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nouvelle version pcb dumber + nouvelle version monietur en QT

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vezde 2022-07-07 17:08:45 +02:00
parent fea60b1cc0
commit a9416d70bb
11 changed files with 1499 additions and 186 deletions
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350
hardware/pcb/Dumber-v3/dumber-v3/dumber-v3.kicad_pcb
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@ -535,78 +535,55 @@
) )
) )
(footprint "Battery:BatteryHolder_Keystone_2460_1xAA" locked (layer "F.Cu") (footprint "INSA:Battery-14500" locked (layer "F.Cu")
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(at 180.975 131.5 90) (at 180.5 106 90)
(descr "https://www.keyelco.com/product-pdf.cfm?p=1025")
(tags "AA battery cell holder")
(property "Sheetfile" "power_charge.kicad_sch") (property "Sheetfile" "power_charge.kicad_sch")
(property "Sheetname" "Power_Charge") (property "Sheetname" "Power_Charge")
(path "/3615d78e-1dd3-4b20-9017-3539b8f88e06/053dd8a9-6683-412e-b95b-646ea38b2cad") (path "/3615d78e-1dd3-4b20-9017-3539b8f88e06/053dd8a9-6683-412e-b95b-646ea38b2cad")
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(offset (xyz 0 0 0))
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(rotate (xyz 0 0 0)) (rotate (xyz 0 0 90))
) )
(model "/home/dimercur/kicad/local-packages3d/keystone-PN2460.STEP" (model "/home/dimercur/kicad/local-packages3d/Insa.3dshapes/GL2003 AA Battery Clip MPD BK-92.stp"
(offset (xyz 23 0.75 10.5)) (offset (xyz -23 0 0))
(scale (xyz 1 1 1)) (scale (xyz 1 1 1))
(rotate (xyz -90 0 0)) (rotate (xyz 0 0 -90))
)
(model "/home/dimercur/kicad/local-packages3d/Insa.3dshapes/Saft LS 14500 AA Size Lithium Battery v2.step"
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@ -957,7 +934,7 @@
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@ -1111,22 +1088,22 @@
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(descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator") (descr "Resistor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
(tags "resistor") (tags "resistor")
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@ -1998,7 +1975,7 @@
(property "Sheetname" "Power_Charge") (property "Sheetname" "Power_Charge")
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@ -2268,22 +2245,22 @@
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(segment (start 185.42 137.16) (end 186.69 135.89) (width 0.25) (layer "F.Cu") (net 90) (tstamp fd89ad02-d1aa-4d4c-99eb-9b37ee2ca48f)) (segment (start 185.928 91.948) (end 186.69 92.71) (width 0.25) (layer "F.Cu") (net 90) (tstamp e893f9a3-3ae2-4618-b034-2fb1ff12fb02))
(segment (start 168.91 130.81) (end 169.545 131.445) (width 0.25) (layer "F.Cu") (net 90) (tstamp ff791f99-3134-4b61-84db-ed228463c7dc)) (segment (start 169.545 136.525) (end 169.545 131.445) (width 0.25) (layer "F.Cu") (net 90) (tstamp eb07085e-43a9-4233-9cb5-d20c84637941))
(segment (start 147.32 130.175) (end 147.32 121.8305) (width 0.25) (layer "F.Cu") (net 90) (tstamp f75cc1ca-a1cb-46d1-ac7e-074261842ff0))
(segment (start 174.752 91.948) (end 185.928 91.948) (width 0.25) (layer "F.Cu") (net 90) (tstamp ffd6493d-8dc5-49ec-8712-48138e71442f))
(via (at 173.99 88.265) (size 0.8) (drill 0.3) (layers "F.Cu" "B.Cu") (net 90) (tstamp 398f0e0e-772b-4367-a2ae-31ef846576f4)) (via (at 173.99 88.265) (size 0.8) (drill 0.3) (layers "F.Cu" "B.Cu") (net 90) (tstamp 398f0e0e-772b-4367-a2ae-31ef846576f4))
(via (at 186.69 110.49) (size 0.8) (drill 0.3) (layers "F.Cu" "B.Cu") (net 90) (tstamp 85e62aa7-a045-42be-844a-45ac99c3a5ba)) (via (at 186.69 110.49) (size 0.8) (drill 0.3) (layers "F.Cu" "B.Cu") (net 90) (tstamp 85e62aa7-a045-42be-844a-45ac99c3a5ba))
(via (at 186.69 113.665) (size 0.8) (drill 0.3) (layers "F.Cu" "B.Cu") (net 90) (tstamp 9335ab5e-2df4-407e-ba02-a081cb205b33)) (via (at 186.69 113.284) (size 0.8) (drill 0.3) (layers "F.Cu" "B.Cu") (net 90) (tstamp 9335ab5e-2df4-407e-ba02-a081cb205b33))
(via (at 147.32 121.8305) (size 0.8) (drill 0.3) (layers "F.Cu" "B.Cu") (net 90) (tstamp dab72854-c90a-4b72-9600-6db1b4283eb7)) (via (at 147.32 121.8305) (size 0.8) (drill 0.3) (layers "F.Cu" "B.Cu") (net 90) (tstamp dab72854-c90a-4b72-9600-6db1b4283eb7))
(segment (start 186.69 113.665) (end 186.69 110.49) (width 0.25) (layer "B.Cu") (net 90) (tstamp 309139cc-9507-46e9-9907-7c5c8616b531))
(segment (start 147.512007 121.8305) (end 147.32 121.8305) (width 0.25) (layer "B.Cu") (net 90) (tstamp 5ec80bfb-18df-452a-8703-43353cca417b)) (segment (start 147.512007 121.8305) (end 147.32 121.8305) (width 0.25) (layer "B.Cu") (net 90) (tstamp 5ec80bfb-18df-452a-8703-43353cca417b))
(segment (start 149.245 117.1925) (end 149.245 120.097507) (width 0.25) (layer "B.Cu") (net 90) (tstamp 6a7aadec-91c0-487c-9203-b88bae8f4be5)) (segment (start 149.245 117.1925) (end 149.245 120.097507) (width 0.25) (layer "B.Cu") (net 90) (tstamp 6a7aadec-91c0-487c-9203-b88bae8f4be5))
(segment (start 175.7975 88.265) (end 175.93 88.3975) (width 0.25) (layer "B.Cu") (net 90) (tstamp 72b47705-060b-4ddb-af86-17ceb73409c9)) (segment (start 175.7975 88.265) (end 175.93 88.3975) (width 0.25) (layer "B.Cu") (net 90) (tstamp 72b47705-060b-4ddb-af86-17ceb73409c9))
(segment (start 173.99 88.265) (end 175.7975 88.265) (width 0.25) (layer "B.Cu") (net 90) (tstamp 88acb055-aa09-4d3a-95e9-8bd15e364d90)) (segment (start 173.99 88.265) (end 175.7975 88.265) (width 0.25) (layer "B.Cu") (net 90) (tstamp 88acb055-aa09-4d3a-95e9-8bd15e364d90))
(segment (start 149.245 120.097507) (end 147.512007 121.8305) (width 0.25) (layer "B.Cu") (net 90) (tstamp 9a762953-fdeb-4039-a0bb-b75a63810ada)) (segment (start 149.245 120.097507) (end 147.512007 121.8305) (width 0.25) (layer "B.Cu") (net 90) (tstamp 9a762953-fdeb-4039-a0bb-b75a63810ada))
(segment (start 186.69 113.284) (end 186.69 110.49) (width 0.25) (layer "B.Cu") (net 90) (tstamp ddb4abea-0e97-4813-9861-df4c51cbb9d8))
(segment (start 169.545 92.075) (end 170.18 92.71) (width 0.4) (layer "F.Cu") (net 92) (tstamp 04343739-ea14-448b-addc-91e47542334c)) (segment (start 169.545 92.075) (end 170.18 92.71) (width 0.4) (layer "F.Cu") (net 92) (tstamp 04343739-ea14-448b-addc-91e47542334c))
(segment (start 154.305 95.25) (end 154.94 95.885) (width 0.4) (layer "F.Cu") (net 92) (tstamp 108b4e10-da35-490e-b655-19b1a97445a9)) (segment (start 154.305 95.25) (end 154.94 95.885) (width 0.4) (layer "F.Cu") (net 92) (tstamp 108b4e10-da35-490e-b655-19b1a97445a9))
(segment (start 153.67 93.345) (end 154.305 93.98) (width 0.4) (layer "F.Cu") (net 92) (tstamp 21d75aed-cf26-49b3-9de1-f8f2aa5441af)) (segment (start 153.67 93.345) (end 154.305 93.98) (width 0.4) (layer "F.Cu") (net 92) (tstamp 21d75aed-cf26-49b3-9de1-f8f2aa5441af))

