Merge de la version fonctionnelle du moniteur (commit c513609)

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"))

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):
@@ -229,6 +250,68 @@ 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() 
@@ -236,6 +319,13 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
         # 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) 

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 = {

software/monitor/monitor-python-qt/ui/main_window.ui

@@ -6,313 +6,454 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>928</width>
-    <height>629</height>
+    <width>985</width>
+    <height>745</height>
    </rect>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>985</width>
+    <height>745</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Robot Monitor</string>
   </property>
   <widget class="QWidget" name="centralwidget">
-   <layout class="QHBoxLayout" name="horizontalLayout_6">
-    <item>
-     <layout class="QVBoxLayout" name="verticalLayout_4">
-      <item>
-       <widget class="QCheckBox" name="checkBox_enableCamera">
-        <property name="text">
-         <string>Enable Ca&amp;mera</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QGraphicsView" name="graphicsView_Image"/>
-      </item>
-      <item>
-       <widget class="QPushButton" name="pushButton_confirmArena">
-        <property name="text">
-         <string>Co&amp;nfirme arena border...</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_3">
-        <item>
-         <widget class="QCheckBox" name="checkBox_enableFPS">
-          <property name="text">
-           <string>Enable &amp;FPS</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QCheckBox" name="checkBox_enablePosition">
-          <property name="text">
-           <string>Enable Pos&amp;ition</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-     </layout>
-    </item>
-    <item>
-     <layout class="QVBoxLayout" name="verticalLayout_6">
-      <item>
-       <widget class="QGroupBox" name="groupBox_connection">
-        <property name="title">
-         <string>Connection</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-        <property name="flat">
-         <bool>false</bool>
-        </property>
-        <property name="checkable">
-         <bool>false</bool>
-        </property>
-        <layout class="QVBoxLayout" name="verticalLayout">
+   <widget class="QWidget" name="">
+    <property name="geometry">
+     <rect>
+      <x>20</x>
+      <y>16</y>
+      <width>947</width>
+      <height>671</height>
+     </rect>
+    </property>
+    <layout class="QHBoxLayout" name="horizontalLayout_7">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_4">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_3">
          <item>
-          <layout class="QHBoxLayout" name="horizontalLayout">
-           <item>
-            <widget class="QLabel" name="label">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="text">
-              <string>Address:</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QLineEdit" name="lineEdit_address">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>300</width>
-               <height>16777215</height>
-              </size>
-             </property>
-            </widget>
-           </item>
-          </layout>
+          <widget class="QCheckBox" name="checkBox_enableCamera">
+           <property name="text">
+            <string>Enable Ca&amp;mera</string>
+           </property>
+          </widget>
          </item>
          <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_2">
-           <item>
-            <widget class="QLabel" name="label_2">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="text">
-              <string>Port:</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QLineEdit" name="lineEdit_port">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>300</width>
-               <height>16777215</height>
-              </size>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_4">
-           <item>
-            <widget class="QLabel" name="label_3">
-             <property name="text">
-              <string>Status:</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QLabel" name="label_connectionStatus">
-             <property name="text">
-              <string>Not connected</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-         <item>
-          <widget class="Line" name="line">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
+          <widget class="QCheckBox" name="checkBox_enableFPS">
+           <property name="text">
+            <string>Enable &amp;FPS</string>
            </property>
           </widget>
          </item>
         </layout>
-       </widget>
-      </item>
-      <item>
-       <widget class="QGroupBox" name="groupBox_activation">
-        <property name="title">
-         <string>Robot Activation</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-        <layout class="QVBoxLayout" name="verticalLayout_2">
+       </item>
+       <item>
+        <widget class="QLabel" name="label_Image">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>640</width>
+           <height>480</height>
+          </size>
+         </property>
+         <property name="sizeIncrement">
+          <size>
+           <width>1</width>
+           <height>1</height>
+          </size>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="pushButton_confirmArena">
+         <property name="text">
+          <string>Co&amp;nfirme arena border...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_6">
          <item>
-          <widget class="QCheckBox" name="checkBox_watchdog">
+          <widget class="QCheckBox" name="checkBox_enablePosition">
            <property name="text">
-            <string>Start with &amp;watchdog</string>
+            <string>Enable Pos&amp;ition</string>
            </property>
           </widget>
          </item>
          <item>
-          <widget class="QPushButton" name="pushButton_start">
-           <property name="text">
-            <string>Start r&amp;obot</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="Line" name="line_2">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </widget>
-      </item>
-      <item>
-       <widget class="QGroupBox" name="groupBox_mouvments">
-        <property name="title">
-         <string>Mouvments</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-        <layout class="QVBoxLayout" name="verticalLayout_3">
-         <item>
-          <layout class="QGridLayout" name="gridLayout">
+          <layout class="QGridLayout" name="gridLayout_2">
+           <item row="0" column="0">
+            <widget class="QLabel" name="label_100">
+             <property name="text">
+              <string/>
+             </property>
+             <property name="pixmap">
+              <pixmap>../res/icons8-robot-24.png</pixmap>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
            <item row="0" column="1">
-            <widget class="QPushButton" name="pushButton_up">
+            <widget class="QLabel" name="label_RobotID">
              <property name="text">
-              <string>&amp;Up</string>
+              <string>No robot (-1)</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
-            <widget class="QPushButton" name="pushButton_left">
+            <widget class="QLabel" name="label_102">
              <property name="text">
-              <string>&amp;Left</string>
+              <string/>
+             </property>
+             <property name="pixmap">
+              <pixmap>../res/icons8-azimuth-24.png</pixmap>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
-            <widget class="QPushButton" name="pushButton_stop">
+            <widget class="QLabel" name="label_RobotAngle">
