class MainWindow(QMainWindow):
#Signals which go to control. They have to be declared here due to limitations of the PyQt5
#https://stackoverflow.com/questions/2970312/pyqt4-qtcore-pyqtsignal-object-has-no-attribute-connect
#well explained in the link above
toggleLaserSignal = pyqtSignal()
moveRightStartSignal = pyqtSignal()
moveRightStopSignal = pyqtSignal()
moveLeftStartSignal = pyqtSignal()
moveLeftStopSignal = pyqtSignal()
measureDistanceSignal = pyqtSignal()
setAngleToZeroSignal = pyqtSignal()
calculateWidthSignal = pyqtSignal()
sendSpeedSignal = pyqtSignal(int)
connectBluetoothSignal = pyqtSignal()
getMapSignal = pyqtSignal()
def __init__(self, parent=None):
QMainWindow.__init__(self)
#self.setStyleSheet("background-color: black;")
#self.setStyleSheet(".QPushButton { background-color: black}")
self.setAutoFillBackground(True)
#Set the properties of the window
self.setMinimumSize(800, 480)
self.setWindowTitle("Dingo is amazing")
#initialise widgets and threads
self.displayWidgets()
self.setUpThreads()
self.defineSignals()
self.updateDisplays() #delete later
self.updateLaserColour()
self.show()
def __del__(self):
#Destructor. Initialise closing the thread, wait for it to finish, continue
self.controlThread.quit()
self.controlThread.wait()
self.commsThread.quit()
self.controlThread.wait()
def setUpThreads(self):
#Set up threads. Initialise objects and move them to threads
self.controlThread = QThread()
self.commsThread = QThread()
self.controlThreadObject = Control()
self.commsThreadObject = Comms()
self.controlThreadObject.moveToThread(self.controlThread)
self.commsThreadObject.moveToThread(self.commsThread)
self.controlThread.start()
self.commsThread.start()
return
def displayWidgets(self):
self.setUpCentralWidget()
self.setUpMenuWidget()
self.setUpStackedLayoutWidget()
self.setUpControlGridWidget()
self.setUpSettingsWidget()
self.setUpImagesWidget()
self.setUpDataDisplayWidget()
self.setUpMapsControlWidget()
self.addMenuButtons()
self.addButtonsToControlGrid()
self.addDisplaysToControlGrid()
self.initialiseVariablesToZero()
self.addMotorSpeedControls()
self.addWarningDisplay()
self.initialiseSpeedVariable()
#self.addSliderToControlGrid()
return
def setUpMenuWidget(self):
menuWidget = QWidget()
menuWidget.setMinimumSize(800, 20)
self.menuLayout = QHBoxLayout()
menuWidget.setLayout(self.menuLayout)
self.mainLayout.addWidget(menuWidget)
return
def setUpStackedLayoutWidget(self):
stackedWidget = QWidget()
stackedWidget.setMinimumSize(800, 380)
self.stackedLayout = QStackedLayout()
stackedWidget.setLayout(self.stackedLayout)
self.mainLayout.addWidget(stackedWidget)
return
def setUpCentralWidget(self):
mainWidget = QWidget()
self.mainLayout = QVBoxLayout()
mainWidget.setLayout(self.mainLayout)
self.setCentralWidget(mainWidget)
return
def setUpControlGridWidget(self):
self.controlWidget = QWidget()
self.controlWidget.setMinimumSize(800, 380)
self.controlLayout = QGridLayout()
self.controlWidget.setLayout(self.controlLayout)
self.stackedLayout.addWidget(self.controlWidget)
return
def setUpImagesWidget(self):
self.imagesWidget = MapsDisplay()
# self.imagesWidget.setMinimumSize(800,380)
# self.imagesLayout = QHBoxLayout()
# self.imagesWidget.setLayout(self.imagesLayout)
self.stackedLayout.addWidget(self.imagesWidget)
