From 3d8daf1ac6eb62b367deb7f7eda24f660a4851bc Mon Sep 17 00:00:00 2001
From: phfriedl <phfriedl@student.ethz.ch>
Date: Mon, 3 Apr 2017 16:31:38 +0200
Subject: [PATCH] Updated crazyradio client library
---
.../src/d_fall_pps/crazyradio/CrazyRadio.py | 8 +-
.../crazyradio/cfclient/__init__.py | 37 +-
.../crazyradio/cfclient/__init__.pyc | Bin 526 -> 0 bytes
.../crazyradio/cfclient/cfclient.pyc | Bin 3443 -> 0 bytes
.../crazyradio/cfclient/configs/config.json | 32 +-
.../cfclient/configs/input/Generic_OS_X.json | 0
.../cfclient/configs/input/Joystick.json | 190 ++---
.../cfclient/configs/input/PS3_Mode_1.json | 0
.../cfclient/configs/input/PS3_Mode_2.json | 0
.../cfclient/configs/input/PS3_Mode_3.json | 98 +--
.../cfclient/configs/input/PS4_Mode_1.json | 106 +--
.../cfclient/configs/input/PS4_Mode_2.json | 106 +--
.../configs/input/PS4_shoulder_btns_yaw.json | 0
.../cfclient/configs/input/xbox360_mode1.json | 174 ++---
.../cfclient/configs/log/stabilizer.json | 0
.../cfclient/{cfclient.py => gui.py} | 66 +-
.../crazyradio/cfclient/headless.py | 173 +++++
.../crazyradio/cfclient/icon-256.png | Bin
.../crazyradio/cfclient/resources/map.html | 14 +
.../crazyradio/cfclient/resources/map.js | 25 +
.../crazyradio/cfclient/ui/__init__.py | 10 +-
.../crazyradio/cfclient/ui/__init__.pyc | Bin 467 -> 0 bytes
.../cfclient/ui/dialogs/__init__.py | 0
.../cfclient/ui/dialogs/__init__.pyc | Bin 171 -> 0 bytes
.../crazyradio/cfclient/ui/dialogs/about.py | 122 ++--
.../crazyradio/cfclient/ui/dialogs/about.pyc | Bin 6672 -> 0 bytes
.../crazyradio/cfclient/ui/dialogs/about.ui | 0
.../cfclient/ui/dialogs/bootloader.py | 52 +-
.../cfclient/ui/dialogs/bootloader.pyc | Bin 11724 -> 0 bytes
.../cfclient/ui/dialogs/bootloader.ui | 0
.../cfclient/ui/dialogs/cf1config.py | 51 +-
.../cfclient/ui/dialogs/cf1config.pyc | Bin 11202 -> 0 bytes
.../cfclient/ui/dialogs/cf1config.ui | 0
.../cfclient/ui/dialogs/cf2config.py | 36 +-
.../cfclient/ui/dialogs/cf2config.pyc | Bin 4257 -> 0 bytes
.../cfclient/ui/dialogs/cf2config.ui | 0
.../cfclient/ui/dialogs/connectiondialogue.py | 122 ----
.../ui/dialogs/connectiondialogue.pyc | Bin 4769 -> 0 bytes
.../cfclient/ui/dialogs/connectiondialogue.ui | 102 ---
.../ui/dialogs/inputconfigdialogue.py | 272 +++----
.../ui/dialogs/inputconfigdialogue.pyc | Bin 19318 -> 0 bytes
.../ui/dialogs/inputconfigdialogue.ui | 10 +-
.../cfclient/ui/dialogs/logconfigdialogue.py | 78 +-
.../cfclient/ui/dialogs/logconfigdialogue.pyc | Bin 11145 -> 0 bytes
.../cfclient/ui/dialogs/logconfigdialogue.ui | 0
.../d_fall_pps/crazyradio/cfclient/ui/main.py | 539 +++++++++-----
.../crazyradio/cfclient/ui/main.pyc | Bin 22709 -> 0 bytes
.../d_fall_pps/crazyradio/cfclient/ui/main.ui | 203 ++++--
.../crazyradio/cfclient/ui/pluginhelper.py | 7 +-
.../crazyradio/cfclient/ui/pluginhelper.pyc | Bin 857 -> 0 bytes
.../d_fall_pps/crazyradio/cfclient/ui/tab.py | 28 +-
.../d_fall_pps/crazyradio/cfclient/ui/tab.pyc | Bin 2814 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/ConsoleTab.py | 60 +-
.../cfclient/ui/tabs/ConsoleTab.pyc | Bin 1935 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/ExampleTab.py | 26 +-
.../cfclient/ui/tabs/ExampleTab.pyc | Bin 4045 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/FlightTab.py | 295 ++++----
.../crazyradio/cfclient/ui/tabs/FlightTab.pyc | Bin 22594 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/GpsTab.py | 265 ++-----
.../crazyradio/cfclient/ui/tabs/GpsTab.pyc | Bin 8654 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/LEDTab.py | 44 +-
.../crazyradio/cfclient/ui/tabs/LEDTab.pyc | Bin 7144 -> 0 bytes
.../cfclient/ui/tabs/LogBlockDebugTab.py | 40 +-
.../cfclient/ui/tabs/LogBlockDebugTab.pyc | Bin 3746 -> 0 bytes
.../cfclient/ui/tabs/LogBlockTab.py | 54 +-
.../cfclient/ui/tabs/LogBlockTab.pyc | Bin 14996 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/LogTab.py | 38 +-
.../crazyradio/cfclient/ui/tabs/LogTab.pyc | Bin 2830 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/ParamTab.py | 52 +-
.../crazyradio/cfclient/ui/tabs/ParamTab.pyc | Bin 10768 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/PlotTab.py | 80 ++-
.../crazyradio/cfclient/ui/tabs/PlotTab.pyc | Bin 9626 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/__init__.py | 52 +-
.../crazyradio/cfclient/ui/tabs/__init__.pyc | Bin 1101 -> 0 bytes
.../crazyradio/cfclient/ui/tabs/consoleTab.ui | 43 +-
.../crazyradio/cfclient/ui/tabs/exampleTab.ui | 0
.../crazyradio/cfclient/ui/tabs/flightTab.ui | 24 +-
.../crazyradio/cfclient/ui/tabs/gpsTab.ui | 82 ++-
.../crazyradio/cfclient/ui/tabs/ledTab.ui | 0
.../cfclient/ui/tabs/locopositioning_tab.py | 671 ++++++++++++++++++
.../cfclient/ui/tabs/locopositioning_tab.ui | 338 +++++++++
.../cfclient/ui/tabs/logBlockDebugTab.ui | 0
.../cfclient/ui/tabs/logBlockTab.ui | 0
.../crazyradio/cfclient/ui/tabs/logTab.ui | 0
.../crazyradio/cfclient/ui/tabs/paramTab.ui | 0
.../crazyradio/cfclient/ui/tabs/plotTab.ui | 0
.../cfclient/ui/toolboxes/ConsoleToolbox.py | 48 +-
.../cfclient/ui/toolboxes/ConsoleToolbox.pyc | Bin 2448 -> 0 bytes
.../cfclient/ui/toolboxes/CrtpSharkToolbox.py | 93 +--
.../ui/toolboxes/CrtpSharkToolbox.pyc | Bin 5286 -> 0 bytes
.../ui/toolboxes/DebugDriverToolbox.py | 40 +-
.../ui/toolboxes/DebugDriverToolbox.pyc | Bin 4458 -> 0 bytes
.../cfclient/ui/toolboxes/__init__.py | 36 +-
.../cfclient/ui/toolboxes/__init__.pyc | Bin 1136 -> 0 bytes
.../cfclient/ui/toolboxes/consoleToolbox.ui | 0
.../cfclient/ui/toolboxes/crtpSharkToolbox.ui | 0
.../ui/toolboxes/debugDriverToolbox.ui | 0
.../cfclient/ui/widgets/__init__.py | 9 +-
.../cfclient/ui/widgets/__init__.pyc | Bin 238 -> 0 bytes
.../crazyradio/cfclient/ui/widgets/ai.py | 161 ++---
.../crazyradio/cfclient/ui/widgets/ai.pyc | Bin 8343 -> 0 bytes
.../cfclient/ui/widgets/hexspinbox.py | 18 +-
.../cfclient/ui/widgets/hexspinbox.pyc | Bin 2777 -> 0 bytes
.../crazyradio/cfclient/ui/widgets/plotter.ui | 0
.../cfclient/ui/widgets/plotwidget.py | 124 ++--
.../cfclient/ui/widgets/plotwidget.pyc | Bin 10686 -> 0 bytes
.../crazyradio/cfclient/utils/__init__.py | 6 +-
.../crazyradio/cfclient/utils/__init__.pyc | Bin 190 -> 0 bytes
.../crazyradio/cfclient/utils/config.py | 21 +-
.../crazyradio/cfclient/utils/config.pyc | Bin 3450 -> 0 bytes
.../cfclient/utils/config_manager.py | 88 ++-
.../cfclient/utils/config_manager.pyc | Bin 3562 -> 0 bytes
.../crazyradio/cfclient/utils/guiconfig.pyc | Bin 1832 -> 0 bytes
.../crazyradio/cfclient/utils/input.pyc | Bin 11733 -> 0 bytes
.../cfclient/utils/input/__init__.py | 176 +++--
.../cfclient/utils/input/__init__.pyc | Bin 13812 -> 0 bytes
.../utils/input/inputinterfaces/__init__.py | 44 +-
.../utils/input/inputinterfaces/__init__.pyc | Bin 3290 -> 0 bytes
.../utils/input/inputinterfaces/leapmotion.py | 44 +-
.../input/inputinterfaces/leapmotion.pyc | Bin 6071 -> 0 bytes
.../utils/input/inputinterfaces/wiimote.py | 22 +-
.../utils/input/inputinterfaces/wiimote.pyc | Bin 6087 -> 0 bytes
.../utils/input/inputinterfaces/zmqpull.py | 33 +-
.../utils/input/inputinterfaces/zmqpull.pyc | Bin 4432 -> 0 bytes
.../utils/input/inputreaderinterface.py | 49 +-
.../utils/input/inputreaderinterface.pyc | Bin 8721 -> 0 bytes
.../utils/input/inputreaders/__init__.py | 37 +-
.../utils/input/inputreaders/__init__.pyc | Bin 4311 -> 0 bytes
.../utils/input/inputreaders/linuxjsdev.py | 45 +-
.../utils/input/inputreaders/linuxjsdev.pyc | Bin 9030 -> 0 bytes
.../utils/input/inputreaders/pysdl2.py | 92 +--
.../utils/input/inputreaders/pysdl2.pyc | Bin 8270 -> 0 bytes
.../cfclient/utils/input/mux/__init__.py | 35 +-
.../cfclient/utils/input/mux/__init__.pyc | Bin 3102 -> 0 bytes
.../cfclient/utils/input/mux/nomux.py | 9 +-
.../cfclient/utils/input/mux/nomux.pyc | Bin 1267 -> 0 bytes
.../cfclient/utils/input/mux/takeovermux.py | 16 +-
.../cfclient/utils/input/mux/takeovermux.pyc | Bin 1396 -> 0 bytes
.../utils/input/mux/takeoverselectivemux.py | 15 +-
.../utils/input/mux/takeoverselectivemux.pyc | Bin 2001 -> 0 bytes
.../cfclient/utils/joystick/__init__.pyc | Bin 245 -> 0 bytes
.../cfclient/utils/joystick/linuxjsdev.pyc | Bin 9305 -> 0 bytes
.../cfclient/utils/logconfigreader.py | 30 +-
.../cfclient/utils/logconfigreader.pyc | Bin 4251 -> 0 bytes
.../cfclient/utils/logdatawriter.py | 15 +-
.../cfclient/utils/logdatawriter.pyc | Bin 3823 -> 0 bytes
.../cfclient/utils/periodictimer.py | 9 +-
.../cfclient/utils/periodictimer.pyc | Bin 2914 -> 0 bytes
.../cfclient/utils/pysdl2reader.pyc | Bin 5784 -> 0 bytes
.../crazyradio/cfclient/utils/singleton.py | 6 +-
.../crazyradio/cfclient/utils/singleton.pyc | Bin 899 -> 0 bytes
.../cfclient/utils/zmq_led_driver.py | 11 +-
.../cfclient/utils/zmq_led_driver.pyc | Bin 3608 -> 0 bytes
.../crazyradio/cfclient/utils/zmq_param.py | 20 +-
.../crazyradio/cfclient/utils/zmq_param.pyc | Bin 3797 -> 0 bytes
.../d_fall_pps/crazyradio/cflib/__init__.pyc | Bin 1182 -> 1185 bytes
.../crazyradio/cflib/crazyflie/__init__.pyc | Bin 15562 -> 15661 bytes
.../crazyradio/cflib/crazyflie/commander.pyc | Bin 2173 -> 2188 bytes
.../crazyradio/cflib/crazyflie/console.pyc | Bin 1678 -> 1690 bytes
.../crazyradio/cflib/crazyflie/log.pyc | Bin 19930 -> 20023 bytes
.../crazyradio/cflib/crazyflie/mem.pyc | Bin 27976 -> 28147 bytes
.../crazyradio/cflib/crazyflie/param.pyc | Bin 11522 -> 11588 bytes
.../cflib/crazyflie/platformservice.pyc | Bin 1580 -> 1592 bytes
.../crazyradio/cflib/crazyflie/toc.pyc | Bin 7071 -> 7119 bytes
.../crazyradio/cflib/crazyflie/toccache.pyc | Bin 3809 -> 3830 bytes
.../crazyradio/cflib/crtp/__init__.pyc | Bin 2559 -> 2574 bytes
.../crazyradio/cflib/crtp/crtpdriver.pyc | Bin 3669 -> 3705 bytes
.../crazyradio/cflib/crtp/crtpstack.pyc | Bin 5176 -> 5224 bytes
.../crazyradio/cflib/crtp/debugdriver.pyc | Bin 27858 -> 27966 bytes
.../crazyradio/cflib/crtp/exceptions.pyc | Bin 1069 -> 1078 bytes
.../crazyradio/cflib/crtp/radiodriver.pyc | Bin 12349 -> 12421 bytes
.../crazyradio/cflib/crtp/serialdriver.pyc | Bin 1867 -> 1885 bytes
.../crazyradio/cflib/crtp/udpdriver.pyc | Bin 3552 -> 3582 bytes
.../crazyradio/cflib/crtp/usbdriver.pyc | Bin 7434 -> 7482 bytes
.../crazyradio/cflib/drivers/__init__.pyc | Bin 254 -> 257 bytes
.../crazyradio/cflib/drivers/cfusb.pyc | Bin 5866 -> 5902 bytes
.../crazyradio/cflib/drivers/crazyradio.pyc | Bin 9622 -> 9682 bytes
.../crazyradio/cflib/utils/__init__.pyc | Bin 241 -> 244 bytes
.../crazyradio/cflib/utils/callbacks.pyc | Bin 1737 -> 1755 bytes
179 files changed, 3843 insertions(+), 2334 deletions(-)
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/__init__.pyc
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/cfclient.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/config.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/Generic_OS_X.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/Joystick.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_1.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_2.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_3.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_1.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_2.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_shoulder_btns_yaw.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/xbox360_mode1.json
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/log/stabilizer.json
rename pps_ws/src/d_fall_pps/crazyradio/cfclient/{cfclient.py => gui.py} (75%)
mode change 100755 => 100644
create mode 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/headless.py
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/icon-256.png
create mode 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/resources/map.html
create mode 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/resources/map.js
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.ui
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.pyc
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/pluginhelper.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/pluginhelper.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ConsoleTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ConsoleTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ExampleTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ExampleTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/FlightTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/FlightTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/GpsTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/GpsTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LEDTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LEDTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockDebugTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockDebugTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ParamTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ParamTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/PlotTab.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/PlotTab.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/consoleTab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/exampleTab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/flightTab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/gpsTab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ledTab.ui
create mode 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/locopositioning_tab.py
create mode 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/locopositioning_tab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/logBlockDebugTab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/logBlockTab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/logTab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/paramTab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/plotTab.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/ConsoleToolbox.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/ConsoleToolbox.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/CrtpSharkToolbox.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/CrtpSharkToolbox.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/DebugDriverToolbox.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/DebugDriverToolbox.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/consoleToolbox.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/crtpSharkToolbox.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/debugDriverToolbox.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/ai.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/ai.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/hexspinbox.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/hexspinbox.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotter.ui
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotwidget.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotwidget.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config_manager.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config_manager.pyc
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/guiconfig.pyc
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/leapmotion.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/leapmotion.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/wiimote.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/wiimote.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/zmqpull.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/zmqpull.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaderinterface.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaderinterface.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/linuxjsdev.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/linuxjsdev.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/pysdl2.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/pysdl2.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/__init__.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/__init__.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/nomux.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/nomux.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeovermux.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeovermux.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeoverselectivemux.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeoverselectivemux.pyc
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/joystick/__init__.pyc
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/joystick/linuxjsdev.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logconfigreader.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logconfigreader.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logdatawriter.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logdatawriter.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/periodictimer.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/periodictimer.pyc
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/pysdl2reader.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/singleton.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/singleton.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_led_driver.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_led_driver.pyc
mode change 100755 => 100644 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_param.py
delete mode 100755 pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_param.pyc
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index 1734c465..1ee59cb1 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -94,7 +94,7 @@ class PPSRadioClient:
def motorCommandCallback(data):
"""Callback for motor controller actions"""
- cf_client._send_to_commander(0, 0, 0, 0, data.cmd1 * 10000, data.cmd2 * 10000, data.cmd3 * 10000, data.cmd4 * 10000, CONTROLLER_MOTOR)
+ cf_client._send_to_commander(0, 0, 0, 0, data.cmd1 * 1000, data.cmd2 * 1000, data.cmd3 * 1000, data.cmd4 * 1000, CONTROLLER_MOTOR)
rospy.loginfo("motor controller callback: %s, %s, %s, %s", data.cmd1, data.cmd2, data.cmd3, data.cmd4)
def angleCommandCallback(data):
@@ -121,13 +121,17 @@ if __name__ == '__main__':
available=[]
available = cflib.crtp.scan_interfaces()
rospy.loginfo("Crazyflies found:")
+ for i in available:
+ rospy.loginfo("----------------------------------------------------------------")
+ rospy.loginfo(i[0])
for i in available:
print i[0]
if len(available) > 0:
global cf_client
#TODO: load address from parameters
- cf_client = PPSRadioClient(available[0][0])
+ cf_client = PPSRadioClient("radio://0/72/2M")
+ #cf_client = PPSRadioClient(available[0][0])
time.sleep(2.0)
#TODO: change publisher name if not correct
rospy.Subscriber("/PPSClient/MotorCommand", MotorCommand, motorCommandCallback)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/__init__.py
old mode 100755
new mode 100644
index e3208939..bedfb2dc
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/__init__.py
@@ -24,21 +24,28 @@
# this program; if not, write to the Free Software Foundation, Inc., 51
# Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-from .cfclient import main
+import os
+from appdirs import AppDirs
+import sys
-try:
- from .version import VERSION
-except:
- try:
- import subprocess
- VERSION = subprocess.check_output(["git", "describe"])
- except:
- VERSION = "dev"
+# Path used all over the application
+if not hasattr(sys, 'frozen'):
+ module_path = os.path.dirname(__file__)
+else:
+ module_path = os.path.dirname(sys.executable)
+config_path = AppDirs("cfclient", "Bitcraze").user_config_dir
+# Locate the sdl2 lib on Windows (should be in cfclient/thirst_party/)
+if os.name == 'nt':
+ os.environ["PYSDL2_DLL_PATH"] = os.path.join(module_path, "third_party")
+
+if not hasattr(sys, 'frozen'):
+ import pkg_resources
try:
- import subprocess
- ret = subprocess.call(["git", "diff", "--quiet", "HEAD"])
- if ret > 0:
- VERSION += "+"
- except:
- VERSION += "+"
+ VERSION = pkg_resources.require("cfclient")[0].version
+ except pkg_resources.DistributionNotFound:
+ VERSION = "dev"
+else:
+ import json
+ with open(os.path.join(module_path, "version.json")) as f:
+ VERSION = json.load(f)['version']
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/__init__.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/config.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/config.json
old mode 100755
new mode 100644
index c78d5b0e..bb92591e
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/config.json
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/config.json
@@ -1,16 +1,16 @@
{
"writable" : {
- "input_device": "",
- "link_uri": "",
- "flightmode": "Normal",
- "open_tabs": "Flight Control",
- "trim_pitch": 0.0,
- "slew_limit": 45,
- "slew_rate": 30,
- "trim_roll": 0.0,
- "max_thrust": 80,
- "min_thrust": 25,
- "max_yaw": 200,
+ "input_device": "",
+ "link_uri": "",
+ "flightmode": "Normal",
+ "open_tabs": "Flight Control",
+ "trim_pitch": 0.0,
+ "slew_limit": 45,
+ "slew_rate": 30,
+ "trim_roll": 0.0,
+ "max_thrust": 80,
+ "min_thrust": 25,
+ "max_yaw": 200,
"max_rp": 30,
"client_side_xmode": false,
"auto_reconnect": false,
@@ -21,11 +21,11 @@
"enable_zmq_input": false
},
"read-only" : {
- "normal_slew_limit": 45,
- "normal_slew_rate": 30,
- "normal_max_thrust": 80,
- "normal_min_thrust": 25,
- "normal_max_yaw": 200,
+ "normal_slew_limit": 45,
+ "normal_slew_rate": 30,
+ "normal_max_thrust": 80,
+ "normal_min_thrust": 25,
+ "normal_max_yaw": 200,
"normal_max_rp": 30,
"default_cf_channel": 10,
"default_cf_speed": 0,
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/Generic_OS_X.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/Generic_OS_X.json
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/Joystick.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/Joystick.json
old mode 100755
new mode 100644
index 00e1a5ed..42299c4a
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/Joystick.json
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/Joystick.json
@@ -1,95 +1,95 @@
-{
- "inputconfig": {
- "inputdevice": {
- "updateperiod": 10,
- "springythrottle": false,
- "name": "Joystick",
- "axis": [
- {
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 3,
- "key": "thrust",
- "name": "thrust"
- },
- {
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 2,
- "key": "yaw",
- "name": "yaw"
- },
- {
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 0,
- "key": "roll",
- "name": "roll"
- },
- {
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "pitch",
- "name": "pitch"
- },
- {
- "scale": 1.0,
- "type": "Input.HAT",
- "id": 0,
- "key": "trim",
- "name": "trim"
- },
- {
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 4,
- "key": "pitchNeg",
- "name": "pitchNeg"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 5,
- "key": "pitchPos",
- "name": "pitchPos"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 1,
- "key": "estop",
- "name": "killswitch"
- },
- {
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 2,
- "key": "rollNeg",
- "name": "rollNeg"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 3,
- "key": "rollPos",
- "name": "rollPos"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 0,
- "key": "althold",
- "name": "althold"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 6,
- "key": "exit",
- "name": "exitapp"
- }
- ]
- }
- }
-}
+{
+ "inputconfig": {
+ "inputdevice": {
+ "updateperiod": 10,
+ "springythrottle": false,
+ "name": "Joystick",
+ "axis": [
+ {
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 3,
+ "key": "thrust",
+ "name": "thrust"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 2,
+ "key": "yaw",
+ "name": "yaw"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 0,
+ "key": "roll",
+ "name": "roll"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "pitch",
+ "name": "pitch"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.HAT",
+ "id": 0,
+ "key": "trim",
+ "name": "trim"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 4,
+ "key": "pitchNeg",
+ "name": "pitchNeg"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 5,
+ "key": "pitchPos",
+ "name": "pitchPos"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 1,
+ "key": "estop",
+ "name": "killswitch"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 2,
+ "key": "rollNeg",
+ "name": "rollNeg"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 3,
+ "key": "rollPos",
+ "name": "rollPos"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 0,
+ "key": "althold",
+ "name": "althold"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 6,
+ "key": "exit",
+ "name": "exitapp"
+ }
+ ]
+ }
+ }
+}
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_1.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_1.json
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_2.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_2.json
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_3.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_3.json
old mode 100755
new mode 100644
index 18fea844..2a55cb98
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_3.json
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS3_Mode_3.json
@@ -1,83 +1,83 @@
{
"inputconfig": {
"inputdevice": {
- "updateperiod": 10,
- "name": "PS3_Mode_3",
+ "updateperiod": 10,
+ "name": "PS3_Mode_3",
"axis": [
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "thrust",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "thrust",
"name": "thrust"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
+ "scale": 1.0,
+ "type": "Input.AXIS",
"ids": [
- 12,
+ 12,
13
- ],
- "key": "yaw",
+ ],
+ "key": "yaw",
"name": "yaw"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 2,
- "key": "roll",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 2,
+ "key": "roll",
"name": "roll"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 3,
- "key": "pitch",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 3,
+ "key": "pitch",
"name": "pitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 6,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 6,
"key": "pitchNeg",
"name": "pitchNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 4,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 4,
"key": "pitchPos",
"name": "pitchPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 14,
- "key": "estop",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 14,
+ "key": "estop",
"name": "killswitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 7,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 7,
"key": "rollNeg",
"name": "rollNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 5,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 5,
"key": "rollPos",
"name": "rollPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 12,
- "key": "exit",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 12,
+ "key": "exit",
"name": "exitapp"
}
]
}
}
-}
\ No newline at end of file
+}
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_1.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_1.json
old mode 100755
new mode 100644
index 15e0010d..d8c58825
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_1.json
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_1.json
@@ -1,87 +1,87 @@
{
"inputconfig": {
"inputdevice": {
- "updateperiod": 10,
- "name": "PS4_Mode_1",
+ "updateperiod": 10,
+ "name": "PS4_Mode_1",
"axis": [
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 5,
- "key": "thrust",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 5,
+ "key": "thrust",
"name": "thrust"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 2,
- "key": "yaw",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 2,
+ "key": "yaw",
"name": "yaw"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 0,
- "key": "roll",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 0,
+ "key": "roll",
"name": "roll"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "pitch",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "pitch",
"name": "pitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 1,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 1,
"key": "pitchNeg",
"name": "pitchNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 3,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 3,
"key": "pitchPos",
"name": "pitchPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 12,
- "key": "estop",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 12,
+ "key": "estop",
"name": "killswitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 0,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 0,
"key": "rollNeg",
"name": "rollNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 2,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 2,
"key": "rollPos",
"name": "rollPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 5,
- "key": "althold",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 5,
+ "key": "althold",
"name": "althold"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 8,
- "key": "exit",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 8,
+ "key": "exit",
"name": "exitapp"
}
]
}
}
-}
\ No newline at end of file
+}
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_2.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_2.json
old mode 100755
new mode 100644
index f369ebdc..6b9ef6a1
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_2.json
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_Mode_2.json
@@ -1,87 +1,87 @@
{
"inputconfig": {
"inputdevice": {
- "updateperiod": 10,
- "name": "PS4_Mode_2",
+ "updateperiod": 10,
+ "name": "PS4_Mode_2",
"axis": [
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "thrust",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "thrust",
"name": "thrust"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 0,
- "key": "yaw",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 0,
+ "key": "yaw",
"name": "yaw"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 2,
- "key": "roll",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 2,
+ "key": "roll",
"name": "roll"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 5,
- "key": "pitch",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 5,
+ "key": "pitch",
"name": "pitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 1,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 1,
"key": "pitchNeg",
"name": "pitchNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 3,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 3,
"key": "pitchPos",
"name": "pitchPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 7,
- "key": "estop",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 7,
+ "key": "estop",
"name": "killswitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 0,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 0,
"key": "rollNeg",
"name": "rollNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 2,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 2,
"key": "rollPos",
"name": "rollPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 4,
- "key": "althold",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 4,
+ "key": "althold",
"name": "althold"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 8,
- "key": "exit",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 8,
+ "key": "exit",
"name": "exitapp"
}
]
}
}
-}
\ No newline at end of file
+}
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_shoulder_btns_yaw.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/PS4_shoulder_btns_yaw.json
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/xbox360_mode1.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/xbox360_mode1.json
old mode 100755
new mode 100644
index 0ca5d032..57691456
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/xbox360_mode1.json
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/input/xbox360_mode1.json
@@ -1,87 +1,87 @@
-{
- "inputconfig": {
- "inputdevice": {
- "updateperiod": 10,
- "name": "xbox360_mode1_linux",
- "axis": [
- {
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 4,
- "key": "thrust",
- "name": "thrust"
- },
- {
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 3,
- "key": "yaw",
- "name": "yaw"
- },
- {
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 0,
- "key": "roll",
- "name": "roll"
- },
- {
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "pitch",
- "name": "pitch"
- },
- {
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "pitchNeg",
- "name": "pitchNeg"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "pitchPos",
- "name": "pitchPos"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "estop",
- "name": "killswitch"
- },
- {
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "rollNeg",
- "name": "rollNeg"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "rollPos",
- "name": "rollPos"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 5,
- "key": "althold",
- "name": "althold"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "exit",
- "name": "exitapp"
- }
- ]
- }
- }
-}
\ No newline at end of file
+{
+ "inputconfig": {
+ "inputdevice": {
+ "updateperiod": 10,
+ "name": "xbox360_mode1_linux",
+ "axis": [
+ {
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 4,
+ "key": "thrust",
+ "name": "thrust"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 3,
+ "key": "yaw",
+ "name": "yaw"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 0,
+ "key": "roll",
+ "name": "roll"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "pitch",
+ "name": "pitch"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "pitchNeg",
+ "name": "pitchNeg"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "pitchPos",
+ "name": "pitchPos"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "estop",
+ "name": "killswitch"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "rollNeg",
+ "name": "rollNeg"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "rollPos",
+ "name": "rollPos"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 5,
+ "key": "althold",
+ "name": "althold"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "exit",
+ "name": "exitapp"
+ }
+ ]
+ }
+ }
+}
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/log/stabilizer.json b/pps_ws/src/d_fall_pps/crazyradio/cfclient/configs/log/stabilizer.json
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/cfclient.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/gui.py
old mode 100755
new mode 100644
similarity index 75%
rename from pps_ws/src/d_fall_pps/crazyradio/cfclient/cfclient.py
rename to pps_ws/src/d_fall_pps/crazyradio/cfclient/gui.py
index 81b3594b..7c0526e3
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/cfclient.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/gui.py
@@ -26,9 +26,6 @@
"""Initialization of the PC Client GUI."""
-__author__ = 'Bitcraze AB'
-__all__ = ['']
-
import sys
import os
import argparse
@@ -36,9 +33,13 @@ import datetime
import logging
+import cfclient
-def main():
+__author__ = 'Bitcraze AB'
+__all__ = []
+
+def main():
"""
Check starting conditions and start GUI.
@@ -47,17 +48,17 @@ def main():
to stdout and start the GUI.
"""
- # Set ERROR level for PyQt4 logger
- qtlogger = logging.getLogger('PyQt4')
+ # Set ERROR level for PyQt5 logger
+ qtlogger = logging.getLogger('PyQt5')
qtlogger.setLevel(logging.ERROR)
- parser = argparse.ArgumentParser(description="cfclient - "
- "Crazyflie graphical control client")
+ parser = argparse.ArgumentParser(
+ description="cfclient - Crazyflie graphical control client")
parser.add_argument('--debug', '-d', nargs=1, default='info', type=str,
help="set debug level "
- "[minimal, info, debug, debugfile]")
+ "[minimal, info, debug, debugfile]")
args = parser.parse_args()
- globals().update(vars(args))
+ debug = args.debug
cflogger = logging.getLogger('')
@@ -80,28 +81,28 @@ def main():
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)
-
- logger.debug("Using config path {}".format(sys.path[1]))
+
+ logger.debug("Using config path {}".format(cfclient.config_path))
logger.debug("sys.path={}".format(sys.path))
# Try all the imports used in the project here to control what happens....
try:
- import usb
+ import usb # noqa
except ImportError:
logger.critical("No pyusb installation found, exiting!")
sys.exit(1)
if not sys.platform.startswith('linux'):
try:
- import sdl2
+ import sdl2 # noqa
except ImportError:
logger.critical("No pysdl2 installation found, exiting!")
sys.exit(1)
try:
- import PyQt4
+ import PyQt5 # noqa
except ImportError:
- logger.critical("No PyQT4 installation found, exiting!")
+ logger.critical("No PyQT5 installation found, exiting!")
sys.exit(1)
# Disable printouts from STL
@@ -110,28 +111,49 @@ def main():
os.dup2(os.open('/dev/null', os.O_WRONLY), 1)
sys.stdout = os.fdopen(stdout, 'w')
logger.info("Disabling STL printouts")
-
+
if os.name == 'nt':
stdout = os.dup(1)
os.dup2(os.open('NUL', os.O_WRONLY), 1)
sys.stdout = os.fdopen(stdout, 'w')
logger.info("Disabling STL printouts")
+ if sys.platform == 'darwin':
+ try:
+ import Foundation
+ bundle = Foundation.NSBundle.mainBundle()
+ if bundle:
+ info = (bundle.localizedInfoDictionary() or
+ bundle.infoDictionary())
+ if info:
+ info['CFBundleName'] = 'Crazyflie'
+ except ImportError:
+ logger.info("Foundation not found. Menu will show python as "
+ "application name")
+
# Start up the main user-interface
- from ui.main import MainUI
- from PyQt4.QtGui import QApplication, QIcon
+ from .ui.main import MainUI
+ from PyQt5.QtWidgets import QApplication
+ from PyQt5.QtGui import QIcon
+
app = QApplication(sys.argv)
- app.setWindowIcon(QIcon(sys.path[0] + "/cfclient/icon-256.png"))
+ app.setWindowIcon(QIcon(cfclient.module_path + "/icon-256.png"))
# Make sure the right icon is set in Windows 7+ taskbar
if os.name == 'nt':
import ctypes
+
try:
myappid = 'mycompany.myproduct.subproduct.version'
- ctypes.windll.shell32.SetCurrentProcessExplicitAppUserModelID(myappid)
+ ctypes.windll.shell32.SetCurrentProcessExplicitAppUserModelID(
+ myappid)
except Exception:
pass
-
+
main_window = MainUI()
main_window.show()
sys.exit(app.exec_())
+
+
+if __name__ == "__main__":
+ main()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/headless.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/headless.py
new file mode 100644
index 00000000..29dca85e
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/headless.py
@@ -0,0 +1,173 @@
+# -*- coding: utf-8 -*-
+#
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
+# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+#
+# Copyright (C) 2013 Bitcraze AB
+#
+# Crazyflie Nano Quadcopter Client
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+# MA 02110-1301, USA.
+"""
+Headless client for the Crazyflie.
+"""
+import logging
+import os
+import signal
+import sys
+
+import cfclient.utils
+import cflib.crtp
+from cfclient.utils.input import JoystickReader
+from cflib.crazyflie import Crazyflie
+
+if os.name == 'posix':
+ print('Disabling standard output for libraries!')
+ stdout = os.dup(1)
+ os.dup2(os.open('/dev/null', os.O_WRONLY), 1)
+ sys.stdout = os.fdopen(stdout, 'w')
+
+# set SDL to use the dummy NULL video driver,
+# so it doesn't need a windowing system.
+os.environ["SDL_VIDEODRIVER"] = "dummy"
+
+
+class HeadlessClient():
+ """Crazyflie headless client"""
+
+ def __init__(self):
+ """Initialize the headless client and libraries"""
+ cflib.crtp.init_drivers()
+
+ self._jr = JoystickReader(do_device_discovery=False)
+
+ self._cf = Crazyflie(ro_cache=None,
+ rw_cache=cfclient.config_path + "/cache")
+
+ signal.signal(signal.SIGINT, signal.SIG_DFL)
+
+ self._devs = []
+
+ for d in self._jr.available_devices():
+ self._devs.append(d.name)
+
+ def setup_controller(self, input_config, input_device=0, xmode=False):
+ """Set up the device reader"""
+ # Set up the joystick reader
+ self._jr.device_error.add_callback(self._input_dev_error)
+ print("Client side X-mode: %s" % xmode)
+ if (xmode):
+ self._cf.commander.set_client_xmode(xmode)
+
+ devs = self._jr.available_devices() # noqa, is this a bug?
+ print("Will use [%s] for input" % self._devs[input_device])
+ self._jr.start_input(self._devs[input_device])
+ self._jr.set_input_map(self._devs[input_device], input_config)
+
+ def controller_connected(self):
+ """ Return True if a controller is connected"""
+ return True if (len(self._jr.available_devices()) > 0) else False
+
+ def list_controllers(self):
+ """List the available controllers and input mapping"""
+ print("\nAvailable controllers:")
+ for i, dev in enumerate(self._devs):
+ print(" - Controller #{}: {}".format(i, dev))
+ print("\nAvailable input mapping:")
+ for map in os.listdir(cfclient.config_path + '/input'):
+ print(" - " + map.split(".json")[0])
+
+ def connect_crazyflie(self, link_uri):
+ """Connect to a Crazyflie on the given link uri"""
+ self._cf.connection_failed.add_callback(self._connection_failed)
+ # 2014-11-25 chad: Add a callback for when we have a good connection.
+ self._cf.connected.add_callback(self._connected)
+ self._cf.param.add_update_callback(
+ group="imu_sensors", name="HMC5883L", cb=(
+ lambda name, found: self._jr.set_alt_hold_available(
+ eval(found))))
+ self._jr.assisted_control_updated.add_callback(
+ lambda enabled: self._cf.param.set_value("flightmode.althold",
+ enabled))
+
+ self._cf.open_link(link_uri)
+ self._jr.input_updated.add_callback(self._cf.commander.send_setpoint)
+
+ def _connected(self, link):
+ """Callback for a successful Crazyflie connection."""
+ print("Connected to {}".format(link))
+
+ def _connection_failed(self, link, message):
+ """Callback for a failed Crazyflie connection"""
+ print("Connection failed on {}: {}".format(link, message))
+ sys.exit(-1)
+
+ def _input_dev_error(self, message):
+ """Callback for an input device error"""
+ print("Error when reading device: {}".format(message))
+ sys.exit(-1)
+
+
+def main():
+ """Main Crazyflie headless application"""
+ import argparse
+
+ parser = argparse.ArgumentParser(prog="cfheadless")
+ parser.add_argument("-u", "--uri", action="store", dest="uri", type=str,
+ default="radio://0/10/250K",
+ help="URI to use for connection to the Crazyradio"
+ " dongle, defaults to radio://0/10/250K")
+ parser.add_argument("-i", "--input", action="store", dest="input",
+ type=str, default="PS3_Mode_1",
+ help="Input mapping to use for the controller,"
+ "defaults to PS3_Mode_1")
+ parser.add_argument("-d", "--debug", action="store_true", dest="debug",
+ help="Enable debug output")
+ parser.add_argument("-c", "--controller", action="store", type=int,
+ dest="controller", default=0,
+ help="Use controller with specified id,"
+ " id defaults to 0")
+ parser.add_argument("--controllers", action="store_true",
+ dest="list_controllers",
+ help="Only display available controllers and exit")
+ parser.add_argument("-x", "--x-mode", action="store_true",
+ dest="xmode",
+ help="Enable client-side X-mode")
+ (args, unused) = parser.parse_known_args()
+
+ if args.debug:
+ logging.basicConfig(level=logging.DEBUG)
+ else:
+ logging.basicConfig(level=logging.INFO)
+
+ headless = HeadlessClient()
+
+ if (args.list_controllers):
+ headless.list_controllers()
+ else:
+ if headless.controller_connected():
+ headless.setup_controller(input_config=args.input,
+ input_device=args.controller,
+ xmode=args.xmode)
+ headless.connect_crazyflie(link_uri=args.uri)
+ else:
+ print("No input-device connected, exiting!")
+
+
+if __name__ == "__main__":
+ main()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/icon-256.png b/pps_ws/src/d_fall_pps/crazyradio/cfclient/icon-256.png
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/resources/map.html b/pps_ws/src/d_fall_pps/crazyradio/cfclient/resources/map.html
new file mode 100644
index 00000000..1bd5f016
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/resources/map.html
@@ -0,0 +1,14 @@
+<!DOCTYPE html>
+<html>
+<head>
+ <link rel="stylesheet" href="http://cdn.leafletjs.com/leaflet-0.7.3/leaflet.css" />
+ <script src="http://cdn.leafletjs.com/leaflet-0.7.3/leaflet.js"></script>
+ <style>
+ body { padding: 0; margin: 0; }
+ html, body, #map { height: 100%; }
+ </style>
+</head>
+<body>
+ <div id="map"></div>
+</body>
+</html>
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/resources/map.js b/pps_ws/src/d_fall_pps/crazyradio/cfclient/resources/map.js
new file mode 100644
index 00000000..8afb80b0
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/resources/map.js
@@ -0,0 +1,25 @@
+var map = L.map('map').setView([55.607526, 13.018219], 16);
+L.tileLayer('http://otile{s}.mqcdn.com/tiles/1.0.0/map/{z}/{x}/{y}.png', {
+ maxZoom: 18,
+ attribution: 'Map data © <a href="http://openstreetmap.org">OpenStreetMap</a> contributors, ' +
+ 'tiles Courtesy of <a href="http://www.mapquest.com/" target="_blank">MapQuest</a>',
+ subdomains: '1',//'1234',
+}).addTo(map);
+
+var cf = L.circle([55.607526, 13.018219], 1, {
+ color: 'blue',
+ fillColor: 'blue',
+ fillOpacity: 1
+}).addTo(map);
+
+var accuracy = L.circle([55.607526, 13.018219], 0, {
+ color: 'red',
+ fillColor: '#f03',
+ fillOpacity: 0.5
+}).addTo(map);
+
+if(typeof MainWindow != 'undefined') {
+ var onMapMove = function() { MainWindow.onMapMove(map.getCenter().lat, map.getCenter().lng) };
+ map.on('move', onMapMove);
+ onMapMove();
+}
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/__init__.py
old mode 100755
new mode 100644
index 51d3a306..d81873b0
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/__init__.py
@@ -21,18 +21,18 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Create a plugin helper that is passed to all the tabs and toolboxes for easy #
access to objects that are needed.
