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LiveControl_PC.py
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LiveControl_PC.py
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import socket, time ,json
from PyQt5 import QtCore, QtGui, QtWidgets
class Ui_MainWindow(object):
# ------------------ Start Function Configuration --------------------------
BaseRotationAngle = 0
BaseLegAngle = 0
ElbowAngle = 0
TerminalMode = 0
AutoMaticMode = 0
pathNumber = 0
pathes = []
singlePath = [{}]
# Start Socket Initialize
PERIOD = 0.5
SERVER = "192.168.1.17"
PORT = 8888
# End Socket Initialize
#setters Fuctions For 4-main Parameters
def set_BaseRotationAngle(self):
self.BaseRotationAngle = self.BASE_ROTATION_Angle_Slider.value()
self.startFunction()
print("Base rotaion Angle : "+str(self.BaseRotationAngle))
def set_BaseLegAngle(self):
self.BaseLegAngle = self.BASE_LEG_ANGLE_Slider_2.value()
self.startFunction()
print("Base Leg Angle : "+str(self.BaseLegAngle))
def set_ElbowAngle(self):
self.ElbowAngle = self.ELBOW_slider.value()
self.startFunction()
print("Elbow Angle : "+str(self.ElbowAngle))
def set_TerminalMode(self):
if(self.TERMINALOFF.isChecked()):
self.TerminalMode = 0
self.startFunction()
else:
self.TerminalMode = 1
self.startFunction()
print("TerminalMode : "+str(self.TerminalMode))
# def set_AutoMaticMode(self):
# if(self.Automatic_Mode_OFF.isChecked()):
# # self.Automatic_Mode_Save_Path_Button.setEnabled(False)
# self.Start_Button.setEnabled(False)
# self.AutoMaticMode = 0
# else:
# self.AutoMaticMode = 1
# # self.Automatic_Mode_Save_Path_Button.setEnabled(True)
# self.Start_Button.setEnabled(True)
# print("AutoMaticMode : "+str(self.AutoMaticMode))
# Add path Function SAVE FUNCTION at UI
def addpathFunction(self):
if(self.AutoMaticMode == 1):
print("AutoMaticMode is " + str(self.AutoMaticMode))
print("Add Path Function Start")
path= {'Base_Rotation_Angle':self.BaseRotationAngle,
'Base_Leg_Angle':self.BaseLegAngle,
'Elbow_Angle':self.ElbowAngle,
'Terminal_Mode':self.TerminalMode,
'AutoMatic_Mode':self.AutoMaticMode}
self.pathes.append(path)
self.pathNumber = int(self.pathNumber+1)
self.resetDataFunction()
self.startFunction()
print('Number of Pathes = ' + str(len(self.pathes)))
# Manual Path Function
def singlePathFunction(self):
if(self.AutoMaticMode==0):
print("AutoMaticMode is " + str(self.AutoMaticMode))
print('Manual Mode')
path= {'Base_Rotation_Angle':self.BaseRotationAngle,
'Base_Leg_Angle':self.BaseLegAngle,
'Elbow_Angle':self.ElbowAngle,
'Terminal_Mode':self.TerminalMode,
'AutoMatic_Mode':self.AutoMaticMode}
self.singlePath.append(path)
# Reset Function
def resetDataFunction(self):
print("Done, Data successfully Added ")
self.BaseRotationAngle = 0
self.BaseLegAngle = 0
self.ElbowAngle = 0
self.TerminalMode = 0
self.BASE_ROTATION_Angle_Slider.setValue(0)
self.BASE_LEG_ANGLE_Slider_2.setValue(60)
self.ELBOW_slider.setValue(0)
self.TERMINALOFF.setChecked(True)
# Reset All Function
def ResetAll(self):
print("Done, All Data Reseted")
self.BaseRotationAngle = 0
self.BaseLegAngle = 0
self.ElbowAngle = 0
self.TerminalMode = 0
self.BASE_ROTATION_Angle_Slider.setValue(0)
self.BASE_LEG_ANGLE_Slider_2.setValue(90)
self.ELBOW_slider.setValue(0)
self.TERMINALOFF.setChecked(True)
self.pathes.clear()
self.startFunction()
# Start Function
def startFunction(self):
self.singlePathFunction()
print("Start Operation With Socket")
count= 0
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
while count<1:
count = count+1
#create a socket
try:
#connect this socket to the server(192.168.1.7).
