def __init__(self):
QMainWindow.__init__(self)
self.loadSettings()
#self.saveSettings()
self._serialCom = SerialCom()
self._serialCom.readyRead.connect(self.serialEvent)
#print('Found ports:', self._serialCom.ports())
self.createMenus()
self.resize(800, 500)
self.statusBar().showMessage('Open a robot configuration file...')
#if self.recentFilesActs[0].data():
# self.recentFilesActs[0].triggered.emit()
# Open last port if possible
if self.lastComPort:
if self.lastComPort in self.commObject().portNames():
self.changeComPort(self.lastComPort)
from flask import Flask, render_template, Response, request
import time
# emulated camera
from camera import Camera
#from data import Data
from serialCom import SerialCom
# Raspberry Pi camera module (requires picamera package)
# from camera_pi import Camera
import logging
log = logging.getLogger('werkzeug')
log.setLevel(logging.ERROR)
app = Flask(__name__)
comm = SerialCom('/dev/ttyAMA0')
DirectionTab = [[0, 0], [0, 0], [300, 300], [-300, -300], [-200, 200],
[200, -200]]
@app.route('/')
def index():
"""Video streaming home page."""
return render_template('index_design.html')
def gen(camera):
"""Video streaming generator function."""
while True:
frame = camera.get_frame()
def main():
global expectingData, serialCom
if len(sys.argv) != 2:
logError('Please provide serial port as first argument')
exit(1)
try:
serialCom = SerialCom(sys.argv[1])
except serial.serialutil.SerialException as e:
logError('Could not open serial port: {}'.format(e.args[1]))
exit(1)
gui = GUI()
gui.draw([], 'Looking for device')
while serialCom.ping() != 0:
gui.draw(
[],
'Device is not responding to\nPING command\nCheck connection\n\nRetrying...'
)
sleep(1)
gui.draw([], 'Device is connected\n\nSending initial configuration')
actions = [{
'job': serialCom.setTriggerLevel,
'name': 'Setting trigger level',
'value': 1
}, {
'job': serialCom.setMode,
'name': 'Setting mode',
'value': 0
}, {
'job': serialCom.setNumberOfSamples,
'name': 'Setting number of samples',
'value': gui.graph.numberOfSamples
}, {
'job': serialCom.setPrecision,
'name': 'Setting frequency',
'value': gui.graph.freq
}]
for action in actions:
gui.draw([],
'Device is connected\n\nSending initial configuration\n\n' +
action['name'])
while action['job'](action['value']) != 0:
sleep(3)
gui.draw(
[],
'Device is connected\n\nSending initial configuration\n\nRetrying: '
+ action['name'])
gui.draw([])
exData = []
while True:
message = None
while not (expectingData
and serialCom.isDataAvail()) and not processUserInput(
gui, serialCom):
sleep(0.3)
if expectingData and serialCom.isDataAvail():
(status, exData) = serialCom.downloadData()
if status:
expectingData = False
else:
message = 'Downloading samples failed\nCommunication error\noccurred\n\nPress any key'
gui.draw(exData, message)
class MainWindow(QtGui.QMainWindow):
_fids = {} # Functionalities display objects by functionality ID
_wgtgrp = {} # Widgets by group
_layoutMatchString = r'(r(?P<row>\d+))?(c(?P<col>\d+))?(rs(?P<rowspan>\d+))?(cs(?P<colspan>\d+))?'
mdiarea = None
functionalitiesMenu = None
signalMapper = None
lastComPort = None
def __init__(self):
QMainWindow.__init__(self)
self.loadSettings()
#self.saveSettings()
self._serialCom = SerialCom()
self._serialCom.readyRead.connect(self.serialEvent)
#print('Found ports:', self._serialCom.ports())
self.createMenus()
self.resize(800, 500)
self.statusBar().showMessage('Open a robot configuration file...')
