class KerbalPie(QWidget):
subsys = 'KERBALPIE'
# configuration file named sections
_CFG_GLOBALS_SECTION = 'GLOBALS'
_CFG_KRPC_SECTION = 'KRPC'
_CFG_SERIAL_SECTION = 'SERIAL'
# S I G N A L S
#===========================================================================
krpc_client_begin_connect = pyqtSignal()
krpc_client_begin_disconnect = pyqtSignal()
serial_iface_begin_connect = pyqtSignal()
serial_iface_begin_disconnect = pyqtSignal()
# C O N S T R U C T O R
#===========================================================================
def __init__(self, parent=None, config_filename=os.path.join('data', 'kerbalpie.cfg'), debug_on=False):
super(KerbalPie, self).__init__(parent)
uic.loadUi(os.path.join('data', 'KerbalPie.ui'), self)
# Set up KerbalPie application
#-----------------------------------------------------------------------
# parse configuration options
self.config = self._parse_config(config_filename)
# general message logging
#-----------------------------------------------------------------------
self._logger_thread = Logger(
log_dir=self.config['logger_directory'],
log_name=self.config['logger_filename'],
debug_on=True)
self._logger_thread.start()
# serial interface
#-----------------------------------------------------------------------
# interface thread
self._serial_thread = QtCore.QThread()
self._serial_iface = KPSerialInterface(
serial_port=self.config['serial_port'],
serial_baudrate=self.config['serial_baudrate'])
self._serial_iface.moveToThread(self._serial_thread)
# flight controller
#-----------------------------------------------------------------------
# controller thread
self._flight_thread = QtCore.QThread()
self._flight_ctrl = KPFlightController(
krpc_address=self.config['krpc_address'],
krpc_rpc_port=self.config['krpc_rpc_port'],
krpc_stream_port=self.config['krpc_stream_port'],
krpc_name=self.config['krpc_client_name'])
self._flight_ctrl.moveToThread(self._flight_thread)
# GUI elements
#-----------------------------------------------------------------------
# serial interface thread connections
self._serial_thread.started.connect(self._serial_iface.process)
self._serial_iface.finished.connect(self._serial_thread.quit)
self._serial_iface.finished.connect(self._serial_iface.deleteLater)
self._serial_thread.finished.connect(self._serial_thread.deleteLater)
# serial interface connections
self.serial_iface_begin_connect.connect(self._serial_iface.connect)
self.serial_iface_begin_disconnect.connect(self._serial_iface.disconnect)
self._serial_iface.connected.connect(self.serial_connected)
self._serial_iface.disconnected.connect(self.serial_disconnected)
self.serial_connectionButton.clicked.connect(self.serial_connectionButton_clicked)
self.serial_portEdit.textChanged.connect(self.serial_port_changed)
self.serial_baudRateEdit.textChanged.connect(self.serial_baudrate_changed)
# PID controller panels
self.flightControl_tuningTabGroup = QTabWidget(parent=None)
self.flightControl_pidControllerPanels = []
for ctrl in self._flight_ctrl.controllers:
ctrl_panel = QPidControllerPanel(ctrl, parent=None)
self.flightControl_tuningTabGroup.addTab(ctrl_panel, ctrl.name)
self.flightControl_pidControllerPanels.append(ctrl_panel)
self.flightControl_tuningGroup.layout().addWidget(self.flightControl_tuningTabGroup)
# flight controller thread connections
self._flight_thread.started.connect(self._flight_ctrl.process)
self._flight_ctrl.finished.connect(self._flight_thread.quit)
self._flight_ctrl.finished.connect(self._flight_ctrl.deleteLater)
self._flight_thread.finished.connect(self._flight_thread.deleteLater)
# flight controller connections
self._flight_ctrl.telemetry_updated.connect(self.flight_telemetry_updated)
self.krpc_client_begin_connect.connect(self._flight_ctrl.krpc_connect)
self.krpc_client_begin_disconnect.connect(self._flight_ctrl.krpc_disconnect)
self._flight_ctrl.krpc_connected.connect(self.krpc_client_connected)
self._flight_ctrl.krpc_disconnected.connect(self.krpc_client_disconnected)
self.krpc_connectionButton.clicked.connect(self.krpc_connectionButton_clicked)
self.krpc_addressEdit.textChanged.connect(self.krpc_client_address_changed)
self.krpc_rpcPortEdit.textChanged.connect(self.krpc_client_rpc_port_changed)
self.krpc_streamPortEdit.textChanged.connect(self.krpc_client_stream_port_changed)
self._serial_iface.rc_command.connect(self._flight_ctrl.rc_command_received)
# start threads
self._flight_thread.start()
