def __init__(self):
QtGui.QWidget.__init__(self)
subpanel.__init__(self)
self.ui = Ui_vehicleStatus()
self.ui.setupUi(self)
self.ui.horizontalScrollBar.setValue(0)
self.ui.horizontalScrollBar.setMinimum(-180)
self.ui.horizontalScrollBar.setMaximum(180)
self.ui.horizontalScrollBar.valueChanged.connect(self.updatePitchRollTest)
self.ui.verticalScrollBar.setValue(0)
self.ui.verticalScrollBar.setMinimum(-90)
self.ui.verticalScrollBar.setMaximum(90)
self.ui.verticalScrollBar.valueChanged.connect(self.updatePitchRollTest)
self.ui.horizontalScrollBarCompass.setValue(0)
self.ui.horizontalScrollBarCompass.setMinimum(-180)
self.ui.horizontalScrollBarCompass.setMaximum(180)
self.ui.horizontalScrollBarCompass.valueChanged.connect(self.updateHeadingTest)
horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
self.horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
p = QtCore.QPointF(100.0, 390.0)
self.horizonDialItem.setPos(p)
horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
p = QtCore.QPointF(100.0, 390.0)
self.horizonCompassItem.setPos(p)
horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
self.horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
p = QtCore.QPointF(100.0, 390.0)
self.horizonCompassBackGroundItem.setPos(p)
self.scene = QtGui.QGraphicsScene()
self.scene.addItem(self.horizonItem)
self.scene.addItem(self.horizonDialItem)
self.scene.addItem(self.horizonCompassBackGroundItem)
self.scene.addItem(self.horizonCompassItem)
#self.ui.artificialHorizon.setFocusPolicy(QtCore.Qt.NoFocus)
self.ui.artificialHorizon.setScene(self.scene)
class vehicleStatus(QtGui.QWidget, subpanel):
def __init__(self):
QtGui.QWidget.__init__(self)
subpanel.__init__(self)
self.ui = Ui_vehicleStatus()
self.ui.setupUi(self)
self.ui.horizontalScrollBar.setValue(0)
self.ui.horizontalScrollBar.setMinimum(-180)
self.ui.horizontalScrollBar.setMaximum(180)
self.ui.horizontalScrollBar.valueChanged.connect(self.updatePitchRollTest)
self.ui.verticalScrollBar.setValue(0)
self.ui.verticalScrollBar.setMinimum(-90)
self.ui.verticalScrollBar.setMaximum(90)
self.ui.verticalScrollBar.valueChanged.connect(self.updatePitchRollTest)
self.ui.horizontalScrollBarCompass.setValue(0)
self.ui.horizontalScrollBarCompass.setMinimum(-180)
self.ui.horizontalScrollBarCompass.setMaximum(180)
self.ui.horizontalScrollBarCompass.valueChanged.connect(self.updateHeadingTest)
horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
self.horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
p = QtCore.QPointF(100.0, 390.0)
self.horizonDialItem.setPos(p)
horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
p = QtCore.QPointF(100.0, 390.0)
self.horizonCompassItem.setPos(p)
horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
self.horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
p = QtCore.QPointF(100.0, 390.0)
self.horizonCompassBackGroundItem.setPos(p)
self.scene = QtGui.QGraphicsScene()
self.scene.addItem(self.horizonItem)
self.scene.addItem(self.horizonDialItem)
self.scene.addItem(self.horizonCompassBackGroundItem)
self.scene.addItem(self.horizonCompassItem)
#self.ui.artificialHorizon.setFocusPolicy(QtCore.Qt.NoFocus)
self.ui.artificialHorizon.setScene(self.scene)
def updatePitchRollTest(self):
rollAngle = self.ui.horizontalScrollBar.value()
pitchAngle = -self.ui.verticalScrollBar.value()
self.updatePitchRoll(rollAngle, pitchAngle)
def updateHeadingTest(self):
heading = self.ui.horizontalScrollBarCompass.value()
self.updateHeading(heading)
def updatePitchRoll(self, rollAngle, pitchAngle):
pitchPosition = self.scale(-pitchAngle, (-135.0, 135.0), (540.0, -540.0))
rollCenter = self.scale(-pitchAngle, (-135.0, 135.0), (0, 1080.0))
self.horizonItem.setPos(0, pitchPosition)
self.horizonItem.setTransformOriginPoint(250.0, rollCenter)
self.horizonItem.setRotation(-rollAngle)
def updateHeading(self, heading):
self.horizonCompassItem.setTransformOriginPoint(150.0, 150.0)
self.horizonCompassItem.setRotation(-heading)
def scale(self, val, src, dst):
'''Scale the given value from the scale of src to the scale of dst.'''
