User Interface

The user interface uses wxPython to create a form and the corresponding canvas to draw data on the form. It can also save maps, for which we use PIL, the Python Imaging Library.

See Using the User Interface

Note

wxPython Website: http://www.wxpython.org/

Note

PIL website: http://www.pythonware.com/products/pil/

Graphical User Interface

The user interface visualizes the sensor data and allows the user to control the robot through the WSAD keys.

Commands

The laser components accepts the following commands:

• LASER: Data points from the laser component.
• SONAR: Data points from the sonar component.
• CORNERS: Detected corner points from the position component.
• RANSAC: Lines found by wall detection from the position component.
• MAP: Map bitmap from the map component.
• POS: Estimated position from the position component.

class gui.Gui

Implements the networking part of the GUI component

command(client, command, params)

Receive sensor data

setup()

Set up connections to the sensors

tick()

Perform collision and `stuck’ detection. Also makes sure sensor data is recent enough, and if not automatically halts the robot.

class gui.PointState

Keeps track of data points and map

class gui.RobotControl(parent, id, title, *a, **kw)

GUI implementation in wxWidgets

onKeyDown(event)

Handle key press event

onKeyUp(event)

Handle key release event

onPaint(event)

Paints the sensor data and map on the canvas

timerCallback(event)

wxWidget timer to synchronize with networking component

updateImage()

Updates the bitmap based on the data from the mapping component.

class gui.SpeedState

Keeps track of movement related variables

gui.isCollisionPoint(x, y, d)

Determine if point is possible collision point

gui.updateSpeed()

Update state after keyboard input or collision changes