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final_app.py
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print("Python starting......")
from datetime import datetime
import matplotlib.style
import sys
from PyQt5.QtCore import *
from PyQt5.QtGui import *
from PyQt5.QtWidgets import *
import time
import numpy as np
from scipy import interpolate
from csv import writer
import trajectory
import channel_config_copy
from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
from matplotlib.backends.backend_qt5agg import NavigationToolbar2QT as NavigationToolbar
from matplotlib import pyplot as plt
import tmotorCAN
from functools import lru_cache
from matplotlib import rcParams
rcParams['path.simplify'] = False
matplotlib.style.use('fast')
START = 0
START_MOTOR = [0,0,0,0]
# RELATIVE
MINPOSHIP = -90 * np.pi / 180
MAXPOSHIP = 180 * np.pi / 180
MINPOSKNEE = -90 * np.pi / 180
MAXPOSKNEE = 180 * np.pi / 180
# MAXVEL = -15
# MAXPOS = 15
traj_max_hip = 25
traj_min_hip = -7
traj_max_knee = -7
traj_min_knee = -65
KP = 10
KD = 1
TIMES = [0, 1, 2, 3, 4]
# MOTOR has reverse sign conventions
OMEGAS = {5: 2 * np.pi / 2.5, 4: 2 * np.pi / 3.5, 3: 2 *
np.pi / 4.5, 2: 2 * np.pi / 5.5, 1: 2 * np.pi / 6.5}
HIP_VALUES = [30, 15, 0, -15, 5]
KNEE_VALUES = [30, 10, 0, -15, 5]
LEFT_HIP_LINK_TORQUE = 10
LEFT_KNEE_LINK_TORQUE = 10
RIGHT_HIP_LINK_TORQUE = 10
RIGHT_KNEE_LINK_TORQUE = 10
NUMS = 50
out_lis=[]
try:
class Heading(QLabel):
def __init__(self, text):
super().__init__()
self.setText(text)
font = self.font()
font.setBold(True)
font.setPointSize(23)
self.setFont(font)
class Plot(QDialog):
def __init__(self):
super().__init__()
self.figure = plt.figure()
self.canvas = FigureCanvas(self.figure)
self.toolbar = NavigationToolbar(self.canvas, self)
layout = QVBoxLayout()
layout.addWidget(self.toolbar)
layout.addWidget(self.canvas)
self.setLayout(layout)
self.selection = 0
self.hip_traj_selection = trajectory.theta_5
self.knee_traj_selection = trajectory.theta_6_rel
def plot(self):
# x = TIMES
# self.figure.clear()
# ax1 = self.figure.add_subplot(211)
# y = self.data1
# x_new = np.linspace(min(x), max(x), 50)
# bspline = interpolate.make_interp_spline(x, y)
# y_new = bspline(x_new)
# ax1.axhline(y=0, color='k')
# ax1.axvline(x=0, color='k')
# ax1.plot(x_new, y_new, '-')
# ax1.plot(x, y, 's')
# ax1.set_title("Hip")
# ax2 = self.figure.add_subplot(212)
# y = self.data2
# x_new = np.linspace(min(x), max(x), 50)
# bspline = interpolate.make_interp_spline(x, y)
# y_new = bspline(x_new)
# ax2.axhline(y=0, color='k')
# ax2.axvline(x=0, color='k')
# ax2.plot(x_new, y_new, '-')
# ax2.plot(x, y, 's')
# ax2.set_title("Knee")
# self.canvas.draw()
# Selecting trajectories
x = TIMES
self.figure.clear()
ax1 = self.figure.add_subplot(211)
x_new = np.linspace(min(x), max(x), 50)
if self.selection == 2:
y = lambda x:(1+10*np.pi/180)*self.hip_traj_selection(4,x,0,1)*180/np.pi
elif self.selection == 3:
y = lambda x:(1+20*np.pi/180)*self.hip_traj_selection(4,x,0,1)*180/np.pi
else:
y = lambda x:self.hip_traj_selection(4,x,0,1)*180/np.pi
y_new = y(x_new)
ax1.axhline(y=0, color='k')
ax1.axvline(x=0, color='k')
ax1.plot(x_new, y_new, '-')
ax1.set_title("Hip - Flexion / Extension")
ax1.set_ylabel("Angle(degrees)")
ax1.set_xlabel("Time(seconds)")
ax2 = self.figure.add_subplot(212)
x_new = np.linspace(min(x), max(x), 50)
if self.selection == 0:
y = lambda x:self.knee_traj_selection(4,x,0,1)*180/np.pi
else:
y = lambda x:self.knee_traj_selection(4,x,0,1)*180/np.pi + 5
y_new = y(x_new)
ax2.axhline(y=0, color='k')
ax2.axvline(x=0, color='k')
ax2.plot(x_new, y_new, '-')
ax2.set_title("Knee - Flexion / Extension")
ax2.set_ylabel("Angle(degrees)")
ax2.set_xlabel("Time(seconds)")
self.figure.tight_layout()
self.canvas.draw()
class PlotData(QObject):
def __init__(self):
super().__init__()
self.times = np.arange(-NUMS/10, 0, 0.1)
self.data1 = np.arange(0, NUMS, 1)
self.data2 = np.arange(0, NUMS, 1)
self.data3 = np.arange(0, NUMS, 1)
self.data4 = np.arange(0, NUMS, 1)
class PlotScreen(QDialog):
def __init__(self):
super().__init__()
self.figure = plt.figure()
self.canvas = FigureCanvas(self.figure)
# self.toolbar = NavigationToolbar(self.canvas, self)
layout = QVBoxLayout()
# layout.addWidget(self.toolbar)
layout.addWidget(self.canvas)
self.setLayout(layout)
self.data_object = PlotData()
def plot(self):
self.figure.clear()
ax1 = self.figure.add_subplot(221)
ax1.plot(self.data_object.times[-NUMS:],
self.data_object.data1[-NUMS:], '-')
ax1.set_title("Left Hip")
ax1.set_xlim(
self.data_object.times[-1] - 5, self.data_object.times[-1])
ax1.set_ylim(-100, 100)
ax2 = self.figure.add_subplot(222)
ax2.plot(self.data_object.times[-NUMS:],
self.data_object.data2[-NUMS:], '-')
ax2.set_title("Left Knee")
ax2.set_xlim(
self.data_object.times[-1] - 5, self.data_object.times[-1])
ax2.set_ylim(-100, 100)
ax3 = self.figure.add_subplot(223)
ax3.plot(self.data_object.times[-NUMS:],
self.data_object.data3[-NUMS:], '-')
ax3.set_title("Right Hip")
ax3.set_xlim(
self.data_object.times[-1] - 5, self.data_object.times[-1])
ax3.set_ylim(-100, 100)
ax4 = self.figure.add_subplot(224)
ax4.plot(self.data_object.times[-NUMS:],
self.data_object.data4[-NUMS:], '-')
ax4.set_title("Right Knee")
ax4.set_xlim(
self.data_object.times[-1] - 5, self.data_object.times[-1])
ax4.set_ylim(-100, 100)
self.figure.tight_layout(pad=3)
self.canvas.draw()
class MotorInteract(QObject):
def __init__(self):
super().__init__()
self.mode = None
self.on = False
self.data = []
self.trajectory = 0
self.minimum_position_hip = MINPOSHIP
self.maximum_position_hip = MAXPOSHIP
self.minimum_position_knee = MINPOSKNEE
self.maximum_position_knee = MAXPOSKNEE
self.left_hip = True
self.left_knee = True
self.right_hip = True
self.right_knee = True
self.left_hip_motor = tmotorCAN.tmotor(
3, "AK10-9", 5, 2, MINPOSHIP, MAXPOSHIP)
self.left_knee_motor = tmotorCAN.tmotor(
4, "AK10-9", 5, 2, MINPOSKNEE, MAXPOSKNEE)
self.right_hip_motor = tmotorCAN.tmotor(
1, "AK10-9", 5, 2, MINPOSHIP, MAXPOSHIP)
self.right_knee_motor = tmotorCAN.tmotor(
2, "AK10-9", 5, 2, MINPOSKNEE, MAXPOSKNEE)
# self.left_hip_motor = tmotorCAN.tmotor(1, "AK80-64")
# self.left_knee_motor = tmotorCAN.tmotor(2, "AK80-64")
# self.right_hip_motor = tmotorCAN.tmotor(3, "AK80-64")
# self.right_knee_motor = tmotorCAN.tmotor(4, "AK80-64")
self.left_hip_pos = 0
self.left_knee_pos = 0
self.right_hip_pos = 0
self.right_knee_pos = 0
self.left_hip_vel = 0
self.left_knee_vel = 0
self.right_hip_vel = 0
self.right_knee_vel = 0
self.hip_kp = 70
self.knee_kp = 50
self.kd = 2
self.left_hip_trajectory = trajectory.theta_5
self.right_hip_trajectory = trajectory.theta_5
self.left_knee_trajectory = trajectory.theta_6_rel
self.right_knee_trajectory = trajectory.theta_6_rel
self.left_hip_trajectory_vel = trajectory.omega_5
self.right_hip_trajectory_vel = trajectory.omega_5
self.left_knee_trajectory_vel = trajectory.omega_6_rel