return ((val - src[0]) / (src[1]-src[0])) * (dst[1]-dst[0]) + dst[0]
def readContinuousData(self):
'''This method continually reads telemetry from the AeroQuad'''
if self.comm.isConnected() == True:
if self.comm.dataAvailable():
rawData = self.comm.read()
data = rawData.split(",")
roll = math.degrees(float(data[1]))
pitch = math.degrees(float(data[2]))
heading = math.degrees(float(data[3]))
#print(roll, pitch, heading)
#print(data[1], data[2], data[3])
self.updatePitchRoll(roll, pitch)
self.updateHeading(heading)
def __init__(self):
QtGui.QWidget.__init__(self)
subpanel.__init__(self)
self.ui = Ui_vehicleStatus()
self.ui.setupUi(self)
self.channelCount = 0
# Setup artificial horizon
horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
horizonDialItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
horizonCompassBackGroundItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
self.horizonCompassItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonScene = QtGui.QGraphicsScene()
horizonScene.addItem(self.horizonItem)
horizonScene.addItem(horizonDialItem)
horizonScene.addItem(horizonCompassBackGroundItem)
horizonScene.addItem(self.horizonCompassItem)
# Setup text info in artificial horizon
rollLabel = horizonScene.addText("Roll:")
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizonScene.addText("0.0")
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizonScene.addText("Pitch:")
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizonScene.addText("0.0")
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizonScene.addText("Heading:")
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizonScene.addText("0.0")
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizonScene.addText("Altitude:")
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizonScene.addText("000.0")
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizonScene.addText("Alt Hold:")
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizonScene.addText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizonScene.addText("Motors:")
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizonScene.addText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizonScene.addText("Batt:")
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizonScene.addText("0.000")
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizonScene.addText("Mode:")
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizonScene.addText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizonScene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
class vehicleStatus(QtGui.QWidget, subpanel):
def __init__(self):
QtGui.QWidget.__init__(self)
subpanel.__init__(self)
self.ui = Ui_vehicleStatus()
self.ui.setupUi(self)
self.channelCount = 0
# Setup artificial horizon
horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
horizonDialItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
horizonCompassBackGroundItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
self.horizonCompassItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonScene = QtGui.QGraphicsScene()
horizonScene.addItem(self.horizonItem)
horizonScene.addItem(horizonDialItem)
horizonScene.addItem(horizonCompassBackGroundItem)
horizonScene.addItem(self.horizonCompassItem)
# Setup text info in artificial horizon
rollLabel = horizonScene.addText("Roll:")
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizonScene.addText("0.0")
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizonScene.addText("Pitch:")
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizonScene.addText("0.0")
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizonScene.addText("Heading:")
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizonScene.addText("0.0")
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizonScene.addText("Altitude:")
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizonScene.addText("000.0")
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizonScene.addText("Alt Hold:")
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizonScene.addText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizonScene.addText("Motors:")
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizonScene.addText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizonScene.addText("Batt:")
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizonScene.addText("0.000")
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizonScene.addText("Mode:")
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizonScene.addText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizonScene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
def start(self, xmlSubPanel, boardConfiguration):
'''This method starts a timer used for any long running loops in a subpanel'''
self.xmlSubPanel = xmlSubPanel
self.boardConfiguration = boardConfiguration
if self.comm.isConnected() == True:
telemetry = self.xml.find(xmlSubPanel + "/Telemetry").text
if telemetry != None:
self.comm.write(telemetry)
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.readContinuousData)
self.timer.start(10)
self.receiverChannels = 10
for config in self.boardConfiguration:
if "Receiver Channels" in config:
receiverConfig = config.split(": ")
self.receiverChannels = int(receiverConfig[1])
