_message("send \""+strc...
self.coms.send_command_to_i(ix[0]...
return True
return False
return False
return False
elif self.parse_key("connect ",command,rest):
print("parse_key(connect "+command+","+rest[0...
command=self.r_b(rest[0])
if self.parse_p_int(command,ix,rest):
print("parse_p_int("+command+","+str(ix[0...
command=self.r_b(rest[0])
if self.parse_key("to ",command,rest):
print("parse_key(to "+command+","+res...
command=self.r_b(rest[0])
if self.parse_String_Constant(command...
self.write_message("connect "+str...
print("connect "+str(ix[0])+" to ...
self.coms.connect_com_to_address(...
return True
return False
return False
return False
elif self.parse_key("moveTo ",command,rest):
print("parse_key(moveTo "+command+","+rest[0]...
command=self.r_b(rest[0])
fx=0.0
fy=0.0
if self.parse_key("(",command,rest):
print("parse_key(( "+command+","+rest[0]+...
fxx=[0.0]
fyy=[0.0]
command=self.r_b(rest[0])
if self.parse_p_float(command,fxx,rest):
command=self.r_b(rest[0])
fx=fxx[0]
if self.parse_key(",",command,rest):
command=self.r_b(rest[0])
if self.parse_p_float(command,fyy...
command=self.r_b(rest[0])
fy=fyy[0]
if self.parse_key(")",command...
self.send_move_command(fx...
return True
return False
elif self.parse_key("init ",command,rest):
print("parse_key(init "+command+","+rest[0]+"...
command=self.r_b(rest[0])
if self.parse_key("belt", command,rest):
print("parse_key(belt"+command+","+rest[0...
self.send_init_belt_command()
return True
return False
elif self.parse_key("stop ",command,rest):
print("parse_key(stop "+command+","+rest[0]+"...
command=self.r_b(rest[0])
if self.parse_key("belt", command,rest):
print("parse_key(belt"+command+","+rest[0...
self.send_stop_belt_command()
return True
return False
elif self.parse_key("arm ",command,rest):
print("parse_key(arm "+command+","+rest[0]+")")
command=self.r_b(rest[0])
if self.parse_key("motion ", command,rest):
print("parse_key(motion "+command+","+res...
command=self.r_b(rest[0])
if self.parse_p_int(command,ix,rest):
print("parse_p_int("+command+","+str(...
self.send_arm_motion_command(str(ix[0...
return True
return False
return False
elif self.parse_key("magnet ",command,rest):
print("parse_key(magnet "+command+","+rest[0]...
command=self.r_b(rest[0])
if self.parse_p_int(command,ix,rest):
print("parse_p_int("+command+","+str(ix[0...
command=self.r_b(rest[0])
if self.parse_key("go",command,rest):
self.send_magnet_command(ix[0],"go")
return True
if self.parse_key("back",command,rest):
self.send_magnet_command(ix[0],"back")
return True
if self.parse_key("off",command,rest):
self.send_magnet_command(ix[0],"stop")
return True
if self.parse_key("stop",command,rest):
self.send_magnet_command(ix[0],"stop")
return True
return False
return False
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'...
ix[0]=i
rest[0]=command
return True
rest[0]=command
ix[0]=0
return False
def parse_p_float(self,command,fx,rest):
ixx=[0]
sxx=[0]
if self.parse_p_int(command,ixx,rest):
ix=ixx[0]
command=rest[0]
if self.parse_key(".",command,rest):
command=rest[0]
if self.parse_p_int(command,sxx,rest):
sx=sxx[0]
subscale=len(str(sx))
fxw=float(ix)+float(sx)/pow(10,subsca...
print("fx="+str(fxw))
fx[0]=fxw
else:
fxw=float(ix)
print("fx="+str(fxw))
fx[0]=fxw
return True
else:
fxw=float(ix)
print("fx="+str(fxw))
fx[0]=fxw
return True
else:
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]
fx=inx[0]
xstr=xstr+fx
else:
xstr=xstr+fx
xlen=len(inx)
if xlen==0:
return False
inx=inx[1:xlen]
#print("inx="+inx)
#print("xstr="+xstr)
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()
coms=Coms()
p=Command_Panel(root,coms)
print('Command_Panel')
coms.set_message_window(p)
print('set_message_window')
root.mainloop()
}}
----
#counter
終了行:
[[Real2Virtual202111]]
* main_controller_01.py [#e0ebf173]
- GUI
-- &ref(main_controller_01.py/main_controller_01_gui.png,...
