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plano ir.py
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plano ir.py
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import threading
import sys
from PyQt4 import QtCore
from PyQt4 import QtGui
from PyQt4.QtCore import *
from PyQt4.QtGui import *
from PyQt4 import QtOpenGL
from OpenGL import GLU
from OpenGL.GL import *
from numpy import array
import random
from ctypes import *
import wiiuse
import time
import os
import math
class GLWidget(QtOpenGL.QGLWidget):
def __init__(self, parent=None):
self.parent = parent
QtOpenGL.QGLWidget.__init__(self, parent)
self.xRotDeg = 0.0
self.yRotDeg = 0.0
self.zRotDeg = 0.0
self.iPosX =0
self.iPosY =0
self.iPosZ =0
self.IRX=0
self.IRY=0
self.IScale = 5
def initializeGL(self):
self.qglClearColor(QtGui.QColor(0, 0, 0))
self.initGeometry()
glEnable(GL_DEPTH_TEST)
def resizeGL(self, width, height):
if height == 0: height = 1
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
aspect = width / float(height)
GLU.gluPerspective(45.0, aspect, 1.0, 100.0)
glMatrixMode(GL_MODELVIEW)
def paintGL(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
glTranslate(0.0, 0.0, -50.0)
#glScale(5.0, 5.0, 5.0)
############
glRotate(self.xRotDeg, 1.0, 0.0, 0.0)
glRotate(self.yRotDeg, 0.0, 1.0, 0.0)
glRotate(self.zRotDeg, 0.0, 0.0, 1.0)
glScale(self.IScale, self.IScale, self.IScale)
glTranslate(self.iPosX, self.iPosY, self.iPosZ)
#############
#glTranslate(-0.5, -0.5, -0.5)
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_COLOR_ARRAY)
glVertexPointerf(self.cubeVtxArray)
glColorPointerf(self.cubeClrArray)
glDrawElementsui(GL_QUADS, self.cubeIdxArray)
def initGeometry(self):
self.cubeVtxArray = array([
#X
[0.1, 0.1, 0.0],
[0.0, 0.1, 0.0],
[0.0, 1.1, 0.0],
[0.1, 1.1, 0.0],
#y
[0.1, 0.0, 0.0],
[0.1, 0.1, 0.0],
[1.1, 0.1, 0.0],
[1.1, 0.0, 0.0],
#z
[0.0, 0.0, 0.0],
[0.0, 0.1, 0.0],
[0.0, 0.1, 1.0],
[0.0, 0.0, 1.0],
#plano
[0.0, 0.0, 0.0],
[0.0, 0.0, 1.0],
[1.1, 0.0, 1.0],
[1.1, 0.0, 0.0]
])
self.cubeIdxArray = [ 0, 1, 2, 3, 4,5,6,7,8,9,10,11,12,13,14,15,16]
self.cubeClrArray = [
[1.0, 0.0, 0.0],
[1.0, 0.0, 0.0],
[1.0, 0.0, 0.0],
[1.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
[1.0, 1.0, 0.0],
[1.0, 1.0, 0.0],
[1.0, 1.0, 0.0],
[1.0, 1.0, 0.0],
[1.0, 1.0, 1.0],
[1.0, 1.0, 1.0],
[1.0, 1.0, 1.0],
[1.0, 1.0, 1.0]
]
def update(self):
if str(self.wm.gforce.x)!='inf':
self.zRotDeg = 360-self.wm.gforce.x
if str(self.wm.gforce.y)!='inf':
self.xRotDeg = 360-self.wm.gforce.y
self.parent.statusBar().showMessage('x %f - y %f - z %f' % (self.xRotDeg,self.yRotDeg,self.zRotDeg))
self.updateGL()
def updateX(self,x):
self.zRotDeg = 360-x
self.updateGL()
def updateY(self,x):
self.xRotDeg = 360-x
self.updateGL()
def updateZ(self,z):
self.yRotDeg = 360*(z*100/1024)/100
self.updateGL()
def updateScale(self,b):
if b:
self.IScale +=5
else:
self.IScale -=5
def updatePosX(self,b):
if b:
self.iPosX += 1
else:
self.iPosX -= 1
self.updateGL()
