def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start_button.setEnabled(True)
self.ui.cancel_button.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.left_transmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.right_transmitter.setScene(rightStickScene)
self._nb_channels = 12
self._raw_receiver_min_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self._raw_receiver_max_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.max_amount_channels = 12
self._raw_roll = 1500
self._raw_pitch = 1500
self._raw_yaw = 1500
self._raw_throttle = 1500
self.ui.start_button.clicked.connect(self.start_RCcalibration)
self.ui.cancel_button.clicked.connect(self._cancel_calibration)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._receiver_channel_count_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_roll_received, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_pitch_received, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_yaw_received, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_throttle_received, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_mode_received, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux1_received, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux2_received, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux3_received, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux4_received, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux5_received, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux6_received, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux7_received, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start.setEnabled(True)
self.ui.cancel.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
self.running = False
self.amount_channels = 12
self.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.max_amount_channels = 12
self.ui.start.clicked.connect(self.start_RCcalibration)
self.ui.cancel.clicked.connect(self.cancel_RCcalibration)
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_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start.setEnabled(True)
self.ui.cancel.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
self.running = False
self.amount_channels = 12
self.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.max_amount_channels = 12
self.ui.start.clicked.connect(self.start_RCcalibration)
self.ui.cancel.clicked.connect(self.cancel_RCcalibration)
class ReceiverCalibrationController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start_button.setEnabled(True)
self.ui.cancel_button.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.left_transmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.right_transmitter.setScene(rightStickScene)
self._nb_channels = 12
self._raw_receiver_min_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self._raw_receiver_max_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.max_amount_channels = 12
self._raw_roll = 1500
self._raw_pitch = 1500
self._raw_yaw = 1500
self._raw_throttle = 1500
self.ui.start_button.clicked.connect(self.start_RCcalibration)
self.ui.cancel_button.clicked.connect(self._cancel_calibration)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._receiver_channel_count_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_roll_received, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_pitch_received, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_yaw_received, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_throttle_received, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_mode_received, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux1_received, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux2_received, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux3_received, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux4_received, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux5_received, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux6_received, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_raw_aux7_received, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler;
def _receiver_channel_count_received(self, event, nb_channels):
self._nb_channels = int(nb_channels)
self._update_panel_display()
def start_button(self):
self._protocol_handler.unsubscribe_command()
def stop(self):
self._cancel_calibration()
def start_RCcalibration(self):
if self.ui.start_button.text() == 'Start' :
self.ui.cancel_button.setEnabled(True)
self.ui.start_button.setText("Finish")
self._raw_receiver_min_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self._raw_receiver_max_values = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self._protocol_handler.reset_receiver_calibration_values(self._nb_channels)
