def modechange(self):
#IDLE->ARMED
if (self.mode == 0 and self.calstatus == 2):
self.LED.resize(80, 80)
self.LED.setStyleSheet(
"border: 1px solid black; background-color: green; border-radius: 40px;"
)
self.LED.setText(' Armed ')
if (self.disableUSB == 0):
#if we havent setup USB, do it here
if (self.USB.verify() == False):
self.USB = USBprimary()
if (self.USB != None):
self.USB.writeUSB(NMEA.Encode("ARMED", "1"))
elif (self.USB.verify() == True):
self.USB.writeUSB(NMEA.Encode("ARMED", "1"))
self.DataTimer.start()
self.mode = 1
elif (self.mode == 1 and self.calstatus == 2):
self.LED.resize(80, 80)
self.LED.setStyleSheet(
"border: 1px solid black; background-color: red; border-radius: 40px;"
)
self.LED.setText(' Idle ')
if (self.disableUSB == 0):
self.USB.writeUSB(NMEA.Encode("IDLE", "0"))
self.DataTimer.stop()
self.mode = 0
def UpdateSetpoints(self):
#makes sure we have a valid input
#X
if (self.XSET and self.XSPoint.hasAcceptableInput()):
self.XS.setText('X Setpoint (Current Value: %s)' % self.XSET)
else:
if (self.XSET == 0):
self.XS.setText('X Setpoint (Current Value: %s)' % 0)
else:
self.xflag = True
#Y
if (self.YSET and self.YSPoint.hasAcceptableInput()):
self.YS.setText('Y Setpoint (Current Value: %s)' % self.YSET)
else:
if (self.YSET == 0):
self.YS.setText('X Setpoint (Current Value: %s)' % 0)
else:
self.yflag = True
#Z
if (self.ZSET and self.ZSPoint.hasAcceptableInput()):
self.ZS.setText('Z Setpoint (Current Value: %s)' % self.ZSET)
else:
if (self.ZSET == 0):
self.ZS.setText('Z Setpoint (Current Value: %s)' % 0)
else:
self.zflag = True
#invalid input popup
if (self.xflag or self.yflag or self.zflag):
SPInvalid = QMessageBox()
SPInvalid.setText(
'Invalid input(s) for one or more axis setpoints; valid range is +/-150+axis null offset with 3 decimal place maximum precision for each setpoint'
)
self.xflag = False
self.yflag = False
self.zflag = False
SPInvalid.exec_()
#rounds the setpoint to 3 decimal places
self.XSET -= round(self.XNOFF, 3)
self.YSET -= round(self.YNOFF, 3)
self.ZSET -= round(self.ZNOFF, 3)
#encodes NMEA messages, subtracting NULL offset for each axis
self.XSETE = NMEA.Encode('SETX', str(self.XSET))
self.YSETE = NMEA.Encode('SETY', str(self.YSET))
self.ZSETE = NMEA.Encode('SETZ', str(self.ZSET))
# #send USB messages across USB endpoint
if (self.disableUSB == 0 and self.mode == 1):
self.USB.writeUSB(self.XSETE)
self.USB.writeUSB(self.YSETE)
self.USB.writeUSB(self.ZSETE)
def UpdateSetpoints(self):
#makes sure we have a valid input
#X
if (self.XSET and self.XSPoint.hasAcceptableInput()):
self.XS.setText('X Setpoint (Current Value: %s)' % self.XSET)
else:
if (self.XSET == 0):
self.XS.setText('X Setpoint (Current Value: %s)' % 0)
else:
self.xflag = True
#Y
if (self.YSET and self.YSPoint.hasAcceptableInput()):
self.YS.setText('Y Setpoint (Current Value: %s)' % self.YSET)
else:
if (self.YSET == 0):
self.YS.setText('X Setpoint (Current Value: %s)' % 0)
else:
self.yflag = True
#Z
if (self.ZSET and self.ZSPoint.hasAcceptableInput()):
self.ZS.setText('Z Setpoint (Current Value: %s)' % self.ZSET)
else:
if (self.ZSET == 0):
self.ZS.setText('Z Setpoint (Current Value: %s)' % 0)
