def __init__(self):
super().__init__()
self.loggedIn = False
self.resources = Resources()
if SysParams.tag == "ukb-7":
self.createLogo()
self.createLoginTab()
# self.createRegisterTab()
# define layout
self.layout = QtWidgets.QVBoxLayout()
self.blankLabel = QtWidgets.QLabel()
self.blankLabel.setFixedHeight(75)
if SysParams.tag == "ukb-5":
self.layout.addWidget(self.blankLabel)
# style
self.setContentsMargins(50, 5, 50, 0) #left, top, right, bottom
self.layout.setSpacing(1)
self.loginFormLayout.setContentsMargins(0, 0, 0, 0)
# add to layout
self.layout.addWidget(self.loginFormLayoutWidget)
self.setLayout(self.layout)
def __init__(self):
super().__init__()
# self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint | QtCore.Qt.FramelessWindowHint)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.loginTab = None
self.launcherTab = None
self.loggedIn = False
self.userPermission = 0
self.resources = Resources()
self.init_ui()
class SimpleDialog(QtWidgets.QDialog):
def init(self, message, yesString, noString, succesFn=None, failFn=None):
self.succesFn = succesFn
self.failFn = failFn
self.resources = Resources()
self.setWindowModality(QtCore.Qt.ApplicationModal)
self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint
| QtCore.Qt.FramelessWindowHint)
# self.setWindowFlag(QtCore.Qt.Popup)
self.setWindowTitle(" ")
# self.setMaximumWidth(250)
# self.setMaximumHeight(250)
messageLabel = QtWidgets.QLabel()
messageLabel.setText(message)
messageLabel.setWordWrap(True)
layout2 = QtWidgets.QVBoxLayout()
layout2.addWidget(messageLabel)
if yesString is not None:
yesButton = QtWidgets.QPushButton(yesString)
noButton = QtWidgets.QPushButton(noString)
yesButton.clicked.connect(self.yes)
noButton.clicked.connect(self.no)
layout1 = QtWidgets.QHBoxLayout()
layout1.addWidget(yesButton)
layout1.addWidget(noButton)
widget1 = QtWidgets.QWidget()
widget1.setLayout(layout1)
layout2.addWidget(widget1)
self.setLayout(layout2)
self.setMyStyleSheet()
self.exec_()
def setMyStyleSheet(self):
self.resources.set_color(self, self.resources.get_primary_color())
self.setStyleSheet(self.resources.styeSheet())
def yes(self):
if self.succesFn is not None:
self.succesFn()
self.close()
def no(self):
if self.failFn is not None:
self.failFn()
self.close()
class QBattery(QtWidgets.QWidget):
def __init__(self, pixmap_list, default_lvl=-1, prefix="", parent=None):
super().__init__(parent)
self.warning_30_flag = False
self.warning_10_flag = False
self.resources = Resources()
self.messagePopup = MessagePopup(
self.resources.get("battery_30").replace("\\n", "\n"),
addCloseButton=True)
self.pixmapList = pixmap_list
self.label = QtWidgets.QLabel()
self.prefix = prefix
self.iconLabel = QtWidgets.QLabel()
self.batteryLevel = default_lvl
layout = QtWidgets.QHBoxLayout(self)
layout.addWidget(self.iconLabel)
layout.addWidget(self.label)
layout.setSpacing(10)
layout.setContentsMargins(0, 0, 0, 0)
self.setContentsMargins(0, 0, 0, 0)
self.set_battery_level(100)
def set_battery_level(self, level, is_charging=False):
if not self.batteryLevel == level:
self.batteryLevel = level
self.label.setText(self.prefix + str(level))
if is_charging:
self.iconLabel.setPixmap(self.pixmapList[5])
elif level > 90: # 4
self.iconLabel.setPixmap(self.pixmapList[0])
elif level > 60: # 3
self.iconLabel.setPixmap(self.pixmapList[1])
elif level > 40: # 2
self.iconLabel.setPixmap(self.pixmapList[2])
elif level > 10: # 1
self.iconLabel.setPixmap(self.pixmapList[3])
else: # 0
self.iconLabel.setPixmap(self.pixmapList[4])
if level <= 10 and not self.warning_10_flag and not self.messagePopup.isOpen:
self.warning_10_flag = True
# self.messagePopup.messageLabel.setText(self.resources.get("battery_10").replace("\\n", "\n"))
# self.messagePopup.openThis()
return 10
elif 10 < level <= 30 and not self.warning_30_flag and not self.messagePopup.isOpen:
self.warning_30_flag = True
print("self.warning_30_flag = True")
# self.messagePopup.messageLabel.setText(self.resources.get("battery_30").replace("\\n", "\n"))
# self.messagePopup.openThis()
return 30
elif level > 40:
self.warning_30_flag = False
self.warning_10_flag = False
return -1
def __init__(self, parent=None, margin=None):
super(OverlayDialog, self).__init__(parent=parent)
self.id = None
self.isOpen = False
self.setFixedSize(300, 200)
self.successFn = None
self.failFn = None
self.resources = Resources()
self.messageLabel = QtWidgets.QLabel()
self.messageLabel.setAlignment(QtCore.Qt.AlignCenter)
self.messageLabel.setText("")
self.messageLabel.setWordWrap(True)
layout2 = QtWidgets.QVBoxLayout()
layout2.addWidget(self.messageLabel)
layout2.setAlignment(QtCore.Qt.AlignCenter)
self.yesButton = QtWidgets.QPushButton("")
self.noButton = QtWidgets.QPushButton("")
self.yesButton.clicked.connect(self.yes)
self.noButton.clicked.connect(self.no)
layout1 = QtWidgets.QHBoxLayout()
layout1.addWidget(self.yesButton)
layout1.addWidget(self.noButton)
widget1 = QtWidgets.QWidget()
widget1.setLayout(layout1)
layout2.addWidget(widget1)
layout2.setSpacing(0)
# layout1.setContentsMargins(0, 0, 0, 0)
self.setLayout(layout2)
self.setMyStyleSheet()
if margin is None:
self.paddingLeft = 5
self.paddingTop = 5
else:
self.paddingLeft = margin[0]
self.paddingTop = margin[1]
def __init__(self, pixmap_list, default_lvl=-1, prefix="", parent=None):
super().__init__(parent)
self.warning_30_flag = False
self.warning_10_flag = False
self.resources = Resources()
self.messagePopup = MessagePopup(
self.resources.get("battery_30").replace("\\n", "\n"),
addCloseButton=True)
self.pixmapList = pixmap_list
self.label = QtWidgets.QLabel()
self.prefix = prefix
self.iconLabel = QtWidgets.QLabel()
self.batteryLevel = default_lvl
layout = QtWidgets.QHBoxLayout(self)
layout.addWidget(self.iconLabel)
layout.addWidget(self.label)
layout.setSpacing(10)
layout.setContentsMargins(0, 0, 0, 0)
self.setContentsMargins(0, 0, 0, 0)
self.set_battery_level(100)
def __init__(self, parent=None):
super(DateTimeWidget, self).__init__(parent)
self.dayComboBox = QtWidgets.QComboBox()
for n in range(31):
self.dayComboBox.addItem(str(n + 1))
self.monthComboBox = QtWidgets.QComboBox()
for n in range(12):
self.monthComboBox.addItem(str(n + 1))
self.yearComboBox = QtWidgets.QComboBox()
for n in range(10):
self.yearComboBox.addItem(str(n + 2019))
self.hourComboBox = QtWidgets.QComboBox()
for n in range(24):
self.hourComboBox.addItem(str(n))
self.min10ComboBox = QtWidgets.QComboBox()
for n in range(60):
self.min10ComboBox.addItem(str(n))
setDateTimeButton = QtWidgets.QPushButton(
Resources().get("set_date_time"))
setDateTimeButton.setFixedWidth(60)
setDateTimeButton.clicked.connect(self.set_date_time)
layout = QtWidgets.QHBoxLayout()
layout.addWidget(self.dayComboBox)
layout.addWidget(self.monthComboBox)
layout.addWidget(self.yearComboBox)
layout.addWidget(self.hourComboBox)
layout.addWidget(self.min10ComboBox)
layout.addWidget(setDateTimeButton)
# layout.addWidget(min1ComboBox)
self.setLayout(layout)
self.setContentsMargins(0, 0, 0, 0)
layout.setContentsMargins(0, 0, 0, 0)
layout.setSpacing(1)
# self.setStyleSheet(" QComboBox::drop-down{height: 200px;}")
# time.strftime('%d-%m-%Y %H:%M')
self.print_date_time()
class LoginTab(DoubleClickQWidget):
loginSuccess = None
logoutFunction = None
iconName = "esetron_icon_128.png"
isMoreOptionsOpen = False
userName = "******"
def __init__(self):
super().__init__()
self.loggedIn = False
self.resources = Resources()
if SysParams.tag == "ukb-7":
self.createLogo()
self.createLoginTab()
# self.createRegisterTab()
# define layout
self.layout = QtWidgets.QVBoxLayout()
self.blankLabel = QtWidgets.QLabel()
self.blankLabel.setFixedHeight(75)
if SysParams.tag == "ukb-5":
self.layout.addWidget(self.blankLabel)
# style
self.setContentsMargins(50, 5, 50, 0) #left, top, right, bottom
self.layout.setSpacing(1)
self.loginFormLayout.setContentsMargins(0, 0, 0, 0)
# add to layout
self.layout.addWidget(self.loginFormLayoutWidget)
self.setLayout(self.layout)
def createLogo(self):
self.iconContainer = QtWidgets.QWidget()
self.iconContainer.setContentsMargins(0, 0, 0, 0)
layout = QtWidgets.QHBoxLayout()
layout.setSpacing(0)
layout.setContentsMargins(0, 0, 0, 0)
self.icon = QtWidgets.QLabel()
self.icon = PicButton(
QtGui.QPixmap(UKBParams.dirResources + self.iconName))
width = 100
r = 1 / 1
self.icon.setFixedSize(width, int(width * r))
layout.addWidget(self.icon)
self.iconContainer.setLayout(layout)
def createLoginTab(self):
# define widgets
self.loginUserNameLine = QtWidgets.QComboBox()
self.loginUserNameLine.addItem(self.resources.get("admin"))
self.loginUserNameLine.addItem(self.resources.get("user_2"))
self.loginUserNameLine.addItem(self.resources.get("password_security"))
self.loginPasswordLine = MyLineEdit()
self.loginPasswordLine.setEchoMode(QtWidgets.QLineEdit.Password)
self.loginPasswordLine.setPlaceholderText(
self.resources.get("password"))
self.loginPasswordLine.mousePressed = self.update_current_widget
self.current_widget = self.loginPasswordLine
self.loginNew1PasswordLine = MyLineEdit()
self.loginNew1PasswordLine.setEchoMode(QtWidgets.QLineEdit.Password)
self.loginNew1PasswordLine.setPlaceholderText(
self.resources.get("new_password"))
self.loginNew1PasswordLine.mousePressed = self.update_current_widget
self.loginNew1PasswordLine.setVisible(False)
self.loginNew2PasswordLine = MyLineEdit()
self.loginNew2PasswordLine.setEchoMode(QtWidgets.QLineEdit.Password)
self.loginNew2PasswordLine.setPlaceholderText(
self.resources.get("new_password_again"))
self.loginNew2PasswordLine.mousePressed = self.update_current_widget
self.loginNew2PasswordLine.setVisible(False)
self.moreOptionsLabel = ClickAbleLabel()
self.moreOptionsLabel.setText(self.resources.get("more"))
self.moreOptionsLabel.clickedFn = self.open_more_options
self.closeLabel = ClickAbleLabel()
self.closeLabel.setText(self.resources.get("close_2"))
self.closeLabel.setVisible(False)
self.coordinateTypeComboBox = QtWidgets.QComboBox()
self.coordinateTypeComboBox.addItem(
self.resources.get("decimal_coord"))
self.coordinateTypeComboBox.addItem(
self.resources.get("military_coord"))
self.disconnectionPolicyComboBox = QtWidgets.QComboBox()
self.disconnectionPolicyComboBox.addItem(
self.resources.get("connection_loss_rule"))
self.disconnectionPolicyComboBox.addItem(
self.resources.get("if_disconnected_return_home"))
self.disconnectionPolicyComboBox.addItem(
self.resources.get("if_disconnected_destruct"))
self.loginFromSubmitButton = QtWidgets.QPushButton(
self.resources.get('login'))
