def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._is_running = False
self._amount_axis = 3
self._axix_max = [0, 0, 0]
self._axis_min = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self._is_connected = False
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
vehicle_event_dispatcher.register(
self._magnetometer_raw_data_updated,
VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(
self._connection_state_changed,
UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.pid_type_list.addItem("ACCRO")
self.ui.pid_type_list.addItem("STABLE")
self.ui.pid_type_list.clicked.connect(self._pid_list_selection_clicked)
self.ui.pid_type_list.setCurrentRow(0)
self._accro_pid_tuning_controller = AccroPIDTuningController(
vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._accro_pid_tuning_controller)
self.ui.panel_container.setCurrentIndex(0)
self._stable_pid_tuning_controller = StablePIDTuningController(
vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._stable_pid_tuning_controller)
self.ui.beginner_radio_button.clicked.connect(
self._beginner_radio_button_pressed)
self.ui.intermediate_radio_button.clicked.connect(
self._intermediate_radio_button_pressed)
self.ui.advance_radio_button.clicked.connect(
self._advanced_radio_button_pressed)
self.ui.beginner_radio_button.setChecked(True)
self._current_pid_tuning_controller = self._accro_pid_tuning_controller
def __init__(self, vehicle_model, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self._protocol_handler = protocol_handler
self.ui = Ui_SensorsCalibrationPanel()
self.ui.setupUi(self)
self.ui.start.clicked.connect(self.start_calibration)
self.ui.cancel.clicked.connect(self.cancel_calibration)
self.ui.cancel.setEnabled(False)
self.state = 0
self.AmountReadings = 100
self.ReadingNumber = 0
self.AmountStates = 6
self.CalLevel = '0'
self.CalUpsidedown = '1'
self.CalLeft = '2'
self.CalRight = '3'
self.CalFront = '4'
self.CalRear = '5'
self.change_gui_picture(self.state)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.pid_type_list.addItem("ACCRO")
self.ui.pid_type_list.addItem("STABLE")
self.ui.pid_type_list.clicked.connect(self._pid_list_selection_clicked)
self.ui.pid_type_list.setCurrentRow(0)
self._accro_pid_tuning_controller = AccroPIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._accro_pid_tuning_controller)
self.ui.panel_container.setCurrentIndex(0)
self._stable_pid_tuning_controller = StablePIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._stable_pid_tuning_controller)
self.ui.beginner_radio_button.clicked.connect(self._beginner_radio_button_pressed)
self.ui.intermediate_radio_button.clicked.connect(self._intermediate_radio_button_pressed)
self.ui.advance_radio_button.clicked.connect(self._advanced_radio_button_pressed)
self.ui.beginner_radio_button.setChecked(True)
self._current_pid_tuning_controller = self._accro_pid_tuning_controller
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
self._tree_nodes = []
vehicle_event_dispatcher.register(self._receiver_nb_channels_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._receiver_roll_event, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_pitch_event, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_yaw_event, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_throttle_event, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_mode_event, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux1_event, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux2_event, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux3_event, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux4_event, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux5_event, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux6_event, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux7_event, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def __init__(self, vehicle_model, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self._vehicle_model = vehicle_model
self._protocol_handler = protocol_handler
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._is_running = False
self._amount_axis = 3
self._axix_max = [0, 0, 0] # x y z
self._axis_min = [0, 0, 0] # x y z
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self._is_connected = False
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
self._vehicle_model.register(self._magnetometer_raw_data_updated, VehicleModel.MAGNETOMETER_RAW_DATA_EVENT)
self._vehicle_model.register(self._connection_state_changed, VehicleModel.CONNECTION_STATE_CHANGED_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
colors = [
QtGui.QColor('blue'),
QtGui.QColor('red'),
QtGui.QColor('lime'),
QtGui.QColor('cornflowerblue'),
QtGui.QColor('greenyellow'),
QtGui.QColor('violet'),
QtGui.QColor('orange'),
QtGui.QColor('deepskyblue'),
QtGui.QColor('firebrick'),
QtGui.QColor('aqua')
]
self.gyro_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.gyro_parent.setCheckState(0, 2)
self.gyro_parent.setText(0, 'Gyro')
self.gyro_parent.addChild(
self.createPlotLine(0, colors[0], 'Gyro X Axis'))
self.gyro_parent.addChild(
self.createPlotLine(1, colors[1], 'Gyro Y Axis'))
self.gyro_parent.addChild(
self.createPlotLine(2, colors[2], 'Gyro Z Axis'))
self.ui.tree_widget.expandItem(self.gyro_parent)
self.accel_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.accel_parent.setCheckState(0, 2)
self.accel_parent.setText(0, 'Accel')
self.accel_parent.addChild(
self.createPlotLine(3, colors[3], 'Accel X Axis'))
self.accel_parent.addChild(
self.createPlotLine(4, colors[4], 'Accel Y Axis'))
self.accel_parent.addChild(
self.createPlotLine(5, colors[5], 'Accel Z Axis'))
self.ui.tree_widget.expandItem(self.accel_parent)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._gyro_raw_data_receved,
VehicleEventDispatcher.GYRO_DATA_EVENT)
vehicle_event_dispatcher.register(
self._accel_raw_data_receved,
VehicleEventDispatcher.ACCEL_DATA_EVENT)
vehicle_event_dispatcher.register(
self._mag_raw_data_receved,
VehicleEventDispatcher.MAGNETOMETER_DATA_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MotorCommandPanel()
self.ui.setupUi(self)
self._motor_slider1 = MotorSlider(1)
self.ui.gridLayout.addWidget(self._motor_slider1, 0, 0, 1, 1)
self._motor_slider2 = MotorSlider(2)
self.ui.gridLayout.addWidget(self._motor_slider2, 0, 1, 1, 1)
self._motor_slider3 = MotorSlider(3)
