def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_VehicleOverallStatusPanel()
self.ui.setupUi(self)
self.channelCount = 0
self.rawData = ""
# Setup artificial horizon
horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
horizonDialItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
horizonCompassBackGroundItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
self.horizonCompassItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonScene = QtGui.QGraphicsScene()
horizonScene.addItem(self.horizonItem)
horizonScene.addItem(horizonDialItem)
horizonScene.addItem(horizonCompassBackGroundItem)
horizonScene.addItem(self.horizonCompassItem)
# Setup text info in artificial horizon
rollLabel = horizonScene.addText("Roll:")
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizonScene.addText("0.0")
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizonScene.addText("Pitch:")
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizonScene.addText("0.0")
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizonScene.addText("Heading:")
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizonScene.addText("0.0")
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizonScene.addText("Altitude:")
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizonScene.addText("000.0")
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizonScene.addText("Alt Hold:")
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizonScene.addText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizonScene.addText("Motors:")
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizonScene.addText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizonScene.addText("Batt:")
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizonScene.addText("0.000")
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizonScene.addText("Mode:")
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizonScene.addText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizonScene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
class VehicleOverallStatusController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_VehicleOverallStatusPanel()
self.ui.setupUi(self)
self.channelCount = 0
self.rawData = ""
# Setup artificial horizon
horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
horizonDialItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
horizonCompassBackGroundItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
self.horizonCompassItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonScene = QtGui.QGraphicsScene()
horizonScene.addItem(self.horizonItem)
horizonScene.addItem(horizonDialItem)
horizonScene.addItem(horizonCompassBackGroundItem)
horizonScene.addItem(self.horizonCompassItem)
# Setup text info in artificial horizon
rollLabel = horizonScene.addText("Roll:")
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizonScene.addText("0.0")
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizonScene.addText("Pitch:")
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizonScene.addText("0.0")
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizonScene.addText("Heading:")
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizonScene.addText("0.0")
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizonScene.addText("Altitude:")
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizonScene.addText("000.0")
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizonScene.addText("Alt Hold:")
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizonScene.addText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizonScene.addText("Motors:")
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizonScene.addText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizonScene.addText("Batt:")
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizonScene.addText("0.000")
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizonScene.addText("Mode:")
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizonScene.addText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizonScene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
def start(self, xmlSubPanel, boardConfiguration):
'''This method starts a timer used for any long running loops in a subpanel'''
self.xmlSubPanel = xmlSubPanel
self.boardConfiguration = boardConfiguration
if self.comm.isConnected():
telemetry = self.xml.find(xmlSubPanel + "/Telemetry").text
if telemetry != None:
self.comm.write(telemetry)
self.startCommThread()
# This timer keeps telemetry queue empty
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.readContinuousData)
self.timer.start(50)
# Wait a little to give time for self.timer to start
time.sleep(0.200)
# This timer updates front screen a eye pleasing rate
self.updateStatus = QtCore.QTimer()
self.updateStatus.timeout.connect(self.updateVehicleStatus)
self.updateStatus.start(100)
self.receiverChannels = 10
try:
self.receiverChannels = int(self.boardConfiguration["Receiver Nb Channels"])
except:
print("Can't read nb receiver channels from vehicle config")
# Do we need these?
#self.altitudeDetect = self.boardConfiguration["Barometer"] == "Detected"
#self.batteryMonitorDetect = self.boardConfiguration["Battery Monitor"] == "Enabled"
# Setup plots to display rest of transmitter channels
transmitterScene = QtGui.QGraphicsScene()
self.channelCount = self.receiverChannels - 4
self.barGaugeWidth = 25.0
self.xmitChannel = []
self.xmitLabel = []
if (self.channelCount == 1) :
self.xmitLabels = ["Mode"]
elif (self.channelCount == 2) :
self.xmitLabels = ["Mode", "Aux1"]
elif (self.channelCount == 3) :
self.xmitLabels = ["Mode", "Aux1", "Aux2"]
elif (self.channelCount == 4) :
self.xmitLabels = ["Mode", "Aux1", "Aux2", "Aux3"]
elif (self.channelCount == 5) :
self.xmitLabels = ["Mode", "Aux1", "Aux2", "Aux3", "Aux4"]
else :
self.xmitLabels = ["Mode", "Aux1", "Aux2", "Aux3", "Aux4", "Aux5"]
self.labelHeight = 25
for channel in range(self.channelCount):
barGauge = QtGui.QGraphicsRectItem()
barGauge.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
self.xmitChannel.append(barGauge)
transmitterScene.addItem(self.xmitChannel[channel])
label = transmitterScene.addText(self.xmitLabels[channel])
label.setDefaultTextColor(QtCore.Qt.white)
label.setPos(self.xmitChannelLocation(channel), self.ui.transmitterOutput.height())
self.xmitLabel.append(label)
self.ui.transmitterOutput.setScene(transmitterScene)
for channel in range(self.channelCount):
self.updateBarGauge(channel, 1000)
self.xmitLabel[channel].setPos(self.xmitChannelLocation(channel) - 3, self.ui.transmitterOutput.height() - self.labelHeight)
# Center transmitter output window
self.ui.transmitterOutput.centerOn(0.0, 0.0)
# Setup background for motor view
motorScene = QtGui.QGraphicsScene()
vehicle = '0'
try:
vehicle = self.boardConfiguration["Flight Config"]
except:
print("can't read vehicle config")
if vehicle == "0" :
vehicle = "Quad X"
elif vehicle == '1' :
vehicle = "Quad +"
elif vehicle == '2' :
vehicle = "Hex +"
elif vehicle == '3' :
vehicle = "Hex X"
elif vehicle == '4' :
vehicle = "Tri"
elif vehicle == '5' :
