def __createCompass(self, pos):
palette = Qt.QPalette()
for colorRole in colorRoleList:
palette.setColor(colorRole, Qt.QColor())
palette.setColor(
Qt.QPalette.Base,
self.palette().color(self.backgroundRole()).light(120))
palette.setColor(Qt.QPalette.Foreground,
palette.color(Qt.QPalette.Base))
compass = Qwt.QwtCompass()
compass.setLineWidth(4)
if pos < 3:
compass.setFrameShadow(Qwt.QwtCompass.Sunken)
else:
compass.setFrameShadow(Qwt.QwtCompass.Raised)
if pos == 0:
compass.setMode(Qwt.QwtCompass.RotateScale)
rose = Qwt.QwtSimpleCompassRose(16, 2)
rose.setWidth(0.15)
compass.setRose(rose)
compass.setToolTip("Bussola")
elif pos == 1:
compass.setLabelMap({
0.0: "N",
45.0: "NE",
90.0: "E",
180.0: "S",
270.0: "W"
})
rose = Qwt.QwtSimpleCompassRose(4, 1)
compass.setRose(rose)
compass.setNeedle(
Qwt.QwtCompassWindArrow(Qwt.QwtCompassWindArrow.Style2))
compass.setValue(60.0)
compass.setToolTip("Bussola_1")
elif pos == 2:
palette.setColor(Qt.QPalette.Base, Qt.Qt.darkBlue)
palette.setColor(Qt.QPalette.Foreground,
Qt.QColor(Qt.Qt.darkBlue).dark(120))
palette.setColor(Qt.QPalette.Text, Qt.Qt.white)
compass.setScaleTicks(1, 1, 3)
compass.setScale(36, 5, 0)
compass.setNeedle(
Qwt.QwtCompassMagnetNeedle(
Qwt.QwtCompassMagnetNeedle.ThinStyle))
compass.setValue(220.0)
compass.setToolTip("Bussola2")
elif pos == 3:
palette.setColor(Qt.QPalette.Base,
self.palette().color(self.backgroundRole()))
palette.setColor(Qt.QPalette.Foreground, Qt.Qt.blue)
compass.setLineWidth(0)
compass.setScaleOptions(Qwt.QwtDial.ScaleBackbone
| Qwt.QwtDial.ScaleTicks
| Qwt.QwtDial.ScaleLabel)
compass.setScaleTicks(0, 0, 3)
compass.setLabelMap({
0.0: '0',
60.0: '60-',
120.0: '120',
180.0: '180',
240.0: '240',
320.0: '320'
})
compass.setScale(36, 5, 0)
compass.setNeedle(
Qwt.QwtDialSimpleNeedle(Qwt.QwtDialSimpleNeedle.Ray, False,
Qt.Qt.white))
compass.setOrigin(220.0)
compass.setValue(20.0)
compass.setToolTip("Bussola_2")
elif pos == 4:
compass.setScaleTicks(0, 0, 3)
#compass.setScaleTicks()
compass.setLabelMap({0.0: "N", 90.0: "E", 180.0: "S", 270.0: "W"})
compass.setNeedle(
Qwt.QwtCompassMagnetNeedle(
Qwt.QwtCompassMagnetNeedle.TriangleStyle, Qt.Qt.white,
Qt.Qt.red))
compass.setValue(75.0)
compass.setToolTip("Bussola_3")
elif pos == 5:
palette.setColor(Qt.QPalette.Foreground, Qt.Qt.black)
compass.setNeedle(
Qwt.QwtDialSimpleNeedle(Qwt.QwtDialSimpleNeedle.Ray, False,
Qt.Qt.yellow))
compass.setValue(315.0)
compass.setToolTip("Bussola_4")
newPalette = compass.palette()
for colorRole in colorRoleList:
if palette.color(colorRole).isValid():
for colorGroup in colorGroupList:
newPalette.setColor(colorGroup, colorRole,
palette.color(colorRole))
for colorGroup in colorGroupList:
light = newPalette.color(colorGroup, Qt.QPalette.Base).light(170)
dark = newPalette.color(colorGroup, Qt.QPalette.Base).dark(170)
if compass.frameShadow() == Qwt.QwtDial.Raised:
mid = newPalette.color(colorGroup, Qt.QPalette.Base).dark(110)
