asgard.py

import sys
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtGui import *
from PyQt5.QtCore import *

from gui import Ui_MainWindow
from about import Ui_Dialog as About_Ui_Dialog


import serial_port_finder as spf

import serial, time

s0 = serial.Serial()

class AboutDialog(About_Ui_Dialog):
    def __init__(self, dialog):
        About_Ui_Dialog.__init__(self)
        self.setupUi(dialog)

class AsgardGUI(Ui_MainWindow):
    def __init__(self, dialog):
        Ui_MainWindow.__init__(self)
        self.setupUi(dialog)

        self.getSerialPorts()

        self.SerialThreadClass = SerialThreadClass()
        self.SerialThreadClass.serialSignal.connect(self.updateConsole)

        self.actionAbout.triggered.connect(self.launchAboutWindow)
        self.actionExit.triggered.connect(self.close_application)

        self.HomeButton.pressed.connect(self.sendHomingCycleCommand)
        self.ZeroPositionButton.pressed.connect(self.sendZeroPositionCommand)
        self.KillAlarmLockButton.pressed.connect(self.sendKillAlarmCommand)

        self.G0MoveRadioButton.clicked.connect(self.FeedRateBoxHide)
        self.G1MoveRadioButton.clicked.connect(self.FeedRateBoxHide)

        self.FKGoButtonArt1.pressed.connect(self.FKMoveArt1)
        self.FKSliderArt1.valueChanged.connect(self.FKSliderUpdateArt1)
        self.SpinBoxArt1.valueChanged.connect(self.FKSpinBoxUpdateArt1)
        self.FKDec10ButtonArt1.pressed.connect(self.FKDec10Art1)
        self.FKDec1ButtonArt1.pressed.connect(self.FKDec1Art1)
        self.FKDec0_1ButtonArt1.pressed.connect(self.FKDec0_1Art1)
        self.FKInc0_1ButtonArt1.pressed.connect(self.FKInc0_1Art1)
        self.FKInc1ButtonArt1.pressed.connect(self.FKInc1Art1)
        self.FKInc10ButtonArt1.pressed.connect(self.FKInc10Art1)

        self.FKGoButtonArt2.pressed.connect(self.FKMoveArt2)
        self.FKSliderArt2.valueChanged.connect(self.FKSliderUpdateArt2)
        self.SpinBoxArt2.valueChanged.connect(self.FKSpinBoxUpdateArt2)
        self.FKDec10ButtonArt2.pressed.connect(self.FKDec10Art2)
        self.FKDec1ButtonArt2.pressed.connect(self.FKDec1Art2)
        self.FKDec0_1ButtonArt2.pressed.connect(self.FKDec0_1Art2)
        self.FKInc0_1ButtonArt2.pressed.connect(self.FKInc0_1Art2)
        self.FKInc1ButtonArt2.pressed.connect(self.FKInc1Art2)
        self.FKInc10ButtonArt2.pressed.connect(self.FKInc10Art2)

        self.FKGoButtonArt3.pressed.connect(self.FKMoveArt3)
        self.FKSliderArt3.valueChanged.connect(self.FKSliderUpdateArt3)
        self.SpinBoxArt3.valueChanged.connect(self.FKSpinBoxUpdateArt3)
        self.FKDec10ButtonArt3.pressed.connect(self.FKDec10Art3)
        self.FKDec1ButtonArt3.pressed.connect(self.FKDec1Art3)
        self.FKDec0_1ButtonArt3.pressed.connect(self.FKDec0_1Art3)
        self.FKInc0_1ButtonArt3.pressed.connect(self.FKInc0_1Art3)
        self.FKInc1ButtonArt3.pressed.connect(self.FKInc1Art3)
        self.FKInc10ButtonArt3.pressed.connect(self.FKInc10Art3)

        self.FKGoButtonArt4.pressed.connect(self.FKMoveArt4)
        self.FKSliderArt4.valueChanged.connect(self.FKSliderUpdateArt4)
        self.SpinBoxArt4.valueChanged.connect(self.FKSpinBoxUpdateArt4)
        self.FKDec10ButtonArt4.pressed.connect(self.FKDec10Art4)
        self.FKDec1ButtonArt4.pressed.connect(self.FKDec1Art4)
        self.FKDec0_1ButtonArt4.pressed.connect(self.FKDec0_1Art4)
        self.FKInc0_1ButtonArt4.pressed.connect(self.FKInc0_1Art4)
        self.FKInc1ButtonArt4.pressed.connect(self.FKInc1Art4)
        self.FKInc10ButtonArt4.pressed.connect(self.FKInc10Art4)

