Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

change broadcast interval to rate in Hz #60

Merged
merged 1 commit into from
Sep 12, 2024
Merged

change broadcast interval to rate in Hz #60

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 12 additions & 12 deletions dronecan_gui_tool/panels/esc_panel.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@ def update_status(self, msg):


class ESCPanel(QDialog):
DEFAULT_INTERVAL = 0.1
DEFAULT_RATE = 10

CMD_BIT_LENGTH = dronecan.get_dronecan_data_type(dronecan.uavcan.equipment.esc.RawCommand().cmd).value_type.bitlen
CMD_MAX = 2 ** (CMD_BIT_LENGTH - 1) - 1
Expand All @@ -118,13 +118,13 @@ def __init__(self, parent, node):
self._safety_enable = QCheckBox(self)
self._arming_enable = QCheckBox(self)

self._bcast_interval = QDoubleSpinBox(self)
self._bcast_interval.setMinimum(0.01)
self._bcast_interval.setMaximum(1.0)
self._bcast_interval.setSingleStep(0.1)
self._bcast_interval.setValue(self.DEFAULT_INTERVAL)
self._bcast_interval.valueChanged.connect(
lambda: self._bcast_timer.setInterval(int(self._bcast_interval.value() * 1e3)))
self._bcast_rate = QSpinBox(self)
self._bcast_rate.setMinimum(1)
self._bcast_rate.setMaximum(500)
self._bcast_rate.setSingleStep(1)
self._bcast_rate.setValue(self.DEFAULT_RATE)
self._bcast_rate.valueChanged.connect(
lambda: self._bcast_timer.setInterval(int(1e3 / self._bcast_rate.value())))

self._stop_all = make_icon_button('hand-stop-o', 'Zero all channels', self, text='Stop All',
on_clicked=self._do_stop_all)
Expand All @@ -139,7 +139,7 @@ def __init__(self, parent, node):
self._msg_viewer.setHorizontalScrollBarPolicy(Qt.ScrollBarAsNeeded)

self._bcast_timer = QTimer(self)
self._bcast_timer.start(int(self.DEFAULT_INTERVAL * 1e3))
self._bcast_timer.start(int(1e3 / self.DEFAULT_RATE))
self._bcast_timer.timeout.connect(self._do_broadcast)

layout = QVBoxLayout(self)
Expand All @@ -158,9 +158,9 @@ def __init__(self, parent, node):
controls_layout.addWidget(self._safety_enable)
controls_layout.addWidget(QLabel('SendArming:', self))
controls_layout.addWidget(self._arming_enable)
controls_layout.addWidget(QLabel('Broadcast interval:', self))
controls_layout.addWidget(self._bcast_interval)
controls_layout.addWidget(QLabel('sec', self))
controls_layout.addWidget(QLabel('Broadcast Rate:', self))
controls_layout.addWidget(self._bcast_rate)
controls_layout.addWidget(QLabel('Hz', self))
controls_layout.addStretch()
controls_layout.addWidget(self._pause)
layout.addLayout(controls_layout)
Expand Down
Loading