diff --git a/Software/COSI_Measure/cosi_gui_testbed.py b/Software/COSI_Measure/cosi_gui_testbed.py
new file mode 100644
index 0000000000000000000000000000000000000000..6b1540eba0558dda65585bb386c9fa7d6bafb9a9
--- /dev/null
+++ b/Software/COSI_Measure/cosi_gui_testbed.py
@@ -0,0 +1,538 @@
+# import os
+
+# os.system('ifconfig eth0 192.168.101.253')
+# print('IP changed to 192.168.101.253')
+
+import sys
+from socket import *
+import time
+import atexit
+#import serial
+import binascii
+#import threading
+from PyQt4 import QtGui, QtCore
+from PyQt4.QtCore import Qt
+#import struct
+#from binascii import hexlify
+#from binascii import unhexlify
+sock = socket(AF_UNIX, SOCK_STREAM)
+BUFFER_SIZE = 256
+packet_size = 30
+#serPort = serial.Serial(
+# port='/dev/ttyUSB0',
+# baudrate=9600,
+# parity=serial.PARITY_ODD,
+# stopbits=serial.STOPBITS_ONE,
+# bytesize=serial.SEVENBITS
+#)
+
+
+class Container(QtGui.QX11EmbedContainer):
+
+ def __init__(self):
+ QtGui.QX11EmbedContainer.__init__(self)
+
+ def sizeHint(self):
+ size = QtCore.QSize(400, 500)
+ return size.expandedTo(QtGui.QApplication.globalStrut())
+
+class ExeMeasureThread(QtCore.QThread):
+
+ signalCom = QtCore.pyqtSignal(object)
+
+ def __init__(self, filename):
+ QtCore.QThread.__init__(self)
+ self.filename = filename
+
+ def run(self):
+ num_lines = sum(1 for line in open(self.filename))
+ fin_lines = 0.0
+ with open(self.filename) as coordinates:
+ for line in coordinates:
+ self.move_to(line)
+ self.wait_for_completion()
+ value = self.read_gaussmeter()
+ fin_lines += 1
+ self.signalCom.emit(((fin_lines/num_lines)*100, value))
+
+ def wait_for_completion(self):
+ sock.send("check_status" + ("\0" * (packet_size-len("check_status"))))
+ msg = sock.recv(50)
+ #print msg
+ while msg == "busy":
+ sock.send("check_status" + ("\0" * (packet_size-len("check_status"))))
+ msg = sock.recv(50)
+ #print msg
+ time.sleep(0.1)
+
+ def move_to(self, coordinates):
+ G_CMD = "G0" + coordinates + "\n"
+ sock.send(G_CMD + ("\0" * (packet_size-len(G_CMD))))
+
+ def read_gaussmeter(self):
+ #serPort.write("ALLF?")
