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  1. from PyQt5.QtCore import QDateTime, Qt, QTimer
  2. from PyQt5.QtWidgets import (QApplication, QCheckBox, QComboBox, QDateTimeEdit,
  3. QDial, QDialog, QGridLayout, QGroupBox, QHBoxLayout, QLabel, QLineEdit,
  4. QProgressBar, QPushButton, QRadioButton, QScrollBar, QSizePolicy,
  5. QSlider, QSpinBox, QStyleFactory, QTableWidget, QTabWidget, QTextEdit,
  6. QTableWidgetItem, QVBoxLayout, QWidget, QHeaderView)
  7. from PyQt5.QtGui import *
  8. import time
  9. import serial
  10. from QLed import QLed
  11.  
  12. from PyQt5 import uic, QtCore, QtWidgets
  13.  
  14. #import vrep
  15.  
  16.  
  17. import matplotlib
  18. matplotlib.use('Qt5Agg')
  19. from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg, NavigationToolbar2QT as NavigationToolbar
  20. from matplotlib.figure import Figure
  21. """
  22. arduinoData=serial.Serial('COM6',9600)
  23.  
  24. def led_on():
  25. arduinoData.write(b'1')
  26. def led_off():
  27. arduinoData.write(b'0')
  28. def led2_on():
  29. arduinoData.write(b'3')
  30. def led2_off():
  31. arduinoData.write(b'2')
  32. def led3_on():
  33. arduinoData.write(b'5')
  34. def led3_off():
  35. arduinoData.write(b'4')
  36. t=0
  37. while(t<3000000):
  38. t+=1
  39. led3_off()
  40. """
  41. class MplCanvas(FigureCanvasQTAgg):
  42. def __init__(self, parent=None, width=5, height=4, dpi=120):
  43. fig = Figure(figsize=(width, height), dpi=dpi)
  44. self.axes = fig.add_subplot(111)
  45. super(MplCanvas, self).__init__(fig)
  46.  
  47. class WidgetGallery(QDialog):
  48. def __init__(self, parent=None):
  49. super(WidgetGallery, self).__init__(parent)
  50. self.setFixedHeight(700)
  51. self.setFixedWidth(1300)
  52. styleComboBox = QComboBox()
  53.  
  54. styleLabel = QLabel("Style:")
  55.  
  56. self.useStylePaletteCheckBox = QCheckBox("&Use style's standard palette")
  57. self.useStylePaletteCheckBox.setChecked(True)
  58. disableWidgetsCheckBox = QCheckBox("&Disable widgets")
  59. self.createTopLeftGroupBox()
  60. self.createTopRightGroupBox()
  61. self.createBottomLeftTabWidget()
  62. self.bottomLeftTabWidget.setFixedHeight(220)
  63. self.createBottomRightGroupBox()
  64. self.createProgressBar()
  65.  
  66. topLayout = QHBoxLayout()
  67.  
  68. mainLayout = QGridLayout()
  69. mainLayout.addWidget(self.topLeftGroupBox, 1, 0)
  70. mainLayout.addWidget(self.topRightGroupBox, 1, 1)
  71.  
  72. mainLayout.addWidget(self.bottomLeftTabWidget, 2, 0)
  73. mainLayout.addWidget(self.bottomRightGroupBox, 2, 1)
  74. self.setLayout(mainLayout)
  75. self.setWindowTitle("Styles")
  76. self.changeStyle('Windows')
  77. self.label = QLabel(self)
  78. # self.label.setFont(QVBoxLayout.QFont("Sanserif", 15))
  79.  
  80. def changeStyle(self, styleName):
  81. QApplication.setStyle(QStyleFactory.create(styleName))
  82. self.changePalette()
  83.  
  84. def changePalette(self):
  85. if (self.useStylePaletteCheckBox.isChecked()):
  86. QApplication.setPalette(QApplication.style().standardPalette())
  87. else:
  88. QApplication.setPalette(self.originalPalette)
  89. def advanceProgressBar(self):
  90. curVal = self.progressBar.value()
  91. maxVal = self.progressBar.maximum()
  92. self.progressBar.setValue(curVal + (maxVal - curVal) // 100)
  93.  
  94. def createTopLeftGroupBox(self):
  95. self.topLeftGroupBox = QGroupBox("Dynamic Graph")
  96. self.sc = MplCanvas(self, width=5, height=4, dpi=120)
  97. self.toolbar = NavigationToolbar(self.sc, self)
  98.  