self.right_knee_trajectory_vel = trajectory.omega_6_rel
self.left_hip_link_weight = LEFT_HIP_LINK_TORQUE
self.left_knee_link_weight = LEFT_KNEE_LINK_TORQUE
self.right_hip_link_weight = RIGHT_HIP_LINK_TORQUE
self.right_knee_link_weight = RIGHT_KNEE_LINK_TORQUE
self.w = OMEGAS[1]
self.right_delay = (2*np.pi/self.w)*0.75/1.39
if(self.trajectory == 0):
self.hip_amp = 1
self.knee_amp = 1
self.hip_offset = 5*np.pi/180
self.knee_offset = 0*np.pi/180
elif(self.trajectory == 1):
self.hip_amp = 1
self.knee_amp = 1
self.hip_offset = 5*np.pi/180
self.knee_offset = 4*np.pi/180
elif(self.trajectory == 2):
self.hip_amp = (1+10*np.pi/180)
self.knee_amp = 1
self.hip_offset = 5*np.pi/180
self.knee_offset = 4*np.pi/180
elif(self.trajectory == 3):
self.hip_amp = (1+20*np.pi/180)
self.knee_amp = 1
self.hip_offset = 5*np.pi/180
self.knee_offset = 4*np.pi/180
def run_motor(self):
global START, START_MOTOR
while True:
if (self.on):
if START==1:
start_time = time.time()
# time.sleep(1)
START=0
current_time = time.time()
delta_time = current_time - start_time
if (self.mode == 1):
if 0 in START_MOTOR:
if(np.abs(self.hip_amp*self.left_hip_trajectory(self.w, delta_time, 0,1))<0.5*(np.pi/180)):
START_MOTOR[2] = 1
if(np.abs(self.knee_amp*self.left_knee_trajectory(self.w, delta_time, 0,1))<7*(np.pi/180) and np.abs(self.knee_amp*self.left_knee_trajectory(self.w, delta_time, 0,1))>5*(np.pi/180)):
START_MOTOR[3] = 1
if(np.abs(self.hip_amp*self.right_hip_trajectory(self.w, delta_time + self.right_delay, 0,1))<0.5*(np.pi/180)):
START_MOTOR[0] = 1
print(delta_time)
if(np.abs(self.knee_amp*self.right_knee_trajectory(self.w, delta_time + self.right_delay, 0,1))<7*(np.pi/180) and np.abs(self.knee_amp*self.right_knee_trajectory(self.w, delta_time + self.right_delay, 0, 1))>5*(np.pi/180)):
START_MOTOR[1] = 1
# START_MOTOR=[1,1,1,1]
if(delta_time < 20):
if (self.left_hip and START_MOTOR[2] == 1):
self.left_hip_motor.attain(
self.hip_amp*self.left_hip_trajectory(self.w, delta_time, 0, 1)+self.hip_offset, self.hip_amp*self.left_hip_trajectory_vel(self.w, delta_time, 0, 1), 0, self.hip_kp*delta_time/10, 1)
if (self.left_knee and START_MOTOR[3] == 1):
self.left_knee_motor.attain(
self.knee_amp*self.left_knee_trajectory(self.w, delta_time, 0, 1)+self.knee_offset+ 6*np.pi/180, self.knee_amp*self.left_knee_trajectory_vel(self.w, delta_time, 0, 1), 0, self.knee_kp*delta_time/10, 1)
if (self.right_hip and START_MOTOR[0] == 1):
self.right_hip_motor.attain(
-self.hip_amp*self.right_hip_trajectory(self.w, delta_time + self.right_delay, 0, 1)+self.hip_offset, -self.hip_amp*self.right_hip_trajectory_vel(self.w, delta_time + self.right_delay, 0, 1), 0, self.hip_kp*delta_time/10, 1)
# self.hip_amp*self.right_hip_trajectory(self.w, delta_time + self.right_delay, 0, 1)-self.hip_offset, self.hip_amp*self.right_hip_trajectory_vel(self.w, delta_time + self.right_delay, 0, 1), 0, self.hip_kp, self.kd)
if (self.right_knee and START_MOTOR[1] == 1):
self.right_knee_motor.attain(
-self.knee_amp*self.right_knee_trajectory(self.w, delta_time + self.right_delay, 0, 1)-self.knee_offset + 3*np.pi/180, -self.knee_amp*self.right_knee_trajectory_vel(self.w, delta_time + self.right_delay, 0, 1), 0, self.knee_kp*delta_time/10, 1)
# self.knee_amp*self.right_knee_trajectory(self.w, delta_time + self.right_delay, 0, 1)+self.knee_offset, self.knee_amp*self.right_knee_trajectory_vel(self.w, delta_time + self.right_delay, 0, 1), 0, self.knee_kp, self.kd)
else:
