class Window( QMainWindow ):
def __init__(self, *args, **kwargs ):
QMainWindow.__init__( self, *args, **kwargs )
self.installEventFilter( self )
self.setWindowFlags(QtCore.Qt.Drawer)
self.layoutWidget = QWidget()
self.setCentralWidget( self.layoutWidget )
self.layout = QVBoxLayout( self.layoutWidget )
self.layout.setContentsMargins( 5,5,5,5 )
self.ui_labels = UI_labels()
self.ui_driverAttr1 = UI_attrlist()
self.ui_driverAttr2 = UI_attrlist()
self.ui_buttons = UI_buttons()
self.layout.addWidget( self.ui_labels )
self.layout.addWidget( self.ui_driverAttr1 )
self.layout.addWidget( self.ui_driverAttr2 )
self.layout.addWidget( self.ui_buttons )
self.ui_driverAttr1.lineEdit_key.setText( '0' )
self.ui_driverAttr1.lineEdit_value.setText( '0' )
self.ui_driverAttr2.lineEdit_key.setText( '1' )
self.ui_driverAttr2.lineEdit_value.setText( '1' )
def addLineCommand():
numItems = self.layout.count()
attrlist = UI_attrlist()
self.layout.insertWidget( numItems-1, attrlist )
self.ui_buttons.button_connect.clicked.connect( partial( Commands.connectCommand, self ) )
self.ui_buttons.button_addLine.clicked.connect( addLineCommand )
def eventFilter( self, *args, **kwargs):
event = args[1]
if event.type() == QtCore.QEvent.LayoutRequest or event.type() == QtCore.QEvent.Move :
pass
class Window(QMainWindow):
def __init__(self, *args, **kwargs):
QMainWindow.__init__(self, *args, **kwargs)
self.installEventFilter(self)
self.setWindowFlags(QtCore.Qt.Drawer)
self.layoutWidget = QWidget()
self.setCentralWidget(self.layoutWidget)
self.layout = QVBoxLayout(self.layoutWidget)
self.layout.setContentsMargins(5, 5, 5, 5)
self.ui_labels = UI_labels()
self.ui_driverAttr1 = UI_attrlist()
self.ui_driverAttr2 = UI_attrlist()
self.ui_buttons = UI_buttons()
self.layout.addWidget(self.ui_labels)
self.layout.addWidget(self.ui_driverAttr1)
self.layout.addWidget(self.ui_driverAttr2)
self.layout.addWidget(self.ui_buttons)
self.ui_driverAttr1.lineEdit_key.setText('0')
self.ui_driverAttr1.lineEdit_value.setText('0')
self.ui_driverAttr2.lineEdit_key.setText('1')
self.ui_driverAttr2.lineEdit_value.setText('1')
def addLineCommand():
numItems = self.layout.count()
attrlist = UI_attrlist()
self.layout.insertWidget(numItems - 1, attrlist)
self.ui_buttons.button_connect.clicked.connect(
partial(Commands.connectCommand, self))
self.ui_buttons.button_addLine.clicked.connect(addLineCommand)
def eventFilter(self, *args, **kwargs):
event = args[1]
if event.type() == QtCore.QEvent.LayoutRequest or event.type(
) == QtCore.QEvent.Move:
pass
class FormPage(QWidget):
statusMessage = Signal(str)
def __init__(self, parent):
super(FormPage, self).__init__(parent)
layout = QVBoxLayout(self)
layout.setContentsMargins(0, 0, 0, 0)
formframe = QGroupBox(self)
self.vbox = QVBoxLayout(formframe)
self.form = PropertyFormLayout()
self.vbox.addLayout(self.form)
self.vbox.addStretch(1)
self._has_stretch = True
layout.addWidget(formframe)
def _removeStretch(self):
if self._has_stretch:
self.vbox.removeItem(self.vbox.itemAt(self.vbox.count() - 1))
self._has_stretch = False;
def addStretch(self):
if not self._has_stretch:
self.vbox.addStretch(1)
self._has_stretch = True
def addProperty(self, kind, path, row, col, *args, **kwargs):
self.form.addProperty(self, kind, path, row, col, *args, **kwargs)
def addWidget(self, widget, *args):
self._removeStretch()
self.form.addWidget(widget, *args)
def addLayout(self, sublayout, *args):
self._removeStretch()
self.form.addLayout(sublayout, *args)
def status_message(self, msg, *args):
self.statusMessage.emit(msg.format(*args))
class DeviceList(QScrollArea):
def __init__(self, programming_handler, info_handler, reset_handler):
super(DeviceList, self).__init__()
self.deviceWidgets = []
self.programming_handler = programming_handler
self.info_handler = info_handler
self.reset_handler = reset_handler
self.updateCounter = 0
self.initUI()
def initUI(self):
self.setHorizontalScrollBarPolicy(Qt.ScrollBarAsNeeded)
self.setVerticalScrollBarPolicy(Qt.ScrollBarAsNeeded)
self.listWidget = QWidget()
self.layout = QVBoxLayout()
self.layout.setContentsMargins(0, 0, 0, 0)
self.listWidget.setLayout(self.layout)
self.setWidgetResizable(True)
self.setWidget(self.listWidget)
self.updateList()
def updateList(self):
self.updateCounter += 1
deviceInfoList = list(
filter(is_supported_device,
easyhid.Enumeration().find()))
deleteList = []
deviceIds = [dev.path for dev in deviceInfoList]
oldDevices = []
newDevices = []
# look at the list of connected devices and find out which devices are
# no longer connected and remove them
i = 0
while i < self.layout.count():
devItem = self.layout.itemAt(i).widget()
if hasattr(devItem, "device") and (devItem.device.path
in deviceIds):
oldDevices.append(devItem.device)
i += 1
else:
self.layout.takeAt(i).widget().deleteLater()
# Now find the list of new devices
oldDeviceIds = [dev.path for dev in oldDevices]
for dev in deviceInfoList:
if dev.path in oldDeviceIds:
continue
else:
newDevices.append(dev)
for devInfo in newDevices:
devWidget = DeviceWidget(devInfo)
if devWidget.label:
self.deviceWidgets.append(devWidget)
self.layout.addWidget(devWidget)
devWidget.program.connect(self.programming_handler)
devWidget.show_info.connect(self.info_handler)
devWidget.reset.connect(self.reset_handler)
# if len(self.deviceWidgets) == 0:
if len(oldDevices) == 0 and len(newDevices) == 0:
n = self.updateCounter % 4
label = QLabel("Scanning for devices" + "." * n + " " * (4 - n))
self.layout.setAlignment(Qt.AlignCenter)
self.layout.addWidget(label)
self.deviceWidgets = []
else:
self.layout.setAlignment(Qt.AlignTop)
self.updateCounter = 0
class Window( QMainWindow ):
def __init__(self, *args, **kwargs ):
QMainWindow.__init__( self, *args, **kwargs )
self.installEventFilter( self )
self.setWindowFlags(QtCore.Qt.Drawer)
self.layoutWidget = QWidget()
self.setCentralWidget( self.layoutWidget )
self.layout = QVBoxLayout( self.layoutWidget )
self.layout.setContentsMargins( 5,5,5,5 )
self.ui_labels = UI_labels()
self.ui_driverAttr = UI_attrlist()
#self.ui_options = UI_options()
self.ui_buttons = UI_buttons()
self.layout.addWidget( self.ui_labels )
self.layout.addWidget( self.ui_driverAttr )
#self.layout.addWidget( self.ui_options )
self.layout.addWidget( self.ui_buttons )
def addLineCommand():
numItems = self.layout.count()
attrlist = UI_attrlist()
self.layout.insertWidget( numItems-2, attrlist )
def setAttrCommand():
import pymel.core
cmds.undoInfo( ock=1 )
sels = pymel.core.ls( sl=1 )
numItems = self.layout.count()
for i in range( 1, numItems-1 ):
targetWidget = self.layout.itemAt( i ).widget()
attrName = targetWidget.lineEdit_srcAttr.text()
attrValue = targetWidget.lineEdit_dstAttr.text()
if not attrName or not attrValue: continue
for sel in sels:
attrType = sel.attr( attrName ).type()
if attrType == 'string':
sel.attr( attrName ).set( attrValue )
else:
print "attr value : ", attrValue
if attrValue.find( ',' ) != -1:
values = [ float( value ) for value in attrValue.split( ',' ) ]
sel.attr( attrName ).set( values )
else:
sel.attr( attrName ).set( float( attrValue ) )
cmds.undoInfo( cck=1 )
self.ui_buttons.button_connect.clicked.connect( setAttrCommand )
self.ui_buttons.button_addLine.clicked.connect( addLineCommand )
def eventFilter( self, *args, **kwargs):
event = args[1]
if event.type() == QtCore.QEvent.LayoutRequest or event.type() == QtCore.QEvent.Move :
pass
nameToCreate.setParent(widget)
createLayout.insertWidget(createLayout.count()-2, nameToCreate)
doneButton.hide()
nameToCreate.hide()
def doCreate():
createButton.hide()
doneButton.show()
nameToCreate.show()
createButton.clicked.connect(doCreate)
createdLayout = QVBoxLayout()
layout.insertLayout(layout.count()-1, createdLayout)
def doneCreating():
name = nameToCreate.text()
created = QPushButton()
created.setText("{0} @ {1}".format(name, hex(id(created))))
createdLayout.addWidget(created)
doneButton.hide()
nameToCreate.hide()
createButton.show()
doneButton.clicked.connect(doneCreating)
nameToCreate.setMinimumWidth(150)
widget.adjustSize()
def test_add_layout_succeeding(self):
parent = QVBoxLayout()
ChildAdder.add(QHBoxLayout(), 'fred', parent)
self.assertEqual(parent.count(), 1)
self.assertTrue(isinstance(parent.itemAt(0), QHBoxLayout))
class Window(QMainWindow):
def __init__(self, *args, **kwargs):
QMainWindow.__init__(self, *args, **kwargs)
self.installEventFilter(self)
self.setWindowFlags(QtCore.Qt.Drawer)
self.layoutWidget = QWidget()
self.setCentralWidget(self.layoutWidget)
self.layout = QVBoxLayout(self.layoutWidget)
self.layout.setContentsMargins(5, 5, 5, 5)
self.ui_labels = UI_labels()
self.ui_driverAttr = UI_attrlist()
self.ui_options = UI_options()
self.ui_buttons = UI_buttons()
self.layout.addWidget(self.ui_labels)
self.layout.addWidget(self.ui_driverAttr)
self.layout.addWidget(self.ui_options)
self.layout.addWidget(self.ui_buttons)
def addLineCommand():
numItems = self.layout.count()
attrlist = UI_attrlist()
self.layout.insertWidget(numItems - 2, attrlist)
def connectCommand():
cmds.undoInfo(ock=1)
sels = cmds.ls(sl=1)
numItems = self.layout.count()
optionWidget = self.layout.itemAt(numItems - 2).widget()
for i in range(1, numItems - 2):
targetWidget = self.layout.itemAt(i).widget()
srcAttr = targetWidget.lineEdit_srcAttr.text()
dstAttr = targetWidget.lineEdit_dstAttr.text()
if not srcAttr or not dstAttr: continue
try:
for sel in sels[1:]:
target = sel
if optionWidget.checkBox.isChecked():
selParents = cmds.listRelatives(sel, p=1, f=1)
if selParents:
target = selParents[0]
cmds.connectAttr(sels[0] + '.' + srcAttr,
target + '.' + dstAttr)
except:
pass
cmds.undoInfo(cck=1)
self.ui_buttons.button_connect.clicked.connect(connectCommand)
self.ui_buttons.button_addLine.clicked.connect(addLineCommand)
def eventFilter(self, *args, **kwargs):
event = args[1]
if event.type() == QtCore.QEvent.LayoutRequest or event.type(
) == QtCore.QEvent.Move:
pass
class UI_Form( QMainWindow ):
def __init__(self, *args, **kwargs ):
QMainWindow.__init__( self, *args, **kwargs )
self.installEventFilter( self )
self.setWindowTitle( " PingoTools Installer" )
self.setWindowIcon( QtGui.QIcon( os.path.dirname( __file__ ) + '/images/letter-p.png') )
self.resize( 518, 400 )
self.mainWidget = QWidget()
self.setCentralWidget( self.mainWidget )
self.mainLayout = QVBoxLayout()
self.mainWidget.setLayout( self.mainLayout )
self.firstPage()
def firstPage(self):
for i in range( self.mainLayout.count() ):
item = self.mainLayout.itemAt(0)
item.widget().setParent( None )
title = QLabel( "<p style='color:rgb( 137,129,120 )'>Welcome to the PingoTools Installer</p>" )
title.setFixedHeight( 50 )
titleFont = QFont()
titleFont.setPixelSize( 18 )
titleFont.setBold( True )
titleFont.setFamily( "Helvetica [Cronyx]" )
title.setAlignment( QtCore.Qt.AlignCenter )
title.setFont( titleFont )
description = QLabel()
description.setAlignment( QtCore.Qt.AlignCenter )
buttonsWidget = QWidget(); buttonsWidget.setMaximumHeight( 50 )
buttonsLayout = QHBoxLayout( buttonsWidget )
emptyArea = QLabel()
buttonNext = QPushButton( 'Next > ' )
buttonCancel = QPushButton( 'Cancel' )
buttonsLayout.addWidget( emptyArea )
buttonsLayout.addWidget( buttonNext ); buttonNext.setFixedWidth( 100 )
buttonsLayout.addWidget( buttonCancel ); buttonCancel.setFixedWidth( 100 )
self.mainLayout.addWidget( title )
self.mainLayout.addWidget( description )
self.mainLayout.addWidget( buttonsWidget )
origWidth = 500
frontImage = QImage()
frontImage.load( os.path.dirname( __file__ ) + '/images/pingoTools_main.jpg' )
trValue = QTransform().scale( float(origWidth)/frontImage.width(), float(origWidth)/frontImage.width() )
transformedImage = frontImage.transformed( trValue )
pixmap = QPixmap.fromImage( transformedImage )
description.setPixmap( pixmap )
description.setGeometry( 0,0, transformedImage.width() , transformedImage.height() )
description.paintEvent(QPaintEvent(QtCore.QRect( 0,0,self.width(), self.height() )))
QtCore.QObject.connect( buttonNext, QtCore.SIGNAL( 'clicked()' ), self.secondPage )
QtCore.QObject.connect( buttonCancel, QtCore.SIGNAL( 'clicked()' ), self.cmd_cancel )
def secondPage(self):
for i in range( self.mainLayout.count() ):
item = self.mainLayout.itemAt(0)
item.widget().setParent( None )
title = QLabel( "설치할 플러그인을 선택하십시오.".decode( 'utf-8' ) )
title.setFixedHeight( 50 )
listWidget = QListWidget()
listWidget.setFixedHeight( 273 )
widgetItem_for2015 = QListWidgetItem("PingoTools for Maya2015", listWidget )
widgetItem_for2016 = QListWidgetItem("PingoTools for Maya2016", listWidget )
widgetItem_for2017 = QListWidgetItem("PingoTools for Maya2017", listWidget )
widgetItem_for2015.setCheckState( QtCore.Qt.Checked )
widgetItem_for2016.setCheckState( QtCore.Qt.Checked )
widgetItem_for2017.setCheckState( QtCore.Qt.Checked )
#widgetItem_for2015.setFlags( not QtCore.Qt.ItemIsSelectable )
buttonsWidget = QWidget(); buttonsWidget.setMaximumHeight( 50 )
buttonsLayout = QHBoxLayout( buttonsWidget )
emptyArea = QLabel()
buttonBack = QPushButton( 'Back < ' )
buttonNext = QPushButton( 'Install' )
buttonCancel = QPushButton( 'Cancel' )
buttonsLayout.addWidget( emptyArea )
buttonsLayout.addWidget( buttonBack ); buttonBack.setFixedWidth( 100 )
buttonsLayout.addWidget( buttonNext ); buttonNext.setFixedWidth( 100 )
buttonsLayout.addWidget( buttonCancel ); buttonCancel.setFixedWidth( 100 )
self.mainLayout.addWidget( title )
self.mainLayout.addWidget( listWidget )
self.mainLayout.addWidget( buttonsWidget )
QtCore.QObject.connect( buttonBack, QtCore.SIGNAL( 'clicked()' ), self.firstPage )
QtCore.QObject.connect( buttonNext, QtCore.SIGNAL( 'clicked()' ), self.lastPage )
QtCore.QObject.connect( buttonCancel, QtCore.SIGNAL( 'clicked()' ), self.cmd_cancel )
def installPage(self):
for i in range( self.mainLayout.count() ):
item = self.mainLayout.itemAt(i)
item.widget().setParent( None )
pass
def lastPage(self):
for i in range( self.mainLayout.count() ):
item = self.mainLayout.itemAt(0)
item.widget().setParent( None )
title = QLabel( "".decode( 'utf-8' ) )
title.setFixedHeight( 50 )
description = QLabel( "<p style='line-height:150%';'><b>PingoTools</b> 인스톨이 완료되었습니다.<p>".decode( 'utf-8' ) )
description.setAlignment( QtCore.Qt.AlignCenter )
buttonsWidget = QWidget(); buttonsWidget.setMaximumHeight( 50 )
buttonsLayout = QHBoxLayout( buttonsWidget )
emptyArea = QLabel()
buttonClose = QPushButton( 'Close' ); buttonClose.setFixedWidth( 100 )
buttonsLayout.addWidget( emptyArea )
buttonsLayout.addWidget( buttonClose )
self.mainLayout.addWidget( title )
self.mainLayout.addWidget( description )
self.mainLayout.addWidget( buttonsWidget )
QtCore.QObject.connect( buttonClose, QtCore.SIGNAL( 'clicked()' ), self.cmd_close )
def cmd_cancel(self):
messageBox = QMessageBox( self )
messageBox.setModal( True )
messageBox.setWindowTitle( "설치 취소".decode( 'utf-8' ))
messageBox.setText( "설치를 취소하시겠습니까?".decode( 'utf-8' ) )
messageBox.setStandardButtons( QMessageBox.Yes| QMessageBox.No )
messageBox.setDefaultButton( QMessageBox.Yes )
result = messageBox.exec_()
if result == QMessageBox.Yes:
cancelWaningMessageBox = QMessageBox( self )
cancelWaningMessageBox.setModal( True )
cancelWaningMessageBox.setWindowTitle( "취소완료".decode( 'utf-8' ) )
cancelWaningMessageBox.setText( "설치가 취소되었습니다.".decode( 'utf-8' ) )
cancelWaningMessageBox.setStandardButtons( QMessageBox.Ok )
result = cancelWaningMessageBox.exec_()
self.close()
else:
pass
def cmd_close(self):
self.close()
class Window( QMainWindow ):
def __init__(self, *args, **kwargs ):
QMainWindow.__init__( self, *args, **kwargs )
self.installEventFilter( self )
self.setWindowFlags(QtCore.Qt.Drawer)
self.layoutWidget = QWidget()
self.setCentralWidget( self.layoutWidget )
self.layout = QVBoxLayout( self.layoutWidget )
self.layout.setContentsMargins( 5,5,5,5 )
self.ui_labels = UI_labels()
self.ui_driverAttr = UI_attrlist()
self.ui_options = UI_options()
self.ui_buttons = UI_buttons()
self.layout.addWidget( self.ui_labels )
self.layout.addWidget( self.ui_driverAttr )
self.layout.addWidget( self.ui_options )
self.layout.addWidget( self.ui_buttons )
def addLineCommand():
numItems = self.layout.count()
attrlist = UI_attrlist()
self.layout.insertWidget( numItems-2, attrlist )
def connectCommand():
cmds.undoInfo( ock=1 )
sels = cmds.ls( sl=1 )
numItems = self.layout.count()
optionWidget = self.layout.itemAt( numItems-2 ).widget()
for i in range( 1, numItems-2 ):
targetWidget = self.layout.itemAt( i ).widget()
srcAttr = targetWidget.lineEdit_srcAttr.text()
dstAttr = targetWidget.lineEdit_dstAttr.text()
if not srcAttr or not dstAttr: continue
try:
for sel in sels[1:]:
target = sel
if optionWidget.checkBox.isChecked():
selParents = cmds.listRelatives( sel, p=1, f=1 )
if selParents:
target = selParents[0]
cmds.connectAttr( sels[0] + '.' + srcAttr, target + '.' + dstAttr )
except: pass
cmds.undoInfo( cck=1 )
self.ui_buttons.button_connect.clicked.connect( connectCommand )
self.ui_buttons.button_addLine.clicked.connect( addLineCommand )
def eventFilter( self, *args, **kwargs):
event = args[1]
if event.type() == QtCore.QEvent.LayoutRequest or event.type() == QtCore.QEvent.Move :
pass
class EegCarDashboardWindow(QWidget):
def setSliderMaxThrottle(self, x):
self.setMaxThrottle(x)
# self.dashboard.set_throttle(x)
# self.dashboard.wheel.forward(x)
def setSteeringValue(self, x):
# x range is 1-9 need to scale (10-90)
x = x*10
self.dashboard.set_steering(x)
# self.dashboard.steering.turn_by_position(x)
pot = 1.5
self.dashboard.steering.turn_by_position(x, pot)
def setSteeringTurnRangeValue(self, x):
ticks = int(100000 * (x/10.0)) # max is 100000
# print "STEERING TURN TICKS %d" % ticks
self.dashboard.set_steering_eeg_turn_ticks(ticks)
def steering_update_current_pos(self):
# x = int(self.steering_current_pos.text()) + delta_x
# while check busy
## read position
## print 'current pos %d' % x
ticks = int(self.steering_move_ticks.text())
seconds = int(ticks/(DEFAULT_STEERING_SPEED*7))
seconds = seconds + 1 # at least one second
ending_time = time.time() + seconds
while time.time() < ending_time:
# print "ENDNIG: %d" % ending_time
# print "CURRENT: %d" % time.time()
self.steering_set_current_pos(self.dashboard.steering.get_current_location())
def steering_set_current_pos(self, x):
self.steering_current_pos.setText(str(x))
def steering_move_left(self):
ticks = int(self.steering_move_ticks.text())
# Stepping Motor MOVE!
self.dashboard.steering.stepping_driver.forward(ticks)
self.setMessage('Steering left')
self.steering_update_current_pos()
def steering_move_right(self):
ticks = int(self.steering_move_ticks.text())
# Stepping Motor MOVE!
self.dashboard.steering.stepping_driver.backward(ticks)
self.setMessage('Steering right')
self.steering_update_current_pos()
def set_steering_move_ticks_value(self):
self.steering_move_ticks.blockSignals(True) # update line edit
ticks = int(self.steering_move_ticks.text())
self.steering_move_ticks.setText(str(ticks))
self.steering_move_ticks.blockSignals(False)
self.steering_move_ticks.setModified(True)
if self.steering_move_ticks.isModified():
self.steering_move_ticks.clearFocus()
self.maxThrottle.setModified(False)
def steering_reset_position(self):
# RESET
self.setMessage('Steering Controller Reset')
self.dashboard.steering.stepping_driver.reset() # reset
self.dashboard.steering.stepping_driver.set_speed(DEFAULT_STEERING_SPEED) # set speed
self.steering_update_current_pos()
def setMessage(self, msg):
self.statusBar.showMessage(msg, 2000)
def remote_control(self, state):
if state == QtCore.Qt.Checked:
self.dashboard.set_rc_mode(True)
self.setMessage('SET RC MODE')
else:
self.dashboard.set_rc_mode(False)
self.setMessage('CLEAR RC MODE')
def keep_mode_control(self, state):
if state == QtCore.Qt.Checked:
self.keep_mode = True
self.setMessage('Keep Mode (EEG)')
else:
self.keep_mode = False
self.setMessage('Keyboard Mode')
def power_handle_mode_control(self, state):
if state == QtCore.Qt.Checked:
self.dashboard.set_power_handle_mode(True)
self.setMessage('Power Handle (Auto Steering Middle)')
else:
self.dashboard.set_power_handle_mode(False)
self.setMessage('Turn Off Power Handle')
def ignore_eeg_input_control(self, state):
if state == QtCore.Qt.Checked:
self.dashboard.set_ignore_eeg_input(True)
self.setMessage('Ignore EEG Input')
else:
self.dashboard.set_ignore_eeg_input(False)
self.setMessage('Access EEG Input')
def stright_control(self, state):
if state == QtCore.Qt.Checked:
self.dashboard.set_rc_stright_mode(True)
self.setMessage('RC STRIGHT Mode')
else:
self.dashboard.set_rc_stright_mode(False)
self.setMessage('RC FREE L/R Mode')
def __init__(self):
QWidget.__init__(self)
self.setWindowTitle("EEG Pilot Dashboard")
self.setGeometry(0, 0, 750, 800)
# self.setGeometry(300, 300, 750, 800)
self.dashboard = EegCarDashboard()
self.dashboard.set_max_throttle(DEFAULT_MAX_THROTTLE)
self.dashboard.set_backward_max_throttle(DEFAULT_MAX_BACK_THROTTLE)
self.layout = QVBoxLayout(self)
# Drive Setting
self.rc_mode = QCheckBox('Remote Control', self)
self.rc_mode.stateChanged.connect(self.remote_control)
self.rc_stright_mode = QCheckBox('RC Stright', self)
self.rc_stright_mode.stateChanged.connect(self.stright_control)
self.keep_mode_checkbox = QCheckBox('Keep Mode', self)
self.keep_mode_checkbox.stateChanged.connect(self.keep_mode_control)
self.power_handle_mode_checkbox = QCheckBox('Power Handle', self)
self.power_handle_mode_checkbox.stateChanged.connect(self.power_handle_mode_control)
self.ignore_eeg_input = QCheckBox('Ignore Eeg Input', self)
self.ignore_eeg_input.stateChanged.connect(self.ignore_eeg_input_control)
drive_layout = QHBoxLayout(self)
drive_layout.addWidget(self.rc_mode)
drive_layout.addWidget(self.rc_stright_mode)
drive_layout.addWidget(self.keep_mode_checkbox)
drive_layout.addWidget(self.power_handle_mode_checkbox)
drive_layout.addWidget(self.ignore_eeg_input)
drive_groupbox = QtGui.QGroupBox("Drive Status & Setting")
drive_groupbox.setLayout(drive_layout)
# Throttle Setting
self.throttle_slider = QSlider(Qt.Horizontal)
self.throttle_slider.setFocusPolicy(Qt.StrongFocus)
self.throttle_slider.setTickPosition(QSlider.TicksBothSides)
self.throttle_slider.setTickInterval(10)
self.throttle_slider.setSingleStep(10)
self.throttle_slider.setValue(DEFAULT_MAX_THROTTLE)
self.throttle_slider.valueChanged.connect(self.throttle_slider.setValue)
self.connect(self.throttle_slider, SIGNAL("valueChanged(int)"), self.setSliderMaxThrottle)
self.throttle_label = QLabel('Max Throttle (%): ', self)
self.maxThrottle = QLineEdit(str(DEFAULT_MAX_THROTTLE))
# self.maxThrottle.textChanged[str].connect(self.setMaxThrottle)
self.maxThrottle.editingFinished.connect(self.setMaxThrottle)
self.maxThrottle.setMaxLength(2)
self.maxThrottle.setMaximumWidth(40)
self.backwardMaxThrottle = QLineEdit(str(DEFAULT_MAX_BACK_THROTTLE))
# self.maxThrottle.textChanged[str].connect(self.setMaxThrottle)
self.backwardMaxThrottle.editingFinished.connect(self.setBackwardMaxThrottle)
self.backwardMaxThrottle.setMaxLength(2)
self.backwardMaxThrottle.setMaximumWidth(40)
throttle_layout = QHBoxLayout(self)
throttle_layout.addWidget(self.throttle_label)
throttle_layout.addWidget(self.throttle_slider)
throttle_layout.addWidget(QLabel("Forward Max:"))
throttle_layout.addWidget(self.maxThrottle)
throttle_layout.addWidget(QLabel("Backward Max:"))
throttle_layout.addWidget(self.backwardMaxThrottle)
throttle_groupbox = QtGui.QGroupBox("Max Throttle Setting (30-99)")
throttle_groupbox.setLayout(throttle_layout)
# Steering
self.steering_label = QLabel('Turn Range', self)
self.steering_turn_range_slider = QSlider(Qt.Horizontal)
self.steering_turn_range_slider.setFocusPolicy(Qt.StrongFocus)
self.steering_turn_range_slider.setTickPosition(QSlider.TicksBothSides)
self.steering_turn_range_slider.setRange(1, 9)
# self.steering_slider.setMinimum(2)
# self.steering_slider.setMaximum(8)
self.steering_turn_range_slider.setMinimum(4)
self.steering_turn_range_slider.setMaximum(8)
self.steering_turn_range_slider.setTickInterval(1)
self.steering_turn_range_slider.setSingleStep(1)
self.steering_turn_range_slider.setValue(6)
self.steering_turn_range_slider.valueChanged.connect(self.steering_turn_range_slider.setValue)
self.connect(self.steering_turn_range_slider, SIGNAL("valueChanged(int)"), self.setSteeringTurnRangeValue)
self.steering_adjust_label = QLabel(' Home Adjust ', self)
self.steering_move_left_button = QPushButton('<Left+', self)
self.steering_current_pos = QLabel('0', self)
self.steering_move_right_button = QPushButton('-Right>', self)
self.steering_move_ticks = QLineEdit(str(5000))
self.steering_move_ticks.editingFinished.connect(self.set_steering_move_ticks_value)
self.steering_move_ticks.setMaxLength(5)
self.steering_move_ticks.setMaximumWidth(50)
self.steering_reset = QPushButton('Reset', self)
self.steering_move_left_button.clicked.connect(self.steering_move_left)
self.steering_move_right_button.clicked.connect(self.steering_move_right)
self.steering_reset.clicked.connect(self.steering_reset_position)
steering_layout = QHBoxLayout(self)
steering_layout.addWidget(self.steering_label)
# steering_layout.addWidget(self.steering_slider)
steering_layout.addWidget(self.steering_turn_range_slider)
steering_layout.addWidget(self.steering_adjust_label)
steering_layout.addWidget(self.steering_move_left_button)
steering_layout.addWidget(self.steering_current_pos)
steering_layout.addWidget(self.steering_move_right_button)
steering_layout.addWidget(self.steering_move_ticks)
steering_layout.addWidget(self.steering_reset)
steering_groupbox = QtGui.QGroupBox("Steering Setting")
steering_groupbox.setLayout(steering_layout)
self.layout.addWidget(self.dashboard, 2)
self.layout.addWidget(drive_groupbox)
self.layout.addWidget(throttle_groupbox)
self.layout.addWidget(steering_groupbox)
self.statusBar = QStatusBar()
self.statusBar.showMessage('Ready', 2000)
self.layout.addWidget(self.statusBar)
self.setIcon()
self.show()
# save the state
self.default_backgroundcolor = self.palette().color(QtGui.QPalette.Background)
self.previos_steering = 50
self.init_keep_mode()
self.init_power_handle_mode()
# Timer For reading current steering position
# self.timer = QtCore.QTimer()
# self.timer.timeout.connect(self.readSteeringPos)
# # check every second
# self.timer.start(1000)
# Timer For Powerhandle
# self.power_handle_timer = QtCore.QTimer()
# self.power_handle_timer.timeout.connect(self.update_power_handle)
# # check every half second
# self.power_handle_timer.start(500)
# # Timer For Start Accel
# self.start_accel_timer = QtCore.QTimer()
# # self.start_accel_timer.singleShot(5000, self.end_start_accel_handle)
# self.can_start_accel = True
# def set_start_accel(self, value):
# self.can_start_accel = value
# def get_start_accel(self):
# return self.can_start_accel
# def end_start_accel_handle(self):
# self.dashboard.end_start_accel()
# def update_power_handle(self):
# if self.power_handle_mode:
# self.dashboard.update_power_handle()
def readSteeringPos(self):
# self.setMessage(str(self.dashboard.steering.get_current_steering()))
# TODO: is it thread safe?
# self.steering_set_current_pos(self.dashboard.steering.get_current_location())
return
def getMaxThrottle(self):
return int(self.maxThrottle.text())
def getBackwardMaxThrottle(self):
return int(self.backwardMaxThrottle.text())
def setMaxThrottle(self, _throttle=None):
if _throttle is None: # from line textbox
throttle = self.getMaxThrottle()
self.throttle_slider.blockSignals(True); # update slider
self.throttle_slider.setValue(throttle);
self.throttle_slider.blockSignals(False);
else: # from slider
throttle = _throttle
self.maxThrottle.blockSignals(True); # update line edit
self.maxThrottle.setText(str(throttle))
self.maxThrottle.blockSignals(False);
self.maxThrottle.setModified(True)
if self.maxThrottle.isModified():
if throttle >= FORWARD_THROTTLE_THRESHOLD: # forward throttle threshold is 20
self.dashboard.set_max_throttle(throttle)
self.setMessage("Forward Max Throttle: %d" % throttle)
self.maxThrottle.clearFocus()
self.maxThrottle.setModified(False)
def setBackwardMaxThrottle(self):
throttle = self.getBackwardMaxThrottle()
if self.backwardMaxThrottle.isModified():
if throttle >= BACKWARD_THROTTLE_THRESHOLD: # backward throttle threshold is 20
self.dashboard.set_backward_max_throttle(throttle)
self.backwardMaxThrottle.clearFocus()
self.backwardMaxThrottle.setModified(False)
def setIcon(self):
self.appIcon = QIcon('logo.png')
self.setWindowIcon(self.appIcon)
def init_keep_mode(self):
self.w_keep_countdown = 0
self.x_keep_countdown = 0
self.a_keep_countdown = 0
self.d_keep_countdown = 0
self.default_keep_countdown = DEFAULT_KEEP_COUNT
# self.default_keep_countdown = 28
# self.default_keep_countdown = 38
self.keep_mode = False
def init_power_handle_mode(self):
self.power_handle_mode = False
def is_keep_mode(self, ignore_key):
# if key is 'w' -> w_keep_countdown
# if key is 'x' -> x_keep_countdown
# ignore several 's' key while chountdown number to zero
if self.keep_mode:
if ignore_key == Qt.Key_S:
if self.dashboard.power_handle_mode == True:
self.dashboard.update_power_handle()
if self.w_keep_countdown > 0:
self.w_keep_countdown = self.w_keep_countdown - 1
# print "w keep countdown %d" % self.w_keep_countdown
self.setMessage("w keep countdown %d" % self.w_keep_countdown)
self.x_keep_countdown = 0
return True
if self.x_keep_countdown > 0:
self.x_keep_countdown = self.x_keep_countdown - 1
# print "x keep countdown %d" % self.x_keep_countdown
self.setMessage("x keep countdown %d" % self.x_keep_countdown)
self.w_keep_countdown = 0
return True
if ignore_key == Qt.Key_X:
if self.w_keep_countdown > 0:
self.w_keep_countdown = self.w_keep_countdown - 1
self.setMessage("w keep countdown %d" % self.w_keep_countdown)
if self.w_keep_countdown < DEFAULT_KEEP_COUNT - 10:
# self.stop()
self.dashboard.set_key_input('s')
self.dashboard.stop()
self.dashboard.set_start_accel(True)
return True
if ignore_key == Qt.Key_W:
if self.x_keep_countdown > 0:
self.x_keep_countdown = self.x_keep_countdown - 1
self.setMessage("x keep countdown %d" % self.x_keep_countdown)
if self.x_keep_countdown < DEFAULT_KEEP_COUNT - 10:
# self.stop()
self.dashboard.set_key_input('s')
self.dashboard.stop()
self.dashboard.set_start_accel(True)
return True
return False
def go_to_keep_mode(self, key):
if key == Qt.Key_W:
self.w_keep_countdown = self.default_keep_countdown
if key == Qt.Key_X:
self.x_keep_countdown = self.default_keep_countdown
# A, D make a w_keep_countdown FOR powerhandle
if key == Qt.Key_A:
self.w_keep_countdown = self.default_keep_countdown
if key == Qt.Key_D:
self.w_keep_countdown = self.default_keep_countdown
def keyPressEvent(self, event):
if self.dashboard.rc_mode == True :
if self.dashboard.ignore_eeg_input == True:
self.ignore_eeg_input.setChecked(True)
if event.key():
self.dashboard.set_key_input('Ignore')
return
else:
self.ignore_eeg_input.setChecked(False)
# self.update_power_handle(event.key())
if self.is_keep_mode(event.key()):
return
if event.key() == Qt.Key_S:
self.dashboard.set_key_input('s')
self.dashboard.stop()
self.dashboard.set_start_accel(True)
if event.key() == Qt.Key_W:
self.dashboard.set_key_input('w')
if self.dashboard.get_start_accel() == True:
self.dashboard.start_accel_forward()
else:
self.dashboard.forward()
if event.key() == Qt.Key_A:
self.dashboard.set_key_input('a')
if self.dashboard.get_start_accel() == True:
self.dashboard.start_accel_turn_left()
else:
self.dashboard.turn_left()
if event.key() == Qt.Key_X:
self.dashboard.set_key_input('x')
if self.dashboard.get_start_accel() == True:
self.dashboard.start_accel_backward()
else:
self.dashboard.backward()
if event.key() == Qt.Key_D:
self.dashboard.set_key_input('d')
if self.dashboard.get_start_accel() == True:
self.dashboard.start_accel_turn_right()
else:
self.dashboard.turn_right()
if event.key() == Qt.Key_B:
self.dashboard.set_key_input('b')
self.dashboard.brake()
if event.key() == Qt.Key_R:
