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Optimize shit gpt code

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elias
2025-04-03 10:00:05 +02:00
parent 341bb034fd
commit 01f9595a80
1 changed files with 68 additions and 63 deletions
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131
controller/main.py
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@@ -1,77 +1,90 @@
import tkinter as tk, robomasterpy as rm import tkinter as tk, robomasterpy as rm
from tkinter import ttk from tkinter import ttk
import datetime
class RobomasterUI: class RobomasterUI:
def __init__(self, master, cmd): def __init__(self, master, cmd):
self.master = master self.master = master
master.title("Robomaster Control") master.title("Robomaster Control")
self.cmd = cmd 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) self.output_text.grid(row=6, column=0, columnspan=4, padx=10, pady=10)
arm_frame = ttk.LabelFrame(master, text="Arm Control") 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") 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) 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) 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") 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) 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) 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) ttk.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) ttk.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") ttk.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") ttk.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="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 = 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") 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) 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) 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") ttk.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") ttk.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="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 = 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") 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) self.chassis_x_speed_entry = tk.Entry(chassis_frame, width=5, fg='white', bg='#333333', insertbackground='white')
self.chassis_x_speed_entry.insert(0, "0.1") self.chassis_x_speed_entry.insert(0, "0.5")
self.chassis_x_speed_entry.grid(row=0, column=1, padx=5, pady=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") 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_y_speed_entry = tk.Entry(chassis_frame, width=5) self.chassis_z_speed_entry = tk.Entry(chassis_frame, width=5, fg='white', bg='#333333', insertbackground='white')
self.chassis_y_speed_entry.insert(0, "0.1") self.chassis_z_speed_entry.insert(0, "100")
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")
self.chassis_z_speed_entry.grid(row=0, column=5, padx=5, pady=5) 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") ttk.Button(chassis_frame, text="Stop Chassis", command=self.stop_chassis).grid(row=2, 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")
master.bind("<Up>", lambda event: self.chassis_move_arrow(y=1)) master.bind("<KeyPress-w>", lambda event: self.chassis_move_arrow(x=1))
master.bind("<Down>", lambda event: self.chassis_move_arrow(y=-1)) master.bind("<KeyPress-s>", lambda event: self.chassis_move_arrow(x=-1))
master.bind("<Left>", lambda event: self.chassis_move_arrow(x=-1)) master.bind("<KeyPress-a>", lambda event: self.chassis_move_arrow(y=-1))
master.bind("<Right>", lambda event: self.chassis_move_arrow(x=1)) master.bind("<KeyPress-d>", lambda event: self.chassis_move_arrow(y=1))
master.bind("<KeyPress-q>", lambda event: self.chassis_move_arrow(z=1)) master.bind("<KeyPress-q>", lambda event: self.chassis_move_arrow(z=50))
master.bind("<KeyPress-e>", lambda event: self.chassis_move_arrow(z=-1)) master.bind("<KeyPress-e>", lambda event: self.chassis_move_arrow(z=-50))
master.bind("<KeyRelease-Up>", lambda event: self.chassis_move_arrow(y=0) if event.keysym == 'Up' else None) master.bind("<KeyRelease-w>", lambda event: self.chassis_move_arrow(x=0) if event.keysym == 'w' else None)
master.bind("<KeyRelease-Down>", lambda event: self.chassis_move_arrow(y=0) if event.keysym == 'Down' else None) master.bind("<KeyRelease-s>", lambda event: self.chassis_move_arrow(x=0) if event.keysym == 's' else None)
master.bind("<KeyRelease-Left>", lambda event: self.chassis_move_arrow(x=0) if event.keysym == 'Left' else None) master.bind("<KeyRelease-a>", lambda event: self.chassis_move_arrow(y=0) if event.keysym == 'a' else None)
master.bind("<KeyRelease-Right>", lambda event: self.chassis_move_arrow(x=0) if event.keysym == 'Right' else None) master.bind("<KeyRelease-d>", lambda event: self.chassis_move_arrow(y=0) if event.keysym == 'd' else None)
master.bind("<KeyRelease-q>", lambda event: self.chassis_move_arrow(z=0) if event.keysym == 'q' else None) master.bind("<KeyRelease-q>", lambda event: self.chassis_move_arrow(z=0) if event.keysym == 'q' else None)
master.bind("<KeyRelease-e>", lambda event: self.chassis_move_arrow(z=0) if event.keysym == 'e' else None) master.bind("<KeyRelease-e>", lambda event: self.chassis_move_arrow(z=0) if event.keysym == 'e' else None)
master.bind("<space>", lambda event: self.stop_chassis()) master.bind("<space>", lambda event: self.stop_chassis())
master.bind("<Button-1>", self.deselect_textbox) master.bind("<Button-1>", self.deselect_textbox)
master.columnconfigure(0, weight=1)
master.columnconfigure(1, weight=1)
def deselect_textbox(self, event): def deselect_textbox(self, event):
focused_widget = self.master.focus_get() focused_widget = self.master.focus_get()
@@ -79,15 +92,21 @@ class RobomasterUI:
self.master.focus_set() self.master.focus_set()
def _command_executor(self, func, *args, **kwargs): def _command_executor(self, func, *args, **kwargs):
try: def command_execution():
result = func(*args, **kwargs) try:
self.master.after(0, self._display_output, str(result)) result = func(*args, **kwargs)
except Exception as e: self.master.after(0, self._display_output, str(result))
self.master.after(0, self._display_output, f"Error: {e}") 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): 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.see(tk.END)
self.output_text.config(state=tk.DISABLED)
def move_arm(self): def move_arm(self):
x_str, y_str = self.x_entry.get(), self.y_entry.get() x_str, y_str = self.x_entry.get(), self.y_entry.get()
@@ -133,27 +152,12 @@ class RobomasterUI:
def get_gripper_status(self): def get_gripper_status(self):
self._command_executor(self.cmd.gripper_status) 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): def stop_chassis(self):
self._command_executor(self.cmd.chassis_move, x=0, y=0, z=0) self._command_executor(self.cmd.chassis_move, x=0, y=0, z=0)
def chassis_move_arrow(self, x=None, y=None, z=None): def chassis_move_arrow(self, x=None, y=None, z=None):
try: try:
xs = float(self.chassis_x_speed_entry.get()) if x is not None else 0 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()))
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)
except ValueError: except ValueError:
self._display_output("Error: Invalid speed value") self._display_output("Error: Invalid speed value")
@@ -163,6 +167,7 @@ def main():
cmd = rm.Commander(ip=ip_address) cmd = rm.Commander(ip=ip_address)
print(f"Connected to Robomaster. Version: {cmd.version()}") print(f"Connected to Robomaster. Version: {cmd.version()}")
root = tk.Tk() root = tk.Tk()
root.resizable(False, False)
RobomasterUI(root, cmd) RobomasterUI(root, cmd)
root.mainloop() root.mainloop()
except Exception as e: except Exception as e: