Merge pull request #710 from aitormf/tools/basic_component_py/707

[issue #707] Added Logo and JderobotComm to basic_component_py

src/tools/basic_component_py/main.py → src/tools/basic_component_py/basic_component.py

@@ -1,4 +1,4 @@
-#!/usr/bin/python3
+#!/usr/bin/python2
 # -*- coding: utf-8 -*-
 #
 #  Copyright (C) 1997-2016 JdeRobot Developers Team
@@ -21,8 +21,7 @@
 
 import sys
 
-from parallelIce.cameraClient import CameraClient
-from parallelIce.motors import Motors
+import jderobotComm as comm
 from gui.threadGUI import ThreadGUI
 from gui.GUI import MainWindow
 from PyQt5.QtWidgets import QApplication
@@ -34,8 +33,13 @@
 
 if __name__ == '__main__':
     ic = EasyIce.initialize(sys.argv)
-    camera = CameraClient(ic,"basic_component.Camera",True)
-    motors = Motors(ic,"basic_component.Motors")
+
+    #starting comm
+    ic, node = comm.init(ic)
+
+
+    camera = comm.getCameraClient(ic,"basic_component.Camera")
+    motors = comm.getMotorsClient(ic,"basic_component.Motors")
 
     app = QApplication(sys.argv)
     frame = MainWindow()

src/tools/basic_component_py/basic_component_py.cfg

@@ -1,8 +1,16 @@
-basic_component.Camera.Proxy=cam_turtlebot_right:default -h localhost -p 8994
-basic_component.Camera.Format=RGB8
-
+############ Motors #######################
+# 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+basic_component.Motors.Server=1
 basic_component.Motors.Proxy=Motors:default -h localhost -p 8999
+basic_component.Motors.Topic=/cmd_vel_mux/input/teleop
+basic_component.Motors.Name=FolowLineMotors
 
-#basic_component.Motors.maxV = 5
-#basic_component.Motors.maxW = 0.5
+
+############ Camera #######################
+# 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+basic_component.Camera.Server=1
+basic_component.Camera.Proxy=cam_turtlebot_right:default -h localhost -p 8994
+basic_component.Camera.Format=RGB8
+basic_component.Camera.Topic=/camera/rgb/image_raw
+basic_component.Camera.Name=basic_component_pyCamera
 

src/tools/basic_component_py/generateGUI

@@ -0,0 +1,9 @@
+#!/bin/bash
+	cd resources 
+	pyrcc5 resources.qrc -o resources_rc.py
+	mv resources_rc.py ..
+
+	cd ../gui
+	pyuic5 ui_gui.ui > ui_gui.py
+	cd ..
+

src/tools/basic_component_py/gui/GUI.py

@@ -21,10 +21,13 @@
 
 from PyQt5.QtCore import pyqtSignal
 from PyQt5.QtWidgets import QMainWindow
-from gui.ui_gui import Ui_MainWindow
-from gui.teleopWidget import TeleopWidget
-from gui.cameraWidget import CameraWidget
-from gui.communicator import Communicator
+from .ui_gui import Ui_MainWindow
+from .teleopWidget import TeleopWidget
+from .cameraWidget import CameraWidget
+from .communicator import Communicator
+from .logoWidget import LogoWidget
+
+from jderobotTypes import CMDVel
 
 
 class MainWindow(QMainWindow, Ui_MainWindow):
@@ -38,6 +41,10 @@ def __init__(self, parent=None):
         self.tlLayout.addWidget(self.teleop)
         self.teleop.setVisible(True)
 
