I am a student who is new to Python. For my project, I am tasked to integrate a python program onto my GUI interface at the top left corner of it.
Basically, my program is ran using the CMD terminal with python OSM_extension_FINALIZED.py.
To run my GUI, all I have to do is run this command ./spf.sh and my GUI will appear.
What I am trying to achieve to integrate OSM_extension_FINALIZED.py into the GUI program. Such that the GUI can display a live map of the GPS location trackers at the top left corner as seen in the picture below. As of now, the picture at the top left is only a placeholder.
My GUI code can be viewed here,
The basic idea behind OSM_extension_FINALIZED.py is to process coordinate data output by a GPS receiver and display a corresponding map with a tracker on it to show the position of the receiver. The map has been downloaded onto the workstation. Thus, there is no need for an internet connection.
Below is the OSM_extension_FINALIZED.py,
Basically, my program is ran using the CMD terminal with python OSM_extension_FINALIZED.py.
To run my GUI, all I have to do is run this command ./spf.sh and my GUI will appear.
What I am trying to achieve to integrate OSM_extension_FINALIZED.py into the GUI program. Such that the GUI can display a live map of the GPS location trackers at the top left corner as seen in the picture below. As of now, the picture at the top left is only a placeholder.
My GUI code can be viewed here,
#!/usr/bin/env python
#-------------------------------------------------------------------------------
# Camera display using PyQt and PiCamera
# Copyright (c) 2019 Ver 2.0
#-------------------------------------------------------------------------------
VERSION = "SPF_Display v2.00"
import sys, time, threading
from PyQt5 import QtCore
from PyQt5.QtCore import QTimer, QPoint, pyqtSignal, QRect, QSize
from PyQt5.QtWidgets import QApplication, QMainWindow, QTextEdit, QLabel,QPushButton,QMessageBox
from PyQt5.QtWidgets import QWidget, QAction, QVBoxLayout, QHBoxLayout
from PyQt5.QtGui import QFont, QPainter, QImage, QTextCursor, QPixmap, QIcon
from picamera.array import PiRGBArray
from picamera import PiCamera
import Queue as Queue
#-------------------------------------------------------------------------------
# Global Settings
#-------------------------------------------------------------------------------
IMG_SIZE = 640,480 # Fix by the PiCapture SD1 device
TEXT_FONT = QFont("Courier", 16)
DISP_SCALE = 1 # Scaling factor for display image
DISP_MSEC = 50 # Delay between display cycles
image_queue = Queue.Queue() # Queue to hold images
capturing = True # Flag to indicate capturing
#-------------------------------------------------------------------------------
# Grab images from the camera (separate thread)
#-------------------------------------------------------------------------------
def grab_images(queue):
camera=PiCamera()
camera.framerate= 60
camera.resolution= (IMG_SIZE[0], IMG_SIZE[1])
rawCapture=PiRGBArray(camera,size=(IMG_SIZE[0], IMG_SIZE[1]))
time.sleep(0.5)
try:
while capturing:
camera.capture(rawCapture, format='rgb', use_video_port=True)
image=rawCapture.array
if image is not None and queue.qsize() < 2:
queue.put(image)
else:
time.sleep(DISP_MSEC / 1000.0)
rawCapture.truncate(0)
finally:
camera.close()
#-------------------------------------------------------------------------------
# Image widget
#-------------------------------------------------------------------------------
class ImageWidget(QWidget):
def __init__(self, parent=None):
super(ImageWidget, self).__init__(parent)
self.image = None
def setImage(self, image):
self.image = image
self.setMinimumSize(image.size())
self.update()
def paintEvent(self, event):
qp = QPainter()
qp.begin(self)
if self.image:
qp.drawImage(QPoint(0, 0), self.image)
qp.end()
#-------------------------------------------------------------------------------
# Minimap image widget
#-------------------------------------------------------------------------------
class MapWidget(QLabel):
def __init__(self, parent=None):
super(MapWidget, self).__init__(parent)
