class ControlBar(QWidget):
dtr = pyqtSignal(bool)
rts = pyqtSignal(bool)
def __init__(self, parent):
super(ControlBar, self).__init__(parent)
self.init_ui()
def init_ui(self):
layout = QHBoxLayout()
self.setLayout(layout)
self.dtr_btn = QCheckBox('DTR')
self.dtr_btn.clicked.connect(self.handle_dtr)
self.rts_btn = QCheckBox('RTS')
self.rts_btn.clicked.connect(self.handle_rts)
layout.addWidget(self.dtr_btn)
layout.addWidget(self.rts_btn)
def handle_dtr(self, checked):
self.dtr.emit(checked)
def handle_rts(self, checked):
self.rts.emit(checked)
def reset(self):
self.dtr_btn.setChecked(False)
self.rts_btn.setChecked(False)
self.dtr.disconnect()
self.rts.disconnect()
class PreferencesDialog(QDialog):
def __init__(self, parent, directory, is_checked):
"""Simple modal Preferences dialog"""
super().__init__(parent)
self.setWindowTitle("Preferences")
self.setModal(True)
image_dir_label = QLabel(f"<b>Images Location:</b> {directory.absolutePath()}")
self.delete_images_checkbox = QCheckBox("Delete Original Images")
self.delete_images_checkbox.setToolTip("""<p>If checked, images that are copied to the
<b>Images Location</b> are also deleted from their original location.</p>""")
self.delete_images_checkbox.setChecked(is_checked)
handling_v_box = QVBoxLayout()
handling_v_box.addWidget(self.delete_images_checkbox)
handling_group_box = QGroupBox("Image Handling:")
handling_group_box.setLayout(handling_v_box)
self.button_box = QDialogButtonBox(
QDialogButtonBox.StandardButtons.Save | QDialogButtonBox.StandardButtons.Cancel)
self.button_box.accepted.connect(self.accept)
self.button_box.rejected.connect(self.reject)
# Add a layout to the dialog box
dialog_v_box = QVBoxLayout()
dialog_v_box.addWidget(image_dir_label)
dialog_v_box.addWidget(handling_group_box)
dialog_v_box.addStretch(1)
dialog_v_box.addWidget(self.button_box)
self.setLayout(dialog_v_box)
class GenerateMazeGroupView(QWidget):
onMazeSpecChosen = pyqtSignal(MazeGenerationSpecification)
__simplyConnectedCheckbox: QCheckBox
__mazeSizePicker: XYPicker
def __init__(
self,
parent: Optional[QWidget] = None,
*args: Tuple[Any, Any],
**kwargs: Tuple[Any, Any],
) -> None:
"""
Grouped controls box for generating mazes
"""
super(GenerateMazeGroupView, self).__init__(parent=parent,
*args,
**kwargs)
self.setContentsMargins(0, 0, 0, 0)
layout = QVBoxLayout()
layout.setContentsMargins(0, 0, 0, 0)
groupbox = QGroupBox("Generate Maze")
layout.addWidget(groupbox)
vbox = QFormLayout()
groupbox.setLayout(vbox)
self.__mazeSizePicker = XYPicker(
minimum=XY(2, 2),
maximum=XY(250, 250),
initialValue=XY(2, 2),
parent=self,
)
self.__simplyConnectedCheckbox = QCheckBox()
self.__simplyConnectedCheckbox.setChecked(True)
generateButton = QPushButton("Generate")
generateButton.clicked.connect(
self.__onGenerateButtonPressed) # type: ignore
vbox.addRow("Size", self.__mazeSizePicker)
vbox.addRow("Simply Connected", self.__simplyConnectedCheckbox)
vbox.addRow(generateButton)
self.setLayout(layout)
def __onGenerateButtonPressed(self) -> None:
self.onMazeSpecChosen.emit(
MazeGenerationSpecification(
self.__mazeSizePicker.getValues(),
self.__simplyConnectedCheckbox.isChecked(),
), ),
def show_setting(self, conf: dict, layout: QGridLayout):
groups = list()
x = 0
y = 0
shape = 3
for key in conf.keys():
if type(conf[key]) == bool or type(conf[key]) == str:
continue
conf_title = conf[key]["title"]
conf_enabled = conf[key]["enabled"]
conf_times = conf[key]["times"]
group = QGroupBox(conf_title)
group.setStyleSheet("QGroupBox{border-radius:5px;}")
group.setToolTip(conf_title + " 的设置")