s.connect((self.SERVER,self.PORT))
if(self.AutoMaticMode==1):
msgJSON = ""
if(len(self.pathes) != 0):
msgJSON = json.dumps(self.pathes[-1])
s.sendall(bytes(msgJSON,'utf-8'))
print(bytes(msgJSON,'utf-8'))
elif(len(self.pathes)==0):
msgJSON = json.dumps(self.pathes)
s.sendall(bytes(msgJSON,'utf-8'))
print(bytes(msgJSON,'utf-8'))
elif(self.AutoMaticMode==0):
if(len(self.singlePath)!=0):
msgJSON = json.dumps(self.singlePath[-1])
s.sendall(bytes(msgJSON,'utf-8'))
print(bytes(msgJSON,'utf-8'))
# msgJSON = json.dumps((AutoMaticMode==0) if singlePath else pathes)
#send request.
#receive responses.
data = s.recv(1024)
#Handle responses.
notificationReply = data.decode()
#notification reply
print(notificationReply)
s.close()
except Exception as ex:
print("connection Error")
time.sleep(2)
continue
s.close()
# Stop Function
def stopFunction(self,):
print("Operation stoped, Socket closed")
#close the Socket.
# s.close()
# Function to send data in run time just in manual moad
def isManual(self):
if self.AutoMaticMode==0:
self.BASE_ROTATION_Angle_Slider.valueChanged['int'].connect(self.startFunction)
self.BASE_LEG_ANGLE_Slider_2.valueChanged['int'].connect(self.startFunction)
self.ELBOW_slider.valueChanged['int'].connect(self.startFunction)
self.TERMINALOFF.toggled.connect(self.startFunction)
print("----------------------------" + str(self.AutoMaticMode))
else:
print("-***********************-" + str(self.AutoMaticMode))
# Function to start Automatic pathes on tapped
def startOperation(self):
print("Start Operation On Tapped Function With Socket")
count= 0
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
while count<1:
count = count+1
#create a socket
try:
#connect this socket to the server(192.168.1.7).
s.connect((self.SERVER,self.PORT))
if(self.AutoMaticMode==1):
msgJSON = json.dumps("1")
s.sendall(bytes(msgJSON,'utf-8'))
print(bytes(msgJSON,'utf-8'))
elif(self.AutoMaticMode==0):
msgJSON = json.dumps(self.singlePath[-1])
s.sendall(bytes(msgJSON,'utf-8'))
print(bytes(msgJSON,'utf-8'))
# msgJSON = json.dumps((AutoMaticMode==0) if singlePath else pathes)
#send request.
#receive responses.
data = s.recv(1024)
#Handle responses.
notificationReply = data.decode()
#notification reply
print(notificationReply)
s.close()
except Exception as ex:
print("connection Error")
time.sleep(2)
continue
s.close()
# ------------------ End Function Configuration --------------------------
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(570, 480)
MainWindow.setMinimumSize(QtCore.QSize(570, 480))
MainWindow.setMaximumSize(QtCore.QSize(570, 480))
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setMinimumSize(QtCore.QSize(570, 480))
self.centralwidget.setMaximumSize(QtCore.QSize(570, 480))
self.centralwidget.setObjectName("centralwidget")
# self.Stop_Button = QtWidgets.QPushButton(self.centralwidget)
# self.Stop_Button.setGeometry(QtCore.QRect(220, 480, 121, 31))
# self.Stop_Button.setLayoutDirection(QtCore.Qt.RightToLeft)
# self.Stop_Button.setAutoFillBackground(False)
# self.Stop_Button.setStyleSheet("background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(139, 243, 82, 255), stop:1 rgba(255, 255, 255, 0));\n"
# "font: 14pt \"Arial\";\n"
# "border-color: rgb(255, 0, 0);\n"
# "color: rgb(85, 170, 0);")
# self.Stop_Button.setAutoRepeat(False)
# self.Stop_Button.setFlat(True)
# self.Stop_Button.setObjectName("Stop_Button")
self.ELBOW_Frame = QtWidgets.QFrame(self.centralwidget)
