def start_onClicked(self):
"""
Start button pressed. Starts the communication between arduino and GUI.
"""
if self.port_num == 'select port':
print "Error! Select a port"
else:
self.active_reference_x1 = self.active_reference_x[1:]
print self.active_reference_x1
print "length: ", len(self.active_reference_x1)
print "type: ", type(self.active_reference_x[1])
# Create the instance of the Object
self.com_monitor = ComProcess(self.active_reference_y, 8,
self.data_q,
self.error_q, self.gain_q,
str(self.port_num), 115200)
self.com_monitor.start()
# Connect the timeout signal
self.timer.timeout.connect(self.on_timer)
# Start the timer
self.timer.start(
30
) # TODO: when you will read the Ts to change this '30' (to 2xTs?)
self.start_button.setEnabled(False)
self.stop_button.setEnabled(True)
def start_onClicked(self):
"""
Start button pressed. Starts the communication between arduino and GUI.
"""
if self.port_num == 'select port':
print "Error! Select a port"
else:
self.active_reference_x1 = self.active_reference_x[1:]
print self.active_reference_x1
print "length: ",len(self.active_reference_x1)
print "type: ", type(self.active_reference_x[1])
# Create the instance of the Object
self.com_monitor = ComProcess(self.active_reference_y, 8,
self.data_q, self.error_q, self.gain_q,
str(self.port_num), 115200)
self.com_monitor.start()
# Connect the timeout signal
self.timer.timeout.connect(self.on_timer)
# Start the timer
self.timer.start(30) # TODO: when you will read the Ts to change this '30' (to 2xTs?)
self.start_button.setEnabled(False)
self.stop_button.setEnabled(True)
class MainWindow(QtGui.QMainWindow):
def __init__(self):
super(MainWindow, self).__init__()
self.port_num = 'select port'
self.r = 0
self.monitor_active = False
self.com_monitor = None
self.com_data_q = None
self.com_error_q = None
self.gain_q = multiprocessing.Queue(2)
self.data_q = multiprocessing.Queue()
self.error_q = multiprocessing.Queue()
self.position = list()
self.time = list()
self.inputs_list = list()
self.ports_list = []
# Timer to create a periodic event and update the plot
self.timer = QtCore.QTimer()
# Value and range of each potentiometer - Limits are [value-range, value+range]
self.p_value = 10
self.p_range = 10
self.p_step = 0.1
# -----------------
self.i_value = 10
self.i_range = 10
self.i_step = 0.1
# -----------------
self.d_value = 10
self.d_range = 10
self.d_step = 0.1
self.initUI()
def initUI(self):
# Create StatusBar
statusBar = QtGui.QStatusBar()
self.input_names = list()
self.active_reference_x = list()
self.active_reference_y = list()
self.active_reference_x1 = list()
self.xs_list = list()
self.ys_list = list()
self.thread = QtCore.QThread()
# Create frames
self.plot_frame = QtGui.QFrame(self)
self.plot_frame.setFrameShape(QtGui.QFrame.StyledPanel)
self.knobs_frame = QtGui.QFrame(self)
self.knobs_frame.setFrameShape(QtGui.QFrame.StyledPanel)
self.frame3 = QtGui.QFrame(self)
self.frame3.setFrameShape(QtGui.QFrame.StyledPanel)
# Ports Combo Box
self.port_combo = QtGui.QComboBox(self)
self.port_combo.setEnabled(False)
self.port_combo.addItem('Select port')
# Reference signals Combo box
self.ref_signals_combo = QtGui.QComboBox(self)
self.ref_signals_combo.setEnabled(False)
self.ref_signals_combo.addItem('Choose a Reference Signal')
self.ref_signals_combo.activated[str].connect(self.on_reference_choice)
'''--------------- Buttons ----------------'''
# Start button
self.start_button = QtGui.QPushButton('Start')
self.start_button.setEnabled(False)
self.start_button.clicked.connect(self.start_onClicked)
#Stop button
self.stop_button = QtGui.QPushButton('Stop')
self.stop_button.setEnabled(False)
self.stop_button.clicked.connect(self.stop_onClicked)
# Scan Button
self.scan_button = QtGui.QPushButton('Scan')
self.scan_button.setEnabled(True)
self.scan_button.clicked.connect(self.scan_onClicked)
''' ----------- FIGURE LAYOUT ------------'''
# a figure instance to plot on
self.figure = plt.figure() #figsize=(3.0,2.0)
# this is the Canvas Widget that displays the `figure`
# it takes the `figure` instance as a parameter to __init__
self.canvas = FigureCanvas(self.figure)
self.ax = self.figure.add_subplot(1, 1, 1)
self.ax.set_xlabel('time (sec)')
self.ax.set_ylabel('angle (deg)')
self.ax.axis([0, 5, -20, 20])
self.ax.grid()
