def __init__(self, options):
super(DriverWindow, self).__init__()
#uic.loadUi('ui/driverGUI.ui', self)
self.options = options
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.ui.tabWidget.setCurrentIndex(0)
self.resetInfo(initial=True)
self.ui.labelTest = {
"MS5611": self.ui.label_baroTest,
"MPU6050": self.ui.label_MPUTest,
"HMC5883L": self.ui.label_magTest
}
self.state = STATE.DISCONNECTED
# ROS
self.d = Dialog(options)
self.ros = ROSNode(options, self)
# FLIE
self.flie = FlieControl(self)
self.ui.checkBox_pktHZ.toggled.connect(
lambda on: self.flie.setPacketUpdateSpeed(self.ui.spinBox_pktHZ.
value() if on else 0))
self.ui.spinBox_pktHZ.valueChanged.connect(self.flie.inKBPS.setHZ)
self.ui.spinBox_pktHZ.valueChanged.connect(self.flie.outKBPS.setHZ)
self.ui.spinBox_pktHZ.valueChanged.emit(
self.ui.spinBox_pktHZ.value()) # force update
self.ui.checkBox_kill.toggled.connect(self.flie.setKillswitch)
self.flie.setKillswitch(self.ui.checkBox_kill.isChecked())
self.ui.checkBox_xmode.toggled.connect(
self.flie.crazyflie.commander.set_client_xmode)
self.flie.crazyflie.commander.set_client_xmode(
self.ui.checkBox_xmode.isChecked())
# Set up ParamManager
self.paramManager = ParamManager(self.flie.crazyflie, self)
self.ui.tab_param.layout().addWidget(self.paramManager)
# Set up LogManager
self.logManager = LogManager(self.flie.crazyflie, self)
self.ui.tab_log.layout().addWidget(self.logManager)
self.ui.checkBox_logHZ.toggled.connect(self.logManager.setEstimateHzOn)
self.ui.spinBox_logHZ.valueChanged.connect(
self.logManager.setFreqMonitorFreq)
self.logManager.sig_rosData.connect(self.ros.receiveCrazyflieLog)
self.autoRetryTimer = QTimer()
self.autoRetryTimer.setInterval(1500)
self.autoRetryTimer.timeout.connect(lambda: self.connectPressed(
self.ui.comboBox_connect.currentText(), auto=True))
self.autoRetryTimer.setSingleShot(True)
# Set up TrackManager
self.trackManager = TrackManager(self.ros.sub_tf, self.ros.pub_tf,
self)
self.ui.tab_tracking.layout().addWidget(self.trackManager)
# AI
self.ai = AttitudeIndicator(self.ui.tab_hud)
self.logManager.sig_rpy.connect(self.ai.setRollPitchYaw)
self.ui.tab_hud.layout().addWidget(self.ai)
self.ui.checkBox_AI.stateChanged.connect(self.ai.setUpdatesEnabled)
self.ui.spinBox_AIHZ.valueChanged.connect(self.ai.setUpdateSpeed)
self.logManager.sig_hoverTarget.connect(self.ai.setHover)
self.logManager.sig_baroASL.connect(self.ai.setBaro)
self.logManager.sig_accZ.connect(self.ai.setAccZ)
self.logManager.sig_motors.connect(self.ai.setMotors)
self.logManager.sig_batteryUpdated.connect(self.ai.setBattery)
self.logManager.sig_batteryState.connect(self.ai.setPower)
self.logManager.sig_temp.connect(self.ai.setTemp)
self.logManager.sig_cpuUpdated.connect(self.ai.setCPU)
self.logManager.sig_pressure.connect(self.ai.setPressure)
self.logManager.sig_aslLong.connect(self.ai.setAslLong)
self.paramManager.sig_gyroCalib.connect(self.ai.setCalib)
self.flie.inKBPS.sig_KBPS.connect(self.ai.setPktsIn)
self.flie.outKBPS.sig_KBPS.connect(self.ai.setPktsOut)
self.flie.sig_flieLink.connect(self.ai.setLinkQuality)
self.flie.sig_stateUpdate.connect(self.ai.setFlieState)
self.ui.checkBox_reconnect.stateChanged.connect(
self.ai.setAutoReconnect)
self.logManager.sig_hzMeasure.connect(self.ai.updateHz)
self.logManager.sig_logStatus.connect(self.ai.updateHzTarget)
# Yaw offset
self.ui.doubleSpinBox_yaw.valueChanged.connect(
lambda yaw: self.ui.horizontalSlider_yaw.setValue(yaw * 10))
self.ui.horizontalSlider_yaw.valueChanged.connect(
lambda yaw: self.ui.doubleSpinBox_yaw.setValue(yaw / 10))
self.ui.doubleSpinBox_yaw.valueChanged.connect(
self.logManager.setYawOffset)
self.ui.checkBox_yaw.stateChanged.connect(
lambda x: self.logManager.setYawOffset(self.ui.doubleSpinBox_yaw.
