def __init__(self, parent = None):
super(MainWidget, self).__init__(parent)
# member variables
self._lTheorySpd = 0
self._rTheorySpd = 0
self._serialSend = SerialSend()
# mainWindow properties
self.setObjectName('MainWidget')
self.setWindowIcon(QIcon(':/image/default/app.icon'))
self.setWindowTitle('%s V%s' % (
qApp.applicationDisplayName(),
qApp.applicationVersion()))
self.resize(800, 480)
# mainWindow layout
# top
self.groupBoxTop = QGroupBox(self)
self.groupBoxTop.setObjectName('groupBoxTop')
# command dashboard
buttonLeftPower = JSwitchButton(parent = self.groupBoxTop)
buttonRightPower = JSwitchButton(parent = self.groupBoxTop)
buttonSettings = QPushButton(self.groupBoxTop)
buttonHistory = QPushButton(self.groupBoxTop)
buttonQuit = QPushButton(self.groupBoxTop)
buttonLeftPower.setObjectName('buttonLeftPower')
buttonRightPower.setObjectName('buttonRightPower')
buttonSettings.setObjectName('buttonSettings')
buttonHistory.setObjectName('buttonHistory')
buttonQuit.setObjectName('buttonQuit')
areaPortState = QWidget(self)
areaPortState.setObjectName('areaPortState')
areaPortState.setStyleSheet('QWidget#areaPortState{border-radius:3px;'
'border:1px solid #505050;'
'background-color:rgba(64,64,64,50);}')
vertLayoutPortState = QVBoxLayout(areaPortState)
vertLayoutPortState.setContentsMargins(50, 2, 50, 2)
vertLayoutPortState.setSpacing(3)
buttonPortState = JSwitchButton(pixmap = QPixmap(':/carmonitor/image/button-port-state.png'), parent = areaPortState)
buttonPortState.setObjectName('buttonPortState')
vertLayoutPortState.addWidget(QLabel('串口', areaPortState), 0, Qt.AlignHCenter)
vertLayoutPortState.addWidget(buttonPortState)
#
horiLayoutTop = QHBoxLayout(self.groupBoxTop)
horiLayoutTop.setContentsMargins(0, 0, 0, 0)
horiLayoutTop.addSpacing(25)
horiLayoutTop.addWidget(buttonSettings, 0, Qt.AlignLeft)
horiLayoutTop.addSpacing(20)
horiLayoutTop.addWidget(buttonHistory, 0, Qt.AlignLeft)
horiLayoutTop.addSpacing(65)
horiLayoutTop.addWidget(buttonLeftPower)
horiLayoutTop.addWidget(QLabel('左电源开关', self.groupBoxTop))
horiLayoutTop.addStretch()
horiLayoutTop.addWidget(areaPortState, 0, Qt.AlignTop)
horiLayoutTop.addStretch()
horiLayoutTop.addWidget(QLabel('右电源开关', self.groupBoxTop))
horiLayoutTop.addWidget(buttonRightPower)
horiLayoutTop.addSpacing(150)
horiLayoutTop.addWidget(buttonQuit, 0, Qt.AlignRight)
horiLayoutTop.addSpacing(25)
# middle
# curves
self.curveLBP = CurveWidget(title = '左刹车压力（MPa）', parent = self)
self.curveLRP = CurveWidget(title = '左转速（r/min）', parent = self)
self.curveRBP = CurveWidget(title = '右刹车压力（MPa）', parent = self)
self.curveRRP = CurveWidget(title = '右转速（r/min）', parent = self)
self.curveLBP.setObjectName('curveLBP')
self.curveLRP.setObjectName('curveLRP')
self.curveRBP.setObjectName('curveRBP')
self.curveRRP.setObjectName('curveRRP')
# self.curveLBP.setAxisScale(QwtPlot.yLeft, 0, 30, 5)
# areaMiddle
self.areaMiddle = QWidget(self)
self.areaMiddle.setObjectName('areaMiddle')
self.areaMiddle.setFixedWidth(280)
#
groupBoxStatus = QGroupBox(self)
groupBoxStatus.setObjectName('groupBoxStatus')
# status-view
gridLayoutStatus = QGridLayout(groupBoxStatus)
gridLayoutStatus.setContentsMargins(5, 5, 5, 5)
gridLayoutStatus.setHorizontalSpacing(8)
gridLayoutStatus.setVerticalSpacing(3)
# Brake-Command
editLeftBrakeCmd = QLineEdit(groupBoxStatus)
editRightBrakeCmd = QLineEdit(groupBoxStatus)
editLeftBrakeCmd.setObjectName('editLeftBrakeCmd')
editRightBrakeCmd.setObjectName('editRightBrakeCmd')
editLeftBrakeCmd.setReadOnly(True)
editRightBrakeCmd.setReadOnly(True)
gridLayoutStatus.addWidget(QLabel('刹车指令：', groupBoxStatus),
0, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(editLeftBrakeCmd, 1, 0, 1, 1)
gridLayoutStatus.addWidget(editRightBrakeCmd, 1, 1, 1, 1)
# Major Brake Pressure
self.editMLeftBrakeP = QLineEdit(groupBoxStatus)
self.editMRightBrakeP = QLineEdit(groupBoxStatus)
