"""
Copyright (C) 2017 - PRESENT Zhengyu Peng, https://zpeng.me
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 .
----------
` `
-:. -#:
-//:. -###:
-////:. -#####:
-/:.://:. -###++##:
.. `://:- -###+. :##:
`:/+####+. :##:
.::::::::/+###. :##:
.////-----+##: `:###:
`-//:. :##: `:###/.
`-//:. :##:`:###/.
`-//:+######/.
`-/+####/.
`+##+.
:##:
:##:
:##:
:##:
:##:
.+:
"""
import sys
from PySide6 import QtWidgets, QtCore, QtGui
from PySide6.QtCore import Qt
from PySide6.QtCore import QThread, QFile
from PySide6.QtUiTools import QUiLoader
import psutil
import socket
from pathlib import Path
import json
from tcpclient import TCPClient
from btclient import BluetoothClient
QtWidgets.QApplication.setAttribute(
QtCore.Qt.AA_EnableHighDpiScaling, True) # enable highdpi scaling
QtWidgets.QApplication.setAttribute(
QtCore.Qt.AA_UseHighDpiPixmaps, True) # use highdpi icons
class MyApp(QtWidgets.QMainWindow):
CMD_STANDBY = 'standby:'
CMD_LAYDOWN = 'laydown:'
CMD_WALK_0 = 'walk0:'
CMD_WALK_180 = 'walk180:'
CMD_WALK_R45 = 'walkr45:'
CMD_WALK_R90 = 'walkr90:'
CMD_WALK_R135 = 'walkr135:'
CMD_WALK_L45 = 'walkl45:'
CMD_WALK_L90 = 'walkl90:'
CMD_WALK_L135 = 'walkl135:'
CMD_FASTFORWARD = 'fastforward:'
CMD_FASTBACKWARD = 'fastbackward:'
CMD_TURNLEFT = 'turnleft:'
CMD_TURNRIGHT = 'turnright:'
CMD_CLIMBFORWARD = 'climbforward:'
CMD_CLIMBBACKWARD = 'climbbackward:'
CMD_ROTATEX = 'rotatex:'
CMD_ROTATEY = 'rotatey:'
CMD_ROTATEZ = 'rotatez:'
CMD_TWIST = 'twist:'
def __init__(self):
super(MyApp, self).__init__()
config_file = Path('config.json')
if config_file.exists():
self.config = json.load(open('config.json', 'r'))
else:
self.config = dict()
json.dump(self.config, open('config.json', 'w+'))
"""Load UI"""
ui_file_name = "mainwindow.ui"
ui_file = QFile(ui_file_name)
loader = QUiLoader()
self.ui = loader.load(ui_file)
ui_file.close()
self.init_ui()
self.is_tcp_connected = False
self.is_bluetooth_connected = False
self.ui.comboBox_Interface.currentIndexChanged.connect(
self.on_interface_selection_changed
)
self.ui.button_Refresh.clicked.connect(
self.on_interface_refresh_button_clicked
)
self.ui.buttonTcpConnect.clicked.connect(
self.on_tcp_client_connect_button_clicked
)
self.ui.buttonStandby.clicked.connect(
self.on_standby_button_clicked
)
self.shortcut_standby = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_Space), self.ui, self.on_standby_button_clicked)
self.shortcut_standbyS = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_S), self.ui, self.on_standby_button_clicked)
self.ui.buttonForward.clicked.connect(
self.on_forward_button_clicked
)
self.shortcut_forward = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_W), self.ui, self.on_forward_button_clicked)
self.ui.buttonRight45.clicked.connect(
self.on_right45_button_clicked
)
self.shortcut_right45 = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_E), self.ui, self.on_right45_button_clicked)
self.ui.buttonShiftRight.clicked.connect(
self.on_shiftright_button_clicked
)
self.shortcut_shiftright = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_D), self.ui, self.on_shiftright_button_clicked)
self.ui.buttonRight135.clicked.connect(
self.on_right135_button_clicked
)
self.shortcut_right135 = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_C), self.ui, self.on_right135_button_clicked)
self.ui.buttonBackward.clicked.connect(
self.on_backward_button_clicked
)
self.shortcut_backward = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_X), self.ui, self.on_backward_button_clicked)
self.ui.buttonLeft45.clicked.connect(
self.on_left45_button_clicked
)
self.shortcut_left45 = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_Q), self.ui, self.on_left45_button_clicked)
self.ui.buttonShiftLeft.clicked.connect(
self.on_shiftleft_button_clicked
)
self.shortcut_shiftleft = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_A), self.ui, self.on_shiftleft_button_clicked)
self.ui.buttonLeft135.clicked.connect(
self.on_left135_button_clicked
)
self.shortcut_left135 = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_Z), self.ui, self.on_left135_button_clicked)
self.ui.buttonFastForward.clicked.connect(
self.on_fastforward_button_clicked
)
