# Copyright (C) 2023 Suchinton Chakravarty # Copyright (C) 2024 Konsulko Group # # SPDX-License-Identifier: Apache-2.0 import os import logging import sys from PyQt6 import uic, QtCore, QtWidgets from PyQt6.QtWidgets import QApplication from PyQt6.QtGui import QIcon, QPixmap, QPainter from PyQt6.QtCore import QObject, pyqtSignal from PyQt6.QtWidgets import QWidget current_dir = os.path.dirname(os.path.abspath(__file__)) # ======================================== sys.path.append(os.path.dirname(current_dir)) Form, Base = uic.loadUiType(os.path.join(current_dir, "../ui/IC.ui")) # ======================================== from extras.KuksaClient import KuksaClient from extras.VehicleSimulator import VehicleSimulator import res_rc from Widgets.animatedToggle import AnimatedToggle class IC_Paths(): def __init__(self): self.speed = "Vehicle.Speed" self.engineRPM = "Vehicle.Powertrain.CombustionEngine.Speed" self.leftIndicator = "Vehicle.Body.Lights.DirectionIndicator.Left.IsSignaling" self.rightIndicator = "Vehicle.Body.Lights.DirectionIndicator.Right.IsSignaling" self.hazard = "Vehicle.Body.Lights.Hazard.IsSignaling" self.fuelLevel = "Vehicle.Powertrain.FuelSystem.RelativeLevel" self.coolantTemp = "Vehicle.Powertrain.CombustionEngine.ECT" self.selectedGear = "Vehicle.Powertrain.Transmission.SelectedGear" class ICWidget(Base, Form): """ This class represents the ICWidget which is a widget for the AGL Demo Control Panel. It inherits from the Base and Form classes. """ def __init__(self, parent=None): """ Initializes the ICWidget object. Args: - parent: The parent widget. Defaults to None. """ super(self.__class__, self).__init__(parent) self.setupUi(self) self.IC = IC_Paths() self.kuksa_client = KuksaClient() self.simulator = VehicleSimulator() self.simulator_running = False header_frame = self.findChild(QWidget, "header_frame") layout = header_frame.layout() self.IC_Frame = self.findChild(QWidget, "frame_1") self.Script_toggle = AnimatedToggle() layout.replaceWidget(self.demoToggle, self.Script_toggle) self.demoToggle.deleteLater() buttons = [self.parkBtn, self.reverseBtn, self.neutralBtn, self.driveBtn] # group for the buttons for mutual exclusion self.simulator.speed_changed.connect(self.set_Vehicle_Speed) self.simulator.rpm_changed.connect(self.set_Vehicle_RPM) self.driveGroupBtns = QtWidgets.QButtonGroup(self) self.driveGroupBtns.setExclusive(True) for button in buttons: self.driveGroupBtns.addButton(button) self.driveGroupBtns.buttonClicked.connect(self.driveBtnClicked) self.Speed_slider.valueChanged.connect(self.update_Speed_monitor) self.Speed_slider.setMinimum(0) self.Speed_slider.setMaximum(240) self.RPM_slider.valueChanged.connect(self.update_RPM_monitor) self.RPM_slider.setMinimum(0) self.RPM_slider.setMaximum(8000) self.coolantTemp_slider.valueChanged.connect( self.update_coolantTemp_monitor) self.fuelLevel_slider.valueChanged.connect( self.update_fuelLevel_monitor) self.accelerationBtn.pressed.connect(self.accelerationBtnPressed) self.accelerationBtn.released.connect(self.accelerationBtnReleased) # make both buttons checkable self.Script_toggle.clicked.connect(self.handle_Script_toggle) self.leftIndicatorBtn.setCheckable(True) self.rightIndicatorBtn.setCheckable(True) self.hazardBtn.setCheckable(True) self.leftIndicatorBtn.toggled.connect(self.leftIndicatorBtnClicked) self.rightIndicatorBtn.toggled.connect(self.rightIndicatorBtnClicked) self.hazardBtn.toggled.connect(self.hazardBtnClicked) def set_Vehicle_Speed(self, speed): self.Speed_slider.setValue(speed) def