"""
+from cfclient.ui.pluginhelper import PluginHelper
+
__author__ = 'Bitcraze AB'
__all__ = []
-from cfclient.ui.pluginhelper import PluginHelper
-
pluginhelper = PluginHelper()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/__init__.pyc
deleted file mode 100755
index c104e7ddfe707c932c60f7d3a900cc8a2627a688..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 467
zcmYjMF;2uV5Oi|60|k&M=~#&-&BY%;2#$sVAp}&{SdP7SF>>N4b|j9Lj;HY*9suhE
z1eQG+&p5lYv(KZv`FMX)>}RF)y`<wgfo5z?n6P!iw!~AWY0sFQu_j~dj3t<{H!|i-
zXY8?<#~(dGe%+%C2ogFwY)uO_+75dNwG3c9bkcj&5FAKrNks^<@*vx&Ia|3G^ssR~
zp!7R9%cWB2eSGh#XH<b`tR#Dc7Ez-vbALd6S0<=lz9L+$%onX9Au${h+>beK#u#_S
zBFcLNLTIOi2>Hn65Ng-cb+RZM@e{JtMp=VxC<jwc6HNm>kT=!;uNG1L1Aj|bUb_Z)
z^^=cxy&LD?G45_d#g|hDzwCAtqUF|9{I@M13>U(*CJ0fIzfT3v8>a`07pKI16c*_s
IS)|A5H!JmkbpQYW
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/__init__.py
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/__init__.pyc
deleted file mode 100755
index 5f70eceb5bdffb7217e4898413ba04e8b69a74cb..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 171
zcmZSn%*&N~sw*U!0SXv_v;z<qvjB+{28Lh_kcgiKkYGR~ibH^6`WgATsrpHoCCNpJ
zRjK*~Mfq8&$tA`5AZ}$^PG+iZGLXnCDb_8hEXl~v)6dCF(oar<2<n$+>ZfET=H#ar
h>&M4u=4F<|$Lj&raR3dr$<0qG%}KQbSzipq3;<T1D-Qqw
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.py
old mode 100755
new mode 100644
index b89b6176..4b5d4536
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.py
@@ -20,37 +20,37 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
The about dialog.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['AboutDialog']
-
import sys
-from PyQt4 import Qt, QtCore, QtGui, uic
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-from PyQt4.Qt import *
-
import cfclient
-
import cflib.crtp
+from PyQt5.QtCore import QT_VERSION_STR
+from PyQt5.QtCore import PYQT_VERSION_STR
+from PyQt5 import QtWidgets
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+
+__author__ = 'Bitcraze AB'
+__all__ = ['AboutDialog']
(about_widget_class,
-about_widget_base_class) = (uic.loadUiType(sys.path[0] +
- '/cfclient/ui/dialogs/about.ui'))
+ about_widget_base_class) = (uic.loadUiType(cfclient.module_path +
+ '/ui/dialogs/about.ui'))
DEBUG_INFO_FORMAT = """
<b>Cfclient</b><br>
Cfclient version: {version}<br>
System: {system}<br>
+Python: {pmajor}.{pminor}.{pmicro}<br>
+Qt: {qt_version}<br>
+PyQt: {pyqt_version}<br>
<br>
<b>Interface status</b><br>
{interface_status}
@@ -77,7 +77,7 @@ IMU_SENSORS_FORMAT = "{}: {}<br>"
SENSOR_TESTS_FORMAT = "{}: {}<br>"
FIRMWARE_FORMAT = "{:x}{:x} ({})"
-CREDITS_FORMAT = U"""
+CREDITS_FORMAT = """
<b>Contributions</b><br>
{contribs}
<br><br>
@@ -91,47 +91,47 @@ CREDITS_FORMAT = U"""
<a href="http://www.python.org/">Python</a><br>
"""
-class AboutDialog(QtGui.QWidget, about_widget_class):
+class AboutDialog(QtWidgets.QWidget, about_widget_class):
_disconnected_signal = pyqtSignal(str)
"""Crazyflie client About box for debugging and information"""
+
def __init__(self, helper, *args):
super(AboutDialog, self).__init__(*args)
self.setupUi(self)
self._close_button.clicked.connect(self.close)
self._name_label.setText(
- self._name_label.text().replace('#version#',
- cfclient.VERSION))
+ self._name_label.text().replace('#version#', cfclient.VERSION))
self._interface_text = ""
self._imu_sensors_text = ""
self._imu_sensor_test_text = ""
- self._uri = None
+ self._uri = None
self._fw_rev0 = None
self._fw_rev1 = None
self._fw_modified = None
self._helper = helper
- helper.cf.param.add_update_callback(group="imu_sensors",
- cb=self._imu_sensors_update)
- helper.cf.param.add_update_callback(group="imu_tests",
- cb=self._imu_sensor_tests_update)
- helper.cf.param.add_update_callback(group="firmware",
- cb=self._firmware_update)
+ helper.cf.param.add_update_callback(
+ group="imu_sensors", cb=self._imu_sensors_update)
+ helper.cf.param.add_update_callback(
+ group="imu_tests", cb=self._imu_sensor_tests_update)
+ helper.cf.param.add_update_callback(
+ group="firmware", cb=self._firmware_update)
helper.cf.connected.add_callback(self._connected)
self._disconnected_signal.connect(self._disconnected)
helper.cf.disconnected.add_callback(self._disconnected_signal.emit)
# Open the Credits file and show it in the UI
- credits = U""
+ credits = ""
try:
- with open("CREDITS.txt", 'r') as f:
+ with open("CREDITS.txt", encoding='utf-8', mode='r') as f:
for line in f:
- credits += U"{}<br>".format(line.decode("UTF-8"))
+ credits += "{}<br>".format(line)
except IOError:
- credits = U""
+ credits = ""
self._credits.setHtml(
CREDITS_FORMAT.format(contribs=credits)
@@ -141,42 +141,48 @@ class AboutDialog(QtGui.QWidget, about_widget_class):
"""Event when the about box is shown"""
self._interface_text = ""
interface_status = cflib.crtp.get_interfaces_status()
- for key in interface_status.keys():
- self._interface_text += INTERFACE_FORMAT.format(key,
- interface_status[key])
+ for key in list(interface_status.keys()):
+ self._interface_text += INTERFACE_FORMAT.format(
+ key, interface_status[key])
firmware = None
self._device_text = ""
devs = self._helper.inputDeviceReader.available_devices()
for d in devs:
- self._device_text += DEVICE_FORMAT.format(d.reader_name,
- d.id,
- d.name)
+ self._device_text += DEVICE_FORMAT.format(
+ d.reader_name, d.id, d.name)
if len(self._device_text) == 0:
self._device_text = "None<br>"
self._input_readers_text = ""
- #readers = self._helper.inputDeviceReader.getAvailableDevices()
+ # readers = self._helper.inputDeviceReader.getAvailableDevices()
for reader in cfclient.utils.input.inputreaders.initialized_readers:
- self._input_readers_text += INPUT_READER_FORMAT.format(reader.name,
- len(reader.devices()))
+ self._input_readers_text += INPUT_READER_FORMAT.format(
+ reader.name, len(reader.devices()))
if len(self._input_readers_text) == 0:
self._input_readers_text = "None<br>"
if self._uri:
- firmware = FIRMWARE_FORMAT.format(self._fw_rev0, self._fw_rev1,
- "MODIFIED" if self._fw_modified else "CLEAN")
+ firmware = FIRMWARE_FORMAT.format(
+ self._fw_rev0,
+ self._fw_rev1,
+ "MODIFIED" if self._fw_modified else "CLEAN")
self._debug_out.setHtml(
- DEBUG_INFO_FORMAT.format(version=cfclient.VERSION,
- system=sys.platform,
- interface_status=self._interface_text,
- input_devices=self._device_text,
- input_readers=self._input_readers_text,
- uri = self._uri,
- firmware = firmware,
- imu_sensors=self._imu_sensors_text,
- imu_sensor_tests=
- self._imu_sensor_test_text))
+ DEBUG_INFO_FORMAT.format(
+ version=cfclient.VERSION,
+ system=sys.platform,
+ pmajor=sys.version_info.major,
+ pminor=sys.version_info.minor,
+ pmicro=sys.version_info.micro,
+ qt_version=QT_VERSION_STR,
+ pyqt_version=PYQT_VERSION_STR,
+ interface_status=self._interface_text,
+ input_devices=self._device_text,
+ input_readers=self._input_readers_text,
+ uri=self._uri,
+ firmware=firmware,
+ imu_sensors=self._imu_sensors_text,
+ imu_sensor_tests=self._imu_sensor_test_text))
def _connected(self, uri):
"""Callback when Crazyflie is connected"""
@@ -194,16 +200,16 @@ class AboutDialog(QtGui.QWidget, about_widget_class):
def _imu_sensors_update(self, name, value):
"""Callback for sensor found parameters"""
param = name[name.index('.') + 1:]
- if not param in self._imu_sensors_text:
- self._imu_sensors_text += IMU_SENSORS_FORMAT.format(param,
- eval(value))
+ if param not in self._imu_sensors_text:
+ self._imu_sensors_text += IMU_SENSORS_FORMAT.format(
+ param, eval(value))
def _imu_sensor_tests_update(self, name, value):
"""Callback for sensor test parameters"""
param = name[name.index('.') + 1:]
- if not param in self._imu_sensor_test_text:
- self._imu_sensor_test_text += SENSOR_TESTS_FORMAT.format(param,
- eval(value))
+ if param not in self._imu_sensor_test_text:
+ self._imu_sensor_test_text += SENSOR_TESTS_FORMAT.format(
+ param, eval(value))
def _disconnected(self, uri):
"""Callback for Crazyflie disconnected"""
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/about.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.py
old mode 100755
new mode 100644
index b593e11d..3fffdd15
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.py
@@ -21,9 +21,9 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
The bootloader dialog is used to update the Crazyflie firmware and to
@@ -31,27 +31,20 @@ read/write the configuration block in the Crazyflie flash.
"""
from cflib.bootloader import Bootloader
-__author__ = 'Bitcraze AB'
-__all__ = ['BootloaderDialog']
-
-import struct
-import sys
-import time
-
import logging
-logger = logging.getLogger(__name__)
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from PyQt5 import QtWidgets, uic
+from PyQt5.QtCore import pyqtSlot, pyqtSignal, QThread
-from cfclient.ui.tab import Tab
+import cfclient
-import cflib.crtp
+__author__ = 'Bitcraze AB'
+__all__ = ['BootloaderDialog']
-from cflib.bootloader.cloader import Cloader
+logger = logging.getLogger(__name__)
-service_dialog_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/dialogs/bootloader.ui")[0]
+service_dialog_class = uic.loadUiType(cfclient.module_path +
+ "/ui/dialogs/bootloader.ui")[0]
class UIState:
@@ -63,9 +56,10 @@ class UIState:
RESET = 4
-class BootloaderDialog(QtGui.QWidget, service_dialog_class):
+class BootloaderDialog(QtWidgets.QWidget, service_dialog_class):
"""Tab for update the Crazyflie firmware and for reading/writing the config
block in flash"""
+
def __init__(self, helper, *args):
super(BootloaderDialog, self).__init__(*args)
self.setupUi(self)
@@ -93,13 +87,13 @@ class BootloaderDialog(QtGui.QWidget, service_dialog_class):
self.clt.statusChanged.connect(self.statusUpdate)
# self.clt.updateBootloaderStatusSignal.connect(
# self.updateBootloaderStatus)
- self.clt.connectingSignal.connect(lambda:
- self.setUiState(UIState.CONNECTING))
- self.clt.connectedSignal.connect(lambda:
- self.setUiState(UIState.COLD_CONNECT))
+ self.clt.connectingSignal.connect(
+ lambda: self.setUiState(UIState.CONNECTING))
+ self.clt.connectedSignal.connect(
+ lambda: self.setUiState(UIState.COLD_CONNECT))
self.clt.failed_signal.connect(lambda m: self._ui_connection_fail(m))
- self.clt.disconnectedSignal.connect(lambda:
- self.setUiState(UIState.DISCONNECTED))
+ self.clt.disconnectedSignal.connect(
+ lambda: self.setUiState(UIState.DISCONNECTED))
self.clt.start()
@@ -165,7 +159,7 @@ class BootloaderDialog(QtGui.QWidget, service_dialog_class):
def pathBrowse(self):
filename = ""
# Fix for crash in X on Ubuntu 14.04
- filename = QtGui.QFileDialog.getOpenFileName()
+ filename, _ = QtWidgets.QFileDialog.getOpenFileName()
if filename != "":
self.imagePathLine.setText(filename)
pass
@@ -180,7 +174,7 @@ class BootloaderDialog(QtGui.QWidget, service_dialog_class):
self.clt.program.emit(self.imagePathLine.text(),
self.verifyCheckBox.isChecked())
else:
- msgBox = QtGui.QMessageBox()
+ msgBox = QtWidgets.QMessageBox()
msgBox.setText("Please choose an image file to program.")
msgBox.exec_()
@@ -271,7 +265,7 @@ class CrazyloadThread(QThread):
def programAction(self, filename, verify):
targets = {}
if str(filename).endswith("bin"):
- targets["stm32"] = ("fw", )
+ targets["stm32"] = ("fw",)
try:
self._bl.flash(str(filename), targets)
self.programmed.emit(True)
@@ -284,4 +278,4 @@ class CrazyloadThread(QThread):
except Exception:
pass
self._bl.close()
- self.disconnectedSignal.emit()
\ No newline at end of file
+ self.disconnectedSignal.emit()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.pyc
deleted file mode 100755
index 4acfd27a8b9a4ed140627350fa9c21415047d163..0000000000000000000000000000000000000000
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literal 0
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/bootloader.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.py
old mode 100755
new mode 100644
index c7635676..c4ecd003
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.py
@@ -21,32 +21,35 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
The bootloader dialog is used to update the Crazyflie firmware and to
read/write the configuration block in the Crazyflie flash.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['Cf1ConfigDialog']
-
import struct
-import sys
from cflib.bootloader import Bootloader
import logging
-logger = logging.getLogger(__name__)
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from PyQt5 import QtWidgets, uic
+from PyQt5.QtCore import pyqtSlot, pyqtSignal, QThread
+import cfclient
from cfclient.utils.config import Config
+from functools import reduce
+
+__author__ = 'Bitcraze AB'
+__all__ = ['Cf1ConfigDialog']
+
+logger = logging.getLogger(__name__)
+
+service_dialog_class = uic.loadUiType(cfclient.module_path +
+ "/ui/dialogs/cf1config.ui")[0]
-service_dialog_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/dialogs/cf1config.ui")[0]
class UIState:
DISCONNECTED = 0
@@ -57,9 +60,10 @@ class UIState:
RESET = 4
-class Cf1ConfigDialog(QtGui.QWidget, service_dialog_class):
+class Cf1ConfigDialog(QtWidgets.QWidget, service_dialog_class):
"""Tab for update the Crazyflie firmware and for reading/writing the config
block in flash"""
+
def __init__(self, helper, *args):
super(Cf1ConfigDialog, self).__init__(*args)
self.setupUi(self)
@@ -80,13 +84,13 @@ class Cf1ConfigDialog(QtGui.QWidget, service_dialog_class):
self._cancel_bootloading.clicked.connect(self.close)
self.clt.statusChanged.connect(self.statusUpdate)
- self.clt.connectingSignal.connect(lambda:
- self.setUiState(UIState.CONNECTING))
- self.clt.connectedSignal.connect(lambda:
- self.setUiState(UIState.COLD_CONNECT))
+ self.clt.connectingSignal.connect(
+ lambda: self.setUiState(UIState.CONNECTING))
+ self.clt.connectedSignal.connect(
+ lambda: self.setUiState(UIState.COLD_CONNECT))
self.clt.failed_signal.connect(lambda m: self._ui_connection_fail(m))
- self.clt.disconnectedSignal.connect(lambda:
- self.setUiState(UIState.DISCONNECTED))
+ self.clt.disconnectedSignal.connect(
+ lambda: self.setUiState(UIState.DISCONNECTED))
self.clt.updateConfigSignal.connect(self.updateConfig)
self.clt.start()
@@ -219,13 +223,13 @@ class CrazyloadThread(QThread):
self.failed_signal.emit("{}".format(e))
def checksum256(self, st):
- return reduce(lambda x, y: x + y, map(ord, st)) % 256
+ return reduce(lambda x, y: x + y, list(st)) % 256
def writeConfigAction(self, channel, speed, rollTrim, pitchTrim):
data = (0x00, channel, speed, pitchTrim, rollTrim)
image = struct.pack("<BBBff", *data)
# Adding some magic:
- image = "0xBC" + image
+ image = bytearray("0xBC".encode('ISO-8859-1')) + image
image += struct.pack("B", 256 - self.checksum256(image))
self._bl.write_cf1_config(image)
@@ -234,7 +238,7 @@ class CrazyloadThread(QThread):
self.statusChanged.emit("Reading config block...", 0)
data = self._bl.read_cf1_config()
if (data is not None):
- if data[0:4] == "0xBC":
+ if data[0:4] == bytearray("0xBC".encode('ISO-8859-1')):
# Skip 0xBC and version at the beginning
[channel,
speed,
@@ -246,7 +250,8 @@ class CrazyloadThread(QThread):
speed = Config().get("default_cf_speed")
pitchTrim = Config().get("default_cf_trim")
rollTrim = Config().get("default_cf_trim")
- self.statusChanged.emit("Could not find config block, showing defaults", 100)
+ self.statusChanged.emit(
+ "Could not find config block, showing defaults", 100)
self.updateConfigSignal.emit(channel, speed, rollTrim, pitchTrim)
else:
self.statusChanged.emit("Reading config block failed!", 0)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.pyc
deleted file mode 100755
index ab6c2681b1fd88b2195c184b6971087ffc8feb73..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf1config.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.py
old mode 100755
new mode 100644
index 236fb245..7b8f855f
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.py
@@ -20,32 +20,32 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
The bootloader dialog is used to update the Crazyflie firmware and to
read/write the configuration block in the Crazyflie flash.
"""
+import logging
-__author__ = 'Bitcraze AB'
-__all__ = ['CfConfig']
+import cfclient
+from cflib.crazyflie.mem import MemoryElement
-import sys
-import logging
+from PyQt5 import QtWidgets
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+
+__author__ = 'Bitcraze AB'
+__all__ = ['Cf2ConfigDialog']
logger = logging.getLogger(__name__)
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
-from cflib.crazyflie.mem import MemoryElement
+service_dialog_class = uic.loadUiType(cfclient.module_path +
+ "/ui/dialogs/cf2config.ui")[0]
-service_dialog_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/dialogs/cf2config.ui")[0]
-class Cf2ConfigDialog(QtGui.QWidget, service_dialog_class):
+class Cf2ConfigDialog(QtWidgets.QWidget, service_dialog_class):
"""Tab for update the Crazyflie firmware and for reading/writing the config
block in flash"""
@@ -67,7 +67,8 @@ class Cf2ConfigDialog(QtGui.QWidget, service_dialog_class):
self._write_data_btn.clicked.connect(self._write_data)
def _write_done(self, mem, addr):
- self._cf.mem.get_mems(MemoryElement.TYPE_I2C)[0].update(self._data_updated)
+ self._cf.mem.get_mems(
+ MemoryElement.TYPE_I2C)[0].update(self._data_updated)
def _data_updated(self, mem):
self._roll_trim.setValue(mem.elements["roll_trim"])
@@ -76,10 +77,9 @@ class Cf2ConfigDialog(QtGui.QWidget, service_dialog_class):
self._radio_speed.setCurrentIndex(mem.elements["radio_speed"])
if "radio_address" in mem.elements:
self._radio_address.setValue(mem.elements["radio_address"])
- self._radio_address.setEnabled(True)
else:
self._radio_address.setValue(int("0xE7E7E7E7E7", 0))
- self._radio_address.setEnabled(False)
+ self._radio_address.setEnabled(True)
self._write_data_btn.setEnabled(True)
def _set_ui_connected(self, link_uri):
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.pyc
deleted file mode 100755
index ad60a1c0724d08baa3898ba4db38cf7d0467ec8c..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/cf2config.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.py
deleted file mode 100755
index dff76f7b..00000000
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.py
+++ /dev/null
@@ -1,122 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License along with
-# this program; if not, write to the Free Software Foundation, Inc., 51
-# Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
-"""
-Dialogue that lists available Crazyflies, lets user choose which to connect to.
-"""
-
-__author__ = 'Bitcraze AB'
-__all__ = ['ConnectionDialogue']
-
-import sys
-
-from PyQt4 import QtGui, uic
-from PyQt4.QtCore import pyqtSignal, pyqtSlot, QThread
-
-import cflib.crtp
-
-(connect_widget_class,
-connect_widget_base_class) = (uic.loadUiType(sys.path[0] +
- '/cfclient/ui/dialogs/connectiondialogue.ui'))
-
-
-class ConnectDialogue(QtGui.QWidget, connect_widget_class):
-
- # Outgoing signal for connecting a Crazyflie
- requestConnectionSignal = pyqtSignal(str)
-
- def __init__(self, *args):
- super(ConnectDialogue, self).__init__(*args)
- self.setupUi(self)
-
- self.scanner = ScannerThread()
- self.scanner.start()
-
- # Connect signals to slots
- self.connectButton.clicked.connect(self.openConnection)
- self.scanButton.clicked.connect(self.rescan)
- self.cancelButton.clicked.connect(self.cancel)
- self.interfaceList.itemDoubleClicked.connect(self.interfaceSelected)
- self.scanner.interfaceFoundSignal.connect(self.foundInterfaces)
- self.box = None
- self.address.setValue(0xE7E7E7E7E7)
-
- self.available_interfaces = []
-
- def rescan(self):
- """Disable all buttons and scan signals from Crazyflies."""
- self.interfaceList.clear()
- self.interfaceList.addItem("Scanning...")
- self.scanButton.setEnabled(False)
- self.cancelButton.setEnabled(False)
- self.connectButton.setEnabled(False)
- self.scanner.scanSignal.emit(self.address.value())
-
- def foundInterfaces(self, interfaces):
- """
- Add found interfaces to list and enable buttons in UI.
- """
- self.interfaceList.clear()
- self.available_interfaces = interfaces
- for i in interfaces:
- if (len(i[1]) > 0):
- self.interfaceList.addItem("%s - %s" % (i[0], i[1]))
- else:
- self.interfaceList.addItem(i[0])
- if len(interfaces) > 0:
- self.interfaceList.setCurrentRow(0)
- self.connectButton.setEnabled(True)
- self.cancelButton.setEnabled(True)
- self.scanButton.setEnabled(True)
-
- def interfaceSelected(self, listItem):
- self.requestConnectionSignal.emit(
- self.available_interfaces[self.interfaceList.currentRow()][0])
- self.close()
-
- def openConnection(self):
- self.interfaceSelected(self.interfaceList.currentItem())
-
- def cancel(self):
- self.close()
-
- def showEvent(self, ev):
- self.rescan()
-
-
-class ScannerThread(QThread):
-
- scanSignal = pyqtSignal(object)
- interfaceFoundSignal = pyqtSignal(object)
-
- def __init__(self):
- QThread.__init__(self)
- self.moveToThread(self)
- self.scanSignal.connect(self.scan)
-
- def scan(self, address):
- self.interfaceFoundSignal.emit(cflib.crtp.scan_interfaces(address))
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.ui
deleted file mode 100755
index 3e1f25aa..00000000
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/connectiondialogue.ui
+++ /dev/null
@@ -1,102 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>Form</class>
- <widget class="QWidget" name="Form">
- <property name="windowModality">
- <enum>Qt::ApplicationModal</enum>
- </property>
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>551</width>
- <height>350</height>
- </rect>
- </property>
- <property name="windowTitle">
- <string>Connect Crazyflie</string>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <widget class="QLabel" name="label">
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Connect to Crazyflie</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignHCenter|Qt::AlignTop</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QListWidget" name="interfaceList"/>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Address:</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="HexSpinBox" name="address">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QGridLayout" name="gridLayout">
- <item row="1" column="0">
- <widget class="QPushButton" name="scanButton">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Scan</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QPushButton" name="connectButton">
- <property name="text">
- <string>Connect</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QPushButton" name="cancelButton">
- <property name="text">
- <string>Cancel</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <customwidgets>
- <customwidget>
- <class>HexSpinBox</class>
- <extends>QSpinBox</extends>
- <header>cfclient.ui.widgets.hexspinbox</header>
- </customwidget>
- </customwidgets>
- <resources/>
- <connections/>
-</ui>
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.py
old mode 100755
new mode 100644
index ec8ed5ac..d1f9c68b
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.py
@@ -7,7 +7,7 @@
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
-# Copyright (C) 2011-2013 Bitcraze AB
+# Copyright (C) 2011-2017 Bitcraze AB
#
# Crazyflie Nano Quadcopter Client
#
@@ -20,41 +20,37 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
-Dialogue used to select and configure an inputdevice. This includes mapping buttons and
-axis to match controls for the Crazyflie.
+Dialogue used to select and configure an inputdevice. This includes mapping
+buttons and axis to match controls for the Crazyflie.
"""
-
-__author__ = 'Bitcraze AB'
-__all__ = ['InputConfigDialogue']
-
-import sys
-import json
import logging
-logger = logging.getLogger(__name__)
-
+import cfclient
+from PyQt5.QtCore import QThread
+from PyQt5.QtCore import QTimer
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtWidgets import QMessageBox
from cfclient.utils.config_manager import ConfigManager
-from cflib.crtp.exceptions import CommunicationException
+from PyQt5 import Qt
+from PyQt5 import QtWidgets
+from PyQt5 import uic
+from PyQt5.Qt import * # noqa
-from PyQt4 import Qt, QtCore, QtGui, uic
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-from PyQt4.Qt import *
+__author__ = 'Bitcraze AB'
+__all__ = ['InputConfigDialogue']
-from cfclient.utils.input import JoystickReader
+logger = logging.getLogger(__name__)
-(inputconfig_widget_class,
-connect_widget_base_class) = (uic.loadUiType(sys.path[0] +
- '/cfclient/ui/dialogs/inputconfigdialogue.ui'))
+(inputconfig_widget_class, connect_widget_base_class) = (
+ uic.loadUiType(cfclient.module_path + '/ui/dialogs/inputconfigdialogue.ui')
+)
-class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
+class InputConfigDialogue(QtWidgets.QWidget, inputconfig_widget_class):
def __init__(self, joystickReader, *args):
super(InputConfigDialogue, self).__init__(*args)
@@ -64,42 +60,76 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
self._input_device_reader = DeviceReader(self._input)
self._input_device_reader.start()
- self._input_device_reader.raw_axis_data_signal.connect(self._detect_axis)
- self._input_device_reader.raw_button_data_signal.connect(self._detect_button)
- self._input_device_reader.mapped_values_signal.connect(self._update_mapped_values)
+ self._input_device_reader.raw_axis_data_signal.connect(
+ self._detect_axis)
+ self._input_device_reader.raw_button_data_signal.connect(
+ self._detect_button)
+ self._input_device_reader.mapped_values_signal.connect(
+ self._update_mapped_values)
self.cancelButton.clicked.connect(self.close)
self.saveButton.clicked.connect(self._save_config)
-
- self.detectPitch.clicked.connect(lambda : self._axis_detect("pitch", "Pitch axis",
- "Center the pitch axis then do max %s pitch", ["forward", "backward"]))
- self.detectRoll.clicked.connect(lambda : self._axis_detect("roll", "Roll axis",
- "Center the roll axis and then do max %s roll", ["right", "left"]))
- self.detectYaw.clicked.connect(lambda : self._axis_detect("yaw", "Yaw axis",
- "Center the yaw axis and then do max %s yaw", ["right", "left"]))
- self.detectThrust.clicked.connect(lambda : self._axis_detect("thrust", "Thrust axis",
- "Center the thrust axis, and then do max thrust (also used to adjust target altitude in altitude hold mode)"))
- self.detectPitchPos.clicked.connect(lambda : self._button_detect("pitchPos", "Pitch Cal Positive",
- "Press the button for Pitch postive calibration"))
- self.detectPitchNeg.clicked.connect(lambda : self._button_detect("pitchNeg", "Pitch Cal Negative",
- "Press the button for Pitch negative calibration"))
- self.detectRollPos.clicked.connect(lambda : self._button_detect("rollPos", "Roll Cal Positive",
- "Press the button for Roll positive calibration"))
- self.detectRollNeg.clicked.connect(lambda : self._button_detect("rollNeg", "Roll Cal Negative",
- "Press the button for Roll negative calibration"))
- self.detectKillswitch.clicked.connect(lambda : self._button_detect("killswitch", "Killswitch",
- "Press the button for the killswitch (will disable motors)"))
- self.detectAlt1.clicked.connect(lambda : self._button_detect("alt1", "Alternative function 1",
- "The alternative function 1 that will do a callback"))
- self.detectAlt2.clicked.connect(lambda : self._button_detect("alt2", "Alternative function 2",
- "The alternative function 2 that will do a callback"))
- self.detectExitapp.clicked.connect(lambda : self._button_detect("exitapp", "Exit application",
- "Press the button for exiting the application"))
- self.detectAltHold.clicked.connect(lambda : self._button_detect("althold", "Altitude hold",
- "Press the button for altitude hold mode activation (releasing returns to manual mode)"))
- self.detectMuxswitch.clicked.connect(lambda: self._button_detect("muxswitch", "Mux Switch",
- "Press the button for mux switching"))
+ self.detectPitch.clicked.connect(
+ lambda: self._axis_detect(
+ "pitch", "Pitch axis",
+ "Center the pitch axis then do max %s pitch",
+ ["forward", "backward"]))
+ self.detectRoll.clicked.connect(
+ lambda: self._axis_detect(
+ "roll", "Roll axis",
+ "Center the roll axis and then do max %s roll",
+ ["right", "left"]))
+ self.detectYaw.clicked.connect(
+ lambda: self._axis_detect(
+ "yaw", "Yaw axis",
+ "Center the yaw axis and then do max %s yaw",
+ ["right", "left"]))
+ self.detectThrust.clicked.connect(
+ lambda: self._axis_detect(
+ "thrust", "Thrust axis",
+ "Center the thrust axis, and then do max thrust"))
+ self.detectPitchPos.clicked.connect(
+ lambda: self._button_detect(
+ "pitchPos", "Pitch Cal Positive",
+ "Press the button for Pitch postive calibration"))
+ self.detectPitchNeg.clicked.connect(
+ lambda: self._button_detect(
+ "pitchNeg", "Pitch Cal Negative",
+ "Press the button for Pitch negative calibration"))
+ self.detectRollPos.clicked.connect(
+ lambda: self._button_detect(
+ "rollPos", "Roll Cal Positive",
+ "Press the button for Roll positive calibration"))
+ self.detectRollNeg.clicked.connect(
+ lambda: self._button_detect(
+ "rollNeg", "Roll Cal Negative",
+ "Press the button for Roll negative calibration"))
+ self.detectKillswitch.clicked.connect(
+ lambda: self._button_detect(
+ "killswitch", "Killswitch",
+ "Press the button for the killswitch (will disable motors)"))
+ self.detectAlt1.clicked.connect(
+ lambda: self._button_detect(
+ "alt1", "Alternative function 1",
+ "The alternative function 1 that will do a callback"))
+ self.detectAlt2.clicked.connect(
+ lambda: self._button_detect(
+ "alt2", "Alternative function 2",
+ "The alternative function 2 that will do a callback"))
+ self.detectExitapp.clicked.connect(
+ lambda: self._button_detect(
+ "exitapp", "Exit application",
+ "Press the button for exiting the application"))
+ self._detect_assisted_control.clicked.connect(
+ lambda: self._button_detect(
+ "assistedControl", "Assisted control",
+ "Press the button for assisted control mode activation "
+ "(releasing returns to manual mode)"))
+ self.detectMuxswitch.clicked.connect(
+ lambda: self._button_detect(
+ "muxswitch", "Mux Switch",
+ "Press the button for mux switching"))
self.configButton.clicked.connect(self._start_configuration)
self.loadButton.clicked.connect(self._load_config_from_file)
@@ -107,13 +137,14 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
self._popup = None
self._combined_button = None
- self._detection_buttons = [self.detectPitch, self.detectRoll,
- self.detectYaw, self.detectThrust,
- self.detectPitchPos, self.detectPitchNeg,
- self.detectRollPos, self.detectRollNeg,
- self.detectKillswitch, self.detectExitapp,
- self.detectAltHold, self.detectAlt1,
- self.detectAlt2, self.detectMuxswitch]
+ self._detection_buttons = [
+ self.detectPitch, self.detectRoll,
+ self.detectYaw, self.detectThrust,
+ self.detectPitchPos, self.detectPitchNeg,
+ self.detectRollPos, self.detectRollNeg,
+ self.detectKillswitch, self.detectExitapp,
+ self._detect_assisted_control, self.detectAlt1,
+ self.detectAlt2, self.detectMuxswitch]
self._button_to_detect = ""
self._axis_to_detect = ""
@@ -139,10 +170,10 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
@staticmethod
def _scale(max_value, value):
- return (value/max_value) * 100
+ return (value / max_value) * 100
def _reset_mapping(self):
- self._buttonindicators= {
+ self._buttonindicators = {
"pitchPos": self.pitchPos,
"pitchNeg": self.pitchNeg,
"rollPos": self.rollPos,
@@ -151,16 +182,16 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
"alt1": self.alt1,
"alt2": self.alt2,
"exitapp": self.exitapp,
- "althold": self.althold,
+ "assistedControl": self._assisted_control,
"muxswitch": self.muxswitch,
- }
+ }
self._axisindicators = {
"pitch": self.pitchAxisValue,
"roll": self.rollAxisValue,
"yaw": self.yawAxisValue,
"thrust": self.thrustAxisValue,
- }
+ }
def _cancel_config_popup(self, button):
self._axis_to_detect = ""
@@ -171,22 +202,25 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
self._mined_axis = []
self._popup = QMessageBox()
self._popup.directions = directions
- self._combined_button = QtGui.QPushButton('Combined Axis Detection')
- self.cancelButton = QtGui.QPushButton('Cancel')
+ self._combined_button = QtWidgets.QPushButton('Combined Axis ' +
+ 'Detection')
+ self.cancelButton = QtWidgets.QPushButton('Cancel')
self._popup.addButton(self.cancelButton, QMessageBox.DestructiveRole)
self._popup.setWindowTitle(caption)
- self._popup.setWindowFlags(Qt.Dialog|Qt.MSWindowsFixedSizeDialogHint)
+ self._popup.setWindowFlags(Qt.Dialog | Qt.MSWindowsFixedSizeDialogHint)
if len(directions) > 1:
self._popup.originalMessage = message
message = self._popup.originalMessage % directions[0]
self._combined_button.setCheckable(True)
self._combined_button.blockSignals(True)
- self._popup.addButton(self._combined_button, QMessageBox.ActionRole)
+ self._popup.addButton(self._combined_button,
+ QMessageBox.ActionRole)
self._popup.setText(message)
self._popup.show()
def _start_configuration(self):
- self._input.enableRawReading(str(self.inputDeviceSelector.currentText()))
+ self._input.enableRawReading(
+ str(self.inputDeviceSelector.currentText()))
self._input_device_reader.start_reading()
self._populate_config_dropdown()
self.profileCombo.setEnabled(True)
@@ -195,19 +229,22 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
def _detect_axis(self, data):
if (len(self._axis_to_detect) > 0):
- if self._combined_button and self._combined_button.isChecked() and self.combinedDetection == 0:
+ if (self._combined_button and self._combined_button.isChecked() and
+ self.combinedDetection == 0):
self._combined_button.setDisabled(True)
self.combinedDetection = 1
for a in data:
# Axis must go low and high before it's accepted as selected
# otherwise maxed out axis (like gyro/acc) in some controllers
- # will always be selected. Not enforcing negative values makes it
- # possible to detect split axis (like bumpers on PS3 controller)
+ # will always be selected. Not enforcing negative values makes
+ # it possible to detect split axis (like bumpers on PS3
+ # controller)
if a not in self._maxed_axis and abs(data[a]) > 0.8:
self._maxed_axis.append(a)
if a not in self._mined_axis and abs(data[a]) < 0.1:
self._mined_axis.append(a)
- if a in self._maxed_axis and a in self._mined_axis and len(self._axis_to_detect) > 0:
+ if a in self._maxed_axis and a in self._mined_axis and len(
+ self._axis_to_detect) > 0:
if self.combinedDetection == 0:
if data[a] >= 0:
self._map_axis(self._axis_to_detect, a, 1.0)
@@ -215,21 +252,23 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
self._map_axis(self._axis_to_detect, a, -1.0)
self._axis_to_detect = ""
self._check_and_enable_saving()
- if self._popup != None:
+ if self._popup is not None:
self.cancelButton.click()
- elif self.combinedDetection == 2: #finished detection
- if self._prev_combined_id != a: # not the same axis again ...
+ elif self.combinedDetection == 2: # finished detection
+ # not the same axis again ...
+ if self._prev_combined_id != a:
self._map_axis(self._axis_to_detect, a, -1.0)
self._axis_to_detect = ""
self._check_and_enable_saving()
- if (self._popup != None):
+ if (self._popup is not None):
self.cancelButton.click()
self.combinedDetection = 0
elif self.combinedDetection == 1:
self._map_axis(self._axis_to_detect, a, 1.0)
self._prev_combined_id = a
self.combinedDetection = 2
- message = self._popup.originalMessage % self._popup.directions[1]
+ message = (self._popup.originalMessage %
+ self._popup.directions[1])
self._popup.setText(message)
def _update_mapped_values(self, mapped_data):
@@ -242,7 +281,7 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
if v in self._axisindicators:
# The sliders used are set to 0-100 and the values from the
# input-layer is scaled according to the max settings in
- # the input-layer. So scale the value and place 0 in the middle.
+ # the input-layer. So scale the value and place 0 in the middle
scaled_value = mapped_data.get(v)
if v == "thrust":
scaled_value = InputConfigDialogue._scale(
@@ -268,7 +307,8 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
self._input.set_raw_input_map(self._map)
def _map_button(self, function, key_id):
- # Duplicate buttons is not allowed, remove if there's already one mapped
+ # Duplicate buttons are not allowed, remove if there's already one
+ # mapped
prev_button = None
for m in self._map:
if "key" in self._map[m] and self._map[m]["key"] == function:
@@ -290,7 +330,7 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
self._map_button(self._button_to_detect, b)
self._button_to_detect = ""
self._check_and_enable_saving()
- if self._popup != None:
+ if self._popup is not None:
self._popup.close()
def _check_and_enable_saving(self):
@@ -322,7 +362,8 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
QMessageBox.critical(self, caption, message)
def _load_config_from_file(self):
- loaded_map = ConfigManager().get_config(self.profileCombo.currentText())
+ loaded_map = ConfigManager().get_config(
+ self.profileCombo.currentText())
if loaded_map:
self._input.set_raw_input_map(loaded_map)
self._map = loaded_map
@@ -330,69 +371,32 @@ class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
logger.warning("Could not load configfile [%s]",
self.profileCombo.currentText())
self._show_error("Could not load config",
- "Could not load config [%s]" %
- self.profileCombo.currentText())
+ "Could not load config [%s]" %
+ self.profileCombo.currentText())
self._check_and_enable_saving()
def _delete_configuration(self):
logger.warning("deleteConfig not implemented")
def _save_config(self):
- configName = str(self.profileCombo.currentText())
-
- mapping = {'inputconfig': {'inputdevice': {'axis': []}}}
-
- # Create intermediate structure for the configuration file
- funcs = {}
- for m in self._map:
- key = self._map[m]["key"]
- if not key in funcs:
- funcs[key] = []
- funcs[key].append(self._map[m])
-
- # Create a mapping for each axis, take care to handle
- # split axis configurations
- for a in funcs:
- func = funcs[a]
- axis = {}
- # Check for split axis
- if len(func) > 1:
- axis["ids"] = [func[0]["id"], func[1]["id"]]
- axis["scale"] = func[1]["scale"]
- else:
- axis["id"] = func[0]["id"]
- axis["scale"] = func[0]["scale"]
- axis["key"] = func[0]["key"]
- axis["name"] = func[0]["key"] # Name isn't used...
