def start(self):
Igniter.start(self)
# Signals assignment
signal.signal(signal.SIGTERM, self._shutdown)
signal.signal(signal.SIGINT, self._shutdown)
signal.signal(signal.SIGHUP, self._reload)
self.logger.info("%s %s has been started" % (self.direction.capitalize(), self.flowName))
def __init__(self, direction, flowName, cmd, lockPath, logger=None):
Igniter.__init__(self, cmd, lockPath) # Parent constructor
self.direction = direction # A string in ['sender', 'receiver']
self.flowName = flowName # Client or Source's name
self.logger = logger # Logger object
self.type = None # wmo, am, etc. (string)
self.flow = None # Client or Source object
self.gateway = None # Gateway object
self.reloadMode = False # Indicate if we are in reload mode or not
eval("self." + cmd)() # Execute the command directly
class unittest_Igniter(unittest.TestCase):
def setUp(self):
self.igniter = Igniter('ping localhost', '/tmp/')
self.process = subprocess.Popen(['ping', 'localhost'], shell=False, stdout=subprocess.PIPE)
#file = open('/tmp/.lock','w')
#file.write(str(self.process.pid))
#file.close()
#self.igniter.lock = '/tmp/.lock'
#self.igniter.lockpid = self.process.pid
def test_Igniter(self):
self.assertEqual(self.igniter.makeLock(),None)
self.igniter.lock = '/tmp/.lock'
self.igniter.lockpid = self.process.pid
file = open('/tmp/.lock','w')
file.write(str(self.process.pid))
file.close()
print '\n'
self.assertEqual(self.igniter.isLocked(),self.process.pid)
try:
self.igniter.start()
self.igniter.lockpid =''
except:
self.assertEqual(self.igniter.lockpid,self.process.pid)
try:
self.igniter.status()
self.igniter.lockpid =''
except:
self.assertEqual(self.igniter.lockpid,self.process.pid)
try:
self.igniter.stop()
self.igniter.lockpid =''
except:
self.assertEqual(self.igniter.lockpid,self.process.pid)
try:
self.igniter.status()
self.igniter.lockpid =''
except:
self.assertEqual(self.igniter.lockpid,self.process.pid)
#try:
#self.igniter.start()
#self.igniter.lockpid =''
#except:
#self.assertEqual(self.igniter.lockpid,self.process.pid)
try:
self.process.terminate()
except:
pass
def reload(self):
"""
If the process is locked (presence of a .lock file) and running (ps), send a SIGHUP
signal to it. The function _reload will be called because SIGHUP signal is assigned
to it.
"""
# Verify user is not root
if os.getuid() == 0:
print "FATAL: Do not reload as root. It will be a mess."
sys.exit(2)
if Igniter.isLocked(self) and not commands.getstatusoutput('ps -p ' + str(self.lockpid))[0]:
# SIGHUP is sent to initiate the reload
os.kill(self.lockpid, signal.SIGHUP)
else:
print "No process to reload for %s (%s %s)!" % (self.flowName, self.direction, self.type)
# In any case, we exit!!
sys.exit(2)
def __init__(self, parent=None):
super(ECUI, self).__init__(parent)
# Settings
self.autoabortEnabled = True
# Hedgehog
self.stack = ExitStack()
self.hedgehog = self.stack.enter_context(
connect(endpoint='tcp://raspberrypi.local:10789')) # FIXME
# Simulated Hedgehog
#self.hedgehog = SimulatedHedgehog()
#Strain data received
self.measure = StrainData()
#Neopixel test
self.socket_neo(b'SafeOn')
# Actuators and Sensors
self.servo_fuel = Servo(name='fuel',
hedgehog=self.hedgehog,
servoPort=0,
feedbackPort=0)
self.servo_oxidizer = Servo(name='oxidizer',
hedgehog=self.hedgehog,
servoPort=1,
feedbackPort=1)
self.igniter_arc = Igniter(name='arc',
hedgehog=self.hedgehog,
igniterPort=0)
self.igniter_pyro = Igniter(name='pyro',
hedgehog=self.hedgehog,
igniterPort=1,
feedbackPort=2)
self.pressureSensor_fuel = PressureSensor(name='fuel',
hedgehog=self.hedgehog,
port=8)
self.pressureSensor_oxidizer = PressureSensor(name='oxidizer',
hedgehog=self.hedgehog,
port=9)
self.pressureSensor_chamber = PressureSensor(name='chamber',
hedgehog=self.hedgehog,
port=10)
self.temperatureSensor_chamber = TemperatureSensor(
name='chamber', hedgehog=self.hedgehog, port=11)
# Countdown Timer and Sequence
self.countdownTimer = CountdownTimer(self.countdownEvent)
self.sequence = Sequence()
# Regular Timer
self.timer = QTimer()
self.timer.setInterval(100)
self.timer.timeout.connect(self.__timerTick)
self.inputVoltage = 0.0
self.set_safe = True
self.set_igniter = False
self.loggingValues = []
# Main tab
self.tab_main = QWidget()
self.tab_main.layout = QVBoxLayout(self)
self.tab_main.setLayout(self.tab_main.layout)
self.label_countdownClock = QLabel(self.countdownTimer.getTimeString(),
self)
self.label_countdownClock.setStyleSheet('color: #000000')
self.label_countdownClock.setToolTip("Countdown Clock")
self.label_inputVoltage = QLabel("Input Voltage: 0.0V", self)