pixmap = QPixmap('/home/ubuntu/catkin_ws/src/controller/config/map.png')
self.setMinimumSize(100, 140)
self.setPixmap(pixmap)
#-------------------------------------------------------------------------------
# Main window
#-------------------------------------------------------------------------------
class MyWindow(QMainWindow):
text_update = pyqtSignal(str)
# Create main window
def __init__(self, parent=None):
QMainWindow.__init__(self, parent)
# Window settings
self.setWindowTitle(VERSION)
flags = QtCore.Qt.WindowFlags(QtCore.Qt.FramelessWindowHint | QtCore.Qt.WindowStaysOnTopHint)
self.setWindowFlags(flags)
# Widgets settings
self.central = QWidget(self)
self.textbox = QTextEdit(self.central)
self.textbox.setFont(TEXT_FONT)
self.textbox.setMinimumSize(300, 50)
self.text_update.connect(self.append_text)
sys.stdout = self
print("Image size %u x %u" % IMG_SIZE)
self.mainvlayout = QVBoxLayout()
self.vlayout = QVBoxLayout() # Window layout
self.displays = QHBoxLayout()
self.dispMap = MapWidget(self) # Map display
self.vlayout.addWidget(self.dispMap)
self.buttonStart = QPushButton(' Start') #Start Button
self.vlayout.addWidget(self.buttonStart)
self.buttonStart.clicked.connect(self.startClicked)
self.buttonStart.show()
self.buttonStart.setIcon(QIcon(QPixmap('/home/ubuntu/catkin_ws/src/controller/config/start.png')))
self.buttonStart.setIconSize(QtCore.QSize(60,60))
self.buttonStart.setStyleSheet("text-align: left;font-size: 24px")
self.buttonReturn = QPushButton(' Return') #Return button
self.vlayout.addWidget(self.buttonReturn)
self.buttonReturn.clicked.connect(self.returnclicked)
self.buttonReturn.show()
self.buttonReturn.setIcon(QIcon(QPixmap('/home/ubuntu/catkin_ws/src/controller/config/return.jpg')))
self.buttonReturn.setIconSize(QtCore.QSize(60,60))
self.buttonReturn.setStyleSheet("text-align: left;font-size: 24px")
self.buttonReturn.setEnabled(False)
self.buttonStop = QPushButton(' STOP') #Stop button
self.vlayout.addWidget(self.buttonStop)
self.displays.addLayout(self.vlayout)
self.mainvlayout.addLayout(self.displays)
self.buttonStop.clicked.connect(self.stopclicked)
self.buttonStop.show()
self.buttonStop.setIcon(QIcon(QPixmap('/home/ubuntu/catkin_ws/src/controller/config/stop.jpg')))
self.buttonStop.setIconSize(QtCore.QSize(60,60))
self.buttonStop.setStyleSheet("text-align: left; font-size: 24px;")
self.buttonStop.setEnabled(False)
self.mainvlayout.addWidget(self.textbox) #Textbox display
self.disp = ImageWidget(self)
self.displays.addWidget(self.disp)
self.central.setLayout(self.mainvlayout)
self.setCentralWidget(self.central)
# self.mainMenu = self.menuBar() # Menu bar
# exitAction = QAction('&Exit', self)
# exitAction.setShortcut('Ctrl+Q')
# exitAction.triggered.connect(self.close)
# self.fileMenu = self.mainMenu.addMenu('&File')
# self.fileMenu.addAction(exitAction)
self.w = None
print "To set current location as Home, select Start"
def startClicked(self):
QWidget.__init__(self)
buttonReply = QMessageBox.question(self, 'start', " Current location will be set as Home. Continue?", QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
self.text_update.connect(self.append_text) ###
sys.stdout = self ###
if buttonReply == QMessageBox.Yes:
print('Drive robot to desired destination. To return Home, select Return')
self.buttonStart.setEnabled(False)
self.buttonReturn.setEnabled(True)
self.buttonStop.setEnabled(True)
self.buttonStop.setStyleSheet("text-align: left;background-color: red; font-size: 36px; color: white")
else:
print('Do nothing.')
def returnclicked(self):
QWidget.__init__(self)
buttonReply = QMessageBox.question(self, 'Return to Home', "Robot will return Home. Continue?", QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
self.text_update.connect(self.append_text) ###
sys.stdout = self ###
if buttonReply == QMessageBox.Yes:
print('Robot is returning home')
self.buttonStart.setEnabled(False)
self.buttonReturn.setEnabled(False)
self.buttonStop.setEnabled(True)
self.buttonStop.setStyleSheet("text-align: left;background-color: red; font-size: 36px; color: white")
else:
print('Do nothing.')
