def find_bluetooth_adapter(self, tty_port=None):
if tty_port is None:
tty_port = self.find_tty()
if tty_port is None:
raise ValueError('# Bluetooth adaptoru bulunamadi!\n#')
self.ble = BLE(tty_port)
def find_bluetooth_adapter(self, tty_port=None):
if tty_port is None:
tty_port = self.find_tty()
if tty_port is None:
raise ValueError('Bluetooth adapter not found!')
self.ble = BLE(tty_port)
def run():
import signal
QtCore.QCoreApplication.setOrganizationName("productize")
QtCore.QCoreApplication.setOrganizationDomain("productize.be")
QtCore.QCoreApplication.setApplicationName("BTLE tool")
app = QtGui.QApplication(["BTLE tool"])
signal.signal(signal.SIGINT, signal.SIG_DFL)
baud_rate = 115200
ble = BLE(baud_rate)
ble.start()
ct = ActivityThread(ble)
ble.scan_response.connect(lambda x: print_scan_response(ble, x))
ct.start()
return app.exec_()
def __init__(self, app):
super(MyWindow, self).__init__()
self.setupUi(self) #初始化GUI
self.loop = quamash.QEventLoop(app) # BLE协程循环
self.ble = BLE(self) # 实例化BLE
self.emit_thread = EmitThread(self) # 实例化Emit对象
self.emit_thread.signal.connect(self.image) # 实时成像发射信号与槽函数连接
self.save_thread = saveThread(self) # 实例化save对象（连续测量10组实时数据）
self.signal_slot() # 菜单栏的槽函数设置
self.alg = 'svd' # 默认调用灵敏度矩阵法
self.disp = 'interp' # 默认使用矩阵插值方式显示图像
self.refedata = np.zeros(28) # 空场参考值
self.projdata = np.zeros(28) # 历史测量值
self.proj_d = np.zeros(28) # 边界值差分（测量值-空场值）
self.elem_data = np.zeros(576) # 图像重建数值
self.statusBar().showMessage('Ready')
# 实例化MyFigure
self.F = MyFigure(width=16, height=9, dpi=100)
# ax1初始显示0
self.cache1 = self.F.ax1.bar(range(28), np.zeros(28), color='deepskyblue')
# 鼠标移动显示当前位置的图像重建数值大小
plt.gcf().canvas.mpl_connect('motion_notify_event', self.motion_notify)
# ax3初始显示为灰色
self.cache3 = []
for i in np.arange(8):
for j in np.arange(i + 1, 8):
cache, = self.F.ax3.plot([self.F.theta[i], self.F.theta[j]], [1, 1], color='dimgray')
self.cache3.append(cache)
plt.tight_layout()
plt.ion() #进入交互成像模式
self.gridLayout.addWidget(self.F, 0, 1) #将画布置于GUI界面中
env = Environment((grid_min_coord_x, grid_min_coord_y), (grid_max_coord_x,grid_max_coord_y), (agent_coord_x,agent_coord_y), (goal_coord_x,goal_coord_y))
flag = input("do you want to enter any obstacles (Y/N)? ")
while flag == "Y":
bottom_left_coord_x = int(input("\t enter bottom left x coordinate: "))
bottom_left_coord_y = int(input("\t enter bottom left y coordinate: "))
top_right_coord_x = int(input("\t enter top right x coordinate: "))
top_right_coord_y = int(input("\t enter top right y coordinate: "))
env.add_obstacle((bottom_left_coord_x,bottom_left_coord_y), (top_right_coord_x,top_right_coord_y))
flag = input("do you want to enter more obstacles (Y/N)? ")
agent = Agent()
ble1 = BLE(4, -73, (0,0))
ble2 = BLE(4, -73, (100,0))
ble3 = BLE(4, -73, (50,50))
wp = WaypointPlanner(env, agent)
plan = wp.plan()
print(plan)
wp.visualise(plan)
