#!/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 PyQt5 import QtCore, QtGui, QtWidgets from PyQt5.QtCore import * from PyQt5.QtWidgets import * from PyQt5.QtGui import * 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) self.timer = QTimer(self) self.timer.timeout.connect(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 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': self.timer.start(34) self.Btn_Video.setText('Close Video') elif self.Btn_Video.text()=='Close Video': self.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: #self.timer.start(34) self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'one'+self.endChar) if Mode.text() == "M-Light": if Mode.isChecked() == True: #self.timer.stop() self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'two'+self.endChar) if Mode.text() == "M-Sonic": if Mode.isChecked() == True: #self.timer.stop() self.TCP.sendData(cmd.CMD_MODE+self.intervalChar+'three'+self.endChar) if Mode.text() == "M-Line": if Mode.isChecked() == True: #self.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): 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 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) self.TCP.video_Flag=True if __name__ == '__main__': app = QApplication(sys.argv) myshow=mywindow() myshow.show(); sys.exit(app.exec_())