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gui_ver2.py
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gui_ver2.py
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import sys
import re
import os
from PyQt4 import QtCore, QtGui
from PyQt4.QtGui import *
from PyQt4.QtCore import *
import datetime
XMIN = -4.0
XMAX = 4.0
YMIN = -4.0
YMAX = 4.0
ZMIN = 0.0
ZMAX = 8.0
# List of all drones with coordinate flight paths
dronesConnected = {}
# List of drones name and drone IDs
droneIDs = {}
# List of all flight paths and drones connected to them
fpConnected = {}
# List of objects and coordinates
objectDict = {}
logFile = ""
#==========================================================================================
# Main Part of GUI
#==========================================================================================
class WidgetGallery(QtGui.QDialog):
count = 0
def getData(self):
global dronesConnected, droneIDs, fpConnected, objectDict, logFile
print fpConnected
droneCount = 1.0
# Starts initial drone at (1,1,0), adds .3 to x value for every additional drone
for drone in dronesConnected:
dronesConnected[drone] = [[droneCount, 1, 0]] + dronesConnected[drone]
droneCount = round(droneCount + .3,2)
# Creates vis toggle list
visToggle = []
config = open('vis_config.txt', 'r')
line = config.readline().strip()
if line == 'on':
visToggle.append(True)
else:
visToggle.append(False)
line = config.readline().strip()
if line == 'on':
visToggle.append(True)
else:
visToggle.append(False)
line = config.readline().strip()
if line == 'on':
visToggle.append(True)
else:
visToggle.append(False)
line = config.readline().strip()
if line == 'on':
visToggle.append(True)
else:
visToggle.append(False)
line = config.readline().strip()
if line == 'on':
visToggle.append(True)
else:
visToggle.append(False)
line = config.readline().strip()
if line == 'on':
visToggle.append(True)
else:
visToggle.append(False)
config.close()
# Creates log toggle list
logToggle = []
config = open('log_config.txt', 'r')
line = config.readline().strip()
if line == 'on':
logToggle.append(True)
else:
logToggle.append(False)
line = config.readline().strip()
if line == 'on':
logToggle.append(True)
else:
logToggle.append(False)
line = config.readline().strip()
if line == 'on':
logToggle.append(True)
else:
logToggle.append(False)
line = config.readline().strip()
logToggle.append(float(line))
line = config.readline().strip()
if line == 'on':
logToggle.append(True)
else:
logToggle.append(False)
line = config.readline().strip()
if line == 'on':
logToggle.append(True)
else:
logToggle.append(False)
line = config.readline().strip()
if line == 'on':
logToggle.append(True)
else:
logToggle.append(False)
line = config.readline().strip()
if line == 'on':
logToggle.append(True)
else:
logToggle.append(False)
config.close()
self.logInfo()
print (dronesConnected, droneIDs, fpConnected, objectDict, visToggle, logToggle, logFile)
return (dronesConnected, droneIDs, fpConnected, objectDict, visToggle, logToggle, logFile)
def logInfo(self):
global dronesConnected, droneIDs, fpConnected, objectDict, logFile
now = datetime.datetime.now()
logFile = "logData_" + str(now.year) + "-" + str(now.month) + '-' + str(now.day) + '_' + str(now.hour) + ':' + str(now.minute) + '.txt'
config = open("log_config.txt", 'r')
# Checks if log is on
line = config.readline().strip()
if line == "on":
log = open(logFile, 'w')
log.write("Logging Data from flight on " + str(now.year) + "-" + str(now.month) + '-' + str(now.day) + ' ' + str(now.hour) + ':' + str(now.minute) + '\n')
# Checks if requested to save drones
line = config.readline().strip()
if line == "on":
log.write("Drones Connected:\n")
for fp in fpConnected:
for drone in fpConnected[fp]:
log.write(drone + ' ')
for drone in dronesConnected:
log.write(drone + ' ')
log.write('\n\n')
# Checks if requested to save drone locs
line = config.readline().strip()
