def __init__(self):
super(RobPathUI, self).__init__()
path = os.path.abspath(os.path.join(os.path.dirname(__file__), '..'))
uic.loadUi(os.path.join(path, 'resources', 'robpath.ui'), self)
self.plot = QMayavi()
self.boxPlot.addWidget(self.plot)
self.plot.drawWorkingArea()
self.btnLoadMesh.clicked.connect(self.btnLoadMeshClicked)
self.btnProcessMesh.clicked.connect(self.btnProcessMeshClicked)
self.btnProcessContours.clicked.connect(self.btnProcessContoursClicked)
self.btnSaveRapid.clicked.connect(self.btnSaveRapidClicked)
self.sbPositionX.valueChanged.connect(self.changePosition)
self.sbPositionY.valueChanged.connect(self.changePosition)
self.sbPositionZ.valueChanged.connect(self.changePosition)
self.sbSizeX.valueChanged.connect(self.changeSize)
self.sbSizeY.valueChanged.connect(self.changeSize)
self.sbSizeZ.valueChanged.connect(self.changeSize)
self.btnQuit.clicked.connect(self.btnQuitClicked)
self.processing = False
self.timer = QtCore.QTimer(self.plot)
self.timer.timeout.connect(self.updateProcess)
self.robpath = RobPath()
def __init__(self):
super(RobPathUI, self).__init__()
path = os.path.abspath(os.path.join(os.path.dirname(__file__), '..'))
uic.loadUi(os.path.join(path, 'resources', 'robpath.ui'), self)
self.plot = QMayavi()
self.boxPlot.addWidget(self.plot)
self.plot.drawWorkingArea()
self.btnLoadMesh.clicked.connect(self.btnLoadMeshClicked)
self.btnProcessMesh.clicked.connect(self.btnProcessMeshClicked)
self.btnProcessContours.clicked.connect(self.btnProcessContoursClicked)
self.btnSaveRapid.clicked.connect(self.btnSaveRapidClicked)
self.sbPositionX.valueChanged.connect(self.changePosition)
self.sbPositionY.valueChanged.connect(self.changePosition)
self.sbPositionZ.valueChanged.connect(self.changePosition)
self.sbSizeX.valueChanged.connect(self.changeSize)
self.sbSizeY.valueChanged.connect(self.changeSize)
self.sbSizeZ.valueChanged.connect(self.changeSize)
self.btnQuit.clicked.connect(self.btnQuitClicked)
self.processing = False
self.timer = QtCore.QTimer(self.plot)
self.timer.timeout.connect(self.updateProcess)
self.robpath = RobPath()
class RobPathUI(QtGui.QMainWindow):
def __init__(self):
super(RobPathUI, self).__init__()
path = os.path.abspath(os.path.join(os.path.dirname(__file__), '..'))
uic.loadUi(os.path.join(path, 'resources', 'robpath.ui'), self)
self.plot = QMayavi()
self.boxPlot.addWidget(self.plot)
self.plot.drawWorkingArea()
self.btnLoadMesh.clicked.connect(self.btnLoadMeshClicked)
self.btnProcessMesh.clicked.connect(self.btnProcessMeshClicked)
self.btnProcessContours.clicked.connect(self.btnProcessContoursClicked)
self.btnSaveRapid.clicked.connect(self.btnSaveRapidClicked)
self.sbPositionX.valueChanged.connect(self.changePosition)
self.sbPositionY.valueChanged.connect(self.changePosition)
self.sbPositionZ.valueChanged.connect(self.changePosition)
self.sbSizeX.valueChanged.connect(self.changeSize)
self.sbSizeY.valueChanged.connect(self.changeSize)
self.sbSizeZ.valueChanged.connect(self.changeSize)
self.btnQuit.clicked.connect(self.btnQuitClicked)
self.processing = False
self.timer = QtCore.QTimer(self.plot)
self.timer.timeout.connect(self.updateProcess)
self.robpath = RobPath()
def changePosition(self):
x = self.sbPositionX.value()
y = self.sbPositionY.value()
z = self.sbPositionZ.value()
self.robpath.translate_mesh(np.float32([x, y, z]))