else:
mid = newPalette.color(colorGroup, Qt.QPalette.Base).light(110)
newPalette.setColor(colorGroup, Qt.QPalette.Dark, dark)
newPalette.setColor(colorGroup, Qt.QPalette.Mid, mid)
newPalette.setColor(colorGroup, Qt.QPalette.Light, light)
compass.setPalette(newPalette)
return compass
def __init__(self, parent=None):
Widget.__init__(self)
QtGui.QWidget.__init__(self, parent)
self.compass = Qwt.QwtCompass(self)
palette = self.compass.palette()
#Cor Interna Bussola
palette.setColor(self.compass.backgroundRole(), Qt.Qt.darkCyan)
self.compass.setPalette(palette)
palette = Qt.QPalette()
for colorRole in colorRoleList:
palette.setColor(colorRole, Qt.QColor())
palette.setColor(
Qt.QPalette.Base,
#Alterando uma pouco a cor, mais forte ou mais fraco, depende do valor
self.compass.palette().color(self.compass.backgroundRole()
).light(105))
palette.setColor(
#Cor de fundo do corculo da agulha
Qt.QPalette.Foreground,
palette.color(Qt.QPalette.Base))
self.compass.setLineWidth(2)
self.compass.setFrameShadow(Qwt.QwtCompass.Raised)
self.compass.setScaleTicks(0, 0, 2)
self.compass.setScaleOptions(Qwt.QwtDial.ScaleTicks
| Qwt.QwtDial.ScaleLabel
| Qwt.QwtDial.ScaleBackbone)
self.compass.setLabelMap({
0.0: "N",
45.0: "ne",
90.0: "E",
135.0: "se",
180.0: "S",
225.0: "so",
270.0: "O",
315.0: "no"
})
self.compass.setScale(72, 0, 0)
self.compass.setNeedle(
Qwt.QwtCompassMagnetNeedle(
Qwt.QwtCompassMagnetNeedle.TriangleStyle, Qt.Qt.white,
Qt.Qt.red))
self.compass.setValue(35.0)
newPalette = self.compass.palette()
##Criando Cor de fundo para Bussola
for colorRole in colorRoleList:
if palette.color(colorRole).isValid():
for colorGroup in colorGroupList:
newPalette.setColor(colorGroup, colorRole,
palette.color(colorRole))
self.compass.setPalette(newPalette)
#Posicionamento do Widget
#layout = Qt.QGridLayout(self)
#layout.addWidget(self.compass)
#layout.setColumnStretch(1,1)
layout = QtGui.QVBoxLayout(self)
layout.addWidget(self.compass)
def setupUi(self, Form):
compass = Qwt.QwtCompass()
palette = compass.palette()
#Cor Interna Bussola
palette.setColor(compass.backgroundRole(), Qt.Qt.darkCyan)
compass.setPalette(palette)
palette = Qt.QPalette()
for colorRole in colorRoleList:
palette.setColor(colorRole, Qt.QColor())
palette.setColor(
Qt.QPalette.Base,
#Alterando uma pouco a cor, mais forte ou mais fraco, depende do valor
compass.palette().color(compass.backgroundRole()).light(105))
palette.setColor(
#Cor de fundo do corculo da agulha
Qt.QPalette.Foreground,
palette.color(Qt.QPalette.Base))
#Form.setObjectName(_fromUtf8("Form"))
#Form.resize(400, 300)
#compass.setGeometry(QtCore.QRect(100, 40, 200, 200))
"""
compass.setGeometry(QtCore.QRect(100, 40, 200, 200))
compass.setLineWidth(4)
compass.setObjectName(_fromUtf8("Compass"))
"""
compass.setLineWidth(2)
compass.setFrameShadow(Qwt.QwtCompass.Raised)
compass.setScaleTicks(0, 0, 2)
compass.setScaleOptions(Qwt.QwtDial.ScaleTicks | Qwt.QwtDial.ScaleLabel
