def __init__(self):
super().__init__()
self.config = Config("config.ini")
# INIT Controls
self.wheels = Wheels(self.config.steeringMid, self.config.steeringLeft,
self.config.steeringRight)
self.accelerator = Accelerator(self.config, self)
self.__initUI()
self.statusBar().showMessage("Board not connected")
# Init uds listener
self._log("Init udp at {}:{}".format(
get_ip(), self.config.getOption('udp_port')))
self.udpSocket = QUdpSocket()
self.udpSocket.setLocalAddress(QHostAddress(get_ip()))
self.udpSocket.bind(self.config.getOption('udp_port'))
self.udpSocket.readyRead.connect(self.udpHandler)
# Init tcp server
self.tcpServer = QTcpServer(self)
self._log("Starting TCP at {}:{} ".format(
get_ip(), str(self.config.getOption('tcp_port'))))
self.tcpServer.listen(QHostAddress(get_ip()),
self.config.getOption('tcp_port'))
self.tcpServer.newConnection.connect(self.establishBoardConnection)
self.show()
def __init__(self):
Accelerator.__init__(self)
self.sections = list()
self.width = 7770.0
LinacSection.id = 1
def runLoop(self):
n = self.loopLimit
# Run a single Accelerator model, through N loops
while n > 0:
acc = Accelerator(self.screenLimit, self.screenAssumptions, self.evaluateAssumptions, self.incubateAssumptions, self.accelerateAssumptions, self.developAssumptions)
# Run Accelerator for 16 years
c = 15
while c > 0:
acc.runAccelerator()
c = c - 1
# Update loop running totals (to calculate averages later)
self.totalSuccesses = self.totalSuccesses + acc.getTotalSuccess()
self.totalScreen = self.totalScreen + acc.getTotalScreen()
self.totalEvaluate = self.totalEvaluate + acc.getTotalEvaluate()
self.totalIncubate = self.totalIncubate + acc.getTotalIncubate()
self.totalAccelerate = self.totalAccelerate + acc.getTotalAccelerate()
self.totalDevelop = self.totalDevelop + acc.getTotalDevelop()
self.totalBudget = self.totalBudget + acc.getTotalBudget()
self.totalPeakBudget = self.totalPeakBudget + acc.getPeakBudget()
self.totalPeakHeadcount = self.totalPeakHeadcount + acc.getPeakHeadcount()
if acc.getTotalSuccess() > self.goal2030:
self.goal = self.goal + 1
# Print a model accelerator out to CSV
if acc.getTotalSuccess() == 2 and not self.written and acc.getFinalBudget() > 0:
acc.writeModel()
self.written = True
n = n - 1
if tpfilePath:
touchpanel = TouchPanel(tpfilePath)
context.setContextProperty("_TouchPanel", touchpanel)
touchpanel.start()
else:
logging.debug("touch panel device file path is wrong!")
if LedsKeyPath:
ledkey = LedsKey(LedsKeyPath)
context.setContextProperty("_LedsKey", ledkey)
ledkey.start()
else:
logging.debug("gpio_keys device file path is wrong!")
if AcceleratorPath:
axis = Accelerator(AcceleratorPath)
context.setContextProperty("_Accelerator", axis)
axis.start()
else:
logging.debug("Accelerator device file path is wrong!")
# context = view.rootContext()
context.setContextProperty("_CpuUsage", cpu)
context.setContextProperty("_Cputemperature", cputem)
context.setContextProperty("_RamUsage", arm)
context.setContextProperty("_StorageUsage", Storage)
context.setContextProperty("_Systeminfo", sysinfo)
context.setContextProperty("_Settting", seting)
context.setContextProperty("_LightSensor", light)
cpu.start()
def __init__(self):
Accelerator.__init__(self)
self.sections = list()
self.width = 7770.0
LinacSection.id = 1
class MainWindow(QMainWindow):
config = None
udpSocket = None
tcpServer = None
tcpBoard = None
board_connection = None
wheels = None
accelerator = None
def __init__(self):
super().__init__()
self.config = Config("config.ini")
# INIT Controls
self.wheels = Wheels(self.config.steeringMid, self.config.steeringLeft,
self.config.steeringRight)
self.accelerator = Accelerator(self.config, self)
self.__initUI()
self.statusBar().showMessage("Board not connected")
# Init uds listener
self._log("Init udp at {}:{}".format(
get_ip(), self.config.getOption('udp_port')))
self.udpSocket = QUdpSocket()
self.udpSocket.setLocalAddress(QHostAddress(get_ip()))
self.udpSocket.bind(self.config.getOption('udp_port'))
self.udpSocket.readyRead.connect(self.udpHandler)
# Init tcp server
self.tcpServer = QTcpServer(self)
self._log("Starting TCP at {}:{} ".format(
get_ip(), str(self.config.getOption('tcp_port'))))
self.tcpServer.listen(QHostAddress(get_ip()),
self.config.getOption('tcp_port'))
self.tcpServer.newConnection.connect(self.establishBoardConnection)
self.show()
def __initUI(self):
