class PlayerLabel(QLabel):
loading_movie = None
def __init__(self, fontsize, parent=None):
super().__init__(parent)
self.fontsize = fontsize
cls = type(self)
if not cls.loading_movie:
cls.loading_movie = QMovie(resource_path("loading.gif"))
cls.loading_movie.setScaledSize(QSize(MOVIEWIDTH, MOVIEWIDTH))
cls.loading_movie.start()
# self.player_heading.setGeometry(0, 140, self.rect().width(), 50)
# self.player_heading.setAlignment(Qt.AlignmentFlag.AlignHCenter)
f = self.font()
f.setPointSize(self.fontsize)
self.setFont(f)
self.setAutoFillBackground(True)
self.setMovie(cls.loading_movie)
self.blink_timer = None
def buzz_hint(self):
self.setStyleSheet("QLabel { background-color : grey}")
self.blink_timer = QTimer()
# self.blink_timer.moveToThread(QApplication.instance().thread())
self.blink_timer.timeout.connect(self._buzz_hint_callback)
self.blink_timer.start(100)
def _buzz_hint_callback(self):
self.setStyleSheet("QLabel { background-color : none}")
class KeysWidget(QWidget):
keyPressed = QtCore.pyqtSignal(QtCore.QEvent)
def __init__(self, parent=None):
super(KeysWidget, self).__init__(parent)
self.classifyExercises = None
if parent is not None:
self.classifyExercises = parent.classifyExercises
self.infoLabel = parent.infoLabel
self.ui = Ui_KeysPanel()
self.ui.setupUi(self)
self.monitor = KeyMonitor()
self.monitor.start_monitoring()
self.timer = QTimer()
self.timer.timeout.connect(self.onTimeout)
self.timer.start()
self.ui.saveProfile.clicked.connect(self.saveBindings)
def saveBindings(self):
if self.classifyExercises.subject is not None:
key_list = [x.serialize() for x in self.classifyExercises.exercises.values()]
content = {
self.classifyExercises.subject: key_list
}
print(content)
with open(MAPPED_KEYS_PATH + self.classifyExercises.subject + '.json', "w") as f:
json.dump(content, f)
def onTimeout(self):
if self.monitor.released:
for b in self.ui.buttons:
b.setStyleSheet(
""" QPushButton
{
border: 1px solid grey;
background-color: white;
}
""")
else:
for ind in range(0, len(self.ui.exercises)):
if self.monitor.currentKey == self.ui.exercises[ind].assigned_key[1]:
self.ui.buttons[ind].setStyleSheet(
""" QPushButton
{
border: 1px solid green;
background-color: #7FFFD4;
}
""")
def _scheduleDelayedCallEvent(self, event: "_CallFunctionEvent") -> None:
if event.delay is None:
return
timer = QTimer(self)
timer.setSingleShot(True)
timer.setInterval(event.delay * 1000 * (1 + self.TIME_TOLERANCE))
timer_callback = lambda e=event: self._onDelayReached(e)
timer.timeout.connect(timer_callback)
timer.start()
self._delayed_events[event] = {
"event": event,
"timer": timer,
"timer_callback": timer_callback,
}
class QDoublePushButton(QPushButton):
"""加入了双击事件的按钮"""
doubleClicked = pyqtSignal()
clicked = pyqtSignal()
def __init__(self, *args, **kwargs):
QPushButton.__init__(self, *args, **kwargs)
self.timer = QTimer()
self.timer.setSingleShot(True)
self.timer.timeout.connect(self.clicked.emit)
super().clicked.connect(self.checkDoubleClick)
def checkDoubleClick(self):
if self.timer.isActive():
self.doubleClicked.emit()
self.timer.stop()
else:
self.timer.start(250)
class WinForm(QWidget):
def __init__(self, parent=None):
super(WinForm, self).__init__(parent)
self.setWindowTitle("QTimer demo")
self.listFile = QListWidget()
self.label = QLabel("显示当前时间")
self.startButton = QPushButton("开始")
self.endButton = QPushButton("结束")
layout = QGridLayout(self)
# 初始化定时器
self.timer = QTimer(self)
# 显示时间
self.timer.timeout.connect(
self.showTime) # timeout 信号连接到特定的槽，当定时器超时，发出 timeout 信号
layout.addWidget(self.label, 0, 0, 1, 2)
layout.addWidget(self.startButton, 1, 0)
layout.addWidget(self.endButton, 1, 1)
self.startButton.clicked.connect(self.start_timer)
self.endButton.clicked.connect(self.end_timer)
self.setLayout(layout)
def showTime(self):
# 获取当前系统时间
time = QDateTime.currentDateTime()
# 设置时间格式
timeDisplay = time.toString("yyyy-MM-dd hh:mm:ss dddd")
self.label.setText(timeDisplay)
def start_timer(self):
# 设置时间间隔并启动定时器
self.timer.start(1000) # start 内设置时间间隔，启动或重新启动计时器，如果计时器在运行，则重启
self.startButton.setEnabled(False)
self.endButton.setEnabled(True)
def end_timer(self):
self.timer.stop() # 停止计时器
self.startButton.setEnabled(True)
self.endButton.setEnabled(False)
class ProgressBar(QProgressBar):
def __init__(self, *args, **kwargs):
super(ProgressBar, self).__init__(*args, **kwargs)
self.setValue(0)
if self.minimum() != self.maximum():
self.timer = QTimer(self)
self.timer.timeout.connect(self.onTimeout)
self.timer.start(100)
def start(self):
self.timer.start(100)
def stop(self):
self.timer.stop()
def onTimeout(self):
if self.value() >= 100:
self.timer.stop()
self.timer.deleteLater()
del self.timer
return
self.setValue(self.value() + 1)
self.btn1.setStyleSheet('background-color:grey')
self.btn1.setFont(QFont('san serif', 15))
self.btn0.clicked.connect(self.clickButton0)
self.btn1.clicked.connect(self.clickButton1)
def clickButton0(self):
self.btn0.setStyleSheet('background-color:grey')
self.btn1.setStyleSheet('background-color:red')
if self.oneClick:
main.start()
self.oneClick = False
def clickButton1(self):
self.btn1.setStyleSheet('background-color:grey')
self.btn0.setStyleSheet('background-color:green')
main.end()
self.oneClick = True
def checkCount(self):
text = 'word count: ' + str(htmlparse.wordCount)
self.label.setText(text)
app = QApplication(sys.argv)
window = Window()
window.show()
timer = QTimer()
timer.timeout.connect(window.checkCount)
timer.start(1000)
sys.exit(app.exec())
global y
lock.acquire()
for i in range(len(toAdd)):
w.updateImage(2079-x, y, toAdd[i])
x += 1
if x > 2079:
x = 0
y += 1
toAdd = []
lock.release()
w.refreshImage()
loop_thread = threading.Thread(target=loop)
loop_thread.start()
timer = QTimer()
timer.timeout.connect(update_gui)
timer.start(1)
# Run the app until we close
app_ret = app.exec()
# Tell thread to finish
keepRunning = False
# Wait for thread to finish
loop_thread.join()
update_gui()
w.saveImage()
# Exit
sys.exit(app_ret)
class TabAntiWarping(Tool):
def __init__(self):
super().__init__()
# variable for menu dialog
self._UseSize = 0.0
self._UseOffset = 0.0
self._AsCapsule = False
self._Nb_Layer = 1
# Shortcut
if not VERSION_QT5:
self._shortcut_key = Qt.Key.Key_I
else:
self._shortcut_key = Qt.Key_I
self._controller = self.getController()
self._selection_pass = None
# self._i18n_catalog = None
self.Major=1
self.Minor=0
# Logger.log('d', "Info Version CuraVersion --> " + str(Version(CuraVersion)))
Logger.log('d', "Info CuraVersion --> " + str(CuraVersion))
# Test version for Cura Master
# https://github.com/smartavionics/Cura
if "master" in CuraVersion :
self.Major=4
self.Minor=20
else:
try:
self.Major = int(CuraVersion.split(".")[0])
self.Minor = int(CuraVersion.split(".")[1])
except:
pass
self.setExposedProperties("SSize", "SOffset", "SCapsule", "NLayer")
CuraApplication.getInstance().globalContainerStackChanged.connect(self._updateEnabled)
# Note: if the selection is cleared with this tool active, there is no way to switch to
# another tool than to reselect an object (by clicking it) because the tool buttons in the
# toolbar will have been disabled. That is why we need to ignore the first press event
# after the selection has been cleared.
Selection.selectionChanged.connect(self._onSelectionChanged)
self._had_selection = False
self._skip_press = False
self._had_selection_timer = QTimer()
self._had_selection_timer.setInterval(0)
self._had_selection_timer.setSingleShot(True)
self._had_selection_timer.timeout.connect(self._selectionChangeDelay)
# set the preferences to store the default value
self._preferences = CuraApplication.getInstance().getPreferences()
self._preferences.addPreference("customsupportcylinder/p_size", 10)
# convert as float to avoid further issue
self._UseSize = float(self._preferences.getValue("customsupportcylinder/p_size"))
self._preferences.addPreference("customsupportcylinder/p_offset", 0.16)
# convert as float to avoid further issue
self._UseOffset = float(self._preferences.getValue("customsupportcylinder/p_offset"))
self._preferences.addPreference("customsupportcylinder/as_capsule", False)
# convert as float to avoid further issue
self._AsCapsule = bool(self._preferences.getValue("customsupportcylinder/as_capsule"))
self._preferences.addPreference("customsupportcylinder/nb_layer", 1)
# convert as float to avoid further issue
self._Nb_Layer = int(self._preferences.getValue("customsupportcylinder/nb_layer"))
def event(self, event):
super().event(event)
modifiers = QApplication.keyboardModifiers()
if not VERSION_QT5:
ctrl_is_active = modifiers & Qt.KeyboardModifier.ControlModifier
else:
ctrl_is_active = modifiers & Qt.ControlModifier
if event.type == Event.MousePressEvent and MouseEvent.LeftButton in event.buttons and self._controller.getToolsEnabled():
if ctrl_is_active:
self._controller.setActiveTool("TranslateTool")
return
if self._skip_press:
# The selection was previously cleared, do not add/remove an support mesh but
# use this click for selection and reactivating this tool only.
self._skip_press = False
return
if self._selection_pass is None:
# The selection renderpass is used to identify objects in the current view
self._selection_pass = CuraApplication.getInstance().getRenderer().getRenderPass("selection")
picked_node = self._controller.getScene().findObject(self._selection_pass.getIdAtPosition(event.x, event.y))
if not picked_node:
# There is no slicable object at the picked location
return
node_stack = picked_node.callDecoration("getStack")
if node_stack:
if node_stack.getProperty("support_mesh", "value"):
self._removeSupportMesh(picked_node)
return
elif node_stack.getProperty("anti_overhang_mesh", "value") or node_stack.getProperty("infill_mesh", "value") or node_stack.getProperty("support_mesh", "value"):
# Only "normal" meshes can have support_mesh added to them
return
# Create a pass for picking a world-space location from the mouse location
active_camera = self._controller.getScene().getActiveCamera()
picking_pass = PickingPass(active_camera.getViewportWidth(), active_camera.getViewportHeight())
picking_pass.render()
picked_position = picking_pass.getPickedPosition(event.x, event.y)
# Add the support_mesh cube at the picked location
self._createSupportMesh(picked_node, picked_position)
def _createSupportMesh(self, parent: CuraSceneNode, position: Vector):
node = CuraSceneNode()
node.setName("RoundTab")
node.setSelectable(True)
# long=Support Height
_long=position.y
# get layer_height_0 used to define pastille height
_id_ex=0
# This function can be triggered in the middle of a machine change, so do not proceed if the machine change
# has not done yet.
global_container_stack = CuraApplication.getInstance().getGlobalContainerStack()
#extruder = global_container_stack.extruderList[int(_id_ex)]
extruder_stack = CuraApplication.getInstance().getExtruderManager().getActiveExtruderStacks()[0]
_layer_h_i = extruder_stack.getProperty("layer_height_0", "value")
_layer_height = extruder_stack.getProperty("layer_height", "value")
_line_w = extruder_stack.getProperty("line_width", "value")
# Logger.log('d', 'layer_height_0 : ' + str(_layer_h_i))
_layer_h = (_layer_h_i * 1.2) + (_layer_height * (self._Nb_Layer -1) )
_line_w = _line_w * 1.2
if self._AsCapsule:
# Capsule creation Diameter , Increment angle 4°, length, layer_height_0*1.2 , line_width
mesh = self._createCapsule(self._UseSize,4,_long,_layer_h,_line_w)
else:
# Cylinder creation Diameter , Increment angle 4°, length, layer_height_0*1.2
mesh = self._createPastille(self._UseSize,4,_long,_layer_h)
node.setMeshData(mesh.build())
active_build_plate = CuraApplication.getInstance().getMultiBuildPlateModel().activeBuildPlate
node.addDecorator(BuildPlateDecorator(active_build_plate))
node.addDecorator(SliceableObjectDecorator())
stack = node.callDecoration("getStack") # created by SettingOverrideDecorator that is automatically added to CuraSceneNode
settings = stack.getTop()
# support_mesh type
definition = stack.getSettingDefinition("support_mesh")
new_instance = SettingInstance(definition, settings)
new_instance.setProperty("value", True)
new_instance.resetState() # Ensure that the state is not seen as a user state.
settings.addInstance(new_instance)
definition = stack.getSettingDefinition("support_mesh_drop_down")
new_instance = SettingInstance(definition, settings)
new_instance.setProperty("value", False)
new_instance.resetState() # Ensure that the state is not seen as a user state.
settings.addInstance(new_instance)
if self._AsCapsule:
s_p = global_container_stack.getProperty("support_type", "value")
if s_p == 'buildplate' :
Message(text = "Info modification current profile support_type parameter\nNew value : everywhere", title = catalog.i18nc("@info:title", "Warning ! Tab Anti Warping")).show()
Logger.log('d', 'support_type different : ' + str(s_p))
# Define support_type=everywhere
global_container_stack.setProperty("support_type", "value", 'everywhere')
# Define support_xy_distance
definition = stack.getSettingDefinition("support_xy_distance")
new_instance = SettingInstance(definition, settings)
new_instance.setProperty("value", self._UseOffset)
# new_instance.resetState() # Ensure that the state is not seen as a user state.
settings.addInstance(new_instance)
# Fix some settings in Cura to get a better result
id_ex=0
global_container_stack = CuraApplication.getInstance().getGlobalContainerStack()
extruder_stack = CuraApplication.getInstance().getExtruderManager().getActiveExtruderStacks()[0]
#extruder = global_container_stack.extruderList[int(id_ex)]
# hop to fix it in a futur release
# https://github.com/Ultimaker/Cura/issues/9882
# if self.Major < 5 or ( self.Major == 5 and self.Minor < 1 ) :
_xy_distance = extruder_stack.getProperty("support_xy_distance", "value")
if self._UseOffset != _xy_distance :
_msg = "New value : %8.3f" % (self._UseOffset)
Message(text = "Info modification current profile support_xy_distance parameter\nNew value : %8.3f" % (self._UseOffset), title = catalog.i18nc("@info:title", "Warning ! Tab Anti Warping")).show()
Logger.log('d', 'support_xy_distance different : ' + str(_xy_distance))
# Define support_xy_distance
extruder_stack.setProperty("support_xy_distance", "value", self._UseOffset)
if self._Nb_Layer >1 :
s_p = int(extruder_stack.getProperty("support_infill_rate", "value"))
Logger.log('d', 'support_infill_rate actual : ' + str(s_p))
if s_p < 99 :
Message(text = "Info modification current profile support_infill_rate parameter\nNew value : 100%", title = catalog.i18nc("@info:title", "Warning ! Tab Anti Warping")).show()
Logger.log('d', 'support_infill_rate different : ' + str(s_p))
# Define support_infill_rate=100%
extruder_stack.setProperty("support_infill_rate", "value", 100)
op = GroupedOperation()
# First add node to the scene at the correct position/scale, before parenting, so the support mesh does not get scaled with the parent
op.addOperation(AddSceneNodeOperation(node, self._controller.getScene().getRoot()))
op.addOperation(SetParentOperation(node, parent))
op.push()
node.setPosition(position, CuraSceneNode.TransformSpace.World)
CuraApplication.getInstance().getController().getScene().sceneChanged.emit(node)
def _removeSupportMesh(self, node: CuraSceneNode):
parent = node.getParent()
if parent == self._controller.getScene().getRoot():
parent = None
op = RemoveSceneNodeOperation(node)
op.push()
if parent and not Selection.isSelected(parent):
Selection.add(parent)
CuraApplication.getInstance().getController().getScene().sceneChanged.emit(node)
def _updateEnabled(self):
plugin_enabled = False
global_container_stack = CuraApplication.getInstance().getGlobalContainerStack()
if global_container_stack:
plugin_enabled = global_container_stack.getProperty("support_mesh", "enabled")
CuraApplication.getInstance().getController().toolEnabledChanged.emit(self._plugin_id, plugin_enabled)
def _onSelectionChanged(self):
# When selection is passed from one object to another object, first the selection is cleared
# and then it is set to the new object. We are only interested in the change from no selection
# to a selection or vice-versa, not in a change from one object to another. A timer is used to
# "merge" a possible clear/select action in a single frame
if Selection.hasSelection() != self._had_selection:
self._had_selection_timer.start()
def _selectionChangeDelay(self):
has_selection = Selection.hasSelection()
if not has_selection and self._had_selection:
self._skip_press = True
else:
self._skip_press = False
self._had_selection = has_selection
# Capsule creation
def _createCapsule(self, size, nb , lg, He, lw):
mesh = MeshBuilder()
# Per-vertex normals require duplication of vertices
r = size / 2
# First layer length
sup = -lg + He
if self._Nb_Layer >1 :
sup_c = -lg + (He * 2)
else:
sup_c = -lg + (He * 3)
l = -lg
rng = int(360 / nb)
ang = math.radians(nb)
r_sup=math.tan(math.radians(45))*(He * 3)+r
# Top inside radius
ri=r_sup-(1.8*lw)
# Top radius
rit=r-(1.8*lw)
verts = []
for i in range(0, rng):
# Top
verts.append([ri*math.cos(i*ang), sup_c, ri*math.sin(i*ang)])
verts.append([r_sup*math.cos((i+1)*ang), sup_c, r_sup*math.sin((i+1)*ang)])
verts.append([r_sup*math.cos(i*ang), sup_c, r_sup*math.sin(i*ang)])
verts.append([ri*math.cos((i+1)*ang), sup_c, ri*math.sin((i+1)*ang)])
verts.append([r_sup*math.cos((i+1)*ang), sup_c, r_sup*math.sin((i+1)*ang)])
verts.append([ri*math.cos(i*ang), sup_c, ri*math.sin(i*ang)])
#Side 1a
verts.append([r_sup*math.cos(i*ang), sup_c, r_sup*math.sin(i*ang)])
verts.append([r_sup*math.cos((i+1)*ang), sup_c, r_sup*math.sin((i+1)*ang)])
verts.append([r*math.cos((i+1)*ang), l, r*math.sin((i+1)*ang)])
#Side 1b
verts.append([r*math.cos((i+1)*ang), l, r*math.sin((i+1)*ang)])
verts.append([r*math.cos(i*ang), l, r*math.sin(i*ang)])
verts.append([r_sup*math.cos(i*ang), sup_c, r_sup*math.sin(i*ang)])
#Side 2a
verts.append([rit*math.cos((i+1)*ang), sup, rit*math.sin((i+1)*ang)])
verts.append([ri*math.cos((i+1)*ang), sup_c, ri*math.sin((i+1)*ang)])
verts.append([ri*math.cos(i*ang), sup_c, ri*math.sin(i*ang)])
#Side 2b
verts.append([ri*math.cos(i*ang), sup_c, ri*math.sin(i*ang)])
verts.append([rit*math.cos(i*ang), sup, rit*math.sin(i*ang)])
verts.append([rit*math.cos((i+1)*ang), sup, rit*math.sin((i+1)*ang)])
#Bottom Top
verts.append([0, sup, 0])
verts.append([rit*math.cos((i+1)*ang), sup, rit*math.sin((i+1)*ang)])
verts.append([rit*math.cos(i*ang), sup, rit*math.sin(i*ang)])
#Bottom
verts.append([0, l, 0])
verts.append([r*math.cos(i*ang), l, r*math.sin(i*ang)])
verts.append([r*math.cos((i+1)*ang), l, r*math.sin((i+1)*ang)])
mesh.setVertices(numpy.asarray(verts, dtype=numpy.float32))
indices = []
# for every angle increment 24 Vertices
tot = rng * 24
for i in range(0, tot, 3): #
indices.append([i, i+1, i+2])
mesh.setIndices(numpy.asarray(indices, dtype=numpy.int32))
mesh.calculateNormals()
return mesh
# Cylinder creation
def _createPastille(self, size, nb , lg, He):
mesh = MeshBuilder()
# Per-vertex normals require duplication of vertices
r = size / 2
# First layer length
sup = -lg + He
l = -lg
rng = int(360 / nb)
ang = math.radians(nb)
verts = []
for i in range(0, rng):
# Top
verts.append([0, sup, 0])
verts.append([r*math.cos((i+1)*ang), sup, r*math.sin((i+1)*ang)])
verts.append([r*math.cos(i*ang), sup, r*math.sin(i*ang)])
#Side 1a
verts.append([r*math.cos(i*ang), sup, r*math.sin(i*ang)])
verts.append([r*math.cos((i+1)*ang), sup, r*math.sin((i+1)*ang)])
verts.append([r*math.cos((i+1)*ang), l, r*math.sin((i+1)*ang)])
#Side 1b
verts.append([r*math.cos((i+1)*ang), l, r*math.sin((i+1)*ang)])
verts.append([r*math.cos(i*ang), l, r*math.sin(i*ang)])
verts.append([r*math.cos(i*ang), sup, r*math.sin(i*ang)])
#Bottom
verts.append([0, l, 0])
verts.append([r*math.cos(i*ang), l, r*math.sin(i*ang)])
verts.append([r*math.cos((i+1)*ang), l, r*math.sin((i+1)*ang)])
mesh.setVertices(numpy.asarray(verts, dtype=numpy.float32))
indices = []
# for every angle increment 12 Vertices
tot = rng * 12
for i in range(0, tot, 3): #
indices.append([i, i+1, i+2])
mesh.setIndices(numpy.asarray(indices, dtype=numpy.int32))
mesh.calculateNormals()
return mesh
def getSSize(self) -> float:
"""
return: golabl _UseSize in mm.
"""
return self._UseSize
def setSSize(self, SSize: str) -> None:
"""
param SSize: Size in mm.
"""
try:
s_value = float(SSize)
except ValueError:
return
if s_value <= 0:
return
#Logger.log('d', 's_value : ' + str(s_value))
self._UseSize = s_value
self._preferences.setValue("customsupportcylinder/p_size", s_value)
def getNLayer(self) -> int:
"""
return: golabl _Nb_Layer
"""
return self._Nb_Layer
def setNLayer(self, NLayer: str) -> None:
"""
param NLayer: NLayer as integer >1
"""
try:
i_value = int(NLayer)
except ValueError:
return
if i_value < 1:
return
Logger.log('d', 'i_value : ' + str(i_value))
self._Nb_Layer = i_value
self._preferences.setValue("customsupportcylinder/nb_layer", i_value)
def getSOffset(self) -> float:
"""
return: golabl _UseOffset in mm.
