def create_model(engine):
engine.clear_model()
engine.add(Car([0,0], superbdim, kmh2ms(0)))
engine.add(Car([5,0], superbdim, kmh2ms(20), steering=-30))
# engine.add(Car([0,-2], superbdim, kmh2ms(20)))
# engine.add(Car([0,2], superbdim))
engine.summary()
def __init__(self):
super(MainWindow, self).__init__()
self.currentPath = ''
# The car's model, shared between the different views
self.car = Car()
# Socket (to connect with the car/Rpi)
self.carSocket = CarSocket(self.car)
# Setting the views
self.automaticView = AutoView(self.car)
self.manualView = ManualView(self.car)
# File menu
fileMenu = QMenu("&File", self)
openAction = fileMenu.addAction("&Open...")
openAction.setShortcut("Ctrl+O")
saveAction = fileMenu.addAction("&Save...")
saveAction.setShortcut("Ctrl+S")
setScale = fileMenu.addAction("Set map's scale")
setAngle = fileMenu.addAction("Set map's orientation")
quitAction = fileMenu.addAction("E&xit")
quitAction.setShortcut("Ctrl+Q")
openAction.triggered.connect(self.openFile)
saveAction.triggered.connect(self.saveMap)
setScale.triggered.connect(self.setScale)
setAngle.triggered.connect(self.setAngle)
quitAction.triggered.connect(qApp.quit)
self.menuBar().addMenu(fileMenu)
# View menu
viewMenu = QMenu("&View", self)
self.backgroundAction = viewMenu.addAction("&Background")
self.backgroundAction.setEnabled(True)
self.backgroundAction.setCheckable(True)
self.backgroundAction.setChecked(True)
self.backgroundAction.toggled.connect(self.automaticView.setViewBackground)
self.menuBar().addMenu(viewMenu)
# Mode switching (automatic-manual) menu
modeMenu = QMenu("&Mode", self)
manualAction = modeMenu.addAction("M&anual")
manualAction.setShortcut("Ctrl+M")
manualAction.triggered.connect(self.manualMode)
automaticAction = modeMenu.addAction("A&utomatic")
automaticAction.setShortcut("Ctrl+A")
automaticAction.triggered.connect(self.automaticMode)
self.menuBar().addMenu(modeMenu)
# Stacked widget (containing the auto. and manual view)
self.stackedWidget = QStackedWidget()
self.stackedWidget.addWidget(self.automaticView)
self.stackedWidget.addWidget(self.manualView)
self.setCentralWidget(self.stackedWidget)
self.setMinimumSize(800, 600)
# Configuration dialog
loader = QUiLoader()
file = QFile("config.ui")
file.open(QFile.ReadOnly)
self.config = loader.load(file)
file.close()
self.config.connectButton.clicked.connect(self.connectCar)
self.config.buttonBox.accepted.connect(self.acceptConfig)
self.config.buttonBox.rejected.connect(self.config.reject)
self.config.buttonBox.button(QDialogButtonBox.RestoreDefaults).clicked.connect(self.resetConfig)
self.config.resetParticles.clicked.connect(self.resetParticles)
# Log dialog
file = QFile("log.ui")
file.open(QFile.ReadOnly)
self.log = loader.load(file)
file.close()
self.log.saveButton.clicked.connect(self.saveLog)
self.connect(self.carSocket, SIGNAL("logSignal(str, str)"), self, SLOT("addToLog(str, str)"))
self.initLog()
# Configuration button
self.configButton = QPushButton("Configuration panel", parent=self.automaticView)
self.configButton.clicked.connect(self.openConfigPanel)
# Configuration button
self.logButton = QPushButton("Car's log", parent=self.automaticView)
self.logButton.clicked.connect(self.log.show)
class MainWindow(QMainWindow):
AUTO_MODE = 0
MANUAL_MODE = 1
def __init__(self):
super(MainWindow, self).__init__()
self.currentPath = ''
# The car's model, shared between the different views
self.car = Car()
# Socket (to connect with the car/Rpi)
self.carSocket = CarSocket(self.car)
# Setting the views
self.automaticView = AutoView(self.car)
self.manualView = ManualView(self.car)
# File menu
fileMenu = QMenu("&File", self)
openAction = fileMenu.addAction("&Open...")
