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MicRobotMain.py
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MicRobotMain.py
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# coding=UTF-8
#system
import sys,os,time
import math
import numpy as np
import openni
import serial
from functools import partial
#PyQt5
from PyQt5 import QtCore
from PyQt5.QtCore import Qt,QObject,QTimer,QUrl,QFileInfo
from PyQt5.QtWebKitWidgets import QWebView
from PyQt5.QtWidgets import *
from PyQt5.QtGui import QImage,QPixmap,QPen,QColor,QPainter,QIcon
#Project
import KinectSensor as KS
from MicRobot import MicRobot
import mapTable
class AngleInfo(QObject):
swingAngleV=0
armAngleV=0
armSpringAngleV=0
armFrontAngleV=0
KMConnectedV=False
def _swingAngle(self):
return self.swingAngleV;
def _armAngle(self):
return self.armAngleV;
def _armSpringAngle(self):
return self.armSpringAngleV;
def _armFrontAngle(self):
return self.armFrontAngleV;
def _KMConnected(self):
return self.KMConnectedV;
def _swingAngleS(self,v):
self.swingAngleV=v;
def _armAngleS(self,v):
self.armAngleV=v;
def _armSpringAngleS(self,v):
self.armSpringAngleV=v;
def _armFrontAngleS(self,v):
self.armFrontAngleV=v;
#return swingAngleV;
swingAngle=QtCore.pyqtProperty(float, fget=_swingAngle,fset=_swingAngleS);
armAngle=QtCore.pyqtProperty(float, fget=_armAngle,fset=_armAngleS);
armSpringAngle=QtCore.pyqtProperty(float,
fget=_armSpringAngle,fset=_armSpringAngleS);
armFrontAngle=QtCore.pyqtProperty(float,
fget=_armFrontAngle,fset=_armFrontAngleS);
KMConnected=QtCore.pyqtProperty(bool, fget=_KMConnected);
class RefreshTimerThread(QtCore.QThread):
#trigger=QtCore.pyqtSignal(int)
KinectFail=QtCore.pyqtSignal()
KinectReady=QtCore.pyqtSignal()
joint_request=['head','neck',
'torso','left_shoulder','left_elbow','left_hand']
joint_list=[]
joint_dic={}
refreshInterval=0.041
def __init__(self,parent=None):
super(RefreshTimerThread,self).__init__(parent)
#self.initTimer()
def setup(self, m):
self.m=m
def run(self):
while True:
#time.sleep(0.001)
time.sleep(self.refreshInterval)
self.refresh();
def initTimer(self):
self.timer=QTimer()
self.timer.timeout.connect(self.refresh)
self.timer.start(11)
#self.kstimer=QTimer()
#self.kstimer.timeout.connect(self.refresh)
#self.kstimer.start(41)
def dist(self,a,b,d=3):
s=0
for i in range(d):
s+=(a[i]-b[i])*(a[i]-b[i])
return math.sqrt(s)
def armTranspose(self):
if len(self.joint_request) != len(self.joint_list):
#print "need all %d points for transpose" % len(self.joint_request)
return
for i in range(len(self.joint_request)):
self.joint_dic[self.joint_request[i]]=self.joint_list[i]
j=self.joint_dic
u=self.dist(j['head'], j['torso'])/2
head_x=j['head'][0]
head_y=j['head'][1]
head_d=j['head'][2]
hand_x=j['left_hand'][0]
hand_y=j['left_hand'][1]
hand_d=j['left_hand'][2]
torso_x=j['torso'][0]
torso_y=j['torso'][1]
torso_d=j['torso'][2]
self.m.angleInfo.swingAngleV=math.atan2(torso_d-hand_d, torso_x-hand_x)#+math.pi/2
h=(head_y-torso_y)
u=h/1.5
dx=-1*math.sqrt((torso_x-hand_x)*(torso_x-hand_x)+(torso_d-hand_d)*(torso_d-hand_d))
dy=-1*(torso_y-hand_y)
ux=dx/u
uy=dy/u
mx=ux*230/3;
mx+=250;
my=uy*230/3;
try:
if int(mx)>=-230 and int(mx)<230 and int(my)>0 and int(my)<230 and mapTable.mapTable[int(mx)][int(my)][0] > -3.14:
self.m.angleInfo.armAngleV=mapTable.mapTable[int(mx)][int(my)][0]/180.0*math.pi
