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() |
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460 | |
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461 | self.disconnect(self.pushButtonHelicopterConnect, \ |
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462 | QtCore.SIGNAL("clicked()"), \ |
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463 | self.connectToRCHelicopter) |
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464 | |
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465 | self.connect(self.pushButtonHelicopterConnect, \ |
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466 | QtCore.SIGNAL("clicked()"), \ |
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467 | self.disconnectFromRCHelicopter) |
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468 | |
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469 | self.pushButtonHelicopterConnect.setText('Disconnect') |
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470 | |
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471 | self.comboBoxHelicopterTransmitter.setEnabled(False) |
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472 | self.comboBoxHelicopterPortSelect.setEnabled(False) |
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473 | self.pushButtonHelicopterSearch.setEnabled(False) |
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474 | |
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475 | self.pushButtonHelicopterHover.setEnabled(True) |
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476 | self.pushButtonHelicopterFlyForward.setEnabled(True) |
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477 | self.pushButtonHelicopterLand.setEnabled(True) |
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478 | self.pushButtonHelicopterThrottle.setEnabled(True) |
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479 | self.verticalSliderHelicopterThrottle.setEnabled(True) |
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480 | self.pushButtonHelicopterElevatorForward.setEnabled(True) |
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481 | self.verticalSliderHelicopterElevatorForward.setEnabled(True) |
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482 | self.pushButtonHelicopterElevatorReverse.setEnabled(True) |
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483 | self.verticalSliderHelicopterElevatorReverse.setEnabled(True) |
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484 | self.pushButtonHelicopterRudderLeft.setEnabled(True) |
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485 | self.horizontalSliderHelicopterRudderLeft.setEnabled(True) |
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486 | self.pushButtonHelicopterRudderRight.setEnabled(True) |
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487 | self.horizontalSliderHelicopterRudderRight.setEnabled(True) |
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488 | self.pushButtonHelicopterAileronLeft.setEnabled(True) |
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489 | self.horizontalSliderHelicopterAileronLeft.setEnabled(True) |
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490 | self.pushButtonHelicopterAileronRight.setEnabled(True) |
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491 | self.horizontalSliderHelicopterAileronRight.setEnabled(True) |
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492 | |
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493 | self.pushButtonHelicopterConcentrationEnable.setEnabled(True) |
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494 | self.pushButtonHelicopterRelaxationEnable.setEnabled(True) |
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495 | self.pushButtonHelicopterSpeedEnable.setEnabled(True) |
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496 | |
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497 | |
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498 | ################################################################## |
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499 | |
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500 | def disconnectFromRCHelicopter(self): |
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501 | |
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502 | self.helicopter.neutral() |
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503 | self.current_helicopter_state = 'neutral' |
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504 | |
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505 | self.helicopter.stop() |
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506 | |
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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 | |
---|