class E5PassivePopup(QFrame):
"""
Class implementing dialog-like popup that displays messages without
interrupting the user.
"""
Boxed = 0
Custom = 128
clicked = pyqtSignal((), (QPoint, ))
def __init__(self, parent=None):
"""
Constructor
@param parent reference to the parent widget (QWidget)
"""
super(E5PassivePopup, self).__init__(None)
self.__popupStyle = DEFAULT_POPUP_TYPE
self.__msgView = None
self.__topLayout = None
self.__hideDelay = DEFAULT_POPUP_TIME
self.__hideTimer = QTimer(self)
self.__autoDelete = False
self.__fixedPosition = QPoint()
self.setWindowFlags(POPUP_FLAGS)
self.setFrameStyle(QFrame.Box | QFrame.Plain)
self.setLineWidth(2)
self.__hideTimer.timeout.connect(self.hide)
self.clicked.connect(self.hide)
def setView(self, child):
"""
Public method to set the message view.
@param child reference to the widget to set as the message view
(QWidget)
"""
self.__msgView = child
self.__topLayout = QVBoxLayout(self)
self.__topLayout.addWidget(self.__msgView)
self.__topLayout.activate()
def view(self):
"""
Public method to get a reference to the message view.
@return reference to the message view (QWidget)
"""
return self.__msgView
def setVisible(self, visible):
"""
Public method to show or hide the popup.
@param visible flag indicating the visibility status (boolean)
"""
if not visible:
super(E5PassivePopup, self).setVisible(visible)
return
if self.size() != self.sizeHint():
self.resize(self.sizeHint())
if self.__fixedPosition.isNull():
self.__positionSelf()
else:
self.move(self.__fixedPosition)
super(E5PassivePopup, self).setVisible(True)
delay = self.__hideDelay
if delay < 0:
delay = DEFAULT_POPUP_TIME
if delay > 0:
self.__hideTimer.start(delay)
def show(self, p=None):
"""
Public slot to show the popup.
@param p position for the popup (QPoint)
"""
if p is not None:
self.__fixedPosition = p
super(E5PassivePopup, self).show()
def setTimeout(self, delay):
"""
Public method to set the delay for the popup is removed automatically.
Setting the delay to 0 disables the timeout. If you're doing this, you
may want to connect the clicked() signal to the hide() slot. Setting
the delay to -1 makes it use the default value.
@param delay value for the delay in milliseconds (integer)
"""
self.__hideDelay = delay
if self.__hideTimer.isActive():
if delay:
if delay == -1:
delay = DEFAULT_POPUP_TIME
self.__hideTimer.start(delay)
else:
self.__hideTimer.stop()
def timeout(self):
"""
Public method to get the delay before the popup is removed
automatically.
@return the delay before the popup is removed automatically (integer)
"""
return self.__hideDelay
def mouseReleaseEvent(self, evt):
"""
Protected method to handle a mouse release event.
@param evt reference to the mouse event (QMouseEvent)
"""
self.clicked.emit()
self.clicked.emit(evt.pos())
def hideEvent(self, evt):
"""
Protected method to handle the hide event.
@param evt reference to the hide event (QHideEvent)
"""
self.__hideTimer.stop()
def __defaultArea(self):
"""
Private method to determine the default rectangle to be passed to
moveNear().
@return default rectangle (QRect)
"""
return QRect(100, 100, 200, 200)
def __positionSelf(self):
"""
Private method to position the popup.
"""
self.__moveNear(self.__defaultArea())
def __moveNear(self, target):
"""
Private method to move the popup to be adjacent to the specified
rectangle.
@param target rectangle to be placed at (QRect)
"""
pos = self.__calculateNearbyPoint(target)
self.move(pos.x(), pos.y())
def __calculateNearbyPoint(self, target):
"""
Private method to calculate the position to place the popup near the
specified rectangle.
@param target rectangle to be placed at (QRect)
@return position to place the popup (QPoint)
"""
pos = target.topLeft()
x = pos.x()
y = pos.y()
w = self.minimumSizeHint().width()
h = self.minimumSizeHint().height()
r = QApplication.desktop().screenGeometry(
QPoint(x + w // 2, y + h // 2))
if x < r.center().x():
x += target.width()
else:
x -= w
# It's apparently trying to go off screen, so display it ALL at the
# bottom.
if (y + h) > r.bottom():
y = r.bottom() - h
if (x + w) > r.right():
x = r.right() - w
if y < r.top():
y = r.top()
if x < r.left():
x = r.left()
return QPoint(x, y)
class IMU(PluginBase, Ui_IMU):
def __init__(self, *args):
PluginBase.__init__(self, BrickIMU, *args)
self.setupUi(self)
self.imu = self.device
# the firmware version of a Brick can (under common circumstances) not
# change during the lifetime of a Brick plugin. therefore, it's okay to
# make final decisions based on it here
self.has_status_led = self.firmware_version >= (2, 3, 1)
self.acc_x = CurveValueWrapper()
self.acc_y = CurveValueWrapper()
self.acc_z = CurveValueWrapper()
self.mag_x = CurveValueWrapper()
self.mag_y = CurveValueWrapper()
self.mag_z = CurveValueWrapper()
self.gyr_x = CurveValueWrapper()
self.gyr_y = CurveValueWrapper()
self.gyr_z = CurveValueWrapper()
self.temp = CurveValueWrapper()
self.roll = None
self.pitch = None
self.yaw = None
self.qua_x = None
self.qua_y = None
self.qua_z = None
self.qua_w = None
self.all_data_valid = False
self.quaternion_valid = False
self.orientation_valid = False
self.update_timer = QTimer(self)
self.update_timer.timeout.connect(self.update_data)
self.cbe_all_data = CallbackEmulator(self.imu.get_all_data,
None,
self.cb_all_data,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.cbe_orientation = CallbackEmulator(self.imu.get_orientation,
None,
self.cb_orientation,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.cbe_quaternion = CallbackEmulator(self.imu.get_quaternion,
None,
self.cb_quaternion,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.imu_gl = IMU3DWidget(self)
self.imu_gl.setMinimumSize(150, 150)
self.imu_gl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.update_counter = 0
self.mag_plot_widget = PlotWidget("Magnetic Field [mG]",
[("X", Qt.red, self.mag_x, str),
("Y", Qt.darkGreen, self.mag_y, str),
("Z", Qt.blue, self.mag_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon', y_resolution=5)
self.acc_plot_widget = PlotWidget("Acceleration [mg]",
[("X", Qt.red, self.acc_x, str),
("Y", Qt.darkGreen, self.acc_y, str),
("Z", Qt.blue, self.acc_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon', y_resolution=5)
self.gyr_plot_widget = PlotWidget("Angular Velocity [°/s]",
[("X", Qt.red, self.gyr_x, str),
("Y", Qt.darkGreen, self.gyr_y, str),
("Z", Qt.blue, self.gyr_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon', y_resolution=0.05)
self.temp_plot_widget = PlotWidget("Temperature [°C]",
[("t", Qt.red, self.temp, str)],
clear_button=self.clear_graphs,
key=None, y_resolution=0.01)
self.mag_plot_widget.setMinimumSize(250, 250)
self.acc_plot_widget.setMinimumSize(250, 250)
self.gyr_plot_widget.setMinimumSize(250, 250)
self.temp_plot_widget.setMinimumSize(250, 250)
self.orientation_label = QLabel('Position your IMU Brick as shown in the image above, then press "Save Orientation".')
