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.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.sensorsCheck.stateChanged.connect(self.showSensorsWidget)
self.rotationDial.valueChanged.connect(self.rotationChange)
self.altdSlider.valueChanged.connect(self.altitudeChange)
self.cameraWidget = ColorFilterWidget(self)
self.sensorsWidget = SensorsWidget(self)
self.changeCamButton.clicked.connect(self.changeCamera)
self.trackingCommunicator = Communicator()
self.pushButton.clicked.connect(self.pushClicked)
self.pushButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoffButton.clicked.connect(self.takeOffClicked)
self.camera1 = CameraWidget(self)
self.takeoff = False
self.reset = False
self.record = False
def getDrone(self):
return self.drone
def setDrone(self, drone):
self.drone = drone
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.camera1.updateImage()
self.sensorsWidget.sensorsUpdate.emit()
def pushClicked(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.setText('Play Code')
self.pushButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.stop()
self.rotationDial.setValue(self.altdSlider.maximum() / 2)
self.altdSlider.setValue(self.altdSlider.maximum() / 2)
self.drone.sendCMDVel(0, 0, 0, 0, 0, 0)
self.teleop.stopSIG.emit()
def takeOffClicked(self):
if (self.takeoff == True):
self.takeoffButton.setText("Take Off")
self.drone.land()
self.takeoff = False
else:
self.takeoffButton.setText("Land")
self.drone.takeoff()
self.takeoff = True
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.drone.reset()
self.reset = False
else:
self.resetButton.setText("Unreset")
self.drone.reset()
self.reset = True
self.rotationDial.setValue(self.altdSlider.maximum() / 2)
self.altdSlider.setValue(self.altdSlider.maximum() / 2)
self.drone.sendCMDVel(0, 0, 0, 0, 0, 0)
self.teleop.stopSIG.emit()
def changeCamera(self):
self.drone.toggleCam()
def showSensorsWidget(self, state):
if state == Qt.Checked:
self.sensorsWidget.show()
else:
self.sensorsWidget.close()
def closeSensorsWidget(self):
self.sensorsCheck.setChecked(False)
def rotationChange(self, value):
value = (1.0 / (self.rotationDial.maximum() / 2)) * (
value - (self.rotationDial.maximum() / 2))
self.rotValue.setText('%.2f' % value)
self.drone.setYaw(value)
self.drone.sendVelocities()
def altitudeChange(self, value):
value = (1.0 / (self.altdSlider.maximum() / 2)) * (
value - (self.altdSlider.maximum() / 2))
self.altdValue.setText('%.2f' % value)
self.drone.setVZ(value)
self.drone.sendVelocities()
def setXYValues(self, newX, newY):
self.XValue.setText('%.2f' % newX)
self.YValue.setText('%.2f' % newY)
self.drone.setVX(-newY)
self.drone.setVY(-newX)
self.drone.sendVelocities()
def closeEvent(self, event):
self.algorithm.kill()
self.drone.__camera.stop()
#self.navdata.stop()
self.drone.__pose.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.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.record = False
self.updGUI.connect(self.updateGUI)
self.cameraCheck.stateChanged.connect(self.showCameraWidget)
self.sensorsCheck.stateChanged.connect(self.showSensorsWidget)
self.colorFilterCheck.stateChanged.connect(self.showColorFilterWidget)
self.rotationDial.valueChanged.connect(self.rotationChange)
self.altdSlider.valueChanged.connect(self.altitudeChange)
self.cameraWidget = CameraWidget(self)
self.sensorsWidget = SensorsWidget(self)
self.colorFilterWidget = ColorFilterWidget(self)
self.cameraCommunicator = Communicator()
self.colorFilterCommunicator = Communicator()
self.trackingCommunicator = Communicator()
# self.stopButton.clicked.connect(self.stopClicked)
self.playstopButton.clicked.connect(self.playstopClicked)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoffButton.clicked.connect(self.takeOffClicked)
self.takeoff = False
self.reset = False
def getCamera(self):
return self.camera
def setCamera(self, camera):
self.camera = camera
def getNavData(self):
return self.navdata
def setNavData(self, navdata):
self.navdata = navdata
def getPose3D(self):
return self.pose
def setPose3D(self, pose):
self.pose = pose
def getCMDVel(self):
return self.cmdvel
def setCMDVel(self, cmdvel):
self.cmdvel = cmdvel
def getExtra(self):
return self.extra
def setExtra(self, extra):
self.extra = extra
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.cameraWidget.imageUpdate.emit()
