def load(self, filename, host="localhost", port=6499):
print "Tuner.load " + str(port)
basename = os.path.basename(str(filename))
fileroot, ext = os.path.splitext(basename)
if filename == "":
error = QtGui.QErrorMessage(self)
error.showMessage( "Error, you must specify an autopilot.xml config file name" )
return
elif not os.path.exists(filename):
error = QtGui.QErrorMessage(self)
error.showMessage( filename + ": does not exist" )
return
try:
self.xml = ET.parse(filename)
except:
error = QtGui.QErrorMessage(self)
error.showMessage( filename + ": xml parse error:\n"
+ str(sys.exc_info()[1]) )
return
self.filename = str(filename)
self.fileroot, ext = os.path.splitext(self.filename)
root = self.xml.getroot()
# Route follow parameters
self.L1 = L1Controller(changefunc=self.onChange, host=host, port=port)
self.L1.parse_xml( root.find('L1_controller') )
self.tabs.addTab( self.L1.get_widget(), "L1" )
# PID controller parameters
for i,pid_node in enumerate(root.findall('component')):
e = pid_node.find('module')
if e != None and e.text != None:
comp_type = e.text
else:
comp_type = 'unknown'
print "component found:", comp_type
if comp_type == 'pid_component':
pid = Component(index=i, changefunc=self.onChange, host=host,
port=port, type="pid")
elif comp_type == 'pid_vel_component':
pid = Component(index=i, changefunc=self.onChange, host=host,
port=port, type="vel")
else:
print "unknown ..."
next
pid.parse_xml(pid_node)
self.components.append(pid)
self.tabs.addTab( pid.get_widget(), pid.get_name() )
def load(self, filename, host="localhost", port=6499):
print "Tuner.load " + str(port)
basename = os.path.basename(str(filename))
fileroot, ext = os.path.splitext(basename)
if filename == "":
error = QtGui.QErrorMessage(self)
error.showMessage(
"Error, you must specify an autopilot config file name")
return
elif not os.path.exists(filename):
error = QtGui.QErrorMessage(self)
error.showMessage(filename + ": does not exist")
return
try:
props_json.load(filename, root)
except:
error = QtGui.QErrorMessage(self)
error.showMessage(filename + ": parse error:\n" +
str(sys.exc_info()[1]))
return
self.filename = str(filename)
self.fileroot, ext = os.path.splitext(self.filename)
# Route follow parameters
self.L1 = L1Controller(changefunc=self.onChange, host=host, port=port)
L1_node = getNode('/L1_controller', create=True)
self.L1.parse(L1_node)
self.tabs.addTab(self.L1.get_widget(), "L1")
# PID controller parameters
print root.getChild('component')
len = root.getLen('component')
#comp_node = getNode('/component', create=True)
for i in range(len):
node_name = 'component[%d]' % i
print node_name
node = root.getChild(node_name)
comp_type = node.getString('module')
if comp_type == 'pid_component':
pid = Component(index=i,
changefunc=self.onChange,
host=host,
port=port,
type="pid")
elif comp_type == 'pid_vel_component':
pid = Component(index=i,
changefunc=self.onChange,
host=host,
port=port,
type="vel")
elif comp_type == 'summer':
pid = Component(index=i,
changefunc=self.onChange,
host=host,
port=port,
type="sum")
else:
print "unknown ..."
next
pid.parse(node)
self.components.append(pid)
self.tabs.addTab(pid.get_widget(), pid.get_name())
