def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._is_running = False
self._amount_axis = 3
self._axix_max = [0, 0, 0]
self._axis_min = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self._is_connected = False
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
vehicle_event_dispatcher.register(
self._magnetometer_raw_data_updated,
VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(
self._connection_state_changed,
UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
def __init__(self, vehicle_model, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self._vehicle_model = vehicle_model
self._protocol_handler = protocol_handler
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._is_running = False
self._amount_axis = 3
self._axix_max = [0, 0, 0] # x y z
self._axis_min = [0, 0, 0] # x y z
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self._is_connected = False
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
self._vehicle_model.register(self._magnetometer_raw_data_updated, VehicleModel.MAGNETOMETER_RAW_DATA_EVENT)
self._vehicle_model.register(self._connection_state_changed, VehicleModel.CONNECTION_STATE_CHANGED_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._min_mag_values = [0, 0, 0]
self._max_mag_values = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self.ui.start_button.clicked.connect(self._start_button_pressed)
self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
vehicle_event_dispatcher.register(
self._magnetometer_raw_data_updated,
VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._min_mag_values = [0, 0, 0]
self._max_mag_values = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self.ui.start_button.clicked.connect(self._start_button_pressed)
self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
vehicle_event_dispatcher.register(self._magnetometer_raw_data_updated, VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self.running = False
self.amount_axis = 3
self.axix_max = [0, 0, 0] # x y z
self.axis_min = [0, 0, 0] # x y z
self.axix_x = '0'
self.axix_y = '1'
self.axix_z = '2'
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._is_running = False
self._amount_axis = 3
self._axix_max = [0, 0, 0]
self._axis_min = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self._is_connected = False
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
vehicle_event_dispatcher.register(self._magnetometer_raw_data_updated, VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(self._connection_state_changed, UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
class MagnetometerCalibrationController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._min_mag_values = [0, 0, 0]
self._max_mag_values = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self.ui.start_button.clicked.connect(self._start_button_pressed)
self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
vehicle_event_dispatcher.register(self._magnetometer_raw_data_updated, VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def start(self):
self._reset_progress_bars()
def stop(self):
self._cancel_button_pressed()
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler;
def _start_button_pressed(self):
if self.ui.start_button.text() == 'Start':
self._protocol_handler.subscribe_raw_magnetometer()
self.ui.cancel_button.setEnabled(True)
self.ui.start_button.setText("Finish")
self._min_mag_values = [0, 0, 0]
self._max_mag_values = [0, 0, 0]
else:
self._protocol_handler.unsubscribe_command()
self.ui.start_button.setText('Start')
self._reset_progress_bars()
self._send_mag_cal_values()
def _cancel_button_pressed(self):
self._protocol_handler.unsubscribe_command()
self.ui.cancel_button.setEnabled(False)
self.ui.start_button.setText("Start")
self._reset_progress_bars()
def _magnetometer_raw_data_updated(self, event, vector):
self.ui.x_axis_progress_bar.setValue(int(vector.get_x()))
self.ui.label_x.setText(vector.get_x())
self._min_mag_values[0] = min(self._min_mag_values[0],vector.get_x())
self._max_mag_values[0] = max(self._max_mag_values[0],vector.get_x())
self.ui.y_axis_progress_bar.setValue(int(vector.get_y()))
self.ui.label_y.setText(vector.get_y())
self._min_mag_values[1] = min(self._min_mag_values[1],vector.get_y())
self._max_mag_values[1] = max(self._max_mag_values[1],vector.get_y())
self.ui.z_axis_progress_bar.setValue(int(vector.get_z()))
self.ui.label_z.setText(vector.get_z())
self._min_mag_values[2] = min(self._min_mag_values[2],vector.get_z())
self._max_mag_values[2] = max(self._max_mag_values[2],vector.get_z())
def _reset_progress_bars(self):
self.ui.x_axis_progress_bar.setValue(0)
self.ui.label_x.setText(str(0))
self.ui.y_axis_progress_bar.setValue(0)
self.ui.label_y.setText(str(0))
self.ui.z_axis_progress_bar.setValue(0)
self.ui.label_z.setText(str(0))
def _send_mag_cal_values(self):
self._protocol_handler.send_mag_calibration_values(self._min_mag_values,self._max_mag_values)
class MagnetometerCalibrationController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._is_running = False