self.ELBOW_Frame.setEnabled(True)
self.ELBOW_Frame.setGeometry(QtCore.QRect(0, 200, 611, 71))
self.ELBOW_Frame.setLayoutDirection(QtCore.Qt.LeftToRight)
self.ELBOW_Frame.setStyleSheet("")
self.ELBOW_Frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.ELBOW_Frame.setFrameShadow(QtWidgets.QFrame.Raised)
self.ELBOW_Frame.setObjectName("ELBOW_Frame")
self.ELBOW_slider = QtWidgets.QSlider(self.ELBOW_Frame)
self.ELBOW_slider.setGeometry(QtCore.QRect(200, 20, 261, 31))
font = QtGui.QFont()
font.setFamily("Tahoma")
font.setPointSize(10)
font.setBold(True)
font.setWeight(75)
self.ELBOW_slider.setFont(font)
self.ELBOW_slider.setAccessibleDescription("")
self.ELBOW_slider.setAutoFillBackground(False)
self.ELBOW_slider.setMinimum(0)
self.ELBOW_slider.setMaximum(180)
self.ELBOW_slider.setSingleStep(0)
self.ELBOW_slider.setPageStep(0)
self.ELBOW_slider.setProperty("value", 1)
self.ELBOW_slider.setSliderPosition(1)
self.ELBOW_slider.setTracking(True)
self.ELBOW_slider.setOrientation(QtCore.Qt.Horizontal)
self.ELBOW_slider.setInvertedAppearance(False)
self.ELBOW_slider.setTickPosition(QtWidgets.QSlider.TicksBothSides)
self.ELBOW_slider.setTickInterval(7)
self.ELBOW_slider.setObjectName("ELBOW_slider")
self.ELBOW_LCDNumber = QtWidgets.QLCDNumber(self.ELBOW_Frame)
self.ELBOW_LCDNumber.setEnabled(True)
self.ELBOW_LCDNumber.setGeometry(QtCore.QRect(490, 20, 71, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(16)
font.setBold(True)
font.setWeight(75)
self.ELBOW_LCDNumber.setFont(font)
self.ELBOW_LCDNumber.setStatusTip("")
self.ELBOW_LCDNumber.setLayoutDirection(QtCore.Qt.LeftToRight)
self.ELBOW_LCDNumber.setAutoFillBackground(False)
self.ELBOW_LCDNumber.setFrameShape(QtWidgets.QFrame.Panel)
self.ELBOW_LCDNumber.setFrameShadow(QtWidgets.QFrame.Raised)
self.ELBOW_LCDNumber.setLineWidth(2)
self.ELBOW_LCDNumber.setMidLineWidth(0)
self.ELBOW_LCDNumber.setSmallDecimalPoint(False)
self.ELBOW_LCDNumber.setDigitCount(3)
self.ELBOW_LCDNumber.setSegmentStyle(QtWidgets.QLCDNumber.Flat)
self.ELBOW_LCDNumber.setProperty("value", 0.0)
self.ELBOW_LCDNumber.setObjectName("ELBOW_LCDNumber")
self.ELBOW_Label = QtWidgets.QLabel(self.ELBOW_Frame)
self.ELBOW_Label.setGeometry(QtCore.QRect(0, 20, 135, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(12)
font.setBold(False)
font.setWeight(50)
self.ELBOW_Label.setFont(font)
self.ELBOW_Label.setStyleSheet("")
self.ELBOW_Label.setTextFormat(QtCore.Qt.RichText)
self.ELBOW_Label.setAlignment(QtCore.Qt.AlignCenter)
self.ELBOW_Label.setWordWrap(False)
self.ELBOW_Label.setObjectName("ELBOW_Label")
# self.Start_Button = QtWidgets.QPushButton(self.centralwidget)
# self.Start_Button.setGeometry(QtCore.QRect(110, 420, 121, 31))
# self.Start_Button.setLayoutDirection(QtCore.Qt.RightToLeft)
# self.Start_Button.setAutoFillBackground(False)
# self.Start_Button.setStyleSheet("background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(98, 82, 243, 255), stop:1 rgba(255, 255, 255, 0));\n"
# "font: 14pt \"Arial\";\n"
# "border-color: rgb(255, 0, 0);\n"
# "color: rgb(0, 0, 127);\n"
# "")
# self.Start_Button.setAutoRepeat(False)
# self.Start_Button.setFlat(True)
# self.Start_Button.setEnabled(False)
# self.Start_Button.setObjectName("Start_Button")
self.BASE_ROTATION_Angle_Frame = QtWidgets.QFrame(self.centralwidget)
