def test_invalid_json_action():
input1 = {"act": "jump", "time": 100}
input1_json = json.dumps(input1)
actions = Actions(conn)
with pytest.raises(KeyError):
actions.add_action(input1_json)
def __init__(self, rbc, kb, vision_display=False, socket=False):
self.rbc = rbc
self.kb = kb
self.vision_display = vision_display
self.socket = socket
if self.socket:
self._socket_connect()
self.tasks = Tasks(self.rbc, self.socket, self.vision_display)
self.actions = Actions(self.rbc)
def test_add_jump_action():
input1 = {"action": "jump", "time": 100}
input1_json = json.dumps(input1)
actions = Actions(conn)
actions.add_action(input1_json)
cur.execute("select count(*) from actions")
result = cur.fetchone()
count = result[0]
assert count == 1
def __init__(self, drawer):
"""Initialization commands class."""
self.drawer = drawer
self.phrases = self.drawer.phrases
self.message = Message(self.drawer)
self.notes = Notes(self.message, self.phrases)
self.config = self.drawer.config
self.config.checker(self.message, self.phrases)
self.tree = Tree()
self.actions = Actions(self.tree, self.notes)
self.set_window()
def __init__(self, rbc, url, socket, vision_display = False):
self.rbc = rbc
self.vision_display = vision_display
self.socket = socket
if self.socket:
self._socket_connect()
self.tasks = Tasks(self.rbc, self.socket, self.vision_display)
self.actions = Actions(self.rbc)
websocket.enableTrace(False)
self.ws = websocket.WebSocketApp(url,
on_message = lambda ws, msg: self.on_command(ws, msg),
on_open = lambda ws: self.on_open(ws),
on_error = lambda ws, msg: self.on_error(ws, msg),
on_close = lambda ws: self.on_close(ws))
_thread.start_new_thread(self.ws.run_forever,())
def test_get_stats():
input1 = {"action": "jump", "time": 100}
input1_json = json.dumps(input1)
input2 = {"action": "run", "time": 75}
input2_json = json.dumps(input2)
input3 = {"action": "jump", "time": 200}
input3_json = json.dumps(input3)
actions = Actions(conn)
actions.add_action(input1_json)
actions.add_action(input2_json)
actions.add_action(input3_json)
results_json = actions.get_stats()
results = json.loads(results_json)
jump_dict = list(filter(lambda dict: dict["action"] == "jump", results))[0]
run_dict = list(filter(lambda dict: dict["action"] == "run", results))[0]
assert jump_dict["avg"] == 150
assert run_dict["avg"] == 75
class RobotController:
is_manual = True
current_task = tc.NONE
current_action = ac.NONE
current_command = 'NONE'
previous_command = 'NONE'
additional_command = 'NONE'
def __init__(self, rbc, url, socket, vision_display=False):
self.rbc = rbc
self.vision_display = vision_display
self.socket = socket
if self.socket:
self._socket_connect()
self.tasks = Tasks(self.rbc, self.socket, self.vision_display)
self.actions = Actions(self.rbc)
websocket.enableTrace(False)
self.ws = websocket.WebSocketApp(
url,
on_message=lambda ws, msg: self.on_command(ws, msg),
on_open=lambda ws: self.on_open(ws),
on_error=lambda ws, msg: self.on_error(ws, msg),
on_close=lambda ws: self.on_close(ws))
_thread.start_new_thread(self.ws.run_forever, ())
def on_command(self, ws, message):
self.current_command = json.loads(message)['command']
def on_open(self, ws):
print("### Connected ###")
def on_error(self, ws, msg):
print("an error has occured")
def on_close(self, ws):
print("closing...")
"""
Main Update Logic for the Robot
"""
def Update(self):
# Refresh vision_display if defined
if self.vision_display:
self.vision_display.refresh(self.rbc.Camera.getImageArray())
# Auto reconnect socket if connection has been lost
self._socket_connect()
self._handle_command()
self._handle_additional_commands()
self.previous_command = self.current_command
# Action has priority over Task
if self.hasAction():
if self.actions.execAction(self.current_action):
self.switchAction(ac.NONE)
self.actions.resetAllActions()
elif self.hasTask():
if self.tasks.execTask(self.current_task, self.additional_command):
self.switchTask(tc.NONE)
self.tasks.resetAllActions()
def hasTask(self):
return self.current_task is not tc.NONE
def hasAction(self):
return self.current_action is not ac.NONE
def switchTask(self, task):
if self.current_task is task:
return
if task not in [t for t in tc]:
return
if task == tc.NONE:
self.tasks.forceStop()
self.rbc.idle()
self.tasks.resetAllActions()
self.current_task = task
self.disableManual()
self._socket_send(
Constants.JSON_PREFIX.format(
'{', TaskCodes.translateTaskToString(self.current_task), '',
'', '', '}'))
print('Changed Current Task to: "{}"'.format(
TaskCodes.translateTaskToString(self.current_task)))
def _handle_additional_commands(self):
if self.current_command in ["HEARTS", "CLUBS", "DIAMONDS", "SPADES"]:
self.additional_command = self.current_command
return
self.additional_command = "NONE"
def switchAction(self, action):
if self.current_action is action:
return
if action not in [t for t in ac]:
return
if action == ac.NONE:
self.actions.forceStop()
self.rbc.idle()
self.actions.resetAllActions()
self.current_action = action
self.disableManual()
print('Changed Current Action to: "{}"'.format(
ActionCodes.translateActionToString(self.current_action)))
def toggleManual(self):
if self.is_manual is True:
self.disableManual()
return
self.enableManual()
def enableManual(self):
if self.is_manual:
return
#if self.current_task is not tc.NONE:
# self.switchTask(tc.NONE)
self.is_manual = True
print('Manual Controls Enabled')
def disableManual(self):
if not self.is_manual:
return
self.is_manual = False
print('Manual Controls Disabled')
def _socket_send(self, json_string):
if not self.socket or not self.socket.isConnected():
return
self.socket.send(json_string)
def _socket_connect(self):
if not self.socket or self.socket.isConnected():
return
self.socket.connect()
# Default method for switch case, leave empty
def _Default(self):
pass
def _handle_command(self):
self.rbc.resetWheelVelocity()
self._handle_continuous_command()
self._handle_speed_change()
#if prev != current then toggle else don't toggle
if (self.previous_command != self.current_command):
self._handle_toggle_command()
def _handle_continuous_command(self):
{
'GO_FORWARDS':
partial(self.rbc.goStraight, self.rbc.wheel_motor_velocity),
'TURN_ON_SPOT_LEFT':
partial(self.rbc.turnOnSpot, self.rbc.wheel_motor_velocity * -1),
'GO_BACKWARDS':
partial(self.rbc.goStraight, self.rbc.wheel_motor_velocity * -1),
'TURN_ON_SPOT_RIGHT':
partial(self.rbc.turnOnSpot, self.rbc.wheel_motor_velocity),
'FORWARD_TURN_LEFT':
partial(self.rbc.turnLeft, self.rbc.wheel_motor_velocity),
'FORWARD_TURN_RIGHT':
partial(self.rbc.turnRight, self.rbc.wheel_motor_velocity),
'BACKWARD_TURN_RIGHT':
partial(self.rbc.turnLeft, self.rbc.wheel_motor_velocity * -1),
'BACKWARD_TURN_LEFT':
