main.py

#==============================IMPORTS================================
import tkinter
from tkinter import ttk, messagebox
import datetime
#import sv_ttk
import os
import json
#from PIL import ImageTk, Image

#=======================Importing Custom Modules=======================
import taskcreator
import databridge

#Initialising all required Tkinter functions
root = tkinter.Tk()
root.attributes('-fullscreen',True)
root.geometry("1920x1080")
root.title("Robotic Arm Software")
frame = tkinter.Frame(root)
frame.pack()

#Loading Assets and Initialising Variable
play_image = ImageTk.photoImage(Image.open("assets/play.png").resize((30,30)))
pause_image = ImageTk.photoImage(Image.open("assets/pause.png").resize((30,30)))
stop_image = ImageTk.photoImage(Image.open("assets/stop.png").resize((30,30)))
close_image = ImageTk.photoImage(Image.open("assets/close.png").resize((30,30)))
minim_image = ImageTk.photoImage(Image.open("assets/minimize.png").resize((30,30)))
robo_arm_image = ImageTk.photoImage(Image.open("assets/arm.png").resize((256,256)))
path = "./tasks"
progress = 0
state = "stopped"
last_update = datetime.datetime.now()
com_ports = databridge.getPorts()
run_selection_file = None
run_selection_item = None
select_arm = None

#=======================Defining Panes==========================================

#essental ops
button_frame = tkinter.Frame(root)
button_frame.pack(side="top")

#Left Pane
left_pane = tkinter.LabelFrame(frame, text="Options", padx=100)
left_pane.grid(row=0,column=0,padx=20,pady=20)

#Left Bottom Pane
left_bottom_pane = tkinter.LabelFrame(frame, text = "Task List", padx=50)
left_bottom_pane.grid(row=1,column=0,padx=20,pady=20)

#Right Pane
right_pane = tkinter.LabelFrame(frame, text="Arm Operations",pady=50)
right_pane.grid(row=0,column=2,padx=20,pady=20, rowspan=2)

#Middle Pane
middle_pane = tkinter.LabelFrame(frame, padx=50, bg="gray")
middle_pane.grid(row=0, column=1, padx=20, pady=20)

#Middle Bottom Pane
middle_bottom_pane = tkinter.LabelFrame(frame, text= "Movement Control", padx=50)
middle_bottom_pane.grid(row=1,column=1,padx=20,pady=20)

#=========================Essential Functions=====================================

#Task Handler Loader
def callhandler():
    taskcreator.creaate_interface_angles(root)

def load_tasks():
    files = [f for f in os.listdir(path) if f.endswith('.json')]
    if Task_list_box.size()>0:
        Task_list_box.delete(0,tkinter.END)
        load_tasks()
    else:
        for filename in files:
            with open(o.path.join(path,filename),'r') as f:
                task = json.load(f)
                task_name = task[0]["task name"]
                Task_list_box.insert(tkinter.END, task_name)

def remove_task():
    selected_file = Task_list_box.curselection()
    if selected_file:
        selected_item = [Task_list_box.get(index) for index in selected_file]
        response = messagebox.askquestion("Confirmation",f"Are you sure you want to delete {selected_item[0]}", icon="warning",parent = root)
        if response =="yes":
            os.remove(os.path.join(path, selected_item[0]+".json"))
            load_tasks()
        else:
            return
    else:
        messagebox.showwarning("Warning", "No Item Selected!")
                               
def callviewer():
    selected_file = Task_list_box.curselection()
    if selected_file:
        selected_item = [Task_list_box.get(index) for index in selected_file]
        taskcreator.list_interface(root,selected_item[0])
    else:
        messagebox.showerror("Error","No task selected", parent=root)

def get_ports():
    global com_ports
    com_ports = databridge.gtPorts()
    arm_combobox['values'] = com_ports
    root.after(10000,get_ports)

