| 1 | #!/usr/bin/env python |
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| 2 | # -*- coding: utf-8 -*- |
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| 3 | # |
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| 4 | # Puzzlebox - Brainstorms - Client Interface - Qt |
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| 5 | # |
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| 6 | # Copyright Puzzlebox Productions, LLC (2010) |
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| 7 | # |
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| 8 | # This code is released under the GNU Pulic License (GPL) version 2 |
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| 9 | # For more information please refer to http://www.gnu.org/copyleft/gpl.html |
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| 10 | |
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| 11 | __changelog__ = """\ |
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| 12 | Last Update: 2010.12.12 |
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| 13 | |
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| 14 | """ |
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| 15 | |
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| 16 | __todo__ = """ |
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| 17 | - ERROR: could not open port /dev/ttyUSB0: [Errno 13] Permission denied: '/dev/ttyUSB0' /dev/ttyUSB0 |
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| 18 | - ERROR: Could not configure port: (5, 'Input/output error') /dev/ttyS0 |
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| 19 | - server may not correctly handle multiple clients connected |
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| 20 | to an embedded Brainstorms server |
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| 21 | - add setting to configuration.ini for which helicopter command gets |
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| 22 | called when speed reaches threshold |
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| 23 | - disable autorepeating on shortcut keys |
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| 24 | - update configuration.ini file with settings entered into interface |
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| 25 | |
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| 26 | """ |
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| 27 | |
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| 28 | import os, sys |
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| 29 | import urllib |
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| 30 | |
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| 31 | if (sys.platform == 'win32'): |
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| 32 | DEFAULT_IMAGE_PATH = 'images' |
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| 33 | import _winreg as winreg |
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| 34 | import itertools |
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| 35 | import re |
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| 36 | import serial |
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| 37 | else: |
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| 38 | DEFAULT_IMAGE_PATH = '/usr/share/puzzlebox_brainstorms/images' |
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| 39 | import bluetooth |
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| 40 | os.chdir('/usr/share/puzzlebox_brainstorms') |
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| 41 | |
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| 42 | try: |
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| 43 | import PySide as PyQt4 |
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| 44 | from PySide import QtCore, QtGui, QtNetwork |
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| 45 | except: |
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| 46 | print "Using PyQt4 module" |
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| 47 | from PyQt4 import QtCore, QtGui, QtNetwork |
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| 48 | else: |
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| 49 | print "Using PySide module" |
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| 50 | |
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| 51 | #from PyQt4 import QtCore, QtGui, QtNetwork |
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| 52 | #from PySide import QtCore, QtGui, QtNetwork |
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| 53 | |
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| 54 | from Interface_Design import Ui_Form as Design |
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| 55 | |
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| 56 | import simplejson as json |
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| 57 | |
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| 58 | import Configuration as configuration |
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| 59 | import Client as brainstorms_client |
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| 60 | import Puzzlebox.Brainstorms.ThinkGear.Client as thinkgear_client |
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| 61 | import Helicopter_Control as helicopter_control |
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| 62 | import Wheelchair_Control as wheelchair_control |
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| 63 | #import puzzlebox_logger |
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| 64 | |
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| 65 | ##################################################################### |
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| 66 | # Globals |
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| 67 | ##################################################################### |
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| 68 | |
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| 69 | DEBUG = 1 |
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| 70 | |
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| 71 | THINKGEAR_POWER_THRESHOLDS = configuration.THINKGEAR_POWER_THRESHOLDS |
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| 72 | |
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| 73 | BLUETOOTH_DEVICE = configuration.NXT_BLUETOOTH_DEVICE |
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| 74 | |
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| 75 | NXT_BLUETOOTH_DEVICE = configuration.NXT_BLUETOOTH_DEVICE |
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| 76 | |
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| 77 | DEFAULT_NXT_POWER_LEVEL = configuration.DEFAULT_NXT_POWER_LEVEL |
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| 78 | |
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| 79 | THINKGEAR_SERVER_HOST = configuration.THINKGEAR_SERVER_HOST |
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| 80 | THINKGEAR_SERVER_PORT = configuration.THINKGEAR_SERVER_PORT |
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| 81 | |
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| 82 | BRAINSTORMS_FEEDBACK_URL = 'http://brainstorms.puzzlebox.info/contact_cgi.php' |
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| 83 | |
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| 84 | DEVICE_PATH = '/dev' |
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| 85 | PATH_TO_HCITOOL = '/usr/bin/hcitool' |
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| 86 | |
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| 87 | ##################################################################### |
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| 88 | # Classes |
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| 89 | ##################################################################### |
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| 90 | |
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| 91 | class puzzlebox_brainstorms_client_interface(QtGui.QWidget, Design): |
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| 92 | |
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| 93 | def __init__(self, log, server=None, DEBUG=DEBUG, parent = None): |
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| 94 | |
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| 95 | self.log = log |
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| 96 | self.DEBUG = DEBUG |
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| 97 | |
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| 98 | QtGui.QWidget.__init__(self, parent) |
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| 99 | self.setupUi(self) |
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| 100 | |
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| 101 | self.configureSettings() |
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| 102 | self.connectWidgets() |
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| 103 | |
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| 104 | self.name = "Brainstorms Interface" |
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| 105 | |
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| 106 | self.brainstormsServer = server |
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| 107 | self.brainstormsClient = None |
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| 108 | |
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| 109 | self.helicopter = None |
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| 110 | self.wheelchair = None |
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| 111 | |
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| 112 | self.drive_state = 'stop_motors' |
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| 113 | self.current_speed = 0 |
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| 114 | |
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| 115 | self.current_helicopter_state = 'neutral' |
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| 116 | |
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| 117 | |
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| 118 | ################################################################## |
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| 119 | |
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| 120 | def configureSettings(self): |
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| 121 | |
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| 122 | # Brainstorms Interface |
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| 123 | |
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| 124 | image_path = "puzzlebox.ico" |
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| 125 | if not os.path.exists(image_path): |
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| 126 | image_path = os.path.join(DEFAULT_IMAGE_PATH, image_path) |
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| 127 | |
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| 128 | if os.path.exists(image_path): |
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| 129 | icon = QtGui.QIcon() |
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| 130 | icon.addPixmap(QtGui.QPixmap(image_path), \ |
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| 131 | QtGui.QIcon.Normal, \ |
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| 132 | QtGui.QIcon.Off) |
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| 133 | self.setWindowIcon(icon) |
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| 134 | |
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| 135 | image_path = "puzzlebox_logo.png" |
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| 136 | if not os.path.exists(image_path): |
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| 137 | image_path = os.path.join(DEFAULT_IMAGE_PATH, image_path) |
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| 138 | if os.path.exists(image_path): |
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| 139 | self.labelPuzzlebox.setPixmap(QtGui.QPixmap(image_path)) |
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| 140 | |
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| 141 | self.pushButtonTurnLeft.setEnabled(False) |