self._protocol_handler.subscribe_receiver_data()
else :
self._send_calibration_value()
self._cancel_calibration()
def _receiver_raw_roll_received(self, event, raw_roll):
self._raw_roll = int(raw_roll)
self._compute_min_max_value(self._raw_roll,0)
self._update_right_stick(self._raw_roll, self._raw_pitch)
def _receiver_raw_pitch_received(self, event, raw_pitch):
self._raw_pitch = int(raw_pitch)
self._compute_min_max_value(self._raw_pitch,1)
self._update_right_stick(self._raw_roll, self._raw_pitch)
def _receiver_raw_yaw_received(self, event, raw_yaw):
self._raw_yaw = int(raw_yaw)
self._compute_min_max_value(self._raw_yaw,2)
self._update_left_stick(self._raw_throttle, self._raw_yaw)
def _receiver_raw_throttle_received(self, event, raw_throttle):
self._raw_throttle = int(raw_throttle)
self._compute_min_max_value(self._raw_throttle,3)
self._update_left_stick(self._raw_throttle, self._raw_yaw)
def _receiver_raw_mode_received(self, event, raw_mode):
self._compute_min_max_value(int(raw_mode),4)
self.ui.mode_progress_bar.setValue(int(raw_mode))
def _receiver_raw_aux1_received(self, event, raw_aux1):
self._compute_min_max_value(int(raw_aux1),5)
self.ui.aux1_progress_bar.setValue(int(raw_aux1))
def _receiver_raw_aux2_received(self, event, raw_aux2):
self._compute_min_max_value(int(raw_aux2),6)
self.ui.aux2_progress_bar.setValue(int(raw_aux2))
def _receiver_raw_aux3_received(self, event, raw_aux3):
self._compute_min_max_value(int(raw_aux3),7)
self.ui.aux3_progress_bar.setValue(int(raw_aux3))
def _receiver_raw_aux4_received(self, event, raw_aux4):
self._compute_min_max_value(int(raw_aux4),8)
self.ui.aux4_progress_bar.setValue(int(raw_aux4))
def _receiver_raw_aux5_received(self, event, raw_aux5):
self._compute_min_max_value(int(raw_aux5),9)
self.ui.aux5_progress_bar.setValue(int(raw_aux5))
def _receiver_raw_aux6_received(self, event, raw_aux6):
self._compute_min_max_value(int(raw_aux6),10)
self.ui.aux6_progress_bar.setValue(int(raw_aux6))
def _receiver_raw_aux7_received(self, event, raw_aux7):
self._compute_min_max_value(int(raw_aux7),11)
self.ui.aux7_progress_bar.setValue(int(raw_aux7))
def _compute_min_max_value(self, value, channel):
self._raw_receiver_min_values[channel] = min(self._raw_receiver_min_values[channel],value)
self._raw_receiver_max_values[channel] = max(self._raw_receiver_max_values[channel],value)
def _cancel_calibration(self):
self._protocol_handler.unsubscribe_command()
self.ui.cancel_button.setEnabled(False)
self.ui.start_button.setText("Start")
def _update_left_stick(self, throttle, yaw):
throttlePosition = self._scale_stick_display_value(throttle, (1000.0, 2000.0), (58.0, -57.0))
yawPosition = self._scale_stick_display_value(yaw, (1000.0, 2000.0), (-57.0, 55.0))
self.leftStick.setPos(yawPosition, throttlePosition)
def _update_right_stick(self, roll, pitch):
rollPosition = self._scale_stick_display_value(roll, (1000.0, 2000.0), (-57.0, 55.0))
pitchPosition = self._scale_stick_display_value(pitch, (1000.0, 2000.0), (58.0, -57.0))
self.rightStick.setPos(rollPosition, pitchPosition)
def _scale_stick_display_value(self, val, src, dst):
return ((val - src[0]) / (src[1]-src[0])) * (dst[1]-dst[0]) + dst[0]
def _update_panel_display(self):
if self._nb_channels < 6:
self.ui.label_aux1.hide()
self.ui.aux1_progress_bar.hide()
if self._nb_channels < 7:
self.ui.label_aux2.hide()
self.ui.aux2_progress_bar.hide()
if self._nb_channels < 8:
self.ui.label_aux3.hide()
self.ui.aux3_progress_bar.hide()
if self._nb_channels < 9:
self.ui.label_aux4.hide()
self.ui.aux4_progress_bar.hide()
if self._nb_channels < 10:
self.ui.label_aux5.hide()
self.ui.aux5_progress_bar.hide()
if self._nb_channels < 11:
self.ui.label_aux6.hide()
self.ui.aux6_progress_bar.hide()
if self._nb_channels < 12:
self.ui.label_aux7.hide()
self.ui.aux7_progress_bar.hide()
def _send_calibration_value(self):
self._protocol_handler.send_receiver_calibation_values(self._nb_channels,
self._raw_receiver_min_values,
self._raw_receiver_max_values)
class ReceiverCalibrationController(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_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start.setEnabled(True)
self.ui.cancel.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
self.running = False
self.amount_channels = 12
self.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.max_amount_channels = 12
self.ui.start.clicked.connect(self.start_RCcalibration)
self.ui.cancel.clicked.connect(self.cancel_RCcalibration)
def start(self, xmlSubPanel, boardConfiguration):
self.xmlSubPanel = xmlSubPanel
self.boardConfiguration = boardConfiguration
try:
self.amount_channels = int(self.boardConfiguration["Receiver Nb Channels"])
except:
logging.warning("Can't read amount of channels from boardconfiguration!")