  99. # self.sc.resize(120,80)
  100. # self.sc.setMaximumHeight(500)
  101. self.sc.axes.set_position([0.1, 0.13, 0.85, 0.80])
  102. #self.sc.axes.legend(handletextpad=0.1)
  103. self.sc.axes.ymargin=0.1
  104. layout = QVBoxLayout()
  105. layout.addWidget(self.toolbar)
  106. layout.addWidget(self.sc)
  107.  
  108. # Create a placeholder widget to hold our toolbar and canvas.
  109. #widget = QtWidgets.QWidget()
  110. #widget.setLayout(layout)
  111. #self.setCentralWidget(widget)
  112.  
  113. self.show()
  114.  
  115. self.topLeftGroupBox.setLayout(layout)
  116.  
  117. def createBottomLeftTabWidget(self):
  118. self.bottomLeftTabWidget = QTabWidget()
  119. self.tab1 = QWidget()
  120. self.tab1.resize(1600,400)
  121. self.tableWidget = QTableWidget(5, 100)
  122. header = self.tableWidget.horizontalHeader()
  123. header.setSectionResizeMode(QHeaderView.Stretch)
  124. self.tableWidget.resize(120,80)
  125. self.tab1hbox = QHBoxLayout()
  126. self.tab1hbox.addWidget(self.tableWidget)
  127. self.tab1.setLayout(self.tab1hbox)
  128. self.bottomLeftTabWidget.addTab(self.tab1, "&Table")
  129.  
  130. def dialMoved(self):
  131. print(self.dial3.value())
  132. self.label.setText(" Dialer Value : " + str(getValue))
  133.  
  134. def createBottomRightGroupBox(self):
  135. self.bottomRightGroupBox = QGroupBox("Actuators")
  136. self.Button_Right = QPushButton("Act: 1")
  137. self.Button_Right.setCheckable(True)
  138. self.Button_Right.clicked.connect(self.Button_Right_Handler)
  139. self.Button_Left = QPushButton("Act: 2")
  140. self.Button_Left.setCheckable(True)
  141. self.Button_Left.clicked.connect(self.Button_Left_Handler)
  142. self.Button_Top = QPushButton("Act: 3")
  143. self.Button_Top.setCheckable(True)
  144. self.Button_Top.clicked.connect(self.Button_Top_Handler)
  145. self.Button_Roll = QPushButton("Act: Roll")
  146. self.Button_Roll.setCheckable(True)
  147. self.Button_Roll.clicked.connect(self.Button_Roll_Handler)
  148. layout2 = QVBoxLayout()
  149. layout2.addWidget(self.Button_Right)
  150. layout2.addWidget(self.Button_Left)
  151. layout2.addWidget(self.Button_Top)
  152. layout2.addWidget(self.Button_Roll)
  153. self.bottomRightGroupBox.setLayout(layout2)
  154.  
  155. def createTopRightGroupBox(self):
  156.  
  157.  
  158. self.topRightGroupBox = QGroupBox("Control Panel")
  159.  
  160. stopAllButton = QPushButton("Turn off the actuators")
  161. stopAllButton.setDefault(True)
  162. stopAllButton.clicked.connect(self.StopAll_Handler)
  163.  
  164. readForceButton=QPushButton("Read force values")
  165. readForceButton.setDefault(True)
  166. readForceButton.clicked.connect(self.readForce)
  167.  
  168.  
  169. readEncButton=QPushButton("Read encoder")
  170. readEncButton.setDefault(True)
  171. readEncButton.clicked.connect(self.readEncoder)
  172.  
  173. self.dial3 = QDial(self.topRightGroupBox)
  174. self.dial3.setMinimum(-125)
  175. self.dial3.setMaximum(125)
  176. self.dial3.setNotchesVisible(True)
  177.  
  178.  
  179.  
  180. layout = QVBoxLayout()
  181. layout.addWidget(stopAllButton)
  182. layout.addWidget(readForceButton)
  183. layout.addWidget(readEncButton)
  184. layout.addWidget(self.dial3)
  185.  
  186.  
  187. self.led1=QLed(self, onColour=QLed.Red, shape=QLed.Circle)
  188. self.led1.value=False
  189.  
  190. self.led2=QLed(self, onColour=QLed.Red, shape=QLed.Circle)
  191. self.led2.value=False
  192.  
  193. self.led3=QLed(self, onColour=QLed.Red, shape=QLed.Circle)
  194. self.led3.value=False
  195.  
  196. self.led4=QLed(self, onColour=QLed.Red, shape=QLed.Circle)
  197. self.led4.value=False
  198.  