self.active_reference = Line2D([0, 5], [0, 0],
linewidth=1.0,
color='red')
self.ax.add_line(self.active_reference)
self.position_line = Line2D([0, 0], [0, 0],
linewidth=1.0,
color='black')
# Figure with frame
self.topLeft = QtGui.QHBoxLayout()
self.topLeft.addWidget(self.canvas)
self.plot_frame.setLayout(self.topLeft)
''' ----------- KNOBS LAYOUT ------------'''
# Knobs
self.knob1 = self.create_knob('P')
self.knob2 = self.create_knob('I')
self.knob3 = self.create_knob('D')
# Input P
self.textP = QtGui.QLineEdit()
self.textP.setMaxLength(5)
self.textP.setText(str(self.knob1.value()))
self.labelP = QtGui.QLabel('P Gain:')
# Input I
self.textI = QtGui.QLineEdit()
self.textI.setMaxLength(5)
self.textI.setText(str(self.knob2.value()))
self.labelI = QtGui.QLabel('I Gain:')
# Input D
self.textD = QtGui.QLineEdit()
self.textD.setMaxLength(5)
self.textD.setText(str(self.knob3.value()))
self.labelD = QtGui.QLabel('D Gain:')
# P/I/D Gain Layouts
self.p_layout = self.create_knob_layout('P')
self.i_layout = self.create_knob_layout('I')
self.d_layout = self.create_knob_layout('D')
# Final knobs layout
self.knobs_layout = QtGui.QHBoxLayout()
self.knobs_layout.addLayout(self.p_layout)
self.knobs_layout.addLayout(self.i_layout)
self.knobs_layout.addLayout(self.d_layout)
self.knobs_frame.setLayout(self.knobs_layout)
# Add LineEdit signals
self.textP.returnPressed.connect(lambda: self.on_entered_pressed('P'))
self.textI.returnPressed.connect(lambda: self.on_entered_pressed('I'))
self.textD.returnPressed.connect(lambda: self.on_entered_pressed('D'))
''' ----------- Buttons/Combos LAYOUT ------------'''
# port_combo plus start/stop buttons
hbox = QtGui.QHBoxLayout()
hbox.addWidget(self.start_button)
hbox.addWidget(self.stop_button)
vbox = QtGui.QVBoxLayout()
vbox.addLayout(hbox)
vbox.addWidget(self.scan_button)
grid3 = QtGui.QGridLayout()
grid3.addWidget(self.port_combo, 3, 0)
grid3.addWidget(self.ref_signals_combo, 4, 0)
grid3.addLayout(vbox, 5, 0)
self.frame3.setLayout(grid3)
''' ----------- FINAL LAYOUT ------------'''
grid = QtGui.QGridLayout()
grid.addWidget(self.plot_frame, 0, 0, 3, 2)
grid.addWidget(self.knobs_frame, 3, 0, 2, 2)
grid.addWidget(self.frame3, 0, 3, 5, 1)
''' ----------- CENTRAL WIDGET ----------'''
self.main_frame = QtGui.QWidget()
self.main_frame.setLayout(grid)
self.setCentralWidget(self.main_frame)
self.create_menu()
self.setGeometry(1000, 300, 700, 450)
self.setWindowTitle('ServoTune')
self.show()
def create_knob(self, letter):
self.knob = Qwt.QwtKnob(self)
self.knob.setRange(0, 20, 0, 0.1)
self.knob.setScaleMaxMajor(10)
self.knob.setKnobWidth(40)
self.knob.setValue(self.p_value)
self.knob.setStep(self.p_step)
self.knob.valueChanged.connect(lambda: self.on_slider_moved(letter))
return self.knob
def create_knob_layout(self, letter):
layout = QtGui.QVBoxLayout()
dummy_layout = QtGui.QHBoxLayout()
if letter == 'P':
layout.addWidget(self.knob1)
dummy_layout.addWidget(self.labelP)
dummy_layout.addWidget(self.textP)
elif letter == 'I':
layout.addWidget(self.knob2)
dummy_layout.addWidget(self.labelI)
dummy_layout.addWidget(self.textI)
elif letter == 'D':
layout.addWidget(self.knob3)
dummy_layout.addWidget(self.labelD)
dummy_layout.addWidget(self.textD)
layout.addLayout(dummy_layout)
return layout
def scan_onClicked(self):
# Search for connected Devices
ports = glob.glob('/dev/tty[A-Za-z]*')
for port in ports:
try:
s = serial.Serial(port)
s.close()
self.ports_list.append(port)
except (OSError, serial.SerialException):
pass
self.port_combo.clear() # Clear the combo list
if len(self.ports_list) == 0:
self.port_combo.addItem('No devices detected')
else:
self.port_combo.addItem('Select port')
self.port_combo.setEnabled(True)
for i in range(0, len(self.ports_list)):
self.port_combo.addItem(str(self.ports_list[i]))
# Signal
self.port_combo.activated[str].connect(self.on_port_combo_Activated)
def on_port_combo_Activated(self, text):
self.port_num = text
if text != 'select port':
print 'You selected', self.port_num
self.port_combo.setEnabled(False)
if not self.port_combo.currentText() == "Select port" and not \
self.ref_signals_combo.currentText() == "Choose a Reference Signal":
self.start_button.setEnabled(True)
def start_onClicked(self):
"""
Start button pressed. Starts the communication between arduino and GUI.
