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energy-in-joles merged 1 commit into from
Jun 5, 2026
Merged

update telop gui #134

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141 changes: 93 additions & 48 deletions utama_core/team_controller/src/debug_utils/telop_gui.py
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,6 @@ class RealRobotController:
def __init__(self, is_team_yellow=True, n_friendly=2):

self.n_friendly = n_friendly
self._dribbler_seconds: dict = {}

print("\n[DUMMY CONTROLLER ENABLED]")
print("No serial/network/hardware required.\n")
Expand All @@ -74,12 +73,14 @@ def send_robot_commands(self):


# --- Config ---
ROBOT_ID = 1
N_FRIENDLY = 2
ROBOT_ID = 0
N_FRIENDLY = 4
IS_YELLOW = True
LOOP_HZ = 60
MAX_VEL = 0.1
FAST_VEL = 0.5
MAX_ANG_VEL = 1
CONNECTION_TIMEOUT = 0.5 # seconds without a response before a robot is marked disconnected

BG = "#1a1a1a"
SURFACE = "#2a2a2a"
Expand All @@ -90,7 +91,6 @@ def send_robot_commands(self):
KICK_C = "#d94a4a"
ON_C = "#4ad97a"
BALL_C = "#d9a84a"
HEAT_C = "#d94a4a" # Red when dribbler near/at thermal limit
DUMMY_C = "#d9a84a" # Orange for dummy warning


Expand All @@ -107,6 +107,12 @@ def __init__(self, root: tk.Tk, controller: RealRobotController):

self.dribble = False
self.chip = False
self._shift_held = False
self.active_robot_id = ROBOT_ID

# Per-robot connection tracking
self._last_seen: dict[int, float] = {}
self._last_has_ball: dict[int, bool] = {}

# Impulse flags
self._kick_impulse = False
Expand Down Expand Up @@ -289,9 +295,9 @@ def _build_ui(self):

self._fb_ball_vars: dict[int, tk.StringVar] = {}
self._fb_ball_lbls: dict[int, tk.Label] = {}
self._fb_heat_vars: dict[int, tk.StringVar] = {}
self._fb_heat_lbls: dict[int, tk.Label] = {}
self._fb_status_vars: dict[int, tk.StringVar] = {}
self._fb_rows: dict[int, tk.Frame] = {}
self._fb_id_lbls: dict[int, tk.Label] = {}
for i in range(N_FRIENDLY):
row = tk.Frame(fb_frame, bg=SURFACE)
row.pack(fill="x", padx=8, pady=4)
Expand Down Expand Up @@ -319,33 +325,28 @@ def _build_ui(self):
)
ball_lbl.pack(side="left", padx=(8, 0))

heat_var = tk.StringVar(value="heat: 0%")
heat_lbl = tk.Label(
row,
textvariable=heat_var,
bg=SURFACE,
fg=MUTED,
font=("monospace", 11),
width=10,
anchor="w",
)
heat_lbl.pack(side="left", padx=(8, 0))

status_var = tk.StringVar(value="no data")
tk.Label(
status_lbl = tk.Label(
row,
textvariable=status_var,
bg=SURFACE,
fg=MUTED,
font=("monospace", 10),
anchor="e",
).pack(side="right")
)
status_lbl.pack(side="right")

# Click anywhere on the row to make this robot active.
for widget in (row, id_lbl, ball_lbl, status_lbl):
widget.bind("<Button-1>", lambda e, rid=i: self._set_active_robot(rid))

self._fb_ball_vars[i] = ball_var
self._fb_ball_lbls[i] = ball_lbl
self._fb_heat_vars[i] = heat_var
self._fb_heat_lbls[i] = heat_lbl
self._fb_status_vars[i] = status_var
self._fb_rows[i] = row
self._fb_id_lbls[i] = id_lbl

self._refresh_active_robot()

# --- Command readout ---
readout_frame = tk.Frame(self.root, bg=SURFACE, highlightbackground=BORDER, highlightthickness=1)
Expand Down Expand Up @@ -395,8 +396,40 @@ def _bind_keys(self):
self.root.bind("<KeyPress-B>", lambda e: self._press("b"))
self.root.bind("<KeyRelease-B>", lambda e: self._release("b"))

# Shift boost
self.root.bind("<KeyPress-Shift_L>", lambda e: self._set_shift(True))
self.root.bind("<KeyRelease-Shift_L>", lambda e: self._set_shift(False))
self.root.bind("<KeyPress-Shift_R>", lambda e: self._set_shift(True))
self.root.bind("<KeyRelease-Shift_R>", lambda e: self._set_shift(False))