self.enable_gui_attribute()
def start_RCcalibration(self):
if self.running:
self.ui.start.setText("Start")
self.cancel_RCcalibration() #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("H")
self.comm.write("t")
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.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
def cancel_RCcalibration(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_channels):
if int(string_out[i]) < self.RCmin[i]:
self.RCmin[i] = int(string_out[i])
if int(string_out[i]) > self.RCmax[i]:
self.RCmax[i] = int(string_out[i])
self.update_gui(i, string_out[i])
self.update_left_stick(int(string_out[3]), int(string_out[2]))
self.update_right_stick(int(string_out[0]), int(string_out[1]))
def update_gui(self, channel_number, value):
if channel_number == 4:
self.ui.progressBar_RCmode.setValue(int(value))
if channel_number == 5:
self.ui.progressBar_RCAux1.setValue(int(value))
if channel_number == 6:
self.ui.progressBar_RCAux2.setValue(int(value))
if channel_number == 7:
self.ui.progressBar_RCAux3.setValue(int(value))
if channel_number == 8:
self.ui.progressBar_RCAux4.setValue(int(value))
if channel_number == 9:
self.ui.progressBar_RCAux5.setValue(int(value))
if channel_number == 10:
self.ui.progressBar_RCAux6.setValue(int(value))
if channel_number == 11:
self.ui.progressBar_RCAux7.setValue(int(value))
def update_left_stick(self, throttle, yaw):
throttlePosition = self.scale(throttle, (1000.0, 2000.0), (58.0, -57.0))
yawPosition = self.scale(yaw, (1000.0, 2000.0), (-57.0, 55.0))
self.leftStick.setPos(yawPosition, throttlePosition)
def update_right_stick(self, roll, pitch):
rollPosition = self.scale(roll, (1000.0, 2000.0), (-57.0, 55.0))
pitchPosition = self.scale(pitch, (1000.0, 2000.0), (58.0, -57.0))
self.rightStick.setPos(rollPosition, pitchPosition)
def scale(self, val, src, dst):
return ((val - src[0]) / (src[1]-src[0])) * (dst[1]-dst[0]) + dst[0]
def enable_gui_attribute(self):
for i in range(0, self.max_amount_channels):
if i > (self.amount_channels - 1) and i == 5:
self.ui.label_aux1.setHidden(True)
self.ui.progressBar_RCAux1.setHidden(True)
elif i > (self.amount_channels - 1) and i == 6:
self.ui.label_aux2.setHidden(True)
self.ui.progressBar_RCAux2.setHidden(True)
elif i > (self.amount_channels - 1) and i == 7:
self.ui.label_aux3.setHidden(True)
self.ui.progressBar_RCAux3.setHidden(True)
elif i > (self.amount_channels - 1) and i == 8:
self.ui.label_aux4.setHidden(True)
self.ui.progressBar_RCAux4.setHidden(True)
elif i > (self.amount_channels - 1) and i == 9:
self.ui.label_aux5.setHidden(True)
self.ui.progressBar_RCAux5.setHidden(True)
elif i > (self.amount_channels - 1) and i == 10:
self.ui.label_aux6.setHidden(True)
self.ui.progressBar_RCAux6.setHidden(True)
elif i > (self.amount_channels - 1) and i == 11:
self.ui.label_aux7.setHidden(True)
self.ui.progressBar_RCAux7.setHidden(True)
def send_calibration_value(self):
self.comm.write("X");
command = "G "
for i in range(0, self.amount_channels):
command += str(self.RCmin[i])
command += ";"
command += str(self.RCmax[i])
command += ";"
self.comm.write(command)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start_button.setEnabled(True)
self.ui.cancel_button.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.leftStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.left_transmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.rightStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.right_transmitter.setScene(rightStickScene)
self._nb_channels = 12
self._raw_receiver_min_values = [
1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
1500, 1500
]
self._raw_receiver_max_values = [
1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
1500, 1500
]
self.max_amount_channels = 12
self._raw_roll = 1500
self._raw_pitch = 1500
self._raw_yaw = 1500
self._raw_throttle = 1500
self.ui.start_button.clicked.connect(self.start_RCcalibration)
self.ui.cancel_button.clicked.connect(self._cancel_calibration)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._receiver_channel_count_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_roll_received,
VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_pitch_received,
VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_yaw_received,
VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_throttle_received,
VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_mode_received,
VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux1_received,
VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux2_received,
VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux3_received,
VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux4_received,
VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux5_received,
VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux6_received,
VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux7_received,
VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
class ReceiverCalibrationController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start_button.setEnabled(True)
self.ui.cancel_button.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.leftStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.left_transmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(
QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(
QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern),
2))
self.rightStick.setBrush(
QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.right_transmitter.setScene(rightStickScene)
self._nb_channels = 12
self._raw_receiver_min_values = [
1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
1500, 1500
]
self._raw_receiver_max_values = [
1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
1500, 1500
]
self.max_amount_channels = 12
self._raw_roll = 1500
self._raw_pitch = 1500
self._raw_yaw = 1500
self._raw_throttle = 1500
self.ui.start_button.clicked.connect(self.start_RCcalibration)
self.ui.cancel_button.clicked.connect(self._cancel_calibration)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._receiver_channel_count_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_roll_received,
VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_pitch_received,
VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_yaw_received,
VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_throttle_received,
VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_mode_received,
VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux1_received,
VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux2_received,
VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux3_received,
VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux4_received,
VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux5_received,
VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux6_received,
VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_raw_aux7_received,
VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler
def _receiver_channel_count_received(self, event, nb_channels):
self._nb_channels = int(nb_channels)
self._update_panel_display()
def start_button(self):
self._protocol_handler.unsubscribe_command()
def stop(self):
self._cancel_calibration()
def start_RCcalibration(self):
if self.ui.start_button.text() == 'Start':
self.ui.cancel_button.setEnabled(True)
self.ui.start_button.setText("Finish")
self._raw_receiver_min_values = [
1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
1500, 1500
]
self._raw_receiver_max_values = [
1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500,
1500, 1500
]
self._protocol_handler.reset_receiver_calibration_values(
self._nb_channels)
self._protocol_handler.subscribe_receiver_data()
else:
self._send_calibration_value()
self._cancel_calibration()
def _receiver_raw_roll_received(self, event, raw_roll):
self._raw_roll = int(raw_roll)
self._compute_min_max_value(self._raw_roll, 0)
self._update_right_stick(self._raw_roll, self._raw_pitch)
def _receiver_raw_pitch_received(self, event, raw_pitch):
self._raw_pitch = int(raw_pitch)
self._compute_min_max_value(self._raw_pitch, 1)
