From 8b2271c93a84c12da9b296aad1058fd13b8f96e2 Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookiepeng@users.noreply.github.com>
Date: Fri, 4 Mar 2022 16:57:18 -0500
Subject: [PATCH] Update hexapod.py

---
 software/pc/hexapod.py | 65 +++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 64 insertions(+), 1 deletion(-)

diff --git a/software/pc/hexapod.py b/software/pc/hexapod.py
index 94e06ec..1c3f737 100644
--- a/software/pc/hexapod.py
+++ b/software/pc/hexapod.py
@@ -52,6 +52,7 @@ from pathlib import Path
 import json
 
 from tcpclient import TCPClient
+from btclient import BluetoothClient
 
 QtWidgets.QApplication.setAttribute(
     QtCore.Qt.AA_EnableHighDpiScaling, True)  # enable highdpi scaling
@@ -131,7 +132,12 @@ class MyApp(QtWidgets.QMainWindow):
             self.on_turnright_button_clicked
         )
 
-        self.ui.textBrowserMessage.installEventFilter(self)
+        # Bluetooth client
+        self.ui.buttonBtConnect.clicked.connect(
+            self.on_bt_client_connect_button_clicked
+        )
+
+        # self.ui.textBrowserMessage.installEventFilter(self)
 
         self.ui.show()
 
@@ -365,6 +371,63 @@ class MyApp(QtWidgets.QMainWindow):
             msg +
             '<br></div>')
 
+        # Bluetooth Client
+    def on_bt_client_connect_button_clicked(self):
+        if self.ui.buttonBtConnect.text() == 'Connect':
+            self.ui.buttonBtConnect.setEnabled(False)
+            self.ui.lineEditBtMac.setEnabled(False)
+            self.ui.lineEditBtPort.setEnabled(False)
+
+            self.bt_client_thread = QThread()
+            self.bt_client = BluetoothClient(
+                self.ui.lineEditBtMac.text(),
+                int(self.ui.lineEditBtPort.text()))
+
+            self.bt_client_thread.started.connect(self.bt_client.start)
+            self.bt_client.status.connect(self.on_bt_client_status_update)
+            self.bt_client.message.connect(self.on_bt_client_message_ready)
+
+            self.bt_client.moveToThread(self.bt_client_thread)
+
+            self.bt_client_thread.start()
+
+            self.config['Bluetooth_Client_MAC'] = self.ui.lineEditBtMac.text()
+            self.config['Bluetooth_Client_Port'] = self.ui.lineEditBtPort.text(
+            )
+            self.save_config()
+
+        elif self.ui.buttonBtConnect.text() == 'Disconnect':
+            self.ui.buttonBtConnect.setEnabled(False)
+            self.bt_client.close()
+
+    def on_bt_client_status_update(self, status, addr):
+        if status == BluetoothClient.STOP:
+            self.bt_client.status.disconnect()
+            self.bt_client.message.disconnect()
+
+            self.ui.buttonBtConnect.setText('Connect')
+            self.bt_client_thread.quit()
+
+            self.ui.lineEditBtMac.setEnabled(True)
+            self.ui.lineEditBtPort.setEnabled(True)
+
+            # self.status['Bluetooth']['Client'] = '[CLIENT] Idle'
+
+        elif status == BluetoothClient.CONNECTED:
+            self.ui.buttonBtConnect.setText('Disconnect')
+
+        self.ui.buttonBtConnect.setEnabled(True)
+
+    def on_bt_client_message_ready(self, source, msg):
+        self.ui.textBrowserMessage.append(
+            '<div style="color: #2196F3;"><strong>— [Bluetooth Server] ' +
+            source +
+            ' —</strong></div>')
+        self.ui.textBrowserMessage.append(
+            '<div style="color: #2196F3;">' +
+            msg +
+            '<br></div>')
+
     def append_message(self, message):
         self.ui.textBrowserMessage.append(
             '<div><strong>— ' +