def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1 = CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked)
class MainWindow(QMainWindow, Ui_MainWindow): updGUI=pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) #self.teleop=TeleopWidget(self) #self.tlLayout.addWidget(self.teleop) #self.teleop.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) self.logo = LogoWidget(self) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) def updateGUI(self): #print ('update gui') self.camera1.updateImage() #self.sensorsWidget.sensorsUpdate.emit() #self.glWidget.update() def getSensor(self): return self.sensor def setSensor(self,sensor): self.sensor=sensor #self.camera1.initImages() def playClicked(self): self.sensor.setPlayButton(self.pushButton.isChecked()) if self.pushButton.isChecked(): self.pushButton.setText('RUNNING') self.pushButton.setStyleSheet("background-color: green") else: self.pushButton.setText('STOPPED') self.pushButton.setStyleSheet("background-color: red") def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): self.sensor.setV(-newY) self.sensor.setW(newX) def stopClicked(self): self.sensor.setV(0) self.sensor.setW(0)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.graphic = GLWidget(self) self.graphicLayout.addWidget(self.graphic) self.graphic.setVisible(True) self.logo = LogoWidget(self) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.resetButton.clicked.connect(self.resetClicked) self.updGUI.connect(self.updateGUI) self.camera1 = CameraWidget(self)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) # self.setStyleSheet(open("gui/style.qss", "r").read()) #self.teleop=TeleopWidget(self) #self.tlLayout.addWidget(self.teleop) #self.teleop.setVisible(True) #self.logo = LogoWidget(self) #self.logoLayout.addWidget(self.logo) #self.logo.setVisible(True) #self.pushButton.clicked.connect(self.playClicked) #self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.mapW = MapWidget(self) self.verticalLayoutMap.addWidget(self.mapW) print(self.mapW.width(), self.mapW.height())
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.map=MapWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.mapLayout.addWidget(self.map) self.map.setVisible(True) self.logo = LogoWidget(self, 60, 60) self.runLayout.addWidget(self.logo) self.logo.setVisible(True) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) # self.setStyleSheet(open("gui/style.qss", "r").read()) #self.teleop=TeleopWidget(self) #self.tlLayout.addWidget(self.teleop) #self.teleop.setVisible(True) #self.logo = LogoWidget(self) #self.logoLayout.addWidget(self.logo) #self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.mapW = MapWidget(self) self.verticalLayoutMap.addWidget(self.mapW) self.chronoW = ChronoWidget(self) self.verticalLayoutChrono.addWidget(self.chronoW) print(self.mapW.width(), self.mapW.height()) self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.map=MapWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.mapLayout.addWidget(self.map) self.map.setVisible(True) self.verticalLayout_2.addWidget(self.stopButton,3) self.logo = LogoWidget(self, 60, 60) self.verticalLayout_2.addWidget(self.logo,4) self.logo.setVisible(True) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked)
class MainWindow(QMainWindow, Ui_MainWindow): updGUI=pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.map=MapWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.mapLayout.addWidget(self.map) self.map.setVisible(True) self.verticalLayout_2.addWidget(self.stopButton,3) self.logo = LogoWidget(self, 60, 60) self.verticalLayout_2.addWidget(self.logo,4) self.logo.setVisible(True) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): self.camera1.updateImage() (cx, cy) = self.algorithm.getCarDirection() (ox, oy) = self.algorithm.getObstaclesDirection() (ax, ay) = self.algorithm.getAverageDirection() (tx, ty, id) = self.algorithm.getCurrentTarget() self.map.setCarArrow(cx, cy) self.map.setObstaclesArrow(ox, oy) self.map.setAverageArrow(ax, ay) if (self.pose3d): self.map.setTarget(tx, ty, self.pose3d.getPose3d().x/1000, self.pose3d.getPose3d().y/1000, self.pose3d.getPose3d().yaw, id) laserdata = self.laser.getLaserData() if (laserdata): self.map.setLaserValues(laserdata) self.map.update() def getCamera(self): return self.camera def setCamera(self,camera): self.camera=camera def getPose3D(self): return self.pose3d def setPose3D(self,pose3d): self.pose3d=pose3d def getLaser(self): return self.laser def setLaser(self,laser): self.laser=laser def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def playClicked(self): if self.playButton.isChecked(): icon = QtGui.QIcon() self.playButton.setStyleSheet("background-color: #ec7063") icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.algorithm.play() else: icon = QtGui.QIcon() self.playButton.setStyleSheet("background-color: #7dcea0") icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.algorithm.stop() self.motors.sendV(0) self.motors.sendW(0) #self.motors.sendVelocities() self.teleop.returnToOrigin() def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): myW=-newX*self.motors.getMaxW() myV=-newY*self.motors.getMaxV() self.motors.sendV(myV) self.motors.sendW(myW) #self.motors.sendVelocities(self.motors) def stopClicked(self): self.motors.sendV(0) self.motors.sendW(0) # self.motors.sendVelocities() self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI=pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) # self.setStyleSheet(open("gui/style.qss", "r").read()) #self.teleop=TeleopWidget(self) #self.tlLayout.addWidget(self.teleop) #self.teleop.setVisible(True) #self.logo = LogoWidget(self) #self.logoLayout.addWidget(self.logo) #self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.mapW = MapWidget(self) self.verticalLayoutMap.addWidget(self.mapW) self.chronoW = ChronoWidget(self) self.verticalLayoutChrono.addWidget(self.chronoW) print(self.mapW.width(), self.mapW.height()) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): #print 'update gui' cx = self.pose3d.getPose3d().x cy = self.pose3d.getPose3d().y phx, phy = self.algorithm.synchronize() self.mapW.setCarPos(cx, cy) self.mapW.setPhantomPos(phx, phy) duration = self.algorithm.get_duration() initime = self.algorithm.get_initime() self.chronoW.setTime(initime, duration) self.camera1.updateImage() def getCamera(self): return self.camera def setCamera(self,camera): self.camera=camera def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def getPose3D(self): return self.pose3d def setPose3D(self,pose3d, pose3dphantom): self.pose3dphantom = pose3dphantom self.pose3d=pose3d def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('Stop Code') self.pushButton.setStyleSheet("background-color: #ec7063") self.algorithm.play() else: self.pushButton.setText('Play Code') self.pushButton.setStyleSheet("background-color: #7dcea0") self.algorithm.stop() def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): #print ("newX: %f, newY: %f" % (newX, newY) ) myW=-newX*self.motors.getMaxW() myV=-newY*self.motors.getMaxV() self.motors.sendV(myV) self.motors.sendW(myW) def stopClicked(self): self.motors.sendV(0) self.motors.sendW(0) #self.teleop.returnToOrigin() def closeEvent(self, event): self.algorithm.kill() self.camera.stop() event.accept()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI = pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.graphic = GLWidget(self) self.graphicLayout.addWidget(self.graphic) self.graphic.setVisible(True) self.logo = LogoWidget(self) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.resetButton.clicked.connect(self.resetClicked) self.updGUI.connect(self.updateGUI) self.camera1 = CameraWidget(self) #self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): #print 'update gui' self.camera1.updateImage() self.graphic.updateGL() def plot(self): self.graphic.render_point(point[:3], point[3:], radius) def getCamera(self, lr): if (lr == 'left'): return self.cameraL elif (lr == 'right'): return self.cameraR else: print("Invalid Camera") exit() def setCamera(self, camera, lr): if (lr == 'left'): self.cameraL = camera elif (lr == 'right'): self.cameraR = camera else: print("Invalid Camera") exit() def setPlot(self, listener): self.point = listener def getPlot(self): return self.point def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('Stop Code') self.pushButton.setStyleSheet("background-color: #7dcea0") self.algorithm.play() else: self.pushButton.setText('Play Code') self.pushButton.setStyleSheet("background-color: #ec7063") self.algorithm.stop() def resetClicked(self): self.graphic.reset_view() def setAlgorithm(self, algorithm): self.algorithm = algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self, newX, newY): #print ("newX: %f, newY: %f" % (newX, newY) ) myW = -newX * self.motors.getMaxW() myV = -newY * self.motors.getMaxV() self.motors.sendV(myV) self.motors.sendW(myW) None def stopClicked(self): self.motors.sendV(0) self.motors.sendW(0) self.teleop.returnToOrigin() def closeEvent(self, event): self.algorithm.kill() self.cameraL.stop() self.cameraR.stop() event.accept()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI = pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.logo = LogoWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.cameraW = CameraWidget(self) self.resetButton.clicked.connect(self.resetClicked) def updateGUI(self): self.cameraW.updateImage() def getPose3D(self): return self.pose3d def setPose3D(self, pose3d): self.pose3d = pose3d def getCameraC(self): return self.cameraC def