Added applied robotics code to archive.

OSU Coursework/ROB 421 - Applied Robotics/tools/pendant/pendant.py

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+# coding:utf-8
+#####################################
+# Imports
+#####################################
+# Python native imports
+import sys
+from PyQt5 import QtWidgets, QtCore, QtGui, uic
+import signal
+import qdarkstyle
+
+from Framework.cao_controller import CAOController
+from Framework.cao_monitor import CAOMonitor
+
+#####################################
+# Global Variables
+#####################################
+UI_FILE = "Resources/Ui/pendant.ui"
+
+
+# # CAO Engine
+# eng = win32com.client.Dispatch("CAO.CaoEngine")
+#
+# ctrl = eng.Workspaces(0).AddController("RC", "CaoProv.DENSO.NetwoRC", "", "conn=eth:192.168.1.10")
+# Arm1 = ctrl.AddRobot("Arm1", "")
+#
+# # Get and print a variable
+# # p_val_0 = ctrl.AddVariable("P0", "")
+# # p_val_1 = ctrl.AddVariable("P1", "")
+# # p_val_2 = ctrl.AddVariable("P2", "")
+# # print("P0 is: ", p_val_0)
+# # print("P1 is: ", p_val_1)
+# # print("P2 is: ", p_val_2)
+#
+# ctrl.Execute("PutAutoMode", 2)  # Put controller into external auto mode
+#
+# Arm1.Execute("Motor", 1)  # Enable motor power
+#
+# try:
+#     Arm1.Execute("TakeArm", 0)
+# except Exception:
+#     Arm1.Execute("Motor", 0)
+#     exit()
+#
+# Arm1.Execute("ExtSpeed", (20, 20, 20))
+#
+# while True:
+#     try:
+#         Arm1.Move(1, "@P P0", "")
+#         Arm1.Move(1, "@P P1", "")
+#         Arm1.Move(1, "@P P2", "")
+#     except KeyboardInterrupt:
+#         Arm1.Execute("GiveArm", )
+#         Arm1.Execute("Motor", 0)
+#         exit()
+
+
+#####################################
+# ApplicationWindow Class Definition
+#####################################
+class ApplicationWindow(QtWidgets.QMainWindow):
+    exit_requested_signal = QtCore.pyqtSignal()
+
+    kill_threads_signal = QtCore.pyqtSignal()
+
+    def __init__(self, parent=None, ui_file_path=None):
+        super(ApplicationWindow, self).__init__(parent)
+
+        uic.loadUi(ui_file_path, self)
+
+        QtWidgets.QShortcut(QtGui.QKeySequence("Ctrl+Q"), self, self.exit_requested_signal.emit)
+
+
+#####################################
+# GroundStation Class Definition
+#####################################
+class GroundStation(QtCore.QObject):
+    SCREEN_ID = 0
+
+    exit_requested_signal = QtCore.pyqtSignal()
+
+    start_threads_signal = QtCore.pyqtSignal()
+    connect_signals_and_slots_signal = QtCore.pyqtSignal()
+    kill_threads_signal = QtCore.pyqtSignal()
+
+    def __init__(self, parent=None,):
+        # noinspection PyArgumentList
+        super(GroundStation, self).__init__(parent)
+
+        # ########## Get the Pick And Plate instance of the logger ##########
+        # self.logger = logging.getLogger("groundstation")
+
+        self.shared_objects = {
+            "screens": {},
+            "regular_classes": {},
+            "threaded_classes": {}
+        }
+
+        # ###### Instantiate Left And Right Screens ######
+        self.shared_objects["screens"]["main_screen"] = \
+            self.create_application_window(UI_FILE, "Denso Pendant",
+                                           self.SCREEN_ID)  # type: ApplicationWindow
+
+        # ##### Instantiate Regular Classes ######
+
+        # ##### Instantiate Threaded Classes ######
+        self.__add_thread("CAO Controller", CAOController(self.shared_objects))
+        self.__add_thread("CAO Monitor", CAOMonitor(self.shared_objects))
+
+        self.connect_signals_and_slots_signal.emit()
+        self.__connect_signals_to_slots()
+        self.start_threads_signal.emit()
+
+    def __add_thread(self, thread_name, instance):
+        self.shared_objects["threaded_classes"][thread_name] = instance
+        instance.setup_signals(self.start_threads_signal, self.connect_signals_and_slots_signal,
+                               self.kill_threads_signal)
+
+    def __connect_signals_to_slots(self):
+        self.shared_objects["screens"]["main_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)
+
+    def on_exit_requested__slot(self):
+        self.kill_threads_signal.emit()
+
+        # Wait for Threads
+        for thread in self.shared_objects["threaded_classes"]:
+            self.shared_objects["threaded_classes"][thread].wait()
+
+        QtGui.QGuiApplication.exit()
+
+    @staticmethod
+    def create_application_window(ui_file_path, title, display_screen):
+        system_desktop = QtWidgets.QDesktopWidget()  # This gets us access to the desktop geometry
+
+        app_window = ApplicationWindow(parent=None, ui_file_path=ui_file_path)  # Make a window in this application
+        app_window.setWindowTitle(title)  # Sets the window title
+
+        app_window.setWindowFlags(app_window.windowFlags() | QtCore.Qt.WindowStaysOnTopHint)
+
+        # app_window.setGeometry(
+        #     system_desktop.screenGeometry(display_screen))  # Sets the window to be on the first screen
+
+        app_window.show()  # Shows the window in full screen mode
+
+        return app_window
+
+
+#####################################
+# Main Definition
+#####################################
+if __name__ == "__main__":
+    signal.signal(signal.SIGINT, signal.SIG_DFL)  # This allows the keyboard interrupt kill to work properly
+
+    # ########## Start the QApplication Framework ##########
+    application = QtWidgets.QApplication(sys.argv)  # Create the ase qt gui application
+    application.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
+
+    # ########## Set Organization Details for QSettings ##########
+    QtCore.QCoreApplication.setOrganizationName("OSURC")
+    QtCore.QCoreApplication.setOrganizationDomain("http://osurobotics.club/")
+    QtCore.QCoreApplication.setApplicationName("pendant")
+
+    # ########## Start Ground Station If Ready ##########
+    ground_station = GroundStation()
+    application.exec_()  # Execute launching of the application