class MainWindow(QW.QMainWindow, interface_Main.Ui_MainWindow):
def __init__(self):
super(QW.QMainWindow, self).__init__()
self.setupUi(self)
# set up dynamic figures
self.widget_2.scale = 2.0
for key in self.widget_5.figs.keys(
): # set the title of foot end force figures to LFX, LFY, LFZ, ...
if key[-1] == 'D': self.widget_5.figs[key].setTitle(key[:2] + 'Y')
if key[-1] == 'K': self.widget_5.figs[key].setTitle(key[:2] + 'Z')
# set up attributes
self.client = Client()
self.connected = False
self.dialpose = DialogPose()
self.dialpose.accepted.connect(self.on_dialpose_accepted)
self.prot = Protocol()
self.sens = self.prot.sens
self.stat = self.prot.stat
self.comd = self.prot.comd
self.para = self.prot.para
self.datashow = SensorPackage(buflen_max=25)
# set up timers
self.timer0 = QC.QTimer() # Check connection state
self.timer1 = QC.QTimer() # Communication (receive data)
self.timer0.timeout.connect(self.checkConnection)
self.timer1.timeout.connect(self.hear)
self.timer0.start(
1000
) # check connection state every 1 second, start as soon as the UI is launched
self.timer1.setInterval(40)
########## set up slots ##########
##### connection #####
@pyqtSlot()
def on_pushButton_5_clicked(self):
""" connect """
self.client.serverIP = self.lineEdit_7.text()
self.client.open()
self.checkConnection()
@pyqtSlot()
def on_pushButton_6_clicked(self):
""" disconnect """
self.client.close()
self.checkConnection()
######################
##### parameter setting #####
@pyqtSlot()
def on_pushButton_3_clicked(self):
""" pop out the dialog for parameter setting """
self.dialpose.para.decode('copy', datacopy=self.para.data)
self.dialpose.set_text()
self.dialpose.show()
@pyqtSlot(
) # no reponse using @pyqtSlot, do not know why..., so this function is explicitly connected to self.dialpose
def on_dialpose_accepted(self):
""" save and send out the parameters if the 'save' button is clicked """
self.para.decode('copy', datacopy=self.dialpose.para.data)
self.para.save()
self.client.send(self.prot.collect(typ=0x04, ack=0x04))
#############################
##### command buttons #####
@pyqtSlot()
def on_pushButton_11_clicked(self):
""" send walk gait command """
self.comd.switch, self.comd.gait, self.comd.rc = 0x00, 0x01, 0x00
self.client.send(self.prot.collect(typ=0x03, ack=0x02))
###########################
##### figure tab #####
@pyqtSlot(int)
def on_tabWidget_currentChanged(self):
self.update_figure_1()
@pyqtSlot(int)
def on_tabWidget_2_currentChanged(self):
self.update_figure_2()
######################
########## other methods ##########
def checkConnection(self):
connected = self.client.get_connection_state()
connection_changed = self.connected != connected
self.connected = connected
if connection_changed and connected:
self.sens = self.prot.sens = SensorPackage(
) # if reconnected, new log files are created and old buffers are dumped
self.timer1.start()
print("Start hearing ...")
self.label_9.setText('Connected')
elif connection_changed and not connected:
self.timer1.stop()
print("Hearing over. Total %i frames heard." % self.prot.cnt)
self.label_9.setText('Disconnected')
def hear(self):
last_cnt = self.prot.cnt
# self.client.interact(self.prot.process) # this do not dump any frame
self.prot.distrib(self.client.recv(
)) # this returns the newest frame and dump the others
if self.prot.cnt > last_cnt:
if self.prot.cnt % 5 == 0:
self.update_figdata(
) # set different update frequencies and phases to stagger these time-consuming operations
if self.prot.cnt % 5 == 1:
self.update_figure_2(
) # meter figures should update more frequently to look smooth
if self.prot.cnt % 15 == 3: self.update_figure_1()
def update_figdata(self):
""" update figure data (only data, not figure) """
if not self.sens.checkBufferEmpty():
self.datashow.decode('copy', datacopy=self.sens.filter())
if self.datashow.checkBufferFull(): self.datashow.bufferShift()
self.datashow.bufferIn()
def update_figure_1(self):
""" refresh curve figures """
if not self.datashow.checkBufferEmpty():
buf = self.datashow.bufferGet()
idx = self.tabWidget.currentIndex()
if idx == 0: self.widget.update(buf['forc_time'], buf['forc'])
elif idx == 1: self.widget_4.update(buf['disp_time'], buf['disp'])
elif idx == 2: self.widget_5.update(buf['foot_time'], buf['foot'])
def update_figure_2(self):
""" refresh meter figures """
if not self.datashow.checkBufferEmpty():
frame = self.datashow.last()
idx = self.tabWidget_2.currentIndex()
if idx == 0:
self.widget_3.update(*frame['imu'][0])
self.widget_2.update(*frame['imu'][1])
elif idx == 1:
pass