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GUI add car disabled - not tested
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@izsoandras
izsoandras committed Feb 2, 2022
1 parent 527a7de commit 80366d7
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Showing 2 changed files with 53 additions and 35 deletions.
84 changes: 51 additions & 33 deletions my_gui/custom_elements/course_view/CourseMap.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -82,8 +82,10 @@ def __init__(self, parent, client: ParamListener, id, dataholder: DataHolder, as
self.car_img = ImageTk.PhotoImage(self.fig_imgs_resiz[CAR_IMG])
self.car_img_id = self.canvas.create_image((100, 50), image=self.car_img)

self.disabled = []
self.goal = {'idx': None, 'tag': None}
self.disabled_gui = []
self.goal_gui = {'idx': None, 'tag': None}
self.goal_car = {'idx': None, 'tag': None}
self.disabled_car = [{'idx': None, 'tag': None} for i in range(0, 4)]
self.marker_rad = self.fig_imgs_resiz[0].height * self.car_ratio

self.send_btn = tkinter.Button(self.canvas, text="Send", bg='RoyalBlue1', activebackground='navy', command=self.on_btn_send_click)
Expand All @@ -92,7 +94,6 @@ def __init__(self, parent, client: ParamListener, id, dataholder: DataHolder, as
y=self.canvas_img.height()-10,
width=self.canvas_img.width()/8, height=self.canvas_img.height()/12, anchor=tkinter.SE)

self.car_goal_marker = None

self.canvas.pack(side=tkinter.LEFT, expand=True, fill=tkinter.BOTH, anchor=tkinter.NW)
self.bind('<Configure>', self.on_resize)
Expand All @@ -108,24 +109,17 @@ def invalidate(self):
def redraw(self):
self._invalid = False

if self.car_goal_marker is not None:
self.canvas.delete(self.car_goal_marker)
self._draw_marker(self.goal_car, 'DarkGoldenrod3', False)

if self.car_state['goal node'] is not None:
g_x = self.node_info['coords'][self.car_state['goal node']][0]
g_y = self.node_info['coords'][self.car_state['goal node']][1]
self.car_goal_marker = self.canvas.create_oval(self.ratio * (g_x - self.marker_rad),
self.ratio * (g_y - self.marker_rad),
self.ratio * (g_x + self.marker_rad),
self.ratio * (g_y + self.marker_rad),
fill=None, outline='DarkGoldenrod3', width=self.ratio*self.marker_rad/2)
for d in self.disabled_car:
self._draw_marker(d, 'IndianRed1', False)

for d in self.disabled:
for d in self.disabled_gui:
self._draw_marker(d, 'IndianRed1')

self.disabled = [d for d in self.disabled if d['idx'] is not None]
self.disabled_gui = [d for d in self.disabled_gui if d['idx'] is not None]

self._draw_marker(self.goal, 'gold')
self._draw_marker(self.goal_gui, 'gold')

self.update_car()

Expand All @@ -135,7 +129,7 @@ def redraw(self):



def _draw_marker(self, marker, color):
def _draw_marker(self, marker, color, filled=True):
if marker['tag'] is not None:
self.canvas.delete(marker['tag'])
marker['tag'] = None
Expand All @@ -144,11 +138,19 @@ def _draw_marker(self, marker, color):
x_c = self.node_info["coords"][marker['idx']][0]
y_c = self.node_info["coords"][marker['idx']][1]

marker["tag"] = self.canvas.create_oval(self.ratio * (x_c - self.marker_rad),
self.ratio * (y_c - self.marker_rad),
self.ratio * (x_c + self.marker_rad),
self.ratio * (y_c + self.marker_rad),
fill=color)
if filled:
marker["tag"] = self.canvas.create_oval(self.ratio * (x_c - self.marker_rad),
self.ratio * (y_c - self.marker_rad),
self.ratio * (x_c + self.marker_rad),
self.ratio * (y_c + self.marker_rad),
fill=color)
else:
self.car_goal_marker = self.canvas.create_oval(self.ratio * (g_x - self.marker_rad),
self.ratio * (g_y - self.marker_rad),
self.ratio * (g_x + self.marker_rad),
self.ratio * (g_y + self.marker_rad),
fill=None, outline=color,
width=self.ratio * self.marker_rad / 2)

