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GUI.py
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GUI.py
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#==============================================================================
# Project: Robocar
# Application: Remote_Control
# File: GUI.py
# Description: graphical user interface, which allows sending commands to the
# car and shows information about the current state.
#==============================================================================
#==============================================================================
# Import
#==============================================================================
import PySimpleGUI as sg
from GUI_constants import *
import CommunMessages
import time
from multiprocessing import Queue
from typing import Tuple
#==============================================================================
# Global data
#==============================================================================
DEBUG = False
TIMEOUT_GUI_MS = 100
TIMEOUT_SERVER_MS = 2*TIMEOUT_GUI_MS # Time above server lag is considered
#==============================================================================
# Function definitions
#==============================================================================
def _time_now_ms() -> int:
return int(0.000001*time.time_ns())
def _gui_init_layout_windows() -> Tuple[list, sg.Window]:
"""
Builds the layout row by row, builds the window and returns both
:return: layout (list of widgets) and window
:rtype: (list, Window)
"""
layout = [
# Connection
[ sg.Text(CONNECTION_TEXT, size=SIZE3, pad=PAD_HDR1, justification='c', background_color=HDR_COL, font=FONT2) ],
[ sg.Text(CONNECTION_ST_TEXT, pad=PAD4, size=SIZE5, justification='c', key=CONNECTION_ST_KEY) ],
# Control
[ sg.Text(CTRL_TEXT, size=SIZE3,pad=PAD_HDR2, justification='c', background_color=HDR_COL, font=FONT2) ],
[ sg.Text(CTRL_WORKM_TEXT, size=SIZE1,pad=PAD2, justification='r'),
sg.Radio(CTRL_WORKM_STOP_IN_TEXT,CTRL_WORKM_IN_GROUP, font=FONT, key=CTRL_WORKM_STOP_IN_KEY, pad=PAD2, default=True),
sg.Radio(CTRL_WORKM_MAN_IN_TEXT,CTRL_WORKM_IN_GROUP, font=FONT, key=CTRL_WORKM_MAN_IN_KEY, pad=PAD2),
sg.Radio(CTRL_WORKM_AUT_IN_TEXT,CTRL_WORKM_IN_GROUP, font=FONT, key=CTRL_WORKM_AUT_IN_KEY, pad=PAD2)
],
[ sg.Text(CTRL_MAN_TEXT, size=SIZE1,pad=PAD2, justification='r'),
sg.Text(CTRL_MAN_OX_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Input(size=SIZE2, pad=PAD5, justification='l', key=CTRL_MAN_OX_IN_KEY, font=FONT, disabled_readonly_background_color='grey'),
sg.Text(CTRL_MAN_OY_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Input(size=SIZE2, pad=PAD2, justification='l', key=CTRL_MAN_OY_IN_KEY, font=FONT, disabled_readonly_background_color='grey')
],
[ sg.Text(CTRL_AUT_TEXT, size=SIZE1,pad=PAD2, justification='r'),
sg.Text(CTRL_AUT_OX_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Input(size=SIZE2, pad=PAD5, justification='l', key=CTRL_AUT_OX_IN_KEY, font=FONT, disabled_readonly_background_color='grey'),
sg.Text(CTRL_AUT_OY_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Input(size=SIZE2, pad=PAD2, justification='l', key=CTRL_AUT_OY_IN_KEY, font=FONT, disabled_readonly_background_color='grey')
],
[ sg.Button(button_text=CTRL_SEND_BUT_TEXT, size=SIZE4, pad=PAD3, key=CTRL_SEND_BUT_KEY, font=FONT) ],
# Telemetry
[ sg.Text(TLMT_TEXT, size=SIZE3,pad=PAD_HDR2, justification='c', background_color=HDR_COL, font=FONT2) ],
[ sg.Text(TLMT_WORKM_TEXT, size=SIZE1,pad=PAD2, justification='r'),
sg.Text(TLMT_WORKM_OUT_TEXT, size=SIZE1, pad=PAD2, justification='l', key=TLMT_WORKM_OUT_KEY)
],
[ sg.Text(TLMT_MAN_TEXT, size=SIZE1,pad=PAD2, justification='r'),
sg.Text(TLMT_MAN_OX_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Text(size=SIZE2, pad=PAD5, justification='l', key=TLMT_MAN_OX_OUT_KEY, font=FONT),
