def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleDynamicConfigPanel()
self.ui.setupUi(self)
self.ui.updateButton.clicked.connect(self._send_mini_config)
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
self.ui.receiverTitle.setPalette(palette)
self.ui.motorTitle.setPalette(palette)
self.ui.triBox.clicked.connect(self.triCheckBoxPressed)
self.ui.quadBox.clicked.connect(self.quadCheckBoxPressed)
self.ui.quadPlusBox.clicked.connect(self.quadPlusCheckBoxPressed)
self.ui.quadY4Box.clicked.connect(self.y4CheckBoxPressed)
self.ui.y6Box.clicked.connect(self.y6CheckBoxPressed)
self.ui.hexaPlusBox.clicked.connect(self.hexPlusCheckBoxPressed)
self.ui.hexaXBox.clicked.connect(self.hexXCheckBoxPressed)
self.ui.reverseRotation.clicked.connect(
self.reverseRotationCheckBoxPressed)
self.ui.ppmRecv.clicked.connect(self.ppmReceiverCheckBoxPressed)
self.ui.normalRecv.clicked.connect(self.normalReceiverCheckBoxPressed)
self._flight_config_type = FlightConfigType.QUAD_X
self._receiver_type = ReceiverConfigType.RECEIVER_PWM
self._reversed_yaw = '1'
self._selected_flight_config = FlightConfigType.QUAD_X
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
self._selected_reversed_yaw_rotation = '1'
self._update_panel_component()
vehicle_event_dispatcher.register(
self._flight_config_updated,
VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._yaw_direction_updated,
VehicleEventDispatcher.YAW_DIRECTION_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._receiver_type_updated,
VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleDynamicConfigPanel()
self.ui.setupUi(self)
self.ui.updateButton.clicked.connect(self._send_mini_config)
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
self.ui.receiverTitle.setPalette(palette)
self.ui.motorTitle.setPalette(palette)
self.ui.triBox.clicked.connect(self.triCheckBoxPressed)
self.ui.quadBox.clicked.connect(self.quadCheckBoxPressed)
self.ui.quadPlusBox.clicked.connect(self.quadPlusCheckBoxPressed)
self.ui.quadY4Box.clicked.connect(self.y4CheckBoxPressed)
self.ui.y6Box.clicked.connect(self.y6CheckBoxPressed)
self.ui.hexaPlusBox.clicked.connect(self.hexPlusCheckBoxPressed)
self.ui.hexaXBox.clicked.connect(self.hexXCheckBoxPressed)
self.ui.reverseRotation.clicked.connect(self.reverseRotationCheckBoxPressed)
self.ui.ppmRecv.clicked.connect(self.ppmReceiverCheckBoxPressed)
self.ui.normalRecv.clicked.connect(self.normalReceiverCheckBoxPressed)
self._flight_config_type = FlightConfigType.QUAD_X
self._receiver_type = ReceiverConfigType.RECEIVER_PWM
self._reversed_yaw = '1'
self._selected_flight_config = FlightConfigType.QUAD_X
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
self._selected_reversed_yaw_rotation = '1'
self._update_panel_component()
vehicle_event_dispatcher.register(self._flight_config_updated, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._yaw_direction_updated, VehicleEventDispatcher.YAW_DIRECTION_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._receiver_type_updated, VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
class VehicleDynamicConfigController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleDynamicConfigPanel()
self.ui.setupUi(self)
self.ui.updateButton.clicked.connect(self._send_mini_config)
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
self.ui.receiverTitle.setPalette(palette)
self.ui.motorTitle.setPalette(palette)
self.ui.triBox.clicked.connect(self.triCheckBoxPressed)
self.ui.quadBox.clicked.connect(self.quadCheckBoxPressed)
self.ui.quadPlusBox.clicked.connect(self.quadPlusCheckBoxPressed)
self.ui.quadY4Box.clicked.connect(self.y4CheckBoxPressed)
self.ui.y6Box.clicked.connect(self.y6CheckBoxPressed)
self.ui.hexaPlusBox.clicked.connect(self.hexPlusCheckBoxPressed)
self.ui.hexaXBox.clicked.connect(self.hexXCheckBoxPressed)
self.ui.reverseRotation.clicked.connect(self.reverseRotationCheckBoxPressed)
self.ui.ppmRecv.clicked.connect(self.ppmReceiverCheckBoxPressed)
self.ui.normalRecv.clicked.connect(self.normalReceiverCheckBoxPressed)
self._flight_config_type = FlightConfigType.QUAD_X