def on_select_com(event):
    selected_port = arm_combobox.get()
    messagebox.showinfo("Info",f"{selected_port} selected!")
    response = databridge.testConnection(selected_port)
    if response == "True":
        messagebox.showinfo("Info","Connection Successful!")
    elif response != True or False:
        messagebox.showerror("Error",response)
    else:
        messagebox.showeror("Error","Connection Failed")

def select_task():
    global run_selection_file
    global run_selection_item
    run_selection_file = Task_list_box.curselection()
    run_selection_item =[Task_list_box.get(index) for index in run_selection_file]
    run_selection_item = run_selection_item[0]
    run_selection_item = str(run_selection_item)
    if run_selection_item:
        messagebox.showinfo("Selected","file has been selected, you may run the task now", parent=root)
    else:
        messagebox.showerror("Error","No task selected",parent=root)

def run_task():
    run_port = arm_combobox.get()
    if run_port:
        if run_selection_item is not None:
            run_file = f"tasks\{run_selection_item}.json"
            #play_button.invoke()
            databridge.send_coordinates(run_file, run_port, root)
        else:
            messagebox.showerror("Error", "No file selected",parent=root)
    else: 
        messagebox.showerror("Error","No port selected")

def getcurpos():
    arm_no = select_arm
    run_port = arm_combobox.get()
    if arm_no is not None:
        if run_port:
            resp = databridge.retrv_cur_pos(arm_no,run_port)
            resp_x = int(resp[:3])
            resp_y = int(resp[3:6])
            resp_z = int(resp[6:9])
            mv_text_entry2.delete(0,"end")
            mv_text_entry2.insert(0,"")
            mv_text_entry2.insert(0,f"X: {resp_x}, Y: {resp_y}, Z: {resp_z}")
        else:
            messagebox.showerror("Error","No port selected!")
    else:
        messagebox.showerror("Error","No arm selected")

def on_entry_click(event, entry):
    if entry.cget("fg") == "grey":
        entry.delete(0,"end")
        entry.inster(0,"")
        entry.config(fg="white")

def on_focusout(event, entry, text):
    if entry.get()=="":
        entry.insert(0,text)
        entry.config(fg="grey")

#==================================Begin Widgets====================

#Close minimixe util functions
button_frame = tkinter.LabelFrame(middle_pane)
button_frame.grid(row=1,column=1,columnspan=2)
close_app = ttk.Button(button_frame, image=close_image, command=root.destroy)
close_app.grid(row=0,column=0)
minimize_app = ttk.Button(button_frame, image=minim_image, command=root.iconify)
minimize_app.grid(row=0,column=1)

#Left Pane Widgets
style = ttk.Style()
style.configure('Custom.TButton', borderwidth=0, relief=0)
Task_opt =ttk.Label(left_pane, text="Task Options", padding=(20,20,20,20))
Task_opt.grid(row=0,column=0,padx=20,pady=20)
Task_opt.pack()
Load_task = ttk.Button(left_pane,text="Load Tasks", padding=(45,5), style="Custom.TButton", command=load_tasks)
Load_task.pack(pady=(10,0))
View_task = ttk.Button(left_pane, text="View Task", padding=(45,5), command=callviewer)
View_Task.pack(pady=(10,0))
Add_task.pack(pady=(10,0))
Remove_task =ttk.Button(left_pane, text="Remove Task", padding=(39,5), command=remove_task)
Remove_task.pack(pady=(10,10))

#Left Bottom Pane Widgets
Task_list = ttk.Label(left_bottom_pane, text="Task List", padding = (20,20,20,20))
Task_list.grid(row=0,column=0,padx=20,pady=20)
Task_list.pack()
Task_list_box = tkinter.Listbox(left_bottom_pane, justify="center", font=("Helvetica",12))
Task_list_box.pack(fill='x',expand='False')
Select_task = ttk.Button (left_bottom_pane, text="Select Task", padding=(20,10,20,10),width=10, command=select_task)
Select_task.pack(side=tkinter.LEFT, padx=(10,10),pady=10)
Run_task = ttk.Button(left_bottom_pane, text="Run Task", padding = (20,10,20,10), width=10, command=run_task)
Run_task.pack(side=tkinter.LEFT, padx=(10,10), pady=10)
Task_list.pack_propagate(0)
Select_task.pack_propagate(0)
Run_task.pack_propagate(0)

