class CodeEdit(QWidget):
def __init__(self, parent):
QWidget.__init__(self, parent)
self._text_edit = CodeTextEdit(self)
self._output_pane = QTextBrowser(self)
self._output_pane.document().setDefaultFont(QFont('Courier', pointSize=7))
self._output_pane.setWordWrapMode(QTextOption.NoWrap)
self._output_pane_container = QWidget(self)
self._output_pane_layout = QGridLayout(self._output_pane_container)
self._output_pane_layout.setContentsMargins(0, 16, 0, 0)
self._output_pane_layout.addWidget(QLabel(self.tr('Script Output')), 0, 0)
self._output_pane_layout.addWidget(self._output_pane)
self._splitter = QSplitter(Qt.Vertical, self)
self._splitter.addWidget(self._text_edit)
self._splitter.addWidget(self._output_pane_container)
self._splitter.setStretchFactor(0, 3)
self._splitter.setStretchFactor(1, 1)
self._layout = QGridLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.addWidget(self._splitter, 0, 0)
self._text_edit.editComplete.connect(self.editComplete)
editComplete = pyqtSignal(str)
@property
def textEdit(self):
return self._text_edit
@property
def outputPane(self):
return self._output_pane
def setFontSize(self, font_size):
self._text_edit.document().setDefaultFont(QFont('Courier', pointSize=font_size))
self._output_pane.document().setDefaultFont(QFont('Courier', pointSize=font_size))
self._text_edit.setTabStopWidth(font_size * 2)
self._output_pane.setTabStopWidth(font_size * 2)
def setModel(self, model):
self._text_edit.setPlainText(model.text)
model.textChanged.connect(self._set_text(self._text_edit))
if hasattr(model, 'output'):
self._output_pane.setPlainText(model.output)
model.outputChanged.connect(self._set_text(self._output_pane, True))
self._output_pane.setVisible(True)
else:
self._output_pane_container.setVisible(False)
self.editComplete.connect(self._handle_text_changed(model))
model.validationMessageChanged.connect(self._handle_validation_message)
def _set_text(self, widget, scroll_to_end=False):
def _(text):
if widget.toPlainText() != text:
widget.setPlainText(text)
if scroll_to_end:
widget.verticalScrollBar().setSliderPosition(widget.verticalScrollBar().maximum())
return _
def _handle_text_changed(self, model):
def _setter(value):
model.text = value
return _setter
def _handle_validation_message(self, message):
if message:
palette = self.palette()
invalid_color = QColor(Qt.red)
invalid_color.setAlphaF(0.2)
palette.setColor(QPalette.Base, invalid_color)
else:
palette = self.style().standardPalette()
self._text_edit.setPalette(palette)
self._text_edit.setToolTip(message or None)
class PlotToolbarOptions(QWidget):
def __init__(self,
parent,
series_style,
theme_manager,
plot,
options=None,
legend_control=None,
right_padding=0.0,
has_extra_tools=False):
QWidget.__init__(self, parent)
self._theme_manager = theme_manager
self._plot = plot
self._toolbar_container = ToolbarContainer(plot)
self._background_color_qt = _to_qt_color(
series_style.get_color_from_key('axes_background'))
self._foreground_color_qt = _to_qt_color(
series_style.get_color_from_key('axes_foreground'))
interpolation = interpolate_rgb(self._background_color_qt,
self._foreground_color_qt, 3)
self._icon_hover_color = interpolation[1]
self._toolbar = PlotToolbarWidget(self._toolbar_container, plot,
