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window.py
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window.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
import sys
from PyQt4 import QtGui, QtCore
from PyQt4.Qt import *
import requests
import json
from pade.misc.utility import display_message
from pade.misc.common import set_ams, start_loop
from pade.core.agent import Agent
from pade.acl.aid import AID
import thread
import twisted.internet
import agent
import train_map
import train
import train_auto
import kalman
from CAN import *
import CAN as can
import CAN_const as can_const
from xpressnet import Client
from xpressnet import Train
from time import sleep
TCP_IP = '192.168.210.200'
TCP_PORT = 5550
direction = {"Forward": 1, "Backward": 0}
#Okno logowania
class Login(QtGui.QDialog):
def __init__(self, parent=None):
super(Login, self).__init__(parent)
self.setGeometry(1000, 500, 500, 500)
self.setWindowTitle('Logowanie')
self.textName = QtGui.QLineEdit(self)
self.textPass = QtGui.QLineEdit(self)
self.buttonLogin = QtGui.QPushButton('Login', self)
self.buttonLogin.clicked.connect(self.handleLogin)
layout = QtGui.QVBoxLayout(self)
layout.addWidget(self.textName)
layout.addWidget(self.textPass)
layout.addWidget(self.buttonLogin)
#login i hasło
def handleLogin(self):
if (self.textName.text() == '' and
self.textPass.text() == ''):
self.accept()
else:
QtGui.QMessageBox.warning(
self, 'Error', 'Bad user or password')
class About(QWidget):
def __init__(self):
QWidget.__init__(self)
self.setGeometry(50, 100, 1000, 500)
self.setWindowTitle('About')
self.initT()
def initT(self):
self.text = ('Projekt na zaliczenie przedmiotu Roboty Inteligentne 2017\n'
'Program umozliwiajacy sterowanie makieta PKM \n'
'oraz uruchamianie wczesniej ustalonego harmonogramu')
self.show()
# tworzenie tekstu
def paintEvent(self, event):
qp = QtGui.QPainter()
qp.begin(self)
self.drawText(event, qp)
qp.end()
def drawText(self, event, qp):
qp.setPen(QtGui.QColor(0, 0, 0))
qp.setFont(QtGui.QFont('Decorative', 10))
qp.drawText(event.rect(), QtCore.Qt.AlignCenter, self.text)
#okno authors
class Authors(QWidget):
def __init__(self):
QWidget.__init__(self)
self.setGeometry(50, 100, 1000, 500)
self.setWindowTitle('Authors')
self.initT()
def initT(self):
self.text = ('Sklad grupy:\n\n'
'Wojciech Zgliniecki - Leader\n '
'Dworakowski Karol\n'
'Filipkiewicz Marlena\n'
'Pawlowski Franciszek\n'
'Rogaszewski Pawel\n'
'Sendrowicz Mateusz\n'
'Sternicki Pawel\n'
'Trzcinski Karol\n'
'Zbikowski Bartosz\n')
self.show()
# tworzenie tekstu
def paintEvent(self, event):
qp = QtGui.QPainter()
qp.begin(self)
self.drawText(event, qp)
qp.end()
def drawText(self, event, qp):
qp.setPen(QtGui.QColor(0, 0, 0))
qp.setFont(QtGui.QFont('Calibri', 12))
qp.drawText(event.rect(), QtCore.Qt.AlignCenter, self.text)
class Window(QtGui.QMainWindow):
def __init__(self):
super(Window, self).__init__()
self.setGeometry(50, 50, 1000, 300)
self.setWindowTitle("PKM")
self.setWindowIcon(QtGui.QIcon('ictrain.png'))
self.autoControl = False
self.timerTable = train_auto.TimeTable(self)
# tworzenie klienta do polaczenia
self.client = Client()
#utworzenie obektu zapwierajacego informacje o pociagach
#self.train_GUI = train.Train()
self.msg = None
self.index_t = 4 #numer wybranego pociagu - 1, bo numerujemy tablice od 0
self.trains = []
for i in range(1,7):
self.trains.append(Train(i))
self.createTimers()
self.kalman_train = None
self.zwrotnice_ = []
self.trains_speed = [0, 0, 0, 0, 0, 0]
# utworzenie obiektu tworzacego mape kolejowa
self.map = train_map.Railmap(0, 30, self.height(), self.width(), self.kalman_train, self)
# inicjalizacja zwotnic
self.initRequest()
self.initAgentSystem()
print(len(can.zwrotnica))
self.initSwitches()
