Created GUI layout and real time graph generator

GUI/__init__.py

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+__author__ = 'sherryliao_1'

GUI/graphGenerator.py

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+__author__ = 'sherryliao_1'
+
+import numpy
+import matplotlib
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+import threading
+
+##
+# Graph
+#
+# Creates a constant time graph
+#
+# adapted from http://hardsoftlucid.wordpress.com/various-stuff/realtime-plotting/
+#
+# Note: Dependencies needed include numpy, matplotlib.
+##
+
+class Graph(object):
+    def __init__(self, title, xLabel, yLabel, yMin, yMax, root):
+        # configure graph details
+        self.xAchse = numpy.arange(0, 100, 1)
+        self.yAchse = numpy.array([0]*100)
+        self.yMin = yMin
+        self.yMax = yMax
+        self.fig = matplotlib.figure.Figure((3,3))
+        self.ax = self.fig.add_subplot(111)
+        self.ax.grid(True)
+        self.ax.set_title(title)
+        self.ax.set_xlabel(xLabel)
+        self.ax.set_ylabel(yLabel)
+        self.line1 = self.ax.plot(self.xAchse, self.yAchse, '-')
+
+        # configure values for graph to display
+        self.values = [0 for x in range(100)]
+
+        # configure parent object and canvas
+        self.parent = root
+        self.canvas = FigureCanvasTkAgg(self.fig, master=root)
+
+        # bind event listener for updating data                TODO: needs to listen to data from arduino
+        self.fig.canvas.mpl_connect('key_press_event', self.dataInputHandler)
+
+    # listens to input from keyboard and adds input value to array for plotting
+    def dataInputHandler(self, event):
+        if event.key in ['0','1','2','3','4','5','6','7','8','9']:
+            self.values.append(event.key)
+
+    # keeps data moving at constant time, fills in "0" for input if no new data is available
+    def inputGenerator(self):
+        self.values.append(0)
+        self.parent.after(50, self.inputGenerator)
+
+    # plot the values to graph
+    def realTimePlotter(self):
+        numVisibleDataPoints = min(len(self.values), 1000)
+        currentXAxis = numpy.arange(len(self.values) - numVisibleDataPoints, len(self.values), 1)
+
+        self.line1[0].set_data(currentXAxis, numpy.array(self.values[-numVisibleDataPoints:]))
+        self.ax.axis([currentXAxis.min(), currentXAxis.max(), self.yMin, self.yMax])
+        self.canvas.draw()
+        self.parent.after(50, self.realTimePlotter)

GUI/tkGUI.py

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+__author__ = 'sherryliao_1'
+
+
+from Tkinter import *
+from PIL import ImageTk, Image
+import graphGenerator as gg
+
+# initialize frame
+root = Tk()
+root.wm_title("Robotics UI")
+
+# initialize graphs
+sgGraph = gg.Graph("Strain Gauge", "Time", "Force", 0, 10, root)
+
+# <------------------fill up GUI-------------------------->
+#   _______________________________________________
+#   |                  |                           |
+#   | Const.Image      |     Map                   |
+#   |                  |                           |
+#   |__________________|___________________________|
+#   |                  |                           |
+#   |                  |                           |
+#   |  State Machine   |    Graphs                 |
+#   |                  |                           |
+#   |__________________|___________________________|
+#
+# <------------------------------------------------------->
+
+# add picture of what robot sees
+path = '../pictureLibrary/rover.jpg'                             #TODO - this must be updated to the picture taken by cam
+constantTimeImage = ImageTk.PhotoImage(Image.open(path))
+label = Label(image=constantTimeImage)
+label.image = constantTimeImage
+label.grid(row=0, columnspan=2)
+
+# add map of where robot thinks it is
+mapPath = '../pictureLibrary/rover2.jpg'                          #TODO - this must be updated draw image from sensor data
+mapImage = ImageTk.PhotoImage(Image.open(mapPath))
+label2 = Label(image=mapImage)
+label2.image = mapImage
+label2.grid(row=0, column=2, columnspan=4, sticky=W+E+N+S)
+
+# add state machine information
+label3 = Label(root, text="State machine information")
+label3.grid(row=1, column=0, columnspan=2, sticky=W+E+N+S)
+
+# draw strain gauge graph
+sgGraph.canvas.show()
+sgGraph.canvas.get_tk_widget().grid(row=1, column=2, columnspan=2, sticky=W+E+N+S)
+
+# update graphs
+root.after(50, sgGraph.inputGenerator)
+root.after(50, sgGraph.realTimePlotter)
+
+mainloop()

pictureLibrary/__init__.py

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+__author__ = 'sherryliao_1'
+
+
+