4
hardware/pcb/Dumber-v3/dumber-v3/dumber-v3.kicad_prl
View file

@ -1,6 +1,6 @@
{ {
"board": { "board": {
"active_layer": 0, "active_layer": 44,
"active_layer_preset": "", "active_layer_preset": "",
"auto_track_width": true, "auto_track_width": true,
"hidden_nets": [], "hidden_nets": [],
@ -62,7 +62,7 @@
35, 35,
36 36
], ],
"visible_layers": "ffcfdff_ffffffff", "visible_layers": "ffcffff_ffffffff",
"zone_display_mode": 0 "zone_display_mode": 0
}, },
"meta": { "meta": {

2
hardware/pcb/Dumber-v3/dumber-v3/dumber-v3.kicad_sch
View file

@ -472,7 +472,7 @@
(reference "#PWR0109") (unit 1) (value "+2V5") (footprint "") (reference "#PWR0109") (unit 1) (value "+2V5") (footprint "")
) )
(path "/3615d78e-1dd3-4b20-9017-3539b8f88e06/053dd8a9-6683-412e-b95b-646ea38b2cad" (path "/3615d78e-1dd3-4b20-9017-3539b8f88e06/053dd8a9-6683-412e-b95b-646ea38b2cad"
(reference "BT1") (unit 1) (value "Li-ION") (footprint "Battery:BatteryHolder_Keystone_2460_1xAA") (reference "BT1") (unit 1) (value "Li-ION") (footprint "INSA:Battery-14500")
) )
(path "/3615d78e-1dd3-4b20-9017-3539b8f88e06/bd71a09f-c787-4676-9eaf-0b8a418617b8" (path "/3615d78e-1dd3-4b20-9017-3539b8f88e06/bd71a09f-c787-4676-9eaf-0b8a418617b8"
(reference "C1") (unit 1) (value "10nF") (footprint "Capacitor_SMD:C_0805_2012Metric") (reference "C1") (unit 1) (value "10nF") (footprint "Capacitor_SMD:C_0805_2012Metric")

