def __init__(self):
super(MainWindow, self).__init__()
self.currentPath = ''
# The car's model, shared between the different views
self.car = Car()
# Socket (to connect with the car/Rpi)
self.carSocket = CarSocket(self.car)
# Setting the views
self.automaticView = AutoView(self.car)
self.manualView = ManualView(self.car)
# File menu
fileMenu = QMenu("&File", self)
openAction = fileMenu.addAction("&Open...")
openAction.setShortcut("Ctrl+O")
saveAction = fileMenu.addAction("&Save...")
saveAction.setShortcut("Ctrl+S")
setScale = fileMenu.addAction("Set map's scale")
setAngle = fileMenu.addAction("Set map's orientation")
quitAction = fileMenu.addAction("E&xit")
quitAction.setShortcut("Ctrl+Q")
openAction.triggered.connect(self.openFile)
saveAction.triggered.connect(self.saveMap)
setScale.triggered.connect(self.setScale)
setAngle.triggered.connect(self.setAngle)
quitAction.triggered.connect(qApp.quit)
self.menuBar().addMenu(fileMenu)
# View menu
viewMenu = QMenu("&View", self)
self.backgroundAction = viewMenu.addAction("&Background")
self.backgroundAction.setEnabled(True)
self.backgroundAction.setCheckable(True)
self.backgroundAction.setChecked(True)
self.backgroundAction.toggled.connect(self.automaticView.setViewBackground)
self.menuBar().addMenu(viewMenu)
# Mode switching (automatic-manual) menu
modeMenu = QMenu("&Mode", self)
manualAction = modeMenu.addAction("M&anual")
manualAction.setShortcut("Ctrl+M")
manualAction.triggered.connect(self.manualMode)
automaticAction = modeMenu.addAction("A&utomatic")
automaticAction.setShortcut("Ctrl+A")
automaticAction.triggered.connect(self.automaticMode)
self.menuBar().addMenu(modeMenu)
# Stacked widget (containing the auto. and manual view)
self.stackedWidget = QStackedWidget()
self.stackedWidget.addWidget(self.automaticView)
self.stackedWidget.addWidget(self.manualView)
self.setCentralWidget(self.stackedWidget)
self.setMinimumSize(800, 600)
# Configuration dialog
loader = QUiLoader()
file = QFile("config.ui")
file.open(QFile.ReadOnly)
self.config = loader.load(file)
file.close()
self.config.connectButton.clicked.connect(self.connectCar)
self.config.buttonBox.accepted.connect(self.acceptConfig)
self.config.buttonBox.rejected.connect(self.config.reject)
self.config.buttonBox.button(QDialogButtonBox.RestoreDefaults).clicked.connect(self.resetConfig)
self.config.resetParticles.clicked.connect(self.resetParticles)
# Log dialog
file = QFile("log.ui")
file.open(QFile.ReadOnly)
self.log = loader.load(file)
file.close()
self.log.saveButton.clicked.connect(self.saveLog)
self.connect(self.carSocket, SIGNAL("logSignal(str, str)"), self, SLOT("addToLog(str, str)"))
self.initLog()
# Configuration button
self.configButton = QPushButton("Configuration panel", parent=self.automaticView)
self.configButton.clicked.connect(self.openConfigPanel)
# Configuration button
self.logButton = QPushButton("Car's log", parent=self.automaticView)
self.logButton.clicked.connect(self.log.show)
