Komplette Umstellung auf V3.

main.py

@@ -1,145 +1,383 @@
 import tkinter as tk
-from tkinter import messagebox
+from tkinter import ttk, messagebox
+import customtkinter
+customtkinter.set_appearance_mode("light")
+customtkinter.set_default_color_theme("blue")
+import serial
+import serial.tools.list_ports
 import matplotlib.pyplot as plt
 from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
-from matplotlib.figure import Figure
-#import random
+import threading
+import time
+import numpy as np
 
-p = 0.0
-i = 0.0
-
-set_torque = 0.0
-
-act_torque = 0.0
-act_angle = 0.0
-
-class T2000ErdemGUI:
+class ArduinoGUI:
     def __init__(self, root):
+        self.my_font = customtkinter.CTkFont(family="Calibri", size=15)
         self.root = root
-        self.root.title("T2000 Erdem")
-
-        menu_frame = tk.Frame(self.root)
-        menu_frame.grid(row=0, column=0, rowspan=8, columnspan=2, sticky="NESW", padx=10, pady=10)
-        menu_frame.columnconfigure(0, weight=1)
-        menu_frame.rowconfigure(6, weight=1)
-
-        plot_frame = tk.Frame(self.root)
-        plot_frame.grid(row=0, column=2, rowspan=8, sticky="NW")
-
-        plot_frame.rowconfigure(0, weight=1)
-        plot_frame.columnconfigure(0, weight=1)
-
-        self.root.geometry("{0}x{1}+0+0".format(root.winfo_screenwidth(), root.winfo_screenheight()))
+        self.root.title("PRG 342 GUI")
         self.root.attributes('-fullscreen', True)  # Setzt das Fenster in den Vollbildmodus
-        #self.root.overrideredirect(True)  # Entfernt die Fensterdekorationen (wie Minimieren, Maximieren und Schließen)
 
-        # Eingabefelder für Koordinaten der Drehmoment-Drehwinkel-Kennlinie
-        tk.Label(menu_frame, text="Koordinaten der Drehmoment-Drehwinkel-Kennlinie:").grid(row=0, column=0, columnspan=2, pady=10, sticky="N")
-        self.coordinates_text = tk.Text(menu_frame, height=10, width=20)
-        self.coordinates_text.grid(row=1, column=0, columnspan=2, pady=10)
-        self.coordinates_text.insert('end', '0,0\n5,15\n10,10\n90,10')
+        self.arduino = None
+        self.ports = list(serial.tools.list_ports.comports())
+        self.running = True
+        self.current_point = None
+        self.setpoints = []
 
-        # Eingabefeld für direkte Drehmomentvorgabe
-        tk.Label(menu_frame, text="Soll-Drehmoment in Nm:").grid(row=2, column=0, pady=10, sticky="NW")
-        self.set_torque_value = tk.DoubleVar()
-        self.torque_input = tk.Entry(menu_frame, textvariable=self.set_torque_value)
-        self.torque_input.grid(row=2, column=1, sticky="NW", pady=10)
+        # Flags for user actions
+        self.setpoint_flag = False
+        self.multi_setpoints_flag = False
+        self.tare_flag = False
+        self.demag_flag = False
+        self.input_source_flag = False
+        self.pid_flag = False  # Flag for sending PID parameters
 
-        # Anzeige für aktuellen Drehwinkel und Drehmoment
-        tk.Label(menu_frame, text="Aktueller Drehwinkel:").grid(row=3, column=0, pady=10, sticky="NW")
-        self.current_angle = tk.Label(menu_frame, text="0" + " °")
-        self.current_angle.grid(row=3, column=1, sticky="NW", pady=10)
+        self.pid_params = {}
+        self.selected_pid = None
 
-        tk.Label(menu_frame, text="Aktuelles Drehmoment:").grid(row=4, column=0, pady=10, sticky="NW")
-        self.current_torque = tk.Label(menu_frame, text="0" + " Nm")
-        self.current_torque.grid(row=4, column=1, sticky="NW", pady=10)
+        self.create_widgets()
 
-        # Button zum Schließen der Anwendung
-        self.close_button = tk.Button(menu_frame, text="Beenden", command=self.close_application)
-        self.close_button.grid(row=7, column=1, pady=10, sticky="S")
+        self.load_configurations()
 
