class ModuleAWidget(QWidget):
def __init__(self):
QWidget.__init__(self)
self.ui = Ui_ModuleA()
self.ui.setupUi(self)
self.timer = QTimer()
QObject.connect(self.timer, SIGNAL("timeout()"), self.read_inputs)
self.data = 200 * [0.0]
def read_inputs(self):
r = self.dev.read()
u = r[1] / 1023.0 * 3.3
self.dev.pwm(1, int(u * 65536.0 / 3.3))
self.ui.labelU.setText('%0.3f V' % u)
self.ui.progressU.setValue(1000 * u)
self.data.pop(0)
self.data.append(u)
self.scene = QGraphicsScene()
self.scene.addLine(-10, 400 - 0, 610, 400 - 0)
self.scene.addLine(0, 400 + 10, 0, 400 - 410)
self.scene.addLine(-10, 400 - 50, 10, 400 - 50)
self.scene.addLine(-10, 400 - 100, 10, 400 - 100)
self.scene.addLine(-10, 400 - 150, 10, 400 - 150)
self.scene.addLine(-10, 400 - 200, 10, 400 - 200)
self.scene.addLine(-10, 400 - 250, 10, 400 - 250)
self.scene.addLine(-10, 400 - 300, 10, 400 - 300)
self.scene.addLine(-10, 400 - 350, 10, 400 - 350)
self.scene.addLine(-10, 400 - 400, 10, 400 - 400)
self.scene.addSimpleText('4.0').moveBy(-40, 0 - 10)
self.scene.addSimpleText('3.5').moveBy(-40, 50 - 10)
self.scene.addSimpleText('3.0').moveBy(-40, 100 - 10)
self.scene.addSimpleText('2.5').moveBy(-40, 150 - 10)
self.scene.addSimpleText('2.0').moveBy(-40, 200 - 10)
self.scene.addSimpleText('1.5').moveBy(-40, 250 - 10)
self.scene.addSimpleText('1.0').moveBy(-40, 300 - 10)
self.scene.addSimpleText('0.5').moveBy(-40, 350 - 10)
self.scene.addSimpleText('0.0').moveBy(-40, 400 - 10)
self.scene.addSimpleText('[U/V]').moveBy(-39, 430 - 10)
path = QPainterPath()
path.moveTo(0, 400 - self.data[0] * 100)
for i in xrange(1, 200):
path.lineTo(3 * (i + 1), 400 - self.data[i] * 100)
self.scene.addPath(path, QPen(QColor(0, 0, 255), 3))
self.ui.graphU.setScene(self.scene)
class ModuleCWidget(QWidget):
def __init__(self):
QWidget.__init__(self)
self.ui = Ui_ModuleC()
self.ui.setupUi(self)
self.timer = QTimer()
QObject.connect(self.timer, SIGNAL("timeout()"), self.read_inputs)
self.datau = 200*[0.0]
self.datai = 200*[0.0]
self.current = 0
self.mode = ['DC', 'C']
@pyqtSlot()
def on_radioAC_clicked(self):
self.mode[0] = 'AC'
self.setup_hw()
@pyqtSlot()
def on_radioDC_clicked(self):
self.mode[0] = 'DC'
self.setup_hw()
@pyqtSlot()
def on_radioL_clicked(self):
self.mode[1] = 'L'
self.setup_hw()
@pyqtSlot()
def on_radioC_clicked(self):
self.mode[1] = 'C'
self.setup_hw()
@pyqtSlot()
def on_radioLC_clicked(self):
self.mode[1] = 'LC'
self.setup_hw()
@pyqtSlot(bool)
def on_btnPower_clicked(self, checked):
if checked:
self.current = 3.3
self.ui.btnPower.setText('ON')
else:
self.current = 0.0
self.ui.btnPower.setText('OFF')
if self.mode == ['DC', 'L']:
self.dev.setout(1, checked and 1 or 0)
if self.mode == ['DC', 'C']:
self.dev.setout(2, checked and 1 or 0)
if self.mode == ['DC', 'LC']:
self.dev.setout(3, checked and 1 or 1)
def setup_hw(self):
if self.mode == ['DC', 'L']: # AD6
self.dev.switches(1<<5)
self.dev.opamp(2, 5, 0)
if self.mode == ['DC', 'C']: # AD5
self.dev.switches(1<<4)
self.dev.opamp(2, 4, 0)
if self.mode == ['DC', 'LC']: # AD3
self.dev.switches(1<<2)
self.dev.opamp(2, 2, 0)
def setup_scene(self, scene):
