def setupRealTimePlot(self):
self.realTimePlot = CustomFigCanvas()
self.LAYOUT_A.addWidget(self.realTimePlot,
*(0,
0)) # put the preview window in the layout
self.btn_zoom.clicked.connect(
self.realTimePlot.zoom) # connect qt signal to zoom funcion
class GUI(QMainWindow,Ui_MainWindow):
def __init__(self):
QMainWindow.__init__(self,None,Qt.WindowStaysOnTopHint)
Ui_MainWindow.__init__(self)
self.updateRate = 15 # (ms) update rate of the GUI, vision, plot
self.setupUi(self)
self.setupTimer()
try:
joystick
except NameError:
self.setupSubThread(field,vision,vision2)
else:
self.setupSubThread(field,vision,joystick)
self.setupRealTimePlot() # comment ou this line if you don't want a preview window
self.connectSignals()
self.linkWidgets()
#=====================================================
# [override] terminate the subThread and clear currents when closing the window
#=====================================================
def closeEvent(self,event):
self.thrd.stop()
self.timer.stop()
vision.closeCamera()
try:
vision2
except NameError:
pass
else:
vision2.closeCamera()
try:
joystick
except NameError:
pass
else:
joystick.quit()
self.clearField()
event.accept()
#=====================================================
# QTimer handles updates of the GUI, run at 60Hz
#=====================================================
def setupTimer(self):
self.timer = QTimer()
self.timer.timeout.connect(self.update)
self.timer.start(self.updateRate) # msec
def update(self):
vision.updateFrame()
try:
vision2
except NameError:
pass
else:
vision2.updateFrame()
try:
self.realTimePlot
except AttributeError:
pass
else:
self.updatePlot()
try:
joystick
except NameError:
pass
else:
joystick.update()
#=====================================================
# Connect buttons etc. of the GUI to callback functions
#=====================================================
def connectSignals(self):
# General Control Tab
self.dsb_x.valueChanged.connect(self.setFieldXYZ)
self.dsb_y.valueChanged.connect(self.setFieldXYZ)
self.dsb_z.valueChanged.connect(self.setFieldXYZ)
self.btn_clearCurrent.clicked.connect(self.clearField)
self.dsb_xGradient.valueChanged.connect(self.setFieldXYZGradient)
self.dsb_yGradient.valueChanged.connect(self.setFieldXYZGradient)
self.dsb_zGradient.valueChanged.connect(self.setFieldXYZGradient)
# Vision Tab
self.highlighter = syntax.Highlighter(self.editor_vision.document())
self.chb_bypassFilters.toggled.connect(self.on_chb_bypassFilters)
self.btn_refreshFilterRouting.clicked.connect(self.on_btn_refreshFilterRouting)
self.btn_snapshot.clicked.connect(self.on_btn_snapshot)
# object detection
self.chb_objectDetection.toggled.connect(self.on_chb_objectDetection)
# Subthread Tab
self.cbb_subThread.currentTextChanged.connect(self.on_cbb_subThread)
self.cbb_subThread.currentTextChanged.connect(self.on_chb_changeSubthread)
self.cbb_subThread.currentTextChanged.connect(self.on_chb_switchSubthread)
self.chb_startStopSubthread.toggled.connect(self.on_chb_startStopSubthread)
self.dsb_subThreadParam0.valueChanged.connect(self.thrd.setParam0)
self.dsb_subThreadParam1.valueChanged.connect(self.thrd.setParam1)
self.dsb_subThreadParam2.valueChanged.connect(self.thrd.setParam2)
self.dsb_subThreadParam3.valueChanged.connect(self.thrd.setParam3)
self.dsb_subThreadParam4.valueChanged.connect(self.thrd.setParam4)
self.dsb_desiredSeparation.valueChanged.connect(self.setDesiredSeparation)
#=====================================================
# Link GUI elements
#=====================================================
def linkWidgets(self):
# link slider to doubleSpinBox
self.dsb_x.valueChanged.connect(lambda value: self.hsld_x.setValue(int(value*100)))
self.dsb_y.valueChanged.connect(lambda value: self.hsld_y.setValue(int(value*100)))
self.dsb_z.valueChanged.connect(lambda value: self.hsld_z.setValue(int(value*100)))
self.hsld_x.valueChanged.connect(lambda value: self.dsb_x.setValue(float(value/100)))
