Python interface - Revision history

S192320: /* Implementation of the Video Stream and Camera */

2020-12-09T10:52:17Z

Implementation of the Video Stream and Camera

S192320: /* Implementation of the Video Stream and Camera */

2020-12-09T10:41:44Z

Implementation of the Video Stream and Camera

← Older revision		Revision as of 12:41, 9 December 2020
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	''' How to set up mjpeg streamer on Raspberry-Pi '''		''' How to set up mjpeg streamer on Raspberry-Pi '''

	Connect to your Raspberry-Pi		Connect to your Raspberry-Pi
	$ ssh local@IP(or robot name)		$ ssh local@IP(or robot name)

S192320: /* Implementation of the Video Stream and Camera */

2020-12-09T10:41:32Z

Implementation of the Video Stream and Camera

← Older revision		Revision as of 12:41, 9 December 2020
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	The first thing to do is to design the layout for your mjpeg-streamer. The mjpg-streamer is a command-line application that copies JPEG frames from one or more input plugins to multiple output plugins.		The first thing to do is to design the layout for your mjpeg-streamer. The mjpg-streamer is a command-line application that copies JPEG frames from one or more input plugins to multiple output plugins.
	The designed Camera window has been designed as in the following picture.		The designed Camera window has been designed as in the following picture.
	The key tip designing the mjpeg-streamer in Qt-designer, that we are going to use ''QLabel'' object for the actual frame where to display the actual live-video footage.		The key tip for designing the mjpeg-streamer in Qt-designer, that we are going to use ''QLabel'' object for the actual frame where to display the actual live-video footage.

	[[File:Camera.JPG \| 600px]]		[[File:Camera.JPG \| 600px]]

	'''How to set up mjpeg streamer on ~~Raspbery~~-Pi'''		''' How to set up mjpeg streamer on Raspberry-Pi '''
	Connect to your Raspberry-Pi		Connect to your Raspberry-Pi
	$ ssh local@IP(or robot name)		$ ssh local@IP(or robot name)

S192320: /* Manual Robot Control from the GUI */

2020-12-09T10:38:04Z

Manual Robot Control from the GUI

← Older revision		Revision as of 12:38, 9 December 2020
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	As it can be seen in the picture below, the two checkboxes correspond to each mode - GUI control, where pressing the arrow buttons in the user-interface, will control the robot with the speed specified in the text-field.		As it can be seen in the picture below, the two checkboxes correspond to each mode - GUI control, where pressing the arrow buttons in the user-interface, will control the robot with the speed specified in the text-field.

	Similarly, the robot can be controlled using the computer keyboard arrows, with ''keyboard control'' enabled and manual speed specified in the manual speed text-field. *If the manual speed is not specified, the remote control is not possible.		Similarly, the robot can be controlled using the computer keyboard arrows, with ''keyboard control'' enabled and manual speed specified in the manual speed text-field.

			'''Note''' ''*If the manual speed is not specified, the remote control is not possible.''

	[[File:Rc.JPG]]		[[File:Rc.JPG]]

S192320: /* Receiving, Decoding and Translating received messages */

2020-12-09T10:28:48Z

Receiving, Decoding and Translating received messages

← Older revision		Revision as of 12:28, 9 December 2020
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	[6] element - cpu load		[6] element - cpu load

	The translation and the meaning of each element can be found in the previous "help" section.		The translation and the meaning of each element can be found in the previous "help" section right above this section.

			It is possible to get a continuous stream of data of the selected parameter by sending a subscription command - "keyword subscribe x", where x is the priority of the subscribtion stream. When the subscription has been made, the Pi will provide a continuous stream of replies for the subscribed parameter.

	~~It is possible to get a continuous stream of data of the selected parameter of by sending a subscription command - "keyword subscribe x", where x is the priority of the subscribtion stream.~~
	For example sending a subscribrion command to subscribe to linesensor values:		For example sending a subscribrion command to subscribe to linesensor values:
	liv subscribe 6		liv subscribe 6
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	[[File:Linesensor.JPG]]		[[File:Linesensor.JPG]]


	== Manual Robot Control from the GUI ==		== Manual Robot Control from the GUI ==

S192320: /* Programming GUI */

2020-12-09T10:19:27Z

Programming GUI

← Older revision		Revision as of 12:19, 9 December 2020
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	self.ui.IP_NetworkStatus_label.setText('Faulted')		self.ui.IP_NetworkStatus_label.setText('Faulted')

	'''Note'''''' *To avoid the confusion, why the connection with the Raspberry Pi suddenly faulted, it is required to continuously send "alive" or heartbeat command"u5". The Pi is configured in a way, if it doesn't receive anything in the connection socket for couple of seconds, the connection is terminated.'''		'''Note''' '' *To avoid the confusion, why the connection with the Raspberry Pi suddenly faulted, it is required to continuously send "alive" or heartbeat command"u5". The Pi is configured in a way, if it doesn't receive anything in the connection socket for couple of seconds, the connection is terminated.''

