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ras_viewer.py
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#!/usr/bin/env python3
import sys
import datetime
import csv
import coloredlogs, logging
from PyQt5.QtWidgets import QMainWindow, QFrame, QDesktopWidget, QApplication, QLabel, QLineEdit
from PyQt5.QtCore import Qt, QBasicTimer, pyqtSignal, QRect
from PyQt5.QtGui import QPainter, QColor, QPixmap, QPen
from collections import defaultdict
from ras_error_detector.lib import Items
from ras_error_detector.lib import WaterPlants, WalkDog, TakeMedication
from ras_error_detector import check_sequence
logger = logging.getLogger("ras")
coloredlogs.install(
level='DEBUG',
fmt='%(asctime)s,%(msecs)03d %(name)s %(levelname)s %(message)s')
class RAS(QMainWindow):
def __init__(self):
super().__init__()
self.initUI()
def initUI(self):
'''initiates application UI'''
self.board = Board(self)
self.setCentralWidget(self.board)
self.statusbar = self.statusBar()
self.board.msg2Statusbar[str].connect(self.statusbar.showMessage)
self.board.start()
self.resize(820, 435)
self.center()
self.setWindowTitle('RAS')
self.show()
def center(self):
'''centers the window on the screen'''
screen = QDesktopWidget().screenGeometry()
size = self.geometry()
self.move((screen.width()-size.width())/2,
(screen.height()-size.height())/2)
class Board(QFrame):
msg2Statusbar = pyqtSignal(str)
BoardWidth = 595
BoardHeight = 380
Speed = 250
FastSpeed = 50
Dag = {'water_plants': WaterPlants,
'walk_dog': WalkDog,
'take_meds': TakeMedication}
def __init__(self, parent):
super().__init__(parent)
self.initBoard()
def initBoard(self):
'''initiates board'''
self.sequence = defaultdict(list)
data_file = 'data/2018-02-13/estimotes_full_labeled.data'
logger.info('Loading data from {}'.format(data_file))
with open(data_file, newline='') as csvfile:
data = csv.reader(csvfile, delimiter=' ', quotechar='|')
self.startDatetime = None
total_events = 0
for row in data:
total_events += 1
dt = datetime.datetime.strptime(row[0] + ' ' + row[1], "%Y-%m-%d %H:%M:%S")
if self.startDatetime is None:
self.startDatetime = dt
time_diff = (dt - self.startDatetime).total_seconds()
status = True if row[3] == 'start' else False
if len(row) > 4:
self.sequence[int(time_diff)].append((row[2], status, row[4], True if row[5] == 'start' else False))
else:
self.sequence[int(time_diff)].append((row[2], status))
logger.info('Loaded {} estimote events'.format(total_events))
self.outputFile = open('error_prediction.txt', 'w')
self.timer = QBasicTimer()
self.isWaitingAfterLine = False
self.setFocusPolicy(Qt.StrongFocus)
self.isStarted = False
self.isPaused = False
self.timeCounter = -1
self.taskName = ""
self.taskStatus = False
self.taskSequence = []
self.clearBoard()
self.sensor = Sensor()
label = QLabel('umbrella', self)
label.move((20*30)+10+10+17, 13)
label = QLabel('leash', self)
label.move((20*30)+10+10+17, 13+20)
label = QLabel('keys', self)
label.move((20*30)+10+10+17, 13+40)
label = QLabel('dog', self)
label.move((20*30)+10+10+17, 13+60)
label = QLabel('snack', self)
label.move((20*30)+10+10+17, 13+80)
label = QLabel('cup', self)
label.move((20*30)+10+10+17, 13+100)
label = QLabel('medication bottle', self)
label.move((20*30)+10+10+17, 13+120)
label = QLabel('watering can', self)
label.move((20*30)+10+10+17, 13+140)
self.textboxSequence = QLineEdit(self)
self.textboxSequence.move(0, 380)
self.textboxSequence.resize(Board.BoardWidth, 30)
self.textboxDetectError = QLineEdit(self)
self.textboxDetectError.move(Board.BoardWidth, 380)
self.textboxDetectError.resize(820-Board.BoardWidth, 30)
def start(self):
'''starts simulation'''
if self.isPaused:
return
self.isStarted = True
self.sequenceCounter = 0
self.clearBoard()
self.timeCounter = -1
self.msg2Statusbar.emit('total seconds: '+ str(self.timeCounter+1))
