#!/usr/bin/python

try:

import wx

except ImportError:

raise ImportError,"The wxPython module is required to run this program"

try: #first look for libraries in the same folder

import sys

#sys.path.insert(0, '/home/pi/Dexter/GoPiGo/Software/Python/line_follower')

import line_sensor

import scratch_line

except ImportError:

try: # look in the standard Raspbian for Robots folder.

sys.path.insert(0, '/home/pi/Dexter/GoPiGo/Software/Python/line_follower')

import line_sensor

import scratch_line

except ImportError:

raise ImportError,"Line sensor libraries not found"

sys.exit(0)

y=200

class line_sensor_app(wx.Frame):

def __init__(self,parent,id,title):

wx.Frame.__init__(self,parent,id,title,size=(500,400))

self.parent = parent

self.initialize()

# Exit

exit_button = wx.Button(self, label="Exit", pos=(25,350))

exit_button.Bind(wx.EVT_BUTTON, self.onClose)

robot = "/home/pi/Desktop/GoBox/Troubleshooting_GUI/dex.png"

png = wx.Image(robot, wx.BITMAP_TYPE_ANY).ConvertToBitmap()

wx.StaticBitmap(self, -1, png, (395, 275), (png.GetWidth()-320, png.GetHeight()-10))

self.Bind(wx.EVT_ERASE_BACKGROUND, self.OnEraseBackground) # Sets background picture

#----------------------------------------------------------------------

def OnEraseBackground(self, evt):

"""

Add a picture to the background

"""

# yanked from ColourDB.py

dc = evt.GetDC()

if not dc:

dc = wx.ClientDC(self)

rect = self.GetUpdateRegion().GetBox()

dc.SetClippingRect(rect)

dc.Clear()

bmp = wx.Bitmap("/home/pi/Desktop/GoBox/Troubleshooting_GUI/dex.png") # Draw the photograph.

dc.DrawBitmap(bmp, 0, 400) # Absolute position of where to put the picture

def initialize(self):

sizer = wx.GridBagSizer()

# Set up buttons

black_line_set_button = wx.Button(self,-1,label="Set Black Line Values", pos=(10,y))

sizer.Add(black_line_set_button, (0,1))

self.Bind(wx.EVT_BUTTON, self.black_line_set_OnButtonClick, black_line_set_button)

white_line_set_button = wx.Button(self,-1,label="Set White Line Values", pos=(180,y))

sizer.Add(white_line_set_button, (0,1))

self.Bind(wx.EVT_BUTTON, self.white_line_set_button_OnButtonClick, white_line_set_button)

line_position_set_button = wx.Button(self,-1,label="Read Line Position", pos=(350,y))

sizer.Add(line_position_set_button, (0,1))

self.Bind(wx.EVT_BUTTON, self.line_position_set_button_OnButtonClick, line_position_set_button)

# Set up labels: This is where the output of sensor readings will be printed.

self.label = wx.StaticText(self,-1,label=u' ',pos=(150,y+150)) # Prints line sensor information out.

self.label_top = wx.StaticText(self,-1,label=u'Instructions:\n 1.\tPlace the line sensor so that all of the black sensors are over \n\tyour black line. Then press the button "Black Line Sensor Set".\n\n 2.\tNext, place the line sensor so that all of the black sensors are \n\tNOT over your black line and on the white background surface.\n\tThen press "White Line Sensor Set".\n\n 3.\tFinally, test the sensor by pressing "Read Line Position"',pos=(25,0))

sizer.Add( self.label, (1,0),(1,2), wx.EXPAND )

sizer.Add( self.label_top, (1,0),(1,2), wx.EXPAND )

self.Show(True)

def black_line_set_OnButtonClick(self,event):

for i in range(2):

line_sensor.get_sensorval()

line_sensor.set_black_line()

line_val=line_sensor.get_black_line()

self.label.SetLabel("Black Line : "+str(line_val))

def white_line_set_button_OnButtonClick(self,event):

for i in range(2):

line_sensor.get_sensorval()

line_sensor.set_white_line()

line_val=line_sensor.get_white_line()

self.label.SetLabel("White Line : "+str(line_val))

def line_position_set_button_OnButtonClick(self,event):

line_val=scratch_line.absolute_line_pos()

self.label.SetLabel("Line Position : "+str(line_val))

def onClose(self, event): # Close the entire program.

self.Close()

if __name__ == "__main__":

app = wx.App()

frame = line_sensor_app(None,-1,'Line Follower Calibration')

app.MainLoop()