vehicle = "Quad Y4"
elif vehicle == '6' :
vehicle = "Hex Y6"
elif vehicle == '7' :
vehicle = "Octo X8"
elif vehicle == '8' :
vehicle = "Octo +"
elif vehicle == '9' :
vehicle = "Octo X"
vehicleFile = self.xml.find(xmlSubPanel + "/VehicleGraphics/Vehicle/[@Name='" + vehicle + "']")
vehicleImage = QtGui.QPixmap(vehicleFile.text)
vehicleHeight = int(vehicleFile.attrib["Height"])
vehicleWidth = int(vehicleFile.attrib["Width"])
scaledImage = vehicleImage.scaled(vehicleWidth, vehicleHeight, QtCore.Qt.KeepAspectRatio, QtCore.Qt.SmoothTransformation)
motorScene.addPixmap(scaledImage)
# Setup motor view
try:
self.motorCount = int(self.boardConfiguration["Motors"])
except:
self.motorCount = 4
self.motor = []
motorLocation = ast.literal_eval(vehicleFile.attrib["Motors"]) # read in motor locations from XML
for motorIndex in range(self.motorCount):
self.motor.append(BarGauge("Motor " + str(motorIndex+1)))
self.motor[motorIndex].setPos(motorLocation[motorIndex][0], motorLocation[motorIndex][1])
motorScene.addItem(self.motor[motorIndex])
self.ui.motorView.setScene(motorScene)
def updateBarGauge(self, channel, value):
#output = self.scale(value, (1000.0, 2000.0), (25.0, self.windowHeight - 25.0)) - self.labelHeight
output = self.scale(value, (1000.0, 2000.0), (25.0, self.windowHeight - 10)) - self.labelHeight
self.xmitChannel[channel].setRect(self.xmitChannelLocation(channel), self.windowHeight-(output + self.labelHeight), self.barGaugeWidth, output)
def xmitChannelLocation(self, channel):
barPosition = (self.ui.transmitterOutput.width() - (self.barGaugeWidth * self.channelCount)) / (self.channelCount + 1)
location = ((channel + 1) * barPosition) + (channel * self.barGaugeWidth)
return location
def resizeEvent(self, event):
#size = event.size()
self.windowHeight = self.ui.transmitterOutput.height()
self.windowWidth = self.ui.transmitterOutput.width()
self.ui.transmitterOutput.setSceneRect(0, 0, self.windowWidth*2, self.windowHeight*2)
self.ui.transmitterOutput.centerOn(0,0)
for channel in range(self.channelCount):
self.updateBarGauge(channel, 1000)
self.xmitLabel[channel].setPos(self.xmitChannelLocation(channel) - 3, self.ui.transmitterOutput.height() - self.labelHeight)
def updatePitchRoll(self, rollAngle, pitchAngle):
pitchPosition = self.scale(-pitchAngle, (-135.0, 135.0), (540.0, -540.0))
rollCenter = self.scale(-pitchAngle, (-135.0, 135.0), (0, 1080.0))
self.horizonItem.setPos(0, pitchPosition)
self.horizonItem.setTransformOriginPoint(250.0, rollCenter)
self.horizonItem.setRotation(-rollAngle)
def updateLeftStick(self, throttle, yaw):
throttlePosition = self.scale(throttle, (1000.0, 2000.0), (58.0, -57.0))
yawPosition = self.scale(yaw, (1000.0, 2000.0), (-57.0, 55.0))
self.leftStick.setPos(yawPosition, throttlePosition)
def updateRightStick(self, roll, pitch):
rollPosition = self.scale(roll, (1000.0, 2000.0), (-57.0, 55.0))
pitchPosition = self.scale(pitch, (1000.0, 2000.0), (58.0, -57.0))
self.rightStick.setPos(rollPosition, pitchPosition)
def updateHeading(self, heading):
self.horizonCompassItem.setTransformOriginPoint(150.0, 150.0)
self.horizonCompassItem.setRotation(-heading)
def scale(self, val, src, dst):
'''Scale the given value from the scale of src to the scale of dst.'''
return ((val - src[0]) / (src[1]-src[0])) * (dst[1]-dst[0]) + dst[0]
def readContinuousData(self):
'''This method continually emptys the telemetry queue from the AeroQuad'''
if self.comm.isConnected() and not self.commData.empty():
self.rawData = self.commData.get()
def updateVehicleStatus(self):
'''This method continually reads the last telemetry value from the AeroQuad'''
if self.comm.isConnected():
data = self.rawData.split(",")
motorArmed = int(data[0])
if motorArmed:
self.motorArm.setPlainText("Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.green)
else:
self.motorArm.setPlainText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
roll = math.degrees(float(data[1]))
self.roll.setPlainText("{:.1f}".format(roll))
pitch = math.degrees(float(data[2]))
self.pitch.setPlainText("{:.1f}".format(pitch))
heading = math.degrees(float(data[3]))
self.heading.setPlainText("{:.1f}".format(heading).zfill(5))
self.updatePitchRoll(roll, pitch)
self.updateHeading(heading)
altitude = float(data[4])
self.altitude.setPlainText("{:.1f}".format(altitude).zfill(5))
altitudeHold = int(data[5])
if altitudeHold:
self.altitudeHold.setPlainText("On")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.green)
else:
self.altitudeHold.setPlainText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.updateRightStick(int(data[6]), int(data[7]))
self.updateLeftStick(int(data[9]), int(data[8]))
for receiverIndex in range(self.channelCount):
self.updateBarGauge(receiverIndex, int(data[receiverIndex+10]))
for motorIndex in range(self.motorCount):
self.motor[motorIndex].setValue(int(data[motorIndex+14]))
batteryPower = float(data[22])
self.batteryPower.setPlainText("{:.3f}".format(batteryPower))
flightMode = int(data[23])
if flightMode:
self.flightMode.setPlainText("Stable")
self.flightMode.setDefaultTextColor(QtCore.Qt.green)
else:
self.flightMode.setPlainText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleOverallStatusPanel()
self.ui.setupUi(self)
self._protocol_handler = None
self._channel_count = 0
self._flight_config = 'Quad +'
self._channel_bar_gauge_array = []
self._channels_label_array_text = ['Mode']
self._channels_label_array_object = []
self._motor_gauge_pixel_width = 25.0
self._label_pixel_height = 25
self._window_height = 400
self._motors_count = 4
self._vehicle_roll = 0.0
self._vehicle_pitch = 0.0
self._receiver_roll = 0
self._receiver_pitch = 0
self._receiver_yaw = 0
self._receiver_throttle = 0
horizon_background_image = QtGui.QPixmap(
'./resources/artificialHorizonBackGround.svg')
self._horizon_background_image = QtGui.QGraphicsPixmapItem(
horizon_background_image)
horizon_dial_image = QtGui.QPixmap(
'./resources/artificialHorizonDial.svg')
horizon_dial_item = QtGui.QGraphicsPixmapItem(horizon_dial_image)
horizon_dial_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass_background = QtGui.QPixmap(
'./resources/artificialHorizonCompassBackGround.svg')
horizon_compass_background_item = QtGui.QGraphicsPixmapItem(
horizon_compass_background)
horizon_compass_background_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass = QtGui.QPixmap(
'./resources/artificialHorizonCompass.svg')
self._horizon_compass_item = QtGui.QGraphicsPixmapItem(horizon_compass)
self._horizon_compass_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_scene = QtGui.QGraphicsScene()
horizon_scene.addItem(self._horizon_background_image)
horizon_scene.addItem(horizon_dial_item)
horizon_scene.addItem(horizon_compass_background_item)
horizon_scene.addItem(self._horizon_compass_item)
# Setup text info in artificial horizon_background_image
rollLabel = horizon_scene.addText('Roll:')
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizon_scene.addText('0.0')
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizon_scene.addText('Pitch:')
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizon_scene.addText('0.0')
