GroundControl/main.py at master · StudentOrganisationForAerospaceResearch/GroundControl · GitHub

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# -*- coding: utf-8 -*-
"""
Student Organisation for Aerospace Reasearch
University of Calgary
Canada

Developers:
    Nathan Meulenbroek

Description:
    Main file. Run this to run the program.
"""

import UI
import data
from PyQt5.QtCore import QThread

class Main(QThread):
    window = None
    s = None
    data_recorder = None

    #TODO: Disable test when ready
    def __init__(self, window, test=False):
        QThread.__init__(self)
        self.window = window

        if not test:
            import dataStream as stream

            self.window.statusBar().showMessage("Opening connection to remote...", 2000)
            print("Opening connection to remote...")
            self.s = stream.DataStream()
        else:
            import tester as t

            self.window.statusBar().showMessage("Opening tester data stream...", 2000)
            print("Opening tester data stream...")
            self.s = t.Tester()

        self.data_recorder = data.Data()
        return

    def __del__(self):
        self.wait()

    def run(self):
        print("Main loop started...")
        count = 0
        while True:
            temp_data = self.s.get_data()
            #print(temp_data) #Enable this for debugging
            if not temp_data == None:
                self.data_recorder.update_all(temp_data)

                arrays = self.data_recorder.get_arrays()

                self.window.altitude.update_figure(((arrays[0][-140:],'Altitude'),))
                self.window.acceleration.update_figure(((arrays[2][-140:],'Accel-x'),
                                                        (arrays[3][-140:],'Accel-y'),
                                                        (arrays[4][-140:],'Accel-z')))
                self.window.gyro.update_figure(((arrays[5][-140:],'Ang Accel-x'),
                                                (arrays[6][-140:],'Ang Accel-y'),
                                                (arrays[7][-140:],'Ang Accel-z')))
                self.window.mag.update_figure(((arrays[8][-140:],'Mag-x'),
                                               (arrays[9][-140:],'Mag-y'),
                                               (arrays[10][-140:],'Mag-z')))

                self.window.IMU.update_figure(((arrays[11][-140:],'Pitch'),
                                                (arrays[12][-140:],'Yaw'),
                                                (arrays[13][-140:],'Roll')))
                self.window.text_boxes.updateText(arrays[14][len(arrays[14])-1],
                                                  arrays[15][len(arrays[15])-1],
                                                  arrays[16][len(arrays[16])-1])

            #******DO NOT REMOVE*****
            # This code forces a refresh of the interface to prevent the gui
            # from appearing to freeze. If this is removed, the window will
            # stop updating at random intervals
            count += 1
            if (count == 8):
                count = 0
                self.window.repaint()

        return

if __name__=='__main__':

    aw, qApp = UI.__init__()
    thread = Main(aw)
    print("Initialising backend...")
    thread.start()

    print("Initialising UI...")
    qApp.exec_()


    print("Done.")