pt/freenove_car
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
d733ae3778
freenove_car/Code/Client/Main.py

641 lines
26 KiB
Python
Raw Normal View History

Update Code and Tutorial
2019-09-24 21:09:34 -04:00
#!/usr/bin/python
# -*- coding: utf-8 -*-
import numpy as np
import cv2
import socket
import os
import io
import time
import imghdr
import sys
from threading import Timer
from threading import Thread
from PIL import Image
from Command import COMMAND as cmd
from Thread import *
from Client_Ui import Ui_Client
from Video import *
Update Updated code and Tutorial.pdf
2020-03-03 04:39:01 -05:00
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtCore import *
from PyQt5.QtWidgets import *
from PyQt5.QtGui import *
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
class mywindow(QMainWindow,Ui_Client):
def __init__(self):
global timer
super(mywindow,self).__init__()
self.setupUi(self)
self.endChar='\n'
self.intervalChar='#'
self.h=self.IP.text()
self.TCP=VideoStreaming()
self.servo1=90
self.servo2=90
self.label_FineServo2.setText("0")
self.label_FineServo1.setText("0")
self.m_DragPosition=self.pos()
self.setWindowFlags(Qt.FramelessWindowHint | Qt.WindowStaysOnTopHint)
self.setMouseTracking(True)
self.Key_W=False
self.Key_A=False
self.Key_S=False
self.Key_D=False
self.Key_Space=False
self.setFocusPolicy(Qt.StrongFocus)
self.progress_Power.setMinimum(0)
self.progress_Power.setMaximum(100)
self.name.setAlignment(QtCore.Qt.AlignCenter)
self.label_Servo1.setText('90')
self.label_Servo2.setText('90')
self.label_Video.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
self.label_Servo1.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
self.label_Servo2.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
self.label_FineServo1.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
self.label_FineServo2.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
self.HSlider_Servo1.setMinimum(0)
self.HSlider_Servo1.setMaximum(180)
self.HSlider_Servo1.setSingleStep(1)
self.HSlider_Servo1.setValue(self.servo1)
self.HSlider_Servo1.valueChanged.connect(self.Change_Left_Right)
self.HSlider_FineServo1.setMinimum(-10)
self.HSlider_FineServo1.setMaximum(10)
self.HSlider_FineServo1.setSingleStep(1)
self.HSlider_FineServo1.setValue(0)
self.HSlider_FineServo1.valueChanged.connect(self.Fine_Tune_Left_Right)
self.HSlider_FineServo2.setMinimum(-10)
self.HSlider_FineServo2.setMaximum(10)
self.HSlider_FineServo2.setSingleStep(1)
self.HSlider_FineServo2.setValue(0)
self.HSlider_FineServo2.valueChanged.connect(self.Fine_Tune_Up_Down)
self.VSlider_Servo2.setMinimum(80)
self.VSlider_Servo2.setMaximum(180)
self.VSlider_Servo2.setSingleStep(1)
self.VSlider_Servo2.setValue(self.servo2)
self.VSlider_Servo2.valueChanged.connect(self.Change_Up_Down)
self.checkBox_Led1.setChecked(False)
self.checkBox_Led1.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led1))
self.checkBox_Led2.setChecked(False)
self.checkBox_Led2.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led2))
self.checkBox_Led3.setChecked(False)
self.checkBox_Led3.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led3))
self.checkBox_Led4.setChecked(False)
self.checkBox_Led4.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led4))
self.checkBox_Led5.setChecked(False)
self.checkBox_Led5.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led5))
self.checkBox_Led6.setChecked(False)
self.checkBox_Led6.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led6))
self.checkBox_Led7.setChecked(False)
self.checkBox_Led7.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led7))