- axis["type"] =func[0]["type"]
- mapping["inputconfig"]["inputdevice"]["axis"].append(axis)
-
- mapping["inputconfig"]['inputdevice']['name'] = configName
- mapping["inputconfig"]['inputdevice']['updateperiod'] = 10
-
- config_name = self.profileCombo.currentText()
- filename = ConfigManager().configs_dir + "/%s.json" % config_name
- logger.info("Saving config to [%s]", filename)
- json_data = open(filename, 'w')
- json_data.write(json.dumps(mapping, indent=2))
- json_data.close()
-
- ConfigManager().conf_needs_reload.call(config_name)
+ config_name = str(self.profileCombo.currentText())
+ ConfigManager().save_config(self._map, config_name)
self.close()
def showEvent(self, event):
"""Called when dialog is opened"""
- #self._saved_open_device = self._input.get_device_name()
- #self._input.stop_input()
+ # self._saved_open_device = self._input.get_device_name()
+ # self._input.stop_input()
self._input.pause_input()
def closeEvent(self, event):
"""Called when dialog is closed"""
self._input.stop_raw_reading()
self._input_device_reader.stop_reading()
- #self._input.start_input(self._saved_open_device)
+ # self._input.start_input(self._saved_open_device)
self._input.resume_input()
+
class DeviceReader(QThread):
"""Used for polling data from the Input layer during configuration"""
raw_axis_data_signal = pyqtSignal(object)
@@ -406,7 +410,7 @@ class DeviceReader(QThread):
self._read_timer = QTimer()
self._read_timer.setInterval(25)
- self.connect(self._read_timer, SIGNAL("timeout()"), self._read_input)
+ self._read_timer.timeout.connect(self._read_input)
def stop_reading(self):
"""Stop polling data"""
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.ui
old mode 100755
new mode 100644
index a8032bbd..3d7d4467
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.ui
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/inputconfigdialogue.ui
@@ -92,7 +92,7 @@
<property name="minimumSize">
<size>
<width>0</width>
- <height>350</height>
+ <height>365</height>
</size>
</property>
<property name="maximumSize">
@@ -507,7 +507,7 @@
<x>600</x>
<y>158</y>
<width>292</width>
- <height>194</height>
+ <height>202</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_5">
@@ -581,12 +581,12 @@
</widget>
</item>
<item row="1" column="0">
- <widget class="QCheckBox" name="althold">
+ <widget class="QCheckBox" name="_assisted_control">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
- <string>Altitude hold</string>
+ <string>Assisted control</string>
</property>
<property name="checkable">
<bool>true</bool>
@@ -594,7 +594,7 @@
</widget>
</item>
<item row="1" column="1">
- <widget class="QPushButton" name="detectAltHold">
+ <widget class="QPushButton" name="_detect_assisted_control">
<property name="enabled">
<bool>false</bool>
</property>
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.py
old mode 100755
new mode 100644
index 31ac80bd..d3996ded
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.py
@@ -21,9 +21,9 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
This dialogue is used to configure different log configurations that is used to
@@ -31,25 +31,23 @@ enable logging of data from the Crazyflie. These can then be used in different
views in the UI.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['LogConfigDialogue']
-
-import sys
-import os
import logging
-logger = logging.getLogger(__name__)
+import cfclient
+from PyQt5 import Qt, QtWidgets, uic
+from PyQt5.QtCore import * # noqa
+from PyQt5.QtWidgets import * # noqa
+from PyQt5.Qt import * # noqa
+
+from cflib.crazyflie.log import LogConfig
-from PyQt4 import Qt, QtCore, QtGui, uic
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-from PyQt4.Qt import *
+__author__ = 'Bitcraze AB'
+__all__ = ['LogConfigDialogue']
-from cflib.crazyflie.log import Log, LogVariable, LogConfig
+logger = logging.getLogger(__name__)
-(logconfig_widget_class,
-connect_widget_base_class) = (uic.loadUiType(sys.path[0] +
- '/cfclient/ui/dialogs/logconfigdialogue.ui'))
+(logconfig_widget_class, connect_widget_base_class) = (
+ uic.loadUiType(cfclient.module_path + '/ui/dialogs/logconfigdialogue.ui'))
NAME_FIELD = 0
ID_FIELD = 1
@@ -57,7 +55,7 @@ PTYPE_FIELD = 2
CTYPE_FIELD = 3
-class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
+class LogConfigDialogue(QtWidgets.QWidget, logconfig_widget_class):
def __init__(self, helper, *args):
super(LogConfigDialogue, self).__init__(*args)
@@ -77,7 +75,7 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
self.loggingPeriod.textChanged.connect(self.periodChanged)
- self.packetSize.setMaximum(30)
+ self.packetSize.setMaximum(26)
self.currentSize = 0
self.packetSize.setValue(0)
self.period = 0
@@ -118,7 +116,14 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
for leaf in self.getNodeChildren(node):
self.currentSize = (self.currentSize +
self.decodeSize(leaf.text(CTYPE_FIELD)))
- self.packetSize.setValue(self.currentSize)
+ if self.currentSize > 26:
+ self.packetSize.setMaximum(self.currentSize / 26.0 * 100.0)
+ self.packetSize.setFormat("%v%")
+ self.packetSize.setValue(self.currentSize / 26.0 * 100.0)
+ else:
+ self.packetSize.setMaximum(26)
+ self.packetSize.setFormat("%p%")
+ self.packetSize.setValue(self.currentSize)
def addNewVar(self, logTreeItem, target):
parentName = logTreeItem.parent().text(NAME_FIELD)
@@ -127,7 +132,7 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
item = logTreeItem.clone()
if (len(varParent) == 0):
- newParent = QtGui.QTreeWidgetItem()
+ newParent = QtWidgets.QTreeWidgetItem()
newParent.setData(0, Qt.DisplayRole, parentName)
newParent.addChild(item)
target.addTopLevelItem(newParent)
@@ -137,7 +142,7 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
parent.addChild(item)
def moveNodeItem(self, source, target, item):
- if (item.parent() == None):
+ if (item.parent() is None):
children = self.getNodeChildren(item)
for c in children:
self.addNewVar(c, target)
@@ -154,7 +159,7 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
self.checkAndEnableSaveButton()
def checkAndEnableSaveButton(self):
- if (self.currentSize > 0 and self.period > 0):
+ if self.currentSize > 0 and self.period > 0 and self.currentSize <= 26:
self.saveButton.setEnabled(True)
else:
self.saveButton.setEnabled(False)
@@ -171,7 +176,7 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
if (parent.child(n).text(NAME_FIELD) == itemName):
node = parent.child(n)
break
- if (node != None):
+ if (node is not None):
self.moveNodeItem(source, target, node)
return True
return False
@@ -180,7 +185,7 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
self.updateToc()
self.populateDropDown()
toc = self.helper.cf.log.toc
- if (len(toc.toc.keys()) > 0):
+ if (len(list(toc.toc.keys())) > 0):
self.configNameCombo.setEnabled(True)
else:
self.configNameCombo.setEnabled(False)
@@ -197,7 +202,7 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
self.period = 0
def showErrorPopup(self, caption, message):
- self.box = QMessageBox()
+ self.box = QMessageBox() # noqa
self.box.setWindowTitle(caption)
self.box.setText(message)
# self.box.setButtonText(1, "Ok")
@@ -209,11 +214,11 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
toc = self.helper.cf.log.toc
- for group in toc.toc.keys():
- groupItem = QtGui.QTreeWidgetItem()
+ for group in list(toc.toc.keys()):
+ groupItem = QtWidgets.QTreeWidgetItem()
groupItem.setData(NAME_FIELD, Qt.DisplayRole, group)
- for param in toc.toc[group].keys():
- item = QtGui.QTreeWidgetItem()
+ for param in list(toc.toc[group].keys()):
+ item = QtWidgets.QTreeWidgetItem()
item.setData(NAME_FIELD, Qt.DisplayRole, param)
item.setData(ID_FIELD, Qt.DisplayRole,
toc.toc[group][param].ident)
@@ -241,7 +246,7 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
for d in self.helper.logConfigReader.getLogConfigs():
if (d.name == cText):
config = d
- if (config == None):
+ if (config is None):
logger.warning("Could not load config")
else:
self.resetTrees()
@@ -252,11 +257,11 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
parts = v.name.split(".")
varParent = parts[0]
varName = parts[1]
- if self.moveNodeByName(self.logTree,
- self.varTree,
- varParent,
- varName) == False:
- logger.warning("Could not find node %s.%s!!", varParent, varName)
+ if self.moveNodeByName(
+ self.logTree, self.varTree, varParent,
+ varName) is False:
+ logger.warning("Could not find node %s.%s!!",
+ varParent, varName)
else:
logger.warning("Error: Mem vars not supported!")
@@ -280,4 +285,3 @@ class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
completeName = "%s.%s" % (parentName, varName)
logconfig.add_variable(completeName, varType)
return logconfig
-
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.pyc
deleted file mode 100755
index b40dc18a485fa00619560986b8b0610fc644e4df..0000000000000000000000000000000000000000
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/dialogs/logconfigdialogue.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.py
old mode 100755
new mode 100644
index 0c3b59b2..c33b9ba0
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.py
@@ -20,59 +20,62 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc., 51
# Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
The main file for the Crazyflie control application.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['MainUI']
-
-import sys
import logging
+import sys
-
-logger = logging.getLogger(__name__)
-
-import PyQt4
-from PyQt4 import QtGui, uic
-from PyQt4.QtCore import pyqtSignal, Qt, pyqtSlot, QDir, QUrl
-from PyQt4.QtGui import QLabel, QActionGroup, QMessageBox, QAction, QDesktopServices, QMenu
-
-from dialogs.connectiondialogue import ConnectDialogue
-from dialogs.inputconfigdialogue import InputConfigDialogue
-from dialogs.cf2config import Cf2ConfigDialog
-from dialogs.cf1config import Cf1ConfigDialog
-from cflib.crazyflie import Crazyflie
-from dialogs.logconfigdialogue import LogConfigDialogue
-
-from cfclient.utils.input import JoystickReader
-from cfclient.utils.zmq_param import ZMQParamAccess
-from cfclient.utils.zmq_led_driver import ZMQLEDDriver
-from cfclient.utils.config import Config
-from cfclient.utils.logconfigreader import LogConfigReader
-from cfclient.utils.config_manager import ConfigManager
-
-import cfclient.ui.toolboxes
+import cfclient
import cfclient.ui.tabs
+import cfclient.ui.toolboxes
import cflib.crtp
+from cfclient.ui.dialogs.about import AboutDialog
+from cfclient.ui.dialogs.bootloader import BootloaderDialog
+from cfclient.utils.config import Config
+from cfclient.utils.config_manager import ConfigManager
+from cfclient.utils.input import JoystickReader
+from cfclient.utils.logconfigreader import LogConfigReader
+from cfclient.utils.zmq_led_driver import ZMQLEDDriver
+from cfclient.utils.zmq_param import ZMQParamAccess
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.log import LogConfig
+from cflib.crazyflie.mem import MemoryElement
+from PyQt5 import QtWidgets
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtCore import pyqtSlot
+from PyQt5.QtCore import QDir
+from PyQt5.QtCore import QThread
+from PyQt5.QtCore import QUrl
+from PyQt5.QtWidgets import QAction
+from PyQt5.QtWidgets import QActionGroup
+from PyQt5.QtGui import QDesktopServices
+from PyQt5.QtWidgets import QLabel
+from PyQt5.QtWidgets import QMenu
+from PyQt5.QtWidgets import QMessageBox
+
+from .dialogs.cf1config import Cf1ConfigDialog
+from .dialogs.cf2config import Cf2ConfigDialog
+from .dialogs.inputconfigdialogue import InputConfigDialogue
+from .dialogs.logconfigdialogue import LogConfigDialogue
-from cflib.crazyflie.log import Log, LogVariable, LogConfig
+__author__ = 'Bitcraze AB'
+__all__ = ['MainUI']
-from cfclient.ui.dialogs.bootloader import BootloaderDialog
-from cfclient.ui.dialogs.about import AboutDialog
+logger = logging.getLogger(__name__)
-from cflib.crazyflie.mem import MemoryElement
+INTERFACE_PROMPT_TEXT = 'Select an interface'
(main_window_class,
-main_windows_base_class) = (uic.loadUiType(sys.path[0] +
- '/cfclient/ui/main.ui'))
+ main_windows_base_class) = (uic.loadUiType(cfclient.module_path +
+ '/ui/main.ui'))
-class MyDockWidget(QtGui.QDockWidget):
+class MyDockWidget(QtWidgets.QDockWidget):
closed = pyqtSignal()
def closeEvent(self, event):
@@ -84,10 +87,32 @@ class UIState:
DISCONNECTED = 0
CONNECTING = 1
CONNECTED = 2
+ SCANNING = 3
+
+
+class BatteryStates:
+ BATTERY, CHARGING, CHARGED, LOW_POWER = list(range(4))
+
+
+COLOR_BLUE = '#3399ff'
+COLOR_GREEN = '#00ff60'
+COLOR_RED = '#cc0404'
-class MainUI(QtGui.QMainWindow, main_window_class):
+def progressbar_stylesheet(color):
+ return """
+ QProgressBar {
+ border: 1px solid #333;
+ background-color: transparent;
+ }
+ QProgressBar::chunk {
+ background-color: """ + color + """;
+ }
+ """
+
+
+class MainUI(QtWidgets.QMainWindow, main_window_class):
connectionLostSignal = pyqtSignal(str, str)
connectionInitiatedSignal = pyqtSignal(str)
batteryUpdatedSignal = pyqtSignal(int, object, object)
@@ -103,46 +128,55 @@ class MainUI(QtGui.QMainWindow, main_window_class):
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
-
+
+ # Restore window size if present in the config file
+ try:
+ size = Config().get("window_size")
+ self.resize(size[0], size[1])
+ except KeyError:
+ pass
+
######################################################
- ### By lxrocks
- ### 'Skinny Progress Bar' tweak for Yosemite
- ### Tweak progress bar - artistic I am not - so pick your own colors !!!
- ### Only apply to Yosemite
+ # By lxrocks
+ # 'Skinny Progress Bar' tweak for Yosemite
+ # Tweak progress bar - artistic I am not - so pick your own colors !!!
+ # Only apply to Yosemite
######################################################
import platform
+
if platform.system() == 'Darwin':
-
- (Version,junk,machine) = platform.mac_ver()
- logger.info("This is a MAC - checking if we can apply Progress Bar Stylesheet for Yosemite Skinny Bars ")
- yosemite = (10,10,0)
+
+ (Version, junk, machine) = platform.mac_ver()
+ logger.info("This is a MAC - checking if we can apply Progress "
+ "Bar Stylesheet for Yosemite Skinny Bars ")
+ yosemite = (10, 10, 0)
tVersion = tuple(map(int, (Version.split("."))))
-
+
if tVersion >= yosemite:
- logger.info( "Found Yosemite:")
-
+ logger.info("Found Yosemite - applying stylesheet")
+
tcss = """
QProgressBar {
- border: 2px solid grey;
- border-radius: 5px;
- text-align: center;
- }
- QProgressBar::chunk {
- background-color: #05B8CC;
- }
+ border: 1px solid grey;
+ border-radius: 5px;
+ text-align: center;
+ }
+ QProgressBar::chunk {
+ background-color: """ + COLOR_BLUE + """;
+ }
"""
self.setStyleSheet(tcss)
-
+
else:
- logger.info( "Pre-Yosemite")
-
+ logger.info("Pre-Yosemite - skinny bar stylesheet not applied")
+
######################################################
-
- self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
- rw_cache=sys.path[1] + "/cache")
+
+ self.cf = Crazyflie(ro_cache=None,
+ rw_cache=cfclient.config_path + "/cache")
cflib.crtp.init_drivers(enable_debug_driver=Config()
- .get("enable_debug_driver"))
+ .get("enable_debug_driver"))
zmq_params = ZMQParamAccess(self.cf)
zmq_params.start()
@@ -150,8 +184,9 @@ class MainUI(QtGui.QMainWindow, main_window_class):
zmq_leds = ZMQLEDDriver(self.cf)
zmq_leds.start()
- # Create the connection dialogue
- self.connectDialogue = ConnectDialogue()
+ self.scanner = ScannerThread()
+ self.scanner.interfaceFoundSignal.connect(self.foundInterfaces)
+ self.scanner.start()
# Create and start the Input Reader
self._statusbar_label = QLabel("No input-device found, insert one to"
@@ -160,70 +195,84 @@ class MainUI(QtGui.QMainWindow, main_window_class):
self.joystickReader = JoystickReader()
self._active_device = ""
- #self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
+ # self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._mux_group = QActionGroup(self._menu_inputdevice, exclusive=True)
# TODO: Need to reload configs
- #ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
-
- # Connections for the Connect Dialogue
- self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
+ # ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
- self.cf.connection_failed.add_callback(self.connectionFailedSignal.emit)
+ self.cf.connection_failed.add_callback(
+ self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self._connection_failed)
-
-
- self._input_device_error_signal.connect(self._display_input_device_error)
+
+ self._input_device_error_signal.connect(
+ self._display_input_device_error)
self.joystickReader.device_error.add_callback(
- self._input_device_error_signal.emit)
+ self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
- self._input_discovery_signal.emit)
+ self._input_discovery_signal.emit)
+
+ # Hide the 'File' menu on OS X, since its only item, 'Exit', gets
+ # merged into the application menu.
+ if sys.platform == 'darwin':
+ self.menuFile.menuAction().setVisible(False)
# Connect UI signals
- self.menuItemConnect.triggered.connect(self._connect)
self.logConfigAction.triggered.connect(self._show_connect_dialog)
+ self.interfaceCombo.currentIndexChanged['QString'].connect(
+ self.interfaceChanged)
self.connectButton.clicked.connect(self._connect)
- self.quickConnectButton.clicked.connect(self._quick_connect)
- self.menuItemQuickConnect.triggered.connect(self._quick_connect)
- self.menuItemConfInputDevice.triggered.connect(self._show_input_device_config_dialog)
+ self.scanButton.clicked.connect(self._scan)
+ self.menuItemConnect.triggered.connect(self._connect)
+ self.menuItemConfInputDevice.triggered.connect(
+ self._show_input_device_config_dialog)
self.menuItemExit.triggered.connect(self.closeAppRequest)
- self.batteryUpdatedSignal.connect(self._update_vbatt)
+ self.batteryUpdatedSignal.connect(self._update_battery)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
- self._menuItem_openconfigfolder.triggered.connect(self._open_config_folder)
+ self._menuItem_openconfigfolder.triggered.connect(
+ self._open_config_folder)
+
+ self.address.setValue(0xE7E7E7E7E7)
self._auto_reconnect_enabled = Config().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
- self._auto_reconnect_changed)
+ self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(Config().get("auto_reconnect"))
-
+
self.joystickReader.input_updated.add_callback(
- self.cf.commander.send_setpoint)
+ self.cf.commander.send_setpoint)
+
+ self.joystickReader.assisted_input_updated.add_callback(
+ self.cf.commander.send_velocity_world_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self._connected)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
- self.disconnectedSignal.connect(
- lambda linkURI: self._update_ui_state(UIState.DISCONNECTED,
- linkURI))
+ self.disconnectedSignal.connect(self._disconnected)
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self._connection_lost)
self.cf.connection_requested.add_callback(
- self.connectionInitiatedSignal.emit)
- self.connectionInitiatedSignal.connect(
- lambda linkURI: self._update_ui_state(UIState.CONNECTING,
- linkURI))
+ self.connectionInitiatedSignal.emit)
+ self.connectionInitiatedSignal.connect(self._connection_initiated)
self._log_error_signal.connect(self._logging_error)
+ self.batteryBar.setTextVisible(False)
+ self.batteryBar.setStyleSheet(progressbar_stylesheet(COLOR_BLUE))
+
+ self.linkQualityBar.setTextVisible(False)
+ self.linkQualityBar.setStyleSheet(progressbar_stylesheet(COLOR_BLUE))
+
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
- lambda percentage: self.linkQualityBar.setValue(percentage))
+ lambda percentage: self.linkQualityBar.setValue(percentage))
- # Set UI state in disconnected buy default
- self._update_ui_state(UIState.DISCONNECTED)
+ self._selected_interface = None
+ self._initial_scan = True
+ self._scan()
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
@@ -249,39 +298,18 @@ class MainUI(QtGui.QMainWindow, main_window_class):
self._menu_cf2_config.triggered.connect(self._cf2config_dialog.show)
self._menu_cf1_config.triggered.connect(self._cf1config_dialog.show)
- # Loading toolboxes (A bit of magic for a lot of automatic)
- self.toolboxes = []
- self.toolboxesMenuItem.setMenu(QtGui.QMenu())
- for t_class in cfclient.ui.toolboxes.toolboxes:
- toolbox = t_class(cfclient.ui.pluginhelper)
- dockToolbox = MyDockWidget(toolbox.getName())
- dockToolbox.setWidget(toolbox)
- self.toolboxes += [dockToolbox, ]
-
- # Add menu item for the toolbox
- item = QtGui.QAction(toolbox.getName(), self)
- item.setCheckable(True)
- item.triggered.connect(self.toggleToolbox)
- self.toolboxesMenuItem.menu().addAction(item)
-
- dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
-
- # Setup some introspection
- item.dockToolbox = dockToolbox
- item.menuItem = item
- dockToolbox.dockToolbox = dockToolbox
- dockToolbox.menuItem = item
-
# Load and connect tabs
- self.tabsMenuItem.setMenu(QtGui.QMenu())
+ self.tabsMenuItem = QMenu("Tabs", self.menuView, enabled=True)
+ self.menuView.addMenu(self.tabsMenuItem)
+
+ # self.tabsMenuItem.setMenu(QtWidgets.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
- item = QtGui.QAction(tab.getMenuName(), self)
- item.setCheckable(True)
+ item = QtWidgets.QAction(tab.getMenuName(), self, checkable=True)
item.toggled.connect(tab.toggleVisibility)
- self.tabsMenuItem.menu().addAction(item)
+ self.tabsMenuItem.addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
@@ -291,12 +319,38 @@ class MainUI(QtGui.QMainWindow, main_window_class):
try:
for tName in Config().get("open_tabs").split(","):
t = tabItems[tName]
- if (t != None and t.isEnabled()):
+ if (t is not None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning("Exception while opening tabs [{}]".format(e))
+ # Loading toolboxes (A bit of magic for a lot of automatic)
+ self.toolboxesMenuItem = QMenu("Toolboxes", self.menuView,
+ enabled=True)
+ self.menuView.addMenu(self.toolboxesMenuItem)
+
+ self.toolboxes = []
+ for t_class in cfclient.ui.toolboxes.toolboxes:
+ toolbox = t_class(cfclient.ui.pluginhelper)
+ dockToolbox = MyDockWidget(toolbox.getName())
+ dockToolbox.setWidget(toolbox)
+ self.toolboxes += [dockToolbox, ]
+
+ # Add menu item for the toolbox
+ item = QtWidgets.QAction(toolbox.getName(), self)
+ item.setCheckable(True)
+ item.triggered.connect(self.toggleToolbox)
+ self.toolboxesMenuItem.addAction(item)
+
+ dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
+
+ # Setup some introspection
+ item.dockToolbox = dockToolbox
+ item.menuItem = item
+ dockToolbox.dockToolbox = dockToolbox
+ dockToolbox.menuItem = item
+
# References to all the device sub-menus in the "Input device" menu
self._all_role_menus = ()
# Used to filter what new devices to add default mapping to
@@ -315,54 +369,127 @@ class MainUI(QtGui.QMainWindow, main_window_class):
node.toggled.connect(self._mux_selected)
self._mux_group.addAction(node)
self._menu_inputdevice.addAction(node)
- self._all_mux_nodes += (node, )
+ self._all_mux_nodes += (node,)
mux_subnodes = ()
for name in m.supported_roles():
sub_node = QMenu(" {}".format(name),
- self._menu_inputdevice,
- enabled=False)
+ self._menu_inputdevice,
+ enabled=False)
self._menu_inputdevice.addMenu(sub_node)
- mux_subnodes += (sub_node, )
+ mux_subnodes += (sub_node,)
self._all_role_menus += ({"muxmenu": node,
- "rolemenu": sub_node}, )
+ "rolemenu": sub_node},)
node.setData((m, mux_subnodes))
self._mapping_support = True
- def _update_ui_state(self, newState, linkURI=""):
- self.uiState = newState
- if newState == UIState.DISCONNECTED:
+ def interfaceChanged(self, interface):
+ if interface == INTERFACE_PROMPT_TEXT:
+ self._selected_interface = None
+ else:
+ self._selected_interface = interface
+ self._update_ui_state()
+
+ def foundInterfaces(self, interfaces):
+ selected_interface = self._selected_interface
+
+ self.interfaceCombo.clear()
+ self.interfaceCombo.addItem(INTERFACE_PROMPT_TEXT)
+
+ formatted_interfaces = []
+ for i in interfaces:
+ if len(i[1]) > 0:
+ interface = "%s - %s" % (i[0], i[1])
+ else:
+ interface = i[0]
+ formatted_interfaces.append(interface)
+ self.interfaceCombo.addItems(formatted_interfaces)
+
+ if self._initial_scan:
+ self._initial_scan = False
+
+ try:
+ if len(Config().get("link_uri")) > 0:
+ formatted_interfaces.index(Config().get("link_uri"))
+ selected_interface = Config().get("link_uri")
+ except KeyError:
+ # The configuration for link_uri was not found
+ pass
+ except ValueError:
+ # The saved URI was not found while scanning
+ pass
+
+ if len(interfaces) == 1 and selected_interface is None:
+ selected_interface = interfaces[0][0]
+
+ newIndex = 0
+ if selected_interface is not None:
+ try:
+ newIndex = formatted_interfaces.index(selected_interface) + 1
+ except ValueError:
+ pass
+
+ self.interfaceCombo.setCurrentIndex(newIndex)
+
+ self.uiState = UIState.DISCONNECTED
+ self._update_ui_state()
+
+ def _update_ui_state(self):
+ if self.uiState == UIState.DISCONNECTED:
self.setWindowTitle("Not connected")
+ canConnect = self._selected_interface is not None
self.menuItemConnect.setText("Connect to Crazyflie")
+ self.menuItemConnect.setEnabled(canConnect)
self.connectButton.setText("Connect")
- self.menuItemQuickConnect.setEnabled(True)
+ self.connectButton.setToolTip(
+ "Connect to the Crazyflie on the selected interface")
+ self.connectButton.setEnabled(canConnect)
+ self.scanButton.setText("Scan")
+ self.scanButton.setEnabled(True)
+ self.address.setEnabled(True)
self.batteryBar.setValue(3000)
self._menu_cf2_config.setEnabled(False)
self._menu_cf1_config.setEnabled(True)
self.linkQualityBar.setValue(0)
self.menuItemBootloader.setEnabled(True)
self.logConfigAction.setEnabled(False)
- if len(Config().get("link_uri")) > 0:
- self.quickConnectButton.setEnabled(True)
- if newState == UIState.CONNECTED:
- s = "Connected on %s" % linkURI
+ self.interfaceCombo.setEnabled(True)
+ elif self.uiState == UIState.CONNECTED:
+ s = "Connected on %s" % self._selected_interface
self.setWindowTitle(s)
self.menuItemConnect.setText("Disconnect")
+ self.menuItemConnect.setEnabled(True)
self.connectButton.setText("Disconnect")
+ self.connectButton.setToolTip("Disconnect from the Crazyflie")
+ self.scanButton.setEnabled(False)
self.logConfigAction.setEnabled(True)
# Find out if there's an I2C EEPROM, otherwise don't show the
# dialog.
if len(self.cf.mem.get_mems(MemoryElement.TYPE_I2C)) > 0:
self._menu_cf2_config.setEnabled(True)
self._menu_cf1_config.setEnabled(False)
- if newState == UIState.CONNECTING:
- s = "Connecting to {} ...".format(linkURI)
+ elif self.uiState == UIState.CONNECTING:
+ s = "Connecting to {} ...".format(self._selected_interface)
self.setWindowTitle(s)
self.menuItemConnect.setText("Cancel")
+ self.menuItemConnect.setEnabled(True)
self.connectButton.setText("Cancel")
- self.quickConnectButton.setEnabled(False)
+ self.connectButton.setToolTip("Cancel connecting to the Crazyflie")
+ self.scanButton.setEnabled(False)
+ self.address.setEnabled(False)
self.menuItemBootloader.setEnabled(False)
- self.menuItemQuickConnect.setEnabled(False)
+ self.interfaceCombo.setEnabled(False)
+ elif self.uiState == UIState.SCANNING:
+ self.setWindowTitle("Scanning ...")
+ self.connectButton.setText("Connect")
+ self.menuItemConnect.setEnabled(False)
+ self.connectButton.setText("Connect")
+ self.connectButton.setEnabled(False)
+ self.scanButton.setText("Scanning...")
+ self.scanButton.setEnabled(False)
+ self.address.setEnabled(False)
+ self.menuItemBootloader.setEnabled(False)
+ self.interfaceCombo.setEnabled(False)
@pyqtSlot(bool)
def toggleToolbox(self, display):
@@ -386,34 +513,46 @@ class MainUI(QtGui.QMainWindow, main_window_class):
self._active_device = ""
self.joystickReader.stop_input()
- #for c in self._menu_mappings.actions():
+ # for c in self._menu_mappings.actions():
# c.setEnabled(False)
- #devs = self.joystickReader.available_devices()
- #if (len(devs) > 0):
+ # devs = self.joystickReader.available_devices()
+ # if (len(devs) > 0):
# self.device_discovery(devs)
def _show_input_device_config_dialog(self):
self.inputConfig = InputConfigDialogue(self.joystickReader)
self.inputConfig.show()
-
+
def _auto_reconnect_changed(self, checked):
- self._auto_reconnect_enabled = checked
+ self._auto_reconnect_enabled = checked
Config().set("auto_reconnect", checked)
logger.info("Auto reconnect enabled: {}".format(checked))
def _show_connect_dialog(self):
self.logConfigDialogue.show()
- def _update_vbatt(self, timestamp, data, logconf):
+ def _update_battery(self, timestamp, data, logconf):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))
- def _connected(self, linkURI):
- self._update_ui_state(UIState.CONNECTED, linkURI)
+ color = COLOR_BLUE
+ # TODO firmware reports fully-charged state as 'Battery',
+ # rather than 'Charged'
+ if data["pm.state"] in [BatteryStates.CHARGING, BatteryStates.CHARGED]:
+ color = COLOR_GREEN
+ elif data["pm.state"] == BatteryStates.LOW_POWER:
+ color = COLOR_RED
- Config().set("link_uri", str(linkURI))
+ self.batteryBar.setStyleSheet(progressbar_stylesheet(color))
+
+ def _connected(self):
+ self.uiState = UIState.CONNECTED
+ self._update_ui_state()
+
+ Config().set("link_uri", str(self._selected_interface))
lg = LogConfig("Battery", 1000)
lg.add_variable("pm.vbat", "float")
+ lg.add_variable("pm.state", "int8_t")
try:
self.cf.log.add_config(lg)
lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
@@ -422,23 +561,25 @@ class MainUI(QtGui.QMainWindow, main_window_class):
except KeyError as e:
logger.warning(str(e))
- mem = self.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)[0]
- mem.write_data(self._led_write_done)
+ mems = self.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)
+ if len(mems) > 0:
+ mems[0].write_data(self._led_write_done)
- #self._led_write_test = 0
+ def _disconnected(self):
+ self.uiState = UIState.DISCONNECTED
+ self._update_ui_state()
- #mem.leds[self._led_write_test] = [10, 20, 30]
- #mem.write_data(self._led_write_done)
+ def _connection_initiated(self):
+ self.uiState = UIState.CONNECTING
+ self._update_ui_state()
def _led_write_done(self, mem, addr):
logger.info("LED write done callback")
- #self._led_write_test += 1
- #mem.leds[self._led_write_test] = [10, 20, 30]
- #mem.write_data(self._led_write_done)
def _logging_error(self, log_conf, msg):
QMessageBox.about(self, "Log error", "Error when starting log config"
- " [{}]: {}".format(log_conf.name, msg))
+ " [{}]: {}".format(log_conf.name,
+ msg))
def _connection_lost(self, linkURI, msg):
if not self._auto_reconnect_enabled:
@@ -446,32 +587,44 @@ class MainUI(QtGui.QMainWindow, main_window_class):
warningCaption = "Communication failure"
error = "Connection lost to {}: {}".format(linkURI, msg)
QMessageBox.critical(self, warningCaption, error)
- self._update_ui_state(UIState.DISCONNECTED, linkURI)
+ self.uiState = UIState.DISCONNECTED
+ self._update_ui_state()
else:
- self._quick_connect()
+ self._connect()
def _connection_failed(self, linkURI, error):
if not self._auto_reconnect_enabled:
msg = "Failed to connect on {}: {}".format(linkURI, error)
warningCaption = "Communication failure"
QMessageBox.critical(self, warningCaption, msg)
- self._update_ui_state(UIState.DISCONNECTED, linkURI)
+ self.uiState = UIState.DISCONNECTED
+ self._update_ui_state()
else:
- self._quick_connect()
+ self._connect()
def closeEvent(self, event):
self.hide()
self.cf.close_link()
Config().save_file()
+ def resizeEvent(self, event):
+ Config().set("window_size", [event.size().width(),
+ event.size().height()])
+
def _connect(self):
if self.uiState == UIState.CONNECTED:
self.cf.close_link()
elif self.uiState == UIState.CONNECTING:
self.cf.close_link()
- self._update_ui_state(UIState.DISCONNECTED)
+ self.uiState = UIState.DISCONNECTED
+ self._update_ui_state()
else:
- self.connectDialogue.show()
+ self.cf.open_link(self._selected_interface)
+
+ def _scan(self):
+ self.uiState = UIState.SCANNING
+ self._update_ui_state()
+ self.scanner.scanSignal.emit(self.address.value())
def _display_input_device_error(self, error):
self.cf.close_link()
@@ -482,11 +635,11 @@ class MainUI(QtGui.QMainWindow, main_window_class):
reference to the raw mux object as well as to the associated device
sub-nodes"""
if not checked:
- (mux, sub_nodes) = self.sender().data().toPyObject()
+ (mux, sub_nodes) = self.sender().data()
for s in sub_nodes:
s.setEnabled(False)
else:
- (mux, sub_nodes) = self.sender().data().toPyObject()
+ (mux, sub_nodes) = self.sender().data()
for s in sub_nodes:
s.setEnabled(True)
self.joystickReader.set_mux(mux=mux)
@@ -518,13 +671,13 @@ class MainUI(QtGui.QMainWindow, main_window_class):
if len(self.joystickReader.available_devices()) > 0:
mux = self.joystickReader._selected_mux
msg = "Using {} mux with ".format(mux.name)
- for key in mux._devs.keys()[:-1]:
+ for key in list(mux._devs.keys())[:-1]:
if mux._devs[key]:
msg += "{}, ".format(self._get_dev_status(mux._devs[key]))
else:
msg += "N/A, "
# Last item
- key = mux._devs.keys()[-1]
+ key = list(mux._devs.keys())[-1]
if mux._devs[key]:
msg += "{}".format(self._get_dev_status(mux._devs[key]))
else:
@@ -537,22 +690,22 @@ class MainUI(QtGui.QMainWindow, main_window_class):
"""Called when a new input device has been selected from the menu. The
data in the menu object is the associated map menu (directly under the
item in the menu) and the raw device"""
- (map_menu, device, mux_menu) = self.sender().data().toPyObject()
+ (map_menu, device, mux_menu) = self.sender().data()
if not checked:
if map_menu:
map_menu.setEnabled(False)
- # Do not close the device, since we don't know exactly
- # how many devices the mux can have open. When selecting a
- # new mux the old one will take care of this.
+ # Do not close the device, since we don't know exactly
+ # how many devices the mux can have open. When selecting a
+ # new mux the old one will take care of this.
else:
if map_menu:
map_menu.setEnabled(True)
- (mux, sub_nodes) = mux_menu.data().toPyObject()
+ (mux, sub_nodes) = mux_menu.data()
for role_node in sub_nodes:
for dev_node in role_node.children():
if type(dev_node) is QAction and dev_node.isChecked():
- if device.id == dev_node.data().toPyObject()[1].id \
+ if device.id == dev_node.data()[1].id \
and dev_node is not self.sender():
dev_node.setChecked(False)
@@ -562,8 +715,9 @@ class MainUI(QtGui.QMainWindow, main_window_class):
Config().set("input_device", str(device.name))
- self._mapping_support = self.joystickReader.start_input(device.name,
- role_in_mux)
+ self._mapping_support = self.joystickReader.start_input(
+ device.name,
+ role_in_mux)
self._update_input_device_footer()
def _inputconfig_selected(self, checked):
@@ -574,7 +728,7 @@ class MainUI(QtGui.QMainWindow, main_window_class):
return
selected_mapping = str(self.sender().text())
- device = self.sender().data().toPyObject().data().toPyObject()[1]
+ device = self.sender().data().data()[1]
self.joystickReader.set_input_map(device.name, selected_mapping)
self._update_input_device_footer()
@@ -612,7 +766,7 @@ class MainUI(QtGui.QMainWindow, main_window_class):
# select the default mapping for it.
if d not in self._available_devices:
last_map = Config().get("device_config_mapping")
- if last_map.has_key(d.name) and last_map[d.name] == c:
+ if d.name in last_map and last_map[d.name] == c:
node.setChecked(True)
role_menu.addMenu(map_node)
dev_node.setData((map_node, d, mux_menu))
@@ -622,12 +776,12 @@ class MainUI(QtGui.QMainWindow, main_window_class):
# a new one is inserted
self._available_devices = ()
for d in devs:
- self._available_devices += (d, )
+ self._available_devices += (d,)
# Only enable MUX nodes if we have enough devies to cover
# the roles
for mux_node in self._all_mux_nodes:
- (mux, sub_nodes) = mux_node.data().toPyObject()
+ (mux, sub_nodes) = mux_node.data()
if len(mux.supported_roles()) <= len(self._available_devices):
mux_node.setEnabled(True)
@@ -652,16 +806,25 @@ class MainUI(QtGui.QMainWindow, main_window_class):
self._update_input_device_footer()
- def _quick_connect(self):
- try:
- self.cf.open_link(Config().get("link_uri"))
- except KeyError:
- self.cf.open_link("")
-
def _open_config_folder(self):
- QDesktopServices.openUrl(QUrl("file:///" +
- QDir.toNativeSeparators(sys.path[1])))
+ QDesktopServices.openUrl(
+ QUrl("file:///" +
+ QDir.toNativeSeparators(cfclient.config_path)))
def closeAppRequest(self):
self.close()
sys.exit(0)
+
+
+class ScannerThread(QThread):
+
+ scanSignal = pyqtSignal(object)
+ interfaceFoundSignal = pyqtSignal(object)
+
+ def __init__(self):
+ QThread.__init__(self)
+ self.moveToThread(self)
+ self.scanSignal.connect(self.scan)
+
+ def scan(self, address):
+ self.interfaceFoundSignal.emit(cflib.crtp.scan_interfaces(address))
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.ui
old mode 100755
new mode 100644
index 25cd15f6..3e9d5270
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.ui
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/main.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>872</width>
- <height>641</height>
+ <height>671</height>
</rect>
</property>
<property name="windowTitle">
@@ -22,16 +22,36 @@
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QGridLayout" name="gridLayout_2">
- <item row="0" column="1">
- <widget class="QPushButton" name="quickConnectButton">
- <property name="enabled">
+ <item row="0" column="0">
+ <widget class="QComboBox" name="interfaceCombo">
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="editable">
<bool>false</bool>
</property>
- <property name="toolTip">
- <string><html><head/><body><p>Quickconnect using the last connection parameters</p></body></html></string>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="connectButton">
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>0</height>
+ </size>
</property>
- <property name="text">
- <string>Quick Connect</string>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QPushButton" name="scanButton">
+ <property name="minimumSize">
+ <size>
+ <width>50</width>
+ <height>0</height>
+ </size>
</property>
</widget>
</item>
@@ -48,11 +68,18 @@
</property>
</spacer>
</item>
- <item row="0" column="5">
+ <item row="0" column="6">
+ <widget class="QLabel" name="linkQualityLabel">
+ <property name="text">
+ <string>Link Quality:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="7">
<widget class="QProgressBar" name="linkQualityBar">
<property name="minimumSize">
<size>
- <width>150</width>
+ <width>30</width>
<height>0</height>
</size>
</property>
@@ -76,27 +103,24 @@
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QPushButton" name="connectButton">
- <property name="toolTip">
- <string><html><head/><body><p>Connect to a Crazyflie</p></body></html></string>
- </property>
+ <item row="0" column="4">
+ <widget class="QLabel" name="batteryLabel">
<property name="text">
- <string>Connect</string>
+ <string>Battery:</string>
</property>
</widget>
</item>
- <item row="0" column="4">
+ <item row="0" column="5">
<widget class="QProgressBar" name="batteryBar">
<property name="minimumSize">
<size>
- <width>150</width>
+ <width>30</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
- <width>150</width>
+ <width>100</width>
<height>16777215</height>
</size>
</property>
@@ -123,26 +147,101 @@
</property>
</widget>
</item>
- <item row="0" column="2">
- <widget class="QCheckBox" name="autoReconnectCheckBox">
- <property name="mouseTracking">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Auto Reconnect</string>
- </property>
- <property name="checked">
- <bool>false</bool>
- </property>
- </widget>
- </item>
</layout>
</item>
<item>
- <widget class="QTabWidget" name="tabs">
- <property name="currentIndex">
- <number>-1</number>
+ <widget class="QGroupBox" name="groupBox">
+ <layout class="QHBoxLayout" stretch="0,0,1">
+ <item>
+ <widget class="QLabel" name="addressLabel">
+ <property name="text">
+ <string>Address:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="HexSpinBox" name="address">
+ <property name="minimumSize">
+ <size>
+ <width>140</width>
+ <height>0</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="autoReconnectCheckBox">
+ <property name="mouseTracking">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Auto Reconnect</string>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QScrollArea" name="scrollArea">
+ <property name="autoFillBackground">
+ <bool>false</bool>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::NoFrame</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Sunken</enum>
+ </property>
+ <property name="lineWidth">
+ <number>1</number>
+ </property>
+ <property name="verticalScrollBarPolicy">
+ <enum>Qt::ScrollBarAsNeeded</enum>
</property>
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="QWidget" name="scrollAreaWidgetContents">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>852</width>
+ <height>500</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <property name="sizeConstraint">
+ <enum>QLayout::SetNoConstraint</enum>
+ </property>
+ <property name="margin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QTabWidget" name="tabs">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="currentIndex">
+ <number>-1</number>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</widget>
</item>
</layout>
@@ -169,8 +268,6 @@
<property name="title">
<string>View</string>
</property>
- <addaction name="tabsMenuItem"/>
- <addaction name="toolboxesMenuItem"/>
</widget>
<widget class="QMenu" name="menuHelp">
<property name="title">
@@ -186,12 +283,11 @@
<addaction name="separator"/>
<addaction name="_menuItem_openconfigfolder"/>
</widget>
- <widget class="QMenu" name="menuCrazyflie">
+ <widget class="QMenu" name="menuConnect">
<property name="title">
- <string>Crazyflie</string>
+ <string>Connect</string>
</property>
<addaction name="menuItemConnect"/>
- <addaction name="menuItemQuickConnect"/>
<addaction name="menuItemBootloader"/>
<addaction name="_menu_cf2_config"/>
<addaction name="_menu_cf1_config"/>
@@ -205,7 +301,7 @@
<addaction name="separator"/>
</widget>
<addaction name="menuFile"/>
- <addaction name="menuCrazyflie"/>
+ <addaction name="menuConnect"/>
<addaction name="_menu_inputdevice"/>
<addaction name="menuSettings"/>
<addaction name="menuView"/>
@@ -221,9 +317,6 @@
<property name="text">
<string>Exit</string>
</property>
- <property name="menuRole">
- <enum>QAction::NoRole</enum>
- </property>
</action>
<action name="menuItemRegulation">
<property name="checkable">
@@ -265,11 +358,6 @@
<enum>QAction::NoRole</enum>
</property>
</action>
- <action name="menuItemQuickConnect">
- <property name="text">
- <string>Quick connect</string>
- </property>
- </action>
<action name="menuItemConfInputDevice">
<property name="text">
<string>Configure device mapping</string>
@@ -288,16 +376,6 @@
<string>Console</string>
</property>
</action>
- <action name="toolboxesMenuItem">
- <property name="text">
- <string>Toolboxes</string>
- </property>
- </action>
- <action name="tabsMenuItem">
- <property name="text">
- <string>Tabs</string>
- </property>
- </action>
<action name="logConfigAction">
<property name="enabled">
<bool>false</bool>
@@ -370,6 +448,13 @@
</property>
</action>
</widget>
+ <customwidgets>
+ <customwidget>
+ <class>HexSpinBox</class>
+ <extends>QSpinBox</extends>
+ <header>cfclient.ui.widgets.hexspinbox</header>
+ </customwidget>
+ </customwidgets>
<resources/>
<connections/>
</ui>
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/pluginhelper.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/pluginhelper.py
old mode 100755
new mode 100644
index 36cdde03..0fabf3db
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/pluginhelper.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/pluginhelper.py
@@ -21,9 +21,9 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Used for passing objects to tabs and toolboxes.
