def _createUi(self):
"""Initializes the UI."""
mainLayout = QtGui.QVBoxLayout()
# Palette for the headers
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Background, QtGui.QColor(91, 91, 91))
palette.setColor(QtGui.QPalette.WindowText, QtGui.QColor(255, 0, 0))
# Label for the headers
label1 = QtGui.QLabel("Data Objects")
label1.setStyleSheet("QLabel { font: bold; color: #FFFFFF; }")
label2 = QtGui.QLabel("Data Objects")
label2.setStyleSheet("QLabel { font: bold; color: #FFFFFF; }")
# Header 1
header = QtGui.QFrame()
header.setPalette(palette)
header.setMinimumHeight(30)
header.setMaximumHeight(35)
header.setAutoFillBackground(True)
header.setFrameStyle(QtGui.QFrame.StyledPanel | QtGui.QFrame.Raised)
header.setLineWidth(2)
layout = QtGui.QHBoxLayout()
header.setLayout(layout)
layout.setMargin(1)
layout.addWidget(label1)
self.cbdataObjects1 = QtGui.QComboBox()
for item in self.dataObjects:
self.cbdataObjects1.addItem(item['groupName'])
self.cbdataObjects1.setCurrentIndex(0)
layout.addWidget(self.cbdataObjects1)
layout.addStretch()
mainLayout.addWidget(header)
# Scope 1
self.scope1 = ScopeWidget(self._fmuManager, self.dataObjects[0])
mainLayout.addWidget(self.scope1)
self._scopes.append(self.scope1)
# Header 2
header = QtGui.QFrame()
header.setPalette(palette)
header.setMinimumHeight(30)
header.setMaximumHeight(35)
header.setAutoFillBackground(True)
header.setFrameStyle(QtGui.QFrame.StyledPanel | QtGui.QFrame.Raised)
header.setLineWidth(2)
layout = QtGui.QHBoxLayout()
layout.setMargin(1)
header.setLayout(layout)
layout.addWidget(label2)
self.cbdataObjects2 = QtGui.QComboBox()
for item in self.dataObjects:
self.cbdataObjects2.addItem(item['groupName'])
self.cbdataObjects2.setCurrentIndex(0)
layout.addWidget(self.cbdataObjects2)
layout.addStretch()
mainLayout.addWidget(header)
# Scope 2
self.scope2 = ScopeWidget(self._fmuManager, self.dataObjects[0])
mainLayout.addWidget(self.scope2)
self._scopes.append(self.scope2)
# Control box
groupBox = QtGui.QGroupBox("Scope Control")
groupBox.setMinimumHeight(50)
layout = QtGui.QHBoxLayout()
groupBox.setLayout(layout)
self.startButton = QtGui.QPushButton("Start")
self.startButton.clicked.connect(self._startClicked)
layout.addWidget(self.startButton)
self.stopButton = QtGui.QPushButton("Stop")
self.stopButton.setEnabled(False)
self.stopButton.clicked.connect(self._stopClicked)
layout.addWidget(self.stopButton)
layout.addStretch()
self.exportButton = QtGui.QPushButton("Export...")
self.exportButton.setEnabled(False)
self.exportButton.clicked.connect(self._onExportButtonClicked)
layout.addWidget(self.exportButton)
mainLayout.addWidget(groupBox)
self.cbdataObjects1.currentIndexChanged.connect(self._cbdataObjects1IndexChanged)
self.cbdataObjects2.currentIndexChanged.connect(self._cbdataObjects2IndexChanged)
self.setLayout(mainLayout)
class ScopePage(QtGui.QWidget):
"""
This page holds all scope widgets.
"""
def __init__(self, fmuManager):
super(ScopePage, self).__init__()
if fmuManager is None:
raise "Error!"