self.checkBox_Led8.setChecked(False)
self.checkBox_Led8.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led8))
self.checkBox_Led_Mode1.setChecked(False)
self.checkBox_Led_Mode1.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led_Mode1))
self.checkBox_Led_Mode2.setChecked(False)
self.checkBox_Led_Mode2.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led_Mode2))
self.checkBox_Led_Mode3.setChecked(False)
self.checkBox_Led_Mode3.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led_Mode3))
self.checkBox_Led_Mode4.setChecked(False)
self.checkBox_Led_Mode4.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led_Mode4))
self.Btn_Mode1.setChecked(True)
self.Btn_Mode1.toggled.connect(lambda:self.on_btn_Mode(self.Btn_Mode1))
self.Btn_Mode2.setChecked(False)
self.Btn_Mode2.toggled.connect(lambda:self.on_btn_Mode(self.Btn_Mode2))
self.Btn_Mode3.setChecked(False)
self.Btn_Mode3.toggled.connect(lambda:self.on_btn_Mode(self.Btn_Mode3))
self.Btn_Mode4.setChecked(False)
self.Btn_Mode4.toggled.connect(lambda:self.on_btn_Mode(self.Btn_Mode4))
self.Ultrasonic.clicked.connect(self.on_btn_Ultrasonic)
self.Light.clicked.connect(self.on_btn_Light)
self.Btn_ForWard.pressed.connect(self.on_btn_ForWard)
self.Btn_ForWard.released.connect(self.on_btn_Stop)
self.Btn_Turn_Left.pressed.connect(self.on_btn_Turn_Left)
self.Btn_Turn_Left.released.connect(self.on_btn_Stop)
self.Btn_BackWard.pressed.connect(self.on_btn_BackWard)
self.Btn_BackWard.released.connect(self.on_btn_Stop)
self.Btn_Turn_Right.pressed.connect(self.on_btn_Turn_Right)
self.Btn_Turn_Right.released.connect(self.on_btn_Stop)
self.Btn_Video.clicked.connect(self.on_btn_video)
self.Btn_Up.clicked.connect(self.on_btn_Up)
self.Btn_Left.clicked.connect(self.on_btn_Left)
self.Btn_Down.clicked.connect(self.on_btn_Down)
self.Btn_Home.clicked.connect(self.on_btn_Home)
self.Btn_Right.clicked.connect(self.on_btn_Right)
self.Btn_Tracking_Faces.clicked.connect(self.Tracking_Face)
self.Btn_Buzzer.pressed.connect(self.on_btn_Buzzer)
self.Btn_Buzzer.released.connect(self.on_btn_Buzzer)
self.Btn_Connect.clicked.connect(self.on_btn_Connect)
self.Window_Min.clicked.connect(self.windowMinimumed)
self.Window_Close.clicked.connect(self.close)
Update Updated code and Tutorial.pdf
2020-03-03 04:39:01 -05:00
self.timer = QTimer(self)
self.timer.timeout.connect(self.time)
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
def mousePressEvent(self, event):
if event.button()==Qt.LeftButton:
self.m_drag=True
self.m_DragPosition=event.globalPos()-self.pos()
event.accept()
def mouseMoveEvent(self, QMouseEvent):
if QMouseEvent.buttons() and Qt.LeftButton:
self.move(QMouseEvent.globalPos()-self.m_DragPosition)
QMouseEvent.accept()
def mouseReleaseEvent(self, QMouseEvent):
self.m_drag=False
def keyPressEvent(self, event):
if(event.key() == Qt.Key_Up):
self.on_btn_Up()
elif(event.key() == Qt.Key_Left):
self.on_btn_Left()
elif(event.key() == Qt.Key_Down):
self.on_btn_Down()
elif(event.key() == Qt.Key_Right):
self.on_btn_Right()
elif(event.key() == Qt.Key_Home):
self.on_btn_Home()
if(event.key() == Qt.Key_Q):
if self.Btn_Mode1.isChecked() == True:
self.Btn_Mode2.setChecked(True)
elif self.Btn_Mode2.isChecked() == True:
self.Btn_Mode3.setChecked(True)
elif self.Btn_Mode3.isChecked() == True:
self.Btn_Mode4.setChecked(True)
elif self.Btn_Mode4.isChecked() == True:
self.Btn_Mode1.setChecked(True)
if(event.key() == Qt.Key_L):
count=0
if self.checkBox_Led_Mode1.isChecked() == True:
self.checkBox_Led_Mode2.setChecked(True)
elif self.checkBox_Led_Mode2.isChecked() == True:
self.checkBox_Led_Mode3.setChecked(True)
