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mLine 165:
Line 165: − + − + − + Line 206:
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Line 250: − if event == 'Halt Everything': + − if event == 'Gyroscope': + − if event == '<<CCW': + + + + + + + − if event == 'Send Command': + − + − + Line 266:
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→Laptop Code for Robot/Laptop Base Communication
# ------ Column Definition ------ #
# ------ Column Definition ------ #
col1 = [
col1 = [
[sg.Text('Bot Message response', size=(30, 1))],
[sg.Text('Bot Message response', size=(20, 1))],
[sg.Output(size=(40, 20), font=('Mono 8'))],
[sg.Output(size=(30, 20), font=('Mono 8'))],
[sg.Text('Bot Command Single Entry', size=(30, 1))],
[sg.Text('Bot Command Single Entry', size=(20, 1))],
[sg.InputText(size=(30, 0), key='-QUERY-')],
[sg.InputText(size=(30, 0), key='-QUERY-')],
[sg.Button('Send Command',size=(20,1), button_color=(sg.YELLOWS[0], sg.GREENS[0]), bind_return_key=True)],
[sg.Button('Send Command',size=(20,1), button_color=(sg.YELLOWS[0], sg.GREENS[0]), bind_return_key=True)],
]
]
col3 = [
col3 = [
[sg.Graph(GRAPH_SIZE, (0,0), GRAPH_SIZE, key='-GRAPH-', background_color='lightblue')],
[sg.Graph(GRAPH_SIZE, (10,10), GRAPH_SIZE, key='-GRAPH-', background_color='lightblue')],
]
]
col4 = [
col4 = [
[sg.Button('Gyroscope',size=(15,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0]))],
[sg.Button('Gyroscope',size=(16,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0]))],
[sg.Text('X',font=('Mono 9'), justification="center", size=(5, 1)),
[sg.Text('x',size=(1, 1),pad=(0,0)),sg.Text(size=(4, 1),font=('Mono 8'), key='-Gx-'),
sg.Text('Y',font=('Mono 9'), justification="center", size=(5, 1)),
sg.Text('y',size=(1, 1),pad=(0,0)),sg.Text(size=(4, 1),font=('Mono 8'), key='-Gy-'),
sg.Text('Z',font=('Mono 9'), justification="center", size=(5, 1))],
sg.Text('z',size=(1, 1),pad=(0,0)),sg.Text(size=(4, 1),font=('Mono 8'), key='-Gz-'),],
[sg.Button('Acceleration',size=(15,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0]))],
[sg.Text('x',size=(1, 1),pad=(0,0)),sg.Text(size=(4, 1),font=('Mono 8'), key='-Ax-'),
sg.Text('y',size=(1, 1),pad=(0,0)),sg.Text(size=(4, 1),font=('Mono 8'), key='-Ay-'),
sg.Text('z',size=(1, 1),pad=(0,0)),sg.Text(size=(4, 1),font=('Mono 8'), key='-Az-'),],
[sg.Button('Magnetic',size=(15,1),font=('Mono 9'), button_color=(sg.YELLOWS[0], sg.GREENS[0]))],
[sg.Text('x',size=(1, 1),pad=(0,0)),sg.Text(size=(4, 1),font=('Mono 8'), key='-Mx-'),
sg.Text('y',size=(1, 1),pad=(0,0)),sg.Text(size=(4, 1),font=('Mono 8'), key='-My-'),
sg.Text('z',size=(1, 1),pad=(0,0)),sg.Text(size=(4, 1),font=('Mono 8'), key='-Mz-'),],
]
]
layout = [
layout = [
print ("Transmitting Message")
print ("Transmitting Message")
client.send(message_to_bot.encode())
client.send(message_to_bot.encode())
elif event == 'Halt Everything':
message_to_bot = "SRS"
message_to_bot = "SRS"
client.send(message_to_bot.encode())
client.send(message_to_bot.encode())
break
break
elif event == 'Gyroscope':
message_to_bot = "GYR"
message_to_bot = "GYR"
client.send(message_to_bot.encode())
client.send(message_to_bot.encode())
elif event == 'Acceleration':
message_to_bot = "ACC"
client.send(message_to_bot.encode())
elif event == 'Magnetic':
message_to_bot = "MAG"
client.send(message_to_bot.encode())
elif event == '<<CCW':
message_to_bot = "TST"
message_to_bot = "TST"
client.send(message_to_bot.encode())
client.send(message_to_bot.encode())
elif event == 'Send Command':
message_to_bot = value['-QUERY-'].rstrip()
message_to_bot = values['-QUERY-'].rstrip()
client.send(message_to_bot.encode())
client.send(message_to_bot.encode())
# --------------- Loop through all messages coming in from threads ---------------
# --------------- Loop through all messages coming in from threads ---------------
while True: # loop executes until runs out of messages in Queue
while True: # loop executes until runs out of messages in Queue
# do a refresh because could be showing multiple messages before next Read
# do a refresh because could be showing multiple messages before next Read
main_window.refresh()
main_window.refresh()
print(message)
if message[:3] == "Sys":
message = message[4:]
if message[:2] == "G:":
message = message[3:]
xyz = message.split(',')
main_window['-Gx-'].update(xyz[0])
main_window['-Gy-'].update(xyz[1])
main_window['-Gz-'].update(xyz[2])
elif message[:2] == "A:":
message = message[3:]
xyz = message.split(',')
main_window['-Ax-'].update(xyz[0])
main_window['-Ay-'].update(xyz[1])
main_window['-Az-'].update(xyz[2])
elif message[:2] == "M:":
message = message[3:]
xyz = message.split(',')
main_window['-Mx-'].update(xyz[0])
main_window['-My-'].update(xyz[1])
main_window['-Mz-'].update(xyz[2])
else:
print("-")
else:
print(message)
if message == "RxAck:Engaging Robot Shutdown" : escape = False
if message == "RxAck:Engaging Robot Shutdown" : escape = False
# if user exits the window, then close the window and exit the GUI func
# if user exits the window, then close the window and exit the GUI func