self.loginFromSubmitButton.clicked.connect(
self.loginFromSubmitButtonOnClick)
self.loginInfoBox = QtWidgets.QLabel("")
# self.loginInfoBox.setFont(QtGui.QFont("Times", 16, QtGui.QFont.Bold))
self.securityCode = QtWidgets.QLabel("123456")
# keyboard
keyboard_layout = QtWidgets.QHBoxLayout()
keyboard_layout.setSpacing(5)
for n, ch in enumerate("0123456789<"):
bt = MyButton(ch)
bt.effect = ch
bt.setOnClick(self.virtual_keyboard)
bt.setMaximumWidth(50)
keyboard_layout.addWidget(bt)
# temp
self.loginPasswordLine.setText('123456')
# define forms
self.loginFormLayoutWidget = QtWidgets.QFrame()
self.loginFormLayout = QtWidgets.QFormLayout(
self.loginFormLayoutWidget)
zeroLabel = QtWidgets.QLabel("")
zeroLabel.setFixedSize(0, 20)
if SysParams.tag == "ukb-7":
self.loginFormLayout.addRow("", self.iconContainer)
self.loginFormLayout.addRow("", self.loginUserNameLine)
self.loginFormLayout.addRow("", self.loginPasswordLine)
self.loginFormLayout.addRow("", self.loginNew1PasswordLine)
self.loginFormLayout.addRow("", self.loginNew2PasswordLine)
# self.loginFormLayout.addRow("", self.coordinateTypeComboBox)
# self.loginFormLayout.addRow("", self.disconnectionPolicyComboBox)
self.loginFormLayout.addRow("", self.loginFromSubmitButton)
self.loginFormLayout.addRow("", self.closeLabel)
self.loginFormLayout.addRow("", self.loginInfoBox)
self.loginFormLayout.addRow("", self.moreOptionsLabel)
self.loginFormLayout.addRow("", keyboard_layout)
self.loginFormLayout.addRow("", self.securityCode)
def open_more_options(self):
if not self.isMoreOptionsOpen:
self.moreOptionsLabel.setText(self.resources.get("less"))
self.loginNew1PasswordLine.setVisible(True)
self.loginNew2PasswordLine.setVisible(True)
else:
self.moreOptionsLabel.setText(self.resources.get("more"))
self.loginNew1PasswordLine.setVisible(False)
self.loginNew2PasswordLine.setVisible(False)
self.isMoreOptionsOpen = not self.isMoreOptionsOpen
def loginFromSubmitButtonOnClick(self):
if self.loggedIn is True and self.logoutFunction is not None:
self.loginSuccess()
# self.logoutFunction()
else:
self.loginFromSubmitButton.setDisabled(True)
if self.isMoreOptionsOpen and (
not self.loginNew1PasswordLine.text()
== self.loginNew2PasswordLine.text()):
self.loginInfoBoxMessage(
self.resources.get('second_password_mismatch'), 'error')
self.loginFromSubmitButton.setDisabled(False)
else:
user = database.Users()
idx = self.loginUserNameLine.currentIndex()
if idx == 0:
userName = "******"
elif idx == 1:
userName = "******"
elif idx == 2:
userName = "******"
print("user : "******"res : ", res)
print("password : "******"password_security":
self.setSecurityCode()
else:
self.loggedIn = True
self.loginInfoBoxMessage(
self.resources.get('logged_in'), 'info')
self.loginFromSubmitButton.setDisabled(False)
# self.loginFromSubmitButton.setText(self.resources.get('logout'))
if self.loginSuccess is not None:
self.userName = userName
self.loginSuccess()
def loginInfoBoxMessage(self, text, mode):
if mode == 'error':
self.loginInfoBox.setStyleSheet('color: ' + self.resources.error)
elif mode == 'warning':
self.loginInfoBox.setStyleSheet('color: ' + self.resources.warning)
elif mode == 'info':
self.loginInfoBox.setStyleSheet('color: ' + self.resources.info)
else:
self.loginInfoBox.setStyleSheet('color: black')
self.loginInfoBox.setText(text)
def setLoginSuccesFunction(self, fn):
self.loginSuccess = fn
def setSecurityCode(self):
newCode = int(self.securityCode.text())
print("code :", newCode)
newCode = newCode * 2
newCode = newCode % 999999
newCode = str(newCode)
self.securityCode.setText(newCode)
self.setNewPassword()
def setNewPassword(self):
user = database.Users()
password = int(self.securityCode.text())
password = password * 3
password = password % 999999
password = str(password)
print("newpass :"******"<":
self.current_widget.setText(self.current_widget.text() + bt.effect)
else:
self.current_widget.setText("")
print(self.current_widget.text())
def update_current_widget(self, w):
self.current_widget = w
def __init__(self):
super().__init__()
# self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint | QtCore.Qt.FramelessWindowHint)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.coordinateType = int(sys.argv[1])
self.disconnectionPolicy = int(sys.argv[2])
self.chooseIka = int(sys.argv[3])
print("choose ika : ", self.chooseIka)
self.disconnectTime = int(sys.argv[4])
self.coordinateConverter = mgrs.MGRS()
# vars
self.isRestart = False
self.isClosing = False
self.isConfigDone = False
self.socketReceive, self.socketSend = None, None
self.cabledSocketReceive, self.cabledSocketSend = None, None
self.lastMessage = None
self.udpLastReceiveTime = None
self.payloadID = None
self.kgmControl = None
self.kgmTest = None
# self.ggmTest = None
if self.chooseIka == 0:
self.kgmTest = Com.PingTest(UKBParams.kgmIp)
elif self.chooseIka == 1:
self.kgmTest = Com.PingTest(UKBParams.ggmIp)
# self.loginTab = None
# self.loggedIn = False
self.userPermission = 0
self.panelTab = None
self.serialPrefix = [0xAA, 0XBB]
self.serialSuffix = [0xCC, 0XDD]
self.brightnessLevels = [10, 60, 99]
self.serialJoystick = None
self.joystickPatternDetector = Joystick()
self.joystickPatternDetector.setOnClicks(self.execute_joystick_action)
self.resources = Resources()
self.peripheral = PeripheralData()
self.ukbCoords = None
self.joystickLeftX = 0
self.joystickLeftY = 0
self.communicationProcess = BackgroundProcess(self.communication_loop,
parent=self)
self.communicationTimer = QtCore.QTimer()
self.communicationTimer.setInterval(40)
self.communicationTimer.timeout.connect(
self.execute_received_board_udp_data)
self.init_ui()
self.dialog = OverlayDialog(parent=self)
self.emptyMessage = Message(None, "", None, None)
self.pimMessage = Message(2,
self.resources.get("pim_not_inserted"),
None,
None,
_type="info")
self.batteryIka10Message = Message(
5, "IKA: " + self.resources.get("battery_10").replace("\\n", "\n"),
self.resources.get("ok"), None)
self.batteryIka30Message = Message(
6, "IKA: " + self.resources.get("battery_30").replace("\\n", "\n"),
self.resources.get("ok"), None)
self.batteryUkb10Message = Message(
4, "UKB: " + self.resources.get("battery_10").replace("\\n", "\n"),
self.resources.get("ok"), None)
self.batteryUkb30Message = Message(
3, "UKB: " + self.resources.get("battery_30").replace("\\n", "\n"),
self.resources.get("ok"), None)
self.batteryIka10Message.success = self.set_empty_message
self.batteryIka30Message.success = self.set_empty_message
self.batteryUkb10Message.success = self.set_empty_message
self.batteryUkb30Message.success = self.set_empty_message
# self.motionDetectionMessage = Message(5, self.resources.get("motion_detected"),
# self.resources.get("ok"), None)
self.screenShotMessage = Message(
0, self.resources.get("screenshot_taken"), None, None)
self.disconnectedMessage = Message(1,
self.resources.get("disconnected"),
None,
None,
_type="error")
self.config()
self.communicationProcess.start()
self.communicationTimer.start()
class Window(QtWidgets.QWidget):
bit0 = 0b00000001
bit1 = 0b00000010
bit2 = 0b00000100
bit3 = 0b00001000
bit4 = 0b00010000
bit5 = 0b00100000
bit6 = 0b01000000
bit7 = 0b10000000
configLevel = 0
def __init__(self):
super().__init__()
# self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint | QtCore.Qt.FramelessWindowHint)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.coordinateType = int(sys.argv[1])
self.disconnectionPolicy = int(sys.argv[2])
self.chooseIka = int(sys.argv[3])
print("choose ika : ", self.chooseIka)
self.disconnectTime = int(sys.argv[4])
self.coordinateConverter = mgrs.MGRS()
# vars
self.isRestart = False
self.isClosing = False
self.isConfigDone = False
self.socketReceive, self.socketSend = None, None
self.cabledSocketReceive, self.cabledSocketSend = None, None
self.lastMessage = None
self.udpLastReceiveTime = None
self.payloadID = None
self.kgmControl = None
self.kgmTest = None
# self.ggmTest = None
if self.chooseIka == 0:
self.kgmTest = Com.PingTest(UKBParams.kgmIp)
elif self.chooseIka == 1:
self.kgmTest = Com.PingTest(UKBParams.ggmIp)
# self.loginTab = None
# self.loggedIn = False
self.userPermission = 0
self.panelTab = None
self.serialPrefix = [0xAA, 0XBB]
self.serialSuffix = [0xCC, 0XDD]
self.brightnessLevels = [10, 60, 99]
self.serialJoystick = None
self.joystickPatternDetector = Joystick()
self.joystickPatternDetector.setOnClicks(self.execute_joystick_action)
self.resources = Resources()
self.peripheral = PeripheralData()
self.ukbCoords = None
self.joystickLeftX = 0
self.joystickLeftY = 0
self.communicationProcess = BackgroundProcess(self.communication_loop,
parent=self)
self.communicationTimer = QtCore.QTimer()
self.communicationTimer.setInterval(40)
self.communicationTimer.timeout.connect(
self.execute_received_board_udp_data)
self.init_ui()
self.dialog = OverlayDialog(parent=self)
self.emptyMessage = Message(None, "", None, None)
self.pimMessage = Message(2,
self.resources.get("pim_not_inserted"),
None,
None,
_type="info")
self.batteryIka10Message = Message(
5, "IKA: " + self.resources.get("battery_10").replace("\\n", "\n"),
self.resources.get("ok"), None)
self.batteryIka30Message = Message(
6, "IKA: " + self.resources.get("battery_30").replace("\\n", "\n"),
self.resources.get("ok"), None)
self.batteryUkb10Message = Message(
4, "UKB: " + self.resources.get("battery_10").replace("\\n", "\n"),
self.resources.get("ok"), None)
self.batteryUkb30Message = Message(
3, "UKB: " + self.resources.get("battery_30").replace("\\n", "\n"),
self.resources.get("ok"), None)
self.batteryIka10Message.success = self.set_empty_message
self.batteryIka30Message.success = self.set_empty_message
self.batteryUkb10Message.success = self.set_empty_message
self.batteryUkb30Message.success = self.set_empty_message
# self.motionDetectionMessage = Message(5, self.resources.get("motion_detected"),
# self.resources.get("ok"), None)
self.screenShotMessage = Message(
0, self.resources.get("screenshot_taken"), None, None)
self.disconnectedMessage = Message(1,
self.resources.get("disconnected"),
None,
None,
_type="error")
self.config()
self.communicationProcess.start()
self.communicationTimer.start()
def set_empty_message(self):
self.show_dialog(self.emptyMessage)
return 0
def show_dialog(self, message_instance: Message):
# self.folderListView.setDisabled(True)
# self.toolbarView.setDisabled(True)
print(self.dialog.id, message_instance.id)
if self.dialog.id is None or message_instance.id is None:
self.dialog.show_with(message_instance.id,
