def __init__(self, map_img, parent=None):
super(MainWindow, self).__init__(parent)
self.teleop = TeleopWidget(self)
self.map_img = map_img
self.map = MapWidget(self)
self.setupUi(self, self.map.width, self.map.height)
self.map1 = LaserWidget(self)
self.logo = LogoWidget(self, "resources/logo_jderobot1.png")
self.logo2 = LogoWidget(self, "resources/logo_jderobot2.png")
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map1Layout.addWidget(self.map1)
self.logoLayout.addWidget(self.logo)
self.roboticsLogoLayout.addWidget(self.logo2)
self.map.setVisible(True)
self.map1.setVisible(True)
self.logo.setVisible(True)
#self.rotationDial.valueChanged.connect(self.rotationChange)
#self.probButton.clicked.connect(self.recalculate)
#self.probButton.setCheckable(True)
#self.newGeneration.clicked.connect(self.nextGeneration)
#self.newGeneration.setCheckable(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.particles = []
self.estimation = []
def __init__(self, map_img, parent=None):
super(MainWindow, self).__init__(parent)
self.teleop=TeleopWidget(self)
self.map_img = map_img
self.map=MapWidget(self)
self.setupUi(self, self.map.width, self.map.height)
self.map1=LaserWidget(self)
self.logo = LogoWidget(self, "resources/logo_jderobot1.png")
self.logo2 = LogoWidget(self, "resources/logo_jderobot2.png")
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map1Layout.addWidget(self.map1)
self.logoLayout.addWidget(self.logo)
self.roboticsLogoLayout.addWidget(self.logo2)
self.map.setVisible(True)
self.map1.setVisible(True)
self.logo.setVisible(True)
#self.rotationDial.valueChanged.connect(self.rotationChange)
#self.probButton.clicked.connect(self.recalculate)
#self.probButton.setCheckable(True)
#self.newGeneration.clicked.connect(self.nextGeneration)
#self.newGeneration.setCheckable(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.particles = []
self.estimation = []
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.map = MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# self.setStyleSheet(open("gui/style.qss", "r").read())
#self.teleop=TeleopWidget(self)
#self.tlLayout.addWidget(self.teleop)
#self.teleop.setVisible(True)
#self.logo = LogoWidget(self)
#self.logoLayout.addWidget(self.logo)
#self.logo.setVisible(True)
#self.pushButton.clicked.connect(self.playClicked)
#self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.mapW = MapWidget(self)
self.verticalLayoutMap.addWidget(self.mapW)
print(self.mapW.width(), self.mapW.height())
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.map1=MapWidget1(self)
self.logo = LogoWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map1Layout.addWidget(self.map1)
self.logoLayout.addWidget(self.logo)
self.map.setVisible(True)
self.map1.setVisible(True)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
def __init__(self, pose3d, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.logo = LogoWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.logoLayout.addWidget(self.logo)
self.map.setVisible(True)
self.logo.setVisible(True)
self.percentajeCheck.stateChanged.connect(self.showPercentajeWidget)
self.percentajeWidget=PercentajeWidget(self, pose3d)
self.percentajeCommunicator=Communicator()
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# self.setStyleSheet(open("gui/style.qss", "r").read())
#self.teleop=TeleopWidget(self)
#self.tlLayout.addWidget(self.teleop)
#self.teleop.setVisible(True)
#self.logo = LogoWidget(self)
#self.logoLayout.addWidget(self.logo)
#self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.mapW = MapWidget(self)
self.verticalLayoutMap.addWidget(self.mapW)
self.chronoW = ChronoWidget(self)
self.verticalLayoutChrono.addWidget(self.chronoW)
print(self.mapW.width(), self.mapW.height())
self.stopButton.clicked.connect(self.stopClicked)
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.map = MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty,
self.pose3d.getX() / 1000,
self.pose3d.getY() / 1000, self.pose3d.getYaw())
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCameraL(self):
return self.cameraL
def setCameraL(self, camera):
self.cameraL = camera
def getCameraR(self):
return self.cameraR
def setCameraR(self, camera):
self.cameraR = camera
