def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
plannerList = [
'RRTstar', 'SORRTstar', 'BITstar', 'FMTstar', 'InformedRRTstar',
'PRMstar'
]
self.plannerBox.addItems(plannerList)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
plannerList = ['RRTstar', 'SORRTstar','BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar']
self.plannerBox.addItems(plannerList)
# objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo']
# self.objectiveBox.addItems(objectiveList)
self.liftDropButton.clicked.connect(self.liftDropExecute)
self.liftDropButton.setCheckable(True)
self.jointForce = 0
self.pub = rospy.Publisher('amazon_warehouse_robot/joint_cmd', Float32, queue_size=10)
self.gotoPointButton.clicked.connect(self.gotoPointExecute)
self.gotoPointButton.setCheckable(True)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
# plannerList = ['RRTstar', 'SORRTstar','BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar']
# self.plannerBox.addItems(plannerList)
# objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo']
# self.objectiveBox.addItems(objectiveList)
self.liftDropButton.clicked.connect(self.liftDropExecute)
self.liftDropButton.setCheckable(True)
self.jointForce = 0
self.node = rclpy.create_node('amazon_robot_joint_state')
self.pub = self.node.create_publisher(
Float64, 'amazon_robot/joint1_position_controller/command', 10)
self.gotoPointButton.clicked.connect(self.gotoPointExecute)
self.gotoPointButton.setCheckable(True)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.stopButton.clicked.connect(self.stopClicked)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal()
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.stopButton.clicked.connect(self.stopClicked)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
self.getPathSig.emit()
def playClicked(self):
print("Play clicked")
self.algorithm.play()
def stopClicked(self):
print("Stop clicked")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self,newW,newV):
self.WValue.setText(str(newW))
self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
class MainWindow(QtGui.QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal()
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.colorFilterWidget = ColorFilterWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.stopButton.clicked.connect(self.stopClicked)
self.colorFilter.stateChanged.connect(self.showColorFilterWidget)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
self.colorFilterWidget.imageUpdate.emit()
def width(self):
return self.map.width
def height(self):
return self.map.height
def getPathClicked(self):
self.getPathSig.emit()
def playClicked(self):
print "play clicked"
self.sensor.setPlayButton(True)
def stopClicked(self):
print "Stop clicked"
self.sensor.setPlayButton(False)
self.sensor.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self, newW, newV):
self.WValue.setText(unicode(newW))
self.VValue.setText(unicode(-newV))
self.sensor.setV(-newV)
self.sensor.setW(newW)
def closeColorFilterWidget(self):
self.colorFilter.setChecked(False)
def showColorFilterWidget(self, state):
if state == QtCore.Qt.Checked:
self.colorFilterWidget.show()
else:
self.colorFilterWidget.close()
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal(list)
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
plannerList = [
'RRTstar', 'SORRTstar', 'BITstar', 'FMTstar', 'InformedRRTstar',
'PRMstar'
]
self.plannerBox.addItems(plannerList)
# objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo']
# self.objectiveBox.addItems(objectiveList)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
pList = []
pList.append(self.getPlanner())
#pList.append(self.getObjective())
pList.append(self.getRunTime())
self.getPathSig.emit(pList)
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self, newW, newV):
self.WValue.setText(str(newW))
self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
def getPlanner(self):
planner = self.plannerBox.currentText()
return planner
def getObjective(self):
objective = self.objectiveBox.currentText()
return objective
def getRunTime(self):
runtime = str(self.runtimeBox.value())
return runtime
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal()
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
self.getPathSig.emit()
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self, newW, newV):
self.WValue.setText(str(newW))
self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal(list)
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self,
self.logoLayout.parent().width(),
self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
# plannerList = ['RRTstar', 'SORRTstar','BITstar', 'FMTstar', 'InformedRRTstar', 'PRMstar']
# self.plannerBox.addItems(plannerList)
# objectiveList = ['PathClearance', 'PathLength', 'ThresholdPathLength', 'WeightedLengthAndClearanceCombo']
# self.objectiveBox.addItems(objectiveList)
self.liftDropButton.clicked.connect(self.liftDropExecute)
self.liftDropButton.setCheckable(True)
self.jointForce = 0
self.pub = rospy.Publisher('amazon_warehouse_robot/joint_cmd',
Float32,
queue_size=10)
self.gotoPointButton.clicked.connect(self.gotoPointExecute)
self.gotoPointButton.setCheckable(True)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
pList = []
# pList.append(self.getPlanner())
#pList.append(self.getObjective())
# pList.append(self.getRunTime())
self.getPathSig.emit(pList)
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self, newW, newV):
# self.WValue.setText(str(newW))
# self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
def getPlanner(self):
planner = self.plannerBox.currentText()
return planner
def getObjective(self):
objective = self.objectiveBox.currentText()
return objective
def getRunTime(self):
runtime = str(self.runtimeBox.value())
return runtime
def liftDropExecute(self):
#print ('Lift/Drop Button Clicked')
if self.jointForce != 25:
self.jointForce = 25
self.pub.publish(self.jointForce)
self.liftDropButton.setText("Drop")
print('Platform Lifted!')