self.hsld_y.valueChanged.connect(lambda value: self.dsb_y.setValue(float(value/100)))
self.hsld_z.valueChanged.connect(lambda value: self.dsb_z.setValue(float(value/100)))
self.dsb_xGradient.valueChanged.connect(lambda value: self.hsld_xGradient.setValue(int(value*100)))
self.dsb_yGradient.valueChanged.connect(lambda value: self.hsld_yGradient.setValue(int(value*100)))
self.dsb_zGradient.valueChanged.connect(lambda value: self.hsld_zGradient.setValue(int(value*100)))
self.hsld_xGradient.valueChanged.connect(lambda value: self.dsb_xGradient.setValue(float(value/100)))
self.hsld_yGradient.valueChanged.connect(lambda value: self.dsb_yGradient.setValue(float(value/100)))
self.hsld_zGradient.valueChanged.connect(lambda value: self.dsb_zGradient.setValue(float(value/100)))
#=====================================================
# Thread Example
#=====================================================
def setupSubThread(self,field,vision,vision2,joystick=None):
if joystick:
self.thrd = SubThread(field,vision,vision2,joystick)
else:
self.thrd = SubThread(field,vision,vision2)
self.thrd.statusSignal.connect(self.updateSubThreadStatus)
self.thrd.finished.connect(self.finishSubThreadProcess)
# updating GUI according to the status of the subthread
@pyqtSlot(str)
def updateSubThreadStatus(self, receivedStr):
print('Received message from subthread: ',receivedStr)
# show something on GUI
# run when the subthread is termianted
@pyqtSlot()
def finishSubThreadProcess(self):
print('Subthread is terminated.')
vision.clearDrawingRouting()
self.clearField()
# disable some buttons etc.
#=====================================================
# Real time plot
# This is showing actual coil current that is stored in field.x, field.y, field.z
# Note: the figure is updating at the speed of self.updateRate defined in _init_
#=====================================================
def setupRealTimePlot(self):
self.realTimePlot = CustomFigCanvas()
self.LAYOUT_A.addWidget(self.realTimePlot, *(0,0)) # put the preview window in the layout
self.btn_zoom.clicked.connect(self.realTimePlot.zoom) # connect qt signal to zoom funcion
def updatePlot(self):
#print(field.y)
self.realTimePlot.addDataX(field.x)
self.realTimePlot.addDataY(field.y)
self.realTimePlot.addDataZ(field.z)
#=====================================================
# Callback Functions
#=====================================================
# General control tab
def setFieldXYZ(self):
field.setX(self.dsb_x.value())
field.setY(self.dsb_y.value())
field.setZ(self.dsb_z.value())
field.setMagnitude(round(sqrt(pow(self.dsb_x.value(),2)+pow(self.dsb_y.value(),2)+pow(self.dsb_z.value(),2)),2))
def clearField(self):
self.dsb_x.setValue(0)
self.dsb_y.setValue(0)
self.dsb_z.setValue(0)
self.dsb_xGradient.setValue(0)
self.dsb_yGradient.setValue(0)
self.dsb_zGradient.setValue(0)
field.setXYZ(0,0,0)
def setFieldXYZGradient(self):
field.setXGradient(10,self.dsb_xGradient.value())
field.setYGradient(10,self.dsb_yGradient.value())
field.setZGradient(10,self.dsb_zGradient.value())
field.setMagnitude(0)
# vision tab
def on_chb_bypassFilters(self,state):
vision.setStateFiltersBypassed(state)
vision2.setStateFiltersBypassed(state)
def on_btn_refreshFilterRouting(self):
vision.createFilterRouting(self.editor_vision.toPlainText().splitlines())
vision2.createFilterRouting(self.editor_vision.toPlainText().splitlines())
def on_btn_snapshot(self):
vision.setStateSnapshotEnabled(True)
vision2.setStateSnapshotEnabled(True)
def on_chb_objectDetection(self,state):
algorithm = self.cbb_objectDetectionAlgorithm.currentText()
vision.setStateObjectDetection(state,algorithm)
vision2.setStateObjectDetection(state,algorithm)
self.cbb_objectDetectionAlgorithm.setEnabled(not state)
vision.clearAgentDrawing(state)
vision2.clearAgentDrawing(state)
# subthread
def on_cbb_subThread(self,subThreadName):