self.label_inputVoltage.setStyleSheet('color: #000000')
self.label_inputVoltage.setToolTip("Input Voltage")
self.btn_countdownStartStop = QPushButton("Start", self)
self.btn_countdownStartStop.setToolTip("Start the Countdown")
self.btn_countdownStartStop.clicked.connect(
self.countdownStartStopReset)
self.btn_countdownStartStop.resize(
self.btn_countdownStartStop.sizeHint())
self.btn_countdownStartStop.setStyleSheet('background-color: #00ff00;')
self.layout_countdown = QHBoxLayout()
self.layout_countdown.addWidget(self.label_inputVoltage,
alignment=Qt.AlignLeft)
self.layout_countdown.addWidget(self.label_countdownClock,
alignment=Qt.AlignCenter)
self.layout_countdown.addWidget(self.btn_countdownStartStop,
alignment=Qt.AlignRight)
self.tab_main.layout.addLayout(self.layout_countdown)
self.sequencePlot = SequencePlot(self,
sequence=self.sequence,
countdownTimer=self.countdownTimer,
width=5,
height=4)
self.tab_main.layout.addWidget(self.sequencePlot,
alignment=Qt.AlignTop)
self.checkbox_manualControl = QCheckBox("Manual Control", self)
self.checkbox_manualControl.setToolTip("Enable Manual Control")
self.checkbox_manualControl.clicked.connect(
self.manualControlEnableDisable)
self.checkbox_manualControl.resize(
self.checkbox_manualControl.sizeHint())
self.checkbox_manualControlIgniter = QCheckBox("Igniter", self)
self.checkbox_manualControlIgniter.setToolTip("Igniter Manual Control")
self.checkbox_manualControlIgniter.clicked.connect(
self.manualControlIgniterEnableDisable)
self.checkbox_manualControlIgniter.resize(
self.checkbox_manualControlIgniter.sizeHint())
self.checkbox_manualControlIgniter.setEnabled(False)
self.label_manualControlFuel = QLabel(
"Fuel Target: %3d%% Fuel Currently: %3d%% Fuel Pressure: %2.1fbar"
% (self.servo_fuel.getPositionTargetPercent(),
self.servo_fuel.getPositionCurrentPercent(),
self.pressureSensor_fuel.getValue()), self)
self.slider_manualControlFuel = QSlider(
Qt.Horizontal
) # FIXME: buggy when slided manually, goes out of range or doesnt reach limits
self.slider_manualControlFuel.setToolTip("Fuel Manual Control")
self.slider_manualControlFuel.setRange(0, 100)
self.slider_manualControlFuel.sliderMoved.connect(
self.manualControlFuelChange)
self.slider_manualControlFuel.resize(
self.slider_manualControlFuel.sizeHint())
self.slider_manualControlFuel.setEnabled(False)
self.layout_manualControlFuel = QVBoxLayout()
self.layout_manualControlFuel.addWidget(self.label_manualControlFuel,
alignment=Qt.AlignLeft)
self.layout_manualControlFuel.addWidget(self.slider_manualControlFuel,
alignment=Qt.AlignTop)
self.label_manualControlOxidizer = QLabel(
"Oxidizer Target: %3d%% Oxidizer Currently: %3d%% Oxidizer Pressure: %2.1fbar"
% (self.servo_oxidizer.getPositionTargetPercent(),
self.servo_oxidizer.getPositionCurrentPercent(),
self.pressureSensor_oxidizer.getValue()), self)
self.slider_manualControlOxidizer = QSlider(
Qt.Horizontal
) # FIXME: buggy when slided manually, goes out of range or doesnt reach limits
self.slider_manualControlOxidizer.setToolTip("Oxidizer Manual Control")
self.slider_manualControlOxidizer.setRange(0, 100)
self.slider_manualControlOxidizer.sliderMoved.connect(
self.manualControlOxidizerChange)
self.slider_manualControlOxidizer.resize(
self.slider_manualControlOxidizer.sizeHint())
self.slider_manualControlOxidizer.setEnabled(False)
self.layout_manualControlOxidizer = QVBoxLayout()
self.layout_manualControlOxidizer.addWidget(
self.label_manualControlOxidizer, alignment=Qt.AlignLeft)
self.layout_manualControlOxidizer.addWidget(
self.slider_manualControlOxidizer, alignment=Qt.AlignTop)
self.layout_manualControl = QVBoxLayout()
self.layout_manualControl.addWidget(self.checkbox_manualControl,
alignment=Qt.AlignLeft)
self.layout_manualControl.addWidget(self.checkbox_manualControlIgniter,
alignment=Qt.AlignLeft)
self.layout_manualControl.addLayout(self.layout_manualControlFuel)
self.layout_manualControl.addLayout(self.layout_manualControlOxidizer)
self.tab_main.layout.addLayout(self.layout_manualControl)
# Settings tab
self.tab_settings = QWidget()
self.tab_settings.layout = QHBoxLayout(self)
self.tab_settings.setLayout(self.tab_settings.layout)
self.checkbox_calibration = QCheckBox("Servo Calibration", self)
self.checkbox_calibration.setToolTip("Enable Servo Calibration Mode")
self.checkbox_calibration.clicked.connect(
self.calibrationEnableDisable)
self.checkbox_calibration.resize(self.checkbox_calibration.sizeHint())
self.label_cal_fuel = QLabel(
"Fuel (min=%dus, max=%dus)" %
(self.servo_fuel.getMinUs(), self.servo_fuel.getMaxUs()), self)
