class AQMain(QtGui.QMainWindow):
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
# TODO: figure out way to configure for different comm types (TCP, MAVLINK, etc)
self.comm = AQSerial()
# Default main window conditions
self.ui.buttonDisconnect.setEnabled(False)
self.ui.buttonConnect.setEnabled(True)
self.ui.comPort.setEnabled(True)
self.ui.baudRate.setEnabled(True)
self.ui.status.setText("Not connected to the AeroQuad")
self.availablePorts = []
self.updateComPortSelection()
self.updateBaudRates()
# Update comm port combo box to use last used comm port
defaultComPort = xml.find("./Settings/DefaultComPort").text
commIndex = self.ui.comPort.findText(defaultComPort)
if commIndex == -1:
commIndex = 0
self.ui.comPort.setCurrentIndex(commIndex)
# Load splash screen
self.subPanel = Ui_splashScreen()
self.subPanel.setupUi(self.subPanel)
self.ui.subPanel.addWidget(self.subPanel)
# Dynamically configure board type menu and subPanel menu from XML configuration file
self.selectedBoardType = self.configureBoardTypeMenu()
self.configureSubPanelMenu(self.selectedBoardType)
self.activeSubPanel = None
# Connect GUI slots and signals
self.ui.buttonConnect.clicked.connect(self.connect)
self.ui.buttonDisconnect.clicked.connect(self.disconnect)
self.ui.actionExit.triggered.connect(QtGui.qApp.quit)
self.ui.comPort.currentIndexChanged.connect(self.updateDetectedPorts)
self.ui.actionBootUpDelay.triggered.connect(self.updateBootUpDelay)
self.ui.actionCommTimeout.triggered.connect(self.updateCommTimeOut)
'''Communication Methods'''
def connect(self):
'''Initiates communication with the AeroQuad'''
# Setup GUI
self.ui.status.setText("Connecting to the " + self.selectedBoardType + "...")
self.ui.buttonDisconnect.setEnabled(True)
self.ui.buttonConnect.setEnabled(False)
self.ui.comPort.setEnabled(False)
self.ui.baudRate.setEnabled(False)
# Update the GUI
app.processEvents()
# Setup serial port
bootupDelay = float(xml.find("./Settings/BootUpDelay").text)
commTimeOut = float(xml.find("./Settings/CommTimeOut").text)
self.comm.connect(str(self.ui.comPort.currentText()), int(self.ui.baudRate.currentText()), bootupDelay, commTimeOut)
self.comm.write("!")
version = self.comm.read()
if version != "":
self.storeComPortSelection()
self.ui.status.setText("Connected to the " + self.selectedBoardType + " using Flight Software v" + version)
self.restartSubPanel()
else:
self.disconnect()
self.ui.status.setText("Not connected to the " + self.selectedBoardType)
def disconnect(self):
'''Disconnect from the AeroQuad'''
self.comm.write("X")
self.comm.disconnect()
# Update GUI
self.ui.buttonDisconnect.setEnabled(False)
self.ui.buttonConnect.setEnabled(True)
self.ui.comPort.setEnabled(True)
self.ui.baudRate.setEnabled(True)
self.ui.status.setText("Disconnected from the " + self.selectedBoardType)
self.restartSubPanel()
def updateDetectedPorts(self):
'''Cycles through 256 ports and checks if there is a response from them.'''
selection = self.ui.comPort.currentText()
if selection == "Refresh":
self.updateComPortSelection
self.ui.comPort.setCurrentIndex(0)
self.ui.status.setText("Updated list of available COM ports")
elif selection == "Autoconnect":
self.ui.comPort.setCurrentIndex(0)
self.ui.status.setText("This feature still under construction")
elif selection == "-------":
self.ui.comPort.setCurrentIndex(0)
def updateBootUpDelay(self):
'''Creates dialog box to ask user for desired boot up delay.
This delay waits for Arduino based boards to finish booting up before sending commands.
'''
bootUpDelay = float(xml.find("./Settings/BootUpDelay").text)
data, ok = QtGui.QInputDialog.getDouble(self, "Boot Up Delay", "Boot Up Delay:", bootUpDelay, 0, 60, 3)
if ok:
xml.find("./Settings/BootUpDelay").text = str(data)
xml.write("AeroQuadConfigurator.xml")
def updateCommTimeOut(self):
'''Creates dialog box to ask user for desired comm timeout.