  199. self.light = 0
  200.  
  201. layout.addWidget(self.led1)
  202. layout.addWidget(self.led2)
  203. layout.addWidget(self.led3)
  204. layout.addWidget(self.led4)
  205. layout.addStretch(1)
  206. self.topRightGroupBox.setLayout(layout)
  207.  
  208. def sendSerial(self):
  209. if ((self.dial3.value()>=5) or (self.dial3.value()<-5)):
  210. ser=serial.Serial('COM3',9600)
  211. buf = str(self.dial3.value()).encode("utf-8")
  212. ser.write(b'' + buf)
  213. ser.close()
  214. print(self.dial3.value())
  215. time.sleep(2)
  216. self.readEncoder()
  217. else:
  218. print("low value")
  219.  
  220. def readEncoder(self):
  221. ser=serial.Serial('COM3',9600)
  222. ser.write(b'254')
  223. ser.close()
  224.  
  225. print("Starting reading...")
  226.  
  227. ser=serial.Serial('COM3',9600, timeout=7)
  228. n_cnt = 0
  229. n_list = []
  230. enc_list = []
  231. enc_val1 = []
  232. enc_val2 = []
  233. enc_val3 = []
  234. enc_val4 = []
  235. zero_cnt = [0, 0, 0, 0, 0]
  236. while(n_cnt<=99):
  237. enc = ser.readline()
  238. enc_str = str(enc)
  239. if ("enc" in enc_str):
  240. enc_list = enc_str.split(":", 5)
  241. n_list.append(n_cnt)
  242. if int(enc_list[1])==0:
  243. zero_cnt[1] += 1
  244. enc_val1.append(enc_list[1])
  245. if int(enc_list[2])==0:
  246. zero_cnt[2] += 1
  247. enc_val2.append(enc_list[2])
  248. if int(enc_list[3])==0:
  249. zero_cnt[3] += 1
  250. enc_val3.append(enc_list[3])
  251. if int(enc_list[4])==0:
  252. zero_cnt[4] += 1
  253. enc_val4.append(enc_list[4])
  254. zero_cnt[0] += 1
  255. print(enc)
  256. n_cnt = n_cnt + 1
  257. ser.close()
  258. print("End")
  259. self.sc.axes.clear()
  260. #self.sc.axes.axis([0, 10, 0, 360])
  261. self.sc.axes.set_ylim(auto=True)
  262. if zero_cnt[1]<=n_cnt-1:
  263. self.sc.axes.plot(n_list, enc_val1)
  264. if zero_cnt[2]<=n_cnt-1:
  265. self.sc.axes.plot(n_list, enc_val2)
  266. if zero_cnt[3]<=n_cnt-1:
  267. self.sc.axes.plot(n_list, enc_val3)
  268. if zero_cnt[4]<=n_cnt-1:
  269. self.sc.axes.plot(n_list, enc_val4)
  270. if zero_cnt[0]!=0:
  271. for i in range(zero_cnt[0]):
  272. if i==0:
  273. self.tableWidget.setItem(0,0, QTableWidgetItem("data no:"))
  274. self.tableWidget.setItem(1,0, QTableWidgetItem("enc1:"))
  275. self.tableWidget.setItem(2,0, QTableWidgetItem("enc2:"))
  276. self.tableWidget.setItem(3,0, QTableWidgetItem("enc3:"))
  277. self.tableWidget.setItem(4,0, QTableWidgetItem("enc4"))
  278. else:
  279. self.tableWidget.setItem(0,i, QTableWidgetItem(str(i)))
  280. self.tableWidget.setItem(1,i, QTableWidgetItem(enc_val1[i-1]))
  281. self.tableWidget.setItem(2,i, QTableWidgetItem(enc_val2[i-1]))
  282. self.tableWidget.setItem(3,i, QTableWidgetItem(enc_val3[i-1]))
  283. self.tableWidget.setItem(4,i, QTableWidgetItem(enc_val4[i-1]))
  284. self.sc.axes.set_ylabel("Degrees")
  285. self.sc.axes.set_xlabel("Time, 100*milliseconds")
  286. self.sc.axes.set_title("Encoder measurements")
  287. self.sc.axes.set_yticks([0, 25, 50, 75, 100, 125, 150, 175])
  288. self.sc.axes.set_yticklabels(('0', '25', '50', '75', '100', '125', '150', '175'))
  289. #self.sc.axes.set_yticks([0, 50])
  290. #self.sc.axes.set_yticklabels(('0', '50'))
  291.  
