Posture Pal with Walabot

from sys import platform
from os import system
import WalabotAPI
try:  # for Python 2
    import Tkinter as tk
except ImportError:  # for Python 3
    import tkinter as tk


MYPORT = 5002
import requests
import sys, time
from socket import *

class Walabot:

    def __init__(self):
        self.wlbt = WalabotAPI
        self.wlbt.Init()
        self.wlbt.SetSettingsFolder()
        self.isConnected = False
        self.isTargets = False

        self.rMin = self.WalabotParameter(self, "R     Min", 1, 1000, 10.0)
        self.rMax = self.WalabotParameter(self, "R     Max", 1, 1000, 100.0)
        self.rRes = self.WalabotParameter(self, "R     Res", 0.1, 10, 2.0)
        self.tMax = self.WalabotParameter(self, "Theta Max", 1, 90, 20.0)
        self.tRes = self.WalabotParameter(self, "Theta Res", 1, 10, 10.0)
        self.pMax = self.WalabotParameter(self, "Phi   Max", 1, 90, 45.0)
        self.pRes = self.WalabotParameter(self, "Phi   Res", 1, 10, 2.0)
        self.thld = self.WalabotParameter(self, "Threshold", 0.1, 100, 15.0)
        self.mti = self.WalabotParameterMTI(self)
        self.parameters = (
            self.rMin, self.rMax, self.rRes, self.tMax, self.tRes,
            self.pMax, self.pRes, self.thld, self.mti)

    class WalabotParameter(tk.Frame):
        """ The frame that sets each Walabot parameter line.
        """

        def __init__(self, master, varVal, minVal, maxVal, defaultVal):
            """ Init the Labels (parameter name, min/max value) and entry.
            """
            self.minVal, self.maxVal = minVal, maxVal
            self.var = tk.StringVar()
            self.var.set(defaultVal)
            self.var.trace("w", lambda a, b, c, var=self.var: self.validate())
            txt = "[{}, {}]".format(minVal, maxVal)

        def validate(self):
            """ Checks that the entered value is a valid number and between
                the min/max values. Change the font color of the value to red
                if False, else to black (normal).
            """
            num = self.var.get()
            try:
                num = float(num)
                if num < self.minVal or num > self.maxVal:
                    self.entry.config(fg="red")
                    return
                self.entry.config(fg="gray1")
            except ValueError:
                self.entry.config(fg="red")
                return

        def get(self):
            """ Returns the entry value as a float.
            """
            return float(self.var.get())

        def set(self, value):
            """ Sets the entry value according to a given one.
            """
            self.var.set(value)

        def changeState(self, state):
            """ Change the entry state according to a given one.
            """
            self.entry.configure(state=state)

    class WalabotParameterMTI(tk.Frame):
        """ The frame that control the Walabot MTI parameter line.
        """
        def __init__(self, master):
            self.mtiVar = tk.IntVar()
            self.mtiVar.set(0)

        def get(self):
            """ Returns the value of the pressed radiobutton.
            """
            return self.mtiVar.get()

        def set(self, value):
            """ Sets the pressed radiobutton according to a given value.
            """
            self.mtiVar.set(value)

        def changeState(self, state):
            """ Change the state of the radiobuttons according to a given one.
            """
            self.true.configure(state=state)
            self.false.configure(state=state)

    def getParameters(self):
        """ Return the values of all the parameters entries/radiobuttons.
        """
        rParams = (self.rMin.get(), self.rMax.get(), self.rRes.get())
        tParams = (-self.tMax.get(), self.tMax.get(), self.tRes.get())
        pParams = (-self.pMax.get(), self.pMax.get(), self.pRes.get())
        thldParam, mtiParam = self.thld.get(), self.mti.get()
        return rParams, tParams, pParams, thldParam, mtiParam


    def setParameters(self):
        """ Set the arena Parameters according given ones.
        """
        rParams = (self.rMin.get(), self.rMax.get(), self.rRes.get())
        tParams = (-self.tMax.get(), self.tMax.get(), self.tRes.get())
        pParams = (-self.pMax.get(), self.pMax.get(), self.pRes.get())
        thldParam, mtiParam = self.thld.get(), self.mti.get()

        self.wlbt.SetProfile(self.wlbt.PROF_SENSOR)
        self.wlbt.SetArenaR(self.rMin.get(), self.rMax.get(), self.rRes.get())
        self.wlbt.SetArenaTheta(-self.tMax.get(), self.tMax.get(), self.tRes.get())
        self.wlbt.SetArenaPhi(-self.pMax.get(), self.pMax.get(), self.pRes.get())
        self.wlbt.SetThreshold(thldParam)
        self.wlbt.SetDynamicImageFilter(mtiParam)
        self.wlbt.Start()
    def connect(self):
        try:
            self.wlbt.ConnectAny()
            self.isConnected = True
            self.setParameters()
        except self.wlbt.WalabotError as err:
            if err.code != 19:  # 'WALABOT_INSTRUMENT_NOT_FOUND'
                raise err

    def start(self):
        self.wlbt.Start()

    def get_targets(self):
        self.wlbt.Trigger()
        return self.wlbt.GetSensorTargets()

    def stop(self):
        self.wlbt.Stop()

    def disconnect(self):
        self.wlbt.Disconnect()

    def calibrate(self):
        """ Calibrate the Walabot.
        """
        self.wlbt.StartCalibration()
        while self.wlbt.GetStatus()[0] == self.wlbt.STATUS_CALIBRATING:
            self.wlbt.Trigger()

def print_targets(targets):
    system("cls" if platform == "win32" else "clear")  # clear the screen
    distance = str(targets[0].zPosCm)
    r = requests.get("http://localhost:3000/set?distance=" + distance)

    print(targets[0].zPosCm)

def main():
    root = tk.Tk()

    wlbt = Walabot()
    wlbt.connect()

    if not wlbt.isConnected:
        print("Not Connected")
    else:
        print("Connected")

    while True:
        print_targets(wlbt.get_targets())


if __name__ == '__main__':
    main()