class QMemAnalyzer(QWidget):
def __init__(self, parent=None):
super().__init__(parent)
self.__ui = Ui_Widget()
self.__ui.setupUi(self)
self.file_path = ""
self.__ui.lineEdit_E1ID.setText("11")
self.__ui.lineEdit_E1Size.setText("32")
self.__ui.lineEdit_E2ID.setText("12")
self.__ui.lineEdit_E2Size.setText("32")
self.__ui.lineEdit_FID.setText("13")
self.__ui.lineEdit_FSize.setText("8")
def on_Button_FileSelect_released(self):
cur_dir = QDir.currentPath()
dlgTitle = "请选择文件："
filt = "All(*.*)"
file_list, filt_used = QFileDialog.getOpenFileName(
self, dlgTitle, cur_dir, filt)
if len(file_list) > 0:
file_name = file_list.split("/")[-1]
self.__ui.lineEdit.setText(file_name)
self.file_path = file_list
def on_pushButton_released(self):
id_eeprom1 = int(self.__ui.lineEdit_E1ID.text())
id_eeprom2 = int(self.__ui.lineEdit_E2ID.text())
id_flash = int(self.__ui.lineEdit_FID.text())
size_eeprom1 = int(self.__ui.lineEdit_E1Size.text())
size_eeprom2 = int(self.__ui.lineEdit_E2Size.text())
size_flash = int(self.__ui.lineEdit_FSize.text())
print("plot")
class QmyWidget(QWidget):
def __init__(self, parent=None):
super().__init__(parent=parent)
self._ui = Ui_Widget()
self._ui.setupUi(self)
# 绑定信号
self._ui.horizontalSlider.valueChanged.connect(self.my_valueChanged)
self._ui.horizontalScrollBar.valueChanged.connect(self.my_valueChanged)
@pyqtSlot(bool)
def on_checkBox_Text_clicked(self, checked: bool): # 设置TextVisible
self._ui.progressBar.setTextVisible(checked)
@pyqtSlot(bool)
def on_checkBox_Inverted_clicked(self, checked: bool): # 倒转
self._ui.progressBar.setInvertedAppearance(checked)
def on_radioButton_Percent_clicked(self): # 设置显示格式
self._ui.progressBar.setFormat('%p%')
def on_radioButton_Value_clicked(self): # 设置显示格式
self._ui.progressBar.setFormat('%v')
def my_valueChanged(self, value): # 改变progressBar的值
self._ui.progressBar.setValue(value)
class QmyWideget(QWidget):
def __init__(self, parent=None):
super().__init__(parent=parent)
self._ui = Ui_Widget()
self._ui.setupUi(self) # 创建UI
self.human = Human(18, '小明') # 绑定自定义信号
self.human.nameChanged.connect(self.my_nameChanged)
self.human.ageChanged[int].connect(self.my_ageChanged_int)
self.human.ageChanged[str].connect(self.my_ageChanged_str)
# ============自定义槽函数============
def my_nameChanged(self, name): # nameChanged(str)响应
self._ui.lineEdit_nameStr.setText('Hello, %s!' % name)
@pyqtSlot(int)
def my_ageChanged_int(self, age): # ageChanged(int)响应
self._ui.lineEdit_ageInt.setText(str(age))
@pyqtSlot(str)
def my_ageChanged_str(self, info): # ageChanged(str)响应
self._ui.lineEdit_ageStr.setText(info)
# ============自动关联槽函数============
def on_slider_SetAge_valueChanged(self, value): # 滑块改变年龄
self.human.setAge(value)
def on_pushButton_clicked(self): # 设置姓名
name = self._ui.lineEdit_inputName.text()
self.human.setName(name)
def __init__(self, parent=None):
super().__init__(parent=parent)
self._ui = Ui_Widget()
self._ui.setupUi(self)
# 绑定信号
self._ui.horizontalSlider.valueChanged.connect(self.my_valueChanged)
self._ui.horizontalScrollBar.valueChanged.connect(self.my_valueChanged)
def __init__(self, parent=None):
super().__init__(parent=parent)
self._ui = Ui_Widget()
self._ui.setupUi(self) # 创建UI
self.human = Human(18, '小明') # 绑定自定义信号
self.human.nameChanged.connect(self.my_nameChanged)
self.human.ageChanged[int].connect(self.my_ageChanged_int)
self.human.ageChanged[str].connect(self.my_ageChanged_str)
def __init__(self):
super(MainWindow, self).__init__()
self.ui = Ui_Widget()
self.ui.setupUi(self)
####################################
# Figure
self.distance_fig = Figure()
self.distance_canvas = FigureCanvas(self.distance_fig)
self.ui.DistanceLayout.addWidget(self.distance_canvas)
self.visual_fig = Figure()
self.visual_canvas = FigureCanvas(self.visual_fig)
self.ui.visualization_layout.addWidget(self.visual_canvas)
self.visual_cnt = 0
####################################
# Button Interactive
self.ui.map_change_Down.clicked.connect(self.map_change_down_clicked)
self.ui.map_change.clicked.connect(self.mpa_change_clicked)
####################################
# Img Path
self.map_100_path = "img/icon/map_100m.png"
self.map_200_path = "img/icon/map_200m.png"
self.map_400_path = "img/icon/map_400m.png"
self.map_800_path = "img/icon/map_800m.png"
self.map_1600_path = "img/icon/map_1600m.png"
self.Scale_factor = scale_100m
self.intruder_img_path = "img/icon/Intruder Symbol.png"
self.ownship_img_path = "img/icon/Ownship Symbol.png"
####################################
# Map Parameter
self.map_size = 100
self.map_img = read_img(self.map_100_path, map_row, map_col)
self.Scale_factor = scale_100m
####################################
# Check aircraft is in MAP
self.check_Ownship_in_map = 0
self.check_Intruder_in_map = 0
####################################
# Update GUI
self.timer = QTimer()
self.connect(self.timer, SIGNAL("timeout()"), self.visual_UI)
self.timer.start(33)
self.prev_time = 0
####################################
# Debug Part
self.check_Hz = 0
self.plot_visual = 10
def __init__(self, parent=None):
super().__init__(parent=parent)
self._ui = Ui_Widget()
self._ui.setupUi(self)
self._timer = QTimer()
self._timer.stop()
self._timer.setInterval(1000)
self._timer.timeout.connect(self.my_timer_timeout)
self._counter = QTime()
def __init__(self, parent=None):
super().__init__(parent)
self.__ui = Ui_Widget()
self.__ui.setupUi(self)
self.file_path = ""
self.__ui.lineEdit_E1ID.setText("11")
self.__ui.lineEdit_E1Size.setText("32")
self.__ui.lineEdit_E2ID.setText("12")
self.__ui.lineEdit_E2Size.setText("32")
self.__ui.lineEdit_FID.setText("13")
self.__ui.lineEdit_FSize.setText("8")
class QmyWidget(QWidget):
