def __init__(self, ipcon, uid, version):
PluginBase.__init__(self, ipcon, uid, 'DC Brick', version)
self.setupUi(self)
self.encoder_hide_all()
self.dc = BrickDC(uid, ipcon)
self.device = self.dc
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(4, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.velocity_slider.sliderReleased.connect(self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished)
self.frequency_slider.sliderReleased.connect(self.frequency_slider_released)
self.frequency_slider.valueChanged.connect(self.frequency_spin.setValue)
self.frequency_spin.editingFinished.connect(self.frequency_spin_finished)
self.radio_mode_brake.toggled.connect(self.brake_value_changed)
self.radio_mode_coast.toggled.connect(self.coast_value_changed)
self.minimum_voltage_button.pressed.connect(self.minimum_voltage_button_pressed)
self.full_brake_button.pressed.connect(self.full_brake_pressed)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.emergency_signal = None
self.under_signal = None
self.current_velocity_signal = None
self.velocity_reached_signal = None
self.qem = QErrorMessage(self)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.dc.register_callback(self.dc.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown)
self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN,
self.qtcb_emergency_shutdown.emit)
self.qtcb_position_reached.connect(self.update_velocity)
self.dc.register_callback(self.dc.CALLBACK_VELOCITY_REACHED,
self.qtcb_position_reached.emit)
self.dc.register_callback(self.dc.CALLBACK_CURRENT_VELOCITY,
self.qtcb_position_reached.emit)
class DC(PluginBase, Ui_DC):
qtcb_position_reached = pyqtSignal(int)
qtcb_under_voltage = pyqtSignal(int)
qtcb_emergency_shutdown = pyqtSignal()
def __init__(self, ipcon, uid, version):
PluginBase.__init__(self, ipcon, uid, 'DC Brick', version)
self.setupUi(self)
self.encoder_hide_all()
self.dc = BrickDC(uid, ipcon)
self.device = self.dc
self.update_timer = QTimer()
self.update_timer.timeout.connect(self.update_data)
self.speedometer = SpeedoMeter()
self.vertical_layout_right.insertWidget(4, self.speedometer)
self.new_value = 0
self.update_counter = 0
self.full_brake_time = 0
self.velocity_slider.sliderReleased.connect(self.velocity_slider_released)
self.velocity_slider.valueChanged.connect(self.velocity_spin.setValue)
self.velocity_spin.editingFinished.connect(self.velocity_spin_finished)
self.acceleration_slider.sliderReleased.connect(self.acceleration_slider_released)
self.acceleration_slider.valueChanged.connect(self.acceleration_spin.setValue)
self.acceleration_spin.editingFinished.connect(self.acceleration_spin_finished)
self.frequency_slider.sliderReleased.connect(self.frequency_slider_released)
self.frequency_slider.valueChanged.connect(self.frequency_spin.setValue)
self.frequency_spin.editingFinished.connect(self.frequency_spin_finished)
self.radio_mode_brake.toggled.connect(self.brake_value_changed)
self.radio_mode_coast.toggled.connect(self.coast_value_changed)
self.minimum_voltage_button.pressed.connect(self.minimum_voltage_button_pressed)
self.full_brake_button.pressed.connect(self.full_brake_pressed)
self.enable_checkbox.stateChanged.connect(self.enable_state_changed)
self.emergency_signal = None
self.under_signal = None
self.current_velocity_signal = None
self.velocity_reached_signal = None
self.qem = QErrorMessage(self)
self.qtcb_under_voltage.connect(self.cb_under_voltage)
self.dc.register_callback(self.dc.CALLBACK_UNDER_VOLTAGE,
self.qtcb_under_voltage.emit)
self.qtcb_emergency_shutdown.connect(self.cb_emergency_shutdown)