+        self.logo = LogoWidget(self, self.logoLayout.parent().width(), self.logoLayout.parent().height())
+        self.logoLayout.addWidget(self.logo)
+        self.logo.setVisible(True)
+
         self.updGUI.connect(self.updateGUI)
 
         self.cameraWidget = CameraWidget(self)
@@ -64,9 +71,11 @@ def updateGUI(self):
     def setXYValues(self, newX, newY):
         self.XValue.setText(str(newX))
         self.YValue.setText(str(newY))
-        myW=-newX*self.motors.getMaxW()
-        myV=-newY*self.motors.getMaxV()
-        self.motors.setV(myV)
-        self.motors.setW(myW)
-        self.motors.sendVelocities()
+        if (self.motors):
+            vel = CMDVel()
+            myW=-newX*self.motors.getMaxW()
+            myV=-newY*self.motors.getMaxV()
+            vel.vx = myV
+            vel.az = myW
+            self.motors.sendVelocities(vel)
 

src/tools/basic_component_py/gui/cameraWidget.py

@@ -41,12 +41,13 @@ def initUI(self):
 
     def updateImage(self):
 
-        img = self.winParent.getCamera().getImage()
-        if img is not None:
-            image = QImage(img.data, img.shape[1], img.shape[0],
-                                 img.shape[1] * img.shape[2], QImage.Format_RGB888)
-
-            size = QtCore.QSize(img.shape[1], img.shape[0])
-            self.resize(size)
-            self.imgLabel.resize(size)
-            self.imgLabel.setPixmap(QPixmap.fromImage(image))
+        if (self.winParent.getCamera()):
+            img = self.winParent.getCamera().getImage().data
+            if img is not None:
+                image = QImage(img.data, img.shape[1], img.shape[0],
+                                     img.shape[1] * img.shape[2], QImage.Format_RGB888)
+
+                size = QtCore.QSize(img.shape[1], img.shape[0])
+                self.resize(size)
+                self.imgLabel.resize(size)
+                self.imgLabel.setPixmap(QPixmap.fromImage(image))

src/tools/basic_component_py/gui/logoWidget.py

@@ -0,0 +1,44 @@
+#
+#  Copyright (C) 1997-2015 JDE Developers Team
+#
+#  This program is free software: you can redistribute it and/or modify
+#  it under the terms of the GNU General Public License as published by
+#  the Free Software Foundation, either version 3 of the License, or
+#  (at your option) any later version.
+#
+#  This program is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#  GNU General Public License for more details.
+#
+#  You should have received a copy of the GNU General Public License
+#  along with this program.  If not, see http://www.gnu.org/licenses/.
+#  Authors :
+#       Alberto Martin Florido <almartinflorido@gmail.com>
+#
+import resources_rc
+from PyQt5 import QtGui
+from PyQt5.QtCore import pyqtSignal, QPointF, Qt, QPoint
+from PyQt5.QtWidgets import QWidget, QGridLayout
+
+class LogoWidget(QWidget):
+
+    def __init__(self,winParent, width=0, height=0):    
+        super(LogoWidget, self).__init__()
+        self.winParent=winParent
+        qimage=QtGui.QImage()
+        qimage.load(':images/jderobot.svg')
+        if (width != 0 and height != 0):
+        	self.qimage = qimage.scaled(0.8*width, 0.8*height, Qt.KeepAspectRatio)
+        	#self.qimage = qimage.scaled(0.8*width, 0.8*height)
+        	self.resize(width, height)
+        else:
+        	self.qimage = qimage
+
+
+    def paintEvent(self, e):
+
+        painter=QtGui.QPainter(self)
+        painter.drawImage(self.width()/2-self.qimage.width()/2, self.height()/2-self.qimage.height()/2, self.qimage)
+
+

src/tools/basic_component_py/gui/ui_gui.py

@@ -11,9 +11,9 @@
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(400, 370)
-        MainWindow.setMinimumSize(QtCore.QSize(400, 370))
-        MainWindow.setMaximumSize(QtCore.QSize(400, 370))
+        MainWindow.resize(430, 400)
+        MainWindow.setMinimumSize(QtCore.QSize(430, 400))
+        MainWindow.setMaximumSize(QtCore.QSize(800, 800))
         self.centralwidget = QtWidgets.QWidget(MainWindow)
         self.centralwidget.setObjectName("centralwidget")
         self.verticalLayoutWidget = QtWidgets.QWidget(self.centralwidget)
@@ -35,6 +35,12 @@ def setupUi(self, MainWindow):
         self.YValue.setGeometry(QtCore.QRect(150, 340, 41, 21))
         self.YValue.setAlignment(QtCore.Qt.AlignRight|QtCore.Qt.AlignTrailing|QtCore.Qt.AlignVCenter)
         self.YValue.setObjectName("YValue")
+        self.verticalLayoutWidget_2 = QtWidgets.QWidget(self.centralwidget)
+        self.verticalLayoutWidget_2.setGeometry(QtCore.QRect(350, 320, 80, 80))
+        self.verticalLayoutWidget_2.setObjectName("verticalLayoutWidget_2")
+        self.logoLayout = QtWidgets.QVBoxLayout(self.verticalLayoutWidget_2)
+        self.logoLayout.setSpacing(0)
+        self.logoLayout.setObjectName("logoLayout")
         MainWindow.setCentralWidget(self.centralwidget)
 
