class SerialPortSelector(QWidget):
open_port = pyqtSignal(str, int)
close_port = pyqtSignal()
def __init__(self, *args):
super(SerialPortSelector, self).__init__(*args)
self.disabled = False
self.init_ui()
self.add_ports()
def init_ui(self):
layout = QHBoxLayout()
self.setLayout(layout)
self.ports_list_combobox = QComboBox()
layout.addWidget(self.ports_list_combobox)
self.baud_rate_combobox = QComboBox()
self.baud_rate_combobox.addItems([
'300', '600', '1200', '2400', '4800', '9600', '19200', '38400',
'43000', '56000', '57600', '115200'
])
self.baud_rate_combobox.setCurrentText('115200')
self.baud_rate_combobox.setEditable(True)
layout.addWidget(self.baud_rate_combobox)
self.open_btn = QPushButton('打开')
self.open_btn.clicked.connect(self.handle_open_port)
layout.addWidget(self.open_btn)
self.refresh_btn = QPushButton('刷新')
self.refresh_btn.clicked.connect(self.add_ports)
layout.addWidget(self.refresh_btn)
def add_ports(self):
self.ports_list_combobox.clear()
for port in comports(False):
self.ports_list_combobox.addItem(port.name, port)
def handle_open_port(self):
if self.disabled:
self.close_port.emit()
else:
port = self.ports_list_combobox.currentText()
if port == "":
return
baud_rate = int(self.baud_rate_combobox.currentText())
self.open_port.emit(port, baud_rate)
def set_disable(self, b):
self.disabled = b
self.ports_list_combobox.setDisabled(b)
self.baud_rate_combobox.setDisabled(b)
if self.disabled:
self.open_btn.setText('关闭')
else:
self.open_btn.setText('打开')
class MainWindow(QMainWindow):
def __init__(self, *args, **kwargs):
super(MainWindow, self).__init__(*args, **kwargs)
# region Create CartPole instance and load initial settings
# Create CartPole instance
self.initial_state = create_cartpole_state()
self.CartPoleInstance = CartPole(initial_state=self.initial_state)
# Set timescales
self.CartPoleInstance.dt_simulation = dt_simulation
self.CartPoleInstance.dt_controller = controller_update_interval
self.CartPoleInstance.dt_save = save_interval
# set other settings
self.CartPoleInstance.set_controller(controller_init)
self.CartPoleInstance.stop_at_90 = stop_at_90_init
self.set_random_experiment_generator_init_params()
# endregion
# region Decide whether to save the data in "CartPole memory" or not
self.save_history = save_history_init
self.show_experiment_summary = show_experiment_summary_init
if self.save_history or self.show_experiment_summary:
self.CartPoleInstance.save_data_in_cart = True
else:
self.CartPoleInstance.save_data_in_cart = False
# endregion
# region Other variables initial values as provided in gui_default_parameters.py
# Start user controlled experiment/ start random experiment/ load and replay - on start button
self.simulator_mode = simulator_mode_init
self.slider_on_click = slider_on_click_init # Update slider on click/update slider while hoovering over it
self.speedup = speedup_init # Default simulation speed-up
# endregion
# region Initialize loop-timer
# This timer allows to relate the simulation time to user time
# And (if your computer is fast enough) run simulation
# slower or faster than real-time by predefined factor (speedup)
self.looper = loop_timer(
dt_target=(self.CartPoleInstance.dt_simulation / self.speedup))
# endregion
# region Variables controlling the state of various processes (DO NOT MODIFY)
self.terminate_experiment_or_replay_thread = False # True: gives signal causing thread to terminate
self.pause_experiment_or_replay_thread = False # True: gives signal causing the thread to pause
self.run_set_labels_thread = True # True if gauges (labels) keep being repeatedly updated
# Stop threads by setting False
# Flag indicating if the "START! / STOP!" button should act as start or as stop when pressed.
# Can take values "START!" or "STOP!"
self.start_or_stop_action = "START!"
# Flag indicating whether the pause button should pause or unpause.
self.pause_or_unpause_action = "PAUSE"
# Flag indicating that saving of experiment recording to csv file has finished
self.experiment_or_replay_thread_terminated = False
self.user_time_counter = 0 # Measures the user time
# Slider instant value (which is draw in GUI) differs from value saved in CartPole instance
# if the option updating slider "on-click" is enabled.
self.slider_instant_value = self.CartPoleInstance.slider_value
self.noise = 'OFF'
self.CartPoleInstance.NoiseAdderInstance.noise_mode = self.noise
# endregion
# region Create GUI Layout
# region - Create container for top level layout
layout = QVBoxLayout()
# endregion
# region - Change geometry of the main window
self.setGeometry(300, 300, 2500, 1000)
# endregion
# region - Matplotlib figures (CartPole drawing and Slider)
# Draw Figure
self.fig = Figure(
figsize=(25, 10)
) # Regulates the size of Figure in inches, before scaling to window size.
self.canvas = FigureCanvas(self.fig)
self.fig.AxCart = self.canvas.figure.add_subplot(211)
self.fig.AxSlider = self.canvas.figure.add_subplot(212)
self.fig.AxSlider.set_ylim(0, 1)
self.CartPoleInstance.draw_constant_elements(self.fig, self.fig.AxCart,
self.fig.AxSlider)
# Attach figure to the layout
lf = QVBoxLayout()
lf.addWidget(self.canvas)
# endregion
# region - Radio buttons selecting current controller
self.rbs_controllers = []
for controller_name in self.CartPoleInstance.controller_names:
self.rbs_controllers.append(QRadioButton(controller_name))
# Ensures that radio buttons are exclusive
self.controllers_buttons_group = QButtonGroup()
for button in self.rbs_controllers:
self.controllers_buttons_group.addButton(button)
lr_c = QVBoxLayout()
lr_c.addStretch(1)
for rb in self.rbs_controllers:
rb.clicked.connect(self.RadioButtons_controller_selection)
lr_c.addWidget(rb)
lr_c.addStretch(1)
self.rbs_controllers[self.CartPoleInstance.controller_idx].setChecked(
True)
# endregion
# region - Create central part of the layout for figures and radio buttons and add it to the whole layout
lc = QHBoxLayout()
lc.addLayout(lf)
lc.addLayout(lr_c)
layout.addLayout(lc)