#if self.recentFilesActs[0].data():
# self.recentFilesActs[0].triggered.emit()
# Open last port if possible
if self.lastComPort:
if self.lastComPort in self.commObject().portNames():
self.changeComPort(self.lastComPort)
#self.setDockNestingEnabled(True)
def commObject(self):
return self._serialCom
def createMenus(self):
''' Create the app default menus '''
fileMenu = self.menuBar().addMenu('&File')
openAct = fileMenu.addAction('&Open Robot...', None, QKeySequence.Open)
openAct.triggered.connect(self.openConfigFile)
self.rfSeparatorAct = fileMenu.addSeparator()
self.recentFilesActs = []
for i in range(0, self.MaxRecentFiles):
act = QAction(self)
self.recentFilesActs.append(act)
act.setVisible(False)
act.triggered.connect(self.openRecentFile)
fileMenu.addAction(act)
self.updateRecentFilesActions()
# Add com ports
portSelectGroup = QActionGroup(self)
self.portsMenu = self.menuBar().addMenu('&Ports')
# Construct port list menu
for port in self.commObject().ports():
act = self.portsMenu.addAction(port.name)
act.setCheckable(True)
act.setToolTip(port.description)
portSelectGroup.addAction(act)
portSelectGroup.triggered.connect(self._changePort)
def createSubWindowMenus(self):
''' Create a menu containing the subWindows list '''
subwActGroup = QActionGroup(self)
subwActGroup.setExclusive(False)
if not self.functionalitiesMenu:
self.functionalitiesMenu = self.menuBar().addMenu('&Functionalities')
subwMenu = self.functionalitiesMenu
# Create subwindows list actions
for subw in self.mdiarea.subWindowList():
act = subwMenu.addAction(subw.windowTitle())
act.setCheckable(True)
act.setChecked(True)
act.setData(subw)
subw.hided.connect(act.toggle)
subwActGroup.addAction(act)
subwActGroup.triggered.connect(self.showSubWindow)
subwMenu.addSeparator()
# Add action to show all subwindows
self._subWindowsActions = subwActGroup.actions()
showall = subwMenu.addAction('Show All')
showall.triggered.connect(self.showAllSubWindows)
def openConfigFile(self, fileName = None):
''' Open a dialog to get robot configuration file name, and load it '''
stream = QApplication.keyboardModifiers() == Qt.ControlModifier
if not fileName:
fileName = QFileDialog.getOpenFileName(self, 'Open robot config file', '', 'BotVisor Config Files (*.bvc)')
if fileName: fileName = fileName[0]
if fileName:
print('Open file:', fileName)
self.setCurrentFile(fileName)
if not stream:
self.loadRobotFromConfigFile(fileName)
else:
self.streamRobotConfigFile(fileName)
def openRecentFile(self):
''' Called by recent files actions '''
self.openConfigFile(self.sender().data())
def loadRobotFromConfigFile(self, configFileName):
''' Load a robot from configuration file '''
# Load robot config file
bc = BotConfigParser()
data, botData, groupsData = bc.loadConfigFile(configFileName)
# fullData = OrderedDict()
# fullData['__CONFIGURATION__'] = OrderedDict()
# fullData['__CONFIGURATION__']['robot'] = botData
# fullData['__CONFIGURATION__']['functionalities'] = data
# print('>> Send JSON data')
# self._serialCom.sendJSON(fullData)
self.loadRobot(botData, groupsData, data)
def loadStreamedConfig(self, jsonData):
''' Load a config file streamed by a robot through com port '''
if 'robot' not in jsonData or 'functionalities' not in jsonData:
print('Streamed config file seems invalid ! (no functionalities in)')
self.statusBar().showMessage('Streamed config file loading failed !', 6000)
return
groupsData = None
if 'groups' in jsonData:
groupsData = jsonData['groups']
self.loadRobot(jsonData['robot'], groupsData, jsonData['functionalities'])
self.statusBar().showMessage('Streamed config file loaded !', 6000)
def streamRobotConfigFile(self, configFileName):
''' Stream a robot configuration file through com port '''
# Load robot config file
bc = BotConfigParser()
data, botData, groupsData = bc.loadConfigFile(configFileName)
fullData = OrderedDict()
fullData['__CONFIGURATION__'] = OrderedDict()
fullData['__CONFIGURATION__']['robot'] = botData
fullData['__CONFIGURATION__']['groups'] = groupsData
fullData['__CONFIGURATION__']['functionalities'] = data
print('>> Stream config file')
self._serialCom.sendJSON(fullData)
def loadRobot(self, botData, groupsData, functionalitiesData):
''' Load a robot from configuration file '''
self.clearRobot()
self.mdiarea = QMdiArea()
self.setCentralWidget(self.mdiarea)
self.signalMapper = QSignalMapper()
self.signalMapper.mapped[QObject].connect(self.functionalityValueChanged)
self.setWindowTitle('BotVisor - ' + botData['name'])
#print('All keys:', functionalitiesData.keys())
