forked from lvniqi/SMART
/
Car_Helper.py
1225 lines (1120 loc) · 48.3 KB
/
Car_Helper.py
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# -*- coding: utf-8 -*-
from array import array
from os import getcwdu
from Uart import Uart
from Uart import List2Str
#设定utf-8编码
import sys
from PyQt4.uic.Compiler.qtproxies import QtCore, QtGui
from msilib.schema import SelfReg
import sys, os
from serial.serialwin32 import SerialException
#设置脚本地址
#abspath = os.path.dirname(__file__)
#sys.path.append(abspath)
#os.chdir(abspath)
#重设utf-8编码
sys.getdefaultencoding()
reload(sys)
sys.setdefaultencoding('UTF-8')
sys.getdefaultencoding()
#图形模块pyqt4
from PyQt4 import QtGui,QtCore,Qwt5
from PyQt4.QtCore import Qt
#数学模块
from math import sin, cos
import numpy as np
#时间中断
from time import sleep
#绘图模块
from guiqwt.plot import PlotManager, CurvePlot
from guiqwt.builder import make as guiqwt_make
import thread
#主窗口
from mainwindow_ui import Ui_Window
from widget import Widget_Show as review_widget
from setting import Widget_Show as setting_widget
from show_realdata import Widget_Show as show_realdata_widget
#文件永久化
import cPickle
#显示数据
PLOT_DEFINE = ([u"CCD_1中间值",u'CCD_2中间值',u'CCD_3中间值',u"打角/100",u"CCD_1状态",u"CCD_2状态"],)
COLORS = ("#00aaff", "red",'orange','white','blue')
DT = 0.001
def get_peak_data(x, y, x0, x1, n, rate):
if len(x) == 0:
return [0], [0]
x = np.frombuffer(x)
y = np.frombuffer(y)
index0 = int(x0*rate)
index1 = int(x1*rate)
step = (index1 - index0) // n
if step == 0:
step = 1
index1 += 2 * step
if index0 < 0:
index0 = 0
if index1 > len(x) - 1:
index1 = len(x) - 1
x = x[index0:index1+1]
y = y[index0:index1+1]
y = y[:len(y)//step*step]
yy = y.reshape(-1, step)
index = np.c_[np.argmin(yy, axis=1), np.argmax(yy, axis=1)]
index.sort(axis=1)
index += np.arange(0, len(y), step).reshape(-1, 1)
index = index.reshape(-1)
return x[index], y[index]
#新建一个图表
def Plot_Start_New(widget,PLOT_DEFINE,COLORS,x1,x2,y1,y2):
newmanager = PlotManager(widget)
newplots = []
newcurves = {}
for name in PLOT_DEFINE:
plot = CurvePlot()
#设置图表颜色
plot.setStyleSheet('''QWidget{
border: 1px solid #32435E;
border-radius: 3px;
font-size:11pt;
color:white;
font-family:"Microsoft YaHei UI";
/* padding: 0 8px; */
background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #080B10,
stop: 1.0 #212C3F);
selection-background-color: #0A246A;
} '''
)
plot.axisScaleDraw(CurvePlot.Y_LEFT).setMinimumExtent(20)
newplots.append(plot)
newmanager.add_plot(plot)
plot.plot_id = id(plot)
for curve_color, curve_name in map(None,COLORS,name):
if u"状态" in curve_name or u"打角/100" in curve_name :
newcurves[curve_name] = guiqwt_make.curve([0], [0],markerfacecolor = 'black', markeredgecolor=curve_color, title=curve_name,marker = 'Diamond',linestyle = 'NoPen',markersize = 6)
else:
newcurves[curve_name] = guiqwt_make.curve([0], [0], color=curve_color, title=curve_name)
plot.add_item(newcurves[curve_name])
#设置X轴y轴
plot.set_axis_limits(newcurves[curve_name].yAxis(),y1,y2)
plot.set_axis_limits(newcurves[curve_name].xAxis(),x1,x2)
plot.add_item(guiqwt_make.legend("BL"))
newmanager.register_standard_tools()
newmanager.get_default_tool().activate()
return (newmanager,newplots,newcurves)
QtCore.QTextCodec.setCodecForTr(QtCore.QTextCodec.codecForName("utf8"))
def Set_Widget_Ui(Form):
Form.setStyleSheet(u"*{ \n"
" font-size:10.5pt; \n"
" color:white; \n"
" font-family:\"Microsoft YaHei UI\"; \n"
"}\n"
"QMenuBar\n"
"{\n"
" background: transparent;\n"
" color: silver;\n"
" \n"
"}\n"
"\n"
"QMenuBar::item\n"
"{\n"
" background: transparent;\n"
" \n"
