class MainWindow(QtWidgets.QMainWindow):
# For debugging object count, use: print("CHILDREN: ", len(self.findChildren(QtCore.QObject)))
def __init__(self):
super(MainWindow, self).__init__()
# Initialize the environment. Robot, camera, and objects will be loaded into the "logic" side of things
self.env = Environment(Paths.settings_txt, Paths.objects_dir, Paths.cascade_dir)
if self.env.getSetting("language") is None:
try:
if locale.getdefaultlocale()[0] == 'zh_CN':
self.switchLanguage('zh_CN')
except ValueError:
printf("Can not detect system locale")
elif self.env.getSetting("language") == 'zh_CN':
self.switchLanguage('zh_CN')
self.interpreter = Interpreter(self.env)
# Set the ConsoleWidget parameters immediately, so even early prints are captured
self.consoleWidget = Console(self.env.getSetting('consoleSettings'), parent=self)
Global.printRedirectFunc = self.consoleWidget.write
self.consoleWidget.setExecFunction(self.interpreter.evaluateExpression)
# Create GUI related class variables
self.fileName = None
self.loadData = [] #Set when file is loaded. Used to check if the user has changed anything when closing
self.programTitle = self.tr('uArm Creator Studio')
self.scriptToggleBtn = QtWidgets.QAction(QtGui.QIcon(Paths.run_script), self.tr('Run'), self)
self.devicesBtn = QtWidgets.QAction(QtGui.QIcon(Paths.devices_neither), self.tr('Devices'), self)
self.centralWidget = QtWidgets.QStackedWidget()
self.controlPanel = ControlPanelGUI.ControlPanel(self.env, parent=self)
self.cameraWidget = CameraWidget(self.env.getVStream(), parent=self)
self.floatingHint = QtWidgets.QLabel() # Used to display floating banners to inform the user of something
# Create Menu items and set up the GUI
self.cameraWidget.play()
self.initUI()
# After initUI: Restore the window geometry to the state it was when the user last closed the window
if self.env.getSetting("windowGeometry") is not None:
state = self.env.getSetting("windowGeometry")
state = bytearray(state, 'utf-8')
bArr = QtCore.QByteArray.fromHex(state)
self.restoreGeometry(bArr)
# After initUI: Restore size and position of dockwidgets to their previous state
if self.env.getSetting("windowState") is not None:
state = self.env.getSetting("windowState")
state = bytearray(state, 'utf-8')
bArr = QtCore.QByteArray.fromHex(state)
self.restoreState(bArr)
# If any file is specified in "lastOpenedFile" then load it.
if self.env.getSetting("lastOpenedFile") is not None:
self.loadTask(filename=self.env.getSetting("lastOpenedFile"))
else:
self.newTask(False)
# Create a timer that checks the connected devices and updates the icon to reflect what is connected correctly
self.refreshTimer = QtCore.QTimer()
self.refreshTimer.timeout.connect(self.refreshDevicesIcon)
self.refreshTimer.start(5000) # Once every five seconds
def initUI(self):
# Create "File" Menu
menuBar = self.menuBar()
menuBar.setNativeMenuBar(False)
# Connect any slots that need connecting
self.consoleWidget.settingsChanged.connect(lambda: self.env.updateSettings("consoleSettings",
self.consoleWidget.settings))
# Create File Menu and actions
fileMenu = menuBar.addMenu(self.tr('File'))
aboutAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_about), self.tr('About' ) , self)
newAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_new), self.tr('New Task' ) , self)
saveAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_save), self.tr('Save Task' ) , self)
saveAsAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_save), self.tr('Save Task As') , self)
loadAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_load), self.tr('Load Task' ) , self)
saveAction.setShortcut("Ctrl+S")
aboutAction.triggered.connect( lambda : QtWidgets.QMessageBox.information(self, self.tr("About"), self.tr("Version: ")+ Version.version))
newAction.triggered.connect( lambda: self.newTask(promptSave=True))
saveAction.triggered.connect( self.saveTask)
saveAsAction.triggered.connect( lambda: self.saveTask(True))
loadAction.triggered.connect( self.loadTask)
fileMenu.addAction(aboutAction)
fileMenu.addAction(newAction)
fileMenu.addAction(saveAction)
fileMenu.addAction(saveAsAction)
fileMenu.addAction(loadAction)
# Create Community Menu
communityMenu = menuBar.addMenu(self.tr('Community'))
forumAction = QtWidgets.QAction(QtGui.QIcon(Paths.taskbar), self.tr('Visit the forum!'), self)
redditAction = QtWidgets.QAction(QtGui.QIcon(Paths.reddit_link), self.tr('Visit our subreddit!'), self)
forumAction.triggered.connect( lambda: webbrowser.open("https://forum.ufactory.cc/", new=0, autoraise=True))
redditAction.triggered.connect(lambda: webbrowser.open("https://www.reddit.com/r/uArm/", new=0, autoraise=True))
communityMenu.addAction(forumAction)
communityMenu.addAction(redditAction)
# Create Resources Menu
resourceMenu = menuBar.addMenu(self.tr('New Resource'))
visAction = QtWidgets.QAction(QtGui.QIcon(Paths.event_recognize), self.tr('Vision Object' ) , self)
grpAction = QtWidgets.QAction(QtGui.QIcon(Paths.event_recognize), self.tr('Vision Group' ) , self)
recAction = QtWidgets.QAction(QtGui.QIcon(Paths.record_start), self.tr('Movement Recording') , self)
fncAction = QtWidgets.QAction(QtGui.QIcon(Paths.command_run_func), self.tr('Function' ) , self)
visAction.triggered.connect( lambda: MakeObjectWindow( None, self.env, parent=self))