  292. self.sc.draw()
  293. self.StopAll_Handler()
  294.  
  295. def readForce(self):
  296. ser=serial.Serial('COM3',9600)
  297. ser.write(b'255')
  298. ser.close()
  299.  
  300. print("Starting reading...")
  301.  
  302. ser=serial.Serial('COM3',9600, timeout=7)
  303. n_cnt = 0
  304. self.n_list = []
  305. enc_list = []
  306. self.enc_val1 = []
  307. self.enc_val2 = []
  308. self.enc_val3 = []
  309. zero_cnt = [0, 0, 0, 0]
  310.  
  311. self._plot_ref1 = None
  312. self._plot_ref2 = None
  313. self._plot_ref3 = None
  314.  
  315. self.show()
  316.  
  317. while(n_cnt<=99):
  318. enc = ser.readline()
  319. enc_str = str(enc)
  320. if ("fs" in enc_str):
  321. enc_list = enc_str.split(":", 5)
  322. self.n_list.append(n_cnt)
  323. if float(enc_list[1])==0.0:
  324. zero_cnt[1] += 1
  325. self.enc_val1.append(enc_list[1])
  326. if float(enc_list[2])==0.0:
  327. zero_cnt[2] += 1
  328. self.enc_val2.append(enc_list[2])
  329. if float(enc_list[3])==0.0:
  330. zero_cnt[3] += 1
  331. self.enc_val3.append(enc_list[3])
  332. if n_cnt>=10:
  333. self.update_plot()
  334. self.show()
  335.  
  336. #self.sc.refresh()
  337. self.sc.draw()
  338. print(enc)
  339. n_cnt = n_cnt + 1
  340. ser.close()
  341. print("End")
  342. self.sc.axes.clear()
  343. self.sc.axes.set_ylim(auto=True)
  344. #self.sc.axes.set_ylabel("Force, 0.01*Newtons")
  345. self.sc.axes.set_xlabel("Time, milliseconds", fontsize = 8)
  346. self.sc.axes.set_title("Force sensor measurements", fontsize = 8)
  347. #self.sc.axes.set_borders(bottom=0.1)
  348. #self.sc.axes.autoscale_view(True,True,True)
  349. #self.sc.axes.yticks(np.arange(0, 15, 1))
  350. #self.sc.axes.set(aspect=1,ylim=(0, 35))
  351. self.sc.axes.set_ylabel('Force, 0.01*Newtons', fontsize = 8)
  352.  
  353. if zero_cnt[1]<=n_cnt-1:
  354. self.sc.axes.plot(self.n_list, self.enc_val1)
  355. if zero_cnt[2]<=n_cnt-1:
  356. self.sc.axes.plot(self.n_list, self.enc_val2)
  357. if zero_cnt[3]<=n_cnt-1:
  358. self.sc.axes.plot(self.n_list, self.enc_val3)
  359. for i in range(n_cnt):
  360. if i==0:
  361. self.tableWidget.setItem(0,0, QTableWidgetItem("data no:"))
  362. self.tableWidget.setItem(1,0, QTableWidgetItem("FS1: *0.01 N"))
  363. self.tableWidget.setItem(2,0, QTableWidgetItem("FS2: *0.01 N"))
  364. self.tableWidget.setItem(3,0, QTableWidgetItem("FS3: *0.01 N"))
  365. else:
  366. self.tableWidget.setItem(0,i, QTableWidgetItem(str(i)))
  367. self.tableWidget.setItem(1,i, QTableWidgetItem(self.enc_val1[i-1]))
  368. self.tableWidget.setItem(2,i, QTableWidgetItem(self.enc_val2[i-1]))
  369. self.tableWidget.setItem(3,i, QTableWidgetItem(self.enc_val3[i-1]))
  370. self.sc.draw()
  371.  
