Ejemplo n.º 1
0
class Ui_TrainPanel(object):
    def setupUi(self, TrainPanel):
        self.parent = TrainPanel
        self.mainLayout = QHBoxLayout(TrainPanel)

        self.bigFont = QLabel().font()
        self.bigFont.setPointSize(13)

        self.actionsLayout = QHBoxLayout(TrainPanel)
        # self.checkRecording = QCheckBox(TrainPanel)
        self.calibrateButton = QPushButton("Calibrate", parent=TrainPanel)
        self.calibrateButton.setFont(self.bigFont)
        self.calibrateButton.setStyleSheet(CustomQStyles.buttonStyle)
        self.calibrateButton.setMinimumHeight(50)
        self.calibrateButton.setMaximumWidth(170)
        self.calibrateButton.setMinimumWidth(120)

        self.sessionButton = QPushButton("Session", parent=TrainPanel)
        self.sessionButton.setFont(self.bigFont)
        self.sessionButton.setStyleSheet(CustomQStyles.outlineButtonStyle)
        self.sessionButton.setMinimumHeight(50)
        self.sessionButton.setMaximumWidth(170)
        self.sessionButton.setMinimumWidth(120)

        self.listFiles = QListWidget(TrainPanel)
        self.listFiles.setFont(self.bigFont)
        self.label = QLabel('or select', parent=TrainPanel)
        self.subjectLayout = QVBoxLayout(TrainPanel)
        print("init")

        self.box1 = QGroupBox(parent=TrainPanel)
        self.box2 = QGroupBox(parent=TrainPanel)
        self.wizard = CalibrateWizard(parent=TrainPanel)

        self.setPatientsBox(TrainPanel)  # right panel
        self.setActionsBox(TrainPanel)  # left panel

        self.mainLayout.addWidget(self.box1, stretch=2)
        self.mainLayout.addWidget(self.box2, stretch=3)
        # self.mainLayout.setAlignment(self.box2, Qt.Alignment.AlignCenter)

    # Display progress bar, checkbox - to record new gestures or not, start train
    def setActionsBox(self, TrainPanel):
        hLayout = QVBoxLayout()
        hLayout.addWidget(self.calibrateButton)
        hLayout.addWidget(self.sessionButton)
        hLayout.setAlignment(self.calibrateButton, Qt.Alignment.AlignCenter)
        hLayout.setAlignment(self.sessionButton, Qt.Alignment.AlignCenter)
        self.box2.setLayout(hLayout)

    # Display list of subjects, or new subject
    def setPatientsBox(self, TrainPanel):

        # Button to create new patient
        self.addPatient = QPushButton('Create Patient')
        self.addPatient.setFixedSize(120, 35)
        self.addPatient.setStyleSheet(CustomQStyles.outlineButtonStyle)

        self.label.setSizePolicy(QSizePolicy.Policy.Expanding,
                                 QSizePolicy.Policy.Expanding)
        self.label.setAlignment(QtCore.Qt.Alignment.AlignCenter)

        self.loadPatientList()

        self.listFiles.setStyleSheet(CustomQStyles.listStyle)
        self.listFiles.setFocusPolicy(Qt.FocusPolicy.NoFocus)

        self.subjectLayout.addWidget(self.addPatient)
        self.subjectLayout.setAlignment(self.addPatient,
                                        Qt.Alignment.AlignCenter)
        self.subjectLayout.addWidget(self.label)
        self.subjectLayout.addWidget(self.listFiles)

        self.box1.setLayout(self.subjectLayout)

    def loadPatientList(self):
        self.listFiles.clear()
        self.parent.patients.clear()
        files = [
            f for f in listdir(PATIENTS_PATH) if isfile(join(PATIENTS_PATH, f))
        ]
        for x, ind in zip(files, range(0, len(files))):
            item = QListWidgetItem(x.split('.')[0])
            item.setTextAlignment(Qt.Alignment.AlignHCenter)
            self.listFiles.addItem(item)
            with open(PATIENTS_PATH + x, 'r') as f:
                person_dict = json.load(f)
                patient = Patient(person_dict['Name'], person_dict['Age'],
                                  person_dict['Exercises'])
                self.parent.patients.append(patient)

        print(self.parent.patients)