enabled = QCheckBox("启用")
enabled.setObjectName(key)
enabled.setToolTip("单击切换开关状态")
enabled.setChecked(conf_enabled)
enabled.setStyleSheet(
"QCheckBox::indicator{width:10px;height:10px;border:none;border-radius:5px;background:#9BE3DE;}QCheckBox::indicator:unchecked{background:#BEEBE9;}QCheckBox::indicator:unchecked:hover{background:#9AD3BC;}QCheckBox::indicator:checked{background:#95E1D3;}QCheckBox::indicator:checked:hover{background:#98DED9;}"
)
times = QHBoxLayout()
times_label = QLabel("次数：")
times_label.setStyleSheet(
"QLabel{background:transparent;border:none;border-radius:5px;}"
)
times_input = EnhancedEdit()
times_input.setObjectName(key)
times_input.setText(str(conf_times))
times_input.setToolTip("仅限正整数")
times_input.setValidator(
QRegularExpressionValidator(
QRegularExpression("^[1-9][0-9]{1,8}$")))
times_input.setStyleSheet(
"QLineEdit{border:1px solid #F3EAC2;border-radius:5px;background:transparent;}QLineEdit:hover{border:1px solid #F5B461;}"
)
times.addWidget(times_label)
times.addWidget(times_input)
group_layout = QVBoxLayout()
group_layout.addWidget(enabled)
group_layout.addLayout(times)
group.setLayout(group_layout)
group.setObjectName(key)
groups.append(group)
for group in groups:
if y >= shape:
x = x + 1
y = 0
layout.addWidget(group, x, y)
y = y + 1
self.logger.debug("最后的元素位置：(%d,%d)" % (x, y))
return (x, y)
def load_chapter(self, chapter_info: ChapterInfo):
if self.i % 26 == 0:
self.searchVBoxLayout = QVBoxLayout()
self.searchVBoxLayout.setAlignment(QtCore.Qt.AlignmentFlag.AlignTop) # 对齐方式,研究了3个小时 o(╥﹏╥)o
self.searchHBoxLayout.addLayout(self.searchVBoxLayout)
check_box = QCheckBox()
self.check_box_list.append(check_box)
check_box.setText(chapter_info.title)
check_box.setProperty("chapter_info", chapter_info)
task = constant.downloaded_task_map.get(chapter_info.url)
if task and task.status == -1:
check_box.setStyleSheet('color:red')
check_box.setChecked(True)
self.searchVBoxLayout.addWidget(check_box)
self.i += 1
def __init__(self, parent: QWidget):
super().__init__()
self.logger = logging.getLogger(__name__)
with open(file="config.json", mode="r",
encoding="utf-8") as conf_reader:
self.conf = json.loads(conf_reader.read())
self.logger.debug("初始化设置界面。设置内容：%s" % self.conf)
layout = QGridLayout()
self.setLayout(layout)
self.setModal(True)
self.setParent(parent)
self.resize(400, 300)
title = QLabel("设置")
title.setStyleSheet(
"QLabel{border:none;border-radius:5px;background:transparent;color:#9AD3BC;font-size:20px;}"
)
title.setAlignment(Qt.Alignment.AlignCenter)
layout.addWidget(title, 0, 1, Qt.Alignment.AlignCenter)
control_close = QPushButton()
control_close.setStyleSheet(
"QPushButton{background:#FFE3ED;border-radius:5px;border:none;}QPushButton:hover{background:#EC524B;}"
)
control_close.setToolTip("关闭")
control_close.setFixedHeight(20)
control_close.clicked.connect(self.close_callback)
layout.addWidget(control_close, 0, 0)
debug_check = QCheckBox("调试模式")
debug_check.setChecked(self.conf["debug"])
debug_check.setToolTip("单击切换开关状态")
debug_check.setStyleSheet(
"QCheckBox::indicator{width:10px;height:10px;border:none;border-radius:5px;background:#9BE3DE;}QCheckBox::indicator:unchecked{background:#BEEBE9;}QCheckBox::indicator:unchecked:hover{background:#9AD3BC;}QCheckBox::indicator:checked{background:#95E1D3;}QCheckBox::indicator:checked:hover{background:#98DED9;}"
)
self.content = QGridLayout()
(x, y) = self.show_setting(conf=self.conf,
layout=self.content) # 返回content的最后一个元素的x,y
proxy = QGroupBox()
proxy.setObjectName("proxy")
proxy_layout = QVBoxLayout()
proxy_label = QLabel("代理地址：")