              <property name="text">
-              <string>&amp;Stop</string>
+              <string>0.0°</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
-           <item row="1" column="2">
-            <widget class="QPushButton" name="pushButton_right">
+           <item row="2" column="0">
+            <widget class="QLabel" name="label_101">
              <property name="text">
-              <string>&amp;Right</string>
+              <string/>
+             </property>
+             <property name="pixmap">
+              <pixmap>../res/icons8-emplacement-off-24.png</pixmap>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
-            <widget class="QPushButton" name="pushButton_down">
+            <widget class="QLabel" name="label_RobotPos">
              <property name="text">
-              <string>&amp;Down</string>
+              <string>(0.0, 0.0)</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
-          </layout>
-         </item>
-         <item>
-          <widget class="Line" name="line_3">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </widget>
-      </item>
-      <item>
-       <widget class="QGroupBox" name="groupBox_AnswerandBattery">
-        <property name="title">
-         <string>Others</string>
-        </property>
-        <layout class="QVBoxLayout" name="verticalLayout_5">
-         <item>
-          <widget class="QCheckBox" name="checkBox_getBattery">
-           <property name="text">
-            <string>Get &amp;Battery</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_5">
-           <item>
-            <widget class="QLabel" name="label_4">
+           <item row="3" column="0">
+            <widget class="QLabel" name="label_103">
              <property name="text">
-              <string>Last answer:</string>
+              <string/>
+             </property>
+             <property name="pixmap">
+              <pixmap>../res/icons8-flèche-haut-gauche-24.png</pixmap>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
-           <item>
-            <widget class="QLabel" name="label_lastAnswer">
+           <item row="3" column="1">
+            <widget class="QLabel" name="label_RobotDirection">
              <property name="text">
-              <string>None</string>
+              <string>(0.0, 0.0)</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
              </property>
             </widget>
            </item>
           </layout>
          </item>
         </layout>
-       </widget>
-      </item>
-      <item>
-       <spacer name="verticalSpacer">
-        <property name="orientation">
-         <enum>Qt::Vertical</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>20</width>
-          <height>40</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-     </layout>
-    </item>
-   </layout>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_6">
+       <item>
+        <widget class="QGroupBox" name="groupBox_activation">
+         <property name="title">
+          <string>Robot Activation</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_2">
+          <item>
+           <widget class="QGroupBox" name="groupBox_connection">
+            <property name="title">
+             <string>Connection</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+            <property name="flat">
+             <bool>false</bool>
+            </property>
+            <property name="checkable">
+             <bool>false</bool>
+            </property>
+            <layout class="QVBoxLayout" name="verticalLayout">
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout">
+               <item>
+                <widget class="QLabel" name="label">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="text">
+                  <string>Address:</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLineEdit" name="lineEdit_address">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>300</width>
+                   <height>16777215</height>
+                  </size>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_2">
+               <item>
+                <widget class="QLabel" name="label_2">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="text">
+                  <string>Port:</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLineEdit" name="lineEdit_port">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="maximumSize">
+                  <size>
+                   <width>300</width>
+                   <height>16777215</height>
+                  </size>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <item>
+              <layout class="QHBoxLayout" name="horizontalLayout_4">
+               <item>
+                <widget class="QLabel" name="label_3">
+                 <property name="text">
+                  <string>Status:</string>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QLabel" name="label_connectionStatus">
+                 <property name="text">
+                  <string>Not connected</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
+             </item>
+             <item>
+              <widget class="Line" name="line">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </widget>
+          </item>
+          <item>
+           <widget class="QCheckBox" name="checkBox_watchdog">
+            <property name="text">
+             <string>Start with &amp;watchdog</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="pushButton_start">
+            <property name="text">
+             <string>Start r&amp;obot</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="Line" name="line_2">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_mouvments">
+         <property name="title">
+          <string>Mouvments</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_3">
+          <item>
+           <layout class="QGridLayout" name="gridLayout">
+            <item row="0" column="1">
+             <widget class="QPushButton" name="pushButton_up">
+              <property name="text">
+               <string>&amp;Up</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QPushButton" name="pushButton_left">
+              <property name="text">
+               <string>&amp;Left</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QPushButton" name="pushButton_stop">
+              <property name="text">
+               <string>&amp;Stop</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="2">
+             <widget class="QPushButton" name="pushButton_right">
+              <property name="text">
+               <string>&amp;Right</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QPushButton" name="pushButton_down">
+              <property name="text">
+               <string>&amp;Down</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <widget class="Line" name="line_3">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_AnswerandBattery">
+         <property name="title">
+          <string>Others</string>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_5">
+          <item>
+           <widget class="QCheckBox" name="checkBox_getBattery">
+            <property name="text">
+             <string>Get &amp;Battery</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <layout class="QHBoxLayout" name="horizontalLayout_5">
+            <item>
+             <widget class="QLabel" name="label_4">
+              <property name="text">
+               <string>Last answer:</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_lastAnswer">
+              <property name="text">
+               <string>None</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </widget>
   </widget>
   <widget class="QMenuBar" name="menubar">
    <property name="geometry">
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>928</width>
+     <width>985</width>
      <height>22</height>
     </rect>
    </property>