grpAction.triggered.connect( lambda: MakeGroupWindow( None, self.env, parent=self))
recAction.triggered.connect( lambda: MakeRecordingWindow(None, self.env, parent=self))
fncAction.triggered.connect( lambda: MakeFunctionWindow( None, self.env, parent=self))
resourceMenu.addAction(visAction)
resourceMenu.addAction(grpAction)
resourceMenu.addAction(recAction)
resourceMenu.addAction(fncAction)
# Create Languages Menu
languageMenu = menuBar.addMenu(self.tr('Languages'))
enLanAction = QtWidgets.QAction(QtGui.QIcon(Paths.languages_english), self.tr('English' ) , self)
cnLanAction = QtWidgets.QAction(QtGui.QIcon(Paths.languages_chinese), self.tr('Chinese' ) , self)
cnLanAction.triggered.connect( lambda: self.switchLanguage('zh_CN'))
enLanAction.triggered.connect( lambda: app.removeTranslator(trans))
languageMenu.addAction(enLanAction)
languageMenu.addAction(cnLanAction)
# Add menus to menuBar
menuBar.addMenu(fileMenu)
menuBar.addMenu(communityMenu)
menuBar.addMenu(resourceMenu)
menuBar.addMenu(languageMenu)
# Create Toolbar
toolbar = self.addToolBar(self.tr("MainToolbar"))
toolbar.setToolButtonStyle(QtCore.Qt.ToolButtonTextBesideIcon)
calibrateBtn = QtWidgets.QAction(QtGui.QIcon(Paths.calibrate), self.tr('Calibrate'), self)
objMngrBtn = QtWidgets.QAction(QtGui.QIcon(Paths.objectManager), self.tr('Resources'), self)
self.scriptToggleBtn.setToolTip(self.tr('Run/Pause the command script (Ctrl+R)'))
self.devicesBtn.setToolTip(self.tr('Open Camera and Robot settings'),)
calibrateBtn.setToolTip(self.tr('Open Robot and Camera Calibration Center'))
objMngrBtn.setToolTip(self.tr('Open Resource Manager'))
self.scriptToggleBtn.setShortcut(self.tr('Ctrl+R'))
self.scriptToggleBtn.triggered.connect(self.toggleScript)
self.devicesBtn.triggered.connect(self.openDevices)
calibrateBtn.triggered.connect(self.openCalibrations)
objMngrBtn.triggered.connect(self.openObjectManager)
toolbar.addAction(self.scriptToggleBtn)
toolbar.addAction(self.devicesBtn)
toolbar.addAction(calibrateBtn)
toolbar.addAction(objMngrBtn)
# Add Camera Widget, as a QDockWidget
def createDockWidget(widget, name):
dockWidget = QtWidgets.QDockWidget()
dockWidget.setObjectName(name) # Without this, self.restoreState() won't work
dockWidget.setWindowTitle(name)
dockWidget.setWidget(widget)
dockWidget.setFeatures(QtWidgets.QDockWidget.DockWidgetFloatable |
QtWidgets.QDockWidget.DockWidgetMovable)
# titleBarWidget = QtWidgets.QWidget()
# iconLbl = QtWidgets.QLabel()
# iconLbl.setPixmap(QtGui.QPixmap(icon))
# titleLbl = QtWidgets.QLabel(name)
# mainHLayout = QtWidgets.QHBoxLayout()
# mainHLayout.addWidget(iconLbl)
# mainHLayout.addWidget(titleLbl)
# titleBarWidget.setLayout(mainHLayout)
# dockWidget.setTitleBarWidget(titleBarWidget)
return dockWidget
cameraDock = createDockWidget(self.cameraWidget, self.tr('Camera'))
consoleDock = createDockWidget(self.consoleWidget, self.tr('Console'))
# Add the consoleWidgets to the window, and tabify them
self.addDockWidget(QtCore.Qt.RightDockWidgetArea, cameraDock)
self.addDockWidget(QtCore.Qt.RightDockWidgetArea, consoleDock)
self.tabifyDockWidget(consoleDock, cameraDock)
# Create the main layout
self.setCentralWidget(self.controlPanel)
# Final touches
self.setWindowTitle(self.programTitle)
self.setWindowIcon(QtGui.QIcon(Paths.taskbar))
self.show()
def setVideo(self, state):
"""
Change the state of the videostream. The state can be play, pause, or simply "toggle
:param state: "play", "pause", or "toggle"
:return:
"""
printf("GUI| Setting video to state: ", state)
# Don't change anything if no camera ID has been added yet
cameraID = self.env.getSetting("cameraID")
if cameraID is None: return
if state == "toggle":
if self.env.getVStream().paused:
self.setVideo("play")
return
else:
self.setVideo("pause")
return
vStream = self.env.getVStream()
if state == "play":
# Make sure the videoStream object has a camera, or if the cameras changed, change it
# if not vStream.connected() or not vStream.cameraID == cameraID:
# vStream.setNewCamera(cameraID)
self.cameraWidget.play()
if state == "pause":
self.cameraWidget.pause()
def toggleScript(self):
# Run/pause the main script
if self.interpreter.threadRunning():
self.endScript()
else:
self.startScript()
def startScript(self):
if self.interpreter.threadRunning():
printf("GUI| ERROR: Tried to start interpreter while it was already running.")
return
printf("GUI| Interpreter is ready. Loading script and starting task")
# Load the script with the latest changes in the controlPanel, and get any relevant errors
self.interpreter.cleanNamespace() # Clear any changes the user did while it was running
self.interpreter.setExiting(False) # Make sure vision and robot are not in exiting mode
errors = self.interpreter.initializeScript(self.controlPanel.getSaveData())
# If there were errors during loading, present the user with the option to continue anyways
if len(errors):
errorText = ""
for error, errorObjects in errors.items():
errorText += "" + str(error) + "\n"
for errObject in errorObjects:
errorText += " " + str(errObject) + "\n"
errorText += '\n'
# Generate a message for the user to explain what parameters are missing
errorStr = self.tr('Certain Events and Commands are missing the following requirements to work properly: \n\n') + \
''.join(errorText) + \
self.tr('\nWould you like to continue anyways? Events and commands with errors will not activate.')