self.dashboard.set_key_input('r')
# TODO: Make Inspection Mode
# self.dashboard.steering.position_clear()
#pot = self.dashboard.wheel.get_steering_pot()
#self.dashboard.steering.middle_position(pot)
if event.key() == Qt.Key_F:
if self.dashboard.isFullScreen():
for i in range(self.layout.count()):
w = self.layout.itemAt(i).widget()
w.show()
self.dashboard.showNormal()
self.change_backgroundcolor(self.default_backgroundcolor);
self.setWindowFlags(QtCore.Qt.Window | QtCore.Qt.WindowTitleHint)
self.showNormal()
else:
for i in range(self.layout.count()):
w = self.layout.itemAt(i).widget()
if w == self.dashboard:
continue
w.hide()
self.change_backgroundcolor(Qt.black);
self.setWindowFlags(QtCore.Qt.Window | QtCore.Qt.FramelessWindowHint)
self.showMaximized()
self.dashboard.showFullScreen()
self.dashboard.reset_label_position()
if event.key() == Qt.Key_Escape:
self.dashboard.close()
self.close()
self.go_to_keep_mode(event.key())
def change_backgroundcolor(self, color):
p = self.palette()
p.setColor(self.backgroundRole(), color)
self.setPalette(p)
class Window(QMainWindow):
def __init__(self, *args, **kwargs):
QMainWindow.__init__(self, *args, **kwargs)
self.installEventFilter(self)
self.setWindowFlags(QtCore.Qt.Drawer)
self.layoutWidget = QWidget()
self.setCentralWidget(self.layoutWidget)
self.layout = QVBoxLayout(self.layoutWidget)
self.layout.setContentsMargins(5, 5, 5, 5)
self.ui_labels = UI_labels()
self.ui_driverAttr = UI_attrlist()
#self.ui_options = UI_options()
self.ui_buttons = UI_buttons()
self.layout.addWidget(self.ui_labels)
self.layout.addWidget(self.ui_driverAttr)
#self.layout.addWidget( self.ui_options )
self.layout.addWidget(self.ui_buttons)
def addLineCommand():
numItems = self.layout.count()
attrlist = UI_attrlist()
self.layout.insertWidget(numItems - 2, attrlist)
def connectCommand():
import pymel.core
cmds.undoInfo(ock=1)
sels = pymel.core.ls(sl=1)
numItems = self.layout.count()
enumNames = []
targetObjects = []
attrName = 'mode'
for i in range(1, numItems - 1):
targetWidget = self.layout.itemAt(i).widget()
eachEnumName = targetWidget.lineEdit_srcAttr.text()
targetObject = pymel.core.ls(
targetWidget.lineEdit_dstAttr.text())[0]
if not eachEnumName: continue
enumNames.append(eachEnumName)
targetObjects.append(targetObject)
enumName = ':'.join(enumNames) + ':'
addAttr(sels[-1], ln=attrName, at='enum', enumName=enumName, k=1)
for i in range(len(targetObjects)):
if not targetObjects[i]: continue
condition = pymel.core.createNode('condition')
sels[-1].attr(attrName) >> condition.firstTerm
condition.secondTerm.set(i)
condition.colorIfTrueR.set(1)
condition.colorIfFalseR.set(0)
condition.outColorR >> targetObjects[i].v
cmds.undoInfo(cck=1)
self.ui_buttons.button_connect.clicked.connect(connectCommand)
self.ui_buttons.button_addLine.clicked.connect(addLineCommand)
def eventFilter(self, *args, **kwargs):
event = args[1]
if event.type() == QtCore.QEvent.LayoutRequest or event.type(
) == QtCore.QEvent.Move:
pass
class Window( QMainWindow ):
def __init__(self, *args, **kwargs ):
QMainWindow.__init__( self, *args, **kwargs )
self.installEventFilter( self )
self.setWindowFlags(QtCore.Qt.Drawer)
self.layoutWidget = QWidget()
self.setCentralWidget( self.layoutWidget )
self.layout = QVBoxLayout( self.layoutWidget )
self.layout.setContentsMargins( 5,5,5,5 )
self.ui_labels = UI_labels()
self.ui_driverAttr = UI_attrlist()
#self.ui_options = UI_options()
self.ui_buttons = UI_buttons()
self.layout.addWidget( self.ui_labels )
self.layout.addWidget( self.ui_driverAttr )
#self.layout.addWidget( self.ui_options )
self.layout.addWidget( self.ui_buttons )
def addLineCommand():
numItems = self.layout.count()
attrlist = UI_attrlist()
self.layout.insertWidget( numItems-2, attrlist )
def connectCommand():
import pymel.core
cmds.undoInfo( ock=1 )
sels = pymel.core.ls( sl=1 )
numItems = self.layout.count()
enumNames = []
targetObjects = []
attrName = 'mode'
for i in range( 1, numItems-1 ):
targetWidget = self.layout.itemAt( i ).widget()
eachEnumName = targetWidget.lineEdit_srcAttr.text()
targetObject = pymel.core.ls( targetWidget.lineEdit_dstAttr.text() )[0]
if not eachEnumName: continue
enumNames.append( eachEnumName )
targetObjects.append( targetObject )
enumName = ':'.join( enumNames ) + ':'
addAttr( sels[-1], ln=attrName, at='enum', enumName = enumName, k=1 )
for i in range( len( targetObjects ) ):
if not targetObjects[i]: continue
condition = pymel.core.createNode( 'condition' )
sels[-1].attr( attrName ) >> condition.firstTerm
condition.secondTerm.set( i )
condition.colorIfTrueR.set( 1 )
condition.colorIfFalseR.set( 0 )
condition.outColorR >> targetObjects[i].v
cmds.undoInfo( cck=1 )
self.ui_buttons.button_connect.clicked.connect( connectCommand )
self.ui_buttons.button_addLine.clicked.connect( addLineCommand )
def eventFilter( self, *args, **kwargs):
event = args[1]
if event.type() == QtCore.QEvent.LayoutRequest or event.type() == QtCore.QEvent.Move :
pass
