[issue #702 #719] Change in uav_viewer_py

src/tools/uav_viewer_py/gui/GUI.py

@@ -34,8 +34,10 @@ class MainWindow(QMainWindow, Ui_MainWindow):
     def __init__(self, parent=None):
         super(MainWindow, self).__init__(parent)
         self.setupUi(self)
-        self.teleop = TeleopWidget(self)
+        self.teleop=TeleopWidget(self,0)
+        self.teleop1=TeleopWidget(self,1)
         self.tlLayout.addWidget(self.teleop)
+        self.tlLayout_1.addWidget(self.teleop1)
         self.teleop.setVisible(True)
 
         self.record = False
@@ -45,9 +47,6 @@ def __init__(self, parent=None):
         self.cameraCheck.stateChanged.connect(self.showCameraWidget)
         self.sensorsCheck.stateChanged.connect(self.showSensorsWidget)
 
-        self.rotationDial.valueChanged.connect(self.rotationChange)
-        self.altdSlider.valueChanged.connect(self.altitudeChange)
-
         self.cameraWidget = CameraWidget(self)
         self.sensorsWidget = SensorsWidget(self)
 
@@ -98,10 +97,9 @@ def updateGUI(self):
     def stopClicked(self):
         if self.record == True:
             self.extra.record(False)
-        self.rotationDial.setValue(self.altdSlider.maximum() / 2)
-        self.altdSlider.setValue(self.altdSlider.maximum() / 2)
         self.cmdvel.sendCMDVel(0, 0, 0, 0, 0, 0)
         self.teleop.stopSIG.emit()
+        self.teleop1.stopSIG.emit()
 
     def takeOffClicked(self):
         if (self.takeoff == True):
@@ -141,28 +139,22 @@ def showSensorsWidget(self, state):
     def closeSensorsWidget(self):
         self.sensorsCheck.setChecked(False)
 
-    def rotationChange(self, value):
-        value = (1.0 / (self.rotationDial.maximum() / 2)) * (value - (self.rotationDial.maximum() / 2))
-        self.rotValue.setText('%.2f' % value)
-        self.cmdvel.setYaw(value)
-        self.cmdvel.sendVelocities()
-
-    def altitudeChange(self, value):
-        value = (1.0 / (self.altdSlider.maximum() / 2)) * (value - (self.altdSlider.maximum() / 2))
-        self.altdValue.setText('%.2f' % value)
-        self.cmdvel.setVZ(value)
-        self.cmdvel.sendVelocities()
-
-    def setXYValues(self, newX, newY):
+    def setXYValues(self,newX,newY):
         self.XValue.setText('%.2f' % newX)
-        self.YValue.setText('%.2f' % newY)
+        self.YValue.setText('%.2f' % -newY)
         self.cmdvel.setVX(-newY)
         self.cmdvel.setVY(-newX)
         self.cmdvel.sendVelocities()
 
+    def setZYawValues(self,newZ,newYaw):
+        self.altdValue.setText('%.2f' % -newZ)
+        self.rotValue.setText('%.2f' % newYaw)
+        self.cmdvel.setVZ(-newZ)
+        self.cmdvel.setYaw(newYaw)
+        self.cmdvel.sendVelocities()
+
     def closeEvent(self, event):
         self.camera.stop()
         self.navdata.stop()
         self.pose.stop()
         event.accept()
-

src/tools/uav_viewer_py/gui/teleopWidget.py

@@ -17,97 +17,102 @@
 #       Alberto Martin Florido <almartinflorido@gmail.com>
 #
 import resources_rc
+import math
 from PyQt5.QtGui import QImage, QPainter, QPen
 from PyQt5.QtCore import pyqtSignal, QPointF, Qt, QPoint
 from PyQt5.QtWidgets import QWidget, QGridLayout
 
-
 class TeleopWidget(QWidget):
-    stopSIG = pyqtSignal()
 