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d):
self.pose3d = pose3d
def getLaser(self):
return self.laser
def setLaser(self, laser):
self.laser = laser
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.setV(myV)
self.motors.setW(myW)
self.motors.sendVelocities()
def stopClicked(self):
self.motors.setV(0)
self.motors.setW(0)
self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.map = MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.verticalLayout_2.addWidget(self.stopButton, 3)
self.logo = LogoWidget(self, 60, 60)
self.verticalLayout_2.addWidget(self.logo, 4)
self.logo.setVisible(True)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
#self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty, id) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty,
self.pose3d.getPose3d().x,
self.pose3d.getPose3d().y,
self.pose3d.getPose3d().yaw, id)
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
#def getCamera(self):
#return self.camera
#def setCamera(self,camera):
#self.camera=camera
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d):
self.pose3d = pose3d
def getLaser(self):
return self.laser
def setLaser(self, laser):
self.laser = laser
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.stop()
self.motors.sendV(0)
self.motors.sendW(0)
#self.motors.sendVelocities()
self.teleop.returnToOrigin()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
#self.motors.sendVelocities(self.motors)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
# self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.verticalLayout_2.addWidget(self.stopButton,3)
self.logo = LogoWidget(self, 60, 60)
self.verticalLayout_2.addWidget(self.logo,4)
self.logo.setVisible(True)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty, id) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty, self.pose3d.getPose3d().x/1000, self.pose3d.getPose3d().y/1000, self.pose3d.getPose3d().yaw, id)
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera=camera
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getLaser(self):
return self.laser
def setLaser(self,laser):
self.laser=laser
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.stop()
self.motors.sendV(0)
self.motors.sendW(0)
#self.motors.sendVelocities()
self.teleop.returnToOrigin()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
#self.motors.sendVelocities(self.motors)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
# self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, map_img, parent=None):
super(MainWindow, self).__init__(parent)
self.teleop = TeleopWidget(self)
self.map_img = map_img
self.map = MapWidget(self)
self.setupUi(self, self.map.width, self.map.height)
self.map1 = LaserWidget(self)
self.logo = LogoWidget(self, "resources/logo_jderobot1.png")
self.logo2 = LogoWidget(self, "resources/logo_jderobot2.png")
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map1Layout.addWidget(self.map1)
self.logoLayout.addWidget(self.logo)
self.roboticsLogoLayout.addWidget(self.logo2)
self.map.setVisible(True)
self.map1.setVisible(True)
self.logo.setVisible(True)
#self.rotationDial.valueChanged.connect(self.rotationChange)
#self.probButton.clicked.connect(self.recalculate)
#self.probButton.setCheckable(True)
#self.newGeneration.clicked.connect(self.nextGeneration)
#self.newGeneration.setCheckable(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.particles = []
self.estimation = []
def updateGUI(self):
laserdata = self.sensors.laserdata
if (laserdata):
self.map1.setLaserValues(laserdata)
self.map.update()
self.map1.update()
def setSensors(self, sensors):
''' Declares the Sensors object and its corresponding control thread. '''
self.sensors = sensors
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
algorithm.gui = self
algorithm.map = self.map
def getAlgorithm(self):
return self.algorithm
def getPose3D(self):
return self.sensors.actualPose
def getLaserData(self):
return self.sensors.laserdata
def getMapImg(self):
return self.map_img
def setMapImg(self, map_img):
self.map_img = map_img
def getParticles(self):
return self.particles
def setParticles(self, particles):
self.particles = particles
def getEstimation(self):
return self.estimation
def setEstimation(self, est):