self.initLayout()
self.initUI()
self.show()
def initAgentSystem(self):
set_ams('localhost', 8001, debug=False)
self.agentsList = list()
agente_train_1 = agent.AgenteHelloWorld(AID(name='agente_hello1'))
agente_train_1.ams = {'name': 'localhost', 'port': 8001}
self.agentsList.append(agente_train_1)
agente_train_2 = agent.AgenteHelloWorld(AID(name='agente_hello2'))
agente_train_2.ams = {'name': 'localhost', 'port': 8001}
self.agentsList.append(agente_train_2)
agente_train_3 = agent.AgenteHelloWorld(AID(name='agente_hello5'))
agente_train_3.ams = {'name': 'localhost', 'port': 8001}
self.agentsList.append(agente_train_3)
def initRequest(self):
self.timer_requests = QBasicTimer()
try:
self.my_requests = requests.get('http://127.0.0.1:8000/trains/')
print("Connect to http://127.0.0.1:8000/trains/")
self.timer_requests.start(2000,self)
except:
print("http://127.0.0.1:8000/trains/ does not respond")
# INICJALIZACJA ZWROTNIC
def initSwitches(self):
# adresy używanych zwrotnic
addr_zwrotnic_main = ['010501F5', '010401FB', '0105006F', '0102000C']
# adresy zwrotnic ustawianych tylko przy uruchomieiu programu
addr_zwrotnic_other = ['010501F7', '010501F8', '010501F9', '010501FA',
'01050067', '01050134', '0105006C', '0105006D', '0105006E', '01010065', '01010066', '01020001', '01020002', '0102000B']
addr_zwrotnic = addr_zwrotnic_main + addr_zwrotnic_other
for address in addr_zwrotnic_main:
find = False
print("test")
for zwrot in can.zwrotnica:
if zwrot.agent.address.lower() == address.lower():
self.zwrotnice_.append(zwrot)
find = True
break
# sprawdza czy znalazł zwrotnice
# gdy jej nie znalazł to wpisz wartośc None
# oraz wyswietl komunikat
if not find:
self.zwrotnice_.append(None)
print(" Nie znalezono zwrotnicy o adresie: " + address)
#QMessageBox.warning(self, "Zwrotnice", " Nie znalezono zwrotnicy o adresie: " + address, QMessageBox.Ok)
# poczatkowe ustawienie zwrotnic
# numer zwrotnicy : zwrot (False - right, True - Left
defaultDirect = [True,False,True,True]
for num_switch in range(len(defaultDirect)):
sleep(0.2)
print("test: " + str(num_switch))
if defaultDirect[num_switch]:
#left
self.zwrotnice_[num_switch].lewo()
else:
#right
self.zwrotnice_[num_switch].prawo()
# INICJALIZACJA LAYOUTU
def initLayout(self):
# ustawienie rozmieszczenia mapy i toolbara w oknie
centarl_layout = QtGui.QVBoxLayout()
# stworznie toolbara wraz z jego podrupami
toolbar = QtGui.QHBoxLayout()
toolbar.addWidget(self.toolbar_trainmovement())
toolbar.addWidget(self.toolbar_speedcontrol())
toolbar.addWidget(self.toolbar_switches())
toolbar.addWidget(self.tooolbar_traincontrol())
toolbar.setAlignment(QtCore.Qt.AlignBottom)
centarl_layout.addWidget(self.map, 1)
centarl_layout.addLayout(toolbar)
# ustawienie układu okna
central_widget = QtGui.QWidget()
central_widget.setLayout(centarl_layout)
self.setCentralWidget(central_widget)
# ****************************
# --- PODGRUPY PRZYBORNIKA ---
# ****************************
# podgrupa kontrolek wyboru ruchu pociagu
def toolbar_trainmovement(self):
Group_trainmovement = QtGui.QGroupBox(self)
Group_trainmovement.setTitle("Train movement")
Group_trainmovement.setMinimumSize(200, 100)
self.forward_radio = QtGui.QRadioButton("Forward", Group_trainmovement)
self.forward_radio.resize(self.forward_radio.sizeHint())
self.forward_radio.move(20, 40)
self.forward_radio.setChecked(True)
self.backward_radio = QtGui.QRadioButton("Backward", Group_trainmovement)
self.backward_radio.resize(self.backward_radio.sizeHint())
self.backward_radio.move(20, 70)
self.stop_button = QtGui.QPushButton("Stop train", Group_trainmovement)
self.stop_button.clicked.connect(self.stopTrain)
self.stop_button.resize(80, 30)
self.stop_button.move(20, 100)
self.stopall_button = QtGui.QPushButton("Stop all", Group_trainmovement)