self._amount_axis = 3
self._axix_max = [0, 0, 0]
self._axis_min = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self._is_connected = False
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
vehicle_event_dispatcher.register(
self._magnetometer_raw_data_updated,
VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(
self._connection_state_changed,
UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
def start_magnetometer_calibration(self):
if self._is_running:
self.ui.start.setText("Start")
self.cancel_magnetometer_calibration(
) #we can stop the calibration it's done
# self.send_calibration_value()
elif not self._is_running:
if self._is_connected:
self._protocol_handler.unsubscribe_command()
self._protocol_handler.subscribe_raw_magnetometer()
self._is_running = True
self.ui.cancel.setEnabled(True)
self.ui.next.setEnabled(False)
self.ui.start.setText("Finish")
self._axix_max = [0, 0, 0]
self._axis_min = [0, 0, 0]
def cancel_magnetometer_calibration(self):
self._protocol_handler.unsubscribe_command()
self._is_running = False
self.ui.cancel.setEnabled(False)
self.ui.next.setEnabled(True)
self.ui.start.setText("Start")
# def read_continuousData(self):
# isConnected = self.comm.isConnected()
# if isConnected and not self.commData.empty():
# string = self.commData.get()
# string_out = string.split(',')
# if self._is_running:
# for i in range(0, self._amount_axis):
# if int(string_out[i]) < self._axis_min[i]:
# self._axis_min[i] = int(string_out[i])
# if int(string_out[i]) > self._axix_max[i]:
# self._axix_max[i] = int(string_out[i])
# self.update_gui(i, int(string_out[i]))
#
# self.ui.commLog.append(self.timeStamp() + " <- " + self.commData.get())
# self.ui.commLog.ensureCursorVisible()
def _connection_state_changed(self, event, is_connected):
self._is_connected = is_connected
def _magnetometer_raw_data_updated(self, event, vector):
self.ui.x_axis_progress_bar.setValue(int(vector.get_x()))
self.ui.label_x.setText(vector.get_x())
self.ui.y_axis_progress_bar.setValue(int(vector.get_y()))
self.ui.label_y.setText(vector.get_y())
self.ui.z_axis_progress_bar.setValue(int(vector.get_z()))
self.ui.label_z.setText(vector.get_z())
def update_gui(self, axis, value):
if axis == int(self._axix_x):
self.ui.x_axis_progress_bar.setValue(value)
self.ui.label_x.setText(str(value))
if axis == int(self._axix_y):
self.ui.x_axis_progress_bar.setValue(value)
self.ui.label_y.setText(str(value))
if axis == int(self._axix_z):
self.ui.x_axis_progress_bar.setValue(value)
self.ui.label_z.setText(str(value))
class MagnetometerCalibrationController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._is_running = False
self._amount_axis = 3
self._axix_max = [0, 0, 0]
self._axis_min = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self._is_connected = False
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
vehicle_event_dispatcher.register(self._magnetometer_raw_data_updated, VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(self._connection_state_changed, UIEventDispatcher.CONNECTION_STATE_CHANGED_EVENT)
def start_magnetometer_calibration(self):
if self._is_running:
self.ui.start.setText("Start")
self.cancel_magnetometer_calibration() #we can stop the calibration it's done
# self.send_calibration_value()
elif not self._is_running:
if self._is_connected:
self._protocol_handler.unsubscribe_command()
self._protocol_handler.subscribe_raw_magnetometer()
self._is_running = True
self.ui.cancel.setEnabled(True)
self.ui.next.setEnabled(False)
self.ui.start.setText("Finish")
self._axix_max = [0, 0, 0]
self._axis_min = [0, 0, 0]
def cancel_magnetometer_calibration(self):
self._protocol_handler.unsubscribe_command()
self._is_running = False
self.ui.cancel.setEnabled(False)
self.ui.next.setEnabled(True)
self.ui.start.setText("Start")
# def read_continuousData(self):
# isConnected = self.comm.isConnected()
# if isConnected and not self.commData.empty():
# string = self.commData.get()
# string_out = string.split(',')
# if self._is_running:
# for i in range(0, self._amount_axis):
# if int(string_out[i]) < self._axis_min[i]:
# self._axis_min[i] = int(string_out[i])
# if int(string_out[i]) > self._axix_max[i]:
# self._axix_max[i] = int(string_out[i])
# self.update_gui(i, int(string_out[i]))
#
# self.ui.commLog.append(self.timeStamp() + " <- " + self.commData.get())
# self.ui.commLog.ensureCursorVisible()
def _connection_state_changed(self, event, is_connected):
self._is_connected = is_connected
def _magnetometer_raw_data_updated(self, event, vector):
self.ui.x_axis_progress_bar.setValue(int(vector.get_x()))
self.ui.label_x.setText(vector.get_x())
self.ui.y_axis_progress_bar.setValue(int(vector.get_y()))
self.ui.label_y.setText(vector.get_y())
self.ui.z_axis_progress_bar.setValue(int(vector.get_z()))
self.ui.label_z.setText(vector.get_z())
def update_gui(self, axis, value):
if axis == int(self._axix_x):
self.ui.x_axis_progress_bar.setValue(value)
self.ui.label_x.setText(str(value))
if axis == int(self._axix_y):
