def initUI(self):
OVER_CAPACITY = 750
sld = QSlider(Qt.Orientations.Horizontal, self)
sld.setFocusPolicy(Qt.FocusPolicy.NoFocus)
sld.setRange(1, OVER_CAPACITY)
sld.setValue(75)
sld.setGeometry(30, 40, 150, 30)
self.c = Communicate()
self.wid = BurningWidget()
self.c.updateBW[int].connect(self.wid.setValue)
sld.valueChanged[int].connect(self.changeValue)
hbox = QHBoxLayout()
hbox.addWidget(self.wid)
vbox = QVBoxLayout()
vbox.addStretch(1)
vbox.addLayout(hbox)
self.setLayout(vbox)
self.setGeometry(300, 300, 390, 210)
self.setWindowTitle('Burning widget')
self.show()
def make_slider(MAX_RANGE, INIT_VALUE):
label = QLabel("")
label.setAlignment(Qt.AlignmentFlag.AlignCenter)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, SLIDER_MAX_RANGE_INT)
slider.setValue(int(SLIDER_MAX_RANGE_INT*(INIT_VALUE/MAX_RANGE)))
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(int(SLIDER_MAX_RANGE_INT*0.1))
slider.setSingleStep(1)
return slider, label
def initUI(self):
sld = QSlider(Qt.Orientation.Horizontal, self)
sld.setFocusPolicy(Qt.FocusPolicy.NoFocus)
sld.setGeometry(30, 40, 200, 30)
sld.valueChanged[int].connect(self.changeValue)
self.label = QLabel(self)
self.label.setPixmap(QPixmap('mute.png'))
self.label.setGeometry(250, 40, 80, 30)
self.setGeometry(300, 300, 350, 250)
self.setWindowTitle('QSlider')
self.show()
def initUI(self):
lcd = QLCDNumber(self)
sld = QSlider(Qt.Orientation.Horizontal, self)
vbox = QVBoxLayout()
vbox.addWidget(lcd)
vbox.addWidget(sld)
self.setLayout(vbox)
sld.valueChanged.connect(lcd.display)
self.setGeometry(300, 300, 350, 250)
self.setWindowTitle('Signal and slot')
self.show()
def __init__(
self,
onValueChanged: Callable[[int], None],
parent: Optional[QWidget] = None,
*args: Tuple[Any, Any],
**kwargs: Tuple[Any, Any],
) -> None:
"""
Slow/fast slider for maze solver agents speed
"""
super(MazeSolverSpeedControlView, self).__init__(parent=parent,
*args,
**kwargs)
self.setContentsMargins(0, 0, 0, 0)
layout = QVBoxLayout(self)
layout.setContentsMargins(0, 0, 0, 0)
slider = QSlider(Qt.Orientations.Horizontal)
# minimum of 1 op/s (0 would result in a divide by zero op and thus crash)
slider.setMinimum(1)
# maximum of 50 op/s
slider.setMaximum(70)
# initial value in the middle
slider.setValue(35)
# connect the onValueChange event to the method passed to this widget
slider.valueChanged.connect(onValueChanged) # type: ignore
# slow/fast horizontal labels view
slowFastLabelsLayout = QHBoxLayout()
slowFastLabelsLayout.setContentsMargins(0, 0, 0, 0)
slowLabel = QLabel("Slow")
fastLabel = QLabel("Fast")
slowFastLabelsLayout.addWidget(slowLabel)
slowFastLabelsLayout.addStretch()
slowFastLabelsLayout.addWidget(fastLabel)
layout.addWidget(slider)
layout.addLayout(slowFastLabelsLayout)
self.setLayout(layout)
def init_ui(self):
pg.setConfigOption('background', 'w')
pg.setConfigOption('imageAxisOrder', 'row-major')
self.zname = 'Head', 'Feet'
self.yname = 'Face', 'Back'
self.xname = 'Left Hand', 'Right Hand'
self.layout = QVBoxLayout()
self.setGeometry(0, 0, 1440, 900)
self.setWindowTitle('DICOM Viewer')
self.z_slice_label = QLabel(f'Z axis [{self.zname[0]} - {self.zname[1]}] Slice: {self.z + 1}/{self.X.shape[0]}')
self.y_slice_label = QLabel(f'Y axis [{self.yname[0]} - {self.yname[1]}] Slice: {self.y + 1}/{self.X.shape[1]}')
self.x_slice_label = QLabel(f'X axis [{self.xname[0]} - {self.xname[1]}] Slice: {self.x + 1}/{self.X.shape[2]}')
# slices plots ----------------------------------------------------------------
self.autolevels = True
self.levels = (0, 100)
self.glayout = pg.GraphicsLayoutWidget()
self.glayout.ci.layout.setContentsMargins(0, 0, 0, 0)
self.glayout.ci.layout.setSpacing(0)
self.zi = pg.ImageItem(self.X[self.z, : , : ], autoLevels=self.autolevels, levels=self.levels, border=pg.mkPen(color='r', width=3))
self.yi = pg.ImageItem(self.X[: , self.y, : ], autoLevels=self.autolevels, levels=self.levels, border=pg.mkPen(color='g', width=3))
self.xi = pg.ImageItem(self.X[: , : , self.x], autoLevels=self.autolevels, levels=self.levels, border=pg.mkPen(color='b', width=3))
self.zp = self.glayout.addPlot()
self.yp = self.glayout.addPlot()
self.xp = self.glayout.addPlot()
# self.z_slice_plot.setTitle(f'Z axis [{self.z_axis_name[0]} - {self.z_axis_name[1]}]')
# self.y_slice_plot.setTitle(f'Y axis [{self.y_axis_name[0]} - {self.y_axis_name[1]}]')
# self.x_slice_plot.setTitle(f'X axis [{self.x_axis_name[0]} - {self.x_axis_name[1]}]')
self.zp.setAspectLocked()
self.yp.setAspectLocked()
self.xp.setAspectLocked()
self.zp.setMouseEnabled(x=False, y=False)
self.yp.setMouseEnabled(x=False, y=False)
self.xp.setMouseEnabled(x=False, y=False)
self.z_slice_plot_y_helper1 = self.zp.plot([0 , self.X.shape[2]], [self.y , self.y ], pen='g')
self.z_slice_plot_y_helper2 = self.zp.plot([0 , self.X.shape[2]], [self.y + 1, self.y + 1 ], pen='g')
self.z_slice_plot_x_helper1 = self.zp.plot([self.x , self.x ], [0 , self.X.shape[1]], pen='b')
self.z_slice_plot_x_helper2 = self.zp.plot([self.x + 1, self.x + 1 ], [0 , self.X.shape[1]], pen='b')
self.y_slice_plot_z_helper1 = self.yp.plot([0 , self.X.shape[2]], [self.z , self.z ], pen='r')
self.y_slice_plot_z_helper2 = self.yp.plot([0 , self.X.shape[2]], [self.z + 1, self.z + 1 ], pen='r')
self.y_slice_plot_x_helper1 = self.yp.plot([self.x , self.x ], [0 , self.X.shape[0]], pen='b')
self.y_slice_plot_x_helper2 = self.yp.plot([self.x + 1, self.x + 1 ], [0 , self.X.shape[0]], pen='b')
self.x_slice_plot_z_helper1 = self.xp.plot([0 , self.X.shape[1]], [self.z , self.z ], pen='r')
self.x_slice_plot_z_helper2 = self.xp.plot([0 , self.X.shape[1]], [self.z + 1, self.z + 1 ], pen='r')
self.x_slice_plot_y_helper1 = self.xp.plot([self.y , self.y ], [0 , self.X.shape[0]], pen='g')
self.x_slice_plot_y_helper2 = self.xp.plot([self.y + 1, self.y + 1 ], [0 , self.X.shape[0]], pen='g')
self.zp.invertY(True)
self.yp.invertY(True)
self.xp.invertY(True)
self.zp.setLabel('bottom', f'X axis [{self.xname[0]} - {self.xname[1]}]')
self.yp.setLabel('bottom', f'X axis [{self.xname[0]} - {self.xname[1]}]')
self.zp.setLabel('left' , f'Y axis [{self.yname[1]} - {self.yname[0]}]')
self.xp.setLabel('bottom', f'Y axis [{self.yname[0]} - {self.yname[1]}]')
self.yp.setLabel('left' , f'Z axis [{self.zname[1]} - {self.zname[0]}]')
self.xp.setLabel('left' , f'Z axis [{self.zname[1]} - {self.zname[0]}]')
self.zp.addItem(self.zi)
self.yp.addItem(self.yi)
self.xp.addItem(self.xi)
self.zi.setRect(pg.QtCore.QRectF(0, 0, self.X.shape[2], self.X.shape[1]))
self.yi.setRect(pg.QtCore.QRectF(0, 0, self.X.shape[2], self.X.shape[0]))
self.xi.setRect(pg.QtCore.QRectF(0, 0, self.X.shape[1], self.X.shape[0]))
self.zi.setZValue(-1)
self.yi.setZValue(-1)
self.xi.setZValue(-1)
self.zs = QSlider()