setCameraC(self, camera): self.cameraC = camera def getCameraL(self): return self.cameraL def setCameraL(self, camera): self.cameraL = camera def getCameraR(self): return self.cameraR def setCameraR(self, camera): self.cameraR = camera def getMotors(self): return self.motors def setMotors(self, motors): self.motors = motors def playClicked(self): if self.pushButton.isChecked(): icon = QtGui.QIcon() self.pushButton.setText("Stop Code") self.pushButton.setStyleSheet("background-color: #ec7063") icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.pushButton.setIcon(icon) self.algorithm.play() else: icon = QtGui.QIcon() self.pushButton.setStyleSheet("background-color: #7dcea0") icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.pushButton.setIcon(icon) self.pushButton.setText("Play Code") self.algorithm.stop() def setAlgorithm(self, algorithm): self.algorithm = algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self, newX, newY): myW = -newX * self.motors.getMaxW() myV = -newY * self.motors.getMaxV() self.motors.sendV(myV) self.motors.sendW(myW) #self.motors.sendVelocities() def resetClicked(self): self.motors.sendV(0) self.motors.sendW(0) #self.motors.sendVelocities() self.teleop.returnToOrigin() def closeEvent(self, event): self.algorithm.kill() self.cameraL.stop() self.cameraR.stop() self.cameraC.stop() event.accept()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI = pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) # self.setStyleSheet(open("gui/style.qss", "r").read()) #self.teleop=TeleopWidget(self) #self.tlLayout.addWidget(self.teleop) #self.teleop.setVisible(True) #self.logo = LogoWidget(self) #self.logoLayout.addWidget(self.logo) #self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1 = CameraWidget(self) self.mapW = MapWidget(self) self.verticalLayoutMap.addWidget(self.mapW) self.chronoW = ChronoWidget(self) self.verticalLayoutChrono.addWidget(self.chronoW) print(self.mapW.width(), self.mapW.height()) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): #print 'update gui' cx = self.pose3d.getPose3d().x cy = self.pose3d.getPose3d().y phx, phy = self.algorithm.synchronize() self.mapW.setCarPos(cx, cy) self.mapW.setPhantomPos(phx, phy) duration = self.algorithm.get_duration() initime = self.algorithm.get_initime() self.chronoW.setTime(initime, duration) self.camera1.updateImage() def getCamera(self): return self.camera def setCamera(self, camera): self.camera = camera def getMotors(self): return self.motors def setMotors(self, motors): self.motors = motors def getPose3D(self): return self.pose3d def setPose3D(self, pose3d, pose3dphantom): self.pose3dphantom = pose3dphantom self.pose3d = pose3d def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('Stop Code') self.pushButton.setStyleSheet("background-color: #ec7063") self.algorithm.play() else: self.pushButton.setText('Play Code') self.pushButton.setStyleSheet("background-color: #7dcea0") self.algorithm.stop() def setAlgorithm(self, algorithm): self.algorithm = algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self, newX, newY): #print ("newX: %f, newY: %f" % (newX, newY) ) myW = -newX * self.motors.getMaxW() myV = -newY * self.motors.getMaxV() self.motors.sendV(myV) self.motors.sendW(myW) def stopClicked(self): self.motors.sendV(0) self.motors.sendW(0) #self.teleop.returnToOrigin() def closeEvent(self, event): self.algorithm.kill() self.camera.stop() event.accept()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI = pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.logo = LogoWidget(self) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.buffer = [] self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1 = CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): #print 'update gui' self.camera1.updateImage() self.pose = self.pose_client.getPose3d() #self.sensorsWidget.sensorsUpdate.emit() def getCameraL(self): return self.cameraL def setPose(self, pose_client): self.pose_client = pose_client def setCameraL(self, camera): self.cameraL = camera def getCameraR(self): return self.cameraR def setCameraR(self, camera): self.cameraR = camera def getMotors(self): return self.motors def setMotors(self, motors): self.motors = motors def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('RUNNING') self.pushButton.setStyleSheet("background-color: green") self.algorithm.play() else: self.pushButton.setText('STOPPED') self.pushButton.setStyleSheet("background-color: red") self.algorithm.stop() def setAlgorithm(self, algorithm): self.algorithm = algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self, newX, newY): # print ("newX: %f, newY: %f" % (newX, newY) ) write = False myW = -newX * self.motors.getMaxW() myV = -newY * self.motors.getMaxV() # print "myV: ",myV,"myW: ",myW if write: pose = self.pose_client.getPose3d() self.buffer.append("{:f} {:f} {:f} {:f}\n".format( pose.x / 1000, pose.y / 1000, myV, myW)) if len(self.buffer) == 10: with open( "/home/f/PycharmProjects/Robotica/follow_line/laps/prueba.txt", 'a') as file: file.write("".join(self.buffer)) self.buffer = [] self.motors.sendV(myV) self.motors.sendW(myW) def stopClicked(self): self.motors.sendV(0) self.motors.sendW(0) self.teleop.returnToOrigin() def closeEvent(self, event): self.algorithm.kill() self.cameraR.stop() self.cameraL.stop() event.accept()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI = pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.logo = LogoWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.cameraW = CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): self.cameraW.updateImage() def getPose3D(self): return self.pose3d def setPose3D(self, pose3d): self.pose3d = pose3d def getCameraC(self): return self.cameraC def setCameraC(self, camera): self.cameraC = camera def getCameraL(self): return self.cameraL def setCameraL(self, camera): self.cameraL = camera def getCameraR(self): return self.cameraR def setCameraR(self, camera): self.cameraR = camera def getMotors(self): return self.motors def setMotors(self, motors): self.motors = motors def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('RUNNING') self.pushButton.setStyleSheet("background-color: green") self.algorithm.play() else: self.pushButton.setText('STOPPED') self.pushButton.setStyleSheet("background-color: red") self.algorithm.stop() def setAlgorithm(self, algorithm): self.algorithm = algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self, newX, newY): myW = -newX * self.motors.getMaxW() myV = -newY * self.motors.getMaxV() self.motors.setV(myV) self.motors.setW(myW) self.motors.sendVelocities() def stopClicked(self): self.motors.setV(0) self.motors.setW(0) self.motors.sendVelocities() self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI=pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.logo = LogoWidget(self) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): #print 'update gui' self.camera1.updateImage() #self.sensorsWidget.sensorsUpdate.emit() def getCameraL(self): return self.cameraL def setCameraL(self,camera): self.cameraL=camera def getCameraR(self): return self.cameraR def setCameraR(self,camera): self.cameraR=camera def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('RUNNING') self.playButton.setStyleSheet("background-color: #ec7063") self.algorithm.play() else: self.pushButton.setText('STOPPED') self.playButton.setStyleSheet("background-color: #7dcea0") self.algorithm.stop() def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): #print ("newX: %f, newY: %f" % (newX, newY) ) myW=-newX*self.motors.getMaxW() myV=-newY*self.motors.getMaxV() self.motors.sendV(myV) self.motors.sendW(myW) def stopClicked(self): self.motors.sendV(0) self.motors.sendW(0) self.teleop.returnToOrigin() def closeEvent(self, event): self.algorithm.kill() self.cameraR.stop() self.cameraL.stop() event.accept()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI=pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.logo = LogoWidget(self) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): #print 'update gui' self.camera1.updateImage() def getCamera(self): return self.camera def setCamera(self,camera): self.camera=camera def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('Stop Code') self.pushButton.setStyleSheet("background-color: #7dcea0") self.algorithm.play() else: self.pushButton.setText('Play Code') self.pushButton.setStyleSheet("background-color: #ec7063") self.algorithm.stop() def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): #print ("newX: %f, newY: %f" % (newX, newY) ) myW=-newX*self.motors.getMaxW() myV=-newY*self.motors.getMaxV() self.motors.sendV(myV) self.motors.sendW(myW) None def stopClicked(self): self.motors.sendV(0) self.motors.sendW(0) self.teleop.returnToOrigin() def closeEvent(self, event): self.algorithm.kill() self.camera.stop() event.accept()