2
hardware/pcb/Dumber-v3/dumber-v3/power_charge.kicad_sch
View file

@ -2287,7 +2287,7 @@
(property "Value" "Li-ION" (id 1) (at 174.371 153.3402 0) (property "Value" "Li-ION" (id 1) (at 174.371 153.3402 0)
(effects (font (size 1.27 1.27)) (justify left)) (effects (font (size 1.27 1.27)) (justify left))
) )
(property "Footprint" "Battery:BatteryHolder_Keystone_2460_1xAA" (id 2) (at 171.45 152.146 90) (property "Footprint" "INSA:Battery-14500" (id 2) (at 171.45 152.146 90)
(effects (font (size 1.27 1.27)) hide) (effects (font (size 1.27 1.27)) hide)
) )
(property "Datasheet" "~" (id 3) (at 171.45 152.146 90) (property "Datasheet" "~" (id 3) (at 171.45 152.146 90)

22
software/monitor/monitor-python-qt/globvar.py Normal file
View file

@ -0,0 +1,22 @@
# -*- coding: utf-8 -*-
class GlobVar:
port = 5544 # default server port
timeout=1.0 # default waiting time for an answer. May be increased for debugging purpose
address = "localhost" # default server address. Use this with 'nc -l <port>' for testing on your machine
getBatteryLevelPeriod=2 # periodic delay for requesting battery level. If value is 0 or below, not battery check is done
# do not modify value below this line
connectedToPi = False
connectedToDumber = False
dumberStarted = False
batteryLevel = -1
currentMovement="STOP"
last_answer = -1
#message = []
exceptionmsg= ""

43
software/monitor/monitor-python-qt/log_dialog.py Normal file
View file

@ -0,0 +1,43 @@
# -*- coding: utf-8 -*-
# Form implementation generated from reading ui file 'ui/log_dialog.ui'
#
# Created by: PyQt5 UI code generator 5.14.1
#
# WARNING! All changes made in this file will be lost!
from PyQt5 import QtCore, QtGui, QtWidgets
class Ui_Dialog(object):
def setupUi(self, Dialog):
Dialog.setObjectName("Dialog")
Dialog.resize(510, 336)
self.verticalLayout = QtWidgets.QVBoxLayout(Dialog)
self.verticalLayout.setObjectName("verticalLayout")
self.plainTextEdit = QtWidgets.QPlainTextEdit(Dialog)
self.plainTextEdit.setReadOnly(True)
self.plainTextEdit.setPlainText("")
self.plainTextEdit.setObjectName("plainTextEdit")
self.verticalLayout.addWidget(self.plainTextEdit)
self.horizontalLayout = QtWidgets.QHBoxLayout()
self.horizontalLayout.setObjectName("horizontalLayout")
spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
self.pushButton_clearLog = QtWidgets.QPushButton(Dialog)
self.pushButton_clearLog.setObjectName("pushButton_clearLog")
self.horizontalLayout.addWidget(self.pushButton_clearLog)
self.pushButton_closeLog = QtWidgets.QPushButton(Dialog)
self.pushButton_closeLog.setObjectName("pushButton_closeLog")
self.horizontalLayout.addWidget(self.pushButton_closeLog)
self.verticalLayout.addLayout(self.horizontalLayout)
self.retranslateUi(Dialog)
QtCore.QMetaObject.connectSlotsByName(Dialog)
def retranslateUi(self, Dialog):
_translate = QtCore.QCoreApplication.translate
Dialog.setWindowTitle(_translate("Dialog", "Messages Log"))
self.pushButton_clearLog.setText(_translate("Dialog", "Clear log"))
self.pushButton_closeLog.setText(_translate("Dialog", "Close"))