self.editMLeftBrakeP.setObjectName('editMLeftBrakeP')
self.editMRightBrakeP.setObjectName('editMRightBrakeP')
self.editMLeftBrakeP.setReadOnly(True)
self.editMRightBrakeP.setReadOnly(True)
gridLayoutStatus.addWidget(QLabel('主刹车压力：', groupBoxStatus),
2, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editMLeftBrakeP, 3, 0, 1, 1)
gridLayoutStatus.addWidget(self.editMRightBrakeP, 3, 1, 1, 1)
# Assistant Brake Pressure
self.editALeftBrakeP = QLineEdit(groupBoxStatus)
self.editARightBrakeP = QLineEdit(groupBoxStatus)
self.editALeftBrakeP.setObjectName('editALeftBrakeP')
self.editARightBrakeP.setObjectName('editARightBrakeP')
self.editALeftBrakeP.setReadOnly(True)
self.editARightBrakeP.setReadOnly(True)
gridLayoutStatus.addWidget(QLabel('副刹车压力：', groupBoxStatus),
4, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editALeftBrakeP, 5, 0, 1, 1)
gridLayoutStatus.addWidget(self.editARightBrakeP, 5, 1, 1, 1)
# Rotation Rate
self.editLeftRotateRate = QLineEdit(groupBoxStatus)
self.editRightRotateRate = QLineEdit(groupBoxStatus)
self.editLeftRotateRate.setObjectName('editLeftRotateRate')
self.editRightRotateRate.setObjectName('editRightRotateRate')
gridLayoutStatus.addWidget(QLabel('实际转速：', groupBoxStatus),
6, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editLeftRotateRate, 7, 0, 1, 1)
gridLayoutStatus.addWidget(self.editRightRotateRate, 7, 1, 1, 1)
# Theory Rotation Rate
self.editTheoryLeftRotateRate = QLineEdit(groupBoxStatus)
self.editTheoryRightRotateRate = QLineEdit(groupBoxStatus)
self.editTheoryLeftRotateRate.setObjectName('editTheoryLeftRotateRate')
self.editTheoryRightRotateRate.setObjectName('editTheoryRightRotateRate')
gridLayoutStatus.addWidget(QLabel('理论转速：', groupBoxStatus),
8, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editTheoryLeftRotateRate, 9, 0, 1, 1)
gridLayoutStatus.addWidget(self.editTheoryRightRotateRate, 9, 1, 1, 1)
#
groupBoxCtrl = QGroupBox(self)
groupBoxCtrl.setObjectName('groupBoxCtrl')
# status-view
gridLayoutCtrl = QGridLayout(groupBoxCtrl)
gridLayoutCtrl.setContentsMargins(5, 5, 5, 5)
gridLayoutCtrl.setSpacing(20)
# left-button
buttonLeftDashboard = JDashButton('左指令旋钮', groupBoxCtrl)
buttonLeftSpeedGain = JDashButton('左转速增益', groupBoxCtrl)
buttonLeftSpeedKnob = JDashButton('左转速增益', groupBoxCtrl)
buttonLeftTracksip = JTracksipButton(parent = groupBoxCtrl)
buttonLeftDashboard.setObjectName('buttonLeftDashboard')
buttonLeftSpeedGain.setObjectName('buttonLeftSpeedGain')
buttonLeftSpeedKnob.setObjectName('buttonLeftSpeedKnob')
buttonLeftTracksip.setObjectName('buttonLeftTracksip')
buttonLeftTracksip.setFixedSize(110, 45)
# right-button
buttonRightDashboard = JDashButton('右指令旋钮', groupBoxCtrl)
buttonRightSpeedGain = JDashButton('右转速增益', groupBoxCtrl)
buttonRightSpeedKnob = JDashButton('右转速增益', groupBoxCtrl)
buttonRightTracksip = JTracksipButton(parent = groupBoxCtrl)
buttonRightDashboard.setObjectName('buttonRightDashboard')
buttonRightSpeedGain.setObjectName('buttonRightSpeedGain')
buttonRightSpeedKnob.setObjectName('buttonRightSpeedKnob')
buttonRightTracksip.setObjectName('buttonRightTracksip')
buttonRightTracksip.setFixedSize(110, 45)
horiLayoutTracksip = QHBoxLayout()
horiLayoutTracksip.setContentsMargins(0, 0, 0, 0)
horiLayoutTracksip.setSpacing(5)
horiLayoutTracksip.addWidget(buttonLeftTracksip)
horiLayoutTracksip.addWidget(QLabel('打滑', self), 0, Qt.AlignHCenter)
horiLayoutTracksip.addWidget(buttonRightTracksip)
gridLayoutCtrl.addLayout(horiLayoutTracksip, 0, 0, 1, 2)
horiLayoutDashboard = QHBoxLayout()
horiLayoutDashboard.setContentsMargins(0, 0, 0, 0)
horiLayoutDashboard.setSpacing(5)
horiLayoutDashboard.addWidget(buttonLeftDashboard)
horiLayoutDashboard.addWidget(QLabel(' ', self), 0, Qt.AlignHCenter)
horiLayoutDashboard.addWidget(buttonRightDashboard)
gridLayoutCtrl.addLayout(horiLayoutDashboard, 1, 0, 1, 2)