scene.addLine(-5, 100-0, 605, 100-0)
scene.addLine(0, 200+5, 0, 200-205)
scene.addLine(-5, 200- 0, 5, 200- 0)
scene.addLine(-5, 200- 50, 5, 200- 50)
scene.addLine(-5, 200-100, 5, 200-100)
scene.addLine(-5, 200-150, 5, 200-150)
scene.addLine(-5, 200-200, 5, 200-200)
def tick_DC(self, u, i):
self.datau.pop(0)
self.datai.pop(0)
self.datau.append(u)
self.datai.append(i)
self.scene1 = QGraphicsScene()
self.scene2 = QGraphicsScene()
self.setup_scene(self.scene1)
self.setup_scene(self.scene2)
self.scene1.addSimpleText('[U/V]').moveBy(-39, 220-10)
self.scene2.addSimpleText('[I/mA]').moveBy(-39, 220-10)
self.scene1.addSimpleText('+4.0').moveBy(-40, 0-10)
self.scene1.addSimpleText('+2.0').moveBy(-40, 50-10)
self.scene1.addSimpleText(' 0.0').moveBy(-40, 100-10)
self.scene1.addSimpleText('-2.0').moveBy(-40, 150-10)
self.scene1.addSimpleText('-4.0').moveBy(-40, 200-10)
self.scene2.addSimpleText('+0.4').moveBy(-40, 0-10)
self.scene2.addSimpleText('+0.2').moveBy(-40, 50-10)
self.scene2.addSimpleText(' 0.0').moveBy(-40, 100-10)
self.scene2.addSimpleText('-0.2').moveBy(-40, 150-10)
self.scene2.addSimpleText('-0.4').moveBy(-40, 200-10)
path = QPainterPath()
path.moveTo(0,100-self.datau[0]*25)
for i in xrange(1,200):
path.lineTo(3*(i+1), 100-self.datau[i]*25)
self.scene1.addPath(path, QPen(QColor(0,0,255), 3))
path = QPainterPath()
path.moveTo(0,100-self.datai[0]*25)
for i in xrange(1,200):
path.lineTo(3*(i+1), 100-self.datai[i]*25)
self.scene2.addPath(path, QPen(QColor(0,0,255), 3))
self.ui.graph1.setScene(self.scene1)
self.ui.graph2.setScene(self.scene2)
def read_inputs(self):
r = self.dev.read()
if self.mode[0] == 'DC':
u = r[0]/1023.0 * 3.3 # TODO: change this if we change opamp
i = self.current - r[0]/1023.0 * 3.3
self.tick_DC(u, i)
class Distortion(visionModule):
'''
classdocs
'''
__imgScene = None
__scene = None
__gview = None
__sceneImgTimer = None
__camera_matrix = None
__dist_coefs = None
__corners = None
__calibrated = False
__calibrating = False
def __init__(self, gui=None, imageGrabber=None, config=None):
'''
Constructor
'''
super(Distortion, self).__init__(gui=gui, imageGrabber=imageGrabber, config=config)
self.__calibrated = False
self.__calibrating = False
if gui != None:
self.__initGui()
if self._config != None:
cfgFile = self._config.getConfigValue("CONFIGURATION", "cfgCalibration")
if cfgFile != None and self.__loadConfigData(cfgFile):
self._gui.status( "Loaded distortion config." )
mrLogger.logInfo( "Loaded distortion config file " + str(cfgFile) )
def __initGui(self):
'''
Initiates gui
'''
# initiate scene
self.__gview = self._gui.getObj("imgDistortion")
self.__scene = QGraphicsScene()
self.__gview.setScene(self.__scene)
# create listeners
self._gui.connect( "cmdFindPattern", "clicked()", self.findChessBoardPattern )
self._gui.connect( "cmdCalibrateDistortion", "clicked()", self.calibrateCamera )
self._gui.connect( "cmdSaveDistortion", "clicked()", self.__saveConfiguration )
self._gui.connect( "cmdLoadDistortion", "clicked()", self.__loadConfiguration )
self._gui.connect( "chkCropImg", "toggled(bool)", self.__borderSelectionChanged )