221
software/monitor/monitor-python-qt/main_window.py Normal file
View file

@ -0,0 +1,221 @@
# -*- coding: utf-8 -*-
# Form implementation generated from reading ui file 'ui/main_window.ui'
#
# Created by: PyQt5 UI code generator 5.14.1
#
# WARNING! All changes made in this file will be lost!
from PyQt5 import QtCore, QtGui, QtWidgets
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(928, 629)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.centralwidget)
self.horizontalLayout_6.setObjectName("horizontalLayout_6")
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_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.verticalLayout_6 = QtWidgets.QVBoxLayout()
self.verticalLayout_6.setObjectName("verticalLayout_6")
self.groupBox_connection = QtWidgets.QGroupBox(self.centralwidget)
self.groupBox_connection.setAlignment(QtCore.Qt.AlignCenter)
self.groupBox_connection.setFlat(False)
self.groupBox_connection.setCheckable(False)
self.groupBox_connection.setObjectName("groupBox_connection")
self.verticalLayout = QtWidgets.QVBoxLayout(self.groupBox_connection)
self.verticalLayout.setObjectName("verticalLayout")
self.horizontalLayout = QtWidgets.QHBoxLayout()
self.horizontalLayout.setObjectName("horizontalLayout")
self.label = QtWidgets.QLabel(self.groupBox_connection)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Preferred)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.label.sizePolicy().hasHeightForWidth())
self.label.setSizePolicy(sizePolicy)
self.label.setObjectName("label")
self.horizontalLayout.addWidget(self.label)
self.lineEdit_address = QtWidgets.QLineEdit(self.groupBox_connection)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Maximum, QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.lineEdit_address.sizePolicy().hasHeightForWidth())
self.lineEdit_address.setSizePolicy(sizePolicy)
self.lineEdit_address.setMaximumSize(QtCore.QSize(300, 16777215))
self.lineEdit_address.setObjectName("lineEdit_address")
self.horizontalLayout.addWidget(self.lineEdit_address)
self.verticalLayout.addLayout(self.horizontalLayout)
self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
self.horizontalLayout_2.setObjectName("horizontalLayout_2")
self.label_2 = QtWidgets.QLabel(self.groupBox_connection)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Preferred)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.label_2.sizePolicy().hasHeightForWidth())
self.label_2.setSizePolicy(sizePolicy)
self.label_2.setObjectName("label_2")
self.horizontalLayout_2.addWidget(self.label_2)
self.lineEdit_port = QtWidgets.QLineEdit(self.groupBox_connection)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Maximum, QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.lineEdit_port.sizePolicy().hasHeightForWidth())
self.lineEdit_port.setSizePolicy(sizePolicy)
self.lineEdit_port.setMaximumSize(QtCore.QSize(300, 16777215))
self.lineEdit_port.setObjectName("lineEdit_port")
self.horizontalLayout_2.addWidget(self.lineEdit_port)
self.verticalLayout.addLayout(self.horizontalLayout_2)
self.horizontalLayout_4 = QtWidgets.QHBoxLayout()
self.horizontalLayout_4.setObjectName("horizontalLayout_4")
self.label_3 = QtWidgets.QLabel(self.groupBox_connection)
self.label_3.setObjectName("label_3")
self.horizontalLayout_4.addWidget(self.label_3)
self.label_connectionStatus = QtWidgets.QLabel(self.groupBox_connection)
self.label_connectionStatus.setObjectName("label_connectionStatus")
self.horizontalLayout_4.addWidget(self.label_connectionStatus)
self.verticalLayout.addLayout(self.horizontalLayout_4)
self.line = QtWidgets.QFrame(self.groupBox_connection)
self.line.setFrameShape(QtWidgets.QFrame.HLine)
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.checkBox_watchdog = QtWidgets.QCheckBox(self.groupBox_activation)
self.checkBox_watchdog.setObjectName("checkBox_watchdog")
self.verticalLayout_2.addWidget(self.checkBox_watchdog)
self.pushButton_start = QtWidgets.QPushButton(self.groupBox_activation)
self.pushButton_start.setObjectName("pushButton_start")
self.verticalLayout_2.addWidget(self.pushButton_start)
self.line_2 = QtWidgets.QFrame(self.groupBox_activation)
self.line_2.setFrameShape(QtWidgets.QFrame.HLine)
self.line_2.setFrameShadow(QtWidgets.QFrame.Sunken)
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.setAlignment(QtCore.Qt.AlignCenter)
self.groupBox_mouvments.setObjectName("groupBox_mouvments")
self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.groupBox_mouvments)
self.verticalLayout_3.setObjectName("verticalLayout_3")
self.gridLayout = QtWidgets.QGridLayout()
self.gridLayout.setObjectName("gridLayout")
self.pushButton_up = QtWidgets.QPushButton(self.groupBox_mouvments)
self.pushButton_up.setObjectName("pushButton_up")
self.gridLayout.addWidget(self.pushButton_up, 0, 1, 1, 1)
self.pushButton_left = QtWidgets.QPushButton(self.groupBox_mouvments)
self.pushButton_left.setObjectName("pushButton_left")
self.gridLayout.addWidget(self.pushButton_left, 1, 0, 1, 1)
self.pushButton_stop = QtWidgets.QPushButton(self.groupBox_mouvments)
self.pushButton_stop.setObjectName("pushButton_stop")
self.gridLayout.addWidget(self.pushButton_stop, 1, 1, 1, 1)
self.pushButton_right = QtWidgets.QPushButton(self.groupBox_mouvments)
self.pushButton_right.setObjectName("pushButton_right")
self.gridLayout.addWidget(self.pushButton_right, 1, 2, 1, 1)
self.pushButton_down = QtWidgets.QPushButton(self.groupBox_mouvments)
self.pushButton_down.setObjectName("pushButton_down")
self.gridLayout.addWidget(self.pushButton_down, 2, 1, 1, 1)
self.verticalLayout_3.addLayout(self.gridLayout)
self.line_3 = QtWidgets.QFrame(self.groupBox_mouvments)
self.line_3.setFrameShape(QtWidgets.QFrame.HLine)
self.line_3.setFrameShadow(QtWidgets.QFrame.Sunken)
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.setObjectName("groupBox_AnswerandBattery")
self.verticalLayout_5 = QtWidgets.QVBoxLayout(self.groupBox_AnswerandBattery)
self.verticalLayout_5.setObjectName("verticalLayout_5")
self.checkBox_getBattery = QtWidgets.QCheckBox(self.groupBox_AnswerandBattery)
self.checkBox_getBattery.setObjectName("checkBox_getBattery")
self.verticalLayout_5.addWidget(self.checkBox_getBattery)
self.horizontalLayout_5 = QtWidgets.QHBoxLayout()
self.horizontalLayout_5.setObjectName("horizontalLayout_5")
self.label_4 = QtWidgets.QLabel(self.groupBox_AnswerandBattery)
self.label_4.setObjectName("label_4")
self.horizontalLayout_5.addWidget(self.label_4)
self.label_lastAnswer = QtWidgets.QLabel(self.groupBox_AnswerandBattery)
self.label_lastAnswer.setObjectName("label_lastAnswer")
self.horizontalLayout_5.addWidget(self.label_lastAnswer)
self.verticalLayout_5.addLayout(self.horizontalLayout_5)
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)
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 928, 22))
self.menubar.setObjectName("menubar")
self.menu_Quitter = QtWidgets.QMenu(self.menubar)
self.menu_Quitter.setObjectName("menu_Quitter")
MainWindow.setMenuBar(self.menubar)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.action_Quitter = QtWidgets.QAction(MainWindow)
self.action_Quitter.setObjectName("action_Quitter")
self.action_OpenMessageLog = QtWidgets.QAction(MainWindow)
self.action_OpenMessageLog.setObjectName("action_OpenMessageLog")
self.menu_Quitter.addAction(self.action_OpenMessageLog)
self.menu_Quitter.addSeparator()
self.menu_Quitter.addAction(self.action_Quitter)
self.menubar.addAction(self.menu_Quitter.menuAction())
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
def retranslateUi(self, MainWindow):
_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.checkBox_enablePosition.setText(_translate("MainWindow", "Enable Pos&ition"))
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"))
self.pushButton_up.setText(_translate("MainWindow", "&Up"))
self.pushButton_left.setText(_translate("MainWindow", "&Left"))
self.pushButton_stop.setText(_translate("MainWindow", "&Stop"))
self.pushButton_right.setText(_translate("MainWindow", "&Right"))
self.pushButton_down.setText(_translate("MainWindow", "&Down"))
self.groupBox_AnswerandBattery.setTitle(_translate("MainWindow", "Others"))
self.checkBox_getBattery.setText(_translate("MainWindow", "Get &Battery"))
self.label_4.setText(_translate("MainWindow", "Last answer:"))
self.label_lastAnswer.setText(_translate("MainWindow", "None"))
self.menu_Quitter.setTitle(_translate("MainWindow", "M&enu"))
self.action_Quitter.setText(_translate("MainWindow", "&Quitter"))
self.action_OpenMessageLog.setText(_translate("MainWindow", "O&pen message log..."))

