def connect_to_aeroquad(self):
self._ui.status.setText("Connecting...")
self._ui.buttonDisconnect.setEnabled(True)
self._ui.buttonConnect.setEnabled(False)
self._ui.comPort.setEnabled(False)
self._ui.baudRate.setEnabled(False)
self._app.processEvents()
bootupDelay = float(self._xml.find("./Settings/BootUpDelay").text)
commTimeOut = float(self._xml.find("./Settings/CommTimeOut").text)
try:
self._communicator.connect(str(self._ui.comPort.currentText()), int(self._ui.baudRate.currentText()), bootupDelay, commTimeOut)
protocol_handler = ProtocolHandler(self._communicator, self._vehicle_event_dispatcher)
version = protocol_handler.get_flight_software_version()
if version != "":
self.save_COM_port_selection()
self._ui.status.setText("Connected to AeroQuad Flight Software v" + version)
if version == '3.2' :
self._protocol_handler = AQV32ProtocolHandler(self._communicator, self._vehicle_event_dispatcher)
elif version == '4.0' :
self._protocol_handler = AQV4ProtocolHandler(self._communicator, self._vehicle_event_dispatcher)
else :
logging.error("Flight software version " + version + " unsuported")
self.disconnectBoard()
self._ui.status.setText("Not connected to the AeroQuad")
return False
self._ui_event_dispatcher.dispatch_event(UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT, True)
self._vehicle_event_dispatcher.dispatch_event(VehicleEventDispatcher.SOFTWARE_VERSION_EVENT, version)
self._protocol_handler.request_board_configuration()
self._ui_event_dispatcher.dispatch_event(UIEventDispatcher.PROTOCOL_HANDLER_EVENT,self._protocol_handler)
self._ui_event_dispatcher.dispatch_event(UIEventDispatcher.DISPLAY_PANEL_EVENT,PanelsContextBuilder.VEHICLE_INFORMATION_PANEL_ID)
return True
else:
self.disconnect_from_aeroquad()
self._ui.status.setText("Not connected to the AeroQuad")
# if self.manualConnect:
QtGui.QMessageBox.information(self, "Connection Error", "Unable to connect to the AeroQuad. Verify the board is plugged in.\n\nIf it is, try increasing the Boot Up Delay.\nThis is found under File->Preferences->Boot Up Delay.")
return False
except SerialException:
self._ui.buttonDisconnect.setEnabled(False)
self._ui.buttonConnect.setEnabled(True)
self._ui.comPort.setEnabled(True)
self._ui.baudRate.setEnabled(True)
self._ui.status.setText("Connection Failed")
return False
def connect_to_aeroquad(self):
self._ui.status.setText("Connecting...")
self._ui.buttonDisconnect.setEnabled(True)
self._ui.buttonConnect.setEnabled(False)
self._ui.comPort.setEnabled(False)
self._ui.baudRate.setEnabled(False)
self._app.processEvents()
bootupDelay = float(self._xml.find("./Settings/BootUpDelay").text)
commTimeOut = float(self._xml.find("./Settings/CommTimeOut").text)
try:
self._communicator.connect(str(self._ui.comPort.currentText()),
int(self._ui.baudRate.currentText()),
bootupDelay, commTimeOut)
protocol_handler = ProtocolHandler(self._communicator,
self._vehicle_event_dispatcher)
version = protocol_handler.get_flight_software_version()
if version != "":
self.save_COM_port_selection()
self._ui.status.setText(
"Connected to AeroQuad Flight Software v" + version)
if version == '3.2':
self._protocol_handler = AQV32ProtocolHandler(
self._communicator, self._vehicle_event_dispatcher)
elif version == '4.0':
self._protocol_handler = AQV4ProtocolHandler(
self._communicator, self._vehicle_event_dispatcher)
else:
logging.error("Flight software version " + version +
" unsuported")
self.disconnectBoard()
self._ui.status.setText("Not connected to the AeroQuad")
return False
self._ui_event_dispatcher.dispatch_event(
UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT, True)
self._vehicle_event_dispatcher.dispatch_event(
VehicleEventDispatcher.SOFTWARE_VERSION_EVENT, version)
self._protocol_handler.request_board_configuration()
self._ui_event_dispatcher.dispatch_event(
UIEventDispatcher.PROTOCOL_HANDLER_EVENT,
self._protocol_handler)
self._ui_event_dispatcher.dispatch_event(
UIEventDispatcher.DISPLAY_PANEL_EVENT,
PanelsContextBuilder.VEHICLE_INFORMATION_PANEL_ID)
return True
else:
self.disconnect_from_aeroquad()
self._ui.status.setText("Not connected to the AeroQuad")
# if self.manualConnect:
QtGui.QMessageBox.information(
self, "Connection Error",
"Unable to connect to the AeroQuad. Verify the board is plugged in.\n\nIf it is, try increasing the Boot Up Delay.\nThis is found under File->Preferences->Boot Up Delay."
)
return False
except SerialException:
self._ui.buttonDisconnect.setEnabled(False)
self._ui.buttonConnect.setEnabled(True)
self._ui.comPort.setEnabled(True)
self._ui.baudRate.setEnabled(True)
self._ui.status.setText("Connection Failed")
return False
def __init__(self, communicator, vehicle_event_dispatcher):
ProtocolHandler.__init__(self, communicator, vehicle_event_dispatcher)
self._motor_command = ''
def __init__(self, communicator, vehicle_event_dispatcher):
ProtocolHandler.__init__(self, communicator, vehicle_event_dispatcher)
self._motor_command = ''