# an array that stores the name for params. Return param0, param1, ... if not defined.
labelNames = self.thrd.labelOnGui.get(subThreadName,self.thrd.labelOnGui['default'])
minVals = self.thrd.minOnGui.get(subThreadName,self.thrd.minOnGui['default'])
maxVals = self.thrd.maxOnGui.get(subThreadName,self.thrd.maxOnGui['default'])
defaultVals = self.thrd.defaultValOnGui.get(subThreadName,self.thrd.defaultValOnGui['default'])
for i in range(5):
targetLabel = 'lbl_subThreadParam' + str(i)
targetSpinbox = 'dsb_subThreadParam' + str(i)
getattr(self,targetLabel).setText(labelNames[i])
getattr(self,targetSpinbox).setMinimum(minVals[i])
getattr(self,targetSpinbox).setMaximum(maxVals[i])
getattr(self,targetSpinbox).setValue(defaultVals[i])
def on_chb_startStopSubthread(self,state):
subThreadName = self.cbb_subThread.currentText()
if state:
self.cbb_subThread.setEnabled(True)
self.thrd.setup(subThreadName)
self.thrd.start()
print('Subthread "{}" starts.'.format(subThreadName))
else:
self.cbb_subThread.setEnabled(True)
field.setFrequency(0)
field.setMagnitude(0)
vision.setOrientation(None)
vision.setSeparation(None)
self.thrd.stop()
def on_chb_changeSubthread(self): #use this fcn to stop current subthread
subThreadName = self.cbb_subThread.currentText()
if self.chb_startStopSubthread.isChecked() == True:
self.thrd.stop()
#print('Subthread "{}" starts.'.format(subThreadName))
def on_chb_switchSubthread(self): #use this fcn to start new subthread
subThreadName = self.cbb_subThread.currentText()
if self.chb_startStopSubthread.isChecked() == True:
time.sleep(0.1) #use time lag to achieve stop -> restart in order
self.thrd.setup(subThreadName)
self.thrd.start()
print('Subthread "{}" starts.'.format(subThreadName))
def setDesiredSeparation(self,val):
vision.setSeparation(val)
class GUI(QMainWindow, Ui_MainWindow):
def __init__(self):
QMainWindow.__init__(self, None, Qt.WindowStaysOnTopHint)
Ui_MainWindow.__init__(self)
self.updateRate = 15 # (ms) update rate of the GUI, vision, plot
self.setupUi(self)
self.setupTimer()
try:
joystick
except NameError:
self.setupSubThread(field, vision)
else:
self.setupSubThread(field, vision, joystick)
# comment ou this line if you don't want a preview window
self.setupRealTimePlot()
self.connectSignals()
self.linkWidgets()
self.initDataBuffers()
#=====================================================
# [override] terminate the subThread and clear currents when closing the
# window
#=====================================================
def closeEvent(self, event):
self.thrd.stop()
self.timer.stop()
vision.closeCamera()
try:
vision2
except NameError:
pass
else:
vision2.closeCamera()
try:
joystick
except NameError:
pass
else:
joystick.quit()
self.clearField()
event.accept()
#=====================================================
# QTimer handles updates of the GUI, run at 60Hz
#=====================================================
def setupTimer(self):
self.timer = QTimer()
self.timer.timeout.connect(self.update)
self.timer.start(self.updateRate) # msec
def update(self):
vision.updateFrame()
try:
vision2
except NameError:
pass
else:
vision2.updateFrame()
try:
self.realTimePlot
except AttributeError:
pass
else:
self.updatePlot()
try:
joystick
except NameError:
pass
else:
joystick.update()
#=====================================================
# Connect buttons etc. of the GUI to callback functions
#=====================================================