"""
if self.port_num == 'select port':
print "Error! Select a port"
else:
self.active_reference_x1 = self.active_reference_x[1:]
print self.active_reference_x1
print "length: ", len(self.active_reference_x1)
print "type: ", type(self.active_reference_x[1])
# Create the instance of the Object
self.com_monitor = ComProcess(self.active_reference_y, 8,
self.data_q,
self.error_q, self.gain_q,
str(self.port_num), 115200)
self.com_monitor.start()
# Connect the timeout signal
self.timer.timeout.connect(self.on_timer)
# Start the timer
self.timer.start(
30
) # TODO: when you will read the Ts to change this '30' (to 2xTs?)
self.start_button.setEnabled(False)
self.stop_button.setEnabled(True)
def on_timer(self):
"""Reads every 30 ms the data queue and updates the response Line2D."""
qdata = list(self.get_all_from_Queue(self.data_q))
for i in range(0, len(qdata)):
# Get time and position from the Queue
self.time.append(qdata[i][0])
self.position.append(qdata[i][1])
# Add them to the response Line2D
self.position_line.set_data(self.time, self.position)
# Add the response Line2D to the canvas and draw
self.ax.add_line(self.position_line)
self.canvas.draw()
# Stop the timer after the reference signal is all sent
if len(self.time) >= len(self.active_reference_x1):
self.timer.stop()
print "Sent all"
def stop_onClicked(self):
"""
Stop button clicked. Kills the process.
"""
self.start_button.setEnabled(True)
self.stop_button.setEnabled(False)
self.port_combo.setEnabled(True)
# Kill the COM process
self.com_monitor.join(0.01)
def on_entered_pressed(self, letter):
"""
Chane of value of knob by pressing enter.
- Put the slider in the given value and set the limits to +/- range.
"""
if letter == 'P':
self.p_value = float(self.textP.text())
self.knob1.setRange(self.p_value - self.p_range,
self.p_value + self.p_range, 0, 1)
self.knob1.setStep(self.p_step)
self.knob1.setValue(self.p_value)
elif letter == 'I':
self.i_value = float(self.textI.text())
self.knob2.setRange(self.i_value - self.i_range,
self.i_value + self.i_range, 0, 1)
self.knob2.setStep(self.i_step)
self.knob2.setValue(self.i_value)
elif letter == 'D':
self.d_value = float(self.textD.text())
self.knob3.setRange(self.d_value - self.d_range,
self.d_value + self.d_range, 0, 1)
self.knob3.setStep(self.d_step)
self.knob3.setValue(self.d_value)
def on_slider_moved(self, letter):
"""
On knob change:
- update the according text line.
- Clear the 'gain_q' Queue and update it.