self.timer.start(Board.Speed, self)
def paintEvent(self, event):
'''paints all estimote triggered sensors'''
painter = QPainter(self)
rect = self.contentsRect()
pixmap = QPixmap('layout.jpg')
painter.drawPixmap(QRect(0, 0, pixmap.width(), pixmap.height()), pixmap)
for sensor_name in self.sensor.values:
self.drawSensor(
painter,
position=self.sensor.values[sensor_name]['position'],
size=self.sensor.values[sensor_name]['size'],
color=self.sensor.values[sensor_name]['color'],
isOn=self.sensor.values[sensor_name]['ON'])
def drawSensor(self, painter, position=(0, 0), size=(0, 0), color=0x00FF00, isOn=False):
''' draw sensor in simulation'''
x, y = position
w, h = size
if isOn:
painter.setBrush(QColor(color))
#painter.setPen(QPen(QColor(0x55, 0x55, 0xFF),2))
painter.drawEllipse(x+1, y+1, w, h)
#painter.fillRect(x+1, y+1, w, h, color)
#painter.setPen(QColor(0x0000FF))
#painter.drawRect(x+1, y+1, w, h)
def pause(self):
'''pauses simulation'''
if not self.isStarted:
return
self.isPaused = not self.isPaused
if self.isPaused:
self.timer.stop()
self.msg2Statusbar.emit("paused")
else:
self.timer.start(Board.Speed, self)
currentTime = self.startDatetime + datetime.timedelta(0, self.timeCounter)
currentTimeStr = currentTime.strftime("%Y-%m-%d %H:%M:%S")
self.msg2Statusbar.emit('Simulation Time: {}'.format(currentTimeStr))
self.update()
def restart(self):
'''restart simulation'''
if not self.isStarted:
return
self.timeCounter = -1
self.sequenceCounter = 0
currentTimeStr = self.startDatetime.strftime("%Y-%m-%d %H:%M:%S")
self.msg2Statusbar.emit('Simulation Time: {}'.format(currentTimeStr))
#self.update()
def stop(self):
self.restart()
self.pause()
self.outputFile.close()
def keyPressEvent(self, event):
'''processes key press events'''
if not self.isStarted:
super(Board, self).keyPressEvent(event)
return
key = event.key()
if key == Qt.Key_P:
self.pause()
return
if self.isPaused:
return
elif key == Qt.Key_R:
self.restart()
return
else:
super(Board, self).keyPressEvent(event)
def timerEvent(self, event):
'''handles timer event'''
if event.timerId() == self.timer.timerId():
self.timeCounter += 1
if self.timeCounter in self.sequence:
self.sequenceCounter += 1
if self.sequenceCounter > len(self.sequence):
self.stop()
return
isStopTask = False
for seq in self.sequence[self.timeCounter]:
self.sensor.values[seq[0]]['ON'] = seq[1]
seq_code = Items.encode[seq[0][:-2]][1]
if len(seq) > 2:
self.taskName = seq[2]
if seq[3]:
self.taskStatus = True
self.textboxSequence.setText("")
self.textboxDetectError.setText("")
self.taskSequence = []
self.timer.stop()
self.timer.start(Board.Speed, self)
else:
isStopTask = True
self.taskStatus = False
self.timer.stop()
self.timer.start(Board.FastSpeed, self)
if isStopTask or (seq[1] and self.taskStatus):
if seq[1]: self.taskSequence.append(seq_code)
errorStatus = check_sequence(
Board.Dag[self.taskName].taskStart,
seq=self.taskSequence,
task_num=Board.Dag[self.taskName].numTasks)
if self.textboxSequence.text() == "":
self.textboxSequence.setText(seq_code)
else:
self.textboxSequence.setText(self.textboxSequence.text() + "-" + seq_code)
# Simulation in progress
if self.taskStatus:
subtaskName = errorStatus[2]
if errorStatus[1]:
self.textboxDetectError.setStyleSheet("background-color:#00ff00;")
else:
self.textboxDetectError.setStyleSheet("background-color:#ff0000;")
self.textboxDetectError.setText(subtaskName)
# Task has ended
elif isStopTask:
isStopTask = False
logger.info("{}: {}".format(self.taskName, self.textboxSequence.text()))
logger.info("prediction: {}".format(errorStatus))
self.outputFile.write("{}: {}\n".format(self.taskName, self.textboxSequence.text()))
self.outputFile.write("prediction: {}\n\n".format(errorStatus))
subtaskName = errorStatus[4]
if errorStatus[3]:
subtaskName = self.taskName + ": " + subtaskName
self.textboxDetectError.setStyleSheet("background-color:#00ff00;")
