93 lines
2.9 KiB
Python
93 lines
2.9 KiB
Python
# Copyright 2014 Modelling, Simulation and Design Lab (MSDL) at
|
|
# McGill University and the University of Antwerp (http://msdl.cs.mcgill.ca/)
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
from pypdevs.simulator import Simulator
|
|
|
|
try:
|
|
from Tkinter import *
|
|
except ImportError:
|
|
from tkinter import *
|
|
from trafficLightModel import *
|
|
|
|
isBlinking = None
|
|
|
|
model = TrafficLight(name="trafficLight")
|
|
refs = {"INTERRUPT": model.INTERRUPT}
|
|
root = Tk()
|
|
|
|
sim = Simulator(model)
|
|
sim.setRealTime(True)
|
|
sim.setRealTimeInputFile(None)
|
|
sim.setRealTimePorts(refs)
|
|
sim.setVerbose(None)
|
|
sim.setRealTimePlatformTk(root)
|
|
|
|
def toManual():
|
|
global isBlinking
|
|
isBlinking = False
|
|
sim.realtime_interrupt("INTERRUPT toManual")
|
|
|
|
def toAutonomous():
|
|
global isBlinking
|
|
isBlinking = None
|
|
sim.realtime_interrupt("INTERRUPT toAutonomous")
|
|
|
|
size = 50
|
|
xbase = 10
|
|
ybase = 10
|
|
|
|
frame = Frame(root)
|
|
canvas = Canvas(frame)
|
|
canvas.create_oval(xbase, ybase, xbase+size, ybase+size, fill="black", tags="red_light")
|
|
canvas.create_oval(xbase, ybase+size, xbase+size, ybase+2*size, fill="black", tags="yellow_light")
|
|
canvas.create_oval(xbase, ybase+2*size, xbase+size, ybase+3*size, fill="black", tags="green_light")
|
|
canvas.pack()
|
|
frame.pack()
|
|
|
|
def updateLights():
|
|
state = model.state.get()
|
|
if state == "red":
|
|
canvas.itemconfig("red_light", fill="red")
|
|
canvas.itemconfig("yellow_light", fill="black")
|
|
canvas.itemconfig("green_light", fill="black")
|
|
elif state == "yellow":
|
|
canvas.itemconfig("red_light", fill="black")
|
|
canvas.itemconfig("yellow_light", fill="yellow")
|
|
canvas.itemconfig("green_light", fill="black")
|
|
elif state == "green":
|
|
canvas.itemconfig("red_light", fill="black")
|
|
canvas.itemconfig("yellow_light", fill="black")
|
|
canvas.itemconfig("green_light", fill="green")
|
|
elif state == "manual":
|
|
canvas.itemconfig("red_light", fill="black")
|
|
global isBlinking
|
|
if isBlinking:
|
|
canvas.itemconfig("yellow_light", fill="yellow")
|
|
isBlinking = False
|
|
else:
|
|
canvas.itemconfig("yellow_light", fill="black")
|
|
isBlinking = True
|
|
canvas.itemconfig("green_light", fill="black")
|
|
root.after(500, updateLights)
|
|
|
|
b = Button(root, text="toManual", command=toManual)
|
|
b.pack()
|
|
c = Button(root, text="toAutonomous", command=toAutonomous)
|
|
c.pack()
|
|
|
|
root.after(100, updateLights)
|
|
|
|
sim.simulate()
|
|
root.mainloop()
|