class ControlApp(QtGui.QMainWindow, Ui_MainWindow):
#def values
camDirectionAngle = 0
keylist = []
cam = None
updater = None
def __init__(self, argv):
QtGui.QMainWindow.__init__(self)
self.MainWindow = Ui_MainWindow
self.ui = Ui_MainWindow
self.MainWindow.__init__(self.window)
self.setupUi(self)
self.show()
self.logger = Logger(self.logPanel)
self.device = EthernetDevice(self.logger)
self.device.disconState = QtGui.QPixmap(
_fromUtf8('../res/disconnected'))
self.device.conState = QtGui.QPixmap(_fromUtf8('../res/connected'))
self.device.currentState = 0
self.device.power = 0
self.device.direction = 0
self.addWidgets()
self.updater = DataUpdateThread(self) # create a thread
self.updater.trigger.connect(
self.updateState) # connect to it's signal
self.updater.start()
self.cam = Camera(self)
def addWidgets(self):
""" В этом методе мы добавляем виджеты и wприсоединяем обработчики сигналов.
Обработчик сигнала для виджета так же называется "слотом"
"""
#camview setup
#path="C:\\Users\\SCB\\Downloads\\test.avi"
path = QtCore.QUrl("rtsp://192.168.2.100:7070/")
media = Phonon.MediaSource(path)
self.videoPlayer.load(media)
self.videoPlayer.play()
#set maps properties
url = "res.gmap.html"
page = QtCore.QUrl("../res/gmap.html")
self.mapView.load(page)
#thumper pic
myPixmap = QtGui.QPixmap(_fromUtf8('../res/thumper_top.jpg'))
self.thumperImage.setPixmap(myPixmap)
self.thumperImage.setScaledContents(True)
#camDirection
myPixmap = QtGui.QPixmap(_fromUtf8('../res/cam.png'))
myPixmap = myPixmap.transformed(QtGui.QTransform().rotate(
self.camDirectionAngle))
self.camDirection.setPixmap(myPixmap)
self.camDirection.setScaledContents(True)
#logger
self.actionSaveLog.triggered.connect(self.saveLog)
self.actionSaveLog.setShortcut('Ctrl+S')
#define menu actions
self.actionExit.triggered.connect(self.exitApp)
self.actionExit.setShortcut('Ctrl+Q')
#device state
#self.connectStateIndicator.connect(self.connectStateIndicator, QtCore.SIGNAL("")
self.connectStateIndicator.setPixmap(self.device.disconState)
self.connectStateIndicator.setScaledContents(True)
self.actionConnect.triggered.connect(self.changeConnectionState)
self.actionConnect.setShortcut('F5')
self.resetTelemetry()
#get state
self.actionBattery.triggered.connect(self.addMarkerWithLabel)
#init direction level (altitude direction indicator)
#init battery state
#self.actionBattery.setShortcut('R')
def keyPressEvent(self, event):
if event.key() not in self.keylist:
self.keylist.append(event.key())
self.processmultikeys(self.keylist)
def keyReleaseEvent(self, event):
if event.key() in self.keylist:
if not event.isAutoRepeat():
self.keylist.remove(event.key())
self.processmultikeys(self.keylist)
def processmultikeys(self, keyspressed):
#TODO send eth control
print(self.keylist)
Key_G = QtCore.Qt.Key_G in self.keylist
Key_J = QtCore.Qt.Key_J in self.keylist
Key_Y = QtCore.Qt.Key_Y in self.keylist
Key_H = QtCore.Qt.Key_H in self.keylist
Key_Q = QtCore.Qt.Key_Q in self.keylist
Key_E = QtCore.Qt.Key_E in self.keylist
Key_R = QtCore.Qt.Key_R in self.keylist
Key_W = QtCore.Qt.Key_W in self.keylist
Key_S = QtCore.Qt.Key_S in self.keylist
self.device.power = 0 + Key_W - Key_S
Key_A = QtCore.Qt.Key_A in self.keylist
Key_D = QtCore.Qt.Key_D in self.keylist
Key_I = QtCore.Qt.Key_I in self.keylist
self.device.direction = 0 + Key_A - Key_D
Key_SPACE = QtCore.Qt.Key_Space in self.keylist
if (self.device.isConnected()):
self.device.movePD(1 + Key_W - Key_S, 1 + Key_A - Key_D)
print("ololololololo" + str(Key_W) + "|" + str(QtCore.Qt.Key_W))
self.cam.zdirection = 0 + Key_Q - Key_E
self.cam.hdirection = 0 + Key_G - Key_J
self.cam.vdirection = 0 + Key_Y - Key_H
if (Key_I):
self.cam.moveReset()
else:
if (Key_R):
self.cam.home()
else:
self.cam.move()
def closeEvent(self, event):
# do stuff
self.updater.stop()
self.updater.wait()
self.device.destroy()
print("Goodby, World!")
