def plotWinAndSep(self):
self.lb5.setVisible(False)
p = PlotCanvas()
sep = []
QMessageBox.information(self, "tip", "开始绘制请稍后...")
# 样本数量定为当前样本数量
n = self.n
Rm = self.Rms[:n, :] # 截取前n 个样本
Rs = self.Rss[:n, :]
sks = Shenks(Rm, Rs) # 由选取的n 组样本进行sks 建模.
Rsun = self.Rss[n:n * 2, :] # 选取子机上同样n 组未知样本进行sks 预测
for i in range(1, 21):
win = i
sks.model(win)
Rsunp = sks.predict(Rsun)
xnew = sks.xnew
Rmswin = self.Rms[:, win:Rsun.shape[1] - win]
Rmswin = Rmswin[:, :xnew.shape[0]]
Rmun = Rmswin[n:n * 2, :]
sep.append(p.computeSEP(Rmun, Rsunp))
x = range(1, 21)
p.axes.plot(x,
np.array(sep),
linewidth=3,
color='b',
marker='o',
markerfacecolor='red',
markersize=12)
p.axes.set_xlabel("窗口大小")
p.axes.set_ylabel("平均预测标准误差（SEP）")
p.axes.set_title("窗口大小 与 SEP 关系图")
self.hlayout4.replaceWidget(self.wg, p)
self.wg = p
self.lb4.setText("绘制完成")
pass
def plotKAndSep(self):
self.lb5.setVisible(False)
p = PlotCanvas()
sep = []
QMessageBox.information(self, "tip", "开始绘制请稍后...")
# 样本数量定为当前样本数量
n = 10
Rm = self.Rms[:n, :] # 截取前n 个样本
Rs = self.Rss[:n, :]
pds = PDS(Rm, Rs) # 由选取的i 组样本进行DS 建模
win = self.win
Rsun = self.Rss[n:n * 2, :] # 选取子机上同样n 组未知样本进行PDS 预测
Rmswin = self.Rms[:, win:Rsun.shape[1] - win]
Rmun = Rmswin[n:n * 2, :]
for i in range(1, n + 1):
pds.model(win, i)
Rsunp = pds.predict(Rsun)
sep.append(p.computeSEP(Rmun, Rsunp))
x = range(1, n + 1)
p.axes.plot(x,
np.array(sep),
linewidth=3,
color='b',
marker='o',
markerfacecolor='red',
markersize=12)
p.axes.set_xlabel("主成分个数")
p.axes.set_ylabel("平均预测标准误差（SEP）")
p.axes.set_title("主成分个数 与 SEP 关系图")
self.hlayout4.replaceWidget(self.wg, p)
self.wg = p
self.lb4.setText("绘制完成")
pass
def plotPDS(self):
pds = PDS(self.Rm, self.Rs)
# 窗口大小选择
pds.model(self.win, self.k) # pds 建模 得到pds.F
Rsun = self.Rss[:self.n, :] # 选取子机上同样n 组未知样本进行PDS 预测
Rsunp = pds.predict(Rsun) # Rsunp 为预测结果
win = self.win
# 舍弃窗口两端
Rmswin = self.Rms[:, win:Rsun.shape[1] - win] #Rmswin 源机上去掉两端的光谱
x = np.arange(1100, 2500, 2)
xwin = x[win:Rsun.shape[1] - win]
p = PlotCanvas()
# 差值
for i in range(Rsunp.shape[0]):
y1 = p.averSpec(Rmswin) # 源机均值光谱
p.axes.plot(xwin, y1, 'r-', label='源机均值光谱')
y2 = Rsunp[i, :] # 从子机预测的光谱
p.axes.plot(xwin, y2, label='样本' + str(i + 1) + '预测值')
# 差值
y = y2 - y1 # 目标机光谱
p.axes.plot(xwin, y, label='样本' + str(i + 1) + '预测偏差')
p.axes.legend()
p.axes.set_title("PDS算法预测结果")
self.hlayout4.replaceWidget(self.wg, p)
self.wg = p
Rmun = Rmswin[:self.n, :]
sep = p.computeSEP(Rmun, Rsunp)
self.lb5.setVisible(True)
self.lb5.setText('%.5f' % sep)
pass
def plotSmpAndSep(self):
self.lb5.setVisible(False)
p = PlotCanvas()
sep = []
self.lb4.setText("绘制中......")
for i in range(3, 30, 3):
Rm = self.Rms[:i, :] # 截取前i 个样本
Rs = self.Rss[:i, :]
mlr = MLR(Rs, Rm) # 由选取的n 组样本进行DS 建模
mlr.modelling()
Rsun = self.Rss[i:i * 2, :] # 选取子机上同样n 组未知样本进行DS 预测
Rmun = self.Rms[i:i * 2, :]
Rsunp = np.dot(Rsun, mlr.A) # A 为得到的转换矩阵，Rsunp 为预测结果
sep.append(p.computeSEP(Rmun, Rsunp))
x = range(3, 30, 3)
p.axes.plot(x,
np.array(sep),
linewidth=3,
color='b',
marker='o',
markerfacecolor='red',
markersize=12)
p.axes.set_xlabel("样本数目（：组）")
p.axes.set_ylabel("平均预测标准误差（SEP）")
p.axes.set_title("样本数量 与 SEP 关系图")
self.hlayout4.replaceWidget(self.wg, p)
self.wg = p
self.lb4.setText("绘制完成")
pass
def plotSmpAndSep(self):
self.lb5.setVisible(False)
p = PlotCanvas()
sep = []
QMessageBox.information(self, "tip", "开始绘制请稍后...")
for i in range(3, 30, 3):
Rm = self.Rms[:i, :] # 截取前i 个样本
Rs = self.Rss[:i, :]
pds = PDS(Rm, Rs) # 由选取的i 组样本进行DS 建模
win = self.win
pds.model(win, self.k)
Rsun = self.Rss[i:i * 2, :] # 选取子机上同样n 组未知样本进行DS 预测
Rmun = self.Rms[i:i * 2, :]
Rsunp = pds.predict(Rsun)
sep.append(p.computeSEP(Rmun[:, win:Rsun.shape[1] - win], Rsunp))
x = range(3, 30, 3)
p.axes.plot(x,
np.array(sep),
linewidth=3,
color='b',
marker='o',
markerfacecolor='red',
markersize=12)
p.axes.set_xlabel("样本数目（：组）")
p.axes.set_ylabel("平均预测标准误差（SEP）")
p.axes.set_title("样本数量 与 SEP 关系图")
self.hlayout4.replaceWidget(self.wg, p)
self.wg = p
self.lb4.setText("绘制完成")
pass
def setupUi(self, graph):
graph.setObjectName("graph")
graph.resize(985, 693)
self.centralwidget = QtWidgets.QWidget(graph)
self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
self.label_3 = QtWidgets.QLabel(self.centralwidget)
self.gridLayout.addWidget(self.label_3, 0, 0, 1, 1)
self.label = QtWidgets.QLabel(self.centralwidget)
self.gridLayout.addWidget(self.label, 1, 0, 1, 1)
self.win = PlotCanvas(self.centralwidget)
self.gridLayout.addWidget(self.win, 3, 0, 4, 3)
self.gridLayout.addWidget(self.win.scroll, 5, 0, 6, 3)
self.gridLayout.addWidget(self.win.scroll2, 3, 0, 4, 3)
#self.gridLayout.addWidget(self.win.scroll3, 3,0,4,3)
self.toolBarArea = NavigationToolbar(self.win,
self.centralwidget,
coordinates=True)
self.win.mpl_connect('pick_event', self.onpick1)
self.listcol = QtWidgets.QLineEdit(self.centralwidget)
self.gridLayout.addWidget(self.listcol, 0, 1, 1, 2)
self.listrows = QtWidgets.QLineEdit(self.centralwidget)
self.gridLayout.addWidget(self.listrows, 1, 1, 1, 2)
self.hafe = QtWidgets.QHBoxLayout(self.centralwidget)
self.submit = QtWidgets.QPushButton(self.centralwidget)
self.hafe.addWidget(self.submit)
self.filterlist = QtWidgets.QLineEdit(self.centralwidget)
self.hafe.addWidget(self.filterlist)
self.submit.clicked.connect(self.filter)
self.gridLayout.addItem(self.hafe, 2, 1, 1, 2)
self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
self.gridLayout.addItem(self.verticalLayout, 0, 3, 3, 1)
self.getgraph_b()
self.verticalLayout2 = QtWidgets.QVBoxLayout(self.centralwidget)
self.gridLayout.addItem(self.verticalLayout2, 3, 3, 1, 0)
self.getlist()
graph.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(graph)
self.menubar.setGeometry(QtCore.QRect(0, 0, 985, 31))
self.menuFile = QtWidgets.QMenu(self.menubar)
graph.setMenuBar(self.menubar)
self.actionOpen = QtWidgets.QAction(graph)
self.menuFile.addAction(self.actionOpen)
self.menubar.addAction(self.menuFile.menuAction())
self.actionOpen.triggered.connect(self.file_open)
saveFile = QtWidgets.QAction("&Save File", self)
saveFile.triggered.connect(self.file_save)
self.menuFile.addAction(saveFile)
self.retranslateUi(graph)
self.creatdateselect()
self.comboBox3.setVisible(False)
QtCore.QMetaObject.connectSlotsByName(graph)
def __init__(self):
super(Gui2Ros, self).__init__()
self.setupUi(self)
self.map = 'indoor1'
self.comboBox_maps.currentIndexChanged.connect(self.initplot)
self.button_run.clicked.connect(self.startrun)
self.close_flag = False
self.local_pose = PoseStamped()
self.local_vel = Twist()
self.m = PlotCanvas(self, self.map)
self.m.move(180, 0)
self.flag = 0
def setupUi(self, graph):
graph.setObjectName("graph")
graph.resize(985, 693)
self.centralwidget = QtWidgets.QWidget(graph)
self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
self.label_3 = QtWidgets.QLabel(self.centralwidget)
self.gridLayout.addWidget(self.label_3, 0, 0, 1, 1)
self.label = QtWidgets.QLabel(self.centralwidget)
self.gridLayout.addWidget(self.label, 1, 0, 1, 1)
self.win = PlotCanvas(self.centralwidget)
self.gridLayout.addWidget(self.win, 3, 0, 4, 3)
self.gridLayout.addWidget(self.win.scroll, 6, 0, 6, 3)
self.gridLayout.addWidget(self.win.scroll2, 3, 0, 4, 3)
self.gui_winlist()
self.gui_filter()
self.gui_graphtree()
self.gui_tab(graph)
self.gui_slotsig(graph)
def setupUi(self, mainwindow):
# Call setup of super class
super().setupUi(mainwindow)
# Get last filename from settings file and fill table
lastFile = self.settings.value("lastDataFile")
if lastFile is not None:
self.fillTableWithDataFromFile(lastFile)
# Initialize plotting canvas
plotCanvas = PlotCanvas(parent=self.plotPlaceholder)
def plot(self):
p = PlotCanvas(dpi=75)
data = self.data
matdata = data[self.cbx.currentText()]
arrdata = np.array(matdata.__getitem__("data")[0][0])
x = np.arange(1100, 2500, 2)
for i in range(arrdata.shape[0]):
y = arrdata[i]
p.axes.plot(x, y, 'r-')
p.axes.set_title(self.cbx.currentText()+ "80组玉米样本光谱")
self.hlayout3.replaceWidget(self.wg1, p)
self.wg1 = p
# 绘制均值光谱
p2 = PlotCanvas(dpi=75)
y = p2.averSpec(arrdata)
p2.axes.plot(x, y, 'r-')
p2.axes.set_title(self.cbx.currentText())
self.hlayout3.replaceWidget(self.wg2, p2)
self.wg2 = p2
def plotDiff(self):
p = PlotCanvas()
x = range(1100, 2500, 2)
offset = 0.5
for i in range(self.n):
y = self.Rm[i, :] + offset * i # 源机光谱
p.axes.plot(x, y, label='样本' + str(i + 1) + '(Master)')
y = self.Rs[i, :] + offset * i # 目标机光谱
p.axes.plot(x, y, label='样本' + str(i + 1) + '(Slaver)')
p.axes.legend()
p.axes.set_title("两台仪器样本光谱对比(offset:" + str(offset) + ")")
self.hlayout4.replaceWidget(self.wg, p)
self.wg = p
pass
def plotShenks(self):
win = self.win
sks = Shenks(self.Rm, self.Rs)
# 窗口大小选择
sks.model(win) # sks 建模
xnew = sks.xnew # 由一元二次模型校正后的波长
ynew = sks.ynew # 由校正后波长插值后的吸光度
Rsun = self.Rss[:self.n, :] # 选取子机上同样n 组未知样本进行Sks预测
Rsunp = sks.predict(Rsun)
x = np.arange(1100, 2500, 2)
# 舍弃窗口两端
xnew = sks.xnew # 由校正模型 校正后的 波长
Rmswin = self.Rms[:, win:Rsun.shape[1] - win]
p = PlotCanvas()
y1 = p.averSpec(Rmswin) # 源机均值光谱
y1 = y1[:xnew.shape[0]] # Rmswin 源机上去掉多余波长的光谱
# 差值
for i in range(Rsunp.shape[0]):
p.axes.plot(xnew, y1, 'r-', label='源机均值光谱')
y2 = Rsunp[i] # 从子机预测的光谱
p.axes.plot(xnew, y2, label='样本' + str(i + 1) + '预测值')
# 差值
y = y2 - y1 # 目标机光谱
p.axes.plot(xnew, y, label='样本' + str(i + 1) + '预测偏差')
p.axes.legend()
p.axes.set_title("Shenk's算法预测结果")
self.hlayout4.replaceWidget(self.wg, p)
self.wg = p
Rmswin = Rmswin[:, :xnew.shape[0]]
Rmun = Rmswin[:self.n, :]
sep = p.computeSEP(Rmun, Rsunp)
self.lb5.setVisible(True)
self.lb5.setText('%.5f' % sep)
pass
def plotDS(self):
p = PlotCanvas()
mlr = MLR(self.Rs, self.Rm) # 由选取的n 组样本进行DS 建模
mlr.modelling()
Rsun = self.Rss[:self.n, :] # 选取子机上同样n 组未知样本进行DS 预测
Rsunp = np.dot(Rsun, mlr.A) # A 为得到的转换矩阵，Rsunp 为预测结果
x = np.arange(1100, 2500, 2)
for i in range(Rsunp.shape[0]):
y1 = p.averSpec(self.Rms) # 源机均值光谱
p.axes.plot(x, y1, 'r-', label='源机均值光谱')
y2 = Rsunp[i, :] # 从子机预测的光谱
p.axes.plot(x, y2, label='样本' + str(i + 1) + '预测值')
# 差值
y = y2 - y1 # 目标机光谱
p.axes.plot(x, y, label='样本' + str(i + 1) + '预测偏差')
p.axes.legend()
p.axes.set_title("DS算法预测结果")
self.hlayout4.replaceWidget(self.wg, p)
self.wg = p
Rmun = self.Rms[:self.n, :]
sep = p.computeSEP(Rmun, Rsunp)
self.lb5.setVisible(True)
self.lb5.setText('%.5f' % sep)
pass
class Ui_MainWindow(object):
def __init__(self):
self.multirotor_type = 'iris'
self.multirotor_num = 1
self.control_type = 'vel'
self.task = 'Flying'
self.map = 'indoor1'
self.initial_point = numpy.array([0.0, 0.0])
self.terminal_point = numpy.array([0.0, 0.0])
self.formation2 = 'formation1'
self.control_type = 'vel'
self.twist = Twist()
self.twist.angular.x = 0.0
self.twist.angular.y = 0.0
self.cmd2 = 'control the leader'
self.q_cmd = Queue()
self.q_ctrl_leader = Queue()
self.q_forward = Queue()
self.q_upward = Queue()
self.q_leftward = Queue()
self.q_orientation = Queue()
self.q_stop_flag = Queue()
self.q_cmd_vel_mask = Queue()
self.q_close_flag = Queue()
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1142, 798)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed,
QtWidgets.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
MainWindow.sizePolicy().hasHeightForWidth())
MainWindow.setSizePolicy(sizePolicy)
MainWindow.setMaximumSize(QtCore.QSize(16777215, 16777215))
MainWindow.setSizeIncrement(QtCore.QSize(1, 1))
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap("images/xtd.ico"), QtGui.QIcon.Normal,
QtGui.QIcon.Off)
MainWindow.setWindowIcon(icon)
