#!/usr/bin/env python import pydfu import openmv import sys, os, os.path from time import sleep import gtk, gtksourceview2 as gtksourceview import gio import gobject import vte import serial import usb.core import usb.util import numpy as np from os.path import expanduser try: # 3.x name import configparser except ImportError: # 2.x name configparser = __import__("ConfigParser") IDE_PATH = os.path.dirname(os.path.realpath(__file__)) GLADE_PATH = IDE_PATH+"/openmv-ide.glade" CONFIG_PATH = IDE_PATH+"/openmv.config" EXAMPLE_PATH = IDE_PATH+"/examples" SCRIPTS_PATH = IDE_PATH+"/scripts" SCALE =1 RECENT_FILES_LIMIT=5 FLASH_OFFSETS= [0x08000000, 0x08004000, 0x08008000, 0x0800C000, 0x08010000, 0x08020000, 0x08040000, 0x08060000, 0x08080000, 0x080A0000, 0x080C0000, 0x080E0000] DEFAULT_CONFIG='''\ [main] board = openmv1 serial_port = /dev/openmvcam recent = ''' class OMVGtk: def __init__(self): #Set the Glade file self.builder = gtk.Builder() self.builder.add_from_file(GLADE_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) # create fresh config if needed if not os.path.isfile(CONFIG_PATH): try: with open(CONFIG_PATH, "w") as f: f.write(DEFAULT_CONFIG) except Exception as e: print ("Failed to create config file %s"%(e)) sys.exit(1) # load config self.config = configparser.ConfigParser() try: self.config.read(CONFIG_PATH) except Exception as e: print ("Failed to open config file %s"%(e)) sys.exit(1) # current file path self.file_path= None self.fw_file_path="" # path = self.config.get("main", "last_opened_file") # if os.path.isfile(path): # self._load_file(path) # built-in examples menu if os.path.isdir(EXAMPLE_PATH): submenu = gtk.Menu() menu = self.builder.get_object('example_menu') files = sorted(os.listdir(EXAMPLE_PATH)) for f in files: if f.endswith(".py"): label = os.path.basename(f) mitem = gtk.MenuItem(label) mitem.connect("activate", self.open_example, EXAMPLE_PATH) submenu.append(mitem) menu.set_submenu(submenu) # recent files menu self.files = [] files =self.config.get("main", "recent") if files: self.files = files.split(',') self.update_recent_files() 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 refresh_gui(self, delay=0.0001, wait=0.0001): sleep(delay) gtk.main_iteration_do(block=False) sleep(wait) def connect(self): self.terminal = self.builder.get_object('terminal') try: # open VCP and configure the terminal self.fd = os.open(self.config.get("main", "serial_port"), os.O_RDWR) self.terminal.reset(True, True) self.terminal.set_size(80,24) self.terminal.set_pty(self.fd) except Exception as 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 as 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() # Fake multitasking :P def fwupdate_task(self, state): if (state["init"]): pydfu.init() state["init"]=False state["erase"]=True state["bar"].set_text("Erasing...") return True elif (state["erase"]): page = state["page"] total = len(FLASH_OFFSETS) pydfu.page_erase(FLASH_OFFSETS[page]) page +=1 state["bar"].set_fraction(page/float(total)) if (page == total): state["erase"] = False state["write"] = True state["bar"].set_text("Uploading...") state["page"] = page return True elif (state["write"]): buf = state["buf"] xfer_bytes = state["xfer_bytes"] xfer_total = state["xfer_total"] # Send chunk chunk = min (64, xfer_total-xfer_bytes) pydfu.write_page(buf[xfer_bytes:xfer_bytes+chunk], xfer_bytes) xfer_bytes += chunk state["xfer_bytes"] = xfer_bytes state["bar"].set_fraction(xfer_bytes/float(xfer_total)) if (xfer_bytes == xfer_total): pydfu.exit_dfu() state["dialog"].hide() return False return True def fwupdate_clicked(self, widget): if (self.connected): dialog = self.builder.get_object("fw_dialog") fw_entry = self.builder.get_object("fw_entry") fw_progress = self.builder.get_object("fw_progressbar") ok_button = self.builder.get_object("fw_ok_button") cancel_button = self.builder.get_object("fw_cancel_button") ok_button.set_sensitive(True) cancel_button.set_sensitive(True) dialog.set_transient_for(self.window); # default FW bin path fw_entry.set_text(self.fw_file_path) fw_progress.set_text("") fw_progress.set_fraction(0.0) if dialog.run() == gtk.RESPONSE_OK: ok_button.set_sensitive(False) cancel_button.set_sensitive(False) fw_path = fw_entry.get_text() try: with open(fw_path, 'r') as f: buf= f.read() except Exception as e: dialog.hide() self.show_message_dialog(gtk.MESSAGE_ERROR, "Failed to open file %s"%str(e)) return self.fw_file_path = fw_path state={"init":True, "erase":False, "write":False, "page":0, "buf":buf, "bar":fw_progress, "dialog":dialog, "xfer_bytes":0, "xfer_total":len(buf)} # call dfu-util openmv.enter_dfu() sleep(1.0) gobject.gobject.idle_add(self.fwupdate_task, state); else: 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 as 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 save_config(self): # TODO set config items from GUI #self.config.set("section", "key", value) self.config.set("main", "recent", ','.join(self.files)) with open(CONFIG_PATH, "w") as file: self.config.write(file) 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 update_recent_files(self): if (self.file_path and self.file_path not in self.files ): self.files.insert(0, self.file_path) if len(self.files)>RECENT_FILES_LIMIT: self.files.pop() submenu = gtk.Menu() menu = self.builder.get_object('recent_menu') for f in self.files: if f.endswith(".py"): mitem =gtk.MenuItem(f) mitem.connect("activate", self.open_example, "") submenu.append(mitem) menu.set_submenu(submenu) menu.show_all() 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_recent_files() 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() self.update_recent_files() 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, basedir): self.file_path = os.path.join(basedir, widget.get_label()) self._load_file(self.file_path) def text_changed(self, widget): self.save_button.set_sensitive(True) def quit(self, widget): # disconnect self.disconnect() self.save_config() # exit sys.exit(0) if __name__ == "__main__": omvgtk = OMVGtk() omvgtk.window.show_all() gobject.gobject.idle_add(omvgtk.update_drawing); gtk.main()