def __init__(self, doc, parent=None):
super(PartToolBar, self).__init__(parent)
self.doc = doc
# Set the appearance
_sizePolicy = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
_sizePolicy.setHorizontalStretch(0)
_sizePolicy.setVerticalStretch(0)
_sizePolicy.setHeightForWidth(_sizePolicy.hasHeightForWidth())
self.setSizePolicy(_sizePolicy)
self.setOrientation(Qt.Vertical) # default is horizontal
# _maxH = 40 if app().prefs.show_icon_labels else 30
# self.setMaximumHeight(_maxH) # horizontal
self.setMaximumWidth(36) # vertical
self.setIconSize(QSize(20, 20))
self.setLayoutDirection(Qt.LeftToRight)
if app().prefs.show_icon_labels:
self.setToolButtonStyle(Qt.ToolButtonTextUnderIcon)
# Toolbar Label
self.action_toolbar_label = self.setupLabel(
"Add\nPart:", "action_new_honeycomb_part")
# Origami ToolButton
self.add_origamipart_button = self.setupToolButton(
"Origami", None, "add_origamipart_button",
":/parttools/new-origami")
# Origami Part (Honeycomb)
self.action_new_honeycomb_part = self.setupAction(
"Hcomb", None, "action_new_honeycomb_part",
":/parttools/new-honeycomb", self.add_origamipart_button)
self.action_new_honeycomb_part.triggered.connect(
self.doc.controller().actionAddHoneycombPartSlot)
# Origami Part (Square)
self.action_new_square_part = self.setupAction(
"Square", None, "action_new_square_part", ":/parttools/new-square",
self.add_origamipart_button)
self.action_new_square_part.triggered.connect(
self.doc.controller().actionAddSquarePartSlot)
# Origami Part (H-PX)
self.action_new_hpx_part = self.setupAction(
"H-PX", None, "action_new_honeypx_part", ":/parttools/new-hpx",
self.add_origamipart_button)
self.action_new_hpx_part.triggered.connect(
self.doc.controller().actionAddHpxPartSlot)
# Origami Part (S-px)
self.action_new_spx_part = self.setupAction(
"Sq-PX", None, "action_new_squarepx_part", ":/parttools/new-spx",
self.add_origamipart_button)
self.action_new_spx_part.triggered.connect(
self.doc.controller().actionAddSpxPartSlot)
def __init__(self, doc, parent=None):
super(PartToolBar, self).__init__(parent)
self.doc = doc
# Set the appearance
_sizePolicy = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
_sizePolicy.setHorizontalStretch(0)
_sizePolicy.setVerticalStretch(0)
_sizePolicy.setHeightForWidth(_sizePolicy.hasHeightForWidth())
self.setSizePolicy(_sizePolicy)
self.setOrientation(Qt.Vertical) # default is horizontal
# _maxH = 40 if app().prefs.show_icon_labels else 30
# self.setMaximumHeight(_maxH) # horizontal
self.setMaximumWidth(36) # vertical
self.setIconSize(QSize(20, 20))
self.setLayoutDirection(Qt.LeftToRight)
if app().prefs.show_icon_labels:
self.setToolButtonStyle(Qt.ToolButtonTextUnderIcon)
# Toolbar Label
self.action_toolbar_label = self.setupLabel("Add\nPart:", "action_new_honeycomb_part")
# Origami ToolButton
self.add_origamipart_button = self.setupToolButton(
"Origami", None, "add_origamipart_button", ":/parttools/new-origami"
)
# Origami Part (Honeycomb)
self.action_new_honeycomb_part = self.setupAction(
"Hcomb", None, "action_new_honeycomb_part", ":/parttools/new-honeycomb", self.add_origamipart_button
)
self.action_new_honeycomb_part.triggered.connect(self.doc.controller().actionAddHoneycombPartSlot)
# Origami Part (Square)
self.action_new_square_part = self.setupAction(
"Square", None, "action_new_square_part", ":/parttools/new-square", self.add_origamipart_button
)
self.action_new_square_part.triggered.connect(self.doc.controller().actionAddSquarePartSlot)
# Origami Part (H-PX)
self.action_new_hpx_part = self.setupAction(
"H-PX", None, "action_new_honeypx_part", ":/parttools/new-hpx", self.add_origamipart_button
)
self.action_new_hpx_part.triggered.connect(self.doc.controller().actionAddHpxPartSlot)
# Origami Part (S-px)
self.action_new_spx_part = self.setupAction(
"Sq-PX", None, "action_new_squarepx_part", ":/parttools/new-spx", self.add_origamipart_button
)
self.action_new_spx_part.triggered.connect(self.doc.controller().actionAddSpxPartSlot)
def __init__(self, doc, parent=None):
super(PathToolBar, self).__init__(parent)
self.doc = doc
# Set the appearance
_sizePolicy = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
_sizePolicy.setHorizontalStretch(0)
_sizePolicy.setVerticalStretch(0)
_sizePolicy.setHeightForWidth(_sizePolicy.hasHeightForWidth())
self.setSizePolicy(_sizePolicy)
self.setOrientation(Qt.Vertical) # default is horizontal
# _maxH = 40 if app().prefs.show_icon_labels else 30
# self.setMaximumHeight(_maxH) # horizontal
self.setMaximumWidth(46) # vertical
self.setIconSize(QSize(20, 20))
self.setLayoutDirection(Qt.LeftToRight)
if app().prefs.show_icon_labels:
self.setToolButtonStyle(Qt.ToolButtonTextUnderIcon)
# Tools
self.action_path_select = self.setupAction("Select", "V", "action_path_select", ":/pathtools/select")
self.action_path_pencil = self.setupAction("Pencil", "N", "action_path_pencil", ":/pathtools/force")
self.action_path_break = self.setupAction("Nick", "K", "action_path_break", ":/pathtools/nick")
self.action_path_insertion = self.setupAction("Insert", "I", "action_path_insertion", ":/pathtools/insert")
self.action_path_skip = self.setupAction("Skip", "S", "action_path_skip", ":/pathtools/skip")
self.action_path_paint = self.setupAction("Paint", "P", "action_path_paint", ":/pathtools/paint")
self.action_path_mod = self.setupAction("Mod", "M", "action_path_mod", ":/pathtools/mod")
self.action_path_add_seq = self.setupAction("Seq", "A", "action_path_add_seq", ":/pathtools/addseq")
# Separator
self.addSeparator()
# Buttons
self.action_autostaple = self.setupAction("Auto", None, "action_autostaple", ":/pathtools/autostaple")
self.action_autostaple.triggered.connect(self.doc.controller().actionAutostapleSlot)
self.action_renumber = self.setupAction("Rnum", None, "action_renumber", ":/parttools/renum")
self.action_renumber.triggered.connect(self.doc.controller().actionRenumberSlot)
self.action_svg = self.setupAction("SVG", None, "action_svg", ":/filetools/svg")
self.action_svg.triggered.connect(self.doc.controller().actionSVGSlot)
self.action_export = self.setupAction("Export", None, "action_export_staples", ":/filetools/export")
self.action_export.triggered.connect(self.doc.controller().actionExportSequencesSlot)
class DroneGUI(QDialog):
global l, w
def __init__(self, parent=None):
super(DroneGUI, self).__init__(parent)
# creates the terminal
self.create_terminal()
# create tabs
self.create_tabs()
# set the size policy
self.set_size_policy()
# palette background setting, style
self.create_palette()
# adds the arm, kill, unarm buttons
# self.create_arm_kill_buttons()
# adds the PID insert text boxes
self.create_PID_insert()
# adds the log
self.create_log()
# stream for the command line output to fill the log
sys.stdout = Stream(newText=self.onUpdateText)
# adds the data monitor
self.create_data_monitor()
# installs the event filter for 'space bar' and 'a'
qApp.installEventFilter(self)
# creates a button to deliver a live motor output plot graph
self.motor_output_plot_graph_is_open = False
self.create_motor_output_plot_button()
# create the flight motion labels
self.create_flight_motion_labels()
# shows the current information of the drone
self.drone_information()
# add logo
self.set_logo()
# set up about tab
self.show_about_info()
# commands currently allowed in the terminal
self.accepted_commands = {"connect", "arm", "kill", "forward",
"altitude", "vehicle status", "pi status", "square"}
# accepted IPs for the Raspberry Pi
self.accepted_ips = {"192.168.1.1"}
self.ssh_client = None
def eventFilter(self, obj, event):
if event.type() == QEvent.KeyPress:
if event.key() == Qt.Key_Return:
x = self.term.toPlainText().strip()
split = x.split(' ')
if split[0] in self.accepted_commands:
if split[0] == "connect":
if len(split) > 1:
if split[1] in self.accepted_ips:
print("> Connecting RPi...")