partial(self.rbc.turnRight, self.rbc.wheel_motor_velocity * -1),
}.get(self.current_command, lambda: self.default)()
def _handle_toggle_command(self):
{
'CLEAR_ACTION':
partial(self.switchAction, ac.NONE),
'TOGGLE_ACTION_GRABARM_GRAB_OBJECT':
partial(self.switchAction, ac.GRAB_OBJECT),
'TOGGLE_ACTION_GRABARM_WEIGH_OBJECT':
partial(self.switchAction, ac.WEIGH_OBJECT),
'TOGGLE_ACTION_GRABARM_DEPOSIT_OBJECT':
partial(self.switchAction, ac.DEPOSIT_OBJECT),
'TOGGLE_ACTION_COLLECT_MINERAL':
partial(self.switchAction, ac.COLLECT_MINERAL),
'RETRACT_GRABARM':
partial(self.rbc.GrabArmMotors.retract),
'RESET_ARM':
partial(self.rbc.GrabArmMotors.idle),
'TOGGLE_MANUAL':
partial(self.toggleManual),
'CLEAR_TASK':
partial(self.switchTask, tc.NONE),
'TOGGLE_TASK_SCAN_QR_CODE':
partial(self.switchTask, tc.SCAN_QR_CODE),
'TOGGLE_TASK_FIND_CARD_SYMBOL':
partial(self.switchTask, tc.FIND_CARD_SYMBOL),
'TOGGLE_TASK_RECOGNIZE_TEMPERATURE':
partial(self.switchTask, tc.MEASURE_TEMP_OF_WATER_SOURCE),
'TOGGLE_TASK_DANCING_ON_THE_MOON':
partial(self.switchTask, tc.DANCING_ON_THE_MOON),
'TOGGLE_TASK_MOON_MAZE':
partial(self.switchTask, tc.MOON_MAZE),
'TOGGLE_TASK_MINERAL_ANALYSIS':
partial(self.switchTask, tc.MINERAL_ANALYSIS),
'TOGGLE_TASK_MOON_WALK':
partial(self.switchTask, tc.MOON_WALK),
'TOGGLE_TASK_MOON_SURVIVAL':
partial(self.switchTask, tc.MOON_SURVIVAL),
}.get(self.current_command, lambda: self.default)()
def _handle_speed_change(self):
for i in range(1, 11):
if 'SPEED_{}'.format(i) == self.current_command:
self.rbc.setWheelMotorVelocity(
(self.rbc.MAX_WHEEL_VELOCITY / 10) * i)
break
def default(self):
return
def setup_ui(self):
self.setObjectName("self")
self.setFixedSize(287, 235)
self.actionsMenu = Actions()
self.default = DefaultSettings
self.cs = CameraSettings()
self.path = ""
# Gain:
self.selfLayoutWidget = QtWidgets.QWidget(self)
self.selfLayoutWidget.setGeometry(QtCore.QRect(10, 10, 271, 221))
self.selfLayoutWidget.setObjectName("selfLayoutWidget")
self.selfLayout = QtWidgets.QFormLayout(self.selfLayoutWidget)
self.selfLayout.setContentsMargins(0, 0, 0, 0)
self.selfLayout.setObjectName("selfLayout")
self.label = QtWidgets.QLabel(self.selfLayoutWidget)
self.label.setObjectName("label")
self.selfLayout.setWidget(0, QtWidgets.QFormLayout.LabelRole, self.label)
self.comboBox = QtWidgets.QComboBox(self.selfLayoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.comboBox.sizePolicy().hasHeightForWidth())
self.comboBox.setSizePolicy(sizePolicy)
self.comboBox.setObjectName("comboBox")
# TODO ?(x2, x4, x8)?
self.comboBox.addItems([self.tr("1"), self.tr("2"), self.tr("4")])
self.comboBox.setCurrentIndex(int(self.cs.gain))
# Gain
'''
Gain/Temperature
'''
# Temperature:
self.selfLayout.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.comboBox)
self.label_2 = QtWidgets.QLabel(self.selfLayoutWidget)
self.label_2.setObjectName("label_2")
self.selfLayout.setWidget(1, QtWidgets.QFormLayout.LabelRole, self.label_2)
self.lineEdit = QtWidgets.QLineEdit(self.selfLayoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.lineEdit.sizePolicy().hasHeightForWidth())
self.lineEdit.setSizePolicy(sizePolicy)
self.lineEdit.setObjectName("lineEdit")
self.lineEdit.setValidator(QtGui.QIntValidator(-70, 25))
self.lineEdit.setText(self.cs.temp)
# Temperature
'''
Temperature/Shooting Time
'''
# Shooting Time:
self.selfLayout.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.lineEdit)
self.label_3 = QtWidgets.QLabel(self.selfLayoutWidget)
self.label_3.setObjectName("label_3")
self.selfLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.label_3)
self.lineEdit_2 = QtWidgets.QLineEdit(self.selfLayoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.lineEdit_2.sizePolicy().hasHeightForWidth())
self.lineEdit_2.setSizePolicy(sizePolicy)
self.lineEdit_2.setObjectName("lineEdit_2")
self.lineEdit_2.setValidator(QtGui.QIntValidator(60, 600))
self.lineEdit_2.setText(self.cs.time_shooting)
# Shooting Time
'''
Shooting Time/Time Between Images
'''
# Time Between Images:
self.selfLayout.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.lineEdit_2)
self.label_4 = QtWidgets.QLabel(self.selfLayoutWidget)
self.label_4.setObjectName("label_4")
self.selfLayout.setWidget(3, QtWidgets.QFormLayout.LabelRole, self.label_4)
self.lineEdit_3 = QtWidgets.QLineEdit(self.selfLayoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.lineEdit_3.sizePolicy().hasHeightForWidth())
self.lineEdit_3.setSizePolicy(sizePolicy)
self.lineEdit_3.setObjectName("lineEdit_3")
self.lineEdit_3.setValidator(QtGui.QIntValidator(5, 60))
self.lineEdit_3.setText(self.cs.acq_wait)
# Time Between Images
'''
Time Between Images/Binning
'''
# Binning:
self.selfLayout.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.lineEdit_3)
self.label_5 = QtWidgets.QLabel(self.selfLayoutWidget)
self.label_5.setObjectName("label_5")
self.selfLayout.setWidget(4, QtWidgets.QFormLayout.LabelRole, self.label_5)
self.comboBox_2 = QtWidgets.QComboBox(self.selfLayoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.comboBox_2.sizePolicy().hasHeightForWidth())
self.comboBox_2.setSizePolicy(sizePolicy)
self.comboBox_2.setCurrentText("")
self.comboBox_2.setMinimumContentsLength(0)
self.comboBox_2.setObjectName("comboBox_2")
self.comboBox_2.addItems([self.tr("1x1"), self.tr("2x2"), self.tr("4x4")])
self.comboBox_2.setCurrentIndex(int(self.cs.binning))
# Binning
'''
Binning/Exposure Time
'''
# Exposure Time:
self.selfLayout.setWidget(4, QtWidgets.QFormLayout.FieldRole, self.comboBox_2)
self.label_6 = QtWidgets.QLabel(self.selfLayoutWidget)
self.label_6.setObjectName("label_6")
self.selfLayout.setWidget(5, QtWidgets.QFormLayout.LabelRole, self.label_6)
self.lineEdit_4 = QtWidgets.QLineEdit(self.selfLayoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.lineEdit_4.sizePolicy().hasHeightForWidth())
self.lineEdit_4.setSizePolicy(sizePolicy)
self.lineEdit_4.setObjectName("lineEdit_4")
self.lineEdit_4.setValidator(QtGui.QIntValidator(5, 60))
self.lineEdit_4.setText(self.cs.exp)
# Exposure Time
'''
Exposure Time/Images Path
'''
# Images Path:
self.selfLayout.setWidget(5, QtWidgets.QFormLayout.FieldRole, self.lineEdit_4)
self.label_7 = QtWidgets.QLabel(self.selfLayoutWidget)
self.label_7.setObjectName("label_7")
self.selfLayout.setWidget(6, QtWidgets.QFormLayout.LabelRole, self.label_7)
self.horizontalLayout = QtWidgets.QHBoxLayout()
self.horizontalLayout.setObjectName("horizontalLayout")
self.lineEdit_5 = QtWidgets.QLineEdit(self.selfLayoutWidget)
self.lineEdit_5.setObjectName("lineEdit_5")
self.lineEdit_5.setText(self.cs.path)
self.lineEdit_5.setReadOnly(True)
self.horizontalLayout.addWidget(self.lineEdit_5)