self.ui.gridLayout.addWidget(self._motor_slider3, 0, 2, 1, 1)
self._motor_slider4 = MotorSlider(4)
self.ui.gridLayout.addWidget(self._motor_slider4, 0, 3, 1, 1)
self._motor_slider5 = MotorSlider(5)
self.ui.gridLayout.addWidget(self._motor_slider5, 0, 4, 1, 1)
self._motor_slider6 = MotorSlider(6)
self.ui.gridLayout.addWidget(self._motor_slider6, 0, 5, 1, 1)
self._motor_slider7 = MotorSlider(7)
self.ui.gridLayout.addWidget(self._motor_slider7, 0, 4, 1, 1)
self._motor_slider8 = MotorSlider(8)
self.ui.gridLayout.addWidget(self._motor_slider8, 0, 5, 1, 1)
self.ui.unlock_check_box.stateChanged.connect(self._check_box_state_changed)
self.ui.send_command_button.clicked.connect(self._send_motors_commands)
self.ui.stop_all_motors_button.clicked.connect(self._send_stop_commands)
self.ui.help_button.clicked.connect(self._display_help_image)
self._timer = None
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._nb_motors_received, VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
self._tree_nodes = []
vehicle_event_dispatcher.register(
self._receiver_nb_channels_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._receiver_roll_event,
VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_pitch_event,
VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_yaw_event,
VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_throttle_event,
VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_mode_event,
VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux1_event,
VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux2_event,
VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux3_event,
VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux4_event,
VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux5_event,
VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux6_event,
VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux7_event,
VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def __init__(self, vehicle_model, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self._vehicle_model = vehicle_model
self._protocol_handler = protocol_handler
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start_button.setEnabled(True)
self.ui.cancel_button.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.left_transmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.right_transmitter.setScene(rightStickScene)
self._nb_channels = 12
self._raw_receiver_min_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self._raw_receiver_max_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.max_amount_channels = 12
self._raw_roll = 1500
self._raw_pitch = 1500
self._raw_yaw = 1500
self._raw_throttle = 1500
self.ui.start_button.clicked.connect(self.start_RCcalibration)
self.ui.cancel_button.clicked.connect(self._cancel_calibration)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._receiver_channel_count_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_roll_received, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_pitch_received, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_yaw_received, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_throttle_received, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_mode_received, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux1_received, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux2_received, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux3_received, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux4_received, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux5_received, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux6_received, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux7_received, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._current_roll_pid = PIDData(100, 150, -300)
self._current_pitch_pid = PIDData(100, 150, -300)
self._current_stick_scaling = 1
self._is_starting = False
self._user_update_mode = PIDUpdateMode.BEGINNER_MODE
self._roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._roll_pid_controller)
self._roll_pid_controller.set_title('PID tuning')
self._roll_pid_controller.set_default(PIDData(100, 150, -350))
self._roll_pid_controller.set_p_bounds(50, 200)
self._roll_pid_controller.set_p_title('Pitch Gain')
self._roll_pid_controller.set_i_bounds(100, 300)
self._roll_pid_controller.set_i_title('Error correction')
self._roll_pid_controller.set_d_bounds(-1000, -100)
self._roll_pid_controller.set_d_title('Set Point')
self._pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._pitch_pid_controller)
self._pitch_pid_controller.set_title('PID tuning')
self._pitch_pid_controller.set_default(PIDData(100, 150, -350))
self._pitch_pid_controller.set_p_bounds(50, 200)
self._pitch_pid_controller.set_p_title('Pitch Gain')
self._pitch_pid_controller.set_i_bounds(100, 300)
self._pitch_pid_controller.set_i_title('Error correction')
self._pitch_pid_controller.set_d_bounds(-1000, -100)
self._pitch_pid_controller.set_d_title('Set Point')
self._stick_scaling_controller = ConfigSingleLinePanelController()
self._stick_scaling_controller.set_title('Stick Scaling')
self._stick_scaling_controller.set_line_description('Stick Scaling')
self._stick_scaling_controller.set_bounds(1, 6)
self._stick_scaling_controller.set_default('1')
self.ui.main_layout.addWidget(self._stick_scaling_controller)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._roll_pid_received, VehicleEventDispatcher.PID_ACCRO_ROLL)
vehicle_event_dispatcher.register(
self._pitch_pid_received, VehicleEventDispatcher.PID_ACCRO_PITCH)
vehicle_event_dispatcher.register(
self._accro_stick_scaling_received,
VehicleEventDispatcher.PID_ACCRO_STICK_SCALING)
self._cpt_before_send = 5
self.set_beginner_mode()
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MainMenuePanel()
self.ui.setupUi(self)
self.ui.button_vehicle_status.clicked.connect(self.load_vehicle_status)
self.ui.button_vehicle_configuration.clicked.connect(self.load_vehicle_configuration)
self.ui.button_serial_monitor.clicked.connect(self.load_serial_monitor)
self.ui.button_firmware_download.clicked.connect(self.load_firmware_download)
self.ui.button_vehicle_setup.clicked.connect(self.load_vehicle_setup)
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_CommMonitorPanel()
self.ui.setupUi(self)
self.ui.sendButton.setEnabled(False)
self.ui.clearButton.setEnabled(False)