"""
if letter == 'P':
val = self.knob1.value()
self.textP.setText(str(val))
# clear the gain queue
self.clear_queue(self.gain_q)
# Add let + value
self.gain_q.put('P')
self.gain_q.put(val)
elif letter == 'I':
val = self.knob2.value()
self.textI.setText(str(val))
# clear the gain queue
self.clear_queue(self.gain_q)
# Add let + value
self.gain_q.put('I')
self.gain_q.put(val)
elif letter == 'D':
val = self.knob3.value()
self.textD.setText(str(val))
# clear the gain queue
self.clear_queue(self.gain_q)
# Add let + value
self.gain_q.put('D')
self.gain_q.put(val)
def create_menu(self):
# create Action (for now manually - later with method)
exitAction = QtGui.QAction(QtGui.QIcon('exit.png'), '&Exit', self)
exitAction.setShortcut('Ctrl+Q')
exitAction.setStatusTip('Exit Application')
exitAction.triggered.connect(QtGui.qApp.quit)
# <Tools>
p_knob = QtGui.QAction('&Knob(P)', self)
p_knob.setShortcut('Ctrl+P')
i_knob = QtGui.QAction('&Knob(I)', self)
i_knob.setShortcut('Ctrl+I')
d_knob = QtGui.QAction('&Knob(D)', self)
d_knob.setShortcut('Ctrl+D')
# Connect the signals/slots
p_knob.triggered.connect(lambda: self.show_knobs_dialog('P'))
i_knob.triggered.connect(lambda: self.show_knobs_dialog('I'))
d_knob.triggered.connect(lambda: self.show_knobs_dialog('D'))
# Input Signal creation - actions
create_input = QtGui.QAction('&New Reference Signal', self)
create_input.triggered.connect(self.create_new_signal)
# Periodic Signal creation - actions
create_periodic_input = QtGui.QAction('&New Periodic Reference Signal',
self)
create_periodic_input.triggered.connect(
self.create_new_periodic_signal)
menubar = self.menuBar()
fileMenu = menubar.addMenu('&File')
fileMenu.addAction(exitAction)
toolsMenu = menubar.addMenu('&Tools')
toolsMenu.addAction(p_knob)
toolsMenu.addAction(i_knob)
toolsMenu.addAction(d_knob)
input_signal_menu = menubar.addMenu('&Signal')
input_signal_menu.addAction(create_input)
input_signal_menu.addAction(create_periodic_input)
# fileMenu.addAction(toolsAction)
def show_knobs_dialog(self, let):
'''
Opens the dialog to reconfigure the knob's range and/or variance
'''
#TODO fix this "bad" name
self.knob_config = knobDialog.knobDialog(self, let)
self.knob_config.show(
) # with show it is modeless dialog (doesn't block the mainWindow)
self.knob_config.ok_button.clicked.connect(
lambda: self.update_knob(let))
def update_knob(self, let):
if let == 'P':
# print 'ep'
self.p_range = float(self.knob_config.range_line.text())
self.p_step = float(self.knob_config.variance_line.text())
self.knob1.setRange(self.p_value - self.p_range,
self.p_value + self.p_range, 0, 1)
self.knob1.setStep(self.p_step)
self.knob1.setValue(self.knob1.value())
# print rng, var
elif let == 'I':
self.i_range = float(self.knob_config.range_line.text())
self.i_step = float(self.knob_config.variance_line.text())
self.knob2.setRange(self.i_value - self.i_range,
self.i_value + self.i_range, 0, 1)
self.knob2.setStep(self.i_step)
self.knob2.setValue(self.knob2.value())
elif let == 'D':
self.d_range = float(self.knob_config.range_line.text())
self.d_step = float(self.knob_config.variance_line.text())
self.knob3.setRange(self.d_value - self.d_range,
self.d_value + self.d_range, 0, 1)
self.knob3.setStep(self.d_step)
self.knob3.setValue(self.knob3.value())
def create_new_signal(self):
self.input_config = inputDialog.new_inputDialog(self.inputs_list)
self.input_config.show()
self.input_config.ok_button.clicked.connect(self.get_input_data)
def create_new_periodic_signal(self):
self.input_periodic_config = inputDialog.new_periodic_dialog(
self.inputs_list)
self.input_periodic_config.show()
self.input_periodic_config.ok_button.clicked.connect(
self.get_input_periodic_data)
def get_input_data(self):
"""
Get from the new input dialog class, the x_data and the y_data
"""
xs = self.input_config.xs
ys = self.input_config.ys
self.xs_list.append(xs)
self.ys_list.append(ys)
self.inputs_list = self.input_config.list
self.ref_signals_combo.addItem(self.inputs_list[-1])
# Enable the reference combo box
if not self.ref_signals_combo.isEnabled():
self.ref_signals_combo.setEnabled(True)
def get_input_periodic_data(self):
