def insert_new_item(self, bypass_save_enable=False) -> None:
self.warning_updates_disabled = True
self.warnings_table.removeRow(self.warnings_table.rowCount() - 1)
self.warnings_table.setRowCount(self.warnings_table.rowCount() + 1)
button = QPushButton("-", self)
button.setFixedSize(QSize(25, 25))
row: int = self.warnings_table.rowCount() - 1
self.warnings_table.setCellWidget(row, 0, button)
button.clicked.connect(lambda: self.remove_table_row(row))
self.insert_helper_item()
self.warnings.append({i: '' for i in self.header_list if i})
self.warning_updates_disabled = False
self.check_for_save_update()
def insert_helper_item(self, bypass_save_enable=False) -> None:
button = QPushButton("+", self)
self.warnings_table.setRowCount(self.warnings_table.rowCount() + 1)
self.warnings_table.setCellWidget(self.warnings_table.rowCount() - 1,
0, button)
for i in range(self.warnings_table.columnCount()):
item = self.warnings_table.item(self.warnings_table.rowCount() - 1,
i)
if item is None:
item = QTableWidgetItem()
self.warnings_table.setItem(self.warnings_table.rowCount() - 1,
i, item)
item.setFlags(item.flags() ^ Qt.ItemFlag.ItemIsEnabled)
button.setFixedSize(QSize(25, 25))
button.clicked.connect(
lambda: self.insert_new_item(bypass_save_enable))
def update_table_items(self, bypass_save_enable=False) -> None:
self.__warnings_table.clearContents()
self.__warnings_table.setRowCount(len(self.warnings))
for i in range(len(self.warnings)):
for header in self.header_list:
if len(header) == 0:
button = QPushButton("-", self)
button.setFixedSize(QSize(25, 25))
self.warnings_table.setCellWidget(i, 0, button)
button.clicked.connect(lambda: self.remove_table_row(i))
continue
item: QTableWidgetItem = QTableWidgetItem()
item.setText(self.warnings[i][header])
self.warnings_table.setItem(i, self.header_list.index(header),
item)
self.insert_helper_item(bypass_save_enable)
def __init__(self):
app = QApplication(sys.argv)
super().__init__()
self.setWindowTitle('PyQt6 simple button example')
self.setGeometry(100, 100, 360, 140)
button = QPushButton('PyQt6 Push Button', self)
button.setToolTip('Click button to change window status message.')
#
# Not too sure about setting the fixed size of the button.
# But I did that to keep the button from stretching across the width of
# the window. Must be a way to have the button fit the size of it's text.
#
button.clicked.connect(self.on_click)
button.setFixedSize(150, 30)
widget = QWidget()
layout = QHBoxLayout(widget)
layout.addWidget(button)
self.setCentralWidget(widget)
self.statusBar().showMessage('Operational')
self.show()
sys.exit(app.exec())
def __init__(self):
super().__init__()
self.logger = logging.getLogger(__name__)
formatter = logging.Formatter(
fmt="%(asctime)s-%(levelname)s-%(message)s",
datefmt="%Y-%m-%d %H:%M:%S")
filehandler = logging.FileHandler(filename="logs.log",
mode="w",
encoding="utf-8")
handler = QLogger(update_signal=self.update_signal)
handler.setLevel(logging.INFO)
filehandler.setLevel(logging.INFO)
self.logger.setLevel(logging.INFO)
if os.path.exists("config.json") == False:
self.gen_conf()
with open(file="config.json", mode="r",
encoding="utf-8") as conf_reader:
conf = json.loads(conf_reader.read())
debug = bool(conf["debug"])
if debug == True:
handler.setLevel(logging.DEBUG)
filehandler.setLevel(logging.DEBUG)
self.logger.setLevel(logging.DEBUG)
handler.setFormatter(formatter)
filehandler.setFormatter(formatter)
self.logger.addHandler(handler)
