#!/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 * from PyQt4.QtCore import * from PyQt4 import QtGui, QtCore from PyQt4.QtGui import * from PyQt4.QtCore import pyqtSignature from PyQt4.QtGui import (QApplication, QMainWindow, QGraphicsScene) class mywindow(QMainWindow,Ui_Client): def __init__(self): global timer super(mywindow,self).__init__() self.setupUi(self) self.h=self.IP.text() self.TCP=VideoStreaming() self.servo1=90 self.servo2=20 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('20') 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(0) self.VSlider_Servo2.setMaximum(150) 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) timer = QTimer(self) self.connect(timer, SIGNAL("timeout()"), self.time) 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 close(self): timer.stop() try: self.TCP.sendData(cmd.CMD_POWER_OFF) self.TCP.sendData(cmd.CMD_CLOSE) stop_thread(self.streaming) stop_thread(self.recv) self.TCP.StopTcpcClient() except: pass try: os.remove("video.jpg") except: pass QCoreApplication.instance().quit() os._exit(0) def recvmassage(self): self.receflag=1 try: self.TCP.socket1_connect(self.h) self.TCP.sendData(cmd.CMD_POWER_ON) while True: Alldata=self.TCP.recvData() if Alldata==None: pass elif Alldata=='': break elif len(Alldata)>21: continue else : Massage=Alldata.split("#") if cmd.CMD_SONIC in Massage: self.Ultrasonic.setText('Obstruction:%s cm'%Massage[1]) elif cmd.CMD_SERVO in Massage: print Massage 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])*3-7)/1.40*100) self.progress_Power.setValue(percent_power) else: pass except : pass 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 : #print "You Pressed Key : ", event.key(), event.text() 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): self.TCP.sendData(cmd.CMD_FORWARD) def on_btn_Turn_Left(self): self.TCP.sendData(cmd.CMD_TURULEFT) def on_btn_BackWard(self): self.TCP.sendData(cmd.CMD_BACKWARD) def on_btn_Turn_Right(self): self.TCP.sendData(cmd.CMD_TURNRIGHT) def on_btn_Stop(self): self.TCP.sendData(cmd.CMD_MOTORSTOP) 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>=150: self.servo2=150 self.VSlider_Servo2.setValue(self.servo2) self.TCP.sendData(cmd.CMD_SERVO2+str(self.servo2)) self.label_Servo2.setText("%d"%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) self.TCP.sendData(cmd.CMD_SERVO1+str(self.servo1)+'#0') self.label_Servo1.setText("%d"%self.servo1) def on_btn_Down(self): self.servo2=self.servo2-10 if self.servo2<=0: self.servo2=0 self.VSlider_Servo2.setValue(self.servo2) self.TCP.sendData(cmd.CMD_SERVO2+str(self.servo2)) self.label_Servo2.setText("%d"%self.servo2) def on_btn_Home(self): self.servo1=90 self.servo2=20 self.TCP.sendData(cmd.CMD_SERVO1+str(self.servo1)+'#0') self.label_Servo1.setText("%d"%self.servo1) self.TCP.sendData(cmd.CMD_SERVO2+str(self.servo2)) self.label_Servo2.setText("%d"%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) self.TCP.sendData(cmd.CMD_SERVO1+str(self.servo1)+'#0') self.label_Servo1.setText("%d"%self.servo1) def Change_Left_Right(self):#Left or Right self.servo1=self.HSlider_Servo1.value() self.TCP.sendData(cmd.CMD_SERVO1+str(self.servo1)+'#0') self.label_Servo1.setText("%d"%self.servo1) 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_SERVO1+str(data)+'#0') 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_SERVO2+str(data)) def Change_Up_Down(self):#Up or Down self.servo2=self.VSlider_Servo2.value() self.TCP.sendData(cmd.CMD_SERVO2+str(self.servo2)) self.label_Servo2.setText("%d"%self.servo2) def windowMinimumed(self): self.showMinimized() def on_btn_Buzzer(self): if self.Btn_Buzzer.text()=='Buzzer': self.TCP.sendData(cmd.CMD_BUZZER_ON) self.Btn_Buzzer.setText('Noise') else: self.TCP.sendData(cmd.CMD_BUZZER_OFF) self.Btn_Buzzer.setText('Buzzer') def LedChange(self,b): R=self.Color_R.text() G=self.Color_G.text() B=self.Color_B.text() if b.text() == "Led1": if b.isChecked() == True: self.TCP.sendData(cmd.CMD_LED2_ON+str(R)+"#"+str(G)+"#"+str(B)) else: self.TCP.sendData(cmd.CMD_LED2_OFF) if b.text() == "Led2": if b.isChecked() == True: self.TCP.sendData(cmd.CMD_LED3_ON+str(R)+"#"+str(G)+"#"+str(B)) else: self.TCP.sendData(cmd.CMD_LED3_OFF) if b.text() == "Led3": if b.isChecked() == True: self.TCP.sendData(cmd.CMD_LED4_ON+str(R)+"#"+str(G)+"#"+str(B)) else: self.TCP.sendData(cmd.CMD_LED4_OFF) if b.text() == "Led4": if b.isChecked() == True: self.TCP.sendData(cmd.CMD_LED5_ON+str(R)+"#"+str(G)+"#"+str(B)) else: self.TCP.sendData(cmd.CMD_LED5_OFF) if b.text() == "Led5": if b.isChecked() == True: self.TCP.sendData(cmd.CMD_LED1_ON+str(R)+"#"+str(G)+"#"+str(B)) else: self.TCP.sendData(cmd.CMD_LED1_OFF) if b.text() == "Led6": if b.isChecked() == True: self.TCP.sendData(cmd.CMD_LED0_ON+str(R)+"#"+str(G)+"#"+str(B)) else: self.TCP.sendData(cmd.CMD_LED0_OFF) if b.text() == "Led7": if b.isChecked() == True: self.TCP.sendData(cmd.CMD_LED7_ON+str(R)+"#"+str(G)+"#"+str(B)) else: self.TCP.sendData(cmd.CMD_LED7_OFF) if b.text() == "Led8": if b.isChecked() == True: self.TCP.sendData(cmd.CMD_LED6_ON+str(R)+"#"+str(G)+"#"+str(B)) else: self.TCP.sendData(cmd.CMD_LED6_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_MOD1) else: self.TCP.sendData(cmd.CMD_LED_OFF) 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_MOD2) else: self.TCP.sendData(cmd.CMD_LED_OFF) 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_MOD3) else: self.TCP.sendData(cmd.CMD_LED_OFF) 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_MOD4) else: self.TCP.sendData(cmd.CMD_LED_OFF) def on_btn_Ultrasonic(self): if self.Ultrasonic.text()=="Ultrasonic": self.TCP.sendData(cmd.CMD_ULTRASONIC_ON) else: self.TCP.sendData(cmd.CMD_ULTRASONIC_OFF) self.Ultrasonic.setText("Ultrasonic") def on_btn_Light(self): if self.Light.text() == "Light": self.TCP.sendData(cmd.CMD_LIGHT_ON) else: self.TCP.sendData(cmd.CMD_LIGHT_OFF) self.Light.setText("Light") def on_btn_Mode(self,Mode): if Mode.text() == "M-Free": if Mode.isChecked() == True: timer.start(34) self.TCP.sendData(cmd.CMD_MODE[0]) if Mode.text() == "M-Light": if Mode.isChecked() == True: timer.stop() self.TCP.sendData(cmd.CMD_MODE[1]) if Mode.text() == "M-Sonic": if Mode.isChecked() == True: timer.stop() self.TCP.sendData(cmd.CMD_MODE[2]) if Mode.text() == "M-Line": if Mode.isChecked() == True: timer.stop() self.TCP.sendData(cmd.CMD_MODE[3]) 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 (self.h) elif self.Btn_Connect.text()=="Disconnect": self.Btn_Connect.setText( "Connect") self.TCP.windows=0 self.receflag=0 try: stop_thread(self.streaming) stop_thread(self.recv) self.TCP.sendData(cmd.CMD_POWER_OFF) self.TCP.client_socket1.send(cmd.CMD_CLOSE) self.TCP.StopTcpcClient() except: pass def is_valid_jpg(self,jpg_file): try: if jpg_file.split('.')[-1].lower() == 'jpg': with open(jpg_file, 'rb') as f: f.seek(-2, 2) buf = f.read() f.close() return buf.endswith(b'\xff\xd9') else: return false except: pass def is_valid_jpg1(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 IsValidImage(self,pathfile): bValid = True try: Image.open(pathfile).verify() except: bValid = False 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 = 4.5* offset_x delta_degree_y = -4.5 * 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_jpg1('video.jpg') and self.IsValidImage('video.jpg') and 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_())