class AccroPIDTuningController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._current_roll_pid = PIDData(100,150,-300)
self._current_pitch_pid = PIDData(100,150,-300)
self._current_stick_scaling = 1
self._is_starting = False
self._user_update_mode = PIDUpdateMode.BEGINNER_MODE
self._roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._roll_pid_controller)
self._roll_pid_controller.set_title('PID tuning')
self._roll_pid_controller.set_default(PIDData(100,150,-350))
self._roll_pid_controller.set_p_bounds(50,200)
self._roll_pid_controller.set_p_title('Pitch Gain')
self._roll_pid_controller.set_i_bounds(100,300)
self._roll_pid_controller.set_i_title('Error correction')
self._roll_pid_controller.set_d_bounds(-1000,-100)
self._roll_pid_controller.set_d_title('Set Point')
self._pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._pitch_pid_controller)
self._pitch_pid_controller.set_title('PID tuning')
self._pitch_pid_controller.set_default(PIDData(100,150,-350))
self._pitch_pid_controller.set_p_bounds(50,200)
self._pitch_pid_controller.set_p_title('Pitch Gain')
self._pitch_pid_controller.set_i_bounds(100,300)
self._pitch_pid_controller.set_i_title('Error correction')
self._pitch_pid_controller.set_d_bounds(-1000,-100)
self._pitch_pid_controller.set_d_title('Set Point')
self._stick_scaling_controller = ConfigSingleLinePanelController()
self._stick_scaling_controller.set_title('Stick Scaling')
self._stick_scaling_controller.set_line_description('Stick Scaling')
self._stick_scaling_controller.set_bounds(1,6)
self._stick_scaling_controller.set_default('1')
self.ui.main_layout.addWidget(self._stick_scaling_controller)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._roll_pid_received, VehicleEventDispatcher.PID_ACCRO_ROLL)
vehicle_event_dispatcher.register(self._pitch_pid_received, VehicleEventDispatcher.PID_ACCRO_PITCH)
vehicle_event_dispatcher.register(self._accro_stick_scaling_received, VehicleEventDispatcher.PID_ACCRO_STICK_SCALING)
self._cpt_before_send = 5
self.set_beginner_mode()
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler;
def set_beginner_mode(self):
self._user_update_mode = PIDUpdateMode.BEGINNER_MODE
self._pitch_pid_controller.hide()
self._roll_pid_controller.hide_i_line()
self._roll_pid_controller.set_edit_box_enabled(False)
self._stick_scaling_controller.set_edit_box_enabled(False)
def set_intermediate_mode(self):
self._user_update_mode = PIDUpdateMode.INTERMEDIATE_MODE
self._pitch_pid_controller.show()
self._roll_pid_controller.hide_i_line()
self._pitch_pid_controller.hide_i_line()
self._pitch_pid_controller.show()
self._roll_pid_controller.set_edit_box_enabled(False)
self._pitch_pid_controller.set_edit_box_enabled(False)
self._stick_scaling_controller.set_edit_box_enabled(False)
def set_advanced_mode(self):
self._user_update_mode = PIDUpdateMode.ADVANCED_MODE
self._pitch_pid_controller.show()
self._roll_pid_controller.show_i_line()
self._pitch_pid_controller.show_i_line()
self._roll_pid_controller.set_edit_box_enabled(True)
self._pitch_pid_controller.set_edit_box_enabled(True)
self._stick_scaling_controller.set_edit_box_enabled(True)
def _roll_pid_received(self, event, roll_pid):
self._current_roll_pid = roll_pid
if self._is_starting :
self._roll_pid_controller.set_current_pid(roll_pid)
def _pitch_pid_received(self, event, pitch_pid):
self._current_pitch_pid = pitch_pid
if self._is_starting :
self._pitch_pid_controller.set_current_pid(pitch_pid)
def _accro_stick_scaling_received(self, event, stick_scaling):
self._current_stick_scaling = self.translate_current_stick_scaling_from_board(stick_scaling)
if self._is_starting :
self._stick_scaling_controller.set_value(self._current_stick_scaling)
self._set_synched()
self._is_starting = False
if self.is_synched():
self._set_synched()
self._protocol_handler.send_command_wihout_subscription(self._protocol_handler.COMMANDS['WriteUserValuesEEPROM'])
def start(self):
self._is_starting = True
self._sync_in_progress = True
self._protocol_handler.get_accro_pid();
def stop(self):
self._protocol_handler.unsubscribe_command()
def sync_with_board(self):
if self._is_starting :
return
if self.is_synched() :
self._protocol_handler.unsubscribe_command()
self._set_synched()
return
if self._cpt_before_send == 5 :
self._protocol_handler.unsubscribe_command()
self._send_pid_to_board()
self._cpt_before_send = 0
self._protocol_handler.get_accro_pid();
else:
self._protocol_handler.send_command_wihout_subscription(self._protocol_handler.COMMANDS['GetRatePID']);
self._cpt_before_send = self._cpt_before_send + 1