# Connect GUI slots and signals
self.ui.lineEdit.returnPressed.connect(self.sendCommand)
self.ui.sendButton.clicked.connect(self.sendCommand)
self.ui.clearButton.clicked.connect(self.clearComm)
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_CommMonitorPanel()
self.ui.setupUi(self)
self.ui.sendButton.setEnabled(False)
self.ui.clearButton.setEnabled(False)
# Connect GUI slots and signals
self.ui.lineEdit.returnPressed.connect(self.sendCommand)
self.ui.sendButton.clicked.connect(self.sendCommand)
self.ui.clearButton.clicked.connect(self.clearComm)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._accel_roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._accel_roll_pid_controller)
self._accel_roll_pid_controller.hide_i_line()
self._accel_roll_pid_controller.hide_d_line()
self._accel_roll_pid_controller.p_line.ui.label.setText(
'Accel Roll Gain')
self._accel_roll_pid_controller.i_line.ui.label.setText(
'Accel Roll Error Correction')
self._accel_roll_pid_controller.d_line.ui.label.setText(
'Accel Roll Set Point Adjustment')
self._gyro_roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_roll_pid_controller)
self._gyro_roll_pid_controller.hide_i_line()
self._gyro_roll_pid_controller.p_line.ui.label.setText(
'Gyro Roll Gain')
self._gyro_roll_pid_controller.i_line.ui.label.setText(
'Gyro Roll Error Correction')
self._gyro_roll_pid_controller.d_line.ui.label.setText(
'Gyro Roll Set Point Adjustment')
self._accel_pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._accel_pitch_pid_controller)
self._accel_pitch_pid_controller.hide_i_line()
self._accel_pitch_pid_controller.hide_d_line()
self._accel_pitch_pid_controller.p_line.ui.label.setText(
'Accel Pitch Gain')
self._accel_pitch_pid_controller.i_line.ui.label.setText(
'Accel Pitch Error Correction')
self._accel_pitch_pid_controller.d_line.ui.label.setText(
'Accel Pitch Set Point Adjustment')
self._gyro_pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_pitch_pid_controller)
self._gyro_pitch_pid_controller.p_line.ui.label.setText(
'Gyro Pitch Gain')
self._gyro_pitch_pid_controller.i_line.ui.label.setText(
'Gyro Pitch Error Correction')
self._gyro_pitch_pid_controller.d_line.ui.label.setText(
'Gyro Pitch Set Point Adjustment')
self.setBeginnerMode()
self.ui.linked_check_box.clicked.connect(self._linked_checkbox_pressed)
self._linked_checkbox_pressed()
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_VehicleConfigurationPanel()
self.ui.setupUi(self)
self.image = QtGui.QPixmap("./resources/Quad+.png")
self.ui.updateButton.clicked.connect(self.updateConfiguration)
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MainMenuePanel()
self.ui.setupUi(self)
self.ui.button_vehicle_status.clicked.connect(self.load_vehicle_status)
self.ui.button_vehicle_configuration.clicked.connect(
self.load_vehicle_configuration)
self.ui.button_serial_monitor.clicked.connect(self.load_serial_monitor)
self.ui.button_firmware_download.clicked.connect(
self.load_firmware_download)
self.ui.button_vehicle_setup.clicked.connect(self.load_vehicle_setup)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher, parent=None):
super(MotorCommandController, self).__init__(parent)
BasePanelController.__init__(self)
self.ui = MotorCommandPanel()
self.ui.setupUi(self)
self.ui.sendButton.setEnabled(False)
self.ui.clearButton.setEnabled(False)
self.started = False
# Connect GUI slots and signals
self.ui.sendButton.clicked.connect(self.sendCommand)
self.ui.clearButton.clicked.connect(self.clearCommand)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._current_roll_pid = PIDData(100,150,-300)
self._current_pitch_pid = PIDData(100,150,-300)
self._current_stick_scaling = 1
self._is_starting = False
self._user_update_mode = PIDUpdateMode.BEGINNER_MODE
self._roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._roll_pid_controller)
self._roll_pid_controller.set_title('PID tuning')
self._roll_pid_controller.set_default(PIDData(100,150,-350))
self._roll_pid_controller.set_p_bounds(50,200)
self._roll_pid_controller.set_p_title('Pitch Gain')
self._roll_pid_controller.set_i_bounds(100,300)
self._roll_pid_controller.set_i_title('Error correction')
self._roll_pid_controller.set_d_bounds(-1000,-100)
self._roll_pid_controller.set_d_title('Set Point')
self._pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._pitch_pid_controller)
self._pitch_pid_controller.set_title('PID tuning')
self._pitch_pid_controller.set_default(PIDData(100,150,-350))
self._pitch_pid_controller.set_p_bounds(50,200)
self._pitch_pid_controller.set_p_title('Pitch Gain')
self._pitch_pid_controller.set_i_bounds(100,300)
self._pitch_pid_controller.set_i_title('Error correction')
self._pitch_pid_controller.set_d_bounds(-1000,-100)
self._pitch_pid_controller.set_d_title('Set Point')
self._stick_scaling_controller = ConfigSingleLinePanelController()
self._stick_scaling_controller.set_title('Stick Scaling')
self._stick_scaling_controller.set_line_description('Stick Scaling')
self._stick_scaling_controller.set_bounds(1,6)
self._stick_scaling_controller.set_default('1')
self.ui.main_layout.addWidget(self._stick_scaling_controller)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._roll_pid_received, VehicleEventDispatcher.PID_ACCRO_ROLL)
vehicle_event_dispatcher.register(self._pitch_pid_received, VehicleEventDispatcher.PID_ACCRO_PITCH)
vehicle_event_dispatcher.register(self._accro_stick_scaling_received, VehicleEventDispatcher.PID_ACCRO_STICK_SCALING)
self._cpt_before_send = 5
self.set_beginner_mode()
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_AccelCalibrationPanel()
self.ui.setupUi(self)
self.ui.start_button.clicked.connect(self._start_button_pressed)
self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
self.ui.progress_bar.setMaximum(AccelCalibrationController.NB_SAMPLE_TO_READ)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._accel_raw_data_received, VehicleEventDispatcher.ACCEL_RAW_DATA_EVENT)
self._set_initial_panel_state()
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleConfigurationPanel()
self.ui.setupUi(self)
self.ui.configSpecs.setRowCount(15)
self.ui.configSpecs.setColumnCount(1)
self._reset_panel()
ui_event_dispatcher.register(
self._connection_state_changed,
UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
vehicle_event_dispatcher.register(
self._flight_config_received,
VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.BOAR_TYPE_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.GYROSCOPE_DETECTED_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.ACCELEROMETER_DETECTED_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.BAROMETER_DETECTED_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.MAGNETOMETER_DETECTED_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.HEADING_HOLD_ENABLED_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.ALTITUDE_HOLD_ENABLED_EVENT)
vehicle_event_dispatcher.register(
self._board_config_received,
VehicleEventDispatcher.BATTERY_MONITOR_ENABLED_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.parameterTable.verticalHeader().setVisible(False)
self.ui.buttonLoad.setEnabled(False)
self.ui.buttonSave.setEnabled(False)
self.ui.buttonUpload.setEnabled(False)
self.ui.listParameterType.clicked.connect(self.updateSelection)
self.ui.buttonUpload.clicked.connect(self.updateParameters)
self.ui.buttonSave.clicked.connect(self.underConstruction)
self.ui.buttonLoad.clicked.connect(self.underConstruction)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.parameterTable.verticalHeader().setVisible(False)
self.ui.buttonLoad.setEnabled(False)
self.ui.buttonSave.setEnabled(False)
self.ui.buttonUpload.setEnabled(False)
self.ui.listParameterType.clicked.connect(self.updateSelection)
self.ui.buttonUpload.clicked.connect(self.updateParameters)
self.ui.buttonSave.clicked.connect(self.underConstruction)
self.ui.buttonLoad.clicked.connect(self.underConstruction)
def __init__(self,
vehicle_event_dispatcher,
ui_event_dispatcher,
parent=None):
super(MotorCommandController, self).__init__(parent)
BasePanelController.__init__(self)
self.ui = MotorCommandPanel()
self.ui.setupUi(self)
self.ui.sendButton.setEnabled(False)
self.ui.clearButton.setEnabled(False)
self.started = False
# Connect GUI slots and signals
self.ui.sendButton.clicked.connect(self.sendCommand)
self.ui.clearButton.clicked.connect(self.clearCommand)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
self._colors = [
QtGui.QColor('blue'),
QtGui.QColor('red'),
QtGui.QColor('lime'),
QtGui.QColor('cornflowerblue'),
QtGui.QColor('greenyellow'),
QtGui.QColor('violet'),
QtGui.QColor('orange'),
QtGui.QColor('deepskyblue'),
QtGui.QColor('firebrick'),
QtGui.QColor('aqua')]
self.gyro_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.gyro_parent.setCheckState(0, 2)
self.gyro_parent.setText(0, 'Gyro')
self.gyro_parent.addChild (self.createPlotLine(0, self._colors[0], 'Gyro X Axis'))
self.gyro_parent.addChild (self.createPlotLine(1, self._colors[1], 'Gyro Y Axis'))
self.gyro_parent.addChild (self.createPlotLine(2, self._colors[2], 'Gyro Z Axis'))
self.ui.tree_widget.expandItem(self.gyro_parent)
self.accel_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.accel_parent.setCheckState(0, 2)
self.accel_parent.setText(0, 'Accel')
self.accel_parent.addChild (self.createPlotLine(3, self._colors[3], 'Accel X Axis'))
self.accel_parent.addChild (self.createPlotLine(4, self._colors[4], 'Accel Y Axis'))
self.accel_parent.addChild (self.createPlotLine(5, self._colors[5], 'Accel Z Axis'))
self.ui.tree_widget.expandItem(self.accel_parent)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._gyro_raw_data_receved, VehicleEventDispatcher.GYRO_DATA_EVENT)
vehicle_event_dispatcher.register(self._accel_raw_data_receved, VehicleEventDispatcher.ACCEL_DATA_EVENT)
vehicle_event_dispatcher.register(self._mag_raw_data_receved, VehicleEventDispatcher.MAGNETOMETER_DATA_EVENT)
vehicle_event_dispatcher.register(self._is_magnetometer_detected_event, VehicleEventDispatcher.MAGNETOMETER_DETECTED_EVENT)
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_CommMonitorPanel()
self.ui.setupUi(self)
self.ui.sendButton.setEnabled(False)
self.ui.clearButton.setEnabled(False)
# Connect GUI slots and signals
self.ui.lineEdit.returnPressed.connect(self.sendCommand)
self.ui.sendButton.clicked.connect(self.sendCommand)
self.ui.clearButton.clicked.connect(self.clearComm)
def __init__(self, vehicle_model, message_sender, parent=None):
super(MotorCommandController, self).__init__(parent)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.started = False
self.ui = MotorCommandPanel()
self.ui.setupUi(self)
self.ui.sendButton.setEnabled(False)
self.ui.clearButton.setEnabled(False)
# Connect GUI slots and signals
self.ui.sendButton.clicked.connect(self.sendCommand)
self.ui.clearButton.clicked.connect(self.clearCommand)
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverChannelDetectionPanel()
self.ui.setupUi(self)
self.ui.start.setEnabled(True)
self.ui.cancel.setEnabled(False)
self.ui.cancel.clicked.connect(self.cancel_RC)
self.ui.start.clicked.connect(self.start_RCsetup)
self.amount_channels = 12
self.last_RCvalue = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
self.first_loop = 80
self.channel_order_map = [100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100]
self.channel_detecting = 0
self.running = False
self.channel_offset = 200
self.max_amount_channels = 12
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._min_mag_values = [0, 0, 0]
self._max_mag_values = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self.ui.start_button.clicked.connect(self._start_button_pressed)
self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
vehicle_event_dispatcher.register(self._magnetometer_raw_data_updated, VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_AccelCalibrationPanel()
self.ui.setupUi(self)
self.ui.start_button.clicked.connect(self._start_button_pressed)
self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
self.ui.progress_bar.setMaximum(
AccelCalibrationController.NB_SAMPLE_TO_READ)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._accel_raw_data_received,
VehicleEventDispatcher.ACCEL_RAW_DATA_EVENT)
self._set_initial_panel_state()
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._gyro_roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_roll_pid_controller)
self._gyro_pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_pitch_pid_controller)
self._gyro_pitch_pid_controller.p_line.ui.label.setText('Pitch Gain')
self._gyro_pitch_pid_controller.i_line.ui.label.setText('Pitch Error Correction')
self._gyro_pitch_pid_controller.d_line.ui.label.setText('Pitch Set Point Adjustment')
self.setBeginnerMode()
self.ui.linked_check_box.clicked.connect(self._linked_checkbox_pressed)