    def deleteItemsOfLayout(self, layout):
        if layout is not None:
            while layout.count():
                item = layout.takeAt(0)
                widget = item.widget()
                if widget is not None:
                    widget.setParent(None)
                else:
                    self.deleteItemsOfLayout(item.layout())
Ejemplo n.º 2
0
class MainWindow(QMainWindow):
    def __init__(self):
        super().__init__()
        self.setFixedSize(800, 410)
        self.setWindowTitle("PyLX16A Servo Testing Software")

        self.port_selection_box = QComboBox(self)
        self.port_selection_box.setFixedSize(200, 27)
        self.port_selection_box.move(30, 65)
        port_selection_box_label = QLabel("Select Port:", self)
        port_selection_box_label.move(30, 35)

        self.port_selection_box_refresh_button = QPushButton("Refresh", self)
        self.port_selection_box_refresh_button.setFixedSize(60, 23)
        self.port_selection_box_refresh_button.move(170, 38)

        self.id_selection_box = QListWidget(self)
        self.id_selection_box.setFixedSize(200, 200)
        self.id_selection_box.move(30, 135)
        id_selection_box_label = QLabel("Connected Servos:", self)
        id_selection_box_label.setFixedWidth(200)
        id_selection_box_label.move(30, 105)

        self.id_selection_box_refresh_button = QPushButton("Refresh", self)
        self.id_selection_box_refresh_button.setFixedSize(60, 23)
        self.id_selection_box_refresh_button.move(170, 108)

        self.set_id_line_edit = QLineEdit(self)
        self.set_id_line_edit.setFixedSize(50, 27)
        self.set_id_line_edit.move(80, 355)
        set_id_line_edit_label = QLabel("Set ID:", self)
        set_id_line_edit_label.move(30, 355)
        set_id_line_edit_label.setFixedSize(50, 27)

        self.set_id_button = QPushButton("Change ID!", self)
        self.set_id_button.setFixedSize(85, 27)
        self.set_id_button.move(145, 355)

        self.position_slider = QSlider(Qt.Orientation.Horizontal, self)
        self.position_slider.setMinimum(0)
        self.position_slider.setMaximum(240)
        self.position_slider.setFixedWidth(200)
        self.position_slider.move(300, 55)
        self.position_slider_readout = QLabel("0.00°", self)
        self.position_slider_readout.setFixedWidth(50)
        self.position_slider_readout.move(450, 30)
        self.position_slider_readout.setAlignment(
            Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
        position_slider_label = QLabel("Angle (degrees):", self)
        position_slider_label.move(300, 30)

        self.position_offset_slider = QSlider(Qt.Orientation.Horizontal, self)
        self.position_offset_slider.setMinimum(-30)
        self.position_offset_slider.setMaximum(30)
        self.position_offset_slider.setFixedWidth(200)
        self.position_offset_slider.move(300, 125)
        self.position_offset_slider_readout = QLabel("0.00°", self)
        self.position_offset_slider_readout.setFixedWidth(50)
        self.position_offset_slider_readout.move(450, 100)
        self.position_offset_slider_readout.setAlignment(
            Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
        position_offset_slider_label = QLabel("Angle offset (degrees):", self)
        position_offset_slider_label.setFixedWidth(200)
        position_offset_slider_label.move(300, 100)

        self.angle_lower_limit_textentry = QLineEdit(self)
        self.angle_lower_limit_textentry.setFixedWidth(50)
        self.angle_lower_limit_textentry.move(450, 175)
        self.angle_lower_limit_textentry.setValidator(
            QIntValidator(0, 240, self))
        self.angle_upper_limit_textentry = QLineEdit(self)
        self.angle_upper_limit_textentry.setFixedWidth(50)
        self.angle_upper_limit_textentry.move(450, 210)
        self.angle_upper_limit_textentry.setValidator(
            QIntValidator(0, 240, self))
        self.angle_lower_limit_textentry_label = QLabel(
            "Lower Limit (degrees):", self)
        self.angle_lower_limit_textentry_label.move(300, 175)
        self.angle_lower_limit_textentry_label.setFixedWidth(150)
        self.angle_upper_limit_textentry_label = QLabel(
            "Upper Limit (degrees):", self)
        self.angle_upper_limit_textentry_label.move(300, 210)
        self.angle_upper_limit_textentry_label.setFixedWidth(150)