self.stopall_button.clicked.connect(self.stopAllTrains)
self.stopall_button.setStyleSheet("background-color: red; color: white; font-weight: bold;")
self.stopall_button.resize(70, 70)
self.stopall_button.move(115, 50)
return Group_trainmovement
# podgrupa kontrolek do sterowania prędkością pociagu
def toolbar_speedcontrol(self):
self.slider = self.create_slider()
speedcontrol_space = QtGui.QVBoxLayout()
button_space = QtGui.QHBoxLayout()
label_space = QtGui.QHBoxLayout()
speedcontrol_space.addWidget(self.slider)
speedcontrol_space.addLayout(button_space)
speedcontrol_space.addLayout(label_space)
Group_speedcontrol = QtGui.QGroupBox(self)
Group_speedcontrol.setTitle("Speed control")
Group_speedcontrol.setLayout(speedcontrol_space)
# radiobuttons
self.btn1 = QtGui.QRadioButton("Train 1", self)
self.btn1.clicked.connect(self.tUpdate) # TO DO - funkcja zmieniająca poaciąg (sterowanie jego predkoscia)
self.btn2 = QtGui.QRadioButton("Train 2", self)
self.btn2.clicked.connect(self.tUpdate) # TO DO - funkcja zmieniająca poaciąg (sterowanie jego predkoscia)
self.btn3 = QtGui.QRadioButton("Train 3", self)
self.btn3.clicked.connect(self.tUpdate) # TO DO - funkcja zmieniająca poaciąg (sterowanie jego predkoscia)
self.btn4 = QtGui.QRadioButton("Train 4", self)
self.btn4.clicked.connect(self.tUpdate) # TO DO - funkcja zmieniająca poaciąg (sterowanie jego predkoscia)
self.btn5 = QtGui.QRadioButton("Train 5", self)
self.btn5.clicked.connect(self.tUpdate) # TO DO - funkcja zmieniająca poaciąg (sterowanie jego predkoscia)
self.btn6 = QtGui.QRadioButton("Train 6", self)
self.btn6.clicked.connect(self.tUpdate) # TO DO - funkcja zmieniająca poaciąg (sterowanie jego predkoscia)
button_space.addWidget(self.btn1)
button_space.addWidget(self.btn2)
button_space.addWidget(self.btn3)
button_space.addWidget(self.btn4)
button_space.addWidget(self.btn5)
button_space.addWidget(self.btn6)
self.lab1 = QtGui.QLabel(str(self.trains[0].velocity))
self.lab2 = QtGui.QLabel(str(self.trains[1].velocity))
self.lab3 = QtGui.QLabel(str(self.trains[2].velocity))
self.lab4 = QtGui.QLabel(str(self.trains[3].velocity))
self.lab5 = QtGui.QLabel(str(self.trains[4].velocity))
self.lab6 = QtGui.QLabel(str(self.trains[5].velocity))
label_space.addWidget(self.lab1)
label_space.addWidget(self.lab2)
label_space.addWidget(self.lab3)
label_space.addWidget(self.lab4)
label_space.addWidget(self.lab5)
label_space.addWidget(self.lab6)
return Group_speedcontrol
# podgrupa kontrolek do sterowania zwrotnicami
def toolbar_switches(self):
Group_switch = QtGui.QGroupBox(self)
Group_switch.setTitle("Switches")
Group_switch.setMinimumSize(400, 100)
marginX = 0
marginY = 20
# tor 1
lbl1 = QtGui.QLabel("Route: Osowa <-> Wrzeszcz: ", Group_switch)
lbl1.move(10+marginX, 25+marginY)
lbl1.resize(200, 20)
self.t1z1 = QtGui.QPushButton('Switch 1', Group_switch)
self.t1z1.clicked.connect(self.change_state_switch1)
self.t1z1.resize(self.t1z1.sizeHint())
self.t1z1.move(200+marginX, 20+marginY)
self.t1z2 = QtGui.QPushButton('Switch 2', Group_switch)
self.t1z2.clicked.connect(self.change_state_switch2)
self.t1z2.resize(self.t1z2.sizeHint())
self.t1z2.move(300+marginX, 20+marginY)
# tor 2
lbl2 = QtGui.QLabel("Route: Kielpinek <-> Wrzeszcz:", Group_switch)
lbl2.move(10+marginX, 65+marginY)
lbl2.resize(200, 20)
self.t2z1 = QtGui.QPushButton('Switch 3', Group_switch)
self.t2z1.clicked.connect(self.change_state_switch3)
self.t2z1.resize(self.t2z1.sizeHint())
self.t2z1.move(200+marginX, 60+marginY)
self.t2z2 = QtGui.QPushButton('Switch 4', Group_switch)
self.t2z2.clicked.connect(self.change_state_switch4)
self.t2z2.resize(self.t2z2.sizeHint())
self.t2z2.move(300+marginX, 60+marginY)
self.target = QtGui.QComboBox(Group_switch)