horiLayoutSpeedGain = QHBoxLayout()
horiLayoutSpeedGain.setContentsMargins(0, 0, 0, 0)
horiLayoutSpeedGain.setSpacing(5)
horiLayoutSpeedGain.addWidget(buttonLeftSpeedGain)
horiLayoutSpeedGain.addWidget(QLabel('(粗调)', self), 0, Qt.AlignHCenter)
horiLayoutSpeedGain.addWidget(buttonRightSpeedGain)
gridLayoutCtrl.addLayout(horiLayoutSpeedGain, 2, 0, 1, 2)
horiLayoutSpeedKnob = QHBoxLayout()
horiLayoutSpeedKnob.setContentsMargins(0, 0, 0, 0)
horiLayoutSpeedKnob.setSpacing(5)
horiLayoutSpeedKnob.addWidget(buttonLeftSpeedKnob)
horiLayoutSpeedKnob.addWidget(QLabel('(细调)', self), 0, Qt.AlignHCenter)
horiLayoutSpeedKnob.addWidget(buttonRightSpeedKnob)
gridLayoutCtrl.addLayout(horiLayoutSpeedKnob, 3, 0, 1, 2)
#
vertLayoutMid = QVBoxLayout(self.areaMiddle)
vertLayoutMid.setContentsMargins(0, 0, 0, 0)
vertLayoutMid.setSpacing(0)
vertLayoutMid.addWidget(groupBoxStatus)
vertLayoutMid.addWidget(groupBoxCtrl)
vertLayoutMid.addSpacing(20)
#
gridLayoutBottom = QGridLayout()
gridLayoutBottom.setContentsMargins(0, 0, 0, 0)
gridLayoutBottom.setSpacing(1)
gridLayoutBottom.addWidget(self.curveLBP, 0, 0, 1, 1)
gridLayoutBottom.addWidget(self.curveLRP, 1, 0, 1, 1)
gridLayoutBottom.addWidget(self.areaMiddle, 0, 1, 2, 1)
gridLayoutBottom.addWidget(self.curveRBP, 0, 2, 1, 1)
gridLayoutBottom.addWidget(self.curveRRP, 1, 2, 1, 1)
# main-layout
vertLayoutMain = QVBoxLayout(self)
vertLayoutMain.setContentsMargins(5, 5, 5, 5)
vertLayoutMain.addWidget(self.groupBoxTop)
vertLayoutMain.addLayout(gridLayoutBottom)
# global properties
qApp.setProperty('MainWidget', self)
self._serialProxy = SerialPortProxy(self)
self._serialProxy._serialSimulate = SerialSimulate(self._serialProxy) #
qApp.setProperty('SerialProxy', self._serialProxy)
#
buttonSettings.clicked.connect(self.onButtonSettingsClicked)
buttonHistory.clicked.connect(self.onButtonHistoryClicked)
buttonPortState.clicked.connect(self.onButtonPortStateClicked)
buttonQuit.clicked.connect(self.onButtonQuitClicked)
# curves
self.curveLBP.doubleClicked.connect(self.onCurveDoubleClicked)
self.curveLRP.doubleClicked.connect(self.onCurveDoubleClicked)
self.curveRBP.doubleClicked.connect(self.onCurveDoubleClicked)
self.curveRRP.doubleClicked.connect(self.onCurveDoubleClicked)
# switch-power
buttonLeftPower.stateChanged.connect(self.onButtonLeftPowerStateChanged)
buttonRightPower.stateChanged.connect(self.onButtonRightPowerStateChanged)
# switch-tracksip
buttonLeftTracksip.stateChanged.connect(self.onButtonLeftTracksipStateChanged)
buttonRightTracksip.stateChanged.connect(self.onButtonRightTracksipStateChanged)
self._serialProxy.stateChanged.connect(self.onSerialStateChanged)
self._serialProxy.serialPortError.connect(self.onSerialPortError)
self._serialProxy.displayRespond.connect(self.onSerialDisplayRespond)
#
buttonLeftSpeedGain.clicked.connect(self.execSliderWidget)
buttonLeftSpeedKnob.clicked.connect(self.execSliderWidget)
buttonRightSpeedGain.clicked.connect(self.execSliderWidget)
buttonRightSpeedKnob.clicked.connect(self.execSliderWidget)
# final initialization
self.editMLeftBrakeP.setText('0 MPa')
self.editMRightBrakeP.setText('0 MPa')
self.editALeftBrakeP.setText('0 MPa')
self.editARightBrakeP.setText('0 MPa')
self.editLeftRotateRate.setText('0 r/min')
self.editRightRotateRate.setText('0 r/min')
self.editTheoryLeftRotateRate.setText('0 r/min')
self.editTheoryRightRotateRate.setText('0 r/min')
#
c_memset(self._serialSend, 0, ctypes.sizeof(self._serialSend))
# SQL
sqlName = applicationDirPath() \
+ '/../data/cm-' \
+ QDateTime.currentDateTime().toLocalTime().toString('yyyy-MM-dd-HH-mm-ss') \
+ '.db'
if not DatabaseMgr().create(sqlName):
assert(False)
# start serialport
self._serialProxy.start()
#
buttonLeftTracksip.setState(self._serialSend.ctrlWord.lTracksip)
buttonRightTracksip.setState(self._serialSend.ctrlWord.lTracksip)
def dispatch(self):