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| 142 | self.pushButtonForward.setEnabled(False) |
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| 143 | self.pushButtonTurnRight.setEnabled(False) |
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| 144 | self.pushButtonTurnLeftReverse.setEnabled(False) |
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| 145 | self.pushButtonReverse.setEnabled(False) |
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| 146 | self.pushButtonTurnRightReverse.setEnabled(False) |
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| 147 | |
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| 148 | self.pushButtonConcentrationEnable.setDown(True) |
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| 149 | self.pushButtonRelaxationEnable.setDown(True) |
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| 150 | self.pushButtonSpeedEnable.setDown(True) |
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| 151 | |
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| 152 | |
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| 153 | # Search for available Serial and Bluetooth devices |
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| 154 | self.searchForDevices() |
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| 155 | |
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| 156 | |
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| 157 | # LEGO Mindstorms |
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| 158 | self.textLabelNXTStatus.setText("Status: Disconnected") |
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| 159 | |
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| 160 | # Display communication port for LEGO Mindstorms NXT device |
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| 161 | #self.lineEditNXTPort.setText(NXT_BLUETOOTH_DEVICE) |
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| 162 | self.comboBoxNXTPortSelect.setEnabled(True) |
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| 163 | |
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| 164 | |
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| 165 | # RC Helicopter |
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| 166 | self.textLabelHelicopterStatus.setText("Status: Disconnected") |
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| 167 | |
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| 168 | |
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| 169 | # Wheelchair |
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| 170 | self.textLabelWheelchairStatus.setText("Status: Disconnected") |
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| 171 | |
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| 172 | |
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| 173 | # Control Panel |
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| 174 | |
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| 175 | # Display Host for ThinkGear Connect Socket Server |
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| 176 | self.lineEditThinkGearHost.setText(THINKGEAR_SERVER_HOST) |
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| 177 | #self.lineEditThinkGearHost.setEnabled(False) |
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| 178 | |
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| 179 | # Display Port for ThinkGear Connect Socket Server |
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| 180 | self.lineEditThinkGearPort.setText('%i' % THINKGEAR_SERVER_PORT) |
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| 181 | #self.lineEditThinkGearPort.setEnabled(False) |
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| 182 | |
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| 183 | |
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| 184 | self.lineEditLeftMotorPort.setText( \ |
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| 185 | configuration.NXT_MOTOR_PORT_LEFT.upper() ) |
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| 186 | self.lineEditRightMotorPort.setText( \ |
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| 187 | configuration.NXT_MOTOR_PORT_RIGHT.upper() ) |
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| 188 | self.checkBoxMotorSpinReversed.setChecked( \ |
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| 189 | configuration.NXT_MOTORS_MOUNTED_BACKWARDS) |
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| 190 | |
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| 191 | |
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| 192 | ################################################################## |
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| 193 | |
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| 194 | def getMinimumThreshold(self, threshold): |
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| 195 | |
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| 196 | '''Return the minimum detection level which results |
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| 197 | in a non-zero power setting''' |
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| 198 | |
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| 199 | minimum = 100 |
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| 200 | |
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| 201 | threshold_keys = threshold.keys() |
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| 202 | threshold_keys.sort() |
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| 203 | threshold_keys.reverse() |
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| 204 | |
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| 205 | for key in threshold_keys: |
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| 206 | |
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| 207 | if ((threshold[key] < minimum) and \ |
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| 208 | (threshold[key] > 0)): |
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| 209 | minimum = key |
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| 210 | |
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| 211 | |
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| 212 | return(minimum) |
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| 213 | |
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| 214 | |
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| 215 | ################################################################## |
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| 216 | |
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| 217 | def configureNetworkBrainstorms(self): |
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| 218 | |
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| 219 | bluetooth_device = str(self.comboBoxNXTPortSelect.currentText()) |
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| 220 | |
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| 221 | self.brainstormsClient = \ |
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| 222 | brainstorms_client.puzzlebox_brainstorms_network_client( \ |
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| 223 | self.log, \ |
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| 224 | bluetooth_device=bluetooth_device, \ |
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| 225 | parent=self) |
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| 226 | |
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| 227 | self.brainstormsClient.sendCommand('connect', \ |
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| 228 | bluetooth_device=bluetooth_device) |
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| 229 | |
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| 230 | |
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| 231 | ################################################################## |
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| 232 | |
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| 233 | def connectToBrainstormsServer(self): |
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| 234 | |
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| 235 | # Prevent attempting to connect to a device which does not exist |
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| 236 | device = str(self.comboBoxNXTPortSelect.currentText()) |
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| 237 | if device == 'N/A': |
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| 238 | self.pushButtonNXTConnect.setChecked(False) |
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| 239 | return |
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| 240 | if (sys.platform != 'win32'): |
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| 241 | if ((not device.startswith(DEVICE_PATH)) or \ |
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| 242 | (not os.path.exists(device))): |
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| 243 | self.searchForDevices() |
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| 244 | self.pushButtonNXTConnect.setChecked(False) |
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| 245 | return |
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| 246 | |
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| 247 | |
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| 248 | if self.DEBUG: |
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| 249 | print "<---- [%s] Connecting to Brainstorms Server" % self.name |
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| 250 | |
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| 251 | self.configureNetworkBrainstorms() |
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| 252 | |
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| 253 | #if (self.brainstormsClient.socket.state() != QtNetwork.QAbstractSocket.ConnectedState): |
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| 254 | #QtGui.QMessageBox.information(self, \ |
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| 255 | #self.brainstormsClient.socket.name, \ |
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| 256 | #"Failed to connect to Brainstorms socket server") |
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| 257 | |
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| 258 | #else: |
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| 259 | self.disconnect(self.pushButtonNXTConnect, \ |
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| 260 | QtCore.SIGNAL("clicked()"), \ |
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| 261 | self.connectToBrainstormsServer) |
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| 262 | |
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| 263 | self.connect(self.pushButtonNXTConnect, \ |
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| 264 | QtCore.SIGNAL("clicked()"), \ |
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| 265 | self.disconnectFromBrainstormsServer) |
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| 266 | |
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| 267 | self.textLabelNXTStatus.setText("Status: Connected") |
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| 268 | self.pushButtonNXTConnect.setText('Disconnect') |
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| 269 | |
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| 270 | self.comboBoxNXTPortSelect.setEnabled(False) |
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| 271 | self.pushButtonNXTSearch.setEnabled(False) |
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| 272 | |
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| 273 | self.pushButtonTurnLeft.setEnabled(True) |
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| 274 | self.pushButtonForward.setEnabled(True) |
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| 275 | self.pushButtonTurnRight.setEnabled(True) |
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| 276 | self.pushButtonTurnLeftReverse.setEnabled(True) |
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| 277 | self.pushButtonReverse.setEnabled(True) |
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| 278 | self.pushButtonTurnRightReverse.setEnabled(True) |
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| 279 | |
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| 280 | self.pushButtonNXTMessageOne.setEnabled(True) |
