def __init__(self):
QMainWindow.__init__(self);
self.setupUi(self);
self.data = ''; #string-type
self.actionHistory.triggered.connect(self.showHistory);
self.history = HistoryWidget();
self.thread = threading.Thread(target = self.fetchData);
self.thread.setDaemon(True);
self.thread.start();
self.reception.connect(self.parseData);
self.calcComplete.connect(self.writeServo);
self.setWindowTitle('AudioLocator');
self.ser = None;
#set sensor value here. Will propagate to other widgets
self.sensors = [
(inToM(48),inToM(0)),
(inToM(0),inToM(-41)),
(inToM(0),inToM(42)),
(inToM(-48),inToM(0)),
];
self.locator = Locator.Locator(self.sensors);
self.screen.setSensors(self.sensors);
self.history.screen.setSensors(self.sensors);
class AudioLocator(QMainWindow,mainUI.Ui_AudioLocator):
reception = pyqtSignal();
calcComplete = pyqtSignal(tuple);
def __init__(self):
QMainWindow.__init__(self);
self.setupUi(self);
self.data = ''; #string-type
self.actionHistory.triggered.connect(self.showHistory);
self.history = HistoryWidget();
self.thread = threading.Thread(target = self.fetchData);
self.thread.setDaemon(True);
self.thread.start();
self.reception.connect(self.parseData);
self.calcComplete.connect(self.writeServo);
self.setWindowTitle('AudioLocator');
self.ser = None;
#set sensor value here. Will propagate to other widgets
self.sensors = [
(inToM(48),inToM(0)),
(inToM(0),inToM(-41)),
(inToM(0),inToM(42)),
(inToM(-48),inToM(0)),
];
self.locator = Locator.Locator(self.sensors);
self.screen.setSensors(self.sensors);
self.history.screen.setSensors(self.sensors);
def showHistory(self):
self.history.show();
def fetchData(self):
with serial.Serial(port='/dev/ttyACM0',baudrate=9600) as ser:
self.ser = ser;
while True:#self.ser._isOpen:
self.data = str(self.ser.readline());
self.reception.emit();
def writeServo(self,pt):
x,y = pt[0],pt[1];
print(pt);
theta = math.atan2(y,x);
theta = int(-math.degrees(theta)/2) % 360;
theta = str(theta);
print(theta);
self.ser.write(theta.encode());
def parseData(self):
reg = r"\[(.*)\s(.*)\s(.*)\s(.*)(?:\s*)?\](?:\s*)?"; #4 time vals
ptrn = re.compile(reg);
m = ptrn.search(self.data);
pts = [];
try:
l = [m.group(1),m.group(2),m.group(3),m.group(4)];
for i in range(4):
x,y = self.locator.locate(l,i);
pts.append((x,y));
xEdit = getattr(self,('x'+str(i+1)+'Edit'));
yEdit = getattr(self,('y'+str(i+1)+'Edit'));
xEdit.setText(repr(x));
yEdit.setText(repr(y));
self.update();
self.history.memorize(pts);
vPts = list(filter(lambda p: not (math.isnan(p[0]) or math.isnan(p[0])), pts));
self.screen.setCandidate(vPts);
p = getAvg(getPair(vPts));
self.calcComplete.emit(p);
self.screen.setLoc(p);
except AttributeError:
pass;
def update(self):
QMainWindow.update(self);
self.screen.update();
def paintEvent(self,event):
QMainWindow.paintEvent(self,event);
def closeEvent(self,event):
QMainWindow.closeEvent(self,event);
self.history.close();
event.accept();