if len(self.estimation) >= 15:
self.estimation.pop(0)
self.estimation.append(est)
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setStyleSheet("background-color: #ec7063")
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.play()
else:
self.sensors.motors.sendV(0)
self.sensors.motors.sendW(0)
icon = QtGui.QIcon()
self.pushButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.stop()
self.teleop.returnToOrigin()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
algorithm.gui = self
algorithm.map = self.map
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
vel = CMDVel()
myW = -newX * (self.sensors.motors.getMaxW()) * 2
myV = -newY * (self.sensors.motors.getMaxV())
vel.vx = myV
vel.az = myW
self.sensors.motors.sendVelocities(vel)
#self.sensors.motors.sendV(myV)
#self.sensors.motors.sendW(myW)
def rotationChange(self, value):
val = (
(value * 2 * math.pi) / 360) # - (self.rotationDial.maximum()/2))
#self.rotValue.setText('%.2f' % value)
if (self.algorithm):
self.algorithm.changeYaw(val)
def recalculate(self):
if (self.algorithm):
self.algorithm.recalculateProb()
def nextGeneration(self):
if (self.algorithm):
self.algorithm.calculateNewGeneration()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, pose3d, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.logo = LogoWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.logoLayout.addWidget(self.logo)
self.map.setVisible(True)
self.logo.setVisible(True)
self.percentajeCheck.stateChanged.connect(self.showPercentajeWidget)
self.percentajeWidget=PercentajeWidget(self, pose3d)
self.percentajeCommunicator=Communicator()
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getLaser(self):
return self.laser
def setLaser(self,laser):
self.laser=laser
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def getBumper(self):
return self.bumper
def setBumper(self,bumper):
self.bumper=bumper
def showPercentajeWidget(self,state):
if state == Qt.Checked:
self.percentajeWidget.show()
else:
self.percentajeWidget.close()
def closePercentajeWidget(self):
self.percentajeCheck.setChecked(False)
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: #ec7063")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
vel = CMDVel()
myW=-newX*(self.motors.getMaxW())*2
myV=-newY*(self.motors.getMaxV())
vel.vx = myV
vel.az = myW
self.motors.sendVelocities(vel)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.map = MapWidget(self)
self.map1 = MapWidget1(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map1Layout.addWidget(self.map1)
self.map.setVisible(True)
self.map1.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
#self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
laserdata1 = self.laser1.getLaserData()
laserdata2 = self.laser2.getLaserData()
laserdata3 = self.laser3.getLaserData()
if (laserdata1):
self.map.setLaserValues(1, laserdata1)
self.map1.setLaserValues(1, laserdata1)
if (laserdata2):
self.map.setLaserValues(2, laserdata2)
self.map1.setLaserValues(2, laserdata2)
if (laserdata3):
self.map.setLaserValues(3, laserdata3)
self.map1.setLaserValues(3, laserdata3)
self.map.update()
self.map1.update()
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d):
self.pose3d = pose3d
def getLaser(self):
return self.laser
def setLaser1(self, laser):
self.laser1 = laser
def setLaser2(self, laser):
self.laser2 = laser
def setLaser3(self, laser):
self.laser3 = laser
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.setV(myV)
self.motors.setW(myW)
self.motors.sendVelocities()
def stopClicked(self):
self.motors.setV(0)
self.motors.setW(0)
self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# self.setStyleSheet(open("gui/style.qss", "r").read())
#self.teleop=TeleopWidget(self)
#self.tlLayout.addWidget(self.teleop)
#self.teleop.setVisible(True)
#self.logo = LogoWidget(self)
#self.logoLayout.addWidget(self.logo)
#self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.mapW = MapWidget(self)
self.verticalLayoutMap.addWidget(self.mapW)
self.chronoW = ChronoWidget(self)
self.verticalLayoutChrono.addWidget(self.chronoW)
print(self.mapW.width(), self.mapW.height())
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#print 'update gui'
cx = self.pose3d.getPose3d().x