self.spinbox_cal_fuel = QSpinBox(self)
self.spinbox_cal_fuel.setMinimum(500)
self.spinbox_cal_fuel.setMaximum(2500)
self.spinbox_cal_fuel.setSingleStep(1)
self.spinbox_cal_fuel.setValue(self.servo_fuel.getPositionTargetUs())
self.spinbox_cal_fuel.setEnabled(False)
self.spinbox_cal_fuel.valueChanged.connect(self.calFuelValueChanged)
self.btn_cal_fuel_min = QPushButton("Set Min", self)
self.btn_cal_fuel_min.setToolTip(
"Set the Minimum Value, corresponds to 0%")
self.btn_cal_fuel_min.clicked.connect(self.calFuelSetMin)
self.btn_cal_fuel_min.setEnabled(False)
self.btn_cal_fuel_min.resize(self.btn_cal_fuel_min.sizeHint())
self.btn_cal_fuel_max = QPushButton("Set Max", self)
self.btn_cal_fuel_max.setToolTip(
"Set the Maximum Value, corresponds to 100%")
self.btn_cal_fuel_max.clicked.connect(self.calFuelSetMax)
self.btn_cal_fuel_max.setEnabled(False)
self.btn_cal_fuel_max.resize(self.btn_cal_fuel_max.sizeHint())
self.label_cal_oxidizer = QLabel(
"Oxidizer (min=%dus, max=%dus)" %
(self.servo_oxidizer.getMinUs(), self.servo_oxidizer.getMaxUs()),
self)
self.spinbox_cal_oxidizer = QSpinBox(self)
self.spinbox_cal_oxidizer.setMinimum(500)
self.spinbox_cal_oxidizer.setMaximum(2500)
self.spinbox_cal_oxidizer.setSingleStep(1)
self.spinbox_cal_oxidizer.setValue(
self.servo_oxidizer.getPositionTargetUs())
self.spinbox_cal_oxidizer.setEnabled(False)
self.spinbox_cal_oxidizer.valueChanged.connect(
self.calOxidizerValueChanged)
self.btn_cal_oxidizer_min = QPushButton("Set Min", self)
self.btn_cal_oxidizer_min.setToolTip(
"Set the Minimum Value, corresponds to 0%")
self.btn_cal_oxidizer_min.clicked.connect(self.calOxidizerSetMin)
self.btn_cal_oxidizer_min.setEnabled(False)
self.btn_cal_oxidizer_min.resize(self.btn_cal_oxidizer_min.sizeHint())
self.btn_cal_oxidizer_max = QPushButton("Set Max", self)
self.btn_cal_oxidizer_max.setToolTip(
"Set the Maximum Value, corresponds to 100%")
self.btn_cal_oxidizer_max.clicked.connect(self.calOxidizerSetMax)
self.btn_cal_oxidizer_max.setEnabled(False)
self.btn_cal_oxidizer_max.resize(self.btn_cal_oxidizer_max.sizeHint())
self.layout_calibration_fuel = QHBoxLayout()
self.layout_calibration_fuel.addWidget(self.label_cal_fuel,
alignment=Qt.AlignTop)
self.layout_calibration_fuel.addWidget(self.spinbox_cal_fuel,
alignment=Qt.AlignTop)
self.layout_calibration_fuel.addWidget(self.btn_cal_fuel_min,
alignment=Qt.AlignTop)
self.layout_calibration_fuel.addWidget(self.btn_cal_fuel_max,
alignment=Qt.AlignTop)
self.layout_calibration_oxidizer = QHBoxLayout()
self.layout_calibration_oxidizer.addWidget(self.label_cal_oxidizer,
alignment=Qt.AlignTop)
self.layout_calibration_oxidizer.addWidget(self.spinbox_cal_oxidizer,
alignment=Qt.AlignTop)
self.layout_calibration_oxidizer.addWidget(self.btn_cal_oxidizer_min,
alignment=Qt.AlignTop)
self.layout_calibration_oxidizer.addWidget(self.btn_cal_oxidizer_max,
alignment=Qt.AlignTop)
self.layout_calibration = QVBoxLayout()
self.layout_calibration.addWidget(self.checkbox_calibration,
alignment=Qt.AlignTop)
self.layout_calibration.addLayout(self.layout_calibration_fuel)
self.layout_calibration.addLayout(self.layout_calibration_oxidizer)
self.tab_settings.layout.addLayout(self.layout_calibration)
# Tabs
self.tabs = QTabWidget()
self.tabs.resize(300, 200)
self.tabs.addTab(self.tab_main, "Main")
self.tabs.addTab(self.tab_settings, "Settings")
# Window
self.layout = QVBoxLayout(self)
self.layout.addWidget(self.tabs, alignment=Qt.AlignTop)
self.setLayout(self.layout)
self.setGeometry(500, 200, 900, 700)
self.setWindowTitle("Engine Control UI")
self.setWindowIcon(QIcon('icon.png'))
#Timer
self.timer.start()
class ECUI(QWidget):
def __init__(self, parent=None):
super(ECUI, self).__init__(parent)
# Settings
self.autoabortEnabled = True
# Hedgehog
self.stack = ExitStack()
self.hedgehog = self.stack.enter_context(
connect(endpoint='tcp://raspberrypi.local:10789')) # FIXME
# Simulated Hedgehog
#self.hedgehog = SimulatedHedgehog()
#Strain data received
self.measure = StrainData()
#Neopixel test
self.socket_neo(b'SafeOn')
# Actuators and Sensors
self.servo_fuel = Servo(name='fuel',
hedgehog=self.hedgehog,
servoPort=0,
feedbackPort=0)
self.servo_oxidizer = Servo(name='oxidizer',
hedgehog=self.hedgehog,
servoPort=1,
feedbackPort=1)
self.igniter_arc = Igniter(name='arc',
hedgehog=self.hedgehog,
igniterPort=0)
self.igniter_pyro = Igniter(name='pyro',
hedgehog=self.hedgehog,
igniterPort=1,
feedbackPort=2)
self.pressureSensor_fuel = PressureSensor(name='fuel',
hedgehog=self.hedgehog,
port=8)
self.pressureSensor_oxidizer = PressureSensor(name='oxidizer',