if (self.left_hip and START_MOTOR[2] == 1):
self.left_hip_motor.attain(
self.hip_amp*self.left_hip_trajectory(self.w, delta_time, 0, 1)+self.hip_offset, self.hip_amp*self.left_hip_trajectory_vel(self.w, delta_time, 0, 1), 0, self.hip_kp, self.kd)
if (self.left_knee and START_MOTOR[3] == 1):
self.left_knee_motor.attain(
self.knee_amp*self.left_knee_trajectory(self.w, delta_time, 0, 1)+self.knee_offset + 3*np.pi/180, self.knee_amp*self.left_knee_trajectory_vel(self.w, delta_time, 0, 1), 0, self.knee_kp, self.kd)
if (self.right_hip and START_MOTOR[0] == 1):
self.right_hip_motor.attain(
-self.hip_amp*self.right_hip_trajectory(self.w, delta_time + self.right_delay, 0, 1), -self.hip_amp*self.right_hip_trajectory_vel(self.w, delta_time + self.right_delay, 0, 1), 0, self.hip_kp, self.kd)
# self.hip_amp*self.right_hip_trajectory(self.w, delta_time + self.right_delay, 0, 1)-self.hip_offset, self.hip_amp*self.right_hip_trajectory_vel(self.w, delta_time + self.right_delay, 0, 1), 0, self.hip_kp, self.kd)
if (self.right_knee and START_MOTOR[1] == 1):
self.right_knee_motor.attain(
-self.knee_amp*self.right_knee_trajectory(self.w, delta_time + self.right_delay, 0, 1)-self.knee_offset, -self.knee_amp*self.right_knee_trajectory_vel(self.w, delta_time + self.right_delay, 0, 1), 0, self.knee_kp, self.kd)
# self.knee_amp*self.right_knee_trajectory(self.w, delta_time + self.right_delay, 0, 1)+self.knee_offset, self.knee_amp*self.right_knee_trajectory_vel(self.w, delta_time + self.right_delay, 0, 1), 0, self.knee_kp, self.kd)
# elif (self.mode == 2):
# # gravity compensation mode
# time.sleep(0.08)
# if (self.left_hip):
# self.left_hip_motor.attain(
# self.left_hip_pos, self.left_hip_vel, LEFT_HIP_LINK_TORQUE * np.sin(self.left_hip_pos), 5, 0.5)
# if (self.left_knee):
# self.left_knee_motor.attain(
# self.left_knee_pos, self.left_knee_vel, LEFT_KNEE_LINK_TORQUE * np.sin(self.left_hip_pos + self.left_knee_pos), 1, 0.3)
# if (self.right_hip):
# self.right_hip_motor.attain(
# self.right_hip_pos, self.right_hip_vel, RIGHT_HIP_LINK_TORQUE * np.sin(self.right_hip_pos), 1, 1)
# if (self.right_knee):
# self.right_knee_motor.attain(
# self.right_knee_pos, self.right_knee_vel, -RIGHT_KNEE_LINK_TORQUE * np.sin(self.right_hip_pos + self.right_knee_pos), 10, 1)
current_time = time.time()
delta_time = current_time - start_time
try:
self.data.append([delta_time,*tmotorCAN.tmotor.read_can()])
except:
pass
def start_motors(self):
tmotorCAN.tmotor.channel = channel_config_copy.start_channel(0)
if (self.left_hip):
self.left_hip_motor.start_motor()
if (self.left_knee):
self.left_knee_motor.start_motor()
if (self.right_hip):
self.right_hip_motor.start_motor()
if (self.right_knee):
self.right_knee_motor.start_motor()
# self.left_hip_motor.attain(0,0,0,0,0)
# self.left_knee_motor.attain(0,0,0,0,0)
# self.right_hip_motor.attain(0,0,0,0,0)
# self.right_knee_motor.attain(0,0,0,0,0)
time.sleep(0.03)
# self.go_to_origin()
def go_to_origin(self):
if (self.left_hip):
self.left_hip_motor.go_to_origin()
if (self.left_knee):
self.left_knee_motor.go_to_origin()
if (self.right_hip):
self.right_hip_motor.go_to_origin()
if (self.right_knee):
self.right_knee_motor.go_to_origin()
def turn_off(self):
# self.go_to_origin()
global START_MOTOR
START_MOTOR = [0,0,0,0]
# time.sleep(1)
if (self.left_hip):
self.left_hip_motor.stop_motor()
if (self.left_knee):
self.left_knee_motor.stop_motor()
if (self.right_hip):
self.right_hip_motor.stop_motor()
if (self.right_knee):
