Course view debug, message error handlings, auto subscribe, intParamView

RKIgui.py

@@ -136,7 +136,7 @@ def __init__(self, test_source_en=False):
             self.robotPinger.start_reqing()
 
             self.tabs = None
-            self.init_tabs(tel_dh_by_name, param_dh_by_type, plots_rec)
+            self.init_tabs(tel_dh_by_name, tel_dh_by_type, plots_rec)
             self.statusbar = my_gui.custom_elements.RKIstatusbar(self.root, self.param_listener, self.dbproxy, self.robotPinger)
             # self.start_stop_frame =my_gui.custom_elements.RKIStartStopFrame(self.root, self.param_listener, 0x20, 0x21) # TODO: outsource
             self.root.protocol("WM_DELETE_WINDOW", self.on_closing)
@@ -187,13 +187,14 @@ def init_tabs(self, dh_by_name, dh_by_type, plot_rec):
         # Tabs
         self.tabs = ttk.Notebook(self.root)
 
-        course_tab = CourseMap(self.tabs, self.param_listener, 0x22, dh_by_type[0x22])
+        course_tab = CourseMap(self.tabs, self.param_listener, 0x22, dh_by_type[0x09])
         telemetry_tab = my_gui.plotting.TelemeteryFrame.TelemetryFrame(self.tabs, self.tel_listener, dh_by_name,
                                                                        plot_rec)
         db_tab = my_gui.db_frames.DbExportFrame.DBExportFrame(self.tabs, self.dbproxy)
         self.tabs.add(course_tab, text='Course')
         self.tabs.add(telemetry_tab, text='Graphs')
         self.tabs.add(db_tab, text='Database')
+        telemetry_tab.fr_startstop.on_btn_open()
 
     def on_closing(self):
         self.logger.info('Start closing sequence')

assets/map/course.json

@@ -1,5 +1,5 @@
 {
-    "coords":[[ 1029 , 207 ] , [ 93, 658],[ 90,182],[229,483],[281,281],[342,481],[452,483],[415,147],[484,257],[578,324],[709,109],[718,560],[768,433],[735,275],[1001,530],[901,311],[58,423],[113,486],[319,660],[480,655],[516,487],[796,120],[59,580],[176,392],[282,148],[283,578],[400,389],[399,689],[515,413],[512,578],[668,315],[772,212],[882,66],[876,560],[1034,417],[519,145],[61,320]],
-    "dirs":[[0,1],[1,-1],[-1,-1],[1,-1],[-1,0],[-1,-1],[-1,1],[-1,0],[-1,0],[1,1],[-1,-1],[1,0],[0,-1],[-1,-1],[1,1],[-1,0],[0,-1],[-1,-1],[1,-1],[1,1],[0,-1],[-1,-1],[0,-1],[0,-1],[-1,0],[0,-1],[0,1],[1,0],[0,-1],[0,-1],[-1,0],[0,-1],[-1,0],[1,0],[0,1],[-1,0],[0,-1]],
-    "name": ["S","A","B","C","D","E","F","G","H","I","J","K","L","M","N","O","","","","","","","","","","","","","","","","","","","","","X"]
+    "coords":[[ 1029 , 217 ] , [ 93, 668],[ 90,192],[229,493],[281,291],[342,491],[452,493],[415,157],[484,267],[578,334],[709,119],[718,570],[768,443],[735,285],[1001,540],[901,321],[58,433],[113,496],[319,670],[480,665],[516,497],[796,130],[59,590],[176,402],[282,158],[283,588],[400,399],[399,699],[515,423],[512,588],[668,325],[772,222],[882,76],[876,570],[1034,427],[519,155],[61,330],[172,63]],
+    "dirs":[[0,1],[1,-1],[-1,-1],[1,-1],[-1,0],[-1,-1],[-1,1],[-1,0],[-1,0],[1,1],[-1,-1],[1,0],[0,-1],[-1,-1],[1,1],[-1,0],[0,-1],[-1,-1],[1,-1],[1,1],[0,-1],[-1,-1],[0,-1],[0,-1],[-1,0],[0,-1],[0,1],[1,0],[0,-1],[0,-1],[-1,0],[0,-1],[-1,0],[1,0],[0,1],[-1,0],[0,-1],[1,0]],
+    "name": ["S","A","B","C","D","E","F","G","H","I","J","K","L","M","N","O","","","","","","","","","","","","","","","","","","","","","","X"]
 }