-        # Button zur Übernahme der Eingaben und Aktualisierung des Diagramms
-        self.plot_button = tk.Button(menu_frame, text="Eingaben übernehmen", command=self.on_plot_button_click)
-        self.plot_button.grid(row=7, column=0, pady=10, sticky="S")
+        # Start the communication thread
+        self.communication_thread = threading.Thread(target=self.communication_loop)
+        self.communication_thread.start()
+    
+    def create_widgets(self):
 
-        # Schalter für Umschaltung zwischen Drehmomentprofil und direkter Vorgabe
-        self.torque_mode = tk.BooleanVar()
-        self.torque_mode.set(False)  # Startet im Modus "Drehmomentprofil"
-        self.torque_switch = tk.Checkbutton(menu_frame, text="Direkte Drehmomentvorgabe aktivieren", variable=self.torque_mode, command=self.toggle_torque_mode)
-        self.torque_switch.grid(row=5, column=0, columnspan=2, pady=10)
+        # Labels and ComboBox for Stellantriebstyp
+        self.stellantriebstyp_label = customtkinter.CTkLabel(self.root, text="Stellantriebstyp:", font=self.my_font)
+        self.stellantriebstyp_label.grid(row=0, column=0, padx=(10, 5), pady=(10, 0), sticky="w")
 
-        # Diagramm
-        self.figure = Figure(dpi=100)#(figsize=(6,6), dpi=100)
-        self.figure.set_figheight(self.root.winfo_screenheight()/100)
-        self.figure.set_figwidth((self.root.winfo_screenwidth()-380)/100)
-        self.plot = self.figure.add_subplot(111)
-        self.plot.set_xlim(0, 90)
-        self.plot.set_ylim(ymin=0)
-        self.plot.set_xlabel('Drehwinkel in Grad')
-        self.plot.set_ylabel('Drehmoment in Nm')
-        self.canvas = FigureCanvasTkAgg(self.figure, plot_frame)
-        self.canvas.get_tk_widget().pack(fill="both", expand=True)
+        self.config_combobox_value = customtkinter.StringVar()
+        self.config_combobox = customtkinter.CTkComboBox(self.root, variable=self.config_combobox_value, state="readonly", font=self.my_font)
+        self.config_combobox.grid(row=0, column=1, columnspan=1, padx=(0, 10), pady=(10, 0), sticky="ew")
+        #self.config_combobox.bind("<<ComboboxSelected>>", self.on_config_selected)
 
-        self.toggle_torque_mode()
-        self.create_diagram()
-        self.update_current_values_periodically()
+        # Setzen Button für Stellantriebstyp
+        self.set_pid_button = customtkinter.CTkButton(self.root, text="Setzen", command=self.set_pid_parameters, font=self.my_font)
+        self.set_pid_button.grid(row=0, column=2, padx=(0, 10), pady=(10, 0), sticky="ew")
 
-    def close_application(self):
-        #if messagebox.askokcancel("Beenden", "Möchten Sie die Anwendung wirklich beenden?"):
-            self.root.quit()
+        # Labels and ComboBox for COM Port
+        self.com_label = customtkinter.CTkLabel(self.root, text="COM Port:", font=self.my_font)
+        self.com_label.grid(row=1, column=0, padx=(10, 5), pady=(10, 0), sticky="w")
 