def stopclicked(self):
QWidget.__init__(self)
self.text_update.connect(self.append_text) ###
sys.stdout = self ###
print('Stop.')
self.buttonStart.setEnabled(True)
self.buttonReturn.setEnabled(False)
self.buttonStop.setEnabled(False)
self.buttonStop.setStyleSheet("text-align: left; font-size: 36px;")
# Handle sys.stdout.write: update text display
def write(self, text):
self.text_update.emit(str(text))
def flush(self):
pass
# Append to text display
def append_text(self, text):
cur = self.textbox.textCursor() # Move cursor to end of text
cur.movePosition(QTextCursor.End)
s = str(text)
while s:
head,sep,s = s.partition("\n") # Split line at LF
cur.insertText(head) # Insert text at cursor
if sep: # New line if LF
cur.insertBlock()
self.textbox.setTextCursor(cur) # Update visible cursor
# Start image capture & display
def start(self):
self.timer = QTimer(self) # Timer to trigger display
self.timer.timeout.connect(lambda:
self.show_image(image_queue, self.disp, DISP_SCALE))
self.timer.start(DISP_MSEC)
self.capture_thread = threading.Thread(target=grab_images,
args=(image_queue, )) # must pass as tuples ;) the magic
self.capture_thread.start() # Thread to grab images
# Fetch camera image from queue, and display it
def show_image(self, imageq, display, scale):
if not imageq.empty():
image = imageq.get()
if image is not None and len(image) > 0:
self.display_image(image, display, scale)
# Display an image, reduce size if required
def display_image(self, img, display, scale=1):
disp_size = img.shape[1]//scale, img.shape[0]//scale
disp_bpl = disp_size[0] * 3
#if scale > 1:
# img = cv2.resize(img, disp_size,
# interpolation=cv2.INTER_CUBIC)
qimg = QImage(img.data, disp_size[0], disp_size[1], disp_bpl,
QImage.Format_RGB888)
display.setImage(qimg)
# Window is closing: stop video capture
def closeEvent(self, event):
global capturing
capturing = False
self.capture_thread.join()
#-------------------------------------------------------------------------------
if __name__ == '__main__':
app = QApplication(sys.argv)
win = MyWindow()
win.showFullScreen() # Occupied the full screen
win.start()
sys.exit(app.exec_())
#-------------------------------------------------------------------------------
#EOF
#-------------------------------------------------------------------------------I know that I have to edit from line 75 to 80, but I just do not know how to start I have zero knowledge on python programming language.The basic idea behind OSM_extension_FINALIZED.py is to process coordinate data output by a GPS receiver and display a corresponding map with a tracker on it to show the position of the receiver. The map has been downloaded onto the workstation. Thus, there is no need for an internet connection.
Below is the OSM_extension_FINALIZED.py,
from mpl_toolkits.basemap import Basemap
import matplotlib.pyplot as plt
from matplotlib.patches import Circle
import numpy as np
import datetime
import shutil
import sys
import threading
import time
import math
import urllib2
import StringIO
import requests
import serial
from pynmea import nmea
import pynmea2
from io import BytesIO
from PIL import Image
i=0
alt = 0
def deg2num(lat_deg, lon_deg, zoom): #converts lat_deg and lon_deg to tile number
lat_rad = math.radians(lat_deg)
n = 2.0 ** zoom
xtile = int((lon_deg + 180.0) / 360.0 * n)
ytile = int((1.0 - math.log(math.tan(lat_rad) + (1 / math.cos(lat_rad))) / math.pi) / 2.0 * n)
return (xtile, ytile)
def num2deg(xtile, ytile, zoom): #converts tile numer to lat_deg and lon_deg
n = 2.0 ** zoom
lon_deg = xtile / n * 360.0 - 180.0
lat_rad = math.atan(math.sinh(math.pi * (1 - 2 * ytile / n)))