print("=> " + split[1])
self.ssh_client = self.connect_to_pi(split[1], 22, 'admin')
elif split[0] == "arm":
print("> Arming...")
# self.executeCommand(self.ssh_client, 'python ./RPi_FC.py')
self.term.clear()
return super(DroneGUI, self).eventFilter(obj, event)
# filters space bar to allow it to be a killswitch only
# filters 'a' to allow it to arm the drone only
#def eventFilter(self, obj, event):
# if event.type() == QEvent.KeyPress:
# if event.key() == Qt.Key_Space:
# if self.arm_button.isChecked():
# print("KILL SWITCH ACTIVATED")
# self.arm_button.toggle()
# self.arm_button.setEnabled(False)
# self.undo_killswitch_button.setEnabled(True)
# self.undo_killswitch_button.setStyleSheet("background-color: yellow; color:black")
# self.arm_button.setStyleSheet("background-color: Gray")
# self.killswitch_button.setEnabled(False)
# self.killswitch_button.setStyleSheet("background-color: Darkred; color:black")
# self.curr_status.setStyleSheet("background-color: #922B3E;")
# self.curr_status.setText("Inactive")
# self.flight_timer.stop()
# # fc.receiver.ARM = False
# return True
# else:
# return True
# if event.key() == Qt.Key_A:
# if not(self.arm_button.isChecked()):
# print()
# print("Initialize Arming Process...")
# self.arm_button.setStyleSheet("background-color: Green")
# self.undo_killswitch_button.setEnabled(False)
# self.killswitch_button.setEnabled(True)
# self.killswitch_button.setStyleSheet("background-color: red")
# self.undo_killswitch_button.setStyleSheet("background-color:rgb(53,53,53);")
# self.arm_button.setEnabled(False)
# self.arm_button.setChecked(True)
# self.curr_status.setStyleSheet("background-color: #507D2A")
# self.curr_status.setText("Active")
# self.flight_timer.start(1000)
# # Since we're skipping the unlock arm button,
# # fc.run()
# return True
# else:
# return True
# return super(DroneGUI, self).eventFilter(obj, event)
# Connects to the IP using a port, username, and password via SSH.
def connect_to_pi(self, ip, port, username, password="******"):
sshClient = paramiko.SSHClient()
sshClient.set_missing_host_key_policy(paramiko.AutoAddPolicy())
sshClient.load_system_host_keys()
try:
sshClient.connect(ip, port, username, password, timeout=10)
except Exception as e:
print(e)
sshClient.connect(ip + ".local", port, username, password)
return sshClient
# Takes in an sshClient and sends the command to it
def executeCommand(sshClient, command):
stdin, stdout, stderr = sshClient.exec_command(command)
print("> COMMAND:", command)
# creates a log for the command line output
def create_terminal(self):
self.term = QTextEdit(self)
self.term.move(l-260, 20)
self.term.setFixedSize(260,22)
self.term.setFixedHeight(18)
self.term.moveCursor(QTextCursor.Start)
self.term.setReadOnly(False)
self.term.setCursorWidth(4)
# resizes the GUI
def set_size_policy(self):
self.sizePolicy = QSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self.sizePolicy.setHorizontalStretch(0)
self.sizePolicy.setVerticalStretch(0)
self.sizePolicy.setHeightForWidth(self.sizePolicy.hasHeightForWidth())
self.setSizePolicy(self.sizePolicy)
self.setMaximumSize(l, w)
self.setMinimumSize(l, w)
# Creates the tabs
def create_tabs(self):
self.tabWidget = QTabWidget(self)
self.tabWidget.setGeometry(QRect(0, 150, l-260,w-100 ))
self.tabWidget.setMaximumSize(QSize(l, w-100))
self.tabWidget.setTabPosition(QTabWidget.North)
self.tabWidget.setTabShape(QTabWidget.Rounded)
self.tabWidget.setElideMode(Qt.ElideRight)
self.tabWidget.setUsesScrollButtons(False)
self.tabWidget.setDocumentMode(True)
self.tabWidget.setTabsClosable(False)
self.tabWidget.setMovable(False)
self.tabWidget.setTabBarAutoHide(False)
self.data_tab = QWidget()
self.settings_tab = QWidget()
self.flight_pattern_tab = QWidget()
self.about_tab = QWidget()
self.tabWidget.addTab(self.settings_tab, "Settings")
self.tabWidget.addTab(self.data_tab, "Data")
self.tabWidget.addTab(self.flight_pattern_tab, "Flight Pattern")
self.tabWidget.addTab(self.about_tab, "About")
self.tabWidget.show()
# Defines the palette colors
def create_palette(self):
self.setWindowTitle("Flight Controller")
app.setStyle("Fusion")
app.setFont(QFont("Helvetica"))
dark_palette = QPalette()
dark_palette.setColor(QPalette.Window, QColor(53, 53, 53))
dark_palette.setColor(QPalette.WindowText, Qt.white)
dark_palette.setColor(QPalette.Base, QColor(25, 25, 25))
dark_palette.setColor(QPalette.AlternateBase, QColor(53, 53, 53))
dark_palette.setColor(QPalette.ToolTipBase, Qt.white)
dark_palette.setColor(QPalette.ToolTipText, Qt.white)
dark_palette.setColor(QPalette.Text, Qt.white)
dark_palette.setColor(QPalette.Button, QColor(53, 53, 53))
dark_palette.setColor(QPalette.ButtonText, Qt.white)
dark_palette.setColor(QPalette.BrightText, Qt.red)
dark_palette.setColor(QPalette.Link, QColor(42, 130, 218))
dark_palette.setColor(QPalette.Highlight, QColor(42, 130, 218))
dark_palette.setColor(QPalette.HighlightedText, Qt.black)
app.setPalette(dark_palette)
