def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
#self.teleop=TeleopWidget(self)
#self.tlLayout.addWidget(self.teleop)
#self.teleop.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
self.logo = LogoWidget(self)
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
def updateGUI(self):
#print ('update gui')
self.camera1.updateImage()
#self.sensorsWidget.sensorsUpdate.emit()
#self.glWidget.update()
def getSensor(self):
return self.sensor
def setSensor(self,sensor):
self.sensor=sensor
#self.camera1.initImages()
def playClicked(self):
self.sensor.setPlayButton(self.pushButton.isChecked())
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
self.sensor.setV(-newY)
self.sensor.setW(newX)
def stopClicked(self):
self.sensor.setV(0)
self.sensor.setW(0)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.graphic = GLWidget(self)
self.graphicLayout.addWidget(self.graphic)
self.graphic.setVisible(True)
self.logo = LogoWidget(self)
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# self.setStyleSheet(open("gui/style.qss", "r").read())
#self.teleop=TeleopWidget(self)
#self.tlLayout.addWidget(self.teleop)
#self.teleop.setVisible(True)
#self.logo = LogoWidget(self)
#self.logoLayout.addWidget(self.logo)
#self.logo.setVisible(True)
#self.pushButton.clicked.connect(self.playClicked)
#self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.mapW = MapWidget(self)
self.verticalLayoutMap.addWidget(self.mapW)
print(self.mapW.width(), self.mapW.height())
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.logo = LogoWidget(self, 60, 60)
self.runLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# self.setStyleSheet(open("gui/style.qss", "r").read())
#self.teleop=TeleopWidget(self)
#self.tlLayout.addWidget(self.teleop)
#self.teleop.setVisible(True)
#self.logo = LogoWidget(self)
#self.logoLayout.addWidget(self.logo)
#self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.mapW = MapWidget(self)
self.verticalLayoutMap.addWidget(self.mapW)
self.chronoW = ChronoWidget(self)
self.verticalLayoutChrono.addWidget(self.chronoW)
print(self.mapW.width(), self.mapW.height())
self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.verticalLayout_2.addWidget(self.stopButton,3)
self.logo = LogoWidget(self, 60, 60)
self.verticalLayout_2.addWidget(self.logo,4)
self.logo.setVisible(True)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.verticalLayout_2.addWidget(self.stopButton,3)
self.logo = LogoWidget(self, 60, 60)
self.verticalLayout_2.addWidget(self.logo,4)
self.logo.setVisible(True)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty, id) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty, self.pose3d.getPose3d().x/1000, self.pose3d.getPose3d().y/1000, self.pose3d.getPose3d().yaw, id)
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera=camera
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getLaser(self):
return self.laser
def setLaser(self,laser):
self.laser=laser
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.stop()
self.motors.sendV(0)
self.motors.sendW(0)
#self.motors.sendVelocities()
self.teleop.returnToOrigin()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
#self.motors.sendVelocities(self.motors)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
# self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# self.setStyleSheet(open("gui/style.qss", "r").read())
#self.teleop=TeleopWidget(self)
#self.tlLayout.addWidget(self.teleop)
#self.teleop.setVisible(True)
#self.logo = LogoWidget(self)
#self.logoLayout.addWidget(self.logo)
#self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.mapW = MapWidget(self)
self.verticalLayoutMap.addWidget(self.mapW)
self.chronoW = ChronoWidget(self)
self.verticalLayoutChrono.addWidget(self.chronoW)
print(self.mapW.width(), self.mapW.height())
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#print 'update gui'
cx = self.pose3d.getPose3d().x
cy = self.pose3d.getPose3d().y
phx, phy = self.algorithm.synchronize()
self.mapW.setCarPos(cx, cy)
self.mapW.setPhantomPos(phx, phy)
duration = self.algorithm.get_duration()
initime = self.algorithm.get_initime()
self.chronoW.setTime(initime, duration)
self.camera1.updateImage()
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera=camera
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d, pose3dphantom):
self.pose3dphantom = pose3dphantom
self.pose3d=pose3d
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('Stop Code')
self.pushButton.setStyleSheet("background-color: #ec7063")
self.algorithm.play()
else:
self.pushButton.setText('Play Code')
self.pushButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
#print ("newX: %f, newY: %f" % (newX, newY) )
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
#self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.graphic = GLWidget(self)
self.graphicLayout.addWidget(self.graphic)
self.graphic.setVisible(True)
self.logo = LogoWidget(self)
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
#self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#print 'update gui'
self.camera1.updateImage()
self.graphic.updateGL()
def plot(self):
self.graphic.render_point(point[:3], point[3:], radius)
def getCamera(self, lr):
if (lr == 'left'):
return self.cameraL
elif (lr == 'right'):
return self.cameraR
else:
print("Invalid Camera")
exit()
def setCamera(self, camera, lr):
if (lr == 'left'):
self.cameraL = camera
elif (lr == 'right'):
self.cameraR = camera
else:
print("Invalid Camera")
exit()
def setPlot(self, listener):
self.point = listener
def getPlot(self):
return self.point
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('Stop Code')
self.pushButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.play()
