def __init__(self, settingsPath, objectsPath, cascadePath):
"""
:param settingsPath: The full path to Settings.txt
:param objectsPath: The path to directory that holds Objects, for ObjectManager
:param cascadePath: The path to the directory that holds the eye_cascade.xml, face_cascade.xml, and smile_cascade.xml
"""
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(
self.__vStream, cascadePath
) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager(objectsPath)
self.__transform = None
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
if ptPairs is not None:
self.__transform = Transform(ptPairs)
def __init__(self, settingsPath, objectsPath, cascadePath):
"""
:param settingsPath: The full path to Settings.txt
:param objectsPath: The path to directory that holds Objects, for ObjectManager
:param cascadePath: The path to the directory that holds the eye_cascade.xml, face_cascade.xml, and smile_cascade.xml
"""
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(self.__vStream, cascadePath) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager(objectsPath)
self.__transform = None
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
if ptPairs is not None:
self.__transform = Transform(ptPairs)
def __init__(self, settingsPath=Paths.settings_txt, resourcePath=Paths.resourcesLoc):
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(self.__vStream) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager()
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
self.__objectMngr.loadAllObjects()
class Environment:
"""
Environment is a singleton. Do not create more than one! It is intended to help cope with the needs of GUI
programming, where at any point I might need access to the robot, video, or settings. However, some rules apply: if
Environment is passed to a class, do not save it to the class, instead pull what is needed from there and save
that to the class instead.
Environment holds the following thing and handles their shutdown:
- VideoStream class For getting frames from the camera in another thread
- Vision class For object detection and tracking
- Robot class For controlling the robot and getting input from it
- ObjectManager class For loading/saving objects
- Transform class For converting between Camera and Robot coordinates
THE ENVIRONMENT DOES NOT HOLD THE INTERPRETER, BY DESIGN: Since an Interpreter can run an interpreter inside of it,
recursively, then the environment must not hold an interpreter. They are seperate. An Interpreter can hold an
environment, however.
Rules of thumb:
- Objects that do not change while the interpreter is running are stored in ObjectManager
- Vision Objects
- Movement Paths
- Objects that are added and modified while interpeter is running are stored in the Interpeter
- Variables generated by commands
- "on the fly" vision objects generated by commands
"""
def __init__(self, settingsPath, objectsPath, cascadePath):
"""
:param settingsPath: The full path to Settings.txt
:param objectsPath: The path to directory that holds Objects, for ObjectManager
:param cascadePath: The path to the directory that holds the eye_cascade.xml, face_cascade.xml, and smile_cascade.xml
"""
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(
self.__vStream, cascadePath
) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager(objectsPath)
self.__transform = None
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
if ptPairs is not None:
self.__transform = Transform(ptPairs)
# Getting System Objects
def getRobot(self):
return self.__robot
def getVStream(self):
return self.__vStream
def getVision(self):
return self.__vision
def getObjectManager(self):
return self.__objectMngr
def getTransform(self):
return self.__transform
# Settings controls
def getSettings(self):
return deepcopy(self.__settings)
def getSetting(self, category):
return deepcopy(self.__settings[category])
def updateSettings(self, category, newSettings):
"""
Apply any new settings that have been changed. If they've been changed, also save the program.
"""
current = self.__settings[category]
# Create a quick function that will check if a setting has been changed. If it has, an action will be taken.
# If settings change, then save the changes to the config file, and update the self.__settings dictionary
if (current is None or not current == newSettings):
printf("Environment| Saving setting: ", category)
# Update the self.__settings dictionary
self.__settings[category] = deepcopy(newSettings)
# Save the settings to a file
json.dump(self.__settings,
open(self.__settingsPath, 'w'),
sort_keys=False,
indent=3,
separators=(',', ': '))
# Now, perform any updates that might need doing
if category == "coordCalibrations":
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
self.__transform = Transform(ptPairs)
else:
printf("Environment| No settings changed: ", category)
def __loadSettings(self):
"""
Load a settings file, and update the default values with the loaded values, then set that as settings.
If the settins file could not be loaded, just return the default values.
"""
defaultSettings = {
# LOGIC RELATED SETTINGS
"robotID": None, # COM port of the robot
"cameraID": None, # The # of the camera for cv to connect
"motionCalibrations": {
"stationaryMovement": None,
"activeMovement": None
},
"coordCalibrations": {
"ptPairs": None, # Pairs of (Camera, Robot) pts
"failPts": None, # Coordinate's where calib failed
"groundPos": None # The "Ground" pos, in [x,y,z]
},
# GUI RELATED SETTINGS
"consoleSettings": {
"wordWrap": False, # ConsoleWidget settings
"robot": True, # What gets printed in console
"vision": True,
"serial": False,
"interpreter": True,
"script": True,
"gui": False,
"other": True,
},
"windowGeometry": None, # The size and shape of the main window
"windowState":
None, # Location and size of dockWidgets on the mainWindow
"lastOpenedFile":
None, # So the GUI can open the last file you had
"language": None # So the GUI can detect the language
}
# Load the settings config and set them
printf("Environment| Loading Settings")
# Try to load a settings file. If it fails, simply return the default settings
try:
def updateDictionary(default, new):
"""
This is a custom function for updating dictionaries that have nested dictionaries. The idea is that if
I ever change the save format for the Settings file, there won't be any corruption issues- it will
simply input a default value for keys that aren't in the old save file, and get rid of keys that
aren't in the new format. Compatibility is not much easier!