self.ui.x_axis_progress_bar.setValue(value)
self.ui.label_y.setText(str(value))
if axis == int(self._axix_z):
self.ui.x_axis_progress_bar.setValue(value)
self.ui.label_z.setText(str(value))
#def send_calibration_value(self):
#self.comm.write("X");
#command = "M "
#commands here
#self.comm.write(command)
class MagnetometerCalibrationController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self.running = False
self.amount_axis = 3
self.axix_max = [0, 0, 0] # x y z
self.axis_min = [0, 0, 0] # x y z
self.axix_x = '0'
self.axix_y = '1'
self.axix_z = '2'
self.ui.start.clicked.connect(self.start_magnetometer_calibration)
self.ui.cancel.clicked.connect(self.cancel_magnetometer_calibration)
def start_magnetometer_calibration(self):
if self.running:
self.ui.start.setText("Start")
self.cancel_magnetometer_calibration() #we can stop the calibration it's done
self.timer.stop()
self.send_calibration_value()
elif not self.running:
if self.comm.isConnected() == True:
self.comm.write("m")
self.comm.write("j")
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.read_continuousData)
self.timer.start(50)
self.startCommThread()
self.running = True
self.ui.cancel.setEnabled(True)
self.ui.next.setEnabled(False)
self.ui.start.setText("Finish")
self.axix_max = [0, 0, 0]
self.axis_min = [0, 0, 0]
def cancel_magnetometer_calibration(self):
self.comm.write("x")
self.timer.stop()
self.comm.flushResponse()
self.running = False
self.ui.cancel.setEnabled(False)
self.ui.next.setEnabled(True)
self.ui.start.setText("Start")
def read_continuousData(self):
isConnected = self.comm.isConnected()
if isConnected and not self.commData.empty():
string = self.commData.get()
string_out = string.split(',')
if self.running:
for i in range(0, self.amount_axis):
if int(string_out[i]) < self.axis_min[i]:
self.axis_min[i] = int(string_out[i])
if int(string_out[i]) > self.axix_max[i]:
self.axix_max[i] = int(string_out[i])
self.update_gui(i, int(string_out[i]))
self.ui.commLog.append(self.timeStamp() + " <- " + self.commData.get())
self.ui.commLog.ensureCursorVisible()
def update_gui(self, axis, value):
if axis == int(self.axix_x):
self.ui.x_axis_progress_bar.setValue(value)
self.ui.label_x.setText(str(value))
if axis == int(self.axix_y):
self.ui.x_axis_progress_bar.setValue(value)
self.ui.label_y.setText(str(value))
if axis == int(self.axix_z):
self.ui.x_axis_progress_bar.setValue(value)
self.ui.label_z.setText(str(value))
#def send_calibration_value(self):
#self.comm.write("X");
#command = "M "
#commands here
#self.comm.write(command)
class MagnetometerCalibrationController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_MagnetometerCalibrationPanel()
self.ui.setupUi(self)
self._min_mag_values = [0, 0, 0]
self._max_mag_values = [0, 0, 0]
self._axix_x = '0'
self._axix_y = '1'
self._axix_z = '2'
self.ui.start_button.clicked.connect(self._start_button_pressed)
self.ui.cancel_button.clicked.connect(self._cancel_button_pressed)
vehicle_event_dispatcher.register(
self._magnetometer_raw_data_updated,
VehicleEventDispatcher.MAGNETOMETER_RAW_DATA_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
def start(self):
self._reset_progress_bars()
def stop(self):
self._cancel_button_pressed()
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler
def _start_button_pressed(self):
if self.ui.start_button.text() == 'Start':
self._protocol_handler.subscribe_raw_magnetometer()
self.ui.cancel_button.setEnabled(True)
self.ui.start_button.setText("Finish")
self._min_mag_values = [0, 0, 0]
self._max_mag_values = [0, 0, 0]
else:
self._protocol_handler.unsubscribe_command()
self.ui.start_button.setText('Start')
self._reset_progress_bars()
self._send_mag_cal_values()
def _cancel_button_pressed(self):
self._protocol_handler.unsubscribe_command()
self.ui.cancel_button.setEnabled(False)
self.ui.start_button.setText("Start")
self._reset_progress_bars()
def _magnetometer_raw_data_updated(self, event, vector):
self.ui.x_axis_progress_bar.setValue(int(vector.get_x()))
self.ui.label_x.setText(vector.get_x())
self._min_mag_values[0] = min(self._min_mag_values[0], vector.get_x())
self._max_mag_values[0] = max(self._max_mag_values[0], vector.get_x())
self.ui.y_axis_progress_bar.setValue(int(vector.get_y()))
self.ui.label_y.setText(vector.get_y())
self._min_mag_values[1] = min(self._min_mag_values[1], vector.get_y())
self._max_mag_values[1] = max(self._max_mag_values[1], vector.get_y())
self.ui.z_axis_progress_bar.setValue(int(vector.get_z()))
self.ui.label_z.setText(vector.get_z())
self._min_mag_values[2] = min(self._min_mag_values[2], vector.get_z())
self._max_mag_values[2] = max(self._max_mag_values[2], vector.get_z())
def _reset_progress_bars(self):
self.ui.x_axis_progress_bar.setValue(0)
self.ui.label_x.setText(str(0))
self.ui.y_axis_progress_bar.setValue(0)
self.ui.label_y.setText(str(0))
self.ui.z_axis_progress_bar.setValue(0)
self.ui.label_z.setText(str(0))
def _send_mag_cal_values(self):
self._protocol_handler.send_mag_calibration_values(
self._min_mag_values, self._max_mag_values)