def __init__(self, parent=None, flags=Qt.WindowFlags()):
super().__init__(parent=parent, flags=flags)
self._ui = Ui_Widget()
self._ui.setupUi(self)
# ==== 自关联槽函数 ====
def on_pushButton_Left_clicked(self): # 居左
self._ui.lineEdit.setAlignment(Qt.AlignLeft)
def on_pushButton_Center_clicked(self): # 居中
self._ui.lineEdit.setAlignment(Qt.AlignCenter)
def on_pushButton_Right_clicked(self): # 居右
self._ui.lineEdit.setAlignment(Qt.AlignRight)
@pyqtSlot(bool)
def on_pushButton_Bold_clicked(self, checked: bool): # 加粗
font = self._ui.lineEdit.font()
font.setBold(checked)
self._ui.lineEdit.setFont(font)
@pyqtSlot(bool)
def on_pushButton_Italic_clicked(self, checked: bool): # 斜体
font = self._ui.lineEdit.font()
font.setItalic(checked)
self._ui.lineEdit.setFont(font)
@pyqtSlot(bool)
def on_pushButton_Underline_clicked(self, checked: bool): # 下划线
font = self._ui.lineEdit.font()
font.setUnderline(checked)
self._ui.lineEdit.setFont(font)
@pyqtSlot(bool)
def on_checkBox_ReadOnly_clicked(self, checked: bool): # ReadOnly
self._ui.lineEdit.setReadOnly(checked)
@pyqtSlot(bool)
def on_checkBox_EnaBled_clicked(self, checked: bool): # EnaBled
self._ui.lineEdit.setEnabled(checked)
@pyqtSlot(bool)
def on_checkBox_ClearButtonEnabled_clicked(
self, checked: bool): # ClearButtonEnabled
self._ui.lineEdit.setClearButtonEnabled(checked)
class QmyWidget(QWidget):
def __init__(self, parent=None):
super().__init__(parent=parent)
self._ui = Ui_Widget()
self._ui.setupUi(self)
def on_pushButton_GetNowTime_clicked(self):
curDateTime = QDateTime.currentDateTime()
self._ui.timeEdit.setTime(curDateTime.time())
self._ui.lineEdit_Time.setText(curDateTime.toString('hh:mm:ss'))
self._ui.dateEdit.setDate(curDateTime.date())
self._ui.lineEdit_Date.setText(curDateTime.toString('yyyy/MM/dd'))
self._ui.dateTimeEdit.setDateTime(curDateTime)
self._ui.lineEdit_DateTime.setText(
curDateTime.toString('yyyy/MM/dd hh:mm:ss'))
def on_pushButton_SetTime_clicked(self):
tmStr = self._ui.lineEdit_Time.text()
tm = QTime.fromString(tmStr, 'hh:mm:ss')
self._ui.timeEdit.setTime(tm)
def on_pushButton_SetDate_clicked(self):
dtStr = self._ui.lineEdit_Date.text()
dt = QDate.fromString(dtStr, 'yyyy/MM/dd')
self._ui.dateEdit.setDate(dt)
def on_pushButton_SetDateTime_clicked(self):
dttmStr = self._ui.lineEdit_DateTime.text()
dttm = QDateTime.fromString(dttmStr, 'yyyy/MM/dd hh:mm:ss')
self._ui.dateTimeEdit.setDateTime(dttm)
def on_calendarWidget_selectionChanged(self):
date = self._ui.calendarWidget.selectedDate()
self._ui.lineEdit_Search.setText(date.toString('yyyy年MM月dd日'))
def on_dateTimeEdit_dateChanged(self, dateTime):
self._ui.lineEdit_DateTime.setText(
dateTime.toString('yyyy/MM/dd hh:mm:ss'))
def on_dateEdit_dateChanged(self, date):
self._ui.lineEdit_Date.setText(date.toString('yyyy/MM/dd'))
def on_timeEdit_timeChanged(self, time):
self._ui.lineEdit_Time.setText(time.toString('hh:mm:ss'))
class QmyWidget(QWidget):
def __init__(self, parent=None):
super().__init__(parent)
self._ui = Ui_Widget()
self._ui.setupUi(self)
def on_pushButton_Total_clicked(self): # 输出总价
num = int(self._ui.lineEdit_Count.text()) # 获取数量
price = float(self._ui.lineEdit_Price.text()) # 获取价格
total = num * price
self._ui.lineEdit_Total_Line.setText('%.2f' % total) # 输出总价
@pyqtSlot(int)
def on_spinBox_valueChanged(self, weight: int):
price = self._ui.doubleSpinBox.value() # 获取价格
self._ui.lineEdit_Total_Spin.setText(str(price * weight)) # 输出总价
@pyqtSlot(float)
def on_doubleSpinBox_valueChanged(self, price):
widget = self._ui.spinBox.value() # 获取重量
self._ui.lineEdit_Total_Spin.setText(str(price * widget)) # 输出价格
class QmyWidget(QWidget):
def __init__(self, parent=None):
super().__init__(parent=parent)
self._ui = Ui_Widget()
self._ui.setupUi(self)
self._timer = QTimer()
self._timer.stop()
self._timer.setInterval(1000)
self._timer.timeout.connect(self.my_timer_timeout)
self._counter = QTime()
def on_pushButton_Start_clicked(self):
self._timer.start()
self._counter.start()
self._ui.pushButton_Start.setEnabled(False)
self._ui.pushButton_Stop.setEnabled(True)
self._ui.pushButton_SetTime.setEnabled(False)
def on_pushButton_Stop_clicked(self):
self._timer.stop()
tms = self._counter.elapsed()
ms = tms % 1000
sec = tms / 1000
timerstr = f'当前经过时间：{sec}s {ms}ms'
self._ui.label_Reduce.setText(timerstr)
self._ui.pushButton_Start.setEnabled(True)
self._ui.pushButton_Stop.setEnabled(False)
self._ui.pushButton_SetTime.setEnabled(True)
def on_pushButton_SetTime_clicked(self):
self._timer.setInterval(self._ui.timeEdit.value())
def my_timer_timeout(self):
curTime = QTime.currentTime()
self._ui.lcdNumber_Hour.display(curTime.hour())
self._ui.lcdNumber_Minute.display(curTime.minute())
self._ui.lcdNumber_Second.display(curTime.second())
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.center()
self.ui = Ui_Widget()
self.ui.setupUi(self)
self.alpha = 0.0
self.betta = 0.0
self.sc = 1.0
#создание тора
self.Torus = makeTorus()
self.amount = len(self.Torus)-1
self.matr = qtMatrix()
class QmyWidget(QWidget):
def __init__(self, parent=None):
super().__init__(parent=parent)
self._ui = Ui_Widget()
self._ui.setupUi(self)
def on_pushButton_InitList_clicked(self):
icon = QIcon(':/new/prefix1/images/unit.ico')
self._ui.comboBox_City.clear()
city = ['绵阳市', '成都市', '德阳市', '资阳市', '达州市']
for name in city:
self._ui.comboBox_City.addItem(icon, name)
def on_pushButton_ClearList_clicked(self):
self._ui.comboBox_City.clear()
def on_pushButton_InitCity_clicked(self):
icon = QIcon(':/new/prefix1/images/aim.ico')
self._ui.comboBox_User.clear()
cities = {'Beijing': 10, 'shanghai': 21, 'tianjin': 22}
for k, v in cities.items():