#Middle Pane Widgets
arm_images = tkinter.Label(middle_pane, image=robo_arm_image, bg="gray")
arm_images.grid(row=0,column=0)
arm_text = tkinter.Label(middle_pane,text="ROBOTIC \nARM \nSOFTWARE", font=("Helvetica", 24), bg="gray")
arm_text.grid(row=0,column=1)

#Middle Bottom Pane Widgets
Retrv_curr_pos = ttk.Button(middle_bottom_pane, text="Retrieve\nCurrent\nPosition", padding=(10,40), command=getcurpos)
Retrv_curr_pos.grid(row=0,column=0,rowspan=4,pady=(10,0),padx=(10,0),sticky ='E W')
joint_label = ttk.Label(middle_bottom_pane, text = "Joint Values")
joint_label.grid(row=0,column=1,pady=(10,0),padx=(10,0),sticky='W')
mv_to_joints =ttk.Button(middle_bottom_pane, text="Move to Joints", padding=(25,5))
mv_to_joints.grid(row=0,column=2,pady=(10,0),padx=(10,10),sticky='E')
mv_text_entry = tkinter.Entry(middle_bottom_ane, width=45,fg="grey")
mv_text_entry.insert(0, "Enter the joint values")
mv_text_entry.grid(row=1,column=1,pady=(5,0),padx=(10,10),columnspan=2, sticky='W')
cart_pos = ttk.Label(middle_bottom_pane, text="Cartesian Position")
cart_pos.grid(row=2,column=1,pady=(10,0),padx=(10,0),sticky = 'W')
mv_to_cart = ttk.Button(middle_bottom_pane, text ="Move to Postion", padding=(12,5))
mv_to_cart.grid(row=2,column=2, pady=(10,0),padx=(10,0),sticky='W')
mv_text_entry2 = tkinter.Entry(middle_bottom_pane, width=45, fg="grey")
mv_text_entry2.grid(row=3,column=1,pady=(5,10),padx=(10,10),columnspan=2, sticky='W')
time_label = ttk.Label(middle_bottom_pane, text="", padding=(20,20,20,20))
time_label.grid(row=4,column=0,padx=12, pady=12, columnspan=3)

mv_text_entry.bind("<FocusIn>",lambda event: on_entry_click(event,mv_text_entry))
mv_text_entry.bind("<FocusOut>",lambda event: on_focusout(event,mv_text_entry,"Enter the join values"))
mv_text_entry2.bind("<FocusIn>", lambda event: on_entry_click(even,mv_text_entry2))
mv_text_entry2.bind("<FocusOut>",lambda event: on_focusout(event,mv_text_entry2,"Enter the Cartesian Values"))

#========================UI Update Functions===========================================================================

#Arm Selections UI Updates
def select_arm1():
    global select_arm
    arm1_selector.configure(bg="green")
    arm2_selector.configure(bg="gray")
    select_arm = 1

def select_arm2():
    global select_arm
    arm1_selector.configure(bg="gray")
    arm2_selector.configure(bg="green")
    select_arm = 2

def send_one_move(run_ang):
    run_port = arm_combobox.get()
    amt = spinbox_degree.get()
    print(amt)
    if run_port:
        #play_button.invoke()
        databridge.move_by_one(run_ang,amt,run_port)
    else:
        messagebox.showerror("Error","No port selected")

#===============================Widgets Contd.===========================================================================

