def loadEdfFile(self):
filePath = QFileDialog.getOpenFileName(self,
u'Choose edf to load',
"./output/",
filter="*.edf",
selectedFilter="*.edf")
if filePath:
try:
self.tabCount += 1
fileName = ntpath.basename(unicode(filePath))
jobWidget = JobWidget(self.getParams())
jobWidget.jobProgressWidget.hide()
jobWidget.runtimeWidget.hide()
tabIndex = self.jobTabs.addTab(jobWidget,
u"{0}".format(fileName))
self.jobs[self.tabCount] = jobWidget
self.showJobGroup(True)
self.jobTabs.setCurrentIndex(tabIndex)
jobWidget.sigCloseJob.connect(
lambda jobIndex=self.tabCount: self.closeJob(jobIndex))
self.uiFinishWait()
jobWidget.status = STATUS_FINISHED
jobWidget.displayOutput(unicode(filePath))
except Exception as e:
message = QErrorMessage(self)
message.showMessage(
u"Unable to load {0}. Error message: {1}".format(
filePath, e.message))
jobWidget.closeJob()
def accept(self):
"""Acepta el dialogo. Coge la operacion con la que esta trabajando
el usuario e inicia el procedimiento de calculo"""
from pyrqt.excepciones import OpcionesIncorrectaException
import rpy
nombre = unicode(self.ui.treeWidget.currentItem().text(0))
widget = self.__widgets["operaciones"][nombre]
try:
resultado = self.__gestoroperaciones[nombre].procedimiento(widget.seleccion(), widget.opciones())
except OpcionesIncorrectaException:
errormessage = QErrorMessage(self)
errormessage.showMessage(u"Las opciones no son correctas")
#except IndexError:
# errormessage = QErrorMessage(self)
# errormessage.showMessage(u"Seleccion incorrecta")
# LOG.exception("excepcion capturada")
except KeyError:
QErrorMessage(self).showMessage(u"Hay elementos de la salida sin definir(o mal definidos) en la operación")
LOG.exception("Excepción Generada por un módulo de operaciones")
except rpy.RException:
QErrorMessage(self).showMessage(u"R devolvio un error")
log.exception("Excepción de RPY")
except AssertionError:
QErrorMessage(self).showMessage(u"Error desconocido")
else:
self.__vsalida.ana_res(resultado) #Añadir a la salida el resultado
self.__vsalida.hide() #TODO averiguar como hacer para que recupere el foco sin ocultar la ventana
self.__vsalida.show()
def input_device_changed(self, index):
success, index = self.audio_device.select_input_device(index)
self.ui.DeviceList.setCurrentIndex(index)
self.fft_plot.must_plot = True
if not success:
# Note: the error message is a child of the settings dialog, so that
# that dialog remains on top when the error message is closed
error_message = QErrorMessage(self.settings_dialog)
error_message.setWindowTitle("Input device error")
error_message.showMessage("Impossible to use the selected input"
" device, reverting to the previous one")
def second_channel_changed(self, index):
self.ui.actionStart.setChecked(False)
success, index = self.audiobackend.select_second_channel(index)
self.settings_dialog.comboBox_secondChannel.setCurrentIndex(index)
if not success:
# Note: the error message is a child of the settings dialog, so that
# that dialog remains on top when the error message is closed
error_message = QErrorMessage(self.settings_dialog)
error_message.setWindowTitle("Input device error")
error_message.showMessage("Impossible to use the selected channel as the second channel, reverting to the previous one")
self.ui.actionStart.setChecked(True)
def loadParameterSet(self):
s = QSettings()
name = self.configCombo.currentText()
s.beginGroup('ParameterSets')
if not name in s.childGroups():
dlg = QErrorMessage(self)
dlg.setWindowTitle('Error')
dlg.showMessage('No saved parameters available for %s' % name)
return
s.beginGroup(name)
for item in self.parameterItems:
item.setValue(s.value(item.objectName(), item.value(), type=float))
self.adjustExcitationCb.setChecked(s.value('adjustExcitation', False, type=bool))
self.sensorNameLe.setText(s.value('sensorName', '', type=QString))
self.visaCombo.setCurrentIndex(self.visaCombo.findText(s.value('sr830Visa', 'GPIB0::12', type=QString)))
self.autoRangingCb.setChecked(s.value('autoRanging', True, type=bool))
self.minSensitivityCombo.setCurrentCodeSilently(s.value('minSensitivity', 0, type=int))
s.endGroup()
s.endGroup()
def addScanNumbers(self):
result = self.range_dialog.exec_()
if result == QDialog.Accepted:
text = self.range_ui.range_edit.text()
if text:
not_found = []
numbers = mythen.parse_range_list(text)
year, visit = self.getYearAndVisit()
progress = QProgressDialog(
"Locating scan files from numbers...", "Stop", 0,
len(numbers), self)
progress.setWindowModality(Qt.WindowModal)
progress.forceShow()
progress.setValue(0)
for n in numbers:
progress.setValue(progress.value() + 1)
if progress.wasCanceled():
break
files = mythen.find_mythen_files(
n, visit=visit,
year=year) # FIXME needs to be in separate thread(!)
if files:
files = [f for f in files if f not in self.scans]
self.scans.extend(files)
self.scans_model.setStringList(self.scans)
else:
not_found.append(n)
progress.setValue(progress.maximum())
if not_found:
error = QErrorMessage(self)
msg = "The following numbers were not found: "
for n in not_found:
msg = msg + str(n) + ", "
error.showMessage(msg[:-2])
class DC(PluginBase, Ui_DC):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
qtcb_emergency_shutdown = pyqtSignal()
def __init__(self, ipcon, uid, version):
PluginBase.__init__(self, ipcon, uid, 'DC Brick', version)
self.setupUi(self)
self.encoder_hide_all()
self.dc = BrickDC(uid, ipcon)
self.device = self.dc
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(4, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.velocity_slider.sliderReleased.connect(self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished)
self.frequency_slider.sliderReleased.connect(self.frequency_slider_released)
self.frequency_slider.valueChanged.connect(self.frequency_spin.setValue)
self.frequency_spin.editingFinished.connect(self.frequency_spin_finished)
self.radio_mode_brake.toggled.connect(self.brake_value_changed)
self.radio_mode_coast.toggled.connect(self.coast_value_changed)
self.minimum_voltage_button.pressed.connect(self.minimum_voltage_button_pressed)
self.full_brake_button.pressed.connect(self.full_brake_pressed)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.emergency_signal = None
self.under_signal = None
self.current_velocity_signal = None
self.velocity_reached_signal = None
self.qem = QErrorMessage(self)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.dc.register_callback(self.dc.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown)
self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN,
self.qtcb_emergency_shutdown.emit)
self.qtcb_position_reached.connect(self.update_velocity)
self.dc.register_callback(self.dc.CALLBACK_VELOCITY_REACHED,
self.qtcb_position_reached.emit)
self.dc.register_callback(self.dc.CALLBACK_CURRENT_VELOCITY,
self.qtcb_position_reached.emit)
# if self.version >= (2, 0, 1):
# self.enable_encoder_checkbox.stateChanged.connect(self.enable_encoder_state_changed)
# self.encoder_show()
# else:
# self.enable_encoder_checkbox.setText('Enable Encoder (Firmware >= 2.01 required)')
# self.enable_encoder_checkbox.setEnabled(False)
def start(self):
self.update_timer.start(1000)
async_call(self.dc.set_current_velocity_period, 100, None, self.increase_error_count)
self.update_start()
self.update_data()
def stop(self):
self.update_timer.stop()
async_call(self.dc.set_current_velocity_period, 0, None, self.increase_error_count)
def has_reset_device(self):
return self.version >= (1, 1, 3)
def reset_device(self):
if self.has_reset_device():
self.dc.reset()
def is_brick(self):
return True
def get_url_part(self):
return 'dc'
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickDC.DEVICE_IDENTIFIER
def cb_emergency_shutdown(self):
if not self.qem.isVisible():
self.qem.setWindowTitle("Emergency Shutdown")
self.qem.showMessage("Emergency Shutdown: Short-Circuit or Over-Temperature")
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.setWindowTitle("Under Voltage")
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str,
"DC_UnderVoltage")
def encoder_hide_all(self):
self.enable_encoder_checkbox.hide()
self.encoder_hide()
def encoder_hide(self):
self.p_label.hide()
self.p_spinbox.hide()
self.i_label.hide()
self.i_spinbox.hide()
self.d_label.hide()
self.d_spinbox.hide()
self.st_label.hide()
self.st_spinbox.hide()
self.cpr_label.hide()
self.cpr_spinbox.hide()
self.encoder_spacer.hide()
def encoder_show(self):
self.p_label.show()
self.p_spinbox.show()
self.i_label.show()
self.i_spinbox.show()
self.d_label.show()
self.d_spinbox.show()
self.st_label.show()
self.st_spinbox.show()
self.cpr_label.show()
self.cpr_spinbox.show()
self.encoder_spacer.show()
def enable_encoder_state_changed(self, state):
try:
if state == Qt.Checked:
self.dc.enable_encoder()
self.update_encoder()
elif state == Qt.Unchecked:
self.dc.disable_encoder()
except ip_connection.Error:
return
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.dc.enable()
elif state == Qt.Unchecked:
self.dc.disable()
except ip_connection.Error:
return
def brake_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(0)
except ip_connection.Error:
return
def coast_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(1)
except ip_connection.Error:
return
def full_brake_pressed(self):
try:
self.dc.full_brake()
except ip_connection.Error:
return
def minimum_voltage_selected(self, value):
try:
self.dc.set_minimum_voltage(value)
except ip_connection.Error:
return
def minimum_voltage_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(5000)
qid.setIntMaximum(0xFFFF)
qid.setIntStep(100)
async_call(self.dc.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.minimum_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def drive_mode_update(self, dm):
if dm == 0:
self.radio_mode_brake.setChecked(True)
self.radio_mode_coast.setChecked(False)
else:
self.radio_mode_brake.setChecked(False)
self.radio_mode_coast.setChecked(True)
def current_consumption_update(self, cc):
if cc >= 1000:
cc_str = "%gA" % round(cc/1000.0, 1)
else:
cc_str = "%gmA" % cc
self.current_label.setText(cc_str)
def update_velocity(self, value):
if value != self.speedometer.value():
self.speedometer.set_velocity(value)
def get_velocity_async(self, velocity):
if not self.velocity_slider.isSliderDown():
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
def get_acceleration_async(self, acceleration):
if not self.acceleration_slider.isSliderDown():
if acceleration != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acceleration)
self.acceleration_spin.setValue(acceleration)
def get_pwm_frequency_async(self, frequency):
if not self.frequency_slider.isSliderDown():
if frequency != self.frequency_slider.sliderPosition():
self.frequency_slider.setSliderPosition(frequency)
self.frequency_spin.setValue(frequency)
def is_enabled_async(self, enabled):
if enabled:
self.enable_checkbox.setCheckState(Qt.Checked)
else:
self.enable_checkbox.setCheckState(Qt.Unchecked)
def is_encoder_enabled_async(self, enabled):
if enabled:
self.enable_encoder_checkbox.setCheckState(Qt.Checked)
else:
self.enable_encoder_checkbox.setCheckState(Qt.Unchecked)
def get_encoder_config_async(self, cpr):
self.cpr_spinbox.setValue(cpr)
def get_encoder_pid_config_async(self, pid_config):
self.p_spinbox.setValue(pid_config.p)
self.i_spinbox.setValue(pid_config.i)
self.d_spinbox.setValue(pid_config.d)
self.st_spinbox.setValue(pid_config.sample_time)
def update_encoder(self):
async_call(self.dc.get_encoder_config, None, self.get_encoder_config_async, self.increase_error_count)
async_call(self.dc.get_encoder_pid_config, None, self.get_encoder_pid_config_async, self.increase_error_count)
async_call(self.dc.is_encoder_enabled, None, self.is_encoder_enabled_async, self.increase_error_count)
def update_start(self):
async_call(self.dc.get_drive_mode, None, self.drive_mode_update, self.increase_error_count)
async_call(self.dc.get_velocity, None, self.get_velocity_async, self.increase_error_count)
async_call(self.dc.get_acceleration, None, self.get_acceleration_async, self.increase_error_count)
async_call(self.dc.get_pwm_frequency, None, self.get_pwm_frequency_async, self.increase_error_count)
async_call(self.dc.is_enabled, None, self.is_enabled_async, self.increase_error_count)
# if self.version >= (2, 0, 1):
# self.update_encoder()
def update_data(self):
async_call(self.dc.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count)
async_call(self.dc.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count)
async_call(self.dc.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count)
async_call(self.dc.get_current_consumption, None, self.current_consumption_update, self.increase_error_count)
def acceleration_slider_released(self):
value = self.acceleration_slider.value()
self.acceleration_spin.setValue(value)
try:
self.dc.set_acceleration(value)
except ip_connection.Error:
return
def acceleration_spin_finished(self):
value = self.acceleration_spin.value()
self.acceleration_slider.setValue(value)
try:
self.dc.set_acceleration(value)
except ip_connection.Error:
return
def velocity_slider_released(self):
value = self.velocity_slider.value()
self.velocity_spin.setValue(value)
try:
self.dc.set_velocity(value)
except ip_connection.Error:
return
def velocity_spin_finished(self):
value = self.velocity_spin.value()
self.velocity_slider.setValue(value)
try:
self.dc.set_velocity(value)
except ip_connection.Error:
return
def frequency_slider_released(self):
value = self.frequency_slider.value()
self.frequency_spin.setValue(value)
try:
self.dc.set_pwm_frequency(value)
except ip_connection.Error:
return
def frequency_spin_finished(self):
value = self.frequency_spin.value()
self.frequency_slider.setValue(value)
try:
self.dc.set_pwm_frequency(value)
except ip_connection.Error:
return
class ImagesWidget(QWidget, Ui_Images):
images = None
def __init__(self, parent, app):
super(QWidget, self).__init__()
self.app = app
self.setupUi(self)
self.error_msg = QErrorMessage()
self.error_msg.setWindowTitle("Starter Kit: Blinkenlights Demo " + config.DEMO_VERSION)
self.slider_frame_rate.valueChanged.connect(self.slider_frame_rate_changed)
self.spinbox_frame_rate.valueChanged.connect(self.spinbox_frame_rate_changed)
self.button_choose.pressed.connect(self.choose_pressed)
self.button_show.pressed.connect(self.show_pressed)
self.button_default.pressed.connect(self.default_pressed)
self.update_frame_rate_timer = QTimer(self)
self.update_frame_rate_timer.timeout.connect(self.update_frame_rate)
self.default_pressed()
def start(self):
self.images = Images(self.app.ipcon)
self.update_frame_rate()
self.images.frame_rendered(0)
def stop(self):
if self.images:
self.images.stop_rendering()
self.images = None
def spinbox_frame_rate_changed(self, frame_rate):
self.slider_frame_rate.setValue(frame_rate)
self.update_frame_rate_timer.start(100)
def slider_frame_rate_changed(self, frame_rate):
self.spinbox_frame_rate.setValue(frame_rate)
def show_pressed(self):
if self.images:
files = unicode(self.text_edit_files.toPlainText()).strip()
if len(files) > 0:
new_images = files.split('\n')
try:
self.images.set_new_images(new_images)
except Exception as e:
self.error_msg.showMessage(str(e))
self.images.frame_prepare_next()
self.images.frame_rendered(0)
def choose_pressed(self):
for filename in QFileDialog.getOpenFileNames(self, 'Choose Images', QDir.homePath()):
self.text_edit_files.append(filename)
def default_pressed(self):
self.spinbox_frame_rate.setValue(1)
def update_frame_rate(self):
self.update_frame_rate_timer.stop()
config.IMAGES_FRAME_RATE = self.spinbox_frame_rate.value()
if self.images:
self.images.update_frame_rate()
class SilentStepper(PluginBase, Ui_SilentStepper):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
def __init__(self, *args):
PluginBase.__init__(self, BrickSilentStepper, *args)
self.setupUi(self)
self.silent_stepper = self.device
self.endis_all(False)
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(5, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.velocity_syncer = SliderSpinSyncer(self.velocity_slider,
self.velocity_spin,
self.velocity_changed)
self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider,
self.acceleration_spin,
self.acceleration_changed)
self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider,
self.deceleration_spin,
self.deceleration_changed)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.forward_button.clicked.connect(self.forward_clicked)
self.stop_button.clicked.connect(self.stop_clicked)
self.full_brake_button.clicked.connect(self.full_brake_clicked)
self.backward_button.clicked.connect(self.backward_clicked)
self.to_button.clicked.connect(self.to_button_clicked)
self.steps_button.clicked.connect(self.steps_button_clicked)
self.motor_current_button.clicked.connect(self.motor_current_button_clicked)
self.minimum_motor_voltage_button.clicked.connect(self.minimum_motor_voltage_button_clicked)
self.qtcb_position_reached.connect(self.cb_position_reached)
self.silent_stepper.register_callback(self.silent_stepper.CALLBACK_POSITION_REACHED,
self.qtcb_position_reached.emit)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.silent_stepper.register_callback(self.silent_stepper.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
# Step Configuration
self.step_resolution_dropbox.currentIndexChanged.connect(self.step_configuration_changed)
self.interpolate_checkbox.stateChanged.connect(self.step_configuration_changed)
# Basic Configuration
self.standstill_current_spin.valueChanged.connect(self.basic_configuration_changed)
self.motor_run_current_spin.valueChanged.connect(self.basic_configuration_changed)
self.standstill_delay_time_spin.valueChanged.connect(self.basic_configuration_changed)
self.power_down_time_spin.valueChanged.connect(self.basic_configuration_changed)
self.stealth_threshold_spin.valueChanged.connect(self.basic_configuration_changed)
self.coolstep_threashold_spin.valueChanged.connect(self.basic_configuration_changed)
self.classic_threshold_spin.valueChanged.connect(self.basic_configuration_changed)
self.high_velocity_chopper_mode_checkbox.stateChanged.connect(self.basic_configuration_changed)
# Spreadcycle Configuration
self.slow_decay_duration_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.enable_random_slow_decay_checkbox.stateChanged.connect(self.spreadcycle_configuration_changed)
self.fast_decay_duration_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.hysteresis_start_value_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.hysteresis_end_value_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.sine_wave_offset_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.chopper_mode_combo.currentIndexChanged.connect(self.spreadcycle_configuration_changed)
self.comparator_blank_time_combo.currentIndexChanged.connect(self.spreadcycle_configuration_changed)
self.fast_decay_without_comparator_checkbox.stateChanged.connect(self.spreadcycle_configuration_changed)
# Stealth Configuration
self.enable_stealth_checkbox.stateChanged.connect(self.stealth_configuration_changed)
self.amplitude_spin.valueChanged.connect(self.stealth_configuration_changed)
self.gradient_spin.valueChanged.connect(self.stealth_configuration_changed)
self.enable_autoscale_checkbox.stateChanged.connect(self.stealth_configuration_changed)
self.force_symmetric_checkbox.stateChanged.connect(self.stealth_configuration_changed)
self.freewheel_mode_combo.currentIndexChanged.connect(self.stealth_configuration_changed)
# Coolstep Configuration
self.minimum_stallguard_value_spin.valueChanged.connect(self.coolstep_configuration_changed)
self.maximum_stallguard_value_spin.valueChanged.connect(self.coolstep_configuration_changed)
self.current_up_step_width_combo.currentIndexChanged.connect(self.coolstep_configuration_changed)
self.current_down_step_width_combo.currentIndexChanged.connect(self.coolstep_configuration_changed)
self.minimum_current_combo.currentIndexChanged.connect(self.coolstep_configuration_changed)
self.stallguard_threshold_value_spin.valueChanged.connect(self.coolstep_configuration_changed)
self.stallguard_mode_combo.currentIndexChanged.connect(self.coolstep_configuration_changed)
# Misc Configuration
self.disable_short_to_ground_protection_checkbox.stateChanged.connect(self.misc_configuration_changed)
self.synchronize_phase_frequency_spin.valueChanged.connect(self.misc_configuration_changed)
self.ste = 0
self.pos = 0
self.current_velocity = 0
self.cur = 0
self.sv = 0
self.ev = 0
self.mv = 0
self.mod = 0
self.status_led_action = QAction('Status LED', self)
self.status_led_action.setCheckable(True)
self.status_led_action.toggled.connect(lambda checked: self.silent_stepper.enable_status_led() if checked else self.silent_stepper.disable_status_led())
self.set_configs([(0, None, [self.status_led_action])])
reset = QAction('Reset', self)
reset.triggered.connect(lambda: self.silent_stepper.reset())
self.set_actions([(0, None, [reset])])
def start(self):
async_call(self.silent_stepper.is_status_led_enabled, None, self.status_led_action.setChecked, self.increase_error_count)
self.update_timer.start(100)
self.update_start()
def stop(self):
self.update_timer.stop()
def destroy(self):
pass
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickSilentStepper.DEVICE_IDENTIFIER
def cb_position_reached(self, position):
self.position_update(position)
self.endis_all(True)
def disable_list(self, button_list):
for button in button_list:
button.setEnabled(False)
def endis_all(self, value):
self.forward_button.setEnabled(value)
self.stop_button.setEnabled(value)
self.backward_button.setEnabled(value)
self.to_button.setEnabled(value)
self.steps_button.setEnabled(value)
self.full_brake_button.setEnabled(value)
def step_configuration_changed(self, _):
step_resolution = self.step_resolution_dropbox.currentIndex()
interpolation = self.interpolate_checkbox.isChecked()
try:
self.silent_stepper.set_step_configuration(step_resolution, interpolation)
except ip_connection.Error:
return
def basic_configuration_changed(self, _):
standstill_current = self.standstill_current_spin.value()
motor_run_current = self.motor_run_current_spin.value()
standstill_delay_time = self.standstill_delay_time_spin.value()
power_down_time = self.power_down_time_spin.value()
stealth_threshold = self.stealth_threshold_spin.value()
coolstep_threshold = self.coolstep_threashold_spin.value()
classic_threshold = self.classic_threshold_spin.value()
high_velocity_chopper_mode = self.high_velocity_chopper_mode_checkbox.isChecked()
try:
self.silent_stepper.set_basic_configuration(standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode)
except ip_connection.Error:
return
def spreadcycle_configuration_changed(self, _):
slow_decay_duration = self.slow_decay_duration_spin.value()
enable_random_slow_decay = self.enable_random_slow_decay_checkbox.isChecked()
fast_decay_duration = self.fast_decay_duration_spin.value()
hysteresis_start_value = self.hysteresis_start_value_spin.value()
hysteresis_end_value = self.hysteresis_end_value_spin.value()
sine_wave_offset = self.sine_wave_offset_spin.value()
chopper_mode = self.chopper_mode_combo.currentIndex()
comparator_blank_time = self.comparator_blank_time_combo.currentIndex()
fast_decay_without_comparator = self.fast_decay_without_comparator_checkbox.isChecked()
try:
self.silent_stepper.set_spreadcycle_configuration(slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sine_wave_offset, chopper_mode, comparator_blank_time, fast_decay_without_comparator)
except ip_connection.Error:
return
def stealth_configuration_changed(self, _):
enable_stealth = self.enable_stealth_checkbox.isChecked()
amplitude = self.amplitude_spin.value()
gradient = self.gradient_spin.value()
enable_autoscale = self.enable_autoscale_checkbox.isChecked()
force_symmetric = self.force_symmetric_checkbox.isChecked()
freewheel_mode = self.freewheel_mode_combo.currentIndex()
try:
self.silent_stepper.set_stealth_configuration(enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode)
except ip_connection.Error:
return
def coolstep_configuration_changed(self, _):
minimum_stallguard_value = self.minimum_stallguard_value_spin.value()
maximum_stallguard_value = self.maximum_stallguard_value_spin.value()
current_up_step_width = self.current_up_step_width_combo.currentIndex()
current_down_step_width = self.current_down_step_width_combo.currentIndex()
minimum_current = self.minimum_current_combo.currentIndex()
stallguard_threshold_value = self.stallguard_threshold_value_spin.value()
stallguard_mode = self.stallguard_mode_combo.currentIndex()
try:
self.silent_stepper.set_coolstep_configuration(minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode)
except ip_connection.Error:
return
def misc_configuration_changed(self, _):
disable_short_to_ground_protection = self.disable_short_to_ground_protection_checkbox.isChecked()
synchronize_phase_frequency = self.synchronize_phase_frequency_spin.value()
try:
self.silent_stepper.set_misc_configuration(disable_short_to_ground_protection, synchronize_phase_frequency)
except ip_connection.Error:
return
def forward_clicked(self):
try:
self.silent_stepper.drive_forward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def backward_clicked(self):
try:
self.silent_stepper.drive_backward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def stop_clicked(self):
try:
self.silent_stepper.stop()
except ip_connection.Error:
return
self.endis_all(True)
def full_brake_clicked(self):
try:
self.silent_stepper.full_brake()
except ip_connection.Error:
return
self.endis_all(True)
def to_button_clicked(self):
drive_to = self.to_spin.value()
try:
self.silent_stepper.set_target_position(drive_to)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def steps_button_clicked(self):
drive_steps = self.steps_spin.value()
try:
self.silent_stepper.set_steps(drive_steps)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def motor_current_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(360)
qid.setIntMaximum(1640)
qid.setIntStep(100)
async_call(self.silent_stepper.get_motor_current, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.motor_current_selected)
qid.setLabelText("Choose motor current in mA.")
qid.open()
def minimum_motor_voltage_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(40000)
qid.setIntStep(100)
async_call(self.silent_stepper.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.minimum_motor_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def motor_current_selected(self, value):
try:
self.silent_stepper.set_motor_current(value)
except ip_connection.Error:
return
def minimum_motor_voltage_selected(self, value):
try:
self.silent_stepper.set_minimum_voltage(value)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str,
"SilentStepper_UnderVoltage")
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.endis_all(True)
self.silent_stepper.enable()
elif state == Qt.Unchecked:
self.endis_all(False)
self.silent_stepper.disable()
except ip_connection.Error:
return
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def maximum_current_update(self, cur):
cur_str = "%gA" % round(cur/1000.0, 1)
self.maximum_current_label.setText(cur_str)
def position_update(self, pos):
pos_str = "%d" % pos
self.position_label.setText(pos_str)
def remaining_steps_update(self, ste):
ste_str = "%d" % ste
self.remaining_steps_label.setText(ste_str)
def driver_status_update(self, update):
if update.open_load == 0:
self.status_open_load.setText('No')
elif update.open_load == 1:
self.status_open_load.setText('Phase A')
elif update.open_load == 2:
self.status_open_load.setText('Phase B')
elif update.open_load == 3:
self.status_open_load.setText('Phase A and B')
else:
self.status_open_load.setText('Unknown')
if update.short_to_ground == 0:
self.status_short_to_ground.setText('No')
elif update.short_to_ground == 1:
self.status_short_to_ground.setText('Phase A')
elif update.short_to_ground == 2:
self.status_short_to_ground.setText('Phase B')
elif update.short_to_ground == 3:
self.status_short_to_ground.setText('Phase A and B')
else:
self.status_short_to_ground.setText('Unknown')
if update.over_temperature == 0:
self.status_over_temperature.setText('No')
elif update.over_temperature == 1:
self.status_over_temperature.setText('<font color=yellow>Warning</font>')
elif update.over_temperature == 2:
self.status_over_temperature.setText('<font color=red>Limit</font>')
if update.motor_stalled:
self.status_motor_stalled.setText('Yes')
else:
self.status_motor_stalled.setText('No')
self.status_actual_motor_current.setText(str(update.actual_motor_current))
if update.full_step_active:
self.status_full_step_active.setText('Yes')
else:
self.status_full_step_active.setText('No')
self.status_stallguard_result.setText(str(update.stallguard_result))
self.status_stealth_voltage_amplitude.setText(str(update.stealth_voltage_amplitude))
def get_max_velocity_async(self, velocity):
if not self.velocity_slider.isSliderDown():
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
def get_speed_ramping_async(self, ramp):
acc, dec = ramp
if not self.acceleration_slider.isSliderDown() and \
not self.deceleration_slider.isSliderDown():
if acc != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acc)
self.acceleration_spin.setValue(acc)
if dec != self.deceleration_slider.sliderPosition():
self.deceleration_slider.setSliderPosition(dec)
self.deceleration_spin.setValue(dec)
def is_enabled_async(self, enabled):
if enabled:
if not self.enable_checkbox.isChecked():
self.endis_all(True)
self.enable_checkbox.blockSignals(True)
self.enable_checkbox.setChecked(True)
self.enable_checkbox.blockSignals(False)
else:
if self.enable_checkbox.isChecked():
self.endis_all(False)
self.enable_checkbox.blockSignals(True)
self.enable_checkbox.setChecked(False)
self.enable_checkbox.blockSignals(False)
def get_step_configuration_async(self, conf):
self.step_resolution_dropbox.blockSignals(True)
self.step_resolution_dropbox.setCurrentIndex(conf.step_resolution)
self.step_resolution_dropbox.blockSignals(False)
self.interpolate_checkbox.blockSignals(True)
self.interpolate_checkbox.setChecked(conf.interpolation)
self.interpolate_checkbox.blockSignals(False)
def get_basic_configuration_async(self, conf):
self.standstill_current_spin.blockSignals(True)
self.standstill_current_spin.setValue(conf.standstill_current)
self.standstill_current_spin.blockSignals(False)
self.motor_run_current_spin.blockSignals(True)
self.motor_run_current_spin.setValue(conf.motor_run_current)
self.motor_run_current_spin.blockSignals(False)
self.standstill_delay_time_spin.blockSignals(True)
self.standstill_delay_time_spin.setValue(conf.standstill_delay_time)
self.standstill_delay_time_spin.blockSignals(False)
self.power_down_time_spin.blockSignals(True)
self.power_down_time_spin.setValue(conf.power_down_time)
self.power_down_time_spin.blockSignals(False)
self.stealth_threshold_spin.blockSignals(True)
self.stealth_threshold_spin.setValue(conf.stealth_threshold)
self.stealth_threshold_spin.blockSignals(False)
self.coolstep_threashold_spin.blockSignals(True)
self.coolstep_threashold_spin.setValue(conf.coolstep_threshold)
self.coolstep_threashold_spin.blockSignals(False)
self.classic_threshold_spin.blockSignals(True)
self.classic_threshold_spin.setValue(conf.classic_threshold)
self.classic_threshold_spin.blockSignals(False)
self.high_velocity_chopper_mode_checkbox.blockSignals(True)
self.high_velocity_chopper_mode_checkbox.setChecked(conf.high_velocity_chopper_mode)
self.high_velocity_chopper_mode_checkbox.blockSignals(False)
def get_spreadcycle_configuration_async(self, conf):
self.slow_decay_duration_spin.blockSignals(True)
self.slow_decay_duration_spin.setValue(conf.slow_decay_duration)
self.slow_decay_duration_spin.blockSignals(False)
self.enable_random_slow_decay_checkbox.blockSignals(True)
self.enable_random_slow_decay_checkbox.setChecked(conf.enable_random_slow_decay)
self.enable_random_slow_decay_checkbox.blockSignals(False)
self.fast_decay_duration_spin.blockSignals(True)
self.fast_decay_duration_spin.setValue(conf.fast_decay_duration)
self.fast_decay_duration_spin.blockSignals(False)
self.hysteresis_start_value_spin.blockSignals(True)
self.hysteresis_start_value_spin.setValue(conf.hysteresis_start_value)
self.hysteresis_start_value_spin.blockSignals(False)
self.hysteresis_end_value_spin.blockSignals(True)
self.hysteresis_end_value_spin.setValue(conf.hysteresis_end_value)
self.hysteresis_end_value_spin.blockSignals(False)
self.sine_wave_offset_spin.blockSignals(True)
self.sine_wave_offset_spin.setValue(conf.sine_wave_offset)
self.sine_wave_offset_spin.blockSignals(False)
self.chopper_mode_combo.blockSignals(True)
self.chopper_mode_combo.setCurrentIndex(conf.chopper_mode)
self.chopper_mode_combo.blockSignals(False)
self.standstill_current_spin.blockSignals(True)
self.comparator_blank_time_combo.setCurrentIndex(conf.comparator_blank_time)
self.standstill_current_spin.blockSignals(False)
self.fast_decay_without_comparator_checkbox.blockSignals(True)
self.fast_decay_without_comparator_checkbox.setChecked(conf.fast_decay_without_comparator)
self.fast_decay_without_comparator_checkbox.blockSignals(False)
def get_stealth_configuration_async(self, conf):
self.enable_stealth_checkbox.blockSignals(True)
self.enable_stealth_checkbox.setChecked(conf.enable_stealth)
self.enable_stealth_checkbox.blockSignals(False)
self.amplitude_spin.blockSignals(True)
self.amplitude_spin.setValue(conf.amplitude)
self.amplitude_spin.blockSignals(False)
self.gradient_spin.blockSignals(True)
self.gradient_spin.setValue(conf.gradient)
self.gradient_spin.blockSignals(False)
self.enable_autoscale_checkbox.blockSignals(True)
self.enable_autoscale_checkbox.setChecked(conf.enable_autoscale)
self.enable_autoscale_checkbox.blockSignals(False)
self.force_symmetric_checkbox.blockSignals(True)
self.force_symmetric_checkbox.setChecked(conf.force_symmetric)
self.force_symmetric_checkbox.blockSignals(False)
self.freewheel_mode_combo.blockSignals(True)
self.freewheel_mode_combo.setCurrentIndex(conf.freewheel_mode)
self.freewheel_mode_combo.blockSignals(False)
def get_coolstep_configuration_async(self, conf):
self.minimum_stallguard_value_spin.blockSignals(True)
self.minimum_stallguard_value_spin.setValue(conf.minimum_stallguard_value)
self.minimum_stallguard_value_spin.blockSignals(False)
self.maximum_stallguard_value_spin.blockSignals(True)
self.maximum_stallguard_value_spin.setValue(conf.maximum_stallguard_value)
self.maximum_stallguard_value_spin.blockSignals(False)
self.current_up_step_width_combo.blockSignals(True)
self.current_up_step_width_combo.setCurrentIndex(conf.current_up_step_width)
self.current_up_step_width_combo.blockSignals(False)
self.current_down_step_width_combo.blockSignals(True)
self.current_down_step_width_combo.setCurrentIndex(conf.current_down_step_width)
self.current_down_step_width_combo.blockSignals(False)
self.minimum_current_combo.blockSignals(True)
self.minimum_current_combo.setCurrentIndex(conf.minimum_current)
self.minimum_current_combo.blockSignals(False)
self.stallguard_threshold_value_spin.blockSignals(True)
self.stallguard_threshold_value_spin.setValue(conf.stallguard_threshold_value)
self.stallguard_threshold_value_spin.blockSignals(False)
self.stallguard_mode_combo.blockSignals(True)
self.stallguard_mode_combo.setCurrentIndex(conf.stallguard_mode)
self.stallguard_mode_combo.blockSignals(False)
def get_misc_configuration_async(self, conf):
self.disable_short_to_ground_protection_checkbox.blockSignals(True)
self.disable_short_to_ground_protection_checkbox.setChecked(conf.disable_short_to_ground_protection)
self.disable_short_to_ground_protection_checkbox.blockSignals(False)
self.synchronize_phase_frequency_spin.blockSignals(True)
self.synchronize_phase_frequency_spin.setValue(conf.synchronize_phase_frequency)
self.synchronize_phase_frequency_spin.blockSignals(False)
def update_start(self):
async_call(self.silent_stepper.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count)
async_call(self.silent_stepper.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count)
async_call(self.silent_stepper.is_enabled, None, self.is_enabled_async, self.increase_error_count)
async_call(self.silent_stepper.get_step_configuration, None, self.get_step_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_basic_configuration, None, self.get_basic_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_spreadcycle_configuration, None, self.get_spreadcycle_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_stealth_configuration, None, self.get_stealth_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_coolstep_configuration, None, self.get_coolstep_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_misc_configuration, None, self.get_misc_configuration_async, self.increase_error_count)
def update_data(self):
async_call(self.silent_stepper.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count)
async_call(self.silent_stepper.get_current_position, None, self.position_update, self.increase_error_count)
async_call(self.silent_stepper.get_current_velocity, None, self.speedometer.set_velocity, self.increase_error_count)
self.update_counter += 1
if self.update_counter % 10 == 0:
async_call(self.silent_stepper.get_motor_current, None, self.maximum_current_update, self.increase_error_count)
async_call(self.silent_stepper.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count)
async_call(self.silent_stepper.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count)
async_call(self.silent_stepper.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count)
async_call(self.silent_stepper.get_driver_status, None, self.driver_status_update, self.increase_error_count)
def velocity_changed(self, value):
try:
self.silent_stepper.set_max_velocity(value)
except ip_connection.Error:
return
def acceleration_changed(self, value):
dec = self.deceleration_spin.value()
try:
self.silent_stepper.set_speed_ramping(value, dec)
except ip_connection.Error:
return
def deceleration_changed(self, value):
acc = self.acceleration_slider.value()
try:
self.silent_stepper.set_speed_ramping(acc, value)
except ip_connection.Error:
return
class WeatherStation(QApplication):
HOST = "localhost"
PORT = 4223
ipcon = None
lcd = None
al = None
al_v2 = None
hum = None
baro = None
projects = []
active_project = None
error_msg = None
def __init__(self, args):
super(QApplication, self).__init__(args)
self.error_msg = QErrorMessage()
self.ipcon = IPConnection()
signal.signal(signal.SIGINT, self.exit_demo)
signal.signal(signal.SIGTERM, self.exit_demo)
timer = QTimer(self)
timer.setSingleShot(True)
timer.timeout.connect(self.connect)
timer.start(1)
self.lcd_timer = QTimer(self)
self.lcd_timer.timeout.connect(self.mute_lcd)
self.lcd_timer.start(10000)
def exit_demo(self, signl=None, frme=None):
try:
self.ipcon.disconnect()
self.timer.stop()
self.tabs.destroy()
except:
pass
sys.exit()
def open_gui(self):
self.main = MainWindow(self)
self.main.setFixedSize(930, 530)
self.main.setWindowIcon(
QIcon(load_pixmap('starter_kit_weather_station_demo-icon.png')))
self.tabs = QTabWidget()
widget = QWidget()
layout = QVBoxLayout()
layout.addWidget(self.tabs)
widget.setLayout(layout)
self.main.setCentralWidget(widget)
self.projects.append(ProjectEnvDisplay(self.tabs, self))
self.projects.append(ProjectStatistics(self.tabs, self))
self.projects.append(ProjectXively(self.tabs, self))
self.tabs.addTab(self.projects[0], "Display Environment Measurements")
self.tabs.addTab(self.projects[1],
"Show Statistics with Button Control")
self.tabs.addTab(self.projects[2], "Connect to Xively")
self.active_project = self.projects[0]
self.tabs.currentChanged.connect(self.tabChangedSlot)
self.tabs.setCurrentIndex(1)
self.main.setWindowTitle("Starter Kit: Weather Station Demo " +
DEMO_VERSION)
self.main.show()
def connect(self):
try:
self.ipcon.connect(WeatherStation.HOST, WeatherStation.PORT)
except Error as e:
self.error_msg.showMessage('Connection Error: ' +
str(e.description) +
"\nBrickd installed and running?")
return
except socket.error as e:
self.error_msg.showMessage('Socket error: ' + str(e) +
"\nBrickd installed and running?")
return
self.ipcon.register_callback(IPConnection.CALLBACK_ENUMERATE,
self.cb_enumerate)
self.ipcon.register_callback(IPConnection.CALLBACK_CONNECTED,
self.cb_connected)
try:
self.ipcon.enumerate()
except Error as e:
self.error_msg.showMessage('Enumerate Error: ' +
str(e.description))
return
self.open_gui()
def tabChangedSlot(self, tabIndex):
if self.lcd is not None:
self.lcd.clear_display()
self.active_project = self.projects[tabIndex]
def cb_illuminance(self, illuminance):
for p in self.projects:
p.update_illuminance(illuminance / 10.0)
def cb_illuminance_v2(self, illuminance):
for p in self.projects:
p.update_illuminance(illuminance / 100.0)
def cb_humidity(self, humidity):
for p in self.projects:
p.update_humidity(humidity / 10.0)
def cb_air_pressure(self, air_pressure):
for p in self.projects:
p.update_air_pressure(air_pressure / 1000.0)
try:
temperature = self.baro.get_chip_temperature()
except Error as e:
print('Could not get temperature: ' + str(e.description))
return
for p in self.projects:
p.update_temperature(temperature / 100.0)
def configure_custom_chars(self):
c = [[0x00 for x in range(8)] for y in range(8)]
c[0] = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff]
c[1] = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff]
c[2] = [0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff]
c[3] = [0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff]
c[4] = [0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff]
c[5] = [0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff]
c[6] = [0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff]
c[7] = [0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff]
for i in range(len(c)):
self.lcd.set_custom_character(i, c[i])
def cb_button_pressed(self, button):
if self.lcd.is_backlight_on():
for p in self.projects:
p.button_pressed(button)
else:
self.lcd.backlight_on()
self.lcd_timer.start()
def mute_lcd(self):
self.lcd.backlight_off()
def cb_enumerate(self, uid, connected_uid, position, hardware_version,
firmware_version, device_identifier, enumeration_type):
if enumeration_type == IPConnection.ENUMERATION_TYPE_CONNECTED or \
enumeration_type == IPConnection.ENUMERATION_TYPE_AVAILABLE:
if device_identifier == LCD20x4.DEVICE_IDENTIFIER:
try:
self.lcd = LCD20x4(uid, self.ipcon)
self.lcd.clear_display()
self.lcd.backlight_on()
self.lcd.register_callback(
self.lcd.CALLBACK_BUTTON_PRESSED,
self.cb_button_pressed)
self.configure_custom_chars()
except Error as e:
self.error_msg.showMessage('LCD 20x4 init failed: ' +
str(e.description))
self.lcd = None
elif device_identifier == AmbientLight.DEVICE_IDENTIFIER:
try:
self.al = AmbientLight(uid, self.ipcon)
self.al.set_illuminance_callback_period(1000)
self.al.register_callback(self.al.CALLBACK_ILLUMINANCE,
self.cb_illuminance)
except Error as e:
self.error_msg.showMessage('Ambient Light init failed: ' +
str(e.description))
self.al = None
elif device_identifier == AmbientLightV2.DEVICE_IDENTIFIER:
try:
self.al_v2 = AmbientLightV2(uid, self.ipcon)
self.al_v2.set_configuration(
AmbientLightV2.ILLUMINANCE_RANGE_64000LUX,
AmbientLightV2.INTEGRATION_TIME_200MS)
self.al_v2.set_illuminance_callback_period(1000)
self.al_v2.register_callback(
self.al_v2.CALLBACK_ILLUMINANCE,
self.cb_illuminance_v2)
except Error as e:
self.error_msg.showMessage(
'Ambient Light 2.0 init failed: ' + str(e.description))
self.al = None
elif device_identifier == Humidity.DEVICE_IDENTIFIER:
try:
self.hum = Humidity(uid, self.ipcon)
self.hum.set_humidity_callback_period(1000)
self.hum.register_callback(self.hum.CALLBACK_HUMIDITY,
self.cb_humidity)
except Error as e:
self.error_msg.showMessage('Humidity init failed: ' +
str(e.description))
self.hum = None
elif device_identifier == Barometer.DEVICE_IDENTIFIER:
try:
self.baro = Barometer(uid, self.ipcon)
self.baro.set_air_pressure_callback_period(1000)
self.baro.register_callback(
self.baro.CALLBACK_AIR_PRESSURE, self.cb_air_pressure)
except Error as e:
self.error_msg.showMessage('Barometer init failed: ' +
str(e.description))
self.baro = None
def cb_connected(self, connected_reason):
if connected_reason == IPConnection.CONNECT_REASON_AUTO_RECONNECT:
while True:
try:
self.ipcon.enumerate()
break
except Error as e:
self.error_msg.showMessage('Enumerate Error: ' +
str(e.description))
time.sleep(1)
class SilentStepper(PluginBase, Ui_SilentStepper):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
def __init__(self, *args):
PluginBase.__init__(self, BrickSilentStepper, *args)
self.setupUi(self)
self.silent_stepper = self.device
self.endis_all(False)
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(5, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.velocity_syncer = SliderSpinSyncer(self.velocity_slider,
self.velocity_spin,
self.velocity_changed)
self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider,
self.acceleration_spin,
self.acceleration_changed)
self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider,
self.deceleration_spin,
self.deceleration_changed)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.forward_button.clicked.connect(self.forward_clicked)
self.stop_button.clicked.connect(self.stop_clicked)
self.full_brake_button.clicked.connect(self.full_brake_clicked)
self.backward_button.clicked.connect(self.backward_clicked)
self.to_button.clicked.connect(self.to_button_clicked)
self.steps_button.clicked.connect(self.steps_button_clicked)
self.motor_current_button.clicked.connect(self.motor_current_button_clicked)
self.minimum_motor_voltage_button.clicked.connect(self.minimum_motor_voltage_button_clicked)
self.qtcb_position_reached.connect(self.cb_position_reached)
self.silent_stepper.register_callback(self.silent_stepper.CALLBACK_POSITION_REACHED,
self.qtcb_position_reached.emit)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.silent_stepper.register_callback(self.silent_stepper.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
# Step Configuration
self.step_resolution_dropbox.currentIndexChanged.connect(self.step_configuration_changed)
self.interpolate_checkbox.stateChanged.connect(self.step_configuration_changed)
# Basic Configuration
self.standstill_current_spin.valueChanged.connect(self.basic_configuration_changed)
self.motor_run_current_spin.valueChanged.connect(self.basic_configuration_changed)
self.standstill_delay_time_spin.valueChanged.connect(self.basic_configuration_changed)
self.power_down_time_spin.valueChanged.connect(self.basic_configuration_changed)
self.stealth_threshold_spin.valueChanged.connect(self.basic_configuration_changed)
self.coolstep_threashold_spin.valueChanged.connect(self.basic_configuration_changed)
self.classic_threshold_spin.valueChanged.connect(self.basic_configuration_changed)
self.high_velocity_chopper_mode_checkbox.stateChanged.connect(self.basic_configuration_changed)
# Spreadcycle Configuration
self.slow_decay_duration_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.enable_random_slow_decay_checkbox.stateChanged.connect(self.spreadcycle_configuration_changed)
self.fast_decay_duration_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.hysteresis_start_value_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.hysteresis_end_value_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.sinewave_offset_spin.valueChanged.connect(self.spreadcycle_configuration_changed)
self.chopper_mode_combo.currentIndexChanged.connect(self.spreadcycle_configuration_changed)
self.comperator_blank_time_combo.currentIndexChanged.connect(self.spreadcycle_configuration_changed)
self.fast_decay_without_comperator_checkbox.stateChanged.connect(self.spreadcycle_configuration_changed)
# Stealth Configuration
self.enable_stealth_checkbox.stateChanged.connect(self.stealth_configuration_changed)
self.amplitude_spin.valueChanged.connect(self.stealth_configuration_changed)
self.gradient_spin.valueChanged.connect(self.stealth_configuration_changed)
self.enable_autoscale_checkbox.stateChanged.connect(self.stealth_configuration_changed)
self.force_symmetric_checkbox.stateChanged.connect(self.stealth_configuration_changed)
self.freewheel_mode_combo.currentIndexChanged.connect(self.stealth_configuration_changed)
# Coolstep Configuration
self.minimum_stallguard_value_spin.valueChanged.connect(self.coolstep_configuration_changed)
self.maximum_stallguard_value_spin.valueChanged.connect(self.coolstep_configuration_changed)
self.current_up_step_width_combo.currentIndexChanged.connect(self.coolstep_configuration_changed)
self.current_down_step_width_combo.currentIndexChanged.connect(self.coolstep_configuration_changed)
self.minimum_current_combo.currentIndexChanged.connect(self.coolstep_configuration_changed)
self.stallguard_threshold_value_spin.valueChanged.connect(self.coolstep_configuration_changed)
self.stallguard_mode_combo.currentIndexChanged.connect(self.coolstep_configuration_changed)
# Misc Configuration
self.disable_short_to_ground_protection_checkbox.stateChanged.connect(self.misc_configuration_changed)
self.synchronize_phase_frequency_spin.valueChanged.connect(self.misc_configuration_changed)
self.ste = 0
self.pos = 0
self.current_velocity = 0
self.cur = 0
self.sv = 0
self.ev = 0
self.mv = 0
self.mod = 0
reset = QAction('Reset', self)
reset.triggered.connect(lambda: self.silent_stepper.reset())
self.set_actions(reset)
def start(self):
self.update_timer.start(100)
self.update_start()
def stop(self):
self.update_timer.stop()
def destroy(self):
pass
def get_url_part(self):
return 'silent_stepper'
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickSilentStepper.DEVICE_IDENTIFIER
def cb_position_reached(self, position):
self.position_update(position)
self.endis_all(True)
def disable_list(self, button_list):
for button in button_list:
button.setEnabled(False)
def endis_all(self, value):
self.forward_button.setEnabled(value)
self.stop_button.setEnabled(value)
self.backward_button.setEnabled(value)
self.to_button.setEnabled(value)
self.steps_button.setEnabled(value)
self.full_brake_button.setEnabled(value)
def step_configuration_changed(self, _):
step_resolution = self.step_resolution_dropbox.currentIndex()
interpolation = self.interpolate_checkbox.isChecked()
try:
self.silent_stepper.set_step_configuration(step_resolution, interpolation)
except ip_connection.Error:
return
def basic_configuration_changed(self, _):
standstill_current = self.standstill_current_spin.value()
motor_run_current = self.motor_run_current_spin.value()
standstill_delay_time = self.standstill_delay_time_spin.value()
power_down_time = self.power_down_time_spin.value()
stealth_threshold = self.stealth_threshold_spin.value()
coolstep_threshold = self.coolstep_threashold_spin.value()
classic_threshold = self.classic_threshold_spin.value()
high_velocity_chopper_mode = self.high_velocity_chopper_mode_checkbox.isChecked()
try:
self.silent_stepper.set_basic_configuration(standstill_current, motor_run_current, standstill_delay_time, power_down_time, stealth_threshold, coolstep_threshold, classic_threshold, high_velocity_chopper_mode)
except ip_connection.Error:
return
def spreadcycle_configuration_changed(self, _):
slow_decay_duration = self.slow_decay_duration_spin.value()
enable_random_slow_decay = self.enable_random_slow_decay_checkbox.isChecked()
fast_decay_duration = self.fast_decay_duration_spin.value()
hysteresis_start_value = self.hysteresis_start_value_spin.value()
hysteresis_end_value = self.hysteresis_end_value_spin.value()
sinewave_offset = self.sinewave_offset_spin.value()
chopper_mode = self.chopper_mode_combo.currentIndex()
comperator_blank_time = self.comperator_blank_time_combo.currentIndex()
fast_decay_without_comperator = self.fast_decay_without_comperator_checkbox.isChecked()
try:
self.silent_stepper.set_spreadcycle_configuration(slow_decay_duration, enable_random_slow_decay, fast_decay_duration, hysteresis_start_value, hysteresis_end_value, sinewave_offset, chopper_mode, comperator_blank_time, fast_decay_without_comperator)
except ip_connection.Error:
return
def stealth_configuration_changed(self, _):
enable_stealth = self.enable_stealth_checkbox.isChecked()
amplitude = self.amplitude_spin.value()
gradient = self.gradient_spin.value()
enable_autoscale = self.enable_autoscale_checkbox.isChecked()
force_symmetric = self.force_symmetric_checkbox.isChecked()
freewheel_mode = self.freewheel_mode_combo.currentIndex()
try:
self.silent_stepper.set_stealth_configuration(enable_stealth, amplitude, gradient, enable_autoscale, force_symmetric, freewheel_mode)
except ip_connection.Error:
return
def coolstep_configuration_changed(self, _):
minimum_stallguard_value = self.minimum_stallguard_value_spin.value()
maximum_stallguard_value = self.maximum_stallguard_value_spin.value()
current_up_step_width = self.current_up_step_width_combo.currentIndex()
current_down_step_width = self.current_down_step_width_combo.currentIndex()
minimum_current = self.minimum_current_combo.currentIndex()
stallguard_threshold_value = self.stallguard_threshold_value_spin.value()
stallguard_mode = self.stallguard_mode_combo.currentIndex()
try:
self.silent_stepper.set_coolstep_configuration(minimum_stallguard_value, maximum_stallguard_value, current_up_step_width, current_down_step_width, minimum_current, stallguard_threshold_value, stallguard_mode)
except ip_connection.Error:
return
def misc_configuration_changed(self, _):
disable_short_to_ground_protection = self.disable_short_to_ground_protection_checkbox.isChecked()
synchronize_phase_frequency = self.synchronize_phase_frequency_spin.value()
try:
self.silent_stepper.set_misc_configuration(disable_short_to_ground_protection, synchronize_phase_frequency)
except ip_connection.Error:
return
def forward_clicked(self):
try:
self.silent_stepper.drive_forward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def backward_clicked(self):
try:
self.silent_stepper.drive_backward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def stop_clicked(self):
try:
self.silent_stepper.stop()
except ip_connection.Error:
return
self.endis_all(True)
def full_brake_clicked(self):
try:
self.silent_stepper.full_brake()
except ip_connection.Error:
return
self.endis_all(True)
def to_button_clicked(self):
drive_to = self.to_spin.value()
try:
self.silent_stepper.set_target_position(drive_to)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def steps_button_clicked(self):
drive_steps = self.steps_spin.value()
try:
self.silent_stepper.set_steps(drive_steps)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def motor_current_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(2500)
qid.setIntStep(100)
async_call(self.silent_stepper.get_motor_current, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.motor_current_selected)
qid.setLabelText("Choose motor current in mA.")
qid.open()
def minimum_motor_voltage_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(40000)
qid.setIntStep(100)
async_call(self.silent_stepper.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.minimum_motor_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def motor_current_selected(self, value):
try:
self.silent_stepper.set_motor_current(value)
except ip_connection.Error:
return
def minimum_motor_voltage_selected(self, value):
try:
self.silent_stepper.set_minimum_voltage(value)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str,
"SilentStepper_UnderVoltage")
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.endis_all(True)
self.silent_stepper.enable()
elif state == Qt.Unchecked:
self.endis_all(False)
self.silent_stepper.disable()
except ip_connection.Error:
return
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def maximum_current_update(self, cur):
cur_str = "%gA" % round(cur/1000.0, 1)
self.maximum_current_label.setText(cur_str)
def position_update(self, pos):
pos_str = "%d" % pos
self.position_label.setText(pos_str)
def remaining_steps_update(self, ste):
ste_str = "%d" % ste
self.remaining_steps_label.setText(ste_str)
def driver_status_update(self, update):
if update.open_load == 0:
self.status_open_load.setText('No')
elif update.open_load == 1:
self.status_open_load.setText('Phase A')
elif update.open_load == 2:
self.status_open_load.setText('Phase B')
elif update.open_load == 3:
self.status_open_load.setText('Phase A and B')
else:
self.status_open_load.setText('Unkown')
if update.short_to_ground == 0:
self.status_short_to_ground.setText('No')
elif update.short_to_ground == 1:
self.status_short_to_ground.setText('Phase A')
elif update.short_to_ground == 2:
self.status_short_to_ground.setText('Phase B')
elif update.short_to_ground == 3:
self.status_short_to_ground.setText('Phase A and B')
else:
self.status_short_to_ground.setText('Unkown')
if update.over_temperature == 0:
self.status_over_temperature.setText('No')
elif update.over_temperature == 1:
self.status_over_temperature.setText('<font color=yellow>Warning</font>')
elif update.over_temperature == 2:
self.status_over_temperature.setText('<font color=red>Limit</font>')
if update.motor_stalled:
self.status_motor_stalled.setText('Yes')
else:
self.status_motor_stalled.setText('No')
self.status_actual_motor_current.setText(str(update.actual_motor_current))
if update.full_step_active:
self.status_full_step_active.setText('Yes')
else:
self.status_full_step_active.setText('No')
self.status_stallguard_result.setText(str(update.stallguard_result))
self.status_stealth_voltage_amplitude.setText(str(update.stealth_voltage_amplitude))
def get_max_velocity_async(self, velocity):
if not self.velocity_slider.isSliderDown():
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
def get_speed_ramping_async(self, ramp):
acc, dec = ramp
if not self.acceleration_slider.isSliderDown() and \
not self.deceleration_slider.isSliderDown():
if acc != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acc)
self.acceleration_spin.setValue(acc)
if dec != self.deceleration_slider.sliderPosition():
self.deceleration_slider.setSliderPosition(dec)
self.deceleration_spin.setValue(dec)
def is_enabled_async(self, enabled):
if enabled:
if not self.enable_checkbox.isChecked():
self.endis_all(True)
self.enable_checkbox.blockSignals(True)
self.enable_checkbox.setChecked(True)
self.enable_checkbox.blockSignals(False)
else:
if self.enable_checkbox.isChecked():
self.endis_all(False)
self.enable_checkbox.blockSignals(True)
self.enable_checkbox.setChecked(False)
self.enable_checkbox.blockSignals(False)
def get_step_configuration_async(self, conf):
self.step_resolution_dropbox.blockSignals(True)
self.step_resolution_dropbox.setCurrentIndex(conf.step_resolution)
self.step_resolution_dropbox.blockSignals(False)
self.interpolate_checkbox.blockSignals(True)
self.interpolate_checkbox.setChecked(conf.interpolation)
self.interpolate_checkbox.blockSignals(False)
def get_basic_configuration_async(self, conf):
self.standstill_current_spin.blockSignals(True)
self.standstill_current_spin.setValue(conf.standstill_current)
self.standstill_current_spin.blockSignals(False)
self.motor_run_current_spin.blockSignals(True)
self.motor_run_current_spin.setValue(conf.motor_run_current)
self.motor_run_current_spin.blockSignals(False)
self.standstill_delay_time_spin.blockSignals(True)
self.standstill_delay_time_spin.setValue(conf.standstill_delay_time)
self.standstill_delay_time_spin.blockSignals(False)
self.power_down_time_spin.blockSignals(True)
self.power_down_time_spin.setValue(conf.power_down_time)
self.power_down_time_spin.blockSignals(False)
self.stealth_threshold_spin.blockSignals(True)
self.stealth_threshold_spin.setValue(conf.stealth_threshold)
self.stealth_threshold_spin.blockSignals(False)
self.coolstep_threashold_spin.blockSignals(True)
self.coolstep_threashold_spin.setValue(conf.coolstep_threshold)
self.coolstep_threashold_spin.blockSignals(False)
self.classic_threshold_spin.blockSignals(True)
self.classic_threshold_spin.setValue(conf.classic_threshold)
self.classic_threshold_spin.blockSignals(False)
self.high_velocity_chopper_mode_checkbox.blockSignals(True)
self.high_velocity_chopper_mode_checkbox.setChecked(conf.high_velocity_chopper_mode)
self.high_velocity_chopper_mode_checkbox.blockSignals(False)
def get_spreadcycle_configuration_async(self, conf):
self.slow_decay_duration_spin.blockSignals(True)
self.slow_decay_duration_spin.setValue(conf.slow_decay_duration)
self.slow_decay_duration_spin.blockSignals(False)
self.enable_random_slow_decay_checkbox.blockSignals(True)
self.enable_random_slow_decay_checkbox.setChecked(conf.enable_random_slow_decay)
self.enable_random_slow_decay_checkbox.blockSignals(False)
self.fast_decay_duration_spin.blockSignals(True)
self.fast_decay_duration_spin.setValue(conf.fast_decay_duration)
self.fast_decay_duration_spin.blockSignals(False)
self.hysteresis_start_value_spin.blockSignals(True)
self.hysteresis_start_value_spin.setValue(conf.hysteresis_start_value)
self.hysteresis_start_value_spin.blockSignals(False)
self.hysteresis_end_value_spin.blockSignals(True)
self.hysteresis_end_value_spin.setValue(conf.hysteresis_end_value)
self.hysteresis_end_value_spin.blockSignals(False)
self.sinewave_offset_spin.blockSignals(True)
self.sinewave_offset_spin.setValue(conf.sinewave_offset)
self.sinewave_offset_spin.blockSignals(False)
self.chopper_mode_combo.blockSignals(True)
self.chopper_mode_combo.setCurrentIndex(conf.chopper_mode)
self.chopper_mode_combo.blockSignals(False)
self.standstill_current_spin.blockSignals(True)
self.comperator_blank_time_combo.setCurrentIndex(conf.comperator_blank_time)
self.standstill_current_spin.blockSignals(False)
self.fast_decay_without_comperator_checkbox.blockSignals(True)
self.fast_decay_without_comperator_checkbox.setChecked(conf.fast_decay_without_comperator)
self.fast_decay_without_comperator_checkbox.blockSignals(False)
def get_stealth_configuration_async(self, conf):
self.enable_stealth_checkbox.blockSignals(True)
self.enable_stealth_checkbox.setChecked(conf.enable_stealth)
self.enable_stealth_checkbox.blockSignals(False)
self.amplitude_spin.blockSignals(True)
self.amplitude_spin.setValue(conf.amplitude)
self.amplitude_spin.blockSignals(False)
self.gradient_spin.blockSignals(True)
self.gradient_spin.setValue(conf.gradient)
self.gradient_spin.blockSignals(False)
self.enable_autoscale_checkbox.blockSignals(True)
self.enable_autoscale_checkbox.setChecked(conf.enable_autoscale)
self.enable_autoscale_checkbox.blockSignals(False)
self.force_symmetric_checkbox.blockSignals(True)
self.force_symmetric_checkbox.setChecked(conf.force_symmetric)
self.force_symmetric_checkbox.blockSignals(False)
self.freewheel_mode_combo.blockSignals(True)
self.freewheel_mode_combo.setCurrentIndex(conf.freewheel_mode)
self.freewheel_mode_combo.blockSignals(False)
def get_coolstep_configuration_async(self, conf):
self.minimum_stallguard_value_spin.blockSignals(True)
self.minimum_stallguard_value_spin.setValue(conf.minimum_stallguard_value)
self.minimum_stallguard_value_spin.blockSignals(False)
self.maximum_stallguard_value_spin.blockSignals(True)
self.maximum_stallguard_value_spin.setValue(conf.maximum_stallguard_value)
self.maximum_stallguard_value_spin.blockSignals(False)
self.current_up_step_width_combo.blockSignals(True)
self.current_up_step_width_combo.setCurrentIndex(conf.current_up_step_width)
self.current_up_step_width_combo.blockSignals(False)
self.current_down_step_width_combo.blockSignals(True)
self.current_down_step_width_combo.setCurrentIndex(conf.current_down_step_width)
self.current_down_step_width_combo.blockSignals(False)
self.minimum_current_combo.blockSignals(True)
self.minimum_current_combo.setCurrentIndex(conf.minimum_current)
self.minimum_current_combo.blockSignals(False)
self.stallguard_threshold_value_spin.blockSignals(True)
self.stallguard_threshold_value_spin.setValue(conf.stallguard_threshold_value)
self.stallguard_threshold_value_spin.blockSignals(False)
self.stallguard_mode_combo.blockSignals(True)
self.stallguard_mode_combo.setCurrentIndex(conf.stallguard_mode)
self.stallguard_mode_combo.blockSignals(False)
def get_misc_configuration_async(self, conf):
self.disable_short_to_ground_protection_checkbox.blockSignals(True)
self.disable_short_to_ground_protection_checkbox.setChecked(conf.disable_short_to_ground_protection)
self.disable_short_to_ground_protection_checkbox.blockSignals(False)
self.synchronize_phase_frequency_spin.blockSignals(True)
self.synchronize_phase_frequency_spin.setValue(conf.synchronize_phase_frequency)
self.synchronize_phase_frequency_spin.blockSignals(False)
def update_start(self):
async_call(self.silent_stepper.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count)
async_call(self.silent_stepper.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count)
async_call(self.silent_stepper.is_enabled, None, self.is_enabled_async, self.increase_error_count)
async_call(self.silent_stepper.get_step_configuration, None, self.get_step_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_basic_configuration, None, self.get_basic_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_spreadcycle_configuration, None, self.get_spreadcycle_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_stealth_configuration, None, self.get_stealth_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_coolstep_configuration, None, self.get_coolstep_configuration_async, self.increase_error_count)
async_call(self.silent_stepper.get_misc_configuration, None, self.get_misc_configuration_async, self.increase_error_count)
def update_data(self):
async_call(self.silent_stepper.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count)
async_call(self.silent_stepper.get_current_position, None, self.position_update, self.increase_error_count)
async_call(self.silent_stepper.get_current_velocity, None, self.speedometer.set_velocity, self.increase_error_count)
self.update_counter += 1
if self.update_counter % 10 == 0:
async_call(self.silent_stepper.get_motor_current, None, self.maximum_current_update, self.increase_error_count)
async_call(self.silent_stepper.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count)
async_call(self.silent_stepper.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count)
async_call(self.silent_stepper.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count)
async_call(self.silent_stepper.get_driver_status, None, self.driver_status_update, self.increase_error_count)
def velocity_changed(self, value):
try:
self.silent_stepper.set_max_velocity(value)
except ip_connection.Error:
return
def acceleration_changed(self, value):
dec = self.deceleration_spin.value()
try:
self.silent_stepper.set_speed_ramping(value, dec)
except ip_connection.Error:
return
def deceleration_changed(self, value):
acc = self.acceleration_slider.value()
try:
self.silent_stepper.set_speed_ramping(acc, value)
except ip_connection.Error:
return
class Stepper(PluginBase, Ui_Stepper):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
def __init__(self, *args):
PluginBase.__init__(self, BrickStepper, *args)
self.setupUi(self)
self.stepper = self.device
self.endis_all(False)
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.decay_widget.hide()
self.setting_sync_rect_checkbox = False
self.velocity_syncer = SliderSpinSyncer(self.velocity_slider,
self.velocity_spin,
self.velocity_changed)
self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider,
self.acceleration_spin,
self.acceleration_changed)
self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider,
self.deceleration_spin,
self.deceleration_changed)
self.decay_syncer = SliderSpinSyncer(self.decay_slider,
self.decay_spin,
self.decay_changed)
self.enable_checkbox.toggled.connect(self.enable_toggled)
self.forward_button.clicked.connect(self.forward_clicked)
self.stop_button.clicked.connect(self.stop_clicked)
self.full_brake_button.clicked.connect(self.full_brake_clicked)
self.backward_button.clicked.connect(self.backward_clicked)
self.to_button.clicked.connect(self.to_button_clicked)
self.steps_button.clicked.connect(self.steps_button_clicked)
self.motor_current_button.clicked.connect(
self.motor_current_button_clicked)
self.minimum_motor_voltage_button.clicked.connect(
self.minimum_motor_voltage_button_clicked)
self.sync_rect_checkbox.toggled.connect(self.sync_rect_toggled)
self.mode_dropbox.currentIndexChanged.connect(self.mode_changed)
self.qtcb_position_reached.connect(self.cb_position_reached)
self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED,
self.qtcb_position_reached.emit)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.ste = 0
self.pos = 0
self.current_velocity = 0
self.cur = 0
self.sv = 0
self.ev = 0
self.mv = 0
self.mod = 0
if self.firmware_version >= (2, 3, 1):
self.status_led_action = QAction('Status LED', self)
self.status_led_action.setCheckable(True)
self.status_led_action.toggled.connect(
lambda checked: self.stepper.enable_status_led()
if checked else self.stepper.disable_status_led())
self.set_configs([(0, None, [self.status_led_action])])
else:
self.status_led_action = None
if self.firmware_version >= (1, 1, 4):
reset = QAction('Reset', self)
reset.triggered.connect(lambda: self.stepper.reset())
self.set_actions([(0, None, [reset])])
def start(self):
if self.firmware_version >= (2, 3, 1):
async_call(self.stepper.is_status_led_enabled, None,
self.status_led_action.setChecked,
self.increase_error_count)
self.update_timer.start(100)
self.update_start()
def stop(self):
self.update_timer.stop()
def destroy(self):
pass
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickStepper.DEVICE_IDENTIFIER
def cb_position_reached(self, position):
self.position_update(position)
self.endis_all(True)
def disable_list(self, button_list):
for button in button_list:
button.setEnabled(False)
def endis_all(self, value):
self.forward_button.setEnabled(value)
self.stop_button.setEnabled(value)
self.backward_button.setEnabled(value)
self.to_button.setEnabled(value)
self.steps_button.setEnabled(value)
self.full_brake_button.setEnabled(value)
def mode_changed(self, index):
try:
self.stepper.set_step_mode(1 << index)
self.mod = 1 << index
except ip_connection.Error:
return
def forward_clicked(self):
try:
self.stepper.drive_forward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def backward_clicked(self):
try:
self.stepper.drive_backward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def stop_clicked(self):
try:
self.stepper.stop()
except ip_connection.Error:
return
self.endis_all(True)
def full_brake_clicked(self):
try:
self.stepper.full_brake()
except ip_connection.Error:
return
self.endis_all(True)
def to_button_clicked(self):
drive_to = self.to_spin.value()
try:
self.stepper.set_target_position(drive_to)
except ip_connection.Error:
return
self.disable_list([
self.to_button, self.steps_button, self.forward_button,
self.backward_button
])
def steps_button_clicked(self):
drive_steps = self.steps_spin.value()
try:
self.stepper.set_steps(drive_steps)
except ip_connection.Error:
return
self.disable_list([
self.to_button, self.steps_button, self.forward_button,
self.backward_button
])
def motor_current_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(2500)
qid.setIntStep(100)
async_call(self.stepper.get_motor_current, None, qid.setIntValue,
self.increase_error_count)
qid.intValueSelected.connect(self.motor_current_selected)
qid.setLabelText("Choose motor current in mA.")
# "<font color=red>Setting this too high can destroy your Motor.</font>")
qid.open()
def minimum_motor_voltage_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(40000)
qid.setIntStep(100)
async_call(self.stepper.get_minimum_voltage, None, qid.setIntValue,
self.increase_error_count)
qid.intValueSelected.connect(self.minimum_motor_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def motor_current_selected(self, value):
try:
self.stepper.set_motor_current(value)
except ip_connection.Error:
return
def minimum_motor_voltage_selected(self, value):
try:
self.stepper.set_minimum_voltage(value)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov / 1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage(
"Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str,
"Stepper_UnderVoltage")
def enable_toggled(self, checked):
try:
if checked:
if not self.stepper.is_enabled():
self.endis_all(True)
self.stepper.enable()
else:
if self.stepper.is_enabled():
self.endis_all(False)
self.stepper.disable()
except ip_connection.Error:
return
def sync_rect_toggled(self, checked):
if not self.setting_sync_rect_checkbox and checked:
rc = QMessageBox.warning(
get_main_window(), 'Synchronous Rectification',
'If you want to use high speeds (> 10000 steps/s) for a large stepper motor with a '
+
'large inductivity we strongly suggest that you do not enable synchronous rectification. '
+
'Otherwise the Brick may not be able to cope with the load and overheat.',
QMessageBox.Ok | QMessageBox.Cancel)
if rc != QMessageBox.Ok:
self.sync_rect_checkbox.setChecked(False)
return
try:
self.stepper.set_sync_rect(checked)
except ip_connection.Error:
return
self.decay_widget.setVisible(checked)
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv / 1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev / 1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv / 1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def maximum_current_update(self, cur):
cur_str = "%gA" % round(cur / 1000.0, 1)
self.maximum_current_label.setText(cur_str)
def position_update(self, pos):
pos_str = "%d" % pos
self.position_label.setText(pos_str)
def remaining_steps_update(self, ste):
ste_str = "%d" % ste
self.remaining_steps_label.setText(ste_str)
def current_velocity_update(self, velocity):
velocity_str = "%d" % velocity
self.current_velocity_label.setText(velocity_str)
self.speedometer.set_velocity(velocity)
def mode_update(self, mod):
if mod == 8:
index = 3
elif mod == 4:
index = 2
elif mod == 2:
index = 1
else:
index = 0
self.mode_dropbox.setCurrentIndex(index)
def get_max_velocity_async(self, velocity):
if not self.velocity_slider.isSliderDown():
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
def get_speed_ramping_async(self, ramp):
acc, dec = ramp
if not self.acceleration_slider.isSliderDown() and \
not self.deceleration_slider.isSliderDown():
if acc != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acc)
self.acceleration_spin.setValue(acc)
if dec != self.deceleration_slider.sliderPosition():
self.deceleration_slider.setSliderPosition(dec)
self.deceleration_spin.setValue(dec)
def get_decay_async(self, decay):
if not self.decay_slider.isSliderDown():
if decay != self.decay_slider.sliderPosition():
self.decay_slider.setSliderPosition(decay)
self.decay_spin.setValue(decay)
def is_enabled_async(self, enabled):
if enabled:
if not self.enable_checkbox.isChecked():
self.endis_all(True)
self.enable_checkbox.setChecked(True)
else:
if self.enable_checkbox.isChecked():
self.endis_all(False)
self.enable_checkbox.setChecked(False)
def is_sync_rect_async(self, sync_rect):
self.setting_sync_rect_checkbox = True
self.sync_rect_checkbox.setChecked(sync_rect)
self.setting_sync_rect_checkbox = False
def update_start(self):
async_call(self.stepper.get_max_velocity, None,
self.get_max_velocity_async, self.increase_error_count)
async_call(self.stepper.get_speed_ramping, None,
self.get_speed_ramping_async, self.increase_error_count)
async_call(self.stepper.get_decay, None, self.get_decay_async,
self.increase_error_count)
async_call(self.stepper.is_enabled, None, self.is_enabled_async,
self.increase_error_count)
async_call(self.stepper.is_sync_rect, None, self.is_sync_rect_async,
self.increase_error_count)
def update_data(self):
async_call(self.stepper.get_remaining_steps, None,
self.remaining_steps_update, self.increase_error_count)
async_call(self.stepper.get_current_position, None,
self.position_update, self.increase_error_count)
async_call(self.stepper.get_current_velocity, None,
self.current_velocity_update, self.increase_error_count)
self.update_counter += 1
if self.update_counter % 10 == 0:
async_call(self.stepper.get_motor_current, None,
self.maximum_current_update, self.increase_error_count)
async_call(self.stepper.get_stack_input_voltage, None,
self.stack_input_voltage_update,
self.increase_error_count)
async_call(self.stepper.get_external_input_voltage, None,
self.external_input_voltage_update,
self.increase_error_count)
async_call(self.stepper.get_minimum_voltage, None,
self.minimum_voltage_update, self.increase_error_count)
async_call(self.stepper.get_step_mode, None, self.mode_update,
self.increase_error_count)
def velocity_changed(self, value):
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def acceleration_changed(self, value):
dec = self.deceleration_spin.value()
try:
self.stepper.set_speed_ramping(value, dec)
except ip_connection.Error:
return
def deceleration_changed(self, value):
acc = self.acceleration_slider.value()
try:
self.stepper.set_speed_ramping(acc, value)
except ip_connection.Error:
return
def decay_changed(self, value):
try:
self.stepper.set_decay(value)
except ip_connection.Error:
return
listener = create_listener()
except socket.error: # Good si is correct (on UNIX)
otherinstance = True
else:
# On windows only singleinstance can be trusted
otherinstance = True if iswindows else False
if not otherinstance and not opts.shutdown_running_calibre:
return run_gui(opts, args, listener, app, gui_debug=gui_debug)
communicate(opts, args)
return 0
if __name__ == '__main__':
try:
sys.exit(main())
except Exception as err:
if not iswindows:
raise
tb = traceback.format_exc()
from PyQt4.QtGui import QErrorMessage
logfile = os.path.join(os.path.expanduser('~'), 'calibre.log')
if os.path.exists(logfile):
log = open(logfile).read().decode('utf-8', 'ignore')
d = QErrorMessage()
d.showMessage(
('<b>Error:</b>%s<br><b>Traceback:</b><br>'
'%s<b>Log:</b><br>%s') % (unicode(err), unicode(tb).replace(
'\n', '<br>'), log.replace('\n', '<br>')))
class MainWindow(QMainWindow, Ui_MainWindow):
"""The Main window of Luma.
"""
logger = logging.getLogger(__name__)
languages = {}
translator = None
languageHandler = None
currentLanguage = ''
def __init__(self, parent=None):
"""The constructor sets up the MainWindow widget, and connects
all necessary signals and slots
"""
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# We store the window size to make sure the previous window size
# is restored when leaving fullscreen mode. This varible is used
# in the toggleFullscreen slot.
self.__tmpWinSize = self.size()
self.eventFilter = LumaEventFilter(self)
self.mainTabs.installEventFilter(self.eventFilter)
self.translator = QTranslator()
self.languageHandler = LanguageHandler()
self.languages = self.languageHandler.availableLanguages
#self.__createPluginToolBar()
self.__createLoggerWidget()
self.__loadSettings()
self.__createLanguageOptions()
self.setStatusBar(self.statusBar)
self.mainTabs.setTabsClosable(True)
self.mainTabs.setContextMenuPolicy(Qt.CustomContextMenu)
self.mainTabs.customContextMenuRequested.connect(
self.__mainTabsContextMenu)
self.defaultTabStyle = ''
self.lumaHeadStyle = 'background: url(:/icons/luma-gray);\n' + \
'background-position: bottom right;\n' + \
'background-attachment: fixed;\n' + \
'background-repeat: no-repeat;'
#Sets up pluginWidget
#self in parameter is used to call pluginSelected here...
self.pluginWidget = PluginListWidget(self)
self.showPlugins()
self.welcomeTab = WelcomeTab()
self.welcomeTab.textBrowser.setStyleSheet(self.lumaHeadStyle)
#This value comes from __loadSettings()
#Its a checkbox set in WelcomeTab
if self.showWelcomeSettings == 2:
self.showWelcome()
else:
# Let's do some styling of the tab widget when no tabs are opened
if self.mainTabs.currentIndex() == -1:
self.__setTabWidgetStyle(self.lumaHeadStyle)
self.actionShowWelcomeTab.setEnabled(True)
self.serversChangedMessage = QErrorMessage(self)
def __mainTabsContextMenu(self, pos):
menu = QMenu()
if self.mainTabs.count() > 0:
return
# The menu is displayed even when the rightclick is not
# done over the actual tabs so to avoid confusion the
# function is disabled entirey
#menu.addAction(QApplication.translate(
# "MainWindow", "Close all plugin-tabs"), self.tabCloseAll)
else:
# If there's no tabs, offer to display the pluginlist
menu.addAction(self.actionShowPluginList)
menu.exec_(self.mainTabs.mapToGlobal(pos))
def __createPluginToolBar(self):
"""Creates the pluign toolbar.
"""
self.pluginToolBar = PluginToolBar(self)
self.pluginToolBar.setWindowTitle(
QApplication.translate('MainWindow', 'Plugintoolbar', None,
QApplication.UnicodeUTF8))
self.pluginToolBar.setObjectName('pluginToolBar')
self.addToolBar(self.pluginToolBar)
self.pluginToolBar.hide()
def __createLoggerWidget(self):
"""Creates the logger widget.
"""
self.loggerDockWindow = QDockWidget(self)
self.loggerDockWindow.setObjectName('loggerDockWindow')
self.loggerDockWindow.visibilityChanged[bool].connect(
self.actionShowLogger.setChecked)
self.loggerDockWindow.setWindowTitle(
QApplication.translate('MainWindow', 'Logger', None,
QApplication.UnicodeUTF8))
self.loggerWidget = LoggerWidget(self.loggerDockWindow)
self.loggerDockWindow.setWidget(self.loggerWidget)
self.addDockWidget(Qt.BottomDockWidgetArea, self.loggerDockWindow)
self.loggerDockWindow.hide()
def __createLanguageOptions(self):
"""Creates the language selection in the menubar.
"""
self.langGroup = QActionGroup(self)
self.langGroup.setExclusive(True)
self.langGroup.triggered['QAction*'].connect(self.languageChanged)
for key, name in self.languages.iteritems():
action = QAction(self)
action.setCheckable(True)
action.setData(key)
action.setText(name[0])
action.setStatusTip(name[1])
action.setActionGroup(self.langGroup)
self.menuLanguage.addAction(action)
if key == self.currentLanguage:
action.setChecked(True)
def __loadSettings(self, mainWin=True):
"""Loads settings from file.
:param mainWin: If set to ``False``, neither the values for the
window size or the window position will be loaded. This is
i.e done when the settings dialog returns 1.
:type mainWin: bool
"""
settings = Settings()
# We might want to use these methods to restore the
# application state and geometry.
if mainWin:
self.restoreGeometry(settings.geometry)
#self.restoreState(settings.state)
# If the geometry saved inticates fullscreen mode,
# we need to explicitly set the fullscreen menuaction checkbox
if self.isFullScreen():
self.actionFullscreen.setChecked(True)
# Logger
# Logger
# The `allwaysShowLoggerOnStart` a precedence on the
# `showLogger` value.
if settings.showLoggerOnStart:
self.actionShowLogger.setChecked(True)
else:
self.actionShowLogger.setChecked(settings.showLogger)
self.loggerWidget.errorBox.setChecked(settings.showErrors)
self.loggerWidget.debugBox.setChecked(settings.showDebug)
self.loggerWidget.infoBox.setChecked(settings.showInfo)
self.toggleLoggerWindow(self.actionShowLogger.isChecked())
# Language
self.loadLanguage(settings.language)
#Tabs
self.showWelcomeSettings = settings.value("showWelcome", 2).toInt()[0]
def __writeSettings(self):
"""Save settings to file.
"""
settings = Settings()
# We might want to use these methods to restore the
# application state and geometry.
settings.geometry = self.saveGeometry()
#settings.state = self.saveState()
# Mainwin
#max = self.isMaximized()
#settings.maximize = max
#if not max:
# settings.size = self.size()
# settings.position = self.pos()
# The global logger settings is managed from the settings dialog.
# Logger
settings.showLogger = self.actionShowLogger.isChecked()
settings.showErrors = self.loggerWidget.errorBox.isChecked()
settings.showDebug = self.loggerWidget.debugBox.isChecked()
settings.showInfo = self.loggerWidget.infoBox.isChecked()
# Language
settings.language = self.currentLanguage
def __switchTranslator(self, translator, qmFile):
"""Called when a new language is loaded.
:param translator: The translator object to install.
:type translator: QTranslator
:qmFile: The translation file for the loaded language.
:type qmFile: string
"""
qApp.removeTranslator(translator)
if translator.load(qmFile):
qApp.installTranslator(translator)
def __setTabWidgetStyle(self, stylesheet):
self.mainTabs.setStyleSheet(stylesheet)
@pyqtSlot('QAction*')
@pyqtSlot(int)
def languageChanged(self, value):
"""This slot is called by actions and signals related to
application translations. The slot contains validation for
those parameters defined by the pyqtSlot meta info in the
method header.
:param value: Can be either a ``QAction`` or an integer value.
I.e. menu actions provide ``QActions`` but a ``QCombobox``
might send it's index.
:type value: QAction/int
"""
locale = None
if isinstance(value, int):
locale = self.languageSelector.itemData(value).toString()
elif isinstance(value, QAction):
locale = value.data().toString()
#else:
# locale = value
if locale:
self.loadLanguage(locale)
def loadLanguage(self, locale):
"""Loads a language by the given language iso code.
:param locale: A twoletter lowercase ISO 639 language code and
possibly a twoletter uppercase ISO 3166 country code separeted
by a underscore.
:type locale: string
"""
if self.currentLanguage != locale:
self.currentLanguage = locale
qmFile = self.languageHandler.getQmFile(locale)
self.__switchTranslator(self.translator, qmFile)
def changeEvent(self, event):
"""This event is called when a new translator is loaded or the
system language (locale) is changed.
:param event: The event that generated the `changeEvent`.
:type event: QEvent
"""
if None != event:
type = event.type()
if QEvent.LanguageChange == type or QEvent.LocaleChange == type:
self.retranslateUi(self)
self.loggerWidget.retranslateUi(self.loggerWidget)
def showAboutLuma(self):
"""Slot for displaying the about dialog.
"""
AboutDialog().exec_()
@pyqtSlot(bool)
def toggleLoggerWindow(self, show):
"""Slot for toggling the logger window.
:param show: a boolean value indicating whether the logger window
should be shown or not.
:type show: bool
"""
if show:
self.loggerDockWindow.show()
else:
self.loggerDockWindow.hide()
@pyqtSlot(bool)
def toggleStatusbar(self, show):
"""Slot for toggling the logger window.
:param show: a boolean value indicating whether the statusbar
should be shown or not.
:type show: bool
"""
if show:
self.statusBar.show()
else:
self.statusBar.hide()
@pyqtSlot(bool)
def toggleFullscreen(self, fullscreen):
"""Slot for toggling the logger window.
:param fullscreen: a boolean value indicating whether to enter
fullscreenmode or not.
:type fullcreen: bool
"""
if fullscreen:
self.__tmpWinSize = self.size()
self.showFullScreen()
else:
self.showNormal()
self.resize(self.__tmpWinSize)
def showServerEditor(self):
"""Slot to display the server editor dialog.
"""
serverEditor = ServerDialog()
r = serverEditor.exec_()
if r:
#TODO -- only display if plugins open:
self.serversChangedMessage.showMessage(
QApplication.translate(
"MainWindow",
"You may need to restart plugins for changes to take effect."
))
def showTempPasswordDialog(self):
""" Sets overridePassword for a server.
Using this one doesn't actually have to enter the password
in the ServerDialog (and by extension save to disk).
"""
serverList = ServerList()
# Create a stringlist to be used by the qinputdialog
stringList = []
for server in serverList.getTable():
stringList.append(server.name)
# Display list of servers
(serverString, ok) = QInputDialog.getItem(
self,
QApplication.translate("MainWindow", "Select server"),
QApplication.translate("MainWindow", "Server:"),
stringList,
editable=False)
if ok:
server = serverList.getServerObjectByName(serverString)
if server != None:
# Ask for password
(value, ok) = QInputDialog.getText(
self,
QApplication.translate("MainWindow", "Temporary password"),
QApplication.translate("MainWindow", "Enter password:"******"""Slot to display the settings dialog. If the settings dialog
returns 1, i.e. the user has clicked the ok button, the
loadSettings method is called with mainWin=False, to load the
(assumed) newly changed settings.
:param tab: The index of the tab to display in the settings
dialog.
:type tab: int
"""
#settingsDialog = SettingsDialog(self.currentLanguage, self.languages)
settingsDialog = SettingsDialog()
if tab < 0:
tab = 0
settingsDialog.tabWidget.setCurrentIndex(tab)
if settingsDialog.exec_():
self.reloadPlugins()
# # We assume that some settings is changed
# # if the user clicked the ok button, and
# # reloads the application settings
# self.__loadSettings(mainWin=False)
# # A Hack but it'll do for now
# for a in self.langGroup.actions():
# if a.data().toString() == self.currentLanguage:
# a.setChecked(True)
def configurePlugins(self):
"""Slot to display the plugins configuration. This currently
calls `showSettingsDialog` with tab index set to 2.
"""
self.showSettingsDialog(1)
def reloadPlugins(self):
"""Slot to reload plugins.
"""
self.pluginWidget.updatePlugins()
def pluginSelected(self, item):
"""This method will be called from the `PluginListWidget`.
"""
# Clear the stylesheet when a tab is opened
self.__setTabWidgetStyle(self.defaultTabStyle)
widget = item.plugin.getPluginWidget(None, self)
if platform.system() == "Windows":
scroll = QScrollArea()
scroll.setWidget(widget)
scroll.setWidgetResizable(True)
index = self.mainTabs.addTab(scroll, item.icon(),
item.plugin.pluginUserString)
else:
index = self.mainTabs.addTab(widget, item.icon(),
item.plugin.pluginUserString)
self.mainTabs.setCurrentIndex(index)
def tabClose(self, index):
"""Slot for the signal `tabCloseRequest(int)` for the tabMains.
"""
widget = self.mainTabs.widget(index)
# If the tab closed is one of these, enable the toggle-action
if widget == self.pluginWidget:
self.actionShowPluginList.setEnabled(True)
if widget == self.welcomeTab:
self.actionShowWelcomeTab.setEnabled(True)
self.mainTabs.removeTab(index)
# Unparent the widget since it was reparented by the QTabWidget
# so it's garbage collected
widget.setParent(None)
# In case the widget contained circular references
# -- force GC to take care of the objects since there can be
# quite many if it was BrowserWidget that was closed.
# Can't call it directly since that'll be too soon
QTimer.singleShot(1000, self.gc)
# Let's do some styling of the tab widget when no tabs are opened
if self.mainTabs.currentIndex() == -1:
self.__setTabWidgetStyle(self.lumaHeadStyle)
def gc(self):
"""Runs Python's garbage-collection manually.
Used to make sure circular references are taken care of *now*.
"""
gc.collect()
def showWelcome(self):
"""Shows the Welcome-tab
"""
self.__setTabWidgetStyle(self.defaultTabStyle)
index = self.mainTabs.addTab(
self.welcomeTab, QApplication.translate("MainWindow", "Welcome"))
self.mainTabs.setCurrentIndex(index)
self.actionShowWelcomeTab.setEnabled(False)
def showPlugins(self):
"""Will show the pluginlistwidget-tab
"""
self.__setTabWidgetStyle(self.defaultTabStyle)
if self.mainTabs.indexOf(self.pluginWidget) == -1:
index = self.mainTabs.addTab(
self.pluginWidget,
QApplication.translate("MainWindow", "Plugins"))
self.mainTabs.setCurrentIndex(index)
self.actionShowPluginList.setEnabled(False)
def closeEvent(self, e):
"""Overrides the ``QMainWindow.closeEvent`` slot to save
settings before we tear down the application.
"""
self.__writeSettings()
QMainWindow.closeEvent(self, e)
class ProjectXively(QWidget):
qtcb_update_illuminance = pyqtSignal(float)
qtcb_update_air_pressure = pyqtSignal(float)
qtcb_update_temperature = pyqtSignal(float)
qtcb_update_humidity = pyqtSignal(float)
qtcb_button_pressed = pyqtSignal(int)
lcdwidget = None
xively_host = "api.xively.com"
xively_agent = "Tinkerforge Starter Kit Weather Station Demo"
xively_channel = "Enter Feed ID here"
xively_api_key = "Enter API Key here"
xively_items = {}
xively_headers = None
xively_params = ""
xively_update_rate = 5 # in minutes
text_agent = None
text_channel = None
text_api_key = None
number_update_rate = None
save_button = None
xively_timer = None
error_message = None
label_upload_active = None
last_upload = None
def __init__(self, parent, app):
super(QWidget, self).__init__()
self.lcdwidget = LCDWidget(self, app)
self.lcdwidget.hide()
self.text_agent = QLineEdit(self)
self.text_agent.setText(self.xively_agent)
self.text_channel = QLineEdit(self)
self.text_channel.setText(self.xively_channel)
self.text_api_key = QLineEdit(self)
self.text_api_key.setText(self.xively_api_key)
self.number_update_rate = QSpinBox(self)
self.number_update_rate.setRange(1, 1440)
self.number_update_rate.setSuffix(' min')
self.number_update_rate.setValue(self.xively_update_rate)
layout1 = QHBoxLayout()
layout2 = QVBoxLayout()
layout1.addStretch()
layout1.addLayout(layout2)
layout1.addStretch()
layout2.addSpacerItem(QSpacerItem(LCDWidget.FIXED_WIDGTH, 0))
label = QLabel(self)
label.setText(
"Project: <b>Connect to Xively</b>. This project uploads the measured values to Xively. Please find documentation how to configure it and program sources in Python <a href=\"http://www.tinkerforge.com/en/doc/Kits/WeatherStation/WeatherStation.html#connect-to-xively\">here</a>.<br>"
)
label.setTextFormat(Qt.RichText)
label.setTextInteractionFlags(Qt.TextBrowserInteraction)
label.setOpenExternalLinks(True)
label.setWordWrap(True)
label.setAlignment(Qt.AlignJustify)
layout2.addSpacing(10)
layout2.addWidget(label)
layout2.addSpacing(10)
layout3a = QHBoxLayout()
label = QLabel("Agent Description:")
label.setMinimumWidth(150)
layout3a.addWidget(label)
layout3a.addWidget(self.text_agent, 1)
layout2.addLayout(layout3a)
layout2.addSpacing(10)
layout3b = QHBoxLayout()
label = QLabel("Feed:")
label.setMinimumWidth(150)
layout3b.addWidget(label)
layout3b.addWidget(self.text_channel, 1)
layout2.addLayout(layout3b)
layout2.addSpacing(10)
layout3c = QHBoxLayout()
label = QLabel("API Key:")
label.setMinimumWidth(150)
layout3c.addWidget(label)
layout3c.addWidget(self.text_api_key, 1)
layout2.addLayout(layout3c)
layout2.addSpacing(10)
layout3d = QHBoxLayout()
label = QLabel("Update Rate:")
label.setMinimumWidth(150)
layout3d.addWidget(label)
layout3d.addWidget(self.number_update_rate, 1)
layout2.addLayout(layout3d)
layout2.addSpacing(10)
self.label_upload_active = QLabel("Not Active", self)
self.label_upload_active.setMinimumWidth(150)
font = QFont()
font.setPixelSize(20)
self.label_upload_active.setFont(font)
self.set_active_label(False)
self.save_button = QPushButton("Save/Activate")
layout4 = QHBoxLayout()
layout4.addWidget(self.label_upload_active)
layout4.addWidget(self.save_button, 1)
layout2.addLayout(layout4)
layout2.addStretch()
self.setLayout(layout1)
self.qtcb_update_illuminance.connect(self.update_illuminance_data_slot)
self.qtcb_update_air_pressure.connect(
self.update_air_pressure_data_slot)
self.qtcb_update_temperature.connect(self.update_temperature_data_slot)
self.qtcb_update_humidity.connect(self.update_humidity_data_slot)
self.qtcb_button_pressed.connect(self.button_pressed_slot)
self.save_button.clicked.connect(self.save_configuration)
self.lcdwidget.clear(self)
self.error_message = QErrorMessage(self)
def set_active_label(self, value):
palette = self.label_upload_active.palette()
if value:
palette.setColor(self.foregroundRole(), Qt.darkGreen)
self.label_upload_active.setText("Active")
else:
palette.setColor(self.foregroundRole(), Qt.red)
self.label_upload_active.setText("Not Active")
self.label_upload_active.setPalette(palette)
def save_configuration(self):
try:
self.xively_agent = str(self.text_agent.text()).decode('ascii')
self.xively_channel = str(self.text_channel.text()).decode('ascii')
self.xively_api_key = str(self.text_api_key.text()).decode('ascii')
except:
self.error_message.showMessage(
'Agent, Feed and API Key can only contain ASCII characters')
return
self.xively_update_rate = self.number_update_rate.value()
self.xively_headers = {
"Content-Type": "application/x-www-form-urlencoded",
"X-ApiKey": self.xively_api_key,
"User-Agent": self.xively_agent,
}
self.xively_params = "/v2/feeds/" + self.xively_channel
if self.xively_timer is None:
self.xively_timer = QTimer(self)
self.xively_timer.timeout.connect(self.update_xively)
self.xively_timer.start(self.xively_update_rate * 60 * 1000)
self.set_active_label(True)
self.update_xively()
def write_lcd(self):
if self.last_upload == None:
tmp = "Last: Never"
else:
tmp = "Last: " + self.last_upload
self.lcdwidget.write_line(0, 0, "Xively Upload", self)
self.lcdwidget.write_line(2, 0, tmp, self)
def update_xively(self):
if len(self.xively_items) == 0:
return
stream_items = []
for identifier, value in self.xively_items.items():
stream_items.append({
'id': identifier,
'current_value': value[0],
'min_value': value[1],
'max_value': value[2]
})
data = {'version': '1.0.0', 'datastreams': stream_items}
self.xively_items = {}
body = json.dumps(data)
try:
http = httplib.HTTPSConnection(self.xively_host)
http.request('PUT', self.xively_params, body, self.xively_headers)
response = http.getresponse()
http.close()
if response.status != 200:
self.error_message.showMessage(
'Could not upload to xively -> Response:' +
str(response.status) + ': ' + response.reason +
'. Check your configuration.')
self.xively_timer.stop()
self.xively_timer = None
self.set_active_label(False)
return
except Exception as e:
self.error_message.showMessage('HTTP error: ' + str(e))
self.xively_timer.stop()
self.xively_timer = None
self.set_active_label(False)
return
# set upload time if upload was a success
self.last_upload = time.strftime("%H:%M:%S")
def put(self, identifier, value):
self.write_lcd()
try:
_, min_value, max_value = self.xively_items[identifier]
if value < min_value:
min_value = value
if value > max_value:
max_value = value
self.xively_items[identifier] = (value, min_value, max_value)
except:
self.xively_items[identifier] = (value, value, value)
def update_illuminance_data_slot(self, illuminance):
self.put('AmbientLight', illuminance)
def update_illuminance(self, illuminance):
self.qtcb_update_illuminance.emit(illuminance)
def update_humidity_data_slot(self, humidity):
self.put('Humidity', humidity)
def update_humidity(self, humidity):
self.qtcb_update_humidity.emit(humidity)
def update_air_pressure_data_slot(self, air_pressure):
self.put('AirPressure', air_pressure)
def update_air_pressure(self, air_pressure):
self.qtcb_update_air_pressure.emit(air_pressure)
def update_temperature_data_slot(self, temperature):
self.put('Temperature', temperature)
def update_temperature(self, temperature):
self.qtcb_update_temperature.emit(temperature)
def button_pressed_slot(self, button):
pass
def button_pressed(self, button):
self.qtcb_button_pressed.emit(button)
class MainWindow(QMainWindow, Ui_MainWindow):
"""The Main window of Luma.
"""
logger = logging.getLogger(__name__)
languages = {}
translator = None
languageHandler = None
currentLanguage = ''
def __init__(self, parent=None):
"""The constructor sets up the MainWindow widget, and connects
all necessary signals and slots
"""
super(MainWindow, self).__init__(parent)
self.setupUi(self)
# We store the window size to make sure the previous window size
# is restored when leaving fullscreen mode. This varible is used
# in the toggleFullscreen slot.
self.__tmpWinSize = self.size()
self.eventFilter = LumaEventFilter(self)
self.mainTabs.installEventFilter(self.eventFilter)
self.translator = QTranslator()
self.languageHandler = LanguageHandler()
self.languages = self.languageHandler.availableLanguages
#self.__createPluginToolBar()
self.__createLoggerWidget()
self.__loadSettings()
self.__createLanguageOptions()
self.setStatusBar(self.statusBar)
self.mainTabs.setTabsClosable(True)
self.mainTabs.setContextMenuPolicy(Qt.CustomContextMenu)
self.mainTabs.customContextMenuRequested.connect(
self.__mainTabsContextMenu)
self.defaultTabStyle = ''
self.lumaHeadStyle = 'background: url(:/icons/luma-gray);\n' + \
'background-position: bottom right;\n' + \
'background-attachment: fixed;\n' + \
'background-repeat: no-repeat;'
#Sets up pluginWidget
#self in parameter is used to call pluginSelected here...
self.pluginWidget = PluginListWidget(self)
self.showPlugins()
self.welcomeTab = WelcomeTab()
self.welcomeTab.textBrowser.setStyleSheet(self.lumaHeadStyle)
#This value comes from __loadSettings()
#Its a checkbox set in WelcomeTab
if self.showWelcomeSettings == 2:
self.showWelcome()
else:
# Let's do some styling of the tab widget when no tabs are opened
if self.mainTabs.currentIndex() == -1:
self.__setTabWidgetStyle(self.lumaHeadStyle)
self.actionShowWelcomeTab.setEnabled(True)
self.serversChangedMessage = QErrorMessage(self)
def __mainTabsContextMenu(self, pos):
menu = QMenu()
if self.mainTabs.count() > 0:
return
# The menu is displayed even when the rightclick is not
# done over the actual tabs so to avoid confusion the
# function is disabled entirey
#menu.addAction(QApplication.translate(
# "MainWindow", "Close all plugin-tabs"), self.tabCloseAll)
else:
# If there's no tabs, offer to display the pluginlist
menu.addAction(self.actionShowPluginList)
menu.exec_(self.mainTabs.mapToGlobal(pos))
def __createPluginToolBar(self):
"""Creates the pluign toolbar.
"""
self.pluginToolBar = PluginToolBar(self)
self.pluginToolBar.setWindowTitle(QApplication.translate(
'MainWindow', 'Plugintoolbar', None, QApplication.UnicodeUTF8))
self.pluginToolBar.setObjectName('pluginToolBar')
self.addToolBar(self.pluginToolBar)
self.pluginToolBar.hide()
def __createLoggerWidget(self):
"""Creates the logger widget.
"""
self.loggerDockWindow = QDockWidget(self)
self.loggerDockWindow.setObjectName('loggerDockWindow')
self.loggerDockWindow.visibilityChanged[bool].connect(
self.actionShowLogger.setChecked)
self.loggerDockWindow.setWindowTitle(QApplication.translate(
'MainWindow', 'Logger', None, QApplication.UnicodeUTF8))
self.loggerWidget = LoggerWidget(self.loggerDockWindow)
self.loggerDockWindow.setWidget(self.loggerWidget)
self.addDockWidget(Qt.BottomDockWidgetArea, self.loggerDockWindow)
self.loggerDockWindow.hide()
def __createLanguageOptions(self):
"""Creates the language selection in the menubar.
"""
self.langGroup = QActionGroup(self)
self.langGroup.setExclusive(True)
self.langGroup.triggered['QAction*'].connect(self.languageChanged)
for key, name in self.languages.iteritems():
action = QAction(self)
action.setCheckable(True)
action.setData(key)
action.setText(name[0])
action.setStatusTip(name[1])
action.setActionGroup(self.langGroup)
self.menuLanguage.addAction(action)
if key == self.currentLanguage:
action.setChecked(True)
def __loadSettings(self, mainWin=True):
"""Loads settings from file.
:param mainWin: If set to ``False``, neither the values for the
window size or the window position will be loaded. This is
i.e done when the settings dialog returns 1.
:type mainWin: bool
"""
settings = Settings()
# We might want to use these methods to restore the
# application state and geometry.
if mainWin:
self.restoreGeometry(settings.geometry)
#self.restoreState(settings.state)
# If the geometry saved inticates fullscreen mode,
# we need to explicitly set the fullscreen menuaction checkbox
if self.isFullScreen():
self.actionFullscreen.setChecked(True)
# Logger
# Logger
# The `allwaysShowLoggerOnStart` a precedence on the
# `showLogger` value.
if settings.showLoggerOnStart:
self.actionShowLogger.setChecked(True)
else:
self.actionShowLogger.setChecked(settings.showLogger)
self.loggerWidget.errorBox.setChecked(settings.showErrors)
self.loggerWidget.debugBox.setChecked(settings.showDebug)
self.loggerWidget.infoBox.setChecked(settings.showInfo)
self.toggleLoggerWindow(self.actionShowLogger.isChecked())
# Language
self.loadLanguage(settings.language)
#Tabs
self.showWelcomeSettings = settings.value("showWelcome", 2).toInt()[0]
def __writeSettings(self):
"""Save settings to file.
"""
settings = Settings()
# We might want to use these methods to restore the
# application state and geometry.
settings.geometry = self.saveGeometry()
#settings.state = self.saveState()
# Mainwin
#max = self.isMaximized()
#settings.maximize = max
#if not max:
# settings.size = self.size()
# settings.position = self.pos()
# The global logger settings is managed from the settings dialog.
# Logger
settings.showLogger = self.actionShowLogger.isChecked()
settings.showErrors = self.loggerWidget.errorBox.isChecked()
settings.showDebug = self.loggerWidget.debugBox.isChecked()
settings.showInfo = self.loggerWidget.infoBox.isChecked()
# Language
settings.language = self.currentLanguage
def __switchTranslator(self, translator, qmFile):
"""Called when a new language is loaded.
:param translator: The translator object to install.
:type translator: QTranslator
:qmFile: The translation file for the loaded language.
:type qmFile: string
"""
qApp.removeTranslator(translator)
if translator.load(qmFile):
qApp.installTranslator(translator)
def __setTabWidgetStyle(self, stylesheet):
self.mainTabs.setStyleSheet(stylesheet)
@pyqtSlot('QAction*')
@pyqtSlot(int)
def languageChanged(self, value):
"""This slot is called by actions and signals related to
application translations. The slot contains validation for
those parameters defined by the pyqtSlot meta info in the
method header.
:param value: Can be either a ``QAction`` or an integer value.
I.e. menu actions provide ``QActions`` but a ``QCombobox``
might send it's index.
:type value: QAction/int
"""
locale = None
if isinstance(value, int):
locale = self.languageSelector.itemData(value).toString()
elif isinstance(value, QAction):
locale = value.data().toString()
#else:
# locale = value
if locale:
self.loadLanguage(locale)
def loadLanguage(self, locale):
"""Loads a language by the given language iso code.
:param locale: A twoletter lowercase ISO 639 language code and
possibly a twoletter uppercase ISO 3166 country code separeted
by a underscore.
:type locale: string
"""
if self.currentLanguage != locale:
self.currentLanguage = locale
qmFile = self.languageHandler.getQmFile(locale)
self.__switchTranslator(self.translator, qmFile)
def changeEvent(self, event):
"""This event is called when a new translator is loaded or the
system language (locale) is changed.
:param event: The event that generated the `changeEvent`.
:type event: QEvent
"""
if None != event:
type = event.type()
if QEvent.LanguageChange == type or QEvent.LocaleChange == type:
self.retranslateUi(self)
self.loggerWidget.retranslateUi(self.loggerWidget)
def showAboutLuma(self):
"""Slot for displaying the about dialog.
"""
AboutDialog().exec_()
@pyqtSlot(bool)
def toggleLoggerWindow(self, show):
"""Slot for toggling the logger window.
:param show: a boolean value indicating whether the logger window
should be shown or not.
:type show: bool
"""
if show:
self.loggerDockWindow.show()
else:
self.loggerDockWindow.hide()
@pyqtSlot(bool)
def toggleStatusbar(self, show):
"""Slot for toggling the logger window.
:param show: a boolean value indicating whether the statusbar
should be shown or not.
:type show: bool
"""
if show:
self.statusBar.show()
else:
self.statusBar.hide()
@pyqtSlot(bool)
def toggleFullscreen(self, fullscreen):
"""Slot for toggling the logger window.
:param fullscreen: a boolean value indicating whether to enter
fullscreenmode or not.
:type fullcreen: bool
"""
if fullscreen:
self.__tmpWinSize = self.size()
self.showFullScreen()
else:
self.showNormal()
self.resize(self.__tmpWinSize)
def showServerEditor(self):
"""Slot to display the server editor dialog.
"""
serverEditor = ServerDialog()
r = serverEditor.exec_()
if r:
#TODO -- only display if plugins open:
self.serversChangedMessage.showMessage(QApplication.translate(
"MainWindow",
"You may need to restart plugins for changes to take effect."))
def showTempPasswordDialog(self):
""" Sets overridePassword for a server.
Using this one doesn't actually have to enter the password
in the ServerDialog (and by extension save to disk).
"""
serverList = ServerList()
# Create a stringlist to be used by the qinputdialog
stringList = []
for server in serverList.getTable():
stringList.append(server.name)
# Display list of servers
(serverString, ok) = QInputDialog.getItem(
self,
QApplication.translate("MainWindow", "Select server"),
QApplication.translate("MainWindow", "Server:"),
stringList,
editable=False
)
if ok:
server = serverList.getServerObjectByName(serverString)
if server != None:
# Ask for password
(value, ok) = QInputDialog.getText(
self,
QApplication.translate("MainWindow", "Temporary password"),
QApplication.translate("MainWindow", "Enter password:"******"""Slot to display the settings dialog. If the settings dialog
returns 1, i.e. the user has clicked the ok button, the
loadSettings method is called with mainWin=False, to load the
(assumed) newly changed settings.
:param tab: The index of the tab to display in the settings
dialog.
:type tab: int
"""
#settingsDialog = SettingsDialog(self.currentLanguage, self.languages)
settingsDialog = SettingsDialog()
if tab < 0:
tab = 0
settingsDialog.tabWidget.setCurrentIndex(tab)
if settingsDialog.exec_():
self.reloadPlugins()
# # We assume that some settings is changed
# # if the user clicked the ok button, and
# # reloads the application settings
# self.__loadSettings(mainWin=False)
# # A Hack but it'll do for now
# for a in self.langGroup.actions():
# if a.data().toString() == self.currentLanguage:
# a.setChecked(True)
def configurePlugins(self):
"""Slot to display the plugins configuration. This currently
calls `showSettingsDialog` with tab index set to 2.
"""
self.showSettingsDialog(1)
def reloadPlugins(self):
"""Slot to reload plugins.
"""
self.pluginWidget.updatePlugins()
def pluginSelected(self, item):
"""This method will be called from the `PluginListWidget`.
"""
# Clear the stylesheet when a tab is opened
self.__setTabWidgetStyle(self.defaultTabStyle)
widget = item.plugin.getPluginWidget(None, self)
if platform.system() == "Windows":
scroll = QScrollArea()
scroll.setWidget(widget)
scroll.setWidgetResizable(True)
index = self.mainTabs.addTab(
scroll, item.icon(), item.plugin.pluginUserString)
else:
index = self.mainTabs.addTab(
widget, item.icon(), item.plugin.pluginUserString)
self.mainTabs.setCurrentIndex(index)
def tabClose(self, index):
"""Slot for the signal `tabCloseRequest(int)` for the tabMains.
"""
widget = self.mainTabs.widget(index)
# If the tab closed is one of these, enable the toggle-action
if widget == self.pluginWidget:
self.actionShowPluginList.setEnabled(True)
if widget == self.welcomeTab:
self.actionShowWelcomeTab.setEnabled(True)
self.mainTabs.removeTab(index)
# Unparent the widget since it was reparented by the QTabWidget
# so it's garbage collected
widget.setParent(None)
# In case the widget contained circular references
# -- force GC to take care of the objects since there can be
# quite many if it was BrowserWidget that was closed.
# Can't call it directly since that'll be too soon
QTimer.singleShot(1000, self.gc)
# Let's do some styling of the tab widget when no tabs are opened
if self.mainTabs.currentIndex() == -1:
self.__setTabWidgetStyle(self.lumaHeadStyle)
def gc(self):
"""Runs Python's garbage-collection manually.
Used to make sure circular references are taken care of *now*.
"""
gc.collect()
def showWelcome(self):
"""Shows the Welcome-tab
"""
self.__setTabWidgetStyle(self.defaultTabStyle)
index = self.mainTabs.addTab(self.welcomeTab,
QApplication.translate("MainWindow", "Welcome"))
self.mainTabs.setCurrentIndex(index)
self.actionShowWelcomeTab.setEnabled(False)
def showPlugins(self):
"""Will show the pluginlistwidget-tab
"""
self.__setTabWidgetStyle(self.defaultTabStyle)
if self.mainTabs.indexOf(self.pluginWidget) == -1:
index = self.mainTabs.addTab(
self.pluginWidget, QApplication.translate(
"MainWindow", "Plugins"))
self.mainTabs.setCurrentIndex(index)
self.actionShowPluginList.setEnabled(False)
def closeEvent(self, e):
"""Overrides the ``QMainWindow.closeEvent`` slot to save
settings before we tear down the application.
"""
self.__writeSettings()
QMainWindow.closeEvent(self, e)
class DC(PluginBase, Ui_DC):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
qtcb_emergency_shutdown = pyqtSignal()
def __init__ (self, ipcon, uid):
PluginBase.__init__(self, ipcon, uid)
self.setupUi(self)
self.dc = brick_dc.DC(self.uid)
self.device = self.dc
self.ipcon.add_device(self.dc)
self.version = '.'.join(map(str, self.dc.get_version()[1]))
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(4, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.velocity_slider.sliderReleased.connect(self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished)
self.frequency_slider.sliderReleased.connect(self.frequency_slider_released)
self.frequency_slider.valueChanged.connect(self.frequency_spin.setValue)
self.frequency_spin.editingFinished.connect(self.frequency_spin_finished)
self.radio_mode_brake.toggled.connect(self.brake_value_changed)
self.radio_mode_coast.toggled.connect(self.coast_value_changed)
self.minimum_voltage_button.pressed.connect(self.minimum_voltage_button_pressed)
self.full_brake_button.pressed.connect(self.full_brake_pressed)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.emergency_signal = None
self.under_signal = None
self.current_velocity_signal = None
self.velocity_reached_signal = None
self.qem = QErrorMessage(self)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.dc.register_callback(self.dc.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown)
self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN,
self.qtcb_emergency_shutdown.emit)
self.qtcb_position_reached.connect(self.update_velocity)
self.dc.register_callback(self.dc.CALLBACK_VELOCITY_REACHED,
self.qtcb_position_reached.emit)
self.dc.register_callback(self.dc.CALLBACK_CURRENT_VELOCITY,
self.qtcb_position_reached.emit)
def start(self):
self.update_timer.start(1000)
try:
self.dc.set_current_velocity_period(100)
self.update_start()
self.update_data()
except ip_connection.Error:
return
def stop(self):
self.update_timer.stop()
try:
self.dc.set_current_velocity_period(0)
except ip_connection.Error:
return
@staticmethod
def has_name(name):
return 'DC Brick' in name
def cb_emergency_shutdown(self):
if not self.qem.isVisible():
self.qem.setWindowTitle("Emergency Shutdown")
self.qem.showMessage("Emergency Shutdown: Short-Circuit or Over-Temperature")
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.setWindowTitle("Under Voltage")
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str)
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.dc.enable()
elif state == Qt.Unchecked:
self.dc.disable()
except ip_connection.Error:
return
def brake_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(0)
except ip_connection.Error:
return
def coast_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(1)
except ip_connection.Error:
return
def full_brake_pressed(self):
try:
self.dc.full_brake()
except ip_connection.Error:
return
def minimum_voltage_selected(self, value):
try:
self.dc.set_minimum_voltage(value)
except ip_connection.Error:
return
def minimum_voltage_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(5000)
qid.setIntMaximum(0xFFFF)
qid.setIntStep(100)
try:
qid.setIntValue(self.dc.get_minimum_voltage())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.minimum_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def drive_mode_update(self, dm):
if dm == 0:
self.radio_mode_brake.setChecked(True)
self.radio_mode_coast.setChecked(False)
else:
self.radio_mode_brake.setChecked(False)
self.radio_mode_coast.setChecked(True)
def current_consumption_update(self, cc):
if cc >= 1000:
cc_str = "%gA" % round(cc/1000.0, 1)
else:
cc_str = "%gmA" % cc
self.current_label.setText(cc_str)
def update_velocity(self, value):
if value != self.speedometer.value():
self.speedometer.set_velocity(value)
def update_start(self):
try:
dm = self.dc.get_drive_mode()
self.drive_mode_update(dm)
if not self.velocity_slider.isSliderDown():
velocity = self.dc.get_velocity()
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
if not self.acceleration_slider.isSliderDown():
acceleration = self.dc.get_acceleration()
if acceleration != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acceleration)
self.acceleration_spin.setValue(acceleration)
if not self.frequency_slider.isSliderDown():
frequency = self.dc.get_pwm_frequency()
if frequency != self.frequency_slider.sliderPosition():
self.frequency_slider.setSliderPosition(frequency)
self.frequency_spin.setValue(frequency)
enabled = self.dc.is_enabled()
if enabled:
self.enable_checkbox.setCheckState(Qt.Checked)
else:
self.enable_checkbox.setCheckState(Qt.Unchecked)
except ip_connection.Error:
return
def update_data(self):
try:
sv = self.dc.get_stack_input_voltage()
ev = self.dc.get_external_input_voltage()
mv = self.dc.get_minimum_voltage()
cc = self.dc.get_current_consumption()
except ip_connection.Error:
return
self.stack_input_voltage_update(sv)
self.external_input_voltage_update(ev)
self.minimum_voltage_update(mv)
self.current_consumption_update(cc)
def acceleration_slider_released(self):
value = self.acceleration_slider.value()
self.acceleration_spin.setValue(value)
try:
self.dc.set_acceleration(value)
except ip_connection.Error:
return
def acceleration_spin_finished(self):
value = self.acceleration_spin.value()
self.acceleration_slider.setValue(value)
try:
self.dc.set_acceleration(value)
except ip_connection.Error:
return
def velocity_slider_released(self):
value = self.velocity_slider.value()
self.velocity_spin.setValue(value)
try:
self.dc.set_velocity(value)
except ip_connection.Error:
return
def velocity_spin_finished(self):
value = self.velocity_spin.value()
self.velocity_slider.setValue(value)
try:
self.dc.set_velocity(value)
except ip_connection.Error:
return
def frequency_slider_released(self):
value = self.frequency_slider.value()
self.frequency_spin.setValue(value)
try:
self.dc.set_pwm_frequency(value)
except ip_connection.Error:
return
def frequency_spin_finished(self):
value = self.frequency_spin.value()
self.frequency_slider.setValue(value)
try:
self.dc.set_pwm_frequency(value)
except ip_connection.Error:
return
class Stepper(PluginBase, Ui_Stepper):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
def __init__(self, ipcon, uid):
PluginBase.__init__(self, ipcon, uid)
self.setupUi(self)
self.stepper = brick_stepper.Stepper(self.uid)
self.device = self.stepper
self.ipcon.add_device(self.stepper)
self.version = '.'.join(map(str, self.stepper.get_version()[1]))
self.endis_all(False)
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(5, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.velocity_slider.sliderReleased.connect(
self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(
self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(
self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(
self.acceleration_spin_finished)
self.deceleration_slider.sliderReleased.connect(
self.deceleration_slider_released)
self.deceleration_slider.valueChanged.connect(
self.deceleration_spin.setValue)
self.deceleration_spin.editingFinished.connect(
self.deceleration_spin_finished)
self.decay_slider.sliderReleased.connect(self.decay_slider_released)
self.decay_slider.valueChanged.connect(self.decay_spin.setValue)
self.decay_spin.editingFinished.connect(self.decay_spin_finished)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.forward_button.pressed.connect(self.forward_pressed)
self.stop_button.pressed.connect(self.stop_pressed)
self.full_brake_button.pressed.connect(self.full_brake_pressed)
self.backward_button.pressed.connect(self.backward_pressed)
self.to_button.pressed.connect(self.to_button_pressed)
self.steps_button.pressed.connect(self.steps_button_pressed)
self.motor_current_button.pressed.connect(
self.motor_current_button_pressed)
self.minimum_motor_voltage_button.pressed.connect(
self.minimum_motor_voltage_button_pressed)
self.mode_dropbox.currentIndexChanged.connect(self.mode_changed)
self.qtcb_position_reached.connect(self.cb_position_reached)
self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED,
self.qtcb_position_reached.emit)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
def start(self):
self.update_timer.start(100)
self.update_start()
def stop(self):
self.update_timer.stop()
@staticmethod
def has_name(name):
return 'Stepper Brick' in name
def cb_position_reached(self, position):
self.position_update(position)
self.endis_all(True)
def disable_list(self, button_list):
for button in button_list:
button.setEnabled(False)
def endis_all(self, value):
self.forward_button.setEnabled(value)
self.stop_button.setEnabled(value)
self.backward_button.setEnabled(value)
self.to_button.setEnabled(value)
self.steps_button.setEnabled(value)
self.full_brake_button.setEnabled(value)
def mode_changed(self, index):
try:
self.stepper.set_step_mode(1 << index)
except ip_connection.Error:
return
def forward_pressed(self):
try:
self.stepper.drive_forward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def backward_pressed(self):
try:
self.stepper.drive_backward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def stop_pressed(self):
try:
self.stepper.stop()
except ip_connection.Error:
return
self.endis_all(True)
def full_brake_pressed(self):
try:
self.stepper.full_brake()
except ip_connection.Error:
return
self.endis_all(True)
def to_button_pressed(self):
drive_to = self.to_spin.value()
try:
self.stepper.set_target_position(drive_to)
except ip_connection.Error:
return
self.disable_list([
self.to_button, self.steps_button, self.forward_button,
self.backward_button
])
def steps_button_pressed(self):
drive_steps = self.steps_spin.value()
try:
self.stepper.set_steps(drive_steps)
except ip_connection.Error:
return
self.disable_list([
self.to_button, self.steps_button, self.forward_button,
self.backward_button
])
def motor_current_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(2500)
qid.setIntStep(100)
try:
qid.setIntValue(self.stepper.get_motor_current())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.motor_current_selected)
qid.setLabelText("Choose motor current in mA.")
# "<font color=red>Setting this too high can destroy your Motor.</font>")
qid.open()
def minimum_motor_voltage_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(40000)
qid.setIntStep(100)
try:
qid.setIntValue(self.stepper.get_minimum_voltage())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.minimum_motor_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def motor_current_selected(self, value):
try:
self.stepper.set_motor_current(value)
except ip_connection.Error:
return
def minimum_motor_voltage_selected(self, value):
try:
self.stepper.set_minimum_voltage(value)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov / 1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str)
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.endis_all(True)
self.stepper.enable()
elif state == Qt.Unchecked:
self.endis_all(False)
self.stepper.disable()
except ip_connection.Error:
return
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv / 1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev / 1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv / 1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def maximum_current_update(self, cur):
cur_str = "%gA" % round(cur / 1000.0, 1)
self.maximum_current_label.setText(cur_str)
def position_update(self, pos):
pos_str = "%g" % pos
self.position_label.setText(pos_str)
def remaining_steps_update(self, ste):
ste_str = "%g" % ste
self.remaining_steps_label.setText(ste_str)
def mode_update(self, mod):
if mod == 8:
index = 3
elif mod == 4:
index = 2
elif mod == 2:
index = 1
else:
index = 0
self.mode_dropbox.setCurrentIndex(index)
def update_start(self):
try:
if not self.velocity_slider.isSliderDown():
velocity = self.stepper.get_max_velocity()
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
if not self.acceleration_slider.isSliderDown() and \
not self.deceleration_slider.isSliderDown():
acc, dec = self.stepper.get_speed_ramping()
if acc != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acc)
self.acceleration_spin.setValue(acc)
if dec != self.deceleration_slider.sliderPosition():
self.deceleration_slider.setSliderPosition(dec)
self.deceleration_spin.setValue(dec)
if not self.decay_slider.isSliderDown():
dec = self.stepper.get_decay()
if dec != self.decay_slider.sliderPosition():
self.decay_slider.setSliderPosition(dec)
self.decay_spin.setValue(dec)
enabled = self.stepper.is_enabled()
if enabled:
if self.enable_checkbox.checkState() != Qt.Checked:
self.endis_all(True)
self.enable_checkbox.setCheckState(Qt.Checked)
else:
if self.enable_checkbox.checkState() != Qt.Unchecked:
self.endis_all(False)
self.enable_checkbox.setCheckState(Qt.Unchecked)
except ip_connection.Error:
return
def update_infos(self):
try:
cur = self.stepper.get_motor_current()
sv = self.stepper.get_stack_input_voltage()
ev = self.stepper.get_external_input_voltage()
mv = self.stepper.get_minimum_voltage()
mod = self.stepper.get_step_mode()
except ip_connection.Error:
return
self.maximum_current_update(cur)
self.stack_input_voltage_update(sv)
self.external_input_voltage_update(ev)
self.minimum_voltage_update(mv)
self.mode_update(mod)
def update_values(self):
try:
ste = self.stepper.get_remaining_steps()
pos = self.stepper.get_current_position()
self.remaining_steps_update(ste)
self.position_update(pos)
current_velocity = self.stepper.get_current_velocity()
if current_velocity != self.speedometer.value():
self.speedometer.set_velocity(current_velocity)
except ip_connection.Error:
return
def update_data(self):
try:
ste = self.stepper.get_remaining_steps()
pos = self.stepper.get_current_position()
self.remaining_steps_update(ste)
self.position_update(pos)
current_velocity = self.stepper.get_current_velocity()
if current_velocity != self.speedometer.value():
self.speedometer.set_velocity(current_velocity)
except ip_connection.Error:
return
self.update_counter += 1
if self.update_counter % 10 == 0:
self.update_infos()
self.update_values()
def velocity_slider_released(self):
value = self.velocity_slider.value()
self.velocity_spin.setValue(value)
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def velocity_spin_finished(self):
value = self.velocity_spin.value()
self.velocity_slider.setValue(value)
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def acceleration_slider_released(self):
acc = self.acceleration_slider.value()
dec = self.deceleration_slider.value()
self.acceleration_spin.setValue(acc)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def acceleration_spin_finished(self):
acc = self.acceleration_spin.value()
dec = self.deceleration_spin.value()
self.acceleration_slider.setValue(acc)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def deceleration_slider_released(self):
acc = self.acceleration_slider.value()
dec = self.deceleration_slider.value()
self.deceleration_spin.setValue(dec)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def deceleration_spin_finished(self):
acc = self.acceleration_spin.value()
dec = self.deceleration_spin.value()
self.deceleration_slider.setValue(dec)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def decay_slider_released(self):
value = self.decay_slider.value()
self.decay_spin.setValue(value)
try:
self.stepper.set_decay(value)
except ip_connection.Error:
return
def decay_spin_finished(self):
value = self.decay_spin.value()
self.decay_slider.setValue(value)
try:
self.stepper.set_decay(value)
except ip_connection.Error:
return
class ImagesWidget(QWidget, Ui_Images):
images = None
def __init__(self, parent, app):
super(QWidget, self).__init__()
self.app = app
self.setupUi(self)
self.error_msg = QErrorMessage()
self.error_msg.setWindowTitle("Starter Kit: Blinkenlights Demo " +
config.DEMO_VERSION)
self.slider_frame_rate.valueChanged.connect(
self.slider_frame_rate_changed)
self.spinbox_frame_rate.valueChanged.connect(
self.spinbox_frame_rate_changed)
self.button_choose.pressed.connect(self.choose_pressed)
self.button_show.pressed.connect(self.show_pressed)
self.button_default.pressed.connect(self.default_pressed)
self.update_frame_rate_timer = QTimer(self)
self.update_frame_rate_timer.timeout.connect(self.update_frame_rate)
self.default_pressed()
def start(self):
self.images = Images(self.app.ipcon)
self.update_frame_rate()
self.images.frame_rendered(0)
def stop(self):
if self.images:
self.images.stop_rendering()
self.images = None
def spinbox_frame_rate_changed(self, frame_rate):
self.slider_frame_rate.setValue(frame_rate)
self.update_frame_rate_timer.start(100)
def slider_frame_rate_changed(self, frame_rate):
self.spinbox_frame_rate.setValue(frame_rate)
def show_pressed(self):
if self.images:
files = unicode(self.text_edit_files.toPlainText()).strip()
if len(files) > 0:
new_images = files.split('\n')
try:
self.images.set_new_images(new_images)
except Exception as e:
self.error_msg.showMessage(str(e))
self.images.frame_prepare_next()
self.images.frame_rendered(0)
def choose_pressed(self):
dialog = QFileDialog()
dialog.setDirectory(QDir.homePath())
dialog.setFileMode(QFileDialog.ExistingFiles)
if dialog.exec_():
filenames = dialog.selectedFiles()
for filename in filenames:
self.text_edit_files.append(filename)
def default_pressed(self):
self.spinbox_frame_rate.setValue(1)
def update_frame_rate(self):
self.update_frame_rate_timer.stop()
config.IMAGES_FRAME_RATE = self.spinbox_frame_rate.value()
if self.images:
self.images.update_frame_rate()
class Stepper(PluginBase, Ui_Stepper):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
def __init__(self, *args):
PluginBase.__init__(self, BrickStepper, *args)
self.setupUi(self)
self.stepper = self.device
self.endis_all(False)
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.decay_widget.hide()
self.setting_sync_rect_checkbox = False
self.velocity_syncer = SliderSpinSyncer(self.velocity_slider,
self.velocity_spin,
self.velocity_changed)
self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider,
self.acceleration_spin,
self.acceleration_changed)
self.deceleration_syncer = SliderSpinSyncer(self.deceleration_slider,
self.deceleration_spin,
self.deceleration_changed)
self.decay_syncer = SliderSpinSyncer(self.decay_slider,
self.decay_spin,
self.decay_changed)
self.enable_checkbox.toggled.connect(self.enable_toggled)
self.forward_button.clicked.connect(self.forward_clicked)
self.stop_button.clicked.connect(self.stop_clicked)
self.full_brake_button.clicked.connect(self.full_brake_clicked)
self.backward_button.clicked.connect(self.backward_clicked)
self.to_button.clicked.connect(self.to_button_clicked)
self.steps_button.clicked.connect(self.steps_button_clicked)
self.motor_current_button.clicked.connect(self.motor_current_button_clicked)
self.minimum_motor_voltage_button.clicked.connect(self.minimum_motor_voltage_button_clicked)
self.sync_rect_checkbox.toggled.connect(self.sync_rect_toggled)
self.mode_dropbox.currentIndexChanged.connect(self.mode_changed)
self.qtcb_position_reached.connect(self.cb_position_reached)
self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED,
self.qtcb_position_reached.emit)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.ste = 0
self.pos = 0
self.current_velocity = 0
self.cur = 0
self.sv = 0
self.ev = 0
self.mv = 0
self.mod = 0
if self.firmware_version >= (1, 1, 4):
reset = QAction('Reset', self)
reset.triggered.connect(lambda: self.stepper.reset())
self.set_actions(reset)
def start(self):
self.update_timer.start(100)
self.update_start()
def stop(self):
self.update_timer.stop()
def destroy(self):
pass
def get_url_part(self):
return 'stepper'
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickStepper.DEVICE_IDENTIFIER
def cb_position_reached(self, position):
self.position_update(position)
self.endis_all(True)
def disable_list(self, button_list):
for button in button_list:
button.setEnabled(False)
def endis_all(self, value):
self.forward_button.setEnabled(value)
self.stop_button.setEnabled(value)
self.backward_button.setEnabled(value)
self.to_button.setEnabled(value)
self.steps_button.setEnabled(value)
self.full_brake_button.setEnabled(value)
def mode_changed(self, index):
try:
self.stepper.set_step_mode(1 << index)
self.mod = 1 << index
except ip_connection.Error:
return
def forward_clicked(self):
try:
self.stepper.drive_forward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def backward_clicked(self):
try:
self.stepper.drive_backward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def stop_clicked(self):
try:
self.stepper.stop()
except ip_connection.Error:
return
self.endis_all(True)
def full_brake_clicked(self):
try:
self.stepper.full_brake()
except ip_connection.Error:
return
self.endis_all(True)
def to_button_clicked(self):
drive_to = self.to_spin.value()
try:
self.stepper.set_target_position(drive_to)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def steps_button_clicked(self):
drive_steps = self.steps_spin.value()
try:
self.stepper.set_steps(drive_steps)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def motor_current_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(2500)
qid.setIntStep(100)
async_call(self.stepper.get_motor_current, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.motor_current_selected)
qid.setLabelText("Choose motor current in mA.")
# "<font color=red>Setting this too high can destroy your Motor.</font>")
qid.open()
def minimum_motor_voltage_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(40000)
qid.setIntStep(100)
async_call(self.stepper.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.minimum_motor_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def motor_current_selected(self, value):
try:
self.stepper.set_motor_current(value)
except ip_connection.Error:
return
def minimum_motor_voltage_selected(self, value):
try:
self.stepper.set_minimum_voltage(value)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str,
"Stepper_UnderVoltage")
def enable_toggled(self, checked):
try:
if checked:
if not self.stepper.is_enabled():
self.endis_all(True)
self.stepper.enable()
else:
if self.stepper.is_enabled():
self.endis_all(False)
self.stepper.disable()
except ip_connection.Error:
return
def sync_rect_toggled(self, checked):
if not self.setting_sync_rect_checkbox and checked:
rc = QMessageBox.warning(get_main_window(), 'Synchronous Rectification',
'If you want to use high speeds (> 10000 steps/s) for a large stepper motor with a ' +
'large inductivity we strongly suggest that you do not enable synchronous rectification. ' +
'Otherwise the Brick may not be able to cope with the load and overheat.',
QMessageBox.Ok | QMessageBox.Cancel)
if rc != QMessageBox.Ok:
self.sync_rect_checkbox.setChecked(False)
return
try:
self.stepper.set_sync_rect(checked)
except ip_connection.Error:
return
self.decay_widget.setVisible(checked)
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def maximum_current_update(self, cur):
cur_str = "%gA" % round(cur/1000.0, 1)
self.maximum_current_label.setText(cur_str)
def position_update(self, pos):
pos_str = "%d" % pos
self.position_label.setText(pos_str)
def remaining_steps_update(self, ste):
ste_str = "%d" % ste
self.remaining_steps_label.setText(ste_str)
def current_velocity_update(self, velocity):
velocity_str = "%d" % velocity
self.current_velocity_label.setText(velocity_str)
self.speedometer.set_velocity(velocity)
def mode_update(self, mod):
if mod == 8:
index = 3
elif mod == 4:
index = 2
elif mod == 2:
index = 1
else:
index = 0
self.mode_dropbox.setCurrentIndex(index)
def get_max_velocity_async(self, velocity):
if not self.velocity_slider.isSliderDown():
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
def get_speed_ramping_async(self, ramp):
acc, dec = ramp
if not self.acceleration_slider.isSliderDown() and \
not self.deceleration_slider.isSliderDown():
if acc != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acc)
self.acceleration_spin.setValue(acc)
if dec != self.deceleration_slider.sliderPosition():
self.deceleration_slider.setSliderPosition(dec)
self.deceleration_spin.setValue(dec)
def get_decay_async(self, decay):
if not self.decay_slider.isSliderDown():
if decay != self.decay_slider.sliderPosition():
self.decay_slider.setSliderPosition(decay)
self.decay_spin.setValue(decay)
def is_enabled_async(self, enabled):
if enabled:
if not self.enable_checkbox.isChecked():
self.endis_all(True)
self.enable_checkbox.setChecked(True)
else:
if self.enable_checkbox.isChecked():
self.endis_all(False)
self.enable_checkbox.setChecked(False)
def is_sync_rect_async(self, sync_rect):
self.setting_sync_rect_checkbox = True
self.sync_rect_checkbox.setChecked(sync_rect)
self.setting_sync_rect_checkbox = False
def update_start(self):
async_call(self.stepper.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count)
async_call(self.stepper.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count)
async_call(self.stepper.get_decay, None, self.get_decay_async, self.increase_error_count)
async_call(self.stepper.is_enabled, None, self.is_enabled_async, self.increase_error_count)
async_call(self.stepper.is_sync_rect, None, self.is_sync_rect_async, self.increase_error_count)
def update_data(self):
async_call(self.stepper.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count)
async_call(self.stepper.get_current_position, None, self.position_update, self.increase_error_count)
async_call(self.stepper.get_current_velocity, None, self.current_velocity_update, self.increase_error_count)
self.update_counter += 1
if self.update_counter % 10 == 0:
async_call(self.stepper.get_motor_current, None, self.maximum_current_update, self.increase_error_count)
async_call(self.stepper.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count)
async_call(self.stepper.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count)
async_call(self.stepper.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count)
async_call(self.stepper.get_step_mode, None, self.mode_update, self.increase_error_count)
def velocity_changed(self, value):
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def acceleration_changed(self, value):
dec = self.deceleration_spin.value()
try:
self.stepper.set_speed_ramping(value, dec)
except ip_connection.Error:
return
def deceleration_changed(self, value):
acc = self.acceleration_slider.value()
try:
self.stepper.set_speed_ramping(acc, value)
except ip_connection.Error:
return
def decay_changed(self, value):
try:
self.stepper.set_decay(value)
except ip_connection.Error:
return
class WeatherStation(QApplication):
HOST = "localhost"
PORT = 4223
ipcon = None
lcd = None
al = None
hum = None
baro = None
projects = []
active_project = None
error_msg = None
def __init__(self, args):
super(QApplication, self).__init__(args)
self.error_msg = QErrorMessage()
self.ipcon = IPConnection()
signal.signal(signal.SIGINT, self.exit_demo)
signal.signal(signal.SIGTERM, self.exit_demo)
timer = QTimer(self)
timer.setSingleShot(True)
timer.timeout.connect(self.connect)
timer.start(1)
def exit_demo(self, signl=None, frme=None):
try:
self.ipcon.disconnect()
self.timer.stop()
self.tabs.destroy()
except:
pass
sys.exit()
def open_gui(self):
self.main = MainWindow(self)
self.main.setFixedSize(730, 430)
self.main.setWindowIcon(QIcon(os.path.join(ProgramPath.program_path(), "demo-icon.png")))
self.tabs = QTabWidget()
widget = QWidget()
layout = QVBoxLayout()
layout.addWidget(self.tabs)
widget.setLayout(layout)
self.main.setCentralWidget(widget)
self.projects.append(ProjectEnvDisplay(self.tabs, self))
self.projects.append(ProjectStatistics(self.tabs, self))
self.projects.append(ProjectXively(self.tabs, self))
self.tabs.addTab(self.projects[0], "Display Environment Measurements")
self.tabs.addTab(self.projects[1], "Show Statistics with Button Control")
self.tabs.addTab(self.projects[2], "Connect to Xively")
self.active_project = self.projects[0]
self.tabs.currentChanged.connect(self.tabChangedSlot)
self.main.setWindowTitle("Starter Kit: Weather Station Demo " + config.DEMO_VERSION)
self.main.show()
def connect(self):
try:
self.ipcon.connect(WeatherStation.HOST, WeatherStation.PORT)
except Error as e:
self.error_msg.showMessage('Connection Error: ' + str(e.description) + "\nBrickd installed and running?")
return
except socket.error as e:
self.error_msg.showMessage('Socket error: ' + str(e) + "\nBrickd installed and running?")
return
self.ipcon.register_callback(IPConnection.CALLBACK_ENUMERATE,
self.cb_enumerate)
self.ipcon.register_callback(IPConnection.CALLBACK_CONNECTED,
self.cb_connected)
try:
self.ipcon.enumerate()
except Error as e:
self.error_msg.showMessage('Enumerate Error: ' + str(e.description))
return
self.open_gui()
def tabChangedSlot(self, tabIndex):
if self.lcd is not None:
self.lcd.clear_display()
self.active_project = self.projects[tabIndex]
def cb_illuminance(self, illuminance):
for p in self.projects:
p.update_illuminance(illuminance)
def cb_humidity(self, humidity):
for p in self.projects:
p.update_humidity(humidity)
def cb_air_pressure(self, air_pressure):
for p in self.projects:
p.update_air_pressure(air_pressure)
try:
temperature = self.baro.get_chip_temperature()
except Error as e:
print('Could not get temperature: ' + str(e.description))
return
for p in self.projects:
p.update_temperature(temperature)
def configure_custom_chars(self):
c = [[0x00 for x in range(8)] for y in range(8)]
c[0] = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff]
c[1] = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff]
c[2] = [0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff]
c[3] = [0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff]
c[4] = [0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff]
c[5] = [0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff]
c[6] = [0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff]
c[7] = [0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff]
for i in range(len(c)):
self.lcd.set_custom_character(i, c[i]);
def cb_button_pressed(self, button):
for p in self.projects:
p.button_pressed(button)
def cb_enumerate(self, uid, connected_uid, position, hardware_version,
firmware_version, device_identifier, enumeration_type):
if enumeration_type == IPConnection.ENUMERATION_TYPE_CONNECTED or \
enumeration_type == IPConnection.ENUMERATION_TYPE_AVAILABLE:
if device_identifier == LCD20x4.DEVICE_IDENTIFIER:
try:
self.lcd = LCD20x4(uid, self.ipcon)
self.lcd.clear_display()
self.lcd.backlight_on()
self.lcd.register_callback(self.lcd.CALLBACK_BUTTON_PRESSED, self.cb_button_pressed)
self.configure_custom_chars()
except Error as e:
self.error_msg.showMessage('LCD 20x4 init failed: ' + str(e.description))
self.lcd = None
elif device_identifier == AmbientLight.DEVICE_IDENTIFIER:
try:
self.al = AmbientLight(uid, self.ipcon)
self.al.set_illuminance_callback_period(1000)
self.al.register_callback(self.al.CALLBACK_ILLUMINANCE,
self.cb_illuminance)
except Error as e:
self.error_msg.showMessage('Ambient Light init failed: ' + str(e.description))
self.al = None
elif device_identifier == Humidity.DEVICE_IDENTIFIER:
try:
self.hum = Humidity(uid, self.ipcon)
self.hum.set_humidity_callback_period(1000)
self.hum.register_callback(self.hum.CALLBACK_HUMIDITY,
self.cb_humidity)
except Error as e:
self.error_msg.showMessage('Humidity init failed: ' + str(e.description))
self.hum = None
elif device_identifier == Barometer.DEVICE_IDENTIFIER:
try:
self.baro = Barometer(uid, self.ipcon)
self.baro.set_air_pressure_callback_period(1000)
self.baro.register_callback(self.baro.CALLBACK_AIR_PRESSURE,
self.cb_air_pressure)
except Error as e:
self.error_msg.showMessage('Barometer init failed: ' + str(e.description))
self.baro = None
def cb_connected(self, connected_reason):
if connected_reason == IPConnection.CONNECT_REASON_AUTO_RECONNECT:
while True:
try:
self.ipcon.enumerate()
break
except Error as e:
self.error_msg.showMessage('Enumerate Error: ' + str(e.description))
time.sleep(1)
class Stepper(PluginBase, Ui_Stepper):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
def __init__(self, ipcon, uid, version):
PluginBase.__init__(self, ipcon, uid, 'Stepper Brick', version)
self.setupUi(self)
self.stepper = BrickStepper(uid, ipcon)
self.device = self.stepper
self.endis_all(False)
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(5, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.velocity_slider.sliderReleased.connect(self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished)
self.deceleration_slider.sliderReleased.connect(self.deceleration_slider_released)
self.deceleration_slider.valueChanged.connect(self.deceleration_spin.setValue)
self.deceleration_spin.editingFinished.connect(self.deceleration_spin_finished)
# self.decay_slider.sliderReleased.connect(self.decay_slider_released)
# self.decay_slider.valueChanged.connect(self.decay_spin.setValue)
# self.decay_spin.editingFinished.connect(self.decay_spin_finished)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.forward_button.pressed.connect(self.forward_pressed)
self.stop_button.pressed.connect(self.stop_pressed)
self.full_brake_button.pressed.connect(self.full_brake_pressed)
self.backward_button.pressed.connect(self.backward_pressed)
self.to_button.pressed.connect(self.to_button_pressed)
self.steps_button.pressed.connect(self.steps_button_pressed)
self.motor_current_button.pressed.connect(self.motor_current_button_pressed)
self.minimum_motor_voltage_button.pressed.connect(self.minimum_motor_voltage_button_pressed)
self.mode_dropbox.currentIndexChanged.connect(self.mode_changed)
self.qtcb_position_reached.connect(self.cb_position_reached)
self.stepper.register_callback(self.stepper.CALLBACK_POSITION_REACHED,
self.qtcb_position_reached.emit)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.stepper.register_callback(self.stepper.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.update_data_async_thread = None
self.ste = 0
self.pos = 0
self.current_velocity = 0
self.cur = 0
self.sv = 0
self.ev = 0
self.mv = 0
self.mod = 0
def start(self):
self.update_timer.start(100)
self.update_start()
def stop(self):
self.update_timer.stop()
def has_reset_device(self):
return self.version >= (1, 1, 4)
def reset_device(self):
if self.has_reset_device():
self.stepper.reset()
def is_brick(self):
return True
def get_url_part(self):
return 'stepper'
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickStepper.DEVICE_IDENTIFIER
def cb_position_reached(self, position):
self.position_update(position)
self.endis_all(True)
def disable_list(self, button_list):
for button in button_list:
button.setEnabled(False)
def endis_all(self, value):
self.forward_button.setEnabled(value)
self.stop_button.setEnabled(value)
self.backward_button.setEnabled(value)
self.to_button.setEnabled(value)
self.steps_button.setEnabled(value)
self.full_brake_button.setEnabled(value)
def mode_changed(self, index):
try:
self.stepper.set_step_mode(1 << index)
self.mod = 1 << index
except ip_connection.Error:
return
def forward_pressed(self):
try:
self.stepper.drive_forward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def backward_pressed(self):
try:
self.stepper.drive_backward()
except ip_connection.Error:
return
self.disable_list([self.to_button, self.steps_button])
def stop_pressed(self):
try:
self.stepper.stop()
except ip_connection.Error:
return
self.endis_all(True)
def full_brake_pressed(self):
try:
self.stepper.full_brake()
except ip_connection.Error:
return
self.endis_all(True)
def to_button_pressed(self):
drive_to = self.to_spin.value()
try:
self.stepper.set_target_position(drive_to)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def steps_button_pressed(self):
drive_steps = self.steps_spin.value()
try:
self.stepper.set_steps(drive_steps)
except ip_connection.Error:
return
self.disable_list([self.to_button,
self.steps_button,
self.forward_button,
self.backward_button])
def motor_current_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(2500)
qid.setIntStep(100)
async_call(self.stepper.get_motor_current, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.motor_current_selected)
qid.setLabelText("Choose motor current in mA.")
# "<font color=red>Setting this too high can destroy your Motor.</font>")
qid.open()
def minimum_motor_voltage_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(0)
qid.setIntMaximum(40000)
qid.setIntStep(100)
async_call(self.stepper.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.minimum_motor_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def motor_current_selected(self, value):
try:
self.stepper.set_motor_current(value)
except ip_connection.Error:
return
def minimum_motor_voltage_selected(self, value):
try:
self.stepper.set_minimum_voltage(value)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str,
"Stepper_UnderVoltage")
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.endis_all(True)
self.stepper.enable()
elif state == Qt.Unchecked:
self.endis_all(False)
self.stepper.disable()
except ip_connection.Error:
return
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def maximum_current_update(self, cur):
cur_str = "%gA" % round(cur/1000.0, 1)
self.maximum_current_label.setText(cur_str)
def position_update(self, pos):
pos_str = "%d" % pos
self.position_label.setText(pos_str)
def remaining_steps_update(self, ste):
ste_str = "%d" % ste
self.remaining_steps_label.setText(ste_str)
def mode_update(self, mod):
if mod == 8:
index = 3
elif mod == 4:
index = 2
elif mod == 2:
index = 1
else:
index = 0
self.mode_dropbox.setCurrentIndex(index)
def get_max_velocity_async(self, velocity):
if not self.velocity_slider.isSliderDown():
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
def get_speed_ramping_async(self, ramp):
acc, dec = ramp
if not self.acceleration_slider.isSliderDown() and \
not self.deceleration_slider.isSliderDown():
if acc != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acc)
self.acceleration_spin.setValue(acc)
if dec != self.deceleration_slider.sliderPosition():
self.deceleration_slider.setSliderPosition(dec)
self.deceleration_spin.setValue(dec)
def is_enabled_async(self, enabled):
if enabled:
if self.enable_checkbox.checkState() != Qt.Checked:
self.endis_all(True)
self.enable_checkbox.setCheckState(Qt.Checked)
else:
if self.enable_checkbox.checkState() != Qt.Unchecked:
self.endis_all(False)
self.enable_checkbox.setCheckState(Qt.Unchecked)
def update_start(self):
async_call(self.stepper.get_max_velocity, None, self.get_max_velocity_async, self.increase_error_count)
async_call(self.stepper.get_speed_ramping, None, self.get_speed_ramping_async, self.increase_error_count)
async_call(self.stepper.is_enabled, None, self.is_enabled_async, self.increase_error_count)
def update_data(self):
async_call(self.stepper.get_remaining_steps, None, self.remaining_steps_update, self.increase_error_count)
async_call(self.stepper.get_current_position, None, self.position_update, self.increase_error_count)
async_call(self.stepper.get_current_velocity, None, self.speedometer.set_velocity, self.increase_error_count)
self.update_counter += 1
if self.update_counter % 10 == 0:
async_call(self.stepper.get_motor_current, None, self.maximum_current_update, self.increase_error_count)
async_call(self.stepper.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count)
async_call(self.stepper.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count)
async_call(self.stepper.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count)
async_call(self.stepper.get_step_mode, None, self.mode_update, self.increase_error_count)
def velocity_slider_released(self):
value = self.velocity_slider.value()
self.velocity_spin.setValue(value)
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def velocity_spin_finished(self):
value = self.velocity_spin.value()
self.velocity_slider.setValue(value)
try:
self.stepper.set_max_velocity(value)
except ip_connection.Error:
return
def acceleration_slider_released(self):
acc = self.acceleration_slider.value()
dec = self.deceleration_slider.value()
self.acceleration_spin.setValue(acc)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def acceleration_spin_finished(self):
acc = self.acceleration_spin.value()
dec = self.deceleration_spin.value()
self.acceleration_slider.setValue(acc)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def deceleration_slider_released(self):
acc = self.acceleration_slider.value()
dec = self.deceleration_slider.value()
self.deceleration_spin.setValue(dec)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
def deceleration_spin_finished(self):
acc = self.acceleration_spin.value()
dec = self.deceleration_spin.value()
self.deceleration_slider.setValue(dec)
try:
self.stepper.set_speed_ramping(acc, dec)
except ip_connection.Error:
return
class ProjectXively(QWidget):
qtcb_update_illuminance = pyqtSignal(float)
qtcb_update_air_pressure = pyqtSignal(float)
qtcb_update_temperature = pyqtSignal(float)
qtcb_update_humidity = pyqtSignal(float)
qtcb_button_pressed = pyqtSignal(int)
lcdwidget = None
xively_host = "api.xively.com"
xively_agent = "Tinkerforge Starter Kit Weather Station Demo"
xively_channel = "Enter Feed ID here"
xively_api_key = "Enter API Key here"
xively_items = {}
xively_headers = None
xively_params = ""
xively_update_rate = 5 # in minutes
text_agent = None
text_channel = None
text_api_key = None
number_update_rate = None
save_button = None
xively_timer = None
error_message = None
label_upload_active = None
last_upload = None
def __init__(self, parent, app):
super(QWidget, self).__init__()
self.lcdwidget = LCDWidget(self, app)
self.lcdwidget.hide()
self.text_agent = QLineEdit(self)
self.text_agent.setText(self.xively_agent)
self.text_channel = QLineEdit(self)
self.text_channel.setText(self.xively_channel)
self.text_api_key = QLineEdit(self)
self.text_api_key.setText(self.xively_api_key)
self.number_update_rate = QSpinBox(self)
self.number_update_rate.setRange(1, 1440)
self.number_update_rate.setSuffix(' min')
self.number_update_rate.setValue(self.xively_update_rate)
layout1 = QHBoxLayout()
layout2 = QVBoxLayout()
layout1.addStretch()
layout1.addLayout(layout2)
layout1.addStretch()
layout2.addSpacerItem(QSpacerItem(LCDWidget.FIXED_WIDGTH, 0))
label = QLabel(self)
label.setText("Project: <b>Connect to Xively</b>. This project uploads the measured values to Xively. Please find documentation how to configure it and program sources in Python <a href=\"http://www.tinkerforge.com/en/doc/Kits/WeatherStation/WeatherStation.html#connect-to-xively\">here</a>.<br>")
label.setTextFormat(Qt.RichText)
label.setTextInteractionFlags(Qt.TextBrowserInteraction)
label.setOpenExternalLinks(True)
label.setWordWrap(True)
label.setAlignment(Qt.AlignJustify)
layout2.addSpacing(10)
layout2.addWidget(label)
layout2.addSpacing(10)
layout3a = QHBoxLayout()
label = QLabel("Agent Description:")
label.setMinimumWidth(150)
layout3a.addWidget(label)
layout3a.addWidget(self.text_agent, 1)
layout2.addLayout(layout3a)
layout2.addSpacing(10)
layout3b = QHBoxLayout()
label = QLabel("Feed:")
label.setMinimumWidth(150)
layout3b.addWidget(label)
layout3b.addWidget(self.text_channel, 1)
layout2.addLayout(layout3b)
layout2.addSpacing(10)
layout3c = QHBoxLayout()
label = QLabel("API Key:")
label.setMinimumWidth(150)
layout3c.addWidget(label)
layout3c.addWidget(self.text_api_key, 1)
layout2.addLayout(layout3c)
layout2.addSpacing(10)
layout3d = QHBoxLayout()
label = QLabel("Update Rate:")
label.setMinimumWidth(150)
layout3d.addWidget(label)
layout3d.addWidget(self.number_update_rate, 1)
layout2.addLayout(layout3d)
layout2.addSpacing(10)
self.label_upload_active = QLabel("Not Active", self)
self.label_upload_active.setMinimumWidth(150)
font = QFont()
font.setPixelSize(20)
self.label_upload_active.setFont(font)
self.set_active_label(False)
self.save_button = QPushButton("Save/Activate")
layout4 = QHBoxLayout()
layout4.addWidget(self.label_upload_active)
layout4.addWidget(self.save_button, 1)
layout2.addLayout(layout4)
layout2.addStretch()
self.setLayout(layout1)
self.qtcb_update_illuminance.connect(self.update_illuminance_data_slot)
self.qtcb_update_air_pressure.connect(self.update_air_pressure_data_slot)
self.qtcb_update_temperature.connect(self.update_temperature_data_slot)
self.qtcb_update_humidity.connect(self.update_humidity_data_slot)
self.qtcb_button_pressed.connect(self.button_pressed_slot)
self.save_button.clicked.connect(self.save_configuration)
self.lcdwidget.clear(self)
self.error_message = QErrorMessage(self)
def set_active_label(self, value):
palette = self.label_upload_active.palette()
if value:
palette.setColor(self.foregroundRole(), Qt.darkGreen)
self.label_upload_active.setText("Active")
else:
palette.setColor(self.foregroundRole(), Qt.red)
self.label_upload_active.setText("Not Active")
self.label_upload_active.setPalette(palette)
def save_configuration(self):
try:
self.xively_agent = str(self.text_agent.text()).decode('ascii')
self.xively_channel = str(self.text_channel.text()).decode('ascii')
self.xively_api_key = str(self.text_api_key.text()).decode('ascii')
except:
self.error_message.showMessage('Agent, Feed and API Key can only contain ASCII characters')
return
self.xively_update_rate = self.number_update_rate.value()
self.xively_headers = {
"Content-Type" : "application/x-www-form-urlencoded",
"X-ApiKey" : self.xively_api_key,
"User-Agent" : self.xively_agent,
}
self.xively_params = "/v2/feeds/" + self.xively_channel
if self.xively_timer is None:
self.xively_timer = QTimer(self)
self.xively_timer.timeout.connect(self.update_xively)
self.xively_timer.start(self.xively_update_rate*60*1000)
self.set_active_label(True)
self.update_xively()
def write_lcd(self):
if self.last_upload == None:
tmp = "Last: Never"
else:
tmp = "Last: " + self.last_upload
self.lcdwidget.write_line(0, 0, "Xively Upload", self)
self.lcdwidget.write_line(2, 0, tmp, self)
def update_xively(self):
if len(self.xively_items) == 0:
return
stream_items = []
for identifier, value in self.xively_items.items():
stream_items.append({'id': identifier,
'current_value': value[0],
'min_value': value[1],
'max_value': value[2]})
data = {'version': '1.0.0',
'datastreams': stream_items}
self.xively_items = {}
body = json.dumps(data)
try:
http = httplib.HTTPSConnection(self.xively_host)
http.request('PUT', self.xively_params, body, self.xively_headers)
response = http.getresponse()
http.close()
if response.status != 200:
self.error_message.showMessage('Could not upload to xively -> Response:' +
str(response.status) + ': ' + response.reason + '. Check your configuration.')
self.xively_timer.stop()
self.xively_timer = None
self.set_active_label(False)
return
except Exception as e:
self.error_message.showMessage('HTTP error: ' + str(e))
self.xively_timer.stop()
self.xively_timer = None
self.set_active_label(False)
return
# set upload time if upload was a success
self.last_upload = time.strftime("%H:%M:%S")
def put(self, identifier, value):
self.write_lcd()
try:
_, min_value, max_value = self.xively_items[identifier]
if value < min_value:
min_value = value
if value > max_value:
max_value = value
self.xively_items[identifier] = (value, min_value, max_value)
except:
self.xively_items[identifier] = (value, value, value)
def update_illuminance_data_slot(self, illuminance):
self.put('AmbientLight', illuminance/10.0)
def update_illuminance(self, illuminance):
self.qtcb_update_illuminance.emit(illuminance)
def update_humidity_data_slot(self, humidity):
self.put('Humidity', humidity/10.0)
def update_humidity(self, humidity):
self.qtcb_update_humidity.emit(humidity)
def update_air_pressure_data_slot(self, air_pressure):
self.put('AirPressure', air_pressure/1000.0)
def update_air_pressure(self, air_pressure):
self.qtcb_update_air_pressure.emit(air_pressure)
def update_temperature_data_slot(self, temperature):
self.put('Temperature', temperature/100.0)
def update_temperature(self, temperature):
self.qtcb_update_temperature.emit(temperature)
def button_pressed_slot(self, button):
pass
def button_pressed(self, button):
self.qtcb_button_pressed.emit(button)
class Editor(editor_base.EditorBase):
"""Representa el editor de texto que aparece en el panel derecho.
El editor soporta autocompletado de código y resaltado de sintáxis.
"""
# Señal es emitida cuando el Editor ejecuta codigo
signal_ejecutando = QtCore.pyqtSignal()
def __init__(self, main, interpreterLocals, consola_lanas, ventana_interprete):
super(Editor, self).__init__()
self.cantidad_ejecuciones = 0
self.consola_lanas = consola_lanas
self.ventana_interprete = ventana_interprete
self.ruta_del_archivo_actual = None
self.interpreterLocals = interpreterLocals
self.setLineWrapMode(QTextEdit.NoWrap)
self._cambios_sin_guardar = False
self.main = main
self.nombre_de_archivo_sugerido = ""
self.watcher = pilasengine.watcher.Watcher(None, self.cuando_cambia_archivo_de_forma_externa)
def crear_archivo_inicial(self):
dirpath = tempfile.mkdtemp()
archivo_temporal = os.path.join(dirpath, "mi_juego.py")
archivo = codecs.open(archivo_temporal, "w", 'utf-8')
archivo.write(CODIGO_INICIAL)
archivo.close()
#print("Creando el archivo " + str(archivo_temporal))
self.abrir_archivo_del_proyecto(archivo_temporal)
def es_archivo_iniciar_sin_guardar(self):
return self.nombre_de_archivo_sugerido == ""
def crear_y_seleccionar_archivo(self, nombre):
# Quita la extension si llega a tenerla.
nombre = nombre.replace('.py', '')
nombre += ".py"
nombre_de_archivo = nombre
if self.ruta_del_archivo_actual:
base_path = os.path.abspath(os.path.dirname(self.ruta_del_archivo_actual))
ruta = os.path.join(base_path, unicode(nombre_de_archivo))
else:
ruta = unicode(nombre_de_archivo)
if os.path.exists(ruta):
self._tmp_dialog = QErrorMessage(self)
self._tmp_dialog.showMessage("Ya existe un archivo con ese nombre")
else:
self._crear_archivo_nuevo_en(ruta)
self.cargar_contenido_desde_archivo(ruta)
self.ruta_del_archivo_actual = ruta
self.watcher.cambiar_archivo_a_observar(ruta)
self.ejecutar()
self.main.actualizar_el_listado_de_archivos()
def _crear_archivo_nuevo_en(self, ruta):
fo = open(ruta, "wb")
fo.write("# contenido")
fo.close()
def obtener_archivos_del_proyecto(self):
base_path = os.path.dirname(self.nombre_de_archivo_sugerido)
listado = os.listdir(base_path)
return [x for x in listado if x.endswith('.py')]
def keyPressEvent(self, event):
"Atiene el evento de pulsación de tecla."
self._cambios_sin_guardar = True
# Permite usar tab como seleccionador de la palabra actual
# en el popup de autocompletado.
if event.key() in [Qt.Key_Tab]:
if self.completer and self.completer.popup().isVisible():
event.ignore()
nuevo_evento = QKeyEvent(QKeyEvent.KeyPress, Qt.Key_Return, Qt.NoModifier)
try:
if self.autocomplete(nuevo_evento):
return None
except UnicodeEncodeError:
pass
return None
if editor_base.EditorBase.keyPressEvent(self, event):
return None
# Elimina los pares de caracteres especiales si los encuentra
if event.key() == Qt.Key_Backspace:
self._eliminar_pares_de_caracteres()
self._borrar_un_grupo_de_espacios(event)
if self.autocomplete(event):
return None
if event.key() == Qt.Key_Return:
cursor = self.textCursor()
block = self.document().findBlockByNumber(cursor.blockNumber())
whitespace = re.match(r"(\s*)", unicode(block.text())).group(1)
linea_anterior = str(block.text()[:])
cantidad_espacios = linea_anterior.count(' ') / 4
if linea_anterior[-1:] == ':':
whitespace = ' ' * (cantidad_espacios + 1)
else:
whitespace = ' ' * (cantidad_espacios)
QTextEdit.keyPressEvent(self, event)
return self.insertPlainText(whitespace)
return QTextEdit.keyPressEvent(self, event)
def _borrar_un_grupo_de_espacios(self, event):
cursor = self.textCursor()
block = self.document().findBlockByNumber(cursor.blockNumber())
whitespace = re.match(r"(.*)", unicode(block.text())).group(1)
if whitespace.endswith(' '):
QTextEdit.keyPressEvent(self, event)
QTextEdit.keyPressEvent(self, event)
QTextEdit.keyPressEvent(self, event)
def tiene_cambios_sin_guardar(self):
return self._cambios_sin_guardar
def _get_current_line(self):
"Obtiene la linea en donde se encuentra el cursor."
tc = self.textCursor()
tc.select(QTextCursor.LineUnderCursor)
return tc.selectedText()
def _get_position_in_block(self):
tc = self.textCursor()
position = tc.positionInBlock() - 1
return position
def cargar_contenido_desde_archivo(self, ruta):
"Carga todo el contenido del archivo indicado por ruta."
with codecs.open(unicode(ruta), 'r', 'utf-8') as archivo:
contenido = archivo.read()
self.setText(contenido)
self.nombre_de_archivo_sugerido = ruta
self._cambios_sin_guardar = False
def abrir_dialogo_cargar_archivo(self):
return QFileDialog.getOpenFileName(self, "Abrir Archivo",
self.nombre_de_archivo_sugerido,
"Archivos python (*.py)",
options=QFileDialog.DontUseNativeDialog)
def abrir_archivo_del_proyecto(self, nombre_de_archivo):
if self.tiene_cambios_sin_guardar():
if self.mensaje_guardar_cambios_abrir():
if not self.guardar_contenido_con_dialogo():
return
else:
return
if self.ruta_del_archivo_actual:
base_path = os.path.dirname(self.ruta_del_archivo_actual)
ruta = os.path.join(base_path, unicode(nombre_de_archivo))
else:
ruta = unicode(nombre_de_archivo)
self.cargar_contenido_desde_archivo(ruta)
self.ruta_del_archivo_actual = ruta
self.watcher.cambiar_archivo_a_observar(ruta)
self.ejecutar()
self.main.actualizar_el_listado_de_archivos()
def abrir_archivo_con_dialogo(self):
if self.tiene_cambios_sin_guardar():
if self.mensaje_guardar_cambios_abrir():
if not self.guardar_contenido_con_dialogo():
return
else:
return
ruta = self.abrir_dialogo_cargar_archivo()
if ruta:
ruta = unicode(ruta)
self.cargar_contenido_desde_archivo(ruta)
self.ruta_del_archivo_actual = ruta
self.watcher.cambiar_archivo_a_observar(ruta)
self.ejecutar()
self.main.actualizar_el_listado_de_archivos()
def cuando_cambia_archivo_de_forma_externa(self):
self.recargar_archivo_actual()
def recargar_archivo_actual(self):
if self.ruta_del_archivo_actual:
self.cargar_contenido_desde_archivo(self.ruta_del_archivo_actual)
self.ejecutar()
def mensaje_guardar_cambios_abrir(self):
"""Realizar una consulta usando un cuadro de dialogo simple
se utiliza cuando hay cambios sin guardar y se desea abrir un archivo.
Retorna True si el usuario presiona el boton *Guardar*,
Retorna False si el usuario presiona *No*."""
titulo = u"¿Deseas guardar el contenido antes de abrir un archivo?"
mensaje = u"El contenido se perdera sino los guardas"
mensaje = QMessageBox.question(self, titulo, mensaje, "Guardar", "No")
return (not mensaje)
def mensaje_guardar_cambios_salir(self):
"""Realizar una consulta usando un cuadro de dialogo simple
se utiliza cuando hay cambios sin guardar y se desa salir del Editor.
Retorna 0 si el usuario presiona el boton *Salir sin guardar*,
Retorna 1 si el usuario presiona *Guardar*
Retorna 2 si presiona *Cancelar*."""
titulo = u"¿Deseas guardar el contenido antes de salir?"
mensaje = u"El contenido se perdera sino los guardas"
return QMessageBox.question(self, titulo, mensaje,
"Salir sin guardar", "Guardar", "Cancelar")
def marcar_error_en_la_linea(self, numero, descripcion):
hi_selection = QTextEdit.ExtraSelection()
hi_selection.format.setBackground(QColor(255, 220, 220))
hi_selection.format.setProperty(QTextFormat.FullWidthSelection, QVariant(True))
hi_selection.cursor = self.textCursor()
posicion_linea = self.document().findBlockByLineNumber(numero).position()
hi_selection.cursor.setPosition(posicion_linea)
hi_selection.cursor.clearSelection()
self.setExtraSelections([hi_selection])
def guardar_contenido_con_dialogo(self):
ruta = self.abrir_dialogo_guardar_archivo()
if not ruta:
return False
ruta = unicode(ruta)
if not ruta.endswith('.py'):
ruta += '.py'
if ruta:
self.guardar_contenido_en_el_archivo(ruta)
self._cambios_sin_guardar = False
self.ruta_del_archivo_actual = ruta
self.nombre_de_archivo_sugerido = ruta
self.watcher.cambiar_archivo_a_observar(ruta)
self.cargar_contenido_desde_archivo(ruta)
self.ejecutar()
self.main.actualizar_el_listado_de_archivos()
self.main.habilitar_boton_nuevo()
return True
def guardar_contenido_directamente(self):
if self.nombre_de_archivo_sugerido:
self.guardar_contenido_en_el_archivo(self.nombre_de_archivo_sugerido)
self._cambios_sin_guardar = False
self.main.actualizar_el_listado_de_archivos()
self.prevenir_live_reload()
else:
self.guardar_contenido_con_dialogo()
def prevenir_live_reload(self):
self.watcher.prevenir_reinicio()
def salir(self):
"""Retorna True si puede salir y False si no"""
if self.tiene_cambios_sin_guardar():
mensaje = self.mensaje_guardar_cambios_salir()
if mensaje == 1:
self.guardar_contenido_con_dialogo()
elif mensaje == 2:
return False
return True
def obtener_contenido(self):
return unicode(self.document().toPlainText())
def ejecutar(self):
ruta_personalizada = os.path.dirname(self.ruta_del_archivo_actual)
#print "ejecutando texto desde widget editor"
texto = self.obtener_contenido()
#texto = self.editor.obtener_texto_sanitizado(self)
# elimina cabecera de encoding.
contenido = re.sub('coding\s*:\s*', '', texto)
contenido = contenido.replace('import pilasengine', '')
contenido = contenido.replace('pilas = pilasengine.iniciar', 'pilas.reiniciar')
for x in contenido.split('\n'):
if "__file__" in x:
contenido = contenido.replace(x, "# livecoding: " + x + "\n")
sys.path.append(ruta_personalizada)
self.interpreterLocals['sys'] = sys
# Muchos códigos personalizados necesitan cargar imágenes o sonidos
# desde el directorio que contiene al archivo. Para hacer esto posible,
# se llama a la función "pilas.utils.agregar_ruta_personalizada" con el
# path al directorio que representa el script. Así la función "obtener_ruta_al_recurso"
# puede evaluar al directorio del script en busca de recursos también.
if ruta_personalizada:
ruta_personalizada = ruta_personalizada.replace('\\', '/')
agregar_ruta_personalizada = 'pilas.utils.agregar_ruta_personalizada("%s")' %(ruta_personalizada)
contenido = contenido.replace('pilas.reiniciar(', agregar_ruta_personalizada+'\n'+'pilas.reiniciar(')
modulos_a_recargar = [x for x in self.interpreterLocals.values()
if inspect.ismodule(x)
and x.__name__ not in ['pilasengine', 'inspect']
and 'pilasengine.' not in x.__name__]
for m in modulos_a_recargar:
reload(m)
self.cantidad_ejecuciones += 1
# Limpia la consola a partir de la primer ejecucion luego de iniciar.
if self.cantidad_ejecuciones > 1:
self.main.limpiar_interprete()
try:
exec(contenido, self.interpreterLocals)
except Exception, e:
self.consola_lanas.insertar_error_desde_exception(e)
self.ventana_interprete.mostrar_el_interprete()
#self.marcar_error_en_la_linea(10, "pepepe")
self.signal_ejecutando.emit()
class Blinkenlights(QApplication):
HOST = "localhost"
PORT = 4223
ipcon = None
projects = []
active_project = None
error_msg = None
def __init__(self, args):
super(QApplication, self).__init__(args)
self.error_msg = QErrorMessage()
self.error_msg.setWindowTitle("Starter Kit: Blinkenlights Demo " + config.DEMO_VERSION)
signal.signal(signal.SIGINT, self.exit_demo)
signal.signal(signal.SIGTERM, self.exit_demo)
self.make_gui()
self.connect()
def exit_demo(self, signl=None, frme=None):
try:
self.ipcon.disconnect()
self.timer.stop()
self.tabs.destroy()
except:
pass
sys.exit()
def make_gui(self):
self.main = MainWindow(self)
self.main.setWindowIcon(QIcon(os.path.join(ProgramPath.program_path(), "demo-icon.png")))
self.tabs = QTabWidget()
widget = QWidget()
layout = QVBoxLayout()
layout.addWidget(self.tabs)
widget.setLayout(layout)
self.main.setCentralWidget(widget)
self.setup = SetupWidget(self.tabs, self)
self.tetris = TetrisWidget(self.tabs, self)
self.pong = PongWidget(self.tabs, self)
self.fire = FireWidget(self.tabs, self)
self.text = TextWidget(self.tabs, self)
self.images = ImagesWidget(self.tabs, self)
self.rainbow = RainbowWidget(self.tabs, self)
self.projects.append(self.setup)
self.projects.append(self.tetris)
self.projects.append(self.pong)
self.projects.append(self.fire)
self.projects.append(self.text)
self.projects.append(self.images)
self.projects.append(self.rainbow)
self.tabs.addTab(self.setup, "Setup")
self.tabs.addTab(self.tetris, "Tetris")
self.tabs.addTab(self.pong, "Pong")
self.tabs.addTab(self.fire, "Fire")
self.tabs.addTab(self.text, "Text")
self.tabs.addTab(self.images, "Images")
self.tabs.addTab(self.rainbow, "Rainbow")
self.active_project = self.projects[0]
self.tabs.currentChanged.connect(self.tab_changed_slot)
self.main.setWindowTitle("Starter Kit: Blinkenlights Demo " + config.DEMO_VERSION)
self.main.show()
def connect(self):
config.UID_LED_STRIP_BRICKLET = None
self.setup.label_led_strip_found.setText('No')
self.setup.label_led_strip_uid.setText('None')
config.UID_MULTI_TOUCH_BRICKLET = None
self.setup.label_multi_touch_found.setText('No')
self.setup.label_multi_touch_uid.setText('None')
config.UID_DUAL_BUTTON_BRICKLET = (None, None)
self.setup.label_dual_button1_found.setText('No')
self.setup.label_dual_button1_uid.setText('None')
self.setup.label_dual_button2_found.setText('No')
self.setup.label_dual_button2_uid.setText('None')
config.UID_PIEZO_SPEAKER_BRICKLET = None
self.setup.label_piezo_speaker_found.setText('No')
self.setup.label_piezo_speaker_uid.setText('None')
config.UID_SEGMENT_DISPLAY_4X7_BRICKLET = None
self.setup.label_segment_display_found.setText('No')
self.setup.label_segment_display_uid.setText('None')
if self.ipcon != None:
try:
self.ipcon.disconnect()
except:
pass
self.ipcon = IPConnection()
host = self.setup.edit_host.text()
port = self.setup.spinbox_port.value()
try:
self.ipcon.connect(host, port)
except Error as e:
self.error_msg.showMessage('Connection Error: ' + str(e.description) + "<br><br>Brickd installed and running?")
return
except socket.error as e:
self.error_msg.showMessage('Socket error: ' + str(e) + "<br><br>Brickd installed and running?")
return
self.ipcon.register_callback(IPConnection.CALLBACK_ENUMERATE,
self.cb_enumerate)
self.ipcon.register_callback(IPConnection.CALLBACK_CONNECTED,
self.cb_connected)
# Wait for a second to give user visual feedback
timer = QTimer(self)
timer.setSingleShot(True)
timer.timeout.connect(self.ipcon.enumerate)
timer.start(250)
def tab_changed_slot(self, tabIndex):
self.active_project.stop()
self.active_project = self.projects[tabIndex]
self.active_project.start()
def cb_enumerate(self, uid, connected_uid, position, hardware_version,
firmware_version, device_identifier, enumeration_type):
if enumeration_type == IPConnection.ENUMERATION_TYPE_CONNECTED or \
enumeration_type == IPConnection.ENUMERATION_TYPE_AVAILABLE:
if device_identifier == LEDStrip.DEVICE_IDENTIFIER:
config.UID_LED_STRIP_BRICKLET = uid
self.setup.label_led_strip_found.setText('Yes')
self.setup.label_led_strip_uid.setText(uid)
elif device_identifier == MultiTouch.DEVICE_IDENTIFIER:
config.UID_MULTI_TOUCH_BRICKLET = uid
self.setup.label_multi_touch_found.setText('Yes')
self.setup.label_multi_touch_uid.setText(uid)
elif device_identifier == DualButton.DEVICE_IDENTIFIER:
if config.UID_DUAL_BUTTON_BRICKLET[0] == None:
config.UID_DUAL_BUTTON_BRICKLET = (uid, None)
self.setup.label_dual_button1_found.setText('Yes')
self.setup.label_dual_button1_uid.setText(uid)
else:
config.UID_DUAL_BUTTON_BRICKLET = (config.UID_DUAL_BUTTON_BRICKLET[0], uid)
self.setup.label_dual_button2_found.setText('Yes')
self.setup.label_dual_button2_uid.setText(uid)
elif device_identifier == PiezoSpeaker.DEVICE_IDENTIFIER:
config.UID_PIEZO_SPEAKER_BRICKLET = uid
self.setup.label_piezo_speaker_found.setText('Yes')
self.setup.label_piezo_speaker_uid.setText(uid)
elif device_identifier == SegmentDisplay4x7.DEVICE_IDENTIFIER:
config.UID_SEGMENT_DISPLAY_4X7_BRICKLET = uid
self.setup.label_segment_display_found.setText('Yes')
self.setup.label_segment_display_uid.setText(uid)
def cb_connected(self, connected_reason):
if connected_reason == IPConnection.CONNECT_REASON_AUTO_RECONNECT:
while True:
try:
self.ipcon.enumerate()
break
except Error as e:
self.error_msg.showMessage('Enumerate Error: ' + str(e.description))
time.sleep(1)
except socket.error: # Good si is correct (on UNIX)
otherinstance = True
else:
# On windows only singleinstance can be trusted
otherinstance = True if iswindows else False
if not otherinstance and not opts.shutdown_running_calibre:
return run_gui(opts, args, listener, app, gui_debug=gui_debug)
communicate(opts, args)
return 0
if __name__ == "__main__":
try:
sys.exit(main())
except Exception as err:
if not iswindows:
raise
tb = traceback.format_exc()
from PyQt4.QtGui import QErrorMessage
logfile = os.path.join(os.path.expanduser("~"), "calibre.log")
if os.path.exists(logfile):
log = open(logfile).read().decode("utf-8", "ignore")
d = QErrorMessage()
d.showMessage(
("<b>Error:</b>%s<br><b>Traceback:</b><br>" "%s<b>Log:</b><br>%s")
% (unicode(err), unicode(tb).replace("\n", "<br>"), log.replace("\n", "<br>"))
)
otherinstance = True
else:
# On windows only singleinstance can be trusted
otherinstance = True if iswindows else False
if not otherinstance and not opts.shutdown_running_calibre:
return run_gui(opts, args, actions, listener, app, gui_debug=gui_debug)
communicate(opts, args)
return 0
if __name__ == '__main__':
try:
sys.exit(main())
except Exception as err:
if not iswindows:
raise
tb = traceback.format_exc()
from PyQt4.QtGui import QErrorMessage
logfile = os.path.join(os.path.expanduser('~'), 'calibre.log')
if os.path.exists(logfile):
log = open(logfile).read().decode('utf-8', 'ignore')
d = QErrorMessage()
d.showMessage(('<b>Error:</b>%s<br><b>Traceback:</b><br>'
'%s<b>Log:</b><br>%s')%(unicode(err),
unicode(tb).replace('\n', '<br>'),
log.replace('\n', '<br>')))
class Servo(PluginBase, Ui_Servo):
qtcb_under_voltage = pyqtSignal(int)
def __init__(self, *args):
PluginBase.__init__(self, BrickServo, *args)
self.setupUi(self)
self.servo = self.device
self.position_list = []
self.velocity_list = []
self.acceleration_list = []
self.enable_list = []
self.up_cur = 0
self.up_siv = 0
self.up_eiv = 0
self.up_opv = 0
self.up_mv = 0
self.up_ena = [0] * 7
self.up_pos = [0] * 7
self.up_vel = [0] * 7
self.up_acc = [0] * 7
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_apply)
self.update_timer.setInterval(50)
self.alive = True
for i in range(1, 8):
label = QLabel()
label.setText('Off')
self.enable_list.append(label)
self.status_grid.addWidget(label, i, 1)
for i in range(1, 8):
pk = PositionKnob()
self.position_list.append(pk)
self.status_grid.addWidget(pk, i, 2)
for i in range(1, 8):
cb = ColorBar(Qt.Vertical)
self.velocity_list.append(cb)
self.status_grid.addWidget(cb, i, 3)
for i in range(1, 8):
cb = ColorBar(Qt.Vertical)
self.acceleration_list.append(cb)
self.status_grid.addWidget(cb, i, 4)
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.test_button.clicked.connect(self.test_button_clicked)
self.output_voltage_button.clicked.connect(
self.output_voltage_button_clicked)
self.servo_dropbox.currentIndexChanged.connect(
lambda x: self.update_servo_specific())
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.position_syncer = SliderSpinSyncer(self.position_slider,
self.position_spin,
self.position_changed)
self.velocity_syncer = SliderSpinSyncer(self.velocity_slider,
self.velocity_spin,
self.velocity_changed)
self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider,
self.acceleration_spin,
self.acceleration_changed)
self.period_syncer = SliderSpinSyncer(self.period_slider,
self.period_spin,
self.period_changed)
self.pulse_width_min_spin.editingFinished.connect(
self.pulse_width_spin_finished)
self.pulse_width_max_spin.editingFinished.connect(
self.pulse_width_spin_finished)
self.degree_min_spin.editingFinished.connect(self.degree_spin_finished)
self.degree_max_spin.editingFinished.connect(self.degree_spin_finished)
self.minimum_voltage_button.clicked.connect(
self.minimum_voltage_button_clicked)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.servo.register_callback(self.servo.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
class WorkerThread(QThread):
def __init__(self, parent=None, func=None):
QThread.__init__(self, parent)
self.func = func
def run(self):
self.func()
self.test_event = Event()
self.test_thread_object = WorkerThread(self, self.test_thread)
self.update_event = Event()
self.update_thread_object = WorkerThread(self, self.update_thread)
self.update_thread_first_time = False
self.update_done_event = Event()
self.update_done_event.set()
if self.firmware_version >= (2, 3, 1):
self.status_led_action = QAction('Status LED', self)
self.status_led_action.setCheckable(True)
self.status_led_action.toggled.connect(
lambda checked: self.servo.enable_status_led()
if checked else self.servo.disable_status_led())
self.set_configs([(0, None, [self.status_led_action])])
else:
self.status_led_action = None
if self.firmware_version >= (1, 1, 3):
reset = QAction('Reset', self)
reset.triggered.connect(lambda: self.servo.reset())
self.set_actions([(0, None, [reset])])
def start(self):
if self.firmware_version >= (2, 3, 1):
async_call(self.servo.is_status_led_enabled, None,
self.status_led_action.setChecked,
self.increase_error_count)
self.alive = True
self.test_event.clear()
self.update_done_event.set()
self.update_event.set()
if not self.test_thread_object.isRunning():
self.test_thread_object.start()
if not self.update_thread_object.isRunning():
self.update_thread_object.start()
self.update_servo_specific()
self.update_timer.start()
def stop(self):
if self.test_button.text() == "Stop Test":
self.test_button_clicked()
self.update_timer.stop()
self.update_event.clear()
self.alive = False
self.update_done_event.wait()
def destroy(self):
self.test_event.set()
self.update_event.set()
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickServo.DEVICE_IDENTIFIER
def get_period_async(self, per):
self.period_spin.setValue(per)
self.period_slider.setValue(per)
def is_enabled_async(self, ena):
self.enable_checkbox.setChecked(ena)
def get_position_async(self, pos):
self.position_spin.setValue(pos)
self.position_slider.setValue(pos)
def get_velocity_async(self, vel):
self.velocity_spin.setValue(vel)
self.velocity_slider.setValue(vel)
def get_acceleration_async(self, acc):
self.acceleration_spin.setValue(acc)
self.acceleration_slider.setValue(acc)
def get_degree_async(self, deg, i):
deg_min, deg_max = deg
self.degree_min_spin.setValue(deg_min)
self.degree_max_spin.setValue(deg_max)
self.position_slider.setMinimum(deg_min)
self.position_slider.setMaximum(deg_max)
self.position_spin.setMinimum(deg_min)
self.position_spin.setMaximum(deg_max)
self.position_list[i].set_total_angle((deg_max - deg_min) / 100)
self.position_list[i].set_range(deg_min / 100, deg_max / 100)
def get_pulse_width_async(self, pulse):
pulse_min, pulse_max = pulse
self.pulse_width_min_spin.setValue(pulse_min)
self.pulse_width_max_spin.setValue(pulse_max)
def update_servo_specific(self):
i = self.selected_servo()
if i == 255:
self.enable_checkbox.setChecked(False)
return
async_call(self.servo.get_position, i, self.get_position_async,
self.increase_error_count)
async_call(self.servo.get_velocity, i, self.get_velocity_async,
self.increase_error_count)
async_call(self.servo.get_acceleration, i, self.get_acceleration_async,
self.increase_error_count)
async_call(self.servo.get_period, i, self.get_period_async,
self.increase_error_count)
async_call(self.servo.is_enabled, i, self.is_enabled_async,
self.increase_error_count)
def get_lambda_deg(i):
return lambda x: self.get_degree_async(x, i)
async_call(self.servo.get_degree, i, get_lambda_deg(i),
self.increase_error_count)
async_call(self.servo.get_pulse_width, i, self.get_pulse_width_async,
self.increase_error_count)
def error_handler(self, error):
pass
def servo_current_update(self, value):
self.current_label.setText(str(value) + "mA")
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv / 1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev / 1000.0, 1)
self.external_voltage_label.setText(ev_str)
def output_voltage_update(self, ov):
ov_str = "%gV" % round(ov / 1000.0, 1)
self.output_voltage_label.setText(ov_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv / 1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def position_update(self, i, pos):
self.position_list[i].set_value(pos / 100)
def velocity_update(self, i, vel):
self.velocity_list[i].set_height(vel * 100 / 0xFFFF)
def acceleration_update(self, i, acc):
self.acceleration_list[i].set_height(acc * 100 / 0xFFFF)
def deactivate_servo(self, i):
if self.enable_list[i].text() != 'Off':
self.velocity_list[i].grey()
self.acceleration_list[i].grey()
def activate_servo(self, i):
if self.enable_list[i].text() != 'On':
self.velocity_list[i].color()
self.acceleration_list[i].color()
def selected_servo(self):
try:
return int(self.servo_dropbox.currentText()[-1:])
except:
return 255
def enable_state_changed(self, state):
s = self.selected_servo()
try:
if state == Qt.Checked:
self.servo.enable(s)
elif state == Qt.Unchecked:
self.servo.disable(s)
except ip_connection.Error:
return
def update_apply(self):
if not self.update_thread_first_time:
return
self.servo_current_update(self.up_cur)
self.stack_input_voltage_update(self.up_siv)
self.external_input_voltage_update(self.up_eiv)
self.output_voltage_update(self.up_opv)
self.minimum_voltage_update(self.up_mv)
for i in range(7):
if self.up_ena[i]:
self.activate_servo(i)
self.position_update(i, self.up_pos[i])
self.velocity_update(i, self.up_vel[i])
self.acceleration_update(i, self.up_acc[i])
self.enable_list[i].setText('On')
else:
self.deactivate_servo(i)
self.enable_list[i].setText('Off')
def update_thread(self):
while self.alive:
time.sleep(0.1)
try:
servo = self.selected_servo()
if servo == 255:
self.up_cur = self.servo.get_overall_current()
else:
self.up_cur = self.servo.get_servo_current(servo)
self.up_siv = self.servo.get_stack_input_voltage()
self.up_eiv = self.servo.get_external_input_voltage()
self.up_opv = self.servo.get_output_voltage()
self.up_mv = self.servo.get_minimum_voltage()
for i in range(7):
self.up_ena[i] = self.servo.is_enabled(i)
if self.up_ena[i]:
self.activate_servo(i)
self.up_pos[i] = self.servo.get_current_position(i)
self.up_vel[i] = self.servo.get_current_velocity(i)
self.up_acc[i] = self.servo.get_acceleration(i)
#self.update_apply()
self.update_done_event.set()
self.update_event.wait()
self.update_done_event.clear()
except ip_connection.Error:
pass
self.update_thread_first_time = True
self.update_done_event.set()
def test_thread(self):
def test(num, ena, acc, vel, pos):
if not self.alive:
return
try:
if ena:
self.servo.enable(num)
else:
self.servo.disable(num)
self.servo.set_acceleration(num, acc)
self.servo.set_velocity(num, vel)
self.servo.set_position(num, pos)
except ip_connection.Error:
return
def random_test():
for i in range(7):
test(i, random.randrange(0, 2), random.randrange(0, 65536),
random.randrange(0, 65536), random.randrange(-9000, 9001))
while self.alive:
self.test_event.wait()
if not self.alive:
return
# Full Speed left for 2 seconds
for i in range(7):
test(i, True, 65535, 65535, 9000)
time.sleep(2)
self.test_event.wait()
if not self.alive:
return
# Full Speed right for 2 seconds
for i in range(7):
test(i, True, 65535, 65535, -9000)
time.sleep(2)
self.test_event.wait()
if not self.alive:
return
# Test different speeds
for i in range(19):
for j in range(7):
test(j, True, 65535, 65535 * i / 18, -9000 + i * 1000)
time.sleep(0.1)
self.test_event.wait()
if not self.alive:
return
time.sleep(1)
self.test_event.wait()
if not self.alive:
return
# Test acceleration
for i in range(7):
test(i, True, 100, 65535, -9000)
time.sleep(3)
self.test_event.wait()
if not self.alive:
return
# Random for 3 seconds
random_test()
time.sleep(3)
def test_button_clicked(self):
if self.test_button.text() == "Start Test":
self.test_button.setText("Stop Test")
self.test_event.set()
else:
self.test_button.setText("Start Test")
self.test_event.clear()
def output_voltage_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(2000)
qid.setIntMaximum(9000)
qid.setIntStep(100)
async_call(self.servo.get_output_voltage, None, qid.setIntValue,
self.increase_error_count)
qid.intValueSelected.connect(self.output_voltage_selected)
qid.setLabelText("Choose Output Voltage in mV.")
# "<font color=red>Setting this too high can destroy your servo.</font>")
qid.open()
def output_voltage_selected(self, value):
try:
self.servo.set_output_voltage(value)
except ip_connection.Error:
return
def position_changed(self, value):
try:
self.servo.set_position(self.selected_servo(), value)
except ip_connection.Error:
return
def velocity_changed(self, value):
try:
self.servo.set_velocity(self.selected_servo(), value)
except ip_connection.Error:
return
def acceleration_changed(self, value):
try:
self.servo.set_acceleration(self.selected_servo(), value)
except ip_connection.Error:
return
def period_changed(self, value):
try:
self.servo.set_period(self.selected_servo(), value)
except ip_connection.Error:
return
def pulse_width_spin_finished(self):
try:
self.servo.set_pulse_width(self.selected_servo(),
self.pulse_width_min_spin.value(),
self.pulse_width_max_spin.value())
except ip_connection.Error:
return
def degree_spin_finished(self):
min = self.degree_min_spin.value()
max = self.degree_max_spin.value()
servo = self.selected_servo()
self.position_slider.setMinimum(min)
self.position_slider.setMaximum(max)
self.position_spin.setMinimum(min)
self.position_spin.setMaximum(max)
if servo == 255:
for i in range(7):
self.position_list[i].set_total_angle((max - min) / 100)
self.position_list[i].set_range(min / 100, max / 100)
else:
self.position_list[servo].set_total_angle((max - min) / 100)
self.position_list[servo].set_range(min / 100, max / 100)
try:
self.servo.set_degree(servo, min, max)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov / 1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage(
"Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str, "Servo_UnterVoltage")
def minimum_voltage_selected(self, value):
try:
self.servo.set_minimum_voltage(value)
except ip_connection.Error:
return
def minimum_voltage_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(5000)
qid.setIntMaximum(0xFFFF)
qid.setIntStep(100)
async_call(self.servo.get_minimum_voltage, None, qid.setIntValue,
self.increase_error_count)
qid.intValueSelected.connect(self.minimum_voltage_selected)
qid.setLabelText("Choose minimum servo voltage in mV.")
qid.open()
class Editor(editor_base.EditorBase):
"""Representa el editor de texto que aparece en el panel derecho.
El editor soporta autocompletado de código y resaltado de sintáxis.
"""
# Señal es emitida cuando el Editor ejecuta codigo
signal_ejecutando = QtCore.pyqtSignal()
def __init__(self, main, interpreterLocals, consola_lanas,
ventana_interprete):
super(Editor, self).__init__()
self.cantidad_ejecuciones = 0
self.consola_lanas = consola_lanas
self.ventana_interprete = ventana_interprete
self.ruta_del_archivo_actual = None
self.interpreterLocals = interpreterLocals
self.setLineWrapMode(QTextEdit.NoWrap)
self._cambios_sin_guardar = False
self.main = main
self.nombre_de_archivo_sugerido = ""
self.watcher = pilasengine.watcher.Watcher(
None, self.cuando_cambia_archivo_de_forma_externa)
def crear_archivo_inicial(self):
dirpath = tempfile.mkdtemp()
archivo_temporal = os.path.join(dirpath, "mi_juego.py")
archivo = codecs.open(archivo_temporal, "w", 'utf-8')
archivo.write(CODIGO_INICIAL)
archivo.close()
#print("Creando el archivo " + str(archivo_temporal))
self.abrir_archivo_del_proyecto(archivo_temporal)
def es_archivo_iniciar_sin_guardar(self):
return self.nombre_de_archivo_sugerido == ""
def crear_y_seleccionar_archivo(self, nombre):
# Quita la extension si llega a tenerla.
nombre = nombre.replace('.py', '')
nombre += ".py"
nombre_de_archivo = nombre
if self.ruta_del_archivo_actual:
base_path = os.path.abspath(
os.path.dirname(self.ruta_del_archivo_actual))
ruta = os.path.join(base_path, unicode(nombre_de_archivo))
else:
ruta = unicode(nombre_de_archivo)
if os.path.exists(ruta):
self._tmp_dialog = QErrorMessage(self)
self._tmp_dialog.showMessage("Ya existe un archivo con ese nombre")
else:
self._crear_archivo_nuevo_en(ruta)
self.cargar_contenido_desde_archivo(ruta)
self.ruta_del_archivo_actual = ruta
self.watcher.cambiar_archivo_a_observar(ruta)
self.ejecutar()
self.main.actualizar_el_listado_de_archivos()
def _crear_archivo_nuevo_en(self, ruta):
fo = open(ruta, "wb")
fo.write("# contenido")
fo.close()
def obtener_archivos_del_proyecto(self):
base_path = os.path.dirname(self.nombre_de_archivo_sugerido)
listado = os.listdir(base_path)
return [x for x in listado if x.endswith('.py')]
def keyPressEvent(self, event):
"Atiene el evento de pulsación de tecla."
self._cambios_sin_guardar = True
# Permite usar tab como seleccionador de la palabra actual
# en el popup de autocompletado.
if event.key() in [Qt.Key_Tab]:
if self.completer and self.completer.popup().isVisible():
event.ignore()
nuevo_evento = QKeyEvent(QKeyEvent.KeyPress, Qt.Key_Return,
Qt.NoModifier)
try:
if self.autocomplete(nuevo_evento):
return None
except UnicodeEncodeError:
pass
return None
if editor_base.EditorBase.keyPressEvent(self, event):
return None
# Elimina los pares de caracteres especiales si los encuentra
if event.key() == Qt.Key_Backspace:
self._eliminar_pares_de_caracteres()
self._borrar_un_grupo_de_espacios(event)
if self.autocomplete(event):
return None
if event.key() == Qt.Key_Return:
cursor = self.textCursor()
block = self.document().findBlockByNumber(cursor.blockNumber())
whitespace = re.match(r"(\s*)", unicode(block.text())).group(1)
linea_anterior = str(block.text()[:])
cantidad_espacios = linea_anterior.count(' ') / 4
if linea_anterior[-1:] == ':':
whitespace = ' ' * (cantidad_espacios + 1)
else:
whitespace = ' ' * (cantidad_espacios)
QTextEdit.keyPressEvent(self, event)
return self.insertPlainText(whitespace)
return QTextEdit.keyPressEvent(self, event)
def _borrar_un_grupo_de_espacios(self, event):
cursor = self.textCursor()
block = self.document().findBlockByNumber(cursor.blockNumber())
whitespace = re.match(r"(.*)", unicode(block.text())).group(1)
if whitespace.endswith(' '):
QTextEdit.keyPressEvent(self, event)
QTextEdit.keyPressEvent(self, event)
QTextEdit.keyPressEvent(self, event)
def tiene_cambios_sin_guardar(self):
return self._cambios_sin_guardar
def _get_current_line(self):
"Obtiene la linea en donde se encuentra el cursor."
tc = self.textCursor()
tc.select(QTextCursor.LineUnderCursor)
return tc.selectedText()
def _get_position_in_block(self):
tc = self.textCursor()
position = tc.positionInBlock() - 1
return position
def cargar_contenido_desde_archivo(self, ruta):
"Carga todo el contenido del archivo indicado por ruta."
with codecs.open(unicode(ruta), 'r', 'utf-8') as archivo:
contenido = archivo.read()
self.setText(contenido)
self.nombre_de_archivo_sugerido = ruta
self._cambios_sin_guardar = False
def abrir_dialogo_cargar_archivo(self):
return QFileDialog.getOpenFileName(
self,
"Abrir Archivo",
self.nombre_de_archivo_sugerido,
"Archivos python (*.py)",
options=QFileDialog.DontUseNativeDialog)
def abrir_archivo_del_proyecto(self, nombre_de_archivo):
if self.tiene_cambios_sin_guardar():
if self.mensaje_guardar_cambios_abrir():
if not self.guardar_contenido_con_dialogo():
return
else:
return
if self.ruta_del_archivo_actual:
base_path = os.path.dirname(self.ruta_del_archivo_actual)
ruta = os.path.join(base_path, unicode(nombre_de_archivo))
else:
ruta = unicode(nombre_de_archivo)
self.cargar_contenido_desde_archivo(ruta)
self.ruta_del_archivo_actual = ruta
self.watcher.cambiar_archivo_a_observar(ruta)
self.ejecutar()
self.main.actualizar_el_listado_de_archivos()
def abrir_archivo_con_dialogo(self):
if self.tiene_cambios_sin_guardar():
if self.mensaje_guardar_cambios_abrir():
if not self.guardar_contenido_con_dialogo():
return
else:
return
ruta = self.abrir_dialogo_cargar_archivo()
if ruta:
ruta = unicode(ruta)
self.cargar_contenido_desde_archivo(ruta)
self.ruta_del_archivo_actual = ruta
self.watcher.cambiar_archivo_a_observar(ruta)
self.ejecutar()
self.main.actualizar_el_listado_de_archivos()
def cuando_cambia_archivo_de_forma_externa(self):
self.recargar_archivo_actual()
def recargar_archivo_actual(self):
if self.ruta_del_archivo_actual:
self.cargar_contenido_desde_archivo(self.ruta_del_archivo_actual)
self.ejecutar()
def mensaje_guardar_cambios_abrir(self):
"""Realizar una consulta usando un cuadro de dialogo simple
se utiliza cuando hay cambios sin guardar y se desea abrir un archivo.
Retorna True si el usuario presiona el boton *Guardar*,
Retorna False si el usuario presiona *No*."""
titulo = u"¿Deseas guardar el contenido antes de abrir un archivo?"
mensaje = u"El contenido se perdera sino los guardas"
mensaje = QMessageBox.question(self, titulo, mensaje, "Guardar", "No")
return (not mensaje)
def mensaje_guardar_cambios_salir(self):
"""Realizar una consulta usando un cuadro de dialogo simple
se utiliza cuando hay cambios sin guardar y se desa salir del Editor.
Retorna 0 si el usuario presiona el boton *Salir sin guardar*,
Retorna 1 si el usuario presiona *Guardar*
Retorna 2 si presiona *Cancelar*."""
titulo = u"¿Deseas guardar el contenido antes de salir?"
mensaje = u"El contenido se perdera sino los guardas"
return QMessageBox.question(self, titulo, mensaje, "Salir sin guardar",
"Guardar", "Cancelar")
def marcar_error_en_la_linea(self, numero, descripcion):
hi_selection = QTextEdit.ExtraSelection()
hi_selection.format.setBackground(QColor(255, 220, 220))
hi_selection.format.setProperty(QTextFormat.FullWidthSelection,
QVariant(True))
hi_selection.cursor = self.textCursor()
posicion_linea = self.document().findBlockByLineNumber(
numero).position()
hi_selection.cursor.setPosition(posicion_linea)
hi_selection.cursor.clearSelection()
self.setExtraSelections([hi_selection])
def guardar_contenido_con_dialogo(self):
ruta = self.abrir_dialogo_guardar_archivo()
if not ruta:
return False
ruta = unicode(ruta)
if not ruta.endswith('.py'):
ruta += '.py'
if ruta:
self.guardar_contenido_en_el_archivo(ruta)
self._cambios_sin_guardar = False
self.ruta_del_archivo_actual = ruta
self.nombre_de_archivo_sugerido = ruta
self.watcher.cambiar_archivo_a_observar(ruta)
self.cargar_contenido_desde_archivo(ruta)
self.ejecutar()
self.main.actualizar_el_listado_de_archivos()
self.main.habilitar_boton_nuevo()
return True
def guardar_contenido_directamente(self):
if self.nombre_de_archivo_sugerido:
self.guardar_contenido_en_el_archivo(
self.nombre_de_archivo_sugerido)
self._cambios_sin_guardar = False
self.main.actualizar_el_listado_de_archivos()
self.prevenir_live_reload()
else:
self.guardar_contenido_con_dialogo()
def prevenir_live_reload(self):
self.watcher.prevenir_reinicio()
def salir(self):
"""Retorna True si puede salir y False si no"""
if self.tiene_cambios_sin_guardar():
mensaje = self.mensaje_guardar_cambios_salir()
if mensaje == 1:
self.guardar_contenido_con_dialogo()
elif mensaje == 2:
return False
return True
def obtener_contenido(self):
return unicode(self.document().toPlainText())
def ejecutar(self):
ruta_personalizada = os.path.dirname(self.ruta_del_archivo_actual)
#print "ejecutando texto desde widget editor"
texto = self.obtener_contenido()
#texto = self.editor.obtener_texto_sanitizado(self)
# elimina cabecera de encoding.
contenido = re.sub('coding\s*:\s*', '', texto)
contenido = contenido.replace('import pilasengine', '')
contenido = contenido.replace('pilas = pilasengine.iniciar',
'pilas.reiniciar')
for x in contenido.split('\n'):
if "__file__" in x:
contenido = contenido.replace(x, "# livecoding: " + x + "\n")
sys.path.append(ruta_personalizada)
self.interpreterLocals['sys'] = sys
# Muchos códigos personalizados necesitan cargar imágenes o sonidos
# desde el directorio que contiene al archivo. Para hacer esto posible,
# se llama a la función "pilas.utils.agregar_ruta_personalizada" con el
# path al directorio que representa el script. Así la función "obtener_ruta_al_recurso"
# puede evaluar al directorio del script en busca de recursos también.
if ruta_personalizada:
ruta_personalizada = ruta_personalizada.replace('\\', '/')
agregar_ruta_personalizada = 'pilas.utils.agregar_ruta_personalizada("%s")' % (
ruta_personalizada)
contenido = contenido.replace(
'pilas.reiniciar(',
agregar_ruta_personalizada + '\n' + 'pilas.reiniciar(')
modulos_a_recargar = [
x for x in self.interpreterLocals.values()
if inspect.ismodule(x) and x.__name__ not in
['pilasengine', 'inspect'] and 'pilasengine.' not in x.__name__
]
for m in modulos_a_recargar:
reload(m)
self.cantidad_ejecuciones += 1
# Limpia la consola a partir de la primer ejecucion luego de iniciar.
if self.cantidad_ejecuciones > 1:
self.main.limpiar_interprete()
try:
exec(contenido, self.interpreterLocals)
except Exception, e:
self.consola_lanas.insertar_error_desde_exception(e)
self.ventana_interprete.mostrar_el_interprete()
#self.marcar_error_en_la_linea(10, "pepepe")
self.signal_ejecutando.emit()
class DC(PluginBase, Ui_DC):
qtcb_velocity_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
qtcb_emergency_shutdown = pyqtSignal()
def __init__(self, *args):
PluginBase.__init__(self, BrickDC, *args)
self.setupUi(self)
self.dc = self.device
self.encoder_hide_all()
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(4, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.velocity_syncer = SliderSpinSyncer(self.velocity_slider,
self.velocity_spin,
self.velocity_changed)
self.acceleration_syncer = SliderSpinSyncer(self.acceleration_slider,
self.acceleration_spin,
self.acceleration_changed)
self.frequency_syncer = SliderSpinSyncer(self.frequency_slider,
self.frequency_spin,
self.frequency_changed)
self.radio_mode_brake.toggled.connect(self.brake_value_changed)
self.radio_mode_coast.toggled.connect(self.coast_value_changed)
self.minimum_voltage_button.clicked.connect(
self.minimum_voltage_button_clicked)
self.full_brake_button.clicked.connect(self.full_brake_clicked)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.emergency_signal = None
self.under_signal = None
self.current_velocity_signal = None
self.velocity_reached_signal = None
self.qem = QErrorMessage(self)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.dc.register_callback(self.dc.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown)
self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN,
self.qtcb_emergency_shutdown.emit)
self.qtcb_velocity_reached.connect(self.update_velocity)
self.dc.register_callback(self.dc.CALLBACK_VELOCITY_REACHED,
self.qtcb_velocity_reached.emit)
self.cbe_current_velocity = CallbackEmulator(
self.dc.get_current_velocity, self.update_velocity,
self.increase_error_count)
if self.firmware_version >= (1, 1, 3):
reset = QAction('Reset', self)
reset.triggered.connect(lambda: self.dc.reset())
self.set_actions(reset)
# if self.firmware_version >= (2, 0, 1):
# self.enable_encoder_checkbox.stateChanged.connect(self.enable_encoder_state_changed)
# self.encoder_show()
# else:
# self.enable_encoder_checkbox.setText('Enable Encoder (FW Version >= 2.0.1 required)')
# self.enable_encoder_checkbox.setEnabled(False)
def start(self):
self.update_timer.start(1000)
self.cbe_current_velocity.set_period(100)
self.update_start()
self.update_data()
def stop(self):
self.update_timer.stop()
self.cbe_current_velocity.set_period(0)
def destroy(self):
pass
def get_url_part(self):
return 'dc'
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickDC.DEVICE_IDENTIFIER
def cb_emergency_shutdown(self):
if not self.qem.isVisible():
self.qem.setWindowTitle("Emergency Shutdown")
self.qem.showMessage(
"Emergency Shutdown: Short-Circuit or Over-Temperature")
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov / 1000.0, 1)
if not self.qem.isVisible():
self.qem.setWindowTitle("Under Voltage")
self.qem.showMessage(
"Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str, "DC_UnderVoltage")
def encoder_hide_all(self):
self.enable_encoder_checkbox.hide()
self.encoder_hide()
def encoder_hide(self):
self.p_label.hide()
self.p_spinbox.hide()
self.i_label.hide()
self.i_spinbox.hide()
self.d_label.hide()
self.d_spinbox.hide()
self.st_label.hide()
self.st_spinbox.hide()
self.cpr_label.hide()
self.cpr_spinbox.hide()
self.encoder_spacer.hide()
def encoder_show(self):
self.p_label.show()
self.p_spinbox.show()
self.i_label.show()
self.i_spinbox.show()
self.d_label.show()
self.d_spinbox.show()
self.st_label.show()
self.st_spinbox.show()
self.cpr_label.show()
self.cpr_spinbox.show()
self.encoder_spacer.show()
def enable_encoder_state_changed(self, state):
try:
if state == Qt.Checked:
self.dc.enable_encoder()
self.update_encoder()
elif state == Qt.Unchecked:
self.dc.disable_encoder()
except ip_connection.Error:
return
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.dc.enable()
elif state == Qt.Unchecked:
self.dc.disable()
except ip_connection.Error:
return
def brake_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(0)
except ip_connection.Error:
return
def coast_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(1)
except ip_connection.Error:
return
def full_brake_clicked(self):
try:
self.dc.full_brake()
except ip_connection.Error:
return
def minimum_voltage_selected(self, value):
try:
self.dc.set_minimum_voltage(value)
except ip_connection.Error:
return
def minimum_voltage_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(5000)
qid.setIntMaximum(0xFFFF)
qid.setIntStep(100)
async_call(self.dc.get_minimum_voltage, None, qid.setIntValue,
self.increase_error_count)
qid.intValueSelected.connect(self.minimum_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv / 1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev / 1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv / 1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def drive_mode_update(self, dm):
if dm == 0:
self.radio_mode_brake.setChecked(True)
self.radio_mode_coast.setChecked(False)
else:
self.radio_mode_brake.setChecked(False)
self.radio_mode_coast.setChecked(True)
def current_consumption_update(self, cc):
if cc >= 1000:
cc_str = "%gA" % round(cc / 1000.0, 1)
else:
cc_str = "%gmA" % cc
self.current_label.setText(cc_str)
def update_velocity(self, value):
self.speedometer.set_velocity(value)
def get_velocity_async(self, velocity):
if not self.velocity_slider.isSliderDown():
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
self.speedometer.set_velocity(velocity)
def get_acceleration_async(self, acceleration):
if not self.acceleration_slider.isSliderDown():
if acceleration != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acceleration)
self.acceleration_spin.setValue(acceleration)
def get_pwm_frequency_async(self, frequency):
if not self.frequency_slider.isSliderDown():
if frequency != self.frequency_slider.sliderPosition():
self.frequency_slider.setSliderPosition(frequency)
self.frequency_spin.setValue(frequency)
def is_enabled_async(self, enabled):
self.enable_checkbox.setChecked(enabled)
def is_encoder_enabled_async(self, enabled):
self.enable_encoder_checkbox.setChecked(enabled)
def get_encoder_config_async(self, cpr):
self.cpr_spinbox.setValue(cpr)
def get_encoder_pid_config_async(self, pid_config):
self.p_spinbox.setValue(pid_config.p)
self.i_spinbox.setValue(pid_config.i)
self.d_spinbox.setValue(pid_config.d)
self.st_spinbox.setValue(pid_config.sample_time)
def update_encoder(self):
async_call(self.dc.get_encoder_config, None,
self.get_encoder_config_async, self.increase_error_count)
async_call(self.dc.get_encoder_pid_config, None,
self.get_encoder_pid_config_async,
self.increase_error_count)
async_call(self.dc.is_encoder_enabled, None,
self.is_encoder_enabled_async, self.increase_error_count)
def update_start(self):
async_call(self.dc.get_drive_mode, None, self.drive_mode_update,
self.increase_error_count)
async_call(self.dc.get_velocity, None, self.get_velocity_async,
self.increase_error_count)
async_call(self.dc.get_acceleration, None, self.get_acceleration_async,
self.increase_error_count)
async_call(self.dc.get_pwm_frequency, None,
self.get_pwm_frequency_async, self.increase_error_count)
async_call(self.dc.is_enabled, None, self.is_enabled_async,
self.increase_error_count)
# if self.firmware_version >= (2, 0, 1):
# self.update_encoder()
def update_data(self):
async_call(self.dc.get_stack_input_voltage, None,
self.stack_input_voltage_update, self.increase_error_count)
async_call(self.dc.get_external_input_voltage, None,
self.external_input_voltage_update,
self.increase_error_count)
async_call(self.dc.get_minimum_voltage, None,
self.minimum_voltage_update, self.increase_error_count)
async_call(self.dc.get_current_consumption, None,
self.current_consumption_update, self.increase_error_count)
def acceleration_changed(self, value):
try:
self.dc.set_acceleration(value)
except ip_connection.Error:
return
def velocity_changed(self, value):
try:
self.dc.set_velocity(value)
except ip_connection.Error:
return
def frequency_changed(self, value):
try:
self.dc.set_pwm_frequency(value)
except ip_connection.Error:
return
class Servo(PluginBase, Ui_Servo):
qtcb_under_voltage = pyqtSignal(int)
def __init__ (self, ipcon, uid):
PluginBase.__init__(self, ipcon, uid)
self.setupUi(self)
self.servo = brick_servo.Servo(self.uid)
self.device = self.servo
self.ipcon.add_device(self.servo)
self.version = '.'.join(map(str, self.servo.get_version()[1]))
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_apply)
self.update_timer.setInterval(0)
self.update_timer.setSingleShot(True)
layout = QVBoxLayout(self)
layout.addWidget(QLabel('Servo'))
self.position_list = []
self.velocity_list = []
self.acceleration_list = []
self.enable_list = []
self.up_ena = [0]*7
self.up_pos = [0]*7
self.up_vel = [0]*7
self.up_acc = [0]*7
self.alive = True
for i in range(1, 8):
label = QLabel()
label.setText('Off')
self.enable_list.append(label)
self.status_grid.addWidget(label, i, 1)
for i in range(1, 8):
pk = PositionKnob()
self.position_list.append(pk)
self.status_grid.addWidget(pk, i, 2)
for i in range(1, 8):
cb = ColorBar(Qt.Vertical)
self.velocity_list.append(cb)
self.status_grid.addWidget(cb, i, 3)
for i in range(1, 8):
cb = ColorBar(Qt.Vertical)
self.acceleration_list.append(cb)
self.status_grid.addWidget(cb, i, 4)
self.qem = QErrorMessage(self)
self.qem.setWindowTitle("Under Voltage")
self.test_button.clicked.connect(self.test_button_clicked)
self.output_voltage_button.clicked.connect(self.output_voltage_button_clicked)
self.servo_dropbox.currentIndexChanged.connect(lambda x: self.update_servo_specific())
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.position_slider.sliderReleased.connect(self.position_slider_released)
self.position_slider.valueChanged.connect(self.position_spin.setValue)
self.position_spin.editingFinished.connect(self.position_spin_finished)
self.velocity_slider.sliderReleased.connect(self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished)
self.period_slider.sliderReleased.connect(self.period_slider_released)
self.period_slider.valueChanged.connect(self.period_spin.setValue)
self.period_spin.editingFinished.connect(self.period_spin_finished)
self.pulse_width_min_spin.editingFinished.connect(self.pulse_width_spin_finished)
self.pulse_width_max_spin.editingFinished.connect(self.pulse_width_spin_finished)
self.degree_min_spin.editingFinished.connect(self.degree_spin_finished)
self.degree_max_spin.editingFinished.connect(self.degree_spin_finished)
self.minimum_voltage_button.pressed.connect(self.minimum_voltage_button_pressed)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.servo.register_callback(self.servo.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
class WorkerThread(QThread):
def __init__(self, parent = None, func = None):
QThread.__init__(self, parent)
self.func = func
def run(self):
self.func()
self.test_event = Event()
self.test_thread_object = WorkerThread(self, self.test_thread)
self.update_event = Event()
self.update_thread_object = WorkerThread(self, self.update_thread)
self.update_done_event = Event()
self.update_done_event.set()
def stop(self):
if self.test_button.text() == "Stop Test":
self.test_button_clicked()
self.update_event.clear()
self.alive = False
self.update_done_event.wait()
def start(self):
self.alive = True
self.test_event.clear()
self.update_done_event.set()
self.update_event.set()
if not self.test_thread_object.isRunning():
self.test_thread_object.start()
if not self.update_thread_object.isRunning():
self.update_thread_object.start()
self.update_servo_specific()
def destroy(self):
self.test_event.set()
self.update_event.set()
@staticmethod
def has_name(name):
return 'Servo Brick' in name
def update_servo_specific(self):
i = self.selected_servo()
if i == 255:
self.enable_checkbox.setCheckState(Qt.Unchecked)
return
try:
pos = self.servo.get_position(i);
vel = self.servo.get_velocity(i);
acc = self.servo.get_acceleration(i);
per = self.servo.get_period(i)
ena = self.servo.is_enabled(i)
deg_min, deg_max = self.servo.get_degree(i)
pulse_min, pulse_max = self.servo.get_pulse_width(i)
except ip_connection.Error:
return
self.position_spin.setValue(pos)
self.velocity_spin.setValue(vel)
self.acceleration_spin.setValue(acc)
self.period_spin.setValue(per)
self.position_slider.setValue(pos)
self.velocity_slider.setValue(vel)
self.acceleration_slider.setValue(acc)
self.period_slider.setValue(per)
if ena:
self.enable_checkbox.setCheckState(Qt.Checked)
else:
self.enable_checkbox.setCheckState(Qt.Unchecked)
self.pulse_width_min_spin.setValue(pulse_min)
self.pulse_width_max_spin.setValue(pulse_max)
self.degree_min_spin.setValue(deg_min)
self.degree_max_spin.setValue(deg_max)
self.position_slider.setMinimum(deg_min)
self.position_slider.setMaximum(deg_max)
self.position_spin.setMinimum(deg_min)
self.position_spin.setMaximum(deg_max)
self.position_list[i].setTotalAngle((deg_max - deg_min)/100)
self.position_list[i].setRange(deg_min/100, deg_max/100)
def error_handler(self, error):
pass
def servo_current_update(self, value):
self.current_label.setText(str(value) + "mA")
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def output_voltage_update(self, ov):
ov_str = "%gV" % round(ov/1000.0, 1)
self.output_voltage_label.setText(ov_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def position_update(self, i, pos):
self.position_list[i].setValue(pos/100)
def velocity_update(self, i, vel):
self.velocity_list[i].set_height(vel*100/0xFFFF)
def acceleration_update(self, i, acc):
self.acceleration_list[i].set_height(acc*100/0xFFFF)
def deactivate_servo(self, i):
if self.enable_list[i].text() != 'Off':
self.velocity_list[i].grey()
self.acceleration_list[i].grey()
def activate_servo(self, i):
if self.enable_list[i].text() != 'On':
self.velocity_list[i].color()
self.acceleration_list[i].color()
def selected_servo(self):
try:
return int(self.servo_dropbox.currentText()[-1:])
except:
return 255
def enable_state_changed(self, state):
s = self.selected_servo()
try:
if state == Qt.Checked:
self.servo.enable(s)
elif state == Qt.Unchecked:
self.servo.disable(s)
except ip_connection.Error:
return
def update_apply(self):
self.servo_current_update(self.up_cur)
self.stack_input_voltage_update(self.up_siv)
self.external_input_voltage_update(self.up_eiv)
self.output_voltage_update(self.up_opv)
self.minimum_voltage_update(self.up_mv)
for i in range(7):
if self.up_ena[i]:
self.activate_servo(i)
self.position_update(i, self.up_pos[i])
self.velocity_update(i, self.up_vel[i])
self.acceleration_update(i, self.up_acc[i])
self.enable_list[i].setText('On')
else:
self.deactivate_servo(i)
self.enable_list[i].setText('Off')
def update_thread(self):
while self.alive:
time.sleep(0.1)
try:
servo = self.selected_servo()
if servo == 255:
self.up_cur = self.servo.get_overall_current()
else:
self.up_cur = self.servo.get_servo_current(servo)
self.up_siv = self.servo.get_stack_input_voltage()
self.up_eiv = self.servo.get_external_input_voltage()
self.up_opv = self.servo.get_output_voltage()
self.up_mv = self.servo.get_minimum_voltage()
for i in range(7):
self.up_ena[i] = self.servo.is_enabled(i)
if self.up_ena[i]:
self.activate_servo(i)
self.up_pos[i] = self.servo.get_current_position(i)
self.up_vel[i] = self.servo.get_current_velocity(i)
self.up_acc[i] = self.servo.get_acceleration(i)
self.update_timer.start()
#self.update_apply()
self.update_done_event.set()
self.update_event.wait()
self.update_done_event.clear()
except ip_connection.Error:
pass
self.update_done_event.set()
def test_thread(self):
def test(num, ena, acc, vel, pos):
if not self.alive:
return
try:
if ena:
self.servo.enable(num)
else:
self.servo.disable(num)
self.servo.set_acceleration(num, acc)
self.servo.set_velocity(num, vel)
self.servo.set_position(num, pos)
except ip_connection.Error:
return
def random_test():
for i in range(7):
test(i,
random.randrange(0, 2),
random.randrange(0, 65536),
random.randrange(0, 65536),
random.randrange(-9000, 9001))
while self.alive:
self.test_event.wait()
if not self.alive:
return
# Full Speed left for 2 seconds
for i in range(7):
test(i, True, 65535, 65535, 9000)
time.sleep(2)
self.test_event.wait()
if not self.alive:
return
# Full Speed right for 2 seconds
for i in range(7):
test(i, True, 65535, 65535, -9000)
time.sleep(2)
self.test_event.wait()
if not self.alive:
return
# Test different speeds
for i in range(19):
for j in range(7):
test(j, True, 65535, 65535*i/18, -9000+i*1000)
time.sleep(0.1)
self.test_event.wait()
if not self.alive:
return
time.sleep(1)
self.test_event.wait()
if not self.alive:
return
# Test acceleration
for i in range(7):
test(i, True, 100, 65535, -9000)
time.sleep(3)
self.test_event.wait()
if not self.alive:
return
# Random for 3 seconds
random_test()
time.sleep(3)
def test_button_clicked(self):
if self.test_button.text() == "Start Test":
self.test_button.setText("Stop Test")
self.test_event.set()
else:
self.test_button.setText("Start Test")
self.test_event.clear()
def output_voltage_button_clicked(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(5000)
qid.setIntMaximum(27000)
qid.setIntStep(100)
try:
qid.setIntValue(self.servo.get_output_voltage())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.output_voltage_selected)
qid.setLabelText("Choose Output Voltage in mV.")
# "<font color=red>Setting this too high can destroy your servo.</font>")
qid.open()
def output_voltage_selected(self, value):
try:
self.servo.set_output_voltage(value)
except ip_connection.Error:
return
def position_slider_released(self):
value = self.position_slider.value()
self.position_spin.setValue(value)
try:
self.servo.set_position(self.selected_servo(), value)
except ip_connection.Error:
return
def position_spin_finished(self):
value = self.position_spin.value()
self.position_slider.setValue(value)
try:
self.servo.set_position(self.selected_servo(), value)
except ip_connection.Error:
return
def velocity_slider_released(self):
value = self.velocity_slider.value()
self.velocity_spin.setValue(value)
try:
self.servo.set_velocity(self.selected_servo(), value)
except ip_connection.Error:
return
def velocity_spin_finished(self):
value = self.velocity_spin.value()
self.velocity_slider.setValue(value)
try:
self.servo.set_velocity(self.selected_servo(), value)
except ip_connection.Error:
return
def acceleration_slider_released(self):
value = self.acceleration_slider.value()
self.acceleration_spin.setValue(value)
try:
self.servo.set_acceleration(self.selected_servo(), value)
except ip_connection.Error:
return
def acceleration_spin_finished(self):
value = self.acceleration_spin.value()
self.acceleration_slider.setValue(value)
try:
self.servo.set_acceleration(self.selected_servo(), value)
except ip_connection.Error:
return
def period_slider_released(self):
value = self.period_slider.value()
self.period_spin.setValue(value)
try:
self.servo.set_period(self.selected_servo(), value)
except ip_connection.Error:
return
def period_spin_finished(self):
value = self.period_spin.value()
self.period_slider.setValue(value)
try:
self.servo.set_period(self.selected_servo(), value)
except ip_connection.Error:
return
def pulse_width_spin_finished(self):
try:
self.servo.set_pulse_width(self.selected_servo(),
self.pulse_width_min_spin.value(),
self.pulse_width_max_spin.value())
except ip_connection.Error:
return
def degree_spin_finished(self):
min = self.degree_min_spin.value()
max = self.degree_max_spin.value()
servo = self.selected_servo()
self.position_slider.setMinimum(min)
self.position_slider.setMaximum(max)
self.position_spin.setMinimum(min)
self.position_spin.setMaximum(max)
self.position_list[servo].setTotalAngle((max - min)/100)
self.position_list[servo].setRange(min/100, max/100)
try:
self.servo.set_degree(servo, min, max)
except ip_connection.Error:
return
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str)
def minimum_voltage_selected(self, value):
try:
self.servo.set_minimum_voltage(value)
except ip_connection.Error:
return
def minimum_voltage_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(5000)
qid.setIntMaximum(0xFFFF)
qid.setIntStep(100)
try:
qid.setIntValue(self.servo.get_minimum_voltage())
except ip_connection.Error:
return
qid.intValueSelected.connect(self.minimum_voltage_selected)
qid.setLabelText("Choose minimum servo voltage in mV.")
qid.open()
def input_device_changed(self, index):
self.ui.actionStart.setChecked(False)
success, index = self.audiobackend.select_input_device(index)
self.settings_dialog.comboBox_inputDevice.setCurrentIndex(index)
if not success:
# Note: the error message is a child of the settings dialog, so that
# that dialog remains on top when the error message is closed
error_message = QErrorMessage(self.settings_dialog)
error_message.setWindowTitle("Input device error")
error_message.showMessage(
"Impossible to use the selected input device, reverting to the previous one"
)
# reset the channels
first_channel = self.audiobackend.get_current_first_channel()
self.settings_dialog.comboBox_firstChannel.setCurrentIndex(
first_channel)
second_channel = self.audiobackend.get_current_second_channel()
self.settings_dialog.comboBox_secondChannel.setCurrentIndex(
second_channel)
self.ui.actionStart.setChecked(True)