proxy_label.setStyleSheet(
"QLabel{background:transparent;border:none;}")
proxy_input = EnhancedEdit()
proxy_input.setText(self.conf["proxy"])
proxy_input.setToolTip("格式为协议://IP:端口，留空保持直连")
proxy_input.setStyleSheet(
"QLineEdit{border:1px solid #F3EAC2;border-radius:5px;background:transparent;}QLineEdit:hover{border:1px solid #F5B461;}"
)
proxy_layout.addWidget(proxy_label)
proxy_layout.addWidget(proxy_input)
proxy.setLayout(proxy_layout)
proxy.setStyleSheet("QGroupBox{border-radius:5px;}")
proxy.setToolTip("代理设置")
if y + 1 >= 3:
y_ = 0
x_ = x + 1
else:
y_ = y + 1
x_ = x
self.content.addWidget(proxy, x_, y_)
self.content.addWidget(debug_check)
layout.addLayout(self.content, 1, 1)
class MainWindow(QMainWindow):
def __init__(self):
super().__init__()
self.setFixedSize(800, 410)
self.setWindowTitle("PyLX16A Servo Testing Software")
self.port_selection_box = QComboBox(self)
self.port_selection_box.setFixedSize(200, 27)
self.port_selection_box.move(30, 65)
port_selection_box_label = QLabel("Select Port:", self)
port_selection_box_label.move(30, 35)
self.port_selection_box_refresh_button = QPushButton("Refresh", self)
self.port_selection_box_refresh_button.setFixedSize(60, 23)
self.port_selection_box_refresh_button.move(170, 38)
self.id_selection_box = QListWidget(self)
self.id_selection_box.setFixedSize(200, 200)
self.id_selection_box.move(30, 135)
id_selection_box_label = QLabel("Connected Servos:", self)
id_selection_box_label.setFixedWidth(200)
id_selection_box_label.move(30, 105)
self.id_selection_box_refresh_button = QPushButton("Refresh", self)
self.id_selection_box_refresh_button.setFixedSize(60, 23)
self.id_selection_box_refresh_button.move(170, 108)
self.set_id_line_edit = QLineEdit(self)
self.set_id_line_edit.setFixedSize(50, 27)
self.set_id_line_edit.move(80, 355)
set_id_line_edit_label = QLabel("Set ID:", self)
set_id_line_edit_label.move(30, 355)
set_id_line_edit_label.setFixedSize(50, 27)
self.set_id_button = QPushButton("Change ID!", self)
self.set_id_button.setFixedSize(85, 27)
self.set_id_button.move(145, 355)
self.position_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_slider.setMinimum(0)
self.position_slider.setMaximum(240)
self.position_slider.setFixedWidth(200)
self.position_slider.move(300, 55)
self.position_slider_readout = QLabel("0.00°", self)
self.position_slider_readout.setFixedWidth(50)
self.position_slider_readout.move(450, 30)
self.position_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_slider_label = QLabel("Angle (degrees):", self)
position_slider_label.move(300, 30)
self.position_offset_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_offset_slider.setMinimum(-30)
self.position_offset_slider.setMaximum(30)
self.position_offset_slider.setFixedWidth(200)
self.position_offset_slider.move(300, 125)
self.position_offset_slider_readout = QLabel("0.00°", self)
self.position_offset_slider_readout.setFixedWidth(50)
self.position_offset_slider_readout.move(450, 100)
self.position_offset_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_offset_slider_label = QLabel("Angle offset (degrees):", self)
position_offset_slider_label.setFixedWidth(200)
position_offset_slider_label.move(300, 100)
self.angle_lower_limit_textentry = QLineEdit(self)
self.angle_lower_limit_textentry.setFixedWidth(50)
self.angle_lower_limit_textentry.move(450, 175)
self.angle_lower_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_upper_limit_textentry = QLineEdit(self)
self.angle_upper_limit_textentry.setFixedWidth(50)
self.angle_upper_limit_textentry.move(450, 210)