self.right_knee_motor.stop_motor()
time.sleep(0.1)
tmotorCAN.tmotor.channel.busOff()
tmotorCAN.tmotor.channel.close()
class InputPanel(QWidget):
def __init__(self):
super().__init__()
self.label1 = QLabel("Maximum position (hip)")
self.input1 = QLineEdit()
self.input1.setText(str(traj_max_hip))
self.label2 = QLabel("Minimum position (hip)")
self.input2 = QLineEdit()
self.input2.setText(str(traj_min_hip))
self.label3 = QLabel("Maximum position (knee)")
self.input3 = QLineEdit()
self.input3.setText(str(traj_max_knee))
self.label4 = QLabel("Minimum position (knee)")
self.input4 = QLineEdit()
self.input4.setText(str(traj_min_knee))
self.button = QPushButton("Save Data")
for line in self.input1, self.input2, self.input3, self.input4:
line.setMaxLength(3)
layout = QGridLayout()
layout.setColumnStretch(1, 0)
layout.setColumnStretch(0, 1)
layout.addWidget(self.label1, 0, 0)
layout.addWidget(self.input1, 0, 1)
layout.addWidget(self.label2, 1, 0)
layout.addWidget(self.input2, 1, 1)
layout.addWidget(self.label3, 2, 0)
layout.addWidget(self.input3, 2, 1)
layout.addWidget(self.label4, 3, 0)
layout.addWidget(self.input4, 3, 1)
layout.addWidget(self.button, 4, 1)
self.setLayout(layout)
class InitialScreenLeftPanel(QWidget):
def __init__(self):
super().__init__()
# self.heading1 = Heading("Modes Available")
# self.button1 = QRadioButton("Automatic")
# self.button2 = QRadioButton("Physiotherapist Guided")
self.heading = Heading("Exoskeleton")
self.label0 = QLabel("Patient Name")
self.line0 = QLineEdit()
# self.line0.setMaxLength(3)
self.heading2 = Heading("Motors activated")
self.checkbox1 = QCheckBox("Left Hip Motor")
self.checkbox2 = QCheckBox("Left Knee Motor")
self.checkbox3 = QCheckBox("Right Hip Motor")
self.checkbox4 = QCheckBox("Right Knee Motor")
self.checkbox1.setChecked(True)
self.checkbox2.setChecked(True)
self.checkbox3.setChecked(True)
self.checkbox4.setChecked(True)
self.button = QPushButton("Save Patient Data")
layout = QVBoxLayout()
layout.addWidget(self.heading)
layout.addWidget(self.label0)
layout.addWidget(self.line0)
layout.addWidget(self.heading2)
layout.addWidget(self.checkbox1)
layout.addWidget(self.checkbox2)
layout.addWidget(self.checkbox3)
layout.addWidget(self.checkbox4)
layout.addStretch(1)
layout.addWidget(self.button)
self.setLayout(layout)
# class InitialScreenMiddlePanel(QWidget):
# def __init__(self):
# super().__init__()
# self.heading = Heading("Patient Details")
# self.label0 = QLabel("Patient Name")
# self.line0 = QLineEdit()
# self.label1 = QLabel("Patient Weight (in kilograms)")
# self.line1 = QLineEdit()
# self.label2 = QLabel("Link 1 Length (in metre)")
# self.line2 = QLineEdit()
# self.label3 = QLabel("Link 2 Length (in metre)")
# self.line3 = QLineEdit()
# for line in self.line1, self.line2, self.line3:
# line.setMaxLength(3)
# self.button = QPushButton("Save Patient Data")
# layout = QVBoxLayout()
# layout.addWidget(self.heading)
# layout.addWidget(self.label0)
# layout.addWidget(self.line0)
# layout.addWidget(self.label1)
# layout.addWidget(self.line1)
# layout.addWidget(self.label2)
# layout.addWidget(self.line2)
# layout.addWidget(self.label3)
# layout.addWidget(self.line3)
# layout.addStretch(1)
# layout.addWidget(self.button)
# self.setLayout(layout)
class InitialScreenRightPanel(QWidget):
def __init__(self):
super().__init__()
self.heading = Heading("Instructions for Usage")
self.list = QListWidget()
self.list.setFixedHeight(300)