self.m.angleInfo.armSpringAngleV=mapTable.mapTable[int(mx)][int(my)][1]/180.0*math.pi
self.m.angleInfo.armFrontAngleV=mapTable.mapTable[int(mx)][int(my)][2]/180.0*math.pi
except IndexError:
print "out of robot range"
def hmapping(self,value, ulimit=3000, llimit=1500):
if value < llimit:
value = llimit
elif value >ulimit:
value = ulimit
return ((value-llimit)*300)/(ulimit-llimit)
def refresh(self):
#self.m.angleInfo.swingAngleV+=0.05
#self.m.angleInfo.armAngleV=math.pi/6;
#self.m.angleInfo.armSpringAngleV=math.pi/6;
#self.m.angleInfo.armFrontAngleV=math.pi/6;
refreshDepthImage=None
refreshImageImage=None
if self.m.KSAvailable!=True:
refreshDepthImage=self.m.imgBlank
refreshImageImage=self.m.imgBlank
else:
try:
#RGB Image
imageFrame=KS.readImage()
self.m.imageList[self.m.imgpos]=(
QImage(imageFrame,640,480,
QImage.Format_RGB888).rgbSwapped())
refreshImageImage=self.m.imageList[self.m.imgpos]
#Depth image
frame=KS.readDepth()
f=np.fromstring(frame,dtype=np.uint8)
self.m.depthList[self.m.imgpos]=QImage(
f.repeat(4),640,480,QImage.Format_RGB32)
refreshDepthImage=self.m.depthList[self.m.imgpos]
#Draw points on depth image
skeleton_list = []
KS.ctx.wait_and_update_all()
user_list=[]
for u_id in KS.userNode.users:
readRet=KS.readSkeleton(self.joint_request, u_id)
user_list.append(readRet)
max_u=[[],[]]
for u in user_list:
if len(u[0])>=len(max_u[0]):
max_u=u
skeleton_list = max_u[0]
self.joint_list=max_u[1]
modifier = QPainter()
color=QColor()
modifier.begin(refreshDepthImage)
for ske_joint in skeleton_list:
if ske_joint[1] < 0:
continue
depth=self.hmapping(ske_joint[2])
color.setHsv(depth,255,255)
modifier.setPen(
QPen(color,
15,
cap=Qt.RoundCap)
)
modifier.drawPoint(ske_joint[0],ske_joint[1])
modifier.end()
except openni.OpenNIError:
self.m.KSAvailable=False
print 'Kinect Sensor disconnected.'
self.m.KSCheck('failurecheck');
return
self.armTranspose()
#Depth
self.m.depthLabel.setPixmap(
QPixmap.fromImage(refreshDepthImage.scaled(
self.m.depthLabel.width(),self.m.depthLabel.height(),
Qt.KeepAspectRatio))
)
#Image
self.m.imageLabel.setPixmap(
QPixmap.fromImage(refreshImageImage.scaled(
self.m.imageLabel.width(),self.m.imageLabel.height(),
Qt.KeepAspectRatio))
)
self.m.imgpos=1-self.m.imgpos;
class RefreshRobotThread(QtCore.QThread):
refreshInterval=0.08
def __init__(self,m):
super(RefreshRobotThread,self).__init__()
self.m=m
def run(self):
while True:
time.sleep(self.refreshInterval)
if self.m.MRConnected and self.m.Robot.connected:
self.refresh()
def refresh(self):
print self.m.angleInfo.swingAngleV
print self.m.angleInfo.armAngleV
print self.m.angleInfo.armSpringAngleV
print self.m.angleInfo.armFrontAngleV
cmd="A %d %d %d %d %d" % (
-1,
int(self.m.angleInfo.armFrontAngleV/math.pi*180),
int(self.m.angleInfo.armSpringAngleV/math.pi*180),
int(self.m.angleInfo.armAngleV/math.pi*180),
int(self.m.angleInfo.swingAngleV/math.pi*180)+90)
print cmd
try:
self.m.Robot.write(cmd)
self.m.Robot.ser.flushInput()
self.m.Robot.ser.flushOutput()
except serial.serialutil.SerialException:
print "Refresh Robot Write Fail"
class MicRobotMain(QMainWindow):
#For Kinect
imgpos=0
depthList=[]
imageList=[]
KSAvailable=False
#For robot
#pl=R.listActivePorts()
#R.setPar(pl[0],115200)
#R.connect()
def __init__(self):