-    def create_diagram(self):
-        self.plot.clear()
-        self.plot.set_xlim(0, 90)
-        self.plot.set_xlabel('Drehwinkel in Grad')
-        self.plot.set_ylabel('Drehmoment in Nm')
-        
-        coordinates = self.coordinates_text.get("1.0", tk.END).strip().split("\n")
-        x_coords, y_coords = [], []
-        for coord in coordinates:
-            x, y = map(float, coord.split(','))
-            x_coords.append(x)
-            y_coords.append(y)
-        
-        self.plot.plot(x_coords, y_coords, marker='o', linestyle='-')
-        self.plot.set_ylim(bottom=0)
+        self.combobox_value = customtkinter.StringVar()
+        self.combobox = customtkinter.CTkComboBox(self.root, variable=self.combobox_value, font=self.my_font)
+        self.combobox.configure(values=[port.device for port in self.ports])
+        self.combobox.grid(row=1, column=1, padx=(0, 10), pady=(10, 0), sticky="ew")
+
+        self.connect_button = customtkinter.CTkButton(self.root, text="Verbinden", command=self.connect_arduino, font=self.my_font)
+        self.connect_button.grid(row=1, column=2, padx=(0, 10), pady=(10, 0), sticky="ew")
+
+        # Setpoint entry
+        self.setpoint_label = customtkinter.CTkLabel(self.root, text="Sollwerteingabe in Nm:", font=self.my_font)
+        self.setpoint_label.grid(row=2, column=0, padx=(10, 5), pady=(10, 0), sticky="w")
+
+        self.setpoint_entry = customtkinter.CTkEntry(self.root, font=self.my_font)
+        self.setpoint_entry.grid(row=2, column=1, padx=(0, 10), pady=(10, 0), sticky="ew")
+
+        self.set_setpoint_button = customtkinter.CTkButton(self.root, text="Setzen", command=self.set_setpoint, font=self.my_font)
+        self.set_setpoint_button.grid(row=2, column=2, padx=(0, 10), pady=(10, 0), sticky="ew")
+
+        # Multi Setpoints Textbox and Button
+        self.multi_setpoints_label = customtkinter.CTkLabel(self.root, text="Sollwerteeingabe\n(Winkel;Drehmoment):", font=self.my_font)
+        self.multi_setpoints_label.grid(row=3, column=0, padx=(10, 5), pady=(10, 0), sticky="w")
+
+        self.multi_setpoints_text = customtkinter.CTkTextbox(self.root, font=self.my_font)
+        self.multi_setpoints_text.grid(row=3, column=1, padx=(0, 10), pady=(10, 0), sticky="ew")
+
+        self.send_multi_setpoints_button = customtkinter.CTkButton(self.root, text="Sollwerte senden", command=self.send_multi_setpoints, font=self.my_font)
+        self.send_multi_setpoints_button.grid(row=3, column=2, padx=(0, 10), pady=(10, 0), sticky="ew")
+
+        # Analog Control CheckBox
+        self.checkbox_var = customtkinter.IntVar()
+        self.checkbox = customtkinter.CTkCheckBox(self.root, text="Analogsteuerung", variable=self.checkbox_var, command=self.input_source_Switch, font=self.my_font)
+        self.checkbox.grid(row=4, column=0, columnspan=3, padx=(10, 10), pady=(10, 0), sticky="w")
+
+        # Tare and Demagnetize Buttons
+        self.tare_button = customtkinter.CTkButton(self.root, text="Drehwinkel tarieren", command=self.tare_angle, font=self.my_font)
+        self.tare_button.grid(row=5, column=0, padx=(10, 5), pady=(10, 0), sticky="sew")
+
+        self.demag_button = customtkinter.CTkButton(self.root, text="Manuelle Entmagnetisierung", command=self.demagnetize, font=self.my_font)
+        self.demag_button.grid(row=5, column=1, padx=(0, 5), pady=(10, 0), sticky="sew")
+
+        # Exit Button
+        self.exit_button = customtkinter.CTkButton(self.root, text="Beenden", command=self.on_closing, font=self.my_font)
+        self.exit_button.grid(row=5, column=2, padx=(0, 10), pady=(10, 0), sticky="sew")
+
+        # Plot
+        self.figure, self.ax = plt.subplots()
+        self.canvas = FigureCanvasTkAgg(self.figure, self.root)
+        self.canvas.get_tk_widget().grid(row=0, column=3, rowspan=6, columnspan=4, padx=(10, 10), pady=(10, 0), sticky="nsew")
+
+        self.ax.set_title("Drehmoment-Drehwinkel-Kennlinie")
+        self.ax.set_xlabel("Winkel (°)")
+        self.ax.set_ylabel("Drehmoment (Nm)")
+        self.ax.set_xlim(0, 90)
+        self.ax.set_ylim(0, 50)
+
+        # Current readings labels
+        self.current_angle = 0
+        self.current_torque = 0
+        self.analogInput = 0
+
+        self.angle_label_var = customtkinter.StringVar()
+        self.angle_label_var.set("Drehwinkel: 0")
+        self.angle_label = customtkinter.CTkLabel(self.root, textvariable=self.angle_label_var, font=self.my_font)
+        self.angle_label.grid(row=6, column=3, padx=(10, 5), pady=(10, 0), sticky="sw")
+
+        self.torque_label_var = customtkinter.StringVar()
+        self.torque_label_var.set("Istwert: 0")
+        self.torque_label = customtkinter.CTkLabel(self.root, textvariable=self.torque_label_var, font=self.my_font)
+        self.torque_label.grid(row=6, column=4, padx=(10, 5), pady=(10, 0), sticky="sw")
+
+        self.analogread_label_var = customtkinter.StringVar()
+        self.analogread_label_var.set("Analogeingang: 0")
