class FtcGuiApplication(TouchApplication):
def __init__(self, args):
TouchApplication.__init__(self, args)
# create the empty main window
self.w = TouchWindow("Run JetsonEV")
self.relative_path = os.path.dirname(os.path.realpath(__file__))
self.script = os.path.join(self.relative_path, 'Run_car.py')
self.grid = QGridLayout()
self.grid.setSpacing(0)
self.process = QProcess()
self.process.readyReadStandardOutput.connect(self.stdoutReady)
self.process.readyReadStandardError.connect(self.stderrReady)
self.play_btn = ShadowButton(os.path.join(self.relative_path, 'start'))
self.play_btn.setText("Start")
self.play_btn.clicked.connect(self.start_script)
self.grid.addWidget(self.play_btn, 0, 0, 1, 1)
self.grid.setColumnStretch(0, 1.25)
self.imu_box = QCheckBox('IMU')
self.imu_box.setChecked(True)
self.camera_box = QCheckBox('Cam')
self.camera_box.setChecked(False)
self.lidar_box = QCheckBox('Lidar')
self.lidar_box.setChecked(False)
self.grid.addWidget(self.imu_box, 0, 1, 1, 1)
self.grid.setColumnStretch(1, 1)
self.grid.addWidget(self.camera_box, 0, 2, 1, 1)
self.grid.setColumnStretch(2, 1)
self.grid.addWidget(self.lidar_box, 0, 3, 1, 1)
self.grid.setColumnStretch(3, 1.5)
self.grid.setAlignment(Qt.AlignCenter)
self.stop_btn = ShadowButton(os.path.join(self.relative_path, 'stop'))
self.stop_btn.setText("Stop")
self.stop_btn.clicked.connect(self.stop_script)
self.grid.addWidget(self.stop_btn, 0, 4, 1, 1)
self.grid.setRowStretch(1, 4)
self.console_output = QPlainTextEdit()
self.console_output.setReadOnly(True)
console_style = "QPlainTextEdit {" \
"background-color: black;" \
"color: white;" \
"}"
self.console_output.setFocusPolicy(Qt.NoFocus)
self.console_output.setFrameStyle(3)
self.console_output.setStyleSheet(console_style)
self.grid.addWidget(self.console_output, 1, 0, 1, 5)
self.w.centralWidget.setLayout(self.grid)
self.w.centralWidget.keyReleaseEvent = lambda event: self.filter_out_arrow_release_keys(
self.w.centralWidget, event)
self.w.centralWidget.keyPressEvent = lambda event: self.filter_out_arrow_press_keys(
self.w.centralWidget, event)
self.w.keyPressEvent = lambda event: self.filter_out_arrow_press_keys(
self.w, event)
self.w.keyReleaseEvent = lambda event: self.filter_out_arrow_release_keys(
self.w, event)
self.play_btn.keyReleaseEvent = lambda event: self.filter_out_arrow_release_keys(
self.play_btn, event)
self.play_btn.keyPressEvent = lambda event: self.filter_out_arrow_press_keys(
self.play_btn, event)
self.stop_btn.keyReleaseEvent = lambda event: self.filter_out_arrow_release_keys(
self.stop_btn, event)
self.stop_btn.keyPressEvent = lambda event: self.filter_out_arrow_press_keys(
self.stop_btn, event)
self.imu_box.keyReleaseEvent = lambda event: self.filter_out_arrow_release_keys(
self.imu_box, event)
self.imu_box.keyPressEvent = lambda event: self.filter_out_arrow_press_keys(
self.imu_box, event)
self.camera_box.keyReleaseEvent = lambda event: self.filter_out_arrow_release_keys(
self.camera_box, event)
self.camera_box.keyPressEvent = lambda event: self.filter_out_arrow_press_keys(
self.camera_box, event)
self.lidar_box.keyReleaseEvent = lambda event: self.filter_out_arrow_release_keys(
self.lidar_box, event)
self.lidar_box.keyPressEvent = lambda event: self.filter_out_arrow_press_keys(
