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main.py
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from PyQt5 import QtCore, QtGui, QtWidgets, uic, QtSerialPort
from PyQt5.QtCore import QThread, pyqtSignal
import serial
import sys
import time
dimensione_gui = 100#% (100% or 125%) percentage of screen resizing -- in base a ridimensionamento schermo
servo1_home = 90
servo2_home = 130
servo3_home = 120
servo4_home = 130
servo5_home = 0
servo6_home = 60
durata = 1
pausa = 1
limite_posizioni = 20
servo1 = servo1_home
servo2 = servo2_home
servo3 = servo3_home
servo4 = servo4_home
servo5 = servo5_home
servo6 = servo6_home
ripetizione = False
porta = ""
baudrate_list = [115200, 57600, 38400, 19200, 9600]
class Dialog(QtWidgets.QDialog):
def __init__(self):
super(Dialog, self).__init__()
uic.loadUi('./serial_configuration.ui', self)
self.setMaximumSize(260, 200)
self.setWindowTitle("Configurazione")
self.pushButton_ricarica.clicked.connect(self.click_ricarica)
self.pushButton_fatto.clicked.connect(self.click_fatto)
self.pushButton_fatto.setEnabled(False)
for info in QtSerialPort.QSerialPortInfo.availablePorts():
self.comboBox_porta.addItem(info.portName())
for baudrate in baudrate_list:
self.comboBox_baudrate.addItem(str(baudrate), baudrate)
if self.comboBox_porta.currentText() != "":
self.pushButton_fatto.setEnabled(True)
def click_ricarica(self):
self.comboBox_porta.clear()
for info in QtSerialPort.QSerialPortInfo.availablePorts():
self.comboBox_porta.addItem(info.portName())
if self.comboBox_porta.currentText() != "":
self.pushButton_fatto.setEnabled(True)
def click_fatto(self):
global baudrate
global porta
baudrate = self.comboBox_baudrate.currentData()
porta = self.comboBox_porta.currentText()
config.close()
class MainWindow(QtWidgets.QMainWindow):
def __init__(self):
super(MainWindow, self).__init__()
global dimensione_gui
uic.loadUi(f'./main_v1.5_{dimensione_gui}.ui', self)
if dimensione_gui == 125:
self.setFixedSize(440, 530)
elif dimensione_gui == 100:
self.setFixedSize(460, 530)
self.setWindowTitle("Interfaccia di controllo")
self.horizontalSlider_1.setMinimum(6)
self.horizontalSlider_1.setMaximum(175)
self.horizontalSlider_1.setValue(180-servo1_home)
self.horizontalSlider_1.valueChanged.connect(self.slider_1_changed)
self.horizontalSlider_1.sliderReleased.connect(self.slider_released)
self.horizontalSlider_2.setMinimum(7)
self.horizontalSlider_2.setMaximum(173)
self.horizontalSlider_2.setValue(servo2_home)
self.horizontalSlider_2.valueChanged.connect(self.slider_2_changed)
self.horizontalSlider_2.sliderReleased.connect(self.slider_released)
self.horizontalSlider_3.setMinimum(10)
self.horizontalSlider_3.setMaximum(170)
self.horizontalSlider_3.setValue(180-servo3_home)
self.horizontalSlider_3.valueChanged.connect(self.slider_3_changed)
self.horizontalSlider_3.sliderReleased.connect(self.slider_released)
self.horizontalSlider_4.setMinimum(10)
self.horizontalSlider_4.setMaximum(170)
self.horizontalSlider_4.setValue(180-servo4_home)
self.horizontalSlider_4.valueChanged.connect(self.slider_4_changed)
self.horizontalSlider_4.sliderReleased.connect(self.slider_released)
self.horizontalSlider_5.setMinimum(0)
self.horizontalSlider_5.setMaximum(180)
self.horizontalSlider_5.setValue(servo5_home)
self.horizontalSlider_5.valueChanged.connect(self.slider_5_changed)
self.horizontalSlider_5.sliderReleased.connect(self.slider_released)
self.horizontalSlider_6.setMinimum(25)
self.horizontalSlider_6.setMaximum(100)
self.horizontalSlider_6.setValue(servo6_home)