openAction.setShortcut("Ctrl+O")
saveAction = fileMenu.addAction("&Save...")
saveAction.setShortcut("Ctrl+S")
setScale = fileMenu.addAction("Set map's scale")
setAngle = fileMenu.addAction("Set map's orientation")
quitAction = fileMenu.addAction("E&xit")
quitAction.setShortcut("Ctrl+Q")
openAction.triggered.connect(self.openFile)
saveAction.triggered.connect(self.saveMap)
setScale.triggered.connect(self.setScale)
setAngle.triggered.connect(self.setAngle)
quitAction.triggered.connect(qApp.quit)
self.menuBar().addMenu(fileMenu)
# View menu
viewMenu = QMenu("&View", self)
self.backgroundAction = viewMenu.addAction("&Background")
self.backgroundAction.setEnabled(True)
self.backgroundAction.setCheckable(True)
self.backgroundAction.setChecked(True)
self.backgroundAction.toggled.connect(self.automaticView.setViewBackground)
self.menuBar().addMenu(viewMenu)
# Mode switching (automatic-manual) menu
modeMenu = QMenu("&Mode", self)
manualAction = modeMenu.addAction("M&anual")
manualAction.setShortcut("Ctrl+M")
manualAction.triggered.connect(self.manualMode)
automaticAction = modeMenu.addAction("A&utomatic")
automaticAction.setShortcut("Ctrl+A")
automaticAction.triggered.connect(self.automaticMode)
self.menuBar().addMenu(modeMenu)
# Stacked widget (containing the auto. and manual view)
self.stackedWidget = QStackedWidget()
self.stackedWidget.addWidget(self.automaticView)
self.stackedWidget.addWidget(self.manualView)
self.setCentralWidget(self.stackedWidget)
self.setMinimumSize(800, 600)
# Configuration dialog
loader = QUiLoader()
file = QFile("config.ui")
file.open(QFile.ReadOnly)
self.config = loader.load(file)
file.close()
self.config.connectButton.clicked.connect(self.connectCar)
self.config.buttonBox.accepted.connect(self.acceptConfig)
self.config.buttonBox.rejected.connect(self.config.reject)
self.config.buttonBox.button(QDialogButtonBox.RestoreDefaults).clicked.connect(self.resetConfig)
self.config.resetParticles.clicked.connect(self.resetParticles)
# Log dialog
file = QFile("log.ui")
file.open(QFile.ReadOnly)
self.log = loader.load(file)
file.close()
self.log.saveButton.clicked.connect(self.saveLog)
self.connect(self.carSocket, SIGNAL("logSignal(str, str)"), self, SLOT("addToLog(str, str)"))
self.initLog()
# Configuration button
self.configButton = QPushButton("Configuration panel", parent=self.automaticView)
self.configButton.clicked.connect(self.openConfigPanel)
# Configuration button
self.logButton = QPushButton("Car's log", parent=self.automaticView)
self.logButton.clicked.connect(self.log.show)
# self.logButton.setVisible(False)
def manualMode(self):
self.stackedWidget.setCurrentWidget(self.manualView)
self.setWindowTitle("Autonomee - Manual mode")
self.car.mode = Car.Manual
def automaticMode(self):
self.stackedWidget.setCurrentWidget(self.automaticView)
self.setWindowTitle("Autonomee - Automatic mode - Map : {}".format(self.currentPath))
self.car.mode = Car.Automatic
def saveMap(self):
self.automaticView.scene().map.save()
def setAngle(self):
self.automaticView.scene().setMapNorthAngle()
self.car.updateMap()
def setScale(self):
self.automaticView.scene().setMapScale()
self.car.updateMap()
def saveLog(self):
with open("log.html", 'w+') as logFile:
logFile.write(self.log.logEdit.toHtml())
logFile.close()
def initLog(self):
curDate = datetime.date.today().strftime("%A %d. %B %Y")
curTime = time.strftime('%H:%M:%S', time.localtime())
self.addToLog("<h3>Date : {} | Time: {}</h3>".format(curDate, curTime))
def addToLog(self, text, mode='NORMAL'):
print "Got ", text
if mode == 'RAW':
toAdd = text
else:
toAdd = "<p>{}</p><hr> \n".format(text)