def setUpDataDisplayWidget(self):
self.dataDisplayWidget = DataDisplay()
# self.dataDisplayWidget.setMinimumSize(800,380)
# self.dataDisplayLayout = QVBoxLayout()
# self.dataDisplayWidget.setLayout(self.dataDisplayLayout)
self.stackedLayout.addWidget(self.dataDisplayWidget)
return
def setUpMapsControlWidget(self):
self.mapsControlWidget = MapsControl()
self.stackedLayout.addWidget(self.mapsControlWidget)
def setUpSettingsWidget(self):
self.settingsWidget = SettingsWidget()
self.stackedLayout.addWidget(self.settingsWidget)
def addMenuButtons(self):
buttonControl = QPushButton("Control Panel")
buttonControl.setFixedHeight(40)
buttonControl.clicked.connect(
self.switchStackedLayoutWidget(self.controlWidget))
self.menuLayout.addWidget(buttonControl)
buttonDisplay = QPushButton("Display data")
buttonDisplay.setFixedHeight(40)
buttonDisplay.clicked.connect(
self.switchStackedLayoutWidget(self.dataDisplayWidget))
self.menuLayout.addWidget(buttonDisplay)
buttonMaps = QPushButton("Maps control")
buttonMaps.setFixedHeight(40)
buttonMaps.clicked.connect(
self.switchStackedLayoutWidget(self.mapsControlWidget))
self.menuLayout.addWidget(buttonMaps)
buttonImages = QPushButton("Maps")
buttonImages.setFixedHeight(40)
buttonImages.clicked.connect(
self.switchStackedLayoutWidget(self.imagesWidget))
self.menuLayout.addWidget(buttonImages)
buttonSettings = QPushButton("Settings")
buttonSettings.setFixedHeight(40)
buttonSettings.clicked.connect(
self.switchStackedLayoutWidget(self.settingsWidget))
self.menuLayout.addWidget(buttonSettings)
return
def switchStackedLayoutWidget(self, widget):
#this is an interesting concept. I couldn't pass a widget directly to the setCurrentWidget
#I had to use something called function factory
#https://stackoverflow.com/questions/6784084/how-to-pass-arguments-to-functions-by-the-click-of-button-in-pyqt
#More information on stack
def functionFactory():
self.stackedLayout.setCurrentWidget(widget)
return functionFactory
def initialiseVariablesToZero(self):
self.lastDistance = 0
self.lastAngle = 0
self.formerDistance = 0
self.formerAngle = 0
self.lastWidth = 0
self.lastWidthDistance = 0
self.laserOn = False
return
def initialiseSpeedVariable(self):
self.speed = 5
return
def updateDisplays(self):
self.boxDistanceLast.setText("Last distance: " +
str(self.lastDistance) + "mm")
self.boxAngleLast.setText("Last angle: " + str(self.lastAngle))
self.boxDistanceFormer.setText("Former distance: " +
str(self.formerDistance) + "mm")
self.boxAngleFormer.setText("Former angle: " + str(self.formerAngle))
self.boxWidth.setText("Last width: " + str(self.lastWidth) + "mm")
self.boxSpeed.setText("Motor speed: " + str(self.speed))
self.boxWidthDistance.setText("Shortest distance: " +
str(self.lastWidthDistance) + "mm")
if self.lastDistance != 0 and self.lastDistance < 1000:
self.boxWarning.setText(
"WARNING. Distance under 1m. It can be inaccurate")
self.boxWarning.setStyleSheet("background-color: red")
elif self.lastDistance != 0 and self.lastDistance > 1000:
self.boxWarning.setText("Measurement OK")
self.boxWarning.setStyleSheet("background-color: green")
return
def addDisplaysToControlGrid(self):