self.list.addItems(["1. Enter Patient Details",
"2. Select The Motors to be activated", "3. Handle Device Carefully"])
self.list.setWordWrap(True)
self.button = QPushButton("Continue")
layout = QVBoxLayout()
layout.addWidget(self.heading)
layout.addWidget(self.list)
layout.addStretch(1)
layout.addWidget(self.button)
self.setLayout(layout)
class InitialScreen(QWidget):
def __init__(self):
super().__init__()
self.left_panel = InitialScreenLeftPanel()
# left_panel.setStyleSheet("background-color: white;")
# self.middle_panel = InitialScreenMiddlePanel()
self.right_panel = InitialScreenRightPanel()
initial_screen_layout = QHBoxLayout()
initial_screen_layout.addWidget(self.left_panel)
# initial_screen_layout.addWidget(self.middle_panel)
initial_screen_layout.addWidget(self.right_panel)
self.setLayout(initial_screen_layout)
# class GravityCompensationScreenLeftPanel(QWidget):
# def __init__(self):
# super().__init__()
# self.state = False
# self.heading = Heading("Maximum and Minimum Values")
# self.input_panel = InputPanel()
# self.label = QLabel("")
# self.button0 = QPushButton("Start Motor")
# self.button1 = QPushButton("Start Therapy")
# self.button2 = QPushButton("Stop Therapy")
# self.button3 = QPushButton("Go to Origin")
# self.button0.setDisabled(False)
# self.button1.setDisabled(True)
# self.button2.setDisabled(True)
# self.button3.setDisabled(True)
# layout = QVBoxLayout()
# layout.addWidget(self.heading)
# layout.addWidget(self.input_panel)
# layout.addWidget(self.label)
# layout.addWidget(self.button0)
# layout.addWidget(self.button1)
# layout.addWidget(self.button2)
# layout.addWidget(self.button3)
# layout.addStretch(1)
# self.setLayout(layout)
# class GravityCompensationScreenRightPanel(QWidget):
# def __init__(self):
# super().__init__()
# self.heading = Heading("Plotting Data")
# # self.list = QListWidget()
# # self.list.addItems(["1. Gravity Compensation Mode: Weight of patient will be provided by motor", "2. Physiotherapist Supervision is required"])
# # self.list.setWordWrap(True)
# self.graph = PlotScreen()
# self.button = QPushButton("Back")
# layout = QVBoxLayout()
# layout.addWidget(self.heading)
# # layout.addWidget(self.list)
# layout.addWidget(self.graph)
# layout.addStretch(1)
# layout.addWidget(self.button)
# self.setLayout(layout)
# class GravityCompensationScreen(QWidget):
# def __init__(self):
# super().__init__()
# self.left_panel = GravityCompensationScreenLeftPanel()
# self.right_panel = GravityCompensationScreenRightPanel()
# layout = QHBoxLayout()
# layout.addWidget(self.left_panel)
# layout.addWidget(self.right_panel)
# self.setLayout(layout)
class TrajectoryInput(QWidget):
def __init__(self):
super().__init__()
# layout = QGridLayout()
# layout.setColumnStretch(0, 1)
# layout.setColumnStretch(1, 0)
# layout.setColumnStretch(2, 1)
# layout.setColumnStretch(3, 0)
# self.texts1 = []
# self.texts2 = []
# self.texts3 = []
# self.inputs1 = []
# self.inputs2 = []
# for i in range(1, 6):
# self.texts1.append(QLabel(f"t {TIMES[i - 1]}"))
# self.texts2.append(QLabel(f"hip angle {i}"))
# self.inputs1.append(QLineEdit())
# self.texts3.append(QLabel(f"knee angle {i}"))
# self.inputs2.append(QLineEdit())
# layout.addWidget(self.texts1[-1], i - 1, 0)
# layout.addWidget(self.texts2[-1], i - 1, 1)
# layout.addWidget(self.inputs1[-1], i - 1, 2)
# layout.addWidget(self.texts3[-1], i - 1, 3)
# layout.addWidget(self.inputs2[-1], i - 1, 4)
# for i in range(0, 5):
# self.inputs1[i].setText(str(HIP_VALUES[i]))
# self.inputs2[i].setText(str(KNEE_VALUES[i]))
# self.setLayout(layout)
# Selecting trajectories from options
self.button1 = QRadioButton("Normal Trajectory")