self.toolButton = QtWidgets.QToolButton(self.selfLayoutWidget)
self.toolButton.setObjectName("toolButton")
self.horizontalLayout.addWidget(self.toolButton)
self.toolButton.clicked.connect(self.get_dir)
self.selfLayout.setLayout(6, QtWidgets.QFormLayout.FieldRole, self.horizontalLayout)
# Images Path
'''
Images Path/Buttons
'''
# Buttons:
self.buttonBox = QtWidgets.QDialogButtonBox(self.selfLayoutWidget)
self.buttonBox.addButton("Defaults", QtWidgets.QDialogButtonBox.RejectRole)
self.buttonBox.addButton("Save", QtWidgets.QDialogButtonBox.AcceptRole)
self.buttonBox.setCenterButtons(True)
self.buttonBox.setObjectName("buttonBox")
# self.buttonBox.button(QtWidgets.QDialogButtonBox.Ok).setText("Save")
# self.buttonBox.button(QtWidgets.QDialogButtonBox.RejectRole).setText("Defaults")
self.selfLayout.setWidget(7, QtWidgets.QFormLayout.SpanningRole, self.buttonBox)
# self.buttonBox.clicked(QAbstractButton=QtWidgets.QDialogButtonBox.Save).connect(self.save_settings)
self.buttonBox.accepted.connect(self.save_settings)
self.buttonBox.rejected.connect(self.defaults)
# self.buttonBox.clicked(QAbstractButton=QtWidgets.QDialogButtonBox.RestoreDefaults).connect(self.defaults)
self.retranslate_ui()
QtCore.QMetaObject.connectSlotsByName(self)
self.show()
def setUp(self):
self.actions=Actions()
SQL="update account_fund set balance='10000',frozen_amount='0',daily_balance='0',daily_frozen_amount='0' where account_id='105372'"
self.actions.conn(SQL)
class TestCases(unittest.TestCase):
def setUp(self):
self.actions=Actions()
SQL="update account_fund set balance='10000',frozen_amount='0',daily_balance='0',daily_frozen_amount='0' where account_id='105372'"
self.actions.conn(SQL)
def tearDown(self):
pass
def test_001(self):
u"""账户资金增加"""
response=self.actions.sendRequest("dilipay.account.add.balance")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_002(self):
u"""自助圈提-创建圈提记录"""
response=self.actions.sendRequest("dilipay.trade.create.unload")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_003(self):
u"""圈提"""
response=self.actions.sendRequest("dilipay.trade.create.withdraw")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_004(self):
u"""创建圈存记录"""
response=self.actions.sendRequest("dilipay.trade.create.predeposit")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_005(self):
u"""资金账户注册"""
#电话号码重复
response=self.actions.sendRequest("dilipay.account.info.register")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_006(self):
u"""现金充值交易支付"""
response=self.actions.sendRequest("dilipay.trade.pay")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_007(self):
u"""现金充值交易创建"""
response=self.actions.sendRequest("dilipay.trade.create.deposit")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_008(self):
u"""现金提现"""
response=self.actions.sendRequest("dilipay.trade.withdraw.cash")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_009(self):
u"""统一账号身份认证"""
response=self.actions.sendRequest("dilipay.account.secured.auth")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_010(self):
u"""自动圈提确认"""
response=self.actions.sendRequest("dilipay.account.balance.unload")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_011(self):
u"""创建圈提记录"""
response=self.actions.sendRequest("dilipay.trade.create.unload")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_012(self):
u"""获取账户信息"""
response=self.actions.sendRequest("dilipay.account.info.get")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_013(self):
u"""获取账户可用余额"""
response=self.actions.sendRequest("dilipay.account.balance.get")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_014(self):
u"""解冻账号"""
response=self.actions.sendRequest("dilipay.account.status.unfreeze")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_015(self):
u"""冻结账号资金"""
response=self.actions.sendRequest("dilipay.account.fund.freeze")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_016(self):
u"""解冻账号资金"""
response=self.actions.sendRequest("dilipay.account.fund.unfreeze")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_017(self):
u"""账号冻结资金明细查询"""
response=self.actions.sendRequest("dilipay.account.fund.freeze.list")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_018(self):
u"""清除支付密码错误次数"""
response=self.actions.sendRequest("dilipay.password.limit.clear")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_019(self):
u"""批量解冻账号资金"""
response=self.actions.sendRequest("dilipay.account.fund.unfreeze.batch")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
def test_020(self):
u"""创建及时到账交易"""
response=self.actions.sendRequest("dilipay.trade.create.direct")
flag=self.actions.verifyResult(response)
self.assertEqual(True, flag, u'接口测试失败:'+sys._getframe().f_code.co_name)
class RobotController:
CURLY_BRACKET_OPEN = '{'
CURLY_BRACKET_CLOSE = '}'
# Prevents toggled actions from taking place multiple times in one key press
TOGGLE_TIMEOUT = 42
toggle_timeout_count = TOGGLE_TIMEOUT
manual_wheel_velocity = 5
is_manual = True
current_task = tc.NONE
current_action = ac.NONE
def __init__(self, rbc, kb, vision_display=False, socket=False):
self.rbc = rbc
self.kb = kb
self.vision_display = vision_display
self.socket = socket
if self.socket:
self._socket_connect()
self.tasks = Tasks(self.rbc, self.socket, self.vision_display)
self.actions = Actions(self.rbc)
"""
Main Update Logic for the Robot
"""
def Update(self):
if self.vision_display:
self.vision_display.refresh(self.rbc.Camera.getImageArray())
# Auto reconnect socket if connection has been lost
self._socket_connect()
# Handle User Input
self._handleUserInput()
# Action has priority over Task
if self.hasAction():
if self.actions.execAction(self.current_action):
self.switchAction(ac.NONE)
self.actions.resetAllActions()
elif self.hasTask():
if self.tasks.execTask(self.current_task):
self.switchTask(tc.NONE)
self.tasks.resetAllActions()
def hasTask(self):
return self.current_task is not tc.NONE
def hasAction(self):
return self.current_action is not ac.NONE
def switchTask(self, task):
if self.current_task is task:
return
if task not in [t for t in tc]:
return
if task == tc.NONE:
self.tasks.forceStop()
self.rbc.idle()
self.tasks.resetAllActions()
self.current_task = task
self.disableManual()
self._socket_send(
Constants.JSON_PREFIX.format(
self.CURLY_BRACKET_OPEN,
TaskCodes.translateTaskToString(self.current_task), '', '', '',
self.CURLY_BRACKET_CLOSE))
print('Changed Current Task to: "{}"'.format(
TaskCodes.translateTaskToString(self.current_task)))
def switchAction(self, action):
if self.current_action is action:
return
if action not in [t for t in ac]:
return
if action == ac.NONE:
self.actions.forceStop()
self.rbc.idle()
self.actions.resetAllActions()
self.current_action = action
self.disableManual()