"""
return self._UseOffset
def setSOffset(self, SOffset: str) -> None:
"""
param SOffset: SOffset in mm.
"""
try:
s_value = float(SOffset)
except ValueError:
return
#Logger.log('d', 's_value : ' + str(s_value))
self._UseOffset = s_value
self._preferences.setValue("customsupportcylinder/p_offset", s_value)
def getSCapsule(self) -> bool:
"""
return: golabl _AsCapsule as boolean
"""
return self._AsCapsule
def setSCapsule(self, SCapsule: bool) -> None:
"""
param SCapsule: as boolean.
"""
self._AsCapsule = SCapsule
self._preferences.setValue("customsupportcylinder/as_capsule", SCapsule)
class MPPIOptionsWindow(QWidget):
def __init__(self):
super(MPPIOptionsWindow, self).__init__()
self.horizon_steps = controller_mppi.mpc_samples
self.num_rollouts = controller_mppi.num_rollouts
self.dd_weight = controller_mppi.dd_weight
self.ep_weight = controller_mppi.ep_weight
self.ekp_weight = controller_mppi.ekp_weight * 1.0e1
self.ekc_weight = controller_mppi.ekc_weight * 1.0e-1
self.cc_weight = controller_mppi.cc_weight * 1.0e-2
self.ccrc_weight = controller_mppi.ccrc_weight * 1.0e-2
self.R = controller_mppi.R # How much to punish Q
self.LBD = controller_mppi.LBD # Cost parameter lambda
self.NU = controller_mppi.NU # Exploration variance
layout = QVBoxLayout()
### Set Horizon Length
horizon_options_layout = QVBoxLayout()
self.horizon_label = QLabel("")
self.horizon_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
horizon_options_layout.addWidget(self.horizon_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(10, 300)
slider.setValue(self.horizon_steps)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(10)
slider.setSingleStep(10)
horizon_options_layout.addWidget(slider)
slider.valueChanged.connect(self.horizon_length_changed)
### Set Number of Rollouts
rollouts_options_layout = QVBoxLayout()
self.rollouts_label = QLabel("")
self.rollouts_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
rollouts_options_layout.addWidget(self.rollouts_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(10, 3000)
slider.setValue(self.num_rollouts)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(10)
slider.setSingleStep(10)
rollouts_options_layout.addWidget(slider)
slider.valueChanged.connect(self.num_rollouts_changed)
### Set Cost Weights
cost_weight_layout = QVBoxLayout()
# Distance difference cost
self.dd_weight_label = QLabel("")
self.dd_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.dd_weight_label)
self.dd_label = QLabel("")
self.dd_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.dd_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 990)
slider.setValue(self.dd_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(10)
slider.setSingleStep(10)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.dd_weight_changed)
# Potential energy cost
self.ep_weight_label = QLabel("")
self.ep_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ep_weight_label)
self.ep_label = QLabel("")
self.ep_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ep_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 1e5 - 1e3)
slider.setValue(self.ep_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1e3)
slider.setSingleStep(1e3)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.ep_weight_changed)
# Pole kinetic energy cost
self.ekp_weight_label = QLabel("")
self.ekp_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ekp_weight_label)
self.ekp_label = QLabel("")
self.ekp_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ekp_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 99)
slider.setValue(self.ekp_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1)
slider.setSingleStep(1)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.ekp_weight_changed)
# Cart kinetic energy cost
self.ekc_weight_label = QLabel("")
self.ekc_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ekc_weight_label)
self.ekc_label = QLabel("")
self.ekc_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ekc_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 99)
slider.setValue(self.ekc_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1)
slider.setSingleStep(1)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.ekc_weight_changed)
# Control cost
self.cc_weight_label = QLabel("")
self.cc_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.cc_weight_label)
self.cc_label = QLabel("")
self.cc_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.cc_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 99)
slider.setValue(self.cc_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1)
slider.setSingleStep(1)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.cc_weight_changed)
# Control change rate cost
self.ccrc_weight_label = QLabel("")
self.ccrc_weight_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ccrc_weight_label)
self.ccrc_label = QLabel("")
self.ccrc_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
cost_weight_layout.addWidget(self.ccrc_label)
slider = QSlider(orientation=Qt.Orientation.Horizontal)
slider.setRange(0, 99)
slider.setValue(self.ccrc_weight)
slider.setTickPosition(QSlider.TickPosition.TicksBelow)
slider.setTickInterval(1)
slider.setSingleStep(1)
cost_weight_layout.addWidget(slider)
slider.valueChanged.connect(self.ccrc_weight_changed)
### Set some more MPPI constants
mppi_constants_layout = QVBoxLayout()
# Quadratic cost penalty R
textbox = QLineEdit()
textbox.setText(str(self.R))
textbox.textChanged.connect(self.R_changed)
h_layout = QHBoxLayout()
h_layout.addWidget(QLabel("Quadratic input cost penalty R ="))
h_layout.addWidget(textbox)
mppi_constants_layout.addLayout(h_layout)
# Quadratic cost penalty LBD
textbox = QLineEdit()
textbox.setText(str(self.LBD))
textbox.textChanged.connect(self.LBD_changed)
h_layout = QHBoxLayout()
h_layout.addWidget(QLabel("Importance of higher-cost rollouts LBD ="))
h_layout.addWidget(textbox)
mppi_constants_layout.addLayout(h_layout)
# Quadratic cost penalty NU
textbox = QLineEdit()
textbox.setText(str(self.NU))
textbox.textChanged.connect(self.NU_changed)
h_layout = QHBoxLayout()
h_layout.addWidget(QLabel("Exploration variance NU ="))
h_layout.addWidget(textbox)
mppi_constants_layout.addLayout(h_layout)
# Sampling type
h_layout = QHBoxLayout()
btn1 = QRadioButton("iid")
if btn1.text() == controller_mppi.SAMPLING_TYPE: btn1.setChecked(True)
btn1.toggled.connect(lambda: self.toggle_button(btn1))
h_layout.addWidget(btn1)
btn2 = QRadioButton("random_walk")
if btn2.text() == controller_mppi.SAMPLING_TYPE: btn2.setChecked(True)
btn2.toggled.connect(lambda: self.toggle_button(btn2))
h_layout.addWidget(btn2)
btn3 = QRadioButton("uniform")
if btn3.text() == controller_mppi.SAMPLING_TYPE: btn3.setChecked(True)
btn3.toggled.connect(lambda: self.toggle_button(btn3))
h_layout.addWidget(btn3)
btn4 = QRadioButton("repeated")
if btn4.text() == controller_mppi.SAMPLING_TYPE: btn4.setChecked(True)
btn4.toggled.connect(lambda: self.toggle_button(btn4))
h_layout.addWidget(btn4)
btn5 = QRadioButton("interpolated")
if btn5.text() == controller_mppi.SAMPLING_TYPE: btn5.setChecked(True)
btn5.toggled.connect(lambda: self.toggle_button(btn5))
h_layout.addWidget(btn5)
mppi_constants_layout.addWidget(QLabel("Sampling type:"))
mppi_constants_layout.addLayout(h_layout)
### Put together layout
self.update_labels()
self.update_slider_labels()
layout.addLayout(horizon_options_layout)
layout.addLayout(rollouts_options_layout)
layout.addLayout(cost_weight_layout)
layout.addLayout(mppi_constants_layout)
self.setLayout(layout)
self.setWindowFlags(self.windowFlags()
| Qt.WindowType.WindowStaysOnTopHint)
self.setGeometry(0, 0, 400, 50)
self.show()
self.setWindowTitle("MPPI Options")
self.timer = QTimer()
self.timer.timeout.connect(self.update_labels)
self.timer.start(100)
def horizon_length_changed(self, val: int):
self.horizon_steps = val
# TODO: Replace by setter method
controller_mppi.mpc_samples = self.horizon_steps
self.update_slider_labels()
def num_rollouts_changed(self, val: int):
self.num_rollouts = val
controller_mppi.num_rollouts = self.num_rollouts
self.update_slider_labels()
def dd_weight_changed(self, val: int):
self.dd_weight = val
# TODO: Replace by setter method
controller_mppi.dd_weight = self.dd_weight * 1.0
self.update_slider_labels()
def ep_weight_changed(self, val: int):
self.ep_weight = val
# TODO: Replace by setter method
controller_mppi.ep_weight = self.ep_weight * 1.0
self.update_slider_labels()
def ekp_weight_changed(self, val: int):
self.ekp_weight = val
# TODO: Replace by setter method
controller_mppi.ekp_weight = self.ekp_weight * 1.0e-1
self.update_slider_labels()
def ekc_weight_changed(self, val: int):
self.ekc_weight = val
# TODO: Replace by setter method
controller_mppi.ekc_weight = self.ekc_weight * 1.0e1
self.update_slider_labels()
def cc_weight_changed(self, val: int):
self.cc_weight = val
# TODO: Replace by setter method
controller_mppi.cc_weight = self.cc_weight * 1.0e2
self.update_slider_labels()
def ccrc_weight_changed(self, val: int):
self.ccrc_weight = val
# TODO: Replace by setter method
controller_mppi.ccrc_weight = self.ccrc_weight * 1.0e2
self.update_slider_labels()
def R_changed(self, val: str):
if val == '': val = '0'
val = float(val)
self.R = val
controller_mppi.R = self.R
def LBD_changed(self, val: str):
if val == '': val = '0'
val = float(val)
if val == 0: val = 1.0
self.LBD = val
controller_mppi.LBD = self.LBD
def NU_changed(self, val: str):
if val == '': val = '0'
val = float(val)
if val == 0: val = 1.0
self.NU = val
controller_mppi.NU = self.NU
def toggle_button(self, b):
if b.isChecked(): controller_mppi.SAMPLING_TYPE = b.text()
def update_slider_labels(self):
self.horizon_label.setText(
f"Horizon: {self.horizon_steps} steps = {round(self.horizon_steps * controller_mppi.dt, 2)} s"
)
self.rollouts_label.setText(f"Rollouts: {self.num_rollouts}")
self.dd_weight_label.setText(
f"Distance difference cost weight: {round(self.dd_weight, 2)}")
self.ep_weight_label.setText(
f"Pole angle cost weight: {round(self.ep_weight, 2)}")
self.ekp_weight_label.setText(
f"Pole kinetic energy cost weight: {round(self.ekp_weight * 1.0e-1, 4)}"
)
self.ekc_weight_label.setText(
f"Cart kinetic energy cost weight: {round(self.ekc_weight * 1.0e1, 3)}"
)
self.cc_weight_label.setText(
f"Control cost weight: {round(self.cc_weight * 1.0e2, 3)}")
self.ccrc_weight_label.setText(
f"Control change rate cost weight: {round(self.ccrc_weight * 1.0e2, 3)}"
)
def update_labels(self):
self.dd_label.setText(f"{round(controller_mppi.gui_dd.item(), 2)}")
self.ep_label.setText(f"{round(controller_mppi.gui_ep.item(), 2)}")
self.ekp_label.setText(f"{round(controller_mppi.gui_ekp.item(), 2)}")
self.ekc_label.setText(f"{round(controller_mppi.gui_ekc.item(), 2)}")
self.cc_label.setText(f"{round(controller_mppi.gui_cc.item(), 2)}")
self.ccrc_label.setText(f"{round(controller_mppi.gui_ccrc.item(), 2)}")
class MainWindow(QMainWindow):
def __init__(self):
super().__init__()
self.setFixedSize(800, 410)
self.setWindowTitle("PyLX16A Servo Testing Software")
self.port_selection_box = QComboBox(self)
self.port_selection_box.setFixedSize(200, 27)
self.port_selection_box.move(30, 65)
port_selection_box_label = QLabel("Select Port:", self)
port_selection_box_label.move(30, 35)
self.port_selection_box_refresh_button = QPushButton("Refresh", self)
self.port_selection_box_refresh_button.setFixedSize(60, 23)
self.port_selection_box_refresh_button.move(170, 38)
self.id_selection_box = QListWidget(self)
self.id_selection_box.setFixedSize(200, 200)
self.id_selection_box.move(30, 135)
id_selection_box_label = QLabel("Connected Servos:", self)
id_selection_box_label.setFixedWidth(200)
id_selection_box_label.move(30, 105)
self.id_selection_box_refresh_button = QPushButton("Refresh", self)
self.id_selection_box_refresh_button.setFixedSize(60, 23)
self.id_selection_box_refresh_button.move(170, 108)
self.set_id_line_edit = QLineEdit(self)
self.set_id_line_edit.setFixedSize(50, 27)
self.set_id_line_edit.move(80, 355)
set_id_line_edit_label = QLabel("Set ID:", self)
set_id_line_edit_label.move(30, 355)
set_id_line_edit_label.setFixedSize(50, 27)
self.set_id_button = QPushButton("Change ID!", self)
self.set_id_button.setFixedSize(85, 27)
self.set_id_button.move(145, 355)
self.position_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_slider.setMinimum(0)
self.position_slider.setMaximum(240)
self.position_slider.setFixedWidth(200)
self.position_slider.move(300, 55)
self.position_slider_readout = QLabel("0.00°", self)
self.position_slider_readout.setFixedWidth(50)
self.position_slider_readout.move(450, 30)
self.position_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_slider_label = QLabel("Angle (degrees):", self)
position_slider_label.move(300, 30)
self.position_offset_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_offset_slider.setMinimum(-30)
self.position_offset_slider.setMaximum(30)
self.position_offset_slider.setFixedWidth(200)
self.position_offset_slider.move(300, 125)
self.position_offset_slider_readout = QLabel("0.00°", self)
self.position_offset_slider_readout.setFixedWidth(50)
self.position_offset_slider_readout.move(450, 100)
self.position_offset_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_offset_slider_label = QLabel("Angle offset (degrees):", self)
position_offset_slider_label.setFixedWidth(200)
position_offset_slider_label.move(300, 100)
self.angle_lower_limit_textentry = QLineEdit(self)
self.angle_lower_limit_textentry.setFixedWidth(50)
self.angle_lower_limit_textentry.move(450, 175)
self.angle_lower_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_upper_limit_textentry = QLineEdit(self)
self.angle_upper_limit_textentry.setFixedWidth(50)
self.angle_upper_limit_textentry.move(450, 210)
self.angle_upper_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_lower_limit_textentry_label = QLabel(
"Lower Limit (degrees):", self)
self.angle_lower_limit_textentry_label.move(300, 175)
self.angle_lower_limit_textentry_label.setFixedWidth(150)
self.angle_upper_limit_textentry_label = QLabel(
"Upper Limit (degrees):", self)
self.angle_upper_limit_textentry_label.move(300, 210)
self.angle_upper_limit_textentry_label.setFixedWidth(150)
self.vin_lower_limit_textentry = QLineEdit(self)
self.vin_lower_limit_textentry.setFixedWidth(50)
self.vin_lower_limit_textentry.move(450, 265)
self.vin_lower_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_upper_limit_textentry = QLineEdit(self)
self.vin_upper_limit_textentry.setFixedWidth(50)
self.vin_upper_limit_textentry.move(450, 300)
self.vin_upper_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_lower_limit_textentry_label = QLabel(
"Voltage Lower Limit (mV):", self)
self.vin_lower_limit_textentry_label.move(300, 265)
self.vin_lower_limit_textentry_label.setFixedWidth(150)
self.vin_upper_limit_textentry_label = QLabel(
"Voltage Upper Limit (mV):", self)
self.vin_upper_limit_textentry_label.move(300, 300)
self.vin_upper_limit_textentry_label.setFixedWidth(150)
self.temp_limit_textentry = QLineEdit(self)
self.temp_limit_textentry.setFixedWidth(50)
self.temp_limit_textentry.move(450, 355)
self.temp_limit_textentry.setValidator(QIntValidator(50, 100, self))
self.temp_limit_textentry_label = QLabel("Temp Limit (°C):", self)
self.temp_limit_textentry_label.move(300, 355)
self.temp_limit_textentry_label.setFixedWidth(150)
self.servo_mode_radio_button = QRadioButton("Servo Mode", self)
self.servo_mode_radio_button.move(565, 50)
self.motor_mode_radio_button = QRadioButton("Motor Mode", self)
self.motor_mode_radio_button.move(565, 75)
self.motor_speed_slider = QSlider(Qt.Orientation.Horizontal, self)
self.motor_speed_slider.setMinimum(-1000)
self.motor_speed_slider.setMaximum(1000)
self.motor_speed_slider.setFixedWidth(200)
self.motor_speed_slider.move(565, 125)
motor_speed_slider_label = QLabel("Motor Speed:", self)
motor_speed_slider_label.move(565, 100)
self.torque_enabled_checkbox = QCheckBox("Torque Enabled", self)
self.torque_enabled_checkbox.move(565, 175)
self.torque_enabled_checkbox.setFixedWidth(200)
self.led_enabled_checkbox = QCheckBox("LED Enabled", self)
self.led_enabled_checkbox.move(565, 210)
self.led_enabled_checkbox.setFixedWidth(200)
self.led_over_temp_checkbox = QCheckBox("LED Over Temperature", self)
self.led_over_temp_checkbox.move(565, 258)
self.led_over_temp_checkbox.setFixedWidth(200)
self.led_over_voltage_checkbox = QCheckBox("LED Over Voltage", self)
self.led_over_voltage_checkbox.move(565, 283)
self.led_over_voltage_checkbox.setFixedWidth(200)
self.led_rotor_locked_checkbox = QCheckBox("LED Rotor Locked", self)
self.led_rotor_locked_checkbox.move(565, 308)
self.led_rotor_locked_checkbox.setFixedWidth(200)
self.physical_position_readout = QLabel("--°", self)
self.physical_position_readout.move(565, 367)
self.physical_position_readout.setFixedWidth(200)
self.physical_position_readout_label = QLabel("Position", self)
self.physical_position_readout_label.move(565, 347)
self.temperature_readout = QLabel("-- °C", self)
self.temperature_readout.move(635, 367)
self.temperature_readout.setFixedWidth(200)
self.temperature_readout_label = QLabel("Temperature", self)
self.temperature_readout_label.move(635, 347)
self.voltage_readout = QLabel("-- V", self)
self.voltage_readout.move(730, 367)
self.voltage_readout.setFixedWidth(200)
self.voltage_readout_label = QLabel("Voltage", self)
self.voltage_readout_label.move(730, 347)
self.readout_update_timer = QTimer(self)
self.readout_update_timer.timeout.connect(self.update_readouts)
self.readout_update_timer.start(250)
self.active_servo: LX16A = None
self.position_slider.setValue(0)
self.position_offset_slider.setValue(0)
self.motor_speed_slider.setValue(0)
self.id_selection_box_refresh_button.setEnabled(False)
self.disable_widgets()
self.port_selection_box.currentTextChanged.connect(
self.port_selection_box_changed)
self.port_selection_box_refresh_button.clicked.connect(
self.port_refresh_button_clicked)
self.id_selection_box.currentTextChanged.connect(
self.id_selection_box_changed)
self.id_selection_box_refresh_button.clicked.connect(
self.id_refresh_button_clicked)
self.set_id_button.pressed.connect(self.id_updated)
self.position_slider.sliderMoved.connect(self.position_slider_updated)
self.position_offset_slider.sliderMoved.connect(
self.position_offset_slider_updated)
self.angle_lower_limit_textentry.textChanged.connect(
self.angle_lower_limit_updated)
self.angle_upper_limit_textentry.textChanged.connect(
self.angle_upper_limit_updated)
self.vin_lower_limit_textentry.textChanged.connect(
self.vin_lower_limit_updated)
self.vin_upper_limit_textentry.textChanged.connect(
self.vin_upper_limit_updated)
self.temp_limit_textentry.textChanged.connect(self.temp_limit_updated)
self.servo_mode_radio_button.toggled.connect(
self.servo_mode_radio_button_toggled)
self.motor_mode_radio_button.toggled.connect(
self.motor_mode_radio_button_toggled)
self.motor_speed_slider.valueChanged.connect(
self.motor_speed_slider_updated)
self.torque_enabled_checkbox.stateChanged.connect(
self.torque_enabled_checkbox_toggled)
self.led_enabled_checkbox.stateChanged.connect(
self.led_enabled_checkbox_toggled)
self.led_over_temp_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_over_voltage_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_rotor_locked_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.scan_for_ports()
def disable_widgets(self):
self.set_id_line_edit.setEnabled(False)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
self.angle_lower_limit_textentry.setEnabled(False)
self.angle_upper_limit_textentry.setEnabled(False)
self.vin_lower_limit_textentry.setEnabled(False)
self.vin_upper_limit_textentry.setEnabled(False)
self.temp_limit_textentry.setEnabled(False)
self.servo_mode_radio_button.setEnabled(False)
self.motor_mode_radio_button.setEnabled(False)
self.motor_speed_slider.setEnabled(False)
self.torque_enabled_checkbox.setEnabled(False)
self.led_enabled_checkbox.setEnabled(False)
self.led_over_temp_checkbox.setEnabled(False)
self.led_over_voltage_checkbox.setEnabled(False)
self.led_rotor_locked_checkbox.setEnabled(False)
def enable_widgets(self):
self.set_id_line_edit.setEnabled(True)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
self.angle_lower_limit_textentry.setEnabled(True)
self.angle_upper_limit_textentry.setEnabled(True)
self.vin_lower_limit_textentry.setEnabled(True)
self.vin_upper_limit_textentry.setEnabled(True)
self.temp_limit_textentry.setEnabled(True)
self.servo_mode_radio_button.setEnabled(True)
self.motor_mode_radio_button.setEnabled(True)
self.motor_speed_slider.setEnabled(True)
self.torque_enabled_checkbox.setEnabled(True)
self.led_enabled_checkbox.setEnabled(True)
self.led_over_temp_checkbox.setEnabled(True)
self.led_over_voltage_checkbox.setEnabled(True)
self.led_rotor_locked_checkbox.setEnabled(True)
def clear_servo(self):
self.active_servo = None
@catch_disconnection
def set_servo_id(self, id_):
if not id_.isdigit():
return
self.active_servo = LX16A(int(id_))
self.active_servo.enable_torque()
self.position_slider.setValue(
int(self.active_servo.get_physical_angle()))
self.position_slider_readout.setText(
f"{int(self.active_servo.get_physical_angle() * 25 / 6) * 6 / 25:0.2f}°"
)
self.position_offset_slider.setValue(
int(self.active_servo.get_angle_offset()))
self.position_offset_slider_readout.setText(
f"{int(self.active_servo.get_angle_offset() * 25 / 6) * 6 / 25:0.2f}°"
)
self.angle_lower_limit_textentry.setText(
str(int(self.active_servo.get_angle_limits()[0])))
self.angle_upper_limit_textentry.setText(
str(int(self.active_servo.get_angle_limits()[1])))
self.vin_lower_limit_textentry.setText(
str(self.active_servo.get_vin_limits()[0]))
self.vin_upper_limit_textentry.setText(
str(self.active_servo.get_vin_limits()[1]))
self.temp_limit_textentry.setText(
str(self.active_servo.get_temp_limit()))
self.motor_speed_slider.setValue(self.active_servo.get_motor_speed(
) if self.active_servo.is_motor_mode() else 0)
if self.active_servo.is_motor_mode():
self.motor_mode_radio_button.setChecked(True)
else:
self.servo_mode_radio_button.setChecked(True)
self.motor_speed_slider.setEnabled(self.active_servo.is_motor_mode())
self.torque_enabled_checkbox.setChecked(
self.active_servo.is_torque_enabled())
