Added example for VideoStream class

CalibrationsGUI.py

@@ -193,8 +193,6 @@ def calibrateMotion(self):
             self.robotError()
             return
 
-        # Make sure VideoStream is collecting new frames
-        vStream.setPaused(False)
 
         showStep(1, "Do not make any movement in the cameras view until the next message appears.")
 
@@ -282,8 +280,6 @@ def calibrateCoordinates(self):
             if reply == 0: startFromScratch = True
             if reply == 1: startFromScratch = False
 
-        # Make sure everything is ready
-        vStream.setPaused(False)
 
         coordWizard = CoordWizard(self.env, startFromScratch, parent=self)
         coordWizard.exec_()

Examples/VideoStreamExample.py

@@ -0,0 +1,21 @@
+from Logic import Video
+import cv2
+
+
+# Create a VideoStream and start a video-retrieval thread
+vStream = Video.VideoStream()
+vStream.startThread()
+vStream.setNewCamera(0)
+
+# Play video until the user presses "q"
+key = None
+while not key == ord("q"):
+    frame = vStream.getFilteredFrame()
+
+    # If the camera has started up, then show the frame
+    if frame is not None: cv2.imshow("frame", frame)
+
+    key = cv2.waitKey(10)
+
+# Close the VideoStream Thread
+vStream.endThread()

Logic/Global.py

@@ -126,7 +126,7 @@ def ready(self):
             return False
 
 
-
+printRedirectFunc = lambda classString, string: None
 # Initiate Global Variables
 def init():
     global keysPressed

Logic/Robot.py

@@ -84,7 +84,7 @@ def __init__(self):
         self.zMin, self.zMax =  -5, 25
 
         # Set up some constants for other functions to use
-        self.home      = {'x': 0.0, 'y': 15.0, 'z': 20.0}
+        self.home      = {'x': 0.0, 'y': 15.0, 'z': 15}
 
 
         self.__exiting = False    # When true, any time-taking functions will exit ASAP. Used for quickly ending threads
@@ -417,7 +417,7 @@ def __setupThread(self, com):
         # Check if the uArm was able to connect successfully
         if self.__uArm.connected():
             printf("Robot| SUCCESS: uArm successfully connected")
-            self.__uArm.setXYZ(self.home['x'], self.home['y'], self.home['z'], self.speed)
+            # self.__uArm.setXYZ(self.home['x'], self.home['y'], self.home['z'], self.speed)
             self.__threadRunning = False
             self.setPos(**self.home)
             self.setActiveServos(all=False)

Logic/Video.py

@@ -66,13 +66,11 @@ def __init__(self, fps=24):
 
         self.running     = False
         self.setCamera   = None     # When this is a number and videoThread is on, it will attempt to setNewCamera(new)
-        self.paused      = True
 
         self.cameraID    = None
         self.fps         = fps
         self.cap         = None  # An OpenCV capture object
 
-
         self.frame       = None
         self.frameList   = []    # Used in computer vision tasks, this is a list of the last 5 frames (unfiltered)
         self.frameCount  = 0     # Used in waitForNewFrame()
@@ -98,15 +96,6 @@ def setNewCamera(self, cameraID):
         else:
             printf("Video| ERROR: Tried to set camera while camera was already being set! cameraID ", self.setCamera)
 
-    def setPaused(self, value):
-        # Tells the main frunction to grab more frames
-        if value is False:
-            # If you want to play video, make sure the main thread is running
-            if self.mainThread is None:
-                self.startThread()
-
-        self.paused = value
-
     def connected(self):
         # Returns True or False if there is a camera successfully connected
         if self.cap is None:        return False
@@ -148,7 +137,6 @@ def __videoThread(self):
             fpsTimer.wait()
             if not fpsTimer.ready():       continue
             if self.setCamera is not None: self.__setNewCamera(self.setCamera)
-            if self.paused:                continue
             if self.cap is None:           continue
 
 
@@ -258,7 +246,6 @@ def __setNewCamera(self, cameraID):
     def getFrame(self):
         # Returns the latest frame grabbed from the camera
         if self.frame is not None:
-            #
             return self.frame.copy()
         else:
             return None