message_instance.message,
message_instance.yes, message_instance.no,
message_instance.success,
message_instance.fail, message_instance.type)
elif self.dialog.id <= message_instance.id:
self.dialog.show_with(message_instance.id,
message_instance.message,
message_instance.yes, message_instance.no,
message_instance.success,
message_instance.fail, message_instance.type)
def config(self):
try:
if self.configLevel == 0:
js = self.check_joystick()
print("js :: ", js)
self.serialJoystick = Com.init_serial(js[0])
assert js is not None
self.configLevel = 1
if self.configLevel == 1:
if self.chooseIka == 0:
self.socketReceive, self.socketSend = \
Com.init_sockets(UKBParams.rxPort, UKBParams.ukbIp)
self.panelTab.deviceNumber = 1
else:
self.socketReceive, self.socketSend = \
Com.init_sockets(UKBParams.rx3Port, UKBParams.ukbIp)
self.panelTab.deviceNumber = 2
print("device : ", self.panelTab.deviceNumber)
self.configLevel = 2
# self.cabledSocketReceive, self.cabledSocketSend = \
# Com.init_sockets(UKBParams.rxPort, UKBParams.cabledUKBIp)
self.isConfigDone = True
print("config success", time.time())
except:
self.isConfigDone = False
print("config failed:", sys.exc_info())
def communication_loop(self):
if self.isConfigDone:
try:
#receive udp data from vehicle board
data, addr = self.socketReceive.recvfrom(28)
print("DATA", data)
if len(data) == 28:
# self.lastMessage = None
print("data ", data)
self.lastMessage = [x for x in data]
self.udpLastReceiveTime = time.time()
#self.panelTab.set_connection_state(True) --> PanelTab içine taşındı
if self.dialog.id == self.disconnectedMessage.id:
self.show_dialog(self.emptyMessage)
print(self.lastMessage)
except:
if self.udpLastReceiveTime is not None and (
time.time() - self.udpLastReceiveTime) > 0.5:
# self.panelTab.set_connection_state(False)
# self.show_dialog(self.disconnectedMessage)
print("bağlantı koptu")
try:
data = self.gather_udp_package()
if self.chooseIka == 0:
if self.panelTab.lteButton.state == 0:
if self.panelTab.cabledButton.state == 0:
self.socketSend.sendto(
serial.to_bytes(data),
(UKBParams.ikaIp, UKBParams.txPort))
else:
self.socketSend.sendto(
serial.to_bytes(data),
(UKBParams.cabledIKAIp, UKBParams.txPort))
else:
self.socketSend.sendto(
serial.to_bytes(data),
("5.11.133.3", UKBParams.txPort))
else:
if self.panelTab.lteButton.state == 0:
if self.panelTab.cabledButton.state == 0:
self.socketSend.sendto(
serial.to_bytes(data),
(UKBParams.ika3Ip, UKBParams.txPort))
else:
self.socketSend.sendto(
serial.to_bytes(data),
(UKBParams.cabledIka3Ip, UKBParams.txPort))
else:
self.socketSend.sendto(
serial.to_bytes(data),
("5.11.133.3", UKBParams.txPort))
except:
# pass
print("send receive:", sys.exc_info())
# try:
# data, addr = self.socketReceive.recvfrom(10)
# if len(data) == 10:
# self.controlMessage = None
# self.controlMessage = [x for x in data]
# self.udpControlLastReceiveTime = time.time()
# print("done")
# except:
# if self.udpControlLastReceiveTime is not None and (time.time() - self.udpControlLastReceiveTime) > 0.5:
# print("control message failed")
time.sleep(0.03)
else:
self.config()
time.sleep(1)
# self.panelTab.set_connection_state(False)
self.show_dialog(self.disconnectedMessage)
def execute_received_board_udp_data(self):
# read from ika peripheral --> send to ukb
# 0,1 => AA,BB
# 2,3 => yaw
# 4,5 => pitch
# 6,7 => roll
# 8.0 => orientation (0: up, 1: down)
# 8.1,2,3 => payload id (0: none, 1: carry, 2: gun, 3: KGM, 4:launch) #todo add kgm and carry
# 8.4 => ret home (0: off, 1:on)
# 8.5,6 => clear path 1: clear first point, 2: clear all
# 8.7 => home failed 0 : None, 1 : Fail
# 9 => imu flag
# 10 => payload flag
# 10 => 0: carry ready, 1: launch ready, 2: fuse ready, 3: fuse fired, 4: gun ready, 5: gun fired, 6,7 ::::
# 11 => battery level (0-100)
# 12, 13 => arm angle (0-360)
# 14 => battery health
# 15-18 => lat
# 19-22 => lon
# 23 => ck_a
# 24 => ck_b
# 25,26 => CC,DD
# / for ukb (extra byte)
# 27.0-1 => 0: ika-1, 1:ika-2, 2: ika-3
# 27.2 => 0: kgm off, 1: kgm on
if not self.isClosing:
if self.lastMessage is not None:
print("last message", self.lastMessage)
message = self.lastMessage.copy()
yaw = message[2] * 256 + message[3]
pitch = message[4] * 256 + message[5]
roll = message[6] * 256 + message[7]
yaw = self.signed_converter_16(yaw)
pitch = self.signed_converter_16(pitch)
roll = self.signed_converter_16(roll)
orientation = (message[8] & self.bit0)
# self.panelTab.payloadType.state = (message[8] & (self.bit1 | self.bit2 | self.bit3)) >> 1
self.payloadID = (message[8] &
(self.bit1 | self.bit2 | self.bit3)) >> 1
print("payload : ", self.payloadID)
if self.panelTab.payloadType.state != self.payloadID:
self.panelTab.payloadType.state = self.payloadID
print("HHHHH")
self.panelTab.activeCarryButton.setVisible(False)
self.panelTab.activeLaunchButton.setVisible(False)
self.panelTab.readyFuseButton.setVisible(False)
self.panelTab.activeFuseButton.setVisible(False)
self.panelTab.readyGunButton.setVisible(False)
self.panelTab.activeGunButton.setVisible(False)
self.panelTab.kgmView.setVisible(False)
self.panelTab.ggmView.setVisible(False)
self.panelTab.thermal_button.setVisible(False)
# self.panelTab.ggmBUTTONS.setVisible(False)
self.panelTab.destructButton.setVisible(True)
# print(self.payloadType.state)
# print(state)
if self.panelTab.payloadType.state != 0:
self.panelTab.destructButton.setVisible(False)
if self.panelTab.payloadType.state == 1:
self.panelTab.activeCarryButton.setVisible(True)
self.panelTab.readyFuseButton.setVisible(True)
self.panelTab.activeFuseButton.setVisible(True)
elif self.panelTab.payloadType.state == 2:
self.panelTab.readyGunButton.setVisible(True)
self.panelTab.activeGunButton.setVisible(True)
elif self.panelTab.payloadType.state == 3:
if self.chooseIka == 0:
self.panelTab.isKgmOn = 1
self.panelTab.kgmView.setVisible(True)
elif self.chooseIka == 1:
self.panelTab.isGgmOn = 1
self.panelTab.ggmView.setVisible(True)
self.panelTab.thermal_button.setVisible(True)
# self.panelTab.ggmBUTTONS.setVisible(True)
elif self.panelTab.payloadType.state == 4:
self.panelTab.activeLaunchButton.setVisible(True)
# if not self.panelTab.payloadId == (message[8] & (self.bit1 | self.bit2 | self.bit3)) >> 1: # todo add new bits for new payloads
# self.panelTab.payloadId = (message[8] & (self.bit4 | self.bit5)) >> 4
# self.panelTab.payloadFire.set_state(self.panelTab.payloadId)
if (message[8] & self.bit6) == self.bit6:
self.panelTab.returnHome.set_state(0)
# self.panelTab.returnHome.state_update()
# elif (message[8] & self.bit3) == 0 and self.panelTab.returnHome.previousNotifiedState == self.bit3:
# if self.panelTab.returnHome.state == 1:
# self.panelTab.returnHome.state_update()
if (message[8] & self.bit7) == self.bit7:
self.panelTab.returnHome.set_state(0)
# self.panelTab.returnHome.previousNotifiedState = (message[8] & self.bit4)
if not self.panelTab.imuView.isHidden():
self.panelTab.imuView.set_angle(roll, pitch, yaw)
if self.panelTab.flipButton.state == 1:
if not self.panelTab.player.isFlipped == (orientation
== 1):
self.panelTab.player.isFlipped = orientation == 1
# self.peripheral.IMU_RESET_READY_FLAG = message[9] & self.bit0
self.imuSaveDone = message[9] & self.bit0
# self.peripheral.IMU_RESET_DETECT_FLAG = (message[9] & self.bit1) >> 1
self.imuTurnDone = (message[9] & self.bit1) >> 1
# self.peripheral.IMU_SAVE_ANGLE_READY_FLAG = (message[9] & self.bit2) >> 2
# self.peripheral.IMU_SAVE_ANGLE_DETECT_FLAG = (message[9] & self.bit3)
# self.peripheral.IMU_SAVED_ANGLE_RESET_READY_FLAG = (message[9] & self.bit4) >> 4
# self.peripheral.IMU_SAVED_ANGLE_RESET_DETECT_FLAG = (message[9] & self.bit5) >> 5
# self.peripheral.TURN_SAVED_ANGLE_READY_FLAG = (message[9] & self.bit6) >> 6
# self.peripheral.TURN_SAVED_ANGEL_DETECT_FLAG = (message[9] & self.bit7) >> 1
if self.imuSaveDone == 1:
self.imuSave = 0
if self.imuTurnDone == 1:
self.imuTurn = 0
self.peripheral.update_imu_status()
self.peripheral.JUMP_READY_FLAG = message[
10] & self.bit0 #carryReady
self.peripheral.JUMP_DETECT_FLAG = (
message[10] & self.bit1) >> 1 #launchReady
if self.peripheral.JUMP_DETECT_FLAG == 1:
self.panelTab.activeLaunchButton.state = 0
self.peripheral.FUSE_READY_FLAG = (message[10]
& self.bit2) >> 2 #gunReady
self.peripheral.FUSE_DETECT_FLAG = (
message[10] & self.bit3) >> 3 #gunFired
self.peripheral.FIRE_READY_FLAG = (
message[10] & self.bit4) >> 4 #fuseReady
self.peripheral.FIRE_DETECT_FLAG = (
message[10] & self.bit5) >> 5 #fuseFired
if self.peripheral.FIRE_DETECT_FLAG == 1:
self.panelTab.activeGunButton.state = 0
# self.panelTab.counter += 1
self.peripheral.update_payload_status()
battery_level = message[11]
if not self.panelTab.ikaBatteryView.batteryLevel == battery_level:
ret = self.panelTab.ikaBatteryView.set_battery_level(
battery_level)
if ret == 10:
self.show_dialog(self.batteryIka10Message)
elif ret == 30:
self.show_dialog(self.batteryIka30Message)
arm_angle = message[12] * 256 + message[13]
self.panelTab.set_arm_angle(arm_angle)
coordinate_str = self.coordinate_32_convert_str(message[15:19]) + ', ' + \
self.coordinate_32_convert_str(message[19:23])
if self.panelTab.cameraCombobox.currentIndex() < 2:
zoom_level = " x" + str(self.panelTab.player.zoomCount)
else:
zoom_level = " x" + str(
int(self.panelTab.player.zoomCount *
(self.joystickPatternDetector.zoomCommand +
1))) #todo GGM için özelleştir
if self.panelTab.recordButton.state == 1:
isRecording = " rec"
else:
isRecording = ""
if not coordinate_str.find("0.0") > -1:
lat_lon = [float(x) for x in coordinate_str.split(",")]
self.panelTab.mapView.set_reference(
lat_lon[0], lat_lon[1], 17)
self.panelTab.mapView.move_marker("ika", lat_lon[0],
lat_lon[1])
if self.coordinateType == 1:
coordinate_str = self.coordinateConverter.toMGRS(
lat_lon[0], lat_lon[1])
# coordinate_str = coordinate_str.decode("utf-8", "ignore")
self.panelTab.player.overlayText = time.strftime(
'%d/%m/%Y %H:%M:%S'
) + isRecording + zoom_level + " --" + coordinate_str
elif self.panelTab.ukbCoordinates is not None:
coordinate_str = self.coordinate_32_convert_str(self.panelTab.ukbCoordinates[0:4]) + ', ' + \
self.coordinate_32_convert_str(self.panelTab.ukbCoordinates[4:8])
if not coordinate_str.find("0.0") > -1:
if self.coordinateType == 1:
lat_lon = [
float(x) for x in coordinate_str.split(",")
]
coordinate_str = self.coordinateConverter.toMGRS(
lat_lon[0], lat_lon[1])
coordinate_str = coordinate_str.decode(
"utf-8", "ignore")
self.panelTab.player.overlayText = time.strftime(
'%d/%m/%Y %H:%M:%S'
