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Gui updates #320

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merged 4 commits into from
Mar 28, 2024
Merged

Gui updates #320

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51e0797
* Random parts in conveyor and bins
jfernandez37 Mar 19, 2024
3c974de
Typo
jfernandez37 Mar 19, 2024
d1b69ac
Fixed image rotation
jfernandez37 Mar 19, 2024
37c4266
Random parts now save correctly to avoid warnings while saving orders
jfernandez37 Mar 25, 2024
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127 changes: 118 additions & 9 deletions ariac_gui/ariac_gui/trial_generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,8 +57,8 @@
RIGHT_COLUMN = 4
FAR_RIGHT_COLUMN = 5
COLUMN_LIST = [LEFT_COLUMN, MIDDLE_COLUMN, RIGHT_COLUMN]
PART_TYPES=["sensor", "pump", "regulator", "battery"]
PART_COLORS=['green', 'red', 'purple','blue','orange']
PART_TYPES=["battery", "pump", "sensor","regulator"]
PART_COLORS=["red","green","blue","orange","purple"]

#Options for kitting trays
KITTING_TRAY_OPTIONS = [""]+[str(i) for i in range(10)]
Expand All @@ -72,6 +72,10 @@
# Menu images
GUI_PACKAGE = get_package_share_directory('ariac_gui')
MENU_IMAGES = {part_label:Image.open(GUI_PACKAGE + f"/resource/{part_label}.png") for part_label in ["plus","assembly_station","agv", "tray","light_icon","dark_icon"]+[color+pType for color in PART_COLORS for pType in PART_TYPES]+[f"id_0{i}" for i in range(10)]}
for color in PART_COLORS:
MENU_IMAGES[color+"battery"] = MENU_IMAGES[color+"battery"].rotate(90)
MENU_IMAGES[color+"sensor"] = MENU_IMAGES[color+"sensor"].rotate(180)
MENU_IMAGES[color+"regulator"] = MENU_IMAGES[color+"regulator"].rotate(90)

QUADRANTS=["1","2","3","4"]
AGV_OPTIONS=["1","2","3","4"]
Expand Down Expand Up @@ -185,7 +189,7 @@ def __init__(self):
self.author = ctk.StringVar()
self.original_trial_name = ctk.StringVar()
self.original_trial_name.set("")
self.time_limit.set('0')
self.time_limit.set('-1')
self.trial_name.set('')
self.author.set('')

Expand Down Expand Up @@ -415,7 +419,8 @@ def __init__(self):
self.bin_parts_counter.trace_add('write',self.add_bin_parts_to_map)
self.add_map_to_frame()

self.save_file_button = ctk.CTkButton(self, text="Save file", command=self.choose_save_location)
self.save_file_button = ctk.CTkButton(self, text="Save file", command=self.choose_save_location, state = tk.DISABLED)
ToolTip(self.save_file_button, msg = self.update_save_file_msg, delay=0.2)
self.light_dark_button = ctk.CTkButton(self, text="", image=ctk.CTkImage(MENU_IMAGES["dark_icon"],size=(50,50)), command = self.switch_light_dark, fg_color="#ebebeb", bg_color="#ebebeb", hover_color="#ebebeb")
self._build_assembly_parts_pose_direction()

Expand Down Expand Up @@ -635,7 +640,8 @@ def add_kitting_trays_widgets_to_frame(self):
label_coordinates = [(coord[0],coord[1]-35) for coord in menu_coordinates]
self.tray_center_coords = {f"slot_{i+1}":(((tray_coords["kts_1"][0]+tray_coords["kts_1"][2])//2 if i <=2 else (tray_coords["kts_2"][0]+tray_coords["kts_2"][2])//2),menu_coordinates[i][1]) for i in range(len(menu_coordinates))}