### TODO: Send to Website through Socket (as JSON) ###
print('Changed Current Action to: "{}"'.format(
ActionCodes.translateActionToString(self.current_action)))
def toggleManual(self):
if self.is_manual is True:
self.disableManual()
return
self.enableManual()
def enableManual(self):
if self.is_manual:
return
if self.current_task is not tc.NONE:
self.switchTask(tc.NONE)
self.is_manual = True
print('Manual Controls Enabled')
def disableManual(self):
if not self.is_manual:
return
self.is_manual = False
print('Manual Controls Disabled')
def _socket_send(self, json_string):
if not self.socket or not self.socket.isConnected():
return
self.socket.send(json_string)
def _socket_connect(self):
if not self.socket or self.socket.isConnected():
return
self.socket.connect()
def _handleUserInput(self):
self.rbc.keys = self._getActiveKeys()
# Reset robot movement
self.rbc.resetWheelVelocity()
if self._handleToggledInput(self.rbc.keys):
self.toggle_timeout_count = 0
return
self._handleContinuousInput(self.rbc.keys)
def _getActiveKeys(self):
# Get list of all pressed keys
keys = []
while True:
key = self.kb.getKey()
if key is -1: break
keys.append(key)
return keys
def _handleToggledInput(self, keys):
if self.toggle_timeout_count < self.TOGGLE_TIMEOUT:
self.toggle_timeout_count += 1
return False
# Handle Single Input Event (return if handled)
if self._handleSingleInput(keys):
return True
# Handle Dual Input Event (return if handled)
if self._handleDualInput(keys):
return True
return False
def _handleContinuousInput(self, keys):
# Handle manual movement
self._handleManualMovement(keys)
def _handleManualMovement(self, keys):
"""
Manual Movement (needs to be enabled)
"""
if self.is_manual:
# Set manual velocity wheels
self._handleManualWheelSpeedChange(keys)
# Set manual velocity grabarm
self._handleManualArmSpeedChange(keys)
self._handleManualGrabberSpeedChange(keys)
# Handle manual wheel movement
self._handleManualWheelsMovement(keys)
# Handle manual grabarm movement
self._handleManualGrabArmMovement(keys)
def _handleManualWheelSpeedChange(self, keys):
movement = False
option = False
for key in keys:
if key in kc.WHEEL_MOVEMENT_KEYS:
movement = key
if key in kc.SPEED_OPTIONS:
velocity_step = math.floor(self.rbc.MAX_WHEEL_VELOCITY / 10)
option = int(
chr(key)) * velocity_step if key != ord('0') else int(
10 * velocity_step)
if not movement or not option:
continue
self.rbc.setWheelMotorVelocity(option)
break
def _handleManualArmSpeedChange(self, keys):
movement = False
option = False
for key in keys:
if key in kc.ARM_MOVEMENT_KEYS:
movement = key
if key in kc.SPEED_OPTIONS:
velocity_step = math.floor(self.rbc.MAX_ARM_VELOCITY / 10)
option = int(chr(key) *
velocity_step) if key != ord('0') else int(
10 * velocity_step)
if not movement or not option:
continue
self.rbc.GrabArmMotors.arm.setVelocity(option)
break
def _handleManualGrabberSpeedChange(self, keys):
movement = False
option = False
for key in keys:
if key in kc.GRABBER_MOVEMENT_KEYS:
movement = key
if key in kc.SPEED_OPTIONS:
velocity_step = math.floor(self.rbc.MAX_GRABBER_VELOCITY / 10)
option = int(chr(key) *
velocity_step) if key != ord('0') else int(
10 * velocity_step)
if not movement or not option:
continue
self.rbc.GrabArmMotors.grabber.setVelocity(option)
break
def _handleSingleInput(self, keys):
# Return if not only one input
if len(keys) is not 1:
return False
key = keys[0]
# Toggle Manual
if kc.TOGGLE_MANUAL_KEY == key:
self.toggleManual()
return True
# Retract Arm
if kc.GRABARM_RETRACT_KEY == key:
self.rbc.GrabArmMotors.retract()
return True
if kc.RESET_ARM_KEY == key:
self.rbc.GrabArmMotors.idle()
return True
if key in kc.TOGGLE_ACTION_KEYS:
{
kc.CLEAR_ACTION:
partial(self.switchAction, ac.NONE),
kc.TOGGLE_ACTION_GRABARM_GRAB_OBJECT_KEY:
partial(self.switchAction, ac.GRAB_OBJECT),
kc.TOGGLE_ACTION_GRABARM_WEIGH_OBJECT_KEY:
partial(self.switchAction, ac.WEIGH_OBJECT),
kc.TOGGLE_ACTION_GRABARM_DEPOSIT_OBJECT_KEY:
partial(self.switchAction, ac.DEPOSIT_OBJECT),
kc.TOGGLE_ACTION_COLLECT_MINERAL_KEY:
partial(self.switchAction, ac.COLLECT_MINERAL)
}.get(key, lambda: self._Default)()
return True
# Task toggles (0-9, starts with '1', ends at '0')
# '-' clears current task
if key in kc.TOGGLE_TASK_KEYS:
{
kc.CLEAR_TASK_KEY:
partial(self.switchTask, tc.NONE),
kc.TOGGLE_TASK_DANCING_ON_THE_MOON_KEY:
partial(self.switchTask, tc.DANCING_ON_THE_MOON),
kc.TOGGLE_TASK_MOON_MAZE_KEY:
partial(self.switchTask, tc.MOON_MAZE),
kc.TOGGLE_TASK_MOON_SURVIVAL_KEY:
partial(self.switchTask, tc.MOON_SURVIVIVAL),
kc.TOGGLE_TASK_FIND_CARD_SYMBOL_KEY:
partial(self.switchTask, tc.FIND_CARD_SYMBOL),
kc.TOGGLE_TASK_MEASURE_TEMP_OF_WATER_SOURCE_KEY:
partial(self.switchTask, tc.MEASURE_TEMP_OF_WATER_SOURCE),
kc.TOGGLE_TASK_SCAN_QR_CODE_KEY:
partial(self.switchTask, tc.SCAN_QR_CODE),
kc.TOGGLE_TASK_MINERAL_ANALYSIS_KEY:
partial(self.switchTask, tc.MINERAL_ANALYSIS)
}.get(key, lambda: self._Default)()
return True
return False
def _handleDualInput(self, keys):
# Return if not only two inputs
if len(keys) is not 2:
return False
return False
def _handleManualWheelsMovement(self, keys):
# STRAFING
if kc.FORWARD_KEY in keys and kc.LEFT_KEY in keys:
self.rbc.turnLeft(self.rbc.wheel_motor_velocity)
return
if kc.FORWARD_KEY in keys and kc.RIGHT_KEY in keys:
self.rbc.turnRight(self.rbc.wheel_motor_velocity)
return
if kc.BACKWARD_KEY in keys and kc.LEFT_KEY in keys:
self.rbc.turnRight(self.rbc.wheel_motor_velocity * -1)
return
if kc.BACKWARD_KEY in keys and kc.RIGHT_KEY in keys:
self.rbc.turnLeft(self.rbc.wheel_motor_velocity * -1)
return
# ON POSITION
if kc.FORWARD_KEY in keys:
self.rbc.goStraight(self.rbc.wheel_motor_velocity)
return
if kc.BACKWARD_KEY in keys:
self.rbc.goStraight(self.rbc.wheel_motor_velocity * -1)
return
if kc.LEFT_KEY in keys:
self.rbc.turnOnSpot(self.rbc.wheel_motor_velocity * -1)
return
if kc.RIGHT_KEY in keys:
self.rbc.turnOnSpot(self.rbc.wheel_motor_velocity)
return
def _handleManualGrabArmMovement(self, keys):
# Arm
if kc.ARM_EXTEND_KEY in keys:
self.rbc.GrabArmMotors.arm.moveArmForwards()
elif kc.ARM_RETRACT_KEY in keys:
self.rbc.GrabArmMotors.arm.moveArmBackwards()
# Grabber
if kc.GRABBER_OPEN_KEY in keys:
self.rbc.GrabArmMotors.grabber.continuousOpen()
elif kc.GRABBER_CLOSE_KEY in keys:
self.rbc.GrabArmMotors.grabber.continuousClose()
# Default method for switch case, leave empty
def _Default(self):
pass
def setup_ui(self):
self.settings = UiSelf()
self.actionsMenu = Actions()
# self.actionsMenu.signal_console.connect(self.write_to_console)
self.console = ConsoleThreadOutput()
self.setObjectName("self")
self.setFixedSize(500, 268)
size_policy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed,
