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TouchRTKStation_quitB_keyboard_option.py
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TouchRTKStation_quitB_keyboard_option.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
"""
@author: Yusuke Takahashi, Taro Suzuki, Waseda University
"""
import sys,os,shlex,glob,time,re
from subprocess import Popen,PIPE,check_output
from PyQt5.QtWidgets import (QWidget, QPushButton,QHBoxLayout, QVBoxLayout,QCheckBox,QGroupBox,QScrollArea,
QApplication,QSizePolicy,QMainWindow,QMessageBox,QDialog,QTabWidget,QComboBox,QLabel,QLineEdit,QFormLayout,QGridLayout)
from PyQt5.QtGui import QFont,QColor,QPixmap
from PyQt5 import QtCore
import telnetlib
import virtual_keyboard
class MyLineEdit(QLineEdit):
def __init__(self,*args, **kwargs):
try:
super(MyLineEdit, self).__init__(*args, **kwargs)
self.keyboard = virtual_keyboard.VirtualKeyboard()
self.keyboard.sigInputString.connect(self.updateTXT)
except Exception as e:
print(e)
def focusInEvent(self, event):
print('focus in event')
# do custom stuff
self.parent().setFocus()
self.keyboard.raise_()
self.keyboard.show()
super(MyLineEdit, self).focusInEvent(event)
def updateTXT(self,text):
print("a "+text)
self.setText(text)
#chronometre
class Chronometre(QLabel):
def __init__(self):
super().__init__()
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.tick)
self.seconde = 0
self.minute = 0
self.heure = 0
self.setText("Runnig for: \n 00:00:00")
def start(self):
self.seconde = 0
self.minute = 0
self.heure = 0
self.timer.start(1000)
def tick(self):
self.seconde+=1
if self.seconde == 60:
self.minute+=1
if self.minute == 60:
self.heure+=1
self.setText("Runnig for: \n {:02d}:{:02d}:{:02d}".format(self.heure,self.minute,self.seconde))
class MainWindow(QMainWindow):
dirtrs = os.path.dirname(os.path.abspath(__file__))
dirrtk = os.path.abspath(os.path.join(os.path.dirname(__file__), os.pardir))
# for god f sake
# ublox command file for Base mode
ubxcmd = dirtrs+'/conf/ubx_m8t_bds_raw_1hz.cmd'
# Default Base position configuration
basepos_type=(['LLH','RTCM'])
basepos_itype=0
basepos_lat='35.0'
basepos_lon='139.0'
basepos_hgt='50.0'
# Default Input stream configration
input_port = (['serial0','serial1','ttyACM0','ttyACM1','ttyUSB0','ttyUSB1'])
input_bitrate = (['300','600','1200','2400','4800','9600','19200','38400','57600','115200','230400'])
input_bytesize = (['7 bits','8 bits']) #[7 8]
input_parity = (['None','Even','Odd']) #[n e o]
input_stopbits = (['1 bit','2 bits']) #[1 2]
input_flowcontrol = (['None','RTS/CTS']) #[off rtscts]
input_iport=2
input_ibitrate = 9
input_ibytesize = 1
input_iparity = 0
input_istopbits = 0
input_iflowcontrol = 0
# Default Correction stream configration
corr_flag = False
corr_type=(['NTRIP Client','TCP Client'])
corr_itype=0
corr_format=(['RTCM2','RTCM3','BINEX','UBX'])
corr_iformat=1
corr_user = 'eleves'
corr_addr = 'rgp-ip.ign.fr'
corr_port = '2101'
corr_pw = 's3YfJx54C7'
corr_mp = 'TRS'
# Default Log/Solution stream configration
log_flag = True
sol_flag = True
dir = glob.glob('/home/pi/Documents/')
sol_filename = dir[0]+'test.pos'
log_filename = dir[0]+'test.ubx'
# Default Output stream configration
output_flag = False
output_type=(['TCP Server','NTRIP Server','NTRIP Caster'])
output_itype=1
output_format=(['UBX','RTCM3'])
output_iformat=0
output_user = 'eleves'
output_addr = 'rgp-ip.ign.fr'
output_port = '2101'
output_pw = 's3YfJx54C7'
output_mp = 'FORC2'
# Default Output(Serial) stream configration
output2_flag = False
output2_port = (['serial0','serial1','ttyACM0','ttyACM1','ttyUSB0','ttyUSB1'])
output2_bitrate = (['300','600','1200','2400','4800','9600','19200','38400','57600','115200','230400'])
output2_bytesize = (['7 bits','8 bits']) #[7 8]