        self.FKGoButtonArt5.pressed.connect(self.FKMoveArt5)
        self.FKSliderArt5.valueChanged.connect(self.FKSliderUpdateArt5)
        self.SpinBoxArt5.valueChanged.connect(self.FKSpinBoxUpdateArt5)
        self.FKDec10ButtonArt5.pressed.connect(self.FKDec10Art5)
        self.FKDec1ButtonArt5.pressed.connect(self.FKDec1Art5)
        self.FKDec0_1ButtonArt5.pressed.connect(self.FKDec0_1Art5)
        self.FKInc0_1ButtonArt5.pressed.connect(self.FKInc0_1Art5)
        self.FKInc1ButtonArt5.pressed.connect(self.FKInc1Art5)
        self.FKInc10ButtonArt5.pressed.connect(self.FKInc10Art5)

        self.FKGoButtonArt6.pressed.connect(self.FKMoveArt6)
        self.FKSliderArt6.valueChanged.connect(self.FKSliderUpdateArt6)
        self.SpinBoxArt6.valueChanged.connect(self.FKSpinBoxUpdateArt6)
        self.FKDec10ButtonArt6.pressed.connect(self.FKDec10Art6)
        self.FKDec1ButtonArt6.pressed.connect(self.FKDec1Art6)
        self.FKDec0_1ButtonArt6.pressed.connect(self.FKDec0_1Art6)
        self.FKInc0_1ButtonArt6.pressed.connect(self.FKInc0_1Art6)
        self.FKInc1ButtonArt6.pressed.connect(self.FKInc1Art6)
        self.FKInc10ButtonArt6.pressed.connect(self.FKInc10Art6)

        self.FKGoAllButton.pressed.connect(self.FKMoveAll)

        self.GoButtonGripper.pressed.connect(self.MoveGripper)
        self.SliderGripper.valueChanged.connect(self.SliderUpdateGripper)
        self.SpinBoxGripper.valueChanged.connect(self.SpinBoxUpdateGripper)
        self.Dec10ButtonGripper.pressed.connect(self.Dec10Gripper)
        self.Dec1ButtonGripper.pressed.connect(self.Dec1Gripper)
        self.Inc1ButtonGripper.pressed.connect(self.Inc1Gripper)
        self.Inc10ButtonGripper.pressed.connect(self.Inc10Gripper)

        self.SerialPortRefreshButton.pressed.connect(self.getSerialPorts)
        self.ConnectButton.pressed.connect(self.connectSerial)

        self.ConsoleButtonSend.pressed.connect(self.sendSerialCommand)
        self.ConsoleInput.returnPressed.connect(self.sendSerialCommand)

    def close_application(self):
        sys.exit()

    def launchAboutWindow(self):
        self.dialogAbout = QtWidgets.QDialog()
        self.ui = AboutDialog(self.dialogAbout)
        self.dialogAbout.exec_()

    def sendHomingCycleCommand(self):
        if s0.isOpen():
            messageToSend="$H"
            messageToConsole=">>> " + messageToSend
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)

    def sendZeroPositionCommand(self):
        if s0.isOpen():
            messageToSend="G0 A0 B0 C0 D0 X0 Y0 Z0"
            messageToConsole=">>> " + messageToSend
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)

    def sendKillAlarmCommand(self):
        if s0.isOpen():
            messageToSend="$X"
            messageToConsole=">>> " + messageToSend
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)

    def FeedRateBoxHide(self):
        if self.G1MoveRadioButton.isChecked():
            self.FeedRateLabel.setEnabled(True)
            self.FeedRateInput.setEnabled(True)
        else:
            self.FeedRateLabel.setEnabled(False)
            self.FeedRateInput.setEnabled(False)