self.sensorsWidget.sensorsUpdate.emit()
self.colorFilterWidget.imageUpdate.emit()
def playstopClicked(self):
if self.playstopButton.isChecked():
if self.record == True:
self.extra.record(True)
self.playstopButton.setText("Stop code")
self.playstopButton.setStyleSheet("background-color: #ec7063")
self.playstopButton.setIcon(self.icon1)
self.algorithm.play()
else:
if self.record == True:
self.extra.record(False)
self.algorithm.stop()
self.playstopButton.setStyleSheet("background-color: #7dcea0")
self.playstopButton.setText("Play code")
self.playstopButton.setIcon(self.icon)
self.rotationDial.setValue(self.altdSlider.maximum() / 2)
self.altdSlider.setValue(self.altdSlider.maximum() / 2)
self.cmdvel.sendCMDVel(0, 0, 0, 0, 0, 0)
self.teleop.stopSIG.emit()
def takeOffClicked(self):
if (self.takeoff == True):
self.takeoffButton.setText("Take Off")
self.extra.land()
self.takeoff = False
else:
self.takeoffButton.setText("Land")
self.extra.takeoff()
self.takeoff = True
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.extra.reset()
self.reset = False
else:
self.resetButton.setText("Unreset")
self.extra.reset()
self.reset = True
def showCameraWidget(self, state):
if state == Qt.Checked:
self.cameraWidget.show()
else:
self.cameraWidget.close()
def closeCameraWidget(self):
self.cameraCheck.setChecked(False)
def showColorFilterWidget(self, state):
if state == Qt.Checked:
self.colorFilterWidget.show()
else:
self.colorFilterWidget.close()
def closeColorFilterWidget(self):
self.colorFilterCheck.setChecked(False)
def showSensorsWidget(self, state):
if state == Qt.Checked:
self.sensorsWidget.show()
else:
self.sensorsWidget.close()
def closeSensorsWidget(self):
self.sensorsCheck.setChecked(False)
def rotationChange(self, value):
value = (1.0 / (self.rotationDial.maximum() / 2)) * (
value - (self.rotationDial.maximum() / 2))
self.rotValue.setText('%.2f' % value)
self.cmdvel.setYaw(value)
self.cmdvel.sendVelocities()
def altitudeChange(self, value):
value = (1.0 / (self.altdSlider.maximum() / 2)) * (
value - (self.altdSlider.maximum() / 2))
self.rotValue.setText('%.2f' % value)
self.cmdvel.setVZ(value)
self.cmdvel.sendVelocities()
def setXYValues(self, newX, newY):
self.XValue.setText('%.2f' % newX)
self.YValue.setText('%.2f' % newY)
self.cmdvel.setVX(-newY)
self.cmdvel.setVY(-newX)
self.cmdvel.sendVelocities()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.client.stop()
self.navdata.stop()
self.pose.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, camera, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.camera = camera
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.cameraCheck.stateChanged.connect(self.showCameraWidget)
self.colorFilterCheck.stateChanged.connect(self.showColorFilterWidget)
self.cameraWidget = CameraWidget(self)
self.colorFilterWidget = ColorFilterWidget(self)
self.cameraCommunicator = Communicator()
self.colorFilterCommunicator = Communicator()
self.trackingCommunicator = Communicator()
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
def getCamera(self):
return self.camera
def setCamera(self, camera):
self.camera = camera
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.cameraWidget.imageUpdate.emit()
self.colorFilterWidget.imageUpdate.emit()
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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()
icon.addPixmap(QtGui.QPixmap(":/images/play.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.playButton.setText("Play Code")
self.playButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.stop()
def showCameraWidget(self, state):
if state == Qt.Checked:
self.cameraWidget.show()
else:
self.cameraWidget.close()
def closeCameraWidget(self):
self.cameraCheck.setChecked(False)
def showColorFilterWidget(self, state):
if state == Qt.Checked:
self.colorFilterWidget.show()
else:
self.colorFilterWidget.close()
def closeColorFilterWidget(self):
self.colorFilterCheck.setChecked(False)
def closeEvent(self, event):
self.algorithm.kill()
self.colorFilterWidget.closeEvent(event)
self.closeColorFilterWidget()
self.closeCameraWidget()
self.camera.client.stop()
event.accept()
class Ui_MainWindow(object):
IMAGE_COLS_MAX = 640
IMAGE_ROWS_MAX = 360
LINX = 0.3
LINY = 0.3
LINZ = 0.8
ANGZ = 1.0