@@ -35,6 +35,7 @@ __all__ = ['PluginHelper']
class PluginHelper():
"""Used for passing objects to tabs and toolboxes"""
+
def __init__(self):
self.cf = None
self.menu = None
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/pluginhelper.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/pluginhelper.pyc
deleted file mode 100755
index 06a84b6b0cc14e0ab6ae757a2f890ea9d224a53a..0000000000000000000000000000000000000000
GIT binary patch
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HcmV?d00001
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tab.py
old mode 100755
new mode 100644
index 3913e341..ebcd60b9
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tab.py
@@ -21,27 +21,28 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Superclass for all tabs that implements common functions.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['Tab']
-
import logging
-logger = logging.getLogger(__name__)
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from PyQt5 import QtWidgets
+from PyQt5.QtCore import pyqtSlot
from cfclient.utils.config import Config
+__author__ = 'Bitcraze AB'
+__all__ = ['Tab']
+
+logger = logging.getLogger(__name__)
-class Tab(QtGui.QWidget):
+
+class Tab(QtWidgets.QWidget):
"""Superclass for all tabs that implements common functions."""
def __init__(self):
@@ -60,7 +61,7 @@ class Tab(QtGui.QWidget):
s = Config().get("open_tabs")
if (len(s) > 0):
s += ","
- except Exception as e:
+ except Exception:
logger.warning("Exception while adding tab to config and "
"reading tab config")
# Check this since tabs in config are opened when app is started
@@ -72,7 +73,7 @@ class Tab(QtGui.QWidget):
self.tabWidget.removeTab(self.tabWidget.indexOf(self))
try:
parts = Config().get("open_tabs").split(",")
- except Exception as e:
+ except Exception:
logger.warning("Exception while removing tab from config and "
"reading tab config")
parts = []
@@ -90,3 +91,6 @@ class Tab(QtGui.QWidget):
def getTabName(self):
"""Return the name of the tab that will be shown in the tab"""
return self.tabName
+
+ def is_visible(self):
+ return self.tabWidget.currentWidget() == self
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tab.pyc
deleted file mode 100755
index a18916cffa5e79aa6b00b247f4326c0ec69183ce..0000000000000000000000000000000000000000
GIT binary patch
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HcmV?d00001
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ConsoleTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ConsoleTab.py
old mode 100755
new mode 100644
index a90e1bed..88a6061e
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ConsoleTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ConsoleTab.py
@@ -21,35 +21,36 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
The console tab is used as a console for printouts from the Crazyflie.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['ConsoleTab']
-
-import time
-import sys
-
import logging
-logger = logging.getLogger(__name__)
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import pyqtSlot, pyqtSignal
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+import cfclient
from cfclient.ui.tab import Tab
-console_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/consoleTab.ui")[0]
+__author__ = 'Bitcraze AB'
+__all__ = ['ConsoleTab']
+
+logger = logging.getLogger(__name__)
+
+console_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/consoleTab.ui")[0]
class ConsoleTab(Tab, console_tab_class):
"""Console tab for showing printouts from Crazyflie"""
- update = pyqtSignal(str)
+ _connected_signal = pyqtSignal(str)
+ _disconnected_signal = pyqtSignal(str)
+ _update = pyqtSignal(str)
def __init__(self, tabWidget, helper, *args):
super(ConsoleTab, self).__init__(*args)
@@ -59,14 +60,37 @@ class ConsoleTab(Tab, console_tab_class):
self.menuName = "Console"
self.tabWidget = tabWidget
- self.helper = helper
+ self._helper = helper
+
+ # Always wrap callbacks from Crazyflie API though QT Signal/Slots
+ # to avoid manipulating the UI when rendering it
+ self._connected_signal.connect(self._connected)
+ self._disconnected_signal.connect(self._disconnected)
+ self._update.connect(self.printText)
- self.update.connect(self.printText)
+ self._helper.cf.console.receivedChar.add_callback(self._update.emit)
+ self._helper.cf.connected.add_callback(self._connected_signal.emit)
+ self._helper.cf.disconnected.add_callback(
+ self._disconnected_signal.emit)
- self.helper.cf.console.receivedChar.add_callback(self.update.emit)
+ self._clearButton.clicked.connect(self.clear)
+ self._dumpSystemLoadButton.clicked.connect(
+ lambda enabled:
+ self._helper.cf.param.set_value("system.taskDump", '1'))
def printText(self, text):
# Make sure we get printouts from the Crazyflie into the log (such as
# build version and test ok/fail)
logger.debug("[%s]", text)
self.console.insertPlainText(text)
+
+ def clear(self):
+ self.console.clear()
+
+ def _connected(self, link_uri):
+ """Callback when the Crazyflie has been connected"""
+ self._dumpSystemLoadButton.setEnabled(True)
+
+ def _disconnected(self, link_uri):
+ """Callback for when the Crazyflie has been disconnected"""
+ self._dumpSystemLoadButton.setEnabled(False)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ConsoleTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ConsoleTab.pyc
deleted file mode 100755
index 979bf106dc4e463400fc56259c980787123275fa..0000000000000000000000000000000000000000
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ExampleTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ExampleTab.py
old mode 100755
new mode 100644
index e34870a9..9c455d4f
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ExampleTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ExampleTab.py
@@ -32,25 +32,23 @@ with the necessary QT Signals to wrap Crazyflie API callbacks and also
connects the connected/disconnected callbacks.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['ExampleTab']
-
import logging
-import sys
-
-logger = logging.getLogger(__name__)
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import pyqtSlot, pyqtSignal, QThread, Qt
-from PyQt4.QtGui import QMessageBox
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtWidgets import QMessageBox
+import cfclient
from cfclient.ui.tab import Tab
-from cflib.crazyflie.log import LogConfig, Log
-from cflib.crazyflie.param import Param
+__author__ = 'Bitcraze AB'
+__all__ = ['ExampleTab']
+
+logger = logging.getLogger(__name__)
+
+example_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/exampleTab.ui")[0]
-example_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/exampleTab.ui")[0]
class ExampleTab(Tab, example_tab_class):
"""Tab for plotting logging data"""
@@ -110,4 +108,4 @@ class ExampleTab(Tab, example_tab_class):
QMessageBox.about(self, "Example error",
"Error when using log config"
- " [{0}]: {1}".format(log_conf.name, msg))
\ No newline at end of file
+ " [{0}]: {1}".format(log_conf.name, msg))
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ExampleTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ExampleTab.pyc
deleted file mode 100755
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GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/FlightTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/FlightTab.py
old mode 100755
new mode 100644
index 8995debb..6bc9fc99
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/FlightTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/FlightTab.py
@@ -21,47 +21,45 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
The flight control tab shows telemetry data and flight settings.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['FlightTab']
-
-import sys
-
import logging
-logger = logging.getLogger(__name__)
-
-from time import time
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QVariant
-from PyQt4.QtGui import QMessageBox
-
-from cflib.crazyflie import Crazyflie
+from PyQt5 import uic
+from PyQt5.QtCore import Qt, pyqtSlot, pyqtSignal
+from PyQt5.QtWidgets import QMessageBox
+import cfclient
from cfclient.ui.widgets.ai import AttitudeIndicator
from cfclient.utils.config import Config
-from cflib.crazyflie.log import Log, LogVariable, LogConfig
+from cflib.crazyflie.log import LogConfig
+
+from cfclient.utils.input import JoystickReader
from cfclient.ui.tab import Tab
-from cflib.crazyflie.mem import MemoryElement
+PARAM_NAME_ALT_HOLD_TARGET = "posCtlAlt.targetZ"
+PARAM_NAME_ESTIMATED_Z = "posEstimatorAlt.estimatedZ"
+
+__author__ = 'Bitcraze AB'
+__all__ = ['FlightTab']
+
+logger = logging.getLogger(__name__)
-flight_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/flightTab.ui")[0]
+flight_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/flightTab.ui")[0]
MAX_THRUST = 65365.0
class FlightTab(Tab, flight_tab_class):
-
uiSetupReadySignal = pyqtSignal()
_motor_data_signal = pyqtSignal(int, object, object)
@@ -72,10 +70,11 @@ class FlightTab(Tab, flight_tab_class):
_input_updated_signal = pyqtSignal(float, float, float, float)
_rp_trim_updated_signal = pyqtSignal(float, float)
_emergency_stop_updated_signal = pyqtSignal(bool)
+ _assisted_control_updated_signal = pyqtSignal(bool)
_log_error_signal = pyqtSignal(object, str)
- #UI_DATA_UPDATE_FPS = 10
+ # UI_DATA_UPDATE_FPS = 10
connectionFinishedSignal = pyqtSignal(str)
disconnectedSignal = pyqtSignal(str)
@@ -101,16 +100,19 @@ class FlightTab(Tab, flight_tab_class):
self._input_updated_signal.connect(self.updateInputControl)
self.helper.inputDeviceReader.input_updated.add_callback(
- self._input_updated_signal.emit)
+ self._input_updated_signal.emit)
self._rp_trim_updated_signal.connect(self.calUpdateFromInput)
self.helper.inputDeviceReader.rp_trim_updated.add_callback(
- self._rp_trim_updated_signal.emit)
+ self._rp_trim_updated_signal.emit)
self._emergency_stop_updated_signal.connect(self.updateEmergencyStop)
self.helper.inputDeviceReader.emergency_stop_updated.add_callback(
- self._emergency_stop_updated_signal.emit)
-
- self.helper.inputDeviceReader.althold_updated.add_callback(
- lambda enabled: self.helper.cf.param.set_value("flightmode.althold", enabled))
+ self._emergency_stop_updated_signal.emit)
+
+ self.helper.inputDeviceReader.assisted_control_updated.add_callback(
+ self._assisted_control_updated_signal.emit)
+
+ self._assisted_control_updated_signal.connect(
+ self._assisted_control_updated)
self._imu_data_signal.connect(self._imu_data_received)
self._baro_data_signal.connect(self._baro_data_received)
@@ -121,12 +123,14 @@ class FlightTab(Tab, flight_tab_class):
# Connect UI signals that are in this tab
self.flightModeCombo.currentIndexChanged.connect(self.flightmodeChange)
+ self._assist_mode_combo.currentIndexChanged.connect(
+ self._assist_mode_changed)
self.minThrust.valueChanged.connect(self.minMaxThrustChanged)
self.maxThrust.valueChanged.connect(self.minMaxThrustChanged)
self.thrustLoweringSlewRateLimit.valueChanged.connect(
- self.thrustLoweringSlewRateLimitChanged)
+ self.thrustLoweringSlewRateLimitChanged)
self.slewEnableLimit.valueChanged.connect(
- self.thrustLoweringSlewRateLimitChanged)
+ self.thrustLoweringSlewRateLimitChanged)
self.targetCalRoll.valueChanged.connect(self._trim_roll_changed)
self.targetCalPitch.valueChanged.connect(self._trim_pitch_changed)
self.maxAngle.valueChanged.connect(self.maxAngleChanged)
@@ -139,73 +143,71 @@ class FlightTab(Tab, flight_tab_class):
self.clientXModeCheckbox.setChecked(Config().get("client_side_xmode"))
self.crazyflieXModeCheckbox.clicked.connect(
- lambda enabled:
- self.helper.cf.param.set_value("flightmode.x",
- str(enabled)))
+ lambda enabled:
+ self.helper.cf.param.set_value("flightmode.x",
+ str(enabled)))
self.helper.cf.param.add_update_callback(
- group="flightmode", name="xmode",
- cb=( lambda name, checked:
- self.crazyflieXModeCheckbox.setChecked(eval(checked))))
+ group="flightmode", name="xmode",
+ cb=(lambda name, checked:
+ self.crazyflieXModeCheckbox.setChecked(eval(checked))))
self.ratePidRadioButton.clicked.connect(
- lambda enabled:
- self.helper.cf.param.set_value("flightmode.ratepid",
- str(enabled)))
+ lambda enabled:
+ self.helper.cf.param.set_value("flightmode.ratepid",
+ str(enabled)))
self.angularPidRadioButton.clicked.connect(
- lambda enabled:
- self.helper.cf.param.set_value("flightmode.ratepid",
- str(not enabled)))
+ lambda enabled:
+ self.helper.cf.param.set_value("flightmode.ratepid",
+ str(not enabled)))
self._led_ring_headlight.clicked.connect(
- lambda enabled:
- self.helper.cf.param.set_value("ring.headlightEnable",
- str(enabled)))
+ lambda enabled:
+ self.helper.cf.param.set_value("ring.headlightEnable",
+ str(enabled)))
self.helper.cf.param.add_update_callback(
- group="flightmode", name="ratepid",
- cb=(lambda name, checked:
- self.ratePidRadioButton.setChecked(eval(checked))))
+ group="flightmode", name="ratepid",
+ cb=(lambda name, checked:
+ self.ratePidRadioButton.setChecked(eval(checked))))
self.helper.cf.param.add_update_callback(
- group="cpu", name="flash",
- cb=self._set_enable_client_xmode)
+ group="cpu", name="flash",
+ cb=self._set_enable_client_xmode)
self.helper.cf.param.add_update_callback(
- group="ring", name="headlightEnable",
- cb=(lambda name, checked:
- self._led_ring_headlight.setChecked(eval(checked))))
-
- self.helper.cf.param.add_update_callback(
- group="flightmode", name="althold",
- cb=(lambda name, enabled:
- self.helper.inputDeviceReader.enable_alt_hold(eval(enabled))))
+ group="ring", name="headlightEnable",
+ cb=(lambda name, checked:
+ self._led_ring_headlight.setChecked(eval(checked))))
self._ledring_nbr_effects = 0
self.helper.cf.param.add_update_callback(
- group="ring",
- name="neffect",
- cb=(lambda name, value: self._set_neffect(eval(value))))
+ group="ring",
+ name="effect",
+ cb=self._ring_effect_updated)
self.helper.cf.param.add_update_callback(
- group="imu_sensors",
- cb=self._set_available_sensors)
+ group="imu_sensors",
+ cb=self._set_available_sensors)
- self.helper.cf.param.all_updated.add_callback(self._ring_populate_dropdown)
+ self.helper.cf.param.all_updated.add_callback(
+ self._ring_populate_dropdown)
self.logBaro = None
self.logAltHold = None
self.ai = AttitudeIndicator()
self.verticalLayout_4.addWidget(self.ai)
- self.splitter.setSizes([1000,1])
+ self.splitter.setSizes([1000, 1])
self.targetCalPitch.setValue(Config().get("trim_pitch"))
self.targetCalRoll.setValue(Config().get("trim_roll"))
- self.helper.inputDeviceReader.alt1_updated.add_callback(self.alt1_updated)
- self.helper.inputDeviceReader.alt2_updated.add_callback(self.alt2_updated)
+ self.helper.inputDeviceReader.alt1_updated.add_callback(
+ self.alt1_updated)
+ self.helper.inputDeviceReader.alt2_updated.add_callback(
+ self.alt2_updated)
self._tf_state = 0
self._ring_effect = 0
@@ -222,8 +224,8 @@ class FlightTab(Tab, flight_tab_class):
self.clientXModeCheckbox.setChecked(False)
def _set_limiting_enabled(self, rp_limiting_enabled,
- yaw_limiting_enabled,
- thrust_limiting_enabled):
+ yaw_limiting_enabled,
+ thrust_limiting_enabled):
self.maxAngle.setEnabled(rp_limiting_enabled)
self.targetCalRoll.setEnabled(rp_limiting_enabled)
self.targetCalPitch.setEnabled(rp_limiting_enabled)
@@ -233,15 +235,12 @@ class FlightTab(Tab, flight_tab_class):
self.slewEnableLimit.setEnabled(thrust_limiting_enabled)
self.thrustLoweringSlewRateLimit.setEnabled(thrust_limiting_enabled)
- def _set_neffect(self, n):
- self._ledring_nbr_effects = n
-
def thrustToPercentage(self, thrust):
return ((thrust / MAX_THRUST) * 100.0)
def uiSetupReady(self):
flightComboIndex = self.flightModeCombo.findText(
- Config().get("flightmode"), Qt.MatchFixedString)
+ Config().get("flightmode"), Qt.MatchFixedString)
if (flightComboIndex < 0):
self.flightModeCombo.setCurrentIndex(0)
self.flightModeCombo.currentIndexChanged.emit(0)
@@ -249,9 +248,19 @@ class FlightTab(Tab, flight_tab_class):
self.flightModeCombo.setCurrentIndex(flightComboIndex)
self.flightModeCombo.currentIndexChanged.emit(flightComboIndex)
+ try:
+ assistmodeComboIndex = Config().get("assistedControl")
+ self._assist_mode_combo.setCurrentIndex(assistmodeComboIndex)
+ self._assist_mode_combo.currentIndexChanged.emit(
+ assistmodeComboIndex)
+ except KeyError:
+ self._assist_mode_combo.setCurrentIndex(0)
+ self._assist_mode_combo.currentIndexChanged.emit(0)
+
def _logging_error(self, log_conf, msg):
- QMessageBox.about(self, "Log error", "Error when starting log config"
- " [%s]: %s" % (log_conf.name, msg))
+ QMessageBox.about(self, "Log error",
+ "Error when starting log config [%s]: %s" % (
+ log_conf.name, msg))
def _motor_data_received(self, timestamp, data, logconf):
if self.isVisible():
@@ -259,25 +268,26 @@ class FlightTab(Tab, flight_tab_class):
self.actualM2.setValue(data["motor.m2"])
self.actualM3.setValue(data["motor.m3"])
self.actualM4.setValue(data["motor.m4"])
-
+
def _baro_data_received(self, timestamp, data, logconf):
if self.isVisible():
- self.actualASL.setText(("%.2f" % data["baro.aslLong"]))
- self.ai.setBaro(data["baro.aslLong"])
-
+ estimated_z = data[PARAM_NAME_ESTIMATED_Z]
+ self.actualASL.setText(("%.2f" % estimated_z))
+ self.ai.setBaro(estimated_z, self.is_visible())
+
def _althold_data_received(self, timestamp, data, logconf):
if self.isVisible():
- target = data["altHold.target"]
- if target>0:
+ target = data[PARAM_NAME_ALT_HOLD_TARGET]
+ if target > 0:
if not self.targetASL.isEnabled():
- self.targetASL.setEnabled(True)
+ self.targetASL.setEnabled(True)
self.targetASL.setText(("%.2f" % target))
- self.ai.setHover(target)
+ self.ai.setHover(target, self.is_visible())
elif self.targetASL.isEnabled():
self.targetASL.setEnabled(False)
- self.targetASL.setText("Not set")
- self.ai.setHover(0)
-
+ self.targetASL.setText("Not set")
+ self.ai.setHover(0, self.is_visible())
+
def _imu_data_received(self, timestamp, data, logconf):
if self.isVisible():
self.actualRoll.setText(("%.2f" % data["stabilizer.roll"]))
@@ -285,10 +295,10 @@ class FlightTab(Tab, flight_tab_class):
self.actualYaw.setText(("%.2f" % data["stabilizer.yaw"]))
self.actualThrust.setText("%.2f%%" %
self.thrustToPercentage(
- data["stabilizer.thrust"]))
-
+ data["stabilizer.thrust"]))
+
self.ai.setRollPitch(-data["stabilizer.roll"],
- data["stabilizer.pitch"])
+ data["stabilizer.pitch"], self.is_visible())
def connected(self, linkURI):
# IMU & THRUST
@@ -325,10 +335,6 @@ class FlightTab(Tab, flight_tab_class):
except AttributeError as e:
logger.warning(str(e))
- if self.helper.cf.mem.ow_search(vid=0xBC, pid=0x01):
- self._led_ring_effect.setEnabled(True)
- self._led_ring_headlight.setEnabled(True)
-
def _set_available_sensors(self, name, available):
logger.info("[%s]: %s", name, available)
available = eval(available)
@@ -342,21 +348,22 @@ class FlightTab(Tab, flight_tab_class):
if (not self.logBaro and not self.logAltHold):
# The sensor is available, set up the logging
self.logBaro = LogConfig("Baro", 200)
- self.logBaro.add_variable("baro.aslLong", "float")
+ self.logBaro.add_variable(PARAM_NAME_ESTIMATED_Z, "float")
try:
self.helper.cf.log.add_config(self.logBaro)
self.logBaro.data_received_cb.add_callback(
- self._baro_data_signal.emit)
+ self._baro_data_signal.emit)
self.logBaro.error_cb.add_callback(
- self._log_error_signal.emit)
+ self._log_error_signal.emit)
self.logBaro.start()
except KeyError as e:
logger.warning(str(e))
except AttributeError as e:
logger.warning(str(e))
self.logAltHold = LogConfig("AltHold", 200)
- self.logAltHold.add_variable("altHold.target", "float")
+ self.logAltHold.add_variable(PARAM_NAME_ALT_HOLD_TARGET,
+ "float")
try:
self.helper.cf.log.add_config(self.logAltHold)
@@ -367,7 +374,7 @@ class FlightTab(Tab, flight_tab_class):
self.logAltHold.start()
except KeyError as e:
logger.warning(str(e))
- except AttributeError:
+ except AttributeError as e:
logger.warning(str(e))
def disconnected(self, linkURI):
@@ -388,33 +395,42 @@ class FlightTab(Tab, flight_tab_class):
self.logBaro = None
self.logAltHold = None
self._led_ring_effect.setEnabled(False)
+ self._led_ring_effect.clear()
+ try:
+ self._led_ring_effect.currentIndexChanged.disconnect(
+ self._ring_effect_changed)
+ except TypeError:
+ # Signal was not connected
+ pass
+ self._led_ring_effect.setCurrentIndex(-1)
self._led_ring_headlight.setEnabled(False)
-
def minMaxThrustChanged(self):
self.helper.inputDeviceReader.min_thrust = self.minThrust.value()
self.helper.inputDeviceReader.max_thrust = self.maxThrust.value()
- if (self.isInCrazyFlightmode == True):
+ if (self.isInCrazyFlightmode is True):
Config().set("min_thrust", self.minThrust.value())
Config().set("max_thrust", self.maxThrust.value())
def thrustLoweringSlewRateLimitChanged(self):
- self.helper.inputDeviceReader.thrust_slew_rate = self.thrustLoweringSlewRateLimit.value()
- self.helper.inputDeviceReader.thrust_slew_limit = self.slewEnableLimit.value()
- if (self.isInCrazyFlightmode == True):
+ self.helper.inputDeviceReader.thrust_slew_rate = (
+ self.thrustLoweringSlewRateLimit.value())
+ self.helper.inputDeviceReader.thrust_slew_limit = (
+ self.slewEnableLimit.value())
+ if (self.isInCrazyFlightmode is True):
Config().set("slew_limit", self.slewEnableLimit.value())
Config().set("slew_rate", self.thrustLoweringSlewRateLimit.value())
def maxYawRateChanged(self):
logger.debug("MaxYawrate changed to %d", self.maxYawRate.value())
self.helper.inputDeviceReader.max_yaw_rate = self.maxYawRate.value()
- if (self.isInCrazyFlightmode == True):
+ if (self.isInCrazyFlightmode is True):
Config().set("max_yaw", self.maxYawRate.value())
def maxAngleChanged(self):
logger.debug("MaxAngle changed to %d", self.maxAngle.value())
self.helper.inputDeviceReader.max_rp_angle = self.maxAngle.value()
- if (self.isInCrazyFlightmode == True):
+ if (self.isInCrazyFlightmode is True):
Config().set("max_rp", self.maxAngle.value())
def _trim_pitch_changed(self, value):
@@ -456,7 +472,7 @@ class FlightTab(Tab, flight_tab_class):
if emergencyStop:
self.setMotorLabelsEnabled(False)
self.emergency_stop_label.setText(
- self.emergencyStopStringWithText("Kill switch active"))
+ self.emergencyStopStringWithText("Kill switch active"))
else:
self.setMotorLabelsEnabled(True)
self.emergency_stop_label.setText("")
@@ -464,7 +480,7 @@ class FlightTab(Tab, flight_tab_class):
def flightmodeChange(self, item):
Config().set("flightmode", str(self.flightModeCombo.itemText(item)))
logger.debug("Changed flightmode to %s",
- self.flightModeCombo.itemText(item))
+ self.flightModeCombo.itemText(item))
self.isInCrazyFlightmode = False
if (item == 0): # Normal
self.maxAngle.setValue(Config().get("normal_max_rp"))
@@ -472,7 +488,7 @@ class FlightTab(Tab, flight_tab_class):
self.minThrust.setValue(Config().get("normal_min_thrust"))
self.slewEnableLimit.setValue(Config().get("normal_slew_limit"))
self.thrustLoweringSlewRateLimit.setValue(
- Config().get("normal_slew_rate"))
+ Config().get("normal_slew_rate"))
self.maxYawRate.setValue(Config().get("normal_max_yaw"))
if (item == 1): # Advanced
self.maxAngle.setValue(Config().get("max_rp"))
@@ -480,7 +496,7 @@ class FlightTab(Tab, flight_tab_class):
self.minThrust.setValue(Config().get("min_thrust"))
self.slewEnableLimit.setValue(Config().get("slew_limit"))
self.thrustLoweringSlewRateLimit.setValue(
- Config().get("slew_rate"))
+ Config().get("slew_rate"))
self.maxYawRate.setValue(Config().get("max_yaw"))
self.isInCrazyFlightmode = True
@@ -495,6 +511,26 @@ class FlightTab(Tab, flight_tab_class):
self.slewEnableLimit.setEnabled(newState)
self.maxYawRate.setEnabled(newState)
+ def _assist_mode_changed(self, item):
+ mode = None
+
+ if (item == 0): # Altitude hold
+ mode = JoystickReader.ASSISTED_CONTROL_ALTHOLD
+ if (item == 1): # Position hold
+ mode = JoystickReader.ASSISTED_CONTROL_POSHOLD
+
+ self.helper.inputDeviceReader.set_assisted_control(mode)
+ Config().set("assistedControl", mode)
+
+ def _assisted_control_updated(self, enabled):
+ if self.helper.inputDeviceReader.get_assisted_control() == \
+ JoystickReader.ASSISTED_CONTROL_POSHOLD:
+ self.targetThrust.setEnabled(not enabled)
+ self.targetRoll.setEnabled(not enabled)
+ self.targetPitch.setEnabled(not enabled)
+ else:
+ self.helper.cf.param.set_value("flightmode.althold", str(enabled))
+
@pyqtSlot(bool)
def changeXmode(self, checked):
self.helper.cf.commander.set_client_xmode(checked)
@@ -503,10 +539,9 @@ class FlightTab(Tab, flight_tab_class):
def alt1_updated(self, state):
if state:
- self._ring_effect += 1
- if self._ring_effect > self._ledring_nbr_effects:
- self._ring_effect = 0
- self.helper.cf.param.set_value("ring.effect", str(self._ring_effect))
+ new_index = (self._ring_effect+1) % (self._ledring_nbr_effects+1)
+ self.helper.cf.param.set_value("ring.effect",
+ str(new_index))
def alt2_updated(self, state):
self.helper.cf.param.set_value("ring.headlightEnable", str(state))
@@ -518,6 +553,10 @@ class FlightTab(Tab, flight_tab_class):
except KeyError:
return
+ # Used only in alt1_updated function
+ self._ring_effect = current
+ self._ledring_nbr_effects = nbr
+
hardcoded_names = {0: "Off",
1: "White spinner",
2: "Color spinner",
@@ -530,27 +569,33 @@ class FlightTab(Tab, flight_tab_class):
9: "Battery status",
10: "Boat lights",
11: "Alert",
- 12: "Gravity"}
+ 12: "Gravity",
+ 13: "LED tab"}
- for i in range(nbr+1):
+ for i in range(nbr + 1):
name = "{}: ".format(i)
if i in hardcoded_names:
name += hardcoded_names[i]
else:
name += "N/A"
- self._led_ring_effect.addItem(name, QVariant(i))
+ self._led_ring_effect.addItem(name, i)
+
+ self._led_ring_effect.currentIndexChanged.connect(
+ self._ring_effect_changed)
self._led_ring_effect.setCurrentIndex(current)
- self._led_ring_effect.currentIndexChanged.connect(self._ring_effect_changed)
- self.helper.cf.param.add_update_callback(group="ring",
- name="effect",
- cb=self._ring_effect_updated)
+ if self.helper.cf.mem.ow_search(vid=0xBC, pid=0x01):
+ self._led_ring_effect.setEnabled(True)
+ self._led_ring_headlight.setEnabled(True)
def _ring_effect_changed(self, index):
- i = self._led_ring_effect.itemData(index).toInt()[0]
- logger.info("Changed effect to {}".format(i))
- if i != self.helper.cf.param.values["ring"]["effect"]:
- self.helper.cf.param.set_value("ring.effect", str(i))
+ self._ring_effect = index
+ if index > -1:
+ i = self._led_ring_effect.itemData(index)
+ logger.info("Changed effect to {}".format(i))
+ if i != int(self.helper.cf.param.values["ring"]["effect"]):
+ self.helper.cf.param.set_value("ring.effect", str(i))
def _ring_effect_updated(self, name, value):
- self._led_ring_effect.setCurrentIndex(int(value))
+ if self.helper.cf.param.is_updated:
+ self._led_ring_effect.setCurrentIndex(int(value))
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/FlightTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/FlightTab.pyc
deleted file mode 100755
index 286da7cc9555d72815377df2eb0c6ba072978286..0000000000000000000000000000000000000000
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/GpsTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/GpsTab.py
old mode 100755
new mode 100644
index 613350a1..77a013ee
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/GpsTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/GpsTab.py
@@ -20,54 +20,35 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
+# USA.
"""
This tab plots different logging data defined by configurations that has been
pre-configured.
"""
-import math
-
-__author__ = 'Bitcraze AB'
-__all__ = ['GpsTab']
-
-import glob
-import json
import logging
-import os
-import sys
-
-logger = logging.getLogger(__name__)
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-
-from pprint import pprint
-import datetime
-
-#from cfclient.ui.widgets.plotwidget import PlotWidget
-
-from cflib.crazyflie.log import Log, LogVariable, LogConfig
+import cfclient
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtWidgets import QMessageBox
from cfclient.ui.tab import Tab
+from cflib.crazyflie.log import LogConfig
+from PyQt5 import QtCore
+from PyQt5 import QtGui
+from PyQt5 import QtNetwork
+from PyQt5 import QtWebKit
+from PyQt5 import uic
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
+__author__ = 'Bitcraze AB'
+__all__ = ['GpsTab']
-try:
- from PyKDE4.marble import *
- should_enable_tab = True
-except:
- should_enable_tab = False
+logger = logging.getLogger(__name__)
-import sys
+gps_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/gpsTab.ui")[0]
-gps_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/gpsTab.ui")[0]
class GpsTab(Tab, gps_tab_class):
"""Tab for plotting logging data"""
@@ -79,7 +60,6 @@ class GpsTab(Tab, gps_tab_class):
_connected_signal = pyqtSignal(str)
_console_signal = pyqtSignal(str)
-
def __init__(self, tabWidget, helper, *args):
super(GpsTab, self).__init__(*args)
self.setupUi(self)
@@ -90,206 +70,105 @@ class GpsTab(Tab, gps_tab_class):
self.tabWidget = tabWidget
self.helper = helper
self._cf = helper.cf
- self._got_home_point = False
- self._line = ""
-
- if not should_enable_tab:
- self.enabled = False
-
- if self.enabled:
- # create the marble widget
- #self._marble = Marble.MarbleWidget()
- self._marble = FancyMarbleWidget()
- # Load the OpenStreetMap map
- self._marble.setMapThemeId("earth/openstreetmap/openstreetmap.dgml")
+ view = self.view = QtWebKit.QWebView()
- # Enable the cloud cover and enable the country borders
- self._marble.setShowClouds(True)
- self._marble.setShowBorders(True)
+ cache = QtNetwork.QNetworkDiskCache()
+ cache.setCacheDirectory(cfclient.config_path + "/cache")
+ view.page().networkAccessManager().setCache(cache)
+ view.page().networkAccessManager()
- # Hide the FloatItems: Compass and StatusBar
- self._marble.setShowOverviewMap(False)
- self._marble.setShowScaleBar(False)
- self._marble.setShowCompass(False)
+ view.page().mainFrame().addToJavaScriptWindowObject("MainWindow", self)
+ view.page().setLinkDelegationPolicy(QtWebKit.QWebPage.DelegateAllLinks)
+ view.load(QtCore.QUrl(cfclient.module_path + "/resources/map.html"))
+ view.loadFinished.connect(self.onLoadFinished)
+ view.linkClicked.connect(QtGui.QDesktopServices.openUrl)
- self._marble.setShowGrid(False)
- self._marble.setProjection(Marble.Mercator)
+ self.map_layout.addWidget(view)
- # Change the map to center on Australia
+ self._reset_max_btn.clicked.connect(self._reset_max)
- self._marble.zoomView(10)
+ # Connect the signals
+ self._log_data_signal.connect(self._log_data_received)
+ self._log_error_signal.connect(self._logging_error)
+ self._connected_signal.connect(self._connected)
+ self._disconnected_signal.connect(self._disconnected)
- # create the slider
- self.zoomSlider = QSlider(Qt.Horizontal)
+ # Connect the callbacks from the Crazyflie API
+ self.helper.cf.disconnected.add_callback(
+ self._disconnected_signal.emit)
+ self.helper.cf.connected.add_callback(
+ self._connected_signal.emit)
- self._reset_max_btn.clicked.connect(self._reset_max)
-
- # add all the components
- #self.gpslayout.addWidget(self._marble)
- self.map_layout.addWidget(self._marble)
- # Connect the signals
- self._log_data_signal.connect(self._log_data_received)
- self._log_error_signal.connect(self._logging_error)
- self._connected_signal.connect(self._connected)
- self._disconnected_signal.connect(self._disconnected)
+ self._max_speed = 0.0
+ self._lat = 0
+ self._long = 0
- # Connect the callbacks from the Crazyflie API
- self.helper.cf.disconnected.add_callback(
- self._disconnected_signal.emit)
- self.helper.cf.connected.add_callback(
- self._connected_signal.emit)
+ def onLoadFinished(self):
+ with open(cfclient.module_path + "/resources/map.js", 'r') as f:
+ frame = self.view.page().mainFrame()
+ frame.evaluateJavaScript(f.read())
- else:
- logger.warning("GPS tab not enabled since no Python"
- "bindings for Marble was found")
+ @QtCore.pyqtSlot(float, float)
+ def onMapMove(self, lat, lng):
+ return
- self._max_speed = 0.0
+ def panMap(self, lng, lat):
+ frame = self.view.page().mainFrame()
+ frame.evaluateJavaScript('map.panTo(L.latLng({}, {}));'.format(lat,
+ lng))
- self._fix_types = {
- 0: "No fix",
- 1: "Dead reckoning only",
- 2: "2D-fix",
- 3: "3D-fix",
- 4: "GNSS+dead",
- 5: "Time only fix"
- }
+ def _place_cf(self, lng, lat, acc):
+ frame = self.view.page().mainFrame()
+ frame.evaluateJavaScript('cf.setLatLng([{}, {}]);'.format(lat, lng))
def _connected(self, link_uri):
- lg = LogConfig("GPS", 100)
+ lg = LogConfig("GPS", 1000)
lg.add_variable("gps.lat")
lg.add_variable("gps.lon")
- lg.add_variable("gps.hMSL")
- lg.add_variable("gps.heading")
- lg.add_variable("gps.gSpeed")
lg.add_variable("gps.hAcc")
- lg.add_variable("gps.fixType")
- try:
- self._cf.log.add_config(lg)
+ lg.add_variable("gps.hMSL")
+ lg.add_variable("gps.nsat")
+ self._cf.log.add_config(lg)
+ if lg.valid:
lg.data_received_cb.add_callback(self._log_data_signal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
- except KeyError as e:
- logger.warning(str(e))
- except AttributeError as e:
- logger.warning(str(e))
+ else:
+ logger.warning("Could not setup logging block for GPS!")