MainWindow.setIconSize(QtCore.QSize(32, 32))
MainWindow.setToolButtonStyle(QtCore.Qt.ToolButtonIconOnly)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.frame = QtWidgets.QFrame(self.centralwidget)
self.frame.setGeometry(QtCore.QRect(170, 500, 710, 271))
self.frame.setStyleSheet("border-color: rgb(46, 52, 54);\n"
"background-color: rgb(238, 238, 236);")
self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame.setLineWidth(1)
self.frame.setObjectName("frame")
self.label_control_board_2 = QtWidgets.QLabel(self.frame)
self.label_control_board_2.setGeometry(QtCore.QRect(70, 10, 471, 31))
self.label_control_board_2.setStyleSheet("\n"
"color: rgb(32, 74, 135);\n"
"font: 57 23pt \"Ubuntu\";")
self.label_control_board_2.setAlignment(QtCore.Qt.AlignCenter)
self.label_control_board_2.setObjectName("label_control_board_2")
self.layoutWidget = QtWidgets.QWidget(self.frame)
self.layoutWidget.setGeometry(QtCore.QRect(40, 60, 331, 198))
self.layoutWidget.setObjectName("layoutWidget")
self.gridLayout = QtWidgets.QGridLayout(self.layoutWidget)
self.gridLayout.setContentsMargins(0, 0, 0, 0)
self.gridLayout.setObjectName("gridLayout")
self.verticalLayout = QtWidgets.QVBoxLayout()
self.verticalLayout.setObjectName("verticalLayout")
self.label_go_back_2 = QtWidgets.QLabel(self.layoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(1)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_go_back_2.sizePolicy().hasHeightForWidth())
self.label_go_back_2.setSizePolicy(sizePolicy)
self.label_go_back_2.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.label_go_back_2.setObjectName("label_go_back_2")
self.verticalLayout.addWidget(self.label_go_back_2)
self.box_go_and_back_2 = QtWidgets.QDoubleSpinBox(self.layoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Maximum)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.box_go_and_back_2.sizePolicy().hasHeightForWidth())
self.box_go_and_back_2.setSizePolicy(sizePolicy)
self.box_go_and_back_2.setMaximumSize(QtCore.QSize(120, 40))
self.box_go_and_back_2.setSizeIncrement(QtCore.QSize(0, 30))
self.box_go_and_back_2.setStyleSheet("color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.box_go_and_back_2.setMinimum(-10.0)
self.box_go_and_back_2.setMaximum(10.0)
self.box_go_and_back_2.setSingleStep(0.01)
self.box_go_and_back_2.setProperty("value", 0.0)
self.box_go_and_back_2.setObjectName("box_go_and_back_2")
self.verticalLayout.addWidget(self.box_go_and_back_2)
self.gridLayout.addLayout(self.verticalLayout, 0, 0, 1, 1)
self.verticalLayout_4 = QtWidgets.QVBoxLayout()
self.verticalLayout_4.setObjectName("verticalLayout_4")
self.label_orientation = QtWidgets.QLabel(self.layoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_orientation.sizePolicy().hasHeightForWidth())
self.label_orientation.setSizePolicy(sizePolicy)
self.label_orientation.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.label_orientation.setObjectName("label_orientation")
self.verticalLayout_4.addWidget(self.label_orientation)
self.box_orientation = QtWidgets.QDoubleSpinBox(self.layoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Maximum,
QtWidgets.QSizePolicy.Maximum)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.box_orientation.sizePolicy().hasHeightForWidth())
self.box_orientation.setSizePolicy(sizePolicy)
self.box_orientation.setMaximumSize(QtCore.QSize(120, 40))
self.box_orientation.setStyleSheet("color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.box_orientation.setMinimum(-0.5)
self.box_orientation.setMaximum(0.5)
self.box_orientation.setSingleStep(0.01)
self.box_orientation.setObjectName("box_orientation")
self.verticalLayout_4.addWidget(self.box_orientation)
self.gridLayout.addLayout(self.verticalLayout_4, 1, 1, 1, 1)
self.verticalLayout_2 = QtWidgets.QVBoxLayout()
self.verticalLayout_2.setObjectName("verticalLayout_2")
self.label_left_right_2 = QtWidgets.QLabel(self.layoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_left_right_2.sizePolicy().hasHeightForWidth())
self.label_left_right_2.setSizePolicy(sizePolicy)
self.label_left_right_2.setStyleSheet("color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.label_left_right_2.setObjectName("label_left_right_2")
self.verticalLayout_2.addWidget(self.label_left_right_2)
self.box_left_and_right_2 = QtWidgets.QDoubleSpinBox(self.layoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.box_left_and_right_2.sizePolicy().hasHeightForWidth())
self.box_left_and_right_2.setSizePolicy(sizePolicy)
self.box_left_and_right_2.setMaximumSize(QtCore.QSize(120, 40))
self.box_left_and_right_2.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.box_left_and_right_2.setMinimum(-10.0)
self.box_left_and_right_2.setMaximum(10.0)
self.box_left_and_right_2.setSingleStep(0.01)
self.box_left_and_right_2.setObjectName("box_left_and_right_2")
self.verticalLayout_2.addWidget(self.box_left_and_right_2)
self.gridLayout.addLayout(self.verticalLayout_2, 1, 0, 1, 1)
self.verticalLayout_3 = QtWidgets.QVBoxLayout()
self.verticalLayout_3.setObjectName("verticalLayout_3")
self.label_up_down_2 = QtWidgets.QLabel(self.layoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_up_down_2.sizePolicy().hasHeightForWidth())
self.label_up_down_2.setSizePolicy(sizePolicy)
self.label_up_down_2.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.label_up_down_2.setObjectName("label_up_down_2")
self.verticalLayout_3.addWidget(self.label_up_down_2)
self.box_up_and_down_2 = QtWidgets.QDoubleSpinBox(self.layoutWidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Maximum,
QtWidgets.QSizePolicy.Maximum)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.box_up_and_down_2.sizePolicy().hasHeightForWidth())
self.box_up_and_down_2.setSizePolicy(sizePolicy)
self.box_up_and_down_2.setMaximumSize(QtCore.QSize(120, 40))
self.box_up_and_down_2.setStyleSheet("color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.box_up_and_down_2.setMinimum(-10.0)
self.box_up_and_down_2.setMaximum(10.0)
self.box_up_and_down_2.setSingleStep(0.01)
self.box_up_and_down_2.setObjectName("box_up_and_down_2")
self.verticalLayout_3.addWidget(self.box_up_and_down_2)
self.gridLayout.addLayout(self.verticalLayout_3, 0, 1, 1, 1)
self.text_control_tips = QtWidgets.QTextBrowser(self.layoutWidget)
self.text_control_tips.setStyleSheet("")
self.text_control_tips.setLineWidth(0)
self.text_control_tips.setOpenLinks(False)
self.text_control_tips.setObjectName("text_control_tips")
self.gridLayout.addWidget(self.text_control_tips, 2, 0, 1, 2)
self.layoutWidget1 = QtWidgets.QWidget(self.frame)
self.layoutWidget1.setGeometry(QtCore.QRect(430, 60, 234, 191))
self.layoutWidget1.setObjectName("layoutWidget1")
self.gridLayout_4 = QtWidgets.QGridLayout(self.layoutWidget1)
self.gridLayout_4.setContentsMargins(0, 0, 0, 0)
self.gridLayout_4.setObjectName("gridLayout_4")
self.verticalLayout_7 = QtWidgets.QVBoxLayout()
self.verticalLayout_7.setObjectName("verticalLayout_7")
self.verticalLayout_5 = QtWidgets.QVBoxLayout()
self.verticalLayout_5.setObjectName("verticalLayout_5")
self.label_send_command = QtWidgets.QLabel(self.layoutWidget1)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_send_command.sizePolicy().hasHeightForWidth())
self.label_send_command.setSizePolicy(sizePolicy)
self.label_send_command.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.label_send_command.setAlignment(QtCore.Qt.AlignCenter)
self.label_send_command.setObjectName("label_send_command")
self.verticalLayout_5.addWidget(self.label_send_command)
self.box_command = QtWidgets.QComboBox(self.layoutWidget1)
self.box_command.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.box_command.setObjectName("box_command")
self.box_command.addItem("")
self.box_command.addItem("")
self.box_command.addItem("")
self.box_command.addItem("")
self.box_command.addItem("")
self.box_command.addItem("")
self.box_command.addItem("")
self.box_command.addItem("")
self.box_command.addItem("")
self.verticalLayout_5.addWidget(self.box_command)
self.verticalLayout_7.addLayout(self.verticalLayout_5)
self.label_choose_formation = QtWidgets.QLabel(self.layoutWidget1)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_choose_formation.sizePolicy().hasHeightForWidth())
self.label_choose_formation.setSizePolicy(sizePolicy)
self.label_choose_formation.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.label_choose_formation.setAlignment(QtCore.Qt.AlignCenter)
self.label_choose_formation.setObjectName("label_choose_formation")
self.verticalLayout_7.addWidget(self.label_choose_formation)
self.box_formation = QtWidgets.QComboBox(self.layoutWidget1)
self.box_formation.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.box_formation.setObjectName("box_formation")
self.box_formation.addItem("")
self.box_formation.addItem("")
self.box_formation.addItem("")
self.box_formation.addItem("")
self.verticalLayout_7.addWidget(self.box_formation)
spacerItem = QtWidgets.QSpacerItem(40, 20,
QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Minimum)
self.verticalLayout_7.addItem(spacerItem)
self.button_stop = QtWidgets.QPushButton(self.layoutWidget1)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.button_stop.sizePolicy().hasHeightForWidth())
self.button_stop.setSizePolicy(sizePolicy)
self.button_stop.setStyleSheet(
"font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);\n"
"border-bottom-color: rgb(186, 189, 182);\n"
"")
self.button_stop.setCheckable(True)
self.button_stop.setObjectName("button_stop")
self.verticalLayout_7.addWidget(self.button_stop)
self.gridLayout_4.addLayout(self.verticalLayout_7, 1, 0, 1, 1)
self.frame_3 = QtWidgets.QFrame(self.centralwidget)
self.frame_3.setGeometry(QtCore.QRect(170, 0, 710, 470))
self.frame_3.setStyleSheet("background-color: rgb(238, 238, 236);")
self.frame_3.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame_3.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame_3.setObjectName("frame_3")
self.frame_4 = QtWidgets.QFrame(self.centralwidget)
self.frame_4.setGeometry(QtCore.QRect(880, 0, 261, 771))
self.frame_4.setStyleSheet("background-color: rgb(238, 238, 236);")
self.frame_4.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame_4.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame_4.setObjectName("frame_4")
self.layoutWidget2 = QtWidgets.QWidget(self.frame_4)
self.layoutWidget2.setGeometry(QtCore.QRect(10, 0, 241, 761))
self.layoutWidget2.setObjectName("layoutWidget2")
self.verticalLayout_13 = QtWidgets.QVBoxLayout(self.layoutWidget2)
self.verticalLayout_13.setContentsMargins(0, 0, 0, 0)
self.verticalLayout_13.setObjectName("verticalLayout_13")
self.label_control_board_4 = QtWidgets.QLabel(self.layoutWidget2)
self.label_control_board_4.setStyleSheet("\n"
"color: rgb(32, 74, 135);\n"
"font: 57 23pt \"Ubuntu\";")
self.label_control_board_4.setAlignment(QtCore.Qt.AlignCenter)
self.label_control_board_4.setObjectName("label_control_board_4")
self.verticalLayout_13.addWidget(self.label_control_board_4)
self.text_show_info = QtWidgets.QTextBrowser(self.layoutWidget2)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(
self.text_show_info.sizePolicy().hasHeightForWidth())
self.text_show_info.setSizePolicy(sizePolicy)
self.text_show_info.setObjectName("text_show_info")
self.verticalLayout_13.addWidget(self.text_show_info)
self.more_topics = QtWidgets.QPushButton(self.layoutWidget2)
self.more_topics.setObjectName("more_topics")
self.verticalLayout_13.addWidget(self.more_topics)