self._gui.connect( "chkCropImgManual", "toggled(bool)", self.__borderSelectionChanged )
self._gui.connect( "cmdSaveImgDistortion", "clicked()", self.__saveImg )
# start timer
self.__sceneImgTimer = QTimer()
self.__sceneImgTimer.timeout.connect( self._showImage )
self.__sceneImgTimer.start(200)
def isCalibrated(self):
'''
@return: True if image is calibrated
'''
return self.__calibrated
def isCalibrating(self):
'''
@return: True if calibration is in progress
'''
return self.__calibrating
def setImg(self, img=None):
'''
Sets current image
'''
super(Distortion, self).setImg(img)
if not self.isCalibrating() and self._imageGrabber != None:
self.__imgScene = self.cropImage( self.undistortImage(self._img) )
def __borderSelectionChanged(self):
'''
Checks selection of manual/auto
border settings gui group
'''
if self._gui.getObj("chkCropImgManual").isChecked():
self._gui.getObj("chkCropImg").setChecked(False)
self._gui.getObj("chkCropImg").setEnabled(False)
else:
self._gui.getObj("chkCropImg").setEnabled(True)
if self._gui.getObj("chkCropImg").isChecked():
self._gui.getObj("chkCropImgManual").setChecked(False)
self._gui.getObj("chkCropImgManual").setEnabled(False)
else:
self._gui.getObj("chkCropImgManual").setEnabled(True)
def findChessBoardPattern(self):
'''
Finds maximum chessboard pattern
'''
# show message
self.__imgScene = None
self.__scene.clear()
self.__scene.addSimpleText("Searching pattern...\nThis will take a while")
self.__gview.show()
# start search
start_new_thread( self.__searchChessBoardPattern, () )
def __searchChessBoardPattern(self):
'''
Searches for chessboard pattern
(start in background)
'''
# get start and max values
xStart = int( str( self._gui.getObj("txtPatternXMin").text() ) )
yStart = int( str( self._gui.getObj("txtPatternYMin").text() ) )
xMax = int( str( self._gui.getObj("txtPatternXMax").text() ) )
yMax = int( str( self._gui.getObj("txtPatternYMax").text() ) )
# find pattern
if self._img != None:
pattern = findChessBoardPatternSize(self._img, xMax, yMax, xStart, yStart)
if pattern != None and len(pattern) > 0:
# set pattern
if len(pattern) == 2:
self._gui.getObj("txtPatternX").setText( str(pattern[0]) )
self._gui.getObj("txtPatternY").setText( str(pattern[1]) )
def calibrateCamera(self):
'''
Calibrates camera
'''
start_new_thread(self.__calibrate, ())
def __calibrate(self):
'''
Calibrates camera
(run in background)
'''
# check for correct image
if self._img != None:
self.__calibrating = True
self._gui.status("Calibrating ...")
# get values
x = int(str( self._gui.getObj("txtPatternX").text() ))
y = int(str( self._gui.getObj("txtPatternY").text() ))
n = int(str( self._gui.getObj("txtCalibrationFrames").text() ))
square_size = float(str( self._gui.getObj("txtCalibrationSquareSize").text() ))
# calculate distortion
pattern_size = (x, y)
ret = self.__calibrateCorners(pattern_size, n, square_size)
if ret != None:
camera_matrix, dist_coefs = ret
self.__camera_matrix, self.__dist_coefs = camera_matrix, dist_coefs
# undistort image
img = self.undistortImage(self._img)
self.__imgScene = img
self._gui.status("Searching for boders to crop image ...")
