def __init__(self, window, parent=None):
super(GraphPrefDialog, self).__init__()
self.dialog_layout = QtGui.QFormLayout()
self.setLayout(self.dialog_layout)
self.ratio = 8.325 # For 1 second
self.window = window
self.temp_title = QtGui.QLabel("Graph Setup")
self.scale_title = QtGui.QLabel("RoC Graph Axis Setup")
self.newfont = QtGui.QFont()
self.newfont.setBold(True)
self.newfont.setPointSize(10)
self.temp_title.setFont(self.newfont)
self.scale_title.setFont(self.newfont)
self.scale_slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.scale_slider.setTickPosition(QtGui.QSlider.TicksBothSides)
self.scale_slider.setSingleStep(1)
self.scale_slider.setValue(self.window.scale)
self.scale_slider.setTickInterval(1)
self.scale_slider.setRange(0.5, 10)
self.scale_slider.valueChanged.connect(self.slider_change)
self.scale_slider_lable = QtGui.QLabel("Set X-Axis Scale")
self.scale_slider_val = QtGui.QLabel(str(self.window.scale))
self.yrange_label = QtGui.QLabel("Set Y-Axis Range")
self.yrange_start_txt = QtGui.QLineEdit(str(self.window.ystart))
self.yrange_mid_label = QtGui.QLabel("to")
self.yrange_end_txt = QtGui.QLineEdit(str(self.window.yend))
regexp = QtCore.QRegExp(
'[+-]?\\d*\\.?\\d+') # regex expression from 0 - 100
self.validator = QtGui.QRegExpValidator(regexp)
self.yrange_start_txt.setValidator(self.validator)
self.yrange_end_txt.setValidator(self.validator)
self.yrange_start_txt.textChanged.connect(self.range_change)
self.yrange_end_txt.textChanged.connect(self.range_change)
self.legend_cb = QtGui.QCheckBox('Show Legend', self)
if (self.window.showLegend == "True"):
self.legend_cb.setChecked(True)
else:
self.legend_cb.setChecked(False)
self.legend_cb.stateChanged.connect(self.checkbox_change_leg)
self.int_cb = QtGui.QCheckBox('Interactive Graphs', self)
if (self.window.int == "True"):
self.int_cb.setChecked(True)
else:
self.int_cb.setChecked(False)
self.int_cb.stateChanged.connect(self.checkbox_change_int)
self.initUI()
def __init__(self, window, gas_or_air, parent):
super(BorderLessDiaglogs, self).__init__(parent)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint
| QtCore.Qt.WindowStaysOnTopHint)
self.window = window
self.gas_or_air = gas_or_air
#set font size
self.font = QtGui.QFont()
self.font.setPointSize(16)
#set placeholder text and resize
self.text = QtGui.QLineEdit("", self)
self.text.setFont(self.font)
self.text.setPlaceholderText("Enter Level")
self.text.setMinimumSize(120, 20)
#ensure user can only enter doubles
regexp = QtCore.QRegExp(
'^0*(?:[1-9][0-9]?|100)$') # regex expression from 0 - 100
self.validator = QtGui.QRegExpValidator(regexp)
self.text.setValidator(self.validator)
self.resize(self.text.width(), self.text.height())
# Connecting key events to functions
self.connect(
QtGui.QShortcut(QtGui.QKeySequence(QtCore.Qt.Key_Escape), self),
QtCore.SIGNAL('activated()'), self.Exit)
self.connect(
QtGui.QShortcut(QtGui.QKeySequence(QtCore.Qt.Key_Return), self),
QtCore.SIGNAL('activated()'), self.Return)
self.installEventFilter(self)
self.setFocus()
self.show()
def _initialise_gui_widgets(self):
"""
Create all the widgets for the window.