self.logger.addHandler(filehandler)
self.logger.debug("当前调试状态：%s" % debug)
self.resize(1024, 768)
self.setWindowOpacity(0.9)
self.setAttribute(Qt.WidgetAttribute.WA_TranslucentBackground)
self.setWindowFlag(Qt.WindowFlags.FramelessWindowHint)
self.setAutoFillBackground(True)
self.work = Work(show_qr_signal=self.show_qr_signal,
finish_signal=self.finish_signal,
close_qr_signal=self.close_qr_signal)
self.work_thread = QThread()
self.work.moveToThread(self.work_thread)
self.main_layout = QGridLayout()
self.setLayout(self.main_layout)
self.title = QLabel("ChinaUniOnlineGUI")
self.title.setStyleSheet(
"QLabel{border:none;border-radius:5px;background:transparent;color:#9AD3BC;font-size:60px;}"
)
self.title.setAlignment(Qt.Alignment.AlignCenter)
handler.widget.setStyleSheet(
"QPlainTextEdit{font-family:Microsoft YaHei;background:#F3EAC2;border:none;border-radius:5px;}QScrollBar:vertical,QScrollBar::handle:vertical{background:#F3EAC2;border:none;border-radius:8px;width:16px;}QScrollBar::handle:vertical:hover{background:#F5B461;}QScrollBar::add-page:vertical,QScrollBar::sub-page:vertical{background:#FFFDF9;border:none;border-radius:8px;width:16px;}QScrollBar::down-arrow:vertical,QScrollBar::up-arrow:vertical{background:#F5B461;border:none;border-radius:8px;width:16px;height:16px;}QScrollBar::sub-line:vertical,QScrollBar::add-line:vertical{background:transparent;border:none;}"
)
self.control = QVBoxLayout()
self.control_close = QPushButton()
self.control_close.setToolTip("关闭")
self.control_close.setStyleSheet(
"QPushButton{background:#FFE3ED;border-radius:5px;border:none;}QPushButton:hover{background:#EC524B;}"
)
self.contron_max = QPushButton()
if self.isMaximized() == False:
self.contron_max.setToolTip("最大化")
else:
self.contron_max.setToolTip("还原")
self.contron_max.setStyleSheet(
"QPushButton{background:#FFFDF9;border-radius:5px;border:none;}QPushButton:hover{background:#F5B461;}"
)
self.control_min = QPushButton()
self.control_min.setToolTip("最小化")
self.control_min.setStyleSheet(
"QPushButton{background:#BEEBE9;border-radius:5px;border:none;}QPushButton:hover{background:#F3EAC2;}"
)
self.start_button = QPushButton("开始(&S)")
self.start_button.setStyleSheet(
"QPushButton{background:#9BE3DE;border:none;border-radius:5px;font-size:20px;font-family:DengXian;}QPushButton:hover{background:#9AD3BC;}"
)
self.start_button.setToolTip("开始")
self.start_button.setFixedSize(120, 60)
self.start_button.setDefault(True)
setting_button = QPushButton("设置")
setting_button.setToolTip("设置")
setting_button.setFixedSize(60, 60)
setting_button.setStyleSheet(
"QPushButton{background:#9BE3DE;border:none;border-radius:5px;font-size:20px;font-family:DengXian;}QPushButton:hover{background:#9AD3BC;}"
)
setting_button.clicked.connect(self.setting_callback)
start = QHBoxLayout()
start.addWidget(self.start_button, 2)
start.addWidget(setting_button, 1)
self.control_close.clicked.connect(self.close)
self.control_min.clicked.connect(self.min_callback)
self.contron_max.clicked.connect(self.max_callback)
self.start_button.clicked.connect(self.start_callback)
self.work_thread.started.connect(self.work.start)
self.finish_signal.connect(self.finish_callback)
self.close_qr_signal.connect(self.close_qr)
self.control.addWidget(self.control_min)
self.control.addWidget(self.contron_max)
self.control.addWidget(self.control_close)
self.main_layout.addLayout(self.control, 0, 0)
self.main_layout.addWidget(self.title, 0, 1)
self.main_layout.addLayout(start, 0, 2)
