class GroundStation(QMainWindow, mainWindow.Ui_MainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.setupUi(self)
self.wilfredCommunication = Communication()
self.wilfredCommand = Command(self.wilfredCommunication)
# Motor Sliders
self.connect(self.motor0SpinBox, SIGNAL("valueChanged(int)"), self.updateMotor0)
self.connect(self.motor1SpinBox, SIGNAL("valueChanged(int)"), self.updateMotor1)
self.connect(self.motor2SpinBox, SIGNAL("valueChanged(int)"), self.updateMotor2)
self.connect(self.motor3SpinBox, SIGNAL("valueChanged(int)"), self.updateMotor3)
# Connect
self.connect(self.connectButton, SIGNAL("pressed()"), self.connectToWilfred)
self.connect(self.disconnectButton, SIGNAL("pressed()"), self.disconnectFromWilfred)
# Accelerometer
self.initAccelerometers()
# Abort Button
self.connect(self.abortButton, SIGNAL("pressed()"), self.abortWilfred)
def updateMotor0(self, value):
goodMessage("updateMotor0: new motor value: ", value)
self.wilfredCommand.setMotorSpeed(0, value)
def updateMotor1(self, value):
goodMessage("updateMotor1: new motor value: ", value)
self.wilfredCommand.setMotorSpeed(1, value)
def updateMotor2(self, value):
goodMessage("updateMotor2: new motor value: ", value)
self.wilfredCommand.setMotorSpeed(2, value)
def updateMotor3(self, value):
goodMessage("updateMotor3: new motor value: ", value)
self.wilfredCommand.setMotorSpeed(3, value)
def connectToWilfred(self):
ip = str(self.ipAddressEdit.text()).strip()
port = int(self.portEdit.text())
self.wilfredCommunication.setupSocket(ip, port)
def disconnectFromWilfred(self):
self.wilfredCommunication.closeConnection()
def initAccelerometers(self):
timer = QTimer(self);
self.connect(timer, SIGNAL("timeout()"), self.updateAccelerometer)
self._counter = 0
timer.start(1000);
def updateAccelerometer(self):
if not self.wilfredCommunication.checkConnection():
return
(xAccel, yAccel, zAccel) = self.wilfredCommand.getAccel()
self.xAccelEdit.setText(str(xAccel))
self.yAccelEdit.setText(str(yAccel))
self.zAccelEdit.setText(str(zAccel))
def abortWilfred(self):
self.masterMotorSlider.setValue(1)
self.masterMotorSlider.setValue(0)
errorMessage("Aborting wilfred")