self._linked_checkbox_pressed()
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverChannelDetectionPanel()
self.ui.setupUi(self)
self.ui.start.setEnabled(True)
self.ui.cancel.setEnabled(False)
self.ui.cancel.clicked.connect(self.cancel_RC)
self.ui.start.clicked.connect(self.start_RCsetup)
self.amount_channels = 12
self.last_RCvalue = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
self.first_loop = 80
self.channel_order_map = [
100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100
]
self.channel_detecting = 0
self.running = False
self.channel_offset = 200
self.max_amount_channels = 12
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleDynamicConfigPanel()
self.ui.setupUi(self)
self.ui.updateButton.clicked.connect(self._send_mini_config)
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
self.ui.receiverTitle.setPalette(palette)
self.ui.motorTitle.setPalette(palette)
self.ui.triBox.clicked.connect(self.triCheckBoxPressed)
self.ui.quadBox.clicked.connect(self.quadCheckBoxPressed)
self.ui.quadPlusBox.clicked.connect(self.quadPlusCheckBoxPressed)
self.ui.quadY4Box.clicked.connect(self.y4CheckBoxPressed)
self.ui.y6Box.clicked.connect(self.y6CheckBoxPressed)
self.ui.hexaPlusBox.clicked.connect(self.hexPlusCheckBoxPressed)
self.ui.hexaXBox.clicked.connect(self.hexXCheckBoxPressed)
self.ui.reverseRotation.clicked.connect(
self.reverseRotationCheckBoxPressed)
self.ui.ppmRecv.clicked.connect(self.ppmReceiverCheckBoxPressed)
self.ui.normalRecv.clicked.connect(self.normalReceiverCheckBoxPressed)
self._flight_config_type = FlightConfigType.QUAD_X
self._receiver_type = ReceiverConfigType.RECEIVER_PWM
self._reversed_yaw = '1'
self._selected_flight_config = FlightConfigType.QUAD_X
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
self._selected_reversed_yaw_rotation = '1'
self._update_panel_component()
vehicle_event_dispatcher.register(
self._flight_config_updated,
VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._yaw_direction_updated,
VehicleEventDispatcher.YAW_DIRECTION_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._receiver_type_updated,
VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start.setEnabled(True)
self.ui.cancel.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
self.running = False
self.amount_channels = 12
self.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.max_amount_channels = 12
self.ui.start.clicked.connect(self.start_RCcalibration)
self.ui.cancel.clicked.connect(self.cancel_RCcalibration)
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self.running = False
self.amount_axis = 3
self.axix_max = [0, 0, 0] # x y z
self.axis_min = [0, 0, 0] # x y z
self.axix_x = '0'
self.axix_y = '1'
self.axix_z = '2'
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._min_mag_values = [0, 0, 0]
self._max_mag_values = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self.ui.start_button.clicked.connect(self._start_button_pressed)
self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
vehicle_event_dispatcher.register(
self._magnetometer_raw_data_updated,
VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._is_running = False
self._amount_axis = 3
self._axix_max = [0, 0, 0]
self._axis_min = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self._is_connected = False
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
vehicle_event_dispatcher.register(self._magnetometer_raw_data_updated, VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(self._connection_state_changed, UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._accel_roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._accel_roll_pid_controller)
self._accel_roll_pid_controller.hide_i_line()
self._accel_roll_pid_controller.hide_d_line()
self._accel_roll_pid_controller.p_line.ui.title_label.setText('Accel Roll Gain')
self._accel_roll_pid_controller.i_line.ui.title_label.setText('Accel Roll Error Correction')
self._accel_roll_pid_controller.d_line.ui.title_label.setText('Accel Roll Set Point Adjustment')
self._gyro_roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_roll_pid_controller)
self._gyro_roll_pid_controller.hide_i_line()
self._gyro_roll_pid_controller.p_line.ui.title_label.setText('Gyro Roll Gain')
self._gyro_roll_pid_controller.i_line.ui.title_label.setText('Gyro Roll Error Correction')
self._gyro_roll_pid_controller.d_line.ui.title_label.setText('Gyro Roll Set Point Adjustment')
self._accel_pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._accel_pitch_pid_controller)
self._accel_pitch_pid_controller.hide_i_line()
self._accel_pitch_pid_controller.hide_d_line()
self._accel_pitch_pid_controller.p_line.ui.title_label.setText('Accel Pitch Gain')
self._accel_pitch_pid_controller.i_line.ui.title_label.setText('Accel Pitch Error Correction')
self._accel_pitch_pid_controller.d_line.ui.title_label.setText('Accel Pitch Set Point Adjustment')
self._gyro_pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._gyro_pitch_pid_controller)
self._gyro_pitch_pid_controller.p_line.ui.title_label.setText('Gyro Pitch Gain')
self._gyro_pitch_pid_controller.i_line.ui.title_label.setText('Gyro Pitch Error Correction')
self._gyro_pitch_pid_controller.d_line.ui.title_label.setText('Gyro Pitch Set Point Adjustment')
self.setBeginnerMode()
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleConfigurationPanel()
self.ui.setupUi(self)
self.ui.configSpecs.setRowCount(15)
self.ui.configSpecs.setColumnCount(1)
self._reset_panel()
ui_event_dispatcher.register(self._connection_state_changed, UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
vehicle_event_dispatcher.register(self._flight_config_received, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.BOAR_TYPE_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.GYROSCOPE_DETECTED_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.ACCELEROMETER_DETECTED_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.BAROMETER_DETECTED_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.MAGNETOMETER_DETECTED_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.HEADING_HOLD_ENABLED_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.ALTITUDE_HOLD_ENABLED_EVENT)
vehicle_event_dispatcher.register(self._vehicle_description_event_received, VehicleEventDispatcher.BATTERY_MONITOR_ENABLED_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MotorCommandPanel()
