#!/usr/bin/env python3
"""A show control system with GUI."""
################################################################
# Written in 2018-2019 by Garth Zeglin <garthz@cmu.edu>
# To the extent possible under law, the author has dedicated all copyright
# and related and neighboring rights to this software to the public domain
# worldwide. This software is distributed without any warranty.
# You should have received a copy of the CC0 Public Domain Dedication along with this software.
# If not, see <http://creativecommons.org/publicdomain/zero/1.0/>.
################################################################
# standard Python libraries
from __future__ import print_function
import os, sys, logging
import numpy as np
# for documentation on the PyQt5 API, see http://pyqt.sourceforge.net/Docs/PyQt5/index.html
from PyQt5 import QtCore, QtWidgets, QtGui
# This uses several modules from the course library.
import rcp.QtWinch
import rcp.QtMPD218
import rcp.QtDMX
import rcp.QtConfig
import rcp.QtLog
import rcp.app
import rcp.dmx
import rcp.midi
import rcp.osc
import rcp.path
import rcp.winch
import rcp.sim
# set up logger for module
log = logging.getLogger('ex3')
################################################################
[docs]class AppWindow(QtWidgets.QMainWindow):
"""A custom main window which provides all GUI controls. This generally follows
a model-view-controller convention in which this window provides the views,
passing events to the application controller via callbacks.
"""
def __init__(self, main):
super().__init__()
# This GUI controller assumes it has access to an application controller with the methods of rcp.app.MainApp.
self.main = main
# create the GUI elements
self._setupUi()
# finish initialization
self.show()
return
[docs] def connect_callbacks(self):
"""Finish initializing the GUI by connecting all callbacks from GUI elements to
application controller methods. This allows the log window to be set up
early to capture any messages from the initialization of other object.
"""
self.winch_MIDI_controller.connect_midi_processor(self.main.winch_midi_logic)
self.DMX_controller.connect_callback(self.main.dmx_slider_change)
self.dmxSelect.callback = self.main.dmx.set_and_open_port
self.dmxSelect.set_items(self.main.dmx.available_ports())
self.winchMidiInputCombo.callback = self.main.winch_midi_listener.open_MIDI_input
self.winchMidiInputCombo.set_items(self.main.winch_midi_listener.get_midi_port_names())
self.midiOutputCombo.callback = self.main.midi_sender.open_MIDI_output
self.midiOutputCombo.set_items(self.main.midi_sender.get_midi_port_names())
self.oscListenerConfig.callback = self.main.osc_listener.set_OSC_port
self.oscSenderConfig.callback = self.main.osc_sender.set_OSC_port
for winch, selector in zip(self.main.winches, self.winchSelects):
selector.callback = winch.set_and_open_port
selector.set_items(winch.available_ports())
return
# ------------------------------------------------------------------------------------------------
def _setupUi(self):
# basic window setup
self.setWindowTitle("RCP System Controller: Exercise 3")
self.statusbar = QtWidgets.QStatusBar(self)
self.setStatusBar(self.statusbar)
# set up tabbed page structure
self.tabs = QtWidgets.QTabWidget()
self.setCentralWidget(self.tabs)
self.tabs.currentChanged.connect(self._tab_changed)
# generate an array of winch cartoons
self.winchTab = QtWidgets.QWidget(self)
self.winchTabLayout = QtWidgets.QVBoxLayout(self.winchTab)
self.tabs.addTab(self.winchTab, 'Motors')
self.winchSets = list()
for i in range(self.main.num_winch_sets):
winchSet = rcp.QtWinch.QtWinchSet()
self.winchTabLayout.addWidget(winchSet)
self.winchSets.append(winchSet)
# set up the winch MIDI input simulator tab
self.mainTab = QtWidgets.QWidget(self)
self.mainLayout = QtWidgets.QVBoxLayout(self.mainTab)
self.winch_MIDI_controller = rcp.QtMPD218.QtMPD218() # generate a simulated MPD218 controller
self.mainLayout.addWidget(self.winch_MIDI_controller)
self.tabs.addTab(self.mainTab, 'MIDI')
# generate a DMX controller tab
self.dmxTab = QtWidgets.QWidget(self)