QtWidgets.QSizePolicy.Fixed)
size_policy.setHorizontalStretch(0)
size_policy.setVerticalStretch(0)
size_policy.setHeightForWidth(self.sizePolicy().hasHeightForWidth())
self.setSizePolicy(size_policy)
self.setWindowTitle("CCD Controller 3.0.0 (Pixis)")
self.centralwidget = QtWidgets.QWidget(self)
self.centralwidget.setObjectName("centralwidget")
self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
self.verticalLayout.setObjectName("verticalLayout")
self.plainTextEdit = QtWidgets.QPlainTextEdit(self.centralwidget)
self.plainTextEdit.setEnabled(True)
font = QtGui.QFont()
if os.name == "nt":
font.setFamily("Terminal")
font.setPointSize(11)
else:
font.setFamily("Noto")
font.setPointSize(11)
self.plainTextEdit.setFont(font)
self.plainTextEdit.viewport().setProperty(
"cursor", QtGui.QCursor(QtCore.Qt.ArrowCursor))
self.plainTextEdit.setFocusPolicy(QtCore.Qt.NoFocus)
self.plainTextEdit.setToolTip("")
self.plainTextEdit.setStatusTip("")
self.plainTextEdit.setWhatsThis("")
self.plainTextEdit.setAccessibleName("")
self.plainTextEdit.setAccessibleDescription("")
# color: rgb(0, 255, 0)
self.plainTextEdit.setStyleSheet(
"color: green; background-color: rgb(0, 0, 0);")
self.plainTextEdit.setPlainText("")
self.plainTextEdit.setTextInteractionFlags(QtCore.Qt.NoTextInteraction)
self.plainTextEdit.setObjectName("plainTextEdit")
self.console.set_console(self.plainTextEdit)
self.verticalLayout.addWidget(self.plainTextEdit)
self.setCentralWidget(self.centralwidget)
self.toolBar = QtWidgets.QToolBar(self)
self.toolBar.setMovable(False)
self.toolBar.setIconSize(QtCore.QSize(48, 48))
self.toolBar.setObjectName("toolBar")
self.addToolBar(QtCore.Qt.TopToolBarArea, self.toolBar)
if os.name == "nt":
dir_orientation = os.getcwd() + "\\ui\\icons\\"
else:
dir_orientation = os.getcwd() + "/ui/icons/"
self.actionConnect = QtWidgets.QAction(self)
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap(dir_orientation + "Connect.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionConnect.setIcon(icon)
self.actionConnect.setObjectName("actionConnect")
self.actionConnect.triggered.connect(self.actionsMenu.connect)
self.actionDisconnect = QtWidgets.QAction(self)
icon1 = QtGui.QIcon()
icon1.addPixmap(QtGui.QPixmap(dir_orientation + "Disconnect.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionDisconnect.setIcon(icon1)
self.actionDisconnect.setObjectName("actionDisconnect")
self.actionDisconnect.triggered.connect(
self.actionsMenu.disconnect_cam)
self.actionRun = QtWidgets.QAction(self)
icon2 = QtGui.QIcon()
icon2.addPixmap(QtGui.QPixmap(dir_orientation + "Run_Manual.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionRun.setIcon(icon2)
self.actionRun.setObjectName("actionRun")
self.actionRun.triggered.connect(self.actionsMenu.shoot)
self.actionStop = QtWidgets.QAction(self)
icon3 = QtGui.QIcon()
icon3.addPixmap(QtGui.QPixmap(dir_orientation + "Stop.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionStop.setIcon(icon3)
self.actionStop.setObjectName("actionStop")
self.actionStop.triggered.connect(self.actionsMenu.stop)
self.actionSettings = QtWidgets.QAction(self)
icon4 = QtGui.QIcon()
icon4.addPixmap(QtGui.QPixmap(dir_orientation + "Settings.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionSettings.setIcon(icon4)
self.actionSettings.setObjectName("actionSettings")
self.actionSettings.triggered.connect(self.open_settings)
self.actionExit = QtWidgets.QAction(self)
icon5 = QtGui.QIcon()
icon5.addPixmap(QtGui.QPixmap(dir_orientation + "Exit.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionExit.setIcon(icon5)
self.actionExit.setObjectName("actionExit")
self.actionExit.triggered.connect(self.close)
self.actionPicFolder = QtWidgets.QAction(self)
icon6 = QtGui.QIcon()
icon6.addPixmap(QtGui.QPixmap(dir_orientation + "Folder.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionPicFolder.setIcon(icon6)
self.actionPicFolder.setObjectName("actionPicFolder")
self.actionPicFolder.triggered.connect(self.pics_folder)
self.actionGetTemp = QtWidgets.QAction(self)
icon7 = QtGui.QIcon()
icon7.addPixmap(QtGui.QPixmap(dir_orientation + "Temp.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionGetTemp.setIcon(icon7)
self.actionGetTemp.setObjectName("actionGetTemp")
self.actionGetTemp.triggered.connect(self.show_temp)
self.toolBar.addAction(self.actionConnect)
self.toolBar.addAction(self.actionDisconnect)
self.toolBar.addSeparator()
self.toolBar.addAction(self.actionRun)
self.toolBar.addAction(self.actionStop)
self.toolBar.addSeparator()
self.toolBar.addAction(self.actionSettings)
self.toolBar.addAction(self.actionExit)
self.toolBar.addSeparator()
self.toolBar.addAction(self.actionPicFolder)
self.toolBar.addAction(self.actionGetTemp)
self.toolBar.addSeparator()
self.retranslate_ui()
QtCore.QMetaObject.connectSlotsByName(self)
self.show()
class UiMainwindow(QtWidgets.QMainWindow):
def setup_ui(self):
self.settings = UiSelf()
self.actionsMenu = Actions()
# self.actionsMenu.signal_console.connect(self.write_to_console)
self.console = ConsoleThreadOutput()
self.setObjectName("self")
self.setFixedSize(500, 268)
size_policy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed,
QtWidgets.QSizePolicy.Fixed)
size_policy.setHorizontalStretch(0)
size_policy.setVerticalStretch(0)
size_policy.setHeightForWidth(self.sizePolicy().hasHeightForWidth())
self.setSizePolicy(size_policy)
self.setWindowTitle("CCD Controller 3.0.0 (Pixis)")
self.centralwidget = QtWidgets.QWidget(self)
self.centralwidget.setObjectName("centralwidget")
self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
self.verticalLayout.setObjectName("verticalLayout")
self.plainTextEdit = QtWidgets.QPlainTextEdit(self.centralwidget)
self.plainTextEdit.setEnabled(True)
font = QtGui.QFont()
if os.name == "nt":
font.setFamily("Terminal")
font.setPointSize(11)
else:
font.setFamily("Noto")
font.setPointSize(11)
self.plainTextEdit.setFont(font)
self.plainTextEdit.viewport().setProperty(
"cursor", QtGui.QCursor(QtCore.Qt.ArrowCursor))
self.plainTextEdit.setFocusPolicy(QtCore.Qt.NoFocus)
self.plainTextEdit.setToolTip("")
self.plainTextEdit.setStatusTip("")
self.plainTextEdit.setWhatsThis("")
self.plainTextEdit.setAccessibleName("")
self.plainTextEdit.setAccessibleDescription("")
# color: rgb(0, 255, 0)
self.plainTextEdit.setStyleSheet(
"color: green; background-color: rgb(0, 0, 0);")
self.plainTextEdit.setPlainText("")
self.plainTextEdit.setTextInteractionFlags(QtCore.Qt.NoTextInteraction)
self.plainTextEdit.setObjectName("plainTextEdit")
self.console.set_console(self.plainTextEdit)
self.verticalLayout.addWidget(self.plainTextEdit)
self.setCentralWidget(self.centralwidget)
self.toolBar = QtWidgets.QToolBar(self)
