MiniEduBotExplorer.py

# -*- coding: utf-8 -*-
import sys, random, math
from PyQt5.QtWidgets import (
    QApplication, QWidget, QPushButton, QLabel, QVBoxLayout, QHBoxLayout,
    QTextEdit, QProgressBar, QGraphicsView, QGraphicsScene, QGraphicsEllipseItem, QFrame,
    QGraphicsRectItem, QGraphicsLineItem, QGroupBox, QCheckBox, QGridLayout
)
from PyQt5.QtCore import Qt, QTimer, QPointF
from PyQt5.QtGui import QBrush, QColor, QPen, QFont

class EduBotExplorer(QWidget):
    def __init__(self):
        super().__init__()
        self.setWindowTitle("EduBot Explorer")
        self.setGeometry(50, 50, 600, 500)
        
        self.robot_x, self.robot_y = 70, 70
        self.start_x, self.start_y = 70, 70
        self.robot_trail = []
        self.trail_lines = []
        self.obstacles = []
        self.autonomous_mode = False
        self.target_x, self.target_y = None, None
        self.target_item = None
        self.target_selection_mode = False
        self.autonomous_timer = QTimer()
        
        self.setup_ui()
        self.setup_connections()
        self.setup_timer()
        self.draw_map()

    def setup_ui(self):
        self.controls = {
            "Forward": QPushButton("▲"),
            "Backward": QPushButton("▼"),
            "Left": QPushButton("◄"),
            "Right": QPushButton("►"),
            "Stop": QPushButton("Stop"),
            "Clear": QPushButton("Clear"),
            "Home": QPushButton("Home"),
            "Auto": QPushButton("Auto")
        }
        
        button_style = "QPushButton { font-weight: bold; border-radius: 3px; padding: 1px; font-size: 9px; margin: 1px; } QPushButton:hover { background-color: rgba(255,255,255,0.2); }"
        
        self.controls["Forward"].setStyleSheet(button_style + "background-color: #2E7D32; color: white;")
        self.controls["Backward"].setStyleSheet(button_style + "background-color: #C62828; color: white;")
        self.controls["Left"].setStyleSheet(button_style + "background-color: #1565C0; color: white;")
        self.controls["Right"].setStyleSheet(button_style + "background-color: #1565C0; color: white;")
        self.controls["Stop"].setStyleSheet(button_style + "background-color: #EF6C00; color: white;")
        self.controls["Clear"].setStyleSheet(button_style + "background-color: #7B1FA2; color: white;")
        self.controls["Home"].setStyleSheet(button_style + "background-color: #455A64; color: white;")
        self.controls["Auto"].setStyleSheet(button_style + "background-color: #7B1FA2; color: white;")
        
        for btn in self.controls.values():
            btn.setFixedSize(35, 22)
        
        movement_layout = QGridLayout()
        movement_layout.addWidget(self.controls["Forward"], 0, 1)
        movement_layout.addWidget(self.controls["Left"], 1, 0)
        movement_layout.addWidget(self.controls["Stop"], 1, 1)
        movement_layout.addWidget(self.controls["Right"], 1, 2)
        movement_layout.addWidget(self.controls["Backward"], 2, 1)
        movement_layout.setSpacing(2)
        movement_layout.setContentsMargins(0, 0, 0, 0)

        control_buttons_layout = QHBoxLayout()
        control_buttons_layout.addWidget(self.controls["Clear"])
        control_buttons_layout.addWidget(self.controls["Home"])
        control_buttons_layout.addWidget(self.controls["Auto"])
        control_buttons_layout.setSpacing(2)
        control_buttons_layout.setContentsMargins(0, 0, 0, 0)
        
        autonomous_group = QGroupBox("Auto")
        autonomous_group.setMaximumHeight(65)
        autonomous_group.setStyleSheet("QGroupBox { font-weight: bold; color: #37474F; font-size: 9px; border: 1px solid #BDBDBD; margin-top: 10px; }")
        autonomous_layout = QVBoxLayout()
        autonomous_layout.setSpacing(1)
        
