92 lines
2.6 KiB
Python
92 lines
2.6 KiB
Python
from helpfunctions import *
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class UI:
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import curses
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def __init__(self,_joint_min,_joint_max,_frequency_scr=25):
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self.stdscr=None
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self.debugtext=["","","",""]
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self.width=0
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self.height=0
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self.joint_min=_joint_min
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self.joint_max=_joint_max
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self.frequency_scr=_frequency_scr
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self.last_updatescr=0
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self.key = ''
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def setDebugtext(self,line,text):
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self.debugtext[line]=text
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def begin(self,_stdscr):
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self.stdscr=_stdscr
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# Clear and refresh the screen for a blank canvas
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self.stdscr.clear()
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self.stdscr.refresh()
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self.curses.cbreak()
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self.stdscr.keypad(1)
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self.stdscr.nodelay(1)
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# Start colors in curses
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self.curses.start_color()
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self.curses.init_pair(1, self.curses.COLOR_CYAN, self.curses.COLOR_BLACK)
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self.curses.init_pair(2, self.curses.COLOR_RED, self.curses.COLOR_BLACK)
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self.curses.init_pair(3, self.curses.COLOR_BLACK, self.curses.COLOR_WHITE)
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self.height, self.width = self.stdscr.getmaxyx()
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def getKey(self):
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return self.key
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def update(self,q,looptime):
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if looptime-self.last_updatescr<1.0/self.frequency_scr:
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return
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self.last_updatescr=looptime
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self.key = self.stdscr.getch()
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self.stdscr.clear()
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for i in range(np.size(self.debugtext)): #Print Debug text
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self.stdscr.addstr(i, 0, self.debugtext[i], self.curses.color_pair(1))
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startbarsx=10
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endbarsx=self.width-1
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starty=np.size(self.debugtext)
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for j in range(6):
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posx=mapFromTo(q[j],self.joint_min[j],self.joint_max[j],startbarsx,endbarsx) #scale to screen width
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for px in range(self.width):
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diff=abs(posx-px)
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poschar=''
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if diff<3:
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poschar='-'
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if diff<0.5:
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poschar='|'
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if px==startbarsx:
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poschar="["
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if px==endbarsx:
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poschar="]"
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if (len(poschar)>0):
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self.stdscr.addstr(starty+j, px, poschar, self.curses.color_pair(1))
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valuetext=str(round(toDeg(q[j]),2))
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if q[j]>=0: #has no negative sign
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valuetext=" "+valuetext
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self.stdscr.addstr(starty+j, 0, valuetext, self.curses.color_pair(1))
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# Refresh the screen
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self.stdscr.refresh()
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