self.orientation_label.setWordWrap(True)
self.orientation_label.setAlignment(Qt.AlignHCenter)
self.gl_layout = QVBoxLayout()
self.gl_layout.addWidget(self.imu_gl)
self.gl_layout.addWidget(self.orientation_label)
self.layout_top.addWidget(self.gyr_plot_widget)
self.layout_top.addWidget(self.acc_plot_widget)
self.layout_top.addWidget(self.mag_plot_widget)
self.layout_bottom.addLayout(self.gl_layout)
self.layout_bottom.addWidget(self.temp_plot_widget)
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.calibrate.clicked.connect(self.calibrate_clicked)
self.led_button.clicked.connect(self.led_clicked)
self.speed_spinbox.editingFinished.connect(self.speed_finished)
width = QFontMetrics(self.gyr_x_label.font()).boundingRect('-XXXX.X').width()
self.gyr_x_label.setMinimumWidth(width)
self.gyr_y_label.setMinimumWidth(width)
self.gyr_z_label.setMinimumWidth(width)
self.calibrate = None
self.alive = True
if self.has_status_led:
self.status_led_action = QAction('Status LED', self)
self.status_led_action.setCheckable(True)
self.status_led_action.toggled.connect(lambda checked: self.imu.enable_status_led() if checked else self.imu.disable_status_led())
self.set_configs([(0, None, [self.status_led_action])])
else:
self.status_led_action = None
reset = QAction('Reset', self)
reset.triggered.connect(self.imu.reset)
self.set_actions([(0, None, [reset])])
def save_orientation_clicked(self):
self.imu_gl.save_orientation()
self.orientation_label.hide()
def cleanup_gl(self):
self.state = self.imu_gl.get_state()
self.imu_gl.hide()
self.imu_gl.cleanup()
def restart_gl(self):
self.imu_gl = IMU3DWidget()
self.imu_gl.setMinimumSize(150, 150)
self.imu_gl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.gl_layout.addWidget(self.imu_gl)
self.imu_gl.show()
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.imu_gl.set_state(self.state)
def start(self):
if not self.alive:
return
if self.has_status_led:
async_call(self.imu.is_status_led_enabled, None, self.status_led_action.setChecked, self.increase_error_count)
self.parent().add_callback_on_untab(lambda x: self.cleanup_gl(), 'imu_cleanup_on_untab')
self.parent().add_callback_post_untab(lambda x: self.restart_gl(), 'imu_restart_post_untab')
self.parent().add_callback_on_tab(lambda x: self.cleanup_gl(), 'imu_cleanup_on_tab')
self.parent().add_callback_post_tab(lambda x: self.restart_gl(), 'imu_restart_post_tab')
self.gl_layout.activate()
self.cbe_all_data.set_period(100)
self.cbe_orientation.set_period(100)
self.cbe_quaternion.set_period(50)
self.update_timer.start(50)
async_call(self.imu.get_convergence_speed, None, self.speed_spinbox.setValue, self.increase_error_count)
self.mag_plot_widget.stop = False
self.acc_plot_widget.stop = False
self.gyr_plot_widget.stop = False
self.temp_plot_widget.stop = False
def stop(self):
self.mag_plot_widget.stop = True
self.acc_plot_widget.stop = True
self.gyr_plot_widget.stop = True
self.temp_plot_widget.stop = True
self.update_timer.stop()
self.cbe_all_data.set_period(0)
self.cbe_orientation.set_period(0)
self.cbe_quaternion.set_period(0)
def destroy(self):
self.alive = False
self.cleanup_gl()
if self.calibrate:
self.calibrate.close()
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickIMU.DEVICE_IDENTIFIER
def cb_all_data(self, acc_x, acc_y, acc_z, mag_x, mag_y, mag_z, gyr_x, gyr_y, gyr_z, temp):
self.acc_x.value = acc_x
self.acc_y.value = acc_y
self.acc_z.value = acc_z
self.mag_x.value = mag_x
self.mag_y.value = mag_y
self.mag_z.value = mag_z
self.gyr_x.value = gyr_x / 14.375
self.gyr_y.value = gyr_y / 14.375
self.gyr_z.value = gyr_z / 14.375
self.temp.value = temp / 100.0
self.all_data_valid = True
def cb_quaternion(self, x, y, z, w):
self.qua_x = x
self.qua_y = y
self.qua_z = z
self.qua_w = w
self.quaternion_valid = True
def cb_orientation(self, roll, pitch, yaw):
self.roll = roll / 100.0
self.pitch = pitch / 100.0
self.yaw = yaw / 100.0
self.orientation_valid = True
def led_clicked(self):
if 'On' in self.led_button.text().replace('&', ''):
self.led_button.setText('Turn LEDs Off')
self.imu.leds_on()
elif 'Off' in self.led_button.text().replace('&', ''):
self.led_button.setText('Turn LEDs On')
self.imu.leds_off()
def update_data(self):
self.update_counter += 1
if self.quaternion_valid:
self.imu_gl.update_orientation(self.qua_w, self.qua_x, self.qua_y, self.qua_z)
if self.update_counter == 2:
self.update_counter = 0
if self.all_data_valid and self.orientation_valid:
self.acceleration_update(self.acc_x.value, self.acc_y.value, self.acc_z.value)
self.magnetometer_update(self.mag_x.value, self.mag_y.value, self.mag_z.value)
self.gyroscope_update(self.gyr_x.value, self.gyr_y.value, self.gyr_z.value)
self.orientation_update(self.roll, self.pitch, self.yaw)
self.temperature_update(self.temp.value)
def acceleration_update(self, x, y, z):
self.acc_y_label.setText(format(x, '.1f'))
self.acc_x_label.setText(format(y, '.1f'))
self.acc_z_label.setText(format(z, '.1f'))
def magnetometer_update(self, x, y, z):
# Earth magnetic field: 0.5 Gauss
self.mag_x_label.setText(format(x, '.1f'))
self.mag_y_label.setText(format(y, '.1f'))
self.mag_z_label.setText(format(z, '.1f'))
def gyroscope_update(self, x, y, z):
self.gyr_x_label.setText(format(x, '.1f'))
self.gyr_y_label.setText(format(y, '.1f'))
self.gyr_z_label.setText(format(z, '.1f'))
def orientation_update(self, r, p, y):
self.roll_label.setText(format(r, '.1f'))
self.pitch_label.setText(format(p, '.1f'))
self.yaw_label.setText(format(y, '.1f'))
def temperature_update(self, t):
self.tem_label.setText(format(t, '.1f'))
def calibrate_clicked(self):
self.stop()
if self.calibrate is None:
self.calibrate = CalibrateWindow(self)
self.calibrate.refresh_values()
self.calibrate.show()
def speed_finished(self):
speed = self.speed_spinbox.value()
self.imu.set_convergence_speed(speed)
class E5PassivePopup(QFrame):
"""
Class implementing dialog-like popup that displays messages without
interrupting the user.