self.dmxLayout = QtWidgets.QVBoxLayout(self.dmxTab)
self.dmxIndicators = QtWidgets.QHBoxLayout()
self.dmxOpacityIndicator = QtWidgets.QLabel()
self.dmxTempoIndicator = QtWidgets.QLabel()
labelFont = QtGui.QFont("Sans Serif", 14)
self.dmxOpacityIndicator.setFont(labelFont)
self.dmxTempoIndicator.setFont(labelFont)
self.dmxIndicators.addWidget(self.dmxTempoIndicator)
self.dmxIndicators.addWidget(self.dmxOpacityIndicator)
self.dmxIndicators.addWidget(QtWidgets.QWidget()) # to fill empty space on right
self.dmxLayout.addLayout(self.dmxIndicators)
self.DMX_controller = rcp.QtDMX.QtDMXControls(channels = self.main.config['dmx'].getint('sliders'))
self.dmxLayout.addWidget(self.DMX_controller)
self.tabs.addTab(self.dmxTab, 'DMX')
# set up the configuration tab
self.configForm = rcp.QtConfig.QtConfigForm()
self.tabs.addTab(self.configForm, 'Config')
self.configFileButtons = rcp.QtConfig.QtConfigFileButtons(delegate=self.main, path=self.main.configuration_file_path)
self.configForm.addField("Configuration file:", self.configFileButtons)
self.oscListenerConfig = rcp.QtConfig.QtConfigOSCPort()
self.configForm.addField("OSC message listener address:port", self.oscListenerConfig)
self.winchMidiInputCombo = rcp.QtConfig.QtConfigComboBox()
self.configForm.addField("Winch MIDI input", self.winchMidiInputCombo)
self.winchSelects = list()
for i in range(self.main.num_winch_sets):
winchSelect = rcp.QtConfig.QtConfigComboBox()
self.configForm.addField("Winch %d output serial port" % (i+1), winchSelect)
self.winchSelects.append(winchSelect)
self.midiOutputCombo = rcp.QtConfig.QtConfigComboBox()
self.configForm.addField("MIDI output", self.midiOutputCombo)
self.dmxSelect = rcp.QtConfig.QtConfigComboBox()
self.configForm.addField("DMX output serial port", self.dmxSelect)
self.oscSenderConfig = rcp.QtConfig.QtConfigOSCPort()
self.configForm.addField("OSC destination adddress:port", self.oscSenderConfig)
# set up the logging tab
self.logDisplay = rcp.QtLog.QtLog(level=logging.INFO)
self.tabs.addTab(self.logDisplay, 'Log')
return
# --- window and Qt event processing -------------------------------------------------------------
[docs] def set_status(self, string):
"""Update the status bar at the bottom of the display to show the provided string."""
self.statusbar.showMessage(string)
return
[docs] def update_opacity_indicator(self, opacity):
self.dmxOpacityIndicator.setText("Opacity = %5.1f%%" % (100*opacity))
return
[docs] def update_tempo_indicator(self, tempo):
self.dmxTempoIndicator.setText("Tempo = %d" % tempo)
return
def _tab_changed(self, index):
log.debug("Tab changed to %d", index)
return
[docs] def closeEvent(self, event):
"""Qt callback received before windows closes."""
log.info("Received window close event.")
self.main.app_is_exiting()
super().closeEvent(event)
return
# ---- configuration management --------------------------------------------------------------------
[docs] def apply_user_configuration(self, config):
"""Apply the persistent configuration values from a configparser section proxy object."""
self.logDisplay.set_logging_level(config['log'].get('logging_level', fallback='Verbose'))
# MIDI
self.winchMidiInputCombo.select_item(config['midi'].get('winch_midi_input', fallback='<no selection>'))
self.midiOutputCombo.select_item(config['midi'].get('midi_output', fallback='<no selection>'))
# OSC
oscdef = config['osc']
self.oscListenerConfig.set_OSC_port(oscdef.get('listener_addr', fallback='localhost'),
oscdef.getint('listener_port', fallback=3751))
self.oscSenderConfig.set_OSC_port(oscdef.get('sender_addr', fallback='localhost'),
oscdef.getint('sender_port', fallback=3752))
# DMX
self.dmxSelect.select_item(config['dmx'].get('dmx_output_serial_port', fallback='<no selection>'))
# winches
for i, winchSelect in enumerate(self.winchSelects):
key = "winch_%d_output_serial_port" % (i+1)
winchSelect.select_item(config['winches'].get(key, fallback = '<no selection>'))
return
[docs] def gather_configuration(self, config):
"""Update the persistent configuration values in a configparser section proxy object."""
