"""
Capstone Team Project. Code to run on a LAPTOP (NOT the robot).
This module intentionally has NO main function.
Instead, the one and only main function for LAPTOP code is in module
m0_run_this_on_LAPTOP
When m0_run_this_on_LAPTOP runs, it calls its main to construct the one
and only tkinter.Tk object and runs mainloop on it. The m0 module calls
get_my_frame
in THIS module to get and display the ttk.Frame object for the code herein.
See the doc-string in m0_run_this_on_LAPTOP for details.
The m0_run_this_on_LAPTOP module also constructs the MQTT object and
1. Sends it to your get_my_frame function to use as you see fit
for SENDING messages to the robot.
2. Calls methods in your "delegate" class below when it RECEIVES messages
from the robot.
Your professor will explain further when talking about MQTT and this code.
Authors: Your professors (for the framework)
and PUT_YOUR_NAME_HERE.
Fall term, 2019-2020.
"""
# TODO: 1. Put your name in the above.
import tkinter
from tkinter import ttk
import mqtt_remote_method_calls as mqtt
import m1_laptop_code as m1
import m2_laptop_code as m2
import m3_laptop_code as m3
def get_my_frame(root, main_frame, mqtt_sender):
"""
Constructs your GUI, putting it into a ttk.Frame that is returned.
:type root: tkinter.Tk
:type main_frame: ttk.Frame
:type mqtt_sender mqtt.MqttClient
"""
# -------------------------------------------------------------------------
# Construct your frame:
# -------------------------------------------------------------------------
frame = ttk.Frame(main_frame, padding=10, borderwidth=5, relief="ridge")
frame_label = ttk.Label(frame, text="PUT_YOUR_NAME_HERE")
frame_label.grid()
# TODO: 2. Put your name in the above.
# Adjust your frame's characteristics as desired.
# -------------------------------------------------------------------------
# Add the rest of your GUI to your frame:
# -------------------------------------------------------------------------
# TODO: Put your GUI onto your frame (using sub-frames if you wish).
get_teleoperation_frame(root, frame, mqtt_sender)
# -------------------------------------------------------------------------
# Return your frame:
# -------------------------------------------------------------------------
return frame
class MyLaptopDelegate(object):
"""
Defines methods that are called by the MQTT listener when that listener
gets a message (name of the method, plus its arguments)
from the ROBOT via MQTT.
"""
def __init__(self, root):
self.root = root # type: tkinter.Tk
self.mqtt_sender = None # type: mqtt.MqttClient
def set_mqtt_sender(self, mqtt_sender):
self.mqtt_sender = mqtt_sender
# -------------------------------------------------------------------------
# TODO: Add methods here as needed.
# -------------------------------------------------------------------------
# -----------------------------------------------------------------------------
# TODO: Add more functions here as needed.
# -----------------------------------------------------------------------------
def print_message_received(method_name, arguments):
print()
print("The laptop's delegate has received a message")
print(" for the ", method_name, " method")
print(" with arguments", arguments)
def print_message_sent(method_name, arguments):
print()
print("The laptop has SENT a message to the ROBOT")
print(" for the ", method_name, " method")
print(" with arguments", arguments)
def get_teleoperation_frame(root, window, mqtt_sender):
"""
Constructs and returns a frame on the given window, where the frame
has Entry and Button objects that control the EV3 robot's motion
by passing messages using the given MQTT Sender.