-    def __init__(self, winParent):
+    stopSIG=pyqtSignal()
+
+    def __init__(self,winParent,num):
         super(TeleopWidget, self).__init__()
-        self.winParent = winParent
+        self.winParent=winParent
         self.line = QPointF(0, 0);
-        self.qimage = QImage()
+        self.qimage=QImage()
         self.qimage.load(':images/ball.png')
         self.stopSIG.connect(self.stop)
         self.initUI()
+        self.id = num
 
     def initUI(self):
-        layout = QGridLayout()
+        layout=QGridLayout()
         self.setLayout(layout)
         self.setAutoFillBackground(True)
         p = self.palette()
         p.setColor(self.backgroundRole(), Qt.black)
         self.setPalette(p)
-        self.resize(300, 300)
-        self.setMinimumSize(300, 300)
+        self.resize(300,300)
+        self.setMinimumSize(300,300)
 
     def stop(self):
         self.line = QPointF(0, 0);
         self.repaint();
 
-    def mouseMoveEvent(self, e):
+    def mouseMoveEvent(self,e):
         if e.buttons() == Qt.LeftButton:
-            x = e.x() - self.width() / 2
-            y = e.y() - self.height() / 2
+            x = e.x()-self.width()/2
+            y = e.y()-self.height()/2
             self.line = QPointF(x, y)
             self.repaint()
 
     def paintEvent(self, e):
+
         _width = self.width()
         _height = self.height()
 
+
         width = 2
 
-        painter = QPainter(self)
+        painter=QPainter(self)
 
         pen = QPen(Qt.blue, width)
         painter.setPen(pen)
 
-        # Centro del widget
-        painter.translate(QPoint(_width / 2, _height / 2))
+        #Centro del widget
+        painter.translate(QPoint(_width/2, _height/2))
 
-        # eje
+        #eje
         painter.drawLine(QPointF(-_width, 0),
-                         QPointF(_width, 0))
+                QPointF( _width, 0))
 
         painter.drawLine(QPointF(0, -_height),
-                         QPointF(0, _height))
+                QPointF(0, _height))
 
-        # con el raton
+        #con el raton
         pen = QPen(Qt.red, width)
         painter.setPen(pen)
 
-        # Comprobamos que el raton este dentro de los limites
-        if abs(self.line.x() * 2) >= self.size().width():
-            if self.line.x() >= 0:
-                self.line.setX(self.size().width() / 2)
-            elif self.line.x() < 0:
-                self.line.setX((-self.size().width() / 2) + 1)
+        #Comprobamos que el raton este dentro de los limites
+        if abs(self.line.x()*2) >= self.size().width():
+            if self.line.x()>=0:
+                self.line.setX(self.size().width()/2)
+            elif self.line.x()<0:
+                self.line.setX((-self.size().width()/2)+1)
 
-        if abs(self.line.y() * 2) >= self.size().height():
-            if self.line.y() >= 0:
-                self.line.setY(self.size().height() / 2)
-            elif self.line.y() < 0:
-                self.line.setY((-self.size().height() / 2) + 1)
+        if abs(self.line.y()*2) >= self.size().height():
+            if self.line.y()>=0:
+                self.line.setY(self.size().height()/2)
+            elif self.line.y()<0:
+                self.line.setY((-self.size().height()/2)+1)
 
         painter.drawLine(QPointF(self.line.x(), -_height),
-                         QPointF(self.line.x(), _height))
+                QPointF(self.line.x(), _height))
 
         painter.drawLine(QPointF(-_width, self.line.y()),
-                         QPointF(_width, self.line.y()))
+                QPointF( _width, self.line.y()))
 
-        # print "x: %f y: %f" % (self.line.x(), self.line.y())
+        #print "x: %f y: %f" % (self.line.x(), self.line.y())
 
-        v_normalized = (1.0 / (self.size().height() / 2)) * self.line.y()
+        v_normalized = (1.0/(self.size().height()/2)) * self.line.y()
         v_normalized = float("{0:.2f}".format(v_normalized))
-        w_normalized = (1.0 / (self.size().width() / 2)) * self.line.x()
+        w_normalized = (1.0/(self.size().width()/2)) * self.line.x()
         w_normalized = float("{0:.2f}".format(w_normalized))
 
