def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
try:
QMessageBox.warning(
self, 'Warning',
'This Gui is for advance user only, If not use correctly it can damage the robot.\n When this Gui thurn on the RiCBoad will stop its functionality until you exit the gui.'
)
self._protocol_handler = ProtocolHandler('RiCBoard')
self._protocol_handler.in_config_mode()
self._forwardClib = True
self._turnClib = True
self._old_forward_slide_max = 2000
self._old_forward_slide_mid = 1500
self._old_forward_slide_min = 1000
self._old_turn_slide_max = 2000
self._old_turn_slide_mid = 1500
self._old_turn_slide_min = 1000
self.finished.connect(self.on_close)
self.saveBT.clicked.connect(self.on_save)
self.loadBT.clicked.connect(self.on_load)
self.leftClib.clicked.connect(self.on_forward_clib)
self.leftSet.clicked.connect(self.on_forward_set)
self.rightClib.clicked.connect(self.on_turn_clib)
self.rightSet.clicked.connect(self.on_turn_set)
self.leftClibSp.rangeChanged.connect(self.on_forward_range_change)
self.leftClibSp.valueChanged.connect(
self.on_forward_slide_value_change)
self.righClibSp.rangeChanged.connect(self.on_turn_range_change)
self.righClibSp.valueChanged.connect(
self.on_turn_slide_value_change)
self.forwardHelpB.clicked.connect(self.on_help_calib)
self.turnHelpB.clicked.connect(self.on_help_calib)
except serial.SerialException:
QMessageBox.critical(
self, "Error ",
"can not connect to the device, please check if its connected to the computer."
)
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
try:
QMessageBox.warning(self, 'Warning',
'This Gui is for advance user only, If not use correctly it can damage the robot.\n When this Gui thurn on the RiCBoad will stop its functionality until you exit the gui.')
self._protocol_handler = ProtocolHandler('RiCBoard')
self._protocol_handler.in_config_mode()
self._forwardClib = True
self._turnClib = True
self._old_forward_slide_max = 2000
self._old_forward_slide_mid = 1500
self._old_forward_slide_min = 1000
self._old_turn_slide_max = 2000
self._old_turn_slide_mid = 1500
self._old_turn_slide_min = 1000
self.finished.connect(self.on_close)
self.saveBT.clicked.connect(self.on_save)
self.loadBT.clicked.connect(self.on_load)
self.leftClib.clicked.connect(self.on_forward_clib)
self.leftSet.clicked.connect(self.on_forward_set)
self.rightClib.clicked.connect(self.on_turn_clib)
self.rightSet.clicked.connect(self.on_turn_set)
self.leftClibSp.rangeChanged.connect(self.on_forward_range_change)
self.leftClibSp.valueChanged.connect(self.on_forward_slide_value_change)
self.righClibSp.rangeChanged.connect(self.on_turn_range_change)
self.righClibSp.valueChanged.connect(self.on_turn_slide_value_change)
self.forwardHelpB.clicked.connect(self.on_help_calib)
self.turnHelpB.clicked.connect(self.on_help_calib)
except serial.SerialException:
QMessageBox.critical(self, "Error ",
"can not connect to the device, please check if its connected to the computer.")
class MainWindow(QDialog, Ui_Dialog):
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
try:
QMessageBox.warning(
self, 'Warning',
'This Gui is for advance user only, If not use correctly it can damage the robot.\n When this Gui thurn on the RiCBoad will stop its functionality until you exit the gui.'
)
self._protocol_handler = ProtocolHandler('RiCBoard')
self._protocol_handler.in_config_mode()
self._forwardClib = True
self._turnClib = True
self._old_forward_slide_max = 2000
self._old_forward_slide_mid = 1500
self._old_forward_slide_min = 1000
self._old_turn_slide_max = 2000
self._old_turn_slide_mid = 1500
self._old_turn_slide_min = 1000
self.finished.connect(self.on_close)
self.saveBT.clicked.connect(self.on_save)
self.loadBT.clicked.connect(self.on_load)
self.leftClib.clicked.connect(self.on_forward_clib)
self.leftSet.clicked.connect(self.on_forward_set)
self.rightClib.clicked.connect(self.on_turn_clib)
self.rightSet.clicked.connect(self.on_turn_set)
self.leftClibSp.rangeChanged.connect(self.on_forward_range_change)
self.leftClibSp.valueChanged.connect(
self.on_forward_slide_value_change)
self.righClibSp.rangeChanged.connect(self.on_turn_range_change)
self.righClibSp.valueChanged.connect(
self.on_turn_slide_value_change)
self.forwardHelpB.clicked.connect(self.on_help_calib)
self.turnHelpB.clicked.connect(self.on_help_calib)
except serial.SerialException:
QMessageBox.critical(
self, "Error ",
"can not connect to the device, please check if its connected to the computer."