self.horizontalSlider_6.valueChanged.connect(self.slider_6_changed)
self.horizontalSlider_6.sliderReleased.connect(self.slider_released)
self.doubleSpinBox_durata.setMinimum(0.5)
self.doubleSpinBox_durata.setMaximum(10)
self.doubleSpinBox_durata.setSingleStep(0.5)
self.doubleSpinBox_durata.setValue(1)
self.doubleSpinBox_durata.valueChanged.connect(self.durata_changed)
self.doubleSpinBox_pausa.setMinimum(0)
self.doubleSpinBox_pausa.setMaximum(10)
self.doubleSpinBox_pausa.setSingleStep(0.5)
self.doubleSpinBox_pausa.setValue(1)
self.doubleSpinBox_pausa.valueChanged.connect(self.pausa_changed)
self.pushButton_salva.clicked.connect(self.click_salva)
self.pushButton_reset.clicked.connect(self.click_reset)
self.pushButton_esegui.clicked.connect(self.click_esegui)
self.pushButton_home.clicked.connect(self.click_home)
self.checkBox.stateChanged.connect(self.check_ripetizione)
self.label_numeropos.setText(f"Posizioni: {posizioni}")
self.label_val1.setText(str(servo1))
self.label_val2.setText(str(servo2))
self.label_val3.setText(str(servo3))
self.label_val4.setText(str(servo4))
self.label_val5.setText(str(servo5))
self.label_val6.setText(str(servo6))
self.progressBar.setValue(0)
def slider_1_changed(self, i):
global servo1
servo1 = 180-i
self.label_val1.setText(str(servo1))
def slider_2_changed(self, i):
global servo2
servo2 = i
self.label_val2.setText(str(servo2))
def slider_3_changed(self, i):
global servo3
servo3 = 180-i
self.label_val3.setText(str(servo3))
def slider_4_changed(self, i):
global servo4
servo4 = 180-i
self.label_val4.setText(str(servo4))
def slider_5_changed(self, i):
global servo5
servo5 = i
self.label_val5.setText(str(servo5))
def slider_6_changed(self, i):
global servo6
servo6 = i
self.label_val6.setText(str(servo6))
def slider_released(self):
invio = "p," + str(servo1) + "," + str(servo2) + "," + str(servo3) + "," + str(servo4) + "," + str(servo5) + "," + str(servo6) + "\n"
arduino.write(invio.encode())
def durata_changed(self, i):
global durata
durata = i
def pausa_changed(self, i):
global pausa
pausa = i
def click_salva(self):
global limite_posizioni
global posizioni
if limite_posizioni > posizioni:
invio = "s," + str(durata) + "," + str(pausa) + "\n"
arduino.write(invio.encode())
posizioni = posizioni + 1
self.label_numeropos.setText(f"Posizioni: {posizioni}")
def click_reset(self):
global posizioni
if posizioni > 0:
invio = "r\n"
arduino.write(invio.encode())
posizioni = posizioni - 1
self.label_numeropos.setText(f"Posizioni: {posizioni}")
def click_esegui(self):
global posizioni
global ripetizione
if posizioni > 0:
invio = "e\n"
arduino.write(invio.encode())
self.pushButton_home.setEnabled(False)
self.pushButton_salva.setEnabled(False)
self.pushButton_reset.setEnabled(False)
self.pushButton_esegui.setEnabled(False)
self.horizontalSlider_1.setEnabled(False)
self.horizontalSlider_2.setEnabled(False)
self.horizontalSlider_3.setEnabled(False)
self.horizontalSlider_4.setEnabled(False)
self.horizontalSlider_5.setEnabled(False)
self.horizontalSlider_6.setEnabled(False)
self.doubleSpinBox_pausa.setEnabled(False)
self.doubleSpinBox_durata.setEnabled(False)
if ripetizione == False:
self.checkBox.setEnabled(False)
self.thread = External()
self.thread.progress.connect(self.progress_bar)
self.thread.update_1.connect(self.slider_1_update)
self.thread.update_2.connect(self.slider_2_update)
self.thread.update_3.connect(self.slider_3_update)
self.thread.update_4.connect(self.slider_4_update)
self.thread.update_5.connect(self.slider_5_update)