self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
self.horizontalLayout_2.setObjectName("horizontalLayout_2")
self.verticalLayout_13.addLayout(self.horizontalLayout_2)
self.label_website = QtWidgets.QLabel(self.layoutWidget2)
self.label_website.setTextFormat(QtCore.Qt.AutoText)
self.label_website.setAlignment(QtCore.Qt.AlignCenter)
self.label_website.setOpenExternalLinks(True)
self.label_website.setObjectName("label_website")
self.verticalLayout_13.addWidget(self.label_website)
spacerItem1 = QtWidgets.QSpacerItem(40, 20,
QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Minimum)
self.verticalLayout_13.addItem(spacerItem1)
self.frame_5 = QtWidgets.QFrame(self.centralwidget)
self.frame_5.setGeometry(QtCore.QRect(0, -10, 181, 781))
self.frame_5.setStyleSheet("background-color: rgb(238, 238, 236);")
self.frame_5.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.frame_5.setFrameShadow(QtWidgets.QFrame.Raised)
self.frame_5.setObjectName("frame_5")
self.comboBox_controltype = QtWidgets.QComboBox(self.frame_5)
self.comboBox_controltype.setGeometry(QtCore.QRect(30, 700, 101, 25))
self.comboBox_controltype.setStyleSheet("color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.comboBox_controltype.setObjectName("comboBox_controltype")
self.comboBox_controltype.addItem("")
self.comboBox_controltype.addItem("")
self.Box_uavnumber = QtWidgets.QSpinBox(self.frame_5)
self.Box_uavnumber.setGeometry(QtCore.QRect(30, 620, 101, 31))
self.Box_uavnumber.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.Box_uavnumber.setMinimum(1)
self.Box_uavnumber.setObjectName("Box_uavnumber")
self.label_uavnumber = QtWidgets.QLabel(self.frame_5)
self.label_uavnumber.setEnabled(True)
self.label_uavnumber.setGeometry(QtCore.QRect(10, 590, 121, 19))
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(1)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_uavnumber.sizePolicy().hasHeightForWidth())
self.label_uavnumber.setSizePolicy(sizePolicy)
self.label_uavnumber.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.label_uavnumber.setObjectName("label_uavnumber")
self.label_uavnumber_2 = QtWidgets.QLabel(self.frame_5)
self.label_uavnumber_2.setEnabled(True)
self.label_uavnumber_2.setGeometry(QtCore.QRect(10, 670, 101, 19))
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(1)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_uavnumber_2.sizePolicy().hasHeightForWidth())
self.label_uavnumber_2.setSizePolicy(sizePolicy)
self.label_uavnumber_2.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.label_uavnumber_2.setObjectName("label_uavnumber_2")
self.button_run = QtWidgets.QPushButton(self.frame_5)
self.button_run.setGeometry(QtCore.QRect(20, 740, 141, 27))
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.button_run.sizePolicy().hasHeightForWidth())
self.button_run.setSizePolicy(sizePolicy)
self.button_run.setStyleSheet(
"font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);\n"
"border-bottom-color: rgb(186, 189, 182);\n"
"")
self.button_run.setCheckable(True)
self.button_run.setObjectName("button_run")
self.label_uavnumber_3 = QtWidgets.QLabel(self.frame_5)
self.label_uavnumber_3.setEnabled(True)
self.label_uavnumber_3.setGeometry(QtCore.QRect(10, 450, 129, 19))
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(1)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_uavnumber_3.sizePolicy().hasHeightForWidth())
self.label_uavnumber_3.setSizePolicy(sizePolicy)
self.label_uavnumber_3.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.label_uavnumber_3.setObjectName("label_uavnumber_3")
self.label_control_board_5 = QtWidgets.QLabel(self.frame_5)
self.label_control_board_5.setGeometry(QtCore.QRect(10, 20, 151, 35))
self.label_control_board_5.setStyleSheet("\n"
"color: rgb(32, 74, 135);\n"
"font: 57 23pt \"Ubuntu\";")
self.label_control_board_5.setAlignment(QtCore.Qt.AlignCenter)
self.label_control_board_5.setObjectName("label_control_board_5")
self.label_uavnumber_4 = QtWidgets.QLabel(self.frame_5)
self.label_uavnumber_4.setEnabled(True)
self.label_uavnumber_4.setGeometry(QtCore.QRect(10, 520, 121, 19))
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(1)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.label_uavnumber_4.sizePolicy().hasHeightForWidth())
self.label_uavnumber_4.setSizePolicy(sizePolicy)
self.label_uavnumber_4.setStyleSheet("font: 57 12pt \"Ubuntu\";\n"
"color: rgb(32, 74, 135);")
self.label_uavnumber_4.setObjectName("label_uavnumber_4")
self.comboBox_maps = QtWidgets.QComboBox(self.frame_5)
self.comboBox_maps.setGeometry(QtCore.QRect(30, 550, 101, 25))
self.comboBox_maps.setStyleSheet("color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.comboBox_maps.setObjectName("comboBox_maps")
self.comboBox_maps.addItem("")
self.comboBox_maps.addItem("")
self.comboBox_maps.addItem("")
self.comboBox_maps.addItem("")
self.comboBox_maps.addItem("")
self.comboBox_maps.addItem("")
self.comboBox_maps.addItem("")
self.comboBox_vehicle_types = QtWidgets.QComboBox(self.frame_5)
self.comboBox_vehicle_types.setGeometry(QtCore.QRect(30, 480, 101, 25))
self.comboBox_vehicle_types.setStyleSheet("color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.comboBox_vehicle_types.setObjectName("comboBox_vehicle_types")
self.comboBox_vehicle_types.addItem("")
self.comboBox_vehicle_types.addItem("")
self.comboBox_vehicle_types.addItem("")
self.comboBox_vehicle_types.addItem("")
self.comboBox_vehicle_types.addItem("")
self.comboBox_vehicle_types.addItem("")
self.comboBox_vehicle_types.addItem("")
self.comboBox_vehicle_types.addItem("")
self.line_4 = QtWidgets.QFrame(self.centralwidget)
self.line_4.setGeometry(QtCore.QRect(420, 471, 16, 27))
self.line_4.setFrameShape(QtWidgets.QFrame.VLine)
self.line_4.setFrameShadow(QtWidgets.QFrame.Sunken)
self.line_4.setObjectName("line_4")
self.line_5 = QtWidgets.QFrame(self.centralwidget)
self.line_5.setGeometry(QtCore.QRect(558, 471, 16, 27))
self.line_5.setFrameShape(QtWidgets.QFrame.VLine)
self.line_5.setFrameShadow(QtWidgets.QFrame.Sunken)
self.line_5.setObjectName("line_5")
self.widget = QtWidgets.QWidget(self.centralwidget)
self.widget.setGeometry(QtCore.QRect(170, 470, 411, 29))
self.widget.setObjectName("widget")
self.horizontalLayout = QtWidgets.QHBoxLayout(self.widget)
self.horizontalLayout.setContentsMargins(0, 0, 0, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
self.button_world = QtWidgets.QPushButton(self.widget)
self.button_world.setStyleSheet(
"background-color: rgb(238, 238, 236);\n"
"color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.button_world.setCheckable(True)
self.button_world.setObjectName("button_world")
self.horizontalLayout.addWidget(self.button_world)
self.button_waypoint = QtWidgets.QPushButton(self.widget)
self.button_waypoint.setStyleSheet(
"background-color: rgb(238, 238, 236);\n"
"color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.button_waypoint.setCheckable(True)
self.button_waypoint.setObjectName("button_waypoint")
self.horizontalLayout.addWidget(self.button_waypoint)
self.button_plot = QtWidgets.QPushButton(self.widget)
self.button_plot.setStyleSheet(
"background-color: rgb(238, 238, 236);\n"
"color: rgb(32, 74, 135);\n"
"font: 57 12pt \"Ubuntu\";")
self.button_plot.setCheckable(True)
self.button_plot.setObjectName("button_plot")
self.horizontalLayout.addWidget(self.button_plot)
self.frame_3.raise_()
self.frame.raise_()
self.frame_4.raise_()
self.layoutWidget.raise_()
self.button_plot.raise_()
self.frame_5.raise_()
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.actionbasic_settings = QtWidgets.QAction(MainWindow)
self.actionbasic_settings.setObjectName("actionbasic_settings")
self.actionmulti_comfiguration = QtWidgets.QAction(MainWindow)
self.actionmulti_comfiguration.setObjectName(
"actionmulti_comfiguration")
self.actionselect_worlds = QtWidgets.QAction(MainWindow)
self.actionselect_worlds.setObjectName("actionselect_worlds")
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
MainWindow.setTabOrder(self.box_command, self.box_orientation)
MainWindow.setTabOrder(self.box_orientation, self.Box_uavnumber)
MainWindow.setTabOrder(self.Box_uavnumber, self.comboBox_controltype)
MainWindow.setTabOrder(self.comboBox_controltype,
self.text_control_tips)
MainWindow.setTabOrder(self.text_control_tips, self.box_go_and_back_2)
MainWindow.setTabOrder(self.box_go_and_back_2, self.box_up_and_down_2)
MainWindow.setTabOrder(self.box_up_and_down_2, self.box_formation)
MainWindow.setTabOrder(self.box_formation, self.button_waypoint)
MainWindow.setTabOrder(self.button_waypoint, self.text_show_info)
MainWindow.setTabOrder(self.text_show_info, self.button_run)
MainWindow.setTabOrder(self.button_run, self.button_stop)
MainWindow.setTabOrder(self.button_stop, self.box_left_and_right_2)
self.retranslateUi(MainWindow)
#self.backend = backendthread()
self.Set_Slot()
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "XTDGroundControl"))
self.label_control_board_2.setText(
_translate("MainWindow", "control board"))
self.label_go_back_2.setText(_translate("MainWindow", "go and back"))
self.box_go_and_back_2.setToolTip(
_translate("MainWindow", "maximum:+-10.00"))
self.label_orientation.setText(_translate("MainWindow", "orientation"))
self.box_orientation.setToolTip(
_translate("MainWindow", "maximum:+-0.50"))
self.label_left_right_2.setText(
_translate("MainWindow", "left and right"))
self.box_left_and_right_2.setToolTip(
_translate("MainWindow", "maximum:+-10.00"))
self.label_up_down_2.setText(_translate("MainWindow", "up and down"))
self.box_up_and_down_2.setToolTip(
_translate("MainWindow", "maximum:+-10.00"))
self.text_control_tips.setHtml(
_translate(
"MainWindow",
"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n"
"<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n"
"p, li { white-space: pre-wrap; }\n"
"</style></head><body style=\" font-family:\'Ubuntu\'; font-size:11pt; font-weight:400; font-style:normal;\">\n"
"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:12pt; color:#204a87;\">Tips: When use the </span><span style=\" font-size:12pt; font-weight:600; color:#204a87;\">offboard mode </span><span style=\" font-size:12pt; color:#204a87;\">to take off, the upforward speed must be greater than 0.3 m/s (by default)</span></p></body></html>"
))
self.label_send_command.setText(
_translate("MainWindow", "send command"))
self.box_command.setItemText(
0, _translate("MainWindow", "control the leader"))
self.box_command.setItemText(1, _translate("MainWindow",
"control all"))
self.box_command.setItemText(2, _translate("MainWindow", "arm"))
self.box_command.setItemText(3, _translate("MainWindow", "disarm"))
self.box_command.setItemText(4, _translate("MainWindow",
"return home"))
self.box_command.setItemText(5, _translate("MainWindow", "take off"))
self.box_command.setItemText(6, _translate("MainWindow", "land"))
self.box_command.setItemText(7, _translate("MainWindow", "offboard"))
self.box_command.setItemText(8, _translate("MainWindow", "hover"))
self.label_choose_formation.setText(
_translate("MainWindow", "choose formation"))
self.box_formation.setItemText(0, _translate("MainWindow", "waiting"))
self.box_formation.setItemText(1, _translate("MainWindow",
"formation1"))
self.box_formation.setItemText(2, _translate("MainWindow",
"formation2"))
self.box_formation.setItemText(3, _translate("MainWindow",
"formation3"))
self.button_stop.setText(_translate("MainWindow", "STOP!"))