@signal clicked emitted to indicate a mouse button click
"""
Boxed = 0
Custom = 128
clicked = pyqtSignal((), (QPoint, ))
def __init__(self, parent=None):
"""
Constructor
@param parent reference to the parent widget (QWidget)
"""
super(E5PassivePopup, self).__init__(None)
self.__popupStyle = DEFAULT_POPUP_TYPE
self.__msgView = None
self.__topLayout = None
self.__hideDelay = DEFAULT_POPUP_TIME
self.__hideTimer = QTimer(self)
self.__autoDelete = False
self.__fixedPosition = QPoint()
self.setWindowFlags(POPUP_FLAGS)
self.setFrameStyle(QFrame.Box | QFrame.Plain)
self.setLineWidth(2)
self.__hideTimer.timeout.connect(self.hide)
self.clicked.connect(self.hide)
self.__customData = {} # dictionary to store some custom data
def setView(self, child):
"""
Public method to set the message view.
@param child reference to the widget to set as the message view
(QWidget)
"""
self.__msgView = child
self.__topLayout = QVBoxLayout(self)
self.__topLayout.addWidget(self.__msgView)
self.__topLayout.activate()
def view(self):
"""
Public method to get a reference to the message view.
@return reference to the message view (QWidget)
"""
return self.__msgView
def setVisible(self, visible):
"""
Public method to show or hide the popup.
@param visible flag indicating the visibility status (boolean)
"""
if not visible:
super(E5PassivePopup, self).setVisible(visible)
return
if self.size() != self.sizeHint():
self.resize(self.sizeHint())
if self.__fixedPosition.isNull():
self.__positionSelf()
else:
self.move(self.__fixedPosition)
super(E5PassivePopup, self).setVisible(True)
delay = self.__hideDelay
if delay < 0:
delay = DEFAULT_POPUP_TIME
if delay > 0:
self.__hideTimer.start(delay)
def show(self, p=None):
"""
Public slot to show the popup.
@param p position for the popup (QPoint)
"""
if p is not None:
self.__fixedPosition = p
super(E5PassivePopup, self).show()
def setTimeout(self, delay):
"""
Public method to set the delay for the popup is removed automatically.
Setting the delay to 0 disables the timeout. If you're doing this, you
may want to connect the clicked() signal to the hide() slot. Setting
the delay to -1 makes it use the default value.
@param delay value for the delay in milliseconds (integer)
"""
self.__hideDelay = delay
if self.__hideTimer.isActive():
if delay:
if delay == -1:
delay = DEFAULT_POPUP_TIME
self.__hideTimer.start(delay)
else:
self.__hideTimer.stop()
def timeout(self):
"""
Public method to get the delay before the popup is removed
automatically.
@return the delay before the popup is removed automatically (integer)
"""
return self.__hideDelay
def mouseReleaseEvent(self, evt):
"""
Protected method to handle a mouse release event.
@param evt reference to the mouse event (QMouseEvent)
"""
self.clicked.emit()
self.clicked.emit(evt.pos())
def hideEvent(self, evt):
"""
Protected method to handle the hide event.
@param evt reference to the hide event (QHideEvent)
"""
self.__hideTimer.stop()
def __defaultArea(self):
"""
Private method to determine the default rectangle to be passed to
moveNear().
@return default rectangle (QRect)
"""
return QRect(100, 100, 200, 200)
def __positionSelf(self):
"""
Private method to position the popup.
"""
self.__moveNear(self.__defaultArea())
def __moveNear(self, target):
"""
Private method to move the popup to be adjacent to the specified
rectangle.
@param target rectangle to be placed at (QRect)
"""
pos = self.__calculateNearbyPoint(target)
self.move(pos.x(), pos.y())
def __calculateNearbyPoint(self, target):
"""
Private method to calculate the position to place the popup near the
specified rectangle.
@param target rectangle to be placed at (QRect)
@return position to place the popup (QPoint)
"""
pos = target.topLeft()
x = pos.x()
y = pos.y()
w = self.minimumSizeHint().width()
h = self.minimumSizeHint().height()
if qVersionTuple() >= (5, 10, 0):
r = (QApplication.screenAt(QPoint(x + w // 2,
y + h // 2)).geometry())
else:
r = QApplication.desktop().screenGeometry(
QPoint(x + w // 2, y + h // 2))
if x < r.center().x():
x += target.width()
else:
x -= w
# It's apparently trying to go off screen, so display it ALL at the
# bottom.
if (y + h) > r.bottom():
y = r.bottom() - h
if (x + w) > r.right():
x = r.right() - w
if y < r.top():
y = r.top()
if x < r.left():
x = r.left()
return QPoint(x, y)
def setCustomData(self, key, data):
"""
Public method to set some custom data.
@param key key for the custom data
@type str
@param data data to be stored
@type any
"""
self.__customData[key] = data
def getCustomData(self, key):
"""
Public method to get some custom data.
@param key key for the custom data
@type str
@return stored data
@rtype any
"""
return self.__customData[key]
class IMU(PluginBase, Ui_IMU):
def __init__(self, *args):
PluginBase.__init__(self, BrickIMU, *args)
self.setupUi(self)
self.imu = self.device
# the firmware version of a Brick can (under common circumstances) not
# change during the lifetime of a Brick plugin. therefore, it's okay to
# make final decisions based on it here
self.has_status_led = self.firmware_version >= (2, 3, 1)
self.acc_x = CurveValueWrapper()
self.acc_y = CurveValueWrapper()
self.acc_z = CurveValueWrapper()
self.mag_x = CurveValueWrapper()
self.mag_y = CurveValueWrapper()
self.mag_z = CurveValueWrapper()
self.gyr_x = CurveValueWrapper()
self.gyr_y = CurveValueWrapper()
self.gyr_z = CurveValueWrapper()
self.temp = CurveValueWrapper()
self.roll = None
self.pitch = None
self.yaw = None
self.qua_x = None
self.qua_y = None
self.qua_z = None
self.qua_w = None
self.all_data_valid = False
self.quaternion_valid = False
self.orientation_valid = False
self.update_timer = QTimer(self)
self.update_timer.timeout.connect(self.update_data)
self.cbe_all_data = CallbackEmulator(
self.imu.get_all_data,
None,
self.cb_all_data,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.cbe_orientation = CallbackEmulator(
self.imu.get_orientation,
None,
self.cb_orientation,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.cbe_quaternion = CallbackEmulator(
self.imu.get_quaternion,
None,
self.cb_quaternion,
self.increase_error_count,
expand_result_tuple_for_callback=True,
use_result_signal=False)
self.imu_gl = IMU3DWidget(self)
self.imu_gl.setMinimumSize(150, 150)
self.imu_gl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.update_counter = 0
self.mag_plot_widget = PlotWidget(
"Magnetic Field [µT]", [("X", Qt.red, self.mag_x, str),
("Y", Qt.darkGreen, self.mag_y, str),
("Z", Qt.blue, self.mag_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon',
y_resolution=5)
self.acc_plot_widget = PlotWidget(
"Acceleration [mg]", [("X", Qt.red, self.acc_x, str),
("Y", Qt.darkGreen, self.acc_y, str),
("Z", Qt.blue, self.acc_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon',
y_resolution=5)
self.gyr_plot_widget = PlotWidget(
"Angular Velocity [°/s]", [("X", Qt.red, self.gyr_x, str),
("Y", Qt.darkGreen, self.gyr_y, str),
("Z", Qt.blue, self.gyr_z, str)],
clear_button=self.clear_graphs,
key='right-no-icon',
y_resolution=0.05)
self.temp_plot_widget = PlotWidget("Temperature [°C]",
[("t", Qt.red, self.temp, str)],
clear_button=self.clear_graphs,
key=None,
y_resolution=0.01)
self.mag_plot_widget.setMinimumSize(250, 250)
self.acc_plot_widget.setMinimumSize(250, 250)
self.gyr_plot_widget.setMinimumSize(250, 250)
self.temp_plot_widget.setMinimumSize(250, 250)
self.orientation_label = QLabel(
'Position your IMU Brick as shown in the image above, then press "Save Orientation".'