hedgehog=self.hedgehog,
port=9)
self.pressureSensor_chamber = PressureSensor(name='chamber',
hedgehog=self.hedgehog,
port=10)
self.temperatureSensor_chamber = TemperatureSensor(
name='chamber', hedgehog=self.hedgehog, port=11)
# Countdown Timer and Sequence
self.countdownTimer = CountdownTimer(self.countdownEvent)
self.sequence = Sequence()
# Regular Timer
self.timer = QTimer()
self.timer.setInterval(100)
self.timer.timeout.connect(self.__timerTick)
self.inputVoltage = 0.0
self.set_safe = True
self.set_igniter = False
self.loggingValues = []
# Main tab
self.tab_main = QWidget()
self.tab_main.layout = QVBoxLayout(self)
self.tab_main.setLayout(self.tab_main.layout)
self.label_countdownClock = QLabel(self.countdownTimer.getTimeString(),
self)
self.label_countdownClock.setStyleSheet('color: #000000')
self.label_countdownClock.setToolTip("Countdown Clock")
self.label_inputVoltage = QLabel("Input Voltage: 0.0V", self)
self.label_inputVoltage.setStyleSheet('color: #000000')
self.label_inputVoltage.setToolTip("Input Voltage")
self.btn_countdownStartStop = QPushButton("Start", self)
self.btn_countdownStartStop.setToolTip("Start the Countdown")
self.btn_countdownStartStop.clicked.connect(
self.countdownStartStopReset)
self.btn_countdownStartStop.resize(
self.btn_countdownStartStop.sizeHint())
self.btn_countdownStartStop.setStyleSheet('background-color: #00ff00;')
self.layout_countdown = QHBoxLayout()
self.layout_countdown.addWidget(self.label_inputVoltage,
alignment=Qt.AlignLeft)
self.layout_countdown.addWidget(self.label_countdownClock,
alignment=Qt.AlignCenter)
self.layout_countdown.addWidget(self.btn_countdownStartStop,
alignment=Qt.AlignRight)
self.tab_main.layout.addLayout(self.layout_countdown)
self.sequencePlot = SequencePlot(self,
sequence=self.sequence,
countdownTimer=self.countdownTimer,
width=5,
height=4)
self.tab_main.layout.addWidget(self.sequencePlot,
alignment=Qt.AlignTop)
self.checkbox_manualControl = QCheckBox("Manual Control", self)
self.checkbox_manualControl.setToolTip("Enable Manual Control")
self.checkbox_manualControl.clicked.connect(
self.manualControlEnableDisable)
self.checkbox_manualControl.resize(
self.checkbox_manualControl.sizeHint())
self.checkbox_manualControlIgniter = QCheckBox("Igniter", self)
self.checkbox_manualControlIgniter.setToolTip("Igniter Manual Control")
self.checkbox_manualControlIgniter.clicked.connect(
self.manualControlIgniterEnableDisable)
self.checkbox_manualControlIgniter.resize(
self.checkbox_manualControlIgniter.sizeHint())
self.checkbox_manualControlIgniter.setEnabled(False)
self.label_manualControlFuel = QLabel(
"Fuel Target: %3d%% Fuel Currently: %3d%% Fuel Pressure: %2.1fbar"
% (self.servo_fuel.getPositionTargetPercent(),
self.servo_fuel.getPositionCurrentPercent(),
self.pressureSensor_fuel.getValue()), self)
self.slider_manualControlFuel = QSlider(
Qt.Horizontal
) # FIXME: buggy when slided manually, goes out of range or doesnt reach limits
self.slider_manualControlFuel.setToolTip("Fuel Manual Control")
self.slider_manualControlFuel.setRange(0, 100)
self.slider_manualControlFuel.sliderMoved.connect(
self.manualControlFuelChange)
self.slider_manualControlFuel.resize(
self.slider_manualControlFuel.sizeHint())
self.slider_manualControlFuel.setEnabled(False)
self.layout_manualControlFuel = QVBoxLayout()
self.layout_manualControlFuel.addWidget(self.label_manualControlFuel,
alignment=Qt.AlignLeft)
self.layout_manualControlFuel.addWidget(self.slider_manualControlFuel,
alignment=Qt.AlignTop)
self.label_manualControlOxidizer = QLabel(
"Oxidizer Target: %3d%% Oxidizer Currently: %3d%% Oxidizer Pressure: %2.1fbar"
% (self.servo_oxidizer.getPositionTargetPercent(),
self.servo_oxidizer.getPositionCurrentPercent(),
self.pressureSensor_oxidizer.getValue()), self)
self.slider_manualControlOxidizer = QSlider(
Qt.Horizontal
) # FIXME: buggy when slided manually, goes out of range or doesnt reach limits
self.slider_manualControlOxidizer.setToolTip("Oxidizer Manual Control")
self.slider_manualControlOxidizer.setRange(0, 100)
self.slider_manualControlOxidizer.sliderMoved.connect(
self.manualControlOxidizerChange)
self.slider_manualControlOxidizer.resize(
self.slider_manualControlOxidizer.sizeHint())
self.slider_manualControlOxidizer.setEnabled(False)
self.layout_manualControlOxidizer = QVBoxLayout()
self.layout_manualControlOxidizer.addWidget(
self.label_manualControlOxidizer, alignment=Qt.AlignLeft)
self.layout_manualControlOxidizer.addWidget(
self.slider_manualControlOxidizer, alignment=Qt.AlignTop)
self.layout_manualControl = QVBoxLayout()