self.shortcut_fastforward = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_Up), self.ui, self.on_fastforward_button_clicked)
self.ui.buttonFastBackward.clicked.connect(
self.on_fastback_button_clicked
)
self.shortcut_fastbackward = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_Down), self.ui, self.on_fastback_button_clicked)
self.ui.buttonTurnLeft.clicked.connect(
self.on_turnleft_button_clicked
)
self.shortcut_turnleft = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_Left), self.ui, self.on_turnleft_button_clicked)
self.ui.buttonTurnRight.clicked.connect(
self.on_turnright_button_clicked
)
self.shortcut_turnright = QtGui.QShortcut(QtGui.QKeySequence(
QtCore.Qt.Key_Right), self.ui, self.on_turnright_button_clicked)
self.ui.pushButton_RotateX.clicked.connect(
self.on_rotatex_button_clicked
)
self.ui.pushButton_RotateY.clicked.connect(
self.on_rotatey_button_clicked
)
self.ui.pushButton_RotateZ.clicked.connect(
self.on_rotatez_button_clicked
)
self.ui.pushButton_Twist.clicked.connect(
self.on_twist_button_clicked
)
self.ui.buttonClimbForward.clicked.connect(
self.on_climbforward_button_clicked
)
self.ui.buttonClimbBackward.clicked.connect(
self.on_climbbackward_button_clicked
)
# Bluetooth client
self.ui.buttonBtConnect.clicked.connect(
self.on_bt_client_connect_button_clicked
)
# self.ui.textBrowserMessage.installEventFilter(self)
self.ui.show()
def save_config(self):
try:
json.dump(self.config, open('config.json', 'w+'))
except PermissionError as err:
pass
def init_ui(self):
# Interface
self.on_interface_refresh_button_clicked()
self.ui.groupBox_Control.setEnabled(False)
self.ui.textBrowserMessage.setEnabled(False)
tcp_client_ip = self.config.get('TCP_Client_IP', '127.0.0.1')
tcp_client_port = self.config.get('TCP_Client_Port', '1234')
self.ui.lineEdit_TcpClientTargetIP.setText(tcp_client_ip)
self.ui.lineEdit_TcpClientTargetPort.setText(tcp_client_port)
# Bluetooth Client
self.ui.lineEditBtMac.setText(
self.config.get('Bluetooth_Client_MAC', ''))
self.ui.lineEditBtPort.setText(
self.config.get('Bluetooth_Client_Port', '10'))
self.ui.status_bar.clearMessage()
self.ui.status_bar.setStyleSheet('color: green')
self.ui.status_bar.showMessage('● Idle')
def on_standby_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_STANDBY)
self.append_message(self.CMD_STANDBY)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_STANDBY)
self.append_message(self.CMD_STANDBY)
def on_forward_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_WALK_0)
self.append_message(self.CMD_WALK_0)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_WALK_0)
self.append_message(self.CMD_WALK_0)
def on_right45_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_WALK_R45)
self.append_message(self.CMD_WALK_R45)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_WALK_R45)
self.append_message(self.CMD_WALK_R45)
def on_shiftright_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_WALK_R90)
self.append_message(self.CMD_WALK_R90)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_WALK_R90)
self.append_message(self.CMD_WALK_R90)
def on_right135_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_WALK_R135)
self.append_message(self.CMD_WALK_R135)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_WALK_R135)
self.append_message(self.CMD_WALK_R135)
def on_backward_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_WALK_180)
self.append_message(self.CMD_WALK_180)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_WALK_180)
self.append_message(self.CMD_WALK_180)
def on_left45_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_WALK_L45)
self.append_message(self.CMD_WALK_L45)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_WALK_L45)
self.append_message(self.CMD_WALK_L45)
def on_shiftleft_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_WALK_L90)
self.append_message(self.CMD_WALK_L90)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_WALK_L90)
self.append_message(self.CMD_WALK_L90)
def on_left135_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_WALK_L135)
self.append_message(self.CMD_WALK_L135)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_WALK_L135)
self.append_message(self.CMD_WALK_L135)
