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)
"""
