def __init__(self, parent = None):
"""
Constructor
"""
QFrame.__init__(self, parent)
self.setupUi(self)
self.points =[]
self.point_prev = 0
self.point_next = 0
self.point_drv = 0
self.points_msg.connect(self._pointsmsg)
self.interval = 0
self.timer = QPauseTimer(self)
self.timer.timeout.connect(self._timeout)
self.displayrefresh = QTimer(self)
self.displayrefresh.start(100) #100ms refresh rate of display
self.displayrefresh.timeout.connect(self._refresh)
self.spinBox_goto.setValue(1)
self.spinBox_goto.setMinimum(1)
self.spinBox_loop_from.setMinimum(1)
self.spinBox_loop_times.setMinimum(1)
self.spinBox_loop_to.setMinimum(1)
self.spinBox_point_first.setMinimum(1)
self.spinBox_point_last.setMinimum(1)
class Sequecer(QFrame, Ui_Frame):
"""
Class documentation goes here.
"""
points_msg = QtCore.pyqtSignal(list)
drive_msg = QtCore.pyqtSignal(str)
def __init__(self, parent = None):
"""
Constructor
"""
QFrame.__init__(self, parent)
self.setupUi(self)
self.points =[]
self.point_prev = 0
self.point_next = 0
self.point_drv = 0
self.points_msg.connect(self._pointsmsg)
self.interval = 0
self.timer = QPauseTimer(self)
self.timer.timeout.connect(self._timeout)
self.displayrefresh = QTimer(self)
self.displayrefresh.start(100) #100ms refresh rate of display
self.displayrefresh.timeout.connect(self._refresh)
self.spinBox_goto.setValue(1)
self.spinBox_goto.setMinimum(1)
self.spinBox_loop_from.setMinimum(1)
self.spinBox_loop_times.setMinimum(1)
self.spinBox_loop_to.setMinimum(1)
self.spinBox_point_first.setMinimum(1)
self.spinBox_point_last.setMinimum(1)
def _pointsmsg(self,points):
self.points = points
self.spinBox_goto.setMaximum(len(self.points))
self.spinBox_loop_from.setMaximum(len(self.points))
self.spinBox_loop_to.setMaximum(len(self.points))
self.spinBox_point_first.setMaximum(len(self.points))
self.spinBox_point_last.setMaximum(len(self.points))
def _refresh(self):
if self.timer.isActive():
togo = int((time.time() - self.timer.startTime)*1000)
self.label_time_akt.setText(str(togo))
self.label_time_next.setText(str(self.timer.interval))
if not self.timer.isActive() and not self.timer.ispaused:
self.label_time_akt.setText('0')
self.label_time_next.setText('0')
def _timeout(self):
#self.pushButton_start.setChecked(0)
print 'timeout'
print 'end@ ', self._endat()
print 'loopfrom ', self._loopfrom()
print 'loopto ', self._loopto()
self.label_pos_akt.setText(str(self.point_next))
if (self.point_next == self._endat()
and not self.checkBox_loop_do.isChecked()):
self._stop()
elif (self.point_next >= self._loopfrom()
and self.checkBox_loop_do.isChecked()):
self.point_next = self._loopto()
else: self.point_next = self._countup()
if self.point_next != self.point_prev:
self.point_prev = self.point_next
self.interval = int(self.points[self.point_next - 1][1])
self.timer.tstart(self.interval)
self.label_pos_next.setText(str(self.point_next))
self._sendDriveToPoint(self.point_next)
def _getPointData(self,point):
time = self.points[point - 1][1]
posx = self.points[point - 1][2]
posy = self.points[point - 1][3]
posz = self.points[point - 1][4]
lanc = self.points[point - 1][5]
return time,posx,posy,posz,lanc
def _sendDriveToPoint(self, point):
time,posx,posy,posz,lanc = self._getPointData(point)
self.drive_msg.emit( 'P X '+ posx + ' ' + str(2000))
self.drive_msg.emit( 'P Y '+ posy + ' ' + str(2000))
self.drive_msg.emit( 'P Z '+ posz + ' ' + str(2000))
# TODO: lanc , speed
self.label_pos_next.setText(str(self.point_next))
def _startfrom(self):
if self.checkBox_point_first.isChecked(): return 1
else: return self.spinBox_point_first.value()
def _endat(self):
if self.checkBox_point_last.isChecked(): return len(self.points)
else: return self.spinBox_point_last.value()
def _loopfrom(self):
if self.checkBox_loop_fromlast.isChecked(): return len(self.points)
else: return self.spinBox_loop_from.value()
def _loopto(self):
if self.checkBox_loop_tofirst.isChecked(): return 1
else: return self.spinBox_loop_to.value()
def _countup(self):
if self.point_next + 1 <= len(self.points):
return self.point_next + 1
else: self._stop()
def _gettime(self,point):
return int(self.points[self.point_next - 1][1])
def _stop(self):
self.timer.tstop()
self.pushButton_start.setChecked(0)
self.pushButton_pause.setChecked(0)
self.label_pos_next.setText('0')
@pyqtSignature("bool")
def on_pushButton_start_toggled(self, checked):
"""
Slot documentation goes here.
"""
if checked:
if not self.timer.ispaused:
self.point_next = self._startfrom()
self.interval = self._gettime(self.point_next)
self.timer.tstart(self.interval)
if not checked:
if self.timer.isActive():
self.timer.tpause()
@pyqtSignature("")
def on_pushButton_pause_toggled(self,checked):
"""
Slot documentation goes here.
"""
if checked:
self.timer.tpause()
self.pushButton_start.setChecked(0)
else:
if self.timer.ispaused:
self.pushButton_start.setChecked(1)
@pyqtSignature("")
def on_pushButton_stop_released(self):
"""
Slot documentation goes here.
"""
self._stop()
@pyqtSignature("")
def on_pushButton_goto_released(self):
"""
Slot documentation goes here.
"""
self.point_next = self.spinBox_goto.value()
self._sendDriveToPoint(self.point_next)
self.label_pos_akt.setText(str(self.point_next))
self.label_pos_next.setText(str(self.point_next))
@pyqtSignature("bool")
def on_radioButton_t1_toggled(self, checked):
"""
Slot documentation goes here.
"""
# TODO: not implemented yet
raise NotImplementedError
@pyqtSignature("bool")
def on_radioButton_t2_toggled(self, checked):
"""
Slot documentation goes here.
"""
# TODO: not implemented yet
raise NotImplementedError
@pyqtSignature("bool")
def on_radioButton_s1_toggled(self, checked):
"""
Slot documentation goes here.
"""
# TODO: not implemented yet
raise NotImplementedError
@pyqtSignature("bool")
def on_radioButton_S2_toggled(self, checked):
"""
Slot documentation goes here.
"""
# TODO: not implemented yet
raise NotImplementedError
@pyqtSignature("bool")
def on_radioButton_S3_toggled(self, checked):
"""
Slot documentation goes here.
"""
# TODO: not implemented yet
raise NotImplementedError
@pyqtSignature("int")
def on_checkBox_loop_do_2_stateChanged(self, p0):
"""
Slot documentation goes here.
"""
# TODO: not implemented yet
raise NotImplementedError
# self.pushButton_start.setStyleSheet(" background-color: lime;"
# " border-width: 1px;"
# "border-style: solid;"
# " border-radius: 4px; " )
