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 __init__(self, settingsPath, objectsPath, cascadePath):
"""
:param settingsPath: The full path to Settings.txt
:param objectsPath: The path to directory that holds Objects, for ObjectManager
:param cascadePath: The path to the directory that holds the eye_cascade.xml, face_cascade.xml, and smile_cascade.xml
"""
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(
self.__vStream, cascadePath
) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager(objectsPath)
self.__transform = None
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
if ptPairs is not None:
self.__transform = Transform(ptPairs)
def bugReport(self):
# Open the bug report link & zip the log files prompt the log.zip folder
webbrowser.open_new(Paths.bugreport_link)
with ZipFile(Paths.bugreport_zipfile, 'w') as logzip:
logzip.write(Paths.ucs_log)
logzip.write(Paths.error_log)
Global.openFile(Paths.bugreport_dir)
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 __init__(self, settingsPath, objectsPath, cascadePath):
"""
:param settingsPath: The full path to Settings.txt
:param objectsPath: The path to directory that holds Objects, for ObjectManager
:param cascadePath: The path to the directory that holds the eye_cascade.xml, face_cascade.xml, and smile_cascade.xml
"""
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(self.__vStream, cascadePath) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager(objectsPath)
self.__transform = None
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
ptPairs = self.__settings["coordCalibrations"]["ptPairs"]
if ptPairs is not None:
self.__transform = Transform(ptPairs)
def __init__(self, settingsPath=Paths.settings_txt, resourcePath=Paths.resourcesLoc):
# Initialize Global Variables
Global.init()
# Load settings before any objects are created
self.__settingsPath = settingsPath
self.__settings = self.__loadSettings()
# Set up environment objects
self.__vStream = Video.VideoStream() # Gets frames constantly
self.__robot = Robot.Robot()
self.__vision = Vision(self.__vStream) # Performs computer vision tasks, using images from vStream
self.__objectMngr = ObjectManager.ObjectManager()
# If the settings have any information, try to instantiate objects. Otherwise, GUI will do this as user requests
cameraID = self.__settings['cameraID']
if cameraID is not None:
self.__vStream.setNewCamera(cameraID)
robotID = self.__settings['robotID']
if robotID is not None:
self.__robot.setUArm(robotID)
self.__objectMngr.loadAllObjects()
return super(Application, self).notify(receiver, event)
if __name__ == '__main__':
# Install a global exception hook to catch pyQt errors that fall through (helps with debugging a ton) #TODO: Remove for builds
sys.__excepthook = sys.excepthook
sys._excepthook = sys.excepthook
def exception_hook(exctype, value, traceback):
sys._excepthook(exctype, value, traceback)
sys.exit(1)
sys.excepthook = exception_hook
# Initialize global variables
Global.init()
# Create the Application base
global app,trans
app = Application(sys.argv)
trans = QtCore.QTranslator(app)
# app = QtGui.QApplication(sys.argv)
# Apply a stylesheet (theme) of choice here
# app.setStyleSheet(fancyqt.firefox.style)
# Set Application Font
font = QtGui.QFont()
font.setFamily("Verdana")
if __name__ == '__main__':
'''Install a global exception hook to catch pyQt errors that fall through (helps with debugging a ton)
sys.__excepthook = sys.excepthook
sys._excepthook = sys.excepthook
def exception_hook(exctype, value, traceback):
sys._excepthook(exctype, value, traceback)
sys.exit(1)
sys.excepthook = exception_hook
'''
# Initialize global variables
Global.init()
# Create the Application base
app = Application(sys.argv)
# Apply a theme of choice here
# app.setStyleSheet(fancyqt.firefox.style)
# Set Application Font
font = QtGui.QFont()
font.setFamily("Verdana")
font.setPixelSize(12)
"""
This is a global call for only the interpreter to pay attention to, and when it is True, the Interpreter and any command
inside of it will try to exit as quickly as possible. This global is so that recursively running Interpreters can
exit quickly, and there's passing around of an exit variable all the time.
"""
global exitingFlag
exitingFlag = False
"""
This variable is so that if the Interpreter needs to end abruptly, it'll write down the erros,
and the GUI will later display them to the user in a message.