)
self.orientation_label.setWordWrap(True)
self.orientation_label.setAlignment(Qt.AlignHCenter)
self.gl_layout = QVBoxLayout()
self.gl_layout.addWidget(self.imu_gl)
self.gl_layout.addWidget(self.orientation_label)
self.layout_top.addWidget(self.gyr_plot_widget)
self.layout_top.addWidget(self.acc_plot_widget)
self.layout_top.addWidget(self.mag_plot_widget)
self.layout_bottom.addLayout(self.gl_layout)
self.layout_bottom.addWidget(self.temp_plot_widget)
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.calibrate.clicked.connect(self.calibrate_clicked)
self.led_button.clicked.connect(self.led_clicked)
self.speed_spinbox.editingFinished.connect(self.speed_finished)
width = QFontMetrics(
self.gyr_x_label.font()).boundingRect('-XXXX.X').width()
self.gyr_x_label.setMinimumWidth(width)
self.gyr_y_label.setMinimumWidth(width)
self.gyr_z_label.setMinimumWidth(width)
self.calibrate = None
self.alive = True
if self.has_status_led:
self.status_led_action = QAction('Status LED', self)
self.status_led_action.setCheckable(True)
self.status_led_action.toggled.connect(
lambda checked: self.imu.enable_status_led()
if checked else self.imu.disable_status_led())
self.set_configs([(0, None, [self.status_led_action])])
else:
self.status_led_action = None
reset = QAction('Reset', self)
reset.triggered.connect(self.imu.reset)
self.set_actions([(0, None, [reset])])
def save_orientation_clicked(self):
self.imu_gl.save_orientation()
self.orientation_label.hide()
def cleanup_gl(self):
self.state = self.imu_gl.get_state()
self.imu_gl.hide()
self.imu_gl.cleanup()
def restart_gl(self):
self.imu_gl = IMU3DWidget()
self.imu_gl.setMinimumSize(150, 150)
self.imu_gl.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.gl_layout.addWidget(self.imu_gl)
self.imu_gl.show()
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.imu_gl.set_state(self.state)
def start(self):
if not self.alive:
return
if self.has_status_led:
async_call(self.imu.is_status_led_enabled, None,
self.status_led_action.setChecked,
self.increase_error_count)
self.parent().add_callback_on_untab(lambda x: self.cleanup_gl(),
'imu_cleanup_on_untab')
self.parent().add_callback_post_untab(lambda x: self.restart_gl(),
'imu_restart_post_untab')
self.parent().add_callback_on_tab(lambda x: self.cleanup_gl(),
'imu_cleanup_on_tab')
self.parent().add_callback_post_tab(lambda x: self.restart_gl(),
'imu_restart_post_tab')
self.gl_layout.activate()
self.cbe_all_data.set_period(100)
self.cbe_orientation.set_period(100)
self.cbe_quaternion.set_period(50)
self.update_timer.start(50)
async_call(self.imu.get_convergence_speed, None,
self.speed_spinbox.setValue, self.increase_error_count)
self.mag_plot_widget.stop = False
self.acc_plot_widget.stop = False
self.gyr_plot_widget.stop = False
self.temp_plot_widget.stop = False
def stop(self):
self.mag_plot_widget.stop = True
self.acc_plot_widget.stop = True
self.gyr_plot_widget.stop = True
self.temp_plot_widget.stop = True
self.update_timer.stop()
self.cbe_all_data.set_period(0)
self.cbe_orientation.set_period(0)
self.cbe_quaternion.set_period(0)
def destroy(self):
self.alive = False
self.cleanup_gl()
if self.calibrate:
self.calibrate.close()
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickIMU.DEVICE_IDENTIFIER
def cb_all_data(self, acc_x, acc_y, acc_z, mag_x, mag_y, mag_z, gyr_x,
gyr_y, gyr_z, temp):
self.acc_x.value = acc_x
self.acc_y.value = acc_y
self.acc_z.value = acc_z
self.mag_x.value = mag_x / 10
self.mag_y.value = mag_y / 10
self.mag_z.value = mag_z / 10
self.gyr_x.value = gyr_x / 14.375
self.gyr_y.value = gyr_y / 14.375
self.gyr_z.value = gyr_z / 14.375
self.temp.value = temp / 100.0
self.all_data_valid = True
def cb_quaternion(self, x, y, z, w):
self.qua_x = x
self.qua_y = y
self.qua_z = z
self.qua_w = w
self.quaternion_valid = True
def cb_orientation(self, roll, pitch, yaw):
self.roll = roll / 100.0
self.pitch = pitch / 100.0
self.yaw = yaw / 100.0
self.orientation_valid = True
def led_clicked(self):
if 'On' in self.led_button.text().replace('&', ''):
self.led_button.setText('Turn LEDs Off')
self.imu.leds_on()
elif 'Off' in self.led_button.text().replace('&', ''):
self.led_button.setText('Turn LEDs On')
self.imu.leds_off()
def update_data(self):
self.update_counter += 1
if self.quaternion_valid:
self.imu_gl.update_orientation(self.qua_w, self.qua_x, self.qua_y,
self.qua_z)
if self.update_counter == 2:
self.update_counter = 0
if self.all_data_valid and self.orientation_valid:
self.acceleration_update(self.acc_x.value, self.acc_y.value,
self.acc_z.value)
self.magnetometer_update(self.mag_x.value, self.mag_y.value,
self.mag_z.value)
self.gyroscope_update(self.gyr_x.value, self.gyr_y.value,
self.gyr_z.value)
self.orientation_update(self.roll, self.pitch, self.yaw)
self.temperature_update(self.temp.value)
def acceleration_update(self, x, y, z):
self.acc_y_label.setText(format(x, '.1f'))
self.acc_x_label.setText(format(y, '.1f'))
self.acc_z_label.setText(format(z, '.1f'))
def magnetometer_update(self, x, y, z):
# Earth magnetic field: 0.5 Gauss
self.mag_x_label.setText(format(x, '.1f'))
self.mag_y_label.setText(format(y, '.1f'))
self.mag_z_label.setText(format(z, '.1f'))
def gyroscope_update(self, x, y, z):
self.gyr_x_label.setText(format(x, '.1f'))
self.gyr_y_label.setText(format(y, '.1f'))
self.gyr_z_label.setText(format(z, '.1f'))
def orientation_update(self, r, p, y):
self.roll_label.setText(format(r, '.1f'))
self.pitch_label.setText(format(p, '.1f'))
self.yaw_label.setText(format(y, '.1f'))
def temperature_update(self, t):
self.tem_label.setText(format(t, '.1f'))
def calibrate_clicked(self):
self.stop()
if self.calibrate is None:
self.calibrate = CalibrateWindow(self)
self.calibrate.refresh_values()
self.calibrate.show()
def speed_finished(self):
speed = self.speed_spinbox.value()
self.imu.set_convergence_speed(speed)
class IMUV3(COMCUPluginBase, Ui_IMUV3):
def __init__(self, *args):
COMCUPluginBase.__init__(self, BrickletIMUV3, *args)
self.setupUi(self)
self.imu = self.device
self.cbe_all_data = CallbackEmulator(self, self.imu.get_all_data, None,
self.cb_all_data,
self.increase_error_count)
self.imu_gl = IMUV33DWidget(self)
self.imu_gl.setFixedSize(200, 200)
self.imu_gl_wrapper = None
self.state = None
self.data_plot_widget = []
self.sensor_data = [CurveValueWrapper() for i in range(23)]
self.data_labels = [