config['log']['logging_level'] = self.logDisplay.get_logging_level()
# MIDI
config['midi']['winch_midi_input'] = self.winchMidiInputCombo.current_item()
config['midi']['midi_output'] = self.midiOutputCombo.current_item()
# OSC
addr, port = self.oscListenerConfig.get_OSC_port()
config['osc']['listener_addr'] = addr
config['osc']['listener_port'] = str(port)
addr, port = self.oscSenderConfig.get_OSC_port()
config['osc']['sender_addr'] = addr
config['osc']['sender_port'] = str(port)
# DMX
config['dmx']['dmx_output_serial_port'] = self.dmxSelect.current_item()
# winches
for i, winchSelect in enumerate(self.winchSelects):
key = "winch_%d_output_serial_port" % (i+1)
config['winches'][key] = winchSelect.current_item()
return
# --------------------------------------------------------------------------------------------------
################################################################
[docs]class WinchMIDILogic(rcp.midi.MIDIProcessor):
"""Core performance logic for processing MIDI input into winch commands."""
def __init__(self, main):
super().__init__()
self.main = main
# global parameters
self.frequency = 1.0
self.damping_ratio = 1.0
self.all_axes = range(4) # index list for updating all motors
return
#---- methods for distributing winch events across multiple winch sets and simulators ---------
[docs] def set_freq_damping(self):
for winch in self.main.winches:
winch.set_freq_damping(self.all_axes, self.frequency, self.damping_ratio)
for sim in self.main.sims:
sim.set_freq_damping(self.all_axes, self.frequency, self.damping_ratio)
self.main.window.set_status("Frequency: %f, damping ratio: %f" % (self.frequency, self.damping_ratio))
return
[docs] def increment_target(self, winch_index, steps):
"""Map a given winch index to the particular winch set."""
set_index = winch_index // 4
winch_id = winch_index % 4
if set_index < self.main.num_winch_sets:
self.main.winches[set_index].increment_target(winch_id, steps)
self.main.sims[set_index].increment_target(winch_id, steps)
return
#---- methods to process MIDI messages -------------------------------------
[docs] def note_on(self, channel, key, velocity):
"""Process a MIDI Note On event."""
log.debug("WinchMIDILogic received note on: %d, %d", key, velocity)
row, col, bank = self.decode_mpd218_key(key)
# Each pair of pads maps to a single winch. Each bank can address up to 8 winches (two sets).
winch_index = 8*bank + 4*(row // 2) + col
# Apply a non-linear scaling to the velocity.
delta = int(velocity**1.6 * 0.125)
if row == 1 or row == 3:
delta = -delta
self.increment_target(winch_index, delta)
return
[docs] def note_off(self, channel, key, velocity):
"""Process a MIDI Note Off event."""
log.debug("WinchMIDILogic received note off: %d, %d", key, velocity)
row, col, bank = self.decode_mpd218_key(key)
return
[docs] def control_change(self, channel, cc, value):
"""Process a MIDI Control Change event."""
knob, bank = self.decode_mpd218_cc(cc)
log.debug("Winch control change %d on knob %d bank %d", cc, knob, bank)
if knob == 1: # Knob #1 on MPD218, use to control resonant frequency
self.frequency = 0.05 + 0.1 * value
self.set_freq_damping()
elif knob == 2: # Knob #2 on on MPD218, use to control damping ratio
self.damping_ratio = 0.05 + 0.01 * value
self.set_freq_damping()
[docs] def channel_pressure(self, channel, pressure):
"""Process a MIDI Channel Pressure event."""
log.debug("channel aftertouch: %d", pressure)
return
################################################################
[docs]class MainApp(rcp.app.MainApp):
"""Main application controller object holding any non-GUI related state."""
def __init__(self):
log.debug("Entering MainApp.__init__")
# rcp.app.MainApp initialization, including the creation of the self.config object
super().__init__()
# load the configuration if available; this allows basic window setup to be specified
self.load_configuration()
self.num_winch_sets = self.config['winches'].getint('winch_sets', fallback=4)
# create the interface window
self.window = AppWindow(self)
# initialize the winch set simulators
self.sims = [rcp.sim.SimWinch() for i in range(self.num_winch_sets)]
# Initialize the MIDI input system for controlling winches.
self.winch_midi_logic = WinchMIDILogic(self)
self.winch_midi_listener = rcp.midi.QtMIDIListener()
self.winch_midi_listener.connect_midi_processor(self.winch_midi_logic)