self._ui.comboBox_User.addItem(icon, k, v)
@pyqtSlot(bool)
def on_checkBox_clicked(self, checked):
self._ui.comboBox_City.setEditable(checked)
@pyqtSlot(str)
def on_comboBox_City_currentIndexChanged(self, curText):
self._ui.lineEdit.setText(curText)
@pyqtSlot(str)
def on_comboBox_User_currentIndexChanged(self, curText):
self._ui.lineEdit.setText(curText)
zone = self._ui.comboBox_User.currentData()
if zone:
self._ui.lineEdit.setText(f'城市：{curText}区号：{zone}')
def __init__(self, parent=None, flags=Qt.WindowFlags()):
super().__init__(parent=parent, flags=flags)
self._ui = Ui_Widget()
self._ui.setupUi(self)
class MainWindow(QMainWindow):
def __init__(self):
super(MainWindow, self).__init__()
self.ui = Ui_Widget()
self.ui.setupUi(self)
####################################
# Figure
self.distance_fig = Figure()
self.distance_canvas = FigureCanvas(self.distance_fig)
self.ui.DistanceLayout.addWidget(self.distance_canvas)
self.visual_fig = Figure()
self.visual_canvas = FigureCanvas(self.visual_fig)
self.ui.visualization_layout.addWidget(self.visual_canvas)
self.visual_cnt = 0
####################################
# Button Interactive
self.ui.map_change_Down.clicked.connect(self.map_change_down_clicked)
self.ui.map_change.clicked.connect(self.mpa_change_clicked)
####################################
# Img Path
self.map_100_path = "img/icon/map_100m.png"
self.map_200_path = "img/icon/map_200m.png"
self.map_400_path = "img/icon/map_400m.png"
self.map_800_path = "img/icon/map_800m.png"
self.map_1600_path = "img/icon/map_1600m.png"
self.Scale_factor = scale_100m
self.intruder_img_path = "img/icon/Intruder Symbol.png"
self.ownship_img_path = "img/icon/Ownship Symbol.png"
####################################
# Map Parameter
self.map_size = 100
self.map_img = read_img(self.map_100_path, map_row, map_col)
self.Scale_factor = scale_100m
####################################
# Check aircraft is in MAP
self.check_Ownship_in_map = 0
self.check_Intruder_in_map = 0
####################################
# Update GUI
self.timer = QTimer()
self.connect(self.timer, SIGNAL("timeout()"), self.visual_UI)
self.timer.start(33)
self.prev_time = 0
####################################
# Debug Part
self.check_Hz = 0
self.plot_visual = 10
def map_change_down_clicked(self):
if (self.map_size == 200):
self.map_size = 100
self.Scale_factor = scale_100m
elif (self.map_size == 400):
self.map_size = 200
self.Scale_factor = scale_200m
elif (self.map_size == 800):
self.map_size = 400
self.Scale_factor = scale_400m
elif (self.map_size == 1600):
self.map_size = 800
self.Scale_factor = scale_800m
self.visual_map()
def mpa_change_clicked(self):
if (self.map_size == 100):
self.map_size = 200
self.Scale_factor = scale_200m
elif (self.map_size == 200):
self.map_size = 400
self.Scale_factor = scale_400m
elif (self.map_size == 400):
self.map_size = 800
self.Scale_factor = scale_800m
elif (self.map_size == 800):
self.map_size = 1600
self.Scale_factor = scale_1600m
self.visual_map()
def visual_UI(self):
if (self.check_Hz == 1):
now = time.time()
print("Hz : " + str(1 / (now - self.prev_time)))
self.prev_time = now
self.visual_img()
self.visual_map()
self.visual_txt()
self.visual_Plot()
if (self.visual_cnt % self.plot_visual == 0):
self.visual_visual()
self.visual_cnt += 1
def visual_visual(self):
self.visual_ax = self.visual_fig.add_subplot(111, projection='3d')
self.visual_ax.cla()
self.visual_ax.scatter([ros.Ownship_lat], [ros.Ownship_lon],
[ros.Ownship_alt],
color='b')
self.visual_ax.scatter([ros.Intruder_lat], [ros.Intruder_lon],
[ros.Intruder_alt],
color='r')
self.visual_ax.set_xlim(36.5, 36.68)
self.visual_ax.set_ylim(126.2, 126.4)
self.visual_ax.set_zlim(0, 2000)
self.visual_ax.grid()
self.visual_canvas.draw()
def visual_Plot(self):
self.distance_ax = self.distance_fig.add_subplot(111)
self.distance_ax.cla()
if (len(ros.distance_list) < ros.plot_cnt):
temp_distance_list = [
0 for i in range(ros.plot_cnt - len(ros.distance_list))
] + ros.distance_list
else:
temp_distance_list = ros.distance_list
self.distance_ax.plot(ros.plot_time_table, temp_distance_list, 'r')
self.distance_ax.set_ylim(0, 5000)
self.distance_ax.axhspan(0, 2000, facecolor='0.5', alpha=0.5)
self.distance_ax.grid()
self.distance_canvas.draw()
def visual_map(self):
map_path_list = [
self.map_100_path, self.map_200_path, self.map_400_path,
self.map_800_path, self.map_1600_path
]
self.map_img = read_img(
map_path_list[int(math.log(self.map_size / 100, 2))], map_row,
map_col)
ownship_img = read_img(self.ownship_img_path, icon_row_col,
icon_row_col)
intruder_img = read_img(self.intruder_img_path, icon_row_col,
icon_row_col)
height, width, channel = ownship_img.shape
matrix = cv2.getRotationMatrix2D((width / 2, height / 2),
-ros.Ownship_heading, 1)
rot_ownship_img = cv2.warpAffine(ownship_img, matrix, (width, height))
matrix = cv2.getRotationMatrix2D((width / 2, height / 2),
-ros.Intruder_heading, 1)
rot_intruder_img = cv2.warpAffine(intruder_img, matrix,
(width, height))
ownship_row_in_map = map_row / 2 - int(
ros.Ownship_local_x * self.Scale_factor)
ownship_col_in_map = map_col / 2 + int(
ros.Ownship_local_y * self.Scale_factor)
Intruder_row_in_map = map_row / 2 - int(
ros.Intruder_local_x * self.Scale_factor)
Intruder_col_in_map = map_col / 2 + int(
ros.Intruder_local_y * self.Scale_factor)
height, width, channel = rot_intruder_img.shape
check_image_size = int(height / 2)
if (Intruder_row_in_map < map_row - check_image_size
and Intruder_row_in_map > check_image_size
and Intruder_col_in_map < map_col - check_image_size
and Intruder_col_in_map > check_image_size):
self.overwrite_map_img = image_add_function(