MainGUI.py

@@ -73,7 +73,6 @@ def __init__(self):
         self.loadData        = []  #Set when file is loaded. Used to check if the user has changed anything when closing
         self.programTitle    = 'uArm Creator Studio'
         self.scriptToggleBtn = QtWidgets.QAction(QtGui.QIcon(Paths.run_script), 'Run', self)
-        self.videoToggleBtn  = QtWidgets.QAction(QtGui.QIcon(Paths.play_video), 'Video', self)
         self.devicesBtn      = QtWidgets.QAction(QtGui.QIcon(Paths.devices_neither), 'Devices', self)
         self.centralWidget   = QtWidgets.QStackedWidget()
         self.controlPanel    = ControlPanelGUI.ControlPanel(self.env, parent=self)
@@ -82,8 +81,9 @@ def __init__(self):
 
 
         # Create Menu items and set up the GUI
+        self.cameraWidget.play()
         self.initUI()
-        self.setVideo("play")
+
 
 
         # After initUI: Restore the window geometry to the state it was when the user last closed the window
@@ -191,7 +191,6 @@ def initUI(self):
         objMngrBtn   = QtWidgets.QAction(QtGui.QIcon(Paths.objectManager), 'Resources', self)
 
         self.scriptToggleBtn.setToolTip('Run/Pause the command script (Ctrl+R)')
-        self.videoToggleBtn.setToolTip('Play/Pause the video stream and Vision tracking')
         self.devicesBtn.setToolTip('Open Camera and Robot settings',)
         calibrateBtn.setToolTip('Open Robot and Camera Calibration Center')
         objMngrBtn.setToolTip('Open Resource Manager')
@@ -200,13 +199,11 @@ def initUI(self):
 
 
         self.scriptToggleBtn.triggered.connect(self.toggleScript)
-        self.videoToggleBtn.triggered.connect(lambda: self.setVideo("toggle"))
         self.devicesBtn.triggered.connect(self.openDevices)
         calibrateBtn.triggered.connect(self.openCalibrations)
         objMngrBtn.triggered.connect(self.openObjectManager)
 
         toolbar.addAction(self.scriptToggleBtn)
-        toolbar.addAction(self.videoToggleBtn)
         toolbar.addAction(self.devicesBtn)
         toolbar.addAction(calibrateBtn)
         toolbar.addAction(objMngrBtn)
@@ -278,22 +275,15 @@ def setVideo(self, state):
 
 
         vStream = self.env.getVStream()
-
         if state == "play":
             # Make sure the videoStream object has a camera, or if the cameras changed, change it
             # if not vStream.connected() or not vStream.cameraID == cameraID:
             #     vStream.setNewCamera(cameraID)
 
             self.cameraWidget.play()
-            vStream.setPaused(False)
-            self.videoToggleBtn.setIcon(QtGui.QIcon(Paths.pause_video))
-            self.videoToggleBtn.setText("Pause")
 
         if state == "pause":
             self.cameraWidget.pause()
-            vStream.setPaused(True)
-            self.videoToggleBtn.setIcon(QtGui.QIcon(Paths.play_video))
-            self.videoToggleBtn.setText("Play")
 
 
     def toggleScript(self):
@@ -439,12 +429,12 @@ def openDevices(self):
 
         if self.interpreter.threadRunning(): self.endScript()
 
-        self.setVideo("pause")  # If you don't pause video, scanning for cameras may crash the program
+        self.cameraWidget.pause()
 
         deviceWindow = DeviceWindow(parent=self)
         accepted     = deviceWindow.exec_()
 
-        self.setVideo("play")
+        self.cameraWidget.play()
         if not accepted:
             printf("GUI| Cancel clicked, no settings applied.")
             return
@@ -467,14 +457,14 @@ def openDevices(self):
 
 
 
-        self.setVideo("play")
+        self.cameraWidget.play()
 
     def openCalibrations(self):
         # This handles the opening and closing of the Calibrations window
         printf("GUI| Opening Calibrations Window")
 
         if self.interpreter.threadRunning(): self.endScript()
-        self.setVideo("pause")
+        self.cameraWidget.pause()
 
         coordSettings = self.env.getSetting("coordCalibrations")
         motionSettings = self.env.getSetting("motionCalibrations")
@@ -492,7 +482,7 @@ def openCalibrations(self):
         else:
             printf("GUI| Cancel clicked, no calibrations applied.")
 
-        self.setVideo("play")
+        self.cameraWidget.play()
 
     def openObjectManager(self, openResourceWindow=None):
         # This handles the opening and closing of the ObjectManager window