frc971/control_loops/python/spline_graph.py

#!/usr/bin/python3

# matplotlib overrides fontconfig locations, so has to be imported before gtk
import matplotlib
import gi
from path_edit import FieldWidget
from basic_window import RunApp
from constants import FIELDS, FIELD, SCREEN_SIZE
gi.require_version('Gtk', '3.0')
from gi.repository import Gdk, Gtk, GLib
import cairo
import basic_window
import os

class GridWindow(Gtk.Window):
    def method_connect(self, event, cb):
        def handler(obj, *args):
            cb(*args)

        self.connect(event, handler)

    def mouse_move(self, event):
        self.field.mouse_move(event)
        self.queue_draw()

    def button_press(self, event):
        self.field.button_press(event)

    def key_press(self, event):
        self.field.key_press(event, self.file_name_box.get_text())
        self.queue_draw()

    def configure(self, event):
        self.field.window_shape = (event.width, event.height)

    def output_json_clicked(self, button):
        self.field.export_json(self.file_name_box.get_text())

    def input_json_clicked(self, button):
        self.field.import_json(self.file_name_box.get_text())
        self.long_input.set_value(
            self.field.points.getConstraint("LONGITUDINAL_ACCELERATION"))
        self.lat_input.set_value(
            self.field.points.getConstraint("LATERAL_ACCELERATION"))
        self.vol_input.set_value(self.field.points.getConstraint("VOLTAGE"))

    def long_changed(self, button):
        value = self.long_input.get_value()
        self.field.points.setConstraint("LONGITUDINAL_ACCELERATION", value)

    def lat_changed(self, button):
        value = self.lat_input.get_value()
        self.field.points.setConstraint("LATERAL_ACCELERATION", value)

    def vel_changed(self, button):
        value = self.vel_input.get_value()

    def vol_changed(self, button):
        value = self.vol_input.get_value()
        self.field.points.setConstraint("VOLTAGE", value)

    def input_combobox_choice(self, combo):
        text = combo.get_active_text()
        if text is not None:
            print("Combo Clicked on: " + text)
            #set_field(text)

    def __init__(self):
        Gtk.Window.__init__(self)

        self.set_default_size(1.5 * SCREEN_SIZE, SCREEN_SIZE)

        container = Gtk.Grid()
        container.set_vexpand(True)
        self.add(container)

        self.eventBox = Gtk.EventBox()
        self.eventBox.set_events(Gdk.EventMask.BUTTON_PRESS_MASK
                                 | Gdk.EventMask.BUTTON_RELEASE_MASK
                                 | Gdk.EventMask.POINTER_MOTION_MASK
                                 | Gdk.EventMask.SCROLL_MASK
                                 | Gdk.EventMask.KEY_PRESS_MASK)

        self.field = FieldWidget()

        self.method_connect("delete-event", basic_window.quit_main_loop)
        self.method_connect("key-release-event", self.key_press)
        self.method_connect("button-release-event", self.button_press)
        self.method_connect("configure-event", self.configure)
        self.method_connect("motion_notify_event", self.mouse_move)

        self.file_name_box = Gtk.Entry()
        self.file_name_box.set_size_request(200, 40)
        self.file_name_box.set_text(FIELD.field_id + ".json")
        self.file_name_box.set_editable(True)

        self.long_input = Gtk.SpinButton()
        self.long_input.set_size_request(100, 20)
        self.long_input.set_numeric(True)
        self.long_input.set_range(0, 20)
        self.long_input.set_digits(3)
        self.long_input.set_increments(0.1, 100)
        self.long_input.connect("value-changed", self.long_changed)
        self.long_label = Gtk.Label()
        self.long_label.set_text("Longitudinal Acceleration Restriction")
        self.long_input.set_value(
            self.field.points.getConstraint("LONGITUDINAL_ACCELERATION"))

        self.lat_input = Gtk.SpinButton()
        self.lat_input.set_size_request(100, 20)
        self.lat_input.set_numeric(True)
        self.lat_input.set_range(0, 20)
        self.lat_input.set_digits(3)
        self.lat_input.set_increments(0.1, 100)
        self.lat_input.connect("value-changed", self.lat_changed)
        self.lat_label = Gtk.Label()
        self.lat_label.set_text("Lateral Acceleration Restriction")
        self.lat_input.set_value(
            self.field.points.getConstraint("LATERAL_ACCELERATION"))

        self.vel_input = Gtk.SpinButton()
        self.vel_input.set_size_request(100, 20)
        self.vel_input.set_numeric(True)
        self.vel_input.set_range(0, 10)
        self.vel_input.set_digits(3)
        self.vel_input.set_increments(0.1, 100)
        self.vel_input.connect("value-changed", self.vel_changed)
        self.vel_label = Gtk.Label()
        self.vel_label.set_text(
            "Velocity Restriction"
        )  #note: the velocity restrictions are not yet working, they need to be hooked up later

        self.vol_input = Gtk.SpinButton()
        self.vol_input.set_size_request(100, 20)
        self.vol_input.set_numeric(True)
        self.vol_input.set_range(0, 12)
        self.vol_input.set_digits(3)
        self.vol_input.set_increments(0.1, 100)
        self.vol_input.connect("value-changed", self.vol_changed)
        self.vol_label = Gtk.Label()
        self.vol_label.set_text("Voltage Restriction")
        self.vol_input.set_value(self.field.points.getConstraint("VOLTAGE"))

        self.output_json = Gtk.Button.new_with_label("Export")
        self.output_json.set_size_request(100, 40)
        self.output_json.connect("clicked", self.output_json_clicked)

        self.input_json = Gtk.Button.new_with_label("Import")
        self.input_json.set_size_request(100, 40)
        self.input_json.connect("clicked", self.input_json_clicked)

        #Dropdown feature
        self.label = Gtk.Label()
        self.label.set_text("Change Field:")
        self.label.set_size_request(100, 40)

        game_store = Gtk.ListStore(str)

        self.game_combo = Gtk.ComboBoxText()
        self.game_combo.set_entry_text_column(0)
        self.game_combo.connect("changed", self.input_combobox_choice)

        for game in FIELDS.keys():
            self.game_combo.append_text(game)

        self.game_combo.set_active(0)
        self.game_combo.set_size_request(100, 40)

        limitControls = Gtk.FlowBox()
        limitControls.set_min_children_per_line(1)
        limitControls.set_max_children_per_line(2)
        limitControls.add(self.long_label)
        limitControls.add(self.long_input)

        limitControls.add(self.lat_label)
        limitControls.add(self.lat_input)

        limitControls.add(self.vel_label)
        limitControls.add(self.vel_input)

        limitControls.add(self.vol_label)
        limitControls.add(self.vol_input)

        container.attach(limitControls, 5, 1, 1, 1)

        jsonControls = Gtk.FlowBox()
        jsonControls.set_min_children_per_line(3)
        jsonControls.add(self.file_name_box)
        jsonControls.add(self.output_json)
        jsonControls.add(self.input_json)
        container.attach(jsonControls, 1, 0, 1, 1)

        container.attach(self.label, 4, 0, 1, 1)
        container.attach(self.game_combo, 5, 0, 1, 1)

        self.eventBox.add(self.field)
        container.attach(self.eventBox, 1, 1, 4, 4)

        container.attach(self.field.graph, 0, 10, 10, 1)

        self.show_all()


window = GridWindow()
RunApp()