         self.retranslateUi(MainWindow)

src/tools/basic_component_py/gui/ui_gui.ui

@@ -1,25 +1,25 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>MainWindow</class>
- <widget class="QMainWindow" name="MainWindow">
+<class>MainWindow</class>
+<widget class="QMainWindow" name="MainWindow">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>370</height>
+    <width>430</width>
+    <height>400</height>
    </rect>
   </property>
   <property name="minimumSize">
    <size>
-    <width>400</width>
-    <height>370</height>
+    <width>430</width>
+    <height>400</height>
    </size>
   </property>
   <property name="maximumSize">
    <size>
-    <width>400</width>
-    <height>370</height>
+    <width>800</width>
+    <height>800</height>
    </size>
   </property>
   <property name="windowTitle">
@@ -95,6 +95,21 @@
      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
     </property>
    </widget>
+   <widget class="QWidget" name="verticalLayoutWidget_2">
+    <property name="geometry">
+     <rect>
+      <x>350</x>
+      <y>320</y>
+      <width>80</width>
+      <height>80</height>
+     </rect>
+    </property>
+    <layout class="QVBoxLayout" name="logoLayout">
+     <property name="spacing">
+      <number>0</number>
+     </property>
+    </layout>
+   </widget>
   </widget>
  </widget>
 <resources>

src/tools/basic_component_py/resources/resources.qrc

@@ -1,5 +1,6 @@
 <RCC>
   <qresource prefix="images">
     <file>ball.png</file>
+    <file>jderobot.svg</file>
   </qresource>
 </RCC>