        self.vin_lower_limit_textentry = QLineEdit(self)
        self.vin_lower_limit_textentry.setFixedWidth(50)
        self.vin_lower_limit_textentry.move(450, 265)
        self.vin_lower_limit_textentry.setValidator(
            QIntValidator(4500, 12000, self))
        self.vin_upper_limit_textentry = QLineEdit(self)
        self.vin_upper_limit_textentry.setFixedWidth(50)
        self.vin_upper_limit_textentry.move(450, 300)
        self.vin_upper_limit_textentry.setValidator(
            QIntValidator(4500, 12000, self))
        self.vin_lower_limit_textentry_label = QLabel(
            "Voltage Lower Limit (mV):", self)
        self.vin_lower_limit_textentry_label.move(300, 265)
        self.vin_lower_limit_textentry_label.setFixedWidth(150)
        self.vin_upper_limit_textentry_label = QLabel(
            "Voltage Upper Limit (mV):", self)
        self.vin_upper_limit_textentry_label.move(300, 300)
        self.vin_upper_limit_textentry_label.setFixedWidth(150)

        self.temp_limit_textentry = QLineEdit(self)
        self.temp_limit_textentry.setFixedWidth(50)
        self.temp_limit_textentry.move(450, 355)
        self.temp_limit_textentry.setValidator(QIntValidator(50, 100, self))
        self.temp_limit_textentry_label = QLabel("Temp Limit (°C):", self)
        self.temp_limit_textentry_label.move(300, 355)
        self.temp_limit_textentry_label.setFixedWidth(150)

        self.servo_mode_radio_button = QRadioButton("Servo Mode", self)
        self.servo_mode_radio_button.move(565, 50)
        self.motor_mode_radio_button = QRadioButton("Motor Mode", self)
        self.motor_mode_radio_button.move(565, 75)

        self.motor_speed_slider = QSlider(Qt.Orientation.Horizontal, self)
        self.motor_speed_slider.setMinimum(-1000)
        self.motor_speed_slider.setMaximum(1000)
        self.motor_speed_slider.setFixedWidth(200)
        self.motor_speed_slider.move(565, 125)
        motor_speed_slider_label = QLabel("Motor Speed:", self)
        motor_speed_slider_label.move(565, 100)

        self.torque_enabled_checkbox = QCheckBox("Torque Enabled", self)
        self.torque_enabled_checkbox.move(565, 175)
        self.torque_enabled_checkbox.setFixedWidth(200)

        self.led_enabled_checkbox = QCheckBox("LED Enabled", self)
        self.led_enabled_checkbox.move(565, 210)
        self.led_enabled_checkbox.setFixedWidth(200)

        self.led_over_temp_checkbox = QCheckBox("LED Over Temperature", self)
        self.led_over_temp_checkbox.move(565, 258)
        self.led_over_temp_checkbox.setFixedWidth(200)
        self.led_over_voltage_checkbox = QCheckBox("LED Over Voltage", self)
        self.led_over_voltage_checkbox.move(565, 283)
        self.led_over_voltage_checkbox.setFixedWidth(200)
        self.led_rotor_locked_checkbox = QCheckBox("LED Rotor Locked", self)
        self.led_rotor_locked_checkbox.move(565, 308)
        self.led_rotor_locked_checkbox.setFixedWidth(200)

        self.physical_position_readout = QLabel("--°", self)
        self.physical_position_readout.move(565, 367)
        self.physical_position_readout.setFixedWidth(200)
        self.physical_position_readout_label = QLabel("Position", self)
        self.physical_position_readout_label.move(565, 347)

        self.temperature_readout = QLabel("-- °C", self)
        self.temperature_readout.move(635, 367)
        self.temperature_readout.setFixedWidth(200)
        self.temperature_readout_label = QLabel("Temperature", self)
        self.temperature_readout_label.move(635, 347)

        self.voltage_readout = QLabel("-- V", self)
        self.voltage_readout.move(730, 367)
        self.voltage_readout.setFixedWidth(200)
        self.voltage_readout_label = QLabel("Voltage", self)
        self.voltage_readout_label.move(730, 347)

