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.map = MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1 = CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty,
self.pose3d.getX() / 1000,
self.pose3d.getY() / 1000, self.pose3d.getYaw())
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCameraL(self):
return self.cameraL
def setCameraL(self, camera):
self.cameraL = camera
def getCameraR(self):
return self.cameraR
def setCameraR(self, camera):
self.cameraR = camera
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d):
self.pose3d = pose3d
def getLaser(self):
return self.laser
def setLaser(self, laser):
self.laser = laser
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.setV(myV)
self.motors.setW(myW)
self.motors.sendVelocities()
def stopClicked(self):
self.motors.setV(0)
self.motors.setW(0)
self.motors.sendVelocities()
self.teleop.returnToOrigin()
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.map = MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.verticalLayout_2.addWidget(self.stopButton, 3)
self.logo = LogoWidget(self, 60, 60)
self.verticalLayout_2.addWidget(self.logo, 4)
self.logo.setVisible(True)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
#self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
#self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty, id) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty,
self.pose3d.getPose3d().x,
self.pose3d.getPose3d().y,
self.pose3d.getPose3d().yaw, id)
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
#def getCamera(self):
#return self.camera
#def setCamera(self,camera):
#self.camera=camera
def getPose3D(self):
return self.pose3d
def setPose3D(self, pose3d):
self.pose3d = pose3d
def getLaser(self):
return self.laser
def setLaser(self, laser):
self.laser = laser
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.stop()
self.motors.sendV(0)
self.motors.sendW(0)
#self.motors.sendVelocities()
self.teleop.returnToOrigin()
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self, newX, newY):
myW = -newX * self.motors.getMaxW()
myV = -newY * self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
#self.motors.sendVelocities(self.motors)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
# self.motors.sendVelocities()
self.teleop.returnToOrigin()
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.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty, self.pose3d.getX()/1000, self.pose3d.getY()/1000, self.pose3d.getYaw())
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCameraL(self):
return self.cameraL
def setCameraL(self,camera):
self.cameraL=camera
def getCameraR(self):
return self.cameraR
def setCameraR(self,camera):
self.cameraR=camera
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getLaser(self):
return self.laser
def setLaser(self,laser):
self.laser=laser
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
self.algorithm.play()
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
self.algorithm.stop()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.setV(myV)
self.motors.setW(myW)
self.motors.sendVelocities()
def stopClicked(self):
self.motors.setV(0)
self.motors.setW(0)
self.motors.sendVelocities()
self.teleop.returnToOrigin()
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.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.verticalLayout_2.addWidget(self.stopButton,3)
self.logo = LogoWidget(self, 60, 60)
self.verticalLayout_2.addWidget(self.logo,4)
self.logo.setVisible(True)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty, id) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
if (self.pose3d):
self.map.setTarget(tx, ty, self.pose3d.getPose3d().x/1000, self.pose3d.getPose3d().y/1000, self.pose3d.getPose3d().yaw, id)
laserdata = self.laser.getLaserData()
if (laserdata):
self.map.setLaserValues(laserdata)
self.map.update()
def getCamera(self):
return self.camera
def setCamera(self,camera):
self.camera=camera
def getPose3D(self):
return self.pose3d
def setPose3D(self,pose3d):
self.pose3d=pose3d
def getLaser(self):
return self.laser
def setLaser(self,laser):
self.laser=laser
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #ec7063")
icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.play()
else:
icon = QtGui.QIcon()
self.playButton.setStyleSheet("background-color: #7dcea0")
icon.addPixmap(QtGui.QPixmap(":/images/play.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.playButton.setIcon(icon)
self.algorithm.stop()
self.motors.sendV(0)
self.motors.sendW(0)
#self.motors.sendVelocities()
self.teleop.returnToOrigin()
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
myW=-newX*self.motors.getMaxW()
myV=-newY*self.motors.getMaxV()
self.motors.sendV(myV)
self.motors.sendW(myW)
#self.motors.sendVelocities(self.motors)
def stopClicked(self):
self.motors.sendV(0)
self.motors.sendW(0)
# self.motors.sendVelocities()
self.teleop.returnToOrigin()
class MainWindow(QtGui.QMainWindow, Ui_MainWindow):
updGUI=QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.map=MapWidget(self)
self.tlLayout.addWidget(self.teleop)
self.teleop.setVisible(True)
self.mapLayout.addWidget(self.map)
self.map.setVisible(True)
self.pushButton.clicked.connect(self.playClicked)
self.pushButton.setCheckable(True)
self.updGUI.connect(self.updateGUI)
self.camera1=CameraWidget(self)
self.stopButton.clicked.connect(self.stopClicked)
def updateGUI(self):
self.camera1.updateImage()
(cx, cy) = self.algorithm.getCarDirection()
(ox, oy) = self.algorithm.getObstaclesDirection()
(ax, ay) = self.algorithm.getAverageDirection()
(tx, ty) = self.algorithm.getCurrentTarget()
self.map.setCarArrow(cx, cy)
self.map.setObstaclesArrow(ox, oy)
self.map.setAverageArrow(ax, ay)
self.map.setTarget(tx, ty, self.sensor.getRobotX(), self.sensor.getRobotY(), self.sensor.getRobotTheta())
self.map.setLaserValues(self.sensor.getLaserData())
self.map.update()
def getSensor(self):
return self.sensor
def setSensor(self,sensor):
self.sensor=sensor
def playClicked(self):
self.sensor.setPlayButton(self.pushButton.isChecked())
if self.pushButton.isChecked():
self.pushButton.setText('RUNNING')
self.pushButton.setStyleSheet("background-color: green")
else:
self.pushButton.setText('STOPPED')
self.pushButton.setStyleSheet("background-color: red")
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def getAlgorithm(self):
return self.algorithm
def setXYValues(self,newX,newY):
self.sensor.setV(-newY)
self.sensor.setW(newX)
def stopClicked(self):
self.sensor.setV(0)
self.sensor.setW(0)
self.teleop.returnToOrigin()
