kuukar-rpi/kuukar/kuukar_lcd.py

from time import sleep
from socket import gethostname, gethostbyname
import kuukar.kuukar_nextion as kuukar_nextion
import kuukar.kuukar_motion as kuukar_motion
import kuukar.kuukar_sensors as kuukar_sensors
from threading import Thread


class lcd:
    def __init__(self, motion: kuukar_motion.motion, sensors: kuukar_sensors.sensors) -> None:
        self.nextion = kuukar_nextion.nextion()
        self.motion = motion
        self.sensors = sensors
        sleep(1)
        self.nextion.send_command("page home")
        self.nextion.send_command(
            "ipTXT.txt=\"" + str(gethostbyname(gethostname())) + "\"")
        self.nextion.external_touch_handler = self.touch_handler
        Thread(target=self._sensor_screen_updator).start()

    def play_video(self, filename: str) -> None:
        self.nextion.send_command("page video_player")
        self.nextion.send_command("video.path=\"sd0/" + filename + ".video\"")
        self.nextion.send_command("video.en=1")

    def pause_video(self) -> None:
        self.nextion.send_command("video.en=2")

    def resume_video(self) -> None:
        self.nextion.send_command("video.en=1")

    def stop_video(self) -> None:
        self.nextion.send_command("video.en=0")
        self.nextion.send_command("page home")

    def touch_handler(self, page, component_id, press_type):
        print(f'page:{page} cid:{component_id} pt:{press_type}')
        if page == 1 and component_id == 2 and press_type == '01':
            if self.nextion.get_attribute("aiTG.val"):
                print("AI Drive Activated")
                self.motion.roam_start()
            else:
                print("AI Drive Deactivated")
                self.motion.roam_stop()
        elif page == 3:
            if component_id == 2 and press_type == '00':
                x = self.nextion.get_attribute("joystick.x")
                y = self.nextion.get_attribute("joystick.y")
                if x is not None and y is not None:
                    speed = 100 - (y - 60) / (205 - 60) * 200
                    turn = (x - 5) / (150 - 5) * 200 - 100
                    print(f"Setting speed to {speed} and turn angle to {turn}")
                    if not self.motion.is_roaming():
                        self.motion.drive_skew(speed,turn)
    def _sensor_screen_updator(self):
        while True:
            self.nextion.send_command(
                f"tempTXT.txt=\"{self.sensors.get_temperature()} C\"")
            self.nextion.send_command(
                f"humidityTXT.txt=\"{self.sensors.get_humidity_pct()}%\"")
            self.nextion.send_command(
                f"brightnessTXT.txt=\"{self.sensors.get_brightness_pct()}\"")
            self.nextion.send_command(
                f"sonarTXT.txt=\"{int(self.sensors.sonar_get_distance(2))} / {int(self.sensors.sonar_get_distance(1))} / {int(self.sensors.sonar_get_distance(0))}\"")
            sleep(1)