296
software/monitor/monitor-python-qt/monitor-python.py Executable file
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#!/usr/bin/env python3
from email.message import Message
import os
import time
import sys
from PyQt5 import (QtCore, QtWidgets)
from main_window import Ui_MainWindow
from log_dialog import Ui_Dialog
from network import *
from globvar import GlobVar
class Window(QtWidgets.QMainWindow, Ui_MainWindow):
_msg_dialog= None
_batteryTimer=None
def __init__(self, parent=None):
super().__init__(parent)
self.setupUi(self)
self.DisableUIWidgets("Network")
self.lineEdit_address.setText(GlobVar.address)
self.lineEdit_port.setText(str(GlobVar.port))
self._msg_dialog=QtWidgets.QDialog()
self._msg_dialog.ui= Ui_Dialog()
self._msg_dialog.ui.setupUi(self._msg_dialog)
self.networkThread = Network()
self.connectSignalSlots()
# Start network thread and wait for event indicating monitor is connected to a target
self.networkThread.start()
# Create battery timer
self._batteryTimer = QtCore.QTimer()
self._batteryTimer.timeout.connect(self.OnBatteryTimeout)
def connectSignalSlots(self):
# Buttons
self.pushButton_start.pressed.connect(self.OnButtonPress_Start)
self.pushButton_confirmArena.pressed.connect(self.OnButtonPress_ConfirmArena)
self.pushButton_up.pressed.connect(self.OnButtonPress_Up)
self.pushButton_down.pressed.connect(self.OnButtonPress_Down)
self.pushButton_stop.pressed.connect(self.OnButtonPress_Stop)
self.pushButton_left.pressed.connect(self.OnButtonPress_Left)
self.pushButton_right.pressed.connect(self.OnButtonPress_Right)
# Checkbox
self.checkBox_enableCamera.stateChanged.connect(self.OnCheckBoxChanged_EnableCamera)
self.checkBox_enableFPS.stateChanged.connect(self.OnCheckBoxChanged_EnableFPS)
self.checkBox_enablePosition.stateChanged.connect(self.OnCheckBoxChanged_EnablePosition)
self.checkBox_getBattery.stateChanged.connect(self.OnCheckBoxChanged_GetBattery)
# LineEdit
self.lineEdit_address.textChanged.connect(self.OnLineEditChange_Address)
self.lineEdit_port.textChanged.connect(self.OnLineEditChange_Port)
# Menu
self.action_OpenMessageLog.triggered.connect(self.OnMenu_OpenMessageLog)
self.action_Quitter.triggered.connect(self.OnMenu_Quitter)
# Message Dialog
self._msg_dialog.ui.pushButton_clearLog.pressed.connect(self.OnButtonPress_ClearLog)
self._msg_dialog.ui.pushButton_closeLog.pressed.connect(self.OnButtonPress_CloseLog)
# Network signals
self.networkThread.receptionEvent.connect(self.OnReceptionEvent)
self.networkThread.connectionEvent.connect(self.OnConnectionEvent)
self.networkThread.logEvent.connect(self.OnLogEvent)
self.networkThread.answerEvent.connect(self.OnAnswerEvent)
def EnableUIWidgets(self, area):
if area == "Network":
self.groupBox_activation.setDisabled(False)
self.graphicsView_Image.setDisabled(False)
self.pushButton_confirmArena.setDisabled(False)
self.checkBox_enableCamera.setDisabled(False)
self.checkBox_enableFPS.setDisabled(False)
self.checkBox_enablePosition.setDisabled(False)
else:
self.groupBox_mouvments.setDisabled(False)
self.groupBox_AnswerandBattery.setDisabled(False)
def DisableUIWidgets(self, area):
if area == "Network":
self.groupBox_activation.setDisabled(True)
self.graphicsView_Image.setDisabled(True)
self.pushButton_confirmArena.setDisabled(True)
self.checkBox_enableCamera.setDisabled(True)
self.checkBox_enableFPS.setDisabled(True)
self.checkBox_enablePosition.setDisabled(True)
self.groupBox_AnswerandBattery.setDisabled(True)
self.groupBox_mouvments.setDisabled(True)
else:
self.groupBox_mouvments.setDisabled(True)
self.groupBox_AnswerandBattery.setDisabled(True)
@QtCore.pyqtSlot(str)
def OnLineEditChange_Address(self, text):
if self.networkThread.checkAddressIsValid(text):
GlobVar.address = text
@QtCore.pyqtSlot(str)
def OnLineEditChange_Port(self, text):
GlobVar.port = int(text)
@QtCore.pyqtSlot()
def OnButtonPress_Start (self):
if self.pushButton_start.text() == "Start r&obot":
if self.networkThread.robotOpenCom() == NetworkAnswers.ACK:
# com opened successfully, start robot
if self.checkBox_watchdog.isChecked():
# start with watchdog
if self.networkThread.robotStartWithWatchdog() == NetworkAnswers.ACK:
self.pushButton_start.setText("Reset r&obot")
self.EnableUIWidgets("Robot")