def on_fastforward_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_FASTFORWARD)
self.append_message(self.CMD_FASTFORWARD)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_FASTFORWARD)
self.append_message(self.CMD_FASTFORWARD)
def on_fastback_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_FASTBACKWARD)
self.append_message(self.CMD_FASTBACKWARD)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_FASTBACKWARD)
self.append_message(self.CMD_FASTBACKWARD)
def on_turnleft_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_TURNLEFT)
self.append_message(self.CMD_TURNLEFT)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_TURNLEFT)
self.append_message(self.CMD_TURNLEFT)
def on_turnright_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_TURNRIGHT)
self.append_message(self.CMD_TURNRIGHT)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_TURNRIGHT)
self.append_message(self.CMD_TURNRIGHT)
def on_rotatex_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_ROTATEX)
self.append_message(self.CMD_ROTATEX)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_ROTATEX)
self.append_message(self.CMD_ROTATEX)
def on_rotatey_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_ROTATEY)
self.append_message(self.CMD_ROTATEY)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_ROTATEY)
self.append_message(self.CMD_ROTATEY)
def on_rotatez_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_ROTATEZ)
self.append_message(self.CMD_ROTATEZ)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_ROTATEZ)
self.append_message(self.CMD_ROTATEZ)
def on_twist_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_TWIST)
self.append_message(self.CMD_TWIST)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_TWIST)
self.append_message(self.CMD_TWIST)
def on_climbforward_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_CLIMBFORWARD)
self.append_message(self.CMD_CLIMBFORWARD)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_CLIMBFORWARD)
self.append_message(self.CMD_CLIMBFORWARD)
def on_climbbackward_button_clicked(self):
if self.is_tcp_connected:
self.tcp_client.send(self.CMD_CLIMBBACKWARD)
self.append_message(self.CMD_CLIMBBACKWARD)
if self.is_bluetooth_connected:
self.bt_client.send(self.CMD_CLIMBBACKWARD)
self.append_message(self.CMD_CLIMBBACKWARD)
def on_interface_refresh_button_clicked(self):
self.net_if = psutil.net_if_addrs()
interface_idx = self.config.get('Interface', 0)
self.ui.comboBox_Interface.clear()
net_names = list(self.net_if.keys())
net_if_stats = psutil.net_if_stats()
for if_name in net_names:
if not net_if_stats[if_name].isup:
self.net_if.pop(if_name, None)
else:
self.ui.comboBox_Interface.addItem(if_name)
if interface_idx >= self.ui.comboBox_Interface.count():
self.ui.comboBox_Interface.setCurrentIndex(0)
else:
self.ui.comboBox_Interface.setCurrentIndex(interface_idx)
for snicaddr in self.net_if[self.ui.comboBox_Interface.currentText()]:
if snicaddr.family == socket.AF_INET:
ipv4_add = snicaddr.address
break
else:
ipv4_add = '0.0.0.0'
self.ui.label_LocalIP.setText(ipv4_add)
self.config['Interface'] = self.ui.comboBox_Interface.currentIndex()
self.save_config()
def on_interface_selection_changed(self):
current_interface = self.ui.comboBox_Interface.currentText()
if current_interface in self.net_if:
for snicaddr in self.net_if[current_interface]:
if snicaddr.family == socket.AF_INET:
ipv4_add = snicaddr.address
break
else:
ipv4_add = '0.0.0.0'
else:
return
self.ui.label_LocalIP.setText(ipv4_add)
self.config['Interface'] = self.ui.comboBox_Interface.currentIndex()
self.save_config()
# TCP Client
def on_tcp_client_connect_button_clicked(self):
if self.ui.buttonTcpConnect.text() == 'Connect':
self.ui.buttonTcpConnect.setEnabled(False)
self.ui.lineEdit_TcpClientTargetIP.setEnabled(False)
self.ui.lineEdit_TcpClientTargetPort.setEnabled(False)
self.tcp_client_thread = QThread()
self.tcp_client = TCPClient(
self.ui.lineEdit_TcpClientTargetIP.text(),
int(self.ui.lineEdit_TcpClientTargetPort.text()))
self.tcp_client_thread.started.connect(self.tcp_client.start)
self.tcp_client.status.connect(self.on_tcp_client_status_update)
self.tcp_client.message.connect(self.on_tcp_client_message_ready)