ANGY = 0.0
ANGX = 0.0
def setupUI(self, MainWindow):
## All GUI components of the main window are built here
self.setWindowTitle("Color filter")
# VerticalLayout with 2 rows
vlayout = QVBoxLayout(MainWindow)
vlayout.setSpacing(0)
vlayout.setContentsMargins(0, 0, 0, 0)
# Row 1
groupbox_1 = QGroupBox()
groupbox_1.setContentsMargins(0, 0, 0, 0)
hlayout = QHBoxLayout()
hlayout.setContentsMargins(0, 0, 0, 0)
hlayout.setAlignment(Qt.AlignCenter)
# Row 1 Col 1
groupbox_1_1 = QGroupBox()
vlayout_inner = QVBoxLayout()
vlayout_inner.setContentsMargins(0, 0, 0, 0)
vlayout_inner.setAlignment(Qt.AlignCenter)
text1 = "Live Video Stream"
window_1_label = QLabel()
window_1_label.setAlignment(Qt.AlignCenter)
window_1_label.setText(text1)
vlayout_inner.addWidget(window_1_label)
self.imgLabelColor = QLabel()
self.imgLabelColor.setFixedSize(640, 360)
self.imgLabelColor.setAlignment(Qt.AlignCenter)
vlayout_inner.addWidget(self.imgLabelColor)
groupbox_1_1.setLayout(vlayout_inner)
hlayout.addWidget(groupbox_1_1)
# Row 1 Col 2
groupbox_1_2 = QGroupBox()
vlayout_inner = QVBoxLayout()
vlayout_inner.setContentsMargins(0, 0, 0, 0)
vlayout_inner.setAlignment(Qt.AlignCenter)
text2 = "Output after thresholding"
window_2_label = QLabel()
window_2_label.setAlignment(Qt.AlignCenter)
window_2_label.setText(text2)
vlayout_inner.addWidget(window_2_label)
self.imgLabelBlackWhite = QLabel()
self.imgLabelBlackWhite.setAlignment(Qt.AlignCenter)
self.imgLabelBlackWhite.setFixedSize(640, 360)
vlayout_inner.addWidget(self.imgLabelBlackWhite)
groupbox_1_2.setLayout(vlayout_inner)
hlayout.addWidget(groupbox_1_2)
groupbox_1.setLayout(hlayout)
vlayout.addWidget(groupbox_1)
# ROW 2
groupbox_2 = QGroupBox()
groupbox_2.setContentsMargins(0, 0, 0, 0)
h_3layout = QHBoxLayout()
h_3layout.setContentsMargins(0, 0, 0, 0)
# Row 2 Col 1
groupbox_2_1 = QGroupBox()
h2layout = QVBoxLayout()
h2layout.setAlignment(Qt.AlignCenter)
text3 = 'Final Processed Image'
window_3_label = QLabel()
window_3_label.setAlignment(Qt.AlignCenter)
window_3_label.setText(text3)
h2layout.addWidget(window_3_label)
self.detectedImage = QLabel()
self.detectedImage.setAlignment(Qt.AlignCenter)
self.detectedImage.setFixedSize(640, 360)
h2layout.addWidget(self.detectedImage)
groupbox_2_1.setLayout(h2layout)
h_3layout.addWidget(groupbox_2_1, 75)
# Row 2 Col 2
groupbox_2_2 = QGroupBox()
self.v3_layout = QVBoxLayout()
self.v3_layout.setAlignment(Qt.AlignCenter)
self.v3_layout.addSpacing(30)
self.v3_layout.setAlignment(Qt.AlignCenter)
self.centralwidget = QtWidgets.QWidget()
self.playButton = QtWidgets.QPushButton(self.centralwidget)
self.playButton.setFixedSize(QSize(200, 100))
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal,
QtGui.QIcon.Off)
self.playButton.setObjectName("playButton")
self.v3_layout.addWidget(self.playButton, 60)
self.logo = LogoWidget(self, 200, 100)
self.logo.setVisible(True)
self.v3_layout.addWidget(self.logo, 40)
groupbox_2_2.setLayout(self.v3_layout)
h_3layout.addWidget(groupbox_2_2, 25)
groupbox_2.setLayout(h_3layout)
vlayout.addWidget(groupbox_2)
icon = QtGui.QIcon()
self.playButton.setIcon(icon)
self.retranslateUi(MainWindow)
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
self.playButton.setText(_translate("MainWindow", "Play Code"))
def getCamera(self):
return self.camera
def setCamera(self, camera):
self.camera = camera
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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()
icon.addPixmap(QtGui.QPixmap(":/images/play.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.playButton.setText("Play Code")
self.playButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.stop()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.client.stop()
event.accept()
def setColorImage(self):
img = self.camera.getImage()
if img is not None:
image = QImage(img.data, img.shape[1], img.shape[0],
img.shape[1] * img.shape[2], QImage.Format_RGB888)
self.imgLabelColor.setPixmap(QPixmap.fromImage(image))
def setThresholdImage(self):
img = self.getCamera().getThresholdImage()
if img is not None:
image = QImage(img.data, img.shape[1], img.shape[0],
img.shape[1] * img.shape[2], QImage.Format_RGB888)
self.imgLabelBlackWhite.setPixmap(QPixmap.fromImage(image))
def setDetectImage(self):
img = self.getCamera().getDetectImage()