elif self.checkBox_Led_Mode3.isChecked() == True:
self.checkBox_Led_Mode4.setChecked(True)
elif self.checkBox_Led_Mode4.isChecked() == True:
self.checkBox_Led_Mode1.setChecked(True)
for i in range(1,5):
checkBox_Led_Mode=getattr(self,"checkBox_Led_Mode%d"%i)
if checkBox_Led_Mode.isChecked() == False:
count+=1
else:
break
if count ==4:
self.checkBox_Led_Mode1.setChecked(True)
if(event.key() == Qt.Key_C):
self.on_btn_Connect()
if(event.key() == Qt.Key_V):
self.on_btn_video()
if(event.key() == Qt.Key_1):
if self.checkBox_Led1.isChecked() == True:
self.checkBox_Led1.setChecked(False)
else:
self.checkBox_Led1.setChecked(True)
elif(event.key() == Qt.Key_2):
if self.checkBox_Led2.isChecked() == True:
self.checkBox_Led2.setChecked(False)
else:
self.checkBox_Led2.setChecked(True)
elif(event.key() == Qt.Key_3):
if self.checkBox_Led3.isChecked() == True:
self.checkBox_Led3.setChecked(False)
else:
self.checkBox_Led3.setChecked(True)
elif(event.key() == Qt.Key_4):
if self.checkBox_Led4.isChecked() == True:
self.checkBox_Led4.setChecked(False)
else:
self.checkBox_Led4.setChecked(True)
elif(event.key() == Qt.Key_5):
if self.checkBox_Led5.isChecked() == True:
self.checkBox_Led5.setChecked(False)
else:
self.checkBox_Led5.setChecked(True)
elif(event.key() == Qt.Key_6):
if self.checkBox_Led6.isChecked() == True:
self.checkBox_Led6.setChecked(False)
else:
self.checkBox_Led6.setChecked(True)
elif(event.key() == Qt.Key_7):
if self.checkBox_Led7.isChecked() == True:
self.checkBox_Led7.setChecked(False)
else:
self.checkBox_Led7.setChecked(True)
elif(event.key() == Qt.Key_8):
if self.checkBox_Led8.isChecked() == True:
self.checkBox_Led8.setChecked(False)
else:
self.checkBox_Led8.setChecked(True)
if event.isAutoRepeat():
pass
else :
if event.key() == Qt.Key_W:
self.on_btn_ForWard()
self.Key_W=True
elif event.key() == Qt.Key_S:
self.on_btn_BackWard()
self.Key_S=True
elif event.key() == Qt.Key_A:
self.on_btn_Turn_Left()
self.Key_A=True
elif event.key() == Qt.Key_D:
self.on_btn_Turn_Right()
self.Key_D=True
elif event.key() == Qt.Key_Space:
self.on_btn_Buzzer()
self.Key_Space=True
def keyReleaseEvent(self, event):
if(event.key() == Qt.Key_W):
time.sleep(0.05)
if(event.key() == Qt.Key_W):
if not(event.isAutoRepeat()) and self.Key_W==True:
self.on_btn_Stop()
self.Key_W=False
elif(event.key() == Qt.Key_A):
if not(event.isAutoRepeat()) and self.Key_A==True:
self.on_btn_Stop()
self.Key_A=False
elif(event.key() == Qt.Key_S):
if not(event.isAutoRepeat()) and self.Key_S==True:
self.on_btn_Stop()
self.Key_S=False
elif(event.key() == Qt.Key_D):
if not(event.isAutoRepeat()) and self.Key_D==True:
self.on_btn_Stop()
self.Key_D=False
if(event.key() == Qt.Key_Space):
if not(event.isAutoRepeat()) and self.Key_Space==True:
self.on_btn_Buzzer()
self.Key_Space=False
def on_btn_ForWard(self):
ForWard=self.intervalChar+str(1500)+self.intervalChar+str(1500)+self.intervalChar+str(1500)+self.intervalChar+str(1500)+self.endChar
self.TCP.sendData(cmd.CMD_MOTOR+ForWard)
def on_btn_Turn_Left(self):
Turn_Left=self.intervalChar+str(-1500)+self.intervalChar+str(-1500)+self.intervalChar+str(1500)+self.intervalChar+str(1500)+self.endChar
self.TCP.sendData(cmd.CMD_MOTOR+ Turn_Left)
def on_btn_BackWard(self):
BackWard=self.intervalChar+str(-1500)+self.intervalChar+str(-1500)+self.intervalChar+str(-1500)+self.intervalChar+str(-1500)+self.endChar
self.TCP.sendData(cmd.CMD_MOTOR+BackWard)
def on_btn_Turn_Right(self):
Turn_Right=self.intervalChar+str(1500)+self.intervalChar+str(1500)+self.intervalChar+str(-1500)+self.intervalChar+str(-1500)+self.endChar
self.TCP.sendData(cmd.CMD_MOTOR+Turn_Right)