# get corners
if ret != None:
found = False
frames = 0;
tries = 0;
while not found and frames < n and tries < 10:
img = self.undistortImage(self._img)
found, corners = getChessBoardCorners( img, pattern_size )
if found:
frames += 1
tries += 1
if found:
self.__corners = getImageSizeFromCorners(corners)
# crop image
self.__imgScene = self.cropImage(img)
self.__calibrated = True
# set calibration flag
self._gui.status("Calibration finished.")
self.__calibrating = False
def __calibrateCorners(self, pattern_size, n, square_size):
'''
Calibrates corners of chessboard
@return: camera_matrix, dist_coefs
'''
pattern_points = zeros( (prod(pattern_size), 3), float32 )
pattern_points[:,:2] = indices(pattern_size).T.reshape(-1, 2)
pattern_points *= square_size
obj_points = []
img_points = []
frames = 0;
tries = 0
lastCount = self._imgCounter;
# detect pattern
while frames < n and tries < 10:
img = self._img
img = cvtColor(img, COLOR_RGB2GRAY)
img = threshold(img, 40, 255, THRESH_BINARY)[1]
img = cvtColor(img, COLOR_GRAY2RGB)
self.__imgScene = img
from time import sleep
sleep(1)
if lastCount != self._imgCounter:
# get corners
print "getchessboardcorners"
found, corners = getChessBoardCorners( img, pattern_size )
print "found", found
# check if corners found
if found:
frames += 1
# get more detailed points and add them to list
img_points.append( corners.reshape(-1, 2) )
obj_points.append( pattern_points )
# draw corners
drawChessboardCorners( img, pattern_size, corners, found )
self.__imgScene = img
tries = 0
tries += 1
# get cmera values
if img != None and len(obj_points) > 0 and len(img_points) > 0:
return getCalibrationData(img, obj_points, img_points )
def cropImage(self, img=None):
'''
Crops image if corners available
@return: croped Image
'''
if self.__corners != None and img != None and ( self._gui.getObj("chkCropImg").isChecked() or self._gui.getObj("chkCropImgManual").isChecked() ) :
# default settings for manual crop
try:
borderX = int( str(self._gui.getObj("txtBorderLR").text()) )
borderY = int( str(self._gui.getObj("txtBorderTB").text()) )
except:
borderX = 0
borderY = 0
xmin = (img.shape[1]-1)/2 - borderX
xmax = (img.shape[1]-1)/2 + borderX
ymin = (img.shape[0]-1)/2 - borderY
ymax = (img.shape[0]-1)/2 + borderY
# settings for automatic crop
if self._gui.getObj("chkCropImg").isChecked():
border = str( self._gui.getObj("txtCalibrationBorders").text() ).replace(",", ".")