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| 281 | self.pushButtonNXTMessageTwo.setEnabled(True) |
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| 282 | self.pushButtonNXTMessageThree.setEnabled(True) |
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| 283 | self.pushButtonNXTMessageFour.setEnabled(True) |
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| 284 | self.pushButtonNXTMessageFive.setEnabled(True) |
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| 285 | self.pushButtonNXTMessageSix.setEnabled(True) |
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| 286 | |
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| 287 | self.pushButtonConcentrationEnable.setEnabled(True) |
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| 288 | self.pushButtonRelaxationEnable.setEnabled(True) |
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| 289 | self.pushButtonSpeedEnable.setEnabled(True) |
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| 290 | |
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| 291 | self.pushButtonMessageOne.setEnabled(True) |
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| 292 | self.pushButtonMessageTwo.setEnabled(True) |
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| 293 | self.pushButtonMessageThree.setEnabled(True) |
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| 294 | self.pushButtonMessageFour.setEnabled(True) |
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| 295 | self.pushButtonMessageFive.setEnabled(True) |
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| 296 | self.pushButtonMessageSix.setEnabled(True) |
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| 297 | |
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| 298 | |
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| 299 | ################################################################## |
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| 300 | |
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| 301 | def disconnectFromBrainstormsServer(self): |
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| 302 | |
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| 303 | if self.DEBUG: |
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| 304 | print "- - [%s] Disconnecting from Brainstorms Server" % self.name |
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| 305 | |
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| 306 | self.stopMotors() |
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| 307 | |
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| 308 | # Ensure the stopMotors command has been received by the server |
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| 309 | # so the NXT robot will stop before the client disconnects |
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| 310 | self.brainstormsClient.socket.flush() |
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| 311 | |
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| 312 | self.brainstormsClient.socket.disconnectFromHost() |
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| 313 | |
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| 314 | self.disconnect(self.pushButtonNXTConnect, \ |
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| 315 | QtCore.SIGNAL("clicked()"), \ |
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| 316 | self.disconnectFromBrainstormsServer) |
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| 317 | |
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| 318 | self.connect(self.pushButtonNXTConnect, \ |
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| 319 | QtCore.SIGNAL("clicked()"), \ |
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| 320 | self.connectToBrainstormsServer) |
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| 321 | |
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| 322 | self.textLabelNXTStatus.setText("Status: Disconnected") |
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| 323 | self.pushButtonNXTConnect.setText('Connect') |
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| 324 | |
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| 325 | self.comboBoxNXTPortSelect.setEnabled(True) |
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| 326 | self.pushButtonNXTSearch.setEnabled(True) |
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| 327 | |
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| 328 | self.pushButtonTurnLeft.setEnabled(False) |
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| 329 | self.pushButtonForward.setEnabled(False) |
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| 330 | self.pushButtonTurnRight.setEnabled(False) |
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| 331 | self.pushButtonTurnLeftReverse.setEnabled(False) |
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| 332 | self.pushButtonReverse.setEnabled(False) |
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| 333 | self.pushButtonTurnRightReverse.setEnabled(False) |
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| 334 | |
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| 335 | self.pushButtonNXTMessageOne.setEnabled(False) |
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| 336 | self.pushButtonNXTMessageTwo.setEnabled(False) |
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| 337 | self.pushButtonNXTMessageThree.setEnabled(False) |
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| 338 | self.pushButtonNXTMessageFour.setEnabled(False) |
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| 339 | self.pushButtonNXTMessageFive.setEnabled(False) |
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| 340 | self.pushButtonNXTMessageSix.setEnabled(False) |
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| 341 | |
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| 342 | self.pushButtonConcentrationEnable.setEnabled(False) |
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| 343 | self.pushButtonRelaxationEnable.setEnabled(False) |
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| 344 | self.pushButtonSpeedEnable.setEnabled(False) |
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| 345 | |
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| 346 | self.pushButtonMessageOne.setEnabled(False) |
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| 347 | self.pushButtonMessageTwo.setEnabled(False) |
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| 348 | self.pushButtonMessageThree.setEnabled(False) |
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| 349 | self.pushButtonMessageFour.setEnabled(False) |
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| 350 | self.pushButtonMessageFive.setEnabled(False) |
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| 351 | self.pushButtonMessageSix.setEnabled(False) |
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| 352 | |
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| 353 | self.brainstormsClient = None |
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| 354 | |
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| 355 | self.searchForDevices() |
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| 356 | |
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| 357 | |
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| 358 | ################################################################## |
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| 359 | |
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| 360 | def connectToThinkGearHost(self): |
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| 361 | |
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| 362 | if self.DEBUG: |
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| 363 | print "Connecting to ThinkGear Host" |
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| 364 | |
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| 365 | server_host = str(self.lineEditThinkGearHost.text()) |
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| 366 | server_port = int(self.lineEditThinkGearPort.text()) |
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| 367 | |
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| 368 | self.thinkgearClient = \ |
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| 369 | thinkgear_client.puzzlebox_brainstorms_network_client_thinkgear( \ |
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| 370 | self.log, \ |
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| 371 | server_host=server_host, \ |
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| 372 | server_port=server_port, \ |
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| 373 | DEBUG=0, \ |
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| 374 | parent=self) |
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| 375 | |
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| 376 | if (self.thinkgearClient.socket.state() != QtNetwork.QAbstractSocket.ConnectedState): |
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| 377 | QtGui.QMessageBox.information(self, \ |
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| 378 | self.thinkgearClient.socket.name, \ |
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| 379 | "Failed to connect to ThinkGear socket server") |
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| 380 | |
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| 381 | else: |
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| 382 | self.disconnect(self.pushButtonThinkGearConnect, \ |
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| 383 | QtCore.SIGNAL("clicked()"), \ |
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| 384 | self.connectToThinkGearHost) |
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| 385 | |
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| 386 | self.connect(self.pushButtonThinkGearConnect, \ |
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| 387 | QtCore.SIGNAL("clicked()"), \ |
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| 388 | self.disconnectFromThinkGearHost) |
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| 389 | |
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| 390 | self.pushButtonThinkGearConnect.setText('Disconnect') |
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| 391 | |
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| 392 | self.comboBoxEEGHeadsetModel.setEnabled(False) |
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| 393 | self.comboBoxEEGSource.setEnabled(False) |
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| 394 | self.lineEditThinkGearHost.setEnabled(False) |
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| 395 | self.lineEditThinkGearPort.setEnabled(False) |
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| 396 | |
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| 397 | |
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| 398 | ################################################################## |
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| 399 | |
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| 400 | def disconnectFromThinkGearHost(self): |
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| 401 | |
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| 402 | if self.DEBUG: |
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| 403 | print "Disconnecting from ThinkGear Host" |
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| 404 | |
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| 405 | self.thinkgearClient.disconnectFromHost() |
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| 406 | |
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| 407 | self.disconnect(self.pushButtonThinkGearConnect, \ |
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| 408 | QtCore.SIGNAL("clicked()"), \ |
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| 409 | self.disconnectFromThinkGearHost) |
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| 410 | |
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| 411 | self.connect(self.pushButtonThinkGearConnect, \ |
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| 412 | QtCore.SIGNAL("clicked()"), \ |
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| 413 | self.connectToThinkGearHost) |
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| 414 | |