self.BASE_ROTATION_Angle_Frame.setEnabled(True)
self.BASE_ROTATION_Angle_Frame.setGeometry(QtCore.QRect(-1, 20, 611, 71))
self.BASE_ROTATION_Angle_Frame.setLayoutDirection(QtCore.Qt.LeftToRight)
self.BASE_ROTATION_Angle_Frame.setStyleSheet("")
self.BASE_ROTATION_Angle_Frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.BASE_ROTATION_Angle_Frame.setFrameShadow(QtWidgets.QFrame.Raised)
self.BASE_ROTATION_Angle_Frame.setObjectName("BASE_ROTATION_Angle_Frame")
self.BASE_ROTATION_Angle_Slider = QtWidgets.QSlider(self.BASE_ROTATION_Angle_Frame)
self.BASE_ROTATION_Angle_Slider.setGeometry(QtCore.QRect(200, 20, 261, 31))
font = QtGui.QFont()
font.setFamily("Tahoma")
font.setPointSize(10)
font.setBold(True)
font.setWeight(75)
self.BASE_ROTATION_Angle_Slider.setFont(font)
self.BASE_ROTATION_Angle_Slider.setAccessibleDescription("")
self.BASE_ROTATION_Angle_Slider.setAutoFillBackground(False)
self.BASE_ROTATION_Angle_Slider.setMinimum(0)
self.BASE_ROTATION_Angle_Slider.setMaximum(180)
self.BASE_ROTATION_Angle_Slider.setSliderPosition(0)
self.BASE_ROTATION_Angle_Slider.setTracking(True)
self.BASE_ROTATION_Angle_Slider.setOrientation(QtCore.Qt.Horizontal)
self.BASE_ROTATION_Angle_Slider.setInvertedAppearance(False)
self.BASE_ROTATION_Angle_Slider.setTickPosition(QtWidgets.QSlider.TicksBothSides)
self.BASE_ROTATION_Angle_Slider.setTickInterval(1)
self.BASE_ROTATION_Angle_Slider.setObjectName("BASE_ROTATION_Angle_Slider")
self.BASE_ROTATION_Angle_LCDNumber = QtWidgets.QLCDNumber(self.BASE_ROTATION_Angle_Frame)
self.BASE_ROTATION_Angle_LCDNumber.setEnabled(True)
self.BASE_ROTATION_Angle_LCDNumber.setGeometry(QtCore.QRect(490, 20, 71, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(16)
font.setBold(True)
font.setWeight(75)
self.BASE_ROTATION_Angle_LCDNumber.setFont(font)
self.BASE_ROTATION_Angle_LCDNumber.setStatusTip("")
self.BASE_ROTATION_Angle_LCDNumber.setLayoutDirection(QtCore.Qt.LeftToRight)
self.BASE_ROTATION_Angle_LCDNumber.setAutoFillBackground(False)
self.BASE_ROTATION_Angle_LCDNumber.setFrameShape(QtWidgets.QFrame.Panel)
self.BASE_ROTATION_Angle_LCDNumber.setFrameShadow(QtWidgets.QFrame.Raised)
self.BASE_ROTATION_Angle_LCDNumber.setLineWidth(3)
self.BASE_ROTATION_Angle_LCDNumber.setDigitCount(3)
self.BASE_ROTATION_Angle_LCDNumber.setSegmentStyle(QtWidgets.QLCDNumber.Flat)
self.BASE_ROTATION_Angle_LCDNumber.setProperty("value", 0.0)
self.BASE_ROTATION_Angle_LCDNumber.setObjectName("BASE_ROTATION_Angle_LCDNumber")
self.BASE_ROTATION_Angle_Label = QtWidgets.QLabel(self.BASE_ROTATION_Angle_Frame)
self.BASE_ROTATION_Angle_Label.setGeometry(QtCore.QRect(0, 20, 191, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(12)
font.setBold(False)
font.setWeight(50)
self.BASE_ROTATION_Angle_Label.setFont(font)
self.BASE_ROTATION_Angle_Label.setStyleSheet("")
self.BASE_ROTATION_Angle_Label.setTextFormat(QtCore.Qt.RichText)
self.BASE_ROTATION_Angle_Label.setAlignment(QtCore.Qt.AlignCenter)
self.BASE_ROTATION_Angle_Label.setWordWrap(False)
self.BASE_ROTATION_Angle_Label.setObjectName("BASE_ROTATION_Angle_Label")
self.HorizontalDivider03 = QtWidgets.QLineEdit(self.centralwidget)
self.HorizontalDivider03.setEnabled(False)
self.HorizontalDivider03.setGeometry(QtCore.QRect(-10, 90, 591, 16))
self.HorizontalDivider03.setStyleSheet("background-color: rgb(125, 125, 125);")
self.HorizontalDivider03.setObjectName("HorizontalDivider03")
self.Reset_Button = QtWidgets.QPushButton(self.centralwidget)
self.Reset_Button.setGeometry(QtCore.QRect(225, 410, 121, 31))
self.Reset_Button.setLayoutDirection(QtCore.Qt.RightToLeft)
self.Reset_Button.setAutoFillBackground(False)
self.Reset_Button.setStyleSheet("\n"
"font: 14pt \"Arial\";\n"
"background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(243, 82, 82, 255), stop:1 rgba(255, 255, 255, 0));\n"
"color: rgb(255, 0, 0);")
self.Reset_Button.setAutoRepeat(False)
self.Reset_Button.setFlat(True)
self.Reset_Button.setObjectName("Reset_Button")
self.TERMINAL_Frame = QtWidgets.QFrame(self.centralwidget)
self.TERMINAL_Frame.setEnabled(True)
self.TERMINAL_Frame.setGeometry(QtCore.QRect(0, 290, 611, 71))
self.TERMINAL_Frame.setLayoutDirection(QtCore.Qt.LeftToRight)
self.TERMINAL_Frame.setStyleSheet("")
self.TERMINAL_Frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.TERMINAL_Frame.setFrameShadow(QtWidgets.QFrame.Raised)
self.TERMINAL_Frame.setObjectName("TERMINAL_Frame")
self.TERMINAL_Label = QtWidgets.QLabel(self.TERMINAL_Frame)
self.TERMINAL_Label.setGeometry(QtCore.QRect(0, 20, 91, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(12)
font.setBold(False)
font.setWeight(50)
self.TERMINAL_Label.setFont(font)
self.TERMINAL_Label.setStyleSheet("")
self.TERMINAL_Label.setTextFormat(QtCore.Qt.RichText)
self.TERMINAL_Label.setAlignment(QtCore.Qt.AlignCenter)
self.TERMINAL_Label.setWordWrap(False)
self.TERMINAL_Label.setObjectName("TERMINAL_Label")
self.TERMINALON = QtWidgets.QRadioButton(self.TERMINAL_Frame)
self.TERMINALON.setGeometry(QtCore.QRect(150, 20, 91, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(11)
font.setBold(True)
font.setWeight(75)
self.TERMINALON.setFont(font)
self.TERMINALON.setTabletTracking(False)
self.TERMINALON.setChecked(False)
self.TERMINALON.setObjectName("TERMINALON")
self.TERMINALOFF = QtWidgets.QRadioButton(self.TERMINAL_Frame)
self.TERMINALOFF.setGeometry(QtCore.QRect(290, 20, 91, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(11)
font.setBold(True)
font.setWeight(75)
self.TERMINALOFF.setFont(font)
self.TERMINALOFF.setTabletTracking(False)
self.TERMINALOFF.setChecked(True)
self.TERMINALOFF.setObjectName("TERMINALOFF")
self.HorizontalDivider02 = QtWidgets.QLineEdit(self.centralwidget)
self.HorizontalDivider02.setEnabled(False)
self.HorizontalDivider02.setGeometry(QtCore.QRect(-10, 0, 591, 16))
self.HorizontalDivider02.setStyleSheet("background-color: rgb(125, 125, 125);")
self.HorizontalDivider02.setObjectName("HorizontalDivider02")
# self.HorizontalDivider01 = QtWidgets.QLineEdit(self.centralwidget)
# self.HorizontalDivider01.setEnabled(False)
# self.HorizontalDivider01.setGeometry(QtCore.QRect(-10, 360, 591, 16))
# self.HorizontalDivider01.setStyleSheet("background-color: rgb(125, 125, 125);")
# self.HorizontalDivider01.setObjectName("HorizontalDivider01")
self.HorizontalDivider05 = QtWidgets.QLineEdit(self.centralwidget)
self.HorizontalDivider05.setEnabled(False)
self.HorizontalDivider05.setGeometry(QtCore.QRect(-10, 270, 591, 16))
self.HorizontalDivider05.setStyleSheet("background-color: rgb(125, 125, 125);")
self.HorizontalDivider05.setObjectName("HorizontalDivider05")
self.BASE_LEG_ANGLE_frame = QtWidgets.QFrame(self.centralwidget)