"}\n"
"\n"
"QMenuBar::item:selected\n"
"{\n"
" color: black;\n"
" background-color: white;\n"
";\n"
"}\n"
"\n"
"QMenuBar::item:pressed\n"
"{\n"
" border: 1px solid #3A3939;\n"
" background-color: #78879b;\n"
" color: black;\n"
" margin-bottom:1px;\n"
" padding-bottom:1px;\n"
"}\n"
"\n"
"QMenu\n"
"{\n"
" border: 1px solid #3A3939;\n"
" color: silver;\n"
" background-color: #010101;\n"
" \n"
"}\n"
"\n"
"QMenu::item\n"
"{\n"
" padding: 2px 20px 2px 20px;\n"
" \n"
"}\n"
"\n"
"QMenu::item:selected\n"
"{\n"
" color: black;\n"
" background-color: white;\n"
"}\n"
" \n"
"CallWidget QLineEdit#telEdt \n"
"{ \n"
" font-size:24px; \n"
"} \n"
"QMainWindow,QDialog{ \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #1B2534, stop: 0.4 #010101, \n"
" stop: 0.5 #000101, stop: 1.0 #1F2B3C); \n"
"} \n"
"QWidget{ \n"
" background:#121922; \n"
"} \n"
"QLabel{ \n"
" background:transparent; \n"
"} \n"
"DailForm QLineEdit#phoneLineEdt{ \n"
" font-size:36px; \n"
" font-weight: bold; \n"
"} \n"
"QPushButton,QToolButton{ \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #080B10, \n"
" stop: 1.0 #212C3F); \n"
" border-style: outset; \n"
" border-width: 1px; \n"
" border-radius: 5px; \n"
" border-color: #11223F; \n"
" padding: 1px; \n"
" min-width: 2em;\n"
"} \n"
"QPushButton::hover,QToolButton::hover{ \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #080B10, \n"
" stop: 1.0 #313C4F); \n"
" border-color: #5D8B9E; \n"
" \n"
"} \n"
"QPushButton::pressed,QToolButton::pressed{ \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #080B10, \n"
" stop: 1.0 #717C8F); \n"
" color: white;\n"
" border-color: #5D8B9E; \n"
"} \n"
"QPushButton::disabled,QToolButton::disabled{ \n"
" background: rgb(10, 10,10);\n"
" border-color: #0A1320; \n"
" color:#6A6864; \n"
"} \n"
"QDialog QPushButton,QDialog QToolButton{ \n"
" min-width:30px; \n"
" min-height:23px; \n"
"} \n"
"QToolButton[objectName=\"minimizeToolBtn\"] { \n"
" background: transparent; \n"
" border:none; \n"
" /*image:url(qss/minimize.png)*/\n"
"} \n"
"QToolButton[objectName=\"minimizeToolBtn\"]:hover,QToolButton[objectName=\"minimizeToolBtn\"]:pressed { \n"
" /*image:url(qss/minimize_hover.png)*/ \n"
"} \n"
"QToolButton[objectName=\"maximizeToolBtn\"] { \n"
" background: transparent; \n"
" border:none; \n"
" /*image:url(qss/maximize.png)*/ \n"
"} \n"
"QToolButton[objectName=\"maximizeToolBtn\"]:hover,QToolButton[objectName=\"maximizeToolBtn\"]:pressed { \n"
" /*image:url(qss/maximize_hover.png)*/ \n"
"} \n"
"QToolButton[objectName=\"closeToolBtn\"],QToolButton[objectName=\"customCloseWindow\"] { \n"
" background: transparent; \n"
" border:none; \n"
" /*image:url(qss/close.png)*/ \n"
"} \n"
"QToolButton[objectName=\"closeToolBtn\"]:hover,QToolButton[objectName=\"closeToolBtn\"]:pressed{ \n"
" /*image:url(qss/close_hover.png)*/ \n"
"} \n"
"QToolButton[objectName=\"customCloseWindow\"]:hover,QToolButton[objectName=\"customCloseWindow\"]:pressed{ \n"
" /*image:url(qss/close_hover.png)*/ \n"
"} \n"
"QToolButton[objectName=\"titleSetUpToolBtn\"]{ \n"
" background: transparent; \n"
" border:none; \n"
" /*image:url(qss/setup.png)*/ \n"
"} \n"
"DailForm QToolButton#oneToolBtn,QToolButton#OneToolBtn,QToolButton#twoToolBtn,QToolButton#threeToolBtn, \n"
" QToolButton#fourToolBtn,QToolButton#fiveToolBtn,QToolButton#sixToolBtn, \n"
" QToolButton#sevenToolBtn,QToolButton#eightToolBtn,QToolButton#nineToolBtn, \n"
" QToolButton#starToolBtn,QToolButton#zeroToolBtn,QToolButton#sharpToolBtn { \n"
" font-size:36px; \n"
" border-radius: 10px; \n"
"} \n"
