class Color(PluginBase):
def __init__(self, *args):
super().__init__(BrickletColor, *args)
self.color = self.device
self.cbe_color = CallbackEmulator(
self,
self.color.get_color,
None,
self.cb_color,
self.increase_error_count,
expand_result_tuple_for_callback=True)
self.cbe_illuminance = CallbackEmulator(self,
self.color.get_illuminance,
None, self.cb_illuminance,
self.increase_error_count)
self.cbe_color_temperature = CallbackEmulator(
self, self.color.get_color_temperature, None,
self.cb_color_temperature, self.increase_error_count)
self.color_frame = ColorFrame(25, 25, QColor(128, 128, 128))
self.illuminance_frame = ColorFrame(25, 25, QColor(128, 128, 128))
self.color_temperature_frame = ColorFrame(25, 25,
QColor(128, 128, 128))
self.current_color_r = CurveValueWrapper() # int
self.current_color_g = CurveValueWrapper() # int
self.current_color_b = CurveValueWrapper() # int
self.current_color_c = CurveValueWrapper() # int
self.current_illuminance = CurveValueWrapper() # float, lx
self.current_color_temperature = CurveValueWrapper() # int, K
self.clear_graphs_button = QPushButton("Clear Graphs")
plots = [('R', Qt.red, self.current_color_r,
lambda value: self.format_color(0, value)),
('G', Qt.darkGreen, self.current_color_g,
lambda value: self.format_color(1, value)),
('B', Qt.blue, self.current_color_b,
lambda value: self.format_color(2, value)),
('C', Qt.black, self.current_color_c, str)]
self.plot_widget = PlotWidget('Color',
plots,
clear_button=self.clear_graphs_button,
extra_key_widgets=[self.color_frame],
y_resolution=1.0)
self.plot_widget.setMinimumSize(250, 200)
plots_illuminance = [('Illuminance', Qt.red, self.current_illuminance,
'{} lx (Lux)'.format)]
self.plot_widget_illuminance = PlotWidget(
'Illuminance [lx]',
plots_illuminance,
clear_button=self.clear_graphs_button,
extra_key_widgets=[self.illuminance_frame],
y_resolution=0.1)
self.plot_widget_illuminance.setMinimumSize(250, 200)
plots_color_temperature = [
('Color Temperature', Qt.red, self.current_color_temperature,
'{} K'.format)
]
self.plot_widget_color_temperature = PlotWidget(
'Color Temperature [K]',
plots_color_temperature,
clear_button=self.clear_graphs_button,
extra_key_widgets=[self.color_temperature_frame],
y_resolution=1.0)
self.plot_widget_color_temperature.setMinimumSize(250, 200)
self.gain_label = QLabel('Gain:')
self.gain_combo = QComboBox()
self.gain_combo.addItem("1x")
self.gain_combo.addItem("4x")
self.gain_combo.addItem("16x")
self.gain_combo.addItem("60x")
self.gain_combo.currentIndexChanged.connect(self.gain_changed)
self.current_gain_factor = 60
self.conversion_label = QLabel('Integration Time:')
self.conversion_combo = QComboBox()
self.conversion_combo.addItem("2.4 ms")
self.conversion_combo.addItem("24 ms")
self.conversion_combo.addItem("101 ms")
self.conversion_combo.addItem("154 ms")
self.conversion_combo.addItem("700 ms")
self.current_conversion_time = 154
self.conversion_combo.currentIndexChanged.connect(
self.conversion_changed)
self.light_checkbox = QCheckBox("Enable Light")
self.light_checkbox.stateChanged.connect(self.light_state_changed)
layout_h1 = QHBoxLayout()
layout_h1.addWidget(self.plot_widget_illuminance)
layout_h1.addWidget(self.plot_widget_color_temperature)
layout_h2 = QHBoxLayout()
layout_h2.addWidget(self.gain_label)
layout_h2.addWidget(self.gain_combo)
layout_h2.addWidget(self.conversion_label)
layout_h2.addWidget(self.conversion_combo)
layout_h2.addWidget(self.light_checkbox)
layout_h2.addStretch()
layout_h2.addWidget(self.clear_graphs_button)
line1 = QFrame()
line1.setObjectName("line1")
line1.setFrameShape(QFrame.HLine)
line1.setFrameShadow(QFrame.Sunken)
line2 = QFrame()
line2.setObjectName("line2")
line2.setFrameShape(QFrame.HLine)
line2.setFrameShadow(QFrame.Sunken)
layout = QVBoxLayout(self)
layout.addWidget(self.plot_widget)
layout.addWidget(line1)
layout.addLayout(layout_h1)
layout.addWidget(line2)
layout.addLayout(layout_h2)
self.k_to_rgb = {
1000: (255, 56, 0),
1100: (255, 71, 0),
1200: (255, 83, 0),
1300: (255, 93, 0),
1400: (255, 101, 0),
1500: (255, 109, 0),
1600: (255, 115, 0),
1700: (255, 121, 0),
1800: (255, 126, 0),
1900: (255, 131, 0),
2000: (255, 137, 18),
2100: (255, 142, 33),
2200: (255, 147, 44),
2300: (255, 152, 54),
2400: (255, 157, 63),
2500: (255, 161, 72),
2600: (255, 165, 79),
2700: (255, 169, 87),
2800: (255, 173, 94),
2900: (255, 177, 101),
3000: (255, 180, 107),
3100: (255, 184, 114),
3200: (255, 187, 120),
3300: (255, 190, 126),
3400: (255, 193, 132),
3500: (255, 196, 137),
3600: (255, 199, 143),
3700: (255, 201, 148),
3800: (255, 204, 153),
3900: (255, 206, 159),
4000: (255, 209, 163),
4100: (255, 211, 168),
4200: (255, 213, 173),
4300: (255, 215, 177),
4400: (255, 217, 182),
4500: (255, 219, 186),
4600: (255, 221, 190),
4700: (255, 223, 194),
4800: (255, 225, 198),
4900: (255, 227, 202),
5000: (255, 228, 206),
5100: (255, 230, 210),
5200: (255, 232, 213),
5300: (255, 233, 217),
5400: (255, 235, 220),
5500: (255, 236, 224),
5600: (255, 238, 227),
5700: (255, 239, 230),
5800: (255, 240, 233),
5900: (255, 242, 236),
6000: (255, 243, 239),
6100: (255, 244, 242),
6200: (255, 245, 245),
6300: (255, 246, 248),
6400: (255, 248, 251),
6500: (255, 249, 253),
6600: (254, 249, 255),
6700: (252, 247, 255),
6800: (249, 246, 255),
6900: (247, 245, 255),
7000: (245, 243, 255),
7100: (243, 242, 255),
7200: (240, 241, 255),
7300: (239, 240, 255),
7400: (237, 239, 255),
7500: (235, 238, 255),
7600: (233, 237, 255),
7700: (231, 236, 255),
7800: (230, 235, 255),
7900: (228, 234, 255),
8000: (227, 233, 255),
8100: (225, 232, 255),
8200: (224, 231, 255),
8300: (222, 230, 255),
8400: (221, 230, 255),
8500: (220, 229, 255),
8600: (218, 228, 255),
8700: (217, 227, 255),
8800: (216, 227, 255),
8900: (215, 226, 255),
9000: (214, 225, 255),
9100: (212, 225, 255),
9200: (211, 224, 255),
9300: (210, 223, 255),
9400: (209, 223, 255),
9500: (208, 222, 255),
9600: (207, 221, 255),
9700: (207, 221, 255),
9800: (206, 220, 255),
9900: (205, 220, 255),
10000: (204, 219, 255),
10100: (203, 219, 255),
10200: (202, 218, 255),
10300: (201, 218, 255),
10400: (201, 217, 255),
10500: (200, 217, 255),
10600: (199, 216, 255),
10700: (199, 216, 255),
10800: (198, 216, 255),
10900: (197, 215, 255),
11000: (196, 215, 255),
11100: (196, 214, 255),
11200: (195, 214, 255),
11300: (195, 214, 255),
11400: (194, 213, 255),
11500: (193, 213, 255),
11600: (193, 212, 255),
11700: (192, 212, 255),
11800: (192, 212, 255),
11900: (191, 211, 255),
12000: (191, 211, 255),
12100: (190, 211, 255),
12200: (190, 210, 255),
12300: (189, 210, 255),
12400: (189, 210, 255),
12500: (188, 210, 255),
12600: (188, 209, 255),
12700: (187, 209, 255),
12800: (187, 209, 255),
12900: (186, 208, 255),
13000: (186, 208, 255),
13100: (185, 208, 255),
13200: (185, 208, 255),
13300: (185, 207, 255),
13400: (184, 207, 255),
13500: (184, 207, 255),
13600: (183, 207, 255),
13700: (183, 206, 255),
13800: (183, 206, 255),
13900: (182, 206, 255),
14000: (182, 206, 255),
14100: (182, 205, 255),
14200: (181, 205, 255),
14300: (181, 205, 255),
14400: (181, 205, 255),
14500: (180, 205, 255),
14600: (180, 204, 255),
14700: (180, 204, 255),
14800: (179, 204, 255),
14900: (179, 204, 255),
15000: (179, 204, 255),
15100: (178, 203, 255),
15200: (178, 203, 255),
15300: (178, 203, 255),
15400: (178, 203, 255),
15500: (177, 203, 255),
15600: (177, 202, 255),
15700: (177, 202, 255),
15800: (177, 202, 255),
15900: (176, 202, 255),
16000: (176, 202, 255),
16100: (176, 202, 255),
16200: (175, 201, 255),
16300: (175, 201, 255),
16400: (175, 201, 255),
16500: (175, 201, 255),
16600: (175, 201, 255),
16700: (174, 201, 255),
16800: (174, 201, 255),
16900: (174, 200, 255),
17000: (174, 200, 255),
17100: (173, 200, 255),
17200: (173, 200, 255),
17300: (173, 200, 255),
17400: (173, 200, 255),
17500: (173, 200, 255),
17600: (172, 199, 255),
17700: (172, 199, 255),
17800: (172, 199, 255),
17900: (172, 199, 255),
18000: (172, 199, 255),
18100: (171, 199, 255),
18200: (171, 199, 255),
18300: (171, 199, 255),
18400: (171, 198, 255),
18500: (171, 198, 255),
18600: (170, 198, 255),
18700: (170, 198, 255),
18800: (170, 198, 255),
18900: (170, 198, 255),
19000: (170, 198, 255),
19100: (170, 198, 255),
19200: (169, 198, 255),
19300: (169, 197, 255),
19400: (169, 197, 255),
19500: (169, 197, 255),
19600: (169, 197, 255),
19700: (169, 197, 255),
19800: (169, 197, 255),
19900: (168, 197, 255),
20000: (168, 197, 255),
20100: (168, 197, 255),
20200: (168, 197, 255),
20300: (168, 196, 255),
20400: (168, 196, 255),
20500: (168, 196, 255),
20600: (167, 196, 255),
20700: (167, 196, 255),
20800: (167, 196, 255),
20900: (167, 196, 255),
21000: (167, 196, 255),
21100: (167, 196, 255),
21200: (167, 196, 255),
21300: (166, 196, 255),
21400: (166, 195, 255),
21500: (166, 195, 255),
21600: (166, 195, 255),
21700: (166, 195, 255),
21800: (166, 195, 255),
21900: (166, 195, 255),
22000: (166, 195, 255),
22100: (165, 195, 255),
22200: (165, 195, 255),
22300: (165, 195, 255),
22400: (165, 195, 255),
22500: (165, 195, 255),
22600: (165, 195, 255),
22700: (165, 194, 255),
22800: (165, 194, 255),
22900: (165, 194, 255),
23000: (164, 194, 255),
23100: (164, 194, 255),
23200: (164, 194, 255),
23300: (164, 194, 255),
23400: (164, 194, 255),
23500: (164, 194, 255),
23600: (164, 194, 255),
23700: (164, 194, 255),
23800: (164, 194, 255),
23900: (164, 194, 255),
24000: (163, 194, 255),
24100: (163, 194, 255),
24200: (163, 193, 255),
24300: (163, 193, 255),
24400: (163, 193, 255),
24500: (163, 193, 255),
24600: (163, 193, 255),
24700: (163, 193, 255),
24800: (163, 193, 255),
24900: (163, 193, 255),
25000: (163, 193, 255),
25100: (162, 193, 255),
25200: (162, 193, 255),
25300: (162, 193, 255),
25400: (162, 193, 255),
25500: (162, 193, 255),
25600: (162, 193, 255),
25700: (162, 193, 255),
25800: (162, 193, 255),
25900: (162, 192, 255),
26000: (162, 192, 255),
26100: (162, 192, 255),
26200: (162, 192, 255),
26300: (162, 192, 255),
26400: (161, 192, 255),
26500: (161, 192, 255),
26600: (161, 192, 255),
26700: (161, 192, 255),
26800: (161, 192, 255),
26900: (161, 192, 255),
27000: (161, 192, 255),
27100: (161, 192, 255),
27200: (161, 192, 255),
27300: (161, 192, 255),