#print(json.dumps(functionalitiesData, sort_keys=True, indent=2, separators=(',', ': ')))
fnum = 0
fnume = 0
for fuKeys in functionalitiesData:
#print(fuKeys)
#print(functionalitiesData[fuKeys].keys())
options = functionalitiesData[fuKeys]
if 'display' in options.keys():
self.loadFunctionality(fuKeys, options['display'], options, groupsData)
fnum = fnum+1
else:
print('Error: functionality', fuKeys, 'not loaded')
fnume = fnume+1
self.statusBar().showMessage('{} functionalities sucessfully loaded. {} failed.'.format(fnum, fnume), 6000)
self.createSubWindowMenus()
def clearRobot(self):
''' Clear window, to load a robot '''
if self.mdiarea:
del self.mdiarea
# Clear functionalities menu
if self.functionalitiesMenu:
self.functionalitiesMenu.clear()
self._fids = {}
self._wgtgrp = {}
# Reset signal mapper
if self.signalMapper:
del self.signalMapper
def showSubWindow(self, action):
''' Show or hide a subWindow depending of action's state '''
if action.isChecked():
action.data().show()
else:
action.data().hide()
def showAllSubWindows(self):
''' Show all subWindows '''
for act in self._subWindowsActions:
act.data().show()
act.setChecked(True)
def _changePort(self, action):
''' Use new port '''
#print('Change port:', action.text())
self.changeComPort(action.text())
def changeComPort(self, portName):
''' Try to connect to 'portName' '''
if self.commObject().isConnected():
print('Disconnect from', self.commObject().portName())
if not self.commObject().connectPort(portName):
self.statusBar().showMessage('Unable to connect {}.'.format(portName), 6000)
return
# Update last port
self.lastComPort = portName
# Check menu action for current port
for act in self.portsMenu.actions():
if act.text() == portName:
act.setChecked(True)
self.statusBar().showMessage('{} connected.'.format(portName), 6000)
def serialEvent(self):
''' JSON objects received '''
jsonObjs = self._serialCom.readAllObjects()
#print('\nJSON data received:')
for jsonObj in jsonObjs:
#print(json.dumps(jsonObj, sort_keys=True, indent=2, separators=(',', ': ')))
if '__CONFIGURATION__' in jsonObj.keys():
print('>> Streamed config file received')
self.loadStreamedConfig(jsonObj['__CONFIGURATION__'])
# Loop over all keys
for fid in jsonObj:
# Check if key is in stored functionalities
if fid in self._fids:
# Update value
value = jsonObj[fid];
self._fids[fid].setValue(value)
print('Value: ', value, 'for display ', fid)
self.statusBar().showMessage('Value for {} received ({}).'.format(fid, value), 2000)
def addSubWindow(self, widget, title):
''' Add a subwindow with title containing widget '''
newSubWin = MdiSubWindow()
newSubWin.setWindowTitle(title)
self.mdiarea.addSubWindow(newSubWin)
newSubWin.setWidget(widget)
return widget
def addDockWidget(self, widget, title):
''' Add a dock with title containing widget '''
newDock = QDockWidget(title)
newDock.setWidget(widget)
self.addDockWidget(Qt.LeftDockWidgetArea, newDock)
return widget
def loadFunctionality(self, fid, display, options, groups = None):
''' Load a functionality '''
def availableLayoutPosition(layout, direction = 'r', start = (0,0) ):
''' Return first available position in layout by incrementing on rows or cols '''
r, c = start
while layout.itemAtPosition(r, c):
if direction == 'r': # Search on rows
r = r+1
if direction == 'c': # Search on cols
c = c+1
return r, c
def loadClassFromModule(module_name, class_name):
''' Dynamic class loading from a module '''
# load the module, will raise ImportError if module cannot be loaded
m = importlib.import_module(module_name)
# get the class, will raise AttributeError if class cannot be found
c = getattr(m, class_name)
return c
name = fid
# Check for friendly name
if 'name' in options:
name = options['name']
#print('Add display:', fid, '(' +display+ ')')
# Load class instance
classInstance = loadClassFromModule('displays', display)
data = None
if 'data' in options:
data = options['data']
if display == 'Led':
c = classInstance(fid, name, True)
elif display == 'ProgressBar':
c = classInstance(fid, name, data=data, valueFormatting='{0}')
elif display == 'Slider':
c = classInstance(fid, name, data=data, valueFormatting='{0}')
elif display == 'Dial':
c = classInstance(fid, name, data=data, valueFormatting='{0}')
elif display == 'Alphanum':
c = classInstance(fid, name)
else:
raise TypeError('Unknown display type')
# Connect signals
c.valueChanged.connect(self.signalMapper.map)
self.signalMapper.setMapping(c, c)
# if 'range' in options:
# c.setValueRange(int(options['range'][0]), int(options['range'][1]))
if 'disable' in options:
c.widget().setDisabled(options['disable'])
# Save display by ID (to set values when JSON data received)
self._fids[fid] = c
# True to create a new subwindow.
# False if the functionality is in an existing group.
newsw = True
# Check if group specified
if 'group' in options:
group = options['group']
#print('Functionality in group', group)
newsw = False
# Group empty, create new widget with layout
if group not in self._wgtgrp:
w = QWidget()
glyt = QGridLayout(w)
self._wgtgrp[group] = w
newsw = True
else:
if str(group) in groups: # Check if group name specified
self._wgtgrp[group].parent().setWindowTitle(groups[str(group)])
else:
self._wgtgrp[group].parent().setWindowTitle('Group '+str(group))
widget = self._wgtgrp[group]
# Layout position
row, col = None, 0
rowSpan, colSpan = 1, 1
# Check if layout position specified
if 'layout' in options:
m = re.search(self._layoutMatchString, options['layout'])
# Get values
if m:
gd = m.groupdict()
#print(gd)
row = int(gd['row']) if gd['row'] != None else None
col = int(gd['col']) if gd['col'] != None else None
rowSpan = int(gd['rowspan']) if gd['rowspan'] != None else 1
colSpan = int(gd['colspan']) if gd['colspan'] != None else 1
# Default if row & col to None
if (row, col) == (None, None):
col = 0
# Get col number
if col == None:
row,col = availableLayoutPosition(widget.layout(), 'c', (row, 0))
# Get row number
if row == None:
row,col = availableLayoutPosition(widget.layout(), 'r', (0, col))
#print('Layout: ', row, col, rowSpan, colSpan)
# Add the widget to the layout
widget.layout().addWidget(c, row, col, rowSpan, colSpan)
else: # No group specified
widget = c
# Create new subwindow if needed
if newsw:
self.addSubWindow(widget, name)
#self.addDockWidget(widget, name)
def functionalityValueChanged(self, fobj):
''' Send functionality value over comm port '''
#print('Value for', fobj.id(), ':', fobj.value())
jsonData = {fobj.id():fobj.value()}
#print(json.dumps(jsonData, sort_keys=True, indent=2, separators=(',', ': ')))
self._serialCom.sendJSON(jsonData)
self.statusBar().showMessage('Value for {} sent ({}).'.format(fobj.id(), fobj.value()), 2000)
def recentFilesList(self):
''' Get recent files list from settings file '''
se = QSettings(fullPath('BotVisor.conf'), QSettings.IniFormat)
files = se.value('recentfiles', [])
if isinstance(files, str):
return [files]
#if isinstance(files, list):
# return files
return files
def updateRecentFilesActions(self):
''' Update recent files menu actions '''
recentFiles = self.recentFilesList()
numRecentFiles = min(len(recentFiles), self.MaxRecentFiles)
for i in range(0, numRecentFiles):
self.recentFilesActs[i].setText(QFileInfo(recentFiles[i]).fileName())
self.recentFilesActs[i].setData(recentFiles[i])
self.recentFilesActs[i].setVisible(True)
for i in range(numRecentFiles, self.MaxRecentFiles):
self.recentFilesActs[i].setVisible(False)
self.rfSeparatorAct.setVisible(numRecentFiles > 0)
def setCurrentFile(self, fileName):
''' Update recent files '''
recentFiles = self.recentFilesList()
# Remove occurences of fileName
while recentFiles.count(fileName):
recentFiles.remove(fileName)
# Prepend file
recentFiles.insert(0, fileName)
# Remove old files
if len(recentFiles) > self.MaxRecentFiles:
recentFiles = recentFiles[self.MaxRecentFiles:]
# Save recent files list
se = QSettings(fullPath('BotVisor.conf'), QSettings.IniFormat)
se.setValue('recentfiles', recentFiles)
self.updateRecentFilesActions()
def loadSettings(self):
''' Load settings '''
se = QSettings(fullPath('BotVisor.conf'), QSettings.IniFormat)
#recentFiles = se.value('recentfiles')
self.MaxRecentFiles = int(se.value('maxrecentfiles', 10))
se.beginGroup('commport')
self.lastComPort = se.value('lastport', '')
se.endGroup()
def saveSettings(self):
''' Save settings '''
se = QSettings(fullPath('BotVisor.conf'), QSettings.IniFormat)
se.beginGroup('commport')
se.setValue('lastport', self.lastComPort)
se.endGroup()
def closeEvent(self, event):
''' App closing request '''
self.saveSettings()
self._serialCom.disconnectPort()
event.accept()
def __init__(self):
QMainWindow.__init__(self)
self.loadSettings()
self._serialCom = SerialCom()
self._serialCom.readyRead.connect(self.serialEvent)
#print('Found ports:', self._serialCom.ports())
self.createMenus()
view = QDeclarativeView()
widget = QWidget()
lyt = QGridLayout(widget)
lyt.setContentsMargins(0, 0, 0, 0)
lyt.addWidget(view, 0, 0)
self.setCentralWidget(widget)
self.setWindowTitle("Wulka Bot Simulator")
view.setRenderHints(QtGui.QPainter.SmoothPixmapTransform)
# Renders 'PyTerm.qml'
view.setSource(QUrl.fromLocalFile('Robot.qml'))
# QML resizes to main window
view.setResizeMode(QDeclarativeView.SizeRootObjectToView)
self.root = view.rootObject()
dirWheel = self.root.findChild(QtCore.QObject, 'robotDirWheelRotation')
#dirWheel.setProperty('angle', 0)
self._objects['robotDirWheelRotation'] = dirWheel
v = self.root.findChild(QtCore.QObject, 'leftWheel')
self._objects['leftWheel'] = v
v = self.root.findChild(QtCore.QObject, 'rightWheel')
self._objects['rightWheel'] = v
v = self.root.findChild(QtCore.QObject,"sfm_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sfl2_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sfl1_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sfr1_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sfr2_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"srl1_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"srr1_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sens_fm")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_fr2")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_fr1")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_fl1")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_fl2")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_rr1")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_rl1")
v.checked.connect(self.sensorClicked)
self.resize(600, 550)
self.setFixedHeight(550)
self.setFixedWidth(600)
# self.setSpeed_LeftWheel(-50)
# self.setSpeed_LeftWheel(50)
# self.setSpeed_RightWheel(50)
self.statusBar().showMessage('Choose a port to stream configuration')
# Open last port if possible
if self.lastComPort:
if self.lastComPort in self.commObject().portNames():
print('>> Loading saved port config:', self.lastComPort)
self.changeComPort(self.lastComPort)
else:
print('Saved com port not available.')
else:
print('No com port saved.')