try:
borders = int( float(border)/100.0 )
except:
borders = 0
borderX = int(img.shape[1] * borders)
borderY = int(img.shape[0] * borders)
xmin = int(self.__corners[0][0])
xmax = int(self.__corners[0][1])
ymin = int(self.__corners[1][0])
ymax = int(self.__corners[1][1])
# check new borders
if xmin-borderX > 0:
xmin = xmin-borderX
else:
xmin = 0
if ymin-borderY > 0:
ymin = ymin-borderY
else:
ymin = 0
if xmax+borderX <= img.shape[1]:
xmax = xmax+borderX
else:
xmax = img.shape[1]-1
if ymax+borderY <= img.shape[0]:
ymax = ymax+borderY
else:
ymax = img.shape[0]-1
# conversion before
if self._gui.getObj("chkCropConvBefore").isChecked():
img = cvtColor( img, COLOR_BGR2RGB )
# crop image
try:
img = img[ymin:ymax, xmin:xmax]
# conversion after
img = cvtColor( img, COLOR_BGR2RGB )
except:
print "ERROR"
return img
def __saveImg(self):
'''
Saves current image
'''
if self.__imgScene != None:
img = self.__imgScene
# stop video
active = self._imageGrabber.isActive()
self._imageGrabber.stopVideo()
# open file dialog
options = copy(self._gui.dialogOptionsDef)
options['type'] = self._gui.dialogTypes['FileSave']
options['filetypes'] = "JPG (*.jpg)"
options['title'] = "Save current frame as"
src = str( self._gui.dialog(options) )
# check filepath and save
if len(src) > 0:
if not src.endswith(".jpg"):
src = src+".jpg"
self._gui.status( "write to " + src )
cvtColor(img, COLOR_BGR2RGB)
imwrite(src, img)
# reset video streaming
if active:
self._imageGrabber.startVideo()
def undistortImage(self, img=None):
'''
Undistorts image
@return: Image
'''
if self.__camera_matrix != None and self.__dist_coefs != None and img != None:
return undistortImg( img, self.__camera_matrix, self.__dist_coefs )
return img
def __loadConfiguration(self):
'''
Loads configuration
'''
# stop video
active = self._imageGrabber.isActive()
self._imageGrabber.stopVideo()
# get path
options = copy(self._gui.dialogOptionsDef)
options['filetypes'] = "config file (*cfg)"
src = str( self._gui.dialog(options) )
if self.__loadConfigData(src):
self._gui.status("Distortion config loaded.")
# restore video streaming mode
if active:
self._imageGrabber.startVideo()
def __loadConfigData(self, src):
'''
Loads data from config file
'''
if len(src) > 0 and isfile(src):
# load file
data = load( open(src, "rb") )
if 'camera_matrix' in data:
self.__camera_matrix = data['camera_matrix']
if 'dist_coefs' in data:
self.__dist_coefs = data['dist_coefs']
if 'corners' in data:
self.__corners = data['corners']
if 'calibrated' in data:
self.__calibrated = data['calibrated']
if 'cropmanual' in data:
self._gui.getObj("chkCropImgManual").setChecked( data['cropmanual'] )
if 'cropauto' in data:
self._gui.getObj("chkCropImg").setChecked( data['cropauto'] )
if 'cropBorderLR' in data:
self._gui.getObj("txtBorderLR").setText( data['cropBorderLR'] )
if 'cropBorderTB' in data:
self._gui.getObj("txtBorderTB").setText( data['cropBorderTB'] )
if 'cropauto' in data:
self._gui.getObj("txtCalibrationBorders").setText( data['cropauto'] )
if 'squareSize' in data:
self._gui.getObj("txtCalibrationSquareSize").setText( data['squareSize'] )
if 'calibFrames' in data:
self._gui.getObj("txtCalibrationFrames").setText( data['calibFrames'] )
if 'patternX' in data:
self._gui.getObj("txtPatternX").setText( data['patternX'] )