#code(Python){{
## License: Apache 2.0. See LICENSE file in root directory.
## Copyright(c) 2017 Intel Corporation. All Rights Reserv...
#20240710
#####################################################
## Align Depth to Color ##
#####################################################
# First import the library
import os,sys
#import pyrealsense2 as rs
# Import Numpy for easy array manipulation
#import numpy as np
# Import OpenCV for easy image rendering
#import cv2
import copy
import socket
import threading
import sys
from tkinter import *
import tkinter as tk
from tkinter import scrolledtext
#from PIL import Image, ImageTk, ImageOps
import tkinter.ttk as ttk
from tkinter import messagebox
from tkinter import filedialog
import time
import threading
PORT = 9998
class Com:
def __init__(self,host,window):
self.host=host
self.connected=False
self.soc=None
self.handle_thread=None
self.message_window=window
def set_message_window(self,window):
print("set_message_window",end='')
print(self.window)
self.message_window=window
def is_connected(sekf):
return self.connected
def connect_address(self,address):
self.host=address
self.connect()
def connect(self):
print("re connect to host "+self.host)
if self.soc !=None:
print("close the previous host, "+self.soc.ge...
try:
self.soc.close()
self.soc=None
time.sleep(2.0)
except:
print("close failed")
try:
#socket.socket ... socket を作成し、socに代入
self.soc = socket.socket(socket.AF_INET, sock...
#IPアドレスがhostのserver socketにsocを接続
self.soc.connect((self.host,PORT))
except Exception as e:
print("connect error.")
if self.message_window:
self.message_window.write_message("error ...
self.connected=False
#受信担当の関数handlerを物threadでうごかすhandle_...
self.handle_thread=threading.Thread(target=self.h...
#handle_threadをstart
self.handle_thread.start()
self.connected=True
if self.message_window:
self.message_window.write_message("connected ...
def send_command(self,command):
if self.soc!=None:
try:
self.soc.send(bytes(command,"utf-8"))
except KeyboardInterrupt:
if self.message_window:
self.message_window.write_message("er...
self.soc.close()
exit()
else:
if self.host is not None:
self.message_window.write_message("no soc...
else:
self.message_window.write_message("no hos...
#受信の処理。送信threadとは別に、並行して処理を行う。
def handler(self):
print("at client, connected, start handler")
while self.soc is not None:
try:
data = self.soc.recv(1024)
line="[receive]- {}".format(data.decode("...
print(line)
#print(self.message_window)
if self.message_window:
self.message_window.write_message("fr...
if self.message_window.recv_queue!=No...
self.message_window.recv_queue.ap...
except Exception as e:
if self.message_window:
self.message_window.write_message(sel...
if self.soc is not None:
self.soc.close()
self.soc=None
tb=sys.exec_info()[2]
print("message:{0}".format(e.with_traceba...
break
def close(self):
self.soc.close()
self.soc=None
class Coms:
def __init__(self):
self.coms=[None,None,None,None,None,None,None,Non...
#self.coms=[None,None, ...., None]
#... number of sub controllers
def connect_all(self):
self.coms[2]=Com("192.168.14.10" ,self.message_wi...
self.coms[0]=Com("192.168.14.11", self.message_wi...
self.coms[1]=Com("192.168.14.12",self.message_win...
self.coms[3]=Com("192.168.14.13",self.message_win...
self.coms[4]=Com("192.168.14.14",self.message_win...
self.coms[5]=Com("192.168.14.15",self.message_win...
self.coms[6]=Com("192.168.14.16",self.message_win...
self.coms[8]=Com("192.168.14.18",self.message_win...
#
#self.coms[0]=Com("192.168.1.34",self.message_win...
#self.coms[0]=Com("192.168.13.18",self.message_wi...
#self.coms[1]=Com("192.168.1.8",self.message_wind...
#self.coms[2]=Com("192.168.1.10",self.message_win...
#self.coms[3]=Com("192.168.13.131",self.message_w...