self.led_enabled_checkbox.setChecked(
self.active_servo.is_led_power_on())
self.led_over_temp_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[0])
self.led_over_voltage_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[1])
self.led_rotor_locked_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[2])
@catch_disconnection
def scan_for_servos(self, port):
self.setCursor(Qt.CursorShape.WaitCursor)
LX16A.initialize(port)
self.id_selection_box.clear()
for i in range(0, 254):
try:
servo = LX16A(i)
self.id_selection_box.addItem(str(i))
except:
pass
self.setCursor(Qt.CursorShape.ArrowCursor)
@catch_disconnection
def scan_for_ports(self):
ports = serial.tools.list_ports.comports()
for port in ports:
self.port_selection_box.addItem(port.device)
@catch_disconnection
def update_readouts(self):
if self.active_servo is None:
return
try:
self.physical_position_readout.setText(
f"{self.active_servo.get_physical_angle():0.2f}°")
self.temperature_readout.setText(
f"{self.active_servo.get_temp()} °C")
self.voltage_readout.setText(
f"{self.active_servo.get_vin() / 1000} V")
except (ServoTimeoutError, ServoChecksumError):
pass
@catch_disconnection
def id_updated(self):
new_id = self.set_id_line_edit.text()
try:
servo = LX16A(int(new_id))
except ServoTimeoutError:
# Meaning this ID is not taken
self.active_servo.set_id(int(new_id))
self.id_selection_box.item(
self.id_selection_box.currentRow()).setText(new_id)
return
QMessageBox.warning(None, "Error", "ID already taken")
@catch_disconnection
def position_slider_updated(self, pos):
if float(self.voltage_readout.text()[:-2]) < 5:
QMessageBox.warning(
None,
"Error",
"The voltage going through the servo is too low. Is your battery powered on?",
)
return
self.active_servo.move(pos)
self.position_slider_readout.setText(
f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")
@catch_disconnection
def position_offset_slider_updated(self, pos):
self.active_servo.set_angle_offset(pos)
self.position_offset_slider_readout.setText(
f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")
@catch_disconnection
def angle_lower_limit_updated(self, text):
if (QIntValidator(0, 240, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) > int(self.angle_upper_limit_textentry.text()):
return
self.active_servo.set_angle_limits(
int(text), int(self.angle_upper_limit_textentry.text()))
@catch_disconnection
def angle_upper_limit_updated(self, text):
if (QIntValidator(0, 240, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) < int(self.angle_lower_limit_textentry.text()):
return
self.active_servo.set_angle_limits(
int(self.angle_lower_limit_textentry.text()), int(text))
@catch_disconnection
def vin_lower_limit_updated(self, text):
if (QIntValidator(4500, 12000, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) > int(self.vin_upper_limit_textentry.text()):
return
self.active_servo.set_vin_limits(
int(text), int(self.vin_upper_limit_textentry.text()))
@catch_disconnection
def vin_upper_limit_updated(self, text):
if (QIntValidator(4500, 12000, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) < int(self.vin_lower_limit_textentry.text()):
return
self.active_servo.set_vin_limits(
int(self.vin_lower_limit_textentry.text()), int(text))
@catch_disconnection
def temp_limit_updated(self, text):
if (QIntValidator(50, 100, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
self.active_servo.set_temp_limit(int(text))
@catch_disconnection
def servo_mode_radio_button_toggled(self, checked):
if checked:
self.active_servo.servo_mode()
self.motor_speed_slider.setEnabled(False)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
else:
self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
self.motor_speed_slider.setEnabled(True)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
@catch_disconnection
def motor_mode_radio_button_toggled(self, checked):
if checked:
self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
self.motor_speed_slider.setEnabled(True)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
else:
self.active_servo.servo_mode()
self.motor_speed_slider.setEnabled(False)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
@catch_disconnection
def motor_speed_slider_updated(self, pos):
self.active_servo.motor_mode(pos)
@catch_disconnection
def torque_enabled_checkbox_toggled(self, checked):
if checked:
self.active_servo.enable_torque()
else:
self.active_servo.disable_torque()
self.position_slider.setEnabled(checked)
self.position_offset_slider.setEnabled(checked)
self.servo_mode_radio_button.setEnabled(checked)
self.motor_mode_radio_button.setEnabled(checked)
self.motor_speed_slider.setEnabled(checked)
@catch_disconnection
def led_enabled_checkbox_toggled(self, checked):
if checked:
self.active_servo.led_power_on()
else:
self.active_servo.led_power_off()
@catch_disconnection
def led_error_triggers_checkbox_toggled(self):
self.active_servo.set_led_error_triggers(
self.led_over_voltage_checkbox.isChecked(),
self.led_over_temp_checkbox.isChecked(),
self.led_rotor_locked_checkbox.isChecked(),
)
@catch_disconnection
def port_refresh_button_clicked(self, value):
self.id_selection_box_refresh_button.setEnabled(False)
self.disable_widgets()
self.port_selection_box.clear()
self.id_selection_box.clear()
self.scan_for_ports()
@catch_disconnection
def id_refresh_button_clicked(self, value):
self.disable_widgets()
self.id_selection_box.clear()
self.scan_for_servos(self.port_selection_box.currentText())
@catch_disconnection
def port_selection_box_changed(self, text):
if text == "":
return
self.id_selection_box_refresh_button.setEnabled(True)
self.disable_widgets()
self.id_selection_box.clear()
self.clear_servo()
self.scan_for_servos(text)
@catch_disconnection
def id_selection_box_changed(self, text):
if text == "":
return
self.enable_widgets()
self.set_servo_id(text)
class ChangeKeyDialog(QDialog):
def __init__(
self,
parent=None,
buttons=None,
exercises=None,
index: int = None,
):
super(ChangeKeyDialog, self).__init__(parent)
layout = QVBoxLayout(self)
self.setLayout(layout)
widget = QWidget()
keyLayout = QVBoxLayout()
widget.setStyleSheet("""
QWidget{
border-radius: 12px;
border: 1px solid grey;
background-color: #b5b5b5;
color: white;
font-size: 40px;
}
""")
# widget.setFixedSize(100, 100)
self.currentKeyLabel = QLabel('W')
keyLayout.addWidget(self.currentKeyLabel)
keyLayout.setAlignment(self.currentKeyLabel, Qt.Alignment.AlignCenter)
widget.setLayout(keyLayout)
label = QLabel("Press a key to swap")
emptyKey = QPushButton('Use empty slot')
emptyKey.setFocusPolicy(Qt.FocusPolicy.ClickFocus)
emptyKey.clicked.connect(self.useEmpty)
acceptKey = QPushButton('Accept')
acceptKey.clicked.connect(self.accept)
acceptKey.setFocusPolicy(Qt.FocusPolicy.ClickFocus)
layout.addWidget(label)
layout.addWidget(widget)
actions = QHBoxLayout()
actions.addWidget(emptyKey)
actions.addWidget(acceptKey)
layout.addLayout(actions)
layout.setAlignment(widget, Qt.Alignment.AlignCenter)
self.buttons = buttons
self.exercises = exercises
self.index = index
self.monitor = KeyMonitor()
self.monitor.start_monitoring()
self.currentKey = self.monitor.currentKey
self.timer = QTimer()
self.timer.timeout.connect(self.onTimeout)
self.timer.start()
print("Dialog init done!")
def accept(self):
currentKeyScheme = [e.assigned_key for e in self.exercises]
print(self.exercises[self.index].assigned_key)
# Check if pressed key is among
if self.currentKey in currentKeyScheme:
for name, key in SUPPORTED_KEYS.items(
): # for name, age in dictionary.iteritems(): (for Python 2.x)
if key == self.currentKey:
old_exercise = None
old_button = None
for exercise, button in zip(self.exercises, self.buttons):
if exercise.assigned_key == (
name, key) and button.text() == name:
old_exercise = exercise
old_button = button
# Set new keys and labels
if old_exercise is not None and old_button is not None:
self.exercises[
self.index].assigned_key, old_exercise.assigned_key = old_exercise.assigned_key, \
self.exercises[
self.index].assigned_key
old_label = old_button.text()
old_button.setText(self.buttons[self.index].text())
self.buttons[self.index].setText(old_label)
print("old key:", old_exercise.assigned_key)
print("new key:",
self.exercises[self.index].assigned_key)
self.timer.stop()
self.close()
else:
self.exercises[self.index].assigned_key = self.currentKey
print(
"pos:",
list(SUPPORTED_KEYS.keys())[list(
SUPPORTED_KEYS.values()).index(self.currentKey[1])])
self.buttons[self.index].setText(
list(SUPPORTED_KEYS.keys())[list(
SUPPORTED_KEYS.values()).index(self.currentKey[1])])
self.timer.stop()
self.close()
def useEmpty(self):
self.currentKey = ("Empty", None)
self.exercises[self.index].assigned_key = self.currentKey
self.buttons[self.index].setText(self.currentKey[0])
self.timer.stop()
self.close()
def onTimeout(self):
if self.monitor is not None:
if self.monitor.currentKey in list(SUPPORTED_KEYS.values()):
if type(self.monitor.currentKey) is KeyCode:
self.currentKeyLabel.setText(self.monitor.currentKey.char)
else:
self.currentKeyLabel.setText(str(self.monitor.currentKey))
name = list(SUPPORTED_KEYS.keys())[list(
SUPPORTED_KEYS.values()).index(self.monitor.currentKey)]
self.currentKey = (name, self.monitor.currentKey)
def writeExerciseKeyMap(self):
with open(os.getcwd() + MAPPED_KEYS_PATH + self.subject + '.json',
'w') as fp:
json.dump(self.exercises, fp)
# static method to create the dialog and return (date, time, accepted)
@staticmethod
def getSwapper(parent=None):
dialog = ChangeKeyDialog(parent)
result = dialog.exec()
return result == QDialog.DialogCode.Accepted
class SettingPropertyProvider(QObject):
"""This class provides the value and change notifications for the properties of a single setting
Since setting values and other properties are provided by a stack, we need some way to
query the stack from QML to provide us with those values. This class takes care of that.
This class provides the property values through QObject dynamic properties so that they
are available from QML.
"""
def __init__(self, parent=None) -> None:
super().__init__(parent=parent)
self._property_map = QQmlPropertyMap(self)
self._stack = None # type: Optional[ContainerStack]
self._key = ""
self._relations = set() # type: Set[str]
self._watched_properties = [] # type: List[str]
self._store_index = 0
self._value_used = None # type: Optional[bool]
self._stack_levels = [] # type: List[int]
self._remove_unused_value = True
self._validator = None # type: Optional[Validator]
self._update_timer = QTimer(self)
self._update_timer.setInterval(100)
self._update_timer.setSingleShot(True)
self._update_timer.timeout.connect(self._update)
self.storeIndexChanged.connect(self._storeIndexChanged)
def setContainerStack(self, stack: Optional[ContainerStack]) -> None:
if self._stack == stack:
return # Nothing to do, attempting to set stack to the same value.
if self._stack:
self._stack.propertiesChanged.disconnect(self._onPropertiesChanged)
self._stack.containersChanged.disconnect(self._containersChanged)
self._stack = stack
if self._stack:
self._stack.propertiesChanged.connect(self._onPropertiesChanged)
self._stack.containersChanged.connect(self._containersChanged)
self._validator = None
self._updateDelayed()
self.containerStackChanged.emit()
def setContainerStackId(self, stack_id: str) -> None:
"""Set the containerStackId property."""
if stack_id == self.containerStackId:
return # No change.
if stack_id:
if stack_id == "global":
self.setContainerStack(
Application.getInstance().getGlobalContainerStack())
else:
stacks = ContainerRegistry.getInstance().findContainerStacks(
id=stack_id)
if stacks:
self.setContainerStack(stacks[0])
else:
self.setContainerStack(None)
containerStackIdChanged = pyqtSignal()
"""Emitted when the containerStackId property changes."""
@pyqtProperty(str,
fset=setContainerStackId,
notify=containerStackIdChanged)
def containerStackId(self) -> str:
"""The ID of the container stack we should query for property values."""
if self._stack:
return self._stack.id
return ""
containerStackChanged = pyqtSignal()
@pyqtProperty(QObject,
fset=setContainerStack,
notify=containerStackChanged)
def containerStack(self) -> Optional[ContainerInterface]:
return self._stack
removeUnusedValueChanged = pyqtSignal()
def setRemoveUnusedValue(self, remove_unused_value: bool) -> None:
if self._remove_unused_value != remove_unused_value:
self._remove_unused_value = remove_unused_value
self.removeUnusedValueChanged.emit()
@pyqtProperty(bool,
fset=setRemoveUnusedValue,
notify=removeUnusedValueChanged)
def removeUnusedValue(self) -> bool:
return self._remove_unused_value
def setWatchedProperties(self, properties: List[str]) -> None:
"""Set the watchedProperties property."""
if properties != self._watched_properties:
self._watched_properties = properties
self._updateDelayed()
self.watchedPropertiesChanged.emit()
watchedPropertiesChanged = pyqtSignal()
"""Emitted when the watchedProperties property changes."""
@pyqtProperty("QStringList",
fset=setWatchedProperties,
notify=watchedPropertiesChanged)
def watchedProperties(self) -> List[str]:
"""A list of property names that should be watched for changes."""
return self._watched_properties
def setKey(self, key: str) -> None:
"""Set the key property."""
if key != self._key:
self._key = key
self._validator = None
self._updateDelayed()
self.keyChanged.emit()
keyChanged = pyqtSignal()
"""Emitted when the key property changes."""
@pyqtProperty(str, fset=setKey, notify=keyChanged)
def key(self):
"""The key of the setting that we should provide property values for."""
return self._key
propertiesChanged = pyqtSignal()
@pyqtProperty(QQmlPropertyMap, notify=propertiesChanged)
def properties(self):
return self._property_map
@pyqtSlot()
def forcePropertiesChanged(self):
self._onPropertiesChanged(self._key, self._watched_properties)
def setStoreIndex(self, index):
if index != self._store_index:
self._store_index = index
self.storeIndexChanged.emit()
storeIndexChanged = pyqtSignal()
@pyqtProperty(int, fset=setStoreIndex, notify=storeIndexChanged)
def storeIndex(self):
return self._store_index
stackLevelChanged = pyqtSignal()
@pyqtProperty("QVariantList", notify=stackLevelChanged)
def stackLevels(self):
"""At what levels in the stack does the value(s) for this setting occur?"""
if not self._stack:
return [-1]
return self._stack_levels
@pyqtSlot(str, "QVariant")
def setPropertyValue(self, property_name, property_value):
"""Set the value of a property.
:param stack_index: At which level in the stack should this property be set?
:param property_name: The name of the property to set.
:param property_value: The value of the property to set.
"""
if not self._stack or not self._key:
return
if property_name not in self._watched_properties:
Logger.log("w",
"Tried to set a property that is not being watched")
return
container = self._stack.getContainer(self._store_index)
if isinstance(container, DefinitionContainer):
return
# In some cases we clean some stuff and the result is as when nothing as been changed manually.
if property_name == "value" and self._remove_unused_value:
for index in self._stack_levels:
if index > self._store_index:
old_value = self.getPropertyValue(property_name, index)
key_state = str(
self._stack.getContainer(
self._store_index).getProperty(self._key, "state"))
# The old_value might be a SettingFunction, like round(), sum(), etc.
# In this case retrieve the value to compare
if isinstance(old_value, SettingFunction):
old_value = old_value(self._stack)
# sometimes: old value is int, property_value is float
# (and the container is not removed, so the revert button appears)
if str(old_value) == str(
property_value
) and key_state != "InstanceState.Calculated":
# If we change the setting so that it would be the same as a deeper setting, we can just remove
# the value. Note that we only do this when this is not caused by the calculated state
# In this case the setting does need to be set, as it needs to be stored in the user settings.
self.removeFromContainer(self._store_index)
return
else: # First value that we encountered was different, stop looking & continue as normal.
break
# _remove_unused_value is used when the stack value differs from the effective value
# i.e. there is a resolve function
if self._property_map.value(
property_name) == property_value and self._remove_unused_value:
return
container.setProperty(self._key, property_name, property_value)
@pyqtSlot(str, int, result="QVariant")
def getPropertyValue(self, property_name: str, stack_level: int) -> Any:
"""Manually request the value of a property.
The most notable difference with the properties is that you have more control over at what point in the stack
you want the setting to be retrieved (instead of always taking the top one)
:param property_name: The name of the property to get the value from.
:param stack_level: the index of the container to get the value from.
"""
try:
# Because we continue to count if there are multiple linked stacks, we need to check what stack is targeted
current_stack = self._stack
while current_stack:
num_containers = len(current_stack.getContainers())
if stack_level >= num_containers:
stack_level -= num_containers
current_stack = current_stack.getNextStack()
else:
break # Found the right stack
if not current_stack:
Logger.log(
"w",
"Could not find the right stack for setting %s at stack level %d while trying to get property %s",
self._key, stack_level, property_name)
return None
value = current_stack.getContainers()[stack_level].getProperty(
self._key, property_name)
except IndexError: # Requested stack level does not exist
Logger.log(
"w",
"Tried to get property of type %s from %s but it did not exist on requested index %d",
property_name, self._key, stack_level)
return None
return value
@pyqtSlot(str, result=str)
def getPropertyValueAsString(self, property_name: str) -> str:
return self._getPropertyValue(property_name)
@pyqtSlot(int)
def removeFromContainer(self, index: int) -> None:
current_stack = self._stack
while current_stack:
num_containers = len(current_stack.getContainers())
if index >= num_containers:
index -= num_containers
current_stack = current_stack.getNextStack()
else:
break # Found the right stack
if not current_stack:
Logger.log(
"w",
"Unable to remove instance from container because the right stack at stack level %d could not be found",
index)
return
container = current_stack.getContainer(index)
if not container or not isinstance(container, InstanceContainer):
Logger.log(
"w",
"Unable to remove instance from container as it was either not found or not an instance container"
)
return
container.removeInstance(self._key)
isValueUsedChanged = pyqtSignal()
@pyqtProperty(bool, notify=isValueUsedChanged)
def isValueUsed(self) -> bool:
if self._value_used is not None:
return self._value_used
if not self._stack:
return False
definition = self._stack.getSettingDefinition(self._key)
if not definition:
return False
relation_count = 0
value_used_count = 0
for key in self._relations:
# If the setting is not a descendant of this setting, ignore it.
if not definition.isDescendant(key):
continue
relation_count += 1
if self._stack.getProperty(key, "state") != InstanceState.User:
value_used_count += 1
break
# If the setting has a formula the value is still used.
if isinstance(self._stack.getRawProperty(key, "value"),
SettingFunction):
value_used_count += 1
break
self._value_used = relation_count == 0 or (relation_count > 0
and value_used_count != 0)
return self._value_used
def _onPropertiesChanged(self, key: str,
property_names: List[str]) -> None:
if key != self._key:
if key in self._relations:
self._value_used = None
try:
self.isValueUsedChanged.emit()
except RuntimeError:
# QtObject has been destroyed, no need to handle the signals anymore.
# This can happen when the QtObject in C++ has been destroyed, but the python object hasn't quite
# caught on yet. Once we call any signals, it will cause a runtimeError since all the underlying
# logic to emit pyqtSignals is gone.
return
return
has_values_changed = False
for property_name in property_names:
if property_name not in self._watched_properties:
continue
has_values_changed = True
try:
self._property_map.insert(
property_name, self._getPropertyValue(property_name))
except RuntimeError:
# QtObject has been destroyed, no need to handle the signals anymore.
# This can happen when the QtObject in C++ has been destroyed, but the python object hasn't quite
# caught on yet. Once we call any signals, it will cause a runtimeError since all the underlying
# logic to emit pyqtSignals is gone.
return
self._updateStackLevels()
if has_values_changed:
try:
self.propertiesChanged.emit()
except RuntimeError:
# QtObject has been destroyed, no need to handle the signals anymore.
# This can happen when the QtObject in C++ has been destroyed, but the python object hasn't quite
# caught on yet. Once we call any signals, it will cause a runtimeError since all the underlying
# logic to emit pyqtSignals is gone.
return
def _update(self, container=None):
if not self._stack or not self._watched_properties or not self._key:
return
self._updateStackLevels()
relations = self._stack.getProperty(self._key, "relations")
if relations: # If the setting doesn't have the property relations, None is returned
for relation in filter(
lambda r: r.type == RelationType.RequiredByTarget and r.
role == "value", relations):
self._relations.add(relation.target.key)
for property_name in self._watched_properties:
self._property_map.insert(property_name,
self._getPropertyValue(property_name))
# Notify that the properties have been changed.Kewl
self.propertiesChanged.emit()
# Force update of value_used
self._value_used = None
self.isValueUsedChanged.emit()
def _updateDelayed(self, container=None) -> None:
try:
self._update_timer.start()
except RuntimeError:
# Sometimes the python object is not yet deleted, but the wrapped part is already gone.
# In that case there is nothing else to do but ignore this.
pass
def _containersChanged(self, container=None):
self._updateDelayed()
def _storeIndexChanged(self):
self._updateDelayed()
def _updateStackLevels(self) -> None:
"""Updates the self._stack_levels field, which indicates at which levels in the stack the property is set."""