"DailForm QToolButton#delToolBtn{ \n"
" border-radius: 10px; \n"
"} \n"
"QFrame{ \n"
" border-color:#32435E; \n"
" border-width:1px; \n"
" border-radius: 3px; \n"
"} \n"
"QLineEdit,QTextEdit { \n"
" border: 1px solid #32435E; \n"
" border-radius: 3px; \n"
" /* padding: 0 8px; */ \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #080B10, \n"
" stop: 1.0 #212C3F); \n"
" selection-background-color: #0A246A; \n"
"} \n"
"QLineEdit::hover{ \n"
" border-color:#5D8B9E; \n"
"} \n"
"QLineEdit[echoMode=\"3\"] { \n"
" lineedit-password-character: 9679; \n"
"} \n"
"#QLineEdit:read-only { \n"
" background: #543F7C; \n"
"} \n"
"QTabWidget::pane { /* The tab widget frame */ \n"
" border: 0px solid #32435E; \n"
" position: absolute; \n"
" left: -0.1em; \n"
"} \n"
"QTabWidget#MainTabWidget::tab-bar { \n"
" left: -3px; /* move to the right by 5px */ \n"
"} \n"
"QTabWidget#MainTabWidget QTabBar::tab { \n"
" height: 14ex; \n"
" width: 14ex; \n"
"} \n"
"QTabBar::tab { \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #292F31, stop: 1 #0C131E); \n"
"} \n"
"QTabBar::tab:selected{ \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #113845, stop: 1.0 #15A8FF); \n"
"} \n"
"QTabBar::tab:hover { \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #113845, stop: 1.0 #0E6F80); \n"
"} \n"
"#QTabBar::tab:selected { \n"
" border-color: #32435E; \n"
" border-right-color: #32435E; /* same as pane color */ \n"
"} \n"
"#QTabBar::tab:!selected { \n"
" margin-left: 2px; /* make non-selected tabs look smaller */ \n"
"} \n"
"#QTabBar:tab:first:selected { \n"
" margin-top: 0; \n"
"} \n"
"QTabBar:tab:last:selected { \n"
" margin-right: 0; \n"
"} \n"
"QTabBar:tab:only-one { \n"
" margin: 0; \n"
"} \n"
"QListWidget{ \n"
" border: 1px solid #32435E; \n"
" background:#050609; \n"
"} \n"
"QListWidget::item:selected { \n"
" /*border: 0px solid #33CCFF;*/ \n"
" border:none; \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #6A848C, stop: 1.0 #0F9EAF); \n"
" padding:0px; \n"
" margin:0px; \n"
"} \n"
"#QListWidget::item:selected:!active { \n"
" border-width: 0px ; \n"
"} \n"
"#QListWidget::item:selected:active { \n"
" border-width: 1px; \n"
"} \n"
" \n"
"QComboBox { \n"
" border: 1px solid #32435E; \n"
" border-radius: 3px; \n"
" padding: 1px 18px 1px 3px; \n"
" min-width: 6em; \n"
"} \n"
"QComboBox::hover{ \n"
" border-color:#5D8B9E; \n"
"} \n"
"QComboBox:editable { \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #080B10, \n"
" stop: 1.0 #212C3F); \n"
"} \n"
"QComboBox:!editable, QComboBox::drop-down:editable { \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #080B10, \n"
" stop: 1.0 #212C3F); \n"
"} \n"
"/* QComboBox gets the \"on\" state when the popup is open */ \n"
"QComboBox:!editable:on, QComboBox::drop-down:editable:on { \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #080B10, \n"
" stop: 1.0 #212C3F);; \n"
"} \n"
"QComboBox:on { /* shift the text when the popup opens */ \n"
" padding-top: 3px; \n"
" padding-left: 4px; \n"
"} \n"
"QComboBox::drop-down { \n"
" subcontrol-origin: padding; \n"
" subcontrol-position: top right; \n"
" width: 15px; \n"
" border-left-width: 1px; \n"
" border-left-color: 32435E; \n"
" border-left-style: solid; /* just a single line */ \n"
" border-top-right-radius: 3px; /* same radius as the QComboBox */ \n"
" border-bottom-right-radius: 3px; \n"
"} \n"
"QComboBox::down-arrow { \n"
" /*image: url(qss/downarrow.png);*/ \n"
" \n"
"} \n"
"QComboBox::down-arrow:on { /* shift the arrow when popup is open */ \n"
" top: 1px; \n"
" left: 1px; \n"
"} \n"
"QComboBox QAbstractItemView { \n"