self._max_speed = 0.0
def _disconnected(self, link_uri):
"""Callback for when the Crazyflie has been disconnected"""
- self._got_home_point = False
return
def _logging_error(self, log_conf, msg):
"""Callback from the log layer when an error occurs"""
QMessageBox.about(self, "Plot error", "Error when starting log config"
- " [%s]: %s" % (log_conf.name, msg))
+ " [%s]: %s" % (log_conf.name, msg))
def _reset_max(self):
"""Callback from reset button"""
self._max_speed = 0.0
self._speed_max.setText(str(self._max_speed))
- self._marble.clear_data()
-
self._long.setText("")
self._lat.setText("")
self._height.setText("")
-
self._speed.setText("")
self._heading.setText("")
self._accuracy.setText("")
-
self._fix_type.setText("")
-
def _log_data_received(self, timestamp, data, logconf):
"""Callback when the log layer receives new data"""
-
- long = float(data["gps.lon"])/10000000.0
- lat = float(data["gps.lat"])/10000000.0
- alt = float(data["gps.hMSL"])/1000.0
- speed = float(data["gps.gSpeed"])/1000.0
- accuracy = float(data["gps.hAcc"])/1000.0
- fix_type = float(data["gps.fixType"])
- heading = float(data["gps.heading"])
-
- self._long.setText(str(long))
- self._lat.setText(str(lat))
- self._height.setText(str(alt))
-
- self._speed.setText(str(speed))
- self._heading.setText(str(heading))
- self._accuracy.setText(str(accuracy))
- if speed > self._max_speed:
- self._max_speed = speed
- self._speed_max.setText(str(self._max_speed))
-
- self._fix_type.setText(self._fix_types[fix_type])
-
-
- point = Marble.GeoDataCoordinates(long, lat, alt,
- Marble.GeoDataCoordinates.Degree)
- if not self._got_home_point:
- self._got_home_point = True
-
- self._marble.centerOn(point, True)
- self._marble.zoomView(4000, Marble.Jump)
-
- self._marble.add_data(long, lat, alt, accuracy,
- True if fix_type == 3 else False)
-
-# If Marble is not installed then do not create MarbleWidget subclass
-if should_enable_tab:
- class FancyMarbleWidget(Marble.MarbleWidget):
- def __init__(self):
- Marble.MarbleWidget.__init__(self)
- self._points = []
- self._lat = None
- self._long = None
- self._height = None
- self._accu = None
-
- def clear_data(self):
- self._points = []
- self._lat = None
- self._long = None
- self._height = None
- self._accu = None
-
- def add_data(self, long, lat, height, accu, locked):
- self._points.append([long, lat, height, accu, locked])
+ long = float(data["gps.lon"]) / 10000000.0
+ lat = float(data["gps.lat"]) / 10000000.0
+
+ if self._lat != lat or self._long != long:
+ self._long.setText("{:.6f}".format(long))
+ self._lat.setText("{:.6f}".format(lat))
+ self._nbr_locked_sats.setText(str(data["gps.nsat"]))
+ self._height.setText("{:.2f}".format(float(data["gps.hMSL"])))
+ self._place_cf(long, lat, 1)
self._lat = lat
self._long = long
- self._height = height
- self._accu = accu
- self.update()
-
- def customPaint(self, painter):
- if self._lat:
- current = Marble.GeoDataCoordinates(self._long,
- self._lat,
- self._height,
- Marble.GeoDataCoordinates.Degree)
-
- #Paint data points
- for p in self._points:
- pos = Marble.GeoDataCoordinates(p[0],
- p[1],
- p[2],
- Marble.GeoDataCoordinates.Degree)
- if p[4]:
- painter.setPen(Qt.green)
- else:
- painter.setPen(Qt.red)
- painter.drawEllipse(pos, 1, 1)
-
- # Paint accuracy
- painter.setPen(Qt.blue)
- painter.setBrush(QtGui.QBrush(QtGui.QColor(0, 0, 255, 64)))
- pixel_per_meter = self.radiusFromDistance(self.distance())/(6371.0*1000)
- painter.drawEllipse(current, self._accu*pixel_per_meter, self._accu*pixel_per_meter, False)
-
- #Paint Crazyflie
- painter.setPen(Qt.black)
- painter.setBrush(Qt.NoBrush)
- painter.drawText(current, "Crazyflie")
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/GpsTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/GpsTab.pyc
deleted file mode 100755
index b3788bae74fe8f0f52ba0fc1fd4c7819e244ff81..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LEDTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LEDTab.py
old mode 100755
new mode 100644
index b51292e6..11893e87
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LEDTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LEDTab.py
@@ -30,24 +30,24 @@
Basic tab to be able to set (and test) colors in the LED-ring.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['LEDTab']
-
import logging
-import sys
-
-logger = logging.getLogger(__name__)
-from PyQt4 import QtGui, uic
-from PyQt4.QtCore import pyqtSignal
-from PyQt4.QtGui import QColorDialog
+from PyQt5 import QtGui, uic
+from PyQt5.QtCore import pyqtSignal
+import cfclient
from cfclient.ui.tab import Tab
from cflib.crazyflie.mem import MemoryElement
-led_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/ledTab.ui")[0]
+__author__ = 'Bitcraze AB'
+__all__ = ['LEDTab']
+
+logger = logging.getLogger(__name__)
+
+led_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/ledTab.ui")[0]
+
class LEDTab(Tab, led_tab_class):
"""Tab for plotting logging data"""
@@ -90,7 +90,7 @@ class LEDTab(Tab, led_tab_class):
self._u11,
self._u12]
- self._intensity = 1
+ self._intensity = self._intensity_slider.value()
self._u1.clicked.connect(lambda: self._select(0))
self._u2.clicked.connect(lambda: self._select(1))
@@ -114,8 +114,14 @@ class LEDTab(Tab, led_tab_class):
self._intensity_slider.setValue)
def _select(self, nbr):
- col = QColorDialog()
- col = QtGui.QColorDialog.getColor()
+ col = QtGui.QColor() # default to invalid
+
+ if self._mem:
+ led = self._mem.leds[nbr]
+ col = QtGui.QColor.fromRgb(led.r, led.g, led.b)
+
+ col = QtGui.QColorDialog.getColor(col)
+
if col.isValid() and self._mem:
logger.info(col.red())
self._mem.leds[nbr].set(r=col.red(), g=col.green(), b=col.blue())
@@ -141,9 +147,11 @@ class LEDTab(Tab, led_tab_class):
def _connected(self, link_uri):
"""Callback when the Crazyflie has been connected"""
- self._mem = self._helper.cf.mem.get_mems(
- MemoryElement.TYPE_DRIVER_LED)[0]
- logger.info(self._mem)
+ mems = self._helper.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)
+ if len(mems) > 0:
+ self._mem = mems[0]
+ logger.info(self._mem)
+
if self._mem:
for btn in self._btns:
btn.setEnabled(True)
@@ -158,4 +166,4 @@ class LEDTab(Tab, led_tab_class):
btn.setStyleSheet("background-color: none")
self._intensity_slider.setEnabled(False)
self._intensity_spin.setEnabled(False)
- self._intensity_slider.setValue(100)
\ No newline at end of file
+ self._intensity_slider.setValue(100)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LEDTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LEDTab.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockDebugTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockDebugTab.py
old mode 100755
new mode 100644
index 7437823c..4a42a543
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockDebugTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockDebugTab.py
@@ -21,28 +21,27 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Shows all the parameters available in the Crazyflie and also gives the ability
to edit them.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['LogBlockTab']
+from PyQt5 import QtCore, QtWidgets, uic
+from PyQt5.QtCore import Qt, pyqtSignal
-import time
-import sys
+import cfclient
+from cfclient.ui.tab import Tab
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+__author__ = 'Bitcraze AB'
+__all__ = ['LogBlockDebugTab']
-from cfclient.ui.tab import Tab
+logblock_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/logBlockDebugTab.ui")[0]
-logblock_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/logBlockDebugTab.ui")[0]
class LogBlockDebugTab(Tab, logblock_tab_class):
"""
@@ -64,10 +63,13 @@ class LogBlockDebugTab(Tab, logblock_tab_class):
self._helper.cf.log.block_added_cb.add_callback(self._block_added)
self._disconnected_signal.connect(self._disconnected)
- self._helper.cf.disconnected.add_callback(self._disconnected_signal.emit)
+ self._helper.cf.disconnected.add_callback(
+ self._disconnected_signal.emit)
self._blocks_updated_signal.connect(self._update_tree)
- self._block_tree.setHeaderLabels(['Id', 'Name', 'Period (ms)', 'Added', 'Started', 'Error', 'Contents'])
+ self._block_tree.setHeaderLabels(
+ ['Id', 'Name', 'Period (ms)', 'Added', 'Started', 'Error',
+ 'Contents'])
self._block_tree.sortItems(0, QtCore.Qt.AscendingOrder)
def _block_added(self, block):
@@ -79,7 +81,7 @@ class LogBlockDebugTab(Tab, logblock_tab_class):
"""Update the block tree"""
self._block_tree.clear()
for block in self._helper.cf.log.log_blocks:
- item = QtGui.QTreeWidgetItem()
+ item = QtWidgets.QTreeWidgetItem()
item.setFlags(Qt.ItemIsEnabled |
Qt.ItemIsSelectable)
item.setData(0, Qt.DisplayRole, block.id)
@@ -89,15 +91,15 @@ class LogBlockDebugTab(Tab, logblock_tab_class):
item.setData(4, Qt.EditRole, block.started)
item.setData(5, Qt.EditRole, block.err_no)
for var in block.variables:
- subItem = QtGui.QTreeWidgetItem()
+ subItem = QtWidgets.QTreeWidgetItem()
subItem.setFlags(Qt.ItemIsEnabled |
- Qt.ItemIsSelectable)
+ Qt.ItemIsSelectable)
subItem.setData(6, Qt.EditRole, var.name)
- item.addChild(subItem)
+ item.addChild(subItem)
self._block_tree.addTopLevelItem(item)
self._block_tree.expandItem(item)
def _disconnected(self, link_uri):
"""Callback when the Crazyflie is disconnected"""
- self._block_tree.clear()
\ No newline at end of file
+ self._block_tree.clear()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockDebugTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockDebugTab.pyc
deleted file mode 100755
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GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockTab.py
old mode 100755
new mode 100644
index 98eb6ce9..b5a21c31
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockTab.py
@@ -31,34 +31,33 @@ This tab shows all log blocks that are registered and can be used to start the
logging and also to write the logging data to file.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['LogBlockTab']
-
-import sys
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from PyQt5 import uic
+from PyQt5.QtCore import Qt, pyqtSignal
+import cfclient
from cfclient.ui.tab import Tab
-logblock_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/logBlockTab.ui")[0]
-
import logging
-logger = logging.getLogger(__name__)
-from PyQt4.QtGui import QApplication, QStyledItemDelegate, QAbstractItemView
-from PyQt4.QtGui import QStyleOptionButton, QStyle
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import pyqtSlot, pyqtSignal, QThread
-from PyQt4.QtCore import QAbstractItemModel, QModelIndex, QString, QVariant
+from PyQt5.QtWidgets import QApplication, QStyledItemDelegate
+from PyQt5.QtWidgets import QAbstractItemView, QStyleOptionButton, QStyle
+from PyQt5.QtCore import QAbstractItemModel, QModelIndex
from cfclient.utils.logdatawriter import LogWriter
+__author__ = 'Bitcraze AB'
+__all__ = ['LogBlockTab']
+
+logblock_tab_class = uic.loadUiType(
+ cfclient.module_path + "/ui/tabs/logBlockTab.ui")[0]
+
+logger = logging.getLogger(__name__)
+
class LogBlockChildItem(object):
"""Class that acts as a child in the tree and represents one variable in
a log block"""
+
def __init__(self, parent, name):
"""Initialize the node"""
self.parent = parent
@@ -100,7 +99,9 @@ class LogBlockItem(object):
self._doing_transaction = False
def _log_error(self, logconfig, msg):
- """Callback when there's an error starting the block in the Crazyflie"""
+ """
+ Callback when there's an error starting the block in the Crazyflie
+ """
# Do nothing here, a pop-up will notify the user that the
# starting failed
self._doing_transaction = False
@@ -109,9 +110,9 @@ class LogBlockItem(object):
"""Callback when a block has been started in the Crazyflie"""
logger.debug("%s started: %s", self.name, started)
if started:
- self._block_started = True
+ self._block_started = True
else:
- self._block_started = False
+ self._block_started = False
self._doing_transaction = False
self._model.refresh()
@@ -163,6 +164,7 @@ class LogBlockItem(object):
class LogBlockModel(QAbstractItemModel):
+
def __init__(self, view, parent=None):
super(LogBlockModel, self).__init__(parent)
self._nodes = []
@@ -180,7 +182,9 @@ class LogBlockModel(QAbstractItemModel):
self.layoutChanged.emit()
def clicked(self, index):
- """Callback when a cell has been clicked (mouse down/up on same cell)"""
+ """
+ Callback when a cell has been clicked (mouse down/up on same cell)
+ """
node = index.internalPointer()
if not node.parent and index.column() == 3:
if node.logging_started():
@@ -217,7 +221,7 @@ class LogBlockModel(QAbstractItemModel):
def headerData(self, section, orientation, role):
"""Re-implemented method to get the headers"""
if role == Qt.DisplayRole:
- return QString(self._column_headers[section])
+ return self._column_headers[section]
def rowCount(self, parent):
"""Re-implemented method to get the number of rows for a given index"""
@@ -261,7 +265,7 @@ class LogBlockModel(QAbstractItemModel):
(index.column() == 4 or index.column() == 3):
return Qt.AlignHCenter | Qt.AlignVCenter
- return QVariant()
+ return None
def reset(self):
"""Reset the model"""
@@ -282,7 +286,7 @@ class CheckboxDelegate(QStyledItemDelegate):
col = index.column()
if not item.parent and (col == 3 or col == 4):
s = QStyleOptionButton()
- checkbox_rect = QApplication.style().\
+ checkbox_rect = QApplication.style(). \
subElementRect(QStyle.SE_CheckBoxIndicator, option)
s.rect = option.rect
center_offset = s.rect.width() / 2 - checkbox_rect.width() / 2
@@ -342,4 +346,6 @@ class LogBlockTab(Tab, logblock_tab_class):
def _disconnected(self, link_uri):
"""Callback when the Crazyflie is disconnected"""
- self._model.reset()
\ No newline at end of file
+ self._model.beginResetModel()
+ self._model.reset()
+ self._model.endResetModel()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogBlockTab.pyc
deleted file mode 100755
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GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogTab.py
old mode 100755
new mode 100644
index 629b452f..7db1f804
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogTab.py
@@ -20,30 +20,26 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Shows the Log TOC of available variables in the Crazyflie.
"""
+import cfclient
+from cfclient.ui.tab import Tab
+from PyQt5 import QtWidgets
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtCore import pyqtSlot
+from PyQt5.QtCore import Qt
+
__author__ = 'Bitcraze AB'
__all__ = ['LogTab']
-import time
-import sys
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
-
-from cflib.crazyflie import Crazyflie
-
-from cfclient.ui.tab import Tab
-
-param_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/logTab.ui")[0]
+param_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/logTab.ui")[0]
class LogTab(Tab, param_tab_class):
@@ -82,11 +78,11 @@ class LogTab(Tab, param_tab_class):
toc = self.cf.log.toc
- for group in toc.toc.keys():
- groupItem = QtGui.QTreeWidgetItem()
+ for group in list(toc.toc.keys()):
+ groupItem = QtWidgets.QTreeWidgetItem()
groupItem.setData(0, Qt.DisplayRole, group)
- for param in toc.toc[group].keys():
- item = QtGui.QTreeWidgetItem()
+ for param in list(toc.toc[group].keys()):
+ item = QtWidgets.QTreeWidgetItem()
item.setData(0, Qt.DisplayRole, param)
item.setData(1, Qt.DisplayRole, toc.toc[group][param].ident)
item.setData(2, Qt.DisplayRole, toc.toc[group][param].pytype)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/LogTab.pyc
deleted file mode 100755
index e9ffc7219c6f8354eb9c3150ad53016588c9790b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ParamTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ParamTab.py
old mode 100755
new mode 100644
index 7ac7fada..a3c97891
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ParamTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ParamTab.py
@@ -21,35 +21,37 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Shows all the parameters available in the Crazyflie and also gives the ability
to edit them.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['ParamTab']
+import logging
-import sys
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
-from PyQt4.QtCore import QAbstractItemModel, QModelIndex, QString, QVariant
-from PyQt4.QtGui import QApplication, QStyledItemDelegate, QAbstractItemView, QBrush, QColor
-from PyQt4.QtGui import QSortFilterProxyModel
+from PyQt5 import uic
+from PyQt5.QtCore import Qt, pyqtSignal
+from PyQt5.QtCore import QAbstractItemModel, QModelIndex
+from PyQt5.QtGui import QBrush, QColor
+import cfclient
from cfclient.ui.tab import Tab
-param_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/paramTab.ui")[0]
+__author__ = 'Bitcraze AB'
+__all__ = ['ParamTab']
+
+param_tab_class = uic.loadUiType(
+ cfclient.module_path + "/ui/tabs/paramTab.ui")[0]
-import logging
logger = logging.getLogger(__name__)
+
class ParamChildItem(object):
"""Represents a leaf-node in the tree-view (one parameter)"""
+
def __init__(self, parent, name, crazyflie):
"""Initialize the node"""
self.parent = parent
@@ -81,6 +83,7 @@ class ParamChildItem(object):
class ParamGroupItem(object):
"""Represents a parameter group in the tree-view"""
+
def __init__(self, name, model):
"""Initialize the parent node"""
super(ParamGroupItem, self).__init__()
@@ -93,8 +96,10 @@ class ParamGroupItem(object):
"""Return the number of children this node has"""
return len(self.children)
+
class ParamBlockModel(QAbstractItemModel):
"""Model for handling the parameters in the tree-view"""
+
def __init__(self, parent):
"""Create the empty model"""
super(ParamBlockModel, self).__init__(parent)
@@ -142,7 +147,7 @@ class ParamBlockModel(QAbstractItemModel):
def headerData(self, section, orientation, role):
"""Re-implemented method to get the headers"""
if role == Qt.DisplayRole:
- return QString(self._column_headers[section])
+ return self._column_headers[section]
def rowCount(self, parent):
"""Re-implemented method to get the number of rows for a given index"""
@@ -184,37 +189,36 @@ class ParamBlockModel(QAbstractItemModel):
return node.value
elif role == Qt.EditRole and index.column() == 3:
return node.value
- elif (role == Qt.BackgroundRole and index.column() == 3
- and node.is_updating):
+ elif (role == Qt.BackgroundRole and index.column() == 3 and
+ node.is_updating):
return self._red_brush
- return QVariant()
+ return None
def setData(self, index, value, role):
"""Re-implemented function called when a value has been edited"""
node = index.internalPointer()
if role == Qt.EditRole:
- new_val = str(value.toString())
+ new_val = str(value)
# This will not update the value, only trigger a setting and
# reading of the parameter from the Crazyflie
node.set_value(new_val)
return True
return False
-
def flags(self, index):
"""Re-implemented function for getting the flags for a certain index"""
flag = super(ParamBlockModel, self).flags(index)
node = index.internalPointer()
- if index.column() == 3 and node.parent and node.access=="RW":
+ if index.column() == 3 and node.parent and node.access == "RW":
flag |= Qt.ItemIsEditable
return flag
-
def reset(self):
"""Reset the model"""
+ super(ParamBlockModel, self).beginResetModel()
self._nodes = []
- super(ParamBlockModel, self).reset()
+ super(ParamBlockModel, self).endResetModel()
self.layoutChanged.emit()
@@ -252,4 +256,6 @@ class ParamTab(Tab, param_tab_class):
self.paramTree.expandAll()
def _disconnected(self, link_uri):
+ self._model.beginResetModel()
self._model.reset()
+ self._model.endResetModel()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ParamTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ParamTab.pyc
deleted file mode 100755
index 68c20f7541dca74cae5f9e4f4c2fd3595f495658..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/PlotTab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/PlotTab.py
old mode 100755
new mode 100644
index b6cd3e19..42cbb02a
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/PlotTab.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/PlotTab.py
@@ -20,47 +20,39 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
This tab plots different logging data defined by configurations that has been
pre-configured.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['PlotTab']
-
-import glob
-import json
import logging
-import os
-import sys
-
-logger = logging.getLogger(__name__)
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import pyqtSlot, pyqtSignal, QThread, Qt
-from PyQt4.QtGui import QMessageBox
-from PyQt4.QtGui import QApplication, QStyledItemDelegate, QAbstractItemView
-from PyQt4.QtCore import QAbstractItemModel, QModelIndex, QString, QVariant
+from cfclient.ui.tab import Tab
+from cfclient.ui.widgets.plotwidget import PlotWidget
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtCore import QAbstractItemModel
+from PyQt5.QtCore import QModelIndex
+from PyQt5.QtCore import Qt
+from PyQt5.QtWidgets import QMessageBox
-from pprint import pprint
-import datetime
+import cfclient
-from cfclient.ui.widgets.plotwidget import PlotWidget
+__author__ = 'Bitcraze AB'
+__all__ = ['PlotTab']
-from cflib.crazyflie.log import Log
+logger = logging.getLogger(__name__)
-from cfclient.ui.tab import Tab
+plot_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/plotTab.ui")[0]
-plot_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/plotTab.ui")[0]
class LogConfigModel(QAbstractItemModel):
"""Model for log configurations in the ComboBox"""
+
def __init__(self, parent=None):
super(LogConfigModel, self).__init__(parent)
self._nodes = []
@@ -85,7 +77,7 @@ class LogConfigModel(QAbstractItemModel):
"""Re-implemented method to get the number of rows for a given index"""
parent_item = parent.internalPointer()
if parent.isValid():
- parent_item = parent.internalPointer()
+ parent_item = parent.internalPointer() # noqa
return 0
else:
return len(self._nodes)
@@ -104,12 +96,12 @@ class LogConfigModel(QAbstractItemModel):
def data(self, index, role):
"""Re-implemented method to get the data for a given index and role"""
- node = index.internalPointer()
- if not index.isValid() or not 0 <= index.row() < len(self._nodes):
- return QVariant()
+ node = index.internalPointer() # noqa
+ if not index.isValid() or not 0 <= index.row() < len(self._nodes):
+ return None
if role == Qt.DisplayRole:
return self._nodes[index.row()].name
- return QVariant()
+ return None
def reset(self):
"""Reset the model"""
@@ -119,6 +111,7 @@ class LogConfigModel(QAbstractItemModel):
def get_config(self, i):
return self._nodes[i]
+
class PlotTab(Tab, plot_tab_class):
"""Tab for plotting logging data"""
@@ -127,7 +120,17 @@ class PlotTab(Tab, plot_tab_class):
_disconnected_signal = pyqtSignal(str)
_connected_signal = pyqtSignal(str)
- colors = ['g', 'b', 'm', 'r', 'y', 'c']
+ colors = [
+ (60, 200, 60), # green
+ (40, 100, 255), # blue
+ (255, 130, 240), # magenta
+ (255, 26, 28), # red
+ (255, 170, 0), # orange
+ (40, 180, 240), # cyan
+ (153, 153, 153), # grey
+ (176, 96, 50), # brown
+ (180, 60, 240), # purple
+ ]
def __init__(self, tabWidget, helper, *args):
super(PlotTab, self).__init__(*args)
@@ -174,7 +177,9 @@ class PlotTab(Tab, plot_tab_class):
def _disconnected(self, link_uri):
"""Callback for when the Crazyflie has been disconnected"""
+ self._model.beginResetModel()
self._model.reset()
+ self._model.endResetModel()
self.dataSelector.setCurrentIndex(-1)
self._previous_config = None
self._started_previous = False
@@ -204,7 +209,7 @@ class PlotTab(Tab, plot_tab_class):
# First check if we need to stop the old block
if self._started_previous and self._previous_config:
logger.debug("Should stop config [%s], stopping!",
- self._previous_config.name)
+ self._previous_config.name)
self._previous_config.delete()
# Remove our callback for the previous config
@@ -227,8 +232,8 @@ class PlotTab(Tab, plot_tab_class):
self._plot.set_title(lg.name)
for d in lg.variables:
- self._plot.add_curve(d.name,
- self.colors[color_selector % len(self.colors)])
+ self._plot.add_curve(d.name, self.colors[
+ color_selector % len(self.colors)])
color_selector += 1
lg.data_received_cb.add_callback(self._log_data_signal_wrapper)
lg.error_cb.add_callback(self._log_error_signal_wrapper)
@@ -242,8 +247,9 @@ class PlotTab(Tab, plot_tab_class):
def _logging_error(self, log_conf, msg):
"""Callback from the log layer when an error occurs"""
- QMessageBox.about(self, "Plot error", "Error when starting log config"
- " [%s]: %s" % (log_conf.name, msg))
+ QMessageBox.about(
+ self, "Plot error", "Error when starting log config [%s]: %s" % (
+ log_conf.name, msg))
def _log_data_received(self, timestamp, data, logconf):
"""Callback when the log layer receives new data"""
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/PlotTab.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/PlotTab.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/__init__.py
old mode 100755
new mode 100644
index e9bfba63..d07aa572
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/__init__.py
@@ -7,7 +7,7 @@
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
-# Copyright (C) 2011-2013 Bitcraze AB
+# Copyright (C) 2011-2017 Bitcraze AB
#
# Crazyflie Nano Quadcopter Client
#
@@ -20,38 +20,38 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Find all the available tabs so they can be loaded.
Dropping a new .py file into this directory will automatically list and load
it into the UI when it is started.
"""
+from .ConsoleTab import ConsoleTab
+# from .ExampleTab import ExampleTab
+from .FlightTab import FlightTab
+# from .GpsTab import GpsTab
+from .LEDTab import LEDTab
+from .LogBlockTab import LogBlockTab
+from .LogTab import LogTab
+from .ParamTab import ParamTab
+from .PlotTab import PlotTab
+from .locopositioning_tab import LocoPositioningTab
__author__ = 'Bitcraze AB'
__all__ = []
-import os
-import glob
-import logging
-
-logger = logging.getLogger(__name__)
-
-found_tabs = [os.path.splitext(os.path.basename(f))[0] for
- f in glob.glob(os.path.dirname(__file__) + "/[A-Za-z]*Tab.py")]
-if len(found_tabs) == 0:
- found_tabs = [os.path.splitext(os.path.basename(f))[0] for
- f in glob.glob(os.path.dirname(__file__) +
- "/[A-Za-z]*Tab.pyc")]
-
-logger.debug("Found tabs: %s", found_tabs)
-
-available = []
-
-for tab in found_tabs:
- tabModule = __import__(tab, globals(), locals(), [tab], -1)
- available.append(getattr(tabModule, tab))
+available = [
+ ConsoleTab,
+ # ExampleTab,
+ FlightTab,
+ # GpsTab,
+ LEDTab,
+ LogBlockTab,
+ LogTab,
+ ParamTab,
+ PlotTab,
+ LocoPositioningTab,
+]
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/__init__.pyc
deleted file mode 100755
index 229ceb2b231e511d54ef38e37ed32371bd1adde2..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 1101
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/consoleTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/consoleTab.ui
old mode 100755
new mode 100644
index 39f514a8..6011683b
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/consoleTab.ui
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/consoleTab.ui
@@ -13,12 +13,49 @@
<property name="windowTitle">
<string>Form</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout">
+ <layout class="QHBoxLayout" name="horizontalLayout">
<item>
- <layout class="QGridLayout" name="gridLayout">
- <item row="0" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
<widget class="QTextEdit" name="console"/>
</item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QPushButton" name="_clearButton">
+ <property name="text">
+ <string>Clear</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="_dumpSystemLoadButton">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Task dump</string>
+ </property>
+ <property name="checkable">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
</layout>
</item>
</layout>
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/exampleTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/exampleTab.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/flightTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/flightTab.ui
old mode 100755
new mode 100644
index 5653fb73..28e4ae86
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/flightTab.ui
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/flightTab.ui
@@ -34,7 +34,7 @@
</property>
<property name="minimumSize">
<size>
- <width>320</width>
+ <width>160</width>
<height>0</height>
</size>
</property>
@@ -54,16 +54,10 @@
<widget class="QComboBox" name="flightModeCombo">
<property name="minimumSize">
<size>
- <width>150</width>
+ <width>0</width>
<height>0</height>
</size>
</property>
- <property name="maximumSize">
- <size>
- <width>150</width>
- <height>16777215</height>
- </size>
- </property>
<property name="toolTip">
<string><html><head/><body><p>Select what flightmode to use:</p><p> * Safe prevents crashing</p><p> * Crazy does not prevent crashing :)</p></body></html></string>
</property>
@@ -104,23 +98,23 @@
<item row="2" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
- <string>Thrust mode</string>
+ <string>Assist mode</string>
</property>
</widget>
</item>
<item row="2" column="1">
- <widget class="QComboBox" name="thrustModeCombo">
+ <widget class="QComboBox" name="_assist_mode_combo">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<item>
<property name="text">
- <string>Linear</string>
+ <string>Altitude hold</string>
</property>
</item>
<item>
<property name="text">
- <string>Quadratic</string>
+ <string>Position hold</string>
</property>
</item>
</widget>
@@ -236,7 +230,7 @@
</property>
<property name="minimumSize">
<size>
- <width>320</width>
+ <width>160</width>
<height>0</height>
</size>
</property>
@@ -347,7 +341,7 @@
<widget class="QGroupBox" name="groupBox_4">
<property name="minimumSize">
<size>
- <width>320</width>
+ <width>160</width>
<height>0</height>
</size>
</property>
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/gpsTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/gpsTab.ui
old mode 100755
new mode 100644
index da2c503d..d9af9747
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/gpsTab.ui
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/gpsTab.ui
@@ -30,18 +30,29 @@
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
- <item row="0" column="5">
- <widget class="QLabel" name="label_6">
+ <item row="2" column="2">
+ <widget class="QLabel" name="label_7">
<property name="text">
- <string>Accuracy</string>
+ <string>Fix Type</string>
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLineEdit" name="_lat">
- <property name="enabled">
+ <item row="0" column="3">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Ground speed</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="4">
+ <widget class="QLineEdit" name="_height">
+ <property name="readOnly">
<bool>true</bool>
</property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="QLineEdit" name="_speed">
<property name="readOnly">
<bool>true</bool>
</property>
@@ -54,46 +65,42 @@
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Long</string>
+ <item row="1" column="0">
+ <widget class="QLineEdit" name="_lat">
+ <property name="enabled">
+ <bool>true</bool>
</property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLineEdit" name="_speed_max">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
- <item row="1" column="5">
- <widget class="QLineEdit" name="_accuracy"/>
- </item>
- <item row="2" column="2">
- <widget class="QLineEdit" name="_fix_type">
- <property name="readOnly">
- <bool>true</bool>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Long</string>
</property>
</widget>
</item>
- <item row="0" column="3">
- <widget class="QLabel" name="label_4">
+ <item row="0" column="5">
+ <widget class="QLabel" name="label_6">
<property name="text">
- <string>Ground speed</string>
+ <string>Accuracy</string>
</property>
</widget>
</item>
- <item row="1" column="4">
- <widget class="QLineEdit" name="_height">
+ <item row="1" column="5">
+ <widget class="QLineEdit" name="_accuracy"/>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLineEdit" name="_speed_max">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
- <item row="1" column="3">
- <widget class="QLineEdit" name="_speed">
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="_fix_type">
<property name="readOnly">
<bool>true</bool>
</property>
@@ -127,13 +134,30 @@
</property>
</widget>
</item>
- <item row="2" column="1">
+ <item row="3" column="1">
<widget class="QPushButton" name="_reset_max_btn">
<property name="text">
<string>Reset all</string>
</property>
</widget>
</item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>Max speed</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="3">
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>Locked sats</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="3">
+ <widget class="QLineEdit" name="_nbr_locked_sats"/>
+ </item>
</layout>
</item>
<item>
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ledTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/ledTab.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/locopositioning_tab.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/locopositioning_tab.py
new file mode 100644
index 00000000..b5885f27
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/locopositioning_tab.py
@@ -0,0 +1,671 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
+# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+#
+# Copyright (C) 2011-2017 Bitcraze AB
+#
+# Crazyflie Nano Quadcopter Client
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+
+"""
+Shows data for the Loco Positioning system
+"""
+
+import logging
+from enum import Enum
+from collections import namedtuple
+
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal, QTimer
+from PyQt5.QtGui import QFont
+from PyQt5.QtGui import QMessageBox
+
+import cfclient
+from cfclient.ui.tab import Tab
+
+from cflib.crazyflie.log import LogConfig
+from cflib.crazyflie.mem import MemoryElement
+from lpslib.lopoanchor import LoPoAnchor
+
+import copy
+import sys
+
+__author__ = 'Bitcraze AB'
+__all__ = ['LocoPositioningTab']
+
+logger = logging.getLogger(__name__)
+
+locopositioning_tab_class = uic.loadUiType(
+ cfclient.module_path + "/ui/tabs/locopositioning_tab.ui")[0]
+
+# Try the imports for PyQtGraph to see if it is installed
+try:
+ import pyqtgraph as pg
+ from pyqtgraph import ViewBox # noqa
+ import pyqtgraph.console # noqa
+ import numpy as np # noqa
+
+ _pyqtgraph_found = True
+except Exception:
+ import traceback
+
+ logger.warning("PyQtGraph (or dependency) failed to import:\n%s",
+ traceback.format_exc())
+ _pyqtgraph_found = False
+
+
+class Anchor:
+ def __init__(self, x=0.0, y=0.0, z=0.0, distance=0.0):
+ self.x = x
+ self.y = y
+ self.z = z
+ self.distance = distance
+
+ def set_position(self, position):
+ """Sets the position."""
+ self.x = position[0]
+ self.y = position[1]
+ self.z = position[2]
+
+ def get_position(self):
+ """Returns the position as a vector"""
+ return (self.x, self.y, self.z)
+
+
+class AxisScaleStep:
+ def __init__(self, from_view, from_axis, to_view, to_axis,
+ center_only=False):
+ self.from_view = from_view.view
+ self.from_axis = from_axis
+ self.to_view = to_view.view
+ self.to_axis = to_axis
+ self.center_only = center_only
+
+
+class PlotWrapper:
+ XAxis = 0
+ YAxis = 1
+ _refs = []
+ _change_lock = False
+
+ axis_dict = {'x': 0, 'y': 1, 'z': 2}
+
+ ANCHOR_BRUSH = (60, 60, 60)
+ HIGHLIGHT_ANCHOR_BRUSH = (0, 255, 0)
+ POSITION_BRUSH = (0, 0, 255)
+
+ VICINITY_DISTANCE = 2.5
+ HIGHLIGHT_DISTANCE = 0.5
+
+ LABEL_SIZE = 15
+ LABEL_HIGHLIGHT_SIZE = 30
+
+ ANCHOR_SIZE = 10
+ HIGHLIGHT_SIZE = 20
+
+ def __init__(self, title, horizontal, vertical):
+ self._horizontal = horizontal
+ self._vertical = vertical
+ self._depth = self._find_missing_axis(horizontal, vertical)
+ self._title = title
+ self.widget = pg.PlotWidget(title=title, enableMenu=False)
+ self.widget.getPlotItem().hideButtons()
+ self._axis_scale_steps = []
+
+ self.widget.setLabel('left', self._vertical, units='m')
+ self.widget.setLabel('bottom', self._horizontal, units='m')
+
+ self.widget.setAspectLocked(True, 1)
+ self.widget.getViewBox().sigRangeChanged.connect(self._view_changed)
+ self.view = self.widget.getViewBox()
+
+ def update(self, anchors, pos, display_mode):
+ self.widget.clear()
+
+ # Sort anchors in depth order to add the one closes last
+ for (i, anchor) in sorted(
+ anchors.items(),
+ key=lambda item: getattr(item[1], self._depth), reverse=True):
+ anchor_v = getattr(anchor, self._horizontal)
+ anchor_h = getattr(anchor, self._vertical)
+ self._plot_anchor(anchor_v, anchor_h, i, anchor.distance,
+ display_mode)
+
+ if display_mode is DisplayMode.estimated_position:
+ cf_h = pos[PlotWrapper.axis_dict[self._horizontal]]
+ cf_v = pos[PlotWrapper.axis_dict[self._vertical]]
+ self.widget.plot([cf_h], [cf_v], pen=None,
+ symbolBrush=PlotWrapper.POSITION_BRUSH)
+
+ def _find_missing_axis(self, axis1, axis2):
+ all = set(self.axis_dict.keys())
+ all.remove(axis1)
+ all.remove(axis2)
+
+ return list(all)[0]
+
+ def _plot_anchor(self, x, y, anchor_id, distance, display_mode):
+ brush = PlotWrapper.ANCHOR_BRUSH
+ size = PlotWrapper.ANCHOR_SIZE
+ font_size = self.LABEL_SIZE
+ if display_mode is DisplayMode.identify_anchor:
+ if distance < PlotWrapper.VICINITY_DISTANCE:
+ brush = self._mix_brushes(
+ brush,
+ PlotWrapper.HIGHLIGHT_ANCHOR_BRUSH,
+ distance / PlotWrapper.VICINITY_DISTANCE)
+
+ if distance < PlotWrapper.HIGHLIGHT_DISTANCE:
+ brush = PlotWrapper.HIGHLIGHT_ANCHOR_BRUSH
+ size = PlotWrapper.HIGHLIGHT_SIZE
+ font_size = self.LABEL_HIGHLIGHT_SIZE
+
+ self.widget.plot([x], [y], pen=None, symbolBrush=brush,
+ symbolSize=size)
+
+ text = pg.TextItem(text="{}".format(anchor_id))
+ font = QFont("Helvetica", font_size)
+ text.setFont(font)
+ self.widget.addItem(text)
+ text.setPos(x, y)
+
+ def _mix_brushes(self, brush1, brush2, mix):
+ if mix < 0.0:
+ return brush1
+ if mix > 1.0:
+ return brush2
+
+ b1 = mix
+ b2 = 1.0 - mix
+ return (
+ brush1[0] * b1 + brush2[0] * b2,
+ brush1[1] * b1 + brush2[1] * b2,
+ brush1[2] * b1 + brush2[2] * b2,
+ )
+
+ def _view_changed(self, view, settings):
+ # Ignore all callbacks until this change is processed
+ if PlotWrapper._change_lock:
+ return
+ PlotWrapper._change_lock = True
+
+ for step in self._axis_scale_steps:
+ range = step.from_view.viewRange()[step.from_axis]
+ new_range = range
+
+ if step.center_only:
+ center = (range[0] + range[1]) / 2
+ current_range = step.to_view.viewRange()[step.to_axis]
+ current_center = (current_range[0] + current_range[1]) / 2
+ delta = center - current_center
+ new_range = [current_range[0] + delta,
+ current_range[1] + delta]
+
+ if step.to_axis is PlotWrapper.XAxis:
+ step.to_view.setRange(xRange=new_range, padding=0.0,
+ update=True)
+ else:
+ step.to_view.setRange(yRange=new_range, padding=0.0,
+ update=True)
+
+ PlotWrapper._change_lock = False
+
+ def set_scale_steps(self, steps):
+ self._axis_scale_steps = steps
+
+
+class DisplayMode(Enum):
+ identify_anchor = 1
+ estimated_position = 2
+
+
+Range = namedtuple('Range', ['min', 'max'])
+
+
+class AnchorPosWrapper():
+ """Wraps the UI elements of one anchor position"""
+ def __init__(self, x, y, z):
+ self._x = x
+ self._y = y
+ self._z = z
+
+ def get_position(self):
+ """Get the position from the UI elements"""
+ return (self._x.value(), self._y.value(), self._z.value())
+
+ def set_position(self, position):
+ """Set the position in the UI elements"""
+ self._x.setValue(position[0])
+ self._y.setValue(position[1])
+ self._z.setValue(position[2])
+
+ def enable(self, enabled):
+ """Enable/disable all UI elements for the position"""
+ self._x.setEnabled(enabled)
+ self._y.setEnabled(enabled)
+ self._z.setEnabled(enabled)
+
+
+class LocoPositioningTab(Tab, locopositioning_tab_class):
+ """Tab for plotting Loco Positioning data"""
+
+ # Update period of log data in ms
+ UPDATE_PERIOD_LOG = 100
+
+ # Update period of anchor position data
+ UPDATE_PERIOD_ANCHOR_POS = 5000
+
+ # Frame rate (updates per second)
+ FPS = 2
+
+ _connected_signal = pyqtSignal(str)
+ _disconnected_signal = pyqtSignal(str)
+ _log_error_signal = pyqtSignal(object, str)
+ _anchor_range_signal = pyqtSignal(int, object, object)
+ _position_signal = pyqtSignal(int, object, object)
+ _anchor_position_signal = pyqtSignal(object)
+
+ def __init__(self, tabWidget, helper, *args):
+ super(LocoPositioningTab, self).__init__(*args)
+ self.setupUi(self)
+
+ self.tabName = "Loco Positioning"
+ self.menuName = "Loco Positioning Tab"
+ self.tabWidget = tabWidget
+
+ self._helper = helper
+
+ self._anchors = {}
+ self._position = []
+ self._clear_state()
+ self._refs = []
+
+ self._display_mode = DisplayMode.estimated_position
+
+ # Always wrap callbacks from Crazyflie API though QT Signal/Slots
+ # to avoid manipulating the UI when rendering it
+ self._connected_signal.connect(self._connected)
+ self._disconnected_signal.connect(self._disconnected)
+ self._anchor_range_signal.connect(self._anchor_range_received)
+ self._position_signal.connect(self._position_received)
+ self._anchor_position_signal.connect(self._anchor_positions_updated)
+
+ self._id_anchor_button.clicked.connect(
+ lambda enabled:
+ self._set_display_mode(DisplayMode.identify_anchor)
+ )
+
+ self._estimated_postion_button.clicked.connect(
+ lambda enabled:
+ self._set_display_mode(DisplayMode.estimated_position)
+ )
+
+ self._anchor_pos_ui = {}
+ for anchor_nr in range(0, 8):
+ self._register_anchor_pos_ui(anchor_nr)
+
+ self._write_pos_to_anhors_button.clicked.connect(
+ lambda enabled:
+ self._write_positions_to_anchors()
+ )
+
+ self._read_pos_from_anhors_button.clicked.connect(
+ lambda enabled:
+ self._read_positions_from_anchors()
+ )
+
+ self._show_all_button.clicked.connect(self._scale_and_center_graphs)
+
+ # Connect the Crazyflie API callbacks to the signals
+ self._helper.cf.connected.add_callback(
+ self._connected_signal.emit)
+
+ self._helper.cf.disconnected.add_callback(
+ self._disconnected_signal.emit)
+
+ self._set_up_plots()
+
+ self._graph_timer = QTimer()
+ self._graph_timer.setInterval(1000 / self.FPS)
+ self._graph_timer.timeout.connect(self._update_graphics)
+ self._graph_timer.start()
+
+ self._anchor_pos_timer = QTimer()
+ self._anchor_pos_timer.setInterval(self.UPDATE_PERIOD_ANCHOR_POS)
+ self._anchor_pos_timer.timeout.connect(self._poll_anchor_positions)
+
+ def _register_anchor_pos_ui(self, nr):
+ x_spin = getattr(self, 'spin_a{}x'.format(nr))
+ y_spin = getattr(self, 'spin_a{}y'.format(nr))
+ z_spin = getattr(self, 'spin_a{}z'.format(nr))
+ self._anchor_pos_ui[nr] = AnchorPosWrapper(x_spin, y_spin, z_spin)
+
+ def _write_positions_to_anchors(self):
+ lopo = LoPoAnchor(self._helper.cf)
+
+ for id, anchor_pos in self._anchor_pos_ui.items():
+ if id in self._anchors:
+ position = anchor_pos.get_position()
+ lopo.set_position(id, position)
+
+ def _read_positions_from_anchors(self):
+ for id, anchor_pos in self._anchor_pos_ui.items():
+ position = (0.0, 0.0, 0.0)
+ if id in self._anchors:
+ position = self._anchors[id].get_position()
+
+ anchor_pos.set_position(position)
+
+ def _enable_anchor_pos_ui(self):
+ for id, anchor_pos in self._anchor_pos_ui.items():
+ exists = id in self._anchors
+ anchor_pos.enable(exists)
+
+ def _set_up_plots(self):
+ self._plot_xy = PlotWrapper("Top view (X/Y)", "x", "y")
+ self._plot_top_left_layout.addWidget(self._plot_xy.widget)
+ self._plot_xz = PlotWrapper("Front view (X/Z)", "x", "z")
+ self._plot_bottom_left_layout.addWidget(self._plot_xz.widget)
+ self._plot_yz = PlotWrapper("Right view (Y/Z)", "y", "z")
+ self._plot_bottom_right_layout.addWidget(self._plot_yz.widget)
+ self._plot_xy.set_scale_steps([
+ AxisScaleStep(self._plot_xy, PlotWrapper.XAxis,
+ self._plot_xz, PlotWrapper.XAxis),
+ AxisScaleStep(self._plot_xz, PlotWrapper.YAxis,
+ self._plot_yz, PlotWrapper.YAxis),
+ AxisScaleStep(self._plot_xy, PlotWrapper.YAxis,
+ self._plot_yz, PlotWrapper.XAxis, center_only=True)
+ ])
+ self._plot_xz.set_scale_steps([
+ AxisScaleStep(self._plot_xz, PlotWrapper.XAxis,
+ self._plot_xy, PlotWrapper.XAxis),
+ AxisScaleStep(self._plot_xz, PlotWrapper.YAxis,
+ self._plot_yz, PlotWrapper.YAxis),
+ AxisScaleStep(self._plot_xy, PlotWrapper.YAxis,
+ self._plot_yz, PlotWrapper.XAxis, center_only=True)
+ ])
+ self._plot_yz.set_scale_steps([
+ AxisScaleStep(self._plot_yz, PlotWrapper.YAxis,
+ self._plot_xz, PlotWrapper.YAxis),
+ AxisScaleStep(self._plot_xz, PlotWrapper.XAxis,
+ self._plot_xy, PlotWrapper.XAxis),
+ AxisScaleStep(self._plot_yz, PlotWrapper.XAxis,
+ self._plot_xy, PlotWrapper.YAxis, center_only=True)
+ ])
+
+ self._plot_xy.view.setRange(xRange=(0.0, 5.0))
+
+ def _set_display_mode(self, display_mode):
+ self._display_mode = display_mode
+
+ def _clear_state(self):
+ self._anchors = {}
+ self._position = [0.0, 0.0, 0.0]
+
+ def _scale_and_center_graphs(self):
+ start_bounds = Range(sys.float_info.max, -sys.float_info.max)
+ bounds = {"x": start_bounds, "y": start_bounds,
+ "z": start_bounds}
+ for a in self._anchors.values():
+ bounds = self._find_min_max_data_range(bounds, [a.x, a.y, a.z])
+ bounds = self._find_min_max_data_range(bounds, self._position)
+
+ bounds = self._pad_bounds(bounds)
+ self._center_all_data_in_graphs(bounds)
+ self._rescale_to_fit_data(bounds)
+
+ def _rescale_to_fit_data(self, bounds):
+ [[xy_xmin, xy_xmax],
+ [xy_ymin, xy_ymax]] = self._plot_xy.view.viewRange()
+ [[yz_xmin, yz_xmax],
+ [yz_ymin, yz_ymax]] = self._plot_yz.view.viewRange()
+ if not self._is_data_visibile(bounds, self._position):
+ if self._will_new_range_zoom_in(Range(xy_xmin, xy_xmax),
+ bounds["x"]):
+ self._plot_xy.view.setRange(xRange=bounds["x"],
+ padding=0.0, update=True)
+
+ if not self._is_data_visibile(bounds, self._position):
+ if self._will_new_range_zoom_in(Range(xy_ymin, xy_ymax),
+ bounds["y"]):
+ self._plot_xy.view.setRange(yRange=bounds["y"],
+ padding=0.0, update=True)
+
+ if not self._is_data_visibile(bounds, self._position):
+ if self._will_new_range_zoom_in(Range(yz_xmin, yz_xmax),
+ bounds["y"]):
+ self._plot_yz.view.setRange(yRange=bounds["y"],
+ padding=0.0, update=True)
+
+ if not self._is_data_visibile(bounds, self._position):
+ if self._will_new_range_zoom_in(Range(yz_ymin, yz_ymax),
+ bounds["z"]):
+ self._plot_yz.view.setRange(yRange=bounds["z"], padding=0.0,
+ update=True)
+
+ def _pad_bounds(self, ranges):
+ new_ranges = ranges
+
+ new_ranges["x"] = Range(new_ranges["x"].min - 1.0,
+ new_ranges["x"].max + 1.0)
+
+ new_ranges["y"] = Range(new_ranges["y"].min - 1.0,
+ new_ranges["y"].max + 1.0)
+
+ new_ranges["z"] = Range(new_ranges["z"].min - 1.0,
+ new_ranges["z"].max + 1.0)
+
+ return new_ranges
+
+ def _center_all_data_in_graphs(self, ranges):
+ # Will center data in graphs without taking care of scaling
+ self._plot_xy.view.setRange(xRange=ranges["x"], yRange=ranges["y"],
+ padding=0.0, update=True)
+ self._plot_yz.view.setRange(yRange=ranges["z"], padding=0.0,
+ update=True)
+
+ def _will_new_range_zoom_in(self, old_range, new_range):
+ return old_range.min > new_range.min
+
+ def _is_data_visibile(self, ranges, point):
+ [[xy_xmin, xy_xmax],
+ [xy_ymin, xy_ymax]] = self._plot_xy.view.viewRange()
+ [[yz_xmin, yz_xmax],
+ [yz_ymin, yz_ymax]] = self._plot_yz.view.viewRange()
+ [[xz_xmin, xz_xmax],
+ [xz_ymin, xz_ymax]] = self._plot_xz.view.viewRange()
+
+ allVisible = True
+
+ if ranges["x"].min < xy_xmin or ranges["x"].max > xy_xmax:
+ allVisible = False
+
+ if ranges["z"].min < yz_ymin or ranges["z"].max > yz_ymax:
+ allVisible = False
+
+ if ranges["y"].min < yz_xmin or ranges["y"].max > yz_xmax:
+ allVisible = False
+
+ if ranges["y"].min < xy_ymin or ranges["y"].max > xy_ymax:
+ allVisible = False
+
+ return allVisible
+
+ def _find_min_max_data_range(self, ranges, point):
+ result = ranges
+
+ result["x"] = Range(min(ranges["x"].min, point[0]),
+ max(ranges["x"].max, point[0]))
+
+ result["y"] = Range(min(ranges["y"].min, point[1]),
+ max(ranges["y"].max, point[1]))
+
+ result["z"] = Range(min(ranges["z"].min, point[2]),
+ max(ranges["z"].max, point[2]))
+
+ return result
+
+ def _connected(self, link_uri):
+ """Callback when the Crazyflie has been connected"""
+ logger.debug("Crazyflie connected to {}".format(link_uri))
+
+ self._clear_state()
+
+ try:
+ self._register_logblock(
+ "LoPoTab0",
+ [
+ ("ranging", "distance0", "float"),
+ ("ranging", "distance1", "float"),
+ ("ranging", "distance2", "float"),
+ ("ranging", "distance3", "float"),
+ ],
+ self._anchor_range_signal.emit,
+ self._log_error_signal.emit)
+
+ self._register_logblock(
+ "LoPoTab1",
+ [
+ ("ranging", "distance4", "float"),
+ ("ranging", "distance5", "float"),
+ ("ranging", "distance6", "float"),
+ ("ranging", "distance7", "float"),
+ ],
+ self._anchor_range_signal.emit,
+ self._log_error_signal.emit),
+
+ self._register_logblock(
+ "LoPoTab2",
+ [
+ ("kalman", "stateX", "float"),
+ ("kalman", "stateY", "float"),
+ ("kalman", "stateZ", "float"),
+ ],
+ self._position_signal.emit,
+ self._log_error_signal.emit),
+ except KeyError as e:
+ logger.warning(str(e))
+ except AttributeError as e:
+ logger.warning(str(e))
+
+ self._start_polling_anchor_pos(self._helper.cf)
+
+ def _disconnected(self, link_uri):
+ """Callback for when the Crazyflie has been disconnected"""
+ logger.debug("Crazyflie disconnected from {}".format(link_uri))
+ self._stop_polling_anchor_pos()
+
+ def _register_logblock(self, logblock_name, variables, data_cb, error_cb):
+ """Register log data to listen for. One logblock can contain a limited
+ number of parameters (6 for floats)."""