self.ys = QSlider()
self.xs = QSlider()
self.zs.setStyleSheet('background-color: rgba(255, 0, 0, 0.2)')
self.ys.setStyleSheet('background-color: rgba(0, 255, 0, 0.2)')
self.xs.setStyleSheet('background-color: rgba(0, 0, 255, 0.2)')
self.zs.setOrientation(Qt.Orientation.Horizontal)
self.ys.setOrientation(Qt.Orientation.Horizontal)
self.xs.setOrientation(Qt.Orientation.Horizontal)
self.zs.setRange(0, self.X.shape[0] - 1)
self.ys.setRange(0, self.X.shape[1] - 1)
self.xs.setRange(0, self.X.shape[2] - 1)
self.zs.setValue(self.z)
self.ys.setValue(self.y)
self.xs.setValue(self.x)
self.zs.setTickPosition(QSlider.TickPosition.TicksBelow)
self.ys.setTickPosition(QSlider.TickPosition.TicksBelow)
self.xs.setTickPosition(QSlider.TickPosition.TicksBelow)
self.zs.setTickInterval(1)
self.ys.setTickInterval(1)
self.xs.setTickInterval(1)
self.layout.addWidget(self.zs)
self.layout.addWidget(self.ys)
self.layout.addWidget(self.xs)
self.layout.addWidget(self.z_slice_label)
self.layout.addWidget(self.y_slice_label)
self.layout.addWidget(self.x_slice_label)
self.layout.addWidget(self.glayout)
self.setLayout(self.layout)
self.show()
def __init__(self, *args, **kwargs):
super(MainWindow, self).__init__(*args, **kwargs)
# region Create CartPole instance and load initial settings
# Create CartPole instance
self.initial_state = create_cartpole_state()
self.CartPoleInstance = CartPole(initial_state=self.initial_state)
# Set timescales
self.CartPoleInstance.dt_simulation = dt_simulation
self.CartPoleInstance.dt_controller = controller_update_interval
self.CartPoleInstance.dt_save = save_interval
# set other settings
self.CartPoleInstance.set_controller(controller_init)
self.CartPoleInstance.stop_at_90 = stop_at_90_init
self.set_random_experiment_generator_init_params()
# endregion
# region Decide whether to save the data in "CartPole memory" or not
self.save_history = save_history_init
self.show_experiment_summary = show_experiment_summary_init
if self.save_history or self.show_experiment_summary:
self.CartPoleInstance.save_data_in_cart = True
else:
self.CartPoleInstance.save_data_in_cart = False
# endregion
# region Other variables initial values as provided in gui_default_parameters.py
# Start user controlled experiment/ start random experiment/ load and replay - on start button
self.simulator_mode = simulator_mode_init
self.slider_on_click = slider_on_click_init # Update slider on click/update slider while hoovering over it
self.speedup = speedup_init # Default simulation speed-up
# endregion
# region Initialize loop-timer
# This timer allows to relate the simulation time to user time
# And (if your computer is fast enough) run simulation
# slower or faster than real-time by predefined factor (speedup)
self.looper = loop_timer(
dt_target=(self.CartPoleInstance.dt_simulation / self.speedup))
# endregion
# region Variables controlling the state of various processes (DO NOT MODIFY)
self.terminate_experiment_or_replay_thread = False # True: gives signal causing thread to terminate
self.pause_experiment_or_replay_thread = False # True: gives signal causing the thread to pause
self.run_set_labels_thread = True # True if gauges (labels) keep being repeatedly updated
# Stop threads by setting False
# Flag indicating if the "START! / STOP!" button should act as start or as stop when pressed.
# Can take values "START!" or "STOP!"
self.start_or_stop_action = "START!"
# Flag indicating whether the pause button should pause or unpause.
self.pause_or_unpause_action = "PAUSE"
# Flag indicating that saving of experiment recording to csv file has finished
self.experiment_or_replay_thread_terminated = False
self.user_time_counter = 0 # Measures the user time
# Slider instant value (which is draw in GUI) differs from value saved in CartPole instance
# if the option updating slider "on-click" is enabled.
self.slider_instant_value = self.CartPoleInstance.slider_value
self.noise = 'OFF'
self.CartPoleInstance.NoiseAdderInstance.noise_mode = self.noise
# endregion
# region Create GUI Layout
# region - Create container for top level layout
layout = QVBoxLayout()
# endregion
# region - Change geometry of the main window
self.setGeometry(300, 300, 2500, 1000)
# endregion
# region - Matplotlib figures (CartPole drawing and Slider)
# Draw Figure
self.fig = Figure(
figsize=(25, 10)
) # Regulates the size of Figure in inches, before scaling to window size.
self.canvas = FigureCanvas(self.fig)
self.fig.AxCart = self.canvas.figure.add_subplot(211)
self.fig.AxSlider = self.canvas.figure.add_subplot(212)
self.fig.AxSlider.set_ylim(0, 1)
self.CartPoleInstance.draw_constant_elements(self.fig, self.fig.AxCart,
self.fig.AxSlider)
# Attach figure to the layout
lf = QVBoxLayout()
lf.addWidget(self.canvas)
# endregion
# region - Radio buttons selecting current controller
self.rbs_controllers = []
for controller_name in self.CartPoleInstance.controller_names:
self.rbs_controllers.append(QRadioButton(controller_name))
# Ensures that radio buttons are exclusive
self.controllers_buttons_group = QButtonGroup()
for button in self.rbs_controllers:
self.controllers_buttons_group.addButton(button)
lr_c = QVBoxLayout()
lr_c.addStretch(1)
for rb in self.rbs_controllers:
rb.clicked.connect(self.RadioButtons_controller_selection)
lr_c.addWidget(rb)
lr_c.addStretch(1)
self.rbs_controllers[self.CartPoleInstance.controller_idx].setChecked(
True)
# endregion
# region - Create central part of the layout for figures and radio buttons and add it to the whole layout
lc = QHBoxLayout()
lc.addLayout(lf)
lc.addLayout(lr_c)
layout.addLayout(lc)
# endregion
# region - Gauges displaying current values of various states and parameters (time, velocity, angle,...)
# First row
ld = QHBoxLayout()
# User time
self.labTime = QLabel("User's time (s): ")
self.timer = QTimer()
self.timer.setInterval(100) # Tick every 1/10 of the second
self.timer.timeout.connect(self.set_user_time_label)
self.timer.start()
ld.addWidget(self.labTime)
# Speed, angle, motor power (Q)
self.labSpeed = QLabel('Speed (m/s):')
self.labAngle = QLabel('Angle (deg):')
self.labMotor = QLabel('')
self.labTargetPosition = QLabel('')
ld.addWidget(self.labSpeed)
ld.addWidget(self.labAngle)
ld.addWidget(self.labMotor)
ld.addWidget(self.labTargetPosition)
layout.addLayout(ld)
# Second row of labels
# Simulation time, Measured (real) speed-up, slider-value
ld2 = QHBoxLayout()
self.labTimeSim = QLabel('Simulation Time (s):')
ld2.addWidget(self.labTimeSim)
self.labSpeedUp = QLabel('Speed-up (measured):')
ld2.addWidget(self.labSpeedUp)
self.labSliderInstant = QLabel('')
ld2.addWidget(self.labSliderInstant)
layout.addLayout(ld2)
# endregion
# region - Buttons "START!" / "STOP!", "PAUSE", "QUIT"
self.bss = QPushButton("START!")