+ value = ''
+ time.sleep(0.2)
+ #while serPort.inWaiting() > 0:
+ #value += serPort.read(1)
+ #if value != '':
+ # print ">>" + value
+ return value
+#class ExeMeasureThreadRemote(QtCore.QThread): Implement this if you have GUI-Remote connection problems
+
+class Main(QtGui.QMainWindow):
+
+ def __init__(self):
+ super(Main, self).__init__()
+ self.initUI()
+
+ def initUI(self):
+ self.frameSysIni = QtGui.QFrame()
+ self.frameSysIni.setFrameShape(QtGui.QFrame.StyledPanel)
+ self.frameHoming = QtGui.QFrame()
+ self.frameHoming.setFrameShape(QtGui.QFrame.StyledPanel)
+ self.frameMoving = QtGui.QFrame()
+ self.frameMoving.setFrameShape(QtGui.QFrame.StyledPanel)
+ self.frameMeasure = QtGui.QFrame()
+ self.frameMeasure.setFrameShape(QtGui.QFrame.StyledPanel)
+ self.frameConsole = QtGui.QFrame()
+ self.frameConsole.setFrameShape(QtGui.QFrame.StyledPanel)
+ self.outputText = QtGui.QTextEdit()
+ #self.frameOutput = QtGui.QFrame()
+ #self.frameOutput.setFrameShape(QtGui.QFrame.StyledPanel)
+
+ ##############Berk#####################
+ #self.bleAdapterConnect = QtGui.QFrame()
+ #self.bleAdapterConnect.setFrameShape(QtGui.QFrame.StyledPanel)
+ ##############Berk#####################
+ self.splitterVLeft = QtGui.QSplitter(Qt.Vertical)
+ self.splitterVLeft.addWidget(self.frameSysIni)
+ self.splitterVLeft.addWidget(self.frameHoming)
+ self.splitterVLeft.addWidget(self.frameMoving)
+ self.splitterVLeft.addWidget(self.frameMeasure)
+ self.splitterVLeft.setSizes([200,150,150,300])
+ self.splitterVRight = QtGui.QSplitter(Qt.Vertical)
+ self.splitterVRight.addWidget(self.frameConsole)
+ #self.splitterVRight.addWidget(self.frameOutput)
+ self.splitterVRight.addWidget(self.outputText)
+ self.splitterVRight.setSizes([400,400])
+ self.splitterH = QtGui.QSplitter(Qt.Horizontal)
+ self.splitterH.addWidget(self.splitterVLeft)
+ self.splitterH.addWidget(self.splitterVRight)
+ self.splitterH.setSizes([500,500])
+ self.setCentralWidget(self.splitterH)
+ QtGui.QApplication.setStyle(QtGui.QStyleFactory.create('Cleanlooks'))
+
+ font11 = QtGui.QFont()
+ font11.setPointSize(11)
+ font11.setBold(True)
+ font11.setUnderline(True)
+ font11.setWeight(75)
+ font10 = QtGui.QFont()
+ font10.setPointSize(10)
+
+
+ self.bleAdapterConnect = QtGui.QPushButton('Enable Connect')
+ self.bleAdapterConnect.setGeometry(QtCore.QRect(30, 80, 70, 30))
+ self.bleAdapterDConnect = QtGui.QPushButton('Connect external PC')
+ self.bleAdapterDConnect.setGeometry(QtCore.QRect(30, 80, 70, 30))
+ self.bleIniButton = QtGui.QPushButton('Init BLE Functions')
+ self.bleIniButton.setGeometry(QtCore.QRect(30, 80, 70, 30))
+
+ self.lableIni = QtGui.QLabel('System Initialization')
+ self.lableIni.setGeometry(QtCore.QRect(10, 10, 150, 20))
+ self.lableIni.setFont(font11)
+ self.lableStatusController = QtGui.QLabel('Movement controller')
+ self.lableStatusController.setGeometry(QtCore.QRect(310, 50, 20, 20))
+ self.lableStatusController.setFont(font10)