break
# Do we need these?
self.altitudeDetect = "Barometer: Detected" in self.boardConfiguration
self.batteryMonitorDetect = "Battery Monitor: Enabled" in self.boardConfiguration
# Setup plots to display rest of transmitter channels
transmitterScene = QtGui.QGraphicsScene()
self.channelCount = self.receiverChannels - 4
self.barGaugeWidth = 25.0
self.xmitChannel = []
self.xmitLabel = []
self.xmitLabels = ["Mode", "Aux1", "Aux2", "Aux3", "Aux4", "Aux5"]
self.labelHeight = 25
for channel in range(self.channelCount):
barGauge = QtGui.QGraphicsRectItem()
barGauge.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
self.xmitChannel.append(barGauge)
transmitterScene.addItem(self.xmitChannel[channel])
label = transmitterScene.addText(self.xmitLabels[channel])
label.setDefaultTextColor(QtCore.Qt.white)
label.setPos(self.xmitChannelLocation(channel), self.ui.transmitterOutput.height())
self.xmitLabel.append(label)
self.ui.transmitterOutput.setScene(transmitterScene)
for channel in range(self.channelCount):
self.updateBarGauge(channel, 1000)
self.xmitLabel[channel].setPos(self.xmitChannelLocation(channel) - 3, self.ui.transmitterOutput.height() - self.labelHeight)
# Center transmitter output window
self.ui.transmitterOutput.centerOn(0.0, 0.0)
def updateBarGauge(self, channel, value):
#output = self.scale(value, (1000.0, 2000.0), (25.0, self.windowHeight - 25.0)) - self.labelHeight
output = self.scale(value, (1000.0, 2000.0), (25.0, self.windowHeight - 10)) - self.labelHeight
self.xmitChannel[channel].setRect(self.xmitChannelLocation(channel), self.windowHeight-(output + self.labelHeight), self.barGaugeWidth, output)
def xmitChannelLocation(self, channel):
barPosition = (self.ui.transmitterOutput.width() - (self.barGaugeWidth * self.channelCount)) / (self.channelCount + 1)
location = ((channel + 1) * barPosition) + (channel * self.barGaugeWidth)
return location
def resizeEvent(self, event):
#size = event.size()
self.windowHeight = self.ui.transmitterOutput.height()
self.windowWidth = self.ui.transmitterOutput.width()
self.ui.transmitterOutput.setSceneRect(0, 0, self.windowWidth*2, self.windowHeight*2)
self.ui.transmitterOutput.centerOn(0,0)
for channel in range(self.channelCount):
self.updateBarGauge(channel, 1000)
self.xmitLabel[channel].setPos(self.xmitChannelLocation(channel) - 3, self.ui.transmitterOutput.height() - self.labelHeight)
def updatePitchRoll(self, rollAngle, pitchAngle):
pitchPosition = self.scale(-pitchAngle, (-135.0, 135.0), (540.0, -540.0))
rollCenter = self.scale(-pitchAngle, (-135.0, 135.0), (0, 1080.0))
self.horizonItem.setPos(0, pitchPosition)
self.horizonItem.setTransformOriginPoint(250.0, rollCenter)
self.horizonItem.setRotation(-rollAngle)
def updateLeftStick(self, throttle, yaw):
throttlePosition = self.scale(throttle, (1000.0, 2000.0), (58.0, -57.0))
yawPosition = self.scale(yaw, (1000.0, 2000.0), (-57.0, 55.0))
self.leftStick.setPos(yawPosition, throttlePosition)
def updateRightStick(self, roll, pitch):
rollPosition = self.scale(roll, (1000.0, 2000.0), (-57.0, 55.0))
pitchPosition = self.scale(pitch, (1000.0, 2000.0), (58.0, -57.0))
self.rightStick.setPos(rollPosition, pitchPosition)
def updateHeading(self, heading):
self.horizonCompassItem.setTransformOriginPoint(150.0, 150.0)
self.horizonCompassItem.setRotation(-heading)
def scale(self, val, src, dst):
'''Scale the given value from the scale of src to the scale of dst.'''