self._receiver_type = ReceiverConfigType.RECEIVER_PWM
self._reversed_yaw = '1'
self._selected_flight_config = FlightConfigType.QUAD_X
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
self._selected_reversed_yaw_rotation = '1'
self._update_panel_component()
vehicle_event_dispatcher.register(self._flight_config_updated, VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._yaw_direction_updated, VehicleEventDispatcher.YAW_DIRECTION_CONFIG_EVENT)
vehicle_event_dispatcher.register(self._receiver_type_updated, VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
def _flight_config_updated(self, sender, event, msg = None):
self._flight_config_type = msg
if (self._flight_config_type == '0') :
self.ui.quadBox.setChecked(True)
elif (self._flight_config_type == '1') :
self.ui.quadPlusBox.setChecked(True)
elif (self._flight_config_type == '2') :
self.ui.hexaPlusBox.setChecked(True)
elif (self._flight_config_type == '3') :
self.ui.hexaXBox.setChecked(True)
elif (self._flight_config_type == '4') :
self.ui.triBox.setChecked(True)
elif (self._flight_config_type == '5') :
self.ui.quadY4Box.setChecked(True)
elif (self._flight_config_type == '6') :
self.ui.y6Box.setChecked(True)
self._update_panel_component()
def _yaw_direction_updated(self, sender, event, msg = None):
self._reversed_yaw = msg
if (self._reversed_yaw == '-1') :
self.ui.reverseRotation.setChecked(True)
else :
self.ui.reverseRotation.setChecked(False)
self._update_panel_component()
def _receiver_type_updated(self, sender, event, msg = None):
self._receiver_type = msg
if (self._receiver_type == '0') :
self.ui.ppmRecv.setChecked(True)
elif (self._receiver_type == '1') :
self.ui.normalRecv.setChecked(True)
self._update_panel_component()
print("receiver type updated!")
def start(self):
pass
def triCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.TRI
self._update_panel_component()
def quadCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.QUAD_X
self._update_panel_component()
def quadPlusCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.QUAD_PLUS
self._update_panel_component()
def y4CheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.QUAD_Y4
self._update_panel_component()
def y6CheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.HEX_Y6
self._update_panel_component()
def hexPlusCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.HEX_PLUS
self._update_panel_component()
def hexXCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.HEX_X
self._update_panel_component()
def reverseRotationCheckBoxPressed(self):
if (self.ui.reverseRotation.isChecked()) :
self._selected_reversed_yaw_rotation = '-1'
else :
self._selected_reversed_yaw_rotation = '1'
self._update_panel_component()
def ppmReceiverCheckBoxPressed(self):
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PPM
self._update_panel_component()
def normalReceiverCheckBoxPressed(self):
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
self._update_panel_component()
def _update_panel_component(self):
if (self._selected_reversed_yaw_rotation != self._reversed_yaw) :
self.ui.updateButton.setEnabled(True)
return
if (self._selected_receiver_config != self._receiver_type) :
self.ui.updateButton.setEnabled(True)
return
if (self._selected_flight_config != self._flight_config_type) :
self.ui.updateButton.setEnabled(True)
return
self.ui.updateButton.setEnabled(False)
def _send_mini_config(self):
self._message_sender.send_mini_config(self._selected_flight_config,
self._selected_receiver_config,
self._selected_reversed_yaw_rotation)
self._message_sender.send_request('#')
class VehicleDynamicConfigController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_VehicleDynamicConfigPanel()
self.ui.setupUi(self)
self.ui.updateButton.clicked.connect(self._send_mini_config)
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.white)
self.ui.receiverTitle.setPalette(palette)
self.ui.motorTitle.setPalette(palette)
self.ui.triBox.clicked.connect(self.triCheckBoxPressed)
self.ui.quadBox.clicked.connect(self.quadCheckBoxPressed)
self.ui.quadPlusBox.clicked.connect(self.quadPlusCheckBoxPressed)
