Example #1
0
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()
Example #2
0
    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)
Example #3
0
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()))