def on_btn_Stop(self):
Stop=self.intervalChar+str(0)+self.intervalChar+str(0)+self.intervalChar+str(0)+self.intervalChar+str(0)+self.endChar
self.TCP.sendData(cmd.CMD_MOTOR+Stop)
def on_btn_video(self):
if self.Btn_Video.text()=='Open Video':
Update Updated code and Tutorial.pdf
2020-03-03 04:39:01 -05:00
self.timer.start(34)
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
self.Btn_Video.setText('Close Video')
elif self.Btn_Video.text()=='Close Video':
Update Updated code and Tutorial.pdf
2020-03-03 04:39:01 -05:00
self.timer.stop()
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
self.Btn_Video.setText('Open Video')
def on_btn_Up(self):
self.servo2=self.servo2+10
if self.servo2>=180:
self.servo2=180
self.VSlider_Servo2.setValue(self.servo2)
def on_btn_Left(self):
self.servo1=self.servo1-10
if self.servo1<=0:
self.servo1=0
self.HSlider_Servo1.setValue(self.servo1)
def on_btn_Down(self):
self.servo2=self.servo2-10
if self.servo2<=80:
self.servo2=80
self.VSlider_Servo2.setValue(self.servo2)
def on_btn_Right(self):
self.servo1=self.servo1+10
if self.servo1>=180:
self.servo1=180
self.HSlider_Servo1.setValue(self.servo1)
def on_btn_Home(self):
self.servo1=90
self.servo2=90
self.HSlider_Servo1.setValue(self.servo1)
self.VSlider_Servo2.setValue(self.servo2)
def on_btn_Buzzer(self):
if self.Btn_Buzzer.text()=='Buzzer':
self.TCP.sendData(cmd.CMD_BUZZER+self.intervalChar+'1'+self.endChar)
self.Btn_Buzzer.setText('Noise')
else:
self.TCP.sendData(cmd.CMD_BUZZER+self.intervalChar+'0'+self.endChar)
self.Btn_Buzzer.setText('Buzzer')
def on_btn_Ultrasonic(self):
if self.Ultrasonic.text()=="Ultrasonic":
self.TCP.sendData(cmd.CMD_SONIC+self.intervalChar+'1'+self.endChar)
else:
self.TCP.sendData(cmd.CMD_SONIC+self.intervalChar+'0'+self.endChar)
self.Ultrasonic.setText("Ultrasonic")
def on_btn_Light(self):
if self.Light.text() == "Light":
self.TCP.sendData(cmd.CMD_LIGHT+self.intervalChar+'1'+self.endChar)
else:
self.TCP.sendData(cmd.CMD_LIGHT+self.intervalChar+'0'+self.endChar)
self.Light.setText("Light")
def Change_Left_Right(self):#Left or Right
self.servo1=self.HSlider_Servo1.value()
self.TCP.sendData(cmd.CMD_SERVO+self.intervalChar+'0'+self.intervalChar+str(self.servo1)+self.endChar)
self.label_Servo1.setText("%d"%self.servo1)
def Change_Up_Down(self):#Up or Down
self.servo2=self.VSlider_Servo2.value()
self.TCP.sendData(cmd.CMD_SERVO+self.intervalChar+'1'+self.intervalChar+str(self.servo2)+self.endChar)
self.label_Servo2.setText("%d"%self.servo2)
def Fine_Tune_Left_Right(self):#fine tune Left or Right
self.label_FineServo1.setText(str(self.HSlider_FineServo1.value()))
data=self.servo1+self.HSlider_FineServo1.value()
self.TCP.sendData(cmd.CMD_SERVO+self.intervalChar+'0'+self.intervalChar+str(data)+self.endChar)
def Fine_Tune_Up_Down(self):#fine tune Up or Down
self.label_FineServo2.setText(str(self.HSlider_FineServo2.value()))
data=self.servo2+self.HSlider_FineServo2.value()
self.TCP.sendData(cmd.CMD_SERVO+self.intervalChar+'1'+self.intervalChar+str(data)+self.endChar)
def windowMinimumed(self):
self.showMinimized()
def LedChange(self,b):
R=self.Color_R.text()
G=self.Color_G.text()
B=self.Color_B.text()
led_Off=self.intervalChar+str(0)+self.intervalChar+str(0)+self.intervalChar+str(0)+self.endChar
color=self.intervalChar+str(R)+self.intervalChar+str(G)+self.intervalChar+str(B)+self.endChar
if b.text() == "Led1":
self.led_Index=str(0x01)
if b.isChecked() == True:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+color)
else:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+led_Off)
if b.text() == "Led2":
self.led_Index=str(0x02)