self.map_img, rot_intruder_img, Intruder_row_in_map,
Intruder_col_in_map)
self.check_Intruder_in_map = 1
else:
self.check_Intruder_in_map = 0
if (ownship_row_in_map < map_row - check_image_size
and ownship_row_in_map > check_image_size
and ownship_col_in_map < map_col - check_image_size
and ownship_col_in_map > check_image_size):
if (self.check_Intruder_in_map):
self.overwrite_map_img = image_add_function(
self.overwrite_map_img, rot_ownship_img,
ownship_row_in_map, ownship_col_in_map)
else:
self.overwrite_map_img = image_add_function(
self.map_img, rot_ownship_img, ownship_row_in_map,
ownship_col_in_map)
self.check_Ownship_in_map = 1
else:
self.check_Ownship_in_map = 0
# Add indicator Text
# map, text, location, font, fontsclae, color, thickness
if (self.check_Intruder_in_map):
cv2.putText(self.overwrite_map_img, "Intruder",
(Intruder_col_in_map - 30, Intruder_row_in_map - 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1)
if (self.check_Ownship_in_map):
cv2.putText(self.overwrite_map_img, "Ownship",
(ownship_col_in_map - 30, ownship_row_in_map - 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1)
if (self.check_Intruder_in_map == 0
and self.check_Ownship_in_map == 0):
height, width, channel = self.map_img.shape
bytesPerLine = 3 * width
qImg = QImage(self.map_img.data, width, height, bytesPerLine,
QImage.Format_RGB888)
else:
height, width, channel = self.overwrite_map_img.shape
bytesPerLine = 3 * width
qImg = QImage(self.overwrite_map_img.data, width, height,
bytesPerLine, QImage.Format_RGB888)
pixmap = QPixmap(qImg)
pixmap = pixmap.scaled(map_col, map_row, QtCore.Qt.KeepAspectRatio)
self.ui.MAP.setPixmap(pixmap)
def visual_txt(self):
self.ui.IN_Ownship_lat.setText(str(ros.Ownship_lat))
self.ui.IN_Ownship_lon.setText(str(ros.Ownship_lon))
self.ui.IN_Ownship_Alt.setText(str(ros.Ownship_alt))
self.ui.IN_Ownship_Head.setText(str(ros.Ownship_heading))
self.ui.IN_Ownship_Hor_vel.setText(str(ros.Ownship_hor_vel))
self.ui.IN_Ownship_Ver_vel.setText(str(ros.Ownship_ver_vel))
self.ui.IN_Ownship_x.setText(str(ros.Ownship_local_x))
self.ui.IN_Ownship_y.setText(str(ros.Ownship_local_y))
self.ui.IN_Intruder_lat.setText(str(ros.Intruder_lat))
self.ui.IN_Intruder_lon.setText(str(ros.Intruder_lon))
self.ui.IN_Intruder_Alt.setText(str(ros.Intruder_alt))
self.ui.IN_Intruder_Head.setText(str(ros.Intruder_heading))
self.ui.IN_Intruder_Hor_vel.setText(str(ros.Intruder_hor_vel))
self.ui.IN_Intruder_Ver_vel.setText(str(ros.Intruder_ver_vel))
self.ui.IN_Intruder_x.setText(str(ros.Intruder_local_x))
self.ui.IN_Intruder_y.setText(str(ros.Intruder_local_y))
self.ui.IN_distance.setText(str(ros.distance))
def visual_img(self):
self.ui.IN_ROS_TIME.setText(str(ros.ROS_TIME))
year = datetime.datetime.fromtimestamp(ros.ROS_TIME).year
month = datetime.datetime.fromtimestamp(ros.ROS_TIME).month
if (len(str(month)) == 1):
month = "0" + str(month)
day = datetime.datetime.fromtimestamp(ros.ROS_TIME).day
if (len(str(day)) == 1):
day = "0" + str(day)
hour = datetime.datetime.fromtimestamp(ros.ROS_TIME).hour
if (len(str(hour)) == 1):
hour = "0" + str(hour)
minute = datetime.datetime.fromtimestamp(ros.ROS_TIME).minute
if (len(str(minute)) == 1):
minute = "0" + str(minute)
second = datetime.datetime.fromtimestamp(ros.ROS_TIME).second
if (len(str(second)) == 1):
second = "0" + str(second)
ROS_datetime = str(year) + '-' + str(month) + "-" + str(
day) + " " + str(hour) + ":" + str(minute) + ":" + str(second)
self.ui.CurrentTime.setText(str(ROS_datetime))
for i in range(10):
img_path1 = "/home/usrg-asus/Civil/bag_file/200926_06/video/frame0/" + str(
ros.ROS_TIME) + str(i) + ".jpg"
if (os.path.exists(img_path1)):
pixmap = QPixmap(QImage(img_path1))
pixmap = pixmap.scaled(480, 270, QtCore.Qt.KeepAspectRatio)
self.ui.Img_view1.setPixmap(pixmap)
img_path2 = "/home/usrg-asus/Civil/bag_file/200926_06/video/frame1/" + str(
ros.ROS_TIME) + str(i) + ".jpg"
if (os.path.exists(img_path2)):
pixmap = QPixmap(QImage(img_path2))
pixmap = pixmap.scaled(480, 270, QtCore.Qt.KeepAspectRatio)
self.ui.Img_view3.setPixmap(pixmap)
img_path3 = "/home/usrg-asus/Civil/bag_file/200926_06/video/frame2/" + str(
ros.ROS_TIME) + str(i) + ".jpg"
if (os.path.exists(img_path3)):
pixmap = QPixmap(QImage(img_path3))
pixmap = pixmap.scaled(480, 270, QtCore.Qt.KeepAspectRatio)
self.ui.Img_view2.setPixmap(pixmap)
def __init__(self, parent=None):
super().__init__(parent=parent)
self._ui = Ui_Widget()
self._ui.setupUi(self)
class Widget(QtGui.QWidget):
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.center()
self.ui = Ui_Widget()
self.ui.setupUi(self)
self.alpha = 0.0
self.betta = 0.0
self.sc = 1.0
#создание тора
self.Torus = makeTorus()
self.amount = len(self.Torus)-1
self.matr = qtMatrix()
def center(self):
screen = QtGui.QDesktopWidget().screenGeometry()
size = self.geometry()
self.move((screen.width()-size.width())/2, (screen.height()-size.height())/2)
def mouseMoveEvent(self, event):
x, y = event.pos().x(), event.pos().y()
if 0<0.5*x<360 and 0<0.5*y<360:
#~ print(x,y)
self.alpha = 0.01*x
self.betta = 0.01*y
self.update()
#~ масштабирование по "+", "-"
def keyPressEvent(self,event):
st = 0.25
if event.key() == QtCore.Qt.Key_Plus and self.sc+st > 0:
self.sc += st
#~ print(self.sc)
self.update()
elif event.key() == QtCore.Qt.Key_Minus and self.sc-st > 0:
self.sc -= st
#~ print(self.sc)
self.update()
def paintEvent(self, event):
size = self.size()
ox = size.width()/2
oy = size.height()/2
matr = self.matr
#~ объявление всех матриц для использования
k=60
matrScale = matr.scale(k*self.sc)
matrRZ = matr.rotateZ(self.alpha)
matrRX = matr.rotateX(self.betta)
