def connect_to_aeroquad(self):
        self._ui.status.setText("Connecting...")
        self._ui.buttonDisconnect.setEnabled(True)
        self._ui.buttonConnect.setEnabled(False)
        self._ui.comPort.setEnabled(False)
        self._ui.baudRate.setEnabled(False)
        
        self._app.processEvents()
        
        bootupDelay = float(self._xml.find("./Settings/BootUpDelay").text)
        commTimeOut = float(self._xml.find("./Settings/CommTimeOut").text)
        try:
            self._communicator.connect(str(self._ui.comPort.currentText()), int(self._ui.baudRate.currentText()), bootupDelay, commTimeOut)
            
            protocol_handler = ProtocolHandler(self._communicator, self._vehicle_event_dispatcher)
            version = protocol_handler.get_flight_software_version()

            if version != "":
                self.save_COM_port_selection()
                self._ui.status.setText("Connected to AeroQuad Flight Software v" + version)

                if version == '3.2' :
                    self._protocol_handler = AQV32ProtocolHandler(self._communicator, self._vehicle_event_dispatcher)
                elif version == '4.0' :
                    self._protocol_handler = AQV4ProtocolHandler(self._communicator, self._vehicle_event_dispatcher) 
                else :
                    logging.error("Flight software version " + version + " unsuported")
                    self.disconnectBoard()
                    self._ui.status.setText("Not connected to the AeroQuad")
                    return False
                
                self._ui_event_dispatcher.dispatch_event(UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT, True)
                self._vehicle_event_dispatcher.dispatch_event(VehicleEventDispatcher.SOFTWARE_VERSION_EVENT, version)
                self._protocol_handler.request_board_configuration()
                self._ui_event_dispatcher.dispatch_event(UIEventDispatcher.PROTOCOL_HANDLER_EVENT,self._protocol_handler)
                self._ui_event_dispatcher.dispatch_event(UIEventDispatcher.DISPLAY_PANEL_EVENT,PanelsContextBuilder.VEHICLE_INFORMATION_PANEL_ID)
                return True
            
            else:
                self.disconnect_from_aeroquad()
                self._ui.status.setText("Not connected to the AeroQuad")
#                if self.manualConnect:
                QtGui.QMessageBox.information(self, "Connection Error", "Unable to connect to the AeroQuad.  Verify the board is plugged in.\n\nIf it is, try increasing the Boot Up Delay.\nThis is found under File->Preferences->Boot Up Delay.")
                return False
            
        except SerialException:
            self._ui.buttonDisconnect.setEnabled(False)
            self._ui.buttonConnect.setEnabled(True)
            self._ui.comPort.setEnabled(True)
            self._ui.baudRate.setEnabled(True)
            self._ui.status.setText("Connection Failed")
            return False
Exemple #2
0
    def connect_to_aeroquad(self):
        self._ui.status.setText("Connecting...")
        self._ui.buttonDisconnect.setEnabled(True)
        self._ui.buttonConnect.setEnabled(False)
        self._ui.comPort.setEnabled(False)
        self._ui.baudRate.setEnabled(False)

        self._app.processEvents()

        bootupDelay = float(self._xml.find("./Settings/BootUpDelay").text)
        commTimeOut = float(self._xml.find("./Settings/CommTimeOut").text)
        try:
            self._communicator.connect(str(self._ui.comPort.currentText()),
                                       int(self._ui.baudRate.currentText()),
                                       bootupDelay, commTimeOut)

            protocol_handler = ProtocolHandler(self._communicator,
                                               self._vehicle_event_dispatcher)
            version = protocol_handler.get_flight_software_version()

            if version != "":
                self.save_COM_port_selection()
                self._ui.status.setText(
                    "Connected to AeroQuad Flight Software v" + version)

                if version == '3.2':
                    self._protocol_handler = AQV32ProtocolHandler(
                        self._communicator, self._vehicle_event_dispatcher)
                elif version == '4.0':
                    self._protocol_handler = AQV4ProtocolHandler(
                        self._communicator, self._vehicle_event_dispatcher)
                else:
                    logging.error("Flight software version " + version +
                                  " unsuported")
                    self.disconnectBoard()
                    self._ui.status.setText("Not connected to the AeroQuad")
                    return False

                self._ui_event_dispatcher.dispatch_event(
                    UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT, True)
                self._vehicle_event_dispatcher.dispatch_event(
                    VehicleEventDispatcher.SOFTWARE_VERSION_EVENT, version)
                self._protocol_handler.request_board_configuration()
                self._ui_event_dispatcher.dispatch_event(
                    UIEventDispatcher.PROTOCOL_HANDLER_EVENT,
                    self._protocol_handler)
                self._ui_event_dispatcher.dispatch_event(
                    UIEventDispatcher.DISPLAY_PANEL_EVENT,
                    PanelsContextBuilder.VEHICLE_INFORMATION_PANEL_ID)
                return True

            else:
                self.disconnect_from_aeroquad()
                self._ui.status.setText("Not connected to the AeroQuad")
                #                if self.manualConnect:
                QtGui.QMessageBox.information(
                    self, "Connection Error",
                    "Unable to connect to the AeroQuad.  Verify the board is plugged in.\n\nIf it is, try increasing the Boot Up Delay.\nThis is found under File->Preferences->Boot Up Delay."
                )
                return False

        except SerialException:
            self._ui.buttonDisconnect.setEnabled(False)
            self._ui.buttonConnect.setEnabled(True)
            self._ui.comPort.setEnabled(True)
            self._ui.baudRate.setEnabled(True)
            self._ui.status.setText("Connection Failed")
            return False
Exemple #3
0
    def __init__(self, communicator, vehicle_event_dispatcher):
        ProtocolHandler.__init__(self, communicator, vehicle_event_dispatcher)

        self._motor_command = ''
 def __init__(self, communicator, vehicle_event_dispatcher):
     ProtocolHandler.__init__(self, communicator, vehicle_event_dispatcher)
     
     self._motor_command = ''