# save as...
self._serialSend.unpack(bytes(self._pkgBuff))
# send
self._serialRecv.lWheelSpd = self.convertToASCII(int(self._serialSend.lWheelSpd / 42.94967296))
self._serialRecv.rWheelSpd = self.convertToASCII(int(self._serialSend.rWheelSpd / 42.94967296))
self._serialRecv.sum = SerialPortProxy.serialPortRecvSum(self._serialRecv)
self.writeData(self._serialRecv)
def valueChanged(value):
self._rTheorySpd = value
buttonRightSpeedSwitch = self.findChild(QPushButton, 'buttonRightSpeedSwitch')
if buttonRightSpeedSwitch:
buttonRightSpeedSwitch.setText('右转速关' if value == 0.0 else '右转速开');
lineEdit.setText(('%.2f' % value) + suffix)
# send
self._serialSend.index += 1
self._serialSend.rWheelSpd = int(value * 42.94967296)
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def __init__(self, parent = None):
super(SerialSimulate, self).__init__(parent)
self.setObjectName('SerialSimulate')
#
self._currIndex = 0
self._currFrameId = 0
self._frameSize = 0
self._streamBuff = []
self._newBuff = [0] * 4096
self._pkgBuff = [0] * 100
self._serialSend = SerialSend()
self._serialRecv = SerialRecv()
self._serialConfig = SerialPortConfig()
self._serialPort = QSerialPort(self)
#
self._serialPort.error.connect(self.onSerialPortError)
self._serialPort.readyRead.connect(self.readData)
#
self._serialPort.setPortName('COM5')
if self._serialPort.open(QIODevice.ReadWrite):
self._serialPort.setBaudRate(QSerialPort.Baud115200)
self._serialPort.setDataBits(QSerialPort.Data8)
self._serialPort.setParity(QSerialPort.OddParity)
self._serialPort.setStopBits(QSerialPort.OneStop)
self.stateChanged.emit('Open')
#
self._serialRecv.lMBrakeP = SerialPortProxy.swapUint16(0)
self._serialRecv.rMBrakeP = SerialPortProxy.swapUint16(0)
self._serialRecv.lABrakeP = SerialPortProxy.swapUint16(5)
self._serialRecv.rABrakeP = SerialPortProxy.swapUint16(5)
self._serialRecv.lMRotateP = SerialPortProxy.swapUint16(0)
self._serialRecv.rMRotateP = SerialPortProxy.swapUint16(0)
self._serialRecv.lARotateP = SerialPortProxy.swapUint16(5)
self._serialRecv.rARotateP = SerialPortProxy.swapUint16(5)
self._serialRecv.lWheelSpd = self.convertToASCII(100)
self._serialRecv.rWheelSpd = self.convertToASCII(100)
#
self._timerId = self.startTimer(100, Qt.PreciseTimer)
def timerEvent(self, event):
step = 1
if event.timerId() == self._timerId:
self._serialRecv.index += 1
if self._serialSend.ctrlWord.lPowerSw:
self._serialRecv.lMBrakeP = self.stepInc(self._serialRecv.lMBrakeP, step, 30)
self._serialRecv.lABrakeP = self.stepInc(self._serialRecv.lABrakeP, step, 30)
self._serialRecv.lMRotateP = self.stepInc(self._serialRecv.lMRotateP, step, 30)
self._serialRecv.lARotateP = self.stepInc(self._serialRecv.lARotateP, step, 30)
self._serialRecv.lWheelSpd = self.stepInc(self._serialRecv.lWheelSpd, step, 3000)
if self._serialSend.ctrlWord.rPowerSw:
self._serialRecv.rMBrakeP = self.stepInc(self._serialRecv.rMBrakeP, step, 30)
self._serialRecv.rABrakeP = self.stepInc(self._serialRecv.rABrakeP, step, 30)
self._serialRecv.rMRotateP = self.stepInc(self._serialRecv.rMRotateP, step, 30)
self._serialRecv.rARotateP = self.stepInc(self._serialRecv.rARotateP, step, 30)
self._serialRecv.rWheelSpd = self.stepInc(self._serialRecv.rWheelSpd, step, 3000)
self._serialRecv.sum = SerialPortProxy.serialPortRecvSum(self._serialRecv)
self.writeData(self._serialRecv)
def stepInc(value, step, maxValue):
value = SerialPortProxy.swapUint16(value) + step # + random() % 50
if value > maxValue:
value = 0
return SerialPortProxy.swapUint16(value)
def stepWheelSpd(value, step, maxValue):
value = SerialPortProxy.convertFromASCII(value) + step
if value > maxValue:
value = 0
return SerialSimulate.convertToASCII(value)
def onButtonRightTracksipStateChanged(self, checked):
self._serialSend.ctrlWord.rTracksip = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def onButtonLeftPowerStateChanged(self, checked):
self._serialSend.ctrlWord.lPowerSw = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
class MainWidget(QWidget):
'''
class MainWidget
'''
def __init__(self, parent = None):
super(MainWidget, self).__init__(parent)
# member variables
self._lTheorySpd = 0
self._rTheorySpd = 0
self._serialSend = SerialSend()
# mainWindow properties
self.setObjectName('MainWidget')
self.setWindowIcon(QIcon(':/image/default/app.icon'))
self.setWindowTitle('%s V%s' % (
qApp.applicationDisplayName(),
qApp.applicationVersion()))
self.resize(800, 480)
# mainWindow layout
# top
self.groupBoxTop = QGroupBox(self)
self.groupBoxTop.setObjectName('groupBoxTop')
# command dashboard
buttonLeftPower = JSwitchButton(parent = self.groupBoxTop)
buttonRightPower = JSwitchButton(parent = self.groupBoxTop)