+ lg = LogConfig(logblock_name, self.UPDATE_PERIOD_LOG)
+ for variable in variables:
+ if self._is_in_toc(variable):
+ lg.add_variable('{}.{}'.format(variable[0], variable[1]),
+ variable[2])
+
+ self._helper.cf.log.add_config(lg)
+ lg.data_received_cb.add_callback(data_cb)
+ lg.error_cb.add_callback(error_cb)
+ lg.start()
+ return lg
+
+ def _is_in_toc(self, variable):
+ toc = self._helper.cf.log.toc
+ group = variable[0]
+ param = variable[1]
+ return group in toc.toc and param in toc.toc[group]
+
+ def _anchor_range_received(self, timestamp, data, logconf):
+ """Callback from the logging system when a range is updated."""
+ for name, value in data.items():
+ valid, anchor_number = self._parse_range_param_name(name)
+ if valid:
+ self._get_anchor(anchor_number).distance = float(value)
+
+ def _position_received(self, timestamp, data, logconf):
+ """Callback from the logging system when the position is updated."""
+ for name, value in data.items():
+ valid, axis = self._parse_position_param_name(name)
+ if valid:
+ self._position[axis] = float(value)
+
+ def _logging_error(self, log_conf, msg):
+ """Callback from the log layer when an error occurs"""
+ QMessageBox.about(self, "LocoPositioningTab error",
+ "Error when using log config",
+ " [{0}]: {1}".format(log_conf.name, msg))
+
+ def _start_polling_anchor_pos(self, crazyflie):
+ """Set up a timer to poll anchor positions from the memory sub
+ system"""
+ self._anchor_pos_timer.start()
+
+ def _stop_polling_anchor_pos(self):
+ self._anchor_pos_timer.stop()
+
+ def _poll_anchor_positions(self):
+ mems = self._helper.cf.mem.get_mems(MemoryElement.TYPE_LOCO)
+ if len(mems) > 0:
+ mems[0].update(self._anchor_position_signal.emit)
+
+ def _anchor_positions_updated(self, mem):
+ """Callback from the memory sub system when the anchor positions
+ are updated"""
+ for anchor_number, anchor_data in enumerate(mem.anchor_data):
+ if anchor_data.is_valid:
+ anchor = self._get_anchor(anchor_number)
+ anchor.set_position(anchor_data.position)
+
+ def _parse_range_param_name(self, name):
+ """Parse a parameter name for a ranging distance and return the number
+ of the anchor. The name is on the format 'ranging.distance4' """
+ valid = False
+ anchor = 0
+ if name.startswith('ranging.distance'):
+ anchor = int(name[-1])
+ valid = True
+ return (valid, anchor)
+
+ def _parse_position_param_name(self, name):
+ """Parse a parameter name for a position and return the
+ axis (0=x, 1=y, 2=z).
+ The param name is on the format 'kalman.stateY' """
+ valid = False
+ axis = 0
+ if name.startswith('kalman.state'):
+ axis = {'X': 0, 'Y': 1, 'Z': 2}[name[-1]]
+ valid = True
+ return (valid, axis)
+
+ def _get_anchor(self, anchor_number):
+ if anchor_number not in self._anchors:
+ self._anchors[anchor_number] = Anchor()
+ return self._anchors[anchor_number]
+
+ def _update_graphics(self):
+ if self.is_visible():
+ anchors = copy.deepcopy(self._anchors)
+ self._plot_yz.update(anchors, self._position, self._display_mode)
+ self._plot_xy.update(anchors, self._position, self._display_mode)
+ self._plot_xz.update(anchors, self._position, self._display_mode)
+ self._enable_anchor_pos_ui()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/locopositioning_tab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/locopositioning_tab.ui
new file mode 100644
index 00000000..9c9fe234
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/locopositioning_tab.ui
@@ -0,0 +1,338 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>850</width>
+ <height>595</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Plot</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <layout class="QGridLayout" name="gridLayout" rowstretch="0,0" columnstretch="0,0">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <item row="1" column="0">
+ <layout class="QVBoxLayout" name="_plot_bottom_left_layout"/>
+ </item>
+ <item row="0" column="0">
+ <layout class="QVBoxLayout" name="_plot_top_left_layout"/>
+ </item>
+ <item row="0" column="1">
+ <layout class="QVBoxLayout" name="_inputLayout">
+ <item>
+ <widget class="QGroupBox" name="groupBox_2">
+ <property name="title">
+ <string>Mode</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <widget class="QRadioButton" name="_estimated_postion_button">
+ <property name="text">
+ <string>Position estimate</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="_id_anchor_button">
+ <property name="text">
+ <string>Anchor identification</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>13</height>
+ </size>
+ </property>
+ <property name="title">
+ <string>Anchor Positions</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <layout class="QHBoxLayout" name="anchor_block_0">
+ <item>
+ <layout class="QHBoxLayout" name="block_a0">
+ <item>
+ <widget class="QLabel" name="labela0">
+ <property name="text">
+ <string>Anchor 0</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a0x"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a0y"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a0z"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="block_a1">
+ <item>
+ <widget class="QLabel" name="labela1">
+ <property name="text">
+ <string>Anchor 1</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a1x"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a1y"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a1z"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="anchor_block_1">
+ <item>
+ <layout class="QHBoxLayout" name="block_a2">
+ <item>
+ <widget class="QLabel" name="labela2">
+ <property name="text">
+ <string>Anchor 2</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a2x"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a2y"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a2z"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="block_a3">
+ <item>
+ <widget class="QLabel" name="labela3">
+ <property name="text">
+ <string>Anchor 3</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a3x"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a3y"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a3z"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="anchor_block_2">
+ <item>
+ <layout class="QHBoxLayout" name="block_a4">
+ <item>
+ <widget class="QLabel" name="labela4">
+ <property name="text">
+ <string>Anchor 4</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a4x"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a4y"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a4z"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="block_a5">
+ <item>
+ <widget class="QLabel" name="labela5">
+ <property name="text">
+ <string>Anchor 5</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a5x"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a5y"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a5z"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="anchor_block_3">
+ <item>
+ <layout class="QHBoxLayout" name="block_a6">
+ <item>
+ <widget class="QLabel" name="labela6">
+ <property name="text">
+ <string>Anchor 6</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a6x"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a6y"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a6z"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="block_a7">
+ <item>
+ <widget class="QLabel" name="labela7">
+ <property name="text">
+ <string>Anchor 7</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a7x"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a7y"/>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="spin_a7z"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="_read_pos_from_anhors_button">
+ <property name="text">
+ <string>Get from anchors</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="_write_pos_to_anhors_button">
+ <property name="text">
+ <string>Write to anchors</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_3">
+ <property name="title">
+ <string>Graph settings</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_5">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <item>
+ <widget class="QPushButton" name="_show_all_button">
+ <property name="text">
+ <string>Show all</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="1">
+ <layout class="QVBoxLayout" name="_plot_bottom_right_layout"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/logBlockDebugTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/logBlockDebugTab.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/logBlockTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/logBlockTab.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/logTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/logTab.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/paramTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/paramTab.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/plotTab.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/tabs/plotTab.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/ConsoleToolbox.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/ConsoleToolbox.py
old mode 100755
new mode 100644
index 79c8f010..7dae68fa
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/ConsoleToolbox.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/ConsoleToolbox.py
@@ -1,8 +1,8 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
@@ -15,51 +15,55 @@
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
-#
+#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
A detachable toolbox for showing console printouts from the Crazyflie
"""
+from PyQt5 import QtWidgets
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtCore import Qt
+
+import cfclient
__author__ = 'Bitcraze AB'
__all__ = ['ConsoleToolbox']
-import sys, time
+console_class = uic.loadUiType(
+ cfclient.module_path + "/ui/toolboxes/consoleToolbox.ui")[0]
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal
-
-console_class = uic.loadUiType(sys.path[0] + "/cfclient/ui/toolboxes/consoleToolbox.ui")[0]
-class ConsoleToolbox(QtGui.QWidget, console_class):
+class ConsoleToolbox(QtWidgets.QWidget, console_class):
"""Console toolbox for showing printouts from the Crazyflie"""
update = pyqtSignal(str)
def __init__(self, helper, *args):
super(ConsoleToolbox, self).__init__(*args)
self.setupUi(self)
-
+
self.update.connect(self.console.insertPlainText)
-
+
self.helper = helper
def getName(self):
return 'Console'
-
+
+ def _console_updated(self, data):
+ self.update.emit(data)
+
def enable(self):
- self.helper.cf.console.receivedChar.add_callback(self.update.emit)
-
+ self.helper.cf.console.receivedChar.add_callback(self._console_updated)
+
def disable(self):
- self.helper.cf.console.receivedChar.remove_callback(self.update.emit)
-
+ self.helper.cf.console.receivedChar.remove_callback(
+ self._console_updated)
+
def preferedDockArea(self):
return Qt.BottomDockWidgetArea
-
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/ConsoleToolbox.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/ConsoleToolbox.pyc
deleted file mode 100755
index 0635198045bcde4805aa3c02761f9db148a5ce56..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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F|95dnMO**?
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/CrtpSharkToolbox.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/CrtpSharkToolbox.py
old mode 100755
new mode 100644
index 37476512..718aa7bf
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/CrtpSharkToolbox.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/CrtpSharkToolbox.py
@@ -1,8 +1,8 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
@@ -15,49 +15,53 @@
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
-#
+#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
-Toolbox for showing packets that is sent via the communication link when debugging.
+Toolbox for showing packets that is sent via the communication link when
+debugging.
"""
+import os
+from time import time
+from binascii import hexlify
-__author__ = 'Bitcraze AB'
-__all__ = ['CrtpSharkBoolbox']
+from PyQt5 import QtWidgets
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtCore import pyqtSlot
+from PyQt5.QtCore import Qt
-import sys, time
-import os
+import cfclient
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
-from time import time
+__author__ = 'Bitcraze AB'
+__all__ = ['CrtpSharkToolbox']
+
+param_tab_class = uic.loadUiType(
+ cfclient.module_path + "/ui/toolboxes/crtpSharkToolbox.ui")[0]
-param_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/toolboxes/crtpSharkToolbox.ui")[0]
-class CrtpSharkToolbox(QtGui.QWidget, param_tab_class):
+class CrtpSharkToolbox(QtWidgets.QWidget, param_tab_class):
"""Show packets that is sent vie the communication link"""
nameModified = pyqtSignal()
_incoming_packet_signal = pyqtSignal(object)
_outgoing_packet_signal = pyqtSignal(object)
-
+
def __init__(self, helper, *args):
super(CrtpSharkToolbox, self).__init__(*args)
self.setupUi(self)
self.helper = helper
-
- #Init the tree widget
+
+ # Init the tree widget
self.logTree.setHeaderLabels(['ms', 'Direction', 'Port/Chan', 'Data'])
-
- #Connect GUI signals
+
+ # Connect GUI signals
self.clearButton.clicked.connect(self.clearLog)
self.saveButton.clicked.connect(self._save_data)
@@ -68,50 +72,58 @@ class CrtpSharkToolbox(QtGui.QWidget, param_tab_class):
self._data = []
def _packet(self, dir, pk):
- if self.masterCheck.isChecked():
- line = QtGui.QTreeWidgetItem()
+ if self.masterCheck.isChecked() and \
+ not (pk.port == 15 and pk.channel == 3):
+ line = QtWidgets.QTreeWidgetItem()
- ms_diff = int(round(time()*1000))-self._ms_offset
+ ms_diff = int(round(time() * 1000)) - self._ms_offset
line.setData(0, Qt.DisplayRole, "%d" % ms_diff)
line.setData(1, Qt.DisplayRole, "%s" % dir)
line.setData(2, Qt.DisplayRole, "%d/%d" % (pk.port, pk.channel))
- line.setData(3, Qt.DisplayRole, pk.datal.__str__())
+
+ line.setData(3, Qt.DisplayRole, hexlify(pk.data).decode('utf8'))
s = "%d, %s, %d/%d, %s" % (ms_diff, dir, pk.port, pk.channel,
- pk.datal.__str__())
+ hexlify(pk.data).decode('utf8'))
self._data.append(s)
self.logTree.addTopLevelItem(line)
self.logTree.scrollToItem(line)
-
+
@pyqtSlot()
def clearLog(self):
self.logTree.clear()
self._data = []
-
+
def getName(self):
return 'Crtp sniffer'
-
+
def getTabName(self):
return 'Crtp sniffer'
-
+
+ def _incoming_packet(self, pk):
+ self._incoming_packet_signal.emit(pk)
+
+ def _outgoing_packet(self, pk):
+ self._outgoing_packet_signal.emit(pk)
+
def enable(self):
self.helper.cf.packet_received.add_callback(
- self._incoming_packet_signal.emit)
+ self._incoming_packet)
self.helper.cf.packet_sent.add_callback(
- self._outgoing_packet_signal.emit)
+ self._outgoing_packet)
def disable(self):
self.helper.cf.packet_received.remove_callback(
- self._incoming_packet_signal.emit)
+ self._incoming_packet)
self.helper.cf.packet_sent.remove_callback(
- self._outgoing_packet_signal.emit)
+ self._outgoing_packet)
def preferedDockArea(self):
return Qt.RightDockWidgetArea
def _save_data(self):
- dir = os.path.join(sys.path[1], "logdata")
+ dir = os.path.join(cfclient.config_path, "logdata")
fname = os.path.join(dir, "shark_data.csv")
if not os.path.exists(dir):
os.makedirs(dir)
@@ -119,8 +131,3 @@ class CrtpSharkToolbox(QtGui.QWidget, param_tab_class):
for s in self._data:
f.write("%s\n" % s)
f.close()
-
-
-
-
-
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/CrtpSharkToolbox.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/CrtpSharkToolbox.pyc
deleted file mode 100755
index 15e2f34b5bcbf4cd9cc2eb10b5e248280ac71b27..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/DebugDriverToolbox.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/DebugDriverToolbox.py
old mode 100755
new mode 100644
index 402b9cbb..d69ddabf
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/DebugDriverToolbox.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/DebugDriverToolbox.py
@@ -20,34 +20,33 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Toolbox used to interact with the DebugDriver using a designated port. It's
intended to be used for debugging.
"""
+import struct
-__author__ = 'Bitcraze AB'
-__all__ = ['DebugDriverToolbox']
-
-import time
-import sys
+from cflib.crtp.crtpstack import CRTPPacket
+from cflib.crtp.crtpstack import CRTPPort
+from PyQt5 import QtWidgets
+from PyQt5 import uic
+from PyQt5.QtCore import pyqtSignal
+from PyQt5.QtCore import Qt
-import struct
-from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
+import cfclient
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+__author__ = 'Bitcraze AB'
+__all__ = ['DebugDriverToolbox']
debugdriver_tab_class = uic.loadUiType(
- sys.path[0] +
- "/cfclient/ui/toolboxes/debugDriverToolbox.ui")[0]
+ cfclient.module_path +
+ "/ui/toolboxes/debugDriverToolbox.ui")[0]
-class DebugDriverToolbox(QtGui.QWidget, debugdriver_tab_class):
+class DebugDriverToolbox(QtWidgets.QWidget, debugdriver_tab_class):
"""Used to interact with the DebugDriver toolbox"""
connectionDoneSignal = pyqtSignal(str)
disconnectedSignal = pyqtSignal(str)
@@ -60,7 +59,7 @@ class DebugDriverToolbox(QtGui.QWidget, debugdriver_tab_class):
# Connected / disconnected signals
self.helper.cf.connected.add_callback(
- self.connectionDoneSignal.emit)
+ self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self.connectionDone)
self.helper.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(self.disconnected)
@@ -69,14 +68,14 @@ class DebugDriverToolbox(QtGui.QWidget, debugdriver_tab_class):
self.forceDisconnect.pressed.connect(self.forceDisconnecPressed)
def forceDisconnecPressed(self):
- if (self.helper.cf.link != None):
+ if (self.helper.cf.link is not None):
p = CRTPPacket()
p.set_header(CRTPPort.DEBUGDRIVER, 0)
p.data = struct.pack('<B', 1) # Force disconnect
self.helper.cf.send_packet(p)
def linkQualityChanged(self, value):
- if (self.helper.cf.link != None):
+ if (self.helper.cf.link is not None):
p = CRTPPacket()
p.set_header(CRTPPort.DEBUGDRIVER, 0)
p.data = struct.pack('<BB', 0, value) # Set link quality
@@ -106,4 +105,3 @@ class DebugDriverToolbox(QtGui.QWidget, debugdriver_tab_class):
def preferedDockArea(self):
return Qt.RightDockWidgetArea
-
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/DebugDriverToolbox.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/DebugDriverToolbox.pyc
deleted file mode 100755
index 8973d533d1112b1d954e0e5d7bcc9435755a2b54..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/__init__.py
old mode 100755
new mode 100644
index 0ab24d41..5919562a
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/__init__.py
@@ -21,9 +21,9 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
List all the available toolboxes so they can be used by the UI.
@@ -31,29 +31,15 @@ List all the available toolboxes so they can be used by the UI.
Dropping a new .py file into this directory will automatically list and load
it into the UI when it is started.
"""
+from .ConsoleToolbox import ConsoleToolbox
+from .CrtpSharkToolbox import CrtpSharkToolbox
+from .DebugDriverToolbox import DebugDriverToolbox
__author__ = 'Bitcraze AB'
__all__ = []
-import os
-import glob
-import logging
-
-logger = logging.getLogger(__name__)
-
-foundToolboxes = [os.path.splitext(os.path.basename(f))[0] for f in
- glob.glob(os.path.dirname(__file__) +
- "/[A-Za-z]*Toolbox.py")]
-if len(foundToolboxes) == 0:
- foundToolboxes = [os.path.splitext(os.path.basename(f))[0] for f in
- glob.glob(os.path.dirname(__file__) +
- "/[A-Za-z]*Toolbox.pyc")]
-
-
-logger.debug("Found toolboxes: %s", foundToolboxes)
-
-toolboxes = []
-
-for tb in foundToolboxes:
- tbModule = __import__(tb, globals(), locals(), [tb], -1)
- toolboxes.append(getattr(tbModule, tb))
+toolboxes = [
+ ConsoleToolbox,
+ CrtpSharkToolbox,
+ DebugDriverToolbox
+]
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/__init__.pyc
deleted file mode 100755
index a2c0023e92b9b4013d7f43721d6c8aa271234f13..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/consoleToolbox.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/consoleToolbox.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/crtpSharkToolbox.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/crtpSharkToolbox.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/debugDriverToolbox.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/toolboxes/debugDriverToolbox.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/__init__.py
old mode 100755
new mode 100644
index 8de7dc26..97dc2b09
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/__init__.py
@@ -21,10 +21,13 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Custom widgets used by the user interface.
"""
+
+# This is required to show an hidden import to py2exe
+from .hexspinbox import HexSpinBox as _HexSpinBox # noqa
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/__init__.pyc
deleted file mode 100755
index 8563898fea878cd9191ad2659176eee65bf93907..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 238
zcmYL@K?=e^3`M89Pzqi_X4!>pE+8VfcVky>hIS^kBb`p^q)0u2NAo&fz!VDx^78*D
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/ai.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/ai.py
old mode 100755
new mode 100644
index 39a975fe..926dd826
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/ai.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/ai.py
@@ -21,23 +21,26 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Attitude indicator widget.
"""
+import sys
+
+from PyQt5 import QtGui
+from PyQt5 import QtWidgets, QtCore
+
__author__ = 'Bitcraze AB'
__all__ = ['AttitudeIndicator']
-import sys
-from PyQt4 import QtGui, QtCore
-
-class AttitudeIndicator(QtGui.QWidget):
+class AttitudeIndicator(QtWidgets.QWidget):
"""Widget for showing attitude"""
+
def __init__(self):
super(AttitudeIndicator, self).__init__()
@@ -50,27 +53,32 @@ class AttitudeIndicator(QtGui.QWidget):
self.setMinimumSize(30, 30)
# self.setMaximumSize(240,240)
- def setRoll(self, roll):
+ def setRoll(self, roll, repaint=True):
self.roll = roll
- self.repaint()
+ if repaint:
+ self.repaint()
- def setPitch(self, pitch):
+ def setPitch(self, pitch, repaint=True):
self.pitch = pitch
- self.repaint()
-
- def setHover(self, target):
+ if repaint:
+ self.repaint()
+
+ def setHover(self, target, repaint=True):
self.hoverTargetASL = target
- self.hover = target>0
- self.repaint()
-
- def setBaro(self, asl):
- self.hoverASL = asl;
- self.repaint()
-
- def setRollPitch(self, roll, pitch):
+ self.hover = target > 0
+ if repaint:
+ self.repaint()
+
+ def setBaro(self, asl, repaint=True):
+ self.hoverASL = asl
+ if repaint:
+ self.repaint()
+
+ def setRollPitch(self, roll, pitch, repaint=True):
self.roll = roll
self.pitch = pitch
- self.repaint()
+ if repaint:
+ self.repaint()
def paintEvent(self, e):
qp = QtGui.QPainter()
@@ -103,7 +111,7 @@ class AttitudeIndicator(QtGui.QWidget):
qp.drawRect(-w, h / 2, 3 * w, 3 * h)
pen = QtGui.QPen(QtGui.QColor(255, 255, 255), 1.5,
- QtCore.Qt.SolidLine)
+ QtCore.Qt.SolidLine)
qp.setPen(pen)
qp.drawLine(-w, h / 2, 3 * w, h / 2)
@@ -135,57 +143,56 @@ class AttitudeIndicator(QtGui.QWidget):
qp.setWorldMatrixEnabled(False)
pen = QtGui.QPen(QtGui.QColor(0, 0, 0), 2,
- QtCore.Qt.SolidLine)
+ QtCore.Qt.SolidLine)
qp.setBrush(QtGui.QColor(0, 0, 0))
qp.setPen(pen)
qp.drawLine(0, h / 2, w, h / 2)
-
-
-
+
# Draw Hover vs Target
-
+
qp.setWorldMatrixEnabled(False)
-
+
pen = QtGui.QPen(QtGui.QColor(255, 255, 255), 2,
QtCore.Qt.SolidLine)
qp.setBrush(QtGui.QColor(255, 255, 255))
qp.setPen(pen)
- fh = max(7,h/50)
+ fh = max(7, h / 50)
font = QtGui.QFont('Sans', fh, QtGui.QFont.Light)
qp.setFont(font)
qp.resetTransform()
-
-
-
-
- qp.translate(0,h/2)
- if not self.hover:
- qp.drawText(w-fh*10, fh/2, str(round(self.hoverASL,2))) # asl
-
-
+
+ qp.translate(0, h / 2)
+ if not self.hover:
+ # asl
+ qp.drawText(w - fh * 10, fh / 2, str(round(self.hoverASL, 2)))
+
if self.hover:
- qp.drawText(w-fh*10, fh/2, str(round(self.hoverTargetASL,2))) # target asl (center)
- diff = round(self.hoverASL-self.hoverTargetASL,2)
- pos_y = -h/6*diff
-
+ # target asl (center)
+ qp.drawText(
+ w - fh * 10, fh / 2, str(round(self.hoverTargetASL, 2)))
+ diff = round(self.hoverASL - self.hoverTargetASL, 2)
+ pos_y = -h / 6 * diff
+
# cap to +- 2.8m
- if diff<-2.8:
- pos_y = -h/6*-2.8
- elif diff>2.8:
- pos_y= -h/6*2.8
+ if diff < -2.8:
+ pos_y = -h / 6 * -2.8
+ elif diff > 2.8:
+ pos_y = -h / 6 * 2.8
else:
- pos_y = -h/6*diff
- qp.drawText(w-fh*3.8, pos_y+fh/2, str(diff)) # difference from target (moves up and down +- 2.8m)
- qp.drawLine(w-fh*4.5,0,w-fh*4.5,pos_y) # vertical line
- qp.drawLine(w-fh*4.7,0,w-fh*4.5,0) # left horizontal line
- qp.drawLine(w-fh*4.2,pos_y,w-fh*4.5,pos_y) #right horizontal line
-
-
-
+ pos_y = -h / 6 * diff
+
+ # difference from target (moves up and down +- 2.8m)
+ qp.drawText(w - fh * 3.8, pos_y + fh / 2, str(diff))
+ # vertical line
+ qp.drawLine(w - fh * 4.5, 0, w - fh * 4.5, pos_y)
+ # left horizontal line
+ qp.drawLine(w - fh * 4.7, 0, w - fh * 4.5, 0)
+ # right horizontal line
+ qp.drawLine(w - fh * 4.2, pos_y, w - fh * 4.5, pos_y)
if __name__ == "__main__":
- class Example(QtGui.QWidget):
+ class Example(QtWidgets.QWidget):
def __init__(self):
super(Example, self).__init__()
@@ -197,54 +204,51 @@ if __name__ == "__main__":
def updateRoll(self, roll):
self.wid.setRoll((roll / 10.0) - 180.0)
-
+
def updateTarget(self, target):
- self.wid.setHover(500+target/10.)
+ self.wid.setHover(500 + target / 10.)
+
def updateBaro(self, asl):
- self.wid.setBaro(500+asl/10.)
-
-
- def initUI(self):
+ self.wid.setBaro(500 + asl / 10.)
- vbox = QtGui.QVBoxLayout()
+ def initUI(self):
+ vbox = QtWidgets.QVBoxLayout()
- sld = QtGui.QSlider(QtCore.Qt.Horizontal, self)
+ sld = QtWidgets.QSlider(QtCore.Qt.Horizontal, self)
sld.setFocusPolicy(QtCore.Qt.NoFocus)
sld.setRange(0, 3600)
sld.setValue(1800)
vbox.addWidget(sld)
-
-
+
self.wid = AttitudeIndicator()
sld.valueChanged[int].connect(self.updateRoll)
vbox.addWidget(self.wid)
- hbox = QtGui.QHBoxLayout()
+ hbox = QtWidgets.QHBoxLayout()
hbox.addLayout(vbox)
- sldPitch = QtGui.QSlider(QtCore.Qt.Vertical, self)
+ sldPitch = QtWidgets.QSlider(QtCore.Qt.Vertical, self)
sldPitch.setFocusPolicy(QtCore.Qt.NoFocus)
sldPitch.setRange(0, 180)
sldPitch.setValue(90)
sldPitch.valueChanged[int].connect(self.updatePitch)
hbox.addWidget(sldPitch)
-
- sldASL = QtGui.QSlider(QtCore.Qt.Vertical, self)
+
+ sldASL = QtWidgets.QSlider(QtCore.Qt.Vertical, self)
sldASL.setFocusPolicy(QtCore.Qt.NoFocus)
sldASL.setRange(-200, 200)
sldASL.setValue(0)
sldASL.valueChanged[int].connect(self.updateBaro)
-
- sldT = QtGui.QSlider(QtCore.Qt.Vertical, self)
+
+ sldT = QtWidgets.QSlider(QtCore.Qt.Vertical, self)
sldT.setFocusPolicy(QtCore.Qt.NoFocus)
sldT.setRange(-200, 200)
sldT.setValue(0)
sldT.valueChanged[int].connect(self.updateTarget)
-
- hbox.addWidget(sldT)
+
+ hbox.addWidget(sldT)
hbox.addWidget(sldASL)
-
self.setLayout(hbox)
@@ -253,16 +257,13 @@ if __name__ == "__main__":
self.show()
def changeValue(self, value):
-
self.c.updateBW.emit(value)
self.wid.repaint()
def main():
-
- app = QtGui.QApplication(sys.argv)
- ex = Example()
+ app = QtWidgets.QApplication(sys.argv)
+ Example()
sys.exit(app.exec_())
-
if __name__ == '__main__':
main()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/ai.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/ai.pyc
deleted file mode 100755
index 7214cb8692aab93825ea2ad0850495e247bce2a7..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 8343
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/hexspinbox.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/hexspinbox.py
old mode 100755
new mode 100644
index 82eab2e9..446fa913
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/hexspinbox.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/hexspinbox.py
@@ -21,21 +21,24 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
-This class provides a spin box with hexadecimal numbers and arbitrarily length (i.e. not limited by 32 bit).
+This class provides a spin box with hexadecimal numbers and arbitrarily length
+(i.e. not limited by 32 bit).
"""
+from PyQt5 import QtGui, QtCore
+from PyQt5.QtWidgets import QAbstractSpinBox
+
__author__ = 'Bitcraze AB'
__all__ = ['HexSpinBox']
-from PyQt4 import QtGui, QtCore
-from PyQt4.QtGui import QAbstractSpinBox
class HexSpinBox(QAbstractSpinBox):
+
def __init__(self, *args):
QAbstractSpinBox.__init__(self, *args)
regexp = QtCore.QRegExp('^0x[0-9A-Fa-f]{1,10}$')
@@ -63,4 +66,5 @@ class HexSpinBox(QAbstractSpinBox):
self.setValue(self._value + steps)
def stepEnabled(self):
- return QAbstractSpinBox.StepUpEnabled | QAbstractSpinBox.StepDownEnabled
+ return (QAbstractSpinBox.StepUpEnabled |
+ QAbstractSpinBox.StepDownEnabled)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/hexspinbox.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/hexspinbox.pyc
deleted file mode 100755
index fe4095fa3bfd81eede39080a259b2554c64d7b83..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 2777
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T2_D===!!D6eSr11y)FMA2OEBA
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotter.ui b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotter.ui
old mode 100755
new mode 100644
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotwidget.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotwidget.py
old mode 100755
new mode 100644
index 459be6f6..19a5f46b
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotwidget.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotwidget.py
@@ -21,9 +21,9 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Container for the simple plot with functionality for data legend, saving data
@@ -32,43 +32,38 @@ and manipulating the plot.
For more advanced plotting save the data and use an external application.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['PlotWidget']
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, QLine, QPoint, QPointF, QSize, QRectF
+from PyQt5 import QtWidgets, uic
from time import time
-import math
import logging
-logger = logging.getLogger(__name__)
+from PyQt5.QtWidgets import QButtonGroup
+from PyQt5.QtCore import * # noqa
+from PyQt5.QtWidgets import * # noqa
+from PyQt5.Qt import * # noqa
-import sys
+import cfclient
-from PyQt4 import Qt, QtCore, QtGui, uic
-from PyQt4.QtGui import QButtonGroup
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-from PyQt4.Qt import *
-from time import time
+__author__ = 'Bitcraze AB'
+__all__ = ['PlotWidget']
+
+logger = logging.getLogger(__name__)
-(plot_widget_class,
-connect_widget_base_class) = (uic.loadUiType(
- sys.path[0] + '/cfclient/ui/widgets/plotter.ui'))
+(plot_widget_class, connect_widget_base_class) = (
+ uic.loadUiType(cfclient.module_path + '/ui/widgets/plotter.ui'))
# Try the imports for PyQtGraph to see if it is installed
try:
import pyqtgraph as pg
from pyqtgraph import ViewBox
- from pyqtgraph.Qt import QtCore, QtGui
- import pyqtgraph.console
- import numpy as np
-
+ import pyqtgraph.console # noqa
+ import numpy as np # noqa
+
_pyqtgraph_found = True
except Exception:
import traceback
+
logger.warning("PyQtGraph (or dependency) failed to import:\n%s",
traceback.format_exc())
_pyqtgraph_found = False
@@ -77,14 +72,16 @@ except Exception:
# Windows. But for Linux this is not required and might not be installed with
# the PyQtGraph package.
try:
- from scipy.stats import futil
- from scipy.sparse.csgraph import _validation
- from scipy.special import _ufuncs_cxx
+ from scipy.stats import futil # noqa
+ from scipy.sparse.csgraph import _validation # noqa
+ from scipy.special import _ufuncs_cxx # noqa
except Exception:
pass
+
class PlotItemWrapper:
"""Wrapper for PlotDataItem to handle what data is shown"""
+
def __init__(self, curve):
"""Initialize"""
self.data = []
@@ -102,13 +99,16 @@ class PlotItemWrapper:
self.ts.append(ts)
def show_data(self, start, stop):
- """Set what data should be shown from the curve. This is done to keep performance when many
- points have been added."""
+ """
+ Set what data should be shown from the curve. This is done to keep
+ performance when many points have been added.
+ """
limit = min(stop, len(self.data))
self.curve.setData(y=self.data[start:limit], x=self.ts[start:limit])
- return [self.ts[start], self.ts[limit-1]]
+ return [self.ts[start], self.ts[limit - 1]]
+
-class PlotWidget(QtGui.QWidget, plot_widget_class):
+class PlotWidget(QtWidgets.QWidget, plot_widget_class):
"""Wrapper widget for PyQtGraph adding some extra buttons"""
def __init__(self, parent=None, fps=100, title="", *args):
@@ -129,9 +129,9 @@ class PlotWidget(QtGui.QWidget, plot_widget_class):
self._items = {}
self._last_item = 0
- self.setSizePolicy(QtGui.QSizePolicy(
- QtGui.QSizePolicy.MinimumExpanding,
- QtGui.QSizePolicy.MinimumExpanding))
+ self.setSizePolicy(QtWidgets.QSizePolicy(
+ QtWidgets.QSizePolicy.MinimumExpanding,
+ QtWidgets.QSizePolicy.MinimumExpanding))
self.setMinimumSize(self.minimumSizeHint())
self.parent = parent
@@ -143,13 +143,14 @@ class PlotWidget(QtGui.QWidget, plot_widget_class):
self._plot_widget.setLabel('bottom', "Time", "ms")
self._plot_widget.addLegend()
self._plot_widget.getViewBox().disableAutoRange(ViewBox.XAxis)
- self._plot_widget.getViewBox().sigRangeChangedManually.connect(self._manual_range_change)
+ self._plot_widget.getViewBox().sigRangeChangedManually.connect(
+ self._manual_range_change)
self._plot_widget.getViewBox().setMouseEnabled(x=False, y=True)
self._plot_widget.getViewBox().setMouseMode(ViewBox.PanMode)
self.plotLayout.addWidget(self._plot_widget)
- #self.saveToFile.clicked.connect(self.saveToFileSignal)
+ # self.saveToFile.clicked.connect(self.saveToFileSignal)
self._x_min = 0
self._x_max = 500
self._enable_auto_y.setChecked(True)
@@ -157,7 +158,8 @@ class PlotWidget(QtGui.QWidget, plot_widget_class):
self._last_ts = None
self._dtime = None
- self._x_range = (float(self._range_x_min.text()), float(self._range_x_max.text()))
+ self._x_range = (
+ float(self._range_x_min.text()), float(self._range_x_max.text()))
self._nbr_samples = int(self._nbr_of_samples_x.text())
self._nbr_of_samples_x.valueChanged.connect(self._nbr_samples_changed)
@@ -192,7 +194,9 @@ class PlotWidget(QtGui.QWidget, plot_widget_class):
"""Callback when user changes the X-axis mode"""
if box == self._enable_range_x:
logger.info("Enable range x")
- self._x_range = (float(self._range_x_min.text()), float(self._range_x_max.text()))
+ self._x_range = (
+ float(self._range_x_min.text()),
+ float(self._range_x_max.text()))
else:
self._range_x_min.setEnabled(False)
self._range_x_max.setEnabled(False)
@@ -202,7 +206,9 @@ class PlotWidget(QtGui.QWidget, plot_widget_class):
if box == self._enable_range_y:
self._range_y_min.setEnabled(True)
self._range_y_max.setEnabled(True)
- y_range = (float(self._range_y_min.value()), float(self._range_y_max.value()))
+ y_range = (
+ float(self._range_y_min.value()),
+ float(self._range_y_max.value()))
self._plot_widget.getViewBox().setRange(yRange=y_range)
else:
self._range_y_min.setEnabled(False)
@@ -212,8 +218,12 @@ class PlotWidget(QtGui.QWidget, plot_widget_class):
self._plot_widget.getViewBox().enableAutoRange(ViewBox.YAxis)
def _manual_range_change(self, obj):
- """Callback from pyqtplot when users changes the range of the plot using the mouse"""
- [[x_min,x_max],[y_min,y_max]] = self._plot_widget.getViewBox().viewRange()
+ """
+ Callback from pyqtplot when users changes the range of the plot using
+ the mouse
+ """
+ [[x_min, x_max],
+ [y_min, y_max]] = self._plot_widget.getViewBox().viewRange()
self._range_y_min.setValue(y_min)
self._range_y_max.setValue(y_max)
self._range_y_min.setEnabled(True)
@@ -222,7 +232,9 @@ class PlotWidget(QtGui.QWidget, plot_widget_class):
def _y_range_changed(self, val):
"""Callback when user changes Y range manually"""
- _y_range = (float(self._range_y_min.value()), float(self._range_y_max.value()))
+ _y_range = (
+ float(self._range_y_min.value()),
+ float(self._range_y_max.value()))
self._plot_widget.getViewBox().setRange(yRange=_y_range, padding=0)
def _nbr_samples_changed(self, val):
@@ -244,13 +256,15 @@ class PlotWidget(QtGui.QWidget, plot_widget_class):
title - the name of the data
pen - color of curve (using r for red and so on..)