class MainWindow(QtGui.QMainWindow):
_objects = {}
mdiarea = None
functionalitiesMenu = None
signalMapper = None
lastComPort = None
configStream = '''{'__CONFIGURATION__':{'robot':{'name':'Wulka Bot'},
'groups':{'1':'Capteurs avants', '2':'Capteurs arrières', '3':'Roues', '4':'Télémètres avants', '5':'Télémètres arrières'},
'functionalities':{
'sens_fl2':{'display':'Led', 'group':1, 'layout':'r0', 'disable':true},
'sens_fl1':{'display':'Led', 'group':1, 'layout':'r0', 'disable':true},
'sens_fm':{'display':'Led', 'group':1, 'layout':'r0', 'disable':true},
'sens_fr1':{'display':'Led', 'group':1, 'layout':'r0', 'disable':true},
'sens_fr2':{'display':'Led', 'group':1, 'layout':'r0', 'disable':true},
'sens_rl1':{'display':'Led', 'group':2, 'layout':'r0', 'disable':true},
'sens_rr1':{'display':'Led', 'group':2, 'layout':'r0', 'disable':true},
'leftWheel':{'display':'Slider', 'group':3, 'layout':'r0', 'data':{'vertical':true, 'range':[-70, 70]}},
'rightWheel':{'display':'Slider', 'group':3, 'layout':'r0', 'data':{'vertical':true, 'range':[-70, 70]}},
'sfl2_value':{'display':'ProgressBar', 'group':4, 'layout':'r0', 'data':{'vertical':true}},
'sfl1_value':{'display':'ProgressBar', 'group':4, 'layout':'r0', 'data':{'vertical':true}},
'sfm_value':{'display':'ProgressBar', 'group':4, 'layout':'r0', 'data':{'vertical':true}},
'sfr1_value':{'display':'ProgressBar', 'group':4, 'layout':'r0', 'data':{'vertical':true}},
'sfr2_value':{'display':'ProgressBar', 'group':4, 'layout':'r0', 'data':{'vertical':true}},
'srl1_value':{'display':'ProgressBar', 'group':5, 'layout':'r0', 'data':{'vertical':true}},
'srr1_value':{'display':'ProgressBar', 'group':5, 'layout':'r0', 'data':{'vertical':true}},
'robotDirWheelRotation':{'display':'Dial', 'name':'Direction', 'data':{'range':[0, 360], 'vertical':true}}
}}}'''
def __init__(self):
QMainWindow.__init__(self)
self.loadSettings()
self._serialCom = SerialCom()
self._serialCom.readyRead.connect(self.serialEvent)
#print('Found ports:', self._serialCom.ports())
self.createMenus()
view = QDeclarativeView()
widget = QWidget()
lyt = QGridLayout(widget)
lyt.setContentsMargins(0, 0, 0, 0)
lyt.addWidget(view, 0, 0)
self.setCentralWidget(widget)
self.setWindowTitle("Wulka Bot Simulator")
view.setRenderHints(QtGui.QPainter.SmoothPixmapTransform)
# Renders 'PyTerm.qml'
view.setSource(QUrl.fromLocalFile('Robot.qml'))
# QML resizes to main window
view.setResizeMode(QDeclarativeView.SizeRootObjectToView)
self.root = view.rootObject()
dirWheel = self.root.findChild(QtCore.QObject, 'robotDirWheelRotation')
#dirWheel.setProperty('angle', 0)
self._objects['robotDirWheelRotation'] = dirWheel
v = self.root.findChild(QtCore.QObject, 'leftWheel')
self._objects['leftWheel'] = v
v = self.root.findChild(QtCore.QObject, 'rightWheel')
self._objects['rightWheel'] = v
v = self.root.findChild(QtCore.QObject,"sfm_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sfl2_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sfl1_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sfr1_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sfr2_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"srl1_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"srr1_value")
v.progressValueChanged.connect(self.sensorValueChanged)
v = self.root.findChild(QtCore.QObject,"sens_fm")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_fr2")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_fr1")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_fl1")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_fl2")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_rr1")
v.checked.connect(self.sensorClicked)
v = self.root.findChild(QtCore.QObject,"sens_rl1")
v.checked.connect(self.sensorClicked)
self.resize(600, 550)
self.setFixedHeight(550)
self.setFixedWidth(600)
# self.setSpeed_LeftWheel(-50)
# self.setSpeed_LeftWheel(50)
# self.setSpeed_RightWheel(50)
self.statusBar().showMessage('Choose a port to stream configuration')
# Open last port if possible
if self.lastComPort:
if self.lastComPort in self.commObject().portNames():
print('>> Loading saved port config:', self.lastComPort)
self.changeComPort(self.lastComPort)
else:
print('Saved com port not available.')
else:
print('No com port saved.')