self.label_acceleration_x, self.label_acceleration_y,
self.label_acceleration_z, self.label_magnetic_field_x,
self.label_magnetic_field_y, self.label_magnetic_field_z,
self.label_angular_velocity_x, self.label_angular_velocity_y,
self.label_angular_velocity_z, self.label_euler_angle_heading,
self.label_euler_angle_roll, self.label_euler_angle_pitch,
self.label_quaternion_w, self.label_quaternion_x,
self.label_quaternion_y, self.label_quaternion_z,
self.label_linear_acceleration_x, self.label_linear_acceleration_y,
self.label_linear_acceleration_z, self.label_gravity_vector_x,
self.label_gravity_vector_y, self.label_gravity_vector_z,
self.label_temperature
]
self.data_rows = [
[
self.label_acceleration_11, self.label_acceleration_21,
self.label_acceleration_22, self.label_acceleration_23,
self.label_acceleration_41, self.label_acceleration_42,
self.label_acceleration_43, self.label_acceleration_x,
self.label_acceleration_y, self.label_acceleration_z
],
[
self.label_magnetic_field_11, self.label_magnetic_field_21,
self.label_magnetic_field_22, self.label_magnetic_field_23,
self.label_magnetic_field_41, self.label_magnetic_field_42,
self.label_magnetic_field_43, self.label_magnetic_field_x,
self.label_magnetic_field_y, self.label_magnetic_field_z
],
[
self.label_angular_velocity_11, self.label_angular_velocity_21,
self.label_angular_velocity_22, self.label_angular_velocity_23,
self.label_angular_velocity_41, self.label_angular_velocity_42,
self.label_angular_velocity_43, self.label_angular_velocity_x,
self.label_angular_velocity_y, self.label_angular_velocity_z
],
[
self.label_euler_angle_11, self.label_euler_angle_21,
self.label_euler_angle_22, self.label_euler_angle_23,
self.label_euler_angle_41, self.label_euler_angle_42,
self.label_euler_angle_43, self.label_euler_angle_roll,
self.label_euler_angle_pitch, self.label_euler_angle_heading
],
[
self.label_quaternion_11, self.label_quaternion_21,
self.label_quaternion_22, self.label_quaternion_23,
self.label_quaternion_24, self.label_quaternion_41,
self.label_quaternion_42, self.label_quaternion_43,
self.label_quaternion_44, self.label_quaternion_w,
self.label_quaternion_x, self.label_quaternion_y,
self.label_quaternion_z
],
[
self.label_linear_acceleration_11,
self.label_linear_acceleration_21,
self.label_linear_acceleration_22,
self.label_linear_acceleration_23,
self.label_linear_acceleration_41,
self.label_linear_acceleration_42,
self.label_linear_acceleration_43,
self.label_linear_acceleration_x,
self.label_linear_acceleration_y,
self.label_linear_acceleration_z
],
[
self.label_gravity_vector_11, self.label_gravity_vector_21,
self.label_gravity_vector_22, self.label_gravity_vector_23,
self.label_gravity_vector_41, self.label_gravity_vector_42,
self.label_gravity_vector_43, self.label_gravity_vector_x,
self.label_gravity_vector_y, self.label_gravity_vector_z
],
[
self.label_temperature_11, self.label_temperature_21,
self.label_temperature_41, self.label_temperature
]
]
even_color = QColor(240, 240, 240)
odd_color = QColor(255, 255, 255)
self.data_color = [(Qt.red, even_color), (Qt.darkGreen, even_color),
(Qt.blue, even_color), (Qt.red, odd_color),
(Qt.darkGreen, odd_color), (Qt.blue, odd_color),
(Qt.red, even_color), (Qt.darkGreen, even_color),
(Qt.blue, even_color), (Qt.red, odd_color),
(Qt.darkGreen, odd_color), (Qt.blue, odd_color),
(Qt.magenta, even_color), (Qt.red, even_color),
(Qt.darkGreen, even_color), (Qt.blue, even_color),
(Qt.red, odd_color), (Qt.darkGreen, odd_color),
(Qt.blue, odd_color), (Qt.red, even_color),
(Qt.darkGreen, even_color), (Qt.blue, even_color),
(Qt.magenta, odd_color)]
even_palette = QPalette()
even_palette.setColor(QPalette.Window, even_color)
odd_palette = QPalette()
odd_palette.setColor(QPalette.Window, odd_color)
for i, row in enumerate(self.data_rows):
for label in row:
if i % 2:
label.setPalette(odd_palette)
else:
label.setPalette(even_palette)
label.setAutoFillBackground(True)
self.plot_timer = QTimer(self)
self.plot_timer.start(100)
for i in range(23):
self.data_plot_widget.append(
PlotWidget(
"",
[("", self.data_color[i][0], self.sensor_data[i], str)],
clear_button=self.clear_graphs,
x_scale_visible=False,
y_scale_visible=False,
curve_outer_border_visible=False,
curve_motion='smooth',
canvas_color=self.data_color[i][1],
external_timer=self.plot_timer,
curve_start='right',
key=None,
y_resolution=0.01))
for w in self.data_plot_widget:
w.setMinimumHeight(15)
w.setMaximumHeight(25)
for i in range(23):
self.data_grid.addWidget(self.data_plot_widget[i], i, 4)
self.data_grid.setColumnMinimumWidth(2, 75)
self.gl_layout = QVBoxLayout()
self.gl_layout.addWidget(self.imu_gl)
self.layout_bottom.addLayout(self.gl_layout)
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.button_detach_3d_view.clicked.connect(self.detach_3d_view_clicked)
self.button_calibration.clicked.connect(self.calibration_clicked)
self.calibration_color = [
Qt.red, QColor(0xFF, 0xA0, 0x00), Qt.yellow, Qt.darkGreen
]
self.calibration = None
self.alive = True
self.callback_counter = 0
def save_orientation_clicked(self):
self.imu_gl.save_orientation()
if self.imu_gl_wrapper is not None:
self.imu_gl_wrapper.glWidget.save_orientation()
self.orientation_label.hide()
def cleanup_gl(self):
self.state = self.imu_gl.get_state()
self.imu_gl.hide()
self.imu_gl.cleanup()
def restart_gl(self):
self.imu_gl = IMUV33DWidget()
self.imu_gl.setFixedSize(200, 200)
self.gl_layout.addWidget(self.imu_gl)
self.imu_gl.show()
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.imu_gl.set_state(self.state)
def start(self):
if not self.alive:
return
self.parent().add_callback_pre_tab(
lambda tab_window: self.cleanup_gl(), 'imu_v3_cleanup_pre_tab')
self.parent().add_callback_post_tab(
lambda tab_window, tab_index: self.restart_gl(),
'imu_v3_restart_post_tab')
self.parent().add_callback_pre_untab(
lambda tab_window, tab_index: self.cleanup_gl(),
'imu_v3_cleanup_pre_untab')
self.parent().add_callback_post_untab(
lambda tab_window: self.restart_gl(), 'imu_v3_restart_post_untab')
self.gl_layout.activate()
self.cbe_all_data.set_period(50)
for w in self.data_plot_widget:
w.stop = False
def stop(self):
for w in self.data_plot_widget:
w.stop = True
if self.imu_gl_wrapper == None:
self.cbe_all_data.set_period(0)
def destroy(self):
self.alive = False
self.cleanup_gl()