self.layout_manualControl.addWidget(self.checkbox_manualControl,
alignment=Qt.AlignLeft)
self.layout_manualControl.addWidget(self.checkbox_manualControlIgniter,
alignment=Qt.AlignLeft)
self.layout_manualControl.addLayout(self.layout_manualControlFuel)
self.layout_manualControl.addLayout(self.layout_manualControlOxidizer)
self.tab_main.layout.addLayout(self.layout_manualControl)
# Settings tab
self.tab_settings = QWidget()
self.tab_settings.layout = QHBoxLayout(self)
self.tab_settings.setLayout(self.tab_settings.layout)
self.checkbox_calibration = QCheckBox("Servo Calibration", self)
self.checkbox_calibration.setToolTip("Enable Servo Calibration Mode")
self.checkbox_calibration.clicked.connect(
self.calibrationEnableDisable)
self.checkbox_calibration.resize(self.checkbox_calibration.sizeHint())
self.label_cal_fuel = QLabel(
"Fuel (min=%dus, max=%dus)" %
(self.servo_fuel.getMinUs(), self.servo_fuel.getMaxUs()), self)
self.spinbox_cal_fuel = QSpinBox(self)
self.spinbox_cal_fuel.setMinimum(500)
self.spinbox_cal_fuel.setMaximum(2500)
self.spinbox_cal_fuel.setSingleStep(1)
self.spinbox_cal_fuel.setValue(self.servo_fuel.getPositionTargetUs())
self.spinbox_cal_fuel.setEnabled(False)
self.spinbox_cal_fuel.valueChanged.connect(self.calFuelValueChanged)
self.btn_cal_fuel_min = QPushButton("Set Min", self)
self.btn_cal_fuel_min.setToolTip(
"Set the Minimum Value, corresponds to 0%")
self.btn_cal_fuel_min.clicked.connect(self.calFuelSetMin)
self.btn_cal_fuel_min.setEnabled(False)
self.btn_cal_fuel_min.resize(self.btn_cal_fuel_min.sizeHint())
self.btn_cal_fuel_max = QPushButton("Set Max", self)
self.btn_cal_fuel_max.setToolTip(
"Set the Maximum Value, corresponds to 100%")
self.btn_cal_fuel_max.clicked.connect(self.calFuelSetMax)
self.btn_cal_fuel_max.setEnabled(False)
self.btn_cal_fuel_max.resize(self.btn_cal_fuel_max.sizeHint())
self.label_cal_oxidizer = QLabel(
"Oxidizer (min=%dus, max=%dus)" %
(self.servo_oxidizer.getMinUs(), self.servo_oxidizer.getMaxUs()),
self)
self.spinbox_cal_oxidizer = QSpinBox(self)
self.spinbox_cal_oxidizer.setMinimum(500)
self.spinbox_cal_oxidizer.setMaximum(2500)
self.spinbox_cal_oxidizer.setSingleStep(1)
self.spinbox_cal_oxidizer.setValue(
self.servo_oxidizer.getPositionTargetUs())
self.spinbox_cal_oxidizer.setEnabled(False)
self.spinbox_cal_oxidizer.valueChanged.connect(
self.calOxidizerValueChanged)
self.btn_cal_oxidizer_min = QPushButton("Set Min", self)
self.btn_cal_oxidizer_min.setToolTip(
"Set the Minimum Value, corresponds to 0%")
self.btn_cal_oxidizer_min.clicked.connect(self.calOxidizerSetMin)
self.btn_cal_oxidizer_min.setEnabled(False)
self.btn_cal_oxidizer_min.resize(self.btn_cal_oxidizer_min.sizeHint())
self.btn_cal_oxidizer_max = QPushButton("Set Max", self)
self.btn_cal_oxidizer_max.setToolTip(
"Set the Maximum Value, corresponds to 100%")
self.btn_cal_oxidizer_max.clicked.connect(self.calOxidizerSetMax)
self.btn_cal_oxidizer_max.setEnabled(False)
self.btn_cal_oxidizer_max.resize(self.btn_cal_oxidizer_max.sizeHint())
self.layout_calibration_fuel = QHBoxLayout()
self.layout_calibration_fuel.addWidget(self.label_cal_fuel,
alignment=Qt.AlignTop)
self.layout_calibration_fuel.addWidget(self.spinbox_cal_fuel,
alignment=Qt.AlignTop)
self.layout_calibration_fuel.addWidget(self.btn_cal_fuel_min,
alignment=Qt.AlignTop)
self.layout_calibration_fuel.addWidget(self.btn_cal_fuel_max,
alignment=Qt.AlignTop)
self.layout_calibration_oxidizer = QHBoxLayout()
self.layout_calibration_oxidizer.addWidget(self.label_cal_oxidizer,
alignment=Qt.AlignTop)
self.layout_calibration_oxidizer.addWidget(self.spinbox_cal_oxidizer,
alignment=Qt.AlignTop)
self.layout_calibration_oxidizer.addWidget(self.btn_cal_oxidizer_min,
alignment=Qt.AlignTop)
self.layout_calibration_oxidizer.addWidget(self.btn_cal_oxidizer_max,
alignment=Qt.AlignTop)
self.layout_calibration = QVBoxLayout()
self.layout_calibration.addWidget(self.checkbox_calibration,
alignment=Qt.AlignTop)
self.layout_calibration.addLayout(self.layout_calibration_fuel)
self.layout_calibration.addLayout(self.layout_calibration_oxidizer)
self.tab_settings.layout.addLayout(self.layout_calibration)
# Tabs
self.tabs = QTabWidget()
self.tabs.resize(300, 200)
self.tabs.addTab(self.tab_main, "Main")
self.tabs.addTab(self.tab_settings, "Settings")
# Window
self.layout = QVBoxLayout(self)
self.layout.addWidget(self.tabs, alignment=Qt.AlignTop)
self.setLayout(self.layout)
self.setGeometry(500, 200, 900, 700)
self.setWindowTitle("Engine Control UI")
self.setWindowIcon(QIcon('icon.png'))
#Timer
self.timer.start()
def socket_neo(self, string):