# Number keys select the active robot
for i in range(min(N_FRIENDLY, 10)):
self.root.bind(f"<KeyPress-{i}>", lambda e, rid=i: self._set_active_robot(rid))

self.root.bind("<Escape>", lambda e: self._quit())

def _set_shift(self, value: bool):
with self._lock:
self._shift_held = value

def _set_active_robot(self, robot_id: int):
if robot_id < 0 or robot_id >= N_FRIENDLY:
return
with self._lock:
self.active_robot_id = robot_id
self._refresh_active_robot()

def _refresh_active_robot(self):
with self._lock:
active = self.active_robot_id
for rid, id_lbl in self._fb_id_lbls.items():
if rid == active:
id_lbl.configure(fg=ACTIVE)
self._fb_rows[rid].configure(bg=BORDER)
else:
id_lbl.configure(fg=TEXT)
self._fb_rows[rid].configure(bg=SURFACE)

def _press(self, key: str):
with self._lock:
# Check for auto-repeat
Expand Down Expand Up @@ -470,14 +503,17 @@ def _control_loop(self):

with self._lock:
keys = set(self.held)
shift = self._shift_held
active_id = self.active_robot_id
# Impulse capture
kick = self._kick_impulse # don't worry about kick cooldown, handled in controller.
chip = self._chip_impulse # don't worry about kick and chip at same time, handled in controller.
self._kick_impulse = False
self._chip_impulse = False

fwd = MAX_VEL if "w" in keys else (-MAX_VEL if "s" in keys else 0.0)
left = MAX_VEL if "a" in keys else (-MAX_VEL if "d" in keys else 0.0)
vel = FAST_VEL if shift else MAX_VEL
fwd = vel if "w" in keys else (-vel if "s" in keys else 0.0)
left = vel if "a" in keys else (-vel if "d" in keys else 0.0)
ang = MAX_ANG_VEL if "q" in keys else (-MAX_ANG_VEL if "e" in keys else 0.0)

cmd = RobotCommand(
Expand All @@ -491,39 +527,47 @@ def _control_loop(self):

responses = self.controller.get_robots_responses() or []

self.controller.add_robot_commands(cmd, ROBOT_ID)
for rid in range(N_FRIENDLY):
self.controller.add_robot_commands(cmd if rid == active_id else empty_command(), rid)
self.controller.send_robot_commands()

now = time.perf_counter()
for resp in responses:
self._last_seen[resp.id] = now
self._last_has_ball[resp.id] = resp.has_ball

feedback = [
(
i,
self._last_has_ball.get(i, False),
i in self._last_seen and (now - self._last_seen[i]) < CONNECTION_TIMEOUT,
)
for i in range(N_FRIENDLY)
]

# Safely pass updates to the main thread via the queue
self._ui_queue.put(("readout", cmd))
if responses:
self._ui_queue.put(("feedback", responses))
self._ui_queue.put(("feedback", feedback))

elapsed = time.perf_counter() - t0
time.sleep(max(0.0, dt - elapsed))

def _update_feedback(self, responses):
from utama_core.team_controller.src.controllers.real.real_robot_controller import (
DRIBBLER_MAX_ON_SECONDS,
)

for resp in responses:
if resp.id not in self._fb_ball_vars:
def _update_feedback(self, feedback):
for robot_id, has_ball, connected in feedback:
if robot_id not in self._fb_ball_vars:
continue
if not connected:
self._fb_ball_vars[robot_id].set("ball: --")
self._fb_ball_lbls[robot_id].configure(fg=MUTED)
self._fb_status_vars[robot_id].set("no data")
continue
if resp.has_ball:
self._fb_ball_vars[resp.id].set("ball: YES")
self._fb_ball_lbls[resp.id].configure(fg=BALL_C)
if has_ball:
self._fb_ball_vars[robot_id].set("ball: YES")
self._fb_ball_lbls[robot_id].configure(fg=BALL_C)
else:
self._fb_ball_vars[resp.id].set("ball: no")
self._fb_ball_lbls[resp.id].configure(fg=MUTED)
self._fb_status_vars[resp.id].set("connected")

# dribbler heat display
bucket = self.controller._dribbler_seconds.get(resp.id, 0.0)
pct = int(bucket / DRIBBLER_MAX_ON_SECONDS * 100)
self._fb_heat_vars[resp.id].set(f"heat: {pct:3d}%")
heat_colour = HEAT_C if pct >= 80 else (BALL_C if pct >= 50 else MUTED)
self._fb_heat_lbls[resp.id].configure(fg=heat_colour)
self._fb_ball_vars[robot_id].set("ball: no")
self._fb_ball_lbls[robot_id].configure(fg=MUTED)
self._fb_status_vars[robot_id].set("connected")

def _update_readout(self, cmd: RobotCommand):
self._metrics["fwd"].set(f"{cmd.local_forward_vel:+.2f}")
Expand Down Expand Up @@ -554,7 +598,8 @@ def _quit(self):

print("\nSending stop commands...")
for _ in range(10):
self.controller.add_robot_commands(empty_command(), ROBOT_ID)
for rid in range(N_FRIENDLY):
self.controller.add_robot_commands(empty_command(), rid)
self.controller.send_robot_commands()

self.root.destroy()
Expand Down
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