def connect_action(self):
if self.setting_values['Connection'] == 'serial port':
if hasattr(self,'mc'):
self.log('Already open')
return
import serial
self.s=serial.Serial(self.setting_values['Serial port'], timeout=self.setting_values['Timeout'], baudrate=parse_firmware_config()['BAUD'])
self.mc=MotorControl(self.s)
self.log('Connected')
class RemoteControl(gui.VisexpmanMainWindow):
def __init__(self):
if QtCore.QCoreApplication.instance() is None:
qt_app = Qt.QApplication([])
gui.VisexpmanMainWindow.__init__(self)
self.setWindowIcon(QtGui.QIcon(os.path.join(os.path.split(__file__)[0],'icons', 'mr.jpg')))
self.logfile = os.path.join(tempfile.gettempdir(), 'robot_gui_{0}.txt'.format(int(time.time())))
logging.basicConfig(filename= self.logfile,
format='%(asctime)s %(levelname)s\t%(message)s',
level=logging.DEBUG)
self.setWindowTitle('Robot GUI')
icon_folder = os.path.join(os.path.split(__file__)[0], 'icons')
self.toolbar = gui.ToolBar(self, ['connect', 'echo', 'set_motor', 'backward', 'forward', 'turn_left', 'turn_right', 'run_maneuver', 'read_adc', 'start_video', 'stop', 'exit'], icon_folder = icon_folder)
self.addToolBar(self.toolbar)
self.console = gui.PythonConsole(self, selfw = self)
self.console.setMinimumWidth(800)
self.console.setMinimumHeight(200)
self._add_dockable_widget('Console', QtCore.Qt.BottomDockWidgetArea, QtCore.Qt.BottomDockWidgetArea, self.console)
self.logw = gui.TextOut(self)
self.logw.setMinimumWidth(300)
self._add_dockable_widget('Log', QtCore.Qt.BottomDockWidgetArea, QtCore.Qt.BottomDockWidgetArea, self.logw)
self.settings = gui.ParameterTable(self, self._get_params_config())
self.settings.setMinimumWidth(300)
self.settings.params.sigTreeStateChanged.connect(self.settings_changed)
self.settings_changed()
self._add_dockable_widget('Settings', QtCore.Qt.RightDockWidgetArea, QtCore.Qt.RightDockWidgetArea, self.settings)
self.image=gui.Image(self)
self.image.setFixedWidth(500)
self.image.setFixedHeight(500)
self.setCentralWidget(self.image)
self.show()
self.log('Started')
self.error_timer = QtCore.QTimer()
self.error_timer.timeout.connect(self.catch_error_message)
self.error_timer.start(100)
self.log_update_timer = QtCore.QTimer()#Makes sure that whole logfile is always displayed on screen
self.log_update_timer.timeout.connect(self.logfile2screen)
self.log_update_timer.start(700)
self.logtext=''
self.command=multiprocessing.Queue()
self.imageq=multiprocessing.Queue()
self.vs = VideoStreamer(self.imageq,self.command)
self.vs.start()
self.image_timer = QtCore.QTimer()
self.image_timer.timeout.connect(self.get_image)
self.image_timer.start(100)
self.nframes=100
self.width=800#320
self.height=600#240
self.iso=100
self.exposure=10
self.delay=100
if QtCore.QCoreApplication.instance() is not None:
QtCore.QCoreApplication.instance().exec_()
def get_image(self):
if not self.imageq.empty():
self.captured_image=self.imageq.get()
self.image.img.setImage(self.captured_image)
last_update=utils.timestamp2hms(time.time())
self.image.plot.setTitle(last_update)
def catch_error_message(self):
if not error_messages.empty():
self.log(error_messages.get(),'error')
def logfile2screen(self):
newlogtext=fileop.read_text_file(self.logfile)
if len(newlogtext)!=len(self.logtext):
self.logtext=newlogtext
self.logw.update(self.logtext)
def _get_params_config(self):
pc = [
{'name': 'Motor Mode', 'type': 'list', 'values': ['voltage', 'pwm', 'wheels']},
{'name': 'Microcontroller', 'type': 'group', 'expanded' : True, 'children': [
{'name': 'Serial port', 'type': 'str', 'value': '/dev/ttyUSB0'},
{'name': 'Connection', 'type': 'list', 'values': ['serial port', 'tcp/ip'], 'value': 'serial port'},
{'name': 'Timeout', 'type': 'float', 'value': 0.5, 'suffix': 's'},
]},
{'name': 'Vehicle Control', 'type': 'group', 'expanded' : True, 'children': [
{'name': 'Motor1 voltage', 'type': 'float', 'value': 0.0, 'suffix': '%'},
{'name': 'Motor2 voltage', 'type': 'float', 'value': 0.0, 'suffix': '%'},
{'name': 'Wheel voltage', 'type': 'float', 'value': 0.0, 'suffix': '%'},
{'name': 'Wheels voltage difference', 'type': 'float', 'value': 0.0, 'suffix': '%'},
{'name': 'Movement time', 'type': 'float', 'value': 0.0, 'suffix': 's'},