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| 415 | self.pushButtonForward.emit(QtCore.SIGNAL("released()")) |
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| 416 | |
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| 417 | self.pushButtonThinkGearConnect.setText('Connect') |
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| 418 | |
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| 419 | self.comboBoxEEGHeadsetModel.setEnabled(True) |
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| 420 | self.comboBoxEEGSource.setEnabled(True) |
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| 421 | self.lineEditThinkGearHost.setEnabled(True) |
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| 422 | self.lineEditThinkGearPort.setEnabled(True) |
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| 423 | |
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| 424 | self.progressBarConcentration.setValue(0) |
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| 425 | self.progressBarRelaxation.setValue(0) |
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| 426 | self.progressBarSpeed.setValue(0) |
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| 427 | |
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| 428 | self.progressBarHelicopterConcentration.setValue(0) |
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| 429 | self.progressBarHelicopterRelaxation.setValue(0) |
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| 430 | self.progressBarHelicopterSpeed.setValue(0) |
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| 431 | |
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| 432 | self.progressBarWheelchairConcentration.setValue(0) |
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| 433 | self.progressBarWheelchairRelaxation.setValue(0) |
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| 434 | self.progressBarWheelchairSpeed.setValue(0) |
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| 435 | |
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| 436 | |
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| 437 | ################################################################## |
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| 438 | |
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| 439 | def connectToRCHelicopter(self): |
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| 440 | |
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| 441 | # Prevent attempting to connect to a device which does not exist |
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| 442 | device = str(self.comboBoxHelicopterPortSelect.currentText()) |
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| 443 | if device == 'N/A': |
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| 444 | self.pushButtonHelicopterConnect.setChecked(False) |
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| 445 | return |
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| 446 | if (sys.platform != 'win32'): |
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| 447 | if ((not device.startswith(DEVICE_PATH)) or \ |
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| 448 | (not os.path.exists(device))): |
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| 449 | self.searchForDevices() |
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| 450 | self.pushButtonHelicopterConnect.setChecked(False) |
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| 451 | return |
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| 452 | |
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| 453 | self.helicopter = \ |
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| 454 | helicopter_control.puzzlebox_brainstorms_helicopter_control( \ |
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| 455 | device_address=device, |
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| 456 | command='neutral', \ |
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| 457 | DEBUG=self.DEBUG) |
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| 458 | |
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| 459 | self.helicopter.start() |
|---|
| 460 | |
|---|
| 461 | self.disconnect(self.pushButtonHelicopterConnect, \ |
|---|
| 462 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 463 | self.connectToRCHelicopter) |
|---|
| 464 | |
|---|
| 465 | self.connect(self.pushButtonHelicopterConnect, \ |
|---|
| 466 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 467 | self.disconnectFromRCHelicopter) |
|---|
| 468 | |
|---|
| 469 | self.pushButtonHelicopterConnect.setText('Disconnect') |
|---|
| 470 | |
|---|
| 471 | self.comboBoxHelicopterTransmitter.setEnabled(False) |
|---|
| 472 | self.comboBoxHelicopterPortSelect.setEnabled(False) |
|---|
| 473 | self.pushButtonHelicopterSearch.setEnabled(False) |
|---|
| 474 | |
|---|
| 475 | self.pushButtonHelicopterHover.setEnabled(True) |
|---|
| 476 | self.pushButtonHelicopterFlyForward.setEnabled(True) |
|---|
| 477 | self.pushButtonHelicopterLand.setEnabled(True) |
|---|
| 478 | self.pushButtonHelicopterThrottle.setEnabled(True) |
|---|
| 479 | self.verticalSliderHelicopterThrottle.setEnabled(True) |
|---|
| 480 | self.pushButtonHelicopterElevatorForward.setEnabled(True) |
|---|
| 481 | self.verticalSliderHelicopterElevatorForward.setEnabled(True) |
|---|
| 482 | self.pushButtonHelicopterElevatorReverse.setEnabled(True) |
|---|
| 483 | self.verticalSliderHelicopterElevatorReverse.setEnabled(True) |
|---|
| 484 | self.pushButtonHelicopterRudderLeft.setEnabled(True) |
|---|
| 485 | self.horizontalSliderHelicopterRudderLeft.setEnabled(True) |
|---|
| 486 | self.pushButtonHelicopterRudderRight.setEnabled(True) |
|---|
| 487 | self.horizontalSliderHelicopterRudderRight.setEnabled(True) |
|---|
| 488 | self.pushButtonHelicopterAileronLeft.setEnabled(True) |
|---|
| 489 | self.horizontalSliderHelicopterAileronLeft.setEnabled(True) |
|---|
| 490 | self.pushButtonHelicopterAileronRight.setEnabled(True) |
|---|
| 491 | self.horizontalSliderHelicopterAileronRight.setEnabled(True) |
|---|
| 492 | |
|---|
| 493 | self.pushButtonHelicopterConcentrationEnable.setEnabled(True) |
|---|
| 494 | self.pushButtonHelicopterRelaxationEnable.setEnabled(True) |
|---|
| 495 | self.pushButtonHelicopterSpeedEnable.setEnabled(True) |
|---|
| 496 | |
|---|
| 497 | |
|---|
| 498 | ################################################################## |
|---|
| 499 | |
|---|
| 500 | def disconnectFromRCHelicopter(self): |
|---|
| 501 | |
|---|
| 502 | self.helicopter.neutral() |
|---|
| 503 | self.current_helicopter_state = 'neutral' |
|---|
| 504 | |
|---|
| 505 | self.helicopter.stop() |
|---|
| 506 | |
|---|
| 507 | self.disconnect(self.pushButtonHelicopterConnect, \ |
|---|
| 508 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 509 | self.disconnectFromRCHelicopter) |
|---|
| 510 | |
|---|
| 511 | self.connect(self.pushButtonHelicopterConnect, \ |
|---|
| 512 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 513 | self.connectToRCHelicopter) |
|---|
| 514 | |
|---|
| 515 | self.pushButtonHelicopterConnect.setText('Connect') |
|---|
| 516 | |
|---|
| 517 | self.comboBoxHelicopterTransmitter.setEnabled(True) |
|---|
| 518 | self.comboBoxHelicopterPortSelect.setEnabled(True) |
|---|
| 519 | self.pushButtonHelicopterSearch.setEnabled(True) |
|---|
| 520 | |
|---|
| 521 | self.pushButtonHelicopterHover.setEnabled(False) |
|---|
| 522 | self.pushButtonHelicopterFlyForward.setEnabled(False) |
|---|
| 523 | self.pushButtonHelicopterLand.setEnabled(False) |
|---|
| 524 | self.pushButtonHelicopterThrottle.setEnabled(False) |
|---|
| 525 | self.verticalSliderHelicopterThrottle.setEnabled(False) |
|---|
| 526 | self.pushButtonHelicopterElevatorForward.setEnabled(False) |
|---|
| 527 | self.verticalSliderHelicopterElevatorForward.setEnabled(False) |
|---|
| 528 | self.pushButtonHelicopterElevatorReverse.setEnabled(False) |
|---|
| 529 | self.verticalSliderHelicopterElevatorReverse.setEnabled(False) |
|---|
| 530 | self.pushButtonHelicopterRudderLeft.setEnabled(False) |
|---|
| 531 | self.horizontalSliderHelicopterRudderLeft.setEnabled(False) |
|---|
| 532 | self.pushButtonHelicopterRudderRight.setEnabled(False) |
|---|
| 533 | self.horizontalSliderHelicopterRudderRight.setEnabled(False) |
|---|
| 534 | self.pushButtonHelicopterAileronLeft.setEnabled(False) |
|---|
| 535 | self.horizontalSliderHelicopterAileronLeft.setEnabled(False) |
|---|
| 536 | self.pushButtonHelicopterAileronRight.setEnabled(False) |
|---|
| 537 | self.horizontalSliderHelicopterAileronRight.setEnabled(False) |
|---|
| 538 | |
|---|
| 539 | self.pushButtonHelicopterConcentrationEnable.setEnabled(False) |
|---|
| 540 | self.pushButtonHelicopterRelaxationEnable.setEnabled(False) |
|---|
| 541 | self.pushButtonHelicopterSpeedEnable.setEnabled(False) |
|---|
| 542 | |
|---|
| 543 | |
|---|
| 544 | ################################################################## |
|---|
| 545 | |
|---|
| 546 | def connectToWheelchair(self): |
|---|
| 547 | |
|---|
| 548 | # Prevent attempting to connect to a device which does not exist |
|---|
| 549 | device = str(self.comboBoxWheelchairPortSelect.currentText()) |
|---|
| 550 | if device == 'N/A': |
|---|
| 551 | self.pushButtonWheelchairConnect.setChecked(False) |
|---|
| 552 | return |
|---|
| 553 | if (sys.platform != 'win32'): |
|---|
| 554 | if ((not device.startswith(DEVICE_PATH)) or \ |
|---|
| 555 | (not os.path.exists(device))): |
|---|
| 556 | self.searchForDevices() |
|---|
| 557 | self.pushButtonWheelchairConnect.setChecked(False) |
|---|
| 558 | return |
|---|
| 559 | |
|---|
| 560 | self.wheelchair = \ |
|---|
| 561 | wheelchair_control.puzzlebox_brainstorms_wheelchair_control( \ |
|---|
| 562 | device_address=device, |
|---|
| 563 | command=None, \ |
|---|
| 564 | DEBUG=self.DEBUG) |
|---|
| 565 | |
|---|
| 566 | #self.wheelchair.start() |
|---|
| 567 | |
|---|
| 568 | self.disconnect(self.pushButtonWheelchairConnect, \ |
|---|
| 569 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 570 | self.connectToWheelchair) |
|---|
| 571 | |
|---|
| 572 | self.connect(self.pushButtonWheelchairConnect, \ |
|---|
| 573 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 574 | self.disconnectFromWheelchair) |
|---|
| 575 | |
|---|
| 576 | self.pushButtonWheelchairConnect.setText('Disconnect') |
|---|
| 577 | |
|---|
| 578 | self.comboBoxWheelchairTransmitter.setEnabled(False) |
|---|
| 579 | self.comboBoxWheelchairPortSelect.setEnabled(False) |
|---|
| 580 | self.pushButtonWheelchairSearch.setEnabled(False) |
|---|
| 581 | |
|---|
| 582 | self.pushButtonWheelchairForward.setEnabled(True) |
|---|
| 583 | self.pushButtonWheelchairReverse.setEnabled(True) |
|---|
| 584 | self.pushButtonWheelchairLeft.setEnabled(True) |
|---|
| 585 | self.pushButtonWheelchairRight.setEnabled(True) |
|---|
| 586 | self.pushButtonWheelchairStop.setEnabled(True) |
|---|
| 587 | self.dialWheelchairSpeed.setEnabled(True) |
|---|
| 588 | |
|---|
| 589 | self.pushButtonWheelchairConcentrationEnable.setEnabled(True) |
|---|
| 590 | self.pushButtonWheelchairRelaxationEnable.setEnabled(True) |
|---|
| 591 | self.pushButtonWheelchairSpeedEnable.setEnabled(True) |
|---|
| 592 | |
|---|
| 593 | # Safety Measure: Explicitely require wheelchair speed control |
|---|
| 594 | # to be enabled each time it wheelchair is connected |
|---|
| 595 | self.pushButtonWheelchairSpeedEnable.setChecked(False) |
|---|
| 596 | self.pushButtonWheelchairSpeedEnable.setText('Disabled') |
|---|
| 597 | self.progressBarWheelchairSpeed.setValue(0) |
|---|
| 598 | |
|---|
| 599 | |
|---|
| 600 | ################################################################## |
|---|
| 601 | |
|---|
| 602 | def disconnectFromWheelchair(self): |
|---|
| 603 | |
|---|
| 604 | self.stopWheelchair() |
|---|
| 605 | |
|---|
| 606 | #self.wheelchair.stop() |
|---|
| 607 | |
|---|
| 608 | self.disconnect(self.pushButtonWheelchairConnect, \ |
|---|
| 609 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 610 | self.disconnectFromWheelchair) |
|---|
| 611 | |
|---|
| 612 | self.connect(self.pushButtonWheelchairConnect, \ |
|---|
| 613 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 614 | self.connectToWheelchair) |
|---|
| 615 | |
|---|
| 616 | self.pushButtonWheelchairConnect.setText('Connect') |
|---|
| 617 | |
|---|
| 618 | self.comboBoxWheelchairTransmitter.setEnabled(True) |
|---|
| 619 | self.comboBoxWheelchairPortSelect.setEnabled(True) |
|---|