#self.coms[4]=Com("192.168.13.132")
#self.coms[5]=Com("192.168.13.133")
#self.coms[6]=Com("192.168.13.134")
#self.coms[7]=Com("192.168.13.16")
#self.coms[7]=Com("192.168.13.135")
#self.coms[7]=Com("192.168.1.22")
for i in range(len(self.coms)):
if self.coms[i]!=None:
self.coms[i].connect()
def connect_com_to_address(self,i,address):
print("connect_com_to_address("+str(i)+","+addres...
if i<0 :
print("wrong plane number")
return
if i>len(self.coms) :
print("wrong plane number")
try:
if self.coms[i] is not None:
print("coms["+str(i)+"] is not None, conn...
self.coms[i].connect_address(address)
else:
print("coms["+str(i)+"] is None, connect,...
self.coms[i]=Com(address,self.message_win...
self.coms[i].connect()
#self.coms[i].set_message_window(self.message...
except Exception as e:
print("coms["+str(i)+"] connect error")
tb=sys.exec_info()[2]
print("message:{0}".format(e.with_traceback(t...
def set_message_window(self,window):
#print(window)
self.message_window=window
for i in range(len(self.coms)):
if self.coms[i]!=None:
self.coms[i].set_message_window(window)
else:
print("coms["+str(i)+"] is None, set_mess...
def send_command_to_i(self,i,command):
if self.coms[i]!=None:
self.coms[i].send_command(command+"\n")
def send_command_to_all(self,command):
for i in range(len(self.coms)):
if self.coms[i]!=None:
self.coms[i].send_command(command+"\n")
def close_all(self):
for i in range(len(self.coms)):
if self.coms[i]!=None:
self.coms[i].close()
class Command_Panel:
def __init__(self,root,coms):
self.coms=coms
self.recv_queue=[]
self.root=root
self.root.title("command panel")
self.root.configure(background="white")
self.root.geometry("850x800")
self.notebook =ttk.Notebook(root)
self.main_tab=tk.Frame(self.notebook, bg='white')
self.script_tab=tk.Frame(self.notebook, bg='white')
self.notebook.add(self.main_tab, text="main", und...
self.notebook.add(self.script_tab, text="script")
self.notebook.pack(expand=True, fill='both', padx...
yy=10
self.connect_label=Label(self.main_tab,text="Serv...
self.connect_label.place(x=30,y=yy)
self.connect_button=Button(self.main_tab, text="c...
self.connect_button.place(x=100,y=yy)
self.set_id_label=Label(self.main_tab,text="set i...
self.set_id_label.place(x=200,y=yy)
self.set_id_button=Button(self.main_tab, text="se...
self.set_id_button.place(x=270,y=yy)
self.clear_message_button=Button(self.main_tab, t...
self.clear_message_button.place(x=370,y=yy)
yy=40
self.command_label=Label(self.main_tab,text="comm...
self.command_label.place(x=30,y=yy)
self.command_field=Entry(self.main_tab,width=50)
self.command_field.place(x=150,y=yy)
self.enter_command_button=Button(self.main_tab,te...
self.enter_command_button.place(x=550,y=yy)
self.run_script_button=Button(self.main_tab,text=...
self.run_script_button.place(x=650,y=yy)
yy=70
self.command_field_label_1=Label(self.main_tab,te...
self.command_field_label_1.place(x=30,y=yy)
self.command_field_for_ith_server=Entry(self.main...
self.command_field_for_ith_server.place(x=150,y=yy)
self.ith_server_field=Entry(self.main_tab,width=5)
self.ith_server_field.place(x=450,y=yy)
self.ith_enter_button=Button(self.main_tab,text="...
self.ith_enter_button.place(x=550,y=yy)
yy=100
self.command_field_label_2=Label(self.main_tab,te...
self.command_field_label_2.place(x=30,y=yy)
self.command_field_for_all_server=Entry(self.main...
self.command_field_for_all_server.place(x=150,y=yy)
self.all_enter_button=Button(self.main_tab,text="...
self.all_enter_button.place(x=550,y=yy)
self.clear_message_button=Button(self.main_tab,te...
self.clear_message_button.place(x=650,y=yy)
yy=130
self.message_frame=tk.Frame(self.main_tab,width=5...
self.message_frame.place(x=30,y=yy)
self.message_area=scrolledtext.ScrolledText(self....
self.message_area.pack()
#script tab
yy=10
self.dir_name_label=Label(self.script_tab,text="d...
self.dir_name_label.place(x=30,y=yy)
self.dir_name_field=Entry(self.script_tab,width=50)
self.dir_name_field.place(x=100,y=yy)
#self.read_button=Button(self.script_tab, text="r...