lat_deg = math.degrees(lat_rad)
return (lat_deg, lon_deg)
def getImageCluster(lat_deg, lon_deg, delta_lat, delta_long, zoom):
headers = {"User-Agent":"Mozilla/5.0 (Macintosh; Intel Mac OS X 10_15_4) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/83.0.4103.97 Safari/537.36"}
smurl = r"http://a.tile.openstreetmap.org/{0}/{1}/{2}.png"
xmin, ymax = deg2num(lat_deg -0.0025, lon_deg -0.002, zoom) #Adjust lat/lon_deg to change the position of main tile
xmax, ymin = deg2num(lat_deg + delta_lat, lon_deg +0.001 + delta_long, zoom)
bbox_ul = num2deg(xmin, ymin, zoom)
bbox_ll = num2deg(xmin, ymax + 1, zoom)
print '(UPPER LEFT), (LOWER LEFT)'
print bbox_ul, bbox_ll
print ' '
bbox_ur = num2deg(xmax + 1, ymin, zoom)
bbox_lr = num2deg(xmax + 1, ymax + 1, zoom)
print '(UPPER RIGHT), (LOWER RIGHT)'
print bbox_ur, bbox_lr
print ' '
Cluster = Image.new('RGB',((xmax-xmin+1)*256-1,(ymax-ymin+1)*256-1) )
for xtile in range(xmin-1, xmax+1):
for ytile in range(ymin-1, ymax+1):
try:
imgurl = smurl.format(zoom, xtile, ytile)
print("Opening: " + imgurl)
tile = Image.open('SG_'+str(xtile)+'_'+str(ytile)+'.png') #SG_(column)_(row)
Cluster.paste(tile, box = ((xtile-xmin)*256 , (ytile-ymin)*255))
except:
print("Couldn't open image")
tile = None
return Cluster, [bbox_ll[1], bbox_ll[0], bbox_ur[1], bbox_ur[0]]
def check_serial():
init_serial()
def init_serial(): #To configure and open the serial port
global ser
ser = serial.Serial(
#port = '/dev/ttyACM0', #Use this for Linux
port = 'COM10', #Use this for Windows
baudrate = 38400,
parity = serial.PARITY_NONE,
stopbits = serial.STOPBITS_ONE,
bytesize = serial.EIGHTBITS,
)
ser.timeout = 1
ser.isOpen()
print 'Opening ' + ser.name
print ' '
thread()
def stream_serial():
line = ser.readline()
# print "This is to annoy you."
def thread():
#threads - run idependent of main loop
thread1 = threading.Thread(target = save_raw) #saves the raw GPS data over serial while the main program runs
# thread2 = threading.Thread(target = user_input) #optional second thread
thread1.start()
# thread2.start()
def save_raw():
#this fxn creates a txt file and saves only GPGGA sentences
while 1:
line = ser.readline()
line_str = str(line)
if(line_str[4] == 'G'): # $GPGGA
if(len(line_str) > 50):
# open txt file and log data
f = open('nmea.txt', 'a')
try:
f.write('{0:}'.format(line_str))
finally:
f.close()
else:
stream_serial()
def position():
f1 = open('temp.txt', 'w')
f1.truncate()
shutil.copyfile('nmea.txt', 'temp.txt')
f1.close()
f1 = open('temp.txt', 'r')
try:
for line in f1:
if(line[2] == 'N'): # forth character in $GNGGA
if(len(line) > 50):
print line
msg = pynmea2.parse(line)
lat_deg = msg.latitude #msg is the object, latitude is the attribute
lon_deg = msg.longitude #msg is the object, longitude is the attribute
#shows that we are reading through this loop
print lat_deg
print lon_deg
finally:
f1.close()
delta_lat, delta_long, zoom = 0.0012, 0.0015, 18 #Adjust delta_lat/lon to change the size of map
a, bbox = getImageCluster(lat_deg, lon_deg, delta_lat, delta_long, zoom)
fig = plt.figure(figsize=(10, 10))
ax = plt.subplot(111)
m = Basemap(
llcrnrlon=bbox[0], llcrnrlat=bbox[1],
urcrnrlon=bbox[2], urcrnrlat=bbox[3],
projection='merc', ax=ax
)
# list of points to display (long, lat)
ls_points = [m(x,y) for x,y in [(lon_deg, lat_deg)]] #(base_lon,base_lat)]]
m.imshow(a, interpolation='none', origin='upper') # origin = 'upper' reverse the Vertical axis direction.
ax.scatter([point[0] for point in ls_points],
[point[1] for point in ls_points],
alpha = 0.9, color = 'r')
print ' '
print '(c) OpenStreetMap contributors'
print ' '
plt.show()
check_serial()
while 1:
position()