self.target.addItem('dziala')
self.target.addItem('dziala_bardziej')
#self.target.currentIndex()
self.system_start = QtGui.QPushButton('Start system', Group_switch)
self.system_start.clicked.connect(self.RUN_system_RUN)
return Group_switch
# podgrupa kontrolek do łączenia się z pociągami oraz wyboru typu sterowania
def tooolbar_traincontrol(self):
Group_traincontrol = QtGui.QGroupBox(self)
Group_traincontrol.setTitle("Train control")
Group_traincontrol.setMinimumSize(170, 100)
lbl1 = QtGui.QLabel("Connection with trains: ", Group_traincontrol)
lbl1.resize(200, 20)
lbl1.move(30, 15)
self.conn_button = QtGui.QPushButton('Connect', Group_traincontrol)
self.conn_button.clicked.connect(self.connect_disconnect)
self.conn_button.resize(100, 30)
self.conn_button.move(35, 35)
lbl2 = QtGui.QLabel("Control type: ", Group_traincontrol)
lbl2.resize(200, 20)
lbl2.move(15, 70)
self.auto_btn = QtGui.QPushButton('Auto', Group_traincontrol)
self.auto_btn.clicked.connect(self.setAutoControl)
self.auto_btn.resize(70, 20)
self.auto_btn.move(10, 95)
self.manual_btn = QtGui.QPushButton('Manual', Group_traincontrol)
self.manual_btn.clicked.connect(self.setManualControl)
self.manual_btn.resize(70, 20)
self.manual_btn.move(90, 95)
return Group_traincontrol
# ********************************
# tworzeie MENU
def initUI(self):
# Exit
exitAction = QtGui.QAction(QtGui.QIcon('exit.png'), '&Exit', self)
exitAction.setShortcut('Ctrl+Q')
exitAction.setStatusTip('Exit application') #zamykanie
exitAction.triggered.connect(close_application)
# About
helpAction = QtGui.QAction(QtGui.QIcon('exit.png'), '&About', self)
helpAction.setShortcut('Ctrl+H')
helpAction.triggered.connect(self.doit) #wywolanie kolejnego okna
# Authors
authorsAction = QtGui.QAction(QtGui.QIcon('exit.png'), '&Authors', self)
authorsAction.setShortcut('Ctrl+A')
authorsAction.triggered.connect(self.doitA)
self.w = None
self.a = None
self.statusBar()
menubar = self.menuBar()
fileMenu = menubar.addMenu('&File') #umieszczenie w menu "File"
fileMenu.addAction(exitAction)
fileMenu2 = menubar.addMenu('&Help')
fileMenu2.addAction(helpAction) #umiezczenie w menu "About"
fileMenu2.addAction(authorsAction) #umiezczenie w menu "Authors"
self.setGeometry(300, 200, 1000, 600)
self.setWindowTitle('PKM')
self.show()
def doit(self):
self.w = About()
self.w.show()
def doitA(self):
self.a = Authors()
self.a.show()
def create_slider(self):
layout = QtGui.QVBoxLayout()
self.slider_speed = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.slider_speed.setMinimum(0)
self.slider_speed.setMaximum(127)
self.slider_speed.setValue(20)
self.slider_speed.setTickPosition(QtGui.QSlider.TicksBelow)
self.slider_speed.setTickInterval(5)
self.slider_speed.sliderReleased.connect(self.tUpdate)
#self.slider_speed.valueChanged.connect(self.symulate_kalman_slider)
self.speed_label = QtGui.QLabel("Speed: " + str(self.slider_speed.value()), self)
self.speed_label.setAlignment(QtCore.Qt.AlignCenter)
layout.addWidget(self.speed_label)
layout.addWidget(self.slider_speed)
slider = QtGui.QWidget()
slider.setLayout(layout)
return slider
# **********************************
# --- FUNKCJE OBSŁUGI PRZYCISKÓW ---
# **********************************
#aktualizacjia wyboru pociagu
def tUpdate(self):
self.speed_label.setText("Speed: " + str(self.slider_speed.value()))
if self.forward_radio.isChecked():
direct = direction["Forward"]
else:
direct = direction["Backward"]
if self.btn1.isChecked():
self.index_t = 0
self.trains_speed[0] = self.slider_speed.value()
self.lab1.setText(str(self.trains_speed[0]))
#ustawienie predkosci pociagu wlasciwy:
if self.client.connected:
self.msg = self.trains[0].move(self.slider_speed.value(), direct)
elif self.btn2.isChecked():
self.index_t = 1
self.trains_speed[1] = self.slider_speed.value()