) + isRecording + zoom_level + " --" + coordinate_str
else:
self.panelTab.player.overlayText = time.strftime(
'%d/%m/%Y %H:%M:%S') + isRecording + zoom_level
else:
self.panelTab.player.overlayText = time.strftime(
'%d/%m/%Y %H:%M:%S') + isRecording + zoom_level
if not self.panelTab.deviceNumber == message[27] & 0b000000011:
self.panelTab.deviceNumber = message[27] & 0b000000011
if self.panelTab.deviceNumber == 0:
self.panelTab.cameraCombobox.setDisabled(True)
self.panelTab.imu_map_switch_button.setVisible(False)
self.panelTab.armView.setVisible(False)
self.panelTab.armForward.setVisible(False)
self.panelTab.armBackward.setVisible(False)
self.panelTab.returnHome.setVisible(False)
self.panelTab.returnHomeMode.setVisible(False)
self.panelTab.backLed.setVisible(False)
self.panelTab.cabledButton.setVisible(False)
self.panelTab.isKgmOn = (message[27] & 0b000000100) >> 2
# handle js
# ukb-peripheral to ukb
# 0 => 0xAA
# 1 => 0xBB
# 2: analog left x
# 3: analog left y
# 4: analog right x
# 5: analog right y
# 6.0: toggle left forward (arm state 0: stop, 1: forward, 2: backward)
# 6.1: toggle left backward (arm state 0: stop, 1: forward, 2: backward)
# 6.2: button left back
# 6.3: button left up
# 6.4: button left down
# 7.0: toggle right forward
# 7.1: toggle right backward
# 7.2: button right back
# 7.3: button right up
# 7.4: button right down
# 7.5: power button
# 7.6: power pim (0: not present, 1: present)
# 8: battery level (0-100)
# 9-12: latitude
# 13-16: longitude
# 17 => battery health
# 18 => ck_a
# 19 => ck_b
# 20 => 0xCC
# 21 => 0xDD
# ukb to ukb-peripheral
# 0: brightness 100-200
try:
if self.serialJoystick.in_waiting >= 22:
msg = self.serialJoystick.read(
self.serialJoystick.in_waiting)
self.serialJoystick.reset_input_buffer()
msg = [x for x in msg]
msg2 = msg[(len(msg) - 22):]
print("peri :: ", msg2)
if msg2[:2] == self.serialPrefix and msg2[
-2:] == self.serialSuffix:
# pimState = (msg2[7] & 0b01000000)
# if pimState == 0b01000000:
# msg2[2:8] =
self.joystickPatternDetector.parse_message(msg2[2:8])
# self.joystickLeftX = msg2[2]
# self.joystickLeftY = msg2[3]
battery_level = msg2[8]
if not self.panelTab.ukbBatteryView.batteryLevel == battery_level:
ret = self.panelTab.ukbBatteryView.set_battery_level(
battery_level)
if ret == 10:
self.show_dialog(self.batteryUkb10Message)
elif ret == 30:
self.show_dialog(self.batteryUkb30Message)
self.ukbCoords = msg2[9:17]
coordinate_str = self.coordinate_32_convert_str(msg2[9:13]) + ', ' + \
self.coordinate_32_convert_str(msg2[13:17])
if None not in self.panelTab.mapView.clickedCoordinate:
lat_lon = self.panelTab.mapView.clickedCoordinate
self.panelTab.ukbCoordinates = self.coordinate_str_convert_32(lat_lon[0]) + \
self.coordinate_str_convert_32(lat_lon[1])
self.panelTab.mapView.move_marker(
"ukb", lat_lon[0], lat_lon[1])
elif coordinate_str.find("0.0") == -1:
self.panelTab.ukbCoordinates = msg2[9:17]
lat_lon = [
float(x) for x in coordinate_str.split(",")
]
self.panelTab.mapView.move_marker(
"ukb", lat_lon[0], lat_lon[1])
if not self.joystickPatternDetector.powerPimState and not self.dialog.id == self.pimMessage.id:
self.show_dialog(self.pimMessage)
elif self.joystickPatternDetector.powerPimState and self.dialog.id == self.pimMessage.id:
self.show_dialog(self.emptyMessage)
except:
print("js failed")
js = self.check_joystick()
if js is not None:
self.serialJoystick = Com.init_serial(js[0])
try:
if self.panelTab is not None and self.serialJoystick is not None:
self.serialJoystick.write(
serial.to_bytes([
self.brightnessLevels[
self.panelTab.brightnessButton.state] + 100
]))
except:
print("js send jailed")
def execute_joystick_action(self, action):
print("action", action)
if self.panelTab is not None:
if action == "mode_up":
pass
elif action == "speed_mode_up":
self.panelTab.speedMode.state_update()
elif action == "speed_mode_down":
self.panelTab.speedMode.decrease_state()
elif action == "imu_turn":
self.panelTab.imuSaveButton = 1
# self.panelTab.imuState = 8
elif action == "imu_save":
self.panelTab.imuTurnButton = 1
# self.panelTab.imuState = 2
# if self.panelTab.kgmView.state == 1:
# if action == "video_up":
# self.kgmControl.moveUp()
# elif action == "video_down":
# self.kgmControl.moveDown()
# elif action == "video_right":
# self.panelTab.player.panValues[0] += 10
# # elif action == "video_left":
# # self.panelTab.player.panValues[0] -= 10
# else:
# self.kgmControl.stop()
if self.panelTab.player.videoWidth is not None and self.panelTab.player.videoHeight is not None:
# if self.panelTab.cameraCombobox.currentIndex() < 2:
if self.panelTab.kgmView.state != 1:
if action == "video_up":
self.panelTab.player.panValues[1] -= 10
elif action == "video_down":
self.panelTab.player.panValues[1] += 10
elif action == "video_right":
self.panelTab.player.panValues[0] += 10
elif action == "video_left":
self.panelTab.player.panValues[0] -= 10
elif action == "zoom_in":
self.panelTab.zoom("in")
elif action == "zoom_out":
self.panelTab.zoom("out")
if action == "screen_shot":
self.panelTab.screenShotButton.on_click()
elif action == "next_camera" and self.panelTab.deviceNumber > 0:
current_camera_index = self.panelTab.cameraCombobox.currentIndex(
)
current_camera_index += 1
#
# if self.panelTab.isKgmOn == 1:
# max_cam = 2
# else:
# max_cam = 1
max_cam = 1
if current_camera_index > max_cam:
current_camera_index = 0
self.panelTab.set_camera(current_camera_index,
set_index=True)
elif action == "previous_camera":
current_camera_index = self.panelTab.cameraCombobox.currentIndex(
)
current_camera_index -= 1
if current_camera_index < 0:
if self.panelTab.isKgmOn == 1:
current_camera_index = 3
else:
current_camera_index = 1
self.panelTab.set_camera(current_camera_index,
set_index=True)
elif action == "fire":
if self.panelTab.readyGunButton.state == 1:
self.panelTab.activeGunButton.state = 1
self.panelTab.counter += 1
# if not self.panelTab.payloadId == 0:
# self.panelTab.isPayloadActive = True
if action == "close_app":
self.closeApp()
elif action == "shut_down":
self.closeApp(is_shutdown=True)
def gather_udp_package(self):
# from ukb to ika and ika-peripheral
# 0 => 0xAA
# 1 => 0xBB
# 2 => analog left X
# 3 => analog left Y
# 4.0,1 => front led (0: off, 1: mid, 2: max)
# 4.2,3 => front IR (0: off, 1: mid, 2: max)
# 4.4,5 => back led (0: off, 1: mid, 2: max)
# 4.6,7 => back IR (0: off, 1: mid, 2: max)
# 5.0,1 => speed mode (0,1,2 : speed, 3: pivot)
# 5.2,3 => arm state (0: off, 1: forward, 2:backward )
# 5.4,5 => drive mode (0: manuel, 1: half auto, 2: auto)
# 5.6 => auto tail adjust / auto rotate (0: off, 1: on)
# 5.7 => return home (0: off, 1: on)
# 6.0,1 => return home commands
# 6.4 => clear path
# 6.7 => thermal 0:off 1:on
# 7 => payload flags
# 7.0 => carry ready
# 7.1 => launch
# 7.2 => fuse ready
# 7.3 => fire the fuse
# 7.4 => gun ready
# 7.5 => fire the gun
# 7.6,7 => gun's arms 6 : turn left, 7 : turn right
# 8.0,2 => camera index (0: front, 1: back, 2: KGM, 3: Gun)
# 8.3,5 => camera command (kgm) (0: none, 1: up, 2: down, 3: right, 4: left)
# 8.6 => 0: follow home, 1: follow path
# 9 - 12 => lat
# 13 - 16 => lon
# 17.0,1 => disconnected policy (0: stop, 1: return home, 2: destruct)
# 17.2 => 0: nothing, 1: destruct
# 17.3-6 => camera zoom command (kgm) (zoom:0-11)
# 18 => ck_a
# 19 => ck_b
# 20 => 0xCC
# 21 => 0xDD
# 22 => extra byte
print("kgmTest : ", self.kgmTest.state)
message = [0] * 23 #todo add extra byte
message[0] = 0xAA
message[1] = 0xBB
message[2] = self.joystickPatternDetector.analogLeftX
message[3] = self.joystickPatternDetector.analogLeftY
# message[2] = self.joystickLeftX
# message[3] = self.joystickLeftY
message[4] = self.panelTab.frontLed.state + (
self.panelTab.backLed.state << 4)
if self.panelTab.irLed.state == 1:
message[4] = message[4] << 2
message[5] |= self.panelTab.speedMode.state
arm_state = 0
if self.panelTab.armForward.state == 1 and self.panelTab.armBackward.state == 0:
arm_state = 1
elif self.panelTab.armForward.state == 0 and self.panelTab.armBackward.state == 1:
arm_state = 2
if arm_state == 0:
message[5] |= self.joystickPatternDetector.armState << 2
else:
message[5] |= arm_state << 2
message[5] |= self.panelTab.driveMode.state << 4
message[5] |= self.panelTab.autoRotate.state << 6
message[5] |= self.kgmTest.state << 7
message[6] |= self.panelTab.returnHome.state
message[6] |= self.panelTab.returnHomeMode.state << 1
if self.panelTab.returnHome.state == 0:
message[6] |= self.panelTab.clearPath.state << 4
else:
message[6] |= 0 << 4
# self.panelTab.imuState = self.peripheral.get_imu_state(self.panelTab.imuState)
# message[6] |= self.panelTab.imuState
#
# message[6] |= self.joystickPatternDetector.gunTurnSpeed << 4
message[7] |= self.panelTab.activeCarryButton.state
message[7] |= self.panelTab.activeLaunchButton.state << 1
message[7] |= self.panelTab.readyFuseButton.state << 2
message[7] |= self.panelTab.activeFuseButton.state << 3
message[7] |= self.panelTab.readyGunButton.state << 4
message[7] |= self.panelTab.activeGunButton.state << 5
turn_gun_left = 0
turn_gun_right = 0
if self.joystickPatternDetector.gunLeftCommand == 1:
turn_gun_left = 1
else:
turn_gun_left = 0
message[7] |= turn_gun_left << 6
if self.joystickPatternDetector.gunRightCommand == 1:
turn_gun_right = 1
else:
turn_gun_right = 0
message[7] |= turn_gun_right << 7
# message[7] |= self.panelTab.gunArmForwad.state
# message[7] |= self.panelTab.gunArmBackward.state
# if self.panelTab.isPayloadActive:
# message[7] |= self.peripheral.get_payload_state(self.panelTab.payloadId)
# self.panelTab.isPayloadActive = False
# else:
# message[7] |= (self.peripheral.get_payload_state(0))
if self.kgmTest.state == 0:
self.panelTab.kgmView.state = 0
if self.panelTab.kgmView.state != 1:
message[8] |= self.panelTab.cameraCombobox.currentIndex()
else:
message[8] |= self.panelTab.kgmView.state + 2
message[8] |= self.joystickPatternDetector.cameraCommand << 3
camera_direction = self.joystickPatternDetector.cameraCommand
camera_zoom = self.joystickPatternDetector.zoomCommand
# if self.kgmTest.state == 1:
# if self.panelTab.kgmView.state == 1:
# if self.kgmControl is None:
# self.kgmControl = KGMControl()
# if not self.cameraDirection == camera_direction:
# self.cameraDirection = camera_direction
# if camera_direction == 1:
# self.kgmControl.moveUp()
# elif camera_direction == 2:
# self.kgmControl.moveDown()
# # elif camera_direction == 3:
# # self.kgmControl.moveRight()
# # elif camera_direction == 4:
# # self.kgmControl.moveLeft()
# else:
# self.kgmControl.stop()
#
# if self.panelTab.kgmView.state > 0:
# if not self.kgmControl.zoomLevel == camera_zoom:
# self.kgmControl.zoom_to(camera_zoom)
message[8] |= self.panelTab.imuState << 6
