class View(QMainWindow):
def __init__(self):
super().__init__()
self.setWindowTitle('Editor de Tags')
self.setFixedSize(700, 480)
self._central_widget = QWidget(self)
self.setCentralWidget(self._central_widget)
self.left_widget = QWidget(self._central_widget)
self.left_widget.setGeometry(0, 80, 300, 380)
self.right_widget = QWidget(self._central_widget)
self.right_widget.setGeometry(305, 50, 400, 480)
self.left_widget_top = QWidget(self.left_widget)
self.left_widget_top.setGeometry(21, 10, 300, 50)
self.left_widget_bot = QWidget(self.left_widget)
self.left_widget_bot.setGeometry(0, 40, 300, 300)
self._create_file_path_display()
self._create_metadata_display()
self._create_buttons()
self._create_tool_bar()
self._create_status_bar()
#crear el visor de archivos y los metadatos
def _create_file_path_display(self):
self.file_path_display = QLineEdit(parent=self._central_widget)
self.file_path_display.setGeometry(0, 0, 700, 60)
self.file_path_display.setAlignment(Qt.AlignmentFlag.AlignCenter)
self.file_path_display.setReadOnly(True)
def _create_metadata_display(self):
self.hlayout_track_bpm = QHBoxLayout()
self.form_layout_track = QFormLayout()
self.form_layout_bpm = QFormLayout()
self.display_title = QLineEdit()
self.display_title.setFixedSize(200, 20)
self.display_artist = QLineEdit()
self.display_artist.setFixedSize(200, 20)
self.display_album = QLineEdit()
self.display_album.setFixedSize(200, 20)
self.display_album_artist = QLineEdit()
self.display_album_artist.setFixedSize(200, 20)
self.display_genre = QLineEdit()
self.display_genre.setFixedSize(200, 20)
self.display_track = QLineEdit()
self.display_track.setFixedSize(60, 20)
self.display_release_date = QLineEdit()
self.display_release_date.setFixedSize(200, 20)
self.display_bpm = QLineEdit()
self.display_bpm.setFixedSize(60, 20)
self.display_publisher = QLineEdit()
self.display_publisher.setFixedSize(200, 20)
self.hlayout_track_bpm.addLayout(self.form_layout_track)
self.form_layout_track.addRow('Pista:', self.display_track)
self.hlayout_track_bpm.addLayout(self.form_layout_bpm)
self.form_layout_bpm.addRow('BPM:', self.display_bpm)
self.left_widget_top.setLayout(self.hlayout_track_bpm)
self.form_layout = QFormLayout()
self.form_layout.addRow('Titulo:', self.display_title)
self.form_layout.addRow('Artista:', self.display_artist)
self.form_layout.addRow('Album:', self.display_album)
self.form_layout.addRow('Album artist:', self.display_album_artist)
self.form_layout.addRow('Genero:', self.display_genre)
self.form_layout.addRow('Fecha:', self.display_release_date)
self.form_layout.addRow('Publicacion:', self.display_publisher)
self.left_widget_bot.setLayout(self.form_layout)
#crear barra de tareas y botones
def _create_buttons(self):
self.close_button = QPushButton('Cerrar', parent=self.right_widget)
self.close_button.setGeometry(220, 350, 70, 30)
self.save_button = QPushButton('Guardar', parent=self.right_widget)
self.save_button.setGeometry(300, 350, 70, 30)
def _create_tool_bar(self):
self.tools = QToolBar()
self.addToolBar(self.tools)
def _create_status_bar(self):
status = QStatusBar()
status.showMessage("Activo")
self.setStatusBar(status)
#crear el texto del display
def set_display_text(self, file_path, title, artist, album, album_artist,
genre, track, release_date, bpm, publisher):
self.file_path_display.setText(file_path)
self.display_title.setText(title)
self.display_artist.setText(artist)
self.display_album.setText(album)
self.display_album_artist.setText(album_artist)
self.display_genre.setText(str(genre))
self.display_track.setText(str(track))
self.display_release_date.setText(str(release_date))
self.display_bpm.setText(str(bpm))
self.display_publisher.setText(publisher)
def display_text(self):
return self.display_title.text(), self.display_artist.text(
), self.display_album.text(), self.display_album_artist.text(
), self.display_genre.text(), self.display_track.text(
), self.display_release_date.text(), self.display_bpm.text(
), self.display_publisher.text()
class MainWindow(QMainWindow):
def __init__(self):
super().__init__()
self.setFixedSize(800, 410)
self.setWindowTitle("PyLX16A Servo Testing Software")
self.port_selection_box = QComboBox(self)
self.port_selection_box.setFixedSize(200, 27)