for i in self.kitting_tray_selections:i.set(KITTING_TRAY_OPTIONS[0])
for i in self.kitting_tray_selections:
i.set(KITTING_TRAY_OPTIONS[0])
tray_menus = [ctk.CTkOptionMenu(self.kitting_tray_frame,
variable=self.kitting_tray_selections[i],
values=KITTING_TRAY_OPTIONS,
Expand Down Expand Up @@ -822,10 +828,21 @@ def add_bin_parts_widgets_to_frame(self):
clear_bin_button.grid(column = MIDDLE_COLUMN, columnspan = 2, pady = 5)
flipped_meaning_label = ctk.CTkLabel(self.bin_parts_frame, text="When a part is flipped, an \"F\" will show up in the bottom right of the part image.")
flipped_meaning_label.grid(column = MIDDLE_COLUMN, columnspan = 2,pady = 10)
random_bins_button = ctk.CTkButton(self.bin_parts_frame, text="Fill all bins with random parts", command=self.fill_bins_random)
random_bins_button.grid(column = MIDDLE_COLUMN, columnspan = 2,pady = 10)
clear_all_bins_button = ctk.CTkButton(self.bin_parts_frame, text="Clear all bins", command=self.clear_all_bins)
clear_all_bins_button.grid(column = MIDDLE_COLUMN, columnspan = 2,pady = 10)
self.bin_selection.trace_add('write',partial(self.update_bin_grid, self.bin_selection,self.bin_parts_canvas,self.bin_parts_frame))
self.bin_selection.trace_add('write',partial(self.update_map,bin_map_canvas, self.bin_selection))
self.bin_parts_counter.trace_add('write',partial(self.update_bin_grid, self.bin_selection,self.bin_parts_canvas,self.bin_parts_frame))
self.bin_parts_counter.trace_add('write',partial(self.update_map,bin_map_canvas, self.bin_selection))

def clear_all_bins(self):
for i in range(1,9):
self.current_bin_parts[f"bin{i}"] = ["" for _ in range(9)]
self.bin_parts[f"bin{i}"] = [BinPart() for _ in range(9)]
self.bin_parts_counter.set("0")

def clear_bin(self, bin_selection):
current_bin = bin_selection.get()
self.current_bin_parts[current_bin]=["" for _ in range(9)]
Expand Down Expand Up @@ -907,6 +924,25 @@ def update_bin_grid(self,bin_selection : ctk.StringVar,canvas:Canvas, main_wind
self.current_bin_canvas_elements.clear()
self.show_grid(bin_selection,canvas,main_wind)

def fill_bins_random(self):
for bin in ALL_BINS:
for index in range(9):
self.generate_random_bin_part(bin, index)
self.bin_parts_counter.set(str(sum([sum([1 for part in self.current_bin_parts[key] if part!=""]) for key in self.current_bin_parts.keys()])))


def generate_random_bin_part(self, bin, index):
part_color = random.randint(0,4)
part_type = random.randint(10,13)
self.current_bin_parts[bin][index]=PART_COLORS[part_color]+PART_TYPES[part_type-10]
self.all_present_parts.append(PART_COLORS[part_color]+" "+PART_TYPES[part_type-10])
temp_part = PartMsg()
temp_part.color = part_color
temp_part.type = part_type
self.bin_parts[bin][index].part = temp_part
self.bin_parts[bin][index].rotation = SLIDER_VALUES[random.randint(0,len(SLIDER_VALUES)-1)]
self.bin_parts[bin][index].flipped = "0"

def add_bin_part(self,bin, index):
bin_vals = {}
add_part_bin_window = ctk.CTkToplevel()
Expand Down Expand Up @@ -1106,6 +1142,10 @@ def add_conveyor_parts_widgets_to_frame(self):
self.add_conveyor_parts_button = ctk.CTkButton(self.conveyor_parts_frame,text="Add part lot", command=partial(self.add_conveyor_parts), state=tk.DISABLED)
self.main_conveyor_menu_widgets.append(self.add_conveyor_parts_button)
ToolTip(self.add_conveyor_parts_button, msg = self.add_conveyor_parts_hover_message, delay=0.2)
self.generate_random_parts_button = ctk.CTkButton(self.conveyor_parts_frame, text="Generate random parts", command=self.random_conveyor_parts_window_func)
self.main_conveyor_menu_widgets.append(self.generate_random_parts_button)
self.clear_conveyor_button = ctk.CTkButton(self.conveyor_parts_frame, text="Clear conveyor", command=self.clear_conveyor)
self.main_conveyor_menu_widgets.append(self.clear_conveyor_button)
current_parts_label = ctk.CTkLabel(self.conveyor_parts_frame, text="Parts on conveyor belt:")
self.main_conveyor_menu_widgets.append(current_parts_label)