self.bss.pressed.connect(self.start_stop_button)
self.bp = QPushButton("PAUSE")
self.bp.pressed.connect(self.pause_unpause_button)
bq = QPushButton("QUIT")
bq.pressed.connect(self.quit_application)
lspb = QHBoxLayout() # Sub-Layout for Start/Stop and Pause Buttons
lspb.addWidget(self.bss)
lspb.addWidget(self.bp)
# endregion
# region - Sliders setting initial state and buttons for kicking the pole
# Sliders setting initial position and angle
lb = QVBoxLayout() # Layout for buttons
lb.addLayout(lspb)
lb.addWidget(bq)
ip = QHBoxLayout() # Layout for initial position sliders
self.initial_position_slider = QSlider(
orientation=Qt.Orientation.Horizontal)
self.initial_position_slider.setRange(
-int(float(1000 * TrackHalfLength)),
int(float(1000 * TrackHalfLength)))
self.initial_position_slider.setValue(0)
self.initial_position_slider.setSingleStep(1)
self.initial_position_slider.valueChanged.connect(
self.update_initial_position)
self.initial_angle_slider = QSlider(
orientation=Qt.Orientation.Horizontal)
self.initial_angle_slider.setRange(-int(float(100 * np.pi)),
int(float(100 * np.pi)))
self.initial_angle_slider.setValue(0)
self.initial_angle_slider.setSingleStep(1)
self.initial_angle_slider.valueChanged.connect(
self.update_initial_angle)
ip.addWidget(QLabel("Initial position:"))
ip.addWidget(self.initial_position_slider)
ip.addWidget(QLabel("Initial angle:"))
ip.addWidget(self.initial_angle_slider)
ip.addStretch(0.01)
# Slider setting latency
self.LATENCY_SLIDER_RANGE_INT = 1000
self.latency_slider = QSlider(orientation=Qt.Orientation.Horizontal)
self.latency_slider.setRange(0, self.LATENCY_SLIDER_RANGE_INT)
self.latency_slider.setValue(
int(self.CartPoleInstance.LatencyAdderInstance.latency *
self.LATENCY_SLIDER_RANGE_INT /
self.CartPoleInstance.LatencyAdderInstance.max_latency))
self.latency_slider.setSingleStep(1)
self.latency_slider.valueChanged.connect(self.update_latency)
ip.addWidget(QLabel("Latency:"))
ip.addWidget(self.latency_slider)
self.labLatency = QLabel('Latency (ms): {:.1f}'.format(
self.CartPoleInstance.LatencyAdderInstance.latency * 1000))
ip.addWidget(self.labLatency)
# Buttons activating noise
self.rbs_noise = []
for mode_name in ['ON', 'OFF']:
self.rbs_noise.append(QRadioButton(mode_name))
# Ensures that radio buttons are exclusive
self.noise_buttons_group = QButtonGroup()
for button in self.rbs_noise:
self.noise_buttons_group.addButton(button)
lr_n = QHBoxLayout()
lr_n.addWidget(QLabel('Noise:'))
for rb in self.rbs_noise:
rb.clicked.connect(self.RadioButtons_noise_on_off)
lr_n.addWidget(rb)
self.rbs_noise[1].setChecked(True)
ip.addStretch(0.01)
ip.addLayout(lr_n)
ip.addStretch(0.01)
# Buttons giving kick to the pole
kick_label = QLabel("Kick pole:")
kick_left_button = QPushButton()
kick_left_button.setText("Left")
kick_left_button.adjustSize()
kick_left_button.clicked.connect(self.kick_pole)
kick_right_button = QPushButton()
kick_right_button.setText("Right")
kick_right_button.adjustSize()
kick_right_button.clicked.connect(self.kick_pole)
ip.addWidget(kick_label)
ip.addWidget(kick_left_button)
ip.addWidget(kick_right_button)
lb.addLayout(ip)
layout.addLayout(lb)
# endregion
# region - Text boxes and Combobox to provide settings concerning generation of random experiment
l_generate_trace = QHBoxLayout()
l_generate_trace.addWidget(QLabel('Random experiment settings:'))
l_generate_trace.addWidget(QLabel('Length (s):'))
self.textbox_length = QLineEdit()
l_generate_trace.addWidget(self.textbox_length)
l_generate_trace.addWidget(QLabel('Turning Points (m):'))
self.textbox_turning_points = QLineEdit()
l_generate_trace.addWidget(self.textbox_turning_points)
l_generate_trace.addWidget(QLabel('Interpolation:'))
self.cb_interpolation = QComboBox()
self.cb_interpolation.addItems(
['0-derivative-smooth', 'linear', 'previous'])
self.cb_interpolation.currentIndexChanged.connect(
self.cb_interpolation_selectionchange)
self.cb_interpolation.setCurrentText(
self.CartPoleInstance.interpolation_type)
l_generate_trace.addWidget(self.cb_interpolation)
layout.addLayout(l_generate_trace)
# endregion
# region - Textbox to provide csv file name for saving or loading data
l_text = QHBoxLayout()
textbox_title = QLabel('CSV file name:')
self.textbox = QLineEdit()
l_text.addWidget(textbox_title)
l_text.addWidget(self.textbox)
layout.addLayout(l_text)
# endregion
# region - Make strip of layout for checkboxes
l_cb = QHBoxLayout()
# endregion
# region - Textbox to provide the target speed-up value
l_text_speedup = QHBoxLayout()
tx_speedup_title = QLabel('Speed-up (target):')
self.tx_speedup = QLineEdit()
l_text_speedup.addWidget(tx_speedup_title)
l_text_speedup.addWidget(self.tx_speedup)
self.tx_speedup.setText(str(self.speedup))
l_cb.addLayout(l_text_speedup)
self.wrong_speedup_msg = QMessageBox()
self.wrong_speedup_msg.setWindowTitle("Speed-up value problem")
self.wrong_speedup_msg.setIcon(QMessageBox.Icon.Critical)
# endregion
# region - Checkboxes
# region -- Checkbox: Save/don't save experiment recording
self.cb_save_history = QCheckBox('Save results', self)
if self.save_history:
self.cb_save_history.toggle()
self.cb_save_history.toggled.connect(self.cb_save_history_f)
l_cb.addWidget(self.cb_save_history)
# endregion
# region -- Checkbox: Display plots showing dynamic evolution of the system as soon as experiment terminates
self.cb_show_experiment_summary = QCheckBox('Show experiment summary',
self)
if self.show_experiment_summary:
self.cb_show_experiment_summary.toggle()
self.cb_show_experiment_summary.toggled.connect(
self.cb_show_experiment_summary_f)
l_cb.addWidget(self.cb_show_experiment_summary)
# endregion
# region -- Checkbox: Block pole if it reaches +/-90 deg
self.cb_stop_at_90_deg = QCheckBox('Stop-at-90-deg', self)
if self.CartPoleInstance.stop_at_90:
self.cb_stop_at_90_deg.toggle()
self.cb_stop_at_90_deg.toggled.connect(self.cb_stop_at_90_deg_f)
l_cb.addWidget(self.cb_stop_at_90_deg)
# endregion
# region -- Checkbox: Update slider on click/update slider while hoovering over it
self.cb_slider_on_click = QCheckBox('Update slider on click', self)
if self.slider_on_click:
self.cb_slider_on_click.toggle()
self.cb_slider_on_click.toggled.connect(self.cb_slider_on_click_f)
l_cb.addWidget(self.cb_slider_on_click)
# endregion
# endregion
# region - Radio buttons selecting simulator mode: user defined experiment, random experiment, replay
# List available simulator modes - constant
self.available_simulator_modes = [
'Slider-Controlled Experiment', 'Random Experiment', 'Replay'
]
self.rbs_simulator_mode = []
for mode_name in self.available_simulator_modes:
self.rbs_simulator_mode.append(QRadioButton(mode_name))
# Ensures that radio buttons are exclusive
self.simulator_mode_buttons_group = QButtonGroup()
for button in self.rbs_simulator_mode:
self.simulator_mode_buttons_group.addButton(button)
