Esempio n. 1
0
    def __init__(self):
        super(MainWindow, self).__init__()

        # noinspection PyCallingNonCallable
        self._nao = Nao()
        self._actionQueue = ActionModel(self, self._nao)
        self._LEDTime = QtCore.QTime.currentTime()

        Study.setup()

        #=======================================================================
        # Create Menus
        #=======================================================================
        menubar = self.menuBar()

        #-----------------------------File Menu---------------------------------#
        actConnect = QtGui.QAction(QtGui.QIcon(), '&Connect', self)
        actConnect.setShortcut('Ctrl+Alt+C')
        actConnect.triggered.connect(self.on_actConnect_triggered)

        actDisconnect = QtGui.QAction(QtGui.QIcon(), '&Disconnect', self)
        actDisconnect.setShortcut('Ctrl+Alt+D')
        actDisconnect.triggered.connect(self.on_actDisconnect_triggered)

        actExit = QtGui.QAction(QtGui.QIcon('images/exit.png'), '&Exit', self)
        actExit.setShortcut('Ctrl+Alt+X')
        actExit.setStatusTip('Exit application')
        actExit.triggered.connect(self.close)

        fileMenu = menubar.addMenu('File')
        fileMenu.addAction(actConnect)
        fileMenu.addAction(actDisconnect)
        fileMenu.addAction(actExit)

        #-----------------------------Load Menu---------------------------------#
        loadMenu = menubar.addMenu('Load')
        self._loadActions = []

        for i in range(len(Study.TASKS)):
            actLoad = QtGui.QAction(QtGui.QIcon(), "Load " + Study.TASKS[i][Study.TASK_NAME], self)
            actLoad.setShortcut("Ctrl+Alt+" + str(i + 1))
            actLoad.triggered.connect(self.on_actLoad_specific)
            loadMenu.addAction(actLoad)
            self._loadActions.append(actLoad)
        # END for

        #---------------------------Help Menu---------------------------------#
        actAboutBox = QtGui.QAction(QtGui.QIcon(), '&About', self)
        actAboutBox.triggered.connect(self.on_actAbout_triggered)
        actAboutBox.setShortcut("Ctrl+Alt+H")

        helpMenu = menubar.addMenu('Help')
        helpMenu.addAction(actAboutBox)

        #=======================================================================
        # Create Widgets
        #=======================================================================
        self._wgtMain = QtGui.QWidget(self)
        splitter = QtGui.QSplitter(self._wgtMain)
        splitter.setOrientation(QtCore.Qt.Horizontal)

        wgtLeft = QtGui.QWidget(splitter)
        wgtLeft.setMinimumWidth(350)

        splitterLeft = QtGui.QSplitter(wgtLeft)
        splitterLeft.setOrientation(QtCore.Qt.Vertical)

        self._wgtTimer = TimerWidget(splitterLeft)

        self._wgtCamera = CameraWidget(splitterLeft, self._nao.getCamera())
        self._wgtCamera.setMinimumHeight(385)
        self._wgtCamera.cameraChanged.connect(self._nao.getCamera().setCameraSource)
        self._wgtCamera.moveHead.connect(self.on__wgtCamera_moveHead)

        self._wgtActionList = ActionListWidget(splitterLeft, self._actionQueue)
        self._wgtActionList.setMinimumHeight(120)
        self._wgtActionList.editClicked.connect(self.on__wgtActionList_editClicked)

        layoutLeft = QtGui.QHBoxLayout(wgtLeft)
        layoutLeft.setMargin(0)
        layoutLeft.addWidget(splitterLeft)

        wgtRight = QtGui.QWidget(splitter)
        wgtRight.setMinimumWidth(380)

        splitterRight = QtGui.QSplitter(wgtRight)
        splitterRight.setOrientation(QtCore.Qt.Vertical)

        self._wgtTaskPanel = QtGui.QWidget(splitterRight)
        self._wgtTaskPanel.setMinimumHeight(400)