)
def on_help_calib(self):
help_calib = CalibHelp()
help_calib.show()
help_calib.exec_()
def on_close(self, code):
if self._protocol_handler.is_forward_clib():
self._protocol_handler.send_clib_status(CANCEL)
self._protocol_handler.set_forward_clib(False)
if self._protocol_handler.is_turn_clib():
self._protocol_handler.send_clib_status(CANCEL)
self._protocol_handler.set_turn_clib(False)
self._protocol_handler.in_config_mode() # Exit the config mode
def on_save(self):
try:
ch = self.takeoverCH.value()
listen_mode = (self.takeoverCb.currentIndex() + 1)
value = int(self.takeoverLe.text())
status = self.takeoverEnable.isChecked()
self._protocol_handler.send_channel_to_takeover_pkg(
ch, listen_mode, value, status)
forward_rev = NORMAL
turn_rev = NORMAL
if self.reverseCheckBox.isChecked():
forward_rev = REVERSE
if self.reverseCheckBox_2.isChecked():
turn_rev = REVERSE
self._protocol_handler.send_motor_to_takeover(
self.rCChannelSpinBox.value(), self.maxCommandSpinBox.value(),
int(self.pinLineEdit.text()), FORWARD_TAB,
self.leftClibSp.minimum(), self.leftClibSp.value(),
self.leftClibSp.maximum(), False,
self.deadbandDoubleSpinBox.value(), forward_rev)
self._protocol_handler.send_motor_to_takeover(
self.rCChannelSpinBox_2.value(),
self.maxCommandSpinBox_2.value(),
int(self.pinLineEdit_2.text()), TURN_TAB,
self.righClibSp.minimum(), self.righClibSp.value(),
self.righClibSp.maximum(), False,
self.deadbandDoubleSpinBox_2.value(), turn_rev)
QMessageBox.information(self, 'Info', 'Write is done.')
except ValueError:
QMessageBox.critical(self, "Error ", "Invalid value.")
def on_load(self):
self._protocol_handler.send_read_param()
if self._protocol_handler.got_done():
res_takeover = self._protocol_handler.load_channel_to_takeover()
self.takeoverCH.setValue(res_takeover.get_channel())
self.takeoverCb.setCurrentIndex(res_takeover.get_listen_mode() - 1)
self.takeoverLe.setText(str(res_takeover.get_value()))
self.takeoverEnable.setChecked(res_takeover.get_status())
res_forward = self._protocol_handler.load_motor_to_takeover()
self.rCChannelSpinBox.setValue(res_forward.get_channel())
self.maxCommandSpinBox.setValue(res_forward.get_max_command())
self.pinLineEdit.setText(str(res_forward.get_pin()))
self.deadbandDoubleSpinBox.setValue(res_forward.get_deadband())
self.leftClibSp.setMaximum(res_forward.get_max_joystick())
self.leftClibSp.setMinimum(res_forward.get_min_joystick())
self.leftClibSp.setValue(res_forward.get_mid_joystick())
self.reverseCheckBox.setChecked(res_forward.is_reverse())
self._old_forward_slide_max = res_forward.get_max_joystick()
self._old_forward_slide_mid = res_forward.get_mid_joystick()
self._old_forward_slide_min = res_forward.get_min_joystick()
res_turn = self._protocol_handler.load_motor_to_takeover()
self.rCChannelSpinBox_2.setValue(res_turn.get_channel())
self.maxCommandSpinBox_2.setValue(res_turn.get_max_command())
self.pinLineEdit_2.setText(str(res_turn.get_pin()))
self.deadbandDoubleSpinBox_2.setValue(res_turn.get_deadband())
self.righClibSp.setMaximum(res_turn.get_max_joystick())
self.righClibSp.setMinimum(res_turn.get_min_joystick())
self.righClibSp.setValue(res_turn.get_mid_joystick())
self.reverseCheckBox_2.setChecked(res_turn.is_reverse())
self._old_turn_slide_max = res_turn.get_max_joystick()
self._old_turn_slide_mid = res_turn.get_mid_joystick()
self._old_turn_slide_min = res_turn.get_min_joystick()
QMessageBox.information(self, 'Done',
'Done reading the configuration')
else:
QMessageBox.critical(
self, 'Error', 'RiCBoard now responding.'