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizon_scene.addText('Heading:')
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizon_scene.addText('0.0')
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizon_scene.addText('Altitude:')
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizon_scene.addText('000.0')
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizon_scene.addText('Alt Hold:')
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizon_scene.addText('Off')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizon_scene.addText('Motors:')
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizon_scene.addText('Not Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizon_scene.addText('Batt:')
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizon_scene.addText('0.000')
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizon_scene.addText('Mode:')
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizon_scene.addText('Acro')
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizon_scene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap('./resources/TxDial.png')
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.leftStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap('./resources/TxDial.png')
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.rightStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
vehicle_event_dispatcher.register(
self._flight_config_received,
VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._receiver_channel_count_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(
self._motors_count_received,
VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
vehicle_event_dispatcher.register(
self._motor_armed_event,
VehicleEventDispatcher.MOTOR_ARMED_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_roll_event,
VehicleEventDispatcher.VEHICLE_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_pitch_event,
VehicleEventDispatcher.VEHICLE_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_heading_event,
VehicleEventDispatcher.VEHICLE_HEADING_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_altitude_hold_state_event,
VehicleEventDispatcher.ALTITUDE_HOLD_STATE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_altitude_event,
VehicleEventDispatcher.VEHICLE_ALTITUDE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_roll_event,
VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_pitch_event,
VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_yaw_event,
VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_throttle_event,
VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_mode_event,
VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux1_event,
VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux2_event,
VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux3_event,
VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux4_event,
VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux5_event,
VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux6_event,
VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux7_event,
VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor1_throttle_event,
VehicleEventDispatcher.MOTOR1_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor2_throttle_event,
VehicleEventDispatcher.MOTOR2_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor3_throttle_event,
VehicleEventDispatcher.MOTOR3_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor4_throttle_event,
VehicleEventDispatcher.MOTOR4_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor5_throttle_event,
VehicleEventDispatcher.MOTOR5_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor6_throttle_event,
VehicleEventDispatcher.MOTOR6_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor7_throttle_event,
VehicleEventDispatcher.MOTOR7_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor8_throttle_event,
VehicleEventDispatcher.MOTOR8_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._flight_mode_event,
VehicleEventDispatcher.FLIGHT_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._battery_voltage_received,
VehicleEventDispatcher.BATTERY_VOLTAGE_PROPERTY_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
class VehicleOverallStatusController(QtGui.QWidget, BasePanelController):
MOTORS_GAUGE_POSITION = {
'Quad +': ((182, 22), (300, 140), (182, 255), (62, 140)),
'Quad X': ((80, 35), (280, 35), (80, 240), (280, 240)),
'Quad Y4': ((66, 23), (222, 23), (145, 260), (300, 260)),
'Tri': ((330, 240), (80, 35), (285, 35), (182, 240)),
'Hex +':
((235, 30), (390, 100), (390, 275), (235, 350), (75, 275), (75, 100)),
'Hex X':
((150, 30), (320, 30), (390, 190), (320, 350), (150, 350), (75, 190)),
'Hex Y6':
((50, 45), (170, 45), (170, 340), (295, 45), (420, 45), (300, 340)),
'Octo X8': ((192, 27), (325, 190), (192, 350), (55, 190), (275, 27),
(410, 190), (275, 350), (140, 190)),
'Octo X': ((165, 25), (295, 25), (385, 130), (385, 260), (295, 350),
(165, 350), (70, 260), (70, 130)),
'Octo X+': ((235, 30), (360, 65), (395, 185), (360, 315), (235, 350),
(110, 315), (75, 185), (110, 65))
}
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleOverallStatusPanel()
self.ui.setupUi(self)
self._protocol_handler = None
self._channel_count = 0
self._flight_config = 'Quad +'
self._channel_bar_gauge_array = []
self._channels_label_array_text = ['Mode']
self._channels_label_array_object = []
self._motor_gauge_pixel_width = 25.0
self._label_pixel_height = 25
self._window_height = 400
self._motors_count = 4
self._vehicle_roll = 0.0
self._vehicle_pitch = 0.0
self._receiver_roll = 0
self._receiver_pitch = 0
self._receiver_yaw = 0
self._receiver_throttle = 0
horizon_background_image = QtGui.QPixmap(
'./resources/artificialHorizonBackGround.svg')
self._horizon_background_image = QtGui.QGraphicsPixmapItem(
horizon_background_image)
horizon_dial_image = QtGui.QPixmap(
'./resources/artificialHorizonDial.svg')
horizon_dial_item = QtGui.QGraphicsPixmapItem(horizon_dial_image)
horizon_dial_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass_background = QtGui.QPixmap(
'./resources/artificialHorizonCompassBackGround.svg')
horizon_compass_background_item = QtGui.QGraphicsPixmapItem(
horizon_compass_background)
horizon_compass_background_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass = QtGui.QPixmap(
'./resources/artificialHorizonCompass.svg')
self._horizon_compass_item = QtGui.QGraphicsPixmapItem(horizon_compass)
self._horizon_compass_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_scene = QtGui.QGraphicsScene()
horizon_scene.addItem(self._horizon_background_image)
horizon_scene.addItem(horizon_dial_item)
horizon_scene.addItem(horizon_compass_background_item)
horizon_scene.addItem(self._horizon_compass_item)
# Setup text info in artificial horizon_background_image
rollLabel = horizon_scene.addText('Roll:')
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizon_scene.addText('0.0')
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizon_scene.addText('Pitch:')
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizon_scene.addText('0.0')