buttonSettings = QPushButton(self.groupBoxTop)
buttonHistory = QPushButton(self.groupBoxTop)
buttonQuit = QPushButton(self.groupBoxTop)
buttonLeftPower.setObjectName('buttonLeftPower')
buttonRightPower.setObjectName('buttonRightPower')
buttonSettings.setObjectName('buttonSettings')
buttonHistory.setObjectName('buttonHistory')
buttonQuit.setObjectName('buttonQuit')
areaPortState = QWidget(self)
areaPortState.setObjectName('areaPortState')
areaPortState.setStyleSheet('QWidget#areaPortState{border-radius:3px;'
'border:1px solid #505050;'
'background-color:rgba(64,64,64,50);}')
vertLayoutPortState = QVBoxLayout(areaPortState)
vertLayoutPortState.setContentsMargins(50, 2, 50, 2)
vertLayoutPortState.setSpacing(3)
buttonPortState = JSwitchButton(pixmap = QPixmap(':/carmonitor/image/button-port-state.png'), parent = areaPortState)
buttonPortState.setObjectName('buttonPortState')
vertLayoutPortState.addWidget(QLabel('串口', areaPortState), 0, Qt.AlignHCenter)
vertLayoutPortState.addWidget(buttonPortState)
#
horiLayoutTop = QHBoxLayout(self.groupBoxTop)
horiLayoutTop.setContentsMargins(0, 0, 0, 0)
horiLayoutTop.addSpacing(25)
horiLayoutTop.addWidget(buttonSettings, 0, Qt.AlignLeft)
horiLayoutTop.addSpacing(20)
horiLayoutTop.addWidget(buttonHistory, 0, Qt.AlignLeft)
horiLayoutTop.addSpacing(65)
horiLayoutTop.addWidget(buttonLeftPower)
horiLayoutTop.addWidget(QLabel('左电源开关', self.groupBoxTop))
horiLayoutTop.addStretch()
horiLayoutTop.addWidget(areaPortState, 0, Qt.AlignTop)
horiLayoutTop.addStretch()
horiLayoutTop.addWidget(QLabel('右电源开关', self.groupBoxTop))
horiLayoutTop.addWidget(buttonRightPower)
horiLayoutTop.addSpacing(150)
horiLayoutTop.addWidget(buttonQuit, 0, Qt.AlignRight)
horiLayoutTop.addSpacing(25)
# middle
# curves
self.curveLBP = CurveWidget(title = '左刹车压力（MPa）', parent = self)
self.curveLRP = CurveWidget(title = '左转速（r/min）', parent = self)
self.curveRBP = CurveWidget(title = '右刹车压力（MPa）', parent = self)
self.curveRRP = CurveWidget(title = '右转速（r/min）', parent = self)
self.curveLBP.setObjectName('curveLBP')
self.curveLRP.setObjectName('curveLRP')
self.curveRBP.setObjectName('curveRBP')
self.curveRRP.setObjectName('curveRRP')
# self.curveLBP.setAxisScale(QwtPlot.yLeft, 0, 30, 5)
# areaMiddle
self.areaMiddle = QWidget(self)
self.areaMiddle.setObjectName('areaMiddle')
self.areaMiddle.setFixedWidth(280)
#
groupBoxStatus = QGroupBox(self)
groupBoxStatus.setObjectName('groupBoxStatus')
# status-view
gridLayoutStatus = QGridLayout(groupBoxStatus)
gridLayoutStatus.setContentsMargins(5, 5, 5, 5)
gridLayoutStatus.setHorizontalSpacing(8)
gridLayoutStatus.setVerticalSpacing(3)
# Brake-Command
editLeftBrakeCmd = QLineEdit(groupBoxStatus)
editRightBrakeCmd = QLineEdit(groupBoxStatus)
editLeftBrakeCmd.setObjectName('editLeftBrakeCmd')
editRightBrakeCmd.setObjectName('editRightBrakeCmd')
editLeftBrakeCmd.setReadOnly(True)
editRightBrakeCmd.setReadOnly(True)
gridLayoutStatus.addWidget(QLabel('刹车指令：', groupBoxStatus),
0, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(editLeftBrakeCmd, 1, 0, 1, 1)
gridLayoutStatus.addWidget(editRightBrakeCmd, 1, 1, 1, 1)
# Major Brake Pressure
self.editMLeftBrakeP = QLineEdit(groupBoxStatus)
self.editMRightBrakeP = QLineEdit(groupBoxStatus)
self.editMLeftBrakeP.setObjectName('editMLeftBrakeP')
self.editMRightBrakeP.setObjectName('editMRightBrakeP')
self.editMLeftBrakeP.setReadOnly(True)
self.editMRightBrakeP.setReadOnly(True)
gridLayoutStatus.addWidget(QLabel('主刹车压力：', groupBoxStatus),
2, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editMLeftBrakeP, 3, 0, 1, 1)
gridLayoutStatus.addWidget(self.editMRightBrakeP, 3, 1, 1, 1)
# Assistant Brake Pressure
self.editALeftBrakeP = QLineEdit(groupBoxStatus)
self.editARightBrakeP = QLineEdit(groupBoxStatus)
self.editALeftBrakeP.setObjectName('editALeftBrakeP')
self.editARightBrakeP.setObjectName('editARightBrakeP')
self.editALeftBrakeP.setReadOnly(True)
self.editARightBrakeP.setReadOnly(True)
gridLayoutStatus.addWidget(QLabel('副刹车压力：', groupBoxStatus),
4, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editALeftBrakeP, 5, 0, 1, 1)
gridLayoutStatus.addWidget(self.editARightBrakeP, 5, 1, 1, 1)
# Rotation Rate
self.editLeftRotateRate = QLineEdit(groupBoxStatus)
self.editRightRotateRate = QLineEdit(groupBoxStatus)
self.editLeftRotateRate.setObjectName('editLeftRotateRate')
self.editRightRotateRate.setObjectName('editRightRotateRate')
gridLayoutStatus.addWidget(QLabel('实际转速：', groupBoxStatus),
6, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editLeftRotateRate, 7, 0, 1, 1)
gridLayoutStatus.addWidget(self.editRightRotateRate, 7, 1, 1, 1)
# Theory Rotation Rate
self.editTheoryLeftRotateRate = QLineEdit(groupBoxStatus)
