Python JoystickReader.start方法代码示例

# 需要导入模块: from cfclient.utils.input import JoystickReader [as 别名]
# 或者: from cfclient.utils.input.JoystickReader import start [as 别名]
class MainUI(QtGui.QMainWindow, main_window_class):

    connectionLostSignal = pyqtSignal(str, str)
    connectionInitiatedSignal = pyqtSignal(str)
    batteryUpdatedSignal = pyqtSignal(object)
    connectionDoneSignal = pyqtSignal(str)
    connectionFailedSignal = pyqtSignal(str, str)
    disconnectedSignal = pyqtSignal(str)
    linkQualitySignal = pyqtSignal(int)

    def __init__(self, *args):
        super(MainUI, self).__init__(*args)
        self.setupUi(self) 

        self.cfg = Config()
        self.cf = Crazyflie(ro_cache=sys.path[0]+"/cflib/cache",
                            rw_cache=sys.path[1]+"/cache")

        cflib.crtp.init_drivers()

        # Create the connection dialogue
        self.connectDialogue = ConnectDialogue()

        # Create and start the Input Reader
        self._statusbar_label = QLabel("No inputdevice connected!")
        self.statusBar().addWidget(self._statusbar_label)
        self.joystickReader = JoystickReader()
        # Populate combo box with available input device configurations
        group = QActionGroup(self._menu_mappings, exclusive=True)
        for c in self.joystickReader.getListOfConfigs():
            node = QAction(c, self._menu_mappings, checkable=True, 
                           enabled=False)
            node.toggled.connect(self._inputconfig_selected)
            group.addAction(node)
            self._menu_mappings.addAction(node)
        self.joystickReader.start()
        self._current_input_config = ""
        self._current_input_device = ""

        # Connections for the Connect Dialogue
        self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)

        self.connectionDoneSignal.connect(self.connectionDone)
        self.cf.connectionFailed.add_callback(self.connectionFailedSignal.emit)
        self.connectionFailedSignal.connect(self.connectionFailed)
        self.joystickReader.inputDeviceErrorSignal.connect(self.inputDeviceError)
        self.joystickReader.discovery_signal.connect(self.device_discovery)    
        # Connect UI signals
        self.menuItemConnect.triggered.connect(self.connectButtonClicked)
        self.logConfigAction.triggered.connect(self.doLogConfigDialogue)
        self.connectButton.clicked.connect(self.connectButtonClicked)
        self.quickConnectButton.clicked.connect(self.quickConnect)
        self.menuItemQuickConnect.triggered.connect(self.quickConnect)
        self.menuItemConfInputDevice.triggered.connect(self.configInputDevice)
        self.menuItemExit.triggered.connect(self.closeAppRequest)
        self.batteryUpdatedSignal.connect(self.updateBatteryVoltage)                    
        self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
        
        # Do not queue data from the controller output to the Crazyflie wrapper to avoid latency
        self.joystickReader.sendControlSetpointSignal.connect(self.cf.commander.send_setpoint, Qt.DirectConnection)

        # Connection callbacks and signal wrappers for UI protection
        self.cf.connectSetupFinished.add_callback(self.connectionDoneSignal.emit)
        self.connectionDoneSignal.connect(self.connectionDone)
        self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
        self.disconnectedSignal.connect(lambda linkURI: self.setUIState(UIState.DISCONNECTED, linkURI))
        self.cf.connectionLost.add_callback(self.connectionLostSignal.emit)
        self.connectionLostSignal.connect(self.connectionLost)
        self.cf.connectionInitiated.add_callback(self.connectionInitiatedSignal.emit)
        self.connectionInitiatedSignal.connect(lambda linkURI: self.setUIState(UIState.CONNECTING, linkURI))

        # Connect link quality feedback
        self.cf.linkQuality.add_callback(self.linkQualitySignal.emit)
        self.linkQualitySignal.connect(lambda percentage: self.linkQualityBar.setValue(percentage))

        # Set UI state in disconnected buy default
        self.setUIState(UIState.DISCONNECTED)

        # Parse the log configuration files
        self.logConfigReader = LogConfigReader()
        self.logConfigReader.readConfigFiles()

        # Add things to helper so tabs can access it
        cfclient.ui.pluginhelper.cf = self.cf
        cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
        cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
        
        self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
        self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
        self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
        self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
        self.menuItemAbout.triggered.connect(self._about_dialog.show)
        #Loading toolboxes (A bit of magic for a lot of automatic)
        self.toolboxes = []
        self.toolboxesMenuItem.setMenu(QtGui.QMenu())
        for t_class in cfclient.ui.toolboxes.toolboxes:
            toolbox = t_class(cfclient.ui.pluginhelper)
            dockToolbox = MyDockWidget(toolbox.getName())
            dockToolbox.setWidget(toolbox)
            self.toolboxes += [dockToolbox, ]
#.........这里部分代码省略.........