self._foreground_color_qt,
self._icon_hover_color)
self._toolbar.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self._layout = QGridLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.setSpacing(0)
self._layout.addWidget(plot, 0, 0, 1, 3)
self._background_opacity = 0.8
plot.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
if options is not None:
if isinstance(options, PlotOptionsView):
plot.setOptionsView(options)
self._options = self._add_popout(ToolType.options, options)
else:
self._options = None
if legend_control is not None:
if isinstance(legend_control, LegendControlView):
plot.setLegendControl(legend_control)
self._legend_control = self._add_popout(ToolType.legend,
legend_control)
legend_control.hasHiddenSeriesChanged.connect(
self._handle_has_hidden_series_changed)
else:
self._legend_control = None
self._toolbar_layout = QVBoxLayout(self._toolbar_container)
self._toolbar_layout.addWidget(self._toolbar, Qt.AlignTop)
self._layout.addWidget(self._toolbar_container, 0, 1,
Qt.AlignRight | Qt.AlignTop)
self._layout.setColumnStretch(0, 1)
self._layout.setColumnStretch(1, 0)
if right_padding > 0:
self._padding_widget = QWidget(self)
self._padding_widget.setVisible(False)
self._layout.addWidget(self._padding_widget, 0, 2)
self._layout.setColumnMinimumWidth(2, right_padding)
else:
self._padding_widget = None
if not has_extra_tools:
self._toolbar_layout.addStretch()
def _handle_has_hidden_series_changed(self, has_hidden):
color = None if not has_hidden else self._theme_manager.get_color(
'highlight')
self._toolbar.setColor(ToolType.legend, color)
def _handle_tool_activated(self, tool_type, view):
def _(tool, active):
if tool == tool_type:
view.setVisible(active)
if self._padding_widget:
self._padding_widget.setVisible(active)
if active:
self._toolbar_container.setStyleSheet(
"ToolbarContainer {{ background-color: {} }}".format(
format_color(self._background_color_qt,
ColorFormat.rgba_string_256,
self._background_opacity)))
self._layout.setAlignment(self._toolbar_container,
Qt.AlignRight)
if self._padding_widget:
self._padding_widget.setStyleSheet(
"QWidget {{ background-color: {} }}".format(
format_color(self._background_color_qt,
ColorFormat.rgba_string_256,
self._background_opacity)))
else:
self._layout.setAlignment(self._toolbar_container,
Qt.AlignRight | Qt.AlignTop)
self._toolbar_container.setStyleSheet("")
if self._padding_widget:
self._padding_widget.setStyleSheet("")
return _
def addTool(self, tool_widget):
self._toolbar_layout.addWidget(HLine(self._plot), Qt.AlignTop)
self._toolbar_layout.addWidget(tool_widget,
Qt.AlignTop | Qt.AlignCenter)
self._toolbar_layout.addStretch()
@property
def icon_color(self):
return self._foreground_color_qt
@property
def icon_hover_color(self):
return self._icon_hover_color
@property
def toolbar(self):
return self._toolbar
def _add_popout(self, tool_type, view):
popout = PopoutWidget(self, view, self._background_color_qt,
self._foreground_color_qt,
self._background_opacity)
popout.setVisible(False)
self._layout.addWidget(popout, 0, 0, Qt.AlignRight)
self._toolbar.toolActivated.connect(
self._handle_tool_activated(tool_type, popout))
return popout
class MainWidget(QWidget):
'''
class MainWidget
'''
def __init__(self, parent = None):