self.angle_upper_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_lower_limit_textentry_label = QLabel(
"Lower Limit (degrees):", self)
self.angle_lower_limit_textentry_label.move(300, 175)
self.angle_lower_limit_textentry_label.setFixedWidth(150)
self.angle_upper_limit_textentry_label = QLabel(
"Upper Limit (degrees):", self)
self.angle_upper_limit_textentry_label.move(300, 210)
self.angle_upper_limit_textentry_label.setFixedWidth(150)
self.vin_lower_limit_textentry = QLineEdit(self)
self.vin_lower_limit_textentry.setFixedWidth(50)
self.vin_lower_limit_textentry.move(450, 265)
self.vin_lower_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_upper_limit_textentry = QLineEdit(self)
self.vin_upper_limit_textentry.setFixedWidth(50)
self.vin_upper_limit_textentry.move(450, 300)
self.vin_upper_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_lower_limit_textentry_label = QLabel(
"Voltage Lower Limit (mV):", self)
self.vin_lower_limit_textentry_label.move(300, 265)
self.vin_lower_limit_textentry_label.setFixedWidth(150)
self.vin_upper_limit_textentry_label = QLabel(
"Voltage Upper Limit (mV):", self)
self.vin_upper_limit_textentry_label.move(300, 300)
self.vin_upper_limit_textentry_label.setFixedWidth(150)
self.temp_limit_textentry = QLineEdit(self)
self.temp_limit_textentry.setFixedWidth(50)
self.temp_limit_textentry.move(450, 355)
self.temp_limit_textentry.setValidator(QIntValidator(50, 100, self))
self.temp_limit_textentry_label = QLabel("Temp Limit (°C):", self)
self.temp_limit_textentry_label.move(300, 355)
self.temp_limit_textentry_label.setFixedWidth(150)
self.servo_mode_radio_button = QRadioButton("Servo Mode", self)
self.servo_mode_radio_button.move(565, 50)
self.motor_mode_radio_button = QRadioButton("Motor Mode", self)
self.motor_mode_radio_button.move(565, 75)
self.motor_speed_slider = QSlider(Qt.Orientation.Horizontal, self)
self.motor_speed_slider.setMinimum(-1000)
self.motor_speed_slider.setMaximum(1000)
self.motor_speed_slider.setFixedWidth(200)
self.motor_speed_slider.move(565, 125)
motor_speed_slider_label = QLabel("Motor Speed:", self)
motor_speed_slider_label.move(565, 100)
self.torque_enabled_checkbox = QCheckBox("Torque Enabled", self)
self.torque_enabled_checkbox.move(565, 175)
self.torque_enabled_checkbox.setFixedWidth(200)
self.led_enabled_checkbox = QCheckBox("LED Enabled", self)
self.led_enabled_checkbox.move(565, 210)
self.led_enabled_checkbox.setFixedWidth(200)
self.led_over_temp_checkbox = QCheckBox("LED Over Temperature", self)
self.led_over_temp_checkbox.move(565, 258)
self.led_over_temp_checkbox.setFixedWidth(200)
self.led_over_voltage_checkbox = QCheckBox("LED Over Voltage", self)
self.led_over_voltage_checkbox.move(565, 283)
self.led_over_voltage_checkbox.setFixedWidth(200)
self.led_rotor_locked_checkbox = QCheckBox("LED Rotor Locked", self)
self.led_rotor_locked_checkbox.move(565, 308)
self.led_rotor_locked_checkbox.setFixedWidth(200)
self.physical_position_readout = QLabel("--°", self)
self.physical_position_readout.move(565, 367)
self.physical_position_readout.setFixedWidth(200)
self.physical_position_readout_label = QLabel("Position", self)
self.physical_position_readout_label.move(565, 347)
self.temperature_readout = QLabel("-- °C", self)
self.temperature_readout.move(635, 367)
self.temperature_readout.setFixedWidth(200)
self.temperature_readout_label = QLabel("Temperature", self)
self.temperature_readout_label.move(635, 347)
self.voltage_readout = QLabel("-- V", self)
self.voltage_readout.move(730, 367)
self.voltage_readout.setFixedWidth(200)
self.voltage_readout_label = QLabel("Voltage", self)