# Warn the user
reply = QtWidgets.QMessageBox.question(self, self.tr('Warning'), errorStr,
QtWidgets.QMessageBox.Cancel | QtWidgets.QMessageBox.Yes, QtWidgets.QMessageBox.Cancel)
if reply == QtWidgets.QMessageBox.Cancel:
printf("GUI| Script run canceled by user before starting.")
vision = self.env.getVision()
vision.endAllTrackers() # Clear any tracking that was started during interpreter initialization
return
# Prep the robot to start, so it always starts with servos attached and speed at 10
robot = self.env.getRobot()
robot.setActiveServos(all=True)
robot.setSpeed(10)
# Stop you from moving stuff around while script is running, and activate the visual cmmnd highlighting
self.interpreter.startThread(threaded=True)
self.controlPanel.setScriptModeOn(self.interpreter, self.endScript)
# Make sure the UI matches the state of the script
self.scriptToggleBtn.setIcon(QtGui.QIcon(Paths.pause_script))
self.scriptToggleBtn.setText("Stop")
def endScript(self):
# Tell the interpreter to exit the thread, then wait
if self.interpreter.threadRunning():
self.interpreter.setExiting(True)
self.interpreter.mainThread.join(2) # Give the thread 3 seconds to join
# Check to make sure the thread closed correctly
if self.interpreter.threadRunning():
# Generate a message for the user to explain what parameters are missing
errorStr = self.tr('The script was unable to end.\n' \
'This may mean the script crashed, or it is taking time finishing.\n\n' \
'If you are running Python code inside of this script, make sure you check isExiting() during' \
' loops, to exit code quickly when the stop button is pressed.')
# Warn the user
reply = QtWidgets.QMessageBox.question(self, 'Error', errorStr, QtWidgets.QMessageBox.Ok)
return
# Turn off the gripper, just in case. Do this AFTER interpreter ends, so as to not use Serial twice...
vision = self.env.getVision()
robot = self.env.getRobot()
robot.setExiting(False)
vision.setExiting(False)
robot.setPump(False)
# Since the robot might still be moving (and this activates servos continuously) wait for it to finish
robot.stopMoving()
robot.setActiveServos(all=False)
# Make sure vision filters are stopped
vision.endAllTrackers()
self.scriptToggleBtn.setIcon(QtGui.QIcon(Paths.run_script))
self.scriptToggleBtn.setText(self.tr("Start"))
def refreshDevicesIcon(self):
"""
This checks the status of the robot and camera, and updates the icon of the Devices toolbar button to reflect
the connection status of the robot and camera.
This should be run 5 seconds after the devices window closes, or 5 seconds after the program starts, to check
if the robot thread was able to connect or not.
"""
camera = self.env.getVStream()
robot = self.env.getRobot()
robotErrors = robot.getErrorsToDisplay()
if len(robotErrors) > 0:
reply = QtWidgets.QMessageBox.question(self, self.tr('Communication Errors'), self.tr("The following errors have occured "
"communicating with your robot.\nTry reconnecting under the Devices menu."
"\n\nERROR:\n") + "\n".join(robotErrors), QtWidgets.QMessageBox.Ok)
self.env.updateSettings("robotID", None)
robCon = robot.connected()
camCon = camera.connected()
icon = ""
if robCon and camCon: icon = Paths.devices_both
if robCon and not camCon: icon = Paths.devices_robot
if not robCon and camCon: icon = Paths.devices_camera
if not robCon and not camCon: icon = Paths.devices_neither
self.devicesBtn.setIcon(QtGui.QIcon(icon))
def openDevices(self):
# This handles the opening and closing of the Settings window.
printf("GUI| Opening Devices Window")
if self.interpreter.threadRunning(): self.endScript()
self.cameraWidget.pause()
deviceWindow = DeviceWindow(parent=self)
accepted = deviceWindow.exec_()
self.cameraWidget.play()
if not accepted:
printf("GUI| Cancel clicked, no settings applied.")
return
printf("GUI| Apply clicked, applying settings...")
if deviceWindow.getRobotSetting() is not None:
self.env.updateSettings("robotID", deviceWindow.getRobotSetting())
if deviceWindow.getCameraSetting() is not None:
self.env.updateSettings("cameraID", deviceWindow.getCameraSetting())
vStream = self.env.getVStream()
vStream.setNewCamera(self.env.getSetting('cameraID'))
# If the robots not connected, attempt to reestablish connection
robot = self.env.getRobot()
if not robot.connected():
robot.setUArm(self.env.getSetting('robotID'))
self.cameraWidget.play()
def openCalibrations(self):
# This handles the opening and closing of the Calibrations window
printf("GUI| Opening Calibrations Window")
if self.interpreter.threadRunning(): self.endScript()
self.cameraWidget.pause()
coordSettings = self.env.getSetting("coordCalibrations")
motionSettings = self.env.getSetting("motionCalibrations")
calibrationsWindow = CalibrateWindow(coordSettings, motionSettings, self.env, parent=self)
accepted = calibrationsWindow.exec_()
if accepted:
# Update all the settings
printf("GUI| Apply clicked, applying calibrations...")
