640 lines
26 KiB
Python
640 lines
26 KiB
Python
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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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import numpy as np
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import cv2
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import socket
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import os
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import io
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import time
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import imghdr
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import sys
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from threading import Timer
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from threading import Thread
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from PIL import Image
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from Command import COMMAND as cmd
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from Thread import *
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from Client_Ui import Ui_Client
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from Video import *
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from PyQt4.QtCore import *
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from PyQt4 import QtGui, QtCore
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from PyQt4.QtGui import *
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from PyQt4.QtCore import pyqtSignature
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from PyQt4.QtGui import (QApplication, QMainWindow, QGraphicsScene)
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class mywindow(QMainWindow,Ui_Client):
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def __init__(self):
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global timer
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super(mywindow,self).__init__()
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self.setupUi(self)
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self.endChar='\n'
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self.intervalChar='#'
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self.h=self.IP.text()
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self.TCP=VideoStreaming()
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self.servo1=90
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self.servo2=90
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self.label_FineServo2.setText("0")
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self.label_FineServo1.setText("0")
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self.m_DragPosition=self.pos()
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self.setWindowFlags(Qt.FramelessWindowHint | Qt.WindowStaysOnTopHint)
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self.setMouseTracking(True)
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self.Key_W=False
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self.Key_A=False
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self.Key_S=False
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self.Key_D=False
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self.Key_Space=False
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self.setFocusPolicy(Qt.StrongFocus)
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self.progress_Power.setMinimum(0)
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self.progress_Power.setMaximum(100)
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self.name.setAlignment(QtCore.Qt.AlignCenter)
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self.label_Servo1.setText('90')
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self.label_Servo2.setText('90')
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self.label_Video.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
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self.label_Servo1.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
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self.label_Servo2.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
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self.label_FineServo1.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
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self.label_FineServo2.setAlignment(QtCore.Qt.AlignCenter|QtCore.Qt.AlignVCenter)
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self.HSlider_Servo1.setMinimum(0)
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self.HSlider_Servo1.setMaximum(180)
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self.HSlider_Servo1.setSingleStep(1)
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self.HSlider_Servo1.setValue(self.servo1)
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self.HSlider_Servo1.valueChanged.connect(self.Change_Left_Right)
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self.HSlider_FineServo1.setMinimum(-10)
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self.HSlider_FineServo1.setMaximum(10)
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self.HSlider_FineServo1.setSingleStep(1)
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self.HSlider_FineServo1.setValue(0)
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self.HSlider_FineServo1.valueChanged.connect(self.Fine_Tune_Left_Right)
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self.HSlider_FineServo2.setMinimum(-10)
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self.HSlider_FineServo2.setMaximum(10)
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self.HSlider_FineServo2.setSingleStep(1)
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self.HSlider_FineServo2.setValue(0)
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self.HSlider_FineServo2.valueChanged.connect(self.Fine_Tune_Up_Down)
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self.VSlider_Servo2.setMinimum(80)
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self.VSlider_Servo2.setMaximum(180)
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self.VSlider_Servo2.setSingleStep(1)
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self.VSlider_Servo2.setValue(self.servo2)
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self.VSlider_Servo2.valueChanged.connect(self.Change_Up_Down)
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self.checkBox_Led1.setChecked(False)
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self.checkBox_Led1.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led1))