| Qwt.QwtDial.ScaleBackbone)
compass.setLabelMap({
0.0: "N",
45.0: "ne",
90.0: "E",
135.0: "se",
180.0: "S",
225.0: "so",
270.0: "O",
315.0: "no"
})
compass.setScale(72, 0, 0)
compass.setNeedle(
Qwt.QwtCompassMagnetNeedle(
Qwt.QwtCompassMagnetNeedle.TriangleStyle, Qt.Qt.white,
Qt.Qt.red))
compass.setValue(35.0)
newPalette = compass.palette()
##Criando Cor de fundo para Bussola
for colorRole in colorRoleList:
if palette.color(colorRole).isValid():
for colorGroup in colorGroupList:
newPalette.setColor(colorGroup, colorRole,
palette.color(colorRole))
compass.setPalette(newPalette)
return compass
def __createCompass(self, pos):
palette = Qt.QPalette()
for colorRole in colorRoleList:
palette.setColor(colorRole, Qt.QColor())
palette.setColor(
Qt.QPalette.Base,
#Alterando uma pouco a cor, mais forte ou mais fraco, depende do valor
self.palette().color(self.backgroundRole()).light(105))
palette.setColor(
#Cor de fundo do corculo da agulha
Qt.QPalette.Foreground,
palette.color(Qt.QPalette.Base))
compass = Qwt.QwtCompass()
#linhaBorda
compass.setLineWidth(2)
#compass.setFrameShadow(Qwt.QwtCompass.Sunken) //Plain
compass.setFrameShadow(Qwt.QwtCompass.Raised)
compass.setScaleTicks(0, 0, 2)
compass.setScaleOptions(Qwt.QwtDial.ScaleTicks | Qwt.QwtDial.ScaleLabel
| Qwt.QwtDial.ScaleBackbone)
compass.setLabelMap({
0.0: "N",
45.0: "ne",
90.0: "E",
135.0: "se",
180.0: "S",
225.0: "so",
270.0: "O",
315.0: "no"
})
compass.setScale(72, 0, 0)
# QwtCompassMagnetNeedle =A agulha da bússola ímã para widgets
compass.setNeedle(
Qwt.QwtCompassMagnetNeedle(
Qwt.QwtCompassMagnetNeedle.TriangleStyle, Qt.Qt.white,
Qt.Qt.red))
compass.setValue(35.0)
compass.setToolTip("Bussola_3")
#Dando cor a Bussola
newPalette = compass.palette()
##Criando Cor de fundo para Bussola
for colorRole in colorRoleList:
if palette.color(colorRole).isValid():
for colorGroup in colorGroupList:
newPalette.setColor(colorGroup, colorRole,
palette.color(colorRole))
#newPalette.setColor(colorGroup, Qt.QPalette.Dark, dark)
#newPalette.setColor(colorGroup, Qt.QPalette.Mid, mid)
#newPalette.setColor(colorGroup, Qt.QPalette.Light, light)
compass.setPalette(newPalette)
return compass
def __createCompass(self, pos):
palette = Qt.QPalette()
for colorRole in colorRoleList:
palette.setColor(colorRole, Qt.QColor())
palette.setColor(
Qt.QPalette.Base,
self.palette().color(self.backgroundRole()).light(120))
palette.setColor(
Qt.QPalette.Foreground,
palette.color(Qt.QPalette.Base))
compass = Qwt.QwtCompass(self)
compass.setLineWidth(4)
if pos < 3:
compass.setFrameShadow(Qwt.QwtCompass.Sunken)
else:
compass.setFrameShadow(Qwt.QwtCompass.Raised)
if pos == 0:
compass.setLabelMap({0.0: "N",
90.0: "E",
180.0: "S",
270.0: "W"})
rose = Qwt.QwtSimpleCompassRose(4, 1)
compass.setRose(rose)
compass.setNeedle(
Qwt.QwtCompassWindArrow(Qwt.QwtCompassWindArrow.Style2))
compass.setValue(60.0)
elif pos == 1:
compass.setLabelMap({0.0: "",