cy = self.pose3d.getPose3d().y
phx, phy = self.algorithm.synchronize()
self.mapW.setCarPos(cx, cy)
self.mapW.setPhantomPos(phx, phy)
duration = self.algorithm.get_duration()
initime = self.algorithm.get_initime()
self.chronoW.setTime(initime, duration)
self.camera1.updateImage()
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera=camera
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d, pose3dphantom):
self.pose3dphantom = pose3dphantom
self.pose3d=pose3d
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('Stop Code')
self.pushButton.setStyleSheet("background-color: #ec7063")
self.algorithm.play()
else:
self.pushButton.setText('Play Code')
self.pushButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
#print ("newX: %f, newY: %f" % (newX, newY) )
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
#self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.map1=MapWidget1(self)
self.logo = LogoWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map1Layout.addWidget(self.map1)
self.logoLayout.addWidget(self.logo)
self.map.setVisible(True)
self.map1.setVisible(True)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
#self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
laserdata1 = self.laser1.getLaserData()
laserdata2 = self.laser2.getLaserData()
laserdata3 = self.laser3.getLaserData()
if (laserdata1):
self.map.setLaserValues(1,laserdata1)
if (laserdata2):
self.map.setLaserValues(2,laserdata2)
if (laserdata3):
self.map.setLaserValues(3,laserdata3)
self.map.update()
self.map1.update()
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getLaser(self):
return self.laser
def setLaser1(self,laser):
self.laser1=laser
def setLaser2(self,laser):
self.laser2=laser
def setLaser3(self,laser):
self.laser3=laser
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.pushButton.isChecked():
icon = QtGui.QIcon()
#self.pushButton.setText(" Stop Code")
self.pushButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.pushButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
#self.pushButton.setText(" Play Code")
self.algorithm.stop()
self.motors.sendV(0)
self.motors.sendW(0)
#self.motors.sendVelocities()
self.teleop.returnToOrigin()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# self.setStyleSheet(open("gui/style.qss", "r").read())
#self.teleop=TeleopWidget(self)
#self.tlLayout.addWidget(self.teleop)
#self.teleop.setVisible(True)
#self.logo = LogoWidget(self)
#self.logoLayout.addWidget(self.logo)
#self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
self.mapW = MapWidget(self)
self.verticalLayoutMap.addWidget(self.mapW)
self.chronoW = ChronoWidget(self)
self.verticalLayoutChrono.addWidget(self.chronoW)
print(self.mapW.width(), self.mapW.height())
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#print 'update gui'
cx = self.pose3d.getPose3d().x
cy = self.pose3d.getPose3d().y
phx, phy = self.algorithm.synchronize()
self.mapW.setCarPos(cx, cy)
self.mapW.setPhantomPos(phx, phy)
duration = self.algorithm.get_duration()
initime = self.algorithm.get_initime()
self.chronoW.setTime(initime, duration)
self.camera1.updateImage()
def getCamera(self):
return self.camera
def setCamera(self, camera):
self.camera = camera
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d, pose3dphantom):
self.pose3dphantom = pose3dphantom
self.pose3d = pose3d
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('Stop Code')
self.pushButton.setStyleSheet("background-color: #ec7063")
self.algorithm.play()
else:
self.pushButton.setText('Play Code')
self.pushButton.setStyleSheet("background-color: #7dcea0")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
#print ("newX: %f, newY: %f" % (newX, newY) )
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
#self.teleop.returnToOrigin()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCameraL(self):
return self.cameraL
def setCameraL(self,camera):
self.cameraL=camera
def getCameraR(self):
return self.cameraR
def setCameraR(self,camera):
self.cameraR=camera
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getLaser(self):
return self.laser
def setLaser(self,laser):
self.laser=laser
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.setV(myV)
self.motors.setW(myW)
self.motors.sendVelocities()