self.main_layout.addWidget(handler.widget, 1, 1)
self.update_signal.connect(handler.widget.appendPlainText)
handler.widget.textChanged.connect(handler.scroll_widget_to_bottom)
self.show_qr_signal.connect(self.show_qr)
self.logger.debug("已初始化UI")
class UI(QWidget):
update_signal = pyqtSignal(str)
show_qr_signal = pyqtSignal(bytes)
finish_signal = pyqtSignal()
close_qr_signal = pyqtSignal()
def __init__(self):
super().__init__()
self.logger = logging.getLogger(__name__)
formatter = logging.Formatter(
fmt="%(asctime)s-%(levelname)s-%(message)s",
datefmt="%Y-%m-%d %H:%M:%S")
filehandler = logging.FileHandler(filename="logs.log",
mode="w",
encoding="utf-8")
handler = QLogger(update_signal=self.update_signal)
handler.setLevel(logging.INFO)
filehandler.setLevel(logging.INFO)
self.logger.setLevel(logging.INFO)
if os.path.exists("config.json") == False:
self.gen_conf()
with open(file="config.json", mode="r",
encoding="utf-8") as conf_reader:
conf = json.loads(conf_reader.read())
debug = bool(conf["debug"])
if debug == True:
handler.setLevel(logging.DEBUG)
filehandler.setLevel(logging.DEBUG)
self.logger.setLevel(logging.DEBUG)
handler.setFormatter(formatter)
filehandler.setFormatter(formatter)
self.logger.addHandler(handler)
self.logger.addHandler(filehandler)
self.logger.debug("当前调试状态：%s" % debug)
self.resize(1024, 768)
self.setWindowOpacity(0.9)
self.setAttribute(Qt.WidgetAttribute.WA_TranslucentBackground)
self.setWindowFlag(Qt.WindowFlags.FramelessWindowHint)
self.setAutoFillBackground(True)
self.work = Work(show_qr_signal=self.show_qr_signal,
finish_signal=self.finish_signal,
close_qr_signal=self.close_qr_signal)
self.work_thread = QThread()
self.work.moveToThread(self.work_thread)
self.main_layout = QGridLayout()
self.setLayout(self.main_layout)
self.title = QLabel("ChinaUniOnlineGUI")
self.title.setStyleSheet(
"QLabel{border:none;border-radius:5px;background:transparent;color:#9AD3BC;font-size:60px;}"
)
self.title.setAlignment(Qt.Alignment.AlignCenter)
handler.widget.setStyleSheet(
"QPlainTextEdit{font-family:Microsoft YaHei;background:#F3EAC2;border:none;border-radius:5px;}QScrollBar:vertical,QScrollBar::handle:vertical{background:#F3EAC2;border:none;border-radius:8px;width:16px;}QScrollBar::handle:vertical:hover{background:#F5B461;}QScrollBar::add-page:vertical,QScrollBar::sub-page:vertical{background:#FFFDF9;border:none;border-radius:8px;width:16px;}QScrollBar::down-arrow:vertical,QScrollBar::up-arrow:vertical{background:#F5B461;border:none;border-radius:8px;width:16px;height:16px;}QScrollBar::sub-line:vertical,QScrollBar::add-line:vertical{background:transparent;border:none;}"
)
self.control = QVBoxLayout()
self.control_close = QPushButton()
self.control_close.setToolTip("关闭")
self.control_close.setStyleSheet(
"QPushButton{background:#FFE3ED;border-radius:5px;border:none;}QPushButton:hover{background:#EC524B;}"
)
self.contron_max = QPushButton()
if self.isMaximized() == False:
self.contron_max.setToolTip("最大化")
else:
self.contron_max.setToolTip("还原")
self.contron_max.setStyleSheet(
"QPushButton{background:#FFFDF9;border-radius:5px;border:none;}QPushButton:hover{background:#F5B461;}"
)
self.control_min = QPushButton()
self.control_min.setToolTip("最小化")
self.control_min.setStyleSheet(
"QPushButton{background:#BEEBE9;border-radius:5px;border:none;}QPushButton:hover{background:#F3EAC2;}"
)
self.start_button = QPushButton("开始(&S)")
self.start_button.setStyleSheet(