self._update_right_stick(self._raw_roll, self._raw_pitch)
def _receiver_raw_yaw_received(self, event, raw_yaw):
self._raw_yaw = int(raw_yaw)
self._compute_min_max_value(self._raw_yaw, 2)
self._update_left_stick(self._raw_throttle, self._raw_yaw)
def _receiver_raw_throttle_received(self, event, raw_throttle):
self._raw_throttle = int(raw_throttle)
self._compute_min_max_value(self._raw_throttle, 3)
self._update_left_stick(self._raw_throttle, self._raw_yaw)
def _receiver_raw_mode_received(self, event, raw_mode):
self._compute_min_max_value(int(raw_mode), 4)
self.ui.mode_progress_bar.setValue(int(raw_mode))
def _receiver_raw_aux1_received(self, event, raw_aux1):
self._compute_min_max_value(int(raw_aux1), 5)
self.ui.aux1_progress_bar.setValue(int(raw_aux1))
def _receiver_raw_aux2_received(self, event, raw_aux2):
self._compute_min_max_value(int(raw_aux2), 6)
self.ui.aux2_progress_bar.setValue(int(raw_aux2))
def _receiver_raw_aux3_received(self, event, raw_aux3):
self._compute_min_max_value(int(raw_aux3), 7)
self.ui.aux3_progress_bar.setValue(int(raw_aux3))
def _receiver_raw_aux4_received(self, event, raw_aux4):
self._compute_min_max_value(int(raw_aux4), 8)
self.ui.aux4_progress_bar.setValue(int(raw_aux4))
def _receiver_raw_aux5_received(self, event, raw_aux5):
self._compute_min_max_value(int(raw_aux5), 9)
self.ui.aux5_progress_bar.setValue(int(raw_aux5))
def _receiver_raw_aux6_received(self, event, raw_aux6):
self._compute_min_max_value(int(raw_aux6), 10)
self.ui.aux6_progress_bar.setValue(int(raw_aux6))
def _receiver_raw_aux7_received(self, event, raw_aux7):
self._compute_min_max_value(int(raw_aux7), 11)
self.ui.aux7_progress_bar.setValue(int(raw_aux7))
def _compute_min_max_value(self, value, channel):
self._raw_receiver_min_values[channel] = min(
self._raw_receiver_min_values[channel], value)
self._raw_receiver_max_values[channel] = max(
self._raw_receiver_max_values[channel], value)
def _cancel_calibration(self):
self._protocol_handler.unsubscribe_command()
self.ui.cancel_button.setEnabled(False)
self.ui.start_button.setText("Start")
def _update_left_stick(self, throttle, yaw):
throttlePosition = self._scale_stick_display_value(
throttle, (1000.0, 2000.0), (58.0, -57.0))
yawPosition = self._scale_stick_display_value(yaw, (1000.0, 2000.0),
(-57.0, 55.0))
self.leftStick.setPos(yawPosition, throttlePosition)
def _update_right_stick(self, roll, pitch):
rollPosition = self._scale_stick_display_value(roll, (1000.0, 2000.0),
(-57.0, 55.0))
pitchPosition = self._scale_stick_display_value(
pitch, (1000.0, 2000.0), (58.0, -57.0))
self.rightStick.setPos(rollPosition, pitchPosition)
def _scale_stick_display_value(self, val, src, dst):
return ((val - src[0]) /
(src[1] - src[0])) * (dst[1] - dst[0]) + dst[0]
def _update_panel_display(self):
if self._nb_channels < 6:
self.ui.label_aux1.hide()
self.ui.aux1_progress_bar.hide()
if self._nb_channels < 7:
self.ui.label_aux2.hide()
self.ui.aux2_progress_bar.hide()
if self._nb_channels < 8:
self.ui.label_aux3.hide()
self.ui.aux3_progress_bar.hide()
if self._nb_channels < 9:
self.ui.label_aux4.hide()
self.ui.aux4_progress_bar.hide()
if self._nb_channels < 10:
self.ui.label_aux5.hide()
self.ui.aux5_progress_bar.hide()
if self._nb_channels < 11:
self.ui.label_aux6.hide()
self.ui.aux6_progress_bar.hide()
if self._nb_channels < 12:
self.ui.label_aux7.hide()
self.ui.aux7_progress_bar.hide()
def _send_calibration_value(self):
self._protocol_handler.send_receiver_calibation_values(
self._nb_channels, self._raw_receiver_min_values,
self._raw_receiver_max_values)
class ReceiverCalibrationController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_ReceiverCalibrationPanel()
self.ui.setupUi(self)
self.ui.start.setEnabled(True)
self.ui.cancel.setEnabled(False)
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
self.running = False
self.amount_channels = 12
self.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.max_amount_channels = 12
self.ui.start.clicked.connect(self.start_RCcalibration)
self.ui.cancel.clicked.connect(self.cancel_RCcalibration)
def start(self):
