class MainWindow(QMainWindow, Ui_MainWindow):
BUS_NAME = "com.tinkerforge"
OBJECT_PATH_START = "/com/tinkerforge"
INTERFACE_START = "com.tinkerforge"
callback_enumerate_signal = pyqtSignal(str, str, int, bool)
def __init__(self, parent=None):
QMainWindow.__init__(self, parent)
self.setupUi(self)
self.setWindowIcon(QIcon("brickv-icon.png"))
signal.signal(signal.SIGINT, self.exit_brickv)
signal.signal(signal.SIGTERM, self.exit_brickv)
self.setWindowTitle("Brick Viewer")
self.table_view_header = ['#', 'Device Name', 'UID', 'FW Version']
# Remove dummy tab
self.tab_widget.removeTab(1)
self.last_tab = 0
self.plugins = [(self, None, None, None)]
self.ipcon = None
self.reset_view()
self.button_advanced.setDisabled(True)
self.callback_enumerate_signal.connect(self.callback_enumerate)
self.tab_widget.currentChanged.connect(self.tab_changed)
self.connect.pressed.connect(self.connect_pressed)
self.button_advanced.pressed.connect(self.advanced_pressed)
self.plugin_manager = PluginManager()
def closeEvent(self, event):
self.exit_brickv()
def exit_brickv(self, signl=None, frme=None):
if self.ipcon != None:
self.reset_view()
if signl != None and frme != None:
print "Received SIGINT or SIGTERM, shutting down."
sys.exit()
def start(self):
pass
def stop(self):
pass
def destroy(self):
pass
def tab_changed(self, i):
self.plugins[i][0].start()
self.plugins[self.last_tab][0].stop()
self.last_tab = i
def reset_view(self):
self.tab_widget.setCurrentIndex(0)
for i in reversed(range(1, len(self.plugins))):
try:
self.plugins[i][0].stop()
self.plugins[i][0].destroy()
except AttributeError:
pass
self.tab_widget.removeTab(i)
self.plugins = [(self, None, None, None)]
self.update_table_view()
if self.ipcon:
self.ipcon.destroy()
self.ipcon = None
def advanced_pressed(self):
if len(self.plugins) < 2:
QMessageBox.warning(self, "Error",
"You have to connect at least one Brick",
QMessageBox.Ok)
return
aw = AdvancedWindow(self)
for plugin in self.plugins[1:]:
if ' Brick ' in plugin[2]:
aw.combo_brick.addItem(plugin[2])
aw.devices.append(plugin[0].device)
aw.setAttribute(Qt.WA_QuitOnClose)
aw.update_calibration()
aw.show()
def connect_pressed(self):
if not self.ipcon:
try:
self.ipcon = IPConnection(self.host.text(), self.port.value())
self.ipcon.enumerate(self.callback_enumerate_signal.emit)
self.connect.setText("Disconnect")
self.button_advanced.setDisabled(False)
self.port.setDisabled(True)
self.host.setDisabled(True)
except (Error, socket.error):
self.ipcon = None
box_head = 'Could not connect'
box_text = 'Please check host, check port and ' + \
'check if brickd is running.'
QMessageBox.critical(self, box_head, box_text)
else:
self.reset_view()
self.connect.setText("Connect")
self.button_advanced.setDisabled(True)
self.port.setDisabled(False)
self.host.setDisabled(False)
def callback_enumerate(self, uid, name, stack_id, is_new):
if is_new:
for plugin in self.plugins:
# Plugin already loaded
if plugin[3] == uid:
return
plugin = self.plugin_manager.get_plugin_from_name(
name, self.ipcon, uid)
self.tab_widget.addTab(plugin, name)
self.plugins.append((plugin, stack_id, name, uid))
else:
for i in range(len(self.plugins)):
if self.plugins[i][3] == uid:
self.tab_widget.setCurrentIndex(0)
self.plugins[i][0].stop()
self.plugins[i][0].destroy()
self.tab_widget.removeTab(i)
self.plugins.remove(self.plugins[i])
self.update_table_view()
return
self.update_table_view()
def update_table_view(self):
data = []
for p in self.plugins[1:]:
data.append((p[1], p[2], p[3], p[0].version))
mtm = MainTableModel(self.table_view_header, data)
self.table_view.setModel(mtm)
class MainWindow(QMainWindow, Ui_MainWindow):
BUS_NAME = "com.tinkerforge"
OBJECT_PATH_START = "/com/tinkerforge"
INTERFACE_START = "com.tinkerforge"
callback_enumerate_signal = pyqtSignal(str, str, int, bool)
def __init__(self, parent=None):
QMainWindow.__init__(self, parent)
self.setupUi(self)
self.setWindowIcon(QIcon("brickv-icon.png"))
signal.signal(signal.SIGINT, self.exit_brickv)
signal.signal(signal.SIGTERM, self.exit_brickv)
self.setWindowTitle("Brick Viewer")
self.table_view_header = ['#', 'Device Name', 'UID', 'FW Version']
# Remove dummy tab
self.tab_widget.removeTab(1)
self.last_tab = 0
self.plugins = [(self, None, None, None)]
self.ipcon = None
self.reset_view()
self.button_advanced.setDisabled(True)
self.callback_enumerate_signal.connect(self.callback_enumerate)
self.tab_widget.currentChanged.connect(self.tab_changed)
self.connect.pressed.connect(self.connect_pressed)
self.button_advanced.pressed.connect(self.advanced_pressed)
self.plugin_manager = PluginManager()
def closeEvent(self, event):
self.exit_brickv()
def exit_brickv(self, signl=None, frme=None):
if self.ipcon != None:
self.reset_view()
if signl != None and frme != None:
print "Received SIGINT or SIGTERM, shutting down."
sys.exit()
def start(self):
pass
def stop(self):
pass
def destroy(self):
pass
def tab_changed(self, i):
self.plugins[i][0].start()
self.plugins[self.last_tab][0].stop()
self.last_tab = i
def reset_view(self):
self.tab_widget.setCurrentIndex(0)
for i in reversed(range(1, len(self.plugins))):
try:
self.plugins[i][0].stop()
self.plugins[i][0].destroy()
except AttributeError:
pass
self.tab_widget.removeTab(i)
self.plugins = [(self, None, None, None)]
self.update_table_view()
if self.ipcon:
self.ipcon.destroy()
self.ipcon = None
def advanced_pressed(self):
if len(self.plugins) < 2:
QMessageBox.warning(self, "Error", "You have to connect at least one Brick", QMessageBox.Ok)
return
aw = AdvancedWindow(self)
for plugin in self.plugins[1:]:
if ' Brick ' in plugin[2]:
aw.combo_brick.addItem(plugin[2])
aw.devices.append(plugin[0].device)
aw.setAttribute(Qt.WA_QuitOnClose)
aw.update_calibration()
aw.show()
def connect_pressed(self):
if not self.ipcon:
try:
self.ipcon = IPConnection(self.host.text(), self.port.value())
self.ipcon.enumerate(self.callback_enumerate_signal.emit)
self.connect.setText("Disconnect")
self.button_advanced.setDisabled(False)
self.port.setDisabled(True)
self.host.setDisabled(True)
except (Error, socket.error):
self.ipcon = None
box_head = 'Could not connect'
box_text = 'Please check host, check port and ' + \
'check if brickd is running.'
QMessageBox.critical(self, box_head, box_text)
else:
self.reset_view()
self.connect.setText("Connect")
self.button_advanced.setDisabled(True)
self.port.setDisabled(False)
self.host.setDisabled(False)
def callback_enumerate(self, uid, name, stack_id, is_new):
if is_new:
for plugin in self.plugins:
# Plugin already loaded
if plugin[3] == uid:
return
plugin = self.plugin_manager.get_plugin_from_name(name,
self.ipcon,
uid)
self.tab_widget.addTab(plugin, name)
self.plugins.append((plugin, stack_id, name, uid))
else:
for i in range(len(self.plugins)):
if self.plugins[i][3] == uid:
self.tab_widget.setCurrentIndex(0)
self.plugins[i][0].stop()
self.plugins[i][0].destroy()
self.tab_widget.removeTab(i)
self.plugins.remove(self.plugins[i])
self.update_table_view()
return
self.update_table_view()
def update_table_view(self):
data = []
for p in self.plugins[1:]:
data.append((p[1], p[2], p[3], p[0].version))
mtm = MainTableModel(self.table_view_header, data)
self.table_view.setModel(mtm)
def __init__(self):
ipcon = IPConnection()
ipcon.connect(HOST, PORT)
ipcon.register_callback(IPConnection.CALLBACK_ENUMERATE, self.cb_enumerate)
ipcon.enumerate()
i = 0
while self.imu_uid == None:
time.sleep(0.1)
i += 1
if i == 20:
print "Didn't find IMU, exiting"
return
self.s = Servo('9TZyPftcTLE', ipcon)
self.i = IMU(self.imu_uid, ipcon)
self.s.set_output_voltage(self.SERVO_VOLTAGE)
for servo in self.servos.values():
self.s.set_pulse_width(servo[0], servo[1][0], servo[1][1])
self.s.set_degree(servo[0], servo[2][0], servo[2][1])
self.s.set_velocity(servo[0], 0xFFFF)
self.s.set_acceleration(servo[0], 0xFFFF)
self.s.set_position(servo[0], 0)
self.s.enable(servo[0])
time.sleep(1)
self.write_gyr_bias()
time.sleep(0.2)
self.calibrate_gyr_bias()
self.write_gyr_bias()
self.write_gyr_gain()
time.sleep(0.2)
self.calibrate_gyr_gain()
self.write_gyr_gain()
self.write_acc() # default
time.sleep(0.2)
self.calibrate_acc()
self.write_acc() # new calibration
text = """# Each line starts with "calibration type:"
# followed by the x, y and z calibration, separated by a comma.
# Multiplier and Divider are written as "mul/div"
"""
c = []
for num in range(6):
c.append(self.i.get_calibration(num))
text += '0: ' + str(c[0][0]) + '/' + str(c[0][3]) + ', ' + str(c[0][1]) + '/' + str(c[0][4]) + ', ' + str(c[0][2]) + '/' + str(c[0][5])
text += '\n'
text += '1: ' + str(c[1][0]) + ', ' + str(c[1][1]) + ', ' + str(c[1][2])
text += '\n'
text += '2: ' + str(c[2][0]) + '/' + str(c[2][3]) + ', ' + str(c[2][1]) + '/' + str(c[2][4]) + ', ' + str(c[2][2]) + '/' + str(c[2][5])
text += '\n'
text += '3: ' + str(c[3][0]) + ', ' + str(c[3][1]) + ', ' + str(c[3][2])
text += '\n'
text += '4: ' + str(c[4][0]) + '/' + str(c[4][3]) + ', ' + str(c[4][1]) + '/' + str(c[4][4]) + ', ' + str(c[4][2]) + '/' + str(c[4][5])
text += '\n'
text += '5: ' + str(c[5][0]) + ', ' + str(c[5][1]) + ', ' + str(c[5][2]) + ', ' + str(c[5][3]) + ', ' + str(c[5][4]) + ', ' + str(c[5][5]) + ', ' + str(c[5][6]) + ', ' + str(c[5][7])
f = file(self.imu_uid + '.txt', 'w')
f.write(text)
f.close()
def __init__(self):
ipcon = IPConnection()
ipcon.connect(HOST, PORT)
ipcon.register_callback(IPConnection.CALLBACK_ENUMERATE,
self.cb_enumerate)
ipcon.enumerate()
i = 0
while self.imu_uid == None:
time.sleep(0.1)
i += 1
if i == 20:
print "Didn't find IMU, exiting"
return
self.s = Servo('9TZyPftcTLE', ipcon)
self.i = IMU(self.imu_uid, ipcon)
self.s.set_output_voltage(self.SERVO_VOLTAGE)
for servo in self.servos.values():
self.s.set_pulse_width(servo[0], servo[1][0], servo[1][1])
self.s.set_degree(servo[0], servo[2][0], servo[2][1])
self.s.set_velocity(servo[0], 0xFFFF)
self.s.set_acceleration(servo[0], 0xFFFF)
self.s.set_position(servo[0], 0)
self.s.enable(servo[0])
time.sleep(1)
self.write_gyr_bias()
time.sleep(0.2)
self.calibrate_gyr_bias()
self.write_gyr_bias()
self.write_gyr_gain()
time.sleep(0.2)
self.calibrate_gyr_gain()
self.write_gyr_gain()
self.write_acc() # default
time.sleep(0.2)
self.calibrate_acc()
self.write_acc() # new calibration
text = """# Each line starts with "calibration type:"
# followed by the x, y and z calibration, separated by a comma.
# Multiplier and Divider are written as "mul/div"
"""
c = []
for num in range(6):
c.append(self.i.get_calibration(num))
text += '0: ' + str(c[0][0]) + '/' + str(c[0][3]) + ', ' + str(
c[0][1]) + '/' + str(c[0][4]) + ', ' + str(c[0][2]) + '/' + str(
c[0][5])
text += '\n'
text += '1: ' + str(c[1][0]) + ', ' + str(c[1][1]) + ', ' + str(
c[1][2])
text += '\n'
text += '2: ' + str(c[2][0]) + '/' + str(c[2][3]) + ', ' + str(
c[2][1]) + '/' + str(c[2][4]) + ', ' + str(c[2][2]) + '/' + str(
c[2][5])
text += '\n'
text += '3: ' + str(c[3][0]) + ', ' + str(c[3][1]) + ', ' + str(
c[3][2])
text += '\n'
text += '4: ' + str(c[4][0]) + '/' + str(c[4][3]) + ', ' + str(
c[4][1]) + '/' + str(c[4][4]) + ', ' + str(c[4][2]) + '/' + str(
c[4][5])
text += '\n'
text += '5: ' + str(c[5][0]) + ', ' + str(c[5][1]) + ', ' + str(
c[5][2]) + ', ' + str(c[5][3]) + ', ' + str(c[5][4]) + ', ' + str(
c[5][5]) + ', ' + str(c[5][6]) + ', ' + str(c[5][7])
f = file(self.imu_uid + '.txt', 'w')
f.write(text)
f.close()