self.plot.drawMesh(self.robpath.mesh)
def changeSize(self):
sx = self.sbSizeX.value() + 0.001
sy = self.sbSizeY.value() + 0.001
sz = self.sbSizeZ.value() + 0.001
self.robpath.resize_mesh(np.float32([sx, sy, sz]))
self.changePosition()
def updatePosition(self, position):
x, y, z = position
self.sbPositionX.setValue(x)
self.sbPositionY.setValue(y)
self.sbPositionZ.setValue(z)
def updateSize(self, size):
sx, sy, sz = size
self.sbSizeX.setValue(sx)
self.sbSizeY.setValue(sy)
self.sbSizeZ.setValue(sz)
def updateProcess(self):
if self.robpath.k < len(self.robpath.levels):
self.robpath.update_process()
#self.plot.drawSlice(self.robpath.slices, self.robpath.path)
self.plot.drawPath(self.robpath.path)
self.plot.progress.setValue(100.0 * self.robpath.k / len(self.robpath.levels))
self.btnSaveRapid.setEnabled(False)
else:
self.processing = False
self.timer.stop()
self.btnSaveRapid.setEnabled(True)
def blockSignals(self, value):
self.sbPositionX.blockSignals(value)
self.sbPositionY.blockSignals(value)
self.sbPositionZ.blockSignals(value)
self.sbSizeX.blockSignals(value)
self.sbSizeY.blockSignals(value)
self.sbSizeZ.blockSignals(value)
def btnLoadMeshClicked(self):
self.blockSignals(True)
try:
filename = QtGui.QFileDialog.getOpenFileName(self.plot,
'Open file', './',
'Mesh Files (*.stl)')
print filename
self.setWindowTitle('Mesh Viewer: %s' % filename)
self.robpath.load_mesh(filename)
# -----
# TODO: Change bpoints.
self.updatePosition(self.robpath.mesh.bpoint1)
self.updateSize(self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1)
self.lblInfo.setText('Info:\n')
# -----
self.plot.drawMesh(self.robpath.mesh)
self.btnProcessMesh.setEnabled(True)
self.btnProcessContours.setEnabled(True)
except:
#self.btnProcessMesh.setEnabled(False)
#self.btnProcessContours.setEnabled(False)
pass
self.blockSignals(False)
self.plot.drawMesh(self.robpath.mesh)
def update_parameters(self):
height = self.sbHeight.value() + 0.00001
width = self.sbWidth.value() + 0.00001
overlap = 0.01 * self.sbOverlap.value()
self.robpath.set_track(height, width, overlap)
speed = self.sbSpeed.value()
power = self.sbPower.value()
self.robpath.set_speed(speed)
self.robpath.set_power(power)
carrier_gas = self.sbCarrier.value()
stirrer = self.sbStirrer.value()
turntable = self.sbTurntable.value()
self.robpath.set_powder(carrier_gas, stirrer, turntable)
def __process_shape(self):
if self.processing:
self.timer.stop()
self.processing = False
else:
self.plot.drawWorkingArea()
self.update_parameters()
self.robpath.init_process()
self.processing = True
self.timer.start(100)
def btnProcessMeshClicked(self):
self.robpath.filled = True
self.__process_shape()
def btnProcessContoursClicked(self):
self.robpath.filled = False
self.__process_shape()
# self.btnSaveRapid.setEnabled(False)
# self.plot.drawWorkingArea()
# self.update_parameters()
# self.robpath.get_contours_path()
# self.plot.drawPath(self.robpath.path)
# self.btnSaveRapid.setEnabled(True)
def btnSaveRapidClicked(self):
self.robpath.save_rapid()
QtGui.QMessageBox.information(self, "Export information", "Routine exported to the robot.")
def btnQuitClicked(self):
QtCore.QCoreApplication.instance().quit()
class RobPathUI(QtGui.QMainWindow):
def __init__(self):
super(RobPathUI, self).__init__()
path = os.path.abspath(os.path.join(os.path.dirname(__file__), '..'))