output2_parity = (['None','Even','Odd']) #[n e o]
output2_stopbits = (['1 bit','2 bits']) #[1 2]
output2_flowcontrol = (['None','RTS/CTS']) #[off rtscts]
output2_iport=4
output2_ibitrate = 9
output2_ibytesize = 1
output2_iparity = 0
output2_istopbits = 0
output2_iflowcontrol = 0
with open("options.txt","r") as f:
options = f.readlines()
options2 =[]
for option in options:
options2.append(option.split('=')[-1].strip("\n"))
ubxcmd,basepos_itype, basepos_lat,basepos_lon,basepos_hgt,input_iport,input_ibitrate,input_ibytesize,input_iparity,input_istopbits,input_iflowcontrol,\
corr_flag,corr_itype,corr_iformat,corr_user,corr_addr,corr_port,corr_pw,corr_mp,log_flag,sol_flag,dir,sol_filename,log_filename,output_flag,output_itype,\
output_iformat,output_user,output_addr,output_pw,output_mp,output2_flag,output2_port,output2_iport,output2_ibitrate,output2_ibytesize,output2_iparity,\
output2_istopbits,output2_iflowcontrol = options2
print(options2)
try:
# ublox command file for Base mode
ubxcmd = dirtrs+ubxcmd
#conversion des int du str vers int
basepos_itype=int(basepos_itype)
input_iport=int(input_iport)
input_ibitrate=int(input_ibitrate)
input_ibytesize=int(input_ibytesize)
input_iparity=int(input_iparity)
input_istopbits=int(input_istopbits)
input_iflowcontrol=int(input_iflowcontrol)
corr_itype=int(corr_itype)
corr_iformat=int(corr_iformat)
output_itype=int(output_itype)
output2_iport=int(output2_iport)
output2_ibitrate=int(output2_ibitrate)
output2_iport=int(output2_iport)
output2_ibytesize=int(output2_ibytesize)
output2_iparity=int(output2_iparity)
output2_istopbits=int(output2_istopbits)
output2_iflowcontrol=int(output2_iflowcontrol)
# Default Base position configuration
basepos_type=(['LLH','RTCM'])
# Default Input stream configration
input_port = (['serial0','serial1','ttyACM0','ttyACM1','ttyUSB0','ttyUSB1'])
input_bitrate = (['300','600','1200','2400','4800','9600','19200','38400','57600','115200','230400'])
input_bytesize = (['7 bits','8 bits']) #[7 8]
input_parity = (['None','Even','Odd']) #[n e o]
input_stopbits = (['1 bit','2 bits']) #[1 2]
input_flowcontrol = (['None','RTS/CTS']) #[off rtscts]
# Default Correction stream configration
corr_flag = (corr_flag=='True')
corr_type=(['NTRIP Client','TCP Client'])
corr_format=(['RTCM2','RTCM3','BINEX','UBX'])
# Default Log/Solution stream configration
log_flag = (log_flag=='True')
sol_flag = (sol_flag=='True')
dir = glob.glob(dir)
if len(dir)==0:
dir = [dirtrs+'/']
sol_filename = dir[0]+sol_filename
log_filename = dir[0]+log_filename
# Default Output stream configration
output_flag = (output_flag=='True')
output_type=(['TCP Server','NTRIP Server','NTRIP Caster'])
output_format=(['UBX','RTCM3'])
# Default Output(Serial) stream configration
output2_flag =(output2_flag=='True')
output2_port = (['serial0','serial1','ttyACM0','ttyACM1','ttyUSB0','ttyUSB1'])
output2_bitrate = (['300','600','1200','2400','4800','9600','19200','38400','57600','115200','230400'])
output2_bytesize = (['7 bits','8 bits']) #[7 8]
output2_parity = (['None','Even','Odd']) #[n e o]
output2_stopbits = (['1 bit','2 bits']) #[1 2]
output2_flowcontrol = (['None','RTS/CTS']) #[off rtscts]
except Exception as e:
print(e)
def __init__(self):
super().__init__()
self.initUI()
def initUI(self):
self.rover_timer = QtCore.QTimer(self)
self.rover_timer.timeout.connect(self.updateRover)
self.base_timer = QtCore.QTimer(self)
self.base_timer.timeout.connect(self.updateBase)
self.main_w = MainWidget()
self.setCentralWidget(self.main_w)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
#self.setGeometry(100, 100, 480, 320)
self.showFullScreen()
self.show()
def updateRover(self):
rawsol=self.main_w.rtkrcvCommand(self.main_w.tn,'solution')
print(rawsol)