if img is not None:
image = QImage(img.data, img.shape[1], img.shape[0],
img.shape[1] * img.shape[2], QImage.Format_RGB888)
image1 = image.scaledToHeight(360)
self.detectedImage.setPixmap(QPixmap.fromImage(image1))
def updateImage(self):
self.setThresholdImage()
self.setDetectImage()
def updateCamImage(self):
self.setColorImage()
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.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.record = False
self.updGUI.connect(self.updateGUI)
self.segmentCheck.stateChanged.connect(self.showSegmentWidget)
self.segmentWidget = SegmentWidget(self)
self.segmentCommunicator = Communicator()
self.trackingCommunicator = Communicator()
#self.stopButton.clicked.connect(self.stopClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoff = False
self.reset = False
def setCamera(self, camera):
self.camera = camera
#self.cameraWidget.show() #uncomment if wanted to see the image of the
#camera whenever you start the execution
def getCamera(self):
return self.camera
def setMotors(self, motors):
self.motors = motors
def getMotors(self):
return self.motors
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.segmentWidget.imageUpdate.emit()
def playClicked(self):
if self.playButton.isChecked():
self.segmentWidget.show()
self.segmentCheck.setChecked(True)
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.teleop.stopSIG.emit()
#def stopClicked(self):
# self.algorithm.stop()
# self.teleop.stopSIG.emit()
# ponerrrrr: self.teleop.returnToOrigin()
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.reset = False
else:
self.resetButton.setText("Unreset")
self.reset = True
def showSegmentWidget(self, state):
if state == Qt.Checked:
self.segmentWidget.show()
else:
self.segmentWidget.close()
def closeSegmentWidget(self):
self.segmentCheck.setChecked(False)
def setXYValues(self, newX, newY):
limits = self.motors.getLimits()
pan = newX * limits.maxPan
tilt = -newY * limits.maxTilt
self.YValue.setText(str(tilt))
self.XValue.setText(str(pan))
#self.YValue.setText("{:.0f}".format(tilt))
#self.XValue.setText("{:.0f}".format(pan))
if (self.motors):
self.motors.setPTMotorsData(pan, tilt, limits.maxPanSpeed,
limits.maxTiltSpeed)
def closeEvent(self, event):
self.algorithm.kill()
self.camera.client.stop()
self.closeSegmentWidget()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal(list)
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
plannerList = [
'RRTstar', 'SORRTstar', 'BITstar', 'FMTstar', 'InformedRRTstar',
'PRMstar'
]
self.plannerBox.addItems(plannerList)
# objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo']
# self.objectiveBox.addItems(objectiveList)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
pList = []
pList.append(self.getPlanner())
#pList.append(self.getObjective())
pList.append(self.getRunTime())
self.getPathSig.emit(pList)
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self, newW, newV):
self.WValue.setText(str(newW))
self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
def getPlanner(self):
planner = self.plannerBox.currentText()
return planner
def getObjective(self):
objective = self.objectiveBox.currentText()
return objective
def getRunTime(self):
runtime = str(self.runtimeBox.value())
return runtime
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal()
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
self.getPathSig.emit()
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self, newW, newV):
self.WValue.setText(str(newW))
self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.cameraCheck.stateChanged.connect(self.showCameraWidget)
self.colorFilterCheck.stateChanged.connect(self.showColorFilterWidget)
self.cameraWidget=CameraWidget(self)
self.colorFilterWidget=ColorFilterWidget(self)
self.cameraCommunicator=Communicator()
self.colorFilterCommunicator=Communicator()
self.trackingCommunicator = Communicator()
#self.stopButton.clicked.connect(self.stopClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.resetButton.clicked.connect(self.resetClicked)
#self.takeoffButton.clicked.connect(self.takeOffClicked)
self.takeoff=False
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera = camera
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.cameraWidget.imageUpdate.emit()
self.colorFilterWidget.imageUpdate.emit()