# Checks for frequency of drone locs
line = config.readline().strip()
# Checks if requested to save objects
line = config.readline().strip()
if line == "on":
log.write("Objects and outer corners:\n")
for obj in objectDict:
log.write(obj + ' ')
log.write(str(objectDict[obj][0]) + ' ')
log.write(str(objectDict[obj][1]) + '\n')
log.write('\n')
# Checks if requested to save flight Paths
line = config.readline().strip()
if line == "on":
log.write("Flight Paths and Connected Drones:\n")
for fp in fpConnected:
log.write(fp + ': ')
for drone in fpConnected[fp]:
log.write(drone + ' ')
log.write('\n')
log.write('\n')
# checks if requested to save drone coords
line = config.readline().strip()
if line == 'on':
log.write("Drones and connected coordinates:\n")
for drone in dronesConnected:
log.write(drone + ': ' + str(dronesConnected[drone]) + '\n')
log.write('\nCoordinates and Events:\n')
# Checks if requested to save events
line = config.readline().strip()
def __init__(self, parent=None):
super(WidgetGallery, self).__init__(parent)
self.fileNames = "flights.txt"
self.flightList = QtGui.QListView()
self.originalPalette = QtGui.QApplication.palette()
styleComboBox = QtGui.QComboBox()
styleComboBox.addItems(QtGui.QStyleFactory.keys())
self.createTopLeftGroupBox()
self.createTopRightGroupBox()
self.createBottomLeftGroupBox()
self.createBottomRightGroupBox()
mainLayout = QtGui.QGridLayout()
mainLayout.addWidget(self.topLeftGroupBox, 1, 0)
mainLayout.addWidget(self.topRightGroupBox, 1, 1)
mainLayout.addWidget(self.bottomLeftGroupBox, 2, 0)
mainLayout.addWidget(self.bottomRightGroupBox, 2, 1)
mainLayout.setRowStretch(1, 1)
mainLayout.setRowStretch(2, 1)
mainLayout.setColumnStretch(0, 1)
mainLayout.setColumnStretch(1, 1)
self.setLayout(mainLayout)
self.setWindowTitle("CrazySwarm Flight Setup")
QtGui.QApplication.setStyle(QtGui.QStyleFactory.create('Plastique'))
QtGui.QApplication.setPalette(QtGui.QApplication.style().standardPalette())
#-----------------------main Flight file box------------------------------------------
def createTopLeftGroupBox(self):
self.topLeftGroupBox = QtGui.QGroupBox("Flight Paths")
self.flightList = QtGui.QListView()
self.flightList.clicked.connect(self.lastFlightclicked)
self.model = QStandardItemModel(self.flightList)
uploadButton = QtGui.QPushButton("Upload")
uploadButton.clicked.connect(self.uploadClick)
removeButton = QtGui.QPushButton("Remove")
removeButton.clicked.connect(self.removeClick)
layout = QtGui.QVBoxLayout()
layout.addWidget(self.flightList)
layout.addWidget(uploadButton)
layout.addWidget(removeButton)
layout.addStretch(1)
self.topLeftGroupBox.setLayout(layout)
def lastFlightclicked(self):
rowIndex = self.flightList.currentIndex().row()
item = self.model.index(rowIndex, 0)
self.currentFlight =(item.data().toString())
def uploadClick(self):
message = QMessageBox()
self.currentFile = QtGui.QFileDialog.getOpenFileName(self, 'Open File')
temp = self.getFileName(self.currentFile)
#checks if file is import if so error message
if self.checkFileImportant(str(temp)) == False:
#check file is python file
if temp[-2:] == 'py':
temp = temp.remove(".py")
# create an item with a caption
item = QStandardItem(temp)
# Add the item to the model
self.model.appendRow(item)
# Apply the model to the list view
self.flightList.setModel(self.model)
temp = str(temp)
file = open(self.fileNames, 'a')
file.write(" " + temp)
file.close()
self.createFile(temp)
else:
message.setText("File must be python file ")
message.setWindowTitle("Error")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
else:
#user selects invalid file name or fie that will mess up progrram
message.setText("Not valid file name and or file")
message.setWindowTitle("Error Message")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
return
def getFileName(self, myFile):
temp = myFile