else:
self.zflag = True
#invalid input popup
if (self.xflag or self.yflag or self.zflag):
SPInvalid = QMessageBox()
SPInvalid.setText(
'Invalid input(s) for one or more axis setpoints; valid range is -200 to 200 with 3 decimal place maximum precision for each setpoint'
)
self.xflag = False
self.yflag = False
self.zflag = False
SPInvalid.exec_()
#encodes NMEA messages
self.XSETE = NMEA.Encode('SETX', str(self.XSET))
self.YSETE = NMEA.Encode('SETY', str(self.YSET))
self.ZSETE = NMEA.Encode('SETZ', str(self.ZSET))
# NMEA.Decode(self.XSETE)
# #send USB messages
if (self.disableUSB == 0 and self.mode == 1):
self.USB.writeUSB(self.XSETE)
self.USB.writeUSB(self.YSETE)
self.USB.writeUSB(self.ZSETE)
import NMEA_0183 as NMEA
x = NMEA.Encode('XCUR', -89.69)
print(x)
def calibrate3HC(self):
# if(self.calstatus != 0):
self.XSETE = NMEA.Encode('SETX', 0)
self.YSETE = NMEA.Encode('SETY', 0)
self.ZSETE = NMEA.Encode('SETZ', 0)
#clear setpoints
self.USB.writeUSB(self.XSETE)
self.USB.writeUSB(self.YSETE)
self.USB.writeUSB(self.ZSETE)
#reset stored calibration values
xcal = 0
ycal = 0
zcal = 0
self.XCAL = 0
self.YCAL = 0
self.ZCAL = 0
self.calstatus = 1
#take 20 data samples for each axis of the magnetometer, then take the average on each axis
for x in range(0, 20):
self.USB.writeUSB(NMEA.Encode('READ', "XMAG"))
xcal = NMEA.Decode(self.USB.readUSB())
self.Calibration_Process(xcal)
self.USB.writeUSB(NMEA.Encode('READ', "YMAG"))
ycal = NMEA.Decode(self.USB.readUSB())
self.Calibration_Process(ycal)
# print('Y' + str(ycal))
self.USB.writeUSB(NMEA.Encode('READ', "ZMAG"))
zcal = NMEA.Decode(self.USB.readUSB())
self.Calibration_Process(zcal)
time.sleep(0.03)
#sleep gives better user interface experience
time.sleep(2)
#finish taking average
self.XNOFF = self.XCAL / 20
self.YNOFF = self.YCAL / 20
self.ZNOFF = self.ZCAL / 20
self.XNULLreadout.setText('%f' % self.XNOFF)
self.YNULLreadout.setText('%f' % self.YNOFF)
self.ZNULLreadout.setText('%f' % self.ZNOFF)
#adjusts setpoint input ranges to account for null offset
self.XSPoint.setValidator(
QDoubleValidator(-150.0 + self.XNOFF, 150.0 + self.XNOFF, 3))
self.YSPoint.setValidator(
QDoubleValidator(-150.0 + self.YNOFF, 150.0 + self.YNOFF, 3))
self.ZSPoint.setValidator(
QDoubleValidator(-150.0 + self.ZNOFF, 150.0 + self.ZNOFF, 3))
#enable user to arm 3HC
self.calstatus = 2
#update LED
self.CalLED.resize(80, 80)
self.CalLED.setStyleSheet(
"border: 1px solid black; background-color: green; border-radius: 40px;"
)
self.CalLED.setText(' Calibrated ')
def pulldata(self):
#reads all data sequentially and processes
if (self.disableUSB == 0 and self.mode == 1):
self.USB.writeUSB(NMEA.Encode('READ', "XCUR"))
CNMEA = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(CNMEA)
self.USB.writeUSB(NMEA.Encode('READ', "YCUR"))
CNMEA2 = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(CNMEA2)
self.USB.writeUSB(NMEA.Encode('READ', "ZCUR"))
CNMEA3 = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(CNMEA3)
self.USB.writeUSB(NMEA.Encode('READ', "XMAG"))
NNMEA = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(NNMEA)
self.USB.writeUSB(NMEA.Encode('READ', "YMAG"))