self.ui.quadY4Box.clicked.connect(self.y4CheckBoxPressed)
self.ui.y6Box.clicked.connect(self.y6CheckBoxPressed)
self.ui.hexaPlusBox.clicked.connect(self.hexPlusCheckBoxPressed)
self.ui.hexaXBox.clicked.connect(self.hexXCheckBoxPressed)
self.ui.reverseRotation.clicked.connect(
self.reverseRotationCheckBoxPressed)
self.ui.ppmRecv.clicked.connect(self.ppmReceiverCheckBoxPressed)
self.ui.normalRecv.clicked.connect(self.normalReceiverCheckBoxPressed)
self._flight_config_type = FlightConfigType.QUAD_X
self._receiver_type = ReceiverConfigType.RECEIVER_PWM
self._reversed_yaw = '1'
self._selected_flight_config = FlightConfigType.QUAD_X
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
self._selected_reversed_yaw_rotation = '1'
self._update_panel_component()
vehicle_event_dispatcher.register(
self._flight_config_updated,
VehicleEventDispatcher.FLIGHT_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._yaw_direction_updated,
VehicleEventDispatcher.YAW_DIRECTION_CONFIG_EVENT)
vehicle_event_dispatcher.register(
self._receiver_type_updated,
VehicleEventDispatcher.RECEIVER_TYPE_EVENT)
def _flight_config_updated(self, sender, event, msg=None):
self._flight_config_type = msg
if (self._flight_config_type == '0'):
self.ui.quadBox.setChecked(True)
elif (self._flight_config_type == '1'):
self.ui.quadPlusBox.setChecked(True)
elif (self._flight_config_type == '2'):
self.ui.hexaPlusBox.setChecked(True)
elif (self._flight_config_type == '3'):
self.ui.hexaXBox.setChecked(True)
elif (self._flight_config_type == '4'):
self.ui.triBox.setChecked(True)
elif (self._flight_config_type == '5'):
self.ui.quadY4Box.setChecked(True)
elif (self._flight_config_type == '6'):
self.ui.y6Box.setChecked(True)
self._update_panel_component()
def _yaw_direction_updated(self, sender, event, msg=None):
self._reversed_yaw = msg
if (self._reversed_yaw == '-1'):
self.ui.reverseRotation.setChecked(True)
else:
self.ui.reverseRotation.setChecked(False)
self._update_panel_component()
def _receiver_type_updated(self, sender, event, msg=None):
self._receiver_type = msg
if (self._receiver_type == '0'):
self.ui.ppmRecv.setChecked(True)
elif (self._receiver_type == '1'):
self.ui.normalRecv.setChecked(True)
self._update_panel_component()
print("receiver type updated!")
def start(self):
pass
def triCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.TRI
self._update_panel_component()
def quadCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.QUAD_X
self._update_panel_component()
def quadPlusCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.QUAD_PLUS
self._update_panel_component()
def y4CheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.QUAD_Y4
self._update_panel_component()
def y6CheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.HEX_Y6
self._update_panel_component()
def hexPlusCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.HEX_PLUS
self._update_panel_component()
def hexXCheckBoxPressed(self):
self._selected_flight_config = FlightConfigType.HEX_X
self._update_panel_component()
def reverseRotationCheckBoxPressed(self):
if (self.ui.reverseRotation.isChecked()):
self._selected_reversed_yaw_rotation = '-1'
else:
self._selected_reversed_yaw_rotation = '1'
self._update_panel_component()
def ppmReceiverCheckBoxPressed(self):
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PPM
self._update_panel_component()
def normalReceiverCheckBoxPressed(self):
self._selected_receiver_config = ReceiverConfigType.RECEIVER_PWM
self._update_panel_component()
def _update_panel_component(self):
if (self._selected_reversed_yaw_rotation != self._reversed_yaw):
self.ui.updateButton.setEnabled(True)
return
if (self._selected_receiver_config != self._receiver_type):
self.ui.updateButton.setEnabled(True)
return
if (self._selected_flight_config != self._flight_config_type):
self.ui.updateButton.setEnabled(True)
return
self.ui.updateButton.setEnabled(False)
def _send_mini_config(self):
self._message_sender.send_mini_config(
self._selected_flight_config, self._selected_receiver_config,
self._selected_reversed_yaw_rotation)
self._message_sender.send_request('#')