return ((val - src[0]) / (src[1]-src[0])) * (dst[1]-dst[0]) + dst[0]
def readContinuousData(self):
'''This method continually reads telemetry from the AeroQuad'''
if self.comm.isConnected() == True:
if self.comm.dataAvailable():
rawData = self.comm.read()
data = rawData.split(",")
motorArmed = int(data[0])
if motorArmed:
self.motorArm.setPlainText("Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.green)
else:
self.motorArm.setPlainText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
roll = math.degrees(float(data[1]))
self.roll.setPlainText("{:.1f}".format(roll))
pitch = math.degrees(float(data[2]))
self.pitch.setPlainText("{:.1f}".format(pitch))
heading = math.degrees(float(data[3]))
self.heading.setPlainText("{:.1f}".format(heading).zfill(5))
self.updatePitchRoll(roll, pitch)
self.updateHeading(heading)
altitude = float(data[4])
self.altitude.setPlainText("{:.1f}".format(altitude).zfill(5))
altitudeHold = int(data[5])
if altitudeHold:
self.altitudeHold.setPlainText("On")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.green)
else:
self.altitudeHold.setPlainText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.updateRightStick(int(data[6]), int(data[7]))
self.updateLeftStick(int(data[9]), int(data[8]))
for receiverIndex in range(self.channelCount):
self.updateBarGauge(receiverIndex, int(data[receiverIndex+10]))
motorPower = []
for motorIndex in range(8):
motorPower.append(int(data[motorIndex+14]))
batteryPower = float(data[22])
self.batteryPower.setPlainText("{:.3f}".format(batteryPower))
flightMode = int(data[23])
if flightMode:
self.flightMode.setPlainText("Stable")
self.flightMode.setDefaultTextColor(QtCore.Qt.green)
else:
self.flightMode.setPlainText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
def __init__(self):
QtGui.QWidget.__init__(self)
subpanel.__init__(self)
self.ui = Ui_vehicleStatus()
self.ui.setupUi(self)
self.channelCount = 0
self.rawData = ""
# Setup artificial horizon
horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
horizonDialItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
horizonCompassBackGroundItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
self.horizonCompassItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonScene = QtGui.QGraphicsScene()
horizonScene.addItem(self.horizonItem)
horizonScene.addItem(horizonDialItem)
horizonScene.addItem(horizonCompassBackGroundItem)
horizonScene.addItem(self.horizonCompassItem)
# Setup text info in artificial horizon
rollLabel = horizonScene.addText("Roll:")
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizonScene.addText("0.0")
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizonScene.addText("Pitch:")
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizonScene.addText("0.0")
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizonScene.addText("Heading:")
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizonScene.addText("0.0")
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizonScene.addText("Altitude:")
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizonScene.addText("000.0")
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizonScene.addText("Alt Hold:")
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizonScene.addText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizonScene.addText("Motors:")
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizonScene.addText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizonScene.addText("Batt:")
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizonScene.addText("0.000")
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizonScene.addText("Mode:")
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizonScene.addText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizonScene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
class vehicleStatus(QtGui.QWidget, subpanel):
def __init__(self):
QtGui.QWidget.__init__(self)
subpanel.__init__(self)
self.ui = Ui_vehicleStatus()
self.ui.setupUi(self)
self.channelCount = 0
self.rawData = ""
# Setup artificial horizon
horizon = QtGui.QPixmap("./resources/artificialHorizonBackGround.svg")
self.horizonItem = QtGui.QGraphicsPixmapItem(horizon)
horizonDial = QtGui.QPixmap("./resources/artificialHorizonDial.svg")
horizonDialItem = QtGui.QGraphicsPixmapItem(horizonDial)
horizonDialItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompassBackground = QtGui.QPixmap("./resources/artificialHorizonCompassBackGround.svg")
horizonCompassBackGroundItem = QtGui.QGraphicsPixmapItem(horizonCompassBackground)
horizonCompassBackGroundItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonCompass = QtGui.QPixmap("./resources/artificialHorizonCompass.svg")
self.horizonCompassItem = QtGui.QGraphicsPixmapItem(horizonCompass)
self.horizonCompassItem.setPos(QtCore.QPointF(100.0, 390.0))
horizonScene = QtGui.QGraphicsScene()
horizonScene.addItem(self.horizonItem)
horizonScene.addItem(horizonDialItem)
horizonScene.addItem(horizonCompassBackGroundItem)
horizonScene.addItem(self.horizonCompassItem)
# Setup text info in artificial horizon
rollLabel = horizonScene.addText("Roll:")
rollLabel.setDefaultTextColor(QtCore.Qt.white)
rollLabel.setPos(102, 420)
self.roll = horizonScene.addText("0.0")
self.roll.setDefaultTextColor(QtCore.Qt.white)
self.roll.setPos(125, 420)
pitchLabel = horizonScene.addText("Pitch:")
pitchLabel.setDefaultTextColor(QtCore.Qt.white)
pitchLabel.setPos(102, 405)
self.pitch = horizonScene.addText("0.0")
self.pitch.setDefaultTextColor(QtCore.Qt.white)
self.pitch.setPos(132, 405)
headingLabel = horizonScene.addText("Heading:")
headingLabel.setDefaultTextColor(QtCore.Qt.white)
headingLabel.setPos(102, 390)
self.heading = horizonScene.addText("0.0")
self.heading.setDefaultTextColor(QtCore.Qt.white)
self.heading.setPos(147, 390)
altitudeLabel = horizonScene.addText("Altitude:")
altitudeLabel.setDefaultTextColor(QtCore.Qt.white)
altitudeLabel.setPos(320, 390)
self.altitude = horizonScene.addText("000.0")
self.altitude.setDefaultTextColor(QtCore.Qt.white)
self.altitude.setPos(363, 390)
altHoldLabel = horizonScene.addText("Alt Hold:")
altHoldLabel.setDefaultTextColor(QtCore.Qt.white)
altHoldLabel.setPos(331, 405)
self.altitudeHold = horizonScene.addText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.altitudeHold.setPos(374, 405)
armLabel = horizonScene.addText("Motors:")
armLabel.setDefaultTextColor(QtCore.Qt.white)
armLabel.setPos(102, 653)
self.motorArm = horizonScene.addText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
self.motorArm.setPos(102, 668)
battLabel = horizonScene.addText("Batt:")
battLabel.setDefaultTextColor(QtCore.Qt.white)
battLabel.setPos(330, 653)
self.batteryPower = horizonScene.addText("0.000")
self.batteryPower.setDefaultTextColor(QtCore.Qt.white)
self.batteryPower.setPos(357, 653)
modeLabel = horizonScene.addText("Mode:")
modeLabel.setDefaultTextColor(QtCore.Qt.white)
modeLabel.setPos(330, 668)
self.flightMode = horizonScene.addText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)
self.flightMode.setPos(362, 668)
self.ui.artificialHorizon.setScene(horizonScene)
# Setup left transmitter stick
leftStickScene = QtGui.QGraphicsScene()
leftStickBackground = QtGui.QPixmap("./resources/TxDial.png")
leftStickItem = QtGui.QGraphicsPixmapItem(leftStickBackground)
leftStickScene.addItem(leftStickItem)
self.leftStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.leftStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.leftStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
leftStickScene.addItem(self.leftStick)
self.ui.leftTransmitter.setScene(leftStickScene)
# Setup right transmitter stick
rightStickScene = QtGui.QGraphicsScene()
rightStickBackground = QtGui.QPixmap("./resources/TxDial.png")
rightStickItem = QtGui.QGraphicsPixmapItem(rightStickBackground)
rightStickScene.addItem(rightStickItem)
self.rightStick = QtGui.QGraphicsEllipseItem(QtCore.QRectF(75, 75, 30, 30))
self.rightStick.setPen(QtGui.QPen(QtGui.QBrush(QtCore.Qt.black, QtCore.Qt.SolidPattern), 2))
self.rightStick.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
rightStickScene.addItem(self.rightStick)
self.ui.rightTransmitter.setScene(rightStickScene)
def start(self, xmlSubPanel, boardConfiguration):
'''This method starts a timer used for any long running loops in a subpanel'''
self.xmlSubPanel = xmlSubPanel
self.boardConfiguration = boardConfiguration
if self.comm.isConnected():
telemetry = self.xml.find(xmlSubPanel + "/Telemetry").text
if telemetry != None:
self.comm.write(telemetry)
self.startCommThread()
# This timer keeps telemetry queue empty
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.readContinuousData)
self.timer.start(50)
# Wait a little to give time for self.timer to start
time.sleep(0.200)
# This timer updates front screen a eye pleasing rate
self.updateStatus = QtCore.QTimer()
self.updateStatus.timeout.connect(self.updateVehicleStatus)
self.updateStatus.start(100)
try:
self.receiverChannels = int(self.boardConfiguration["Receiver Channels"])
except:
self.receiverChannels = 10
# Do we need these?
#self.altitudeDetect = self.boardConfiguration["Barometer"] == "Detected"
#self.batteryMonitorDetect = self.boardConfiguration["Battery Monitor"] == "Enabled"
# Setup plots to display rest of transmitter channels
transmitterScene = QtGui.QGraphicsScene()
self.channelCount = self.receiverChannels - 4
self.barGaugeWidth = 25.0
self.xmitChannel = []
self.xmitLabel = []
self.xmitLabels = ["Mode", "Aux1", "Aux2", "Aux3", "Aux4", "Aux5"]
self.labelHeight = 25
for channel in range(self.channelCount):
barGauge = QtGui.QGraphicsRectItem()
barGauge.setBrush(QtGui.QBrush(QtCore.Qt.blue, QtCore.Qt.SolidPattern))
self.xmitChannel.append(barGauge)
transmitterScene.addItem(self.xmitChannel[channel])
label = transmitterScene.addText(self.xmitLabels[channel])
label.setDefaultTextColor(QtCore.Qt.white)
label.setPos(self.xmitChannelLocation(channel), self.ui.transmitterOutput.height())
self.xmitLabel.append(label)
self.ui.transmitterOutput.setScene(transmitterScene)
for channel in range(self.channelCount):
self.updateBarGauge(channel, 1000)
self.xmitLabel[channel].setPos(self.xmitChannelLocation(channel) - 3, self.ui.transmitterOutput.height() - self.labelHeight)
# Center transmitter output window
self.ui.transmitterOutput.centerOn(0.0, 0.0)
# Setup background for motor view
motorScene = QtGui.QGraphicsScene()
try:
vehicle = self.boardConfiguration["Flight Config"]
except:
vehicle = "Quad +"
vehicleFile = self.xml.find(xmlSubPanel + "/VehicleGraphics/Vehicle/[@Name='" + vehicle + "']")
vehicleImage = QtGui.QPixmap(vehicleFile.text)
vehicleHeight = int(vehicleFile.attrib["Height"])
vehicleWidth = int(vehicleFile.attrib["Width"])
scaledImage = vehicleImage.scaled(vehicleWidth, vehicleHeight, QtCore.Qt.KeepAspectRatio, QtCore.Qt.SmoothTransformation)
motorScene.addPixmap(scaledImage)
# Setup motor view
try:
self.motorCount = int(self.boardConfiguration["Motors"])
except:
self.motorCount = 4
self.motor = []
motorLocation = ast.literal_eval(vehicleFile.attrib["Motors"]) # read in motor locations from XML
for motorIndex in range(self.motorCount):
self.motor.append(BarGauge("Motor " + str(motorIndex+1)))
self.motor[motorIndex].setPos(motorLocation[motorIndex][0], motorLocation[motorIndex][1])
motorScene.addItem(self.motor[motorIndex])
self.ui.motorView.setScene(motorScene)
def updateBarGauge(self, channel, value):
#output = self.scale(value, (1000.0, 2000.0), (25.0, self.windowHeight - 25.0)) - self.labelHeight
output = self.scale(value, (1000.0, 2000.0), (25.0, self.windowHeight - 10)) - self.labelHeight
self.xmitChannel[channel].setRect(self.xmitChannelLocation(channel), self.windowHeight-(output + self.labelHeight), self.barGaugeWidth, output)
def xmitChannelLocation(self, channel):
barPosition = (self.ui.transmitterOutput.width() - (self.barGaugeWidth * self.channelCount)) / (self.channelCount + 1)
location = ((channel + 1) * barPosition) + (channel * self.barGaugeWidth)
return location
def resizeEvent(self, event):
#size = event.size()
self.windowHeight = self.ui.transmitterOutput.height()
self.windowWidth = self.ui.transmitterOutput.width()
self.ui.transmitterOutput.setSceneRect(0, 0, self.windowWidth*2, self.windowHeight*2)