# # create buttons to arm, and kill, and un-kill the drone
# def create_arm_kill_buttons(self):
# # button to arm the drone
# self.arm_button = QPushButton('ARM', self)
# self.arm_button.setDefault(False)
# self.arm_button.setAutoDefault(False)
# self.arm_button.setStyleSheet("background-color: green")
# self.arm_button.move(0, 0)
# self.arm_button.resize(70, 43)
# self.arm_button.setFont(QFont("Helvetica", 17.5))
# self.arm_button.setCheckable(True)
# self.arm_button.setEnabled(True)
# self.arm_button.clicked.connect(self.arm_drone)
# self.arm_button.setShortcut("A")
#
# # button to kill the drone
# self.killswitch_button = QPushButton('KILL SWITCH', self)
# self.killswitch_button.move(l-110, 0)
# self.killswitch_button.setDefault(False)
# self.killswitch_button.setAutoDefault(False)
# self.killswitch_button.setFont(QFont("Helvetica", 17.0))
# self.killswitch_button.resize(110, 60)
# self.killswitch_button.clicked.connect(self.kill_motor)
# self.killswitch_button.setStyleSheet("background-color: red")
# self.killswitch_button.setEnabled(False)
# self.killswitch_button.setShortcut("Space")
#
# # button to undo kill switch
# self.undo_killswitch_button = QPushButton('Unlock ARM', self)
# self.undo_killswitch_button.setDefault(False)
# self.undo_killswitch_button.setAutoDefault(False)
# self.undo_killswitch_button.move(l-110, 62)
# self.undo_killswitch_button.setFont(QFont("Helvetica", 12))
# self.undo_killswitch_button.resize(75, 30)
# self.undo_killswitch_button.clicked.connect(self.undo_killswitch)
# self.undo_killswitch_button.setStyleSheet("background-color:rgb(53,53,53);")
# self.undo_killswitch_button.setEnabled(False)
#
# # button to exit the application
# self.exit_app_button = QPushButton('exit', self)
# self.exit_app_button.resize(0,0)
# self.exit_app_button.setShortcut("Shift+Q")
# self.exit_app_button.clicked.connect(self.exit_application)
# killswitch for the drone
def kill_motor(self):
if self.arm_button.isChecked():
print("KILL SWITCH ACTIVATED")
self.flight_timer.stop()
self.arm_button.toggle()
self.arm_button.setEnabled(False)
self.undo_killswitch_button.setEnabled(True)
self.undo_killswitch_button.setStyleSheet("background-color: yellow; color:black")
self.killswitch_button.setEnabled(False)
self.killswitch_button.setStyleSheet("background-color: Darkred; color:black")
self.arm_button.setStyleSheet("background-color: Gray")
self.curr_status.setStyleSheet("background-color: #922B3E;")
self.curr_status.setText("Inactive")
# fc.receiver.ARM = False
# allows the drone to be armed again
def undo_killswitch(self):
print("Arm button unlocked")
self.arm_button.setEnabled(True)
self.undo_killswitch_button.setEnabled(False)
self.killswitch_button.setStyleSheet("background-color: red")
self.undo_killswitch_button.setStyleSheet("background-color: Gold")
self.arm_button.setStyleSheet("background-color: Green")
# fc.receiver.ARM = True
# arms the drone
def arm_drone(self):
print()
print("Initialize Arming Process...")
self.flight_timer.start(1000)
self.undo_killswitch_button.setEnabled(False)
self.killswitch_button.setEnabled(True)
self.undo_killswitch_button.setStyleSheet("background-color:rgb(53,53,53);")
self.arm_button.setEnabled(False)
self.curr_status.setStyleSheet("background-color: #507D2A")
self.curr_status.setText("Active")
# fc.run()
# displays current drone information
def drone_information(self):
# widget for the drone status section
self.drone_status = QWidget(self.settings_tab)
self.drone_status.resize(180,110)
self.drone_status.move(92,200)
self.state_label = QPushButton("Drone Status", self.drone_status)
self.state_label.setCheckable(False)
self.state_label.setEnabled(False)
self.state_label.setStyleSheet("background: #333332; color: white")
self.state_label.move(0, 0)
self.state_label.show()
self.state_label.resize(80,20)
self.curr_status = QPushButton("Inactive", self.drone_status)
self.curr_status.setIcon(QIcon("Images/Icons/drone.png"))
self.curr_status.setDefault(False)
self.curr_status.setEnabled(False)
self.curr_status.setStyleSheet("background-color: #922B3E;")
self.curr_status.move(81,0)
self.curr_status.resize(70,20)
self.curr_P = QLineEdit(self.drone_status)
self.curr_P.setReadOnly(True)
self.curr_P_label = QLabel(self.drone_status)
self.curr_P_label.move(2, 25)
self.curr_P_label.setText("Proportional:")
self.curr_P_label.show()
self.curr_P.setText(str(fc.Kp)) # " ", str(fc.Ki), " ", str(fc.Kd))
self.curr_P.move(80, 25)
self.curr_P.resize(90,12)
self.curr_P.show()
self.curr_I_label = QLabel(self.drone_status)
self.curr_I_label.move(2, 40)
self.curr_I_label.setText(" Integral:")
self.curr_I_label.show()
self.curr_I = QLineEdit(self.drone_status)
self.curr_I.setReadOnly(True)
self.curr_I.setText(str(fc.Ki)) # " ", str(fc.Ki), " ", str(fc.Kd))
self.curr_I.move(80, 40)
self.curr_I.resize(90,12)
self.curr_I.show()
self.curr_D_label = QLabel(self.drone_status)
self.curr_D_label.move(2, 55)
self.curr_D_label.setText(" Derivative:")
self.curr_D_label.show()
self.curr_D = QLineEdit(self.drone_status)
self.curr_D.setReadOnly(True)
self.curr_D.setText(str(fc.Kd)) # " ", str(fc.Ki), " ", str(fc.Kd))
self.curr_D.move(80, 55)
self.curr_D.resize(90, 12)
self.curr_D.show()
self.flight_time_label = QLabel("Flight Time:", self.drone_status)
self.flight_time_label.move(5, 85)
self.flight_time = QLineEdit(self.drone_status)
self.flight_time.setReadOnly(True)
self.flight_time.move(80, 80)
self.flight_time.setFont(QFont("Helvetica", 15))
self.flight_time.resize(50,18)
self.flight_timer = QTimer()
self.time = QTime(0,0)
self.flight_timer.timeout.connect(self.update_timer)
self.hard_wired_button = QPushButton("Hard Wired Inputs", self.settings_tab)
self.hard_wired_button.move(l-365,2)
self.hard_wired_button.setStyleSheet("background-color:#002366;")
self.hard_wired_button.clicked.connect(self.show_hard_wire_connections)
# gets the current updated PID values
def get_PID_value(self):
# try:
# fc.Kp = np.array([float(self.Kp0_textbox.text()), float(self.Kp1_textbox.text()), float(self.Kp2_textbox.text())])
# fc.Ki = np.array([float(self.Ki0_textbox.text()), float(self.Ki1_textbox.text()), float(self.Ki2_textbox.text())])
# fc.Kd = np.array([float(self.Kd0_textbox.text()), float(self.Kd1_textbox.text()), float(self.Kd2_textbox.text())])
# except(ValueError):
# print("Error: Must input values into each coordinate.")
# else:
# print()
# print(time.strftime(" %H:%M:%S %Z"))
# print("Update PID Gains")
# print("P: ", fc.Kp[0], " ", fc.Kp[1], " ", fc.Kp[2])
# print("I : ", fc.Ki[0], " ", fc.Ki[1], " ", fc.Ki[2])
# print("D: ", fc.Kd[0], " ", fc.Kd[1], " ", fc.Kd[2])
print()
# creates the PID text boxes, button for updating PID values
def create_PID_insert(self):
print()
# widget for PID insertion
# self.PID_widget = QWidget(self.settings_tab)
# self.PID_widget.resize(300,200)
# self.PID_widget.move(10,20)
# # proportional text
# self.onlyDouble = QDoubleValidator()
# self.Kp0_textbox = QLineEdit(self.PID_widget)
# self.Kp0_textbox.clearFocus()
# self.Kp0_textbox.setValidator(self.onlyDouble)
# self.Kp0_textbox.resize(50, 23)
# self.Kp0_textbox.setText(str(fc.Kp[0]))
# self.Kp1_textbox = QLineEdit(self.PID_widget)
# self.Kp1_textbox.setValidator(self.onlyDouble)
# self.Kp1_textbox.resize(50, 23)
# self.Kp1_textbox.move(50,0)
# self.Kp1_textbox.setText(str(fc.Kp[1]))
# self.Kp2_textbox = QLineEdit(self.PID_widget)
# self.Kp2_textbox.setValidator(self.onlyDouble)
# self.Kp2_textbox.resize(50, 23)
# self.Kp2_textbox.move(100, 0)
# self.Kp2_textbox.setText(str(fc.Kp[2]))
# # proportional label
# self.Kp_label = QLabel(self.PID_widget)
# self.Kp_label.setText('Proportional')
# self.Kp_label.move(150, 0)
# self.Kp_label.resize(85, 23)
# self.Kp_label.setFrameShape(QFrame.Panel)
# self.Kp_label.setFrameShadow(QFrame.Sunken)
# self.Kp_label.setLineWidth(3)
# self.Kp_label.setStyleSheet("background-color:rgb(53,53,53);")
#
# # integral text
# self.Ki0_textbox = QLineEdit(self.PID_widget)
# self.Ki0_textbox.move(0, 27)
# self.Ki0_textbox.resize(50, 23)
# self.Ki0_textbox.setValidator(self.onlyDouble)
# self.Ki0_textbox.setText(str(fc.Ki[0]))
# self.Ki1_textbox = QLineEdit(self.PID_widget)
# self.Ki1_textbox.move(50, 27)
# self.Ki1_textbox.resize(50, 23)
# self.Ki1_textbox.setValidator(self.onlyDouble)
# self.Ki1_textbox.setText(str(fc.Ki[1]))
# self.Ki2_textbox = QLineEdit(self.PID_widget)
# self.Ki2_textbox.move(100, 27)
# self.Ki2_textbox.resize(50, 23)
# self.Ki2_textbox.setValidator(self.onlyDouble)
# self.Ki2_textbox.setText(str(fc.Ki[2]))
# # integral label
# self.Ki_label = QLabel(self.PID_widget)
# self.Ki_label.setText('Integral')
# self.Ki_label.move(150, 27)
# self.Ki_label.resize(85, 23)
# self.Ki_label.setFrameShape(QFrame.Panel)
# self.Ki_label.setFrameShadow(QFrame.Sunken)
# self.Ki_label.setLineWidth(3)
# self.Ki_label.setStyleSheet("background-color:rgb(53,53,53);")
#
# # derivative text
# self.Kd0_textbox = QLineEdit(self.PID_widget)
# self.Kd0_textbox.move(0, 54)
# self.Kd0_textbox.resize(50, 23)
# self.Kd0_textbox.setValidator(self.onlyDouble)
# self.Kd0_textbox.setText(str(fc.Kd[0]))
# self.Kd1_textbox = QLineEdit(self.PID_widget)
# self.Kd1_textbox.move(50, 54)
# self.Kd1_textbox.resize(50, 23)
# self.Kd1_textbox.setValidator(self.onlyDouble)
# self.Kd1_textbox.setText(str(fc.Kd[1]))
# self.Kd2_textbox = QLineEdit(self.PID_widget)
# self.Kd2_textbox.move(100, 54)
# self.Kd2_textbox.resize(50, 23)
# self.Kd2_textbox.setValidator(self.onlyDouble)
# self.Kd2_textbox.setText(str(fc.Kd[2]))
# # derivative label
# self.Kd_label = QLabel(self.PID_widget)
# self.Kd_label.resize(85, 23)
# self.Kd_label.setText('Derivative')
# self.Kd_label.move(150, 54)
# self.Kd_label.setFrameShape(QFrame.Panel)
# self.Kd_label.setFrameShadow(QFrame.Sunken)
# self.Kd_label.setLineWidth(3)
# self.Kd_label.setStyleSheet("background-color:rgb(53,53,53);")
#
# # button to insert new PID values
# self.insert_PID_values = QPushButton("Insert PID Gains", self.PID_widget)
# self.insert_PID_values.setStyleSheet("background-color: #002366;")
# self.insert_PID_values.move(150, 80)
# self.insert_PID_values.resize(85, 25)
# self.insert_PID_values.setFont(QFont("Helvetica", 11.5))
# self.insert_PID_values.setCheckable(True)
# self.insert_PID_values.setEnabled(True)
# self.insert_PID_values.clicked.connect(self.get_PID_value)
#
# # label for Roll, Pitch, Yaw
# self.RPY = QLabel(self.PID_widget)
# self.RPY.move(0,80)
# self.RPY.setText(' Roll Pitch Yaw ')
# self.RPY.setFrameShape(QFrame.Panel)
# self.RPY.setFrameShadow(QFrame.Sunken)
# self.RPY.setLineWidth(3)
# self.RPY.setStyleSheet("background-color:rgb(53,53,53);")
def onUpdateText(self, text):
cursor = self.log.textCursor()
cursor.movePosition(QTextCursor.End)
cursor.insertText(text)
self.log.setTextCursor(cursor)
self.log.ensureCursorVisible()
def __del__(self):
sys.stdout = sys.__stdout__
# creates a log for the command line output
def create_log(self):
self.log = QTextEdit(self)
self.log.move(l-260, w-465)
self.log.resize(260, w-175)
self.log.moveCursor(QTextCursor.Start)
self.log.ensureCursorVisible()
self.log.setLineWrapMode(QTextEdit.FixedPixelWidth)
self.log.setReadOnly(True)
self.log.setLineWrapColumnOrWidth(250)
try:
sys.stdout = Stream(newText=self.onUpdateText)
except AttributeError as error:
print(error)
# creates data monitor
def create_data_monitor(self):
# make QTimer
self.qTimer = QTimer(self)
# pi connection status
self.pi_connection_status_is_clicked = False
self.pi_connection_label = QPushButton("Pi Connection", self)
self.pi_connection_label.setCheckable(False)
self.pi_connection_label.setEnabled(False)
self.pi_connection_label.setStyleSheet("background: #333332; color: white")
self.pi_connection_label.move(2, 96)
self.pi_connection_label.show()
self.pi_connection_label.resize(80, 20)
self.pi_connection_status = QPushButton("Offline", self)
self.pi_connection_status.move(2,115)
self.pi_connection_status.setDefault(False)
self.pi_connection_status.setEnabled(False)
self.pi_connection_status.setIcon(QIcon('Images/Icons/connection.png'))
self.pi_connection_status.setStyleSheet("background-color: #922B3E;")
# set interval to update
self.qTimer.setInterval(250)
# connect timeout signal to signal handler
self.qTimer.timeout.connect(self.get_sensor_value)
self.qTimer.start()
# creates the plot graph button
def create_motor_output_plot_button(self):
self.plot_button = QPushButton("Motor Output Plot Graph", self.data_tab)
self.plot_button.setStyleSheet("background-color:#002366;")
self.plot_button.setIcon(QIcon("Images/Icons/line_graph.png"))
self.plot_button.clicked.connect(self.create_motor_output_plot)
self.plot_button.move(2,20)
# time stamp for the graph's delta time initialization
self.timestamp = time.time()
# function to start the timer for QTimer
def start_timer(self):
if self.timer.isActive():
# sets the Y Range for the graph
self.pw.setYRange(-2, 2)
print("Graph is already updating at ", self.timer.interval(), " ms between data retrievals")
else:
self.timer.start()
# sets the Y Range for the graph
self.pw.setYRange(-2, 2)
# create a live motor output plot graph
def create_motor_output_plot(self):
self.motor_output_plot_graph_is_open = True
# widget for the motor output graph
self.motor_output_graph_widget = QWidget(self.data_tab)
self.motor_output_graph_widget.resize(l - 260, w - 100)
self.motor_output_graph_widget.show()
# motor 1 output title
self.motor_1_output_title = QPushButton("Motor 1 Output", self.motor_output_graph_widget)
self.motor_1_output_title.move(l - 400, 60)
self.motor_1_output_title.setStyleSheet("background: black; color: gray;")
self.motor_1_output_title.setEnabled(False)
self.motor_1_output_title.setCheckable(False)
self.motor_1_output_title.setFixedSize(90, 13)
self.motor_1_output_title.setFont(QFont("Helvetica", 11.5))
self.motor_1_output_title.show()
self.motor_1_output_title_color = QLabel(self.motor_output_graph_widget)
self.motor_1_output_title_color.setPixmap(QPixmap('Images/Icons/red_square.png'))
self.motor_1_output_title_color.move(l - 413, 60)
self.motor_1_output_title_color.show()
# motor 2 output title
self.motor_2_output_title = QPushButton("Motor 2 Output", self.motor_output_graph_widget)
self.motor_2_output_title_color = QLabel(self.motor_output_graph_widget)
self.motor_2_output_title_color.setPixmap(QPixmap('Images/Icons/blue_square.png'))
self.motor_2_output_title_color.move(l - 413, 90)
self.motor_2_output_title_color.show()
self.motor_2_output_title.move(l - 400, 90)
self.motor_2_output_title.setStyleSheet("background: black; color: gray;")
self.motor_2_output_title.setEnabled(False)
self.motor_2_output_title.setCheckable(False)
self.motor_2_output_title.setFixedSize(90, 13)
self.motor_2_output_title.setFont(QFont("Helvetica", 11.5))
self.motor_2_output_title.show()
# motor 3 output title
self.motor_3_output_title = QPushButton("Motor 3 Output", self.motor_output_graph_widget)
self.motor_3_output_title_color = QLabel(self.motor_output_graph_widget)
self.motor_3_output_title_color.setPixmap(QPixmap('Images/Icons/yellow_square.png'))
self.motor_3_output_title_color.move(l - 413, 120)
self.motor_3_output_title_color.show()
self.motor_3_output_title.move(l - 400, 120)
self.motor_3_output_title.setStyleSheet("background: black; color: gray;")
self.motor_3_output_title.setEnabled(False)
self.motor_3_output_title.setCheckable(False)
self.motor_3_output_title.setFixedSize(90, 13)
self.motor_3_output_title.setFont(QFont("Helvetica", 11.5))
self.motor_3_output_title.show()
# motor 4 output title
self.motor_4_output_title = QPushButton("Motor 4 Output", self.motor_output_graph_widget)
self.motor_4_output_title_color = QLabel(self.motor_output_graph_widget)
self.motor_4_output_title_color.setPixmap(QPixmap('Images/Icons/purple_square.png'))
self.motor_4_output_title_color.move(l - 413, 150)
self.motor_4_output_title_color.show()
self.motor_4_output_title.move(l - 400, 150)
self.motor_4_output_title.setStyleSheet("background: black; color: gray;")
self.motor_4_output_title.setEnabled(False)
self.motor_4_output_title.setCheckable(False)
self.motor_4_output_title.setFixedSize(90, 13)
self.motor_4_output_title.setFont(QFont("Helvetica", 11.5))
self.motor_4_output_title.show()
# motor 1 output
self.motor_1_output = QLabel(str(fc.motor_output[0]), self.motor_output_graph_widget)
self.motor_1_output.move(l - 395, 75)
self.motor_1_output.resize(70, 12)
self.motor_1_output.show()
# motor 2 output
self.motor_2_output = QLabel(str(fc.motor_output[1]), self.motor_output_graph_widget)
self.motor_2_output.move(l - 395, 105)
self.motor_2_output.resize(70, 12)
self.motor_2_output.show()
# motor 3 output
self.motor_3_output = QLabel(str(fc.motor_output[2]), self.motor_output_graph_widget)
self.motor_3_output.move(l - 395, 135)
self.motor_3_output.resize(70, 12)
self.motor_3_output.show()
# motor 4 output
self.motor_4_output = QLabel(str(fc.motor_output[3]), self.motor_output_graph_widget)
self.motor_4_output.move(l - 395, 165)
self.motor_4_output.resize(70, 12)
self.motor_4_output.show()
self.pw = pg.PlotWidget(self.motor_output_graph_widget)
self.pw.showGrid(x=True,y=True)
self.pw.setTitle('Live Update Graph (demonstration with sin function)')
self.pw.move(0,20)
self.pw.resize(l/2,w/2)
self.pw.show()
self.pw.setLabel('left', 'Motor Output')
self.pw.setLabel('bottom', 'Time', units='s')
self.pw.setAntialiasing(True)
# sets the Y Range for the graph
self.pw.setYRange(-2,2)
self.timer = pg.QtCore.QTimer(self)
self.stop_plot_button = QPushButton("Pause", self.motor_output_graph_widget)
self.stop_plot_button.setStyleSheet("background-color:#002366;")
self.stop_plot_button.setIcon(QIcon('Images/Icons/stop.png'))
self.stop_plot_button.clicked.connect(self.timer.stop)
self.stop_plot_button.resize(80,20)
self.stop_plot_button.move(20, 0)
self.stop_plot_button.show()
self.start_plot_button = QPushButton("Start", self.motor_output_graph_widget)
self.start_plot_button.setIcon(QIcon('Images/Icons/play.png'))
self.start_plot_button.resize(80,20)
self.start_plot_button.setStyleSheet("background-color:#002366;")
self.start_plot_button.clicked.connect(self.start_timer)
self.start_plot_button.move(l/2-110,0)
self.start_plot_button.show()
# buffer size for the data
self.buffer = 200
# queue to get the current delta time and values
self.queue = Queue(self.buffer)
# deque containing the values
self.values_1 = deque([], maxlen=self.buffer)
self.values_2 = deque([], maxlen=self.buffer)
self.values_3 = deque([], maxlen = self.buffer)
self.values_4 = deque([], maxlen=self.buffer)
self.values_5 = deque([], maxlen=self.buffer)
# deque containing the delta times
self.times = deque([], maxlen=self.buffer)
def update():
# current delta time
t = time.time() - self.timestamp
# value(s) that we want to track
v1 = fc.motor_output[0]
v2 = fc.motor_output[1]
v3 = fc.motor_output[2]
v4 = fc.motor_output[3]
# demonstration
v5 = np.sin(t)
# put the data into queue
self.queue.put([t,v1,v2,v3,v4,v5])
# get the data from the queue. Will wait until item is available
data = self.queue.get(True, None)
# append data in each deque
self.times.append(data[0])
self.values_1.append(data[1])
self.values_2.append(data[2])
self.values_3.append(data[3])
self.values_4.append(data[4])
self.values_5.append(data[5])
# draw the incoming data
self.pw.clear()
self.pw.plot(x=list(self.times)[-self.buffer:], y=list(self.values_1)[-self.buffer:],pen='r')
self.pw.plot(x=list(self.times)[-self.buffer:], y=list(self.values_2)[-self.buffer:],pen='b')
self.pw.plot(x=list(self.times)[-self.buffer:], y=list(self.values_3)[-self.buffer:],pen='y')
self.pw.plot(x=list(self.times)[-self.buffer:], y=list(self.values_4)[-self.buffer:], pen='m')
self.pw.plot(x=list(self.times)[-self.buffer:], y=list(self.values_5)[-self.buffer:], pen='w')
self.timer.timeout.connect(update)
# length between updates (in ms)
self.timer.start(2)
# gets the sensor's value
def get_sensor_value(self):
# get's the motor output values
if self.motor_output_plot_graph_is_open is True:
self.motor_1_output.setText(str(fc.motor_output[0]))
self.motor_2_output.setText(str(fc.motor_output[1]))
self.motor_3_output.setText(str(fc.motor_output[2]))
self.motor_4_output.setText(str(fc.motor_output[3]))
# determines the status of the pi connection
if fc.pi_online:
self.pi_connection_status.setStyleSheet("background-color: #507D2A")
self.pi_connection_status.setText("Online")
self.pi_connection_status_is_clicked = True
elif not fc.pi_online and self.pi_connection_status_is_clicked:
self.pi_connection_status.setStyleSheet("background-color: #922B3E")
self.pi_connection_status.setText("Offline")
self.pi_connection_status_is_clicked = False
# gets the current PID
self.curr_P.setText(str(fc.Kp))
self.curr_I.setText(str(fc.Ki))
self.curr_D.setText(str(fc.Kd))
# creates labels for the flight motion patterns
def create_flight_motion_labels(self):
# Widget for the flight pattern buttons
self.flight_pattern_widget = QWidget(self.flight_pattern_tab)
self.flight_pattern_widget.resize(200,200)
self.flight_motion_label = QLabel(self.flight_pattern_widget)
self.flight_motion_label.setFrameShape(QFrame.StyledPanel)
self.flight_motion_label.setFrameShadow(QFrame.Raised)
self.flight_motion_label.move(2,20)
self.flight_motion_label.setText("Flight Motion Pattern")
self.square_pattern = QPushButton("Square", self.flight_pattern_widget)
self.square_pattern.setIcon(QIcon('Images/Icons/square.png'))
self.square_pattern.move(2,35)
self.square_pattern.clicked.connect(self.do_square_pattern)
self.square_pattern.setStyleSheet("background-color:#002366;")
# conducts the square pattern
def do_square_pattern(self):
print("Completing Square Flight Motion Pattern...")
print("[Currently Under Development]")
# exits the application
def exit_application(self):
DroneGUI.close(self)
# updates the flight timer
def update_timer(self):
self.time = self.time.addSecs(1)
self.flight_time.setText(self.time.toString("mm:ss"))
# sets the logos for ARC and raspberry pi
def set_logo(self):
self.arc_logo = QLabel(self)
self.arc_logo.setPixmap(QPixmap('Images/CUARClogo.png'))
self.arc_logo.move(l-600,0)
self.pi_logo = QLabel(self)
self.pi_logo.setPixmap(QPixmap('Images/Icons/raspberry_pi_logo.png'))
self.pi_logo.move(87,105)
# shows pop up for the hard wire connections
def show_hard_wire_connections(self):
self.window = QDialog(self.settings_tab)
self.window.setWindowTitle("Settings")
self.window.resize(145,405)
self.window.move(l - 408, 247)
self.window.show()
self.gpio_label = QPushButton("GPIO Reference", self.window)
self.gpio_label.setCheckable(False)
self.gpio_label.setEnabled(False)
self.gpio_label.move(24,1)
self.gpio_label.show()
self.gpio_label.setStyleSheet("background: #333332; color: white")
self.motor_1_label_pic = QLabel(self.window)
self.motor_1_label_pic.setPixmap((QPixmap('Images/Icons/gear.png')))
self.motor_1_label_pic.move(1,28)
self.motor_1_label_pic.show()
self.motor_1_label = QLabel("Motor 1:", self.window)
self.motor_1_label.move(18,30)
self.motor_1_label.show()
self.motor_1_gpio = QLineEdit(self.window)
self.motor_1_gpio.setReadOnly(True)
self.motor_1_gpio.move(90,28)
self.motor_1_gpio.resize(30,12)
self.motor_1_gpio.show()
self.motor_1_gpio.setText(str(fc.motor.MOTOR1))
self.motor_2_label_pic = QLabel(self.window)
self.motor_2_label_pic.setPixmap((QPixmap('Images/Icons/gear.png')))
self.motor_2_label_pic.move(1, 48)
self.motor_2_label_pic.show()
self.motor_2_label = QLabel("Motor 2:", self.window)
self.motor_2_label.move(18, 50)
self.motor_2_label.show()
self.motor_2_gpio = QLineEdit(self.window)
self.motor_2_gpio.setReadOnly(True)
self.motor_2_gpio.move(90, 48)
self.motor_2_gpio.resize(30, 12)
self.motor_2_gpio.show()
self.motor_2_gpio.setText(str(fc.motor.MOTOR2))
self.motor_3_label_pic = QLabel(self.window)
self.motor_3_label_pic.setPixmap((QPixmap('Images/Icons/gear.png')))
self.motor_3_label_pic.move(1, 68)
self.motor_3_label_pic.show()
self.motor_3_label = QLabel("Motor 3:", self.window)
self.motor_3_label.move(18, 70)
self.motor_3_label.show()
self.motor_3_gpio = QLineEdit(self.window)
self.motor_3_gpio.setReadOnly(True)
self.motor_3_gpio.move(90, 68)
self.motor_3_gpio.resize(30, 12)
self.motor_3_gpio.show()
self.motor_3_gpio.setText(str(fc.motor.MOTOR3))
self.motor_4_label_pic = QLabel(self.window)
self.motor_4_label_pic.setPixmap((QPixmap('Images/Icons/gear.png')))
self.motor_4_label_pic.move(1, 88)
self.motor_4_label_pic.show()
self.motor_4_label = QLabel("Motor 4:", self.window)
self.motor_4_label.move(18, 90)
self.motor_4_label.show()
self.motor_4_gpio = QLineEdit(self.window)
self.motor_4_gpio.setReadOnly(True)
self.motor_4_gpio.move(90, 88)
self.motor_4_gpio.resize(30, 12)
self.motor_4_gpio.show()
self.motor_4_gpio.setText(str(fc.motor.MOTOR4))
self.receiver_1_label = QLabel("Receiver 1:", self.window)
self.receiver_1_label.move(18, 110)
self.receiver_1_label.show()
self.receiver_1_label_pic = QLabel(self.window)
self.receiver_1_label_pic.setPixmap((QPixmap("Images/Icons/receiver.png")))
self.receiver_1_label_pic.move(1, 107)
self.receiver_1_label_pic.show()
self.receiver_1_gpio = QLineEdit(self.window)
self.receiver_1_gpio.setReadOnly(True)
self.receiver_1_gpio.move(90,108)
self.receiver_1_gpio.resize(30,12)
self.receiver_1_gpio.show()
self.receiver_1_gpio.setText(str(fc.receiver.RECEIVER_CH1))
self.receiver_2_label = QLabel("Receiver 2:", self.window)
self.receiver_2_label.move(18, 130)
self.receiver_2_label.show()
self.receiver_2_label_pic = QLabel(self.window)
self.receiver_2_label_pic.setPixmap((QPixmap("Images/Icons/receiver.png")))
self.receiver_2_label_pic.move(1, 127)
self.receiver_2_label_pic.show()
self.receiver_2_gpio = QLineEdit(self.window)
self.receiver_2_gpio.setReadOnly(True)
self.receiver_2_gpio.move(90, 128)
self.receiver_2_gpio.resize(30, 12)
self.receiver_2_gpio.show()
self.receiver_2_gpio.setText(str(fc.receiver.RECEIVER_CH2))
self.receiver_3_label = QLabel("Receiver 3:", self.window)
self.receiver_3_label.move(18, 150)
self.receiver_3_label.show()
self.receiver_3_label_pic = QLabel(self.window)
self.receiver_3_label_pic.setPixmap((QPixmap("Images/Icons/receiver.png")))
self.receiver_3_label_pic.move(1, 147)
self.receiver_3_label_pic.show()
self.receiver_3_gpio = QLineEdit(self.window)
self.receiver_3_gpio.setReadOnly(True)
self.receiver_3_gpio.move(90, 148)
self.receiver_3_gpio.resize(30, 12)
self.receiver_3_gpio.show()
self.receiver_3_gpio.setText(str(fc.receiver.RECEIVER_CH3))
self.receiver_4_label = QLabel("Receiver 4:", self.window)
self.receiver_4_label.move(18, 170)
self.receiver_4_label.show()
self.receiver_4_label_pic = QLabel(self.window)
self.receiver_4_label_pic.setPixmap((QPixmap("Images/Icons/receiver.png")))
self.receiver_4_label_pic.move(1, 167)
self.receiver_4_label_pic.show()
self.receiver_4_gpio = QLineEdit(self.window)
self.receiver_4_gpio.setReadOnly(True)
self.receiver_4_gpio.move(90, 168)
self.receiver_4_gpio.resize(30, 12)
self.receiver_4_gpio.show()
self.receiver_4_gpio.setText(str(fc.receiver.RECEIVER_CH4))
self.receiver_5_label = QLabel("Receiver 5:", self.window)
self.receiver_5_label.move(18, 190)
self.receiver_5_label.show()
self.receiver_5_label_pic = QLabel(self.window)
self.receiver_5_label_pic.setPixmap((QPixmap("Images/Icons/receiver.png")))
self.receiver_5_label_pic.move(1, 187)
self.receiver_5_label_pic.show()
self.receiver_5_gpio = QLineEdit(self.window)
self.receiver_5_gpio.setReadOnly(True)
self.receiver_5_gpio.move(90, 188)
self.receiver_5_gpio.resize(30, 12)
self.receiver_5_gpio.show()
self.receiver_5_gpio.setText(str(fc.receiver.RECEIVER_CH5))
self.gpio_label = QPushButton("PWM Frequency (Hz)", self.window)
self.gpio_label.setCheckable(False)
self.gpio_label.setEnabled(False)
self.gpio_label.move(2, 210)
self.gpio_label.show()
self.gpio_label.setStyleSheet("background: #333332; color: white")
self.hz_pic = QLabel(self.window)
self.hz_pic.setPixmap(QPixmap("Images/Icons/freq.png"))
self.hz_pic.move(70,234)
self.hz_pic.show()
self.hz_count = QLineEdit(self.window)
self.hz_count.setReadOnly(True)
self.hz_count.move(84, 235)
self.hz_count.resize(40, 12)
self.hz_count.show()
self.hz_count.setText(str(fc.motor.PWM_frequency))
self.gpio_label = QPushButton("MPU6050 Address", self.window)
self.gpio_label.setCheckable(False)
self.gpio_label.setEnabled(False)
self.gpio_label.move(18, 350)
self.gpio_label.show()
self.gpio_label.setStyleSheet("background: #333332; color: white")
self.imu_pic = QLabel(self.window)
self.imu_pic.setPixmap(QPixmap("Images/Icons/imu.png"))
self.imu_pic.move(81, 374)
self.imu_pic.show()
self.mpu_address = QLineEdit(self.window)
self.mpu_address.setReadOnly(True)
self.mpu_address.move(95, 374)
self.mpu_address.resize(30, 12)
self.mpu_address.show()
self.mpu_address.setText(str(fc.imu.mpu6050_handle))
# sample time
self.sample_time_label = QPushButton("Sample Time (ms)", self.window)
self.sample_time_label.setCheckable(False)
self.sample_time_label.setEnabled(False)
self.sample_time_label.move(20, 300)
self.sample_time_label.show()
self.sample_time = QLineEdit(self.window)
self.sample_time.setReadOnly(True)
self.sample_time.resize(50, 12)
self.sample_time.move(75, 324)
self.sample_time.show()
self.sample_time.setText(str(fc.imu.sample_time))
self.sample_time_label.setStyleSheet("background: #333332; color: white")
self.sample_time_pic = QLabel(self.window)
self.sample_time_pic.setPixmap(QPixmap("Images/Icons/clock.png"))
self.sample_time_pic.move(58, 323)
self.sample_time_pic.show()
# PID input/output limitations
self.io_lim_label = QPushButton("PID Output Limits", self.window)
self.io_lim_label.setCheckable(False)
