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()
self.boardConfiguration = {}
self.manualConnect = True
# 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
splash = Ui_splashScreen()
splash.setupUi(splash)
self.ui.subPanel.addWidget(splash)
# Dynamically configure board type menu and subPanel menu from XML configuration file
self.configureSubPanelMenu()
self.activeSubPanel = None
self.activeSubPanelName = ""
# Connect GUI slots and signals
self.ui.comPort.return_handler = self.connectBoard
self.ui.buttonConnect.clicked.connect(self.connectBoard)
self.ui.buttonDisconnect.clicked.connect(self.disconnectBoard)
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 connectBoard(self):
'''Initiates communication with the AeroQuad'''
# Setup GUI
self.ui.status.setText("Connecting...")
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)
try:
self.comm.connect(str(self.ui.comPort.currentText()), int(self.ui.baudRate.currentText()), bootupDelay, commTimeOut)
# Stop and flush any previous telemetry being streamed
stopTelemetry = xml.find("./Settings/StopTelemetry").text
self.comm.write(stopTelemetry)
self.comm.flushResponse()
# Request version number to identify AeroQuad board
versionRequest = xml.find("./Settings/SoftwareVersion").text
self.comm.write(versionRequest)
version = self.comm.waitForRead()
if version != "":
self.storeComPortSelection()
self.ui.status.setText("Connected to AeroQuad Flight Software v" + version)
# Read board configuration
config = xml.find("./Settings/BoardConfiguration").text
self.comm.write(config)
size = int(self.comm.waitForRead())
for index in range(size):
response = self.comm.waitForRead()
configuration = response.split(':')
self.boardConfiguration[configuration[0]] = configuration[1].strip()
# Hide menu items that don't match board configuration
for index in range(len(self.subPanelMenu)):
hide = self.checkRequirementsMatch(self.subPanelList[index])
self.subPanelMenu[index].setVisible(hide)
# Load configuration screen
self.selectSubPanel("Vehicle Configuration")
self.restartSubPanel()
return True
else:
self.disconnectBoard()
self.ui.status.setText("Not connected to the AeroQuad")
if self.manualConnect:
QtGui.QMessageBox.information(self, "Connection Error", "Unable to connect to the AeroQuad. Try increasing the Boot Up Delay.\nThis is found under File->Preferences->Boot Up Delay.")
return False
except SerialException:
self.ui.buttonDisconnect.setEnabled(False)
self.ui.buttonConnect.setEnabled(True)
self.ui.comPort.setEnabled(True)
self.ui.baudRate.setEnabled(True)
self.ui.status.setText("Connection Failed")
self.boardConfiguration = {}
return False
def disconnectBoard(self):
'''Disconnect from the AeroQuad'''
self.comm.write(xml.find("./Settings/StopTelemetry").text)
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 AeroQuad")
self.boardConfiguration = {}
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.updateComPortSelection()
self.ui.comPort.setCurrentIndex(0)
self.ui.status.setText("Beginning autoconnect...")
self.autoConnect()
def autoConnect(self):
self.manualConnect = False
for port in xrange(self.ui.comPort.count() - 2):
self.ui.comPort.setCurrentIndex(port)
self.ui.status.setText("Attempting to connect to " + self.ui.comPort.currentText() + "...")
if self.connectBoard():
self.ui.status.setText("Autoconnect successful!")
break
else:
self.ui.status.setText("Autoconnect not successful...")
self.manualConnect = True
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.insertSeparator(self.ui.comPort.count())
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))
####### SubPanel Methods #######
def configureSubPanelMenu(self):
'''Dynamically add subpanels to View menu based on XML file configuration
This also adds the subpanel to a stacked widget and stores object instances so that they can run when selected'''
subPanels = xml.findall("./Subpanels/Subpanel")
subPanelCount = 1
self.subPanelList = [] # Stores subpanel names
self.subPanelClasses = [] # Stores subpanel object instances
for subPanel in subPanels:
self.subPanelList.append(subPanel.get("Name"))
pathName = xml.find("./Subpanels/Subpanel/[@Name='" + subPanel.get("Name") +"']/Path").text
className = xml.find("./Subpanels/Subpanel/[@Name='" + subPanel.get("Name") +"']/Class").text
packageList = pathName.split('.')
