#!/usr/bin/env python import sys, os, os.path import gtk import gtksourceview2 as gtksourceview import gio import pango import gobject import vte import serial from time import sleep import usb.core import usb.util import numpy as np import openmv from os.path import expanduser import subprocess UI_PATH =os.path.dirname(os.path.realpath(__file__))+"/openmv-ide.glade" CONFIG_PATH = expanduser("~")+"/.openmvide.config" EXAMPLE_PATH = os.path.dirname(os.path.realpath(__file__))+"/examples" SCRIPTS_PATH = os.path.dirname(os.path.realpath(__file__))+"/scripts" FWBIN_PATH = "" DFU_CMD = "dfu-util -d 0483:df11 -c 1 -i 0 -a 0 -s 0x08000000 -D %s" SCALE =1 class OMVGtk: def __init__(self): #Set the Glade file self.builder = gtk.Builder() self.builder.add_from_file(UI_PATH) # get top window self.window = self.builder.get_object("top_window") # status bar stuff self.statusbar = self.builder.get_object("statusbar") self.statusbar_ctx = self.statusbar.get_context_id("default") # set buttons self.save_button = self.builder.get_object('save_file_toolbutton') self.connect_button = self.builder.get_object('connect_button') self.save_button.set_sensitive(False) self.connect_button.set_sensitive(True) # set control buttons self.controls = [ self.builder.get_object('reset_button'), self.builder.get_object('bootloader_button'), self.builder.get_object('exec_button'), self.builder.get_object('stop_button'), self.builder.get_object('zoomin_button'), self.builder.get_object('zoomout_button'), self.builder.get_object('bestfit_button'), self.builder.get_object('refresh_button')] self.connected = False map(lambda x:x.set_sensitive(False), self.controls) #configure gtksourceview sourceview = self.builder.get_object('gtksourceview') self.buffer = gtksourceview.Buffer() mgr = gtksourceview.style_scheme_manager_get_default() style_scheme = mgr.get_scheme('classic') if style_scheme: self.buffer.set_style_scheme(style_scheme) lang_manager = gtksourceview.language_manager_get_default() self.buffer.set_highlight_syntax(True) self.buffer.set_language(lang_manager.get_language("python")) self.buffer.connect("changed", self.text_changed) sourceview.set_buffer(self.buffer) #configure the terminal self.fd = -1 self.terminal = self.builder.get_object('terminal') self.terminal.set_size(80,24) # get drawingarea self.pixbuf = None self.drawingarea = self.builder.get_object("drawingarea") self.da_menu = self.builder.get_object("da_menu") # selection coords self.sel_ended=False self.selection_started=False self.x1 = self.y1 = self.x2 = self.y2 =0 # set control scales attributes self.builder.get_object("contrast_adjust").attr= openmv.ATTR_CONTRAST self.builder.get_object("brightness_adjust").attr= openmv.ATTR_BRIGHTNESS self.builder.get_object("saturation_adjust").attr= openmv.ATTR_SATURATION self.builder.get_object("gainceiling_adjust").attr= openmv.ATTR_GAINCEILING #connect signals signals = { "on_top_window_destroy" : self.quit, "on_connect_clicked" : self.connect_clicked, "on_reset_clicked" : self.reset_clicked, "on_fwupdate_clicked" : self.fwupdate_clicked, "on_fwpath_clicked" : self.fwpath_clicked, "on_execute_clicked" : self.execute_clicked, "on_stop_clicked" : self.stop_clicked, "on_motion_notify" : self.motion_notify, "on_button_press" : self.button_pressed, "on_button_release" : self.button_released, "on_open_file" : self.open_file, "on_new_file" : self.new_file, "on_save_file" : self.save_file, "on_save_file_as" : self.save_file_as, "on_save_template_activate" : self.save_template, "on_save_descriptor_activate" : self.save_descriptor, "on_ctrl_scale_value_changed" : self.on_ctrl_scale_value_changed, "on_zoomin_clicked" : self.zoomin_clicked, "on_zoomout_clicked" : self.zoomout_clicked, "on_bestfit_clicked" : self.bestfit_clicked, "on_updatefb_clicked" : self.updatefb_clicked, } self.builder.connect_signals(signals) # open last opened file self.file_path= None if os.path.isfile(CONFIG_PATH): with open(CONFIG_PATH, "r") as file: path = file.read() if os.path.isfile(path): self._load_file(path) # build examples menu if os.path.isdir(EXAMPLE_PATH): exmenu = gtk.Menu() example_menu = self.builder.get_object('example_menu') examples = sorted(os.listdir(EXAMPLE_PATH)) for f in examples: if f.endswith(".py"): label = os.path.basename(f) mitem =gtk.MenuItem(label) mitem.connect("activate", self.open_example) exmenu.append(mitem) example_menu.set_submenu(exmenu) def