super(MainWidget, self).__init__(parent)
# member variables
self._lTheorySpd = 0
self._rTheorySpd = 0
self._serialSend = SerialSend()
# mainWindow properties
self.setObjectName('MainWidget')
self.setWindowIcon(QIcon(':/image/default/app.icon'))
self.setWindowTitle('%s V%s' % (
qApp.applicationDisplayName(),
qApp.applicationVersion()))
self.resize(800, 480)
# mainWindow layout
# top
self.groupBoxTop = QGroupBox(self)
self.groupBoxTop.setObjectName('groupBoxTop')
# command dashboard
buttonLeftPower = JSwitchButton(parent = self.groupBoxTop)
buttonRightPower = JSwitchButton(parent = self.groupBoxTop)
buttonSettings = QPushButton(self.groupBoxTop)
buttonHistory = QPushButton(self.groupBoxTop)
buttonQuit = QPushButton(self.groupBoxTop)
buttonLeftPower.setObjectName('buttonLeftPower')
buttonRightPower.setObjectName('buttonRightPower')
buttonSettings.setObjectName('buttonSettings')
buttonHistory.setObjectName('buttonHistory')
buttonQuit.setObjectName('buttonQuit')
areaPortState = QWidget(self)
areaPortState.setObjectName('areaPortState')
areaPortState.setStyleSheet('QWidget#areaPortState{border-radius:3px;'
'border:1px solid #505050;'
'background-color:rgba(64,64,64,50);}')
vertLayoutPortState = QVBoxLayout(areaPortState)
vertLayoutPortState.setContentsMargins(50, 2, 50, 2)
vertLayoutPortState.setSpacing(3)
buttonPortState = JSwitchButton(pixmap = QPixmap(':/carmonitor/image/button-port-state.png'), parent = areaPortState)
buttonPortState.setObjectName('buttonPortState')
vertLayoutPortState.addWidget(QLabel('串口', areaPortState), 0, Qt.AlignHCenter)
vertLayoutPortState.addWidget(buttonPortState)
#
horiLayoutTop = QHBoxLayout(self.groupBoxTop)
horiLayoutTop.setContentsMargins(0, 0, 0, 0)
horiLayoutTop.addSpacing(25)
horiLayoutTop.addWidget(buttonSettings, 0, Qt.AlignLeft)
horiLayoutTop.addSpacing(20)
horiLayoutTop.addWidget(buttonHistory, 0, Qt.AlignLeft)
horiLayoutTop.addSpacing(65)
horiLayoutTop.addWidget(buttonLeftPower)
horiLayoutTop.addWidget(QLabel('左电源开关', self.groupBoxTop))
horiLayoutTop.addStretch()
horiLayoutTop.addWidget(areaPortState, 0, Qt.AlignTop)
horiLayoutTop.addStretch()
horiLayoutTop.addWidget(QLabel('右电源开关', self.groupBoxTop))
horiLayoutTop.addWidget(buttonRightPower)
horiLayoutTop.addSpacing(150)
horiLayoutTop.addWidget(buttonQuit, 0, Qt.AlignRight)
horiLayoutTop.addSpacing(25)
# middle
# curves
self.curveLBP = CurveWidget(title = '左刹车压力（MPa）', parent = self)
self.curveLRP = CurveWidget(title = '左转速（r/min）', parent = self)
self.curveRBP = CurveWidget(title = '右刹车压力（MPa）', parent = self)
self.curveRRP = CurveWidget(title = '右转速（r/min）', parent = self)
self.curveLBP.setObjectName('curveLBP')
self.curveLRP.setObjectName('curveLRP')
self.curveRBP.setObjectName('curveRBP')
self.curveRRP.setObjectName('curveRRP')
# self.curveLBP.setAxisScale(QwtPlot.yLeft, 0, 30, 5)
# areaMiddle
self.areaMiddle = QWidget(self)
self.areaMiddle.setObjectName('areaMiddle')
self.areaMiddle.setFixedWidth(280)
#
groupBoxStatus = QGroupBox(self)
groupBoxStatus.setObjectName('groupBoxStatus')
# status-view
gridLayoutStatus = QGridLayout(groupBoxStatus)
gridLayoutStatus.setContentsMargins(5, 5, 5, 5)
gridLayoutStatus.setHorizontalSpacing(8)
gridLayoutStatus.setVerticalSpacing(3)