" border: 2px solid #32435E; \n"
" selection-background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #506B79, \n"
" stop: 1.0 #0D95A6); \n"
" background: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, \n"
" stop: 0 #1B2534, stop: 0.4 #010101, \n"
" stop: 0.5 #000101, stop: 1.0 #1F2B3C); \n"
"} ")
#线程 采集数据
class GettingUartData_Thread(QtCore.QThread):
def __init__(self,uart,parent=None):
super(self.__class__, self).__init__(parent)
self.stoped = False
self.mutex = QtCore.QMutex()
self.uart = uart
self.getwrong_message = None
def run(self):
ccddata = None
with QtCore.QMutexLocker(self.mutex):
self.stoped = False
try:
self.uart.open()
except SerialException,e:
self.getwrong_message = e
self.emit(QtCore.SIGNAL("UartData"), ccddata,self.getwrong_message)
while True:
if self.stoped == True:
return
try:
ccddata = self.uart.GetData()
except SerialException,e :
self.getwrong_message = e
self.emit(QtCore.SIGNAL("UartData"), ccddata,self.getwrong_message)
self.emit(QtCore.SIGNAL("UartData"), ccddata,self.getwrong_message)
def stop(self):
with QtCore.QMutexLocker(self.mutex):
self.uart.close()
self.getwrong_message = None
self.stoped = True
def isStop(self):
with QtCore.QMutexLocker(self.mutex):
return self.stoped
#主窗口
class Windows(QtGui.QMainWindow,Ui_Window):
def __init__(self,parent=None):
QtGui.QMainWindow.__init__(self, parent)
self.setupUi(self) # Ui_Form.setupUi
'''
#最小化&关闭
self.minibutton = QtGui.QToolButton(self)
self.minibutton.setGeometry(self.width()-45,5,20,20)
self.closebutton = QtGui.QToolButton(self)
self.closebutton.setGeometry(self.width()-25,5,20,20)
'''
#加入设置窗口
#setting_ui = UI_Settings()
#self.setting = QtGui.QWidget()
#setting_ui.setupUi(self.setting)
#新建窗口
self.ShowData = []
self.SD_data = []
#打开的窗体
self.open_widget = []
#显示文件的路径
self.ShowDataFileName = []
#设置lineedit
self.lineEdit.selectAll()
self.lineEdit.setFocus()
#curves曲线 名字:曲线
self.curves = {}
#图像管理器
self.manager = PlotManager(self)
#data 数据 double型 t
self.data = {u"t":array("d")}
for name in sum(PLOT_DEFINE, []):
self.data[name] = array("d")
self.data['tn'] = 0
self.data['xmax'] = 0
self.data['xmin'] = 0
self.progressbar = []
#车辆设置数据
self.data['angle_p'] = 0
self.data['angle_i'] = 0
self.data['angle_d'] = 0
self.data['speed_up_p'] = 0
self.data['speed_up_i'] = 0
self.data['speed_up_d'] = 0
self.data['speed_curve'] = 0
self.data['speed_straight'] = 0
self.data['k_ccd'] = 0
self.data['k_different'] = 0
self.data['light_time'] = 0
self.data['different_len'] = 0
self.data['different_size'] = 0
#主图表
self.plots = []
#副图标
self.plots_extra = []
#图表设置
(self.manager,self.plots,self.curves) = Plot_Start_New(self,PLOT_DEFINE,COLORS,0,5,-5,200)
for plot in self.plots:
self.left_layout1.addWidget(plot)
#self.manager.synchronize_axis(CurvePlot.X_BOTTOM, self.manager.plots.keys())
#添加设置窗口
self.setting_widget = setting_widget(self)
self.open_widget.append(self.setting_widget)
#连接
self.connect(self.pushButton_collect, QtCore.SIGNAL("clicked()"), self.AddingData_Start)
self.connect(self.action_open,QtCore.SIGNAL("triggered()"),self.OpenFile)
self.connect(self.action_save,QtCore.SIGNAL("triggered()"),self.SaveFile)
self.connect(self.lineEdit,QtCore.SIGNAL("returnPressed()"),lambda:self.Line2Brower(self.lineEdit))
#self.connect(self.lineEdit_2,QtCore.SIGNAL("returnPressed()"),lambda:self.Line2Brower(self.lineEdit_2))
self.connect(self.checkBox_x, QtCore.SIGNAL("clicked()"), self.Flx)
self.connect(self.checkBox_y, QtCore.SIGNAL("clicked()"), self.Auto)
