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gui.py
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from threading import Thread
import tkinter as tk
import tk_tools
from collections import deque
import time
class GUI(Thread):
def __init__(self, rpi_reference):
self.RPI = rpi_reference
self.start_time = time.time()
self.main_window = tk.Tk()
self.selected_pid = tk.StringVar()
self.depth_pid_state = tk.StringVar()
self.depth_pid_state.set("OFF")
self.yaw_pid_state = tk.StringVar()
self.yaw_pid_state.set("OFF")
self.depth_val_log = deque(maxlen= 40)
self.main_window.title("ROV4 simple GUI")
self.init_topbar()
self.init_sliders()
self.init_guages()
self.init_info_readings()
def init_topbar(self):
self.topbar_frame = tk.Frame(self.main_window)
self.topbar_frame.grid(row=0, column=4, columnspan=6, sticky="ew")
tk.Checkbutton(self.topbar_frame, onvalue="ON", offvalue="OFF", width=4,
indicatoron=False,
variable=self.depth_pid_state, textvariable=self.depth_pid_state,
selectcolor="green", background="red",
command=self.depth_onoff).grid(row=0, column=1)
tk.Radiobutton(self.topbar_frame,
text="depth",
value="depth",
variable=self.selected_pid,
command = self.mode_toggle).grid(row=0, column=2)
tk.Radiobutton(self.topbar_frame,
text="yaw",
value="yaw",
variable=self.selected_pid,
command = self.mode_toggle).grid(row=0, column=3)
self.selected_pid.set("depth")
tk.Checkbutton(self.topbar_frame, onvalue="ON", offvalue="OFF", width=4,
indicatoron=False,
variable=self.yaw_pid_state, textvariable=self.yaw_pid_state,
selectcolor="green", background="red",
command=self.yaw_onoff).grid(row=0, column=5)
def init_sliders(self):
self.slide_kp = tk.Scale(self.main_window,
from_=0,
to=300,
length=400,
command=self.get_kp)
self.slide_kp.grid(column=0, row=1)
self.slide_kp.set(50)
self.slide_ki = tk.Scale(self.main_window,
from_=0,
to=2000,
length=400,
command=self.get_ki)
self.slide_ki.grid(column=1, row=1)
self.slide_ki.set(1000)
self.slide_kd = tk.Scale(self.main_window,
from_=0,
to=2000,
length=400,
command=self.get_kd)
self.slide_kd.grid(column=3, row=1)
self.slide_kd.set(1465)
self.bt = tk.Button(self.main_window, text="send parameters", command = self.send_parameters)
self.bt.grid(column=1, row=3, columnspan=2)
def init_guages(self):
self.guages_frame = tk.Frame(self.main_window)
self.guages_frame.grid(row=1, column=4)
self.error_guage = tk_tools.Gauge(self.guages_frame,
max_value=8,
min_value=-8,
red_low=20,
red=80,
yellow_low=30,
yellow=70,
label="error value",
unit='')
self.error_guage.set_value(0.4)
self.pid_val_guage = tk_tools.Gauge(self.guages_frame,
max_value=1.1,
min_value=-1.1,
red_low=20,
red=80,
yellow_low=30,
yellow=70,
label="pid value",
unit='')
self.pid_val_guage.set_value(0.1)
self.error_guage.pack()
self.pid_val_guage.pack()
def init_info_readings(self):
self.depth_graph_frame = tk.Frame(self.main_window)
self.depth_graph_frame.grid(row=1, column=5)
self.depth_set_point = tk.Label(self.depth_graph_frame, text="setpoint value: off")
self.depth_set_point.pack()
graph_title = tk.Label(self.depth_graph_frame, text="Depth value:")
graph_title.pack()
labelfont = ('times', 20, 'bold')
self.depth_value_label = tk.Label(self.depth_graph_frame,
text="2.01",
borderwidth=2,
relief="solid",
font=labelfont)
self.depth_value_label.pack()
self.depth_graph = tk_tools.Graph(parent=self.depth_graph_frame,
x_min=0,
x_max=20,
y_min=0.0,
y_max=4.0,
x_tick=2,
y_tick=0.5,
width=600,
height=400)
self.depth_graph.pack()
self.yaw_frame = tk.Frame(self.main_window)
self.yaw_frame.grid(row=1, column=6)
self.yaw_set_point = tk.Label(self.yaw_frame, text="setpoint value: off")
self.yaw_set_point.pack()
tk.Label(self.yaw_frame, text="Yaw value:").pack()
self.yaw_value_label = tk.Label(self.yaw_frame,
text="180",
borderwidth=2,
relief="solid",
font=labelfont)
self.yaw_value_label.pack()
self.yaw_val_guage = tk_tools.Gauge(self.yaw_frame,
max_value=180,
min_value=-180,
red_low=20,
red=80,
yellow_low=30,
yellow=70,
label="yaw val",
unit='')
self.yaw_val_guage.set_value(30)
self.yaw_val_guage.pack()
# self.yaw_rotary=tk_tools.RotaryScale(self.yaw_frame,max_value=180.0).pack()
def get_kp(self, event):
print("kp= " + str(self.slide_kp.get() / 1000))
self.kp = self.slide_kp.get() / 1000
def get_ki(self, event):
print("ki= " + str(self.slide_ki.get() / 10000))
self.ki = self.slide_ki.get() / 10000
def get_kd(self, event):
print("kd= " + str(self.slide_kd.get() / 100))
self.kd = self.slide_kd.get() / 10000
def run(self):
self.update_values()
print("gui started !")
