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#!/usr/bin/python
# -*- coding: utf-8 -*-
import os
import gtk
import sys
import gobject
BASE = os.path.dirname(__file__)
sys.path.append("nxt_plugin")
# Import the API functions
# Importamos las funciones de la API
import nxt
from nxt import Motor
from nxt.sensor import *
from interface.window import Window
class LegoJAM(Window):
motor_names = ('A', 'B', 'C')
def __init__(self):
super(LegoJAM, self).__init__()
self.set_title("LegoJAM")
#self.set_icon_from_file(os.path.join(BASE, "Iconos", "legojam.png"))
self.canvas = gtk.VBox()
self.set_canvas(self.canvas)
self.connect("delete_event", self.delete_event)
robots = list(nxt.locator.find_bricks())
liststore = gtk.ListStore(gtk.gdk.Pixbuf, int, str)
treeview = gtk.TreeView(liststore)
column = gtk.TreeViewColumn('Robots')
celltext = gtk.CellRendererText()
cellicon = gtk.CellRendererPixbuf()
column.pack_start(cellicon, expand=False)
column.pack_start(celltext, expand=False)
column.add_attribute(cellicon, 'pixbuf', 0)
column.add_attribute(celltext, 'text', 2)
treeview.append_column(column)
self.canvas.pack_start(treeview, True, True, 0)
for num, robot in enumerate(robots):
if robot.type == 'bluetooth':
robot_id = robot.host
icon = gtk.gdk.pixbuf_new_from_file_at_size(
' icons/bluetooth.png', 24, 24)
elif robot.type == 'usb':
robot_id = num + 1
icon = gtk.gdk.pixbuf_new_from_file_at_size(
'icons/usb.png', 24, 24)
robot_str = ' %s: %s' % (robot.type.upper(), robot_id)
liststore.append([icon, num, robot_str])
treeview.connect('row-activated', self.select_robot, robots)
self.show_all()
def select_robot(self, treeview, treepath, column, robots):
treeview.destroy()
self.set_layout(robots[treepath[0]])
def set_layout(self, robot):
self.robot = Robot(robot)
store = gtk.ListStore(str, int)
combobox = gtk.ComboBox(store)
cell = gtk.CellRendererText()
combobox.pack_start(cell)
combobox.add_attribute(cell, 'text', 0)
self.canvas.pack_start(combobox, True, False)
combobox.show()
for num, i in enumerate(LegoJAM.motor_names):
store.append(['Motor %s' % i, num])
combobox.set_active(0)
vbox = gtk.VBox()
run_button = gtk.Button("Encender")
run_button.show()
run_button.connect_object("clicked", self.run_motor, combobox)
vbox.pack_start(run_button)
stop_button = gtk.Button("Apagar")
stop_button.show()
stop_button.connect_object("clicked", self.stop_motor, combobox)
vbox.pack_start(stop_button)
vbox.show()
battery_status = gtk.Label(
'Estado de la bateria: %s' % self.robot.robot.get_battery_level())
vbox.pack_end(battery_status)
self.robot.connect('battery-label-changed',
lambda w, l: battery_status.set_text('Estado de la bateria: %s' % l))
self.canvas.pack_start(vbox, True, True)
self.show_all()
def run_motor(self, combobox):
motor_index = combobox.get_active()
motor_name = LegoJAM.motor_names[motor_index]
self.robot.run_motor(motor_name)
def stop_motor(self, combobox):
motor_index = combobox.get_active()
motor_name = LegoJAM.motor_names[motor_index]
self.robot.stop_motor(motor_name)
def delete_event(self, widget, event):
self.salir()
return False
def salir(self, widget=None):
sys.exit(0)
# robot.get_battery_level()
# robot.get_device_info()
# robot.get_current_program_name
# robot.get_firmware_version()
# robot.get_input_values() takes exactly 2 arguments (1 given)
# robot.get_output_state() takes exactly 2 arguments (1 given)
class Robot(gobject.GObject):
__gsignals__ = {'battery-label-changed': (gobject.SIGNAL_RUN_LAST,
gobject.TYPE_NONE,
[str])}
def __init__(self, robot):
gobject.GObject.__init__(self)
self.motorA = None
self.motorB = None
self.motorC = None
self.funciones = []
self.set_up(robot)
def set_up(self, robot):
self.robot = robot.connect()
self.motorA = MotorJAM("A", self.robot, nxt.PORT_A)
self.motorB = MotorJAM("B", self.robot, nxt.PORT_B)
self.motorC = MotorJAM("C", self.robot, nxt.PORT_C)
# Si los sensores no se encuentran en los puertos correspondientes
# la aplicación falla.
self.presion = Touch(self.robot, PORT_1)
self.sonido = Sound(self.robot, PORT_2)
self.ultrasonido = Ultrasonic(self.robot, PORT_4)
self.luz = Light(self.robot, PORT_3)
gobject.timeout_add(1000, self.handle)
def run_motor(self, motor):
method_name = 'motor%s' % motor
method = getattr(self, method_name)
method.run(power=127, regulated=False)
def stop_motor(self, motor):
method_name = 'motor%s' % motor
method = getattr(self, method_name)
method.brake()
def handle(self):
valor_boton = self.presion.get_sample()
print 'Presión: ', valor_boton
valor_sonido = self.sonido.get_sample()
print 'Sonido: ', valor_sonido
valor_ultrasonido = self.ultrasonido.get_sample()
print 'Ultrasonido: ', valor_ultrasonido
valor_luz = self.luz.get_sample()
print 'Luz: ', valor_luz
self.emit('battery-label-changed', str(self.robot.get_battery_level()))
return True
class MotorJAM(Motor):
# motor._get_state()
def __init__(self, nombre, brick, port):
Motor.__init__(self, brick, port)
self.nombre = nombre
#self.turn(power = 100, tacho_units = 360, emulate = True)
#self.turn(
#power = 100,
#tacho_units= 0, brake = True, timeout = 1, emulate = True)
#self.run(power = 100, regulated=False)
if __name__ == "__main__":
LegoJAM()
gtk.main()
'''
for x in range(5000):
....: robot.play_tone_and_wait(x, 1000)'''
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