class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.sensorsCheck.stateChanged.connect(self.showSensorsWidget)
self.rotationDial.valueChanged.connect(self.rotationChange)
self.altdSlider.valueChanged.connect(self.altitudeChange)
self.cameraWidget = ColorFilterWidget(self)
self.sensorsWidget = SensorsWidget(self)
self.changeCamButton.clicked.connect(self.changeCamera)
self.trackingCommunicator = Communicator()
self.pushButton.clicked.connect(self.pushClicked)
self.pushButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoffButton.clicked.connect(self.takeOffClicked)
self.camera1 = CameraWidget(self)
self.takeoff = False
self.reset = False
self.record = False
def getDrone(self):
return self.drone
def setDrone(self, drone):
self.drone = drone
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.camera1.updateImage()
self.sensorsWidget.sensorsUpdate.emit()
def pushClicked(self):
if self.pushButton.isChecked():
icon = QtGui.QIcon()
self.pushButton.setText('Stop Code')
self.pushButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.pushButton.setText('Play Code')
self.pushButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.stop()
self.rotationDial.setValue(self.altdSlider.maximum() / 2)
self.altdSlider.setValue(self.altdSlider.maximum() / 2)
self.drone.sendCMDVel(0, 0, 0, 0, 0, 0)
self.teleop.stopSIG.emit()
def takeOffClicked(self):
if (self.takeoff == True):
self.takeoffButton.setText("Take Off")
self.drone.land()
self.takeoff = False
else:
self.takeoffButton.setText("Land")
self.drone.takeoff()
self.takeoff = True
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.drone.reset()
self.reset = False
else:
self.resetButton.setText("Unreset")
self.drone.reset()
self.reset = True
self.rotationDial.setValue(self.altdSlider.maximum() / 2)
self.altdSlider.setValue(self.altdSlider.maximum() / 2)
self.drone.sendCMDVel(0, 0, 0, 0, 0, 0)
self.teleop.stopSIG.emit()
def changeCamera(self):
self.drone.toggleCam()
def showSensorsWidget(self, state):
if state == Qt.Checked:
self.sensorsWidget.show()
else:
self.sensorsWidget.close()
def closeSensorsWidget(self):
self.sensorsCheck.setChecked(False)
def rotationChange(self, value):
value = (1.0 / (self.rotationDial.maximum() / 2)) * (
value - (self.rotationDial.maximum() / 2))
self.rotValue.setText('%.2f' % value)
self.drone.setYaw(value)
self.drone.sendVelocities()
def altitudeChange(self, value):
value = (1.0 / (self.altdSlider.maximum() / 2)) * (
value - (self.altdSlider.maximum() / 2))
self.altdValue.setText('%.2f' % value)
self.drone.setVZ(value)
self.drone.sendVelocities()
def setXYValues(self, newX, newY):
self.XValue.setText('%.2f' % newX)
self.YValue.setText('%.2f' % newY)
self.drone.setVX(-newY)
self.drone.setVY(-newX)
self.drone.sendVelocities()
def closeEvent(self, event):
self.algorithm.kill()
self.drone.__camera.stop()
#self.navdata.stop()
self.drone.__pose.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.record = False
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.sensorsCheck.stateChanged.connect(self.showSensorsWidget)
self.sensorsWidget=SensorsWidget(self)
self.trackingCommunicator = Communicator()
self.rotationDial.valueChanged.connect(self.rotationChange)
self.altdSlider.valueChanged.connect(self.altitudeChange)
#self.stopButton.clicked.connect(self.stopClicked)
self.playstopButton.clicked.connect(self.playstopClicked)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoffButton.clicked.connect(self.takeOffClicked)
self.takeoff=False
self.reset=False
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera = camera
def getNavData(self):
return self.navdata
def setNavData(self,navdata):
self.navdata = navdata
def getPose3D(self):
return self.pose
def setPose3D(self,pose):
self.pose = pose
def getCMDVel(self):
return self.cmdvel
def setCMDVel(self,cmdvel):
self.cmdvel = cmdvel
def getExtra(self):
return self.extra
def setExtra(self,extra):
self.extra = extra
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.camera1.updateImage()