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self.checkBox_Led2.setChecked(False)
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self.checkBox_Led2.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led2))
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self.checkBox_Led3.setChecked(False)
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self.checkBox_Led3.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led3))
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self.checkBox_Led4.setChecked(False)
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self.checkBox_Led4.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led4))
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self.checkBox_Led5.setChecked(False)
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self.checkBox_Led5.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led5))
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self.checkBox_Led6.setChecked(False)
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self.checkBox_Led6.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led6))
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self.checkBox_Led7.setChecked(False)
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self.checkBox_Led7.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led7))
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self.checkBox_Led8.setChecked(False)
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self.checkBox_Led8.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led8))
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self.checkBox_Led_Mode1.setChecked(False)
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self.checkBox_Led_Mode1.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led_Mode1))
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self.checkBox_Led_Mode2.setChecked(False)
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self.checkBox_Led_Mode2.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led_Mode2))
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self.checkBox_Led_Mode3.setChecked(False)
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self.checkBox_Led_Mode3.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led_Mode3))
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self.checkBox_Led_Mode4.setChecked(False)
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self.checkBox_Led_Mode4.stateChanged.connect(lambda:self.LedChange(self.checkBox_Led_Mode4))
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self.Btn_Mode1.setChecked(True)
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self.Btn_Mode1.toggled.connect(lambda:self.on_btn_Mode(self.Btn_Mode1))
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self.Btn_Mode2.setChecked(False)
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self.Btn_Mode2.toggled.connect(lambda:self.on_btn_Mode(self.Btn_Mode2))
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self.Btn_Mode3.setChecked(False)
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self.Btn_Mode3.toggled.connect(lambda:self.on_btn_Mode(self.Btn_Mode3))
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self.Btn_Mode4.setChecked(False)
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self.Btn_Mode4.toggled.connect(lambda:self.on_btn_Mode(self.Btn_Mode4))
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self.Ultrasonic.clicked.connect(self.on_btn_Ultrasonic)
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self.Light.clicked.connect(self.on_btn_Light)
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self.Btn_ForWard.pressed.connect(self.on_btn_ForWard)
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self.Btn_ForWard.released.connect(self.on_btn_Stop)
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self.Btn_Turn_Left.pressed.connect(self.on_btn_Turn_Left)
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self.Btn_Turn_Left.released.connect(self.on_btn_Stop)
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self.Btn_BackWard.pressed.connect(self.on_btn_BackWard)
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self.Btn_BackWard.released.connect(self.on_btn_Stop)
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self.Btn_Turn_Right.pressed.connect(self.on_btn_Turn_Right)
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self.Btn_Turn_Right.released.connect(self.on_btn_Stop)
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self.Btn_Video.clicked.connect(self.on_btn_video)
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self.Btn_Up.clicked.connect(self.on_btn_Up)
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self.Btn_Left.clicked.connect(self.on_btn_Left)
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self.Btn_Down.clicked.connect(self.on_btn_Down)
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self.Btn_Home.clicked.connect(self.on_btn_Home)
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self.Btn_Right.clicked.connect(self.on_btn_Right)
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self.Btn_Tracking_Faces.clicked.connect(self.Tracking_Face)
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self.Btn_Buzzer.pressed.connect(self.on_btn_Buzzer)
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self.Btn_Buzzer.released.connect(self.on_btn_Buzzer)
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self.Btn_Connect.clicked.connect(self.on_btn_Connect)
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self.Window_Min.clicked.connect(self.windowMinimumed)
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self.Window_Close.clicked.connect(self.close)
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timer = QTimer(self)
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self.connect(timer, SIGNAL("timeout()"), self.time)
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def mousePressEvent(self, event):
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if event.button()==Qt.LeftButton:
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self.m_drag=True
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self.m_DragPosition=event.globalPos()-self.pos()
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event.accept()
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def mouseMoveEvent(self, QMouseEvent):
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if QMouseEvent.buttons() and Qt.LeftButton:
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self.move(QMouseEvent.globalPos()-self.m_DragPosition)