else:
# start without watchdog
if self.networkThread.robotStartWithoutWatchdog() == NetworkAnswers.ACK:
self.pushButton_start.setText("Reset r&obot")
self.EnableUIWidgets("Robot")
else:
if self.networkThread.robotCloseCom() != NetworkAnswers.ACK:
msg= QtWidgets.QMessageBox
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")
@QtCore.pyqtSlot()
def OnButtonPress_ConfirmArena(self):
msg= QtWidgets.QMessageBox
ret = msg.question(self, '', 'Arena boundaries are correctly detected ?',msg.Yes| msg.No)
if ret == msg.Yes:
print ("Answer is YES")
else:
print ("Answer is NO")
@QtCore.pyqtSlot()
def OnButtonPress_Up(self):
self.networkThread.robotGoForward()
@QtCore.pyqtSlot()
def OnButtonPress_Down(self):
self.networkThread.robotGoBackward()
@QtCore.pyqtSlot()
def OnButtonPress_Stop(self):
self.networkThread.robotStop()
@QtCore.pyqtSlot()
def OnButtonPress_Left(self):
self.networkThread.robotGoLeft()
@QtCore.pyqtSlot()
def OnButtonPress_Right(self):
self.networkThread.robotGoRight()
@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)
@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)
@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)
@QtCore.pyqtSlot(int)
def OnCheckBoxChanged_GetBattery(self, state):
if state !=0:
self._batteryTimer.start(5000)
else:
self._batteryTimer.stop()
@QtCore.pyqtSlot()
def OnMenu_OpenMessageLog(self):
self._msg_dialog.show()
@QtCore.pyqtSlot()
def OnMenu_Quitter(self):
self._msg_dialog.hide()
self.close()
def closeEvent(self, event):
self._msg_dialog.hide()
event.accept()
@QtCore.pyqtSlot()
def OnButtonPress_ClearLog(self):
plainTextEdit=self._msg_dialog.ui.plainTextEdit
plainTextEdit.document().clear()
@QtCore.pyqtSlot()
def OnButtonPress_CloseLog(self):
self._msg_dialog.hide()
# Callback used to decode non answer message from server (mainly battery level and log message)
@QtCore.pyqtSlot(str)
def OnReceptionEvent(self, s) -> None:
if Network.ROBOT_BATTERY_LEVEL in s:
str_split = s.split(':')
try:
batteryLevel = int(str_split[1])
except:
batteryLevel = -1
if batteryLevel == 0:
self.checkBox_getBattery.setText ("Get battery (0 = empty)")
elif batteryLevel == 1:
self.checkBox_getBattery.setText ("Get battery (1 = low)")
elif batteryLevel == 2:
self.checkBox_getBattery.setText ("Get battery (2 = full)")
else:
self.checkBox_getBattery.setText ("Get battery (invalid value)")
# 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 connection/deconnection event from network manager
@QtCore.pyqtSlot(int)
def OnConnectionEvent(self, event) -> None:
if event == NetworkEvents.EVENT_CONNECTED:
GlobVar.connectedToPi = True
print ("Connected to server")
self.label_connectionStatus.setText("Connected")
self.EnableUIWidgets("Network")
elif event == NetworkEvents.EVENT_CONNECTION_LOST:
GlobVar.connectedToPi = False
print ("Disconnected from server")
self.label_connectionStatus.setText("Not connected")
self.pushButton_start.setText("Start r&obot")
self.DisableUIWidgets("Network")
# Callback for answer event from network manager
@QtCore.pyqtSlot(int)
def OnAnswerEvent(self, ans) -> None:
if ans == NetworkAnswers.ACK:
self.label_lastAnswer.setText("Acknowledged (AACK)")
elif ans == NetworkAnswers.NACK:
self.label_lastAnswer.setText("Not acknowledged (ANAK)")
elif ans == NetworkAnswers.COM_ERROR:
self.label_lastAnswer.setText("Command error (ACER)")
elif ans == NetworkAnswers.TIMEOUT_ERROR:
self.label_lastAnswer.setText("Timeout - no answer")
elif ans == NetworkAnswers.CMD_REJECTED:
self.label_lastAnswer.setText("Command rejected (ACRJ)")
else:
self.label_lastAnswer.setText("Unknown answer")
# Callback for log event from network manager
@QtCore.pyqtSlot(str)
def OnLogEvent(self, txt) -> None:
self._msg_dialog.ui.plainTextEdit.textCursor().insertText(txt)
try:
if len(sys.argv)>=2:
GlobVar.address = sys.argv[1]
else:
print ("No target address specified: using localhost:5544")
print ("Usage: monitor-python.py address [port]")
#exit (-1) # Comment this line for connecting to localhost
if len(sys.argv)>=3:
GlobVar.port = int(sys.argv[2])
app = QtWidgets.QApplication(sys.argv)
window = Window()
window.show()
app.exec_()
except KeyboardInterrupt: # exception when pressing CTRL-C
print ("Bye bye")