lr_sm = QHBoxLayout()
lr_sm.addStretch(1)
lr_sm.addWidget(QLabel('Simulator mode:'))
for rb in self.rbs_simulator_mode:
rb.clicked.connect(self.RadioButtons_simulator_mode)
lr_sm.addWidget(rb)
lr_sm.addStretch(1)
self.rbs_simulator_mode[self.available_simulator_modes.index(
self.simulator_mode)].setChecked(True)
l_cb.addStretch(1)
l_cb.addLayout(lr_sm)
l_cb.addStretch(1)
# endregion
# region - Add checkboxes to layout
layout.addLayout(l_cb)
# endregion
# region - Create an instance of a GUI window
w = QWidget()
w.setLayout(layout)
self.setCentralWidget(w)
self.show()
self.setWindowTitle('CartPole Simulator')
# endregion
# endregion
# region Open controller-specific popup windows
self.open_additional_controller_widget()
# endregion
# region Activate functions capturing mouse movements and clicks over the slider
# This line links function capturing the mouse position on the canvas of the Figure
self.canvas.mpl_connect("motion_notify_event", self.on_mouse_movement)
# This line links function capturing the mouse position on the canvas of the Figure click
self.canvas.mpl_connect("button_press_event", self.on_mouse_click)
# endregion
# region Introducing multithreading
# To ensure smooth functioning of the app,
# the calculations and redrawing of the figures have to be done in a different thread
# than the one capturing the mouse position and running the animation
self.threadpool = QThreadPool()
# endregion
# region Starts a thread repeatedly redrawing gauges (labels) of the GUI
# It runs till the QUIT button is pressed
worker_labels = Worker(self.set_labels_thread)
self.threadpool.start(worker_labels)
# endregion
# region Start animation repeatedly redrawing changing elements of matplotlib figures (CartPole drawing and slider)
# This animation runs ALWAYS when the GUI is open
# The buttons of GUI only decide if new parameters are calculated or not
self.anim = self.CartPoleInstance.run_animation(self.fig)
def initUI(self):
self.grid = QGridLayout(self)
self.file_control_grid = QGridLayout()
self.file_control_grid.setSpacing(3)
self.grid.addLayout(self.file_control_grid, 0, 0)
self.file_tree_grid = QGridLayout()
self.file_tree_grid.setSpacing(3)
self.grid.addLayout(self.file_tree_grid, 1, 0)
self.group_control_grid = QGridLayout()
self.group_control_grid.setSpacing(3)
self.grid.addLayout(self.group_control_grid, 0, 1)
self.attribute_grid = QGridLayout()
self.attribute_grid.setSpacing(3)
self.grid.addLayout(self.attribute_grid, 1, 1)
self.roi_control_grid = QGridLayout()
self.roi_control_grid.setSpacing(3)
self.grid.addLayout(self.roi_control_grid, 0, 2)
self.plot_grid = QGridLayout()
self.plot_grid.setSpacing(3)
self.grid.addLayout(self.plot_grid, 1, 2)
# # # # File control browser: # # # # # # # # (0,0)
loadButton = QPushButton("Load expt. file", self)
loadButton.clicked.connect(self.selectDataFile)
# Label with current expt file
self.currentExperimentLabel = QLabel('')
self.file_control_grid.addWidget(loadButton, 0, 0)
self.file_control_grid.addWidget(self.currentExperimentLabel, 1, 0)
directoryButton = QPushButton("Select data directory", self)
directoryButton.clicked.connect(self.selectDataDirectory)
self.file_control_grid.addWidget(directoryButton, 0, 1)
self.data_directory_display = QLabel('')
self.data_directory_display.setFont(QtGui.QFont('SansSerif', 8))
self.file_control_grid.addWidget(self.data_directory_display, 1, 1)
# Attach metadata to file
attachDatabutton = QPushButton("Attach metadata to file", self)
attachDatabutton.clicked.connect(self.attachData)
self.file_control_grid.addWidget(attachDatabutton, 2, 0, 1, 2)
# Select image data file
selectImageDataFileButton = QPushButton("Select image data file", self)
selectImageDataFileButton.clicked.connect(self.selectImageDataFile)
self.file_control_grid.addWidget(selectImageDataFileButton, 3, 0, 1, 2)
# # # # File tree: # # # # # # # # (1,0)
self.groupTree = QTreeWidget(self)
self.groupTree.setHeaderHidden(True)
self.groupTree.itemClicked.connect(self.onTreeItemClicked)
self.file_tree_grid.addWidget(self.groupTree, 3, 0, 2, 7)
# # # # Group control: # # # # # # # # (0, 1)
deleteGroupButton = QPushButton("Delete selected group", self)
deleteGroupButton.clicked.connect(self.deleteSelectedGroup)
self.group_control_grid.addWidget(deleteGroupButton, 0, 0, 1, 2)
# File name display
self.currentImageFileNameLabel = QLabel('')
self.group_control_grid.addWidget(self.currentImageFileNameLabel, 1, 0)
# Channel drop down
ch_label = QLabel('Channel:')
self.ChannelComboBox = QComboBox(self)
self.ChannelComboBox.addItem("1")
self.ChannelComboBox.addItem("0")
self.ChannelComboBox.activated.connect(self.selectChannel)
self.group_control_grid.addWidget(ch_label, 2, 0)
self.group_control_grid.addWidget(self.ChannelComboBox, 2, 1)
# # # # Attribute table: # # # # # # # # (1, 1)
self.tableAttributes = QTableWidget()
self.tableAttributes.setStyleSheet("")
self.tableAttributes.setColumnCount(2)
self.tableAttributes.setObjectName("tableAttributes")
self.tableAttributes.setRowCount(0)
item = QTableWidgetItem()
font = QtGui.QFont()
font.setPointSize(10)
item.setFont(font)
item.setBackground(QtGui.QColor(121, 121, 121))
brush = QtGui.QBrush(QtGui.QColor(91, 91, 91))
brush.setStyle(QtCore.Qt.BrushStyle.SolidPattern)
item.setForeground(brush)
self.tableAttributes.setHorizontalHeaderItem(0, item)
item = QTableWidgetItem()
item.setBackground(QtGui.QColor(123, 123, 123))
brush = QtGui.QBrush(QtGui.QColor(91, 91, 91))
brush.setStyle(QtCore.Qt.BrushStyle.SolidPattern)
item.setForeground(brush)
self.tableAttributes.setHorizontalHeaderItem(1, item)
self.tableAttributes.horizontalHeader().setCascadingSectionResizes(
True)
self.tableAttributes.horizontalHeader().setHighlightSections(False)
self.tableAttributes.horizontalHeader().setSortIndicatorShown(True)
self.tableAttributes.horizontalHeader().setStretchLastSection(True)
self.tableAttributes.verticalHeader().setVisible(False)
self.tableAttributes.verticalHeader().setHighlightSections(False)
item = self.tableAttributes.horizontalHeaderItem(0)
item.setText("Attribute")
item = self.tableAttributes.horizontalHeaderItem(1)
item.setText("Value")
self.tableAttributes.itemChanged.connect(self.update_attrs_to_file)
self.attribute_grid.addWidget(self.tableAttributes, 3, 0, 1, 8)
# # # # Roi control # # # # # # # # (0, 2)
# ROI type drop-down
self.RoiTypeComboBox = QComboBox(self)
self.RoiTypeComboBox.addItem("freehand")
radii = [1, 2, 3, 4, 6, 8]
for radius in radii:
self.RoiTypeComboBox.addItem("circle:" + str(radius))
self.RoiTypeComboBox.activated.connect(self.selectRoiType)
self.roi_control_grid.addWidget(self.RoiTypeComboBox, 0, 0)
# Clear all ROIs button
self.clearROIsButton = QPushButton("Clear ROIs", self)
self.clearROIsButton.clicked.connect(self.clearRois)
self.roi_control_grid.addWidget(self.clearROIsButton, 0, 2)