        self.autonomous_check = QCheckBox("Enable")
        self.autonomous_check.setStyleSheet("font-weight: normal; color: #37474F; font-size: 8px;")
        
        self.target_btn = QPushButton("Set Target")
        self.target_btn.setStyleSheet("QPushButton { background-color: #AD1457; color: white; border-radius: 2px; font-size: 8px; padding: 0px; } QPushButton:hover { background-color: #880E4F; }")
        self.target_btn.setFixedHeight(18)
        
        self.target_label = QLabel("Target: Not set")
        self.target_label.setStyleSheet("font-size: 8px; background-color: #FFF9C4; padding: 1px; border-radius: 1px;")
        
        autonomous_layout.addWidget(self.autonomous_check)
        autonomous_layout.addWidget(self.target_btn)
        autonomous_layout.addWidget(self.target_label)
        autonomous_group.setLayout(autonomous_layout)

        self.sensor_label = QLabel("Dist: -- cm | Temp: -- °C")
        self.sensor_label.setStyleSheet("font-weight: bold; font-size: 9px; background-color: #E1F5FE; padding: 2px; border-radius: 2px; border: 1px solid #B3E5FC;")
        self.sensor_label.setMaximumHeight(18)

        self.battery_bar = QProgressBar()
        self.battery_bar.setValue(100)
        self.battery_bar.setFormat("Battery: %p%")
        self.battery_bar.setStyleSheet("QProgressBar { border: 1px solid #B0BEC5; border-radius: 2px; text-align: center; height: 14px; background-color: #ECEFF1; font-size: 8px; } QProgressBar::chunk { background-color: #4CAF50; border-radius: 1px; }")
        self.battery_bar.setMaximumHeight(16)

        self.scene = QGraphicsScene(0, 0, 280, 180)
        self.map_view = QGraphicsView(self.scene)
        self.map_view.setFixedHeight(140)
        self.map_view.setFrameShape(QFrame.Box)
        self.map_view.setStyleSheet("background-color: #F5F5F5; border: 1px solid #BDBDBD; border-radius: 2px;")
        self.map_view.setSceneRect(0, 0, 280, 180)
        self.map_view.mousePressEvent = self.map_clicked

        self.robot_item = QGraphicsEllipseItem(0, 0, 12, 12)
        self.robot_item.setBrush(QBrush(QColor("#FF5722")))
        self.robot_item.setPen(QPen(Qt.black, 1))
        self.scene.addItem(self.robot_item)
        self.robot_item.setPos(self.robot_x, self.robot_y)

        self.position_label = QLabel("Position: (70, 70)")
        self.position_label.setStyleSheet("font-size: 9px; background-color: #FFF9C4; padding: 1px; border-radius: 1px; border: 1px solid #FFEB3B;")
        self.position_label.setMaximumHeight(16)

        self.log = QTextEdit()
        self.log.setReadOnly(True)
        self.log.setPlaceholderText("Log...")
        self.log.setStyleSheet("background-color: #FAFAFA; border: 1px solid #E0E0E0; border-radius: 2px; font-size: 8px;")
        self.log.setMaximumHeight(60)

        main_layout = QVBoxLayout()
        main_layout.addLayout(movement_layout)
        main_layout.addLayout(control_buttons_layout)
        
        info_layout = QHBoxLayout()
        info_layout.addWidget(autonomous_group)
        info_layout.addWidget(self.sensor_label)
        info_layout.setSpacing(3)
        
        main_layout.addLayout(info_layout)
        main_layout.addWidget(self.position_label)
        main_layout.addWidget(self.battery_bar)
        
        map_label = QLabel("Robot Map")
        map_label.setStyleSheet("font-size: 9px; font-weight: bold; color: #37474F;")
        main_layout.addWidget(map_label)
        main_layout.addWidget(self.map_view)
        
        log_label = QLabel("Command Log")
        log_label.setStyleSheet("font-size: 9px; font-weight: bold; color: #37474F;")
        main_layout.addWidget(log_label)
        main_layout.addWidget(self.log)
        
        main_layout.setSpacing(3)
        main_layout.setContentsMargins(5, 5, 5, 5)
        self.setLayout(main_layout)
        
        self.setStyleSheet("background-color: #F5F5F5; font-family: Arial;")

    def draw_map(self):
        for x in range(0, 280, 15):
            line = QGraphicsLineItem(x, 0, x, 180)
            line.setPen(QPen(QColor("#E0E0E0"), 0.5))
            self.scene.addItem(line)
            
        for y in range(0, 180, 15):
            line = QGraphicsLineItem(0, y, 280, y)
            line.setPen(QPen(QColor("#E0E0E0"), 0.5))
            self.scene.addItem(line)
        
        border = QGraphicsRectItem(0, 0, 280, 180)
        border.setPen(QPen(Qt.black, 2))
        self.scene.addItem(border)
        
        obstacle_positions = [
            (40, 40, 25, 25), (170, 60, 30, 15), 
            (120, 110, 20, 30), (220, 90, 25, 25)
        ]
        
        for x, y, w, h in obstacle_positions:
            obstacle = QGraphicsRectItem(x, y, w, h)
            obstacle.setBrush(QBrush(QColor("#9E9E9E")))
            obstacle.setPen(QPen(Qt.black, 1))
            self.scene.addItem(obstacle)
            self.obstacles.append(obstacle)

    def setup_connections(self):
        self.controls["Forward"].clicked.connect(lambda: self.move_robot(0, -8, "Forward"))
        self.controls["Backward"].clicked.connect(lambda: self.move_robot(0, 8, "Backward"))
        self.controls["Left"].clicked.connect(lambda: self.move_robot(-8, 0, "Left"))
        self.controls["Right"].clicked.connect(lambda: self.move_robot(8, 0, "Right"))
        self.controls["Stop"].clicked.connect(self.emergency_stop)
        self.controls["Clear"].clicked.connect(self.clear_map)
        self.controls["Home"].clicked.connect(self.return_to_start)
        self.controls["Auto"].clicked.connect(self.auto_move_random)
        self.autonomous_check.stateChanged.connect(self.toggle_autonomous_mode)
        self.target_btn.clicked.connect(self.enable_target_selection)
        self.autonomous_timer.timeout.connect(self.autonomous_move)

    def map_clicked(self, event):
        if self.target_selection_mode:
            pos = self.map_view.mapToScene(event.pos())
            self.set_target(pos.x(), pos.y())
        event.accept()

    def set_target(self, x, y):
        if self.target_item:
            self.scene.removeItem(self.target_item)
        
        self.target_x, self.target_y = x, y
        self.target_item = QGraphicsEllipseItem(x-8, y-8, 16, 16)
        self.target_item.setBrush(QBrush(QColor("#FF0000")))
        self.target_item.setPen(QPen(Qt.black, 2))
        self.target_item.setZValue(10)
        self.scene.addItem(self.target_item)
        
        self.target_label.setText(f"Target: ({int(x)}, {int(y)})")
        self.log.append(f"Target set at: ({int(x)}, {int(y)})")
        
        self.target_selection_mode = False
        self.target_btn.setStyleSheet("QPushButton { background-color: #AD1457; color: white; border-radius: 2px; font-size: 8px; padding: 0px; }")
        
        if self.autonomous_mode:
            self.autonomous_timer.start(100)

    def enable_target_selection(self):
        self.target_selection_mode = True
        self.log.append("Click on the map to set target")
        self.target_btn.setStyleSheet("QPushButton { background-color: #C2185B; color: white; border-radius: 2px; font-size: 8px; padding: 0px; font-weight: bold; }")

    def toggle_autonomous_mode(self, state):
        self.autonomous_mode = state == Qt.Checked
        if self.autonomous_mode:
            self.log.append("Autonomous mode enabled")
            if self.target_x is not None:
                self.autonomous_timer.start(100)
            else:
                self.log.append("Please set a target first")
                self.autonomous_check.setChecked(False)
                self.autonomous_mode = False
        else:
            self.log.append("Autonomous mode disabled")
            self.autonomous_timer.stop()

    def autonomous_move(self):
        if self.target_x is None or not self.autonomous_mode:
            self.autonomous_timer.stop()
            return
            
        dx = self.target_x - (self.robot_x + 6)
        dy = self.target_y - (self.robot_y + 6)
        
        distance = math.sqrt(dx*dx + dy*dy)
        
        if distance < 8:
            self.log.append("Target reached!")
            self.autonomous_timer.stop()
            return
            
        dx = dx / distance * 4
        dy = dy / distance * 4
        
        self.move_robot(dx, dy, "Autonomous move")

    def auto_move_random(self):
        random_x = random.randint(15, 265)
        random_y = random.randint(15, 165)
        self.set_target(random_x, random_y)
        
        if not self.autonomous_mode:
            self.autonomous_check.setChecked(True)
            self.autonomous_mode = True
            self.autonomous_timer.start(100)

    def emergency_stop(self):
        self.autonomous_mode = False
        self.autonomous_check.setChecked(False)
        self.autonomous_timer.stop()
        self.send_command("Emergency Stop")

    def clear_map(self):
        for line in self.trail_lines:
            self.scene.removeItem(line)
        self.trail_lines.clear()
        self.robot_trail.clear()
        
        if self.target_item:
            self.scene.removeItem(self.target_item)
            self.target_item = None
            self.target_x, self.target_y = None, None
            self.target_label.setText("Target: Not set")
            
        self.log.append("Map cleared")

    def return_to_start(self):
        self.robot_x, self.robot_y = self.start_x, self.start_y
        self.robot_item.setPos(self.robot_x, self.robot_y)
        self.position_label.setText(f"Position: ({self.robot_x}, {self.robot_y})")
        self.log.append("Returned to start position")

    def setup_timer(self):
        self.timer = QTimer()
        self.timer.timeout.connect(self.update_sensors)
        self.timer.start(1000)

    def move_robot(self, dx, dy, command):
        self.robot_trail.append((self.robot_x, self.robot_y))
        
        new_x = max(8, min(self.robot_x + dx, 268))
        new_y = max(8, min(self.robot_y + dy, 168))
        
        self.robot_x = new_x
        self.robot_y = new_y
        
        self.robot_item.setPos(self.robot_x, self.robot_y)
        
        if len(self.robot_trail) > 1:
            prev_x, prev_y = self.robot_trail[-1]
            trail_line = QGraphicsLineItem(prev_x + 6, prev_y + 6, self.robot_x + 6, self.robot_y + 6)
            trail_line.setPen(QPen(QColor("#2196F3"), 1.5))
            self.scene.addItem(trail_line)
            self.trail_lines.append(trail_line)
        
        self.position_label.setText(f"Position: ({int(self.robot_x)}, {int(self.robot_y)})")
        self.send_command(command)

    def send_command(self, command):
        self.log.append(f"Command: {command}")

    def update_sensors(self):
        distance = random.randint(10, 100)
        temperature = random.randint(20, 35)
        battery = max(0, self.battery_bar.value() - random.randint(0, 2))
        self.sensor_label.setText(f"Dist: {distance} cm | Temp: {temperature} °C")
        self.battery_bar.setValue(battery)
        
        if battery < 20:
            self.battery_bar.setStyleSheet("QProgressBar { border: 1px solid #B0BEC5; border-radius: 2px; text-align: center; height: 14px; background-color: #ECEFF1; font-size: 8px; } QProgressBar::chunk { background-color: #F44336; border-radius: 1px; }")
        elif battery < 50:
            self.battery_bar.setStyleSheet("QProgressBar { border: 1px solid #B0BEC5; border-radius: 2px; text-align: center; height: 14px; background-color: #ECEFF1; font-size: 8px; } QProgressBar::chunk { background-color: #FFC107; border-radius: 1px; }")
        else:
            self.battery_bar.setStyleSheet("QProgressBar { border: 1px solid #B0BEC5; border-radius: 2px; text-align: center; height: 14px; background-color: #ECEFF1; font-size: 8px; } QProgressBar::chunk { background-color: #4CAF50; border-radius: 1px; }")

if __name__ == "__main__":
    app = QApplication(sys.argv)
    window = EduBotExplorer()
    window.show()
    sys.exit(app.exec_())