uic.loadUi(os.path.join(path, 'resources', 'robpath.ui'), self)
self.plot = QMayavi()
self.boxPlot.addWidget(self.plot)
self.plot.drawWorkingArea()
self.btnLoadMesh.clicked.connect(self.btnLoadMeshClicked)
self.btnProcessMesh.clicked.connect(self.btnProcessMeshClicked)
self.btnProcessContours.clicked.connect(self.btnProcessContoursClicked)
self.btnSaveRapid.clicked.connect(self.btnSaveRapidClicked)
self.sbPositionX.valueChanged.connect(self.changePosition)
self.sbPositionY.valueChanged.connect(self.changePosition)
self.sbPositionZ.valueChanged.connect(self.changePosition)
self.sbSizeX.valueChanged.connect(self.changeSize)
self.sbSizeY.valueChanged.connect(self.changeSize)
self.sbSizeZ.valueChanged.connect(self.changeSize)
self.btnQuit.clicked.connect(self.btnQuitClicked)
self.processing = False
self.timer = QtCore.QTimer(self.plot)
self.timer.timeout.connect(self.updateProcess)
self.robpath = RobPath()
def changePosition(self):
x = self.sbPositionX.value()
y = self.sbPositionY.value()
z = self.sbPositionZ.value()
self.robpath.translate_mesh(np.float32([x, y, z]))
self.plot.drawMesh(self.robpath.mesh)
def changeSize(self):
sx = self.sbSizeX.value() + 0.001
sy = self.sbSizeY.value() + 0.001
sz = self.sbSizeZ.value() + 0.001
self.robpath.resize_mesh(np.float32([sx, sy, sz]))
self.changePosition()
def updatePosition(self, position):
x, y, z = position
self.sbPositionX.setValue(x)
self.sbPositionY.setValue(y)
self.sbPositionZ.setValue(z)
def updateSize(self, size):
sx, sy, sz = size
self.sbSizeX.setValue(sx)
self.sbSizeY.setValue(sy)
self.sbSizeZ.setValue(sz)
def updateProcess(self):
if self.robpath.k < len(self.robpath.levels):
self.robpath.update_process()
#self.plot.drawSlice(self.robpath.slices, self.robpath.path)
self.plot.drawPath(self.robpath.path)
self.plot.progress.setValue(100.0 * self.robpath.k /
len(self.robpath.levels))
self.btnSaveRapid.setEnabled(False)
else:
self.processing = False
self.timer.stop()
self.btnSaveRapid.setEnabled(True)
def blockSignals(self, value):
self.sbPositionX.blockSignals(value)
self.sbPositionY.blockSignals(value)
self.sbPositionZ.blockSignals(value)
self.sbSizeX.blockSignals(value)
self.sbSizeY.blockSignals(value)
self.sbSizeZ.blockSignals(value)
def btnLoadMeshClicked(self):
self.blockSignals(True)
try:
filename = QtGui.QFileDialog.getOpenFileName(
self.plot, 'Open file', './', 'Mesh Files (*.stl)')
print filename
self.setWindowTitle('Mesh Viewer: %s' % filename)
self.robpath.load_mesh(filename)
# -----
# TODO: Change bpoints.
self.updatePosition(self.robpath.mesh.bpoint1)
self.updateSize(self.robpath.mesh.bpoint2 -
self.robpath.mesh.bpoint1)
self.lblInfo.setText('Info:\n')
# -----
self.plot.drawMesh(self.robpath.mesh)
self.btnProcessMesh.setEnabled(True)
self.btnProcessContours.setEnabled(True)
except:
#self.btnProcessMesh.setEnabled(False)
#self.btnProcessContours.setEnabled(False)
pass
self.blockSignals(False)
self.plot.drawMesh(self.robpath.mesh)
def update_parameters(self):
height = self.sbHeight.value() + 0.00001
width = self.sbWidth.value() + 0.00001
overlap = 0.01 * self.sbOverlap.value()
self.robpath.set_track(height, width, overlap)
speed = self.sbSpeed.value()
power = self.sbPower.value()
self.robpath.set_speed(speed)
self.robpath.set_power(power)
carrier_gas = self.sbCarrier.value()
stirrer = self.sbStirrer.value()
turntable = self.sbTurntable.value()
self.robpath.set_powder(carrier_gas, stirrer, turntable)
def __process_shape(self):
if self.processing:
self.timer.stop()
self.processing = False
else:
self.plot.drawWorkingArea()
self.update_parameters()
self.robpath.init_process()
self.processing = True
self.timer.start(100)
def btnProcessMeshClicked(self):
self.robpath.filled = True
self.__process_shape()
def btnProcessContoursClicked(self):
self.robpath.filled = False
self.__process_shape()
# self.btnSaveRapid.setEnabled(False)
# self.plot.drawWorkingArea()
# self.update_parameters()
# self.robpath.get_contours_path()
# self.plot.drawPath(self.robpath.path)
# self.btnSaveRapid.setEnabled(True)
def btnSaveRapidClicked(self):
self.robpath.save_rapid()
QtGui.QMessageBox.information(self, "Export information",
"Routine exported to the robot.")
def btnQuitClicked(self):
QtCore.QCoreApplication.instance().quit()