"""
- self._items[title] = PlotItemWrapper(self._plot_widget.plot(name=title, pen=pen))
+ self._items[title] = PlotItemWrapper(
+ self._plot_widget.plot(name=title, pen=pen))
def add_data(self, data, ts):
"""
Add new data to the plot.
- data - dictionary sent from logging layer containing variable/value pairs
+ data - dictionary sent from logging layer containing variable/value
+ pairs
ts - timestamp of the data in ms
"""
if not self._last_ts:
@@ -263,29 +277,41 @@ class PlotWidget(QtGui.QWidget, plot_widget_class):
x_max_limit = 0
# We are adding new datasets, calculate what we should show.
if self._enable_samples_x.isChecked():
- x_min_limit = max(0, self._last_item-self._nbr_samples)
+ x_min_limit = max(0, self._last_item - self._nbr_samples)
x_max_limit = max(self._last_item, self._nbr_samples)
for name in self._items:
self._items[name].add_point(data[name], ts)
if self._draw_graph and time() > self._ts + self._delay:
- [self._x_min, self._x_max] = self._items[name].show_data(x_min_limit, x_max_limit)
+ [self._x_min, self._x_max] = self._items[name].show_data(
+ x_min_limit, x_max_limit)
if time() > self._ts + self._delay:
self._ts = time()
- if self._enable_samples_x.isChecked() and self._dtime and self._last_item < self._nbr_samples:
+ if (self._enable_samples_x.isChecked() and self._dtime and
+ self._last_item < self._nbr_samples):
self._x_max = self._x_min + self._nbr_samples * self._dtime
self._last_item = self._last_item + 1
- self._plot_widget.getViewBox().setRange(xRange=(self._x_min, self._x_max))
+ self._plot_widget.getViewBox().setRange(
+ xRange=(self._x_min, self._x_max))
def removeAllDatasets(self):
"""Reset the plot by removing all the datasets"""
for item in self._items:
self._plot_widget.removeItem(self._items[item])
- self._plot_widget.plotItem.legend.items = []
+
+ self._clear_legend()
+
self._items = {}
self._last_item = 0
self._last_ts = None
self._dtime = None
self._plot_widget.clear()
+ def _clear_legend(self):
+ legend = self._plot_widget.plotItem.legend
+
+ while legend.layout.count() > 0:
+ item = legend.items[0]
+ name = item[1].text
+ legend.removeItem(name)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotwidget.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/ui/widgets/plotwidget.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/__init__.py
old mode 100755
new mode 100644
index 8a252d5b..cab62b7c
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/__init__.py
@@ -21,9 +21,9 @@
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
"""
Various utilities used by the user interface.
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/__init__.pyc
deleted file mode 100755
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GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config.py
old mode 100755
new mode 100644
index e7e09816..2bfe88af
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config.py
@@ -29,24 +29,25 @@
"""
Gives access for reading and writing application configuration parameters
"""
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Config']
-
-import sys
import json
import logging
from .singleton import Singleton
+import cfclient
+
+__author__ = 'Bitcraze AB'
+__all__ = ['Config']
+
logger = logging.getLogger(__name__)
-class Config():
+
+class Config(metaclass=Singleton):
""" Singleton class for accessing application configuration """
- __metaclass__ = Singleton
+
def __init__(self):
""" Initializes the singleton and reads the config files """
- self._dist_config = sys.path[0] + "/cfclient/configs/config.json"
- self._config = sys.path[1] + "/config.json"
+ self._dist_config = cfclient.module_path + "/configs/config.json"
+ self._config = cfclient.config_path + "/config.json"
[self._readonly, self._data] = self._read_distfile()
@@ -80,7 +81,7 @@ class Config():
else:
raise KeyError("Could not get the parameter [%s]" % key)
- if (isinstance(value, unicode)):
+ if (isinstance(value, str)):
value = str(value)
return value
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config_manager.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config_manager.py
old mode 100755
new mode 100644
index 8da823aa..e61daaae
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config_manager.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config_manager.py
@@ -7,7 +7,7 @@
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
-# Copyright (C) 2013 Bitcraze AB
+# Copyright (C) 2013-2017 Bitcraze AB
# Copyright (C) 2013 Allyn Bauer
#
# Crazyflie Nano Quadcopter Client
@@ -31,10 +31,6 @@
Manager for loading/accesing input device mappings.
"""
-__author__ = 'Bitcraze AB/Allyn Bauer'
-__all__ = ['ConfigManager']
-
-import sys
import json
import logging
import glob
@@ -44,15 +40,18 @@ import copy
from .singleton import Singleton
from cflib.utils.callbacks import Caller
+import cfclient
+
+__author__ = 'Bitcraze AB/Allyn Bauer'
+__all__ = ['ConfigManager']
+
logger = logging.getLogger(__name__)
-class ConfigManager():
+class ConfigManager(metaclass=Singleton):
""" Singleton class for managing input processing """
conf_needs_reload = Caller()
- configs_dir = sys.path[1] + "/input"
-
- __metaclass__ = Singleton
+ configs_dir = cfclient.config_path + "/input"
def __init__(self):
"""Initialize and create empty config list"""
@@ -65,7 +64,7 @@ class ConfigManager():
return self._input_config[idx]
except:
return None
-
+
def get_settings(self, config_name):
"""Get the settings for an input device."""
try:
@@ -87,16 +86,21 @@ class ConfigManager():
json_data = open(self.configs_dir + "/%s" % conf)
data = json.load(json_data)
new_input_device = {}
- new_input_settings = {"updateperiod":10, "springythrottle":True}
+ new_input_settings = {"updateperiod": 10,
+ "springythrottle": True}
for s in data["inputconfig"]["inputdevice"]:
if s == "axis":
for a in data["inputconfig"]["inputdevice"]["axis"]:
axis = {}
axis["scale"] = a["scale"]
- axis["offset"] = a["offset"] if "offset" in a else 0.0
+ axis["offset"] = a[
+ "offset"] if "offset" in a else 0.0
axis["type"] = a["type"]
axis["key"] = a["key"]
axis["name"] = a["name"]
+
+ self._translate_for_backwards_compatibility(axis)
+
try:
ids = a["ids"]
except:
@@ -105,13 +109,15 @@ class ConfigManager():
locaxis = copy.deepcopy(axis)
if "ids" in a:
if id == a["ids"][0]:
- locaxis["scale"] = locaxis["scale"] * -1
+ locaxis["scale"] = locaxis[
+ "scale"] * -1
locaxis["id"] = id
# 'type'-'id' defines unique index for axis
index = "%s-%d" % (a["type"], id)
new_input_device[index] = locaxis
else:
- new_input_settings[s] = data["inputconfig"]["inputdevice"][s]
+ new_input_settings[s] = data[
+ "inputconfig"]["inputdevice"][s]
self._input_config.append(new_input_device)
self._input_settings.append(new_input_settings)
json_data.close()
@@ -119,3 +125,57 @@ class ConfigManager():
except Exception as e:
logger.warning("Exception while parsing inputconfig file: %s ", e)
return self._list_of_configs
+
+ def save_config(self, input_map, config_name):
+ """Save a configuration to file"""
+ mapping = {'inputconfig': {'inputdevice': {'axis': []}}}
+
+ # Create intermediate structure for the configuration file
+ funcs = {}
+ for m in input_map:
+ key = input_map[m]["key"]
+ if key not in funcs:
+ funcs[key] = []
+ funcs[key].append(input_map[m])
+
+ # Create a mapping for each axis, take care to handle
+ # split axis configurations
+ for a in funcs:
+ func = funcs[a]
+ axis = {}
+ # Check for split axis
+ if len(func) > 1:
+ axis["ids"] = [func[0]["id"], func[1]["id"]]
+ axis["scale"] = func[1]["scale"]
+ else:
+ axis["id"] = func[0]["id"]
+ axis["scale"] = func[0]["scale"]
+ axis["key"] = func[0]["key"]
+ axis["name"] = func[0]["key"] # Name isn't used...
+ axis["type"] = func[0]["type"]
+ mapping["inputconfig"]["inputdevice"]["axis"].append(axis)
+
+ mapping["inputconfig"]['inputdevice']['name'] = config_name
+ mapping["inputconfig"]['inputdevice']['updateperiod'] = 10
+
+ filename = ConfigManager().configs_dir + "/%s.json" % config_name
+ logger.info("Saving config to [%s]", filename)
+ json_data = open(filename, 'w')
+ json_data.write(json.dumps(mapping, indent=2))
+ json_data.close()
+
+ self.conf_needs_reload.call(config_name)
+
+ def _translate_for_backwards_compatibility(self, axis):
+ """Handle changes in the config file format"""
+
+ # The parameter that used to be called 'althold' has been renamed to
+ # 'assistedControl'
+ althold = 'althold'
+ assistedControl = 'assistedControl'
+
+ if axis['key'] == althold:
+ axis['key'] = assistedControl
+
+ if axis['name'] == althold:
+ axis['name'] = assistedControl
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config_manager.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/config_manager.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/guiconfig.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/guiconfig.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/__init__.py
old mode 100755
new mode 100644
index 34d3c4d1..b3edf6ac
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/__init__.py
@@ -38,11 +38,6 @@ Windows drivers.
The input device's axes and buttons are mapped to software inputs using a
configuration file.
"""
-
-__author__ = 'Bitcraze AB'
-__all__ = ['JoystickReader']
-
-import sys
import os
import re
import glob
@@ -50,24 +45,27 @@ import traceback
import logging
import shutil
-import inputreaders as readers
-import inputinterfaces as interfaces
-
-logger = logging.getLogger(__name__)
+from . import inputreaders as readers
+from . import inputinterfaces as interfaces
+import cfclient
from cfclient.utils.config import Config
from cfclient.utils.config_manager import ConfigManager
from cfclient.utils.periodictimer import PeriodicTimer
from cflib.utils.callbacks import Caller
-import mux
-from .mux import InputMux
from .mux.nomux import NoMux
from .mux.takeovermux import TakeOverMux
from .mux.takeoverselectivemux import TakeOverSelectiveMux
+__author__ = 'Bitcraze AB'
+__all__ = ['JoystickReader']
+
+logger = logging.getLogger(__name__)
+
MAX_THRUST = 65000
+
class JoystickReader(object):
"""
Thread that will read input from devices/joysticks and send control-set
@@ -75,9 +73,17 @@ class JoystickReader(object):
"""
inputConfig = []
+ ASSISTED_CONTROL_ALTHOLD = 0
+ ASSISTED_CONTROL_POSHOLD = 1
+
def __init__(self, do_device_discovery=True):
self._input_device = None
+ self._mux = [NoMux(self), TakeOverSelectiveMux(self),
+ TakeOverMux(self)]
+ # Set NoMux as default
+ self._selected_mux = self._mux[0]
+
self.min_thrust = 0
self.max_thrust = 0
self._thrust_slew_rate = 0
@@ -87,10 +93,13 @@ class JoystickReader(object):
self.max_rp_angle = 0
self.max_yaw_rate = 0
+ try:
+ self.set_assisted_control(Config().get("assistedControl"))
+ except KeyError:
+ self.set_assisted_control(JoystickReader.ASSISTED_CONTROL_ALTHOLD)
self._old_thrust = 0
self._old_raw_thrust = 0
- self._old_alt_hold = False
self.springy_throttle = True
self.trim_roll = Config().get("trim_roll")
@@ -98,10 +107,6 @@ class JoystickReader(object):
self._input_map = None
- self._mux = [NoMux(self), TakeOverSelectiveMux(self), TakeOverMux(self)]
- # Set NoMux as default
- self._selected_mux = self._mux[0]
-
if Config().get("flightmode") is "Normal":
self.max_yaw_rate = Config().get("normal_max_yaw")
self.max_rp_angle = Config().get("normal_max_rp")
@@ -122,10 +127,9 @@ class JoystickReader(object):
self._dev_blacklist = None
if len(Config().get("input_device_blacklist")) > 0:
self._dev_blacklist = re.compile(
- Config().get("input_device_blacklist"))
+ Config().get("input_device_blacklist"))
logger.info("Using device blacklist [{}]".format(
- Config().get("input_device_blacklist")))
-
+ Config().get("input_device_blacklist")))
self._available_devices = {}
@@ -133,8 +137,8 @@ class JoystickReader(object):
self._read_timer = PeriodicTimer(0.01, self.read_input)
if do_device_discovery:
- self._discovery_timer = PeriodicTimer(1.0,
- self._do_device_discovery)
+ self._discovery_timer = PeriodicTimer(1.0,
+ self._do_device_discovery)
self._discovery_timer.start()
# Check if user config exists, otherwise copy files
@@ -142,8 +146,8 @@ class JoystickReader(object):
logger.info("No user config found, copying dist files")
os.makedirs(ConfigManager().configs_dir)
- for f in glob.glob(sys.path[0] +
- "/cfclient/configs/input/[A-Za-z]*.json"):
+ for f in glob.glob(
+ cfclient.module_path + "/configs/input/[A-Za-z]*.json"):
dest = os.path.join(ConfigManager().
configs_dir, os.path.basename(f))
if not os.path.isfile(dest):
@@ -153,11 +157,12 @@ class JoystickReader(object):
ConfigManager().get_list_of_configs()
self.input_updated = Caller()
+ self.assisted_input_updated = Caller()
self.rp_trim_updated = Caller()
self.emergency_stop_updated = Caller()
self.device_discovery = Caller()
self.device_error = Caller()
- self.althold_updated = Caller()
+ self.assisted_control_updated = Caller()
self.alt1_updated = Caller()
self.alt2_updated = Caller()
@@ -175,10 +180,6 @@ class JoystickReader(object):
"""Set if altitude hold is available or not (depending on HW)"""
self.has_pressure_sensor = available
- def enable_alt_hold(self, althold):
- """Enable or disable altitude hold"""
- self._old_alt_hold = althold
-
def _do_device_discovery(self):
devs = self.available_devices()
@@ -207,6 +208,12 @@ class JoystickReader(object):
logger.info("Selected MUX: {}".format(self._selected_mux.name))
+ def set_assisted_control(self, mode):
+ self._assisted_control = mode
+
+ def get_assisted_control(self):
+ return self._assisted_control
+
def available_devices(self):
"""List all available and approved input devices.
This function will filter available devices by using the
@@ -216,13 +223,13 @@ class JoystickReader(object):
approved_devs = []
for dev in devs:
- if ((not self._dev_blacklist) or
- (self._dev_blacklist and not
- self._dev_blacklist.match(dev.name))):
+ if ((not self._dev_blacklist) or
+ (self._dev_blacklist and
+ not self._dev_blacklist.match(dev.name))):
dev.input = self
approved_devs.append(dev)
- return approved_devs
+ return approved_devs
def enableRawReading(self, device_name):
"""
@@ -246,7 +253,7 @@ class JoystickReader(object):
"""Return the saved mapping for a given device"""
config = None
device_config_mapping = Config().get("device_config_mapping")
- if device_name in device_config_mapping.keys():
+ if device_name in list(device_config_mapping.keys()):
config = device_config_mapping[device_name]
logging.debug("For [{}] we recommend [{}]".format(device_name, config))
@@ -260,7 +267,8 @@ class JoystickReader(object):
def read_raw_values(self):
""" Read raw values from the input device."""
- [axes, buttons, mapped_values] = self._input_device.read(include_raw=True)
+ [axes, buttons, mapped_values] = self._input_device.read(
+ include_raw=True)
dict_axes = {}
dict_buttons = {}
@@ -294,7 +302,7 @@ class JoystickReader(object):
config_name. Returns True if device supports mapping, otherwise False
"""
try:
- #device_id = self._available_devices[device_name]
+ # device_id = self._available_devices[device_name]
# Check if we supplied a new map, if not use the preferred one
device = self._get_device_from_name(device_name)
self._selected_mux.add_device(device, role)
@@ -306,19 +314,19 @@ class JoystickReader(object):
return device.supports_mapping
except Exception:
self.device_error.call(
- "Error while opening/initializing input device\n\n%s" %
- (traceback.format_exc()))
+ "Error while opening/initializing input device\n\n%s" %
+ (traceback.format_exc()))
if not self._input_device:
self.device_error.call(
- "Could not find device {}".format(device_name))
+ "Could not find device {}".format(device_name))
return False
def resume_input(self):
self._selected_mux.resume()
self._read_timer.start()
- def pause_input(self, device_name = None):
+ def pause_input(self, device_name=None):
"""Stop reading from the input device."""
self._read_timer.stop()
self._selected_mux.pause()
@@ -339,12 +347,24 @@ class JoystickReader(object):
data = self._selected_mux.read()
if data:
- if data.toggled.althold:
+ if data.toggled.assistedControl:
+ if self._assisted_control == \
+ JoystickReader.ASSISTED_CONTROL_POSHOLD:
+ if data.assistedControl:
+ for d in self._selected_mux.devices():
+ d.limit_thrust = False
+ d.limit_rp = False
+ else:
+ for d in self._selected_mux.devices():
+ d.limit_thrust = True
+ d.limit_rp = True
try:
- self.althold_updated.call(str(data.althold))
+ self.assisted_control_updated.call(
+ data.assistedControl)
except Exception as e:
- logger.warning("Exception while doing callback from"
- "input-device for althold: {}".format(e))
+ logger.warning(
+ "Exception while doing callback from input-device "
+ "for assited control: {}".format(e))
if data.toggled.estop:
try:
@@ -366,41 +386,53 @@ class JoystickReader(object):
logger.warning("Exception while doing callback from"
"input-device for alt2: {}".format(e))
- # Update the user roll/pitch trim from device
- if data.toggled.pitchNeg and data.pitchNeg:
- self.trim_pitch -= 1
- if data.toggled.pitchPos and data.pitchPos:
- self.trim_pitch += 1
- if data.toggled.rollNeg and data.rollNeg:
- self.trim_roll -= 1
- if data.toggled.rollPos and data.rollPos:
- self.trim_roll += 1
-
- if data.toggled.pitchNeg or data.toggled.pitchPos or \
- data.toggled.rollNeg or data.toggled.rollPos:
- self.rp_trim_updated.call(self.trim_roll, self.trim_pitch)
-
- # Thrust might be <0 here, make sure it's not otherwise we'll
- # get an error.
- if data.thrust < 0:
- data.thrust = 0
- if data.thrust > 0xFFFF:
- data.thrust = 0xFFFF
-
- # If we are using alt hold the data is not in a percentage
- if not data.althold:
- data.thrust = JoystickReader.p2t(data.thrust)
-
- self.input_updated.call(data.roll + self.trim_roll,
- data.pitch + self.trim_pitch,
- data.yaw, data.thrust)
+ if self._assisted_control == \
+ JoystickReader.ASSISTED_CONTROL_POSHOLD \
+ and data.assistedControl:
+ vx = data.roll
+ vy = data.pitch
+ vz = data.thrust
+ yawrate = data.yaw
+ # The odd use of vx and vy is to map forward on the
+ # physical joystick to positiv X-axis
+ self.assisted_input_updated.call(vy, -vx, vz, yawrate)
+ else:
+ # Update the user roll/pitch trim from device
+ if data.toggled.pitchNeg and data.pitchNeg:
+ self.trim_pitch -= 1
+ if data.toggled.pitchPos and data.pitchPos:
+ self.trim_pitch += 1
+ if data.toggled.rollNeg and data.rollNeg:
+ self.trim_roll -= 1
+ if data.toggled.rollPos and data.rollPos:
+ self.trim_roll += 1
+
+ if data.toggled.pitchNeg or data.toggled.pitchPos or \
+ data.toggled.rollNeg or data.toggled.rollPos:
+ self.rp_trim_updated.call(self.trim_roll,
+ self.trim_pitch)
+
+ # If we are using alt hold the data is not in a percentage
+ if not data.assistedControl:
+ data.thrust = JoystickReader.p2t(data.thrust)
+
+ # Thrust might be <0 here, make sure it's not otherwise
+ # we'll get an error.
+ if data.thrust < 0:
+ data.thrust = 0
+ if data.thrust > 0xFFFF:
+ data.thrust = 0xFFFF
+
+ self.input_updated.call(data.roll + self.trim_roll,
+ data.pitch + self.trim_pitch,
+ data.yaw, data.thrust)
else:
self.input_updated.call(0, 0, 0, 0)
except Exception:
logger.warning("Exception while reading inputdevice: %s",
traceback.format_exc())
self.device_error.call("Error reading from input device\n\n%s" %
- traceback.format_exc())
+ traceback.format_exc())
self.input_updated.call(0, 0, 0, 0)
self._read_timer.stop()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/__init__.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/__init__.py
old mode 100755
new mode 100644
index c27e0157..907ba867
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/__init__.py
@@ -31,49 +31,55 @@ Find all the available input interfaces and try to initialize them.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['InputInterface']
-
-import os
-import glob
import logging
from ..inputreaderinterface import InputReaderInterface
+__author__ = 'Bitcraze AB'
+__all__ = ['InputInterface']
+
logger = logging.getLogger(__name__)
-found_interfaces = [os.path.splitext(os.path.basename(f))[0] for
- f in glob.glob(os.path.dirname(__file__) + "/[A-Za-z]*.py")]
-if len(found_interfaces) == 0:
- found_interfaces = [os.path.splitext(os.path.basename(f))[0] for
- f in glob.glob(os.path.dirname(__file__) +
- "/[A-Za-z]*.pyc")]
+# Force py2exe to include interfaces module in the build
+try:
+ from . import leapmotion # noqa
+ from . import wiimote # noqa
+ from . import zmqpull # noqa
+except Exception:
+ pass
+
+# Statically listing input interfaces
+input_interface = ["leapmotion",
+ "wiimote",
+ "zmqpull"]
-logger.info("Found interfaces: {}".format(found_interfaces))
+logger.info("Found interfaces: {}".format(input_interface))
initialized_interfaces = []
available_interfaces = []
-for interface in found_interfaces:
+for interface in input_interface:
try:
- module = __import__(interface, globals(), locals(), [interface], -1)
+ module = __import__(interface, globals(), locals(), [interface], 1)
main_name = getattr(module, "MODULE_MAIN")
initialized_interfaces.append(getattr(module, main_name)())
logger.info("Successfully initialized [{}]".format(interface))
except Exception as e:
logger.info("Could not initialize [{}]: {}".format(interface, e))
+
def devices():
# Todo: Support rescanning and adding/removing devices
if len(available_interfaces) == 0:
for reader in initialized_interfaces:
devs = reader.devices()
for dev in devs:
- available_interfaces.append(InputInterface(dev["name"],
- dev["id"],
- reader))
+ available_interfaces.append(InputInterface(
+ dev["name"], dev["id"], reader))
return available_interfaces
+
class InputInterface(InputReaderInterface):
+
def __init__(self, dev_name, dev_id, dev_reader):
super(InputInterface, self).__init__(dev_name, dev_id, dev_reader)
@@ -95,7 +101,7 @@ class InputInterface(InputReaderInterface):
def read(self, include_raw=False):
mydata = self._reader.read(self.id)
# Merge interface returned data into InputReader Data Item
- for key in mydata.keys():
+ for key in list(mydata.keys()):
self.data.set(key, mydata[key])
- return self.data
\ No newline at end of file
+ return self.data
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/__init__.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/leapmotion.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/leapmotion.py
old mode 100755
new mode 100644
index 80c76d07..b21e7097
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/leapmotion.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/leapmotion.py
@@ -1,8 +1,8 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
@@ -15,7 +15,7 @@
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
-#
+#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
@@ -28,27 +28,27 @@
"""
Leap Motion reader for controlling the Crazyflie. Note that this reader needs
-the Leap Motion SDK to be manually copied. See lib/leapsdk/__init__.py for
+the Leap Motion SDK to be manually copied. See src/leapsdk/__init__.py for
more info.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['LeapmotionReader']
-
try:
import leapsdk.Leap as Leap
- from leapsdk.Leap import CircleGesture, KeyTapGesture, ScreenTapGesture, SwipeGesture
except Exception as e:
- raise Exception("Leap Motion library probably not installed ({})".format(e))
+ raise Exception(
+ "Leap Motion library probably not installed ({})".format(e))
import logging
-import time
+
+__author__ = 'Bitcraze AB'
+__all__ = ['LeapmotionReader']
logger = logging.getLogger(__name__)
MODULE_MAIN = "LeapmotionReader"
MODULE_NAME = "Leap Motion"
+
class LeapListener(Leap.Listener):
def set_data_callback(self, callback):
@@ -75,8 +75,6 @@ class LeapListener(Leap.Listener):
# Get the most recent frame and report some basic information
frame = controller.frame()
data = {"roll": 0, "pitch": 0, "yaw": 0, "thrust": 0}
- #logger.info("Frame id: %d, timestamp: %d, hands: %d, fingers: %d, tools: %d, gestures: %d" % (
- # frame.id, frame.timestamp, len(frame.hands), len(frame.fingers), len(frame.tools), len(frame.gestures())))
if not frame.hands.is_empty:
# Get the first hand
hand = frame.hands[0]
@@ -89,7 +87,8 @@ class LeapListener(Leap.Listener):
data["roll"] = -direction.pitch * Leap.RAD_TO_DEG / 30.0
data["pitch"] = -normal.roll * Leap.RAD_TO_DEG / 30.0
data["yaw"] = direction.yaw * Leap.RAD_TO_DEG / 70.0
- data["thrust"] = (hand.palm_position[1] - 80)/150.0 # Use the elevation of the hand for thrust
+ # Use the elevation of the hand for thrust
+ data["thrust"] = (hand.palm_position[1] - 80) / 150.0
if data["thrust"] < 0.0:
data["thrust"] = 0.0
@@ -98,10 +97,12 @@ class LeapListener(Leap.Listener):
self._dcb(data)
+
class LeapmotionReader:
"""Used for reading data from input devices using the PyGame API."""
+
def __init__(self):
- #pygame.init()
+ # pygame.init()
self._ts = 0
self._listener = LeapListener()
self._listener.set_data_callback(self.leap_callback)
@@ -115,18 +116,20 @@ class LeapmotionReader:
self.data = {"roll": 0.0, "pitch": 0.0, "yaw": 0.0,
"thrust": -1.0, "estop": False, "exit": False,
- "althold": False, "alt1": False, "alt2": False,
+ "assistedControl": False, "alt1": False, "alt2": False,
"pitchNeg": False, "rollNeg": False,
"pitchPos": False, "rollPos": False}
logger.info("Initialized Leap")
def open(self, deviceId):
- """Initialize the reading and open the device with deviceId and set the mapping for axis/buttons using the
- inputMap"""
+ """
+ Initialize the reading and open the device with deviceId and set the
+ mapping for axis/buttons using the inputMap
+ """
return
def leap_callback(self, data):
- for k in data.keys():
+ for k in list(data.keys()):
self.data[k] = data[k]
def read(self, id):
@@ -141,9 +144,8 @@ class LeapmotionReader:
dev = []
# According to API doc only 0 or 1 devices is supported
- #logger.info("Devs: {}".format(self._controller.is_connected))
+ # logger.info("Devs: {}".format(self._controller.is_connected))
if self._controller.is_connected:
dev.append({"id": 0, "name": "Leapmotion"})
-
- return dev
+ return dev
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/leapmotion.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/leapmotion.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/wiimote.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/wiimote.py
old mode 100755
new mode 100644
index 290e9628..693ea836
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/wiimote.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/wiimote.py
@@ -1,3 +1,4 @@
+# -*- coding: utf-8 -*-
import logging
from threading import Thread
import time
@@ -12,6 +13,7 @@ logger = logging.getLogger(__name__)
MODULE_MAIN = "WiimoteReader"
MODULE_NAME = "WII"
+
class _Reader(object):
# needs attributes:
# - name
@@ -19,15 +21,21 @@ class _Reader(object):
# - limit_thrust
# - limit_yaw
# - open
+
def devices(self):
"""List all the available connections"""
raise NotImplemented()
+
def open(self, device_id):
- """Initialize the reading and open the device with deviceId and set the mapping for axis/buttons using the
- inputMap"""
+ """
+ Initialize the reading and open the device with deviceId and set the
+ mapping for axis/buttons using the inputMap
+ """
return
+
def close(self, device_id):
return
+
def read(self, device_id):
"""Read input from the selected device."""
raise NotImplemented()
@@ -47,6 +55,7 @@ PLUS = 4096
class HandleWiimote(Thread):
+
def __init__(self, reader, wii, *args):
super(HandleWiimote, self).__init__(*args)
self.reader = reader
@@ -90,9 +99,9 @@ class HandleWiimote(Thread):
self.reader.data['thrust'] = -1
if button:
- sample = max(max_sample, sample/3)
+ sample = max(max_sample, sample / 3)
else:
- sample = min(min_sample, sample*3)
+ sample = min(min_sample, sample * 3)
self.adjust()
time.sleep(sample)
@@ -112,6 +121,7 @@ class HandleWiimote(Thread):
else:
self.reader.data['roll'] = 0
+
class WiimoteReader(_Reader):
name = MODULE_NAME
@@ -120,14 +130,14 @@ class WiimoteReader(_Reader):
self.limit_thrust = False
self.limit_yaw = False
- print "Press 1 + 2 to connect wii"
+ print("Press 1 + 2 to connect wii")
time.sleep(1)
self.wm = cwiid.Wiimote()
self.wm.rpt_mode = cwiid.RPT_BTN
logger.info("FOUND WIIMOTE")
self.data = {"roll": 0.0, "pitch": 0.0, "yaw": 0.0,
"thrust": -1.0, "estop": False, "exit": False,
- "althold": False, "alt1": False, "alt2": False,
+ "assistedControl": False, "alt1": False, "alt2": False,
"pitchNeg": False, "rollNeg": False,
"pitchPos": False, "rollPos": False}
self.wii_thread = HandleWiimote(self, self.wm)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/wiimote.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/wiimote.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/zmqpull.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/zmqpull.py
old mode 100755
new mode 100644
index f12f702d..0ff0e6bc
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/zmqpull.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/zmqpull.py
@@ -1,8 +1,8 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
@@ -15,7 +15,7 @@
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
-#
+#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
@@ -30,22 +30,21 @@
Input interface that supports receiving commands via ZMQ.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['ZMQReader']
+import logging
+from threading import Thread
+
+from cfclient.utils.config import Config
try:
import zmq
except Exception as e:
raise Exception("ZMQ library probably not installed ({})".format(e))
-from cfclient.utils.config import Config
if not Config().get("enable_zmq_input"):
raise Exception("ZMQ input disabled in config file")
-import logging
-import time
-import pprint
-from threading import Thread
+__author__ = 'Bitcraze AB'
+__all__ = ['ZMQReader']
ZMQ_PULL_PORT = 1024 + 188
@@ -54,6 +53,7 @@ logger = logging.getLogger(__name__)
MODULE_MAIN = "ZMQReader"
MODULE_NAME = "ZMQ"
+
class _PullReader(Thread):
def __init__(self, receiver, callback, *args):
@@ -66,8 +66,10 @@ class _PullReader(Thread):
while True:
self._cb(self._receiver.recv_json())
+
class ZMQReader:
"""Used for reading data from input devices using the PyGame API."""
+
def __init__(self):
context = zmq.Context()
receiver = context.socket(zmq.PULL)
@@ -85,7 +87,7 @@ class ZMQReader:
self.data = {"roll": 0.0, "pitch": 0.0, "yaw": 0.0,
"thrust": -1.0, "estop": False, "exit": False,
- "althold": False, "alt1": False, "alt2": False,
+ "assistedControl": False, "alt1": False, "alt2": False,
"pitchNeg": False, "rollNeg": False,
"pitchPos": False, "rollPos": False}
@@ -95,12 +97,14 @@ class ZMQReader:
self._receiver_thread.start()
def _cmd_callback(self, cmd):
- for k in cmd["ctrl"].keys():
+ for k in list(cmd["ctrl"].keys()):
self.data[k] = cmd["ctrl"][k]
def open(self, device_id):
- """Initialize the reading and open the device with deviceId and set the mapping for axis/buttons using the
- inputMap"""
+ """
+ Initialize the reading and open the device with deviceId and set the
+ mapping for axis/buttons using the inputMap
+ """
return
def read(self, device_id):
@@ -116,4 +120,3 @@ class ZMQReader:
# As a temporary workaround we always say we have ZMQ
# connected. If it's not connected, there's just no data.
return [{"id": 0, "name": "ZMQ@{}".format(self._bind_addr)}]
-
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/zmqpull.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputinterfaces/zmqpull.pyc
deleted file mode 100755
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GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaderinterface.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaderinterface.py
old mode 100755
new mode 100644
index 7e41cd73..d6bb14c1
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaderinterface.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaderinterface.py
@@ -37,6 +37,7 @@ logger = logging.getLogger(__name__)
class _ToggleState(dict):
+
def __getattr__(self, attr):
return self.get(attr)
@@ -45,11 +46,12 @@ class _ToggleState(dict):
class InputData:
+
def __init__(self):
- #self._toggled = {}
+ # self._toggled = {}
self._axes = ("roll", "pitch", "yaw", "thrust")
self._buttons = ("alt1", "alt2", "estop", "exit", "pitchNeg",
- "pitchPos", "rollNeg", "rollPos", "althold",
+ "pitchPos", "rollNeg", "rollPos", "assistedControl",
"muxswitch")
for axis in self._axes:
self.__dict__[axis] = 0.0
@@ -64,7 +66,7 @@ class InputData:
return self._axes + self._buttons
def _check_toggle(self, key, data):
- if not key in self._prev_btn_values:
+ if key not in self._prev_btn_values:
self._prev_btn_values[key] = data
elif self._prev_btn_values[key] != data:
self._prev_btn_values[key] = data
@@ -95,6 +97,7 @@ class InputData:
class InputReaderInterface(object):
+
def __init__(self, dev_name, dev_id, dev_reader):
"""Initialize the reader"""
# Set if the device supports mapping and can be configured
@@ -122,7 +125,6 @@ class InputReaderInterface(object):
# Stateful things
self._old_thrust = 0
self._old_raw_thrust = 0
- self._old_alt_hold = False
self._prev_thrust = 0
self._last_time = 0
@@ -159,14 +161,16 @@ class InputReaderInterface(object):
return [self._cap_rp(roll), self._cap_rp(pitch)]
def _scale_and_deadband_yaw(self, yaw):
- return InputReaderInterface.deadband(yaw, 0.2) * self.input.max_yaw_rate
+ return (InputReaderInterface.deadband(yaw, 0.2) *
+ self.input.max_yaw_rate)
- def _limit_thrust(self, thrust, althold, emergency_stop):
+ def _limit_thrust(self, thrust, assisted_control, emergency_stop):
# Thust limiting (slew, minimum and emergency stop)
if self.input.springy_throttle:
- if althold and self.input.has_pressure_sensor:
- thrust = int(round(InputReaderInterface.deadband(thrust, 0.2)
- * 32767 + 32767)) # Convert to uint16
+ if assisted_control and self.input.get_assisted_control() == \
+ self.input.ASSISTED_CONTROL_ALTHOLD:
+ thrust = int(round(InputReaderInterface.deadband(thrust, 0.2) *
+ 32767 + 32767)) # Convert to uint16
else:
# Scale the thrust to percent (it's between 0 and 1)
thrust *= 100
@@ -190,8 +194,8 @@ class InputReaderInterface(object):
else:
# If we are "inside" the limit, then lower
# according to the rate we have set each iteration
- lowering = (time() - self._last_time) * \
- self.input.thrust_slew_rate
+ lowering = ((time() - self._last_time) *
+ self.input.thrust_slew_rate)
limited_thrust = self._prev_thrust - lowering
elif emergency_stop or thrust < self.thrust_stop_limit:
# If the thrust have been pulled down or the
@@ -214,7 +218,8 @@ class InputReaderInterface(object):
thrust = limited_thrust
else:
thrust = thrust / 2 + 0.5
- if althold and self.input.has_pressure_sensor:
+ if assisted_control and self.input.get_assisted_control() == \
+ self.input.ASSISTED_CONTROL_ALTHOLD:
thrust = 32767
else:
if thrust < -0.90 or emergency_stop:
@@ -224,14 +229,14 @@ class InputReaderInterface(object):
self.input.max_thrust -
self.input.min_thrust)
if (self.input.thrust_slew_enabled and
- self.input.thrust_slew_limit > thrust and not
- emergency_stop):
+ self.input.thrust_slew_limit > thrust and not
+ emergency_stop):
if self._old_thrust > self.input.thrust_slew_limit:
self._old_thrust = self.input.thrust_slew_limit
if thrust < (self._old_thrust -
- (self.input.thrust_slew_rate / 100)):
- thrust = self._old_thrust - \
- self.input.thrust_slew_rate / 100
+ self.input.thrust_slew_rate / 100):
+ thrust = (self._old_thrust -
+ self.input.thrust_slew_rate / 100)
if thrust < -1 or thrust < self.input.min_thrust:
thrust = 0
@@ -239,14 +244,6 @@ class InputReaderInterface(object):
self._old_raw_thrust = thrust
return thrust
- def set_alt_hold_available(self, available):
- """Set if altitude hold is available or not (depending on HW)"""
- self.input._has_pressure_sensor = available
-
- def enable_alt_hold(self, althold):
- """Enable or disable altitude hold"""
- self._old_alt_hold = althold
-
@staticmethod
def deadband(value, threshold):
if abs(value) < threshold:
@@ -255,4 +252,4 @@ class InputReaderInterface(object):
value -= threshold
elif value < 0:
value += threshold
- return value / (1 - threshold)
\ No newline at end of file
+ return value / (1 - threshold)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaderinterface.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaderinterface.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/__init__.py
old mode 100755
new mode 100644
index 11d1a8fe..978132fb
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/__init__.py
@@ -33,37 +33,41 @@ To create a new input device reader drop a .py file into this
directory and it will be picked up automatically.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['InputDevice']
-
-import os
-import glob
import logging
from ..inputreaderinterface import InputReaderInterface
+__author__ = 'Bitcraze AB'
+__all__ = ['InputDevice']
+
logger = logging.getLogger(__name__)
-found_readers = [os.path.splitext(os.path.basename(f))[0] for
- f in glob.glob(os.path.dirname(__file__) + "/[A-Za-z]*.py")]
-if len(found_readers) == 0:
- found_readers = [os.path.splitext(os.path.basename(f))[0] for
- f in glob.glob(os.path.dirname(__file__) +
- "/[A-Za-z]*.pyc")]
-logger.info("Found readers: {}".format(found_readers))
+# Forces py2exe to include the input readers in the windows build
+try:
+ from . import pysdl2 # noqa
+ from . import linuxjsdev # noqa
+except Exception:
+ pass
+
+# Statically listing the available input readers
+input_readers = ["linuxjsdev",
+ "pysdl2"]
+
+logger.info("Input readers: {}".format(input_readers))
initialized_readers = []
available_devices = []
-for reader in found_readers:
+for reader in input_readers:
try:
- module = __import__(reader, globals(), locals(), [reader], -1)
+ module = __import__(reader, globals(), locals(), [reader], 1)
main_name = getattr(module, "MODULE_MAIN")
initialized_readers.append(getattr(module, main_name)())
logger.info("Successfully initialized [{}]".format(reader))
except Exception as e:
logger.info("Could not initialize [{}]: {}".format(reader, e))
+
def devices():
# Todo: Support rescanning and adding/removing devices
if len(available_devices) == 0:
@@ -77,6 +81,7 @@ def devices():
class InputDevice(InputReaderInterface):
+
def __init__(self, dev_name, dev_id, dev_reader):
super(InputDevice, self).__init__(dev_name, dev_id, dev_reader)
@@ -135,7 +140,7 @@ class InputDevice(InputReaderInterface):
self.data.pitch)
if self.limit_thrust:
self.data.thrust = self._limit_thrust(self.data.thrust,
- self.data.althold,
+ self.data.assistedControl,
self.data.estop)
if self.limit_yaw:
self.data.yaw = self._scale_and_deadband_yaw(self.data.yaw)
@@ -143,4 +148,4 @@ class InputDevice(InputReaderInterface):
if include_raw:
return [axis, buttons, self.data]
else:
- return self.data
\ No newline at end of file
+ return self.data
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/__init__.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/linuxjsdev.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/linuxjsdev.py
old mode 100755
new mode 100644
index a0fee1ba..aaedd429
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/linuxjsdev.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/linuxjsdev.py
@@ -1,4 +1,4 @@
-# -*- coding: utf8 -*-
+# -*- coding: utf-8 -*-
# ||
# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
@@ -22,30 +22,32 @@
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software Foundation,
# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
Linux joystick driver using the Linux input_joystick subsystem. Requires sysfs
to be mounted on /sys and /dev/input/js* to be readable.