#self.read_button.place(x=500,y=yy)
self.dir_button=Button(self.script_tab, text="dir...
self.dir_button.place(x=570,y=yy)
self.run_script_button2=Button(self.script_tab,te...
self.run_script_button2.place(x=680,y=yy)
yy=50
self.file_name_label=Label(self.script_tab,text="...
self.file_name_label.place(x=30,y=yy)
self.file_name_field=Entry(self.script_tab,width=...
self.file_name_field.place(x=100,y=yy)
self.read_button=Button(self.script_tab, text="re...
self.read_button.place(x=500,y=yy)
self.dir_button=Button(self.script_tab, text="sel...
self.dir_button.place(x=570,y=yy)
yy=100
self.script_frame=tk.Frame(self.script_tab,width=...
self.script_frame.place(x=50,y=yy)
self.script_area=scrolledtext.ScrolledText(self.s...
self.script_area.pack()
#self.run_script()
self.set_script()
self.display_help()
def v_rotate_f(self):
#--- virtical rotate
self.send_arm_motion_command("7") #--- grasp ---
time.sleep(3.0)
self.send_magnet_command(0,"go")
time.sleep(5.0)
self.send_arm_motion_command("8") #--- virtical r...
time.sleep(7.0)
self.send_magnet_command(1,"back")
time.sleep(2.0)
self.send_magnet_command(0,"stop")
time.sleep(3.0)
self.send_move_command(28.0,87.0)
time.sleep(4.0)
self.send_magnet_command(1,"back")
self.send_magnet_command(0,"back")
self.send_arm_motion_command("9") #--- release ---
time.sleep(6.0)
self.send_magnet_command(0,"stop")
self.send_magnet_command(1,"stop")
self.send_move_command(28.0,85.0)
time.sleep(5.0)
self.send_arm_motion_command("5") #--- to home---
time.sleep(5.0)
self.send_move_command(28.0,100.0)
self.wait_until_receive(['done mv-x','done mv-yl'...
time.sleep(2.0)
def h_rotate_cw(self):
#---- horizontal rotate , clock wise
self.send_move_command(28.0,110.0)
self.send_arm_motion_command("17") #--- grasp for...
time.sleep(5.0)
self.send_magnet_command(0,"go")
time.sleep(1.0)
self.send_arm_motion_command("18") #--- horizonta...
time.sleep(2.0)
self.send_magnet_command(1,"back")
time.sleep(10.0)
self.send_magnet_command(0,"stop")
time.sleep(2.0)
self.send_magnet_command(1,"stop")
time.sleep(10.0)
self.send_arm_motion_command("16") #--- release
self.send_magnet_command(0,"back")
self.send_magnet_command(1,"back")
time.sleep(5.0)
self.send_magnet_command(0,"stop")
self.send_magnet_command(1,"stop")
time.sleep(2.0)
self.send_arm_motion_command("5") #--- to home---
self.send_move_command(28.0,100.0)
self.wait_until_receive(['done mv-x','done mv-yl'...
time.sleep(2.0)
def place_at_the_rotation_point(self):
#--- move to rotate point
self.send_move_command(28.0,100.0)
self.wait_until_receive(['done mv-x','done mv-yl'...
#---- place the dice
self.send_magnet_command(0,"go")
self.send_arm_motion_command("3") #--- from home ...
time.sleep(3.0)
self.send_arm_motion_command("6") #--- place-02
time.sleep(4.0)
self.send_magnet_command(1,"back")
time.sleep(2.0)
self.send_magnet_command(0,"back")
self.send_arm_motion_command("4") #--- release 01
time.sleep(3.0)
self.send_magnet_command(1,"stop")
self.send_magnet_command(0,"stop")
time.sleep(2.0)
self.send_arm_motion_command("5") #--to home---
time.sleep(5.0)
def set_script(self):
self.clear_message()
#---- start
self.script_area.insert(tk.END,"time.sleep(10.0)\...
#---- pic a dice
self.script_area.insert(tk.END,"self.send_init_be...