def connectSignals(self):
# General Control Tab
self.dsb_x.valueChanged.connect(self.setFieldXYZ)
self.dsb_y.valueChanged.connect(self.setFieldXYZ)
self.dsb_z.valueChanged.connect(self.setFieldXYZ)
self.btn_clearCurrent.clicked.connect(self.clearField)
self.dsb_xGradient.valueChanged.connect(self.setFieldXYZGradient)
self.dsb_yGradient.valueChanged.connect(self.setFieldXYZGradient)
self.dsb_zGradient.valueChanged.connect(self.setFieldXYZGradient)
# Vision Tab
self.highlighter = syntax.Highlighter(self.editor_vision.document())
self.chb_bypassFilters.toggled.connect(self.on_chb_bypassFilters)
self.btn_refreshFilterRouting.clicked.connect(
self.on_btn_refreshFilterRouting)
self.btn_snapshot.clicked.connect(self.on_btn_snapshot)
# object detection
self.chb_objectDetection.toggled.connect(self.on_chb_objectDetection)
# Subthread Tab
self.cbb_subThread.currentTextChanged.connect(self.on_cbb_subThread)
self.chb_startStopSubthread.toggled.connect(
self.on_chb_startStopSubthread)
self.dsb_subThreadParam0.valueChanged.connect(self.thrd.setParam0)
self.dsb_subThreadParam1.valueChanged.connect(self.thrd.setParam1)
self.dsb_subThreadParam2.valueChanged.connect(self.thrd.setParam2)
self.dsb_subThreadParam3.valueChanged.connect(self.thrd.setParam3)
self.dsb_subThreadParam4.valueChanged.connect(self.thrd.setParam4)
#=====================================================
# Link GUI elements
#=====================================================
def linkWidgets(self):
# link slider to doubleSpinBox
self.dsb_x.valueChanged.connect(
lambda value: self.hsld_x.setValue(int(value * 100)))
self.dsb_y.valueChanged.connect(
lambda value: self.hsld_y.setValue(int(value * 100)))
self.dsb_z.valueChanged.connect(
lambda value: self.hsld_z.setValue(int(value * 100)))
self.hsld_x.valueChanged.connect(
lambda value: self.dsb_x.setValue(float(value / 100)))
self.hsld_y.valueChanged.connect(
lambda value: self.dsb_y.setValue(float(value / 100)))
self.hsld_z.valueChanged.connect(
lambda value: self.dsb_z.setValue(float(value / 100)))
self.dsb_xGradient.valueChanged.connect(
lambda value: self.hsld_xGradient.setValue(int(value * 100)))
self.dsb_yGradient.valueChanged.connect(
lambda value: self.hsld_yGradient.setValue(int(value * 100)))
self.dsb_zGradient.valueChanged.connect(
lambda value: self.hsld_zGradient.setValue(int(value * 100)))
self.hsld_xGradient.valueChanged.connect(
lambda value: self.dsb_xGradient.setValue(float(value / 100)))
self.hsld_yGradient.valueChanged.connect(
lambda value: self.dsb_yGradient.setValue(float(value / 100)))
self.hsld_zGradient.valueChanged.connect(
lambda value: self.dsb_zGradient.setValue(float(value / 100)))
#=====================================================
# Thread Example
#=====================================================
def setupSubThread(self, field, vision, joystick=None):
if joystick:
self.thrd = SubThread(field, vision, joystick)
else:
self.thrd = SubThread(field, vision)
self.thrd.statusSignal.connect(self.updateSubThreadStatus)
self.thrd.finished.connect(self.finishSubThreadProcess)
# updating GUI according to the status of the subthread
@pyqtSlot(str)
def updateSubThreadStatus(self, receivedStr):
print('Received message from subthread: ', receivedStr)
# show something on GUI
# run when the subthread is termianted
@pyqtSlot()
def finishSubThreadProcess(self):
print('Subthread is terminated.')