#FK Art1 Functions
    def FKMoveArt1(self):
        if s0.isOpen():
            if self.G1MoveRadioButton.isChecked():
                typeOfMovement="G1 "
                feedRate=" F" + str(self.FeedRateInput.value())
            else:
                typeOfMovement="G0 "
                feedRate=""
            message=typeOfMovement + "A" + str(self.SpinBoxArt1.value()) + feedRate
            messageToSend = message + "\n"
            messageToConsole = ">>> " + message
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)
        else:
            self.noSerialConnection()
    def FKSliderUpdateArt1(self):
        val=self.FKSliderArt1.value()/10
        self.SpinBoxArt1.setValue(val)
    def FKSpinBoxUpdateArt1(self):
        val=int(self.SpinBoxArt1.value()*10)
        self.FKSliderArt1.setValue(val)
    def FKDec10Art1(self):
        val=self.SpinBoxArt1.value()-10
        self.SpinBoxArt1.setValue(val)
    def FKDec1Art1(self):
        val=self.SpinBoxArt1.value()-1
        self.SpinBoxArt1.setValue(val)
    def FKDec0_1Art1(self):
        val=self.SpinBoxArt1.value()-0.1
        self.SpinBoxArt1.setValue(val)
    def FKInc0_1Art1(self):
        val=self.SpinBoxArt1.value()+0.1
        self.SpinBoxArt1.setValue(val)
    def FKInc1Art1(self):
        val=self.SpinBoxArt1.value()+1
        self.SpinBoxArt1.setValue(val)
    def FKInc10Art1(self):
        val=self.SpinBoxArt1.value()+10
        self.SpinBoxArt1.setValue(val)

#FK Art2 Functions
    def FKMoveArt2(self):
        if s0.isOpen():
            if self.G1MoveRadioButton.isChecked():
                typeOfMovement="G1 "
                feedRate=" F" + str(self.FeedRateInput.value())
            else:
                typeOfMovement="G0 "
                feedRate=""
            message=typeOfMovement + "B" + str(self.SpinBoxArt2.value()) + " C" + str(self.SpinBoxArt2.value()) + feedRate
            messageToSend = message + "\n"
            messageToConsole = ">>> " + message
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)
        else:
            self.noSerialConnection()
    def FKSliderUpdateArt2(self):
        val=self.FKSliderArt2.value()/10
        self.SpinBoxArt2.setValue(val)
    def FKSpinBoxUpdateArt2(self):
        val=int(self.SpinBoxArt2.value()*10)
        self.FKSliderArt2.setValue(val)
    def FKDec10Art2(self):
        val=self.SpinBoxArt2.value()-10
        self.SpinBoxArt2.setValue(val)
    def FKDec1Art2(self):
        val=self.SpinBoxArt2.value()-1
        self.SpinBoxArt2.setValue(val)
    def FKDec0_1Art2(self):
        val=self.SpinBoxArt2.value()-0.1
        self.SpinBoxArt2.setValue(val)
    def FKInc0_1Art2(self):
        val=self.SpinBoxArt2.value()+0.1
        self.SpinBoxArt2.setValue(val)
    def FKInc1Art2(self):
        val=self.SpinBoxArt2.value()+1
        self.SpinBoxArt2.setValue(val)
    def FKInc10Art2(self):
        val=self.SpinBoxArt2.value()+10
        self.SpinBoxArt2.setValue(val)

#FK Art3 Functions
    def FKMoveArt3(self):
        if s0.isOpen():
            if self.G1MoveRadioButton.isChecked():
                typeOfMovement="G1 "
                feedRate=" F" + str(self.FeedRateInput.value())
            else:
                typeOfMovement="G0 "
                feedRate=""
            message=typeOfMovement + "D" + str(self.SpinBoxArt3.value()) + feedRate
            messageToSend = message + "\n"
            messageToConsole = ">>> " + message
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)
        else:
            self.noSerialConnection()
    def FKSliderUpdateArt3(self):
        val=self.FKSliderArt3.value()/10
        self.SpinBoxArt3.setValue(val)
    def FKSpinBoxUpdateArt3(self):
        val=int(self.SpinBoxArt3.value()*10)
        self.FKSliderArt3.setValue(val)
    def FKDec10Art3(self):
        val=self.SpinBoxArt3.value()-10
        self.SpinBoxArt3.setValue(val)
    def FKDec1Art3(self):
        val=self.SpinBoxArt3.value()-1
        self.SpinBoxArt3.setValue(val)
    def FKDec0_1Art3(self):
        val=self.SpinBoxArt3.value()-0.1
        self.SpinBoxArt3.setValue(val)
    def FKInc0_1Art3(self):
        val=self.SpinBoxArt3.value()+0.1
        self.SpinBoxArt3.setValue(val)
    def FKInc1Art3(self):
        val=self.SpinBoxArt3.value()+1
        self.SpinBoxArt3.setValue(val)
    def FKInc10Art3(self):
        val=self.SpinBoxArt3.value()+10
        self.SpinBoxArt3.setValue(val)