        self.readout_update_timer = QTimer(self)
        self.readout_update_timer.timeout.connect(self.update_readouts)
        self.readout_update_timer.start(250)

        self.active_servo: LX16A = None

        self.position_slider.setValue(0)
        self.position_offset_slider.setValue(0)
        self.motor_speed_slider.setValue(0)
        self.id_selection_box_refresh_button.setEnabled(False)
        self.disable_widgets()

        self.port_selection_box.currentTextChanged.connect(
            self.port_selection_box_changed)
        self.port_selection_box_refresh_button.clicked.connect(
            self.port_refresh_button_clicked)
        self.id_selection_box.currentTextChanged.connect(
            self.id_selection_box_changed)
        self.id_selection_box_refresh_button.clicked.connect(
            self.id_refresh_button_clicked)
        self.set_id_button.pressed.connect(self.id_updated)
        self.position_slider.sliderMoved.connect(self.position_slider_updated)
        self.position_offset_slider.sliderMoved.connect(
            self.position_offset_slider_updated)
        self.angle_lower_limit_textentry.textChanged.connect(
            self.angle_lower_limit_updated)
        self.angle_upper_limit_textentry.textChanged.connect(
            self.angle_upper_limit_updated)
        self.vin_lower_limit_textentry.textChanged.connect(
            self.vin_lower_limit_updated)
        self.vin_upper_limit_textentry.textChanged.connect(
            self.vin_upper_limit_updated)
        self.temp_limit_textentry.textChanged.connect(self.temp_limit_updated)
        self.servo_mode_radio_button.toggled.connect(
            self.servo_mode_radio_button_toggled)
        self.motor_mode_radio_button.toggled.connect(
            self.motor_mode_radio_button_toggled)
        self.motor_speed_slider.valueChanged.connect(
            self.motor_speed_slider_updated)
        self.torque_enabled_checkbox.stateChanged.connect(
            self.torque_enabled_checkbox_toggled)
        self.led_enabled_checkbox.stateChanged.connect(
            self.led_enabled_checkbox_toggled)
        self.led_over_temp_checkbox.stateChanged.connect(
            self.led_error_triggers_checkbox_toggled)
        self.led_over_voltage_checkbox.stateChanged.connect(
            self.led_error_triggers_checkbox_toggled)
        self.led_rotor_locked_checkbox.stateChanged.connect(
            self.led_error_triggers_checkbox_toggled)

        self.scan_for_ports()

    def disable_widgets(self):
        self.set_id_line_edit.setEnabled(False)
        self.position_slider.setEnabled(False)
        self.position_offset_slider.setEnabled(False)
        self.angle_lower_limit_textentry.setEnabled(False)
        self.angle_upper_limit_textentry.setEnabled(False)
        self.vin_lower_limit_textentry.setEnabled(False)
        self.vin_upper_limit_textentry.setEnabled(False)
        self.temp_limit_textentry.setEnabled(False)
        self.servo_mode_radio_button.setEnabled(False)
        self.motor_mode_radio_button.setEnabled(False)
        self.motor_speed_slider.setEnabled(False)
        self.torque_enabled_checkbox.setEnabled(False)
        self.led_enabled_checkbox.setEnabled(False)
        self.led_over_temp_checkbox.setEnabled(False)
        self.led_over_voltage_checkbox.setEnabled(False)
        self.led_rotor_locked_checkbox.setEnabled(False)

    def enable_widgets(self):
        self.set_id_line_edit.setEnabled(True)
        self.position_slider.setEnabled(True)
        self.position_offset_slider.setEnabled(True)
        self.angle_lower_limit_textentry.setEnabled(True)
        self.angle_upper_limit_textentry.setEnabled(True)
        self.vin_lower_limit_textentry.setEnabled(True)
        self.vin_upper_limit_textentry.setEnabled(True)
        self.temp_limit_textentry.setEnabled(True)
        self.servo_mode_radio_button.setEnabled(True)
        self.motor_mode_radio_button.setEnabled(True)
        self.motor_speed_slider.setEnabled(True)
        self.torque_enabled_checkbox.setEnabled(True)
        self.led_enabled_checkbox.setEnabled(True)
        self.led_over_temp_checkbox.setEnabled(True)
        self.led_over_voltage_checkbox.setEnabled(True)
        self.led_rotor_locked_checkbox.setEnabled(True)