#self.connect(self.pushButton_car_setting,QtCore.SIGNAL("clicked()"),self.Settings)
self.connect(self.pushButton_com,QtCore.SIGNAL("clicked()"), self.ReScanUart)
self.connect(self.about_qt,QtCore.SIGNAL("triggered()"), lambda:QtGui.QMessageBox.aboutQt(self))
self.connect(self.action_car,QtCore.SIGNAL("triggered()"),self.setting_widget.show)
self.connect(self.pushButton_cleandata, QtCore.SIGNAL("clicked()"),self.CleanData)
#self.connect(self.pushButton_run,QtCore.SIGNAL("clicked()"),self.CarStartRun)
#------------------------------------------------------小车设置连接----------------------------------------------------------------------------
# self.connect(self.setting_widget.pushButton_Stop, QtCore.SIGNAL("clicked()"),lambda :self.SetAngleP(20))
self.connect(self.setting_widget.pushButton_Stop, QtCore.SIGNAL("clicked()"),self.CarStopRun)
self.connect(self.setting_widget.apply, QtCore.SIGNAL("clicked()"),self.SettingApply)
self.connect(self.setting_widget.pushButton_Start, QtCore.SIGNAL("clicked()"),self.CarStartRun)
#进度条
msgBox = QtGui.QMessageBox(QtGui.QMessageBox.Warning, "", "", QtGui.QMessageBox.NoButton,parent = self )
msgBox.setStandardButtons( QtGui.QMessageBox.NoButton )
l = msgBox.layout()
self.progressbar.append(msgBox)
l.itemAtPosition( l.rowCount() - 1, 0 ).widget().hide()
progress = QtGui.QProgressBar()
self.progressbar.append(progress)
progress.setValue(0)
l.addWidget(progress,l.rowCount(), 0, 1, l.columnCount(), Qt.AlignCenter )
#--------------------------------------------------添加图像窗口-------------------------------------------------------------------------------
self.ccd_realshow = []
t = 0
t_past = 0
ccd_realshow = show_realdata_widget()
data = {}
data[u't'] = 0
data[u't_past'] = 0
temp_d = array('d')
for i in range(128):
temp_d.append(0)
ccd_realshow.setWindowTitle(u"图像显示")
ccd_realshow.setGeometry(200,200,400,400)
for x in range(3):
(memger,plots,curves) = Plot_Start_New(
ccd_realshow,
(
(u'CCD图像%d'%(x+1),
u'CCD图像%d左'%(x+1),
u'CCD图像%d中'%(x+1),
u'CCD图像%d右'%(x+1),
),
),
('white','red','green','blue'),0,128,0,255
)
temp_data = data.copy()
temp_data[u'CCD图像%d'%(x+1)] = temp_d[:]
temp_data[u'CCD图像%d左'%(x+1)] = temp_d[:]
temp_data[u'CCD图像%d中'%(x+1)] = temp_d[:]
temp_data[u'CCD图像%d右'%(x+1)] = temp_d[:]
self.ccd_realshow.append([u'CCD图像%d'%(x+1),ccd_realshow,plots,curves,temp_data])
for plot in plots:
ccd_realshow.gridLayout.addWidget(plot)
for x in self.ccd_realshow:
for y in x[2]:
y.hide()
ccd_realshow.checkBox_ccd1.setChecked(0)
ccd_realshow.checkBox_ccd2.setChecked(0)
ccd_realshow.checkBox_ccd3.setChecked(0)
self.connect(ccd_realshow.checkBox_ccd1, QtCore.SIGNAL("stateChanged(int)"),lambda x: self.Ccd_Realshow_Setting(0,x))
self.connect(ccd_realshow.checkBox_ccd2, QtCore.SIGNAL("stateChanged(int)"),lambda x: self.Ccd_Realshow_Setting(1,x))
self.connect(ccd_realshow.checkBox_ccd3, QtCore.SIGNAL("stateChanged(int)"),lambda x: self.Ccd_Realshow_Setting(2,x))
self.connect(self.setting_widget.checkBox_ccd1,QtCore.SIGNAL("stateChanged(int)"),ccd_realshow.checkBox_ccd1.setChecked)
self.connect(self.setting_widget.checkBox_ccd2,QtCore.SIGNAL("stateChanged(int)"),ccd_realshow.checkBox_ccd2.setChecked)
self.connect(self.setting_widget.checkBox_ccd3,QtCore.SIGNAL("stateChanged(int)"),ccd_realshow.checkBox_ccd3.setChecked)
self.connect(ccd_realshow.checkBox_ccd1,QtCore.SIGNAL("stateChanged(int)"),self.setting_widget.checkBox_ccd1.setChecked)
self.connect(ccd_realshow.checkBox_ccd2,QtCore.SIGNAL("stateChanged(int)"),self.setting_widget.checkBox_ccd2.setChecked)