#FK Art4 Functions
    def FKMoveArt4(self):
        if s0.isOpen():
            if self.G1MoveRadioButton.isChecked():
                typeOfMovement="G1 "
                feedRate=" F" + str(self.FeedRateInput.value())
            else:
                typeOfMovement="G0 "
                feedRate=""
            message=typeOfMovement + "X" + str(self.SpinBoxArt4.value()) + feedRate
            messageToSend = message + "\n"
            messageToConsole = ">>> " + message
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)
        else:
            self.noSerialConnection()
    def FKSliderUpdateArt4(self):
        val=self.FKSliderArt4.value()/10
        self.SpinBoxArt4.setValue(val)
    def FKSpinBoxUpdateArt4(self):
        val=int(self.SpinBoxArt4.value()*10)
        self.FKSliderArt4.setValue(val)
    def FKDec10Art4(self):
        val=self.SpinBoxArt4.value()-10
        self.SpinBoxArt4.setValue(val)
    def FKDec1Art4(self):
        val=self.SpinBoxArt4.value()-1
        self.SpinBoxArt4.setValue(val)
    def FKDec0_1Art4(self):
        val=self.SpinBoxArt4.value()-0.1
        self.SpinBoxArt4.setValue(val)
    def FKInc0_1Art4(self):
        val=self.SpinBoxArt4.value()+0.1
        self.SpinBoxArt4.setValue(val)
    def FKInc1Art4(self):
        val=self.SpinBoxArt4.value()+1
        self.SpinBoxArt4.setValue(val)
    def FKInc10Art4(self):
        val=self.SpinBoxArt4.value()+10
        self.SpinBoxArt4.setValue(val)

#FK Art5 Functions
    def FKMoveArt5(self): # En realidad esto no va así, hay que calcular el movimiento acoplado. Proximamente.
        if s0.isOpen():
            if self.G1MoveRadioButton.isChecked():
                typeOfMovement="G1 "
                feedRate=" F" + str(self.FeedRateInput.value())
            else:
                typeOfMovement="G0 "
                feedRate=""
            message=typeOfMovement + "Y" + str(self.SpinBoxArt5.value()) + feedRate
            messageToSend = message + "\n"
            messageToConsole = ">>> " + message
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)
        else:
            self.noSerialConnection()
    def FKSliderUpdateArt5(self):
        val=self.FKSliderArt5.value()/10
        self.SpinBoxArt5.setValue(val)
    def FKSpinBoxUpdateArt5(self):
        val=int(self.SpinBoxArt5.value()*10)
        self.FKSliderArt5.setValue(val)
    def FKDec10Art5(self):
        val=self.SpinBoxArt5.value()-10
        self.SpinBoxArt5.setValue(val)
    def FKDec1Art5(self):
        val=self.SpinBoxArt5.value()-1
        self.SpinBoxArt5.setValue(val)
    def FKDec0_1Art5(self):
        val=self.SpinBoxArt5.value()-0.1
        self.SpinBoxArt5.setValue(val)
    def FKInc0_1Art5(self):
        val=self.SpinBoxArt5.value()+0.1
        self.SpinBoxArt5.setValue(val)
    def FKInc1Art5(self):
        val=self.SpinBoxArt5.value()+1
        self.SpinBoxArt5.setValue(val)
    def FKInc10Art5(self):
        val=self.SpinBoxArt5.value()+10
        self.SpinBoxArt5.setValue(val)