self.toolBar.setMovable(False)
self.toolBar.setIconSize(QtCore.QSize(48, 48))
self.toolBar.setObjectName("toolBar")
self.addToolBar(QtCore.Qt.TopToolBarArea, self.toolBar)
if os.name == "nt":
dir_orientation = os.getcwd() + "\\ui\\icons\\"
else:
dir_orientation = os.getcwd() + "/ui/icons/"
self.actionConnect = QtWidgets.QAction(self)
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap(dir_orientation + "Connect.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionConnect.setIcon(icon)
self.actionConnect.setObjectName("actionConnect")
self.actionConnect.triggered.connect(self.actionsMenu.connect)
self.actionDisconnect = QtWidgets.QAction(self)
icon1 = QtGui.QIcon()
icon1.addPixmap(QtGui.QPixmap(dir_orientation + "Disconnect.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionDisconnect.setIcon(icon1)
self.actionDisconnect.setObjectName("actionDisconnect")
self.actionDisconnect.triggered.connect(
self.actionsMenu.disconnect_cam)
self.actionRun = QtWidgets.QAction(self)
icon2 = QtGui.QIcon()
icon2.addPixmap(QtGui.QPixmap(dir_orientation + "Run_Manual.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionRun.setIcon(icon2)
self.actionRun.setObjectName("actionRun")
self.actionRun.triggered.connect(self.actionsMenu.shoot)
self.actionStop = QtWidgets.QAction(self)
icon3 = QtGui.QIcon()
icon3.addPixmap(QtGui.QPixmap(dir_orientation + "Stop.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionStop.setIcon(icon3)
self.actionStop.setObjectName("actionStop")
self.actionStop.triggered.connect(self.actionsMenu.stop)
self.actionSettings = QtWidgets.QAction(self)
icon4 = QtGui.QIcon()
icon4.addPixmap(QtGui.QPixmap(dir_orientation + "Settings.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionSettings.setIcon(icon4)
self.actionSettings.setObjectName("actionSettings")
self.actionSettings.triggered.connect(self.open_settings)
self.actionExit = QtWidgets.QAction(self)
icon5 = QtGui.QIcon()
icon5.addPixmap(QtGui.QPixmap(dir_orientation + "Exit.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionExit.setIcon(icon5)
self.actionExit.setObjectName("actionExit")
self.actionExit.triggered.connect(self.close)
self.actionPicFolder = QtWidgets.QAction(self)
icon6 = QtGui.QIcon()
icon6.addPixmap(QtGui.QPixmap(dir_orientation + "Folder.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionPicFolder.setIcon(icon6)
self.actionPicFolder.setObjectName("actionPicFolder")
self.actionPicFolder.triggered.connect(self.pics_folder)
self.actionGetTemp = QtWidgets.QAction(self)
icon7 = QtGui.QIcon()
icon7.addPixmap(QtGui.QPixmap(dir_orientation + "Temp.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.actionGetTemp.setIcon(icon7)
self.actionGetTemp.setObjectName("actionGetTemp")
self.actionGetTemp.triggered.connect(self.show_temp)
self.toolBar.addAction(self.actionConnect)
self.toolBar.addAction(self.actionDisconnect)
self.toolBar.addSeparator()
self.toolBar.addAction(self.actionRun)
self.toolBar.addAction(self.actionStop)
self.toolBar.addSeparator()
self.toolBar.addAction(self.actionSettings)
self.toolBar.addAction(self.actionExit)
self.toolBar.addSeparator()
self.toolBar.addAction(self.actionPicFolder)
self.toolBar.addAction(self.actionGetTemp)
self.toolBar.addSeparator()
self.retranslate_ui()
QtCore.QMetaObject.connectSlotsByName(self)
self.show()
def retranslate_ui(self):
_translate = QtCore.QCoreApplication.translate
self.plainTextEdit.setPlaceholderText(
_translate("MainWindow", "PlaceholderText"))
self.toolBar.setWindowTitle(_translate("MainWindow", "toolBar"))
self.actionConnect.setText(_translate("MainWindow", "Connect"))
self.actionConnect.setToolTip(_translate("MainWindow", "Connect"))
self.actionDisconnect.setText(_translate("MainWindow", "Disconnect"))
self.actionDisconnect.setToolTip(_translate("MainWindow",
"Disconnect"))
self.actionRun.setText(_translate("MainWindow", "Run"))
self.actionRun.setToolTip(_translate("MainWindow", "Run"))
self.actionStop.setText(_translate("MainWindow", "Stop"))
self.actionStop.setToolTip(_translate("MainWindow", "Stop"))
self.actionSettings.setText(_translate("MainWindow", "Settings"))
self.actionSettings.setToolTip(_translate("MainWindow", "Settings"))
self.actionExit.setText(_translate("MainWindow", "Exit"))
self.actionExit.setToolTip(_translate("MainWindow", "Exit"))
'''
self.actionPicFolder.setText(_translate("MainWindow", "PicFolder"))
'''
self.actionPicFolder.setToolTip(
_translate("MainWindow", "Open Pictures Folder"))
self.actionGetTemp.setToolTip(
_translate("MainWindow", "Get Current Temperature"))
def open_settings(self):
if not self.actionsMenu.shooter.shoot_on:
self.settings.setup_ui()
else:
self.console.write_to_console(
"Cannot Change Settings During Acquisition.", 2)
def show_temp(self):
if self.actionsMenu.is_connected:
self.console.write_to_console(
"Current Temperature: " +
"{0:.2f}".format(self.actionsMenu.get_temp() / 100, 0), 0)
elif self.actionsMenu.shooter.shoot_on:
self.console.write_to_console("Unavailable During Acquisition.", 2)
else:
self.console.write_to_console("Not Connected.", 2)
def closeEvent(self, event):
reply = QMessageBox.question(self, 'Message', "Are you sure to quit?",
QMessageBox.Yes | QMessageBox.No,
QMessageBox.No)
if reply == QMessageBox.Yes:
if self.actionsMenu.is_connected:
if self.actionsMenu.shooter.shoot_on:
self.actionsMenu.stop()
while self.actionsMenu.shooter.shoot_on:
continue
# self.close()
event.accept()
else:
event.ignore()
def pics_folder(self):
try:
if not os.path.exists(self.actionsMenu.cs.path):
os.makedirs(self.actionsMenu.cs.path)
if os.name == "nt":
os.startfile(self.actionsMenu.cs.path)
else:
subprocess.Popen(["xdg-open", self.actionsMenu.cs.path])
except Exception as e:
self.console.write_to_console(
"Failed to open images folder: " + str(e), 3)
# TODO Darwin?
"""
class Commands:
"""Helper class, contains command for bind events, menu and buttons."""
def __init__(self, drawer):
"""Initialization commands class."""
self.drawer = drawer
self.phrases = self.drawer.phrases
self.message = Message(self.drawer)
self.notes = Notes(self.message, self.phrases)
self.config = self.drawer.config
self.config.checker(self.message, self.phrases)
self.tree = Tree()
self.actions = Actions(self.tree, self.notes)
self.set_window()
def set_window(self):
"""Set size and position window from saving data."""
self.drawer.SetPosition(self.config.get_pos())
self.drawer.SetSize(self.config.get_size())
self.drawer.Layout()
def donate(self, event):
"""Run donate hyperlink in browser."""
webbrowser.open(self.config.donate_url)
def home(self, event):
"""Run home page hyperlink in browser."""
webbrowser.open(self.phrases.about.url)
def about(self, event):
"""Run about dialog."""