super(MicRobotMain, self).__init__()
self.initUI()
def initSim(self):
self.simView=QWebView()
self.angleInfo=AngleInfo()
self.simView.page().mainFrame().\
addToJavaScriptWindowObject("angleInfo",self.angleInfo)
self.simPath=QFileInfo("./html/index.html").absoluteFilePath()
self.simView.setUrl(QUrl.fromLocalFile(self.simPath))
self.simView.setWindowFlags(Qt.FramelessWindowHint)
def initRobot(self):
self.Robot=MicRobot()
'''
self.testLabel=QLabel()
self.testLabel.setText("abc")
self.testSlider=QSlider(Qt.Horizontal)
self.testSlider.setRange(0,180)
self.testSlider.setValue(0)
self.testSlider.valueChanged.connect(self.fun)
'''
def initKinectUI(self):
#UI For Kinect RGB image and Depth image
self.imgBlank=QImage("./image/kinect.png")
self.depthLabel=QLabel()
self.imageLabel=QLabel()
self.depthLabel.setAlignment(Qt.AlignCenter)
self.imageLabel.setAlignment(Qt.AlignCenter)
self.depthList.append(self.imgBlank)
self.depthList.append(self.imgBlank)
self.imageList.append(self.imgBlank)
self.imageList.append(self.imgBlank)
self.depthLabel.setPixmap(QPixmap.fromImage(self.imgBlank).scaled(
self.depthLabel.width(),
self.depthLabel.height(),
Qt.KeepAspectRatio))
self.imageLabel.setPixmap(QPixmap.fromImage(self.imgBlank).scaled(
self.depthLabel.width(),
self.depthLabel.height(),
Qt.KeepAspectRatio))
def initCommLayerUI(self):
self.imgKinectAvailable=QImage("./image/kinect_available.png")
self.imgKinectDisable=QImage("./image/kinect_disable.png")
self.imgRobotAvailable=QImage("./image/robot_available.png")
self.imgRobotDisable=QImage("./image/robot_disable.png")
self.imgMain=QImage("./image/microbot_long.png")
self.commKinectLabel=QLabel()
self.commMainLabel=QLabel()
self.commRobotLabel=QLabel()
self.commKinectLabel.setPixmap(QPixmap.fromImage(self.imgKinectAvailable))
self.commMainLabel.setPixmap(QPixmap.fromImage(self.imgMain))
self.commRobotLabel.setPixmap(QPixmap.fromImage(self.imgRobotDisable))
#K Kinect
#M Main
#R Robot
#self.commKMLabel=QLabel()
#self.commMRLabel=QLabel()
#self.imgConnected=QImage("./image/connected.png")
#self.imgDisconnected=QImage("./image/disconnected.png")
#self.commKMLabel.setPixmap(QPixmap.fromImage(self.imgDisconnected))
#self.commMRLabel.setPixmap(QPixmap.fromImage(self.imgDisconnected))
self.pmConnected=QPixmap("./image/connected.png")
self.pmDisconnected=QPixmap("./image/disconnected.png")
self.iconConnected=QIcon(self.pmConnected)
self.iconDisconnected=QIcon(self.pmDisconnected)
self.commKMButton=QPushButton()
self.commMRButton=QPushButton()
self.commKMButton.setIcon(self.iconDisconnected)
self.commMRButton.setIcon(self.iconDisconnected)
self.commKMButton.setIconSize(self.pmDisconnected.rect().size())
self.commMRButton.setIconSize(self.pmDisconnected.rect().size())
self.commKMButton.setDisabled(True)
self.commMRButton.setDisabled(True)
self.commLayerLayout=QHBoxLayout()
self.commLayerLayout.addWidget(self.commKinectLabel)
#self.commLayerLayout.addWidget(self.commKMLabel)
self.commLayerLayout.addWidget(self.commKMButton)
self.commLayerLayout.addWidget(self.commMainLabel)
#self.commLayerLayout.addWidget(self.commMRLabel)
self.commLayerLayout.addWidget(self.commMRButton)
self.commLayerLayout.addWidget(self.commRobotLabel)
self.commLayerLayout.setAlignment(Qt.AlignCenter)
self.commLayerWidget=QWidget()
