Merge branch 'Module4' into 'main'

UI Code + Some progress on Module 4

See merge request ee2l1/2025-2026/A.K.03!6

Manual/7_Midterm_Report.ipynb

@@ -1,13 +1,5 @@
 {
  "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "![book header](pictures/header.png)\n",
-    "[Table of Contents](0_Table_of_Contents.ipynb)"
-   ]
-  },
   {
    "cell_type": "markdown",
    "metadata": {},

student_code/car.py

@@ -0,0 +1,91 @@
+from serial import Serial
+#from Manual.KITT_Simulator.serial_simulator import Serial
+
+
+class KITT:
+    current_speed = 150
+    current_angle = 150
+    beacon_state = False
+
+    def __init__(self, port, baudrate=115200):
+        # Initialize the serial connection
+        # self.serial = Serial(port, baudrate, rtscts=True)
+        self.serial = Serial(port, baudrate,rtscts=True)
+        # Initialize beacon parameters here using send_command
+        # Set carrier frequency, bit frequency, repetition count, and code pattern
+        carrier_frequency_value = 10000
+        carrier_frequency = carrier_frequency_value.to_bytes(2, byteorder='big')
+        self.send_command(b"F"+carrier_frequency+b"\n")
+
+
+        bit_frequency_value = 5000
+        bit_frequency = bit_frequency_value.to_bytes(2, byteorder='big')
+        self.send_command(b"B"+bit_frequency+b"\n")
+
+
+        desired_repetition_frequency = 2  # Replace with your value
+        repetition_count_value = bit_frequency_value // desired_repetition_frequency
+        repetition_count = repetition_count_value.to_bytes(2, byteorder='big')
+        # Ensure repetition_count_value is at least 32
+        repetition_count_value = max(repetition_count_value, 32)
+        repetition_count = repetition_count_value.to_bytes(2, byteorder='big')
+        self.send_command(b"R"+repetition_count+b"\n")
+
+        code_value = 0x67676767 # Replace with your code
+        code = code_value.to_bytes(4, byteorder='big')
+        self.send_command(b"C"+code+b"\n")
+
+    def send_command(self, command):
+        # Send the command string over the serial connection
+        self.serial.write(command)
+        #print(command)
+
+    def set_speed(self, speed):
+        # Send the motor speed command using send_command
+        # Use the format 'M<speed>\n'
+        self.send_command(f"M{speed}\n".encode())
+        self.current_speed = speed
+
+    def get_speed(self):
+        return self.current_speed
+
+    def set_angle(self, angle):
+        # Send the steering angle command using send_command
+        # Use the format 'D<angle>\n'
+        self.send_command(f"D{angle}\n".encode())
+        self.current_angle = angle
+
+    def get_angle(self):
+        return self.current_angle
+
+    def stop(self):
+        # Stop the car by setting speed and angle to neutral (150)
+        # Call set_speed and set_angle with 150
+        self.set_speed(150)
+        self.set_angle(150)
+
+    def start_beacon(self):
+        # Send commands to start the beacon
+        # Use the command 'A1\n'
+        self.send_command(b"A1\n")
+
+    def stop_beacon(self):
+        # Send commands to stop the beacon
+        # Use the command 'A0\n'
+        self.send_command(b"A0\n")
+
+    def toggle_beacon(self):
+        if self.beacon_state:
+            self.beacon_state = False
+            self.stop_beacon()
+        else:
+            self.beacon_state = True
+            self.start_beacon()
+
+    def get_beacon_state(self):
+        return self.beacon_state
+
+    def close(self):
+        # Close the serial connection
+        # self.serial.close()
+        self.serial.close()

student_code/kitt_main.py

@@ -1,7 +1,12 @@
 from serial import Serial
+#from Manual.KITT_Simulator.serial_simulator import Serial
 
 
 class KITT:
+    current_speed = 150
+    current_angle = 150
+    beacon_state = False
+
     def __init__(self, port, baudrate=115200):
         # Initialize the serial connection
         # self.serial = Serial(port, baudrate, rtscts=True)
@@ -33,19 +38,25 @@ class KITT:
     def send_command(self, command):
         # Send the command string over the serial connection
         self.serial.write(command)
-        print(command)
+        #print(command)
 
     def set_speed(self, speed):
         # Send the motor speed command using send_command
         # Use the format 'M<speed>\n'
         self.send_command(f"M{speed}\n".encode())
+        self.current_speed = speed
 
+    def get_speed(self):
+        return self.current_speed
 
     def set_angle(self, angle):
         # Send the steering angle command using send_command
         # Use the format 'D<angle>\n'
         self.send_command(f"D{angle}\n".encode())
+        self.current_angle = angle
 
+    def get_angle(self):
+        return self.current_angle
 
     def stop(self):
         # Stop the car by setting speed and angle to neutral (150)
@@ -63,6 +74,17 @@ class KITT:
         # Use the command 'A0\n'
         self.send_command(b"A0\n")
 