# Response display type dropdown
self.RoiResponseTypeComboBox = QComboBox(self)
self.RoiResponseTypeComboBox.addItem("RawTrace")
self.RoiResponseTypeComboBox.addItem("TrialAverage")
self.RoiResponseTypeComboBox.addItem("TrialResponses")
self.RoiResponseTypeComboBox.addItem("TrialAverageDFF")
self.roi_control_grid.addWidget(self.RoiResponseTypeComboBox, 2, 2)
# ROIset file name line edit box
self.defaultRoiSetName = "roi_set_name"
self.le_roiSetName = QLineEdit(self.defaultRoiSetName)
self.roi_control_grid.addWidget(self.le_roiSetName, 1, 1)
# Save ROIs button
self.saveROIsButton = QPushButton("Save ROIs", self)
self.saveROIsButton.clicked.connect(self.saveRois)
self.roi_control_grid.addWidget(self.saveROIsButton, 1, 0)
# Load ROI set combobox
self.loadROIsComboBox = QComboBox(self)
self.loadROIsComboBox.addItem("(load existing ROI set)")
self.loadROIsComboBox.activated.connect(self.selectedExistingRoiSet)
self.roi_control_grid.addWidget(self.loadROIsComboBox, 1, 2)
self.updateExistingRoiSetList()
# Delete current roi button
self.deleteROIButton = QPushButton("Delete ROI", self)
self.deleteROIButton.clicked.connect(self.deleteRoi)
self.roi_control_grid.addWidget(self.deleteROIButton, 2, 0)
# Current roi slider
self.roiSlider = QSlider(QtCore.Qt.Orientation.Horizontal, self)
self.roiSlider.setMinimum(0)
self.roiSlider.setMaximum(self.max_rois)
self.roiSlider.valueChanged.connect(self.sliderUpdated)
self.roi_control_grid.addWidget(self.roiSlider, 2, 1, 1, 1)
ctx = plt.rc_context({
'xtick.major.size': 1,
'axes.spines.top': False,
'axes.spines.right': False,
'xtick.labelsize': 'xx-small',
'ytick.labelsize': 'xx-small',
'xtick.major.size': 1.0,
'ytick.major.size': 1.0,
'xtick.major.pad': 1.0,
'ytick.major.pad': 1.0
})
with ctx:
self.responseFig = plt.figure(frameon=False, layout='constrained')
self.responsePlot = self.responseFig.add_subplot(111)
self.responseCanvas = FigureCanvas(self.responseFig)
self.responseCanvas.draw_idle()
self.plot_grid.addWidget(self.responseCanvas, 0, 0)
# # # # Image canvas # # # # # # # # (1, 2)
self.roi_fig = plt.figure()
self.roi_ax = self.roi_fig.add_subplot(111)
self.roi_canvas = FigureCanvas(self.roi_fig)
self.toolbar = NavigationToolbar(self.roi_canvas, self)
self.roi_ax.set_aspect('equal')
self.roi_ax.set_axis_off()
self.plot_grid.addWidget(self.toolbar, 1, 0)
self.plot_grid.addWidget(self.roi_canvas, 2, 0)
self.plot_grid.setRowStretch(0, 1)
self.plot_grid.setRowStretch(1, 3)
self.plot_grid.setRowStretch(2, 3)
# Current z slice slider
self.zSlider = QSlider(QtCore.Qt.Orientation.Horizontal, self)
self.zSlider.setMinimum(0)
self.zSlider.setMaximum(50)
self.zSlider.setValue(0)
self.zSlider.valueChanged.connect(self.zSliderUpdated)
self.plot_grid.addWidget(self.zSlider, 3, 0)
self.roi_fig.tight_layout()
self.setWindowTitle('Visanalysis')
self.setGeometry(200, 200, 1200, 600)
self.show()
def __init__(self):
super(MPPIOptionsWindow, self).__init__()
self.horizon_steps = controller_mppi.mpc_samples
self.num_rollouts = controller_mppi.num_rollouts
self.dd_weight = controller_mppi.dd_weight
self.ep_weight = controller_mppi.ep_weight
self.ekp_weight = controller_mppi.ekp_weight * 1.0e1
self.ekc_weight = controller_mppi.ekc_weight * 1.0e-1
self.cc_weight = controller_mppi.cc_weight * 1.0e-2
self.ccrc_weight = controller_mppi.ccrc_weight * 1.0e-2
self.R = controller_mppi.R # How much to punish Q
self.LBD = controller_mppi.LBD # Cost parameter lambda
self.NU = controller_mppi.NU # Exploration variance
layout = QVBoxLayout()
### Set Horizon Length
horizon_options_layout = QVBoxLayout()
self.horizon_label = QLabel("")
self.horizon_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
horizon_options_layout.addWidget(self.horizon_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(10, 300)
slider.setValue(self.horizon_steps)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(10)
slider.setSingleStep(10)
horizon_options_layout.addWidget(slider)
slider.valueChanged.connect(self.horizon_length_changed)
### Set Number of Rollouts
rollouts_options_layout = QVBoxLayout()
self.rollouts_label = QLabel("")
self.rollouts_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
rollouts_options_layout.addWidget(self.rollouts_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(10, 3000)
slider.setValue(self.num_rollouts)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(10)
slider.setSingleStep(10)
rollouts_options_layout.addWidget(slider)
slider.valueChanged.connect(self.num_rollouts_changed)
### Set Cost Weights
cost_weight_layout = QVBoxLayout()
# Distance difference cost
self.dd_weight_label = QLabel("")
self.dd_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.dd_weight_label)
self.dd_label = QLabel("")
self.dd_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.dd_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 990)
slider.setValue(self.dd_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(10)
slider.setSingleStep(10)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.dd_weight_changed)
# Potential energy cost
self.ep_weight_label = QLabel("")
self.ep_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ep_weight_label)
self.ep_label = QLabel("")
self.ep_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ep_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 1e5 - 1e3)
slider.setValue(self.ep_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1e3)
slider.setSingleStep(1e3)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.ep_weight_changed)
# Pole kinetic energy cost
self.ekp_weight_label = QLabel("")
self.ekp_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ekp_weight_label)
self.ekp_label = QLabel("")
self.ekp_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ekp_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 99)
slider.setValue(self.ekp_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1)
slider.setSingleStep(1)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.ekp_weight_changed)
# Cart kinetic energy cost
self.ekc_weight_label = QLabel("")
self.ekc_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ekc_weight_label)
self.ekc_label = QLabel("")
self.ekc_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ekc_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 99)
slider.setValue(self.ekc_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1)
slider.setSingleStep(1)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.ekc_weight_changed)
# Control cost
self.cc_weight_label = QLabel("")
self.cc_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.cc_weight_label)
self.cc_label = QLabel("")
self.cc_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.cc_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 99)
slider.setValue(self.cc_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1)
