laelaps_tune_motors.window Class Reference

Window class supporting application. More...

Inheritance diagram for laelaps_tune_motors.window:

Public Member Functions
def	__init__ (self, master=None, cnf={}, kw)
	Constructor. More...
def	perfStart (self)
def	perfMark (self, msg)
def	initData (self, kw)
	Initialize class state data. More...
def	dbgSeedFields (self)
def	createWidgets (self)
	Create gui widgets with supporting data and show.
def	createMenu (self)
	Create menu.
def	createHeading (self)
	Create top gui heading.
def	createLeftButtons (self)
	Create gui left hand side buttons.
def	createCenterPanel (self)
	Create robot status and joint state center panel.
def	createStatusPanel (self, parent, row, col)
	Create motor status panel. More...
def	createMotorCtlrPanel (self, parent, row, col, ctlrpos)
	Create motor controller panel. More...
def	createAlarmsPanel (self, parent, row, col, ctlrkey)
	Create motor controller alarm panel. More...
def	createAlarmWidget (self, parent, row, col, ctlrkey, text, key)
	Create alarm widgets and initalize alarm db. More...
def	createMotorPanel (self, parent, row, col, ctlrkey, motorpos)
	Create motor controller motor panel. More...
def	createVelTuningPanel (self, parent, row, col)
	Create velocity tuning panel. More...
def	createMotorsTuningPanel (self, parent, row, col, ctlrpos)
	Create motor controller motors tuning panel. More...
def	createPidParamsPanel (self, parent, row, col, ctlrkey)
	Create motor controller motors PID parameters panel. More...
def	createSetpointsPanel (self, parent, row, col, ctlrkey)
	Create motor controller motor velocity setpoints panel. More...
def	createPlotPanel (self, parent, row, col, width)
	Create real-time plot panel. More...
def	createPlotControls (self, parent, row, col)
	Create real-time plot controls. More...
def	createPlotCanvas (self, parent, row, col, width)
	Create real-time plot canvas. More...
def	makeWidgets (self, parent, wdescTbl)
	Make widgets from widget description table. More...
def	makeWidget (self, parent, widget, wcfg, gcfg)
	Make widget. More...
def	createStatusBar (self)
	Create gui status bar at bottom of gui window.
def	updateButtonState (self, keys, state)
	Update button activation states.
def	createButton (self, parent, text, imagefile, command, fg='black')
	Create button. More...
def	destroy (self)
	Destroy window callback.
def	notimpl (self)
	Not implemented callback.
def	apply (self)
	Apply tuning tweaks to controllers callback.
def	save (self)
	Save tuning to tuning file and controller EEPROM callback.
def	stop (self)
	Stop Laelaps.
def	about (self)
	Show about dialog callback.
def	cbLinkAllPids (self)
def	cbLinkCtlrPids (self, ck)
def	cbLinkAllSetpoints (self)
def	cbLinkCtlrSetpoints (self, ck)
def	cbVelSetpoint (self, ck, mk, fk, v)
	Setpoint changed callback. More...
def	cbEnDisVelPlot (self, ck, mk, fk)
	Enable/disable velocity plot. More...
def	setPidParams (self, ck, mk, Kp, Ki, Kd, maxQpps, maxAccel)
def	getProductInfo (self)
	Get product information. More...
def	getLaelapsName (self)
	Get Laelaps name. More...
def	updateStatus (self)
	Update motor status.
def	showInfo (self, msg)
	Show information message on status bar. More...
def	showError (self, msg)
	Show error message on status bar. More...
def	showEntry (self, w, var, val, fg='black')
	Show text on read-only entry. More...
def	alignToJustify (self, align)
	Map alignment value to justify equivalent. More...
def	finalInits (self)
	Final window initializations. More...

Public Attributes
	m_wMaster
	m_imageLoader
	t0
	m_botName
	m_icons
	m_wBttn
	m_plotVel
	m_motorCtlrPos
	m_motorCtlrAddr
	m_motorPos
	m_powertrain
	m_var
	m_wMenuBar
	m_wMenuFile
	m_wMenuMove
	m_wMenuHelp
	m_wTopHeading
	m_varStatus
	m_wStatusBar

Detailed Description

Window class supporting application.

Definition at line 134 of file laelaps_tune_motors.py.

Constructor & Destructor Documentation

def laelaps_tune_motors.window.__init__	(		self,
			master = None,
			cnf = {},
			kw
	)

Constructor.

Parameters

master	Window parent master widget.
cnf	Configuration dictionary.
kw	Keyword options.

Definition at line 143 of file laelaps_tune_motors.py.

References laelaps_init.window.createWidgets(), laelaps_tune_motors.window.createWidgets(), laelaps_tune_motors.window.dbgSeedFields(), laelaps_init.window.initData(), laelaps_tune_motors.window.initData(), laelaps_init.window.m_icons, laelaps_tune_motors.window.m_icons, laelaps_init.window.m_imageLoader, laelaps_tune_motors.window.m_imageLoader, laelaps_tune_motors.window.m_wMaster, laelaps_tune_motors.window.perfStart(), and laelaps_tune_motors.window.t0.

  def __init__(self, master=None, cnf={}, **kw):
    self.m_wMaster = master

    self.perfStart()

    # intialize window data
    kw = self.initData(kw)

    # initialize parent object frame
    Frame.__init__(self, master=master, cnf=cnf, **kw)

    # window title
    self.master.title("Laelaps Motors")

    self.m_imageLoader = Utils.ImageLoader(py_pkg='Laelaps.images',
                                       image_paths=ImagePath)

    self.m_icons['app_icon'] = self.m_imageLoader.load("icons/LaelapsIcon.png")
    #RDK self.master.tk.call('wm', 'iconphoto', self.master._w,
    #RDK                    self.m_icons['app_icon'])

    #print 'DBG', self.m_var

    # create and show widgets
    self.createWidgets()
    self.grid(row=0, column=0, padx=5, pady=5)

    self.update_idletasks()
    #width = self.winfo_width()
    #print 'DBG: self.width =', width

    # RDK Comment out when done. Debug
    self.dbgSeedFields()

Member Function Documentation

def laelaps_tune_motors.window.alignToJustify	(		self,
			align
	)

Map alignment value to justify equivalent.

Parameters

align

Alignment.

Returns

Tk justify.

Definition at line 1606 of file laelaps_tune_motors.py.

  def alignToJustify(self, align):
    if align == W:
      return LEFT
    elif align == E:
      return RIGHT
    else:
      return CENTER

def laelaps_tune_motors.window.cbEnDisVelPlot	(		self,
			ck,
			mk,
			fk
	)

Enable/disable velocity plot.

