# 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()