From f2b3327c6699ad0a1493b05cdb56d055297e3c7c Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookiepeng@users.noreply.github.com>
Date: Fri, 24 Dec 2021 10:09:10 -0500
Subject: [PATCH] update

---
 software/pc/hexapod.py    | 107 +++++++++++++++++++++++++++++++++++---
 software/pc/mainwindow.ui |  28 +++++-----
 2 files changed, 113 insertions(+), 22 deletions(-)

diff --git a/software/pc/hexapod.py b/software/pc/hexapod.py
index 4715a5c..ecbd325 100644
--- a/software/pc/hexapod.py
+++ b/software/pc/hexapod.py
@@ -92,6 +92,46 @@ class MyApp(QtWidgets.QMainWindow):
             self.on_tcp_client_connect_button_clicked
         )
 
+        self.ui.pushButton_RotateX.clicked.connect(
+            self.on_rotatex_button_clicked
+        )
+        self.ui.pushButton_RotateY.clicked.connect(
+            self.on_rotatey_button_clicked
+        )
+        self.ui.pushButton_RotateZ.clicked.connect(
+            self.on_rotatez_button_clicked
+        )
+        self.ui.pushButton_Twist.clicked.connect(
+            self.on_twist_button_clicked
+        )
+        self.ui.pushButton_Climb.clicked.connect(
+            self.on_climb_button_clicked
+        )
+        self.ui.pushButton_ShiftLeft.clicked.connect(
+            self.on_shiftleft_button_clicked
+        )
+        self.ui.pushButton_TurnLeft.clicked.connect(
+            self.on_turnleft_button_clicked
+        )
+        self.ui.pushButton_FastForward.clicked.connect(
+            self.on_fastforward_button_clicked
+        )
+        self.ui.pushButton_Forward.clicked.connect(
+            self.on_forward_button_clicked
+        )
+        self.ui.pushButton_Standby.clicked.connect(
+            self.on_standby_button_clicked
+        )
+        self.ui.pushButton_Backward.clicked.connect(
+            self.on_backward_button_clicked
+        )
+        self.ui.pushButton_ShiftRight.clicked.connect(
+            self.on_shiftright_button_clicked
+        )
+        self.ui.pushButton_TurnRight.clicked.connect(
+            self.on_turnright_button_clicked
+        )
+
         self.ui.show()
 
     def save_config(self):
@@ -104,16 +144,56 @@ class MyApp(QtWidgets.QMainWindow):
         # Interface
         self.update_network_interfaces()
 
-        # TCP Client
-        # self.ui.textBrowser_TcpClientMessage.setEnabled(False)
-        # self.ui.lineEdit_TcpClientSend.setEnabled(False)
-        # self.ui.button_TcpClientSend.setEnabled(False)
+        self.ui.groupBox_Control.setEnabled(False)
 
         tcp_client_ip = self.config.get('TCP_Client_IP', '127.0.0.1')
         tcp_client_port = self.config.get('TCP_Client_Port', '1234')
         self.ui.lineEdit_TcpClientTargetIP.setText(tcp_client_ip)
         self.ui.lineEdit_TcpClientTargetPort.setText(tcp_client_port)
 
+        self.ui.status_bar.clearMessage()
+        self.ui.status_bar.setStyleSheet('color: green')
+        self.ui.status_bar.showMessage('● Idle')
+
+    def on_rotatex_button_clicked(self):
+        self.tcp_client.send('rotatex')
+
+    def on_rotatey_button_clicked(self):
+        self.tcp_client.send('rotatey')
+
+    def on_rotatez_button_clicked(self):
+        self.tcp_client.send('rotatez')
+
+    def on_twist_button_clicked(self):
+        self.tcp_client.send('twist')
+
+    def on_climb_button_clicked(self):
+        self.tcp_client.send('climb')
+
+    def on_shiftleft_button_clicked(self):
+        self.tcp_client.send('shiftleft')
+
+    def on_turnleft_button_clicked(self):
+        self.tcp_client.send('leftturn')
+
+    def on_fastforward_button_clicked(self):
+        self.tcp_client.send('fastforward')
+
+    def on_forward_button_clicked(self):
+        self.tcp_client.send('forward')
+
+    def on_standby_button_clicked(self):
+        self.tcp_client.send('standby')
+
+    def on_backward_button_clicked(self):
+        self.tcp_client.send('backward')
+
+    def on_shiftright_button_clicked(self):
+        self.tcp_client.send('shiftright')
+
+    def on_turnright_button_clicked(self):
+        self.tcp_client.send('rightturn')
+
     def update_network_interfaces(self):
         self.net_if = psutil.net_if_addrs()
 
