urcontrol/urosc/ui.py

from helpfunctions import *


class UI:
    import curses
    

    def __init__(self,_joint_min,_joint_max,_frequency_scr=25):
        self.stdscr=None
        self.debugtext=["","","",""]
        self.width=0
        self.height=0
        self.joint_min=_joint_min
        self.joint_max=_joint_max
        self.frequency_scr=_frequency_scr
        self.last_updatescr=0
        self.key = ''


    def setDebugtext(self,line,text):
        self.debugtext[line]=text
        

    def begin(self,_stdscr):
        self.stdscr=_stdscr

        # Clear and refresh the screen for a blank canvas
        self.stdscr.clear()
        self.stdscr.refresh()

        self.curses.cbreak()
        self.stdscr.keypad(1)
        self.stdscr.nodelay(1)


        # Start colors in curses
        self.curses.start_color()
        self.curses.init_pair(1, self.curses.COLOR_CYAN, self.curses.COLOR_BLACK)
        self.curses.init_pair(2, self.curses.COLOR_RED, self.curses.COLOR_BLACK)
        self.curses.init_pair(3, self.curses.COLOR_BLACK, self.curses.COLOR_WHITE)


        self.height, self.width = self.stdscr.getmaxyx()

    def getKey(self):
        return self.key
        
    def update(self,q,looptime):
    
        if looptime-self.last_updatescr<1.0/self.frequency_scr:            
            return

        self.last_updatescr=looptime

        self.key = self.stdscr.getch()
        self.stdscr.clear()

        for i in range(np.size(self.debugtext)): #Print Debug text
            self.stdscr.addstr(i, 0, self.debugtext[i], self.curses.color_pair(1))
        
        startbarsx=10
        endbarsx=self.width-1
        starty=np.size(self.debugtext)
        for j in range(6):
            posx=mapFromTo(q[j],self.joint_min[j],self.joint_max[j],startbarsx,endbarsx) #scale to screen width
            for px in range(self.width):
                diff=abs(posx-px)
                poschar=''
                
                if diff<3:
                    poschar='-'
                if diff<0.5:
                    poschar='|'

                if px==startbarsx:
                    poschar="["
                if px==endbarsx:
                    poschar="]"
                    
                if (len(poschar)>0):
                    self.stdscr.addstr(starty+j, px, poschar, self.curses.color_pair(1))
            valuetext=str(round(toDeg(q[j]),2))
            if q[j]>=0: #has no negative sign
                valuetext=" "+valuetext
            self.stdscr.addstr(starty+j, 0, valuetext, self.curses.color_pair(1))



            
        # Refresh the screen
        self.stdscr.refresh()