def cb_bin_selector(self):
#stop all motion before switching
self.running=False
self.cb_stop()
# read configuration of target from qcombobox via header
self.bin = read_bin_config(self.bin_selector.currentText())
if is_connected_to_device(int(self.bin['stepper_address'],16)):
self.controls_group.setEnabled(True)
self.bin_status.addItem('[info] {} ready.'.format(self.bin['name']))
self.stepper = Stepper(self.bin['name'], int(self.bin['stepper_address'], 16), self.bin['stepper_port'],int(self.bin['io_address'],16)
,self.bin['pin_low_limit_sns'], self.bin['pin_high_limit_sns'])
else:
self.controls_group.setEnabled(False)
self.bin_status.addItem('[ERR ] {} not ready.'.format(self.bin['name']))
if self.bin['enabled']:
self.controls_group.setEnabled(True)
self.bin_status.addItem('[info] {} enabled.'.format(self.bin['name']))
else:
self.controls_group.setEnabled(False)
self.bin_status.addItem('[info] {} disabled'.format(self.bin['name']))
def __init__(self, dialog):
Ui_Controller.__init__(self)
self.setupUi(dialog)
self.running=False
# Step 1a : register callbacks for user interface events and sensors
self.pb_to_top.clicked.connect(self.thread_to_top)
self.pb_up.clicked.connect(self.cb_up)
self.pb_cycle.clicked.connect(self.thread_cycle)
self.pb_stop.clicked.connect(self.cb_stop)
self.pb_down.clicked.connect(self.cb_down)
self.pb_to_bottom.clicked.connect(self.thread_to_bottom)
self.pb_clear.clicked.connect(self.cb_clear)
self.pb_e_stop.clicked.connect(self.cb_e_stop)
self.bin_selector.currentIndexChanged.connect(self.cb_bin_selector)
# register 0 to 1 'rising edge' edge detector callback
self.detector_high_limit_sns = EdgeTrigger(self.cb_high_limit_sns)
self.detector_low_limit_sns = EdgeTrigger(self.cb_low_limit_sns)
# create main hardware object
# name, stepper_address, stepper_port,servo_address,servo_port,io_address pin_low_level_sns, pin_high_level_sns, pin_top_level_sns,enabled
#read bin configuration of default target, default is Bin-1
self.bin=read_bin_config('Bin0')
# check and create a list of dices
self.i2c_list = list_of_i2c_steppers()
self.bin_status.addItem('[info] {}'.format(self.i2c_list))
self.bin_status.addItem('[info] {} devices detected.'.format(len(self.i2c_list)))
#check and create default setup
if self.bin['enabled']: # from configuration
self.controls_group.setEnabled(True)
self.bin_status.addItem('[info] {} enabled'.format(self.bin['name']))
else:
self.controls_group.setEnabled(False)
self.bin_status.addItem('[info] {} disabled'.format(self.bin['name']))
if is_connected_to_device(int(self.bin['stepper_address'],16)):
self.controls_group.setEnabled(True)
self.bin_status.addItem('[info] {} ready.'.format(self.bin['name']))
self.stepper = Stepper(self.bin['name'],int(self.bin['stepper_address'],16),self.bin['stepper_port'],int(self.bin['io_address'],16)
,self.bin['pin_low_limit_sns'],self.bin['pin_high_limit_sns'])
self.stepper.start()
else:
self.controls_group.setEnabled(False)
self.bin_status.addItem('[ERR ] {} not ready.'.format(self.bin['name']))
# create IO object
#TODO do as above
self.expander = PCA9555(int(self.bin['io_address'],16))
# max counts interleaved mode for progress bar display
self.cnt_max = 5650 # initil calibration value
self.cnt = 0
def cb_input_selector(self):
# read configuration of target from qcombobox via header
# and convert to hex address
self.address = int(self.input_selector.currentText(),16)
if is_connected_to_device(self.address):
self.led_status.addItem('[info] {} ready.'.format(hex(self.address)))
self.ioExpander = PCA9555(self.address)
#self.ioExpander.setInputDirection(0xFFFF) # all pins
else:
self.led_status.addItem('[ERR ] {} not ready.'.format(hex(self.address)))
def cb_bin_selector(self):
# read configuration of target from qcombobox via header
# and convert to hex address
# add how to get from bin1 to object creation
self.servo = read_bin_config(self.bin_selector.currentText())
if is_connected_to_device(int(self.servo['servo_address'], 16)):
self.ejector_status.addItem('[info] {} ready.'.format(
self.servo['name']))
self.ejector = Ejector(self.servo['name'],
int(self.servo['servo_address'], 16),
self.servo['servo_port'])
self.led_ready.setEnabled(1)
self.ejector.start()
else:
self.led_ready.setEnabled(0)
self.ejector_status.addItem('[ERR ] {} not ready.'.format(
self.servo['name']))
else:
wiringpi.digitalWrite(PIFACE + 2,0)
# Step 3c : register edge detection status changes for all 3 sensors
self.detector_high_limit_sns(self.expander.digitalRead(self.bin['pin_high_limit_sns']))
self.detector_low_limit_sns(self.expander.digitalRead(self.bin['pin_low_limit_sns']))
# main program start
# initalize the io hardware interfaces
# expander.init()
piface.init()
#check if i2c bus devices are present
if not is_connected_to_device(0x70):
print "no stepper i2c device found!"
#sys.exit(1)
# create user interface MyBinControl
app = QtWidgets.QApplication(sys.argv)
dialog = QtWidgets.QTabWidget()
prog = MyBinControl(dialog)
dialog.show()
# setup timers to run heartbeat every 1/2 sec
timer = QtCore.QTimer()
timer.timeout.connect(prog.watchdog)
timer.start(500)