def __init__(self):
super(MainController, self).__init__()
self.ser = Serial(WIFLY_SERIAL_PORT, WIFLY_BAUD_RATE)
self.wiflyReceiver = WiflyReceiver(self.ser)
self.wiflySender = WiflySender(self.ser)
self.rover = Rover()
self.mainWidget = MainWidget()
self.wiflyReceiverThread = QThread()
self.wiflyReceiver.moveToThread(self.wiflyReceiverThread)
self.wiflySenderThread = QThread()
self.wiflySender.moveToThread(self.wiflySenderThread)
self.simState = SIMULATION_STATE_PHASE_1
self.simTimer = QTimer()
self.simTimer.setSingleShot(True)
self.wiflyReceiver.msgReceived.connect(self.mainWidget.appendMsg)
self.wiflyReceiver.msgReceived.connect(self.rover.processData)
self.newCommand.connect(self.wiflySender.sendMsg)
self.appStart.connect(self.wiflyReceiver.processMsg)
self.mainWidget.ui.gearSlider.valueChanged.connect(
self.manualGearChange)
self.mainWidget.ui.upButton.clicked.connect(self.manualMoveForward)
self.mainWidget.ui.downButton.clicked.connect(self.manualMoveBackward)
self.mainWidget.ui.leftButton.clicked.connect(self.manualMoveLeft)
self.mainWidget.ui.rightButton.clicked.connect(self.manualMoveRight)
self.mainWidget.ui.brakeButton.clicked.connect(self.manualStop)
self.mainWidget.ui.simulationButton.clicked.connect(
self.simulationStart)
self.rover.newRoverPosition.connect(self.drawRover)
self.rover.newWallDetected.connect(self.drawNewWall)
self.simTimer.timeout.connect(self.simulationUpdate)
self.mapScene = QGraphicsScene(0, 0, WORLD_X / CANVAS_RATIO,
WORLD_Y / CANVAS_RATIO)
self.mainWidget.ui.mappingGraphicsView.setScene(self.mapScene)
self.roverRect = QGraphicsRectItem()
self.mapScene.addItem(self.roverRect)
"""
def __init__(self):
super(MainController, self).__init__()
self.ser = Serial(WIFLY_SERIAL_PORT, WIFLY_BAUD_RATE)
self.wiflyReceiver = WiflyReceiver(self.ser)
self.wiflySender = WiflySender(self.ser)
self.rover = Rover()
self.mainWidget = MainWidget()
self.wiflyReceiverThread = QThread()
self.wiflyReceiver.moveToThread(self.wiflyReceiverThread)
self.wiflySenderThread = QThread()
self.wiflySender.moveToThread(self.wiflySenderThread)
self.simState = SIMULATION_STATE_PHASE_1
self.simTimer = QTimer()
self.simTimer.setSingleShot(True)
self.wiflyReceiver.msgReceived.connect(self.mainWidget.appendMsg)
self.wiflyReceiver.msgReceived.connect(self.rover.processData)
self.newCommand.connect(self.wiflySender.sendMsg)
self.appStart.connect(self.wiflyReceiver.processMsg)
self.mainWidget.ui.gearSlider.valueChanged.connect(self.manualGearChange)
self.mainWidget.ui.upButton.clicked.connect(self.manualMoveForward)
self.mainWidget.ui.downButton.clicked.connect(self.manualMoveBackward)
self.mainWidget.ui.leftButton.clicked.connect(self.manualMoveLeft)
self.mainWidget.ui.rightButton.clicked.connect(self.manualMoveRight)
self.mainWidget.ui.brakeButton.clicked.connect(self.manualStop)
self.mainWidget.ui.simulationButton.clicked.connect(self.simulationStart)
self.rover.newRoverPosition.connect(self.drawRover)
self.rover.newWallDetected.connect(self.drawNewWall)
self.simTimer.timeout.connect(self.simulationUpdate)
self.mapScene = QGraphicsScene(0, 0, WORLD_X / CANVAS_RATIO, WORLD_Y / CANVAS_RATIO)
self.mainWidget.ui.mappingGraphicsView.setScene(self.mapScene)