self.thread.update_6.connect(self.slider_6_update)
self.thread.start()
def progress_bar(self, value):
self.progressBar.setValue(value)
def slider_1_update(self, value):
self.horizontalSlider_1.setValue(180-value)
def slider_2_update(self, value):
self.horizontalSlider_2.setValue(value)
def slider_3_update(self, value):
self.horizontalSlider_3.setValue(180-value)
def slider_4_update(self, value):
self.horizontalSlider_4.setValue(180-value)
def slider_5_update(self, value):
self.horizontalSlider_5.setValue(value)
def slider_6_update(self, value):
self.horizontalSlider_6.setValue(value)
def check_ripetizione(self, s):
global ripetizione
if s == 2:
invio = "rn"
ripetizione = True
arduino.write(invio.encode())
conferma = arduino.readline()
if s == 0:
invio = "rf"
ripetizione = False
arduino.write(invio.encode())
def click_home(self):
global servo1_home
global servo2_home
global servo3_home
global servo4_home
global servo5_home
global servo6_home
self.horizontalSlider_1.setValue(180-servo1_home)
self.horizontalSlider_2.setValue(servo2_home)
self.horizontalSlider_3.setValue(180-servo3_home)
self.horizontalSlider_4.setValue(180-servo4_home)
self.horizontalSlider_5.setValue(servo5_home)
self.horizontalSlider_6.setValue(servo6_home)
self.slider_released()
class External(QThread): #Runs a counter thread.
progress = pyqtSignal(int)
update_1 = pyqtSignal(int)
update_2 = pyqtSignal(int)
update_3 = pyqtSignal(int)
update_4 = pyqtSignal(int)
update_5 = pyqtSignal(int)
update_6 = pyqtSignal(int)
def run(self):
global posizioni
global ripetizione
while True:
Prev = 0
for n in range(1, posizioni+1):
conferma = arduino.readline()
update = conferma[0:len(conferma)-2].decode("utf-8").split(",")
self.update_1.emit(int(update[1]))
self.update_2.emit(int(update[2]))
self.update_3.emit(int(update[3]))
self.update_4.emit(int(update[4]))
self.update_5.emit(int(update[5]))
self.update_6.emit(int(update[6]))
self.progress.emit(0)
tasso = 0.21 #For 100 to make it in less than half a second -- Affinchè 100 li faccia in meno di mezzo secondo
filtro = 0
while True:
Smoothed = round(100/posizioni*n)*tasso + Prev*(1-tasso)
Prev = Smoothed
if filtro != round(Smoothed):
self.progress.emit(round(Smoothed))
if round(Smoothed) == round(100/posizioni*n):
break
filtro = round(Smoothed)
time.sleep(0.010)
if ripetizione == False:
window.pushButton_home.setEnabled(True)
window.pushButton_salva.setEnabled(True)
window.pushButton_reset.setEnabled(True)
window.pushButton_esegui.setEnabled(True)
window.horizontalSlider_1.setEnabled(True)
window.horizontalSlider_2.setEnabled(True)
window.horizontalSlider_3.setEnabled(True)
window.horizontalSlider_4.setEnabled(True)
window.horizontalSlider_5.setEnabled(True)
window.horizontalSlider_6.setEnabled(True)
window.doubleSpinBox_pausa.setEnabled(True)
window.doubleSpinBox_durata.setEnabled(True)
window.checkBox.setEnabled(True)
break
app = QtWidgets.QApplication(sys.argv)
config = Dialog()
config.show()
config.exec_()
if porta == "":
sys.exit()
#################################
arduino = serial.Serial(f"{porta}", baudrate=baudrate)
time.sleep(3)
setup = "setup," + str(servo1_home) + "," + str(servo2_home) + "," + str(servo3_home) + "," + str(servo4_home) + "," + str(servo5_home) + "," + str(servo6_home) + "," + str(limite_posizioni) + "\n"
arduino.write(setup.encode())
setup_1 = arduino.readline()
posizioni = int(setup_1[0:len(setup_1)-2].decode("utf-8"))
#################################
window = MainWindow()
window.show()
app.exec_()