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147 lines
4.5 KiB
147 lines
4.5 KiB
#!/usr/bin/env python
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#
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# Copyright (C) 2017 The Android Open Source Project
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# A simple GUI to remotely actuate the Vehicle HAL via the eumalator
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import argparse
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import sys
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from threading import Thread
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from PyQt4.QtCore import *
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from PyQt4.QtGui import *
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import VehicleHalProto_pb2
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from vhal_emulator import Vhal
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import vhal_consts_2_0 as c
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# Define a simple thread that receives messages from a vhal object (v) and prints them
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def rxThread(v):
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while(1):
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msg = v.rxMsg()
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if (msg.msg_type == VehicleHalProto_pb2.SET_PROPERTY_RESP):
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if msg.status == 0:
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print "Success ("+str(msg.status)+")"
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else:
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print "Error ("+str(msg.status)+")"
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else:
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print msg;
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# Main window setup
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def window():
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app = QApplication(sys.argv)
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widget = QWidget()
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widget.setWindowTitle("VHal Driver")
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widget.setGeometry(100,100,200,50)
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topLevelLayout = QHBoxLayout()
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widget.setLayout(topLevelLayout)
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shiftLayout = QVBoxLayout()
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topLevelLayout.addLayout(shiftLayout)
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gearTitle = QLabel(widget)
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gearTitle.setText("Gear Shift")
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shiftLayout.addWidget(gearTitle);
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gearDisplay = QLabel(widget)
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shiftLayout.addWidget(gearDisplay);
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slider = QSlider(Qt.Vertical)
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slider.setMinimum(0)
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slider.setMaximum(2)
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slider.setInvertedAppearance(True)
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slider.valueChanged.connect(lambda:sliderMove(slider, gearDisplay))
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shiftLayout.addWidget(slider)
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sliderMove(slider, gearDisplay)
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buttonLayout = QVBoxLayout()
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topLevelLayout.addLayout(buttonLayout)
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signalButtonGroup = QButtonGroup()
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bNoSignal = QPushButton("None")
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bNoSignal.setCheckable(True)
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bNoSignal.setChecked(True)
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buttonLayout.addWidget(bNoSignal)
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signalButtonGroup.addButton(bNoSignal)
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bHazards = QPushButton("Hazards")
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bHazards.setCheckable(True)
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buttonLayout.addWidget(bHazards)
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signalButtonGroup.addButton(bHazards)
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bLeft = QPushButton("Left")
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bLeft.setCheckable(True)
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buttonLayout.addWidget(bLeft)
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signalButtonGroup.addButton(bLeft)
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bRight = QPushButton("Right")
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bRight.setCheckable(True)
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buttonLayout.addWidget(bRight)
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signalButtonGroup.addButton(bRight)
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signalButtonGroup.buttonClicked.connect(lambda:onSignalClicked(signalButtonGroup))
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widget.show()
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sys.exit(app.exec_())
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def onSignalClicked(group):
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print "signal "+group.checkedButton().text()+" is active"
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try:
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vhal.setProperty(c.VEHICLEPROPERTY_TURN_SIGNAL_STATE, 0, group.checkedId())
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except:
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print "Ignoring error setting property 0x{:08X}".format(c.VEHICLEPROPERTY_TURN_SIGNAL_STATE)
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def sliderMove(slider, gearDisplay):
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if slider.value() == 0:
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gearName = 'park'
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vhal.setProperty(c.VEHICLEPROPERTY_GEAR_SELECTION, 0, c.VEHICLEGEAR_GEAR_PARK)
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elif slider.value() == 1:
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gearName = 'reverse'
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vhal.setProperty(c.VEHICLEPROPERTY_GEAR_SELECTION, 0, c.VEHICLEGEAR_GEAR_REVERSE)
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elif slider.value() == 2:
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gearName = 'drive'
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vhal.setProperty(c.VEHICLEPROPERTY_GEAR_SELECTION, 0, c.VEHICLEGEAR_GEAR_DRIVE)
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else:
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gearName = "UNK"
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print "slider "+slider.objectName()+" requested "+str(slider.value())+" = "+gearName
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gearDisplay.setText(gearName)
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if __name__ == '__main__':
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parser = argparse.ArgumentParser(description='Vehicle HAL Driver UI')
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parser.add_argument("--serial", "-s", action='store', dest='serial',
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default=None, required=False, help='Select which device to connect to')
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args = parser.parse_args()
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print "Starting VHal driver GUI"
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vhal = Vhal(c.vhal_types_2_0, device=args.serial)
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# Start a receive thread to consume any replies from the vhal
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print "Starting receiver thread"
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rx = Thread(target=rxThread, args=(vhal,))
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rx.setDaemon(True)
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rx.start()
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# Put the car in park so we start in a known state (consistent with the GUI default state)
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vhal.setProperty(c.VEHICLEPROPERTY_GEAR_SELECTION, 0, c.VEHICLEGEAR_GEAR_PARK)
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# Start the main UI -- never returns
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window()
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