class Implement(QtWidgets.QWidget, first_des.Ui_Form):
def __init__(self):
super().__init__()
self.setupUi(self)
self.img = None
self.globl = ""
#self.put_start_img()
self.thread = QThread()
self.thread.start()
self.server = SimpleXMLRPCServer(("10.42.0.1", 60002))
self.server.logRequests = False
self.server.register_function(set_msg)
self.serverControlThread = threading.Thread(
target=self.server.serve_forever)
self.serverControlThread.daemon = True
self.serverControlThread.start()
self.robot = xmlrpc.client.ServerProxy('http://%s:%d' %
("10.42.0.69", 60001))
self.spawer = Spawer(self.on_recive, self.write_msg)
self.spawer.start()
def on_recive(self, img):
'''recive image in opencv format'''
self.img = img
self.reWrite() #- method for updating label content
#self.imgLabel.setPixmap(QtGui.QPixmap.fromImage(img))
#self.imgLabel.setAlignment(Qt.AlignHCenter # qtCore <-> QtCore
# | Qt.AlignVCenter)
def write_msg(self, msg):
self.globl += msg + "\n"
#print(self.globl.count("\n"))
if (self.globl.count("\n") > 30):
ind = self.globl.find("\n")
self.globl = self.globl[ind + 1:]
self.globalLabel.setText(self.globl)
def addText(self):
if not self.text.text() == "":
text = self.text.text()
self.globl += self.text.text() + "\n"
self.text.setText("")
if (self.globl.count("\n") > 30):
ind = self.globl.find("\n")
self.globl = self.globl[ind + 1:]
self.globalLabel.setText(self.globl)
if text == "write mode":
_ = self.robot.write_mode()
if text == "read mode":
_ = self.robot.read_mode()
if text.isdigit():
_ = self.robot.set_req(text)
def keyPressEvent(self, e):
if e.key() == Qt.Key_Escape:
self.close()
elif e.key() == Qt.Key_Return:
self.addText()
elif e.key() == Qt.Key_Enter:
self.addText()
def waiter(self):
time.sleep(10)
self.server.server_close()
QApplication.instance().quit()
def closeEvent(self, event):
reply = QtWidgets.QMessageBox.question(
self, 'Message', "Are you sure to quit?",
QtWidgets.QMessageBox.Yes | QtWidgets.QMessageBox.No,
QtWidgets.QMessageBox.No)
if reply == QtWidgets.QMessageBox.Yes:
_ = self.robot.stop()
self.spawer.stop_trigger.emit()
t1 = threading.Thread(target=self.waiter)
t1.start()
event.ignore()
else:
event.ignore()
class Implement(QtWidgets.QWidget, mouseEvent.Ui_Form):
def __init__(self):
super().__init__()
self.setupUi(self)
self.draw = False
self.mode = {"mode": 404, "assert": False}
self.default = cv2.imread("img.jpg")
self.frame = None
self.send_request = False #tell us about write or rwad mode
self.texts = [
"geting ready for writing mode", "geting ready for reading mode",
"put finger on the sensor", "remove finger from sensor",
"put the same finger again", "stored!", "read out",
"look at the camera", "match", "Unexpected ERROR"
]
self.Ready_for_update = threading.Event()
self.Ready_for_update.set()
self.set(self.default)
self.pos = []
self.start = None
self.face_cascade = cv2.CascadeClassifier(
'../../data/haarcascades/haarcascade_frontalface_default.xml')
self.finished = True #predict twise requesting
self.thread = QThread()
self.thread.start()
self.server = SimpleXMLRPCServer(("10.42.0.1", 60002))
self.server.logRequests = False
self.server.register_function(self.comReceiver)
self.serverControlThread = threading.Thread(
target=self.server.serve_forever)
self.serverControlThread.daemon = True
self.serverControlThread.start()
self.robot = xmlrpc.client.ServerProxy('http://%s:%d' %
("10.42.0.69", 60001))
self.spawer = Spawer(self.on_recive) #, self.write_msg)
self.spawer.start()