| 620 | self.pushButtonWheelchairSearch.setEnabled(True) |
|---|
| 621 | |
|---|
| 622 | self.pushButtonWheelchairForward.setEnabled(False) |
|---|
| 623 | self.pushButtonWheelchairReverse.setEnabled(False) |
|---|
| 624 | self.pushButtonWheelchairLeft.setEnabled(False) |
|---|
| 625 | self.pushButtonWheelchairRight.setEnabled(False) |
|---|
| 626 | self.pushButtonWheelchairStop.setEnabled(False) |
|---|
| 627 | self.dialWheelchairSpeed.setEnabled(False) |
|---|
| 628 | |
|---|
| 629 | self.pushButtonWheelchairConcentrationEnable.setEnabled(False) |
|---|
| 630 | self.pushButtonWheelchairRelaxationEnable.setEnabled(False) |
|---|
| 631 | self.pushButtonWheelchairSpeedEnable.setEnabled(False) |
|---|
| 632 | |
|---|
| 633 | # Safety Measure: Explicitely require wheelchair speed control |
|---|
| 634 | # to be enabled each time it wheelchair is connected |
|---|
| 635 | self.pushButtonWheelchairSpeedEnable.setChecked(False) |
|---|
| 636 | self.pushButtonWheelchairSpeedEnable.setText('Disabled') |
|---|
| 637 | self.progressBarWheelchairSpeed.setValue(0) |
|---|
| 638 | |
|---|
| 639 | |
|---|
| 640 | ################################################################## |
|---|
| 641 | |
|---|
| 642 | def updateConcentrationButton(self): |
|---|
| 643 | |
|---|
| 644 | if self.pushButtonConcentrationEnable.isChecked(): |
|---|
| 645 | |
|---|
| 646 | self.pushButtonConcentrationEnable.setText('Enabled') |
|---|
| 647 | |
|---|
| 648 | else: |
|---|
| 649 | |
|---|
| 650 | self.pushButtonConcentrationEnable.setText('Disabled') |
|---|
| 651 | self.progressBarConcentration.setValue(0) |
|---|
| 652 | |
|---|
| 653 | |
|---|
| 654 | self.updateSpeed() |
|---|
| 655 | |
|---|
| 656 | |
|---|
| 657 | ################################################################## |
|---|
| 658 | |
|---|
| 659 | def updateRelaxationButton(self): |
|---|
| 660 | |
|---|
| 661 | if self.pushButtonRelaxationEnable.isChecked(): |
|---|
| 662 | |
|---|
| 663 | self.pushButtonRelaxationEnable.setText('Enabled') |
|---|
| 664 | |
|---|
| 665 | else: |
|---|
| 666 | |
|---|
| 667 | self.pushButtonRelaxationEnable.setText('Disabled') |
|---|
| 668 | self.progressBarRelaxation.setValue(0) |
|---|
| 669 | |
|---|
| 670 | |
|---|
| 671 | self.updateNXTSpeed() |
|---|
| 672 | |
|---|
| 673 | |
|---|
| 674 | ################################################################## |
|---|
| 675 | |
|---|
| 676 | def updateSpeedButton(self): |
|---|
| 677 | |
|---|
| 678 | if self.pushButtonSpeedEnable.isChecked(): |
|---|
| 679 | |
|---|
| 680 | self.pushButtonSpeedEnable.setText('Enabled') |
|---|
| 681 | self.updateSpeed() |
|---|
| 682 | |
|---|
| 683 | else: |
|---|
| 684 | |
|---|
| 685 | self.pushButtonSpeedEnable.setText('Disabled') |
|---|
| 686 | self.progressBarSpeed.setValue(0) |
|---|
| 687 | self.stopMotors() |
|---|
| 688 | |
|---|
| 689 | |
|---|
| 690 | ################################################################## |
|---|
| 691 | |
|---|
| 692 | def updateHelicopterConcentrationButton(self): |
|---|
| 693 | |
|---|
| 694 | if self.pushButtonHelicopterConcentrationEnable.isChecked(): |
|---|
| 695 | |
|---|
| 696 | self.pushButtonHelicopterConcentrationEnable.setText('Enabled') |
|---|
| 697 | |
|---|
| 698 | else: |
|---|
| 699 | |
|---|
| 700 | self.pushButtonHelicopterConcentrationEnable.setText('Disabled') |
|---|
| 701 | self.progressBarHelicopterConcentration.setValue(0) |
|---|
| 702 | |
|---|
| 703 | |
|---|
| 704 | self.updateHelicopterSpeed() |
|---|
| 705 | |
|---|
| 706 | |
|---|
| 707 | ################################################################## |
|---|
| 708 | |
|---|
| 709 | def updateHelicopterRelaxationButton(self): |
|---|
| 710 | |
|---|
| 711 | if self.pushButtonHelicopterRelaxationEnable.isChecked(): |
|---|
| 712 | |
|---|
| 713 | self.pushButtonHelicopterRelaxationEnable.setText('Enabled') |
|---|
| 714 | |
|---|
| 715 | else: |
|---|
| 716 | |
|---|
| 717 | self.pushButtonHelicopterRelaxationEnable.setText('Disabled') |
|---|
| 718 | self.progressBarHelicopterRelaxation.setValue(0) |
|---|
| 719 | |
|---|
| 720 | |
|---|
| 721 | self.updateHelicopterSpeed() |
|---|
| 722 | |
|---|
| 723 | |
|---|
| 724 | ################################################################## |
|---|
| 725 | |
|---|
| 726 | def updateHelicopterSpeedButton(self): |
|---|
| 727 | |
|---|
| 728 | if self.pushButtonHelicopterSpeedEnable.isChecked(): |
|---|
| 729 | |
|---|
| 730 | self.pushButtonHelicopterSpeedEnable.setText('Enabled') |
|---|
| 731 | self.updateHelicopterSpeed() |
|---|
| 732 | |
|---|
| 733 | else: |
|---|
| 734 | |
|---|
| 735 | self.pushButtonHelicopterSpeedEnable.setText('Disabled') |
|---|
| 736 | self.progressBarHelicopterSpeed.setValue(0) |
|---|
| 737 | self.landHelicopter() |
|---|
| 738 | |
|---|
| 739 | |
|---|
| 740 | ################################################################## |
|---|
| 741 | |
|---|
| 742 | def updateWheelchairConcentrationButton(self): |
|---|
| 743 | |
|---|
| 744 | if self.pushButtonWheelchairConcentrationEnable.isChecked(): |
|---|
| 745 | |
|---|
| 746 | self.pushButtonWheelchairConcentrationEnable.setText('Enabled') |
|---|
| 747 | |
|---|
| 748 | else: |
|---|
| 749 | |
|---|
| 750 | self.pushButtonWheelchairConcentrationEnable.setText('Disabled') |
|---|
| 751 | self.progressBarWheelchairConcentration.setValue(0) |
|---|
| 752 | |
|---|
| 753 | |
|---|
| 754 | self.updateWheelchairSpeed() |
|---|
| 755 | |
|---|
| 756 | |
|---|
| 757 | ################################################################## |
|---|
| 758 | |
|---|
| 759 | def updateWheelchairRelaxationButton(self): |
|---|
| 760 | |
|---|
| 761 | if self.pushButtonWheelchairRelaxationEnable.isChecked(): |
|---|
| 762 | |
|---|
| 763 | self.pushButtonWheelchairRelaxationEnable.setText('Enabled') |
|---|
| 764 | |
|---|
| 765 | else: |
|---|
| 766 | |
|---|
| 767 | self.pushButtonWheelchairRelaxationEnable.setText('Disabled') |
|---|
| 768 | self.progressBarWheelchairRelaxation.setValue(0) |
|---|
| 769 | |
|---|
| 770 | |
|---|
| 771 | self.updateWheelchairSpeed() |
|---|
| 772 | |
|---|
| 773 | |
|---|
| 774 | ################################################################## |
|---|
| 775 | |
|---|
| 776 | def updateWheelchairSpeedButton(self): |
|---|
| 777 | |
|---|
| 778 | if self.pushButtonWheelchairSpeedEnable.isChecked(): |
|---|
| 779 | |
|---|
| 780 | self.pushButtonWheelchairSpeedEnable.setText('Enabled') |
|---|
| 781 | self.updateWheelchairSpeed() |
|---|
| 782 | |
|---|
| 783 | else: |
|---|
| 784 | |
|---|
| 785 | self.pushButtonWheelchairSpeedEnable.setText('Disabled') |
|---|
| 786 | self.progressBarWheelchairSpeed.setValue(0) |
|---|
| 787 | self.stopWheelchair() |
|---|
| 788 | |
|---|
| 789 | |
|---|
| 790 | ################################################################## |
|---|
| 791 | |
|---|
| 792 | def connectWidgets(self): |
|---|
| 793 | |
|---|
| 794 | # LEGO Mindstorms Buttons |
|---|
| 795 | self.connect(self.pushButtonTurnLeft, QtCore.SIGNAL("pressed()"), \ |
|---|
| 796 | self.turnLeft) |
|---|
| 797 | self.connect(self.pushButtonTurnLeft, QtCore.SIGNAL("released()"), \ |
|---|
| 798 | self.stopMotors) |
|---|
| 799 | |
|---|
| 800 | self.connect(self.pushButtonForward, QtCore.SIGNAL("pressed()"), \ |
|---|
| 801 | self.driveForward) |
|---|
| 802 | self.connect(self.pushButtonForward, QtCore.SIGNAL("released()"), \ |
|---|
| 803 | self.stopMotors) |
|---|
| 804 | |
|---|
| 805 | self.connect(self.pushButtonTurnRight, QtCore.SIGNAL("pressed()"), \ |
|---|
| 806 | self.turnRight) |
|---|
| 807 | self.connect(self.pushButtonTurnRight, QtCore.SIGNAL("released()"), \ |
|---|
| 808 | self.stopMotors) |
|---|
| 809 | |
|---|
| 810 | self.connect(self.pushButtonTurnLeftReverse, QtCore.SIGNAL("pressed()"), \ |
|---|
| 811 | self.turnLeftInReverse) |
|---|
| 812 | self.connect(self.pushButtonTurnLeftReverse, QtCore.SIGNAL("released()"), \ |
|---|
| 813 | self.stopMotors) |
|---|
| 814 | |
|---|
| 815 | self.connect(self.pushButtonReverse, QtCore.SIGNAL("pressed()"), \ |
|---|
| 816 | self.driveReverse) |
|---|
| 817 | self.connect(self.pushButtonReverse, QtCore.SIGNAL("released()"), \ |
|---|
| 818 | self.stopMotors) |
|---|
| 819 | |
|---|
| 820 | self.connect(self.pushButtonTurnRightReverse, QtCore.SIGNAL("pressed()"), \ |
|---|
| 821 | self.turnRightInReverse) |
|---|
| 822 | self.connect(self.pushButtonTurnRightReverse, QtCore.SIGNAL("released()"), \ |
|---|
| 823 | self.stopMotors) |
|---|
| 824 | |
|---|
| 825 | |
|---|
| 826 | self.connect(self.pushButtonNXTSearch, \ |
|---|
| 827 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 828 | self.searchForDevices) |
|---|
| 829 | |
|---|
| 830 | self.connect(self.pushButtonNXTConnect, \ |
|---|
| 831 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 832 | self.connectToBrainstormsServer) |
|---|
| 833 | |
|---|
| 834 | |
|---|
| 835 | self.connect(self.pushButtonConcentrationEnable, \ |
|---|
| 836 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 837 | self.updateConcentrationButton) |
|---|
| 838 | |
|---|
| 839 | self.connect(self.pushButtonRelaxationEnable, \ |
|---|
| 840 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 841 | self.updateRelaxationButton) |
|---|
| 842 | |
|---|
| 843 | self.connect(self.pushButtonSpeedEnable, \ |
|---|
| 844 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 845 | self.updateSpeedButton) |
|---|
| 846 | |
|---|
| 847 | |
|---|
| 848 | self.connect(self.pushButtonNXTMessageOne, QtCore.SIGNAL("pressed()"), \ |
|---|
| 849 | self.sendMessageOne) |
|---|
| 850 | |
|---|
| 851 | self.connect(self.pushButtonNXTMessageTwo, QtCore.SIGNAL("pressed()"), \ |
|---|
| 852 | self.sendMessageTwo) |
|---|
| 853 | |
|---|
| 854 | self.connect(self.pushButtonNXTMessageThree, QtCore.SIGNAL("pressed()"), \ |
|---|
| 855 | self.sendMessageThree) |
|---|
| 856 | |
|---|
| 857 | self.connect(self.pushButtonNXTMessageFour, QtCore.SIGNAL("pressed()"), \ |
|---|
| 858 | self.sendMessageFour) |
|---|
| 859 | |
|---|
| 860 | self.connect(self.pushButtonNXTMessageFive, QtCore.SIGNAL("pressed()"), \ |
|---|
| 861 | self.sendMessageFive) |
|---|
| 862 | |
|---|
| 863 | self.connect(self.pushButtonNXTMessageSix, QtCore.SIGNAL("pressed()"), \ |
|---|
| 864 | self.sendMessageSix) |
|---|
| 865 | |
|---|
| 866 | |
|---|
| 867 | |
|---|
| 868 | # RC Helicopter Buttons |
|---|
| 869 | self.connect(self.pushButtonHelicopterSearch, \ |
|---|
| 870 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 871 | self.searchForDevices) |
|---|
| 872 | |
|---|
| 873 | self.connect(self.pushButtonHelicopterConnect, \ |
|---|
| 874 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 875 | self.connectToRCHelicopter) |
|---|
| 876 | |
|---|
| 877 | |
|---|
| 878 | self.connect(self.pushButtonHelicopterConcentrationEnable, \ |
|---|
| 879 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 880 | self.updateHelicopterConcentrationButton) |
|---|
| 881 | |
|---|
| 882 | self.connect(self.pushButtonHelicopterRelaxationEnable, \ |
|---|
| 883 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 884 | self.updateHelicopterRelaxationButton) |
|---|
| 885 | |
|---|
| 886 | self.connect(self.pushButtonHelicopterSpeedEnable, \ |
|---|
| 887 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 888 | self.updateHelicopterSpeedButton) |
|---|
| 889 | |
|---|
| 890 | |
|---|
| 891 | self.connect(self.pushButtonHelicopterHover, \ |
|---|
| 892 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 893 | self.enableHelicopterHover) |
|---|
| 894 | |
|---|
| 895 | self.connect(self.pushButtonHelicopterFlyForward, \ |
|---|
| 896 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 897 | self.enableHelicopterFlyForward) |
|---|
| 898 | |
|---|
| 899 | self.connect(self.pushButtonHelicopterLand, \ |
|---|
| 900 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 901 | self.landHelicopter) |
|---|
| 902 | |
|---|
| 903 | |
|---|
| 904 | |
|---|
| 905 | # Wheelchair Buttons |
|---|
| 906 | self.connect(self.pushButtonWheelchairSearch, \ |
|---|
| 907 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 908 | self.searchForDevices) |
|---|
| 909 | |
|---|
| 910 | self.connect(self.pushButtonWheelchairConnect, \ |
|---|
| 911 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 912 | self.connectToWheelchair) |
|---|
| 913 | |
|---|
| 914 | |
|---|
| 915 | self.connect(self.pushButtonWheelchairConcentrationEnable, \ |
|---|
| 916 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 917 | self.updateWheelchairConcentrationButton) |