def updatePosY(self,b):
if b:
self.iPosY += 1
else:
self.iPosY -= 1
self.updateGL()
def updatePosZ(self,b):
if b:
self.iPosZ += 1
else:
self.iPosZ -= 1
self.updateGL()
class Wiibotones(threading.Thread):
def __init__(self,w):
threading.Thread.__init__(self)
self.rotX = 0
self.rotY = 0
self.rotZ = 0
self.IRX=0
self.IRY=0
self.window = w
self.sigue=True
self.releasedButton ={"1":"2","2":"1","16":"-","128":"HOME","4096":"+","8":"A","1024":"ABAJO",
"512":"DERECHA","2048":"ARRIBA","256":"IZQUIERDA","4":"B","3":"1+2"}
self.pressedButton ={"2.86":"ARRIBA","1.43":"ABAJO","7.17":"DERECHA","3.58":"IZQUIERDA","1.12":"A",
"5.60":"B","2.24":"-","1.79":"HOME","5.73":"+","2.80":"1","1.40":"2","2.75":"1+2"}
#iniciar Wiimote
self.nmotes = 1
self.wiimotes = wiiuse.init(self.nmotes)
found = wiiuse.find(self.wiimotes, self.nmotes, 5)
if not found:
print 'not found'
sys.exit(1)
connected = wiiuse.connect(self.wiimotes, self.nmotes)
if connected:
print 'Connected to %i wiimotes (of %i found).' % (connected, found)
else:
print 'failed to connect to any wiimote.'
sys.exit(1)
for i in range(self.nmotes):
wiiuse.set_leds(self.wiimotes[i], wiiuse.LED[i])
wiiuse.status(self.wiimotes[0])
wiiuse.set_ir(self.wiimotes[0], 1)
wiiuse.set_ir_vres(self.wiimotes[i], 1000, 1000)
wiiuse.rumble(self.wiimotes[0], 10)
time.sleep(0.1)
wiiuse.rumble(self.wiimotes[0], 0)
self.wm = self.wiimotes[0][0]
#iniciar Wiimote
def terminar(self):
self.sigue = False
def muestraAccel(self):
wiiuse.motion_sensing(self.wiimotes,self.nmotes)
wiiuse.poll(self.wiimotes, self.nmotes)
t = self.wm.gforce.x
temp=0
try:
temp = math.trunc(t)
except:
temp=0
if temp< (self.rotX-3) or temp> (self.rotX+3):
self.rotX= temp
self.window.emit(SIGNAL("AccelX"), self.rotX)
t = self.wm.gforce.y
temp=0
try:
temp = math.trunc(t)
except:
temp=0
if temp < (self.rotY-3) or temp > (self.rotY+3):
self.rotY= temp
self.window.emit(SIGNAL("AccelY"), self.rotY)
t = self.wm.gforce.z
temp=0
try:
temp = math.trunc(t)
except:
temp=0
if temp != self.rotZ:
self.rotZ= temp
self.window.emit(SIGNAL("AccelZ"), self.rotZ)
def run(self):
while self.sigue:
self.muestraAccel()
if self.wm.ir.x!= self.IRX or self.IRY!=self.wm.ir.y:
self.IRX=self.wm.ir.x
self.IRY=self.wm.ir.y
self.window.emit(SIGNAL("IR"), (self.IRX,self.IRY))
wiiuse.poll(self.wiimotes, self.nmotes)
try:
rb = str(self.wm.accel_threshold)
if self.releasedButton.has_key(rb):
self.window.emit(SIGNAL("BotonSuelto"), self.releasedButton[rb])
pb=str(self.wm.orient_threshold)[:4]
if self.pressedButton.has_key(pb):
self.window.emit(SIGNAL("Boton"), self.pressedButton[pb])
except :
print "error"
class MyWindow(QtGui.QWidget):
def __init__(self, *args):
QtGui.QWidget.__init__(self, *args)
self.setWindowTitle('Hilos botones y Accel')
self.resize(400, 500)
self.hilo = Wiibotones(self)
self.hilo.start()
##slider##
self.sldX = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.sldX.setRange(-180, 180)
self.sldY = QtGui.QSlider(QtCore.Qt.Vertical, self)