self.boxDistanceLast = QLineEdit()
self.boxDistanceLast.setFixedHeight(40)
self.boxDistanceLast.setReadOnly(True)
self.controlLayout.addWidget(self.boxDistanceLast, 2, 0)
self.boxAngleLast = QLineEdit()
self.boxAngleLast.setFixedHeight(40)
self.boxAngleLast.setReadOnly(True)
self.controlLayout.addWidget(self.boxAngleLast, 2, 1)
self.boxDistanceFormer = QLineEdit()
self.boxDistanceFormer.setFixedHeight(40)
self.boxDistanceFormer.setReadOnly(True)
self.controlLayout.addWidget(self.boxDistanceFormer, 3, 0)
self.boxAngleFormer = QLineEdit()
self.boxAngleFormer.setFixedHeight(40)
self.boxAngleFormer.setReadOnly(True)
self.controlLayout.addWidget(self.boxAngleFormer, 3, 1)
self.boxWidth = QLineEdit()
self.boxWidth.setFixedHeight(40)
self.boxWidth.setReadOnly(True)
self.controlLayout.addWidget(self.boxWidth, 2, 2)
self.boxSpeed = QLineEdit()
self.boxSpeed.setFixedHeight(40)
self.boxSpeed.setReadOnly(True)
self.controlLayout.addWidget(self.boxSpeed, 5, 1)
self.boxWidthDistance = QLineEdit()
self.boxWidthDistance.setFixedHeight(40)
self.boxWidthDistance.setReadOnly(True)
self.controlLayout.addWidget(self.boxWidthDistance, 3, 2)
return
def addSliderToControlGrid(self):
self.slider = QSlider()
self.slider.setRange(1, 10)
self.slider.setTickPosition(1)
self.slider.setTickInterval(10)
self.slider.setSingleStep(1)
self.slider.setOrientation(1)
self.controlLayout.addWidget(self.slider, 5, 0, 1, 2)
return
def addButtonsToControlGrid(self):
self.buttonToggleLaser = QPushButton("Toggle laser: OFF")
#buttonToggleLaser.setStyleSheet("background-color: white")
self.buttonToggleLaser.setFixedHeight(50)
self.buttonToggleLaser.setStyleSheet("background-color: green")
self.buttonToggleLaser.clicked.connect(self.buttonToggleLaserClicked)
self.controlLayout.addWidget(self.buttonToggleLaser, 0, 0)
self.buttonBluetoothConnect = QPushButton("Bluetooth Connect")
self.buttonBluetoothConnect.setFixedHeight(50)
self.buttonBluetoothConnect.clicked.connect(
self.buttonBluetoothConnectClicked)
self.controlLayout.addWidget(self.buttonBluetoothConnect, 0, 2)
#Boxes for displaying last measured distance and angle. Blocked, will be updated by later functions
#Push Buttons For moving right, left and taking measurement
buttonLeft = QPushButton("<<<")
buttonLeft.pressed.connect(self.buttonMoveLeftPressed)
buttonLeft.released.connect(self.buttonMoveLeftReleased)
buttonLeft.setFixedHeight(60)
self.controlLayout.addWidget(buttonLeft, 6, 0)
buttonMeasure = QPushButton("Measure")
buttonMeasure.clicked.connect(self.buttonMeasureClicked)
buttonMeasure.setFixedHeight(60)
self.controlLayout.addWidget(buttonMeasure, 6, 1)
buttonRight = QPushButton(">>>")
buttonRight.pressed.connect(self.buttonMoveRightPressed)
buttonRight.released.connect(self.buttonMoveRightReleased)
buttonRight.setFixedHeight(60)
self.controlLayout.addWidget(buttonRight, 6, 2)
#Buttons for setting angle to relative 0 and displaying distance p2p
buttonSetRelativeZero = QPushButton("Set angle 0")
buttonSetRelativeZero.setFixedHeight(40)
buttonSetRelativeZero.clicked.connect(
self.buttonSetRelativeAngleToZeroClicked)
self.controlLayout.addWidget(buttonSetRelativeZero, 8, 0)
buttonWidth = QPushButton("Calculate width")
buttonWidth.setFixedHeight(40)