self.commLayerWidget.setLayout(self.commLayerLayout)
self.MRConnected=False
self.KMConnected=False
self.commMRButton.clicked.connect(self.MRButtonClick)
self.commKMButton.clicked.connect(self.KMButtonClick)
def disconnectKM(self):
self.KMConnected=False
self.angleInfo.KMConnectedV=False
self.commKMButton.setIcon(self.iconDisconnected)
def connectKM(self):
self.KMConnected=True
self.angleInfo.KMConnectedV=True
self.commKMButton.setIcon(self.iconConnected)
def disconnectMR(self):
self.MRConnected=False
self.commMRButton.setIcon(self.iconDisconnected)
def connectMR(self):
self.MRConnected=True
self.commMRButton.setIcon(self.iconConnected)
def KMButtonClick(self):
if self.KMConnected:
self.disconnectKM()
else:
self.connectKM()
def MRButtonClick(self):
if self.MRConnected:
self.disconnectMR()
else:
self.connectMR()
def initRefreshTimer(self):
self.refreshThread=RefreshTimerThread()
self.kstimer=QTimer()
self.refreshThread.setup(self)
self.refreshThread.start()
self.kstimer.start(1000)
def initKSCheckTimer(self):
self.kschecktimer=QTimer()
self.kschecktimer.timeout.connect(
partial(self.KSCheck,trigger='timercheck'))
self.kschecktimer.start(40)
def initRobotTimer(self):
self.robotTimer=QTimer()
self.robotTimer.timeout.connect(self.Robot.checkAvailable)
self.robotTimer.start(1000)
self.refreshRobotThread=RefreshRobotThread(self)
self.robottimer=QTimer()
self.refreshRobotThread.start()
def initUI(self):
self.initSim()
self.initRobot()
self.initKinectUI()
self.initCommLayerUI()
#Construcet Left UI
self.leftLayout=QVBoxLayout()
self.leftLayout.addWidget(self.commLayerWidget)
self.leftLayout.addWidget(self.imageLabel)
self.leftLayout.addWidget(self.depthLabel)
self.leftSide=QWidget()
self.leftSide.setLayout(self.leftLayout)
self.leftSide.setWindowFlags(Qt.FramelessWindowHint)
#Construct splitter
self.split=QSplitter(Qt.Horizontal)
self.split.addWidget(self.leftSide)
self.split.addWidget(self.simView)
#Init timers
self.initRefreshTimer()
self.connectComm()
self.initKSCheckTimer()
self.initRobotTimer()
#show
self.split.show()
#self.split.showFullScreen()
self.commKinectLabel.setScaledContents(True)
def kinectReady(self):
self.commKinectLabel.setPixmap(QPixmap.fromImage(self.imgKinectAvailable))
self.commKMButton.setEnabled(True)
def kinectFail(self):
self.commKinectLabel.setPixmap(QPixmap.fromImage(self.imgKinectDisable))
self.disconnectKM()
self.commKMButton.setDisabled(True)
def robotReady(self):
self.commRobotLabel.setPixmap(QPixmap.fromImage(self.imgRobotAvailable))
self.commMRButton.setEnabled(True)
def robotFail(self):
self.commRobotLabel.setPixmap(QPixmap.fromImage(self.imgRobotDisable))
self.disconnectMR()
self.commMRButton.setDisabled(True)
def connectComm(self):
self.refreshThread.KinectReady.connect(self.kinectReady)
self.refreshThread.KinectFail.connect(self.kinectFail)
self.Robot.serReady.connect(self.robotReady)
self.Robot.serFail.connect(self.robotFail)
#Check kinect availability
def KSCheck(self,trigger):
if trigger=='timercheck':
if self.KSAvailable!=True and KS.deviceAvailable():
####Here may also fail
KS.startAll()
self.KSAvailable=True
self.refreshThread.KinectReady.emit()
elif trigger=='failurecheck':
print "failurecheck"
KS.reInit()
if not KS.deviceAvailable():
print "failurecheck failed"
self.KSAvailable=False
self.refreshThread.KinectFail.emit()