add esc status monitor

dronecan_gui_tool/panels/esc_panel.py

@@ -25,9 +25,11 @@
 
 
 class PercentSlider(QWidget):
-    def __init__(self, parent):
+    def __init__(self, esc_index, parent):
         super(PercentSlider, self).__init__(parent)
 
+        self._index = esc_index
+
         self._slider = QSlider(Qt.Vertical, self)
         self._slider.setMinimum(-100)
         self._slider.setMaximum(100)
@@ -44,23 +46,51 @@ def __init__(self, parent):
 
         self._zero_button = make_icon_button('hand-stop-o', 'Zero setpoint', self, on_clicked=self.zero)
 
-        layout = QVBoxLayout(self)
-        sub_layout = QHBoxLayout(self)
-        sub_layout.addStretch()
-        sub_layout.addWidget(self._slider)
-        sub_layout.addStretch()
-        layout.addLayout(sub_layout)
-        layout.addWidget(self._spinbox)
-        layout.addWidget(self._zero_button)
+        self._index_label = QLabel(f'Index: {self._index}', self)
+        self._error_count_label = QLabel('Err: NC', self)
+        self._voltage_label = QLabel('Volt: NC', self)
+        self._current_label = QLabel('Curr: NC', self)
+        self._temperature_label = QLabel('Temp: NC', self)
+        self._rpm_label = QLabel('RPM: NC', self)
+        self._power_rating_pct_label = QLabel('RAT: NC', self)
+
+        layout = QHBoxLayout(self)
+
+        status_layout = QVBoxLayout(self)
+        status_layout.addWidget(self._index_label)
+        status_layout.addWidget(self._error_count_label)
+        status_layout.addWidget(self._voltage_label)
+        status_layout.addWidget(self._current_label)
+        status_layout.addWidget(self._temperature_label)
+        status_layout.addWidget(self._rpm_label)
+        status_layout.addWidget(self._power_rating_pct_label)
+        status_layout.addStretch()
+        status_layout.addWidget(self._spinbox)
+        status_layout.addWidget(self._zero_button)
+
+        layout.addLayout(status_layout)
+        layout.addWidget(self._slider)
+
         self.setLayout(layout)
 
-        self.setMinimumHeight(400)
+        self.setMinimumHeight(300)
 
     def zero(self):
         self._slider.setValue(0)
 
     def get_value(self):
         return self._slider.value()
+
+    def update_status(self, msg):
+        status = msg.message
+        if status.esc_index == self._index:
+            self._error_count_label.setText(f'Err: {status.error_count}')
+            self._voltage_label.setText(f'Volt: {status.voltage:.1f} V')
+            self._current_label.setText(f'Curr: {status.current:.1f} A')
+            temperature_celsius = status.temperature - 273.15
+            self._temperature_label.setText(f'Temp: {temperature_celsius:.1f} °C')
+            self._rpm_label.setText(f'RPM: {status.rpm}')
+            self._power_rating_pct_label.setText(f'RAT: {status.power_rating_pct} %')
 
 
 class ESCPanel(QDialog):
@@ -77,7 +107,7 @@ def __init__(self, parent, node):
 
         self._node = node
 
-        self._sliders = [PercentSlider(self) for _ in range(4)]
+        self._sliders = [PercentSlider(index, self) for index in range(4)]
 
         self._num_sliders = QSpinBox(self)
         self._num_sliders.setMinimum(len(self._sliders))
@@ -141,6 +171,13 @@ def __init__(self, parent, node):
         self.setLayout(layout)
         self.resize(self.minimumWidth(), self.minimumHeight())
 
+        self._node.add_handler(dronecan.uavcan.equipment.esc.Status, self._on_esc_status)
+
+    def _on_esc_status(self, msg):
+        if msg.message.esc_index < len(self._sliders):
+            sl = self._sliders[msg.message.esc_index] 
+            sl.update_status(msg) 
+
     def _do_broadcast(self):
         try:
             if not self._pause.isChecked():
@@ -180,7 +217,7 @@ def _update_number_of_sliders(self):
             removee.deleteLater()
 
         while len(self._sliders) < num_sliders:
-            new = PercentSlider(self)
+            new = PercentSlider(len(self._sliders), self)
             self._slider_layout.addWidget(new)
             self._sliders.append(new)