self.roverRect = QGraphicsRectItem()
self.mapScene.addItem(self.roverRect)
"""
class MainController(QObject):
appStart = pyqtSignal()
newCommand = pyqtSignal(tuple)
def __init__(self):
super(MainController, self).__init__()
self.ser = Serial(WIFLY_SERIAL_PORT, WIFLY_BAUD_RATE)
self.wiflyReceiver = WiflyReceiver(self.ser)
self.wiflySender = WiflySender(self.ser)
self.rover = Rover()
self.mainWidget = MainWidget()
self.wiflyReceiverThread = QThread()
self.wiflyReceiver.moveToThread(self.wiflyReceiverThread)
self.wiflySenderThread = QThread()
self.wiflySender.moveToThread(self.wiflySenderThread)
self.simState = SIMULATION_STATE_PHASE_1
self.simTimer = QTimer()
self.simTimer.setSingleShot(True)
self.wiflyReceiver.msgReceived.connect(self.mainWidget.appendMsg)
self.wiflyReceiver.msgReceived.connect(self.rover.processData)
self.newCommand.connect(self.wiflySender.sendMsg)
self.appStart.connect(self.wiflyReceiver.processMsg)
self.mainWidget.ui.gearSlider.valueChanged.connect(
self.manualGearChange)
self.mainWidget.ui.upButton.clicked.connect(self.manualMoveForward)
self.mainWidget.ui.downButton.clicked.connect(self.manualMoveBackward)
self.mainWidget.ui.leftButton.clicked.connect(self.manualMoveLeft)
self.mainWidget.ui.rightButton.clicked.connect(self.manualMoveRight)
self.mainWidget.ui.brakeButton.clicked.connect(self.manualStop)
self.mainWidget.ui.simulationButton.clicked.connect(
self.simulationStart)
self.rover.newRoverPosition.connect(self.drawRover)
self.rover.newWallDetected.connect(self.drawNewWall)
self.simTimer.timeout.connect(self.simulationUpdate)
self.mapScene = QGraphicsScene(0, 0, WORLD_X / CANVAS_RATIO,
WORLD_Y / CANVAS_RATIO)
self.mainWidget.ui.mappingGraphicsView.setScene(self.mapScene)
self.roverRect = QGraphicsRectItem()
self.mapScene.addItem(self.roverRect)
"""
rect1 = QGraphicsRectItem()
rect2 = QGraphicsRectItem()
self.mapScene.addItem(rect1)
self.mapScene.addItem(rect2)
rect1.setRect(100, 100, 20, 40)
rect2.setRect(100, 100, 20, 40)
#rect.moveBy(10, 50)
rect2.setTransformOriginPoint(100, 100)
rect2.setRotation(-10)
print rect1.rect().center()
#print rect2.transformOriginPoint().x(), rect2.transformOriginPoint().y()
"""
@pyqtSlot(tuple, tuple)
def drawNewWall(self, wallFront, wallRear):
pFront = QGraphicsRectItem(wallFront[0] / CANVAS_RATIO,
wallFront[1] / CANVAS_RATIO, DOT_SIZE,
DOT_SIZE)
pRear = QGraphicsRectItem(wallRear[0] / CANVAS_RATIO,
wallRear[1] / CANVAS_RATIO, DOT_SIZE,
DOT_SIZE)
self.mapScene.addItem(pFront)
self.mapScene.addItem(pRear)
@pyqtSlot(tuple, float)
def drawRover(self, center, orientation):
self.roverRect.setRect((center[0] - ROVER_WIDTH / 2) / CANVAS_RATIO,
(center[1] - ROVER_LENGTH / 2) / CANVAS_RATIO,
ROVER_WIDTH / CANVAS_RATIO,
ROVER_LENGTH / CANVAS_RATIO)
self.roverRect.setTransformOriginPoint(center[0] / CANVAS_RATIO,
center[1] / CANVAS_RATIO)
self.roverRect.setRotation(math.degrees(-orientation))
@pyqtSlot()
def manualGearChange(self):
gear = self.mainWidget.ui.gearSlider.value()
self.mainWidget.ui.gearLcdNumber.display(gear)
self.rover.roverGear = gear
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveForward(self):
self.rover.roverDirection = ROVER_DIRECTION_FORWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveBackward(self):
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveLeft(self):
self.rover.roverDirection = ROVER_DIRECTION_LEFT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveRight(self):
self.rover.roverDirection = ROVER_DIRECTION_RIGHT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualStop(self):
self.mainWidget.ui.gearSlider.setValue(0)
@pyqtSlot()
def simulationStart(self):
self.simState == SIMULATION_STATE_PHASE_1
self.simTimer.start(5000)
@pyqtSlot()
def simulationUpdate(self):
if self.simState == SIMULATION_STATE_PHASE_1:
self.simState = SIMULATION_STATE_PHASE_2
self.rover.roverGear = 2
self.rover.roverDirection = ROVER_DIRECTION_FORWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(16000)
elif self.simState == SIMULATION_STATE_PHASE_2:
self.simState = SIMULATION_STATE_PHASE_3
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(6100)
elif self.simState == SIMULATION_STATE_PHASE_3:
self.simState = SIMULATION_STATE_PHASE_4
self.rover.roverDirection = ROVER_DIRECTION_LEFT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(3500)
elif self.simState == SIMULATION_STATE_PHASE_4:
self.simState = SIMULATION_STATE_PHASE_5
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(8300)
elif self.simState == SIMULATION_STATE_PHASE_5:
self.rover.roverGear = 0
self.rover.roverDirection = ROVER_DIRECTION_STOP
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
def start(self):
self.mainWidget.show()
self.wiflyReceiverThread.start()
self.wiflySenderThread.start()
self.appStart.emit()
class MainController(QObject):
appStart = pyqtSignal()
newCommand = pyqtSignal(tuple)
def __init__(self):
super(MainController, self).__init__()
self.ser = Serial(WIFLY_SERIAL_PORT, WIFLY_BAUD_RATE)
self.wiflyReceiver = WiflyReceiver(self.ser)
self.wiflySender = WiflySender(self.ser)
self.rover = Rover()
self.mainWidget = MainWidget()
self.wiflyReceiverThread = QThread()
self.wiflyReceiver.moveToThread(self.wiflyReceiverThread)
self.wiflySenderThread = QThread()
self.wiflySender.moveToThread(self.wiflySenderThread)
self.simState = SIMULATION_STATE_PHASE_1
self.simTimer = QTimer()
self.simTimer.setSingleShot(True)
self.wiflyReceiver.msgReceived.connect(self.mainWidget.appendMsg)
self.wiflyReceiver.msgReceived.connect(self.rover.processData)
self.newCommand.connect(self.wiflySender.sendMsg)
self.appStart.connect(self.wiflyReceiver.processMsg)
self.mainWidget.ui.gearSlider.valueChanged.connect(self.manualGearChange)
self.mainWidget.ui.upButton.clicked.connect(self.manualMoveForward)
self.mainWidget.ui.downButton.clicked.connect(self.manualMoveBackward)
self.mainWidget.ui.leftButton.clicked.connect(self.manualMoveLeft)
self.mainWidget.ui.rightButton.clicked.connect(self.manualMoveRight)
self.mainWidget.ui.brakeButton.clicked.connect(self.manualStop)
self.mainWidget.ui.simulationButton.clicked.connect(self.simulationStart)
self.rover.newRoverPosition.connect(self.drawRover)
self.rover.newWallDetected.connect(self.drawNewWall)
self.simTimer.timeout.connect(self.simulationUpdate)
self.mapScene = QGraphicsScene(0, 0, WORLD_X / CANVAS_RATIO, WORLD_Y / CANVAS_RATIO)
self.mainWidget.ui.mappingGraphicsView.setScene(self.mapScene)
self.roverRect = QGraphicsRectItem()
self.mapScene.addItem(self.roverRect)
"""
rect1 = QGraphicsRectItem()
rect2 = QGraphicsRectItem()
self.mapScene.addItem(rect1)
self.mapScene.addItem(rect2)
rect1.setRect(100, 100, 20, 40)
rect2.setRect(100, 100, 20, 40)
#rect.moveBy(10, 50)
rect2.setTransformOriginPoint(100, 100)
rect2.setRotation(-10)
print rect1.rect().center()
#print rect2.transformOriginPoint().x(), rect2.transformOriginPoint().y()
"""
@pyqtSlot(tuple, tuple)
def drawNewWall(self, wallFront, wallRear):
pFront = QGraphicsRectItem(wallFront[0] / CANVAS_RATIO,
wallFront[1] / CANVAS_RATIO,
DOT_SIZE, DOT_SIZE)
pRear = QGraphicsRectItem(wallRear[0] / CANVAS_RATIO,
wallRear[1] / CANVAS_RATIO,
DOT_SIZE, DOT_SIZE)
self.mapScene.addItem(pFront)
self.mapScene.addItem(pRear)
@pyqtSlot(tuple, float)
def drawRover(self, center, orientation):
self.roverRect.setRect((center[0] - ROVER_WIDTH / 2) / CANVAS_RATIO,
(center[1] - ROVER_LENGTH / 2) / CANVAS_RATIO,
ROVER_WIDTH / CANVAS_RATIO, ROVER_LENGTH / CANVAS_RATIO)
self.roverRect.setTransformOriginPoint(center[0] / CANVAS_RATIO, center[1] / CANVAS_RATIO)
self.roverRect.setRotation(math.degrees(-orientation))
@pyqtSlot()
def manualGearChange(self):
gear = self.mainWidget.ui.gearSlider.value()
self.mainWidget.ui.gearLcdNumber.display(gear)
self.rover.roverGear = gear
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveForward(self):
self.rover.roverDirection = ROVER_DIRECTION_FORWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveBackward(self):
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveLeft(self):
self.rover.roverDirection = ROVER_DIRECTION_LEFT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualMoveRight(self):
self.rover.roverDirection = ROVER_DIRECTION_RIGHT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
@pyqtSlot()
def manualStop(self):
self.mainWidget.ui.gearSlider.setValue(0)
@pyqtSlot()
def simulationStart(self):
self.simState == SIMULATION_STATE_PHASE_1
self.simTimer.start(5000)
@pyqtSlot()
def simulationUpdate(self):
if self.simState == SIMULATION_STATE_PHASE_1:
self.simState = SIMULATION_STATE_PHASE_2
self.rover.roverGear = 2
self.rover.roverDirection = ROVER_DIRECTION_FORWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(16000)
elif self.simState == SIMULATION_STATE_PHASE_2:
self.simState = SIMULATION_STATE_PHASE_3
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(6100)
elif self.simState == SIMULATION_STATE_PHASE_3:
self.simState = SIMULATION_STATE_PHASE_4
self.rover.roverDirection = ROVER_DIRECTION_LEFT
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(3500)
elif self.simState == SIMULATION_STATE_PHASE_4:
self.simState = SIMULATION_STATE_PHASE_5
self.rover.roverDirection = ROVER_DIRECTION_BACKWARD
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
self.simTimer.start(8300)
elif self.simState == SIMULATION_STATE_PHASE_5:
self.rover.roverGear = 0
self.rover.roverDirection = ROVER_DIRECTION_STOP
self.rover.updateMotorCommand()
self.newCommand.emit(tuple(self.rover.commandMsg))
def start(self):
self.mainWidget.show()
self.wiflyReceiverThread.start()
self.wiflySenderThread.start()
self.appStart.emit()