self.voltage_readout_label.move(730, 347)
self.readout_update_timer = QTimer(self)
self.readout_update_timer.timeout.connect(self.update_readouts)
self.readout_update_timer.start(250)
self.active_servo: LX16A = None
self.position_slider.setValue(0)
self.position_offset_slider.setValue(0)
self.motor_speed_slider.setValue(0)
self.id_selection_box_refresh_button.setEnabled(False)
self.disable_widgets()
self.port_selection_box.currentTextChanged.connect(
self.port_selection_box_changed)
self.port_selection_box_refresh_button.clicked.connect(
self.port_refresh_button_clicked)
self.id_selection_box.currentTextChanged.connect(
self.id_selection_box_changed)
self.id_selection_box_refresh_button.clicked.connect(
self.id_refresh_button_clicked)
self.set_id_button.pressed.connect(self.id_updated)
self.position_slider.sliderMoved.connect(self.position_slider_updated)
self.position_offset_slider.sliderMoved.connect(
self.position_offset_slider_updated)
self.angle_lower_limit_textentry.textChanged.connect(
self.angle_lower_limit_updated)
self.angle_upper_limit_textentry.textChanged.connect(
self.angle_upper_limit_updated)
self.vin_lower_limit_textentry.textChanged.connect(
self.vin_lower_limit_updated)
self.vin_upper_limit_textentry.textChanged.connect(
self.vin_upper_limit_updated)
self.temp_limit_textentry.textChanged.connect(self.temp_limit_updated)
self.servo_mode_radio_button.toggled.connect(
self.servo_mode_radio_button_toggled)
self.motor_mode_radio_button.toggled.connect(
self.motor_mode_radio_button_toggled)
self.motor_speed_slider.valueChanged.connect(
self.motor_speed_slider_updated)
self.torque_enabled_checkbox.stateChanged.connect(
self.torque_enabled_checkbox_toggled)
self.led_enabled_checkbox.stateChanged.connect(
self.led_enabled_checkbox_toggled)
self.led_over_temp_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_over_voltage_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_rotor_locked_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.scan_for_ports()
def disable_widgets(self):
self.set_id_line_edit.setEnabled(False)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
self.angle_lower_limit_textentry.setEnabled(False)
self.angle_upper_limit_textentry.setEnabled(False)
self.vin_lower_limit_textentry.setEnabled(False)
self.vin_upper_limit_textentry.setEnabled(False)
self.temp_limit_textentry.setEnabled(False)
self.servo_mode_radio_button.setEnabled(False)
self.motor_mode_radio_button.setEnabled(False)
self.motor_speed_slider.setEnabled(False)
self.torque_enabled_checkbox.setEnabled(False)
self.led_enabled_checkbox.setEnabled(False)
self.led_over_temp_checkbox.setEnabled(False)
self.led_over_voltage_checkbox.setEnabled(False)
self.led_rotor_locked_checkbox.setEnabled(False)
def enable_widgets(self):
self.set_id_line_edit.setEnabled(True)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
self.angle_lower_limit_textentry.setEnabled(True)
self.angle_upper_limit_textentry.setEnabled(True)
self.vin_lower_limit_textentry.setEnabled(True)
self.vin_upper_limit_textentry.setEnabled(True)
self.temp_limit_textentry.setEnabled(True)
self.servo_mode_radio_button.setEnabled(True)
self.motor_mode_radio_button.setEnabled(True)
self.motor_speed_slider.setEnabled(True)
self.torque_enabled_checkbox.setEnabled(True)
self.led_enabled_checkbox.setEnabled(True)
self.led_over_temp_checkbox.setEnabled(True)
self.led_over_voltage_checkbox.setEnabled(True)
self.led_rotor_locked_checkbox.setEnabled(True)
def clear_servo(self):
self.active_servo = None
@catch_disconnection