show_message_dialog(self, msg_type, msg): message = gtk.MessageDialog(parent=self.window, flags=gtk.DIALOG_DESTROY_WITH_PARENT, type=msg_type, buttons=gtk.BUTTONS_OK, message_format=msg) message.run() message.destroy() def connect(self): self.terminal = self.builder.get_object('terminal') try: # open VCP and configure the terminal self.fd = os.open("/dev/openmvcam", os.O_RDWR) self.terminal.reset(True, True) self.terminal.set_size(80,24) self.terminal.set_pty(self.fd) except Exception, e: self.show_message_dialog(gtk.MESSAGE_ERROR, "Failed to connect to OpenMV\n%s"%e) return try: # init openmv openmv.init() # interrupt any running code openmv.stop_script() sleep(0.1) except Exception, e: self.show_message_dialog(gtk.MESSAGE_ERROR, "Failed to connect to OpenMV\n%s"%e) return self.connected = True self._update_title() self.connect_button.set_sensitive(False) map(lambda x:x.set_sensitive(True), self.controls) def disconnect(self): try: # close VCP os.close(self.fd) except OSError: pass #reset terminal self.terminal.set_pty(-1) self.terminal.reset(True, True) try: # stop running code openmv.stop_script(); except: pass # release OpenMV openmv.release() self.connected = False self._update_title() self.connect_button.set_sensitive(True) map(lambda x:x.set_sensitive(False), self.controls) def connect_clicked(self, widget): self.connect() def fwpath_clicked(self, widget): fw_entry = self.builder.get_object("fw_entry") dialog = gtk.FileChooserDialog(title=None,action=gtk.FILE_CHOOSER_ACTION_OPEN, buttons=(gtk.STOCK_CANCEL, gtk.RESPONSE_CANCEL, gtk.STOCK_OPEN, gtk.RESPONSE_OK)) dialog.set_default_response(gtk.RESPONSE_OK) dialog.set_current_folder(SCRIPTS_PATH) ff = gtk.FileFilter() ff.set_name("dfu") ff.add_pattern("*.bin") #TODO change to DFU dialog.add_filter(ff) if dialog.run() == gtk.RESPONSE_OK: fw_entry.set_text(dialog.get_filename()) dialog.destroy() def fwupdate_clicked(self, widget): if (self.connected): dialog = self.builder.get_object("fw_dialog") fw_entry = self.builder.get_object("fw_entry") spinner = self.builder.get_object("fw_spinner") ok_button = self.builder.get_object("fw_ok_button") cancel_button = self.builder.get_object("fw_cancel_button") spinner.stop() spinner.set_visible(False) ok_button.set_sensitive(True) cancel_button.set_sensitive(True) dialog.set_transient_for(self.window); # default FW bin path fw_entry.set_text(FWBIN_PATH) if dialog.run() == gtk.RESPONSE_OK: ok_button.set_sensitive(False) cancel_button.set_sensitive(False) spinner.set_visible(True) spinner.start() # call dfu-util openmv.enter_dfu() sleep(1.0) dfu_util = subprocess.Popen(DFU_CMD%fw_entry.get_text(), shell=True, stdout=subprocess.PIPE) while dfu_util.poll() == None and gtk.events_pending(): gtk.main_iteration() if (dfu_util.returncode): self.show_message_dialog(gtk.MESSAGE_ERROR, "Failed to update firmware\n") openmv.exit_dfu() dialog.hide() def reset_clicked(self, widget): if (self.connected): openmv.reset() def execute_clicked(self, widget): buf = self.buffer.get_text(self.buffer.get_start_iter(), self.buffer.get_end_iter()) # interrupt any running code openmv.stop_script() sleep(0.1) # exec script openmv.exec_script(buf) def stop_clicked(self, widget): openmv.stop_script(); def zoomin_clicked(self, widget): global SCALE SCALE+=1 def zoomout_clicked(self, widget): global SCALE if SCALE>1: SCALE-=1 def bestfit_clicked(self, widget): global SCALE SCALE=1 def updatefb_clicked(self, widget): openmv.fb_update() def button_pressed(self, widget, event): self.x1 = int(event.x) self.y1 = int(event.y) self.x2 = int(event.x) self.y2 = int(event.y) self.selection_started = True def button_released(self, widget, event): self.x2 = int(event.x) self.y2 = int(event.y) self.selection_started = False self.da_menu.popup(None, None, None, event.button, event.time, None) self.da_menu.show_all() def motion_notify(self, widget, event): x = int(event.x) y = int(event.y) self.x2 = int(event.x) self.y2 = int(event.y) if self.pixbuf and x < self.pixbuf.get_width() and y < self.pixbuf.get_height(): pixel = self.pixbuf.get_pixels_array()[y][x] rgb = "(%d, %d, %d)" %(pixel[0], pixel[1], pixel[2]) self.statusbar.pop(self.statusbar_ctx) self.statusbar.push(self.statusbar_ctx, rgb) def update_drawing(self): if (not self.connected): return True try: # read drawingarea fb = openmv.fb_dump() except Exception, e: self.disconnect() self._update_title() return True if fb: # convert to RGB888 and blit self.pixbuf = gtk.gdk.pixbuf_new_from_array(fb[2].reshape((fb[1], fb[0], 3)), gtk.gdk.COLORSPACE_RGB, 8) self.pixbuf = self.pixbuf.scale_simple(fb[0]*SCALE, fb[1]*SCALE, gtk.gdk.INTERP_BILINEAR) self.drawingarea.realize(); cm = self.drawingarea.window.get_colormap() gc = self.drawingarea.window.new_gc(foreground=cm.alloc_color('#FFFFFF',True,False)) self.drawingarea.set_size_request(fb[0]*SCALE, fb[1]*SCALE) self.drawingarea.window.draw_pixbuf(gc, self.pixbuf, 0, 0, 0, 0) if self.selection_started or self.da_menu.flags() & gtk.MAPPED: self.drawingarea.window.draw_rectangle(gc, False, self.x1, self.y1, self.x2-self.x1, self.y2-self.y1) return True def on_ctrl_scale_value_changed(self, adjust): openmv.set_attr(adjust.attr, int(adjust.value)) def _update_title(self): if (self.file_path==None): title = "Untitled" else: title = os.path.basename(self.file_path) title += " [Connected]" if self.connected else " [Disconnected]" self.window.set_title(title) def _load_file(self, path): self.file_path = path if path == None: # New file self.save_button.set_sensitive(True) self.buffer.set_text("") else: self.save_button.set_sensitive(False) with open(path, "r") as file: self.buffer.set_text(file.read()) self._update_title() def _save_file(self, new_file): if new_file: dialog = gtk.FileChooserDialog(title=None,action=gtk.FILE_CHOOSER_ACTION_SAVE, buttons=(gtk.STOCK_CANCEL, gtk.RESPONSE_CANCEL, gtk.STOCK_OPEN, gtk.RESPONSE_OK)) dialog.set_default_response(gtk.RESPONSE_OK) dialog.set_current_folder(SCRIPTS_PATH) ff = gtk.FileFilter() ff.set_name("python") ff.add_pattern("*.py") dialog.add_filter(ff) if dialog.run() == gtk.RESPONSE_OK: self.file_path = dialog.get_filename() self.save_button.set_sensitive(False) self._update_title() with open(dialog.get_filename(), "w") as file: file.write(self.buffer.get_text(self.buffer.get_start_iter(), self.buffer.get_end_iter())) dialog.destroy() else: self.save_button.set_sensitive(False) with open(self.file_path, "w") as file: file.write(self.buffer.get_text(self.buffer.get_start_iter(), self.buffer.get_end_iter())) def save_template(self, widget): self.da_menu.hide() x = self.x1 y = self.y1 w = self.x2-self.x1 h = self.y2-self.y1 entry = self.builder.get_object("template_entry") image = self.builder.get_object("template_image") image.set_from_pixbuf(self.pixbuf.subpixbuf(x, y, w, h)) dialog = self.builder.get_object("save_template_dialog") dialog.set_transient_for(self.window); #dialog.set_default_response(gtk.RESPONSE_OK) if dialog.run() == gtk.RESPONSE_OK: openmv.save_template(x/SCALE, y/SCALE, w/SCALE, h/SCALE, entry.get_text()) #Use Scale dialog.hide() def save_descriptor(self, widget): self.da_menu.hide() x = self.x1 y = self.y1 w = self.x2-self.x1 h = self.y2-self.y1 entry = self.builder.get_object("desc_entry") image = self.builder.get_object("desc_image") image.set_from_pixbuf(self.pixbuf.subpixbuf(x, y, w, h)) dialog = self.builder.get_object("save_descriptor_dialog") dialog.set_transient_for(self.window); #dialog.set_default_response(gtk.RESPONSE_OK) if dialog.run() == gtk.RESPONSE_OK: #if not entry.get_text(): openmv.save_descriptor(x/SCALE, y/SCALE, w/SCALE, h/SCALE, entry.get_text()) #Use Scale dialog.hide() def new_file(self, widget): self._load_file(None) def save_file(self, widget): self._save_file(self.file_path==None) def save_file_as(self, widget): self._save_file(True) def open_file(self, widget): dialog = gtk.FileChooserDialog(title=None,action=gtk.FILE_CHOOSER_ACTION_OPEN, buttons=(gtk.STOCK_CANCEL, gtk.RESPONSE_CANCEL, gtk.STOCK_OPEN, gtk.RESPONSE_OK)) dialog.set_default_response(gtk.RESPONSE_OK) dialog.set_current_folder(SCRIPTS_PATH) ff = gtk.FileFilter() ff.set_name("python") ff.add_pattern("*.py") dialog.add_filter(ff) if dialog.run() == gtk.RESPONSE_OK: self._load_file(dialog.get_filename()) dialog.destroy() def open_example(self, widget): self._load_file(os.path.join(EXAMPLE_PATH, widget.get_label())) def text_changed(self, widget): self.save_button.set_sensitive(True) def quit(self, widget): # disconnect self.disconnect() if (self.file_path): # write last opened file with open(CONFIG_PATH, "w") as file: file.write(self.file_path) # exit sys.exit(0) if __name__ == "__main__": omvgtk = OMVGtk() omvgtk.window.show_all() gobject.gobject.idle_add(omvgtk.update_drawing); gtk.main()