"QPushButton{background:#9BE3DE;border:none;border-radius:5px;font-size:20px;font-family:DengXian;}QPushButton:hover{background:#9AD3BC;}"
)
self.start_button.setToolTip("开始")
self.start_button.setFixedSize(120, 60)
self.start_button.setDefault(True)
setting_button = QPushButton("设置")
setting_button.setToolTip("设置")
setting_button.setFixedSize(60, 60)
setting_button.setStyleSheet(
"QPushButton{background:#9BE3DE;border:none;border-radius:5px;font-size:20px;font-family:DengXian;}QPushButton:hover{background:#9AD3BC;}"
)
setting_button.clicked.connect(self.setting_callback)
start = QHBoxLayout()
start.addWidget(self.start_button, 2)
start.addWidget(setting_button, 1)
self.control_close.clicked.connect(self.close)
self.control_min.clicked.connect(self.min_callback)
self.contron_max.clicked.connect(self.max_callback)
self.start_button.clicked.connect(self.start_callback)
self.work_thread.started.connect(self.work.start)
self.finish_signal.connect(self.finish_callback)
self.close_qr_signal.connect(self.close_qr)
self.control.addWidget(self.control_min)
self.control.addWidget(self.contron_max)
self.control.addWidget(self.control_close)
self.main_layout.addLayout(self.control, 0, 0)
self.main_layout.addWidget(self.title, 0, 1)
self.main_layout.addLayout(start, 0, 2)
self.main_layout.addWidget(handler.widget, 1, 1)
self.update_signal.connect(handler.widget.appendPlainText)
handler.widget.textChanged.connect(handler.scroll_widget_to_bottom)
self.show_qr_signal.connect(self.show_qr)
self.logger.debug("已初始化UI")
def min_callback(self):
if self.isMinimized() == False:
self.showMinimized()
def max_callback(self):
if self.isMaximized() == False:
self.showMaximized()
self.contron_max.setToolTip("还原")
else:
self.showNormal()
self.contron_max.setToolTip("最大化")
def start_callback(self):
self.start_time = time.time()
self.work_thread.start()
self.start_button.setEnabled(False)
self.start_button.setText("执行中...")
def finish_callback(self):
self.start_button.setEnabled(True)
self.start_button.setText("开始")
passed_time = time.time() - self.start_time
mins, secs = divmod(passed_time, 60)
hours, mins = divmod(mins, 60)
self.logger.info("执行完成，共计用时 {:0>2d}:{:0>2d}:{:0>2d}".format(
int(hours), int(mins), int(secs)))
def show_qr(self, qr: bytes):
title_label = QLabel("请使用微信扫描小程序码完成登陆")
title_label.setStyleSheet(
"QLabel{color:#ffe3ed;border:none;background-color:transparent;border-radius:5px;}"
)
title_label.setAlignment(Qt.Alignment.AlignCenter)
title_label.setFixedHeight(20)
qr_label = QLabel()
pixmap = QPixmap()
pixmap.loadFromData(qr)
qr_label.setPixmap(pixmap)
qr_label.setStyleSheet(
"QLabel{color:#ffe3ed;border:none;background-color:transparent;border-radius:5px;}"
)
layout_ = QVBoxLayout()
layout_.addWidget(title_label, 1)
layout_.addWidget(qr_label, 9)
self.qr_dialog = QWidget(self)
self.qr_dialog.setLayout(layout_)
self.main_layout.addWidget(self.qr_dialog, 1, 1,
Qt.Alignment.AlignCenter)
self.qr_dialog.show()
def close_qr(self):
self.qr_dialog.close()
def setting_callback(self):
setting = SettingWindow(parent=self)
setting.setStyleSheet(
"QDialog{border:none;border-radius:5px;background:#F3EAC2;}")
setting.show()
def gen_conf(self):
default_conf = {
"debug": False,
"hero": {
"title": "英雄篇",
"enabled": True,
"times": 1
},
"revival": {
"title": "复兴篇",
"enabled": True,
"times": 1
},
"creation": {
"title": "创新篇",
"enabled": True,
"times": 1
},
"belief": {
"title": "信念篇",
"enabled": True,
"times": 1
},
"limit_time": {
"title": "限时赛",
"enabled": True,
"times": 1