if temp.contains("/") == True:
temp = temp.section('/', -1)
return temp
def checkFileImportant(self, myFile):
important = False
if myFile.lower() == "gui.py":
important = True
if myFile.lower() == "backend.py":
important = True
if myFile.lower() == "control_node.py":
important = True
if myFile.lower() == "simulator.py":
important = True
if myFile.lower() == "visros.py":
important = True
return important
def createFile(self, myFile):
with open(self.currentFile) as fileIn:
with open("src/beginner_tutorials/scripts/"+myFile + ".py", "w") as fileOut:
for line in fileIn:
fileOut.write(line)
return
def removeClick(self):
self.model.clear()
file = open(self.fileNames, 'r+')
temp_line = ""
for line in file:
temp = line.split(" ")
for value in temp:
if value != '':
if value == self.currentFlight:
#remove file name from line and save to line
temp_line = re.sub(value, "", line)
else:
item = QStandardItem(value)
self.model.appendRow(item)
self.flightList.setModel(self.model)
#close and open as write to write over file
file.close()
file = open(self.fileNames, 'w')
file.write(temp_line)
file.close()
os.remove(str(self.currentFlight)+'.py')
return
#-----------------main drone box------------------------------------------
def createTopRightGroupBox(self):
self.topRightGroupBox = QtGui.QGroupBox("Drones")
self.droneList = QtGui.QListView()
self.droneList.clicked.connect(self.lastDroneclicked)
self.model2 = QStandardItemModel(self.droneList)
uploadButton = QtGui.QPushButton("Add")
uploadButton.clicked.connect(self.addDroneClick)
removeButton = QtGui.QPushButton("Remove")
removeButton.clicked.connect(self.removeDroneClick)
layout = QtGui.QVBoxLayout()
layout.addWidget(self.droneList)
layout.addWidget(uploadButton)
layout.addWidget(removeButton)
layout.addStretch(1)
self.topRightGroupBox.setLayout(layout)
def lastDroneclicked(self):
rowIndex = self.droneList.currentIndex().row()
item = self.model2.index(rowIndex, 0)
self.currentDrone =str((item.data().toString()))
def addDroneClick(self):
self.droneWin = WidgetDrone()
self.droneWin.show()
return
def removeDroneClick(self):
self.model2.clear()
tempList = []
#delete from droneIDs dict
del droneIDs[self.currentDrone]
#delete from dronesConnected dict or
if self.currentDrone in dronesConnected:
del dronesConnected[self.currentDrone]
else:
#find which key the drone is in
for key, value in fpConnected.iteritems():
for drone in value:
if drone != self.currentDrone:
tempList.append(drone)
fpConnected[key] = tempList
tempList = []
for name in droneIDs:
item = QStandardItem(name)
self.model2.appendRow(item)
self.droneList.setModel(self.model2)
return
#-----------------main obstacles box------------------------------------------
def createBottomLeftGroupBox(self):
self.bottomLeftGroupBox = QtGui.QGroupBox("Obstacles")
self.obsList = QtGui.QListView()
self.obsList.clicked.connect(self.lastObsclicked)
self.model3 = QStandardItemModel(self.obsList)
uploadButton = QtGui.QPushButton("Add")
uploadButton.clicked.connect(self.addObstaclesClick)
removeButton = QtGui.QPushButton("Remove")
removeButton.clicked.connect(self.removeObstaclesClick)
layout = QtGui.QVBoxLayout()
layout.addWidget(self.obsList)
layout.addWidget(uploadButton)
layout.addWidget(removeButton)
self.bottomLeftGroupBox.setLayout(layout)
def lastObsclicked(self):
rowIndex = self.obsList.currentIndex().row()
item = self.model3.index(rowIndex, 0)
self.currentObs =str((item.data().toString()))
def removeObstaclesClick(self):
self.model3.clear()
del objectDict[self.currentObs]
for name in objectDict:
item = QStandardItem(name)
self.model3.appendRow(item)
self.obsList.setModel(self.model3)
return
def addObstaclesClick(self):
self.obsWin = WidgetObs(self)
self.obsWin.show()
return
#-------------------main buttons box------------------------------------------
def createBottomRightGroupBox(self):
self.bottomRightGroupBox = QtGui.QGroupBox()