if 'patternY' in data:
self._gui.getObj("txtPatternY").setText( data['patternY'] )
return True
return False
def __saveConfiguration(self):
'''
Saves configuration
'''
# stop video
active = self._imageGrabber.isActive()
self._imageGrabber.stopVideo()
options = copy(self._gui.dialogOptionsDef)
options['type'] = self._gui.dialogTypes['FileSave']
options['title'] = "Save configuration"
options['filetypes'] = "Configuration (*cfg *mr)"
src = str( self._gui.dialog(options) )
if len(src) > 0:
# check path
if not src.endswith(".cfg"):
src += ".cfg"
# save data to file
data = {'camera_matrix': self.__camera_matrix,
'dist_coefs': self.__dist_coefs,
'corners': self.__corners,
'calibrated': self.__calibrated,
'cropmanual': self._gui.getObj("chkCropImgManual").isChecked(),
'cropauto:': self._gui.getObj("chkCropImg").isChecked(),
'cropBorder': str( self._gui.getObj("txtCalibrationBorders").text() ),
'cropBorderLR': str( self._gui.getObj("txtBorderLR").text() ),
'cropBorderTB': str( self._gui.getObj("txtBorderTB").text() ),
'squareSize': str( self._gui.getObj("txtCalibrationSquareSize").text() ),
'calibFrames': str( self._gui.getObj("txtCalibrationFrames").text() ),
'patternX': str( self._gui.getObj("txtPatternX").text() ),
'patternY': str( self._gui.getObj("txtPatternY").text() )}
dump( data, open(src, "wb") )
self._gui.status("Configuration saved to: " + src)
# restore video streaming mode
if active:
self._imageGrabber.startVideo()
def _showImage(self):
'''
Shows image
'''
if not self.isCalibrated() or self.isCalibrating():
self._updateScene( self.__gview, self.__scene, self.__imgScene, convert=False, keepRatio=True )
class ModuleCWidget(QWidget):
def __init__(self):
QWidget.__init__(self)
self.ui = Ui_ModuleC()
self.ui.setupUi(self)
self.timer = QTimer()
QObject.connect(self.timer, SIGNAL("timeout()"), self.read_inputs)
self.datau = 200 * [0.0]
self.datai = 200 * [0.0]
self.current = 0
self.mode = ['DC', 'C']
@pyqtSlot()
def on_radioAC_clicked(self):
self.mode[0] = 'AC'
self.setup_hw()
@pyqtSlot()
def on_radioDC_clicked(self):
self.mode[0] = 'DC'
self.setup_hw()
@pyqtSlot()
def on_radioL_clicked(self):
self.mode[1] = 'L'
self.setup_hw()
@pyqtSlot()
def on_radioC_clicked(self):
self.mode[1] = 'C'
self.setup_hw()
@pyqtSlot()
def on_radioLC_clicked(self):
self.mode[1] = 'LC'
self.setup_hw()
@pyqtSlot(bool)
def on_btnPower_clicked(self, checked):
if checked:
self.current = 3.3
self.ui.btnPower.setText('ON')
else:
self.current = 0.0
self.ui.btnPower.setText('OFF')
if self.mode == ['DC', 'L']:
self.dev.setout(1, checked and 1 or 0)
if self.mode == ['DC', 'C']:
self.dev.setout(2, checked and 1 or 0)
if self.mode == ['DC', 'LC']:
self.dev.setout(3, checked and 1 or 1)
def setup_hw(self):
if self.mode == ['DC', 'L']: # AD6
self.dev.switches(1 << 5)
self.dev.opamp(2, 5, 0)
if self.mode == ['DC', 'C']: # AD5
self.dev.switches(1 << 4)
self.dev.opamp(2, 4, 0)
if self.mode == ['DC', 'LC']: # AD3
self.dev.switches(1 << 2)
self.dev.opamp(2, 2, 0)
def setup_scene(self, scene):
scene.addLine(-5, 100 - 0, 605, 100 - 0)
scene.addLine(0, 200 + 5, 0, 200 - 205)
scene.addLine(-5, 200 - 0, 5, 200 - 0)
scene.addLine(-5, 200 - 50, 5, 200 - 50)
scene.addLine(-5, 200 - 100, 5, 200 - 100)
scene.addLine(-5, 200 - 150, 5, 200 - 150)