	In a similar fashion the ''Disconnect'' button in the GUI is connected with the ''disconnectClient()'' function. To correctly close down the connection, it is required to shut down the socket using ''socket.shutdow()'' and then close the connection using ''socket.close()''. As one can notice, other different functions are called in ''disconnectClient()'' function, which stops other features in the programm.		In a similar fashion the ''Disconnect'' button in the GUI is connected with the ''disconnectClient()'' function. To correctly close down the connection, it is required to shut down the socket using ''socket.shutdow()'' and then close the connection using ''socket.close()''. As one can notice, other different functions are called in ''disconnectClient()'' function, which stops other features in the programm.

S192320: /* Programming GUI */

2020-12-09T10:18:40Z

Programming GUI

← Older revision		Revision as of 12:18, 9 December 2020
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	== Programming GUI ==		== Programming GUI ==

	As the whole Regbot firmware and bridge software is already programmed (see section "Navigation box software" on the main robobot page). And accessing the local@IP port 24001 we are able to receive and send byte-type messages to the network socket. Thus, by building a GUI, it is possible to control the robot remotely, read/test sensor values, read and write robot system parameters to its configuration.		As the whole Regbot firmware and bridge software is already programmed (see section "Navigation box software" on the main robobot page). And accessing the local@IP port 24001 we are able to receive and send byte-type messages to the network socket. Thus, by building a GUI, it is possible to control the robot remotely, read/test sensor values, read and write robot system parameters to its configuration just by reading and sending byte-type network messages from/to the IP adress port.

	The first thing that is needed to do is install the socket library and define/initialize is the network socket (internet connection) to the robobot bridge.		The first thing that is needed to do is install the socket library and define/initialize is the network socket (internet connection) to the robobot bridge.

			$ pip install sockets

	# import socket		# import socket
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	When that is done, we connect the actual "connect" button to the connectClient() function do all the necessary steps to establish a connection with the chosen IP address.		When that is done, we connect the actual "connect" button to the connectClient() function do all the necessary steps to establish a connection with the chosen IP address.
	The Connect client ~~functions~~		The Connect client function connected with the button action when "clicked".
	self.ui.connect_Cmd.clicked.connect(self.connectClient)		self.ui.connect_Cmd.clicked.connect(self.connectClient)

	[[File:Connectclient.JPG]]		[[File:Connectclient.JPG]]

	The connectClient() function implementation can be seen below. To make a stable socket connection, at first, it is required to get the address information parameters like - Adress Family, Socket Type and the Adress Info (IP and port). Then using the previously extracted parameters we define the actual network socket and connect with the IP ~~adress~~ using ''socket.socket.connect(IP)''. If the attempt to make a connection is faulted, it is necessary to close a connection using ''socket.close()'' function. In the code below some extra functions are implemented ~~aswell~~, for example to change the frame color or text in the status label to indicate that the connection has successfully been made or not.		The connectClient() function implementation can be seen below. To make a stable socket connection, at first, it is required to get the address information parameters like - Adress Family, Socket Type, and the Adress Info (IP and port). Then using the previously extracted parameters we define the actual network socket and connect with the IP address using ''socket.socket.connect(IP)''. If the attempt to make a connection is faulted, it is necessary to close a connection using ''socket.close()'' function. In the code below some extra functions are implemented as well, for example, to change the frame color or text in the status label to indicate that the connection has successfully been made or not.

	def connectClient(self):		def connectClient(self):
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	self.socket.close() # closing the connection if faulted		self.socket.close() # closing the connection if faulted
	self.ui.IP_NetworkStatus_label.setText('Faulted')		self.ui.IP_NetworkStatus_label.setText('Faulted')
	'''To avoid the confusion, why the connection with the Raspberry Pi suddenly faulted, it is required to continuously send "alive" or heartbeat command"u5". The Pi is configured in a way, if it doesn't receive anything in the connection socket for couple of seconds, the connection is terminated.'''
			'''Note'''''' *To avoid the confusion, why the connection with the Raspberry Pi suddenly faulted, it is required to continuously send "alive" or heartbeat command"u5". The Pi is configured in a way, if it doesn't receive anything in the connection socket for couple of seconds, the connection is terminated.'''