27400: (161, 192, 255),
27500: (161, 192, 255),
27600: (161, 192, 255),
27700: (161, 192, 255),
27800: (160, 192, 255),
27900: (160, 192, 255),
28000: (160, 191, 255),
28100: (160, 191, 255),
28200: (160, 191, 255),
28300: (160, 191, 255),
28400: (160, 191, 255),
28500: (160, 191, 255),
28600: (160, 191, 255),
28700: (160, 191, 255),
28800: (160, 191, 255),
28900: (160, 191, 255),
29000: (160, 191, 255),
29100: (160, 191, 255),
29200: (160, 191, 255),
29300: (159, 191, 255),
29400: (159, 191, 255),
29500: (159, 191, 255),
29600: (159, 191, 255),
29700: (159, 191, 255),
29800: (159, 191, 255),
29900: (159, 191, 255),
30000: (159, 191, 255),
30100: (159, 191, 255),
30200: (159, 191, 255),
30300: (159, 191, 255),
30400: (159, 190, 255),
30500: (159, 190, 255),
30600: (159, 190, 255),
30700: (159, 190, 255),
30800: (159, 190, 255),
30900: (159, 190, 255),
31000: (159, 190, 255),
31100: (158, 190, 255),
31200: (158, 190, 255),
31300: (158, 190, 255),
31400: (158, 190, 255),
31500: (158, 190, 255),
31600: (158, 190, 255),
31700: (158, 190, 255),
31800: (158, 190, 255),
31900: (158, 190, 255),
32000: (158, 190, 255),
32100: (158, 190, 255),
32200: (158, 190, 255),
32300: (158, 190, 255),
32400: (158, 190, 255),
32500: (158, 190, 255),
32600: (158, 190, 255),
32700: (158, 190, 255),
32800: (158, 190, 255),
32900: (158, 190, 255),
33000: (158, 190, 255),
33100: (158, 190, 255),
33200: (157, 190, 255),
33300: (157, 190, 255),
33400: (157, 189, 255),
33500: (157, 189, 255),
33600: (157, 189, 255),
33700: (157, 189, 255),
33800: (157, 189, 255),
33900: (157, 189, 255),
34000: (157, 189, 255),
34100: (157, 189, 255),
34200: (157, 189, 255),
34300: (157, 189, 255),
34400: (157, 189, 255),
34500: (157, 189, 255),
34600: (157, 189, 255),
34700: (157, 189, 255),
34800: (157, 189, 255),
34900: (157, 189, 255),
35000: (157, 189, 255),
35100: (157, 189, 255),
35200: (157, 189, 255),
35300: (157, 189, 255),
35400: (157, 189, 255),
35500: (157, 189, 255),
35600: (156, 189, 255),
35700: (156, 189, 255),
35800: (156, 189, 255),
35900: (156, 189, 255),
36000: (156, 189, 255),
36100: (156, 189, 255),
36200: (156, 189, 255),
36300: (156, 189, 255),
36400: (156, 189, 255),
36500: (156, 189, 255),
36600: (156, 189, 255),
36700: (156, 189, 255),
36800: (156, 189, 255),
36900: (156, 189, 255),
37000: (156, 189, 255),
37100: (156, 189, 255),
37200: (156, 188, 255),
37300: (156, 188, 255),
37400: (156, 188, 255),
37500: (156, 188, 255),
37600: (156, 188, 255),
37700: (156, 188, 255),
37800: (156, 188, 255),
37900: (156, 188, 255),
38000: (156, 188, 255),
38100: (156, 188, 255),
38200: (156, 188, 255),
38300: (156, 188, 255),
38400: (155, 188, 255),
38500: (155, 188, 255),
38600: (155, 188, 255),
38700: (155, 188, 255),
38800: (155, 188, 255),
38900: (155, 188, 255),
39000: (155, 188, 255),
39100: (155, 188, 255),
39200: (155, 188, 255),
39300: (155, 188, 255),
39400: (155, 188, 255),
39500: (155, 188, 255),
39600: (155, 188, 255),
39700: (155, 188, 255),
39800: (155, 188, 255),
39900: (155, 188, 255),
40000: (155, 188, 255)
}
def start(self):
self.cbe_color.set_period(50)
self.cbe_illuminance.set_period(100)
self.cbe_color_temperature.set_period(100)
async_call(self.color.get_config, None, self.get_config_async,
self.increase_error_count)
async_call(self.color.is_light_on, None, self.is_light_on_async,
self.increase_error_count)
self.plot_widget.stop = False
self.plot_widget_illuminance.stop = False
self.plot_widget_color_temperature.stop = False
def stop(self):
self.cbe_color.set_period(0)
self.cbe_illuminance.set_period(0)
self.cbe_color_temperature.set_period(0)
self.plot_widget.stop = True
self.plot_widget_illuminance.stop = True
self.plot_widget_color_temperature.stop = True
def destroy(self):
pass
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickletColor.DEVICE_IDENTIFIER
def format_color(self, i, value):
if value >= 65535:
self.plot_widget.get_key_item(i).setStyleSheet(
'QToolButton { color: red }')
else:
self.plot_widget.get_key_item(i).setStyleSheet('')
return str(value)
def cb_color(self, r, g, b, c):
self.current_color_r.value = r
self.current_color_g.value = g
self.current_color_b.value = b
self.current_color_c.value = c
if r >= 65535 or g >= 65535 or b >= 65535:
self.plot_widget_illuminance.get_key_item(0).setStyleSheet(
'QLabel { color: red }')
self.plot_widget_color_temperature.get_key_item(0).setStyleSheet(
'QLabel { color: red }')
else:
self.plot_widget_illuminance.get_key_item(0).setStyleSheet('')
self.plot_widget_color_temperature.get_key_item(0).setStyleSheet(
'')
normalize = 0xFFFF
self.color_frame.set_color(
QColor(r * 255 // normalize, g * 255 // normalize,
b * 255 // normalize))
def cb_illuminance(self, illuminance):
self.current_illuminance.value = round(
illuminance * 700.0 / self.current_gain_factor /
self.current_conversion_time, 1)
i = int(self.current_illuminance.value) * 255 // 20000
if i > 255:
i = 255
self.illuminance_frame.set_color(QColor(i, i, i))
def cb_color_temperature(self, color_temperature):
self.current_color_temperature.value = color_temperature
m = color_temperature % 100
color_temperature -= m
if m > 50:
color_temperature += 100
if color_temperature < 1000:
color_temperature = 1000
if color_temperature > 40000:
color_temperature = 40000
r, g, b = self.k_to_rgb[color_temperature]
self.color_temperature_frame.set_color(QColor(r, g, b))
def is_light_on_async(self, light):
self.light_checkbox.setChecked(light == BrickletColor.LIGHT_ON)
def light_state_changed(self, state):
if state == Qt.Checked:
self.color.light_on()
else:
self.color.light_off()
def get_config_async(self, config):
gain, gain_factor, conv, conv_time = self.gain_conv_to_combo(
config.gain, config.integration_time)
self.gain_combo.setCurrentIndex(gain)
self.conversion_combo.setCurrentIndex(conv)
self.current_gain_factor = gain_factor
self.current_conversion_time = conv_time
def gain_conv_to_combo(self, gain, conv):
if gain == BrickletColor.GAIN_1X:
gain = 0
gain_factor = 1
elif gain == BrickletColor.GAIN_4X:
gain = 1
gain_factor = 4
elif gain == BrickletColor.GAIN_16X:
gain = 2
gain_factor = 16
elif gain == BrickletColor.GAIN_60X:
gain = 3
gain_factor = 60
if conv == BrickletColor.INTEGRATION_TIME_2MS:
conv = 0
conv_time = 2.4
elif conv == BrickletColor.INTEGRATION_TIME_24MS:
conv = 1
conv_time = 24
elif conv == BrickletColor.INTEGRATION_TIME_101MS:
conv = 2
conv_time = 101
elif conv == BrickletColor.INTEGRATION_TIME_154MS:
conv = 3
conv_time = 154
elif conv == BrickletColor.INTEGRATION_TIME_700MS:
conv = 4
conv_time = 700
return gain, gain_factor, conv, conv_time
def combo_to_gain_conv(self, gain, conv):
if gain == 0:
gain = BrickletColor.GAIN_1X
gain_factor = 1
elif gain == 1:
gain = BrickletColor.GAIN_4X
gain_factor = 4
elif gain == 2:
gain = BrickletColor.GAIN_16X
gain_factor = 16
elif gain == 3:
gain = BrickletColor.GAIN_60X
gain_factor = 60
if conv == 0:
conv = BrickletColor.INTEGRATION_TIME_2MS
conv_time = 2.4
elif conv == 1:
conv = BrickletColor.INTEGRATION_TIME_24MS
conv_time = 24
elif conv == 2:
conv = BrickletColor.INTEGRATION_TIME_101MS
conv_time = 101
elif conv == 3:
conv = BrickletColor.INTEGRATION_TIME_154MS
conv_time = 154
elif conv == 4:
conv = BrickletColor.INTEGRATION_TIME_700MS
conv_time = 700
return gain, gain_factor, conv, conv_time
def gain_changed(self, gain):
conversion = self.conversion_combo.currentIndex()
g, gf, c, ct = self.combo_to_gain_conv(gain, conversion)
self.current_gain_factor = gf
self.current_conversion_time = ct
self.color.set_config(g, c)
def conversion_changed(self, conversion):
gain = self.gain_combo.currentIndex()
g, gf, c, ct = self.combo_to_gain_conv(gain, conversion)
self.current_gain_factor = gf
self.current_conversion_time = ct
self.color.set_config(g, c)
class IMU(PluginBase, Ui_IMU):
def __init__(self, *args):
PluginBase.__init__(self, BrickIMU, *args)
self.setupUi(self)
self.imu = self.device
self.acc_x = 0
self.acc_y = 0
self.acc_z = 0
self.mag_x = 0
self.mag_y = 0
self.mag_z = 0
self.gyr_x = 0
self.gyr_y = 0
self.gyr_z = 0
self.tem = 0
self.roll = 0
self.pitch = 0
self.yaw = 0
self.qua_x = 0
self.qua_y = 0
self.qua_z = 0
self.qua_w = 0
self.old_time = 0
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.cbe_all_data = CallbackEmulator(self.imu.get_all_data,
self.all_data_callback,
self.increase_error_count,
use_data_signal=False)
self.cbe_orientation = CallbackEmulator(self.imu.get_orientation,
self.orientation_callback,
self.increase_error_count,
use_data_signal=False)
self.cbe_quaternion = CallbackEmulator(self.imu.get_quaternion,
self.quaternion_callback,
self.increase_error_count,
use_data_signal=False)
# Import IMUGLWidget here, not global. If globally included we get
# 'No OpenGL_accelerate module loaded: No module named OpenGL_accelerate'
# as soon as IMU is set as device_class in __init__.
# No idea why this happens, doesn't make sense.
try:
from .imu_gl_widget import IMUGLWidget
except:
from imu_gl_widget import IMUGLWidget
self.imu_gl = IMUGLWidget(self)
self.imu_gl.setMinimumSize(150, 150)
self.imu_gl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.min_x = 0
self.min_y = 0
self.min_z = 0
self.max_x = 0
self.max_y = 0
self.max_z = 0
self.update_counter = 0
self.mag_plot_widget = PlotWidget("Magnetic Field [mG]",
[["X", Qt.red, self.get_mag_x],
["Y", Qt.darkGreen, self.get_mag_y],
["Z", Qt.blue, self.get_mag_z]],
self.clear_graphs)
self.acc_plot_widget = PlotWidget("Acceleration [mG]",
[["X", Qt.red, self.get_acc_x],
["Y", Qt.darkGreen, self.get_acc_y],
["Z", Qt.blue, self.get_acc_z]],
self.clear_graphs)
self.gyr_plot_widget = PlotWidget("Angular Velocity [%c/s]" % 0xB0,
[["X", Qt.red, self.get_gyr_x],
["Y", Qt.darkGreen, self.get_gyr_y],
["Z", Qt.blue, self.get_gyr_z]],
self.clear_graphs)
self.tem_plot_widget = PlotWidget("Temperature [%cC]" % 0xB0,
[["t", Qt.red, self.get_tem]],
self.clear_graphs)
self.mag_plot_widget.setMinimumSize(250, 200)
self.acc_plot_widget.setMinimumSize(250, 200)
self.gyr_plot_widget.setMinimumSize(250, 200)
self.tem_plot_widget.setMinimumSize(250, 200)
self.orientation_label = QLabel("""Position your IMU Brick as shown \
in the image above, then press "Save Orientation".""")