levels = []
# Start looking at the stack this provider is attached to.
current_stack = self._stack
index = 0
while current_stack:
for container in current_stack.getContainers():
try:
if container.getProperty(self._key, "value") is not None:
levels.append(index)
except AttributeError:
pass
index += 1
# If there is a next stack, check that one as well.
current_stack = current_stack.getNextStack()
if levels != self._stack_levels:
self._stack_levels = levels
self.stackLevelChanged.emit()
def _getPropertyValue(self, property_name):
# Use the evaluation context to skip certain containers
context = PropertyEvaluationContext(self._stack)
context.context["evaluate_from_container_index"] = self._store_index
property_value = self._stack.getProperty(self._key,
property_name,
context=context)
if isinstance(property_value, SettingFunction):
property_value = property_value(self._stack)
if property_name == "value":
setting_type = self._stack.getProperty(self._key, "type")
if setting_type is not None:
property_value = SettingDefinition.settingValueToString(
setting_type, property_value)
else:
property_value = ""
elif property_name == "validationState":
# Setting is not validated. This can happen if there is only a setting definition.
# We do need to validate it, because a setting defintions value can be set by a function, which could
# be an invalid setting.
if property_value is None:
if not self._validator:
definition = self._stack.getSettingDefinition(self._key)
if definition:
validator_type = SettingDefinition.getValidatorForType(
definition.type)
if validator_type:
self._validator = validator_type(self._key)
if self._validator:
property_value = self._validator(self._stack)
return str(property_value)
class MainWindow(QMainWindow):
def __init__(self):
super(MainWindow, self).__init__()
self.setupTrayicon()
self.setupVariables()
self.setupUi()
self.setupConnections()
self.show()
def setupVariables(self):
settings = QSettings()
self.workEndTime = QTime(
int(settings.value(workHoursKey, 0)),
int(settings.value(workMinutesKey, 25)),
int(settings.value(workSecondsKey, 0)),
)
self.restEndTime = QTime(
int(settings.value(restHoursKey, 0)),
int(settings.value(restMinutesKey, 5)),
int(settings.value(restSecondsKey, 0)),
)
self.timeFormat = "hh:mm:ss"
self.time = QTime(0, 0, 0, 0)
self.workTime = QTime(0, 0, 0, 0)
self.restTime = QTime(0, 0, 0, 0)
self.totalTime = QTime(0, 0, 0, 0)
self.currentMode = Mode.work
self.maxRepetitions = -1
self.currentRepetitions = 0
def setupConnections(self):
""" Create button connections """
self.startButton.clicked.connect(self.startTimer)
self.startButton.clicked.connect(
lambda: self.startButton.setDisabled(True))
self.startButton.clicked.connect(
lambda: self.pauseButton.setDisabled(False))
self.startButton.clicked.connect(
lambda: self.resetButton.setDisabled(False))
self.pauseButton.clicked.connect(self.pauseTimer)
self.pauseButton.clicked.connect(
lambda: self.startButton.setDisabled(False))
self.pauseButton.clicked.connect(
lambda: self.pauseButton.setDisabled(True))
self.pauseButton.clicked.connect(
lambda: self.resetButton.setDisabled(False))
self.pauseButton.clicked.connect(
lambda: self.startButton.setText("continue"))
self.resetButton.clicked.connect(self.resetTimer)
self.resetButton.clicked.connect(
lambda: self.startButton.setDisabled(False))
self.resetButton.clicked.connect(
lambda: self.pauseButton.setDisabled(True))
self.resetButton.clicked.connect(
lambda: self.resetButton.setDisabled(True))
self.resetButton.clicked.connect(
lambda: self.startButton.setText("start"))
self.acceptTaskButton.pressed.connect(self.insertTask)
self.deleteTaskButton.pressed.connect(self.deleteTask)
""" Create spinbox connections """
self.workHoursSpinBox.valueChanged.connect(self.updateWorkEndTime)
self.workMinutesSpinBox.valueChanged.connect(self.updateWorkEndTime)
self.workSecondsSpinBox.valueChanged.connect(self.updateWorkEndTime)
self.restHoursSpinBox.valueChanged.connect(self.updateRestEndTime)
self.restMinutesSpinBox.valueChanged.connect(self.updateRestEndTime)
self.restSecondsSpinBox.valueChanged.connect(self.updateRestEndTime)
self.repetitionsSpinBox.valueChanged.connect(self.updateMaxRepetitions)
""" Create combobox connections """
self.modeComboBox.currentTextChanged.connect(self.updateCurrentMode)
""" Create tablewidget connections """
self.tasksTableWidget.cellDoubleClicked.connect(
self.markTaskAsFinished)
def setupUi(self):
self.size_policy = QSizePolicy(QSizePolicy.Policy.Expanding,
QSizePolicy.Policy.Expanding)
""" Create tabwidget """
self.tabWidget = QTabWidget()
""" Create tab widgets """
timerWidget = self.setupTimerTab()
tasksWidget = self.setupTasksTab()
statisticsWidget = self.setupStatisticsTab()
""" add tab widgets to tabwidget"""
self.timerTab = self.tabWidget.addTab(timerWidget, makeIcon("timer"),
"Timer")
self.tasksTab = self.tabWidget.addTab(tasksWidget, makeIcon("tasks"),
"Tasks")
self.statisticsTab = self.tabWidget.addTab(statisticsWidget,
makeIcon("statistics"),
"Statistics")
""" Set mainwindows central widget """
self.setCentralWidget(self.tabWidget)
def setupTimerTab(self):
settings = QSettings()
self.timerContainer = QWidget(self)
self.timerContainerLayout = QVBoxLayout(self.timerContainer)
self.timerContainer.setLayout(self.timerContainerLayout)
""" Create work groupbox"""
self.workGroupBox = QGroupBox("Work")
self.workGroupBoxLayout = QHBoxLayout(self.workGroupBox)
self.workGroupBox.setLayout(self.workGroupBoxLayout)
self.workHoursSpinBox = QSpinBox(
minimum=0,
maximum=24,
value=int(settings.value(workHoursKey, 0)),
suffix="h",
sizePolicy=self.size_policy,
)
self.workMinutesSpinBox = QSpinBox(
minimum=0,
maximum=60,
value=int(settings.value(workMinutesKey, 25)),
suffix="m",
sizePolicy=self.size_policy,
)
self.workSecondsSpinBox = QSpinBox(
minimum=0,
maximum=60,
value=int(settings.value(workSecondsKey, 0)),
suffix="s",
sizePolicy=self.size_policy,
)
""" Create rest groupbox"""
self.restGroupBox = QGroupBox("Rest")
self.restGroupBoxLayout = QHBoxLayout(self.restGroupBox)
self.restGroupBox.setLayout(self.restGroupBoxLayout)
self.restHoursSpinBox = QSpinBox(
minimum=0,
maximum=24,
value=int(settings.value(restHoursKey, 0)),
suffix="h",
sizePolicy=self.size_policy,
)
self.restMinutesSpinBox = QSpinBox(
minimum=0,
maximum=60,
value=int(settings.value(restMinutesKey, 5)),
suffix="m",
sizePolicy=self.size_policy,
)
self.restSecondsSpinBox = QSpinBox(
minimum=0,
maximum=60,
value=int(settings.value(restSecondsKey, 0)),
suffix="s",
sizePolicy=self.size_policy,
)
self.restGroupBoxLayout.addWidget(self.restHoursSpinBox)
self.restGroupBoxLayout.addWidget(self.restMinutesSpinBox)
self.restGroupBoxLayout.addWidget(self.restSecondsSpinBox)
""" Create other groupbox"""
self.otherGroupBox = QGroupBox("Other")
self.otherGroupBoxLayout = QHBoxLayout(self.otherGroupBox)
self.otherGroupBox.setLayout(self.otherGroupBoxLayout)
self.repetitionsLabel = QLabel("Repetitions")
self.repetitionsSpinBox = QSpinBox(
minimum=0,
maximum=10000,
value=0,
sizePolicy=self.size_policy,
specialValueText="∞",
)
self.modeLabel = QLabel("Mode")
self.modeComboBox = QComboBox(sizePolicy=self.size_policy)
self.modeComboBox.addItems(["work", "rest"])
self.otherGroupBoxLayout.addWidget(self.repetitionsLabel)
self.otherGroupBoxLayout.addWidget(self.repetitionsSpinBox)
self.otherGroupBoxLayout.addWidget(self.modeLabel)
self.otherGroupBoxLayout.addWidget(self.modeComboBox)
""" Create timer groupbox"""
self.lcdDisplayGroupBox = QGroupBox("Time")
self.lcdDisplayGroupBoxLayout = QHBoxLayout(self.lcdDisplayGroupBox)
self.lcdDisplayGroupBox.setLayout(self.lcdDisplayGroupBoxLayout)
self.timeDisplay = QLCDNumber(8, sizePolicy=self.size_policy)
self.timeDisplay.setFixedHeight(100)
self.timeDisplay.display("00:00:00")
self.lcdDisplayGroupBoxLayout.addWidget(self.timeDisplay)
""" Create pause, start and reset buttons"""
self.buttonContainer = QWidget()
self.buttonContainerLayout = QHBoxLayout(self.buttonContainer)
self.buttonContainer.setLayout(self.buttonContainerLayout)
self.startButton = self.makeButton("start", disabled=False)
self.resetButton = self.makeButton("reset")
self.pauseButton = self.makeButton("pause")
""" Add widgets to container """
self.workGroupBoxLayout.addWidget(self.workHoursSpinBox)
self.workGroupBoxLayout.addWidget(self.workMinutesSpinBox)
self.workGroupBoxLayout.addWidget(self.workSecondsSpinBox)
self.timerContainerLayout.addWidget(self.workGroupBox)
self.timerContainerLayout.addWidget(self.restGroupBox)
self.timerContainerLayout.addWidget(self.otherGroupBox)
self.timerContainerLayout.addWidget(self.lcdDisplayGroupBox)
self.buttonContainerLayout.addWidget(self.pauseButton)
self.buttonContainerLayout.addWidget(self.startButton)
self.buttonContainerLayout.addWidget(self.resetButton)
self.timerContainerLayout.addWidget(self.buttonContainer)
return self.timerContainer
def setupTasksTab(self):
settings = QSettings()
""" Create vertical tasks container """
self.tasksWidget = QWidget(self.tabWidget)
self.tasksWidgetLayout = QVBoxLayout(self.tasksWidget)
self.tasksWidget.setLayout(self.tasksWidgetLayout)
""" Create horizontal input container """
self.inputContainer = QWidget()
self.inputContainer.setFixedHeight(50)
self.inputContainerLayout = QHBoxLayout(self.inputContainer)
self.inputContainerLayout.setContentsMargins(0, 0, 0, 0)
self.inputContainer.setLayout(self.inputContainerLayout)
""" Create text edit """
self.taskTextEdit = QTextEdit(
placeholderText="Describe your task briefly.",
undoRedoEnabled=True)
""" Create vertical buttons container """
self.inputButtonContainer = QWidget()
self.inputButtonContainerLayout = QVBoxLayout(
self.inputButtonContainer)
self.inputButtonContainerLayout.setContentsMargins(0, 0, 0, 0)
self.inputButtonContainer.setLayout(self.inputButtonContainerLayout)
""" Create buttons """
self.acceptTaskButton = QToolButton(icon=makeIcon("check"))
self.deleteTaskButton = QToolButton(icon=makeIcon("trash"))
""" Create tasks tablewidget """
self.tasksTableWidget = QTableWidget(0, 1)
self.tasksTableWidget.setHorizontalHeaderLabels(["Tasks"])
self.tasksTableWidget.horizontalHeader().setStretchLastSection(True)
self.tasksTableWidget.verticalHeader().setVisible(False)
self.tasksTableWidget.setWordWrap(True)
self.tasksTableWidget.setTextElideMode(Qt.TextElideMode.ElideNone)
self.tasksTableWidget.setEditTriggers(
QAbstractItemView.EditTriggers.NoEditTriggers)
self.tasksTableWidget.setSelectionMode(
QAbstractItemView.SelectionMode.SingleSelection)
self.insertTasks(*settings.value(tasksKey, []))
""" Add widgets to container widgets """
self.inputButtonContainerLayout.addWidget(self.acceptTaskButton)
self.inputButtonContainerLayout.addWidget(self.deleteTaskButton)
self.inputContainerLayout.addWidget(self.taskTextEdit)
self.inputContainerLayout.addWidget(self.inputButtonContainer)
self.tasksWidgetLayout.addWidget(self.inputContainer)
self.tasksWidgetLayout.addWidget(self.tasksTableWidget)
return self.tasksWidget
def setupStatisticsTab(self):
""" Create statistics container """
self.statisticsContainer = QWidget()
self.statisticsContainerLayout = QVBoxLayout(self.statisticsContainer)
self.statisticsContainer.setLayout(self.statisticsContainerLayout)
""" Create work time groupbox """
self.statisticsWorkTimeGroupBox = QGroupBox("Work Time")
self.statisticsWorkTimeGroupBoxLayout = QHBoxLayout()
self.statisticsWorkTimeGroupBox.setLayout(
self.statisticsWorkTimeGroupBoxLayout)
self.statisticsWorkTimeDisplay = QLCDNumber(8)
self.statisticsWorkTimeDisplay.display("00:00:00")
self.statisticsWorkTimeGroupBoxLayout.addWidget(
self.statisticsWorkTimeDisplay)
""" Create rest time groupbox """
self.statisticsRestTimeGroupBox = QGroupBox("Rest Time")
self.statisticsRestTimeGroupBoxLayout = QHBoxLayout()
self.statisticsRestTimeGroupBox.setLayout(
self.statisticsRestTimeGroupBoxLayout)
self.statisticsRestTimeDisplay = QLCDNumber(8)
self.statisticsRestTimeDisplay.display("00:00:00")
self.statisticsRestTimeGroupBoxLayout.addWidget(
self.statisticsRestTimeDisplay)
""" Create total time groupbox """
self.statisticsTotalTimeGroupBox = QGroupBox("Total Time")
self.statisticsTotalTimeGroupBoxLayout = QHBoxLayout()
self.statisticsTotalTimeGroupBox.setLayout(
self.statisticsTotalTimeGroupBoxLayout)
self.statisticsTotalTimeDisplay = QLCDNumber(8)
self.statisticsTotalTimeDisplay.display("00:00:00")
self.statisticsTotalTimeGroupBoxLayout.addWidget(
self.statisticsTotalTimeDisplay)
""" Add widgets to container """
self.statisticsContainerLayout.addWidget(
self.statisticsTotalTimeGroupBox)
self.statisticsContainerLayout.addWidget(
self.statisticsWorkTimeGroupBox)
self.statisticsContainerLayout.addWidget(
self.statisticsRestTimeGroupBox)
return self.statisticsContainer
def setupTrayicon(self):
self.trayIcon = QSystemTrayIcon(makeIcon("tomato"))
self.trayIcon.setContextMenu(QMenu())
self.quitAction = self.trayIcon.contextMenu().addAction(
makeIcon("exit"), "Quit", self.exit)
self.quitAction.triggered.connect(self.exit)
self.trayIcon.activated.connect(self.onActivate)
self.trayIcon.show()
self.trayIcon.setToolTip("Pomodoro")
self.toast = ToastNotifier()
def leaveEvent(self, event):
super(MainWindow, self).leaveEvent(event)
self.tasksTableWidget.clearSelection()
def closeEvent(self, event):
super(MainWindow, self).closeEvent(event)
settings = QSettings()
settings.setValue(workHoursKey, self.workHoursSpinBox.value())
settings.setValue(
workMinutesKey,
self.workMinutesSpinBox.value(),
)
settings.setValue(
workSecondsKey,
self.workSecondsSpinBox.value(),
)
settings.setValue(restHoursKey, self.restHoursSpinBox.value())
settings.setValue(
restMinutesKey,
self.restMinutesSpinBox.value(),
)
settings.setValue(
restSecondsKey,
self.restSecondsSpinBox.value(),
)
tasks = []
for i in range(self.tasksTableWidget.rowCount()):
item = self.tasksTableWidget.item(i, 0)
if not item.font().strikeOut():
tasks.append(item.text())
settings.setValue(tasksKey, tasks)
def startTimer(self):
try:
if not self.timer.isActive():
self.createTimer()
except:
self.createTimer()
def createTimer(self):
self.timer = QTimer()
self.timer.timeout.connect(self.updateTime)
self.timer.timeout.connect(self.maybeChangeMode)
self.timer.setInterval(1000)
self.timer.setSingleShot(False)
self.timer.start()
def pauseTimer(self):
try:
self.timer.stop()
self.timer.disconnect()
except:
pass
def resetTimer(self):
try:
self.pauseTimer()
self.time = QTime(0, 0, 0, 0)
self.displayTime()
except:
pass
def maybeStartTimer(self):
if self.currentRepetitions != self.maxRepetitions:
self.startTimer()
started = True
else:
self.currentRepetitions = 0
started = False
return started
def updateWorkEndTime(self):
self.workEndTime = QTime(
self.workHoursSpinBox.value(),
self.workMinutesSpinBox.value(),
self.workSecondsSpinBox.value(),
)
def updateRestEndTime(self):
self.restEndTime = QTime(
self.restHoursSpinBox.value(),
self.restMinutesSpinBox.value(),
self.restSecondsSpinBox.value(),
)
def updateCurrentMode(self, mode: str):
self.currentMode = Mode.work if mode == "work" else Mode.rest
def updateTime(self):
self.time = self.time.addSecs(1)
self.totalTime = self.totalTime.addSecs(1)
if self.modeComboBox.currentText() == "work":
self.workTime = self.workTime.addSecs(1)
else:
self.restTime = self.restTime.addSecs(1)
self.displayTime()
def updateMaxRepetitions(self, value):
if value == 0:
self.currentRepetitions = 0
self.maxRepetitions = -1
else:
self.maxRepetitions = 2 * value
def maybeChangeMode(self):
if self.currentMode is Mode.work and self.time >= self.workEndTime:
self.resetTimer()
self.modeComboBox.setCurrentIndex(1)
self.incrementCurrentRepetitions()
started = self.maybeStartTimer()
self.showWindowMessage(
Status.workFinished if started else Status.repetitionsReached)
if not started:
self.resetButton.click()
elif self.currentMode is Mode.rest and self.time >= self.restEndTime:
self.resetTimer()
self.modeComboBox.setCurrentIndex(0)
self.incrementCurrentRepetitions()
started = self.maybeStartTimer()
self.showWindowMessage(
Status.restFinished if started else Status.repetitionsReached)
if not started:
self.resetButton.click()
def incrementCurrentRepetitions(self):
if self.maxRepetitions > 0:
self.currentRepetitions += 1
def insertTask(self):
task = self.taskTextEdit.toPlainText()
self.insertTasks(task)
def insertTasks(self, *tasks):
for task in tasks:
if task:
rowCount = self.tasksTableWidget.rowCount()
self.tasksTableWidget.setRowCount(rowCount + 1)
self.tasksTableWidget.setItem(rowCount, 0,
QTableWidgetItem(task))
self.tasksTableWidget.resizeRowsToContents()
self.taskTextEdit.clear()
def deleteTask(self):
selectedIndexes = self.tasksTableWidget.selectedIndexes()
if selectedIndexes:
self.tasksTableWidget.removeRow(selectedIndexes[0].row())
def markTaskAsFinished(self, row, col):
item = self.tasksTableWidget.item(row, col)
font = self.tasksTableWidget.item(row, col).font()
font.setStrikeOut(False if item.font().strikeOut() else True)
item.setFont(font)
def displayTime(self):
self.timeDisplay.display(self.time.toString(self.timeFormat))
self.statisticsRestTimeDisplay.display(
self.restTime.toString(self.timeFormat))
self.statisticsWorkTimeDisplay.display(
self.workTime.toString(self.timeFormat))
self.statisticsTotalTimeDisplay.display(
self.totalTime.toString(self.timeFormat))
def showWindowMessage(self, status):
if status is Status.workFinished:
title, text = "Break", choice(work_finished_phrases)
elif status is Status.restFinished:
title, text = "Work", choice(rest_finished_phrases)
else:
title, text = "Finished", choice(work_finished_phrases)
self.trayIcon.showMessage(title, text, makeIcon("tomato"))
self.toast.show_toast(title,
text,
icon_path="pomodoro/data/icons/tomato.ico",
duration=10,
threaded=True)
def makeButton(self, text, iconName=None, disabled=True):
button = QPushButton(text, sizePolicy=self.size_policy)
if iconName:
button.setIcon(makeIcon(iconName))
button.setDisabled(disabled)
return button
def exit(self):
self.close()
app = QApplication.instance()
if app:
app.quit()
def onActivate(self, reason):
if reason == QSystemTrayIcon.ActivationReason.Trigger:
self.show()
class TranslateTool(Tool):
"""Provides the tool to move meshes and groups.
The tool exposes a ToolHint to show the distance of the current operation.
"""
def __init__(self) -> None:
super().__init__()
self._handle = TranslateToolHandle.TranslateToolHandle(
) #type: TranslateToolHandle.TranslateToolHandle #Because for some reason MyPy thinks this variable contains Optional[ToolHandle].
self._enabled_axis = [
ToolHandle.XAxis, ToolHandle.YAxis, ToolHandle.ZAxis
]
self._grid_snap = False
self._grid_size = 10
self._moved = False
self._shortcut_key = Qt.Key.Key_T
self._distance_update_time = None #type: Optional[float]
self._distance = None #type: Optional[Vector]
self.setExposedProperties("ToolHint", "X", "Y", "Z",
SceneNodeSettings.LockPosition)
self._update_selection_center_timer = QTimer()
self._update_selection_center_timer.setInterval(50)
self._update_selection_center_timer.setSingleShot(True)
self._update_selection_center_timer.timeout.connect(
self.propertyChanged.emit)
# Ensure that the properties (X, Y & Z) are updated whenever the selection center is changed.
Selection.selectionCenterChanged.connect(
self._onSelectionCenterChanged)
# CURA-5966 Make sure to render whenever objects get selected/deselected.
Selection.selectionChanged.connect(self.propertyChanged)
def _onSelectionCenterChanged(self):
self._update_selection_center_timer.start()
def getX(self) -> float:
"""Get the x-location of the selection bounding box center.
:return: X location in mm.
"""
if Selection.hasSelection():
return float(Selection.getBoundingBox().center.x)
return 0.0
def getY(self) -> float:
"""Get the y-location of the selection bounding box center.
:return: Y location in mm.
"""
if Selection.hasSelection():
# Note; The switching of z & y is intentional. We display z as up for the user,
# But store the data in openGL space.
return float(Selection.getBoundingBox().center.z)
return 0.0
def getZ(self) -> float:
"""Get the z-location of the selection bounding box bottom
The bottom is used as opposed to the center, because the biggest use
case is to push the selection into the build plate.
:return: Z location in mm.
"""
# We want to display based on the bottom instead of the actual coordinate.
if Selection.hasSelection():
# Note; The switching of z & y is intentional. We display z as up for the user,
# But store the data in openGL space.
return float(Selection.getBoundingBox().bottom)
return 0.0
@staticmethod
def _parseFloat(str_value: str) -> float:
try:
parsed_value = float(str_value)
except ValueError:
parsed_value = float(0)
return parsed_value
def setX(self, x: str) -> None:
"""Set the x-location of the selected object(s) by translating relative to
the selection bounding box center.
:param x: Location in mm.
"""
parsed_x = self._parseFloat(x)
bounding_box = Selection.getBoundingBox()
if not Float.fuzzyCompare(parsed_x, float(bounding_box.center.x),
DIMENSION_TOLERANCE):
selected_nodes = self._getSelectedObjectsWithoutSelectedAncestors()
if len(selected_nodes) > 1:
op = GroupedOperation()
for selected_node in self._getSelectedObjectsWithoutSelectedAncestors(
):
world_position = selected_node.getWorldPosition()
new_position = world_position.set(
x=parsed_x +
(world_position.x - bounding_box.center.x))
node_op = TranslateOperation(selected_node,
new_position,
set_position=True)
op.addOperation(node_op)
op.push()
else:
for selected_node in self._getSelectedObjectsWithoutSelectedAncestors(
):
world_position = selected_node.getWorldPosition()
new_position = world_position.set(
x=parsed_x +
(world_position.x - bounding_box.center.x))
TranslateOperation(selected_node,
new_position,
set_position=True).push()
self._controller.toolOperationStopped.emit(self)
def setY(self, y: str) -> None:
"""Set the y-location of the selected object(s) by translating relative to
the selection bounding box center.
:param y: Location in mm.
"""
parsed_y = self._parseFloat(y)
bounding_box = Selection.getBoundingBox()
if not Float.fuzzyCompare(parsed_y, float(bounding_box.center.z),
DIMENSION_TOLERANCE):
selected_nodes = self._getSelectedObjectsWithoutSelectedAncestors()
if len(selected_nodes) > 1:
op = GroupedOperation()
for selected_node in selected_nodes:
# Note; The switching of z & y is intentional. We display z as up for the user,
# But store the data in openGL space.
world_position = selected_node.getWorldPosition()
new_position = world_position.set(
z=parsed_y +
(world_position.z - bounding_box.center.z))
node_op = TranslateOperation(selected_node,
new_position,
set_position=True)
op.addOperation(node_op)
op.push()
else:
for selected_node in selected_nodes:
world_position = selected_node.getWorldPosition()
new_position = world_position.set(
z=parsed_y +
(world_position.z - bounding_box.center.z))
TranslateOperation(selected_node,
new_position,
set_position=True).push()
self._controller.toolOperationStopped.emit(self)
def setZ(self, z: str) -> None:
"""Set the y-location of the selected object(s) by translating relative to
the selection bounding box bottom.
