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separate out adapter settings and add CANFD send tickbox #25

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Feb 17, 2022
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3 changes: 3 additions & 0 deletions dronecan_gui_tool/main.py
Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@
from .widgets import show_error, get_icon, get_app_icon
from .widgets.node_monitor import NodeMonitorWidget
from .widgets.local_node import LocalNodeWidget
from .widgets.local_node import AdapterSettingsWidget
from .widgets.local_node import setup_filtering
from .widgets.log_message_display import LogMessageDisplayWidget
from .widgets.bus_monitor import BusMonitorManager
Expand Down Expand Up @@ -118,6 +119,7 @@ def __init__(self, node, iface_name):
self._node_monitor_widget.on_info_window_requested = self._show_node_window

self._local_node_widget = LocalNodeWidget(self, node)
self._adapter_settings_widget = AdapterSettingsWidget(self, node)
self._log_message_widget = LogMessageDisplayWidget(self, node)
self._dynamic_node_id_allocation_widget = DynamicNodeIDAllocatorWidget(self, node,
self._node_monitor_widget.monitor)
Expand Down Expand Up @@ -229,6 +231,7 @@ def make_splitter(orientation, *widgets):

self.setCentralWidget(make_splitter(Qt.Horizontal,
make_vbox(self._local_node_widget,
self._adapter_settings_widget,
self._node_monitor_widget,
self._file_server_widget),
make_splitter(Qt.Vertical,
Expand Down
84 changes: 61 additions & 23 deletions dronecan_gui_tool/widgets/local_node.py
Original file line number Diff line number Diff line change
Expand Up @@ -56,23 +56,6 @@ def __init__(self, parent, node):
self._node_id_apply = make_icon_button('check', 'Apply local node ID', self,
on_clicked=self._on_node_id_apply_clicked)

if node.can_driver.get_bus() is not None:
# allow for changes to mavcan settings
self._busnum_label = QLabel('Bus Number:', self)
self._busnum = QSpinBox(self)
self._busnum.setMaximum(2)
self._busnum.setMinimum(1)
self._busnum.setValue(node.can_driver.get_bus())
self._busnum.valueChanged.connect(self.change_bus)

self._filtering_label = QLabel('Low Bandwidth:', self)
self._filtering = QCheckBox(self)
self._filtering.setTristate(False)
filter_list = node.can_driver.get_filter_list()
if filter_list is not None and len(filter_list) > 0:
self._filtering.setCheckState(2)
self._filtering.stateChanged.connect(self.change_filtering)

self._update_timer = QTimer(self)
self._update_timer.setSingleShot(False)
self._update_timer.timeout.connect(self._update)
Expand All @@ -85,12 +68,6 @@ def __init__(self, parent, node):
layout.addWidget(self._node_id_spinbox)
layout.addWidget(self._node_id_apply)

if node.can_driver.get_bus() is not None:
layout.addWidget(self._busnum_label)
layout.addWidget(self._busnum)
layout.addWidget(self._filtering_label)
layout.addWidget(self._filtering)

layout.addStretch(1)

self.setLayout(layout)
Expand Down Expand Up @@ -141,3 +118,64 @@ def _on_node_id_apply_clicked(self):
self._node.node_id = nid
logger.info('Node ID: %s', self._node.node_id)
self._update()

class AdapterSettingsWidget(QGroupBox):
def __init__(self, parent, node):
super(AdapterSettingsWidget, self).__init__(parent)
self.setTitle('Adapter Settings')

self._node = node

self._canfd_label = QLabel('Send CANFD:', self)
self._canfd = QCheckBox(self)
self._canfd.setTristate(False)
self._canfd.stateChanged.connect(self.change_canfd)

if node.can_driver.get_bus() is not None:
# allow for changes to mavcan settings
self._busnum_label = QLabel('Bus Number:', self)
self._busnum = QSpinBox(self)
self._busnum.setMaximum(2)
self._busnum.setMinimum(1)
self._busnum.setValue(node.can_driver.get_bus())
self._busnum.valueChanged.connect(self.change_bus)

self._filtering_label = QLabel('Low Bandwidth:', self)
self._filtering = QCheckBox(self)
self._filtering.setTristate(False)
filter_list = node.can_driver.get_filter_list()
if filter_list is not None and len(filter_list) > 0:
self._filtering.setCheckState(2)
self._filtering.stateChanged.connect(self.change_filtering)

layout = QHBoxLayout(self)
layout.addWidget(self._canfd_label)
layout.addWidget(self._canfd)

if node.can_driver.get_bus() is not None:
layout.addWidget(self._busnum_label)
layout.addWidget(self._busnum)
layout.addWidget(self._filtering_label)
layout.addWidget(self._filtering)

layout.addStretch(1)

self.setLayout(layout)

def change_bus(self):
'''update bus number'''
self._node.can_driver.set_bus(self._busnum.value())

def change_filtering(self):
'''update filtering'''
if self._filtering.isChecked():
setup_filtering(self._node)
else:
self._node.can_driver.set_filter_list([])

def change_canfd(self):
'''change canfd settings'''
self._node.set_canfd(self._canfd.isChecked())

def close(self):
pass