	In a similar fashion the ''Disconnect'' button in the GUI is connected with the ''disconnectClient()'' function. To correctly close down the connection, it is required to shut down the socket using ''socket.shutdow()'' and then close the connection using ''socket.close()''. As one can notice, other different functions are called in ''disconnectClient()'' function, which stops other features in the programm.		In a similar fashion the ''Disconnect'' button in the GUI is connected with the ''disconnectClient()'' function. To correctly close down the connection, it is required to shut down the socket using ''socket.shutdow()'' and then close the connection using ''socket.close()''. As one can notice, other different functions are called in ''disconnectClient()'' function, which stops other features in the programm.

S192320: /* Qt GUI interface design */

2020-12-09T10:04:38Z

Qt GUI interface design

← Older revision		Revision as of 12:04, 9 December 2020
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	In the picture below, you can see an example of an auto-generated python interface file, that can later be included in the rest of your application as a user interface.		In the picture below, you can see an example of an auto-generated python interface file, that can later be included in the rest of your application as a user interface.
	By ~~knowing~~ the name ~~of the object~~, the actual user interface now can also be tweaked by editing the Python code.		By editing the object by the name, the actual user interface now can also be tweaked by editing the Python code, but this usually requires a more in-depth experience and knowledge of how Python user-interface code works.

	[[File:UIpy.JPG \| 400px]]		[[File:UIpy.JPG \| 400px]]

	If this auto-generated python file is run on its own, the user interface is executed as an output of this program.		If this auto-generated python file is run on its own, the user interface is executed as an output of this program. Its objects don't have any functionality, because the actions have not been programmed yet for them.

	[[File:gui.JPG \| 700px]]		[[File:gui.JPG \| 700px]]
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	To add functionality to the object of the user interface (like buttons, checkboxes, text fields, etc.), we can attach a function to the interface object to be executed, for example, if the check box is checked, or button is pressed. This can be done by taking the user interface object in the python .py file and passing your function to it as an argument.		To add functionality to the object of the user interface (like buttons, checkboxes, text fields, etc.), we can attach a function to the interface object to be executed, for example, if the check box is checked, or button is pressed. This can be done by taking the user interface object in the python .py file and passing your function to it as an argument.

	By running the python class script, the first function that is run is "__init__". In "__init__" usually we define all other python classes that need to be initialized and defined.		By running the python class script, the first function that is run is "__init__". In "__init__" usually we define all other python classes that need to be initialized and defined. We sort of define/initialize the functions that are going to be used in the program.


	The following code is a template example of how to connect the user-interface object with the function in your program. The specific object-related function (clicked, released, pressed) varies from object to object.		The following code is a template example of how to connect the user-interface object with the function in your program. The specific object-related function (clicked, released, pressed) varies from object to object.
	# self."user-interface-file"."object-name"."function".connect(self."function name")		# self."user-interface-file"."object-name"."function".connect(self."function name")

S192320: /* Qt GUI interface design */

2020-12-09T09:59:30Z

Qt GUI interface design

← Older revision		Revision as of 11:59, 9 December 2020
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	== Qt GUI interface design ==		== Qt GUI interface design ==

	The Regbot desktop application is designed using the Qt-Designer app which uses the widgets from the Qt GUI framework. The application gives a possibility to quickly build interfaces using the drag-and-drop feature for placing necessary components in your interface.		The Regbot desktop application is designed using the Qt-Designer app which uses the widgets from the Qt GUI framework. The application gives a possibility to quickly build interfaces using the drag-and-drop feature for placing necessary components in your interface. The framework provides the developer with the most common user-interface objects, however, it might be lacking some of the objects that other frameworks support, like basic shapes.
	The ~~Qt designer produces .ui files~~ that ~~can be translated to C++ or Python interface code~~.
	This user interface was designed using Python 3.7.9 and Qt version 5.		This user interface was designed using Python 3.7.9 and Qt version 5.
	''To some extent, it was possible to use Visual Studio, but I ran into some problems with finding the necessary libraries for some tasks I wanted to use (like cv2, keyboard and some PyQT libraries). A Safe choice was to use one Python development platform on your PC, for example, Spyder (as it was necessary to use this for other courses). ''
			'''Note'''''*To some extent, it was possible to use Visual Studio, but I ran into some problems with finding the necessary libraries for some tasks I wanted to use (like cv2, keyboard and some PyQT libraries). A Safe choice was to use one Python development platform on your PC, for example, Spyder (as it was necessary to use this for other courses). ''