:type root: tkinter.Tk
:type window: ttk.Frame | ttk.TopLevel
:type mqtt_sender: mqtt.MqttClient
"""
# Construct the frame to return:
frame = ttk.Frame(window, padding=10, borderwidth=5, relief="ridge")
frame.grid()
# Construct the widgets on the frame:
frame_label = ttk.Label(frame, text="Teleoperation")
left_speed_label = ttk.Label(frame, text="Left wheel speed (0 to 100)")
right_speed_label = ttk.Label(frame, text="Right wheel speed (0 to 100)")
left_speed_entry = ttk.Entry(frame, width=8)
left_speed_entry.insert(0, "100")
right_speed_entry = ttk.Entry(frame, width=8, justify=tkinter.RIGHT)
right_speed_entry.insert(0, "100")
forward_button = ttk.Button(frame, text="Go Forward")
backward_button = ttk.Button(frame, text="Go Backward")
left_button = ttk.Button(frame, text="Spin Left")
right_button = ttk.Button(frame, text="Spin Right")
stop_button = ttk.Button(frame, text="Stop")
# Grid the widgets:
frame_label.grid(row=0, column=1)
left_speed_label.grid(row=1, column=0)
right_speed_label.grid(row=1, column=2)
left_speed_entry.grid(row=2, column=0)
right_speed_entry.grid(row=2, column=2)
forward_button.grid(row=3, column=1)
left_button.grid(row=4, column=0)
stop_button.grid(row=4, column=1)
right_button.grid(row=4, column=2)
backward_button.grid(row=5, column=1)
# Set the button callbacks:
forward_button["command"] = lambda: handle_forward(
left_speed_entry, right_speed_entry, mqtt_sender)
backward_button["command"] = lambda: handle_backward(
left_speed_entry, right_speed_entry, mqtt_sender)
left_button["command"] = lambda: handle_left(
left_speed_entry, right_speed_entry, mqtt_sender)
right_button["command"] = lambda: handle_right(
left_speed_entry, right_speed_entry, mqtt_sender)
stop_button["command"] = lambda: handle_stop(mqtt_sender)
return frame
###############################################################################
# Handlers for Buttons in the Teleoperation frame.
###############################################################################
def go(mqtt_sender, direction, left_wheel_speed, right_wheel_speed):
"""
Sends a message to the robot to go in the given direction
using the given wheel motor speeds.
:type mqtt_sender: mqtt.MqttClient
:type direction: str
:type left_wheel_speed: int
:type right_wheel_speed: int
"""
print()
print("Sending a message to the robot to", direction)
print(" using wheel motor speeds:", left_wheel_speed, right_wheel_speed)
mqtt_sender.send_message("go", [left_wheel_speed, right_wheel_speed])
def handle_forward(left_entry_box, right_entry_box, mqtt_sender):
"""
Tells the robot to move using the speeds in the given entry boxes,
with the speeds used as given, thus going FORWARD.
:type left_entry_box: ttk.Entry
:type right_entry_box: ttk.Entry
:type mqtt_sender: mqtt.MqttClient
"""
left = int(left_entry_box.get())
right = int(right_entry_box.get())
go(mqtt_sender, "GO FORWARD", left, right)
def handle_backward(left_entry_box, right_entry_box, mqtt_sender):
"""
Tells the robot to move using the speeds in the given entry boxes,
but using the negatives of the speeds in the entry boxes,
thus going BACKWARD.
:type left_entry_box: ttk.Entry
:type right_entry_box: ttk.Entry
:type mqtt_sender: mqtt.MqttClient
"""
left = -int(left_entry_box.get())
right = -int(right_entry_box.get())
go(mqtt_sender, "GO BACKWARD", left, right)
def handle_left(left_entry_box, right_entry_box, mqtt_sender):
"""
Tells the robot to move using the speeds in the given entry boxes,
but using the negative of the speed in the left entry box,
thus spinning LEFT.
:type left_entry_box: ttk.Entry
:type right_entry_box: ttk.Entry
:type mqtt_sender: mqtt.MqttClient
"""
left = -int(left_entry_box.get())
right = int(right_entry_box.get())
go(mqtt_sender, "SPIN LEFT", left, right)
def handle_right(left_entry_box, right_entry_box, mqtt_sender):
"""
Tells the robot to move using the speeds in the given entry boxes,
but using the negative of the speed in the right entry box.
thus spinning RIGHT.
:type left_entry_box: ttk.Entry
:type right_entry_box: ttk.Entry
:type mqtt_sender: mqtt.MqttClient
"""
left = int(left_entry_box.get())
right = -int(right_entry_box.get())
go(mqtt_sender, "SPIN RIGHT", left, right)
def handle_stop(mqtt_sender):
"""
Tells the robot to stop.
:type mqtt_sender: mqtt.MqttClient
"""
print()
print("Sending a message to the robot to STOP.")
mqtt_sender.send_message("stop", [])