This variable can be retrieved using Interpreter.getExitErrors()
"""
global exitErrors
exitErrors = None
"""
This is a dictionary of each command Type in Commands.py, and each event Type in Events.py
This is used so that loading scripts will be faster in Interpreter.initializeScript
Furthermore, its safer than using getattr("Commands", thecommand) since it doesn't pull any other modules that are
imported in Commands. This way people can't have save files that run arbitrary code. They can only access
types that are classes in Commands.py and Events.py
"""
commandClasses = Global.getModuleClasses(Commands)
eventClasses = Global.getModuleClasses(Events)
"""
This function will print the latest stacktrace error in a format that is friendly to the Console widget
"""
printTraceback = lambda: printf(
"Interpreter| \n" + "-" * 35 + "ERROR" + "-" * 35 + "\n",
traceback.format_exc(), "-" * 75 + "\n")
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'))
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)
homeDirAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_homedir), self.tr('Open Home Folder'), self)
aboutMessage = lambda: QtWidgets.QMessageBox.information(self, self.tr("About"),
self.tr("Version: ") +
version + "\n\n" + self.tr("Protocol Version: ") + PROTOCOL_VERSION)
saveAction.setShortcut("Ctrl+S")
newAction.triggered.connect( lambda: self.newTask(promptSave=True))
saveAction.triggered.connect( self.saveTask)
saveAsAction.triggered.connect( lambda: self.saveTask(True))
homeDirAction.triggered.connect(lambda: Global.openFile(Paths.ucs_home_dir))
fileMenu.addAction(newAction)
fileMenu.addAction(saveAction)
fileMenu.addAction(saveAsAction)
fileMenu.addAction(loadAction)
fileMenu.addAction(homeDirAction)
# 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)
# Settings Menug
settingsMenu = menuBar.addMenu(self.tr('Settings'))
resetLayoutAction = QtWidgets.QAction(QtGui.QIcon(Paths.file_layout), self.tr('Reset Layout'), self)
resetLayoutAction.triggered.connect(self.resetLayoutState)
settingsMenu.addAction(resetLayoutAction)
# Create Languages Menu
languageMenu = settingsMenu.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.updateLanguageSetting(Global.ZH_CN))
enLanAction.triggered.connect(lambda: self.updateLanguageSetting(Global.EN_US))
languageMenu.addAction(enLanAction)
languageMenu.addAction(cnLanAction)
# Create survey Action
surveyMenu = menuBar.addMenu(self.tr('Win A Gift!'))
surveyMenu.setObjectName('surveyMenu')
# surveyMenu.setStyleSheet('QMenu::item {color: Red; }')
surveyLinkAction = QtWidgets.QAction(self.tr('Win A Gift!'), self)
surveyLinkAction.triggered.connect(lambda: webbrowser.open_new(Paths.survey_link))
surveyMenu.addAction(surveyLinkAction)
# Create Help Menu
helpMenu = menuBar.addMenu(self.tr('Help'))
bugReportAction = QtWidgets.QAction(QtGui.QIcon(Paths.help_bugreport), self.tr('Bug Report'), self)
aboutAction = QtWidgets.QAction( QtGui.QIcon(Paths.file_about), self.tr('About'), self)
helpAction = QtWidgets.QAction( QtGui.QIcon(Paths.file_help), self.tr('User Manual'), self)
loadAction.triggered.connect( self.loadTask)
aboutAction.triggered.connect( aboutMessage)
helpAction.triggered.connect( lambda: Global.openFile(Paths.user_manual))
bugReportAction.triggered.connect(self.bugReport)
helpMenu.addAction(bugReportAction)
helpMenu.addAction(aboutAction)
helpMenu.addAction(helpAction)
# Add menus to menuBar
menuBar.addMenu(fileMenu)
menuBar.addMenu(communityMenu)
menuBar.addMenu(resourceMenu)
menuBar.addMenu(settingsMenu)
menuBar.addMenu(helpMenu)
menuBar.addMenu(surveyMenu)
# 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()
exit quickly, and there's passing around of an exit variable all the time.
"""
global exitingFlag
exitingFlag = False
"""
This variable is so that if the Interpreter needs to end abruptly, it'll write down the erros,
and the GUI will later display them to the user in a message.
This variable can be retrieved using Interpreter.getExitErrors()
"""
global exitErrors
exitErrors = None
"""
This is a dictionary of each command Type in Commands.py, and each event Type in Events.py
This is used so that loading scripts will be faster in Interpreter.initializeScript
Furthermore, its safer than using getattr("Commands", thecommand) since it doesn't pull any other modules that are
imported in Commands. This way people can't have save files that run arbitrary code. They can only access
types that are classes in Commands.py and Events.py
"""
commandClasses = Global.getModuleClasses(Commands)
eventClasses = Global.getModuleClasses(Events)
"""
This function will print the latest stacktrace error in a format that is friendly to the Console widget
"""
printTraceback = lambda: printf("Interpreter| \n" + "-" * 35 + "ERROR" + "-" * 35 + "\n",
traceback.format_exc(), "-" * 75 + "\n")
from os.path import expanduser
from Logic import Global
import logging
from __init__ import version
if getattr(sys, 'frozen', False):
APPLICATION_PATH = os.path.dirname(sys.executable)
elif __file__:
APPLICATION_PATH = os.path.dirname(__file__)
#TODO: Make it possible to check if this is being run from within a package manager, and load icons from a diff dir.
################ PROGRAM RESOUCES ################
## Check OS type
if Global.getOSType() == Global.MACOSX and getattr(
sys, 'frozen', False): # Mac os x frozen app
resourcesLoc = os.path.join(APPLICATION_PATH, "..", "Resources")
elif Global.getOSType(
) == Global.MACOSX and __file__: # Mac os x run in scripts
resourcesLoc = os.path.join(APPLICATION_PATH, "Resources")
elif Global.getOSType() == Global.WINDOWS:
resourcesLoc = os.path.join('.', "Resources")
elif Global.getOSType() == Global.LINUX:
resourcesLoc = os.path.join('.', "Resources")
def resourcePath(relative_path):
""" Get absolute path to resource, works for dev and for PyInstaller """
if hasattr(sys, '_MEIPASS'):
return os.path.join(sys._MEIPASS, relative_path)