Parameters

ck	Controller key.
mk	Motor key.
fk	Field key.

Definition at line 1486 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.m_plotVel, laelaps::LaeDbKin.m_powertrain, laelaps_tune_motors.window.m_powertrain, and laelaps_tune_motors.window.m_var.

Referenced by laelaps_tune_motors.window.createPlotControls().

  def cbEnDisVelPlot(self, ck, mk, fk):
    if self.m_plotVel is None:
      return
    name = self.m_powertrain[ck][mk]
    val = self.m_var[ck][mk][fk].get()
    sp = self.m_var[ck][mk]['setpoint_speed'].get()
    if val:
      self.m_plotVel.enable(name, sp)
    else:
      self.m_plotVel.disable(name)

def laelaps_tune_motors.window.cbVelSetpoint	(		self,
			ck,
			mk,
			fk,
			v
	)

Setpoint changed callback.

Parameters

ck	Controller key.
mk	Motor key.
fk	Field key.
v	Value (ignored).

Returns

True

Definition at line 1471 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.m_plotVel, laelaps::LaeDbKin.m_powertrain, laelaps_tune_motors.window.m_powertrain, and laelaps_tune_motors.window.m_var.

Referenced by laelaps_tune_motors.window.createSetpointsPanel().

  def cbVelSetpoint(self, ck, mk, fk, v):
    if self.m_plotVel is None:
      return True
    val = self.m_var[ck][mk][fk].get()
    pk = self.m_powertrain[ck][mk]
    self.m_plotVel.setpoint(pk, val)
    return True

def laelaps_tune_motors.window.createAlarmsPanel	(		self,
			parent,
			row,
			col,
			ctlrkey
	)

Create motor controller alarm panel.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.
ctlrkey	Motor controller db key.

Definition at line 640 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.createAlarmWidget(), and laelaps_tune_motors.window.makeWidget().

Referenced by laelaps_tune_motors.window.createMotorCtlrPanel().

  def createAlarmsPanel(self, parent, row, col, ctlrkey):
    wframe = Frame(parent)
    wframe['relief'] = 'flat'
    wframe.grid(row=row, column=col, padx=1, pady=3, sticky=N+W+E)

    row = 0
    col = 0
 
    self.makeWidget(wframe, Label,
        {'text': "Alarms:",
          #'font':  ('Helvetica', 10),
          'fg':    UIColors['focus'],
          'borderwidth': 2},
        {'row': row, 'column': col, 'padx': 1, 'pady': 2, 'sticky': E})

    col += 1

    # Left motor over current alarm
    self.createAlarmWidget(wframe, row, col, ctlrkey,
        'Left Motor\nOver Current', 'alarm_lmoc')

    col += 1

    # Right motor over current alarm
    self.createAlarmWidget(wframe, row, col, ctlrkey,
        'Right Motor\nOver Current', 'alarm_rmoc')

    col += 1

    # Battery low voltage alarm
    self.createAlarmWidget(wframe, row, col, ctlrkey,
        'Battery\nLow Volt', 'alarm_batt_low')

    col += 1

    # Battery high voltage alarm
    self.createAlarmWidget(wframe, row, col, ctlrkey,
        'Battery\nHigh Volt', 'alarm_batt_high')

    col += 1

    # Logic low voltage alarm
    self.createAlarmWidget(wframe, row, col, ctlrkey,
        'Logic\nLow Volt', 'alarm_logic_low')

    col += 1

    # Logic high voltage alarm
    self.createAlarmWidget(wframe, row, col, ctlrkey,
        'Logic\nHigh Volt', 'alarm_logic_high')

    col += 1

    # Temperature alarm
    self.createAlarmWidget(wframe, row, col, ctlrkey,
        'Over\nTemperature', 'alarm_temp')

    col += 1

    # Emergency stop alarm
    self.createAlarmWidget(wframe, row, col, ctlrkey,
        'Emergency\nStopped', 'alarm_estop')

def laelaps_tune_motors.window.createAlarmWidget	(		self,
			parent,
			row,
			col,
			ctlrkey,
			text,
			key
	)

Create alarm widgets and initalize alarm db.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.
ctlrkey	Motor controller db key.
text	Alarm label text.
key	Alarm db key.

Definition at line 713 of file laelaps_tune_motors.py.

References laelaps_init.window.m_icons, laelaps_tune_motors.window.m_icons, laelaps_tune_motors.window.m_var, and laelaps_tune_motors.window.makeWidget().

Referenced by laelaps_tune_motors.window.createAlarmsPanel().

  def createAlarmWidget(self, parent, row, col, ctlrkey, text, key):
    wframe = Frame(parent)
    wframe['borderwidth'] = 1
    wframe['relief']      = 'solid'
    wframe.grid(row=row, column=col, padx=0, pady=1, sticky=N+W+E)

    row = 0
    col = 0

    self.makeWidget(wframe, Label,
      {'text': text, 'justify': CENTER, 'anchor': CENTER},
      {'row':row, 'column':col, 'padx':(1, 1), 'pady':2, 'sticky':W+S+E})

    w = self.makeWidget(wframe, Label,
      {'image': self.m_icons['led_dark'], 'justify': CENTER, 'anchor': CENTER},
      {'row':row, 'column':col+1, 'padx':1, 'pady':(2,4), 'sticky':W+S+E})

    self.m_var[ctlrkey][key] = {'w': w, 'val': TriState['none']}

def laelaps_tune_motors.window.createButton	(		self,
			parent,
			text,
			imagefile,
			command,
			fg = 'black'
	)

Create button.

Parameters

parent	Parent widget.
text	Button text.
imagefile	Image file name. None for no image.
command	Callback for button push.
fg	Foreground text color.

Returns

Button widget.

Definition at line 1378 of file laelaps_tune_motors.py.

References laelaps_init.window.m_icons, laelaps_tune_motors.window.m_icons, laelaps_init.window.m_wBttn, and laelaps_tune_motors.window.m_wBttn.