self._serial_thread.start()
# flight data display
#-----------------------------------------------------------------------
# gui items
self.flightPlot_selection.addItems([
"Vertical Speed",
"Altitude"
"Attitude"
])
self.flight_data_model = KPFlightDataModel(parent=self)
self.flightData_tableView.setModel(self.flight_data_model)
self.flightData_tableView.verticalHeader().setVisible(False)
self.flightData_tableView.verticalHeader().sectionResizeMode(QHeaderView.Fixed)
self.flightData_tableView.resizeColumnsToContents()
self.flightData_tableView.resizeRowsToContents()
self.flightData_tableView.setColumnWidth(2, 120)
# flight data plotter
#-----------------------------------------------------------------------
pal = QPalette(self.palette())
pal.setColor(QPalette.Background, Qt.white)
self.controllerPlotter = QPlot2DTime(
timeSpan=30.0,
yMin=-2.0,
yMax=2.0,
yOriginValue=0.0,
xTickInterval=5.0,
yTickInterval=0.5,
labelFont=QFont("Segoe UI", 10),
refreshRate=0.1)
self.controllerPlotter.setPlotDrawMethod(0, 'line')
self.flightPlot_plotGroup.layout().addWidget(self.controllerPlotter)
self.flightPlot_selection.currentTextChanged.connect(self.flightPlot_selection_changed)
# mission programs table
#-----------------------------------------------------------------------
self.mission_program_db = KPMissionProgramsDatabase(parent=self)
self.mission_programs_model = KPMissionProgramsModel(mp_database=self.mission_program_db, parent=self)
self.mission_programTableView.setModel(self.mission_programs_model)
self.mission_programTableView.verticalHeader().setVisible(False)
self.mission_programTableView.verticalHeader().sectionResizeMode(QHeaderView.Fixed)
self.mission_programTableView.resizeColumnsToContents()
self.mission_programTableView.resizeRowsToContents()
self.mission_programTableView.setSelectionMode(QAbstractItemView.SingleSelection)
self.mission_program_db.current_program_updated.connect(self.mission_programs_model.set_active_program)
self.mission_program_db.current_program_updated.connect(self._flight_ctrl.set_active_program)
self.mission_activateButton.clicked.connect(self.mission_activateButton_clicked)
self.mission_program_db.set_current_program_num(0)
self._flight_ctrl.request_mp_change.connect(self.flight_requested_mp_change)
# automatically start KRPC connection
QTimer.singleShot(200, self.krpc_connectionButton_clicked)
# automatically start serial port connection
QTimer.singleShot(300, self.serial_connectionButton_clicked)
# debug
#-----------------------------------------------------------------------
self.radarPlotter = QPlot2D(
xMin=-1.0,
xMax=1.0,
yMin=-1.0,
yMax=1.0,
xOriginValue=0.0,
yOriginValue=0.0,
xTickInterval=0.1,
yTickInterval=0.1)
radarLayout = QVBoxLayout()
radarLayout.addWidget(self.radarPlotter)
self.radarTab.setLayout(radarLayout)
self._radarPlotColorBins = 60
radarPlotColor = QColor()
for i in range(self._radarPlotColorBins):
hue = map_value_to_scale(float(i), 0.0, float(self._radarPlotColorBins), 0.0, 0.2)
radarPlotColor.setHsvF(hue, 1.0, 1.0)
self.radarPlotter.setPlotPen(i, QPen(radarPlotColor, 15.0, Qt.SolidLine, Qt.RoundCap))
self.radarPlotter.setPlotPen(self._radarPlotColorBins, QPen(Qt.blue, 15.0, Qt.SolidLine, Qt.RoundCap))
#self.radarPlotter.update()
# S L O T S
#===========================================================================
@pyqtSlot()
def update_plots(self):
pass
@pyqtSlot()
def serial_connected(self):
self.serial_connectionLabel.setText("Status: Connected")
self.serial_connectionButton.setText("Disconnect")
@pyqtSlot()
def serial_disconnected(self):
self.serial_connectionLabel.setText("Status: Disconnected")
self.serial_connectionButton.setText("Connect")
@pyqtSlot()
def serial_port_changed(self, text):
self._serial_iface.port = text
@pyqtSlot()
def serial_baudrate_changed(self, text):
(baudrate, ok) = text.toInt()
if ok:
self._serial_iface.baudrate = baudrate
@pyqtSlot()
def serial_connectionButton_clicked(self):
if not self._serial_iface.is_connected:
self.serial_iface_begin_connect.emit()
else:
self.serial_iface_begin_disconnect.emit()
@pyqtSlot()
def krpc_client_connected(self):
self.krpc_connectionLabel.setText("Status: Connected")
self.krpc_connectionButton.setText("Disconnect")
@pyqtSlot()
def krpc_client_disconnected(self):
self.krpc_connectionLabel.setText("Status: Disconnected")
self.krpc_connectionButton.setText("Connect")
@pyqtSlot()