|---|
| 918 | |
|---|
| 919 | self.connect(self.pushButtonWheelchairRelaxationEnable, \ |
|---|
| 920 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 921 | self.updateWheelchairRelaxationButton) |
|---|
| 922 | |
|---|
| 923 | self.connect(self.pushButtonWheelchairSpeedEnable, \ |
|---|
| 924 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 925 | self.updateWheelchairSpeedButton) |
|---|
| 926 | |
|---|
| 927 | |
|---|
| 928 | self.connect(self.pushButtonWheelchairForward, \ |
|---|
| 929 | QtCore.SIGNAL("pressed()"), \ |
|---|
| 930 | self.driveWheelchairForward) |
|---|
| 931 | ## self.connect(self.pushButtonWheelchairForward, \ |
|---|
| 932 | ## QtCore.SIGNAL("released()"), \ |
|---|
| 933 | ## self.stopWheelchair) |
|---|
| 934 | |
|---|
| 935 | self.connect(self.pushButtonWheelchairReverse, \ |
|---|
| 936 | QtCore.SIGNAL("pressed()"), \ |
|---|
| 937 | self.driveWheelchairReverse) |
|---|
| 938 | ## self.connect(self.pushButtonWheelchairReverse, \ |
|---|
| 939 | ## QtCore.SIGNAL("released()"), \ |
|---|
| 940 | ## self.stopWheelchair) |
|---|
| 941 | |
|---|
| 942 | self.connect(self.pushButtonWheelchairLeft, \ |
|---|
| 943 | QtCore.SIGNAL("pressed()"), \ |
|---|
| 944 | self.driveWheelchairLeft) |
|---|
| 945 | ## self.connect(self.pushButtonWheelchairLeft, \ |
|---|
| 946 | ## QtCore.SIGNAL("released()"), \ |
|---|
| 947 | ## self.stopWheelchair) |
|---|
| 948 | |
|---|
| 949 | self.connect(self.pushButtonWheelchairRight, \ |
|---|
| 950 | QtCore.SIGNAL("pressed()"), \ |
|---|
| 951 | self.driveWheelchairRight) |
|---|
| 952 | ## self.connect(self.pushButtonWheelchairRight, \ |
|---|
| 953 | ## QtCore.SIGNAL("released()"), \ |
|---|
| 954 | ## self.stopWheelchair) |
|---|
| 955 | |
|---|
| 956 | self.connect(self.pushButtonWheelchairStop, \ |
|---|
| 957 | QtCore.SIGNAL("pressed()"), \ |
|---|
| 958 | self.stopWheelchair) |
|---|
| 959 | |
|---|
| 960 | |
|---|
| 961 | |
|---|
| 962 | # Control Panel Buttons |
|---|
| 963 | self.connect(self.pushButtonMessageOne, QtCore.SIGNAL("pressed()"), \ |
|---|
| 964 | self.sendMessageOne) |
|---|
| 965 | |
|---|
| 966 | self.connect(self.pushButtonMessageTwo, QtCore.SIGNAL("pressed()"), \ |
|---|
| 967 | self.sendMessageTwo) |
|---|
| 968 | |
|---|
| 969 | self.connect(self.pushButtonMessageThree, QtCore.SIGNAL("pressed()"), \ |
|---|
| 970 | self.sendMessageThree) |
|---|
| 971 | |
|---|
| 972 | self.connect(self.pushButtonMessageFour, QtCore.SIGNAL("pressed()"), \ |
|---|
| 973 | self.sendMessageFour) |
|---|
| 974 | |
|---|
| 975 | self.connect(self.pushButtonMessageFive, QtCore.SIGNAL("pressed()"), \ |
|---|
| 976 | self.sendMessageFive) |
|---|
| 977 | |
|---|
| 978 | self.connect(self.pushButtonMessageSix, QtCore.SIGNAL("pressed()"), \ |
|---|
| 979 | self.sendMessageSix) |
|---|
| 980 | |
|---|
| 981 | |
|---|
| 982 | self.connect(self.pushButtonThinkGearConnect, \ |
|---|
| 983 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 984 | self.connectToThinkGearHost) |
|---|
| 985 | |
|---|
| 986 | self.connect(self.pushButtonSendFeedback, \ |
|---|
| 987 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 988 | self.sendFeedback) |
|---|
| 989 | |
|---|
| 990 | |
|---|
| 991 | #shortcut = QtGui.QShortcut(self) |
|---|
| 992 | #shortcut.setKey(tr("Down")) |
|---|
| 993 | #self.connect(shortcut, QtCore.SIGNAL("pressed()"), self.driveReverse) |
|---|
| 994 | |
|---|
| 995 | |
|---|
| 996 | action = QtGui.QAction(self) |
|---|
| 997 | action.setShortcut(QtGui.QKeySequence("W")) |
|---|
| 998 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonForward, QtCore.SLOT("animateClick()")) |
|---|
| 999 | self.addAction(action) |
|---|
| 1000 | |
|---|
| 1001 | action = QtGui.QAction(self) |
|---|
| 1002 | action.setShortcut(QtGui.QKeySequence("Up")) |
|---|
| 1003 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonForward, QtCore.SLOT("animateClick()")) |
|---|
| 1004 | self.addAction(action) |
|---|
| 1005 | |
|---|
| 1006 | |
|---|
| 1007 | action = QtGui.QAction(self) |
|---|
| 1008 | action.setShortcut(QtGui.QKeySequence("Left")) |
|---|
| 1009 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonTurnLeft, QtCore.SLOT("animateClick()")) |
|---|
| 1010 | self.addAction(action) |
|---|
| 1011 | |
|---|
| 1012 | action = QtGui.QAction(self) |
|---|
| 1013 | action.setShortcut(QtGui.QKeySequence("A")) |
|---|
| 1014 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonTurnLeft, QtCore.SLOT("animateClick()")) |
|---|
| 1015 | self.addAction(action) |
|---|
| 1016 | |
|---|
| 1017 | |
|---|
| 1018 | action = QtGui.QAction(self) |
|---|
| 1019 | action.setShortcut(QtGui.QKeySequence("S")) |
|---|
| 1020 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonReverse, QtCore.SLOT("animateClick()")) |
|---|
| 1021 | self.addAction(action) |
|---|
| 1022 | |
|---|
| 1023 | action = QtGui.QAction(self) |
|---|
| 1024 | action.setShortcut(QtGui.QKeySequence("Down")) |
|---|
| 1025 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonReverse, QtCore.SLOT("animateClick()")) |
|---|
| 1026 | self.addAction(action) |
|---|
| 1027 | |
|---|
| 1028 | |
|---|
| 1029 | action = QtGui.QAction(self) |
|---|
| 1030 | action.setShortcut(QtGui.QKeySequence("D")) |
|---|
| 1031 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonTurnRight, QtCore.SLOT("animateClick()")) |
|---|
| 1032 | self.addAction(action) |
|---|
| 1033 | |
|---|
| 1034 | action = QtGui.QAction(self) |
|---|
| 1035 | action.setShortcut(QtGui.QKeySequence("Right")) |
|---|
| 1036 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonTurnRight, QtCore.SLOT("animateClick()")) |
|---|
| 1037 | self.addAction(action) |
|---|
| 1038 | |
|---|
| 1039 | |
|---|
| 1040 | action = QtGui.QAction(self) |
|---|
| 1041 | action.setShortcut(QtGui.QKeySequence("Z")) |
|---|
| 1042 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonTurnLeftReverse, QtCore.SLOT("animateClick()")) |
|---|
| 1043 | self.addAction(action) |
|---|
| 1044 | |
|---|
| 1045 | |
|---|
| 1046 | action = QtGui.QAction(self) |
|---|
| 1047 | action.setShortcut(QtGui.QKeySequence("C")) |
|---|
| 1048 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonTurnRightReverse, QtCore.SLOT("animateClick()")) |
|---|
| 1049 | self.addAction(action) |
|---|
| 1050 | |
|---|
| 1051 | |
|---|
| 1052 | |
|---|
| 1053 | # RC Helicopter Buttons |
|---|
| 1054 | |
|---|
| 1055 | action = QtGui.QAction(self) |
|---|
| 1056 | action.setShortcut(QtGui.QKeySequence("Home")) |
|---|
| 1057 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonHelicopterHover, QtCore.SLOT("animateClick()")) |
|---|
| 1058 | self.addAction(action) |
|---|
| 1059 | action = QtGui.QAction(self) |
|---|
| 1060 | action.setShortcut(QtGui.QKeySequence("[")) |
|---|
| 1061 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonHelicopterHover, QtCore.SLOT("animateClick()")) |
|---|
| 1062 | self.addAction(action) |
|---|
| 1063 | |
|---|
| 1064 | action = QtGui.QAction(self) |
|---|
| 1065 | action.setShortcut(QtGui.QKeySequence("PgUp")) |
|---|
| 1066 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonHelicopterFlyForward, QtCore.SLOT("animateClick()")) |
|---|
| 1067 | self.addAction(action) |
|---|
| 1068 | action = QtGui.QAction(self) |
|---|
| 1069 | action.setShortcut(QtGui.QKeySequence("]")) |
|---|
| 1070 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonHelicopterFlyForward, QtCore.SLOT("animateClick()")) |
|---|
| 1071 | self.addAction(action) |
|---|
| 1072 | |
|---|
| 1073 | action = QtGui.QAction(self) |
|---|
| 1074 | action.setShortcut(QtGui.QKeySequence("End")) |
|---|
| 1075 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonHelicopterLand, QtCore.SLOT("animateClick()")) |
|---|
| 1076 | self.addAction(action) |
|---|
| 1077 | action = QtGui.QAction(self) |
|---|
| 1078 | action.setShortcut(QtGui.QKeySequence("\\")) |
|---|
| 1079 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonHelicopterLand, QtCore.SLOT("animateClick()")) |
|---|
| 1080 | self.addAction(action) |
|---|
| 1081 | |
|---|
| 1082 | |
|---|
| 1083 | |
|---|
| 1084 | # Wheelchair Buttons |
|---|
| 1085 | |
|---|
| 1086 | action = QtGui.QAction(self) |
|---|
| 1087 | action.setShortcut(QtGui.QKeySequence("i")) |
|---|
| 1088 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonWheelchairForward, QtCore.SLOT("animateClick()")) |
|---|
| 1089 | self.addAction(action) |
|---|
| 1090 | |
|---|
| 1091 | action = QtGui.QAction(self) |
|---|
| 1092 | action.setShortcut(QtGui.QKeySequence("k")) |
|---|
| 1093 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonWheelchairReverse, QtCore.SLOT("animateClick()")) |
|---|
| 1094 | self.addAction(action) |
|---|
| 1095 | action = QtGui.QAction(self) |
|---|
| 1096 | action.setShortcut(QtGui.QKeySequence("m")) |
|---|
| 1097 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonWheelchairReverse, QtCore.SLOT("animateClick()")) |
|---|
| 1098 | self.addAction(action) |
|---|
| 1099 | |
|---|
| 1100 | action = QtGui.QAction(self) |
|---|
| 1101 | action.setShortcut(QtGui.QKeySequence("j")) |
|---|
| 1102 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonWheelchairLeft, QtCore.SLOT("animateClick()")) |
|---|
| 1103 | self.addAction(action) |
|---|
| 1104 | |
|---|
| 1105 | action = QtGui.QAction(self) |
|---|
| 1106 | action.setShortcut(QtGui.QKeySequence("l")) |
|---|
| 1107 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonWheelchairRight, QtCore.SLOT("animateClick()")) |
|---|
| 1108 | self.addAction(action) |
|---|
| 1109 | |
|---|
| 1110 | action = QtGui.QAction(self) |
|---|
| 1111 | action.setShortcut(QtGui.QKeySequence("Space")) |
|---|
| 1112 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonWheelchairStop, QtCore.SLOT("animateClick()")) |
|---|
| 1113 | self.addAction(action) |
|---|
| 1114 | |
|---|
| 1115 | |
|---|
| 1116 | |
|---|
| 1117 | # Control Panel Buttons |
|---|
| 1118 | |
|---|
| 1119 | action = QtGui.QAction(self) |
|---|
| 1120 | action.setShortcut(QtGui.QKeySequence("1")) |
|---|
| 1121 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonNXTMessageOne, QtCore.SLOT("animateClick()")) |
|---|
| 1122 | self.addAction(action) |
|---|
| 1123 | |
|---|
| 1124 | action = QtGui.QAction(self) |
|---|
| 1125 | action.setShortcut(QtGui.QKeySequence("2")) |
|---|
| 1126 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonNXTMessageTwo, QtCore.SLOT("animateClick()")) |
|---|
| 1127 | self.addAction(action) |
|---|
| 1128 | |
|---|
| 1129 | action = QtGui.QAction(self) |
|---|
| 1130 | action.setShortcut(QtGui.QKeySequence("3")) |
|---|
| 1131 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonNXTMessageThree, QtCore.SLOT("animateClick()")) |
|---|
| 1132 | self.addAction(action) |
|---|
| 1133 | |
|---|
| 1134 | action = QtGui.QAction(self) |
|---|
| 1135 | action.setShortcut(QtGui.QKeySequence("4")) |
|---|
| 1136 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonNXTMessageFour, QtCore.SLOT("animateClick()")) |
|---|
| 1137 | self.addAction(action) |
|---|
| 1138 | |
|---|
| 1139 | action = QtGui.QAction(self) |
|---|
| 1140 | action.setShortcut(QtGui.QKeySequence("5")) |
|---|
| 1141 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonNXTMessageFive, QtCore.SLOT("animateClick()")) |
|---|
| 1142 | self.addAction(action) |
|---|
| 1143 | |
|---|
| 1144 | action = QtGui.QAction(self) |
|---|
| 1145 | action.setShortcut(QtGui.QKeySequence("6")) |
|---|
| 1146 | self.connect(action, QtCore.SIGNAL("activated()"), self.pushButtonNXTMessageSix, QtCore.SLOT("animateClick()")) |
|---|
| 1147 | self.addAction(action) |
|---|
| 1148 | |
|---|
| 1149 | |
|---|
| 1150 | #self.pushButtonForward.setAutoRepeat(False) |
|---|
| 1151 | #self.pushButtonForward.setAutoRepeatDelay(0) |
|---|
| 1152 | #self.pushButtonForward.setAutoRepeatInterval(0) |
|---|
| 1153 | |
|---|
| 1154 | |
|---|
| 1155 | ################################################################## |
|---|
| 1156 | |
|---|
| 1157 | def searchForDevices(self): |
|---|
| 1158 | |
|---|
| 1159 | nxt_devices = [] |
|---|
| 1160 | rc_helicopter_devices = [] |
|---|
| 1161 | wheelchair_devices = [] |
|---|
| 1162 | |
|---|
| 1163 | #if (sys.platform != 'win32'): |
|---|
| 1164 | if False: # temporarily disabled |
|---|
| 1165 | |
|---|
| 1166 | # Bluetooth module doesn't compile properly under Windows |
|---|
| 1167 | |
|---|
| 1168 | bluetooth_devices = [] |
|---|
| 1169 | |
|---|
| 1170 | try: |
|---|
| 1171 | bluetooth_devices = bluetooth.discover_devices( \ |