clients/mqtt/listeners/MyMQTTllistener.py

@@ -6,6 +6,7 @@
 import time
 import threading
 import random
+import struct
 
 
 class MyMQTTlistener(AbstractClient):
@@ -55,7 +56,11 @@ def build_coders(self, msg_recipes):
 
     def on_message(self, client, userdata, message):
         msg_type, payload = self.msg_coder.deconstruct_message(message.payload)
-        data = self.payload_coders[msg_type].decode(payload)
+        try:
+            data = self.payload_coders[msg_type].decode(payload)
+        except struct.error as se:
+            self.logger.error(str(se) +f', received: {payload.hex()}')
+            return
 
         self.logger.debug(f'Message received in {client} on topic {message.topic}: {str(message.payload)}')
 

dataholders/DataHolder.py

@@ -32,6 +32,7 @@ def refreshData(self):
         pass
 
     def getData(self, key=None):
+
         if self.hasNew:
             self.hasNew = False # TODO: check thread safety
             self.refreshData()

msg_codecs/payload_codecs/LogCoder.py

@@ -24,7 +24,10 @@ def encode(self, data: dict):
 
     def decode(self, payload):
         level = payload[0]
-        message = str(payload[1:], 'utf-8')
+        try:
+            message = str(payload[1:], 'utf-8')
+        except UnicodeDecodeError as ude:
+            message = str(ude) + f'message: {payload[1:].hex()}'
 
         return {
             'name': self.name,

my_gui/custom_elements/course_view/CourseMap.py

@@ -20,20 +20,22 @@
 MANEUVER_FOLLOW_LEFT = 0
 MANEUVER_FOLLOW_MIDDLE = 1
 MANEUVER_FOLLOW_RIGHT = 2
-MANEUVER_TURN_FOLLOW_LEFT = 3
-MANEUVER_TURN_FOLLOW_MIDDLE = 4
-MANEUVER_TURN_FOLLOW_RIGHT = 5
-MANEUVER_EXIT_THROUGH = 6
-MANEUVER_LANE_SW_LEFT = 7
-MANEUVER_LANE_SW_RIGHT = 8
-MANEUVER_STOP = 9
+MANEUVER_TURN = 3
+MANEUVER_TURN_FOLLOW_LEFT = 4
+MANEUVER_TURN_FOLLOW_MIDDLE = 5
+MANEUVER_TURN_FOLLOW_RIGHT = 6
+MANEUVER_EXIT_THROUGH = 7
+MANEUVER_LANE_SW_LEFT = 8
+MANEUVER_LANE_SW_RIGHT =9
+MANEUVER_STOP = 10
 
 NAVI_EVENT_CROSSING_FRONT = 0
 NAVI_EVENT_CROSSING_REAR = 1
 NAVI_EVENT_CROSSING_LEFT = 2
 NAVI_EVENT_EXIT_LEFT = 3
 NAVI_EVENT_START_ROUTE = 4
-NAVI_EVENT_INVALID = 5
+NAVI_EVENT_TURN_COMPLETE = 5
+NAVI_EVENT_INVALID = 6
 
 
 class CourseMap(tkinter.Frame):
@@ -197,10 +199,7 @@ def make_car(self, car_ori, car_dir, maneuver):
             new_img = ImageOps.mirror(self.fig_imgs_resiz[LANE_RIGHT_IMG])
         else:
             if maneuver == MANEUVER_EXIT_THROUGH:
-                if car_ori * car_dir > 0:
-                    new_img = ImageOps.mirror(self.fig_imgs_resiz[EXIT_IMG])
-                else:
-                    new_img = self.fig_imgs_resiz[EXIT_IMG]
+                new_img = ImageOps.mirror(self.fig_imgs_resiz[EXIT_IMG])
             elif maneuver == MANEUVER_FOLLOW_MIDDLE:
                 new_img = ImageOps.mirror(self.fig_imgs_resiz[MIDDLE_IMG])
             elif maneuver == MANEUVER_FOLLOW_LEFT:
@@ -219,14 +218,17 @@ def make_car(self, car_ori, car_dir, maneuver):
 
         img.paste(new_img, (0, 0), new_img)
 