Referenced by laelaps_tune_motors.window.createLeftButtons().

  def createButton(self, parent, text, imagefile, command, fg='black'):
    key = str.lower(text.replace("\n", "_"))
    self.m_icons[key] = self.m_imageLoader.load(imagefile)
    w = Button(parent)
    w['text']     = text
    if self.m_icons[key]:
      w['image']    = self.m_icons[key]
      w['compound'] = LEFT
      w['padx']     = 0
      w['pady']     = 0
      w['anchor']   = W
      w['width']    = 105
    else:
      w['anchor']   = CENTER
      w['width']    = 10
    w['fg']       = fg
    w['command']  = command
    self.m_wBttn[key] = w
    return self.m_wBttn[key]

def laelaps_tune_motors.window.createMotorCtlrPanel	(		self,
			parent,
			row,
			col,
			ctlrpos
	)

Create motor controller panel.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.
ctlrpos	Motor controller position string.

Definition at line 453 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.createAlarmsPanel(), laelaps_tune_motors.window.createMotorPanel(), laelaps_tune_motors.window.m_motorCtlrAddr, laelaps_tune_motors.window.m_motorPos, laelaps_tune_motors.window.m_var, and laelaps_tune_motors.window.makeWidget().

Referenced by laelaps_tune_motors.window.createStatusPanel().

  def createMotorCtlrPanel(self, parent, row, col, ctlrpos):
    wframe = LabelFrame(parent)
    wframe['text']  = "%s Motor Controller State" % (ctlrpos)
    wframe['font']  = ('Helvetica', 12)
    wframe['fg']    = UIColors['focus']
    wframe['borderwidth'] = 2
    wframe['relief'] = 'ridge'
    wframe.grid(row=row, column=col, padx=1, pady=1, sticky=N+W+E)

    addr = self.m_motorCtlrAddr[ctlrpos]

    ctlrkey = _ctlrkey(ctlrpos)

    # common widget and grid options
    wcfgLabel = {'anchor': E, 'justify': RIGHT}
    gcfgLabel = {'padx': (5,2), 'pady': 2, 'sticky': E}
    wcfgValue = {'anchor': W, 'justify': LEFT, 'relief': 'solid'}
    gcfgValue = {'padx': (0,2), 'pady': 1, 'sticky': W}

    col = 0

    # packet address label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Address:'}, wcfgLabel),
        dictConcat({'row': 0, 'column': col}, gcfgLabel))

    # packet address
    self.m_var[ctlrkey]['addr'] = StringVar(); 
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['addr'], 'width': 8},
          wcfgValue),
        dictConcat({'row': 0, 'column': col+1}, gcfgValue))

    # baudrate label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Baudrate:'}, wcfgLabel),
        dictConcat({'row': 1, 'column': col}, gcfgLabel))

    # baudrate
    self.m_var[ctlrkey]['baudrate'] = IntVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['baudrate'],
          'width': 8}, wcfgValue),
        dictConcat({'row': 1, 'column': col+1}, gcfgValue))

    col += 2

    # motor controller model label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Model:'}, wcfgLabel),
        dictConcat({'row': 0, 'column': col}, gcfgLabel))

    # motor controller model
    self.m_var[ctlrkey]['model'] = StringVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['model'], 'width': 10},
          wcfgValue),
        dictConcat({'row': 0, 'column': col+1}, gcfgValue))

    # firmware version label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Version:'}, wcfgLabel),
        dictConcat({'row': 1, 'column': col}, gcfgLabel))

    # firmware version
    self.m_var[ctlrkey]['version'] = StringVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['version'],
          'width': 10}, wcfgValue),
        dictConcat({'row': 1, 'column': col+1}, gcfgValue))

    col += 2

    # maximum battery voltage label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Max Battery (V):'}, wcfgLabel),
        dictConcat({'row': 0, 'column': col}, gcfgLabel))

    # maximum battery voltage
    self.m_var[ctlrkey]['batt_max'] = DoubleVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['batt_max'],
          'width': 5}, wcfgValue),
        dictConcat({'row': 0, 'column': col+1}, gcfgValue))

    # minimum battery voltage label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Min Battery (V):'}, wcfgLabel),
        dictConcat({'row': 1, 'column': col}, gcfgLabel))

    # minimum battery voltage
    self.m_var[ctlrkey]['batt_min'] = DoubleVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['batt_min'],
          'width': 5}, wcfgValue),
        dictConcat({'row': 1, 'column': col+1}, gcfgValue))

    col += 2

    # maximum logic voltage label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Max Logic (V):'}, wcfgLabel),
        dictConcat({'row': 0, 'column': col}, gcfgLabel))

    # maximum logic voltage
    self.m_var[ctlrkey]['logic_max'] = DoubleVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['logic_max'],
          'width': 5}, wcfgValue),
        dictConcat({'row': 0, 'column': col+1}, gcfgValue))

    # minimum logic voltage label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Min Logic (V):'}, wcfgLabel),
        dictConcat({'row': 1, 'column': col}, gcfgLabel))

    # minimum logic voltage
    self.m_var[ctlrkey]['logic_min'] = DoubleVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['logic_min'],
          'width': 5}, wcfgValue),
        dictConcat({'row': 1, 'column': col+1}, gcfgValue))

    col += 2

    # battery voltage label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Battery (V):'}, wcfgLabel),
        dictConcat({'row': 0, 'column': col}, gcfgLabel))

    # battery voltage
    self.m_var[ctlrkey]['battery'] = DoubleVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['battery'], 'width': 5},
          wcfgValue),
        dictConcat({'row': 0, 'column': col+1}, gcfgValue))

    # logic voltage label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Logic (V):'}, wcfgLabel),
        dictConcat({'row': 1, 'column': col}, gcfgLabel))

    # logic voltage
    self.m_var[ctlrkey]['logic'] = DoubleVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['logic'],
          'width': 5}, wcfgValue),
        dictConcat({'row': 1, 'column': col+1}, gcfgValue))

    col += 2

    # temperature label
    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Temp (C):'}, wcfgLabel),
        dictConcat({'row': 0, 'column': col}, gcfgLabel))

    # temperature
    self.m_var[ctlrkey]['temp'] = DoubleVar()
    self.makeWidget(wframe, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey]['temp'],
          'width': 6}, wcfgValue),
        dictConcat({'row': 0, 'column': col+1}, gcfgValue))

    col += 2

    wframe = Frame(wframe)
    wframe.grid(row=3, column=0, columnspan=col, padx=1, pady=5, sticky=N+W+E)

    row = 0

    for motorpos in self.m_motorPos:
      self.createMotorPanel(wframe, row, 0, ctlrkey, motorpos)
      row += 1

    wframe = Frame(wframe)
    wframe.grid(row=row, column=0, columnspan=col, padx=1, pady=5, sticky=N+W+E)

    self.createAlarmsPanel(wframe, 0, 0, ctlrkey)

def laelaps_tune_motors.window.createMotorPanel	(		self,
			parent,
			row,
			col,
			ctlrkey,
			motorpos
	)

Create motor controller motor panel.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.
ctlrkey	Motor controller db key.
motorpos	Motor position string.