self.sensorsWidget.sensorsUpdate.emit()
def playstopClicked(self):
if self.playstopButton.isChecked():
if self.record == True:
self.extra.record(True)
self.playstopButton.setText("Stop code")
self.playButton.setStyleSheet("background-color: #ec7063")
self.playstopButton.setIcon(self.icon1)
self.algorithm.play()
else:
if self.record == True:
self.extra.record(False)
self.algorithm.stop()
self.playstopButton.setText("Play code")
self.playButton.setStyleSheet("background-color: #7dcea0")
self.playstopButton.setIcon(self.icon)
self.rotationDial.setValue(self.altdSlider.maximum()/2)
self.altdSlider.setValue(self.altdSlider.maximum()/2)
self.cmdvel.sendCMDVel(0,0,0,0,0,0)
self.teleop.stopSIG.emit()
def takeOffClicked(self):
if(self.takeoff==True):
self.takeoffButton.setText("Take Off")
self.extra.land()
self.takeoff=False
else:
self.takeoffButton.setText("Land")
self.extra.takeoff()
self.takeoff=True
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.extra.reset()
self.reset=False
else:
self.resetButton.setText("Unreset")
self.extra.reset()
self.reset=True
def showSensorsWidget(self,state):
if state == Qt.Checked:
self.sensorsWidget.show()
else:
self.sensorsWidget.close()
def closeSensorsWidget(self):
self.sensorsCheck.setChecked(False)
def rotationChange(self,value):
value=(1.0/(self.rotationDial.maximum()/2))*(value - (self.rotationDial.maximum()/2))
self.rotValue.setText('%.2f' % value)
self.cmdvel.setYaw(value)
self.cmdvel.sendVelocities()
def altitudeChange(self,value):
value=(1.0/(self.altdSlider.maximum()/2))*(value - (self.altdSlider.maximum()/2))
self.rotValue.setText('%.2f' % value)
self.cmdvel.setVZ(value)
self.cmdvel.sendVelocities()
def setXYValues(self,newX,newY):
self.XValue.setText('%.2f' % newX)
self.YValue.setText('%.2f' % newY)
self.cmdvel.setVX(-newY)
self.cmdvel.setVY(-newX)
self.cmdvel.sendVelocities()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.stop()
self.navdata.stop()
self.pose.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI = pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.record = False
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
self.sensorsCheck.stateChanged.connect(self.showSensorsWidget)
self.sensorsWidget = SensorsWidget(self)
self.trackingCommunicator = Communicator()
self.rotationDial.valueChanged.connect(self.rotationChange)
self.altdSlider.valueChanged.connect(self.altitudeChange)
self.stopButton.clicked.connect(self.stopClicked)
self.playButton.clicked.connect(self.playClicked)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoffButton.clicked.connect(self.takeOffClicked)
self.takeoff = False
self.reset = False
def getCamera(self):
return self.camera
def setCamera(self, camera):
self.camera = camera
def getNavData(self):
return self.navdata
def setNavData(self, navdata):
self.navdata = navdata
def getPose3D(self):
return self.pose
def setPose3D(self, pose):
self.pose = pose
def getCMDVel(self):
return self.cmdvel
def setCMDVel(self, cmdvel):
self.cmdvel = cmdvel
def getExtra(self):
return self.extra
def setExtra(self, extra):
self.extra = extra
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.camera1.updateImage()
self.sensorsWidget.sensorsUpdate.emit()
def playClicked(self):
if self.record == True:
self.extra.record(True)
self.algorithm.play()
def stopClicked(self):
if self.record == True:
self.extra.record(False)
self.algorithm.stop()
self.rotationDial.setValue(self.altdSlider.maximum() / 2)
self.altdSlider.setValue(self.altdSlider.maximum() / 2)
self.cmdvel.sendCMDVel(0, 0, 0, 0, 0, 0)
self.teleop.stopSIG.emit()
def takeOffClicked(self):
if (self.takeoff == True):
self.takeoffButton.setText("Take Off")
self.extra.land()
self.takeoff = False
else:
self.takeoffButton.setText("Land")
self.extra.takeoff()
self.takeoff = True
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.extra.reset()
self.reset = False
else:
self.resetButton.setText("Unreset")
self.extra.reset()
self.reset = True
