from concurrent.futures import thread
import dash
from dash import html,dcc, callback
from dash.dependencies import Input, Output, State
import dash_bootstrap_components as dbc
import plotly.express as px
import pandas as pandas
from Core.mothership import Mothership
from Core.gridDestinationEnum import GridDestinationEnum
import plotly.graph_objs as go
mothership = Mothership("/")
""" UI Components """
location_dropdown = html.Div(dcc.Dropdown(mothership.get_destinations(), "Location A", id = "location-dropdown"))
move_button = html.Div(dbc.Button("Move", size ="lg", n_clicks=0, type='submit', id='Move-button', style={'border-width': '0px', 'font-size': '14px',
'font-family': 'Arial', 'background-color': '#3DADFF', 'border-color' : '#FFFFFF'}
))
stop_button = html.Div(dbc.Button(
"Stop",
size ="lg",
n_clicks=0,
type='submit',
title = "Stop",
id='Stop-button', style={'border-width': '0px', 'font-size': '14px',
'font-family': 'Arial', 'background-color': '#3DADFF', 'border-color' : '#FFFFFF'}
))
base_image_button = html.Div(dbc.Button(
"Take Base Image",
size ="lg",
n_clicks=0,
type='submit',
title = "Base",
id='Base-Image-button', style={'border-width': '0px', 'font-size': '14px',
'font-family': 'Arial', 'background-color': '#3DADFF', 'border-color' : '#FFFFFF'}
))
detect_drone_button = html.Div(dbc.Button(
"Detect Drone",
size ="lg",
n_clicks=0,
type='submit',
title = "Detect",
id='Detect-Drone-button', style={'border-width': '0px', 'font-size': '14px',
'font-family': 'Arial', 'background-color': '#3DADFF', 'border-color' : '#FFFFFF'}
))
""" UI Layout """
layout = html.Div(
[
dbc.Row(dbc.Col(html.Div(html.H3("Factory Automation", style = {"textAlign":"center"}))), justify = "around", style = {"margin-top":"1rem"}),
html.Br(),
dbc.Row(
[
dbc.Row(
[
dbc.Col(
[
dbc.Row(
[
dbc.Card(
dbc.CardBody(
[
dbc.Row(
[
html.H4("Drone Detection", className = "card-title", style = {"textAlign":"center"})
],
justify = "center"
),
dbc.Row(
[
dcc.Graph(id = 'grid-feed')
]
)
]
)
)
]
),
dbc.Row(
[
dbc.Col([base_image_button]),
dbc.Col([detect_drone_button])
],
style = {"margin-top":"2rem"}
),
dbc.Row(
[
html.Div(children='', id='output-user-drone-detect-action'),
]
)
],
xs = 5, sm = 5, md = 5, lg = 5, xl = 5
),
dbc.Col(
[
dbc.Row(
[
dbc.Card(
dbc.CardBody(
[
dbc.Row(
[
html.H4("Grid Status", className = "card-title", style = {"textAlign":"center"})
],
justify = "center"
),
dbc.Row(
[
dcc.Graph(id = 'grid-heatmap')
]
)
]
)
)
]
),
dbc.Row(
[
dbc.Col(
[
location_dropdown
],
xs = 7, sm = 7, md = 7, lg = 7, xl = 7,
),
dbc.Col(
[
move_button
],
xs = 2, sm = 2, md = 2, lg = 2, xl = 2
),
dbc.Col(
[
stop_button
],
xs = 2, sm = 2, md = 2, lg = 2, xl = 2
),
dcc.Store(id = "user-input")
],
style = {"margin-top":"2rem"}
),
dbc.Row(
[
html.Div(children='', id='output-user-action'),
html.Div(children='', id='output-user-stop-action'),
dcc.Interval(id = 'interval-component', interval=500, n_intervals =0),
dcc.Interval(id = 'interval-component-two', interval=2000, n_intervals =0)
]
)
],
xs = 5, sm = 5, md = 5, lg = 5, xl = 5
)
],
justify = "around"
)
]
)
]
)
dash.register_page(__name__, path = '/')
""" Grid status call backs """
@callback(Output("grid-heatmap", "figure", allow_duplicate=True), [Input("interval-component", "n_intervals")], allow_duplicate = True, prevent_initial_call = True)
def update_grid(n_intervals):
# Get Current Grid Status
current_grid, grid_labels = mothership.get_grid_status()
heatmap = go.Heatmap(z=current_grid, colorscale ='Viridis', text = grid_labels, colorbar = dict())
layout = go.Layout()
return {"data":[heatmap], "layout":layout}
@callback(Output("grid-heatmap", "figure", allow_duplicate=True), [Input("location-dropdown", "value")], allow_duplicate = True, prevent_initial_call = True)
def update_grid(value):
# Get Current Grid Status
mothership.reset_grid_status()
current_grid, grid_labels = mothership.a_star_get_status(value)
heatmap = go.Heatmap(z=current_grid, colorscale ='Viridis', text = grid_labels)
layout = go.Layout(showlegend = False)
return {"data":[heatmap], "layout":layout}
@callback(
Output("output-user-drone-detect-action", "children", allow_duplicate=True), [Input("Move-button", "n_clicks")], [State("location-dropdown", "value")], allow_duplicate = True, prevent_initial_call = True
)
def move_location(n_clicks, value):
if n_clicks > 0:
mothership.move_to_destination()
mothership.reset_grid_status()
return "Moved to " + value
@callback(
Output("output-user-action", "children", allow_duplicate=True), [Input("Stop-button", "n_clicks")], allow_duplicate = True, prevent_initial_call = True
)
def cancel(n_clicks):
if n_clicks > 0:
mothership.halt_drone()
print("Stopping")
return "Stopping Robot"
""" Drone Tracking call backs """
@callback(
Output("output-user-drone-detect-action", "children", allow_duplicate=True), [Input("Base-Image-button", "n_clicks")], allow_duplicate = True, prevent_initial_call = True
)
def take_base_image(n_clicks):
print(n_clicks)
if n_clicks > 0:
mothership.take_base_image()
print("Taking base image")
return "Updated Base Image"
@callback(
Output("output-user-drone-detect-action", "children", allow_duplicate=True), [Input("Detect-Drone-button", "n_clicks")], allow_duplicate = True, prevent_initial_call = True
)
def cancel(n_clicks):
if n_clicks > 0:
drone_coordinates = mothership.track_drone()
print("Drone detect at ", drone_coordinates)
return "Drone detected"
@callback(Output("grid-feed", "figure", allow_duplicate=True), [Input("interval-component-two", "n_intervals")], allow_duplicate = True, prevent_initial_call = True)
def update_grid(n_intervals):
# Get Current Grid feed
current_grid = mothership.get_grid_feed()
#print(current_grid.shape)
img = go.Heatmap(z=current_grid, colorscale ='Viridis')
layout = go.Layout()
return {"data":[img], "layout":layout}