'\nPlease power off the robot and turn it back on.'
'\nFor support contact this email: [email protected]')
def on_forward_clib(self):
if self._forwardClib:
rev_forward = NORMAL
if self.reverseCheckBox.isChecked():
rev_forward = REVERSE
try:
threading.Thread(target=self._protocol_handler.
send_motor_to_takeover_and_clib,
args=(self.rCChannelSpinBox.value(),
self.maxCommandSpinBox.value(),
int(self.pinLineEdit.text()),
FORWARD_TAB, 2000, 1000, True,
self.deadbandDoubleSpinBox.value(),
rev_forward, self.leftClibSp)).start()
except ValueError:
QMessageBox.critical(self, "Error ", "Invalid value.")
self.leftClib.setText("Cancel")
else:
self.leftClibSp.setMaximum(self._old_forward_slide_max)
self.leftClibSp.setMinimum(self._old_forward_slide_min)
self.leftClibSp.setValue(self._old_forward_slide_mid)
self.leftClib.setText("Calibration")
self._protocol_handler.send_clib_status(CANCEL)
self._forwardClib = not self._forwardClib
def on_forward_set(self):
if not self._forwardClib:
self._old_forward_slide_max = self.leftClibSp.maximum()
self._old_forward_slide_mid = self.leftClibSp.value()
self._old_forward_slide_min = self.leftClibSp.minimum()
self._protocol_handler.send_clib_status(SAVE)
self.leftClib.setText("Calibration")
QMessageBox.information(self, 'Info', 'Calibration is done')
self._forwardClib = True
def on_turn_clib(self):
if self._turnClib:
rev_turn = NORMAL
if self.reverseCheckBox_2.isChecked():
rev_turn = REVERSE
try:
threading.Thread(target=self._protocol_handler.
send_motor_to_takeover_and_clib,
args=(self.rCChannelSpinBox_2.value(),
self.maxCommandSpinBox_2.value(),
int(self.pinLineEdit_2.text()),
TURN_TAB, 2000, 1000, True,
self.deadbandDoubleSpinBox_2.value(),
rev_turn, self.righClibSp)).start()
except ValueError:
QMessageBox.critical(self, "Error ", "Invalid value.")
self.rightClib.setText("Cancel")
else:
self.righClibSp.setMaximum(self._old_turn_slide_max)
self.righClibSp.setMinimum(self._old_turn_slide_min)
self.righClibSp.setValue(self._old_turn_slide_mid)
self.rightClib.setText("Calibration")
self._protocol_handler.send_clib_status(CANCEL)
self._turnClib = not self._turnClib
def on_turn_set(self):
if not self._turnClib:
self._old_turn_slide_max = self.righClibSp.maximum()
self._old_turn_slide_mid = self.righClibSp.value()
self._old_turn_slide_min = self.righClibSp.minimum()
self._protocol_handler.send_clib_status(SAVE)
self.rightClib.setText("Calibration")
QMessageBox.information(self, 'Info', 'Calibration is done')
self._turnClib = True
def on_forward_range_change(self, min_slide, max_slide):
self.leftMax.setText("Max: {0}".format(str(max_slide)))
self.leftMin.setText("Min: {0}".format(str(min_slide)))
def on_forward_slide_value_change(self, value):
self.leftMid.setText("Mid: {0}".format(str(value)))
def on_turn_range_change(self, min_slide, max_slide):
self.rightMax.setText("Max: {0}".format(str(max_slide)))
self.rightMin.setText("Min: {0}".format(str(min_slide)))
def on_turn_slide_value_change(self, value):
self.rightMid.setText("Mid: {0}".format(str(value)))
class MainWindow(QDialog, Ui_Dialog):
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
self.setupUi(self)
try:
QMessageBox.warning(self, 'Warning',
'This Gui is for advance user only, If not use correctly it can damage the robot.\n When this Gui thurn on the RiCBoad will stop its functionality until you exit the gui.')