self.sldY.setRange(-180, 180)
##slider##
self.label = QtGui.QLabel(" Algo")
self.label.setToolTip('Representa el boton <b>PRESIONADO</b> Actualmente en el WII')
self.label.setFont(QFont('Sans-serif',20))
self.label1 = QtGui.QLabel(" Algo")
self.label1.setToolTip('Representa el <b>ULTIMO BOTON SUELTO</b> en el WII')
self.label1.setFont(QFont('Sans-serif',20))
self.label2 = QtGui.QLabel(" Algo")
self.label2.setToolTip('Representa el <b>Accel X</b> en el WII')
self.label2.setFont(QFont('Sans-serif',20))
self.label3 = QtGui.QLabel(" Algo")
self.label3.setToolTip('Representa el <b>Accel Y</b> en el WII')
self.label3.setFont(QFont('Sans-serif',20))
self.label4 = QtGui.QLabel(" Algo")
self.label4.setToolTip('Representa el <b>Accel Z</b> en el WII')
self.label4.setFont(QFont('Sans-serif',20))
self.glWidget = GLWidget(self)
self.glWidget.setGeometry(0, 0, 200, 200)
#self.glWidget.resize(100, 100)
#layout = QVBoxLayout()
layout = QtGui.QGridLayout()
layout.addWidget(self.label,0,0)
layout.addWidget(self.label1,1,0)
layout.addWidget(self.label2,2,3)
layout.addWidget(self.sldX,3,3)
layout.addWidget(self.label3,4,3)
layout.addWidget(self.sldY,4,4)
layout.addWidget(self.label4,0,2)
##relleno
layout.addWidget(QtGui.QLabel("_________________________Test de Hilos lectura Wiimote y Opengl_________________________"),6,0,6,3)
##relleno
layout.addWidget(self.glWidget,2,0,4,3)
"""layout.addWidget(self.label)
layout.addWidget(self.label1)
layout.addWidget(self.label2)
layout.addWidget(self.sldX)
layout.addWidget(self.label3)
layout.addWidget(self.sldY)
layout.addWidget(self.label4)
layout.addWidget(self.glWidget)"""
self.setLayout(layout)
self.connect(self, SIGNAL("Boton"),self.QueBoton)
self.connect(self, SIGNAL("BotonSuelto"),self.BotonSuelto)
self.connect(self, SIGNAL("AccelX"),self.MueveX)
self.connect(self, SIGNAL("AccelY"),self.MueveY)
self.connect(self, SIGNAL("IR"),self.IR)
self.connect(self, QtCore.SIGNAL('triggered()'), self.closeEvent)
def closeEvent(self, event):
print "terminando Hilo"
self.hilo.terminar()
#self.hilo1.terminar()
time.sleep(0.2)
print "EL HILO HA MUERTO"
def QueBoton(self,nombre):
self.label.setText("se presiono " + nombre)
self.label1.setText("")
if nombre=="+":
self.glWidget.updateScale(True)
if nombre=="-":
self.glWidget.updateScale(False)
def BotonSuelto(self,nombre):
self.label1.setText("se solto " + nombre)
self.label.setText("")
def MueveX(self,dato):
self.label2.setText("Accel <b>X<b> = " + str(dato))
self.sldX.setValue(dato)
self.glWidget.updateX(dato)
def MueveY(self,dato):
self.label3.setText("Accel <b>Y<b> = " + str(dato))
self.sldY.setValue(dato)
self.glWidget.updateY(dato)
def MueveZ(self,dato):
self.label4.setText("Accel <b>Z<b> = " + str(dato))
def IR(self,dato):
self.label4.setText("IR <b>( " + str(dato[0])+","+str(dato[1])+")</b>")
self.glWidget.updateZ(dato[0])
if __name__ == "__main__":
app = QtGui.QApplication(sys.argv)
w = MyWindow()
w.show()
sys.exit(app.exec_())