class MainWindow(QtGui.QMainWindow, Ui_MainWindow): updGUI=QtCore.pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.map=MapWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.mapLayout.addWidget(self.map) self.map.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): self.camera1.updateImage() (cx, cy) = self.algorithm.getCarDirection() (ox, oy) = self.algorithm.getObstaclesDirection() (ax, ay) = self.algorithm.getAverageDirection() (tx, ty) = self.algorithm.getCurrentTarget() self.map.setCarArrow(cx, cy) self.map.setObstaclesArrow(ox, oy) self.map.setAverageArrow(ax, ay) self.map.setTarget(tx, ty, self.sensor.getRobotX(), self.sensor.getRobotY(), self.sensor.getRobotTheta()) self.map.setLaserValues(self.sensor.getLaserData()) self.map.update() def getSensor(self): return self.sensor def setSensor(self,sensor): self.sensor=sensor def playClicked(self): self.sensor.setPlayButton(self.pushButton.isChecked()) if self.pushButton.isChecked(): self.pushButton.setText('RUNNING') self.pushButton.setStyleSheet("background-color: green") else: self.pushButton.setText('STOPPED') self.pushButton.setStyleSheet("background-color: red") def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): self.sensor.setV(-newY) self.sensor.setW(newX) def stopClicked(self): self.sensor.setV(0) self.sensor.setW(0) self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI = pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop = TeleopWidget(self) self.map = MapWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.mapLayout.addWidget(self.map) self.map.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1 = CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): self.camera1.updateImage() (cx, cy) = self.algorithm.getCarDirection() (ox, oy) = self.algorithm.getObstaclesDirection() (ax, ay) = self.algorithm.getAverageDirection() (tx, ty) = self.algorithm.getCurrentTarget() self.map.setCarArrow(cx, cy) self.map.setObstaclesArrow(ox, oy) self.map.setAverageArrow(ax, ay) if (self.pose3d): self.map.setTarget(tx, ty, self.pose3d.getX() / 1000, self.pose3d.getY() / 1000, self.pose3d.getYaw()) laserdata = self.laser.getLaserData() if (laserdata): self.map.setLaserValues(laserdata) self.map.update() def getCameraL(self): return self.cameraL def setCameraL(self, camera): self.cameraL = camera def getCameraR(self): return self.cameraR def setCameraR(self, camera): self.cameraR = camera def getPose3D(self): return self.pose3d def setPose3D(self, pose3d): self.pose3d = pose3d def getLaser(self): return self.laser def setLaser(self, laser): self.laser = laser def getMotors(self): return self.motors def setMotors(self, motors): self.motors = motors def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('RUNNING') self.pushButton.setStyleSheet("background-color: green") self.algorithm.play() else: self.pushButton.setText('STOPPED') self.pushButton.setStyleSheet("background-color: red") self.algorithm.stop() def setAlgorithm(self, algorithm): self.algorithm = algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self, newX, newY): myW = -newX * self.motors.getMaxW() myV = -newY * self.motors.getMaxV() self.motors.setV(myV) self.motors.setW(myW) self.motors.sendVelocities() def stopClicked(self): self.motors.setV(0) self.motors.setW(0) self.motors.sendVelocities() self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI=pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.map=MapWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.mapLayout.addWidget(self.map) self.map.setVisible(True) self.logo = LogoWidget(self, 60, 60) self.runLayout.addWidget(self.logo) self.logo.setVisible(True) self.playButton.clicked.connect(self.playClicked) self.playButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) #self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): self.camera1.updateImage() (cx, cy) = self.algorithm.getCarDirection() (ox, oy) = self.algorithm.getObstaclesDirection() (ax, ay) = self.algorithm.getAverageDirection() (tx, ty) = self.algorithm.getCurrentTarget() self.map.setCarArrow(cx, cy) self.map.setObstaclesArrow(ox, oy) self.map.setAverageArrow(ax, ay) if (self.pose3d): self.map.setTarget(tx, ty, self.pose3d.getPose3d().x/1000, self.pose3d.getPose3d().y/1000, self.pose3d.getPose3d().yaw) laserdata = self.laser.getLaserData() if (laserdata): self.map.setLaserValues(laserdata) self.map.update() def getCameraL(self): return self.cameraL def setCameraL(self,camera): self.cameraL=camera def getCameraR(self): return self.cameraR def setCameraR(self,camera): self.cameraR=camera def getPose3D(self): return self.pose3d def setPose3D(self,pose3d): self.pose3d=pose3d def getLaser(self): return self.laser def setLaser(self,laser): self.laser=laser def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def playClicked(self): if self.playButton.isChecked(): icon = QtGui.QIcon() self.playButton.setStyleSheet("background-color: #ec7063") icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.algorithm.play() else: icon = QtGui.QIcon() self.playButton.setStyleSheet("background-color: #7dcea0") icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.playButton.setIcon(icon) self.algorithm.stop() self.motors.hasproxy().setV(0) self.motors.hasproxy().setW(0) #self.motors.sendVelocities() self.teleop.returnToOrigin() def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): myW=-newX*self.motors.getMaxW() myV=-newY*self.motors.getMaxV() self.motors.hasproxy().setV(myV) self.motors.hasproxy().setW(myW)