self.label_control_board_4.setText(
_translate("MainWindow", "vehicle states"))
self.more_topics.setText(_translate("MainWindow", "more topics"))
self.label_website.setToolTip(_translate("MainWindow", "XTDrone wiki"))
self.label_website.setText(
_translate(
"MainWindow",
"<a href= https://yuque.com/xtdrone>more information</a>"))
self.comboBox_controltype.setItemText(0,
_translate("MainWindow", "vel"))
self.comboBox_controltype.setItemText(
1, _translate("MainWindow", "accel"))
self.label_uavnumber.setText(
_translate("MainWindow", "vehicle number:"))
self.label_uavnumber_2.setText(
_translate("MainWindow", "control type:"))
self.button_run.setText(_translate("MainWindow", "RUN!"))
self.label_uavnumber_3.setText(
_translate("MainWindow", "vehicle types:"))
self.label_control_board_5.setText(_translate("MainWindow",
"Settings"))
self.label_uavnumber_4.setText(_translate("MainWindow", "maps:"))
self.comboBox_maps.setItemText(0, _translate("MainWindow", "indoor1"))
self.comboBox_maps.setItemText(1, _translate("MainWindow", "indoor2"))
self.comboBox_maps.setItemText(2, _translate("MainWindow", "indoor3"))
self.comboBox_maps.setItemText(3, _translate("MainWindow", "outdoor1"))
self.comboBox_maps.setItemText(4, _translate("MainWindow", "outdoor2"))
self.comboBox_maps.setItemText(5, _translate("MainWindow", "outdoor3"))
self.comboBox_maps.setItemText(6, _translate("MainWindow", "robocup"))
self.comboBox_vehicle_types.setItemText(
0, _translate("MainWindow", "iris"))
self.comboBox_vehicle_types.setItemText(
1, _translate("MainWindow", "solo"))
self.comboBox_vehicle_types.setItemText(
2, _translate("MainWindow", "typhoon_h480"))
self.comboBox_vehicle_types.setItemText(
3, _translate("MainWindow", "tailsitter"))
self.comboBox_vehicle_types.setItemText(
4, _translate("MainWindow", "quadplane"))
self.comboBox_vehicle_types.setItemText(
5, _translate("MainWindow", "tiltrotor"))
self.comboBox_vehicle_types.setItemText(
6, _translate("MainWindow", "plane"))
self.comboBox_vehicle_types.setItemText(
7, _translate("MainWindow", "rovor"))
self.button_world.setText(_translate("MainWindow", "world"))
self.button_waypoint.setText(_translate("MainWindow", "way point"))
self.button_plot.setText(_translate("MainWindow", "plots"))
self.actionbasic_settings.setText(
_translate("MainWindow", "basic settings"))
self.actionmulti_comfiguration.setText(
_translate("MainWindow", "multi comfiguration"))
self.actionselect_worlds.setText(
_translate("MainWindow", "select worlds"))
def Set_Slot(self):
self.button_stop.setEnabled(False)
self.button_run.setEnabled(True)
self.button_run.clicked.connect(self.on_button_run_clicked)
self.button_stop.clicked.connect(self.on_button_stop_clicked)
self.button_world.clicked.connect(self.on_button_world_clicked)
self.button_waypoint.clicked.connect(self.on_button_waypoint_clicked)
self.box_go_and_back_2.valueChanged.connect(
self.valueChange_forward_exp_vel)
self.box_go_and_back_2.setReadOnly(True)
self.box_up_and_down_2.valueChanged.connect(
self.valueChange_upward_exp_vel)
self.box_up_and_down_2.setReadOnly(True)
self.box_left_and_right_2.valueChanged.connect(
self.valueChange_leftward_exp_vel)
self.box_left_and_right_2.setReadOnly(True)
self.box_orientation.valueChanged.connect(
self.valueChange_orientation_exp)
self.box_orientation.setReadOnly(True)
self.box_command.currentIndexChanged.connect(self.get_command)
self.box_formation.currentIndexChanged.connect(self.get_formation)
self.comboBox_maps.currentIndexChanged.connect(self.initplot)
def initplot(self):
self.map = self.comboBox_maps.currentText()
self.m = PlotCanvas(self, map=self.map)
self.m.move(170, 0)
def on_button_waypoint_clicked(self):
if self.button_world.isChecked():
self.button_world.toggle()
def on_button_world_clicked(self):
if self.button_waypoint.isChecked():
self.button_waypoint.toggle()
def on_button_run_clicked(self):
self.map = str(self.comboBox_maps.currentText())
self.multirotor_num = int(self.Box_uavnumber.value())
self.multirotor_type = str(self.comboBox_vehicle_types.currentText())
self.control_type = str(self.comboBox_controltype.currentText())
if self.multirotor_num != 6 and self.multirotor_num != 9 and self.multirotor_num != 18:
self.box_formation.setVisible(False)
self.box_go_and_back_2.setReadOnly(False)
self.box_up_and_down_2.setReadOnly(False)
self.box_left_and_right_2.setReadOnly(False)
self.box_orientation.setReadOnly(False)
self.button_stop.setEnabled(True)
stop_flag = False
self.q_stop_flag.put(stop_flag)
self.button_run.setEnabled(False)
def on_button_stop_clicked(self):
self.box_go_and_back_2.setProperty("value", 0.0)
self.box_up_and_down_2.setProperty("value", 0.0)
self.box_left_and_right_2.setProperty("value", 0.0)
self.box_orientation.setProperty("value", 0.0)
self.box_go_and_back_2.setReadOnly(True)
self.box_up_and_down_2.setReadOnly(True)
self.box_left_and_right_2.setReadOnly(True)
self.box_orientation.setReadOnly(True)
self.button_run.setEnabled(True)
self.button_stop.setEnabled(False)
stop_flag = True
self.q_stop_flag.put(stop_flag)
self.button_stop.toggle()
self.button_run.toggle()
def valueChange_forward_exp_vel(self):
forward_exp = self.box_go_and_back_2.value()
#if forward_exp
self.q_forward.put(forward_exp)
#print self.box_go_and_back_2.value()
def valueChange_upward_exp_vel(self):
upward_exp = self.box_up_and_down_2.value()
print(upward_exp)
self.q_upward.put(upward_exp)
#print('upward_exp:',self.twist.linear.z)
def valueChange_leftward_exp_vel(self):
leftward_exp = self.box_left_and_right_2.value()
self.q_leftward.put(leftward_exp)
#print('left_ward_exp:',self.twist.linear.y)
def valueChange_orientation_exp(self):
orientation_exp = self.box_orientation.value()
self.q_orientation.put(orientation_exp)
#print('orientation_exp:',self.twist.angular.z)
def get_command(self):
self.cmd2 = str(self.box_command.currentText())
print('cmd2:' + self.cmd2)
if self.cmd2 == 'control all':
cmd = ''
ctrl_leader = False
self.q_cmd.put(cmd)
self.q_ctrl_leader.put(ctrl_leader)
elif self.cmd2 == 'arm':
cmd = 'ARM'
self.q_cmd.put(cmd)
elif self.cmd2 == 'disarm':
cmd = 'DISARM'
self.q_cmd.put(cmd)
elif self.cmd2 == 'return home':
cmd = 'AUTO.RTL'
self.q_cmd.put(cmd)
elif self.cmd2 == 'take off':
cmd = 'AUTO.TAKEOFF'
self.q_cmd.put(cmd)
elif self.cmd2 == 'land':
cmd = 'AUTO.LAND'
self.q_cmd.put(cmd)
elif self.cmd2 == 'offboard':
cmd = 'OFFBOARD'
self.q_cmd.put(cmd)
elif self.cmd2 == 'hover':
cmd = 'HOVER'
self.q_cmd.put(cmd)
cmd_vel_mask = False
self.q_cmd_vel_mask.put(cmd_vel_mask)
self.box_go_and_back_2.setProperty("value", 0.0)
self.box_up_and_down_2.setProperty("value", 0.0)
self.box_left_and_right_2.setProperty("value", 0.0)
self.box_orientation.setProperty("value", 0.0)
else:
cmd = ''
ctrl_leader = True
self.q_cmd.put(cmd)
self.q_ctrl_leader.put(ctrl_leader)
#print('cmd:'+self.cmd)
def get_formation(self):
self.formation2 = str(self.box_formation.currentText())
cmd_vel_mask = True
self.q_cmd_vel_mask.put(cmd_vel_mask)
if self.multirotor_num == 6:
if self.formation2 == 'formation1':
formation = 'T'
self.q_cmd.put(formation)
elif self.formation2 == 'formation2':
formation = 'diamond'
self.q_cmd.put(formation)
elif self.formation2 == 'formation3':
formation = 'triangle'
self.q_cmd.put(formation)
else:
formation = 'waiting'
self.q_cmd.put(formation)
elif self.multirotor_num == 9:
if self.formation2 == 'formation1':
formation = 'cube'
self.q_cmd.put(formation)
elif self.formation2 == 'formation2':
formation = 'pyramid'
self.q_cmd.put(formation)
elif self.formation2 == 'formation3':
formation = 'triangle'
self.q_cmd.put(formation)
else:
formation = 'waiting'
self.q_cmd.put(formation)
else:
if self.formation2 == 'formation1':
formation = 'cuboid'
self.q_cmd.put(formation)
elif self.formation2 == 'formation2':
formation = 'sphere'
self.q_cmd.put(formation)
elif self.formation2 == 'formation3':
formation = 'diamond'
self.q_cmd.put(formation)
else:
formation = 'waiting'
self.q_cmd.put(formation)
class Gui2Ros(QMainWindow, xtd_ui.Ui_MainWindow):
def __init__(self):
super(Gui2Ros, self).__init__()
self.setupUi(self)
self.map = 'indoor1'
self.comboBox_maps.currentIndexChanged.connect(self.initplot)
self.button_run.clicked.connect(self.startrun)
self.cmd = ''
self.ctrl_leader = True
self.cmd_vel_mask = False
self.close_flag = False
self.local_pose = PoseStamped()
self.local_vel = Twist()
self.m = PlotCanvas(self, self.map)
self.m.move(180, 0)
def initplot(self):
self.map = self.comboBox_maps.currentText()
self.m.canvas_update(self.map)
def startrun(self):
print 'start run!'