def showSensorsWidget(self, state):
if state == Qt.Checked:
self.sensorsWidget.show()
else:
self.sensorsWidget.close()
def closeSensorsWidget(self):
self.sensorsCheck.setChecked(False)
def rotationChange(self, value):
value = (1.0 / (self.rotationDial.maximum() / 2)) * (
value - (self.rotationDial.maximum() / 2))
self.rotValue.setText('%.2f' % value)
self.cmdvel.setYaw(value)
self.cmdvel.sendVelocities()
def altitudeChange(self, value):
value = (1.0 / (self.altdSlider.maximum() / 2)) * (
value - (self.altdSlider.maximum() / 2))
self.rotValue.setText('%.2f' % value)
self.cmdvel.setVZ(value)
self.cmdvel.sendVelocities()
def setXYValues(self, newX, newY):
self.XValue.setText('%.2f' % newX)
self.YValue.setText('%.2f' % newY)
self.cmdvel.setVX(-newY)
self.cmdvel.setVY(-newX)
self.cmdvel.sendVelocities()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.stop()
self.navdata.stop()
self.pose.stop()
event.accept()
class MainWindow(QMainWindow, Ui_MainWindow):
updGUI=pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.sensorsCheck.stateChanged.connect(self.showSensorsWidget)
self.sensorsWidget=SensorsWidget(self)
self.rotationDial.valueChanged.connect(self.rotationChange)
self.altdSlider.valueChanged.connect(self.altitudeChange)
self.changeCamButton.clicked.connect(self.changeCamera)
self.pushButton.clicked.connect(self.pushClicked)
self.pushButton.setCheckable(True)
self.resetButton.clicked.connect(self.resetClicked)
self.takeoffButton.clicked.connect(self.takeOffClicked)
self.camera1=CameraWidget(self)
self.record = False
self.takeoff=False
self.reset=False
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera = camera
def getNavData(self):
return self.navdata
def setNavData(self,navdata):
self.navdata = navdata
def getPose3D(self):
return self.pose
def setPose3D(self,pose):
self.pose = pose
def getCMDVel(self):
return self.cmdvel
def setCMDVel(self,cmdvel):
self.cmdvel = cmdvel
def getExtra(self):
return self.extra
def setExtra(self,extra):
self.extra = extra
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def updateGUI(self):
self.camera1.updateImage()
self.sensorsWidget.sensorsUpdate.emit()
def pushClicked(self):
if self.pushButton.isChecked():
icon = QtGui.QIcon()
self.pushButton.setText('Stop Code')
self.pushButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.pushButton.setText('Play Code')
self.pushButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pushButton.setIcon(icon)
self.algorithm.stop()
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.extra.reset()
self.reset=False
else:
self.resetButton.setText("Unreset")
self.extra.reset()
self.reset=True
def takeOffClicked(self):
if(self.takeoff==True):
self.takeoffButton.setText("Take Off")
self.extra.land()
self.takeoff=False
else:
self.takeoffButton.setText("Land")
self.extra.takeoff()
self.takeoff=True
def resetClicked(self):
if self.reset == True:
self.resetButton.setText("Reset")
self.extra.reset()
self.reset=False
else:
self.resetButton.setText("Unreset")
self.extra.reset()
self.reset=True
def changeCamera(self):
self.extra.toggleCam()
def showSensorsWidget(self,state):
if state == Qt.Checked:
self.sensorsWidget.show()
else:
self.sensorsWidget.close()
def closeSensorsWidget(self):
self.sensorsCheck.setChecked(False)
def rotationChange(self,value):
value=(1.0/(self.rotationDial.maximum()/2))*(value - (self.rotationDial.maximum()/2))
self.rotValue.setText('%.2f' % value)
self.cmdvel.setYaw(value)
self.cmdvel.sendVelocities()
def altitudeChange(self,value):
value=(1.0/(self.altdSlider.maximum()/2))*(value - (self.altdSlider.maximum()/2))
self.rotValue.setText('%.2f' % value)
self.cmdvel.setVZ(value)
self.cmdvel.sendVelocities()
def setXYValues(self,newX,newY):
self.XValue.setText('%.2f' % newX)
self.YValue.setText('%.2f' % newY)
self.cmdvel.setVX(-newY)
self.cmdvel.setVY(-newX)
self.cmdvel.sendVelocities()
def closeEvent(self, event):
self.algorithm.kill()
self.camera.stop()
self.navdata.stop()
self.pose.stop()
event.accept()