if len(rawsol)>34:
soltypes=re.findall(r'\(.*\)',rawsol)
soltype=soltypes[0][1:-1].strip()
sols=re.findall(r'\d*\.\d*',rawsol)
self.main_w.lSol.setText(soltype)
if soltype=='SINGLE':
self.main_w.lSol.setStyleSheet('color: #ff0000; font-family: Helvetica; font-size: 11pt')
if soltype=='FLOAT':
self.main_w.lSol.setStyleSheet('color: #ffd700; font-family: Helvetica; font-size: 11pt')
if soltype=='FIX':
self.main_w.lSol.setStyleSheet('color: #008000; font-family: Helvetica; font-size: 11pt')
self.main_w.lLat.setText(sols[1])
self.main_w.lLon.setText(sols[2])
self.main_w.lAlt.setText(sols[3])
rawstream=self.main_w.rtkrcvCommand(self.main_w.tn,'stream')
rawstreams=rawstream.split('\n')
statstr=''
for stream in rawstreams:
if stream.find('error')>0:
streams=stream.split()
statstr=streams[0]+' stream error'
if stream.find(' C ')>0:
streams=stream.split()
if streams[0]=='input':
statstr=statstr+streams[1]+':'+streams[6]+'bps '
else:
statstr=statstr+streams[0]+':'+streams[8]+'bps '
self.main_w.status_rov.setText(statstr)
def updateBase(self):
rawstream = self.p.stderr.readline().decode('utf-8')
print(rawstream)
if (rawstream=='stream server start error'):
self.main_w.status_base.setText('stream server start error\n')
streams=rawstream.split()
if len(streams)==9:
self.main_w.status_base.setText(streams[0]+' '+streams[1]+' '+streams[5]+'bps '+streams[8])
if len(streams)>=10:
self.main_w.status_base.setText(streams[0]+' '+streams[1]+' '+streams[5]+'bps '+streams[8]+' '+streams[10])
# Main Widget Class
class MainWidget(QWidget):
# telnet port for rtkrcv
tnport=1234
def __init__(self):
super().__init__()
self.initUI()
def initUI(self):
self.setFont(QFont('Helvetica',18))
fig=QPixmap(MainWindow.dirtrs+'/img/banner.png')
bannar=QLabel(self)
bannar.setPixmap(fig)
self.buttons = QHBoxLayout()
self.tabs=QTabWidget()
self.tabRover=QWidget()
self.tabBase=QWidget()
self.quit_b = QPushButton('quitter')
self.quit_b.resize(70,49)
self.quit_b.setMinimumSize(70, 49)
self.shutdown_b = QPushButton('enteindre')
self.shutdown_b.resize(70,49)
self.shutdown_b.setMinimumSize(70, 49)
self.quit_b.clicked.connect(self.closeEvent)
self.shutdown_b.clicked.connect(self.shutdown)
self.tabs.addTab(self.tabRover,'Rover')
self.tabs.addTab(self.tabBase,'Base')
self.buttons.addWidget(bannar)
self.buttons.addWidget(self.quit_b)
self.buttons.addWidget(self.shutdown_b)
self.tabRoverUI()
self.tabBaseUI()
vbox=QVBoxLayout()
vbox.addLayout(self.buttons)
vbox.addWidget(self.tabs)
self.setLayout(vbox)
def closeEvent(self):
#Your desired functionality here
print('Close button pressed')
import sys
sys.exit(0)
def shutdown(self):
import os
print('oy')
os.system("shutdown now -h")
def tabRoverUI(self):
# Start button
self.start_rov = QPushButton('Start',self)
self.start_rov.setCheckable(True)
self.start_rov.setSizePolicy(QSizePolicy.Expanding,QSizePolicy.Expanding)
self.start_rov.toggled.connect(self.startRoverToggled)
self.start_rov.setFont(QFont('Helvetica',18))
# Config button
self.config_rov = QPushButton('Config',self)
self.config_rov.setSizePolicy(QSizePolicy.Expanding,QSizePolicy.Expanding)
self.config_rov.clicked.connect(self.makeRoverConfig)
self.config_rov.setFont(QFont('Helvetica',18))
# Command window
self.status_rov = QLabel('')
self.status_rov.setFont(QFont('Helvetica',18))
scroll=QScrollArea()
scroll.setFrameShape(False)
scroll.setWidgetResizable(True)
scroll.setFixedHeight(25)
scroll.setWidget(self.status_rov)
# Icon
fig=QPixmap(MainWindow.dirtrs+'/img/rover.png')
icon=QLabel(self)
icon.setPixmap(fig)
#Chrono added by ENSG
self.chrono_rover = Chronometre()
# Layout
hbox1 = QHBoxLayout()
hbox1_bis = QVBoxLayout()
hbox2 = QHBoxLayout()
hbox3 = QHBoxLayout()
vbox1_1 = QVBoxLayout()
hbox1_1 = QHBoxLayout()
hbox1_2 = QHBoxLayout()
hbox1_3 = QHBoxLayout()
vbox = QVBoxLayout()
# hbox1
hbox1.addSpacing(10)
hbox1_bis.addWidget(icon)
hbox1.addSpacing(10)
hbox1_bis.addWidget(self.chrono_rover)
hbox1.addLayout(hbox1_bis)
self.mode_spp = QPushButton('Single',self)
self.mode_spp.setCheckable(True)
self.mode_spp.toggle()
self.mode_spp.toggled.connect(self.sppToggled)
self.mode_spp.setSizePolicy(QSizePolicy.Expanding,QSizePolicy.Expanding)
self.mode_rtks = QPushButton('RTK\n(Static)',self)
self.mode_rtks.setCheckable(True)
self.mode_rtks.toggled.connect(self.rtksToggled)
self.mode_rtks.setSizePolicy(QSizePolicy.Expanding,QSizePolicy.Expanding)
self.mode_rtkk = QPushButton('RTK\n(Kinematic)',self)
self.mode_rtkk.setCheckable(True)
self.mode_rtkk.toggled.connect(self.rtkkToggled)
self.mode_rtkk.setSizePolicy(QSizePolicy.Expanding,QSizePolicy.Expanding)
hbox1_2.addWidget(self.mode_spp)
hbox1_2.addWidget(self.mode_rtks)
hbox1_2.addWidget(self.mode_rtkk)
vbox1_1.addLayout(hbox1_2)
hbox1_3.addWidget(self.start_rov)
hbox1_3.addWidget(self.config_rov)
vbox1_1.addLayout(hbox1_3)
hbox1.addLayout(vbox1_1)
#
lSol_=QLabel('Sol:')
lSol_.setAlignment(QtCore.Qt.AlignRight)
self.lSol=QLabel('')
lLat_=QLabel('Lat:')
lLat_.setAlignment(QtCore.Qt.AlignRight)
self.lLat=QLabel('')
lLon_=QLabel('Lon:')
lLon_.setAlignment(QtCore.Qt.AlignRight)
self.lLon=QLabel('')
lAlt_=QLabel('Alt:')
lAlt_.setAlignment(QtCore.Qt.AlignRight)
self.lAlt=QLabel('')
hbox2.addWidget(lSol_)
hbox2.addWidget(self.lSol)
hbox2.addWidget(lLat_)
hbox2.addWidget(self.lLat)
hbox2.addWidget(lLon_)
hbox2.addWidget(self.lLon)
hbox2.addWidget(lAlt_)
hbox2.addWidget(self.lAlt)
# hbox3
hbox3.addWidget(scroll)
# Add to layout
vbox.addLayout(hbox1,1)
vbox.addLayout(hbox2)
vbox.addLayout(hbox3)
# Show layout
self.tabRover.setLayout(vbox)
def makeRoverConfig(self):
pass
try:
print("a")
subWindow=RoverConfigWindow(self)
subWindow.show()
except Exception as e:
print(e)
def tabBaseUI(self):
# Start button
self.start_base = QPushButton('Start',self)
self.start_base.setCheckable(True)
self.start_base.setSizePolicy(QSizePolicy.Expanding,QSizePolicy.Expanding)
self.start_base.toggled.connect(self.startBaseToggled)
self.start_base.setFont(QFont('Helvetica',18))
# Config button
self.config_base = QPushButton('Config',self)
self.config_base.setSizePolicy(QSizePolicy.Expanding,QSizePolicy.Expanding)
self.config_base.clicked.connect(self.makeBaseConfig)
self.config_base.setFont(QFont('Helvetica',18))
# Command window
self.status_base = QLabel('')
self.status_base.setFont(QFont('Helvetica',18))
scroll=QScrollArea()
scroll.setFrameShape(False)
scroll.setWidgetResizable(True)
scroll.setFixedHeight(25)
scroll.setWidget(self.status_base)
# Icon
fig=QPixmap(MainWindow.dirtrs+'/img/base.png')
icon=QLabel(self)
icon.setPixmap(fig)
# Layout
hbox1 = QHBoxLayout()
hbox2 = QHBoxLayout()
vbox = QVBoxLayout()
# hbox1
hbox1.addSpacing(10)
hbox1.addWidget(icon)
hbox1.addSpacing(10)
hbox1.addWidget(self.start_base)
hbox1.addWidget(self.config_base)
# hbox2
hbox2.addWidget(scroll)
# Add to layout
vbox.addLayout(hbox1,1)
vbox.addLayout(hbox2)
# Show layout
self.tabBase.setLayout(vbox)
def makeBaseConfig(self):
subWindow=BaseConfigWindow(self)
subWindow.show()
def rtkrcvCommand(self,tn,cmd):
sendcmd=cmd+'\r\n'
tn.write(sendcmd.encode())
ret=tn.read_until(b'rtkrcv> ')
return ret.decode()
def rtkrcvOption(self,tn,opt,val):
cmd='set '+opt+' '+val
self.rtkrcvCommand(tn,cmd)
def rtkrcvSetStream(self,tn,name,stype,sformat,spath):
self.rtkrcvOption(tn,name+'-type',stype)
self.rtkrcvOption(tn,name+'-format',sformat)
self.rtkrcvOption(tn,name+'-path',spath)
# Start Rover button
def startRoverToggled(self,checked):
if checked:
self.chrono_rover.start()