:param z: Location in mm.
"""
parsed_z = self._parseFloat(z)
bounding_box = Selection.getBoundingBox()
if not Float.fuzzyCompare(parsed_z, float(bounding_box.bottom),
DIMENSION_TOLERANCE):
selected_nodes = self._getSelectedObjectsWithoutSelectedAncestors()
if len(selected_nodes) > 1:
op = GroupedOperation()
for selected_node in selected_nodes:
# Note: The switching of z & y is intentional. We display z as up for the user,
# But store the data in openGL space.
world_position = selected_node.getWorldPosition()
new_position = world_position.set(
y=parsed_z + (world_position.y - bounding_box.bottom))
node_op = TranslateOperation(selected_node,
new_position,
set_position=True)
op.addOperation(node_op)
op.push()
else:
for selected_node in selected_nodes:
world_position = selected_node.getWorldPosition()
new_position = world_position.set(
y=parsed_z + (world_position.y - bounding_box.bottom))
TranslateOperation(selected_node,
new_position,
set_position=True).push()
self._controller.toolOperationStopped.emit(self)
def setEnabledAxis(self, axis: List[int]) -> None:
"""Set which axis/axes are enabled for the current translate operation
:param axis: List of axes (expressed as ToolHandle enum).
"""
self._enabled_axis = axis
self._handle.setEnabledAxis(axis)
def setLockPosition(self, value: bool) -> None:
"""Set lock setting to the object. This setting will be used to prevent
model movement on the build plate.
:param value: The setting state.
"""
for selected_node in self._getSelectedObjectsWithoutSelectedAncestors(
):
selected_node.setSetting(SceneNodeSettings.LockPosition,
str(value))
def getLockPosition(self) -> Union[str, bool]:
total_size = Selection.getCount()
false_state_counter = 0
true_state_counter = 0
if not Selection.hasSelection():
return False
for selected_node in self._getSelectedObjectsWithoutSelectedAncestors(
):
if selected_node.getSetting(SceneNodeSettings.LockPosition,
"False") != "False":
true_state_counter += 1
else:
false_state_counter += 1
if total_size == false_state_counter: # No locked positions
return False
elif total_size == true_state_counter: # All selected objects are locked
return True
else:
return "partially" # At least one, but not all are locked
def event(self, event: Event) -> bool:
"""Handle mouse and keyboard events.
:param event: The event to handle.
:return: Whether this event has been caught by this tool (True) or should
be passed on (False).
"""
super().event(event)
# Make sure the displayed values are updated if the bounding box of the selected mesh(es) changes
if event.type == Event.ToolActivateEvent:
for node in self._getSelectedObjectsWithoutSelectedAncestors():
node.boundingBoxChanged.connect(self.propertyChanged)
if event.type == Event.ToolDeactivateEvent:
for node in self._getSelectedObjectsWithoutSelectedAncestors():
node.boundingBoxChanged.disconnect(self.propertyChanged)
if event.type == Event.KeyPressEvent and cast(
KeyEvent, event).key == KeyEvent.ShiftKey:
return False
if event.type == Event.MousePressEvent and self._controller.getToolsEnabled(
):
# Start a translate operation
if MouseEvent.LeftButton not in cast(MouseEvent, event).buttons:
return False
if not self._selection_pass:
return False
id = self._selection_pass.getIdAtPosition(
cast(MouseEvent, event).x,
cast(MouseEvent, event).y)
if not id:
return False
if id in self._enabled_axis:
self.setLockedAxis(id)
elif self._handle.isAxis(id):
return False
self._moved = False
camera = self._controller.getScene().getActiveCamera()
if not camera:
return False
camera_direction = camera.getPosition().normalized()
abs_x = abs(camera_direction.x)
abs_y = abs(camera_direction.y)
# We have to define a plane vector that is suitable for the selected toolhandle axis
# and at the same time the camera direction should not be exactly perpendicular to the plane vector
if id == ToolHandle.XAxis:
plane_vector = Vector(0, camera_direction.y,
camera_direction.z).normalized()
elif id == ToolHandle.YAxis:
plane_vector = Vector(camera_direction.x, 0,
camera_direction.z).normalized()
elif id == ToolHandle.ZAxis:
plane_vector = Vector(camera_direction.x, camera_direction.y,
0).normalized()
else:
if abs_y > DIRECTION_TOLERANCE:
plane_vector = Vector(0, 1, 0)
elif abs_x > DIRECTION_TOLERANCE:
plane_vector = Vector(1, 0, 0)
self.setLockedAxis(
ToolHandle.ZAxis) # Do not move y / vertical
else:
plane_vector = Vector(0, 0, 1)
self.setLockedAxis(
ToolHandle.XAxis) # Do not move y / vertical
self.setDragPlane(Plane(plane_vector, 0))
return True
if event.type == Event.MouseMoveEvent:
# Perform a translate operation
if not self.getDragPlane():
return False
x = cast(MouseEvent, event).x
y = cast(MouseEvent, event).y
if not self.getDragStart():
self.setDragStart(x, y)
return False
drag = self.getDragVector(x, y)
if drag:
if self._grid_snap and drag.length() < self._grid_size:
return False
if self.getLockedAxis() == ToolHandle.XAxis:
drag = drag.set(y=0, z=0)
elif self.getLockedAxis() == ToolHandle.YAxis:
drag = drag.set(x=0, z=0)
elif self.getLockedAxis() == ToolHandle.ZAxis:
drag = drag.set(x=0, y=0)
if not self._moved:
self._moved = True
self._distance = Vector(0, 0, 0)
self.operationStarted.emit(self)
selected_nodes = self._getSelectedObjectsWithoutSelectedAncestors(
)
if len(selected_nodes) > 1:
op = GroupedOperation()
for node in selected_nodes:
if node.getSetting(SceneNodeSettings.LockPosition,
"False") == "False":
op.addOperation(TranslateOperation(node, drag))
op.push()
else:
for node in selected_nodes:
if node.getSetting(SceneNodeSettings.LockPosition,
"False") == "False":
TranslateOperation(node, drag).push()
if not self._distance:
self._distance = Vector(0, 0, 0)
self._distance += drag
self.setDragStart(x, y)
# Rate-limit the angle change notification
# This is done to prevent the UI from being flooded with property change notifications,
# which in turn would trigger constant repaints.
new_time = time.monotonic()
if not self._distance_update_time or new_time - self._distance_update_time > 0.1:
self.propertyChanged.emit()
self._distance_update_time = new_time
return True
if event.type == Event.MouseReleaseEvent:
# Finish a translate operation
if self.getDragPlane():
self.operationStopped.emit(self)
self._distance = None
self.propertyChanged.emit()
self.setLockedAxis(ToolHandle.NoAxis)
self.setDragPlane(None)
self.setDragStart(
cast(MouseEvent, event).x,
cast(MouseEvent, event).y)
return True
return False
def getToolHint(self) -> Optional[str]:
"""Return a formatted distance of the current translate operation.
:return: Fully formatted string showing the distance by which the
mesh(es) are dragged.
"""
return "%.2f mm" % self._distance.length() if self._distance else None
class Application:
def __init__(self):
self._clock_fmt = '%Y-%m-%d %H:%M:%S %Z%z'
self._tz_utc = pytz.timezone('UTC')
self._tz_eastern = pytz.timezone('US/Eastern')
self._tz_central = pytz.timezone('US/Central')
self._tz_mountain = pytz.timezone('US/Mountain')
self._tz_pacific = pytz.timezone('US/Pacific')
self._tz_berlin = pytz.timezone('Europe/Berlin')
self._tz_london = pytz.timezone('Europe/London')
self._tz_paris = pytz.timezone('Europe/Paris')
self._timer = QTimer()
self._timer.timeout.connect(self._show_clock)
def _create_label(self, owner, labelText, yPos, x1, x2):
lab = QLabel(owner)
lab.setText(labelText)
lab.move(x1, yPos)
result = QLabel(owner)
result.setText(' ' * 60)
result.move(x2, yPos)
return result
def _show_clock(self):
utc_dt = datetime.now(self._tz_utc)
eastern_dt = utc_dt.astimezone(self._tz_eastern)
central_dt = utc_dt.astimezone(self._tz_central)
mountain_dt = utc_dt.astimezone(self._tz_mountain)
pacific_dt = utc_dt.astimezone(self._tz_pacific)
berlin_dt = utc_dt.astimezone(self._tz_berlin)
london_dt = utc_dt.astimezone(self._tz_london)
paris_dt = utc_dt.astimezone(self._tz_paris)
self._utc_label.setText(utc_dt.strftime(self._clock_fmt))
self._eastern_label.setText(eastern_dt.strftime(self._clock_fmt))
self._central_label.setText(central_dt.strftime(self._clock_fmt))
self._mountain_label.setText(mountain_dt.strftime(self._clock_fmt))
self._pacific_label.setText(pacific_dt.strftime(self._clock_fmt))
self._berlin_label.setText(berlin_dt.strftime(self._clock_fmt))
self._london_label.setText(london_dt.strftime(self._clock_fmt))
self._paris_label.setText(paris_dt.strftime(self._clock_fmt))
def execute(self):
app = QApplication([])
tab1 = 20
tab2 = 110
yStart = 10
yInc = 20
w = QWidget()
w.setGeometry(100, 100, 320, 240)
w.setWindowTitle('World Clock')
self._utc_label = self._create_label(w, 'UTC:', yStart, tab1, tab2)
self._eastern_label = self._create_label(w, 'US/Eastern:',
yStart + yInc * 2, tab1, tab2)
self._central_label = self._create_label(w, 'US/Central:',
yStart + yInc * 3, tab1, tab2)
self._mountain_label = self._create_label(w, 'US/Mountain:',
yStart + yInc * 4, tab1,
tab2)
self._pacific_label = self._create_label(w, 'US/Pacific:',
yStart + yInc * 5, tab1, tab2)
self._berlin_label = self._create_label(w, 'Berlin:',
yStart + yInc * 7, tab1, tab2)
self._london_label = self._create_label(w, 'London:',
yStart + yInc * 8, tab1, tab2)
self._paris_label = self._create_label(w, 'Paris:', yStart + yInc * 9,
tab1, tab2)
w.show()
self._timer.start(1000)
exit(app.exec())
class InstanceContainersModel(ListModel):
"""Model that holds instance containers. By setting the filter property the instances held by this model can be
changed.
"""
NameRole = Qt.ItemDataRole.UserRole + 1 # Human readable name (string)
IdRole = Qt.ItemDataRole.UserRole + 2 # Unique ID of the InstanceContainer
MetaDataRole = Qt.ItemDataRole.UserRole + 3
ReadOnlyRole = Qt.ItemDataRole.UserRole + 4
SectionRole = Qt.ItemDataRole.UserRole + 5
def __init__(self, parent=None) -> None:
super().__init__(parent)
self.addRoleName(self.NameRole, "name")
self.addRoleName(self.IdRole, "id")
self.addRoleName(self.MetaDataRole, "metadata")
self.addRoleName(self.ReadOnlyRole, "readOnly")
self.addRoleName(self.SectionRole, "section")
#We keep track of two sets: One for normal containers that are already fully loaded, and one for containers of which only metadata is known.
#Both of these are indexed by their container ID.
self._instance_containers = {} #type: Dict[str, InstanceContainer]
self._instance_containers_metadata = {
} # type: Dict[str, Dict[str, Any]]
self._section_property = ""
# Listen to changes
ContainerRegistry.getInstance().containerAdded.connect(
self._onContainerChanged)
ContainerRegistry.getInstance().containerRemoved.connect(
self._onContainerChanged)
ContainerRegistry.getInstance().containerLoadComplete.connect(
self._onContainerLoadComplete)
self._container_change_timer = QTimer()
self._container_change_timer.setInterval(150)
self._container_change_timer.setSingleShot(True)
self._container_change_timer.timeout.connect(self._update)
# List of filters for queries. The result is the union of the each list of results.
self._filter_dicts = [] # type: List[Dict[str, str]]
self._container_change_timer.start()
def _onContainerChanged(self, container: ContainerInterface) -> None:
"""Handler for container added / removed events from registry"""
# We only need to update when the changed container is a instanceContainer
if isinstance(container, InstanceContainer):
self._container_change_timer.start()
def _update(self) -> None:
"""Private convenience function to reset & repopulate the model."""
#You can only connect on the instance containers, not on the metadata.
#However the metadata can't be edited, so it's not needed.
for container in self._instance_containers.values():
container.metaDataChanged.disconnect(self._updateMetaData)
self._instance_containers, self._instance_containers_metadata = self._fetchInstanceContainers(
)
for container in self._instance_containers.values():
container.metaDataChanged.connect(self._updateMetaData)
new_items = list(self._recomputeItems())
if new_items != self._items:
self.setItems(new_items)
def _recomputeItems(self) -> Generator[Dict[str, Any], None, None]:
"""Computes the items that need to be in this list model.
This does not set the items in the list itself. It is intended to be
overwritten by subclasses that add their own roles to the model.
"""
registry = ContainerRegistry.getInstance()
result = []
for container in self._instance_containers.values():
result.append({
"name":
container.getName(),
"id":
container.getId(),
"metadata":
container.getMetaData().copy(),
"readOnly":
registry.isReadOnly(container.getId()),
"section":
container.getMetaDataEntry(self._section_property, ""),
"weight":
int(container.getMetaDataEntry("weight", 0))
})
for container_metadata in self._instance_containers_metadata.values():
result.append({
"name":
container_metadata["name"],
"id":
container_metadata["id"],
"metadata":
container_metadata.copy(),
"readOnly":
registry.isReadOnly(container_metadata["id"]),
"section":
container_metadata.get(self._section_property, ""),
"weight":
int(container_metadata.get("weight", 0))
})
yield from sorted(result, key=self._sortKey)
def _fetchInstanceContainers(
self
) -> Tuple[Dict[str, InstanceContainer], Dict[str, Dict[str, Any]]]:
"""Fetch the list of containers to display.
This method is intended to be overridable by subclasses.
:return: A tuple of an ID-to-instance mapping that includes all fully loaded containers, and
an ID-to-metadata mapping that includes the containers of which only the metadata is known.
"""
registry = ContainerRegistry.getInstance() #Cache this for speed.
containers = {
} #type: Dict[str, InstanceContainer] #Mapping from container ID to container.
metadatas = {
} #type: Dict[str, Dict[str, Any]] #Mapping from container ID to metadata.
for filter_dict in self._filter_dicts:
this_filter = registry.findInstanceContainersMetadata(
**filter_dict)
for metadata in this_filter:
if metadata["id"] not in containers and metadata[
"id"] not in metadatas: #No duplicates please.
if registry.isLoaded(
metadata["id"]
): #Only add it to the full containers if it's already fully loaded.
containers[metadata["id"]] = cast(
InstanceContainer,
registry.findContainers(id=metadata["id"])[0])
else:
metadatas[metadata["id"]] = metadata
return containers, metadatas
def setSectionProperty(self, property_name: str) -> None:
if self._section_property != property_name:
self._section_property = property_name
self.sectionPropertyChanged.emit()
self._container_change_timer.start()
sectionPropertyChanged = pyqtSignal()
@pyqtProperty(str, fset=setSectionProperty, notify=sectionPropertyChanged)
def sectionProperty(self) -> str:
return self._section_property
def setFilter(self, filter_dict: Dict[str, str]) -> None:
"""Set the filter of this model based on a string.
:param filter_dict: :type{Dict} Dictionary to do the filtering by.
"""
self.setFilterList([filter_dict])
filterChanged = pyqtSignal()
@pyqtProperty("QVariantMap", fset=setFilter, notify=filterChanged)
def filter(self) -> Dict[str, str]:
return self._filter_dicts[0] if len(self._filter_dicts) != 0 else {}
def setFilterList(self, filter_list: List[Dict[str, str]]) -> None:
"""Set a list of filters to use when fetching containers.
:param filter_list: List of filter dicts to fetch multiple sets of
containers. The final result is the union of these sets.
"""
if filter_list != self._filter_dicts:
self._filter_dicts = filter_list
self.filterChanged.emit()
self._container_change_timer.start()
@pyqtProperty("QVariantList", fset=setFilterList, notify=filterChanged)
def filterList(self) -> List[Dict[str, str]]:
return self._filter_dicts
@pyqtSlot(str, result="QVariantList")
def getFileNameFilters(self, io_type: str) -> List[str]:
"""Gets a list of the possible file filters that the plugins have registered they can read or write.
The convenience meta-filters "All Supported Types" and "All Files" are added when listing readers,
but not when listing writers.
:param io_type: Name of the needed IO type
:return: A list of strings indicating file name filters for a file dialog.
"""
#TODO: This function should be in UM.Resources!
filters = []
all_types = []
for plugin_id, meta_data in self._getIOPlugins(io_type):
for io_plugin in meta_data[io_type]:
filters.append(io_plugin["description"] + " (*." +
io_plugin["extension"] + ")")
all_types.append("*.{0}".format(io_plugin["extension"]))
if "_reader" in io_type:
# if we're listing readers, add the option to show all supported files as the default option
filters.insert(
0,
catalog.i18nc("@item:inlistbox", "All Supported Types ({0})",
" ".join(all_types)))
filters.append(
catalog.i18nc("@item:inlistbox", "All Files (*)")
) # Also allow arbitrary files, if the user so prefers.
return filters
@pyqtSlot(result=QUrl)
def getDefaultPath(self) -> QUrl:
return QUrl.fromLocalFile(os.path.expanduser("~/"))
def _getIOPlugins(self, io_type: str) -> List[Tuple[str, Dict[str, Any]]]:
"""Gets a list of profile reader or writer plugins
:return: List of tuples of (plugin_id, meta_data).
"""
pr = PluginRegistry.getInstance()
active_plugin_ids = pr.getActivePlugins()
result = []
for plugin_id in active_plugin_ids:
meta_data = pr.getMetaData(plugin_id)
if io_type in meta_data:
result.append((plugin_id, meta_data))
return result
def _sortKey(self, item: Dict[str, Any]) -> List[Any]:
result = []
if self._section_property:
result.append(item.get(self._section_property, ""))
result.append(
not ContainerRegistry.getInstance().isReadOnly(item["id"]))
result.append(int(item.get("weight", 0)))
result.append(item["name"])
return result
def _updateMetaData(self, container: InstanceContainer) -> None:
index = self.find("id", container.id)
if self._section_property:
self.setProperty(
index, "section",
container.getMetaDataEntry(self._section_property, ""))
self.setProperty(index, "metadata", container.getMetaData())
self.setProperty(index, "name", container.getName())
self.setProperty(index, "id", container.getId())
def _onContainerLoadComplete(self, container_id: str) -> None:
"""If a container has loaded fully (rather than just metadata) we need to
move it from the dict of metadata to the dict of full containers.
"""
if container_id in self._instance_containers_metadata:
del self._instance_containers_metadata[container_id]
self._instance_containers[
container_id] = ContainerRegistry.getInstance().findContainers(
id=container_id)[0]
self._instance_containers[container_id].metaDataChanged.connect(
self._updateMetaData)
class MPSM2PrintJobOutputModel(PrintJobOutputModel):
"""Print Job Output Model."""
def __init__(self, output_controller: PrinterOutputController) -> None:
"""Constructor.
Args:
output_controller: Printer's output controller.
"""
super().__init__(output_controller=output_controller, key='', name='')
self._state = 'not_started'
self._progress = 0 # type: int
self._elapsed_print_time_millis = 0 # type: int
self._elapsed_percentage_points = None # type: Optional[int]
# Estimated printing time left, in seconds.
self._remaining_print_time_secs = _MAX_REMAINING_TIME_SECS
self._stopwatch = QTimer(self)
self._stopwatch.timeout.connect(self._tick)
self._reset()
@pyqtProperty(int)
def progress(self) -> int:
"""UI label for printing progress.
Superclass computes progress based on elapsed time.
MPSM2 printers do not provide elapsed time, but progress in percentage.
Returns:
Print job progress from 0 to 100.
"""
return self._progress
@pyqtProperty(str)
def estimated_time_left(self) -> str:
"""UI label for estimated time left.
Returns:
Human-readable estimated printing time left.
"""
if self._elapsed_percentage_points is None:
return ''
if self._elapsed_percentage_points < _MIN_PERCENT_POINTS:
return ''
return TimeUtils.get_human_readable_countdown(
seconds=self._remaining_print_time_secs)
def update_progress(self, progress: int) -> None:
"""Updates job progress and calculates estimated printing time left.
Args:
progress: Job progress from 0 to 100.
"""
if progress < 0 or progress > 100:
raise ValueError(f'Invalid printing progress: {progress}.')
if progress == 0:
self._reset()
elif self._progress != progress:
if self._elapsed_percentage_points is None:
# Skip first seen percent point.
self._elapsed_percentage_points = 0
elif self._elapsed_percentage_points == 0:
self._elapsed_percentage_points += 1
if not self._stopwatch.isActive():
# New percent point seen. Start measuring.
self._stopwatch.start(_POLL_INTERVAL_MILLIS)
else:
self._remaining_print_time_secs = self._calculate_remaining_print_time(
)
self._elapsed_percentage_points += 1
self._progress = progress
def _reset(self) -> None:
"""Resets variables to calculate estimated print time left."""
self._elapsed_print_time_millis = 0
self._elapsed_percentage_points = None
self._remaining_print_time_secs = _MAX_REMAINING_TIME_SECS
if self._stopwatch.isActive():
self._stopwatch.stop()
def _calculate_remaining_print_time(self) -> int:
"""Calculates remaining print time.
Calculation is based on the printing time and progress so far.
Returns
Remaining print time in seconds.
"""
return int((100 - self._progress) * self._elapsed_print_time_millis /
self._elapsed_percentage_points / 1000)
def _tick(self) -> None:
"""Updates stopwatch."""
self._elapsed_print_time_millis += _POLL_INTERVAL_MILLIS
class MainWindow(QMainWindow):
def __init__(self, *args, **kwargs):
super(MainWindow, self).__init__(*args, **kwargs)
# region Create CartPole instance and load initial settings
# Create CartPole instance
self.initial_state = create_cartpole_state()
self.CartPoleInstance = CartPole(initial_state=self.initial_state)
# Set timescales
self.CartPoleInstance.dt_simulation = dt_simulation
self.CartPoleInstance.dt_controller = controller_update_interval
self.CartPoleInstance.dt_save = save_interval
# set other settings
self.CartPoleInstance.set_controller(controller_init)
self.CartPoleInstance.stop_at_90 = stop_at_90_init
self.set_random_experiment_generator_init_params()
# endregion
# region Decide whether to save the data in "CartPole memory" or not
self.save_history = save_history_init
self.show_experiment_summary = show_experiment_summary_init
if self.save_history or self.show_experiment_summary:
self.CartPoleInstance.save_data_in_cart = True
else:
self.CartPoleInstance.save_data_in_cart = False
# endregion
# region Other variables initial values as provided in gui_default_parameters.py
# Start user controlled experiment/ start random experiment/ load and replay - on start button
self.simulator_mode = simulator_mode_init
self.slider_on_click = slider_on_click_init # Update slider on click/update slider while hoovering over it
self.speedup = speedup_init # Default simulation speed-up
# endregion
# region Initialize loop-timer
# This timer allows to relate the simulation time to user time
# And (if your computer is fast enough) run simulation
# slower or faster than real-time by predefined factor (speedup)
self.looper = loop_timer(
dt_target=(self.CartPoleInstance.dt_simulation / self.speedup))
# endregion
# region Variables controlling the state of various processes (DO NOT MODIFY)
self.terminate_experiment_or_replay_thread = False # True: gives signal causing thread to terminate
self.pause_experiment_or_replay_thread = False # True: gives signal causing the thread to pause
self.run_set_labels_thread = True # True if gauges (labels) keep being repeatedly updated
# Stop threads by setting False
# Flag indicating if the "START! / STOP!" button should act as start or as stop when pressed.
# Can take values "START!" or "STOP!"
self.start_or_stop_action = "START!"