vectTrans = QtGui.QVector4D(ox,oy,0,0)
#~ получение "перспективных" вершин
vect_Torus = self.Torus
if self.ui.checkBox.isChecked():
vect_Torus = [vect_perspective(matr,self.Torus[i]) for i in range(0, self.amount+1)]
#~ общая матрица
matrTotal = matrRZ*matrRX*matr.exchange*matrScale
#~ камера применяется почти в конце
if self.ui.checkBox_2.isChecked():
matrTotal *= matr.lookAt()
paint = QtGui.QPainter()
paint.begin(self)
paint.setPen(QtCore.Qt.blue)
#~ каждый вектор умножается на общую матрицу и "немного" сдвигается
for i in range(0, self.amount, 2):
v1 = vect_Torus[i+0]*matrTotal
v2 = vect_Torus[i+1]*matrTotal
v1 += vectTrans
v2 += vectTrans
paint.drawLine(v1.x(),v1.y(),v2.x(),v2.y())
paint.end()
self.update()
class MainWindow(QMainWindow):
def __init__(self):
super(MainWindow, self).__init__()
self.ui = Ui_Widget()
self.ui.setupUi(self)
####################################
# Check aircraft is in MAP
self.check_Ownship_in_map = 0
self.check_USV1_in_map = 0
self.check_USV2_in_map = 0
self.check_UAV1_in_map = 0
self.check_UAV2_in_map = 0
####################################
# Shared Pose
self.shared_lat_pos = 0
self.shared_lon_pos = 0
self.shared_local_x = 0
self.shared_local_y = 0
self.pos_sharing = 0
####################################
# Button Interactive
self.ui.map_change_Down.clicked.connect(self.map_change_down_clicked)
self.ui.map_change.clicked.connect(self.mpa_change_clicked)
self.ui.OPV_pos_share.clicked.connect(self.OPV_pos_share_clicked)
self.ui.OPV_shared_pos_clear.clicked.connect(
self.OPV_shared_pos_clear_clicked)
self.ui.OPV_stby_button.clicked.connect(self.OPV_stby_clicked)
self.ui.OPV_done_button.clicked.connect(self.OPV_done_clicked)
self.ui.OPV_mission_button.clicked.connect(self.OPV_mission_clicked)
self.ui.USV1_stby_button.clicked.connect(self.USV1_stby_clicked)
self.ui.USV1_done_button.clicked.connect(self.USV1_done_clicked)
self.ui.USV1_mission_button.clicked.connect(self.USV1_mission_clicked)
self.ui.USV2_stby_button.clicked.connect(self.USV2_stby_clicked)
self.ui.USV2_done_button.clicked.connect(self.USV2_done_clicked)
self.ui.USV2_mission_button.clicked.connect(self.USV2_mission_clicked)
self.ui.UAV1_stby_button.clicked.connect(self.UAV1_stby_clicked)
self.ui.UAV1_done_button.clicked.connect(self.UAV1_done_clicked)
self.ui.UAV1_mission_button.clicked.connect(self.UAV1_mission_clicked)
self.ui.UAV2_stby_button.clicked.connect(self.UAV2_stby_clicked)
self.ui.UAV2_done_button.clicked.connect(self.UAV2_done_clicked)
self.ui.UAV2_mission_button.clicked.connect(self.UAV2_mission_clicked)
####################################
# Img Path
self.map_20_path = "img/MAP_20.png"
self.map_50_path = "img/MAP_50.png"
self.map_100_path = "img/MAP_100.png"
self.map_200_path = "img/MAP_200.png"
self.map_500_path = "img/MAP_500.png"
self.Scale_factor = scale_100m
self.ownship_img_path = "img/icon/Ownship Symbol.png"
self.USV1_img_path = "img/icon/Ship_logo.png"
self.USV2_img_path = "img/icon/Ship_logo2.png"
self.UAV1_img_path = "img/icon/drone1_logo.png"
self.UAV2_img_path = "img/icon/drone2_logo.png"
self.stby_img_path = "img/stby.png"
self.mission_img_path = "img/mission.png"
self.done_img_path = "img/done.png"
self.error_img_path = "img/error.png"
self.connect_img_path = "img/connect.png"
self.disconnect_img_path = "img/disconnected.png"
####################################
# Map Information
self.map_size = 100 # 20, 50, 100
self.map_img = read_img(self.map_100_path, map_row, map_col)
# Status Initialize
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.OPV_Status.setPixmap(pixmap)
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV1_Status.setPixmap(pixmap)
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV2_Status.setPixmap(pixmap)
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV1_Status.setPixmap(pixmap)
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV2_Status.setPixmap(pixmap)
####################################
# Update GUI
self.timer = QTimer()
self.connect(self.timer, SIGNAL("timeout()"), self.visual_UI)
self.timer.start(50)
# OPV find human, shared pos
def OPV_pos_share_clicked(self):
self.shared_lat_pos = ros.Ownship_lat
self.shared_lon_pos = ros.Ownship_lon
self.shared_local_x = ros.Ownship_local_x
self.shared_local_y = ros.Ownship_local_y
self.ui.OPV_share_lat.setText(str(self.shared_lat_pos))
self.ui.OPV_share_lon.setText(str(self.shared_lon_pos))
self.pos_sharing = 1
def OPV_shared_pos_clear_clicked(self):
self.pos_sharing = 0
self.ui.OPV_share_lat.setText(str(0.0))
self.ui.OPV_share_lon.setText(str(0.0))
self.ui.OPV_acc_lat.setText(str(0.0))
self.ui.OPV_acc_lon.setText(str(0.0))
self.ui.USV1_acc_lat.setText(str(0.0))
self.ui.USV1_acc_lon.setText(str(0.0))
self.ui.USV2_acc_lat.setText(str(0.0))
self.ui.USV2_acc_lon.setText(str(0.0))
self.ui.UAV1_acc_lat.setText(str(0.0))
self.ui.UAV1_acc_lon.setText(str(0.0))
self.ui.UAV2_acc_lat.setText(str(0.0))
self.ui.UAV2_acc_lon.setText(str(0.0))
# OPV Status
def OPV_stby_clicked(self):
pixmap = QPixmap(QImage(self.stby_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.OPV_Status.setPixmap(pixmap)
def OPV_mission_clicked(self):
pixmap = QPixmap(QImage(self.mission_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.OPV_Status.setPixmap(pixmap)
def OPV_done_clicked(self):
pixmap = QPixmap(QImage(self.done_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.OPV_Status.setPixmap(pixmap)
# USV1 Status
def USV1_stby_clicked(self):
pixmap = QPixmap(QImage(self.stby_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV1_Status.setPixmap(pixmap)
def USV1_mission_clicked(self):
