def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.pid_type_list.addItem("ACCRO")
self.ui.pid_type_list.addItem("STABLE")
self.ui.pid_type_list.clicked.connect(self._pid_list_selection_clicked)
self.ui.pid_type_list.setCurrentRow(0)
self._accro_pid_tuning_controller = AccroPIDTuningController(
vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._accro_pid_tuning_controller)
self.ui.panel_container.setCurrentIndex(0)
self._stable_pid_tuning_controller = StablePIDTuningController(
vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._stable_pid_tuning_controller)
self.ui.beginner_radio_button.clicked.connect(
self._beginner_radio_button_pressed)
self.ui.intermediate_radio_button.clicked.connect(
self._intermediate_radio_button_pressed)
self.ui.advance_radio_button.clicked.connect(
self._advanced_radio_button_pressed)
self.ui.beginner_radio_button.setChecked(True)
self._current_pid_tuning_controller = self._accro_pid_tuning_controller
class PIDParametersUpdaterController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.pid_type_list.addItem("ACCRO")
self.ui.pid_type_list.addItem("STABLE")
self.ui.pid_type_list.clicked.connect(self._pid_list_selection_clicked)
self.ui.pid_type_list.setCurrentRow(0)
self._accro_pid_tuning_controller = AccroPIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._accro_pid_tuning_controller)
self.ui.panel_container.setCurrentIndex(0)
self._stable_pid_tuning_controller = StablePIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._stable_pid_tuning_controller)
self.ui.beginner_radio_button.clicked.connect(self._beginner_radio_button_pressed)
self.ui.intermediate_radio_button.clicked.connect(self._intermediate_radio_button_pressed)
self.ui.advance_radio_button.clicked.connect(self._advanced_radio_button_pressed)
self.ui.beginner_radio_button.setChecked(True)
self._current_pid_tuning_controller = self._accro_pid_tuning_controller
def _pid_list_selection_clicked(self):
if (self.ui.pid_type_list.currentItem().text() == 'ACCRO'):
self._current_pid_tuning_controller = self._accro_pid_tuning_controller
else:
self._current_pid_tuning_controller = self._stable_pid_tuning_controller
self.ui.panel_container.setCurrentWidget(self._current_pid_tuning_controller)
def _beginner_radio_button_pressed(self):
self._current_pid_tuning_controller.setBeginnerMode()
def _intermediate_radio_button_pressed(self):
self._current_pid_tuning_controller.setIntermediateMode()
def _advanced_radio_button_pressed(self):
self._current_pid_tuning_controller.setAdvancedMode()
def start(self):
pass
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.parameterTable.verticalHeader().setVisible(False)
self.ui.buttonLoad.setEnabled(False)
self.ui.buttonSave.setEnabled(False)
self.ui.buttonUpload.setEnabled(False)
self.ui.listParameterType.clicked.connect(self.updateSelection)
self.ui.buttonUpload.clicked.connect(self.updateParameters)
self.ui.buttonSave.clicked.connect(self.underConstruction)
self.ui.buttonLoad.clicked.connect(self.underConstruction)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.pid_type_list.addItem("ACCRO")
self.ui.pid_type_list.addItem("STABLE")
self.ui.pid_type_list.clicked.connect(self._pid_list_selection_clicked)
self.ui.pid_type_list.setCurrentRow(0)
self._accro_pid_tuning_controller = AccroPIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._accro_pid_tuning_controller)
self.ui.panel_container.setCurrentIndex(0)
self._stable_pid_tuning_controller = StablePIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._stable_pid_tuning_controller)
self.ui.beginner_radio_button.clicked.connect(self._beginner_radio_button_pressed)
self.ui.intermediate_radio_button.clicked.connect(self._intermediate_radio_button_pressed)
self.ui.advance_radio_button.clicked.connect(self._advanced_radio_button_pressed)
self.ui.beginner_radio_button.setChecked(True)
self.ui.default_button.clicked.connect(self._default_button_pressed)
self._current_pid_tuning_controller = self._accro_pid_tuning_controller
self._user_level_mode = PIDUpdateMode.BEGINNER_MODE
