class USBLModule(QObject):
signal_create_dock = pyqtSignal(int, QDockWidget)
signal_enable_boat_pose_action = pyqtSignal()
def __init__(self, canvas, config, vehicle_info, mission_sts,
action_boat_pose, menubar, view_menu_toolbar):
super(QObject, self).__init__()
self.usblwidget = None
self.boat_pose_action = action_boat_pose
self.canvas = canvas
self.config = config
self.vehicle_info = vehicle_info
self.mission_sts = mission_sts
# Actions for Vehicle (usbl)
self.usbl_pose_action = QAction(
QIcon(":/resources/" + vehicle_info.get_vehicle_type() +
"/mActionAUVPoseUSBL.svg"), "Monitor AUV Pose", self)
self.abort_and_surface_action = QAction(
QIcon(":/resources/" + vehicle_info.get_vehicle_type() +
"/mActionAbortAndSurfaceAcoustic.svg"),
"Send Abort and Surface", self)
self.emergency_surface_action = QAction(
QIcon(":/resources/" + vehicle_info.get_vehicle_type() +
"/mActionEmergencySurfaceAcoustic.svg"),
"Send Emergency Surface", self)
self.usbl_start_mission_action = QAction(
QIcon(":/resources/mActionExecuteMissionAcoustic.svg"),
"Start Mission", self)
self.usbl_abort_mission_action = QAction(
QIcon(":/resources/mActionStopMissionAcoustic.svg"),
"Stop Mission", self)
self.usbl_enable_update_action = QAction(
QIcon(":/resources/mActionUSBLUpdatesOff.svg"), "Enable Updates",
self)
self.usbl_pose_action.setCheckable(True)
self.usbl_start_mission_action.setCheckable(True)
self.usbl_abort_mission_action.setCheckable(True)
self.abort_and_surface_action.setCheckable(True)
self.emergency_surface_action.setCheckable(True)
self.usbl_enable_update_action.setCheckable(True)
self.usbl_menu = menubar.addMenu("USBL")
self.usbl_menu.addActions([
self.usbl_pose_action, self.usbl_start_mission_action,
self.usbl_abort_mission_action, self.usbl_enable_update_action,
self.abort_and_surface_action, self.emergency_surface_action
])
# Toolbar for Vehicle (usbl)
self.usbl_toolbar = QToolBar("USBL Tools")
self.usbl_toolbar.setObjectName("USBL Tools")
self.usbl_toolbar.addAction(self.usbl_pose_action)
# self.usbl_toolbar.addAction(self.usbl_start_mission_action)
# self.usbl_toolbar.addAction(self.usbl_abort_mission_action)
self.usbl_toolbar.addAction(self.usbl_enable_update_action)
self.usbl_toolbar.addAction(self.abort_and_surface_action)
self.usbl_toolbar.addAction(self.emergency_surface_action)
self.usbl_toolbar_action = QAction("USBL", self)
self.usbl_toolbar_action.setCheckable(True)
self.usbl_toolbar_action.setChecked(True)
self.usbl_toolbar_action.triggered.connect(
lambda: self.change_toolbar_visibility(self.usbl_toolbar))
self.usbl_pose_action.triggered.connect(self.show_usbl_pose)
self.usbl_start_mission_action.toggled.connect(self.send_start_mission)
self.usbl_abort_mission_action.toggled.connect(self.send_abort_mission)
self.usbl_enable_update_action.toggled.connect(self.enable_update)
self.abort_and_surface_action.toggled.connect(
self.send_abort_and_surface)
self.emergency_surface_action.toggled.connect(
self.send_emergency_surface)
self.usbl_is_connected(False)
view_menu_toolbar.addAction(self.usbl_toolbar_action)
def get_usbl_toolbar(self):
return self.usbl_toolbar
def get_usbl_widget(self):
return self.usblwidget
def show_usbl_pose(self):
if self.usbl_pose_action.isChecked():
# Disconnect gps from boat, will be visible from USBL
self.boat_pose_action.setChecked(False)
self.boat_pose_action.setEnabled(False)
self.create_usbl_dock_widget()
self.usblwidget = usblwidget.USBLWidget(self.canvas, self.config,
self.vehicle_info,
self.mission_sts)
self.usblwidget.setAttribute(Qt.WA_DeleteOnClose)
self.usblwd.setWidget(self.usblwidget)
self.usblwd.show()
self.usblwidget.usbl_connected.connect(self.usbl_is_connected)
self.usblwidget.connect()
self.usbl_pose_action.setToolTip("Hide AUV USBL Monitoring")
else:
self.usblwd.close()
self.disconnect_usbl_dw()
self.usbl_pose_action.setToolTip("Show AUV USBL Monitoring")
def send_start_mission(self):
if self.usbl_start_mission_action.isChecked():
self.usblwidget.send_start_mission()
# self.usblwidget.mission_stopped.connect(self.mission_stopped_acoustically)
self.usbl_start_mission_action.setToolTip("Stop Mission")
else:
self.usblwidget.send_informative()
self.usbl_start_mission_action.setToolTip("Start Mission")
# self.usblwidget.mission_stopped.disconnect()
def send_abort_mission(self):
if self.usbl_abort_mission_action.isChecked():
self.usblwidget.send_stop_mission()
else:
self.usblwidget.send_informative()
def enable_update(self):
if self.usbl_enable_update_action.isChecked():
icon = QIcon(":resources/mActionUSBLUpdatesOn.svg")
self.usbl_enable_update_action.setToolTip("Disable Updates")
self.usblwidget.set_enable_update(True)
else:
icon = QIcon(":resources/mActionUSBLUpdatesOff.svg")
self.usbl_enable_update_action.setToolTip("Enable Updates")
self.usblwidget.set_enable_update(False)
self.usbl_enable_update_action.setIcon(icon)
def send_abort_and_surface(self):
if self.abort_and_surface_action.isChecked():
confirmation_msg = "Are you sure you want to abort the mission?"
reply = QMessageBox.question(self.parent(), 'Abort Confirmation',
confirmation_msg, QMessageBox.Yes,
QMessageBox.No)
if reply == QMessageBox.Yes:
self.usblwidget.send_abort_and_surface()
else:
self.usblwidget.send_informative()
def send_emergency_surface(self):
if self.emergency_surface_action.isChecked():
confirmation_msg = "Are you sure you want to abort the mission and send an emergency surface? " \
"An emergency surface will require you to restart the architecture afterwards. "
reply = QMessageBox.question(self.parent(),
'Emergency Surface Confirmation',
confirmation_msg, QMessageBox.Yes,
QMessageBox.No)
if reply == QMessageBox.Yes:
self.usblwidget.send_emergency_surface()
else:
self.usblwidget.send_informative()
def mission_started_acoustically(self):
icon = QIcon(":resources/mActionStopMissionAcoustic.svg")
self.usbl_start_mission_action.setIcon(icon)
# self.actionUSBLStartMission.setChecked(True)
def mission_stopped_acoustically(self):
icon = QIcon(":resources/mActionExecuteMissionAcoustic.svg")
self.usbl_start_mission_action.setIcon(icon)
self.usbl_start_mission_action.setChecked(False)
def usbl_is_connected(self, connected):
self.usbl_start_mission_action.setEnabled(connected)
self.usbl_abort_mission_action.setEnabled(connected)
self.abort_and_surface_action.setEnabled(connected)
self.emergency_surface_action.setEnabled(connected)
self.usbl_enable_update_action.setEnabled(connected)
if not connected:
self.usbl_start_mission_action.setChecked(False)
self.usbl_abort_mission_action.setChecked(False)
self.abort_and_surface_action.setChecked(False)
self.emergency_surface_action.setChecked(False)
self.usbl_enable_update_action.setChecked(False)
def create_usbl_dock_widget(self):
# Dock for USBL
self.usblwd = QDockWidget()
self.usblwd.setAllowedAreas(Qt.LeftDockWidgetArea
| Qt.RightDockWidgetArea)
self.usblwd.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.signal_create_dock.emit(Qt.LeftDockWidgetArea, self.usblwd)
self.usblwd.setWindowTitle("AUV monitoring (USBL)")
self.usblwd.setStyleSheet("QDockWidget { font: bold; }")
self.usblwd.setAttribute(Qt.WA_DeleteOnClose)
self.usblwd.destroyed.connect(self.disconnect_usbl_dw)
def change_toolbar_visibility(self, toolbar):
"""
Change toolbar visibility
:param toolbar: toolbar
"""
sender = self.sender()
if sender.isChecked():
toolbar.setVisible(True)
else:
toolbar.setVisible(False)
def disconnect_usbl_dw(self):
if self.usblwidget is not None:
if self.usblwidget.is_connected():
self.usblwidget.disconnect()
self.usblwidget.deleteLater()
self.usblwidget = None
self.usbl_pose_action.setChecked(False)
self.signal_enable_boat_pose_action.emit()