+ self.lableStatusSerial = QtGui.QLabel('BLE')
+ self.lableStatusSerial.setGeometry(QtCore.QRect(30, 80, 100, 30))
+ self.lableStatusSerial.setFont(font10)
+ self.pushButtonIni = QtGui.QPushButton('Initialize')
+ self.pushButtonIni.setGeometry(QtCore.QRect(30, 80, 100, 30))
+ self.frameStatusController = QtGui.QFrame()
+ self.frameStatusController.setFrameShape(QtGui.QFrame.StyledPanel)
+ self.frameStatusController.setFrameShadow(QtGui.QFrame.Raised)
+ self.frameStatusSerial = QtGui.QFrame()
+ self.frameStatusSerial.setFrameShape(QtGui.QFrame.StyledPanel)
+ self.frameStatusSerial.setFrameShadow(QtGui.QFrame.Raised)
+ self.gridLayoutSysIni = QtGui.QGridLayout()
+ self.gridLayoutSysIni.addWidget(self.lableIni, 0, 0, 1, 3)
+ self.gridLayoutSysIni.addWidget(self.lableStatusController, 1, 2, 1, 1)
+ self.gridLayoutSysIni.addWidget(self.lableStatusSerial, 2, 2, 1, 1)
+ self.gridLayoutSysIni.addWidget(self.frameStatusSerial, 2, 4, 1, 1)
+ self.gridLayoutSysIni.addWidget(self.frameStatusController, 1, 4, 1, 1)
+ self.gridLayoutSysIni.addWidget(self.pushButtonIni, 2, 0, 1, 1)
+ self.gridLayoutSysIni.addWidget(self.bleAdapterConnect, 3, 0, 1, 1)
+ self.gridLayoutSysIni.addWidget(self.bleAdapterDConnect, 3, 1, 1, 1)
+ self.gridLayoutSysIni.addWidget(self.bleIniButton, 3, 2, 1, 1)
+ self.frameSysIni.setLayout(self.gridLayoutSysIni)
+
+ self.pushButtonIni.clicked.connect(self.sys_ini)
+ self.bleAdapterConnect.clicked.connect(self.connectDongle)
+ self.bleAdapterDConnect.clicked.connect(self.dConnectDongle)
+ self.bleIniButton.clicked.connect(self.initBLEfuctions)
+
+ self.homigXminButton = QtGui.QPushButton('Home X-')
+ self.homigYminButton = QtGui.QPushButton('Home Y-')
+ self.homigZminButton = QtGui.QPushButton('Home Z-')
+ self.homigXplsButton = QtGui.QPushButton('Home X+')
+ self.homigYplsButton = QtGui.QPushButton('Home Y+')
+ self.homigZplsButton = QtGui.QPushButton('Home Z+')
+
+ self.lableHoming = QtGui.QLabel('Homing')
+ self.lableHoming.setFont(font11)
+ self.lableHomingStatus = QtGui.QLabel('Homing status')
+ self.lableHomingStatus.setFont(font10)
+ self.pushButtonHoming = QtGui.QPushButton('Home')
+ self.frameStatusHoming = QtGui.QFrame()
+ self.frameStatusHoming.resize(20,20)
+ self.frameStatusHoming.setFrameShape(QtGui.QFrame.StyledPanel)
+ self.frameStatusHoming.setFrameShadow(QtGui.QFrame.Raised)
+ self.spacerItem1 = QtGui.QSpacerItem(379, 20, QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Minimum)
+ self.spacerItem2 = QtGui.QSpacerItem(20, 48, QtGui.QSizePolicy.Minimum, QtGui.QSizePolicy.Expanding)
+ self.gridLayoutHoming = QtGui.QGridLayout()
+ self.gridLayoutHoming.addWidget(self.lableHoming, 0, 0, 1, 1)
+ self.gridLayoutHoming.addWidget(self.lableHomingStatus, 3, 2, 1, 1)
+ self.gridLayoutHoming.addWidget(self.pushButtonHoming, 3, 0, 1, 1)
+ self.gridLayoutHoming.addWidget(self.frameStatusHoming, 3, 3, 1, 1)
+ self.gridLayoutHoming.addWidget(self.pushButtonHoming, 3, 0, 1, 1)