# message[8] |= self.panelTab.returnHomeMode.state << 6
if self.panelTab.returnHomeMode.state == 0:
message[9:17] = self.ukbCoords
else:
if self.panelTab.ukbCoordinates is not None:
message[9:17] = self.panelTab.ukbCoordinates
# message[17] |= self.loginTab.disconnectionPolicyComboBox.currentIndex()
message[17] |= self.disconnectionPolicy
message[17] |= self.panelTab.isDestructOn << 2
# message[17] |= self.openingWarn << 3
message[17] |= self.joystickPatternDetector.gunTurnSpeed << 4
print("js speed : ", self.joystickPatternDetector.gunTurnSpeed)
ck_a, ck_b = self.checksum(message[2:-4])
message[18] = ck_a
message[19] = ck_b
message[20] = 0xCC
message[21] = 0xDD
# message[22] |= self.panelTab.voiceButton.state
message[22] = camera_zoom
print("msg", message)
return message
# message[x] |= self.disconnectTime #todo add 3 bit for disconnect time
@staticmethod
def signed_converter_16(val):
if val > 0x7fff:
return (0xffff - val + 1) * (-1)
else:
return val
@staticmethod
def checksum(arr):
ck_a = 0x00
ck_b = 0x00
for val in arr:
ck_a += val
ck_a = ck_a % 256
ck_b += ck_a
ck_b = ck_b % 256
return ck_a, ck_b
@staticmethod
def coordinate_str_convert_32(coordinate_str):
int_val = int(float(coordinate_str) * 1000000)
if int_val < 0:
int_val += 0xffffffff + 1
bytes_val = [x for x in int_val.to_bytes(4, byteorder="big")]
return bytes_val
@staticmethod
def coordinate_32_convert_str(bytes_val):
val = bytes_val[0] * 256 * 256 * 256 + bytes_val[
1] * 256 * 256 + bytes_val[2] * 256 + bytes_val[3]
if val > 0x7fffffff:
int_val = (0xffffffff - val + 1) * (-1)
else:
int_val = val
return '%.6f' % (int_val / 1000000)
@staticmethod
def check_joystick():
# js = ConnectionManager().get_tty_dev(UKBParams.joystickSerialNumber)
js = ["/dev/ttyS0", "attached"]
if js is not None:
if js[1] is not None and len(js) == 2 and js[1] == "attached":
return js
return None
def init_ui(self):
# side panel
self.sidePanel = SidePanel()
self.sidePanel.init()
# add widgets
self.layout = QtWidgets.QVBoxLayout()
self.layout.addWidget(self.sidePanel)
self.setLayout(self.layout)
# stylesheet
self.setMyStyleSheet()
# set first window
self.loginSuccess()
self.showFullScreen()
def setMyStyleSheet(self):
self.setContentsMargins(0, 0, 0, 0)
self.layout.setContentsMargins(0, 0, 0, 0)
self.layout.setSpacing(0)
self.resources.set_color(self.sidePanel,
self.resources.get_primary_color())
self.resources.set_color(self, self.resources.get_primary_color())
self.setStyleSheet(self.resources.styleSheet())
def loginSuccess(self):
self.panelTab = PanelTab(self.chooseIka)
self.panelTab.closeButton.clicked.connect(self.closeApp)
self.sidePanel.loadPanel(self.panelTab)
def closeApp(self, is_shutdown=False):
self.isClosing = True
if self.communicationProcess is not None:
self.communicationProcess.kill = True
if self.communicationTimer.isActive():
self.communicationTimer.stop()
if self.panelTab is not None:
self.panelTab.close_this()
if is_shutdown:
subprocess.call("sudo shutdown now", shell=True)
else:
self.close()
class OverlayDialog(QtWidgets.QWidget):
def __init__(self, parent=None, margin=None):
super(OverlayDialog, self).__init__(parent=parent)
self.id = None
self.isOpen = False
self.setFixedSize(300, 200)
self.successFn = None
self.failFn = None
self.resources = Resources()
self.messageLabel = QtWidgets.QLabel()
self.messageLabel.setAlignment(QtCore.Qt.AlignCenter)
self.messageLabel.setText("")
self.messageLabel.setWordWrap(True)
layout2 = QtWidgets.QVBoxLayout()
layout2.addWidget(self.messageLabel)
layout2.setAlignment(QtCore.Qt.AlignCenter)
self.yesButton = QtWidgets.QPushButton("")
self.noButton = QtWidgets.QPushButton("")
self.yesButton.clicked.connect(self.yes)
self.noButton.clicked.connect(self.no)
layout1 = QtWidgets.QHBoxLayout()
layout1.addWidget(self.yesButton)
layout1.addWidget(self.noButton)
widget1 = QtWidgets.QWidget()
widget1.setLayout(layout1)
layout2.addWidget(widget1)
layout2.setSpacing(0)
# layout1.setContentsMargins(0, 0, 0, 0)
self.setLayout(layout2)
self.setMyStyleSheet()
if margin is None:
self.paddingLeft = 5
self.paddingTop = 5
else:
self.paddingLeft = margin[0]
self.paddingTop = margin[1]
def show_with(self,
_id,
message,
yes_string,
no_string,
success_fn=None,
fail_fn=None,
message_type=None):
self.id = _id
if _id is not None:
self.isOpen = True
self.successFn = success_fn
self.failFn = fail_fn
self.messageLabel.setText(message)
if message_type is not None:
if message_type == "info":
self.messageLabel.setStyleSheet("color: " +
self.resources.info)
elif message_type == "warning":
self.messageLabel.setStyleSheet("color: " +
self.resources.warning)
elif message_type == "error":
self.messageLabel.setStyleSheet("color: " +
self.resources.error)
else:
self.messageLabel.setStyleSheet("color: " +
self.resources.info)
if yes_string is not None:
self.yesButton.setText(yes_string)
self.yesButton.setVisible(True)
else:
self.yesButton.setVisible(False)
if no_string is not None:
self.noButton.setText(no_string)
self.noButton.setVisible(True)
else:
self.noButton.setVisible(False)
self.setVisible(True)
# self.setFocus()
else:
self.close_this()
def close_this(self):
self.isOpen = False
self.setVisible(False)
def setMyStyleSheet(self):
self.resources.set_color(self, self.resources.get_primary_color())
# self.resources.set_color(self, QtGui.QColor(255, 0, 0))
self.setStyleSheet(self.resources.styleSheet())
def yes(self):
print("yes..")
ret = 0
if self.successFn is not None:
ret = self.successFn()
if ret is None or ret == 0:
self.close_this()
def no(self):
ret = 0
if self.failFn is not None:
ret = self.failFn()
if ret is None or ret == 0:
self.close_this()
# self.parent().recordsPlayerView.folderListView.setDisabled(False)
# self.parent().recordsPlayerView.toolbarView.setDisabled(False)
def update_position(self):
if hasattr(self.parent(), 'viewport'):
parent_rect = self.parent().viewport().rect()
else:
parent_rect = self.parent().rect()
if not parent_rect:
return
x = self.parent().width() - self.width()
x = int(x / 2)
y = self.parent().height() - self.height()
y = int(y / 2)
print("self.height()", self.parent().height(), self.height(), y)
print("self.width()", self.parent().width(), self.width(), x)
self.setGeometry(x, y, self.width(), self.height())
def resizeEvent(self, event):
super().resizeEvent(event)
self.update_position()
class LauncherTab(QtWidgets.QWidget):
def __init__(self, user_permission, parent=None):
super().__init__(parent=parent)
self.isAnAppRunning = False
self.resources = Resources()
layout = QtWidgets.QVBoxLayout(self)
# layout.set(QtCore.Qt.RightToLeft)
# layout.setAlignment(QtCore.Qt.AlignRight)
layout.setContentsMargins(10, 10, 10, 10)
disk_usage_info_label = QtWidgets.QLabel("")
# disk_usage_info_label.setFixedSize(400, 30)
disk_progress_bar = DiskProgressBar(label=disk_usage_info_label)
# disk_progress_bar.setFixedSize(100, 30)
layout2 = QtWidgets.QHBoxLayout()
panel_app = self.create_menu_item(
"Panel", self.launch_to_panel,
UKBParams.dirResources + "dashboard-3-128.png")
records_app = self.create_menu_item(
"Kayıtlar", self.launch_to_records,
UKBParams.dirResources + "film-2-128.png")
tile_importer_app = self.create_menu_item(
"Harita Yükle", self.launch_to_tile_importer,
UKBParams.dirResources + "internet-128.png")
# thermal_test_app = self.create_menu_item("Termal Test", self.launch_to_thermal_test, UKBParams.dirResources + "internet-128.png")
close_app = self.create_menu_item(
"Kapat", self.launch_to_close,
UKBParams.dirResources + "power-128.png")
info_app = self.create_menu_item(
None, self.launch_to_info,
UKBParams.dirResources + "info-2-32.png")
info_app.setFixedSize(50, 50)
# info_app = PicButton(UKBParams.dirResources + "info-2-32.png")
# info_app.clicked.connect(self.launch_to_info)
layout2.addWidget(panel_app)
if user_permission > 0:
layout2.addWidget(records_app)
if SysParams.tag == "ukb-7":
layout2.addWidget(tile_importer_app)
# layout2.addWidget(thermal_test_app)
layout2.addWidget(close_app)
layout2.setSpacing(5)
layout2.setContentsMargins(0, 0, 0, 0)
self.infoBox = QtWidgets.QLabel("Hazır")
self.infoBox.setMaximumHeight(40)
self.infoBox.setAlignment(QtCore.Qt.AlignCenter)
self.chooseIkaComboBox = QtWidgets.QComboBox()
self.chooseIkaComboBox.addItem("Komodo")
self.chooseIkaComboBox.addItem("Ejder")
self.destructTimeComboBox = QtWidgets.QComboBox()
self.destructTimeComboBox.addItem("0")
self.destructTimeComboBox.addItem("15")
self.destructTimeComboBox.addItem("30")
self.destructTimeComboBox.addItem("45")
self.destructTimeComboBox.addItem("60")
self.coordinateTypeComboBox = QtWidgets.QComboBox()
self.coordinateTypeComboBox.addItem(
self.resources.get("decimal_coord"))
self.coordinateTypeComboBox.addItem(
self.resources.get("military_coord"))
self.disconnectionPolicyComboBox = QtWidgets.QComboBox()
self.disconnectionPolicyComboBox.addItem(
self.resources.get("connection_loss_rule"))
self.disconnectionPolicyComboBox.addItem(
self.resources.get("if_disconnected_return_home"))
self.disconnectionPolicyComboBox.addItem(
self.resources.get("if_disconnected_destruct").replace(
"\\n", "\n"))
# self.disconnectionPolicyComboBox.setFixedWidth(100)
self.failedHomeActioonPolicyComboBox = QtWidgets.QComboBox()
self.failedHomeActioonPolicyComboBox.addItem(
self.resources.get("home_fail_rule"))
self.failedHomeActioonPolicyComboBox.addItem(
self.resources.get("if_return_failed_do_nothing"))
self.failedHomeActioonPolicyComboBox.addItem(
self.resources.get("if_return_failed_destruct"))
# info_app = QtWidgets.QPushButton()
# info_app.clicked.connect(self.launch_to_info)
layout.setAlignment(QtCore.Qt.AlignCenter)
layout.addLayout(
self.layout_packer(
[info_app, disk_usage_info_label, disk_progress_bar]))
layout.addWidget(QtWidgets.QLabel(""))
layout.addLayout(layout2)
layout.addWidget(QtWidgets.QLabel(""))
layout.addWidget(self.infoBox)
layout.addWidget(QtWidgets.QLabel(""))
layout.addLayout(
self.layout_packer(
[self.chooseIkaComboBox, self.destructTimeComboBox]))
layout.addWidget(QtWidgets.QLabel(""))
layout.addLayout(
self.layout_packer([
self.coordinateTypeComboBox, self.disconnectionPolicyComboBox
]))
layout.addWidget(QtWidgets.QLabel(""))
def set_free(self):
self.isAnAppRunning = False
self.infoBox.setText("Hazır")
def launch_to_panel(self):
if not self.isAnAppRunning:
self.isAnAppRunning = True
self.infoBox.setText("Açılıyor...")
