def __init__(self, copter, settings, widget_3d, plotter, graphics_widget):
self.graphics_widget = graphics_widget
if not settings:
self.settings = json_serializer.readfile(__settings_file__)
self.settings.graphics_enabled = False
else:
self.settings = settings
if not isinstance(copter, Copter):
self.copter = json_serializer.readfile(self.settings.current_copter)
else:
self.copter = copter
self._set_start_state_to_copter()
self.stop_event = multiprocessing.Event()
self.running_event = multiprocessing.Event()
self.graphics_event = multiprocessing.Event()
self.em_stopped_event = multiprocessing.Event()
self.contr_stopped_event = multiprocessing.Event()
emulator_out, emulator_in = multiprocessing.Pipe(duplex=False)
controller_out, controller_in = multiprocessing.Pipe(duplex=False)
logger_out, logger_in = multiprocessing.Pipe(duplex=False)
graphics_out, graphics_in = multiprocessing.Pipe(duplex=False)
self.emulator_in = emulator_in
self.controller_in = controller_in
self.logger_in = logger_in
self.controller_proc = multiprocessing.Process(
target=controller_process,
args=(copter, settings, controller_out, emulator_in,
self.stop_event, self.running_event,
self.em_stopped_event, self.contr_stopped_event, )
)
self.emulator_proc = multiprocessing.Process(
target=emulator_process,
args=(copter, settings, emulator_out, controller_in, logger_in, graphics_in,
self.stop_event, self.running_event, self.graphics_event,
self.em_stopped_event, self.contr_stopped_event, )
)
self.logger_proc = multiprocessing.Process(
target=logger_process,
args=(copter, settings, logger_out, self.stop_event, self.running_event, self.em_stopped_event, )
)
if self.settings.graphics_enabled:
self.update_event = multiprocessing.Event()
widget_3d.update_event = self.update_event
self.graphics_thread = threading.Thread(
target=graphics_thread,
args=(widget_3d, plotter, settings, graphics_out,
self.stop_event, self.running_event, self.graphics_event,
self.update_event, self.em_stopped_event, )
)
self.stop_signal = threading.Thread(
target=stop_signal,
args=(self, self.stop_event, )
)
self.simulation_running = False
self.simulation_paused = False
return
def load_log(log_name, window):
log_file = open(log_name, 'r')
header = log_file.readline()
header = json.loads(header)
window.copter_name = header[0]
window.num_of_engines = header[1]
current_copter = header[2]
window.settings.current_copter = current_copter
window.copter = json_serializer.readfile(current_copter)
window.dest_pos = numpy.array(header[3])
window.dest_q = Quaternion(header[4])
window.settings.ground_level = header[5]
info_start = log_file.tell()
num_of_states = 0
for line in log_file:
num_of_states += 1
states = numpy.ndarray([7 + header[1], num_of_states], dtype=object)
log_file.seek(info_start, 0)
state_counter = 0
for line in log_file:
state_list = json.loads(line)
states[0, state_counter] = state_list[0]
states[1, state_counter] = state_list[1]
states[2, state_counter] = state_list[2]
states[3, state_counter] = state_list[3]
states[4, state_counter] = state_list[4]
states[5, state_counter] = state_list[5]
states[6, state_counter] = state_list[6]
counter = 7
for i in range(header[1]):
states[counter, state_counter] = state_list[counter]
counter += 1
state_counter += 1
log_file.close()
return states
def _init_gui(self):
self.setWindowTitle('Copter flight simulator')
self._init_size()
self._center_window()
self.setWindowIcon(QIcon(__icon_dir__ + 'icon.png'))
self._init_mainmenu()
self._init_toolbar()
try:
self.settings = Settings.load()
except FileNotFoundError:
self.settings = Settings()
self.settings.save()
finally:
if os.path.isfile(self.settings.current_copter):
self.copter = json_serializer.readfile(
self.settings.current_copter)
self._init_copter_settings()
save_as_act = self.findChild(QAction, "save_as_menu")
save_as_act.setEnabled(True)
else:
self.copter_settings = None
self.sim_settings = None
self.simulation = None
self._disable_toolbar()
self.statusBar().showMessage('Ready')
self.show()
return
def current_copter(self, value):
self._current_copter = value
if os.path.isfile(self._current_copter):
copter = json_serializer.readfile(self._current_copter)
self.start_state = CopterState(copter)
self.log_file = main_window.__logs_dir__ + copter.name + '_log.log'
for i in range(copter.num_of_engines):
self.start_state.engines_state[
i].rotation_dir = copter.engines[i].rotation_dir
return
def _open_copter(self):
dialog = QFileDialog()
dialog.setNameFilters(["JSON files (*.json)", "All Files (*)"])
dialog.selectNameFilter("JSON files (*.json)")
dialog.setDirectory(os.path.dirname(__copter_dir__))
_open = dialog.exec_()
if _open:
copter_file = dialog.selectedFiles()
self.copter = json_serializer.readfile(copter_file[0])
self.settings.current_copter = copter_file[0]
self.settings.hover_mod_on_start = False
self.settings.save()
self._init_copter_settings()
self._enable_toolbar()
save_as_act = self.findChild(QAction, "save_as_menu")
save_as_act.setEnabled(True)
return
def _unsaved_changes(self):
save_btn = self.findChild(QAction, "save_copter_tlb")
if save_btn.isEnabled():
save_msg = "You have unsaved changes in '{0}'.\n" \
"Leaving this window will reduce them.\n" \
"Save '{0}' now?".format(self.copter.name)
reply = QMessageBox.question(self, 'Message', save_msg,
QMessageBox.Yes, QMessageBox.No)
if reply == QMessageBox.Yes:
self._save_copter()
else:
self.copter = json_serializer.readfile(
self.settings.current_copter)
self._init_copter_settings()
save_btn = self.findChild(QAction, "save_copter_tlb")
save_btn.setEnabled(False)
save_menu = self.findChild(QAction, "save_act_menu")
save_menu.setEnabled(False)
return
def load():
return json_serializer.readfile(main_window.__settings_path__)