-        if maneuver in [MANEUVER_TURN_FOLLOW_LEFT, MANEUVER_TURN_FOLLOW_MIDDLE, MANEUVER_TURN_FOLLOW_RIGHT]:
+        if maneuver in [ MANEUVER_TURN, MANEUVER_TURN_FOLLOW_LEFT, MANEUVER_TURN_FOLLOW_MIDDLE, MANEUVER_TURN_FOLLOW_RIGHT]:
             new_img = self.fig_imgs_resiz[DIR_SW_IMG]
 
         img.paste(new_img, (0, 0), new_img)
 
         return img
 
     def put_car(self, car_img, node_idx, node_dir):
+        if node_idx > len(self.node_info["name"]):
+            node_idx = -1
+
         angle = math.atan2(self.node_info["dirs"][node_idx][1], self.node_info["dirs"][node_idx][0])
         self.car_img = ImageTk.PhotoImage(car_img.rotate(math.degrees(angle), expand=True))
         self.canvas.itemconfigure(self.car_img_id, image=self.car_img)
@@ -248,24 +250,27 @@ def update_car(self):
 
     def update_view(self):
         if self.dataholder.hasNew:
-            # self.car_state = self.dataholder.getData()[-1]
+            data = self.dataholder.getData()
+            for key in data.keys():
+                self.car_state[key] = data[key][-1]
+
             self.invalidate()
-            # if self.car_state['event'] == NAVI_EVENT_CROSSING_FRONT:
-            #     msg = 'NAVI_EVENT_CROSSING_FRONT'
-            # elif self.car_state['event'] == NAVI_EVENT_CROSSING_REAR:
-            #     msg = 'NAVI_EVENT_CROSSING_REAR'
-            # elif self.car_state['event'] == NAVI_EVENT_CROSSING_LEFT:
-            #     msg = 'NAVI_EVENT_CROSSING_LEFT'
-            # elif self.car_state['event'] == NAVI_EVENT_START_ROUTE:
-            #     msg = 'NAVI_EVENT_START_ROUTE'
-            # elif self.car_state['event'] == NAVI_EVENT_EXIT_LEFT:
-            #     msg = 'NAVI_EVENT_EXIT_LEFT'
-            # elif self.car_state['event'] == NAVI_EVENT_INVALID:
-            #     msg = 'NAVI_EVENT_INVALID'
-            # else:
-            #     msg = 'Unknown navigation event!'
-            #
-            # self.logger.info(msg)
+            if self.car_state['event'] == NAVI_EVENT_CROSSING_FRONT:
+                msg = 'NAVI_EVENT_CROSSING_FRONT'
+            elif self.car_state['event'] == NAVI_EVENT_CROSSING_REAR:
+                msg = 'NAVI_EVENT_CROSSING_REAR'
+            elif self.car_state['event'] == NAVI_EVENT_CROSSING_LEFT:
+                msg = 'NAVI_EVENT_CROSSING_LEFT'
+            elif self.car_state['event'] == NAVI_EVENT_START_ROUTE:
+                msg = 'NAVI_EVENT_START_ROUTE'
+            elif self.car_state['event'] == NAVI_EVENT_EXIT_LEFT:
+                msg = 'NAVI_EVENT_EXIT_LEFT'
+            elif self.car_state['event'] == NAVI_EVENT_INVALID:
+                msg = 'NAVI_EVENT_INVALID'
+            else:
+                msg = 'Unknown navigation event!'
+
+            self.logger.info(msg)
 
         if self._invalid:
             self.redraw()

my_gui/paramsetter/ParamFrame.py

@@ -86,4 +86,7 @@ def update_view(self):
                 data.pop('idx')
             if data is not None:
                 for key in data.keys():
-                    self.param_views[key].set_view(data[key][-1])
+                    try:
+                        self.param_views[key].set_view(data[key][-1])
+                    except KeyError as ke:
+                        print(ke)

