added scrolling, and fixed loading bugs

armstron/config/test_profiles/simple_pull_test2.yaml

@@ -0,0 +1,16 @@
+params:
+  preload:
+  - {balance: pose}
+  - jog:
+      angular: [0.0, 0.0, 0.0]
+      linear: [0.0, 0.0, -0.003]
+    stop_conditions: {min_force_z: -60.0}
+  - pose:
+      orientation: [0.0, 0.0, 0.0]
+      position: [0.0, 0.0, 0.0]
+  test:
+  - jog:
+      angular: [0.0, 0.0, 0.0]
+      linear: [0.0, 0.0, 0.001]
+    stop_conditions: {max_position_z: 0.02}
+type: sequence

armstron/scripts/gui.py

@@ -208,6 +208,7 @@ def init_profile_handler(self, parent):
             )
         self.profile_handler.set_callback('open_after',self.update_config)
         self.profile_handler.set_callback('saveas_before',self.get_config_from_gui)
+        self.profile_handler.set_callback('saveas_after',lambda : self.profile_handler.open_file(direct=True))
 
 
         self.save_handler = ProfileHandler(

armstron/src/armstron/gui/profile_editor.py

@@ -14,7 +14,7 @@
 
 from ttkthemes import ThemedTk
 
-from armstron.gui.utils import Spinbox, OptionSwitcher
+from armstron.gui.utils import Spinbox, OptionSwitcher, ScrollbarLabelFrame
 
 
 class ProfileEditor:
@@ -347,6 +347,13 @@ def _make_input_group(self, parent, config, vars, index):
                                         condition['signal'],
                                         sorted(self.stop_values.keys()))
 
+                def cb (*args):
+                    cond.update_options(self.stop_values[var['signal'].get()])
+                    fr_stop_inner.configure(bg=self.colors[var['signal'].get()][1])
+
+                var['signal'].trace("w", cb)
+                # cond.update_options(self.stop_values[value])
+
                 box = Spinbox(fr_stop_inner, textvariable=var['value'])
                 box.set(condition['value'])
                 cond.pack(expand=False, fill="y", side='left')
@@ -491,7 +498,11 @@ def _init_inputs(self, parent, profile, var_tree):
         preload_vars = var_tree['params'].get('preload')
         test_vars = var_tree['params'].get('test')
 
-        fr_preload = tk.LabelFrame(self.fr_buttons, text="Preload", font=('Arial', 12, 'bold'), bd=2)
+        sbf = ScrollbarLabelFrame(self.fr_buttons, text="Preload", font=('Arial', 12, 'bold'), bd=2)
+        sbf.pack(expand=True, fill="both", padx=5, pady=5, side='left')
+        #canvas = Scrollable(self.fr_buttons)
+
+        fr_preload = sbf.scrolled_frame #tk.LabelFrame(sbf.scrolled_frame, text="Preload", font=('Arial', 12, 'bold'), bd=2)
         for idx,seg in enumerate(preload):
             fr_step=tk.Frame(fr_preload)
             fr_step.pack(expand=False, fill='both', side='top')
@@ -509,9 +520,15 @@ def _init_inputs(self, parent, profile, var_tree):
         fr_ctrl.pack(expand=False, fill="both", padx=5, pady=5, side='left')
         fr.pack(expand=False, fill="both", padx=5, pady=5, side='left')
 
-        fr_preload.pack(expand=False, fill="both", padx=5, pady=5, side='left')
+        #fr_preload.pack(expand=False, fill="both", padx=5, pady=5, side='left')
+
+        sbf2 = ScrollbarLabelFrame(self.fr_buttons, text="Preload", font=('Arial', 12, 'bold'), bd=2)
+        sbf2.pack(expand=True, fill="both", padx=5, pady=5, side='left')
+        #canvas = Scrollable(self.fr_buttons)
+
+        fr_test = sbf2.scrolled_frame 
 
-        fr_test = tk.LabelFrame(self.fr_buttons ,text="Main Test", font=('Arial', 12, 'bold'), bd=2)
+        #fr_test = tk.LabelFrame(self.fr_buttons ,text="Main Test", font=('Arial', 12, 'bold'), bd=2)
         for idx,seg in enumerate(test):
             fr_step=tk.Frame(fr_test)
             fr_step.pack(expand=False, fill='both', side='top')
@@ -529,9 +546,9 @@ def _init_inputs(self, parent, profile, var_tree):
         fr_ctrl.pack(expand=False, fill="both", padx=5, pady=5, side='left')
         fr.pack(expand=False, fill="both", padx=5, pady=5, side='left')
 