@@ -208,23 +288,34 @@ class MyApp(QtWidgets.QMainWindow):
             self.ui.lineEdit_TcpClientTargetPort.setEnabled(True)
 
             self.ui.textBrowser_TcpClientMessage.setEnabled(False)
+            self.ui.groupBox_Control.setEnabled(False)
             # self.ui.lineEdit_TcpClientSend.setEnabled(False)
             # self.ui.button_TcpClientSend.setEnabled(False)
-            self.status_message[0] = '● Idle'
+            # self.status_message[0] = '● Idle'
             # if self.ui.tabWidget.currentIndex() == 0:
             #     self.on_tab_changed(0)
+            self.ui.status_bar.clearMessage()
+            self.ui.status_bar.setStyleSheet('color: green')
+            self.ui.status_bar.showMessage('● Idle')
 
         elif status == TCPClient.CONNECTED:
             self.ui.button_TcpClient.setText('Disconnect')
+            self.ui.groupBox_Control.setEnabled(True)
 
             self.ui.textBrowser_TcpClientMessage.setEnabled(True)
             # self.ui.lineEdit_TcpClientSend.setEnabled(True)
             # self.ui.button_TcpClientSend.setEnabled(True)
-            self.status_message[0] = '● Connected to ' +\
-                self.ui.label_LocalIP.text() +\
-                ':'+self.ui.lineEdit_TcpClientTargetPort.text()
+            # self.status_message[0] = '● Connected to ' +\
+            #     self.ui.label_LocalIP.text() +\
+            #     ':'+self.ui.lineEdit_TcpClientTargetPort.text()
             # if self.ui.tabWidget.currentIndex() == 0:
             #     self.on_tab_changed(0)
+            self.ui.status_bar.clearMessage()
+            self.ui.status_bar.setStyleSheet('color: green')
+            self.ui.status_bar.showMessage(
+                '● Connected to ' +
+                self.ui.label_LocalIP.text() +
+                ':'+self.ui.lineEdit_TcpClientTargetPort.text())
 
         self.ui.button_TcpClient.setEnabled(True)
 
diff --git a/software/pc/mainwindow.ui b/software/pc/mainwindow.ui
index be1cbef..7974516 100644
--- a/software/pc/mainwindow.ui
+++ b/software/pc/mainwindow.ui
@@ -216,20 +216,20 @@
      </widget>
     </item>
     <item>
-     <widget class="QGroupBox" name="groupBox_11">
+     <widget class="QGroupBox" name="groupBox_Control">
       <property name="title">
        <string>Control</string>
       </property>
       <layout class="QGridLayout" name="gridLayout_2">
        <item row="4" column="5">
-        <widget class="QPushButton" name="pushButton_3">
+        <widget class="QPushButton" name="pushButton_TurnRight">
          <property name="text">
           <string>Turn Right</string>
          </property>
         </widget>
        </item>
        <item row="3" column="4">
-        <widget class="QPushButton" name="pushButton_4">
+        <widget class="QPushButton" name="pushButton_Forward">
          <property name="text">
           <string>Forward</string>
          </property>
@@ -249,77 +249,77 @@
         </spacer>
        </item>
        <item row="6" column="4">
-        <widget class="QPushButton" name="pushButton_6">
+        <widget class="QPushButton" name="pushButton_Backward">
          <property name="text">
           <string>Backward</string>
          </property>
         </widget>
        </item>
        <item row="0" column="4">
-        <widget class="QPushButton" name="pushButton">
+        <widget class="QPushButton" name="pushButton_FastForward">
          <property name="text">
           <string>Fast Forward</string>
          </property>
         </widget>
        </item>
        <item row="3" column="0">
-        <widget class="QPushButton" name="pushButton_11">
+        <widget class="QPushButton" name="pushButton_RotateY">
          <property name="text">
           <string>Rotate Y</string>
          </property>
         </widget>
        </item>
        <item row="3" column="3">
-        <widget class="QPushButton" name="pushButton_8">
+        <widget class="QPushButton" name="pushButton_ShiftLeft">
          <property name="text">
           <string>Shift Left</string>
          </property>
         </widget>
        </item>
        <item row="4" column="3">
-        <widget class="QPushButton" name="pushButton_7">
+        <widget class="QPushButton" name="pushButton_TurnLeft">
          <property name="text">
           <string>Turn Left</string>
          </property>
         </widget>
        </item>
        <item row="3" column="5">
-        <widget class="QPushButton" name="pushButton_2">
+        <widget class="QPushButton" name="pushButton_ShiftRight">
          <property name="text">
           <string>Shift Right</string>
          </property>
         </widget>
        </item>
        <item row="4" column="4">
-        <widget class="QPushButton" name="pushButton_5">
+        <widget class="QPushButton" name="pushButton_Standby">
          <property name="text">
           <string>Standby</string>
          </property>
         </widget>
        </item>
        <item row="0" column="0">
-        <widget class="QPushButton" name="pushButton_9">
+        <widget class="QPushButton" name="pushButton_RotateX">
          <property name="text">
           <string>Rotate X</string>
          </property>
         </widget>
        </item>
        <item row="4" column="0">
-        <widget class="QPushButton" name="pushButton_10">
+        <widget class="QPushButton" name="pushButton_RotateZ">
          <property name="text">
           <string>Rotate Z</string>
          </property>
         </widget>
        </item>
        <item row="6" column="0">
-        <widget class="QPushButton" name="pushButton_12">
+        <widget class="QPushButton" name="pushButton_Twist">
          <property name="text">
           <string>Twist</string>
          </property>
         </widget>
        </item>
        <item row="0" column="3">
-        <widget class="QPushButton" name="pushButton_13">
+        <widget class="QPushButton" name="pushButton_Climb">
          <property name="text">
           <string>Climb</string>
          </property>