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actuators

ActuatorsDialog #

Bases: QDialog

ActuatorsDialog class

Build a modal for actuators remote control and monitoring.

Attributes:

Name Type Description
new_actuator_command Signal

Qt signal emitted when a actuator command is updated
closed Signal

Qt signal emitted when the window is hidden
Source code in cogip/widgets/actuators.py 
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class ActuatorsDialog(QtWidgets.QDialog):
    """
    ActuatorsDialog class

    Build a modal for actuators remote control and monitoring.

    Attributes:
        new_actuator_command: Qt signal emitted when a actuator command is updated
        closed: Qt signal emitted when the window is hidden
    """

    closed: qtSignal = qtSignal()
    new_actuator_command: qtSignal = qtSignal(object)

    def __init__(self, parent: QtWidgets.QWidget = None):
        """
        Class constructor.

        Arguments:
            parent: The parent widget
        """
        super().__init__(parent)
        self.servos: dict[ServoEnum, ServoControl] = {}
        self.positional_actuators: dict[PositionalActuatorEnum, PositionalActuatorControl] = {}
        self.bool_sensors: dict[BoolSensorEnum, BoolSensorControl] = {}
        self.setWindowTitle("Actuators Control")
        self.setModal(False)

        layout = QtWidgets.QGridLayout()
        self.setLayout(layout)

        for id in ServoEnum:
            self.servos[id] = ServoControl(id, layout)
            self.servos[id].command_updated.connect(self.command_updated)

        for id in PositionalActuatorEnum:
            self.positional_actuators[id] = PositionalActuatorControl(id, layout)
            self.positional_actuators[id].command_updated.connect(self.command_updated)

        for id in BoolSensorEnum:
            self.bool_sensors[id] = BoolSensorControl(id, layout)

        self.readSettings()

    def update_actuator(self, actuator_state: ActuatorState):
        """
        Update an actuator with new values.

        Arguments:
            actuator_state: current state of an actuator
        """

        match actuator_state.kind:
            case ActuatorsKindEnum.servo:
                actuator = self.servos.get(actuator_state.id)
                if actuator is None:
                    logger.warning(f"Unknown servo ID: {actuator_state.id}")
                    return
                actuator.update_value(actuator_state)
            case ActuatorsKindEnum.positional_actuator:
                actuator = self.positional_actuators.get(actuator_state.id)
                if actuator is None:
                    logger.warning(f"Unknown positional actuator ID: {actuator_state.id}")
                    return
                actuator.update_value(actuator_state)
            case ActuatorsKindEnum.bool_sensor:
                actuator = self.bool_sensors.get(actuator_state.id)
                if actuator is None:
                    logger.warning(f"Unknown bool sensor ID: {actuator_state.id}")
                    return
                actuator.update_value(actuator_state)

    def command_updated(self, command: ActuatorCommand):
        """
        Emit updated values with namespace, name and value.
        """
        self.new_actuator_command.emit(command)

    def closeEvent(self, event: QtGui.QCloseEvent):
        """
        Hide the window.

        Arguments:
            event: The close event (unused)
        """
        settings = QtCore.QSettings("COGIP", "monitor")
        settings.setValue("properties/actuators", self.saveGeometry())

        self.closed.emit()
        event.accept()
        super().closeEvent(event)

    def readSettings(self):
        settings = QtCore.QSettings("COGIP", "monitor")
        self.restoreGeometry(settings.value("properties/actuators"))

__init__(parent=None) #

Class constructor.

Parameters:

Name Type Description Default
parent QWidget

The parent widget

 None
Source code in cogip/widgets/actuators.py 
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def __init__(self, parent: QtWidgets.QWidget = None):
    """
    Class constructor.

    Arguments:
        parent: The parent widget
    """
    super().__init__(parent)
    self.servos: dict[ServoEnum, ServoControl] = {}
    self.positional_actuators: dict[PositionalActuatorEnum, PositionalActuatorControl] = {}
    self.bool_sensors: dict[BoolSensorEnum, BoolSensorControl] = {}
    self.setWindowTitle("Actuators Control")
    self.setModal(False)

    layout = QtWidgets.QGridLayout()
    self.setLayout(layout)

    for id in ServoEnum:
        self.servos[id] = ServoControl(id, layout)
        self.servos[id].command_updated.connect(self.command_updated)

    for id in PositionalActuatorEnum:
        self.positional_actuators[id] = PositionalActuatorControl(id, layout)
        self.positional_actuators[id].command_updated.connect(self.command_updated)

    for id in BoolSensorEnum:
        self.bool_sensors[id] = BoolSensorControl(id, layout)

    self.readSettings()

closeEvent(event) #

Hide the window.