vision.clearDrawingRouting()
self.clearField()
# disable some buttons etc.
#=====================================================
# Real time plot
# This is showing requested flux density that is stored in
# field.bxSetpoint, field.bySetpoint, field.bzSetpoint
# Note: the figure is updating at the speed of self.updateRate defined in
# __init__.
#=====================================================
def setupRealTimePlot(self):
self.realTimePlot = CustomFigCanvas()
# put the preview window in the layout
self.LAYOUT_A.addWidget(self.realTimePlot, *(0, 0))
# connect qt signal to zoom funcion
self.btn_zoom.clicked.connect(self.realTimePlot.zoom)
def updatePlot(self):
# Update the measured coil currents and estimated field values
field.getXYZ()
# Update the values on the plot
self.realTimePlot.addDataX(field.bxEstimate)
self.realTimePlot.addDataY(field.byEstimate)
self.realTimePlot.addDataZ(field.bzEstimate)
# Filter the monitor values for easier viewing
self.ix1Buf[0] = field.ix1
self.ix1Buf = np.roll(self.ix1Buf, 1)
self.ix2Buf[0] = field.ix2
self.ix2Buf = np.roll(self.ix2Buf, 1)
self.iy1Buf[0] = field.iy1
self.iy1Buf = np.roll(self.iy1Buf, 1)
self.iy2Buf[0] = field.iy2
self.iy2Buf = np.roll(self.iy2Buf, 1)
self.iz1Buf[0] = field.iz1
self.iz1Buf = np.roll(self.iz1Buf, 1)
self.iz2Buf[0] = field.iz2
self.iz2Buf = np.roll(self.iz2Buf, 1)
self.bxEstBuf[0] = field.bxEstimate
self.bxEstBuf = np.roll(self.bxEstBuf, 1)
self.byEstBuf[0] = field.byEstimate
self.byEstBuf = np.roll(self.byEstBuf, 1)
self.bzEstBuf[0] = field.bzEstimate
self.bzEstBuf = np.roll(self.bzEstBuf, 1)
# Update the monitor values for the currents and fields
self.label_x1.setText('{0:0.1f}'.format(np.mean(self.ix1Buf)))
self.label_x2.setText('{0:0.1f}'.format(np.mean(self.ix2Buf)))
self.label_xBreq.setText('{0:0.1f}'.format(field.bxSetpoint))
self.label_xBact.setText('{0:0.1f}'.format(np.mean(self.bxEstBuf)))
self.label_y1.setText('{0:0.1f}'.format(np.mean(self.iy1Buf)))
self.label_y2.setText('{0:0.1f}'.format(np.mean(self.iy2Buf)))
self.label_yBreq.setText('{0:0.1f}'.format(field.bySetpoint))
self.label_yBact.setText('{0:0.1f}'.format(np.mean(self.byEstBuf)))
self.label_z1.setText('{0:0.1f}'.format(np.mean(self.iz1Buf)))
self.label_z2.setText('{0:0.1f}'.format(np.mean(self.iz2Buf)))
self.label_zBreq.setText('{0:0.1f}'.format(field.bzSetpoint))
self.label_zBact.setText('{0:0.1f}'.format(np.mean(self.bzEstBuf)))
#=====================================================
# Callback Functions
#=====================================================
# General control tab
def setFieldXYZ(self):
field.setX(self.dsb_x.value())
field.setY(self.dsb_y.value())
field.setZ(self.dsb_z.value())
def clearField(self):
self.dsb_x.setValue(0)
self.dsb_y.setValue(0)
self.dsb_z.setValue(0)
self.dsb_xGradient.setValue(0)
self.dsb_yGradient.setValue(0)
self.dsb_zGradient.setValue(0)
field.setXYZ(0, 0, 0)
def setFieldXYZGradient(self):
field.setXGradient(self.dsb_xGradient.value())
field.setYGradient(self.dsb_yGradient.value())
field.setZGradient(self.dsb_zGradient.value())
# vision tab
def on_chb_bypassFilters(self, state):
vision.setStateFiltersBypassed(state)
def on_btn_refreshFilterRouting(self):
vision.createFilterRouting(
self.editor_vision.toPlainText().splitlines())
def on_btn_snapshot(self):
vision.setStateSnapshotEnabled(True)
def on_chb_objectDetection(self, state):
algorithm = self.cbb_objectDetectionAlgorithm.currentText()
vision.setStateObjectDetection(state, algorithm)
self.cbb_objectDetectionAlgorithm.setEnabled(not state)
# subthread
def on_cbb_subThread(self, subThreadName):