About(
self.drawer,
self.phrases.about.title,
self.phrases.about.name,
version.VERSION,
self.phrases.about.author
).ShowModal()
def close(self, event):
"""Close event for button close."""
self.drawer.Close(True)
def close_window(self, event):
"""Close window event."""
if self.config.general_expand == 'true':
self.expand_tree_save()
self.notes.close()
self.config.set_pos(self.drawer.GetScreenPosition())
self.config.set_size(self.drawer.GetSize())
self.config.close()
self.drawer.Destroy()
def __sort(self, titles, parents):
"""Sort titles and parents dictionaries by order_sort field."""
sort_notes = OrderedDict()
parents_list = [0]
childs = []
while parents:
for parent in parents_list:
order_dict = self.notes.get_order(parent)
if order_dict:
order_id = [item[0] for item in sorted(list(order_dict.items()), key=lambda i: i[1])]
for index in order_id:
sort_notes[index] = (parent, titles[index])
parents.pop(index)
childs.append(copy.copy(order_id))
parents_list = childs.pop(0)
return sort_notes
def init_tree(self):
"""Initialization tree widget."""
titles = self.notes.get_titles()
parents = self.notes.get_parents()
sort_notes = self.__sort(titles, parents)
wx_tree_id = self.drawer.tree.AddRoot(self.phrases.widgets.tree.root)
self.tree.add(0, -1, wx_tree_id)
for index, note in sort_notes.items():
parent_wx_tree_id = self.tree.id2wx_tree_id(note[0])
wx_tree_id = self.drawer.tree.AppendItem(parent_wx_tree_id, note[1])
self.tree.add(index, note[0], wx_tree_id)
if self.config.general_expand == 'true':
self.expand_tree_init()
def expand_tree_init(self):
"""Init expand tree if set config settings."""
expands = self.notes.get_expands()
wx_tree_id = self.tree.id2wx_tree_id(0)
self.drawer.tree.Expand(wx_tree_id)
for index in range(1, self.tree.get_count()):
wx_tree_id = self.tree.id2wx_tree_id(index)
if expands.get(index, 0) == 1:
self.drawer.tree.Expand(wx_tree_id)
else:
self.drawer.tree.Collapse(wx_tree_id)
def expand_tree_save(self):
"""Save expand tree if set config settings."""
expands = {}
for index in range(1, self.tree.get_count()):
wx_tree_id = self.tree.id2wx_tree_id(index)
if self.drawer.tree.IsExpanded(wx_tree_id):
expands[index] = 1
else:
expands[index] = 0
self.notes.set_expands(expands)
def __set_state_order_menuitem(self, state):
"""Set state menu items order."""
self.drawer.order_up.Enable(state)
self.drawer.order_down.Enable(state)
self.drawer.order_parent_up.Enable(state)
self.drawer.order_parent_down.Enable(state)
def __set_state_sort_menuitem(self, state):
"""Set state menu items sort."""
self.drawer.sort_titles.Enable(state)
self.drawer.sort_childcount_up.Enable(state)
self.drawer.sort_childcount_down.Enable(state)
self.drawer.sort_state_up.Enable(state)
self.drawer.sort_state_down.Enable(state)
def __set_state_undo_menuitem(self):
"""Set menu items undo and redo."""
if self.actions.isUndo():
self.drawer.undo.Enable(True)
else:
self.drawer.undo.Enable(False)
if self.actions.isRedo():
self.drawer.redo.Enable(True)
else:
self.drawer.redo.Enable(False)
def __set_state_del(self, state):
"""Set state to delete button and delete menu item."""
self.drawer.but_del.Enable(state)
self.drawer.del_note.Enable(state)
def __disable_widgets(self):
"""Disable state for all widgets."""
self.__set_state_del(False)
self.drawer.data.SetValue('')
self.drawer.data.Disable()
self.drawer.readonly.Enable(False)
self.drawer.state_check.Enable(False)
self.drawer.states.Enable(False)
def __tree_select(self):
"""Change select item in tree with program select."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
if index is None:
self.__set_state_order_menuitem(False)
self.__set_state_sort_menuitem(False)
self.__disable_widgets()
self.drawer.but_create.Disable()
self.drawer.create_child.Enable(False)
self.drawer.info_date.Enable(False)
elif index == 0:
self.__set_state_order_menuitem(False)
self.__set_state_sort_menuitem(True)
self.__disable_widgets()
self.drawer.but_create.Enable(True)
self.drawer.create_child.Enable(True)
self.drawer.info_date.Enable(False)
else:
self.__set_state_order_menuitem(True)
self.__set_state_sort_menuitem(True)
self.drawer.info_date.Enable(True)
self.drawer.data.Enable()
data = self.notes.get_note(index)
self.drawer.data.SetValue(data)
self.drawer.readonly.Enable(True)
readonly = self.notes.get_readonly(index)
self.drawer.readonly.SetValue(readonly)
self.__set_state_text_note(not readonly)
self.__set_state_del(not readonly)
self.drawer.state_check.Enable(True)
state_check = self.notes.get_state_check(index)
self.drawer.state_check.SetValue(state_check)
self.drawer.states.Enable(state_check)
self.__set_state(index)
self.drawer.but_create.Enable(True)
self.drawer.create_child.Enable(True)
self.drawer.but_save.Disable()
self.drawer.save_note.Enable(False)
def tree_select(self, event):
"""Change select item in tree."""
self.__tree_select()
def tree_activated(self, event):
"""Activated edit label on tree item."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
readonly = self.drawer.readonly.GetValue()
if readonly:
if (self.config.readonly_password_check == "true") and self.__check_password():
readonly = False
if (index != 0) and (not readonly):
self.drawer.tree.EditLabel(event.GetItem())
def tree_end_edit(self, event):
"""Finish edit label item tree."""
wx_tree_id = self.drawer.tree.GetSelection()
index = self.tree.wx_tree_id2id(wx_tree_id)
title = event.GetLabel()
if title != '':
self.actions.run(SaveTitle(index, title))
self.__set_state_undo_menuitem()
def text_change(self, event):
"""Change text controls note."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
if index != 0:
self.drawer.but_save.Enable()
self.drawer.save_note.Enable(True)
def __set_state_text_note(self, state):
"""Set data text control note readonly state."""
self.drawer.data.SetEditable(state)
def __check_password(self):
"""Check state readonly password."""
result = False
dlg = PasswordEntryDialog(self.drawer, self.drawer.phrases.titles.password)
if RetCode.OK == dlg.ShowModal():
hashpass= hashlib.sha1(dlg.GetValue().encode("utf-8"))
if hashpass.hexdigest() == self.config.readonly_password:
result = True
dlg.Destroy()
return result
def __change_readonly(self, index, readonly):
"""Change readonly attribute for widgets."""