self.color_plot = ['' for i in range(self.multirotor_num)]
for i in range(self.multirotor_num):
color_R = hex(random.randint(16, 255))
color_G = hex(random.randint(16, 255))
color_B = hex(random.randint(16, 255))
self.color_plot[i] = '#' + str(color_R) + str(color_G) + str(
color_B)
self.color_plot[i] = self.color_plot[i].replace('0x', '')
self.pSend2ros = Process(target=self.run_process)
self.pSend2ros.start()
self.text_thread = Ros2Gui(self.multirotor_num, self.multirotor_type)
self.text_thread.update_text.connect(self.display)
self.text_thread.plot_array.connect(self.plot)
self.text_thread.start()
#publish messages to ros nodes like a keyboard
def run_process(self):
rospy.init_node('multirotor_pyqt5_control')
self.text_show_info.setPlainText('data')
if self.control_type == 'vel':
self.multi_cmd_vel_flu_pub = [None] * self.multirotor_num
self.multi_cmd_pub = [None] * self.multirotor_num
for i in range(self.multirotor_num):
self.multi_cmd_vel_flu_pub[i] = rospy.Publisher(
'/xtdrone/' + self.multirotor_type + '_' + str(i) +
'/cmd_vel_flu',
Twist,
queue_size=10)
self.multi_cmd_pub[i] = rospy.Publisher(
'/xtdrone/' + self.multirotor_type + '_' + str(i) + '/cmd',
String,
queue_size=10)
self.leader_cmd_vel_flu_pub = rospy.Publisher(
"/xtdrone/leader/cmd_vel_flu", Twist, queue_size=10)
self.leader_cmd_pub = rospy.Publisher("/xtdrone/leader/cmd",
String,
queue_size=10)
else:
self.multi_cmd_accel_flu_pub = [None] * self.multirotor_num
self.multi_cmd_pub = [None] * self.multirotor_num
for i in range(self.multirotor_num):
self.multi_cmd_accel_flu_pub[i] = rospy.Publisher(
'/xtdrone/' + self.multirotor_type + '_' + str(i) +
'/cmd_accel_flu',
Twist,
queue_size=10)
self.multi_cmd_pub[i] = rospy.Publisher(
'/xtdrone/' + self.multirotor_type + '_' + str(i) + '/cmd',
String,
queue_size=10)
self.leader_cmd_accel_flu_pub = rospy.Publisher(
"/xtdrone/leader/cmd_accel_flu", Twist, queue_size=10)
self.leader_cmd_pub = rospy.Publisher("/xtdrone/leader/cmd",
String,
queue_size=10)
last_forward = 0.0
last_upward = 0.0
last_leftward = 0.0
last_orientation = 0.0
last_ctrl_leader = False
last_cmd_vel_mask = False
num = 0
rate = rospy.Rate(30)
check_stop_flag = False
print('StartRun!')
while True:
num += 1
#print(check_stop_flag)
if self.q_forward.empty():
self.twist.linear.x = last_forward
else:
self.twist.linear.x = self.q_forward.get()
last_forward = self.twist.linear.x
if self.q_upward.empty():
self.twist.linear.z = last_upward
else:
self.twist.linear.z = self.q_upward.get()
last_upward = self.twist.linear.z
if self.q_leftward.empty():
self.twist.linear.y = last_leftward
else:
self.twist.linear.y = self.q_leftward.get()
last_leftward = self.twist.linear.y
if self.q_orientation.empty():
self.twist.angular.z = last_orientation
else:
self.twist.angular.z = self.q_orientation.get()
last_orientation = self.twist.angular.z
if self.q_cmd.empty():
self.cmd = ''
else:
self.cmd = self.q_cmd.get()
if self.q_ctrl_leader.empty():
self.ctrl_leader = last_ctrl_leader
else:
self.ctrl_leader = self.q_ctrl_leader.get()
last_ctrl_leader = self.ctrl_leader
if self.q_cmd_vel_mask.empty():
self.cmd_vel_mask = last_cmd_vel_mask
else:
self.cmd_vel_mask = self.q_cmd_vel_mask.get()
last_cmd_vel_mask = self.cmd_vel_mask
if self.q_stop_flag.empty():
pass
else:
check_stop_flag = self.q_stop_flag.get()
if check_stop_flag:
self.cmd = 'AUTO.RTL'
for i in range(self.multirotor_num):
if self.ctrl_leader:
if self.control_type == 'vel':
self.leader_cmd_vel_flu_pub.publish(self.twist)
else:
self.leader_cmd_accel_flu_pub.publish(self.twist)
self.leader_cmd_pub.publish(self.cmd)
else:
if not self.cmd_vel_mask:
if self.control_type == 'vel':
self.multi_cmd_vel_flu_pub[i].publish(self.twist)
else:
self.multi_cmd_accel_flu_pub[i].publish(self.twist)
self.multi_cmd_pub[i].publish(self.cmd)
rate.sleep()
if check_stop_flag:
self.q_stop_flag.put(True)
rospy.signal_shutdown('STOP!')
break
def display(self, data):
self.text_show_info.setPlainText(data)
def plot(self, data):
for i in range(self.multirotor_num):
self.m.ax.plot(data[i][0], data[i][1], color=self.color_plot[i])
# self.m.canvas_update(self.map)
self.m.draw()
def initplot(self):
self.map = self.comboBox_maps.currentText()
self.m = PlotCanvas(self, map=self.map)
self.m.move(170, 0)
class Ui_MainWindow(QtWidgets.QMainWindow, data):
def __init__(self, parent=None):
super(Ui_MainWindow, self).__init__(parent=parent)
self.setupUi(self)
# Gui
def setupUi(self, graph):
graph.setObjectName("graph")
graph.resize(985, 693)
self.centralwidget = QtWidgets.QWidget(graph)
self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
self.label_3 = QtWidgets.QLabel(self.centralwidget)
self.gridLayout.addWidget(self.label_3, 0, 0, 1, 1)
self.label = QtWidgets.QLabel(self.centralwidget)
self.gridLayout.addWidget(self.label, 1, 0, 1, 1)
self.win = PlotCanvas(self.centralwidget)
self.gridLayout.addWidget(self.win, 3, 0, 4, 3)
self.gridLayout.addWidget(self.win.scroll, 6, 0, 6, 3)
self.gridLayout.addWidget(self.win.scroll2, 3, 0, 4, 3)
self.gui_winlist()
self.gui_filter()
self.gui_graphtree()
self.gui_tab(graph)
self.gui_slotsig(graph)
def gui_winlist(self):
self.win.mpl_connect('pick_event', self.onpick1)
self.listcol = QtWidgets.QLineEdit(self.centralwidget)
self.gridLayout.addWidget(self.listcol, 0, 1, 1, 2)
self.listrows = QtWidgets.QLineEdit(self.centralwidget)
self.gridLayout.addWidget(self.listrows, 1, 1, 1, 2)
def gui_filter(self):
self.hafe = QtWidgets.QHBoxLayout(self.centralwidget)
self.filterlist2 = QtWidgets.QLineEdit(self.centralwidget)
self.hafe.addWidget(self.filterlist2)
self.gridLayout.addItem(self.hafe, 2, 1, 1, 2)
self.tag_list = QtWidgets.QHBoxLayout(self.centralwidget)
self.gridLayout.addItem(self.tag_list, 0, 3, 6, 3)
self.tree_filter = QtWidgets.QTreeWidget(self.centralwidget)
self.tree_filter.setHeaderLabel('FILTER')
self.tree_filter.setFixedSize(300, 900)
self.tag_list.addWidget(self.tree_filter)
self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
self.tag_list.addItem(self.verticalLayout)
def gui_graphtree(self):
self.getgraph_b()
self.verticalLayout2 = QtWidgets.QVBoxLayout(self.centralwidget)
self.verticalLayout.addItem(self.verticalLayout2)
self.getlist()
self.treestyle()
def gui_tab(self, graph):
graph.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(graph)
self.menubar.setGeometry(QtCore.QRect(0, 0, 985, 31))
self.menuFile = QtWidgets.QMenu(self.menubar)
graph.setMenuBar(self.menubar)
self.actionOpen = QtWidgets.QAction(graph)
self.menuFile.addAction(self.actionOpen)
self.menubar.addAction(self.menuFile.menuAction())
self.actionOpen.triggered.connect(self.file_open)
saveFile = QtWidgets.QAction("&Save File", self)
saveFile.triggered.connect(self.file_save)
self.menuFile.addAction(saveFile)
self.retranslateUi(graph)
self.creatdateselect()
def gui_slotsig(self, graph):
self.listrows.textChanged.connect(self.treestyle)
self.listcol.textChanged.connect(self.treestyle)
self.tree_filter.clicked.connect(self.filter)
self.comboBox3.setVisible(False)
QtCore.QMetaObject.connectSlotsByName(graph)
def file_save(self):
name = QtWidgets.QFileDialog.getSaveFileName(
self, 'Save File', "", "xlsx(*.xlsx);;csv(*.csv)")
file = open(name, 'w')
text = self.textEdit.toPlainText()
file.write(text)
file.close()
#edit try to closethen open
def file_open(self):
self.deleat_to_repeat(self.cat)
self.deleat_to_repeat(self.valueslist)
self.deleat_to_repeat(self.datelist)
options = QFileDialog.Options()
options |= QFileDialog.DontUseNativeDialog
self.fileName, _ = QFileDialog.getOpenFileName(
self,
"QFileDialog.getOpenFileName()",
"",
"xlsx(*.xlsx);;csv(*.csv)",
options=options)
self.oldset = set()
hasher = hashlib.md5()
f = open(self.fileName, 'rb')
for chunk in iter(lambda: f.read(4096), b""):
hasher.update(chunk)
self.read = hasher.hexdigest()
try:
self.check_sum(self.read)
self.getitemlist()
self.dataset = pd.read_excel(self.fileName)
except:
self.check_non(self.read)
self.getitemlist()
self.dataset = pd.read_excel(self.fileName)
#edit
def varforfilter(self):
self.x = self.listcol.text()
self.y = self.listrows.text()
self.listx = self.x.split(',')
self.listy = self.y.split(',')
self.dimentionplotlist = []
self.valuesplotlist = []
self.dateplotlist = []
self.in_key_di = []
self.in_key_val = []
self.in_key_date = []
self.genlist(self.listx)
self.genlist(self.listy)
def condition_plot(self):
self.listfil = {}
for i in self.in_key_di:
for a in self.filterlist:
if self.key[i] == a:
self.listfil[i] = self.filterlist[a]
if len(self.in_key_date) == 1 and len(
self.in_key_di) == 0 and len(self.in_key_val) != 0:
self.condition(self.in_key_date)
elif len(self.in_key_date) == 1 and len(self.in_key_di) >= 1:
self.condition(self.in_key_di)
else:
self.getdataform = self.getinfo(self.in_key_di, self.in_key_val,
self.dataset, self.listfil)
print(self.getdataform)
self.tellaxisplot(self.dimentionplotlist)
self.comboBox3.setVisible(False)
def condition(self, diordate):
self.getdataform = self.getinfo(diordate, self.in_key_val,
self.dataset, self.listfil)
self.getdataform = self.fordate(self.getdataform, self.listfil)
self.tellaxisplot(self.dateplotlist)
self.comboBox3.setVisible(True)
self.comboBox3.setCurrentIndex(0)
def state_con(self):
#for plot
if 'y' not in self.findaxis:
return self.win.plotbar(self.getdataform, self.listx, self.listy)
if 'x' not in self.findaxis:
return self.win.plotbary(self.getdataform, self.listy, self.listx)
if 'x' in self.findaxis and 'y' in self.findaxis:
print('multitable')
return self.warning()
if len(self.dimentionplotlist) == 0 or len(self.valuesplotlist) == 0:
return self.warning()
else:
return self.warning()
def find_catagories(self):
for i in range(len(self.key)):
if self.key[i] in self.dimentionplotlist:
self.in_key_di.append(i)
elif self.key[i] in self.valuesplotlist:
self.in_key_val.append(i)
elif self.key[i] in self.dateplotlist:
self.in_key_date.append(i)
def filter(self):
self.filterlist = self.find_checked()
forloop = self.find_checked()
for i in forloop:
if forloop[i] == [] and i in self.x:
self.connection(self.x, self.listcol, i)
elif forloop[i] == [] and i in self.y:
self.connection(self.y, self.listrows, i)
try:
self.condition_plot()
self.state_con()
except:
pass
def connection(self, axis, plaintext, i):
axisx = axis.split(',')
deepaxis = axis.split(',')
for a in range(len(axisx)):
if deepaxis[a] == i:
deepaxis.remove(i)
text = ','.join(deepaxis)
plaintext.setText(text)
break
def tellaxisplot(self, daidate):
self.findaxis = []
for a in daidate:
if a in self.listx:
self.findaxis.append('x')
if a in self.listy:
self.findaxis.append('y')
def genlist(self, inaxis):
for i in inaxis:
if i in self.catagories:
self.dimentionplotlist.append(i)
elif i in self.values:
self.valuesplotlist.append(i)
elif i in self.date:
self.dateplotlist.append(i)
# select false
def warning(self):
self.error_dialog = QtWidgets.QErrorMessage()
self.error_dialog.showMessage('Not acceptable for dimention3')
self.error_dialog.exec_()