src/tools/basic_component_py/resources_rc.py

@@ -128,6 +128,69 @@
 \xfe\xf9\x5d\xdf\x48\xad\x86\x91\x5a\xed\x0b\x75\x88\xa3\xd5\x51\
 \x8c\x56\x47\xff\xe7\xff\x7f\x03\x97\x54\x18\xa6\xd8\x35\x20\x89\
 \x00\x00\x00\x00\x49\x45\x4e\x44\xae\x42\x60\x82\
+\x00\x00\x03\xc6\
+\x3c\
+\x3f\x78\x6d\x6c\x20\x76\x65\x72\x73\x69\x6f\x6e\x3d\x22\x31\x2e\
+\x30\x22\x20\x65\x6e\x63\x6f\x64\x69\x6e\x67\x3d\x22\x55\x54\x46\
+\x2d\x38\x22\x20\x73\x74\x61\x6e\x64\x61\x6c\x6f\x6e\x65\x3d\x22\
+\x6e\x6f\x22\x3f\x3e\x0a\x3c\x21\x44\x4f\x43\x54\x59\x50\x45\x20\
+\x73\x76\x67\x20\x50\x55\x42\x4c\x49\x43\x20\x22\x2d\x2f\x2f\x57\
+\x33\x43\x2f\x2f\x44\x54\x44\x20\x53\x56\x47\x20\x31\x2e\x30\x2f\
+\x2f\x45\x4e\x22\x20\x22\x68\x74\x74\x70\x3a\x2f\x2f\x77\x77\x77\
+\x2e\x77\x33\x2e\x6f\x72\x67\x2f\x54\x52\x2f\x32\x30\x30\x31\x2f\
+\x50\x52\x2d\x53\x56\x47\x2d\x32\x30\x30\x31\x30\x37\x31\x39\x2f\
+\x44\x54\x44\x2f\x73\x76\x67\x31\x30\x2e\x64\x74\x64\x22\x3e\x0a\
+\x3c\x73\x76\x67\x20\x77\x69\x64\x74\x68\x3d\x22\x31\x33\x63\x6d\
+\x22\x20\x68\x65\x69\x67\x68\x74\x3d\x22\x31\x35\x63\x6d\x22\x20\
+\x76\x69\x65\x77\x42\x6f\x78\x3d\x22\x37\x39\x20\x37\x39\x20\x32\
+\x34\x33\x20\x32\x39\x35\x22\x20\x78\x6d\x6c\x6e\x73\x3d\x22\x68\
+\x74\x74\x70\x3a\x2f\x2f\x77\x77\x77\x2e\x77\x33\x2e\x6f\x72\x67\
+\x2f\x32\x30\x30\x30\x2f\x73\x76\x67\x22\x20\x78\x6d\x6c\x6e\x73\
+\x3a\x78\x6c\x69\x6e\x6b\x3d\x22\x68\x74\x74\x70\x3a\x2f\x2f\x77\
+\x77\x77\x2e\x77\x33\x2e\x6f\x72\x67\x2f\x31\x39\x39\x39\x2f\x78\
+\x6c\x69\x6e\x6b\x22\x3e\x0a\x20\x20\x3c\x65\x6c\x6c\x69\x70\x73\
+\x65\x20\x73\x74\x79\x6c\x65\x3d\x22\x66\x69\x6c\x6c\x3a\x20\x6e\
+\x6f\x6e\x65\x3b\x20\x66\x69\x6c\x6c\x2d\x6f\x70\x61\x63\x69\x74\
+\x79\x3a\x30\x3b\x20\x73\x74\x72\x6f\x6b\x65\x2d\x77\x69\x64\x74\
+\x68\x3a\x20\x38\x3b\x20\x73\x74\x72\x6f\x6b\x65\x3a\x20\x23\x66\
+\x66\x61\x35\x30\x30\x22\x20\x63\x78\x3d\x22\x31\x38\x34\x22\x20\
+\x63\x79\x3d\x22\x32\x31\x38\x22\x20\x72\x78\x3d\x22\x38\x37\x22\
+\x20\x72\x79\x3d\x22\x38\x34\x22\x2f\x3e\x0a\x20\x20\x3c\x65\x6c\
+\x6c\x69\x70\x73\x65\x20\x73\x74\x79\x6c\x65\x3d\x22\x66\x69\x6c\
+\x6c\x3a\x20\x6e\x6f\x6e\x65\x3b\x20\x66\x69\x6c\x6c\x2d\x6f\x70\
+\x61\x63\x69\x74\x79\x3a\x30\x3b\x20\x73\x74\x72\x6f\x6b\x65\x2d\
+\x77\x69\x64\x74\x68\x3a\x20\x38\x3b\x20\x73\x74\x72\x6f\x6b\x65\
+\x3a\x20\x23\x30\x38\x39\x31\x66\x38\x22\x20\x63\x78\x3d\x22\x31\
+\x36\x35\x22\x20\x63\x79\x3d\x22\x32\x33\x33\x22\x20\x72\x78\x3d\
+\x22\x35\x34\x22\x20\x72\x79\x3d\x22\x35\x34\x22\x2f\x3e\x0a\x20\