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software/monitor/monitor-python-qt/network.py Normal file
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# -*- coding: utf-8 -*-
import socket
import time
import sys
from PyQt5 import QtCore
from globvar import GlobVar
import ipaddress
import threading
# Network event from socket.
# Event are 'Connected to server' or 'disconnected from server'
class NetworkEvents():
EVENT_CONNECTED=1
EVENT_CONNECTION_LOST=0
UNKNOWN_EVENT=-1
class NetworkAnswers():
# Decoded answers
ACK = 1
NACK =2
COM_ERROR =3
TIMEOUT_ERROR=4
CMD_REJECTED=5
UNKNOWN=-1
# Network managment class
# Contain a thread for conenction to server and data reception
# Contains functions for sending message to server
# Contains functions for answer decoding
class Network(QtCore.QThread):
i=0
reconnectionDelay =0
waitForAnswer=False
receivedAnswer = ""
receiveFlag = None
receptionEvent = QtCore.pyqtSignal(str)
connectionEvent= QtCore.pyqtSignal(int)
answerEvent= QtCore.pyqtSignal(int)
logEvent = QtCore.pyqtSignal(str)
# List of possible answers from server
ANSWER_ACK = "AACK"
ANSWER_NACK = "ANAK"
ANSWER_COM_ERROR = "ACER"
ANSWER_TIMEOUT = "ATIM"
ANSWER_CMD_REJECTED = "ACRJ"
# List of possible messages from server
MESSAGE = "MSSG"
ROBOT_BATTERY_LEVEL = "RBLV"
ROBOT_CURRENT_STATE = "RCST"
# List of accepted command by server
CAMERA_OPEN = "COPN"
CAMERA_CLOSE = "CCLS"
CAMERA_IMAGE = "CIMG"
CAMERA_ARENA_ASK = "CASA"
CAMERA_ARENA_INFIRM = "CAIN"
CAMERA_ARENA_CONFIRM = "CACO"
CAMERA_POSITION_COMPUTE = "CPCO"
CAMERA_POSITION_STOP = "CPST"
CAMERA_POSITION = "CPOS"
ROBOT_COM_OPEN = "ROPN"
ROBOT_COM_CLOSE = "RCLS"
ROBOT_PING = "RPIN"
ROBOT_RESET = "RRST"
ROBOT_START_WITHOUT_WD = "RSOW"
ROBOT_START_WITH_WD = "RSWW"
ROBOT_RELOAD_WD = "RLDW"
ROBOT_MOVE = "RMOV"
ROBOT_TURN = "RTRN"
ROBOT_GO_FORWARD = "RGFW"
ROBOT_GO_BACKWARD = "RGBW"
ROBOT_GO_LEFT = "RGLF"
ROBOT_GO_RIGHT = "RGRI"
ROBOT_STOP = "RSTP"
ROBOT_POWEROFF = "RPOF"
ROBOT_GET_BATTERY = "RGBT"
ROBOT_GET_STATE = "RGST"
SEPARATOR_CHAR = ':'
def __init__(self):
super(Network, self).__init__()
self.i =0
self.receiveFlag = threading.Event()
def run(self):
print ("Network thread started" )
self.i =0
while True:
self.i = self.i+1
try:
self.__connect()
self.connectionEvent.emit(NetworkEvents.EVENT_CONNECTED)
self.__read()
except (RuntimeError, TimeoutError, socket.gaierror, ConnectionResetError, ConnectionRefusedError) as e:
print ("exception in network thread: " + str(e))
if e.__class__ == RuntimeError or \
e.__class__== ConnectionResetError or \
e.__class__ == ConnectionRefusedError:
self.connectionEvent.emit(NetworkEvents.EVENT_CONNECTION_LOST)
except Exception as e:
print ("unknown exception in network thread: " + str(e))
time.sleep(2.0)
# 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)
try:
self.sock.connect((GlobVar.address, GlobVar.port))
except ConnectionRefusedError:
raise RuntimeError("Unable to connect to " + GlobVar.address + ":" + str(GlobVar.port))
# 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.waitForAnswer=False
# Private method for receiving data from server.
# Data received are sent to callback __receiveHandler for decoding
def __read(self) -> None:
chunks = []
bytes_recd = 0
last_char=0
while True:
while last_char != 0x0A:
chunk = self.sock.recv(2048)
#print ("Chunk =" + str(chunk))
if chunk == b'':
raise RuntimeError("Connection lost with " + GlobVar.address + ":" + str(GlobVar.port))
chunks.append(chunk)
bytes_recd = bytes_recd + len(chunk)
last_char=chunk[-1]
self.__receiveHandler(b''.join(chunks).decode("utf-8"))
chunks = []
bytes_recd =0
last_char=0
# private callback for reception and decoding of data.
# If no answer is wait, send data to caller callback
def __receiveHandler(self, data: str) -> None:
# traitement a faire lors de la reception de donnée
self.logEvent.emit("< " + data)
if self.waitForAnswer:
self.receivedAnswer = data
self.waitForAnswer=False
self.receiveFlag.set()
else:
# si pas de donnée prevue en reception, alors envoie au callback
self.receptionEvent.emit(data)
def checkAddressIsValid(self, address: str) -> bool:
try:
if address == "localhost":
return True
ip=ipaddress.ip_address(address)
return True
except ValueError as e:
return False
# Private method for sending raw data to server
def __write(self, msg: str) -> None:
totalsent = 0
if msg[-1] != '\n':
msg = msg + '\n'
MSGLEN = len(msg)
msgbytes = bytes(msg,'UTF-8')
self.logEvent.emit ("> " + msg)
while totalsent < MSGLEN:
sent = self.sock.send(msgbytes[totalsent:])
if sent == 0:
GlobVar.connectedToPi=False
raise RuntimeError("Unable to send data to " + GlobVar.address + ":" + str(GlobVar.port))
totalsent = totalsent + sent
# Private method for sending command to server
def __sendCommand(self,cmd, waitans: bool) -> str:
if waitans == True:
self.waitForAnswer = True
else:
self.waitForAnswer = False
self.__write(cmd)
if waitans:
ans = self.ANSWER_TIMEOUT
try:
self.receiveFlag.wait(timeout=GlobVar.timeout) # Max waiting time = GlobVar.timeout