    def clear_servo(self):
        self.active_servo = None

    @catch_disconnection
    def set_servo_id(self, id_):
        if not id_.isdigit():
            return

        self.active_servo = LX16A(int(id_))
        self.active_servo.enable_torque()

        self.position_slider.setValue(
            int(self.active_servo.get_physical_angle()))
        self.position_slider_readout.setText(
            f"{int(self.active_servo.get_physical_angle() * 25 / 6) * 6 / 25:0.2f}°"
        )
        self.position_offset_slider.setValue(
            int(self.active_servo.get_angle_offset()))
        self.position_offset_slider_readout.setText(
            f"{int(self.active_servo.get_angle_offset() * 25 / 6) * 6 / 25:0.2f}°"
        )
        self.angle_lower_limit_textentry.setText(
            str(int(self.active_servo.get_angle_limits()[0])))
        self.angle_upper_limit_textentry.setText(
            str(int(self.active_servo.get_angle_limits()[1])))
        self.vin_lower_limit_textentry.setText(
            str(self.active_servo.get_vin_limits()[0]))
        self.vin_upper_limit_textentry.setText(
            str(self.active_servo.get_vin_limits()[1]))
        self.temp_limit_textentry.setText(
            str(self.active_servo.get_temp_limit()))
        self.motor_speed_slider.setValue(self.active_servo.get_motor_speed(
        ) if self.active_servo.is_motor_mode() else 0)
        if self.active_servo.is_motor_mode():
            self.motor_mode_radio_button.setChecked(True)
        else:
            self.servo_mode_radio_button.setChecked(True)
        self.motor_speed_slider.setEnabled(self.active_servo.is_motor_mode())
        self.torque_enabled_checkbox.setChecked(
            self.active_servo.is_torque_enabled())
        self.led_enabled_checkbox.setChecked(
            self.active_servo.is_led_power_on())
        self.led_over_temp_checkbox.setChecked(
            self.active_servo.get_led_error_triggers()[0])
        self.led_over_voltage_checkbox.setChecked(
            self.active_servo.get_led_error_triggers()[1])
        self.led_rotor_locked_checkbox.setChecked(
            self.active_servo.get_led_error_triggers()[2])

    @catch_disconnection
    def scan_for_servos(self, port):
        self.setCursor(Qt.CursorShape.WaitCursor)

        LX16A.initialize(port)

        self.id_selection_box.clear()

        for i in range(0, 254):
            try:
                servo = LX16A(i)
                self.id_selection_box.addItem(str(i))
            except:
                pass

        self.setCursor(Qt.CursorShape.ArrowCursor)

    @catch_disconnection
    def scan_for_ports(self):
        ports = serial.tools.list_ports.comports()
        for port in ports:
            self.port_selection_box.addItem(port.device)

    @catch_disconnection
    def update_readouts(self):
        if self.active_servo is None:
            return

        try:
            self.physical_position_readout.setText(
                f"{self.active_servo.get_physical_angle():0.2f}°")
            self.temperature_readout.setText(
                f"{self.active_servo.get_temp()} °C")
            self.voltage_readout.setText(
                f"{self.active_servo.get_vin() / 1000} V")
        except (ServoTimeoutError, ServoChecksumError):
            pass

    @catch_disconnection
    def id_updated(self):
        new_id = self.set_id_line_edit.text()

        try:
            servo = LX16A(int(new_id))
        except ServoTimeoutError:
            # Meaning this ID is not taken
            self.active_servo.set_id(int(new_id))
            self.id_selection_box.item(
                self.id_selection_box.currentRow()).setText(new_id)

            return

        QMessageBox.warning(None, "Error", "ID already taken")

    @catch_disconnection
    def position_slider_updated(self, pos):
        if float(self.voltage_readout.text()[:-2]) < 5:
            QMessageBox.warning(
                None,
                "Error",
                "The voltage going through the servo is too low. Is your battery powered on?",
            )

            return
        self.active_servo.move(pos)
        self.position_slider_readout.setText(
            f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")