self.actions.run(SetReadonly(index, readonly))
self.__set_state_text_note(not readonly)
self.__set_state_del(not readonly)
def change_readonly(self, event):
"""Change readonly attribute for note."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
readonly = self.drawer.readonly.GetValue()
if readonly:
self.__change_readonly(index, readonly)
elif self.config.readonly_password_check != "true":
self.__change_readonly(index, readonly)
elif self.__check_password():
self.__change_readonly(index, readonly)
else:
self.drawer.readonly.SetValue(True)
self.__set_state_undo_menuitem()
def change_state(self, event):
"""Change state attribute for note."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
state_check = self.drawer.state_check.GetValue()
self.actions.run(SetStateCheck(index, state_check))
self.drawer.states.Enable(state_check)
self.__set_state_undo_menuitem()
def choice_state(self, event):
"""Set state for note."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
state = self.drawer.states.GetString(self.drawer.states.GetSelection())
self.actions.run(SetState(index, state))
self.__set_state_undo_menuitem()
def __set_state(self, index):
"""Set string in choice states."""
state = self.notes.get_state(index)
select = self.drawer.states.FindString(state)
if select == self.drawer.get_not_found():
select = 0
self.drawer.states.SetSelection(select)
def save(self, event):
"""Save data note in database."""
wx_tree_id = self.drawer.tree.GetSelection()
index = self.tree.wx_tree_id2id(wx_tree_id)
data = self.drawer.data.GetValue()
self.actions.run(SaveNote(index, data))
self.__set_state_undo_menuitem()
self.drawer.but_save.Disable()
self.drawer.save_note.Enable(False)
def delete(self, event):
"""Delete note from database."""
if self.message.question(self.phrases.titles.warning, self.phrases.questions.del_note):
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
parent_id = self.tree.get_parent_id(index)
self.drawer.tree.DeleteAllItems()
self.actions.run(DelNote(index))
self.__set_state_undo_menuitem()
self.tree.clear()
self.init_tree()
self.drawer.tree.SelectItem(self.tree.id2wx_tree_id(parent_id))
self.__tree_select()
def create(self, event):
"""Create new note."""
if event.GetId() == self.drawer.create_root.GetId():
parent_id = 0
else:
parent_id = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
index = self.tree.get_count()
parent_wx_tree_id = self.tree.id2wx_tree_id(parent_id)
wx_tree_id = self.drawer.tree.AppendItem(parent_wx_tree_id, self.phrases.widgets.tree.new_note)
self.drawer.tree.Expand(parent_wx_tree_id)
self.drawer.tree.SelectItem(wx_tree_id)
self.tree.add(index, parent_id, wx_tree_id)
self.actions.run(CreateNote(index, self.drawer.tree.GetItemText(wx_tree_id)))
self.__set_state_undo_menuitem()
self.__tree_select()
def insert(self, event):
"""Insert new note."""
before_item = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
if before_item != 0:
parent_id = self.tree.get_parent_id(before_item)
index = self.tree.get_count()
parent_wx_tree_id = self.tree.id2wx_tree_id(parent_id)
wx_tree_id = self.drawer.tree.AppendItem(parent_wx_tree_id, self.phrases.widgets.tree.new_note)
self.actions.run(InsertNote(index, before_item, self.drawer.tree.GetItemText(wx_tree_id)))
self.__set_state_undo_menuitem()
self.expand_tree_save()
self.tree.clear()
self.drawer.tree.DeleteAllItems()
self.init_tree()
parent_wx_tree_id = self.tree.id2wx_tree_id(parent_id)
self.drawer.tree.Expand(parent_wx_tree_id)
self.drawer.tree.SelectItem(self.tree.id2wx_tree_id(index))
self.__tree_select()
def rollback(self, event):
"""Process menu commands undo and redo."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
parent = self.tree.get_parent_id(index)
if event.GetId() == self.drawer.undo.GetId():
self.actions.undo()
elif event.GetId() == self.drawer.redo.GetId():
self.actions.redo()
self.__set_state_undo_menuitem()
self.expand_tree_save()
self.tree.clear()
self.drawer.tree.DeleteAllItems()
self.init_tree()
select = self.tree.id2wx_tree_id(index)
if select is None:
select = self.tree.id2wx_tree_id(parent)
self.drawer.tree.SelectItem(select)
self.__tree_select()
def order(self, event):
"""Order items."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
if event.GetId() == self.drawer.order_up.GetId():
self.actions.run(OrderUp(index))
elif event.GetId() == self.drawer.order_down.GetId():
self.actions.run(OrderDown(index))
elif event.GetId() == self.drawer.order_parent_up.GetId():
self.actions.run(OrderParentUp(index))
elif event.GetId() == self.drawer.order_parent_down.GetId():
self.actions.run(OrderParentDown(index))
self.__set_state_undo_menuitem()
self.expand_tree_save()
self.tree.clear()
self.drawer.tree.DeleteAllItems()
self.init_tree()
self.drawer.tree.SelectItem(self.tree.id2wx_tree_id(index))
self.__tree_select()
def sort(self, event):
"""Sort items."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
if event.GetId() == self.drawer.sort_titles.GetId():
self.actions.run(SortTitle(index))
elif event.GetId() == self.drawer.sort_childcount_up.GetId():
self.actions.run(SortChildCountUp(index))
elif event.GetId() == self.drawer.sort_childcount_down.GetId():
self.actions.run(SortChildCountDown(index))
elif event.GetId() == self.drawer.sort_state_up.GetId():
self.actions.run(SortStateUp(index))
elif event.GetId() == self.drawer.sort_state_down.GetId():
self.actions.run(SortStateDown(index))
self.__set_state_undo_menuitem()
self.expand_tree_save()
self.tree.clear()
self.drawer.tree.DeleteAllItems()
self.init_tree()
self.drawer.tree.SelectItem(self.tree.id2wx_tree_id(index))
self.__tree_select()
def count(self, event):
"""Show information of count notes."""
if event.GetId() == self.drawer.count_root.GetId():
self.message.information(self.phrases.titles.info, self.phrases.info.count.root % self.tree.get_count_childs(0))
elif event.GetId() == self.drawer.count_child.GetId():
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
self.message.information(self.phrases.titles.info, self.phrases.info.count.child % self.tree.get_count_childs(index))
else:
self.message.information(self.phrases.titles.info, self.phrases.info.count.total % (self.tree.get_count() - 1))
def info_date(self, event):
"""Show info of date create and date update note."""
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
date_create, date_update = self.notes.get_date(index)
create = self.phrases.info.date.create.format(date_create)
update = self.phrases.info.date.update.format(date_update)
self.message.information(self.phrases.titles.info, '\n'.join([create, update]))
def options(self, event):
"""Run settings dialog."""
if self.config.open_settings(self.drawer):
self.drawer.states.Set(self.config.get_states(self.phrases.widgets.states))
index = self.tree.wx_tree_id2id(self.drawer.tree.GetSelection())
self.drawer.Layout()
state = self.notes.get_state(index)
self.drawer.states.SetSelection(self.drawer.states.FindString(state))
self.message.information(self.phrases.titles.info, self.phrases.info.need_restart)
from flask import Flask, request, send_file, render_template, abort, Response, redirect
from rq import Queue
from rq.job import Job
from flask_cors import CORS
from rq_scheduler import Scheduler
from redis import Redis
from utils.config import Configs
from packages.github.github import Github
from worker import conn
from actions.actions import Actions
from mongo.db import *
configs = Configs()
actions = Actions()
github = Github()
DB()
app = Flask(__name__, static_folder="./dist/static", template_folder="./dist")
CORS(app, resources={r"/*": {"origins": "*"}})
q = Queue(connection=conn)
scheduler = Scheduler(connection=Redis())
@app.after_request
def set_response_headers(response):
response.headers["Cache-Control"] = "no-cache"
response.headers["Pragma"] = "no-cache"