pixmap = QPixmap(QImage(self.mission_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV1_Status.setPixmap(pixmap)
def USV1_done_clicked(self):
pixmap = QPixmap(QImage(self.done_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV1_Status.setPixmap(pixmap)
# USV2 Status
def USV2_stby_clicked(self):
pixmap = QPixmap(QImage(self.stby_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV2_Status.setPixmap(pixmap)
def USV2_mission_clicked(self):
pixmap = QPixmap(QImage(self.mission_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV2_Status.setPixmap(pixmap)
def USV2_done_clicked(self):
pixmap = QPixmap(QImage(self.done_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV2_Status.setPixmap(pixmap)
# UAV1 Status
def UAV1_stby_clicked(self):
pixmap = QPixmap(QImage(self.stby_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV1_Status.setPixmap(pixmap)
def UAV1_mission_clicked(self):
pixmap = QPixmap(QImage(self.mission_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV1_Status.setPixmap(pixmap)
def UAV1_done_clicked(self):
pixmap = QPixmap(QImage(self.done_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV1_Status.setPixmap(pixmap)
# UAV2 Status
def UAV2_stby_clicked(self):
pixmap = QPixmap(QImage(self.stby_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV2_Status.setPixmap(pixmap)
def UAV2_mission_clicked(self):
pixmap = QPixmap(QImage(self.mission_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV2_Status.setPixmap(pixmap)
def UAV2_done_clicked(self):
pixmap = QPixmap(QImage(self.done_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV2_Status.setPixmap(pixmap)
def map_change_down_clicked(self):
if (self.map_size == 50):
self.map_size = 20
self.Scale_factor = scale_20m
elif (self.map_size == 100):
self.map_size = 50
self.Scale_factor = scale_50m
elif (self.map_size == 200):
self.map_size = 100
self.Scale_factor = scale_100m
elif (self.map_size == 500):
self.map_size = 200
self.Scale_factor = scale_200m
self.visual_map()
def mpa_change_clicked(self):
if (self.map_size == 20):
self.map_size = 50
self.Scale_factor = scale_50m
elif (self.map_size == 50):
self.map_size = 100
self.Scale_factor = scale_100m
elif (self.map_size == 100):
self.map_size = 200
self.Scale_factor = scale_200m
elif (self.map_size == 200):
self.map_size = 500
self.Scale_factor = scale_500m
self.visual_map()
def visual_UI(self):
self.visual_map()
self.visual_time()
self.visual_txt()
def visual_txt(self):
# OPV
self.ui.IN_Ownship_lat.setText(str(ros.Ownship_lat))
self.ui.IN_Ownship_lon.setText(str(ros.Ownship_lon))
self.ui.IN_Ownship_Alt.setText(str(ros.Ownship_alt))
self.ui.IN_Ownship_Head.setText(str(ros.Ownship_heading))
self.ui.IN_Ownship_Hor_vel.setText(str(ros.Ownship_hor_vel))
self.ui.IN_Ownship_Ver_vel.setText(str(ros.Ownship_ver_vel))
self.ui.IN_Ownship_x.setText(str(ros.Ownship_local_x))
self.ui.IN_Ownship_y.setText(str(ros.Ownship_local_y))
# USV1
self.ui.USV1_lat.setText(str(ros.USV1_lat))
self.ui.USV1_lon.setText(str(ros.USV1_lon))
self.ui.USV1_alt.setText(str(ros.USV1_alt))
self.ui.USV1_head.setText(str(ros.USV1_heading))
self.ui.IN_USV1_Hor_vel.setText(str(ros.USV1_hor_vel))
self.ui.IN_USV1_Ver_vel.setText(str(ros.USV1_ver_vel))
self.ui.IN_USV1_x.setText(str(ros.USV1_local_x))
self.ui.IN_USV1_y.setText(str(ros.USV1_local_y))
# USV2
self.ui.USV2_lat.setText(str(ros.USV2_lat))
self.ui.USV2_lon.setText(str(ros.USV2_lon))
self.ui.USV2_alt.setText(str(ros.USV2_alt))
self.ui.USV2_head.setText(str(ros.USV2_heading))
self.ui.IN_USV2_Hor_vel.setText(str(ros.USV2_hor_vel))
self.ui.IN_USV2_Ver_vel.setText(str(ros.USV2_ver_vel))
self.ui.IN_USV2_x.setText(str(ros.USV2_local_x))
self.ui.IN_USV2_y.setText(str(ros.USV2_local_y))
# UAV1
self.ui.UAV1_lat.setText(str(ros.UAV1_lat))
self.ui.UAV1_lon.setText(str(ros.UAV1_lon))
self.ui.UAV1_alt.setText(str(ros.UAV1_alt))
self.ui.UAV1_head.setText(str(ros.UAV1_heading))
self.ui.IN_UAV1_Hor_vel.setText(str(ros.UAV1_hor_vel))
self.ui.IN_UAV1_Ver_vel.setText(str(ros.UAV1_ver_vel))
self.ui.IN_UAV1_x.setText(str(ros.UAV1_local_x))
self.ui.IN_UAV1_y.setText(str(ros.UAV1_local_y))
# UAV2
self.ui.UAV2_lat.setText(str(ros.UAV2_lat))
self.ui.UAV2_lon.setText(str(ros.UAV2_lon))
self.ui.UAV2_alt.setText(str(ros.UAV2_alt))
self.ui.UAV2_head.setText(str(ros.UAV2_heading))
self.ui.IN_UAV2_Hor_vel.setText(str(ros.UAV2_hor_vel))
self.ui.IN_UAV2_Ver_vel.setText(str(ros.UAV2_ver_vel))
self.ui.IN_UAV2_x.setText(str(ros.UAV2_local_x))
self.ui.IN_UAV2_y.setText(str(ros.UAV2_local_y))
# Accident Distance
if (self.pos_sharing):
diff_x = round(ros.Ownship_local_x - self.shared_local_x, 3)
diff_y = round(ros.Ownship_local_y - self.shared_local_y, 3)
self.ui.OPV_acc_lat.setText(str(diff_x))
self.ui.OPV_acc_lon.setText(str(diff_y))
diff_x = round(ros.USV1_local_x - self.shared_local_x, 3)
diff_y = round(ros.USV1_local_y - self.shared_local_y, 3)
self.ui.USV1_acc_lat.setText(str(diff_x))
self.ui.USV1_acc_lon.setText(str(diff_y))
diff_x = round(ros.USV2_local_x - self.shared_local_x, 3)
diff_y = round(ros.USV2_local_y - self.shared_local_y, 3)
self.ui.USV2_acc_lat.setText(str(diff_x))
self.ui.USV2_acc_lon.setText(str(diff_y))
diff_x = round(ros.UAV1_local_x - self.shared_local_x, 3)
diff_y = round(ros.UAV1_local_y - self.shared_local_y, 3)
self.ui.UAV1_acc_lat.setText(str(diff_x))
self.ui.UAV1_acc_lon.setText(str(diff_y))
diff_x = round(ros.UAV2_local_x - self.shared_local_x, 3)
diff_y = round(ros.UAV2_local_y - self.shared_local_y, 3)
self.ui.UAV2_acc_lat.setText(str(diff_x))
self.ui.UAV2_acc_lon.setText(str(diff_y))
def visual_time(self):
self.ui.IN_ROS_TIME.setText(str(ros.ROS_TIME))
year = datetime.datetime.fromtimestamp(ros.ROS_TIME).year