+    def toggle_beacon(self):
+        if self.beacon_state:
+            self.beacon_state = False
+            self.stop_beacon()
+        else:
+            self.beacon_state = True
+            self.start_beacon()
+
+    def get_beacon_state(self):
+        return self.beacon_state
+
     def close(self):
         # Close the serial connection
         # self.serial.close()

student_code/ui.py

@@ -0,0 +1,174 @@
+import queue
+import threading
+import time
+import tkinter as tk
+from car import KITT
+import serial.tools.list_ports
+from pynput import keyboard
+
+if __name__ == "__main__":
+    serial_selector = tk.Tk()
+    serial_selector.title("Select serial port")
+
+
+    ports = list(serial.tools.list_ports.comports())
+    length = len(ports) * 25
+    serial_selector.geometry(f"600x{length+50}")
+    selected_port = tk.StringVar()
+
+    for port in ports:
+        tk.Radiobutton(serial_selector,text = f"{port.device}",variable=selected_port,value= port.device).pack()
+
+    def select_port():
+        global selected_port
+        selected_port = selected_port.get()
+        serial_selector.destroy()
+
+    button = tk.Button(serial_selector, text="Select serial port", command=select_port)
+    button.pack()
+    serial_selector.mainloop()
+
+    car = KITT(f"{selected_port}")
+    root = tk.Tk()
+    root.title("Patatje Oorloog")
+    root.geometry("800x600")
+
+    speed_label = tk.Label(root, text=f"Speed {car.get_speed()}")
+    speed_label.grid(row = 0, column = 0)
+
+    speed_var = tk.StringVar()
+    speed_entry = tk.Entry(root, textvariable=speed_var)
+    speed_entry.grid(row = 0, column = 1)
+
+    def speed_btn():
+        global car
+        car.set_speed(speed_var.get())
+        speed_label.config(text = f"Speed {car.get_speed()}")
+
+    speed_set_btn = tk.Button(root, text="Set Speed", command=speed_btn)
+    speed_set_btn.grid(row = 0, column = 2)
+
+    angle_label = tk.Label(root, text=f"Angle {car.get_angle()}")
+    angle_label.grid(row = 1, column = 0)
+
+    angle_var = tk.StringVar()
+    angle_entry = tk.Entry(root, textvariable=angle_var)
+    angle_entry.grid(row=1, column=1)
+
+
+    def angle_btn():
+        global car
+        car.set_angle(angle_var.get())
+        angle_label.config(text=f"Speed {car.get_angle()}")
+
+
+    angle_set_btn = tk.Button(root, text="Set Angle", command=angle_btn)
+    angle_set_btn.grid(row=1, column=2)
+
+    beacon_label = tk.Label(root, text=f"Beacon {car.get_beacon_state()}")
+    beacon_label.grid(row = 2, column = 0)
+
+    def toggle_beacon_btn():
+        global car
+        car.toggle_beacon()
+        beacon_label.config(text = f"Beacon {car.get_beacon_state()}")
+
+    beacon_toggle = tk.Button(root, text="Toggle Beacon", command=toggle_beacon_btn)
+    beacon_toggle.grid(row = 2, column = 1)
+
+    def close_btn_func():
+        car.stop_beacon()
+        car.stop()
+        try:
+            car.close()
+        except OSError:
+            pass
+        root.destroy()
+
+    close_btn = tk.Button(root, text="Close", command=close_btn_func)
+    close_btn.grid(row = 10,column = 0)
+
+    # Thread-safe queue for passing keys from listener to Tkinter
+    key_queue = queue.Queue()
+    last_key = None
+    def start_listener():
+        """Start pynput listener in a background thread."""
+
+        def on_press(key):
+            # Put a string representation of the key into the queue
+            global last_key
+            try:
+                key_queue.put(f"{key.char}")
+                if True: #not key == last_key :
+                    if key.char == "w":
+                        car.set_speed(165)
+                        speed_label.config(text = f"Speed {car.get_speed()}")
+                    if key.char == "s":
+                        car.set_speed(140)
+                        speed_label.config(text=f"Speed {car.get_speed()}")
+                    if key.char == "a":
+                        car.set_angle(200)
+                        angle_label.config(text=f"Angle {car.get_angle()}")
+                    if key.char == "d":
+                        car.set_angle(100)
+                        angle_label.config(text=f"Angle {car.get_angle()}")
+                #last_key = key
+            except AttributeError:
+                key_queue.put(str(key))
+                if str(key) == "Key.space":
+                    car.toggle_beacon()
+                    beacon_label.config(text=f"Beacon {car.get_beacon_state()}")
+
+        def on_release(key):
+            # Stop listener if ESC is pressed
+            if key == keyboard.Key.esc:
+                return False
+            try :
+                if key.char == "w":
+                    car.set_speed(150)
+                    speed_label.config(text=f"Speed {car.get_speed()}")
+                if key.char == "s":
+                    car.set_speed(150)
+                    speed_label.config(text=f"Speed {car.get_speed()}")
+                if key.char == "a":
+                    car.set_angle(150)
+                    angle_label.config(text=f"Angle {car.get_angle()}")
+                if key.char == "d":
+                    car.set_angle(150)
+                    angle_label.config(text=f"Angle {car.get_angle()}")
+            except AttributeError:
+                pass
+            return None
+
+        def run_listener():
+            with keyboard.Listener(on_press=on_press,
+                                   on_release=on_release) as listener:
+                listener.join()
+
+        # Run listener in its own thread so it does not block Tkinter
+        t = threading.Thread(target=run_listener, daemon=True)
+        t.start()
+
+    def poll_queue():
+        """Check the queue for new keys and update the label."""
+        try:
+            while True:
+                k = key_queue.get_nowait()
+                current = label_var.get()
+                label_var.set(f"Last key: {k}")
+        except queue.Empty:
+            pass
+        # Schedule next poll
+        root.after(10, poll_queue)
+
+    label_var = tk.StringVar(value="Press any key (global). ESC stops listener.")
+    label = tk.Label(root, textvariable=label_var, width=50)
+    label.grid(row = 9,column = 0)
+
+    start_button = tk.Button(root, text="Start listener", command=start_listener)
+    start_button.grid(row = 9, column = 1)
+
+    # Start polling the queue
+    root.after(10, poll_queue)
+    root.protocol("WM_DELETE_WINDOW", close_btn_func)
+    root.mainloop()