self.button2 = QRadioButton("Marching Trajectory")
self.button3 = QRadioButton("PBWST Trajectory 1")
self.button4 = QRadioButton("PBWST Trajectory 2")
layout = QVBoxLayout()
layout.addWidget(self.button1)
layout.addWidget(self.button2)
layout.addWidget(self.button3)
layout.addWidget(self.button4)
self.button1.setChecked(True)
self.setLayout(layout)
class PositionControlScreenLeftPanel(QWidget):
def __init__(self):
super().__init__()
heading = Heading("Trajectory")
self.trajectory_input = TrajectoryInput()
self.heading2 = Heading("Force applied")
self.buttona = QRadioButton("Low")
self.buttonb = QRadioButton("Medium")
self.buttonc = QRadioButton("High")
self.buttona.setChecked(True)
self.button = QPushButton("Update")
self.label = QLabel("Note: Select options \n and press Update")
layout = QVBoxLayout()
layout.addWidget(self.heading2)
layout.addWidget(self.buttona)
layout.addWidget(self.buttonb)
layout.addWidget(self.buttonc)
layout.addWidget(heading)
layout.addWidget(self.trajectory_input)
layout.addWidget(self.button)
layout.addStretch(1)
layout.addWidget(self.label)
self.setLayout(layout)
# class PositionControlScreenMiddlePanel(QWidget):
# def __init__(self):
# self.layout = QVBoxLayout()
# self.layout.addStretch(1)
# self.setLayout(self.layout)
# super().__init__()
# self.heading2 = Heading("Force applied")
# self.button1 = QRadioButton("Low")
# self.button2 = QRadioButton("Medium")
# self.button3 = QRadioButton("High")
# layout = QVBoxLayout()
# layout.addWidget(self.heading2)
# layout.addWidget(self.button1)
# layout.addWidget(self.button2)
# layout.addWidget(self.button3)
# layout.addStretch(1)
# self.setLayout(layout)
class PositionControlScreenRightPanel(QWidget):
def __init__(self):
super().__init__()
self.heading = Heading("Plotting Data")
self.graph = Plot()
self.button1 = QPushButton("Continue")
self.button2 = QPushButton("Back")
self.button1.setDisabled(True)
layout = QVBoxLayout()
layout.addWidget(self.heading)
layout.addWidget(self.graph)
layout.addStretch(1)
layout.addWidget(self.button1)
layout.addWidget(self.button2)
self.setLayout(layout)
class PositionContolScreen(QWidget):
def __init__(self):
super().__init__()
self.right_panel = PositionControlScreenRightPanel()
# self.middle_panel = PositionControlScreenMiddlePanel()
self.left_panel = PositionControlScreenLeftPanel()
layout = QHBoxLayout()
layout.addWidget(self.left_panel)
# layout.addWidget(self.middle_panel)
layout.addWidget(self.right_panel)
self.setLayout(layout)
class PositionControlFinalScreenRightPanel(QWidget):
def __init__(self):
super().__init__()
self.heading = Heading("Maximum and Minimum Values")
# self.input_panel = InputPanel()
self.label = QLabel("")
self.button0 = QPushButton("Start Motor")
self.button1 = QPushButton("Start Therapy")
self.button2 = QPushButton("Stop Therapy")
self.button3 = QPushButton("Go to Origin")
self.button = QPushButton("Back")
layout = QVBoxLayout()
self.button0.setDisabled(False)
self.button1.setDisabled(True)
self.button2.setDisabled(True)
self.button3.setDisabled(True)