Definition at line 742 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.m_var, and laelaps_tune_motors.window.makeWidget().

Referenced by laelaps_tune_motors.window.createMotorCtlrPanel().

  def createMotorPanel(self, parent, row, col, ctlrkey, motorpos):
    self.makeWidget(parent, Label,
        {'text': "%s Motor:" % (motorpos),
          'font':  ('Helvetica', 10),
          'fg':    UIColors['focus'],
          'borderwidth': 2},
        {'row': row, 'column': col, 'padx': 1, 'pady': 2, 'sticky': N+W+E})

    motorkey = _motkey(motorpos)

    # common widget and grid options
    wcfgLabel = {'anchor': E, 'justify': RIGHT}
    gcfgLabel = {'padx': (5,2), 'pady': 2, 'sticky': E}
    wcfgValue = {'anchor': W, 'justify': LEFT, 'relief': 'solid'}
    gcfgValue = {'padx': (0,2), 'pady': 1, 'sticky': W}

    col = 1

    # encoder type label
    self.makeWidget(parent, Label,
        dictConcat({'text': 'Encoder Type:'}, wcfgLabel),
        dictConcat({'row': row, 'column': col}, gcfgLabel))

    # encoder type
    self.m_var[ctlrkey][motorkey]['enc_type'] = StringVar()
    self.makeWidget(parent, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey][motorkey]['enc_type'],
          'width': 10}, wcfgValue),
        dictConcat({'row': row, 'column': col+1}, gcfgValue))

    col += 2

    # amps label
    self.makeWidget(parent, Label,
        dictConcat({'text': 'Amps:'}, wcfgLabel),
        dictConcat({'row': row, 'column': col}, gcfgLabel))

    # amps
    self.m_var[ctlrkey][motorkey]['amps'] = DoubleVar()
    self.makeWidget(parent, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey][motorkey]['amps'],
          'width': 8}, wcfgValue),
        dictConcat({'row': row, 'column': col+1}, gcfgValue))

    col += 2

    # encoder label
    self.makeWidget(parent, Label,
        dictConcat({'text': 'Encoder:'}, wcfgLabel),
        dictConcat({'row': row, 'column': col}, gcfgLabel))

    # encoder
    self.m_var[ctlrkey][motorkey]['encoder'] = IntVar()
    self.makeWidget(parent, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey][motorkey]['encoder'],
          'width': 12}, wcfgValue),
        dictConcat({'row': row, 'column': col+1}, gcfgValue))

    col += 2

    # speed label
    self.makeWidget(parent, Label,
        dictConcat({'text': 'Speed (QPPS):'}, wcfgLabel),
        dictConcat({'row': row, 'column': col}, gcfgLabel))

    # speed
    self.m_var[ctlrkey][motorkey]['speed'] = IntVar()
    self.makeWidget(parent, Label,
        dictConcat({'textvariable': self.m_var[ctlrkey][motorkey]['speed'],
          'width': 8}, wcfgValue),
        dictConcat({'row': row, 'column': col+1}, gcfgValue))

    col += 2

def laelaps_tune_motors.window.createMotorsTuningPanel	(		self,
			parent,
			row,
			col,
			ctlrpos
	)

Create motor controller motors tuning panel.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.
ctlrpos	Motor controller position name.

Definition at line 843 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.createPidParamsPanel(), and laelaps_tune_motors.window.createSetpointsPanel().

Referenced by laelaps_tune_motors.window.createVelTuningPanel().

  def createMotorsTuningPanel(self, parent, row, col, ctlrpos):
    wframe = LabelFrame(parent)
    wframe['text']  = "%s Velocity Tuning" % (ctlrpos)
    wframe['font']  = ('Helvetica', 12)
    wframe['fg']    = UIColors['focus']
    wframe['borderwidth'] = 2
    wframe['relief'] = 'ridge'
    wframe.grid(row=row, column=col, padx=1, pady=5, sticky=N+W+E)

    ctlrkey = _ctlrkey(ctlrpos)

    wcfgLabel = {'anchor': E, 'justify': RIGHT}
    gcfgLabel = {'padx': (5,2), 'pady': 2, 'sticky': E}
    wcfgValue = {'anchor': W, 'justify': LEFT, 'relief': 'solid'}
    gcfgValue = {'padx': (0,5), 'pady': 1, 'sticky': W}

    row = 0
    col = 0

    # PID subframe
    self.createPidParamsPanel(wframe, row, col, ctlrkey)

    # Setpoint subframe
    row = 1
    col = 0

    self.createSetpointsPanel(wframe, row, col, ctlrkey)

def laelaps_tune_motors.window.createPidParamsPanel	(		self,
			parent,
			row,
			col,
			ctlrkey
	)

Create motor controller motors PID parameters panel.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.
ctlrkey	Motor controller db key.

Definition at line 879 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.cbLinkCtlrPids(), laelaps_init.window.m_icons, laelaps_tune_motors.window.m_icons, laelaps_tune_motors.window.m_motorPos, laelaps_tune_motors.window.m_var, and laelaps_tune_motors.window.makeWidget().

Referenced by laelaps_tune_motors.window.createMotorsTuningPanel().

  def createPidParamsPanel(self, parent, row, col, ctlrkey):
    wframe = LabelFrame(parent)
    wframe['text'] = 'PID Parameters'
    #wframe['font'] = ('Helvetica', 10),
    wframe['fg']   = UIColors['focus'],
    wframe['borderwidth'] = 2
    wframe['relief'] = 'ridge'
    wframe.grid(row=row, column=col, padx=(5,1), pady=(5,0), sticky=N+W+E)

    wcfgLabel = {'anchor': E, 'justify': RIGHT}
    gcfgLabel = {'padx': (5,2), 'pady': 2, 'sticky': E}
    wcfgValue = {'anchor': W, 'justify': LEFT, 'relief': 'solid'}
    gcfgValue = {'padx': (0,5), 'pady': 1, 'sticky': W}