#Socket for neopixel
self.clientsocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.clientsocket.connect(('raspberrypi.local', 25565))
self.clientsocket.send(string)
self.clientsocket.close()
def closeEvent(self, event):
if self.btn_countdownStartStop.text() == "Abort":
reply = QMessageBox.question(
self, 'Message', "The countdown is running.\nQuit anyways?",
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
else:
reply = QMessageBox.Yes
if reply == QMessageBox.Yes:
event.accept()
else:
event.ignore()
def cleanup(self):
self.servo_fuel.disable()
self.servo_oxidizer.disable()
self.stack.close()
self.countdownTimer.stop()
self.sequence.saveSequence()
self.servo_fuel.saveSettings()
self.servo_oxidizer.saveSettings()
def countdownStartStopReset(self):
if self.btn_countdownStartStop.text() == "Start":
self.socket_neo(b'Testing')
self.checkbox_calibration.setEnabled(False)
self.calibrationDisable()
self.checkbox_manualControl.setEnabled(False)
self.manualControlDisable()
self.countdownTimer.start()
self.sequence.setStatus('running')
self.btn_countdownStartStop.setText("Abort")
self.btn_countdownStartStop.setToolTip("Stop the Countdown")
self.btn_countdownStartStop.setStyleSheet(
'background-color: #FF0000;')
self.servo_fuel.enable()
self.servo_oxidizer.enable()
elif self.btn_countdownStartStop.text() == "Abort":
self.socket_neo(b'Error')
if self.countdownTimer.getTime() < 0:
self.countdownTimer.stop()
self.btn_countdownStartStop.setText("Reset and Save Log")
self.btn_countdownStartStop.setToolTip(
"Reset the countdown and save logging data to a file")
os.system("espeak -v en+f3 \"hold, hold, hold\" &")
else:
self.btn_countdownStartStop.setText("Stop")
self.btn_countdownStartStop.setToolTip("Stop logging")
os.system("espeak -v en+f3 \"abort\" &")
self.sequence.setStatus('abort')
self.countdownEvent()
self.label_countdownClock.setStyleSheet('color: #ff0000')
self.btn_countdownStartStop.setStyleSheet(
'background-color: #EEEEEE;')
elif self.btn_countdownStartStop.text() == "Stop":
self.countdownTimer.stop()
os.system("espeak -v en+f3 \"stopped logging\" &")
self.sequence.setStatus('abort')
self.countdownEvent()
self.label_countdownClock.setStyleSheet('color: #ff0000')
self.btn_countdownStartStop.setText("Reset and Save Log")
self.btn_countdownStartStop.setToolTip(
"Reset the countdown and save logging data to a file")
self.btn_countdownStartStop.setStyleSheet(
'background-color: #EEEEEE;')
elif self.btn_countdownStartStop.text() == "Reset and Save Log":
self.socket_neo(b'NoConn')
self.set_safe = False
logfile_name = f"{datetime.datetime.now():%Y%m%d_%H%M%S}.csv" # TODO: move logging to own class
logfile_name_dir = 'log/' + logfile_name
os.makedirs(
os.path.dirname(logfile_name_dir),
exist_ok=True) # generate log directory if non existent
with open(logfile_name_dir, 'w', newline='') as logfile:
fieldnames = [
'Timestamp', 'ServoFuelPercentageTarget',
'ServoOxidizerPercentageTarget',
'ServoFuelPercentageCurrent',
'ServoOxidizerPercentageCurrent', 'PressureFuel',
'PressureOxidizer', 'PressureChamber',
'TemperatureChamber', 'Strain_data'
]
writer = csv.DictWriter(logfile, fieldnames=fieldnames)
writer.writeheader()
for line in self.loggingValues:
writer.writerow(line)
self.loggingValues.clear()
self.checkbox_calibration.setEnabled(True)
self.checkbox_manualControl.setEnabled(True)
self.countdownTimer.reset()
self.sequence.setStatus('reset')
self.countdownEvent()
self.label_countdownClock.setStyleSheet('color: #000000')
self.btn_countdownStartStop.setText("Start")
self.btn_countdownStartStop.setToolTip("Start the Countdown")
self.btn_countdownStartStop.setStyleSheet(
'background-color: #00FF00;')
else:
print("Error: invalid button state")
def __timerTick(
self
): # FIXME: bc of the hedgehog commands this often takes longer than 100ms, slowing down the countdown
self.servo_fuel.updatePositionCurrentPercent()
self.servo_oxidizer.updatePositionCurrentPercent()
self.igniter_pyro.updateArmed()
self.pressureSensor_fuel.updateValue()
self.pressureSensor_oxidizer.updateValue()
self.pressureSensor_chamber.updateValue()
self.temperatureSensor_chamber.updateValue()
voltageNew = self.hedgehog.get_analog(0x80) / 1000
self.inputVoltage = self.inputVoltage * 0.6 + voltageNew * 0.4
self.label_inputVoltage.setText("Input Voltage: %.1fV" %
self.inputVoltage)
self.label_manualControlFuel.setText(
"Fuel Target: %3d%% Fuel Currently: %3d%% Fuel Pressure: %2.1fbar"
% (self.servo_fuel.getPositionTargetPercent(),
self.servo_fuel.getPositionCurrentPercent(),
self.pressureSensor_fuel.getValue()))
self.label_manualControlOxidizer.setText(
"Oxidizer Target: %3d%% Oxidizer Currently: %3d%% Oxidizer Pressure: %2.1fbar"
% (self.servo_oxidizer.getPositionTargetPercent(),
self.servo_oxidizer.getPositionCurrentPercent(),
self.pressureSensor_oxidizer.getValue()))
if self.igniter_pyro.getArmed() is not None:
if self.igniter_pyro.getArmed() is True:
self.checkbox_manualControlIgniter.setText("Igniter (Armed)")
if not self.set_igniter:
self.socket_neo(b'Error')
self.set_igniter = True
else:
self.checkbox_manualControlIgniter.setText(
"Igniter (Disarmed)")
if self.set_igniter:
if (not self.set_safe) and (
self.pressureSensor_oxidizer.getValue() < 0.5
and self.pressureSensor_fuel.getValue() < 0.5):
self.socket_neo(b'SafeOn')
self.set_safe = True
if self.set_safe and (
self.pressureSensor_oxidizer.getValue() > 2
and self.pressureSensor_fuel.getValue() > 2):
self.socket_neo(b'NoConn')
self.set_safe = False
self.set_igniter = False
else:
self.checkbox_manualControlIgniter.setText("Igniter (Unknown)")
if (not self.set_safe) and (
self.pressureSensor_oxidizer.getValue() < 0.5
and self.pressureSensor_fuel.getValue() < 0.5):
self.socket_neo(b'SafeOn')
self.set_safe = True
if self.set_safe and (self.pressureSensor_oxidizer.getValue() > 2
or self.pressureSensor_fuel.getValue() > 2):
self.socket_neo(b'NoConn')
self.set_safe = False
def countdownEvent(self):
# abort if no ignition detected TODO: improve
if self.autoabortEnabled:
if self.pressureSensor_chamber.getValue(
) < self.sequence.getChamberPressureMinAtTime(
self.countdownTimer.getTime(
)) and not self.btn_countdownStartStop.text() == "Stop":
self.socket_neo(b'Error')
self.btn_countdownStartStop.setText("Stop")
os.system("espeak -v en+f3 \"auto abort\" &")
#self.countdownTimer.stop() # TODO: make timer continue
self.sequence.setStatus('abort')
self.label_countdownClock.setStyleSheet('color: #ff0000')
self.btn_countdownStartStop.setToolTip("Stop logging")
self.btn_countdownStartStop.setStyleSheet(
'background-color: #EEEEEE;')
if self.countdownTimer.getTime() > 3 + self.sequence.getTimestampList(
)[len(self.sequence.getTimestampList()) - 2] and (
self.btn_countdownStartStop.text() == "Abort"
or self.btn_countdownStartStop.text()
== "Stop") and self.servo_fuel.getPositionTargetPercent(
) == 0 and self.servo_oxidizer.getPositionTargetPercent(
) == 0: #Yes I hate myself for this crude fix
self.btn_countdownStartStop.setText("Reset and Save Log")
os.system("espeak -v en+f3 \"sequence finished\" &")
self.countdownTimer.stop()
self.sequence.setStatus('abort')
self.countdownEvent()
self.label_countdownClock.setStyleSheet('color: #ff0000')
self.btn_countdownStartStop.setToolTip(
"Reset the countdown and save logging data to a file")
self.btn_countdownStartStop.setStyleSheet(
'background-color: #EEEEEE;')
# outputs set values
self.label_countdownClock.setText(self.countdownTimer.getTimeString())
self.servo_fuel.setPositionTargetPercent(
self.sequence.getFuelAtTime(self.countdownTimer.getTime()))
self.servo_oxidizer.setPositionTargetPercent(
self.sequence.getOxidizerAtTime(self.countdownTimer.getTime()))
self.igniter_arc.set(
self.sequence.getIgniterAtTime(self.countdownTimer.getTime()))
self.igniter_pyro.set(
self.sequence.getIgniterAtTime(self.countdownTimer.getTime()))
self.sequencePlot.redrawMarkers()
# update ui
self.checkbox_manualControlIgniter.setChecked(
self.sequence.getIgniterAtTime(self.countdownTimer.getTime()))
self.slider_manualControlFuel.setValue(
self.sequence.getFuelAtTime(self.countdownTimer.getTime()))
self.slider_manualControlOxidizer.setValue(
self.sequence.getOxidizerAtTime(self.countdownTimer.getTime()))
# sensors get values
self.loggingValues.append({
'Timestamp':
self.countdownTimer.getTime(),
'ServoFuelPercentageTarget':
self.servo_fuel.getPositionTargetPercent(),
'ServoOxidizerPercentageTarget':
self.servo_oxidizer.getPositionTargetPercent(),
'ServoFuelPercentageCurrent':
self.servo_fuel.getPositionCurrentPercent(),
'ServoOxidizerPercentageCurrent':
self.servo_oxidizer.getPositionCurrentPercent(),
'PressureFuel':
self.pressureSensor_fuel.getValue(),
'PressureOxidizer':
self.pressureSensor_oxidizer.getValue(),
'PressureChamber':
self.pressureSensor_chamber.getValue(),
'TemperatureChamber':
self.temperatureSensor_chamber.getValue(),
'Strain_data':
self.measure.read_data()
})
def manualControlEnable(self):
print("Manual Control Enabled")
os.system("espeak -v en+f3 -s 140 \"manuel override enable\" &")
self.checkbox_manualControl.setChecked(True)
self.btn_countdownStartStop.setEnabled(
False) # FIXME: doesn't do anything?!