# Update the settings
self.env.updateSettings("coordCalibrations", calibrationsWindow.getCoordSettings())
self.env.updateSettings("motionCalibrations", calibrationsWindow.getMotionSettings())
else:
printf("GUI| Cancel clicked, no calibrations applied.")
self.cameraWidget.play()
def openObjectManager(self, openResourceWindow=None):
# This handles the opening and closing of the ObjectManager window
printf("GUI| Opening ObjectManager Window")
if self.interpreter.threadRunning(): self.endScript()
# Make sure video thread is active and playing, but that the actual cameraWidget
self.setVideo("play")
self.cameraWidget.pause()
objMngrWindow = ObjectManagerWindow(self.env, self)
accepted = objMngrWindow.exec_()
objMngrWindow.close()
objMngrWindow.deleteLater()
self.setVideo("play")
def openResourceWindow(self, resourceWindowType):
"""
This can open a MakeGroupWindow, MakeRecordingWindow, or MakeFunctionWindow, handle its closing and garbage
collection, and create the object if the user clicks "finished"
:param menuType: MenuType is the Type of the menu object, such as EditGroupWindow or MakeFunctionWindow
:return:
"""
def newTask(self, promptSave):
if promptSave:
cancelPressed = self.promptSave()
if cancelPressed: # If the user cancelled the close
return
self.controlPanel.loadData([])
self.fileName = None
self.loadData = deepcopy(self.controlPanel.getSaveData())
self.setWindowTitle(self.programTitle)
def saveTask(self, promptSaveLocation):
printf("GUI| Saving project")
# If there is no filename, ask for one
if promptSaveLocation or self.fileName is None:
Global.ensurePathExists(Paths.saves_dir)
filename, _ = QtWidgets.QFileDialog.getSaveFileName(parent=self,
caption="Save Task",
filter="Task (*.task)",
directory=Paths.saves_dir)
if filename == "": return False #If user hit cancel
self.fileName = filename
self.env.updateSettings("lastOpenedFile", self.fileName)
# Update the save file
saveData = self.controlPanel.getSaveData()
json.dump(saveData, open(self.fileName, 'w'), sort_keys=False, indent=3, separators=(',', ': '))
self.loadData = deepcopy(saveData) #Update what the latest saved changes are
self.setWindowTitle(self.programTitle + ' ' + self.fileName)
printf("GUI| Project Saved Successfully")
return True
def loadTask(self, **kwargs):
# Load a save file
self.promptSave() # Make sure the user isn't losing progress
# Make sure a script isn't running while you try to load something
if self.interpreter.threadRunning(): self.endScript()
printf("GUI| Loading project")
filename = kwargs.get("filename", None)
# If there's no filename given, then prompt the user for what to name the task
if filename is None: #If no filename was specified, prompt the user for where to save
filename, _ = QtWidgets.QFileDialog.getOpenFileName(parent=self,
caption="Load Task",
filter="Task (*.task)",
directory=Paths.saves_dir)
if filename == "": return #If user hit cancel
try:
self.loadData = json.load( open(filename))
except IOError:
printf("GUI| ERROR: Task file "), filename, self.tr("not found!")
self.fileName = None
self.env.updateSettings("lastOpenedFile", None)
return
# Load the data- BUT MAKE SURE TO DEEPCOPY otherwise any change in the program will change in self.loadData
try:
self.controlPanel.loadData(deepcopy(self.loadData))
self.fileName = filename
self.env.updateSettings("lastOpenedFile", filename)
self.setWindowTitle(self.programTitle + ' ' + self.fileName)
printf("GUI| Project loaded successfully")
except Exception as e:
printf("GUI| ERROR: Could not load task: ", e)
self.newTask(promptSave=False)
QtWidgets.QMessageBox.question(self, self.tr('Warning', "The program was unable to load the following script:\n") +
filename + self.tr("\n\n The following error occured: ") + type(e).__name__ + ": " + str(e),
QtWidgets.QMessageBox.Ok)
def promptSave(self):
# Prompts the user if they want to save, but only if they've changed something in the program
# Returns True if the user presses Cancel or "X", and wants the window to stay open.
if not self.loadData == self.controlPanel.getSaveData():
printf("GUI| Prompting user to save changes")
reply = QtWidgets.QMessageBox.question(self, self.tr('Warning'),
self.tr("You have unsaved changes. Would you like to save before continuing?"),
QtWidgets.QMessageBox.Yes | QtWidgets.QMessageBox.No | QtWidgets.QMessageBox.Cancel,
QtWidgets.QMessageBox.Yes)
if reply == QtWidgets.QMessageBox.Yes:
printf("GUI| Saving changes")
success = self.saveTask(False)
return not success
if reply == QtWidgets.QMessageBox.No:
printf("GUI| Not saving changes")
if reply == QtWidgets.QMessageBox.Cancel:
printf("GUI| User canceled- aborting close!")
return True
def closeEvent(self, event):
"""
When window is closed, prompt for save, close the video stream, and close the control panel (thus script)
"""
# Ask the user they want to save before closing anything
cancelPressed = self.promptSave()
if cancelPressed: # If the user cancelled the close
event.ignore()
return
# Save the window geometry as a string representation of a hex number
saveGeometry = ''.join([str(char) for char in self.saveGeometry().toHex()])
self.env.updateSettings("windowGeometry", saveGeometry)
# Save the dockWidget positions/states as a string representation of a hex number
saveState = ''.join([str(char) for char in self.saveState().toHex()])
self.env.updateSettings("windowState", saveState)
# Deactivate the robots servos
robot = self.env.getRobot()
robot.setActiveServos(all=False)
# End the script *after* prompting for save and deactivating servos on the robot. Script thread is a Daemon
self.interpreter.setExiting(True)
# Close and delete GUI objects, to stop their events from running
self.refreshTimer.stop()
self.cameraWidget.close()
self.controlPanel.close()
self.centralWidget.close()
self.centralWidget.deleteLater()
# Close threads
self.env.close()
printf("GUI| Done closing all objects and threads.")
def switchLanguage(self, language):
"""
This function will switch whole Program language
:param language:
:return:
"""
if language == 'zh_CN':
trans.load(Paths.language_pack_zh_CN)
app.installTranslator(trans)
self.env.updateSettings("language", language)
if self.env.getSetting("language") is None:
reply = QtWidgets.QMessageBox.question(self, self.tr('Warning'),
self.tr(
"Language switching need restart to apply, Would you like to continue?"),
QtWidgets.QMessageBox.Yes | QtWidgets.QMessageBox.No | QtWidgets.QMessageBox.Cancel,
QtWidgets.QMessageBox.Yes)
if reply == QtWidgets.QMessageBox.Yes:
printf("GUI| Restart")
success = self.saveTask(False)
return not success
if reply == QtWidgets.QMessageBox.No:
printf("GUI| Not Restart")
if reply == QtWidgets.QMessageBox.Cancel:
printf("GUI| User canceled- aborting close!")