sys.exit()
def exitApp(self):
self.updater.stop()
self.updater.wait()
self.device.destroy()
print("Goodby, World!")
sys.exit()
def saveLog(self):
self.logger.save()
def updateState(self):
BatteryState = self.device.getBatteryState()
self.leftBatteryState.setValue(int(BatteryState[0]))
self.rightBatteryState.setValue(int(BatteryState[1]))
self.obstacleLeftTop.setValue(10)
self.obstacleRightTop.setValue(10)
self.obstacleTop.setValue(10)
self.obstacleBottom.setValue(10)
#if BatteryState[0] <= 7000:
# self.logger.append("Low left battery level")
#if BatteryState[1] <= 7000:
# self.logger.append("Low right battery level")
def addMarkerWithLabel(self):
doc = self.mapView.page().mainFrame().documentElement()
#user = doc.findFirst("div[id=map_canvas]")
#user.evaluateJavaScript("panTo(new google.maps.LatLng(51.98646, 81.90669));")
def resetTelemetry(self):
self.obstacleLeftTop.setValue(0)
self.obstacleRightTop.setValue(0)
self.obstacleTop.setValue(0)
self.obstacleBottom.setValue(0)
def changeConnectionState(self):
if (self.device.isConnected()):
self.device.disconnect()
self.connectStateIndicator.setPixmap(self.device.disconState)
self.actionConnect.setText("Connect")
self.actionConnect.setShortcut('F5')
self.device.currentState = 0
self.resetTelemetry()
else:
if self.device.connect() == 0:
self.connectStateIndicator.setPixmap(self.device.conState)
self.actionConnect.setText("Disconnect")
self.actionConnect.setShortcut('Ctrl+D')
self.device.currentState = 1
class ControlApp(QtGui.QMainWindow, Ui_MainWindow):
#def values
camDirectionAngle=0
keylist = []
cam = None
updater = None
def __init__(self, argv):
QtGui.QMainWindow.__init__(self)
self.MainWindow=Ui_MainWindow
self.ui=Ui_MainWindow
self.MainWindow.__init__(self.window)
self.setupUi(self)
self.show()
self.logger = Logger(self.logPanel)
self.device = EthernetDevice(self.logger)
self.device.disconState = QtGui.QPixmap(_fromUtf8('../res/disconnected'))
self.device.conState = QtGui.QPixmap(_fromUtf8('../res/connected'))
self.device.currentState = 0
self.device.power=0
self.device.direction=0
self.addWidgets()
self.updater = DataUpdateThread(self) # create a thread
self.updater.trigger.connect(self.updateState) # connect to it's signal
self.updater.start()
self.cam = Camera(self)
def addWidgets(self):
""" В этом методе мы добавляем виджеты и wприсоединяем обработчики сигналов.