if b.isChecked() == True:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+color)
else:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+led_Off)
if b.text() == "Led3":
self.led_Index=str(0x04)
if b.isChecked() == True:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+color)
else:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+led_Off)
if b.text() == "Led4":
self.led_Index=str(0x08)
if b.isChecked() == True:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+color)
else:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+led_Off)
if b.text() == "Led5":
self.led_Index=str(0x10)
if b.isChecked() == True:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+color)
else:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+led_Off)
if b.text() == "Led6":
self.led_Index=str(0x20)
if b.isChecked() == True:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+color)
else:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+led_Off)
if b.text() == "Led7":
self.led_Index=str(0x40)
if b.isChecked() == True:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+color)
else:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+led_Off)
if b.text() == "Led8":
self.led_Index=str(0x80)
if b.isChecked() == True:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+color)
else:
self.TCP.sendData(cmd.CMD_LED+self.intervalChar+ self.led_Index+led_Off)
if b.text() == "Led_Mode1":
if b.isChecked() == True:
self.checkBox_Led_Mode2.setChecked(False)
self.checkBox_Led_Mode3.setChecked(False)
self.checkBox_Led_Mode4.setChecked(False)
self.TCP.sendData(cmd.CMD_LED_MOD+self.intervalChar+'1'+self.endChar)
else:
self.TCP.sendData(cmd.CMD_LED_MOD+self.intervalChar+'0'+self.endChar)
if b.text() == "Led_Mode2":
if b.isChecked() == True:
self.checkBox_Led_Mode1.setChecked(False)
self.checkBox_Led_Mode3.setChecked(False)
self.checkBox_Led_Mode4.setChecked(False)
self.TCP.sendData(cmd.CMD_LED_MOD+self.intervalChar+'2'+self.endChar)
else:
self.TCP.sendData(cmd.CMD_LED_MOD+self.intervalChar+'0'+self.endChar)
if b.text() == "Led_Mode3":
if b.isChecked() == True:
self.checkBox_Led_Mode2.setChecked(False)
self.checkBox_Led_Mode1.setChecked(False)
self.checkBox_Led_Mode4.setChecked(False)
self.TCP.sendData(cmd.CMD_LED_MOD+self.intervalChar+'3'+self.endChar)
else:
self.TCP.sendData(cmd.CMD_LED_MOD+self.intervalChar+'0'+self.endChar)
if b.text() == "Led_Mode4":
if b.isChecked() == True:
self.checkBox_Led_Mode2.setChecked(False)
self.checkBox_Led_Mode3.setChecked(False)
self.checkBox_Led_Mode1.setChecked(False)
self.TCP.sendData(cmd.CMD_LED_MOD+self.intervalChar+'4'+self.endChar)
else:
self.TCP.sendData(cmd.CMD_LED_MOD+self.intervalChar+'0'+self.endChar)
def on_btn_Mode(self,Mode):
if Mode.text() == "M-Free":
if Mode.isChecked() == True:
Update Update Code
2020-07-07 20:24:44 -04:00
#self.timer.start(34)
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'one'+self.endChar)
if Mode.text() == "M-Light":
if Mode.isChecked() == True:
Update Update Code
2020-07-07 20:24:44 -04:00
#self.timer.stop()
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'two'+self.endChar)
if Mode.text() == "M-Sonic":
if Mode.isChecked() == True:
Update Update Code
2020-07-07 20:24:44 -04:00
#self.timer.stop()
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'three'+self.endChar)
if Mode.text() == "M-Line":
if Mode.isChecked() == True:
Update Update Code
2020-07-07 20:24:44 -04:00
#self.timer.stop()
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'four'+self.endChar)
def on_btn_Connect(self):
if self.Btn_Connect.text() == "Connect":
self.h=self.IP.text()