#FK Art6 Functions
    def FKMoveArt6(self): # En realidad esto no va así, hay que calcular el movimiento acoplado. Proximamente.
        if s0.isOpen():
            if self.G1MoveRadioButton.isChecked():
                typeOfMovement="G1 "
                feedRate=" F" + str(self.FeedRateInput.value())
            else:
                typeOfMovement="G0 "
                feedRate=""
            message=typeOfMovement + "Z" + str(self.SpinBoxArt6.value()) + feedRate
            messageToSend = message + "\n"
            messageToConsole = ">>> " + message
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)
        else:
            self.noSerialConnection()
    def FKSliderUpdateArt6(self):
        val=self.FKSliderArt6.value()/10
        self.SpinBoxArt6.setValue(val)
    def FKSpinBoxUpdateArt6(self):
        val=int(self.SpinBoxArt6.value()*10)
        self.FKSliderArt6.setValue(val)
    def FKDec10Art6(self):
        val=self.SpinBoxArt6.value()-10
        self.SpinBoxArt6.setValue(val)
    def FKDec1Art6(self):
        val=self.SpinBoxArt6.value()-1
        self.SpinBoxArt6.setValue(val)
    def FKDec0_1Art6(self):
        val=self.SpinBoxArt6.value()-0.1
        self.SpinBoxArt6.setValue(val)
    def FKInc0_1Art6(self):
        val=self.SpinBoxArt6.value()+0.1
        self.SpinBoxArt6.setValue(val)
    def FKInc1Art6(self):
        val=self.SpinBoxArt6.value()+1
        self.SpinBoxArt6.setValue(val)
    def FKInc10Art6(self):
        val=self.SpinBoxArt6.value()+10
        self.SpinBoxArt6.setValue(val)

#FK Every Articulation Functions
    def FKMoveAll(self): # En realidad esto no va así, hay que calcular el movimiento acoplado. Proximamente.
        if s0.isOpen():
            if self.G1MoveRadioButton.isChecked():
                typeOfMovement="G1 "
                feedRate=" F" + str(self.FeedRateInput.value())
            else:
                typeOfMovement="G0 "
                feedRate=""
            message=typeOfMovement + "A" + str(self.SpinBoxArt1.value()) + " B" + str(self.SpinBoxArt2.value()) + " C" + str(self.SpinBoxArt2.value()) + " D" + str(self.SpinBoxArt3.value()) + " X" + str(self.SpinBoxArt4.value()) + " Y" + str(self.SpinBoxArt5.value()) + " Z" + str(self.SpinBoxArt6.value()) + feedRate
            messageToSend = message + "\n"
            messageToConsole = ">>> " + message
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)
        else:
            self.noSerialConnection()

# Gripper Functions
    def MoveGripper(self): # En realidad esto no va así, hay que calcular el movimiento acoplado. Proximamente.
        if s0.isOpen():
            message="M3 S" + str((255/100)*self.SpinBoxGripper.value())
            messageToSend = message + "\n"
            messageToConsole = ">>> " + message
            s0.write(messageToSend.encode('UTF-8'))
            self.ConsoleOutput.appendPlainText(messageToConsole)
        else:
            self.noSerialConnection()

    def SliderUpdateGripper(self):
        val=self.SliderGripper.value()
        self.SpinBoxGripper.setValue(val)
    def SpinBoxUpdateGripper(self):
        val=int(self.SpinBoxGripper.value())
        self.SliderGripper.setValue(val)
    def Dec10Gripper(self):
        val=self.SpinBoxGripper.value()-10
        self.SpinBoxGripper.setValue(val)
    def Dec1Gripper(self):
        val=self.SpinBoxGripper.value()-1
        self.SpinBoxGripper.setValue(val)
    def Inc1Gripper(self):
        val=self.SpinBoxGripper.value()+1
        self.SpinBoxGripper.setValue(val)
    def Inc10Gripper(self):
        val=self.SpinBoxGripper.value()+10
        self.SpinBoxGripper.setValue(val)

# Serial Connection functions
    def getSerialPorts(self):
        self.SerialPortComboBox.clear()
        self.SerialPortComboBox.addItems(spf.serial_ports())

    def connectSerial(self):
        serialPort = self.SerialPortComboBox.currentText()
        baudrate = self.BaudRateComboBox.currentText()
        if serialPort != "":
            if baudrate!="":
                s0.port = serialPort
                s0.baudrate = baudrate
                s0.timeout = 1
                try:
                    s0.close()
                    s0.open()
                    self.SerialThreadClass.start()
                except Exception as e:
                    print ("error opening serial port: " + str(e))
            else:
                self.blankBaudRate()
        else:
            self.blankSerialPort()

    def serialDisconnected(self):
        self.RobotStateDisplay.setStyleSheet('background-color: rgb(255, 0, 0)')
        self.RobotStateDisplay.setText("Disconnected")

    def updateConsole(self, dataRead):
        verboseShow=self.ConsoleShowVerbosecheckBox.isChecked()
        okShow=self.ConsoleShowOkRespcheckBox.isChecked()
        isDataReadVerbose = "MPos" in dataRead
        isDataOkResponse = "ok" in dataRead