# Initialize the OSC message listener and dispatch system.
self.osc_listener = rcp.osc.QtOSCListener()
# Add endpoints to the OSC listener dispatch system.
self.osc_listener.map_handler("/midi", self._received_remote_midi)
self.osc_listener.map_handler("/dmx/*", self._received_remote_dmx)
# Initialize the MIDI output system.
self.midi_sender = rcp.midi.QtMIDISender()
# Initialize the OSC message sender.
self.osc_sender = rcp.osc.QtOSCSender()
# Initialize the hardware winch system.
self.winches = [rcp.winch.QtSerialWinch() for i in range(self.num_winch_sets)]
# Initialize the DMX lighting output system.
self.dmx = rcp.dmx.QtDMXUSBPro()
self.dmx.set_size(self.config['dmx'].getint('channels'))
# Finish connecting the window callbacks.
self.window.connect_callbacks()
# start the graphics animation timer
self.frame_interval = 0.040
self.frame_timer = QtCore.QTimer()
self.frame_timer.start(1000*self.frame_interval) # units are milliseconds
self.frame_timer.timeout.connect(self.frame_timer_tick)
return
# ---- configuration management -------------------------------------------------
[docs] def initialize_default_configuration(self):
# Extend the default implementation to add application-specific defaults.
super().initialize_default_configuration()
self.config['log'] = {}
self.config['osc'] = {}
self.config['midi'] = { }
self.config['dmx'] = {'channels' : 4, 'fixtures' : 1, 'channels_per_fixture' : 1, 'sliders' : 4}
self.config['winches'] = {}
return
[docs] def save_configuration(self, path=None):
# Extend the default implementation to gather up configuration values.
self.window.gather_configuration(self.config)
try:
super().save_configuration(path)
except PermissionError:
log.warning("Unable to write configuration to %s", self.configuration_file_path)
[docs] def apply_configuration(self):
self.window.apply_user_configuration(self.config)
# ---- application event handlers -----------------------------------------------
[docs] def app_has_started(self):
super().app_has_started()
self.apply_configuration()
self.osc_listener.open_receiver()
self.osc_sender.open_sender()
[docs] def app_is_exiting(self):
self.dmx.close()
for winch in self.winches:
winch.close()
super().app_is_exiting()
# ---- process OSC network messages ---------------------------------------
# The midi_osc_bridge.py tool can tunnel MIDI messages over the network as
# OSC packets. This routes any bridged MIDI data into the same performance
# logic.
def _received_remote_midi(self, msgaddr, *args):
log.debug("remote midi: %s", " ".join([str(arg) for arg in args]))
self.decode_message(args)
return
def _received_remote_dmx(self, msgaddr, *args):
# This receives OSC messages prefixed with /dmx intended for direct
# application to the DMX output, bypassing the control logic.
log.debug("remote DMX: %s %s", msgaddr, " ".join([str(arg) for arg in args]))
if msgaddr=='/dmx/fixture' and len(args) == 4:
fixture = args[0]
self.dmx_remote_update(fixture, args[1:])
#---- methods related to DMX -------------------------------------
[docs] def dmx_slider_change(self, channel, value):
"""Callback invoked when a DMX channel strip slider is moved."""
self.dmx.set_channel(channel, value)
#--- generate graphics animation updates ---------------------------------------------------
[docs] def frame_timer_tick(self):
# Method called at intervals by the animation timer to update the model and graphics.
for winchset, sim in zip(self.window.winchSets, self.sims):
sim.update_for_interval(self.frame_interval)
positions = sim.positions()
for pos, cartoon in zip(positions, winchset.winches()):
cartoon.update_position(pos)
################################################################
def _main():
# temporary increase in debugging output
# rcp.app.add_console_log_handler()
# capture log messages generated before the window opens
mem_log_handler = rcp.app.add_memory_log_handler()
# initialize the Qt system itself
app = QtWidgets.QApplication(sys.argv)
# create the main application controller
main = MainApp()
# finish the memory handler
main.window.logDisplay.flush_and_remove_memory_handler(mem_log_handler)
# Send a signal to be received after the application event loop starts.
QtCore.QTimer.singleShot(0, main.app_has_started)
# run the event loop until the user is done
log.info("Starting event loop.")
sys.exit(app.exec_())
################################################################
# Main script follows. This sequence is executed when the script is initiated from the command line.
if __name__ == "__main__":
_main()