	[[File:UI.JPG \| 900px]]		[[File:UI.JPG \| 900px]]

	~~The translated UI file will be autogenerated with all the parameters that were set in Qt-Designer app like - object name, size, and many other parameters that correspond to each specific object.~~
	At first, to use Qt-Designer version 5 with python it is necessary to install the necessary python packages:		At first, to use Qt-Designer version 5 with python it is necessary to install the necessary python packages:
	# Installing PyQt5 package		# Installing PyQt5 package
	pip install pyqt5-tools		pip install pyqt5-tools
	pip install pyqt5		pip install pyqt5

			When your user-interface is finished and is saved as .ui file from The Qt designer, the file is ready to be translated to C++ or Python interface code.
			The .ui file will be converted to .py file with all the parameters that were set in Qt-Designer app like - object name, size, and many other parameters that correspond to each specific object.

	After installing and designing your user-interface it is necessary to convert your user interface .ui file to a .py file, that can be run in your program.		After installing and designing your user-interface it is necessary to convert your user interface .ui file to a .py file, that can be run in your program.
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	pyuic5 -x "filename".ui -o "filename".py		pyuic5 -x "filename".ui -o "filename".py

	Note ~~that this~~ file is generated in the directory where the terminal was opened, so make sure that you know where this file is located after using this command.		'''Note''''' *This file is generated in the directory where the terminal was opened, so make sure that you know where this file is located after using this command.''

	In the picture below, you can see an example of an auto-generated python interface file, that can later be included in the rest of your application as a user interface.		In the picture below, you can see an example of an auto-generated python interface file, that can later be included in the rest of your application as a user interface.

S192320: /* Source Code */

2020-12-06T17:34:31Z

Source Code

← Older revision		Revision as of 19:34, 6 December 2020
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	== Source Code ==		== Source Code ==
			The Full Source code can be seen in the following link ->

	[[Source Code]]		[[Source Code]]

← Older revision		Revision as of 12:52, 9 December 2020
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	cv_img = cv2.imread('nosignal.png')		cv_img = cv2.imread('nosignal.png')
	qt_img = self.convert_cv_qt(cv_img)		qt_img = self.convert_cv_qt(cv_img)
	self.ui.Stream_Label.setPixmap(qt_img)		self.ui.Stream_Label.setPixmap(qt_img) # Putting image stream on the label
	if self.camera_enabled and self.take_snapshot:		if self.camera_enabled and self.take_snapshot:
	qt_img = self.convert_cv_qt(cv_img)		qt_img = self.convert_cv_qt(cv_img)
	self.snapshot_image = cv_img		self.snapshot_image = cv_img
	self.ui.Snapshot_Label.setPixmap(qt_img)		self.ui.Snapshot_Label.setPixmap(qt_img) # Putting snapped image on the frame
	self.take_snapshot = False		self.take_snapshot = False

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	else:		else:
	filename = str(self.ui.Camera_SnapFilename.text() + '.jpg')		filename = str(self.ui.Camera_SnapFilename.text() + '.jpg')
	cv2.imwrite(filename, self.snapshot_image)		cv2.imwrite(filename, self.snapshot_image) # Saving the image under the filename


	To record the video from the video stream, the other class was implemented which took care of the video recording functionality.		To record the video from the video stream, the other class was implemented which took care of the video recording functionality.
	The key two functions to ensure the video starting/stopping and saving the video are the following. video_StartRecording() functions connects the update_image() function with the video ~~reocrding~~ thread and starts it. The video_recording flag is True.		The key two functions to ensure the video starting/stopping and saving the video are the following. video_StartRecording() functions connects the update_image() function with the video recording thread and starts it. The video_recording flag is True.

	def video_StartRecording(self):		def video_StartRecording(self):
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	self.ConsoleMessagePush = True		self.ConsoleMessagePush = True

	Meanwhile, the recording is happening, the toogleRecLabel(), makes the ~~recirding~~ status label visible, which indicates that the ~~recoding~~ is happening.		Meanwhile, the recording is happening, the toogleRecLabel(), makes the recording status label visible, which indicates that the recording is happening. And the

	def toogleRecLabel(self):		def toogleRecLabel(self):
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	self.ui.VideoRecording_Label.setHidden(False)		self.ui.VideoRecording_Label.setHidden(False)

	Similarly, the video_StopRecording() function stops the video recording by stopping the video thread and setting video_recording flag to False.		Similarly, the video_StopRecording() function stops the video recording by stopping the video thread and setting the video_recording flag to False.

	def video_StopRecording(self):		def video_StopRecording(self):