def is_synched(self):
try:
if not self._current_roll_pid.is_equals(self._roll_pid_controller.get_current_pid()) :
return False
elif not self._current_pitch_pid.is_equals(self._pitch_pid_controller.get_current_pid()) :
return False
elif float(self._current_stick_scaling) != float(self._stick_scaling_controller.get_value()):
return False
except:
return False
return True
def _set_synched(self):
self._roll_pid_controller.p_line.set_same()
self._roll_pid_controller.i_line.set_same()
self._roll_pid_controller.d_line.set_same()
self._pitch_pid_controller.p_line.set_same()
self._pitch_pid_controller.i_line.set_same()
self._pitch_pid_controller.d_line.set_same()
self._stick_scaling_controller._line.set_same()
def _send_pid_to_board(self):
roll_pid = self._roll_pid_controller.get_current_pid()
pitch_pid = self.get_pitch_pid_from_panel()
stick_scaling = self.get_stick_scaling_from_panel()
self._protocol_handler.set_accro_pid(roll_pid, pitch_pid, stick_scaling)
def get_pitch_pid_from_panel(self):
if self._user_update_mode == PIDUpdateMode.BEGINNER_MODE :
self._pitch_pid_controller.set_current_pid(self._roll_pid_controller.get_current_pid())
return self._roll_pid_controller.get_current_pid()
else :
return self._pitch_pid_controller.get_current_pid()
def get_stick_scaling_from_panel(self):
panel_value = self._stick_scaling_controller.get_value()
return self.translate_stick_scaling_for_board(panel_value)
def reset_default(self):
self._roll_pid_controller.reset_default()
self._pitch_pid_controller.reset_default()
self._stick_scaling_controller.reset_default()
def translate_current_stick_scaling_from_board(self,stick_scaling):
if str(stick_scaling) == '1.00':
return 1
elif str(stick_scaling) == '0.90':
return 2
elif str(stick_scaling) == '0.80':
return 3
elif str(stick_scaling) == '0.70':
return 4
elif str(stick_scaling) == '0.60':
return 5
elif str(stick_scaling) == '0.50':
return 6
def translate_stick_scaling_for_board(self,panel_value):
if int(panel_value) == 1 :
return '1.00'
elif float(panel_value) == 2 :
return '0.90'
elif float(panel_value) == 3 :
return '0.80'
elif float(panel_value) == 4 :
return '0.70'
elif float(panel_value) == 5 :
return '0.60'
elif float(panel_value) == 6 :
return '0.50'
class AccroPIDTuningController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_PIDTuningPanel()
self.ui.setupUi(self)
self._current_roll_pid = PIDData(100, 150, -300)
self._current_pitch_pid = PIDData(100, 150, -300)
self._current_stick_scaling = 1
self._is_starting = False
self._user_update_mode = PIDUpdateMode.BEGINNER_MODE
self._roll_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._roll_pid_controller)
self._roll_pid_controller.set_title('PID tuning')
self._roll_pid_controller.set_default(PIDData(100, 150, -350))
self._roll_pid_controller.set_p_bounds(50, 200)
self._roll_pid_controller.set_p_title('Pitch Gain')
self._roll_pid_controller.set_i_bounds(100, 300)
self._roll_pid_controller.set_i_title('Error correction')
self._roll_pid_controller.set_d_bounds(-1000, -100)
self._roll_pid_controller.set_d_title('Set Point')
self._pitch_pid_controller = PIDWidgetController()
self.ui.main_layout.addWidget(self._pitch_pid_controller)
self._pitch_pid_controller.set_title('PID tuning')
self._pitch_pid_controller.set_default(PIDData(100, 150, -350))
self._pitch_pid_controller.set_p_bounds(50, 200)
self._pitch_pid_controller.set_p_title('Pitch Gain')
self._pitch_pid_controller.set_i_bounds(100, 300)
self._pitch_pid_controller.set_i_title('Error correction')
self._pitch_pid_controller.set_d_bounds(-1000, -100)
self._pitch_pid_controller.set_d_title('Set Point')
self._stick_scaling_controller = ConfigSingleLinePanelController()
self._stick_scaling_controller.set_title('Stick Scaling')
self._stick_scaling_controller.set_line_description('Stick Scaling')
self._stick_scaling_controller.set_bounds(1, 6)
self._stick_scaling_controller.set_default('1')
self.ui.main_layout.addWidget(self._stick_scaling_controller)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._roll_pid_received, VehicleEventDispatcher.PID_ACCRO_ROLL)
vehicle_event_dispatcher.register(
self._pitch_pid_received, VehicleEventDispatcher.PID_ACCRO_PITCH)
vehicle_event_dispatcher.register(
self._accro_stick_scaling_received,
VehicleEventDispatcher.PID_ACCRO_STICK_SCALING)
self._cpt_before_send = 5
self.set_beginner_mode()
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler
def set_beginner_mode(self):
self._user_update_mode = PIDUpdateMode.BEGINNER_MODE
self._pitch_pid_controller.hide()