slider.setSingleStep(1)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.cc_weight_changed)
# Control change rate cost
self.ccrc_weight_label = QLabel("")
self.ccrc_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ccrc_weight_label)
self.ccrc_label = QLabel("")
self.ccrc_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ccrc_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 99)
slider.setValue(self.ccrc_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1)
slider.setSingleStep(1)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.ccrc_weight_changed)
### Set some more MPPI constants
mppi_constants_layout = QVBoxLayout()
# Quadratic cost penalty R
textbox = QLineEdit()
textbox.setText(str(self.R))
textbox.textChanged.connect(self.R_changed)
h_layout = QHBoxLayout()
h_layout.addWidget(QLabel("Quadratic input cost penalty R ="))
h_layout.addWidget(textbox)
mppi_constants_layout.addLayout(h_layout)
# Quadratic cost penalty LBD
textbox = QLineEdit()
textbox.setText(str(self.LBD))
textbox.textChanged.connect(self.LBD_changed)
h_layout = QHBoxLayout()
h_layout.addWidget(QLabel("Importance of higher-cost rollouts LBD ="))
h_layout.addWidget(textbox)
mppi_constants_layout.addLayout(h_layout)
# Quadratic cost penalty NU
textbox = QLineEdit()
textbox.setText(str(self.NU))
textbox.textChanged.connect(self.NU_changed)
h_layout = QHBoxLayout()
h_layout.addWidget(QLabel("Exploration variance NU ="))
h_layout.addWidget(textbox)
mppi_constants_layout.addLayout(h_layout)
# Sampling type
h_layout = QHBoxLayout()
btn1 = QRadioButton("iid")
if btn1.text() == controller_mppi.SAMPLING_TYPE: btn1.setChecked(True)
btn1.toggled.connect(lambda: self.toggle_button(btn1))
h_layout.addWidget(btn1)
btn2 = QRadioButton("random_walk")
if btn2.text() == controller_mppi.SAMPLING_TYPE: btn2.setChecked(True)
btn2.toggled.connect(lambda: self.toggle_button(btn2))
h_layout.addWidget(btn2)
btn3 = QRadioButton("uniform")
if btn3.text() == controller_mppi.SAMPLING_TYPE: btn3.setChecked(True)
btn3.toggled.connect(lambda: self.toggle_button(btn3))
h_layout.addWidget(btn3)
btn4 = QRadioButton("repeated")
if btn4.text() == controller_mppi.SAMPLING_TYPE: btn4.setChecked(True)
btn4.toggled.connect(lambda: self.toggle_button(btn4))
h_layout.addWidget(btn4)
btn5 = QRadioButton("interpolated")
if btn5.text() == controller_mppi.SAMPLING_TYPE: btn5.setChecked(True)
btn5.toggled.connect(lambda: self.toggle_button(btn5))
h_layout.addWidget(btn5)
mppi_constants_layout.addWidget(QLabel("Sampling type:"))
mppi_constants_layout.addLayout(h_layout)
### Put together layout
self.update_labels()
self.update_slider_labels()
layout.addLayout(horizon_options_layout)
layout.addLayout(rollouts_options_layout)
layout.addLayout(cost_weight_layout)
layout.addLayout(mppi_constants_layout)
self.setLayout(layout)
self.setWindowFlags(self.windowFlags()
| Qt.WindowType.WindowStaysOnTopHint)
self.setGeometry(0, 0, 400, 50)
self.show()
self.setWindowTitle("MPPI Options")
self.timer = QTimer()
self.timer.timeout.connect(self.update_labels)
self.timer.start(100)
def __init__(self):
super().__init__()
self.setFixedSize(800, 410)
self.setWindowTitle("PyLX16A Servo Testing Software")
self.port_selection_box = QComboBox(self)
self.port_selection_box.setFixedSize(200, 27)
self.port_selection_box.move(30, 65)
port_selection_box_label = QLabel("Select Port:", self)
port_selection_box_label.move(30, 35)
self.port_selection_box_refresh_button = QPushButton("Refresh", self)
self.port_selection_box_refresh_button.setFixedSize(60, 23)
self.port_selection_box_refresh_button.move(170, 38)
self.id_selection_box = QListWidget(self)
self.id_selection_box.setFixedSize(200, 200)
self.id_selection_box.move(30, 135)
id_selection_box_label = QLabel("Connected Servos:", self)
id_selection_box_label.setFixedWidth(200)
id_selection_box_label.move(30, 105)
self.id_selection_box_refresh_button = QPushButton("Refresh", self)
self.id_selection_box_refresh_button.setFixedSize(60, 23)
self.id_selection_box_refresh_button.move(170, 108)
self.set_id_line_edit = QLineEdit(self)
self.set_id_line_edit.setFixedSize(50, 27)
self.set_id_line_edit.move(80, 355)
set_id_line_edit_label = QLabel("Set ID:", self)
set_id_line_edit_label.move(30, 355)
set_id_line_edit_label.setFixedSize(50, 27)
self.set_id_button = QPushButton("Change ID!", self)
self.set_id_button.setFixedSize(85, 27)
self.set_id_button.move(145, 355)
self.position_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_slider.setMinimum(0)
self.position_slider.setMaximum(240)
self.position_slider.setFixedWidth(200)
self.position_slider.move(300, 55)
self.position_slider_readout = QLabel("0.00°", self)
self.position_slider_readout.setFixedWidth(50)
self.position_slider_readout.move(450, 30)
self.position_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_slider_label = QLabel("Angle (degrees):", self)
position_slider_label.move(300, 30)
self.position_offset_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_offset_slider.setMinimum(-30)
self.position_offset_slider.setMaximum(30)
self.position_offset_slider.setFixedWidth(200)
self.position_offset_slider.move(300, 125)
self.position_offset_slider_readout = QLabel("0.00°", self)
self.position_offset_slider_readout.setFixedWidth(50)
self.position_offset_slider_readout.move(450, 100)
self.position_offset_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_offset_slider_label = QLabel("Angle offset (degrees):", self)
position_offset_slider_label.setFixedWidth(200)
position_offset_slider_label.move(300, 100)
self.angle_lower_limit_textentry = QLineEdit(self)
self.angle_lower_limit_textentry.setFixedWidth(50)
self.angle_lower_limit_textentry.move(450, 175)
self.angle_lower_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_upper_limit_textentry = QLineEdit(self)
self.angle_upper_limit_textentry.setFixedWidth(50)
self.angle_upper_limit_textentry.move(450, 210)
self.angle_upper_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_lower_limit_textentry_label = QLabel(
"Lower Limit (degrees):", self)
self.angle_lower_limit_textentry_label.move(300, 175)
self.angle_lower_limit_textentry_label.setFixedWidth(150)
self.angle_upper_limit_textentry_label = QLabel(
"Upper Limit (degrees):", self)
self.angle_upper_limit_textentry_label.move(300, 210)
self.angle_upper_limit_textentry_label.setFixedWidth(150)
self.vin_lower_limit_textentry = QLineEdit(self)
self.vin_lower_limit_textentry.setFixedWidth(50)
self.vin_lower_limit_textentry.move(450, 265)
self.vin_lower_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_upper_limit_textentry = QLineEdit(self)
self.vin_upper_limit_textentry.setFixedWidth(50)
self.vin_upper_limit_textentry.move(450, 300)
self.vin_upper_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_lower_limit_textentry_label = QLabel(
"Voltage Lower Limit (mV):", self)