self.TCP.StartTcpClient(self.h,)
try:
self.streaming=Thread(target=self.TCP.streaming,args=(self.h,))
self.streaming.start()
except:
Update Updated code and Tutorial.pdf
2020-03-03 04:39:01 -05:00
print ('video error')
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
try:
self.recv=Thread(target=self.recvmassage)
self.recv.start()
except:
Update Updated code and Tutorial.pdf
2020-03-03 04:39:01 -05:00
print ('recv error')
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
self.Btn_Connect.setText( "Disconnect")
print ('Server address:'+str(self.h)+'\n')
elif self.Btn_Connect.text()=="Disconnect":
self.Btn_Connect.setText( "Connect")
try:
stop_thread(self.recv)
stop_thread(self.power)
stop_thread(self.streaming)
except:
pass
self.TCP.StopTcpcClient()
def close(self):
Update Updated code and Tutorial.pdf
2020-03-03 04:39:01 -05:00
self.timer.stop()
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
try:
stop_thread(self.recv)
stop_thread(self.streaming)
except:
pass
self.TCP.StopTcpcClient()
try:
os.remove("video.jpg")
except:
pass
QCoreApplication.instance().quit()
os._exit(0)
def Power(self):
while True:
try:
self.TCP.sendData(cmd.CMD_POWER+self.endChar)
time.sleep(60)
except:
break
def recvmassage(self):
self.TCP.socket1_connect(self.h)
self.power=Thread(target=self.Power)
self.power.start()
restCmd=""
while True:
Alldata=restCmd+str(self.TCP.recvData())
restCmd=""
print (Alldata)
if Alldata=="":
break
else:
cmdArray=Alldata.split("\n")
if(cmdArray[-1] != ""):
restCmd=cmdArray[-1]
cmdArray=cmdArray[:-1]
for oneCmd in cmdArray:
Massage=oneCmd.split("#")
if cmd.CMD_SONIC in Massage:
self.Ultrasonic.setText('Obstruction:%s cm'%Massage[1])
elif cmd.CMD_LIGHT in Massage:
self.Light.setText("Left:"+Massage[1]+'V'+' '+"Right:"+Massage[2]+'V')
elif cmd. CMD_POWER in Massage:
percent_power=int((float(Massage[1])-7)/1.40*100)
self.progress_Power.setValue(percent_power)
def is_valid_jpg(self,jpg_file):
try:
bValid = True
if jpg_file.split('.')[-1].lower() == 'jpg':
with open(jpg_file, 'rb') as f:
buf=f.read()
if not buf.startswith(b'\xff\xd8'):
bValid = False
elif buf[6:10] in (b'JFIF', b'Exif'):
if not buf.rstrip(b'\0\r\n').endswith(b'\xff\xd9'):
bValid = False
else:
try:
Image.open(f).verify()
except:
bValid = False
else:
return bValid
except:
pass
return bValid
def Tracking_Face(self):
if self.Btn_Tracking_Faces.text()=="Tracing-On":
self.Btn_Tracking_Faces.setText("Tracing-Off")
else:
self.Btn_Tracking_Faces.setText("Tracing-On")
def find_Face(self,face_x,face_y):
if face_x!=0 and face_y!=0:
offset_x=float(face_x/400-0.5)*2
offset_y=float(face_y/300-0.5)*2
delta_degree_x = 4* offset_x
delta_degree_y = -4 * offset_y
self.servo1=self.servo1+delta_degree_x
self.servo2=self.servo2+delta_degree_y
if offset_x > -0.15 and offset_y >-0.15 and offset_x < 0.15 and offset_y <0.15:
pass
else:
self.HSlider_Servo1.setValue(self.servo1)
self.VSlider_Servo2.setValue(self.servo2)
def time(self):
self.TCP.video_Flag=False
Update Updated code and Tutorial.pdf
2020-03-03 04:39:01 -05:00
try:
if self.is_valid_jpg('video.jpg'):
self.label_Video.setPixmap(QPixmap('video.jpg'))
if self.Btn_Tracking_Faces.text()=="Tracing-Off":
self.find_Face(self.TCP.face_x,self.TCP.face_y)
except Exception as e:
print(e)
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
self.TCP.video_Flag=True
Update Updated code and Tutorial.pdf
2020-03-03 04:39:01 -05:00
Update Code and Tutorial
2019-09-24 21:09:34 -04:00
if __name__ == '__main__':
app = QApplication(sys.argv)
myshow=mywindow()
myshow.show();
sys.exit(app.exec_())
Reference in New Issue Copy Permalink