class ppBousoleWidget(QWidget):
def __init__(self):
QWidget.__init__(self)
self._y = 0
self._frame = QFrame()
self._lYaw = QLabel(str(0))
self._lYaw.setMaximumWidth(35)
self.setMaximumSize(85, 50)
llayout = QVBoxLayout()
llayout.setSpacing(0)
llayout.setMargin(0)
llayout.addWidget(self._lYaw)
layout = QHBoxLayout()
layout.setSpacing(0)
layout.setMargin(0)
layout.addWidget(self._frame)
layout.addLayout(llayout)
self.setLayout(layout)
def __del__(self):
pass
def paintEvent(self, paintEvent):
painter = QPainter(self)
r = self._frame.rect()
r -= QMargins(3, 3, 3, 4)
painter.drawRect(r)
painter.translate(r.width() / 2 + r.left(), r.height() / 2 + r.top())
painter.drawLine(0, r.height() / 3, 0, -r.height() / 3)
painter.rotate(self._y)
painter.drawLine(0, -r.height() / 2, 3, -r.height() / 2 + 7)
painter.drawLine(-3, -r.height() / 2 + 7, 3, -r.height() / 2 + 7)
painter.drawLine(-3, -r.height() / 2 + 7, 0, -r.height() / 2)
painter.drawLine(-r.height() / 2, 0, -r.height() / 2 + 5, 0)
painter.drawLine(r.height() / 2, 0, r.height() / 2 - 5, 0)
painter.drawLine(0, r.height() / 2, 0, r.height() / 2 - 5)
for i in range(0, 360, 10):
painter.drawLine(0, -r.height() / 2, 0, -r.height() / 2 + 3)
painter.rotate(10)
@property
def yaw(self):
return self._y
@yaw.setter
def yaw(self, v):
self._y = v
self._lYaw.setText(str(round(v)))
self.update()
def resizeEvent(self, event):
pass
class ppControlWidget(QWidget, QThread):
def __init__(self):
QWidget.__init__(self)
QThread.__init__(self)
pygame.init()
pygame.joystick.init()
self._joycnt = pygame.joystick.get_count()
print(self._joycnt)
if (self._joycnt == 0):
print('no joystick found')
#sys.exit(0)
else:
pygame.joystick.Joystick(0).init()
if (pygame.joystick.Joystick(0).get_numaxes() < 4):
self._joycnt = 0
self._running = True
self._instance = None
self._periodicity = 0.05 #time period between loops
self.frame = QFrame()
self.frame.setFixedSize(100, 50)
self.btconfig = QPushButton(QIcon("res/config.png"), "")
self.setFixedSize(140, 50)
self.layout = QHBoxLayout()
self.layout.addWidget(self.frame)
self.layout.addWidget(self.btconfig)
self.setLayout(self.layout)
if (self._joycnt > 0):
self._joystick = pygame.joystick.Joystick(0)
self._joystick.init()
print(self._joystick.get_name())
pygame.event.pump()
self._Sticks = {
'gaz':
self._joystick.get_axis(joytofunc['functoaxis']['gaz']) *
joytofunc['funcreverse']['gaz'],
'yaw':
self._joystick.get_axis(joytofunc['functoaxis']['yaw']) *
joytofunc['funcreverse']['yaw'],
'pitch':
self._joystick.get_axis(joytofunc['functoaxis']['pitch']) *
joytofunc['funcreverse']['pitch'],
'roll':
self._joystick.get_axis(joytofunc['functoaxis']['roll']) *
joytofunc['funcreverse']['roll']
}
self._Switchs = {
'start':
self._joystick.get_button(joytofunc['functoswitch']['start']),
'rth':
self._joystick.get_button(joytofunc['functoswitch']['rth'])
}
else:
self._joystick = None
self._Sticks = {'gaz': 0, 'yaw': 0, 'pitch': 0, 'roll': 0}
self._Switchs = {'start': 0, 'rth': 0}
self.btconfig.clicked.connect(self.config)
self.ConfigDialog = ppConfigControlWindow(parent=self)
self.start()
def __del__(self):
self._running = False
pygame.quit()
def paintEvent(self, paintEvent):
painter = QPainter(self)
r = self.frame.rect()
r -= QMargins(0, 0, 1, 1)
painter.drawRect(r)
c1 = QPoint(r.width() / 4, r.height() / 2)
c2 = QPoint(3 * r.width() / 4, r.height() / 2)
r1 = (r.height() * 0.90) / 2
rc = (r.height() * 0.1) / 2
painter.drawEllipse(c1, r1, r1)
painter.drawEllipse(c2, r1, r1)
c1 = QPoint(r.width() / 4 + (self._Sticks['yaw'] * r1),
r.height() / 2 - (self._Sticks['gaz'] * r1))
c2 = QPoint(3 * r.width() / 4 + (self._Sticks['roll'] * r1),
r.height() / 2 - (self._Sticks['pitch'] * r1))
painter.drawEllipse(c1, rc, rc)
painter.drawEllipse(c2, rc, rc)
def resizeEvent(self, event):
pass
def run(self):
global bindaxis
while (self._running):
pygame.event.pump()
if (self._joycnt > 0):
self._Sticks = {
'gaz':
self._joystick.get_axis(joytofunc['functoaxis']['gaz']) *
joytofunc['funcreverse']['gaz'],
'yaw':
self._joystick.get_axis(joytofunc['functoaxis']['yaw']) *
joytofunc['funcreverse']['yaw'],
'pitch':
self._joystick.get_axis(joytofunc['functoaxis']['pitch']) *
joytofunc['funcreverse']['pitch'],
'roll':
self._joystick.get_axis(joytofunc['functoaxis']['roll']) *
joytofunc['funcreverse']['roll']
}
self._Switchs = {
'start':
self._joystick.get_button(
joytofunc['functoswitch']['start']),
'rth':
self._joystick.get_button(joytofunc['functoswitch']['rth'])
}