    #
    # PID labels
    #
    row = 1
    col = 0

    self.makeWidget(wframe, Label,
        dictConcat({'text': 'P:'}, wcfgLabel),
        dictConcat({'row': row, 'column': col}, gcfgLabel))

    row += 1

    self.makeWidget(wframe, Label,
        dictConcat({'text': 'I:'}, wcfgLabel),
        dictConcat({'row': row, 'column': col}, gcfgLabel))

    row += 1

    self.makeWidget(wframe, Label,
        dictConcat({'text': 'D:'}, wcfgLabel),
        dictConcat({'row': row, 'column': col}, gcfgLabel))

    row += 1

    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Max QPPS:'}, wcfgLabel),
        dictConcat({'row': row, 'column': col}, gcfgLabel))

    row += 1

    self.makeWidget(wframe, Label,
        dictConcat({'text': 'Max Accel:'}, wcfgLabel),
        dictConcat({'row': row, 'column': col}, gcfgLabel))

    col = 1

    #
    # Motor PID fields
    #
    for motorpos in self.m_motorPos:
      motorkey = _motkey(motorpos)

      row = 0

      self.makeWidget(wframe, Label,
        {'text': motorpos+' Motor', 'anchor': W, 'justify': LEFT},
        {'row': row, 'column': col, 'padx': (0,1), 'pady': 2, 'sticky': W})

      # P
      row += 1
      key = 'vel_pid_p'

      self.m_var[ctlrkey][motorkey][key] = DoubleVar()

      self.makeWidget(wframe, Entry,
        {'textvariable': self.m_var[ctlrkey][motorkey][key],
          'width': 8, 'justify': LEFT, 'relief': 'sunken'},
        dictConcat({'row': row, 'column': col}, gcfgValue))

      # I
      row += 1
      key = 'vel_pid_i'

      self.m_var[ctlrkey][motorkey][key] = DoubleVar()

      self.makeWidget(wframe, Entry,
        {'textvariable': self.m_var[ctlrkey][motorkey][key],
          'width': 8, 'justify': LEFT, 'relief': 'sunken'},
        dictConcat({'row': row, 'column': col}, gcfgValue))

      # D
      row += 1
      key = 'vel_pid_d'

      self.m_var[ctlrkey][motorkey][key] = DoubleVar()

      self.makeWidget(wframe, Entry,
        {'textvariable': self.m_var[ctlrkey][motorkey][key],
          'width': 8, 'justify': LEFT, 'relief': 'sunken'},
        dictConcat({'row': row, 'column': col}, gcfgValue))

      # QPPS
      row += 1
      key = 'vel_pid_qpps'

      self.m_var[ctlrkey][motorkey][key] = DoubleVar()

      self.makeWidget(wframe, Entry,
        {'textvariable': self.m_var[ctlrkey][motorkey][key],
          'width': 8, 'justify': LEFT, 'relief': 'sunken'},
        dictConcat({'row': row, 'column': col}, gcfgValue))

      # acceleration
      row += 1
      key = 'vel_pid_max_accel'

      self.m_var[ctlrkey][motorkey][key] = DoubleVar()

      self.makeWidget(wframe, Entry,
        {'textvariable': self.m_var[ctlrkey][motorkey][key],
          'width': 8, 'justify': LEFT, 'relief': 'sunken'},
        dictConcat({'row': row, 'column': col}, gcfgValue))

      row += 1
      col += 1

      # current or new parameters in controller
      self.m_var[ctlrkey][motorkey]['vel_pid_params'] = PidParams.VelPidParams()

    # upwards arrow with left turn 
    self.makeWidget(wframe, Label,
      dictConcat({'text': u'\u21b0'}, wcfgLabel),
      {'row': 1, 'column': col, 'padx': (2,2), 'pady': (1,1), 'sticky': W})

    # spacer
    self.makeWidget(wframe, Label,
      dictConcat({'text': ''}, wcfgLabel),
      {'row': 2, 'column': col, 'padx': (2,2), 'pady': (1,1), 'sticky': W})

    # link/unlink button
    def cblink(ck): return lambda: self.cbLinkCtlrPids(ck)
    icon_key = 'linked_v'
    w = Button(wframe)
    if self.m_icons[icon_key]:
      w['image']    = self.m_icons[icon_key]
      w['padx']     = 0
      w['pady']     = 0
      w['anchor']   = W
      w['width']    = 16
    else:
      w['text']     = 'link'
      w['anchor']   = CENTER
      w['width']    = 6
    self.m_var[ctlrkey]['pid_linked'] = {'w': w, 'val': True};
    w['command']    = cblink(ctlrkey)
    w.grid(row=3, column=col)

    # spacer
    self.makeWidget(wframe, Label,
      dictConcat({'text': ''}, wcfgLabel),
      {'row': 4, 'column': col, 'padx': (2,2), 'pady': (1,1), 'sticky': W})

    # downward arrow with left turn
    self.makeWidget(wframe, Label,
      dictConcat({'text': u'\u21b2'}, wcfgLabel),
      {'row': 5, 'column': col, 'padx': (2,2), 'pady': (1,1), 'sticky': W})

def laelaps_tune_motors.window.createPlotCanvas	(		self,
			parent,
			row,
			col,
			width
	)

Create real-time plot canvas.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.
width	Total available width of canvas in pixels.

Definition at line 1290 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.m_plotVel.

Referenced by laelaps_tune_motors.window.createPlotPanel().

  def createPlotCanvas(self, parent, row, col, width):
    wframe = Frame(parent)
    wframe['borderwidth'] = 0
    wframe['relief']      = 'ridge'
    wframe.grid(row=row, column=col, padx=1, pady=1, sticky=N+W+E)

    # width and height in pixels, subbing out margins
    width  -= 40
    height  = 400

    wCanvas = Canvas(wframe, height=height, width=width)
    wCanvas.grid(row=0, column=0)

    self.m_plotVel = VelPlot.VelPlot(wCanvas, width, height, 
        ['left_front', 'right_front', 'left_rear', 'right_rear'],
        UIColors)

    self.update_idletasks()

def laelaps_tune_motors.window.createPlotControls	(		self,
			parent,
			row,
			col
	)

Create real-time plot controls.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.

Returns

Total available width of control frame in pixels.

Definition at line 1186 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.cbEnDisVelPlot(), laelaps_tune_motors.window.m_var, and laelaps_tune_motors.window.makeWidget().