buttonWidth.clicked.connect(self.buttonGetWidthPressed)
self.controlLayout.addWidget(buttonWidth, 8, 2)
# Moved to maps control tab
buttonScan = QPushButton("Map the room")
buttonScan.setFixedHeight(40)
buttonScan.clicked.connect(self.buttonScanRoomClicked)
# self.controlLayout.addWidget(buttonScan,8,2)
return
def addButtonUpdate(self):
buttonUpdate = QPushButton("UPdate")
buttonUpdate.setFixedHeight(40)
buttonUpdate.clicked.connect(self.updateFirmware)
self.controlLayout.addWidget(buttonUpdate, 3, 2)
def addMotorSpeedControls(self):
buttonDecreaseSpeed = QPushButton("---")
buttonDecreaseSpeed.setFixedHeight(40)
buttonDecreaseSpeed.clicked.connect(self.buttonDecreaseSpeedClicked)
self.controlLayout.addWidget(buttonDecreaseSpeed, 5, 0)
buttonIncreaseSpeed = QPushButton("+++")
buttonIncreaseSpeed.setFixedHeight(40)
buttonIncreaseSpeed.clicked.connect(self.buttonIncreaseSpeedClicked)
self.controlLayout.addWidget(buttonIncreaseSpeed, 5, 2)
return
def defineSignals(self):
#gui -> control
self.toggleLaserSignal.connect(self.controlThreadObject.toggleLaser)
self.moveRightStartSignal.connect(
self.controlThreadObject.moveRightStart)
self.moveRightStopSignal.connect(
self.controlThreadObject.moveRightStop)
self.moveLeftStartSignal.connect(
self.controlThreadObject.moveLeftStart)
self.moveLeftStopSignal.connect(self.controlThreadObject.moveLeftStop)
self.measureDistanceSignal.connect(
self.controlThreadObject.measureDistance)
self.setAngleToZeroSignal.connect(
self.controlThreadObject.setAngleToZero)
self.calculateWidthSignal.connect(
self.controlThreadObject.calculateWidth)
self.sendSpeedSignal.connect(
self.controlThreadObject.receiveSpeedValue)
#maps control -> gui
self.mapsControlWidget.getMapSignal.connect(
self.controlThreadObject.getMap)
self.mapsControlWidget.turnOffLaserSignal.connect(self.turnOffLaser)
#maps -> maps control
self.imagesWidget.mapAddedSignal.connect(
self.mapsControlWidget.indicatorFinishMeasurment)
#control -> gui
self.controlThreadObject.sendMapSignal.connect(self.receiveMap)
self.controlThreadObject.sendPointSignal.connect(self.receivePoint)
#gui -> comms
self.connectBluetoothSignal.connect(self.commsThreadObject.main)
#comms -> gui
self.commsThreadObject.calculateWidthSignal.connect(
self.buttonGetWidthPressed)
self.commsThreadObject.toggleLaserSignal.connect(
self.buttonToggleLaserClicked)
self.commsThreadObject.getMapSignal.connect(
self.controlThreadObject.getMap)
self.commsThreadObject.measureSignal.connect(self.buttonMeasureClicked)
self.commsThreadObject.setAngleZeroSignal.connect(
self.buttonSetRelativeAngleToZeroClicked)
self.commsThreadObject.bluetoothReadySignal.connect(
self.bluetoothConnected)
return
def turnOffLaser(self):
self.laserOn = False
self.updateLaserColour()
return
def bluetoothConnected(self):
self.buttonBluetoothConnect.setText("Bluetooth ready")
return
def buttonToggleLaserClicked(self):
self.laserOn = not self.laserOn
self.toggleLaserSignal.emit()
self.updateLaserColour()
return
def updateLaserColour(self):
if self.laserOn is True:
self.buttonToggleLaser.setStyleSheet("background-color: red")
self.buttonToggleLaser.setText("Toggle laser: ON")
elif self.laserOn is not True:
self.buttonToggleLaser.setStyleSheet("background-color: green")