  372. def Button_Right_Handler(self):
  373. if self.Button_Right.isChecked():
  374. self.led1.setValue(True)
  375. self.led1.repaint()
  376. self.sendType_1()
  377. self.label.setText(" Dialer Value : " + str(getValue))
  378. else:
  379. self.led1.value = False
  380. self.led1.repaint()
  381. self.sendStop_1()
  382. def Button_Left_Handler(self):
  383. if self.Button_Left.isChecked():
  384. self.led2.setValue(True)
  385. self.led2.repaint()
  386. self.sendType_2()
  387. self.label.setText(" Dialer Value : " + str(getValue))
  388. else:
  389. self.led2.value = False
  390. self.led2.repaint()
  391. self.sendStop_2()
  392. def Button_Top_Handler(self):
  393. if self.Button_Top.isChecked():
  394. self.led3.setValue(True)
  395. self.led3.repaint()
  396. self.sendType_3()
  397. self.label.setText(" Dialer Value : " + str(getValue))
  398. else:
  399. self.led3.value = False
  400. self.led3.repaint()
  401. self.sendStop_3()
  402. def Button_Roll_Handler(self):
  403. if self.Button_Roll.isChecked():
  404. self.led4.setValue(True)
  405. self.led4.repaint()
  406. self.sendType_4()
  407. self.label.setText(" Dialer Value : " + str(getValue))
  408. else:
  409. self.led4.value = False
  410. self.led4.repaint()
  411. self.sendStop_4()
  412. def StopAll_Handler(self):
  413. if self.Button_Right.isChecked():
  414. self.Button_Right.toggle()
  415. if self.Button_Left.isChecked():
  416. self.Button_Left.toggle()
  417. if self.Button_Top.isChecked():
  418. self.Button_Top.toggle()
  419. if self.Button_Roll.isChecked():
  420. self.Button_Roll.toggle()
  421. self.led1.value = False
  422. self.led1.repaint()
  423. self.led2.value = False
  424. self.led2.repaint()
  425. self.led3.value = False
  426. self.led3.repaint()
  427. self.led4.value = False
  428. self.led4.repaint()
  429. self.sendStopAll()
  430. def sendType_1(self):
  431. ser=serial.Serial('COM3',9600)
  432. ser.write(b'1')
  433. ser.close()
  434. time.sleep(1)
  435. print("act: Right")
  436. self.sendSerial()
  437. """
  438. time.sleep(12)
  439. self.led1.value = False
  440. self.led1.repaint()
  441. if self.Button_Right.isChecked():
  442. self.Button_Right.toggle()
  443. self.sendStop_1()
  444. """
  445. def sendType_2(self):
  446. ser=serial.Serial('COM3',9600)
  447. ser.write(b'2')
  448. ser.close()
  449. time.sleep(1)
  450. print("act: Left")
  451. self.sendSerial()
  452. """
  453. time.sleep(12)
  454. self.led2.value = False
  455. self.led2.repaint()
  456. if self.Button_Left.isChecked():
  457. self.Button_Left.toggle()
  458. self.sendStop_2()
  459. """
  460. def sendType_3(self):
  461. ser=serial.Serial('COM3',9600)
  462. ser.write(b'3')
  463. ser.close()
  464. time.sleep(1)
  465. print("act: Top")
  466. self.sendSerial()
  467. """
  468. time.sleep(12)
  469. self.led3.value = False
  470. self.led3.repaint()
  471. if self.Button_Top.isChecked():
  472. self.Button_Top.toggle()
  473. self.sendStop_3()
  474. """
  475. def sendType_4(self):
  476. ser=serial.Serial('COM3',9600)
  477. ser.write(b'4')
  478. ser.close()
  479. time.sleep(1)
  480. print("act: Roll")
  481. self.sendSerial()
  482. def sendStop_1(self):
  483. self.light = -1
  484. ser=serial.Serial('COM3',9600)
  485. ser.write(b'-1')
  486. ser.close()
  487. def sendStop_2(self):
  488. self.light = -2
  489. ser=serial.Serial('COM3',9600)
  490. ser.write(b'-2')
  491. ser.close()
  492. def sendStop_3(self):
  493. self.light = -3
  494. ser=serial.Serial('COM3',9600)
  495. ser.write(b'-3')
  496. ser.close()
  497. def sendStop_4(self):
  498. self.light = -4
  499. ser=serial.Serial('COM3',9600)
  500. ser.write(b'-4')
  501. ser.close()
  502. def sendStopAll(self):
  503. self.light = -5
  504. ser=serial.Serial('COM3',9600)
  505. ser.write(b'-5')
  506. ser.close()
  507.  
  508. def createProgressBar(self):
  509. self.progressBar = QProgressBar()
  510. self.progressBar.setRange(0, 10000)
  511. self.progressBar.setValue(0)
  512. timer = QTimer(self)
  513. timer.timeout.connect(self.advanceProgressBar)
  514. timer.start(1000)
  515.  
  516. if __name__ == '__main__':
  517. import sys
  518. app = QApplication(sys.argv)
  519. gallery = WidgetGallery()
  520. gallery.show()
  521. sys.exit(app.exec_())
  522.  
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