ToggleVisButton = QtGui.QPushButton("Open Visualzation")
ToggleVisButton.clicked.connect(self.openVis)
ToggleLogButton = QtGui.QPushButton("Open Log File")
ToggleLogButton.clicked.connect(self.openLog)
startButton = QtGui.QPushButton("Start Flight")
startButton.clicked.connect(self.startFlight)
layout = QtGui.QGridLayout()
layout.addWidget(ToggleVisButton)
layout.addWidget(ToggleLogButton)
layout.addWidget(startButton)
self.bottomRightGroupBox.setLayout(layout)
def startFlight(self):
print dronesConnected
print droneIDs
print fpConnected
print objectDict
#os.remove(self.fileNames)
fh = open(self.fileNames, "w")
fh.close()
self.close()
def openVis(self):
self.visWin = toggle_vis_window()
self.visWin.show()
return
def openLog(self):
self.logWin = toggle_log_window()
self.logWin.show()
return
#==========================================================================================
# Obsstacle widget
#==========================================================================================
class WidgetObs(WidgetGallery, QtGui.QDialog):
def __init__(self, parent=WidgetGallery):
super(WidgetGallery, self).__init__(parent)
self.originalPalette = QtGui.QApplication.palette()
#self.flightList = WidgetGallery.self.flightList
self.version = WidgetGallery
self.setWindowTitle("Obstacle Setup")
styleComboBox = QtGui.QComboBox()
styleComboBox.addItems(QtGui.QStyleFactory.keys())
self.createObsInfoBox()
mainLayout = QtGui.QHBoxLayout()
mainLayout.addWidget(self.obsInfoBox)
self.setLayout(mainLayout)
def createObsInfoBox(self):
self.obsInfoBox = QtGui.QGroupBox("Obstacle Informations")
obsNameLabel = QtGui.QLabel("Enter a obstacle name:")
self.obsName = QLineEdit()
obsCorLabel1 = QtGui.QLabel("Enter a obstacle coordinates 1 (format: x,y,z):")
self.obsCor1 = QLineEdit()
obsCorLabel2 = QtGui.QLabel("Enter a obstacle coordinates 2 (format: x,y,z):")
self.obsCor2 = QLineEdit()
addButton = QtGui.QPushButton("Add")
addButton.clicked.connect(self.addClick)
cancelButton = QtGui.QPushButton("Cancel")
cancelButton.clicked.connect(self.cancelClick)
layout = QtGui.QGridLayout()
layout.addWidget(obsNameLabel)
layout.addWidget(self.obsName)
layout.addWidget(obsCorLabel1)
layout.addWidget(self.obsCor1)
layout.addWidget(obsCorLabel2)
layout.addWidget(self.obsCor2)
layout.addWidget(addButton)
layout.addWidget(cancelButton)
self.obsInfoBox.setLayout(layout)
def cancelClick(self):
self.close()
return
def addClick(self):
global start
message = QMessageBox()
name = str(self.obsName.text())
if name != "" and self.obsCor1.text() != "" and self.obsCor2.text() != "":
coord1 = (self.obsCor1.text()).split(',')
coord2 = (self.obsCor2.text()).split(',')
else:
message.setText("Missing information please enter a name and two coordinates.")
message.setWindowTitle("Error Message")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
return
try:
x1Coord = float(coord1[0])
x2Coord = float(coord2[0])
y1Coord = float(coord1[1])
y2Coord = float(coord2[1])
z1Coord = float(coord1[2])
z2Coord = float(coord2[2])
except:
message.setText("Invaild format please retry again.Please try agin using format: x,y,z")
message.setWindowTitle("Error Message")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
return
x1Bool = x1Coord >= XMIN and x1Coord <= XMAX
y1Bool = y1Coord >= YMIN and y1Coord <= YMAX
z1Bool = z1Coord >= ZMIN and z1Coord <= ZMAX
x2Bool = x2Coord >= XMIN and x2Coord <= XMAX
y2Bool = y2Coord >= YMIN and y2Coord <= YMAX
z2Bool = z2Coord >= ZMIN and z2Coord <= ZMAX
if x1Bool and x2Bool and y1Bool and y2Bool and z1Bool and z2Bool:
objectDict.update({name : [[x1Coord , y1Coord ,z1Coord],[x2Coord , y2Coord ,z2Coord ]]})
item = QStandardItem(name)
# Add the item to the model
start.model3.appendRow(item)
# Apply the model to the list view
start.obsList.setModel(start.model3)
self.close()
else:
message.setText("Obstacles coordinates out of range.")