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizon_scene.addText('Heading:')
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizon_scene.addText('0.0')
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizon_scene.addText('Altitude:')
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizon_scene.addText('000.0')
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizon_scene.addText('Alt Hold:')
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizon_scene.addText('Off')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizon_scene.addText('Motors:')
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizon_scene.addText('Not Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizon_scene.addText('Batt:')
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizon_scene.addText('0.000')
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizon_scene.addText('Mode:')
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizon_scene.addText('Acro')
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizon_scene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap('./resources/TxDial.png')
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.leftStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap('./resources/TxDial.png')
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.rightStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
vehicle_event_dispatcher.register(
self._flight_config_received,
VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._receiver_channel_count_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(
self._motors_count_received,
VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
vehicle_event_dispatcher.register(
self._motor_armed_event,
VehicleEventDispatcher.MOTOR_ARMED_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_roll_event,
VehicleEventDispatcher.VEHICLE_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_pitch_event,
VehicleEventDispatcher.VEHICLE_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_heading_event,
VehicleEventDispatcher.VEHICLE_HEADING_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_altitude_hold_state_event,
VehicleEventDispatcher.ALTITUDE_HOLD_STATE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_altitude_event,
VehicleEventDispatcher.VEHICLE_ALTITUDE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_roll_event,
VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_pitch_event,
VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_yaw_event,
VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_throttle_event,
VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_mode_event,
VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux1_event,
VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux2_event,
VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux3_event,
VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux4_event,
VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux5_event,
VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux6_event,
VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux7_event,
VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor1_throttle_event,
VehicleEventDispatcher.MOTOR1_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor2_throttle_event,
VehicleEventDispatcher.MOTOR2_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor3_throttle_event,
VehicleEventDispatcher.MOTOR3_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor4_throttle_event,
VehicleEventDispatcher.MOTOR4_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor5_throttle_event,
VehicleEventDispatcher.MOTOR5_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor6_throttle_event,
VehicleEventDispatcher.MOTOR6_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor7_throttle_event,
VehicleEventDispatcher.MOTOR7_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor8_throttle_event,
VehicleEventDispatcher.MOTOR8_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._flight_mode_event,
VehicleEventDispatcher.FLIGHT_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._battery_voltage_received,
VehicleEventDispatcher.BATTERY_VOLTAGE_PROPERTY_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler
def _flight_config_received(self, event, flight_config):
self._flight_config = flight_config
def _receiver_channel_count_received(self, event, channel_count):
self._channel_count = int(channel_count)
if (self._channel_count == 5):
self._channels_label_array_text = ['Mode']
elif (self._channel_count == 6):
self._channels_label_array_text = ['Mode', 'Aux1']
elif (self._channel_count == 7):
self._channels_label_array_text = ['Mode', 'Aux1', 'Aux2']
elif (self._channel_count == 8):
self._channels_label_array_text = ['Mode', 'Aux1', 'Aux2', 'Aux3']
elif (self._channel_count == 9):
self._channels_label_array_text = [
'Mode', 'Aux1', 'Aux2', 'Aux3', 'Aux4'
]
else:
self._channels_label_array_text = [
'Mode', 'Aux1', 'Aux2', 'Aux3', 'Aux4', 'Aux5'
]
transmitterScene = QtGui.QGraphicsScene()
for channel in range(self._channel_count - 4):
barGauge = QtGui.QGraphicsRectItem()
barGauge.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
self._channel_bar_gauge_array.append(barGauge)
transmitterScene.addItem(self._channel_bar_gauge_array[channel])
label = transmitterScene.addText(
self._channels_label_array_text[channel])
label.setDefaultTextColor(QtCore.Qt.white)
label.setPos(self.compute_channel_bar_location(channel),
self.ui.transmitterOutput.height())
self._channels_label_array_object.append(label)
self.ui.transmitterOutput.setScene(transmitterScene)
for channel in range(self._channel_count - 4):
self._update_receiver_bar_widget(channel, 1000)
self._channels_label_array_object[channel].setPos(
self.compute_channel_bar_location(channel) - 3,
self.ui.transmitterOutput.height() - self._label_pixel_height)
self.ui.transmitterOutput.centerOn(0.0, 0.0)
def _motors_count_received(self, event, motors_count):
self._motors_count = int(motors_count)
motorScene = QtGui.QGraphicsScene()
self.motor = []
motorLocation = VehicleOverallStatusController.MOTORS_GAUGE_POSITION[
self._flight_config]
for motorIndex in range(int(motors_count)):
self.motor.append(BarGauge('Motor ' + str(motorIndex + 1)))
self.motor[motorIndex].setPos(motorLocation[motorIndex][0],
motorLocation[motorIndex][1])
motorScene.addItem(self.motor[motorIndex])
self.ui.motorView.setScene(motorScene)
vehicleImage = QtGui.QPixmap(
VEHICLE_CONFIG_FILE_MAP[self._flight_config])
scaledImage = vehicleImage.scaled(400, 400, QtCore.Qt.KeepAspectRatio,
QtCore.Qt.SmoothTransformation)
motorScene.addPixmap(scaledImage)
def _motor_armed_event(self, event, are_motor_armed):
if are_motor_armed:
self.motorArm.setPlainText('Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.green)
else:
self.motorArm.setPlainText('Not Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
def _vehicle_roll_event(self, event, vehicle_roll):
self._vehicle_roll = math.degrees(vehicle_roll)
self.roll.setPlainText('{:.1f}'.format(self._vehicle_roll))
self._update_pitch_poll_widget(self._vehicle_roll, self._vehicle_pitch)
def _vehicle_pitch_event(self, event, vehicle_pitch):
self._vehicle_pitch = math.degrees(vehicle_pitch)
self.pitch.setPlainText('{:.1f}'.format(self._vehicle_pitch))
self._update_pitch_poll_widget(self._vehicle_roll, self._vehicle_pitch)
def _update_pitch_poll_widget(self, rollAngle, pitchAngle):
pitchPosition = self._scale_receiver_channel_to_widget(
-pitchAngle, (-135.0, 135.0), (540.0, -540.0))
rollCenter = self._scale_receiver_channel_to_widget(
-pitchAngle, (-135.0, 135.0), (0, 1080.0))
self._horizon_background_image.setPos(0, pitchPosition)
self._horizon_background_image.setTransformOriginPoint(
250.0, rollCenter)
self._horizon_background_image.setRotation(-rollAngle)
def _vehicle_heading_event(self, event, vehicle_heading):
heading = math.degrees(vehicle_heading)
self.heading.setPlainText('{:.1f}'.format(heading).zfill(5))
self._horizon_compass_item.setTransformOriginPoint(150.0, 150.0)
self._horizon_compass_item.setRotation(-heading)
def _vehicle_altitude_hold_state_event(self, event, vehicle_altitude):
if vehicle_altitude == '1':
self.altitudeHold.setPlainText('On')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.green)
else:
self.altitudeHold.setPlainText('Off')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
def _vehicle_altitude_event(self, event, vehicle_altitude):
self.altitude.setPlainText('{:.1f}'.format(vehicle_altitude).zfill(5))
def _receiver_roll_event(self, event, roll):
self._receiver_roll = roll
self._update_right_stick_widget(self._receiver_roll,
self._receiver_pitch)
def _receiver_pitch_event(self, event, pitch):
self._receiver_pitch = pitch
self._update_right_stick_widget(self._receiver_roll,
self._receiver_pitch)
def _update_right_stick_widget(self, roll, pitch):
rollPosition = self._scale_receiver_channel_to_widget(
roll, (1000.0, 2000.0), (-57.0, 55.0))
pitchPosition = self._scale_receiver_channel_to_widget(
pitch, (1000.0, 2000.0), (58.0, -57.0))
self.rightStick.setPos(rollPosition, pitchPosition)
def _receiver_yaw_event(self, event, yaw):
self._receiver_yaw = yaw
self._update_left_stick_widget(self._receiver_throttle,
self._receiver_yaw)
def _receiver_throttle_event(self, event, throttle):
self._receiver_throttle = throttle
self._update_left_stick_widget(self._receiver_throttle,
self._receiver_yaw)
def _update_left_stick_widget(self, throttle, yaw):
throttlePosition = self._scale_receiver_channel_to_widget(
throttle, (1000.0, 2000.0), (58.0, -57.0))
yawPosition = self._scale_receiver_channel_to_widget(
yaw, (1000.0, 2000.0), (-57.0, 55.0))
self.leftStick.setPos(yawPosition, throttlePosition)
def _scale_receiver_channel_to_widget(self, val, src, dst):
return ((val - src[0]) /
(src[1] - src[0])) * (dst[1] - dst[0]) + dst[0]
def _receiver_mode_event(self, event, mode):
self._update_receiver_bar_widget(0, mode)
def _receiver_aux1_event(self, event, aux1):
if self._channel_count >= 6:
self._update_receiver_bar_widget(1, aux1)
def _receiver_aux2_event(self, event, aux2):
if self._channel_count >= 7:
self._update_receiver_bar_widget(2, aux2)
def _receiver_aux3_event(self, event, aux3):
if self._channel_count >= 8:
self._update_receiver_bar_widget(3, aux3)
def _receiver_aux4_event(self, event, aux4):
if self._channel_count >= 9:
self._update_receiver_bar_widget(4, aux4)
def _receiver_aux5_event(self, event, aux5):
if self._channel_count >= 10:
self._update_receiver_bar_widget(5, aux5)
def _receiver_aux6_event(self, event, aux6):
if self._channel_count >= 11:
self._update_receiver_bar_widget(6, aux6)
def _receiver_aux7_event(self, event, aux7):
if self._channel_count >= 12:
self._update_receiver_bar_widget(7, aux7)
def _motor1_throttle_event(self, event, motor1_throttle):
self.motor[0].setValue(motor1_throttle)
def _motor2_throttle_event(self, event, motor2_throttle):
self.motor[1].setValue(motor2_throttle)
def _motor3_throttle_event(self, event, motor3_throttle):
self.motor[2].setValue(motor3_throttle)
def _motor4_throttle_event(self, event, motor4_throttle):
self.motor[3].setValue(motor4_throttle)
def _motor5_throttle_event(self, event, motor5_throttle):
if self._motors_count >= 6:
self.motor[4].setValue(motor5_throttle)
def _motor6_throttle_event(self, event, motor6_throttle):
if self._motors_count >= 6:
self.motor[5].setValue(motor6_throttle)
def _motor7_throttle_event(self, event, motor7_throttle):
if self._motors_count >= 8:
self.motor[6].setValue(motor7_throttle)
def _motor8_throttle_event(self, event, motor8_throttle):
if self._motors_count >= 8:
self.motor[7].setValue(motor8_throttle)
def _flight_mode_event(self, event, flight_mode):
self.flightMode.setPlainText(flight_mode)
if flight_mode == 'Accro':
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
else:
self.flightMode.setDefaultTextColor(QtCore.Qt.green)
def _battery_voltage_received(self, event, battery_voltage):
self.batteryPower.setPlainText('{:.3f}'.format(battery_voltage))
def start(self):
self._protocol_handler.unsubscribe_command()
self._protocol_handler.subscribe_vehicle_status()
def stop(self):
self._protocol_handler.unsubscribe_command()
def _update_receiver_bar_widget(self, channel, value):
output = self._scale_receiver_channel_to_widget(
value, (1000.0, 2000.0),
(25.0, self._window_height - 10)) - self._label_pixel_height
self._channel_bar_gauge_array[channel].setRect(
self.compute_channel_bar_location(channel),
self._window_height - (output + self._label_pixel_height),
self._motor_gauge_pixel_width, output)
def compute_channel_bar_location(self, channel):
barPosition = (self.ui.transmitterOutput.width() -
(self._motor_gauge_pixel_width *
self._channel_count)) / (self._channel_count + 1)
location = ((channel + 1) *
barPosition) + (channel * self._motor_gauge_pixel_width)
return location
def resizeEvent(self, event):
self._window_height = self.ui.transmitterOutput.height()
self.windowWidth = self.ui.transmitterOutput.width()
self.ui.transmitterOutput.setSceneRect(0, 0, self.windowWidth * 2,
self._window_height * 2)
self.ui.transmitterOutput.centerOn(0, 0)
for channel in range(self._channel_count - 4):
self._update_receiver_bar_widget(channel, 1000)
self._channels_label_array_object[channel].setPos(
self.compute_channel_bar_location(channel) - 3,
self.ui.transmitterOutput.height() - self._label_pixel_height)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleOverallStatusPanel()
self.ui.setupUi(self)
self._protocol_handler = None
self._channel_count = 0
self._flight_config = 'Quad +'
self._channel_bar_gauge_array = []
self._channels_label_array_text = ['Mode']
self._channels_label_array_object = []
self._motor_gauge_pixel_width = 25.0
self._label_pixel_height = 25
self._window_height = 400
self._motors_count = 4
self._vehicle_roll = 0.0
self._vehicle_pitch = 0.0
self._receiver_roll = 0
self._receiver_pitch = 0
self._receiver_yaw = 0
self._receiver_throttle = 0
horizon_background_image = QtGui.QPixmap('./resources/artificialHorizonBackGround.svg')
self._horizon_background_image = QtGui.QGraphicsPixmapItem(horizon_background_image)
horizon_dial_image = QtGui.QPixmap('./resources/artificialHorizonDial.svg')
horizon_dial_item = QtGui.QGraphicsPixmapItem(horizon_dial_image)
horizon_dial_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass_background = QtGui.QPixmap('./resources/artificialHorizonCompassBackGround.svg')
horizon_compass_background_item = QtGui.QGraphicsPixmapItem(horizon_compass_background)
horizon_compass_background_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass = QtGui.QPixmap('./resources/artificialHorizonCompass.svg')
self._horizon_compass_item = QtGui.QGraphicsPixmapItem(horizon_compass)
self._horizon_compass_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_scene = QtGui.QGraphicsScene()
horizon_scene.addItem(self._horizon_background_image)
horizon_scene.addItem(horizon_dial_item)
horizon_scene.addItem(horizon_compass_background_item)
horizon_scene.addItem(self._horizon_compass_item)
# Setup text info in artificial horizon_background_image
rollLabel = horizon_scene.addText('Roll:')
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizon_scene.addText('0.0')
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizon_scene.addText('Pitch:')
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizon_scene.addText('0.0')
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizon_scene.addText('Heading:')
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizon_scene.addText('0.0')
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizon_scene.addText('Altitude:')
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizon_scene.addText('000.0')
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizon_scene.addText('Alt Hold:')
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizon_scene.addText('Off')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizon_scene.addText('Motors:')
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizon_scene.addText('Not Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizon_scene.addText('Batt:')
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizon_scene.addText('0.000')
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizon_scene.addText('Mode:')
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizon_scene.addText('Acro')
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizon_scene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap('./resources/TxDial.png')
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap('./resources/TxDial.png')
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
vehicle_event_dispatcher.register(self._flight_config_received, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._receiver_channel_count_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(self._motors_count_received, VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
vehicle_event_dispatcher.register(self._motor_armed_event, VehicleEventDispatcher.MOTOR_ARMED_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_roll_event, VehicleEventDispatcher.VEHICLE_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_pitch_event, VehicleEventDispatcher.VEHICLE_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_heading_event, VehicleEventDispatcher.VEHICLE_HEADING_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_altitude_hold_state_event, VehicleEventDispatcher.ALTITUDE_HOLD_STATE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_altitude_event, VehicleEventDispatcher.VEHICLE_ALTITUDE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_roll_event, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_pitch_event, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_yaw_event, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_throttle_event, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_mode_event, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux1_event, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux2_event, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux3_event, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux4_event, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux5_event, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux6_event, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux7_event, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor1_throttle_event, VehicleEventDispatcher.MOTOR1_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor2_throttle_event, VehicleEventDispatcher.MOTOR2_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor3_throttle_event, VehicleEventDispatcher.MOTOR3_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor4_throttle_event, VehicleEventDispatcher.MOTOR4_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor5_throttle_event, VehicleEventDispatcher.MOTOR5_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor6_throttle_event, VehicleEventDispatcher.MOTOR6_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor7_throttle_event, VehicleEventDispatcher.MOTOR7_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor8_throttle_event, VehicleEventDispatcher.MOTOR8_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._flight_mode_event, VehicleEventDispatcher.FLIGHT_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._battery_voltage_received, VehicleEventDispatcher.BATTERY_VOLTAGE_PROPERTY_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
class VehicleOverallStatusController(QtGui.QWidget, BasePanelController):
MOTORS_GAUGE_POSITION = {'Quad +' : ((182,22), (300,140), (182,255), (62,140)),
'Quad X' : ((80,35), (280,35), (80,240), (280,240)),
'Quad Y4' : ((66,23), (222,23), (145,260), (300,260)),
'Tri' : ((330,240), (80,35), (285,35), (182,240)),
'Hex +' : ((235,30), (390,100), (390,275),(235,350), (75,275), (75,100)),
'Hex X' : ((150,30), (320,30), (390,190), (320,350), (150,350), (75,190)),
'Hex Y6' : ((50,45), (170,45), (170,340), (295,45), (420,45), (300,340)),
'Octo X8' : ((192,27), (325,190), (192,350), (55,190),(275,27), (410,190), (275,350), (140,190)),
'Octo X' : ((165,25), (295,25), (385,130), (385,260), (295,350), (165,350), (70,260), (70,130)),
'Octo X+' : ((235,30), (360,65), (395,185), (360,315), (235,350), (110,315), (75,185), (110,65)) }
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleOverallStatusPanel()
self.ui.setupUi(self)
self._protocol_handler = None
self._channel_count = 0
self._flight_config = 'Quad +'
self._channel_bar_gauge_array = []
self._channels_label_array_text = ['Mode']
self._channels_label_array_object = []
self._motor_gauge_pixel_width = 25.0
self._label_pixel_height = 25
self._window_height = 400
self._motors_count = 4
self._vehicle_roll = 0.0
self._vehicle_pitch = 0.0
self._receiver_roll = 0
self._receiver_pitch = 0
self._receiver_yaw = 0
self._receiver_throttle = 0
horizon_background_image = QtGui.QPixmap('./resources/artificialHorizonBackGround.svg')
self._horizon_background_image = QtGui.QGraphicsPixmapItem(horizon_background_image)
horizon_dial_image = QtGui.QPixmap('./resources/artificialHorizonDial.svg')
horizon_dial_item = QtGui.QGraphicsPixmapItem(horizon_dial_image)
horizon_dial_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass_background = QtGui.QPixmap('./resources/artificialHorizonCompassBackGround.svg')
horizon_compass_background_item = QtGui.QGraphicsPixmapItem(horizon_compass_background)
horizon_compass_background_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass = QtGui.QPixmap('./resources/artificialHorizonCompass.svg')
self._horizon_compass_item = QtGui.QGraphicsPixmapItem(horizon_compass)
self._horizon_compass_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_scene = QtGui.QGraphicsScene()
horizon_scene.addItem(self._horizon_background_image)
horizon_scene.addItem(horizon_dial_item)
horizon_scene.addItem(horizon_compass_background_item)
horizon_scene.addItem(self._horizon_compass_item)
# Setup text info in artificial horizon_background_image
rollLabel = horizon_scene.addText('Roll:')
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizon_scene.addText('0.0')
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizon_scene.addText('Pitch:')
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizon_scene.addText('0.0')
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizon_scene.addText('Heading:')
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizon_scene.addText('0.0')
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizon_scene.addText('Altitude:')
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizon_scene.addText('000.0')
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizon_scene.addText('Alt Hold:')
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizon_scene.addText('Off')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizon_scene.addText('Motors:')
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizon_scene.addText('Not Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizon_scene.addText('Batt:')
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizon_scene.addText('0.000')
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizon_scene.addText('Mode:')
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizon_scene.addText('Acro')
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizon_scene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap('./resources/TxDial.png')
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap('./resources/TxDial.png')
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
vehicle_event_dispatcher.register(self._flight_config_received, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._receiver_channel_count_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(self._motors_count_received, VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
vehicle_event_dispatcher.register(self._motor_armed_event, VehicleEventDispatcher.MOTOR_ARMED_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_roll_event, VehicleEventDispatcher.VEHICLE_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_pitch_event, VehicleEventDispatcher.VEHICLE_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_heading_event, VehicleEventDispatcher.VEHICLE_HEADING_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_altitude_hold_state_event, VehicleEventDispatcher.ALTITUDE_HOLD_STATE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_altitude_event, VehicleEventDispatcher.VEHICLE_ALTITUDE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_roll_event, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_pitch_event, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_yaw_event, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_throttle_event, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_mode_event, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux1_event, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux2_event, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux3_event, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux4_event, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux5_event, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux6_event, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux7_event, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor1_throttle_event, VehicleEventDispatcher.MOTOR1_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor2_throttle_event, VehicleEventDispatcher.MOTOR2_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor3_throttle_event, VehicleEventDispatcher.MOTOR3_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor4_throttle_event, VehicleEventDispatcher.MOTOR4_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor5_throttle_event, VehicleEventDispatcher.MOTOR5_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor6_throttle_event, VehicleEventDispatcher.MOTOR6_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor7_throttle_event, VehicleEventDispatcher.MOTOR7_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor8_throttle_event, VehicleEventDispatcher.MOTOR8_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._flight_mode_event, VehicleEventDispatcher.FLIGHT_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._battery_voltage_received, VehicleEventDispatcher.BATTERY_VOLTAGE_PROPERTY_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler;
def _flight_config_received(self, event, flight_config):
self._flight_config = flight_config
def _receiver_channel_count_received(self, event, channel_count):
self._channel_count = int(channel_count)
if (self._channel_count == 5) :
self._channels_label_array_text = ['Mode']
elif (self._channel_count == 6) :
self._channels_label_array_text = ['Mode', 'Aux1']
elif (self._channel_count == 7) :
self._channels_label_array_text = ['Mode', 'Aux1', 'Aux2']
elif (self._channel_count == 8) :
self._channels_label_array_text = ['Mode', 'Aux1', 'Aux2', 'Aux3']
elif (self._channel_count == 9) :
self._channels_label_array_text = ['Mode', 'Aux1', 'Aux2', 'Aux3', 'Aux4']
else :
self._channels_label_array_text = ['Mode', 'Aux1', 'Aux2', 'Aux3', 'Aux4', 'Aux5']
transmitterScene = QtGui.QGraphicsScene()
for channel in range(self._channel_count-4):
barGauge = QtGui.QGraphicsRectItem()
barGauge.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
self._channel_bar_gauge_array.append(barGauge)
transmitterScene.addItem(self._channel_bar_gauge_array[channel])
label = transmitterScene.addText(self._channels_label_array_text[channel])
label.setDefaultTextColor(QtCore.Qt.white)
label.setPos(self.compute_channel_bar_location(channel), self.ui.transmitterOutput.height())
self._channels_label_array_object.append(label)
self.ui.transmitterOutput.setScene(transmitterScene)
for channel in range(self._channel_count-4):
self._update_receiver_bar_widget(channel, 1000)
self._channels_label_array_object[channel].setPos(self.compute_channel_bar_location(channel) - 3, self.ui.transmitterOutput.height() - self._label_pixel_height)
self.ui.transmitterOutput.centerOn(0.0, 0.0)
def _motors_count_received(self, event, motors_count):
self._motors_count = int(motors_count)
motorScene = QtGui.QGraphicsScene()
self.motor = []
motorLocation = VehicleOverallStatusController.MOTORS_GAUGE_POSITION[self._flight_config]
for motorIndex in range(int(motors_count)):
self.motor.append(BarGauge('Motor ' + str(motorIndex+1)))
self.motor[motorIndex].setPos(motorLocation[motorIndex][0], motorLocation[motorIndex][1])
motorScene.addItem(self.motor[motorIndex])
self.ui.motorView.setScene(motorScene)
vehicleImage = QtGui.QPixmap(VEHICLE_CONFIG_FILE_MAP[self._flight_config])
scaledImage = vehicleImage.scaled(400, 400, QtCore.Qt.KeepAspectRatio, QtCore.Qt.SmoothTransformation)
motorScene.addPixmap(scaledImage)
def _motor_armed_event(self, event, are_motor_armed):
if are_motor_armed :
self.motorArm.setPlainText('Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.green)
else :
self.motorArm.setPlainText('Not Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
def _vehicle_roll_event(self, event, vehicle_roll):
self._vehicle_roll = math.degrees(vehicle_roll)
self.roll.setPlainText('{:.1f}'.format(self._vehicle_roll))
self._update_pitch_poll_widget(self._vehicle_roll,self._vehicle_pitch)
def _vehicle_pitch_event(self, event, vehicle_pitch):
self._vehicle_pitch = math.degrees(vehicle_pitch)
self.pitch.setPlainText('{:.1f}'.format(self._vehicle_pitch))
self._update_pitch_poll_widget(self._vehicle_roll,self._vehicle_pitch)
def _update_pitch_poll_widget(self, rollAngle, pitchAngle):
pitchPosition = self._scale_receiver_channel_to_widget(-pitchAngle, (-135.0, 135.0), (540.0, -540.0))
rollCenter = self._scale_receiver_channel_to_widget(-pitchAngle, (-135.0, 135.0), (0, 1080.0))
self._horizon_background_image.setPos(0, pitchPosition)
self._horizon_background_image.setTransformOriginPoint(250.0, rollCenter)
self._horizon_background_image.setRotation(-rollAngle)
def _vehicle_heading_event(self, event, vehicle_heading):
heading = math.degrees(vehicle_heading)
self.heading.setPlainText('{:.1f}'.format(heading).zfill(5))
self._horizon_compass_item.setTransformOriginPoint(150.0, 150.0)
self._horizon_compass_item.setRotation(-heading)
def _vehicle_altitude_hold_state_event(self, event, vehicle_altitude):
if vehicle_altitude == '1':
self.altitudeHold.setPlainText('On')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.green)
else:
self.altitudeHold.setPlainText('Off')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
def _vehicle_altitude_event(self, event, vehicle_altitude):
self.altitude.setPlainText('{:.1f}'.format(vehicle_altitude).zfill(5))
def _receiver_roll_event(self, event, roll):
self._receiver_roll = roll
self._update_right_stick_widget(self._receiver_roll, self._receiver_pitch)
def _receiver_pitch_event(self, event, pitch):
self._receiver_pitch = pitch
self._update_right_stick_widget(self._receiver_roll, self._receiver_pitch)
def _update_right_stick_widget(self, roll, pitch):
rollPosition = self._scale_receiver_channel_to_widget(roll, (1000.0, 2000.0), (-57.0, 55.0))
pitchPosition = self._scale_receiver_channel_to_widget(pitch, (1000.0, 2000.0), (58.0, -57.0))
self.rightStick.setPos(rollPosition, pitchPosition)
def _receiver_yaw_event(self, event, yaw):
self._receiver_yaw = yaw
self._update_left_stick_widget(self._receiver_throttle, self._receiver_yaw)
def _receiver_throttle_event(self, event, throttle):
self._receiver_throttle = throttle
self._update_left_stick_widget(self._receiver_throttle, self._receiver_yaw)
def _update_left_stick_widget(self, throttle, yaw):
throttlePosition = self._scale_receiver_channel_to_widget(throttle, (1000.0, 2000.0), (58.0, -57.0))
yawPosition = self._scale_receiver_channel_to_widget(yaw, (1000.0, 2000.0), (-57.0, 55.0))
self.leftStick.setPos(yawPosition, throttlePosition)
def _scale_receiver_channel_to_widget(self, val, src, dst):
return ((val - src[0]) / (src[1]-src[0])) * (dst[1]-dst[0]) + dst[0]
def _receiver_mode_event(self, event, mode):
self._update_receiver_bar_widget(0, mode)
def _receiver_aux1_event(self, event, aux1):
if self._channel_count >= 6 :
self._update_receiver_bar_widget(1, aux1)
def _receiver_aux2_event(self, event, aux2):
if self._channel_count >= 7 :
self._update_receiver_bar_widget(2, aux2)
def _receiver_aux3_event(self, event, aux3):
if self._channel_count >= 8 :
self._update_receiver_bar_widget(3, aux3)
def _receiver_aux4_event(self, event, aux4):
if self._channel_count >= 9 :
self._update_receiver_bar_widget(4, aux4)
def _receiver_aux5_event(self, event, aux5):
if self._channel_count >= 10 :
self._update_receiver_bar_widget(5, aux5)
def _receiver_aux6_event(self, event, aux6):
if self._channel_count >= 11 :
self._update_receiver_bar_widget(6, aux6)
def _receiver_aux7_event(self, event, aux7):
if self._channel_count >= 12 :
self._update_receiver_bar_widget(7, aux7)
def _motor1_throttle_event(self, event, motor1_throttle):
self.motor[0].setValue(motor1_throttle)
def _motor2_throttle_event(self, event, motor2_throttle):
self.motor[1].setValue(motor2_throttle)
def _motor3_throttle_event(self, event, motor3_throttle):
self.motor[2].setValue(motor3_throttle)
def _motor4_throttle_event(self, event, motor4_throttle):
self.motor[3].setValue(motor4_throttle)
def _motor5_throttle_event(self, event, motor5_throttle):
if self._motors_count >= 6 :
self.motor[4].setValue(motor5_throttle)
def _motor6_throttle_event(self, event, motor6_throttle):
if self._motors_count >= 6 :
self.motor[5].setValue(motor6_throttle)
def _motor7_throttle_event(self, event, motor7_throttle):
if self._motors_count >= 8 :
self.motor[6].setValue(motor7_throttle)
def _motor8_throttle_event(self, event, motor8_throttle):
if self._motors_count >= 8 :
self.motor[7].setValue(motor8_throttle)
def _flight_mode_event(self, event, flight_mode):
self.flightMode.setPlainText(flight_mode)
if flight_mode == 'Accro':
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
else:
self.flightMode.setDefaultTextColor(QtCore.Qt.green)
def _battery_voltage_received(self, event, battery_voltage):
self.batteryPower.setPlainText('{:.3f}'.format(battery_voltage))
def start(self):
self._protocol_handler.unsubscribe_command()
self._protocol_handler.subscribe_vehicle_status()
def stop(self):
self._protocol_handler.unsubscribe_command()
def _update_receiver_bar_widget(self, channel, value):
output = self._scale_receiver_channel_to_widget(value, (1000.0, 2000.0), (25.0, self._window_height - 10)) - self._label_pixel_height
self._channel_bar_gauge_array[channel].setRect(self.compute_channel_bar_location(channel), self._window_height-(output + self._label_pixel_height), self._motor_gauge_pixel_width, output)
def compute_channel_bar_location(self, channel):
barPosition = (self.ui.transmitterOutput.width() - (self._motor_gauge_pixel_width * self._channel_count)) / (self._channel_count + 1)
location = ((channel + 1) * barPosition) + (channel * self._motor_gauge_pixel_width)
return location
def resizeEvent(self, event):
self._window_height = self.ui.transmitterOutput.height()
self.windowWidth = self.ui.transmitterOutput.width()
self.ui.transmitterOutput.setSceneRect(0, 0, self.windowWidth*2, self._window_height*2)
self.ui.transmitterOutput.centerOn(0,0)
for channel in range(self._channel_count-4):
self._update_receiver_bar_widget(channel, 1000)
self._channels_label_array_object[channel].setPos(self.compute_channel_bar_location(channel) - 3, self.ui.transmitterOutput.height() - self._label_pixel_height)