Parameters:

Name Type Description Default
event QCloseEvent

The close event (unused)

 required
Source code in cogip/widgets/actuators.py 
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def closeEvent(self, event: QtGui.QCloseEvent):
    """
    Hide the window.

    Arguments:
        event: The close event (unused)
    """
    settings = QtCore.QSettings("COGIP", "monitor")
    settings.setValue("properties/actuators", self.saveGeometry())

    self.closed.emit()
    event.accept()
    super().closeEvent(event)

command_updated(command) #

Emit updated values with namespace, name and value.

Source code in cogip/widgets/actuators.py 
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def command_updated(self, command: ActuatorCommand):
    """
    Emit updated values with namespace, name and value.
    """
    self.new_actuator_command.emit(command)

update_actuator(actuator_state) #

Update an actuator with new values.

Parameters:

Name Type Description Default
actuator_state ActuatorState

current state of an actuator

 required
Source code in cogip/widgets/actuators.py 
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def update_actuator(self, actuator_state: ActuatorState):
    """
    Update an actuator with new values.

    Arguments:
        actuator_state: current state of an actuator
    """

    match actuator_state.kind:
        case ActuatorsKindEnum.servo:
            actuator = self.servos.get(actuator_state.id)
            if actuator is None:
                logger.warning(f"Unknown servo ID: {actuator_state.id}")
                return
            actuator.update_value(actuator_state)
        case ActuatorsKindEnum.positional_actuator:
            actuator = self.positional_actuators.get(actuator_state.id)
            if actuator is None:
                logger.warning(f"Unknown positional actuator ID: {actuator_state.id}")
                return
            actuator.update_value(actuator_state)
        case ActuatorsKindEnum.bool_sensor:
            actuator = self.bool_sensors.get(actuator_state.id)
            if actuator is None:
                logger.warning(f"Unknown bool sensor ID: {actuator_state.id}")
                return
            actuator.update_value(actuator_state)

BoolSensorControl #

Bases: QObject

BoolSensorControl class.

Build a widget to show the state of a bool sensor.

Source code in cogip/widgets/actuators.py 
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class BoolSensorControl(QtCore.QObject):
    """
    BoolSensorControl class.

    Build a widget to show the state of a bool  sensor.
    """

    def __init__(self, id: BoolSensorEnum, layout: QtWidgets.QGridLayout):
        """
        Class constructor.

        Arguments:
            id: ID of bool sensor to display
            layout: The parent layout
        """
        super().__init__()
        self.enabled = False
        self.id = id

        row = layout.rowCount()

        self.label = QtWidgets.QLabel(self.id.name)
        layout.addWidget(self.label, row, 0)

        self.kind = QtWidgets.QLabel("Bool Sensor")
        layout.addWidget(self.kind, row, 1)

        self.state = QtWidgets.QCheckBox()
        self.state.setToolTip("State")
        self.state.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
        self.state.setFocusPolicy(QtCore.Qt.NoFocus)
        self.state.setChecked(False)
        layout.addWidget(self.state, row, 2)

        self.label.setEnabled(False)
        self.kind.setEnabled(False)
        self.state.setEnabled(False)

    def update_value(self, actuator: BoolSensor):
        if not self.enabled:
            self.enabled = True
            self.label.setEnabled(True)
            self.kind.setEnabled(True)
            self.state.setEnabled(True)

        self.state.setChecked(actuator.state)

__init__(id, layout) #

Class constructor.

Parameters:

Name Type Description Default
id BoolSensorEnum

ID of bool sensor to display

 required
layout QGridLayout

The parent layout

 required
Source code in cogip/widgets/actuators.py 
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def __init__(self, id: BoolSensorEnum, layout: QtWidgets.QGridLayout):
    """
    Class constructor.

    Arguments:
        id: ID of bool sensor to display
        layout: The parent layout
    """
    super().__init__()
    self.enabled = False
    self.id = id

    row = layout.rowCount()

    self.label = QtWidgets.QLabel(self.id.name)
    layout.addWidget(self.label, row, 0)

    self.kind = QtWidgets.QLabel("Bool Sensor")
    layout.addWidget(self.kind, row, 1)

    self.state = QtWidgets.QCheckBox()
    self.state.setToolTip("State")
    self.state.setAttribute(QtCore.Qt.WidgetAttribute.WA_TransparentForMouseEvents)
    self.state.setFocusPolicy(QtCore.Qt.NoFocus)
    self.state.setChecked(False)
    layout.addWidget(self.state, row, 2)

    self.label.setEnabled(False)
    self.kind.setEnabled(False)
    self.state.setEnabled(False)

PositionalActuatorControl #

Bases: QObject

PositionalControl class.