self.io_lim_label.setEnabled(False)
self.io_lim_label.move(23, 258)
self.io_lim_label.show()
self.io_lim_lower = QLineEdit(self.window)
self.io_lim_lower.setReadOnly(True)
self.io_lim_lower.resize(38,12)
self.io_lim_lower.move(24, 282)
self.io_lim_lower.show()
self.io_lim_lower.setText(str(fc.imu.output_min))
self.io_lim_pic_dwn = QLabel(self.window)
self.io_lim_pic_dwn.setPixmap(QPixmap("Images/Icons/down_arrow.png"))
self.io_lim_pic_dwn.move(9, 280)
self.io_lim_pic_dwn.show()
self.io_lim_hi = QLineEdit(self.window)
self.io_lim_hi.setReadOnly(True)
self.io_lim_hi.resize(38, 12)
self.io_lim_hi.move(87, 282)
self.io_lim_hi.show()
self.io_lim_hi.setText(str(fc.imu.output_max))
self.io_lim_pic_up = QLabel(self.window)
self.io_lim_pic_up.setPixmap(QPixmap("Images/Icons/up_arrow.png"))
self.io_lim_pic_up.move(72, 280)
self.io_lim_pic_up.show()
def show_about_info(self):
self.about_websites = QWidget(self.about_tab)
self.about_websites.move(10,10)
self.about_arc_label = QPushButton("ARC", self.about_websites)
self.about_arc_label.setCheckable(False)
self.about_arc_label.setEnabled(False)
self.about_arc_label.move(0, 10)
self.about_arc_label.show()
self.arc_website = QLabel(self.about_websites)
self.arc_website.move(2,36)
self.arc_website.setText('<a href="http://CUAerialRobotics.github.io/">Aerial Robotics Team</a>')
self.arc_website.setOpenExternalLinks(True)
self.arc_website.show()
self.arc_img = QLabel(self.about_websites)
self.arc_img.setPixmap(QPixmap('Images/CUARC_about_logo.png'))
self.arc_img.move(130,0)
self.arc_img.show()
self.about_git_label = QPushButton("GitHub", self.about_websites)
self.about_git_label.setCheckable(False)
self.about_git_label.setEnabled(False)
self.about_git_label.move(0, 100)
self.about_git_label.show()
self.arc_website_git = QLabel(self.about_websites)
self.arc_website_git.move(2, 126)
self.arc_website_git.setText(
'<a href="https://github.com/CornellAerialRobotics/">GitHub</a>')
self.arc_website_git.setOpenExternalLinks(True)
self.arc_website_git.show()
self.git_img = QLabel(self.about_websites)
self.git_img.setPixmap(QPixmap('Images/GitHub_logo.png'))
self.git_img.move(130, 82)
self.git_img.show()
self.about_comp_label = QPushButton("Competition", self.about_websites)
self.about_comp_label.setCheckable(False)
self.about_comp_label.setEnabled(False)
self.about_comp_label.move(0, 180)
self.about_comp_label.show()
self.comp_website = QLabel(self.about_websites)
self.comp_website.move(2, 204)
self.comp_website.setText(
'<a href="http://www.aerialroboticscompetition.org/">IARC</a>')
self.comp_website.setOpenExternalLinks(True)
self.comp_website.show()
self.comp_website_rules = QLabel(self.about_websites)
self.comp_website_rules.move(2, 224)
self.comp_website_rules.setText(
'<a href="http://www.aerialroboticscompetition.org/rules.php">Mission 8 Rules</a>')
self.comp_website_rules.setOpenExternalLinks(True)
self.comp_website_rules.show()
self.iarc_img = QLabel(self.about_websites)
self.iarc_img.setPixmap(QPixmap('Images/IARC_logo.png'))
self.iarc_img.move(130, 174)
self.iarc_img.show()
self.about_school_label = QPushButton("School", self.about_websites)
self.about_school_label.setCheckable(False)
self.about_school_label.setEnabled(False)
self.about_school_label.move(0, 274)
self.about_school_label.show()
self.school_website = QLabel(self.about_websites)
self.school_website.move(2, 298)
self.school_website.setText(
'<a href="https://www.cornell.edu/">Cornell University</a>')
self.school_website.setOpenExternalLinks(True)
self.school_website.show()
self.cu_img = QLabel(self.about_websites)
self.cu_img.setPixmap(QPixmap('Images/CU_logo.png'))
self.cu_img.move(130, 260)
self.cu_img.show()
def __init__(self, doc, parent=None):
super(PathToolBar, self).__init__(parent)
self.doc = doc
# Set the appearance
_sizePolicy = QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred)
_sizePolicy.setHorizontalStretch(0)
_sizePolicy.setVerticalStretch(0)
_sizePolicy.setHeightForWidth(_sizePolicy.hasHeightForWidth())
self.setSizePolicy(_sizePolicy)
self.setOrientation(Qt.Vertical) # default is horizontal
# _maxH = 40 if app().prefs.show_icon_labels else 30
# self.setMaximumHeight(_maxH) # horizontal
self.setMaximumWidth(46) # vertical
self.setIconSize(QSize(20, 20))
self.setLayoutDirection(Qt.LeftToRight)
if app().prefs.show_icon_labels:
self.setToolButtonStyle(Qt.ToolButtonTextUnderIcon)
# Tools
self.action_path_select = self.setupAction("Select", "V",
"action_path_select",
":/pathtools/select")
self.action_path_pencil = self.setupAction("Pencil", "N",
"action_path_pencil",
":/pathtools/force")
self.action_path_break = self.setupAction("Nick", "K",
"action_path_break",
":/pathtools/nick")
self.action_path_insertion = self.setupAction("Insert", "I",
"action_path_insertion",
":/pathtools/insert")
self.action_path_skip = self.setupAction("Skip", "S",
"action_path_skip",
":/pathtools/skip")
self.action_path_paint = self.setupAction("Paint", "P",
"action_path_paint",
":/pathtools/paint")
self.action_path_mod = self.setupAction("Mod", "M", "action_path_mod",
":/pathtools/mod")
self.action_path_add_seq = self.setupAction("Seq", "A",
"action_path_add_seq",
":/pathtools/addseq")
# Separator
self.addSeparator()
# Buttons
self.action_autostaple = self.setupAction("Auto", None,
"action_autostaple",
":/pathtools/autostaple")
self.action_autostaple.triggered.connect(
self.doc.controller().actionAutostapleSlot)
self.action_renumber = self.setupAction("Rnum", None,
"action_renumber",
":/parttools/renum")
self.action_renumber.triggered.connect(
self.doc.controller().actionRenumberSlot)
self.action_svg = self.setupAction("SVG", None, "action_svg",
":/filetools/svg")
self.action_svg.triggered.connect(self.doc.controller().actionSVGSlot)
self.action_export = self.setupAction("Export", None,
"action_export_staples",
":/filetools/export")
self.action_export.triggered.connect(
self.doc.controller().actionExportSequencesSlot)
