From 69eb9e386c7cf8fb9ea74f5deb55e418990fc993 Mon Sep 17 00:00:00 2001 From: Huibean Date: Fri, 26 Jul 2024 13:55:14 +0800 Subject: [PATCH] add RC Pannel --- dronecan_gui_tool/panels/__init__.py | 4 +- dronecan_gui_tool/panels/rc_panel.py | 383 +++++++++++++++++++++++++++ 2 files changed, 386 insertions(+), 1 deletion(-) create mode 100644 dronecan_gui_tool/panels/rc_panel.py diff --git a/dronecan_gui_tool/panels/__init__.py b/dronecan_gui_tool/panels/__init__.py index 6ef1f2a..b49fdf2 100644 --- a/dronecan_gui_tool/panels/__init__.py +++ b/dronecan_gui_tool/panels/__init__.py @@ -16,6 +16,7 @@ from . import stats_panel from . import RemoteID_panel from . import hobbywing_esc +from . import rc_panel class PanelDescriptor: def __init__(self, module): @@ -43,5 +44,6 @@ def safe_spawn(self, parent, node): PanelDescriptor(serial_panel), PanelDescriptor(stats_panel), PanelDescriptor(RemoteID_panel), - PanelDescriptor(hobbywing_esc) + PanelDescriptor(hobbywing_esc), + PanelDescriptor(rc_panel) ] diff --git a/dronecan_gui_tool/panels/rc_panel.py b/dronecan_gui_tool/panels/rc_panel.py new file mode 100644 index 0000000..ab91ad1 --- /dev/null +++ b/dronecan_gui_tool/panels/rc_panel.py @@ -0,0 +1,383 @@ +# +# Copyright (C) 2023 DroneCAN Development Team +# +# This software is distributed under the terms of the MIT License. +# +# Author: Huibean Luo +# + +import dronecan +from functools import partial +from PyQt5.QtWidgets import QWidget, QLabel, QDialog, \ + QVBoxLayout, QHBoxLayout, QSlider, QSpinBox, QPushButton +from PyQt5.QtGui import QPainter, QPen, QColor, QFont +from PyQt5.QtCore import Qt, pyqtSignal, QPointF, QRectF +from PyQt5 import sip +from ..widgets import get_icon + +__all__ = 'PANEL_NAME', 'spawn', 'get_icon' + +PANEL_NAME = 'RC Panel' + +_singleton = None + +STATUS_QUALITY_VALID = 1 +STATUS_FAILSAFE = 2 + +DRONECAN_MAX_RC_CHANNELS = 32 +DEFAULT_DISPLAY_CHANNELS = 16 +CHANNEL_CENTER_VALUE = 1500 +CHANNEL_VALUE_DISPLAY_RANGE_MAX = 2050 +CHANNEL_VALUE_DISPLAY_RANGE_MIN = 950 +CHANNEL_VALUE_DISPLAY_RANGE = CHANNEL_VALUE_DISPLAY_RANGE_MAX - CHANNEL_VALUE_DISPLAY_RANGE_MIN + +class ChannelSlider(QSlider): + def __init__(self): + super(ChannelSlider, self).__init__(Qt.Vertical) + + self.setMinimum(CHANNEL_VALUE_DISPLAY_RANGE_MIN) + self.setMaximum(CHANNEL_VALUE_DISPLAY_RANGE_MAX) + + self.min_value = CHANNEL_CENTER_VALUE + self.max_value = CHANNEL_CENTER_VALUE + self.valid = False + self.updateStyleSheet() + + def updateStyleSheet(self): + if self.valid: + self.setStyleSheet(""" + QSlider::groove:vertical { + border: 0px solid #999999; + width: 8px; + background: white; + margin: 0 2px; + } + """) + else: + self.setStyleSheet(""" + QSlider::groove:vertical { + border: 0px solid #999999; + width: 8px; + background: gray; + margin: 0 2px; + } + """) + + def setValid(self, valid): + self.valid = valid + self.updateStyleSheet() + + def setValue(self, value): + super().setValue(value) + self.min_value = min(self.min_value, value) + self.max_value = max(self.max_value, value) + + def paintEvent(self, event): + super().paintEvent(event) + painter = QPainter(self) + + painter.setBrush(QColor(0, 255, 0)) + rect_y0 = self.height() * 0.5 + display_value = self.value() + offset = self.height() * 0.5 * (CHANNEL_CENTER_VALUE - display_value) / (CHANNEL_VALUE_DISPLAY_RANGE * 0.5) + rect = QRectF(0, rect_y0, self.width(), offset) + painter.drawRect(rect) + + painter.setPen(Qt.gray) + painter.drawLine(QPointF(0, self.height() *0.5), QPointF(self.width(), self.height() *0.5)) + + if self.min_value != CHANNEL_CENTER_VALUE: + painter.setPen(Qt.red) + min_pos = self.height() - abs(self.min_value - CHANNEL_VALUE_DISPLAY_RANGE_MIN) / CHANNEL_VALUE_DISPLAY_RANGE * self.height() + painter.drawLine(QPointF(0, min_pos), QPointF(self.width(), min_pos)) + + if self.max_value != CHANNEL_CENTER_VALUE: + painter.setPen(Qt.red) + max_pos = abs(self.max_value - CHANNEL_VALUE_DISPLAY_RANGE_MAX) / CHANNEL_VALUE_DISPLAY_RANGE * self.height() + painter.drawLine(QPointF(0, max_pos), QPointF(self.width(), max_pos)) + +class ChannelSliderItem(QWidget): + def __init__(self, ch, parent=None): + super(ChannelSliderItem, self).