message.setWindowTitle("Error Message")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
return
return
#==========================================================================================
# Drone widget
#==========================================================================================
class WidgetDrone(WidgetGallery, QtGui.QDialog):
def __init__(self, parent=None):
super(WidgetGallery, self).__init__(parent)
self.originalPalette = QtGui.QApplication.palette()
#self.flightList = WidgetGallery.self.flightList
self.setWindowTitle("Drone Setup")
styleComboBox = QtGui.QComboBox()
styleComboBox.addItems(QtGui.QStyleFactory.keys())
self.createFileBox()
self.createCoordinatesBox()
self.createDroneInfoBox()
mainLayout = QtGui.QHBoxLayout()
mainLayout.addWidget(self.droneInfoBox)
mainLayout.addWidget(self.coordinatesBox)
mainLayout.addWidget(self.fileBox)
self.setLayout(mainLayout)
#----------------------drone main information box---------------------
def createDroneInfoBox(self):
self.droneInfoBox = QtGui.QGroupBox("Drones Informations")
droneNameLabel = QtGui.QLabel("Enter a drone name:")
self.droneName = QLineEdit()
droneIDLabel = QtGui.QLabel("Enter a drone id:")
self.droneID = QLineEdit()
droneChoiceLabel = QtGui.QLabel("File or coordinates:")
self.choiceComboBox = QtGui.QComboBox()
self.choiceComboBox.addItems(["Please Select","Flight File","Coordinates"])
self.coordinatesBox.setDisabled(True)
self.fileBox.setDisabled(True)
self.choiceComboBox.activated[str].connect(self.disableBox)
layout = QtGui.QGridLayout()
layout.addWidget(droneNameLabel)
layout.addWidget(self.droneName)
layout.addWidget(droneIDLabel)
layout.addWidget(self.droneID)
layout.addWidget(droneChoiceLabel)
layout.addWidget(self.choiceComboBox)
self.droneInfoBox.setLayout(layout)
def disableBox(self):
if self.choiceComboBox.currentText() == "Flight File":
self.fileBox.setDisabled(False)
self.coordinatesBox.setDisabled(True)
elif self.choiceComboBox.currentText() == "Please Select":
self.coordinatesBox.setDisabled(True)
self.coordinatesBox.setDisabled(True)
else:
self.fileBox.setDisabled(True)
self.coordinatesBox.setDisabled(False)
return
#----------------------drone select file box--------------------------
def createFileBox(self):
self.fileBox = QtGui.QGroupBox("Fight Path File")
fileNameLabel = QtGui.QLabel("Select a flight path file:")
self.fileComboBox = QtGui.QComboBox()
file = open("flights.txt", 'r+')
for line in file:
temp = line.split(" ")
for name in temp:
if name != "":
self.fileComboBox.addItem(name)
fileButton = QtGui.QPushButton("Done")
fileButton.clicked.connect(self.fileClick)
cancelButton = QtGui.QPushButton("Cancel")
cancelButton.clicked.connect(self.cancelClick)
layout = QtGui.QGridLayout()
layout.addWidget(self.fileComboBox)
layout.addWidget(fileButton)
layout.addWidget(cancelButton)
self.fileBox.setLayout(layout)
def fileClick(self):
global start
droneIDs[str(self.droneName.text())] = str(self.droneID.text())
if str(self.fileComboBox.currentText()) not in fpConnected:
fpConnected[str(self.fileComboBox.currentText())] = []
fpConnected[str(self.fileComboBox.currentText())].append(str(self.droneName.text()))
item = QStandardItem(str(self.droneName.text()))
# Add the item to the model
start.model2.appendRow(item)