self.connect(ccd_realshow.checkBox_ccd3,QtCore.SIGNAL("stateChanged(int)"),self.setting_widget.checkBox_ccd3.setChecked)
self.connect(self.setting_widget.checkBox_ccd3,QtCore.SIGNAL("stateChanged(int)"),ccd_realshow.checkBox_ccd3.setChecked)
self.connect(self.setting_widget.pushButton_real_data_Show,QtCore.SIGNAL("clicked()"),ccd_realshow.show)
self.connect(ccd_realshow.pushButton_single, QtCore.SIGNAL("clicked()"),self.SdRunSingle)
self.connect(ccd_realshow.pushButton_back, QtCore.SIGNAL("clicked()"),self.SdRunSingleBack)
#--------------------------------------------------添加图像窗口-------------------------------------------------------------------------------
self.connect(self.action_sd_open,QtCore.SIGNAL("triggered()"),self.OpenSDFile)
#定时显示
self.startTimer(40)
#--------------------------------------------------添加图像窗口设置-------------------------------------------------------------------------------
def Ccd_Realshow_Setting(self,num,i):
data = self.ccd_realshow[int(num)][2]
if not i:
for x in data:
#self.CarStopShowCCD1();
x.hide()
else:
for x in data:
#self.CarShowCCD1();
x.show()
def CleanData(self):
self.data = {u"t":array("d")}
for name in sum(PLOT_DEFINE, []):
self.data[name] = array("d")
self.data['tn'] = 0
self.data['xmax'] = 0
self.data['xmin'] = 0
for plot in self.plots:
plot.replot()
#车辆设置数据
self.data['angle_p'] = 0
self.data['angle_i'] = 0
self.data['angle_d'] = 0
self.data['speed_up_p'] = 0
self.data['speed_up_i'] = 0
self.data['speed_up_d'] = 0
self.data['speed_curve'] = 0
self.data['speed_straight'] = 0
self.data['k_ccd'] = 0
self.data['k_different'] = 0
self.data['light_time'] = 0
self.data['different_len'] = 0
self.data['different_size'] = 0
self.textBrowser.clear()
self.timerEvent(None)
def show(self):
QtGui.QMainWindow.show(self)
#加入串口
self.uart = Uart()
self.ReScanUart()
def Line2Brower(self,lineEdit):
text = unicode(lineEdit.text()).upper()
#打开收集
if text in (u'COLLECT',u'CLT'):
self.AddingData_Start()
#退出
elif text in (u'EXIT',u'QUIT'):
self.close()
#跟踪x
elif text in (u'FLX',u'follow x'):
if self.checkBox_x.isChecked():
self.checkBox_x.setChecked(0)
else:
self.checkBox_x.setChecked(1)
self.Flx()
#自动模式
elif text in (u'AUTO',):
if self.checkBox_y.isChecked():
self.checkBox_y.setChecked(0)
else:
self.checkBox_y.setChecked(1)
self.Auto()
#清除
elif text in (u'CLEAR',):
self.textBrowser.clear()
#出错
else:
try:
self.textBrowser.append("{0} = <b>{1}</b>".format(text,
eval(text)))
except:
self.textBrowser.append("<font color=red>{0} is invalid!</font>"
.format(text))
#打开follow x
def Flx(self):
if self.checkBox_x.isChecked():
self.textBrowser.append(u"<font color=green><b>x跟踪</b> 已 <b>开启</b>!</font>")
else:
self.textBrowser.append(u"<font color=green><b>x跟踪</b> 已 <b>关闭</b>!</font>")
#自动模式
def Auto(self):
if self.checkBox_y.isChecked():
self.textBrowser.append(u"<font color=green><b>自动跟踪</b> 已 <b>开启</b>!</font>")
else:
self.textBrowser.append(u"<font color=green><b>自动跟踪</b> 已 <b>关闭</b>!</font>")
#打开文件
def OpenFile(self):
filename = QtGui.QFileDialog.getOpenFileNames(
self, caption=u'打开文件',
directory = os.getcwd(),
filter = u"数据库文件(*.db);;All files (*.*)",
selectedFilter = u"数据库文件(*.db)"
)
for x in filename:
if x in self.ShowDataFileName:
id2 = self.ShowDataFileName.index(x)
self.ShowData[id2][0].show()
else:
try:
data = cPickle.load(open(x,'r'))
#图像初始化
except cPickle.UnpicklingError :
QtGui.QMessageBox.warning(self,u"文件出错",u"文件出错!请检查！")
continue
#添加菜单栏
a = review_widget()
if not self.ShowData:
self.showdata_menu = self.menubar.addMenu(u'已打开文件')
action = self.showdata_menu.addAction(x)