month = datetime.datetime.fromtimestamp(ros.ROS_TIME).month
if (len(str(month)) == 1):
month = "0" + str(month)
day = datetime.datetime.fromtimestamp(ros.ROS_TIME).day
if (len(str(day)) == 1):
day = "0" + str(day)
hour = datetime.datetime.fromtimestamp(ros.ROS_TIME).hour
if (len(str(hour)) == 1):
hour = "0" + str(hour)
minute = datetime.datetime.fromtimestamp(ros.ROS_TIME).minute
if (len(str(minute)) == 1):
minute = "0" + str(minute)
second = datetime.datetime.fromtimestamp(ros.ROS_TIME).second
if (len(str(second)) == 1):
second = "0" + str(second)
ROS_datetime = str(year) + '-' + str(month) + "-" + str(
day) + " " + str(hour) + ":" + str(minute) + ":" + str(second)
self.ui.CurrentTime.setText(str(ROS_datetime))
def visual_map(self):
map_path_list = [self.map_20_path, self.map_50_path, self.map_100_path]
if (self.map_size == 20):
self.map_img = read_img(self.map_20_path, map_row, map_col)
if (self.map_size == 50):
self.map_img = read_img(self.map_50_path, map_row, map_col)
if (self.map_size == 100):
self.map_img = read_img(self.map_100_path, map_row, map_col)
if (self.map_size == 200):
self.map_img = read_img(self.map_200_path, map_row, map_col)
if (self.map_size == 500):
self.map_img = read_img(self.map_500_path, map_row, map_col)
ownship_img = read_img(self.ownship_img_path, icon_row_col,
icon_row_col)
USV1_img = read_img(self.USV1_img_path, icon_row_col, icon_row_col)
USV2_img = read_img(self.USV2_img_path, icon_row_col, icon_row_col)
UAV1_img = read_img(self.UAV1_img_path, icon_row_col, icon_row_col)
UAV2_img = read_img(self.UAV2_img_path, icon_row_col, icon_row_col)
height, width, channel = ownship_img.shape
matrix = cv2.getRotationMatrix2D((width / 2, height / 2),
-ros.Ownship_heading, 1)
rot_ownship_img = cv2.warpAffine(ownship_img, matrix, (width, height))
matrix = cv2.getRotationMatrix2D((width / 2, height / 2),
-ros.USV1_heading, 1)
rot_USV1_img = cv2.warpAffine(USV1_img, matrix, (width, height))
matrix = cv2.getRotationMatrix2D((width / 2, height / 2),
-ros.USV1_heading, 1)
rot_USV2_img = cv2.warpAffine(USV2_img, matrix, (width, height))
matrix = cv2.getRotationMatrix2D((width / 2, height / 2),
-ros.USV1_heading, 1)
rot_UAV1_img = cv2.warpAffine(UAV1_img, matrix, (width, height))
matrix = cv2.getRotationMatrix2D((width / 2, height / 2),
-ros.USV1_heading, 1)
rot_UAV2_img = cv2.warpAffine(UAV2_img, matrix, (width, height))
ownship_row_in_map = map_row / 2 - int(
ros.Ownship_local_x * self.Scale_factor)
ownship_col_in_map = map_col / 2 + int(
ros.Ownship_local_y * self.Scale_factor)
USV1_row_in_map = map_row / 2 - int(
ros.USV1_local_x * self.Scale_factor)
USV1_col_in_map = map_col / 2 + int(
ros.USV1_local_y * self.Scale_factor)
USV2_row_in_map = map_row / 2 - int(
ros.USV2_local_x * self.Scale_factor)
USV2_col_in_map = map_col / 2 + int(
ros.USV2_local_y * self.Scale_factor)
UAV1_row_in_map = map_row / 2 - int(
ros.UAV1_local_x * self.Scale_factor)
UAV1_col_in_map = map_col / 2 + int(
ros.UAV1_local_y * self.Scale_factor)
UAV2_row_in_map = map_row / 2 - int(
ros.UAV2_local_x * self.Scale_factor)
UAV2_col_in_map = map_col / 2 + int(
ros.UAV2_local_y * self.Scale_factor)
height, width, channel = rot_USV1_img.shape
check_image_size = int(height / 2)
# ADD USV1 image to MAP
if (USV1_row_in_map < map_row - check_image_size
and USV1_row_in_map > check_image_size
and USV1_col_in_map < map_col - check_image_size
and USV1_col_in_map > check_image_size):
self.overwrite_map_img = image_add_function(
self.map_img, rot_USV1_img, USV1_row_in_map, USV1_col_in_map)
self.check_USV1_in_map = 1
else:
self.check_USV1_in_map = 0
# ADD USV2 image to MAP
if (USV2_row_in_map < map_row - check_image_size
and USV2_row_in_map > check_image_size
and USV2_col_in_map < map_col - check_image_size
and USV2_col_in_map > check_image_size):
if (self.check_USV1_in_map):
self.overwrite_map_img = image_add_function(
self.overwrite_map_img, rot_USV2_img, USV2_row_in_map,
USV2_col_in_map)
else:
self.overwrite_map_img = image_add_function(
self.map_img, rot_USV2_img, USV2_row_in_map,
USV2_col_in_map)
self.check_USV2_in_map = 1
else:
self.check_USV2_in_map = 0
# ADD UAV1 image to MAP
if (UAV1_row_in_map < map_row - check_image_size
and UAV1_row_in_map > check_image_size
and UAV1_col_in_map < map_col - check_image_size
and UAV1_col_in_map > check_image_size):
if (self.check_USV1_in_map or self.check_USV2_in_map):
self.overwrite_map_img = image_add_function(
self.overwrite_map_img, rot_UAV1_img, UAV1_row_in_map,
UAV1_col_in_map)
else:
self.overwrite_map_img = image_add_function(
self.map_img, rot_UAV1_img, UAV1_row_in_map,
UAV1_col_in_map)
self.check_UAV1_in_map = 1
else:
self.check_UAV1_in_map = 0
# ADD UAV2 image to MAP
if (UAV2_row_in_map < map_row - check_image_size
and UAV2_row_in_map > check_image_size
and UAV2_col_in_map < map_col - check_image_size
and UAV2_col_in_map > check_image_size):
if (self.check_USV1_in_map or self.check_USV2_in_map
or self.check_UAV1_in_map):
self.overwrite_map_img = image_add_function(
self.overwrite_map_img, rot_UAV2_img, UAV2_row_in_map,
UAV2_col_in_map)
else:
self.overwrite_map_img = image_add_function(
self.map_img, rot_UAV2_img, UAV2_row_in_map,
UAV2_col_in_map)
self.check_UAV2_in_map = 1
else:
self.check_UAV2_in_map = 0
# ADD Ownship image to MAP
if (ownship_row_in_map < map_row - check_image_size
and ownship_row_in_map > check_image_size
and ownship_col_in_map < map_col - check_image_size
and ownship_col_in_map > check_image_size):
if (self.check_UAV1_in_map or self.check_UAV2_in_map
or self.check_USV1_in_map or self.check_USV2_in_map):
self.overwrite_map_img = image_add_function(