set_Vehicle_RPM(self, rpm): self.RPM_slider.setValue(rpm) def update_Speed_monitor(self): """ Updates the speed monitor with the current speed value. """ speed = int(self.Speed_slider.value()) self.Speed_monitor.display(speed) if not self.simulator_running: try: self.kuksa_client.set(self.IC.speed, str(speed), 'value') except Exception as e: logging.error(f"Error sending values to kuksa {e}") def update_RPM_monitor(self): """ Updates the RPM monitor with the current RPM value. """ rpm = int(self.RPM_slider.value()) self.RPM_monitor.display(rpm) if not self.simulator_running: try: self.kuksa_client.set(self.IC.engineRPM, str(rpm), 'value') except Exception as e: logging.error(f"Error sending values to kuksa {e}") def update_coolantTemp_monitor(self): """ Updates the coolant temperature monitor with the current coolant temperature value. """ coolantTemp = int(self.coolantTemp_slider.value()) try: self.kuksa_client.set( self.IC.coolantTemp, str(coolantTemp), 'value') except Exception as e: logging.error(f"Error sending values to kuksa {e}") def update_fuelLevel_monitor(self): """ Updates the fuel level monitor with the current fuel level value. """ fuelLevel = int(self.fuelLevel_slider.value()) try: self.kuksa_client.set(self.IC.fuelLevel, str(fuelLevel)) except Exception as e: logging.error(f"Error sending values to kuksa {e}") def hazardBtnClicked(self): """ Handles the hazard button click event. """ hazardIcon = QPixmap(":/Images/Images/hazard.png") painter = QPainter(hazardIcon) painter.setCompositionMode(QPainter.CompositionMode.CompositionMode_SourceIn) if self.hazardBtn.isChecked(): color = QtCore.Qt.GlobalColor.yellow value = "true" else: color = QtCore.Qt.GlobalColor.black value = "false" painter.fillRect(hazardIcon.rect(), color) painter.end() self.hazardBtn.setIcon(QIcon(hazardIcon)) self.leftIndicatorBtn.setChecked(self.hazardBtn.isChecked()) self.rightIndicatorBtn.setChecked(self.hazardBtn.isChecked()) try: self.kuksa_client.set(self.IC.leftIndicator, value, "targetValue") self.kuksa_client.set(self.IC.rightIndicator, value, "targetValue") self.kuksa_client.set(self.IC.hazard, value, "targetValue") except Exception as e: logging.error(f"Error sending values to kuksa {e}") def leftIndicatorBtnClicked(self): """ Handles the left indicator button click event. """ leftIndicatorIcon = QPixmap(":/Images/Images/left.png") painter = QPainter(leftIndicatorIcon) painter.setCompositionMode(QPainter.CompositionMode.CompositionMode_SourceIn) if self.leftIndicatorBtn.isChecked(): color = QtCore.Qt.GlobalColor.green value = "true" else: color = QtCore.Qt.GlobalColor.black value = "false" painter.fillRect(leftIndicatorIcon.rect(), color) painter.end() self.leftIndicatorBtn.setIcon(QIcon(leftIndicatorIcon)) try: self.kuksa_client.set(self.IC.leftIndicator, value) except Exception as e: logging.error(f"Error sending values to kuksa {e}") def rightIndicatorBtnClicked(self): """ Handles the right indicator button click event. """ rightIndicatorIcon = QPixmap(":/Images/Images/right.png") painter = QPainter(rightIndicatorIcon) painter.setCompositionMode(QPainter.CompositionMode.CompositionMode_SourceIn) if self.rightIndicatorBtn.isChecked(): color = QtCore.Qt.GlobalColor.green value = "true" else: color = QtCore.Qt.GlobalColor.black value = "false" painter.fillRect(rightIndicatorIcon.rect(), color) painter.end() self.rightIndicatorBtn.setIcon(QIcon(rightIndicatorIcon)) try: self.kuksa_client.set(self.IC.rightIndicator, value) except Exception