+        self.analogread_label = customtkinter.CTkLabel(self.root, textvariable=self.analogread_label_var, font=self.my_font)
+        self.analogread_label.grid(row=6, column=5, padx=(10, 5), pady=(10, 0), sticky="sw")
+
+        self.currentSetpoint_label_var = customtkinter.StringVar()
+        self.currentSetpoint_label_var.set("Aktueller Sollwert: 0")
+        self.currentSetpoint_label = customtkinter.CTkLabel(self.root, textvariable=self.currentSetpoint_label_var, font=self.my_font)
+        self.currentSetpoint_label.grid(row=6, column=6, padx=(10, 5), pady=(10, 0), sticky="sw")
+
+        self.root.grid_columnconfigure(0, weight=0)
+        self.root.grid_columnconfigure(1, weight=0)
+        self.root.grid_columnconfigure(2, weight=0)
+        self.root.grid_columnconfigure(3, weight=1)
+        self.root.grid_columnconfigure(4, weight=1)
+        self.root.grid_columnconfigure(5, weight=1)
+        self.root.grid_columnconfigure(6, weight=1)
+        self.root.grid_rowconfigure(0, weight=0)
+        self.root.grid_rowconfigure(1, weight=0)
+        self.root.grid_rowconfigure(2, weight=0)
+        self.root.grid_rowconfigure(3, weight=0)
+        self.root.grid_rowconfigure(4, weight=0)
+        self.root.grid_rowconfigure(5, weight=1)
+        self.root.grid_rowconfigure(6, weight=0)
+
+    def set_pid_parameters(self):
+        if self.arduino:
+            self.selected_pid = self.config_combobox.get()
+            if self.selected_pid in self.pid_params:
+                self.pid_flag = True
+            else:
+                messagebox.showerror("Error", "Selected PID configuration not found.")
+        else:
+            messagebox.showwarning("Warning", "Arduino not connected")
+
+    def load_configurations(self):
+        try:
+            with open("conf.txt", "r") as file:
+                config_name = None
+                for line in file:
+                    line = line.strip()
+                    if line.startswith("#") or not line:
+                        continue
+                    if "{" in line:
+                        config_name = line.split("{")[0].strip()
+                        self.pid_params[config_name] = {"Kp": 0.0, "Ki": 0.0, "Kd": 0.0}
+                    elif "}" in line:
+                        config_name = None
+                    else:
+                        if config_name:
+                            key, value = line.split(":")
+                            key = key.strip()
+                            value = round(float(value.strip()), 3)
+                            self.pid_params[config_name][key] = value
+
+            self.config_combobox.configure(values=list(self.pid_params.keys()))
+            if self.pid_params:
+                self.config_combobox.set(list(self.pid_params.keys())[0])
+                self.selected_pid = list(self.pid_params.keys())[0]
+        except Exception as e:
+            messagebox.showerror("Error", f"Error loading configurations: {e}")
+
+    def connect_arduino(self):
+        com_port = self.combobox_value.get()
+        if com_port:
+            try:
+                self.arduino = serial.Serial(com_port, 115200, timeout=1)
+                messagebox.showinfo("Info", "Connected to Arduino on " + com_port)
+            except Exception as e:
+                messagebox.showerror("Error", str(e))
+        else:
+            messagebox.showwarning("Warning", "Please select a COM port")
+
+    def set_setpoint(self):
+        if self.arduino:
+            try:
+                self.setpoint = float(self.setpoint_entry.get()) * 1000
+                self.setpoint_flag = True
+            except ValueError:
+                messagebox.showerror("Error", "Invalid setpoint value.")
+        else:
+            messagebox.showwarning("Warning", "Arduino not connected")
+
+    def send_multi_setpoints(self):
+        if self.arduino:
+            setpoints = self.multi_setpoints_text.get("1.0", tk.END).strip().split("\n")
+            coordinates = []
+            for point in setpoints:
+                try:
+                    angle, torque = map(float, point.split(";"))
+                    coordinates.append((angle, torque))
+                except ValueError:
+                    messagebox.showerror("Error", f"Invalid input: {point}")
+                    return
+
+            coordinates.sort()
+            self.setpoints = coordinates
+            self.plot_coordinates(coordinates)
+            self.multi_setpoints_flag = True
+        else:
+            messagebox.showwarning("Warning", "Arduino not connected")
+
+    def plot_coordinates(self, coordinates):
+        angles, torques = zip(*coordinates)
+        self.ax.clear()
+        self.ax.plot(angles, torques, 'bo-', label="Setpoints")
+        self.ax.set_title("Drehmoment-Drehwinkel-Kennlinie")
+        self.ax.set_xlabel("Winkel (°)")
+        self.ax.set_ylabel("Drehmoment (Nm)")
+        self.ax.set_xlim(0, 90)
+        self.ax.set_ylim(0, 50)
+        self.ax.legend()
         self.canvas.draw()
 