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QMouseEvent.accept()
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def mouseReleaseEvent(self, QMouseEvent):
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self.m_drag=False
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def keyPressEvent(self, event):
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if(event.key() == Qt.Key_Up):
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self.on_btn_Up()
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elif(event.key() == Qt.Key_Left):
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self.on_btn_Left()
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elif(event.key() == Qt.Key_Down):
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self.on_btn_Down()
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elif(event.key() == Qt.Key_Right):
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self.on_btn_Right()
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elif(event.key() == Qt.Key_Home):
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self.on_btn_Home()
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if(event.key() == Qt.Key_Q):
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if self.Btn_Mode1.isChecked() == True:
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self.Btn_Mode2.setChecked(True)
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elif self.Btn_Mode2.isChecked() == True:
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self.Btn_Mode3.setChecked(True)
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elif self.Btn_Mode3.isChecked() == True:
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self.Btn_Mode4.setChecked(True)
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elif self.Btn_Mode4.isChecked() == True:
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self.Btn_Mode1.setChecked(True)
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if(event.key() == Qt.Key_L):
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count=0
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if self.checkBox_Led_Mode1.isChecked() == True:
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self.checkBox_Led_Mode2.setChecked(True)
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elif self.checkBox_Led_Mode2.isChecked() == True:
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self.checkBox_Led_Mode3.setChecked(True)
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elif self.checkBox_Led_Mode3.isChecked() == True:
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self.checkBox_Led_Mode4.setChecked(True)
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elif self.checkBox_Led_Mode4.isChecked() == True:
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self.checkBox_Led_Mode1.setChecked(True)
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for i in range(1,5):
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checkBox_Led_Mode=getattr(self,"checkBox_Led_Mode%d"%i)
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if checkBox_Led_Mode.isChecked() == False:
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count+=1
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else:
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break
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if count ==4:
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self.checkBox_Led_Mode1.setChecked(True)
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if(event.key() == Qt.Key_C):
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self.on_btn_Connect()
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if(event.key() == Qt.Key_V):
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self.on_btn_video()
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if(event.key() == Qt.Key_1):
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if self.checkBox_Led1.isChecked() == True:
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self.checkBox_Led1.setChecked(False)
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else:
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self.checkBox_Led1.setChecked(True)
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elif(event.key() == Qt.Key_2):
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if self.checkBox_Led2.isChecked() == True:
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self.checkBox_Led2.setChecked(False)
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else:
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self.checkBox_Led2.setChecked(True)
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elif(event.key() == Qt.Key_3):
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if self.checkBox_Led3.isChecked() == True:
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self.checkBox_Led3.setChecked(False)
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else:
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self.checkBox_Led3.setChecked(True)
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elif(event.key() == Qt.Key_4):
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if self.checkBox_Led4.isChecked() == True:
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self.checkBox_Led4.setChecked(False)
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else:
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self.checkBox_Led4.setChecked(True)
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elif(event.key() == Qt.Key_5):
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if self.checkBox_Led5.isChecked() == True:
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self.checkBox_Led5.setChecked(False)
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else:
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self.checkBox_Led5.setChecked(True)
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elif(event.key() == Qt.Key_6):
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if self.checkBox_Led6.isChecked() == True:
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self.checkBox_Led6.setChecked(False)
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else:
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self.checkBox_Led6.setChecked(True)
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elif(event.key() == Qt.Key_7):
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if self.checkBox_Led7.isChecked() == True:
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self.checkBox_Led7.setChecked(False)
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else:
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self.checkBox_Led7.setChecked(True)