self.vin_lower_limit_textentry_label.move(300, 265)
self.vin_lower_limit_textentry_label.setFixedWidth(150)
self.vin_upper_limit_textentry_label = QLabel(
"Voltage Upper Limit (mV):", self)
self.vin_upper_limit_textentry_label.move(300, 300)
self.vin_upper_limit_textentry_label.setFixedWidth(150)
self.temp_limit_textentry = QLineEdit(self)
self.temp_limit_textentry.setFixedWidth(50)
self.temp_limit_textentry.move(450, 355)
self.temp_limit_textentry.setValidator(QIntValidator(50, 100, self))
self.temp_limit_textentry_label = QLabel("Temp Limit (°C):", self)
self.temp_limit_textentry_label.move(300, 355)
self.temp_limit_textentry_label.setFixedWidth(150)
self.servo_mode_radio_button = QRadioButton("Servo Mode", self)
self.servo_mode_radio_button.move(565, 50)
self.motor_mode_radio_button = QRadioButton("Motor Mode", self)
self.motor_mode_radio_button.move(565, 75)
self.motor_speed_slider = QSlider(Qt.Orientation.Horizontal, self)
self.motor_speed_slider.setMinimum(-1000)
self.motor_speed_slider.setMaximum(1000)
self.motor_speed_slider.setFixedWidth(200)
self.motor_speed_slider.move(565, 125)
motor_speed_slider_label = QLabel("Motor Speed:", self)
motor_speed_slider_label.move(565, 100)
self.torque_enabled_checkbox = QCheckBox("Torque Enabled", self)
self.torque_enabled_checkbox.move(565, 175)
self.torque_enabled_checkbox.setFixedWidth(200)
self.led_enabled_checkbox = QCheckBox("LED Enabled", self)
self.led_enabled_checkbox.move(565, 210)
self.led_enabled_checkbox.setFixedWidth(200)
self.led_over_temp_checkbox = QCheckBox("LED Over Temperature", self)
self.led_over_temp_checkbox.move(565, 258)
self.led_over_temp_checkbox.setFixedWidth(200)
self.led_over_voltage_checkbox = QCheckBox("LED Over Voltage", self)
self.led_over_voltage_checkbox.move(565, 283)
self.led_over_voltage_checkbox.setFixedWidth(200)
self.led_rotor_locked_checkbox = QCheckBox("LED Rotor Locked", self)
self.led_rotor_locked_checkbox.move(565, 308)
self.led_rotor_locked_checkbox.setFixedWidth(200)
self.physical_position_readout = QLabel("--°", self)
self.physical_position_readout.move(565, 367)
self.physical_position_readout.setFixedWidth(200)
self.physical_position_readout_label = QLabel("Position", self)
self.physical_position_readout_label.move(565, 347)
self.temperature_readout = QLabel("-- °C", self)
self.temperature_readout.move(635, 367)
self.temperature_readout.setFixedWidth(200)
self.temperature_readout_label = QLabel("Temperature", self)
self.temperature_readout_label.move(635, 347)
self.voltage_readout = QLabel("-- V", self)
self.voltage_readout.move(730, 367)
self.voltage_readout.setFixedWidth(200)
self.voltage_readout_label = QLabel("Voltage", self)
self.voltage_readout_label.move(730, 347)
self.readout_update_timer = QTimer(self)
self.readout_update_timer.timeout.connect(self.update_readouts)
self.readout_update_timer.start(250)
self.active_servo: LX16A = None
self.position_slider.setValue(0)
self.position_offset_slider.setValue(0)
self.motor_speed_slider.setValue(0)
self.id_selection_box_refresh_button.setEnabled(False)
self.disable_widgets()
self.port_selection_box.currentTextChanged.connect(
self.port_selection_box_changed)
self.port_selection_box_refresh_button.clicked.connect(
self.port_refresh_button_clicked)
self.id_selection_box.currentTextChanged.connect(
self.id_selection_box_changed)
self.id_selection_box_refresh_button.clicked.connect(
self.id_refresh_button_clicked)
self.set_id_button.pressed.connect(self.id_updated)
self.position_slider.sliderMoved.connect(self.position_slider_updated)
self.position_offset_slider.sliderMoved.connect(
self.position_offset_slider_updated)
self.angle_lower_limit_textentry.textChanged.connect(
self.angle_lower_limit_updated)
self.angle_upper_limit_textentry.textChanged.connect(
self.angle_upper_limit_updated)
self.vin_lower_limit_textentry.textChanged.connect(
self.vin_lower_limit_updated)
self.vin_upper_limit_textentry.textChanged.connect(
self.vin_upper_limit_updated)
self.temp_limit_textentry.textChanged.connect(self.temp_limit_updated)
self.servo_mode_radio_button.toggled.connect(
self.servo_mode_radio_button_toggled)
self.motor_mode_radio_button.toggled.connect(
self.motor_mode_radio_button_toggled)
self.motor_speed_slider.valueChanged.connect(
self.motor_speed_slider_updated)
self.torque_enabled_checkbox.stateChanged.connect(
self.torque_enabled_checkbox_toggled)
self.led_enabled_checkbox.stateChanged.connect(
self.led_enabled_checkbox_toggled)
self.led_over_temp_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_over_voltage_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_rotor_locked_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.scan_for_ports()
def createEditingBar(self):
"""Create dock widget for editing tools."""
#TODO: Add a tab widget for the different editing tools
self.editing_bar = QDockWidget("Tools")
self.editing_bar.setAllowedAreas(
Qt.DockWidgetAreas.LeftDockWidgetArea
| Qt.DockWidgetAreas.RightDockWidgetArea)
self.editing_bar.setMinimumWidth(90)
# Create editing tool buttons
filters_label = QLabel("Filters")
convert_to_grayscale = QToolButton()
convert_to_grayscale.setIcon(
QIcon(os.path.join(icon_path, "grayscale.png")))
convert_to_grayscale.clicked.connect(self.image_label.convertToGray)
convert_to_RGB = QToolButton()
convert_to_RGB.setIcon(QIcon(os.path.join(icon_path, "rgb.png")))
convert_to_RGB.clicked.connect(self.image_label.convertToRGB)
convert_to_sepia = QToolButton()
convert_to_sepia.setIcon(QIcon(os.path.join(icon_path, "sepia.png")))
convert_to_sepia.clicked.connect(self.image_label.convertToSepia)
change_hue = QToolButton()
change_hue.setIcon(QIcon(os.path.join(icon_path, "")))
change_hue.clicked.connect(self.image_label.changeHue)
brightness_label = QLabel("Brightness")
self.brightness_slider = QSlider(Qt.Orientations.Horizontal)
self.brightness_slider.setRange(-255, 255)
self.brightness_slider.setTickInterval(35)
self.brightness_slider.setTickPosition(QSlider.TickPosition.TicksAbove)
self.brightness_slider.valueChanged.connect(
self.image_label.changeBrighteness)
contrast_label = QLabel("Contrast")
self.contrast_slider = QSlider(Qt.Orientations.Horizontal)
self.contrast_slider.setRange(-255, 255)
self.contrast_slider.setTickInterval(35)
self.contrast_slider.setTickPosition(QSlider.TickPosition.TicksAbove)
self.contrast_slider.valueChanged.connect(
self.image_label.changeContrast)
# Set layout for dock widget
editing_grid = QGridLayout()
#editing_grid.addWidget(filters_label, 0, 0, 0, 2, Qt.AlignTop)
editing_grid.addWidget(convert_to_grayscale, 1, 0)
editing_grid.addWidget(convert_to_RGB, 1, 1)
editing_grid.addWidget(convert_to_sepia, 2, 0)
editing_grid.addWidget(change_hue, 2, 1)
editing_grid.addWidget(brightness_label, 3, 0)
editing_grid.addWidget(self.brightness_slider, 4, 0, 1, 0)
editing_grid.addWidget(contrast_label, 5, 0)