xs = self.input_periodic_config.xs
ys = self.input_periodic_config.ys
self.xs_list.append(xs)
self.ys_list.append(ys)
self.inputs_list = self.input_periodic_config.list
self.ref_signals_combo.addItem(self.inputs_list[-1])
# Enable the reference combo box
if not self.ref_signals_combo.isEnabled():
self.ref_signals_combo.setEnabled(True)
def on_reference_choice(self, text):
for i in range(len(self.inputs_list)):
if self.inputs_list[i] == text:
self.active_reference_x = self.xs_list[i]
self.active_reference_y = self.ys_list[i]
# Final signal to be sent to arduino
self.active_reference.set_data(self.active_reference_x,
self.active_reference_y)
# Change the limits of the axis
xmax = max(self.active_reference_x)
ymax = max(self.active_reference_y)
ymin = min(self.active_reference_y)
self.ax.axis([0, xmax, ymin - 10, ymax + 10])
self.canvas.draw()
# Debugging
print self.active_reference_x
print "Length of reference to be sent: ", len(
self.active_reference_x)
if not self.port_combo.currentText() == "Select port" and not \
self.ref_signals_combo.currentText() == "Choose a Reference Signal":
self.start_button.setEnabled(True)
def clear_queue(self, q):
# if q.qsize()
while q.qsize() > 0:
trash = q.get()
def get_all_from_Queue(self, Q):
try:
while True:
yield Q.get_nowait()
except Queue.Empty:
raise StopIteration
class MainWindow(QtGui.QMainWindow):
def __init__(self):
super(MainWindow,self).__init__()
self.port_num = 'select port'
self.r = 0
self.monitor_active = False
self.com_monitor = None
self.com_data_q = None
self.com_error_q = None
self.gain_q = multiprocessing.Queue(2)
self.data_q = multiprocessing.Queue()
self.error_q = multiprocessing.Queue()
self.position = list()
self.time = list()
self.inputs_list = list()
self.ports_list = []
# Timer to create a periodic event and update the plot
self.timer = QtCore.QTimer()
# Value and range of each potentiometer - Limits are [value-range, value+range]
self.p_value = 10
self.p_range = 10
self.p_step = 0.1
# -----------------
self.i_value = 10
self.i_range = 10
self.i_step = 0.1
# -----------------
self.d_value = 10
self.d_range = 10
self.d_step = 0.1
self.initUI()
def initUI(self):
# Create StatusBar
statusBar = QtGui.QStatusBar()
self.input_names = list()
self.active_reference_x = list()
self.active_reference_y = list()
self.active_reference_x1 = list()
self.xs_list = list()
self.ys_list = list()
self.thread = QtCore.QThread()
# Create frames
self.plot_frame = QtGui.QFrame(self)
self.plot_frame.setFrameShape(QtGui.QFrame.StyledPanel)
self.knobs_frame = QtGui.QFrame(self)
self.knobs_frame.setFrameShape(QtGui.QFrame.StyledPanel)
self.frame3 = QtGui.QFrame(self)
self.frame3.setFrameShape(QtGui.QFrame.StyledPanel)
# Ports Combo Box
self.port_combo = QtGui.QComboBox(self)
self.port_combo.setEnabled(False)
self.port_combo.addItem('Select port')
# Reference signals Combo box
self.ref_signals_combo = QtGui.QComboBox(self)
self.ref_signals_combo.setEnabled(False)
self.ref_signals_combo.addItem('Choose a Reference Signal')
self.ref_signals_combo.activated[str].connect(self.on_reference_choice)
'''--------------- Buttons ----------------'''
# Start button
self.start_button = QtGui.QPushButton('Start')
self.start_button.setEnabled(False)
self.start_button.clicked.connect(self.start_onClicked)
#Stop button
self.stop_button = QtGui.QPushButton('Stop')
self.stop_button.setEnabled(False)
self.stop_button.clicked.connect(self.stop_onClicked)
# Scan Button
self.scan_button = QtGui.QPushButton('Scan')
self.scan_button.setEnabled(True)
self.scan_button.clicked.connect(self.scan_onClicked)
''' ----------- FIGURE LAYOUT ------------'''
# a figure instance to plot on
self.figure = plt.figure() #figsize=(3.0,2.0)
# this is the Canvas Widget that displays the `figure`
# it takes the `figure` instance as a parameter to __init__
self.canvas = FigureCanvas(self.figure)
self.ax = self.figure.add_subplot(1,1,1)
self.ax.set_xlabel('time (sec)')
self.ax.set_ylabel('angle (deg)')
self.ax.axis([0,5,-20,20])
self.ax.grid()
self.active_reference = Line2D([0,5],[0,0], linewidth=1.0, color='red')
self.ax.add_line(self.active_reference)