# choose date
def creatdateselect(self):
self.comboBox3 = QtWidgets.QComboBox(self.centralwidget)
self.gridLayout.addWidget(self.comboBox3, 2, 0, 1, 1)
datedata = ['all', 'years', 'months', 'dates']
self.comboBox3.addItems(datedata)
self.comboBox3.currentIndexChanged.connect(self.dateagain)
def dateagain(self):
try:
formatdmy = str(self.comboBox3.currentText())
if formatdmy == 'all' and 'y' not in self.findaxis:
return self.win.plotbar(self.getdataform, self.listy,
self.listx)
elif formatdmy == 'all' and 'x' not in self.findaxis:
return self.win.plotbary(self.getdataform, self.listx,
self.listy)
elif 'y' not in self.findaxis:
self.getdataform2 = self.selectdate(self.getdataform,
formatdmy)
return self.win.plotbar(self.getdataform2, self.listx,
self.listy)
elif 'x' not in self.findaxis:
self.getdataform2 = self.selectdate(self.getdataform,
formatdmy)
return self.win.plotbary(self.getdataform2, self.listy,
self.listx)
except:
print('sorry')
def retranslateUi(self, graph):
_translate = QtCore.QCoreApplication.translate
graph.setWindowTitle(_translate("graph", "MainWindow"))
self.label_3.setText(_translate("graph", "COLUMNS"))
self.label.setText(_translate("graph", "ROWS"))
self.menuFile.setTitle(_translate("graph", "file"))
self.actionOpen.setText(_translate("graph", "open"))
def check_sum(self, read):
connection = sqlite3.connect('database.db')
cur = connection.cursor()
cur.execute("SELECT * FROM check_sum where md5=?", (read, ))
list_do = []
for i in cur.fetchone():
list_do.append(i)
self.date = list_do[1].split(',')
self.catagories = list_do[2].split(',')
self.values = list_do[3].split(',')
self.key = list_do[4].split(',')
cur.close()
connection.close()
def check_non(self, read):
connection = sqlite3.connect('database.db')
cur = connection.cursor()
self.data = self.getdf(self.fileName)
self.date = self.data[0]
self.catagories = self.data[1]
self.values = self.data[2]
self.key = list(self.data[3])
date = ','.join(self.date)
catagories = ','.join(self.catagories)
values = ','.join(self.values)
key = ','.join(self.key)
cur.execute("insert into check_sum values(?,?,?,?,?)",
(read, date, catagories, values, key))
connection.commit()
cur.close()
connection.close()
# choose button
def getgraph_b(self):
self.pushButton_4 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_4.setText("Pie Chart")
self.pushButton_4.clicked.connect(self.pie)
self.verticalLayout.addWidget(self.pushButton_4)
self.pushButton = QtWidgets.QPushButton(self.centralwidget)
self.pushButton.setText("Line graph")
self.pushButton.clicked.connect(self.line)
self.verticalLayout.addWidget(self.pushButton)
self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_2.setText("Bubble")
self.pushButton_2.clicked.connect(self.Bubbel)
self.verticalLayout.addWidget(self.pushButton_2)
self.pushButton_5 = QtWidgets.QPushButton(self.centralwidget)
self.verticalLayout.addWidget(self.pushButton_5)
self.pushButton_5.setText("Table")
self.pushButton_5.clicked.connect(self.table)
self.pushButton_6 = QtWidgets.QPushButton(self.centralwidget)
self.verticalLayout.addWidget(self.pushButton_6)
self.pushButton_6.setText("Bar Graph")
self.pushButton_6.clicked.connect(self.bar)
def getitemlist(self):
self.cat.setFixedSize(470, 189)
self.setitem(self.cat, self.catagories)
self.cat.setHorizontalHeaderLabels(['Dimension'])
self.verticalLayout2.addWidget(self.cat)
self.valueslist.setFixedSize(470, 189)
self.setitem(self.valueslist, self.values)
self.valueslist.setHorizontalHeaderLabels(['Values'])
self.verticalLayout2.addWidget(self.valueslist)
self.datelist.setFixedSize(470, 189)
self.setitem(self.datelist, self.date)
self.datelist.setHorizontalHeaderLabels(['Date'])
self.verticalLayout2.addWidget(self.datelist)
self.addbutcol.setFixedSize(470, 50)
self.verticalLayout2.addWidget(self.addbutcol)
self.addbutrows.setFixedSize(470, 50)
self.verticalLayout2.addWidget(self.addbutrows)
self.setvalueforcheck()
# change data in database
def changedata_cat(self):
try:
self.checking(self.catagories, self.itemnow)
self.itemnow = self.cat.currentItem().text()
except:
self.itemnow = self.cat.currentItem().text()
self.checking(self.catagories, self.itemnow)
def changedata_val(self):
try:
self.checking(self.values, self.itemnow)
self.itemnow = self.valueslist.currentItem().text()
except:
self.itemnow = self.valueslist.currentItem().text()
self.checking(self.values, self.itemnow)
def changedata_date(self):
try:
self.checking(self.date, self.itemnow)
self.itemnow = self.datelist.currentItem().text()
except:
self.itemnow = self.datelist.currentItem().text()
self.checking(self.date, self.itemnow)
def checking(self, typechange, item):
a = self.cat.rowCount()
b = self.valueslist.rowCount()
c = self.datelist.rowCount()
if self.forcheck != [a, b, c]:
typechange.remove(item)
if self.forcheck[0] < a:
self.catagories.append(item)
if self.forcheck[1] < b:
self.values.append(item)
if self.forcheck[2] < c:
self.date.append(item)
self.setvalueforcheck()
self.newinform()
# update data in database
def newinform(self):
dai = ','.join(self.catagories)
val = ','.join(self.values)
day = ','.join(self.date)
key = ','.join(self.key)
connection = sqlite3.connect('database.db')
cur = connection.cursor()
read = self.read
cur.execute("DELETE FROM check_sum WHERE md5 = ? ", (read, ))
cur.execute("insert into check_sum values(?,?,?,?,?)",
(read, day, dai, val, key))
connection.commit()
cur.close()
connection.close()
def setvalueforcheck(self):
a = len(self.catagories)
b = len(self.values)
c = len(self.date)
self.forcheck = [a, b, c]
def addplaincol(self):
if self.listcol.text() == '':
self.x = list()
self.x.append(self.itemnow)
text = ','.join(self.x)
self.listcol.setText(text)
else:
a = self.listcol.text()
a = a.split(',')
self.x = a
self.x.append(self.itemnow)
text = ','.join(self.x)
self.listcol.setText(text)
def addplainrow(self):
if self.listrows.text() == '':
self.y = list()
self.y.append(self.itemnow)
text = ','.join(self.y)
self.listrows.setText(text)
else:
a = self.listrows.text()
a = a.split(',')
self.y = a
self.y.append(self.itemnow)
text = ','.join(self.y)
self.listrows.setText(text)
def getlist(self):
self.cat = TableWidgetDragRows(self.centralwidget)
self.verticalLayout2.addWidget(self.cat)
self.valueslist = TableWidgetDragRows(self.centralwidget)
self.verticalLayout2.addWidget(self.valueslist)
self.datelist = TableWidgetDragRows(self.centralwidget)
self.verticalLayout2.addWidget(self.datelist)
self.addbutcol = QtWidgets.QPushButton(self.centralwidget)
self.addbutcol.setText('Add To Colums')
self.verticalLayout2.addWidget(self.addbutcol)
self.addbutrows = QtWidgets.QPushButton(self.centralwidget)
self.addbutrows.setText('Add To Rows')
self.verticalLayout2.addWidget(self.addbutrows)
self.cat.currentItemChanged.connect(self.changedata_cat)
self.valueslist.currentItemChanged.connect(self.changedata_val)
self.datelist.currentItemChanged.connect(self.changedata_date)
self.addbutcol.clicked.connect(self.addplaincol)
self.addbutrows.clicked.connect(self.addplainrow)
def clearlist(self):
pass
def setitem(self, typelistwid, typeitemwid):
typelistwid.setColumnCount(1)
filled_widget = typelistwid
for i, itemone in enumerate(typeitemwid):
c = QtWidgets.QTableWidgetItem(itemone)
filled_widget.insertRow(filled_widget.rowCount())
filled_widget.setItem(i, 0, c)
header = typelistwid.horizontalHeader()
header.setSectionResizeMode(0, QtWidgets.QHeaderView.Stretch)
# plot graph
def bar(self):
if str(self.comboBox3.currentText()) != 'all':
self.win.plotbar(self.getdataform2, self.in_key_di,
self.in_key_val)
else:
self.win.plotbar(self.getdataform, self.in_key_di, self.in_key_val)
def pie(self):
if str(self.comboBox3.currentText()) != 'all':
self.win.plot_pie(self.getdataform2)
else:
self.win.plot_pie(self.getdataform)
def Bubbel(self):
if str(self.comboBox3.currentText()) != 'all':
self.win.plot_bubble(self.getdataform2)
else:
self.win.plot_bubble(self.getdataform)
def line(self):
if str(self.comboBox3.currentText()) != 'all':
self.win.plot_line(self.getdataform2, self.in_key_di,
self.in_key_val)
else:
self.win.plot_line(self.getdataform, self.in_key_di,
self.in_key_val)
def table(self):
if str(self.comboBox3.currentText()) != 'all':
self.win.table(self.getdataform2, self.in_key_di, self.in_key_val)
else:
self.win.table(self.getdataform, self.in_key_di, self.in_key_val)
# check label
def onpick1(self, event):
if isinstance(event.artist, Line2D):
thisline = event.artist
xdata = thisline.get_xdata()
ydata = thisline.get_ydata()
ind = event.ind
print('onpick1 line:', zip(np.take(xdata, ind),
np.take(ydata, ind)))
elif isinstance(event.artist, Rectangle):
patch = event.artist
print('onpick1 patch:', patch.get_path())
elif isinstance(event.artist, Text):
text = event.artist
print('onpick1 text:', text.get_text())
self.filterlist2.setText(text.get_text())
def treestyle(self):
try:
self.varforfilter()
self.find_catagories()
if self.in_key_di == []:
self.tree_filter.clear()
self.oldset = set()
if len(self.in_key_date) != 0:
self.in_key_di.append(self.in_key_date[0])
if self.oldset == []:
for i in self.in_key_di:
self.getchildinroot(i)
else:
copydeep = set(self.in_key_di)
b = self.oldset.intersection(copydeep)
fortree = copydeep - b
if len(fortree) != 0:
for i in fortree:
self.getchildinroot(i)
elif len(fortree) == 0:
for i in self.oldset - copydeep:
root = self.tree_filter.invisibleRootItem()
signal_count = root.childCount()
for a in range(signal_count):
signal = root.child(a)
if signal.text(0) == self.key[i]:
root.removeChild(signal)
self.oldset.remove(i)
if len(self.in_key_di) >= 1:
self.filter()
except:
pass
def getchildinroot(self, i):
data = self.dataset[self.key[i]]
inform = data.tolist()
notper = set(inform)
parent = QtWidgets.QTreeWidgetItem(self.tree_filter)
parent.setText(0, "{}".format(self.key[i]))
parent.setFlags(parent.flags() | QtCore.Qt.ItemIsAutoTristate
| QtCore.Qt.ItemIsUserCheckable)
self.oldfilter(notper, parent)
self.oldset.add(i)
def oldfilter(self, notper, parent):
for a in notper:
child = QtWidgets.QTreeWidgetItem(parent)
child.setFlags(child.flags() | QtCore.Qt.ItemIsUserCheckable)
child.setText(0, "{}".format(a))
child.setCheckState(0, QtCore.Qt.Checked)
def find_checked(self):
checked = dict()
root = self.tree_filter.invisibleRootItem()
signal_count = root.childCount()
for i in range(signal_count):
signal = root.child(i)
checked_sweeps = list()
num_children = signal.childCount()
self.unchecked = list()
for n in range(num_children):
child = signal.child(n)
if child.checkState(0) == QtCore.Qt.Checked:
checked_sweeps.append(child.text(0))
self.incheck_remove(signal, root)
checked[signal.text(0)] = checked_sweeps
return checked
def incheck_remove(self, signal, root):
if signal.checkState(0) == QtCore.Qt.Unchecked:
root.removeChild(signal)
a = [i for i, x in enumerate(self.key) if x == signal.text(0)]
self.in_key_di.remove(a[0])
text = []
if signal.text(0) in self.listcol.text():
for i in self.in_key_di:
text.append(self.key[i])
text = (',').join(text)
self.listcol.setText(text)
elif signal.text(0) in self.listrows.text():
for i in self.in_key_di:
text.append(self.key[i])
text = (',').join(text)
self.listrows.setText(text)
self.oldset.remove(a[0])
def deleat_to_repeat(self, listdel):
self.listrows.clear()
self.listcol.clear()
listdel.reset()
while (listdel.rowCount() >= 1):
listdel.model().removeRow(0)
class Ui_MainWindow(QtWidgets.QMainWindow, data):
def __init__(self, parent=None):
super(Ui_MainWindow, self).__init__(parent=parent)
self.setupUi(self)
# Gui
def setupUi(self, graph):
graph.setObjectName("graph")
graph.resize(985, 693)
self.centralwidget = QtWidgets.QWidget(graph)
self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
self.label_3 = QtWidgets.QLabel(self.centralwidget)
self.gridLayout.addWidget(self.label_3, 0, 0, 1, 1)
self.label = QtWidgets.QLabel(self.centralwidget)
self.gridLayout.addWidget(self.label, 1, 0, 1, 1)
self.win = PlotCanvas(self.centralwidget)
self.gridLayout.addWidget(self.win, 3, 0, 4, 3)
self.gridLayout.addWidget(self.win.scroll, 5, 0, 6, 3)
self.gridLayout.addWidget(self.win.scroll2, 3, 0, 4, 3)
#self.gridLayout.addWidget(self.win.scroll3, 3,0,4,3)
self.toolBarArea = NavigationToolbar(self.win,
self.centralwidget,
coordinates=True)
self.win.mpl_connect('pick_event', self.onpick1)
self.listcol = QtWidgets.QLineEdit(self.centralwidget)
self.gridLayout.addWidget(self.listcol, 0, 1, 1, 2)
self.listrows = QtWidgets.QLineEdit(self.centralwidget)
self.gridLayout.addWidget(self.listrows, 1, 1, 1, 2)
self.hafe = QtWidgets.QHBoxLayout(self.centralwidget)
self.submit = QtWidgets.QPushButton(self.centralwidget)
self.hafe.addWidget(self.submit)
self.filterlist = QtWidgets.QLineEdit(self.centralwidget)
self.hafe.addWidget(self.filterlist)
self.submit.clicked.connect(self.filter)
self.gridLayout.addItem(self.hafe, 2, 1, 1, 2)
self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
self.gridLayout.addItem(self.verticalLayout, 0, 3, 3, 1)
self.getgraph_b()
self.verticalLayout2 = QtWidgets.QVBoxLayout(self.centralwidget)
self.gridLayout.addItem(self.verticalLayout2, 3, 3, 1, 0)
self.getlist()
graph.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(graph)
self.menubar.setGeometry(QtCore.QRect(0, 0, 985, 31))
self.menuFile = QtWidgets.QMenu(self.menubar)
graph.setMenuBar(self.menubar)
self.actionOpen = QtWidgets.QAction(graph)
self.menuFile.addAction(self.actionOpen)
self.menubar.addAction(self.menuFile.menuAction())
self.actionOpen.triggered.connect(self.file_open)
saveFile = QtWidgets.QAction("&Save File", self)
saveFile.triggered.connect(self.file_save)
self.menuFile.addAction(saveFile)
self.retranslateUi(graph)
self.creatdateselect()
self.comboBox3.setVisible(False)
QtCore.QMetaObject.connectSlotsByName(graph)
# Savefile is csv and xlxs
def file_save(self):
name = QtWidgets.QFileDialog.getSaveFileName(
self, 'Save File', "", "xlsx(*.xlsx);;csv(*.csv)")
file = open(name, 'w')
text = self.textEdit.toPlainText()
file.write(text)
file.close()
# Edit try
def file_open(self):
options = QFileDialog.Options()
options |= QFileDialog.DontUseNativeDialog
self.fileName, _ = QFileDialog.getOpenFileName(
self,
"QFileDialog.getOpenFileName()",
"",
"xlsx(*.xlsx);;csv(*.csv)",
options=options)
self.clearlist()
hasher = hashlib.md5()
f = open(self.fileName, 'rb')
for chunk in iter(lambda: f.read(4096), b""):
hasher.update(chunk)
self.read = hasher.hexdigest()
try:
self.check_sum(self.read)
self.getitemlist()
self.dataset = pd.read_excel(self.fileName)
except:
self.check_non(self.read)
self.getitemlist()
self.dataset = pd.read_excel(self.fileName)
# Filter use to choose date.
def filter(self):
self.x = self.listcol.text()
self.y = self.listrows.text()
self.listx = self.x.split(',')
self.listy = self.y.split(',')
self.dimentionplotlist = []
self.valuesplotlist = []
self.dateplotlist = []
self.in_key_di = []
self.in_key_val = []
self.in_key_date = []
self.genlist(self.listx)
self.genlist(self.listy)
for i in range(len(self.key)):
if self.key[i] in self.dimentionplotlist:
self.in_key_di.append(i)
elif self.key[i] in self.valuesplotlist:
self.in_key_val.append(i)
elif self.key[i] in self.dateplotlist:
self.in_key_date.append(i)
if len(self.in_key_date) == 1 and len(
self.in_key_di) == 0 and len(self.in_key_val) != 0:
self.getdataform = self.getinfo(self.in_key_date, self.in_key_val,
self.dataset)
self.tellaxisplot(self.dateplotlist)
self.comboBox3.setVisible(True)
elif len(self.in_key_date) == 1 and len(self.in_key_di) >= 1:
for i in self.in_key_date:
self.in_key_di.append(i)
self.getdataform = self.getinfo(self.in_key_di, self.in_key_val,
self.dataset)
self.tellaxisplot(self.dimentionplotlist)
self.comboBox3.setVisible(True)
else:
self.getdataform = self.getinfo(self.in_key_di, self.in_key_val,
self.dataset)
self.tellaxisplot(self.dimentionplotlist)
# For plot
if 'y' not in self.findaxis:
return self.win.plotbar(self.getdataform, self.listx, self.listy)
if 'x' not in self.findaxis:
return self.win.plotbary(self.getdataform, self.listy, self.listx)
# Not now
if 'x' in self.findaxis and 'y' in self.findaxis:
print('multitable')
# If not value then it not work
if len(self.dimentionplotlist) == 0 or len(self.valuesplotlist) == 0:
return self.warning()
# Seperate data in x,y and use data to another plot graph
def tellaxisplot(self, daidate):
self.findaxis = []
for a in daidate:
if a in self.listx:
self.findaxis.append('x')
if a in self.listy:
self.findaxis.append('y')
# Seperate data and use data for another plot graph
def genlist(self, inaxis):
for i in inaxis:
if i in self.catagories:
self.dimentionplotlist.append(i)
elif i in self.values:
self.valuesplotlist.append(i)
elif i in self.date:
self.dateplotlist.append(i)
# Select false
def warning(self):
self.error_dialog = QtWidgets.QErrorMessage()
self.error_dialog.showMessage('Not acceptable for dimention3')
self.error_dialog.exec_()
# Choose date
def creatdateselect(self):
self.comboBox3 = QtWidgets.QComboBox(self.centralwidget)
self.gridLayout.addWidget(self.comboBox3, 2, 0, 1, 1)
datedata = ['all', 'years', 'months', 'dates']
self.comboBox3.addItems(datedata)
self.comboBox3.currentIndexChanged.connect(self.dateagain)
# Try and except to check
def dateagain(self):
try:
formatdmy = str(self.comboBox3.currentText())
xy = self.selectdate(self.getdataform, formatdmy)
if 'y' not in self.findaxis:
return self.win.plotbar(xy, self.listx, self.listy)
elif 'x' not in self.findaxis:
return self.win.plotbary(xy, self.listy, self.listx)
except:
print('sorry')
# Gui show Text and button to submit
def retranslateUi(self, graph):
_translate = QtCore.QCoreApplication.translate
graph.setWindowTitle(_translate("graph", "MainWindow"))
self.label_3.setText(_translate("graph", "COLUMNS"))
self.label.setText(_translate("graph", "ROWS"))
self.submit.setText(_translate("graph", "submit"))
self.menuFile.setTitle(_translate("graph", "file"))
self.actionOpen.setText(_translate("graph", "open"))
# Read file and connect
def check_sum(self, read):
connection = sqlite3.connect('database.db')
cur = connection.cursor()
cur.execute("SELECT * FROM check_sum where md5=?", (read, ))
list_do = []
for i in cur.fetchone():
list_do.append(i)
self.date = list_do[1].split(',')
self.catagories = list_do[2].split(',')
self.values = list_do[3].split(',')
self.key = list_do[4].split(',')
cur.close()
connection.close()
# Check data in database
def check_non(self, read):
connection = sqlite3.connect('database.db')
cur = connection.cursor()
self.data = self.getdf(self.fileName)
self.date = self.data[0]
self.catagories = self.data[1]
self.values = self.data[2]
self.key = list(self.data[3])
date = ','.join(self.date)
catagories = ','.join(self.catagories)
values = ','.join(self.values)
key = ','.join(self.key)
cur.execute("insert into check_sum values(?,?,?,?,?)",
(read, date, catagories, values, key))
connection.commit()
cur.close()
connection.close()
# Choose button on Gui
def getgraph_b(self):
self.pushButton_4 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_4.setText("Pie Chart")
self.pushButton_4.clicked.connect(self.pie)
self.verticalLayout.addWidget(self.pushButton_4)
self.pushButton = QtWidgets.QPushButton(self.centralwidget)
self.pushButton.setText("Line graph")
self.pushButton.clicked.connect(self.line)
self.verticalLayout.addWidget(self.pushButton)
self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
self.pushButton_2.setText("Bubble")
self.pushButton_2.clicked.connect(self.Bubbel)
self.verticalLayout.addWidget(self.pushButton_2)
self.pushButton_5 = QtWidgets.QPushButton(self.centralwidget)
self.verticalLayout.addWidget(self.pushButton_5)
self.pushButton_5.setText("Table")
self.pushButton_5.clicked.connect(self.table)
self.pushButton_6 = QtWidgets.QPushButton(self.centralwidget)
self.verticalLayout.addWidget(self.pushButton_6)
self.pushButton_6.setText("Bar Graph")
self.pushButton_6.clicked.connect(self.bar)
# Show value of dimension , value and Date
def getitemlist(self):
self.cat.setFixedSize(470, 189)
self.setitem(self.cat, self.catagories)
self.cat.setHorizontalHeaderLabels(['Dimension'])
self.verticalLayout2.addWidget(self.cat)
self.valueslist.setFixedSize(470, 189)
self.setitem(self.valueslist, self.values)
self.valueslist.setHorizontalHeaderLabels(['Values'])
self.verticalLayout2.addWidget(self.valueslist)
self.datelist.setFixedSize(470, 189)
self.setitem(self.datelist, self.date)
self.datelist.setHorizontalHeaderLabels(['Date'])
self.verticalLayout2.addWidget(self.datelist)
self.addbutcol.setFixedSize(470, 50)
self.verticalLayout2.addWidget(self.addbutcol)
self.addbutrows.setFixedSize(470, 50)
self.verticalLayout2.addWidget(self.addbutrows)
self.setvalueforcheck()
# Change data in database
def changedata_cat(self):
try:
self.checking(self.catagories, self.itemnow)
self.itemnow = self.cat.currentItem().text()
except:
self.itemnow = self.cat.currentItem().text()
self.checking(self.catagories, self.itemnow)
# Change data is a value in database
def changedata_val(self):
try:
self.checking(self.values, self.itemnow)
self.itemnow = self.valueslist.currentItem().text()
except:
self.itemnow = self.valueslist.currentItem().text()
self.checking(self.values, self.itemnow)
# Change data is a date in database
def changedata_date(self):
try:
self.checking(self.date, self.itemnow)
self.itemnow = self.datelist.currentItem().text()
except:
self.itemnow = self.datelist.currentItem().text()
self.checking(self.date, self.itemnow)
# Check data
def checking(self, typechange, item):
a = self.cat.rowCount()
b = self.valueslist.rowCount()
c = self.datelist.rowCount()
if self.forcheck != [a, b, c]:
typechange.remove(item)
if self.forcheck[0] < a:
self.catagories.append(item)
if self.forcheck[1] < b:
self.values.append(item)
if self.forcheck[2] < c:
self.date.append(item)
self.setvalueforcheck()
self.newinform()
# Update data in database
def newinform(self):
dai = ','.join(self.catagories)
val = ','.join(self.values)
day = ','.join(self.date)
key = ','.join(self.key)
connection = sqlite3.connect('database.db')
cur = connection.cursor()
read = self.read
cur.execute("DELETE FROM check_sum WHERE md5 = ? ", (read, ))
cur.execute("insert into check_sum values(?,?,?,?,?)",
(read, day, dai, val, key))
connection.commit()
cur.close()
connection.close()
# Set value for check
def setvalueforcheck(self):
a = len(self.catagories)
b = len(self.values)
c = len(self.date)
self.forcheck = [a, b, c]
print(self.forcheck)
#
def addplaincol(self):
if self.listcol.text() == '':
self.x = []
self.x.append(self.itemnow)
text = ','.join(self.x)
self.listcol.setText(text)
else:
a = self.listcol.text()
a = a.split(',')
self.x = a
self.x.append(self.itemnow)
text = ','.join(self.x)
self.listcol.setText(text)
# Add value in row
def addplainrow(self):
if self.listrows.text() == '':
self.y = []
self.y.append(self.itemnow)
text = ','.join(self.y)
self.listrows.setText(text)
else:
a = self.listrows.text()
a = a.split(',')
self.y = a
self.y.append(self.itemnow)
text = ','.join(self.y)
self.listrows.setText(text)
#
def getlist(self):
self.cat = TableWidgetDragRows(self.centralwidget)
self.verticalLayout2.addWidget(self.cat)
self.valueslist = TableWidgetDragRows(self.centralwidget)
self.verticalLayout2.addWidget(self.valueslist)
self.datelist = TableWidgetDragRows(self.centralwidget)
self.verticalLayout2.addWidget(self.datelist)
self.addbutcol = QtWidgets.QPushButton(self.centralwidget)
self.addbutcol.setText('Add To Colums')
self.verticalLayout2.addWidget(self.addbutcol)
self.addbutrows = QtWidgets.QPushButton(self.centralwidget)
self.addbutrows.setText('Add To Rows')
# For filter
self.verticalLayout2.addWidget(self.addbutrows)
self.cat.currentItemChanged.connect(self.changedata_cat)
self.valueslist.currentItemChanged.connect(self.changedata_val)
self.datelist.currentItemChanged.connect(self.changedata_date)
self.addbutcol.clicked.connect(self.addplaincol)
self.addbutrows.clicked.connect(self.addplainrow)
# Clear value in list
def clearlist(self):
self.x = []
self.y = []
try:
self.cat.clear()
self.datelist.clear()
self.valueslist.clear()
except:
pass
#
def setitem(self, typelistwid, typeitemwid):
typelistwid.setColumnCount(1)
filled_widget = typelistwid
for i, itemone in enumerate(typeitemwid):
c = QtWidgets.QTableWidgetItem(itemone)
filled_widget.insertRow(filled_widget.rowCount())
filled_widget.setItem(i, 0, c)
header = typelistwid.horizontalHeader()
header.setSectionResizeMode(0, QtWidgets.QHeaderView.Stretch)
#typelistwid.setEditTriggers(QtWidgets.QAbstractItemView.NoEditTriggers)
# Show plot graph
def bar(self):
self.win.plotbar(self.getdataform, self.in_key_di, self.in_key_val)
def pie(self):
self.win.plot_pie(self.getdataform)
def Bubbel(self):
self.win.plot_bubble(self.getdataform)
def line(self):
self.win.plot_line(self.getdataform, self.in_key_di, self.in_key_val)
def table(self):
self.win.table(self.getdataform, self.in_key_di, self.in_key_val)
# Check label
def onpick1(self, event):
if isinstance(event.artist, Line2D):
thisline = event.artist
xdata = thisline.get_xdata()
ydata = thisline.get_ydata()
ind = event.ind
print('onpick1 line:', zip(np.take(xdata, ind),
np.take(ydata, ind)))
elif isinstance(event.artist, Rectangle):
patch = event.artist
print('onpick1 patch:', patch.get_path())
elif isinstance(event.artist, Text):
text = event.artist
print('onpick1 text:', text.get_text())
if self.filterlist.text() == '':
self.flist = []
self.flist.append(text.get_text())
self.filterlist.setText('{}'.format(self.flist))
else:
self.flist.append(text.get_text())
self.filterlist.setText('{}'.format(self.flist))
class Gui2Ros(QMainWindow,xtd_ui.Ui_MainWindow):
def __init__(self):
super(Gui2Ros, self).__init__()
self.setupUi(self)
self.map = 'indoor1'
self.comboBox_maps.currentIndexChanged.connect(self.initplot)
self.button_run.clicked.connect(self.startrun)
self.close_flag = False
self.local_pose = PoseStamped()
self.local_vel = Twist()
self.m = PlotCanvas(self, self.map)
self.m.move(180, 0)
self.flag = 0
# rospy.init_node('multirotor_pyqt5_control')
def initplot(self):
self.map = self.comboBox_maps.currentText()
self.m.canvas_update(self.map)
def startrun(self):
print 'start run!'
self.init_controller()
self.pSend2ros = Process(target=self.run_process)
self.pSend2ros.start()
self.text_thread = Ros2Gui(self.multirotor_select, self.multirotor_num, self.multi_type)
self.text_thread.update_text.connect(self.display)
self.text_thread.plot_array.connect(self.plot)
self.text_thread.start()
# self.pSend2ros = Process(target=self.run_process)
# self.pSend2ros.start()
def init_controller(self):
self.text_show_info.setPlainText('data')
self.multi_num = 0
self.multi_type = []
counnnt = 0
print self.multirotor_select
for j in self.multirotor_select:
self.multi_num = self.multi_num + self.multirotor_num[j]
for id_1 in range(self.multirotor_num[j]):
self.multi_type.append(self.multirotor_type[j])
counnnt+=1
self.color_plot = ['' for i in range(self.multi_num)]
for i in range(self.multi_num):
color_R = hex(random.randint(16,255))
color_G = hex(random.randint(16,255))
color_B = hex(random.randint(16,255))
self.color_plot[i] = '#'+str(color_R)+str(color_G)+str(color_B)
self.color_plot[i] = self.color_plot[i].replace('0x','')
#publish messages to ros nodes like a keyboard
def run_process(self):
rospy.init_node('multirotor_pyqt5_control')
counnnt = 0
if self.control_type == 'vel':
self.multi_cmd_vel_flu_pub = [None] * self.multi_num
self.multi_cmd_pub = [None] * self.multi_num
for i in self.multirotor_select:
for k in range(self.multirotor_num[i]):
if i == 7:
self.multi_cmd_vel_flu_pub[counnnt] = rospy.Publisher('/ugv_' + str(k) + '/cmd_vel', Twist, queue_size=10)
self.multi_cmd_pub[counnnt] = rospy.Publisher('/ugv_' + str(k) + '/cmd', String,queue_size=10)
else:
self.multi_cmd_vel_flu_pub[counnnt] = rospy.Publisher('/xtdrone/' + self.multi_type[counnnt] + '_' + str(k) + '/cmd_vel_flu', Twist, queue_size=10)
self.multi_cmd_pub[counnnt] = rospy.Publisher('/xtdrone/' + self.multi_type[counnnt] + '_' + str(k) + '/cmd', String,queue_size=10)
counnnt += 1
self.leader_cmd_vel_flu_pub = rospy.Publisher("/xtdrone/leader/cmd_vel_flu", Twist, queue_size=10)
self.leader_cmd_pub = rospy.Publisher("/xtdrone/leader/cmd", String, queue_size=10)
else:
self.multi_cmd_accel_flu_pub = [None] * self.multi_num
self.multi_cmd_pub = [None] * self.multi_num
for i in self.multirotor_select:
for k in range(self.multirotor_num[i]):
self.multi_cmd_accel_flu_pub[i] = rospy.Publisher(
'/xtdrone/' + self.multi_type[counnnt] + '_' + str(k) + '/cmd_accel_flu', Twist, queue_size=10)
self.multi_cmd_pub[i] = rospy.Publisher('/xtdrone/' + self.multi_type[counnnt] + '_' + str(k) + '/cmd',
String,
queue_size=10)
counnnt = 0
self.leader_cmd_accel_flu_pub = rospy.Publisher("/xtdrone/leader/cmd_accel_flu", Twist, queue_size=10)
self.leader_cmd_pub = rospy.Publisher("/xtdrone/leader/cmd", String, queue_size=10)
self.twist = [Twist() for i in range (self.multi_num)]
self.cmd = ['' for i in range (self.multi_num)]
self.ctrl_leader = True
self.cmd_vel_mask = False
for j in range(self.multi_num):
self.twist[j].angular.x = 0.0
self.twist[j].angular.y = 0.0
last_forward = [0.0 for i in range(self.multi_num)]
last_upward = [0.0 for i in range(self.multi_num)]
last_leftward = [0.0 for i in range(self.multi_num)]
last_orientation = [0.0 for i in range(self.multi_num)]
last_ctrl_leader = False
last_cmd_vel_mask = False
last_multirotor_get_control = [0 for i in range(self.multi_num)]
last_forward_all = 0.0
last_upward_all = 0.0
last_leftward_all = 0.0
last_orientation_all = 0.0
num = 0
rate = rospy.Rate(30)
check_stop_flag = False
print('StartRun!')
start_flag = False
flag = False
time = 0
while True:
if not start_flag:
flag = self.q_start_control_flag.get()
if flag:
time += 1
start_flag = True
num += 1
if self.q_multirotor_get_control.empty():
multirotor_get_control = last_multirotor_get_control
else:
multirotor_get_control = self.q_multirotor_get_control.get()
last_multirotor_get_control = multirotor_get_control
if self.q_forward.empty():
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.x = last_forward[i]
else:
forward = self.q_forward.get()
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.x = forward
last_forward[i] = self.twist[i].linear.x
if self.q_upward.empty():
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.z = last_upward[i]
else:
upward = self.q_upward.get()
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.z = upward
last_upward[i] = self.twist[i].linear.z
if self.q_leftward.empty():
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.y = last_leftward[i]
else:
leftward = self.q_leftward.get()
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.y = leftward
last_leftward[i] = self.twist[i].linear.y
if self.q_orientation.empty():
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].angular.z = last_orientation[i]
else:
orientation = self.q_orientation.get()
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].angular.z = orientation
last_orientation[i] = self.twist[i].angular.z
if self.q_ctrl_leader.empty():
self.ctrl_leader = last_ctrl_leader
else:
self.ctrl_leader = self.q_ctrl_leader.get()
last_ctrl_leader = self.ctrl_leader
if self.q_cmd.empty():
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.cmd[i] = ''
else:
cmd = self.q_cmd.get()
if self.ctrl_leader:
for i in range(self.multi_num):
if i == 1:
self.cmd[i] = cmd
else:
self.cmd[i] = ''
else:
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.cmd[i] = cmd
print(self.cmd[i])
if self.q_cmd_vel_mask.empty():
self.cmd_vel_mask = last_cmd_vel_mask
else:
self.cmd_vel_mask = self.q_cmd_vel_mask.get()
last_cmd_vel_mask = self.cmd_vel_mask
if self.q_stop_flag.empty():
pass
else:
check_stop_flag = self.q_stop_flag.get()
if check_stop_flag:
for i in range(self.multi_num):
self.cmd[i] = 'AUTO.RTL'
if self.ctrl_leader:
if self.control_type == 'vel':
self.leader_cmd_vel_flu_pub.publish(self.twist[1])
else:
self.leader_cmd_accel_flu_pub.publish(self.twist[1])
self.leader_cmd_pub.publish(self.cmd[1])
print self.cmd[1]
else:
for i in range(self.multi_num):
if not self.cmd_vel_mask:
if self.control_type == 'vel':
self.multi_cmd_vel_flu_pub[i].publish(self.twist[i])
else:
self.multi_cmd_accel_flu_pub[i].publish(self.twist[i])
self.multi_cmd_pub[i].publish(self.cmd[i])
# print self.cmd[0]
else:
print 'shut down!'
rate.sleep()
if check_stop_flag:
self.q_stop_flag.put(True)
rospy.signal_shutdown('STOP!')
break
def display(self, data):
self.text_show_info.setPlainText(data)
def plot(self, data):
for i in range(self.multi_num):
self.m.ax.plot(data[i][0], data[i][1], color = self.color_plot[i])
# self.m.canvas_update(self.map)
self.m.draw()
def on_stocktree_dclicked_cb(self, item, column):
canvas = PlotCanvas(title=item.text(0))
canvas.setStock(item.text(0))
idx = self.stockTab.addTab(canvas, item.text(0))
self.stockTab.setCurrentIndex(idx)
