diff --git a/software/monitor/monitor-python-qt/main_window.py b/software/monitor/monitor-python-qt/main_window.py index 1090808..7f08ed6 100644 --- a/software/monitor/monitor-python-qt/main_window.py +++ b/software/monitor/monitor-python-qt/main_window.py @@ -13,35 +13,100 @@ from PyQt5 import QtCore, QtGui, QtWidgets class Ui_MainWindow(object): def setupUi(self, MainWindow): MainWindow.setObjectName("MainWindow") - MainWindow.resize(928, 629) + MainWindow.resize(985, 745) + MainWindow.setMinimumSize(QtCore.QSize(985, 745)) self.centralwidget = QtWidgets.QWidget(MainWindow) self.centralwidget.setObjectName("centralwidget") - self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.centralwidget) - self.horizontalLayout_6.setObjectName("horizontalLayout_6") + self.widget = QtWidgets.QWidget(self.centralwidget) + self.widget.setGeometry(QtCore.QRect(20, 16, 947, 671)) + self.widget.setObjectName("widget") + self.horizontalLayout_7 = QtWidgets.QHBoxLayout(self.widget) + self.horizontalLayout_7.setContentsMargins(0, 0, 0, 0) + self.horizontalLayout_7.setObjectName("horizontalLayout_7") self.verticalLayout_4 = QtWidgets.QVBoxLayout() self.verticalLayout_4.setObjectName("verticalLayout_4") - self.checkBox_enableCamera = QtWidgets.QCheckBox(self.centralwidget) - self.checkBox_enableCamera.setObjectName("checkBox_enableCamera") - self.verticalLayout_4.addWidget(self.checkBox_enableCamera) - self.graphicsView_Image = QtWidgets.QGraphicsView(self.centralwidget) - self.graphicsView_Image.setObjectName("graphicsView_Image") - self.verticalLayout_4.addWidget(self.graphicsView_Image) - self.pushButton_confirmArena = QtWidgets.QPushButton(self.centralwidget) - self.pushButton_confirmArena.setObjectName("pushButton_confirmArena") - self.verticalLayout_4.addWidget(self.pushButton_confirmArena) self.horizontalLayout_3 = QtWidgets.QHBoxLayout() self.horizontalLayout_3.setObjectName("horizontalLayout_3") - self.checkBox_enableFPS = QtWidgets.QCheckBox(self.centralwidget) + self.checkBox_enableCamera = QtWidgets.QCheckBox(self.widget) + self.checkBox_enableCamera.setObjectName("checkBox_enableCamera") + self.horizontalLayout_3.addWidget(self.checkBox_enableCamera) + self.checkBox_enableFPS = QtWidgets.QCheckBox(self.widget) self.checkBox_enableFPS.setObjectName("checkBox_enableFPS") self.horizontalLayout_3.addWidget(self.checkBox_enableFPS) - self.checkBox_enablePosition = QtWidgets.QCheckBox(self.centralwidget) - self.checkBox_enablePosition.setObjectName("checkBox_enablePosition") - self.horizontalLayout_3.addWidget(self.checkBox_enablePosition) self.verticalLayout_4.addLayout(self.horizontalLayout_3) - self.horizontalLayout_6.addLayout(self.verticalLayout_4) + self.label_Image = QtWidgets.QLabel(self.widget) + sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Fixed) + sizePolicy.setHorizontalStretch(0) + sizePolicy.setVerticalStretch(0) + sizePolicy.setHeightForWidth(self.label_Image.sizePolicy().hasHeightForWidth()) + self.label_Image.setSizePolicy(sizePolicy) + self.label_Image.setMinimumSize(QtCore.QSize(640, 480)) + self.label_Image.setSizeIncrement(QtCore.QSize(1, 1)) + self.label_Image.setFrameShape(QtWidgets.QFrame.NoFrame) + self.label_Image.setText("") + self.label_Image.setObjectName("label_Image") + self.verticalLayout_4.addWidget(self.label_Image) + self.pushButton_confirmArena = QtWidgets.QPushButton(self.widget) + self.pushButton_confirmArena.setObjectName("pushButton_confirmArena") + self.verticalLayout_4.addWidget(self.pushButton_confirmArena) + self.horizontalLayout_6 = QtWidgets.QHBoxLayout() + self.horizontalLayout_6.setObjectName("horizontalLayout_6") + self.checkBox_enablePosition = QtWidgets.QCheckBox(self.widget) + self.checkBox_enablePosition.setObjectName("checkBox_enablePosition") + self.horizontalLayout_6.addWidget(self.checkBox_enablePosition) + self.gridLayout_2 = QtWidgets.QGridLayout() + self.gridLayout_2.setObjectName("gridLayout_2") + self.label_100 = QtWidgets.QLabel(self.widget) + self.label_100.setText("") + self.label_100.setPixmap(QtGui.QPixmap("ui/../res/icons8-robot-24.png")) + self.label_100.setAlignment(QtCore.Qt.AlignCenter) + self.label_100.setObjectName("label_100") + self.gridLayout_2.addWidget(self.label_100, 0, 0, 1, 1) + self.label_RobotID = QtWidgets.QLabel(self.widget) + self.label_RobotID.setAlignment(QtCore.Qt.AlignCenter) + self.label_RobotID.setObjectName("label_RobotID") + self.gridLayout_2.addWidget(self.label_RobotID, 0, 1, 1, 1) + self.label_102 = QtWidgets.QLabel(self.widget) + self.label_102.setText("") + self.label_102.setPixmap(QtGui.QPixmap("ui/../res/icons8-azimuth-24.png")) + self.label_102.setAlignment(QtCore.Qt.AlignCenter) + self.label_102.setObjectName("label_102") + self.gridLayout_2.addWidget(self.label_102, 1, 0, 1, 1) + self.label_RobotAngle = QtWidgets.QLabel(self.widget) + self.label_RobotAngle.setAlignment(QtCore.Qt.AlignCenter) + self.label_RobotAngle.setObjectName("label_RobotAngle") + self.gridLayout_2.addWidget(self.label_RobotAngle, 1, 1, 1, 1) + self.label_101 = QtWidgets.QLabel(self.widget) + self.label_101.setText("") + self.label_101.setPixmap(QtGui.QPixmap("ui/../res/icons8-emplacement-off-24.png")) + self.label_101.setAlignment(QtCore.Qt.AlignCenter) + self.label_101.setObjectName("label_101") + self.gridLayout_2.addWidget(self.label_101, 2, 0, 1, 1) + self.label_RobotPos = QtWidgets.QLabel(self.widget) + self.label_RobotPos.setAlignment(QtCore.Qt.AlignCenter) + self.label_RobotPos.setObjectName("label_RobotPos") + self.gridLayout_2.addWidget(self.label_RobotPos, 2, 1, 1, 1) + self.label_103 = QtWidgets.QLabel(self.widget) + self.label_103.setText("") + self.label_103.setPixmap(QtGui.QPixmap("ui/../res/icons8-flèche-haut-gauche-24.png")) + self.label_103.setAlignment(QtCore.Qt.AlignCenter) + self.label_103.setObjectName("label_103") + self.gridLayout_2.addWidget(self.label_103, 3, 0, 1, 1) + self.label_RobotDirection = QtWidgets.QLabel(self.widget) + self.label_RobotDirection.setAlignment(QtCore.Qt.AlignCenter) + self.label_RobotDirection.setObjectName("label_RobotDirection") + self.gridLayout_2.addWidget(self.label_RobotDirection, 3, 1, 1, 1) + self.horizontalLayout_6.addLayout(self.gridLayout_2) + self.verticalLayout_4.addLayout(self.horizontalLayout_6) + self.horizontalLayout_7.addLayout(self.verticalLayout_4) self.verticalLayout_6 = QtWidgets.QVBoxLayout() self.verticalLayout_6.setObjectName("verticalLayout_6") - self.groupBox_connection = QtWidgets.QGroupBox(self.centralwidget) + self.groupBox_activation = QtWidgets.QGroupBox(self.widget) + self.groupBox_activation.setAlignment(QtCore.Qt.AlignCenter) + self.groupBox_activation.setObjectName("groupBox_activation") + self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.groupBox_activation) + self.verticalLayout_2.setObjectName("verticalLayout_2") + self.groupBox_connection = QtWidgets.QGroupBox(self.groupBox_activation) self.groupBox_connection.setAlignment(QtCore.Qt.AlignCenter) self.groupBox_connection.setFlat(False) self.groupBox_connection.setCheckable(False) @@ -102,12 +167,7 @@ class Ui_MainWindow(object): self.line.setFrameShadow(QtWidgets.QFrame.Sunken) self.line.setObjectName("line") self.verticalLayout.addWidget(self.line) - self.verticalLayout_6.addWidget(self.groupBox_connection) - self.groupBox_activation = QtWidgets.QGroupBox(self.centralwidget) - self.groupBox_activation.setAlignment(QtCore.Qt.AlignCenter) - self.groupBox_activation.setObjectName("groupBox_activation") - self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.groupBox_activation) - self.verticalLayout_2.setObjectName("verticalLayout_2") + self.verticalLayout_2.addWidget(self.groupBox_connection) self.checkBox_watchdog = QtWidgets.QCheckBox(self.groupBox_activation) self.checkBox_watchdog.setObjectName("checkBox_watchdog") self.verticalLayout_2.addWidget(self.checkBox_watchdog) @@ -120,7 +180,7 @@ class Ui_MainWindow(object): self.line_2.setObjectName("line_2") self.verticalLayout_2.addWidget(self.line_2) self.verticalLayout_6.addWidget(self.groupBox_activation) - self.groupBox_mouvments = QtWidgets.QGroupBox(self.centralwidget) + self.groupBox_mouvments = QtWidgets.QGroupBox(self.widget) self.groupBox_mouvments.setAlignment(QtCore.Qt.AlignCenter) self.groupBox_mouvments.setObjectName("groupBox_mouvments") self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.groupBox_mouvments) @@ -149,7 +209,7 @@ class Ui_MainWindow(object): self.line_3.setObjectName("line_3") self.verticalLayout_3.addWidget(self.line_3) self.verticalLayout_6.addWidget(self.groupBox_mouvments) - self.groupBox_AnswerandBattery = QtWidgets.QGroupBox(self.centralwidget) + self.groupBox_AnswerandBattery = QtWidgets.QGroupBox(self.widget) self.groupBox_AnswerandBattery.setObjectName("groupBox_AnswerandBattery") self.verticalLayout_5 = QtWidgets.QVBoxLayout(self.groupBox_AnswerandBattery) self.verticalLayout_5.setObjectName("verticalLayout_5") @@ -168,10 +228,10 @@ class Ui_MainWindow(object): self.verticalLayout_6.addWidget(self.groupBox_AnswerandBattery) spacerItem = QtWidgets.QSpacerItem(20, 40, QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Expanding) self.verticalLayout_6.addItem(spacerItem) - self.horizontalLayout_6.addLayout(self.verticalLayout_6) + self.horizontalLayout_7.addLayout(self.verticalLayout_6) MainWindow.setCentralWidget(self.centralwidget) self.menubar = QtWidgets.QMenuBar(MainWindow) - self.menubar.setGeometry(QtCore.QRect(0, 0, 928, 22)) + self.menubar.setGeometry(QtCore.QRect(0, 0, 985, 22)) self.menubar.setObjectName("menubar") self.menu_Quitter = QtWidgets.QMenu(self.menubar) self.menu_Quitter.setObjectName("menu_Quitter") @@ -195,15 +255,19 @@ class Ui_MainWindow(object): _translate = QtCore.QCoreApplication.translate MainWindow.setWindowTitle(_translate("MainWindow", "Robot Monitor")) self.checkBox_enableCamera.setText(_translate("MainWindow", "Enable Ca&mera")) - self.pushButton_confirmArena.setText(_translate("MainWindow", "Co&nfirme arena border...")) self.checkBox_enableFPS.setText(_translate("MainWindow", "Enable &FPS")) + self.pushButton_confirmArena.setText(_translate("MainWindow", "Co&nfirme arena