def __init__(self):
QObject.__init__(self)
self.dataBuffer = SensorData()
self.sensorReceiver = SensorReceiver(self.dataBuffer, DEFAULT_PORT)
self.window = AppWindowImpl(self.dataBuffer)
self.eventSetup()
self.window.show()
def __init__(self):
super(MyLora, self).__init__(True)
self.sensorReceiver = SensorReceiver()
self.lastRecTime = 0
self.frdmInterface = FRDMInterface()
self.shouldContinue = True
self.subPumps = 0
self.horiFlaps = 0
self.horiDir = 0
self.propMotor = 0
self.mainPump = 0
self.orientation = [0, 0, 0]
self.hat = HatSM()
self.set_mode(MODE.SLEEP)
self.set_dio_mapping([0] * 6)
print(self)
class Controller(QObject):
dataBuffer=None
sensorReceiver=None
window=None
def __init__(self):
QObject.__init__(self)
self.dataBuffer = SensorData()
self.sensorReceiver = SensorReceiver(self.dataBuffer, DEFAULT_PORT)
self.window = AppWindowImpl(self.dataBuffer)
self.eventSetup()
self.window.show()
def eventSetup(self):
# Open a listener
self.connect(self.window.actionListen,
QtCore.SIGNAL('triggered(bool)'),
self.listen)
# Secondary packet/signal processing
self.connect(self.sensorReceiver,
QtCore.SIGNAL('dataReceived()'),
self.received)
@QtCore.pyqtSlot()
def received(self):
pass
@QtCore.pyqtSlot('bool')
def listen(self, isActive):
if (isActive):
self.sensorReceiver.openSocket()
else:
self.sensorReceiver.closeSocket()
class MyLora(LoRa):
def __init__(self):
super(MyLora, self).__init__(True)
self.sensorReceiver = SensorReceiver()
self.lastRecTime = 0
self.frdmInterface = FRDMInterface()
self.shouldContinue = True
self.subPumps = 0
self.horiFlaps = 0
self.horiDir = 0
self.propMotor = 0
self.mainPump = 0
self.orientation = [0, 0, 0]
self.hat = HatSM()
self.set_mode(MODE.SLEEP)
self.set_dio_mapping([0] * 6)
print(self)
def on_rx_done(self):
print("\nRxDone")
self.clear_irq_flags(RxDone=1)
try:
self.lastRecTime = time()
payload = self.read_payload(nocheck=True)
recvdString = ""
for i in payload:
recvdString += chr(int(i))
parts = recvdString.split(",")
self.horiFlaps = float(parts[0])
self.horiDir = float(parts[1])
self.propMotor = float(parts[2])
self.mainPump = float(parts[3])
self.subPumps = int(parts[4])
print("HF %d" % self.horiFlaps)
print("HD %d" % self.horiDir)
print("PM %d" % self.propMotor)
print("MP %d" % self.mainPump)
print("SP %d" % self.subPumps)
self.hat.updateSpeeds(self.propMotor, self.mainPump)
self.frdmInterface.send(self.subPumps, self.horiFlaps,
self.horiDir)
finally:
self.reset_ptr_rx()
self.send_sensor_data()
def on_tx_done(self):
print("\nTxDone %d" % time())
self.clear_irq_flags(TxDone=1)
self.set_dio_mapping([0] * 6)
self.set_mode(MODE.RXCONT)
def on_rx_timeout(self):
print("\non_RxTimeout")
print(self.get_irq_flags())
def start(self):
self.sensorReceiver.start()
self.lastRecTime = 0
self.set_dio_mapping([0] * 6)
self.set_mode(MODE.RXCONT)
print("RXCONT")
while self.shouldContinue:
if time() - self.lastRecTime > 2:
self.hat.updateSpeeds(0, 0)
sleep(2)
def stop(self):
self.shouldContinue = False
self.hat.teardown()
self.frdmInterface.stop()
self.sensorReceiver.stop()
def send(self, data):
try:
print('sending {}'.format(data))
finally:
self.write_payload(data)
self.set_dio_mapping([1, 0, 0, 0, 0, 0])
self.set_mode(MODE.TX)
def send_data(self, data):
self.write_payload(data)
self.set_dio_mapping([1, 0, 0, 0, 0, 0])
self.set_mode(MODE.TX)
def send_sensor_data(self):
self.orientation = self.sensorReceiver.get_orientation()
ori = "{},{},{}".format(self.orientation[0], self.orientation[1],
self.orientation[2])
to_send = []
for c in ori:
to_send.append(ord(c))
self.send(to_send)