self.position_line = Line2D([0,0],[0,0],linewidth=1.0, color='black')
# Figure with frame
self.topLeft = QtGui.QHBoxLayout()
self.topLeft.addWidget(self.canvas)
self.plot_frame.setLayout(self.topLeft)
''' ----------- KNOBS LAYOUT ------------'''
# Knobs
self.knob1 = self.create_knob('P')
self.knob2 = self.create_knob('I')
self.knob3 = self.create_knob('D')
# Input P
self.textP = QtGui.QLineEdit()
self.textP.setMaxLength(5)
self.textP.setText(str(self.knob1.value()))
self.labelP = QtGui.QLabel('P Gain:')
# Input I
self.textI = QtGui.QLineEdit()
self.textI.setMaxLength(5)
self.textI.setText(str(self.knob2.value()))
self.labelI = QtGui.QLabel('I Gain:')
# Input D
self.textD = QtGui.QLineEdit()
self.textD.setMaxLength(5)
self.textD.setText(str(self.knob3.value()))
self.labelD = QtGui.QLabel('D Gain:')
# P/I/D Gain Layouts
self.p_layout = self.create_knob_layout('P')
self.i_layout = self.create_knob_layout('I')
self.d_layout = self.create_knob_layout('D')
# Final knobs layout
self.knobs_layout = QtGui.QHBoxLayout()
self.knobs_layout.addLayout(self.p_layout)
self.knobs_layout.addLayout(self.i_layout)
self.knobs_layout.addLayout(self.d_layout)
self.knobs_frame.setLayout(self.knobs_layout)
# Add LineEdit signals
self.textP.returnPressed.connect(lambda: self.on_entered_pressed('P'))
self.textI.returnPressed.connect(lambda: self.on_entered_pressed('I'))
self.textD.returnPressed.connect(lambda: self.on_entered_pressed('D'))
''' ----------- Buttons/Combos LAYOUT ------------'''
# port_combo plus start/stop buttons
hbox = QtGui.QHBoxLayout()
hbox.addWidget(self.start_button)
hbox.addWidget(self.stop_button)
vbox = QtGui.QVBoxLayout()
vbox.addLayout(hbox)
vbox.addWidget(self.scan_button)
grid3 = QtGui.QGridLayout()
grid3.addWidget(self.port_combo, 3, 0)
grid3.addWidget(self.ref_signals_combo, 4, 0)
grid3.addLayout(vbox, 5, 0)
self.frame3.setLayout(grid3)
''' ----------- FINAL LAYOUT ------------'''
grid = QtGui.QGridLayout()
grid.addWidget(self.plot_frame,0,0,3,2)
grid.addWidget(self.knobs_frame,3,0,2,2)
grid.addWidget(self.frame3,0,3,5,1)
''' ----------- CENTRAL WIDGET ----------'''
self.main_frame = QtGui.QWidget()
self.main_frame.setLayout(grid)
self.setCentralWidget(self.main_frame)
self.create_menu()
self.setGeometry(1000,300,700,450)
self.setWindowTitle('ServoTune')
self.show()
def create_knob(self,letter):
self.knob = Qwt.QwtKnob(self)
self.knob.setRange(0, 20, 0, 0.1)
self.knob.setScaleMaxMajor(10)
self.knob.setKnobWidth(40)
self.knob.setValue(self.p_value)
self.knob.setStep(self.p_step)
self.knob.valueChanged.connect(lambda: self.on_slider_moved(letter))
return self.knob
def create_knob_layout(self,letter):
layout = QtGui.QVBoxLayout()
dummy_layout = QtGui.QHBoxLayout()
if letter == 'P':
layout.addWidget(self.knob1)
dummy_layout.addWidget(self.labelP)
dummy_layout.addWidget(self.textP)
elif letter == 'I':
layout.addWidget(self.knob2)
dummy_layout.addWidget(self.labelI)
dummy_layout.addWidget(self.textI)
elif letter == 'D':
layout.addWidget(self.knob3)
dummy_layout.addWidget(self.labelD)
dummy_layout.addWidget(self.textD)
layout.addLayout(dummy_layout)
return layout
def scan_onClicked(self):
# Search for connected Devices
ports = glob.glob('/dev/tty[A-Za-z]*')
for port in ports:
try:
s = serial.Serial(port)
s.close()
self.ports_list.append(port)
except (OSError, serial.SerialException):
pass
self.port_combo.clear() # Clear the combo list
if len(self.ports_list) == 0:
self.port_combo.addItem('No devices detected')
else:
self.port_combo.addItem('Select port')
self.port_combo.setEnabled(True)
for i in range(0,len(self.ports_list)):
self.port_combo.addItem(str(self.ports_list[i]))
# Signal
self.port_combo.activated[str].connect(self.on_port_combo_Activated)
def on_port_combo_Activated(self, text):
self.port_num = text
if text != 'select port':
print 'You selected' , self.port_num
self.port_combo.setEnabled(False)
if not self.port_combo.currentText() == "Select port" and not \
self.ref_signals_combo.currentText() == "Choose a Reference Signal":
self.start_button.setEnabled(True)
def start_onClicked(self):
"""
Start button pressed. Starts the communication between arduino and GUI.
