[issue #706] Added jderobotComm and logo to colorTuner_py

src/tools/colorTuner_py/CMakeLists.txt

@@ -8,6 +8,7 @@
 #ENDFOREACH(header)
 
 INSTALL(FILES colorTuner.py DESTINATION share/jderobot/python/colorTuner_py/ COMPONENT tools)
+INSTALL(FILES resources_rc.py DESTINATION share/jderobot/python/colorTuner_py/ COMPONENT tools)
 
 # Install gui
 INSTALL (DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/gui DESTINATION share/jderobot/python/colorTuner_py COMPONENT tools PATTERN .svn EXCLUDE)

src/tools/colorTuner_py/colorTuner.py

@@ -1,4 +1,4 @@
-#!/usr/bin/python3.5
+#!/usr/bin/python2
 #
 #  Copyright (C) 1997-2016 JDE Developers Team
 #
@@ -22,7 +22,7 @@
 import sys
 import easyiceconfig as EasyIce
 from gui.threadGUI import ThreadGUI
-from parallelIce.cameraClient import CameraClient
+import jderobotComm as comm
 from sensors.cameraFilter import CameraFilter
 from gui.GUI import MainWindow
 from PyQt5.QtWidgets import QApplication
@@ -34,8 +34,11 @@
 
 if __name__ == '__main__':
     ic = EasyIce.initialize(sys.argv)
-    prop = ic.getProperties()
-    cameraCli = CameraClient(ic, "ColorTuner.Camera", True)
+
+    #starting comm
+    ic, node = comm.init(ic)
+
+    cameraCli = comm.getCameraClient(ic, "ColorTuner.Camera", True)
     camera = CameraFilter(cameraCli)
 
     app = QApplication(sys.argv)

src/tools/colorTuner_py/colorTuner_py.cfg

@@ -1 +1,6 @@
-ColorTuner.Camera.Proxy  = cameraA:default -h localhost -p 9999
+# 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+ColorTuner.Camera.Server=1
+ColorTuner.Camera.Proxy=cameraA:default -h localhost -p 9999
+ColorTuner.Camera.Format=RGB8
+ColorTuner.Camera.Topic=/camera/rgb/image_raw
+ColorTuner.Camera.Name=ColorTuner

src/tools/colorTuner_py/gui/GUI.py

@@ -22,8 +22,9 @@
 from PyQt5.QtCore import pyqtSignal, Qt, QRect
 from PyQt5.QtWidgets import QMainWindow, QVBoxLayout, QWidget
 #from gui.communicator import Communicator
-from gui.imagesWidget import  ImagesWidget
-from gui.controlWidget import  ControlWidget
+from .imagesWidget import  ImagesWidget
+from .controlWidget import  ControlWidget
+
 
 class MainWindow(QMainWindow):
 
@@ -49,6 +50,8 @@ def __init__(self, parent=None):
 
         self.updGUI.connect(self.updateGUI)
 
+        #self.verticalLayoutWidget.setStyleSheet("background-color:black;")
+
         #self.controlCommunicator=Communicator()
         #self.imageCommunicator=Communicator()
 

src/tools/colorTuner_py/gui/controlWidget.py

@@ -22,8 +22,10 @@
 from filters.hsvFilter import HSVMAX, HSVMIN
 from filters.rgbFilter import RGBMAX, RGBMIN
 from filters.yuvFilter import YUVMAX, YUVMIN
+from .logoWidget import  LogoWidget
 
-
+WIDTH = 1340
+HEIGTH = 200
 
 class ControlWidget(QWidget):
 
@@ -42,8 +44,8 @@ def __init__(self,winParent):
 
     def initUI(self):
 
-        self.setMinimumSize(1340,200)
-        self.setMaximumSize(1340,200)
+        self.setMinimumSize(WIDTH,HEIGTH)
+        self.setMaximumSize(WIDTH,HEIGTH)
 
         '''Radio buttons for Original/RGB/HSV/YUV images'''
         self.origButton = QRadioButton("Original")
@@ -63,6 +65,7 @@ def initUI(self):
         self.hLayout = QHBoxLayout(self)
         self.hLayout.setObjectName("hLayout")
 
+
         ''' Vertical Layout for radio buttons '''
         self.radioLayout = QVBoxLayout()
         self.radioLayout.setObjectName("radioLayout")
@@ -73,6 +76,13 @@ def initUI(self):
         self.vSpacer = QSpacerItem(30, 500, QSizePolicy.Ignored, QSizePolicy.Ignored);
         self.radioLayout.addItem(self.vSpacer)
 
+
+        self.logoLayout = QVBoxLayout()
+        self.logo = LogoWidget(self, HEIGTH, HEIGTH)
+        self.logoLayout.addWidget(self.logo)
+
+
+
 
         hmin,smin,vmin = HSVMIN
         hmax,smax,vmax = HSVMAX
@@ -89,6 +99,7 @@ def initUI(self):
         self.hminLayout.addWidget(self.hminLabel)
         self.hminLayout.addWidget(self.hminValue)
         self.hminLayout.addWidget(self.hminSlider)
+
 