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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()
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.playButton.setText("Play Code")
self.playButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.stop()
def showCameraWidget(self,state):
if state == Qt.Checked:
self.cameraWidget.show()
else:
self.cameraWidget.close()
def closeCameraWidget(self):
self.cameraCheck.setChecked(False)
def showColorFilterWidget(self,state):
if state == Qt.Checked:
self.colorFilterWidget.show()
else:
self.colorFilterWidget.close()
def closeColorFilterWidget(self):
self.colorFilterCheck.setChecked(False)
def closeEvent(self, event):
self.algorithm.kill()
self.camera.client.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal(list)
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
# plannerList = ['RRTstar', 'SORRTstar','BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar']
# self.plannerBox.addItems(plannerList)
# objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo']
# self.objectiveBox.addItems(objectiveList)
self.liftDropButton.clicked.connect(self.liftDropExecute)
self.liftDropButton.setCheckable(True)
self.jointForce = 0
self.pub = rospy.Publisher('amazon_warehouse_robot/joint_cmd',
Float32,
queue_size=10)
self.gotoPointButton.clicked.connect(self.gotoPointExecute)
self.gotoPointButton.setCheckable(True)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
pList = []
# pList.append(self.getPlanner())
#pList.append(self.getObjective())
# pList.append(self.getRunTime())
self.getPathSig.emit(pList)
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self, newW, newV):
# self.WValue.setText(str(newW))
# self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
def getPlanner(self):
planner = self.plannerBox.currentText()
return planner
def getObjective(self):
objective = self.objectiveBox.currentText()
return objective
def getRunTime(self):
runtime = str(self.runtimeBox.value())
return runtime
def liftDropExecute(self):
#print ('Lift/Drop Button Clicked')
if self.jointForce != 25:
self.jointForce = 25
self.pub.publish(self.jointForce)
self.liftDropButton.setText("Drop")
print('Platform Lifted!')
else:
self.jointForce = 0
self.pub.publish(self.jointForce)
self.liftDropButton.setText("Lift")
print('Platform Dropped!')
def gotoPointExecute(self):
self.algorithm.setNewPalletFlag(self.playButton.isChecked())
def setDestinyXYValues(self, newX, newY):
self.XValue.setText(str(newX))
self.YValue.setText(str(newY))
def setPositionXYValues(self, newX, newY):
self.VValue.setText(str(newX))
self.WValue.setText(str(newY))
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.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.record = False
self.updGUI.connect(self.updateGUI)
self.cameraCheck.stateChanged.connect(self.showCameraWidget)
self.sensorsCheck.stateChanged.connect(self.showSensorsWidget)
self.rotationDial.valueChanged.connect(self.rotationChange)
self.altdSlider.valueChanged.connect(self.altitudeChange)
self.cameraWidget=CameraWidget(self)
self.sensorsWidget=SensorsWidget(self)
self.cameraCommunicator=Communicator()
self.trackingCommunicator = Communicator()
#self.stopButton.clicked.connect(self.stopClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoffButton.clicked.connect(self.takeOffClicked)
self.takeoff=False
self.reset=False
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera = camera
def getNavData(self):
return self.navdata
def setNavData(self,navdata):
self.navdata = navdata
def getPose3D(self):
return self.pose
def setPose3D(self,pose):
self.pose = pose
def getCMDVel(self):
return self.cmdvel
def setCMDVel(self,cmdvel):
self.cmdvel = cmdvel
def getExtra(self):
return self.extra
def setExtra(self,extra):
self.extra = extra
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.cameraWidget.imageUpdate.emit()
self.sensorsWidget.sensorsUpdate.emit()
def playClicked(self):
if self.playButton.isChecked():
if self.record == True:
self.extra.record(True)
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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:
if self.record == True:
self.extra.record(False)
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.playButton.setText("Play Code")
self.algorithm.stop()