-        # print "v: %f w: %f" % (v_normalized,w_normalized)
-        self.winParent.setXYValues(w_normalized, v_normalized)
-        painter.drawImage(self.line.x() - self.qimage.width() / 2, self.line.y() - self.qimage.height() / 2,
-                          self.qimage);
-
+        #print "v: %f w: %f" % (v_normalized,w_normalized)
+        if self.id == 0:
+            self.winParent.setZYawValues(v_normalized,w_normalized*math.pi)
+        elif self.id == 1:
+            self.winParent.setXYValues(w_normalized,v_normalized)
+        painter.drawImage(self.line.x()-self.qimage.width()/2, self.line.y()-self.qimage.height()/2, self.qimage);

src/tools/uav_viewer_py/gui/ui_gui.py

@@ -11,51 +11,53 @@
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(660, 370)
-        MainWindow.setMinimumSize(QtCore.QSize(660, 370))
-        MainWindow.setMaximumSize(QtCore.QSize(660, 370))
+        MainWindow.resize(790, 550)
+        MainWindow.setMinimumSize(QtCore.QSize(790, 550))
+        MainWindow.setMaximumSize(QtCore.QSize(790, 550))
         self.centralwidget = QtWidgets.QWidget(MainWindow)
         self.centralwidget.setObjectName("centralwidget")
         self.takeoffButton = QtWidgets.QPushButton(self.centralwidget)
-        self.takeoffButton.setGeometry(QtCore.QRect(470, 30, 161, 41))
+        self.takeoffButton.setGeometry(QtCore.QRect(80, 380, 220, 41))
         self.takeoffButton.setObjectName("takeoffButton")
-        self.altdSlider = QtWidgets.QSlider(self.centralwidget)
-        self.altdSlider.setGeometry(QtCore.QRect(400, 30, 19, 311))
-        self.altdSlider.setMaximum(100)
-        self.altdSlider.setProperty("value", 49)
-        self.altdSlider.setOrientation(QtCore.Qt.Vertical)
-        self.altdSlider.setObjectName("altdSlider")
+
         self.stopButton = QtWidgets.QPushButton(self.centralwidget)
-        self.stopButton.setGeometry(QtCore.QRect(470, 80, 161, 41))
-        icon = QtGui.QIcon()
-        icon.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
-        self.stopButton.setIcon(icon)
+        self.stopButton.setGeometry(QtCore.QRect(80, 425, 220, 51))
+        icon1 = QtGui.QIcon()
+        icon1.addPixmap(QtGui.QPixmap(":/images/stop.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.stopButton.setIcon(icon1)
         self.stopButton.setObjectName("stopButton")
+
         self.windowsLabel = QtWidgets.QLabel(self.centralwidget)
-        self.windowsLabel.setGeometry(QtCore.QRect(540, 190, 71, 21))
+        self.windowsLabel.setGeometry(QtCore.QRect(350, 380, 71, 21))
         self.windowsLabel.setObjectName("windowsLabel")
         self.cameraCheck = QtWidgets.QCheckBox(self.centralwidget)
-        self.cameraCheck.setGeometry(QtCore.QRect(540, 220, 94, 26))
+        self.cameraCheck.setGeometry(QtCore.QRect(350, 410, 94, 26))
         self.cameraCheck.setObjectName("cameraCheck")
         self.sensorsCheck = QtWidgets.QCheckBox(self.centralwidget)
-        self.sensorsCheck.setGeometry(QtCore.QRect(540, 250, 94, 26))
+        self.sensorsCheck.setGeometry(QtCore.QRect(350, 440, 94, 26))
         self.sensorsCheck.setObjectName("sensorsCheck")
+
         self.altdLabel = QtWidgets.QLabel(self.centralwidget)
-        self.altdLabel.setGeometry(QtCore.QRect(390, 340, 51, 21))
+        self.altdLabel.setGeometry(QtCore.QRect(220, 340, 61, 21))
         self.altdLabel.setObjectName("altdLabel")
+
         self.verticalLayoutWidget = QtWidgets.QWidget(self.centralwidget)
         self.verticalLayoutWidget.setGeometry(QtCore.QRect(20, 30, 361, 301))
         self.verticalLayoutWidget.setObjectName("verticalLayoutWidget")
         self.tlLayout = QtWidgets.QVBoxLayout(self.verticalLayoutWidget)
         self.tlLayout.setObjectName("tlLayout")
-        self.rotationDial = QtWidgets.QDial(self.centralwidget)
-        self.rotationDial.setGeometry(QtCore.QRect(440, 220, 50, 64))
-        self.rotationDial.setMaximum(100)
-        self.rotationDial.setProperty("value", 49)
-        self.rotationDial.setObjectName("rotationDial")
+        ####################NUEVO####################
+        self.verticalLayoutWidget_1 = QtWidgets.QWidget(self.centralwidget)
+        self.verticalLayoutWidget_1.setGeometry(QtCore.QRect(400, 30, 361, 301))
+        self.verticalLayoutWidget_1.setObjectName("verticalLayoutWidget_1")
+        self.tlLayout_1 = QtWidgets.QVBoxLayout(self.verticalLayoutWidget_1)
+        self.tlLayout_1.setObjectName("tlLayout_1")
+        #######################
+
         self.rotationLabel = QtWidgets.QLabel(self.centralwidget)
-        self.rotationLabel.setGeometry(QtCore.QRect(440, 280, 65, 21))
+        self.rotationLabel.setGeometry(QtCore.QRect(350, 340, 65, 21))
         self.rotationLabel.setObjectName("rotationLabel")
+
         self.XLabel = QtWidgets.QLabel(self.centralwidget)
         self.XLabel.setGeometry(QtCore.QRect(20, 340, 21, 21))
         self.XLabel.setObjectName("XLabel")
@@ -71,31 +73,38 @@ def setupUi(self, MainWindow):
         self.YValue.setAlignment(QtCore.Qt.AlignRight|QtCore.Qt.AlignTrailing|QtCore.Qt.AlignVCenter)
         self.YValue.setObjectName("YValue")
         self.altdValue = QtWidgets.QLabel(self.centralwidget)
-        self.altdValue.setGeometry(QtCore.QRect(390, 10, 41, 21))
+        self.altdValue.setGeometry(QtCore.QRect(280, 340, 41, 21))
         self.altdValue.setAlignment(QtCore.Qt.AlignCenter)
         self.altdValue.setObjectName("altdValue")
         self.rotValue = QtWidgets.QLabel(self.centralwidget)
-        self.rotValue.setGeometry(QtCore.QRect(445, 200, 41, 21))
+        self.rotValue.setGeometry(QtCore.QRect(430, 340, 41, 21))
         self.rotValue.setAlignment(QtCore.Qt.AlignCenter)
         self.rotValue.setObjectName("rotValue")
+
         self.resetButton = QtWidgets.QPushButton(self.centralwidget)
-        self.resetButton.setGeometry(QtCore.QRect(470, 130, 161, 41))
+        self.resetButton.setGeometry(QtCore.QRect(80, 480, 220, 41))
         self.resetButton.setObjectName("resetButton")
+        self.verticalLayoutWidget_2 = QtWidgets.QWidget(self.centralwidget)
+        self.verticalLayoutWidget_2.setGeometry(QtCore.QRect(480, 380, 150, 150))
+        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)
         QtCore.QMetaObject.connectSlotsByName(MainWindow)
 