self.dc.register_callback(self.dc.CALLBACK_EMERGENCY_SHUTDOWN,
self.qtcb_emergency_shutdown.emit)
self.qtcb_position_reached.connect(self.update_velocity)
self.dc.register_callback(self.dc.CALLBACK_VELOCITY_REACHED,
self.qtcb_position_reached.emit)
self.dc.register_callback(self.dc.CALLBACK_CURRENT_VELOCITY,
self.qtcb_position_reached.emit)
# if self.version >= (2, 0, 1):
# self.enable_encoder_checkbox.stateChanged.connect(self.enable_encoder_state_changed)
# self.encoder_show()
# else:
# self.enable_encoder_checkbox.setText('Enable Encoder (Firmware >= 2.01 required)')
# self.enable_encoder_checkbox.setEnabled(False)
def start(self):
self.update_timer.start(1000)
async_call(self.dc.set_current_velocity_period, 100, None, self.increase_error_count)
self.update_start()
self.update_data()
def stop(self):
self.update_timer.stop()
async_call(self.dc.set_current_velocity_period, 0, None, self.increase_error_count)
def has_reset_device(self):
return self.version >= (1, 1, 3)
def reset_device(self):
if self.has_reset_device():
self.dc.reset()
def is_brick(self):
return True
def get_url_part(self):
return 'dc'
@staticmethod
def has_device_identifier(device_identifier):
return device_identifier == BrickDC.DEVICE_IDENTIFIER
def cb_emergency_shutdown(self):
if not self.qem.isVisible():
self.qem.setWindowTitle("Emergency Shutdown")
self.qem.showMessage("Emergency Shutdown: Short-Circuit or Over-Temperature")
def cb_under_voltage(self, ov):
mv_str = self.minimum_voltage_label.text()
ov_str = "%gV" % round(ov/1000.0, 1)
if not self.qem.isVisible():
self.qem.setWindowTitle("Under Voltage")
self.qem.showMessage("Under Voltage: Output Voltage of " + ov_str +
" is below minimum voltage of " + mv_str,
"DC_UnderVoltage")
def encoder_hide_all(self):
self.enable_encoder_checkbox.hide()
self.encoder_hide()
def encoder_hide(self):
self.p_label.hide()
self.p_spinbox.hide()
self.i_label.hide()
self.i_spinbox.hide()
self.d_label.hide()
self.d_spinbox.hide()
self.st_label.hide()
self.st_spinbox.hide()
self.cpr_label.hide()
self.cpr_spinbox.hide()
self.encoder_spacer.hide()
def encoder_show(self):
self.p_label.show()
self.p_spinbox.show()
self.i_label.show()
self.i_spinbox.show()
self.d_label.show()
self.d_spinbox.show()
self.st_label.show()
self.st_spinbox.show()
self.cpr_label.show()
self.cpr_spinbox.show()
self.encoder_spacer.show()
def enable_encoder_state_changed(self, state):
try:
if state == Qt.Checked:
self.dc.enable_encoder()
self.update_encoder()
elif state == Qt.Unchecked:
self.dc.disable_encoder()
except ip_connection.Error:
return
def enable_state_changed(self, state):
try:
if state == Qt.Checked:
self.dc.enable()
elif state == Qt.Unchecked:
self.dc.disable()
except ip_connection.Error:
return
def brake_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(0)
except ip_connection.Error:
return
def coast_value_changed(self, checked):
if checked:
try:
self.dc.set_drive_mode(1)
except ip_connection.Error:
return
def full_brake_pressed(self):
try:
self.dc.full_brake()
except ip_connection.Error:
return
def minimum_voltage_selected(self, value):
try:
self.dc.set_minimum_voltage(value)
except ip_connection.Error:
return
def minimum_voltage_button_pressed(self):
qid = QInputDialog(self)
qid.setInputMode(QInputDialog.IntInput)
qid.setIntMinimum(5000)
qid.setIntMaximum(0xFFFF)
qid.setIntStep(100)
async_call(self.dc.get_minimum_voltage, None, qid.setIntValue, self.increase_error_count)
qid.intValueSelected.connect(self.minimum_voltage_selected)
qid.setLabelText("Choose minimum motor voltage in mV.")