self._fmuManager = fmuManager
self._scopes = list()
self._app_defs = defs.AppDefs()
self._logger = Logger()
self._isRunning = False
# Available data fields
self.dataObjects = list()
self.dataObjects.append({'groupName': "Input Channels",
'fields': ("inputChannel1", "inputChannel2", "inputChannel3", "inputChannel4", "inputChannel5", "inputChannel6", "inputChannel7"),
'fieldNames': ("Input Channel 1", "Input Channel 2", "Input Channel 3", "Input Channel 4", "Input Channel 5", "Input Channel 6", "Input Channel 7")})
self.dataObjects.append({'groupName': "Output Channels",
'fields': ("outputChannel1", "outputChannel2", "outputChannel3", "outputChannel4", "outputChannel5", "outputChannel6"),
'fieldNames': ("Output Channel 1", "Output Channel 2", "Output Channel 3", "Output Channel 4", "Output Channel 5", "Output Channel 6")})
self.dataObjects.append({'groupName': "Gyro X, Y, Z",
'fields': ("gyroX", "gyroY", "gyroZ"),
'fieldNames': ("Gyro X", "Gyro Y", "Gyro Z")})
self.dataObjects.append({'groupName': "Acceleration X, Y, Z",
'fields': ("accelerationX", "accelerationY", "accelerationZ"),
'fieldNames': ("Acceleration X", "Acceleration Y", "Acceleration Z")})
self.dataObjects.append({'groupName': "Sensor Angles",
'fields': ("sensorRollAngle", "sensorPitchAngle", "sensorYawAngle"),
'fieldNames': ("Roll", "Pitch", "Yaw")})
self.dataObjects.append({'groupName': "DCM Outputs",
'fields': ("dcmOutputRoll", "dcmOutputPitch", "dcmOutputYaw"),
'fieldNames': ("Roll", "Pitch", "Yaw")})
self.dataObjects.append({'groupName': "PID Outputs",
'fields': ("pidRollActuating", "pidPitchActuating", "pidYawActuating"),
'fieldNames': ("Roll", "Pitch", "Yaw")})
self.dataObjects.append({'groupName': "RC Set Angles",
'fields': ("setRollAngle", "setPitchAngle", "setYawAngle"),
'fieldNames': ("Roll", "Pitch", "Yaw")})
self.dataObjects.append({'groupName': "PID Roll",
'fields': ("setRollAngle", "pidRollActuating", "dcmOutputRoll"),
'fieldNames': ("Set Value", " Actuating Value", "Actual Value")})
self.dataObjects.append({'groupName': "PID Pitch",
'fields': ("setPitchAngle", "pidPitchActuating", "dcmOutputPitch"),
'fieldNames': ("Set Value", " Actuating Value", "Actual Value")})
self.dataObjects.append({'groupName': "PID Yaw",
'fields': ("setYawAngle", "pidYawActuating", "dcmOutputYaw"),
'fieldNames': ("Set Value", " Actuating Value", "Actual Value")})
self.dataObjects.append({'groupName': "DCM Roll",
'fields': ("sensorRollAngle", "dcmOutputRoll"),
'fieldNames': ("Sensor Input", " Output")})
self.dataObjects.append({'groupName': "DCM Pitch",
'fields': ("sensorPitchAngle", "dcmOutputPitch"),
'fieldNames': ("Sensor Input", " Output")})
self.dataObjects.append({'groupName': "DCM Yaw",
'fields': ("sensorYawAngle", "dcmOutputYaw"),
'fieldNames': ("Sensor Input", " Output")})
# Create the UI
self._createUi()
def _createUi(self):
"""Initializes the UI."""