border...")) self.checkBox_enablePosition.setText(_translate("MainWindow", "Enable Pos&ition")) + self.label_RobotID.setText(_translate("MainWindow", "No robot (-1)")) + self.label_RobotAngle.setText(_translate("MainWindow", "0.0°")) + self.label_RobotPos.setText(_translate("MainWindow", "(0.0, 0.0)")) + self.label_RobotDirection.setText(_translate("MainWindow", "(0.0, 0.0)")) + self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation")) self.groupBox_connection.setTitle(_translate("MainWindow", "Connection")) self.label.setText(_translate("MainWindow", "Address:")) self.label_2.setText(_translate("MainWindow", "Port:")) self.label_3.setText(_translate("MainWindow", "Status:")) self.label_connectionStatus.setText(_translate("MainWindow", "Not connected")) - self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation")) self.checkBox_watchdog.setText(_translate("MainWindow", "Start with &watchdog")) self.pushButton_start.setText(_translate("MainWindow", "Start r&obot")) self.groupBox_mouvments.setTitle(_translate("MainWindow", "Mouvments")) diff --git a/software/monitor/monitor-python-qt/monitor-python.py b/software/monitor/monitor-python-qt/monitor-python.py index b04facc..b2b2011 100755 --- a/software/monitor/monitor-python-qt/monitor-python.py +++ b/software/monitor/monitor-python-qt/monitor-python.py @@ -1,27 +1,34 @@ #!/usr/bin/env python3 from email.message import Message +from email.policy import Policy import os import time import sys +from tkinter import Image -from PyQt5 import (QtCore, QtWidgets) +from PyQt5 import (QtCore, QtWidgets, QtGui) from main_window import Ui_MainWindow from log_dialog import Ui_Dialog from network import * from globvar import GlobVar +import base64 + class Window(QtWidgets.QMainWindow, Ui_MainWindow): _msg_dialog= None _batteryTimer=None + _FPSTimer=None + + fps=0 def __init__(self, parent=None): super().__init__(parent) self.setupUi(self) - self.DisableUIWidgets("Network") + #self.DisableUIWidgets("Network") self.lineEdit_address.setText(GlobVar.address) self.lineEdit_port.setText(str(GlobVar.port)) @@ -30,6 +37,8 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): self._msg_dialog.ui= Ui_Dialog() self._msg_dialog.ui.setupUi(self._msg_dialog) + self.fps=0 + self.networkThread = Network() self.connectSignalSlots() @@ -41,6 +50,10 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): self._batteryTimer = QtCore.QTimer() self._batteryTimer.timeout.connect(self.OnBatteryTimeout) + # Create fps timer + self._FPSTimer = QtCore.QTimer() + self._FPSTimer.timeout.connect(self.OnFPSTimeout) + def connectSignalSlots(self): # Buttons self.pushButton_start.pressed.connect(self.OnButtonPress_Start) @@ -78,7 +91,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): def EnableUIWidgets(self, area): if area == "Network": self.groupBox_activation.setDisabled(False) - self.graphicsView_Image.setDisabled(False) + self.label_Image.setDisabled(False) self.pushButton_confirmArena.setDisabled(False) self.checkBox_enableCamera.setDisabled(False) self.checkBox_enableFPS.setDisabled(False) @@ -90,7 +103,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): def DisableUIWidgets(self, area): if area == "Network": self.groupBox_activation.setDisabled(True) - self.graphicsView_Image.setDisabled(True) + self.label_Image.setDisabled(True) self.pushButton_confirmArena.setDisabled(True) self.checkBox_enableCamera.setDisabled(True) self.checkBox_enableFPS.setDisabled(True) @@ -131,16 +144,19 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): msg.warning(self,'Invalid answer', 'Server answer was not acknowledged. Maybe robot is still running', msg.Ok) self.pushButton_start.setText("Start r&obot") - self.DisableUIWidgets("Robot") + #self.DisableUIWidgets("Robot") @QtCore.pyqtSlot() def OnButtonPress_ConfirmArena(self): + self.networkThread.cameraAskArena() msg= QtWidgets.QMessageBox ret = msg.question(self, '', 'Arena boundaries are correctly detected ?',msg.Yes| msg.No) if ret == msg.Yes: + self.networkThread.cameraConfirmArena() print ("Answer is YES") else: + self.networkThread.cameraInfirmArena() print ("Answer is NO") @QtCore.pyqtSlot() @@ -165,21 +181,26 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): @QtCore.pyqtSlot(int) def OnCheckBoxChanged_EnableCamera(self, state): - msg= QtWidgets.QMessageBox - msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok) - self.checkBox_enableCamera.setChecked(False) + if self.checkBox_enableCamera.isChecked(): + self.networkThread.cameraOpen() + else: + self.networkThread.cameraClose() @QtCore.pyqtSlot(int) def OnCheckBoxChanged_EnableFPS(self, state): - msg= QtWidgets.QMessageBox - msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok) - self.checkBox_enableFPS.setChecked(False) + if state !=0: + self._FPSTimer.start(1000) + self.checkBox_enableFPS.setText("FPS (0)") + else: + self._FPSTimer.stop() + self.checkBox_enableFPS.setText("Enable FPS") @QtCore.pyqtSlot(int) def OnCheckBoxChanged_EnablePosition(self, state): - msg= QtWidgets.QMessageBox - msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok) - self.checkBox_enablePosition.setChecked(False) + if self.checkBox_enablePosition.isChecked(): + self.networkThread.cameraGetPosition() + else: + self.networkThread.cameraStopPosition() @QtCore.pyqtSlot(int) def OnCheckBoxChanged_GetBattery(self, state): @@ -229,13 +250,82 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): self.checkBox_getBattery.setText ("Get battery (2 = full)") else: self.checkBox_getBattery.setText ("Get battery (invalid value)") - + elif Network.CAMERA_IMAGE in s: + #print ("Image received") + #print ("Date received: " + s) + + self.fps=self.fps+1 + str_split = s.split(':') + try: + image_jpg= base64.b64decode(str_split[1]) + img = QtGui.QImage.fromData(image_jpg, "jpg") + im_pixmap = QtGui.QPixmap(QtGui.QPixmap.fromImage(img)) + + #print ("Image size: " + str(im_pixmap.width()) + "x" + str(im_pixmap.height())) + + self.label_Image.setPixmap(im_pixmap) + self.label_Image.setScaledContents(True) + self.label_Image.setSizePolicy(QtWidgets.QSizePolicy.Fixed,QtWidgets.QSizePolicy.Fixed) + except: + pass + #print ("Invalid image received") + elif Network.CAMERA_POSITION in s: + #CPOS:-1;0.000000;0.000000;0.000000;0.000000;0.000000 + str_split = s.split(':') + values_split = str_split[1].split(';') + + try: + robot_ID = int(values_split[0]) # Id of robot + except: + robot_ID = -1 + + try: + robot_Angle = float(values_split[1]) # angle of robot + except: + robot_Angle = 0.0 + + try: + robot_Coord_X = float(values_split[2]) # X coord of robot + except: + robot_Coord_X = 0.0 + + try: + robot_Coord_Y = float(values_split[3]) # Y coord of robot + except: + robot_Coord_Y = 0.0 + + try: + robot_Cap_X = float(values_split[4]) # X cap of robot + except: + robot_Cap_X = 0.0 + + try: + robot_Cap_Y = float(values_split[5]) # Y cap of robot + except: + robot_Cap_Y = 0.0 + + if robot_ID == -1: + self.label_RobotID.setText("No robot (-1)") + else: + self.label_RobotID.setText(values_split[0]) + + self.label_RobotAngle.setText("%.2f°" % (robot_Angle)) + self.label_RobotPos.setText("(%.2f, %.2f)" % (robot_Coord_X, robot_Coord_Y)) + self.label_RobotDirection.setText("(%.2f, %.2f)" % (robot_Cap_X, robot_Cap_Y)) + # Callback for battery timeout @QtCore.pyqtSlot() def OnBatteryTimeout(self) -> None: # Send a request for battery level. Answer will be done in OnReceptionEvent callback self.networkThread.robotGetBattery() + # Callback for FPS timeout + @QtCore.pyqtSlot() + def OnFPSTimeout(self) -> None: + # Display current FPS + self.checkBox_enableFPS.setText("FPS (" + str(self.fps)+")") + self.fps=0 + # Callback for connection/deconnection event from network manager @QtCore.pyqtSlot(int) def OnConnectionEvent(self, event) -> None: @@ -251,7 +341,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow): self.label_connectionStatus.setText("Not connected") self.pushButton_start.setText("Start r&obot") - self.DisableUIWidgets("Network") + #self.DisableUIWidgets("Network") # Callback for answer event from network manager @QtCore.pyqtSlot(int) diff --git a/software/monitor/monitor-python-qt/network.py b/software/monitor/monitor-python-qt/network.py index 026a1e1..6fc8ee8 100644 --- a/software/monitor/monitor-python-qt/network.py +++ b/software/monitor/monitor-python-qt/network.py @@ -116,8 +116,8 @@ class Network(QtCore.QThread): # Private method for connecting to server def __connect(self) -> None: - #self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + #self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) try: self.sock.connect((GlobVar.address, GlobVar.port)) @@ -126,7 +126,7 @@ class Network(QtCore.QThread): # In UDP, no way to know if server is running (connect is always successfull). # So, send a single line feed to ping the server - self.sock.send(str.encode("\n")) + #self.sock.send(str.encode("\n")) self.waitForAnswer=False # Private method for receiving data from server. @@ -147,6 +147,11 @@ class Network(QtCore.QThread): bytes_recd = bytes_recd + len(chunk) last_char=chunk[-1] + #print ("") + #print ("Data: ") + #print (b''.join(chunks)) + #print ("") + self.__receiveHandler(b''.join(chunks).decode("utf-8")) chunks = [] bytes_recd =0 @@ -315,6 +320,46 @@ class Network(QtCore.QThread): def robotGetBattery(self) -> None: ans = self.__sendCommand(self.ROBOT_GET_BATTERY,False) + # Send OpenCamera command to server + def cameraOpen(self) -> int: + ans = self.__sendCommand(self.CAMERA_OPEN, True) + decodedAns = self.__decodeAnswer(ans) + self.answerEvent.emit(decodedAns) + return decodedAns + + # Send CloseCamera command to server + def cameraClose(self) -> int: + ans = self.__sendCommand(self.CAMERA_CLOSE, True) + decodedAns = self.__decodeAnswer(ans) + self.answerEvent.emit(decodedAns) + return decodedAns + + # Send GetPosition command to server + def cameraGetPosition(self) -> int: + ans = self.__sendCommand(self.CAMERA_POSITION_COMPUTE, True) + decodedAns = self.__decodeAnswer(ans) + self.answerEvent.emit(decodedAns) + return decodedAns + + # Send StopPosition command to server + def cameraStopPosition(self) -> int: + ans = self.__sendCommand(self.CAMERA_POSITION_STOP, True) + decodedAns = self.