# Stop callback to fix deadlock with callback emulation thread.
self.cbe_all_data.set_period(0)
if self.calibration != None:
self.calibration.close()
if self.imu_gl_wrapper != None:
self.imu_gl_wrapper.close()
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickletIMUV3.DEVICE_IDENTIFIER
def calibration_clicked(self):
if self.calibration is None:
self.calibration = Calibration(self)
self.button_calibration.setEnabled(False)
self.calibration.show()
def detach_3d_view_clicked(self):
if self.imu_gl_wrapper != None:
self.imu_gl_wrapper.close()
self.button_detach_3d_view.setEnabled(False)
self.imu_gl_wrapper = WrapperWidget(self)
self.imu_gl_wrapper.glWidget.set_state(self.imu_gl.get_state())
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.imu_gl_wrapper.show()
def cb_all_data(self, data):
self.callback_counter += 1
if self.callback_counter == 2:
self.callback_counter = 0
self.sensor_data[0].value = data.acceleration[0] / 100.0
self.sensor_data[1].value = data.acceleration[1] / 100.0
self.sensor_data[2].value = data.acceleration[2] / 100.0
self.sensor_data[3].value = data.magnetic_field[0] / 16.0
self.sensor_data[4].value = data.magnetic_field[1] / 16.0
self.sensor_data[5].value = data.magnetic_field[2] / 16.0
self.sensor_data[6].value = data.angular_velocity[0] / 16.0
self.sensor_data[7].value = data.angular_velocity[1] / 16.0
self.sensor_data[8].value = data.angular_velocity[2] / 16.0
self.sensor_data[9].value = data.euler_angle[0] / 16.0
self.sensor_data[10].value = data.euler_angle[1] / 16.0
self.sensor_data[11].value = data.euler_angle[2] / 16.0
self.sensor_data[12].value = data.quaternion[0] / (2**14 - 1)
self.sensor_data[13].value = data.quaternion[1] / (2**14 - 1)
self.sensor_data[14].value = data.quaternion[2] / (2**14 - 1)
self.sensor_data[15].value = data.quaternion[3] / (2**14 - 1)
self.sensor_data[16].value = data.linear_acceleration[0] / 100.0
self.sensor_data[17].value = data.linear_acceleration[1] / 100.0
self.sensor_data[18].value = data.linear_acceleration[2] / 100.0
self.sensor_data[19].value = data.gravity_vector[0] / 100.0
self.sensor_data[20].value = data.gravity_vector[1] / 100.0
self.sensor_data[21].value = data.gravity_vector[2] / 100.0
self.sensor_data[22].value = data.temperature
for i in range(23):
self.data_labels[i].setText("{0:.2f}".format(
self.sensor_data[i].value))
self.imu_gl.update_orientation(self.sensor_data[12].value,
self.sensor_data[13].value,
self.sensor_data[14].value,
self.sensor_data[15].value)
if self.imu_gl_wrapper is not None:
self.imu_gl_wrapper.glWidget.update_orientation(
self.sensor_data[12].value, self.sensor_data[13].value,
self.sensor_data[14].value, self.sensor_data[15].value)
cal_mag = data.calibration_status & 3
cal_acc = (data.calibration_status & (3 << 2)) >> 2
cal_gyr = (data.calibration_status & (3 << 4)) >> 4
cal_sys = (data.calibration_status & (3 << 6)) >> 6
if self.calibration != None:
self.calibration.save_calibration.setEnabled(
data.calibration_status == 0xFF)
self.calibration.mag_color.set_color(
self.calibration_color[cal_mag])
self.calibration.acc_color.set_color(
self.calibration_color[cal_acc])
self.calibration.gyr_color.set_color(
self.calibration_color[cal_gyr])
self.calibration.sys_color.set_color(
self.calibration_color[cal_sys])
else:
self.imu_gl.update_orientation(data.quaternion[0] / (2**14 - 1),
data.quaternion[1] / (2**14 - 1),
data.quaternion[2] / (2**14 - 1),
data.quaternion[3] / (2**14 - 1))
if self.imu_gl_wrapper is not None:
self.imu_gl_wrapper.glWidget.update_orientation(
data.quaternion[0] / (2**14 - 1),
data.quaternion[1] / (2**14 - 1),
data.quaternion[2] / (2**14 - 1),
data.quaternion[3] / (2**14 - 1))
class IMUV2(PluginBase, Ui_IMUV2):
def __init__(self, *args):
PluginBase.__init__(self, BrickIMUV2, *args)
self.setupUi(self)
self.imu = self.device
self.cbe_all_data = CallbackEmulator(self.imu.get_all_data,
None,
self.cb_all_data,
self.increase_error_count)
self.imu_gl = IMUV23DWidget(self)
self.imu_gl.setFixedSize(200, 200)
self.imu_gl_wrapper = None
self.data_plot_widget = []
self.sensor_data = [CurveValueWrapper() for i in range(23)]
self.data_labels = [self.label_acceleration_x, self.label_acceleration_y, self.label_acceleration_z,
self.label_magnetic_field_x, self.label_magnetic_field_y, self.label_magnetic_field_z,
self.label_angular_velocity_x, self.label_angular_velocity_y, self.label_angular_velocity_z,
self.label_euler_angle_heading, self.label_euler_angle_roll, self.label_euler_angle_pitch,
self.label_quaternion_w, self.label_quaternion_x, self.label_quaternion_y, self.label_quaternion_z,
self.label_linear_acceleration_x, self.label_linear_acceleration_y, self.label_linear_acceleration_z,
self.label_gravity_vector_x, self.label_gravity_vector_y, self.label_gravity_vector_z,
self.label_temperature]
self.data_rows = [[self.label_acceleration_11, self.label_acceleration_21, self.label_acceleration_22, self.label_acceleration_23, self.label_acceleration_41, self.label_acceleration_42, self.label_acceleration_43, self.label_acceleration_x, self.label_acceleration_y, self.label_acceleration_z],
[self.label_magnetic_field_11, self.label_magnetic_field_21, self.label_magnetic_field_22, self.label_magnetic_field_23, self.label_magnetic_field_41, self.label_magnetic_field_42, self.label_magnetic_field_43, self.label_magnetic_field_x, self.label_magnetic_field_y, self.label_magnetic_field_z],