        if dataRead=="SERIAL-DISCONNECTED":
            s0.close()
            self.serialDisconnected()
            print ("Serial Connection Lost")

        else:
            if not isDataReadVerbose and not isDataOkResponse:
                self.ConsoleOutput.appendPlainText(dataRead)
            elif isDataOkResponse and okShow:
                self.ConsoleOutput.appendPlainText(dataRead)
            elif isDataReadVerbose:
                self.updateFKPosDisplay(dataRead)
                if verboseShow:
                    self.ConsoleOutput.appendPlainText(dataRead)

    def sendSerialCommand(self):
        messageToSent=self.ConsoleInput.text()+"\n"
        messageToConsole= ">>> "+self.ConsoleInput.text()
        if s0.isOpen():
            if messageToSent!="":
                s0.write(messageToSent.encode('UTF-8'))
                self.ConsoleOutput.appendPlainText(messageToConsole)
                self.ConsoleInput.clear()
        else:
            self.noSerialConnection()

    def updateFKPosDisplay(self,dataRead):
        data=dataRead[1:][:-1].split(",")
        self.updateCurrentState(data[0])
        self.FKCurrentPosValueArt1.setText(data[1][5:][:-2]+"º")
        self.FKCurrentPosValueArt2.setText(data[2][:-2]+"º")
        self.FKCurrentPosValueArt3.setText(data[4][:-2]+"º")
        self.FKCurrentPosValueArt4.setText(data[5][:-2]+"º")
        self.FKCurrentPosValueArt5.setText(data[6][:-2]+"º")
        self.FKCurrentPosValueArt6.setText(data[7][:-2]+"º")

    def updateCurrentState(self, state):
        self.RobotStateDisplay.setText(state)
        if state=="Idle" or state=="Run":
            self.RobotStateDisplay.setStyleSheet('background-color: rgb(0, 255, 0)')
        elif state=="Home":
            self.RobotStateDisplay.setStyleSheet('background-color: rgb(85, 255, 255)')
        elif state=="Alarm":
            self.RobotStateDisplay.setStyleSheet('background-color: rgb(255, 255, 0)')
        elif state=="Hold":
            self.RobotStateDisplay.setStyleSheet('background-color: rgb(255, 0, 0)')
        else:
            self.RobotStateDisplay.setStyleSheet('background-color: rgb(255, 255, 255)')


    def blankSerialPort(self):
        msgBox = QtWidgets.QMessageBox()
        msgBox.setIcon(QtWidgets.QMessageBox.Warning)
        msgBox.setText("There is not Serial Port value indicated to establish the connection.\nPlease check it and try to connect again.")
        msgBox.exec_()

    def blankBaudRate(self):
        msgBox = QtWidgets.QMessageBox()
        msgBox.setIcon(QtWidgets.QMessageBox.Warning)
        msgBox.setText("There is not Baud Rate value indicated to establish the connection.\nPlease check it and try to connect again.")
        msgBox.exec_()

    def noSerialConnection(self):
        msgBox = QtWidgets.QMessageBox()
        msgBox.setIcon(QtWidgets.QMessageBox.Warning)
        msgBox.setText("The connection has not been established yet. Please establish the connection before trying to control.")
        msgBox.exec_()

############### SERIAL READ THREAD CLASS ###############

class SerialThreadClass(QtCore.QThread):
    elapsedTime = time.time()
    serialSignal = pyqtSignal(str)
    def __init__(self, parent=None):
         super(SerialThreadClass,self).__init__(parent)
    def run(self):
        while True:
            if s0.isOpen():
                try:
                    s0.inWaiting()
                except:
                    self.serialSignal.emit("SERIAL-DISCONNECTED")
                    print ("Lost Serial connection!")

                try:
                    if time.time()-self.elapsedTime>0.1:
                        self.elapsedTime=time.time()
                        s0.write("?\n".encode('UTF-8'))
                    dataRead = str(s0.readline())
                    dataCropped=dataRead[2:][:-5]
                    if dataCropped!="":
                        self.serialSignal.emit(dataCropped)
                except Exception as e:
                    print ("Something failed: " + str(e))


###############  SERIAL READ THREAD CLASS ###############










if __name__ == '__main__':
    app = QtWidgets.QApplication(sys.argv)
    mwindow = QtWidgets.QMainWindow()

    prog = AsgardGUI(mwindow)

    mwindow.show()
    sys.exit(app.exec_())