value() if x else 0))
self.ui.checkBox_yaw.stateChanged.emit(
self.ui.checkBox_yaw.checkState()) # force update
self.ui.pushButton_north.clicked.connect(
lambda: self.ui.doubleSpinBox_yaw.setValue(self.logManager.getYaw(
)))
# ASL offset
self.ui.doubleSpinBox_ground.valueChanged.connect(
self.logManager.setGroundLevel)
self.ui.checkBox_ground.stateChanged.connect(
lambda x: self.logManager.setGroundLevel(
self.ui.doubleSpinBox_ground.value() if x else 0))
self.ui.checkBox_ground.stateChanged.emit(
self.ui.checkBox_ground.checkState())
self.ui.pushButton_ground.clicked.connect(
lambda: self.ui.doubleSpinBox_ground.setValue(self.logManager.
getASL()))
self.ros.sig_baro.connect(self.logManager.setAslOffset)
# init previous settings
self.readSettings()
# Sync
self.sync = Sync(self.flie.crazyflie)
self.sync.sig_delayUp.connect(
lambda x: self.ui.label_up.setText(str(round(x, 2)) + "ms"))
self.sync.sig_delayDown.connect(
lambda x: self.ui.label_down.setText(str(round(x, 2)) + "ms"))
self.ui.groupBox_sync.toggled.connect(self.sync.enable)
self.ui.spinBox_syncHz.valueChanged.connect(self.sync.setSyncRate)
self.ui.spinBox_syncHz.valueChanged.emit(
self.ui.spinBox_syncHz.value())
self.ui.groupBox_sync.toggled.emit(self.ui.groupBox_sync.isChecked())
self.sync.sig_cpuTime.connect(
lambda x: self.ui.label_cputime.setText("%08.03fs" % x))
self.sync.sig_flieTime.connect(
lambda x: self.ui.label_flietime.setText("%08.03fs" % x))
self.sync.sig_diffTime.connect(
lambda x: self.ui.label_difftime.setText("%08.03fs" % x))
self.ui.checkBox_rosLog.stateChanged.connect(
self.logManager.setPubToRos)
self.ui.groupBox_ros.clicked.connect(
lambda x: self.logManager.setPubToRos(
min(self.ui.groupBox_ros.isChecked(),
self.ui.checkBox_rosLog.checkState()))) #
# Updating the GUI (if we didnt do this, every change would result in an update...)
self.guiUpdateQueue = {}
self.guiUpdateQueueSave = 0
self.guiUpdateTimer = QTimer()
self.guiUpdateTimer.setInterval(1000 / self.ui.spinBox_guiHZ.value())
self.ui.spinBox_guiHZ.valueChanged.connect(
lambda x: self.guiUpdateTimer.setInterval(1000 / x))
self.guiUpdateTimer.timeout.connect(self.updateGui)
self.guiUpdateTimer.start()
# Defaults according to settings within GUI
self.beepOn = self.ui.checkBox_beep.isChecked()
self.killOn = self.ui.checkBox_kill.isChecked()
self.autoReconnectOn = self.ui.checkBox_reconnect.isChecked()
self.startupConnectOn = self.ui.checkBox_startupConnect.isChecked()
self.ui.groupBox_input.toggled.connect(
lambda x: self.ros.sig_joydata.connect(self.setInputJoy)
if x else self.ros.sig_joydata.disconnect(self.setInputJoy))
if self.ui.groupBox_input.isChecked():
self.ros.sig_joydata.connect(self.setInputJoy)
# Set up URI scanner
self.scanner = ScannerThread(radio=options.radio)
self.scanner.start()
# Connections from GUI
self.ui.pushButton_connect.clicked.connect(
lambda: self.connectPressed(self.ui.comboBox_connect.currentText(),
auto=False)) # Start button -> connect
self.ui.comboBox_connect.currentIndexChanged.connect(self.uriSelected)
self.ui.checkBox_beep.toggled.connect(self.setBeep)
self.ui.checkBox_kill.toggled.connect(self.setKill)
self.ui.checkBox_kill.toggled.connect(self.ai.setKillSwitch)
self.ui.checkBox_kill.toggled.emit(
self.ui.checkBox_kill.checkState()) # force update
self.ui.checkBox_hover.toggled.connect(self.flie.setHoverDisabled)
self.ui.checkBox_hover.toggled.emit(
self.ui.checkBox_hover.checkState()) # force update
self.ui.checkBox_reconnect.toggled.connect(self.setAutoReconnect)
self.ui.checkBox_startupConnect.toggled.connect(self.setStartupConnect)
self.ui.pushButton_genRosMsg.clicked.connect(self.genRosMsg)
self.ui.pushButton_baro.clicked.connect(self.updateBaroTopics)
self.ui.groupBox_baro.toggled.connect(
lambda x: self.updateBaroTopics(not x))
# Connections to GUI
self.flie.sig_packetSpeed.connect(self.updatePacketRate)
self.flie.sig_flieLink.connect(self.ui.progressbar_link.setValue)
self.paramManager.sig_baroFound.connect(
lambda found: self.ui.label_baroFound.setText("Yes"
if found else "No"))
self.paramManager.sig_magFound.connect(
lambda found: self.ui.label_magFound.setText("Yes"
if found else "No"))
self.paramManager.sig_test.connect(lambda name, p: self.ui.labelTest[
str(name)].setText("Pass" if p else "FAIL"))
self.paramManager.sig_firmware.connect(
lambda fw, mod: self.ui.label_fw.setText(fw))
self.paramManager.sig_firmware.connect(
lambda fw, mod: self.ui.label_fwMod.setText(mod))
self.logManager.sig_batteryUpdated.connect(lambda v: self.setToUpdate(
"vbat", self.ui.progressbar_bat.setValue, v))
self.logManager.sig_cpuUpdated.connect(lambda v: self.setToUpdate(
"cpu", self.ui.progressbar_cpu.setValue, v))
self.flie.inKBPS.sig_KBPS.connect(
lambda hz: self.updatePacketRate(self.ui.progressBar_pktIn, hz))
self.flie.outKBPS.sig_KBPS.connect(
lambda hz: self.updatePacketRate(self.ui.progressBar_pktOut, hz))
# Connections GUI to GUI
# Connections Within
self.scanner.sig_foundURI.connect(self.receiveScanURI)
self.sig_requestScan.connect(self.scanner.scan)
self.sig_requestConnect.connect(self.flie.requestConnect)
self.sig_requestDisconnect.connect(self.flie.requestDisconnect)
self.flie.sig_stateUpdate.connect(self.updateFlieState)
self.flie.sig_console.connect(self.ui.console.insertPlainText)
# Show window
self.show()
# Initiate an initial Scan
init_drivers(enable_debug_driver=False)
self.startScanURI()
