def initUI(self): self.setWindowTitle("查看回收站文件夹内容") self.form = QVBoxLayout() for item in iter(self.files): ico = QPushButton(set_file_icon(item.name), item.name) ico.setStyleSheet( "QPushButton {border:none; background:transparent; color:black;}" ) ico.adjustSize() it = QLabel(f"<font color='#CCCCCC'>({item.size})</font>") hbox = QHBoxLayout() hbox.addWidget(ico) hbox.addStretch(1) hbox.addWidget(it) self.form.addLayout(hbox) self.form.setSpacing(10) self.buttonBox = QDialogButtonBox() self.buttonBox.setOrientation(Qt.Orientation.Horizontal) self.buttonBox.setStandardButtons( QDialogButtonBox.StandardButton.Close) self.buttonBox.button( QDialogButtonBox.StandardButton.Close).setText("关闭") self.buttonBox.setStyleSheet(btn_style) self.buttonBox.rejected.connect(self.reject) vbox = QVBoxLayout() vbox.addLayout(self.form) vbox.addStretch(1) vbox.addWidget(self.buttonBox) self.setLayout(vbox)
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)