Build a widget to control a positional actuator.

Source code in cogip/widgets/actuators.py 
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class PositionalActuatorControl(QtCore.QObject):
    """
    PositionalControl class.

    Build a widget to control a positional actuator.
    """

    command_updated: qtSignal = qtSignal(object)

    def __init__(self, id: PositionalActuatorEnum, layout: QtWidgets.QGridLayout):
        """
        Class constructor.

        Arguments:
            id: ID of positional actuator to control
            layout: The parent layout
        """
        super().__init__()
        self.enabled = False
        command_schema = Servo.model_json_schema()["properties"]["command"]
        self.id = id

        row = layout.rowCount()
        minimum, maximum = actuator_limits.get(id, (command_schema.get("minimum"), command_schema.get("maximum")))

        self.label = QtWidgets.QLabel(self.id.name)
        layout.addWidget(self.label, row, 0)

        self.kind = QtWidgets.QLabel("Positional")
        layout.addWidget(self.kind, row, 1)

        self.command = QtWidgets.QSpinBox()
        self.command.setToolTip("Position command")
        self.command.setMinimum(minimum)
        self.command.setMaximum(maximum)
        self.command.setSingleStep(1)
        self.command.valueChanged.connect(self.command_changed)
        layout.addWidget(self.command, row, 2)

        self.slider = QtWidgets.QSlider(QtCore.Qt.Horizontal)
        self.slider.setToolTip("Position command")
        self.slider.setMinimum(minimum)
        self.slider.setMaximum(maximum)
        self.slider.setSingleStep(1)
        self.slider.valueChanged.connect(self.command.setValue)
        layout.addWidget(self.slider, row, 3)

        self.position = QtWidgets.QLabel()
        self.position.setToolTip("Current command")
        layout.addWidget(self.position, row, 4)

        self.label.setEnabled(False)
        self.kind.setEnabled(False)
        self.command.setEnabled(False)
        self.slider.setEnabled(False)
        self.position.setEnabled(False)

    def command_changed(self, value):
        self.slider.setValue(value)
        command = PositionalActuatorCommand(id=self.id, command=value)
        self.command_updated.emit(command)

    def update_value(self, actuator: PositionalActuator):
        if not self.enabled:
            self.enabled = True
            self.label.setEnabled(True)
            self.kind.setEnabled(True)
            self.command.setEnabled(True)
            self.slider.setEnabled(True)
            self.position.setEnabled(True)

        self.command.blockSignals(True)
        self.command.setValue(actuator.command)
        self.command.blockSignals(False)
        self.slider.blockSignals(True)
        self.slider.setValue(actuator.command)
        self.slider.blockSignals(False)
        self.position.setText(str(actuator.command))

__init__(id, layout) #

Class constructor.

Parameters:

Name Type Description Default
id PositionalActuatorEnum

ID of positional actuator to control

 required
layout QGridLayout

The parent layout

 required
Source code in cogip/widgets/actuators.py 
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def __init__(self, id: PositionalActuatorEnum, layout: QtWidgets.QGridLayout):
    """
    Class constructor.

    Arguments:
        id: ID of positional actuator to control
        layout: The parent layout
    """
    super().__init__()
    self.enabled = False
    command_schema = Servo.model_json_schema()["properties"]["command"]
    self.id = id

    row = layout.rowCount()
    minimum, maximum = actuator_limits.get(id, (command_schema.get("minimum"), command_schema.get("maximum")))

    self.label = QtWidgets.QLabel(self.id.name)
    layout.addWidget(self.label, row, 0)

    self.kind = QtWidgets.QLabel("Positional")
    layout.addWidget(self.kind, row, 1)

    self.command = QtWidgets.QSpinBox()
    self.command.setToolTip("Position command")
    self.command.setMinimum(minimum)
    self.command.setMaximum(maximum)
    self.command.setSingleStep(1)
    self.command.valueChanged.connect(self.command_changed)
    layout.addWidget(self.command, row, 2)

    self.slider = QtWidgets.QSlider(QtCore.Qt.Horizontal)
    self.slider.setToolTip("Position command")
    self.slider.setMinimum(minimum)
    self.slider.setMaximum(maximum)
    self.slider.setSingleStep(1)
    self.slider.valueChanged.connect(self.command.setValue)
    layout.addWidget(self.slider, row, 3)

    self.position = QtWidgets.QLabel()
    self.position.setToolTip("Current command")
    layout.addWidget(self.position, row, 4)

    self.label.setEnabled(False)
    self.kind.setEnabled(False)
    self.command.setEnabled(False)
    self.slider.setEnabled(False)
    self.position.setEnabled(False)

ServoControl #

Bases: QObject

ServoControl class.