        self._layoutTaskPanel = QtGui.QStackedLayout(self._wgtTaskPanel)
        self._layoutTaskPanel.setMargin(0)
        for i in range(len(Study.TASKS)):
            Study.TASKS[i][Study.TASK_WIDGET].setParent(self._wgtTaskPanel)
            Study.TASKS[i][Study.TASK_WIDGET].setActionQueue(self._actionQueue)
            Study.TASKS[i][Study.TASK_WIDGET].setNao(self._nao)
            self._layoutTaskPanel.addWidget(Study.TASKS[i][Study.TASK_WIDGET])
        # END for

        widgetTextStiff = QtGui.QWidget(splitterRight)
        widgetTextStiff.setMinimumHeight(160)

        self._wgtSpeech = SpeechWidget(splitterRight)
        self._wgtSpeech.setInputFocus()
        self._wgtSpeech.inputCancelled.connect(self.setFocus)
        self._wgtSpeech.textSubmitted.connect(self.on__wgtSpeech_playSpeech)
        self._wgtSpeech.volumeChanged.connect(self._nao.setVolume)

        self._wgtMovement = MovementWidget(splitterRight)
        self._wgtMovement.setActionQueue(self._actionQueue)
        self._wgtMovement.setNao(self._nao)

        layoutTextStiff = QtGui.QHBoxLayout(widgetTextStiff)
        layoutTextStiff.setMargin(0)
        layoutTextStiff.addWidget(self._wgtSpeech)
        layoutTextStiff.addWidget(self._wgtMovement)

        layoutRight = QtGui.QHBoxLayout(wgtRight)
        layoutRight.setMargin(0)
        layoutRight.addWidget(splitterRight)

        layoutMain = QtGui.QHBoxLayout(self._wgtMain)
        layoutMain.addWidget(splitter)

        ##################################################
        # MainWindow
        ##################################################
        self.installEventFilter(self)
        self.setCentralWidget(self._wgtMain)
        self.setFocusPolicy(QtCore.Qt.StrongFocus)
        self.setMinimumSize(800, 600)
        self.setWindowIcon(QtGui.QIcon("images/icon.png"))
        self.setWindowTitle('NAO Robotic Controller')
        self.resize(1024, 768)
        self.show()
Esempio n. 2
0
class MainWindow(QtGui.QMainWindow):
    def __init__(self):
        super(MainWindow, self).__init__()

        # noinspection PyCallingNonCallable
        self._nao = Nao()
        self._actionQueue = ActionModel(self, self._nao)
        self._LEDTime = QtCore.QTime.currentTime()

        Study.setup()

        #=======================================================================
        # Create Menus
        #=======================================================================
        menubar = self.menuBar()

        #-----------------------------File Menu---------------------------------#
        actConnect = QtGui.QAction(QtGui.QIcon(), '&Connect', self)
        actConnect.setShortcut('Ctrl+Alt+C')
        actConnect.triggered.connect(self.on_actConnect_triggered)

        actDisconnect = QtGui.QAction(QtGui.QIcon(), '&Disconnect', self)
        actDisconnect.setShortcut('Ctrl+Alt+D')
        actDisconnect.triggered.connect(self.on_actDisconnect_triggered)

        actExit = QtGui.QAction(QtGui.QIcon('images/exit.png'), '&Exit', self)
        actExit.setShortcut('Ctrl+Alt+X')
        actExit.setStatusTip('Exit application')
        actExit.triggered.connect(self.close)

        fileMenu = menubar.addMenu('File')
        fileMenu.addAction(actConnect)
        fileMenu.addAction(actDisconnect)
        fileMenu.addAction(actExit)

        #-----------------------------Load Menu---------------------------------#
        loadMenu = menubar.addMenu('Load')
        self._loadActions = []

        for i in range(len(Study.TASKS)):
            actLoad = QtGui.QAction(QtGui.QIcon(), "Load " + Study.TASKS[i][Study.TASK_NAME], self)
            actLoad.setShortcut("Ctrl+Alt+" + str(i + 1))
            actLoad.triggered.connect(self.on_actLoad_specific)
            loadMenu.addAction(actLoad)
            self._loadActions.append(actLoad)
        # END for

        #---------------------------Help Menu---------------------------------#
        actAboutBox = QtGui.QAction(QtGui.QIcon(), '&About', self)
        actAboutBox.triggered.connect(self.on_actAbout_triggered)
        actAboutBox.setShortcut("Ctrl+Alt+H")

        helpMenu = menubar.addMenu('Help')
        helpMenu.addAction(actAboutBox)

        #=======================================================================
        # Create Widgets
        #=======================================================================
        self._wgtMain = QtGui.QWidget(self)
        splitter = QtGui.QSplitter(self._wgtMain)
        splitter.setOrientation(QtCore.Qt.Horizontal)

        wgtLeft = QtGui.QWidget(splitter)
        wgtLeft.setMinimumWidth(350)

        splitterLeft = QtGui.QSplitter(wgtLeft)
        splitterLeft.setOrientation(QtCore.Qt.Vertical)

        self._wgtTimer = TimerWidget(splitterLeft)

        self._wgtCamera = CameraWidget(splitterLeft, self._nao.getCamera())
        self._wgtCamera.setMinimumHeight(385)
        self._wgtCamera.cameraChanged.connect(self._nao.getCamera().setCameraSource)
        self._wgtCamera.moveHead.connect(self.on__wgtCamera_moveHead)

        self._wgtActionList = ActionListWidget(splitterLeft, self._actionQueue)
        self._wgtActionList.setMinimumHeight(120)
        self._wgtActionList.editClicked.connect(self.on__wgtActionList_editClicked)

        layoutLeft = QtGui.QHBoxLayout(wgtLeft)
        layoutLeft.setMargin(0)
        layoutLeft.addWidget(splitterLeft)

        wgtRight = QtGui.QWidget(splitter)
        wgtRight.setMinimumWidth(380)

        splitterRight = QtGui.QSplitter(wgtRight)
        splitterRight.setOrientation(QtCore.Qt.Vertical)

        self._wgtTaskPanel = QtGui.QWidget(splitterRight)
        self._wgtTaskPanel.setMinimumHeight(400)

        self._layoutTaskPanel = QtGui.QStackedLayout(self._wgtTaskPanel)
        self._layoutTaskPanel.setMargin(0)
        for i in range(len(Study.TASKS)):
            Study.TASKS[i][Study.TASK_WIDGET].setParent(self._wgtTaskPanel)
            Study.TASKS[i][Study.TASK_WIDGET].setActionQueue(self._actionQueue)
            Study.TASKS[i][Study.TASK_WIDGET].setNao(self._nao)
            self._layoutTaskPanel.addWidget(Study.TASKS[i][Study.TASK_WIDGET])
        # END for

        widgetTextStiff = QtGui.QWidget(splitterRight)
        widgetTextStiff.setMinimumHeight(160)

        self._wgtSpeech = SpeechWidget(splitterRight)
        self._wgtSpeech.setInputFocus()
        self._wgtSpeech.inputCancelled.connect(self.setFocus)
        self._wgtSpeech.textSubmitted.connect(self.on__wgtSpeech_playSpeech)
        self._wgtSpeech.volumeChanged.connect(self._nao.setVolume)

        self._wgtMovement = MovementWidget(splitterRight)
        self._wgtMovement.setActionQueue(self._actionQueue)
        self._wgtMovement.setNao(self._nao)

        layoutTextStiff = QtGui.QHBoxLayout(widgetTextStiff)
        layoutTextStiff.setMargin(0)
        layoutTextStiff.addWidget(self._wgtSpeech)
        layoutTextStiff.addWidget(self._wgtMovement)

        layoutRight = QtGui.QHBoxLayout(wgtRight)
        layoutRight.setMargin(0)
        layoutRight.addWidget(splitterRight)

        layoutMain = QtGui.QHBoxLayout(self._wgtMain)
        layoutMain.addWidget(splitter)

        ##################################################
        # MainWindow
        ##################################################
        self.installEventFilter(self)
        self.setCentralWidget(self._wgtMain)
        self.setFocusPolicy(QtCore.Qt.StrongFocus)
        self.setMinimumSize(800, 600)
        self.setWindowIcon(QtGui.QIcon("images/icon.png"))
        self.setWindowTitle('NAO Robotic Controller')
        self.resize(1024, 768)
        self.show()
    # END __init__()

    def on_actConnect_triggered(self):
        if not self._nao.isConnected():
            self._dlgConnect = ConnectDialog(self)
            self._dlgConnect.accepted.connect(self.on__dlgConnect_accepted)
            self._dlgConnect.show()
        # END if
    # END on_actConnect_triggered()

    def on_actDisconnect_triggered(self):
        if self._nao.isConnected():
            self.killTimer(self._timerID)
            print "==================================="
            print "Disconnecting from Nao"
            self._nao.disconnect()
            print "==================================="
            self._wgtCamera.setDefaultImage()
        # END if
    # END on_actDisconnect_triggered()

    # noinspection PyUnusedLocal
    def on_actLoad_specific(self, studyShortName):
        for i in range(len(self._loadActions)):
            if self._loadActions[i] == self.sender():
                self._layoutTaskPanel.setCurrentIndex(i)
                return
            # END if
        # END for
    # END on_actLoad_specific

    def on_actAbout_triggered(self):
        dlgAbout = AboutWindow(self)
        dlgAbout.show()
    # END on_actAbout_triggered()

    def on__dlgConnect_accepted(self):
        if not self._nao.isConnected():
            ipAddress = str(self._dlgConnect.ipAddress)
            port = str(self._dlgConnect.port)
            camIpAddr = str(self._dlgConnect.camIpAddr)
            camPort = str(self._dlgConnect.camPort)
            ttsIpAddr = str(self._dlgConnect.ttsIpAddr)
            ttsPort = str(self._dlgConnect.ttsPort)
            print "==================================="
            print "Connecting to Nao (" + ipAddress + ":" + port + ")"
            if self._nao.connect(ipAddress, int(port), camIpAddr, int(camPort), ttsIpAddr, int(ttsPort)):
                self._timerID = self.startTimer(50)
            else:
                print "FAILED"
            # END if
            print "==================================="
            self._dlgConnect = None
        # END if
    # END on__dlgConnect_accepted()

    def on__wgtActionList_editClicked(self):
        QtGui.QMessageBox.information(self, "Information", "Not implemented", QtGui.QMessageBox.Ok, QtGui.QMessageBox.NoButton)
    # END on__wgtActionList_editClicked()

    def on__wgtCamera_moveHead(self, direction):
        if self._nao.isConnected():
            if direction == Direction.Up:
                self._nao.tiltHeadUp()
            elif direction == Direction.Down:
                self._nao.tiltHeadDown()
            elif direction == Direction.Left:
                self._nao.turnHeadLeft()
            elif direction == Direction.Right:
                self._nao.turnHeadRight()
            #END if
        #END if
    # END on__wgtCamera_moveHead()

    def on__wgtSpeech_playSpeech(self, value):
        actions = Study.TASKS[self._layoutTaskPanel.currentIndex()][Study.TASK_WIDGET].speech(str(value), self._wgtSpeech.getSpeed(), self._wgtSpeech.getShaping())
        if actions is None:
            actions = Speech(value, speed = self._wgtSpeech.getSpeed(), shaping = self._wgtSpeech.getShaping(), blocking = False)
        #END if
        self._actionQueue.addActions(actions)
    # END on__wgtSpeech_playSpeech()

    # noinspection PyUnusedLocal
    def closeEvent(self, event):
        self._actionQueue.dispose()
        self.on_actDisconnect_triggered()
    # END closeEvent()

    # noinspection PyUnusedLocal
    def timerEvent(self, event):
        if self._LEDTime < QtCore.QTime.currentTime():
            if self._wgtSpeech.isTextEmpty() and (self._actionQueue.rowCount(None) <= 0 or self._actionQueue.isRunning()):
                Study.TASKS[self._layoutTaskPanel.currentIndex()][Study.TASK_WIDGET].LEDNormal()
            else:
                Study.TASKS[self._layoutTaskPanel.currentIndex()][Study.TASK_WIDGET].LEDActive()
            # END if
            self._LEDTime = QtCore.QTime.currentTime().addSecs(1.5)