else:
self.jointForce = 0
self.pub.publish(self.jointForce)
self.liftDropButton.setText("Lift")
print('Platform Dropped!')
def gotoPointExecute(self):
self.algorithm.setNewPalletFlag(self.playButton.isChecked())
def setDestinyXYValues(self, newX, newY):
self.XValue.setText(str(newX))
self.YValue.setText(str(newY))
def setPositionXYValues(self, newX, newY):
self.VValue.setText(str(newX))
self.WValue.setText(str(newY))
class MainWindow(QtGui.QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal()
updGUI=QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.colorFilterWidget=ColorFilterWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.stopButton.clicked.connect(self.stopClicked)
self.colorFilter.stateChanged.connect(self.showColorFilterWidget)
def setSensor(self,sensor):
self.sensor=sensor
def getSensor(self):
return self.sensor
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
self.colorFilterWidget.imageUpdate.emit()
def width(self):
return self.map.width
def height(self):
return self.map.height
def getPathClicked(self):
self.getPathSig.emit()
def playClicked(self):
print "play clicked"
self.sensor.setPlayButton(True)
def stopClicked(self):
print "Stop clicked"
self.sensor.setPlayButton(False)
self.sensor.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self,newW,newV):
self.WValue.setText(unicode(newW))
self.VValue.setText(unicode(-newV))
self.sensor.setV(-newV)
self.sensor.setW(newW)
def closeColorFilterWidget(self):
self.colorFilter.setChecked(False)
def showColorFilterWidget(self, state):
if state == QtCore.Qt.Checked:
self.colorFilterWidget.show()
else:
self.colorFilterWidget.close()
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal()
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop = TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.stopButton.clicked.connect(self.stopClicked)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self, motors):
self.motors = motors
def setAlgorithm(self, algorithm):
self.algorithm = algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
self.getPathSig.emit()
def playClicked(self):
print("Play clicked")
self.algorithm.play()
def stopClicked(self):
print("Stop clicked")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self, newW, newV):
self.WValue.setText(str(newW))
self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
class MainWindow(QMainWindow, Ui_MainWindow):
getPathSig = QtCore.pyqtSignal()
updGUI = QtCore.pyqtSignal()
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.teleop=TeleopWidget(self)
self.tlLayout.addWidget(self.teleop)
self.map = Map(self)
self.mapLayout.addWidget(self.map)
self.teleop.setVisible(True)
self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height())
self.logoLayout.addWidget(self.logo)
self.logo.setVisible(True)
self.updGUI.connect(self.updateGUI)
self.getPathButton.clicked.connect(self.getPathClicked)
self.playButton.clicked.connect(self.playClicked)
self.playButton.setCheckable(True)
#self.stopButton.clicked.connect(self.stopClicked)
def setSensor(self, sensor):
self.sensor = sensor
def getSensor(self):
return self.sensor
def getMotors(self):
return self.motors
def setMotors(self,motors):
self.motors=motors
def setAlgorithm(self, algorithm ):
self.algorithm=algorithm
def setVelocity(self, vel):
self.vel = vel
def getVelocity(self):
return self.vel
def getAlgorithm(self):
return self.algorithm
def setGrid(self, grid):
self.grid = grid
self.grid.setMap(self.map.map)
def updateGUI(self):
self.map.updateMap(self.grid)
def width(self):
return self.map.width
def height(self):
return self.map.height
def worldWidth(self):
return self.map.worldWidth
def worldHeight(self):
return self.map.worldHeight
def origX(self):
return self.map.originX
def origY(self):
return self.map.originY
def mapAngle(self):
return self.map.mapAngle
def getPathClicked(self):
self.getPathSig.emit()
def playClicked(self):
if self.playButton.isChecked():
icon = QtGui.QIcon()
self.playButton.setText("Stop Code")
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.playButton.setText("Play Code")
self.algorithm.stop()
self.setXYValues(0, 0)
self.teleop.stopSIG.emit()
def setXYValues(self,newW,newV):
self.WValue.setText(str(newW))
self.VValue.setText(str(-newV))
myW = newW * self.vel.getMaxW()
myV = -newV * self.vel.getMaxV()
self.vel.setV(myV)
self.vel.setW(myW)
