class EngineControlWidget(QtGui.QWidget):
def __init__(self, serial=None, engine_nr=Engines.EngineLeft):
super(EngineControlWidget, self).__init__()
self.serial_connection = serial
self.engine_nr = engine_nr
self.minValue = 0
self.maxValue = 100
self.createUi()
def createUi(self):
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtGui.QColor(111, 88, 100))
layout = QtGui.QHBoxLayout()
layout.setMargin(2)
layout.addSpacing(5)
lCurrentVelocity = QtGui.QLabel("<b>Current Value</b>")
layout.addWidget(lCurrentVelocity)
layout.addSpacing(5)
self.currentVelocity = QtGui.QLCDNumber()
self.currentVelocity.setMaximumHeight(25)
self.currentVelocity.setPalette(palette)
self.currentVelocity.setSegmentStyle(QtGui.QLCDNumber.Filled)
layout.addWidget(self.currentVelocity)
layout.addSpacing(30)
lSetpoint = QtGui.QLabel("<b>Setpoint</b>")
layout.addWidget(lSetpoint)
layout.addSpacing(5)
self.positionBar = PositionBar()
self.positionBar.setMinimumWidth(200)
self.positionBar.setMinimumHeight(15)
self.positionBar.setMaximumHeight(30)
self.positionBar.setValue(0)
self.positionBar.setBarColor(QtGui.QColor(0,0,255))
self.positionBar.valueChanged.connect(self.positionBarValueChanged)
layout.addWidget(self.positionBar)
#layout.addSpacing(5)
self.leServoPosition = QtGui.QLineEdit()
self.leServoPosition.setMaximumWidth(50)
layout.addWidget(self.leServoPosition)
layout.addSpacing(30)
self.bStartEngine = QtGui.QPushButton("Start")
self.bStartEngine.clicked.connect(self.startEngine)
layout.addWidget(self.bStartEngine)
layout.addStretch()
self.setLayout(layout)
def startEngine(self):
try:
position = self.leServoPosition.displayText()
except:
return
if not self.checkValue(float(position)):
return
self.positionBar.setValue(int(position))
self.actualPositionServo.display(position)
print "Position: " + position
#command = CommandMessage(CommandType.SETSERVOPOS)
#command.addArgument(str(1))
#command.addArgument(str(position))
#self.serial_connection.writeCommand(command)
def setMinValue(self, value):
self.minValue = value
def setMaxValue(self, value):
self.maxValue = value
def checkValue(self, value):
if value < self.minValue or value > self.maxValue:
return False
else:
return True
def positionBarValueChanged(self, value):
self.leServoPosition.setText(str(value))
class ServoControlWidget(QtGui.QWidget):
def __init__(self, controller=None, servo_nr=1):
super(ServoControlWidget, self).__init__()
if controller is None:
raise Exception
self.controller = controller
self.servo_nr = servo_nr
self.minValue = 0
self.maxValue = 180
self.createUi()
def createUi(self):
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtGui.QColor(111, 88, 100))
layout = QtGui.QHBoxLayout()
layout.setMargin(2)
layout.addSpacing(5)
lActualPosition = QtGui.QLabel("<b>Current Value</b>")
layout.addWidget(lActualPosition)
layout.addSpacing(5)
self.actualPositionServo = QtGui.QLCDNumber()
self.actualPositionServo.setMaximumHeight(25)
self.actualPositionServo.setPalette(palette)
self.actualPositionServo.setSegmentStyle(QtGui.QLCDNumber.Filled)
layout.addWidget(self.actualPositionServo)
layout.addSpacing(30)
lMove1 = QtGui.QLabel("<b>Setpoint</b>")
layout.addWidget(lMove1)
layout.addSpacing(5)
self.positionBar = PositionBar()
self.positionBar.setMinimumWidth(200)
self.positionBar.setMinimumHeight(15)
self.positionBar.setMaximumHeight(30)
self.positionBar.setValue(0)
self.positionBar.setBarColor(QtGui.QColor(0,0,255))
self.positionBar.valueChanged.connect(self.positionBarValueChanged)
layout.addWidget(self.positionBar)
#layout.addSpacing(50)
self.leServoPosition = QtGui.QLineEdit()
self.leServoPosition.setMaximumWidth(50)
layout.addWidget(self.leServoPosition)
layout.addSpacing(30)
self.startServo = QtGui.QPushButton("Move")
self.startServo.clicked.connect(self.startServoClicked)
layout.addWidget(self.startServo)
layout.addStretch()
self.setLayout(layout)
def runMoveServo(self, position):
if not self.checkValue(float(position)):
return
#command = SetServoPosCommand(self.servo_nr, position)
#self.controller.writeCommand(command)
self.controller.setServoPos(self.servo_nr, position)
def setMinValue(self, value):
self.minValue = value
def setMaxValue(self, value):
self.maxValue = value
def checkValue(self, value):
if value < self.minValue or value > self.maxValue:
return False
else:
return True
def startServoClicked(self):
try:
position = self.leServoPosition.displayText()
except:
return
if not self.checkValue(float(position)):
return
self.positionBar.setValue(int(position))
#self.actualPositionServo.display(position)
self.runMoveServo(int(position))
def positionBarValueChanged(self, value):
self.leServoPosition.setText(str(value))
self.runMoveServo(value)
def updateServoPosition(self, pos):
if not pos:
return
self.actualPositionServo.display(int(pos))
