class MyWindowClass(QMainWindow):
def __init__(self, parent=None):
super(self.__class__, self).__init__()
self.car = None
self.rps_counter = None
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.ui.forwardBtn.clicked.connect(self.forward_clicked)
self.ui.backBtn.clicked.connect(self.backward_clicked)
self.ui.leftBtn.clicked.connect(self.left_clicked)
self.ui.rightBtn.clicked.connect(self.right_clicked)
self.ui.stopBtn.clicked.connect(self.stop_clicked)
self.ui.startButton.clicked.connect(self.start_clicked)
self.ui.actionOpen_Writer.triggered.connect(self.open_writer)
self.ui.actionExit.triggered.connect(self.exit)
self.ui.actionAbout.triggered.connect(self.about)
self.img_left = self.ui.img_left
self.img_right = self.ui.img_right
self.img_center = self.ui.img_center
self.camera_label = {
'camera_r': self.img_left,
'camera_c': self.img_center,
'camera_l': self.img_right
}
self.sensor_label = {
'left': self.ui.sensor_left,
'center': self.ui.sensor_center,
'right': self.ui.sensor_right
}
self.add_log("DrivingMatter GUI Started.")
self.show_image()
def open_writer(self):
self.add_log("OpenWriter called")
self.writer = Writer(self.car)
self.writer.setWindowTitle('Driving Matter - Writer')
self.writer.show()
def exit(self):
self.add_log("Exit called")
def about(self):
self.add_log("About called")
def add_log(self, message):
from datetime import datetime
message = str(
datetime.now().strftime('%Y-%m-%d %H:%M:%S')) + ": " + message
self.ui.logdata.appendPlainText(message)
#scroll log textedit to bottom
self.ui.logdata.verticalScrollBar().setValue(
self.ui.logdata.verticalScrollBar().maximum())
def load_car(self):
ip, okPressed = QInputDialog.getText(self, "Car IP Address",
"Enter IP Address",
QLineEdit.Normal, "192.168.137.2")
if okPressed:
try:
socket.inet_aton(ip) # throw exception in invalid ip
car_link = "ws://{}:{}".format(ip, "8000")
action_link = "{}/action".format(car_link)
state_link = "{}/state".format(car_link)
self.add_log("Action Link: " + action_link)
self.add_log("State Link: " + state_link)
self.car = Car(action_link, url_state=state_link)
self.rps_counter = RPSCounter()
self.car.set_state_callback(self._handle_dataset_response)
self.ui.startButton.setText('Started')
except socket.error:
pass # leave the condition
else:
self.ui.startButton.setText('Start')
self.ui.startButton.setEnabled(False)
def stop_clicked(self):
self.car.stop()
def backward_clicked(self):
self.add_log("Car::backward()")
self.car.backward()
def right_clicked(self):
self.add_log("Car::right()")
self.car.forwardRight()
def left_clicked(self):
self.add_log("Car::left()")
self.car.forwardLeft()
def forward_clicked(self):
self.add_log("Car::forward()")
self.car.forward()
def start_clicked(self):
global running
running = True
self.ui.startButton.setEnabled(False)
self.ui.startButton.setText('Starting...')
self.load_car()
def show_image(self):
qim = QtGui.QImage("../images/no-image.png") # PNG only
qim = qim.scaled(200,
200,
aspectRatioMode=QtCore.Qt.KeepAspectRatio,
transformMode=QtCore.Qt.SmoothTransformation)
self.ui.img_left.setPixmap(QtGui.QPixmap.fromImage(qim))
self.ui.img_right.setPixmap(QtGui.QPixmap.fromImage(qim))
self.ui.img_center.setPixmap(QtGui.QPixmap.fromImage(qim))
self.ui.img_left.adjustSize()
self.add_log("Showing default images.")
def _handle_dataset_response(self, data, ws):
current_datavector = json.loads(data)
pc_rps = self.rps_counter.get()
#logger.debug("PC RPS: " + str(pc_rps) + "\n\nCar RPS: " + str(car_rps) + "\n\nTotal: " + str(total_requests))
sensors = current_datavector['sensors']
for key, value in sensors.items():
self.sensor_label[key].setText(str(value))
if value:
self.sensor_label[key].setStyleSheet('color: red')
else:
self.sensor_label[key].setStyleSheet('color: green')
camera_names = [
key for key in current_datavector if key.startswith('camera')
]
for name in camera_names:
frame_data = current_datavector[name] # [type, array, shape]
frame = BytesIO(base64.decodestring(frame_data.encode("utf-8")))
frame = np.asarray(Image.open(frame))
qim = QtGui.QImage(
frame.data, frame.shape[1], frame.shape[0], frame.strides[0],
QImage.Format_RGB888) # https://gist.github.com/smex/5287589
qim = qim.scaled(200,
200,
aspectRatioMode=QtCore.Qt.KeepAspectRatio,
transformMode=QtCore.Qt.SmoothTransformation)
self.camera_label[name].setPixmap(QtGui.QPixmap.fromImage(qim))
self.camera_label[name].adjustSize()
self.add_log("Received dataset. RPS: " + str(int(pc_rps)))
frame = current_datavector[name]
if frame != None:
img = Image.open(io.BytesIO(frame))
current_datavector[name] = img
cv2.imshow(name, np.asarray(img))
cv2.waitKey(1) # CV2 Devil - Don't dare to remove
else:
logging.debug("None frame received. Camera: " + name)
car.set_state_callback(handle_state)
try:
kb = KBHit()
while True:
if kb.kbhit():
c = kb.carkey()
if c == 0: # Up
car.forward()
elif c == 1: # Right
car.forwardRight()
elif c == 2: # Down
car.backward()
elif c == 3: # Left
car.forwardLeft()
elif c == 4: # Space
car.stop()
finally:
kb.set_normal_term()
cv2.destroyAllWindows()