This is timeout value used by serial drivers to wait for response from device
'''
commTimeOut = float(xml.find("./Settings/CommTimeOut").text)
data, ok = QtGui.QInputDialog.getDouble(self, "Comm Time Out", "Comm Time Out:", commTimeOut, 0, 60, 3)
if ok:
xml.find("./Settings/CommTimeOut").text = str(data)
xml.write("AeroQuadConfigurator.xml")
def updateComPortSelection(self):
'''Look for available comm ports and updates combo box'''
self.ui.comPort.clear()
for n in self.comm.detectPorts():
self.ui.comPort.addItem(n)
self.ui.comPort.addItem("-------")
self.ui.comPort.addItem("Autoconnect")
self.ui.comPort.addItem("Refresh")
def storeComPortSelection(self):
'''Stores comm port selection to xml file for later recall'''
xml.find("./Settings/DefaultBaudRate").text = str(self.ui.baudRate.currentText())
xml.find("./Settings/DefaultComPort").text = str(self.ui.comPort.currentText())
xml.write("AeroQuadConfigurator.xml")
def updateBaudRates(self):
'''Reads baud rates from xml and displays in combo box.
Updates the xml file to display different baud rates
'''
defaultBaudRate = xml.find("./Settings/DefaultBaudRate").text
baudRates = xml.find("./Settings/AvailableBaudRates").text
baudRate = baudRates.split(',')
for i in baudRate:
self.ui.baudRate.addItem(i)
self.ui.baudRate.setCurrentIndex(baudRate.index(defaultBaudRate))
'''Board Selection Methods'''
def configureBoardTypeMenu(self):
'''Dynamically add board types to menu bar'''
boardNames = xml.findall("./Boards/Type")
self.boardTypes = []
self.boardMenu = []
for board in boardNames:
self.boardTypes.append(board.text)
self.boardTypeMapper = QtCore.QSignalMapper(self)
for boardType in self.boardTypes:
self.ui.board = self.ui.menuBoard.addAction(boardType)
self.boardMenu.append(self.ui.board) # Need to store this separately because Python only binds stuff at runtime
self.boardTypeMapper.setMapping(self.ui.board, boardType)
self.ui.board.triggered.connect(self.boardTypeMapper.map)
self.ui.board.setCheckable(True)
self.boardTypeMapper.mapped[str].connect(self.selectBoardType)
selectedBoardType = xml.find("./Boards/Selected").text
self.checkmarkBoardType(selectedBoardType)
return selectedBoardType
def selectBoardType(self, boardType):
'''Places check mark beside selected board type
Menu item instances stored in dedicated list because Python only updates during runtime making everything point to the last item in the list
'''
types = len(self.boardTypes)
for name in range(types):
self.boardMenu[name].setChecked(False)
self.checkmarkBoardType(boardType)
selected = self.boardTypes.index(boardType)
self.boardMenu[selected].setChecked(True)
xml.find("./Boards/Selected").text = str(boardType)
xml.write("AeroQuadConfigurator.xml")
self.selectedBoardType = boardType
self.clearSubPanelMenu()
self.configureSubPanelMenu(boardType)
self.ui.subPanel.setCurrentIndex(0)
def checkmarkBoardType(self, boardType):
'''Place checkmark next to selected board type'''
selected = self.boardTypes.index(boardType)
self.boardMenu[selected].setChecked(True)
''' SubPanel Methods '''
def configureSubPanelMenu(self, boardType):
'''Dynamically add subpanels to View menu based on selected board type'''
boardSubPanelName = "./Board/[@Type='" + str(boardType) + "']/Subpanels/Subpanel"
subPanels = xml.findall(boardSubPanelName)
subPanelCount = 1
self.subPanelList = []
self.subPanelClasses = []
for subPanel in subPanels:
self.subPanelList.append(subPanel.get("Name"))
pathName = xml.find(boardSubPanelName + "/[@Name='" + subPanel.get("Name") +"']/Path").text
className = xml.find(boardSubPanelName + "/[@Name='" + subPanel.get("Name") +"']/Class").text
packageList = pathName.split('.')