-    def update_current_values(self, angle, act_torque):
-        self.current_angle.config(text=str(angle) + " °")
-        self.current_torque.config(text=str(act_torque) + " Nm")
+    def interpolate_coordinates(self, coordinates):
+        interpolated_points = []
+        for i in range(len(coordinates) - 1):
+            start_angle, start_torque = coordinates[i]
+            end_angle, end_torque = coordinates[i + 1]
+            num_points = int((end_angle - start_angle) * 2)
+            angles = np.linspace(start_angle, end_angle, num_points + 1)
+            torques = np.linspace(start_torque, end_torque, num_points + 1)
+            interpolated_points.extend(zip(angles, torques))
 
-    def save_set_values(self):
-        p = self.p_value.get()
-        i = self.i_value.get()
+        full_interpolated_points = [(angle, 0) for angle in np.arange(0, 90.5, 0.5)]
+        for angle, torque in interpolated_points:
+            index = int(angle * 2)
+            full_interpolated_points[index] = (angle, torque)
 
-    def toggle_torque_mode(self):
-        # Aktivieren oder Deaktivieren des direkten Drehmoment-Eingabefeldes
-        if self.torque_mode.get():
-            self.torque_input['state'] = 'normal'
-            self.coordinates_text['state'] = 'disabled'
+        return full_interpolated_points
+
+    def send_interpolated_points(self):
+        if self.arduino:
+            setpoints_command = "u"
+            for angle, torque in self.setpoints:
+                torque_mnm = torque * 1000
+                setpoints_command += f"{int(angle * 2)},{torque_mnm:.1f};"
+            setpoints_command = setpoints_command.rstrip(';') + "u\n"
+            self.arduino.write(setpoints_command.encode())
+
+            timeout_ctr = time.time()
+            while(self.arduino.in_waiting == 0 and time.time() - timeout_ctr < 2):
+                pass
+
+            try:
+                print(self.arduino.readline())
+
+            except Exception as e:
+                print(e)
+
+    def tare_angle(self):
+        if self.arduino:
+            self.tare_flag = True
         else:
-            self.torque_input['state'] = 'disabled'
-            self.coordinates_text['state'] = 'normal'
+            messagebox.showwarning("Warning", "Arduino not connected")
 
-    def on_plot_button_click(self):
-        if self.torque_mode.get():
-            # Logik für die direkte Vorgabe des Soll-Drehmoments
-            set_torque = self.set_torque_value.get()
+    def demagnetize(self):
+        if self.arduino:
+            self.demag_flag = True
         else:
-            # Logik für das Drehmomentprofil
-            self.create_diagram()
-        self.save_set_values()
+            messagebox.showwarning("Warning", "Arduino not connected")
 
