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gui5PID.py
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gui5PID.py
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#
#
#
import sys
import math
import random
import time
from phidias_interface import *
from block import *
from world import *
from PyQt5.QtWidgets import QMainWindow, QWidget, QApplication,QLabel
from PyQt5.QtGui import QPainter, QColor, QFont, QPixmap, QTransform,QPen,QBrush, QMouseEvent
from PyQt5.QtCore import Qt, QTimer
from autopilot import *
from threading import Lock
COLOR_NAMES = ['red', 'green', 'blue']
class MainWindow(QMainWindow):
def __init__(self, _mutex):
self.nodi = {
#sotto
"nodo_slot_A": (470,630),
"nodo_slot_B": (370,630),
"nodo_slot_C": (270,630),
"nodo_slot_D": (170,630),
"nodo_slot_E": (70,630),
#sopra
"nodo_slot_F": (470,120),
"nodo_slot_G": (370,120),
"nodo_slot_H": (270,120),
"nodo_slot_I": (170,120),
"nodo_slot_J": (70,120),
#altri
"nodo_A": (580,70),
"nodo_B": (730,120),
"nodo_C": (700,330),
"nodo_D": (900,330),
"nodo_E": (470,500),
"nodo_F": (600,530),
"nodo_G": (900,600),
"nodo_H": (1145,330),
"nodo_target": (1145,450),
"nodo_start": (640,655)
}
super().__init__()
self.initUI()
self.setMouseTracking(True)
self.mutex = _mutex
def initUI(self):
self.setGeometry(0, 0, 1280, 720)
self.setWindowTitle('QuadRotor 2D Simulator')
self.label = QLabel(self)
self.label.resize(600, 40)
self.show()
self.notification = False
self.delta_t = 1e-3 # 1ms of time-tick
self.autopilot = Autopilot()
self.world = World(self)
self.timer = QTimer()
self.timer.timeout.connect(self.go)
self.timer.start(1000*self.delta_t)
self._from = None
def set_from(self, _from):
self._from = _from
# Go to target node after receving the instruction from strategy
def go_to_node(self,Node):
self.notification = False
target_x, target_z = self.nodi[Node]
target_x, target_z = pixel_to_meter(target_x,target_z,self.width(),self.height(), self.autopilot.quadrotor.dronePix.height()-10)
#self.mutex.acquire()
self.autopilot.set_target(target_x,target_z)
#self.mutex.release()
print("[WORLD] :" + " drone going to " + Node)
#print("gui target x e y " , target_x , " " ,target_z)
# Informing strategy of having reached the target node
def notify_target_got(self):
self.notification = True
if self._from is not None:
print("[WORLD COMMUNICATION] :" + " sending to ROBOT target got")
Messaging.send_belief(self._from, 'target_got', [], 'robot')
def wait_for_target(self):
while not distanceCouple(self.autopilot.quadrotor.get_pose_xz(),(self.autopilot.x_target,self.autopilot.z_target)) <0.1: pass
# Give block to quadrotor after receiving the message from strategy
def set_held_block(self, Node):
self.autopilot.quadrotor.set_held_block(self.world.pop_block(Node))
# Remove block from quadrotor and add it to tower after receiving the message from strategy
def release_block_to_tower(self):
self.autopilot.quadrotor.free_block()
# Generate blocks and put them in world after receiving the message from strategy
def generate_blocks(self):
print("[WORLD] " + "generating blocks")
if self.world.count_blocks() == 10:
return
generated_blocks = 0
free_slots = []
for slot in self.world.block_slot_busy:
if not self.world.block_slot_busy[slot]:
free_slots.append(slot)
while self.world.count_blocks() < 10:
generated_blocks = generated_blocks + 1
node_slot = random.choice(free_slots)
random_color = random.choice(COLOR_NAMES)
self.world.new_block(random_color, node_slot)
free_slots.remove(node_slot)
# Compute and send distance from closest block to strategy
def sense_distance(self):
if self._from is not None:
d = self.world.sense_distance()
if d is None:
params = []
else:
params = [d]
print("[WORLD COMMUNICATION] :"+" sending distance " + str(d) + " to ROBOT")
Messaging.send_belief(self._from, 'distance', params, 'robot')
# Compute and send color from closest block to strategy
def sense_color(self):
if self._from is not None:
d = self.world.sense_color()
if d is None:
params = []
else:
params = [d]
print("[WORLD COMMUNICATION] :"+" sending color " + str(d) + " to robot")
Messaging.send_belief(self._from, 'color', params, 'robot')
def change_control_type(self,control_type):
self.autopilot.change_control_type(control_type)
def go(self):
self.mutex.acquire()
self.autopilot.run(self.delta_t) # autopilot + multirotor dynamics
self.update() # repaint window
self.mutex.release()
if self.autopilot.target_got and not(self.notification):
self.notify_target_got()
def mouseMoveEvent(self, event):
self.label.setStyleSheet("background-color: black")
self.label.setText('Mouse coords: ( %d : %d )' % (event.x(), event.y()))
self.label.adjustSize()
def paintEvent(self, event):
qp = QPainter()
qp.begin(self)
qp.setPen(QColor(255,255,255))
qp.setBrush(QColor(255,255,255))
qp.drawRect(event.rect())
self.world.paint(qp, self.width(), self.height())
qp.setPen(QColor(0,0,0))
qp.drawText(self.width() - 150, 20, "X = %6.3f m" % (self.autopilot.quadrotor.xPosition))
qp.drawText(self.width() - 150, 40, "Vx = %6.3f m/s" % (self.autopilot.quadrotor.xVelocity))
qp.drawText(self.width() - 150, 60, "Z = %6.3f m" % (self.autopilot.quadrotor.zPosition))
qp.drawText(self.width() - 150, 80, "Vz = %6.3f m/s" % (self.autopilot.quadrotor.zVelocity))
qp.drawText(self.width() - 150,100, "Th = %6.3f deg" % (math.degrees(self.autopilot.quadrotor.theta)))
qp.drawText(self.width() - 150,120, "Omega = %6.3f deg" % (math.degrees(self.autopilot.quadrotor.omega)))
self.autopilot.quadrotor.paint(qp,self.height(),self.width())
qp.end()
def main():
mutex = Lock()
app = QApplication(sys.argv)
ex = MainWindow(mutex)
start_message_server_http(ex, mutex)
sys.exit(app.exec_())
if __name__ == '__main__':
main()