packageString = packageList[0] + '.' + packageList[1]
module = __import__(packageString)
for package in packageList[1:]:
module = getattr(module, package)
module = getattr(module, className)
tempSubPanel = module()
tempSubPanel.setupUi(tempSubPanel, self.comm)
self.ui.subPanel.addWidget(tempSubPanel)
self.subPanelClasses.append(tempSubPanel)
subPanelCount += 1
self.subPanelMapper = QtCore.QSignalMapper(self)
self.subPanelMenu = []
for subPanelName in self.subPanelList:
subPanel = self.ui.menuView.addAction(subPanelName)
self.subPanelMenu.append(subPanel) # Need to store this separately because Python only binds stuff at runtime
self.subPanelMapper.setMapping(subPanel, subPanelName)
subPanel.triggered.connect(self.subPanelMapper.map)
subPanel.setCheckable(True)
self.subPanelMapper.mapped[str].connect(self.selectSubPanel)
def selectSubPanel(self, subPanelName):
'''Places check mark beside selected subpanel name
Menu item instances stored in dedicated list because Python only updates during runtime making everything point to the last item in the list
'''
if self.activeSubPanel != None:
self.activeSubPanel.stop()
types = len(self.subPanelList)
for index in range(types):
self.subPanelMenu[index].setChecked(False)
selected = self.subPanelList.index(subPanelName)
self.subPanelMenu[selected].setChecked(True)
self.ui.subPanel.setCurrentIndex(selected+1) # index 0 is splash screen
self.activeSubPanel = self.subPanelClasses[selected]
self.activeSubPanel.start()
def clearSubPanelMenu(self):
''' Clear subPanel menu and disconnect subPanel related signals'''
self.ui.menuView.clear()
self.subPanelMapper.mapped[str].disconnect(self.selectSubPanel)
def restartSubPanel(self):
if self.activeSubPanel != None: # Restart any running subpanels
self.activeSubPanel.stop()
self.activeSubPanel.start()
''' Housekeeping Functions'''
def exit(self):
self.comm.disconnect()
sys.exit(app.exec_())
class AQMain(QtGui.QMainWindow):
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
# TODO: figure out way to configure for different comm types (TCP, MAVLINK, etc)
self.comm = AQSerial()
# Default main window conditions
self.ui.buttonDisconnect.setEnabled(False)
self.ui.buttonConnect.setEnabled(True)
self.ui.comPort.setEnabled(True)
self.ui.baudRate.setEnabled(True)
self.ui.status.setText("Not connected to the AeroQuad")
self.availablePorts = []
self.updateComPortSelection()
self.updateBaudRates()
# Update comm port combo box to use last used comm port
defaultComPort = xml.find("./Settings/DefaultComPort").text
commIndex = self.ui.comPort.findText(defaultComPort)
if commIndex == -1:
commIndex = 0
self.ui.comPort.setCurrentIndex(commIndex)
# Load splash screen
self.subPanel = Ui_splashScreen()
self.subPanel.setupUi(self.subPanel)
self.ui.subPanel.addWidget(self.subPanel)
# Dynamically configure board type menu and subPanel menu from XML configuration file
self.selectedBoardType = self.configureBoardTypeMenu()
self.configureSubPanelMenu(self.selectedBoardType)
self.activeSubPanel = None
# Connect GUI slots and signals
self.ui.buttonConnect.clicked.connect(self.connect)
self.ui.buttonDisconnect.clicked.connect(self.disconnect)
self.ui.actionExit.triggered.connect(QtGui.qApp.quit)
self.ui.comPort.currentIndexChanged.connect(self.updateDetectedPorts)
self.ui.actionBootUpDelay.triggered.connect(self.updateBootUpDelay)
self.ui.actionCommTimeout.triggered.connect(self.updateCommTimeOut)
'''Communication Methods'''
def connect(self):
'''Initiates communication with the AeroQuad'''
# Setup GUI
self.ui.status.setText("Connecting to the " + self.selectedBoardType +
"...")