    @catch_disconnection
    def position_offset_slider_updated(self, pos):
        self.active_servo.set_angle_offset(pos)
        self.position_offset_slider_readout.setText(
            f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")

    @catch_disconnection
    def angle_lower_limit_updated(self, text):
        if (QIntValidator(0, 240, self).validate(text, 0) !=
                QIntValidator.State.Acceptable):
            return

        if int(text) > int(self.angle_upper_limit_textentry.text()):
            return

        self.active_servo.set_angle_limits(
            int(text), int(self.angle_upper_limit_textentry.text()))

    @catch_disconnection
    def angle_upper_limit_updated(self, text):
        if (QIntValidator(0, 240, self).validate(text, 0) !=
                QIntValidator.State.Acceptable):
            return

        if int(text) < int(self.angle_lower_limit_textentry.text()):
            return

        self.active_servo.set_angle_limits(
            int(self.angle_lower_limit_textentry.text()), int(text))

    @catch_disconnection
    def vin_lower_limit_updated(self, text):
        if (QIntValidator(4500, 12000, self).validate(text, 0) !=
                QIntValidator.State.Acceptable):
            return

        if int(text) > int(self.vin_upper_limit_textentry.text()):
            return

        self.active_servo.set_vin_limits(
            int(text), int(self.vin_upper_limit_textentry.text()))

    @catch_disconnection
    def vin_upper_limit_updated(self, text):
        if (QIntValidator(4500, 12000, self).validate(text, 0) !=
                QIntValidator.State.Acceptable):
            return

        if int(text) < int(self.vin_lower_limit_textentry.text()):
            return

        self.active_servo.set_vin_limits(
            int(self.vin_lower_limit_textentry.text()), int(text))

    @catch_disconnection
    def temp_limit_updated(self, text):
        if (QIntValidator(50, 100, self).validate(text, 0) !=
                QIntValidator.State.Acceptable):
            return

        self.active_servo.set_temp_limit(int(text))

    @catch_disconnection
    def servo_mode_radio_button_toggled(self, checked):
        if checked:
            self.active_servo.servo_mode()
            self.motor_speed_slider.setEnabled(False)
            self.position_slider.setEnabled(True)
            self.position_offset_slider.setEnabled(True)
        else:
            self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
            self.motor_speed_slider.setEnabled(True)
            self.position_slider.setEnabled(False)
            self.position_offset_slider.setEnabled(False)

    @catch_disconnection
    def motor_mode_radio_button_toggled(self, checked):
        if checked:
            self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
            self.motor_speed_slider.setEnabled(True)
            self.position_slider.setEnabled(False)
            self.position_offset_slider.setEnabled(False)
        else:
            self.active_servo.servo_mode()
            self.motor_speed_slider.setEnabled(False)
            self.position_slider.setEnabled(True)
            self.position_offset_slider.setEnabled(True)

    @catch_disconnection
    def motor_speed_slider_updated(self, pos):
        self.active_servo.motor_mode(pos)

    @catch_disconnection
    def torque_enabled_checkbox_toggled(self, checked):
        if checked:
            self.active_servo.enable_torque()
        else:
            self.active_servo.disable_torque()

        self.position_slider.setEnabled(checked)
        self.position_offset_slider.setEnabled(checked)
        self.servo_mode_radio_button.setEnabled(checked)
        self.motor_mode_radio_button.setEnabled(checked)
        self.motor_speed_slider.setEnabled(checked)

    @catch_disconnection
    def led_enabled_checkbox_toggled(self, checked):
        if checked:
            self.active_servo.led_power_on()
        else:
            self.active_servo.led_power_off()

    @catch_disconnection
    def led_error_triggers_checkbox_toggled(self):
        self.active_servo.set_led_error_triggers(
            self.led_over_voltage_checkbox.isChecked(),
            self.led_over_temp_checkbox.isChecked(),
            self.led_rotor_locked_checkbox.isChecked(),
        )

    @catch_disconnection
    def port_refresh_button_clicked(self, value):
        self.id_selection_box_refresh_button.setEnabled(False)
        self.disable_widgets()
        self.port_selection_box.clear()
        self.id_selection_box.clear()
        self.scan_for_ports()

    @catch_disconnection
    def id_refresh_button_clicked(self, value):
        self.disable_widgets()
        self.id_selection_box.clear()
        self.scan_for_servos(self.port_selection_box.currentText())