self.start_rov.setText('Stop')
self.mode_spp.setDisabled(True)
self.mode_rtks.setDisabled(True)
self.mode_rtkk.setDisabled(True)
self.config_rov.setDisabled(True)
self.tabs.setTabEnabled(1, False)
print("bug si pas rtklib: "+ MainWindow.dirrtk)
exe = MainWindow.dirrtk+'/RTKLIB/app/rtkrcv/gcc/rtkrcv'
optfile='single.conf'
if self.mode_rtks.isChecked():
optfile='static.conf'
if self.mode_rtkk.isChecked():
optfile='kinematic.conf'
main.p = Popen(exe+' -o '+MainWindow.dirtrs+'/conf/'+optfile+' -p '+str(self.tnport), shell=True)
time.sleep(1)
self.tn = telnetlib.Telnet('localhost',self.tnport)
# login
self.tn.read_until(b'password: ')
self.rtkrcvCommand(self.tn,'admin')
# Stream setting
itype,iformat,ipath,otype,oformat,opath,ltype,lformat,lpath = self.makeCommandRover()
for i,path in enumerate(ipath):
self.rtkrcvSetStream(self.tn,'inpstr'+str(i+1),itype[i],iformat[i],path)
for i,path in enumerate(opath):
self.rtkrcvSetStream(self.tn,'outstr'+str(i+1),otype[i],oformat[i],path)
for i,path in enumerate(lpath):
self.rtkrcvSetStream(self.tn,'logstr'+str(i+1),ltype[i],lformat[i],path)
# Base position
basepos=(['llh','rtcm'])
self.rtkrcvOption(self.tn,'ant2-postype',basepos[MainWindow.basepos_itype])
self.rtkrcvOption(self.tn,'ant2-pos1',MainWindow.basepos_lat)
self.rtkrcvOption(self.tn,'ant2-pos2',MainWindow.basepos_lon)
self.rtkrcvOption(self.tn,'ant2-pos3',MainWindow.basepos_hgt)
self.rtkrcvCommand(self.tn,'start')
main.rover_timer.start(1000)
else:
self.start_rov.setText('Start')
self.mode_spp.setDisabled(False)
self.mode_rtks.setDisabled(False)
self.mode_rtkk.setDisabled(False)
self.config_rov.setDisabled(False)
self.tabs.setTabEnabled(1, True)
main.rover_timer.stop()
main.p.terminate()
time.sleep(0.2)
# shutdown
self.tn.write('shutdown\r\n'.encode())
self.status_rov.setText('')
self.lSol.setText('')
self.lLat.setText('')
self.lLon.setText('')
self.lAlt.setText('')
# Start Base button
def startBaseToggled(self,checked):
if checked:
self.start_base.setText('Stop')
self.config_base.setDisabled(True)
self.tabs.setTabEnabled(0, False)
exe = MainWindow.dirrtk+'/RTKLIB/app/str2str/gcc/str2str'
rcvcmd =' -c '+MainWindow.ubxcmd
llhcmd =' -p '+MainWindow.basepos_lat+' '+MainWindow.basepos_lon+' '+MainWindow.basepos_hgt
rtcmcmd=' -msg 1006(10),1004,1019'
opt = self.makeCommandBase()
cmd = shlex.split(exe+opt+rcvcmd+llhcmd+rtcmcmd)
main.p = Popen(cmd, stdin=PIPE, stderr=PIPE, bufsize=0)
main.base_timer.start(1000)
else:
self.start_base.setText('Start')
self.config_base.setDisabled(False)
self.tabs.setTabEnabled(0, True)
main.p.stderr.close()
main.base_timer.stop()
main.p.terminate()
self.status_base.setText('')
# Single
def sppToggled(self,checked):
if checked:
self.mode_rtks.setChecked(False)
self.mode_rtkk.setChecked(False)
# RTK-Static
def rtksToggled(self,checked):
if checked:
self.mode_spp.setChecked(False)
self.mode_rtkk.setChecked(False)
# RTK-Kinematic
def rtkkToggled(self,checked):
if checked:
self.mode_spp.setChecked(False)
self.mode_rtks.setChecked(False)
# Generating commands
def makeCommandRover(self):
corrtypes=['ntripcli','tcpcli']
corrformats=['rtcm2','rtcm3','binex','ubx']
# input
itype=[]
iformat=[]
ipath=[]
itype.append('serial')
iformat.append('ubx')
ipath.append(self.makeInputCmd(1))
if MainWindow.corr_flag:
itype.append(corrtypes[MainWindow.corr_itype])
iformat.append(corrformats[MainWindow.corr_iformat])
if MainWindow.corr_itype==0: # NTRIP Client
ipath.append(self.makeNtripCliCmd())
elif MainWindow.corr_itype==1: # TCP Client
ipath.append(self.makeTcpCliCmd())
# output
otype=[]
oformat=[]
opath=[]
if MainWindow.sol_flag:
otype.append('file')
oformat.append('llh')
opath.append(self.makeSolCmd())
# log
ltype=[]
lformat=[]
lpath=[]
if MainWindow.log_flag:
ltype.append('file')
lformat.append('')
lpath.append(self.makeLogCmd(1))
print(itype)
print(iformat)
print(ipath)
return itype,iformat,ipath,otype,oformat,opath,ltype,lformat,lpath
def makeCommandBase(self):
outputformats=['ubx','rtcm3']
cmd=self.makeInputCmd(2)
if MainWindow.log_flag:
cmd=cmd+self.makeLogCmd(2)
if MainWindow.output_flag:
if MainWindow.output_itype==0:
cmd=cmd+self.makeTcpSvrCmd()
if MainWindow.output_itype==1:
cmd=cmd+self.makeNtripSvrCmd()
if MainWindow.output_itype==2:
cmd=cmd+self.makeNtripCasCmd()
# Format conversion
if MainWindow.output_iformat:
cmd=cmd+'#'+outputformats[MainWindow.output_iformat]
if MainWindow.output2_flag:
cmd=cmd+self.makeSerialOutputCmd()
# Format conversion
if MainWindow.output_iformat:
cmd=cmd+'#'+outputformats[MainWindow.output_iformat]
return cmd
def makeInputCmd(self,sta):
byte_s = (['7','8'])
parity_s = (['n','e','o'])
stopb_s =(['1','2'])
flwctr_s =(['off','rtscts'])
port =MainWindow.input_port[MainWindow.input_iport]
bitrate =MainWindow.input_bitrate[MainWindow.input_ibitrate]
byte = byte_s[MainWindow.input_ibytesize]
parity = parity_s[MainWindow.input_iparity]
stopb = stopb_s[MainWindow.input_istopbits]
flwctr = flwctr_s[MainWindow.input_iflowcontrol]
cmd = port+':'+bitrate+':'+byte+':'+parity+':'+stopb+':'+flwctr
if sta==2: # for str2str
cmd=' -in serial://'+cmd+'#ubx'
return cmd
def makeTcpCliCmd(self):
addr=MainWindow.corr_addr
port=MainWindow.corr_port
return addr+':'+port
def makeNtripCliCmd(self):
user= MainWindow.corr_user
pw = MainWindow.corr_pw
port= MainWindow.corr_port
mp = MainWindow.corr_mp
addr= MainWindow.corr_addr
return user+':'+pw+'@'+addr+':'+port+'/'+mp
def makeSolCmd(self):
filename=MainWindow.sol_filename
return filename
def makeLogCmd(self,sta):
filename=MainWindow.log_filename
cmd=filename
if sta==2: # for str2str
cmd=' -out file://'+cmd
return cmd
def makeTcpSvrCmd(self):
port=MainWindow.output_port
return ' -out tcpsvr://:'+port
def makeNtripSvrCmd(self):
pw = MainWindow.output_pw
port= MainWindow.output_port
mp = MainWindow.output_mp
addr= MainWindow.output_addr
return ' -out ntrips://:'+pw+'@'+addr+':'+port+'/'+mp
def makeNtripCasCmd(self):
user= MainWindow.output_user
pw = MainWindow.output_pw
port= MainWindow.output_port
mp = MainWindow.output_mp
return ' -out ntripc_c://'+user+':'+pw+'@:'+port+'/'+mp
def makeSerialOutputCmd(self):
byte_s = (['7','8'])
parity_s = (['n','e','o'])
stopb_s =(['1','2'])
flwctr_s =(['off','rtscts'])
port =MainWindow.output2_port[MainWindow.output2_iport]
bitrate =MainWindow.output2_bitrate[MainWindow.output2_ibitrate]
byte = byte_s[MainWindow.output2_ibytesize]
parity = parity_s[MainWindow.output2_iparity]
stopb = stopb_s[MainWindow.output2_istopbits]
flwctr = flwctr_s[MainWindow.output2_iflowcontrol]
return ' -out serial://'+port+':'+bitrate+':'+byte+':'+parity+':'+stopb+':'+flwctr
# Sub window (Rover Config)
class RoverConfigWindow:
def __init__(self, parent=None):
self.w = QDialog(parent)
self.w.setFont(QFont('Helvetica',18))
self.w.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.w.setGeometry(0, 0, 700, 500)
self.parent = parent
tabs = QTabWidget()
self.tab_input=InputConfig()
self.tab_corr=CorrectionConfig()
self.tab_sol=SolConfig()
self.tab_log=LogConfig()
self.tab_basepos=BasePosConfig_Rover()
tabs.addTab(self.tab_input,"Input")
tabs.addTab(self.tab_corr,"Correction")
tabs.addTab(self.tab_sol,"Solution")
tabs.addTab(self.tab_log,"Log")
tabs.addTab(self.tab_basepos,"BasePos")
apply_button= QPushButton('Apply')
apply_button.clicked.connect(self.applyParam)
close_button= QPushButton('Close')
close_button.clicked.connect(self.w.close)
layout = QVBoxLayout()
layout.addWidget(tabs)
hbox = QHBoxLayout()
hbox.addWidget(apply_button,1)