# endregion
# region - Gauges displaying current values of various states and parameters (time, velocity, angle,...)
# First row
ld = QHBoxLayout()
# User time
self.labTime = QLabel("User's time (s): ")
self.timer = QTimer()
self.timer.setInterval(100) # Tick every 1/10 of the second
self.timer.timeout.connect(self.set_user_time_label)
self.timer.start()
ld.addWidget(self.labTime)
# Speed, angle, motor power (Q)
self.labSpeed = QLabel('Speed (m/s):')
self.labAngle = QLabel('Angle (deg):')
self.labMotor = QLabel('')
self.labTargetPosition = QLabel('')
ld.addWidget(self.labSpeed)
ld.addWidget(self.labAngle)
ld.addWidget(self.labMotor)
ld.addWidget(self.labTargetPosition)
layout.addLayout(ld)
# Second row of labels
# Simulation time, Measured (real) speed-up, slider-value
ld2 = QHBoxLayout()
self.labTimeSim = QLabel('Simulation Time (s):')
ld2.addWidget(self.labTimeSim)
self.labSpeedUp = QLabel('Speed-up (measured):')
ld2.addWidget(self.labSpeedUp)
self.labSliderInstant = QLabel('')
ld2.addWidget(self.labSliderInstant)
layout.addLayout(ld2)
# endregion
# region - Buttons "START!" / "STOP!", "PAUSE", "QUIT"
self.bss = QPushButton("START!")
self.bss.pressed.connect(self.start_stop_button)
self.bp = QPushButton("PAUSE")
self.bp.pressed.connect(self.pause_unpause_button)
bq = QPushButton("QUIT")
bq.pressed.connect(self.quit_application)
lspb = QHBoxLayout() # Sub-Layout for Start/Stop and Pause Buttons
lspb.addWidget(self.bss)
lspb.addWidget(self.bp)
# endregion
# region - Sliders setting initial state and buttons for kicking the pole
# Sliders setting initial position and angle
lb = QVBoxLayout() # Layout for buttons
lb.addLayout(lspb)
lb.addWidget(bq)
ip = QHBoxLayout() # Layout for initial position sliders
self.initial_position_slider = QSlider(
orientation=Qt.Orientation.Horizontal)
self.initial_position_slider.setRange(
-int(float(1000 * TrackHalfLength)),
int(float(1000 * TrackHalfLength)))
self.initial_position_slider.setValue(0)
self.initial_position_slider.setSingleStep(1)
self.initial_position_slider.valueChanged.connect(
self.update_initial_position)
self.initial_angle_slider = QSlider(
orientation=Qt.Orientation.Horizontal)
self.initial_angle_slider.setRange(-int(float(100 * np.pi)),
int(float(100 * np.pi)))
self.initial_angle_slider.setValue(0)
self.initial_angle_slider.setSingleStep(1)
self.initial_angle_slider.valueChanged.connect(
self.update_initial_angle)
ip.addWidget(QLabel("Initial position:"))
ip.addWidget(self.initial_position_slider)
ip.addWidget(QLabel("Initial angle:"))
ip.addWidget(self.initial_angle_slider)
ip.addStretch(0.01)
# Slider setting latency
self.LATENCY_SLIDER_RANGE_INT = 1000
self.latency_slider = QSlider(orientation=Qt.Orientation.Horizontal)
self.latency_slider.setRange(0, self.LATENCY_SLIDER_RANGE_INT)
self.latency_slider.setValue(
int(self.CartPoleInstance.LatencyAdderInstance.latency *
self.LATENCY_SLIDER_RANGE_INT /
self.CartPoleInstance.LatencyAdderInstance.max_latency))
self.latency_slider.setSingleStep(1)
self.latency_slider.valueChanged.connect(self.update_latency)
ip.addWidget(QLabel("Latency:"))
ip.addWidget(self.latency_slider)
self.labLatency = QLabel('Latency (ms): {:.1f}'.format(
self.CartPoleInstance.LatencyAdderInstance.latency * 1000))
ip.addWidget(self.labLatency)
# Buttons activating noise
self.rbs_noise = []
for mode_name in ['ON', 'OFF']:
self.rbs_noise.append(QRadioButton(mode_name))
# Ensures that radio buttons are exclusive
self.noise_buttons_group = QButtonGroup()
for button in self.rbs_noise:
self.noise_buttons_group.addButton(button)
lr_n = QHBoxLayout()
lr_n.addWidget(QLabel('Noise:'))
for rb in self.rbs_noise:
rb.clicked.connect(self.RadioButtons_noise_on_off)
lr_n.addWidget(rb)
self.rbs_noise[1].setChecked(True)
ip.addStretch(0.01)
ip.addLayout(lr_n)
ip.addStretch(0.01)
# Buttons giving kick to the pole
kick_label = QLabel("Kick pole:")
kick_left_button = QPushButton()
kick_left_button.setText("Left")
kick_left_button.adjustSize()
kick_left_button.clicked.connect(self.kick_pole)
kick_right_button = QPushButton()
kick_right_button.setText("Right")
kick_right_button.adjustSize()
kick_right_button.clicked.connect(self.kick_pole)
ip.addWidget(kick_label)
ip.addWidget(kick_left_button)
ip.addWidget(kick_right_button)
lb.addLayout(ip)
layout.addLayout(lb)
# endregion
# region - Text boxes and Combobox to provide settings concerning generation of random experiment
l_generate_trace = QHBoxLayout()
l_generate_trace.addWidget(QLabel('Random experiment settings:'))
l_generate_trace.addWidget(QLabel('Length (s):'))
self.textbox_length = QLineEdit()
l_generate_trace.addWidget(self.textbox_length)
l_generate_trace.addWidget(QLabel('Turning Points (m):'))
self.textbox_turning_points = QLineEdit()
l_generate_trace.addWidget(self.textbox_turning_points)
l_generate_trace.addWidget(QLabel('Interpolation:'))
self.cb_interpolation = QComboBox()
self.cb_interpolation.addItems(
['0-derivative-smooth', 'linear', 'previous'])
self.cb_interpolation.currentIndexChanged.connect(
self.cb_interpolation_selectionchange)
self.cb_interpolation.setCurrentText(
self.CartPoleInstance.interpolation_type)
l_generate_trace.addWidget(self.cb_interpolation)
layout.addLayout(l_generate_trace)
# endregion
# region - Textbox to provide csv file name for saving or loading data
l_text = QHBoxLayout()
textbox_title = QLabel('CSV file name:')
self.textbox = QLineEdit()
l_text.addWidget(textbox_title)
l_text.addWidget(self.textbox)
layout.addLayout(l_text)
# endregion
# region - Make strip of layout for checkboxes
l_cb = QHBoxLayout()
# endregion
# region - Textbox to provide the target speed-up value
l_text_speedup = QHBoxLayout()
tx_speedup_title = QLabel('Speed-up (target):')
self.tx_speedup = QLineEdit()
l_text_speedup.addWidget(tx_speedup_title)
l_text_speedup.addWidget(self.tx_speedup)
self.tx_speedup.setText(str(self.speedup))
l_cb.addLayout(l_text_speedup)
self.wrong_speedup_msg = QMessageBox()
self.wrong_speedup_msg.setWindowTitle("Speed-up value problem")
self.wrong_speedup_msg.setIcon(QMessageBox.Icon.Critical)