mainLayout = QtGui.QVBoxLayout()
# Palette for the headers
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Background, QtGui.QColor(91, 91, 91))
palette.setColor(QtGui.QPalette.WindowText, QtGui.QColor(255, 0, 0))
# Label for the headers
label1 = QtGui.QLabel("Data Objects")
label1.setStyleSheet("QLabel { font: bold; color: #FFFFFF; }")
label2 = QtGui.QLabel("Data Objects")
label2.setStyleSheet("QLabel { font: bold; color: #FFFFFF; }")
# Header 1
header = QtGui.QFrame()
header.setPalette(palette)
header.setMinimumHeight(30)
header.setMaximumHeight(35)
header.setAutoFillBackground(True)
header.setFrameStyle(QtGui.QFrame.StyledPanel | QtGui.QFrame.Raised)
header.setLineWidth(2)
layout = QtGui.QHBoxLayout()
header.setLayout(layout)
layout.setMargin(1)
layout.addWidget(label1)
self.cbdataObjects1 = QtGui.QComboBox()
for item in self.dataObjects:
self.cbdataObjects1.addItem(item['groupName'])
self.cbdataObjects1.setCurrentIndex(0)
layout.addWidget(self.cbdataObjects1)
layout.addStretch()
mainLayout.addWidget(header)
# Scope 1
self.scope1 = ScopeWidget(self._fmuManager, self.dataObjects[0])
mainLayout.addWidget(self.scope1)
self._scopes.append(self.scope1)
# Header 2
header = QtGui.QFrame()
header.setPalette(palette)
header.setMinimumHeight(30)
header.setMaximumHeight(35)
header.setAutoFillBackground(True)
header.setFrameStyle(QtGui.QFrame.StyledPanel | QtGui.QFrame.Raised)
header.setLineWidth(2)
layout = QtGui.QHBoxLayout()
layout.setMargin(1)
header.setLayout(layout)
layout.addWidget(label2)
self.cbdataObjects2 = QtGui.QComboBox()
for item in self.dataObjects:
self.cbdataObjects2.addItem(item['groupName'])
self.cbdataObjects2.setCurrentIndex(0)
layout.addWidget(self.cbdataObjects2)
layout.addStretch()
mainLayout.addWidget(header)
# Scope 2
self.scope2 = ScopeWidget(self._fmuManager, self.dataObjects[0])
mainLayout.addWidget(self.scope2)
self._scopes.append(self.scope2)
# Control box
groupBox = QtGui.QGroupBox("Scope Control")
groupBox.setMinimumHeight(50)
layout = QtGui.QHBoxLayout()
groupBox.setLayout(layout)
self.startButton = QtGui.QPushButton("Start")
self.startButton.clicked.connect(self._startClicked)
layout.addWidget(self.startButton)
self.stopButton = QtGui.QPushButton("Stop")
self.stopButton.setEnabled(False)
self.stopButton.clicked.connect(self._stopClicked)
layout.addWidget(self.stopButton)
layout.addStretch()
self.exportButton = QtGui.QPushButton("Export...")
self.exportButton.setEnabled(False)
self.exportButton.clicked.connect(self._onExportButtonClicked)
layout.addWidget(self.exportButton)
mainLayout.addWidget(groupBox)
self.cbdataObjects1.currentIndexChanged.connect(self._cbdataObjects1IndexChanged)
self.cbdataObjects2.currentIndexChanged.connect(self._cbdataObjects2IndexChanged)
self.setLayout(mainLayout)
def start(self):
"""Starts scoping."""
if self._isRunning:
return
self.scope1.start()
self.scope2.start()
self.startButton.setEnabled(False)
self.stopButton.setEnabled(True)
self.exportButton.setEnabled(False)
self.cbdataObjects1.setEnabled(False)
self.cbdataObjects2.setEnabled(False)
self._isRunning = True
def stop(self):
"""Stops scoping."""
if not self._isRunning:
return
self.scope1.stop()
self.scope2.stop()
self.startButton.setEnabled(True)
self.stopButton.setEnabled(False)
self.exportButton.setEnabled(True)
self.cbdataObjects1.setEnabled(True)
self.cbdataObjects2.setEnabled(True)
self._isRunning = False
def _exportToCSV(self, scope, fileName):
"""Exports the current scope values to a CSV file."""
if fileName is None or scope is None:
return
f = open(fileName, 'w')
with f:
dataFields = None
curves = None
if scope == 1:
dataFields = self.scope1.dataFields
curves = self.scope1.plotCurves
else:
dataFields = self.scope2.dataFields
curves = self.scope2.plotCurves
dataNames = "Timestamp,"
dataNames += ','.join(dataFields['fieldNames'])
f.write(dataNames+'\n')
dataLength = len(curves[0].xData)
for i in range(0, dataLength):
line = str(curves[0].xData[i])
line += ','
for curve in curves:
line += str(curve.yData[i])
line += ','
line = line[:-1]
line += '\n'
f.write(line)
f.close()
def _startClicked(self):
self.start()
def _stopClicked(self):
self.stop()
def _cbdataObjects1IndexChanged(self):
self.scope1.setDataFields(self.dataObjects[self.cbdataObjects1.currentIndex()])
def _cbdataObjects2IndexChanged(self):
self.scope2.setDataFields(self.dataObjects[self.cbdataObjects2.currentIndex()])
def _onExportButtonClicked(self):
dialog = ScopeExportDialog(self)
res = dialog.exec_()
if res == QtGui.QDialog.Accepted:
self._exportToCSV(dialog.selectedScope, dialog.fileName)