     def retranslateUi(self, MainWindow):
         _translate = QtCore.QCoreApplication.translate
-        MainWindow.setWindowTitle(_translate("MainWindow", "Uav Viewer"))
+        MainWindow.setWindowTitle(_translate("MainWindow", "UAV Viewer"))
         self.takeoffButton.setText(_translate("MainWindow", "Take off"))
         self.stopButton.setText(_translate("MainWindow", "Stop"))
         self.windowsLabel.setText(_translate("MainWindow", "Windows:"))
         self.cameraCheck.setText(_translate("MainWindow", "Camera"))
         self.sensorsCheck.setText(_translate("MainWindow", "Sensors"))
-        self.altdLabel.setText(_translate("MainWindow", "Altitude"))
-        self.rotationLabel.setText(_translate("MainWindow", "Rotation"))
+        self.altdLabel.setText(_translate("MainWindow", "Altitude:"))
+        self.rotationLabel.setText(_translate("MainWindow", "Rotation:"))
         self.XLabel.setText(_translate("MainWindow", "X:"))
         self.YLabel.setText(_translate("MainWindow", "Y:"))
         self.XValue.setText(_translate("MainWindow", "0"))

src/tools/uav_viewer_py/resources/resources.qrc

@@ -1,7 +1,6 @@
 <RCC>
   <qresource prefix="images">
     <file>ball.png</file>
-    <file>play.png</file>
     <file>stop.png</file>
   </qresource>
 </RCC>