def addRelay(self):
if self.relayPorts.count() == 0:
QMessageBox.critical(self, "Relay Error", "Out of relay ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Relay(self.DevFrame, self.data, self.relayPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addGps(self):
if self.haveGPS:
QMessageBox.critical(self, "GPS Error", "Can't add another GPS to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Gps(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addOpenMotor(self):
if self.haveCloseLoop:
QMessageBox.critical(self, "Error", "Open and close motors can not exist in the same configuration.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = OpenLoop(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addGps(self):
if self.haveGPS:
QMessageBox.critical(self, "GPS Error", "Can't add another GPS to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Gps(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addOpenMotor(self):
if self.haveCloseLoop:
QMessageBox.critical(self, "Error", "Open and close motors can not exist in the same configuration.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = OpenLoop(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addRelay(self):
if self.relayPorts.count() == 0:
QMessageBox.critical(self, "Relay Error", "Out of relay ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Relay(self.DevFrame, self.data, self.relayPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
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 addDiffClose(self):
if not self.haveCloseLoop or len(self.motors) < 2:
QMessageBox.critical(self, "Driver error", "Need to have at less two close loop motors.")
return
if self.haveDiff:
QMessageBox.critical(self, "Driver error", "Can not have more.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = DiffClose(self.DevFrame, self.data, self.motors)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
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 addDiffClose(self):
if not self.haveCloseLoop or len(self.motors) < 2:
QMessageBox.critical(self, "Driver error", "Need to have at less two close loop motors.")
return
if self.haveDiff:
QMessageBox.critical(self, "Driver error", "Can not have more.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = DiffClose(self.DevFrame, self.data, self.motors)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addUsbCam(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = UsbCam(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addDiffSmooth(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = VelocitySmoother(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addDiffSmooth(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = VelocitySmoother(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addUsbCam(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = UsbCam(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
class MainWindow(QMainWindow, Ui_MainWindow):
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.data = []
self.motors = []
self.currentShowDev = None
self.root = Element('launch')
self.actionAbout_RIC.triggered.connect(self.about)
self.actionServo.triggered.connect(self.addServo)
self.actionBattery_Monitor.triggered.connect(self.addBattery)
self.actionSwitch.triggered.connect(self.addSwitch)
self.actionIMU.triggered.connect(self.addImu)
self.actionPPM.triggered.connect(self.addPpm)
self.actionGPS.triggered.connect(self.addGps)
self.actionRelay.triggered.connect(self.addRelay)
self.actionURF.triggered.connect(self.addURF)
self.actionMotor_with_one_encoder.triggered.connect(self.addCloseMotorOne)
self.actionMotor_with_two_encoder.triggered.connect(self.addCloseMotorTwo)
self.actionOpen_Loop.triggered.connect(self.addOpenMotor)
self.actionWith_two_motors.triggered.connect(self.addDiffClose)
self.actionWith_four_motors.triggered.connect(self.addDiffCloseFour)
self.actionOpen_Loop_Drive.triggered.connect(self.addDiffOpen)
self.actionUSB_Camera.triggered.connect(self.addUsbCam)
self.actionOPENNI.triggered.connect(self.addOpenni)
self.actionHakoyo.triggered.connect(self.addOHokuyo)
self.actionSave.triggered.connect(self.save)
self.actionOpen.triggered.connect(self.load)
self.actionNew.triggered.connect(self.new)
self.actionReconfig_RiC_Board.triggered.connect(self.configRiCBoard)
self.actionRobot_Model.triggered.connect(self.addRobotModel)
self.actionAbout_RiC_Board.triggered.connect(self.aboutRiCBoard)
self.actionSLAM.triggered.connect(self.addSLAM)
self.actionRemote_robot_launch.triggered.connect(self.launchRemote)
self.actionPPM_Reader.triggered.connect(self.addPPmReader)
self.actionSet_parameters.triggered.connect(self.paramManager)
self.actionKeyboard.triggered.connect(self.addKeyboard)
self.actionJoystick.triggered.connect(self.addJoystick)
self.actionDifferential_Drive_smoother.triggered.connect(self.addDiffSmooth)
self.actionAbout.triggered.connect(self.showAbout)
self.actionImu_calibration.triggered.connect(self.showImuCalib)
#self.actionRobot_simulation.triggered.connect(self.startSimGUI)
self.actionInclude_ros_launch.triggered.connect(self.addRosLaunch)
self.actionInclude_ros_node.triggered.connect(self.addRosNode)
self.actionEmegency_switch.triggered.connect(self.addEmergencySwitch)
self.fileName.textChanged.connect(self.fileNameEven)
self.nameSpace.textChanged.connect(self.namespaceEven)
self.devList.itemPressed.connect(self.clickListEven)
self.devList.doubleClicked.connect(self.devEdit)
self.servoPorts = QComboBox()
self.servoPorts.addItems([
self.tr('1'),
self.tr('2')
])
self.switchPorts = QComboBox()
self.switchPorts.addItems([
self.tr('1'),
self.tr('2')
])
self.relayPorts = QComboBox()
self.relayPorts.addItems([
self.tr('1'),
self.tr('2')
])
self.urfPorts = QComboBox()
self.urfPorts.addItems([
self.tr('1'),
self.tr('2'),
self.tr('3')
])
self.encoders = QComboBox()
self.encoders.addItems([
self.tr('1'),
self.tr('2'),
self.tr('3'),
self.tr('4')
])
self._ns = ''
self._fileName = ''
self.haveBattery = False
self.haveIMU = False
self.havePPM = False
self.haveGPS = False
self.haveCloseLoop = False
self.haveOpenLoop = False
self.haveDiff = False
self.haveReader = False
self.diffEnable = False
self.editMode = False
self.listMode = False
self.newDevMode = False
self.override = True
self.pushButton_2.setEnabled(False)
self.pushButton_2.clicked.connect(self.launch)
allDev = subprocess.check_output(shlex.split("ls /dev"))
conDevs = re.findall('ttyUSB.*', allDev) + re.findall('ttyACM.*', allDev) + re.findall('RiCBoard', allDev)
for dev in conDevs: self.ConPortList.addItem(self.tr(dev))
self.ConPortList.setCurrentIndex(self.ConPortList.count() - 1)
def startSimGUI(self):
pass
# dialog = SimulationWindow()
# dialog.show()
# dialog.exec_()
def showAbout(self):
dialog = About(self)
dialog.show()
dialog.exec_()
def launchRemote(self):
dialog = RemoteLaunch(self)
dialog.show()
dialog.exec_()
def paramManager(self):
subprocess.Popen(shlex.split('roslaunch ric_board startParamMsg.launch'))
def showImuCalib(self):
subprocess.Popen(shlex.split('roslaunch ric_board startImuCalib.launch'))
def about(self):
webbrowser.open('http://wiki.ros.org/ric_board?distro=indigo')
def aboutRiCBoard(self):
dialog = ShowRiCBoard(self)
dialog.show()
dialog.exec_()
def configRiCBoard(self):
pkg = rospkg.RosPack().get_path('ric_board')
path = QFileDialog.getOpenFileName(self, self.tr("Load File"), "%s/setup" % pkg, self.tr("Hex files (*.hex)"))
exitStatus = system("%s/setup/board_loader --mcu=mk20dx256 -sv %s" % (pkg, path))
if exitStatus > 0:
QMessageBox.critical(self, "Error", "Could not build RiCBoard.")
else:
QMessageBox.information(self, "Done", "Firmware successfully updated.")
def new(self):
self.interruptHandler()
size = self.devList.count()
for i in xrange(size):
self.devList.takeItem(0)
self.data = []
self.motors = []
self.currentShowDev = None
self.root = Element('launch')
self.servoPorts = QComboBox()
self.servoPorts.addItems([
self.tr('1'),
self.tr('2')
])
self.switchPorts = QComboBox()
self.switchPorts.addItems([
self.tr('1'),
self.tr('2')
])
self.relayPorts = QComboBox()
self.relayPorts.addItems([
self.tr('1'),
self.tr('2')
])
self.urfPorts = QComboBox()
self.urfPorts.addItems([
self.tr('1'),
self.tr('2'),
self.tr('3')
])
self.encoders = QComboBox()
self.encoders.addItems([
self.tr('1'),
self.tr('2'),
self.tr('3'),
self.tr('4')
])
self._ns = ''
self._fileName = ''
self.haveBattery = False
self.haveIMU = False
self.havePPM = False
self.haveGPS = False
self.haveCloseLoop = False
self.haveOpenLoop = False
self.haveDiff = False
self.haveReader = False
self.diffEnable = False
self.editMode = False
self.listMode = False
self.newDevMode = False
self.override = True
self.pushButton_2.setEnabled(False)
self.fileName.setText(self._fileName)
self.nameSpace.setText(self._ns)
def launch(self):
pkg = rospkg.RosPack().get_path('ric_board')
if path.isfile('%s/DATA/%s.RIC' % (pkg, self._fileName)):
devices = pickle.load(open('%s/DATA/%s.RIC' % (pkg, self._fileName)))[2]
newDevices = []
for dev in self.data:
newDevices.append(dev.toDict())
if devices != newDevices:
ans = QMessageBox.warning(self, "Warning",
"There is some changes in the file, if you don`t save them the 'RiCboard' won`t be able to recognize the changes.\n\nDo you want to save before launch?",
QMessageBox.Yes | QMessageBox.No)
if ans == QMessageBox.Yes:
self.override = True
self.save()
subprocess.Popen(shlex.split("gnome-terminal --command='roslaunch ric_board %s.launch'" % self._fileName))
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)
def save(self):
pkg = rospkg.RosPack().get_path('ric_board')
if len(self.data) == 0:
QMessageBox.critical(self, "File error", "Can not save a empty file.")
return
if self._fileName == '':
QMessageBox.critical(self, "File error", "Can not save file without a name.")
return
if not self.override and path.isfile('%s/config/%s.yaml' % (pkg, self._fileName)):
ans = QMessageBox.question(self, "Override", "Do you want to override this file",
QMessageBox.Yes | QMessageBox.No)
if ans == QMessageBox.Yes:
self.override = True
else:
return
parent = self.root
if self._ns != '':
parent = SubElement(self.root, 'group', {'ns': self._ns})
for dev in self.data:
if dev.getDevType() != EX_DEV and dev.isToSave():
at = {
'pkg': 'ric_board',
'type': 'Start.py',
'name': 'RiCTraffic',
'output': 'screen'
}
SubElement(parent, 'node', at)
break
initDiffClose = '0'
initDiffOpen = '0'
initDiffCloseFour = '0'
initIMU = '0'
initGPS = '0'
initPPM = '0'
initBAT = '0'
toSave = open("%s/config/%s.yaml" % (pkg, self._fileName), 'w')
launch = open("%s/launch/%s.launch" % (pkg, self._fileName), 'w')
if str(self.ConPortList.currentText()) != '':
toSave.write("CON_PORT: %s\n" % str(self.ConPortList.currentText()))
else:
toSave.write("CON_PORT: RiCBoard\n")
toSave.write("FILE_NAME: %s\n" % self._fileName)
for dev in self.data:
if dev.isToSave():
if dev.getDevType() == EX_DEV:
# if dev.toDict()['type'] == ROBOT_MODEL: dev.saveToFile(self.root)
# else: dev.saveToFile(parent)
dev.saveToFile(parent)
else:
dev.saveToFile(toSave)
if dev.getDevType() == DIFF_OPEN:
initDiffOpen = '1'
elif dev.getDevType() == DIFF_CLOSE:
initDiffClose = '1'
elif dev.getDevType() == DIFF_CLOSE_FOUR:
initDiffCloseFour = '1'
elif dev.getDevType() == IMU:
initIMU = '1'
elif dev.getDevType() == GPS:
initGPS = '1'
elif dev.getDevType() == PPM:
initPPM = '1'
elif dev.getDevType() == BATTERY:
initBAT = '1'
toSave.write('IMU_INIT: ' + initIMU + '\n')
toSave.write('GPS_INIT: ' + initGPS + '\n')
toSave.write('PPM_INIT: ' + initPPM + '\n')
toSave.write('BAT_INIT: ' + initBAT + '\n')
toSave.write('DIFF_INIT: ' + initDiffClose + '\n')
toSave.write('DIFF_INIT_OP: ' + initDiffOpen + '\n')
toSave.write('DIFF_CLOSE_FOUR: ' + initDiffCloseFour + '\n')
toSave.write('closeLoopNum: ' + str(CloseLoop.closeLoop) + '\n')
toSave.write('switchNum: ' + str(Switch.switchCount) + '\n')
toSave.write('servoNum: ' + str(Servo.servoCount) + '\n')
toSave.write('relayNum: ' + str(Relay.relayCount) + '\n')
toSave.write('URFNum: ' + str(Urf.urfCount) + '\n')
toSave.write('openLoopNum: ' + str(OpenLoop.openLoopNum) + '\n')
toSave.write('emergencySwitchNum: ' + str(EmergencySwitch.emergency_switch_count) + '\n')
SubElement(parent, 'rosparam', {
'file': '$(find ric_board)/config/' + self._fileName + '.yaml',
'command': 'load'
})
launch.write(prettify(self.root))
fileData = open('%s/DATA/%s.RIC' % (pkg, self._fileName), 'wb')
ls = []
for dev in self.data:
ls.append(dev.toDict())
pickle.dump([self._fileName, self._ns, ls], fileData)
toSave.close()
launch.close()
self.root = Element('launch')
Servo.servoCount = 0
Relay.relayCount = 0
Urf.urfCount = 0
Switch.switchCount = 0
CloseLoop.closeLoop = 0
OpenLoop.openLoopNum = 0
# QMessageBox.information(self, 'File', 'File saved')
QMessageBox.information(self, "File Saved", "To launch: $ roslaunch ric_board %s.launch" % self._fileName)
self.pushButton_2.setEnabled(True)
def addEmergencySwitch(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = EmergencySwitch(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addRosNode(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = RosNode(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addRosLaunch(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = RosLaunch(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addDiffSmooth(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = VelocitySmoother(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addJoystick(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = JoystickTeleop(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addKeyboard(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = KeyboardTeleop(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addPPmReader(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = PPMReader(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addSLAM(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Slam(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addRobotModel(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = RobotModel(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addDiffCloseFour(self):
if not self.haveCloseLoop or len(self.motors) < 4:
QMessageBox.critical(self, "Driver error", "Need to have at less four close loop motors.")
return
if self.haveDiff:
QMessageBox.critical(self, "Driver error", "Can not have more.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = DiffCloseFour(self.DevFrame, self.data, self.motors)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addOpenni(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Opennni(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addOHokuyo(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Hokuyo(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addUsbCam(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = UsbCam(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addDiffOpen(self):
if not self.haveOpenLoop or len(self.motors) < 2:
QMessageBox.critical(self, "Driver error", "Need to have at less two open loop motors.")
return
if self.haveDiff:
QMessageBox.critical(self, "Driver error", "Can not have more.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = DiffOpen(self.DevFrame, self.data, self.motors)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addDiffClose(self):
if not self.haveCloseLoop or len(self.motors) < 2:
QMessageBox.critical(self, "Driver error", "Need to have at less two close loop motors.")
return
if self.haveDiff:
QMessageBox.critical(self, "Driver error", "Can not have more.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = DiffClose(self.DevFrame, self.data, self.motors)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addOpenMotor(self):
if self.haveCloseLoop:
QMessageBox.critical(self, "Error", "Open and close motors can not exist in the same configuration.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = OpenLoop(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addCloseMotorTwo(self):
if self.haveOpenLoop:
QMessageBox.critical(self, "Error", "Open and close motors can not exist in the same configuration.")
return
if self.encoders.count() < 2:
QMessageBox.critical(self, "Close Motor Error", "Need two or more encoder ports to build this motor.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = CloseLoopTwo(self.DevFrame, self.data, self.encoders)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
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 addURF(self):
if self.urfPorts.count() == 0:
QMessageBox.critical(self, "URF Error", "Out of URF ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Urf(self.DevFrame, self.data, self.urfPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addBattery(self):
if self.haveBattery:
QMessageBox.critical(self, "Battery Error", "Can't add another battery to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Battery(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addServo(self):
if self.servoPorts.count() == 0:
QMessageBox.critical(self, "Servo Error", "Out of servo ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Servo(self.DevFrame, self.data, self.servoPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addSwitch(self):
if self.switchPorts.count() == 0:
QMessageBox.critical(self, "Switch Error", "Out of switch ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Switch(self.DevFrame, self.data, self.switchPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addImu(self):
if self.haveIMU:
QMessageBox.critical(self, "IMU Error", "Can't add another IMU to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Imu(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addPpm(self):
if self.havePPM:
QMessageBox.critical(self, "PPM Error", "Can't add another PPM to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Ppm(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addGps(self):
if self.haveGPS:
QMessageBox.critical(self, "GPS Error", "Can't add another GPS to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Gps(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addRelay(self):
if self.relayPorts.count() == 0:
QMessageBox.critical(self, "Relay Error", "Out of relay ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Relay(self.DevFrame, self.data, self.relayPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def clickListEven(self):
self.interruptHandler()
index = self.devList.currentRow()
self.listMode = True
self.currentShowDev = self.data[index]
self.currentShowDev.printDetails()
self.Edit.clicked.connect(self.devEdit)
self.Delete.clicked.connect(self.devDelete)
self.saveStatus.clicked.connect(self.changeDevSaveStatus)
def changeDevSaveStatus(self):
self.interruptHandler()
index = self.devList.currentRow()
self.currentShowDev = self.data[index]
if self.currentShowDev.getDevType() in [CLOSE_LOP_ONE, CLOSE_LOP_TWO, OPEN_LOP] and self.diffEnable:
QMessageBox.critical(self, "Error", "Can't disable a motor while differential drive is present")
return
motorCount = 0
if self.currentShowDev.getDevType() in [DIFF_CLOSE, DIFF_OPEN, DIFF_CLOSE_FOUR] and not self.diffEnable:
for dev in self.data:
if dev.getDevType() in [CLOSE_LOP_ONE, CLOSE_LOP_TWO, OPEN_LOP] and dev.isToSave(): motorCount += 1
if (motorCount <= 1) or (motorCount < 4 and self.currentShowDev.getDevType() == CLOSE_LOP_ONE):
QMessageBox.critical(self, "Error", "Can't enable differential drive motor while motors are disable")
return
if self.currentShowDev.getDevType() in [DIFF_CLOSE, DIFF_OPEN, DIFF_CLOSE_FOUR]:
self.diffEnable = not self.currentShowDev.isToSave()
if self.currentShowDev.isToSave():
self.devList.item(index).setForeground(QColor(255, 0, 0))
self.currentShowDev.setToSave(False)
else:
self.devList.item(index).setForeground(QColor(0, 0, 0))
self.currentShowDev.setToSave(True)
def namespaceEven(self, text):
self._ns = str(text)
def fileNameEven(self, text):
self._fileName = str(text)
self.pushButton_2.setEnabled(False)
def devDelete(self):
if self.currentShowDev.getDevType() == SERVO:
self.servoPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == BATTERY:
self.haveBattery = False
if self.currentShowDev.getDevType() == SWITCH:
self.switchPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == IMU:
self.haveIMU = False
if self.currentShowDev.getDevType() == PPM:
self.havePPM = False
if self.currentShowDev.getDevType() == GPS:
self.haveGPS = False
if self.currentShowDev.getDevType() == RELAY:
self.relayPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == URF:
self.urfPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == CLOSE_LOP_ONE:
if self.haveDiff:
QMessageBox.critical(self, "Error", "Can't delete a motor while differential drive is present")
return
self.motors.remove(self.currentShowDev.getName())
self.encoders.addItem(self.currentShowDev.getEncoder())
if self.currentShowDev.getDevType() == CLOSE_LOP_TWO:
if self.haveDiff:
QMessageBox.critical(self, "Error", "Can't delete a motor while differential drive is present")
return
self.motors.remove(self.currentShowDev.getName())
self.encoders.addItem(self.currentShowDev.getEncoders()[0])
self.encoders.addItem(self.currentShowDev.getEncoders()[1])
if self.currentShowDev.getDevType() == OPEN_LOP:
if self.haveDiff:
QMessageBox.critical(self, "Error", "Can't delete a motor while differential drive is present")
return
self.motors.remove(self.currentShowDev.getName())
if self.currentShowDev.getDevType() == DIFF_CLOSE or self.currentShowDev.getDevType() == DIFF_OPEN or self.currentShowDev.getDevType() == DIFF_CLOSE_FOUR:
self.haveDiff = False
self.diffEnable = False
self.data.remove(self.currentShowDev)
self.devList.takeItem(self.devList.currentRow())
self.removeAllFields()
if len(self.motors) == 0 and self.haveCloseLoop: self.haveCloseLoop = False
if len(self.motors) == 0 and self.haveOpenLoop: self.haveOpenLoop = False
self.Edit.clicked.disconnect(self.devEdit)
self.Delete.clicked.disconnect(self.devDelete)
self.listMode = False
def devEdit(self):
self.interruptHandler()
self.editMode = True
if self.currentShowDev.getDevType() == SERVO:
self.servoPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == SWITCH:
self.switchPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == RELAY:
self.relayPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == URF:
self.urfPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == CLOSE_LOP_ONE:
self.encoders.addItem(self.currentShowDev.getEncoder())
if self.currentShowDev.getDevType() == CLOSE_LOP_TWO:
self.encoders.addItem(self.currentShowDev.getEncoders()[0])
self.encoders.addItem(self.currentShowDev.getEncoders()[1])
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.editList)
def removeAllFields(self):
for i in xrange(self.DevFrame.layout().count()):
self.DevFrame.layout().itemAt(i).widget().deleteLater()
def interruptHandler(self):
self.removeAllFields()
if self.listMode:
self.Edit.clicked.disconnect(self.devEdit)
self.Delete.clicked.disconnect(self.devDelete)
self.saveStatus.clicked.disconnect(self.changeDevSaveStatus)
self.listMode = False
if self.editMode:
self.pushButton.clicked.disconnect(self.editList)
if self.currentShowDev.getDevType() == SERVO:
self.servoPorts.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == SWITCH:
self.switchPorts.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == RELAY:
self.relayPorts.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == URF:
self.urfPorts.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == CLOSE_LOP_ONE:
self.encoders.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == CLOSE_LOP_TWO:
self.encoders.removeItem(self.currentShowDev.findItem())
self.encoders.removeItem(self.currentShowDev.findItem2())
self.editMode = False
if self.newDevMode:
self.pushButton.clicked.disconnect(self.addDevToList)
self.newDevMode = False
def removeFields(self):
if self.currentShowDev.isValid():
self.removeAllFields()
self.pushButton.clicked.disconnect(self.removeFields)
self.newDevMode = False
def addDevToList(self):
self.currentShowDev.add()
if self.currentShowDev.isValid():
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.removeAllFields()
self.currentShowDev = None
self.pushButton.clicked.disconnect(self.addDevToList)
self.newDevMode = False
def editList(self):
oldName = self.currentShowDev.getName()
self.currentShowDev.add()
if self.currentShowDev.isValid():
self.devList.currentItem().setText(self.currentShowDev.getName())
self.data[self.devList.currentRow()] = self.currentShowDev
if self.currentShowDev.getDevType() == OPEN_LOP or self.currentShowDev.getDevType() == CLOSE_LOP_ONE or self.currentShowDev.getDevType() == CLOSE_LOP_TWO:
for i in xrange(len(self.motors)):
if self.motors[i] == oldName:
self.motors[i] = self.currentShowDev.getName()
break
self.removeAllFields()
self.currentShowDev = None
self.pushButton.clicked.disconnect(self.editList)
self.editMode = False
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)
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)
class MainWindow(QMainWindow, Ui_MainWindow):
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
self.data = []
self.motors = []
self.currentShowDev = None
self.root = Element("launch")
self.actionAbout_RIC.triggered.connect(self.about)
self.actionServo.triggered.connect(self.addServo)
self.actionBattery_Monitor.triggered.connect(self.addBattery)
self.actionSwitch.triggered.connect(self.addSwitch)
self.actionIMU.triggered.connect(self.addImu)
self.actionPPM.triggered.connect(self.addPpm)
self.actionGPS.triggered.connect(self.addGps)
self.actionRelay.triggered.connect(self.addRelay)
self.actionURF.triggered.connect(self.addURF)
self.actionMotor_with_one_encoder.triggered.connect(self.addCloseMotorOne)
self.actionMotor_with_two_encoder.triggered.connect(self.addCloseMotorTwo)
self.actionOpen_Loop.triggered.connect(self.addOpenMotor)
self.actionWith_two_motors.triggered.connect(self.addDiffClose)
self.actionWith_four_motors.triggered.connect(self.addDiffCloseFour)
self.actionOpen_Loop_Drive.triggered.connect(self.addDiffOpen)
self.actionUSB_Camera.triggered.connect(self.addUsbCam)
self.actionOPENNI.triggered.connect(self.addOpenni)
self.actionHakoyo.triggered.connect(self.addOHokuyo)
self.actionSave.triggered.connect(self.save)
self.actionOpen.triggered.connect(self.load)
self.actionNew.triggered.connect(self.new)
self.actionReconfig_RiC_Board.triggered.connect(self.configRiCBoard)
self.actionRobot_Model.triggered.connect(self.addRobotModel)
self.actionAbout_RiC_Board.triggered.connect(self.aboutRiCBoard)
self.actionSLAM.triggered.connect(self.addSLAM)
self.actionRemote_robot_launch.triggered.connect(self.launchRemote)
self.actionPPM_Reader.triggered.connect(self.addPPmReader)
self.actionSet_parameters.triggered.connect(self.paramManager)
self.actionKeyboard.triggered.connect(self.addKeyboard)
self.actionJoystick.triggered.connect(self.addJoystick)
self.actionDifferential_Drive_smoother.triggered.connect(self.addDiffSmooth)
self.fileName.textChanged.connect(self.fileNameEven)
self.nameSpace.textChanged.connect(self.namespaceEven)
self.devList.itemPressed.connect(self.clickListEven)
self.devList.doubleClicked.connect(self.devEdit)
self.servoPorts = QComboBox()
self.servoPorts.addItems([self.tr("1"), self.tr("2")])
self.switchPorts = QComboBox()
self.switchPorts.addItems([self.tr("1"), self.tr("2")])
self.relayPorts = QComboBox()
self.relayPorts.addItems([self.tr("1"), self.tr("2")])
self.urfPorts = QComboBox()
self.urfPorts.addItems([self.tr("1"), self.tr("2"), self.tr("3")])
self.encoders = QComboBox()
self.encoders.addItems([self.tr("1"), self.tr("2"), self.tr("3"), self.tr("4")])
self._ns = ""
self._fileName = ""
self.haveBattery = False
self.haveIMU = False
self.havePPM = False
self.haveGPS = False
self.haveCloseLoop = False
self.haveOpenLoop = False
self.haveDiff = False
self.haveReader = False
self.diffEnable = False
self.editMode = False
self.listMode = False
self.newDevMode = False
self.override = True
self.pushButton_2.setEnabled(False)
self.pushButton_2.clicked.connect(self.launch)
allDev = subprocess.check_output(shlex.split("ls /dev"))
conDevs = re.findall("ttyUSB.*", allDev) + re.findall("ttyACM.*", allDev) + re.findall("RiCBoard", allDev)
for dev in conDevs:
self.ConPortList.addItem(self.tr(dev))
self.ConPortList.setCurrentIndex(self.ConPortList.count() - 1)
def launchRemote(self):
dialog = RemoteLaunch(self)
dialog.show()
dialog.exec_()
def paramManager(self):
subprocess.Popen(shlex.split("roslaunch ric_board startParamMsg.launch"))
def about(self):
webbrowser.open("http://wiki.ros.org/ric_board?distro=indigo")
def aboutRiCBoard(self):
dialog = ShowRiCBoard(self)
dialog.show()
dialog.exec_()
def configRiCBoard(self):
pkg = rospkg.RosPack().get_path("ric_board")
path = QFileDialog.getOpenFileName(self, self.tr("Load File"), "%s/setup" % pkg, self.tr("Hex files (*.hex)"))
exitStatus = system("%s/setup/board_loader --mcu=mk20dx256 -sv %s" % (pkg, path))
if exitStatus > 0:
QMessageBox.critical(self, "Error", "Could not build RiCBoard.")
else:
QMessageBox.information(self, "Done", "Firmware successfully updated.")
def new(self):
self.interruptHandler()
size = self.devList.count()
for i in xrange(size):
self.devList.takeItem(0)
self.data = []
self.motors = []
self.currentShowDev = None
self.root = Element("launch")
self.servoPorts = QComboBox()
self.servoPorts.addItems([self.tr("1"), self.tr("2")])
self.switchPorts = QComboBox()
self.switchPorts.addItems([self.tr("1"), self.tr("2")])
self.relayPorts = QComboBox()
self.relayPorts.addItems([self.tr("1"), self.tr("2")])
self.urfPorts = QComboBox()
self.urfPorts.addItems([self.tr("1"), self.tr("2"), self.tr("3")])
self.encoders = QComboBox()
self.encoders.addItems([self.tr("1"), self.tr("2"), self.tr("3"), self.tr("4")])
self._ns = ""
self._fileName = ""
self.haveBattery = False
self.haveIMU = False
self.havePPM = False
self.haveGPS = False
self.haveCloseLoop = False
self.haveOpenLoop = False
self.haveDiff = False
self.haveReader = False
self.diffEnable = False
self.editMode = False
self.listMode = False
self.newDevMode = False
self.override = True
self.pushButton_2.setEnabled(False)
self.fileName.setText(self._fileName)
self.nameSpace.setText(self._ns)
def launch(self):
subprocess.Popen(shlex.split("gnome-terminal --command='roslaunch ric_board %s.launch'" % self._fileName))
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)
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)
def save(self):
pkg = rospkg.RosPack().get_path("ric_board")
if len(self.data) == 0:
QMessageBox.critical(self, "File error", "Can not save a empty file.")
return
if self._fileName == "":
QMessageBox.critical(self, "File error", "Can not save file without a name.")
return
if not self.override:
ans = QMessageBox.question(
self, "Override", "Do you want to override this file", QMessageBox.Yes | QMessageBox.No
)
if ans == QMessageBox.Yes:
self.override = True
else:
return
parent = self.root
if self._ns != "":
parent = SubElement(self.root, "group", {"ns": self._ns})
for dev in self.data:
if dev.getDevType() != EX_DEV and dev.isToSave():
at = {"pkg": "ric_board", "type": "Start.py", "name": "RiCTraffic", "output": "screen"}
SubElement(parent, "node", at)
break
initDiffClose = "0"
initDiffOpen = "0"
initDiffCloseFour = "0"
initIMU = "0"
initGPS = "0"
initPPM = "0"
initBAT = "0"
toSave = open("%s/config/%s.yaml" % (pkg, self._fileName), "w")
launch = open("%s/launch/%s.launch" % (pkg, self._fileName), "w")
if str(self.ConPortList.currentText()) != "":
toSave.write("CON_PORT: %s\n" % str(self.ConPortList.currentText()))
else:
toSave.write("CON_PORT: RiCBoard\n")
toSave.write("FILE_NAME: %s\n" % self._fileName)
for dev in self.data:
if dev.isToSave():
if dev.getDevType() == EX_DEV:
# if dev.toDict()['type'] == ROBOT_MODEL: dev.saveToFile(self.root)
# else: dev.saveToFile(parent)
dev.saveToFile(parent)
else:
dev.saveToFile(toSave)
if dev.getDevType() == DIFF_OPEN:
initDiffOpen = "1"
elif dev.getDevType() == DIFF_CLOSE:
initDiffClose = "1"
elif dev.getDevType() == DIFF_CLOSE_FOUR:
initDiffCloseFour = "1"
elif dev.getDevType() == IMU:
initIMU = "1"
elif dev.getDevType() == GPS:
initGPS = "1"
elif dev.getDevType() == PPM:
initPPM = "1"
elif dev.getDevType() == BATTERY:
initBAT = "1"
toSave.write("IMU_INIT: " + initIMU + "\n")
toSave.write("GPS_INIT: " + initGPS + "\n")
toSave.write("PPM_INIT: " + initPPM + "\n")
toSave.write("BAT_INIT: " + initBAT + "\n")
toSave.write("DIFF_INIT: " + initDiffClose + "\n")
toSave.write("DIFF_INIT_OP: " + initDiffOpen + "\n")
toSave.write("DIFF_CLOSE_FOUR: " + initDiffCloseFour + "\n")
toSave.write("closeLoopNum: " + str(CloseLoop.closeLoop) + "\n")
toSave.write("switchNum: " + str(Switch.switchCount) + "\n")
toSave.write("servoNum: " + str(Servo.servoCount) + "\n")
toSave.write("relayNum: " + str(Relay.relayCount) + "\n")
toSave.write("URFNum: " + str(Urf.urfCount) + "\n")
toSave.write("openLoopNum: " + str(OpenLoop.openLoopNum) + "\n")
SubElement(
parent, "rosparam", {"file": "$(find ric_board)/config/" + self._fileName + ".yaml", "command": "load"}
)
launch.write(prettify(self.root))
fileData = open("%s/DATA/%s.RIC" % (pkg, self._fileName), "wb")
ls = []
for dev in self.data:
ls.append(dev.toDict())
pickle.dump([self._fileName, self._ns, ls], fileData)
toSave.close()
launch.close()
self.root = Element("launch")
Servo.servoCount = 0
Relay.relayCount = 0
Urf.urfCount = 0
Switch.switchCount = 0
CloseLoop.closeLoop = 0
OpenLoop.openLoopNum = 0
# QMessageBox.information(self, 'File', 'File saved')
QMessageBox.information(self, "File Saved", "To launch: $ roslaunch ric_board %s.launch" % self._fileName)
self.pushButton_2.setEnabled(True)
def addDiffSmooth(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = VelocitySmoother(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addJoystick(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = JoystickTeleop(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addKeyboard(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = KeyboardTeleop(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addPPmReader(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = PPMReader(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addSLAM(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Slam(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addRobotModel(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = RobotModel(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addDiffCloseFour(self):
if not self.haveCloseLoop or len(self.motors) < 4:
QMessageBox.critical(self, "Driver error", "Need to have at less four close loop motors.")
return
if self.haveDiff:
QMessageBox.critical(self, "Driver error", "Can not have more.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = DiffCloseFour(self.DevFrame, self.data, self.motors)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addOpenni(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Opennni(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addOHokuyo(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Hokuyo(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addUsbCam(self):
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = UsbCam(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addDiffOpen(self):
if not self.haveOpenLoop or len(self.motors) < 2:
QMessageBox.critical(self, "Driver error", "Need to have at less two open loop motors.")
return
if self.haveDiff:
QMessageBox.critical(self, "Driver error", "Can not have more.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = DiffOpen(self.DevFrame, self.data, self.motors)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addDiffClose(self):
if not self.haveCloseLoop or len(self.motors) < 2:
QMessageBox.critical(self, "Driver error", "Need to have at less two close loop motors.")
return
if self.haveDiff:
QMessageBox.critical(self, "Driver error", "Can not have more.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = DiffClose(self.DevFrame, self.data, self.motors)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addOpenMotor(self):
if self.haveCloseLoop:
QMessageBox.critical(self, "Error", "Open and close motors can not exist in the same configuration.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = OpenLoop(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addCloseMotorTwo(self):
if self.haveOpenLoop:
QMessageBox.critical(self, "Error", "Open and close motors can not exist in the same configuration.")
return
if self.encoders.count() < 2:
QMessageBox.critical(self, "Close Motor Error", "Need two or more encoder ports to build this motor.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = CloseLoopTwo(self.DevFrame, self.data, self.encoders)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
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 addURF(self):
if self.urfPorts.count() == 0:
QMessageBox.critical(self, "URF Error", "Out of URF ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Urf(self.DevFrame, self.data, self.urfPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addBattery(self):
if self.haveBattery:
QMessageBox.critical(self, "Battery Error", "Can't add another battery to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Battery(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addServo(self):
if self.servoPorts.count() == 0:
QMessageBox.critical(self, "Servo Error", "Out of servo ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Servo(self.DevFrame, self.data, self.servoPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addSwitch(self):
if self.switchPorts.count() == 0:
QMessageBox.critical(self, "Switch Error", "Out of switch ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Switch(self.DevFrame, self.data, self.switchPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addImu(self):
if self.haveIMU:
QMessageBox.critical(self, "IMU Error", "Can't add another IMU to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Imu(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addPpm(self):
if self.havePPM:
QMessageBox.critical(self, "PPM Error", "Can't add another PPM to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Ppm(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addGps(self):
if self.haveGPS:
QMessageBox.critical(self, "GPS Error", "Can't add another GPS to ric board.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Gps(self.DevFrame, self.data)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def addRelay(self):
if self.relayPorts.count() == 0:
QMessageBox.critical(self, "Relay Error", "Out of relay ports.")
return
self.interruptHandler()
self.newDevMode = True
self.currentShowDev = Relay(self.DevFrame, self.data, self.relayPorts)
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.addDevToList)
def clickListEven(self):
self.interruptHandler()
index = self.devList.currentRow()
self.listMode = True
self.currentShowDev = self.data[index]
self.currentShowDev.printDetails()
self.Edit.clicked.connect(self.devEdit)
self.Delete.clicked.connect(self.devDelete)
self.saveStatus.clicked.connect(self.changeDevSaveStatus)
def changeDevSaveStatus(self):
self.interruptHandler()
index = self.devList.currentRow()
self.currentShowDev = self.data[index]
if self.currentShowDev.getDevType() in [CLOSE_LOP_ONE, CLOSE_LOP_TWO, OPEN_LOP] and self.diffEnable:
QMessageBox.critical(self, "Error", "Can't disable a motor while differential drive is present")
return
motorCount = 0
if self.currentShowDev.getDevType() in [DIFF_CLOSE, DIFF_OPEN, DIFF_CLOSE_FOUR] and not self.diffEnable:
for dev in self.data:
if dev.getDevType() in [CLOSE_LOP_ONE, CLOSE_LOP_TWO, OPEN_LOP] and dev.isToSave():
motorCount += 1
if (motorCount <= 1) or (motorCount < 4 and self.currentShowDev.getDevType() == CLOSE_LOP_ONE):
QMessageBox.critical(self, "Error", "Can't enable differential drive motor while motors are disable")
return
if self.currentShowDev.getDevType() in [DIFF_CLOSE, DIFF_OPEN, DIFF_CLOSE_FOUR]:
self.diffEnable = not self.currentShowDev.isToSave()
if self.currentShowDev.isToSave():
self.devList.item(index).setForeground(QColor(255, 0, 0))
self.currentShowDev.setToSave(False)
else:
self.devList.item(index).setForeground(QColor(0, 0, 0))
self.currentShowDev.setToSave(True)
def namespaceEven(self, text):
self._ns = str(text)
def fileNameEven(self, text):
self._fileName = str(text)
self.pushButton_2.setEnabled(False)
def devDelete(self):
if self.currentShowDev.getDevType() == SERVO:
self.servoPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == BATTERY:
self.haveBattery = False
if self.currentShowDev.getDevType() == SWITCH:
self.switchPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == IMU:
self.haveIMU = False
if self.currentShowDev.getDevType() == PPM:
self.havePPM = False
if self.currentShowDev.getDevType() == GPS:
self.haveGPS = False
if self.currentShowDev.getDevType() == RELAY:
self.relayPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == URF:
self.urfPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == CLOSE_LOP_ONE:
if self.haveDiff:
QMessageBox.critical(self, "Error", "Can't delete a motor while differential drive is present")
return
self.motors.remove(self.currentShowDev.getName())
self.encoders.addItem(self.currentShowDev.getEncoder())
if self.currentShowDev.getDevType() == CLOSE_LOP_TWO:
if self.haveDiff:
QMessageBox.critical(self, "Error", "Can't delete a motor while differential drive is present")
return
self.motors.remove(self.currentShowDev.getName())
self.encoders.addItem(self.currentShowDev.getEncoders()[0])
self.encoders.addItem(self.currentShowDev.getEncoders()[1])
if self.currentShowDev.getDevType() == OPEN_LOP:
if self.haveDiff:
QMessageBox.critical(self, "Error", "Can't delete a motor while differential drive is present")
return
self.motors.remove(self.currentShowDev.getName())
if (
self.currentShowDev.getDevType() == DIFF_CLOSE
or self.currentShowDev.getDevType() == DIFF_OPEN
or self.currentShowDev.getDevType() == DIFF_CLOSE_FOUR
):
self.haveDiff = False
self.diffEnable = False
self.data.remove(self.currentShowDev)
self.devList.takeItem(self.devList.currentRow())
self.removeAllFields()
if len(self.motors) == 0 and self.haveCloseLoop:
self.haveCloseLoop = False
if len(self.motors) == 0 and self.haveOpenLoop:
self.haveOpenLoop = False
self.Edit.clicked.disconnect(self.devEdit)
self.Delete.clicked.disconnect(self.devDelete)
self.listMode = False
def devEdit(self):
self.interruptHandler()
self.editMode = True
if self.currentShowDev.getDevType() == SERVO:
self.servoPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == SWITCH:
self.switchPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == RELAY:
self.relayPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == URF:
self.urfPorts.addItem(self.currentShowDev.getPort())
if self.currentShowDev.getDevType() == CLOSE_LOP_ONE:
self.encoders.addItem(self.currentShowDev.getEncoder())
if self.currentShowDev.getDevType() == CLOSE_LOP_TWO:
self.encoders.addItem(self.currentShowDev.getEncoders()[0])
self.encoders.addItem(self.currentShowDev.getEncoders()[1])
self.currentShowDev.showDetails()
self.pushButton.clicked.connect(self.editList)
def removeAllFields(self):
for i in xrange(self.DevFrame.layout().count()):
self.DevFrame.layout().itemAt(i).widget().deleteLater()
def interruptHandler(self):
self.removeAllFields()
if self.listMode:
self.Edit.clicked.disconnect(self.devEdit)
self.Delete.clicked.disconnect(self.devDelete)
self.saveStatus.clicked.disconnect(self.changeDevSaveStatus)
self.listMode = False
if self.editMode:
self.pushButton.clicked.disconnect(self.editList)
if self.currentShowDev.getDevType() == SERVO:
self.servoPorts.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == SWITCH:
self.switchPorts.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == RELAY:
self.relayPorts.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == URF:
self.urfPorts.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == CLOSE_LOP_ONE:
self.encoders.removeItem(self.currentShowDev.findItem())
if self.currentShowDev.getDevType() == CLOSE_LOP_TWO:
self.encoders.removeItem(self.currentShowDev.findItem())
self.encoders.removeItem(self.currentShowDev.findItem2())
self.editMode = False
if self.newDevMode:
self.pushButton.clicked.disconnect(self.addDevToList)
self.newDevMode = False
def removeFields(self):
if self.currentShowDev.isValid():
self.removeAllFields()
self.pushButton.clicked.disconnect(self.removeFields)
self.newDevMode = False
def addDevToList(self):
self.currentShowDev.add()
if self.currentShowDev.isValid():
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.removeAllFields()
self.currentShowDev = None
self.pushButton.clicked.disconnect(self.addDevToList)
self.newDevMode = False
def editList(self):
oldName = self.currentShowDev.getName()
self.currentShowDev.add()
if self.currentShowDev.isValid():
self.devList.currentItem().setText(self.currentShowDev.getName())
self.data[self.devList.currentRow()] = self.currentShowDev
if (
self.currentShowDev.getDevType() == OPEN_LOP
or self.currentShowDev.getDevType() == CLOSE_LOP_ONE
or self.currentShowDev.getDevType() == CLOSE_LOP_TWO
):
for i in xrange(len(self.motors)):
if self.motors[i] == oldName:
self.motors[i] = self.currentShowDev.getName()
break
self.removeAllFields()
self.currentShowDev = None
self.pushButton.clicked.disconnect(self.editList)
self.editMode = False
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)