|---|
| 1172 | duration=5, \ |
|---|
| 1173 | flush_cache=True, \ |
|---|
| 1174 | lookup_names=False) |
|---|
| 1175 | except: |
|---|
| 1176 | #command = '%s con' % PATH_TO_HCITOOL |
|---|
| 1177 | command = '%s scan' % PATH_TO_HCITOOL |
|---|
| 1178 | |
|---|
| 1179 | output = os.popen(command, 'r') |
|---|
| 1180 | |
|---|
| 1181 | for line in output.readlines(): |
|---|
| 1182 | print line |
|---|
| 1183 | try: |
|---|
| 1184 | address = line.split(' ')[2] |
|---|
| 1185 | except: |
|---|
| 1186 | pass |
|---|
| 1187 | else: |
|---|
| 1188 | bluetooth_devices.append(address) |
|---|
| 1189 | |
|---|
| 1190 | for address in bluetooth_devices: |
|---|
| 1191 | device_name = bluetooth.lookup_name(address) |
|---|
| 1192 | if ((device_name == 'NXT') and \ |
|---|
| 1193 | (address not in nxt_devices)): |
|---|
| 1194 | nxt_devices.append(address) |
|---|
| 1195 | |
|---|
| 1196 | |
|---|
| 1197 | if self.DEBUG: |
|---|
| 1198 | print "Bluetooth NXT devices found:", |
|---|
| 1199 | print nxt_devices |
|---|
| 1200 | |
|---|
| 1201 | |
|---|
| 1202 | # List all serial devices |
|---|
| 1203 | serial_devices = self.enumerateSerialPorts() |
|---|
| 1204 | |
|---|
| 1205 | for serial_device in serial_devices: |
|---|
| 1206 | #serial_device = self.fullPortName(serial_device) |
|---|
| 1207 | nxt_devices.append(serial_device) |
|---|
| 1208 | rc_helicopter_devices.append(serial_device) |
|---|
| 1209 | wheelchair_devices.append(serial_device) |
|---|
| 1210 | |
|---|
| 1211 | |
|---|
| 1212 | # Configure combo boxes |
|---|
| 1213 | if nxt_devices == []: |
|---|
| 1214 | nxt_devices.append('N/A') |
|---|
| 1215 | |
|---|
| 1216 | if rc_helicopter_devices == []: |
|---|
| 1217 | rc_helicopter_devices.append('N/A') |
|---|
| 1218 | |
|---|
| 1219 | if wheelchair_devices == []: |
|---|
| 1220 | wheelchair_devices.append('N/A') |
|---|
| 1221 | |
|---|
| 1222 | |
|---|
| 1223 | # Don't reset combo boxes if already connected |
|---|
| 1224 | if self.pushButtonNXTConnect.text != 'Disconnect': |
|---|
| 1225 | |
|---|
| 1226 | self.comboBoxNXTPortSelect.clear() |
|---|
| 1227 | |
|---|
| 1228 | #nxt_devices.reverse() |
|---|
| 1229 | for nxt_device in nxt_devices: |
|---|
| 1230 | self.comboBoxNXTPortSelect.addItem(nxt_device) |
|---|
| 1231 | |
|---|
| 1232 | |
|---|
| 1233 | if self.pushButtonHelicopterConnect.text != 'Disconnect': |
|---|
| 1234 | |
|---|
| 1235 | self.comboBoxHelicopterPortSelect.clear() |
|---|
| 1236 | |
|---|
| 1237 | #rc_helicopter_devices.reverse() |
|---|
| 1238 | for rc_helicopter in rc_helicopter_devices: |
|---|
| 1239 | self.comboBoxHelicopterPortSelect.addItem(rc_helicopter) |
|---|
| 1240 | |
|---|
| 1241 | |
|---|
| 1242 | if self.pushButtonWheelchairConnect.text != 'Disconnect': |
|---|
| 1243 | |
|---|
| 1244 | self.comboBoxWheelchairPortSelect.clear() |
|---|
| 1245 | |
|---|
| 1246 | #rc_helicopter_devices.reverse() |
|---|
| 1247 | for wheelchair in wheelchair_devices: |
|---|
| 1248 | self.comboBoxWheelchairPortSelect.addItem(wheelchair) |
|---|
| 1249 | |
|---|
| 1250 | |
|---|
| 1251 | ################################################################## |
|---|
| 1252 | |
|---|
| 1253 | def enumerateSerialPorts(self): |
|---|
| 1254 | |
|---|
| 1255 | """ Uses the Win32 registry to return an |
|---|
| 1256 | iterator of serial (COM) ports |
|---|
| 1257 | existing on this computer. |
|---|
| 1258 | |
|---|
| 1259 | from http://eli.thegreenplace.net/2009/07/31/listing-all-serial-ports-on-windows-with-python/ |
|---|
| 1260 | """ |
|---|
| 1261 | |
|---|
| 1262 | serial_ports = [] |
|---|
| 1263 | |
|---|
| 1264 | if (sys.platform == 'win32'): |
|---|
| 1265 | |
|---|
| 1266 | path = 'HARDWARE\\DEVICEMAP\\SERIALCOMM' |
|---|
| 1267 | try: |
|---|
| 1268 | key = winreg.OpenKey(winreg.HKEY_LOCAL_MACHINE, path) |
|---|
| 1269 | except WindowsError: |
|---|
| 1270 | #raise IterationError |
|---|
| 1271 | return [] |
|---|
| 1272 | #pass |
|---|
| 1273 | |
|---|
| 1274 | for i in itertools.count(): |
|---|
| 1275 | try: |
|---|
| 1276 | val = winreg.EnumValue(key, i) |
|---|
| 1277 | #yield str(val[1]) |
|---|
| 1278 | serial_ports.append( str(val[1]) ) |
|---|
| 1279 | except EnvironmentError: |
|---|
| 1280 | break |
|---|
| 1281 | |
|---|
| 1282 | |
|---|
| 1283 | else: |
|---|
| 1284 | |
|---|
| 1285 | if os.path.exists(DEVICE_PATH): |
|---|
| 1286 | device_list = os.listdir(DEVICE_PATH) |
|---|
| 1287 | |
|---|
| 1288 | device_list.sort() |
|---|
| 1289 | |
|---|
| 1290 | for device in device_list: |
|---|
| 1291 | if device.startswith('ttyUSB'): |
|---|
| 1292 | serial_ports.append( DEVICE_PATH + '/' + device ) |
|---|
| 1293 | for device in device_list: |
|---|
| 1294 | if device.startswith('rfcomm'): |
|---|
| 1295 | serial_ports.append( DEVICE_PATH + '/' + device ) |
|---|
| 1296 | for device in device_list: |
|---|
| 1297 | if device.startswith('ttyACM'): |
|---|
| 1298 | serial_ports.append( DEVICE_PATH + '/' + device ) |
|---|
| 1299 | for device in device_list: |
|---|
| 1300 | if device.startswith('ttyS'): |
|---|
| 1301 | serial_ports.append( DEVICE_PATH + '/' + device ) |
|---|
| 1302 | |
|---|
| 1303 | |
|---|
| 1304 | return(serial_ports) |
|---|
| 1305 | |
|---|
| 1306 | |
|---|
| 1307 | ################################################################## |
|---|
| 1308 | |
|---|
| 1309 | def fullPortName(self, portname): |
|---|
| 1310 | |
|---|
| 1311 | """ Given a port-name (of the form COM7, |
|---|
| 1312 | COM12, CNCA0, etc.) returns a full |
|---|
| 1313 | name suitable for opening with the |
|---|
| 1314 | Serial class. |
|---|
| 1315 | """ |
|---|
| 1316 | |
|---|
| 1317 | m = re.match('^COM(\d+)$', portname) |
|---|
| 1318 | if m and int(m.group(1)) < 10: |
|---|
| 1319 | return portname |
|---|
| 1320 | |
|---|
| 1321 | return '\\\\.\\' + portname |
|---|
| 1322 | |
|---|
| 1323 | |
|---|
| 1324 | ################################################################## |
|---|
| 1325 | |
|---|
| 1326 | # LEGO Mindstorms Controls |
|---|
| 1327 | |
|---|
| 1328 | def turnLeft(self): |
|---|
| 1329 | self.brainstormsClient.sendCommand('turn_left') |
|---|
| 1330 | self.drive_state = 'turn_left' |
|---|
| 1331 | |
|---|
| 1332 | def driveForward(self): |
|---|
| 1333 | #if self.DEBUG: |
|---|
| 1334 | #print "driveForward" |
|---|
| 1335 | self.pushButtonForward.setDown(True) |
|---|
| 1336 | if (self.drive_state != 'drive_forward'): |
|---|
| 1337 | self.updateNXTSpeed(new_speed=DEFAULT_NXT_POWER_LEVEL) |
|---|
| 1338 | self.brainstormsClient.sendCommand('drive_forward', power=self.current_speed) |
|---|
| 1339 | self.drive_state = 'drive_forward' |
|---|
| 1340 | |
|---|
| 1341 | def turnRight(self): |
|---|
| 1342 | self.brainstormsClient.sendCommand('turn_right') |
|---|
| 1343 | self.drive_state = 'turn_right' |
|---|
| 1344 | |
|---|
| 1345 | def turnLeftInReverse(self): |
|---|
| 1346 | self.brainstormsClient.sendCommand('turn_left_in_reverse') |
|---|
| 1347 | self.drive_state = 'turn_left_in_reverse' |
|---|
| 1348 | |
|---|
| 1349 | def driveReverse(self): |
|---|
| 1350 | self.brainstormsClient.sendCommand('drive_reverse') |
|---|
| 1351 | self.drive_state = 'drive_reverse' |
|---|
| 1352 | |
|---|
| 1353 | def turnRightInReverse(self): |
|---|
| 1354 | self.brainstormsClient.sendCommand('turn_right_in_reverse') |
|---|
| 1355 | self.drive_state = 'turn_right_in_reverse' |
|---|
| 1356 | |
|---|
| 1357 | def stopMotors(self): |
|---|
| 1358 | self.pushButtonForward.setDown(False) |
|---|
| 1359 | if (self.current_speed != 0): |
|---|
| 1360 | self.updateNXTSpeed(new_speed=0) |
|---|
| 1361 | if self.brainstormsClient != None: |
|---|
| 1362 | self.brainstormsClient.sendCommand('stop_motors') |
|---|
| 1363 | self.drive_state = 'stop_motors' |
|---|
| 1364 | |
|---|
| 1365 | def sendMessageOne(self): |
|---|
| 1366 | message = str(self.lineEditMessageOne.text()) |
|---|
| 1367 | self.brainstormsClient.sendCommand('send_message_1') |
|---|
| 1368 | |
|---|
| 1369 | def sendMessageTwo(self): |
|---|
| 1370 | message = str(self.lineEditMessageTwo.text()) |
|---|
| 1371 | self.brainstormsClient.sendCommand('send_message_2') |
|---|
| 1372 | |
|---|
| 1373 | def sendMessageThree(self): |
|---|
| 1374 | message = str(self.lineEditMessageThree.text()) |
|---|
| 1375 | self.brainstormsClient.sendCommand('send_message_3') |
|---|
| 1376 | |
|---|
| 1377 | def sendMessageFour(self): |
|---|
| 1378 | message = str(self.lineEditMessageFour.text()) |
|---|
| 1379 | self.brainstormsClient.sendCommand('send_message_4') |
|---|
| 1380 | |
|---|
| 1381 | def sendMessageFive(self): |
|---|
| 1382 | message = str(self.lineEditMessageFive.text()) |
|---|
| 1383 | self.brainstormsClient.sendCommand('send_message_5') |
|---|
| 1384 | |
|---|
| 1385 | def sendMessageSix(self): |
|---|
| 1386 | message = str(self.lineEditMessageSix.text()) |
|---|
| 1387 | self.brainstormsClient.sendCommand('send_message_6') |
|---|
| 1388 | |
|---|
| 1389 | |
|---|
| 1390 | ################################################################## |
|---|
| 1391 | |
|---|
| 1392 | def enableHelicopterHover(self): |
|---|
| 1393 | |
|---|
| 1394 | if self.pushButtonHelicopterFlyForward.isChecked(): |
|---|
| 1395 | self.pushButtonHelicopterFlyForward.setChecked(False) |
|---|
| 1396 | self.disableHelicopterFlyForward() |
|---|
| 1397 | |
|---|
| 1398 | self.helicopter.hover(duration=None) |
|---|
| 1399 | self.current_helicopter_state = 'hover' |
|---|
| 1400 | |
|---|
| 1401 | self.disconnect(self.pushButtonHelicopterHover, \ |
|---|
| 1402 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 1403 | self.enableHelicopterHover) |
|---|
| 1404 | |
|---|
| 1405 | self.connect(self.pushButtonHelicopterHover, \ |
|---|
| 1406 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 1407 | self.disableHelicopterHover) |
|---|
| 1408 | |
|---|
| 1409 | #if self.pushButtonHelicopterFlyForward.isChecked(): |
|---|
| 1410 | #self.pushButtonHelicopterFlyForward.toggle() |
|---|
| 1411 | ##self.disableHelicopterFlyForward() |
|---|
| 1412 | |
|---|
| 1413 | |
|---|
| 1414 | ################################################################## |
|---|
| 1415 | |
|---|
| 1416 | def disableHelicopterHover(self): |
|---|
| 1417 | |
|---|
| 1418 | self.helicopter.neutral() |
|---|
| 1419 | self.current_helicopter_state = 'neutral' |
|---|
| 1420 | |
|---|
| 1421 | self.disconnect(self.pushButtonHelicopterHover, \ |
|---|
| 1422 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 1423 | self.disableHelicopterHover) |
|---|
| 1424 | |
|---|
| 1425 | self.connect(self.pushButtonHelicopterHover, \ |
|---|
| 1426 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 1427 | self.enableHelicopterHover) |
|---|
| 1428 | |
|---|
| 1429 | |
|---|
| 1430 | ################################################################## |
|---|
| 1431 | |
|---|
| 1432 | def enableHelicopterFlyForward(self): |
|---|
| 1433 | |
|---|
| 1434 | if self.pushButtonHelicopterHover.isChecked(): |
|---|
| 1435 | self.pushButtonHelicopterHover.setChecked(False) |
|---|
| 1436 | self.disableHelicopterHover() |
|---|
| 1437 | |
|---|
| 1438 | self.helicopter.fly_forward(duration=None) |
|---|
| 1439 | self.current_helicopter_state = 'fly_forward' |
|---|
| 1440 | |
|---|
| 1441 | self.disconnect(self.pushButtonHelicopterFlyForward, \ |
|---|
| 1442 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 1443 | self.enableHelicopterFlyForward) |
|---|
| 1444 | |
|---|
| 1445 | self.connect(self.pushButtonHelicopterFlyForward, \ |
|---|
| 1446 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 1447 | self.disableHelicopterFlyForward) |
|---|
| 1448 | |
|---|
| 1449 | #if self.pushButtonHelicopterHover.isChecked(): |
|---|
| 1450 | #self.pushButtonHelicopterHover.toggle() |
|---|
| 1451 | ##self.disableHelicopterHover() |
|---|
| 1452 | |
|---|
| 1453 | |
|---|
| 1454 | ################################################################## |
|---|
| 1455 | |
|---|
| 1456 | def disableHelicopterFlyForward(self): |
|---|
| 1457 | |
|---|
| 1458 | self.helicopter.neutral() |
|---|
| 1459 | self.current_helicopter_state = 'neutral' |
|---|
| 1460 | |
|---|
| 1461 | self.disconnect(self.pushButtonHelicopterFlyForward, \ |
|---|
| 1462 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 1463 | self.disableHelicopterFlyForward) |
|---|
| 1464 | |
|---|
| 1465 | self.connect(self.pushButtonHelicopterFlyForward, \ |
|---|
| 1466 | QtCore.SIGNAL("clicked()"), \ |
|---|