self.ui.setupUi(self)
self._motor_slider1 = MotorSlider(1)
self.ui.gridLayout.addWidget(self._motor_slider1, 0, 0, 1, 1)
self._motor_slider2 = MotorSlider(2)
self.ui.gridLayout.addWidget(self._motor_slider2, 0, 1, 1, 1)
self._motor_slider3 = MotorSlider(3)
self.ui.gridLayout.addWidget(self._motor_slider3, 0, 2, 1, 1)
self._motor_slider4 = MotorSlider(4)
self.ui.gridLayout.addWidget(self._motor_slider4, 0, 3, 1, 1)
self._motor_slider5 = MotorSlider(5)
self.ui.gridLayout.addWidget(self._motor_slider5, 0, 4, 1, 1)
self._motor_slider6 = MotorSlider(6)
self.ui.gridLayout.addWidget(self._motor_slider6, 0, 5, 1, 1)
self._motor_slider7 = MotorSlider(7)
self.ui.gridLayout.addWidget(self._motor_slider7, 0, 4, 1, 1)
self._motor_slider8 = MotorSlider(8)
self.ui.gridLayout.addWidget(self._motor_slider8, 0, 5, 1, 1)
self.ui.unlock_check_box.stateChanged.connect(
self._check_box_state_changed)
self.ui.send_command_button.clicked.connect(self._send_motors_commands)
self.ui.stop_all_motors_button.clicked.connect(
self._send_stop_commands)
self.ui.help_button.clicked.connect(self._display_help_image)
self._timer = None
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._nb_motors_received,
VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleDynamicConfigPanel()
self.ui.setupUi(self)
self.ui.updateButton.clicked.connect(self._send_mini_config)
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
self.ui.receiverTitle.setPalette(palette)
self.ui.motorTitle.setPalette(palette)
self.ui.triBox.clicked.connect(self.triCheckBoxPressed)
self.ui.quadBox.clicked.connect(self.quadCheckBoxPressed)
self.ui.quadPlusBox.clicked.connect(self.quadPlusCheckBoxPressed)
self.ui.quadY4Box.clicked.connect(self.y4CheckBoxPressed)
self.ui.y6Box.clicked.connect(self.y6CheckBoxPressed)
self.ui.hexaPlusBox.clicked.connect(self.hexPlusCheckBoxPressed)
self.ui.hexaXBox.clicked.connect(self.hexXCheckBoxPressed)
self.ui.reverseRotation.clicked.connect(self.reverseRotationCheckBoxPressed)
self.ui.ppmRecv.clicked.connect(self.ppmReceiverCheckBoxPressed)
self.ui.normalRecv.clicked.connect(self.normalReceiverCheckBoxPressed)
self._flight_config_type = FlightConfigType.QUAD_X
self._receiver_type = ReceiverConfigType.RECEIVER_PWM
self._reversed_yaw = '1'
self._selected_flight_config = FlightConfigType.QUAD_X
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
self._selected_reversed_yaw_rotation = '1'
self._update_panel_component()
vehicle_event_dispatcher.register(self._flight_config_updated, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._yaw_direction_updated, VehicleEventDispatcher.YAW_DIRECTION_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._receiver_type_updated, VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start.setEnabled(True)
self.ui.cancel.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
self.running = False
self.amount_channels = 12
self.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.max_amount_channels = 12
self.ui.start.clicked.connect(self.start_RCcalibration)
self.ui.cancel.clicked.connect(self.cancel_RCcalibration)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start_button.setEnabled(True)
self.ui.cancel_button.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.leftStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.left_transmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.rightStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.right_transmitter.setScene(rightStickScene)
self._nb_channels = 12
self._raw_receiver_min_values = [
1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
1500, 1500
]
self._raw_receiver_max_values = [
1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
1500, 1500
]
self.max_amount_channels = 12
self._raw_roll = 1500
self._raw_pitch = 1500
self._raw_yaw = 1500
self._raw_throttle = 1500
self.ui.start_button.clicked.connect(self.start_RCcalibration)
self.ui.cancel_button.clicked.connect(self._cancel_calibration)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._receiver_channel_count_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_roll_received,
VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_pitch_received,
VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_yaw_received,
VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_throttle_received,
VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_mode_received,
VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux1_received,
VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux2_received,
VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux3_received,
VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux4_received,
VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux5_received,
VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux6_received,
VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux7_received,
VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleOverallStatusPanel()
self.ui.setupUi(self)
self._protocol_handler = None
self._channel_count = 0
self._flight_config = 'Quad +'
self._channel_bar_gauge_array = []
self._channels_label_array_text = ['Mode']
self._channels_label_array_object = []
self._motor_gauge_pixel_width = 25.0
self._label_pixel_height = 25
self._window_height = 400
self._motors_count = 4
self._vehicle_roll = 0.0
self._vehicle_pitch = 0.0
self._receiver_roll = 0
self._receiver_pitch = 0
self._receiver_yaw = 0
self._receiver_throttle = 0
horizon_background_image = QtGui.QPixmap('./resources/artificialHorizonBackGround.svg')
self._horizon_background_image = QtGui.QGraphicsPixmapItem(horizon_background_image)
horizon_dial_image = QtGui.QPixmap('./resources/artificialHorizonDial.svg')
horizon_dial_item = QtGui.QGraphicsPixmapItem(horizon_dial_image)
horizon_dial_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass_background = QtGui.QPixmap('./resources/artificialHorizonCompassBackGround.svg')
horizon_compass_background_item = QtGui.QGraphicsPixmapItem(horizon_compass_background)
horizon_compass_background_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass = QtGui.QPixmap('./resources/artificialHorizonCompass.svg')
self._horizon_compass_item = QtGui.QGraphicsPixmapItem(horizon_compass)
self._horizon_compass_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_scene = QtGui.QGraphicsScene()
horizon_scene.addItem(self._horizon_background_image)