def set_servo_id(self, id_):
if not id_.isdigit():
return
self.active_servo = LX16A(int(id_))
self.active_servo.enable_torque()
self.position_slider.setValue(
int(self.active_servo.get_physical_angle()))
self.position_slider_readout.setText(
f"{int(self.active_servo.get_physical_angle() * 25 / 6) * 6 / 25:0.2f}°"
)
self.position_offset_slider.setValue(
int(self.active_servo.get_angle_offset()))
self.position_offset_slider_readout.setText(
f"{int(self.active_servo.get_angle_offset() * 25 / 6) * 6 / 25:0.2f}°"
)
self.angle_lower_limit_textentry.setText(
str(int(self.active_servo.get_angle_limits()[0])))
self.angle_upper_limit_textentry.setText(
str(int(self.active_servo.get_angle_limits()[1])))
self.vin_lower_limit_textentry.setText(
str(self.active_servo.get_vin_limits()[0]))
self.vin_upper_limit_textentry.setText(
str(self.active_servo.get_vin_limits()[1]))
self.temp_limit_textentry.setText(
str(self.active_servo.get_temp_limit()))
self.motor_speed_slider.setValue(self.active_servo.get_motor_speed(
) if self.active_servo.is_motor_mode() else 0)
if self.active_servo.is_motor_mode():
self.motor_mode_radio_button.setChecked(True)
else:
self.servo_mode_radio_button.setChecked(True)
self.motor_speed_slider.setEnabled(self.active_servo.is_motor_mode())
self.torque_enabled_checkbox.setChecked(
self.active_servo.is_torque_enabled())
self.led_enabled_checkbox.setChecked(
self.active_servo.is_led_power_on())
self.led_over_temp_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[0])
self.led_over_voltage_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[1])
self.led_rotor_locked_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[2])
@catch_disconnection
def scan_for_servos(self, port):
self.setCursor(Qt.CursorShape.WaitCursor)
LX16A.initialize(port)
self.id_selection_box.clear()
for i in range(0, 254):
try:
servo = LX16A(i)
self.id_selection_box.addItem(str(i))
except:
pass
self.setCursor(Qt.CursorShape.ArrowCursor)
@catch_disconnection
def scan_for_ports(self):
ports = serial.tools.list_ports.comports()
for port in ports:
self.port_selection_box.addItem(port.device)
@catch_disconnection
def update_readouts(self):
if self.active_servo is None:
return
try:
self.physical_position_readout.setText(
f"{self.active_servo.get_physical_angle():0.2f}°")
self.temperature_readout.setText(
f"{self.active_servo.get_temp()} °C")
self.voltage_readout.setText(
f"{self.active_servo.get_vin() / 1000} V")
except (ServoTimeoutError, ServoChecksumError):
pass
@catch_disconnection
def id_updated(self):
new_id = self.set_id_line_edit.text()
try:
servo = LX16A(int(new_id))
except ServoTimeoutError:
# Meaning this ID is not taken
self.active_servo.set_id(int(new_id))
self.id_selection_box.item(
self.id_selection_box.currentRow()).setText(new_id)
return
QMessageBox.warning(None, "Error", "ID already taken")
@catch_disconnection
def position_slider_updated(self, pos):
if float(self.voltage_readout.text()[:-2]) < 5:
QMessageBox.warning(
None,
"Error",
"The voltage going through the servo is too low. Is your battery powered on?",
)
return
self.active_servo.move(pos)
self.position_slider_readout.setText(
f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")
@catch_disconnection
def position_offset_slider_updated(self, pos):
self.active_servo.set_angle_offset(pos)
self.position_offset_slider_readout.setText(
f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")
@catch_disconnection
def angle_lower_limit_updated(self, text):
if (QIntValidator(0, 240, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) > int(self.angle_upper_limit_textentry.text()):