self.lab2.setText(str(self.trains_speed[1]))
# ustawienie predkosci pociagu wlasciwy:
if self.client.connected:
self.msg = self.trains[1].move(self.slider_speed.value(), direct)
elif self.btn3.isChecked():
self.index_t = 2
self.trains_speed[2] = self.slider_speed.value()
self.lab3.setText(str(self.trains_speed[2]))
# ustawienie predkosci pociagu wlasciwy:
if self.client.connected:
self.msg = self.trains[2].move(self.slider_speed.value(), direct)
elif self.btn4.isChecked():
self.index_t = 3
self.trains_speed[3] = self.slider_speed.value()
self.lab4.setText(str( self.trains_speed[3]))
# ustawienie predkosci pociagu wlasciwy:
if self.client.connected:
self.msg = self.trains[3].move(self.slider_speed.value(), direct)
elif self.btn5.isChecked():
self.index_t = 4
self.trains_speed[4] = self.slider_speed.value()
self.lab5.setText(str(self.trains_speed[4]))
# ustawienie predkosci pociagu wlasciwy:
if self.client.connected:
self.msg = self.trains[4].move(self.slider_speed.value(), direct)
elif self.btn6.isChecked():
self.index_t = 5
self.trains_speed[5] = self.slider_speed.value()
self.lab6.setText(str(self.trains_speed[5]))
# ustawienie predkosci pociagu wlasciwy:
if self.client.connected:
self.msg = self.trains[5].move(self.slider_speed.value(), direct)
self.map.repaint()
if self.msg is not None and self.client.connected:
self.client.send(self.msg)
sleep(1) # Czekaj 1s
self.msg = None
def change_state_switch1(self):
self.t1z1.setEnabled(False)
# zmiana zwrotnicy w GUI
self.map.switch1.neg_status()
self.map.repaint()
# rzeczywista zmiana zwrotnicy
try:
if self.map.switch1.status:
self.zwrotnice_[0].lewo()
else:
self.zwrotnice_[0].prawo()
except Exception as message:
QMessageBox.warning(self, 'Zwrotnica', str(message), QMessageBox.Ok)
sleep(0.2)
self.t1z1.setEnabled(True)
def change_state_switch2(self):
self.t1z2.setEnabled(False)
# zmiana zwrotnicy w GUI
self.map.switch2.neg_status()
# rzeczywista zmiana zwrotnicy
try:
if self.map.switch2.status:
self.zwrotnice_[1].lewo()
else:
self.zwrotnice_[1].prawo()
except Exception as message:
QMessageBox.warning(self, 'Zwrotnica', str(message), QMessageBox.Ok)
sleep(0.2)
self.t1z2.setEnabled(True)
self.map.repaint()
def change_state_switch3(self):
self.t2z1.setEnabled(False)
# zmiana zwrotnicy w GUI
self.map.switch3.neg_status()
# rzeczywista zmiana zwrotnicy
try:
if self.map.switch3.status:
self.zwrotnice_[2].lewo()
else:
self.zwrotnice_[2].prawo()
except Exception as message:
QMessageBox.warning(self, 'Zwrotnica', str(message), QMessageBox.Ok)
sleep(0.2)
self.t2z1.setEnabled(True)
self.map.repaint()
def change_state_switch4(self):
self.t2z2.setEnabled(False)
# zmiana zwrotnicy w GUI
self.map.switch4.neg_status()
# rzeczywista zmiana zwrotnicy
try:
if self.map.switch4.status:
self.zwrotnice_[3].lewo()
else:
self.zwrotnice_[3].prawo()
except Exception as message:
QMessageBox.warning(self, 'Zwrotnica', str(message), QMessageBox.Ok)
sleep(0.2)
self.t2z2.setEnabled(True)
self.map.repaint()
def RUN_system_RUN(self):
print(self.target.currentIndex())
#if(self.map.train1.actual_track_section_l0 == 23):
self.tablicaPPPP = [self.map.train1,self.map.train2,self.map.train3,self.map.train4]
for i in range(4):
if(self.tablicaPPPP[i].actual_track_section_l0 != 23 and self.tablicaPPPP[i].actual_track_section_l1 != 23):
print('moznaJechac')
print(self.tablicaPPPP[i].actual_track_section_l0)
# łączenie i rozłączenie z pociągami
def connect_disconnect(self):
if self.client.connected:
self.stopAllTrains()
#self.client.stop_all_locomotives()
self.client.disconnect()
self.conn_button.setText("Connect")
else:
try:
self.client.connect(TCP_IP, TCP_PORT)
if not self.client.connected: raise Exception('Proba polaczenia nie powiodla sie.')