__init__(parent) + + layout = QVBoxLayout() + + self.ch = ch + self.slider = ChannelSlider() + self.slider.setEnabled(False) + self.slider.setMinimumHeight(60) + + font = QFont() + font.setPointSize(8) + + mini_font = QFont() + mini_font.setPointSize(6) + + self.channel_value_label = QLabel() + self.channel_value_label.setFont(font) + + self.channel_max_value_label = QLabel() + self.channel_max_value_label.setFont(mini_font) + + self.channel_min_value_label = QLabel() + self.channel_min_value_label.setFont(mini_font) + + ch_label = QLabel(f'CH{ch}') + ch_label.setFont(font) + + + layout.addWidget(self.channel_max_value_label) + layout.setAlignment(self.channel_max_value_label, Qt.AlignCenter) + + layout.addWidget(self.slider) + layout.setAlignment(self.slider, Qt.AlignCenter) + + layout.addWidget(self.channel_min_value_label) + layout.setAlignment(self.channel_min_value_label, Qt.AlignCenter) + + layout.addWidget(ch_label) + layout.setAlignment(ch_label, Qt.AlignCenter) + + layout.addWidget(self.channel_value_label) + layout.setAlignment(self.channel_value_label, Qt.AlignCenter) + + layout.addStretch() + + self.setLayout(layout) + + def update_channel_value(self, value): + self.slider.setValue(value) + self.channel_value_label.setText(f'{value}') + self.channel_max_value_label.setText(f'{self.slider.max_value}') + self.channel_min_value_label.setText(f'{self.slider.min_value}') + + def setValid(self, valid): + self.slider.setValid(valid) + +class RcQualityWidget(QWidget): + def __init__(self, parent=None): + super(RcQualityWidget, self).__init__(parent) + self.quality = 0 + + def set_quality(self, quality): + self.quality = quality + self.update() # Trigger a repaint + + def paintEvent(self, event): + painter = QPainter(self) + + pen = QPen() + pen.setWidth(1) + pen.setColor(QColor(0, 0, 0)) + painter.setPen(pen) + + num_filled = int(self.quality / 255 * 10) + + rect_width = self.width() / 12 + rect_height = self.height() - pen.width() + gap = rect_width / 6 + + for i in range(10): + if i < num_filled: + painter.setBrush(QColor(0, 255, 0)) # Green for filled rectangles + else: + painter.setBrush(QColor(255, 255, 255)) # white for empty rectangles + + rect = QRectF(i * (rect_width + gap), 0, rect_width, rect_height) + painter.drawRect(rect) + +class RcInfoWidget(QWidget): + def __init__(self, id, parent=None): + super(RcInfoWidget, self).__init__(parent) + + self.setMinimumHeight(160) + + self.id = id + self.status = -1 + self.rcin = [] + + layout = QVBoxLayout() + info_layout = QHBoxLayout() + info_layout.setContentsMargins(0, 0, 0, 0) + sliders_layout = QHBoxLayout() + + self.id_label = QLabel(f'ID: {self.id} |') + info_layout.addWidget(self.id_label) + + self.status_label = QLabel() + info_layout.addWidget(self.status_label) + + self.channel_num_label = QLabel() + info_layout.addWidget(self.channel_num_label) + + self.quality_label = QLabel() + self.quality_label.setFixedWidth(90) + info_layout.addWidget(self.quality_label) + + self.rc_quality_widget = RcQualityWidget() + self.rc_quality_widget.setFixedWidth(150) + self.rc_quality_widget.setMaximumHeight(20) + info_layout.addWidget(self.rc_quality_widget) + + info_layout.addStretch(1) + + bind_button = QPushButton('Bind') + bind_button.clicked.connect(self.handle_rc_bind) + info_layout.addWidget(bind_button) + + self.sliders = [] + self.slider_texts = [] + for i in range(DRONECAN_MAX_RC_CHANNELS): + slider = ChannelSliderItem(i+1) + self.sliders.append(slider) + sliders_layout.addWidget(slider) + + layout.addLayout(info_layout) + layout.addLayout(sliders_layout) + self.setLayout(layout) + + def handle_rc_bind(self): + print(f'Bind RC ID: {self.id}') + + def paintEvent(self, event): + painter = QPainter(self) + pen = QPen() + pen.setWidth(1) + pen.setColor(QColor(0, 0, 0)) + painter.setPen(pen) + + painter.drawRect(0, 0, self.width() - 1, self.height() - 1) + + def get_id_str(self): + return f'ID: {self.id} |' + + def get_status_str(self): + status_str = 'Status: ' + if self.status == STATUS_QUALITY_VALID: + status_str += "Vaild" + elif self.status == STATUS_FAILSAFE: + status_str += "Failsafe" + else: + status_str += "Unknown" + status_str += ' |' + return status_str + + def get_channel_qty(self): + return len(self.rcin) + + def get_sliders(self): + return self.sliders + + def update_display_channels(self, value): + for i, slider in enumerate(self.get_sliders()): + slider.setVisible(i < value) + + def update_info(self, status, quality, rcin): + self.status = status + self.quality = quality + self.rcin = rcin + + self.status_label.setText(self.get_status_str()) + self.channel_num_label.setText(f'CH: {self.get_channel_qty()} |') + self.quality_label.setText(f'Quality: {self.quality} ') + self.rc_quality_widget.set_quality(quality) + + for i in range(DRONECAN_MAX_RC_CHANNELS): + if i < len(rcin): + self.sliders[i].setValid(True) + self.sliders[i].update_channel_value(rcin[i]) + else: + self.sliders[i].setValid(False) + self.sliders[i].update_channel_value(CHANNEL_CENTER_VALUE) + +class RcPanel(QDialog): + update_values_signal = pyqtSignal(list) + + def __init__(self, parent, node): + super(RcPanel, self).__init__(parent) + self.setWindowTitle('RC Panel') + self.setAttribute(Qt.WA_DeleteOnClose) + + self._node = node + + self.display_channels = DEFAULT_DISPLAY_CHANNELS + + setting_layout = QHBoxLayout() + self.display_channel_spinbox = QSpinBox() + self.display_channel_spinbox.setRange(1, DRONECAN_MAX_RC_CHANNELS) + self.display_channel_spinbox.setValue(self.display_channels) + self.display_channel_spinbox.setFixedWidth(50) + self.display_channel_spinbox.valueChanged.connect(self.handle_display_channels_value_changed) + + setting_layout.addWidget(QLabel('Display Channels:')) + setting_layout.addWidget(self.display_channel_spinbox) + setting_layout.addStretch(1) + + self.idle_content = QLabel('No RC Instance Available.') + + self.rc_layout = QVBoxLayout() + self.rc_layout.addWidget(self.idle_content) + + self.rc_instances = {} + + layout = QVBoxLayout() + + layout.addLayout(setting_layout) + layout.addLayout(self.rc_layout) + + self.setLayout(layout) + + self.update_values_signal.connect(self.update_channel_values) + self._node.add_handler(dronecan.dronecan.sensors.rc.RCInput, self.handle_RCInput) + + def handle_RCInput(self, msg): + rc_status = [] + rc_status.append(msg.message.id) + rc_status.append(msg.message.status) + rc_status.append(msg.message.quality) + rc_status.append(msg.message.rcin) + if not sip.isdeleted(self): + self.update_values_signal.emit(rc_status) + + def update_channel_values(self, rc_status): + rc_id = rc_status[0] + rc_instance = self.rc_instances.get(rc_id, None) + if rc_instance is None: + rc_instance = RcInfoWidget(rc_id) + rc_instance.setMinimumHeight(200) + rc_instance.update_display_channels(self.display_channels) + self.rc_instances[rc_id] = rc_instance + self.rc_layout.addWidget(rc_instance) + + rc_instance.update_info(rc_status[1], rc_status[2], rc_status[3]) + self.idle_content.hide() + + def handle_display_channels_value_changed(self, value): + self.display_channels = value + for rc_instance in self.rc_instances.values(): + rc_instance.update_display_channels(value) + self.adjustSize() + + def __del__(self): + global _singleton + _singleton = None + + def closeEvent(self, event): + super(RcPanel, self).closeEvent(event) + self.__del__() + +def spawn(parent, node): + global _singleton + if _singleton is None: + try: + _singleton = RcPanel(parent, node) + except Exception as ex: + print(ex) + + _singleton.show() + _singleton.raise_() + _singleton.activateWindow() + + return _singleton + +get_icon = partial(get_icon, 'asterisk') \ No newline at end of file