# Flag indicating whether the pause button should pause or unpause.
self.pause_or_unpause_action = "PAUSE"
# Flag indicating that saving of experiment recording to csv file has finished
self.experiment_or_replay_thread_terminated = False
self.user_time_counter = 0 # Measures the user time
# Slider instant value (which is draw in GUI) differs from value saved in CartPole instance
# if the option updating slider "on-click" is enabled.
self.slider_instant_value = self.CartPoleInstance.slider_value
self.noise = 'OFF'
self.CartPoleInstance.NoiseAdderInstance.noise_mode = self.noise
# endregion
# region Create GUI Layout
# region - Create container for top level layout
layout = QVBoxLayout()
# endregion
# region - Change geometry of the main window
self.setGeometry(300, 300, 2500, 1000)
# endregion
# region - Matplotlib figures (CartPole drawing and Slider)
# Draw Figure
self.fig = Figure(
figsize=(25, 10)
) # Regulates the size of Figure in inches, before scaling to window size.
self.canvas = FigureCanvas(self.fig)
self.fig.AxCart = self.canvas.figure.add_subplot(211)
self.fig.AxSlider = self.canvas.figure.add_subplot(212)
self.fig.AxSlider.set_ylim(0, 1)
self.CartPoleInstance.draw_constant_elements(self.fig, self.fig.AxCart,
self.fig.AxSlider)
# Attach figure to the layout
lf = QVBoxLayout()
lf.addWidget(self.canvas)
# endregion
# region - Radio buttons selecting current controller
self.rbs_controllers = []
for controller_name in self.CartPoleInstance.controller_names:
self.rbs_controllers.append(QRadioButton(controller_name))
# Ensures that radio buttons are exclusive
self.controllers_buttons_group = QButtonGroup()
for button in self.rbs_controllers:
self.controllers_buttons_group.addButton(button)
lr_c = QVBoxLayout()
lr_c.addStretch(1)
for rb in self.rbs_controllers:
rb.clicked.connect(self.RadioButtons_controller_selection)
lr_c.addWidget(rb)
lr_c.addStretch(1)
self.rbs_controllers[self.CartPoleInstance.controller_idx].setChecked(
True)
# endregion
# region - Create central part of the layout for figures and radio buttons and add it to the whole layout
lc = QHBoxLayout()
lc.addLayout(lf)
lc.addLayout(lr_c)
layout.addLayout(lc)
# endregion
# region - Gauges displaying current values of various states and parameters (time, velocity, angle,...)
# First row
ld = QHBoxLayout()
# User time
self.labTime = QLabel("User's time (s): ")
self.timer = QTimer()
self.timer.setInterval(100) # Tick every 1/10 of the second
self.timer.timeout.connect(self.set_user_time_label)
self.timer.start()
ld.addWidget(self.labTime)
# Speed, angle, motor power (Q)
self.labSpeed = QLabel('Speed (m/s):')
self.labAngle = QLabel('Angle (deg):')
self.labMotor = QLabel('')
self.labTargetPosition = QLabel('')
ld.addWidget(self.labSpeed)
ld.addWidget(self.labAngle)
ld.addWidget(self.labMotor)
ld.addWidget(self.labTargetPosition)
layout.addLayout(ld)
# Second row of labels
# Simulation time, Measured (real) speed-up, slider-value
ld2 = QHBoxLayout()
self.labTimeSim = QLabel('Simulation Time (s):')
ld2.addWidget(self.labTimeSim)
self.labSpeedUp = QLabel('Speed-up (measured):')
ld2.addWidget(self.labSpeedUp)
self.labSliderInstant = QLabel('')
ld2.addWidget(self.labSliderInstant)
layout.addLayout(ld2)
# endregion
# region - Buttons "START!" / "STOP!", "PAUSE", "QUIT"
self.bss = QPushButton("START!")
self.bss.pressed.connect(self.start_stop_button)
self.bp = QPushButton("PAUSE")
self.bp.pressed.connect(self.pause_unpause_button)
bq = QPushButton("QUIT")
bq.pressed.connect(self.quit_application)
lspb = QHBoxLayout() # Sub-Layout for Start/Stop and Pause Buttons
lspb.addWidget(self.bss)
lspb.addWidget(self.bp)
# endregion
# region - Sliders setting initial state and buttons for kicking the pole
# Sliders setting initial position and angle
lb = QVBoxLayout() # Layout for buttons
lb.addLayout(lspb)
lb.addWidget(bq)
ip = QHBoxLayout() # Layout for initial position sliders
self.initial_position_slider = QSlider(
orientation=Qt.Orientation.Horizontal)
self.initial_position_slider.setRange(
-int(float(1000 * TrackHalfLength)),
int(float(1000 * TrackHalfLength)))
self.initial_position_slider.setValue(0)
self.initial_position_slider.setSingleStep(1)
self.initial_position_slider.valueChanged.connect(
self.update_initial_position)
self.initial_angle_slider = QSlider(
orientation=Qt.Orientation.Horizontal)
self.initial_angle_slider.setRange(-int(float(100 * np.pi)),
int(float(100 * np.pi)))
self.initial_angle_slider.setValue(0)
self.initial_angle_slider.setSingleStep(1)
self.initial_angle_slider.valueChanged.connect(
self.update_initial_angle)
ip.addWidget(QLabel("Initial position:"))
ip.addWidget(self.initial_position_slider)
ip.addWidget(QLabel("Initial angle:"))
ip.addWidget(self.initial_angle_slider)
ip.addStretch(0.01)
# Slider setting latency
self.LATENCY_SLIDER_RANGE_INT = 1000
self.latency_slider = QSlider(orientation=Qt.Orientation.Horizontal)
self.latency_slider.setRange(0, self.LATENCY_SLIDER_RANGE_INT)
self.latency_slider.setValue(
int(self.CartPoleInstance.LatencyAdderInstance.latency *
self.LATENCY_SLIDER_RANGE_INT /
self.CartPoleInstance.LatencyAdderInstance.max_latency))
self.latency_slider.setSingleStep(1)
self.latency_slider.valueChanged.connect(self.update_latency)
ip.addWidget(QLabel("Latency:"))
ip.addWidget(self.latency_slider)
self.labLatency = QLabel('Latency (ms): {:.1f}'.format(
self.CartPoleInstance.LatencyAdderInstance.latency * 1000))
ip.addWidget(self.labLatency)
# Buttons activating noise
self.rbs_noise = []
for mode_name in ['ON', 'OFF']:
self.rbs_noise.append(QRadioButton(mode_name))
# Ensures that radio buttons are exclusive
self.noise_buttons_group = QButtonGroup()
for button in self.rbs_noise:
self.noise_buttons_group.addButton(button)
lr_n = QHBoxLayout()
lr_n.addWidget(QLabel('Noise:'))
for rb in self.rbs_noise:
rb.clicked.connect(self.RadioButtons_noise_on_off)
lr_n.addWidget(rb)
self.rbs_noise[1].setChecked(True)
ip.addStretch(0.01)
ip.addLayout(lr_n)
ip.addStretch(0.01)
# Buttons giving kick to the pole
kick_label = QLabel("Kick pole:")
kick_left_button = QPushButton()
kick_left_button.setText("Left")
kick_left_button.adjustSize()
kick_left_button.clicked.connect(self.kick_pole)
kick_right_button = QPushButton()
kick_right_button.setText("Right")
kick_right_button.adjustSize()
kick_right_button.clicked.connect(self.kick_pole)
ip.addWidget(kick_label)
ip.addWidget(kick_left_button)
ip.addWidget(kick_right_button)
lb.addLayout(ip)
layout.addLayout(lb)
# endregion
# region - Text boxes and Combobox to provide settings concerning generation of random experiment
l_generate_trace = QHBoxLayout()
l_generate_trace.addWidget(QLabel('Random experiment settings:'))
l_generate_trace.addWidget(QLabel('Length (s):'))
self.textbox_length = QLineEdit()
l_generate_trace.addWidget(self.textbox_length)
l_generate_trace.addWidget(QLabel('Turning Points (m):'))
self.textbox_turning_points = QLineEdit()
l_generate_trace.addWidget(self.textbox_turning_points)
l_generate_trace.addWidget(QLabel('Interpolation:'))
self.cb_interpolation = QComboBox()
self.cb_interpolation.addItems(
['0-derivative-smooth', 'linear', 'previous'])
self.cb_interpolation.currentIndexChanged.connect(
self.cb_interpolation_selectionchange)
self.cb_interpolation.setCurrentText(
self.CartPoleInstance.interpolation_type)
l_generate_trace.addWidget(self.cb_interpolation)
layout.addLayout(l_generate_trace)
# endregion
# region - Textbox to provide csv file name for saving or loading data
l_text = QHBoxLayout()
textbox_title = QLabel('CSV file name:')
self.textbox = QLineEdit()
l_text.addWidget(textbox_title)
l_text.addWidget(self.textbox)
layout.addLayout(l_text)
# endregion
# region - Make strip of layout for checkboxes
l_cb = QHBoxLayout()
# endregion
# region - Textbox to provide the target speed-up value
l_text_speedup = QHBoxLayout()
tx_speedup_title = QLabel('Speed-up (target):')
self.tx_speedup = QLineEdit()
l_text_speedup.addWidget(tx_speedup_title)
l_text_speedup.addWidget(self.tx_speedup)
self.tx_speedup.setText(str(self.speedup))
l_cb.addLayout(l_text_speedup)
self.wrong_speedup_msg = QMessageBox()
self.wrong_speedup_msg.setWindowTitle("Speed-up value problem")
self.wrong_speedup_msg.setIcon(QMessageBox.Icon.Critical)
# endregion
# region - Checkboxes
# region -- Checkbox: Save/don't save experiment recording
self.cb_save_history = QCheckBox('Save results', self)
if self.save_history:
self.cb_save_history.toggle()
self.cb_save_history.toggled.connect(self.cb_save_history_f)
l_cb.addWidget(self.cb_save_history)
# endregion
# region -- Checkbox: Display plots showing dynamic evolution of the system as soon as experiment terminates
self.cb_show_experiment_summary = QCheckBox('Show experiment summary',
self)
if self.show_experiment_summary:
self.cb_show_experiment_summary.toggle()
self.cb_show_experiment_summary.toggled.connect(
self.cb_show_experiment_summary_f)
l_cb.addWidget(self.cb_show_experiment_summary)
# endregion
# region -- Checkbox: Block pole if it reaches +/-90 deg
self.cb_stop_at_90_deg = QCheckBox('Stop-at-90-deg', self)
if self.CartPoleInstance.stop_at_90:
self.cb_stop_at_90_deg.toggle()
self.cb_stop_at_90_deg.toggled.connect(self.cb_stop_at_90_deg_f)
l_cb.addWidget(self.cb_stop_at_90_deg)
# endregion
# region -- Checkbox: Update slider on click/update slider while hoovering over it
self.cb_slider_on_click = QCheckBox('Update slider on click', self)
if self.slider_on_click:
self.cb_slider_on_click.toggle()
self.cb_slider_on_click.toggled.connect(self.cb_slider_on_click_f)
l_cb.addWidget(self.cb_slider_on_click)
# endregion
# endregion
# region - Radio buttons selecting simulator mode: user defined experiment, random experiment, replay
# List available simulator modes - constant
self.available_simulator_modes = [
'Slider-Controlled Experiment', 'Random Experiment', 'Replay'
]
self.rbs_simulator_mode = []
for mode_name in self.available_simulator_modes:
self.rbs_simulator_mode.append(QRadioButton(mode_name))
# Ensures that radio buttons are exclusive
self.simulator_mode_buttons_group = QButtonGroup()
for button in self.rbs_simulator_mode:
self.simulator_mode_buttons_group.addButton(button)
lr_sm = QHBoxLayout()
lr_sm.addStretch(1)
lr_sm.addWidget(QLabel('Simulator mode:'))
for rb in self.rbs_simulator_mode:
rb.clicked.connect(self.RadioButtons_simulator_mode)
lr_sm.addWidget(rb)
lr_sm.addStretch(1)
self.rbs_simulator_mode[self.available_simulator_modes.index(
self.simulator_mode)].setChecked(True)
l_cb.addStretch(1)
l_cb.addLayout(lr_sm)
l_cb.addStretch(1)
# endregion
# region - Add checkboxes to layout
layout.addLayout(l_cb)
# endregion
# region - Create an instance of a GUI window
w = QWidget()
w.setLayout(layout)
self.setCentralWidget(w)
self.show()
self.setWindowTitle('CartPole Simulator')
# endregion
# endregion
# region Open controller-specific popup windows
self.open_additional_controller_widget()
# endregion
# region Activate functions capturing mouse movements and clicks over the slider
# This line links function capturing the mouse position on the canvas of the Figure
self.canvas.mpl_connect("motion_notify_event", self.on_mouse_movement)
# This line links function capturing the mouse position on the canvas of the Figure click
self.canvas.mpl_connect("button_press_event", self.on_mouse_click)
# endregion
# region Introducing multithreading
# To ensure smooth functioning of the app,
# the calculations and redrawing of the figures have to be done in a different thread
# than the one capturing the mouse position and running the animation
self.threadpool = QThreadPool()
# endregion
# region Starts a thread repeatedly redrawing gauges (labels) of the GUI
# It runs till the QUIT button is pressed
worker_labels = Worker(self.set_labels_thread)
self.threadpool.start(worker_labels)
# endregion
# region Start animation repeatedly redrawing changing elements of matplotlib figures (CartPole drawing and slider)
# This animation runs ALWAYS when the GUI is open
# The buttons of GUI only decide if new parameters are calculated or not
self.anim = self.CartPoleInstance.run_animation(self.fig)
# endregion
# region Thread performing CartPole experiment, slider-controlled or random
# It iteratively updates CartPole state and save data to a .csv file
# It also put simulation time in relation to user time
def experiment_thread(self):
# Necessary only for debugging in Visual Studio Code IDE
try:
ptvsd.debug_this_thread()
except:
pass
self.looper.start_loop()
while not self.terminate_experiment_or_replay_thread:
if self.pause_experiment_or_replay_thread:
time.sleep(0.1)
else:
# Calculations of the Cart state in the next timestep
self.CartPoleInstance.update_state()
# Terminate thread if random experiment reached its maximal length
if ((self.CartPoleInstance.use_pregenerated_target_position is
True) and (self.CartPoleInstance.time >=
self.CartPoleInstance.t_max_pre)):
self.terminate_experiment_or_replay_thread = True
# FIXME: when Speedup empty in GUI I expected inf speedup but got error Loop timer was not initialized properly
self.looper.sleep_leftover_time()
# Save simulation history if user chose to do so at the end of the simulation
if self.save_history:
csv_name = self.textbox.text()
self.CartPoleInstance.save_history_csv(
csv_name=csv_name,
mode='init',
length_of_experiment=np.around(
self.CartPoleInstance.dict_history['time'][-1],
decimals=2))
self.CartPoleInstance.save_history_csv(csv_name=csv_name,
mode='save offline')
self.experiment_or_replay_thread_terminated = True
# endregion
# region Thread replaying a saved experiment recording
def replay_thread(self):
# Necessary only for debugging in Visual Studio Code IDE
try:
ptvsd.debug_this_thread()
except:
pass
# Check what is in the csv textbox
csv_name = self.textbox.text()
# Load experiment history
history_pd, filepath = self.CartPoleInstance.load_history_csv(
csv_name=csv_name)
# Set cartpole in the right mode (just to ensure slider behaves properly)
with open(filepath, newline='') as f:
reader = csv.reader(f)
for line in reader:
line = line[0]
if line[:len('# Controller: ')] == '# Controller: ':
controller_set = self.CartPoleInstance.set_controller(
line[len('# Controller: '):].rstrip("\n"))
if controller_set:
self.rbs_controllers[self.CartPoleInstance.
controller_idx].setChecked(True)
else:
self.rbs_controllers[1].setChecked(
True) # Set first, but not manual stabilization
break
# Augment the experiment history with simulation time step size
dt = []
row_iterator = history_pd.iterrows()
_, last = next(row_iterator) # take first item from row_iterator
for i, row in row_iterator:
dt.append(row['time'] - last['time'])
last = row
dt.append(dt[-1])
history_pd['dt'] = np.array(dt)
# Initialize loop timer (with arbitrary dt)
replay_looper = loop_timer(dt_target=0.0)
# Start looping over history
replay_looper.start_loop()
global L
for index, row in history_pd.iterrows():
self.CartPoleInstance.s[POSITION_IDX] = row['position']
self.CartPoleInstance.s[POSITIOND_IDX] = row['positionD']
self.CartPoleInstance.s[ANGLE_IDX] = row['angle']
self.CartPoleInstance.time = row['time']
self.CartPoleInstance.dt = row['dt']
try:
self.CartPoleInstance.u = row['u']
except KeyError:
pass
self.CartPoleInstance.Q = row['Q']
self.CartPoleInstance.target_position = row['target_position']
if self.CartPoleInstance.controller_name == 'manual-stabilization':
self.CartPoleInstance.slider_value = self.CartPoleInstance.Q
else:
self.CartPoleInstance.slider_value = self.CartPoleInstance.target_position / TrackHalfLength
# TODO: Make it more general for all possible parameters
try:
L[...] = row['L']
except KeyError:
pass
except:
print('Error while assigning L')
print("Unexpected error:", sys.exc_info()[0])
print("Unexpected error:", sys.exc_info()[1])
dt_target = (self.CartPoleInstance.dt / self.speedup)
replay_looper.dt_target = dt_target
replay_looper.sleep_leftover_time()
if self.terminate_experiment_or_replay_thread: # Means that stop button was pressed
break
while self.pause_experiment_or_replay_thread: # Means that pause button was pressed
time.sleep(0.1)
if self.show_experiment_summary:
self.CartPoleInstance.dict_history = history_pd.loc[:index].to_dict(
orient='list')
self.experiment_or_replay_thread_terminated = True
# endregion
# region "START! / STOP!" button -> run/stop slider-controlled experiment, random experiment or replay experiment recording
# Actions to be taken when "START! / STOP!" button is clicked
def start_stop_button(self):
# If "START! / STOP!" button in "START!" mode...
if self.start_or_stop_action == 'START!':
self.bss.setText("STOP!")
self.start_thread()
# If "START! / STOP!" button in "STOP!" mode...
elif self.start_or_stop_action == 'STOP!':
self.bss.setText("START!")
self.bp.setText("PAUSE")
# This flag is periodically checked by thread. It terminates if set True.
self.terminate_experiment_or_replay_thread = True
# The stop_thread function is called automatically by the thread when it terminates
# It is implemented this way, because thread my terminate not only due "STOP!" button
# (e.g. replay thread when whole experiment is replayed)
def pause_unpause_button(self):
# Only Pause if experiment is running
if self.pause_or_unpause_action == 'PAUSE' and self.start_or_stop_action == 'STOP!':
self.pause_or_unpause_action = 'UNPAUSE'
self.pause_experiment_or_replay_thread = True
self.bp.setText("UNPAUSE")
elif self.pause_or_unpause_action == 'UNPAUSE' and self.start_or_stop_action == 'STOP!':
self.pause_or_unpause_action = 'PAUSE'
self.pause_experiment_or_replay_thread = False
self.bp.setText("PAUSE")
# Run thread. works for all simulator modes.
def start_thread(self):
# Check if value provided in speed-up textbox makes sense
# If not abort start
speedup_updated = self.get_speedup()
if not speedup_updated:
return
# Disable GUI elements for features which must not be changed in runtime
# For other features changing in runtime may not cause errors, but will stay without effect for current run
self.cb_save_history.setEnabled(False)
for rb in self.rbs_simulator_mode:
rb.setEnabled(False)
for rb in self.rbs_controllers:
rb.setEnabled(False)
if self.simulator_mode != 'Replay':
self.cb_show_experiment_summary.setEnabled(False)
# Set user-provided initial values for state (or its part) of the CartPole
# Search implementation for more detail
# The following line is important as it let the user to set with the slider the starting target position
# After the slider was reset at the end of last experiment
# With the small sliders he can also adjust starting initial_state
self.reset_variables(
2,
s=np.copy(self.initial_state),
target_position=self.CartPoleInstance.target_position)
if self.simulator_mode == 'Random Experiment':
self.CartPoleInstance.use_pregenerated_target_position = True
if self.textbox_length.text() == '':
self.CartPoleInstance.length_of_experiment = length_of_experiment_init
else:
self.CartPoleInstance.length_of_experiment = float(
self.textbox_length.text())
turning_points_list = []
if self.textbox_turning_points.text() != '':
for turning_point in self.textbox_turning_points.text().split(
', '):
turning_points_list.append(float(turning_point))
self.CartPoleInstance.turning_points = turning_points_list
self.CartPoleInstance.setup_cartpole_random_experiment()
self.looper.dt_target = self.CartPoleInstance.dt_simulation / self.speedup
# Pass the function to execute
if self.simulator_mode == "Replay":
worker = Worker(self.replay_thread)
elif self.simulator_mode == 'Slider-Controlled Experiment' or self.simulator_mode == 'Random Experiment':
worker = Worker(self.experiment_thread)
worker.signals.finished.connect(self.finish_thread)
# Execute
self.threadpool.start(worker)
# Determine what should happen when "START! / STOP!" is pushed NEXT time
self.start_or_stop_action = "STOP!"
