mirror of
https://github.com/caperren/school_archives.git
synced 2025-11-09 21:51:15 +00:00
164 lines
5.5 KiB
Python
164 lines
5.5 KiB
Python
# coding:utf-8
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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
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import signal
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import qdarkstyle
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from Framework.cao_controller import CAOController
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from Framework.cao_monitor import CAOMonitor
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#####################################
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# Global Variables
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#####################################
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UI_FILE = "Resources/Ui/pendant.ui"
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# # CAO Engine
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# eng = win32com.client.Dispatch("CAO.CaoEngine")
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#
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# ctrl = eng.Workspaces(0).AddController("RC", "CaoProv.DENSO.NetwoRC", "", "conn=eth:192.168.1.10")
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# Arm1 = ctrl.AddRobot("Arm1", "")
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#
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# # Get and print a variable
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# # p_val_0 = ctrl.AddVariable("P0", "")
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# # p_val_1 = ctrl.AddVariable("P1", "")
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# # p_val_2 = ctrl.AddVariable("P2", "")
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# # print("P0 is: ", p_val_0)
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# # print("P1 is: ", p_val_1)
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# # print("P2 is: ", p_val_2)
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#
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# ctrl.Execute("PutAutoMode", 2) # Put controller into external auto mode
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#
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# Arm1.Execute("Motor", 1) # Enable motor power
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#
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# try:
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# Arm1.Execute("TakeArm", 0)
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# except Exception:
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# Arm1.Execute("Motor", 0)
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# exit()
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#
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# Arm1.Execute("ExtSpeed", (20, 20, 20))
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#
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# while True:
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# try:
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# Arm1.Move(1, "@P P0", "")
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# Arm1.Move(1, "@P P1", "")
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# Arm1.Move(1, "@P P2", "")
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# except KeyboardInterrupt:
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# Arm1.Execute("GiveArm", )
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# Arm1.Execute("Motor", 0)
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# exit()
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#####################################
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# ApplicationWindow Class Definition
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#####################################
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class ApplicationWindow(QtWidgets.QMainWindow):
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exit_requested_signal = QtCore.pyqtSignal()
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kill_threads_signal = QtCore.pyqtSignal()
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def __init__(self, parent=None, ui_file_path=None):
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super(ApplicationWindow, self).__init__(parent)
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uic.loadUi(ui_file_path, self)
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QtWidgets.QShortcut(QtGui.QKeySequence("Ctrl+Q"), self, self.exit_requested_signal.emit)
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#####################################
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# GroundStation Class Definition
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#####################################
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class GroundStation(QtCore.QObject):
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SCREEN_ID = 0
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exit_requested_signal = QtCore.pyqtSignal()
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start_threads_signal = QtCore.pyqtSignal()
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connect_signals_and_slots_signal = 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(GroundStation, self).__init__(parent)
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# ########## Get the Pick And Plate instance of the logger ##########
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# self.logger = logging.getLogger("groundstation")
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self.shared_objects = {
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"screens": {},
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"regular_classes": {},
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"threaded_classes": {}
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}
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# ###### Instantiate Left And Right Screens ######
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self.shared_objects["screens"]["main_screen"] = \
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self.create_application_window(UI_FILE, "Denso Pendant",
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self.SCREEN_ID) # type: ApplicationWindow
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# ##### Instantiate Regular Classes ######
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# ##### Instantiate Threaded Classes ######
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self.__add_thread("CAO Controller", CAOController(self.shared_objects))
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self.__add_thread("CAO Monitor", CAOMonitor(self.shared_objects))
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self.connect_signals_and_slots_signal.emit()
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self.__connect_signals_to_slots()
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self.start_threads_signal.emit()
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def __add_thread(self, thread_name, instance):
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self.shared_objects["threaded_classes"][thread_name] = instance
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instance.setup_signals(self.start_threads_signal, self.connect_signals_and_slots_signal,
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self.kill_threads_signal)
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def __connect_signals_to_slots(self):
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self.shared_objects["screens"]["main_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)
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def on_exit_requested__slot(self):
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self.kill_threads_signal.emit()
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# Wait for Threads
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for thread in self.shared_objects["threaded_classes"]:
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self.shared_objects["threaded_classes"][thread].wait()
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QtGui.QGuiApplication.exit()
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@staticmethod
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def create_application_window(ui_file_path, title, display_screen):
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system_desktop = QtWidgets.QDesktopWidget() # This gets us access to the desktop geometry
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app_window = ApplicationWindow(parent=None, ui_file_path=ui_file_path) # Make a window in this application
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app_window.setWindowTitle(title) # Sets the window title
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app_window.setWindowFlags(app_window.windowFlags() | QtCore.Qt.WindowStaysOnTopHint)
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# app_window.setGeometry(
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# system_desktop.screenGeometry(display_screen)) # Sets the window to be on the first screen
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app_window.show() # Shows the window in full screen mode
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return app_window
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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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# ########## Start the QApplication Framework ##########
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application = QtWidgets.QApplication(sys.argv) # Create the ase qt gui application
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application.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
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# ########## Set Organization Details for QSettings ##########
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QtCore.QCoreApplication.setOrganizationName("OSURC")
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QtCore.QCoreApplication.setOrganizationDomain("http://osurobotics.club/")
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QtCore.QCoreApplication.setApplicationName("pendant")
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# ########## Start Ground Station If Ready ##########
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ground_station = GroundStation()
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application.exec_() # Execute launching of the application |