self.checkbox_calibration.setEnabled(False)
self.calibrationDisable()
self.checkbox_manualControlIgniter.setEnabled(True)
self.slider_manualControlFuel.setEnabled(True)
self.slider_manualControlOxidizer.setEnabled(True)
self.servo_fuel.enable()
self.servo_oxidizer.enable()
def manualControlDisable(self):
print("Manual Control Disabled")
#os.system("espeak -v en+f3 -s 140 \"manuel override disabled\" &")
self.checkbox_manualControl.setChecked(False)
self.checkbox_manualControlIgniter.setEnabled(False)
self.checkbox_manualControlIgniter.setChecked(False)
self.slider_manualControlFuel.setEnabled(False)
self.slider_manualControlOxidizer.setEnabled(False)
self.manualControlIgniterDisable()
self.countdownEvent()
self.btn_countdownStartStop.setEnabled(True)
self.checkbox_calibration.setEnabled(True)
def manualControlEnableDisable(
self
): # TODO: rename to __checkbox_manualControl_onClick, same for other callbacks
if self.checkbox_manualControl.isChecked():
self.manualControlEnable()
else:
self.manualControlDisable()
def manualControlIgniterEnable(self):
print("Manual Igniter ON")
self.igniter_arc.set(True)
self.igniter_pyro.set(True)
def manualControlIgniterDisable(self):
print("Manual Igniter OFF")
self.igniter_arc.set(False)
self.igniter_pyro.set(False)
def manualControlIgniterEnableDisable(self):
if self.checkbox_manualControlIgniter.isChecked():
self.manualControlIgniterEnable()
else:
self.manualControlIgniterDisable()
def manualControlFuelChange(self):
self.servo_fuel.setPositionTargetPercent(
self.slider_manualControlFuel.value())
self.label_manualControlFuel.setText(
"Fuel Target: %3d%% Fuel Currently: %3d%% Fuel Pressure: %2.1fbar"
% (self.servo_fuel.getPositionTargetPercent(),
self.servo_fuel.getPositionCurrentPercent(),
self.pressureSensor_fuel.getValue()))
def manualControlOxidizerChange(self):
self.servo_oxidizer.setPositionTargetPercent(
self.slider_manualControlOxidizer.value())
self.label_manualControlOxidizer.setText(
"Oxidizer Target: %3d%% Oxidizer Currently: %3d%% Oxidizer Pressure: %2.1fbar"
% (self.servo_oxidizer.getPositionTargetPercent(),
self.servo_oxidizer.getPositionCurrentPercent(),
self.pressureSensor_oxidizer.getValue()))
def calibrationEnable(self):
print("Calibration Mode Enabled")
self.btn_countdownStartStop.setEnabled(False)
self.checkbox_manualControl.setEnabled(False)
self.manualControlDisable()
self.checkbox_calibration.setChecked(True)
self.spinbox_cal_fuel.setEnabled(True)
self.spinbox_cal_oxidizer.setEnabled(True)
self.btn_cal_fuel_min.setEnabled(True)
self.btn_cal_fuel_max.setEnabled(True)
self.btn_cal_oxidizer_min.setEnabled(True)
self.btn_cal_oxidizer_max.setEnabled(True)
self.servo_fuel.enable()
self.servo_oxidizer.enable()
def calibrationDisable(self):
print("Calibration Mode Disabled")
self.checkbox_calibration.setChecked(False)
self.spinbox_cal_fuel.setEnabled(False)
self.spinbox_cal_oxidizer.setEnabled(False)
self.btn_cal_fuel_min.setEnabled(False)
self.btn_cal_fuel_max.setEnabled(False)
self.btn_cal_oxidizer_min.setEnabled(False)
self.btn_cal_oxidizer_max.setEnabled(False)
self.countdownEvent()
self.btn_countdownStartStop.setEnabled(True)
self.checkbox_manualControl.setEnabled(True)
def calibrationEnableDisable(self):
if self.checkbox_calibration.isChecked():
self.calibrationEnable()
else:
self.calibrationDisable()
def calFuelValueChanged(self):
if self.checkbox_calibration.isChecked():
self.servo_fuel.setPositionTargetUs(self.spinbox_cal_fuel.value())
def calOxidizerValueChanged(self):
if self.checkbox_calibration.isChecked():
self.servo_oxidizer.setPositionTargetUs(
self.spinbox_cal_oxidizer.value())
def calFuelSetMin(self):
if self.checkbox_calibration.isChecked():
self.servo_fuel.calMin()
self.label_cal_fuel.setText(
"Fuel (min=%dus, max=%dus)" %
(self.servo_fuel.getMinUs(), self.servo_fuel.getMaxUs()))
def calFuelSetMax(self):
if self.checkbox_calibration.isChecked():
self.servo_fuel.calMax()
self.label_cal_fuel.setText(
"Fuel (min=%dus, max=%dus)" %
(self.servo_fuel.getMinUs(), self.servo_fuel.getMaxUs()))
def calOxidizerSetMin(self):
if self.checkbox_calibration.isChecked():
self.servo_oxidizer.calMin()
self.label_cal_oxidizer.setText("Oxidizer (min=%dus, max=%dus)" %
(self.servo_oxidizer.getMinUs(),
self.servo_oxidizer.getMaxUs()))
def calOxidizerSetMax(self):
if self.checkbox_calibration.isChecked():
self.servo_oxidizer.calMax()
self.label_cal_oxidizer.setText("Oxidizer (min=%dus, max=%dus)" %
(self.servo_oxidizer.getMinUs(),
self.servo_oxidizer.getMaxUs()))
def setUp(self):
self.igniter = Igniter('ping localhost', '/tmp/')
self.process = subprocess.Popen(['ping', 'localhost'], shell=False, stdout=subprocess.PIPE)