self.conn_button.setText("Disconnect")
except Exception as message:
QMessageBox.warning(self, 'Polaczenie', str(message) +
"\nStrona nie odpowiedziala poprawnie po ustalonym czasie lub utworzone polaczenie nie powiodlo sie," +
" poniewaz polaczony host nie odpowiada.", QMessageBox.Ok)
# ustawienie sterowania pociagiem automatycznie
def setAutoControl(self):
self.enableButtons(False)
self.autoControl = True
self.rozklad()
self.map.kalman_trains = self.kalman_train
self.map.createTrains()
self.map.setAutoControl(self.autoControl)
# ustawienie sterowania pociagiem ręcznie
def setManualControl(self):
self.stopAllTrains()
self.enableButtons(True)
self.autoControl = False
self.map.setAutoControl(self.autoControl)
def stopTrain(self):
if self.client.connected:
self.slider_speed.setValue(0)
self.msg = self.trains[self.index_t].move(0, 0)
self.client.send(self.msg)
sleep(1) # Czekaj 1s
def stopAllTrains(self):
if self.client.connected:
#msg = self.client.stop_all_locomotives()
for i in range(6):
msg = Train(i).move(0)
self.client.send(msg)
for i in range(4):
self.kalman_train[i] = None
self.stop_all_timers()
def enableButtons(self, state):
# radiobuttony
self.btn1.setEnabled(state)
self.btn2.setEnabled(state)
self.btn3.setEnabled(state)
self.btn4.setEnabled(state)
self.btn5.setEnabled(state)
self.btn6.setEnabled(state)
# przyciskizwrotnic
self.t1z1.setEnabled(state)
self.t1z2.setEnabled(state)
self.t2z1.setEnabled(state)
self.t2z2.setEnabled(state)
# przyciski sterowania ruchem pociagu
self.stop_button.setEnabled(state)
self.forward_radio.setEnabled(state)
self.backward_radio.setEnabled(state)
# suwak prędkości
self.slider_speed.setEnabled(state)
# ***************************************
def resizeEvent(self, event):
self.map.setscale()
def symulate_kalman_slider(self):
self.map.sym_kalman = 4*self.slider_speed.value()
self.map.repaint()
def rozklad(self):
self.timer_glowny.start(50, self)
self.trasa1 = ['03050066', '0305006E', '03010067', '03020067', '03020065'] # wrzeszcz -> kielpinek
self.trasa2 = ['03020065', '03020068', '03010000', '03010068', '0305006D', '03050066']# kielpinek -> wrzeszcz
self.trasa3 = ['0304012E', '0304012D'] # wrzeszcz -> osowa
self.trasa4 = ['0304012D', '0304012F'] # osowa -> wrzeszcz
self.train_list = []
self.map.switch1.neg_status()
self.map.switch3.neg_status()
#self.kalman_train = []
self.licznik_balis = [0, 0, 0, 0]
self.etap_trasy = [0, 0, 0, 0]
self.dojechal = [False, False]
self.dojechal2 = [False, False]
self.hamowanie = [50,0]
self.poc2sw = True
self.poc5sw = True
#Pociag nr 1 - trasa 1 - ustawic na Wrzeszczu
self.train_list.append(Train(1))
self.train_list.append(Train(2))
self.train_list.append(Train(5))
self.train_list.append(Train(6))
self.kalman_train = None
self.kalman_train = []
model_train = kalman.Model(11)
self.kalman_train.append(model_train)
model_train = kalman.Model(22)
self.kalman_train.append(model_train)
model_train = kalman.Model(5)
self.kalman_train.append(model_train)
model_train = kalman.Model(6)
self.kalman_train.append(model_train)
print((self.kalman_train[0].get_position()), (self.kalman_train[1].get_position()), (self.kalman_train[2].get_position()), (self.kalman_train[3].get_position()))
#1 na Wrzeszczu
self.kalman_train[0].set_power(65)
msg = self.train_list[0].move(65, direction["Forward"])
self.client.send(msg)
#2 na Kielpinku
self.kalman_train[1].set_power(65)
msg = self.train_list[1].move(65, direction["Backward"])
self.client.send(msg)
#pociag 5 wykoleja sie na zwrotnicy przy Wrzeszczu, wiec nie uzywac
'''#5 na Wrzeszczu
self.kalman_train[2].set_power(65)
msg = self.train_list[2].move(65, direction["Backward"])
self.client.send(msg)'''
#zeby nr 6 zczal jezdzic na swojej trasie trzeba odkomentowac fragment ponizej
#6 na osowej
#self.kalman_train[3].set_power(65)
#msg = self.train_list[3].move(65, direction["Forward"])
#self.client.send(msg)
#self.zwrotnice_[3].prawo() #UWAGA ZWROTNICA
def createTimers(self):
self.timer_glowny = QBasicTimer()
