mirror of
https://github.com/caperren/school_archives.git
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150 lines
5.5 KiB
Python
150 lines
5.5 KiB
Python
#!/usr/bin python3.5
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"""
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Main file used to launch the Rover Base Station
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No other files should be used for launching this application.
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"""
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__author__ = "Corwin Perren"
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__credits__ = [""]
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__license__ = "GPL (GNU General Public License) 3.0"
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__version__ = "0.1"
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__maintainer__ = "Corwin Perren"
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__email__ = "caperren@caperren.com"
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__status__ = "Development"
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#####################################
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# Imports
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#####################################
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# Python native imports
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import sys
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from PyQt5 import QtWidgets, QtCore, QtGui, uic, QtWebEngine, QtQuick, QtQml
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import signal
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import logging
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import time
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# Custom Imports
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from Framework.SettingsCore import Settings
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from Framework.LoggingCore import Logger
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from Interface.InterfaceCore import Interface
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from Framework.XBOXControllerCore import XBOXController
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from Framework.FreeSkyControllerCore import FreeSkyController
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from Framework.MiniBoardIOCore import MiniboardIO
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from Framework.MotionProcessorCore import MotionProcessor
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from Framework.ReadUpdaterCore import ReadUpdater
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from Framework.MapProcessorCore import MapProcessor
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#####################################
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# Global Variables
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#####################################
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UI_FILE_PATH = "Resources/new_ui_work_4-30-17/RoverBaseStation.ui"
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#####################################
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# Application Class Definition
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#####################################
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class ApplicationWindow(QtWidgets.QMainWindow):
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connect_all_signals_to_slots_signal = QtCore.pyqtSignal()
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start_all_threads = QtCore.pyqtSignal()
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kill_threads_signal = QtCore.pyqtSignal()
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def __init__(self, parent=None):
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# noinspection PyArgumentList
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super(ApplicationWindow, self).__init__(parent)
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uic.loadUi(UI_FILE_PATH, self)
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# ########## Class Variables ##########
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self.num_threads_running = 0
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self.threads = [] # type: [QtCore.QThread]
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# ########## Instantiation of program classes ##########
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# Settings class and version number set
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self.settings_class = Settings(self)
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self.settings = QtCore.QSettings()
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self.settings.setValue("miscellaneous/version", __version__)
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# Uncomment these lines to completely reset settings and quit, then re-comment and rerun program
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# self.settings.clear()
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# self.close()
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# Set up the global logger instance
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self.logger_class = Logger(console_output=True)
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self.logger = logging.getLogger("RoverBaseStation")
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# All interface elements
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self.xbox_controller_class = XBOXController(self)
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self.frsky_controller_class = FreeSkyController(self)
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self.miniboard_class = MiniboardIO(self)
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self.interface_class = Interface(self)
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self.motion_processor_class = MotionProcessor(self)
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self.read_updater = ReadUpdater(self)
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self.map_processor = MapProcessor(self)
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# ########## Add threads to list for easy access on program close ##########
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self.threads.append(self.interface_class.live_logs_class)
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self.threads.append(self.xbox_controller_class)
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self.threads.append(self.frsky_controller_class)
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self.threads.append(self.miniboard_class)
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self.threads.append(self.motion_processor_class)
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self.threads.append(self.read_updater)
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self.threads.append(self.map_processor)
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# ########## Setup signal/slot connections ##########
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for thread in self.threads:
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self.connect_all_signals_to_slots_signal.connect(thread.connect_signals_to_slots__slot)
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self.connect_all_signals_to_slots_signal.emit()
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# ########## Start all child threads ##########
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for thread in self.threads:
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self.start_all_threads.connect(thread.start)
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self.start_all_threads.emit()
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time.sleep(1)
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# ########## Ensure all threads started properly ##########
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for thread in self.threads:
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if not thread.isRunning():
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self.logger.error("Thread" + thread.__class__.__name__ + " failed to start! Exiting...")
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for thread in self.threads:
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thread.terminate()
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self.close()
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self.logger.info("All threads started successfully!")
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def closeEvent(self, event):
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# Tell all threads to die
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self.kill_threads_signal.emit()
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# Wait for all the threads to end properly
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for thread in self.threads:
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thread.wait()
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# Print final log noting shutdown and shutdown the logger to flush to disk
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self.logger.debug("########## Application Stopping ##########")
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logging.shutdown()
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# Accept the close event to properly close the program
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event.accept()
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#####################################
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# Main Definition
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#####################################
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if __name__ == "__main__":
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signal.signal(signal.SIGINT, signal.SIG_DFL) # This allows the keyboard interrupt kill to work properly
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application = QtWidgets.QApplication(sys.argv) # Create the base qt gui application
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app_window = ApplicationWindow() # Make a window in this application
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app_window.setWindowTitle("Rover Base Station") # Sets the window title
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# ##### Center the window on the screen #####
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geometry = app_window.frameGeometry()
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screen = QtWidgets.QApplication.desktop().screenNumber(QtWidgets.QApplication.desktop().cursor().pos())
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centerPoint = QtWidgets.QApplication.desktop().screenGeometry(screen).center()
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geometry.moveCenter(centerPoint)
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app_window.move(geometry.topLeft())
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app_window.show() # Show the window in the application
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application.exec_() # Execute launching of the application
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