self.rotationDial.setValue(self.altdSlider.maximum()/2)
self.altdSlider.setValue(self.altdSlider.maximum()/2)
self.cmdvel.sendCMDVel(0,0,0,0,0,0)
self.teleop.stopSIG.emit()
def takeOffClicked(self):
if(self.takeoff==True):
self.takeoffButton.setText("Take Off")
self.extra.land()
self.takeoff=False
else:
self.takeoffButton.setText("Land")
self.extra.takeoff()
self.takeoff=True
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.extra.reset()
self.reset=False
else:
self.resetButton.setText("Unreset")
self.extra.reset()
self.reset=True
def showCameraWidget(self,state):
if state == Qt.Checked:
self.cameraWidget.show()
else:
self.cameraWidget.close()
def closeCameraWidget(self):
self.cameraCheck.setChecked(False)
def showSensorsWidget(self,state):
if state == Qt.Checked:
self.sensorsWidget.show()
else:
self.sensorsWidget.close()
def closeSensorsWidget(self):
self.sensorsCheck.setChecked(False)
def rotationChange(self,value):
value=(1.0/(self.rotationDial.maximum()/2))*(value - (self.rotationDial.maximum()/2))
self.rotValue.setText('%.2f' % value)
self.cmdvel.setYaw(value)
self.cmdvel.sendVelocities()
def altitudeChange(self,value):
value=(1.0/(self.altdSlider.maximum()/2))*(value - (self.altdSlider.maximum()/2))
self.altdValue.setText('%.2f' % value)
self.cmdvel.setVZ(value)
self.cmdvel.sendVelocities()
def setXYValues(self,newX,newY):
self.XValue.setText('%.2f' % newX)
self.YValue.setText('%.2f' % newY)
self.cmdvel.setVX(-newY)
self.cmdvel.setVY(-newX)
self.cmdvel.sendVelocities()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.stop()
self.navdata.stop()
self.pose.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.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.record = False
self.updGUI.connect(self.updateGUI)
self.segmentCheck.stateChanged.connect(self.showSegmentWidget)
self.segmentWidget=SegmentWidget(self)
self.segmentCommunicator=Communicator()
self.trackingCommunicator = Communicator()
#self.stopButton.clicked.connect(self.stopClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoff=False
self.reset=False
def setCamera(self, camera):
self.camera = camera
#self.cameraWidget.show() #uncomment if wanted to see the image of the
#camera whenever you start the execution
def getCamera(self):
return self.camera
def setMotors(self, motors):
self.motors = motors
def getMotors(self):
return self.motors
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.segmentWidget.imageUpdate.emit()
def playClicked(self):
if self.playButton.isChecked():
self.segmentWidget.show()
self.segmentCheck.setChecked(True)
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.teleop.stopSIG.emit()
#def stopClicked(self):
# self.algorithm.stop()
# self.teleop.stopSIG.emit()
# ponerrrrr: self.teleop.returnToOrigin()
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.reset=False
else:
self.resetButton.setText("Unreset")
self.reset=True
def showSegmentWidget(self,state):
if state == Qt.Checked:
self.segmentWidget.show()
else:
self.segmentWidget.close()
def closeSegmentWidget(self):
self.segmentCheck.setChecked(False)
def setXYValues(self, newX, newY):
limits = self.motors.getLimits()
pan = newX*limits.maxPan
tilt = - newY*limits.maxTilt
self.YValue.setText(str(tilt))
self.XValue.setText(str(pan))
#self.YValue.setText("{:.0f}".format(tilt))
#self.XValue.setText("{:.0f}".format(pan))
if (self.motors):
self.motors.setPTMotorsData(pan, tilt, limits.maxPanSpeed, limits.maxTiltSpeed)
def closeEvent(self, event):
self.algorithm.kill()
self.camera.client.stop()
self.closeSegmentWidget()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal()
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.stopButton.clicked.connect(self.stopClicked)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
self.getPathSig.emit()
def playClicked(self):
print("Play clicked")
self.algorithm.play()
def stopClicked(self):
print("Stop clicked")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self,newW,newV):
self.WValue.setText(str(newW))
self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal()
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
self.getPathSig.emit()
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self,newW,newV):
self.WValue.setText(str(newW))
self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)