Build a widget to control a servo.

Source code in cogip/widgets/actuators.py 
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class ServoControl(QtCore.QObject):
    """
    ServoControl class.

    Build a widget to control a servo.
    """

    command_updated: qtSignal = qtSignal(object)

    def __init__(self, id: ServoEnum, layout: QtWidgets.QGridLayout):
        """
        Class constructor.

        Arguments:
            id: ID of servo to control
            layout: The parent layout
        """
        super().__init__()
        self.enabled = False
        position_schema = Servo.model_json_schema()["properties"]["position"]
        self.id = id

        row = layout.rowCount()
        minimum, maximum = actuator_limits.get(id, (position_schema.get("minimum"), position_schema.get("maximum")))

        self.label = QtWidgets.QLabel(self.id.name)
        layout.addWidget(self.label, row, 0)

        self.kind = QtWidgets.QLabel("Servo")
        layout.addWidget(self.kind, row, 1)

        self.command = QtWidgets.QSpinBox()
        self.command.setToolTip("Position command")
        self.command.setMinimum(minimum)
        self.command.setMaximum(maximum)
        self.command.setSingleStep(1)
        self.command.valueChanged.connect(self.command_changed)
        layout.addWidget(self.command, row, 2)

        self.slider = QtWidgets.QSlider(QtCore.Qt.Horizontal)
        self.slider.setToolTip("Position command")
        self.slider.setMinimum(minimum)
        self.slider.setMaximum(maximum)
        self.slider.setSingleStep(1)
        self.slider.valueChanged.connect(self.command.setValue)
        layout.addWidget(self.slider, row, 3)

        self.position = QtWidgets.QLabel()
        self.position.setToolTip("Current position")
        layout.addWidget(self.position, row, 4)

        self.label.setEnabled(False)
        self.kind.setEnabled(False)
        self.command.setEnabled(False)
        self.slider.setEnabled(False)
        self.position.setEnabled(False)

    def command_changed(self, value):
        self.slider.setValue(value)
        command = ServoCommand(id=self.id, command=value)
        self.command_updated.emit(command)

    def update_value(self, actuator: Servo):
        if not self.enabled:
            self.enabled = True
            self.label.setEnabled(True)
            self.kind.setEnabled(True)
            self.command.setEnabled(True)
            self.slider.setEnabled(True)
            self.position.setEnabled(True)

        self.command.blockSignals(True)
        self.command.setValue(actuator.position)
        self.command.blockSignals(True)
        self.slider.blockSignals(False)
        self.slider.setValue(actuator.command)
        self.slider.blockSignals(False)
        self.position.setText(str(actuator.position))

__init__(id, layout) #

Class constructor.

Parameters:

Name Type Description Default
id ServoEnum

ID of servo to control

 required
layout QGridLayout

The parent layout

 required
Source code in cogip/widgets/actuators.py 
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def __init__(self, id: ServoEnum, layout: QtWidgets.QGridLayout):
    """
    Class constructor.

    Arguments:
        id: ID of servo to control
        layout: The parent layout
    """
    super().__init__()
    self.enabled = False
    position_schema = Servo.model_json_schema()["properties"]["position"]
    self.id = id

    row = layout.rowCount()
    minimum, maximum = actuator_limits.get(id, (position_schema.get("minimum"), position_schema.get("maximum")))

    self.label = QtWidgets.QLabel(self.id.name)
    layout.addWidget(self.label, row, 0)

    self.kind = QtWidgets.QLabel("Servo")
    layout.addWidget(self.kind, row, 1)

    self.command = QtWidgets.QSpinBox()
    self.command.setToolTip("Position command")
    self.command.setMinimum(minimum)
    self.command.setMaximum(maximum)
    self.command.setSingleStep(1)
    self.command.valueChanged.connect(self.command_changed)
    layout.addWidget(self.command, row, 2)

    self.slider = QtWidgets.QSlider(QtCore.Qt.Horizontal)
    self.slider.setToolTip("Position command")
    self.slider.setMinimum(minimum)
    self.slider.setMaximum(maximum)
    self.slider.setSingleStep(1)
    self.slider.valueChanged.connect(self.command.setValue)
    layout.addWidget(self.slider, row, 3)

    self.position = QtWidgets.QLabel()
    self.position.setToolTip("Current position")
    layout.addWidget(self.position, row, 4)

    self.label.setEnabled(False)
    self.kind.setEnabled(False)
    self.command.setEnabled(False)
    self.slider.setEnabled(False)
    self.position.setEnabled(False)