self.connect(action,QtCore.SIGNAL("triggered()"),a.show)
a.setWindowTitle(x)
(manager,plots,curves) = Plot_Start_New(a,PLOT_DEFINE,COLORS,0,5,-5,200)
plot = plots[0]
for key, curve in curves.iteritems():
xdata = data["t"]
ydata = data[key]
x, y = get_peak_data(xdata, ydata, 0, 12, 1000, 1/DT)
curve.set_data(x, y)
plot.replot()
#完成后设置
a.gridLayout.addWidget(plot)
#图表 文件
self.ShowData.append((a,plot,curves,data))
#设置窗口名
self.ShowDataFileName.append(x)
#设置 车辆设置
'''
a.label_angle_p.setText(str(data['angle_p']))
a.label_angle_i.setText(str(data['angle_i']))
a.label_angle_d.setText(str(data['angle_d']))
a.label_speed_up_p.setText(str(data['speed_up_p']))
a.label_speed_up_i.setText(str(data['speed_up_i']))
a.label_spped_up_d.setText(str(data['speed_up_d']))
a.label_speed_curve.setText(str(data['speed_curve']))
a.label_speed_straight.setText(str(data['speed_straight']))
a.label_k_ccd.setText(str(data['k_ccd']))
a.label_k_different.setText(str(data['k_different']))
a.label_light_time.setText(str(data['light_time']))
a.label_different_len.setText(str(data['different_len']))
a.label_different_size.setText(str(data['different_size']))
'''
a.show()
#打开SD文件
def OpenSDFile(self):
self.SD_data = []
filename = QtGui.QFileDialog.getOpenFileName(
self, caption=u'打开文件',
directory = os.getcwd(),
filter = u"数据库文件(*.txt);;All files (*.*)",
selectedFilter = u"数据库文件(*.txt)"
)
file1 = open(filename,'r')
self.SD_data.append(file1)
self.SD_data.append(0)
ccd_realshow = self.ccd_realshow[0][1]
ccd_realshow.checkBox_ccd1.setChecked(1)
ccd_realshow.checkBox_ccd2.setChecked(1)
ccd_realshow.checkBox_ccd3.setChecked(1)
ccd_realshow.show()
#运行SD 单步
def SdRunSingle(self):
if self.SD_data:
file1 = self.SD_data[0]
print 'len',len(self.SD_data),' ',self.SD_data[1]+2
if self.SD_data[1] +2 == len(self.SD_data):
for x in range(4):
temp = eval(file1.readline())
if temp:
self.SD_data[1] += 1
self.SD_data.append(temp)
self.AddingData(temp,None)
else:
for x in range(4):
temp = self.SD_data[ self.SD_data[1] +2 ]
self.SD_data[1] += 1
self.AddingData(temp,None)
#单步倒退
def SdRunSingleBack(self):
print 'len',len(self.SD_data),' ',self.SD_data[1]+2
if self.SD_data[1] > 0:
for x in range(4):
self.SD_data[1] -= 1
temp = self.SD_data[ self.SD_data[1] +2 ]
self.AddingData(temp,None)
#保存文件
def SaveFile(self):
filename = QtGui.QFileDialog.getSaveFileName(
self, caption=u'保存文件',
directory = os.getcwd(),
filter = u"数据库文件(*.db);;All files (*.*)",
selectedFilter = u"数据库文件(*.db)"
)
if filename:
file1 = open(filename,'w')
cPickle.dump(self.data, file1)
file1.close()
#开始采集
def AddingData_Start(self):
string = self.pushButton_collect.text( )
if string == u'开始采集':
self.ReScanUart()
if not self.uart.freeport:
pass
else:
self.pushButton_collect.setText(u'关闭采集')
#打开端口
for x in self.uart.freeport:
if str(self.comboBox_com.currentText()) in x:
self.uart.setPort(x[0])
self.uart.setBaudrate(self.comboBox_baudrate.currentText())
#清空
#self.CleanData()
#串口数据线程
self.adddata = GettingUartData_Thread(self.uart)
#采集串口数据
self.connect(self.adddata, QtCore.SIGNAL("UartData"), self.AddingData)
self.adddata.start()
self.textBrowser.append(u"<font color=green><b>采集</b> 已 <b>开始</b>!</font>")
#禁止修改
self.comboBox_com.setDisabled(True)
self.comboBox_baudrate.setDisabled(True)
else:
#停止收集
self.AddingData_Stop()
self.textBrowser.append(u"<font color=green><b>采集</b> 已 <b>停止</b>!</font>")
self.pushButton_collect.setText(u'开始采集')
#打开修改
self.comboBox_com.setDisabled(False)
self.comboBox_baudrate.setDisabled(False)
#停止采集
def AddingData_Stop(self):
self.ProgressBar_Open("请稍候","串口关闭中...")