+ self.gridLayoutHoming.addWidget(self.homigXminButton, 2, 0, 1, 1)
+ self.gridLayoutHoming.addWidget(self.homigYminButton, 2, 1, 1, 1)
+ self.gridLayoutHoming.addWidget(self.homigZminButton, 2, 2, 1, 1)
+ self.gridLayoutHoming.addWidget(self.homigXplsButton, 1, 0, 1, 1)
+ self.gridLayoutHoming.addWidget(self.homigYplsButton, 1, 1, 1, 1)
+ self.gridLayoutHoming.addWidget(self.homigZplsButton, 1, 2, 1, 1)
+ self.gridLayoutHoming.addItem(self.spacerItem1, 1, 0, 2, 4)
+ self.gridLayoutHoming.addItem(self.spacerItem2, 2, 1, 2, 1)
+ self.frameHoming.setLayout(self.gridLayoutHoming)
+
+ self.pushButtonHoming.clicked.connect(self.homing)
+ self.homigXminButton.clicked.connect(self.homingXminus)
+ self.homigYminButton.clicked.connect(self.homingYminus)
+ self.homigZminButton.clicked.connect(self.homingZminus)
+ self.homigXplsButton.clicked.connect(self.homingXplus)
+ self.homigYplsButton.clicked.connect(self.homingYplus)
+ self.homigZplsButton.clicked.connect(self.homingZplus)
+
+ self.lableMove = QtGui.QLabel('Move to a point and measure')
+ self.lableMove.setFont(font11)
+ self.lableMoveTo = QtGui.QLabel('Move to:')
+ self.lableMoveTo.setFont(font10)
+ self.lineEditCoordinates = QtGui.QLineEdit()
+ self.pushButtonExeMove = QtGui.QPushButton('Execute')
+ self.spacerItem3 = QtGui.QSpacerItem(20, 20, QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Minimum)
+ self.spacerItem4 = QtGui.QSpacerItem(20, 40, QtGui.QSizePolicy.Minimum, QtGui.QSizePolicy.Expanding)
+ self.gridLayoutMove = QtGui.QGridLayout()
+ self.gridLayoutMove.addWidget(self.lableMove, 0, 0, 1, 2)
+ self.gridLayoutMove.addWidget(self.lableMoveTo, 2, 0, 1, 1)
+ self.gridLayoutMove.addWidget(self.lineEditCoordinates, 2, 1, 1, 1)
+ self.gridLayoutMove.addWidget(self.pushButtonExeMove, 2, 3, 1, 1)
+ self.gridLayoutMove.addItem(self.spacerItem3, 2, 2, 1, 1)
+ self.gridLayoutMove.addItem(self.spacerItem4, 1, 0, 1, 1)
+ self.frameMoving.setLayout(self.gridLayoutMove)
+
+ self.pushButtonExeMove.clicked.connect(self.ExeMove)
+
+
+ self.lableMeasure = QtGui.QLabel('Move along a path and measure')
+ self.lableMeasure.setFont(font11)
+ self.lableLoadFile = QtGui.QLabel('Load path file:')
+ self.lableLoadFile.setFont(font10)
+ self.lableSaveFile = QtGui.QLabel('Save data as:')
+ self.lableSaveFile.setFont(font10)
+ self.lableFileName1 = QtGui.QLabel('')
+ self.lableFileName1.setFont(font10)
+ self.lableFileName2 = QtGui.QLabel('')
+ self.lableFileName2.setFont(font10)
+ iconOpenFile = QtGui.QIcon()
+ iconOpenFile.addPixmap(QtGui.QPixmap('open.png'), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+ self.pushButtonOpenFile = QtGui.QPushButton('')
+ self.pushButtonOpenFile.setIcon(iconOpenFile)
+ self.pushButtonSaveFile = QtGui.QPushButton('')
+ self.pushButtonSaveFile.setIcon(iconOpenFile)
+ self.pushButtonExeMeasure = QtGui.QPushButton('Execute')
+ self.pushButtonStopMeasure = QtGui.QPushButton('Stop')
+ self.progressBar = QtGui.QProgressBar()