#Right Pane Widgets
arm_selector = tkinter.LabelFrame(right_pane, text="Arm Selection")
arm_selector.grid(row=0,column=0,padx=20,pady=20,columnspan=2)
com_selector = tkinter.Label(arm_selector,text="COM Port Selection")
com_selector.grid(row=1,column=0,padx=20,pady=20)
arm_combobox = ttk.Combobox(arm_selector, values=com_ports, state="readonly")
arm_combobox.grid(row=1,column=1,padx=20,pady=20)
arm1_selector = tkinter.Button(arm_selector,text="Select Arm1", command=select_arm1, bg="gray")
arm1_selector.grid(row=2,column=0,padx=20,pady=20)
arm2_selector = tkinter.Button(arm_selector,text="Select Arm2", command=select_arm2, bg="gray")
arm2_selector.grid(row=2,column=1,padx=20,pady=20)
arm_type_selector = tkinter.LabelFrame(right_pane,text="Select Movement Type", padx = 80)
arm_type_selector.grid(row3, column=0, padx=20, pady=20, columnspan=2)
spinbox_degree = tkinter.Spinbox(arm_type_selector, from_=10, to=90, width=10)
degree_label = tkinter.Label(arm_type_selector,text="Step Degrees (°): ")
degree_label.grid(row=5,column=0,padx=20,pady=20)
Spinbox_degree.grid(row=5,column=1,padx=20,pady=20)

#Six Button ==> -Tx -Ty -Tz -Rx -Ry -Rz +Tx +Ty +Tz +Rx +Ry +Rz 
tx_button = ttk.Button(right_pane,text="-Tx", padding=(40,10), command = lambda: send_one_move("rs1"))
ty_button = ttk.Button(right_pane,text="-Ty", padding=(40,10), command = lambda: send_one_move("rs2"))
tz_button = ttk.Button(right_pane,text="-Tz", padding=(40,10), command = lambda: send_one_move("rs3"))
rx_button = ttk.Button(right_pane,text="-Rx", padding=(40,10), command = lambda: send_one_move("rs4"))
ry_button = ttk.Button(right_pane,text="-RY", padding=(40,10), command = lambda: send_one_move("rs5"))
rz_button = ttk.Button(right_pane,text="-Rz", padding=(40,10), command = lambda: send_one_move("rs6"))
tx_button.grid(row=6,column=0,padx=5,pady=5)
ty_button.grid(row=7,column=0,padx=5,pady=5)
tz_button.grid(row=8,column=0,padx=5,pady=5)
rx_button.grid(row=9,column=0,padx=5,pady=5)
ry_button.grid(row=10,column=0,padx=5,pady=5)
rz_button.grid(row=11,column=0,padx=5,pady=5)

tx_button = ttk.Button(right_pane,text="+Tx", padding=(40,10), command = lambda: send_one_move("s1"))
ty_button = ttk.Button(right_pane,text="+Ty", padding=(40,10), command = lambda: send_one_move("s2"))
tz_button = ttk.Button(right_pane,text="+Tz", padding=(40,10), command = lambda: send_one_move("s3"))
rx_button = ttk.Button(right_pane,text="+Rx", padding=(40,10), command = lambda: send_one_move("s4"))
ry_button = ttk.Button(right_pane,text="+RY", padding=(40,10), command = lambda: send_one_move("s5"))
rz_button = ttk.Button(right_pane,text="+Rz", padding=(40,10), command = lambda: send_one_move("s6"))
tx_button.grid(row=6,column=1,padx=5,pady=5)
ty_button.grid(row=7,column=1,padx=5,pady=5)
tz_button.grid(row=8,column=1,padx=5,pady=5)
rx_button.grid(row=9,column=1,padx=5,pady=5)
ry_button.grid(row=10,column=1,padx=5,pady=5)
rz_button.grid(row=11,column=1,padx=5,pady=5)

arm_combobox.bind("<<ComboboxSelected>>",on_select_com)

#================================Begin Functions================================

#Live Time Function
def update_time():
    current_time = datetime.datetime.now()
    time_str = current_time.strftime("%H:%M:%S")
    date_str = current_time.strftime("%Y-%m -%D")
    time_label.config(text="Current Time: " + time_str + "\nToday's Date: " + date_str)
    root.after(1000, update_time)

#===============================Closing Function (Util)=========================================

get_ports()

#=================================End Functions (Tkinter)=======================================

sv_ttk.set_theme("dark")
update_time()

root.mainloop()