[self.label_angular_velocity_11, self.label_angular_velocity_21, self.label_angular_velocity_22, self.label_angular_velocity_23, self.label_angular_velocity_41, self.label_angular_velocity_42, self.label_angular_velocity_43, self.label_angular_velocity_x, self.label_angular_velocity_y, self.label_angular_velocity_z],
[self.label_euler_angle_11, self.label_euler_angle_21, self.label_euler_angle_22, self.label_euler_angle_23, self.label_euler_angle_41, self.label_euler_angle_42, self.label_euler_angle_43, self.label_euler_angle_roll, self.label_euler_angle_pitch, self.label_euler_angle_heading],
[self.label_quaternion_11, self.label_quaternion_21, self.label_quaternion_22, self.label_quaternion_23, self.label_quaternion_24, self.label_quaternion_41, self.label_quaternion_42, self.label_quaternion_43, self.label_quaternion_44, self.label_quaternion_w, self.label_quaternion_x, self.label_quaternion_y, self.label_quaternion_z],
[self.label_linear_acceleration_11, self.label_linear_acceleration_21, self.label_linear_acceleration_22, self.label_linear_acceleration_23, self.label_linear_acceleration_41, self.label_linear_acceleration_42, self.label_linear_acceleration_43, self.label_linear_acceleration_x, self.label_linear_acceleration_y, self.label_linear_acceleration_z],
[self.label_gravity_vector_11, self.label_gravity_vector_21, self.label_gravity_vector_22, self.label_gravity_vector_23, self.label_gravity_vector_41, self.label_gravity_vector_42, self.label_gravity_vector_43, self.label_gravity_vector_x, self.label_gravity_vector_y, self.label_gravity_vector_z],
[self.label_temperature_11, self.label_temperature_21, self.label_temperature_41, self.label_temperature]]
even_color = QColor(240, 240, 240)
odd_color = QColor(255, 255, 255)
self.data_color = [(Qt.red, even_color), (Qt.darkGreen, even_color), (Qt.blue, even_color),
(Qt.red, odd_color), (Qt.darkGreen, odd_color), (Qt.blue, odd_color),
(Qt.red, even_color), (Qt.darkGreen, even_color), (Qt.blue, even_color),
(Qt.red, odd_color), (Qt.darkGreen, odd_color), (Qt.blue, odd_color),
(Qt.magenta, even_color), (Qt.red, even_color), (Qt.darkGreen, even_color), (Qt.blue, even_color),
(Qt.red, odd_color), (Qt.darkGreen, odd_color), (Qt.blue, odd_color),
(Qt.red, even_color), (Qt.darkGreen, even_color), (Qt.blue, even_color),
(Qt.magenta, odd_color)]
even_palette = QPalette()
even_palette.setColor(QPalette.Window, even_color)
odd_palette = QPalette()
odd_palette.setColor(QPalette.Window, odd_color)
for i, row in enumerate(self.data_rows):
for label in row:
if i % 2:
label.setPalette(odd_palette)
else:
label.setPalette(even_palette)
label.setAutoFillBackground(True)
self.plot_timer = QTimer(self)
self.plot_timer.start(100)
for i in range(23):
self.data_plot_widget.append(PlotWidget("",
[("", self.data_color[i][0], self.sensor_data[i], str)],
clear_button=self.clear_graphs,
x_scale_visible=False,
y_scale_visible=False,
curve_outer_border_visible=False,
curve_motion_granularity=0.1,
canvas_color=self.data_color[i][1],
external_timer=self.plot_timer,
curve_start='right',
key=None,
y_resolution=0.01))
for w in self.data_plot_widget:
w.setMinimumHeight(15)
w.setMaximumHeight(25)
for i in range(23):
self.data_grid.addWidget(self.data_plot_widget[i], i, 4)
self.data_grid.setColumnMinimumWidth(2, 75)
self.gl_layout = QVBoxLayout()
self.gl_layout.addWidget(self.imu_gl)
self.layout_bottom.addLayout(self.gl_layout)
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.button_detach_3d_view.clicked.connect(self.detach_3d_view_clicked)
self.checkbox_leds.stateChanged.connect(self.led_clicked)
self.button_calibration.clicked.connect(self.calibration_clicked)
self.calibration_color = [Qt.red, QColor(0xFF, 0xA0, 0x00), Qt.yellow, Qt.darkGreen]
self.calibration = None
self.alive = True
self.callback_counter = 0
self.status_led_action = QAction('Status LED', self)
self.status_led_action.setCheckable(True)
self.status_led_action.toggled.connect(lambda checked: self.imu.enable_status_led() if checked else self.imu.disable_status_led())
self.set_configs([(0, None, [self.status_led_action])])
reset = QAction('Reset', self)
reset.triggered.connect(self.imu.reset)
self.set_actions([(0, None, [reset])])
def save_orientation_clicked(self):
self.imu_gl.save_orientation()
if self.imu_gl_wrapper is not None:
self.imu_gl_wrapper.glWidget.save_orientation()
self.orientation_label.hide()
def cleanup_gl(self):
self.state = self.imu_gl.get_state()
self.imu_gl.hide()
self.imu_gl.cleanup()
def restart_gl(self):
self.imu_gl = IMUV23DWidget()
self.imu_gl.setFixedSize(200, 200)
self.gl_layout.addWidget(self.imu_gl)
self.imu_gl.show()
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.imu_gl.set_state(self.state)
def start(self):
if not self.alive:
return
self.parent().add_callback_on_untab(lambda x: self.cleanup_gl(), 'imu_v2_cleanup_on_untab')
self.parent().add_callback_post_untab(lambda x: self.restart_gl(), 'imu_v2_restart_post_untab')
self.parent().add_callback_on_tab(lambda x: self.cleanup_gl(), 'imu_v2_cleanup_on_tab')
self.parent().add_callback_post_tab(lambda x: self.restart_gl(), 'imu_v2_restart_post_tab')
self.gl_layout.activate()
async_call(self.imu.is_status_led_enabled, None, self.status_led_action.setChecked, self.increase_error_count)
async_call(self.imu.are_leds_on, None, self.checkbox_leds.setChecked, self.increase_error_count)
self.cbe_all_data.set_period(50)
for w in self.data_plot_widget:
w.stop = False
def stop(self):
for w in self.data_plot_widget:
w.stop = True
if self.imu_gl_wrapper == None:
self.cbe_all_data.set_period(0)
def destroy(self):
self.alive = False
self.cleanup_gl()