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(3.0)\n")
self.script_area.insert(tk.END,"self.send_stop_be...
self.script_area.insert(tk.END,"time.sleep(1.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(8.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
#--- move to rotate point
self.script_area.insert(tk.END,"self.place_at_the...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
#--- virtical rotate
self.script_area.insert(tk.END,"self.v_rotate_f()...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
#------ horizontal rotate
self.script_area.insert(tk.END,"self.h_rotate_cw(...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
#--- move to the destination
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(3.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(3.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_move_co...
#--- place on the destination
self.script_area.insert(tk.END, "self.wait_until_...
#self.script_area.insert(tk.END,"time.sleep(30.0)...
#---- place the dice
#self.script_area.insert(tk.END,"self.send_arm_mo...
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_arm_mot...
#---- next dice
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.send_move_co...
self.script_area.insert(tk.END,"self.wait_until_r...
self.script_area.insert(tk.END,"self.send_move_co...
self.script_area.insert(tk.END,"self.wait_until_r...
self.script_area.insert(tk.END,"self.send_init_be...
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(3.0)\n")
self.script_area.insert(tk.END,"self.send_stop_be...
self.script_area.insert(tk.END,"time.sleep(1.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(8.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.place_at_the...
self.script_area.insert(tk.END,"self.h_rotate_cw(...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.h_rotate_cw(...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(5.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_move_co...
self.script_area.insert(tk.END,"self.wait_until_r...
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(4.0)\n")
self.script_area.insert(tk.END,"self.send_move_co...
self.script_area.insert(tk.END,"self.wait_until_r...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"time.sleep(1.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_arm_mot...
self.script_area.insert(tk.END,"time.sleep(2.0)\n")
self.script_area.insert(tk.END,"self.send_magnet_...
self.script_area.insert(tk.END,"self.send_magnet_...
def click_read_button(self):
fn=self.file_name_field.get()
print("fn="+fn)
f=None
try:
f=open(fn,"r")
except Exception as e:
print("file open error.")
tb=sys.exec_info()[2]
print("message:{0}".format(e.with_traceback(t...
return
try:
self.script_area.delete(1.0,END)
line=f.readline()
while line:
print(line)
self.script_area.insert(END,line)
line=f.readline()
f.close()
except Exception as e:
print("file "+fn+" read error")
tb=sys.exec_info()[2]
print("message:{0}".format(e.with_traceback(t...
def click_dir_button(self):
iDir = os.path.abspath(os.path.dirname(__file__))
folder_name=tk.filedialog.askdirectory(initialdir...
if len(folder_name)==0:
print("cancel selcting folder")
else:
self.dir_name_field.insert(END,folder_name)
def click_select_file_button(self):
fType = [("python", "*.py")]
iDir=""
xdir=self.dir_name_field.get()
if xdir==None or xdir=="":
iDir=os.path.abspath(os.path.dirname(__file__))
else:
iDir=xdir
iFilePath=filedialog.askopenfilename(filetypes=fT...
if iFilePath==None or iFilePath=="":
print("cancel")
else:
self.file_name_field.delete(0,END)
self.file_name_field.insert(END,iFilePath)
def enter_command(self):
print("enter_command")
command=self.command_field.get()
self.ex(command)
def run_script(self):
print('run_script')
#exec(self.script)
script_thread=threading.Thread(target=self.start_...
print('new thread, start thread')
#self.start_script()
script_thread.start()
def start_script(self):
print('start_script')
self.script=self.script_area.get(0.,END)
print("run_script:"+self.script)
exec(self.script)
def ini_recv_queue(self):
self.recv_queue=[]
def is_not_empty_recv_queue(self):
if len(self.recv_queue)>0 :
print('recv_queue is empty')
return True
print('recv_queue is not empty')
return False
def are_in_the_recv_queue(self,messages):
print('start are_in_the_recv_queue')
for x in messages:
print('is '+x+' in the recv_queue?')
flag=False
for m in self.recv_queue:
print(m+' in the received queue')
if x in m:
print(x + ' is in the '+m)
flag=True
self.write_message("message "+x+" fou...