self.tcp_client.moveToThread(self.tcp_client_thread)
self.tcp_client_thread.start()
self.config['TCP_Client_IP'] = self.ui.lineEdit_TcpClientTargetIP.text()
self.config['TCP_Client_Port'] = self.ui.lineEdit_TcpClientTargetPort.text()
self.save_config()
elif self.ui.buttonTcpConnect.text() == 'Disconnect':
self.ui.buttonTcpConnect.setEnabled(False)
self.tcp_client.close()
def on_tcp_client_status_update(self, status, addr):
if status == TCPClient.STOP:
self.is_tcp_connected = False
self.tcp_client.status.disconnect()
self.tcp_client.message.disconnect()
self.ui.buttonTcpConnect.setText('Connect')
self.tcp_client_thread.quit()
self.ui.button_Refresh.setEnabled(True)
self.ui.comboBox_Interface.setEnabled(True)
self.ui.lineEdit_TcpClientTargetIP.setEnabled(True)
self.ui.lineEdit_TcpClientTargetPort.setEnabled(True)
if not self.is_bluetooth_connected:
self.ui.textBrowserMessage.setEnabled(False)
self.ui.groupBox_Control.setEnabled(False)
self.ui.status_bar.clearMessage()
self.ui.status_bar.setStyleSheet('color: green')
self.ui.status_bar.showMessage('● Idle')
elif status == TCPClient.CONNECTED:
self.is_tcp_connected = True
self.on_bt_client_connect_button_clicked()
self.ui.buttonTcpConnect.setText('Disconnect')
self.ui.button_Refresh.setEnabled(False)
self.ui.comboBox_Interface.setEnabled(False)
self.ui.groupBox_Control.setEnabled(True)
self.ui.textBrowserMessage.setEnabled(True)
# self.ui.textBrowserMessage.setEnabled(True)
# self.ui.textBrowserMessage.setFocus()
self.ui.status_bar.clearMessage()
self.ui.status_bar.setStyleSheet('color: green')
self.ui.status_bar.showMessage(
'● Connected to ' +
self.ui.label_LocalIP.text() +
':'+self.ui.lineEdit_TcpClientTargetPort.text())
self.ui.buttonTcpConnect.setEnabled(True)
def on_tcp_client_message_ready(self, source, msg):
self.ui.textBrowserMessage.append(
'— ' +
source +
' —
')
self.ui.textBrowserMessage.append(
'' +
msg +
'
')
# Bluetooth Client
def on_bt_client_connect_button_clicked(self):
if self.ui.buttonBtConnect.text() == 'Connect':
self.ui.buttonBtConnect.setEnabled(False)
self.ui.lineEditBtMac.setEnabled(False)
self.ui.lineEditBtPort.setEnabled(False)
self.bt_client_thread = QThread()
self.bt_client = BluetoothClient(
self.ui.lineEditBtMac.text(),
int(self.ui.lineEditBtPort.text()))
self.bt_client_thread.started.connect(self.bt_client.start)
self.bt_client.status.connect(self.on_bt_client_status_update)
self.bt_client.message.connect(self.on_bt_client_message_ready)
self.bt_client.moveToThread(self.bt_client_thread)
self.bt_client_thread.start()
self.config['Bluetooth_Client_MAC'] = self.ui.lineEditBtMac.text()
self.config['Bluetooth_Client_Port'] = self.ui.lineEditBtPort.text(
)
self.save_config()
elif self.ui.buttonBtConnect.text() == 'Disconnect':
self.ui.buttonBtConnect.setEnabled(False)
self.bt_client.close()
def on_bt_client_status_update(self, status, addr):
if status == BluetoothClient.STOP:
self.is_bluetooth_connected = False
self.bt_client.status.disconnect()
self.bt_client.message.disconnect()
self.ui.buttonBtConnect.setText('Connect')
self.bt_client_thread.quit()
self.ui.lineEditBtMac.setEnabled(True)
self.ui.lineEditBtPort.setEnabled(True)
if not self.is_tcp_connected:
self.ui.textBrowserMessage.setEnabled(False)
self.ui.groupBox_Control.setEnabled(False)
# self.status['Bluetooth']['Client'] = '[CLIENT] Idle'
elif status == BluetoothClient.CONNECTED:
self.is_bluetooth_connected = True
self.on_tcp_client_connect_button_clicked()
self.ui.buttonBtConnect.setText('Disconnect')
self.ui.groupBox_Control.setEnabled(True)
self.ui.textBrowserMessage.setEnabled(True)
self.ui.buttonBtConnect.setEnabled(True)
def on_bt_client_message_ready(self, source, msg):
self.ui.textBrowserMessage.append(
'— [Bluetooth Server] ' +
source +
' —
')
self.ui.textBrowserMessage.append(
'' +
msg +
'
')
def append_message(self, message):
self.ui.textBrowserMessage.append(
'— ' +
'localhost' +
' —
')
self.ui.textBrowserMessage.append(
'' +
message +
'
')
if __name__ == "__main__":
QtCore.QCoreApplication.setAttribute(QtCore.Qt.AA_ShareOpenGLContexts)
app = QtWidgets.QApplication(sys.argv)
window = MyApp()
sys.exit(app.exec())