return True
# Wait for the robot and camera to connect in their seperate threads
print("Waiting 8 seconds for robot and camera to connect")
sleep(8)
# Create the interpreter
interpreter = Interpreter(env)
# Load the .task file you want to run
saveFile = json.load(open(taskPath))
# Load the task into the interpreter, and print the errors
errors = interpreter.initializeScript(saveFile)
print("The following errors occured while initializing the script:\n", errors)
if str(input("Do you want to continue and start the script? (Y/N)")).lower() == "n": sys.exit()
# Before starting script, move the robot to a home position
robot = env.getRobot()
robot.setPos(**robot.home)
# Start the task in another thread
interpreter.startThread(threaded=False)
env.close()
print("Errors during interpreter run: ", interpreter.getExitErrors())
class MainWindow(QtWidgets.QMainWindow):
# For debugging object count, use: print("CHILDREN: ", len(self.findChildren(QtCore.QObject)))
def __init__(self):
super(MainWindow, self).__init__()
# Initialize the environment. Robot, camera, and objects will be loaded into the "logic" side of things
self.env = Environment(Paths.settings_txt, Paths.objects_dir, Paths.cascade_dir)
self.interpreter = Interpreter(self.env)
# Set the ConsoleWidget parameters immediately, so even early prints are captured
self.consoleWidget = Console(self.env.getSetting('consoleSettings'), parent=self)
Global.printRedirectFunc = self.consoleWidget.write
self.consoleWidget.setExecFunction(self.interpreter.evaluateExpression)
# Create GUI related class variables
self.fileName = None
self.loadData = [] #Set when file is loaded. Used to check if the user has changed anything when closing
self.programTitle = 'uArm Creator Studio'
self.scriptToggleBtn = QtWidgets.QAction(QtGui.QIcon(Paths.run_script), 'Run', self)
self.videoToggleBtn = QtWidgets.QAction(QtGui.QIcon(Paths.play_video), 'Video', self)
self.devicesBtn = QtWidgets.QAction(QtGui.QIcon(Paths.devices_neither), 'Devices', self)
self.centralWidget = QtWidgets.QStackedWidget()
self.controlPanel = ControlPanelGUI.ControlPanel(self.env, parent=self)
self.cameraWidget = CameraWidget(self.env.getVStream(), parent=self)
self.floatingHint = QtWidgets.QLabel() # Used to display floating banners to inform the user of something
# Create Menu items and set up the GUI
self.initUI()
self.setVideo("play")
# After initUI: Restore the window geometry to the state it was when the user last closed the window
if self.env.getSetting("windowGeometry") is not None:
state = self.env.getSetting("windowGeometry")
state = bytearray(state, 'utf-8')
bArr = QtCore.QByteArray.fromHex(state)
self.restoreGeometry(bArr)
# After initUI: Restore size and position of dockwidgets to their previous state
if self.env.getSetting("windowState") is not None:
state = self.env.getSetting("windowState")
state = bytearray(state, 'utf-8')
bArr = QtCore.QByteArray.fromHex(state)
self.restoreState(bArr)
# If any file is specified in "lastOpenedFile" then load it.
if self.env.getSetting("lastOpenedFile") is not None:
self.loadTask(filename=self.env.getSetting("lastOpenedFile"))
else:
self.newTask(False)
# Create a timer that checks the connected devices and updates the icon to reflect what is connected correctly
self.refreshTimer = QtCore.QTimer()
self.refreshTimer.timeout.connect(self.refreshDevicesIcon)
self.refreshTimer.start(5000) # Once every five seconds
def initUI(self):
# Create "File" Menu
menuBar = self.menuBar()
# Connect any slots that need connecting
self.consoleWidget.settingsChanged.connect(lambda: self.env.updateSettings("consoleSettings",
self.consoleWidget.settings))
# Create File Menu and actions
fileMenu = menuBar.addMenu('File')
newAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_new), "New Task", self)
saveAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_save), "Save Task", self)
saveAsAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_save), "Save Task As", self)
loadAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_load), "Load Task", self)
saveAction.setShortcut("Ctrl+S")
newAction.triggered.connect( lambda: self.newTask(promptSave=True))
saveAction.triggered.connect( self.saveTask)
saveAsAction.triggered.connect( lambda: self.saveTask(True))
loadAction.triggered.connect( self.loadTask)
fileMenu.addAction(newAction)
fileMenu.addAction(saveAction)
fileMenu.addAction(saveAsAction)
fileMenu.addAction(loadAction)
# Create Community Menu
communityMenu = menuBar.addMenu('Community')
forumAction = QtWidgets.QAction(QtGui.QIcon(Paths.taskbar), "Visit the forum!", self)
redditAction = QtWidgets.QAction(QtGui.QIcon(Paths.reddit_link), "Visit our subreddit!", self)
forumAction.triggered.connect( lambda: webbrowser.open("https://forum.ufactory.cc/", new=0, autoraise=True))
redditAction.triggered.connect(lambda: webbrowser.open("https://www.reddit.com/r/uArm/", new=0, autoraise=True))
communityMenu.addAction(forumAction)
communityMenu.addAction(redditAction)
# Create Resources Menu
resourceMenu = menuBar.addMenu('New Resource')
visAction = QtWidgets.QAction(QtGui.QIcon(Paths.event_recognize), "Vision Object", self)
grpAction = QtWidgets.QAction(QtGui.QIcon(Paths.event_recognize), "Vision Group", self)
recAction = QtWidgets.QAction(QtGui.QIcon(Paths.record_start), "Movement Recording", self)