| 1467 | self.enableHelicopterFlyForward) |
|---|
| 1468 | |
|---|
| 1469 | |
|---|
| 1470 | ################################################################## |
|---|
| 1471 | |
|---|
| 1472 | def landHelicopter(self): |
|---|
| 1473 | |
|---|
| 1474 | self.helicopter.neutral() |
|---|
| 1475 | self.current_helicopter_state = 'neutral' |
|---|
| 1476 | |
|---|
| 1477 | if self.pushButtonHelicopterHover.isChecked(): |
|---|
| 1478 | self.pushButtonHelicopterHover.setChecked(False) |
|---|
| 1479 | self.disableHelicopterHover() |
|---|
| 1480 | if self.pushButtonHelicopterFlyForward.isChecked(): |
|---|
| 1481 | self.pushButtonHelicopterFlyForward.setChecked(False) |
|---|
| 1482 | self.disableHelicopterFlyForward() |
|---|
| 1483 | |
|---|
| 1484 | |
|---|
| 1485 | ################################################################## |
|---|
| 1486 | |
|---|
| 1487 | def driveWheelchairForward(self): |
|---|
| 1488 | #print "WheelchairForward" |
|---|
| 1489 | speed = self.dialWheelchairSpeed.value() |
|---|
| 1490 | self.wheelchair.sendCommand(speed, 'forward') |
|---|
| 1491 | |
|---|
| 1492 | def driveWheelchairReverse(self): |
|---|
| 1493 | print "WheelchairReverse" |
|---|
| 1494 | speed = self.dialWheelchairSpeed.value() |
|---|
| 1495 | self.wheelchair.sendCommand(speed, 'reverse') |
|---|
| 1496 | |
|---|
| 1497 | def driveWheelchairLeft(self): |
|---|
| 1498 | print "WheelchairLeft" |
|---|
| 1499 | speed = self.dialWheelchairSpeed.value() |
|---|
| 1500 | self.wheelchair.sendCommand(speed, 'left') |
|---|
| 1501 | |
|---|
| 1502 | def driveWheelchairRight(self): |
|---|
| 1503 | print "WheelchairRight" |
|---|
| 1504 | speed = self.dialWheelchairSpeed.value() |
|---|
| 1505 | self.wheelchair.sendCommand(speed, 'right') |
|---|
| 1506 | |
|---|
| 1507 | def stopWheelchair(self): |
|---|
| 1508 | print "stopWheelchair" |
|---|
| 1509 | speed = self.dialWheelchairSpeed.value() |
|---|
| 1510 | self.wheelchair.sendCommand(speed, 'stop') |
|---|
| 1511 | |
|---|
| 1512 | |
|---|
| 1513 | ################################################################## |
|---|
| 1514 | |
|---|
| 1515 | def updateNXTSpeed(self, new_speed=None): |
|---|
| 1516 | |
|---|
| 1517 | if new_speed == None: |
|---|
| 1518 | |
|---|
| 1519 | concentration=self.progressBarConcentration.value() |
|---|
| 1520 | relaxation=self.progressBarRelaxation.value() |
|---|
| 1521 | |
|---|
| 1522 | new_speed = self.calculateSpeed(concentration, relaxation) |
|---|
| 1523 | |
|---|
| 1524 | |
|---|
| 1525 | # Update GUI |
|---|
| 1526 | if self.pushButtonSpeedEnable.isChecked(): |
|---|
| 1527 | self.progressBarSpeed.setValue(new_speed) |
|---|
| 1528 | |
|---|
| 1529 | |
|---|
| 1530 | # If there is a change between the new and current speeds |
|---|
| 1531 | # and either the robot is currently driving forward |
|---|
| 1532 | # or the "speed control" button is enabled, |
|---|
| 1533 | # then send the updated speed to the robot |
|---|
| 1534 | if ((self.current_speed != new_speed) and \ |
|---|
| 1535 | ((self.drive_state == 'drive_forward') or \ |
|---|
| 1536 | (self.pushButtonSpeedEnable.isChecked()))): |
|---|
| 1537 | |
|---|
| 1538 | if (new_speed == 0): |
|---|
| 1539 | self.current_speed = new_speed |
|---|
| 1540 | self.stopMotors() |
|---|
| 1541 | else: |
|---|
| 1542 | if ((self.brainstormsClient != None) and \ |
|---|
| 1543 | (self.pushButtonSpeedEnable.isChecked())): |
|---|
| 1544 | self.pushButtonForward.setDown(True) |
|---|
| 1545 | self.brainstormsClient.sendCommand('drive_forward', power=new_speed) |
|---|
| 1546 | |
|---|
| 1547 | |
|---|
| 1548 | self.current_speed = new_speed |
|---|
| 1549 | |
|---|
| 1550 | |
|---|
| 1551 | ################################################################## |
|---|
| 1552 | |
|---|
| 1553 | def updateHelicopterSpeed(self, new_speed=None): |
|---|
| 1554 | |
|---|
| 1555 | if new_speed == None: |
|---|
| 1556 | |
|---|
| 1557 | concentration=self.progressBarHelicopterConcentration.value() |
|---|
| 1558 | relaxation=self.progressBarHelicopterRelaxation.value() |
|---|
| 1559 | |
|---|
| 1560 | new_speed = self.calculateSpeed(concentration, relaxation) |
|---|
| 1561 | |
|---|
| 1562 | |
|---|
| 1563 | # Update GUI |
|---|
| 1564 | if self.pushButtonHelicopterSpeedEnable.isChecked(): |
|---|
| 1565 | self.progressBarHelicopterSpeed.setValue(new_speed) |
|---|
| 1566 | |
|---|
| 1567 | if ((new_speed > 0) and \ |
|---|
| 1568 | (self.current_helicopter_state == 'neutral') and \ |
|---|
| 1569 | (self.helicopter != None)): |
|---|
| 1570 | self.enableHelicopterHover() |
|---|
| 1571 | |
|---|
| 1572 | elif ((new_speed == 0) and \ |
|---|
| 1573 | (self.current_helicopter_state != 'neutral') and \ |
|---|
| 1574 | (self.helicopter != None)): |
|---|
| 1575 | self.landHelicopter() |
|---|
| 1576 | |
|---|
| 1577 | |
|---|
| 1578 | self.current_speed = new_speed |
|---|
| 1579 | |
|---|
| 1580 | |
|---|
| 1581 | ################################################################## |
|---|
| 1582 | |
|---|
| 1583 | def updateWheelchairSpeed(self, new_speed=None): |
|---|
| 1584 | |
|---|
| 1585 | if new_speed == None: |
|---|
| 1586 | |
|---|
| 1587 | concentration=self.progressBarWheelchairConcentration.value() |
|---|
| 1588 | relaxation=self.progressBarWheelchairRelaxation.value() |
|---|
| 1589 | |
|---|
| 1590 | new_speed = self.calculateSpeed(concentration, relaxation) |
|---|
| 1591 | |
|---|
| 1592 | |
|---|
| 1593 | # Update GUI |
|---|
| 1594 | if self.pushButtonWheelchairSpeedEnable.isChecked(): |
|---|
| 1595 | self.progressBarWheelchairSpeed.setValue(new_speed) |
|---|
| 1596 | |
|---|
| 1597 | |
|---|
| 1598 | self.current_speed = new_speed |
|---|
| 1599 | |
|---|
| 1600 | |
|---|
| 1601 | ################################################################## |
|---|
| 1602 | |
|---|
| 1603 | def calculateSpeed(self, concentration, relaxation): |
|---|
| 1604 | |
|---|
| 1605 | speed = 0 |
|---|
| 1606 | |
|---|
| 1607 | thresholds = THINKGEAR_POWER_THRESHOLDS |
|---|
| 1608 | |
|---|
| 1609 | match = int(concentration) |
|---|
| 1610 | |
|---|
| 1611 | while ((match not in thresholds['concentration'].keys()) and \ |
|---|
| 1612 | (match >= 0)): |
|---|
| 1613 | match -= 1 |
|---|
| 1614 | |
|---|
| 1615 | |
|---|
| 1616 | if match in thresholds['concentration'].keys(): |
|---|
| 1617 | speed = thresholds['concentration'][match] |
|---|
| 1618 | |
|---|
| 1619 | |
|---|
| 1620 | match = int(relaxation) |
|---|
| 1621 | |
|---|
| 1622 | while ((match not in thresholds['relaxation'].keys()) and \ |
|---|
| 1623 | (match >= 0)): |
|---|
| 1624 | match -= 1 |
|---|
| 1625 | |
|---|
| 1626 | if match in thresholds['relaxation'].keys(): |
|---|
| 1627 | speed = speed + thresholds['relaxation'][match] |
|---|
| 1628 | |
|---|
| 1629 | |
|---|
| 1630 | # LEGO Mindstorms power settings cannot exceed 100 |
|---|
| 1631 | # and don't drive well with levels less than 50 |
|---|
| 1632 | if (speed > 100): |
|---|
| 1633 | speed = 100 |
|---|
| 1634 | elif (speed < 50): |
|---|
| 1635 | speed = 0 |
|---|
| 1636 | |
|---|
| 1637 | |
|---|
| 1638 | return(speed) |
|---|
| 1639 | |
|---|
| 1640 | |
|---|
| 1641 | ################################################################## |
|---|
| 1642 | |
|---|
| 1643 | def processPacketThinkGear(self, packet): |
|---|
| 1644 | |
|---|
| 1645 | if ('eSense' in packet.keys()): |
|---|
| 1646 | |
|---|
| 1647 | if ('attention' in packet['eSense'].keys()): |
|---|
| 1648 | if self.pushButtonConcentrationEnable.isChecked(): |
|---|
| 1649 | self.progressBarConcentration.setValue(packet['eSense']['attention']) |
|---|
| 1650 | if self.pushButtonHelicopterConcentrationEnable.isChecked(): |
|---|
| 1651 | self.progressBarHelicopterConcentration.setValue(packet['eSense']['attention']) |
|---|
| 1652 | if self.pushButtonWheelchairConcentrationEnable.isChecked(): |
|---|
| 1653 | self.progressBarWheelchairConcentration.setValue(packet['eSense']['attention']) |
|---|
| 1654 | |
|---|
| 1655 | if ('meditation' in packet['eSense'].keys()): |
|---|
| 1656 | if self.pushButtonRelaxationEnable.isChecked(): |
|---|
| 1657 | self.progressBarRelaxation.setValue(packet['eSense']['meditation']) |
|---|
| 1658 | if self.pushButtonHelicopterRelaxationEnable.isChecked(): |
|---|
| 1659 | self.progressBarHelicopterRelaxation.setValue(packet['eSense']['meditation']) |
|---|
| 1660 | if self.pushButtonWheelchairRelaxationEnable.isChecked(): |
|---|
| 1661 | self.progressBarWheelchairRelaxation.setValue(packet['eSense']['meditation']) |
|---|
| 1662 | |
|---|
| 1663 | |
|---|
| 1664 | self.updateNXTSpeed() |
|---|
| 1665 | self.updateHelicopterSpeed() |
|---|
| 1666 | self.updateWheelchairSpeed() |
|---|
| 1667 | |
|---|
| 1668 | |
|---|
| 1669 | ################################################################## |
|---|
| 1670 | |
|---|
| 1671 | def sendFeedback(self): |
|---|
| 1672 | |
|---|
| 1673 | values = {} |
|---|
| 1674 | |
|---|
| 1675 | values['name'] = str(self.lineEditFeedbackName.text()) |
|---|
| 1676 | values['email'] = str(self.lineEditFeedbackEmail.text()) |
|---|
| 1677 | values['comment'] = str(self.textEditFeedback.toPlainText()) |
|---|
| 1678 | |
|---|
| 1679 | values['subject'] = '[brainstorms feedback]' |
|---|
| 1680 | values['capcha_contact'] = 'brainstorms' |
|---|
| 1681 | |
|---|
| 1682 | |
|---|
| 1683 | url_data = urllib.urlencode(values) |
|---|
| 1684 | |
|---|
| 1685 | try: |
|---|
| 1686 | page = urllib.urlopen(BRAINSTORMS_FEEDBACK_URL, url_data) |
|---|
| 1687 | |
|---|
| 1688 | reply = QtGui.QMessageBox.information( \ |
|---|
| 1689 | self, \ |
|---|
| 1690 | 'Feedback Sent', \ |
|---|
| 1691 | 'Thank you for your feedback', \ |
|---|
| 1692 | 'OK') |
|---|
| 1693 | |
|---|
| 1694 | self.lineEditFeedbackName.setText('') |
|---|
| 1695 | self.lineEditFeedbackEmail.setText('') |
|---|
| 1696 | self.textEditFeedback.setText('') |
|---|
| 1697 | |
|---|
| 1698 | except: |
|---|
| 1699 | reply = QtGui.QMessageBox.information( \ |
|---|
| 1700 | self, \ |
|---|
| 1701 | 'Feedback Sent', \ |
|---|
| 1702 | 'We\'re sorry but there was an error submitting your feedback.\nPlease email contact@puzzlebox.info instead.', \ |
|---|
| 1703 | 'OK') |
|---|
| 1704 | |
|---|
| 1705 | |
|---|
| 1706 | ################################################################## |
|---|
| 1707 | |
|---|
| 1708 | def closeEvent(self, event): |
|---|
| 1709 | |
|---|
| 1710 | quit_message = "Are you sure you want to exit the program?" |
|---|
| 1711 | |
|---|
| 1712 | reply = QtGui.QMessageBox.question( \ |
|---|
| 1713 | self, \ |
|---|
| 1714 | 'Quit Puzzlebox Brainstorms', \ |
|---|
| 1715 | quit_message, \ |
|---|
| 1716 | QtGui.QMessageBox.Yes, \ |
|---|
| 1717 | QtGui.QMessageBox.No) |
|---|
| 1718 | |
|---|
| 1719 | if reply == QtGui.QMessageBox.Yes: |
|---|
| 1720 | |
|---|
| 1721 | if self.brainstormsClient != None: |
|---|
| 1722 | self.stopMotors() |
|---|
| 1723 | self.brainstormsClient.socket.flush() |
|---|
| 1724 | |
|---|
| 1725 | if self.brainstormsServer != None: |
|---|
| 1726 | |
|---|
| 1727 | if self.brainstormsServer.rc == None: |
|---|
| 1728 | |
|---|
| 1729 | bluetooth_device = str(self.comboBoxNXTPortSelect.currentText()) |
|---|
| 1730 | self.brainstormsServer.executeCommand( \ |
|---|
| 1731 | 'stop_motors', \ |
|---|
| 1732 | bluetooth_device=bluetooth_device) |
|---|
| 1733 | |
|---|
| 1734 | else: |
|---|
| 1735 | self.brainstormsServer.rc.run('stop_motors') |
|---|
| 1736 | |
|---|
| 1737 | |
|---|
| 1738 | event.accept() |
|---|
| 1739 | |
|---|
| 1740 | else: |
|---|
| 1741 | event.ignore() |
|---|
| 1742 | |
|---|
| 1743 | |
|---|
| 1744 | ##################################################################### |
|---|
| 1745 | # Functions |
|---|
| 1746 | ##################################################################### |
|---|
| 1747 | |
|---|
| 1748 | ##################################################################### |
|---|
| 1749 | # Main |
|---|
| 1750 | ##################################################################### |
|---|
| 1751 | |
|---|
| 1752 | if __name__ == '__main__': |
|---|
| 1753 | |
|---|
| 1754 | #log = puzzlebox_logger.puzzlebox_logger(logfile='client_interface') |
|---|
| 1755 | log = None |
|---|
| 1756 | |
|---|
| 1757 | app = QtGui.QApplication(sys.argv) |
|---|
| 1758 | |
|---|
| 1759 | window = puzzlebox_brainstorms_client_interface(log, DEBUG) |
|---|
| 1760 | window.show() |
|---|
| 1761 | |
|---|
| 1762 | sys.exit(app.exec_()) |
|---|
| 1763 | |
|---|