90.0: "",
180.0: "",
270.0: ""})
compass.setScaleOptions(Qwt.QwtDial.ScaleBackbone
| Qwt.QwtDial.ScaleTicks
| Qwt.QwtDial.ScaleLabel)
compass.setScaleTicks(0, 0, 3)
compass.setNeedle(Qwt.QwtCompassMagnetNeedle(
Qwt.QwtCompassMagnetNeedle.TriangleStyle,
Qt.Qt.white,
Qt.Qt.red))
compass.setValue(220.0)
newPalette = compass.palette()
for colorRole in colorRoleList:
if palette.color(colorRole).isValid():
for colorGroup in colorGroupList:
newPalette.setColor(
colorGroup, colorRole, palette.color(colorRole))
for colorGroup in colorGroupList:
light = newPalette.color(
colorGroup, Qt.QPalette.Base).light(170)
dark = newPalette.color(
colorGroup, Qt.QPalette.Base).dark(170)
if compass.frameShadow() == Qwt.QwtDial.Raised:
mid = newPalette.color(
colorGroup, Qt.QPalette.Base).dark(110)
else:
mid = newPalette.color(
colorGroup, Qt.QPalette.Base).light(110)
newPalette.setColor(colorGroup, Qt.QPalette.Dark, dark)
newPalette.setColor(colorGroup, Qt.QPalette.Mid, mid)
newPalette.setColor(colorGroup, Qt.QPalette.Light, light)
compass.setPalette(newPalette)
compass.setReadOnly(True)
return compass
def setupGui(self):
self.setFixedSize(1190, 780)
self.setWindowTitle('Stewart platform control center')
centralArea = QtGui.QWidget()
lay0 = QtGui.QHBoxLayout()
lay1 = QtGui.QVBoxLayout()
# Layout 11
lay11 = QtGui.QGridLayout()
self.pitchCompass = Qwt.QwtCompass()
self.pitchCompass.setNeedle(
Qwt.QwtCompassMagnetNeedle(Qwt.QwtCompassMagnetNeedle.ThinStyle))
self.pitchCompass.setValue(90)
self.rollCompass = Qwt.QwtCompass()
self.rollCompass.setNeedle(
Qwt.QwtCompassMagnetNeedle(Qwt.QwtCompassMagnetNeedle.ThinStyle))
self.rollCompass.setValue(0)
self.yawCompass = Qwt.QwtCompass()
self.yawCompass.setNeedle(
Qwt.QwtCompassMagnetNeedle(Qwt.QwtCompassMagnetNeedle.ThinStyle))
self.yawCompass.setValue(0)
self.figBall = Figure(figsize=(210, 170), dpi=120)
self.axBall = self.figBall.add_subplot(111)
fcBall = FigureCanvas(self.figBall)
lay11.addWidget(self.rollCompass, 0, 0)
lay11.addWidget(self.yawCompass, 0, 1)
lay11.addWidget(fcBall, 1, 0)
lay11.addWidget(self.pitchCompass, 1, 1)
lay11.setColumnStretch(0, 1)
lay11.setColumnStretch(1, 1)
lay11.setRowStretch(0, 1)
lay11.setRowStretch(1, 1)
# Layout 12
lay12 = QtGui.QGridLayout()
self.ths = {}
for i in range(6):
self.ths[i] = QtGui.QSlider()
self.ths[i].setMinimum(-90)
self.ths[i].setMaximum(90)
self.ths[i].setPageStep(1)
self.ths[i].setTickPosition(QtGui.QSlider.TicksBothSides)
self.ths[i].setTickInterval(15)
self.ths[i].setMinimumSize(38, 111)
self.ths[i].setMaximumSize(38, 111)
self.ths[i].setEnabled(False)
lay12.addWidget(self.ths[4], 0, 1)
lay12.addWidget(self.ths[3], 0, 2)
lay12.addWidget(self.ths[5], 2, 0)
lay12.addWidget(self.ths[2], 2, 3)
lay12.addWidget(self.ths[0], 4, 1)
lay12.addWidget(self.ths[1], 4, 2)
self.lcds = {}
for i in range(6):
self.lcds[i] = QtGui.QLCDNumber()
self.lcds[i].setSegmentStyle(QtGui.QLCDNumber.Flat)