self._protocol_handler = ProtocolHandler('RiCBoard')
self._protocol_handler.in_config_mode()
self._forwardClib = True
self._turnClib = True
self._old_forward_slide_max = 2000
self._old_forward_slide_mid = 1500
self._old_forward_slide_min = 1000
self._old_turn_slide_max = 2000
self._old_turn_slide_mid = 1500
self._old_turn_slide_min = 1000
self.finished.connect(self.on_close)
self.saveBT.clicked.connect(self.on_save)
self.loadBT.clicked.connect(self.on_load)
self.leftClib.clicked.connect(self.on_forward_clib)
self.leftSet.clicked.connect(self.on_forward_set)
self.rightClib.clicked.connect(self.on_turn_clib)
self.rightSet.clicked.connect(self.on_turn_set)
self.leftClibSp.rangeChanged.connect(self.on_forward_range_change)
self.leftClibSp.valueChanged.connect(self.on_forward_slide_value_change)
self.righClibSp.rangeChanged.connect(self.on_turn_range_change)
self.righClibSp.valueChanged.connect(self.on_turn_slide_value_change)
self.forwardHelpB.clicked.connect(self.on_help_calib)
self.turnHelpB.clicked.connect(self.on_help_calib)
except serial.SerialException:
QMessageBox.critical(self, "Error ",
"can not connect to the device, please check if its connected to the computer.")
def on_help_calib(self):
help_calib = CalibHelp()
help_calib.show()
help_calib.exec_()
def on_close(self, code):
if self._protocol_handler.is_forward_clib():
self._protocol_handler.send_clib_status(CANCEL)
self._protocol_handler.set_forward_clib(False)
if self._protocol_handler.is_turn_clib():
self._protocol_handler.send_clib_status(CANCEL)
self._protocol_handler.set_turn_clib(False)
self._protocol_handler.in_config_mode() # Exit the config mode
def on_save(self):
try:
ch = self.takeoverCH.value()
listen_mode = (self.takeoverCb.currentIndex() + 1)
value = int(self.takeoverLe.text())
status = self.takeoverEnable.isChecked()
self._protocol_handler.send_channel_to_takeover_pkg(ch, listen_mode, value, status)
forward_rev = NORMAL
turn_rev = NORMAL
if self.reverseCheckBox.isChecked():
forward_rev = REVERSE
if self.reverseCheckBox_2.isChecked():
turn_rev = REVERSE
self._protocol_handler.send_motor_to_takeover(self.rCChannelSpinBox.value(), self.maxCommandSpinBox.value(),
int(self.pinLineEdit.text()), FORWARD_TAB,
self.leftClibSp.minimum(), self.leftClibSp.value(),
self.leftClibSp.maximum(), False,
self.deadbandDoubleSpinBox.value(), forward_rev)
self._protocol_handler.send_motor_to_takeover(self.rCChannelSpinBox_2.value(),
self.maxCommandSpinBox_2.value(),
int(self.pinLineEdit_2.text()), TURN_TAB,
self.righClibSp.minimum(), self.righClibSp.value(),
self.righClibSp.maximum(), False,
self.deadbandDoubleSpinBox_2.value(), turn_rev)
QMessageBox.information(self, 'Info', 'Write is done.')
except ValueError:
QMessageBox.critical(self, "Error ", "Invalid value.")
def on_load(self):
self._protocol_handler.send_read_param()
if self._protocol_handler.got_done():
res_takeover = self._protocol_handler.load_channel_to_takeover()
self.takeoverCH.setValue(res_takeover.get_channel())
self.takeoverCb.setCurrentIndex(res_takeover.get_listen_mode() - 1)
self.takeoverLe.setText(str(res_takeover.get_value()))
self.takeoverEnable.setChecked(res_takeover.get_status())
res_forward = self._protocol_handler.load_motor_to_takeover()
self.rCChannelSpinBox.setValue(res_forward.get_channel())
self.maxCommandSpinBox.setValue(res_forward.get_max_command())
self.pinLineEdit.setText(str(res_forward.get_pin()))
self.deadbandDoubleSpinBox.setValue(res_forward.get_deadband())
self.leftClibSp.setMaximum(res_forward.get_max_joystick())
self.leftClibSp.setMinimum(res_forward.get_min_joystick())
self.leftClibSp.setValue(res_forward.get_mid_joystick())
self.reverseCheckBox.setChecked(res_forward.is_reverse())
self._old_forward_slide_max = res_forward.get_max_joystick()
self._old_forward_slide_mid = res_forward.get_mid_joystick()
self._old_forward_slide_min = res_forward.get_min_joystick()
res_turn = self._protocol_handler.load_motor_to_takeover()
self.rCChannelSpinBox_2.setValue(res_turn.get_channel())
self.maxCommandSpinBox_2.setValue(res_turn.get_max_command())
self.pinLineEdit_2.setText(str(res_turn.get_pin()))
self.deadbandDoubleSpinBox_2.setValue(res_turn.get_deadband())
self.righClibSp.setMaximum(res_turn.get_max_joystick())
self.righClibSp.setMinimum(res_turn.get_min_joystick())
self.righClibSp.setValue(res_turn.get_mid_joystick())
self.reverseCheckBox_2.setChecked(res_turn.is_reverse())
self._old_turn_slide_max = res_turn.get_max_joystick()
self._old_turn_slide_mid = res_turn.get_mid_joystick()
self._old_turn_slide_min = res_turn.get_min_joystick()
QMessageBox.information(self, 'Done', 'Done reading the configuration')
else:
QMessageBox.critical(self, 'Error', 'RiCBoard now responding.'