break
if flag==False:
return False
return True
def enter_ith_command(self):
command=self.command_field_for_ith_server.get()
ith_s=self.ith_server_field.get()
ith=int(ith_s)
print("send "+command+" to "+str(ith))
self.write_message("send "+command+" to "+str(ith))
self.coms.send_command_to_i(ith,command)
self.command_field_for_ith_server.delete(0,END)
def enter_all_command(self):
command=self.command_field_for_all_server.get()
print("send "+command+" to all")
self.write_message("send "+command+" to all")
self.coms.send_command_to_all(command)
self.command_field_for_all_server.delete(0,END)
def ex(self,command):
print("parse "+command)
command=self.r_b(command)
if self.parse_command(command):
self.write_message("OK")
print("OK")
else:
self.write_message("ERROR")
print("ERROR")
def write_message(self, message):
self.message_area.insert(tk.END,message)
self.message_area.insert(tk.END,'\n')
self.message_area.yview_moveto(1)
def clear_message(self):
self.message_area.delete("1.0",END)
def click_connect_button(self):
self.coms.connect_all()
def click_set_id_button(self):
self.ex("send \"set id=\\\"x\\\"\" to 2")
self.ex("send \"set id=\\\"y-l\\\"\" to 0")
self.ex("send \"set id=\\\"y-r\\\"\" to 1")
self.ex("send \"set id=\\\"b-0\\\"\" to 3")
self.ex("send \"set id=\\\"m-0\\\"\" to 4")
self.ex("send \"set id=\\\"m-1\\\"\" to 5")
self.ex("send \"set id=\\\"m-2\\\"\" to 6")
#self.ex("send \"set id=\\\"x\\\"\" to 2")
self.ex("send \"set id=\\\"a-0\\\"\" to 8")
#
#self.ex("send \"set id 90 \" to 3")
#self.ex("send \"set id 120 \" to 4")
#self.ex("send \"set id 150 \" to 5")
#self.ex("send \"set id 180 \" to 6")
#self.ex("send \"set id 210 \" to 7")
def send_move_command(self,x,y):
self.ex("send \"id=\\\"x\\\" arduino moveTo "+str...
self.ex("send \"id=\\\"y-l\\\" arduino moveTo "+s...
self.ex("send \"id=\\\"y-r\\\" arduino moveTo "+s...
def send_init_belt_command(self):
self.ex("send \"id=\\\"b-0\\\" arduino set thresh...
def send_stop_belt_command(self):
self.ex("send \"id=\\\"b-0\\\" arduino set thresh...
def send_arm_motion_command(self,n):
self.ex("send \"id=\\\"a-0\\\" rcb4 motion "+n+" ...
def send_magnet_command(self,i,subcommand):
self.ex("send \"id=\\\"m-"+str(i)+"\\\" arduino "...
def wait_until_receive(self,messages,timeout):
last_time=time.time()
for m in messages:
self.write_message("start receive "+m)
self.ini_recv_queue()
while True:
if self.is_not_empty_recv_queue():
if self.are_in_the_recv_queue(messages):
self.write_message("all messages rece...
self.ini_recv_queue()
return
time_now=time.time()
if time_now - last_time >timeout:
self.write_message("time over to receive ...
print('time over')
self.ini_recv_queue()
return
time.sleep(1.0)
def display_help(self):
self.write_message("send \"<command>\" to <i>\"")
self.write_message("send \"<command>\" to all\"")
self.write_message("connect <i> to \"<host ip>\"")
self.write_message("moveTo (<f> , <f>)")
self.write_message("arm motion <i>")
self.write_message("init belt")
self.write_message("stop belt")
self.write_message("magnet <i> go")
self.write_message("magnet <i> back")
self.write_message("magnet <i> off")
self.write_message("magnet <i> stop")
#
# command
# send "<command>" to <i>
# send "<command>" to all
# connect <i> to "<host ip>"
# moveTo (<f> , <f>)
# arm motion <i>
# init belt
# stop belt
#
def parse_command(self,command):
rest=[""]
strc=[""]
ix=[0]
command=self.r_b(command)
print("parse_command("+command+")")
if self.parse_key("send ",command,rest):
print("parse_key(send "+command+","+rest[0]+"...
command=self.r_b(rest[0])
if self.parse_String_Constant(command,strc,re...
print("strc="+strc[0]+",rest="+rest[0])
command=self.r_b(rest[0])
if self.parse_key("to ",command,rest):
command=self.r_b(rest[0])
if self.parse_key("all",command,rest):
self.write_message("send \""+strc...
self.coms.send_command_to_all(str...
