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radarDisplay.py
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radarDisplay.py
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import math
import random
import serial
import multiprocessing
import Queue
import Tkinter
class RadarDisplay:
def __init__(self, parent, size, maxDistance):
self.size = size
self.maxDistance = maxDistance
self.canvas = Tkinter.Canvas(parent, width=size, height=size, bg="black")
self.centre = (size / 2, size / 2)
self.canvas.pack()
self.ages = dict()
self.msPerFrame = 33
def blip(self, angleDegrees, distance, pointRadius=5):
# Convert distance to pixels
distance = float(distance) / self.maxDistance * self.size / 2
# Calculate location of point on canvas
angleRadians = math.radians(angleDegrees)
deltaX = math.sin(angleRadians) * distance
deltaY = -math.cos(angleRadians) * distance
point = (self.centre[0] + deltaX, self.centre[1] + deltaY)
# Draw line
line = self.canvas.create_line(self.centre[0],
self.centre[1],
point[0],
point[1],
fill="red")
self.ages[line] = 0
# Draw point
oval = self.canvas.create_oval(point[0] - pointRadius,
point[1] - pointRadius,
point[0] + pointRadius,
point[1] + pointRadius,
fill="red")
self.ages[oval] = 0
def animate(canvas, item, ageSpeed=0.1):
def rgbToHex(rgb):
return '#%02x%02x%02x' % rgb
# Ensure that age is bounded between 0 and maxAge
age = self.ages[item]
if age >= 1:
# Item is too old, delete it
del self.ages[item]
canvas.delete(item)
return # do not call animate again
if age < 0:
age = 0
# Calculate how green the item should be based on age
green = (1.0 - age) * 255
# Set the item's colour
canvas.itemconfigure(item, fill=rgbToHex((0, green, 0)))
# Increase the age of the item
self.ages[item] = age + ageSpeed
# Call animate again
canvas.after(self.msPerFrame, animate, canvas, item, ageSpeed)
animate(self.canvas, line, 0.050)
animate(self.canvas, oval, 0.0025)
def startHandlingQueue(self, queue):
def handleQueue(canvas, queue):
def getData():
try:
data = queue.get(False)
if data == "":
data = None
except Queue.Empty:
data = None
return data
data = getData()
while data is not None:
print("Received: \"" + data + "\"")
parts = data.split()
if len(parts) != 2:
print "Did not find exactly two numbers"
continue
angle = float(parts[0])
distance = float(parts[1])
self.blip(angle, distance)
data = getData()
canvas.after(self.msPerFrame, handleQueue, canvas, queue)
handleQueue(self.canvas, queue)
queue = multiprocessing.Queue()
# queue.put("0 5")
# queue.put("45 10")
# queue.put("90 15")
command = multiprocessing.Queue()
def comms(queue, command):
try:
port = serial.Serial('COM7', 9600, timeout=1)
except:
print "Failed to open comms port; quitting comms"
return
while True:
line = port.readline()
print("Read \"" + line + "\"")
queue.put(line)
try:
if command.get(False) == "quit":
print("Quitting comms")
return
except Queue.Empty:
pass
if __name__ == "__main__":
commsProcess = multiprocessing.Process(target=comms, args=(queue, command))
commsProcess.start()
top = Tkinter.Tk()
radar = RadarDisplay(top, size=1000, maxDistance=30)
radar.startHandlingQueue(queue)
# radar.blip(45, 20)
# b1 = Tkinter.Button(top, text="One")
# b2 = Tkinter.Button(top, text="Two")
# b1.pack()
# b2.pack()
# def onClick():
# radar.blip(random.randrange(0, 180),
# random.randrange(0, radar.maxDistance))
# b1.configure(command=onClick)
top.mainloop()
print("Quitting GUI")
command.put("quit")
commsProcess.join()