# endregion
# region - Checkboxes
# region -- Checkbox: Save/don't save experiment recording
self.cb_save_history = QCheckBox('Save results', self)
if self.save_history:
self.cb_save_history.toggle()
self.cb_save_history.toggled.connect(self.cb_save_history_f)
l_cb.addWidget(self.cb_save_history)
# endregion
# region -- Checkbox: Display plots showing dynamic evolution of the system as soon as experiment terminates
self.cb_show_experiment_summary = QCheckBox('Show experiment summary',
self)
if self.show_experiment_summary:
self.cb_show_experiment_summary.toggle()
self.cb_show_experiment_summary.toggled.connect(
self.cb_show_experiment_summary_f)
l_cb.addWidget(self.cb_show_experiment_summary)
# endregion
# region -- Checkbox: Block pole if it reaches +/-90 deg
self.cb_stop_at_90_deg = QCheckBox('Stop-at-90-deg', self)
if self.CartPoleInstance.stop_at_90:
self.cb_stop_at_90_deg.toggle()
self.cb_stop_at_90_deg.toggled.connect(self.cb_stop_at_90_deg_f)
l_cb.addWidget(self.cb_stop_at_90_deg)
# endregion
# region -- Checkbox: Update slider on click/update slider while hoovering over it
self.cb_slider_on_click = QCheckBox('Update slider on click', self)
if self.slider_on_click:
self.cb_slider_on_click.toggle()
self.cb_slider_on_click.toggled.connect(self.cb_slider_on_click_f)
l_cb.addWidget(self.cb_slider_on_click)
# endregion
# endregion
# region - Radio buttons selecting simulator mode: user defined experiment, random experiment, replay
# List available simulator modes - constant
self.available_simulator_modes = [
'Slider-Controlled Experiment', 'Random Experiment', 'Replay'
]
self.rbs_simulator_mode = []
for mode_name in self.available_simulator_modes:
self.rbs_simulator_mode.append(QRadioButton(mode_name))
# Ensures that radio buttons are exclusive
self.simulator_mode_buttons_group = QButtonGroup()
for button in self.rbs_simulator_mode:
self.simulator_mode_buttons_group.addButton(button)
lr_sm = QHBoxLayout()
lr_sm.addStretch(1)
lr_sm.addWidget(QLabel('Simulator mode:'))
for rb in self.rbs_simulator_mode:
rb.clicked.connect(self.RadioButtons_simulator_mode)
lr_sm.addWidget(rb)
lr_sm.addStretch(1)
self.rbs_simulator_mode[self.available_simulator_modes.index(
self.simulator_mode)].setChecked(True)
l_cb.addStretch(1)
l_cb.addLayout(lr_sm)
l_cb.addStretch(1)
# endregion
# region - Add checkboxes to layout
layout.addLayout(l_cb)
# endregion
# region - Create an instance of a GUI window
w = QWidget()
w.setLayout(layout)
self.setCentralWidget(w)
self.show()
self.setWindowTitle('CartPole Simulator')
# endregion
# endregion
# region Open controller-specific popup windows
self.open_additional_controller_widget()
# endregion
# region Activate functions capturing mouse movements and clicks over the slider
# This line links function capturing the mouse position on the canvas of the Figure
self.canvas.mpl_connect("motion_notify_event", self.on_mouse_movement)
# This line links function capturing the mouse position on the canvas of the Figure click
self.canvas.mpl_connect("button_press_event", self.on_mouse_click)
# endregion
# region Introducing multithreading
# To ensure smooth functioning of the app,
# the calculations and redrawing of the figures have to be done in a different thread
# than the one capturing the mouse position and running the animation
self.threadpool = QThreadPool()
# endregion
# region Starts a thread repeatedly redrawing gauges (labels) of the GUI
# It runs till the QUIT button is pressed
worker_labels = Worker(self.set_labels_thread)
self.threadpool.start(worker_labels)
# endregion
# region Start animation repeatedly redrawing changing elements of matplotlib figures (CartPole drawing and slider)
# This animation runs ALWAYS when the GUI is open
# The buttons of GUI only decide if new parameters are calculated or not
self.anim = self.CartPoleInstance.run_animation(self.fig)
# endregion
# region Thread performing CartPole experiment, slider-controlled or random
# It iteratively updates CartPole state and save data to a .csv file
# It also put simulation time in relation to user time
def experiment_thread(self):
# Necessary only for debugging in Visual Studio Code IDE
try:
ptvsd.debug_this_thread()
except:
pass
self.looper.start_loop()
while not self.terminate_experiment_or_replay_thread:
if self.pause_experiment_or_replay_thread:
time.sleep(0.1)
else:
# Calculations of the Cart state in the next timestep
self.CartPoleInstance.update_state()
# Terminate thread if random experiment reached its maximal length
if ((self.CartPoleInstance.use_pregenerated_target_position is
True) and (self.CartPoleInstance.time >=
self.CartPoleInstance.t_max_pre)):
self.terminate_experiment_or_replay_thread = True
# FIXME: when Speedup empty in GUI I expected inf speedup but got error Loop timer was not initialized properly
self.looper.sleep_leftover_time()
# Save simulation history if user chose to do so at the end of the simulation
if self.save_history:
csv_name = self.textbox.text()
self.CartPoleInstance.save_history_csv(
csv_name=csv_name,
mode='init',
length_of_experiment=np.around(
self.CartPoleInstance.dict_history['time'][-1],
decimals=2))
self.CartPoleInstance.save_history_csv(csv_name=csv_name,
mode='save offline')
self.experiment_or_replay_thread_terminated = True
# endregion
# region Thread replaying a saved experiment recording
def replay_thread(self):
# Necessary only for debugging in Visual Studio Code IDE
try:
ptvsd.debug_this_thread()
except:
pass
# Check what is in the csv textbox
csv_name = self.textbox.text()
# Load experiment history
history_pd, filepath = self.CartPoleInstance.load_history_csv(
csv_name=csv_name)
# Set cartpole in the right mode (just to ensure slider behaves properly)
with open(filepath, newline='') as f:
reader = csv.reader(f)
for line in reader:
line = line[0]
if line[:len('# Controller: ')] == '# Controller: ':
controller_set = self.CartPoleInstance.set_controller(
line[len('# Controller: '):].rstrip("\n"))
if controller_set:
self.rbs_controllers[self.CartPoleInstance.