def on_recive(self, frame):
self.frame = frame
self.set(self.frame)
def comReceiver(self, msg):
t = threading.Thread(target=self.comHandler, args=(msg, ))
t.start()
return 0
def comHandler(self, msg):
self.mode = {"mode": 404, "assert": 0}
if msg == "error": self.mode["mode"] = 8 #msg = self.texts[8]
elif msg == "put finger": self.mode["mode"] = 2 #msg = self.texts[2]
elif msg == "remove finger":
self.mode["mode"] = 3 #msg = self.texts[3]
elif msg == "same finger":
self.mode["mode"] = 4 #msg = self.texts[4]
elif msg == "stored":
self.mode["mode"] = 5 #msg = self.texts[5]
elif msg == "read":
self.mode["mode"] = 6 #msg = self.texts[5]
elif msg == "camera":
self.mode["mode"] = 7 #msg = self.texts[6]
elif msg == "match":
self.mode["mode"] = 8 #msg = self.texts[7]
elif msg == "unstored":
self.mode = {"mode": 5, "assert": 1} #msg = "Un" + self.texts[5]
elif msg == "unread":
self.mode = {"mode": 6, "assert": 1} #msg = "Un" + self.texts[5]
elif msg == "No match":
self.mode = {"mode": 8, "assert": 1} #msg = "No " + self.texts[7]
elif msg == "square face":
self.mode["mode"] = 9
elif msg == "return":
time.sleep(2)
self.mode = {"mode": 404, "assert": False}
self.set(self.frame)
def set(self, img, check=False, msg=""):
if self.Ready_for_update.is_set():
self.update(img, check, msg)
def update(self, img, check=False, msg=""):
self.Ready_for_update.clear()
if self.mode["assert"]: msg = "not "
if img is None: img = self.default
img = img.copy()
if self.draw:
x0, y0 = self.pos[0]
x1, y1 = self.pos[1]
angle = math.atan2(x1 - x0, y1 - y0)
angle = angle * 180 / 3.14
if angle > -97 and angle < -83:
color = (0, 255, 0)
if check:
self.start = True
elif angle > 83 and angle < 97:
color = (0, 255, 0)
if check: self.start = False
else: color = (0, 0, 255)
cv2.line(img, self.pos[0], self.pos[1], color, 2)
cv2.putText(img, str(int(angle)), (300, 300),
cv2.FONT_HERSHEY_SIMPLEX, 1, color, 2)
elif self.mode["mode"] < 2:
msg += self.texts[self.mode["mode"]]
gray_image = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
gray_image = cv2.equalizeHist(gray_image)
img = cv2.cvtColor(gray_image, cv2.COLOR_GRAY2RGB)
cv2.putText(img, msg, (180, 300), cv2.FONT_HERSHEY_SIMPLEX, 1,
(51, 51, 153), 2)
#if self.mode["mode"]: t = threading.Thread(target=self.fake_robot, args=(True,))
#else: t = threading.Thread(target=self.fake_robot, args=(False, ))
if not self.send_request:
if self.mode["mode"] == 0: _ = self.robot.write_mode()
elif self.mode["mode"] == 1: _ = self.robot.read_mode()
self.send_request = True
#self.finished = False
elif self.mode["mode"] < 9:
msg += self.texts[self.mode["mode"]]
gray_image = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
gray_image = cv2.equalizeHist(gray_image)
img = cv2.cvtColor(gray_image, cv2.COLOR_GRAY2RGB)
cv2.putText(img, msg, (180, 300), cv2.FONT_HERSHEY_SIMPLEX, 1,
(0, 0, 153), 2)
elif self.mode["mode"] == 9:
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
faces = self.face_cascade.detectMultiScale(gray, 1.3, 5)
for (x, y, w, h) in faces:
cv2.rectangle(img, (x, y), (x + w, y + h), (255, 0, 0), 2)
self.send_request = False
'''if self.flag[1] or self.flag[2]:
gray_image = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
gray_image = cv2.equalizeHist(gray_image)
if self.flag[1]: text = "get ready for writeng mode"
else: text = "put finger on the sensor"
cv2.putText(gray_image, text,
(180,300),
cv2.FONT_HERSHEY_SIMPLEX,
1,
(255),
2)
img = cv2.cvtColor(gray_image,cv2.COLOR_GRAY2RGB)
self.direct = None