"""
# # Main widget
self.main_widget = QtGui.QWidget()
# # Address label
self.address_label = QtGui.QLabel("Server:")
self.address_label.setAlignment(QtCore.Qt.AlignRight
| QtCore.Qt.AlignVCenter)
# # Address bar
self.address_bar = QtGui.QLineEdit()
# Create a regex validator for the IP address
ip_values = "(?:[0-1]?[0-9]?[0-9]|2[0-4][0-9]|25[0-5])"
ip_regex = QtCore.QRegExp("^" + ip_values + "\\." + ip_values + "\\." +
ip_values + "\\." + ip_values + "$")
ip_validator = QtGui.QRegExpValidator(ip_regex, self)
self.address_bar.setValidator(ip_validator)
self.address_bar.setText("192.168.42.1")
# # Port bar
self.port_bar = QtGui.QLineEdit()
self.port_bar.setValidator(QtGui.QIntValidator())
self.port_bar.setText("12345")
# # Connect button
self.connect_button = QtGui.QPushButton("&Connect")
self.connect_button.clicked.connect(self._toggle_connect)
# # Plot widgets
self.plot_widgets = {
'accelerometer': plt.UpdatingPlotWidget(title='Accelerometer'),
'magnetometer': plt.UpdatingPlotWidget(title='Magnetometer'),
'gyroscope': plt.UpdatingPlotWidget(title='Gyroscope'),
'barometer': plt.UpdatingPlotWidget(title='Barometer'),
'gps-pos': plt.UpdatingPlotWidget(title='GPS Position')
}
for name, widget in self.plot_widgets.items():
if name == 'barometer':
widget.add_item('altitude', pen='k')
widget.add_item('filtered', pen='r')
widget.add_item('altitude_gps', pen='b')
self.filter1 = KalmanFilter(x_prior=0,
P_prior=2,
A=1,
B=0,
H=1,
Q=0.005,
R=1.02958)
elif name == 'gps-pos':
widget.add_item('position', symbol='o')
else:
widget.add_item('x', pen='r')
widget.add_item('y', pen='g')
widget.add_item('z', pen='b')
def __init__(self):
super(TemplateBaseClass, self).__init__()
# Create the main window
self.ui = WindowTemplate()
self.ui.setupUi(self)
self.setFont(QtGui.QFont('Arial', 10))
# Fill beam_id and bit_select combobox
for i in range(1, 20):
self.ui.cbo_beamid.addItem('%d' % i)
self.ui.cbo_beamid.setCurrentIndex(-1)
for r in roach_list:
self.ui.cbo_roach.addItem(r)
self.ui.cbo_roach.setCurrentIndex(-1)
# Connect signal/slots
self.ui.cbo_roach.currentIndexChanged.connect(self.on_board_change)
self.ui.edt_noisecal_delay.editingFinished.connect(
self.on_noisecal_delay_change)
self.ui.edt_noisecal_on.editingFinished.connect(
self.on_noisecal_on_change)
self.ui.edt_noisecal_off.editingFinished.connect(
self.on_noisecal_off_change)
self.ui.rb_unit0.toggled.connect(self.on_unit_change)
self.ui.rb_unit1.toggled.connect(self.on_unit_change)
self.ui.cb_tvg.stateChanged.connect(self.on_tvg_change)
self.ui.spn_rfgain0.valueChanged.connect(self.on_rfgain_change)
self.ui.spn_rfgain1.valueChanged.connect(self.on_rfgain_change)
self.ui.cbo_beamid.currentIndexChanged.connect(self.on_beamid_change)
self.ui.edt_fftshift.editingFinished.connect(self.on_fftshift_change)
self.ui.edt_dgain0.editingFinished.connect(self.on_digital_gain_change)
self.ui.edt_dgain1.editingFinished.connect(self.on_digital_gain_change)
self.ui.spn_acclen.valueChanged.connect(self.on_acclen_change)
self.ui.cbo_bitsel_0.currentIndexChanged.connect(self.on_bitsel_change)
self.ui.cbo_bitsel_1.currentIndexChanged.connect(self.on_bitsel_change)
