def updateControlInputs(self):
""" sends the control inputs to Arduino """
if self.portOpen:
# make sure the connection has not been broken
if self.checkConnection():
# send the control variables
communicationProtocol.sendMessage(self.arduinoSerialConnection, self.controlParameters)
# update the display of engine throttles
self.throttleDial_portVer.currentThrottle = self.controlParameters["motorPortVer"]
self.throttleDial_portVer.Refresh()
self.throttleDial_portHor.currentThrottle = self.controlParameters["motorPortHor"]
self.throttleDial_portHor.Refresh()
self.throttleDial_stbdVer.currentThrottle = self.controlParameters["motorStbdVer"]
self.throttleDial_stbdVer.Refresh()
self.throttleDial_stbdHor.currentThrottle = self.controlParameters["motorStbdHor"]
self.throttleDial_stbdHor.Refresh()
def onArmModules(self, eent):
""" Call the Arduino and ask it to arm modules; will wait for a gien time
to give the MC enough slack to finish all tasks required """
if self.portOpen and self.checkConnection:
communicationProtocol.sendMessage(self.arduinoSerialConnection, self.armModulesCommand)
line = self.arduinoSerialConnection.readline()
readings = communicationProtocol.readMessage(line)
try:
delay = readings["setupDelay"]
dialog = rovGuiArmDialog(float(delay) / 1000.0)
dialog.ShowModal()
except KeyError:
wx.MessageBox("Something fell over while asking Arduino to arm!", "Error", wx.OK | wx.ICON_ERROR)
def updateSensorReadings(self):
""" Go over each sensor and get its reading, updating the internally stored values """
if self.portOpen:
# make sure the connection has not been broken
if self.checkConnection():
pass
# ask the Arduino nicely to return the current readings
communicationProtocol.sendMessage(self.arduinoSerialConnection, self.sensorReadingsRequestObject)
# get the most recent line from the serial port
line = self.arduinoSerialConnection.readline()
# pass on to the parser
readings = communicationProtocol.readMessage(line)
# update sensor and other readings
for readingKey in readings:
self.sensorParameters[readingKey] = float(readings[readingKey])
def onArmModules(self, eent):
""" Call the Arduino and ask it to arm modules; will wait for a gien time
to give the MC enough slack to finish all tasks required """
if self.portOpen and self.checkConnection:
communicationProtocol.sendMessage(self.arduinoSerialConnection,
self.armModulesCommand)
line = self.arduinoSerialConnection.readline()
readings = communicationProtocol.readMessage(line)
try:
delay = readings['setupDelay']
dialog = rovGuiArmDialog(float(delay) / 1000.)
dialog.ShowModal()
except KeyError:
wx.MessageBox(
'Something fell over while asking Arduino to arm!',
'Error', wx.OK | wx.ICON_ERROR)
def updateSensorReadings(self):
""" Go over each sensor and get its reading, updating the internally stored values """
if self.portOpen:
# make sure the connection has not been broken
if self.checkConnection():
pass
# ask the Arduino nicely to return the current readings
communicationProtocol.sendMessage(
self.arduinoSerialConnection,
self.sensorReadingsRequestObject)
# get the most recent line from the serial port
line = self.arduinoSerialConnection.readline()
# pass on to the parser
readings = communicationProtocol.readMessage(line)
# update sensor and other readings
for readingKey in readings:
self.sensorParameters[readingKey] = float(
readings[readingKey])
def updateControlInputs(self):
""" sends the control inputs to Arduino """
if self.portOpen:
# make sure the connection has not been broken
if self.checkConnection():
# send the control variables
communicationProtocol.sendMessage(self.arduinoSerialConnection,
self.controlParameters)
# update the display of engine throttles
self.throttleDial_portVer.currentThrottle = self.controlParameters[
'motorPortVer']
self.throttleDial_portVer.Refresh()
self.throttleDial_portHor.currentThrottle = self.controlParameters[
'motorPortHor']
self.throttleDial_portHor.Refresh()
self.throttleDial_stbdVer.currentThrottle = self.controlParameters[
'motorStbdVer']
self.throttleDial_stbdVer.Refresh()
self.throttleDial_stbdHor.currentThrottle = self.controlParameters[
'motorStbdHor']
self.throttleDial_stbdHor.Refresh()