self.ui.buttonDisconnect.setEnabled(True)
self.ui.buttonConnect.setEnabled(False)
self.ui.comPort.setEnabled(False)
self.ui.baudRate.setEnabled(False)
# Update the GUI
app.processEvents()
# Setup serial port
bootupDelay = float(xml.find("./Settings/BootUpDelay").text)
commTimeOut = float(xml.find("./Settings/CommTimeOut").text)
self.comm.connect(str(self.ui.comPort.currentText()),
int(self.ui.baudRate.currentText()), bootupDelay,
commTimeOut)
self.comm.write("!")
version = self.comm.read()
if version != "":
self.storeComPortSelection()
self.ui.status.setText("Connected to the " +
self.selectedBoardType +
" using Flight Software v" + version)
self.restartSubPanel()
else:
self.disconnect()
self.ui.status.setText("Not connected to the " +
self.selectedBoardType)
def disconnect(self):
'''Disconnect from the AeroQuad'''
self.comm.write("X")
self.comm.disconnect()
# Update GUI
self.ui.buttonDisconnect.setEnabled(False)
self.ui.buttonConnect.setEnabled(True)
self.ui.comPort.setEnabled(True)
self.ui.baudRate.setEnabled(True)
self.ui.status.setText("Disconnected from the " +
self.selectedBoardType)
self.restartSubPanel()
def updateDetectedPorts(self):
'''Cycles through 256 ports and checks if there is a response from them.'''
selection = self.ui.comPort.currentText()
if selection == "Refresh":
self.updateComPortSelection
self.ui.comPort.setCurrentIndex(0)
self.ui.status.setText("Updated list of available COM ports")
elif selection == "Autoconnect":
self.ui.comPort.setCurrentIndex(0)
self.ui.status.setText("This feature still under construction")
elif selection == "-------":
self.ui.comPort.setCurrentIndex(0)
def updateBootUpDelay(self):
'''Creates dialog box to ask user for desired boot up delay.
This delay waits for Arduino based boards to finish booting up before sending commands.
'''
bootUpDelay = float(xml.find("./Settings/BootUpDelay").text)
data, ok = QtGui.QInputDialog.getDouble(self, "Boot Up Delay",
"Boot Up Delay:", bootUpDelay,
0, 60, 3)
if ok:
xml.find("./Settings/BootUpDelay").text = str(data)
xml.write("AeroQuadConfigurator.xml")
def updateCommTimeOut(self):
'''Creates dialog box to ask user for desired comm timeout.
This is timeout value used by serial drivers to wait for response from device
'''
commTimeOut = float(xml.find("./Settings/CommTimeOut").text)
data, ok = QtGui.QInputDialog.getDouble(self, "Comm Time Out",
"Comm Time Out:", commTimeOut,
0, 60, 3)
if ok:
xml.find("./Settings/CommTimeOut").text = str(data)
xml.write("AeroQuadConfigurator.xml")
def updateComPortSelection(self):
'''Look for available comm ports and updates combo box'''
self.ui.comPort.clear()
for n in self.comm.detectPorts():
self.ui.comPort.addItem(n)
self.ui.comPort.addItem("-------")
self.ui.comPort.addItem("Autoconnect")
self.ui.comPort.addItem("Refresh")
def storeComPortSelection(self):
'''Stores comm port selection to xml file for later recall'''
xml.find("./Settings/DefaultBaudRate").text = str(
self.ui.baudRate.currentText())
xml.find("./Settings/DefaultComPort").text = str(
self.ui.comPort.currentText())
xml.write("AeroQuadConfigurator.xml")
def updateBaudRates(self):
'''Reads baud rates from xml and displays in combo box.