self._roll_pid_controller.hide_i_line()
self._roll_pid_controller.set_edit_box_enabled(False)
self._stick_scaling_controller.set_edit_box_enabled(False)
def set_intermediate_mode(self):
self._user_update_mode = PIDUpdateMode.INTERMEDIATE_MODE
self._pitch_pid_controller.show()
self._roll_pid_controller.hide_i_line()
self._pitch_pid_controller.hide_i_line()
self._pitch_pid_controller.show()
self._roll_pid_controller.set_edit_box_enabled(False)
self._pitch_pid_controller.set_edit_box_enabled(False)
self._stick_scaling_controller.set_edit_box_enabled(False)
def set_advanced_mode(self):
self._user_update_mode = PIDUpdateMode.ADVANCED_MODE
self._pitch_pid_controller.show()
self._roll_pid_controller.show_i_line()
self._pitch_pid_controller.show_i_line()
self._roll_pid_controller.set_edit_box_enabled(True)
self._pitch_pid_controller.set_edit_box_enabled(True)
self._stick_scaling_controller.set_edit_box_enabled(True)
def _roll_pid_received(self, event, roll_pid):
self._current_roll_pid = roll_pid
if self._is_starting:
self._roll_pid_controller.set_current_pid(roll_pid)
def _pitch_pid_received(self, event, pitch_pid):
self._current_pitch_pid = pitch_pid
if self._is_starting:
self._pitch_pid_controller.set_current_pid(pitch_pid)
def _accro_stick_scaling_received(self, event, stick_scaling):
self._current_stick_scaling = self.translate_current_stick_scaling_from_board(
stick_scaling)
if self._is_starting:
self._stick_scaling_controller.set_value(
self._current_stick_scaling)
self._set_synched()
self._is_starting = False
if self.is_synched():
self._set_synched()
self._protocol_handler.send_command_wihout_subscription(
self._protocol_handler.COMMANDS['WriteUserValuesEEPROM'])
def start(self):
self._is_starting = True
self._sync_in_progress = True
self._protocol_handler.get_accro_pid()
def stop(self):
self._protocol_handler.unsubscribe_command()
def sync_with_board(self):
if self._is_starting:
return
if self.is_synched():
self._protocol_handler.unsubscribe_command()
self._set_synched()
return
if self._cpt_before_send == 5:
self._protocol_handler.unsubscribe_command()
self._send_pid_to_board()
self._cpt_before_send = 0
self._protocol_handler.get_accro_pid()
else:
self._protocol_handler.send_command_wihout_subscription(
self._protocol_handler.COMMANDS['GetRatePID'])
self._cpt_before_send = self._cpt_before_send + 1
def is_synched(self):
try:
if not self._current_roll_pid.is_equals(
self._roll_pid_controller.get_current_pid()):
return False
elif not self._current_pitch_pid.is_equals(
self._pitch_pid_controller.get_current_pid()):
return False
elif float(self._current_stick_scaling) != float(
self._stick_scaling_controller.get_value()):
return False
except:
return False
return True
def _set_synched(self):
self._roll_pid_controller.p_line.set_same()
self._roll_pid_controller.i_line.set_same()
self._roll_pid_controller.d_line.set_same()
self._pitch_pid_controller.p_line.set_same()
self._pitch_pid_controller.i_line.set_same()
self._pitch_pid_controller.d_line.set_same()
self._stick_scaling_controller._line.set_same()
def _send_pid_to_board(self):
roll_pid = self._roll_pid_controller.get_current_pid()
pitch_pid = self.get_pitch_pid_from_panel()
stick_scaling = self.get_stick_scaling_from_panel()
self._protocol_handler.set_accro_pid(roll_pid, pitch_pid,
stick_scaling)
def get_pitch_pid_from_panel(self):
if self._user_update_mode == PIDUpdateMode.BEGINNER_MODE:
self._pitch_pid_controller.set_current_pid(
self._roll_pid_controller.get_current_pid())
return self._roll_pid_controller.get_current_pid()
else:
return self._pitch_pid_controller.get_current_pid()
def get_stick_scaling_from_panel(self):
panel_value = self._stick_scaling_controller.get_value()
return self.translate_stick_scaling_for_board(panel_value)
def reset_default(self):
self._roll_pid_controller.reset_default()
self._pitch_pid_controller.reset_default()
self._stick_scaling_controller.reset_default()
def translate_current_stick_scaling_from_board(self, stick_scaling):
if str(stick_scaling) == '1.00':
return 1
elif str(stick_scaling) == '0.90':
return 2
elif str(stick_scaling) == '0.80':
return 3
elif str(stick_scaling) == '0.70':
return 4
elif str(stick_scaling) == '0.60':
return 5
elif str(stick_scaling) == '0.50':
return 6
def translate_stick_scaling_for_board(self, panel_value):
if int(panel_value) == 1:
return '1.00'
elif float(panel_value) == 2:
return '0.90'
elif float(panel_value) == 3:
return '0.80'
elif float(panel_value) == 4:
return '0.70'
elif float(panel_value) == 5:
return '0.60'
elif float(panel_value) == 6:
return '0.50'