def addCloseMotorOne(self):
if self.haveOpenLoop:
QMessageBox.critical(self, "Error", "Open and close motors can not exist in the same configuration.")
return
if self.encoders.count() == 0:
QMessageBox.critical(self, "Close Motor Error", "Out of encoder ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = CloseLoop(self.DevFrame, self.data, self.encoders)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def __init__(self, frame, data, encoders):
CloseLoop.__init__(self, frame, data, encoders)
self.setType(CLOSE_LOP_TWO)
self.mainPorts.setCurrentIndex(1)
self._encoder2 = str(self.mainPorts.currentText())
def saveToFile(self, file):
CloseLoop.saveToFile(self, file)
file.write('closeLoop' + str(CloseLoop.closeLoop - 1) + '/port2: ' + self._encoder2 + '\n')
def fromDict(self, data):
CloseLoop.fromDict(self, data)
self._encoder2 = data['encoder2']
def toDict(self):
data = CloseLoop.toDict(self)
data['type'] = CLOSE_LOP_TWO
data['encoder2'] = self._encoder2
return data
def __init__(self, frame, data, encoders):
CloseLoop.__init__(self, frame, data, encoders)
self.setType(CLOSE_LOP_TWO)
self.mainPorts.setCurrentIndex(1)
self._encoder2 = str(self.mainPorts.currentText())
def saveToFile(self, file):
CloseLoop.saveToFile(self, file)
file.write('closeLoop' + str(CloseLoop.closeLoop - 1) + '/port2: ' + self._encoder2 + '\n')
def fromDict(self, data):
CloseLoop.fromDict(self, data)
self._encoder2 = data['encoder2']
def toDict(self):
data = CloseLoop.toDict(self)
data['type'] = CLOSE_LOP_TWO
data['encoder2'] = self._encoder2
return data
def load(self):
pkg = rospkg.RosPack().get_path('ric_board')
fileName = QFileDialog.getOpenFileName(self, self.tr("Load File"), "%s/DATA" % pkg, self.tr("RiC File (*.RIC)"))
if fileName != '':
self.new()
self.override = False
load = open(fileName)
data = pickle.load(load)
self._fileName = data[0]
self._ns = data[1]
yaml = open("%s/config/%s.yaml" % (pkg, self._fileName))
conDev = yaml.readline().split(': ')[1][:-1]
allDevs = [str(self.ConPortList.itemText(i)) for i in xrange(self.ConPortList.count())]
for i in xrange(len(allDevs)):
if conDev == allDevs[i]:
self.ConPortList.setCurrentIndex(i)
break
self.nameSpace.setText(self._ns)
self.fileName.setText(self._fileName)
devices = data[2]
# print devices
for dev in devices:
if dev['type'] == BATTERY:
self.currentShowDev = Battery(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == SERVO:
self.currentShowDev = Servo(self.DevFrame, self.data, self.servoPorts)
self.currentShowDev.fromDict(dev)
self.servoPorts.removeItem(self.currentShowDev.findItem())
elif dev['type'] == SWITCH:
self.currentShowDev = Switch(self.DevFrame, self.data, self.switchPorts)
self.currentShowDev.fromDict(dev)
self.switchPorts.removeItem(self.currentShowDev.findItem())
elif dev['type'] == IMU:
self.currentShowDev = Imu(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == PPM:
self.currentShowDev = Ppm(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == GPS:
self.currentShowDev = Gps(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == RELAY:
self.currentShowDev = Relay(self.DevFrame, self.data, self.relayPorts)
self.currentShowDev.fromDict(dev)
self.relayPorts.removeItem(self.currentShowDev.findItem())
elif dev['type'] == URF:
self.currentShowDev = Urf(self.DevFrame, self.data, self.urfPorts)
self.currentShowDev.fromDict(dev)
self.urfPorts.removeItem(self.currentShowDev.findItem())
elif dev['type'] == CLOSE_LOP_ONE:
self.currentShowDev = CloseLoop(self.DevFrame, self.data, self.encoders)
self.currentShowDev.fromDict(dev)
self.encoders.removeItem(self.currentShowDev.findItem())
elif dev['type'] == CLOSE_LOP_TWO:
self.currentShowDev = CloseLoopTwo(self.DevFrame, self.data, self.encoders)
self.currentShowDev.fromDict(dev)
self.encoders.removeItem(self.currentShowDev.findItem())
self.encoders.removeItem(self.currentShowDev.findItem2())
elif dev['type'] == OPEN_LOP:
self.currentShowDev = OpenLoop(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == DIFF_CLOSE:
self.currentShowDev = DiffClose(self.DevFrame, self.data, self.motors)
self.currentShowDev.fromDict(dev)
elif dev['type'] == DIFF_CLOSE_FOUR:
self.currentShowDev = DiffCloseFour(self.DevFrame, self.data, self.motors)
self.currentShowDev.fromDict(dev)
elif dev['type'] == DIFF_OPEN:
self.currentShowDev = DiffOpen(self.DevFrame, self.data, self.motors)
self.currentShowDev.fromDict(dev)
elif dev['type'] == HOKUYO:
self.currentShowDev = Hokuyo(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == OPRNNI:
self.currentShowDev = Opennni(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == USBCAM:
self.currentShowDev = UsbCam(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == ROBOT_MODEL:
self.currentShowDev = RobotModel(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == SLAM:
self.currentShowDev = Slam(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == PPMReader:
self.currentShowDev = PPMReader(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == Keyboard:
self.currentShowDev = KeyboardTeleop(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == JOYSTICK:
self.currentShowDev = JoystickTeleop(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == SMOOTHER:
self.currentShowDev = VelocitySmoother(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == LAUNCH:
self.currentShowDev = RosLaunch(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == NODE:
self.currentShowDev = RosNode(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
elif dev['type'] == EMERGENCY_SWITCH:
self.currentShowDev = EmergencySwitch(self.DevFrame, self.data)
self.currentShowDev.fromDict(dev)
if self.currentShowDev.getDevType() == BATTERY:
self.haveBattery = True
if self.currentShowDev.getDevType() == IMU:
self.haveIMU = True
if self.currentShowDev.getDevType() == PPM:
self.havePPM = True
if self.currentShowDev.getDevType() == GPS:
self.haveGPS = True
if (self.currentShowDev.getDevType() == CLOSE_LOP_ONE) or (
self.currentShowDev.getDevType() == CLOSE_LOP_TWO):
self.haveCloseLoop = True
self.motors.append(self.currentShowDev.getName())
if self.currentShowDev.getDevType() == OPEN_LOP:
self.haveOpenLoop = True
self.motors.append(self.currentShowDev.getName())
if self.currentShowDev.getDevType() == DIFF_CLOSE or self.currentShowDev.getDevType() == DIFF_OPEN or self.currentShowDev.getDevType() == DIFF_CLOSE_FOUR:
self.haveDiff = True
self.diffEnable = True
self.devList.addItem(QListWidgetItem(self.currentShowDev.getName()))
self.data.append(self.currentShowDev)
self.currentShowDev = None
self.pushButton_2.setEnabled(True)