# Brake-Command
editLeftBrakeCmd = QLineEdit(groupBoxStatus)
editRightBrakeCmd = QLineEdit(groupBoxStatus)
editLeftBrakeCmd.setObjectName('editLeftBrakeCmd')
editRightBrakeCmd.setObjectName('editRightBrakeCmd')
editLeftBrakeCmd.setReadOnly(True)
editRightBrakeCmd.setReadOnly(True)
gridLayoutStatus.addWidget(QLabel('刹车指令：', groupBoxStatus),
0, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(editLeftBrakeCmd, 1, 0, 1, 1)
gridLayoutStatus.addWidget(editRightBrakeCmd, 1, 1, 1, 1)
# Major Brake Pressure
self.editMLeftBrakeP = QLineEdit(groupBoxStatus)
self.editMRightBrakeP = QLineEdit(groupBoxStatus)
self.editMLeftBrakeP.setObjectName('editMLeftBrakeP')
self.editMRightBrakeP.setObjectName('editMRightBrakeP')
self.editMLeftBrakeP.setReadOnly(True)
self.editMRightBrakeP.setReadOnly(True)
gridLayoutStatus.addWidget(QLabel('主刹车压力：', groupBoxStatus),
2, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editMLeftBrakeP, 3, 0, 1, 1)
gridLayoutStatus.addWidget(self.editMRightBrakeP, 3, 1, 1, 1)
# Assistant Brake Pressure
self.editALeftBrakeP = QLineEdit(groupBoxStatus)
self.editARightBrakeP = QLineEdit(groupBoxStatus)
self.editALeftBrakeP.setObjectName('editALeftBrakeP')
self.editARightBrakeP.setObjectName('editARightBrakeP')
self.editALeftBrakeP.setReadOnly(True)
self.editARightBrakeP.setReadOnly(True)
gridLayoutStatus.addWidget(QLabel('副刹车压力：', groupBoxStatus),
4, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editALeftBrakeP, 5, 0, 1, 1)
gridLayoutStatus.addWidget(self.editARightBrakeP, 5, 1, 1, 1)
# Rotation Rate
self.editLeftRotateRate = QLineEdit(groupBoxStatus)
self.editRightRotateRate = QLineEdit(groupBoxStatus)
self.editLeftRotateRate.setObjectName('editLeftRotateRate')
self.editRightRotateRate.setObjectName('editRightRotateRate')
gridLayoutStatus.addWidget(QLabel('实际转速：', groupBoxStatus),
6, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editLeftRotateRate, 7, 0, 1, 1)
gridLayoutStatus.addWidget(self.editRightRotateRate, 7, 1, 1, 1)
# Theory Rotation Rate
self.editTheoryLeftRotateRate = QLineEdit(groupBoxStatus)
self.editTheoryRightRotateRate = QLineEdit(groupBoxStatus)
self.editTheoryLeftRotateRate.setObjectName('editTheoryLeftRotateRate')
self.editTheoryRightRotateRate.setObjectName('editTheoryRightRotateRate')
gridLayoutStatus.addWidget(QLabel('理论转速：', groupBoxStatus),
8, 0, 1, 2, Qt.AlignCenter)
gridLayoutStatus.addWidget(self.editTheoryLeftRotateRate, 9, 0, 1, 1)
gridLayoutStatus.addWidget(self.editTheoryRightRotateRate, 9, 1, 1, 1)
#
groupBoxCtrl = QGroupBox(self)
groupBoxCtrl.setObjectName('groupBoxCtrl')
# status-view
gridLayoutCtrl = QGridLayout(groupBoxCtrl)
gridLayoutCtrl.setContentsMargins(5, 5, 5, 5)
gridLayoutCtrl.setSpacing(20)
# left-button
buttonLeftDashboard = JDashButton('左指令旋钮', groupBoxCtrl)
buttonLeftSpeedGain = JDashButton('左转速增益', groupBoxCtrl)
buttonLeftSpeedKnob = JDashButton('左转速增益', groupBoxCtrl)
buttonLeftTracksip = JTracksipButton(parent = groupBoxCtrl)
buttonLeftDashboard.setObjectName('buttonLeftDashboard')
buttonLeftSpeedGain.setObjectName('buttonLeftSpeedGain')
buttonLeftSpeedKnob.setObjectName('buttonLeftSpeedKnob')
buttonLeftTracksip.setObjectName('buttonLeftTracksip')
buttonLeftTracksip.setFixedSize(110, 45)