self.lidar_box, event)
self.xbox_controller = XBoxInput()
self.xbox_controller.cycle_right.connect(self.cycle_right)
self.xbox_controller.cycle_left.connect(self.cycle_left)
self.speed_widget = SpeedWidget()
self.grid.addWidget(self.speed_widget, 1, 0, 1, 5)
self.speed_widget.hide()
self.imu_widget = IMUWidget()
self.grid.addWidget(self.imu_widget, 1, 0, 1, 5)
self.imu_widget.hide()
self.camera_widget = VideoWidget()
self.grid.addWidget(self.camera_widget, 1, 0, 1, 5)
self.camera_widget.hide()
self.lidar_widget = LidarWidget()
self.grid.addWidget(self.lidar_widget, 1, 0, 1, 5)
self.lidar_widget.hide()
self.widgets_to_show = []
self.show_widget_index = 0
self.w.show()
self.aboutToQuit.connect(self.xbox_controller.xbox_controller.close)
self.exec_()
def cycle_right(self, axis):
last_index = self.show_widget_index
self.show_widget_index += 1
if self.show_widget_index >= len(self.widgets_to_show):
self.show_widget_index = 0
self.widgets_to_show[last_index].hide()
self.widgets_to_show[self.show_widget_index].show()
def cycle_left(self, axis):
last_index = self.show_widget_index
self.show_widget_index -= 1
if self.show_widget_index < 0:
self.show_widget_index = len(self.widgets_to_show) - 1
self.widgets_to_show[last_index].hide()
self.widgets_to_show[self.show_widget_index].show()
def start_script(self):
self.widgets_to_show = [self.console_output, self.speed_widget]
flags = ['-u', self.script]
self.speed_widget.start(port=4021)
if self.imu_box.isChecked():
print('starting imu socket')
self.imu_widget.start(port=9009)
self.widgets_to_show.append(self.imu_widget)
flags.extend(['--enable-imu'])
if self.lidar_box.isChecked():
print('starting lidar socket')
self.lidar_widget.start(port=9010)
self.widgets_to_show.append(self.lidar_widget)
flags.extend(['--enable-lidar'])
if self.camera_box.isChecked():
print('starting camera socket')
self.camera_widget.start(port=9011)
self.widgets_to_show.append(self.camera_widget)
flags.extend(['--enable-camera'])
self.process.start('python3', flags)
def stop_script(self):
self.imu_widget.shutdown()
self.camera_widget.shutdown()
self.lidar_widget.shutdown()
self.speed_widget.shutdown()
self.process.terminate()
def fwd_output(self, text):
self.console_output.appendPlainText(text)
cursor = self.console_output.textCursor()
cursor.movePosition(cursor.End)
def stdoutReady(self):
text = str(self.process.readAllStandardOutput(), encoding='utf8')
self.fwd_output(text)
def stderrReady(self):
text = str(self.process.readAllStandardError(), encoding='utf8')
self.fwd_output(text)
def filter_out_arrow_release_keys(self, widget, event):
if event.key() == Qt.Key_Up:
self.console_output.verticalScrollBar().triggerAction(
QAbstractSlider.SliderSingleStepSub)
elif event.key() == Qt.Key_Down:
self.console_output.verticalScrollBar().triggerAction(
QAbstractSlider.SliderSingleStepAdd)
else:
type(widget).keyReleaseEvent(widget, event)
def filter_out_arrow_press_keys(self, widget, event):
if event.key() == Qt.Key_Up:
self.console_output.verticalScrollBar().triggerAction(
QAbstractSlider.SliderSingleStepSub)
elif event.key() == Qt.Key_Down:
self.console_output.verticalScrollBar().triggerAction(
QAbstractSlider.SliderSingleStepAdd)
else:
type(widget).keyPressEvent(widget, event)