self.editTheoryRightRotateRate = QLineEdit(groupBoxStatus)
self.editTheoryLeftRotateRate.setObjectName('editTheoryLeftRotateRate')
self.editTheoryRightRotateRate.setObjectName('editTheoryRightRotateRate')
gridLayoutStatus.addWidget(QLabel('理论转速：', groupBoxStatus),
8, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editTheoryLeftRotateRate, 9, 0, 1, 1)
gridLayoutStatus.addWidget(self.editTheoryRightRotateRate, 9, 1, 1, 1)
#
groupBoxCtrl = QGroupBox(self)
groupBoxCtrl.setObjectName('groupBoxCtrl')
# status-view
gridLayoutCtrl = QGridLayout(groupBoxCtrl)
gridLayoutCtrl.setContentsMargins(5, 5, 5, 5)
gridLayoutCtrl.setSpacing(20)
# left-button
buttonLeftDashboard = JDashButton('左指令旋钮', groupBoxCtrl)
buttonLeftSpeedGain = JDashButton('左转速增益', groupBoxCtrl)
buttonLeftSpeedKnob = JDashButton('左转速增益', groupBoxCtrl)
buttonLeftTracksip = JTracksipButton(parent = groupBoxCtrl)
buttonLeftDashboard.setObjectName('buttonLeftDashboard')
buttonLeftSpeedGain.setObjectName('buttonLeftSpeedGain')
buttonLeftSpeedKnob.setObjectName('buttonLeftSpeedKnob')
buttonLeftTracksip.setObjectName('buttonLeftTracksip')
buttonLeftTracksip.setFixedSize(110, 45)
# right-button
buttonRightDashboard = JDashButton('右指令旋钮', groupBoxCtrl)
buttonRightSpeedGain = JDashButton('右转速增益', groupBoxCtrl)
buttonRightSpeedKnob = JDashButton('右转速增益', groupBoxCtrl)
buttonRightTracksip = JTracksipButton(parent = groupBoxCtrl)
buttonRightDashboard.setObjectName('buttonRightDashboard')
buttonRightSpeedGain.setObjectName('buttonRightSpeedGain')
buttonRightSpeedKnob.setObjectName('buttonRightSpeedKnob')
buttonRightTracksip.setObjectName('buttonRightTracksip')
buttonRightTracksip.setFixedSize(110, 45)
horiLayoutTracksip = QHBoxLayout()
horiLayoutTracksip.setContentsMargins(0, 0, 0, 0)
horiLayoutTracksip.setSpacing(5)
horiLayoutTracksip.addWidget(buttonLeftTracksip)
horiLayoutTracksip.addWidget(QLabel('打滑', self), 0, Qt.AlignHCenter)
horiLayoutTracksip.addWidget(buttonRightTracksip)
gridLayoutCtrl.addLayout(horiLayoutTracksip, 0, 0, 1, 2)
horiLayoutDashboard = QHBoxLayout()
horiLayoutDashboard.setContentsMargins(0, 0, 0, 0)
horiLayoutDashboard.setSpacing(5)
horiLayoutDashboard.addWidget(buttonLeftDashboard)
horiLayoutDashboard.addWidget(QLabel(' ', self), 0, Qt.AlignHCenter)
horiLayoutDashboard.addWidget(buttonRightDashboard)
gridLayoutCtrl.addLayout(horiLayoutDashboard, 1, 0, 1, 2)
horiLayoutSpeedGain = QHBoxLayout()
horiLayoutSpeedGain.setContentsMargins(0, 0, 0, 0)
horiLayoutSpeedGain.setSpacing(5)
horiLayoutSpeedGain.addWidget(buttonLeftSpeedGain)
horiLayoutSpeedGain.addWidget(QLabel('(粗调)', self), 0, Qt.AlignHCenter)
horiLayoutSpeedGain.addWidget(buttonRightSpeedGain)
gridLayoutCtrl.addLayout(horiLayoutSpeedGain, 2, 0, 1, 2)
horiLayoutSpeedKnob = QHBoxLayout()
horiLayoutSpeedKnob.setContentsMargins(0, 0, 0, 0)
horiLayoutSpeedKnob.setSpacing(5)
horiLayoutSpeedKnob.addWidget(buttonLeftSpeedKnob)
horiLayoutSpeedKnob.addWidget(QLabel('(细调)', self), 0, Qt.AlignHCenter)
horiLayoutSpeedKnob.addWidget(buttonRightSpeedKnob)
gridLayoutCtrl.addLayout(horiLayoutSpeedKnob, 3, 0, 1, 2)
#
vertLayoutMid = QVBoxLayout(self.areaMiddle)
vertLayoutMid.setContentsMargins(0, 0, 0, 0)
vertLayoutMid.setSpacing(0)
vertLayoutMid.addWidget(groupBoxStatus)
vertLayoutMid.addWidget(groupBoxCtrl)
vertLayoutMid.addSpacing(20)
#
gridLayoutBottom = QGridLayout()
gridLayoutBottom.setContentsMargins(0, 0, 0, 0)
gridLayoutBottom.setSpacing(1)
gridLayoutBottom.addWidget(self.curveLBP, 0, 0, 1, 1)
gridLayoutBottom.addWidget(self.curveLRP, 1, 0, 1, 1)
gridLayoutBottom.addWidget(self.areaMiddle, 0, 1, 2, 1)
gridLayoutBottom.addWidget(self.curveRBP, 0, 2, 1, 1)
gridLayoutBottom.addWidget(self.curveRRP, 1, 2, 1, 1)
# main-layout
vertLayoutMain = QVBoxLayout(self)
vertLayoutMain.setContentsMargins(5, 5, 5, 5)
vertLayoutMain.addWidget(self.groupBoxTop)
vertLayoutMain.addLayout(gridLayoutBottom)
# global properties
qApp.setProperty('MainWidget', self)
self._serialProxy = SerialPortProxy(self)
self._serialProxy._serialSimulate = SerialSimulate(self._serialProxy) #
qApp.setProperty('SerialProxy', self._serialProxy)
#
buttonSettings.clicked.connect(self.onButtonSettingsClicked)
buttonHistory.clicked.connect(self.onButtonHistoryClicked)
buttonPortState.clicked.connect(self.onButtonPortStateClicked)
buttonQuit.clicked.connect(self.onButtonQuitClicked)
# curves
self.curveLBP.doubleClicked.connect(self.onCurveDoubleClicked)
self.curveLRP.doubleClicked.connect(self.onCurveDoubleClicked)
self.curveRBP.doubleClicked.connect(self.onCurveDoubleClicked)
self.curveRRP.doubleClicked.connect(self.onCurveDoubleClicked)
# switch-power
buttonLeftPower.stateChanged.connect(self.onButtonLeftPowerStateChanged)