self._timer = QtCore.QTimer()
self._timer.timeout.connect(self._sync_with_board)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.parameterTable.verticalHeader().setVisible(False)
self.ui.buttonLoad.setEnabled(False)
self.ui.buttonSave.setEnabled(False)
self.ui.buttonUpload.setEnabled(False)
self.ui.listParameterType.clicked.connect(self.updateSelection)
self.ui.buttonUpload.clicked.connect(self.updateParameters)
self.ui.buttonSave.clicked.connect(self.underConstruction)
self.ui.buttonLoad.clicked.connect(self.underConstruction)
class PIDParametersUpdaterController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.pid_type_list.addItem("ACCRO")
self.ui.pid_type_list.addItem("STABLE")
self.ui.pid_type_list.clicked.connect(self._pid_list_selection_clicked)
self.ui.pid_type_list.setCurrentRow(0)
self._accro_pid_tuning_controller = AccroPIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._accro_pid_tuning_controller)
self.ui.panel_container.setCurrentIndex(0)
self._stable_pid_tuning_controller = StablePIDTuningController(vehicle_event_dispatcher, ui_event_dispatcher)
self.ui.panel_container.addWidget(self._stable_pid_tuning_controller)
self.ui.beginner_radio_button.clicked.connect(self._beginner_radio_button_pressed)
self.ui.intermediate_radio_button.clicked.connect(self._intermediate_radio_button_pressed)
self.ui.advance_radio_button.clicked.connect(self._advanced_radio_button_pressed)
self.ui.beginner_radio_button.setChecked(True)
self.ui.default_button.clicked.connect(self._default_button_pressed)
self._current_pid_tuning_controller = self._accro_pid_tuning_controller
self._user_level_mode = PIDUpdateMode.BEGINNER_MODE
self._timer = QtCore.QTimer()
self._timer.timeout.connect(self._sync_with_board)
def _pid_list_selection_clicked(self):
self._current_pid_tuning_controller.stop()
if (self.ui.pid_type_list.currentItem().text() == 'ACCRO'):
self._current_pid_tuning_controller = self._accro_pid_tuning_controller
else:
self._current_pid_tuning_controller = self._stable_pid_tuning_controller
self.ui.panel_container.setCurrentWidget(self._current_pid_tuning_controller)
if (self._user_level_mode == PIDUpdateMode.BEGINNER_MODE) :
self._current_pid_tuning_controller.setBeginnerMode()
elif (self._user_level_mode == PIDUpdateMode.INTERMEDIATE_MODE) :
self._current_pid_tuning_controller.setIntermediateMode()
else :
self._current_pid_tuning_controller.setAdvancedMode()
self._current_pid_tuning_controller.start()
def _beginner_radio_button_pressed(self):
self._user_level_mode = PIDUpdateMode.BEGINNER_MODE
self._current_pid_tuning_controller.set_beginner_mode()
def _intermediate_radio_button_pressed(self):
self._user_level_mode = PIDUpdateMode.INTERMEDIATE_MODE
self._current_pid_tuning_controller.set_intermediate_mode()
def _advanced_radio_button_pressed(self):
self._user_level_mode = PIDUpdateMode.ADVANCED_MODE
self._current_pid_tuning_controller.set_advanced_mode()
def start(self):
self._current_pid_tuning_controller.start()
self._timer.start(250)
def stop(self):
self._current_pid_tuning_controller.stop()
self._timer.stop()
def _sync_with_board(self):
self._current_pid_tuning_controller.sync_with_board()
def _default_button_pressed(self):
self._current_pid_tuning_controller.reset_default()
class PIDParametersUpdaterController(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_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.parameterTable.verticalHeader().setVisible(False)
self.ui.buttonLoad.setEnabled(False)
self.ui.buttonSave.setEnabled(False)
self.ui.buttonUpload.setEnabled(False)
self.ui.listParameterType.clicked.connect(self.updateSelection)
self.ui.buttonUpload.clicked.connect(self.updateParameters)
self.ui.buttonSave.clicked.connect(self.underConstruction)
self.ui.buttonLoad.clicked.connect(self.underConstruction)
def start(self, xmlSubPanel, boardConfiguration):
self.subPanelName = xmlSubPanel
self.boardConfiguration = boardConfiguration
parameterTypes = self.xml.findall(self.subPanelName + "/ParameterType")