# Apply the model to the list view
start.droneList.setModel(start.model2)
self.close()
return
def cancelClick(self):
self.close()
return
#----------------------drone coordinates box--------------------------
def createCoordinatesBox(self):
self.coordinatesBox = QtGui.QGroupBox("Drone Coordinates")
self.droneCorList = QtGui.QListView()
self.droneCorList.clicked.connect(self.lastCorClicked)
self.corModel = QStandardItemModel(self.droneCorList)
droneCorLabel = QtGui.QLabel("Enter a drone coordinates using x,y,z format:")
self.droneCor = QLineEdit()
corButton = QtGui.QPushButton("Add")
corButton.clicked.connect(self.corClick)
removeButton = QtGui.QPushButton("Remove")
removeButton.clicked.connect(self.removeClick)
closeButton = QtGui.QPushButton("Done")
closeButton.clicked.connect(self.cancelClick)
layout = QtGui.QGridLayout()
layout.addWidget(self.droneCorList)
layout.addWidget(droneCorLabel)
layout.addWidget(self.droneCor)
layout.addWidget(corButton)
layout.addWidget(removeButton)
layout.addWidget(closeButton)
self.coordinatesBox.setLayout(layout)
def lastCorClicked(self):
rowIndex = self.droneCorList.currentIndex().row()
item = self.corModel.index(rowIndex, 0)
self.currentCor =(item.data().toString())
return
#checks that drone as id and name
#adds drone to main gui list and adds coordinate to drone if vaild
def corClick(self):
global start
message = QMessageBox()
if self.droneName.text().remove(" ") != "":
if self.droneID.text().remove(" ") != "":
if self.checkCor() == True:
#removes coordinate from list view
item = QStandardItem(self.droneCor.text())
self.corModel.appendRow(item)
self.droneCorList.setModel(self.corModel)
self.droneCor.clear()
else:
message.setText("Please enter a ID for the drone")
message.setWindowTitle("Error Message")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
else:
message.setText("Please enter a name for the drone")
message.setWindowTitle("Error Message")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
return
#checks if coordinates are correctly formated and in range
def checkCor(self):
global start
message = QMessageBox()
if self.droneCor.text() != "":
coord = (self.droneCor.text()).split(',')
else:
message.setText("Please enter coordinatess for the drone in x,z,y format")
message.setWindowTitle("Error Message")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
return False
try:
x1Coord = float(coord[0])
y1Coord = float(coord[1])
z1Coord = float(coord[2])
except:
message.setText("Invaild format please retry again.Please try agin using format: x,y,z")
message.setWindowTitle("Error Message")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
return False
x1Bool = x1Coord >= XMIN and x1Coord <= XMAX
y1Bool = y1Coord >= YMIN and y1Coord <= YMAX
z1Bool = z1Coord >= ZMIN and z1Coord <= ZMAX
if x1Bool and y1Bool and z1Bool:
#WidgetGallery update
droneName = str(self.droneName.text())
if droneName not in dronesConnected:
dronesConnected[droneName] = []
droneIDs[droneName] = str(self.droneID.text())
item = QStandardItem(droneName)
# Add the item to the model
start.model2.appendRow(item)
# Apply the model to the list view
start.droneList.setModel(start.model2)
dronesConnected[droneName].append([x1Coord, y1Coord, z1Coord])
else:
message.setText("Drone coordinates out of range.")