sg.Text(TLMT_MAN_OY_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Text(size=SIZE2, pad=PAD2, justification='l', key=TLMT_MAN_OY_OUT_KEY, font=FONT)
],
[ sg.Text(TLMT_AUT_TEXT, size=SIZE1,pad=PAD2, justification='r'),
sg.Text(TLMT_AUT_OX_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Text(size=SIZE2, pad=PAD5, justification='l', key=TLMT_AUT_OX_OUT_KEY, font=FONT),
sg.Text(TLMT_AUT_OY_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Text(size=SIZE2, pad=PAD2, justification='l', key=TLMT_AUT_OY_OUT_KEY, font=FONT)
],
[ sg.Text(TLMT_LINSP_TEXT, size=SIZE1,pad=PAD2, justification='r'),
sg.Text(TLMT_LINSP_OUT_TEXT, size=SIZE1, pad=PAD2, justification='l', key=TLMT_LINSP_OUT_KEY)
],
[ sg.Text(TLMT_WHESP_TEXT, size=SIZE1,pad=PAD2, justification='r'),
sg.Text(TLMT_WHESP_L_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Text(size=SIZE2, pad=PAD5, justification='l', key=TLMT_WHESP_L_OUT_KEY, font=FONT),
sg.Text(TLMT_WHESP_R_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Text(size=SIZE2, pad=PAD2, justification='l', key=TLMT_WHESP_R_OUT_KEY, font=FONT)
],
[ sg.Text(TLMT_DIST_TEXT, size=SIZE1,pad=PAD2, justification='r'),
sg.Text(TLMT_DIST_L_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Text(size=SIZE2, pad=PAD5, justification='l', key=TLMT_DIST_L_OUT_KEY, font=FONT),
sg.Text(TLMT_DIST_R_TEXT, pad=PAD5, justification='l', font=FONT),
sg.Text(size=SIZE2, pad=PAD2, justification='l', key=TLMT_DIST_R_OUT_KEY, font=FONT)
],
[
],
]
# sg.theme("DarkBlue")
sg.set_options(font=('Courier New', 12))
window = sg.Window(WINDOW_TEXT, layout, margins=WINDOW_MARGIN)
window.finalize = True
return layout, window
def _control_update(window: sg.Window, manual_enabled:bool, auto_enabled:bool):
"""
Enables or disables the control inputs according to the current working
mode selected (stop / manual / auto)
"""
if manual_enabled:
window[CTRL_MAN_OX_IN_KEY].update(disabled=False)
window[CTRL_MAN_OY_IN_KEY].update(disabled=False)
else:
window[CTRL_MAN_OX_IN_KEY].update(disabled=True, value='')
window[CTRL_MAN_OY_IN_KEY].update(disabled=True, value='')
if auto_enabled:
window[CTRL_AUT_OX_IN_KEY].update(disabled=False)
window[CTRL_AUT_OY_IN_KEY].update(disabled=False)
else:
window[CTRL_AUT_OX_IN_KEY].update(disabled=True, value='')
window[CTRL_AUT_OY_IN_KEY].update(disabled=True, value='')
def _send_message(window:sg.Window, queue_2_car:Queue(1)):
# Create message with current parameters to send
workmode_str = ""
manctrly_perc = 0
manctrlx_perc = 0
autctrl_speedy_mms = 0
autctrl_speedx_mms = 0
if window[CTRL_WORKM_STOP_IN_KEY].get():
workmode_str = "Stop mode"
elif window[CTRL_WORKM_MAN_IN_KEY].get():
workmode_str = "Manual mode"
manctrly_perc = int(window[CTRL_MAN_OY_IN_KEY].get())
manctrlx_perc = int(window[CTRL_MAN_OX_IN_KEY].get())
elif window[CTRL_WORKM_AUT_IN_KEY].get():
workmode_str = "Automatic mode"
autctrl_speedy_mms = int(window[CTRL_AUT_OY_IN_KEY].get())
autctrl_speedx_mms = int(window[CTRL_AUT_OX_IN_KEY].get())
workmode_id = CommunMessages.get_workmode_id(workmode_str)
out_raw = CommunMessages.Message_struct_out(workmode_id,
manctrly_perc, manctrlx_perc,
autctrl_speedy_mms, autctrl_speedx_mms)
# Get message formatted
out_formatted = out_raw.get_output_format()
# Empty queue if full and push new message
if (queue_2_car.full() == True):
queue_2_car.empty() # Only most recent data is valid
queue_2_car.put(out_formatted)
if (DEBUG): print("GUI: message sent")
def _str_is_number(str:str) -> bool:
""" Returns True if str represents number or False otherwise """
try:
number = int(str)
return True
except ValueError:
return False
def _check_input(window:sg.Window) -> bool:
""" Checks if the control inputs typed by the user are valid """
status_is_ok = False
if (window[CTRL_WORKM_STOP_IN_KEY].get()):
status_is_ok = True