self.log.logEdit.append(toAdd)
def openConfigPanel(self):
# Updating dialog with the configuration
c = self.config
c.widthValue.setValue(self.car.width)
c.lengthValue.setValue(self.car.length)
c.randomnessValue.setValue(int(self.automaticView.scene().particleFilter.randomness*100))
c.sensorSlider.setValue(int(self.car.sensor_noise))
c.rotationSlider.setValue(int(self.car.rotation_noise))
c.displacementSlider.setValue(int(self.car.displacement_noise))
self.config.show()
def resetParticles(self):
self.automaticView.scene().particleFilter.reset()
self.automaticView.scene().heatmap.update()
def notify(self, text, type=NotificationTooltip.normal):
""" Creates a notification tooltip in the 'automatic' view """
self.automaticView.scene().notify(text, type)
def connectCar(self):
""" Connecting the app to the car """
ip = self.config.ipEdit.toPlainText()
port = int(self.config.portEdit.toPlainText())
print "Connecting robot to {}:{}".format(ip, port)
connected = self.carSocket.connect(ip, port)
if connected:
self.notify("Succesfully connected to the car !", type=NotificationTooltip.information)
self.config.reject()
else:
self.notify("Couldn't connect to the car.", type=NotificationTooltip.error)
def acceptConfig(self):
""" Validating the parameters from the configuration dialog """
try:
c = self.config
self.car.width = c.widthValue.value()
self.car.length = c.lengthValue.value()
self.car.sensor_noise = float(c.sensorValue.text())
self.car.displacement_noise = float(c.displacementValue.text())
self.car.rotation_noise = float(c.rotationValue.text())
self.automaticView.scene().particleFilter.randomness = c.randomnessValue.value() / 100.0
if c.simpleProba.isChecked():
self.automaticView.scene().particleFilter.mode = ParticleFilter.simple
elif c.markovProba.isChecked():
self.automaticView.scene().particleFilter.mode = ParticleFilter.markov
self.car.update()
self.car.updateMap()
self.config.accept()
self.notify("The application's configuration was updated")
except ValueError:
self.notify("Couldn't parse the given values !", type=NotificationTooltip.error)
self.config.reject()
# TODO : Do this in the status bar, not in the console
def resetConfig(self):
""" Reseting the parameters from the configuration dialog """
c = self.config
c.widthValue.setPlainText(str(Car.def_width))
c.lengthValue.setPlainText(str(Car.def_length))
c.sensorSlider.setValue(int(Car.def_sensor))
c.rotationSlider.setValue(int(Car.def_rotation))
c.displacementSlider.setValue(int(Car.def_displacement))
self.notify("All parameters were reset to their default value", type=NotificationTooltip.information)
def resizeEvent(self, event):
h = 40
cW, lW = 200, 150
x, y = self.size().width(), self.size().height()
y -= h + 35
x -= cW + 15
self.configButton.setGeometry(QRect(x, y, cW, h))
x -= lW + 15
self.logButton.setGeometry(QRect(x, y, lW, h))
def openFile(self, path=None):
if not path:
path = QFileDialog.getOpenFileName(self, "Open SVG File", self.currentPath, "SVG files (*.svg *.svgz *.svg.gz)")[0]
if path:
svgFile = QFile(path)
if not svgFile.exists():
QMessageBox.critical(self, "Open SVG File", "Could not open file '%s'." % path)
self.backgroundAction.setEnabled(True)
return
self.svgMap = SvgTree(svgFile.fileName(), radius=max(self.car.width, self.car.length))
self.automaticView.openMap(self.svgMap)
if not path.startswith(':/'):
self.currentPath = path
self.setWindowTitle("Autonomee - Automatic mode - Map : {}".format(self.currentPath))
self.backgroundAction.setEnabled(True)
self.resize(self.automaticView.sizeHint() + QSize(80, 80 + self.menuBar().height()))