# right-button
buttonRightDashboard = JDashButton('右指令旋钮', groupBoxCtrl)
buttonRightSpeedGain = JDashButton('右转速增益', groupBoxCtrl)
buttonRightSpeedKnob = JDashButton('右转速增益', groupBoxCtrl)
buttonRightTracksip = JTracksipButton(parent = groupBoxCtrl)
buttonRightDashboard.setObjectName('buttonRightDashboard')
buttonRightSpeedGain.setObjectName('buttonRightSpeedGain')
buttonRightSpeedKnob.setObjectName('buttonRightSpeedKnob')
buttonRightTracksip.setObjectName('buttonRightTracksip')
buttonRightTracksip.setFixedSize(110, 45)
horiLayoutTracksip = QHBoxLayout()
horiLayoutTracksip.setContentsMargins(0, 0, 0, 0)
horiLayoutTracksip.setSpacing(5)
horiLayoutTracksip.addWidget(buttonLeftTracksip)
horiLayoutTracksip.addWidget(QLabel('打滑', self), 0, Qt.AlignHCenter)
horiLayoutTracksip.addWidget(buttonRightTracksip)
gridLayoutCtrl.addLayout(horiLayoutTracksip, 0, 0, 1, 2)
horiLayoutDashboard = QHBoxLayout()
horiLayoutDashboard.setContentsMargins(0, 0, 0, 0)
horiLayoutDashboard.setSpacing(5)
horiLayoutDashboard.addWidget(buttonLeftDashboard)
horiLayoutDashboard.addWidget(QLabel(' ', self), 0, Qt.AlignHCenter)
horiLayoutDashboard.addWidget(buttonRightDashboard)
gridLayoutCtrl.addLayout(horiLayoutDashboard, 1, 0, 1, 2)
horiLayoutSpeedGain = QHBoxLayout()
horiLayoutSpeedGain.setContentsMargins(0, 0, 0, 0)
horiLayoutSpeedGain.setSpacing(5)
horiLayoutSpeedGain.addWidget(buttonLeftSpeedGain)
horiLayoutSpeedGain.addWidget(QLabel('(粗调)', self), 0, Qt.AlignHCenter)
horiLayoutSpeedGain.addWidget(buttonRightSpeedGain)
gridLayoutCtrl.addLayout(horiLayoutSpeedGain, 2, 0, 1, 2)
horiLayoutSpeedKnob = QHBoxLayout()
horiLayoutSpeedKnob.setContentsMargins(0, 0, 0, 0)
horiLayoutSpeedKnob.setSpacing(5)
horiLayoutSpeedKnob.addWidget(buttonLeftSpeedKnob)
horiLayoutSpeedKnob.addWidget(QLabel('(细调)', self), 0, Qt.AlignHCenter)
horiLayoutSpeedKnob.addWidget(buttonRightSpeedKnob)
gridLayoutCtrl.addLayout(horiLayoutSpeedKnob, 3, 0, 1, 2)
#
vertLayoutMid = QVBoxLayout(self.areaMiddle)
vertLayoutMid.setContentsMargins(0, 0, 0, 0)
vertLayoutMid.setSpacing(0)
vertLayoutMid.addWidget(groupBoxStatus)
vertLayoutMid.addWidget(groupBoxCtrl)
vertLayoutMid.addSpacing(20)
#
gridLayoutBottom = QGridLayout()
gridLayoutBottom.setContentsMargins(0, 0, 0, 0)
gridLayoutBottom.setSpacing(1)
gridLayoutBottom.addWidget(self.curveLBP, 0, 0, 1, 1)
gridLayoutBottom.addWidget(self.curveLRP, 1, 0, 1, 1)
gridLayoutBottom.addWidget(self.areaMiddle, 0, 1, 2, 1)
gridLayoutBottom.addWidget(self.curveRBP, 0, 2, 1, 1)
gridLayoutBottom.addWidget(self.curveRRP, 1, 2, 1, 1)
# main-layout
vertLayoutMain = QVBoxLayout(self)
vertLayoutMain.setContentsMargins(5, 5, 5, 5)
vertLayoutMain.addWidget(self.groupBoxTop)
vertLayoutMain.addLayout(gridLayoutBottom)
# global properties
qApp.setProperty('MainWidget', self)
self._serialProxy = SerialPortProxy(self)
self._serialProxy._serialSimulate = SerialSimulate(self._serialProxy) #
qApp.setProperty('SerialProxy', self._serialProxy)
#
buttonSettings.clicked.connect(self.onButtonSettingsClicked)
buttonHistory.clicked.connect(self.onButtonHistoryClicked)
buttonPortState.clicked.connect(self.onButtonPortStateClicked)
buttonQuit.clicked.connect(self.onButtonQuitClicked)
# curves
self.curveLBP.doubleClicked.connect(self.onCurveDoubleClicked)
self.curveLRP.doubleClicked.connect(self.onCurveDoubleClicked)
self.curveRBP.doubleClicked.connect(self.onCurveDoubleClicked)
self.curveRRP.doubleClicked.connect(self.onCurveDoubleClicked)
# switch-power
buttonLeftPower.stateChanged.connect(self.onButtonLeftPowerStateChanged)
buttonRightPower.stateChanged.connect(self.onButtonRightPowerStateChanged)
# switch-tracksip
buttonLeftTracksip.stateChanged.connect(self.onButtonLeftTracksipStateChanged)
buttonRightTracksip.stateChanged.connect(self.onButtonRightTracksipStateChanged)
self._serialProxy.stateChanged.connect(self.onSerialStateChanged)
self._serialProxy.serialPortError.connect(self.onSerialPortError)
self._serialProxy.displayRespond.connect(self.onSerialDisplayRespond)
#
buttonLeftSpeedGain.clicked.connect(self.execSliderWidget)
buttonLeftSpeedKnob.clicked.connect(self.execSliderWidget)
buttonRightSpeedGain.clicked.connect(self.execSliderWidget)
buttonRightSpeedKnob.clicked.connect(self.execSliderWidget)
# final initialization
self.editMLeftBrakeP.setText('0 MPa')
self.editMRightBrakeP.setText('0 MPa')
self.editALeftBrakeP.setText('0 MPa')
self.editARightBrakeP.setText('0 MPa')
self.editLeftRotateRate.setText('0 r/min')
self.editRightRotateRate.setText('0 r/min')
self.editTheoryLeftRotateRate.setText('0 r/min')
self.editTheoryRightRotateRate.setText('0 r/min')
#
c_memset(self._serialSend, 0, ctypes.sizeof(self._serialSend))
# SQL
sqlName = applicationDirPath() \
+ '/../data/cm-' \
+ QDateTime.currentDateTime().toLocalTime().toString('yyyy-MM-dd-HH-mm-ss') \
+ '.db'
if not DatabaseMgr().create(sqlName):
assert(False)
# start serialport
self._serialProxy.start()
#
buttonLeftTracksip.setState(self._serialSend.ctrlWord.lTracksip)
buttonRightTracksip.setState(self._serialSend.ctrlWord.lTracksip)
def onButtonSettingsClicked(self):
self._serialProxy.save()
#
settingsWidget = SettingsWidget(self)
settingsWidget.exec_()
self._serialProxy.restore()
def onButtonHistoryClicked(self):
self._serialProxy.save()
DatabaseMgr().save()
#
historyWidget = HistoryWidget(self)
historyWidget.showMaximized()
historyWidget.exec_()
DatabaseMgr().restore()
self._serialProxy.restore()
def onButtonPortStateClicked(self, checked):
if checked:
self._serialProxy.start()
else:
self._serialProxy.stop()
def onButtonQuitClicked(self):
if QMessageBox.warning(self, '警告', '你确定要退出软件吗？',
QMessageBox.Ok | QMessageBox.No) == QMessageBox.Ok:
self.close()
def onCurveDoubleClicked(self, checked):
objectName = self.sender().objectName()
if objectName == 'curveLBP':
self.groupBoxTop.setVisible(checked)
self.areaMiddle.setVisible(checked)
self.curveLRP.setVisible(checked)
self.curveRBP.setVisible(checked)
self.curveRRP.setVisible(checked)
elif objectName == 'curveLRP':
self.groupBoxTop.setVisible(checked)
self.areaMiddle.setVisible(checked)
self.curveLBP.setVisible(checked)
self.curveRBP.setVisible(checked)
self.curveRRP.setVisible(checked)
elif objectName == 'curveRBP':
self.groupBoxTop.setVisible(checked)
self.areaMiddle.setVisible(checked)
self.curveLBP.setVisible(checked)
self.curveLRP.setVisible(checked)
self.curveRRP.setVisible(checked)
elif objectName == 'curveRRP':
self.groupBoxTop.setVisible(checked)
self.areaMiddle.setVisible(checked)
self.curveLBP.setVisible(checked)
self.curveLRP.setVisible(checked)
self.curveRBP.setVisible(checked)
def onButtonLeftPowerStateChanged(self, checked):
self._serialSend.ctrlWord.lPowerSw = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def onButtonRightPowerStateChanged(self, checked):
self._serialSend.ctrlWord.rPowerSw = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def onButtonLeftTracksipStateChanged(self, checked):
self._serialSend.ctrlWord.lTracksip = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def onButtonRightTracksipStateChanged(self, checked):
self._serialSend.ctrlWord.rTracksip = checked
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
def onSerialStateChanged(self, info):
text = '串口: [%s] %s' % (self._serialProxy.config().__str__(), info)
print(text)
def onSerialDisplayRespond(self, data, dateTime):
# Major Brake Pressure
suffix = self.editMLeftBrakeP.text().split(' ')[1]
self.editMLeftBrakeP.setText('%.2f %s' % (data.lMBrakeP * 1.0, suffix))
suffix = self.editMRightBrakeP.text().split(' ')[1]
self.editMRightBrakeP.setText('%.2f %s' % (data.rMBrakeP * 1.0, suffix))
# Minor Brake Pressure
suffix = self.editALeftBrakeP.text().split(' ')[1]
self.editALeftBrakeP.setText('%.2f %s' % (data.lABrakeP * 1.0, suffix))
suffix = self.editARightBrakeP.text().split(' ')[1]
self.editARightBrakeP.setText('%.2f %s' % (data.rABrakeP * 1.0, suffix))
# Rotation Rate
suffix = self.editLeftRotateRate.text().split(' ')[1]
self.editLeftRotateRate.setText('%d %s' % (data.lWheelSpd * 1.0, suffix))
suffix = self.editRightRotateRate.text().split(' ')[1]
self.editRightRotateRate.setText('%d %s' % (data.rWheelSpd * 1.0, suffix))
# curves
timeT = dateTime.toMSecsSinceEpoch()
# curve - LBP
self.curveLBP.curve(0).sheft(QPoint(timeT, data.lMBrakeP))
self.curveLBP.curve(1).sheft(QPoint(timeT, data.lABrakeP))
# curve - LRP
self.curveLRP.curve(0).sheft(QPoint(timeT, data.lWheelSpd))
self.curveLRP.curve(1).sheft(QPoint(timeT, self._lTheorySpd))
# curve - RBP
self.curveRBP.curve(0).sheft(QPoint(timeT, data.rMBrakeP))
self.curveRBP.curve(1).sheft(QPoint(timeT, data.rABrakeP))
# curve - RRP
self.curveRRP.curve(0).sheft(QPoint(timeT, data.rWheelSpd))
self.curveRRP.curve(1).sheft(QPoint(timeT, self._rTheorySpd))
if not DatabaseMgr().write(data, self._lTheorySpd, self._rTheorySpd, timeT):
assert(False)
def onSerialPortError(self, error, info):
buttonPortState = self.findChild(JSwitchButton, 'buttonPortState')
if not buttonPortState:
return
if error == QSerialPort.NoError:
buttonPortState.setState(True)
else:
buttonPortState.setState(False)
text = '串口: [%s] %s' % (self._serialProxy.config().__str__(), info)
print(text)
def execSliderWidget(self):
sliderWidget = SliderWidget(self.sender().text(), self)
objName = self.sender().objectName()
if objName == 'buttonLeftSpeedGain':
lineEdit = self.findChild(QLineEdit, 'editTheoryLeftRotateRate')
text = lineEdit.text().split(' ')
suffix = ' ' + text[1]
curValue = float(text[0])
sliderWidget.setRange(0, 3000)
# sliderWidget.setDecimals(2)
# sliderWidget.setSingleStep(0.01)
sliderWidget.setSuffix(suffix)
sliderWidget.setValue(curValue)
def valueChanged(value):
self._lTheorySpd = value
buttonLeftSpeedSwitch = self.findChild(QPushButton, 'buttonLeftSpeedSwitch')
if buttonLeftSpeedSwitch:
buttonLeftSpeedSwitch.setText('左转速关' if value == 0.0 else '左转速开');
lineEdit.setText(('%.2f' % value) + suffix)
# send
self._serialSend.index += 1
self._serialSend.lWheelSpd = int(value * 42.94967296)
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
sliderWidget.valueChanged.connect(valueChanged)
elif objName == 'buttonRightSpeedGain':
lineEdit = self.findChild(QLineEdit, 'editTheoryRightRotateRate')
text = lineEdit.text().split(' ')
suffix = ' ' + text[1]
curValue = float(text[0])
sliderWidget.setRange(0, 3000)
# sliderWidget.setDecimals(2)
# sliderWidget.setSingleStep(0.01)
sliderWidget.setSuffix(suffix)
sliderWidget.setValue(curValue)
def valueChanged(value):
self._rTheorySpd = value
buttonRightSpeedSwitch = self.findChild(QPushButton, 'buttonRightSpeedSwitch')
if buttonRightSpeedSwitch:
buttonRightSpeedSwitch.setText('右转速关' if value == 0.0 else '右转速开')
lineEdit.setText(('%.2f' % value) + suffix)
# send
self._serialSend.index += 1
self._serialSend.rWheelSpd = int(value * 42.94967296)
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
sliderWidget.valueChanged.connect(valueChanged)
elif objName == 'buttonLeftSpeedKnob':
lineEdit = self.findChild(QLineEdit, 'editTheoryLeftRotateRate')
text = lineEdit.text().split(' ')
suffix = ' ' + text[1]
curValue = float(text[0])
minValue = max(0, curValue - 50)
maxValue = min(3000, curValue + 50)
if maxValue < 100:
maxValue = minValue + 100
if minValue > 3000 - 100:
minValue = maxValue - 100
sliderWidget.setRange(minValue, maxValue)
# sliderWidget.setDecimals(2)
# sliderWidget.setSingleStep(0.01)
sliderWidget.setSuffix(suffix)
sliderWidget.setValue(curValue)
def valueChanged(value):
self._lTheorySpd = value
buttonLeftSpeedSwitch = self.findChild(QPushButton, 'buttonLeftSpeedSwitch')
if buttonLeftSpeedSwitch:
buttonLeftSpeedSwitch.setText('左转速关' if value == 0.0 else '左转速开')
lineEdit.setText(('%.2f' % value) + suffix)
# send
self._serialSend.index += 1
self._serialSend.lWheelSpd = int(value * 42.94967296)
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
sliderWidget.valueChanged.connect(valueChanged)
elif objName == 'buttonRightSpeedKnob':
lineEdit = self.findChild(QLineEdit, 'editTheoryRightRotateRate')
text = lineEdit.text().split(' ')
suffix = ' ' + text[1]
curValue = float(text[0])
minValue = max(0, curValue - 50)
maxValue = min(3000, curValue + 50)
if maxValue < 100:
maxValue = minValue + 100
if minValue > 3000 - 100:
minValue = maxValue - 100
sliderWidget.setRange(minValue, maxValue)
# sliderWidget.setDecimals(2)
# sliderWidget.setSingleStep(0.01)
sliderWidget.setSuffix(suffix)
sliderWidget.setValue(curValue)
def valueChanged(value):
self._rTheorySpd = value
buttonRightSpeedSwitch = self.findChild(QPushButton, 'buttonRightSpeedSwitch')
if buttonRightSpeedSwitch:
buttonRightSpeedSwitch.setText('右转速关' if value == 0.0 else '右转速开');
lineEdit.setText(('%.2f' % value) + suffix)
# send
self._serialSend.index += 1
self._serialSend.rWheelSpd = int(value * 42.94967296)
self._serialSend.sum = SerialPortProxy.serialPortSendSum(self._serialSend)
self._serialProxy.writeData(self._serialSend)
sliderWidget.valueChanged.connect(valueChanged)
else:
pass
sliderWidget.exec_()