if self.receiveFlag.is_set():
ans=self.receivedAnswer
self.receivedAnswer=""
else:
ans=self.ANSWER_TIMEOUT
self.receiveFlag.clear()
except TimeoutError:
ans=self.ANSWER_TIMEOUT
except Exception as e:
GlobVar.exceptionmsg = str(e)
self.waitForAnswer=False
return ans
else:
return self.ANSWER_ACK
# Private method for decoding answer from server
def __decodeAnswer(self, ans: str) -> int:
if self.ANSWER_ACK in ans:
return NetworkAnswers.ACK
elif self.ANSWER_NACK in ans:
return NetworkAnswers.NACK
elif self.ANSWER_COM_ERROR in ans:
return NetworkAnswers.COM_ERROR
elif self.ANSWER_TIMEOUT in ans:
return NetworkAnswers.TIMEOUT_ERROR
elif self.ANSWER_CMD_REJECTED in ans:
return NetworkAnswers.CMD_REJECTED
else:
return NetworkAnswers.UNKNOWN
# Send OpenCom command to server
def robotOpenCom(self) -> int:
ans = self.__sendCommand(self.ROBOT_COM_OPEN, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send CloseCom command to server
def robotCloseCom(self) -> int:
ans = self.__sendCommand(self.ROBOT_COM_CLOSE, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send StartWithWatchdog command to server
def robotStartWithWatchdog(self) -> int:
ans = self.__sendCommand(self.ROBOT_START_WITH_WD, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send StartWithoutWatchdog command to server
def robotStartWithoutWatchdog(self) -> int:
ans = self.__sendCommand(self.ROBOT_START_WITHOUT_WD, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send Reset command to server
def robotReset(self) -> int:
ans = self.__sendCommand(self.ROBOT_RESET, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send Stop command to server
def robotStop(self) -> int:
ans = self.__sendCommand(self.ROBOT_STOP, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send GoLeft command to server
def robotGoLeft(self) -> int:
ans = self.__sendCommand(self.ROBOT_GO_LEFT, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send GoRight command to server
def robotGoRight(self) -> int:
ans = self.__sendCommand(self.ROBOT_GO_RIGHT, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send GoForward command to server
def robotGoForward(self) -> int:
ans = self.__sendCommand(self.ROBOT_GO_FORWARD, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send GoBackward command to server
def robotGoBackward(self) -> int:
ans = self.__sendCommand(self.ROBOT_GO_BACKWARD, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send GetBattery command to server
def robotGetBattery(self) -> None:
ans = self.__sendCommand(self.ROBOT_GET_BATTERY,False)
# Function for decoding battery level
def batterylevelToStr(batlvl: int) -> str:
switcher = {
2: "Full",
1: "Mid",
0: "Empty",
}
return switcher.get(batlvl, "Unknown")
# Function for display human readable answer
def answertoStr(ans: int) -> str:
switcher = {
Network.ACK: "Acknowledged",
Network.NACK: "Not acknowledged",
Network.TIMEOUT_ERROR: "No answer (timeout)",
Network.CMD_REJECTED: "Command rejected",
Network.COM_ERROR: "Communication error (invalid command)"
}
return switcher.get(ans, "Unknown answer")

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software/monitor/monitor-python-qt/ui/log_dialog.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Dialog</class>
<widget class="QDialog" name="Dialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>510</width>
<height>336</height>
</rect>
</property>
<property name="windowTitle">
<string>Messages Log</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QPlainTextEdit" name="plainTextEdit">
<property name="readOnly">
<bool>true</bool>
</property>
<property name="plainText">
<string notr="true"/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="pushButton_clearLog">
<property name="text">
<string>Clear log</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_closeLog">
<property name="text">
<string>Close</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

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software/monitor/monitor-python-qt/ui/main_window.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>928</width>
<height>629</height>
</rect>
</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">
<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="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="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 class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>928</width>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menu_Quitter">
<property name="title">
<string>M&amp;enu</string>
</property>
<addaction name="action_OpenMessageLog"/>
<addaction name="separator"/>
<addaction name="action_Quitter"/>
</widget>
<addaction name="menu_Quitter"/>
</widget>
<widget class="QStatusBar" name="statusbar"/>
<action name="action_Quitter">
<property name="text">
<string>&amp;Quitter</string>
</property>
</action>
<action name="action_OpenMessageLog">
<property name="text">
<string>O&amp;pen message log...</string>
</property>
</action>
</widget>
<resources/>
<connections/>
</ui>