self.ui.listParameterType.clear()
# Load parameter types
for parameterType in parameterTypes:
typeName = parameterType.get("Name")
if self.checkRequirementsMatch(self.subPanelName + "/ParameterType/[@Name='" + typeName + "']/Requirement"):
self.ui.listParameterType.addItem(typeName)
self.ui.listParameterType.setCurrentRow(0)
self.ui.listParameterType.setFocus()
descriptionHeader = QtGui.QTableWidgetItem(" Description")
descriptionHeader.setTextAlignment(QtCore.Qt.AlignVCenter|QtCore.Qt.AlignLeft)
self.ui.parameterTable.setHorizontalHeaderItem(2, descriptionHeader)
self.updateSelection()
self.ui.buttonLoad.setEnabled(self.comm.isConnected())
self.ui.buttonSave.setEnabled(self.comm.isConnected())
self.ui.buttonUpload.setEnabled(self.comm.isConnected())
def getXmlLocation(self, value):
selectedType = str(self.ui.listParameterType.currentItem().text())
xmlLocation = self.subPanelName + "/ParameterType/[@Name='" + selectedType + "']/" + value
return xmlLocation
def updateSelection(self):
# Generate location of where subpanel values are in XML
parameterNames = self.xml.findall(self.getXmlLocation("Parameter"))
# If connected, query AeroQuad for parameter values
if self.comm.isConnected():
telemetry = self.xml.find(self.getXmlLocation("Telemetry")).text
self.comm.write(telemetry)
time.sleep(0.100)
response = self.comm.waitForRead()
telemetryData = response.split(",")
# Fill in each row of parameter table
rowCount = len(parameterNames)
self.ui.parameterTable.setRowCount(rowCount)
for currentRow in range(rowCount):
# Create a floating point widget for value column
name = QtGui.QTableWidgetItem(parameterNames[currentRow].get("Name") + " ")
data = QtGui.QDoubleSpinBox()
data.setMinimum(-5000.0)
data.setMaximum(5000)
data.setDecimals(2)
data.setAlignment(QtCore.Qt.AlignVCenter|QtCore.Qt.AlignRight)
# If connected, fill in with telemetry response, otherwise fill in from XML file
if self.comm.isConnected():
data.setValue(float(telemetryData[currentRow]))
else:
data.setValue(float(parameterNames[currentRow].text))
description = QtGui.QTableWidgetItem(" " + parameterNames[currentRow].get("Description"))
self.ui.parameterTable.setItem(currentRow, 0, name)
self.ui.parameterTable.setCellWidget(currentRow, 1, data)
self.ui.parameterTable.setItem(currentRow, 2, description)
self.ui.parameterTable.resizeColumnToContents(0)
self.ui.parameterTable.resizeColumnToContents(1)
self.ui.parameterTable.resizeColumnToContents(2)
def updateParameters(self):
parameterData = []
for row in range(self.ui.parameterTable.rowCount()):
#parameterData.append(str(self.ui.parameterTable.cellWidget(row, 1).text()))
data = str(self.ui.parameterTable.cellWidget(row, 1).text())
data = data.replace(',','.')
parameterData.append(data)
command = self.xml.find(self.getXmlLocation("Command")).text
commandMessage = command + ";".join(parameterData) + ";"
self.comm.write(commandMessage)
time.sleep(0.100)
telemetry = self.xml.find(self.getXmlLocation("Telemetry")).text
self.comm.write(telemetry)
time.sleep(0.100)
response = self.comm.waitForRead()
if response[-1] == ",":
response = response[:-1]
telemetryData = response.split(",")
parameters = [float(x) for x in parameterData]
telemetrys = [float(x) for x in telemetryData]
if parameters == telemetrys:
updateEEPROM = self.xml.find(self.getXmlLocation("UpdateEEPROM")).text
self.comm.write(updateEEPROM)
self.status("Parameter values successfully stored to the AeroQuad")
else:
parameterString = ", ".join(map(str, parameters))
telemetryString = ", ".join(map(str,telemetrys))
warningMessage = "Unable to verify parameters stored on the AeroQuad\n\nSent: " + parameterString + "\nReceived: " + telemetryString
msgBox = QtGui.QMessageBox(QtGui.QMessageBox.Warning, "Verification Error", warningMessage, QtGui.QMessageBox.NoButton, self)
msgBox.addButton("&Retry", QtGui.QMessageBox.AcceptRole)
msgBox.addButton("&Abort", QtGui.QMessageBox.RejectRole)
if msgBox.exec_() == QtGui.QMessageBox.AcceptRole:
self.status("Retrying parameter storage to AeroQuad...")
