def reset(self):
"""Resets the simualtion"""
if self.simulation_running:
self.toggleSimulation()
self.current_time = 0.0
self.ui.render_area.reset()
self.dk = DifferentialKinematics(0.30, 0.15,
w=radians(self.ui.render_area.robot_rotation))
l = self.ui.left_wheel_spinbox.value()
r = self.ui.right_wheel_spinbox.value()
self.dk.forward(l, r)
def __init__(self, ui):
QtGui.QMainWindow.__init__(self)
self.ui = ui
self.sim_period = 0.1
self.sim_timer = QtCore.QTimer(self)
self.sim_timer.timeout.connect(self.simTimeEpoch)
self.simulation_running = False
self.current_time = 0.0
self.robot_xs = []
self.robot_ys = []
self.robot_ws = []
self.robot_times = []
self.graphing = False
self.plot_window = None
self.ui.setupUi(self)
self.dk = DifferentialKinematics(0.30, 0.15, w=radians(self.ui.render_area.robot_rotation))
self.onLeftWheelSpeedChanged(self.ui.left_wheel_spinbox.value())
self.onRightWheelSpeedChanged(self.ui.right_wheel_spinbox.value())
self.connectComponents()
class MainWindow(QtGui.QMainWindow):
"""This is the implementation of the generated UI of the MainWindow"""
left_wheel_speed_changed = QtCore.Signal(float)
right_wheel_speed_changed = QtCore.Signal(float)
linear_velocity_changed = QtCore.Signal(float)
angular_velocity_changed = QtCore.Signal(float)
def __init__(self, ui):
QtGui.QMainWindow.__init__(self)
self.ui = ui
self.sim_period = 0.1
self.sim_timer = QtCore.QTimer(self)
self.sim_timer.timeout.connect(self.simTimeEpoch)
self.simulation_running = False
self.current_time = 0.0
self.robot_xs = []
self.robot_ys = []
self.robot_ws = []
self.robot_times = []
self.graphing = False
self.plot_window = None
self.ui.setupUi(self)
self.dk = DifferentialKinematics(0.30, 0.15, w=radians(self.ui.render_area.robot_rotation))
self.onLeftWheelSpeedChanged(self.ui.left_wheel_spinbox.value())
self.onRightWheelSpeedChanged(self.ui.right_wheel_spinbox.value())
self.connectComponents()
def connectComponents(self):
"""Handles connection of different signals to slots"""
self.ui.left_wheel_spinbox.valueChanged.connect(self.onLeftWheelSpeedChanged)
self.ui.right_wheel_spinbox.valueChanged.connect(self.onRightWheelSpeedChanged)
# self.ui.linear_velocity_spinbox.valueChanged.connect(self.onLinearVelocityChanged)
# self.ui.angular_velocity_spinbox.valueChanged.connect(self.onAngularVelocityChanged)
self.left_wheel_speed_changed.connect(self.ui.left_wheel_spinbox.setValue)
self.right_wheel_speed_changed.connect(self.ui.right_wheel_spinbox.setValue)
self.linear_velocity_changed.connect(self.ui.linear_velocity_spinbox.setValue)
self.angular_velocity_changed.connect(self.ui.angular_velocity_spinbox.setValue)
self.ui.sim_time_slider.valueChanged.connect(self.onSimTimeSliderChanged)
self.ui.toggle_simulation.clicked.connect(self.toggleSimulation)
self.ui.reset_simulation.clicked.connect(self.reset)
self.ui.graph_button.clicked.connect(self.toggleGraphing)
def simTimeEpoch(self):
"""Handle time update for simulation"""
self.current_time += self.sim_period
x,y,w = self.dk.stepSimulation(self.sim_period)
self.robot_xs.append(x)
self.robot_ys.append(y)
self.robot_ws.append(w)
self.robot_times.append(self.current_time)
self.updatePlots()
self.ui.render_area.updateDisplay(x, y, w, self.current_time)
def updatePlots(self):
"""Updates the plt window if graphing"""
if self.graphing and self.plot_window != None:
self.plot_window.plotHeading(self.robot_ws, self.robot_times)
def reset(self):
"""Resets the simualtion"""
if self.simulation_running:
self.toggleSimulation()
self.current_time = 0.0
self.ui.render_area.reset()
self.dk = DifferentialKinematics(0.30, 0.15,
w=radians(self.ui.render_area.robot_rotation))
l = self.ui.left_wheel_spinbox.value()
r = self.ui.right_wheel_spinbox.value()
self.dk.forward(l, r)
def toggleGraphing(self, event=None):
"""Toggles the graphingon robot motion"""
if not have_matplotlib:
QtGui.QErrorMessage(self).showMessage("""You don't have matplotlib installed.
Get it here: http://sourceforge.net/projects/matplotlib/files/matplotlib/""")
return
if self.graphing:
self.graphing = False
self.plot_window = None
else:
self.plot_window = PlotWindow(self)
# self.plot_window.setWindowFlags(QtCore.Qt.Drawer)
self.plot_window.setWindowFlags(QtCore.Qt.Tool)
self.plot_window.show()
self.graphing = True
def toggleSimulation(self, event=None):
"""Starts the simulation"""
if self.simulation_running:
self.ui.toggle_simulation.setText("Start")
self.sim_timer.stop()
self.simulation_running = False
else:
self.ui.toggle_simulation.setText("Pause")
self.sim_timer.start(self.sim_period*1000.0)
self.simulation_running = True
@QtCore.Slot(int)
def onSimTimeSliderChanged(self, value):
"""Handle the Sim Time slider changing"""
if value == 1:
self.sim_period = 0.2
self.sim_timer.setInterval(self.sim_period*1000.0)
self.ui.sim_time_label.setText("5 Sim Steps per Second")
elif value == 2:
self.sim_period = 0.1
self.sim_timer.setInterval(self.sim_period*1000.0)
self.ui.sim_time_label.setText("10 Sim Steps per Second")
elif value == 3:
self.sim_period = 0.01
self.sim_timer.setInterval(self.sim_period*1000.0)
self.ui.sim_time_label.setText("100 Sim Steps per Second")
@QtCore.Slot(str)
def onLeftWheelSpeedChanged(self, value):
"""Handle the left wheel speed changing"""
(l, a) = self.dk.forward(left_wheel_speed = float(value))
self.linear_velocity_changed.emit(l)
self.angular_velocity_changed.emit(a)
@QtCore.Slot(str)
def onRightWheelSpeedChanged(self, value):
"""Handle the right wheel speed changing"""
(l, a) = self.dk.forward(right_wheel_speed = float(value))
self.linear_velocity_changed.emit(l)
self.angular_velocity_changed.emit(a)
@QtCore.Slot(str)
def onLinearVelocityChanged(self, value):
"""Handle the linear velocity changing"""
(l, r) = self.dk.inverse(linear_vel = float(value))
self.left_wheel_speed_changed.emit(l)
self.right_wheel_speed_changed.emit(r)
@QtCore.Slot(str)
def onAngularVelocityChanged(self, value):
"""Handle the angular velocity changing"""
(l, r) = self.dk.inverse(angular_vel = float(value))
self.left_wheel_speed_changed.emit(l)
self.right_wheel_speed_changed.emit(r)