self.main_window.mainloop()
def read_vals(self):
pid_vals = {"kd": 0.0, "kp": 0.0, "ki": 0.0}
try:
pid_vals['kp'] = float(self.kp)
pid_vals['ki'] = float(self.ki)
pid_vals['kd'] = float(self.kd)
print(str(pid_vals))
return pid_vals
except Exception as e:
print(e)
return pid_vals
def mode_toggle(self):
if self.selected_pid.get() == "depth":
print("selected pid: depth")
elif self.selected_pid.get() == "yaw":
print("selected pid: yaw")
def depth_onoff(self):
if self.depth_pid_state.get() == "ON":
print("turning depth pid on...")
setpoint = self.RPI.get_depth_set_point() # RPI get depth_setpoint
setpoint = str(format(setpoint,'.2f'))
self.depth_set_point.config(text="setpoint value: "+ setpoint)
else:
print("turning depth pid off...")
self.depth_set_point.config(text="setpoint value: off")
def yaw_onoff(self):
if self.yaw_pid_state.get() == "ON":
print("turning yaw pid on...")
setpoint = self.RPI.get_yaw_set_point() # RPI get yaw_setpoint
setpoint = str(format(setpoint,'.1f'))
self.yaw_set_point.config(text="setpoint value: " + setpoint)
else:
print("turning yaw pid off...")
self.yaw_set_point.config(text="setpoint value: off")
def send_parameters(self):
pid_vals = self.read_vals()
if self.selected_pid.get() == "depth":
print("sending parameters to depth pid")
self.RPI.pid_depth_set_params(pid_vals['kp'],
pid_vals['ki'],
pid_vals['kd'])
elif self.selected_pid.get() == "yaw":
print("sending parameters to yaw pid")
self.RPI.pid_yaw_set_params(pid_vals['kp'],
pid_vals['ki'],
pid_vals['kd'])
def update_values(self):
if self.selected_pid.get() == "depth":
err_val = self.RPI.get_pid_depth_error() # RPI get_pid_depth_error
self.error_guage.set_value(err_val)
pid_val = self.RPI.get_pid_depth_output() # RPI get_pid_depth_output
self.pid_val_guage.set_value(pid_val)
elif self.selected_pid.get() == "yaw":
err_val = self.RPI.get_pid_yaw_error() # RPI get_pid_yaw_error
self.error_guage.set_value(err_val)
pid_val = self.RPI.get_pid_yaw_output()# RPI get_pid_yaw_output
self.pid_val_guage.set_value(pid_val)
depth_val = self.RPI.get_depth() #RPI get_current_depth val
self.depth_value_label.config(text=str(format(depth_val,'.2f')))
if round(time.time() - self.start_time, 2) > 20.0:
self.start_time = time.time()
self.depth_val_log.clear()
self.depth_graph.draw_axes()
self.depth_val_log.append((round(time.time() - self.start_time, 2),depth_val))
self.depth_graph.plot_line(list(self.depth_val_log))
yaw_val = self.RPI.get_yaw() #RPI get_current_yaw val
self.yaw_value_label.config(text=str(format(yaw_val,'.1f')))
self.yaw_val_guage.set_value(yaw_val)
self.main_window.after(200,self.update_values)
if __name__ == "__main__":
class VirtualRpi:
dupa = "blada"
VIRTUAL_RPI = VirtualRpi()
gui = GUI(VIRTUAL_RPI)
gui.run()