self.port_selection_box.move(30, 65)
port_selection_box_label = QLabel("Select Port:", self)
port_selection_box_label.move(30, 35)
self.port_selection_box_refresh_button = QPushButton("Refresh", self)
self.port_selection_box_refresh_button.setFixedSize(60, 23)
self.port_selection_box_refresh_button.move(170, 38)
self.id_selection_box = QListWidget(self)
self.id_selection_box.setFixedSize(200, 200)
self.id_selection_box.move(30, 135)
id_selection_box_label = QLabel("Connected Servos:", self)
id_selection_box_label.setFixedWidth(200)
id_selection_box_label.move(30, 105)
self.id_selection_box_refresh_button = QPushButton("Refresh", self)
self.id_selection_box_refresh_button.setFixedSize(60, 23)
self.id_selection_box_refresh_button.move(170, 108)
self.set_id_line_edit = QLineEdit(self)
self.set_id_line_edit.setFixedSize(50, 27)
self.set_id_line_edit.move(80, 355)
set_id_line_edit_label = QLabel("Set ID:", self)
set_id_line_edit_label.move(30, 355)
set_id_line_edit_label.setFixedSize(50, 27)
self.set_id_button = QPushButton("Change ID!", self)
self.set_id_button.setFixedSize(85, 27)
self.set_id_button.move(145, 355)
self.position_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_slider.setMinimum(0)
self.position_slider.setMaximum(240)
self.position_slider.setFixedWidth(200)
self.position_slider.move(300, 55)
self.position_slider_readout = QLabel("0.00°", self)
self.position_slider_readout.setFixedWidth(50)
self.position_slider_readout.move(450, 30)
self.position_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_slider_label = QLabel("Angle (degrees):", self)
position_slider_label.move(300, 30)
self.position_offset_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_offset_slider.setMinimum(-30)
self.position_offset_slider.setMaximum(30)
self.position_offset_slider.setFixedWidth(200)
self.position_offset_slider.move(300, 125)
self.position_offset_slider_readout = QLabel("0.00°", self)
self.position_offset_slider_readout.setFixedWidth(50)
self.position_offset_slider_readout.move(450, 100)
self.position_offset_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_offset_slider_label = QLabel("Angle offset (degrees):", self)
position_offset_slider_label.setFixedWidth(200)
position_offset_slider_label.move(300, 100)
self.angle_lower_limit_textentry = QLineEdit(self)
self.angle_lower_limit_textentry.setFixedWidth(50)
self.angle_lower_limit_textentry.move(450, 175)
self.angle_lower_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_upper_limit_textentry = QLineEdit(self)
self.angle_upper_limit_textentry.setFixedWidth(50)
self.angle_upper_limit_textentry.move(450, 210)
self.angle_upper_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_lower_limit_textentry_label = QLabel(
"Lower Limit (degrees):", self)
self.angle_lower_limit_textentry_label.move(300, 175)
self.angle_lower_limit_textentry_label.setFixedWidth(150)
self.angle_upper_limit_textentry_label = QLabel(
"Upper Limit (degrees):", self)
self.angle_upper_limit_textentry_label.move(300, 210)
self.angle_upper_limit_textentry_label.setFixedWidth(150)
self.vin_lower_limit_textentry = QLineEdit(self)
self.vin_lower_limit_textentry.setFixedWidth(50)
self.vin_lower_limit_textentry.move(450, 265)
self.vin_lower_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_upper_limit_textentry = QLineEdit(self)
self.vin_upper_limit_textentry.setFixedWidth(50)
self.vin_upper_limit_textentry.move(450, 300)
self.vin_upper_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_lower_limit_textentry_label = QLabel(
"Voltage Lower Limit (mV):", self)
self.vin_lower_limit_textentry_label.move(300, 265)
self.vin_lower_limit_textentry_label.setFixedWidth(150)
self.vin_upper_limit_textentry_label = QLabel(
"Voltage Upper Limit (mV):", self)
self.vin_upper_limit_textentry_label.move(300, 300)
self.vin_upper_limit_textentry_label.setFixedWidth(150)
self.temp_limit_textentry = QLineEdit(self)
self.temp_limit_textentry.setFixedWidth(50)
self.temp_limit_textentry.move(450, 355)
self.temp_limit_textentry.setValidator(QIntValidator(50, 100, self))
self.temp_limit_textentry_label = QLabel("Temp Limit (°C):", self)
self.temp_limit_textentry_label.move(300, 355)
self.temp_limit_textentry_label.setFixedWidth(150)
self.servo_mode_radio_button = QRadioButton("Servo Mode", self)
self.servo_mode_radio_button.move(565, 50)
self.motor_mode_radio_button = QRadioButton("Motor Mode", self)
self.motor_mode_radio_button.move(565, 75)
self.motor_speed_slider = QSlider(Qt.Orientation.Horizontal, self)
self.motor_speed_slider.setMinimum(-1000)
self.motor_speed_slider.setMaximum(1000)
self.motor_speed_slider.setFixedWidth(200)
self.motor_speed_slider.move(565, 125)
motor_speed_slider_label = QLabel("Motor Speed:", self)
motor_speed_slider_label.move(565, 100)
self.torque_enabled_checkbox = QCheckBox("Torque Enabled", self)
self.torque_enabled_checkbox.move(565, 175)
self.torque_enabled_checkbox.setFixedWidth(200)
self.led_enabled_checkbox = QCheckBox("LED Enabled", self)
self.led_enabled_checkbox.move(565, 210)
self.led_enabled_checkbox.setFixedWidth(200)
self.led_over_temp_checkbox = QCheckBox("LED Over Temperature", self)
self.led_over_temp_checkbox.move(565, 258)
self.led_over_temp_checkbox.setFixedWidth(200)
self.led_over_voltage_checkbox = QCheckBox("LED Over Voltage", self)
self.led_over_voltage_checkbox.move(565, 283)
self.led_over_voltage_checkbox.setFixedWidth(200)
self.led_rotor_locked_checkbox = QCheckBox("LED Rotor Locked", self)
self.led_rotor_locked_checkbox.move(565, 308)
self.led_rotor_locked_checkbox.setFixedWidth(200)
self.physical_position_readout = QLabel("--°", self)
self.physical_position_readout.move(565, 367)
self.physical_position_readout.setFixedWidth(200)
self.physical_position_readout_label = QLabel("Position", self)
self.physical_position_readout_label.move(565, 347)
self.temperature_readout = QLabel("-- °C", self)
self.temperature_readout.move(635, 367)
self.temperature_readout.setFixedWidth(200)
self.temperature_readout_label = QLabel("Temperature", self)
self.temperature_readout_label.move(635, 347)
self.voltage_readout = QLabel("-- V", self)
self.voltage_readout.move(730, 367)
self.voltage_readout.setFixedWidth(200)
self.voltage_readout_label = QLabel("Voltage", self)
self.voltage_readout_label.move(730, 347)
self.readout_update_timer = QTimer(self)
self.readout_update_timer.timeout.connect(self.update_readouts)
self.readout_update_timer.start(250)
self.active_servo: LX16A = None
self.position_slider.setValue(0)
self.position_offset_slider.setValue(0)
self.motor_speed_slider.setValue(0)
self.id_selection_box_refresh_button.setEnabled(False)
self.disable_widgets()
self.port_selection_box.currentTextChanged.connect(
self.port_selection_box_changed)
self.port_selection_box_refresh_button.clicked.connect(
self.port_refresh_button_clicked)
self.id_selection_box.currentTextChanged.connect(
self.id_selection_box_changed)
self.id_selection_box_refresh_button.clicked.connect(
self.id_refresh_button_clicked)
self.set_id_button.pressed.connect(self.id_updated)
self.position_slider.sliderMoved.connect(self.position_slider_updated)
self.position_offset_slider.sliderMoved.connect(
self.position_offset_slider_updated)
self.angle_lower_limit_textentry.textChanged.connect(
self.angle_lower_limit_updated)
self.angle_upper_limit_textentry.textChanged.connect(
self.angle_upper_limit_updated)
self.vin_lower_limit_textentry.textChanged.connect(
self.vin_lower_limit_updated)
self.vin_upper_limit_textentry.textChanged.connect(
self.vin_upper_limit_updated)
self.temp_limit_textentry.textChanged.connect(self.temp_limit_updated)
self.servo_mode_radio_button.toggled.connect(
self.servo_mode_radio_button_toggled)
self.motor_mode_radio_button.toggled.connect(
self.motor_mode_radio_button_toggled)
self.motor_speed_slider.valueChanged.connect(
self.motor_speed_slider_updated)
self.torque_enabled_checkbox.stateChanged.connect(
self.torque_enabled_checkbox_toggled)
self.led_enabled_checkbox.stateChanged.connect(
self.led_enabled_checkbox_toggled)
self.led_over_temp_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_over_voltage_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_rotor_locked_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.scan_for_ports()
def disable_widgets(self):
self.set_id_line_edit.setEnabled(False)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
self.angle_lower_limit_textentry.setEnabled(False)
self.angle_upper_limit_textentry.setEnabled(False)