'\nPlease power off the robot and turn it back on.'
'\nFor support contact this email: [email protected]')
def on_forward_clib(self):
if self._forwardClib:
rev_forward = NORMAL
if self.reverseCheckBox.isChecked():
rev_forward = REVERSE
try:
threading.Thread(target=self._protocol_handler.send_motor_to_takeover_and_clib, args=(
self.rCChannelSpinBox.value(), self.maxCommandSpinBox.value(), int(self.pinLineEdit.text()),
FORWARD_TAB, 2000, 1000, True, self.deadbandDoubleSpinBox.value(), rev_forward,
self.leftClibSp)).start()
except ValueError:
QMessageBox.critical(self, "Error ", "Invalid value.")
self.leftClib.setText("Cancel")
else:
self.leftClibSp.setMaximum(self._old_forward_slide_max)
self.leftClibSp.setMinimum(self._old_forward_slide_min)
self.leftClibSp.setValue(self._old_forward_slide_mid)
self.leftClib.setText("Calibration")
self._protocol_handler.send_clib_status(CANCEL)
self._forwardClib = not self._forwardClib
def on_forward_set(self):
if not self._forwardClib:
self._old_forward_slide_max = self.leftClibSp.maximum()
self._old_forward_slide_mid = self.leftClibSp.value()
self._old_forward_slide_min = self.leftClibSp.minimum()
self._protocol_handler.send_clib_status(SAVE)
self.leftClib.setText("Calibration")
QMessageBox.information(self, 'Info', 'Calibration is done')
self._forwardClib = True
def on_turn_clib(self):
if self._turnClib:
rev_turn = NORMAL
if self.reverseCheckBox_2.isChecked():
rev_turn = REVERSE
try:
threading.Thread(target=self._protocol_handler.send_motor_to_takeover_and_clib, args=(
self.rCChannelSpinBox_2.value(), self.maxCommandSpinBox_2.value(), int(self.pinLineEdit_2.text()),
TURN_TAB, 2000, 1000, True, self.deadbandDoubleSpinBox_2.value(), rev_turn, self.righClibSp)).start()
except ValueError:
QMessageBox.critical(self, "Error ", "Invalid value.")
self.rightClib.setText("Cancel")
else:
self.righClibSp.setMaximum(self._old_turn_slide_max)
self.righClibSp.setMinimum(self._old_turn_slide_min)
self.righClibSp.setValue(self._old_turn_slide_mid)
self.rightClib.setText("Calibration")
self._protocol_handler.send_clib_status(CANCEL)
self._turnClib = not self._turnClib
def on_turn_set(self):
if not self._turnClib:
self._old_turn_slide_max = self.righClibSp.maximum()
self._old_turn_slide_mid = self.righClibSp.value()
self._old_turn_slide_min = self.righClibSp.minimum()
self._protocol_handler.send_clib_status(SAVE)
self.rightClib.setText("Calibration")
QMessageBox.information(self, 'Info', 'Calibration is done')
self._turnClib = True
def on_forward_range_change(self, min_slide, max_slide):
self.leftMax.setText("Max: {0}".format(str(max_slide)))
self.leftMin.setText("Min: {0}".format(str(min_slide)))
def on_forward_slide_value_change(self, value):
self.leftMid.setText("Mid: {0}".format(str(value)))
def on_turn_range_change(self, min_slide, max_slide):
self.rightMax.setText("Max: {0}".format(str(max_slide)))
self.rightMin.setText("Min: {0}".format(str(min_slide)))
def on_turn_slide_value_change(self, value):
self.rightMid.setText("Mid: {0}".format(str(value)))
