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authorNicolas Schodet2009-02-09 20:05:30 +0100
committerNicolas Schodet2009-02-09 20:05:30 +0100
commit2e95e3a33bcb34aeec66551503c692c1cb80ab61 (patch)
tree6b763ee0d1bf458da0ced13f44535b42f3b8efb8 /digital/asserv/tools/inter_asserv.py
parent552b28da98a387d13aea7403a7e72732a913277d (diff)
* all python:
- changed tabs to spaces.
Diffstat (limited to 'digital/asserv/tools/inter_asserv.py')
-rw-r--r--digital/asserv/tools/inter_asserv.py126
1 files changed, 63 insertions, 63 deletions
diff --git a/digital/asserv/tools/inter_asserv.py b/digital/asserv/tools/inter_asserv.py
index 44fb8492..1dd47fc3 100644
--- a/digital/asserv/tools/inter_asserv.py
+++ b/digital/asserv/tools/inter_asserv.py
@@ -40,86 +40,86 @@ class InterAsserv (Inter):
"""Inter, communicating with the asserv board."""
def __init__ (self, argv):
- # Asserv.
- if argv[0] == '!':
- io = proto.popen_io.PopenIO (argv[1:])
- i = asserv.init.host
- else:
- io = serial.Serial (argv[0])
- i = asserv.init.target
- self.a = Asserv (io, **i)
- self.a.async = True
- self.a.register_pos (self.pos)
- # Inter.
- Inter.__init__ (self)
- self.tk.createfilehandler (self.a, READABLE, self.read)
- self.timeout ()
+ # Asserv.
+ if argv[0] == '!':
+ io = proto.popen_io.PopenIO (argv[1:])
+ i = asserv.init.host
+ else:
+ io = serial.Serial (argv[0])
+ i = asserv.init.target
+ self.a = Asserv (io, **i)
+ self.a.async = True
+ self.a.register_pos (self.pos)
+ # Inter.
+ Inter.__init__ (self)
+ self.tk.createfilehandler (self.a, READABLE, self.read)
+ self.timeout ()
def createWidgets (self):
- Inter.createWidgets (self)
- self.ArggButton = Button (self.rightFrame, text = 'Argggg!',
- command = self.emergency_stop)
- self.ArggButton.pack ()
- self.actionVar = StringVar ()
- self.actionVar.set ('goto')
- self.actionSetPosButton = Radiobutton (self.rightFrame,
- text = 'set pos', value = 'set_pos',
- variable = self.actionVar)
- self.actionSetPosButton.pack ()
- self.actionGotoButton = Radiobutton (self.rightFrame,
- text = 'goto', value = 'goto',
- variable = self.actionVar)
- self.actionGotoButton.pack ()
- self.backwardOkVar = IntVar ()
- self.backwardOkButton = Checkbutton (self.rightFrame,
- text = 'backward ok', variable = self.backwardOkVar)
- self.backwardOkButton.pack ()
+ Inter.createWidgets (self)
+ self.ArggButton = Button (self.rightFrame, text = 'Argggg!',
+ command = self.emergency_stop)
+ self.ArggButton.pack ()
+ self.actionVar = StringVar ()
+ self.actionVar.set ('goto')
+ self.actionSetPosButton = Radiobutton (self.rightFrame,
+ text = 'set pos', value = 'set_pos',
+ variable = self.actionVar)
+ self.actionSetPosButton.pack ()
+ self.actionGotoButton = Radiobutton (self.rightFrame,
+ text = 'goto', value = 'goto',
+ variable = self.actionVar)
+ self.actionGotoButton.pack ()
+ self.backwardOkVar = IntVar ()
+ self.backwardOkButton = Checkbutton (self.rightFrame,
+ text = 'backward ok', variable = self.backwardOkVar)
+ self.backwardOkButton.pack ()
- self.tableview.configure (cursor = 'crosshair')
- self.tableview.bind ('<1>', self.button1)
- self.tableview.bind ('<3>', self.button3)
+ self.tableview.configure (cursor = 'crosshair')
+ self.tableview.bind ('<1>', self.button1)
+ self.tableview.bind ('<3>', self.button3)
def read (self, file, mask):
- """Handle asserv events."""
- self.a.proto.read ()
- self.a.proto.sync ()
+ """Handle asserv events."""
+ self.a.proto.read ()
+ self.a.proto.sync ()
def timeout (self):
- self.a.proto.sync ()
- self.after (100, self.timeout)
+ self.a.proto.sync ()
+ self.after (100, self.timeout)
def pos (self, x, y, a):
- self.tableview.robot.pos = (x, y)
- self.tableview.robot.angle = float (a) / 180 * math.pi
- self.update (self.tableview.robot)
- self.update ()
+ self.tableview.robot.pos = (x, y)
+ self.tableview.robot.angle = float (a) / 180 * math.pi
+ self.update (self.tableview.robot)
+ self.update ()
def button1 (self, ev):
- x, y = self.tableview.screen_coord ((ev.x, ev.y))
- action = self.actionVar.get ()
- if action == 'set_pos':
- self.a.set_pos (x, y)
- elif action == 'goto':
- self.a.goto (x, y, self.backwardOkVar.get ())
- else:
- assert 0
+ x, y = self.tableview.screen_coord ((ev.x, ev.y))
+ action = self.actionVar.get ()
+ if action == 'set_pos':
+ self.a.set_pos (x, y)
+ elif action == 'goto':
+ self.a.goto (x, y, self.backwardOkVar.get ())
+ else:
+ assert 0
def button3 (self, ev):
- x, y = self.tableview.screen_coord ((ev.x, ev.y))
- a = math.degrees (math.atan2 (y - self.tableview.robot.pos[1],
- x - self.tableview.robot.pos[0]))
- action = self.actionVar.get ()
- if action == 'set_pos':
- self.a.set_pos (a = a)
- elif action == 'goto':
- self.a.goto_angle (a)
+ x, y = self.tableview.screen_coord ((ev.x, ev.y))
+ a = math.degrees (math.atan2 (y - self.tableview.robot.pos[1],
+ x - self.tableview.robot.pos[0]))
+ action = self.actionVar.get ()
+ if action == 'set_pos':
+ self.a.set_pos (a = a)
+ elif action == 'goto':
+ self.a.goto_angle (a)
def emergency_stop (self):
- self.a.free ()
+ self.a.free ()
if __name__ == '__main__':
app = InterAsserv (sys.argv[1:])
try:
- app.mainloop ()
+ app.mainloop ()
finally:
- app.a.close ()
+ app.a.close ()