def MoveDCMotors(self, MotorsSpeed: DC_Motor_Control_Data):
self.STEP_MOTOR_COMMAND = QByteArray()
stream = QDataStream(self.STEP_MOTOR_COMMAND,
QtCore.QIODevice.ReadWrite)
stream.writeInt8(self.MotorsState.HEADER_B1)
stream.writeInt8(self.MotorsState.HEADER_B2)
stream.writeInt8(self.MotorsState.UNIT_SIZE)
stream.writeInt16(self.MotorsState.Speed1)
stream.writeInt16(self.MotorsState.Speed2)
stream.writeInt16(self.MotorsState.Speed3)
stream.writeInt16(self.MotorsState.Speed4)
def startDrag(self, dropActions):
item = self.currentItem()
# icon = item.icon()
data = QByteArray()
stream = QDataStream(data, QIODevice.WriteOnly)
stream.writeQString(item.text())
stream.writeInt16(item.data(1))
# stream << icon
mimeData = QMimeData()
mimeData.setData("application/x-lista-item", data)
drag = QDrag(self)
drag.setMimeData(mimeData)
if drag.exec_(Qt.MoveAction) == Qt.MoveAction:
self.takeItem(self.row(item))
def startDrag(self):
data = QByteArray()
stream = QDataStream(data, QIODevice.WriteOnly)
stream.writeQString(self._player_name)
stream.writeInt16(self._player_id)
mimedata = QMimeData()
mimedata.setData("application/x-lista-item", data)
drag = QDrag(self)
drag.setMimeData(mimedata)
if drag.exec_(Qt.MoveAction) == Qt.MoveAction:
self._player_name = ""
self._player_id = 0
for i in range(self.sorok_szama):
self.parent.eredmenyek[self._csoport_number][
self._csoport_sor][i]._set_p1_id(0)
self.parent.eredmenyek[self._csoport_number][i][
self._csoport_sor]._set_p2_id(0)
self.update()
def MoveStepMotor(self, MotorCommand: Step_Motor_Control_Data):
stream = QDataStream(self.STEP_MOTOR_COMMAND,
QtCore.QIODevice.ReadWrite)
stream.writeInt8(MotorCommand.HEADER_B1)
stream.writeInt8(MotorCommand.HEADER_B2)
stream.writeInt8(MotorCommand.UNIT_SIZE)
stream.writeInt16(MotorCommand.SpeedMotor1)
stream.writeInt16(MotorCommand.SpeedMotor2)
stream.writeInt16(MotorCommand.SpeedMotor3)
stream.writeInt16(MotorCommand.AngleMotor1)
stream.writeInt16(MotorCommand.AngleMotor2)
stream.writeInt16(MotorCommand.AngleMotor3)
def __rshift__(self, Sender: QDataStream):
print("HEADER LOAD TO DATA STREAM")
Sender.writeInt16(self.HEADER_B1)
Sender.writeInt16(self.HEADER_B2)
Sender.writeInt16(self.MESSAGE_SIZE)
def __rshift__(self, Sender: QDataStream):
Sender.writeInt16(self.HEADER_B1)
Sender.writeInt16(self.HEADER_B2)
Sender.writeInt16(self.UNIT_SIZE)
Sender.writeInt8(self.Connect)
class NetworkConnectionClass(QtCore.QObject):
SignalDataRec = Signal(str, int)
SignalFrameDataAvailable = Signal()
def __init__(self, parent=None):
super(NetworkConnectionClass, self).__init__(parent=parent)
#self.CommandSocket = QTcpSocket()
self.CommandSocket = QUdpSocket()
self.CommandSocket.bind(QHostAddress("192.168.100.2"), 2323)
self.CommandSocket.connected.connect(self.EventConnectedHandle)
self.CommandSocket.readyRead.connect(self.RecieveData)
#self.CommandSocket.connectToHost("192.168.100.5",2323,QIODevice.ReadWrite)
#self.CommandSocket.connectToHost("127.0.0.1",2323,QIODevice.ReadWrite)
#self.CommandSocket.connectToHost("192.168.20.196",2323,QIODevice.ReadWrite)
#print("NETWORK - ",self.CommandSocket.localAddress(),self.CommandSocket.peerAddress())
self.Display = WindowNetworkConnection()
self.NetworkDataArray = QByteArray()
self.NetworkDataArray.resize(2000)
self.SignalDataRec.connect(self.Display.PrintData)
self.BufferWrite = QBuffer(self.NetworkDataArray)
self.BufferWrite.open(QBuffer.WriteOnly)
self.BufferRead = QBuffer(self.NetworkDataArray)
self.BufferRead.open(QBuffer.ReadOnly)
self.ReadDataStream = QDataStream(self.BufferRead)
self.ReadDataStream.setByteOrder(QDataStream.LittleEndian)
self.WriteDataStream = QDataStream(self.BufferWrite)
self.WriteDataStream.setByteOrder(QDataStream.LittleEndian)
self.SocketDataStream = QDataStream(self.CommandSocket)
self.SocketDataStream.setByteOrder(QDataStream.LittleEndian)