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elif(event.key() == Qt.Key_8):
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if self.checkBox_Led8.isChecked() == True:
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self.checkBox_Led8.setChecked(False)
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else:
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self.checkBox_Led8.setChecked(True)
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if event.isAutoRepeat():
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pass
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else :
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if event.key() == Qt.Key_W:
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self.on_btn_ForWard()
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self.Key_W=True
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elif event.key() == Qt.Key_S:
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self.on_btn_BackWard()
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self.Key_S=True
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elif event.key() == Qt.Key_A:
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self.on_btn_Turn_Left()
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self.Key_A=True
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elif event.key() == Qt.Key_D:
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self.on_btn_Turn_Right()
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self.Key_D=True
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elif event.key() == Qt.Key_Space:
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self.on_btn_Buzzer()
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self.Key_Space=True
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def keyReleaseEvent(self, event):
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if(event.key() == Qt.Key_W):
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time.sleep(0.05)
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if(event.key() == Qt.Key_W):
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if not(event.isAutoRepeat()) and self.Key_W==True:
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self.on_btn_Stop()
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self.Key_W=False
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elif(event.key() == Qt.Key_A):
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if not(event.isAutoRepeat()) and self.Key_A==True:
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self.on_btn_Stop()
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self.Key_A=False
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elif(event.key() == Qt.Key_S):
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if not(event.isAutoRepeat()) and self.Key_S==True:
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self.on_btn_Stop()
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self.Key_S=False
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elif(event.key() == Qt.Key_D):
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if not(event.isAutoRepeat()) and self.Key_D==True:
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self.on_btn_Stop()
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self.Key_D=False
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if(event.key() == Qt.Key_Space):
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if not(event.isAutoRepeat()) and self.Key_Space==True:
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self.on_btn_Buzzer()
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self.Key_Space=False
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def on_btn_ForWard(self):
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ForWard=self.intervalChar+str(1500)+self.intervalChar+str(1500)+self.intervalChar+str(1500)+self.intervalChar+str(1500)+self.endChar
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self.TCP.sendData(cmd.CMD_MOTOR+ForWard)
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def on_btn_Turn_Left(self):
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Turn_Left=self.intervalChar+str(-1500)+self.intervalChar+str(-1500)+self.intervalChar+str(1500)+self.intervalChar+str(1500)+self.endChar
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self.TCP.sendData(cmd.CMD_MOTOR+ Turn_Left)
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def on_btn_BackWard(self):
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BackWard=self.intervalChar+str(-1500)+self.intervalChar+str(-1500)+self.intervalChar+str(-1500)+self.intervalChar+str(-1500)+self.endChar
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self.TCP.sendData(cmd.CMD_MOTOR+BackWard)
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def on_btn_Turn_Right(self):
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||
|
|
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':
|
||
|
|
timer.start(34)
|
||
|
|
self.Btn_Video.setText('Close Video')
|
||
|
|
elif self.Btn_Video.text()=='Close Video':
|
||
|
|
timer.stop()
|
||
|
|
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:
|
||
|
|
timer.start(34)
|
||
|
|
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'one'+self.endChar)
|
||
|
|
|
||
|
|
if Mode.text() == "M-Light":
|
||
|
|
if Mode.isChecked() == True:
|
||
|
|
timer.stop()
|
||
|
|
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'two'+self.endChar)
|
||
|
|
if Mode.text() == "M-Sonic":
|
||
|
|
if Mode.isChecked() == True:
|
||
|
|
timer.stop()
|
||
|
|
self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'three'+self.endChar)
|
||
|
|
if Mode.text() == "M-Line":
|
||
|
|
if Mode.isChecked() == True:
|
||
|
|
timer.stop()
|
||
|
|
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:
|
||
|
|
print 'video error'
|
||
|
|
try:
|
||
|
|
self.recv=Thread(target=self.recvmassage)
|
||
|
|
self.recv.start()
|
||
|
|
except:
|
||
|
|
print 'recv error'
|
||
|
|
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):
|
||
|
|
timer.stop()
|
||
|
|
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
|
||
|
|
if self.is_valid_jpg('video.jpg'):
|
||
|
|
self.label_Video.setPixmap(QtGui.QPixmap(QtCore.QString.fromUtf8('video.jpg')))
|
||
|
|
if self.Btn_Tracking_Faces.text()=="Tracing-Off":
|
||
|
|
self.find_Face(self.TCP.face_x,self.TCP.face_y)
|
||
|
|
self.TCP.video_Flag=True
|
||
|
|
|
||
|
|
if __name__ == '__main__':
|
||
|
|
app = QApplication(sys.argv)
|
||
|
|
myshow=mywindow()
|
||
|
|
myshow.show();
|
||
|
|
sys.exit(app.exec_())
|
||
|
|
|
||
|
|
|
||
|
|
|