},
"rob": {
"title": "抢十赛",
"enabled": True,
"times": 1
}
}
with open(file="config.json", mode="w",
encoding="utf-8") as conf_writer:
conf_writer.write(
json.dumps(default_conf,
indent=4,
sort_keys=True,
ensure_ascii=False))
self.logger.info("已生成默认配置文件")
def mousePressEvent(self, event: QMouseEvent):
self.logger.debug("触发鼠标按压事件")
super().mousePressEvent(event)
self.setFocus()
self.m_flag = True
if event.button() == Qt.MouseButtons.LeftButton and self.isMaximized(
) == False and self.hasFocus() == True:
self.old_pos = event.globalPosition() #获取鼠标相对窗口的位置
self.logger.debug("已获取鼠标位置")
self.setCursor(QtGui.QCursor(
Qt.CursorShape.SizeAllCursor)) #更改鼠标图标
def mouseMoveEvent(self, event: QMouseEvent):
self.logger.debug("触发鼠标移动事件")
super().mouseMoveEvent(event)
if self.m_flag == True:
delta_x = int(event.globalPosition().x() - self.old_pos.x())
delta_y = int(event.globalPosition().y() - self.old_pos.y())
self.move(self.x() + delta_x, self.y() + delta_y) #更改窗口位置
self.logger.debug("已更改窗口位置")
self.old_pos = event.globalPosition()
def mouseReleaseEvent(self, event: QMouseEvent):
self.logger.debug("触发鼠标释放事件")
super().mouseReleaseEvent(event)
self.m_flag = False
self.setCursor(QtGui.QCursor(Qt.CursorShape.ArrowCursor))
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 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())
class CalibrateWizard(QWizard):
def __init__(self, parent):
super().__init__(parent)
self.parent = parent
self.setWizardStyle(QWizard.WizardStyle.ModernStyle)
# CREATE PAGE 1, LINE EDIT, TITLES
buttons_layout = [QWizard.WizardButton.NextButton]
self.page1 = QWizardPage()
self.page1.setTitle('Select the exercises you wish to do later')
self.page1.setSubTitle(
'Below are listed all the available and selected exercises by you.'
)
self.listSelection = TwoListSelection()
# listSelection.addAvailableItems(["item-{}".format(i) for i in range(5)])
hLayout1 = QHBoxLayout(self.page1)
hLayout1.addWidget(self.listSelection)
# CREATE PAGE 2, LABEL, TITLES
self.page2 = QWizardPage()
self.page2.setFinalPage(True)
self.setButtonLayout(buttons_layout)
self.page2.setTitle('Calibrate every exercise')
self.page2.setSubTitle(
'Do every exercise once, record after pressing button.')
self.contentLayout = QVBoxLayout(self.page2)
self.hLayout2 = QHBoxLayout()
# Create progress bar, buttons
self.actionsLayout = QHBoxLayout()
self.finishButton = QPushButton('Ready')
self.finishButton.setStyleSheet(CustomQStyles.buttonStyle)
self.finishButton.setFixedSize(120, 35)
self.progress = QProgressBar()
self.progress.setRange(0, 1)
self.actionsLayout.addWidget(self.progress)
self.actionsLayout.setAlignment(self.progress,
Qt.Alignment.AlignBottom)
self.actionsLayout.addWidget(self.finishButton)
self.actionsLayout.setAlignment(self.finishButton,
Qt.Alignment.AlignBottom)
self.contentLayout.addLayout(self.hLayout2)
self.contentLayout.addLayout(self.actionsLayout)
self.actionsLayout.setContentsMargins(15, 35, 15, 0)
itemsTextList = [
str(self.listSelection.mInput.item(i).text())
for i in range(self.listSelection.mInput.count())
]
print("items:", itemsTextList)
self.button(QWizard.WizardButton.NextButton).clicked.connect(
self.onWizardNextButton)
self.finishButton.clicked.connect(self.onWizardFinishButton)
self.addPage(self.page1)
self.addPage(self.page2)
# Recording data
self.buttons = []
self.images = []
self.labels = []
self.exerciseLayouts = []
self.recordReady = []
self.recordThread = RecordThread(self.parent.classifyExercises)