buttonRightPower.stateChanged.connect(self.onButtonRightPowerStateChanged)
# switch-tracksip
buttonLeftTracksip.stateChanged.connect(self.onButtonLeftTracksipStateChanged)
buttonRightTracksip.stateChanged.connect(self.onButtonRightTracksipStateChanged)
self._serialProxy.stateChanged.connect(self.onSerialStateChanged)
self._serialProxy.serialPortError.connect(self.onSerialPortError)
self._serialProxy.displayRespond.connect(self.onSerialDisplayRespond)
#
buttonLeftSpeedGain.clicked.connect(self.execSliderWidget)
buttonLeftSpeedKnob.clicked.connect(self.execSliderWidget)
buttonRightSpeedGain.clicked.connect(self.execSliderWidget)
buttonRightSpeedKnob.clicked.connect(self.execSliderWidget)
# final initialization
self.editMLeftBrakeP.setText('0 MPa')
self.editMRightBrakeP.setText('0 MPa')
self.editALeftBrakeP.setText('0 MPa')
self.editARightBrakeP.setText('0 MPa')
self.editLeftRotateRate.setText('0 r/min')
self.editRightRotateRate.setText('0 r/min')
self.editTheoryLeftRotateRate.setText('0 r/min')
self.editTheoryRightRotateRate.setText('0 r/min')
#
c_memset(self._serialSend, 0, ctypes.sizeof(self._serialSend))
# SQL
sqlName = applicationDirPath() \
+ '/../data/cm-' \
+ QDateTime.currentDateTime().toLocalTime().toString('yyyy-MM-dd-HH-mm-ss') \
+ '.db'
if not DatabaseMgr().create(sqlName):
assert(False)
# start serialport
self._serialProxy.start()
#
buttonLeftTracksip.setState(self._serialSend.ctrlWord.lTracksip)
buttonRightTracksip.setState(self._serialSend.ctrlWord.lTracksip)
def onButtonSettingsClicked(self):
self._serialProxy.save()
#
settingsWidget = SettingsWidget(self)
settingsWidget.exec_()
self._serialProxy.restore()
def onButtonHistoryClicked(self):
self._serialProxy.save()
DatabaseMgr().save()
#
historyWidget = HistoryWidget(self)
historyWidget.showMaximized()
historyWidget.exec_()
DatabaseMgr().restore()
self._serialProxy.restore()
def onButtonPortStateClicked(self, checked):
if checked:
self._serialProxy.start()
else:
self._serialProxy.stop()
def onButtonQuitClicked(self):
if QMessageBox.warning(self, '警告', '你确定要退出软件吗？',
QMessageBox.Ok | QMessageBox.No) == QMessageBox.Ok:
self.close()
def onCurveDoubleClicked(self, checked):
objectName = self.sender().objectName()
if objectName == 'curveLBP':
self.groupBoxTop.setVisible(checked)
self.areaMiddle.setVisible(checked)
self.curveLRP.setVisible(checked)
self.curveRBP.setVisible(checked)
self.curveRRP.setVisible(checked)
elif objectName == 'curveLRP':
self.groupBoxTop.setVisible(checked)
self.areaMiddle.setVisible(checked)
self.curveLBP.setVisible(checked)
self.curveRBP.setVisible(checked)
self.curveRRP.setVisible(checked)
elif objectName == 'curveRBP':
self.groupBoxTop.setVisible(checked)
self.areaMiddle.setVisible(checked)
self.curveLBP.setVisible(checked)
self.curveLRP.setVisible(checked)
self.curveRRP.setVisible(checked)
elif objectName == 'curveRRP':
self.groupBoxTop.setVisible(checked)
self.areaMiddle.setVisible(checked)
self.curveLBP.setVisible(checked)
self.curveLRP.setVisible(checked)
self.curveRBP.setVisible(checked)
def onButtonLeftPowerStateChanged(self, checked):
self._serialSend.ctrlWord.lPowerSw = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def onButtonRightPowerStateChanged(self, checked):
self._serialSend.ctrlWord.rPowerSw = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def onButtonLeftTracksipStateChanged(self, checked):
self._serialSend.ctrlWord.lTracksip = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def onButtonRightTracksipStateChanged(self, checked):
self._serialSend.ctrlWord.rTracksip = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def onSerialStateChanged(self, info):
text = '串口: [%s] %s' % (self._serialProxy.config().__str__(), info)
print(text)
def onSerialDisplayRespond(self, data, dateTime):
# Major Brake Pressure
suffix = self.editMLeftBrakeP.text().split(' ')[1]
self.editMLeftBrakeP.setText('%.2f %s' % (data.lMBrakeP * 1.0, suffix))
suffix = self.editMRightBrakeP.text().split(' ')[1]
self.editMRightBrakeP.setText('%.2f %s' % (data.rMBrakeP * 1.0, suffix))
# Minor Brake Pressure
suffix = self.editALeftBrakeP.text().split(' ')[1]
self.editALeftBrakeP.setText('%.2f %s' % (data.lABrakeP * 1.0, suffix))
suffix = self.editARightBrakeP.text().split(' ')[1]
self.editARightBrakeP.setText('%.2f %s' % (data.rABrakeP * 1.0, suffix))
# Rotation Rate
suffix = self.editLeftRotateRate.text().split(' ')[1]
self.editLeftRotateRate.setText('%d %s' % (data.lWheelSpd * 1.0, suffix))
suffix = self.editRightRotateRate.text().split(' ')[1]
self.editRightRotateRate.setText('%d %s' % (data.rWheelSpd * 1.0, suffix))
# curves
timeT = dateTime.toMSecsSinceEpoch()