def stopClicked(self):
self.motors.setV(0)
self.motors.setW(0)
self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, map_img, parent=None):
super(MainWindow, self).__init__(parent)
self.teleop=TeleopWidget(self)
self.map_img = map_img
self.map=MapWidget(self)
self.setupUi(self, self.map.width, self.map.height)
self.map1=LaserWidget(self)
self.logo = LogoWidget(self, "resources/logo_jderobot1.png")
self.logo2 = LogoWidget(self, "resources/logo_jderobot2.png")
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map1Layout.addWidget(self.map1)
self.logoLayout.addWidget(self.logo)
self.roboticsLogoLayout.addWidget(self.logo2)
self.map.setVisible(True)
self.map1.setVisible(True)
self.logo.setVisible(True)
#self.rotationDial.valueChanged.connect(self.rotationChange)
#self.probButton.clicked.connect(self.recalculate)
#self.probButton.setCheckable(True)
#self.newGeneration.clicked.connect(self.nextGeneration)
#self.newGeneration.setCheckable(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.particles = []
self.estimation = []
def updateGUI(self):
laserdata = self.sensors.laserdata
if (laserdata):
self.map1.setLaserValues(laserdata)
self.map.update()
self.map1.update()
def setSensors(self, sensors):
''' Declares the Sensors object and its corresponding control thread. '''
self.sensors = sensors
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
algorithm.gui = self
algorithm.map = self.map
def getAlgorithm(self):
return self.algorithm
def getPose3D(self):
return self.sensors.actualPose
def getLaserData(self):
return self.sensors.laserdata
def getMapImg(self):
return self.map_img
def setMapImg(self,map_img):
self.map_img=map_img
def getParticles(self):
return self.particles
def setParticles(self,particles):
self.particles=particles
def getEstimation(self):
return self.estimation
def setEstimation(self,est):
if len(self.estimation) >= 15:
self.estimation.pop(0)
self.estimation.append(est)
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setStyleSheet("background-color: #ec7063")
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.play()
else:
self.sensors.motors.sendV(0)
self.sensors.motors.sendW(0)
icon = QtGui.QIcon()
self.pushButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.stop()
self.teleop.returnToOrigin()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
algorithm.gui = self
algorithm.map = self.map
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
vel = CMDVel()
myW=-newX*(self.sensors.motors.getMaxW())*2
myV=-newY*(self.sensors.motors.getMaxV())
vel.vx = myV
vel.az = myW
self.sensors.motors.sendVelocities(vel)
#self.sensors.motors.sendV(myV)
#self.sensors.motors.sendW(myW)
def rotationChange(self,value):
val = ((value*2*math.pi)/360)# - (self.rotationDial.maximum()/2))
#self.rotValue.setText('%.2f' % value)
if (self.algorithm):
self.algorithm.changeYaw(val)
def recalculate(self):
if (self.algorithm):
self.algorithm.recalculateProb()
def nextGeneration(self):
if (self.algorithm):
self.algorithm.calculateNewGeneration()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.map = MapWidget(self)
self.logo = LogoWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.logoLayout.addWidget(self.logo)
self.map.setVisible(True)
self.logo.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d):
self.pose3d = pose3d
def getLaser(self):
return self.laser
def setLaser(self, laser):
self.laser = laser
def getBumper(self):
return self.bumper
def setBumper(self, bumper):
self.bumper = bumper
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
self.teleop.returnToOrigin()
class MainWindow(QtGui.QMainWindow, Ui_MainWindow):
updGUI=QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
self.map.setTarget(tx, ty, self.sensor.getRobotX(), self.sensor.getRobotY(), self.sensor.getRobotTheta())
self.map.setLaserValues(self.sensor.getLaserData())
self.map.update()
def getSensor(self):
return self.sensor
def setSensor(self,sensor):
self.sensor=sensor
def playClicked(self):
self.sensor.setPlayButton(self.pushButton.isChecked())
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
self.sensor.setV(-newY)
self.sensor.setW(newX)
def stopClicked(self):
self.sensor.setV(0)
self.sensor.setW(0)
self.teleop.returnToOrigin()