def on_resize(self, event):
width_rat = event.width / self.base_width
Expand Down Expand Up @@ -251,12 +253,28 @@ def update_car(self):
img = self.make_car(self.car_state['orientation'], self.car_state['direction'], self.car_state['maneuver'])
self.put_car(img, self.car_state['current node'], self.car_state['node_dir'])

def node_name2idx(self, name):
if type(name) is str:
name = ord(name)

if name == ord(' '):
idx = 1 + name - ord('A')
else:
idx = None

return idx

def update_view(self):
if self.dataholder.hasNew:
data = self.dataholder.getData()
for key in data.keys():
self.car_state[key] = data[key][-1]

for i, c_int in enumerate([self.car_state['disabled1'], self.car_state['disabled2'],self.car_state['disabled3'],self.car_state['disabled4']]):
self.disabled_car[i]['idx'] = self.node_name2idx(c_int)

self.goal_car['idx'] = self.node_name2idx(self.car_state['goal node'])

self.invalidate()
if self.car_state['event'] == NAVI_EVENT_CROSSING_FRONT:
msg = 'NAVI_EVENT_CROSSING_FRONT'
Expand Down Expand Up @@ -289,15 +307,15 @@ def on_left_click(self, event):
self.logger.warning(f"Node {idx} has no name, so it can't be goal!")
return

for d in self.disabled:
for d in self.disabled_gui:
if d['idx'] == idx:
self.logger.warning(f'Node {idx} is disabled! Cannot be goal!')
return

if self.goal['idx'] == idx:
self.goal['idx'] = None
if self.goal_gui['idx'] == idx:
self.goal_gui['idx'] = None
else:
self.goal['idx'] = idx
self.goal_gui['idx'] = idx

self.invalidate()

Expand All @@ -313,20 +331,20 @@ def on_right_click(self, event):
self.logger.warning(f"Node {idx} has no name, so it can't be disabled!")
return

if idx == self.goal['idx']:
if idx == self.goal_gui['idx']:
self.logger.warning(f"Node {idx} is the goal node! Cannot be disabled!")
return

deleted = False
for d in self.disabled:
for d in self.disabled_gui:
if d['idx'] == idx:
d['idx'] = None
deleted = True
break

if not deleted:
if len(self.disabled) < 4:
self.disabled.append({
if len(self.disabled_gui) < 4:
self.disabled_gui.append({
"idx": idx,
"tag": None
})
Expand All @@ -343,13 +361,13 @@ def continous_update(self):
self.master.after(20, self.continous_update)

def on_btn_send_click(self):
if self.goal['idx'] is None:
if self.goal_gui['idx'] is None:
self.logger.warning("No goal is given! Cannot send message!")
return

msg = self.node_info['name'][self.goal['idx']]
msg = self.node_info['name'][self.goal_gui['idx']]

for d in self.disabled:
for d in self.disabled_gui:
if self.node_info['name'][d['idx']] is not None:
msg = msg + str(self.node_info['name'][d['idx']]).lower()

Expand Down
4 changes: 2 additions & 2 deletions settings/msgs.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -59,8 +59,8 @@

- name: 'navigation telemetry'
type: 0x09
format: '<BBbbbBB'
fields: ['current node', 'goal node', 'node_dir', 'orientation', 'direction', 'event', 'maneuver']
format: '<BBbbbBBBBBB'
fields: ['current node', 'goal node', 'node_dir', 'orientation', 'direction', 'event', 'maneuver', 'disabled1', 'disabled2', 'disabled3', 'disabled4']

- name: comm
messages:
Expand Down

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