Обработчик сигнала для виджета так же называется "слотом"
"""
#camview setup
#path="C:\\Users\\SCB\\Downloads\\test.avi"
path=QtCore.QUrl("rtsp://192.168.2.100:7070/")
media = Phonon.MediaSource(path)
self.videoPlayer.load(media)
self.videoPlayer.play()
#set maps properties
url = "res.gmap.html"
page = QtCore.QUrl("../res/gmap.html")
self.mapView.load(page)
#thumper pic
myPixmap = QtGui.QPixmap(_fromUtf8('../res/thumper_top.jpg'))
self.thumperImage.setPixmap(myPixmap)
self.thumperImage.setScaledContents(True)
#camDirection
myPixmap = QtGui.QPixmap(_fromUtf8('../res/cam.png'))
myPixmap = myPixmap.transformed(QtGui.QTransform().rotate(self.camDirectionAngle))
self.camDirection.setPixmap(myPixmap)
self.camDirection.setScaledContents(True)
#logger
self.actionSaveLog.triggered.connect(self.saveLog)
self.actionSaveLog.setShortcut('Ctrl+S')
#define menu actions
self.actionExit.triggered.connect(self.exitApp)
self.actionExit.setShortcut('Ctrl+Q')
#device state
#self.connectStateIndicator.connect(self.connectStateIndicator, QtCore.SIGNAL("")
self.connectStateIndicator.setPixmap(self.device.disconState)
self.connectStateIndicator.setScaledContents(True)
self.actionConnect.triggered.connect(self.changeConnectionState)
self.actionConnect.setShortcut('F5')
self.resetTelemetry()
#get state
self.actionBattery.triggered.connect(self.addMarkerWithLabel)
#init direction level (altitude direction indicator)
#init battery state
#self.actionBattery.setShortcut('R')
def keyPressEvent(self, event):
if event.key() not in self.keylist:
self.keylist.append(event.key())
self.processmultikeys(self.keylist)
def keyReleaseEvent(self, event):
if event.key() in self.keylist:
if not event.isAutoRepeat():
self.keylist.remove(event.key())
self.processmultikeys(self.keylist)
def processmultikeys(self, keyspressed):
#TODO send eth control
print(self.keylist)
Key_G = QtCore.Qt.Key_G in self.keylist
Key_J = QtCore.Qt.Key_J in self.keylist
Key_Y = QtCore.Qt.Key_Y in self.keylist
Key_H = QtCore.Qt.Key_H in self.keylist
Key_Q = QtCore.Qt.Key_Q in self.keylist
Key_E = QtCore.Qt.Key_E in self.keylist
Key_R = QtCore.Qt.Key_R in self.keylist
Key_W = QtCore.Qt.Key_W in self.keylist
Key_S = QtCore.Qt.Key_S in self.keylist
self.device.power = 0 + Key_W - Key_S
Key_A = QtCore.Qt.Key_A in self.keylist
Key_D = QtCore.Qt.Key_D in self.keylist
Key_I = QtCore.Qt.Key_I in self.keylist
self.device.direction = 0 + Key_A - Key_D
Key_SPACE = QtCore.Qt.Key_Space in self.keylist
if(self.device.isConnected()):
self.device.movePD(1 + Key_W - Key_S, 1 + Key_A - Key_D)
print("ololololololo"+str(Key_W) +"|"+ str(QtCore.Qt.Key_W))
self.cam.zdirection = 0 + Key_Q - Key_E
self.cam.hdirection = 0 + Key_G - Key_J
self.cam.vdirection = 0 + Key_Y - Key_H
if(Key_I):
self.cam.moveReset();
else:
if(Key_R):
self.cam.home();
else:
self.cam.move();
def closeEvent(self, event):
# do stuff
self.updater.stop()
self.updater.wait()
self.device.destroy()
print("Goodby, World!")
sys.exit()
def exitApp(self):
self.updater.stop()
self.updater.wait()
self.device.destroy()
print("Goodby, World!")
sys.exit()
def saveLog(self):
self.logger.save()
def updateState(self):
BatteryState = self.device.getBatteryState()
self.leftBatteryState.setValue(int(BatteryState[0]))
self.rightBatteryState.setValue(int(BatteryState[1]))
self.obstacleLeftTop.setValue(10)
self.obstacleRightTop.setValue(10)
self.obstacleTop.setValue(10)
self.obstacleBottom.setValue(10)
#if BatteryState[0] <= 7000:
# self.logger.append("Low left battery level")
#if BatteryState[1] <= 7000:
# self.logger.append("Low right battery level")
def addMarkerWithLabel(self):
doc = self.mapView.page().mainFrame().documentElement()
#user = doc.findFirst("div[id=map_canvas]")
#user.evaluateJavaScript("panTo(new google.maps.LatLng(51.98646, 81.90669));")
def resetTelemetry(self):
self.obstacleLeftTop.setValue(0)
self.obstacleRightTop.setValue(0)
self.obstacleTop.setValue(0)
self.obstacleBottom.setValue(0)
def changeConnectionState(self):
if(self.device.isConnected()):
self.device.disconnect()
self.connectStateIndicator.setPixmap(self.device.disconState)
self.actionConnect.setText("Connect")
self.actionConnect.setShortcut('F5')
self.device.currentState = 0
self.resetTelemetry()
else:
if self.device.connect() == 0:
self.connectStateIndicator.setPixmap(self.device.conState)
self.actionConnect.setText("Disconnect")
self.actionConnect.setShortcut('Ctrl+D')