"""
if self.port_num == 'select port':
print "Error! Select a port"
else:
self.active_reference_x1 = self.active_reference_x[1:]
print self.active_reference_x1
print "length: ",len(self.active_reference_x1)
print "type: ", type(self.active_reference_x[1])
# Create the instance of the Object
self.com_monitor = ComProcess(self.active_reference_y, 8,
self.data_q, self.error_q, self.gain_q,
str(self.port_num), 115200)
self.com_monitor.start()
# Connect the timeout signal
self.timer.timeout.connect(self.on_timer)
# Start the timer
self.timer.start(30) # TODO: when you will read the Ts to change this '30' (to 2xTs?)
self.start_button.setEnabled(False)
self.stop_button.setEnabled(True)
def on_timer(self):
"""Reads every 30 ms the data queue and updates the response Line2D."""
qdata = list(self.get_all_from_Queue(self.data_q))
for i in range(0, len(qdata)):
# Get time and position from the Queue
self.time.append(qdata[i][0])
self.position.append(qdata[i][1])
# Add them to the response Line2D
self.position_line.set_data(self.time, self.position)
# Add the response Line2D to the canvas and draw
self.ax.add_line(self.position_line)
self.canvas.draw()
# Stop the timer after the reference signal is all sent
if len(self.time) >= len(self.active_reference_x1):
self.timer.stop()
print "Sent all"
def stop_onClicked(self):
"""
Stop button clicked. Kills the process.
"""
self.start_button.setEnabled(True)
self.stop_button.setEnabled(False)
self.port_combo.setEnabled(True)
# Kill the COM process
self.com_monitor.join(0.01)
def on_entered_pressed(self, letter):
"""
Chane of value of knob by pressing enter.
- Put the slider in the given value and set the limits to +/- range.
"""
if letter == 'P':
self.p_value = float(self.textP.text())
self.knob1.setRange(self.p_value-self.p_range, self.p_value+self.p_range, 0, 1)
self.knob1.setStep(self.p_step)
self.knob1.setValue(self.p_value)
elif letter == 'I':
self.i_value = float(self.textI.text())
self.knob2.setRange(self.i_value-self.i_range, self.i_value+self.i_range, 0, 1)
self.knob2.setStep(self.i_step)
self.knob2.setValue(self.i_value)
elif letter == 'D':
self.d_value = float(self.textD.text())
self.knob3.setRange(self.d_value-self.d_range, self.d_value+self.d_range, 0, 1)
self.knob3.setStep(self.d_step)
self.knob3.setValue(self.d_value)
def on_slider_moved(self, letter):
"""
On knob change:
- update the according text line.
- Clear the 'gain_q' Queue and update it.
"""
if letter == 'P':
val = self.knob1.value()
self.textP.setText(str(val))
# clear the gain queue
self.clear_queue(self.gain_q)
# Add let + value
self.gain_q.put('P')
self.gain_q.put(val)
elif letter == 'I':
val = self.knob2.value()
self.textI.setText(str(val))
# clear the gain queue
self.clear_queue(self.gain_q)
# Add let + value
self.gain_q.put('I')
self.gain_q.put(val)
elif letter == 'D':
val = self.knob3.value()
self.textD.setText(str(val))
# clear the gain queue
self.clear_queue(self.gain_q)
# Add let + value
self.gain_q.put('D')
self.gain_q.put(val)
def create_menu(self):
# create Action (for now manually - later with method)
exitAction = QtGui.QAction(QtGui.QIcon('exit.png'),'&Exit',self)
exitAction.setShortcut('Ctrl+Q')
exitAction.setStatusTip('Exit Application')
exitAction.triggered.connect(QtGui.qApp.quit)
# <Tools>
p_knob = QtGui.QAction('&Knob(P)', self)
p_knob.setShortcut('Ctrl+P')
i_knob = QtGui.QAction('&Knob(I)', self)
i_knob.setShortcut('Ctrl+I')
d_knob = QtGui.QAction('&Knob(D)', self)
d_knob.setShortcut('Ctrl+D')
# Connect the signals/slots
p_knob.triggered.connect(lambda: self.show_knobs_dialog('P'))
i_knob.triggered.connect(lambda: self.show_knobs_dialog('I'))
d_knob.triggered.connect(lambda: self.show_knobs_dialog('D'))
# Input Signal creation - actions
create_input = QtGui.QAction('&New Reference Signal',self)
create_input.triggered.connect(self.create_new_signal)
# Periodic Signal creation - actions
create_periodic_input = QtGui.QAction('&New Periodic Reference Signal', self)