else:
self.pushButton.setText('Play Code')
self.pushButton.setStyleSheet("background-color: #ec7063")
self.algorithm.stop()
def resetClicked(self):
self.graphic.reset_view()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
#print ("newX: %f, newY: %f" % (newX, newY) )
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
None
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.cameraL.stop()
self.cameraR.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.logo = LogoWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.cameraW = CameraWidget(self)
self.resetButton.clicked.connect(self.resetClicked)
def updateGUI(self):
self.cameraW.updateImage()
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d):
self.pose3d = pose3d
def getCameraC(self):
return self.cameraC
def setCameraC(self, camera):
self.cameraC = camera
def getCameraL(self):
return self.cameraL
def setCameraL(self, camera):
self.cameraL = camera
def getCameraR(self):
return self.cameraR
def setCameraR(self, camera):
self.cameraR = camera
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.pushButton.isChecked():
icon = QtGui.QIcon()
self.pushButton.setText("Stop Code")
self.pushButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.pushButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.pushButton.setText("Play Code")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
#self.motors.sendVelocities()
def resetClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
#self.motors.sendVelocities()
self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.cameraL.stop()
self.cameraR.stop()
self.cameraC.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# self.setStyleSheet(open("gui/style.qss", "r").read())
#self.teleop=TeleopWidget(self)
#self.tlLayout.addWidget(self.teleop)
#self.teleop.setVisible(True)
#self.logo = LogoWidget(self)
#self.logoLayout.addWidget(self.logo)
#self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
self.mapW = MapWidget(self)
self.verticalLayoutMap.addWidget(self.mapW)
self.chronoW = ChronoWidget(self)
self.verticalLayoutChrono.addWidget(self.chronoW)
print(self.mapW.width(), self.mapW.height())
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#print 'update gui'
cx = self.pose3d.getPose3d().x
cy = self.pose3d.getPose3d().y
phx, phy = self.algorithm.synchronize()
self.mapW.setCarPos(cx, cy)
self.mapW.setPhantomPos(phx, phy)
duration = self.algorithm.get_duration()
initime = self.algorithm.get_initime()
self.chronoW.setTime(initime, duration)
self.camera1.updateImage()
def getCamera(self):
return self.camera
def setCamera(self, camera):
self.camera = camera
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d, pose3dphantom):
self.pose3dphantom = pose3dphantom
self.pose3d = pose3d
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('Stop Code')
self.pushButton.setStyleSheet("background-color: #ec7063")
self.algorithm.play()
else:
self.pushButton.setText('Play Code')
self.pushButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
#print ("newX: %f, newY: %f" % (newX, newY) )
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
#self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logo = LogoWidget(self)
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.buffer = []
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#print 'update gui'
self.camera1.updateImage()
self.pose = self.pose_client.getPose3d()
#self.sensorsWidget.sensorsUpdate.emit()
def getCameraL(self):
return self.cameraL
def setPose(self, pose_client):
self.pose_client = pose_client
def setCameraL(self, camera):
self.cameraL = camera
def getCameraR(self):
return self.cameraR
def setCameraR(self, camera):
self.cameraR = camera
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
# print ("newX: %f, newY: %f" % (newX, newY) )
write = False
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
# print "myV: ",myV,"myW: ",myW
if write:
pose = self.pose_client.getPose3d()
self.buffer.append("{:f} {:f} {:f} {:f}\n".format(
pose.x / 1000, pose.y / 1000, myV, myW))
if len(self.buffer) == 10:
with open(
"/home/f/PycharmProjects/Robotica/follow_line/laps/prueba.txt",
'a') as file:
file.write("".join(self.buffer))
self.buffer = []
self.motors.sendV(myV)
self.motors.sendW(myW)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.cameraR.stop()
self.cameraL.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.logo = LogoWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.cameraW = CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.cameraW.updateImage()
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d):
self.pose3d = pose3d
def getCameraC(self):
return self.cameraC
def setCameraC(self, camera):
self.cameraC = camera
def getCameraL(self):
return self.cameraL
def setCameraL(self, camera):
self.cameraL = camera
def getCameraR(self):
return self.cameraR
def setCameraR(self, camera):
self.cameraR = camera
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.setV(myV)
self.motors.setW(myW)
self.motors.sendVelocities()
def stopClicked(self):
self.motors.setV(0)
self.motors.setW(0)
self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logo = LogoWidget(self)
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#print 'update gui'
self.camera1.updateImage()
#self.sensorsWidget.sensorsUpdate.emit()
def getCameraL(self):
return self.cameraL
def setCameraL(self,camera):
self.cameraL=camera
def getCameraR(self):
return self.cameraR
def setCameraR(self,camera):
self.cameraR=camera
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.playButton.setStyleSheet("background-color: #ec7063")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.playButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