return
self.active_servo.set_angle_limits(
int(text), int(self.angle_upper_limit_textentry.text()))
@catch_disconnection
def angle_upper_limit_updated(self, text):
if (QIntValidator(0, 240, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) < int(self.angle_lower_limit_textentry.text()):
return
self.active_servo.set_angle_limits(
int(self.angle_lower_limit_textentry.text()), int(text))
@catch_disconnection
def vin_lower_limit_updated(self, text):
if (QIntValidator(4500, 12000, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) > int(self.vin_upper_limit_textentry.text()):
return
self.active_servo.set_vin_limits(
int(text), int(self.vin_upper_limit_textentry.text()))
@catch_disconnection
def vin_upper_limit_updated(self, text):
if (QIntValidator(4500, 12000, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) < int(self.vin_lower_limit_textentry.text()):
return
self.active_servo.set_vin_limits(
int(self.vin_lower_limit_textentry.text()), int(text))
@catch_disconnection
def temp_limit_updated(self, text):
if (QIntValidator(50, 100, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
self.active_servo.set_temp_limit(int(text))
@catch_disconnection
def servo_mode_radio_button_toggled(self, checked):
if checked:
self.active_servo.servo_mode()
self.motor_speed_slider.setEnabled(False)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
else:
self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
self.motor_speed_slider.setEnabled(True)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
@catch_disconnection
def motor_mode_radio_button_toggled(self, checked):
if checked:
self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
self.motor_speed_slider.setEnabled(True)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
else:
self.active_servo.servo_mode()
self.motor_speed_slider.setEnabled(False)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
@catch_disconnection
def motor_speed_slider_updated(self, pos):
self.active_servo.motor_mode(pos)
@catch_disconnection
def torque_enabled_checkbox_toggled(self, checked):
if checked:
self.active_servo.enable_torque()
else:
self.active_servo.disable_torque()
self.position_slider.setEnabled(checked)
self.position_offset_slider.setEnabled(checked)
self.servo_mode_radio_button.setEnabled(checked)
self.motor_mode_radio_button.setEnabled(checked)
self.motor_speed_slider.setEnabled(checked)
@catch_disconnection
def led_enabled_checkbox_toggled(self, checked):
if checked:
self.active_servo.led_power_on()
else:
self.active_servo.led_power_off()
@catch_disconnection
def led_error_triggers_checkbox_toggled(self):
self.active_servo.set_led_error_triggers(
self.led_over_voltage_checkbox.isChecked(),
self.led_over_temp_checkbox.isChecked(),
self.led_rotor_locked_checkbox.isChecked(),
)
@catch_disconnection
def port_refresh_button_clicked(self, value):
self.id_selection_box_refresh_button.setEnabled(False)
self.disable_widgets()
self.port_selection_box.clear()
self.id_selection_box.clear()
self.scan_for_ports()
@catch_disconnection
def id_refresh_button_clicked(self, value):
self.disable_widgets()
self.id_selection_box.clear()
self.scan_for_servos(self.port_selection_box.currentText())
@catch_disconnection
def port_selection_box_changed(self, text):
if text == "":
return
self.id_selection_box_refresh_button.setEnabled(True)
self.disable_widgets()
self.id_selection_box.clear()
self.clear_servo()
self.scan_for_servos(text)
@catch_disconnection
def id_selection_box_changed(self, text):
if text == "":
return
self.enable_widgets()
self.set_servo_id(text)