pass
# self.xmlSubPanel = xmlSubPanel
# self.boardConfiguration = boardConfiguration
# try:
# self.amount_channels = int(self.boardConfiguration["Receiver Nb Channels"])
# except:
# logging.warning("Can't read amount of channels from boardconfiguration!")
# self.enable_gui_attribute()
def start_RCcalibration(self):
if self.running:
self.ui.start.setText("Start")
self.cancel_RCcalibration() #we can stop the calibration it's done
self.timer.stop()
self.send_calibration_value()
elif not self.running:
if self._communicator.isConnected() == True:
self._communicator.write("H")
self._communicator.write("t")
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.RCmin = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
self.RCmax = [1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500]
def cancel_RCcalibration(self):
self._communicator.write("x")
self.timer.stop()
self._communicator.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._communicator.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_channels):
if int(string_out[i]) < self.RCmin[i]:
self.RCmin[i] = int(string_out[i])
if int(string_out[i]) > self.RCmax[i]:
self.RCmax[i] = int(string_out[i])
self.update_gui(i, string_out[i])
self.update_left_stick(int(string_out[3]), int(string_out[2]))
self.update_right_stick(int(string_out[0]), int(string_out[1]))
def update_gui(self, channel_number, value):
if channel_number == 4:
self.ui.progressBar_RCmode.setValue(int(value))
if channel_number == 5:
self.ui.progressBar_RCAux1.setValue(int(value))
if channel_number == 6:
self.ui.progressBar_RCAux2.setValue(int(value))
if channel_number == 7:
self.ui.progressBar_RCAux3.setValue(int(value))
if channel_number == 8:
self.ui.progressBar_RCAux4.setValue(int(value))
if channel_number == 9:
self.ui.progressBar_RCAux5.setValue(int(value))
if channel_number == 10:
self.ui.progressBar_RCAux6.setValue(int(value))
if channel_number == 11:
self.ui.progressBar_RCAux7.setValue(int(value))
def update_left_stick(self, throttle, yaw):
throttlePosition = self.scale(throttle, (1000.0, 2000.0), (58.0, -57.0))
yawPosition = self.scale(yaw, (1000.0, 2000.0), (-57.0, 55.0))
self.leftStick.setPos(yawPosition, throttlePosition)
def update_right_stick(self, roll, pitch):
rollPosition = self.scale(roll, (1000.0, 2000.0), (-57.0, 55.0))
pitchPosition = self.scale(pitch, (1000.0, 2000.0), (58.0, -57.0))
self.rightStick.setPos(rollPosition, pitchPosition)
def scale(self, val, src, dst):
return ((val - src[0]) / (src[1]-src[0])) * (dst[1]-dst[0]) + dst[0]
def enable_gui_attribute(self):
for i in range(0, self.max_amount_channels):
if i > (self.amount_channels - 1) and i == 5:
self.ui.label_aux1.setHidden(True)
self.ui.progressBar_RCAux1.setHidden(True)
elif i > (self.amount_channels - 1) and i == 6:
self.ui.label_aux2.setHidden(True)
self.ui.progressBar_RCAux2.setHidden(True)
elif i > (self.amount_channels - 1) and i == 7:
self.ui.label_aux3.setHidden(True)
self.ui.progressBar_RCAux3.setHidden(True)
elif i > (self.amount_channels - 1) and i == 8:
self.ui.label_aux4.setHidden(True)
self.ui.progressBar_RCAux4.setHidden(True)
elif i > (self.amount_channels - 1) and i == 9:
self.ui.label_aux5.setHidden(True)
self.ui.progressBar_RCAux5.setHidden(True)
elif i > (self.amount_channels - 1) and i == 10:
self.ui.label_aux6.setHidden(True)
self.ui.progressBar_RCAux6.setHidden(True)
elif i > (self.amount_channels - 1) and i == 11:
self.ui.label_aux7.setHidden(True)
self.ui.progressBar_RCAux7.setHidden(True)
def send_calibration_value(self):
self._communicator.write("X");
command = "G "
for i in range(0, self.amount_channels):
command += str(self.RCmin[i])
command += ";"
command += str(self.RCmax[i])
command += ";"
self._communicator.write(command)