self.ui.transmitterOutput.centerOn(0,0)
for channel in range(self.channelCount):
self.updateBarGauge(channel, 1000)
self.xmitLabel[channel].setPos(self.xmitChannelLocation(channel) - 3, self.ui.transmitterOutput.height() - self.labelHeight)
def updatePitchRoll(self, rollAngle, pitchAngle):
pitchPosition = self.scale(-pitchAngle, (-135.0, 135.0), (540.0, -540.0))
rollCenter = self.scale(-pitchAngle, (-135.0, 135.0), (0, 1080.0))
self.horizonItem.setPos(0, pitchPosition)
self.horizonItem.setTransformOriginPoint(250.0, rollCenter)
self.horizonItem.setRotation(-rollAngle)
def updateLeftStick(self, throttle, yaw):
throttlePosition = self.scale(throttle, (1000.0, 2000.0), (58.0, -57.0))
yawPosition = self.scale(yaw, (1000.0, 2000.0), (-57.0, 55.0))
self.leftStick.setPos(yawPosition, throttlePosition)
def updateRightStick(self, roll, pitch):
rollPosition = self.scale(roll, (1000.0, 2000.0), (-57.0, 55.0))
pitchPosition = self.scale(pitch, (1000.0, 2000.0), (58.0, -57.0))
self.rightStick.setPos(rollPosition, pitchPosition)
def updateHeading(self, heading):
self.horizonCompassItem.setTransformOriginPoint(150.0, 150.0)
self.horizonCompassItem.setRotation(-heading)
def scale(self, val, src, dst):
'''Scale the given value from the scale of src to the scale of dst.'''
return ((val - src[0]) / (src[1]-src[0])) * (dst[1]-dst[0]) + dst[0]
def readContinuousData(self):
'''This method continually emptys the telemetry queue from the AeroQuad'''
if self.comm.isConnected() and not self.commData.empty():
self.rawData = self.commData.get()
def updateVehicleStatus(self):
'''This method continually reads the last telemetry value from the AeroQuad'''
if self.comm.isConnected():
data = self.rawData.split(",")
motorArmed = int(data[0])
if motorArmed:
self.motorArm.setPlainText("Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.green)
else:
self.motorArm.setPlainText("Not Armed")
self.motorArm.setDefaultTextColor(QtCore.Qt.red)
roll = math.degrees(float(data[1]))
self.roll.setPlainText("{:.1f}".format(roll))
pitch = math.degrees(float(data[2]))
self.pitch.setPlainText("{:.1f}".format(pitch))
heading = math.degrees(float(data[3]))
self.heading.setPlainText("{:.1f}".format(heading).zfill(5))
self.updatePitchRoll(roll, pitch)
self.updateHeading(heading)
altitude = float(data[4])
self.altitude.setPlainText("{:.1f}".format(altitude).zfill(5))
altitudeHold = int(data[5])
if altitudeHold:
self.altitudeHold.setPlainText("On")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.green)
else:
self.altitudeHold.setPlainText("Off")
self.altitudeHold.setDefaultTextColor(QtCore.Qt.red)
self.updateRightStick(int(data[6]), int(data[7]))
self.updateLeftStick(int(data[9]), int(data[8]))
for receiverIndex in range(self.channelCount):
self.updateBarGauge(receiverIndex, int(data[receiverIndex+10]))
for motorIndex in range(self.motorCount):
self.motor[motorIndex].setValue(int(data[motorIndex+14]))
batteryPower = float(data[22])
self.batteryPower.setPlainText("{:.3f}".format(batteryPower))
flightMode = int(data[23])
if flightMode:
self.flightMode.setPlainText("Stable")
self.flightMode.setDefaultTextColor(QtCore.Qt.green)
else:
self.flightMode.setPlainText("Acro")
self.flightMode.setDefaultTextColor(QtCore.Qt.yellow)