self.orientation_label.setWordWrap(True)
self.orientation_label.setAlignment(Qt.AlignHCenter)
self.gl_layout = QVBoxLayout()
self.gl_layout.addWidget(self.imu_gl)
self.gl_layout.addWidget(self.orientation_label)
self.layout_top.addWidget(self.gyr_plot_widget)
self.layout_top.addWidget(self.acc_plot_widget)
self.layout_top.addWidget(self.mag_plot_widget)
self.layout_bottom.addLayout(self.gl_layout)
self.layout_bottom.addWidget(self.tem_plot_widget)
self.save_orientation.clicked.connect(self.imu_gl.save_orientation)
self.calibrate.clicked.connect(self.calibrate_clicked)
self.led_button.clicked.connect(self.led_clicked)
self.speed_spinbox.editingFinished.connect(self.speed_finished)
self.calibrate = None
self.alive = True
if self.firmware_version >= (1, 0, 7):
reset = QAction('Reset', self)
reset.triggered.connect(lambda: self.imu.reset())
self.set_actions(reset)
def start(self):
if not self.alive:
return
self.gl_layout.activate()
self.cbe_all_data.set_period(100)
self.cbe_orientation.set_period(100)
self.cbe_quaternion.set_period(50)
self.update_timer.start(50)
async_call(self.imu.get_convergence_speed, None, self.speed_spinbox.setValue, self.increase_error_count)
self.mag_plot_widget.stop = False
self.acc_plot_widget.stop = False
self.gyr_plot_widget.stop = False
self.tem_plot_widget.stop = False
def stop(self):
self.mag_plot_widget.stop = True
self.acc_plot_widget.stop = True
self.gyr_plot_widget.stop = True
self.tem_plot_widget.stop = True
self.update_timer.stop()
self.cbe_all_data.set_period(0)
self.cbe_orientation.set_period(0)
self.cbe_quaternion.set_period(0)
def destroy(self):
self.alive = False
if self.calibrate:
self.calibrate.close()
def get_url_part(self):
return 'imu'
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickIMU.DEVICE_IDENTIFIER
def all_data_callback(self, data):
acc_x, acc_y, acc_z, mag_x, mag_y, mag_z, gyr_x, gyr_y, gyr_z, tem = data
self.acc_x = acc_x
self.acc_y = acc_y
self.acc_z = acc_z
self.mag_x = mag_x
self.mag_y = mag_y
self.mag_z = mag_z
self.gyr_x = gyr_x
self.gyr_y = gyr_y
self.gyr_z = gyr_z
self.tem = tem
def quaternion_callback(self, data):
qua_x, qua_y, qua_z, qua_w = data
self.qua_x = qua_x
self.qua_y = qua_y
self.qua_z = qua_z
self.qua_w = qua_w
def orientation_callback(self, data):
roll, pitch, yaw = data
self.roll = roll
self.pitch = pitch
self.yaw = yaw
def led_clicked(self):
if 'On' in self.led_button.text():
self.led_button.setText('Turn LEDs Off')
self.imu.leds_on()
elif 'Off' in self.led_button.text():
self.led_button.setText('Turn LEDs On')
self.imu.leds_off()
def get_acc_x(self):
return self.acc_x
def get_acc_y(self):
return self.acc_y
def get_acc_z(self):
return self.acc_z
def get_mag_x(self):
return self.mag_x
def get_mag_y(self):
return self.mag_y
def get_mag_z(self):
return self.mag_z
def get_gyr_x(self):
return self.gyr_x/14.375
def get_gyr_y(self):
return self.gyr_y/14.375
def get_gyr_z(self):
return self.gyr_z/14.375
def get_tem(self):
return self.tem/100.0
def update_data(self):
self.update_counter += 1
self.imu_gl.update(self.qua_x, self.qua_y, self.qua_z, self.qua_w)
if self.update_counter % 2:
gyr_x = self.gyr_x/14.375
gyr_y = self.gyr_y/14.375
gyr_z = self.gyr_z/14.375
self.acceleration_update(self.acc_x, self.acc_y, self.acc_z)
self.magnetometer_update(self.mag_x, self.mag_y, self.mag_z)
self.gyroscope_update(gyr_x, gyr_y, gyr_z)
self.orientation_update(self.roll, self.pitch, self.yaw)
self.temperature_update(self.tem)
def acceleration_update(self, x, y, z):
x_str = "%g" % x
y_str = "%g" % y
z_str = "%g" % z
self.acc_y_label.setText(y_str)
self.acc_x_label.setText(x_str)
self.acc_z_label.setText(z_str)
def magnetometer_update(self, x, y, z):
# Earth magnetic field. 0.5 Gauss
x_str = "%g" % x
y_str = "%g" % y
z_str = "%g" % z
self.mag_x_label.setText(x_str)
self.mag_y_label.setText(y_str)
self.mag_z_label.setText(z_str)
def gyroscope_update(self, x, y, z):
x_str = "%g" % int(x)
y_str = "%g" % int(y)
z_str = "%g" % int(z)
self.gyr_x_label.setText(x_str)
self.gyr_y_label.setText(y_str)
self.gyr_z_label.setText(z_str)
def orientation_update(self, r, p, y):
r_str = "%g" % (r/100)
p_str = "%g" % (p/100)
y_str = "%g" % (y/100)
self.roll_label.setText(r_str)
self.pitch_label.setText(p_str)
self.yaw_label.setText(y_str)
def temperature_update(self, t):
t_str = "%.2f" % (t/100.0)
self.tem_label.setText(t_str)
def calibrate_clicked(self):
self.stop()
if self.calibrate is None:
self.calibrate = CalibrateWindow(self)
self.calibrate.refresh_values()
self.calibrate.show()
def speed_finished(self):
speed = self.speed_spinbox.value()
self.imu.set_convergence_speed(speed)
class IMU(PluginBase, Ui_IMU):
def __init__(self, *args):
PluginBase.__init__(self, BrickIMU, *args)
self.setupUi(self)
self.imu = self.device
# the firmware version of a Brick can (under common circumstances) not
# change during the lifetime of a Brick plugin. therefore, it's okay to
# make final decisions based on it here
self.has_status_led = self.firmware_version >= (2, 3, 1)
self.acc_x = CurveValueWrapper()
self.acc_y = CurveValueWrapper()
self.acc_z = CurveValueWrapper()
self.mag_x = CurveValueWrapper()
self.mag_y = CurveValueWrapper()
self.mag_z = CurveValueWrapper()
self.gyr_x = CurveValueWrapper()
self.gyr_y = CurveValueWrapper()
self.gyr_z = CurveValueWrapper()
self.temp = CurveValueWrapper()
self.roll = None
self.pitch = None
self.yaw = None
self.qua_x = None
self.qua_y = None
self.qua_z = None
self.qua_w = None
self.all_data_valid = False
self.quaternion_valid = False
self.orientation_valid = False
self.update_timer = QTimer(self)
self.update_timer.timeout.connect(self.update_data)
self.cbe_all_data = CallbackEmulator(self.imu.get_all_data,
None,
self.cb_all_data,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.cbe_orientation = CallbackEmulator(self.imu.get_orientation,
None,
self.cb_orientation,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.cbe_quaternion = CallbackEmulator(self.imu.get_quaternion,
None,
self.cb_quaternion,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.imu_gl = IMU3DWidget(self)
self.imu_gl.setMinimumSize(150, 150)
self.imu_gl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.update_counter = 0
self.mag_plot_widget = PlotWidget("Magnetic Field [mG]",
[("X", Qt.red, self.mag_x, str),
("Y", Qt.darkGreen, self.mag_y, str),
("Z", Qt.blue, self.mag_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon', y_resolution=5)
self.acc_plot_widget = PlotWidget("Acceleration [mg]",
[("X", Qt.red, self.acc_x, str),
("Y", Qt.darkGreen, self.acc_y, str),
("Z", Qt.blue, self.acc_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon', y_resolution=5)
self.gyr_plot_widget = PlotWidget("Angular Velocity [°/s]",
[("X", Qt.red, self.gyr_x, str),
("Y", Qt.darkGreen, self.gyr_y, str),
("Z", Qt.blue, self.gyr_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon', y_resolution=0.05)
self.temp_plot_widget = PlotWidget("Temperature [°C]",
[("t", Qt.red, self.temp, str)],
clear_button=self.clear_graphs,
key=None, y_resolution=0.01)
self.mag_plot_widget.setMinimumSize(250, 250)
self.acc_plot_widget.setMinimumSize(250, 250)
self.gyr_plot_widget.setMinimumSize(250, 250)
self.temp_plot_widget.setMinimumSize(250, 250)
self.orientation_label = QLabel('Position your IMU Brick as shown in the image above, then press "Save Orientation".')