         ''' Vertical Layout for HMAX Slider''' 
         self.hmaxLayout = QVBoxLayout()
@@ -162,6 +173,7 @@ def initUI(self):
 
         '''Adding all the vertical layouts to the main horizontal layout'''
         self.hLayout.addLayout(self.radioLayout)
+        self.hLayout.addLayout(self.logoLayout)
         self.hLayout.addLayout(self.hminLayout)
         self.hLayout.addLayout(self.hmaxLayout)
         self.hLayout.addLayout(self.sminLayout)
@@ -170,6 +182,7 @@ def initUI(self):
         self.hLayout.addLayout(self.vmaxLayout)
         self.setLayout(self.hLayout)
 
+
         '''Signals for sliders value changes'''
         self.hminSlider.valueChanged.connect(self.changeHmin)     
         self.hmaxSlider.valueChanged.connect(self.changeHmax)

src/tools/colorTuner_py/gui/logoWidget.py

@@ -0,0 +1,44 @@
+#
+#  Copyright (C) 1997-2015 JDE Developers Team
+#
+#  This program is free software: you can redistribute it and/or modify
+#  it under the terms of the GNU General Public License as published by
+#  the Free Software Foundation, either version 3 of the License, or
+#  (at your option) any later version.
+#
+#  This program is distributed in the hope that it will be useful,
+#  but WITHOUT ANY WARRANTY; without even the implied warranty of
+#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#  GNU General Public License for more details.
+#
+#  You should have received a copy of the GNU General Public License
+#  along with this program.  If not, see http://www.gnu.org/licenses/.
+#  Authors :
+#       Alberto Martin Florido <almartinflorido@gmail.com>
+#
+import resources_rc
+from PyQt5 import QtGui
+from PyQt5.QtCore import Qt
+from PyQt5.QtWidgets import QWidget
+
+class LogoWidget(QWidget):
+
+    def __init__(self,winParent, width=0, height=0):    
+        super(LogoWidget, self).__init__()
+        self.winParent=winParent
+        qimage=QtGui.QImage()
+        qimage.load(':images/jderobot.svg')
+        if (width != 0 and height != 0):
+        	self.qimage = qimage.scaled(0.8*width, 0.8*height, Qt.KeepAspectRatio)
+        	#self.qimage = qimage.scaled(0.8*width, 0.8*height)
+        	self.resize(width, height)
+        else:
+        	self.qimage = qimage
+
+
+    def paintEvent(self, e):
+
+        painter=QtGui.QPainter(self)
+        painter.drawImage(self.width()/2-self.qimage.width()/2, self.height()/2-self.qimage.height()/2, self.qimage)
+
+

src/tools/colorTuner_py/resources/genResources

@@ -0,0 +1,4 @@
+#!/bin/bash
+pyrcc5 resources.qrc -o resources_rc.py
+mv resources_rc.py ..
+

src/tools/colorTuner_py/resources/resources.qrc

@@ -0,0 +1,5 @@
+<RCC>
+  <qresource prefix="images">
+    <file>jderobot.svg</file>
+  </qresource>
+</RCC>

src/tools/colorTuner_py/resources_rc.py

@@ -0,0 +1,100 @@
+# -*- coding: utf-8 -*-
+
+# Resource object code
+#
+# Created by: The Resource Compiler for PyQt5 (Qt v5.5.1)
+#
+# WARNING! All changes made in this file will be lost!
+
+from PyQt5 import QtCore
+
+qt_resource_data = b"\
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+"
+
+qt_resource_name = b"\
+\x00\x06\
+\x07\x03\x7d\xc3\
+\x00\x69\
+\x00\x6d\x00\x61\x00\x67\x00\x65\x00\x73\
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+"
+
+qt_resource_struct = b"\
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+\x00\x00\x00\x12\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\
+"
+
+def qInitResources():
+    QtCore.qRegisterResourceData(0x01, qt_resource_struct, qt_resource_name, qt_resource_data)
+
+def qCleanupResources():
+    QtCore.qUnregisterResourceData(0x01, qt_resource_struct, qt_resource_name, qt_resource_data)
+
+qInitResources()

src/tools/colorTuner_py/sensors/cameraFilter.py

@@ -38,8 +38,10 @@ def __init__(self, camera):
         self.lock = threading.Lock()
         self.client = camera
 
-        self.height= self.client.getHeight()
-        self.width = self.client.getWidth()
+        img = self.client.getImage()
+
+        self.height= img.height
+        self.width = img.width
 
 
         self.kill_event = threading.Event()
@@ -98,7 +100,7 @@ def getYUVImage (self):
 
 
     def update(self):
-        img = self.client.getImage()
+        img = self.client.getImage().data
         rgb = self.getFilter(RGB).apply(img)
         hsv = self.getFilter(HSV).apply(img)
         yuv = self.getFilter(YUV).apply(img)