fncAction = QtWidgets.QAction(QtGui.QIcon(Paths.command_run_func), "Function", self)
visAction.triggered.connect( lambda: MakeObjectWindow( None, self.env, parent=self))
grpAction.triggered.connect( lambda: MakeGroupWindow( None, self.env, parent=self))
recAction.triggered.connect( lambda: MakeRecordingWindow(None, self.env, parent=self))
fncAction.triggered.connect( lambda: MakeFunctionWindow( None, self.env, parent=self))
resourceMenu.addAction(visAction)
resourceMenu.addAction(grpAction)
resourceMenu.addAction(recAction)
resourceMenu.addAction(fncAction)
# Add menus to menuBar
menuBar.addMenu(fileMenu)
menuBar.addMenu(communityMenu)
menuBar.addMenu(resourceMenu)
# Create Toolbar
toolbar = self.addToolBar("MainToolbar")
toolbar.setToolButtonStyle(QtCore.Qt.ToolButtonTextBesideIcon)
calibrateBtn = QtWidgets.QAction(QtGui.QIcon(Paths.calibrate), 'Calibrate', self)
objMngrBtn = QtWidgets.QAction(QtGui.QIcon(Paths.objectManager), 'Resources', self)
self.scriptToggleBtn.setToolTip('Run/Pause the command script (Ctrl+R)')
self.videoToggleBtn.setToolTip('Play/Pause the video stream and Vision tracking')
self.devicesBtn.setToolTip('Open Camera and Robot settings',)
calibrateBtn.setToolTip('Open Robot and Camera Calibration Center')
objMngrBtn.setToolTip('Open Resource Manager')
self.scriptToggleBtn.setShortcut('Ctrl+R')
self.scriptToggleBtn.triggered.connect(self.toggleScript)
self.videoToggleBtn.triggered.connect(lambda: self.setVideo("toggle"))
self.devicesBtn.triggered.connect(self.openDevices)
calibrateBtn.triggered.connect(self.openCalibrations)
objMngrBtn.triggered.connect(self.openObjectManager)
toolbar.addAction(self.scriptToggleBtn)
toolbar.addAction(self.videoToggleBtn)
toolbar.addAction(self.devicesBtn)
toolbar.addAction(calibrateBtn)
toolbar.addAction(objMngrBtn)
# Add Camera Widget, as a QDockWidget
def createDockWidget(widget, name):
dockWidget = QtWidgets.QDockWidget()
dockWidget.setObjectName(name) # Without this, self.restoreState() won't work
dockWidget.setWindowTitle(name)
dockWidget.setWidget(widget)
dockWidget.setFeatures(QtWidgets.QDockWidget.DockWidgetFloatable |
QtWidgets.QDockWidget.DockWidgetMovable)
# titleBarWidget = QtWidgets.QWidget()
# iconLbl = QtWidgets.QLabel()
# iconLbl.setPixmap(QtGui.QPixmap(icon))
# titleLbl = QtWidgets.QLabel(name)
# mainHLayout = QtWidgets.QHBoxLayout()
# mainHLayout.addWidget(iconLbl)
# mainHLayout.addWidget(titleLbl)
# titleBarWidget.setLayout(mainHLayout)
# dockWidget.setTitleBarWidget(titleBarWidget)
return dockWidget
cameraDock = createDockWidget(self.cameraWidget, "Camera")
consoleDock = createDockWidget(self.consoleWidget, "Console")
# Add the consoleWidgets to the window, and tabify them
self.addDockWidget(QtCore.Qt.RightDockWidgetArea, cameraDock)
self.addDockWidget(QtCore.Qt.RightDockWidgetArea, consoleDock)
self.tabifyDockWidget(consoleDock, cameraDock)
# Create the main layout
self.setCentralWidget(self.controlPanel)
# Final touches
self.setWindowTitle(self.programTitle)
self.setWindowIcon(QtGui.QIcon(Paths.taskbar))
self.show()
def setVideo(self, state):
"""
Change the state of the videostream. The state can be play, pause, or simply "toggle
:param state: "play", "pause", or "toggle"
:return:
"""
printf("GUI| Setting video to state: ", state)
# Don't change anything if no camera ID has been added yet
cameraID = self.env.getSetting("cameraID")
if cameraID is None: return
if state == "toggle":
if self.env.getVStream().paused:
self.setVideo("play")
return
else:
self.setVideo("pause")
return
vStream = self.env.getVStream()
if state == "play":
# Make sure the videoStream object has a camera, or if the cameras changed, change it
# if not vStream.connected() or not vStream.cameraID == cameraID:
# vStream.setNewCamera(cameraID)
self.cameraWidget.play()
vStream.setPaused(False)
self.videoToggleBtn.setIcon(QtGui.QIcon(Paths.pause_video))
self.videoToggleBtn.setText("Pause")
if state == "pause":
self.cameraWidget.pause()
vStream.setPaused(True)
self.videoToggleBtn.setIcon(QtGui.QIcon(Paths.play_video))
self.videoToggleBtn.setText("Play")
def toggleScript(self):
# Run/pause the main script
if self.interpreter.threadRunning():
self.endScript()
else:
self.startScript()
def startScript(self):
if self.interpreter.threadRunning():
printf("GUI| ERROR: Tried to start interpreter while it was already running.")
return
printf("GUI| Interpreter is ready. Loading script and starting task")
# Load the script with the latest changes in the controlPanel, and get any relevant errors
self.interpreter.cleanNamespace() # Clear any changes the user did while it was running
self.interpreter.setExiting(False) # Make sure vision and robot are not in exiting mode
errors = self.interpreter.initializeScript(self.controlPanel.getSaveData())
# If there were errors during loading, present the user with the option to continue anyways
if len(errors):
errorText = ""
for error, errorObjects in errors.items():
errorText += "" + str(error) + "\n"
for errObject in errorObjects:
errorText += " " + str(errObject) + "\n"
errorText += '\n'
# Generate a message for the user to explain what parameters are missing
errorStr = 'Certain Events and Commands are missing the following requirements to work properly: \n\n' + \
''.join(errorText) + \
'\nWould you like to continue anyways? Events and commands with errors will not activate.'