message.setWindowTitle("Error Message")
message.setStandardButtons(QMessageBox.Ok)
retval = message.exec_()
return False
return True
def removeClick(self):
self.corModel.clear()
tempList = str(self.currentCor).split(",")
itemIndex = 0
index = 0
count = 0
for cor in dronesConnected[str(self.droneName.text())]:
for value in cor:
if count == 2:
itemIndex = index
break
if str(value) != str(tempList[count]):
index += 1
break
else:
count += 1
count = 0
del dronesConnected[str(self.droneName.text())][itemIndex]
strItems =""
for name in dronesConnected[str(self.droneName.text())]:
toAdd = str(name)[1:-1]
item = QStandardItem(toAdd)
self.corModel.appendRow(item)
self.droneCorList.setModel(self.corModel)
return
#==========================================================================================
# Visualzation window
#==========================================================================================
class toggle_vis_window(QtGui.QMainWindow):
def __init__(self, parent=None):
super(toggle_vis_window, self).__init__(parent)
self.resize(250, 185)
self.file= "vis_config.txt"
self.main_label = QtGui.QLabel(self)
self.main_label.setText('Toggle Elements Shown in Visualzation')
self.main_label.resize(300, 20)
self.setWindowTitle('Toggle Visualization')
self.vis_group = QButtonGroup()
self.vis_on = QRadioButton('On', self)
self.vis_on.move(20,20)
self.vis_off = QRadioButton('Off', self)
self.vis_off.move(60,20)
self.vis_group.addButton(self.vis_on, 0)
self.vis_group.addButton(self.vis_off, 0)
self.vis_label = QtGui.QLabel(self)
self.vis_label.setText('Visualization')
self.vis_label.resize(200,20)
self.vis_label.move(105, 25)
self.drone_loc_group = QButtonGroup()
self.drone_loc_on = QRadioButton('On', self)
self.drone_loc_on.move(20,40)
self.drone_loc_off = QRadioButton('Off', self)
self.drone_loc_off.move(60,40)
self.drone_loc_off.setChecked(True)
self.drone_loc_group.addButton(self.drone_loc_on, 0)
self.drone_loc_group.addButton(self.drone_loc_off, 0)
self.drone_loc_label = QtGui.QLabel(self)
self.drone_loc_label.setText('Drone Locations')
self.drone_loc_label.resize(200,20)
self.drone_loc_label.move(105, 45)
self.drone_path_group = QButtonGroup()
self.drone_path_on = QRadioButton('On', self)
self.drone_path_on.move(20,60)
self.drone_path_off = QRadioButton('Off', self)
self.drone_path_off.move(60,60)
self.drone_path_off.setChecked(True)
self.drone_path_group.addButton(self.drone_path_on, 0)
self.drone_path_group.addButton(self.drone_path_off, 0)
self.drone_path_label = QtGui.QLabel(self)
self.drone_path_label.setText('Drone Paths Expected')
self.drone_path_label.resize(200,20)
self.drone_path_label.move(105, 65)
self.drone_flown_group = QButtonGroup()
self.drone_flown_on = QRadioButton('On', self)
self.drone_flown_on.move(20,80)
self.drone_flown_off = QRadioButton('Off', self)
self.drone_flown_off.move(60,80)
self.drone_flown_off.setChecked(True)
self.drone_flown_group.addButton(self.drone_flown_on, 0)
self.drone_flown_group.addButton(self.drone_flown_off, 0)
self.drone_flown_label = QtGui.QLabel(self)
self.drone_flown_label.setText('Drone Paths Flown')
self.drone_flown_label.resize(200,20)
self.drone_flown_label.move(105, 85)
self.sensor_group = QButtonGroup()
self.sensor_on = QRadioButton('On', self)
self.sensor_on.move(20,100)
self.sensor_off = QRadioButton('Off', self)
self.sensor_off.move(60,100)
self.sensor_off.setChecked(True)
self.sensor_group.addButton(self.sensor_on, 0)
self.sensor_group.addButton(self.sensor_off, 0)
self.sensor_label = QtGui.QLabel(self)
self.sensor_label.setText('Sensors')
self.sensor_label.resize(200,20)
self.sensor_label.move(105, 105)
self.objects_group = QButtonGroup()
self.objects_on = QRadioButton('On', self)
self.objects_on.move(20,120)
self.objects_off = QRadioButton('Off', self)
self.objects_off.move(60,120)
self.objects_off.setChecked(True)
self.objects_group.addButton(self.objects_on, 0)
self.objects_group.addButton(self.objects_off, 0)