self.timer_postoj_s_w = QBasicTimer()
self.timer_postoj_w_s = QBasicTimer()
self.timer_postoj_s = QBasicTimer()
self.timer_postoj_w = QBasicTimer()
self.timer_postoj_wrzeszcz = QBasicTimer()
self.timer_postoj_osowa = QBasicTimer()
self.timer_postoj_w_o = QBasicTimer()
self.timer_postoj_o_w = QBasicTimer()
def stop_all_timers(self):
self.timer_glowny.stop()
self.timer_postoj_s_w.stop()
self.timer_postoj_w_s.stop()
self.timer_postoj_s.stop()
self.timer_postoj_w.stop()
self.timer_postoj_wrzeszcz.stop()
self.timer_postoj_osowa.stop()
self.timer_postoj_w_o.stop()
self.timer_postoj_o_w.stop()
def postoj_s_w(self):
self.timer_postoj_s_w.start(10000, self)
def postoj_w_s(self):
self.timer_postoj_w_s.start(10000, self)
def postoj_s(self):
self.timer_postoj_s.start(10000, self)
def postoj_w(self):
self.timer_postoj_w.start(10000, self)
def postoj_wrzeszcz(self):
self.timer_postoj_wrzeszcz.start(10000, self)
def postoj_osowa(self):
self.timer_postoj_osowa.start(10000, self)
def postoj_w_o(self):
self.timer_postoj_w_o.start(10000, self)
def postoj_o_w(self):
self.timer_postoj_o_w.start(10000, self)
def zamiena_tras(self):
if self.poc2sw:
self.poc2sw = False
model_train = kalman.Model(21) #model
self.kalman_train[0] = model_train
self.etap_trasy[0] = 0
self.licznik_balis[0] = 0
self.train_list[0] = Train(2) #xpressnet
model_train = kalman.Model(12)
self.kalman_train[1] = model_train
self.etap_trasy[1] = 0
self.licznik_balis[1] = 0
self.train_list[1] = Train(1) #xpressnet
self.hamowanie = [0,50]
#---------------------------
# zmiana rysowania w GUI
self.map.train1.kalman_train = self.kalman_train[1]
self.map.train2.kalman_train = self.kalman_train[0]
self.map.train1.negReverse()
self.map.train2.negReverse()
temp = self.map.train1.x_init
self.map.train1.x_init = self.map.train2.x_init
self.map.train2.x_init = temp
#---------------------------
else:
self.poc2sw = True
model_train = kalman.Model(22) #model
self.kalman_train[1] = model_train
self.etap_trasy[1] = 0
self.licznik_balis[1] = 0
self.train_list[1] = Train(2) #xpressnet
model_train = kalman.Model(11)
self.kalman_train[0] = model_train
self.etap_trasy[0] = 0
self.licznik_balis[0] = 0
self.train_list[0] = Train(1) #xpressnet
self.hamowanie = [50,0]
#---------------------------
# zmiana rysowania w GUI
self.map.train1.kalman_train = self.kalman_train[0]
self.map.train2.kalman_train = self.kalman_train[1]
self.map.train1.negReverse()
self.map.train2.negReverse()
temp = self.map.train1.x_init
self.map.train1.x_init = self.map.train2.x_init
self.map.train2.x_init = temp
#---------------------------
#wrzeszcz - osowa
def zamiena_tras2(self):
#odkomentowanie dwoch fragmentow ponizej umozliwia dolaczenie do tej trasy pociagu nr 5 (por. rozklad)
if self.poc5sw:
self.poc5sw = False
model_train = kalman.Model(6) #model
self.kalman_train[2] = model_train
self.etap_trasy[2] = 0
self.licznik_balis[2] = 0
self.train_list[2] = Train(6) #xpressnet
'''model_train = kalman.Model(5) #model
self.kalman_train[3] = model_train
self.etap_trasy[3] = 0
self.licznik_balis[3] = 0
self.train_list[3] = Train(5) #xpressnet'''
#---------------------------
# zmiana rysowania w GUI
self.map.train3.kalman_train = self.kalman_train[3]
self.map.train4.kalman_train = self.kalman_train[2]
self.map.train3.negReverse()
self.map.train4.negReverse()
temp = self.map.train3.x_init
self.map.train3.x_init = self.map.train4.x_init
self.map.train4.x_init = temp
#---------------------------
else:
self.poc5sw = True
model_train = kalman.Model(6) #model
self.kalman_train[3] = model_train
self.etap_trasy[3] = 0
self.licznik_balis[3] = 0
self.train_list[3] = Train(6) #xpressnet
'''model_train = kalman.Model(5) #model
self.kalman_train[2] = model_train
self.etap_trasy[2] = 0
self.licznik_balis[2] = 0
self.train_list[2] = Train(5) #xpressnet'''
#---------------------------
# zmiana rysowania w GUI
self.map.train3.kalman_train = self.kalman_train[2]
self.map.train4.kalman_train = self.kalman_train[3]
self.map.train3.negReverse()