self.ui.cbo_bitsel_2.currentIndexChanged.connect(self.on_bitsel_change)
self.ui.cbo_bitsel_3.currentIndexChanged.connect(self.on_bitsel_change)
self.ui.edt_dest_ip_0.editingFinished.connect(self.on_dest_ip_change)
self.ui.edt_dest_ip_1.editingFinished.connect(self.on_dest_ip_change)
self.ui.edt_dest_ip_2.editingFinished.connect(self.on_dest_ip_change)
self.ui.edt_dest_ip_3.editingFinished.connect(self.on_dest_ip_change)
self.ui.edt_fabric_ip_0.editingFinished.connect(
self.on_fabric_ip_change)
self.ui.edt_fabric_ip_1.editingFinished.connect(
self.on_fabric_ip_change)
self.ui.edt_fabric_ip_2.editingFinished.connect(
self.on_fabric_ip_change)
self.ui.edt_fabric_ip_3.editingFinished.connect(
self.on_fabric_ip_change)
self.ui.btn_reset.clicked.connect(self.on_reset)
self.ui.btn_arm.clicked.connect(self.on_arm)
# Input widgets validator
v = QtGui.QIntValidator(0, 2**48 - 1, self)
for w in (self.ui.edt_noisecal_delay, self.ui.edt_noisecal_on,
self.ui.edt_noisecal_off):
w.setValidator(v)
self.ui.edt_fftshift.setValidator(
QtGui.QRegExpValidator(QtCore.QRegExp('0x[0-9A-Fa-f]{1,8}')))
v = QtGui.QRegExpValidator(QtCore.QRegExp('0x[0-9A-Fa-f]{1,4}'))
for w in (self.ui.edt_dgain0, self.ui.edt_dgain1):
w.setValidator(v)
v = QtGui.QRegExpValidator(
QtCore.QRegExp(
'(([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5]).){3}([0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5]):\d{1,5}'
))
for i in range(4):
getattr(self.ui, 'edt_dest_ip_{:d}'.format(i)).setValidator(v)
for i in range(4):
getattr(self.ui, 'edt_fabric_ip_{:d}'.format(i)).setValidator(v)
# Disable all widgets except the Roach board combobox
interactive_widget_prefixes = ('edt', 'cbo', 'cb', 'rb', 'spn', 'btn')
for name, obj in vars(self.ui).iteritems():
is_interactive = False
for prefix in interactive_widget_prefixes:
if name.startswith(prefix):
is_interactive = True
break
if name != 'cbo_roach' and is_interactive: obj.setDisabled(True)
self.plotter = Plotter(self.ui.plot_area)
self.timer_id = 0
self.fpga = None
self.unit = 0
self.prefix = 'u%d_' % self.unit
def setFilterRegExp(self, pattern):
if isinstance(pattern, str):
pattern = QtCore.QRegExp(
pattern, QtCore.Qt.CaseInsensitive,
QtCore.QRegExp.FixedString)
super(SearchProxyModel, self).setFilterRegExp(pattern)
def __init__(self):
# super().__init__(show=True, title="Putzini Tracker")
super().__init__()
self.plot_widget = pg.GraphicsLayoutWidget()
self.top_layout = QtGui.QGridLayout()
self.setLayout(self.top_layout)
self.top_layout.addWidget(self.plot_widget)
self.resize(850 * (1 + int(tilt_fig)), 700)
self.setWindowTitle('Putzini')
self.opts = PutziniConfig()
# START PLOTS ---
self.pos_coord = self.plot_widget.addPlot(
title="In-plane (color: angle)", row=0, col=0)
self.pos_coord.setRange(yRange=self.opts.range_y,
xRange=self.opts.range_x)
self.pos_coord.setAspectLocked(True, ratio=1)
self.pos_coord.setLabel('left', "Y", units='cm')
self.pos_coord.setLabel('bottom', "X", units='cm')
self.all_points = pg.ScatterPlotItem(size=10)
self.current_point = pg.ScatterPlotItem(size=30)
self.anchors = {}
mapimg = imread(self.opts.keepout_img)
self.map = pg.ImageItem()
self.map.setImage(image=mapimg.T)
self.map.setPxMode(False)
self.map.setRect(