self.objects_label = QtGui.QLabel(self)
self.objects_label.setText('Objects')
self.objects_label.resize(200,20)
self.objects_label.move(105, 125)
self.save = QPushButton('save', self)
self.save.move(130, 150)
self.save.clicked.connect(self.save_vis_config)
self.open_vis_config()
def open_vis_config(self):
config = open(self.file, 'r')
line = config.readline().strip()
if line == 'on':
self.vis_on.setChecked(True)
else:
self.vis_off.setChecked(True)
line = config.readline().strip()
if line == 'on':
self.drone_loc_on.setChecked(True)
else:
self.drone_loc_off.setChecked(True)
line = config.readline().strip()
if line == 'on':
self.drone_path_on.setChecked(True)
else:
self.drone_path_off.setChecked(True)
line = config.readline().strip()
if line == 'on':
self.drone_flown_on.setChecked(True)
else:
self.drone_flown_off.setChecked(True)
line = config.readline().strip()
if line == 'on':
self.sensor_on.setChecked(True)
else:
self.sensor_off.setChecked(True)
line = config.readline().strip()
if line == 'on':
self.objects_on.setChecked(True)
else:
self.objects_off.setChecked(True)
config.close()
return
def save_vis_config(self):
config = open(self.file, 'w')
if self.vis_on.isChecked():
config.write('on\n')
else:
config.write('off\n')
if self.drone_loc_on.isChecked():
config.write('on\n')
else:
config.write('off\n')
if self.drone_path_on.isChecked():
config.write('on\n')
else:
config.write('off\n')
if self.drone_flown_on.isChecked():
config.write('on\n')
else:
config.write('off\n')
if self.sensor_on.isChecked():
config.write('on\n')
else:
config.write('off\n')
if self.objects_on.isChecked():
config.write('on\n')
else:
config.write('off\n')
config.close()
return
#==========================================================================================
# Log window
#==========================================================================================
class toggle_log_window(QtGui.QMainWindow):
def __init__(self, parent=None):
super(toggle_log_window, self).__init__(parent)
self.resize(250, 230)
self.main_label = QtGui.QLabel(self)
self.main_label.setText('Toggle Elements Logged')
self.main_label.resize(300, 20)
self.setWindowTitle('Toggle Log File')
self.log_group = QButtonGroup()
self.log_on = QRadioButton('On', self)
self.log_on.move(20,20)
self.log_off = QRadioButton('Off', self)
self.log_off.move(60,20)
self.log_off.setChecked(True)
self.log_group.addButton(self.log_on, 0)
self.log_group.addButton(self.log_off, 0)
self.log_label = QtGui.QLabel(self)
self.log_label.setText('Logging')
self.log_label.resize(200,20)
self.log_label.move(105, 25)
self.drone_group = QButtonGroup()
self.drone_on = QRadioButton('On', self)
self.drone_on.move(20,40)
self.drone_off = QRadioButton('Off', self)
self.drone_off.move(60,40)
self.drone_off.setChecked(True)
self.drone_group.addButton(self.drone_on, 0)
self.drone_group.addButton(self.drone_off, 0)
self.drone_label = QtGui.QLabel(self)
self.drone_label.setText('Drones Flown')
self.drone_label.resize(200,20)
self.drone_label.move(105, 45)
self.drone_loc_group = QButtonGroup()
self.drone_loc_on = QRadioButton('On', self)
self.drone_loc_on.move(20,60)
self.drone_loc_off = QRadioButton('Off', self)
self.drone_loc_off.move(60,60)
self.drone_loc_off.setChecked(True)
self.drone_loc_group.addButton(self.drone_loc_on, 0)
self.drone_loc_group.addButton(self.drone_loc_off, 0)
self.drone_loc_label = QtGui.QLabel(self)
self.drone_loc_label.setText('Drone Locations')
self.drone_loc_label.resize(200,20)
self.drone_loc_label.move(105, 65)
self.drone_freq_textbox = QLineEdit(self)
self.drone_freq_textbox.move(20, 85)
self.drone_freq_textbox.resize(50, 30)
self.drone_freq_label = QLabel(self)
self.drone_freq_label.setText("Frequency (in seconds)")
self.drone_freq_label.resize(200,20)
self.drone_freq_label.move(80, 90)
self.objects_group = QButtonGroup()
self.objects_on = QRadioButton('On', self)
self.objects_on.move(20,110)
self.objects_off = QRadioButton('Off', self)