self.map.train4.negReverse()
temp = self.map.train3.x_init
self.map.train3.x_init = self.map.train4.x_init
self.map.train4.x_init = temp
def timerEvent(self, event):
if event.timerId() == self.timer_glowny.timerId():
c.acquire()
can_adres = adres
c.release()
self.map.repaint()
#Kielpinek -> Wrzeszcz
if (can_adres == self.trasa2[self.licznik_balis[1]]):
if (self.licznik_balis[1] == 0): #balisa tuz za peronem
print((self.kalman_train[1].get_position()), ' k -> w balisa 1 tuz za peronem')
self.kalman_train[1].update(10.5)
print((self.kalman_train[1].get_position()), ' k -> w balisa 1 tuz za peronem')
elif (self.licznik_balis[1] == 1): #balisa kolo wiaduktu
print((self.kalman_train[1].get_position()), ' k -> w balisa 2 kolo wiaduktu')
self.kalman_train[1].update(279.5)
print((self.kalman_train[1].get_position()), ' k -> w balisa 2 kolo wiaduktu')
elif (self.licznik_balis[1] == 2): #przed strzyza
print((self.kalman_train[1].get_position()), ' k -> w balisa 3 przed strzyza')
self.kalman_train[1].update(503)
print((self.kalman_train[1].get_position()), ' k -> w balisa 3 przed strzyza')
elif (self.licznik_balis[1] == 3): #za strzyza
print((self.kalman_train[1].get_position()), ' k -> w balisa 4 za strzyza')
self.kalman_train[1].update(149)
print((self.kalman_train[1].get_position()), ' k -> w balisa 4 za strzyza')
elif (self.licznik_balis[1] == 4): #koniec zjazdu
print((self.kalman_train[1].get_position()), ' k -> w balisa 5 koniec zjazdu')
self.kalman_train[1].update(243)
print((self.kalman_train[1].get_position()), ' k -> w balisa 5 koniec zjazdu')
elif (self.licznik_balis[1] == 5):
print((self.kalman_train[1].get_position()), ' k -> w balisa 6 wrzeszcz peron')
self.kalman_train[1].update(215.5)
print((self.kalman_train[1].get_position()), ' k -> w balisa 6 wrzeszcz peron')
self.licznik_balis[1] = 0
self.licznik_balis[1] += 1
#Wrzeszcz -> Kielpinek
if (can_adres == self.trasa1[self.licznik_balis[0]]):
if (self.licznik_balis[0] == 0): #gdzies przy wrzeszczu
print((self.kalman_train[0].get_position()), ' w -> k balisa 1 tuz za peronem')
self.kalman_train[0].update(5)
print((self.kalman_train[0].get_position()), ' w -> k balisa 1 tuz za peronem')
elif (self.licznik_balis[0] == 1): #podjazd
print((self.kalman_train[0].get_position()), ' w -> k balisa 2 podjazd')
self.kalman_train[0].update(215.5)
print((self.kalman_train[0].get_position()), ' w -> k balisa 2 podjazd')
elif (self.licznik_balis[0] == 2): #przed strzyza
print((self.kalman_train[0].get_position()), ' w -> k balisa 3 przed strzyza')
self.kalman_train[0].update(249)
print((self.kalman_train[0].get_position()), ' w -> k balisa 3 przed strzyza')
elif (self.licznik_balis[0] == 3): #okolice wiaduktu
print((self.kalman_train[0].get_position()), ' w -> k balisa 4 okolice wiaduktu')
self.kalman_train[0].update(672)
print((self.kalman_train[0].get_position()), ' w -> k balisa 4 okolice wiaduktu')
elif (self.licznik_balis[0] == 4): #kielpinek
print((self.kalman_train[0].get_position()), ' w -> k balisa 5 stacja kielpinek')
self.kalman_train[0].update(278.5)
print((self.kalman_train[0].get_position()), ' w -> k balisa 5 stacja kielpinek')
self.licznik_balis[0] = 0
self.licznik_balis[0] += 1
if self.kalman_train[1].get_position() > 888 - self.hamowanie[1] and self.etap_trasy[1] == 0:
print('na strzyza dojechal z kielpinka')
print((self.kalman_train[1].get_position()))
msg = self.train_list[1].move(0)
self.client.send(msg)
self.kalman_train[1].set_power(0)
self.etap_trasy[1] = 1 #wynosi wiec 4, a licznik balis nadal 3
self.postoj_s_w()
if self.kalman_train[1].get_position() > 1459 - self.hamowanie[1] and self.etap_trasy[1] == 1:
print('na wrzeszcz dojechal')
print((self.kalman_train[1].get_position()))
msg = self.train_list[1].move(0)
self.client.send(msg)
self.kalman_train[1].set_power(0)
self.etap_trasy[1] = 2 #wynosi wiec 4, a licznik balis nadal 3
self.dojechal[1] = True
print(self.dojechal)
if self.kalman_train[0].get_position() > 530 - self.hamowanie[0] and self.etap_trasy[0] == 0: