def __init__(self, context):
super(ThrusterPlugin, self).__init__(context)
self.setObjectName('ThrusterPlugin')
self._listener = ThrusterListener()
self._thruster_widgets = {}
self._manual_control = False
self._widget = QWidget()
loadUi(os.path.join(uipath, 'thrusterplugin.ui'), self._widget)
context.add_widget(self._widget)
self._widget.findChild(QPushButton, 'stopAllButton').clicked.connect(self._on_stopall_clicked)
self._widget.findChild(QCheckBox, 'manualControlCheckBox').clicked.connect(self._on_manualcontrol_clicked)
self._update_timer = QTimer(self._widget)
self._update_timer.timeout.connect(self._update)
self._update_timer.start(100)
class ThrusterPlugin(Plugin):
def __init__(self, context):
super(ThrusterPlugin, self).__init__(context)
self.setObjectName('ThrusterPlugin')
self._listener = ThrusterListener()
self._thruster_widgets = {}
self._manual_control = False
self._widget = QWidget()
loadUi(os.path.join(uipath, 'thrusterplugin.ui'), self._widget)
context.add_widget(self._widget)
self._widget.findChild(QPushButton, 'stopAllButton').clicked.connect(self._on_stopall_clicked)
self._widget.findChild(QCheckBox, 'manualControlCheckBox').clicked.connect(self._on_manualcontrol_clicked)
self._update_timer = QTimer(self._widget)
self._update_timer.timeout.connect(self._update)
self._update_timer.start(100)
def _update(self):
active_ids = set()
for thruster_info in self._listener.get_thrusters():
active_ids.add(thruster_info.id)
if thruster_info.id not in self._thruster_widgets:
self._add_thruster_widget(thruster_info.id)
for id in self._thruster_widgets.keys():
if id not in active_ids:
self._remove_thruster_widget(id)
else:
self._update_thruster(id)
def _add_thruster_widget(self, id):
self._widget.findChild(QLabel, 'noThrustersLabel').setVisible(False)
thruster_widget = QWidget()
thruster_frame = self._widget.findChild(QFrame, 'thrusterFrame')
pos = sum(1 for existing_id in self._thruster_widgets if id > existing_id)
thruster_frame.layout().insertWidget(pos, thruster_widget)
loadUi(os.path.join(uipath, 'thruster.ui'), thruster_widget)
thruster_widget.findChild(QLabel, 'thrusterLabel').setText(id)
thruster_widget.findChild(QPushButton, 'offButton').clicked.connect(lambda: self._on_stop_clicked(id))
self._thruster_widgets[id] = thruster_widget
return thruster_widget
def _remove_thruster_widget(self, thruster):
if thruster not in self._thruster_widgets:
return
self._thruster_widgets[thruster].deleteLater()
del self._thruster_widgets[thruster]
if len(self._thruster_widgets) == 0:
self._widget.findChild(QLabel, 'noThrustersLabel').setVisible(True)
def _update_thrusters(self):
for thruster in self._listener.get_thrusters():
self._update_thruster(thruster)
def _update_thruster(self, id):
thruster = self._listener.get_thruster(id)
thruster_widget = self._thruster_widgets[id]
slider_widget = thruster_widget.findChild(QSlider, 'thrusterSlider')
reverse_widget = thruster_widget.findChild(QCheckBox, 'reverseCheckbox')
thruster_widget.findChild(QPushButton, 'offButton').setEnabled(self._manual_control)
thruster_widget.findChild(QCheckBox, 'reverseCheckbox').setEnabled(self._manual_control)
thruster_widget.findChild(QSlider, 'thrusterSlider').setEnabled(self._manual_control)
if not self._manual_control:
command = self._listener.get_command(id)
if command is None:
return
if command.force > 0:
effort = command.force / thruster.max_force
else:
effort = command.force / thruster.min_force
slider_widget.setValue(abs(effort) * 100)
reverse_widget.setChecked(effort < 0)
else:
effort = slider_widget.value()/100
if not reverse_widget.isChecked():
force = effort * thruster.max_force
else:
force = effort * thruster.min_force
self._listener.send_command(id, force)
if abs(effort) > .9:
color = 'red'
elif abs(effort) > .75:
color = 'yellow'
else:
color = 'black'
thruster_widget.findChild(QLabel, 'thrusterLabel').setText(
'<span style="color: ' + color + '">' + id + '</span>')
def _on_stopall_clicked(self):
for thruster_widget in self._thruster_widgets.values():
thruster_widget.findChild(QSlider, 'thrusterSlider').setValue(0)
def _on_stop_clicked(self, id):
self._thruster_widgets[id].findChild(QSlider, 'thrusterSlider').setValue(0)
def _on_manualcontrol_clicked(self):
self._manual_control = self._widget.findChild(QCheckBox, 'manualControlCheckBox').isChecked()
def shutdown_plugin(self):
self._listener.unregister()