controller_idx].setChecked(True)
else:
self.rbs_controllers[1].setChecked(
True) # Set first, but not manual stabilization
break
# Augment the experiment history with simulation time step size
dt = []
row_iterator = history_pd.iterrows()
_, last = next(row_iterator) # take first item from row_iterator
for i, row in row_iterator:
dt.append(row['time'] - last['time'])
last = row
dt.append(dt[-1])
history_pd['dt'] = np.array(dt)
# Initialize loop timer (with arbitrary dt)
replay_looper = loop_timer(dt_target=0.0)
# Start looping over history
replay_looper.start_loop()
global L
for index, row in history_pd.iterrows():
self.CartPoleInstance.s[POSITION_IDX] = row['position']
self.CartPoleInstance.s[POSITIOND_IDX] = row['positionD']
self.CartPoleInstance.s[ANGLE_IDX] = row['angle']
self.CartPoleInstance.time = row['time']
self.CartPoleInstance.dt = row['dt']
try:
self.CartPoleInstance.u = row['u']
except KeyError:
pass
self.CartPoleInstance.Q = row['Q']
self.CartPoleInstance.target_position = row['target_position']
if self.CartPoleInstance.controller_name == 'manual-stabilization':
self.CartPoleInstance.slider_value = self.CartPoleInstance.Q
else:
self.CartPoleInstance.slider_value = self.CartPoleInstance.target_position / TrackHalfLength
# TODO: Make it more general for all possible parameters
try:
L[...] = row['L']
except KeyError:
pass
except:
print('Error while assigning L')
print("Unexpected error:", sys.exc_info()[0])
print("Unexpected error:", sys.exc_info()[1])
dt_target = (self.CartPoleInstance.dt / self.speedup)
replay_looper.dt_target = dt_target
replay_looper.sleep_leftover_time()
if self.terminate_experiment_or_replay_thread: # Means that stop button was pressed
break
while self.pause_experiment_or_replay_thread: # Means that pause button was pressed
time.sleep(0.1)
if self.show_experiment_summary:
self.CartPoleInstance.dict_history = history_pd.loc[:index].to_dict(
orient='list')
self.experiment_or_replay_thread_terminated = True
# endregion
# region "START! / STOP!" button -> run/stop slider-controlled experiment, random experiment or replay experiment recording
# Actions to be taken when "START! / STOP!" button is clicked
def start_stop_button(self):
# If "START! / STOP!" button in "START!" mode...
if self.start_or_stop_action == 'START!':
self.bss.setText("STOP!")
self.start_thread()
# If "START! / STOP!" button in "STOP!" mode...
elif self.start_or_stop_action == 'STOP!':
self.bss.setText("START!")
self.bp.setText("PAUSE")
# This flag is periodically checked by thread. It terminates if set True.
self.terminate_experiment_or_replay_thread = True
# The stop_thread function is called automatically by the thread when it terminates
# It is implemented this way, because thread my terminate not only due "STOP!" button
# (e.g. replay thread when whole experiment is replayed)
def pause_unpause_button(self):
# Only Pause if experiment is running
if self.pause_or_unpause_action == 'PAUSE' and self.start_or_stop_action == 'STOP!':
self.pause_or_unpause_action = 'UNPAUSE'
self.pause_experiment_or_replay_thread = True
self.bp.setText("UNPAUSE")
elif self.pause_or_unpause_action == 'UNPAUSE' and self.start_or_stop_action == 'STOP!':
self.pause_or_unpause_action = 'PAUSE'
self.pause_experiment_or_replay_thread = False
self.bp.setText("PAUSE")
# Run thread. works for all simulator modes.
def start_thread(self):
# Check if value provided in speed-up textbox makes sense
# If not abort start
speedup_updated = self.get_speedup()
if not speedup_updated:
return
# Disable GUI elements for features which must not be changed in runtime
# For other features changing in runtime may not cause errors, but will stay without effect for current run
self.cb_save_history.setEnabled(False)
for rb in self.rbs_simulator_mode:
rb.setEnabled(False)
for rb in self.rbs_controllers:
rb.setEnabled(False)
if self.simulator_mode != 'Replay':
self.cb_show_experiment_summary.setEnabled(False)
# Set user-provided initial values for state (or its part) of the CartPole
# Search implementation for more detail
# The following line is important as it let the user to set with the slider the starting target position
# After the slider was reset at the end of last experiment
# With the small sliders he can also adjust starting initial_state
self.reset_variables(
2,
s=np.copy(self.initial_state),
target_position=self.CartPoleInstance.target_position)
if self.simulator_mode == 'Random Experiment':
self.CartPoleInstance.use_pregenerated_target_position = True
if self.textbox_length.text() == '':
self.CartPoleInstance.length_of_experiment = length_of_experiment_init
else:
self.CartPoleInstance.length_of_experiment = float(
self.textbox_length.text())
turning_points_list = []
if self.textbox_turning_points.text() != '':
for turning_point in self.textbox_turning_points.text().split(
', '):
turning_points_list.append(float(turning_point))
self.CartPoleInstance.turning_points = turning_points_list
self.CartPoleInstance.setup_cartpole_random_experiment()
self.looper.dt_target = self.CartPoleInstance.dt_simulation / self.speedup
# Pass the function to execute
if self.simulator_mode == "Replay":
worker = Worker(self.replay_thread)
elif self.simulator_mode == 'Slider-Controlled Experiment' or self.simulator_mode == 'Random Experiment':
worker = Worker(self.experiment_thread)
worker.signals.finished.connect(self.finish_thread)
# Execute
self.threadpool.start(worker)
# Determine what should happen when "START! / STOP!" is pushed NEXT time
self.start_or_stop_action = "STOP!"
# finish_threads works for all simulation modes
# Some lines mya be redundant for replay,
# however as they do not take much computation time we leave them here
# As it my code shorter, while hopefully still clear.
# It is called automatically at the end of experiment_thread
def finish_thread(self):
self.CartPoleInstance.use_pregenerated_target_position = False
self.initial_state = create_cartpole_state()
self.initial_position_slider.setValue(0)
self.initial_angle_slider.setValue(0)
self.CartPoleInstance.s = self.initial_state
# Some controllers may collect they own statistics about their usage and print it after experiment terminated
if self.simulator_mode != 'Replay':
try:
self.CartPoleInstance.controller.controller_report()
except:
pass
if self.show_experiment_summary:
self.w_summary = SummaryWindow(
summary_plots=self.CartPoleInstance.summary_plots)
# Reset variables and redraw the figures
self.reset_variables(0)
# Draw figures
self.CartPoleInstance.draw_constant_elements(self.fig, self.fig.AxCart,
self.fig.AxSlider)
self.canvas.draw()
# Enable back all elements of GUI:
self.cb_save_history.setEnabled(True)
self.cb_show_experiment_summary.setEnabled(True)
for rb in self.rbs_simulator_mode:
rb.setEnabled(True)
for rb in self.rbs_controllers:
rb.setEnabled(True)
self.start_or_stop_action = "START!" # What should happen when "START! / STOP!" is pushed NEXT time
# endregion
# region Methods: "Get, set, reset, quit"
# Set parameters from gui_default_parameters related to generating a random experiment target position
def set_random_experiment_generator_init_params(self):
self.CartPoleInstance.track_relative_complexity = track_relative_complexity_init
self.CartPoleInstance.length_of_experiment = length_of_experiment_init
self.CartPoleInstance.interpolation_type = interpolation_type_init
self.CartPoleInstance.turning_points_period = turning_points_period_init
self.CartPoleInstance.start_random_target_position_at = start_random_target_position_at_init
self.CartPoleInstance.end_random_target_position_at = end_random_target_position_at_init
self.CartPoleInstance.turning_points = turning_points_init
# Method resetting variables which change during experimental run
def reset_variables(self, reset_mode=1, s=None, target_position=None):
self.CartPoleInstance.set_cartpole_state_at_t0(
reset_mode, s=s, target_position=target_position)
self.user_time_counter = 0
# "Try" because this function is called for the first time during initialisation of the Window
# when the timer label instance is not yer there.
try:
self.labt.setText("Time (s): " +
str(float(self.user_time_counter) / 10.0))
except:
pass
self.experiment_or_replay_thread_terminated = False # This is a flag informing thread terminated
self.terminate_experiment_or_replay_thread = False # This is a command to terminate a thread
self.pause_experiment_or_replay_thread = False # This is a command to pause a thread
self.start_or_stop_action = "START!"
self.pause_or_unpause_action = "PAUSE"
self.looper.first_call_done = False
######################################################################################################
# (Marcin) Below are methods with less critical functions.
# A thread redrawing labels (except for timer, which has its own function) of GUI every 0.1 s
def set_labels_thread(self):
while (self.run_set_labels_thread):
self.labSpeed.setText(
"Speed (m/s): " +
str(np.around(self.CartPoleInstance.s[POSITIOND_IDX], 2)))
self.labAngle.setText("Angle (deg): " + str(
np.around(
self.CartPoleInstance.s[ANGLE_IDX] * 360 /
(2 * np.pi), 2)))
self.labMotor.setText("Motor power (Q): {:.3f}".format(
np.around(self.CartPoleInstance.Q, 2)))
if self.CartPoleInstance.controller_name == 'manual-stabilization':
self.labTargetPosition.setText("")
else:
self.labTargetPosition.setText(
"Target position (m): " +
str(np.around(self.CartPoleInstance.target_position, 2)))
if self.CartPoleInstance.controller_name == 'manual_stabilization':
self.labSliderInstant.setText(
"Slider instant value (-): " +
str(np.around(self.slider_instant_value, 2)))
else:
self.labSliderInstant.setText(
"Slider instant value (m): " +
str(np.around(self.slider_instant_value, 2)))
self.labTimeSim.setText('Simulation time (s): {:.2f}'.format(
self.CartPoleInstance.time))
mean_dt_real = np.mean(self.looper.circ_buffer_dt_real)
if mean_dt_real > 0:
self.labSpeedUp.setText('Speed-up (measured): x{:.2f}'.format(
self.CartPoleInstance.dt_simulation / mean_dt_real))
sleep(0.1)
# Function to measure the time of simulation as experienced by user
# It corresponds to the time of simulation according to equations only if real time mode is on
# TODO (Marcin) I just retained this function from some example being my starting point
# It seems it sometimes counting time to slow. Consider replacing in future
def set_user_time_label(self):
# "If": Increment time counter only if simulation is running
if self.start_or_stop_action == "STOP!": # indicates what start button was pressed and some process is running
self.user_time_counter += 1
# The updates are done smoother if the label is updated here
# and not in the separate thread
self.labTime.setText("Time (s): " +
str(float(self.user_time_counter) / 10.0))
# The actions which has to be taken to properly terminate the application
# The method is evoked after QUIT button is pressed
# TODO: Can we connect it somehow also the the default cross closing the application?
def quit_application(self):
# Stops animation (updating changing elements of the Figure)
self.anim._stop()
# Stops the two threads updating the GUI labels and updating the state of Cart instance
self.run_set_labels_thread = False
self.terminate_experiment_or_replay_thread = True
self.pause_experiment_or_replay_thread = False
# Closes the GUI window
self.close()
# The standard command
# It seems however not to be working by its own
# I don't know how it works
QApplication.quit()
# endregion
# region Mouse interaction
"""
These are some methods GUI uses to capture mouse effect while hoovering or clicking over/on the charts
"""
# Function evoked at a mouse movement
# If the mouse cursor is over the lower chart it reads the corresponding value
# and updates the slider
def on_mouse_movement(self, event):
if self.simulator_mode == 'Slider-Controlled Experiment':
if event.xdata == None or event.ydata == None:
pass
else:
if event.inaxes == self.fig.AxSlider:
self.slider_instant_value = event.xdata
if not self.slider_on_click:
self.CartPoleInstance.update_slider(
mouse_position=event.xdata)
# Function evoked at a mouse click
# If the mouse cursor is over the lower chart it reads the corresponding value
# and updates the slider
def on_mouse_click(self, event):
if self.simulator_mode == 'Slider-Controlled Experiment':
if event.xdata == None or event.ydata == None:
pass
else:
if event.inaxes == self.fig.AxSlider:
self.CartPoleInstance.update_slider(
mouse_position=event.xdata)
# endregion
# region Changing "static" options: radio buttons, text boxes, combo boxes, check boxes
"""
This section collects methods used to change some ''static option'':
e.g. change current controller, switch between saving and not saving etc.
These are functions associated with radio buttons, check boxes, textfilds etc.
The functions of "START! / STOP!" button is much more complex
and we put them hence in a separate section.
"""
# region - Radio buttons
# Chose the controller method which should be used with the CartPole
def RadioButtons_controller_selection(self):
# Change the mode variable depending on the Radiobutton state
for i in range(len(self.rbs_controllers)):
if self.rbs_controllers[i].isChecked():
self.CartPoleInstance.set_controller(controller_idx=i)
# Reset the state of GUI and of the Cart instance after the mode has changed
# TODO: Do I need the follwowing lines?
self.reset_variables(0)
self.CartPoleInstance.draw_constant_elements(self.fig, self.fig.AxCart,
self.fig.AxSlider)
self.canvas.draw()
self.open_additional_controller_widget()
# Chose the simulator mode - effect of start/stop button
def RadioButtons_simulator_mode(self):
# Change the mode variable depending on the Radiobutton state
for i in range(len(self.rbs_simulator_mode)):
sleep(0.001)
if self.rbs_simulator_mode[i].isChecked():
self.simulator_mode = self.available_simulator_modes[i]
# Reset the state of GUI and of the Cart instance after the mode has changed
# TODO: Do I need the follwowing lines?
self.reset_variables(0)
self.CartPoleInstance.draw_constant_elements(self.fig, self.fig.AxCart,
self.fig.AxSlider)
self.canvas.draw()
# Chose the noise mode - effect of start/stop button
def RadioButtons_noise_on_off(self):
# Change the mode variable depending on the Radiobutton state
if self.rbs_noise[0].isChecked():
self.noise = 'ON'
self.CartPoleInstance.NoiseAdderInstance.noise_mode = self.noise
elif self.rbs_noise[1].isChecked():
self.noise = 'OFF'
self.CartPoleInstance.NoiseAdderInstance.noise_mode = self.noise
else:
raise Exception('Something wrong with ON/OFF button for noise')
self.open_additional_noise_widget()
# endregion
# region - Text Boxes
# Read speedup provided by user from appropriate GUI textbox
def get_speedup(self):
"""
Get speedup provided by user from appropriate textbox.
Speed-up gives how many times faster or slower than real time the simulation or replay should run.
The provided values may not always be reached due to computer speed limitation
"""
speedup = self.tx_speedup.text()
if speedup == '':
self.speedup = np.inf
return True
else:
try:
speedup = float(speedup)
except ValueError:
self.wrong_speedup_msg.setText(
'You have provided the input for speed-up which is not convertible to a number'
)
x = self.wrong_speedup_msg.exec_()
return False
if speedup == 0.0:
self.wrong_speedup_msg.setText(
'You cannot run an experiment with 0 speed-up (stopped time flow)'
)
x = self.wrong_speedup_msg.exec_()
return False
else:
self.speedup = speedup
return True
# endregion
# region - Combo Boxes
# Select how to interpolate between turning points of randomly chosen target positions
def cb_interpolation_selectionchange(self, i):
"""
Select interpolation type for random target positions of randomly generated experiment
"""
self.CartPoleInstance.interpolation_type = self.cb_interpolation.currentText(
)
# endregion
# region - Check boxes
# Action toggling between saving and not saving simulation results
def cb_save_history_f(self, state):
if state:
self.save_history = 1
else:
self.save_history = 0
if self.save_history or self.show_experiment_summary:
self.CartPoleInstance.save_data_in_cart = True
else:
self.CartPoleInstance.save_data_in_cart = False
# Action toggling between saving and not saving simulation results
def cb_show_experiment_summary_f(self, state):
if state:
self.show_experiment_summary = 1
else:
self.show_experiment_summary = 0
if self.save_history or self.show_experiment_summary:
self.CartPoleInstance.save_data_in_cart = True
else:
self.CartPoleInstance.save_data_in_cart = False
# Action toggling between stopping (or not) the pole if it reaches 90 deg
def cb_stop_at_90_deg_f(self, state):
if state:
self.CartPoleInstance.stop_at_90 = True
else:
self.CartPoleInstance.stop_at_90 = False
# Action toggling between updating CarPole slider value on click or by hoovering over it
def cb_slider_on_click_f(self, state):
if state:
self.slider_on_click = True
else:
self.slider_on_click = False
# endregion
# region - Additional GUI Popups
def open_additional_controller_widget(self):
# Open up additional options widgets depending on the controller type
if self.CartPoleInstance.controller_name == 'mppi':
self.optionsControllerWidget = MPPIOptionsWindow()
else:
try:
self.optionsControllerWidget.close()
except:
pass
self.optionsControllerWidget = None
def open_additional_noise_widget(self):
# Open up additional options widgets depending on the controller type
if self.noise == 'ON':
self.optionsNoiseWidget = NoiseOptionsWindow()
else:
try:
self.optionsNoiseWidget.close()
except:
pass
self.optionsNoiseWidget = None
# endregion
# region - Sliders setting initial position and angle of the CartPole
def update_initial_position(self, value: str):
self.initial_state[POSITION_IDX] = float(value) / 1000.0
def update_initial_angle(self, value: str):
self.initial_state[ANGLE_IDX] = float(value) / 100.0
# endregion
# region - Slider setting latency of the controller
def update_latency(self, value: str):
latency_slider = float(value)
latency = latency_slider * self.CartPoleInstance.LatencyAdderInstance.max_latency / self.LATENCY_SLIDER_RANGE_INT # latency in seconds
self.CartPoleInstance.LatencyAdderInstance.set_latency(latency)
self.labLatency.setText('{:.1f} ms'.format(latency *
1000.0)) # latency in ms
# endregion
# region Buttons for providing a kick to the pole
def kick_pole(self):
if self.sender().text() == "Left":
self.CartPoleInstance.s[ANGLED_IDX] += .6
elif self.sender().text() == "Right":
self.CartPoleInstance.s[ANGLED_IDX] -= .6
class MainWindow(QMainWindow):
def __init__(self, *args, **kwargs):
super(MainWindow, self).__init__(*args, **kwargs)
layout = QVBoxLayout()
self.editor = TextEdit()
self.editor.setAutoFormatting(QTextEdit.AutoFormatting.AutoAll)
self.editor.selectionChanged.connect(self.update_format)
font = QFont("Times", 12)
self.editor.setFont(font)
self.editor.setFontPointSize(12)
self.path = None
layout.addWidget(self.editor)
container = QWidget()
container.setLayout(layout)
self.setCentralWidget(container)
self.status = QStatusBar()
self.setStatusBar(self.status)
file_toolbar = QToolBar("File")
file_toolbar.setIconSize(QSize(14, 14))
self.addToolBar(file_toolbar)
file_menu = self.menuBar().addMenu("&File")
open_file_action = QAction(
QIcon(os.path.join("images", "blue-folder-open-document.png")),
"Open file...",
self,
)
open_file_action.setStatusTip("Open file")
open_file_action.triggered.connect(self.file_open)
file_menu.addAction(open_file_action)
file_toolbar.addAction(open_file_action)
save_file_action = QAction(QIcon(os.path.join("images", "disk.png")),
"Save", self)
save_file_action.setStatusTip("Save current page")
save_file_action.triggered.connect(self.file_save)
file_menu.addAction(save_file_action)
file_toolbar.addAction(save_file_action)
save_as_file_action = QAction(
QIcon(os.path.join("images", "disk--pencil.png")), "Save As...",
self)
save_as_file_action.setStatusTip("Save current page to specified file")
save_as_file_action.triggered.connect(self.file_save_as)
file_menu.addAction(save_as_file_action)
file_toolbar.addAction(save_as_file_action)
print_action = QAction(QIcon(os.path.join("images", "printer.png")),
"Print...", self)
print_action.setStatusTip("Print current page")
print_action.triggered.connect(self.file_print)
file_menu.addAction(print_action)
file_toolbar.addAction(print_action)
edit_toolbar = QToolBar("Edit")
edit_toolbar.setIconSize(QSize(16, 16))
self.addToolBar(edit_toolbar)
edit_menu = self.menuBar().addMenu("&Edit")
undo_action = QAction(
QIcon(os.path.join("images", "arrow-curve-180-left.png")), "Undo",
self)
undo_action.setStatusTip("Undo last change")
undo_action.triggered.connect(self.editor.undo)
edit_menu.addAction(undo_action)
redo_action = QAction(QIcon(os.path.join("images", "arrow-curve.png")),
"Redo", self)
redo_action.setStatusTip("Redo last change")
redo_action.triggered.connect(self.editor.redo)
edit_toolbar.addAction(redo_action)
edit_menu.addAction(redo_action)
edit_menu.addSeparator()
cut_action = QAction(QIcon(os.path.join("images", "scissors.png")),
"Cut", self)
cut_action.setStatusTip("Cut selected text")
cut_action.setShortcut(QKeySequence.StandardKey.Cut)
cut_action.triggered.connect(self.editor.cut)
edit_toolbar.addAction(cut_action)
edit_menu.addAction(cut_action)
copy_action = QAction(
QIcon(os.path.join("images", "document-copy.png")), "Copy", self)
copy_action.setStatusTip("Copy selected text")
cut_action.setShortcut(QKeySequence.StandardKey.Copy)
copy_action.triggered.connect(self.editor.copy)
edit_toolbar.addAction(copy_action)
edit_menu.addAction(copy_action)
paste_action = QAction(
QIcon(os.path.join("images", "clipboard-paste-document-text.png")),
"Paste",
self,
)
paste_action.setStatusTip("Paste from clipboard")
cut_action.setShortcut(QKeySequence.StandardKey.Paste)
paste_action.triggered.connect(self.editor.paste)
edit_toolbar.addAction(paste_action)
edit_menu.addAction(paste_action)
select_action = QAction(
QIcon(os.path.join("images", "selection-input.png")), "Select all",
self)
select_action.setStatusTip("Select all text")
cut_action.setShortcut(QKeySequence.StandardKey.SelectAll)
select_action.triggered.connect(self.editor.selectAll)
edit_menu.addAction(select_action)
edit_menu.addSeparator()
wrap_action = QAction(
QIcon(os.path.join("images", "arrow-continue.png")),
"Wrap text to window",
self,
)
wrap_action.setStatusTip("Toggle wrap text to window")
wrap_action.setCheckable(True)
wrap_action.setChecked(True)
wrap_action.triggered.connect(self.edit_toggle_wrap)
edit_menu.addAction(wrap_action)
format_toolbar = QToolBar("Format")
format_toolbar.setIconSize(QSize(16, 16))
self.addToolBar(format_toolbar)
format_menu = self.menuBar().addMenu("&Format")
self.fonts = QFontComboBox()
self.fonts.currentFontChanged.connect(self.editor.setCurrentFont)
format_toolbar.addWidget(self.fonts)
self.fontsize = QComboBox()
self.fontsize.addItems([str(s) for s in FONT_SIZES])
self.fontsize.currentTextChanged[str].connect(
lambda s: self.editor.setFontPointSize(float(s)))
format_toolbar.addWidget(self.fontsize)
self.bold_action = QAction(
QIcon(os.path.join("images", "edit-bold.png")), "Bold", self)
self.bold_action.setStatusTip("Bold")
self.bold_action.setShortcut(QKeySequence.StandardKey.Bold)
self.bold_action.setCheckable(True)
self.bold_action.toggled.connect(lambda x: self.editor.setFontWeight(
QFont.Weight.Bold if x else QFont.Weight.Normal))
format_toolbar.addAction(self.bold_action)
format_menu.addAction(self.bold_action)
self.italic_action = QAction(
QIcon(os.path.join("images", "edit-italic.png")), "Italic", self)
self.italic_action.setStatusTip("Italic")
self.italic_action.setShortcut(QKeySequence.StandardKey.Italic)
self.italic_action.setCheckable(True)
self.italic_action.toggled.connect(self.editor.setFontItalic)
format_toolbar.addAction(self.italic_action)
format_menu.addAction(self.italic_action)
self.underline_action = QAction(
QIcon(os.path.join("images", "edit-underline.png")), "Underline",
self)
self.underline_action.setStatusTip("Underline")
self.underline_action.setShortcut(QKeySequence.StandardKey.Underline)
self.underline_action.setCheckable(True)
self.underline_action.toggled.connect(self.editor.setFontUnderline)
format_toolbar.addAction(self.underline_action)
format_menu.addAction(self.underline_action)
format_menu.addSeparator()
self.align_left_action = QAction(
QIcon(os.path.join("images", "edit-alignment.png")), "Align left",
self)
self.align_left_action.setStatusTip("Align text left")
self.align_left_action.setCheckable(True)
self.align_left_action.triggered.connect(
lambda: self.editor.setAlignment(Qt.Alignment.AlignLeft))
format_toolbar.addAction(self.align_left_action)
format_menu.addAction(self.align_left_action)
self.align_center_action = QAction(
QIcon(os.path.join("images", "edit-alignment-center.png")),
"Align center",
self,
)
self.align_center_action.setStatusTip("Align text center")
self.align_center_action.setCheckable(True)
self.align_center_action.triggered.connect(
lambda: self.editor.setAlignment(Qt.Alignment.AlignCenter))
format_toolbar.addAction(self.align_center_action)
format_menu.addAction(self.align_center_action)
self.align_right_action = QAction(
QIcon(os.path.join("images", "edit-alignment-right.png")),
"Align right",
self,
)
self.align_right_action.setStatusTip("Align text right")
self.align_right_action.setCheckable(True)
self.align_right_action.triggered.connect(
lambda: self.editor.setAlignment(Qt.Alignment.AlignRight))
format_toolbar.addAction(self.align_right_action)
format_menu.addAction(self.align_right_action)
self.align_justify_action = QAction(
QIcon(os.path.join("images", "edit-alignment-justify.png")),
"Justify", self)
self.align_justify_action.setStatusTip("Justify text")
self.align_justify_action.setCheckable(True)
self.align_justify_action.triggered.connect(
lambda: self.editor.setAlignment(Qt.Alignment.AlignJustify))
format_toolbar.addAction(self.align_justify_action)
format_menu.addAction(self.align_justify_action)
format_group = QActionGroup(self)
format_group.setExclusive(True)
format_group.addAction(self.align_left_action)
format_group.addAction(self.align_center_action)
format_group.addAction(self.align_right_action)
format_group.addAction(self.align_justify_action)
format_menu.addSeparator()
self._format_actions = [
self.fonts,
self.fontsize,
self.bold_action,
self.italic_action,
self.underline_action,
]
self.update_format()
self.update_title()
self.show()
def block_signals(self, objects, b):
for o in objects:
o.blockSignals(b)
def update_format(self):
"""
Update the font format toolbar/actions when a new text selection is made. This is necessary to keep
toolbars/etc. in sync with the current edit state.
:return:
"""
self.block_signals(self._format_actions, True)
self.fonts.setCurrentFont(self.editor.currentFont())
self.fontsize.setCurrentText(str(int(self.editor.fontPointSize())))
self.italic_action.setChecked(self.editor.fontItalic())
self.underline_action.setChecked(self.editor.fontUnderline())
self.bold_action.setChecked(self.editor.fontWeight() == QFont.bold)
self.align_left_action.setChecked(
self.editor.alignment() == Qt.Alignment.AlignLeft)
self.align_center_action.setChecked(
self.editor.alignment() == Qt.Alignment.AlignCenter)
self.align_right_action.setChecked(
self.editor.alignment() == Qt.Alignment.AlignRight)
self.align_justify_action.setChecked(
self.editor.alignment() == Qt.Alignment.AlignJustify)
self.block_signals(self._format_actions, False)
def dialog_critical(self, s):
dlg = QMessageBox(self)
dlg.setText(s)
dlg.setIcon(QMessageBox.Critical)
dlg.show()
def file_open(self):
path, _ = QFileDialog.getOpenFileName(
self,
"Open file",
"",
"Text documents (*.txt);;All files (*.*)",
)
try:
with open(path, "rU") as f:
text = f.read()
except Exception as e:
self.dialog_critical(str(e))
else:
self.path = path
self.editor.setText(text)
self.update_title()
def file_save(self):
if self.path is None:
return self.file_save_as()
text = self.editor.toHtml() if splitext(
self.path) in TEXT_EXTENSIONS else self.editor.toPlainText()
try:
with open(self.path, "w") as f:
f.write(text)
except Exception as e:
self.dialog_critical(str(e))
def file_save_as(self):
path, _ = QFileDialog.getSaveFileName(
self,
"Save file",
"",
"Text documents (*.txt);;All files (*.*)",
)
if not path:
return
text = self.editor.toPlainText() if splitext(
path) in TEXT_EXTENSIONS else self.editor.toPlainText()
try:
with open(path, "w") as f:
f.write(text)
except Exception as e:
self.dialog_critical(str(e))
else:
self.path = path
self.update_title()
def file_print(self):
dlg = QPrintDialog()
if dlg.exec_():
self.editor.print_(dlg.printer())
def update_title(self):
self.setWindowTitle(
"%s - Megasolid Idiom" %
(os.path.basename(self.path) if self.path else "Untitled"))
def edit_toggle_wrap(self):
self.editor.setLineWrapMode(1 if self.editor.lineWrapMode() ==
0 else 0)