create_periodic_input.triggered.connect(self.create_new_periodic_signal)
menubar = self.menuBar()
fileMenu = menubar.addMenu('&File')
fileMenu.addAction(exitAction)
toolsMenu = menubar.addMenu('&Tools')
toolsMenu.addAction(p_knob)
toolsMenu.addAction(i_knob)
toolsMenu.addAction(d_knob)
input_signal_menu = menubar.addMenu('&Signal')
input_signal_menu.addAction(create_input)
input_signal_menu.addAction(create_periodic_input)
# fileMenu.addAction(toolsAction)
def show_knobs_dialog(self,let):
'''
Opens the dialog to reconfigure the knob's range and/or variance
'''
#TODO fix this "bad" name
self.knob_config = knobDialog.knobDialog(self,let)
self.knob_config.show() # with show it is modeless dialog (doesn't block the mainWindow)
self.knob_config.ok_button.clicked.connect(lambda: self.update_knob(let))
def update_knob(self, let):
if let == 'P':
# print 'ep'
self.p_range = float(self.knob_config.range_line.text())
self.p_step = float(self.knob_config.variance_line.text())
self.knob1.setRange(self.p_value-self.p_range, self.p_value+self.p_range, 0, 1)
self.knob1.setStep(self.p_step)
self.knob1.setValue(self.knob1.value())
# print rng, var
elif let == 'I':
self.i_range = float(self.knob_config.range_line.text())
self.i_step = float(self.knob_config.variance_line.text())
self.knob2.setRange(self.i_value-self.i_range, self.i_value+self.i_range, 0, 1)
self.knob2.setStep(self.i_step)
self.knob2.setValue(self.knob2.value())
elif let == 'D':
self.d_range = float(self.knob_config.range_line.text())
self.d_step = float(self.knob_config.variance_line.text())
self.knob3.setRange(self.d_value-self.d_range, self.d_value+self.d_range, 0, 1)
self.knob3.setStep(self.d_step)
self.knob3.setValue(self.knob3.value())
def create_new_signal(self):
self.input_config = inputDialog.new_inputDialog(self.inputs_list)
self.input_config.show()
self.input_config.ok_button.clicked.connect(self.get_input_data)
def create_new_periodic_signal(self):
self.input_periodic_config = inputDialog.new_periodic_dialog(self.inputs_list)
self.input_periodic_config.show()
self.input_periodic_config.ok_button.clicked.connect(self.get_input_periodic_data)
def get_input_data(self):
"""
Get from the new input dialog class, the x_data and the y_data
"""
xs = self.input_config.xs
ys = self.input_config.ys
self.xs_list.append(xs)
self.ys_list.append(ys)
self.inputs_list = self.input_config.list
self.ref_signals_combo.addItem(self.inputs_list[-1])
# Enable the reference combo box
if not self.ref_signals_combo.isEnabled():
self.ref_signals_combo.setEnabled(True)
def get_input_periodic_data(self):
xs = self.input_periodic_config.xs
ys = self.input_periodic_config.ys
self.xs_list.append(xs)
self.ys_list.append(ys)
self.inputs_list = self.input_periodic_config.list
self.ref_signals_combo.addItem(self.inputs_list[-1])
# Enable the reference combo box
if not self.ref_signals_combo.isEnabled():
self.ref_signals_combo.setEnabled(True)
def on_reference_choice(self, text):
for i in range(len(self.inputs_list)):
if self.inputs_list[i] == text:
self.active_reference_x = self.xs_list[i]
self.active_reference_y = self.ys_list[i]
# Final signal to be sent to arduino
self.active_reference.set_data(self.active_reference_x,self.active_reference_y)
# Change the limits of the axis
xmax = max(self.active_reference_x)
ymax = max(self.active_reference_y)
ymin = min(self.active_reference_y)
self.ax.axis([0, xmax, ymin-10, ymax+10])
self.canvas.draw()
# Debugging
print self.active_reference_x
print "Length of reference to be sent: ", len(self.active_reference_x)
if not self.port_combo.currentText() == "Select port" and not \
self.ref_signals_combo.currentText() == "Choose a Reference Signal":
self.start_button.setEnabled(True)
def clear_queue(self, q):
# if q.qsize()
while q.qsize()>0:
trash = q.get()
def get_all_from_Queue(self, Q):
try:
while True:
yield Q.get_nowait()
except Queue.Empty:
raise StopIteration