#self.command_field_for_all_serve...
return True
elif self.parse_p_int(command,ix,rest):
self.write_message("send \""+strc...
self.coms.send_command_to_i(ix[0]...
return True
return False
return False
return False
elif self.parse_key("connect ",command,rest):
print("parse_key(connect "+command+","+rest[0...
command=self.r_b(rest[0])
if self.parse_p_int(command,ix,rest):
print("parse_p_int("+command+","+str(ix[0...
command=self.r_b(rest[0])
if self.parse_key("to ",command,rest):
print("parse_key(to "+command+","+res...
command=self.r_b(rest[0])
if self.parse_String_Constant(command...
self.write_message("connect "+str...
print("connect "+str(ix[0])+" to ...
self.coms.connect_com_to_address(...
return True
return False
return False
return False
elif self.parse_key("moveTo ",command,rest):
print("parse_key(moveTo "+command+","+rest[0]...
command=self.r_b(rest[0])
fx=0.0
fy=0.0
if self.parse_key("(",command,rest):
print("parse_key(( "+command+","+rest[0]+...
fxx=[0.0]
fyy=[0.0]
command=self.r_b(rest[0])
if self.parse_p_float(command,fxx,rest):
command=self.r_b(rest[0])
fx=fxx[0]
if self.parse_key(",",command,rest):
command=self.r_b(rest[0])
if self.parse_p_float(command,fyy...
command=self.r_b(rest[0])
fy=fyy[0]
if self.parse_key(")",command...
self.send_move_command(fx...
return True
return False
elif self.parse_key("init ",command,rest):
print("parse_key(init "+command+","+rest[0]+"...
command=self.r_b(rest[0])
if self.parse_key("belt", command,rest):
print("parse_key(belt"+command+","+rest[0...
self.send_init_belt_command()
return True
return False
elif self.parse_key("stop ",command,rest):
print("parse_key(stop "+command+","+rest[0]+"...
command=self.r_b(rest[0])
if self.parse_key("belt", command,rest):
print("parse_key(belt"+command+","+rest[0...
self.send_stop_belt_command()
return True
return False
elif self.parse_key("arm ",command,rest):
print("parse_key(arm "+command+","+rest[0]+")")
command=self.r_b(rest[0])
if self.parse_key("motion ", command,rest):
print("parse_key(motion "+command+","+res...
command=self.r_b(rest[0])
if self.parse_p_int(command,ix,rest):
print("parse_p_int("+command+","+str(...
self.send_arm_motion_command(str(ix[0...
return True
return False
return False
elif self.parse_key("magnet ",command,rest):
print("parse_key(magnet "+command+","+rest[0]...
command=self.r_b(rest[0])
if self.parse_p_int(command,ix,rest):
print("parse_p_int("+command+","+str(ix[0...
command=self.r_b(rest[0])
if self.parse_key("go",command,rest):
self.send_magnet_command(ix[0],"go")
return True
if self.parse_key("back",command,rest):
self.send_magnet_command(ix[0],"back")
return True
if self.parse_key("off",command,rest):
self.send_magnet_command(ix[0],"stop")
return True
if self.parse_key("stop",command,rest):
self.send_magnet_command(ix[0],"stop")
return True
return False
return False
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'...
ix[0]=i
rest[0]=command
return True
rest[0]=command
ix[0]=0
return False
def parse_p_float(self,command,fx,rest):
ixx=[0]
sxx=[0]
if self.parse_p_int(command,ixx,rest):
ix=ixx[0]
command=rest[0]
if self.parse_key(".",command,rest):
command=rest[0]
if self.parse_p_int(command,sxx,rest):
sx=sxx[0]
subscale=len(str(sx))
fxw=float(ix)+float(sx)/pow(10,subsca...
print("fx="+str(fxw))
fx[0]=fxw
else:
fxw=float(ix)
print("fx="+str(fxw))
fx[0]=fxw
return True
else:
fxw=float(ix)
print("fx="+str(fxw))
fx[0]=fxw
return True
else:
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]
fx=inx[0]
xstr=xstr+fx
else:
xstr=xstr+fx
xlen=len(inx)
if xlen==0:
return False
inx=inx[1:xlen]
#print("inx="+inx)
#print("xstr="+xstr)
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()
coms=Coms()
p=Command_Panel(root,coms)
print('Command_Panel')
coms.set_message_window(p)
print('set_message_window')
root.mainloop()
}}
----
#counter
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