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add start/stop capability to GUI

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Brendan Haines 2020-03-02 21:50:07 -07:00
parent b5f1745ccc
commit 6e68b881b5
1 changed files with 48 additions and 35 deletions
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83
Software/python/hwtest.py
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@ -80,40 +80,14 @@ time_plot = figure(plot_height=400, plot_width=800, y_range=[-1, 1])
time_plot.line('t', 'e', source=time_plot_source, line_width=3, line_alpha=0.6, legend_label="e(t)")
time_plot.line('t', 'c', source=time_plot_source, line_width=3, line_alpha=0.6, legend_label="c(t)", line_color = "green")
# Callback functions
def update_plots(attrname=None, old=None, new=None):
global brightness
global time_data
global brightness_plot_source
brightness_plot_source.data = dict(sensor=brightness_idx, brightness=brightness)
time_plot_source.data = dict(t=time_data[:,0], e=time_data[:,1], c=time_data[:,2])
# Controller thread
controller_thread_run = False
def cal_white(attrname=None, old=None, new=None):
global white_cal
white_cal = [get_reflectivity(c) for c in range(8)]
update_plots()
def cal_black(attrname=None, old=None, new=None):
global black_cal
black_cal = [get_reflectivity(c) for c in range(8)]
update_plots()
# GUI elements
cal_white_button = Button(label="Cal White")
cal_white_button.on_click(cal_white)
cal_black_button = Button(label="Cal Black")
cal_black_button.on_click(cal_black)
controls = column(cal_white_button, cal_black_button)
curdoc().add_root(column(row(controls, brightness_plot, width=800), time_plot))
curdoc().title = "TriangleBot Control Panel"
curdoc().add_periodic_callback(update_plots, 250)
# Controller
def control_thread():
global brightness
global time_data
global servos
global controller_thread_run
# TODO: make these parameters editable via network interface
sample_interval = 0.01
@ -129,7 +103,7 @@ def control_thread():
new_c = 0
motor_speed = np.array(motor_directions) * base_speed
while True:
while controller_thread_run:
# Read error
brightness = np.clip([get_normalized_reflectivity(c) for c in range(8)], 0, 1)
line_position = np.sum((1 - brightness) * (np.arange(8) - 3.5)) / np.sum(1-brightness) / 3.5
@ -165,9 +139,48 @@ def control_thread():
# TODO: replace sleep statement with something that doesn't depend on execution time of loop
time.sleep(sample_interval)
control_thread = threading.Thread(target=control_thread)
# Start controller
# TODO: add start/stop/reset capability to GUI
# control_thread = threading.Thread(target=control_thread)
# control_thread.start()
control_thread()
# Callback functions
def update_plots(attrname=None, old=None, new=None):
global brightness
global time_data
global brightness_plot_source
brightness_plot_source.data = dict(sensor=brightness_idx, brightness=brightness)
time_plot_source.data = dict(t=time_data[:,0], e=time_data[:,1], c=time_data[:,2])
def cal_white(attrname=None, old=None, new=None):
global white_cal
white_cal = [get_reflectivity(c) for c in range(8)]
update_plots()
def cal_black(attrname=None, old=None, new=None):
global black_cal
black_cal = [get_reflectivity(c) for c in range(8)]
update_plots()
def start_controller(attrname=None, old=None, new=None):
global controller_thread
controller_thread_run = True
controller_thread.start()
def stop_controller(attrname=None, old=None, new=None):
global controller_thread
controller_thread_run = False
controller_thread.join()
# GUI elements
cal_white_button = Button(label="Cal White")
cal_white_button.on_click(cal_white)
cal_black_button = Button(label="Cal Black")
cal_black_button.on_click(cal_black)
start_button = Button(label="Start")
start_button.on_click(start_controller)
stop_button = Button(label="Stop")
stop_button.on_click(stop_controller)
controls = column(cal_white_button, cal_black_button, start_button, stop_button)
curdoc().add_root(column(row(controls, brightness_plot, width=800), time_plot))
curdoc().title = "TriangleBot Control Panel"
curdoc().add_periodic_callback(update_plots, 250)