    @catch_disconnection
    def port_selection_box_changed(self, text):
        if text == "":
            return

        self.id_selection_box_refresh_button.setEnabled(True)
        self.disable_widgets()
        self.id_selection_box.clear()
        self.clear_servo()
        self.scan_for_servos(text)

    @catch_disconnection
    def id_selection_box_changed(self, text):
        if text == "":
            return

        self.enable_widgets()
        self.set_servo_id(text)
class MainWindow(QMainWindow):

    def __init__(self):
        super().__init__()
        self.setWindowTitle("📸 Random Image Tools V1.2 🔨")
        self.image_list = []
        # ToDo: Add a "rename?" flag. Like rename image files

        # to store the directory path for later use
        self.directory_path_name = "/"

        # Set up the layouts
        layer_one = QHBoxLayout()  # Select a folder, selected directory

        layer_one_and_a_half = QHBoxLayout()  # Selected directory contents

        layer_two = QHBoxLayout()  # Second line of buttons
        layer_two_vertical_one = QVBoxLayout()  # Store the first column w/checkbox and "Convert"
        layer_two_vertical_two = QVBoxLayout()  # Store the second column w/checkbox and "Open in File Browser"

        layer_three = QHBoxLayout()  # Conversion process state
        vertical_layout_parent = QVBoxLayout()

        # Parent widget
        widget = QWidget()

        # Displays selected directory
        self.directory_label = QLabel()
        self.directory_label.setText("Directory to be worked on will show here            ")
        self.directory_label.show()

        # Displays "Select folder" button
        self.select_a_folder_button = QPushButton()
        self.select_a_folder_button.setText("Select a folder:")
        self.select_a_folder_button.clicked.connect(self.select_folder_prompt)
        self.select_a_folder_button.show()

        # Displays the image contents of the selected folder
        self.image_paths_list_widget = QListWidget()
        self.image_paths_list_widget.show()

        # Displays button to initiate image conversion
        self.convert_to_png_button = QPushButton()
        self.convert_to_png_button.setText("Convert to PNG")
        self.convert_to_png_button.clicked.connect(self.convert_folder_to_png)
        self.convert_to_png_button.show()

        # Check boxes for "Create new folder for PNGs" and "Delete original files after converting"
        self.create_new_folder_checkbox = QCheckBox()
        self.create_new_folder_checkbox.setText("Create new folder to store converted PNG's?")
        self.create_new_folder_checkbox.show()

        self.delete_original_files_checkbox = QCheckBox()
        self.delete_original_files_checkbox.setText("Delete original files after converting them to PNG?")
        self.create_new_folder_checkbox.show()

        # Displays button to open selected directory in the file browser
        self.show_folder_button = QPushButton()
        self.show_folder_button.setText("Open selected folder in file browser")
        self.show_folder_button.clicked.connect(self.open_folder)
        self.show_folder_button.show()

        # Displays label when conversion is finished, and the corresponding progress bar
        self.conversion_finished_or_error_label = QLabel()
        self.conversion_finished_or_error_label.setText("👀 waiting for you to press \"Convert to PNG\" ")

        # Put the find folder button and folder selected button together
        layer_one.addWidget(self.select_a_folder_button)
        layer_one.addWidget(self.directory_label)

        # Image paths of selected folder
        layer_one_and_a_half.addWidget(self.image_paths_list_widget)

        # Put the convert button and open-in-finder button together
        layer_two_vertical_one.addWidget(self.convert_to_png_button)
        layer_two_vertical_one.addWidget(self.delete_original_files_checkbox)
        layer_two.addLayout(layer_two_vertical_one)

        layer_two_vertical_two.addWidget(self.show_folder_button)
        layer_two_vertical_two.addWidget(self.create_new_folder_checkbox)
        layer_two.addLayout(layer_two_vertical_two)

        # Label and progress bar
        layer_three.addWidget(self.conversion_finished_or_error_label)
        layer_three.setAlignment(Qt.AlignmentFlag.AlignHCenter)