QtCore.QRect(-mapimg.shape[1] // 2, -mapimg.shape[0] // 2,
mapimg.shape[0], mapimg.shape[1]))
self.pos_coord.addItem(self.map)
for lbl, x, y in zip(self.opts.anchor_names, self.opts.anchor_x,
self.opts.anchor_y):
self.anchors[lbl] = pg.ScatterPlotItem(size=10, symbol='o')
self.pos_coord.addItem(self.anchors[lbl])
self.anchors[lbl].addPoints(x=[x],
y=[y],
brush=None,
pen='k',
pxMode=False,
size=10)
print(self.anchors)
self.arka = pg.ScatterPlotItem(size=10, symbol='o', pxMode=False)
# for lbl, x, y in zip(self.opts.anchor_names, self.opts.anchor_x, self.opts.anchor_y):
self.pos_coord.addItem(self.current_point)
self.pos_coord.addItem(self.arka)
self.pos_coord.addItem(self.all_points)
self.arka.setData(x=[0],
y=[0],
size=146,
pen=(0, 100, 0),
brush=(0, 100, 0))
if tilt_fig:
self.tilt_coord = self.plot_widget.addPlot(
title="Out-of-plane tilt", row=0, col=1)
self.tilt_coord.setLabel('left', "tilt Y", units='deg')
self.tilt_coord.setLabel('bottom', "tilt X", units='deg')
self.tilt_all_points = pg.ScatterPlotItem(size=10)
self.tilt_current_point = pg.ScatterPlotItem(size=30)
self.tilt_coord.addItem(self.tilt_current_point)
self.tilt_coord.addItem(self.tilt_all_points)
# STOP PLOTS ---
# START CONTROLS ---
self.control_layout = QtGui.QFormLayout(verticalSpacing=1)
self.update_graph = QtGui.QCheckBox('Update Graph')
self.update_graph.setChecked(True)
self.control_layout.addRow(self.update_graph)
self.keep_traces = QtGui.QCheckBox('Keep Traces')
self.keep_traces.setChecked(False)
self.control_layout.addRow(self.keep_traces)
move_command = QtGui.QLineEdit('stop()')
move_command.returnPressed.connect(
lambda: self.command('move', move_command.text()))
self.control_layout.addRow(QtGui.QLabel('Move cmd'), move_command)
abs_move = QtGui.QLineEdit('0, 0, 50, 10')
abs_move.setValidator(
QtGui.QRegExpValidator(
QtCore.QRegExp('-?\d+,\s*-?\d+,\s*-?\d+,\s*\d+')))
abs_move.returnPressed.connect(
lambda: self.command('move', f'moveToPos({abs_move.text()})'))
self.control_layout.addRow(QtGui.QLabel('Abs move'), abs_move)
rel_move = QtGui.QLineEdit('0, 0, 50, 10')
rel_move.setValidator(
QtGui.QRegExpValidator(
QtCore.QRegExp('-?\d+,\s*-?\d+,\s*-?\d+,\s*\d+')))
rel_move.returnPressed.connect(
lambda: self.command('move', f'moveByPos({rel_move.text()})'))
self.control_layout.addRow(QtGui.QLabel('Rel move'), rel_move)
straight_move = QtGui.QLineEdit('0, 50, 10')
straight_move.setValidator(
QtGui.QRegExpValidator(QtCore.QRegExp('-?\d+,\s*-?\d+')))
straight_move.returnPressed.connect(
lambda: self.command('move', f'moveStraight({rel_move.text()})'))
self.control_layout.addRow(QtGui.QLabel('Straight move'),
straight_move)
abs_turn = QtGui.QLineEdit('0, 50')
abs_turn.setValidator(
QtGui.QRegExpValidator(QtCore.QRegExp('-?\d+,\s*-?\d+')))
abs_turn.returnPressed.connect(
lambda: self.command('move', f'moveToAngle({abs_turn.text()})'))
self.control_layout.addRow(QtGui.QLabel('Abs turn'), abs_turn)
rel_turn = QtGui.QLineEdit('0, 50')
rel_turn.setValidator(
QtGui.QRegExpValidator(QtCore.QRegExp('-?\d+,\s*-?\d+')))
rel_turn.returnPressed.connect(
lambda: self.command('move', f'moveByAngle({rel_turn.text()})'))