hbox.addWidget(close_button,1)
layout.addLayout(hbox)
self.w.setLayout(layout)
def applyParam(self):
MainWindow.input_iport=self.tab_input.port_list.currentIndex()
MainWindow.input_ibitrate=self.tab_input.bitrate_list.currentIndex()
MainWindow.input_ibytesize=self.tab_input.bytesize_list.currentIndex()
MainWindow.input_iparity=self.tab_input.parity_list.currentIndex()
MainWindow.input_istopbits=self.tab_input.stopbits_list.currentIndex()
MainWindow.input_iflowcontrol=self.tab_input.flowcontrol_list.currentIndex()
MainWindow.corr_flag=self.tab_corr.corr_b.isChecked()
MainWindow.corr_itype=self.tab_corr.type_list.currentIndex()
MainWindow.corr_iformat=self.tab_corr.format_list.currentIndex()
MainWindow.corr_addr=self.tab_corr.addr_edit.text()
MainWindow.corr_port=self.tab_corr.port_edit.text()
MainWindow.corr_mp=self.tab_corr.mp_edit.text()
MainWindow.corr_user=self.tab_corr.user_edit.text()
MainWindow.corr_pw=self.tab_corr.pw_edit.text()
MainWindow.sol_flag=self.tab_sol.sol_b.isChecked()
MainWindow.sol_filename=self.tab_sol.output_edit.text()
MainWindow.log_flag=self.tab_log.log_b.isChecked()
MainWindow.log_filename=self.tab_log.output_edit.text()
MainWindow.basepos_itype=self.tab_basepos.type_list.currentIndex()
MainWindow.basepos_lat=self.tab_basepos.lat_edit.text()
MainWindow.basepos_lon=self.tab_basepos.lon_edit.text()
MainWindow.basepos_hgt=self.tab_basepos.hgt_edit.text()
def show(self):
self.w.exec_()
# Sub window (Base config)
class BaseConfigWindow:
def __init__(self, parent=None):
self.w = QDialog(parent)
self.w.setFont(QFont('Helvetica',18))
self.w.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.w.setGeometry(0, 0, 480, 320)
self.parent = parent
tabs = QTabWidget()
self.tab_input=InputConfig()
self.tab_output1=OutputConfig()
self.tab_output2=OutputSerialConfig()
self.tab_log=LogConfig()
self.tab_basepos=BasePosConfig_Base()
tabs.addTab(self.tab_input,"Input")
tabs.addTab(self.tab_output1,"Output1")
tabs.addTab(self.tab_output2,"Output2")
tabs.addTab(self.tab_log,"Log")
tabs.addTab(self.tab_basepos,"BasePos")
apply_button= QPushButton('Apply')
apply_button.clicked.connect(self.applyParam)
close_button= QPushButton('Close')
close_button.clicked.connect(self.w.close)
layout = QVBoxLayout()
layout.addWidget(tabs)
hbox = QHBoxLayout()
hbox.addWidget(apply_button,1)
hbox.addWidget(close_button,1)
layout.addLayout(hbox)
self.w.setLayout(layout)
def applyParam(self):
MainWindow.input_iport=self.tab_input.port_list.currentIndex()
MainWindow.input_ibitrate=self.tab_input.bitrate_list.currentIndex()
MainWindow.input_ibytesize=self.tab_input.bytesize_list.currentIndex()
MainWindow.input_iparity=self.tab_input.parity_list.currentIndex()
MainWindow.input_istopbits=self.tab_input.stopbits_list.currentIndex()
MainWindow.input_iflowcontrol=self.tab_input.flowcontrol_list.currentIndex()
MainWindow.output_flag=self.tab_output1.output_b.isChecked()
MainWindow.output_itype=self.tab_output1.type_list.currentIndex()
MainWindow.output_iformat=self.tab_output1.format_list.currentIndex()
if self.tab_output1.addr_edit.isEnabled():
MainWindow.output_addr=self.tab_output1.addr_edit.text()
MainWindow.output_port=self.tab_output1.port_edit.text()
MainWindow.output_mp=self.tab_output1.mp_edit.text()
MainWindow.output_user=self.tab_output1.user_edit.text()
MainWindow.output_pw=self.tab_output1.pw_edit.text()
MainWindow.output2_flag=self.tab_output2.output2_b.isChecked()
MainWindow.output2_iport=self.tab_output2.port_list.currentIndex()
MainWindow.output2_ibitrate=self.tab_output2.bitrate_list.currentIndex()
MainWindow.output2_ibytesize=self.tab_output2.bytesize_list.currentIndex()
MainWindow.output2_iparity=self.tab_output2.parity_list.currentIndex()