#print ("newX: %f, newY: %f" % (newX, newY) )
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.cameraR.stop()
self.cameraL.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logo = LogoWidget(self)
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#print 'update gui'
self.camera1.updateImage()
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera=camera
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('Stop Code')
self.pushButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.play()
else:
self.pushButton.setText('Play Code')
self.pushButton.setStyleSheet("background-color: #ec7063")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
#print ("newX: %f, newY: %f" % (newX, newY) )
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
None
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.stop()
event.accept()
class MainWindow(QtGui.QMainWindow, Ui_MainWindow):
updGUI=QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
self.map.setTarget(tx, ty, self.sensor.getRobotX(), self.sensor.getRobotY(), self.sensor.getRobotTheta())
self.map.setLaserValues(self.sensor.getLaserData())
self.map.update()
def getSensor(self):
return self.sensor
def setSensor(self,sensor):
self.sensor=sensor
def playClicked(self):
self.sensor.setPlayButton(self.pushButton.isChecked())
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
self.sensor.setV(-newY)
self.sensor.setW(newX)
def stopClicked(self):
self.sensor.setV(0)
self.sensor.setW(0)
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.map = MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty,
self.pose3d.getX() / 1000,
self.pose3d.getY() / 1000, self.pose3d.getYaw())
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCameraL(self):
return self.cameraL
def setCameraL(self, camera):
self.cameraL = camera
def getCameraR(self):
return self.cameraR
def setCameraR(self, camera):
self.cameraR = camera
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d):
self.pose3d = pose3d
def getLaser(self):
return self.laser
def setLaser(self, laser):
self.laser = laser
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.setV(myV)
self.motors.setW(myW)
self.motors.sendVelocities()
def stopClicked(self):
self.motors.setV(0)
self.motors.setW(0)
self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.logo = LogoWidget(self, 60, 60)
self.runLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
#self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty, self.pose3d.getPose3d().x/1000, self.pose3d.getPose3d().y/1000, self.pose3d.getPose3d().yaw)
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCameraL(self):
return self.cameraL
def setCameraL(self,camera):
self.cameraL=camera
def getCameraR(self):
return self.cameraR
def setCameraR(self,camera):
self.cameraR=camera
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getLaser(self):
return self.laser
def setLaser(self,laser):
self.laser=laser
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.stop()
self.motors.hasproxy().setV(0)
self.motors.hasproxy().setW(0)
#self.motors.sendVelocities()
self.teleop.returnToOrigin()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.hasproxy().setV(myV)
self.motors.hasproxy().setW(myW)
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.logo = LogoWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.cameraW=CameraWidget(self)
self.resetButton.clicked.connect(self.resetClicked)
def updateGUI(self):
self.cameraW.updateImage()
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getCameraC(self):
return self.cameraC
def setCameraC(self,camera):
self.cameraC=camera
def getCameraL(self):
return self.cameraL
def setCameraL(self,camera):
self.cameraL=camera
def getCameraR(self):
return self.cameraR
def setCameraR(self,camera):
self.cameraR=camera
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.pushButton.isChecked():
icon = QtGui.QIcon()
self.pushButton.setText("Stop Code")
self.pushButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.pushButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.pushButton.setText("Play Code")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
#self.motors.sendVelocities()
def resetClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
#self.motors.sendVelocities()
self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.cameraL.stop()
self.cameraR.stop()
self.cameraC.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCameraL(self):
return self.cameraL
def setCameraL(self,camera):
self.cameraL=camera
def getCameraR(self):
return self.cameraR
def setCameraR(self,camera):
self.cameraR=camera
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getLaser(self):
return self.laser
def setLaser(self,laser):
self.laser=laser
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.setV(myV)
self.motors.setW(myW)
self.motors.sendVelocities()
def stopClicked(self):
self.motors.setV(0)
self.motors.setW(0)
self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#print 'update gui'
self.camera1.updateImage()
#self.sensorsWidget.sensorsUpdate.emit()
def getCameraL(self):
return self.cameraL
def setCameraL(self,camera):
self.cameraL=camera
def getCameraR(self):
return self.cameraR
def setCameraR(self,camera):
self.cameraR=camera
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
#print ("newX: %f, newY: %f" % (newX, newY) )
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.setV(myV)
self.motors.setW(myW)
self.motors.sendVelocities()
def stopClicked(self):
self.motors.setV(0)
self.motors.setW(0)
self.motors.sendVelocities()
self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.cameraR.stop()
self.cameraL.stop()
event.accept()