lay12.addWidget(self.lcds[4], 1, 1)
lay12.addWidget(self.lcds[3], 1, 2)
lay12.addWidget(self.lcds[5], 3, 0)
lay12.addWidget(self.lcds[2], 3, 3)
lay12.addWidget(self.lcds[0], 5, 1)
lay12.addWidget(self.lcds[1], 5, 2)
lay1.addLayout(lay11)
lay1.addLayout(lay12)
lay1.setStretchFactor(lay11, 1)
lay1.setStretchFactor(lay12, 1)
# Layout 2
lay2 = QtGui.QHBoxLayout()
# Layout 21
lay21 = QtGui.QVBoxLayout()
self.fig3d = Figure(figsize=(210, 170), dpi=120)
self.axfig3d = self.fig3d.add_subplot(111,
projection='3d',
aspect='equal')
self.axfig3d.set_axis_off()
fc3d = FigureCanvas(self.fig3d)
self.fig2d = Figure(figsize=(210, 170), dpi=120)
self.axfig2d = self.fig2d.add_subplot(111)
fc2d = FigureCanvas(self.fig2d)
groupP = QtGui.QGroupBox('Platform')
groupN = QtGui.QGroupBox('Nunchuck')
groupPl = QtGui.QHBoxLayout()
groupNl = QtGui.QHBoxLayout()
groupP1 = QtGui.QFormLayout()
groupP2 = QtGui.QFormLayout()
groupN1 = QtGui.QFormLayout()
groupN2 = QtGui.QFormLayout()
labelP1 = QtGui.QLabel('X')
labelP2 = QtGui.QLabel('Y')
labelP3 = QtGui.QLabel('Z')
labelP4 = QtGui.QLabel('Phi')
labelP5 = QtGui.QLabel('Theta')
labelP6 = QtGui.QLabel('Psi')
labelN1 = QtGui.QLabel('X')
labelN2 = QtGui.QLabel('Y')
labelN3 = QtGui.QLabel('Phi')
labelN4 = QtGui.QLabel('Theta')
labelN5 = QtGui.QLabel('But C')
labelN6 = QtGui.QLabel('But Z')
self.lcdP = {}
self.lcdN = {}
for i in range(6):
self.lcdP[i] = QtGui.QLCDNumber()
self.lcdN[i] = QtGui.QLCDNumber()
self.lcdP[i].setSegmentStyle(QtGui.QLCDNumber.Flat)
self.lcdN[i].setSegmentStyle(QtGui.QLCDNumber.Flat)
groupP1.addRow(labelP1, self.lcdP[0])
groupP1.addRow(labelP2, self.lcdP[1])
groupP1.addRow(labelP3, self.lcdP[2])
groupP2.addRow(labelP4, self.lcdP[3])
groupP2.addRow(labelP5, self.lcdP[4])
groupP2.addRow(labelP6, self.lcdP[5])
groupN1.addRow(labelN1, self.lcdN[0])
groupN1.addRow(labelN2, self.lcdN[1])
groupN1.addRow(labelN5, self.lcdN[4])
groupN2.addRow(labelN3, self.lcdN[2])
groupN2.addRow(labelN4, self.lcdN[3])
groupN2.addRow(labelN6, self.lcdN[5])
groupPl.addLayout(groupP1)
groupPl.addLayout(groupP2)
groupNl.addLayout(groupN1)
groupNl.addLayout(groupN2)
groupP.setLayout(groupPl)
groupN.setLayout(groupNl)
lay21.addWidget(fc3d)
lay21.addWidget(fc2d)
lay21.addWidget(groupP)
lay21.addWidget(groupN)
lay21.setStretchFactor(fc3d, 2)
lay21.setStretchFactor(fc2d, 2)
lay21.setStretchFactor(groupP, 1)
lay21.setStretchFactor(groupN, 1)
# Layout 22
lay22 = QtGui.QVBoxLayout()
lay221 = QtGui.QGridLayout()
self.dsbP = QtGui.QDoubleSpinBox()
self.dsbI = QtGui.QDoubleSpinBox()
self.dsbD = QtGui.QDoubleSpinBox()
self.dsbP.setSingleStep(0.01)
self.dsbI.setSingleStep(0.01)
self.dsbD.setSingleStep(0.01)
self.dsbP.setKeyboardTracking(False)
self.dsbI.setKeyboardTracking(False)
self.dsbD.setKeyboardTracking(False)
lay221.addWidget(self.dsbP, 0, 1)
lay221.addWidget(self.dsbI, 1, 1)
lay221.addWidget(self.dsbD, 2, 1)
self.lcdpid = {}
for i in range(3):
