local_node.py 文件源码

def __init__(self, parent, node):
        super(LocalNodeWidget, self).__init__(parent)
        self.setTitle('Local node properties')

        self._node = node
        self._node_id_collector = uavcan.app.message_collector.MessageCollector(
            self._node, uavcan.protocol.NodeStatus, timeout=uavcan.protocol.NodeStatus().OFFLINE_TIMEOUT_MS * 1e-3)

        self._node_id_label = QLabel('Set local node ID:', self)

        self._node_id_spinbox = QSpinBox(self)
        self._node_id_spinbox.setMaximum(NODE_ID_MAX)
        self._node_id_spinbox.setMinimum(NODE_ID_MIN)
        self._node_id_spinbox.setValue(NODE_ID_MAX)
        self._node_id_spinbox.valueChanged.connect(self._update)

        self._node_id_apply = make_icon_button('check', 'Apply local node ID', self,
                                               on_clicked=self._on_node_id_apply_clicked)

        self._update_timer = QTimer(self)
        self._update_timer.setSingleShot(False)
        self._update_timer.timeout.connect(self._update)
        self._update_timer.start(500)

        self._update()

        layout = QHBoxLayout(self)
        layout.addWidget(self._node_id_label)
        layout.addWidget(self._node_id_spinbox)
        layout.addWidget(self._node_id_apply)
        layout.addStretch(1)

        self.setLayout(layout)

        flash(self, 'Some functions will be unavailable unless local node ID is set')