# curve - LBP
self.curveLBP.curve(0).sheft(QPoint(timeT, data.lMBrakeP))
self.curveLBP.curve(1).sheft(QPoint(timeT, data.lABrakeP))
# curve - LRP
self.curveLRP.curve(0).sheft(QPoint(timeT, data.lWheelSpd))
self.curveLRP.curve(1).sheft(QPoint(timeT, self._lTheorySpd))
# curve - RBP
self.curveRBP.curve(0).sheft(QPoint(timeT, data.rMBrakeP))
self.curveRBP.curve(1).sheft(QPoint(timeT, data.rABrakeP))
# curve - RRP
self.curveRRP.curve(0).sheft(QPoint(timeT, data.rWheelSpd))
self.curveRRP.curve(1).sheft(QPoint(timeT, self._rTheorySpd))
if not DatabaseMgr().write(data, self._lTheorySpd, self._rTheorySpd, timeT):
assert(False)
def onSerialPortError(self, error, info):
buttonPortState = self.findChild(JSwitchButton, 'buttonPortState')
if not buttonPortState:
return
if error == QSerialPort.NoError:
buttonPortState.setState(True)
else:
buttonPortState.setState(False)
text = '串口: [%s] %s' % (self._serialProxy.config().__str__(), info)
print(text)
def execSliderWidget(self):
sliderWidget = SliderWidget(self.sender().text(), self)
objName = self.sender().objectName()
if objName == 'buttonLeftSpeedGain':
lineEdit = self.findChild(QLineEdit, 'editTheoryLeftRotateRate')
text = lineEdit.text().split(' ')
suffix = ' ' + text[1]
curValue = float(text[0])
sliderWidget.setRange(0, 3000)
# sliderWidget.setDecimals(2)
# sliderWidget.setSingleStep(0.01)
sliderWidget.setSuffix(suffix)
sliderWidget.setValue(curValue)
def valueChanged(value):
self._lTheorySpd = value
buttonLeftSpeedSwitch = self.findChild(QPushButton, 'buttonLeftSpeedSwitch')
if buttonLeftSpeedSwitch:
buttonLeftSpeedSwitch.setText('左转速关' if value == 0.0 else '左转速开');
lineEdit.setText(('%.2f' % value) + suffix)
# send
self._serialSend.index += 1
self._serialSend.lWheelSpd = int(value * 42.94967296)
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
sliderWidget.valueChanged.connect(valueChanged)
elif objName == 'buttonRightSpeedGain':
lineEdit = self.findChild(QLineEdit, 'editTheoryRightRotateRate')
text = lineEdit.text().split(' ')
suffix = ' ' + text[1]
curValue = float(text[0])
sliderWidget.setRange(0, 3000)
# sliderWidget.setDecimals(2)
# sliderWidget.setSingleStep(0.01)
sliderWidget.setSuffix(suffix)
sliderWidget.setValue(curValue)
def valueChanged(value):
self._rTheorySpd = value
buttonRightSpeedSwitch = self.findChild(QPushButton, 'buttonRightSpeedSwitch')
if buttonRightSpeedSwitch:
buttonRightSpeedSwitch.setText('右转速关' if value == 0.0 else '右转速开')
lineEdit.setText(('%.2f' % value) + suffix)
# send
self._serialSend.index += 1
self._serialSend.rWheelSpd = int(value * 42.94967296)
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
sliderWidget.valueChanged.connect(valueChanged)
elif objName == 'buttonLeftSpeedKnob':
lineEdit = self.findChild(QLineEdit, 'editTheoryLeftRotateRate')
text = lineEdit.text().split(' ')
suffix = ' ' + text[1]
curValue = float(text[0])
minValue = max(0, curValue - 50)
maxValue = min(3000, curValue + 50)
if maxValue < 100:
maxValue = minValue + 100
if minValue > 3000 - 100:
minValue = maxValue - 100
sliderWidget.setRange(minValue, maxValue)
# sliderWidget.setDecimals(2)
# sliderWidget.setSingleStep(0.01)
sliderWidget.setSuffix(suffix)
sliderWidget.setValue(curValue)
def valueChanged(value):
self._lTheorySpd = value
buttonLeftSpeedSwitch = self.findChild(QPushButton, 'buttonLeftSpeedSwitch')
if buttonLeftSpeedSwitch:
buttonLeftSpeedSwitch.setText('左转速关' if value == 0.0 else '左转速开')
lineEdit.setText(('%.2f' % value) + suffix)
# send
self._serialSend.index += 1
self._serialSend.lWheelSpd = int(value * 42.94967296)
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
sliderWidget.valueChanged.connect(valueChanged)
elif objName == 'buttonRightSpeedKnob':
lineEdit = self.findChild(QLineEdit, 'editTheoryRightRotateRate')
text = lineEdit.text().split(' ')
suffix = ' ' + text[1]
curValue = float(text[0])
minValue = max(0, curValue - 50)
maxValue = min(3000, curValue + 50)
if maxValue < 100:
maxValue = minValue + 100
if minValue > 3000 - 100:
minValue = maxValue - 100
sliderWidget.setRange(minValue, maxValue)
# sliderWidget.setDecimals(2)
# sliderWidget.setSingleStep(0.01)
sliderWidget.setSuffix(suffix)
sliderWidget.setValue(curValue)
def valueChanged(value):
self._rTheorySpd = value
buttonRightSpeedSwitch = self.findChild(QPushButton, 'buttonRightSpeedSwitch')
if buttonRightSpeedSwitch:
buttonRightSpeedSwitch.setText('右转速关' if value == 0.0 else '右转速开');
lineEdit.setText(('%.2f' % value) + suffix)
# send
self._serialSend.index += 1
self._serialSend.rWheelSpd = int(value * 42.94967296)
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
sliderWidget.valueChanged.connect(valueChanged)
else:
pass
sliderWidget.exec_()