self.BASE_LEG_ANGLE_frame.setEnabled(True)
self.BASE_LEG_ANGLE_frame.setGeometry(QtCore.QRect(0, 110, 611, 71))
self.BASE_LEG_ANGLE_frame.setLayoutDirection(QtCore.Qt.LeftToRight)
self.BASE_LEG_ANGLE_frame.setStyleSheet("")
self.BASE_LEG_ANGLE_frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
self.BASE_LEG_ANGLE_frame.setFrameShadow(QtWidgets.QFrame.Raised)
self.BASE_LEG_ANGLE_frame.setObjectName("BASE_LEG_ANGLE_frame")
self.BASE_LEG_ANGLE_Slider_2 = QtWidgets.QSlider(self.BASE_LEG_ANGLE_frame)
self.BASE_LEG_ANGLE_Slider_2.setGeometry(QtCore.QRect(200, 20, 261, 31))
font = QtGui.QFont()
font.setFamily("Tahoma")
font.setPointSize(10)
font.setBold(True)
font.setWeight(75)
self.BASE_LEG_ANGLE_Slider_2.setFont(font)
self.BASE_LEG_ANGLE_Slider_2.setAccessibleDescription("")
self.BASE_LEG_ANGLE_Slider_2.setAutoFillBackground(False)
self.BASE_LEG_ANGLE_Slider_2.setMinimum(60)
self.BASE_LEG_ANGLE_Slider_2.setMaximum(120)
self.BASE_LEG_ANGLE_Slider_2.setSingleStep(0)
self.BASE_LEG_ANGLE_Slider_2.setPageStep(1)
self.BASE_LEG_ANGLE_Slider_2.setProperty("value", 60)
self.BASE_LEG_ANGLE_Slider_2.setSliderPosition(60)
self.BASE_LEG_ANGLE_Slider_2.setOrientation(QtCore.Qt.Horizontal)
self.BASE_LEG_ANGLE_Slider_2.setInvertedAppearance(False)
self.BASE_LEG_ANGLE_Slider_2.setTickPosition(QtWidgets.QSlider.TicksBothSides)
self.BASE_LEG_ANGLE_Slider_2.setTickInterval(2)
self.BASE_LEG_ANGLE_Slider_2.setObjectName("BASE_LEG_ANGLE_Slider_2")
self.BASE_LEG_ANGLE_LCDNumber = QtWidgets.QLCDNumber(self.BASE_LEG_ANGLE_frame)
self.BASE_LEG_ANGLE_LCDNumber.setEnabled(True)
self.BASE_LEG_ANGLE_LCDNumber.setGeometry(QtCore.QRect(490, 20, 71, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(16)
font.setBold(True)
font.setWeight(75)
self.BASE_LEG_ANGLE_LCDNumber.setFont(font)
self.BASE_LEG_ANGLE_LCDNumber.setStatusTip("")
self.BASE_LEG_ANGLE_LCDNumber.setLayoutDirection(QtCore.Qt.LeftToRight)
self.BASE_LEG_ANGLE_LCDNumber.setAutoFillBackground(False)
self.BASE_LEG_ANGLE_LCDNumber.setFrameShape(QtWidgets.QFrame.Panel)
self.BASE_LEG_ANGLE_LCDNumber.setFrameShadow(QtWidgets.QFrame.Raised)
self.BASE_LEG_ANGLE_LCDNumber.setLineWidth(2)
self.BASE_LEG_ANGLE_LCDNumber.setMidLineWidth(0)
self.BASE_LEG_ANGLE_LCDNumber.setSmallDecimalPoint(False)
self.BASE_LEG_ANGLE_LCDNumber.setDigitCount(3)
self.BASE_LEG_ANGLE_LCDNumber.setSegmentStyle(QtWidgets.QLCDNumber.Flat)
self.BASE_LEG_ANGLE_LCDNumber.setProperty("value", 60.0)
self.BASE_LEG_ANGLE_LCDNumber.setProperty("intValue", 60)
self.BASE_LEG_ANGLE_LCDNumber.setObjectName("BASE_LEG_ANGLE_LCDNumber")
self.BASE_LEG_ANGLE_label = QtWidgets.QLabel(self.BASE_LEG_ANGLE_frame)
self.BASE_LEG_ANGLE_label.setGeometry(QtCore.QRect(0, 20, 151, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(12)
font.setBold(False)
font.setWeight(50)
self.BASE_LEG_ANGLE_label.setFont(font)
self.BASE_LEG_ANGLE_label.setStyleSheet("")
self.BASE_LEG_ANGLE_label.setTextFormat(QtCore.Qt.RichText)
self.BASE_LEG_ANGLE_label.setAlignment(QtCore.Qt.AlignCenter)
self.BASE_LEG_ANGLE_label.setWordWrap(False)
self.BASE_LEG_ANGLE_label.setObjectName("BASE_LEG_ANGLE_label")
self.HorizontalDivider04 = QtWidgets.QLineEdit(self.centralwidget)
self.HorizontalDivider04.setEnabled(False)
self.HorizontalDivider04.setGeometry(QtCore.QRect(-10, 180, 591, 16))
self.HorizontalDivider04.setStyleSheet("background-color: rgb(125, 125, 125);")