packageList.insert(0, 'subpanel')
packageString = packageList[0] + '.' + packageList[1] + '.' + packageList[2]
module = __import__(packageString)
for package in packageList[1:]: # In case the module is buried into a deep package folder, loop until module is reached
module = getattr(module, package)
module = getattr(module, className)
tempSubPanel = module()
tempSubPanel.initialize(self.comm, xml, self.ui)
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.activeSubPanelName = "./Subpanels/Subpanel/[@Name='" + str(subPanelName) + "']"
self.activeSubPanel.start(self.activeSubPanelName, self.boardConfiguration)
self.ui.status.setText(subPanelName)
app.processEvents()
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(self.activeSubPanelName, self.boardConfiguration)
app.processEvents()
def checkRequirementsMatch(self, subPanelName):
# Read requirements for the specified subpanel form the XML config file
xmlRequirement = "./Subpanels/Subpanel/[@Name='" + subPanelName +"']/Requirement"
subPanelRequirements = xml.findall(xmlRequirement)
panelRequirements = {}
booleanOperation = {}
for requirements in subPanelRequirements:
requirement = requirements.text.split(':')
if requirement[0] == "All": # Need element 1 populated if "All" detected
requirement.append("All")
panelRequirements[requirement[0]] = requirement[1].strip()
booleanOperation[requirement[0]] = requirements.get("type")
# Go through each subpanel requirement and check against board configuration
# If no boolean type defined, assume AND
requirementType = panelRequirements.keys()
# If no Requirement found, assume ALL
try:
if (requirementType[0] == "All"):
check = True
else:
check = any(panelRequirements[requirementType[0]] in s for s in self.boardConfiguration.values())
for testRequirement in requirementType[1:]:
if (booleanOperation[testRequirement] == "or") or (booleanOperation[testRequirement] == "OR"):
check = check or any(panelRequirements[testRequirement] in s for s in self.boardConfiguration.values())
else:
check = check and any(panelRequirements[testRequirement] in s for s in self.boardConfiguration.values())
except:
check = True
return check
####### Housekeeping Functions #######
def exit(self):
self.comm.disconnect()
sys.exit(app.exec_())
def center(self):
qr = self.frameGeometry()
cp = QtGui.QDesktopWidget().availableGeometry().center()
qr.moveCenter(cp)
self.move(qr.topLeft())
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()
self.boardConfiguration = []
# 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
splash = Ui_splashScreen()
splash.setupUi(splash)
self.ui.subPanel.addWidget(splash)
# Dynamically configure board type menu and subPanel menu from XML configuration file
self.configureSubPanelMenu()
self.activeSubPanel = None
self.activeSubPanelName = ""
# Connect GUI slots and signals
self.ui.comPort.return_handler = self.connect
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...")
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)
try:
self.comm.connect(str(self.ui.comPort.currentText()),
int(self.ui.baudRate.currentText()), bootupDelay,
commTimeOut)
# Stop and flush any previous telemetry being streamed
stopTelemetry = xml.find("./Settings/StopTelemetry").text
self.comm.write(stopTelemetry)
self.comm.flushResponse()
# Request version number to identify AeroQuad board
versionRequest = xml.find("./Settings/SoftwareVersion").text
self.comm.write(versionRequest)
version = self.comm.waitForRead()
if version != "":
self.storeComPortSelection()
self.ui.status.setText(
"Connected to AeroQuad Flight Software v" + version)
# Read board configuration
config = xml.find("./Settings/BoardConfiguration").text
self.comm.write(config)
size = int(self.comm.waitForRead())
for index in range(size):
response = self.comm.waitForRead()
self.boardConfiguration.append(response)
# Hide menu items that don't match board configuration
for index in range(len(self.subPanelMenu)):
hide = self.checkRequirementsMatch(
self.subPanelList[index])
self.subPanelMenu[index].setVisible(hide)
# Load configuration screen
self.selectSubPanel("Vehicle Configuration")
self.restartSubPanel()
else:
self.disconnect()
self.ui.status.setText("Not connected to the AeroQuad")
QtGui.QMessageBox.information(
self, "Connection Error",
"Unable to connect to the AeroQuad. Try increasing the Boot Up Delay.\nThis is found under File->Preferences->Boot Up Delay."
)
except SerialException, se:
self.ui.buttonDisconnect.setEnabled(False)
self.ui.buttonConnect.setEnabled(True)
self.ui.comPort.setEnabled(True)
self.ui.baudRate.setEnabled(True)
self.ui.status.setText("Connection Failed")
self.boardConfiguration = []
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()
self.boardConfiguration = []
# 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
splash = Ui_splashScreen()
splash.setupUi(splash)
self.ui.subPanel.addWidget(splash)
# Dynamically configure board type menu and subPanel menu from XML configuration file
self.configureSubPanelMenu()
self.activeSubPanel = None
self.activeSubPanelName = ""
# Connect GUI slots and signals
self.ui.comPort.return_handler = self.connect
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...")
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)
try:
self.comm.connect(str(self.ui.comPort.currentText()), int(self.ui.baudRate.currentText()), bootupDelay, commTimeOut)
# Stop and flush any previous telemetry being streamed
stopTelemetry = xml.find("./Settings/StopTelemetry").text
self.comm.write(stopTelemetry)
self.comm.flushResponse()
# Request version number to identify AeroQuad board
versionRequest = xml.find("./Settings/SoftwareVersion").text
self.comm.write(versionRequest)
version = self.comm.waitForRead()
if version != "":
self.storeComPortSelection()
self.ui.status.setText("Connected to AeroQuad Flight Software v" + version)
# Read board configuration
config = xml.find("./Settings/BoardConfiguration").text
self.comm.write(config)
size = int(self.comm.waitForRead())
for index in range(size):
response = self.comm.waitForRead()
self.boardConfiguration.append(response)
# Hide menu items that don't match board configuration
for index in range(len(self.subPanelMenu)):
hide = self.checkRequirementsMatch(self.subPanelList[index])
self.subPanelMenu[index].setVisible(hide)
# Load configuration screen
self.selectSubPanel("Vehicle Configuration")
self.restartSubPanel()
else:
self.disconnect()
self.ui.status.setText("Not connected to the AeroQuad")
QtGui.QMessageBox.information(self, "Connection Error", "Unable to connect to the AeroQuad. Try increasing the Boot Up Delay.\nThis is found under File->Preferences->Boot Up Delay.")
except SerialException, se:
self.ui.buttonDisconnect.setEnabled(False)
self.ui.buttonConnect.setEnabled(True)
self.ui.comPort.setEnabled(True)
self.ui.baudRate.setEnabled(True)
self.ui.status.setText("Connection Failed")
self.boardConfiguration = []
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_())