else:
self.textboxDetectError.setStyleSheet("background-color:#ff0000;")
self.textboxDetectError.setText(subtaskName)
currentTime = self.startDatetime + datetime.timedelta(0, self.timeCounter)
currentTimeStr = currentTime.strftime("%Y-%m-%d %H:%M:%S")
if self.taskStatus:
self.msg2Statusbar.emit('Simulation Time: {} Task: {}'.format(currentTimeStr, self.taskName))
else:
self.msg2Statusbar.emit('Simulation Time: {}'.format(currentTimeStr))
self.update()
else:
super(Board, self).timerEvent(event)
def clearBoard(self):
'''clears board'''
pass
class Sensor(object):
COLOR_1 = 0x00FF00
COLOR_2 = 0x0000FF
def __init__(self):
self.values = {'sink_tap_1':
{'ON': False,
'position': ((20*22)-8, 15), # x,y
'size': (20, 20), # w,h
'color': self.COLOR_1},
'sink_tap_2':
{'ON': False,
'position': ((20*22)-8+20, 15),
'size': (20, 20),
'color': self.COLOR_2},
'garbage_1':
{'ON': False,
'position': ((20*21)+2, 45),
'size': (15, 15),
'color': self.COLOR_1},
'garbage_2':
{'ON': False,
'position': ((20*21)+2+15, 45),
'size': (15, 15),
'color': self.COLOR_2},
'chair_1':
{'ON': False,
'position': ((20*7)+2, 65),
'size': (20, 20),
'color': self.COLOR_1},
'chair_2':
{'ON': False,
'position': ((20*7)+2+20, 65),
'size': (20, 20),
'color': self.COLOR_2},
'windowsill_plant_1':
{'ON': False,
'position': ((20*29)-3, 87),
'size': (20, 20),
'color': self.COLOR_1},
'windowsill_plant_2':
{'ON': False,
'position': ((20*29)-3, 87+20),
'size': (20, 20),
'color': self.COLOR_2},
'coffee_table_plant_1':
{'ON': False,
'position': ((20*6)-1, 240),
'size': (28, 28),
'color': self.COLOR_1},
'coffee_table_plant_2':
{'ON': False,
'position': ((20*6)-1+28, 240),
'size': (28, 28),
'color': self.COLOR_2},
'side_table_plant_1':
{'ON': False,
'position': (24, 175),
'size': (28, 28),
'color': self.COLOR_1},
'side_table_plant_2':
{'ON': False,
'position': (24+28, 175),
'size': (28, 28),
'color': self.COLOR_2},
'door_1':
{'ON': False,
'position': ((20*29)-3, 265),
'size': (20, 20),
'color': self.COLOR_1},
'door_2':
{'ON': False,
'position': ((20*29)-3, 265+20),
'size': (20, 20),
'color': self.COLOR_2},
'umbrella_1':
{'ON': False,
'position': ((20*30)+10, 15),
'size': (10, 10),
'color': self.COLOR_1},
'umbrella_2':
{'ON': False,
'position': ((20*30)+10+10, 15),
'size': (10, 10),
'color': self.COLOR_2},
'leash_1':
{'ON': False,
'position': ((20*30)+10, 15+20),
'size': (10, 10),
'color': self.COLOR_1},
'leash_2':
{'ON': False,
'position': ((20*30)+10+10, 15+20),
'size': (10, 10),
'color': self.COLOR_2},
'keys_1':
{'ON': False,
'position': ((20*30)+10, 15+40),
'size': (10, 10),
'color': self.COLOR_1},
'keys_2':
{'ON': False,
'position': ((20*30)+10+10, 15+40),
'size': (10, 10),
'color': self.COLOR_2},
'dog_1':
{'ON': False,
'position': ((20*30)+10, 15+60),
'size': (10, 10),
'color': self.COLOR_1},
'dog_2':
{'ON': False,
'position': ((20*30)+10+10, 15+60),
'size': (10, 10),
'color': self.COLOR_2},
'food_1':
{'ON': False,
'position': ((20*30)+10, 15+80),
'size': (10, 10),
'color': self.COLOR_1},
'food_2':
{'ON': False,
'position': ((20*30)+10+10, 15+80),
'size': (10, 10),
'color': self.COLOR_2},
'cup_1':
{'ON': False,
'position': ((20*30)+10, 15+100),
'size': (10, 10),
'color': self.COLOR_1},
'cup_2':
{'ON': False,
'position': ((20*30)+10+10, 15+100),
'size': (10, 10),
'color': self.COLOR_2},
'medication_1':
{'ON': False,
'position': ((20*30)+10, 15+120),
'size': (10, 10),
'color': self.COLOR_1},
'medication_2':
{'ON': False,
'position': ((20*30)+10+10, 15+120),
'size': (10, 10),
'color': self.COLOR_2},
'water_can_1':
{'ON': False,
'position': ((20*30)+10, 15+140),
'size': (10, 10),
'color': self.COLOR_1},
'water_can_2':
{'ON': False,
'position': ((20*30)+10+10, 15+140),
'size': (10, 10),
'color': self.COLOR_2}}
if __name__ == '__main__':
app = QApplication([])
ras = RAS()
sys.exit(app.exec_())