class MainWindow(QMainWindow, Ui_MainWindow): updGUI=pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.logo = LogoWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.logoLayout.addWidget(self.logo) self.logo.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.cameraW=CameraWidget(self) self.resetButton.clicked.connect(self.resetClicked) def updateGUI(self): self.cameraW.updateImage() def getPose3D(self): return self.pose3d def setPose3D(self,pose3d): self.pose3d=pose3d def getCameraC(self): return self.cameraC def setCameraC(self,camera): self.cameraC=camera def getCameraL(self): return self.cameraL def setCameraL(self,camera): self.cameraL=camera def getCameraR(self): return self.cameraR def setCameraR(self,camera): self.cameraR=camera def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def playClicked(self): if self.pushButton.isChecked(): icon = QtGui.QIcon() self.pushButton.setText("Stop Code") self.pushButton.setStyleSheet("background-color: #ec7063") icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.pushButton.setIcon(icon) self.algorithm.play() else: icon = QtGui.QIcon() self.pushButton.setStyleSheet("background-color: #7dcea0") icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off) self.pushButton.setIcon(icon) self.pushButton.setText("Play Code") self.algorithm.stop() def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): myW=-newX*self.motors.getMaxW() myV=-newY*self.motors.getMaxV() self.motors.sendV(myV) self.motors.sendW(myW) #self.motors.sendVelocities() def resetClicked(self): self.motors.sendV(0) self.motors.sendW(0) #self.motors.sendVelocities() self.teleop.returnToOrigin() def closeEvent(self, event): self.algorithm.kill() self.cameraL.stop() self.cameraR.stop() self.cameraC.stop() event.accept()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI=pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.map=MapWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.mapLayout.addWidget(self.map) self.map.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): self.camera1.updateImage() laserdata = self.laser.getLaserData() if (laserdata): self.map.setLaserValues(laserdata) self.map.update() def getCameraL(self): return self.cameraL def setCameraL(self,camera): self.cameraL=camera def getCameraR(self): return self.cameraR def setCameraR(self,camera): self.cameraR=camera def getPose3D(self): return self.pose3d def setPose3D(self,pose3d): self.pose3d=pose3d def getLaser(self): return self.laser def setLaser(self,laser): self.laser=laser def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('RUNNING') self.pushButton.setStyleSheet("background-color: green") self.algorithm.play() else: self.pushButton.setText('STOPPED') self.pushButton.setStyleSheet("background-color: red") self.algorithm.stop() def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): myW=-newX*self.motors.getMaxW() myV=-newY*self.motors.getMaxV() self.motors.setV(myV) self.motors.setW(myW) self.motors.sendVelocities() def stopClicked(self): self.motors.setV(0) self.motors.setW(0) self.motors.sendVelocities() self.teleop.returnToOrigin()
class MainWindow(QMainWindow, Ui_MainWindow): updGUI=pyqtSignal() def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) self.teleop=TeleopWidget(self) self.tlLayout.addWidget(self.teleop) self.teleop.setVisible(True) self.pushButton.clicked.connect(self.playClicked) self.pushButton.setCheckable(True) self.updGUI.connect(self.updateGUI) self.camera1=CameraWidget(self) self.stopButton.clicked.connect(self.stopClicked) def updateGUI(self): #print 'update gui' self.camera1.updateImage() #self.sensorsWidget.sensorsUpdate.emit() def getCameraL(self): return self.cameraL def setCameraL(self,camera): self.cameraL=camera def getCameraR(self): return self.cameraR def setCameraR(self,camera): self.cameraR=camera def getMotors(self): return self.motors def setMotors(self,motors): self.motors=motors def playClicked(self): if self.pushButton.isChecked(): self.pushButton.setText('RUNNING') self.pushButton.setStyleSheet("background-color: green") self.algorithm.play() else: self.pushButton.setText('STOPPED') self.pushButton.setStyleSheet("background-color: red") self.algorithm.stop() def setAlgorithm(self, algorithm ): self.algorithm=algorithm def getAlgorithm(self): return self.algorithm def setXYValues(self,newX,newY): #print ("newX: %f, newY: %f" % (newX, newY) ) myW=-newX*self.motors.getMaxW() myV=-newY*self.motors.getMaxV() self.motors.setV(myV) self.motors.setW(myW) self.motors.sendVelocities() def stopClicked(self): self.motors.setV(0) self.motors.setW(0) self.motors.sendVelocities() self.teleop.returnToOrigin() def closeEvent(self, event): self.algorithm.kill() self.cameraR.stop() self.cameraL.stop() event.accept()