def __init__(self):
QMainWindow.__init__(self)
self.logger = self.setup_logger( level = logging.ERROR )
self.coremotion = CoreMotion ()
self.settings = QSettings ('staticboards' , 'pickplacev1.0.0')
self.ui = Ui_MainWindow ()
self.ui.setupUi(self)
self.scenecam = QGraphicsScene (self)
self.ui.camera.setScene (self.scenecam)
self.camworker = CamWorker()
self.camworker.start()
QObject.connect(self.camworker, SIGNAL("webcam_frame(QImage)"), self.update_camera)
QObject.connect(self.camworker, SIGNAL("webcam_frame_elapsed(float)"), self.update_elapsed)
QObject.connect(self.camworker, SIGNAL("webcam_component_hangle(float)"), lambda v: self.update_coremotion(section = "current" , name="component_hangle", value = v) )
QObject.connect(self.camworker, SIGNAL("webcam_component_vangle(float)"), lambda v: self.update_coremotion(section = "current" , name="component_vangle", value = v) )
# CONNECT CALLBACKS
self.ui.camera_slide1.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide1", value = v) )
self.ui.camera_slide2.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide2", value = v) )
self.ui.camera_slide3.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide3", value = v) )
self.ui.camera_slide4.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide4", value = v) )
self.ui.camera_slide5.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide5", value = v) )
self.ui.camera_slide6.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide6", value = v) )
self.ui.camera_slide7.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide7", value = v) )
self.ui.camera_slide8.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide8", value = v) )
self.ui.camera_check1.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check1", value = v) )
self.ui.camera_check2.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check2", value = v) )
self.ui.camera_check3.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check3", value = v) )
self.ui.camera_check4.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check4", value = v) )
self.ui.camera_check5.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check5", value = v) )
self.ui.camera_check6.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check6", value = v) )
self.ui.camera_combo1.currentIndexChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_combo1", value = v) )
self.ui.cam0_brightness.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="cam0_brightness", value = v) )
self.ui.cam0_contrast.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="cam0_contrast", value = v) )
self.ui.cam0_exposure.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="cam0_exposure", value = v) )
self.ui.cam0_gain.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="cam0_gain", value = v) )
# LOAD VALUES AGAIN TO EMIT CALLBACKS
self.guirestore()
class MainWindow(QMainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.logger = self.setup_logger( level = logging.ERROR )
self.coremotion = CoreMotion ()
self.settings = QSettings ('staticboards' , 'pickplacev1.0.0')
self.ui = Ui_MainWindow ()
self.ui.setupUi(self)
self.scenecam = QGraphicsScene (self)
self.ui.camera.setScene (self.scenecam)
self.camworker = CamWorker()
self.camworker.start()
QObject.connect(self.camworker, SIGNAL("webcam_frame(QImage)"), self.update_camera)
QObject.connect(self.camworker, SIGNAL("webcam_frame_elapsed(float)"), self.update_elapsed)
QObject.connect(self.camworker, SIGNAL("webcam_component_hangle(float)"), lambda v: self.update_coremotion(section = "current" , name="component_hangle", value = v) )
QObject.connect(self.camworker, SIGNAL("webcam_component_vangle(float)"), lambda v: self.update_coremotion(section = "current" , name="component_vangle", value = v) )
# CONNECT CALLBACKS
self.ui.camera_slide1.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide1", value = v) )
self.ui.camera_slide2.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide2", value = v) )
self.ui.camera_slide3.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide3", value = v) )
self.ui.camera_slide4.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide4", value = v) )
self.ui.camera_slide5.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide5", value = v) )
self.ui.camera_slide6.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide6", value = v) )
self.ui.camera_slide7.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide7", value = v) )
self.ui.camera_slide8.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_slide8", value = v) )
self.ui.camera_check1.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check1", value = v) )
self.ui.camera_check2.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check2", value = v) )
self.ui.camera_check3.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check3", value = v) )
self.ui.camera_check4.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check4", value = v) )
self.ui.camera_check5.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check5", value = v) )
self.ui.camera_check6.stateChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_check6", value = v) )
self.ui.camera_combo1.currentIndexChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="camera_combo1", value = v) )
self.ui.cam0_brightness.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="cam0_brightness", value = v) )
self.ui.cam0_contrast.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="cam0_contrast", value = v) )
self.ui.cam0_exposure.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="cam0_exposure", value = v) )
self.ui.cam0_gain.valueChanged.connect( lambda v: self.set_config_value(section = "camworker" , name="cam0_gain", value = v) )
# LOAD VALUES AGAIN TO EMIT CALLBACKS
self.guirestore()
def setup_logger (self , level = logging.DEBUG ) :
root = logging.getLogger()
root.setLevel(level)
ch = logging.StreamHandler(sys.stdout)
formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s')
ch.setFormatter(formatter)
ch.setLevel ( logging.DEBUG )
root.addHandler(ch)
return root
###############################################################
###############################################################
def update_camera(self,img):
try:
pix=QPixmap.fromImage(img)
self.scenecam.clear()
self.scenecam.addPixmap(pix)
self.ui.camera.fitInView ( self.scenecam.sceneRect () , Qt.KeepAspectRatio )
except Exception as e :
logging.error ( str(e) )
self.ui.statusbar.showMessage( str(e) )
def update_elapsed(self,elapsed):
ms = elapsed * 1000.0
self.ui.statusbar.showMessage( "Frame time: %s" % ms )
##
def update_coremotion(self,section,name,value) :
assert section is not None
assert name is not None
if section == 'current' :
self.coremotion.current [name] = value
if name == 'component_hangle' :
self.ui.label_current_hangle.setText ( 'HANGLE %03d' % value )
if name == 'component_vangle' :
self.ui.label_current_vangle.setText ( 'VANGLE %03d' % value )
###############################################################
###############################################################
def guisave(self,name):
for n, obj in inspect.getmembers(self.ui):
if n != name :
continue
value = None
if isinstance(obj, QComboBox):
value = obj.currentIndex ()
if isinstance(obj, QSlider):
value = obj.value ()
if isinstance(obj, QCheckBox):
value = obj.isChecked()
if value is not None :
self.settings.setValue(name, value)
return
def guirestore(self):
for name, obj in inspect.getmembers(self.ui):
value = self.settings.value(name) # get stored value from registry
if value is None :
continue
if isinstance(obj, QComboBox):
value,valid = value.toInt()
if valid :
obj.setCurrentIndex(value)
if isinstance(obj, QSlider):
value,valid = value.toInt()
if valid :
obj.setValue(value)
if isinstance(obj, QCheckBox):
value = value.toBool()
obj.setChecked( value )
def set_config_value ( self , section , name , value ) :
"""
Save value and update json
"""
assert section is not None
assert name is not None
logging.debug ( "set_config_value %s %s %s" % (section,name,value) )
self.guisave ( name = name )
if section == 'camworker' :
self.camworker.setvalue(name,value)