Updates the xml file to display different baud rates
'''
defaultBaudRate = xml.find("./Settings/DefaultBaudRate").text
baudRates = xml.find("./Settings/AvailableBaudRates").text
baudRate = baudRates.split(',')
for i in baudRate:
self.ui.baudRate.addItem(i)
self.ui.baudRate.setCurrentIndex(baudRate.index(defaultBaudRate))
'''Board Selection Methods'''
def configureBoardTypeMenu(self):
'''Dynamically add board types to menu bar'''
boardNames = xml.findall("./Boards/Type")
self.boardTypes = []
self.boardMenu = []
for board in boardNames:
self.boardTypes.append(board.text)
self.boardTypeMapper = QtCore.QSignalMapper(self)
for boardType in self.boardTypes:
self.ui.board = self.ui.menuBoard.addAction(boardType)
self.boardMenu.append(
self.ui.board
) # Need to store this separately because Python only binds stuff at runtime
self.boardTypeMapper.setMapping(self.ui.board, boardType)
self.ui.board.triggered.connect(self.boardTypeMapper.map)
self.ui.board.setCheckable(True)
self.boardTypeMapper.mapped[str].connect(self.selectBoardType)
selectedBoardType = xml.find("./Boards/Selected").text
self.checkmarkBoardType(selectedBoardType)
return selectedBoardType
def selectBoardType(self, boardType):
'''Places check mark beside selected board type
Menu item instances stored in dedicated list because Python only updates during runtime making everything point to the last item in the list
'''
types = len(self.boardTypes)
for name in range(types):
self.boardMenu[name].setChecked(False)
self.checkmarkBoardType(boardType)
selected = self.boardTypes.index(boardType)
self.boardMenu[selected].setChecked(True)
xml.find("./Boards/Selected").text = str(boardType)
xml.write("AeroQuadConfigurator.xml")
self.selectedBoardType = boardType
self.clearSubPanelMenu()
self.configureSubPanelMenu(boardType)
self.ui.subPanel.setCurrentIndex(0)
def checkmarkBoardType(self, boardType):
'''Place checkmark next to selected board type'''
selected = self.boardTypes.index(boardType)
self.boardMenu[selected].setChecked(True)
''' SubPanel Methods '''
def configureSubPanelMenu(self, boardType):
'''Dynamically add subpanels to View menu based on selected board type'''
boardSubPanelName = "./Board/[@Type='" + str(
boardType) + "']/Subpanels/Subpanel"
subPanels = xml.findall(boardSubPanelName)
subPanelCount = 1
self.subPanelList = []
self.subPanelClasses = []
for subPanel in subPanels:
self.subPanelList.append(subPanel.get("Name"))
pathName = xml.find(boardSubPanelName + "/[@Name='" +
subPanel.get("Name") + "']/Path").text
className = xml.find(boardSubPanelName + "/[@Name='" +
subPanel.get("Name") + "']/Class").text
packageList = pathName.split('.')
packageString = packageList[0] + '.' + packageList[1]
module = __import__(packageString)
for package in packageList[1:]:
module = getattr(module, package)
module = getattr(module, className)
tempSubPanel = module()
tempSubPanel.setupUi(tempSubPanel, self.comm)
self.ui.subPanel.addWidget(tempSubPanel)
self.subPanelClasses.append(tempSubPanel)
subPanelCount += 1
self.subPanelMapper = QtCore.QSignalMapper(self)
self.subPanelMenu = []
for subPanelName in self.subPanelList:
subPanel = self.ui.menuView.addAction(subPanelName)
self.subPanelMenu.append(
subPanel
) # Need to store this separately because Python only binds stuff at runtime
self.subPanelMapper.setMapping(subPanel, subPanelName)
subPanel.triggered.connect(self.subPanelMapper.map)
subPanel.setCheckable(True)
self.subPanelMapper.mapped[str].connect(self.selectSubPanel)
def selectSubPanel(self, subPanelName):
'''Places check mark beside selected subpanel name
Menu item instances stored in dedicated list because Python only updates during runtime making everything point to the last item in the list
'''
if self.activeSubPanel != None:
self.activeSubPanel.stop()
types = len(self.subPanelList)
for index in range(types):
self.subPanelMenu[index].setChecked(False)
selected = self.subPanelList.index(subPanelName)
self.subPanelMenu[selected].setChecked(True)
self.ui.subPanel.setCurrentIndex(selected +
1) # index 0 is splash screen
self.activeSubPanel = self.subPanelClasses[selected]
self.activeSubPanel.start()
def clearSubPanelMenu(self):
''' Clear subPanel menu and disconnect subPanel related signals'''
self.ui.menuView.clear()
self.subPanelMapper.mapped[str].disconnect(self.selectSubPanel)
def restartSubPanel(self):
if self.activeSubPanel != None: # Restart any running subpanels
self.activeSubPanel.stop()
self.activeSubPanel.start()
''' Housekeeping Functions'''
def exit(self):
self.comm.disconnect()
sys.exit(app.exec_())