def moveDirWheel(self, value):
self._objects['robotDirWheelRotation'].setProperty('angle', value)
def setSpeed_LeftWheel(self, speed):
self._objects['leftWheel'].setSpeed(speed)
def setSpeed_RightWheel(self, speed):
self._objects['rightWheel'].setSpeed(speed)
def sensorClicked(self, checked):
#print('CLICKED', checked)
#print('Value for', fobj.id(), ':', fobj.value())
jsonData = {self.sender().objectName() : checked}
self.commObject().sendJSON(jsonData)
def sensorValueChanged(self, value):
#print('SENSOR', int(value*100), self.sender().objectName())
#print('Value for', fobj.id(), ':', fobj.value())
jsonData = {self.sender().objectName() : int(value*100)}
self.commObject().sendJSON(jsonData)
def commObject(self):
return self._serialCom
def createMenus(self):
''' Create the app default menus '''
portSelectGroup = QActionGroup(self)
self.portsMenu = self.menuBar().addMenu('&Ports')
# Construct port list menu
for port in self.commObject().ports():
act = self.portsMenu.addAction(port.name)
act.setCheckable(True)
act.setToolTip(port.description)
portSelectGroup.addAction(act)
portSelectGroup.triggered.connect(self._changePort)
configMenu = self.menuBar().addMenu('&Configuration')
streamAct = configMenu.addAction('&Stream configuration')
streamAct.triggered.connect(self.streamConfiguration)
def streamConfiguration(self):
if not self.commObject().isConnected():
print('Port unconnected, unable to stream data.')
self.statusBar().showMessage('Open a port to stream data!', 6000)
#return
print('>> Stream config file')
data = json.loads(self.configStream.replace("'", '"'), object_pairs_hook=OrderedDict)
#print(json.dumps(data, sort_keys=False, indent=2, separators=(',', ': ')))
if self.commObject().sendJSON(data):
self.statusBar().showMessage('Configuration streamed!', 6000)
else:
self.statusBar().showMessage('Error: data not sent', 6000)
def _changePort(self, action):
''' Use new port '''
#print('Change port:', action.text())
self.changeComPort(action.text())
def changeComPort(self, portName):
''' Try to connect to 'portName' '''
if self.commObject().isConnected():
print('Disconnect from', self.commObject().portName())
if not self.commObject().connectPort(portName):
self.statusBar().showMessage('Unable to connect {}.'.format(portName), 6000)
return
# Stream our robot config file
self.streamConfiguration()
# Update last port
self.lastComPort = portName
# Check menu action for current port
for act in self.portsMenu.actions():
if act.text() == portName:
act.setChecked(True)
self.statusBar().showMessage('{} connected.'.format(portName), 6000)
def serialEvent(self):
''' JSON objects received '''
def wheelSpeed(value):
if value == 0: return 0
if value > 0: return 71-value
if value < 0: return -71-value
jsonObjs = self.commObject().readAllObjects()
#print('\nJSON data received:')
for jsonObj in jsonObjs:
#print(json.dumps(jsonObj, sort_keys=True, indent=2, separators=(',', ': ')))
# Loop over all keys
for fid in jsonObj:
# Check if key is in stored functionalities
if fid in self._objects:
# Update value
value = jsonObj[fid]
if fid == 'robotDirWheelRotation':
self.moveDirWheel(value)
elif fid == 'leftWheel':
self.setSpeed_LeftWheel(wheelSpeed(value))
elif fid == 'rightWheel':
self.setSpeed_RightWheel(wheelSpeed(value))
print('Value: ', value, 'for display ', fid)
self.statusBar().showMessage('Value for {} received ({}).'.format(fid, value), 2000)
def loadSettings(self):
''' Load settings '''
se = QSettings(fullPath('wulkabot.conf'), QSettings.IniFormat)
se.beginGroup('commport')
self.lastComPort = se.value('lastport', '')
se.endGroup()
def saveSettings(self):
''' Save settings '''
se = QSettings(fullPath('wulkabot.conf'), QSettings.IniFormat)
se.beginGroup('commport')
se.setValue('lastport', self.lastComPort)
se.endGroup()
def closeEvent(self, event):
''' App closing request '''
self.saveSettings()
self._serialCom.disconnectPort()
event.accept()