self.HorizontalDivider04.setObjectName("HorizontalDivider04")
self.HorizontalDivider06 = QtWidgets.QLineEdit(self.centralwidget)
self.HorizontalDivider06.setEnabled(False)
self.HorizontalDivider06.setGeometry(QtCore.QRect(-10, 360, 591, 16))
self.HorizontalDivider06.setStyleSheet("background-color: rgb(125, 125, 125);")
self.HorizontalDivider06.setObjectName("HorizontalDivider06")
# self.Automatic_Mode_Frame = QtWidgets.QFrame(self.centralwidget)
# self.Automatic_Mode_Frame.setEnabled(True)
# self.Automatic_Mode_Frame.setGeometry(QtCore.QRect(0, 370, 611, 71))
# self.Automatic_Mode_Frame.setLayoutDirection(QtCore.Qt.LeftToRight)
# self.Automatic_Mode_Frame.setStyleSheet("")
# self.Automatic_Mode_Frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
# self.Automatic_Mode_Frame.setFrameShadow(QtWidgets.QFrame.Raised)
# self.Automatic_Mode_Frame.setObjectName("Automatic_Mode_Frame")
# self.Automatic_Mode_Label = QtWidgets.QLabel(self.Automatic_Mode_Frame)
# self.Automatic_Mode_Label.setGeometry(QtCore.QRect(0, 20, 131, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(12)
font.setBold(False)
font.setWeight(50)
# self.Automatic_Mode_Label.setFont(font)
# self.Automatic_Mode_Label.setStyleSheet("")
# self.Automatic_Mode_Label.setTextFormat(QtCore.Qt.RichText)
# self.Automatic_Mode_Label.setAlignment(QtCore.Qt.AlignCenter)
# self.Automatic_Mode_Label.setWordWrap(False)
# self.Automatic_Mode_Label.setObjectName("Automatic_Mode_Label")
#self.Automatic_Mode_ON = QtWidgets.QRadioButton(self.Automatic_Mode_Frame)
#self.Automatic_Mode_ON.setGeometry(QtCore.QRect(150, 20, 91, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(11)
font.setBold(True)
font.setWeight(75)
# self.Automatic_Mode_ON.setFont(font)
# self.Automatic_Mode_ON.setTabletTracking(False)
# self.Automatic_Mode_ON.setChecked(False)
# self.Automatic_Mode_ON.setObjectName("Automatic_Mode_ON")
# self.Automatic_Mode_OFF = QtWidgets.QRadioButton(self.Automatic_Mode_Frame)
# self.Automatic_Mode_OFF.setGeometry(QtCore.QRect(290, 20, 91, 31))
font = QtGui.QFont()
font.setFamily("Arial")
font.setPointSize(11)
font.setBold(True)
font.setWeight(75)
# self.Automatic_Mode_OFF.setFont(font)
# self.Automatic_Mode_OFF.setTabletTracking(False)
# self.Automatic_Mode_OFF.setChecked(True)
# self.Automatic_Mode_OFF.setObjectName("Automatic_Mode_OFF")
# self.Automatic_Mode_Save_Path_Button = QtWidgets.QPushButton(self.Automatic_Mode_Frame)
# self.Automatic_Mode_Save_Path_Button.setGeometry(QtCore.QRect(390, 20, 121, 31))
# self.Automatic_Mode_Save_Path_Button.setLayoutDirection(QtCore.Qt.RightToLeft)
# self.Automatic_Mode_Save_Path_Button.setAutoFillBackground(False)
# self.Automatic_Mode_Save_Path_Button.setStyleSheet("\n"
# "font: 14pt \"Arial\";\n"
# "background-color: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1, stop:0 rgba(243, 82, 82, 255), stop:1 rgba(255, 255, 255, 0));\n"
# " \n"
# "color: rgb(132, 0, 2);")
# self.Automatic_Mode_Save_Path_Button.setAutoRepeat(False)
# self.Automatic_Mode_Save_Path_Button.setFlat(False)
# self.Automatic_Mode_Save_Path_Button.setObjectName("Automatic_Mode_Save_Path_Button")
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 570, 21))
self.menubar.setObjectName("menubar")
MainWindow.setMenuBar(self.menubar)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