        # Put the "convert to png" button beneath
        vertical_layout_parent.addLayout(layer_one)
        vertical_layout_parent.addLayout(layer_one_and_a_half)
        vertical_layout_parent.addLayout(layer_two)
        vertical_layout_parent.addLayout(layer_three)

        widget.setLayout(vertical_layout_parent)
        self.setCentralWidget(widget)

    # Prompts user to select a folder, stores the given folder path and displays chosen path to user
    def select_folder_prompt(self):
        #  Clear self.image_list and QListWidget to prepare for newly selected folder.
        self.image_list.clear()
        self.image_paths_list_widget.clear()

        # Append a "/" otherwise it will mix the folder name and containing image file together
        directory = str(QFileDialog.getExistingDirectory(self, "Select Directory")) + "/"
        # Update QLabel to new directory, and store it in self for future use
        self.directory_label.setText(directory)
        self.directory_path_name = directory

        # Update self.image_list field
        image_list = self.scan_for_jpg_file_paths()
        self.image_list = image_list

        # Populated the QListWindow() with the update self.image_list field
        self.image_paths_list_widget.addItems(self.image_list)

    # Given a path name, will open it in the Folder browser app
    def open_folder(self):
        subprocess.call(["open", "-R", self.directory_path_name])

    # Given the current state of the directory_path_name folder, will scan for image files in that folder
    def scan_for_jpg_file_paths(self):
        image_list = []

        for root, dirs, files in os.walk(self.directory_path_name, topdown=True):
            for filename in files:
                if '.jpeg' or '.jpg' or '.webp' or '.gif' or '.icns' in filename:
                    if '.png' not in filename:
                        absolute_path = self.directory_path_name + filename
                        # Avoid adding duplicates
                        if absolute_path not in image_list:
                            image_list.append(absolute_path)

        return image_list

    # Given a non-empty folder path, converts all jpg images in it to png.
    # Todo: Store png images in a new folder?
    # ToDo: Add a "Delete images after converting?"
    # ToDo: Add functionality for checkboxes
    # Ok so that the QListWidget can update, I'm going to have to get the image_list before calling this function.
    # In other words, image_list is a field in the MainWindow subclass, and is update after selecting the folder, and
    #   called before calling this function.
    def convert_folder_to_png(self):
        self.conversion_finished_or_error_label.setText("Converting")
        # Progress bar depends on independent variable, length of image list = x
        if len(self.image_list) > 0:
            self.convert_images_to_png()
            self.conversion_finished_or_error_label.setText("Conversion finished")
        if len(self.image_list) <= 0:
            self.conversion_finished_or_error_label.setText("There are no image files in this folder")

    # This will be called after a folder has been selected and the "Convert to PNG" button has been pressed
    def convert_images_to_png(self):
        self.conversion_finished_or_error_label.setText("...")
        # Convert images
        # ToDo : Put the checkbox logic here

        # Check if user wanted images stored in a new folder
        # Check if user wanted to delete original images after conversion
        # Placeholder for converted_PNG folder
        user_wanted_png_in_new_folder = self.create_new_folder_checkbox.isChecked()
        user_wanted_unconverted_image_deleted = self.delete_original_files_checkbox.isChecked()
        converted_png_folder_name = ""

        # Create folder if user wanted converted images stored in a new folder
        if user_wanted_png_in_new_folder:
            converted_png_folder_name = self.directory_path_name + "Converted PNG Files/"
            os.mkdir(converted_png_folder_name)

        for image_path in self.image_list:
            # Get absolute path
            absolute_image_path = os.path.abspath(image_path)
            if ".DS_Store" not in absolute_image_path:  # Mac adds .DS_Store, just a way to ignore these pesky files
                unconverted_image = Image.open(absolute_image_path)  # Image object
                if user_wanted_png_in_new_folder:
                    # Get just the image name and extension
                    name_and_extension_of_image = extract_image_name_and_extension(absolute_image_path)
                    # Append image name and extension to the converted image folder path
                    image_path_stored_in_converted_png_folder = converted_png_folder_name + name_and_extension_of_image
                    # Store in converted image folder path
                    unconverted_image.save(rename_image_path_to_png(image_path_stored_in_converted_png_folder))
                else:
                    unconverted_image.save(rename_image_path_to_png(absolute_image_path))

                if user_wanted_unconverted_image_deleted:
                    os.remove(absolute_image_path)