horizon_scene.addItem(horizon_dial_item)
horizon_scene.addItem(horizon_compass_background_item)
horizon_scene.addItem(self._horizon_compass_item)
# Setup text info in artificial horizon_background_image
rollLabel = horizon_scene.addText('Roll:')
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizon_scene.addText('0.0')
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizon_scene.addText('Pitch:')
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizon_scene.addText('0.0')
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizon_scene.addText('Heading:')
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizon_scene.addText('0.0')
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizon_scene.addText('Altitude:')
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizon_scene.addText('000.0')
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizon_scene.addText('Alt Hold:')
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizon_scene.addText('Off')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizon_scene.addText('Motors:')
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizon_scene.addText('Not Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizon_scene.addText('Batt:')
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizon_scene.addText('0.000')
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizon_scene.addText('Mode:')
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizon_scene.addText('Acro')
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizon_scene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap('./resources/TxDial.png')
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap('./resources/TxDial.png')
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
vehicle_event_dispatcher.register(self._flight_config_received, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._receiver_channel_count_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(self._motors_count_received, VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
vehicle_event_dispatcher.register(self._motor_armed_event, VehicleEventDispatcher.MOTOR_ARMED_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_roll_event, VehicleEventDispatcher.VEHICLE_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_pitch_event, VehicleEventDispatcher.VEHICLE_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_heading_event, VehicleEventDispatcher.VEHICLE_HEADING_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_altitude_hold_state_event, VehicleEventDispatcher.ALTITUDE_HOLD_STATE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._vehicle_altitude_event, VehicleEventDispatcher.VEHICLE_ALTITUDE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_roll_event, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_pitch_event, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_yaw_event, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_throttle_event, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_mode_event, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux1_event, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux2_event, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux3_event, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux4_event, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux5_event, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux6_event, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux7_event, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor1_throttle_event, VehicleEventDispatcher.MOTOR1_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor2_throttle_event, VehicleEventDispatcher.MOTOR2_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor3_throttle_event, VehicleEventDispatcher.MOTOR3_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor4_throttle_event, VehicleEventDispatcher.MOTOR4_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor5_throttle_event, VehicleEventDispatcher.MOTOR5_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor6_throttle_event, VehicleEventDispatcher.MOTOR6_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor7_throttle_event, VehicleEventDispatcher.MOTOR7_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._motor8_throttle_event, VehicleEventDispatcher.MOTOR8_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._flight_mode_event, VehicleEventDispatcher.FLIGHT_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._battery_voltage_received, VehicleEventDispatcher.BATTERY_VOLTAGE_PROPERTY_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleOverallStatusPanel()
self.ui.setupUi(self)
self._protocol_handler = None
self._channel_count = 0
self._flight_config = 'Quad +'
self._channel_bar_gauge_array = []
self._channels_label_array_text = ['Mode']
self._channels_label_array_object = []
self._motor_gauge_pixel_width = 25.0
self._label_pixel_height = 25
self._window_height = 400
self._motors_count = 4
self._vehicle_roll = 0.0
self._vehicle_pitch = 0.0
self._receiver_roll = 0
self._receiver_pitch = 0
self._receiver_yaw = 0
self._receiver_throttle = 0
horizon_background_image = QtGui.QPixmap(
'./resources/artificialHorizonBackGround.svg')
self._horizon_background_image = QtGui.QGraphicsPixmapItem(
horizon_background_image)
horizon_dial_image = QtGui.QPixmap(
'./resources/artificialHorizonDial.svg')
horizon_dial_item = QtGui.QGraphicsPixmapItem(horizon_dial_image)
horizon_dial_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass_background = QtGui.QPixmap(
'./resources/artificialHorizonCompassBackGround.svg')
horizon_compass_background_item = QtGui.QGraphicsPixmapItem(
horizon_compass_background)
horizon_compass_background_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_compass = QtGui.QPixmap(
'./resources/artificialHorizonCompass.svg')
self._horizon_compass_item = QtGui.QGraphicsPixmapItem(horizon_compass)
self._horizon_compass_item.setPos(QtCore.QPointF(100.0, 390.0))
horizon_scene = QtGui.QGraphicsScene()
horizon_scene.addItem(self._horizon_background_image)
horizon_scene.addItem(horizon_dial_item)
horizon_scene.addItem(horizon_compass_background_item)
horizon_scene.addItem(self._horizon_compass_item)
# Setup text info in artificial horizon_background_image
rollLabel = horizon_scene.addText('Roll:')
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizon_scene.addText('0.0')