# finish_threads works for all simulation modes
# Some lines mya be redundant for replay,
# however as they do not take much computation time we leave them here
# As it my code shorter, while hopefully still clear.
# It is called automatically at the end of experiment_thread
def finish_thread(self):
self.CartPoleInstance.use_pregenerated_target_position = False
self.initial_state = create_cartpole_state()
self.initial_position_slider.setValue(0)
self.initial_angle_slider.setValue(0)
self.CartPoleInstance.s = self.initial_state
# Some controllers may collect they own statistics about their usage and print it after experiment terminated
if self.simulator_mode != 'Replay':
try:
self.CartPoleInstance.controller.controller_report()
except:
pass
if self.show_experiment_summary:
self.w_summary = SummaryWindow(
summary_plots=self.CartPoleInstance.summary_plots)
# Reset variables and redraw the figures
self.reset_variables(0)
# Draw figures
self.CartPoleInstance.draw_constant_elements(self.fig, self.fig.AxCart,
self.fig.AxSlider)
self.canvas.draw()
# Enable back all elements of GUI:
self.cb_save_history.setEnabled(True)
self.cb_show_experiment_summary.setEnabled(True)
for rb in self.rbs_simulator_mode:
rb.setEnabled(True)
for rb in self.rbs_controllers:
rb.setEnabled(True)
self.start_or_stop_action = "START!" # What should happen when "START! / STOP!" is pushed NEXT time
# endregion
# region Methods: "Get, set, reset, quit"
# Set parameters from gui_default_parameters related to generating a random experiment target position
def set_random_experiment_generator_init_params(self):
self.CartPoleInstance.track_relative_complexity = track_relative_complexity_init
self.CartPoleInstance.length_of_experiment = length_of_experiment_init
self.CartPoleInstance.interpolation_type = interpolation_type_init
self.CartPoleInstance.turning_points_period = turning_points_period_init
self.CartPoleInstance.start_random_target_position_at = start_random_target_position_at_init
self.CartPoleInstance.end_random_target_position_at = end_random_target_position_at_init
self.CartPoleInstance.turning_points = turning_points_init
# Method resetting variables which change during experimental run
def reset_variables(self, reset_mode=1, s=None, target_position=None):
self.CartPoleInstance.set_cartpole_state_at_t0(
reset_mode, s=s, target_position=target_position)
self.user_time_counter = 0
# "Try" because this function is called for the first time during initialisation of the Window
# when the timer label instance is not yer there.
try:
self.labt.setText("Time (s): " +
str(float(self.user_time_counter) / 10.0))
except:
pass
self.experiment_or_replay_thread_terminated = False # This is a flag informing thread terminated
self.terminate_experiment_or_replay_thread = False # This is a command to terminate a thread
self.pause_experiment_or_replay_thread = False # This is a command to pause a thread
self.start_or_stop_action = "START!"
self.pause_or_unpause_action = "PAUSE"
self.looper.first_call_done = False
######################################################################################################
# (Marcin) Below are methods with less critical functions.
# A thread redrawing labels (except for timer, which has its own function) of GUI every 0.1 s
def set_labels_thread(self):
while (self.run_set_labels_thread):
self.labSpeed.setText(
"Speed (m/s): " +
str(np.around(self.CartPoleInstance.s[POSITIOND_IDX], 2)))
self.labAngle.setText("Angle (deg): " + str(
np.around(
self.CartPoleInstance.s[ANGLE_IDX] * 360 /
(2 * np.pi), 2)))
self.labMotor.setText("Motor power (Q): {:.3f}".format(
np.around(self.CartPoleInstance.Q, 2)))
if self.CartPoleInstance.controller_name == 'manual-stabilization':
self.labTargetPosition.setText("")
else:
self.labTargetPosition.setText(
"Target position (m): " +
str(np.around(self.CartPoleInstance.target_position, 2)))
if self.CartPoleInstance.controller_name == 'manual_stabilization':
self.labSliderInstant.setText(
"Slider instant value (-): " +
str(np.around(self.slider_instant_value, 2)))
else:
self.labSliderInstant.setText(
"Slider instant value (m): " +
str(np.around(self.slider_instant_value, 2)))
self.labTimeSim.setText('Simulation time (s): {:.2f}'.format(
self.CartPoleInstance.time))
mean_dt_real = np.mean(self.looper.circ_buffer_dt_real)
if mean_dt_real > 0:
self.labSpeedUp.setText('Speed-up (measured): x{:.2f}'.format(
self.CartPoleInstance.dt_simulation / mean_dt_real))
sleep(0.1)
# Function to measure the time of simulation as experienced by user
# It corresponds to the time of simulation according to equations only if real time mode is on
# TODO (Marcin) I just retained this function from some example being my starting point
# It seems it sometimes counting time to slow. Consider replacing in future
def set_user_time_label(self):
# "If": Increment time counter only if simulation is running
if self.start_or_stop_action == "STOP!": # indicates what start button was pressed and some process is running
self.user_time_counter += 1
# The updates are done smoother if the label is updated here
# and not in the separate thread
self.labTime.setText("Time (s): " +
str(float(self.user_time_counter) / 10.0))
# The actions which has to be taken to properly terminate the application
# The method is evoked after QUIT button is pressed
# TODO: Can we connect it somehow also the the default cross closing the application?
def quit_application(self):
# Stops animation (updating changing elements of the Figure)
self.anim._stop()
# Stops the two threads updating the GUI labels and updating the state of Cart instance
self.run_set_labels_thread = False
self.terminate_experiment_or_replay_thread = True
self.pause_experiment_or_replay_thread = False
# Closes the GUI window
self.close()
# The standard command
# It seems however not to be working by its own
# I don't know how it works
QApplication.quit()
# endregion
# region Mouse interaction
"""
These are some methods GUI uses to capture mouse effect while hoovering or clicking over/on the charts
"""
# Function evoked at a mouse movement
# If the mouse cursor is over the lower chart it reads the corresponding value
# and updates the slider
def on_mouse_movement(self, event):
if self.simulator_mode == 'Slider-Controlled Experiment':
if event.xdata == None or event.ydata == None:
pass
else:
if event.inaxes == self.fig.AxSlider:
self.slider_instant_value = event.xdata
if not self.slider_on_click:
self.CartPoleInstance.update_slider(
mouse_position=event.xdata)
# Function evoked at a mouse click
# If the mouse cursor is over the lower chart it reads the corresponding value
# and updates the slider
def on_mouse_click(self, event):
if self.simulator_mode == 'Slider-Controlled Experiment':
if event.xdata == None or event.ydata == None:
pass
else:
if event.inaxes == self.fig.AxSlider:
self.CartPoleInstance.update_slider(
mouse_position=event.xdata)
# endregion
# region Changing "static" options: radio buttons, text boxes, combo boxes, check boxes
"""
This section collects methods used to change some ''static option'':
e.g. change current controller, switch between saving and not saving etc.
These are functions associated with radio buttons, check boxes, textfilds etc.
The functions of "START! / STOP!" button is much more complex
and we put them hence in a separate section.
"""
# region - Radio buttons
# Chose the controller method which should be used with the CartPole
def RadioButtons_controller_selection(self):
# Change the mode variable depending on the Radiobutton state
for i in range(len(self.rbs_controllers)):
if self.rbs_controllers[i].isChecked():
self.CartPoleInstance.set_controller(controller_idx=i)
# Reset the state of GUI and of the Cart instance after the mode has changed
# TODO: Do I need the follwowing lines?
self.reset_variables(0)
self.CartPoleInstance.draw_constant_elements(self.fig, self.fig.AxCart,
self.fig.AxSlider)
self.canvas.draw()
self.open_additional_controller_widget()
# Chose the simulator mode - effect of start/stop button
def RadioButtons_simulator_mode(self):
# Change the mode variable depending on the Radiobutton state
for i in range(len(self.rbs_simulator_mode)):
sleep(0.001)
if self.rbs_simulator_mode[i].isChecked():
self.simulator_mode = self.available_simulator_modes[i]
# Reset the state of GUI and of the Cart instance after the mode has changed
# TODO: Do I need the follwowing lines?
self.reset_variables(0)
self.CartPoleInstance.draw_constant_elements(self.fig, self.fig.AxCart,
self.fig.AxSlider)
self.canvas.draw()
# Chose the noise mode - effect of start/stop button
def RadioButtons_noise_on_off(self):
# Change the mode variable depending on the Radiobutton state
if self.rbs_noise[0].isChecked():
self.noise = 'ON'
self.CartPoleInstance.NoiseAdderInstance.noise_mode = self.noise
elif self.rbs_noise[1].isChecked():
self.noise = 'OFF'
self.CartPoleInstance.NoiseAdderInstance.noise_mode = self.noise
else:
raise Exception('Something wrong with ON/OFF button for noise')
self.open_additional_noise_widget()
# endregion
# region - Text Boxes
# Read speedup provided by user from appropriate GUI textbox
def get_speedup(self):
"""
Get speedup provided by user from appropriate textbox.
Speed-up gives how many times faster or slower than real time the simulation or replay should run.
The provided values may not always be reached due to computer speed limitation
"""
speedup = self.tx_speedup.text()
if speedup == '':
self.speedup = np.inf
return True
else:
try:
speedup = float(speedup)
except ValueError:
self.wrong_speedup_msg.setText(
'You have provided the input for speed-up which is not convertible to a number'
)
x = self.wrong_speedup_msg.exec_()
return False
if speedup == 0.0:
self.wrong_speedup_msg.setText(
'You cannot run an experiment with 0 speed-up (stopped time flow)'
)
x = self.wrong_speedup_msg.exec_()
return False
else:
self.speedup = speedup
return True
# endregion
# region - Combo Boxes
# Select how to interpolate between turning points of randomly chosen target positions
def cb_interpolation_selectionchange(self, i):
"""
Select interpolation type for random target positions of randomly generated experiment
"""
self.CartPoleInstance.interpolation_type = self.cb_interpolation.currentText(
)
# endregion
# region - Check boxes
# Action toggling between saving and not saving simulation results
def cb_save_history_f(self, state):
if state:
self.save_history = 1
else:
self.save_history = 0
if self.save_history or self.show_experiment_summary:
self.CartPoleInstance.save_data_in_cart = True
else:
self.CartPoleInstance.save_data_in_cart = False
# Action toggling between saving and not saving simulation results
def cb_show_experiment_summary_f(self, state):
if state:
self.show_experiment_summary = 1
else:
self.show_experiment_summary = 0
if self.save_history or self.show_experiment_summary:
self.CartPoleInstance.save_data_in_cart = True
else:
self.CartPoleInstance.save_data_in_cart = False
# Action toggling between stopping (or not) the pole if it reaches 90 deg
def cb_stop_at_90_deg_f(self, state):
if state:
self.CartPoleInstance.stop_at_90 = True
else:
self.CartPoleInstance.stop_at_90 = False
# Action toggling between updating CarPole slider value on click or by hoovering over it
def cb_slider_on_click_f(self, state):
if state:
self.slider_on_click = True
else:
self.slider_on_click = False
# endregion
# region - Additional GUI Popups
def open_additional_controller_widget(self):
# Open up additional options widgets depending on the controller type
if self.CartPoleInstance.controller_name == 'mppi':
self.optionsControllerWidget = MPPIOptionsWindow()
else:
try:
self.optionsControllerWidget.close()
except:
pass
self.optionsControllerWidget = None
def open_additional_noise_widget(self):
# Open up additional options widgets depending on the controller type
if self.noise == 'ON':
self.optionsNoiseWidget = NoiseOptionsWindow()
else:
try:
self.optionsNoiseWidget.close()
except:
pass
self.optionsNoiseWidget = None
# endregion
# region - Sliders setting initial position and angle of the CartPole
def update_initial_position(self, value: str):
self.initial_state[POSITION_IDX] = float(value) / 1000.0
def update_initial_angle(self, value: str):
self.initial_state[ANGLE_IDX] = float(value) / 100.0
# endregion
# region - Slider setting latency of the controller
def update_latency(self, value: str):
latency_slider = float(value)
latency = latency_slider * self.CartPoleInstance.LatencyAdderInstance.max_latency / self.LATENCY_SLIDER_RANGE_INT # latency in seconds
self.CartPoleInstance.LatencyAdderInstance.set_latency(latency)
self.labLatency.setText('{:.1f} ms'.format(latency *
1000.0)) # latency in ms
# endregion
# region Buttons for providing a kick to the pole
def kick_pole(self):
if self.sender().text() == "Left":
self.CartPoleInstance.s[ANGLED_IDX] += .6
elif self.sender().text() == "Right":
self.CartPoleInstance.s[ANGLED_IDX] -= .6
class Window(QMainWindow):
# The following attributes are dynamically loaded from the .ui file
startButton: QPushButton
stopButton: QPushButton
leftEyeThreshold: QSlider
rightEyeThreshold: QSlider
def __init__(self, video_source: FrameSource, capture: Capture):
super(Window, self).__init__()
loadUi(settings.GUI_FILE_PATH, self)
with open(settings.STYLE_FILE_PATH, "r") as css:
self.setStyleSheet(css.read())
self.startButton.clicked.connect(self.start)
self.stopButton.clicked.connect(self.stop)
self.timer = None
self.video_source = video_source
self.capture = capture
def start(self):
self.video_source.start()
self.timer = QTimer(self)
self.timer.timeout.connect(self.update_frame)
self.timer.start(settings.REFRESH_PERIOD)
def stop(self):
self.timer.stop()
self.video_source.stop()
def update_frame(self):
frame = self.video_source.next_frame()
face, l_eye, r_eye = self.capture.process(
frame, self.leftEyeThreshold.value(),
self.rightEyeThreshold.value())
if face is not None:
self.display_image(self.opencv_to_qt(frame))
if l_eye is not None:
self.display_image(self.opencv_to_qt(l_eye), window="leftEyeBox")
if r_eye is not None:
self.display_image(self.opencv_to_qt(r_eye), window="rightEyeBox")
@staticmethod
def opencv_to_qt(img) -> QImage:
"""
Convert OpenCV image to PyQT image
by changing format to RGB/RGBA from BGR
"""
qformat = QImage.Format.Format_Indexed8
if len(img.shape) == 3:
if img.shape[2] == 4: # RGBA
qformat = QImage.Format.Format_RGBA8888
else: # RGB
qformat = QImage.Format.Format_RGB888
img = numpy.require(img, numpy.uint8, "C")
out_image = QImage(img, img.shape[1], img.shape[0], img.strides[0],
qformat) # BGR to RGB
out_image = out_image.rgbSwapped()
return out_image
def display_image(self, img: QImage, window="baseImage"):
"""
Display the image on a window - which is a label specified in the GUI .ui file
"""
display_label: QLabel = getattr(self, window, None)
if display_label is None:
raise ValueError(f"No such display window in GUI: {window}")
display_label.setPixmap(QPixmap.fromImage(img))
display_label.setScaledContents(True)
class HttpRequestData(QObject):
# Add some tolerance for scheduling the QTimer to check for timeouts, because the QTimer may trigger the event a
# little earlier. For example, with a 5000ms interval, the timer event can be triggered after 4752ms, so a request
# may never timeout if we don't add some tolerance.
# 4752ms (actual) and 5000ms (expected) has about 6% difference, so here I use 15% to be safer.
TIMEOUT_CHECK_TOLERANCE = 0.15
def __init__(self,
request_id: str,
http_method: str,
request: "QNetworkRequest",
manager_timeout_callback: Callable[["HttpRequestData"], None],
data: Optional[Union[bytes, bytearray]] = None,
callback: Optional[Callable[["QNetworkReply"], None]] = None,
error_callback: Optional[
Callable[["QNetworkReply", "QNetworkReply.NetworkError"],
None]] = None,
download_progress_callback: Optional[Callable[[int, int],
None]] = None,
upload_progress_callback: Optional[Callable[[int, int],
None]] = None,
timeout: Optional[float] = None,
reply: Optional["QNetworkReply"] = None,
parent: Optional["QObject"] = None) -> None:
super().__init__(parent=parent)
# Sanity checks
if timeout is not None and timeout <= 0:
raise ValueError(
"Timeout must be a positive value, but got [%s] instead." %
timeout)
self._request_id = request_id
self.http_method = http_method
self.request = request
self.data = data
self.callback = callback
self.error_callback = error_callback
self.download_progress_callback = download_progress_callback
self.upload_progress_callback = upload_progress_callback
self._timeout = timeout
self.reply = reply
# For benchmarking. For calculating the time a request spent pending.
self._create_time = time.time()
# The timestamp when this request was initially issued to the QNetworkManager. This field to used to track and
# manage timeouts (if set) for the requests.
self._start_time = None # type: Optional[float]
self.is_aborted_due_to_timeout = False
self._last_response_time = float(0)
self._timeout_timer = QTimer(parent=self)
if self._timeout is not None:
self._timeout_timer.setSingleShot(True)
timeout_check_interval = int(self._timeout * 1000 *
(1 + self.TIMEOUT_CHECK_TOLERANCE))
self._timeout_timer.setInterval(timeout_check_interval)
self._timeout_timer.timeout.connect(self._onTimeoutTimerTriggered)
self._manager_timeout_callback = manager_timeout_callback
@property
def request_id(self) -> str:
return self._request_id
@property
def timeout(self) -> Optional[float]:
return self._timeout
@property
def start_time(self) -> Optional[float]:
return self._start_time
# For benchmarking. Time in seconds that this request stayed in the pending queue.
@property
def pending_time(self) -> Optional[float]:
if self._start_time is None:
return None
return self._start_time - self._create_time
# Sets the start time of this request. This is called when this request is issued to the QNetworkManager.
def setStartTime(self, start_time: float) -> None:
self._start_time = start_time
# Prepare timeout handling
if self._timeout is not None:
self._last_response_time = start_time
self._timeout_timer.start()
# Do some cleanup, such as stopping the timeout timer.
def setDone(self) -> None:
if self._timeout is not None:
self._timeout_timer.stop()
self._timeout_timer.timeout.disconnect(
self._onTimeoutTimerTriggered)
# Since Qt 5.12, pyqtSignal().connect() will return a Connection instance that represents a connection. This
# Connection instance can later be used to disconnect for cleanup purpose. We are using Qt 5.10 and this feature
# is not available yet, and I'm not sure if disconnecting a lambda can potentially cause issues. For this reason,
# I'm using the following facade callback functions to handle the lambda function cases.
def onDownloadProgressCallback(self, bytes_received: int,
bytes_total: int) -> None:
# Update info for timeout handling
if self._timeout is not None:
now = time.time()
time_last = now - self._last_response_time
self._last_response_time = time.time()
# We've got a response, restart the timeout timer
self._timeout_timer.start()
if self.download_progress_callback is not None:
self.download_progress_callback(bytes_received, bytes_total)
def onUploadProgressCallback(self, bytes_sent: int,
bytes_total: int) -> None:
# Update info for timeout handling
if self._timeout is not None:
now = time.time()
time_last = now - self._last_response_time
self._last_response_time = time.time()
# We've got a response, restart the timeout timer
self._timeout_timer.start()
if self.upload_progress_callback is not None:
self.upload_progress_callback(bytes_sent, bytes_total)
def _onTimeoutTimerTriggered(self) -> None:
# Make typing happy
if self._timeout is None:
return
if self.reply is None:
return
now = time.time()
time_last = now - self._last_response_time
if self.reply.isRunning() and time_last >= self._timeout:
self._manager_timeout_callback(self)
else:
self._timeout_timer.start()
def __str__(self) -> str:
data = "no-data"
if self.data:
data = str(self.data[:10])
if len(self.data) > 10:
data += "..."
return "request[{id}][{method}][{url}][timeout={timeout}][{data}]".format(
id=self._request_id[:8],
method=self.http_method,
url=self.request.url(),
timeout=self._timeout,
data=data)
def backgroundBoxCleaner():
try:
for box in ui.boxes:
if box != 'no_devices' and not ui.boxes[box].isVisible(
) and not ui.in_settings:
ui.boxes[box].deleteLater()
ui.boxes.pop(box)
except RuntimeError:
return
if __name__ == "__main__":
app = QtWidgets.QApplication(sys.argv)
app.setWindowIcon(QtGui.QIcon(app_icon))
MainWindow = QtWidgets.QMainWindow()
ui = Window()
ui.setupUi()
MainWindow.show()
updater = QTimer()
updater.timeout.connect(checkDevicesActuality)
updater.start(300)
cleaner = QTimer()
cleaner.timeout.connect(backgroundBoxCleaner)
cleaner.start(500)
sys.exit(app.exec())
class MainWindow(QMainWindow):
"""Main application window"""
minesite_changed = pyqtSignal(str)
def __init__(self):
super().__init__()
self.app = QApplication.instance()
self.setWindowTitle(gbl.title)
self.setMinimumSize(QSize(1000, 400))
self.minesite_changed.connect(self.update_minesite_label)
self.minesite_label = QLabel(
self
) # permanent label for status bar so it isnt changed by statusTips
self.minesite_label.setToolTip(
'Global MineSite > Set with [Ctrl + Shift + M]')
self.rows_label = QLabel(self)
self.statusBar().addPermanentWidget(self.rows_label)
self.statusBar().addPermanentWidget(self.minesite_label)
# Settings
s = QSettings('sms', 'smseventlog', self)
screen_point = s.value('window position', False)
screen_size = s.value('window size', False)
# if screen size/left anchor pt values are not set or out of range, use default
if not (screen_point and screen_size
and gbl.check_screen_point(screen_point)):
screen_point = QPoint(50, 50)
screen_size = QSize(1200, 1000)
# move/resize MainWindow to last position/size
self.resize(screen_size)
self.move(screen_point)
self.settings = s
self.menus = {}
self.create_actions()
self.tabs = TabWidget(self)
self.setCentralWidget(self.tabs)
self.update_minesite_label()
self.threadpool = QThreadPool(self)
log.debug('Mainwindow init finished.')
@property
def minesite(self) -> str:
"""Global minesite setting"""
return self.settings.value('minesite', defaultValue='FortHills')
# return self._minesite
@minesite.setter
def minesite(self, val: Any) -> None:
"""Save minesite back to settings"""
# self._minesite = val
self.settings.setValue('minesite', val)
self.minesite_changed.emit(val)
def update_minesite_label(self, *args):
"""minesite_label is special label to always show current minesite (bottom right)"""
self.minesite_label.setText(f'Minesite: {self.minesite}')
def update_rows_label(self, *args):
view = self.active_table()
if view is None:
return # not init yet
model = view.data_model
visible_rows = model.visible_rows
total_rows = model.total_rows
if total_rows == visible_rows:
num_rows = visible_rows
else:
num_rows = f'{visible_rows}/{total_rows}'
self.rows_label.setText(f'Rows: {num_rows}')
def warn_not_implemented(self) -> None:
"""Let user know feature not implemented"""
self.update_statusbar('Warning: This feature not yet implemented.')
def update_statusbar(self,
msg: str = None,
warn: bool = False,
success: bool = False,
log_: bool = False,
*args) -> None:
"""Statusbar shows temporary messages that disappear on any context event"""
if not msg is None:
# allow warn or success status to be passed with msg as dict
if isinstance(msg, dict):
warn = msg.get('warn', False)
success = msg.get('success', False)
msg = msg.get('msg', None) # kinda sketch
if log_:
log.info(msg)
bar = self.statusBar()
self.prev_status = bar.currentMessage()
bar.showMessage(msg)
msg_lower = msg.lower()
if warn or 'warn' in msg_lower or 'error' in msg_lower:
color = '#ff5454' # '#fa7070'
elif success or 'success' in msg_lower:
color = '#70ff94'
else:
color = 'white'
palette = bar.palette()
palette.setColor(QPalette.ColorRole.WindowText, QColor(color))
bar.setPalette(palette)
self.app.processEvents()
def revert_status(self):
# revert statusbar to previous status
if not hasattr(self, 'prev_status'):
self.prev_status = ''
self.update_statusbar(msg=self.prev_status)
@er.errlog()
def after_init(self):
"""Steps to run before MainWindow is shown.