p = round(100 * self._Sticks['pitch'])
r = round(100 * self._Sticks['roll'])
y = round(100 * self._Sticks['yaw'])
t = round(100 * self._Sticks['gaz'])
to = self._Switchs['start']
rt = self._Switchs['rth']
self.ConfigDialog.freshValues(p, r, y, t, to, rt)
if (self._instance is not None):
self._instance.PCMD(p, r, y, t)
for event in pygame.event.get(): # User did something
if not (bindaxis == None):
if event.type == pygame.JOYAXISMOTION:
if abs(event.value) > 0.5:
joytofunc['functoaxis'][bindaxis] = event.axis
bindaxis = None
if event.type == pygame.JOYBUTTONDOWN:
joytofunc['functoswitch'][bindaxis] = event.button
bindaxis = None
if event.type == pygame.JOYBUTTONDOWN:
if (event.button in joytofunc['switchtofunc'].keys()):
if (joytofunc['switchtofunc'][event.button] == 'start'
):
try:
self._instance.tkof_lnd_emcy()
except:
print("no device selected")
if (joytofunc['switchtofunc'][event.button] == 'rth'):
try:
self._instance.rth()
except:
print("no device selected")
self.update()
time.sleep(self._periodicity)
def config(self):
w = self.ConfigDialog
w.show()
@property
def Sticks(self):
return self._Sticks
@property
def device(self):
return self._instance
@device.setter
def device(self, dev):
if dev is not None:
self._instance = dev
class ppHorizonWidget(QWidget):
def __init__(self):
QWidget.__init__(self)
self._r = 0
self._p = 0
self._y = 0
self._frame = QFrame()
self._lRoll = QLabel(str(0))
self._lRoll.setMaximumWidth(35)
self._lPitch = QLabel(str(0))
self._lPitch.setMaximumWidth(35)
self.setMaximumSize(150, 50)
llayout = QVBoxLayout()
llayout.setSpacing(0)
llayout.setMargin(0)
llayout.addWidget(self._lPitch)
llayout.addWidget(self._lRoll)
layout = QHBoxLayout()
layout.setSpacing(0)
layout.setMargin(0)
layout.addWidget(self._frame)
layout.addLayout(llayout)
self.setLayout(layout)
def __del__(self):
pass
def paintEvent(self, paintEvent):
painter = QPainter(self)
r = self._frame.rect()
r -= QMargins(3, 3, 3, 4)
painter.drawRect(r)
painter.translate(r.width() / 2 + r.left(), r.height() / 2 + r.top())
dp = math.degrees(self._p)
pr = r.height() / 90
painter.translate(0, pr * dp)
d = math.degrees(self._r)
painter.rotate(d)
painter.drawLine(-r.width() / 2, 0, r.width() / 2, 0)
painter.drawLine(0, r.height() / 2, 0, -r.height() / 2)
@property
def roll(self):
return self._r
@property
def pitch(self):
return self._p
@property
def yaw(self):
return self._y
@roll.setter
def roll(self, v):
self._r = v
self._lRoll.setText(str(round(math.degrees(v))) + '°')
self.update()
@pitch.setter
def pitch(self, v):
self._p = v
self._lPitch.setText(str(round(math.degrees(v))) + '°')
self.update()
@yaw.setter
def yaw(self, v):
self._y = v
self.update()
def resizeEvent(self, event):
pass
class ppGraphWidget(QWidget):
def __init__(self, p, title):
QWidget.__init__(self)
title = QLabel(title)
self._frame = QFrame()
self._lMax = QLabel(str(0))
self._lMax.setMaximumWidth(35)
self._lVal = QLabel(str(0))
self._lVal.setMaximumWidth(35)
self.setMaximumSize(200, 50)
llayout = QVBoxLayout()
llayout.setSpacing(0)
llayout.setMargin(0)
llayout.addWidget(title)
llayout.addWidget(self._lMax)
llayout.addWidget(self._lVal)
layout = QHBoxLayout()
layout.setSpacing(0)
layout.setMargin(0)
layout.addWidget(self._frame)
layout.addLayout(llayout)
self.setLayout(layout)
self._history = []
self._length = 10 # time to display in sec
self._max = 0.1
self._min = -0.1
self._val = 0
self._maxoflength = 0
self._periodicity = p #time period between value in sec
def __del__(self):
pass
@property
def period(self):
return self._periodicity
@period.setter
def period(self, v):
self._periodicity = v
def paintEvent(self, paintEvent):
painter = QPainter(self)
r = self._frame.rect()
r -= QMargins(3, 3, 3, 4)
painter.drawRect(r)
h = len(self._history)
if (h > 5):
csmp = round(self._length / self._periodicity)
xr = r.width() / (self._length / self._periodicity)
yr = r.height() / (self._max - self._min)
i = csmp #sample count to display
c = h - 1 #index to display
while (c > 0 and i > 0):
x1 = r.left() + xr * i
x2 = r.left() + xr * (i - 1)
v1 = self._history[c] - self._min
v2 = self._history[c - 1] - self._min
y1 = r.top() + r.height() - v1 * yr
y2 = r.top() + r.height() - v2 * yr
painter.drawLine(x1, y1, x2, y2)
i -= 1
c -= 1
def resizeEvent(self, event):
pass
def addValue(self, v):
self._max = max(v, self._max)
self._min = min(v, self._min)
self._val = v
self._lMax.setText(str(round(self._max)))
self._lVal.setText(str(round(self._val)))
self._history.append(v)
self.update()