qid.open()
def stack_input_voltage_update(self, sv):
sv_str = "%gV" % round(sv/1000.0, 1)
self.stack_voltage_label.setText(sv_str)
def external_input_voltage_update(self, ev):
ev_str = "%gV" % round(ev/1000.0, 1)
self.external_voltage_label.setText(ev_str)
def minimum_voltage_update(self, mv):
mv_str = "%gV" % round(mv/1000.0, 1)
self.minimum_voltage_label.setText(mv_str)
def drive_mode_update(self, dm):
if dm == 0:
self.radio_mode_brake.setChecked(True)
self.radio_mode_coast.setChecked(False)
else:
self.radio_mode_brake.setChecked(False)
self.radio_mode_coast.setChecked(True)
def current_consumption_update(self, cc):
if cc >= 1000:
cc_str = "%gA" % round(cc/1000.0, 1)
else:
cc_str = "%gmA" % cc
self.current_label.setText(cc_str)
def update_velocity(self, value):
if value != self.speedometer.value():
self.speedometer.set_velocity(value)
def get_velocity_async(self, velocity):
if not self.velocity_slider.isSliderDown():
if velocity != self.velocity_slider.sliderPosition():
self.velocity_slider.setSliderPosition(velocity)
self.velocity_spin.setValue(velocity)
def get_acceleration_async(self, acceleration):
if not self.acceleration_slider.isSliderDown():
if acceleration != self.acceleration_slider.sliderPosition():
self.acceleration_slider.setSliderPosition(acceleration)
self.acceleration_spin.setValue(acceleration)
def get_pwm_frequency_async(self, frequency):
if not self.frequency_slider.isSliderDown():
if frequency != self.frequency_slider.sliderPosition():
self.frequency_slider.setSliderPosition(frequency)
self.frequency_spin.setValue(frequency)
def is_enabled_async(self, enabled):
if enabled:
self.enable_checkbox.setCheckState(Qt.Checked)
else:
self.enable_checkbox.setCheckState(Qt.Unchecked)
def is_encoder_enabled_async(self, enabled):
if enabled:
self.enable_encoder_checkbox.setCheckState(Qt.Checked)
else:
self.enable_encoder_checkbox.setCheckState(Qt.Unchecked)
def get_encoder_config_async(self, cpr):
self.cpr_spinbox.setValue(cpr)
def get_encoder_pid_config_async(self, pid_config):
self.p_spinbox.setValue(pid_config.p)
self.i_spinbox.setValue(pid_config.i)
self.d_spinbox.setValue(pid_config.d)
self.st_spinbox.setValue(pid_config.sample_time)
def update_encoder(self):
async_call(self.dc.get_encoder_config, None, self.get_encoder_config_async, self.increase_error_count)
async_call(self.dc.get_encoder_pid_config, None, self.get_encoder_pid_config_async, self.increase_error_count)
async_call(self.dc.is_encoder_enabled, None, self.is_encoder_enabled_async, self.increase_error_count)
def update_start(self):
async_call(self.dc.get_drive_mode, None, self.drive_mode_update, self.increase_error_count)
async_call(self.dc.get_velocity, None, self.get_velocity_async, self.increase_error_count)
async_call(self.dc.get_acceleration, None, self.get_acceleration_async, self.increase_error_count)
async_call(self.dc.get_pwm_frequency, None, self.get_pwm_frequency_async, self.increase_error_count)
async_call(self.dc.is_enabled, None, self.is_enabled_async, self.increase_error_count)
# if self.version >= (2, 0, 1):
# self.update_encoder()
def update_data(self):
async_call(self.dc.get_stack_input_voltage, None, self.stack_input_voltage_update, self.increase_error_count)
async_call(self.dc.get_external_input_voltage, None, self.external_input_voltage_update, self.increase_error_count)
async_call(self.dc.get_minimum_voltage, None, self.minimum_voltage_update, self.increase_error_count)
async_call(self.dc.get_current_consumption, None, self.current_consumption_update, self.increase_error_count)
def acceleration_slider_released(self):
value = self.acceleration_slider.value()
self.acceleration_spin.setValue(value)
try:
self.dc.set_acceleration(value)
except ip_connection.Error:
return
def acceleration_spin_finished(self):
value = self.acceleration_spin.value()
self.acceleration_slider.setValue(value)
try:
self.dc.set_acceleration(value)
except ip_connection.Error:
return
def velocity_slider_released(self):
value = self.velocity_slider.value()
self.velocity_spin.setValue(value)
try:
self.dc.set_velocity(value)
except ip_connection.Error:
return
def velocity_spin_finished(self):
value = self.velocity_spin.value()
self.velocity_slider.setValue(value)
try:
self.dc.set_velocity(value)
except ip_connection.Error:
return
def frequency_slider_released(self):
value = self.frequency_slider.value()
self.frequency_spin.setValue(value)
try:
self.dc.set_pwm_frequency(value)
except ip_connection.Error:
return
def frequency_spin_finished(self):
value = self.frequency_spin.value()
self.frequency_slider.setValue(value)
try:
self.dc.set_pwm_frequency(value)
except ip_connection.Error:
return