QtCore.QTimer.singleShot(10000, self.set_free)
time.sleep(0.2)
self.launch = Thread(target=self.launch_to_panel_text)
self.launch.start()
# subprocess.Popen("sh /home/pi/ukb/ukb.sh " + str(arg1) + " " + str(arg2) + " " + str(arg3) + " " + str(arg4), stdout=subprocess.PIPE,
# shell=True)
def launch_to_panel_text(self):
arg1 = self.coordinateTypeComboBox.currentIndex()
arg2 = self.disconnectionPolicyComboBox.currentIndex()
arg3 = self.chooseIkaComboBox.currentIndex()
arg4 = self.destructTimeComboBox.currentIndex() # choose robot
os.system("sh /home/pi/ukb/ukb.sh " + str(arg1) + " " + str(arg2) +
" " + str(arg3) + " " + str(arg4))
# def launch_to_panel(self):
# arg1 = self.coordinateTypeComboBox.currentIndex()
# arg2 = self.disconnectionPolicyComboBox.currentIndex()
# arg3 = self.chooseIkaComboBox.currentIndex()
# arg4 = self.destructTimeComboBox.currentIndex()# choose robot
# if not self.isAnAppRunning:
# self.isAnAppRunning = True
# subprocess.Popen("sh /home/pi/ukb/ukb.sh " + str(arg1) + " " + str(arg2) + " " + str(arg3) + " " + str(arg4), stdout=subprocess.PIPE,
# shell=True)
# self.infoBox.setText("Açılıyor...")
# QtCore.QTimer.singleShot(10000, self.set_free)
# def launch_to_panel_text(self):
# arg1 = self.coordinateTypeComboBox.currentIndex()
# arg2 = self.disconnectionPolicyComboBox.currentIndex()
# arg3 = self.chooseIkaComboBox.currentIndex()
# arg4 = self.destructTimeComboBox.currentIndex()# choose robot
# os.system("sh /home/pi/ukb/ukb.sh " + str(arg1) + " " + str(arg2) + " " + str(arg3) + " " + str(arg4))
def launch_to_records(self):
if not self.isAnAppRunning:
self.isAnAppRunning = True
subprocess.Popen(
"python3 /home/pi/records-player/records-player-mvc.py",
stdout=subprocess.PIPE,
shell=True)
self.infoBox.setText("Açılıyor...")
QtCore.QTimer.singleShot(4000, self.set_free)
def launch_to_tile_importer(self):
if not self.isAnAppRunning:
self.isAnAppRunning = True
subprocess.Popen("python3 /home/pi/tile-importer/TiffImporter.py",
stdout=subprocess.PIPE,
shell=True)
self.infoBox.setText("Açılıyor...")
QtCore.QTimer.singleShot(2000, self.set_free)
# def launch_to_thermal_test(self):
# if not self.isAnAppRunning:
# self.isAnAppRunning = True
# subprocess.Popen("python3 /home/pi/thermal-test/thermal-test.py", stdout=subprocess.PIPE,
# shell=True)
#
# self.infoBox.setText("Açılıyor...")
# QtCore.QTimer.singleShot(2000, self.set_free)
def launch_to_close(self):
if not self.isAnAppRunning:
self.isAnAppRunning = True
subprocess.Popen("sudo shutdown now",
stdout=subprocess.PIPE,
shell=True)
self.infoBox.setText("UKB Kapatılıyor...")
QtCore.QTimer.singleShot(3000, self.set_free)
def launch_to_info(self):
if not self.isAnAppRunning:
self.isAnAppRunning = True
subprocess.Popen(
"python3 /home/pi/user-manual/user-manual-main.py",
stdout=subprocess.PIPE,
shell=True)
self.infoBox.setText("Açılıyor...")
QtCore.QTimer.singleShot(2000, self.set_free)
@staticmethod
def create_menu_item(name, on_click_fn, icon_path):
item = QtWidgets.QWidget()
layout = QtWidgets.QVBoxLayout(item)
icon = PicButton(QtGui.QPixmap(icon_path))
icon.setFixedSize(130, 130)
icon.clicked.connect(on_click_fn)
button = QtWidgets.QPushButton(name)
button.clicked.connect(on_click_fn)
if name is None:
button.setVisible(False)
icon.setFixedSize(50, 50)
layout.addWidget(icon)
layout.addWidget(button)
item.setFixedSize(150, 200)
item.setStyleSheet("QWidget:hover{border : 2px solid red}")
return item
@staticmethod
def layout_packer(ws):
layout = QtWidgets.QHBoxLayout()
layout.setContentsMargins(0, 0, 0, 0)
layout.setSpacing(10)
for w in ws:
layout.addWidget(w)
return layout
class GstCvPlayer(TractableLabel):
def __init__(self, video_source_str, save_dir=None, parent=None):
super().__init__(parent=parent, pan_values=[0, 0])
self.setScaledContents(True)
self.softPlay = True
self.isMotionEnabledDetection = False
self.isMotionDetected = False
self.lastMotionTime = time.time()
# gunCam = GunCamera()
# self.flipTransform = QtGui.QTransform()
# self.flipTransform.rotate(180)
self.videoFlipElement = None
self.overlayText = ""
self.active_window = None
self.videoWidth = None
self.videoHeight = None
self.zoomCount = 1
self.maxZoom = 10
self.isFlipped = False
self.currentFlipMode = 0
self.panValues = [0, 0]
self.prevPanValues = [0, 0]
self.demandedState = "play"
self.isSurfaceScaled = False
self.lastSampleTime = time.time()
self.videoSourceStr = video_source_str
# self.isGunCamera = gunCam.cameraState
self.pipe = None
self.appSrc = None
self.appSink = None
self.lastSample = None
self.previousSample = None
self.isClosing = False
self.arr = None
# self.isEOSDone = False
self.pixmap = None
self.set_video_src(video_source_str)
self.setContentsMargins(0, 0, 0, 0)
self.scaleHeight = self.geometry().size().height() - 0
self.saveDir = save_dir
self.isRecordEnabled = False
self.isRecorderSetUp = False
self.fourcc = None
self.videoWriter = None
if save_dir is not None:
# self.isRecordEnabled = True
self.fourcc = cv2.VideoWriter_fourcc(*"mp4v")
self.videoWriter = None
self.videoCheckTimer = QtCore.QTimer()
self.videoCheckTimer.setInterval(250)
self.videoCheckTimer.timeout.connect(self.video_check_2)
self.videoCheckTimer.start()
self.resources = Resources()
self.motionMessagePopup = MessagePopup(
self.resources.get("motion_detected"), addCloseButton=True)
def video_check_2(self):
if time.time() - self.lastSampleTime > 2:
self.lastSampleTime = time.time()
print("Video time out. Refreshing..")
self.set_video_src(self.videoSourceStr)
# motion detection
if self.isMotionEnabledDetection and not self.motionMessagePopup.isOpen and (
time.time() -
self.lastMotionTime) > 10 and self.previousSample is not None:
gray_1 = cv2.cvtColor(self.lastSample, cv2.COLOR_BGRA2GRAY)
gray_1 = cv2.GaussianBlur(gray_1, (25, 25), 0)
delta = cv2.absdiff(gray_1.astype("float"),
self.previousSample.astype("float"))
self.previousSample = gray_1
mean = delta.mean()
print(mean)
if mean > 3:
print("True ", delta.mean(), time.time())
self.isMotionDetected = True
self.lastMotionTime = time.time()
self.previousSample = None
if self.isMotionDetected:
self.isMotionDetected = False
self.motionMessagePopup.openThis()
elif self.previousSample is None and self.lastSample is not None:
gray_1 = cv2.cvtColor(self.lastSample, cv2.COLOR_BGRA2GRAY)
self.previousSample = cv2.GaussianBlur(gray_1, (25, 25), 0)
def video_check(self, last_sample):
qImage = qimage2ndarray.array2qimage(last_sample)
self.pixmap = QtGui.QPixmap(qImage)
if not self.isSurfaceScaled:
self.isSurfaceScaled = True
self.scaleHeight = self.geometry().size().height() - 100
if self.softPlay:
if self.isFlipped and self.currentFlipMode == 0:
self.currentFlipMode = 2
self.videoFlipElement.set_property("method",
self.currentFlipMode)
elif not self.isFlipped and self.currentFlipMode == 2:
self.currentFlipMode = 0
self.videoFlipElement.set_property("method",
self.currentFlipMode)
# if self.isFlipped:
# self.setPixmap(pixmap.transformed(self.flipTransform).scaledToHeight(self.scaleHeight))
# else:
# self.setPixmap(pixmap.scaledToHeight(self.scaleHeight))
# self.setPixmap(pixmap)
self.update()
if self.isRecordEnabled:
if not self.isRecorderSetUp:
if self.saveDir is not None and self.videoWidth is not None and self.videoHeight is not None:
self.videoWriter = cv2.VideoWriter(
self.saveDir, self.fourcc, 15,
(self.videoWidth, self.videoHeight), True)
self.isRecorderSetUp = True
if self.videoWriter is not None:
# h, w, d = numpy.shape(self.lastSample)
# if not (h == self.firstVideoHeight and w == self.firstVideoHeight):
# numpy.pad(self.lastSample, ((0, h - self.videoHeight), (0, w - self.videoWidth)), 'constant')
self.videoWriter.write(
cv2.cvtColor(last_sample, cv2.COLOR_RGBA2BGR))
def gun_camera_state(self, state):
if state == 3:
self.isGunCamera = 1
else:
self.isGunCamera = 0
def paintEvent(self, event):
if self.pixmap is not None:
painter = QPainter(self)
painter.drawPixmap(event.rect(), self.pixmap)
painter.end()
# if self.isGunCamera == 1:
painter = QtGui.QPainter(self)
painter.setPen(QPen(QtCore.Qt.red, 1, QtCore.Qt.SolidLine))
painter.drawLine(220, 270, 520, 270) # X axis
painter.drawLine(370, 120, 370, 420) # Y axis
painter.drawEllipse(350, 250, 40, 40)
painter.drawEllipse(330, 230, 80, 80)
painter.drawEllipse(310, 210, 120, 120)
# painter.drawEllipse(370, 240, 160, 160)
painter.end()
# else:
# pass
def update_last_sample(self, sink, data):
# t0 = time.time()
# print("start", t0)
self.lastSampleTime = time.time()
sample = sink.emit("pull-sample")
last_sample = self.get_last_sample_as_np(sample)
h, w, d = numpy.shape(last_sample)
if self.videoWidth is None and w == 640:
self.videoHeight, self.videoWidth, depth = numpy.shape(last_sample)
else:
if self.videoWidth is None:
self.videoHeight, self.videoWidth = 480, 640
if not self.videoWidth == w:
last_sample = cv2.resize(last_sample,
(self.videoWidth, self.videoHeight),
interpolation=cv2.INTER_LINEAR)
# print(numpy.shape(last_sample))
if self.active_window is None:
self.active_window = [0, 0, self.videoWidth, self.videoHeight]
pan_x = 0
pan_y = 0
if self.active_window[0] + self.panValues[0] >= 0 and \
self.active_window[2] + self.panValues[0] <= self.videoWidth:
pan_x = self.panValues[0]
self.prevPanValues[0] = self.panValues[0]
elif self.active_window[0] + self.panValues[0] < 0:
pan_x = -self.active_window[0]
self.panValues[0] = pan_x
self.prevPanValues[0] = self.panValues[0]
elif self.active_window[2] + self.panValues[0] > self.videoWidth:
pan_x = self.videoWidth - self.active_window[2]
self.panValues[0] = pan_x
self.prevPanValues[0] = self.panValues[0]
else:
self.panValues[0] = self.prevPanValues[0]
pan_x = self.prevPanValues[0]
if self.active_window[1] + self.panValues[1] >= 0 and \
self.active_window[3] + self.panValues[1] <= self.videoHeight:
pan_y = self.panValues[1]
self.prevPanValues[1] = self.panValues[1]
elif self.active_window[1] + self.panValues[1] < 0:
pan_y = -self.active_window[1]
self.panValues[1] = pan_y
self.prevPanValues[1] = self.panValues[1]
elif self.active_window[3] + self.panValues[1] > self.videoHeight:
pan_y = self.videoHeight - self.active_window[3]
self.panValues[1] = pan_y
self.prevPanValues[1] = self.panValues[1]
else:
self.panValues[1] = self.prevPanValues[1]
pan_y = self.prevPanValues[1]
last_sample = last_sample[self.active_window[1] +
pan_y:self.active_window[3] + pan_y,
self.active_window[0] +
pan_x:self.active_window[2] + pan_x, :]
# if self.isFlipped:
# last_sample = numpy.rot90(last_sample, k=2)
last_sample = cv2.resize(last_sample,
(self.videoWidth, self.videoHeight),
interpolation=cv2.INTER_LINEAR)
# if self.lastSample is not None:
# self.previousSample = self.lastSample.copy()
self.lastSample = last_sample
# text overlay
shift = 30
for text in self.overlayText.split("--"):
cv2.putText(last_sample, text, (10, shift),
cv2.FONT_HERSHEY_SIMPLEX, 0.8, (255, 0, 0, 255), 2,
cv2.LINE_AA)
shift += 30
# update surface
self.video_check(last_sample)
# print("stop", time.time() - t0)
return Gst.FlowReturn.OK
@staticmethod
def get_last_sample_as_np(sample):
buf = sample.get_buffer()
(result, map_info) = buf.map(Gst.MapFlags.READ)
caps = sample.get_caps()
arr = numpy.ndarray((caps.get_structure(0).get_value('height'),
caps.get_structure(0).get_value('width'), 4),
buffer=map_info.data,
dtype='B')
buf.unmap(map_info)
return arr
def zoom_in(self):
if self.videoWidth is not None and self.videoHeight is not None:
if self.zoomCount < self.maxZoom:
self.zoomCount += 1
self.zoom()
else:
self.zoomCount = self.maxZoom
def zoom_out(self):
if self.videoWidth is not None and self.videoHeight is not None:
if self.zoomCount > 1:
self.zoomCount -= 1
self.zoom()
def reset_zoom(self):
if self.videoWidth is not None and self.videoHeight is not None:
self.zoomCount = 1
self.active_window = [0, 0, self.videoWidth, self.videoHeight]
self.panValues[0] = 0
self.panValues[1] = 0
def zoom(self):
if self.videoWidth is not None and self.videoHeight is not None:
temp = [
self.videoWidth * (self.zoomCount - 1) / self.zoomCount / 2,
self.videoHeight * (self.zoomCount - 1) / self.zoomCount / 2,
self.videoWidth - self.videoWidth *
(self.zoomCount - 1) / self.zoomCount / 2, self.videoHeight -
self.videoHeight * (self.zoomCount - 1) / self.zoomCount / 2
]
self.active_window = [int(x) for x in temp]
def flip_surface(self):
self.isFlipped = not self.isFlipped
def pan_image(self):
self.panValues = [x + 10 for x in self.panValues]
def start(self):
self.pipe.set_state(Gst.State.PLAYING)
def stop(self):
self.pipe.set_state(Gst.State.PAUSED)
def close_player(self):
if self.videoCheckTimer.isActive():
self.videoCheckTimer.stop()
if self.motionMessagePopup.isOpen:
self.motionMessagePopup.closeThis()
if self.pipe is not None:
self.isClosing = True
self.pipe.set_state(Gst.State.NULL)
# self.pipe.send_event(Gst.Event.new_eos())
if self.isRecorderSetUp:
self.videoWriter.release()
def set_video_src(self, video_source_str):
if self.pipe is not None:
self.pipe.set_state(Gst.State.NULL)
# self.pipe.send_event(Gst.Event.new_eos())
#
# if self.pipe is None or refresh:
pipe_str = video_source_str + \
'! videoconvert ! videoscale ' \
'! video/x-raw, format=RGBA ' \
'! videoflip method=0 name=flip ' \
'! appsink name=asink emit-signals=1 drop=true max-buffers=0 '
print(pipe_str)
self.pipe = Gst.parse_launch(pipe_str)
self.appSrc = self.pipe.get_by_name('src')
self.appSink = self.pipe.get_by_name('asink')
self.appSink.connect("new-sample", self.update_last_sample,
self.appSink)
self.videoFlipElement = self.pipe.get_by_name('flip')
bus = self.pipe.get_bus()
bus.add_signal_watch()
bus.enable_sync_message_emission()
bus.connect("message::error", self.on_error)
# bus.connect("message::eos", self.on_eos)
self.videoSourceStr = video_source_str
if self.demandedState == "play":
self.start()
else:
self.stop()
def on_error(self, bus, msg):
err, dbg = msg.parse_error()
print("ERROR:", msg.src.get_name(), ":", err.message)
# def on_eos(self, bus, msg):
# print("End-Of-Stream reached")
# if not self.isClosing:
# self.pipe.set_state(Gst.State.NULL)
# self.set_video_src(self.videoSourceStr, refresh=True)
def screen_shot(self, save_dir):
print("save_dir", save_dir)
if self.lastSample is not None:
cv2.imwrite(save_dir,
cv2.cvtColor(self.lastSample, cv2.COLOR_RGBA2BGRA))
return True
return False
def __init__(self,
message,
timeout=None,
platform=None,
error=False,
pause=None,
progressFn=None,
addCloseButton=False):
super().__init__()
print("message initted", message)
self.setWindowModality(QtCore.Qt.ApplicationModal)
# self.setWindowFlag(QtCore.Qt.Popup)
if addCloseButton:
self.setWindowTitle("Bilgi")
f = QtCore.Qt.WindowStaysOnTopHint
self.setWindowFlags(f)
else:
self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint
| QtCore.Qt.FramelessWindowHint)
self.isSizeFixed = False
self.isOpen = False
self.error = error
self.resources = Resources()
self.layout = QtWidgets.QVBoxLayout()
self.messageLabel = QtWidgets.QLabel()
self.messageLabel.setText(message)
self.messageLabel.setWordWrap(True)
self.setMyStyleSheet()
self.layout.addWidget(self.messageLabel)
if addCloseButton:
closeButton = QtWidgets.QPushButton(self.resources.get("close_3"))
closeButton.clicked.connect(self.closeThis)
self.layout.addWidget(closeButton)
self.setLayout(self.layout)
if progressFn is not None:
self.progress = threading.Timer(interval=1, function=progressFn)
self.progress.daemon = True
self.progress.start()
if pause is not None:
self.isOpen = True
self.show()
time.sleep(float(pause / 1000))
self.closeMessagePopupSc()
elif timeout is not None:
self.timer = threading.Timer(interval=float(timeout / 1000),
function=self.closeMessagePopupSc)
self.timer.daemon = True
self.timer.start()
self.isOpen = True
self.show()
# else:
# self.exec_()
if progressFn is not None:
progressFn()
class MessagePopup(QtWidgets.QDialog):
def __init__(self,
message,
timeout=None,
platform=None,
error=False,
pause=None,
progressFn=None,
addCloseButton=False):
super().__init__()
print("message initted", message)
self.setWindowModality(QtCore.Qt.ApplicationModal)
# self.setWindowFlag(QtCore.Qt.Popup)
if addCloseButton:
self.setWindowTitle("Bilgi")
f = QtCore.Qt.WindowStaysOnTopHint
self.setWindowFlags(f)
else:
self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint
| QtCore.Qt.FramelessWindowHint)
self.isSizeFixed = False
self.isOpen = False
self.error = error
self.resources = Resources()
self.layout = QtWidgets.QVBoxLayout()
self.messageLabel = QtWidgets.QLabel()
self.messageLabel.setText(message)
self.messageLabel.setWordWrap(True)
self.setMyStyleSheet()
self.layout.addWidget(self.messageLabel)
if addCloseButton:
closeButton = QtWidgets.QPushButton(self.resources.get("close_3"))
closeButton.clicked.connect(self.closeThis)
self.layout.addWidget(closeButton)
self.setLayout(self.layout)
if progressFn is not None:
self.progress = threading.Timer(interval=1, function=progressFn)
self.progress.daemon = True
self.progress.start()
if pause is not None:
self.isOpen = True
self.show()
time.sleep(float(pause / 1000))
self.closeMessagePopupSc()
elif timeout is not None:
self.timer = threading.Timer(interval=float(timeout / 1000),
function=self.closeMessagePopupSc)
self.timer.daemon = True
self.timer.start()
self.isOpen = True
self.show()
# else:
# self.exec_()
if progressFn is not None:
progressFn()
def openThis(self):
self.isOpen = True
self.show()
# self.exec_()
def closeThis(self):
self.close()
self.isOpen = False
def closeEvent(self, a0: QtGui.QCloseEvent) -> None:
self.isOpen = False
def setMyStyleSheet(self):
self.resources.set_color(self, self.resources.get_primary_color())
self.setStyleSheet(self.resources.styleSheet())
if not self.error:
self.messageLabel.setStyleSheet(
"QLabel{font: 50px bold; color : " +
self.resources.secondaryColor + ";}")
else:
self.messageLabel.setStyleSheet(
"QLabel{font: 50px bold; color : " + self.resources.error +
";}")
def closeMessagePopupSc(self):
self.close()
self.isOpen = False
def changeEvent(self, event):
if event.type() == QtCore.QEvent.WindowStateChange:
if self.isMinimized() or self.isMaximized():
self.showNormal()
def __init__(self, user_permission, parent=None):
super().__init__(parent=parent)
self.isAnAppRunning = False
self.resources = Resources()
layout = QtWidgets.QVBoxLayout(self)
# layout.set(QtCore.Qt.RightToLeft)
# layout.setAlignment(QtCore.Qt.AlignRight)
layout.setContentsMargins(10, 10, 10, 10)
disk_usage_info_label = QtWidgets.QLabel("")
# disk_usage_info_label.setFixedSize(400, 30)
disk_progress_bar = DiskProgressBar(label=disk_usage_info_label)
# disk_progress_bar.setFixedSize(100, 30)
layout2 = QtWidgets.QHBoxLayout()
panel_app = self.create_menu_item(
"Panel", self.launch_to_panel,
UKBParams.dirResources + "dashboard-3-128.png")
records_app = self.create_menu_item(
"Kayıtlar", self.launch_to_records,
UKBParams.dirResources + "film-2-128.png")
tile_importer_app = self.create_menu_item(
"Harita Yükle", self.launch_to_tile_importer,
UKBParams.dirResources + "internet-128.png")
# thermal_test_app = self.create_menu_item("Termal Test", self.launch_to_thermal_test, UKBParams.dirResources + "internet-128.png")
close_app = self.create_menu_item(
"Kapat", self.launch_to_close,
UKBParams.dirResources + "power-128.png")
info_app = self.create_menu_item(
None, self.launch_to_info,
UKBParams.dirResources + "info-2-32.png")
info_app.setFixedSize(50, 50)
# info_app = PicButton(UKBParams.dirResources + "info-2-32.png")
# info_app.clicked.connect(self.launch_to_info)
layout2.addWidget(panel_app)
if user_permission > 0:
layout2.addWidget(records_app)
if SysParams.tag == "ukb-7":
layout2.addWidget(tile_importer_app)
# layout2.addWidget(thermal_test_app)
layout2.addWidget(close_app)
layout2.setSpacing(5)
layout2.setContentsMargins(0, 0, 0, 0)
self.infoBox = QtWidgets.QLabel("Hazır")