-        fr_test.pack(expand=False, fill="both", padx=5, pady=5, side='left')
+        #fr_test.pack(expand=False, fill="both", padx=5, pady=5, side='left')
 
-        self.fr_buttons.pack(expand=False, fill="x", side='top')
+        self.fr_buttons.pack(expand=True, fill="both", side='top')
 
 
     def __del__(self):

armstron/src/armstron/gui/profile_handler.py

@@ -107,19 +107,21 @@ def _check_enable_buttons(self):
                 self.buttons['saveas'].configure(state='disabled')
 
 
-    def open_file(self):
+    def open_file(self, direct=False):
 
         self.callbacks['open_before']()
 
-        filepath = fdialog.askopenfilename(
-            filetypes=self.file_types,
-            initialdir=self.curr_config_file['dirname'],
-            initialfile=self.curr_config_file['basename']
-        )
-        if not filepath:
-            return None
-        self.curr_config_file['basename'] = os.path.basename(filepath)
-        self.curr_config_file['dirname'] = os.path.dirname(filepath)
+        if not direct:
+            filepath = fdialog.askopenfilename(
+                filetypes=self.file_types,
+                initialdir=self.curr_config_file['dirname'],
+                initialfile=self.curr_config_file['basename']
+            )
+            if not filepath:
+                return None
+            self.curr_config_file['basename'] = os.path.basename(filepath)
+            self.curr_config_file['dirname'] = os.path.dirname(filepath)
+
         self.load_file()
         self._check_enable_buttons()
 

armstron/src/armstron/gui/utils.py

@@ -3,6 +3,8 @@
 import os
 import sys
 import copy
+import time
+import numpy as np
 if sys.version_info[0] == 3:
     import tkinter as tk
     import tkinter.ttk as ttk
@@ -35,10 +37,162 @@ def set(self, value):
 