# an array that stores the name for params. Return param0, param1, ...
# if not defined.
labelNames = self.thrd.labelOnGui.get(subThreadName,
self.thrd.labelOnGui['default'])
minVals = self.thrd.minOnGui.get(subThreadName,
self.thrd.minOnGui['default'])
maxVals = self.thrd.maxOnGui.get(subThreadName,
self.thrd.maxOnGui['default'])
defaultVals = self.thrd.defaultValOnGui.get(
subThreadName, self.thrd.defaultValOnGui['default'])
for i in range(5):
targetLabel = 'lbl_subThreadParam' + str(i)
targetSpinbox = 'dsb_subThreadParam' + str(i)
getattr(self, targetLabel).setText(labelNames[i])
getattr(self, targetSpinbox).setMinimum(minVals[i])
getattr(self, targetSpinbox).setMaximum(maxVals[i])
getattr(self, targetSpinbox).setValue(defaultVals[i])
def on_chb_startStopSubthread(self, state):
subThreadName = self.cbb_subThread.currentText()
if state:
self.cbb_subThread.setEnabled(False)
self.thrd.setup(subThreadName)
self.thrd.start()
print('Subthread "{}" starts.'.format(subThreadName))
else:
self.cbb_subThread.setEnabled(True)
self.thrd.stop()
def initDataBuffers(self):
bufLength = 15
self.ix1Buf = np.zeros(bufLength)
self.ix2Buf = np.zeros(bufLength)
self.iy1Buf = np.zeros(bufLength)
self.iy2Buf = np.zeros(bufLength)
self.iz1Buf = np.zeros(bufLength)
self.iz2Buf = np.zeros(bufLength)
self.bxEstBuf = np.zeros(bufLength)
self.byEstBuf = np.zeros(bufLength)
self.bzEstBuf = np.zeros(bufLength)
class GUI(QMainWindow, Ui_MainWindow):
def __init__(self):
QMainWindow.__init__(self, None, Qt.WindowStaysOnTopHint)
Ui_MainWindow.__init__(self)
self.updateRate = 15 # (ms) update rate of the GUI, vision, plot
self.setupUi(self)
self.setupTimer()
self.setupSubThread(field, vision)
self.setupRealTimePlot(
) # comment ou this line if you don't want a preview window
self.connectSignals()
self.linkWidgets()
#=====================================================
# [override] terminate the subThread and clear currents when closing the window
#=====================================================
def closeEvent(self, event):
self.thrd.stop()
self.timer.stop()
vision.cam.stop_video()
try:
vision2
except NameError:
pass
else:
vision2.cam.stop_video()
self.clearField()
event.accept()
#=====================================================
# QTimer handles updates of the GUI, run at 60Hz
#=====================================================
def setupTimer(self):
self.timer = QTimer()
self.timer.timeout.connect(self.update)
self.timer.start(self.updateRate) # msec
def update(self):
vision.updateFrame()
try:
vision2
except NameError:
pass
else:
vision2.updateFrame()
try:
self.realTimePlot
except AttributeError:
pass
else:
self.updatePlot()
#=====================================================
# Connect buttons etc. of the GUI to callback functions
#=====================================================
def connectSignals(self):
# XYZ Mode Tab
self.dsb_x.valueChanged.connect(self.setField)
self.dsb_y.valueChanged.connect(self.setField)
self.dsb_z.valueChanged.connect(self.setField)
self.dsb_pxpx.valueChanged.connect(self.setField)
self.dsb_pxpy.valueChanged.connect(self.setField)
self.dsb_pxpz.valueChanged.connect(self.setField)