MainWindow.output2_istopbits=self.tab_output2.stopbits_list.currentIndex()
MainWindow.output2_iflowcontrol=self.tab_output2.flowcontrol_list.currentIndex()
MainWindow.log_flag=self.tab_log.log_b.isChecked()
MainWindow.log_filename=self.tab_log.output_edit.text()
MainWindow.basepos_lat=self.tab_basepos.lat_edit.text()
MainWindow.basepos_lon=self.tab_basepos.lon_edit.text()
MainWindow.basepos_hgt=self.tab_basepos.hgt_edit.text()
def show(self):
self.w.exec_()
# Input config
class InputConfig(QWidget):
def __init__(self,parent=None):
super().__init__()
self.initInputUI()
def initInputUI(self):
self.port_list=QComboBox(self)
self.port_list.addItems(MainWindow.input_port)
self.port_list.setCurrentIndex(MainWindow.input_iport)
self.bitrate_list=QComboBox(self)
self.bitrate_list.addItems(MainWindow.input_bitrate)
self.bitrate_list.setCurrentIndex(MainWindow.input_ibitrate)
self.bytesize_list=QComboBox(self)
self.bytesize_list.addItems(MainWindow.input_bytesize)
self.bytesize_list.setCurrentIndex(MainWindow.input_ibytesize)
self.parity_list=QComboBox(self)
self.parity_list.addItems(MainWindow.input_parity)
self.parity_list.setCurrentIndex(MainWindow.input_iparity)
self.stopbits_list=QComboBox(self)
self.stopbits_list.addItems(MainWindow.input_stopbits)
self.stopbits_list.setCurrentIndex(MainWindow.input_istopbits)
self.flowcontrol_list=QComboBox(self)
self.flowcontrol_list.addItems(MainWindow.input_flowcontrol)
self.flowcontrol_list.setCurrentIndex(MainWindow.input_iflowcontrol)
#add
grid=QGridLayout()
grid.addWidget(QLabel('Port'),0,0)
grid.addWidget(self.port_list,0,1)
grid.addWidget(QLabel('Bit Rate'),0,2)
grid.addWidget(self.bitrate_list,0,3)
grid.addWidget(QLabel('Byte Size'),1,0)
grid.addWidget(self.bytesize_list,1,1)
grid.addWidget(QLabel('Parity'),1,2)
grid.addWidget(self.parity_list,1,3)
grid.addWidget(QLabel('Stop Bits'),2,0)
grid.addWidget(self.stopbits_list,2,1)
grid.addWidget(QLabel('Flow Control'),2,2)
grid.addWidget(self.flowcontrol_list,2,3)
self.setLayout(grid)
# Correction config
class CorrectionConfig(QWidget):
def __init__(self,parent=None):
super().__init__()
self.initCorrectionUI()
def initCorrectionUI(self):
self.corr_b = QCheckBox("Enable",self)
self.type_list=QComboBox(self)
self.type_list.addItems(MainWindow.corr_type)
self.type_list.setCurrentIndex(MainWindow.corr_itype)
self.type_list.currentIndexChanged.connect(self.typeChanged)
self.format_list=QComboBox(self)
self.format_list.addItems(MainWindow.corr_format)
self.format_list.setCurrentIndex(MainWindow.corr_iformat)
self.corr_b.setChecked(MainWindow.corr_flag)
self.addr_edit=MyLineEdit(MainWindow.corr_addr,self)
self.port_edit=MyLineEdit(MainWindow.corr_port,self)
self.mp_edit=MyLineEdit(MainWindow.corr_mp,self)
self.user_edit=MyLineEdit(MainWindow.corr_user,self)
self.pw_edit=MyLineEdit(MainWindow.corr_pw,self)
grid=QGridLayout()
grid.addWidget(self.corr_b,0,0)
grid.addWidget(QLabel('Type/Format'),0,1)
grid.addWidget(self.type_list,0,2)
grid.addWidget(self.format_list,0,3)
grid.addWidget(QLabel('Address'),1,0)
grid.addWidget(self.addr_edit,1,1,1,4)
grid.addWidget(QLabel('Port'),2,0)
grid.addWidget(self.port_edit,2,1)
grid.addWidget(QLabel('Mountpoint'),2,2)
grid.addWidget(self.mp_edit,2,3)
grid.addWidget(QLabel('User-ID'),3,0)
grid.addWidget(self.user_edit,3,1)
grid.addWidget(QLabel('Password'),3,2)
grid.addWidget(self.pw_edit,3,3)
self.setLayout(grid)
self.typeChanged(MainWindow.corr_itype)
def typeChanged(self,ind):
if ind==0: # TCP Client
self.mp_edit.setDisabled(False)
self.user_edit.setDisabled(False)
self.pw_edit.setDisabled(False)
elif ind==1: # NTRIP Client
self.mp_edit.setDisabled(True)
self.user_edit.setDisabled(True)
self.pw_edit.setDisabled(True)
# Output config
class OutputConfig(QWidget):