It's better than dictionary.update(newdictionary), because it handles nested dictionaries and their
values as well. Works great!
"""
for key in default:
if key in new:
if isinstance(new[key], dict):
updateDictionary(default[key], new[key])
else:
default[key] = new[key]
newSettings = json.load(open(self.__settingsPath))
updateDictionary(defaultSettings, newSettings)
# Replace the current settings with new settings
return defaultSettings
except IOError as e:
printf(
"Environment| ERROR: No settings file detected. Using default values. Error:",
e)
return defaultSettings
except ValueError as e:
printf(
"Environment| ERROR: while loading an existing settings file. Using default values. Error: ",
e)
return defaultSettings
# Close system objects
def close(self):
# This will try to safely shut down any objects that are capable of running threads.
self.__robot.setExiting(True)
self.__vision.setExiting(True)
self.__vStream.endThread()
class Environment:
"""
Environment is a singleton. Do not create more than one! It is intended to help cope with the needs of GUI
programming, where at any point I might need access to the robot, video, or settings. However, some rules apply: if
Environment is passed to a class, do not save it to the class, instead pull what is needed from there and save
that to the class instead.
Environment holds the following thing and handles their shutdown:
- VideoStream class For getting frames from the camera in another thread
- Vision class For object detection and tracking
- Robot class For controlling the robot and getting input from it
- ObjectManager class For loading/saving objects
- Transform class For converting between Camera and Robot coordinates
THE ENVIRONMENT DOES NOT HOLD THE INTERPRETER, BY DESIGN: Since an Interpreter can run an interpreter inside of it,
recursively, then the environment must not hold an interpreter. They are seperate. An Interpreter can hold an
environment, however.
Rules of thumb:
- Objects that do not change while the interpreter is running are stored in ObjectManager
- Vision Objects
- Movement Paths
- Objects that are added and modified while interpeter is running are stored in the Interpeter
- Variables generated by commands
- "on the fly" vision objects generated by commands
"""
def __init__(self, settingsPath, objectsPath, cascadePath):
"""
:param settingsPath: The full path to Settings.txt
:param objectsPath: The path to directory that holds Objects, for ObjectManager
:param cascadePath: The path to the directory that holds the eye_cascade.xml, face_cascade.xml, and smile_cascade.xml
"""
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(self.__vStream, cascadePath) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager(objectsPath)
self.__transform = None
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
if ptPairs is not None:
self.__transform = Transform(ptPairs)
# Getting System Objects
def getRobot(self):
return self.__robot
def getVStream(self):
return self.__vStream
def getVision(self):
return self.__vision
def getObjectManager(self):
return self.__objectMngr
def getTransform(self):
return self.__transform
# Settings controls
def getSettings(self):
return deepcopy(self.__settings)
def getSetting(self, category):
return deepcopy(self.__settings[category])
def updateSettings(self, category, newSettings):
"""
Apply any new settings that have been changed. If they've been changed, also save the program.
"""
current = self.__settings[category]
# Create a quick function that will check if a setting has been changed. If it has, an action will be taken.
# If settings change, then save the changes to the config file, and update the self.__settings dictionary
if (current is None or not current == newSettings):
printf("Environment| Saving setting: ", category)
# Update the self.__settings dictionary
self.__settings[category] = deepcopy(newSettings)
# Save the settings to a file
json.dump(self.__settings, open(self.__settingsPath, 'w'),
sort_keys=False, indent=3, separators=(',', ': '))
# Now, perform any updates that might need doing
if category == "coordCalibrations":
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
self.__transform = Transform(ptPairs)
else:
printf("Environment| No settings changed: ", category)
def __loadSettings(self):
"""
Load a settings file, and update the default values with the loaded values, then set that as settings.
If the settins file could not be loaded, just return the default values.
"""
defaultSettings = {
# LOGIC RELATED SETTINGS
"robotID": None, # COM port of the robot
"cameraID": None, # The # of the camera for cv to connect
"motionCalibrations": {
"stationaryMovement": None,
"activeMovement": None
},
"coordCalibrations": {
"ptPairs": None, # Pairs of (Camera, Robot) pts
"failPts": None, # Coordinate's where calib failed
"groundPos": None # The "Ground" pos, in [x,y,z]
},
# GUI RELATED SETTINGS
"consoleSettings": {
"wordWrap": False, # ConsoleWidget settings
"robot": True, # What gets printed in console
"vision": True,
"serial": False,
"interpreter": True,
"script": True,
"gui": False,
"other": True,
},
"windowGeometry": None, # The size and shape of the main window
"windowState": None, # Location and size of dockWidgets on the mainWindow
"lastOpenedFile": None # So the GUI can open the last file you had
}
# Load the settings config and set them
printf("Environment| Loading Settings")
# Try to load a settings file. If it fails, simply return the default settings
try:
def updateDictionary(default, new):
"""
This is a custom function for updating dictionaries that have nested dictionaries. The idea is that if
I ever change the save format for the Settings file, there won't be any corruption issues- it will
simply input a default value for keys that aren't in the old save file, and get rid of keys that
aren't in the new format. Compatibility is not much easier!
It's better than dictionary.update(newdictionary), because it handles nested dictionaries and their
values as well. Works great!
"""
for key in default:
if key in new:
if isinstance(new[key], dict):
updateDictionary(default[key], new[key])
else:
default[key] = new[key]
newSettings = json.load(open(self.__settingsPath))
updateDictionary(defaultSettings, newSettings)
# Replace the current settings with new settings
return defaultSettings
except IOError as e:
printf("Environment| ERROR: No settings file detected. Using default values. Error:", e)
return defaultSettings
except ValueError as e:
printf("Environment| ERROR: while loading an existing settings file. Using default values. Error: ", e)
return defaultSettings
# Close system objects
def close(self):
# This will try to safely shut down any objects that are capable of running threads.
self.__robot.setExiting(True)
self.__vision.setExiting(True)
self.__vStream.endThread()
class Environment:
"""
Environment is a singleton. Do not create more than one! It is intended to help cope with the needs of GUI
programming, where at any point I might need access to the robot, video, or settings. However, some rules apply: if
Environment is passed to a class, do not save it to the class, instead pull what is needed from there and save
that to the class instead.
Environment holds the following thing and handles their shutdown:
- VideoStream object
- Vision object
- Robot object
- ObjectManager object
THE ENVIRONMENT DOES NOT HOLD THE INTERPRETER, BY DESIGN: Since an Interpreter can run an interpreter inside of it,
recursively, then the environment must not hold an interpreter. They are seperate. An Interpreter can hold an
environment, however.
Rules of thumb:
- Objects that do not change while the interpreter is running are stored in Environment
- Vision Objects
- Movement Paths
- Objects that are added and modified while interpeter is running are stored in the Interpeter
- Variables generated by commands
- "on the fly" vision objects generated by commands
"""
def __init__(self, settingsPath=Paths.settings_txt, resourcePath=Paths.resourcesLoc):
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(self.__vStream) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager()
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
self.__objectMngr.loadAllObjects()
# This keeps track of objects that have been self.addObject()'d, so self.saveObjects() actually saves them.
# self.changedObjects = []
# Getting System Objects
def getRobot(self):
return self.__robot
def getVStream(self):
return self.__vStream
def getVision(self):
return self.__vision
def getObjectManager(self):
return self.__objectMngr
# Settings controls
def getSettings(self):
return deepcopy(self.__settings)
def getSetting(self, category):
return deepcopy(self.__settings[category])
def updateSettings(self, category, newSettings):
"""
Apply any new settings that have been changed. If they've been changed, also save the program.
"""
current = self.__settings[category]
# Create a quick function that will check if a setting has been changed. If it has, an action will be taken.
# If settings change, then save the changes to the config file, and update the self.__settings dictionary
if (current is None or not current == newSettings) and newSettings is not None:
printf("Saving setting: ", category)
# Update the self.__settings dictionary
self.__settings[category] = deepcopy(newSettings)
# Save the settings to a file
json.dump(self.__settings, open(self.__settingsPath, 'w'),
sort_keys=False, indent=3, separators=(',', ': '))
else:
printf("No settings changed: ", category)
def __loadSettings(self):
defaultSettings = {
# LOGIC RELATED SETTINGS
"robotID": None, # COM port of the robot
"cameraID": None, # The # of the camera for cv to connect
"motionCalibrations": {
"stationaryMovement": None,
"activeMovement": None
},
"coordCalibrations": {
"ptPairs": None, # Pairs of (Camera, Robot) pts
"failPts": None, # Coordinate's where calib failed
"groundPos": None # The "Ground" pos, in [x,y,z]
},
# GUI RELATED SETTINGS
"consoleSettings": {
"wordWrap": False, # ConsoleWidget settings
"robot": True, # What gets printed in console
"vision": True,
"serial": False,
"interpreter": True,
"script": True,
"gui": False
},
"windowGeometry": None, # The size and shape of the main window
"windowState": None, # Location and size of dockWidgets on the mainWindow
"lastOpenedFile": None # So the GUI can open the last file you had
}
# Load the settings config and set them
printf("Loading Settings")
# Try to load a settings file. If it fails, simply return the default settings
try:
newSettings = json.load(open(self.__settingsPath))
# Replace the current settings with new settings
return newSettings
except IOError as e:
printf("ERROR: No settings file detected. Using default values. Error:", e)
return defaultSettings
except ValueError as e:
printf("ERROR: while loading an existing settings file. Using default values. Error: ", e)
return defaultSettings
# Close system objects
def close(self):
# This will try to safely shut down any objects that are capable of running threads.
self.__robot.setExiting(True)
self.__vision.setExiting(True)
self.__vStream.endThread()