Referenced by laelaps_tune_motors.window.createPlotPanel().

  def createPlotControls(self, parent, row, col):
    wframe = Frame(parent)
    wframe['borderwidth'] = 0
    wframe['relief']      = 'flat'
    wframe.grid(row=row, column=col, padx=1, pady=1, sticky=N+W+E)

    row = 0
    col = 0

    def cben(ck, mk, fk): return lambda: self.cbEnDisVelPlot(ck, mk, fk)

    ctlrkey   = "front_ctlr"
    motorkey  = "left_motor"
    fieldkey  = "plotvel"

    # left front graph color 
    self.makeWidget(wframe, Label,
        {'text': '     ', 'bg': UIColors['left_front'],
          'anchor': W, 'justify': LEFT},
      {'row': row, 'column': col, 'padx': (5,1), 'pady': (1,1), 'sticky': W})

    # left front motor checkbutton
    self.m_var[ctlrkey][motorkey][fieldkey] = IntVar(); 

    self.makeWidget(wframe, Checkbutton,
        {'text': 'Left Front', 'command': cben(ctlrkey, motorkey, fieldkey),
          'variable': self.m_var[ctlrkey][motorkey][fieldkey],
          'anchor': W, 'justify': LEFT},
      {'row': row, 'column': col+1, 'padx': (1,5), 'pady': (1,1), 'sticky': W})

    row += 1

    motorkey  = "right_motor"

    # right front graph color 
    self.makeWidget(wframe, Label,
        {'text': '     ', 'bg': UIColors['right_front'],
          'anchor': W, 'justify': LEFT},
      {'row': row, 'column': col, 'padx': (5,1), 'pady': (1,1), 'sticky': W})

    # right front motor checkbutton
    self.m_var[ctlrkey][motorkey][fieldkey] = IntVar(); 

    self.makeWidget(wframe, Checkbutton,
        {'text': 'Right Front', 'command': cben(ctlrkey, motorkey, fieldkey),
          'variable': self.m_var[ctlrkey][motorkey][fieldkey],
          'anchor': W, 'justify': LEFT},
      {'row': row, 'column': col+1, 'padx': (1,5), 'pady': (1,1), 'sticky': W})

    row += 1

    ctlrkey   = "rear_ctlr"
    motorkey  = "left_motor"

    # left rear graph color 
    self.makeWidget(wframe, Label,
        {'text': '     ', 'bg': UIColors['left_rear'],
          'anchor': W, 'justify': LEFT},
      {'row': row, 'column': col, 'padx': (5,1), 'pady': (1,1), 'sticky': W})

    # left rear motor checkbutton
    self.m_var[ctlrkey][motorkey][fieldkey] = IntVar(); 

    self.makeWidget(wframe, Checkbutton,
        {'text': 'Left Rear', 'command': cben(ctlrkey, motorkey, fieldkey),
          'variable': self.m_var[ctlrkey][motorkey][fieldkey],
          'anchor': W, 'justify': LEFT},
      {'row': row, 'column': col+1, 'padx': (1,5), 'pady': (1,1), 'sticky': W})

    row += 1

    motorkey  = "right_motor"

    # right rear graph color 
    self.makeWidget(wframe, Label,
        {'text': '     ', 'bg': UIColors['right_rear'],
          'anchor': W, 'justify': LEFT},
      {'row': row, 'column': col, 'padx': (5,1), 'pady': (1,1), 'sticky': W})

    # right rear motor checkbutton
    self.m_var[ctlrkey][motorkey][fieldkey] = IntVar(); 

    self.makeWidget(wframe, Checkbutton,
        {'text': 'Right Rear', 'command': cben(ctlrkey, motorkey, fieldkey),
          'variable': self.m_var[ctlrkey][motorkey][fieldkey],
          'anchor': W, 'justify': LEFT},
      {'row': row, 'column': col+1, 'padx': (1,5), 'pady': (1,1), 'sticky': W})

    row += 1

    self.update_idletasks()
    width = wframe.winfo_width()
    #print 'DBG: plotcontrols width =', width

    return width

def laelaps_tune_motors.window.createPlotPanel	(		self,
			parent,
			row,
			col,
			width
	)

Create real-time plot panel.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.
width	Total available width of plot panel in pixels.

Definition at line 1162 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.createPlotCanvas(), laelaps_tune_motors.window.createPlotControls(), and laelaps_tune_motors.window.perfMark().

Referenced by laelaps_tune_motors.window.createCenterPanel().

  def createPlotPanel(self, parent, row, col, width):
    wframe = LabelFrame(parent)
    wframe['text']  = "Real-Time Velocity Plot"
    wframe['font']  = ('Helvetica', 12)
    wframe['fg']    = UIColors['focus']
    wframe['borderwidth'] = 2
    wframe['relief']      = 'ridge'
    wframe.grid(row=row, column=col, columnspan=2, padx=1, pady=1, sticky=N+W+E)

    subwidth = self.createPlotControls(wframe, 0, 0)
    self.perfMark("Created plot controls")

    self.createPlotCanvas(wframe, 0, 1, width-subwidth)
    self.perfMark("Created plot canvas")

def laelaps_tune_motors.window.createSetpointsPanel	(		self,
			parent,
			row,
			col,
			ctlrkey
	)

Create motor controller motor velocity setpoints panel.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.
ctlrkey	Motor controller db key.

Definition at line 1048 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.cbLinkCtlrSetpoints(), laelaps_tune_motors.window.cbVelSetpoint(), laelaps_init.window.m_icons, laelaps_tune_motors.window.m_icons, laelaps_tune_motors.window.m_motorPos, laelaps_tune_motors.window.m_var, and laelaps_tune_motors.window.makeWidget().

Referenced by laelaps_tune_motors.window.createMotorsTuningPanel().

  def createSetpointsPanel(self, parent, row, col, ctlrkey):
    wframe = LabelFrame(parent)
    wframe['text'] = 'Setpoints'
    #wframe['font'] = ('Helvetica', 10),
    wframe['fg']   = UIColors['focus'],
    wframe['borderwidth'] = 2
    wframe['relief'] = 'ridge'
    wframe.grid(row=row, column=col, padx=(5,1), pady=(5,0),
            sticky=N+W+E+S)

    wcfgLabel = {'anchor': E, 'justify': RIGHT}
    gcfgLabel = {'padx': (5,2), 'pady': 2, 'sticky': E}
    wcfgValue = {'anchor': W, 'justify': LEFT, 'relief': 'solid'}
    gcfgValue = {'padx': (0,5), 'pady': 1, 'sticky': W}

    row = 0

    def cbspd(ck, mk, fk): return lambda: self.cbVelSetpoint(ck, mk, fk, 0)
    def cbpct(ck, mk, fk): return lambda v: self.cbVelSetpoint(ck, mk, fk, v)

    for motorpos in self.m_motorPos:
      motorkey = _motkey(motorpos)

      col = 0

      self.makeWidget(wframe, Label,
        dictConcat({'text': motorpos+' Motor:'}, wcfgLabel),
        {'row': row, 'column': col, 'padx': (2,2), 'pady': (1,0), 'sticky': W})

      col += 1

      key = 'setpoint_speed'

      self.m_var[ctlrkey][motorkey][key] = IntVar()

      self.makeWidget(wframe, Entry,
        {'textvariable': self.m_var[ctlrkey][motorkey][key],
          'validate': 'focusout',
          'validatecommand': cbspd(ctlrkey, motorkey, key),
          'width': 8, 'justify': LEFT, 'relief': 'sunken'},
        {'row': row, 'column': col,
          'padx': (2,2), 'pady': (1,0), 'sticky': E})

      row += 1
      col = 0
      key = 'setpoint_percent'

      self.m_var[ctlrkey][motorkey][key] = IntVar()