__decodeAnswer(ans) + self.answerEvent.emit(decodedAns) + return decodedAns + + # Send AskArena command to server + def cameraAskArena(self) -> None: + ans = self.__sendCommand(self.CAMERA_ARENA_ASK,False) + + # Send ConfirmArena command to server + def cameraConfirmArena(self) -> None: + ans = self.__sendCommand(self.CAMERA_ARENA_CONFIRM,False) + + # Send InfirmArena command to server + def cameraInfirmArena(self) -> None: + ans = self.__sendCommand(self.CAMERA_ARENA_INFIRM,False) + # Function for decoding battery level def batterylevelToStr(batlvl: int) -> str: switcher = { diff --git a/software/monitor/monitor-python-qt/ui/main_window.ui b/software/monitor/monitor-python-qt/ui/main_window.ui index 623dedb..e90153c 100644 --- a/software/monitor/monitor-python-qt/ui/main_window.ui +++ b/software/monitor/monitor-python-qt/ui/main_window.ui @@ -6,313 +6,454 @@ 0 0 - 928 - 629 + 985 + 745 + + + 985 + 745 + + Robot Monitor - - - - - - - Enable Ca&mera - - - - - - - - - - Co&nfirme arena border... - - - - - - - - - Enable &FPS - - - - - - - Enable Pos&ition - - - - - - - - - - - - - Connection - - - Qt::AlignCenter - - - false - - - false - - + + + + 20 + 16 + 947 + 671 + + + + + + + - - - - - - 0 - 0 - - - - Address: - - - - - - - - 0 - 0 - - - - - 300 - 16777215 - - - - - + + + Enable Ca&mera + + - - - - - - 0 - 0 - - - - Port: - - - - - - - - 0 - 0 - - - - - 300 - 16777215 - - - - - - - - - - - - Status: - - - - - - - Not connected - - - - - - - - - Qt::Horizontal + + + Enable &FPS - - - - - - Robot Activation - - - Qt::AlignCenter - - + + + + + + 0 + 0 + + + + + 640 + 480 + + + + + 1 + 1 + + + + QFrame::NoFrame + + + + + + + + + + Co&nfirme arena border... + + + + + - + - Start with &watchdog + Enable Pos&ition - - - Start r&obot - - - - - - - Qt::Horizontal - - - - - - - - - - Mouvments - - - Qt::AlignCenter - - - - + + + + + + + + ../res/icons8-robot-24.png + + + Qt::AlignCenter + + + - + - &Up + No robot (-1) + + + Qt::AlignCenter - + - &Left + + + + ../res/icons8-azimuth-24.png + + + Qt::AlignCenter - + - &Stop + 0.0° + + + Qt::AlignCenter - - + + - &Right + + + + ../res/icons8-emplacement-off-24.png + + + Qt::AlignCenter - + - &Down + (0.0, 0.0) + + + Qt::AlignCenter - - - - - - Qt::Horizontal - - - - - - - - - - Others - - - - - - Get &Battery - - - - - - - + + - Last answer: + + + + ../res/icons8-flèche-haut-gauche-24.png + + + Qt::AlignCenter - - + + - None + (0.0, 0.0) + + + Qt::AlignCenter - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - + + + + + + + + + Robot Activation + + + Qt::AlignCenter + + + + + + Connection + + + Qt::AlignCenter + + + false + + + false + + + + + + + + + 0 + 0 + + + + Address: + + + + + + + + 0 + 0 + + + + + 300 + 16777215 + + + + + + + + + + + + + 0 + 0 + + + + Port: + + + + + + + + 0 + 0 + + + + + 300 + 16777215 + + + + + + + + + + + + Status: + + + + + + + Not connected + + + + + + + + + Qt::Horizontal + + + + + + + + + + Start with &watchdog + + + + + + + Start r&obot + + + + + + + Qt::Horizontal + + + + + + + + + + Mouvments + + + Qt::AlignCenter + + + + + + + + &Up + + + + + + + &Left + + + + + + + &Stop + + + + + + + &Right + + + + + + + &Down + + + + + + + + + Qt::Horizontal + + + + + + + + + + Others + + + + + + Get &Battery + + + + + + + + + Last answer: + + + + + + + None + + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + 0 0 - 928 + 985 22