self.overwrite_map_img, rot_ownship_img,
ownship_row_in_map, ownship_col_in_map)
else:
self.overwrite_map_img = image_add_function(
self.map_img, rot_ownship_img, ownship_row_in_map,
ownship_col_in_map)
self.check_Ownship_in_map = 1
else:
self.check_Ownship_in_map = 0
# Add indicator Text
# map, text, location, font, fontsclae, color, thickness
if (self.check_USV1_in_map):
cv2.putText(self.overwrite_map_img, "USV1",
(USV1_col_in_map - 20, USV1_row_in_map - 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1)
if (self.check_USV2_in_map):
cv2.putText(self.overwrite_map_img, "USV2",
(USV2_col_in_map - 20, USV2_row_in_map - 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1)
if (self.check_UAV1_in_map):
cv2.putText(self.overwrite_map_img, "UAV1",
(UAV1_col_in_map - 20, UAV1_row_in_map - 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1)
if (self.check_UAV1_in_map):
cv2.putText(self.overwrite_map_img, "UAV2",
(UAV2_col_in_map - 20, UAV2_row_in_map - 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1)
if (self.check_USV1_in_map):
cv2.putText(self.overwrite_map_img, "Ownship",
(ownship_col_in_map - 30, ownship_row_in_map - 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1)
# Indicate Shared Pos in MAP
if (self.pos_sharing):
shared_pos_row_in_map = map_row / 2 - int(
self.shared_local_x * self.Scale_factor)
shared_pos_col_in_map = map_col / 2 + int(
self.shared_local_y * self.Scale_factor)
cv2.putText(self.overwrite_map_img, "X",
(shared_pos_col_in_map, shared_pos_row_in_map),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1)
# Convert cv image to Q image
if (self.check_Ownship_in_map == 0 and self.check_UAV1_in_map == 0
and self.check_UAV2_in_map == 0 and self.check_USV1_in_map == 0
and self.check_USV2_in_map == 0):
height, width, channel = self.map_img.shape
bytesPerLine = 3 * width
qImg = QImage(self.map_img.data, width, height, bytesPerLine,
QImage.Format_RGB888)
else:
height, width, channel = self.overwrite_map_img.shape
bytesPerLine = 3 * width
qImg = QImage(self.overwrite_map_img.data, width, height,
bytesPerLine, QImage.Format_RGB888)
# ADD Q image to Widget
pixmap = QPixmap(qImg)
pixmap = pixmap.scaled(map_col, map_row, QtCore.Qt.KeepAspectRatio)
self.ui.MAP.setPixmap(pixmap)
def __init__(self):
super(MainWindow, self).__init__()
self.ui = Ui_Widget()
self.ui.setupUi(self)
####################################
# Check aircraft is in MAP
self.check_Ownship_in_map = 0
self.check_USV1_in_map = 0
self.check_USV2_in_map = 0
self.check_UAV1_in_map = 0
self.check_UAV2_in_map = 0
####################################
# Shared Pose
self.shared_lat_pos = 0
self.shared_lon_pos = 0
self.shared_local_x = 0
self.shared_local_y = 0
self.pos_sharing = 0
####################################
# Button Interactive
self.ui.map_change_Down.clicked.connect(self.map_change_down_clicked)
self.ui.map_change.clicked.connect(self.mpa_change_clicked)
self.ui.OPV_pos_share.clicked.connect(self.OPV_pos_share_clicked)
self.ui.OPV_shared_pos_clear.clicked.connect(
self.OPV_shared_pos_clear_clicked)
self.ui.OPV_stby_button.clicked.connect(self.OPV_stby_clicked)
self.ui.OPV_done_button.clicked.connect(self.OPV_done_clicked)
self.ui.OPV_mission_button.clicked.connect(self.OPV_mission_clicked)
self.ui.USV1_stby_button.clicked.connect(self.USV1_stby_clicked)
self.ui.USV1_done_button.clicked.connect(self.USV1_done_clicked)
self.ui.USV1_mission_button.clicked.connect(self.USV1_mission_clicked)
self.ui.USV2_stby_button.clicked.connect(self.USV2_stby_clicked)
self.ui.USV2_done_button.clicked.connect(self.USV2_done_clicked)
self.ui.USV2_mission_button.clicked.connect(self.USV2_mission_clicked)
self.ui.UAV1_stby_button.clicked.connect(self.UAV1_stby_clicked)
self.ui.UAV1_done_button.clicked.connect(self.UAV1_done_clicked)
self.ui.UAV1_mission_button.clicked.connect(self.UAV1_mission_clicked)
self.ui.UAV2_stby_button.clicked.connect(self.UAV2_stby_clicked)
self.ui.UAV2_done_button.clicked.connect(self.UAV2_done_clicked)
self.ui.UAV2_mission_button.clicked.connect(self.UAV2_mission_clicked)
####################################
# Img Path
self.map_20_path = "img/MAP_20.png"
self.map_50_path = "img/MAP_50.png"
self.map_100_path = "img/MAP_100.png"
self.map_200_path = "img/MAP_200.png"
self.map_500_path = "img/MAP_500.png"
self.Scale_factor = scale_100m
self.ownship_img_path = "img/icon/Ownship Symbol.png"
self.USV1_img_path = "img/icon/Ship_logo.png"
self.USV2_img_path = "img/icon/Ship_logo2.png"
self.UAV1_img_path = "img/icon/drone1_logo.png"
self.UAV2_img_path = "img/icon/drone2_logo.png"
self.stby_img_path = "img/stby.png"
self.mission_img_path = "img/mission.png"
self.done_img_path = "img/done.png"
self.error_img_path = "img/error.png"
self.connect_img_path = "img/connect.png"
self.disconnect_img_path = "img/disconnected.png"
####################################
# Map Information
self.map_size = 100 # 20, 50, 100
self.map_img = read_img(self.map_100_path, map_row, map_col)
# Status Initialize
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.OPV_Status.setPixmap(pixmap)
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV1_Status.setPixmap(pixmap)
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.USV2_Status.setPixmap(pixmap)
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV1_Status.setPixmap(pixmap)
pixmap = QPixmap(QImage(self.disconnect_img_path))
pixmap = pixmap.scaled(100, 20, QtCore.Qt.KeepAspectRatio)
self.ui.UAV2_Status.setPixmap(pixmap)
####################################
# Update GUI
self.timer = QTimer()
self.connect(self.timer, SIGNAL("timeout()"), self.visual_UI)
self.timer.start(50)