self.dsb_pypy.valueChanged.connect(self.setField)
self.dsb_pypz.valueChanged.connect(self.setField)
self.btn_clearCurrent.clicked.connect(self.clearField)
# Angle Mode Tab
self.dsb_mag.valueChanged.connect(self.setFieldByAngle)
self.dsb_azimuth.valueChanged.connect(self.setFieldByAngle)
self.dsb_polar.valueChanged.connect(self.setFieldByAngle)
# Vision Tab
self.highlighter = syntax.Highlighter(self.editor_vision.document())
self.chb_bypassFilters.toggled.connect(self.on_chb_bypassFilters)
self.chb_startPauseCapture.toggled.connect(
self.on_chb_startPauseCapture)
self.btn_refreshFilterRouting.clicked.connect(
self.on_btn_refreshFilterRouting)
# object detection
self.chb_objectDetection.toggled.connect(self.on_chb_objectDetection)
# Subthread Tab
self.cbb_subThread.currentTextChanged.connect(self.on_cbb_subThread)
self.chb_startStopSubthread.toggled.connect(
self.on_chb_startStopSubthread)
self.dsb_subThreadParam0.valueChanged.connect(self.thrd.setParam0)
self.dsb_subThreadParam1.valueChanged.connect(self.thrd.setParam1)
self.dsb_subThreadParam2.valueChanged.connect(self.thrd.setParam2)
self.dsb_subThreadParam3.valueChanged.connect(self.thrd.setParam3)
self.dsb_subThreadParam4.valueChanged.connect(self.thrd.setParam4)
#=====================================================
# Link GUI elements
#=====================================================
def linkWidgets(self):
# XYZ Mode
self.dsb_x.valueChanged.connect(
lambda value: self.hsld_x.setValue(int(value * 100)))
self.dsb_y.valueChanged.connect(
lambda value: self.hsld_y.setValue(int(value * 100)))
self.dsb_z.valueChanged.connect(
lambda value: self.hsld_z.setValue(int(value * 100)))
self.hsld_x.valueChanged.connect(
lambda value: self.dsb_x.setValue(float(value / 100)))
self.hsld_y.valueChanged.connect(
lambda value: self.dsb_y.setValue(float(value / 100)))
self.hsld_z.valueChanged.connect(
lambda value: self.dsb_z.setValue(float(value / 100)))
# Angle Mode
self.dsb_mag.valueChanged.connect(
lambda value: self.hsld_mag.setValue(int(value * 100)))
self.dsb_azimuth.valueChanged.connect(
lambda value: self.hsld_azimuth.setValue(int(value * 10)))
self.dsb_polar.valueChanged.connect(
lambda value: self.hsld_polar.setValue(int(value * 10)))
self.hsld_mag.valueChanged.connect(
lambda value: self.dsb_mag.setValue(float(value / 100)))
self.hsld_azimuth.valueChanged.connect(
lambda value: self.dsb_azimuth.setValue(float(value / 10)))
self.hsld_polar.valueChanged.connect(
lambda value: self.dsb_polar.setValue(float(value / 10)))
#=====================================================
# Thread Example
#=====================================================
def setupSubThread(self, field, vision):
self.thrd = SubThread(field, vision)
self.thrd.statusSignal.connect(self.updateSubThreadStatus)
self.thrd.finished.connect(self.finishSubThreadProcess)
# updating GUI according to the status of the subthread
@pyqtSlot(str)
def updateSubThreadStatus(self, receivedStr):
print('Received message from subthread: ', receivedStr)
# show something on GUI
# run when the subthread is termianted
@pyqtSlot()
def finishSubThreadProcess(self):
print('Subthread is terminated.')