]},
{'name': 'Camera', 'type': 'group', 'expanded' : True, 'children': [
{'name': 'N frames', 'type': 'int', 'value': 100},
{'name': 'Width', 'type': 'int', 'value': 320},
{'name': 'Height', 'type': 'int', 'value': 240},
{'name': 'ISO', 'type': 'int', 'value': 100},
{'name': 'Exposure', 'type': 'int', 'value': 10},
{'name': 'Delay', 'type': 'int', 'value': 50, 'suffix': 'ms'},
]},
]
pc[1]['children'].extend([{'name': '{0}'.format(l), 'type': 'bool', 'value': False} for l in [k for k in parse_firmware_config().keys() if 'LED' in k]])
pwm_channels = ['PWM {0}'.format(pwmc) for pwmc in ['PORTE0', 'PORTE1', 'PORTE2', 'PORTE3']]
pc[1]['children'].extend([{'name': p, 'type': 'float', 'value': 0.0, 'suffix': '%'} for p in pwm_channels])
return pc
def settings_changed(self):
new_values=self.settings.get_parameter_tree(True)
if hasattr(self, 'setting_values'):
#Check if LED status was changed
for pn in [k for k in parse_firmware_config().keys() if 'LED' in k]:
state=new_values[pn]
if self.setting_values[pn]!=state and hasattr(self,'mc'):
self.mc.set_led(pn[:-4],state)
#Check if PWM status was changed
if self.setting_values['Motor Mode']=='pwm':
for pn in [k for k in self.setting_values.keys() if 'PWM' in k]:
pwm=new_values[pn]
if self.setting_values[pn]!=pwm and hasattr(self,'mc'):
self.mc.set_pwm(int(pn[-1]),int(pwm*10))
self.setting_values = new_values
def connect_action(self):
if self.setting_values['Connection'] == 'serial port':
if hasattr(self,'mc'):
self.log('Already open')
return
import serial
self.s=serial.Serial(self.setting_values['Serial port'], timeout=self.setting_values['Timeout'], baudrate=parse_firmware_config()['BAUD'])
self.mc=MotorControl(self.s)
self.log('Connected')
def echo_action(self):
if hasattr(self, 'mc'):
self.log(self.mc.echo(1))
def set_motor_action(self):
if hasattr(self, 'mc'):
if self.setting_values['Motor Mode']=='wheels':
new_values=self.settings.get_parameter_tree(True)
pn1='Wheel voltage'
pn2='Wheels voltage difference'
v=int(new_values[pn1]*10)
d=int(new_values[pn2]*10)
if v<0:
v2=v-d
else:
v2=v+d
self.mc.set_motors(v-d/2,v+d/2)
elif self.setting_values['Motor Mode']=='voltage':
self.mc.set_motors(int(self.setting_values['Motor1 voltage'])*10,int(self.setting_values['Motor2 voltage'])*10)
def read_adc_action(self):
if hasattr(self, 'mc'):
self.mc.read_adc()
def stop_action(self):
if hasattr(self, 'mc'):
self.mc.stop()
def move(self,direction):
if hasattr(self, 'mc'):
p=self.settings.get_parameter_tree(True)
logging.info('Motion for {0} s'.format(p['Movement time']))
d=1 if direction else -1
self.mc.set_motors(d*p['Wheel voltage']*10,d*p['Wheel voltage']*10)
time.sleep(p['Movement time'])
self.mc.stop()
def turn(self,direction):
if hasattr(self, 'mc'):
p=self.settings.get_parameter_tree(True)
logging.info('Turning for {0} s'.format(p['Movement time']))
d=1 if direction else -1
self.mc.set_motors(10*d*p['Wheels voltage difference'],10*-d*p['Wheels voltage difference'])
time.sleep(p['Movement time'])
self.mc.stop()
def backward_action(self):
self.move(True)
def forward_action(self):
self.move(False)
def turn_left_action(self):
self.turn(True)
def turn_right_action(self):
self.turn(False)
def run_maneuver_action(self):
pass
def exit_action(self):
self.command.put('terminate')
self.vs.join()
self.log('Exit')
self.close()
def start_video_action(self):
self.capture()
def log(self, msg, loglevel='info'):
getattr(logging, loglevel)(str(msg))
self.logw.update(fileop.read_text_file(self.logfile))
def capture(self):
self.pw='hejdejo1'
if not hasattr(self, 'pw'):
self.pw, ok = QtGui.QInputDialog.getText(self, QtCore.QString('Password'), QtCore.QString(''), mode=QtGui.QLineEdit.Password)
#ssh_stdin, ssh_stdout, ssh_stderr = ssh.exec_command('sudo python /data/capture.py {0}'.format(duration))
pars={
'pw':self.pw,
'nframes':self.setting_values['N frames'],
'width':self.setting_values['Width'],
'height':self.setting_values['Height'],
'iso':self.setting_values['ISO'],
'exposure':self.setting_values['Exposure'],
'delay':self.setting_values['Delay']}
if 1:
import threading
p=threading.Thread(target=send_capture_command,kwargs=pars)
p.start()
else:
send_capture_command(**pars)