self.orientation_label.setWordWrap(True)
self.orientation_label.setAlignment(Qt.AlignHCenter)
self.gl_layout = QVBoxLayout()
self.gl_layout.addWidget(self.imu_gl)
self.gl_layout.addWidget(self.orientation_label)
self.layout_top.addWidget(self.gyr_plot_widget)
self.layout_top.addWidget(self.acc_plot_widget)
self.layout_top.addWidget(self.mag_plot_widget)
self.layout_bottom.addLayout(self.gl_layout)
self.layout_bottom.addWidget(self.temp_plot_widget)
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.calibrate.clicked.connect(self.calibrate_clicked)
self.led_button.clicked.connect(self.led_clicked)
self.speed_spinbox.editingFinished.connect(self.speed_finished)
width = QFontMetrics(self.gyr_x_label.font()).boundingRect('-XXXX.X').width()
self.gyr_x_label.setMinimumWidth(width)
self.gyr_y_label.setMinimumWidth(width)
self.gyr_z_label.setMinimumWidth(width)
self.calibrate = None
self.alive = True
if self.has_status_led:
self.status_led_action = QAction('Status LED', self)
self.status_led_action.setCheckable(True)
self.status_led_action.toggled.connect(lambda checked: self.imu.enable_status_led() if checked else self.imu.disable_status_led())
self.set_configs([(0, None, [self.status_led_action])])
else:
self.status_led_action = None
reset = QAction('Reset', self)
reset.triggered.connect(self.imu.reset)
self.set_actions([(0, None, [reset])])
def save_orientation_clicked(self):
self.imu_gl.save_orientation()
self.orientation_label.hide()
def cleanup_gl(self):
self.state = self.imu_gl.get_state()
self.imu_gl.hide()
self.imu_gl.cleanup()
def restart_gl(self):
self.imu_gl = IMU3DWidget()
self.imu_gl.setMinimumSize(150, 150)
self.imu_gl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.gl_layout.addWidget(self.imu_gl)
self.imu_gl.show()
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.imu_gl.set_state(self.state)
def start(self):
if not self.alive:
return
if self.has_status_led:
async_call(self.imu.is_status_led_enabled, None, self.status_led_action.setChecked, self.increase_error_count)
self.parent().add_callback_on_untab(lambda x: self.cleanup_gl(), 'imu_cleanup_on_untab')
self.parent().add_callback_post_untab(lambda x: self.restart_gl(), 'imu_restart_post_untab')
self.parent().add_callback_on_tab(lambda x: self.cleanup_gl(), 'imu_cleanup_on_tab')
self.parent().add_callback_post_tab(lambda x: self.restart_gl(), 'imu_restart_post_tab')
self.gl_layout.activate()
self.cbe_all_data.set_period(100)
self.cbe_orientation.set_period(100)
self.cbe_quaternion.set_period(50)
self.update_timer.start(50)
async_call(self.imu.get_convergence_speed, None, self.speed_spinbox.setValue, self.increase_error_count)
self.mag_plot_widget.stop = False
self.acc_plot_widget.stop = False
self.gyr_plot_widget.stop = False
self.temp_plot_widget.stop = False
def stop(self):
self.mag_plot_widget.stop = True
self.acc_plot_widget.stop = True
self.gyr_plot_widget.stop = True
self.temp_plot_widget.stop = True
self.update_timer.stop()
self.cbe_all_data.set_period(0)
self.cbe_orientation.set_period(0)
self.cbe_quaternion.set_period(0)
def destroy(self):
self.alive = False
self.cleanup_gl()
if self.calibrate:
self.calibrate.close()
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickIMU.DEVICE_IDENTIFIER
def cb_all_data(self, acc_x, acc_y, acc_z, mag_x, mag_y, mag_z, gyr_x, gyr_y, gyr_z, temp):
self.acc_x.value = acc_x
self.acc_y.value = acc_y
self.acc_z.value = acc_z
self.mag_x.value = mag_x
self.mag_y.value = mag_y
self.mag_z.value = mag_z
self.gyr_x.value = gyr_x / 14.375
self.gyr_y.value = gyr_y / 14.375
self.gyr_z.value = gyr_z / 14.375
self.temp.value = temp / 100.0
self.all_data_valid = True
def cb_quaternion(self, x, y, z, w):
self.qua_x = x
self.qua_y = y
self.qua_z = z
self.qua_w = w
self.quaternion_valid = True
def cb_orientation(self, roll, pitch, yaw):
self.roll = roll / 100.0
self.pitch = pitch / 100.0
self.yaw = yaw / 100.0
self.orientation_valid = True
def led_clicked(self):
if 'On' in self.led_button.text().replace('&', ''):
self.led_button.setText('Turn LEDs Off')
self.imu.leds_on()
elif 'Off' in self.led_button.text().replace('&', ''):
self.led_button.setText('Turn LEDs On')
self.imu.leds_off()
def update_data(self):
self.update_counter += 1
if self.quaternion_valid:
self.imu_gl.update_orientation(self.qua_w, self.qua_x, self.qua_y, self.qua_z)
if self.update_counter == 2:
self.update_counter = 0
if self.all_data_valid and self.orientation_valid:
self.acceleration_update(self.acc_x.value, self.acc_y.value, self.acc_z.value)
self.magnetometer_update(self.mag_x.value, self.mag_y.value, self.mag_z.value)
self.gyroscope_update(self.gyr_x.value, self.gyr_y.value, self.gyr_z.value)
self.orientation_update(self.roll, self.pitch, self.yaw)
self.temperature_update(self.temp.value)
def acceleration_update(self, x, y, z):
self.acc_y_label.setText(format(x, '.1f'))
self.acc_x_label.setText(format(y, '.1f'))
self.acc_z_label.setText(format(z, '.1f'))
def magnetometer_update(self, x, y, z):
# Earth magnetic field: 0.5 Gauss
self.mag_x_label.setText(format(x, '.1f'))
self.mag_y_label.setText(format(y, '.1f'))
self.mag_z_label.setText(format(z, '.1f'))
def gyroscope_update(self, x, y, z):
self.gyr_x_label.setText(format(x, '.1f'))
self.gyr_y_label.setText(format(y, '.1f'))
self.gyr_z_label.setText(format(z, '.1f'))
def orientation_update(self, r, p, y):
self.roll_label.setText(format(r, '.1f'))
self.pitch_label.setText(format(p, '.1f'))
self.yaw_label.setText(format(y, '.1f'))
def temperature_update(self, t):
self.tem_label.setText(format(t, '.1f'))
def calibrate_clicked(self):
self.stop()
if self.calibrate is None:
self.calibrate = CalibrateWindow(self)
self.calibrate.refresh_values()
self.calibrate.show()
def speed_finished(self):
speed = self.speed_spinbox.value()
self.imu.set_convergence_speed(speed)
class Color(PluginBase):
def __init__(self, *args):
PluginBase.__init__(self, BrickletColor, *args)
self.color = self.device
self.cbe_color = CallbackEmulator(self.color.get_color,
self.cb_color_get,
self.increase_error_count)
self.cbe_illuminance = CallbackEmulator(self.color.get_illuminance,
self.cb_illuminance_get,
self.increase_error_count)
self.cbe_color_temperature = CallbackEmulator(
self.color.get_color_temperature, self.cb_color_temperature_get,
self.increase_error_count)
self.color_label = ColorLabel()
self.illuminance_label = IlluminanceLabel()
self.color_temperature_label = ColorTemperatureLabel()
self.color_frame = ColorFrame()
self.color_temperature_frame = ColorFrame()
self.illuminance_frame = ColorFrame()
self.current_color = (0, 0, 0, 0)
self.current_illuminance = 0
self.current_color_temperature = 0
self.clear_graphs_button = QPushButton("Clear Graphs")
plot_list = [['R', Qt.red, self.get_current_r],
['G', Qt.darkGreen, self.get_current_g],
['B', Qt.blue, self.get_current_b],
['C', Qt.black, self.get_current_c]]
self.plot_widget = PlotWidget('Color Value', plot_list,
self.clear_graphs_button)
self.plot_widget.setMinimumSize(250, 200)
plot_list_illuminance = [[
'', Qt.red, self.get_current_illuminance_value
]]
self.plot_widget_illuminance = PlotWidget('Illuminance [Lux]',
plot_list_illuminance,
self.clear_graphs_button)
self.plot_widget_illuminance.setMinimumSize(250, 200)
plot_list_color_temperature = [[
'', Qt.red, self.get_current_color_temperature_value
]]
self.plot_widget_color_temperature = PlotWidget(
'Color Temperature [K]', plot_list_color_temperature,
self.clear_graphs_button)
self.plot_widget_color_temperature.setMinimumSize(250, 200)
self.gain_label = QLabel('Gain: ')
self.gain_combo = QComboBox()
self.gain_combo.addItem("1x")
self.gain_combo.addItem("4x")
self.gain_combo.addItem("16x")
self.gain_combo.addItem("60x")
self.gain_combo.currentIndexChanged.connect(self.gain_changed)
self.current_gain_factor = 60
self.conversion_label = QLabel('Integration Time: ')
self.conversion_combo = QComboBox()
self.conversion_combo.addItem("2.4ms")
self.conversion_combo.addItem("24ms")
self.conversion_combo.addItem("101ms")
self.conversion_combo.addItem("154ms")
self.conversion_combo.addItem("700ms")
self.current_conversion_time = 154
self.conversion_combo.currentIndexChanged.connect(
self.conversion_changed)
self.light_checkbox = QCheckBox("Enable Light")
self.light_checkbox.stateChanged.connect(self.light_state_changed)
layout_config = QHBoxLayout()
layout_config.addWidget(self.gain_label)
layout_config.addWidget(self.gain_combo)
layout_config.addWidget(self.conversion_label)
layout_config.addWidget(self.conversion_combo)
layout_config.addWidget(self.clear_graphs_button, 1)
layout_config.addWidget(self.light_checkbox)
layout_ht1 = QHBoxLayout()
layout_ht1.addStretch()
layout_ht1.addWidget(self.illuminance_label)
layout_ht1.addWidget(self.illuminance_frame)
layout_ht1.addStretch()
layout_ht2 = QHBoxLayout()
layout_ht2.addStretch()
layout_ht2.addWidget(self.color_temperature_label)
layout_ht2.addWidget(self.color_temperature_frame)
layout_ht2.addStretch()
layout_v1 = QVBoxLayout()
layout_v1.addLayout(layout_ht1)
layout_v1.addWidget(self.plot_widget_illuminance)
layout_v2 = QVBoxLayout()
layout_v2.addLayout(layout_ht2)
layout_v2.addWidget(self.plot_widget_color_temperature)
layout_h2 = QHBoxLayout()
layout_h2.addLayout(layout_v1)
layout_h2.addLayout(layout_v2)
layout_h = QHBoxLayout()
layout_h.addStretch()
layout_h.addWidget(self.color_label)
layout_h.addWidget(self.color_frame)
layout_h.addStretch()
layout = QVBoxLayout(self)
layout.addLayout(layout_h)
layout.addWidget(self.plot_widget)
layout.addLayout(layout_h2)
layout.addLayout(layout_config)
self.k_to_rgb = {
1000: (255, 56, 0),
1100: (255, 71, 0),
1200: (255, 83, 0),
1300: (255, 93, 0),
1400: (255, 101, 0),
1500: (255, 109, 0),
1600: (255, 115, 0),
1700: (255, 121, 0),
1800: (255, 126, 0),
1900: (255, 131, 0),
2000: (255, 137, 18),
2100: (255, 142, 33),
2200: (255, 147, 44),
2300: (255, 152, 54),
2400: (255, 157, 63),
2500: (255, 161, 72),
2600: (255, 165, 79),
2700: (255, 169, 87),
2800: (255, 173, 94),
2900: (255, 177, 101),
3000: (255, 180, 107),
3100: (255, 184, 114),
3200: (255, 187, 120),
3300: (255, 190, 126),
3400: (255, 193, 132),
3500: (255, 196, 137),
3600: (255, 199, 143),
3700: (255, 201, 148),
3800: (255, 204, 153),
3900: (255, 206, 159),
4000: (255, 209, 163),
4100: (255, 211, 168),
4200: (255, 213, 173),
4300: (255, 215, 177),
4400: (255, 217, 182),
4500: (255, 219, 186),
4600: (255, 221, 190),
4700: (255, 223, 194),
4800: (255, 225, 198),
4900: (255, 227, 202),
5000: (255, 228, 206),
5100: (255, 230, 210),
5200: (255, 232, 213),
5300: (255, 233, 217),
5400: (255, 235, 220),
5500: (255, 236, 224),
5600: (255, 238, 227),
5700: (255, 239, 230),
5800: (255, 240, 233),
5900: (255, 242, 236),
6000: (255, 243, 239),
6100: (255, 244, 242),
6200: (255, 245, 245),
6300: (255, 246, 248),
6400: (255, 248, 251),
6500: (255, 249, 253),
6600: (254, 249, 255),
6700: (252, 247, 255),
6800: (249, 246, 255),
6900: (247, 245, 255),
7000: (245, 243, 255),
7100: (243, 242, 255),
7200: (240, 241, 255),
7300: (239, 240, 255),
7400: (237, 239, 255),
7500: (235, 238, 255),
7600: (233, 237, 255),
7700: (231, 236, 255),
7800: (230, 235, 255),
7900: (228, 234, 255),
8000: (227, 233, 255),
8100: (225, 232, 255),
8200: (224, 231, 255),
8300: (222, 230, 255),
8400: (221, 230, 255),
8500: (220, 229, 255),
8600: (218, 228, 255),
8700: (217, 227, 255),
8800: (216, 227, 255),
8900: (215, 226, 255),
9000: (214, 225, 255),
9100: (212, 225, 255),
9200: (211, 224, 255),
9300: (210, 223, 255),
9400: (209, 223, 255),
9500: (208, 222, 255),
9600: (207, 221, 255),
9700: (207, 221, 255),
9800: (206, 220, 255),
9900: (205, 220, 255),
10000: (204, 219, 255),
10100: (203, 219, 255),
10200: (202, 218, 255),
10300: (201, 218, 255),
10400: (201, 217, 255),
10500: (200, 217, 255),
10600: (199, 216, 255),
10700: (199, 216, 255),
10800: (198, 216, 255),
10900: (197, 215, 255),
11000: (196, 215, 255),
11100: (196, 214, 255),
11200: (195, 214, 255),
11300: (195, 214, 255),
11400: (194, 213, 255),
11500: (193, 213, 255),
11600: (193, 212, 255),
11700: (192, 212, 255),
11800: (192, 212, 255),
11900: (191, 211, 255),
12000: (191, 211, 255),
12100: (190, 211, 255),
12200: (190, 210, 255),
12300: (189, 210, 255),
12400: (189, 210, 255),
12500: (188, 210, 255),
12600: (188, 209, 255),
12700: (187, 209, 255),
12800: (187, 209, 255),
12900: (186, 208, 255),
13000: (186, 208, 255),
13100: (185, 208, 255),
13200: (185, 208, 255),
13300: (185, 207, 255),
13400: (184, 207, 255),
13500: (184, 207, 255),
13600: (183, 207, 255),
13700: (183, 206, 255),
13800: (183, 206, 255),
13900: (182, 206, 255),
14000: (182, 206, 255),
14100: (182, 205, 255),
14200: (181, 205, 255),
14300: (181, 205, 255),
14400: (181, 205, 255),
14500: (180, 205, 255),
14600: (180, 204, 255),
14700: (180, 204, 255),
14800: (179, 204, 255),
14900: (179, 204, 255),
15000: (179, 204, 255),
15100: (178, 203, 255),
15200: (178, 203, 255),
15300: (178, 203, 255),
15400: (178, 203, 255),
15500: (177, 203, 255),
15600: (177, 202, 255),
15700: (177, 202, 255),
15800: (177, 202, 255),
15900: (176, 202, 255),
16000: (176, 202, 255),
16100: (176, 202, 255),
16200: (175, 201, 255),
16300: (175, 201, 255),
16400: (175, 201, 255),
16500: (175, 201, 255),
16600: (175, 201, 255),
16700: (174, 201, 255),
16800: (174, 201, 255),
16900: (174, 200, 255),
17000: (174, 200, 255),
17100: (173, 200, 255),
17200: (173, 200, 255),
17300: (173, 200, 255),
17400: (173, 200, 255),
17500: (173, 200, 255),
17600: (172, 199, 255),
17700: (172, 199, 255),
17800: (172, 199, 255),
17900: (172, 199, 255),
18000: (172, 199, 255),
18100: (171, 199, 255),
18200: (171, 199, 255),
18300: (171, 199, 255),
18400: (171, 198, 255),
18500: (171, 198, 255),
18600: (170, 198, 255),
18700: (170, 198, 255),
18800: (170, 198, 255),
18900: (170, 198, 255),
19000: (170, 198, 255),
19100: (170, 198, 255),
19200: (169, 198, 255),
19300: (169, 197, 255),
19400: (169, 197, 255),
19500: (169, 197, 255),
19600: (169, 197, 255),
19700: (169, 197, 255),
19800: (169, 197, 255),
19900: (168, 197, 255),
20000: (168, 197, 255),
20100: (168, 197, 255),
20200: (168, 197, 255),
20300: (168, 196, 255),
20400: (168, 196, 255),
20500: (168, 196, 255),
20600: (167, 196, 255),
20700: (167, 196, 255),
20800: (167, 196, 255),
20900: (167, 196, 255),
21000: (167, 196, 255),
21100: (167, 196, 255),
21200: (167, 196, 255),
21300: (166, 196, 255),
21400: (166, 195, 255),
21500: (166, 195, 255),
21600: (166, 195, 255),
21700: (166, 195, 255),
21800: (166, 195, 255),
21900: (166, 195, 255),
22000: (166, 195, 255),
22100: (165, 195, 255),
22200: (165, 195, 255),
22300: (165, 195, 255),
22400: (165, 195, 255),
22500: (165, 195, 255),
22600: (165, 195, 255),
22700: (165, 194, 255),
22800: (165, 194, 255),
22900: (165, 194, 255),
23000: (164, 194, 255),
23100: (164, 194, 255),
23200: (164, 194, 255),
23300: (164, 194, 255),
23400: (164, 194, 255),
23500: (164, 194, 255),
23600: (164, 194, 255),
23700: (164, 194, 255),
23800: (164, 194, 255),
23900: (164, 194, 255),
24000: (163, 194, 255),
24100: (163, 194, 255),
24200: (163, 193, 255),
24300: (163, 193, 255),
24400: (163, 193, 255),
24500: (163, 193, 255),
24600: (163, 193, 255),
24700: (163, 193, 255),
24800: (163, 193, 255),
24900: (163, 193, 255),
25000: (163, 193, 255),
25100: (162, 193, 255),
25200: (162, 193, 255),
25300: (162, 193, 255),
25400: (162, 193, 255),
25500: (162, 193, 255),
25600: (162, 193, 255),
25700: (162, 193, 255),
25800: (162, 193, 255),
25900: (162, 192, 255),
26000: (162, 192, 255),
26100: (162, 192, 255),
26200: (162, 192, 255),
26300: (162, 192, 255),
26400: (161, 192, 255),
26500: (161, 192, 255),
26600: (161, 192, 255),
26700: (161, 192, 255),
26800: (161, 192, 255),
26900: (161, 192, 255),
27000: (161, 192, 255),
27100: (161, 192, 255),
27200: (161, 192, 255),
27300: (161, 192, 255),
27400: (161, 192, 255),
27500: (161, 192, 255),
27600: (161, 192, 255),
27700: (161, 192, 255),
27800: (160, 192, 255),
27900: (160, 192, 255),
28000: (160, 191, 255),
28100: (160, 191, 255),
28200: (160, 191, 255),
28300: (160, 191, 255),
28400: (160, 191, 255),
28500: (160, 191, 255),
28600: (160, 191, 255),
28700: (160, 191, 255),
28800: (160, 191, 255),
28900: (160, 191, 255),
29000: (160, 191, 255),
29100: (160, 191, 255),
29200: (160, 191, 255),
29300: (159, 191, 255),
29400: (159, 191, 255),
29500: (159, 191, 255),
29600: (159, 191, 255),
29700: (159, 191, 255),
29800: (159, 191, 255),
29900: (159, 191, 255),
30000: (159, 191, 255),
30100: (159, 191, 255),
30200: (159, 191, 255),
30300: (159, 191, 255),
30400: (159, 190, 255),
30500: (159, 190, 255),
30600: (159, 190, 255),
30700: (159, 190, 255),
30800: (159, 190, 255),
30900: (159, 190, 255),
31000: (159, 190, 255),
31100: (158, 190, 255),
31200: (158, 190, 255),
31300: (158, 190, 255),
31400: (158, 190, 255),
31500: (158, 190, 255),
31600: (158, 190, 255),
31700: (158, 190, 255),
31800: (158, 190, 255),
31900: (158, 190, 255),
32000: (158, 190, 255),
32100: (158, 190, 255),
32200: (158, 190, 255),
32300: (158, 190, 255),
32400: (158, 190, 255),
32500: (158, 190, 255),
32600: (158, 190, 255),
32700: (158, 190, 255),
32800: (158, 190, 255),
32900: (158, 190, 255),
33000: (158, 190, 255),
33100: (158, 190, 255),
33200: (157, 190, 255),
33300: (157, 190, 255),
33400: (157, 189, 255),
33500: (157, 189, 255),
33600: (157, 189, 255),
33700: (157, 189, 255),
33800: (157, 189, 255),
33900: (157, 189, 255),
34000: (157, 189, 255),
34100: (157, 189, 255),
34200: (157, 189, 255),
34300: (157, 189, 255),
34400: (157, 189, 255),
34500: (157, 189, 255),
34600: (157, 189, 255),
34700: (157, 189, 255),
34800: (157, 189, 255),
34900: (157, 189, 255),
35000: (157, 189, 255),
35100: (157, 189, 255),
35200: (157, 189, 255),
35300: (157, 189, 255),
35400: (157, 189, 255),
35500: (157, 189, 255),
35600: (156, 189, 255),
35700: (156, 189, 255),
35800: (156, 189, 255),
35900: (156, 189, 255),
36000: (156, 189, 255),
36100: (156, 189, 255),
36200: (156, 189, 255),
36300: (156, 189, 255),
36400: (156, 189, 255),
36500: (156, 189, 255),
36600: (156, 189, 255),
36700: (156, 189, 255),
36800: (156, 189, 255),
36900: (156, 189, 255),
37000: (156, 189, 255),
37100: (156, 189, 255),
37200: (156, 188, 255),
37300: (156, 188, 255),
37400: (156, 188, 255),
37500: (156, 188, 255),
37600: (156, 188, 255),
37700: (156, 188, 255),
37800: (156, 188, 255),
37900: (156, 188, 255),
38000: (156, 188, 255),
38100: (156, 188, 255),
38200: (156, 188, 255),
38300: (156, 188, 255),
38400: (155, 188, 255),
38500: (155, 188, 255),
38600: (155, 188, 255),
38700: (155, 188, 255),
38800: (155, 188, 255),
38900: (155, 188, 255),
39000: (155, 188, 255),
39100: (155, 188, 255),
39200: (155, 188, 255),
39300: (155, 188, 255),
39400: (155, 188, 255),
39500: (155, 188, 255),
39600: (155, 188, 255),
39700: (155, 188, 255),
39800: (155, 188, 255),
39900: (155, 188, 255),
40000: (155, 188, 255)
}
def start(self):
async_call(self.color.get_color, None, self.cb_color_get,
self.increase_error_count)
async_call(self.color.get_illuminance, None, self.cb_illuminance_get,
self.increase_error_count)
async_call(self.color.get_color_temperature, None,
self.cb_color_temperature_get, self.increase_error_count)
self.cbe_color.set_period(50)
self.cbe_illuminance.set_period(100)
self.cbe_color_temperature.set_period(100)
async_call(self.color.get_config, None, self.cb_config,
self.increase_error_count)
async_call(self.color.is_light_on, None, self.cb_light_on,
self.increase_error_count)
self.plot_widget.stop = False
self.plot_widget_illuminance.stop = False
self.plot_widget_color_temperature.stop = False
def stop(self):
self.cbe_color.set_period(0)
self.cbe_illuminance.set_period(0)
self.cbe_color_temperature.set_period(0)
self.plot_widget.stop = True
self.plot_widget_illuminance.stop = True
self.plot_widget_color_temperature.stop = True
def destroy(self):
pass
def get_url_part(self):
return 'color'
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickletColor.DEVICE_IDENTIFIER
def cb_color(self, r, g, b, c):
self.current_color = (r, g, b, c)
self.color_label.setText(r, g, b, c)
rgb_at_limit = r >= 65535 or g >= 65535 or b >= 65535
self.illuminance_label.mark_as_invalid(rgb_at_limit)
self.color_temperature_label.mark_as_invalid(rgb_at_limit)
# normalize = r+g+b
normalize = 0xFFFF
self.color_frame.set_color(r * 255.0 / normalize,
g * 255.0 / normalize,
b * 255.0 / normalize)
def cb_illuminance(self, illuminance):
self.current_illuminance = round(
illuminance * 700.0 / float(self.current_gain_factor) /
float(self.current_conversion_time), 1)
self.illuminance_label.setText(self.current_illuminance)
i = self.current_illuminance * 255 / 20000
if i > 255:
i = 255
self.illuminance_frame.set_color(i, i, i)
def cb_color_temperature(self, color_temperature):
self.current_color_temperature = color_temperature
self.color_temperature_label.setText(self.current_color_temperature)
m = color_temperature % 100
color_temperature -= m
if m > 50:
color_temperature += 100
if color_temperature < 1000:
color_temperature = 1000
if color_temperature > 40000:
color_temperature = 40000
r, g, b = self.k_to_rgb[color_temperature]
self.color_temperature_frame.set_color(r, g, b)
def cb_light_on(self, light):
self.light_checkbox.setChecked(light == BrickletColor.LIGHT_ON)
def light_state_changed(self, state):
if state == Qt.Checked:
self.color.light_on()
else:
self.color.light_off()
def cb_config(self, config):
gain, gain_factor, conv, conv_time = self.gain_conv_to_combo(
config.gain, config.integration_time)
self.gain_combo.setCurrentIndex(gain)
self.conversion_combo.setCurrentIndex(conv)
self.current_gain_factor = gain_factor
self.current_conversion_time = conv_time
def gain_conv_to_combo(self, gain, conv):
if gain == BrickletColor.GAIN_1X:
gain = 0
gain_factor = 1
elif gain == BrickletColor.GAIN_4X:
gain = 1
gain_factor = 4
elif gain == BrickletColor.GAIN_16X:
gain = 2
gain_factor = 16
elif gain == BrickletColor.GAIN_60X:
gain = 3
gain_factor = 60
if conv == BrickletColor.INTEGRATION_TIME_2MS:
conv = 0
conv_time = 2.4
elif conv == BrickletColor.INTEGRATION_TIME_24MS:
conv = 1
conv_time = 24
elif conv == BrickletColor.INTEGRATION_TIME_101MS:
conv = 2
conv_time = 101
elif conv == BrickletColor.INTEGRATION_TIME_154MS:
conv = 3
conv_time = 154
elif conv == BrickletColor.INTEGRATION_TIME_700MS:
conv = 4
conv_time = 700
return gain, gain_factor, conv, conv_time
def combo_to_gain_conv(self, gain, conv):
if gain == 0:
gain = BrickletColor.GAIN_1X
gain_factor = 1
elif gain == 1:
gain = BrickletColor.GAIN_4X
gain_factor = 4
elif gain == 2:
gain = BrickletColor.GAIN_16X
gain_factor = 16
elif gain == 3:
gain = BrickletColor.GAIN_60X
gain_factor = 60
if conv == 0:
conv = BrickletColor.INTEGRATION_TIME_2MS
conv_time = 2.4
elif conv == 1:
conv = BrickletColor.INTEGRATION_TIME_24MS
conv_time = 24
elif conv == 2:
conv = BrickletColor.INTEGRATION_TIME_101MS
conv_time = 101
elif conv == 3:
conv = BrickletColor.INTEGRATION_TIME_154MS
conv_time = 154
elif conv == 4:
conv = BrickletColor.INTEGRATION_TIME_700MS
conv_time = 700
return gain, gain_factor, conv, conv_time
def gain_changed(self, gain):
conversion = self.conversion_combo.currentIndex()
g, gf, c, ct = self.combo_to_gain_conv(gain, conversion)
self.current_gain_factor = gf
self.current_conversion_time = ct
self.color.set_config(g, c)
def conversion_changed(self, conversion):
gain = self.gain_combo.currentIndex()
g, gf, c, ct = self.combo_to_gain_conv(gain, conversion)
self.current_gain_factor = gf
self.current_conversion_time = ct
self.color.set_config(g, c)
def cb_color_get(self, color):
self.cb_color(color.r, color.g, color.b, color.c)
def cb_illuminance_get(self, illuminance):
self.cb_illuminance(illuminance)
def cb_color_temperature_get(self, color_temperature):
self.cb_color_temperature(color_temperature)
def get_current_r(self):
return self.current_color[0]
def get_current_g(self):
return self.current_color[1]
def get_current_b(self):
return self.current_color[2]
def get_current_c(self):
return self.current_color[3]
def get_current_illuminance_value(self):
return self.current_illuminance
def get_current_color_temperature_value(self):
return self.current_color_temperature
class IMU(PluginBase, Ui_IMU):
def __init__(self, *args):
PluginBase.__init__(self, BrickIMU, *args)
self.setupUi(self)
self.imu = self.device
# the firmware version of a Brick can (under common circumstances) not
# change during the lifetime of a Brick plugin. therefore, it's okay to
# make final decisions based on it here
self.has_status_led = self.firmware_version >= (2, 3, 1)
self.acc_x = CurveValueWrapper()
self.acc_y = CurveValueWrapper()
self.acc_z = CurveValueWrapper()
self.mag_x = CurveValueWrapper()
self.mag_y = CurveValueWrapper()
self.mag_z = CurveValueWrapper()
self.gyr_x = CurveValueWrapper()
self.gyr_y = CurveValueWrapper()
self.gyr_z = CurveValueWrapper()
self.temp = CurveValueWrapper()
self.roll = None
self.pitch = None
self.yaw = None
self.qua_x = None
self.qua_y = None
self.qua_z = None
self.qua_w = None
self.all_data_valid = False
self.quaternion_valid = False
self.orientation_valid = False
self.update_timer = QTimer(self)
self.update_timer.timeout.connect(self.update_data)
self.cbe_all_data = CallbackEmulator(
self.imu.get_all_data,
None,
self.cb_all_data,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.cbe_orientation = CallbackEmulator(
self.imu.get_orientation,
None,
self.cb_orientation,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.cbe_quaternion = CallbackEmulator(
self.imu.get_quaternion,
None,
self.cb_quaternion,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.imu_gl = IMU3DWidget(self)
self.imu_gl.setMinimumSize(150, 150)
self.imu_gl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.update_counter = 0
self.mag_plot_widget = PlotWidget(
"Magnetic Field [µT]", [("X", Qt.red, self.mag_x, str),
("Y", Qt.darkGreen, self.mag_y, str),
("Z", Qt.blue, self.mag_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon',
y_resolution=5)
self.acc_plot_widget = PlotWidget(
"Acceleration [mg]", [("X", Qt.red, self.acc_x, str),
("Y", Qt.darkGreen, self.acc_y, str),
("Z", Qt.blue, self.acc_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon',
y_resolution=5)
self.gyr_plot_widget = PlotWidget(
"Angular Velocity [°/s]", [("X", Qt.red, self.gyr_x, str),
("Y", Qt.darkGreen, self.gyr_y, str),
("Z", Qt.blue, self.gyr_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon',
y_resolution=0.05)
self.temp_plot_widget = PlotWidget("Temperature [°C]",
[("t", Qt.red, self.temp, str)],
clear_button=self.clear_graphs,
key=None,
y_resolution=0.01)
self.mag_plot_widget.setMinimumSize(250, 250)
self.acc_plot_widget.setMinimumSize(250, 250)
self.gyr_plot_widget.setMinimumSize(250, 250)
self.temp_plot_widget.setMinimumSize(250, 250)
self.orientation_label = QLabel(
'Position your IMU Brick as shown in the image above, then press "Save Orientation".'
)
self.orientation_label.setWordWrap(True)
self.orientation_label.setAlignment(Qt.AlignHCenter)
self.gl_layout = QVBoxLayout()
self.gl_layout.addWidget(self.imu_gl)
self.gl_layout.addWidget(self.orientation_label)
self.layout_top.addWidget(self.gyr_plot_widget)
self.layout_top.addWidget(self.acc_plot_widget)
self.layout_top.addWidget(self.mag_plot_widget)
self.layout_bottom.addLayout(self.gl_layout)
self.layout_bottom.addWidget(self.temp_plot_widget)
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.calibrate.clicked.connect(self.calibrate_clicked)
self.led_button.clicked.connect(self.led_clicked)
self.speed_spinbox.editingFinished.connect(self.speed_finished)
width = QFontMetrics(
self.gyr_x_label.font()).boundingRect('-XXXX.X').width()
self.gyr_x_label.setMinimumWidth(width)
self.gyr_y_label.setMinimumWidth(width)
self.gyr_z_label.setMinimumWidth(width)
self.calibrate = None
self.alive = True
if self.has_status_led:
self.status_led_action = QAction('Status LED', self)
self.status_led_action.setCheckable(True)
self.status_led_action.toggled.connect(
lambda checked: self.imu.enable_status_led()
if checked else self.imu.disable_status_led())
self.set_configs([(0, None, [self.status_led_action])])
else:
self.status_led_action = None
reset = QAction('Reset', self)
reset.triggered.connect(self.imu.reset)
self.set_actions([(0, None, [reset])])
def save_orientation_clicked(self):
self.imu_gl.save_orientation()
self.orientation_label.hide()
def cleanup_gl(self):
self.state = self.imu_gl.get_state()
self.imu_gl.hide()
self.imu_gl.cleanup()
def restart_gl(self):
self.imu_gl = IMU3DWidget()
self.imu_gl.setMinimumSize(150, 150)
self.imu_gl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.gl_layout.addWidget(self.imu_gl)
self.imu_gl.show()
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.imu_gl.set_state(self.state)
def start(self):
if not self.alive:
return
if self.has_status_led:
async_call(self.imu.is_status_led_enabled, None,
self.status_led_action.setChecked,
self.increase_error_count)
self.parent().add_callback_on_untab(lambda x: self.cleanup_gl(),
'imu_cleanup_on_untab')
self.parent().add_callback_post_untab(lambda x: self.restart_gl(),
'imu_restart_post_untab')
self.parent().add_callback_on_tab(lambda x: self.cleanup_gl(),
'imu_cleanup_on_tab')
self.parent().add_callback_post_tab(lambda x: self.restart_gl(),
'imu_restart_post_tab')
self.gl_layout.activate()
self.cbe_all_data.set_period(100)
self.cbe_orientation.set_period(100)
self.cbe_quaternion.set_period(50)
self.update_timer.start(50)
async_call(self.imu.get_convergence_speed, None,
self.speed_spinbox.setValue, self.increase_error_count)
self.mag_plot_widget.stop = False
self.acc_plot_widget.stop = False
self.gyr_plot_widget.stop = False
self.temp_plot_widget.stop = False
def stop(self):
self.mag_plot_widget.stop = True
self.acc_plot_widget.stop = True
self.gyr_plot_widget.stop = True
self.temp_plot_widget.stop = True
self.update_timer.stop()
self.cbe_all_data.set_period(0)
self.cbe_orientation.set_period(0)
self.cbe_quaternion.set_period(0)
def destroy(self):
self.alive = False
self.cleanup_gl()
if self.calibrate:
self.calibrate.close()