self.control_layout.addRow(QtGui.QLabel('Rel turn'), rel_turn)
look_at = QtGui.QLineEdit('0, 0, 50')
look_at.setValidator(
QtGui.QRegExpValidator(QtCore.QRegExp('-?\d+,\s*-?\d+,\s*-?\d+')))
look_at.returnPressed.connect(
lambda: self.command('move', f'lookAtPos({look_at.text()})'))
self.control_layout.addRow(QtGui.QLabel('Look at'), look_at)
random_rng = QtGui.QLineEdit(
f'{self.opts.range_x[0]}, {self.opts.range_x[1]}, {self.opts.range_y[0]}, {self.opts.range_y[1]}'
)
random_rng.setValidator(
QtGui.QRegExpValidator(
QtCore.QRegExp('-?\d+,\s*-?\d+,\s*-?\d+,\s*-?\d+')))
self.control_layout.addRow(QtGui.QLabel('Rnd Range'), random_rng)
random_bf = QtGui.QLineEdit('20, 15, 50, 1')
random_bf.setValidator(
QtGui.QRegExpValidator(QtCore.QRegExp('\d+,\s*\d+,\s*\d+,\s*\d')))
random_bf.returnPressed.connect(lambda: self.command(
'move', f'moveBackForth({random_bf.text()},{random_rng.text()})'))
self.control_layout.addRow(QtGui.QLabel('B-F'), random_bf)
random = QtGui.QLineEdit('50')
random.setValidator(QtGui.QRegExpValidator(QtCore.QRegExp('\d+')))
random.returnPressed.connect(lambda: self.command(
'move', f'moveRandom({random.text()},{random_rng.text()})'))
self.control_layout.addRow(QtGui.QLabel('Zigzag'), random)
circle = QtGui.QLineEdit('50, 1') # speed, direction
circle.setValidator(
QtGui.QRegExpValidator(QtCore.QRegExp('\d+,\s*\d+')))
circle.returnPressed.connect(
lambda: self.command('move', f'moveCircle({circle.text()})'))
self.control_layout.addRow(QtGui.QLabel('Circle'), circle)
override = QtGui.QCheckBox('Override Keepout')
override.stateChanged.connect(
lambda state: self.client.m_client.publish(
'putzini/override', '1' if int(state) == 2 else '0'))
override.setChecked(False)
self.control_layout.addRow(override)
stop = pg.QtGui.QPushButton('STOP')
stop.clicked.connect(lambda: self.command('move', 'stop()'))
done = pg.QtGui.QPushButton('Set Ready')
done.clicked.connect(
lambda: self.client.m_client.publish('putzini/force_idle'))
self.control_layout.addRow(stop, done)
# stop.setMaximumWidth(200)
vac = pg.QtGui.QCheckBox('Vacuum Cleaner')
vac.stateChanged.connect(lambda state: self.command(
'vacuum', '1' if int(state) == 2 else '0'))
vac.setChecked(False)
self.control_layout.addRow(vac)
height = pg.SpinBox(value=0)
# height.setValidator(QtGui.QRegExpValidator(QtCore.QRegExp('\d+')))
height.setOpts(bounds=(0, 130),
suffix='mm',
step=1,
int=True,
compactHeight=False)
height.valueChanged.connect(lambda x: self.command('height', int(x)))
self.control_layout.addRow(QtGui.QLabel('Height'), height)
head = pg.SpinBox(value=0)
# height.setValidator(QtGui.QRegExpValidator(QtCore.QRegExp('\d+')))
head.setOpts(bounds=(0, 255),
suffix='stp',
step=1,
int=True,
compactHeight=False)
head.valueChanged.connect(lambda x: self.command('head', int(x)))
self.control_layout.addRow(QtGui.QLabel('Head'), head)
color_fg = pg.ColorButton()
color_fg.sigColorChanging.connect(lambda ctrl: self.command(
'lamp', {
'front': {
'r': ctrl.color().red(),
'g': ctrl.color().green(),
'b': ctrl.color().blue(),
'w': ctrl.color().alpha()
}
}))
self.control_layout.addRow(QtGui.QLabel('FG Color'), color_fg)
color_bg = pg.ColorButton()
color_bg.sigColorChanging.connect(lambda ctrl: self.command(