self.lcdpid[i] = QtGui.QLCDNumber()
self.lcdpid[i].setSegmentStyle(QtGui.QLCDNumber.Flat)
lay221.addWidget(self.lcdpid[0], 0, 2)
lay221.addWidget(self.lcdpid[1], 1, 2)
lay221.addWidget(self.lcdpid[2], 2, 2)
self.tbTargetList = QtGui.QTableView()
lay22.addLayout(lay221)
lay22.addWidget(self.tbTargetList)
lay22.addItem(
QtGui.QSpacerItem(20, 40, QtGui.QSizePolicy.Minimum,
QtGui.QSizePolicy.Expanding))
lay2.addLayout(lay21)
lay2.addLayout(lay22)
lay2.setStretchFactor(lay21, 1)
lay2.setStretchFactor(lay22, 1)
lay3 = QtGui.QVBoxLayout()
lay31 = QtGui.QVBoxLayout()
lay32 = QtGui.QGridLayout()
lay33 = QtGui.QHBoxLayout()
lay331 = QtGui.QGridLayout()
lay332 = QtGui.QVBoxLayout()
self.pbAutoMan = QtGui.QPushButton("Automatic")
self.pbNunGui = QtGui.QPushButton("Nunchuck")
self.pbPlatSens = QtGui.QPushButton("Platform")
self.pbAutoMan.setCheckable(True)
self.pbNunGui.setCheckable(True)
self.pbPlatSens.setCheckable(True)
#pbAutoManIcon = QtGui.QIcon()
#pbAutoManIcon.addPixmap(QtGui.QPixmap('auto.png'), QtGui.QIcon.Normal, QtGui.QIcon.On)
#pbAutoManIcon.addPixmap(QtGui.QPixmap('manual.png'), QtGui.QIcon.Normal, QtGui.QIcon.Off)
#pbAutoMan.setIcon(pbAutoManIcon)
#pbAutoMan.setIconSize(QSize(pbAutoMan.size()
for ts in [self.pbAutoMan, self.pbNunGui, self.pbPlatSens]:
lay31.addWidget(ts)
self.pbCenter = QtGui.QPushButton("Centre")
self.pbCircle = QtGui.QPushButton("Circle")
self.pbSquare = QtGui.QPushButton("Square")
self.pbTriangle = QtGui.QPushButton("Triangle")
lay32.addWidget(self.pbCenter, 0, 0)
lay32.addWidget(self.pbCircle, 0, 1)
lay32.addWidget(self.pbSquare, 1, 0)
lay32.addWidget(self.pbTriangle, 1, 1)
self.sls = {}
for i in range(6):
self.sls[i] = QtGui.QSlider()
self.sls[i].setMinimum(-90)
self.sls[i].setMaximum(90)
self.sls[i].setPageStep(1)
self.sls[i].setTickPosition(QtGui.QSlider.TicksBothSides)
self.sls[i].setTickInterval(15)
self.sls[i].setMinimumSize(28, 145)
self.sls[i].setMaximumSize(28, 145)
lay331.addWidget(self.sls[i], 0, i)
lab = QtGui.QLabel(str(i))
lab.setAlignment(QtCore.Qt.AlignHCenter | QtCore.Qt.AlignVCenter)
lay331.addWidget(lab, 1, i)
lay331.setRowStretch(6, 1)
self.pbHome = QtGui.QPushButton("Home")
self.pbZero = QtGui.QPushButton("0 deg")
lay332.addWidget(self.pbHome)
lay332.addWidget(self.pbZero)
lay332.addItem(
QtGui.QSpacerItem(20, 40, QtGui.QSizePolicy.Minimum,
QtGui.QSizePolicy.Expanding))
lay33.addLayout(lay331)
lay33.addLayout(lay332)
lay33.setStretchFactor(lay331, 3)
lay33.setStretchFactor(lay332, 1)
self.tedebug = QtGui.QPlainTextEdit()
lay3.addLayout(lay31)
lay3.addLayout(lay32)
lay3.addLayout(lay33)
lay3.addWidget(self.tedebug)
lay3.setStretchFactor(lay31, 2)
lay3.setStretchFactor(lay32, 1)
lay3.setStretchFactor(lay33, 3)
lay0.addLayout(lay1)
lay0.addLayout(lay2)
lay0.addLayout(lay3)
lay0.setStretchFactor(lay1, 2)
lay0.setStretchFactor(lay2, 2)
lay0.setStretchFactor(lay3, 1)
centralArea.setLayout(lay0)
self.setCentralWidget(centralArea)