editing_grid.addWidget(self.contrast_slider, 6, 0, 1, 0)
editing_grid.setRowStretch(7, 10)
container = QWidget()
container.setLayout(editing_grid)
self.editing_bar.setWidget(container)
self.addDockWidget(Qt.DockWidgetAreas.LeftDockWidgetArea,
self.editing_bar)
self.tools_menu_act = self.editing_bar.toggleViewAction()
def __init__(self, parent=None):
super(VideoWindow, self).__init__(parent)
self.setWindowTitle("StudioProject")
self.statusBar = QStatusBar()
self.setStatusBar(self.statusBar)
self.gScene = QGraphicsScene(self)
self.gView = GraphicView(self.gScene, self)
self.gView.viewport().setAttribute(
Qt.WidgetAttribute.WA_AcceptTouchEvents, False)
# self.gView.setBackgroundBrush(QBrush(Qt.black))
self.videoStartDatetime = None
self.videoCurrentDatetime = None
self.projectFile = ''
self.graphicsFile = ''
self.videoFile = ''
self.obsTb = ObsToolbox(self)
# # ===================== Setting video item ==============================
# self.videoItem = QGraphicsVideoItem()
# self.videoItem.setAspectRatioMode(Qt.KeepAspectRatio)
# self.gScene.addItem(self.videoItem)
# self.videoItem.mouseMoveEvent = self.gView.mouseMoveEvent
self.mediaPlayer = QMediaPlayer(self)
# self.mediaPlayer.setVideoOutput(self.videoItem)
self.mediaPlayer.playbackStateChanged.connect(self.mediaStateChanged)
self.mediaPlayer.positionChanged.connect(self.positionChanged)
self.mediaPlayer.durationChanged.connect(self.durationChanged)
self.mediaPlayer.errorOccurred.connect(self.handleError)
# self.mediaPlayer.setMuted(True)
# self.mediaPlayer.setNotifyInterval(100)
self.playButton = QPushButton()
self.playButton.setEnabled(False)
self.playButton.setIcon(self.style().standardIcon(
QStyle.StandardPixmap.SP_MediaPlay))
self.playButton.clicked.connect(self.play)
self.changePlayRateBtn = QPushButton('1x')
self.changePlayRateBtn.setFixedWidth(40)
# self.incrPlayRateBtn.setEnabled(False)
self.changePlayRateBtn.clicked.connect(self.changePlayRate)
self.positionSlider = QSlider(Qt.Orientation.Horizontal)
self.positionSlider.setRange(0, 0)
self.positionSlider.sliderMoved.connect(self.setPosition)
self.timerLabel = QLabel()
self.timerLabel.setText('--:--:--')
self.timerLabel.setFixedWidth(58)
self.dateLabel = QLabel()
self.dateLabel.setText('Video date: --')
self.statusBar.addPermanentWidget(self.dateLabel)
# Create open action
self.openVideoAction = QAction(QIcon('icons/video-file.png'),
'Open video', self)
self.openVideoAction.setShortcut('Ctrl+O')
self.openVideoAction.setStatusTip('Open video file')
self.openVideoAction.triggered.connect(self.openVideoFile)
# Create observation action
obsTbAction = QAction(QIcon('icons/checklist.png'),
'Observation toolbox', self)
obsTbAction.setStatusTip('Open observation toolbox')
obsTbAction.triggered.connect(self.openObsToolbox)
self.drawPointAction = QAction(QIcon('icons/drawPoint.png'),
'Draw point', self)
self.drawPointAction.setStatusTip('Draw point over the video')
self.drawPointAction.setCheckable(True)
self.drawPointAction.setEnabled(False)
self.drawPointAction.triggered.connect(self.drawingClick)
self.drawLineAction = QAction(QIcon('icons/drawLine.png'), 'Draw line',
self)
self.drawLineAction.setStatusTip('Draw line over the video')
self.drawLineAction.setCheckable(True)
self.drawLineAction.setEnabled(False)
self.drawLineAction.triggered.connect(self.drawingClick)
self.drawZoneAction = QAction(QIcon('icons/drawZone.png'), 'Draw zone',
self)
self.drawZoneAction.setStatusTip('Draw zone over the video')
self.drawZoneAction.setCheckable(True)
self.drawZoneAction.setEnabled(False)
self.drawZoneAction.triggered.connect(self.drawingClick)
self.maskGenAction = QAction(QIcon('icons/mask.png'),
'Generate mask file', self)
self.maskGenAction.setStatusTip(
'Generate mask file for TrafficIntelligence')
self.maskGenAction.setCheckable(True)
self.maskGenAction.setEnabled(False)
self.maskGenAction.triggered.connect(self.generateMask)
actionGroup = QActionGroup(self)
actionGroup.addAction(self.drawPointAction)
actionGroup.addAction(self.drawLineAction)
actionGroup.addAction(self.drawZoneAction)
openProjectAction = QAction(QIcon('icons/open-project.png'),
'Open project', self)
openProjectAction.setStatusTip('Open project')
openProjectAction.triggered.connect(self.openProject)
self.saveProjectAction = QAction(QIcon('icons/save-project.png'),
'Save project', self)
self.saveProjectAction.setStatusTip('Save project')
self.saveProjectAction.setEnabled(False)
self.saveProjectAction.triggered.connect(self.saveProject)
self.saveGraphAction = QAction(QIcon('icons/save-graphics.png'),
'Save graphics', self)
self.saveGraphAction.setStatusTip('Save graphics to database')
self.saveGraphAction.setEnabled(False)
self.saveGraphAction.triggered.connect(self.saveGraphics)
self.loadGraphAction = QAction(QIcon('icons/folders.png'),
'Load graphics', self)
self.loadGraphAction.setStatusTip('Load graphics from database')
self.loadGraphAction.setEnabled(False)
self.loadGraphAction.triggered.connect(self.loadGraphics)
# Create exit action
exitAction = QAction(QIcon('icons/close.png'), 'Exit', self)
exitAction.setShortcut('Ctrl+Q')
exitAction.setStatusTip('Exit application')
exitAction.triggered.connect(self.exitCall) # self.exitCall
# Create menu bar and add action
# menuBar = self.menuBar()
# menuBar.setNativeMenuBar(False)
# fileMenu = menuBar.addMenu('&File')
# fileMenu.addAction(openVideoAction)
# fileMenu.addAction(obsTbAction)
# fileMenu.addAction(exitAction)
self.toolbar = self.addToolBar('Tools')
self.toolbar.setIconSize(QSize(24, 24))
self.toolbar.addAction(openProjectAction)
self.toolbar.addAction(self.saveProjectAction)
self.toolbar.addAction(self.openVideoAction)
# self.toolbar.insertSeparator(self.loadGraphAction)
# self.toolbar.addAction(self.loadGraphAction)
# self.toolbar.addAction(self.saveGraphAction)
# self.toolbar.addAction(self.drawPointAction)
# self.toolbar.addAction(self.drawLineAction)
# self.toolbar.addAction(self.drawZoneAction)
self.toolbar.addAction(self.maskGenAction)
# self.toolbar.insertSeparator(self.drawPointAction)
self.toolbar.insertSeparator(obsTbAction)
self.toolbar.addAction(obsTbAction)
self.toolbar.insertSeparator(exitAction)
self.toolbar.addAction(exitAction)
# Create a widget for window contents
wid = QWidget(self)
self.setCentralWidget(wid)
# Create layouts to place inside widget
controlLayout = QHBoxLayout()
controlLayout.setContentsMargins(0, 0, 0, 0)
# controlLayout.addWidget(self.decrPlayRateBtn)
controlLayout.addWidget(self.playButton)
controlLayout.addWidget(self.changePlayRateBtn)
controlLayout.addWidget(self.timerLabel)
controlLayout.addWidget(self.positionSlider)
# controlLayout.addWidget(self.durationLabel)
layout = QVBoxLayout()
layout.addWidget(self.gView)
layout.addLayout(controlLayout)
# Set widget to contain window contents
wid.setLayout(layout)