def __init__(self, environment):
super(MainWindow, self).__init__()
self.env = environment
self.interpreter = Interpreter(self.env)
# Set the ConsoleWidget parameters immediately, so even early prints are captured
self.consoleWidget = Console(self.env.getSetting('consoleSettings'), parent=self)
Global.printRedirectFunc = self.consoleWidget.write
self.consoleWidget.setExecFunction(self.interpreter.evaluateExpression)
# Create GUI related class variables
self.fileName = None
self.loadData = [] #Set when file is loaded. Used to check if the user has changed anything when closing
self.programTitle = self.tr('uArm Creator Studio')
self.scriptToggleBtn = QtWidgets.QAction( QtGui.QIcon(Paths.run_script), self.tr('Run'), self)
self.devicesBtn = QtWidgets.QAction(QtGui.QIcon(Paths.devices_neither), self.tr('Devices'), self)
self.centralWidget = QtWidgets.QStackedWidget()
self.controlPanel = ControlPanelGUI.ControlPanel(self.env, parent=self)
self.cameraWidget = CameraWidget(self.env.getVStream(), parent=self)
self.floatingHint = QtWidgets.QLabel() # Used to display floating banners to inform the user of something
self.resetLayoutFlag = False # If True, Program will resetore the default layout
# Create Menu items and set up the GUI
self.cameraWidget.play()
self.initUI()
# After initUI: Restore the window geometry to the state it was when the user last closed the window
if self.env.getSetting("windowGeometry") is not None:
state = self.env.getSetting("windowGeometry")
state = bytearray(state, 'utf-8')
bArr = QtCore.QByteArray.fromHex(state)
self.restoreGeometry(bArr)
# After initUI: Restore size and position of dockwidgets to their previous state
if self.env.getSetting("windowState") is not None:
state = self.env.getSetting("windowState")
state = bytearray(state, 'utf-8')
bArr = QtCore.QByteArray.fromHex(state)
self.restoreState(bArr)
# If any file is specified in "lastOpenedFile" then load it.
if self.env.getSetting("lastOpenedFile") is not None:
self.loadTask(filename=self.env.getSetting("lastOpenedFile"))
else:
self.newTask(False)
# Create a timer that checks the connected devices and updates the icon to reflect what is connected correctly
self.refreshTimer = QtCore.QTimer()
self.refreshTimer.timeout.connect(self.refreshDevicesIcon)
self.refreshTimer.start(5000) # Once every five seconds
objectsPath = "Resources\\Objects"
print("Place this .py file in the same directory as uArmCreatorStudio.exe.")
print("Make sure the script works in GUI before trying it here")
# Create the environment. This will connect the robot and camera using Settings.txt
env = Environment(settingsPath=settingsPath,
objectsPath=objectsPath,
cascadePath=cascadePath)
# Wait for the robot and camera to connect in their seperate threads
print("Waiting 8 seconds for robot and camera to connect")
sleep(8)
# Create the interpreter
interpreter = Interpreter(env)
# Load the .task file you want to run
saveFile = json.load(open(taskPath))
# Load the task into the interpreter, and print the errors
errors = interpreter.initializeScript(saveFile)
print("The following errors occured while initializing the script:\n", errors)
if str(input(
"Do you want to continue and start the script? (Y/N)")).lower() == "n":
sys.exit()
# Before starting script, move the robot to a home position
robot = env.getRobot()
robot.setPos(**robot.home)