- Everything in here must suppress errors and continue
"""
self.username = self.get_username()
self.init_sentry()
self.u = users.User(username=self.username, mainwindow=self).login()
log.debug('user init')
last_tab_name = self.settings.value('active table', 'Event Log')
self.tabs.init_tabs()
self.tabs.activate_tab(title=last_tab_name)
log.debug('last tab activated')
# initialize updater
self.updater = Updater(mw=self,
dev_channel=self.get_setting('dev_channel'))
log.debug(f'updater initialized, channel={self.updater.channel}')
t = self.active_table_widget()
if t.refresh_on_init:
t.refresh(default=True, save_query=False)
log.debug('last table refreshed')
# startup update checks can allow ignoring dismissed versions
self.check_update(allow_dismissed=True)
self.start_update_timer()
log.debug('Finished after_init')
def start_update_timer(self, mins: int = 180) -> None:
"""Check for updates every 3 hrs"""
if not cf.SYS_FROZEN:
return
msec = mins * 60 * 1000
self.update_timer = QTimer(parent=self)
self.update_timer.timeout.connect(self.check_update)
self.update_timer.start(msec)
@er.errlog('Failed to check for update!', display=True)
def check_update(self, allow_dismissed: bool = False, *args):
"""Check for update and download in a worker thread
"""
if not cf.SYS_FROZEN:
self.update_statusbar('App not frozen, not checking for updates.')
return
if self.updater.update_available:
# update has been previously checked and downloaded but user declined to install initially
self._install_update(updater=self.updater,
allow_dismissed=allow_dismissed)
else:
Worker(func=self.updater.check_update, mw=self) \
.add_signals(signals=(
'result',
dict(func=lambda updater: self._install_update(updater, allow_dismissed=allow_dismissed)))) \
.start()
def _install_update(self,
updater: Updater = None,
ask_user: bool = True,
allow_dismissed: bool = False) -> None:
"""Ask if user wants to update and show changelog
Parameters
----------
updater : Updater, optional
Updater obj, default None
ask_user : bool, optional
prompt user to update or just install, default True
allow_dismissed : bool, optional
allow ignoring patch updates if user has dismissed once
"""
# update check failed, None result from thread
if updater is None:
return
v_current = updater.version
v_latest = updater.ver_latest
# check if PATCH update has been dismissed
if not updater.needs_update and allow_dismissed:
log.info('User declined current update. current:' +
f'{v_latest}, dismissed: {updater.ver_dismissed}')
return
# show changelog between current installed and latest version
markdown_msg = updater.get_changelog_new()
# prompt user to install update and restart
msg = 'An updated version of the Event Log is available.\n\n' \
+ f'Current: {v_current}\n' \
+ f'Latest: {v_latest}\n\n' \
+ 'Would you like to restart and update now?' \
+ '\n\nNOTE - Patch updates (eg x.x.1) can be dismissed. Use Help > Check for Update ' \
+ 'to prompt again.'
if ask_user:
if not dlgs.msgbox(msg=msg, yesno=True, markdown_msg=markdown_msg):
# mark version as dismissed
self.settings.setValue('ver_dismissed', str(v_latest))
self.update_statusbar(
f'User dismissed update version: {v_latest}', log_=True)
return
Worker(func=updater.install_update, mw=self).start()
self.update_statusbar('Extracting update and restarting...')
def show_full_changelog(self) -> None:
"""Show full changelog"""
msg = self.updater.get_changelog_full()
dlgs.msgbox(msg='Changelog:', markdown_msg=msg)
def init_sentry(self):
"""Add user-related scope information to sentry"""
with configure_scope() as scope: # type: ignore
scope.user = dict(username=self.username,
email=self.get_setting('email'))
# scope.set_extra('version', VERSION) # added to sentry release field
def active_table_widget(self) -> tbls.TableWidget:
"""Current active TableWidget"""
return self.tabs.currentWidget()
@property
def t(self) -> tbls.TableWidget:
"""Convenience property wrapper for active TableWidget"""
return self.active_table_widget()
def active_table(self) -> Union[tbls.TableView, None]:
"""Current active TableView"""
table_widget = self.active_table_widget()
if not table_widget is None:
return table_widget.view
@property
def tv(self) -> Union[tbls.TableView, None]:
"""Convenience property wrapper for active TableView"""
return self.active_table()
def show_changeminesite(self):
dlg = dlgs.ChangeMinesite(parent=self)
return dlg.exec()
@er.errlog('Close event failed.')
def closeEvent(self, event):
s = self.settings
s.setValue('window size', self.size())
s.setValue('window position', self.pos())
s.setValue('screen', self.geometry().center())
s.setValue('minesite', self.minesite)
s.setValue('active table', self.active_table_widget().title)
# save current TableView column state
self.tv.save_header_state()
# update on closeEvent if update available... maybe not yet
# if self.updater.update_available:
# self._install_update(updater=self.updater, ask_user=False)
def get_setting(self, key: str, default: Any = None) -> Any:
"""Convenience accessor to global settings"""
return gbl.get_setting(key=key, default=default)
def get_username(self):
s = self.settings
username = self.get_setting('username')
email = self.get_setting('email')
if username is None or email is None:
self.set_username()
username = self.username
return username
def set_username(self):
# show username dialog and save first/last name to settings
s = self.settings
dlg = dlgs.InputUserName(self)
if not dlg.exec():
return
s.setValue('username', dlg.username)
s.setValue('email', dlg.email)
self.username = dlg.username
if hasattr(self, 'u'):
self.u.username = dlg.username
self.u.email = dlg.email
@property
def driver(self) -> Union[WebDriver, None]:
"""Save global Chrome WebDriver to reuse etc for TSI or SAP"""
return self._driver if hasattr(self, '_driver') else None
@driver.setter
def driver(self, driver: WebDriver):
self._driver = driver
def open_sap(self):
from smseventlog.utils.web import SuncorWorkRemote
self.sc = SuncorWorkRemote(mw=self, _driver=self.driver)
Worker(func=self.sc.open_sap, mw=self) \
.add_signals(signals=('result', dict(func=self.handle_sap_result))) \
.start()
self.update_statusbar('Opening SAP...')
def handle_sap_result(self, sc=None):
"""just need to keep a referece to the driver in main thread so chrome doesnt close"""
if sc is None:
log.warning('SAP not opened properly')
return
self.driver = sc.driver
self.update_statusbar('SAP started.', success=True)
def get_menu(self, name: Union[str, 'QMenu']) -> 'QMenu':
"""Get QMenu if exists or create
Returns
-------
QMenu
menu bar
"""
if isinstance(name, str):
menu = self.menus.get(name, None)
if menu is None:
bar = self.menuBar()
menu = bar.addMenu(name.title())
self.menus[name] = menu
else:
menu = name
return menu
def add_action(self,
name: str,
func: Callable,
menu: str = None,
shortcut: str = None,
tooltip: str = None,
label_text: str = None,
parent: QWidget = None,
**kw) -> QAction:
"""Convenience func to create QAction and add to menu bar
Parameters
----------
name : str
Action name
Returns
-------
QAction
"""
name_action = name.replace(' ', '_').lower()
name_key = f'act_{name_action}'
name = f.nice_title(name.replace(
'_', ' ')) if label_text is None else label_text
if parent is None:
parent = self
act = QAction(name, parent, triggered=func, **kw)
if not shortcut is None:
act.setShortcut(QKeySequence(shortcut))
act.setToolTip(tooltip)
# act.setShortcutContext(Qt.ShortcutContext.WidgetShortcut)
act.setShortcutVisibleInContextMenu(True)
setattr(parent, name_key, act)
if not menu is None:
menu = self.get_menu(menu)
menu.addAction(act)
else:
parent.addAction(act)
return act
def add_actions(self,
actions: dict,
menu: Union[str, 'QMenu'] = None) -> None:
"""Add dict of multiple actions to menu bar
Parameters
----------
actions : dict
dict of menu_name: {action: func|kw}
"""
menu = self.get_menu(menu)
for name, kw in actions.items():
if not isinstance(kw, dict):
kw = dict(func=kw)
if 'submenu' in name:
# create submenu, recurse
submenu = menu.addMenu(name.replace('submenu_', '').title())
self.add_actions(menu=submenu, actions=kw)
else:
if 'sep' in kw:
kw.pop('sep')
menu.addSeparator()
self.add_action(name=name, menu=menu, **kw)
def create_actions(self) -> None:
"""Initialize menubar actions"""
t, tv = self.active_table_widget, self.active_table
menu_actions = dict(
file=dict(
add_new_row=dict(func=lambda: t().show_addrow(),
shortcut='Ctrl+Shift+N'),
refresh_menu=dict(sep=True,
func=lambda: t().show_refresh(),
shortcut='Ctrl+R'),
refresh_all_open=dict(
func=lambda: t().refresh_allopen(default=True),
shortcut='Ctrl+Shift+R'),
reload_last_query=dict(
func=lambda: t().refresh(last_query=True),
shortcut='Ctrl+Shift+L'),
previous_tab=dict(sep=True,
func=lambda: self.tabs.activate_previous(),
shortcut='Meta+Tab'),
change_minesite=dict(func=self.show_changeminesite,
shortcut='Ctrl+Shift+M'),
view_folder=dict(func=lambda: t().view_folder(),
shortcut='Ctrl+Shift+V'),
submenu_reports=dict(
fleet_monthly_report=lambda: self.create_monthly_report(
'Fleet Monthly'),
FC_report=lambda: self.create_monthly_report('FC'),
SMR_report=lambda: self.create_monthly_report('SMR'),
PLM_report=dict(sep=True, func=self.create_plm_report),
import_PLM_manual=self.import_plm_manual),
import_downloads=dict(sep=True, func=self.import_downloads),
preferences=dict(sep=True,
func=self.show_preferences,
shortcut='Ctrl+,')),
edit=dict(
find=dict(func=lambda: tv().show_search(), shortcut='Ctrl+F')),
table=dict(
email_table=lambda: t().email_table(),
email_table_selection=lambda: t().email_table(selection=True),
export_table_excel=lambda: t().export_df('xlsx'),
export_table_CSV=lambda: t().export_df('csv'),
toggle_color=dict(sep=True,
func=lambda: tv().data_model.toggle_color()),
jump_first_last_row=dict(func=lambda: tv().jump_top_bottom(),
shortcut='Ctrl+Shift+J'),
reset_column_layout=dict(
func=lambda: tv().reset_header_state())),
rows=dict(open_tsi=dict(func=lambda: t().open_tsi(),
label_text='Open TSI'),
delete_row=lambda: t().remove_row(),
update_component=lambda: t().show_component(),
details_view=dict(func=lambda: t().show_details(),
shortcut='Ctrl+Shift+D')),
database=dict(
update_component_SMR=update_comp_smr,
update_FC_status_clipboard=lambda: fc.
update_scheduled_sap(exclude=dlgs.inputbox(
msg=
'1. Enter FCs to exclude\n2. Copy FC Data from SAP to clipboard\n\nExclude:',
title='Update Scheduled FCs SAP'),
table_widget=t()),
reset_database_connection=dict(sep=True, func=db.reset),
reset_database_tables=db.clear_saved_tables,
open_SAP=dict(sep=True, func=self.open_sap)),
help=dict(about=dlgs.about,
check_for_update=self.check_update,
show_changelog=self.show_full_changelog,
email_error_logs=self.email_err_logs,
open_documentation=lambda: f.open_url(cf.config['url'][
'docs']),
submit_issue=dict(
func=lambda: f.open_url(cf.config['url']['issues']),
label_text='Submit issue or Feature Request'),
reset_username=dict(sep=True, func=self.set_username),
test_error=self.test_error))
# reset credentials prompts
for c in ('TSI', 'SMS', 'exchange', 'SAP'):
menu_actions['help'][
f'reset_{c}_credentials'] = lambda x, c=c: CredentialManager(
c).prompt_credentials()
for menu, m_act in menu_actions.items():
self.add_actions(actions=m_act, menu=menu)
# other actions which don't go in menubar
other_actions = dict(
refresh_last_week=lambda: t().refresh_lastweek(base=True),
refresh_last_month=lambda: t().refresh_lastmonth(base=True),
update_SMR=dict(
func=lambda: t().update_smr(),
tooltip='Update selected event with SMR from database.'),
show_SMR_history=lambda: t().show_smr_history())
self.add_actions(actions=other_actions)
def test_error(self) -> None:
"""Just raise test error"""
raise RuntimeError('This is a test error.')
def contextMenuEvent(self, event):
"""Add actions to right click menu, dependent on currently active table
"""
child = self.childAt(event.pos())
menu = QMenu(self)
# menu.setToolTipsVisible(True)
table_widget = self.active_table_widget()
for section in table_widget.context_actions.values():
for action in section:
name_action = f'act_{action}'
try:
menu.addAction(getattr(self, name_action))
except Exception as e:
try:
menu.addAction(getattr(table_widget, name_action))
except Exception as e:
log.warning(
f'Couldn\'t add action to context menu: {action}')
menu.addSeparator()
action = menu.exec(self.mapToGlobal(event.pos()))
def create_monthly_report(self, name: str):
"""Create report in worker thread from dialog menu
Parameters
----------
name : str
['Fleet Monthly', 'FC']
"""
dlg = dlgs.BaseReportDialog(window_title=f'{name} Report')
if not dlg.exec():
return
from smseventlog.reports import FCReport, FleetMonthlyReport
from smseventlog.reports import Report as _Report
from smseventlog.reports import SMRReport
Report = {
'Fleet Monthly': FleetMonthlyReport,
'FC': FCReport,
'SMR': SMRReport
}[name] # type: _Report
rep = Report(d=dlg.d, minesite=dlg.items['MineSite']) # type: ignore
Worker(func=rep.create_pdf, mw=self) \
.add_signals(signals=('result', dict(func=self.handle_monthly_report_result))) \
.start()
self.update_statusbar('Creating Fleet Monthly Report...')
def handle_monthly_report_result(self, rep=None):
if rep is None:
return
rep.open_()
msg = f'Report:\n\n"{rep.title}"\n\nsuccessfully created. Email now?'
if dlgs.msgbox(msg=msg, yesno=True):
rep.email()
def import_plm_manual(self):
"""Allow user to manually select haulcycle files to upload"""
t = self.active_table_widget()
e = t.e
if not e is None:
from smseventlog import eventfolders as efl
unit, dateadded = e.Unit, e.DateAdded
uf = efl.UnitFolder(unit=unit)
p = uf.p_unit
else:
# No unit selected, try to get minesite equip path
p = cf.p_drive / cf.config['EquipPaths'].get(
self.minesite.replace('-', ''), '')
if p is None:
p = Path.home() / 'Desktop'
lst_csv = dlgs.select_multi_files(p_start=p)
if not lst_csv:
return # user didn't select anything
from smseventlog.data.internal import utils as utl
Worker(func=utl.combine_import_csvs, mw=self, lst_csv=lst_csv, ftype='plm') \
.add_signals(('result', dict(func=self.handle_import_result_manual))) \
.start()
self.update_statusbar(
'Importing haul cylce files from network drive (this may take a few minutes)...'
)
def create_plm_report(self):
"""Trigger plm report from current unit selected in table"""
from smseventlog.data.internal import plm
view = self.active_table()
try:
e = view.e
unit, d_upper = e.Unit, e.DateAdded
except er.NoRowSelectedError:
# don't set dialog w unit and date, just default
unit, d_upper, e = None, None, None
# Report dialog will always set final unit etc
dlg = dlgs.PLMReport(unit=unit, d_upper=d_upper)
ok = dlg.exec()
if not ok:
return # user exited
m = dlg.get_items(lower=True) # unit, d_upper, d_lower
# check if unit selected matches event selected
if not e is None:
if not e.Unit == m['unit']:
e = None
m['e'] = e
# NOTE could make a func 'rename_dict_keys'
m['d_upper'], m['d_lower'] = m['date upper'], m['date lower']
# check max date in db
maxdate = plm.max_date_plm(unit=m['unit'])
if maxdate + delta(days=5) < m['d_upper']:
# worker will call back and make report when finished
if not fl.drive_exists(warn=False):
msg = 'Can\'t connect to P Drive. Create report without updating records first?'
if dlgs.msgbox(msg=msg, yesno=True):
self.make_plm_report(**m)
return
Worker(func=plm.update_plm_single_unit, mw=self, unit=m['unit']) \
.add_signals(
signals=('result', dict(
func=self.handle_import_result,
kw=m))) \
.start()
msg = f'Max date in db: {maxdate:%Y-%m-%d}. ' \
+ 'Importing haul cylce files from network drive, this may take a few minutes...'
self.update_statusbar(msg=msg)
else:
# just make report now
self.make_plm_report(**m)
def handle_import_result_manual(self, rowsadded=None, **kw):
if not rowsadded is None:
msg = dict(msg=f'PLM records added to database: {rowsadded}',
success=rowsadded > 0)
else:
msg = 'Warning: Failed to import PLM records.'
self.update_statusbar(msg)
def handle_import_result(self, m_results=None, **kw):
if m_results is None:
return
rowsadded = m_results['rowsadded']
self.update_statusbar(f'PLM records added to database: {rowsadded}',
success=True)
self.make_plm_report(**kw)
def make_plm_report(self, e=None, **kw):
"""Actually make the report pdf"""
from smseventlog import eventfolders as efl
from smseventlog.reports import PLMUnitReport
rep = PLMUnitReport(mw=self, **kw)
if not e is None:
ef = efl.EventFolder.from_model(e)
p = ef._p_event
else:
ef = None
# If cant get event folder, ask to create at desktop
if ef is None or not ef.check(check_pics=False, warn=False):
p = Path.home() / 'Desktop'
msg = 'Can\'t get event folder, create report at desktop?'
if not dlgs.msgbox(msg=msg, yesno=True):
return
Worker(func=rep.create_pdf, mw=self, p_base=p) \
.add_signals(signals=('result', dict(func=self.handle_plm_result, kw=kw))) \
.start()
self.update_statusbar(f'Creating PLM report for unit {kw["unit"]}...')
def handle_plm_result(self, rep=None, unit=None, **kw):
if rep is False:
# not super robust, but just warn if no rows in query
msg = 'No rows returned in query, can\'t create report!'
dlgs.msg_simple(msg=msg, icon='warning')
if not rep or not rep.p_rep.exists():
self.update_statusbar('Failed to create PLM report.', warn=True)
return
self.update_statusbar(f'PLM report created for unit {unit}',
success=True)
msg = f'Report:\n\n"{rep.title}"\n\nsuccessfully created. Open now?'
if dlgs.msgbox(msg=msg, yesno=True):
rep.open_()
def email_err_logs(self):
"""Collect and email error logs to simplify for user"""
docs = []
def _collect_logs(p):
return [p for p in p.glob('*log*')] if p.exists() else []
# collect sms logs
p_sms = cf.p_applocal / 'logging'
docs.extend(_collect_logs(p_sms))
# collect pyupdater logs
i = 1 if cf.is_win else 0
p_pyu = cf.p_applocal.parents[1] / 'Digital Sapphire/PyUpdater/logs'
docs.extend(_collect_logs(p_pyu))
from smseventlog.utils import email as em
subject = f'Error Logs - {self.username}'
body = 'Thanks Jayme,<br><br>I know you\'re trying your best. \
The Event Log is amazing and we appreciate all your hard work!'
msg = em.Message(subject=subject,
body=body,
to_recip=['*****@*****.**'],
show_=False)
msg.add_attachments(docs)
msg.show()
def import_downloads(self) -> None:
"""Select and import dls files to p-drive"""
if not fl.drive_exists():
return
from smseventlog.data.internal import dls
# get dls filepath
lst_dls = dlgs.select_multi_folders(p_start=cf.desktop)
if lst_dls is None:
msg = 'User failed to select downloads folders.'
self.update_statusbar(msg=msg, warn=True)
return
# start uploads for each dls folder selected
for p_dls in lst_dls:
Worker(func=dls.import_dls, mw=self, p=p_dls) \
.add_signals(signals=('result', dict(func=self.handle_dls_result))) \
.start()
self.update_statusbar(msg='Started downloads upload in worker thread.')
def handle_dls_result(self, result: dict = None, **kw):
if isinstance(result, dict):
name, time_total = '', ''
try:
name = result.pop('name')
time_total = f.mins_secs(result.pop('time_total'))
# join remaining processed files/times
msg_result = ', '.join([
f'{k}: ({m["num"]}, {f.mins_secs(m["time"])})'
for k, m in result.items()
])
except:
msg_result = ''
log.warning('Failed to build upload string')
msg = f'Successfully uploaded downloads folder "{name}", ({time_total}). \
Files processed/rows imported: {msg_result}'
msg = dict(msg=msg, success=True)
else:
msg = dict(msg='Failed to upload downloads.', warn=True)
self.update_statusbar(msg=msg)
def show_preferences(self) -> None:
"""Show preferences dialog to allow user to change global settings"""
dlg = dlgs.Preferences(parent=self)
dlg.exec()
class PrintJobUploadProgressMessage(Message):
"""Message displayed when a print upload is in progress."""
MIN_CALCULATION_TIME_MILLIS = 5000
POLL_TIME_MILLIS = 10
MAX_REMAINING_MILLIS = 24 * 60 * 60 * 1000 # arbitrary max
CALCULATING_TEXT = I18N_CATALOG.i18nc('@info:status',
'Calculating time left...')
def __init__(self, on_cancelled: Callable) -> None:
"""Constructor.
Args:
on_cancelled: Called when user cancels printer upload.
"""
super().__init__(title=I18N_CATALOG.i18nc(
'@info:status', 'Uploading model to printer'),
text=self.CALCULATING_TEXT,
progress=-1,
lifetime=0,
dismissable=False,
use_inactivity_timer=False)
self._on_cancelled = on_cancelled
self._elapsed_upload_time_millis = 0
self._remaining_time_millis = self.MAX_REMAINING_MILLIS
self.addAction('cancel', I18N_CATALOG.i18nc('@action:button',
'Cancel'), 'cancel',
I18N_CATALOG.i18nc('@action', 'Cancels job upload.'))
self.actionTriggered.connect(self._on_action_triggered)
self._stopwatch = QTimer(self)
self._stopwatch.timeout.connect(self._tick)
self._reset_calculation_time()
def show(self) -> None:
"""See base class."""
self.setProgress(0)
super().show()
self._stopwatch.start(self.POLL_TIME_MILLIS)
self._reset_calculation_time()
def hide(self, send_signal=True) -> None:
"""See base class."""
super().hide()
self._stopwatch.stop()
self._reset_calculation_time()
def update(self, bytes_sent: int, bytes_total: int) -> None:
"""Updates the progress bar.
Args:
bytes_sent: Number of bytes sent.
bytes_total: Target bytes.
"""
percentage = (bytes_sent / bytes_total) if bytes_total else 0
self.setProgress(percentage * 100)
if self._elapsed_upload_time_millis > self.MIN_CALCULATION_TIME_MILLIS:
speed = bytes_sent / self._elapsed_upload_time_millis
remaining_millis = (bytes_total -
bytes_sent) / speed if speed else 0
# Only go down.
if remaining_millis < self._remaining_time_millis:
self._remaining_time_millis = remaining_millis
self.setText(
TimeUtils.get_human_readable_countdown(
seconds=int(remaining_millis / 1000)))
def _reset_calculation_time(self) -> None:
"""Resets the estimated calculation time."""
self._elapsed_upload_time_millis = 0
self._remaining_time_millis = self.MAX_REMAINING_MILLIS
self.setText(self.CALCULATING_TEXT)
def _on_action_triggered(self, message: str, action: str) -> None:
"""Called when an action from user was triggered.
Args:
message: Message (ignored).
action: Action triggered.
"""
if action == 'cancel':
self._on_cancelled()
def _tick(self) -> None:
"""Updates stopwatch."""
self._elapsed_upload_time_millis += self.POLL_TIME_MILLIS