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickIMU.DEVICE_IDENTIFIER
def cb_all_data(self, acc_x, acc_y, acc_z, mag_x, mag_y, mag_z, gyr_x,
gyr_y, gyr_z, temp):
self.acc_x.value = acc_x
self.acc_y.value = acc_y
self.acc_z.value = acc_z
self.mag_x.value = mag_x / 10
self.mag_y.value = mag_y / 10
self.mag_z.value = mag_z / 10
self.gyr_x.value = gyr_x / 14.375
self.gyr_y.value = gyr_y / 14.375
self.gyr_z.value = gyr_z / 14.375
self.temp.value = temp / 100.0
self.all_data_valid = True
def cb_quaternion(self, x, y, z, w):
self.qua_x = x
self.qua_y = y
self.qua_z = z
self.qua_w = w
self.quaternion_valid = True
def cb_orientation(self, roll, pitch, yaw):
self.roll = roll / 100.0
self.pitch = pitch / 100.0
self.yaw = yaw / 100.0
self.orientation_valid = True
def led_clicked(self):
if 'On' in self.led_button.text().replace('&', ''):
self.led_button.setText('Turn LEDs Off')
self.imu.leds_on()
elif 'Off' in self.led_button.text().replace('&', ''):
self.led_button.setText('Turn LEDs On')
self.imu.leds_off()
def update_data(self):
self.update_counter += 1
if self.quaternion_valid:
self.imu_gl.update_orientation(self.qua_w, self.qua_x, self.qua_y,
self.qua_z)
if self.update_counter == 2:
self.update_counter = 0
if self.all_data_valid and self.orientation_valid:
self.acceleration_update(self.acc_x.value, self.acc_y.value,
self.acc_z.value)
self.magnetometer_update(self.mag_x.value, self.mag_y.value,
self.mag_z.value)
self.gyroscope_update(self.gyr_x.value, self.gyr_y.value,
self.gyr_z.value)
self.orientation_update(self.roll, self.pitch, self.yaw)
self.temperature_update(self.temp.value)
def acceleration_update(self, x, y, z):
self.acc_y_label.setText(format(x, '.1f'))
self.acc_x_label.setText(format(y, '.1f'))
self.acc_z_label.setText(format(z, '.1f'))
def magnetometer_update(self, x, y, z):
# Earth magnetic field: 0.5 Gauss
self.mag_x_label.setText(format(x, '.1f'))
self.mag_y_label.setText(format(y, '.1f'))
self.mag_z_label.setText(format(z, '.1f'))
def gyroscope_update(self, x, y, z):
self.gyr_x_label.setText(format(x, '.1f'))
self.gyr_y_label.setText(format(y, '.1f'))
self.gyr_z_label.setText(format(z, '.1f'))
def orientation_update(self, r, p, y):
self.roll_label.setText(format(r, '.1f'))
self.pitch_label.setText(format(p, '.1f'))
self.yaw_label.setText(format(y, '.1f'))
def temperature_update(self, t):
self.tem_label.setText(format(t, '.1f'))
def calibrate_clicked(self):
self.stop()
if self.calibrate is None:
self.calibrate = CalibrateWindow(self)
self.calibrate.refresh_values()
self.calibrate.show()
def speed_finished(self):
speed = self.speed_spinbox.value()
self.imu.set_convergence_speed(speed)
class ColorV2(COMCUPluginBase):
def __init__(self, *args):
super().__init__(BrickletColorV2, *args)
self.color = self.device
self.cbe_color = CallbackEmulator(self.color.get_color,
None,
self.cb_color,
self.increase_error_count,
expand_result_tuple_for_callback=True)
self.cbe_illuminance = CallbackEmulator(self.color.get_illuminance,
None,
self.cb_illuminance,
self.increase_error_count)
self.cbe_color_temperature = CallbackEmulator(self.color.get_color_temperature,
None,
self.cb_color_temperature,
self.increase_error_count)
self.color_frame = ColorFrame()
self.illuminance_frame = ColorFrame()
self.color_temperature_frame = ColorFrame()
self.current_color_r = CurveValueWrapper() # int
self.current_color_g = CurveValueWrapper() # int
self.current_color_b = CurveValueWrapper() # int
self.current_color_c = CurveValueWrapper() # int
self.current_illuminance = CurveValueWrapper() # float, lx
self.current_color_temperature = CurveValueWrapper() # int, K
self.clear_graphs_button = QPushButton("Clear Graphs")
plots = [('R', Qt.red, self.current_color_r, lambda value: self.format_color(0, value)),
('G', Qt.darkGreen, self.current_color_g, lambda value: self.format_color(1, value)),
('B', Qt.blue, self.current_color_b, lambda value: self.format_color(2, value)),
('C', Qt.black, self.current_color_c, str)]
self.plot_widget = PlotWidget('Color', plots, clear_button=self.clear_graphs_button,
extra_key_widgets=[self.color_frame], y_resolution=1.0)
self.plot_widget.setMinimumSize(250, 200)
plots_illuminance = [('Illuminance', Qt.red, self.current_illuminance, '{} lx (Lux)'.format)]
self.plot_widget_illuminance = PlotWidget('Illuminance [lx]', plots_illuminance,
clear_button=self.clear_graphs_button,
extra_key_widgets=[self.illuminance_frame],
y_resolution=0.1)
self.plot_widget_illuminance.setMinimumSize(250, 200)
plots_color_temperature = [('Color Temperature', Qt.red, self.current_color_temperature, '{} K'.format)]
self.plot_widget_color_temperature = PlotWidget('Color Temperature [K]', plots_color_temperature,
clear_button=self.clear_graphs_button,
extra_key_widgets=[self.color_temperature_frame],
y_resolution=1.0)
self.plot_widget_color_temperature.setMinimumSize(250, 200)
self.gain_label = QLabel('Gain:')
self.gain_combo = QComboBox()
self.gain_combo.addItem("1x")
self.gain_combo.addItem("4x")
self.gain_combo.addItem("16x")
self.gain_combo.addItem("60x")
self.gain_combo.currentIndexChanged.connect(self.gain_changed)
self.current_gain_factor = 60
self.conversion_label = QLabel('Integration Time:')
self.conversion_combo = QComboBox()
self.conversion_combo.addItem("2.4 ms")
self.conversion_combo.addItem("24 ms")
self.conversion_combo.addItem("101 ms")
self.conversion_combo.addItem("154 ms")
self.conversion_combo.addItem("700 ms")
self.current_conversion_time = 154
self.conversion_combo.currentIndexChanged.connect(self.conversion_changed)
self.light_checkbox = QCheckBox("Enable Light")
self.light_checkbox.stateChanged.connect(self.light_state_changed)
layout_h1 = QHBoxLayout()
layout_h1.addWidget(self.plot_widget_illuminance)
layout_h1.addWidget(self.plot_widget_color_temperature)
layout_h2 = QHBoxLayout()
layout_h2.addWidget(self.gain_label)
layout_h2.addWidget(self.gain_combo)
layout_h2.addWidget(self.conversion_label)
layout_h2.addWidget(self.conversion_combo)
layout_h2.addWidget(self.light_checkbox)
layout_h2.addStretch()
layout_h2.addWidget(self.clear_graphs_button)
line1 = QFrame()
line1.setObjectName("line1")
line1.setFrameShape(QFrame.HLine)
line1.setFrameShadow(QFrame.Sunken)
line2 = QFrame()
line2.setObjectName("line2")
line2.setFrameShape(QFrame.HLine)
line2.setFrameShadow(QFrame.Sunken)
layout = QVBoxLayout(self)
layout.addWidget(self.plot_widget)
layout.addWidget(line1)
layout.addLayout(layout_h1)
layout.addWidget(line2)
layout.addLayout(layout_h2)
self.k_to_rgb = {1000:(255, 56, 0), 1100:(255, 71, 0), 1200:(255, 83, 0), 1300:(255, 93, 0), 1400:(255, 101, 0), 1500:(255, 109, 0), 1600:(255, 115, 0), 1700:(255, 121, 0), 1800:(255, 126, 0), 1900:(255, 131, 0), 2000:(255, 137, 18), 2100:(255, 142, 33), 2200:(255, 147, 44), 2300:(255, 152, 54), 2400:(255, 157, 63), 2500:(255, 161, 72), 2600:(255, 165, 79), 2700:(255, 169, 87), 2800:(255, 173, 94), 2900:(255, 177, 101), 3000:(255, 180, 107), 3100:(255, 184, 114), 3200:(255, 187, 120), 3300:(255, 190, 126), 3400:(255, 193, 132), 3500:(255, 196, 137), 3600:(255, 199, 143), 3700:(255, 201, 148), 3800:(255, 204, 153), 3900:(255, 206, 159), 4000:(255, 209, 163), 4100:(255, 211, 168), 4200:(255, 213, 173), 4300:(255, 215, 177), 4400:(255, 217, 182), 4500:(255, 219, 186), 4600:(255, 221, 190), 4700:(255, 223, 194), 4800:(255, 225, 198), 4900:(255, 227, 202), 5000:(255, 228, 206), 5100:(255, 230, 210), 5200:(255, 232, 213), 5300:(255, 233, 217), 5400:(255, 235, 220), 5500:(255, 236, 224), 5600:(255, 238, 227), 5700:(255, 239, 230), 5800:(255, 240, 233), 5900:(255, 242, 236), 6000:(255, 243, 239), 6100:(255, 244, 242), 6200:(255, 245, 245), 6300:(255, 246, 248), 6400:(255, 248, 251), 6500:(255, 249, 253), 6600:(254, 249, 255), 6700:(252, 247, 255), 6800:(249, 246, 255), 6900:(247, 245, 255), 7000:(245, 243, 255), 7100:(243, 242, 255), 7200:(240, 241, 255), 7300:(239, 240, 255), 7400:(237, 239, 255), 7500:(235, 238, 255), 7600:(233, 237, 255), 7700:(231, 236, 255), 7800:(230, 235, 255), 7900:(228, 234, 255), 8000:(227, 233, 255), 8100:(225, 232, 255), 8200:(224, 231, 255), 8300:(222, 230, 255), 8400:(221, 230, 255), 8500:(220, 229, 255), 8600:(218, 228, 255), 8700:(217, 227, 255), 8800:(216, 227, 255), 8900:(215, 226, 255), 9000:(214, 225, 255), 9100:(212, 225, 255), 9200:(211, 224, 255), 9300:(210, 223, 255), 9400:(209, 223, 255), 9500:(208, 222, 255), 9600:(207, 221, 255), 9700:(207, 221, 255), 9800:(206, 220, 255), 9900:(205, 220, 255), 10000:(204, 219, 255), 10100:(203, 219, 255), 10200:(202, 218, 255), 10300:(201, 218, 255), 10400:(201, 217, 255), 10500:(200, 217, 255), 10600:(199, 216, 255), 10700:(199, 216, 255), 10800:(198, 216, 255), 10900:(197, 215, 255), 11000:(196, 215, 255), 11100:(196, 214, 255), 11200:(195, 214, 255), 11300:(195, 214, 255), 11400:(194, 213, 255), 11500:(193, 213, 255), 11600:(193, 212, 255), 11700:(192, 212, 255), 11800:(192, 212, 255), 11900:(191, 211, 255), 12000:(191, 211, 255), 12100:(190, 211, 255), 12200:(190, 210, 255), 12300:(189, 210, 255), 12400:(189, 210, 255), 12500:(188, 210, 255), 12600:(188, 209, 255), 12700:(187, 209, 255), 12800:(187, 209, 255), 12900:(186, 208, 255), 13000:(186, 208, 255), 13100:(185, 208, 255), 13200:(185, 208, 255), 13300:(185, 207, 255), 13400:(184, 207, 255), 13500:(184, 207, 255), 13600:(183, 207, 255), 13700:(183, 206, 255), 13800:(183, 206, 255), 13900:(182, 206, 255), 14000:(182, 206, 255), 14100:(182, 205, 255), 14200:(181, 205, 255), 14300:(181, 205, 255), 14400:(181, 205, 255), 14500:(180, 205, 255), 14600:(180, 204, 255), 14700:(180, 204, 255), 14800:(179, 204, 255), 14900:(179, 204, 255), 15000:(179, 204, 255), 15100:(178, 203, 255), 15200:(178, 203, 255), 15300:(178, 203, 255), 15400:(178, 203, 255), 15500:(177, 203, 255), 15600:(177, 202, 255), 15700:(177, 202, 255), 15800:(177, 202, 255), 15900:(176, 202, 255), 16000:(176, 202, 255), 16100:(176, 202, 255), 16200:(175, 201, 255), 16300:(175, 201, 255), 16400:(175, 201, 255), 16500:(175, 201, 255), 16600:(175, 201, 255), 16700:(174, 201, 255), 16800:(174, 201, 255), 16900:(174, 200, 255), 17000:(174, 200, 255), 17100:(173, 200, 255), 17200:(173, 200, 255), 17300:(173, 200, 255), 17400:(173, 200, 255), 17500:(173, 200, 255), 17600:(172, 199, 255), 17700:(172, 199, 255), 17800:(172, 199, 255), 17900:(172, 199, 255), 18000:(172, 199, 255), 18100:(171, 199, 255), 18200:(171, 199, 255), 18300:(171, 199, 255), 18400:(171, 198, 255), 18500:(171, 198, 255), 18600:(170, 198, 255), 18700:(170, 198, 255), 18800:(170, 198, 255), 18900:(170, 198, 255), 19000:(170, 198, 255), 19100:(170, 198, 255), 19200:(169, 198, 255), 19300:(169, 197, 255), 19400:(169, 197, 255), 19500:(169, 197, 255), 19600:(169, 197, 255), 19700:(169, 197, 255), 19800:(169, 197, 255), 19900:(168, 197, 255), 20000:(168, 197, 255), 20100:(168, 197, 255), 20200:(168, 197, 255), 20300:(168, 196, 255), 20400:(168, 196, 255), 20500:(168, 196, 255), 20600:(167, 196, 255), 20700:(167, 196, 255), 20800:(167, 196, 255), 20900:(167, 196, 255), 21000:(167, 196, 255), 21100:(167, 196, 255), 21200:(167, 196, 255), 21300:(166, 196, 255), 21400:(166, 195, 255), 21500:(166, 195, 255), 21600:(166, 195, 255), 21700:(166, 195, 255), 21800:(166, 195, 255), 21900:(166, 195, 255), 22000:(166, 195, 255), 22100:(165, 195, 255), 22200:(165, 195, 255), 22300:(165, 195, 255), 22400:(165, 195, 255), 22500:(165, 195, 255), 22600:(165, 195, 255), 22700:(165, 194, 255), 22800:(165, 194, 255), 22900:(165, 194, 255), 23000:(164, 194, 255), 23100:(164, 194, 255), 23200:(164, 194, 255), 23300:(164, 194, 255), 23400:(164, 194, 255), 23500:(164, 194, 255), 23600:(164, 194, 255), 23700:(164, 194, 255), 23800:(164, 194, 255), 23900:(164, 194, 255), 24000:(163, 194, 255), 24100:(163, 194, 255), 24200:(163, 193, 255), 24300:(163, 193, 255), 24400:(163, 193, 255), 24500:(163, 193, 255), 24600:(163, 193, 255), 24700:(163, 193, 255), 24800:(163, 193, 255), 24900:(163, 193, 255), 25000:(163, 193, 255), 25100:(162, 193, 255), 25200:(162, 193, 255), 25300:(162, 193, 255), 25400:(162, 193, 255), 25500:(162, 193, 255), 25600:(162, 193, 255), 25700:(162, 193, 255), 25800:(162, 193, 255), 25900:(162, 192, 255), 26000:(162, 192, 255), 26100:(162, 192, 255), 26200:(162, 192, 255), 26300:(162, 192, 255), 26400:(161, 192, 255), 26500:(161, 192, 255), 26600:(161, 192, 255), 26700:(161, 192, 255), 26800:(161, 192, 255), 26900:(161, 192, 255), 27000:(161, 192, 255), 27100:(161, 192, 255), 27200:(161, 192, 255), 27300:(161, 192, 255), 27400:(161, 192, 255), 27500:(161, 192, 255), 27600:(161, 192, 255), 27700:(161, 192, 255), 27800:(160, 192, 255), 27900:(160, 192, 255), 28000:(160, 191, 255), 28100:(160, 191, 255), 28200:(160, 191, 255), 28300:(160, 191, 255), 28400:(160, 191, 255), 28500:(160, 191, 255), 28600:(160, 191, 255), 28700:(160, 191, 255), 28800:(160, 191, 255), 28900:(160, 191, 255), 29000:(160, 191, 255), 29100:(160, 191, 255), 29200:(160, 191, 255), 29300:(159, 191, 255), 29400:(159, 191, 255), 29500:(159, 191, 255), 29600:(159, 191, 255), 29700:(159, 191, 255), 29800:(159, 191, 255), 29900:(159, 191, 255), 30000:(159, 191, 255), 30100:(159, 191, 255), 30200:(159, 191, 255), 30300:(159, 191, 255), 30400:(159, 190, 255), 30500:(159, 190, 255), 30600:(159, 190, 255), 30700:(159, 190, 255), 30800:(159, 190, 255), 30900:(159, 190, 255), 31000:(159, 190, 255), 31100:(158, 190, 255), 31200:(158, 190, 255), 31300:(158, 190, 255), 31400:(158, 190, 255), 31500:(158, 190, 255), 31600:(158, 190, 255), 31700:(158, 190, 255), 31800:(158, 190, 255), 31900:(158, 190, 255), 32000:(158, 190, 255), 32100:(158, 190, 255), 32200:(158, 190, 255), 32300:(158, 190, 255), 32400:(158, 190, 255), 32500:(158, 190, 255), 32600:(158, 190, 255), 32700:(158, 190, 255), 32800:(158, 190, 255), 32900:(158, 190, 255), 33000:(158, 190, 255), 33100:(158, 190, 255), 33200:(157, 190, 255), 33300:(157, 190, 255), 33400:(157, 189, 255), 33500:(157, 189, 255), 33600:(157, 189, 255), 33700:(157, 189, 255), 33800:(157, 189, 255), 33900:(157, 189, 255), 34000:(157, 189, 255), 34100:(157, 189, 255), 34200:(157, 189, 255), 34300:(157, 189, 255), 34400:(157, 189, 255), 34500:(157, 189, 255), 34600:(157, 189, 255), 34700:(157, 189, 255), 34800:(157, 189, 255), 34900:(157, 189, 255), 35000:(157, 189, 255), 35100:(157, 189, 255), 35200:(157, 189, 255), 35300:(157, 189, 255), 35400:(157, 189, 255), 35500:(157, 189, 255), 35600:(156, 189, 255), 35700:(156, 189, 255), 35800:(156, 189, 255), 35900:(156, 189, 255), 36000:(156, 189, 255), 36100:(156, 189, 255), 36200:(156, 189, 255), 36300:(156, 189, 255), 36400:(156, 189, 255), 36500:(156, 189, 255), 36600:(156, 189, 255), 36700:(156, 189, 255), 36800:(156, 189, 255), 36900:(156, 189, 255), 37000:(156, 189, 255), 37100:(156, 189, 255), 37200:(156, 188, 255), 37300:(156, 188, 255), 37400:(156, 188, 255), 37500:(156, 188, 255), 37600:(156, 188, 255), 37700:(156, 188, 255), 37800:(156, 188, 255), 37900:(156, 188, 255), 38000:(156, 188, 255), 38100:(156, 188, 255), 38200:(156, 188, 255), 38300:(156, 188, 255), 38400:(155, 188, 255), 38500:(155, 188, 255), 38600:(155, 188, 255), 38700:(155, 188, 255), 38800:(155, 188, 255), 38900:(155, 188, 255), 39000:(155, 188, 255), 39100:(155, 188, 255), 39200:(155, 188, 255), 39300:(155, 188, 255), 39400:(155, 188, 255), 39500:(155, 188, 255), 39600:(155, 188, 255), 39700:(155, 188, 255), 39800:(155, 188, 255), 39900:(155, 188, 255), 40000:(155, 188, 255)}
def start(self):
async_call(self.color.get_config, None, self.get_config_async, self.increase_error_count)
async_call(self.color.get_light, None, self.get_light_async, self.increase_error_count)
self.cbe_color.set_period(50)
self.cbe_illuminance.set_period(100)
self.cbe_color_temperature.set_period(100)
self.plot_widget.stop = False
self.plot_widget_illuminance.stop = False
self.plot_widget_color_temperature.stop = False
def stop(self):
self.cbe_color.set_period(0)
self.cbe_illuminance.set_period(0)
self.cbe_color_temperature.set_period(0)
self.plot_widget.stop = True
self.plot_widget_illuminance.stop = True
self.plot_widget_color_temperature.stop = True
def destroy(self):
pass
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickletColorV2.DEVICE_IDENTIFIER
def format_color(self, i, value):
if value >= 65535:
self.plot_widget.get_key_item(i).setStyleSheet('QToolButton { color: red }')
else:
self.plot_widget.get_key_item(i).setStyleSheet('')
return str(value)
def cb_color(self, r, g, b, c):
self.current_color_r.value = r
self.current_color_g.value = g
self.current_color_b.value = b
self.current_color_c.value = c
if r >= 65535 or g >= 65535 or b >= 65535:
self.plot_widget_illuminance.get_key_item(0).setStyleSheet('QLabel { color: red }')
self.plot_widget_color_temperature.get_key_item(0).setStyleSheet('QLabel { color: red }')
else:
self.plot_widget_illuminance.get_key_item(0).setStyleSheet('')
self.plot_widget_color_temperature.get_key_item(0).setStyleSheet('')
normalize = 0xFFFF
self.color_frame.set_color(r * 255 // normalize, g * 255 // normalize, b * 255 // normalize)
def cb_illuminance(self, illuminance):
self.current_illuminance.value = round(illuminance * 700.0 / self.current_gain_factor / self.current_conversion_time, 1)
i = int(self.current_illuminance.value) * 255 // 20000
if i > 255:
i = 255
self.illuminance_frame.set_color(i, i, i)
def cb_color_temperature(self, color_temperature):
self.current_color_temperature.value = color_temperature
m = color_temperature % 100
color_temperature -= m
if m > 50:
color_temperature += 100
if color_temperature < 1000:
color_temperature = 1000
if color_temperature > 40000:
color_temperature = 40000
r, g, b = self.k_to_rgb[color_temperature]
self.color_temperature_frame.set_color(r, g, b)
def get_light_async(self, enable):
self.light_checkbox.setChecked(enable)
def light_state_changed(self, state):
self.color.set_light(state == Qt.Checked)
def get_config_async(self, config):
gain, gain_factor, conv, conv_time = self.gain_conv_to_combo(config.gain, config.integration_time)
self.gain_combo.setCurrentIndex(gain)
self.conversion_combo.setCurrentIndex(conv)
self.current_gain_factor = gain_factor
self.current_conversion_time = conv_time
def gain_conv_to_combo(self, gain, conv):
if gain == BrickletColorV2.GAIN_1X:
gain = 0
gain_factor = 1
elif gain == BrickletColorV2.GAIN_4X:
gain = 1
gain_factor = 4
elif gain == BrickletColorV2.GAIN_16X:
gain = 2
gain_factor = 16
elif gain == BrickletColorV2.GAIN_60X:
gain = 3
gain_factor = 60
if conv == BrickletColorV2.INTEGRATION_TIME_2MS:
conv = 0
conv_time = 2.4
elif conv == BrickletColorV2.INTEGRATION_TIME_24MS:
conv = 1
conv_time = 24
elif conv == BrickletColorV2.INTEGRATION_TIME_101MS:
conv = 2
conv_time = 101
elif conv == BrickletColorV2.INTEGRATION_TIME_154MS:
conv = 3
conv_time = 154
elif conv == BrickletColorV2.INTEGRATION_TIME_700MS:
conv = 4
conv_time = 700
return gain, gain_factor, conv, conv_time
def combo_to_gain_conv(self, gain, conv):
if gain == 0:
gain = BrickletColorV2.GAIN_1X
gain_factor = 1
elif gain == 1:
gain = BrickletColorV2.GAIN_4X
gain_factor = 4
elif gain == 2:
gain = BrickletColorV2.GAIN_16X
gain_factor = 16
elif gain == 3:
gain = BrickletColorV2.GAIN_60X
gain_factor = 60
if conv == 0:
conv = BrickletColorV2.INTEGRATION_TIME_2MS
conv_time = 2.4
elif conv == 1:
conv = BrickletColorV2.INTEGRATION_TIME_24MS
conv_time = 24
elif conv == 2:
conv = BrickletColorV2.INTEGRATION_TIME_101MS
conv_time = 101
elif conv == 3:
conv = BrickletColorV2.INTEGRATION_TIME_154MS
conv_time = 154
elif conv == 4:
conv = BrickletColorV2.INTEGRATION_TIME_700MS
conv_time = 700
return gain, gain_factor, conv, conv_time
def gain_changed(self, gain):
conversion = self.conversion_combo.currentIndex()
g, gf, c, ct = self.combo_to_gain_conv(gain, conversion)
self.current_gain_factor = gf
self.current_conversion_time = ct
self.color.set_config(g, c)
def conversion_changed(self, conversion):
gain = self.gain_combo.currentIndex()
g, gf, c, ct = self.combo_to_gain_conv(gain, conversion)
self.current_gain_factor = gf
self.current_conversion_time = ct
self.color.set_config(g, c)