elif (window[CTRL_WORKM_MAN_IN_KEY].get()):
ox_str = window[CTRL_MAN_OX_IN_KEY].get()
oy_str = window[CTRL_MAN_OY_IN_KEY].get()
if (_str_is_number(ox_str) and _str_is_number(oy_str)):
ox_nb = int(ox_str)
oy_nb = int(oy_str)
if (ox_nb >= -100 and ox_nb <= 100 and
oy_nb >= -100 and oy_nb <= 100):
status_is_ok = True
elif (window[CTRL_WORKM_AUT_IN_KEY].get()):
ox_str = window[CTRL_AUT_OX_IN_KEY].get()
oy_str = window[CTRL_AUT_OY_IN_KEY].get()
if (_str_is_number(ox_str) and _str_is_number(oy_str)):
ox_nb = int(ox_str)
oy_nb = int(oy_str)
if (ox_nb >= -32767 and ox_nb <= 32767 and
oy_nb >= -32767 and oy_nb <= 32767):
status_is_ok = True
return status_is_ok
#----------------------------------------------------------------------
# Main flow
#----------------------------------------------------------------------
def gui_main( queue_2_car:Queue(1), queue_from_car:Queue(1),
queue_exit:Queue(1) ):
""" Handles all the GUI behaviour, updates data from the car and sends
to the car control data introduced by the user """
layout, window = _gui_init_layout_windows()
time_ms_from_last_update = 0
time_ms_last_update = _time_now_ms()
while True:
# Update user events
event, values = window.read(timeout=TIMEOUT_SERVER_MS)
# If user closes the window, send message to all processes
if event == sg.WINDOW_CLOSED:
if (queue_exit.full() == False):
queue_exit.put("UNUSED_DATA")
# If message in exit queue, close process
if queue_exit.full() == True:
if DEBUG: print("Exiting from GUI...")
break
# Process info to send to car (Control section)
# Check radio button choice
if values[CTRL_WORKM_STOP_IN_KEY]:
_control_update(window, False, False)
elif values[CTRL_WORKM_MAN_IN_KEY]:
_control_update(window, True, False)
elif values[CTRL_WORKM_AUT_IN_KEY]:
_control_update(window, False, True)
# Update button status and check input
input_is_valid = _check_input(window)
server_is_ok = True if time_ms_from_last_update < TIMEOUT_SERVER_MS else False
if input_is_valid and server_is_ok:
window[CTRL_SEND_BUT_KEY].update(disabled=False)
else:
window[CTRL_SEND_BUT_KEY].update(disabled=True)
# Send if button pressed
if event == CTRL_SEND_BUT_KEY:
_send_message(window, queue_2_car)
# Update info coming from car (Telemetry section) and Last connection
if (queue_from_car.empty() == False):
message = CommunMessages.decode_in_message(queue_from_car.get())
if message != None:
window[TLMT_WORKM_OUT_KEY].Update(message.get_workmode_str() if message.workmode_err==False else "Error")
window[TLMT_MAN_OY_OUT_KEY].Update(message.manctrly_perc if message.manctrly_err==False else "Error")
window[TLMT_MAN_OX_OUT_KEY].Update(message.manctrlx_perc if message.manctrlx_err==False else "Error")
window[TLMT_AUT_OY_OUT_KEY].Update(message.autctrl_speedy_mms if message.autctrl_speedy_err==False else "Error")
window[TLMT_AUT_OX_OUT_KEY].Update(message.autctrl_speedx_mms if message.autctrl_speedx_err==False else "Error")
window[TLMT_LINSP_OUT_KEY].Update(message.linspeed_mms if message.linspeed_err==False else "Error")
window[TLMT_WHESP_L_OUT_KEY].Update(message.lspeed_rpm if message.lspeed_err==False else "Error")
window[TLMT_WHESP_R_OUT_KEY].Update(message.rspeed_rpm if message.rspeed_err==False else "Error")
window[TLMT_DIST_L_OUT_KEY].Update(message.ldist_mm if message.ldist_err==False else "Error")
window[TLMT_DIST_R_OUT_KEY].Update(message.rdist_mm if message.rdist_err==False else "Error")
window[CONNECTION_ST_KEY].Update(
value = "Connected < " + str(TIMEOUT_GUI_MS) + "ms",
text_color = "white")
time_ms_from_last_update = 0
time_ms_last_update = _time_now_ms()
else:
time_ms_from_last_update = _time_now_ms() - time_ms_last_update
my_str = "Disconnected. " + str(time_ms_from_last_update) + " ms ago"
window[CONNECTION_ST_KEY].Update(
value = my_str,
text_color = "red")
# If infinite loop is broken, close window and finalise
window.close()