-    def update_current_values_periodically(self):
-        # Simulieren von veränderlichen aktuellen Werten (als Beispiel)
-        #new_angle = random.randint(0, 90)
-        #new_torque = random.uniform(0, 50)
-        #self.update_current_values(new_angle, new_torque)
-        self.update_current_values(act_angle, act_torque)
-        self.root.after(200, self.update_current_values_periodically)
+    def input_source_Switch(self):
+        if self.arduino:
+            self.input_source_flag = True
+        else:
+            messagebox.showwarning("Warning", "Arduino not connected")
 
-# Anwendung starten
-root = tk.Tk()
-app = T2000ErdemGUI(root)
-root.mainloop()
+    def communication_loop(self):
+        while self.running:
+            if self.arduino:
+                self.arduino.read_all()
+                if self.setpoint_flag:
+                    self.arduino.write(f"s{self.setpoint:.0f},0\n".encode())
+                    self.setpoint_flag = False
+                    time.sleep(0.1)
+                if self.multi_setpoints_flag:
+                    self.send_interpolated_points()
+                    self.multi_setpoints_flag = False
+                    time.sleep(0.1)
+                if self.tare_flag:
+                    self.arduino.write(b'w\n')
+                    self.tare_flag = False
+                    time.sleep(0.1)
+                if self.demag_flag:
+                    self.arduino.write(b'e\n')
+                    self.demag_flag = False
+                    time.sleep(0.1)
+                if self.input_source_flag:
+                    self.arduino.write(b'S\n')
+                    self.input_source_flag = False
+                    time.sleep(0.1)
+                if self.pid_flag:
+                    self.send_pid_parameters()
+                    self.pid_flag = False
+
+                self.arduino.write(b'a\n')
+                timeout_ctr = time.time()
+                while(self.arduino.in_waiting == 0 and time.time() - timeout_ctr < 2):
+                    pass
+
+                try:
+                    data = self.arduino.readline().decode(errors='ignore').strip().split(";")
+                    self.current_angle = float(data[0]) / 1000
+                    self.current_torque = float(data[1]) / 1000
+                    self.analogInput = float(data[2]) / 1000
+                    self.currentSetpoint = float(data[3]) / 1000
+
+                    self.angle_label_var.set(f"Drehwinkel: {self.current_angle:.1f} °")
+                    self.torque_label_var.set(f"Istwert: {self.current_torque:.1f} Nm")
+                    self.analogread_label_var.set(f"Analogeingang: {self.analogInput:.1f} V")
+                    self.currentSetpoint_label_var.set(f"Aktueller Sollwert: {self.currentSetpoint:.1f} Nm")
+
+                    if self.current_point is not None:
+                        self.current_point.remove()
+                    self.current_point, = self.ax.plot([self.current_angle], [self.current_torque], 'ro')
+                    self.canvas.draw()
+                except Exception as e:
+                    print(e)
+
+            time.sleep(0.1)
+
+    def send_pid_parameters(self):
+        if self.selected_pid in self.pid_params:
+            pid_values = self.pid_params[self.selected_pid]
+            kp = f"{pid_values['Kp']:.3f}"
+            ki = f"{pid_values['Ki']:.3f}"
+            kd = f"{pid_values['Kd']:.3f}"
+            self.arduino.write(f"p{kp}\n".encode())
+            time.sleep(0.1)
+            self.arduino.write(f"i{ki}\n".encode())
+            time.sleep(0.1)
+            self.arduino.write(f"d{kd}\n".encode())
+            messagebox.showinfo("Info", f"PID parameters sent: Kp={kp}, Ki={ki}, Kd={kd}")
+        else:
+            messagebox.showerror("Error", "Selected PID configuration not found.")
+
+    def on_closing(self):
+        self.running = False
+        if self.arduino:
+            self.arduino.close()
+        self.root.quit()
+        self.root.destroy()
+
+if __name__ == "__main__":
+    root = customtkinter.CTk()
+    app = ArduinoGUI(root)
+    root.protocol("WM_DELETE_WINDOW", app.on_closing)
+    root.mainloop()