+\x20\x3c\x65\x6c\x6c\x69\x70\x73\x65\x20\x73\x74\x79\x6c\x65\x3d\
+\x22\x66\x69\x6c\x6c\x3a\x20\x6e\x6f\x6e\x65\x3b\x20\x66\x69\x6c\
+\x6c\x2d\x6f\x70\x61\x63\x69\x74\x79\x3a\x30\x3b\x20\x73\x74\x72\
+\x6f\x6b\x65\x2d\x77\x69\x64\x74\x68\x3a\x20\x38\x3b\x20\x73\x74\
+\x72\x6f\x6b\x65\x3a\x20\x23\x66\x66\x30\x30\x30\x30\x22\x20\x63\
+\x78\x3d\x22\x32\x30\x31\x22\x20\x63\x79\x3d\x22\x32\x30\x31\x22\
+\x20\x72\x78\x3d\x22\x31\x31\x37\x22\x20\x72\x79\x3d\x22\x31\x31\
+\x37\x22\x2f\x3e\x0a\x20\x20\x3c\x65\x6c\x6c\x69\x70\x73\x65\x20\
+\x73\x74\x79\x6c\x65\x3d\x22\x66\x69\x6c\x6c\x3a\x20\x6e\x6f\x6e\
+\x65\x3b\x20\x66\x69\x6c\x6c\x2d\x6f\x70\x61\x63\x69\x74\x79\x3a\
+\x30\x3b\x20\x73\x74\x72\x6f\x6b\x65\x2d\x77\x69\x64\x74\x68\x3a\
+\x20\x38\x3b\x20\x73\x74\x72\x6f\x6b\x65\x3a\x20\x23\x30\x62\x62\
+\x64\x30\x62\x22\x20\x63\x78\x3d\x22\x31\x35\x32\x22\x20\x63\x79\
+\x3d\x22\x32\x34\x35\x22\x20\x72\x78\x3d\x22\x32\x39\x22\x20\x72\
+\x79\x3d\x22\x32\x39\x22\x2f\x3e\x0a\x20\x20\x3c\x74\x65\x78\x74\
+\x20\x66\x6f\x6e\x74\x2d\x73\x69\x7a\x65\x3d\x22\x33\x39\x2e\x34\
+\x39\x39\x38\x22\x20\x73\x74\x79\x6c\x65\x3d\x22\x66\x69\x6c\x6c\
+\x3a\x20\x23\x30\x37\x32\x35\x39\x33\x3b\x74\x65\x78\x74\x2d\x61\
+\x6e\x63\x68\x6f\x72\x3a\x6d\x69\x64\x64\x6c\x65\x3b\x66\x6f\x6e\
+\x74\x2d\x66\x61\x6d\x69\x6c\x79\x3a\x73\x61\x6e\x73\x2d\x73\x65\
+\x72\x69\x66\x3b\x66\x6f\x6e\x74\x2d\x73\x74\x79\x6c\x65\x3a\x6e\
+\x6f\x72\x6d\x61\x6c\x3b\x66\x6f\x6e\x74\x2d\x77\x65\x69\x67\x68\
+\x74\x3a\x37\x30\x30\x22\x20\x78\x3d\x22\x32\x30\x35\x22\x20\x79\
+\x3d\x22\x33\x36\x35\x22\x3e\x0a\x20\x20\x20\x20\x3c\x74\x73\x70\
+\x61\x6e\x20\x78\x3d\x22\x32\x30\x35\x22\x20\x79\x3d\x22\x33\x36\
+\x35\x22\x3e\x4a\x64\x65\x52\x6f\x62\x6f\x74\x3c\x2f\x74\x73\x70\
+\x61\x6e\x3e\x0a\x20\x20\x3c\x2f\x74\x65\x78\x74\x3e\x0a\x3c\x2f\
+\x73\x76\x67\x3e\x0a\
 "
 
 qt_resource_name = b"\
@@ -139,11 +202,16 @@
 \x08\x2f\x5a\x47\
 \x00\x62\
 \x00\x61\x00\x6c\x00\x6c\x00\x2e\x00\x70\x00\x6e\x00\x67\
+\x00\x0c\
+\x07\x72\xc8\x67\
+\x00\x6a\
+\x00\x64\x00\x65\x00\x72\x00\x6f\x00\x62\x00\x6f\x00\x74\x00\x2e\x00\x73\x00\x76\x00\x67\
 "
 
 qt_resource_struct = b"\
 \x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x01\
-\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x02\
+\x00\x00\x00\x00\x00\x02\x00\x00\x00\x02\x00\x00\x00\x02\
+\x00\x00\x00\x28\x00\x00\x00\x00\x00\x01\x00\x00\x07\x51\
 \x00\x00\x00\x12\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
 "