diff --git a/controller/main.py b/controller/main.py index f870694..26e7f35 100644 --- a/controller/main.py +++ b/controller/main.py @@ -1,77 +1,90 @@ import tkinter as tk, robomasterpy as rm from tkinter import ttk +import datetime class RobomasterUI: def __init__(self, master, cmd): self.master = master master.title("Robomaster Control") self.cmd = cmd - self.output_text = tk.Text(master, height=10, width=50) + + master.configure(bg='#121212') + + style = ttk.Style(master) + style.theme_use('clam') + style.configure('TLabelframe', background='#121212', foreground='white') + style.configure('TLabelframe.Label', background='#121212', foreground='white') + style.configure('TLabel', background='#121212', foreground='white') + style.configure('TButton', background='#333333', foreground='white', relief=tk.FLAT) + style.map('TButton', + background=[('active', '#555555')], + foreground=[('active', 'white')]) + + + self.output_text = tk.Text(master, height=10, width=50, state=tk.DISABLED, fg='white', bg='#121212', insertbackground='white', selectbackground='#555555', selectforeground='white') self.output_text.grid(row=6, column=0, columnspan=4, padx=10, pady=10) arm_frame = ttk.LabelFrame(master, text="Arm Control") - arm_frame.grid(row=0, column=0, padx=10, pady=10, sticky="nw") + arm_frame.grid(row=0, column=0, padx=10, pady=10, sticky="n") - tk.Label(arm_frame, text="X:").grid(row=0, column=0, padx=5, pady=5, sticky="e") - self.x_entry = tk.Entry(arm_frame, width=10) + tk.Label(arm_frame, text="X:", fg='white', bg='#121212').grid(row=0, column=0, padx=5, pady=5, sticky="e") + self.x_entry = tk.Entry(arm_frame, width=10, fg='white', bg='#333333', insertbackground='white') + self.x_entry.insert(0, "0") self.x_entry.grid(row=0, column=1, padx=5, pady=5) - tk.Label(arm_frame, text="Y:").grid(row=1, column=0, padx=5, pady=5, sticky="e") - self.y_entry = tk.Entry(arm_frame, width=10) + tk.Label(arm_frame, text="Y:", fg='white', bg='#121212').grid(row=1, column=0, padx=5, pady=5, sticky="e") + self.y_entry = tk.Entry(arm_frame, width=10, fg='white', bg='#333333', insertbackground='white') + self.y_entry.insert(0, "0") self.y_entry.grid(row=1, column=1, padx=5, pady=5) - tk.Button(arm_frame, text="Move", command=self.move_arm).grid(row=0, column=2, padx=5, pady=5) - tk.Button(arm_frame, text="Move To", command=self.moveto_arm).grid(row=1, column=2, padx=5, pady=5) - tk.Button(arm_frame, text="Recenter", command=self.recenter_arm).grid(row=2, column=0, columnspan=3, pady=5, sticky="we") - tk.Button(arm_frame, text="Stop", command=self.stop_arm).grid(row=3, column=0, columnspan=3, pady=5, sticky="we") - tk.Button(arm_frame, text="Get Position", command=self.get_arm_pos).grid(row=4, column=0, columnspan=3, pady=5, sticky="we") + ttk.Button(arm_frame, text="Move", command=self.move_arm).grid(row=0, column=2, padx=5, pady=5) + ttk.Button(arm_frame, text="Move To", command=self.moveto_arm).grid(row=1, column=2, padx=5, pady=5) + ttk.Button(arm_frame, text="Recenter", command=self.recenter_arm).grid(row=2, column=0, columnspan=3, pady=5, sticky="we") + ttk.Button(arm_frame, text="Stop", command=self.stop_arm).grid(row=3, column=0, columnspan=3, pady=5, sticky="we") + ttk.Button(arm_frame, text="Get Position", command=self.get_arm_pos).grid(row=4, column=0, columnspan=3, pady=5, sticky="we") gripper_frame = ttk.LabelFrame(master, text="Gripper Control") - gripper_frame.grid(row=0, column=1, padx=10, pady=10, sticky="nw") + gripper_frame.grid(row=0, column=1, padx=10, pady=10, sticky="n") - tk.Label(gripper_frame, text="Force (1-4, optional):").grid(row=0, column=0, padx=5, pady=5, sticky="e") - self.force_entry = tk.Entry(gripper_frame, width=5) + tk.Label(gripper_frame, text="Force (1-4, optional):", fg='white', bg='#121212').grid(row=0, column=0, padx=5, pady=5, sticky="e") + self.force_entry = tk.Entry(gripper_frame, width=5, fg='white', bg='#333333', insertbackground='white') self.force_entry.grid(row=0, column=1, padx=5, pady=5) - tk.Button(gripper_frame, text="Open Gripper", command=self.open_gripper).grid(row=1, column=0, columnspan=2, pady=5, sticky="we") - tk.Button(gripper_frame, text="Close Gripper", command=self.close_gripper).grid(row=2, column=0, columnspan=2, pady=5, sticky="we") - tk.Button(gripper_frame, text="Gripper Status", command=self.get_gripper_status).grid(row=3, column=0, columnspan=2, pady=5, sticky="we") + ttk.Button(gripper_frame, text="Open Gripper", command=self.open_gripper).grid(row=1, column=0, columnspan=2, pady=5, sticky="we") + ttk.Button(gripper_frame, text="Close Gripper", command=self.close_gripper).grid(row=2, column=0, columnspan=2, pady=5, sticky="we") + ttk.Button(gripper_frame, text="Gripper Status", command=self.get_gripper_status).grid(row=3, column=0, columnspan=2, pady=5, sticky="we") chassis_frame = ttk.LabelFrame(master, text="Chassis Control") - chassis_frame.grid(row=1, column=0, columnspan=2, padx=10, pady=10, sticky="nw") + chassis_frame.grid(row=1, column=0, columnspan=2, padx=10, pady=10, sticky="n") - tk.Label(chassis_frame, text="X Speed (m/s):").grid(row=0, column=0, padx=5, pady=5, sticky="e") - self.chassis_x_speed_entry = tk.Entry(chassis_frame, width=5) - self.chassis_x_speed_entry.insert(0, "0.1") + tk.Label(chassis_frame, text="XY Speed (m/s):", fg='white', bg='#121212').grid(row=0, column=0, padx=5, pady=5, sticky="e") + self.chassis_x_speed_entry = tk.Entry(chassis_frame, width=5, fg='white', bg='#333333', insertbackground='white') + self.chassis_x_speed_entry.insert(0, "0.5") self.chassis_x_speed_entry.grid(row=0, column=1, padx=5, pady=5) - tk.Label(chassis_frame, text="Y Speed (m/s):").grid(row=0, column=2, padx=5, pady=5, sticky="e") - self.chassis_y_speed_entry = tk.Entry(chassis_frame, width=5) - self.chassis_y_speed_entry.insert(0, "0.1") - self.chassis_y_speed_entry.grid(row=0, column=3, padx=5, pady=5) - - tk.Label(chassis_frame, text="Z Speed (rad/s):").grid(row=0, column=4, padx=5, pady=5, sticky="e") - self.chassis_z_speed_entry = tk.Entry(chassis_frame, width=5) - self.chassis_z_speed_entry.insert(0, "0.5") + tk.Label(chassis_frame, text="Z Speed (deg/s):", fg='white', bg='#121212').grid(row=0, column=4, padx=5, pady=5, sticky="e") + self.chassis_z_speed_entry = tk.Entry(chassis_frame, width=5, fg='white', bg='#333333', insertbackground='white') + self.chassis_z_speed_entry.insert(0, "100") self.chassis_z_speed_entry.grid(row=0, column=5, padx=5, pady=5) - tk.Button(chassis_frame, text="Move Chassis", command=self.move_chassis_button).grid(row=1, column=0, columnspan=6, pady=5, sticky="we") - tk.Button(chassis_frame, text="Stop Chassis", command=self.stop_chassis).grid(row=2, column=0, columnspan=6, pady=5, sticky="we") + ttk.Button(chassis_frame, text="Stop Chassis", command=self.stop_chassis).grid(row=2, column=0, columnspan=6, pady=5, sticky="we") - master.bind("", lambda event: self.chassis_move_arrow(y=1)) - master.bind("", lambda event: self.chassis_move_arrow(y=-1)) - master.bind("", lambda event: self.chassis_move_arrow(x=-1)) - master.bind("", lambda event: self.chassis_move_arrow(x=1)) - master.bind("", lambda event: self.chassis_move_arrow(z=1)) - master.bind("", lambda event: self.chassis_move_arrow(z=-1)) - master.bind("", lambda event: self.chassis_move_arrow(y=0) if event.keysym == 'Up' else None) - master.bind("", lambda event: self.chassis_move_arrow(y=0) if event.keysym == 'Down' else None) - master.bind("", lambda event: self.chassis_move_arrow(x=0) if event.keysym == 'Left' else None) - master.bind("", lambda event: self.chassis_move_arrow(x=0) if event.keysym == 'Right' else None) + master.bind("", lambda event: self.chassis_move_arrow(x=1)) + master.bind("", lambda event: self.chassis_move_arrow(x=-1)) + master.bind("", lambda event: self.chassis_move_arrow(y=-1)) + master.bind("", lambda event: self.chassis_move_arrow(y=1)) + master.bind("", lambda event: self.chassis_move_arrow(z=50)) + master.bind("", lambda event: self.chassis_move_arrow(z=-50)) + master.bind("", lambda event: self.chassis_move_arrow(x=0) if event.keysym == 'w' else None) + master.bind("", lambda event: self.chassis_move_arrow(x=0) if event.keysym == 's' else None) + master.bind("", lambda event: self.chassis_move_arrow(y=0) if event.keysym == 'a' else None) + master.bind("", lambda event: self.chassis_move_arrow(y=0) if event.keysym == 'd' else None) master.bind("", lambda event: self.chassis_move_arrow(z=0) if event.keysym == 'q' else None) master.bind("", lambda event: self.chassis_move_arrow(z=0) if event.keysym == 'e' else None) master.bind("", lambda event: self.stop_chassis()) master.bind("", self.deselect_textbox) + master.columnconfigure(0, weight=1) + master.columnconfigure(1, weight=1) def deselect_textbox(self, event): focused_widget = self.master.focus_get() @@ -79,15 +92,21 @@ class RobomasterUI: self.master.focus_set() def _command_executor(self, func, *args, **kwargs): - try: - result = func(*args, **kwargs) - self.master.after(0, self._display_output, str(result)) - except Exception as e: - self.master.after(0, self._display_output, f"Error: {e}") + def command_execution(): + try: + result = func(*args, **kwargs) + self.master.after(0, self._display_output, str(result)) + except Exception as e: + self.master.after(0, self._display_output, f"Error: {e}") + self.master.after(0, command_execution) def _display_output(self, output_str): - self.output_text.insert(tk.END, output_str + "\n") + timestamp = datetime.datetime.now().strftime("%H:%M:%S") + output_with_timestamp = f"[{timestamp}] {output_str}" + self.output_text.config(state=tk.NORMAL) + self.output_text.insert(tk.END, output_with_timestamp + "\n") self.output_text.see(tk.END) + self.output_text.config(state=tk.DISABLED) def move_arm(self): x_str, y_str = self.x_entry.get(), self.y_entry.get() @@ -133,27 +152,12 @@ class RobomasterUI: def get_gripper_status(self): self._command_executor(self.cmd.gripper_status) - def move_chassis_button(self): - try: - x = float(self.chassis_x_speed_entry.get()) - y = float(self.chassis_y_speed_entry.get()) - z = float(self.chassis_z_speed_entry.get()) - except ValueError: - return self._display_output("Error: Invalid speed value") - self._command_executor(self.cmd.chassis_move, x=x, y=y, z=z) - def stop_chassis(self): self._command_executor(self.cmd.chassis_move, x=0, y=0, z=0) def chassis_move_arrow(self, x=None, y=None, z=None): try: - xs = float(self.chassis_x_speed_entry.get()) if x is not None else 0 - ys = float(self.chassis_y_speed_entry.get()) if y is not None else 0 - zs = float(self.chassis_z_speed_entry.get()) if z is not None else 0 - current_x = xs * (x or 0) - current_y = ys * (y or 0) - current_z = zs * (z or 0) - self._command_executor(self.cmd.chassis_move, x=current_x, y=current_y, z=current_z, speed_xy=None, speed_z=None) + self._command_executor(self.cmd.chassis_move, x=float(x) if x else 0, y=float(y) if y else 0, z=float(z) if z else 0, speed_xy=float(self.chassis_x_speed_entry.get()), speed_z=float(self.chassis_z_speed_entry.get())) except ValueError: self._display_output("Error: Invalid speed value") @@ -163,6 +167,7 @@ def main(): cmd = rm.Commander(ip=ip_address) print(f"Connected to Robomaster. Version: {cmd.version()}") root = tk.Tk() + root.resizable(False, False) RobomasterUI(root, cmd) root.mainloop() except Exception as e: