class IMUWidget(QWidget):
def __init__(self):
super().__init__()
tabs = QTabWidget()
self.accel = CurvePlot(num_curves=3, label="Accelerometer")
self.accel.plot.setYRange(-2, 2)
self.gyro = CurvePlot(num_curves=3, label="Gyroscope")
self.mag = CurvePlot(num_curves=3, label="Magnetometer")
tabs.addTab(self.accel, "ACCEL")
tabs.addTab(self.gyro, "GYRO")
tabs.addTab(self.mag, "MAG")
self.setLayout(QVBoxLayout())
self.layout().addWidget(tabs)
self.layout().setSpacing(0)
self.connected = False
def connect(self, port, ip="localhost"):
if self.connected:
return
self.socket = QDataSocket(tcp_ip=ip, tcp_port=port)
self.socket_thread = QThread()
self.socket.moveToThread(self.socket_thread)
self.socket_thread.started.connect(self.socket.start)
self.socket.new_data.connect(self.disperse_values)
self.socket_thread.start()
self.connected = True
def disperse_values(self, new_values):
accel_data = {'data': new_values[0]['accel']}
gyro_data = {'data': new_values[0]['gyro']}
# mag_data = {'data': new_values[0]['mag']}
self.accel.queue_new_values((accel_data, new_values[1]))
self.gyro.queue_new_values((gyro_data, new_values[1]))
class LidarWidget(QWidget):
def __init__(self):
super().__init__()
self.plot = ScatterPlot(label="Lidar")
self.setLayout(QVBoxLayout())
self.layout().addWidget(self.plot)
self.layout().setSpacing(0)
self.connected = False
def connect(self, port, ip="localhost"):
if self.connected:
return
self.socket = QDataSocket(tcp_ip=ip, tcp_port=port)
self.socket_thread = QThread()
self.socket.moveToThread(self.socket_thread)
self.socket_thread.started.connect(self.socket.start)
self.socket.new_data.connect(self.recieve_data)
self.socket_thread.start()
self.connected = True
def recieve_data(self, new_data):
data = new_data[0]['data']
self.plot.x_data = np.multiply(np.cos(np.deg2rad(data[:, 0])), data[:,
1])
self.plot.y_data = np.multiply(np.sin(np.deg2rad(data[:, 0])), data[:,
1])
def connect(self, port, ip="localhost"):
if self.connected:
return
self.socket = QDataSocket(tcp_ip=ip, tcp_port=port)
self.socket_thread = QThread()
self.socket.moveToThread(self.socket_thread)
self.socket_thread.started.connect(self.socket.start)
self.socket.new_data.connect(self.disperse_values)
self.socket_thread.start()
self.connected = True
class SLAMWidget(QWidget):
def __init__(self):
super().__init__()
self.plot = SLAMPlot(label="SLAM")
self.setLayout(QVBoxLayout())
self.layout().addWidget(self.plot)
self.layout().setSpacing(0)
self.connected = False
def connect(self, port, ip="localhost"):
if self.connected:
return
self.socket = QDataSocket(tcp_ip=ip, tcp_port=port)
self.socket_thread = QThread()
self.socket.moveToThread(self.socket_thread)
self.socket_thread.started.connect(self.socket.start)
self.socket.new_data.connect(self.plot.update_plot)
self.socket_thread.start()
self.connected = True
class SpeedWidget(QWidget):
def __init__(self):
super().__init__()
self.plot = CurvePlot(num_curves=1, label="Speed (m/s)")
self.plot.plot.setYRange(-0.5, 3)
self.setLayout(QVBoxLayout())
self.layout().addWidget(self.plot)
self.layout().setSpacing(0)
self.connected = False
def connect(self, port, ip="localhost"):
if self.connected:
return
self.socket = QDataSocket(tcp_ip=ip, tcp_port=port)
self.socket_thread = QThread()
self.socket.moveToThread(self.socket_thread)
self.socket_thread.started.connect(self.socket.start)
self.socket.new_data.connect(self.plot.queue_new_values)
self.socket_thread.start()
self.connected = True