+ self.progressBar.setProperty("value", 0)
+ self.spacerItem5 = QtGui.QSpacerItem(127, 20, QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Minimum)
+ self.spacerItem6 = QtGui.QSpacerItem(81, 20, QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Minimum)
+ self.spacerItem7 = QtGui.QSpacerItem(20, 40, QtGui.QSizePolicy.Minimum, QtGui.QSizePolicy.Maximum)
+ self.spacerItem8 = QtGui.QSpacerItem(20, 40, QtGui.QSizePolicy.Minimum, QtGui.QSizePolicy.Preferred)
+ self.spacerItem9 = QtGui.QSpacerItem(20, 40, QtGui.QSizePolicy.Minimum, QtGui.QSizePolicy.Fixed)
+ self.spacerItem10 = QtGui.QSpacerItem(20, 20, QtGui.QSizePolicy.Minimum, QtGui.QSizePolicy.Fixed)
+ #spacerItem11 = QtGui.QSpacerItem(40, 20, QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Minimum)
+ self.gridLayoutMeasure = QtGui.QGridLayout()
+ self.gridLayoutMeasure.addWidget(self.lableMeasure, 0, 0, 1, 2)
+ self.gridLayoutMeasure.addItem(self.spacerItem8, 1, 0, 1, 1)
+ self.gridLayoutMeasure.addWidget(self.lableLoadFile, 2, 0, 1, 1)
+ self.gridLayoutMeasure.addWidget(self.pushButtonOpenFile, 2, 1, 1, 1)
+ self.gridLayoutMeasure.addWidget(self.lableFileName1, 2, 2, 1, 1)
+ self.gridLayoutMeasure.addWidget(self.lableSaveFile, 3, 0, 1, 1)
+ self.gridLayoutMeasure.addWidget(self.pushButtonSaveFile, 3, 1, 1, 1)
+ self.gridLayoutMeasure.addWidget(self.lableFileName2, 3, 2, 1, 1)
+ self.gridLayoutMeasure.addWidget(self.pushButtonExeMeasure, 4, 0, 1, 1)
+ self.gridLayoutMeasure.addWidget(self.pushButtonStopMeasure, 4, 1, 1, 1)
+ self.gridLayoutMeasure.addItem(self.spacerItem6, 4, 2, 1, 1)
+ self.gridLayoutMeasure.addItem(self.spacerItem5, 4, 3, 1, 1)
+ self.gridLayoutMeasure.addItem(self.spacerItem7, 5, 0, 1, 1)
+ self.gridLayoutMeasure.addWidget(self.progressBar, 6, 0, 1, 4)
+ self.gridLayoutMeasure.addItem(self.spacerItem9, 7, 0, 1, 1)
+ #self.gridLayoutMeasure.addItem(self.spacerItem10, 3, 0, 1, 1)
+ #gridLayoutMeasure.addItem(spacerItem11, 2, 3, 1, 2)
+ self.frameMeasure.setLayout(self.gridLayoutMeasure)
+
+ self.pushButtonOpenFile.clicked.connect(self.getOpenFileName)
+ self.pushButtonSaveFile.clicked.connect(self.getSaveFileName)
+ self.pushButtonExeMeasure.clicked.connect(self.ExeMeasure)
+ self.pushButtonExeMeasure.clicked.connect(self.StopMeasure)
+
+ self.console = Container()
+ self.hbox = QtGui.QHBoxLayout()
+ self.hbox.addWidget(self.console)
+ self.vbox = QtGui.QVBoxLayout()
+ self.vbox.addStretch(1)
+ self.vbox.addLayout(self.hbox)
+ self.frameConsole.setLayout(self.vbox)
+
+ self.setGeometry(100,100,1000,800)
+ self.setWindowTitle("COSI-Measure")
+ self.show()
+ #Individual homing for indivudial axis.
+ #This is useful in case some probe or holder is hard to remove.
+ #For example: x0y0z0 is just above the frame. Single button homing will break if something is attached.
+ #You can manually home x and y first. Then, complete z homing at x,y max position (other corner)(Check height with probe or attachment ofc.)
+ def homingXplus(self):
+ sock.send("G162X\n" + ("\0" * (packet_size-len("G162X\n"))))
+ sock.send("G162X\n" + ("\0" * (packet_size-len("G162X\n"))))
+ self.wait_for_completion()
+ def homingYplus(self):
+ sock.send("G162Y\n" + ("\0" * (packet_size-len("G161Y\n"))))
+ sock.send("G162Y\n" + ("\0" * (packet_size-len("G161Y\n"))))
+ self.wait_for_completion()
+ def homingZplus(self):
+ sock.send("G162Z\n" + ("\0" * (packet_size-len("G161Z\n"))))
+ sock.send("G162Z\n" + ("\0" * (packet_size-len("G161Z\n"))))
+ self.wait_for_completion()
+ def homingXminus(self):
+ sock.send("G161X\n" + ("\0" * (packet_size-len("G162X\n"))))
+ sock.send("G161X\n" + ("\0" * (packet_size-len("G162X\n"))))
+ self.wait_for_completion()
+ def homingYminus(self):
+ sock.send("G161Y\n" + ("\0" * (packet_size-len("G162Y\n"))))
+ sock.send("G161Y\n" + ("\0" * (packet_size-len("G162Y\n"))))
+ self.wait_for_completion()
+ def homingZminus(self):
+ sock.send("G161Z\n" + ("\0" * (packet_size-len("G162Z\n"))))
+ sock.send("G161Z\n" + ("\0" * (packet_size-len("G162Z\n"))))
+ self.wait_for_completion()
+
+ #This enables a local connection from an external device using a TCP_IP protocol.
+ #The handshake is manual, I fixed some keywords please feel free to implement yours.
+ #The main drawback: there is no access to the GUI anymore.
+ #The remote part should send a disconnect message ("CLOSECONN") to break the loop.
+ #If pipe is broken due to some kind of error, the TCP connection should manually closed from another terminal. (Not to close whole GUI which resets the homing settings)
+ #This part should definetely be improved and can be customized for different applications.
+ #Manual termination of TCP Example:
+ #Find the offending process: netstat -np
+ #Find the socket file descriptor: lsof -np $PID
+ #Debug the process: gdb -p $PID
+ #Close the socket: call close($FD)
+ #Close the debugger: quit Source: https://www.scm.keele.ac.uk/staff/stan/2016/05/16/closing-sockets-without-killing-processes/
+ #Unfortunately the debian is limited. Some functions may not be found but the idea should be implementable.
+ def dConnectDongle(self):
+ self.remoteSocket = socket(AF_INET, SOCK_STREAM)
+ self.remoteSocket.setsockopt(SOL_SOCKET,SO_REUSEADDR,1)
+ self.TCP_IP = "192.168.101.253"
+ self.TCP_PORT = 7001
+ self.remoteSocket.bind((self.TCP_IP,self.TCP_PORT))
+ self.remoteSocket.listen(1)
+ self.conn, self.addr = self.remoteSocket.accept()
+ self.connectDongle()
+ print("Connection address: ",self.addr)
+ #self.adapter.stop()
+ def connectDongle(self):
+ print("Full software control is on the Remote Machine. Click close from the otherside to make gui effective again.")
+ while True:
+ self.remoteData = self.conn.recv(BUFFER_SIZE) #receive the data
+ if(str(self.remoteData) == "CLOSECONN"): # Close connection keyword
+ self.conn.send("Closing Connection") # Acknowledge command.
+ time.sleep(2)
+ self.conn.close()
+ self.remoteSocket.close()
+ break #Activate the GUI again
+ elif(str(self.remoteData[0:3]) == "MOV"): #I always send starting with a MOV command to make it consistent.
+ if len(self.remoteData) == 18: #For submillimeter resolution.
+ #Remote data structure is (MOVXXXxxYYYyyZZZzz).
+ #The submillimeter precision is 2, first 3 digits are the coordinates in mm for xyz.
+ #E.g.: command example MOV
+ #Please pad with zeros. i.e. 58.23 is 05823
+ print('recv data is:', self.remoteData, 'length:', len(self.remoteData))
+ self.xRem = (str(self.remoteData[3:8]))
+ self.yRem = (str(self.remoteData[8:13]))
+ self.zRem = (str(self.remoteData[13:18]))
+ print('x: ',self.xRem)
+ print('y: ',self.yRem)
+ print('z: ',self.zRem)
+ X = str("x")+str(self.xRem[:3])+'.'+str(self.xRem[3:5])
+ Y = str("y")+str(self.yRem[:3])+'.'+str(self.yRem[3:5])
+ Z = str("z")+str(self.zRem[:3])+'.'+str(self.zRem[3:5])
+ coordinates = X + Y + Z
+ print(coordinates)
+ elif len(self.remoteData) == 12: # For milimeter resolution
+ #Remote data structure is (MOVXXXYYYZZZ) xxxs
+ print('recv data is:', self.remoteData, 'length:', len(self.remoteData))
+ self.xRem = (str(self.remoteData[3:6]))
+ self.yRem = (str(self.remoteData[6:9]))
+ self.zRem = (str(self.remoteData[9:12]))
+ print('x: ',self.xRem)
+ print('y: ',self.yRem)
+ print('z: ',self.zRem)
+ coordinates = str("x")+str(self.xRem)+str("y")+str(self.yRem)+str("z")+str(self.zRem)
+ else:
+ print('Unknown format')
+ self.conn.close()
+ self.remoteSocket.close()
+ break
+ self.move_to(coordinates)
+ self.wait_for_completion()
+ self.conn.send("MOVOK")
+ elif(str(self.remoteData) == "OK"):
+ print("movok: ")
+ self.conn.send("MOVOK")
+ def initBLEfuctions(self):
+ print("N/A")
+
+ def sys_ini(self):
+ def coordinatesCB(handle,value):
+ print(value)
+ self.ReceivedIntArray = struct.unpack('<BBBBBBBBBBBBBBBBBBBB', value)
+ print(self.ReceivedIntArray)
+ self.xBLE = (self.ReceivedIntArray[0]-48)*100 + (self.ReceivedIntArray[1]-48)*10 + (self.ReceivedIntArray[2]-48)
+ self.yBLE = (self.ReceivedIntArray[3]-48)*100 + (self.ReceivedIntArray[4]-48)*10 + (self.ReceivedIntArray[5]-48)
+ self.zBLE = (self.ReceivedIntArray[6]-48)*100 + (self.ReceivedIntArray[7]-48)*10 + (self.ReceivedIntArray[8]-48)
+ print('x: ',self.xBLE)
+ print('y: ',self.yBLE)
+ print('z: ',self.zBLE)
+ coordinates = str("x")+str(self.xBLE)+str("y")+str(self.yBLE)+str("z")+str(self.zBLE)
+ self.move_to(coordinates)
+ self.wait_for_completion()
+ #time.sleep(0.2)
+ self.thr.start()
+ #valueX = self.read_gaussmeter()
+ #valueX = 'a'
+ #cursor = self.outputText.textCursor()
+ #cursor.insertText(valueX)
+
+ def ServerOkService (handle, value):
+ self.ReceivedIntArray = struct.unpack('<BB', value)
+ print(self.ReceivedIntArray)
+ if(self.ReceivedIntArray[0]==107):
+ coordinates = str("x450y450z450")
+ self.move_to(coordinates)
+ self.wait_for_completion()
+ valueX = self.read_gaussmeter()
+ valueX = 'a'
+ cursor = self.outputText.textCursor()
+ cursor.insertText(valueX)
+ wid=QtCore.QString.number(self.console.winId())
+ self.process = QtCore.QProcess(self)
+ args = [
+ "-into",
+ wid,
+ "-bc",
+ "-e",
+ "\"./mendel.elf\"",
+ ]
+ self.process.start("xterm", args)
+ time.sleep(7)
+ socketStatus = sock.connect_ex("/tmp/socket")
+ if socketStatus == 0:
+ self.frameStatusController.setStyleSheet("QWidget { background-color: %s }" % QtGui.QColor(0, 255, 0).name())
+ else:
+ self.frameStatusController.setStyleSheet("QWidget { background-color: %s }" % QtGui.QColor(255, 0, 0).name())
+ #if(serPort.isOpen() == False):
+ #self.frameStatusSerial.setStyleSheet("QWidget { background-color: %s }" % QtGui.QColor(255, 0, 0).name())
+ #else:
+ self.frameStatusSerial.setStyleSheet("QWidget { background-color: %s }" % QtGui.QColor(0, 255, 0).name())
+ def homing(self):
+ sock.send("G161XYZ\n" + ("\0" * (packet_size-len("G161XYZ\n"))))
+ sock.send("G161XYZ\n" + ("\0" * (packet_size-len("G161XYZ\n"))))
+ sock.send("G162XYZ\n" + ("\0" * (packet_size-len("G162XYZ\n"))))
+ sock.send("G162XYZ\n" + ("\0" * (packet_size-len("G162XYZ\n"))))
+ self.wait_for_completion()
+ self.frameStatusHoming.setStyleSheet("QWidget { background-color: %s }" % QtGui.QColor(0, 255, 0).name())
+
+ def wait_for_completion(self):
+ sock.send("check_status" + ("\0" * (packet_size-len("check_status"))))
+ msg = sock.recv(50)
+ #print msg
+ while msg == "busy":
+ sock.send("check_status" + ("\0" * (packet_size-len("check_status"))))
+ msg = sock.recv(50)
+ #print msg
+ time.sleep(1)
+
+ def ExeMove(self):
+ coordinates = str(self.lineEditCoordinates.text())
+ self.move_to(coordinates)
+ self.wait_for_completion()
+ #value = self.read_gaussmeter()
+ value = "a"
+ cursor = self.outputText.textCursor()
+ cursor.insertText(value)
+
+ def move_to(self, coordinates):
+ G_CMD = "G0" + coordinates + "\n"
+ sock.send(G_CMD + ("\0" * (packet_size-len(G_CMD))))
+
+ def read_gaussmeter(self):
+ #serPort.write("ALLF?")
+ value = ''
+ #time.sleep(1)
+ self.device.char_write(myids.COSI_READY_CHAR ,bytearray([1, 0]), wait_for_response=False) #,0)
+ self.thr = threading.Thread(name='a test thread',target=self.read_gaussmeter)
+ #while serPort.inWaiting() > 0:
+ #value += serPort.read(1)
+ if value != '':
+ print ">>" + value
+ return value
+
+ def getOpenFileName(self):
+ self.filenameOpen = QtGui.QFileDialog.getOpenFileName(self, 'Open File',".","(*.path)")
+ self.lableFileName1.setText(self.filenameOpen)
+
+ def getSaveFileName(self):
+ self.filenameSave = QtGui.QFileDialog.getSaveFileName(self, 'Save File')
+ self.lableFileName2.setText(self.filenameSave)
+
+ def ExeMeasure(self):
+ worker = ExeMeasureThread(self.filenameOpen)
+ worker.signalCom.connect(self.onDataReady)
+ self.threads = []
+ self.threads.append(worker)
+ worker.start()
+
+
+ def onDataReady(self, value):
+ cursor = self.outputText.textCursor()
+ cursor.insertText(value[1])
+ with open(self.filenameSave,"a") as dataFile:
+ dataFile.write(value[1])
+ self.progressBar.setValue(value[0])
+
+ def StopMeasure(self):
+ pass
+
+ def finish(self):
+ sock.send("quit"+ ("\0" * (packet_size-len("quit"))))
+ sock.close()
+ print 'finished\n'
+
+def main():
+ app = QtGui.QApplication(sys.argv)
+ main = Main()
+ sys.exit(app.exec_())
+
+if __name__ == "__main__":
+ main()