self.Timer = QTime()
self.Timer.start()
self.BufferRead.seek(0)
self.BufferWrite.seek(0)
self.LimitBufferSize = 2000
self.MinTransferUnit = 7
self.MaxTransferUnit = 18
self.bytesAvailable = 0
self.Display.ui.pushButton.clicked.connect(self.SendData)
#===================================================== WRITE BUFFER
self.SendBuffer = QByteArray()
#=====================================================
# TestMessage = QByteArray(bytearray.fromhex('A1 A2 A3')); TestMessage2 = QByteArray(bytearray.fromhex('A4 A5 A6'))
# self.BufferWriteQueue.write(TestMessage); self.BufferWriteQueue.write(TestMessage2)
# print("BUFFER - ",self.NetworkDataArray)
# self.Message = MessageData()
# self.Message << self.NetworkDataStream << self.NetworkDataStream
def __rshift__(self, Reciever: DataTransferHeader):
Reciever << self.ReadDataStream
self.bytesAvailable -= Reciever.UNIT_SIZE
print("BYTES AVAILABLE - ", self.bytesAvailable)
#print(" REABUFFER POS - ",self.BufferRead.pos(),'BYTES AVAILABLE - ',self.bytesAvailable,"UNIT SIZE -",Reciever.UNIT_SIZE)
#print(" READ UNIT -",Reciever.UNIT_SIZE)
#print(" READ BUFFER POS -",self.BufferRead.pos())
#print(" READ BUFFER -",self.BufferRead.data().toHex())
if not self.BufferRead.pos(
) < self.LimitBufferSize - self.MaxTransferUnit:
self.BufferRead.seek(0)
print("READ BUFFER SEEK TO 0 - ", self.BufferRead.pos())
return self
def EventConnectedHandle(self):
self.SignalDataRec.emit("CONNECTED TO HOST", 0)
#self.SignalDataRec.emit("192.168.100.5 PORT 2323",0)
self.SignalDataRec.emit("192.168.20.197 PORT 2323", 0)
#self.SignalDataRec.emit("BYTES IN REC BUFFER - " + str(self.bytesAvailable))
def RecieveData(self):
#self.CommandSocket.receiveDatagram(20)
HEADER = QByteArray()
HEADER.resize(2)
if self.bytesAvailable < self.LimitBufferSize - self.MaxTransferUnit: #check that memory for packet available
if self.BufferWrite.pos(
) < self.LimitBufferSize - self.MaxTransferUnit:
(newData, sender,
senderPort) = self.CommandSocket.readDatagram(20)
#newData = self.CommandSocket.read(self.LimitBufferSize - self.bytesAvailable)
#print(" NEW DATA - ",newData.toHex(),"to POS - ",self.BufferWrite.pos())
self.BufferWrite.write(newData)
self.bytesAvailable += newData.size()
print(self.Timer.restart())
#print("REC ",data)
#print(" BUFFER - ",self.BufferWrite.data().toHex())
else:
H1 = 0
H2 = 0
while self.CommandSocket.bytesAvailable() > 0:
H1 = H2
H2 = self.SocketDataStream.readInt16()
if H1 == 0xF1 and (H2 == 0xD1 or H2 == 0xD2 or H2 == 0xD3
or H2 == 0xC1):
self.BufferWrite.seek(0)
newData = self.CommandSocket.read(
self.LimitBufferSize - self.bytesAvailable)
self.WriteDataStream.writeInt16(H1)
self.WriteDataStream.writeInt16(H2)
print(
"=============================================================="
)
print("SEEK TO 0")
print("NEW DATA - ", newData, "to POS - ",
self.BufferWrite.pos() - 4)
self.BufferWrite.write(newData)
self.bytesAvailable += (4 + newData.size())
#print("BUFFER - ",self.NetworkDataArray.toHex())
break
else:
self.WriteDataStream.writeInt16(H2)
self.bytesAvailable += 1
#self.SignalDataRec.emit("BYTES IN REC BUFFER - " + str(self.bytesAvailable))
if (self.bytesAvailable >= self.MinTransferUnit):
self.SignalFrameDataAvailable.emit()
def SendData(self):
Req = ConnectCheckRequest()
self.SendBuffer.clear()
self.SendBuffer.resize(Req.MESSAGE_SIZE)
WriteDataStream = QDataStream(self.SendBuffer, QIODevice.ReadWrite)
WriteDataStream.setByteOrder(QDataStream.LittleEndian)
Req >> WriteDataStream
self.CommandSocket.write(self.SendBuffer)
self.CommandSocket.waitForBytesWritten(20)
self.SignalDataRec.emit("CHECK CONNECT - " + str(Req.Connect), 1)
#self.CommandSocket.write(bytearray(b'TestMessage\r\n'))
#print("WRITE BUFFER - ",self.SendBuffer.toHex())
#print("===============================================")
def HandleErrorSocket(self):
print("ErrorSocket")