NNMEA2 = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(NNMEA2)
self.USB.writeUSB(NMEA.Encode('READ', "ZMAG"))
NNMEA3 = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(NNMEA3)
import NMEA_0183 as NMEA
x = NMEA.Encode('XCUR', 1.756)
print(x)
def __init__(self, parent):
super(QWidget, self).__init__(parent)
self.layout = QVBoxLayout(self)
self.tabs = QTabWidget()
self.tab1 = QWidget()
self.tab2 = QWidget()
self.tab3 = QWidget()
# self.tab4 = QWidget()
# self.tabs.resize(400,400)
# self.USB = None
#variables-----------------------------------------------
self.x = 0
self.y = 0
self.z = 0
self.test = 0
#setpoint values
self.XSET = 0.0
self.YSET = 0.0
self.ZSET = 0.0
#magnetometer data and arrays
self.XMAG = 0
self.YMAG = 0
self.ZMAG = 0
# self.XL = [0,0,0,0,0,0,0,0,0,0]
# self.YL = [0,0,0,0,0,0,0,0,0,0]
# self.ZL = [0,0,0,0,0,0,0,0,0,0]
#flags for invalid setpoint input
self.xflag = False
self.yflag = False
self.zflag = False
#null offsets
self.XNOFF = 0
self.YNOFF = 0
self.ZNOFF = 0
#Current Sensor
self.XCUR = 0
self.YCUR = 0
self.ZCUR = 0
#other
self.test = 0
#make this 1 to stop USB with changing mode
self.disableUSB = 0
self.mode = 0
#this changes when system is changed from ARMED to IDLE
#1 = AMRED, 0 = IDLE
#end of variable declarations-----------------------------
#initializes tab UI for each tab
self.tab1UI()
self.tab2UI()
self.tab3UI()
# self.tab4UI()
#Qtimers for periodic value updating
#timer pulls data on 1/10 second interval
self.DataTimer = QTimer()
self.DataTimer.setInterval(100)
self.DataTimer.timeout.connect(self.pulldata)
if (self.disableUSB == 0 and self.mode == 1):
self.DataTimer.start()
# self.ITimer.start()
# self.PlotTimer.start()
self.tabs.addTab(self.tab1, "HHC")
# self.tabs.addTab(self.tab2,"HHC Field Vector Graphs")
self.tabs.addTab(self.tab2, "Solar Vectors")
self.tabs.addTab(self.tab3, "SOP and Useful Links")
# Add tabs to widget
self.layout.addWidget(self.tabs)
self.setLayout(self.layout)
# init USB
if (self.disableUSB == 0):
self.USB = USBprimary()
#check if USb is connected
if (self.USB.verify() == True):
print("USB connection verified")
if (self.disableUSB == 0 and self.mode == 1):
self.USB.writeUSB("\n")
self.USB.writeUSB(NMEA.Encode("ARMED", "1"))
if (self.disableUSB == 0 and self.mode == 0):
self.USB.writeUSB("\n")
self.USB.writeUSB(NMEA.Encode("IDLE", "0"))
def pulldata(self):
if (self.disableUSB == 0 and self.mode == 1):
self.USB.writeUSB(NMEA.Encode('READ', "XCUR"))
CNMEA = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(CNMEA)
self.USB.writeUSB(NMEA.Encode('READ', "YCUR"))
CNMEA2 = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(CNMEA2)
self.USB.writeUSB(NMEA.Encode('READ', "ZCUR"))
CNMEA3 = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(CNMEA3)
self.USB.writeUSB(NMEA.Encode('READ', "XNULL"))
NNMEA = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(NNMEA)
self.USB.writeUSB(NMEA.Encode('READ', "YNULL"))
NNMEA2 = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(NNMEA2)
self.USB.writeUSB(NMEA.Encode('READ', "ZNULL"))
NNMEA3 = NMEA.Decode(self.USB.readUSB())
self.Process_NMEA(NNMEA3)