# Stop callback to fix deadlock with callback emulation thread.
self.cbe_all_data.set_period(0)
if self.calibration != None:
self.calibration.close()
if self.imu_gl_wrapper != None:
self.imu_gl_wrapper.close()
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickIMUV2.DEVICE_IDENTIFIER
def calibration_clicked(self):
if self.calibration is None:
self.calibration = Calibration(self)
self.button_calibration.setEnabled(False)
self.calibration.show()
def detach_3d_view_clicked(self):
if self.imu_gl_wrapper != None:
self.imu_gl_wrapper.close()
self.button_detach_3d_view.setEnabled(False)
self.imu_gl_wrapper = WrapperWidget(self)
self.imu_gl_wrapper.glWidget.set_state(self.imu_gl.get_state())
self.save_orientation.clicked.connect(self.save_orientation_clicked)
self.imu_gl_wrapper.show()
def cb_all_data(self, data):
self.callback_counter += 1
if self.callback_counter == 2:
self.callback_counter = 0
self.sensor_data[0].value = data.acceleration[0] / 100.0
self.sensor_data[1].value = data.acceleration[1] / 100.0
self.sensor_data[2].value = data.acceleration[2] / 100.0
self.sensor_data[3].value = data.magnetic_field[0] / 16.0
self.sensor_data[4].value = data.magnetic_field[1] / 16.0
self.sensor_data[5].value = data.magnetic_field[2] / 16.0
self.sensor_data[6].value = data.angular_velocity[0] / 16.0
self.sensor_data[7].value = data.angular_velocity[1] / 16.0
self.sensor_data[8].value = data.angular_velocity[2] / 16.0
self.sensor_data[9].value = data.euler_angle[0] / 16.0
self.sensor_data[10].value = data.euler_angle[1] / 16.0
self.sensor_data[11].value = data.euler_angle[2] / 16.0
self.sensor_data[12].value = data.quaternion[0] / (2 ** 14 - 1)
self.sensor_data[13].value = data.quaternion[1] / (2 ** 14 - 1)
self.sensor_data[14].value = data.quaternion[2] / (2 ** 14 - 1)
self.sensor_data[15].value = data.quaternion[3] / (2 ** 14 - 1)
self.sensor_data[16].value = data.linear_acceleration[0] / 100.0
self.sensor_data[17].value = data.linear_acceleration[1] / 100.0
self.sensor_data[18].value = data.linear_acceleration[2] / 100.0
self.sensor_data[19].value = data.gravity_vector[0] / 100.0
self.sensor_data[20].value = data.gravity_vector[1] / 100.0
self.sensor_data[21].value = data.gravity_vector[2] / 100.0
self.sensor_data[22].value = data.temperature
for i in range(23):
self.data_labels[i].setText("{0:.2f}".format(self.sensor_data[i].value))
self.imu_gl.update_orientation(self.sensor_data[12].value,
self.sensor_data[13].value,
self.sensor_data[14].value,
self.sensor_data[15].value)
if self.imu_gl_wrapper is not None:
self.imu_gl_wrapper.glWidget.update_orientation(self.sensor_data[12].value,
self.sensor_data[13].value,
self.sensor_data[14].value,
self.sensor_data[15].value)
cal_mag = data.calibration_status & 3
cal_acc = (data.calibration_status & (3 << 2)) >> 2
cal_gyr = (data.calibration_status & (3 << 4)) >> 4
cal_sys = (data.calibration_status & (3 << 6)) >> 6
if self.calibration != None:
self.calibration.save_calibration.setEnabled(data.calibration_status == 0xFF)
self.calibration.mag_color.set_color(self.calibration_color[cal_mag])
self.calibration.acc_color.set_color(self.calibration_color[cal_acc])
self.calibration.gyr_color.set_color(self.calibration_color[cal_gyr])
self.calibration.sys_color.set_color(self.calibration_color[cal_sys])
else:
self.imu_gl.update_orientation(data.quaternion[0] / (2 ** 14 - 1),
data.quaternion[1] / (2 ** 14 - 1),
data.quaternion[2] / (2 ** 14 - 1),
data.quaternion[3] / (2 ** 14 - 1))
if self.imu_gl_wrapper is not None:
self.imu_gl_wrapper.glWidget.update_orientation(data.quaternion[0] / (2 ** 14 - 1),
data.quaternion[1] / (2 ** 14 - 1),
data.quaternion[2] / (2 ** 14 - 1),
data.quaternion[3] / (2 ** 14 - 1))
def led_clicked(self, state):
if state == Qt.Checked:
self.imu.leds_on()
else:
self.imu.leds_off()
class SinkSelectorSettings(SettingsSection):
NAME = 'Multi-Sink Selector'
ELEMENT = SinkSelector
Sinks = elements.outputs()
def __init__(self, size, Id, parent=None):
super().__init__(size, parent)
self.id = Id
self._sinks = []
self.groupBox = QGroupBox(self)
self.groupBox.setTitle('Add/Remove outputs')
self.groupBox.resize(self.width(), self.height())
self.vlayout = QVBoxLayout(self.groupBox)
self.vlayout.setContentsMargins(0, 5, 0, 0)
self.sinksList = QListWidget(self.groupBox)
self.sinksList.setAlternatingRowColors(True)
self.vlayout.addWidget(self.sinksList)
self.buttons = QDialogButtonBox(self.groupBox)
self.vlayout.addWidget(self.buttons)
self.add = QPushButton('Add')
self.remove = QPushButton('Remove')
self.buttons.addButton(self.add, QDialogButtonBox.YesRole)
self.buttons.addButton(self.remove, QDialogButtonBox.NoRole)
self.vlayout.activate()
self.add.clicked.connect(self._new_sink)
self.remove.clicked.connect(self.__remove_sink)
def set_configuration(self, conf):
if conf is not None and self.id in conf:
conf = deepcopy(conf)
for key in conf[self.id]:
self.__add_sink(conf[self.id][key], key)
else:
self.__add_sink({'name': 'AutoSink'}, 'sink0')
def get_configuration(self):
conf = {}
if not (self.groupBox.isCheckable() and not self.groupBox.isChecked()):
conf[self.id] = {}
for widget, name in self._sinks:
conf[self.id][name] = widget.get_settings()
return conf
def enable_check(self, enable):
self.groupBox.setCheckable(enable)
self.groupBox.setChecked(False)
def _new_sink(self):
sinks = sorted(self.Sinks.keys())
sinks.remove('SinkSelector')
name, ok = QInputDialog.getItem(self, "Output", "Select output device",
sinks, editable=False)
if ok:
self.__add_sink({'name': name})
def __new_name(self):
suff = 0
for _, name in sorted(self._sinks, key=itemgetter(1)):
if 'sink' + str(suff) != name:
break
suff += 1
return 'sink' + str(suff)
def __add_sink(self, properties, name=None):
widget = OutputWidget(properties, self.sinksList)
widget.resize(self.sinksList.width() - 5, 80)
item = QListWidgetItem()
item.setSizeHint(widget.size())
if name is None:
name = self.__new_name()
self._sinks.append((widget, name))
self.sinksList.addItem(item)
self.sinksList.setItemWidget(item, widget)
self.remove.setEnabled(len(self._sinks) > 1)
def __remove_sink(self):
self._sinks.pop(self.sinksList.currentRow())
self.sinksList.removeItemWidget(self.sinksList.currentItem())
self.sinksList.takeItem(self.sinksList.currentRow())
self.remove.setEnabled(len(self._sinks) > 1)