# self.slider = QSlider(Qt.Horizontal)
# self.slider.setMinimum(1)
# self.slider.setMaximum(5)
# self.slider.setTickInterval(5)
# self.slider.setTickPosition(QSlider.TickPosition.TicksAbove)
# label1 = QLabel("High Speed")
# label2 = QLabel("Low Speed")
# layout1 = QHBoxLayout()
# layout1.addWidget(label1)
# layout1.addStretch(1)
# layout1.addWidget(label2)
# unit = QWidget()
# unit.setLayout(layout1)
self.label = QLabel("Speed")
# layout.addWidget(self.heading)
# layout.addWidget(self.input_panel)
# layout.addWidget(self.label)
# layout.addWidget(self.slider)
# layout.addWidget(unit)
layout.addWidget(self.button0)
layout.addWidget(self.button1)
layout.addWidget(self.button2)
layout.addWidget(self.button3)
layout.addStretch(1)
layout.addWidget(self.button)
self.setLayout(layout)
class PositionControlFinalScreenLeftPanel(QWidget):
def __init__(self):
super().__init__()
self.heading = Heading("Speed")
self.button1 = QRadioButton("1 kmph")
self.button2 = QRadioButton("1.5 kmph")
self.button3 = QRadioButton("2 kmph")
self.button4 = QRadioButton("2.5 kmph")
self.button5 = QRadioButton("3 kmph")
# self.graph = PlotScreen()
layout = QVBoxLayout()
layout.addWidget(self.heading)
layout.addWidget(self.button1)
layout.addWidget(self.button2)
layout.addWidget(self.button3)
layout.addWidget(self.button4)
layout.addWidget(self.button5)
layout.addStretch(1)
# layout.addWidget(self.graph)
self.setLayout(layout)
class PositionControlFinalScreen(QWidget):
def __init__(self):
super().__init__()
self.left_panel = PositionControlFinalScreenLeftPanel()
self.right_panel = PositionControlFinalScreenRightPanel()
layout = QHBoxLayout()
layout.addWidget(self.left_panel)
layout.addWidget(self.right_panel)
self.setLayout(layout)
class PositionContolWithGravityScreenLeftPanel(QWidget):
def __init__(self):
super().__init__()
class PositionContolWithGravityScreenRightPanel(QWidget):
def __init__(self):
super().__init__()
self.heading = Heading("Instructions for Usage")
self.list = QListWidget()
self.list.addItems(["1. Instruction1", "2. Instruction2", "3. Instruction3"])
self.list.setWordWrap(True)
self.button = QPushButton("Back")
layout = QVBoxLayout()
layout.addWidget(self.heading)
layout.addWidget(self.list)
layout.addStretch(1)
layout.addWidget(self.button)
self.setLayout(layout)
class PositionContolWithGravityScreen(QWidget):
def __init__(self):
super().__init__()
self.left_panel = PositionContolWithGravityScreenLeftPanel()
self.right_panel = PositionContolWithGravityScreenRightPanel()
layout = QHBoxLayout()
layout.addWidget(self.left_panel)
layout.addWidget(self.right_panel)
self.setLayout(layout)
class PatientDetailsMessage(QMessageBox):
def __init__(self):
super().__init__()
self.setIcon(QMessageBox.Critical)
self.setWindowTitle("Patient Details Error")
self.setText("Please Fill Patient Details!")
self.setStandardButtons(QMessageBox.Ok)
class TrajectoryMessage(QMessageBox):
def __init__(self):
super().__init__()
self.setIcon(QMessageBox.Critical)
self.setWindowTitle("Trajectory Error")
self.setText("Please Enter Required Trajectory!")
self.setStandardButtons(QMessageBox.Ok)
class ForceMessage(QMessageBox):
def __init__(self):
super().__init__()
self.setIcon(QMessageBox.Critical)
self.setWindowTitle("Force Error")
self.setText("Please Select Required Force!")
self.setStandardButtons(QMessageBox.Ok)
class SpeedMessage(QMessageBox):
def __init__(self):
super().__init__()
self.setIcon(QMessageBox.Critical)
self.setWindowTitle("Speed Error")
self.setText("Please Select Required Speed!")
self.setStandardButtons(QMessageBox.Ok)
class MainWindow(QMainWindow):
def __init__(self):
super().__init__()
self.patient_ll1 = None