self.adddata.stop()
for x in range(100):
self.ProgressBar_SetValue(x)
sleep(0.001)
if self.adddata.isStop():
self.disconnect(self.adddata, QtCore.SIGNAL("UartData"),
self.AddingData)
self.adddata.stop()
self.adddata.quit()
self.adddata.wait()
self.adddata.deleteLater()
self.ProgressBar_SetValue(100)
self.ProgressBar_Stop()
#得到数据
def AddingData(self,data,message):
#图像数据
ccddata = data
if message:
self.AddingData_Start()
print message
QtGui.QMessageBox.warning(self,u"串口错误",str(message))
self.ProgressBar_Open("请稍候","串口重置中...")
for x in range(100):
self.ProgressBar_SetValue(x)
sleep(0.05)
self.ProgressBar_Stop()
self.ReScanUart()
elif ccddata != None:
datalen = len(ccddata)
if datalen == 129:
data_raw = array('d')
num = ccddata[0]
if num in range(1,4):
ccddata.pop(0)
data_raw.fromlist(ccddata)
for x in self.ccd_realshow:
if 'CCD图像%d'%num in x:
data = x[4]
data['t'] = data['t'] +1
data[u'CCD图像%d'%num] = data_raw
else:
print ccddata
elif datalen == 14:
for x in range(3):
ccd_realshow = self.ccd_realshow[x]
temp = []
temp.append(ccddata[0])
temp.append(ccddata[4])
temp.append(ccddata[8])
temp.append(ccddata[3])
temp.append(ccddata[7])
temp.append(ccddata[13])
self.AddingData(temp,None)
for y in range(128):
ccd_realshow[4][u'CCD图像%d左'%(x+1)][y] = 0
ccd_realshow[4][u'CCD图像%d左'%(x+1)][ccddata[x*4]] = 255
for y in range(128):
ccd_realshow[4][u'CCD图像%d中'%(x+1)][y] = 0
ccd_realshow[4][u'CCD图像%d中'%(x+1)][ccddata[x*4+1]] = 255
for y in range(128):
ccd_realshow[4][u'CCD图像%d右'%(x+1)][y] = 0
ccd_realshow[4][u'CCD图像%d右'%(x+1)][ccddata[x*4+2]] = 255
elif len(ccddata) == 7:
t = self.data['tn']
self.data[u"t"].append(t)
self.data[u"CCD_1中间值"].append(ccddata[0])
self.data[u"CCD_2中间值"].append(ccddata[1])
self.data[u"CCD_3中间值"].append(ccddata[2])
#self.data[u"打角/100"].append(ccddata[2])
self.data[u"CCD_1状态"].append(ccddata[3]*30)
self.data[u"CCD_2状态"].append(ccddata[4]*30)
light = "%d"%ccddata[5]
angle = "%d"%ccddata[2]
status = ccddata[3]
status2 = ccddata[4]
status3 = ccddata[6]
if status != 3:
if status == 1:
status =u'找到两条线'
else:
status =u'找到一条线'
if self.data[u"CCD_1状态"][len(self.data[u"CCD_1状态"])-2] == 90:
self.textBrowser.append(u"<font color=green>{0} </font>"
.format(u"t =%.3f时 CCD_1找到线!中点:\t%d"%(t,ccddata[0]))
)
else:
status =u'找不到线'
if self.data[u"CCD_1状态"][len(self.data[u"CCD_1状态"])-2] != 90:
self.textBrowser.append(u"<font color=red>{0} </font>"
.format(u"t =%.3f时 CCD_1找不到线!中点:\t%d"%(t,ccddata[0]))
)
if status2 != 3:
if status2 == 1:
status2 =u'找到两条线'
else:
status2 =u'找到一条线'
if self.data[u"CCD_2状态"][len(self.data[u"CCD_2状态"])-2] == 90:
self.textBrowser.append(u"<font color=green>{0} </font>"
.format(u"t =%.3f时 CCD_2找到线!中点:\t%d"%(t,ccddata[1]))
)
else:
status2 =u'找不到线'
if self.data[u"CCD_2状态"][len(self.data[u"CCD_2状态"])-2] != 90:
self.textBrowser.append(u"<font color=red>{0} </font>"
.format(u"t =%.3f时 CCD_2找不到线!中点:\t%d"%(t,ccddata[1]))
)
if status3 != 3:
if status3 == 1:
status3 =u'找到两条线'
else:
status3 =u'找到一条线'