if self.flag[1]: ar = (2, 1, 5)
else: ar = (2, 2, 5)
t = threading.Thread(target=self.waiter, args=ar)
t.start()'''
height, width, colors = img.shape
bytesPerLine = 3 * width
QImage = QtGui.QImage
image = QImage(img.data, width, height, bytesPerLine,
QImage.Format_RGB888)
image = image.rgbSwapped()
pixmap = QtGui.QPixmap(image)
self.label.setPixmap(pixmap)
self.Ready_for_update.set()
def keyPressEvent(self, e):
if e.key() == Qt.Key_Escape:
self.close()
def closeEvent(self, event):
reply = QtWidgets.QMessageBox.question(
self, 'Message', "Are you sure to quit?",
QtWidgets.QMessageBox.Yes | QtWidgets.QMessageBox.No,
QtWidgets.QMessageBox.No)
if reply == QtWidgets.QMessageBox.Yes:
_ = self.robot.stop()
event.accept()
else:
event.ignore()
def mousePressEvent(self, ev):
if not self.send_request:
if ev.button() == Qt.LeftButton:
print("Pressed")
self.draw = True
self.pos.append((ev.x(), ev.y()))
self.pos.append((ev.x(), ev.y()))
self.set(self.frame)
def mouseReleaseEvent(self, ev):
if not self.send_request:
if ev.button() == Qt.LeftButton:
print("Released")
self.set(self.frame, check=True)
self.draw = False
if not self.start is None:
if self.start: self.mode["mode"] = 0
else: self.mode["mode"] = 1
# t = threading.Thread(target=self.waiter, args=(1, 0))
# t.start()
#print("HERE")
self.set(self.frame)
self.pos = []
def mouseMoveEvent(self, ev):
if not self.send_request:
self.pos[1] = (ev.x(), ev.y())
self.set(self.frame)
class ExampleApp(QtWidgets.QWidget, mouseEvent.Ui_Form):
def __init__(self):
# Это здесь нужно для доступа к переменным, методам
# и т.д. в файле design.py
super().__init__()
self.stopEvent = threading.Event()
self.check = True
self.thread = QThread()
self.thread.start()
self.setWindowFlags(Qt.FramelessWindowHint)
self.setupUi(self) # Это нужно для инициализации нашего дизайна
self.robot = xmlrpc.client.ServerProxy('http://%s:%d' %
(IP_ROBOT, CONTROL_PORT))
self.spawer = Spawer(self.on_recive, self.stopEvent)
self.spawer.start()
def on_recive(self, img):
pixmap = QtGui.QPixmap(img)
self.label.setPixmap(pixmap)
def closeEvent(self, event):
reply = QtWidgets.QMessageBox.question(
self, 'Message', "Are you sure to quit?",
QtWidgets.QMessageBox.Yes | QtWidgets.QMessageBox.No,
QtWidgets.QMessageBox.No)
if reply == QtWidgets.QMessageBox.Yes:
_ = self.robot.stopStreaming()
self.stopEvent.wait()
event.accept()
else:
event.ignore()
def keyPressEvent(self, e):
if self.check:
if e.type() == QEvent.KeyPress:
if e.text() == 'w':
_ = self.robot.comRecv('cam/down')
#self.check = False
e.accept()
elif e.text() == 'd':
_ = self.robot.comRecv('cam/RIGHT')
#self.check = False
e.accept()
elif e.text() == 'a':
_ = self.robot.comRecv('cam/LEFT')
#self.check = False
e.accept()
elif e.text() == 's':
_ = self.robot.comRecv('cam/up')
#self.check = False
e.accept()
elif e.key() == Qt.Key_Up:
_ = self.robot.comRecv('drive/ahead/200')
self.check = False
e.accept()
elif e.key() == Qt.Key_Down:
_ = self.robot.comRecv('drive/backward/200')
self.check = False
e.accept()
elif e.key() == Qt.Key_Left:
_ = self.robot.comRecv('drive/left/200')
self.check = False
e.accept()
elif e.key() == Qt.Key_Right:
_ = self.robot.comRecv('drive/right/200')
self.check = False
e.accept()
if e.key() == Qt.Key_Escape:
self.close()
def keyReleaseEvent(self, e):
if e.type() == QEvent.KeyRelease:
if e.key() in [Qt.Key_Up, Qt.Key_Down, Qt.Key_Left, Qt.Key_Right
] and not e.isAutoRepeat():
_ = self.robot.comRecv('drive/ahead/0')
self.check = True
e.accept()