def krpc_client_address_changed(self, text):
self._flight_ctrl.krpc_address = text
@pyqtSlot()
def krpc_client_rpc_port_changed(self, text):
(port, ok) = text.toInt()
if ok:
self._flight_ctrl.krpc_rpc_port = port
@pyqtSlot()
def krpc_client_stream_port_changed(self, text):
(port, ok) = text.toInt()
if ok:
self._flight_ctrl.krpc_stream_port = port
@pyqtSlot()
def krpc_connectionButton_clicked(self):
if not self._flight_ctrl.krpc_is_connected:
self.krpc_client_begin_connect.emit()
else:
self.krpc_client_begin_disconnect.emit()
@pyqtSlot()
def mission_activateButton_clicked(self):
if self.mission_programTableView.currentIndex().column() == 0:
current_selection = self.mission_programTableView.currentIndex().row()
self.mission_program_db.set_current_program_num(current_selection)
@pyqtSlot(str)
def flight_requested_mp_change(self, mp_id):
self.mission_program_db.set_current_program_id(mp_id)
@pyqtSlot(dict)
def flight_telemetry_updated(self, telemetry_dict):
#self.log_logTextEdit.clear()
for param in telemetry_dict.keys():
if param in KPFlightDataModel.flight_data_lookup:
self.flight_data_model.update_flight_data(param, telemetry_dict[param])
# plotter
plotter_current_selection = self.flightPlot_selection.currentText()
if plotter_current_selection == 'Vertical Speed':
self.controllerPlotter.updatePlot(0, telemetry_dict['vessel_vertical_speed'])
elif plotter_current_selection == 'Altitude':
self.controllerPlotter.updatePlot(0, telemetry_dict['vessel_mean_altitude'])
# radar
'''
self.radarPlotter.clearPlots()
#surface_height_at_vessel = telemetry_dict['vessel_surface_height']
radar_altitude_map = telemetry_dict['surface_height_map']
#print(radar_altitude_map)
radar_altitude_map_min = min([min(a) for a in radar_altitude_map])
radar_altitude_map_max = max([max(a) for a in radar_altitude_map])
if radar_altitude_map_min == 0.0 and radar_altitude_map_max == 0.0:
radar_altitude_map_min = -1.0
radar_altitude_map_max = 1.0
s = len(telemetry_dict['surface_height_map'][0])
for y in range(s):
for x in range(s):
x_val = map_value_to_scale(float(x) + 0.5, 0.0, s, -1.0, 1.0)
y_val = map_value_to_scale(float(y) + 0.5, 0.0, s, -1.0, 1.0)
alt = radar_altitude_map[y][x]
bin = map_value_to_scale(alt, radar_altitude_map_min, radar_altitude_map_max, 0.1, self._radarPlotColorBins - 0.1)
#bin = map_value_to_scale(x_val, -1.0, 1.0, 0.1, 19.9)
bin = int(bin)
if alt > (telemetry_dict['vessel_surface_height'] - 1.0) and alt < (telemetry_dict['vessel_surface_height'] + 1.0):
self.radarPlotter.updatePlot(self._radarPlotColorBins, (x_val, y_val))
else:
self.radarPlotter.updatePlot(bin, (x_val, y_val))
self.radarPlotter.update()
'''
@pyqtSlot('QString')
def flightPlot_selection_changed(self, text):
self.controllerPlotter.clearPlots()
if text == 'Vertical Speed':
self.controllerPlotter.setYMin(-2.0)
self.controllerPlotter.setYMax(2.0)
self.controllerPlotter.setYTickInterval(0.5)
elif text == 'Altitude':
self.controllerPlotter.setYMin(70.0)
self.controllerPlotter.setYMax(200.0)
self.controllerPlotter.setYTickInterval(10.0)
# O V E R R I D E M E T H O D S
#===========================================================================
# P R I V A T E M E T H O D S
#===========================================================================
def close(self):
self._serial_iface.terminate = True
self._flight_ctrl.terminate = True
self._logger_thread.terminate()
self._logger_thread.join()
def _parse_config(self, config_filename):
if not os.path.isfile(config_filename):
sys.stderr.write(
'Config file not found: {:s}\nCWD: {:s}\n\n'.format(config_filename, os.getcwd()))
if isPython3:
cfg = configparser.ConfigParser()
else:
cfg = ConfigParser.SafeConfigParser()
cfg.read(config_filename)
config = {
'logger_directory' : cfg.get(KerbalPie._CFG_GLOBALS_SECTION, 'logger_directory'),
'logger_filename' : cfg.get(KerbalPie._CFG_GLOBALS_SECTION, 'logger_filename'),
'krpc_address' : cfg.get(KerbalPie._CFG_KRPC_SECTION, 'krpc_address'),
'krpc_client_name' : cfg.get(KerbalPie._CFG_KRPC_SECTION, 'krpc_client_name'),
'krpc_rpc_port' : cfg.getint(KerbalPie._CFG_KRPC_SECTION, 'krpc_rpc_port'),
'krpc_stream_port' : cfg.getint(KerbalPie._CFG_KRPC_SECTION, 'krpc_stream_port'),
'serial_port' : cfg.get(KerbalPie._CFG_SERIAL_SECTION, 'serial_port'),
'serial_baudrate' : cfg.getint(KerbalPie._CFG_SERIAL_SECTION, 'serial_baudrate'),
}
return config
def _clear_log_text(self):
self.log_logTextEdit.clear()