Expand All @@ -1119,6 +1159,11 @@ def add_conveyor_parts_widgets_to_frame(self):
self.has_parts.trace_add('write', self.activate_deactivate_menu)
self.conveyor_parts_counter.trace_add('write',self.show_current_parts)

def clear_conveyor(self):
self.current_conveyor_parts = []
self.conveyor_parts = []
self.conveyor_parts_counter.set("0")

def add_conveyor_parts_hover_message(self)->str:
msg=""
if len(self.current_conveyor_parts)>0:
Expand Down Expand Up @@ -1248,7 +1293,10 @@ def add_conveyor_parts(self, index = -1):
conveyor_part_vals["num_parts"].trace_add('write', partial(self.update_num_parts_slider, conveyor_part_vals["num_parts"], num_parts_label))
offset_label = ctk.CTkLabel(add_parts_conveyor_window,text=f"Offset: {conveyor_part_vals['offset'].get()}")
offset_label.pack()
offset_slider = ctk.CTkSlider(add_parts_conveyor_window,variable=conveyor_part_vals["offset"],from_=-1, to=1, number_of_steps=40, orientation="horizontal")
if conveyor_part_vals["pType"].get()=="pump":
offset_slider = ctk.CTkSlider(add_parts_conveyor_window,variable=conveyor_part_vals["offset"],from_=-0.9, to=0.9, number_of_steps=36, orientation="horizontal")
else:
offset_slider = ctk.CTkSlider(add_parts_conveyor_window,variable=conveyor_part_vals["offset"],from_=-1, to=1, number_of_steps=40, orientation="horizontal")
offset_slider.pack()
conveyor_part_vals["offset"].trace_add('write', partial(self.update_offset_slider, conveyor_part_vals["offset"], offset_label))
rotation_label = ctk.CTkLabel(add_parts_conveyor_window, text=f"Rotation value: {SLIDER_STR[SLIDER_VALUES.index(conveyor_part_vals['rotation'].get())]}")
Expand All @@ -1262,6 +1310,19 @@ def add_conveyor_parts(self, index = -1):
back_button.pack()
save_button = ctk.CTkButton(add_parts_conveyor_window,text="Save part",command=partial(self.save_conveyor_parts,add_parts_conveyor_window,conveyor_part_vals, index))
save_button.pack()

conveyor_part_vals["pType"].trace_add('write', partial(self.update_offset_slider_for_pump, conveyor_part_vals["pType"],offset_slider,conveyor_part_vals["offset"]))

def update_offset_slider_for_pump(self,part_type,slider,current_offset,_,__,___):
if part_type.get()=="pump":
slider.configure(from_=-0.9, to=0.9, number_of_steps=36)
if current_offset.get()<-0.9:
current_offset.set(-0.9)
if current_offset.get()>0.9:
current_offset.set(0.9)
else:
slider.configure(from_=-1, to=1, number_of_steps=40)
current_offset.set(current_offset.get())

def update_num_parts_slider(self,value : ctk.IntVar, label : ctk.CTkLabel,_,__,___):
label.configure(text=f"Number of parts: {value.get()}")
Expand All @@ -1270,6 +1331,34 @@ def update_offset_slider(self, value : ctk.DoubleVar, label : ctk.CTkLabel,_,__,
value.set(round(value.get(),3))
label.configure(text=f"Offset: {value.get()}")

def random_conveyor_parts_window_func(self):
random_parts_conveyor_window = ctk.CTkToplevel()
random_parts_conveyor_window.geometry("400x450 + 700 + 300")
num_diff_parts = ctk.IntVar()
num_diff_parts.set(1)
rand_conv_label = ctk.CTkLabel(random_parts_conveyor_window,text=f"Number of different parts: {num_diff_parts.get()}")
rand_conv_label.pack()
num_parts_slider = ctk.CTkSlider(random_parts_conveyor_window,variable=num_diff_parts,from_=1, to=25, number_of_steps=24, orientation="horizontal")
num_parts_slider.pack()
num_diff_parts.trace_add('write', partial(self.update_rand_conv_label, num_diff_parts, rand_conv_label))
generate_button = ctk.CTkButton(random_parts_conveyor_window, text="Generate parts", command=partial(self.generate_random_conveyor_part, random_parts_conveyor_window, num_diff_parts))
generate_button.pack()