self.buttonToggleLaser.setText("Toggle laser: OFF")
def buttonMeasureClicked(self):
#A slot which handles Measure button click
self.measureDistanceSignal.emit()
# point = Point()
# point.value = 6
# point.angle = 56
# point.error = 43
# self.dataDisplayWidget.addPointToDisplay(point)
return
def buttonSetRelativeAngleToZeroClicked(self):
#Slot which set relative angle to zero degrees. Useful for calibration
self.setAngleToZeroSignal.emit()
return
def buttonMoveRightPressed(self):
#Slot
self.moveRightStartSignal.emit()
return
def buttonMoveRightReleased(self):
#Slot
self.moveRightStopSignal.emit()
return
def buttonMoveLeftPressed(self):
#Slot
self.moveLeftStartSignal.emit()
return
def buttonMoveLeftReleased(self):
#Slot
self.moveLeftStopSignal.emit()
return
def buttonIncreaseSpeedClicked(self):
if self.speed >= 10:
return
else:
self.speed += 1
self.sendSpeedSignal.emit(self.speed)
self.updateDisplays()
return
def buttonDecreaseSpeedClicked(self):
if self.speed <= 1:
return
else:
self.speed -= 1
self.sendSpeedSignal.emit(self.speed)
self.updateDisplays()
return
def buttonGetWidthPressed(self):
#Slot. Uses two last measurements and returns distance between these points
self.calculateWidthSignal.emit()
# point = Point()
# point.value = 6324
# point.objectType = "width"
# point.angle = 99999
# point.error = 43
# self.dataDisplayWidget.addMeasurementToDisplay(point)
return
def buttonBluetoothConnectClicked(self):
#Slot
self.connectBluetoothSignal.emit()
return
def displayPikaPika(self):
pika = QLabel(self)
pix = QtGui.QPixmap("pika.png")
pix = pix.scaled(800, 380)
pika.setPixmap(pix)
self.imagesLayout.addWidget(pika)
pika.show()
return
def buttonScanRoomClicked(self):
self.getMapSignal.emit()
return
def sendMarkNixon(self):
img = QImage("nix.png")
mp = Map()
mp.mapImage = img
self.imagesWidget.addNewMapPair(mp)
return
def receivePoint(self, point):
point.value = round(point.value, 2)
point.angle = round(point.angle, 2)
point.error = round(point.error, 2)
if point.objectType == "point":
self.updateLastDistance(point)
self.dataDisplayWidget.addMeasurementToDisplay(point)
elif point.objectType == "width":
self.commsThreadObject.response = "msg:" + str(
point.value) + "," + str(point.angle)
self.updateWidht(point)
self.dataDisplayWidget.addMeasurementToDisplay(point)
return
def receiveMap(self, imageMap):
self.imagesWidget.addNewMapPair(imageMap)
return
def updateLastDistance(self, point):
#Move last to former
self.formerDistance = self.lastDistance
self.formerAngle = self.lastAngle
self.lastDistance = point.value
self.lastAngle = point.angle
self.updateDisplays()
return
def updateWidht(self, point):
self.lastWidth = point.value
self.lastWidthDistance = point.angle
self.updateDisplays()
return
def updateFirmware(self):
pid = os.getpid()
os.system("sudo python3 updater.py")
os.kill(pid, signal.SIGKILL)
return
def addWarningDisplay(self):
self.boxWarning = QTextEdit(
"Measurements under 1m are likely to be inaccurate")
self.boxWarning.setStyleSheet("background-color: white")
self.boxWarning.setAlignment(Qt.AlignCenter)
self.boxWarning.setReadOnly(True)
self.boxWarning.setFixedHeight(50)
self.controlLayout.addWidget(self.boxWarning, 0, 1)