# Set up the user interface from Designer.
uic.loadUi("main.ui", self)
self.updateWheelsImage()
# Connect up the buttons.
# self.connectButton.clicked.connect(self.onConnect)
self.query.returnPressed.connect(self.onSend)
self.sendButton.clicked.connect(self.onSend)
self.clearLogButton.clicked.connect(self.onClearLog)
self.debugButton.clicked.connect(self.onDebug)
self.timer = QBasicTimer()
self.timer.start(100, self)
def updateWheelsImage(self):
pos = self.wheels.getPos()
image = 'res/flat_wheel.png'
if pos == self.wheels.POS_LEFT:
image = 'res/left_wheel.png'
if pos == self.wheels.POS_RIGHT:
image = 'res/right_wheel.png'
# Create widget
pixmap = QPixmap(image)
self.wheelsImage.setPixmap(pixmap)
self.wheelsImage.setFixedWidth(pixmap.width())
self.wheelsImage.setFixedHeight(pixmap.height())
self.show()
def udpHandler(self):
udp_handler = UdpBoardHandler(self.udpSocket, self.console,
self.handleBoard, self.config)
udp_handler.handle_board()
def handleBoard(self, host: QHostAddress, port):
message = "Board found at {}:{}".format(host.toIPv4Address(), port)
self._log(message)
def establishBoardConnection(self):
self.board_connection = self.tcpServer.nextPendingConnection()
self.board_connection.readyRead.connect(self.messageFromBoard)
self._log("board here")
def messageFromBoard(self):
instr = QDataStream(self.board_connection)
instr.setVersion(QDataStream.Qt_5_0)
if self.board_connection.bytesAvailable() > 0:
self._log(str(self.board_connection.readAll()))
def sendCommand(self, cmd):
cmd = cmd.strip()
self._log("Send: {}".format(cmd))
if self.board_connection.__class__.__name__ != 'NoneType':
self.board_connection.write(cmd.encode())
else:
self._log("Unable send command. No connection")
def keyPressEvent(self, event):
'''
A - left
D - right
S - wheel mid
Up - speed up
Down - speed down
Space - break
:param event:
:return:
'''
if event.key() == Qt.Key_A:
self.wheels.turnLeft()
self.sendCommand(self.wheels.getCommand())
if event.key() == Qt.Key_D:
self.wheels.turnRight()
self.sendCommand(self.wheels.getCommand())
if event.key() == Qt.Key_S:
self.wheels.resetPos()
self.sendCommand(self.wheels.getCommand())
if event.key() == Qt.Key_Space:
self.accelerator.brake()
if event.key() == Qt.Key_E:
self.accelerator.speedUp()
if event.key() == Qt.Key_Q:
self.accelerator.speedDown()
if event.key() == Qt.Key_Up:
self.accelerator.forward()
if event.key() == Qt.Key_Down:
self.accelerator.backward()
self.updateWheelsImage()
def onButtonUp(self):
print("up")
pass
def onButtonDown(self):
print("down")
pass
def onSend(self):
command = self.query.text()
if not command:
return None
self.sendCommand(command)
self.query.setText("")
def onClearLog(self):
self.console.setText('')
def onDebug(self):
options = self.config.getOptions()
self._log("*********** DEBUG ************")
self._log("Wheels:{}".format(self.wheels.getRawPos()))
if self.board_connection.__class__.__name__ != 'NoneType':
self._log("Rc car IP:{}:{}".format(
self.board_connection.localAddress(),
self.board_connection.localPort()))
# for key in options:
# self._log(key + "=" + str(options[key]))
self._log("******************************")
def timerEvent(self, event):
pass
def __exit__(self, exc_type, exc_val, exc_tb):
self.config.write()
def _log(self, message):
print(message)
self.console.append(message)
def __init__(self):
Accelerator.__init__(self)
self.radius = 2645.4143