self.infoBox.setMaximumHeight(40)
self.infoBox.setAlignment(QtCore.Qt.AlignCenter)
self.chooseIkaComboBox = QtWidgets.QComboBox()
self.chooseIkaComboBox.addItem("Komodo")
self.chooseIkaComboBox.addItem("Ejder")
self.destructTimeComboBox = QtWidgets.QComboBox()
self.destructTimeComboBox.addItem("0")
self.destructTimeComboBox.addItem("15")
self.destructTimeComboBox.addItem("30")
self.destructTimeComboBox.addItem("45")
self.destructTimeComboBox.addItem("60")
self.coordinateTypeComboBox = QtWidgets.QComboBox()
self.coordinateTypeComboBox.addItem(
self.resources.get("decimal_coord"))
self.coordinateTypeComboBox.addItem(
self.resources.get("military_coord"))
self.disconnectionPolicyComboBox = QtWidgets.QComboBox()
self.disconnectionPolicyComboBox.addItem(
self.resources.get("connection_loss_rule"))
self.disconnectionPolicyComboBox.addItem(
self.resources.get("if_disconnected_return_home"))
self.disconnectionPolicyComboBox.addItem(
self.resources.get("if_disconnected_destruct").replace(
"\\n", "\n"))
# self.disconnectionPolicyComboBox.setFixedWidth(100)
self.failedHomeActioonPolicyComboBox = QtWidgets.QComboBox()
self.failedHomeActioonPolicyComboBox.addItem(
self.resources.get("home_fail_rule"))
self.failedHomeActioonPolicyComboBox.addItem(
self.resources.get("if_return_failed_do_nothing"))
self.failedHomeActioonPolicyComboBox.addItem(
self.resources.get("if_return_failed_destruct"))
# info_app = QtWidgets.QPushButton()
# info_app.clicked.connect(self.launch_to_info)
layout.setAlignment(QtCore.Qt.AlignCenter)
layout.addLayout(
self.layout_packer(
[info_app, disk_usage_info_label, disk_progress_bar]))
layout.addWidget(QtWidgets.QLabel(""))
layout.addLayout(layout2)
layout.addWidget(QtWidgets.QLabel(""))
layout.addWidget(self.infoBox)
layout.addWidget(QtWidgets.QLabel(""))
layout.addLayout(
self.layout_packer(
[self.chooseIkaComboBox, self.destructTimeComboBox]))
layout.addWidget(QtWidgets.QLabel(""))
layout.addLayout(
self.layout_packer([
self.coordinateTypeComboBox, self.disconnectionPolicyComboBox
]))
layout.addWidget(QtWidgets.QLabel(""))
def __init__(self, parent=None):
super(LoginView, self).__init__(parent=parent)
self.loggedIn = False
self.resources = Resources()
if SysParams.tag == "ukb-7":
self.iconContainer = QWidget()
self.iconContainer.setContentsMargins(0, 0, 0, 0)
layout = QHBoxLayout()
layout.setSpacing(0)
layout.setContentsMargins(0, 0, 0, 0)
self.icon = QLabel()
self.icon = PicButton(
QPixmap(UKBParams.dirResources + self.iconName))
width = 100
r = 1 / 1
self.icon.setFixedSize(width, int(width * r))
layout.addWidget(self.icon)
self.iconContainer.setLayout(layout)
# define widgets
self.loginUserNameLine = QComboBox()
self.loginUserNameLine.addItem(self.resources.get("admin"))
self.loginUserNameLine.addItem(self.resources.get("user_2"))
self.loginPasswordLine = MyLineEdit()
self.loginPasswordLine.setEchoMode(QLineEdit.Password)
self.loginPasswordLine.setPlaceholderText(
self.resources.get("password"))
self.loginPasswordLine.mousePressed = self.update_current_widget
self.current_widget = self.loginPasswordLine
self.loginNew1PasswordLine = MyLineEdit()
self.loginNew1PasswordLine.setEchoMode(QLineEdit.Password)
self.loginNew1PasswordLine.setPlaceholderText(
self.resources.get("new_password"))
self.loginNew1PasswordLine.mousePressed = self.update_current_widget
self.loginNew1PasswordLine.setVisible(False)
self.loginNew2PasswordLine = MyLineEdit()
self.loginNew2PasswordLine.setEchoMode(QLineEdit.Password)
self.loginNew2PasswordLine.setPlaceholderText(
self.resources.get("new_password_again"))
self.loginNew2PasswordLine.mousePressed = self.update_current_widget
self.loginNew2PasswordLine.setVisible(False)
self.moreOptionsLabel = ClickAbleLabel()
self.moreOptionsLabel.setText(self.resources.get("more"))
self.moreOptionsLabel.clickedFn = self.open_more_options
self.closeLabel = ClickAbleLabel()
self.closeLabel.setText(self.resources.get("close_2"))
self.closeLabel.setVisible(False)
self.coordinateTypeComboBox = QComboBox()
self.coordinateTypeComboBox.addItem(
self.resources.get("decimal_coord"))
self.coordinateTypeComboBox.addItem(
self.resources.get("military_coord"))
self.disconnectionPolicyComboBox = QComboBox()
self.disconnectionPolicyComboBox.addItem(
self.resources.get("connection_loss_rule"))
self.disconnectionPolicyComboBox.addItem(
self.resources.get("if_disconnected_return_home"))
self.disconnectionPolicyComboBox.addItem(
self.resources.get("if_disconnected_destruct"))
self.loginFromSubmitButton = QPushButton(self.resources.get('login'))
# self.loginFromSubmitButton.clicked.connect(self.loginFromSubmitButtonOnClick)
self.loginInfoBox = QLabel("")
# self.loginInfoBox.setFont(QtGui.QFont("Times", 16, QtGui.QFont.Bold))
# keyboard
keyboard_layout = QHBoxLayout()
keyboard_layout.setSpacing(5)
for n, ch in enumerate("0123456789<"):
bt = MyButton(ch)
bt.effect = ch
bt.setOnClick(self.virtual_keyboard)
bt.setMaximumWidth(50)
keyboard_layout.addWidget(bt)
# temp
self.loginPasswordLine.setText('123456')
# define forms
self.loginFormLayoutWidget = QFrame()
self.loginFormLayout = QFormLayout(self.loginFormLayoutWidget)
zeroLabel = QLabel("")
zeroLabel.setFixedSize(0, 20)
if SysParams.tag == "ukb-7":
self.loginFormLayout.addRow("", self.iconContainer)
self.loginFormLayout.addRow("", self.loginUserNameLine)
self.loginFormLayout.addRow("", self.loginPasswordLine)
self.loginFormLayout.addRow("", self.loginNew1PasswordLine)
self.loginFormLayout.addRow("", self.loginNew2PasswordLine)
# self.loginFormLayout.addRow("", self.coordinateTypeComboBox)
# self.loginFormLayout.addRow("", self.disconnectionPolicyComboBox)
self.loginFormLayout.addRow("", self.loginFromSubmitButton)
self.loginFormLayout.addRow("", self.closeLabel)
self.loginFormLayout.addRow("", self.loginInfoBox)
self.loginFormLayout.addRow("", self.moreOptionsLabel)
self.loginFormLayout.addRow("", keyboard_layout)
# define layout
self.layout = QVBoxLayout()
# style
self.setContentsMargins(50, 5, 50, 0) # left, top, right, bottom
self.layout.setSpacing(1)
self.loginFormLayout.setContentsMargins(0, 0, 0, 0)
# add to layout
self.layout.addWidget(self.loginFormLayoutWidget)
self.setLayout(self.layout)
def __init__(self, video_source_str, save_dir=None, parent=None):
super().__init__(parent=parent, pan_values=[0, 0])
self.setScaledContents(True)
self.softPlay = True
self.isMotionEnabledDetection = False
self.isMotionDetected = False
self.lastMotionTime = time.time()
# gunCam = GunCamera()
# self.flipTransform = QtGui.QTransform()
# self.flipTransform.rotate(180)
self.videoFlipElement = None
self.overlayText = ""
self.active_window = None
self.videoWidth = None
self.videoHeight = None
self.zoomCount = 1
self.maxZoom = 10
self.isFlipped = False
self.currentFlipMode = 0
self.panValues = [0, 0]
self.prevPanValues = [0, 0]
self.demandedState = "play"
self.isSurfaceScaled = False
self.lastSampleTime = time.time()
self.videoSourceStr = video_source_str
# self.isGunCamera = gunCam.cameraState
self.pipe = None
self.appSrc = None
self.appSink = None
self.lastSample = None
self.previousSample = None
self.isClosing = False
self.arr = None
# self.isEOSDone = False
self.pixmap = None
self.set_video_src(video_source_str)
self.setContentsMargins(0, 0, 0, 0)
self.scaleHeight = self.geometry().size().height() - 0
self.saveDir = save_dir
self.isRecordEnabled = False
self.isRecorderSetUp = False
self.fourcc = None
self.videoWriter = None
if save_dir is not None:
# self.isRecordEnabled = True
self.fourcc = cv2.VideoWriter_fourcc(*"mp4v")
self.videoWriter = None
self.videoCheckTimer = QtCore.QTimer()
self.videoCheckTimer.setInterval(250)
self.videoCheckTimer.timeout.connect(self.video_check_2)
self.videoCheckTimer.start()
self.resources = Resources()
self.motionMessagePopup = MessagePopup(
self.resources.get("motion_detected"), addCloseButton=True)
class Window(QtWidgets.QWidget):
def __init__(self):
super().__init__()
# self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint | QtCore.Qt.FramelessWindowHint)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.loginTab = None
self.launcherTab = None
self.loggedIn = False
self.userPermission = 0
self.resources = Resources()
self.init_ui()
def init_ui(self):
# side panel
self.sidePanel = SidePanel()
self.sidePanel.init()
# add widgets
self.layout = QtWidgets.QVBoxLayout()
self.layout.addWidget(self.sidePanel)
self.setLayout(self.layout)
# stylesheet
self.setMyStyleSheet()
# set first window
self.callLogintab()
self.showFullScreen()
# self.showMaximized()
def setMyStyleSheet(self):
self.setContentsMargins(0, 0, 0, 0)
self.layout.setContentsMargins(0, 0, 0, 0)
self.layout.setSpacing(0)
self.resources.set_color(self.sidePanel,
self.resources.get_primary_color())
self.resources.set_color(self, self.resources.get_primary_color())
self.setStyleSheet(self.resources.styleSheet())
def callLogintab(self):
if self.loginTab is None:
self.loginTab = LoginTab()
self.loginTab.setLoginSuccesFunction(self.loginSucces)
self.loginTab.closeLabel.clickedFn = self.closeApp
# self.loginTab.setLogoutFunction(self.closeApp)
self.sidePanel.loadPanel(self.loginTab)
def loginSucces(self):
# if self.joystickPatternDetector.powerPimState:
self.loggedIn = True
if self.loginTab.userName == "admin":
self.userPermission = 1
else:
self.userPermission = 0
self.launcherTab = LauncherTab(self.userPermission)
# self.panelTab.closeButton.clicked.connect(self.closeApp)
self.sidePanel.loadPanel(self.launcherTab)
# if self.userPermission == 1:
# self.communicationProcess.start()
# else:
# self.loginTab.loginInfoBoxMessage(self.resources.get('pim_not_inserted'), 'error')
def closeApp(self, is_shutdown=False):
# if self.communicationProcess is not None:
# self.communicationProcess.kill = True
# if self.panelTab is not None:
# self.panelTab.close_this()
if is_shutdown:
subprocess.call("sudo shutdown now", shell=True)
else:
self.close()