 class OptionSwitcher(ttk.OptionMenu):
     def __init__(self, container, variable, default=None, *values, **kwargs):
-        fill_option = "< Choose >"
-        values_cp = copy.deepcopy(*values)
-        values_cp.insert(0, fill_option)
+        self.container=container
+        self.variable=variable
+        self.default=default
+        self.fill_option = "< Choose >"
+        self.values=self._add_fill_option(*values)
+
         if default is None:
-            default = values_cp[0]
+            default = self.values[0]
+
+        ttk.OptionMenu.__init__(self,container,variable, default, *self.values, **kwargs)
+
+
+    def _add_fill_option(self,options):
+        values_cp = copy.deepcopy(options)
+        values_cp.insert(0, self.fill_option)
+        return values_cp
+
+
+    def update_options(self, options):
+        self.values=self._add_fill_option(options)
+
+        self['menu'].delete(0, "end")
+        for string in self.values:
+            self['menu'].add_command(label=string, 
+                             command=lambda value=string: self.variable.set(value))
+
+        self.variable.set(self.fill_option)
+
+    def get_options(self):
+        return self.values[1:]
+
+
+class Scrollable(tk.Frame):
+    """
+       Make a frame scrollable with scrollbar on the right.
+       After adding or removing widgets to the scrollable frame,
+       call the update() method to refresh the scrollable area.
+    """
+
+    def __init__(self, frame, width=16):
+
+        scrollbar = tk.Scrollbar(frame, width=width)
+        scrollbar.pack(side=tk.RIGHT, fill=tk.Y, expand=False)
+
+        self.canvas = tk.Canvas(frame, yscrollcommand=scrollbar.set)
+        self.canvas.pack(side=tk.LEFT, fill=tk.BOTH, expand=True)
+
+        scrollbar.config(command=self.canvas.yview)
+
+        self.canvas.bind('<Configure>', self.__fill_canvas)
+
+        # base class initialization
+        tk.Frame.__init__(self, frame)
+
+        # assign this obj (the inner frame) to the windows item of the canvas
+        self.windows_item = self.canvas.create_window(0,0, window=self, anchor=tk.NW)
+
+
+    def __fill_canvas(self, event):
+        "Enlarge the windows item to the canvas width"
+
+        canvas_width = event.width
+        self.canvas.itemconfig(self.windows_item, width = canvas_width)
+
+    def update(self):
+        "Update the canvas and the scrollregion"
+
+        self.update_idletasks()
+
+
+class ScrollbarFrame(tk.Frame):
+    """
+    Extends class tk.Frame to support a scrollable Frame 
+    This class is independent from the widgets to be scrolled and 
+    can be used to replace a standard tk.Frame
+    """
+    def __init__(self, parent, **kwargs):
+        tk.Frame.__init__(self, parent, **kwargs)
+
+        # The Scrollbar, layout to the right
+        vsb = tk.Scrollbar(self, orient="vertical")
+        vsb.pack(side="right", fill="y")
+
+        # The Canvas which supports the Scrollbar Interface, layout to the left
+        self.canvas = tk.Canvas(self, borderwidth=0)
+        self.canvas.pack(side="left", fill="both", expand=True)
+
+        # Bind the Scrollbar to the self.canvas Scrollbar Interface
+        def cb(*args):
+            print(args)
+            val=float(list(args)[1])           
+            for i in range(20):
+                self.canvas.yview(args[0],np.ceil(val/20.0), args[2])
+                time.sleep(0.05)
+
+        #self.canvas.configure(yscrollcommand=cb)
+        self.canvas.configure(yscrollcommand=vsb.set)
+        #self.canvas.configure(scrollregion=self.canvas.bbox("all"))
+        vsb.configure(command=self.canvas.yview)
+
+        # The Frame to be scrolled, layout into the canvas
+        # All widgets to be scrolled have to use this Frame as parent
+        self.scrolled_frame = tk.Frame(self.canvas, background=self.canvas.cget('bg'))
+        self.canvas.create_window((4, 4), window=self.scrolled_frame, anchor="nw")
+
+        # Configures the scrollregion of the Canvas dynamically
+        self.scrolled_frame.bind("<Configure>", self.on_configure)
+
+    def on_configure(self, event):
+        """Set the scroll region to encompass the scrolled frame"""
+        self.canvas.configure(scrollregion=self.canvas.bbox("all"))
+
+
+class ScrollbarLabelFrame(tk.LabelFrame):
+    """
+    Extends class tk.Frame to support a scrollable Frame 
+    This class is independent from the widgets to be scrolled and 
+    can be used to replace a standard tk.Frame
+    """
+    def __init__(self, parent, **kwargs):
+        tk.LabelFrame.__init__(self, parent, **kwargs)
+
+        # The Scrollbar, layout to the right
+        vsb = tk.Scrollbar(self, orient="vertical")
+        vsb.pack(side="right", fill="y")
+
+        # The Canvas which supports the Scrollbar Interface, layout to the left
+        self.canvas = tk.Canvas(self, borderwidth=0)
+        self.canvas.pack(side="left", fill="both", expand=True)
+
+        # Bind the Scrollbar to the self.canvas Scrollbar Interface
+        def cb(*args):
+            if args[0] =='moveto':
+                self.canvas.yview(*args)
+
+            else:
+                val=float(args[1])
+                args = list(args)
+                args[1] = int(np.sign(val)*np.ceil(abs(val)/5.0))
+                self.canvas.yview(*tuple(args))
+
+
+        #self.canvas.configure(yscrollcommand=cb)
+        self.canvas.configure(yscrollcommand=vsb.set)
+        #self.canvas.configure(scrollregion=self.canvas.bbox("all"))
+        vsb.configure(command=cb)
+        #vsb.configure(command=self.canvas.yview)
+
+        # The Frame to be scrolled, layout into the canvas
+        # All widgets to be scrolled have to use this Frame as parent
+        self.scrolled_frame = tk.Frame(self.canvas, background=self.canvas.cget('bg'))
+        self.canvas.create_window((4, 4), window=self.scrolled_frame, anchor="nw")
+
+        # Configures the scrollregion of the Canvas dynamically
+        self.scrolled_frame.bind("<Configure>", self.on_configure)
 
-        ttk.OptionMenu.__init__(self, container,variable, default, *values_cp, **kwargs)
+    def on_configure(self, event):
+        """Set the scroll region to encompass the scrolled frame"""
+        self.canvas.configure(scrollregion=self.canvas.bbox("all"))