scene.addLine(-5, 200 - 200, 5, 200 - 200)
def tick_DC(self, u, i):
self.datau.pop(0)
self.datai.pop(0)
self.datau.append(u)
self.datai.append(i)
self.scene1 = QGraphicsScene()
self.scene2 = QGraphicsScene()
self.setup_scene(self.scene1)
self.setup_scene(self.scene2)
self.scene1.addSimpleText('[U/V]').moveBy(-39, 220 - 10)
self.scene2.addSimpleText('[I/mA]').moveBy(-39, 220 - 10)
self.scene1.addSimpleText('+4.0').moveBy(-40, 0 - 10)
self.scene1.addSimpleText('+2.0').moveBy(-40, 50 - 10)
self.scene1.addSimpleText(' 0.0').moveBy(-40, 100 - 10)
self.scene1.addSimpleText('-2.0').moveBy(-40, 150 - 10)
self.scene1.addSimpleText('-4.0').moveBy(-40, 200 - 10)
self.scene2.addSimpleText('+0.4').moveBy(-40, 0 - 10)
self.scene2.addSimpleText('+0.2').moveBy(-40, 50 - 10)
self.scene2.addSimpleText(' 0.0').moveBy(-40, 100 - 10)
self.scene2.addSimpleText('-0.2').moveBy(-40, 150 - 10)
self.scene2.addSimpleText('-0.4').moveBy(-40, 200 - 10)
path = QPainterPath()
path.moveTo(0, 100 - self.datau[0] * 25)
for i in xrange(1, 200):
path.lineTo(3 * (i + 1), 100 - self.datau[i] * 25)
self.scene1.addPath(path, QPen(QColor(0, 0, 255), 3))
path = QPainterPath()
path.moveTo(0, 100 - self.datai[0] * 25)
for i in xrange(1, 200):
path.lineTo(3 * (i + 1), 100 - self.datai[i] * 25)
self.scene2.addPath(path, QPen(QColor(0, 0, 255), 3))
self.ui.graph1.setScene(self.scene1)
self.ui.graph2.setScene(self.scene2)
def read_inputs(self):
r = self.dev.read()
if self.mode[0] == 'DC':
u = r[0] / 1023.0 * 3.3 # TODO: change this if we change opamp
i = self.current - r[0] / 1023.0 * 3.3
self.tick_DC(u, i)
class ModuleAWidget(QWidget):
def __init__(self):
QWidget.__init__(self)
self.ui = Ui_ModuleA()
self.ui.setupUi(self)
self.timer = QTimer()
QObject.connect(self.timer, SIGNAL("timeout()"), self.read_inputs)
self.data = 200*[0.0]
def read_inputs(self):
r = self.dev.read()
u = r[1]/1023.0 * 3.3
self.dev.pwm(1, int(u*65536.0/3.3))
self.ui.labelU.setText('%0.3f V' % u)
self.ui.progressU.setValue(1000*u)
self.data.pop(0)
self.data.append(u)
self.scene = QGraphicsScene()
self.scene.addLine(-10, 400-0, 610, 400-0)
self.scene.addLine(0, 400+10, 0, 400-410)
self.scene.addLine(-10, 400- 50, 10, 400- 50)
self.scene.addLine(-10, 400-100, 10, 400-100)
self.scene.addLine(-10, 400-150, 10, 400-150)
self.scene.addLine(-10, 400-200, 10, 400-200)
self.scene.addLine(-10, 400-250, 10, 400-250)
self.scene.addLine(-10, 400-300, 10, 400-300)
self.scene.addLine(-10, 400-350, 10, 400-350)
self.scene.addLine(-10, 400-400, 10, 400-400)
self.scene.addSimpleText('4.0').moveBy(-40, 0-10)
self.scene.addSimpleText('3.5').moveBy(-40, 50-10)
self.scene.addSimpleText('3.0').moveBy(-40, 100-10)
self.scene.addSimpleText('2.5').moveBy(-40, 150-10)
self.scene.addSimpleText('2.0').moveBy(-40, 200-10)
self.scene.addSimpleText('1.5').moveBy(-40, 250-10)
self.scene.addSimpleText('1.0').moveBy(-40, 300-10)
self.scene.addSimpleText('0.5').moveBy(-40, 350-10)
self.scene.addSimpleText('0.0').moveBy(-40, 400-10)
self.scene.addSimpleText('[U/V]').moveBy(-39, 430-10)
path = QPainterPath()
path.moveTo(0,400-self.data[0]*100)
for i in xrange(1,200):
path.lineTo(3*(i+1), 400-self.data[i]*100)
self.scene.addPath(path, QPen(QColor(0,0,255), 3))
self.ui.graphU.setScene(self.scene)