self.vin_lower_limit_textentry.setEnabled(False)
self.vin_upper_limit_textentry.setEnabled(False)
self.temp_limit_textentry.setEnabled(False)
self.servo_mode_radio_button.setEnabled(False)
self.motor_mode_radio_button.setEnabled(False)
self.motor_speed_slider.setEnabled(False)
self.torque_enabled_checkbox.setEnabled(False)
self.led_enabled_checkbox.setEnabled(False)
self.led_over_temp_checkbox.setEnabled(False)
self.led_over_voltage_checkbox.setEnabled(False)
self.led_rotor_locked_checkbox.setEnabled(False)
def enable_widgets(self):
self.set_id_line_edit.setEnabled(True)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
self.angle_lower_limit_textentry.setEnabled(True)
self.angle_upper_limit_textentry.setEnabled(True)
self.vin_lower_limit_textentry.setEnabled(True)
self.vin_upper_limit_textentry.setEnabled(True)
self.temp_limit_textentry.setEnabled(True)
self.servo_mode_radio_button.setEnabled(True)
self.motor_mode_radio_button.setEnabled(True)
self.motor_speed_slider.setEnabled(True)
self.torque_enabled_checkbox.setEnabled(True)
self.led_enabled_checkbox.setEnabled(True)
self.led_over_temp_checkbox.setEnabled(True)
self.led_over_voltage_checkbox.setEnabled(True)
self.led_rotor_locked_checkbox.setEnabled(True)
def clear_servo(self):
self.active_servo = None
@catch_disconnection
def set_servo_id(self, id_):
if not id_.isdigit():
return
self.active_servo = LX16A(int(id_))
self.active_servo.enable_torque()
self.position_slider.setValue(
int(self.active_servo.get_physical_angle()))
self.position_slider_readout.setText(
f"{int(self.active_servo.get_physical_angle() * 25 / 6) * 6 / 25:0.2f}°"
)
self.position_offset_slider.setValue(
int(self.active_servo.get_angle_offset()))
self.position_offset_slider_readout.setText(
f"{int(self.active_servo.get_angle_offset() * 25 / 6) * 6 / 25:0.2f}°"
)
self.angle_lower_limit_textentry.setText(
str(int(self.active_servo.get_angle_limits()[0])))
self.angle_upper_limit_textentry.setText(
str(int(self.active_servo.get_angle_limits()[1])))
self.vin_lower_limit_textentry.setText(
str(self.active_servo.get_vin_limits()[0]))
self.vin_upper_limit_textentry.setText(
str(self.active_servo.get_vin_limits()[1]))
self.temp_limit_textentry.setText(
str(self.active_servo.get_temp_limit()))
self.motor_speed_slider.setValue(self.active_servo.get_motor_speed(
) if self.active_servo.is_motor_mode() else 0)
if self.active_servo.is_motor_mode():
self.motor_mode_radio_button.setChecked(True)
else:
self.servo_mode_radio_button.setChecked(True)
self.motor_speed_slider.setEnabled(self.active_servo.is_motor_mode())
self.torque_enabled_checkbox.setChecked(
self.active_servo.is_torque_enabled())
self.led_enabled_checkbox.setChecked(
self.active_servo.is_led_power_on())
self.led_over_temp_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[0])
self.led_over_voltage_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[1])
self.led_rotor_locked_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[2])
@catch_disconnection
def scan_for_servos(self, port):
self.setCursor(Qt.CursorShape.WaitCursor)
LX16A.initialize(port)
self.id_selection_box.clear()
for i in range(0, 254):
try:
servo = LX16A(i)
self.id_selection_box.addItem(str(i))
except:
pass
self.setCursor(Qt.CursorShape.ArrowCursor)
@catch_disconnection
def scan_for_ports(self):
ports = serial.tools.list_ports.comports()
for port in ports:
self.port_selection_box.addItem(port.device)
@catch_disconnection
def update_readouts(self):
if self.active_servo is None:
return
try:
self.physical_position_readout.setText(
f"{self.active_servo.get_physical_angle():0.2f}°")
self.temperature_readout.setText(
f"{self.active_servo.get_temp()} °C")
self.voltage_readout.setText(
f"{self.active_servo.get_vin() / 1000} V")
except (ServoTimeoutError, ServoChecksumError):
pass
@catch_disconnection
def id_updated(self):
new_id = self.set_id_line_edit.text()
try:
servo = LX16A(int(new_id))
except ServoTimeoutError:
# Meaning this ID is not taken
self.active_servo.set_id(int(new_id))
self.id_selection_box.item(
self.id_selection_box.currentRow()).setText(new_id)
return
QMessageBox.warning(None, "Error", "ID already taken")
@catch_disconnection
def position_slider_updated(self, pos):
if float(self.voltage_readout.text()[:-2]) < 5:
QMessageBox.warning(
None,
"Error",
"The voltage going through the servo is too low. Is your battery powered on?",
)
return
self.active_servo.move(pos)
self.position_slider_readout.setText(
f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")
@catch_disconnection
def position_offset_slider_updated(self, pos):
self.active_servo.set_angle_offset(pos)
self.position_offset_slider_readout.setText(
f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")
@catch_disconnection
def angle_lower_limit_updated(self, text):
if (QIntValidator(0, 240, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) > int(self.angle_upper_limit_textentry.text()):
return
self.active_servo.set_angle_limits(
int(text), int(self.angle_upper_limit_textentry.text()))
@catch_disconnection
def angle_upper_limit_updated(self, text):
if (QIntValidator(0, 240, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) < int(self.angle_lower_limit_textentry.text()):
return
self.active_servo.set_angle_limits(
int(self.angle_lower_limit_textentry.text()), int(text))
@catch_disconnection
def vin_lower_limit_updated(self, text):
if (QIntValidator(4500, 12000, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) > int(self.vin_upper_limit_textentry.text()):
return
self.active_servo.set_vin_limits(
int(text), int(self.vin_upper_limit_textentry.text()))
@catch_disconnection
def vin_upper_limit_updated(self, text):
if (QIntValidator(4500, 12000, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) < int(self.vin_lower_limit_textentry.text()):
return
self.active_servo.set_vin_limits(
int(self.vin_lower_limit_textentry.text()), int(text))
@catch_disconnection
def temp_limit_updated(self, text):
if (QIntValidator(50, 100, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
self.active_servo.set_temp_limit(int(text))
@catch_disconnection
def servo_mode_radio_button_toggled(self, checked):
if checked:
self.active_servo.servo_mode()
self.motor_speed_slider.setEnabled(False)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
else:
self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
self.motor_speed_slider.setEnabled(True)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
@catch_disconnection
def motor_mode_radio_button_toggled(self, checked):
if checked:
self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
self.motor_speed_slider.setEnabled(True)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
else:
self.active_servo.servo_mode()
self.motor_speed_slider.setEnabled(False)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
@catch_disconnection
def motor_speed_slider_updated(self, pos):
self.active_servo.motor_mode(pos)
@catch_disconnection
def torque_enabled_checkbox_toggled(self, checked):
if checked:
self.active_servo.enable_torque()
else:
self.active_servo.disable_torque()
self.position_slider.setEnabled(checked)
self.position_offset_slider.setEnabled(checked)
self.servo_mode_radio_button.setEnabled(checked)
self.motor_mode_radio_button.setEnabled(checked)
self.motor_speed_slider.setEnabled(checked)
@catch_disconnection
def led_enabled_checkbox_toggled(self, checked):
if checked:
self.active_servo.led_power_on()
else:
self.active_servo.led_power_off()
@catch_disconnection
def led_error_triggers_checkbox_toggled(self):
self.active_servo.set_led_error_triggers(
self.led_over_voltage_checkbox.isChecked(),
self.led_over_temp_checkbox.isChecked(),
self.led_rotor_locked_checkbox.isChecked(),
)
@catch_disconnection
def port_refresh_button_clicked(self, value):
self.id_selection_box_refresh_button.setEnabled(False)
self.disable_widgets()
self.port_selection_box.clear()
self.id_selection_box.clear()
self.scan_for_ports()
@catch_disconnection
def id_refresh_button_clicked(self, value):
self.disable_widgets()
self.id_selection_box.clear()
self.scan_for_servos(self.port_selection_box.currentText())
@catch_disconnection
def port_selection_box_changed(self, text):
if text == "":
return
self.id_selection_box_refresh_button.setEnabled(True)
self.disable_widgets()
self.id_selection_box.clear()
self.clear_servo()
self.scan_for_servos(text)
@catch_disconnection
def id_selection_box_changed(self, text):
if text == "":
return
self.enable_widgets()
self.set_servo_id(text)