# Warn the user
reply = QtWidgets.QMessageBox.question(self, 'Warning', errorStr,
QtWidgets.QMessageBox.Cancel | QtWidgets.QMessageBox.Yes, QtWidgets.QMessageBox.Cancel)
if reply == QtWidgets.QMessageBox.Cancel:
printf("GUI| Script run canceled by user before starting.")
vision = self.env.getVision()
vision.endAllTrackers() # Clear any tracking that was started during interpreter initialization
return
# Prep the robot to start, so it always starts with servos attached and speed at 10
robot = self.env.getRobot()
robot.setActiveServos(all=True)
robot.setSpeed(10)
# Stop you from moving stuff around while script is running, and activate the visual cmmnd highlighting
self.interpreter.startThread(threaded=True)
self.controlPanel.setScriptModeOn(self.interpreter, self.endScript)
# Make sure the UI matches the state of the script
self.scriptToggleBtn.setIcon(QtGui.QIcon(Paths.pause_script))
self.scriptToggleBtn.setText("Stop")
def endScript(self):
# Tell the interpreter to exit the thread, then wait
if self.interpreter.threadRunning():
self.interpreter.setExiting(True)
self.interpreter.mainThread.join(2) # Give the thread 3 seconds to join
# Check to make sure the thread closed correctly
if self.interpreter.threadRunning():
# Generate a message for the user to explain what parameters are missing
errorStr = 'The script was unable to end.\n' \
'This may mean the script crashed, or it is taking time finishing.\n\n' \
'If you are running Python code inside of this script, make sure you check isExiting() during' \
' loops, to exit code quickly when the stop button is pressed.'
# Warn the user
reply = QtWidgets.QMessageBox.question(self, 'Error', errorStr, QtWidgets.QMessageBox.Ok)
return
# Turn off the gripper, just in case. Do this AFTER interpreter ends, so as to not use Serial twice...
vision = self.env.getVision()
robot = self.env.getRobot()
robot.setExiting(False)
vision.setExiting(False)
robot.setPump(False)
# Since the robot might still be moving (and this activates servos continuously) wait for it to finish
robot.stopMoving()
robot.setActiveServos(all=False)
# Make sure vision filters are stopped
vision.endAllTrackers()
self.scriptToggleBtn.setIcon(QtGui.QIcon(Paths.run_script))
self.scriptToggleBtn.setText("Start")
def refreshDevicesIcon(self):
"""
This checks the status of the robot and camera, and updates the icon of the Devices toolbar button to reflect
the connection status of the robot and camera.
This should be run 5 seconds after the devices window closes, or 5 seconds after the program starts, to check
if the robot thread was able to connect or not.
"""
camera = self.env.getVStream()
robot = self.env.getRobot()
robCon = robot.connected()
camCon = camera.connected()
icon = ""
if robCon and camCon: icon = Paths.devices_both
if robCon and not camCon: icon = Paths.devices_robot
if not robCon and camCon: icon = Paths.devices_camera
if not robCon and not camCon: icon = Paths.devices_neither
self.devicesBtn.setIcon(QtGui.QIcon(icon))
def openDevices(self):
# This handles the opening and closing of the Settings window.
printf("GUI| Opening Devices Window")
if self.interpreter.threadRunning(): self.endScript()
self.setVideo("pause") # If you don't pause video, scanning for cameras may crash the program
deviceWindow = DeviceWindow(parent=self)
accepted = deviceWindow.exec_()
self.setVideo("play")
if not accepted:
printf("GUI| Cancel clicked, no settings applied.")
return
printf("GUI| Apply clicked, applying settings...")
self.env.updateSettings("robotID", deviceWindow.getRobotSetting())
self.env.updateSettings("cameraID", deviceWindow.getCameraSetting())
vStream = self.env.getVStream()
vStream.setNewCamera(self.env.getSetting('cameraID'))
# If the robots not connected, attempt to reestablish connection
robot = self.env.getRobot()
if not robot.connected():
robot.setUArm(self.env.getSetting('robotID'))
self.setVideo("play")
def openCalibrations(self):
# This handles the opening and closing of the Calibrations window
printf("GUI| Opening Calibrations Window")
if self.interpreter.threadRunning(): self.endScript()
self.setVideo("pause")
coordSettings = self.env.getSetting("coordCalibrations")
motionSettings = self.env.getSetting("motionCalibrations")
calibrationsWindow = CalibrateWindow(coordSettings, motionSettings, self.env, parent=self)
accepted = calibrationsWindow.exec_()
if accepted:
# Update all the settings
printf("GUI| Apply clicked, applying calibrations...")
# Update the settings
self.env.updateSettings("coordCalibrations", calibrationsWindow.getCoordSettings())
self.env.updateSettings("motionCalibrations", calibrationsWindow.getMotionSettings())
else:
printf("GUI| Cancel clicked, no calibrations applied.")