self.updateParameters()
else:
self.status("Aborted parameter storage to AeroQuad")
def underConstruction(self):
self.status("This feature still under construction")
class PIDParametersUpdaterController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDParametersUpdaterPanel()
self.ui.setupUi(self)
self.ui.parameterTable.verticalHeader().setVisible(False)
self.ui.buttonLoad.setEnabled(False)
self.ui.buttonSave.setEnabled(False)
self.ui.buttonUpload.setEnabled(False)
self.ui.listParameterType.clicked.connect(self.updateSelection)
self.ui.buttonUpload.clicked.connect(self.updateParameters)
self.ui.buttonSave.clicked.connect(self.underConstruction)
self.ui.buttonLoad.clicked.connect(self.underConstruction)
def start(self):
pass
# self.subPanelName = xmlSubPanel
# self.boardConfiguration = boardConfiguration
# parameterTypes = self.xml.findall(self.subPanelName + "/ParameterType")
# self.ui.listParameterType.clear()
# # Load parameter types
# for parameterType in parameterTypes:
# typeName = parameterType.get("Name")
# if self.checkRequirementsMatch(self.subPanelName + "/ParameterType/[@Name='" + typeName + "']/Requirement"):
# self.ui.listParameterType.addItem(typeName)
# self.ui.listParameterType.setCurrentRow(0)
# self.ui.listParameterType.setFocus()
# descriptionHeader = QtGui.QTableWidgetItem(" Description")
# descriptionHeader.setTextAlignment(QtCore.Qt.AlignVCenter|QtCore.Qt.AlignLeft)
# self.ui.parameterTable.setHorizontalHeaderItem(2, descriptionHeader)
# self.updateSelection()
# self.ui.buttonLoad.setEnabled(self._communicator.isConnected())
# self.ui.buttonSave.setEnabled(self._communicator.isConnected())
# self.ui.buttonUpload.setEnabled(self._communicator.isConnected())
def getXmlLocation(self, value):
selectedType = str(self.ui.listParameterType.currentItem().text())
xmlLocation = self.subPanelName + "/ParameterType/[@Name='" + selectedType + "']/" + value
return xmlLocation
def updateSelection(self):
# Generate location of where subpanel values are in XML
parameterNames = self.xml.findall(self.getXmlLocation("Parameter"))
# If connected, query AeroQuad for parameter values
if self._communicator.isConnected():
telemetry = self.xml.find(self.getXmlLocation("Telemetry")).text
self._communicator.write(telemetry)
time.sleep(0.100)
response = self._communicator.waitForRead()
telemetryData = response.split(",")
# Fill in each row of parameter table
rowCount = len(parameterNames)
self.ui.parameterTable.setRowCount(rowCount)
for currentRow in range(rowCount):
# Create a floating point widget for value column
name = QtGui.QTableWidgetItem(
parameterNames[currentRow].get("Name") + " ")
data = QtGui.QDoubleSpinBox()
data.setMinimum(-5000.0)
data.setMaximum(5000)
data.setDecimals(2)
data.setAlignment(QtCore.Qt.AlignVCenter | QtCore.Qt.AlignRight)
# If connected, fill in with telemetry response, otherwise fill in from XML file
if self._communicator.isConnected():
data.setValue(float(telemetryData[currentRow]))
else:
data.setValue(float(parameterNames[currentRow].text))
description = QtGui.QTableWidgetItem(
" " + parameterNames[currentRow].get("Description"))
self.ui.parameterTable.setItem(currentRow, 0, name)
self.ui.parameterTable.setCellWidget(currentRow, 1, data)
self.ui.parameterTable.setItem(currentRow, 2, description)
self.ui.parameterTable.resizeColumnToContents(0)
self.ui.parameterTable.resizeColumnToContents(1)
self.ui.parameterTable.resizeColumnToContents(2)
def updateParameters(self):
parameterData = []
for row in range(self.ui.parameterTable.rowCount()):
#parameterData.append(str(self.ui.parameterTable.cellWidget(row, 1).text()))
data = str(self.ui.parameterTable.cellWidget(row, 1).text())
data = data.replace(',', '.')
parameterData.append(data)
command = self.xml.find(self.getXmlLocation("Command")).text
commandMessage = command + ";".join(parameterData) + ";"
self._communicator.write(commandMessage)
time.sleep(0.100)
telemetry = self.xml.find(self.getXmlLocation("Telemetry")).text
self._communicator.write(telemetry)
time.sleep(0.100)
response = self._communicator.waitForRead()
if response[-1] == ",":
response = response[:-1]
telemetryData = response.split(",")
parameters = [float(x) for x in parameterData]
telemetrys = [float(x) for x in telemetryData]
if parameters == telemetrys:
updateEEPROM = self.xml.find(
self.getXmlLocation("UpdateEEPROM")).text
self._communicator.write(updateEEPROM)
self.status("Parameter values successfully stored to the AeroQuad")
else:
parameterString = ", ".join(map(str, parameters))
telemetryString = ", ".join(map(str, telemetrys))
warningMessage = "Unable to verify parameters stored on the AeroQuad\n\nSent: " + parameterString + "\nReceived: " + telemetryString
msgBox = QtGui.QMessageBox(QtGui.QMessageBox.Warning,
"Verification Error", warningMessage,
QtGui.QMessageBox.NoButton, self)
msgBox.addButton("&Retry", QtGui.QMessageBox.AcceptRole)
msgBox.addButton("&Abort", QtGui.QMessageBox.RejectRole)
if msgBox.exec_() == QtGui.QMessageBox.AcceptRole:
self.status("Retrying parameter storage to AeroQuad...")
self.updateParameters()
else:
self.status("Aborted parameter storage to AeroQuad")
def underConstruction(self):
self.status("This feature still under construction")