      # slider
      self.makeWidget(wframe, Scale,
        {'variable': self.m_var[ctlrkey][motorkey][key],
          'command': cbpct(ctlrkey, motorkey, key),
         'from_': -100, 'to': 100, 'resolution': 1, 'orient': HORIZONTAL,
         'tickinterval': 50, 'length': 210},
        {'row': row, 'column': col, 'columnspan': 2,
          'padx': (2,2), 'pady': (0,0), 'sticky': W})

      row += 1

      # spacer
      if motorpos == 'Left':
        self.makeWidget(wframe, Label,
            dictConcat({'text': ''}, wcfgLabel),
        {'row': row, 'column': col, 'padx': (2,2), 'pady': (1,1), 'sticky': W})

      row += 1

    # upwards arrow with left turn 
    self.makeWidget(wframe, Label,
      dictConcat({'text': u'\u21b0'}, wcfgLabel),
      {'row': 0, 'column': 2, 'padx': (2,2), 'pady': (1,1), 'sticky': W})

    # spacer
    self.makeWidget(wframe, Label,
      dictConcat({'text': ''}, wcfgLabel),
      {'row': 1, 'column': 2, 'padx': (2,2), 'pady': (1,1), 'sticky': W})

    # link/unlink button
    def cblink(ck): return lambda: self.cbLinkCtlrSetpoints(ck)
    icon_key = 'linked_v'
    w = Button(wframe)
    if self.m_icons[icon_key]:
      w['image']    = self.m_icons[icon_key]
      w['padx']     = 0
      w['pady']     = 0
      w['anchor']   = W
      w['width']    = 16
    else:
      w['text']     = 'link'
      w['anchor']   = CENTER
      w['width']    = 6
    self.m_var[ctlrkey]['setpoint_linked'] = {'w': w, 'val': True};
    w['command']    = cblink(ctlrkey)
    w.grid(row=2, column=2)

    # spacer
    self.makeWidget(wframe, Label,
      dictConcat({'text': ''}, wcfgLabel),
      {'row': 3, 'column': 2, 'padx': (2,2), 'pady': (1,1), 'sticky': W})

    # downward arrow with left turn
    self.makeWidget(wframe, Label,
      dictConcat({'text': u'\u21b2'}, wcfgLabel),
      {'row': 4, 'column': 2, 'padx': (2,2), 'pady': (1,1), 'sticky': W})

def laelaps_tune_motors.window.createStatusPanel	(		self,
			parent,
			row,
			col
	)

Create motor status panel.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.

Definition at line 433 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.createMotorCtlrPanel(), and laelaps_tune_motors.window.m_motorCtlrPos.

Referenced by laelaps_tune_motors.window.createCenterPanel().

  def createStatusPanel(self, parent, row, col):
    wframe = Frame(parent)
    wframe['relief'] = 'flat'
    wframe.grid(row=row, column=col, padx=1, pady=3, sticky=N+W+E)

    row = 0
    col = 0
        
    for name in self.m_motorCtlrPos:
      self.createMotorCtlrPanel(wframe, row, col, name)
      row += 1      

def laelaps_tune_motors.window.createVelTuningPanel	(		self,
			parent,
			row,
			col
	)

Create velocity tuning panel.

Parameters

parent	Parent widget.
row	Row in parent widget.
col	Column in parent widget.

Definition at line 823 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.createMotorsTuningPanel(), and laelaps_tune_motors.window.m_motorCtlrPos.

Referenced by laelaps_tune_motors.window.createCenterPanel().

  def createVelTuningPanel(self, parent, row, col):
    wframe = Frame(parent)
    wframe['relief'] = 'flat'
    wframe.grid(row=row, column=col, padx=1, pady=1, sticky=N+W+E)

    row = 0
    col = 0
        
    for ctlrpos in self.m_motorCtlrPos:
      self.createMotorsTuningPanel(wframe, row, col, ctlrpos)
      col += 1      

def laelaps_tune_motors.window.finalInits

(

self

)

Final window initializations.

Both the window data and widgets, along with ROS node application, have been fully initialized.

Definition at line 1620 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.getLaelapsName(), laelaps_tune_motors.window.m_botName, and laelaps_tune_motors.window.m_wTopHeading.

  def finalInits(self):
    self.m_botName   = self.getLaelapsName()
    self.master.title("Laelaps Control Panel - %s" % (self.m_botName))
    self.m_wTopHeading['text'] = "Laelaps Control Panel - %s" % \
        (self.m_botName)


# ------------------------------------------------------------------------------
# Exception Class usage
# ------------------------------------------------------------------------------

def laelaps_tune_motors.window.getLaelapsName

(

self

)

Get Laelaps name.

Returns

Returns name.

Definition at line 1539 of file laelaps_tune_motors.py.

Referenced by laelaps_tune_motors.window.finalInits().

  def getLaelapsName(self):
    name = "laelaps"
    try:
      rospy.wait_for_service("laelaps_control/get_product_info", timeout=5)
    except rospy.ROSException, e:
      rospy.logerr("Get product info: %s." % (e.message))
    else:
      try:
        get_product_info = rospy.ServiceProxy(
                                          'laelaps_control/get_product_info',
                                          GetProductInfo)
        rsp = get_product_info()
        name = rsp.i.hostname
      except rospy.ServiceException, e:
        rospy.logerr("Get product info request failed: %s." % (e.message))
    return name

def laelaps_tune_motors.window.getProductInfo

(

self

)

Get product information.

Returns

Returns product information on success, None on failure.

Definition at line 1517 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.showError().