my_gui/paramsetter/paramviews/IntParamView.py

@@ -6,20 +6,21 @@ class IntParamView(my_gui.paramsetter.paramviews.ParamView.ParamView):
     def __init__(self, parent, name, bit_num=32, *args, **kwargs):
         my_gui.paramsetter.paramviews.ParamView.ParamView.__init__(self, parent, name, *args, **kwargs)
         self.bit_num = bit_num
-        self.tb_set_value.insert(0,'0')
+        self.tb_set_value.insert(0, '0')
         self.stvar_current.set('0')
 
     def validate_input(self, input_value: str):
-        if input_value.isdigit():
+        try:
             num = int(input_value)
-            if 2**(self.bit_num - 1)-1 > num >= -2 ** (self.bit_num - 1):
+            if 2**(self.bit_num - 1)-1 > num >= -(2 ** (self.bit_num - 1)):
+                return True
+            else:
+                return False
+        except ValueError:
+            if input_value == '' or input_value == '-':
                 return True
             else:
                 return False
-        elif input_value == '':
-            return True
-        else:
-            return False
 
     def get_new_value(self):
         try:

my_gui/paramsetter/paramviews/paramview_factory.py

@@ -6,6 +6,13 @@
 def structString2paramView(parent, string: str, names):
     ret_dict = {}
     names_idx = 0
+
+    if string == 'string':
+        ret_dict = {
+            names[0]: ipv.IntParamView(parent, 'NOT IMPLEMENTED', 8)
+        }
+        return ret_dict
+
     for c in string:
         bigC = c.upper()
         if c in 'x><=@!':
@@ -23,9 +30,9 @@ def structString2paramView(parent, string: str, names):
                 raise Exception(f'Character idx {names_idx} in {string} is in BHILQ but neither B,H,I,L or Q')
 
             if c.isupper():
-                new_view = ipv.IntParamView(parent, names[names_idx], bit_num)
-            else:
                 new_view = uipv.UintParamView(parent, names[names_idx], bit_num)
+            else:
+                new_view = ipv.IntParamView(parent, names[names_idx], bit_num)
 
         elif c in 'fd':
             new_view = fpv.FloatParamView(parent, names[names_idx])

settings/msgs.yaml

@@ -19,6 +19,7 @@
       fields: [level, msg]
 #      prefixes: [DEBUG, INFO, WARN, ERR, CRIT]
 
+
 - name: tel
   messages:
     - name: LCD
@@ -58,7 +59,7 @@
 
     - name: 'navigation telemetry'
       type: 0x09
-      format: '<BBBBBBB'
+      format: '<BBbbbBB'
       fields: ['current node', 'goal node', 'node_dir', 'orientation', 'direction', 'event', 'maneuver']
 
 - name: comm
@@ -92,23 +93,33 @@
       type: 0x24
       format: '<B'
       fields: ['event']
-
+
+    - name: nav data
+      type: 0x22
+      format: 'string'
+      fields: ['msg']
+
+    - name: nav state
+      type: 0x25
+      format: '<Bbb'
+      fields: ['node id','node dir','car dir']
+
+    - name: lab event
+      type: 0x26
+      format: '<B'
+      fields: ['event']
+
     - name: start
       type: 0x20
       format: '<'
-      fields: []
-      
+      fields: [ ]
+
     - name: stop
       type: 0x21
       format: '<'
-      fields: []
+      fields: [ ]
 
     - name: ping
       type: 0x23
       format: '<'
-      fields: []
-
-    - name: nav data
-      type: 0x22
-      format: 'string'
-      fields: ['msg']
+      fields: [ ]

settings/proto.yaml

@@ -1,7 +1,8 @@
 proto: 'mqtt'
 #broker: '152.66.181.27'
 #broker: localhost
-broker: 192.168.4.1
+#broker: 192.168.4.1
+broker: 192.168.2.124
 user: 'rekesz'
 pwd: '12345678'
 #client_unique: 'Tarsoly'