self.clearField()
# disable some buttons etc.
#=====================================================
# Real time plot
# This is showing actual coil current that is stored in field.x, field.y, field.z
# Note: the figure is updating at the speed of self.updateRate defined in _init_
#=====================================================
def setupRealTimePlot(self):
self.realTimePlot = CustomFigCanvas()
self.LAYOUT_A.addWidget(self.realTimePlot,
*(0,
0)) # put the preview window in the layout
self.btn_zoom.clicked.connect(
self.realTimePlot.zoom) # connect qt signal to zoom funcion
def updatePlot(self):
self.realTimePlot.addDataX(field.vecField[0])
self.realTimePlot.addDataY(field.vecField[1])
self.realTimePlot.addDataZ(field.vecField[2])
#=====================================================
# Callback Functions
#=====================================================
# general field Control
def setField(self):
''' XYZ Mode '''
field.setField([
self.dsb_x.value(),
self.dsb_y.value(),
self.dsb_z.value(),
self.dsb_pxpx.value(),
self.dsb_pxpy.value(),
self.dsb_pxpz.value(),
self.dsb_pypy.value(),
self.dsb_pypz.value()
])
def setFieldByAngle(self):
''' Angle Mode. No gradient. '''
magnitude = self.dsb_mag.value()
azimuth = self.dsb_azimuth.value()
polar = self.dsb_polar.value()
fieldX = magnitude * cosd(polar) * cosd(azimuth)
fieldY = magnitude * cosd(polar) * sind(azimuth)
fieldZ = magnitude * sind(polar)
print(fieldX, fieldY, fieldZ)
field.setField([fieldX, fieldY, fieldZ, 0, 0, 0, 0, 0])
def clearField(self):
field.setField([0, 0, 0, 0, 0, 0, 0, 0])
self.dsb_x.setValue(0)
self.dsb_y.setValue(0)
self.dsb_z.setValue(0)
self.dsb_pxpx.setValue(0)
self.dsb_pxpy.setValue(0)
self.dsb_pxpz.setValue(0)
self.dsb_pypy.setValue(0)
self.dsb_pypz.setValue(0)
self.dsb_mag.setValue(0)
self.dsb_azimuth.setValue(0)
self.dsb_polar.setValue(0)
# vision tab
def on_chb_bypassFilters(self, state):
vision.setStateFiltersBypassed(state)
def on_chb_startPauseCapture(self, state):
vision.setStateUpdate(state)
def on_btn_refreshFilterRouting(self):
vision.createFilterRouting(
self.editor_vision.toPlainText().splitlines())
def on_chb_objectDetection(self, state):
algorithm = self.cbb_objectDetectionAlgorithm.currentText()
vision.setStateObjectDetection(state, algorithm)
self.cbb_objectDetectionAlgorithm.setEnabled(not state)
# subthread
def on_cbb_subThread(self, subThreadName):
# an array that stores the name for params. Return param0, param1, ... if not defined.
labelNames = self.thrd.labelOnGui.get(subThreadName,
self.thrd.labelOnGui['default'])
minVals = self.thrd.minOnGui.get(subThreadName,
self.thrd.minOnGui['default'])
maxVals = self.thrd.maxOnGui.get(subThreadName,
self.thrd.maxOnGui['default'])
defaultVals = self.thrd.defaultValOnGui.get(
subThreadName, self.thrd.defaultValOnGui['default'])
for i in range(5):
targetLabel = 'lbl_subThreadParam' + str(i)
targetSpinbox = 'dsb_subThreadParam' + str(i)
getattr(self, targetLabel).setText(labelNames[i])
getattr(self, targetSpinbox).setMinimum(minVals[i])
getattr(self, targetSpinbox).setMaximum(maxVals[i])
getattr(self, targetSpinbox).setValue(defaultVals[i])
def on_chb_startStopSubthread(self, state):
subThreadName = self.cbb_subThread.currentText()
if state:
self.cbb_subThread.setEnabled(False)
self.thrd.setup(subThreadName)
self.thrd.start()
print('Subthread "{}" starts.'.format(subThreadName))
else:
self.cbb_subThread.setEnabled(True)
self.thrd.stop()