as e: logging.error(f"Error sending values to kuksa {e}") def accelerationBtnPressed(self): """ Handles the acceleration button press event. """ self.startTime = QtCore.QTime.currentTime() self.acceleration_timer = QtCore.QTimer() self.acceleration_timer.timeout.connect( lambda: self.updateSpeedAndEngineRpm("Accelerate")) self.acceleration_timer.start(100) def accelerationBtnReleased(self): if self.Speed_slider.value() <= 0: self.acceleration_timer.stop() else: self.acceleration_timer.timeout.connect( lambda: self.updateSpeedAndEngineRpm("Decelerate")) self.acceleration_timer.start(100) def handle_Script_toggle(self): if self.Script_toggle.isChecked(): self.Speed_slider.setEnabled(False) self.RPM_slider.setEnabled(False) self.accelerationBtn.setEnabled(False) for button in self.driveGroupBtns.buttons(): button.setEnabled(False) self.set_Vehicle_RPM(1000) self.set_Vehicle_Speed(0) self.simulator_running = True self.simulator.start() else: self.simulator.stop() self.simulator_running = False self.Speed_slider.setEnabled(True) self.RPM_slider.setEnabled(True) self.accelerationBtn.setEnabled(True) for button in self.driveGroupBtns.buttons(): button.setEnabled(True) def updateSpeedAndEngineRpm(self, action, acceleration=(60/5)): if action == "Accelerate": pass elif action == "Decelerate": acceleration = -acceleration currentTime = QtCore.QTime.currentTime() duration = self.startTime.msecsTo(currentTime) self.current_speed = AccelerationFns.calculate_speed( duration, acceleration) self.current_rpm = AccelerationFns.calculate_engine_rpm( self.current_speed) if self.current_speed <= 0: self.current_speed = 0 self.current_rpm = 0 self.acceleration_timer.stop() if self.current_speed >= 240: self.current_speed = 240 self.current_rpm = 0 self.acceleration_timer.stop() self.Speed_slider.setValue(self.current_speed) self.RPM_slider.setValue(self.current_rpm) self.update_Speed_monitor() self.update_RPM_monitor() def driveBtnClicked(self): gear_mapping = { self.driveBtn: "127", self.parkBtn: "126", self.reverseBtn: "-1", self.neutralBtn: "0" } checked_button = self.driveGroupBtns.checkedButton() if checked_button in gear_mapping: gear_value = gear_mapping[checked_button] self.accelerationBtn.setEnabled(True) self.Speed_slider.setEnabled(checked_button != self.neutralBtn) self.RPM_slider.setEnabled(True) try: self.kuksa_client.set(self.IC.selectedGear, gear_value) except Exception as e: logging.error(f"Error sending values to kuksa {e}") else: print("Unknown button checked!") class AccelerationFns(): def calculate_speed(time, acceleration) -> int: # acceleration = 60 / 5 # acceleration from 0 to 60 in 5 seconds time = time / 1000 # convert milliseconds to seconds speed = acceleration * time # calculate speed return int(speed) def calculate_engine_rpm(speed) -> int: wheel_diameter = 0.48 # in meters wheel_circumference = wheel_diameter * 3.14 # in meters # Adjust the gear ratios to match the desired speed and rpm gear_ratios = [3.36, 2.10, 1.48, 1.16, 0.95, 0.75] speed = speed * 1000 / 3600 # Convert speed from km/h to m/s wheel_rps = speed / wheel_circumference current_gear = None for i in range(len(gear_ratios)): if wheel_rps * gear_ratios[i] < 8000 / 60: current_gear = i + 1 break # If no gear is found, use the highest gear if current_gear is None: current_gear = len(gear_ratios) engine_rpm = wheel_rps * gear_ratios[current_gear - 1] * 60 return int(engine_rpm) if __name__ == '__main__': app = QApplication(sys.argv) w = ICWidget() w.show() sys.exit(app.exec())