'lamp', {
'back': {
'r': ctrl.color().red(),
'g': ctrl.color().green(),
'b': ctrl.color().blue()
}
}))
self.control_layout.addRow(QtGui.QLabel('BG Color'), color_bg)
self.audio_vol = pg.SpinBox(value=10)
self.audio_vol.setOpts(bounds=(0, 150), step=1)
self.control_layout.addRow(QtGui.QLabel('Volume'), self.audio_vol)
audio_1 = QtGui.QLineEdit('New Peeps/curious_1.wav')
audio_1.returnPressed.connect(lambda: self.command(
'audio', {
'folder': audio_1.text().rsplit('/', 1)[0],
'file': audio_1.text().rsplit('/', 1)[1],
'loop': 0,
'vol': int(self.audio_vol.value())
} if audio_1.text() else 'stop'))
self.control_layout.addRow(QtGui.QLabel('Audio once'), audio_1)
audio_loop = QtGui.QLineEdit('New Peeps/curious_1.wav')
audio_loop.returnPressed.connect(lambda: self.command(
'audio', {
'folder': audio_loop.text().rsplit('/', 1)[0],
'file': audio_loop.text().rsplit('/', 1)[1],
'loop': 1,
'vol': int(self.audio_vol.value())
} if audio_loop.text() else 'stop'))
self.control_layout.addRow(QtGui.QLabel('Audio loop'), audio_loop)
# indicators
self.xpos_indicator = QtGui.QLineEdit(readOnly=True)
self.control_layout.addRow(QtGui.QLabel('X Position'),
self.xpos_indicator)
self.ypos_indicator = QtGui.QLineEdit(readOnly=True)
self.control_layout.addRow(QtGui.QLabel('Y Position'),
self.ypos_indicator)
self.angle_indicator = QtGui.QLineEdit(readOnly=True)
self.control_layout.addRow(QtGui.QLabel('Angle'), self.angle_indicator)
self.battery_indicator = QtGui.QLineEdit(readOnly=True)
self.control_layout.addRow(QtGui.QLabel('Battery'),
self.battery_indicator)
self.calibrated_indicator = QtGui.QLineEdit(readOnly=True)
self.control_layout.addRow(QtGui.QLabel('Calibrated'),
self.calibrated_indicator)
random.setValidator(QtGui.QRegExpValidator(QtCore.QRegExp('\d+')))
random.returnPressed.connect(lambda: self.command(
'move', f'moveRandom({random.text()},{random_rng.text()})'))
self.last_err = QtGui.QLineEdit(readOnly=True)
clear = pg.QtGui.QPushButton('Clear Errors')
clear.clicked.connect(self.last_err.clear)
self.control_layout.addRow(QtGui.QLabel('Last Error'), clear)
self.control_layout.addRow(self.last_err)
self.last_cmd = QtGui.QTextEdit(readOnly=True, width=10)
self.control_layout.addRow(self.last_cmd)
self.last_cmd.resize(QtCore.QSize(4, 4))
self.control_layout.setSizeConstraint(self.control_layout.SetFixedSize)
self.top_layout.addLayout(self.control_layout, 0, 1)
# END CONTROLS ---
self.client = MqttClient(self)
self.client.stateChanged.connect(self.on_stateChanged)
self.client.messageSignal.connect(self.on_messageSignal)
self.client.voltageSignal.connect(self.on_voltageSignal)
self.client.distancesSignal.connect(self.on_distancesSignal)
self.client.calibratedSignal.connect(self.on_calibratedSignal)
self.client.errorSignal.connect(self.on_errorSignal)
self.client.command_stateSignal.connect(self.on_command_stateSignal)
self.client.stateSignal.connect(self.on_stateSignal)
self.client.logsSignal.connect(self.on_logsSignal)
self.client.hostname = "172.31.1.150"
self.client.connectToHost()
self.keyPressEvent = self.key_pressed
self.last_RT = None
self.last_distances = None
self.last_calibrated = None
self.step_size = 2000
