def __init__(self, ipcon, uid, version):
PluginBase.__init__(self, ipcon, uid, 'Distance IR Bricklet', version)
self.dist = BrickletDistanceIR(uid, ipcon)
self.qtcb_distance.connect(self.cb_distance)
self.dist.register_callback(self.dist.CALLBACK_DISTANCE,
self.qtcb_distance.emit)
self.qtcb_analog.connect(self.cb_analog)
self.dist.register_callback(self.dist.CALLBACK_ANALOG_VALUE,
self.qtcb_analog.emit)
self.analog_value = 0
self.counter = 0
self.distance_label = DistanceLabel('Distance: ')
self.analog_label = AnalogLabel('Analog value: ')
self.sample_layout = QHBoxLayout()
self.sample_label = QLabel('Sample Points:')
self.sample_edit = QLineEdit();
self.sample_file = QPushButton("File..");
self.sample_save = QPushButton("Save");
self.sample_file.pressed.connect(self.sample_file_pressed)
self.sample_save.pressed.connect(self.sample_save_pressed)
self.sample_layout.addWidget(self.sample_label)
self.sample_layout.addWidget(self.sample_edit)
self.sample_layout.addWidget(self.sample_file)
self.sample_layout.addWidget(self.sample_save)
self.current_value = None
plot_list = [['', Qt.red, self.get_current_value]]
self.plot_widget = PlotWidget('Distance [cm]', plot_list)
layout_h1 = QHBoxLayout()
layout_h1.addStretch()
layout_h1.addWidget(self.distance_label)
layout_h1.addStretch()
layout_h2 = QHBoxLayout()
layout_h2.addStretch()
layout_h2.addWidget(self.analog_label)
layout_h2.addStretch()
layout = QVBoxLayout(self)
layout.addLayout(layout_h1)
layout.addLayout(layout_h2)
layout.addWidget(self.plot_widget)
layout.addLayout(self.sample_layout)
class DistanceIR(PluginBase):
NUM_VALUES = 128
DIVIDER = 2**12/NUM_VALUES
qtcb_distance = pyqtSignal(int)
qtcb_analog = pyqtSignal(int)
def __init__(self, ipcon, uid, version):
PluginBase.__init__(self, ipcon, uid, 'Distance IR Bricklet', version)
self.dist = BrickletDistanceIR(uid, ipcon)
self.qtcb_distance.connect(self.cb_distance)
self.dist.register_callback(self.dist.CALLBACK_DISTANCE,
self.qtcb_distance.emit)
self.qtcb_analog.connect(self.cb_analog)
self.dist.register_callback(self.dist.CALLBACK_ANALOG_VALUE,
self.qtcb_analog.emit)
self.analog_value = 0
self.counter = 0
self.distance_label = DistanceLabel('Distance: ')
self.analog_label = AnalogLabel('Analog value: ')
self.sample_layout = QHBoxLayout()
self.sample_label = QLabel('Sample Points:')
self.sample_edit = QLineEdit();
self.sample_file = QPushButton("File..");
self.sample_save = QPushButton("Save");
self.sample_file.pressed.connect(self.sample_file_pressed)
self.sample_save.pressed.connect(self.sample_save_pressed)
self.sample_layout.addWidget(self.sample_label)
self.sample_layout.addWidget(self.sample_edit)
self.sample_layout.addWidget(self.sample_file)
self.sample_layout.addWidget(self.sample_save)
self.current_value = None
plot_list = [['', Qt.red, self.get_current_value]]
self.plot_widget = PlotWidget('Distance [cm]', plot_list)
layout_h1 = QHBoxLayout()
layout_h1.addStretch()
layout_h1.addWidget(self.distance_label)
layout_h1.addStretch()
layout_h2 = QHBoxLayout()
layout_h2.addStretch()
layout_h2.addWidget(self.analog_label)
layout_h2.addStretch()
layout = QVBoxLayout(self)
layout.addLayout(layout_h1)
layout.addLayout(layout_h2)
layout.addWidget(self.plot_widget)
layout.addLayout(self.sample_layout)
def start(self):
async_call(self.dist.get_distance, None, self.cb_distance, self.increase_error_count)
async_call(self.dist.set_distance_callback_period, 100, None, self.increase_error_count)
async_call(self.dist.set_analog_value_callback_period, 100, None, self.increase_error_count)
self.plot_widget.stop = False
def stop(self):
async_call(self.dist.set_distance_callback_period, 0, None, self.increase_error_count)
async_call(self.dist.set_analog_value_callback_period, 0, None, self.increase_error_count)
self.plot_widget.stop = True
def get_url_part(self):
return 'distance_ir'
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickletDistanceIR.DEVICE_IDENTIFIER
def sample_file_pressed(self):
last_dir = ''
if len(self.sample_edit.text()) > 0:
last_dir = os.path.dirname(os.path.realpath(unicode(self.sample_edit.text().toUtf8(), 'utf-8')))
file_name = QFileDialog.getOpenFileName(self,
"Open Sample Point file",
last_dir,
"")
if len(file_name) > 0:
self.sample_edit.setText(file_name)
def sample_interpolate(self, x, y):
spline = QwtSpline()
points = QPolygonF()
for point in zip(x, y):
points.append(QPointF(*point))
spline.setSplineType(QwtSpline.Natural)
spline.setPoints(points)
px = range(0, 2**12, DistanceIR.DIVIDER)
py = []
for X in px:
py.append(spline.value(X))
for i in range(x[0]/DistanceIR.DIVIDER):
py[i] = y[0]
for i in range(x[-1]/DistanceIR.DIVIDER, 2**12/DistanceIR.DIVIDER):
py[i] = y[-1]
for i in range(len(py)):
if py[i] > y[0]:
py[i] = y[0]
if py[i] < y[-1]:
py[i] = y[-1]
try:
old_text = self.sample_edit.text()
for i in range(DistanceIR.NUM_VALUES):
value = int(round(py[i]*100))
self.dist.set_sampling_point(i, value)
set_value = self.dist.get_sampling_point(i)
if set_value != value:
self.sample_edit.setText("Error while writing sample point " + str(i))
self.sample_edit.setText("writing sample point, value: " + str((i, value)))
QApplication.processEvents()
self.sample_edit.setText(old_text)
except ip_connection.Error:
return
def sample_save_pressed(self):
x = []
y = []
text = self.sample_edit.text()
text = unicode(text.toUtf8(), 'utf-8').encode(sys.getfilesystemencoding())
with open(text) as f:
for line in f:
if line[0] != '#':
s = line[:-1].split(": ")
x.append(int(s[1]))
y.append(int(s[0]))
self.sample_interpolate(x, y)
def get_current_value(self):
return self.current_value
def cb_distance(self, distance):
self.current_value = distance/10.0
self.distance_label.setText(str(distance/10.0))
def cb_analog(self, value):
self.analog_value += value
self.counter+=1
if self.counter == 100:
self.analog_label.setText(str(self.analog_value/100))
self.counter = 0
self.analog_value = 0
