# BROBOT PC CONTROL python script
# Exampe 3: Graphic User Interface to control BROBOT (using Tkinter python UI)
# Before running the script you need to connect the PC to the BROBOT wifi
# Remember, default password for Wifi network JJROBOTS_XX is 87654321

# author: JJROBOTS 2016
# version: 1.01 (28/10/2016)
# Licence: Open Source (GNU LGPLv3)

import socket
import time
import struct
import Tkinter as tk
from Tkinter import IntVar
from BROBOT_Class import BROBOT # Import CLASS to control BROBOT


# GRAPHIC USER INTERFACE
class MainApplication(tk.Frame):
  throttle = 0
  steering = 0
  mode = 0
  myRobot = BROBOT()
  def draw(self):
    print "DRAW"
  def __init__(self,parent,*args,**kwargs):
    tk.Frame.__init__(self,parent,*args,**kwargs)
    self.parent = parent
    # GUI INIT: 2 sliders and 1 button
    self.t = tk.Scale(troughcolor="light yellow",from_=100,to=-100,width=40,length=200)
    self.t.pack(side=tk.LEFT,fill=tk.BOTH,expand=1)
    self.s = tk.Scale(troughcolor="light cyan",from_=-100,to=100,width=40,length=250,orient=tk.HORIZONTAL)
    self.s.pack(side=tk.LEFT,fill=tk.X)
    self.after(50,self.timer)
    self.b = tk.Button(bg="light green",repeatdelay=1,repeatinterval=50,width=10,height=2,text="SERVO",command=self.buttonCallback)
    self.b.pack(side=tk.LEFT)
    self.mode_control = IntVar()
    self.m = tk.Checkbutton(text="PRO MODE",variable=self.mode_control)
    self.m.pack()
  def buttonCallback(self):
    self.myRobot.servo(1)
    time.sleep(0.2)
    self.myRobot.servo(0)    
  def timer(self): # Timer at 50ms interval to read slider values
    if (self.t.get()!=self.throttle):
      self.throttle = self.t.get()
      self.myRobot.throttle(self.throttle/100.0)
      #print "THROTTLE:",self.throttle
    if (self.s.get()!=self.steering):
      self.steering = self.s.get()
      self.myRobot.steering(self.steering/100.0)
      #print "STEERING:",self.steering    
    if (self.mode_control.get()!=self.mode):
      self.mode = self.mode_control.get()
      self.myRobot.mode(self.mode)
      #print "MODE:",self.mode
    self.after(50,self.timer)
    

# START APPLICATION
if __name__=="__main__":
    root = tk.Tk()
    root.wm_title("BROBOT CONTROL")
    MainApplication(root).pack(side="top",fill="both",expand=True)
    root.mainloop()