# Training recorded data
self.trained = False
self.trainThread = TrainThread(self.parent.classifyExercises)
self.trainThread.taskFinished.connect(self.onTrainFinished)
# Send list to next page
def onWizardNextButton(self):
self.setPage(1, self.page1)
self.trained = False
itemsTextList = [
str(self.listSelection.mInput.item(i).text())
for i in range(self.listSelection.mInput.count())
]
# Update list
if self.parent.classifyExercises is not None:
self.parent.classifyExercises.UpdateExerciseList(itemsTextList)
# Set elements on UI
self.setMinimumWidth(len(itemsTextList) * 200)
self.deleteItemsOfLayout(self.hLayout2)
self.images.clear()
self.labels.clear()
self.buttons.clear()
self.recordReady.clear()
for x, i in zip(itemsTextList, range(len(itemsTextList))):
self.exerciseLayouts.append(QVBoxLayout())
self.buttons.append(QPushButton('Record'))
self.recordReady.append(False)
image = QLabel()
image.setPixmap(
QPixmap(os.getcwd() + "/resources/images/" + itemsTextList[i] +
".png"))
self.labels.append(QLabel(itemsTextList[i]))
self.images.append(image)
self.buttons[i].setFixedSize(100, 35)
self.buttons[i].clicked.connect(
functools.partial(self.onRecordExerciseButtonClicked, x, i))
self.buttons[i].setStyleSheet(CustomQStyles.outlineButtonStyle)
self.exerciseLayouts[i].addWidget(self.labels[i])
self.exerciseLayouts[i].addWidget(self.images[i])
self.exerciseLayouts[i].addWidget(self.buttons[i])
self.exerciseLayouts[i].setAlignment(self.labels[i],
Qt.Alignment.AlignCenter)
self.exerciseLayouts[i].setAlignment(self.images[i],
Qt.Alignment.AlignCenter)
self.exerciseLayouts[i].setAlignment(self.buttons[i],
Qt.Alignment.AlignCenter)
self.hLayout2.addLayout(self.exerciseLayouts[i])
def onRecordExerciseButtonClicked(self, exercise, ind):
print("Recording - ", exercise)
if self.parent.classifyExercises is not None:
self.recordThread.exercise = exercise
self.recordThread.taskFinished.connect(
functools.partial(self.recordFinished, exercise, ind),
Qt.ConnectionType.SingleShotConnection)
self.recordThread.start()
self.recordReady[ind] = False
self.buttons[ind].setStyleSheet(CustomQStyles.recordButtonStyle)
self.images[ind].setPixmap(
QPixmap(os.getcwd() + "/resources/images/" + exercise +
".png"))
def recordFinished(self, exercise, index):
imagePath = os.getcwd() + "/resources/images/" + exercise + ".png"
if self.recordThread.result == 0:
imagePath = os.getcwd(
) + "/resources/images/" + exercise + "-fail.png"
elif self.recordThread.result == 1:
imagePath = os.getcwd(
) + "/resources/images/" + exercise + "-success.png"
self.recordReady[index] = True
else:
print("None.")
self.images[index].setPixmap(QPixmap(imagePath))
self.buttons[index].setStyleSheet(CustomQStyles.outlineButtonStyle)
print(self.recordReady)
def onWizardFinishButton(self):
if all(x == True for x in self.recordReady):
print("All recorded!")
if not self.trained:
if self.parent.classifyExercises is not None:
self.progress.setRange(0, 0) # indefinite progress bar
self.parent.classifyExercises.SaveProcessedData()
self.parent.classifyExercises.SavePatientData()
self.parent.ui.loadPatientList()
self.trainThread.start()
else:
self.close()
else:
print("Not all recorded!")
def onTrainFinished(self):
self.progress.setRange(0, 1)
self.progress.setValue(1)
self.trained = True
CustomMessage.showDialog("Message", "Training model finished!",
QMessageBox.StandardButtons.Ok)
self.finishButton.setText('Finish')
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())