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizon_scene.addText('Pitch:')
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizon_scene.addText('0.0')
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizon_scene.addText('Heading:')
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizon_scene.addText('0.0')
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizon_scene.addText('Altitude:')
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizon_scene.addText('000.0')
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizon_scene.addText('Alt Hold:')
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizon_scene.addText('Off')
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizon_scene.addText('Motors:')
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizon_scene.addText('Not Armed')
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizon_scene.addText('Batt:')
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizon_scene.addText('0.000')
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizon_scene.addText('Mode:')
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizon_scene.addText('Acro')
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizon_scene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap('./resources/TxDial.png')
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.leftStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap('./resources/TxDial.png')
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.rightStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
vehicle_event_dispatcher.register(
self._flight_config_received,
VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._receiver_channel_count_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(
self._motors_count_received,
VehicleEventDispatcher.NUMBER_MOTORS_EVENT)
vehicle_event_dispatcher.register(
self._motor_armed_event,
VehicleEventDispatcher.MOTOR_ARMED_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_roll_event,
VehicleEventDispatcher.VEHICLE_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_pitch_event,
VehicleEventDispatcher.VEHICLE_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_heading_event,
VehicleEventDispatcher.VEHICLE_HEADING_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_altitude_hold_state_event,
VehicleEventDispatcher.ALTITUDE_HOLD_STATE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._vehicle_altitude_event,
VehicleEventDispatcher.VEHICLE_ALTITUDE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_roll_event,
VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_pitch_event,
VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_yaw_event,
VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_throttle_event,
VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_mode_event,
VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux1_event,
VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux2_event,
VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux3_event,
VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux4_event,
VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux5_event,
VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux6_event,
VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux7_event,
VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor1_throttle_event,
VehicleEventDispatcher.MOTOR1_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor2_throttle_event,
VehicleEventDispatcher.MOTOR2_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor3_throttle_event,
VehicleEventDispatcher.MOTOR3_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor4_throttle_event,
VehicleEventDispatcher.MOTOR4_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor5_throttle_event,
VehicleEventDispatcher.MOTOR5_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor6_throttle_event,
VehicleEventDispatcher.MOTOR6_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor7_throttle_event,
VehicleEventDispatcher.MOTOR7_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._motor8_throttle_event,
VehicleEventDispatcher.MOTOR8_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._flight_mode_event,
VehicleEventDispatcher.FLIGHT_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._battery_voltage_received,
VehicleEventDispatcher.BATTERY_VOLTAGE_PROPERTY_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_VehicleOverallStatusPanel()
self.ui.setupUi(self)
self.channelCount = 0
self.rawData = ""
# Setup artificial horizon
horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
horizonDialItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
horizonCompassBackGroundItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
self.horizonCompassItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonScene = QtGui.QGraphicsScene()
horizonScene.addItem(self.horizonItem)
horizonScene.addItem(horizonDialItem)
horizonScene.addItem(horizonCompassBackGroundItem)
horizonScene.addItem(self.horizonCompassItem)
# Setup text info in artificial horizon
rollLabel = horizonScene.addText("Roll:")
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizonScene.addText("0.0")
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizonScene.addText("Pitch:")
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizonScene.addText("0.0")
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizonScene.addText("Heading:")
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizonScene.addText("0.0")
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizonScene.addText("Altitude:")
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizonScene.addText("000.0")
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizonScene.addText("Alt Hold:")
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizonScene.addText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizonScene.addText("Motors:")
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizonScene.addText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizonScene.addText("Batt:")
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizonScene.addText("0.000")
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizonScene.addText("Mode:")
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizonScene.addText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizonScene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)