self.setVideo("play")
def openObjectManager(self, openResourceWindow=None):
# This handles the opening and closing of the ObjectManager window
printf("GUI| Opening ObjectManager Window")
if self.interpreter.threadRunning(): self.endScript()
# Make sure video thread is active and playing, but that the actual cameraWidget
self.setVideo("play")
self.cameraWidget.pause()
objMngrWindow = ObjectManagerWindow(self.env, self)
accepted = objMngrWindow.exec_()
objMngrWindow.close()
objMngrWindow.deleteLater()
self.setVideo("play")
def openResourceWindow(self, resourceWindowType):
"""
This can open a MakeGroupWindow, MakeRecordingWindow, or MakeFunctionWindow, handle its closing and garbage
collection, and create the object if the user clicks "finished"
:param menuType: MenuType is the Type of the menu object, such as EditGroupWindow or MakeFunctionWindow
:return:
"""
def newTask(self, promptSave):
if promptSave:
cancelPressed = self.promptSave()
if cancelPressed: # If the user cancelled the close
return
self.controlPanel.loadData([])
self.fileName = None
self.loadData = deepcopy(self.controlPanel.getSaveData())
self.setWindowTitle(self.programTitle)
def saveTask(self, promptSaveLocation):
printf("GUI| Saving project")
# If there is no filename, ask for one
if promptSaveLocation or self.fileName is None:
Global.ensurePathExists(Paths.saves_dir)
filename, _ = QtWidgets.QFileDialog.getSaveFileName(parent=self,
caption="Save Task",
filter="Task (*.task)",
directory=Paths.saves_dir)
if filename == "": return False #If user hit cancel
self.fileName = filename
self.env.updateSettings("lastOpenedFile", self.fileName)
# Update the save file
saveData = self.controlPanel.getSaveData()
json.dump(saveData, open(self.fileName, 'w'), sort_keys=False, indent=3, separators=(',', ': '))
self.loadData = deepcopy(saveData) #Update what the latest saved changes are
self.setWindowTitle(self.programTitle + ' ' + self.fileName)
printf("GUI| Project Saved Successfully")
return True
def loadTask(self, **kwargs):
# Load a save file
self.promptSave() # Make sure the user isn't losing progress
# Make sure a script isn't running while you try to load something
if self.interpreter.threadRunning(): self.endScript()
printf("GUI| Loading project")
filename = kwargs.get("filename", None)
# If there's no filename given, then prompt the user for what to name the task
if filename is None: #If no filename was specified, prompt the user for where to save
filename, _ = QtWidgets.QFileDialog.getOpenFileName(parent=self,
caption="Load Task",
filter="Task (*.task)",
directory=Paths.saves_dir)
if filename == "": return #If user hit cancel
try:
self.loadData = json.load( open(filename))
except IOError:
printf("GUI| ERROR: Task file ", filename, "not found!")
self.fileName = None
self.env.updateSettings("lastOpenedFile", None)
return
# Load the data- BUT MAKE SURE TO DEEPCOPY otherwise any change in the program will change in self.loadData
try:
self.controlPanel.loadData(deepcopy(self.loadData))
self.fileName = filename
self.env.updateSettings("lastOpenedFile", filename)
self.setWindowTitle(self.programTitle + ' ' + self.fileName)
printf("GUI| Project loaded successfully")
except Exception as e:
printf("GUI| ERROR: Could not load task: ", e)
self.newTask(promptSave=False)
QtWidgets.QMessageBox.question(self, 'Warning', "The program was unable to load the following script:\n" +
filename + "\n\n The following error occured: " + type(e).__name__ + ": " + str(e),
QtWidgets.QMessageBox.Ok)
def promptSave(self):
# Prompts the user if they want to save, but only if they've changed something in the program
# Returns True if the user presses Cancel or "X", and wants the window to stay open.
if not self.loadData == self.controlPanel.getSaveData():
printf("GUI| Prompting user to save changes")
reply = QtWidgets.QMessageBox.question(self, 'Warning',
"You have unsaved changes. Would you like to save before continuing?",
QtWidgets.QMessageBox.Yes | QtWidgets.QMessageBox.No | QtWidgets.QMessageBox.Cancel,
QtWidgets.QMessageBox.Yes)
if reply == QtWidgets.QMessageBox.Yes:
printf("GUI| Saving changes")
success = self.saveTask(False)
return not success
if reply == QtWidgets.QMessageBox.No:
printf("GUI| Not saving changes")
if reply == QtWidgets.QMessageBox.Cancel:
printf("GUI| User canceled- aborting close!")
return True
def closeEvent(self, event):
"""
When window is closed, prompt for save, close the video stream, and close the control panel (thus script)
"""
# Ask the user they want to save before closing anything
cancelPressed = self.promptSave()
if cancelPressed: # If the user cancelled the close
event.ignore()
return
# Save the window geometry as a string representation of a hex number
saveGeometry = ''.join([str(char) for char in self.saveGeometry().toHex()])
self.env.updateSettings("windowGeometry", saveGeometry)
# Save the dockWidget positions/states as a string representation of a hex number
saveState = ''.join([str(char) for char in self.saveState().toHex()])
self.env.updateSettings("windowState", saveState)
# Deactivate the robots servos
robot = self.env.getRobot()
robot.setActiveServos(all=False)
# End the script *after* prompting for save and deactivating servos on the robot. Script thread is a Daemon
self.interpreter.setExiting(True)
# Close and delete GUI objects, to stop their events from running
self.refreshTimer.stop()
self.cameraWidget.close()
self.controlPanel.close()
self.centralWidget.close()
self.centralWidget.deleteLater()
# Close threads
self.env.close()
printf("GUI| Done closing all objects and threads.")
env = Environment(settingsPath=settingsPath,
objectsPath=objectsPath,
cascadePath=cascadePath)
# Wait for the robot and camera to connect in their seperate threads
print("Waiting 8 seconds for robot and camera to connect")
sleep(8)
# Create the interpreter
interpreter = Interpreter(env)
# Load the .task file you want to run
saveFile = json.load(open(taskPath))
# Load the task into the interpreter, and print the errors
errors = interpreter.initializeScript(saveFile)
print("The following errors occured while initializing the script:\n", errors)
if str(input(
"Do you want to continue and start the script? (Y/N)")).lower() == "n":
sys.exit()
# Before starting script, move the robot to a home position
robot = env.getRobot()
robot.setPos(**robot.home)
# Start the task in another thread
interpreter.startThread(threaded=False)
env.close()
print("Errors during interpreter run: ", interpreter.getExitErrors())