Referenced by laelaps_tune_motors.window.about().

  def getProductInfo(self):
    prodInfo = None
    try:
      rospy.wait_for_service("laelaps_control/get_product_info", timeout=5)
    except rospy.ROSException, e:
      self.showError('Get product info: ' + e.message + '.')
    else:
      try:
        get_product_info = rospy.ServiceProxy(
                                          'laelaps_control/get_product_info',
                                          GetProductInfo)
        rsp = get_product_info()
        prodInfo = rsp.i
      except rospy.ServiceException, e:
        self.showError("Get product info request failed: %s." % (e.message))
    return prodInfo

def laelaps_tune_motors.window.initData	(		self,
			kw
	)

Initialize class state data.

Any keywords for this application specific window that are not supported by the Frame Tkinter class must be removed.

Parameters

kw	Keyword options.

Returns

Modified keywords sans this specific class.

Definition at line 195 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.m_botName, laelaps_init.window.m_icons, laelaps_tune_motors.window.m_icons, laelaps_tune_motors.window.m_motorCtlrAddr, laelaps_tune_motors.window.m_motorCtlrPos, laelaps_tune_motors.window.m_motorPos, laelaps_tune_motors.window.m_plotVel, laelaps::LaeDbKin.m_powertrain, laelaps_tune_motors.window.m_powertrain, laelaps_tune_motors.window.m_var, laelaps_init.window.m_wBttn, laelaps_tune_motors.window.m_wBttn, and laelaps_tune_motors.window.setPidParams().

Referenced by laelaps_tune_motors.window.__init__().

  def initData(self, kw):
    self.m_botName        = "laelaps"
    #RDK self.m_cfgPanel       = PanelConfigDlg.ConfigDft.copy() # panel config
    self.m_icons          = {}    # must keep loaded icons referenced
    self.m_wBttn          = {}    # button widgets
    self.m_plotVel        = None  # no plot yet

    # fixed names, addresses, positions
    self.m_motorCtlrPos   = ['Front', 'Rear']
    self.m_motorCtlrAddr  = {'Front': SysConf.MotorCtlrAddrFront,
                             'Rear':  SysConf.MotorCtlrAddrRear}
    self.m_motorPos       = ['Left', 'Right']
    self.m_powertrain     = {
      'front_ctlr': {'left_motor': 'left_front', 'right_motor': 'right_front'},
      'rear_ctlr':  {'left_motor': 'left_rear', 'right_motor': 'right_rear'}
    }

    # variable db
    self.m_var = {
      'front_ctlr': {'changes': False, 'left_motor': {}, 'right_motor': {}},
      'rear_ctlr':  {'changes': False, 'left_motor': {}, 'right_motor': {}}
    }

    # override panel configuration
    #RDK if kw.has_key('config'):
    #RDK   self.m_cfgPanel = kw['config'].copy()
    #RDK   del kw['config']
    #RDK # or read configuration
    #RDK else:
    #RDK   self.readPanelConfig()

    return kw

def laelaps_tune_motors.window.makeWidget	(		self,
			parent,
			widget,
			wcfg,
			gcfg
	)

Make widget.

Parameters

parent	Parent widget.
widget	Tkinter widget class.
wcfg	Dictionary of widget-specific configuration options.
gcfg	Dictionary of grid options.

Returns

Returns made widget.

Definition at line 1336 of file laelaps_tune_motors.py.

Referenced by laelaps_tune_motors.window.createAlarmsPanel(), laelaps_tune_motors.window.createAlarmWidget(), laelaps_tune_motors.window.createMotorCtlrPanel(), laelaps_tune_motors.window.createMotorPanel(), laelaps_tune_motors.window.createPidParamsPanel(), laelaps_tune_motors.window.createPlotControls(), laelaps_tune_motors.window.createSetpointsPanel(), and laelaps_tune_motors.window.makeWidgets().

  def makeWidget(self, parent, widget, wcfg, gcfg):
    w = widget(parent, **wcfg)
    w.grid(**gcfg)
    return w

def laelaps_tune_motors.window.makeWidgets	(		self,
			parent,
			wdescTbl
	)

Make widgets from widget description table.

The description table is a list of wdesc widget description dictionaries. Each wdesc dictionary must have the following keys and values: 'widget': W - W is a Tkinter widget class (e.g. Label, button, listbox, etc). 'wcfg': D - D is a dictionary of widget-specific configuration options. 'gcfg': D - D is a dictionary of grid options.

Parameters

parent	Parent widget.
wdescTbl	List of [wdesc, wdesc,...].

Definition at line 1322 of file laelaps_tune_motors.py.

References laelaps_tune_motors.window.makeWidget().

  def makeWidgets(self, parent, wdescTbl):
    for wdesc in wdescTbl:
      self.makeWidget(parent, wdesc['widget'], wdesc['wcfg'], wdesc['gcfg'])

def laelaps_tune_motors.window.showEntry	(		self,
			w,
			var,
			val,
			fg = 'black'
	)

Show text on read-only entry.

Parameters

w	Entry widget.
var	Bound entry variable.
val	Variable value.
fg	Text foreground color.

Definition at line 1593 of file laelaps_tune_motors.py.

  def showEntry(self, w, var, val, fg='black'):
    w['state'] = 'normal'
    w['fg']    = fg
    var.set(val)
    w['state'] = 'readonly'

def laelaps_tune_motors.window.showError	(		self,
			msg
	)

Show error message on status bar.

Parameters

msg	Error message string.

Definition at line 1579 of file laelaps_tune_motors.py.

References laelaps_init.window.m_wStatusBar, and laelaps_tune_motors.window.m_wStatusBar.

Referenced by laelaps_tune_motors.window.getProductInfo(), and laelaps_tune_motors.window.notimpl().

  def showError(self, msg):
    self.m_wStatusBar["state"] = "normal"
    self.m_wStatusBar["fg"]    = UIColors['error']
    self.m_varStatus.set(msg)
    self.m_wStatusBar["state"] = "readonly"

def laelaps_tune_motors.window.showInfo	(		self,
			msg
	)

Show information message on status bar.

Parameters

msg	Info message string.

Definition at line 1568 of file laelaps_tune_motors.py.

References laelaps_init.window.m_wStatusBar, and laelaps_tune_motors.window.m_wStatusBar.

  def showInfo(self, msg):
    self.m_wStatusBar["state"] = "normal"
    self.m_wStatusBar["fg"]    = UIColors['normal']
    self.m_varStatus.set(msg)
    self.m_wStatusBar["state"] = "readonly"

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The documentation for this class was generated from the following file:

• sw/scripts/laelaps_tune_motors.py