self.BASE_ROTATION_Angle_Slider.valueChanged['int'].connect(self.BASE_ROTATION_Angle_LCDNumber.display)
self.BASE_LEG_ANGLE_Slider_2.valueChanged['int'].connect(self.BASE_LEG_ANGLE_LCDNumber.display)
self.ELBOW_slider.valueChanged['int'].connect(self.ELBOW_LCDNumber.display)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
# START Widget Function Sync ----------------------------------------------
# connect Sliders and RadiButtons with its variables
self.BASE_ROTATION_Angle_Slider.valueChanged['int'].connect(self.set_BaseRotationAngle)
self.BASE_LEG_ANGLE_Slider_2.valueChanged['int'].connect(self.set_BaseLegAngle)
self.ELBOW_slider.valueChanged['int'].connect(self.set_ElbowAngle)
self.TERMINALOFF.toggled.connect(self.set_TerminalMode)
# self.Automatic_Mode_OFF.toggled.connect(self.set_AutoMaticMode)
# if(self.AutoMaticMode == 0):
# self.Automatic_Mode_Save_Path_Button.setEnabled(False)
# self.Automatic_Mode_OFF.toggled.connect(self.isManual)
# Save path button Function
# self.Automatic_Mode_Save_Path_Button.clicked.connect(self.addpathFunction)
# Reset Button Function
self.Reset_Button.clicked.connect(self.ResetAll)
# Start Button Function
# self..clicked.connect(self.startOperation)
# Handling Sending Operation at run time using sliders and radio buttons
# self.Automatic_Mode_OFF.toggled.connect(self.isManual)
# self.Automatic_Mode_ON.setChecked(True)
# END Widget Function Sync ----------------------------------------------
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "Live Control"))
# self.Stop_Button.setText(_translate("MainWindow", "Stop"))
self.ELBOW_slider.setToolTip(_translate("MainWindow", "BASE_ROTATION_Angle_Slider"))
self.ELBOW_LCDNumber.setToolTip(_translate("MainWindow", "BASE_ROTATION_Angle_LCDNumber"))
self.ELBOW_Label.setToolTip(_translate("MainWindow", "BASE_ROTATION_Angle"))
self.ELBOW_Label.setText(_translate("MainWindow", "ELBOW ANGLE"))
# self.Start_Button.setText(_translate("MainWindow", "Start"))
self.BASE_ROTATION_Angle_Label.setText(_translate("MainWindow", "BASE ROTATION ANGLE"))
self.Reset_Button.setText(_translate("MainWindow", "Reset"))
self.TERMINAL_Label.setToolTip(_translate("MainWindow", "BASE_ROTATION_Angle"))
self.TERMINAL_Label.setText(_translate("MainWindow", "TERMINAL"))
self.TERMINALON.setText(_translate("MainWindow", "ON"))
self.TERMINALOFF.setText(_translate("MainWindow", "OFF"))
self.BASE_LEG_ANGLE_Slider_2.setToolTip(_translate("MainWindow", "BASE_ROTATION_Angle_Slider"))
self.BASE_LEG_ANGLE_LCDNumber.setToolTip(_translate("MainWindow", "BASE_ROTATION_Angle_LCDNumber"))
self.BASE_LEG_ANGLE_label.setToolTip(_translate("MainWindow", "BASE_ROTATION_Angle"))
self.BASE_LEG_ANGLE_label.setText(_translate("MainWindow", "BASE LEG ANGLE"))
# self.Automatic_Mode_Label.setToolTip(_translate("MainWindow", "BASE_ROTATION_Angle"))
# self.Automatic_Mode_Label.setText(_translate("MainWindow", "Automatic Mode"))
# self.Automatic_Mode_ON.setText(_translate("MainWindow", "ON"))
# self.Automatic_Mode_OFF.setText(_translate("MainWindow", "OFF"))
# self.Automatic_Mode_Save_Path_Button.setText(_translate("MainWindow", "Save Path"))
if __name__ == "__main__":
import sys
app = QtWidgets.QApplication(sys.argv)
MainWindow = QtWidgets.QMainWindow()
ui = Ui_MainWindow()
ui.setupUi(MainWindow)
MainWindow.show()
sys.exit(app.exec_())