def update_rand_conv_label(self, var : ctk.IntVar, label : ctk.CTkLabel,_,__,___):
label.configure(text=f"Number of different parts: {var.get()}")

def generate_random_conveyor_part(self, window, num_parts):
for _ in range(num_parts.get()):
part_color = random.randint(0,4)
part_type = random.randint(10,13)
s_part_color = PART_COLORS[part_color]
s_part_type = PART_TYPES[part_type-10]
self.conveyor_parts.append(ConveyorPart(s_part_color, s_part_type,1,(random.uniform(-1.0,1.0)if s_part_type!="pump"else random.uniform(-0.9,0.9)), SLIDER_VALUES[random.randint(0,len(SLIDER_VALUES)-1)], "0"))
self.current_conveyor_parts.append(PART_COLORS[part_color]+PART_TYPES[part_type-10])
self.all_present_parts.append(f"{s_part_color} {s_part_type}")
self.conveyor_parts_counter.set(str(len(self.conveyor_parts)))
window.destroy()

def save_conveyor_parts(self, window:ctk.CTkToplevel, conveyor_part_vals, index):
self.show_conveyor_parts.set("0")
color = conveyor_part_vals["color"].get()
Expand Down Expand Up @@ -1883,8 +1972,14 @@ def save_order_hover_message(self):
else:
msg="No issue. You can save now"
else:
if len(self.order_info["combined_task"]["parts"])<1:
num_slots_with_tray_0 = sum([1 for tray in self.kitting_tray_selections if tray.get()=="0"])
combined_orders = sum([1 for order in self.current_orders if order.type==2])
if len(self.order_info["combined_task"]["parts"])<1 and num_slots_with_tray_0-combined_orders<=0:
msg="To save, you need at least one part\nAlso, saving now means that there will be more combined orders than trays with id 0 available"
elif len(self.order_info["combined_task"]["parts"])<1:
msg="To save, you need at least one part"
elif num_slots_with_tray_0-combined_orders<=0:
msg="Saving now means that there will be more combined orders than trays with id 0 available"
else:
msg="No issue. You can save now"
for part in self.order_info["combined_task"]["parts"]:
Expand Down Expand Up @@ -2095,7 +2190,6 @@ def save_order(self, index):
new_order.id = self.used_ids[-1]
else:
new_order.id = self.current_orders[index].id

new_order.type = ORDER_TYPES.index(self.order_info["order_type"].get())
new_order.priority = True if self.order_info["priority"].get() == "1" else False
if self.order_info["order_type"].get() == "kitting":
Expand Down Expand Up @@ -2953,6 +3047,13 @@ def update_current_file_label(self,_,__,___):
self.current_file_label.configure("")
except:
return
try:
if len(self.current_orders) == 0:
self.save_file_button.configure(state = tk.DISABLED)
else:
self.save_file_button.configure(state = tk.NORMAL)
except:
pass
self.build_file_dict()
new_label = ""
new_label = f"# Trial name: {self.trial_name.get()}.yaml\n"
Expand Down Expand Up @@ -3329,4 +3430,12 @@ def switch_light_dark(self):
frame.configure(fg_color="transparent")
for c in self.all_canvases:
c.configure(bg = "#e0dcdc")
self.update_bin_grid(self.bin_selection,self.bin_parts_canvas,self.bin_parts_frame,1,1,1)
self.update_bin_grid(self.bin_selection,self.bin_parts_canvas,self.bin_parts_frame,1,1,1)

def update_save_file_msg(self):
num_orders = len(self.current_orders)
if num_orders == 0:
msg = "There must be at least one order to save"
else:
msg = f"There {'is' if num_orders == 1 else 'are'} currently {num_orders} order{'' if num_orders == 1 else 's'}"
return msg