def __init__(self, config_file=None):
"""
The constructor does some default configuration, but the driver
usually needs to load a config file via L{load_config} to be
fully initialized.
"""
self._board = FuriousBoard()
self._servos = {}
self._odometer = Odometer(self._board)
self._logic_batt = Battery(self._board, port=7)
self._motor_batt = Battery(self._board, port=6)
self._dbg = None # Observer object for debug messages
if config_file:
self.load_config(config_file)
def __init__(self, cfgfile, port):
QtGui.QWidget.__init__(self, None)
self.config_file = cfgfile
self.config = furious.config.parse_config(self.config_file)
self.board = FuriousBoard()
if not port:
port = self.board.probe()
if not port:
QtGui.QMessageBox.information(self, "Error",
"Unable to detect a Furious board.",
QtGui.QMessageBox.Ok)
QtGui.qApp.exit(1)
# For some reason, the app doesn't exit immediately after the call
# to qApp.exit() above, so this next line is needed for a clean
# shutdown.
exit(1)
self.board.open(port)
if not self.board.is_ready():
QtGui.QMessageBox.information(
self, "Error",
"Unable to connect to Furious board on %s." % port,
QtGui.QMessageBox.Ok)
QtGui.qApp.exit(1)
quitBtn = QtGui.QPushButton("Quit")
self.connect(quitBtn, QtCore.SIGNAL('clicked()'), QtGui.qApp,
QtCore.SLOT('quit()'))
saveBtn = QtGui.QPushButton("Save")
self.connect(saveBtn, QtCore.SIGNAL('clicked()'), self.saveConfig)
buttons = QtGui.QHBoxLayout()
buttons.addWidget(saveBtn)
buttons.addWidget(quitBtn)
layout = QtGui.QVBoxLayout()
statusLbl = QtGui.QLabel("Connected on %s" % port)
layout.addWidget(statusLbl)
for sname in self.config['servo']:
servo = self.config['servo'][sname]
sc = ServoControl(self, sname, servo)
layout.addWidget(sc)
layout.addLayout(buttons)
self.setLayout(layout)