This module is very linux specific but should work on any CPU platform
"""
-
+import ctypes
+import glob
+import logging
+import os
+import struct
import sys
+
if not sys.platform.startswith('linux'):
raise Exception("Only supported on Linux")
-import struct
-import glob
-import os
-import ctypes
-import fcntl
-import logging
-
-logger = logging.getLogger(__name__)
+try:
+ import fcntl
+except ImportError as e:
+ raise Exception("fcntl library probably not installed ({})".format(e))
__author__ = 'Bitcraze AB'
__all__ = ['Joystick']
+logger = logging.getLogger(__name__)
+
JS_EVENT_FMT = "@IhBB"
JE_TIME = 0
JE_VALUE = 1
@@ -56,31 +58,36 @@ JS_EVENT_BUTTON = 0x001
JS_EVENT_AXIS = 0x002
JS_EVENT_INIT = 0x080
-#ioctls
+# ioctls
JSIOCGAXES = 0x80016a11
JSIOCGBUTTONS = 0x80016a12
MODULE_MAIN = "Joystick"
MODULE_NAME = "linuxjsdev"
+
class JEvent(object):
"""
Joystick event class. Encapsulate single joystick event.
"""
+
def __init__(self, evt_type, number, value):
self.type = evt_type
self.number = number
self.value = value
def __repr__(self):
- return "JEvent(type={}, number={}, value={})".format(self.type,
- self.number, self.value)
+ return "JEvent(type={}, number={}, value={})".format(
+ self.type, self.number, self.value)
+
-#Constants
+# Constants
TYPE_BUTTON = 1
TYPE_AXIS = 2
+
class _JS():
+
def __init__(self, num, name):
self.num = num
self.name = name
@@ -97,10 +104,10 @@ class _JS():
raise Exception("{} at {} is already "
"opened".format(self.name, self._f_name))
- self._f = open("/dev/input/js{}".format(self.num), "r")
+ self._f = open("/dev/input/js{}".format(self.num), "rb")
fcntl.fcntl(self._f.fileno(), fcntl.F_SETFL, os.O_NONBLOCK)
- #Get number of axis and button
+ # Get number of axis and button
val = ctypes.c_int()
if fcntl.ioctl(self._f.fileno(), JSIOCGAXES, val) != 0:
self._f.close()
@@ -142,7 +149,7 @@ class _JS():
def __decode_event(self, jsdata):
""" Decode a jsdev event into a dict """
- #TODO: Add timestamp?
+ # TODO: Add timestamp?
if jsdata[JE_TYPE] & JS_EVENT_AXIS != 0:
return JEvent(evt_type=TYPE_AXIS,
number=jsdata[JE_NUMBER],
@@ -165,6 +172,8 @@ class _JS():
self._f.close()
self._f = None
raise IOError("Device has been disconnected")
+ except TypeError:
+ pass
except ValueError:
# This will happen if I/O operations are done on a closed device,
# which is the case when you first close and then open the device
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/linuxjsdev.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/linuxjsdev.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/pysdl2.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/pysdl2.py
old mode 100755
new mode 100644
index f998ad8e..5039f3a9
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/pysdl2.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/pysdl2.py
@@ -1,8 +1,8 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
@@ -15,45 +15,49 @@
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
-#
+#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
# USA.
-
"""
Driver for reading data from the PySDL2 API. Used from Inpyt.py for reading
input data.
"""
-
+import logging
import sys
+import time
+from threading import Thread
+
+from queue import Queue
+
if sys.platform.startswith('linux'):
raise Exception("No SDL2 support on Linux")
+try:
+ import sdl2
+ import sdl2.ext
+ import sdl2.hints
+except ImportError as e:
+ raise Exception("sdl2 library probably not installed ({})".format(e))
+
__author__ = 'Bitcraze AB'
__all__ = ['PySDL2Reader']
-import sdl2
-import sdl2.ext
-import sdl2.hints
-from threading import Thread
-from Queue import Queue
-import time
-import logging
-
logger = logging.getLogger(__name__)
MODULE_MAIN = "PySDL2Reader"
MODULE_NAME = "PySDL2"
+
class _SDLEventDispatcher(Thread):
"""Wrapper to read all SDL2 events from the global queue and distribute
them to the different devices"""
+
def __init__(self, callback):
Thread.__init__(self)
self._callback = callback
@@ -77,12 +81,12 @@ class _SDLEventDispatcher(Thread):
class _JS():
"""Wrapper for one input device"""
+
def __init__(self, sdl_index, sdl_id, name):
self.axes = []
self.buttons = []
self.name = MODULE_NAME
self._j = None
- self._btn_count = 0
self._id = sdl_id
self._index = sdl_index
self._name = name
@@ -90,25 +94,40 @@ class _JS():
def open(self):
self._j = sdl2.SDL_JoystickOpen(self._index)
- self._btn_count = sdl2.SDL_JoystickNumButtons(self._j)
+ btn_count = sdl2.SDL_JoystickNumButtons(self._j)
self.axes = list(0 for i in range(sdl2.SDL_JoystickNumAxes(self._j)))
- self.buttons = list(0 for i in range(sdl2.SDL_JoystickNumButtons(
- self._j) + 4))
+ self.buttons = list(0 for i in range(btn_count + 4))
def close(self):
if self._j:
sdl2.joystick.SDL_JoystickClose(self._j)
self._j = None
- def _set_fake_hat_button(self, btn=None):
- self.buttons[self._btn_count] = 0
- self.buttons[self._btn_count+1] = 0
- self.buttons[self._btn_count+2] = 0
- self.buttons[self._btn_count+3] = 0
-
- if btn:
- self.buttons[self._btn_count+btn] = 1
+ def _set_virtual_dpad(self, position):
+ self.buttons[-4:] = [0, 0, 0, 0]
+
+ # -4 UP -3 DOWN -2 LEFT -1 RIGHT
+ if position == sdl2.SDL_HAT_UP:
+ self.buttons[-4] = 1
+ elif position == sdl2.SDL_HAT_RIGHTUP:
+ self.buttons[-4] = 1
+ self.buttons[-1] = 1
+ elif position == sdl2.SDL_HAT_RIGHT:
+ self.buttons[-1] = 1
+ elif position == sdl2.SDL_HAT_RIGHTDOWN:
+ self.buttons[-1] = 1
+ self.buttons[-3] = 1
+ elif position == sdl2.SDL_HAT_DOWN:
+ self.buttons[-3] = 1
+ elif position == sdl2.SDL_HAT_LEFTDOWN:
+ self.buttons[-3] = 1
+ self.buttons[-2] = 1
+ elif position == sdl2.SDL_HAT_LEFT:
+ self.buttons[-2] = 1
+ elif position == sdl2.SDL_HAT_LEFTUP:
+ self.buttons[-2] = 1
+ self.buttons[-4] = 1
def add_event(self, event):
self._event_queue.put(event)
@@ -126,25 +145,18 @@ class _JS():
self.buttons[e.jbutton.button] = 0
if e.type == sdl2.SDL_JOYHATMOTION:
- if e.jhat.value == sdl2.SDL_HAT_CENTERED:
- self._set_fake_hat_button()
- elif e.jhat.value == sdl2.SDL_HAT_UP:
- self._set_fake_hat_button(0)
- elif e.jhat.value == sdl2.SDL_HAT_DOWN:
- self._set_fake_hat_button(1)
- elif e.jhat.value == sdl2.SDL_HAT_LEFT:
- self._set_fake_hat_button(2)
- elif e.jhat.value == sdl2.SDL_HAT_RIGHT:
- self._set_fake_hat_button(3)
+ self._set_virtual_dpad(e.jhat.value)
+
return [self.axes, self.buttons]
+
class PySDL2Reader():
"""Used for reading data from input devices using the PySDL2 API."""
+
def __init__(self):
- sdl2.SDL_Init(sdl2.SDL_INIT_VIDEO | sdl2.SDL_INIT_JOYSTICK)
+ sdl2.SDL_Init(sdl2.SDL_INIT_JOYSTICK)
sdl2.SDL_SetHint(sdl2.hints.SDL_HINT_JOYSTICK_ALLOW_BACKGROUND_EVENTS,
- "1")
- sdl2.ext.init()
+ b"1")
self._js = {}
self.name = MODULE_NAME
self._event_dispatcher = _SDLEventDispatcher(self._dispatch_events)
@@ -178,7 +190,7 @@ class PySDL2Reader():
logger.info("Found {} devices".format(nbrOfInputs))
for sdl_index in range(0, nbrOfInputs):
j = sdl2.joystick.SDL_JoystickOpen(sdl_index)
- name = sdl2.joystick.SDL_JoystickName(j)
+ name = sdl2.joystick.SDL_JoystickName(j).decode("UTF-8")
if names.count(name) > 0:
name = "{0} #{1}".format(name, names.count(name) + 1)
sdl_id = sdl2.joystick.SDL_JoystickInstanceID(j)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/pysdl2.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/inputreaders/pysdl2.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/__init__.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/__init__.py
old mode 100755
new mode 100644
index 402c4d87..63a300e1
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/__init__.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/__init__.py
@@ -20,7 +20,6 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
@@ -29,16 +28,16 @@
The mux is used to open one or more devices and mix the inputs from all
of them into one "input" for the Crazyflie and UI.
"""
+import logging
__author__ = 'Bitcraze AB'
__all__ = ['InputMux']
-import logging
-
logger = logging.getLogger(__name__)
class InputMux(object):
+
def __init__(self, input_layer):
self._devs = {"Device": None}
self.name = "N/A"
@@ -49,34 +48,46 @@ class InputMux(object):
for r in self._devs:
if self._devs[r]:
if self._devs[r] == dev:
- self._devs[r].close()
self._devs[r] = None
+ dev.close()
+
+ # First set role to None to stop reading
+ old_dev = self._devs[role]
+ self._devs[role] = None
+ if old_dev:
+ old_dev.close()
- if self._devs[role]:
- self._devs[role].close()
+ # Open the new device before attaching it to a role
+ dev.open()
self._devs[role] = dev
- self._devs[role].open()
def supported_roles(self):
- return self._devs.keys()
+ return list(self._devs.keys())
def add_device(self, dev, role):
logger.info("Adding device {} to MUX {}".format(dev.name, self.name))
self._open_new_device(dev, role)
def pause(self):
- for d in [key for key in self._devs.keys() if self._devs[key]]:
+ for d in [key for key in list(self._devs.keys()) if self._devs[key]]:
self._devs[d].close()
+ def devices(self):
+ devs = ()
+ for d in self._devs:
+ if self._devs[d]:
+ devs += (self._devs[d], )
+ return devs
+
def resume(self):
- for d in [key for key in self._devs.keys() if self._devs[key]]:
+ for d in [key for key in list(self._devs.keys()) if self._devs[key]]:
self._devs[d].open()
def close(self):
"""Close down the MUX and close all it's devices"""
- for d in [key for key in self._devs.keys() if self._devs[key]]:
+ for d in [key for key in list(self._devs.keys()) if self._devs[key]]:
self._devs[d].close()
self._devs[d] = None
def read(self):
- return None
\ No newline at end of file
+ return None
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/__init__.pyc
deleted file mode 100755
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GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/nomux.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/nomux.py
old mode 100755
new mode 100644
index d32965a1..ba4d51f0
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/nomux.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/nomux.py
@@ -20,7 +20,6 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
@@ -28,16 +27,18 @@
"""
This mux will only use one device and not mix it with any other input.
"""
+import logging
+
+from . import InputMux
__author__ = 'Bitcraze AB'
__all__ = ['NoMux']
-from . import InputMux
-import logging
logger = logging.getLogger(__name__)
class NoMux(InputMux):
+
def __init__(self, *args):
super(NoMux, self).__init__(*args)
self.name = "Normal"
@@ -49,4 +50,4 @@ class NoMux(InputMux):
return data
else:
- return None
\ No newline at end of file
+ return None
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/nomux.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/nomux.pyc
deleted file mode 100755
index 295adbfe806ffd6abffdc7e855a0a8fdd5e6bced..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeovermux.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeovermux.py
old mode 100755
new mode 100644
index d4cccf3e..8295e202
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeovermux.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeovermux.py
@@ -20,7 +20,6 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
@@ -30,21 +29,22 @@ Mux for giving control to one device (slave/student) for all axis (roll/pitch/
yaw/thrust) with the ability to take over all of them from a second device
(master/teacher).
"""
-
-__author__ = 'Bitcraze AB'
-__all__ = ['SelectiveMux']
-
import logging
from .takeoverselectivemux import TakeOverSelectiveMux
+__author__ = 'Bitcraze AB'
+__all__ = ['TakeOverMux']
+
logger = logging.getLogger(__name__)
class TakeOverMux(TakeOverSelectiveMux):
+
def __init__(self, *args):
super(TakeOverMux, self).__init__(*args)
self.name = "Teacher (RPYT)"
- self._muxing = {self._master: ("estop", "alt1", "alt2", "althold",
- "exit"),
- self._slave: ("roll", "pitch", "yaw", "thrust")}
\ No newline at end of file
+ self._muxing = {
+ self._master: ("estop", "alt1", "alt2", "assistedControl", "exit"),
+ self._slave: ("roll", "pitch", "yaw", "thrust")
+ }
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeovermux.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeovermux.pyc
deleted file mode 100755
index 02296e8241ecfc48e3669cb25e0c5d3c2052fd54..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeoverselectivemux.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeoverselectivemux.py
old mode 100755
new mode 100644
index cde7af02..40207d53
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeoverselectivemux.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeoverselectivemux.py
@@ -31,17 +31,18 @@ from a second device (master/teacher) with the possibility to take over
roll/pitch as well.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['TakeOverSelectiveMux']
-
import logging
from . import InputMux
+__author__ = 'Bitcraze AB'
+__all__ = ['TakeOverSelectiveMux']
+
logger = logging.getLogger(__name__)
class TakeOverSelectiveMux(InputMux):
+
def __init__(self, *args):
super(TakeOverSelectiveMux, self).__init__(*args)
self._master = "Teacher"
@@ -49,9 +50,11 @@ class TakeOverSelectiveMux(InputMux):
self.name = "Teacher (RP)"
self._devs = {self._master: None, self._slave: None}
- self._muxing = {self._master: ("thrust", "yaw", "estop", "alt1", "alt2",
- "althold", "exit"),
- self._slave: ("roll", "pitch")}
+ self._muxing = {
+ self._master: ("thrust", "yaw", "estop", "alt1", "alt2",
+ "assistedControl", "exit"),
+ self._slave: ("roll", "pitch")
+ }
def read(self):
try:
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeoverselectivemux.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/input/mux/takeoverselectivemux.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/joystick/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/joystick/__init__.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/joystick/linuxjsdev.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/joystick/linuxjsdev.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logconfigreader.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logconfigreader.py
old mode 100755
new mode 100644
index 1e948b48..c548dcf4
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logconfigreader.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logconfigreader.py
@@ -35,22 +35,19 @@ Currently it can just use the PySdl2 driver but in the future there will be a
Linux and Windows driver that can bypass PySdl2.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['LogVariable', 'LogConfigReader', 'LogConfigRemoveThis']
-
import glob
import json
import logging
import os
import shutil
-import sys
-logger = logging.getLogger(__name__)
+import cfclient
+from cflib.crazyflie.log import LogVariable, LogConfig
-#from PyQt4 import QtCore, QtGui, uic
-#from PyQt4.QtCore import pyqtSlot, pyqtSignal
+__author__ = 'Bitcraze AB'
+__all__ = ['LogVariable', 'LogConfigReader']
-from cflib.crazyflie.log import LogVariable, LogConfig
+logger = logging.getLogger(__name__)
class LogConfigReader():
@@ -59,24 +56,25 @@ class LogConfigReader():
def __init__(self, crazyflie):
self.dsList = []
# Check if user config exists, otherwise copy files
- if (not os.path.exists(sys.path[1] + "/log")):
+ if (not os.path.exists(cfclient.config_path + "/log")):
logger.info("No user config found, copying dist files")
- os.makedirs(sys.path[1] + "/log")
- for f in glob.glob(sys.path[0] +
- "/cfclient/configs/log/[A-Za-z]*.json"):
- shutil.copy2(f, sys.path[1] + "/log")
+ os.makedirs(cfclient.config_path + "/log")
+ for f in glob.glob(
+ cfclient.module_path + "/configs/log/[A-Za-z]*.json"):
+ shutil.copy2(f, cfclient.config_path + "/log")
self._cf = crazyflie
self._cf.connected.add_callback(self._connected)
def _read_config_files(self):
"""Read and parse log configurations"""
configsfound = [os.path.basename(f) for f in
- glob.glob(sys.path[1] + "/log/[A-Za-z_-]*.json")]
+ glob.glob(cfclient.config_path +
+ "/log/[A-Za-z_-]*.json")]
new_dsList = []
for conf in configsfound:
try:
logger.info("Parsing [%s]", conf)
- json_data = open(sys.path[1] + "/log/%s" % conf)
+ json_data = open(cfclient.config_path + "/log/%s" % conf)
self.data = json.load(json_data)
infoNode = self.data["logconfig"]["logblock"]
@@ -115,7 +113,7 @@ class LogConfigReader():
def saveLogConfigFile(self, logconfig):
"""Save a log configuration to file"""
- filename = sys.path[1] + "/log/" + logconfig.name + ".json"
+ filename = cfclient.config_path + "/log/" + logconfig.name + ".json"
logger.info("Saving config for [%s]", filename)
# Build tree for JSON
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logconfigreader.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logconfigreader.pyc
deleted file mode 100755
index 5bc212757895ae145bd54f853d5f53b9df89c06d..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 4251
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logdatawriter.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logdatawriter.py
old mode 100755
new mode 100644
index d9c551c6..0f305fa1
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logdatawriter.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logdatawriter.py
@@ -30,20 +30,17 @@
Used to write log data to files.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['LogWriter']
-
import os
-import sys
import datetime
import logging
-logger = logging.getLogger(__name__)
+import cfclient
-from cflib.crazyflie.log import LogConfig
+__author__ = 'Bitcraze AB'
+__all__ = ['LogWriter']
-import traceback
+logger = logging.getLogger(__name__)
class LogWriter():
@@ -55,7 +52,7 @@ class LogWriter():
self._dir = directory
self._connected_ts = connected_ts
- self._dir = os.path.join(sys.path[1], "logdata",
+ self._dir = os.path.join(cfclient.config_path, "logdata",
connected_ts.strftime("%Y%m%dT%H-%M-%S"))
self._file = None
self._header_written = False
@@ -116,4 +113,4 @@ class LogWriter():
self._write_header()
self._block.data_received_cb.add_callback(self._new_data)
logger.info("Started logging of block [%s] to file [%s]",
- self._block.name, self._filename)
\ No newline at end of file
+ self._block.name, self._filename)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logdatawriter.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/logdatawriter.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/periodictimer.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/periodictimer.py
old mode 100755
new mode 100644
index cfdff4ee..7ba3063d
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/periodictimer.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/periodictimer.py
@@ -30,14 +30,14 @@ Implementation of a periodic timer that will call a callback every time
the timer expires once started.
"""
-__author__ = 'Bitcraze AB'
-__all__ = ['PeriodicTimer']
-
import logging
from threading import Thread
from cflib.utils.callbacks import Caller
import time
+__author__ = 'Bitcraze AB'
+__all__ = ['PeriodicTimer']
+
logger = logging.getLogger(__name__)
@@ -68,6 +68,7 @@ class PeriodicTimer:
class _PeriodicTimerThread(Thread):
+
def __init__(self, period, caller):
super(_PeriodicTimerThread, self).__init__()
self._period = period
@@ -82,4 +83,4 @@ class _PeriodicTimerThread(Thread):
time.sleep(self._period)
if self._stop:
break
- self._callbacks.call()
\ No newline at end of file
+ self._callbacks.call()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/periodictimer.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/periodictimer.pyc
deleted file mode 100755
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GIT binary patch
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/pysdl2reader.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/pysdl2reader.pyc
deleted file mode 100755
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/singleton.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/singleton.py
old mode 100755
new mode 100644
index 3a0dab0e..832d2cee
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/singleton.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/singleton.py
@@ -33,12 +33,14 @@ Singleton class.
__author__ = 'Bitcraze AB'
__all__ = ['Singleton']
+
class Singleton(type):
"""Class for making singletons"""
_instances = {}
-
+
def __call__(cls, *args, **kwargs):
"""Called when creating new class"""
if cls not in cls._instances:
- cls._instances[cls] = super(Singleton, cls).__call__(*args, **kwargs)
+ cls._instances[cls] = super(Singleton, cls).__call__(
+ *args, **kwargs)
return cls._instances[cls]
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/singleton.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/singleton.pyc
deleted file mode 100755
index ec89e13b651a261d597761710075f458596fbfb2..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
literal 899
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_led_driver.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_led_driver.py
old mode 100755
new mode 100644
index 8232b6c3..e639b092
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_led_driver.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_led_driver.py
@@ -30,25 +30,27 @@
Give access to the LED driver memory via ZMQ.
"""
-import cflib
-import cflib.crazyflie
from cflib.crazyflie.mem import MemoryElement
import logging
from threading import Thread, Lock
+
ZMQ_PULL_PORT = 1024 + 190
logger = logging.getLogger(__name__)
enabled = False
try:
import zmq
+
enabled = True
except Exception as e:
logger.warning("Not enabling ZMQ LED driver access,"
"import failed ({})".format(e))
+
class _PullReader(Thread):
"""Blocking thread for reading from ZMQ socket"""
+
def __init__(self, receiver, callback, *args):
"""Initialize"""
super(_PullReader, self).__init__(*args)
@@ -59,12 +61,13 @@ class _PullReader(Thread):
def run(self):
while True:
- #self.lock.acquire()
+ # self.lock.acquire()
self._cb(self._receiver.recv_json())
class ZMQLEDDriver:
"""Used for reading data from input devices using the PyGame API."""
+
def __init__(self, crazyflie):
if enabled:
@@ -96,4 +99,4 @@ class ZMQLEDDriver:
memory.write_data(self._write_cb)
def _write_cb(self, mem, addr):
- return
\ No newline at end of file
+ return
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_led_driver.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_led_driver.pyc
deleted file mode 100755
index 9d11f15fe5930ef3137ec1223755222a21c76613..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_param.py b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_param.py
old mode 100755
new mode 100644
index e2ea3fc0..da221b6b
--- a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_param.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_param.py
@@ -32,15 +32,18 @@ Give access to the parameter framework via ZMQ.
import logging
from threading import Thread, Lock
+
ZMQ_PULL_PORT = 1024 + 189
logger = logging.getLogger(__name__)
enabled = False
try:
import zmq
+
enabled = True
except Exception as e:
- logger.warning("Not enabling ZMQ param access, import failed ({})".format(e))
+ logger.warning(
+ "Not enabling ZMQ param access, import failed ({})".format(e))
class _PullReader(Thread):
@@ -60,6 +63,7 @@ class _PullReader(Thread):
class ZMQParamAccess:
"""Used for reading data from input devices using the PyGame API."""
+
def __init__(self, crazyflie):
if enabled:
@@ -70,21 +74,23 @@ class ZMQParamAccess:
# If the port is already bound an exception will be thrown
# and caught in the initialization of the readers and handled.
self._receiver.bind(self._bind_addr)
- logger.info("Biding ZMQ for parameters at {}".format(self._bind_addr))
- self._receiver_thread = _PullReader(self._receiver, self._cmd_callback)
+ logger.info(
+ "Biding ZMQ for parameters at {}".format(self._bind_addr))
+ self._receiver_thread = _PullReader(self._receiver,
+ self._cmd_callback)
def start(self):
if enabled:
self._receiver_thread.start()
def _cmd_callback(self, data):
- #logger.info(data)
+ # logger.info(data)
if data["cmd"] == "toc":
- response = {"version":1, "toc": []}
+ response = {"version": 1, "toc": []}
self._receiver.send_json(response)
self._receiver_thread.lock.release()
if data["cmd"] == "set":
- resp = {"version": 1}
+ resp = {"version": 1} # noqa
group = data["name"].split(".")[0]
name = data["name"].split(".")[1]
self._cf.param.add_update_callback(group=group, name=name,
@@ -98,6 +104,6 @@ class ZMQParamAccess:
self._cf.param.remove_update_callback(group=group, name=name_short,
cb=self._param_callback)
- response = {"version":1, "cmd": "set", "name": name, "value": value}
+ response = {"version": 1, "cmd": "set", "name": name, "value": value}
self._receiver.send_json(response)
self._receiver_thread.lock.release()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_param.pyc b/pps_ws/src/d_fall_pps/crazyradio/cfclient/utils/zmq_param.pyc
deleted file mode 100755
index 168cdd01bcb4d437b887c1e9a61e7e9a3cf25da2..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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index f5e936ccbb0fd4da975be38c2a121c3f618e5b17..a5ca6d4071705a3ae3b59a286df950bbcbb51bb7 100644
GIT binary patch
delta 40
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/__init__.pyc
index b09a12f550842caeaa953ba1c7a810c6c4aaaf89..1d052e26d093f2d2af461e4f7305e6843adeba19 100644
GIT binary patch
delta 951
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index 1a4551165f13f85143fbb07424587f5960cf074a..8c878db97973dab1c6de56c815a53f19287b7151 100644
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delta 154
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index 7eda3dbedd01ce70ec7b102c900beb60cab58b61..1a8c8c2f279ac0c46bc4c8048ae830c7e0bbfcd1 100644
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delta 125
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index d210b97174cb49fbd0506298c0ccae2dd1f3d8e8..5fd1124b09b2bf380993fdf3f869e6755d087817 100644
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delta 910
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delta 1673
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/param.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/param.pyc
index 300adf07e0912abb81c395eab49e516c272d5c0f..f804a69a9f074702fb526631e73d0d01aa742de1 100644
GIT binary patch
delta 643
zcmZpQIugas{F#?4wes>t_VaAQ;S3B6`WgATsrt!9iB*+pIhm=G6{I{S>#@(oCAV3g
zqlyuSr03>OoX?qXN*eKM;nL}`c?+L4Zb^3mK4zT8t`knjtut5j6>iD(;=VW~Cx=Mx
z!Di)V1t|?&nmjizlorC}P>;#n^0-3PbMs&MLYx6N`MA;%Y)%12mFMIq%Kvf6ZMIQO
i!0ptpYQeZA7iu`+lJuBtt(Az=%CB05xHaz6aRC50o6La#
delta 569
zcmX>S)fC0f{F#@_VeajX?C048LKqkr^fU5vQ}t7H(-L!XCJPF9PBvnnfmLF&8b>7~
zri`PM=jPv>&zZ2x*zsy%(F3$*^ASEPOqtDs0%6S9O*$-`j;S8x;LUBKFLB767Wcs}
zGr3rDH-<Hv9i=p|D4(d|yZNLv9~NhULd#elOK5?@L|vf}dzeiAqI3kq?#VzclSNei
rW0lyPubP0xVIW(y)q^o*Hc!;(#uNodZiQ9?b}LM@3vp;+)O7{`4DF?Z
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/platformservice.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/platformservice.pyc
index c983623f14c9112fa7340dc67dae8cf239564dad..8e52e53c5ddb19fd7b056fbfd10099ba065fafb7 100644
GIT binary patch
delta 125
zcmZ3(vxA47`7<w9YUSmP>`Y9;i3|)3`WgATsrt!9iB*+pIhm=G|1bw{&S7d`#36Ya
Shj`FrP1Z&na>0{%+2jEY^(n#t
delta 113
zcmdnNvxbMA`7<w<!`#~&*_oIG;ushh^fU5vQ}t7H(-L!XCO=>a+MLJK$cR;DatKQ$
PHi^sF1cN3^uqglltwJLh
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/toc.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/toc.pyc
index 4f1b78dbfca9968abd4baa1f92115eb83a5a37ac..c4aeffa7a142105eb313e0067d3be5011c1398f6 100644
GIT binary patch
delta 468
zcmbPle%_p&`7<w9YUSmP>`$14Lm3zt^fU5vQ}vUJ600iHaxzmVC$hOsc4YpBL(YA2
zA4?%lxiHq>*yJ`RvQ;r+lK@)gzS)SQ5tpRfWKOQvI5fI#_TtvTt?>*`JWh>`yuWd3
x+<b}u2rfzY&2I&{a7+3L^ReKxbCdW4Tsqw*&yWnorE#*e)Fm8p?vrz*jR6~ymy-Yh
delta 417
zcmX?aKHr?3`7<w<!`#~&*`F{81Tio$=x5~Trs}8YrX}X&Z2re&!-yd|`5%+p<jE{W
z*d^jv|6rBayqV1eyIGqZIGV7^xKEbhdWFp}_st31+E}#A<5`Mb`CQ&#Sd{-`a^L)s
u|1ee=x6Qml+&E+kh51>q+jC32AFCes$%iFFuxgoHD0LB=gxloV(k1|6w1t8I
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/toccache.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/toccache.pyc
index b8a5da1d4d2221ea5b2848d45378c56f3f277164..e5b628ed00701329883b82d40698b14eb32a18cd 100644
GIT binary patch
delta 212
zcmaDT`%RXe`7<w9YUSmP?2*jEQ49<W`WgATsrt!9iB*+pIhm=GA9DC?-oxzAgi|t|
pEeosU=7$`w7;)(G-mJ!*gi~_zW1ccx8YgezU4cW+XYvj{O#s7kNY(%V
delta 187
zcmew+`%sph`7<w<!`#~&*&~?+!WkGC^fU5vQ}t7H(-L!XCO7g0Y(C8F&4eMdS&?lU
rrs!lvHlNLAobwnl)B|O_Hyd#$VV9ZwiKh&!mdVF>S71ss@|6MrZCy9B
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/__init__.pyc
index d51361206bc0697d66635adddef42367f3445640..47b409e54ba811525f2e198f5b5c5b337b68ad59 100644
GIT binary patch
delta 156
zcmew_+$X}${F#?4wes>t_5)19p$rTR`WgATsrt!9iB*+pIhm=OuQRP-#3nKMI+Oe6
YTP)nTC2iQ2<Ce7Iu*4}j`4p!q0OG<l6#xJL
delta 141
zcmeAZ`7g}Q{F#@_VeajX><5?xf*2SW^fU5vQ}t7H(-L!XCjV!5->k@-%7{(Id-D?(
bcC0e)n_bzKW6Es)&)$G33bJGJO-@q)ND3_G
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/crtpdriver.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/crtpdriver.pyc
index ccd50c1a2b57d9278b134e4e69ca71755eafaea9..5db88fa87e5e1b8d9a5c3613c0b188a8e6a7cbf5 100644
GIT binary patch
delta 338
zcmcaA^HYYM`7<w9YUSmP>_$w&;S3B6`WgATsrt!9iB*+pIhm=GKl1u+p2oD05vyb)
zo9E;SEIGL3Hixpx;L>;>m!`=(*{5NZ1G;4L8jhn_<r+DEVHXEF@Cw%^ta2dp9&^WG
Xl?&v#f>pec&0}&cZwgkqkGv@W2c2@`
delta 311
zcmew<b5(|&`7<w<!`#~&*^QV4LKqkr^fU5vQ}t7H(-L!XCKqz}Zl1}skP(}V=j3TD
zIann&$Fa)b&~lA!8dfcnPq1T3Y%b&w!eP#R&W+g3dBe2{Q(`0cYD~dG4$sLuc)GDk
Rcubzhn}SWkcXAS+H~`M7UsC`8
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/crtpstack.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/crtpstack.pyc
index 442e4dafa5e3fe75cdaf89fafdabe6efc3fad89e..ec186b246738c1e481340ff0969dcfadfc5fe543 100644
GIT binary patch
delta 466
zcmdm?@j`>0`7<w9YUSmP?CMOyVGIlm`WgATsrt!9iB*+pIhm=GFABSFZe?18OVVd@
zGix;tjUJQ3*p}mz3uQ0EDW}Xa0jC@{XDv>-2b`zy$gxaj<GzSP-hHwjPc{xYkIf%>
u4l?49bf3)0zZi#{$7B|P9XRCNCkqSi#v$i1Sxsmc4mtP9=E7Y#<kA69a-IeN
delta 422
zcmaE%u|tEM`7<w<!`#~&+0~f@f*BYX^fU5vQ}t7H(-L!XHajxC#1x&(DB?4@leHQ{
zIZ(o5ay;8|ToSC4)7T5KOY-w_PPXP~$0f-+S&6d(yX05SQ`jY>xUXVLI5K%m_TtIH
zlmI$?Ge7S^Mobxy7H$4Tm=Yl0Y6$GWlmO|l7Tkp?0n!m5ghc|RBUQK)n~rn<WaW5F
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/debugdriver.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/debugdriver.pyc
index 6b2576f59196bc4b770a3d5df22a1ff1427fd798..f97e1180c96b4e355311a8106d298493719a4c42 100644
GIT binary patch
delta 1043
zcmca~lX2fIMt0`Uyj-c3mp8Ikvk6BqFfiz6<maa9Cl@7FRi@=+rcT~y<Td$&0?XtF
zY}GjBx3U*ul{=W?wYibwg%D23!_pDVSS3NWmda=0l(STb#U;1-gF-GVPRZ?RwT!qV
zC--U0$0^sYc^jwP9<6+=av=Y=YVTsgB{_MfUN0`W%?<jBSi@%XMk9ah{sUPTWs!na
z*JO~Sgw1E{o(D;$+Ua69cB7H!=GV?;SaohLbQNd8>4it0&p2>ODg}SXY9z>|lZ!)h
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j^TCw;xTEk^1_y2vZL<8anFx;ir&)H`HNrA@V@@Cd#;|dV
delta 931
zcmdmYi}BJ;Mt0`Uyj%`*Z*OF;W)lcyU|`VC$j?pHPti?F%*mNt$nG`yK3hFDi9MKt
zj5c1IyEtA5VU?MDK#yhfW$6%ROj(dEE%I5I5{wGVF$ICDH?u0{vSODxuU5;5Rc7)^
zjrrImmTKO{CgC^vp;k7g1jv&swRbULl>vIP7puhPRr-q9eZE=4m=%j(z+q{Tf~jXS
zqm3=5<(mWT%CVSI$nLpW#ia~;h;07udKT0C$sn5*y`FJk_eV<bcPyp>^-SIonu}da
zQ`l7&tTNyvu_Kxnhk;75Td`|1iA%tgP)zmP{59?^X3&5<G}%6>08<Odr##7)IIIVz
q*U8ILGBC7lR!rTGBiL*+IdB-ZD9aziAaF?gW!quV0?H9Db3y?h;2Pin
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/exceptions.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/exceptions.pyc
index 60f4731de97ab8939d73b92c20b3cf87f32cdbfe..eaceba555ada6016b0e18416fa742354f22f4dc5 100644
GIT binary patch
delta 96
zcmZ3>v5kYB`7<w9YUSmP?2Jsp;S3B6`WgATsrt!9iB*+pIhm=G`I$W@Co;{$A-4jD
KxW{CE7C8Wdz8xX}
delta 87
zcmdnSv6h3K`7<w<!`#~&*%_GxLKqkr^fU5vQ}t7H(-L!XCSPFon4HWsAG<^>a{@Mr
FGyr@K8r}c^
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/radiodriver.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/radiodriver.pyc
index ba8b4dd57c47ce72b0371ab0982658814c939458..ec96f252e92283b12ef806a1e36b4866a655a017 100644
GIT binary patch
delta 717
zcmdm+(3;53{F#?4wes>tc77J&2nGfQ{fzwFRQ=?l#Hz})oXph83x&Kk7qDz+!y)Op
zxq(}P376#L_X@0=zwyR1;#9DXzYC|_M1j3H<r=tIC$ABFicNm=LLoz(7H-xSVPnRs
z%Tb&WR|t4co-JLAO%o_|COgQoOfHitz$1^#ix9mUa`??=md7uDPksjuyFE9*SJ;6w
zC?+YF;L<nwtnx%0a$cKvs3_oyaIeV)EG(1F)YstDY@_i9cPLNPU5iuW3_T&7KAFsH
GU<ClDC+$@L
delta 608
zcmZoo+?&A8{F#@_VeajX?EEYOp$rTR`WgATsro6pX^A;GlNsf_HW#yOXTy})$m_Ma
zom-p<LuT_v-nEPvqLT~xFJlS<4Vk=9U=MbQU4kz$C4df^B>Wsx9ON7q5mshQ8ITv2
ziEqau1G0UWbPYBwev_xm6kwOgkZr>zaT=ST-(+3+TI>?s3Og_*HuCyyR#DuHCHO#Y
zHBm0crp0SAi^>E{36Q@(swiMa5GYb7=c#YN(6ZT3!;KX~bTY{5E4phiB|tXZ)f2+u
IS|0;T08$FJ+yDRo
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/serialdriver.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/serialdriver.pyc
index a750b4443eac55cb030929271f9cd05899348aec..7dccc6413750c3c141518887764df6ca7856b3e1 100644
GIT binary patch
delta 181
zcmX@jcbAWy`7<w9YUSmP>^~TVBN-SN^fU5vQ}vUJ600iHaxzmVGqQPYj$}&3DLGk!
cB?Xtp$=6uoaLV<uCgYGhheO<JvL?F{04g&$KL7v#
delta 163
zcmcc1cbbo#`7<w<!`#~&*?%w!gfTEM=x5~Trs}8YrX}X&O#aB`zd4a90jrGnWO<fk
ctXd{NVTr^h;XQdaYZ5jIugOttE!ZS-0JiKjh5!Hn
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/udpdriver.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/udpdriver.pyc
index d1bd738f1d44c57b3967c315484bead65cc82ee4..981031d8fb3899920cd996450f5043489367bd4a 100644
GIT binary patch
delta 295
zcmaDL{ZE>m`7<w9YUSmP>@G~gVGIlm`WgATsrt!9iB*+pIhm=G9k@I;FJ{`$h(pqS
z^G=q3xFkI`^Rvg{l60SZgrg0IsUDLTarWVmn}<W(W3m}{EKa%C+=V#g+$V45S%X8)
JWAb)hO#m>_U*G@$
delta 265
zcmew-{Xm+X`7<w<!`#~&*<F|ff*BYX^fU5vQ}t7H(-L!XCSPFl*u0EsKO;67_s#oR
z{$a{&zQDE&Qxs^D`{WB8ZP*O*n7om*54*%Ht}yHp-rTX+Bzz{b^W<WaaG!jRXAL$9
JkI7egH33j1RYm{+
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/usbdriver.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/usbdriver.pyc
index ce85a2d9158d09302e4287d02ca52494a49aea28..00e521d81c13456e1fffd28d828eb77c36f42175 100644
GIT binary patch
delta 463
zcmeCO+GWMg{F#?4wes>t_7BX$VGIlm`WgATsrt!9iB*+pIhm=G9Yx$X`>}Mh;E?p#
zY{>bB5vOD+_e5Nh?vrDAn{jEJY{9n?m)vGYekYuUZoVaO5SOIK<j+DKxJ;dVSvU@d
w+&LWL?wiv@H{i0&eR8h&T3i|z7fLW;m1~q*id7sG3$@ZrxGeLTd|O5z04p+;kN^Mx
delta 420
zcmdmG)n&!b{F#@_VeajX>>ro~f*BYX^fU5vQ}t7H(-L!XCI?D*Yz|`SV!<ZkzS)fP
zEhBcBTJA|$WjrQl@it-AGTDu96IO}MLHy3x&D#7y-~d(`_sLwsomdT<{8l&~yTme)
zc5D(Jn>$3;W3|L%@+9#!7+N+5O1Lv&hyugWeex%%IBXIgn^#LSVzt42GMlUk0Os6%
ArvLx|
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/__init__.pyc
index 3a1be3d44723ddc6e2148aa5d17d34b9b6948f6e..439cbca53e07ce314914a57bf924c6c86fc1d6f9 100644
GIT binary patch
delta 38
tcmeyz*vQ1r{F#?4wes>r_733)1_lQGjQreG{p6y=s>-yS%+!hV;{otc4Ke@#
delta 35
rcmZo<`p3x5{F#@_VeajT>>UE33=9nV8Tq-X`YF0;i8(nF7sUer$4m>I
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/cfusb.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/cfusb.pyc
index 8c8e137aa5f0c8add477e9fb323ae6583c6f6e8d..7b7678b9858a809ce8fbb7a05aa8ac7012a9eab4 100644
GIT binary patch
delta 354
zcmaE*+o#9Q{F#?4wes>t_N&aop$rTR`WgATsrt!9iB*+pIhm=GH}bh}HfEWQQ*yE*
z$7x&|Cp&X~z$w?oH3O$yCHEOza+~Myurgtj+`N&G1*-(e3zK;SXJgX@lylqsS1^bX
Xr{q#$K3tOSo4G`ta7s>IEanaXpX_xp
delta 319
zcmeCvd!@_H{F#@_VeajX>{pouf*2SW^fU5vQ}t7H(-L!XCOdMwZ#H9@j$LN5I>%|O
zS|<B&e!wm<jcW#m#AZisVMYv5u+{5$SedZP@bd4)u4l4};B0JK+%`)H1!2|Vw)wCy
TA66On&Dx?)*kvXk7jp*yKT})Z
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/crazyradio.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/crazyradio.pyc
index fc0771ba3cc7a0596f8cb15beeb6f4c3ad6c6b0c..d1e265c341b2a469db40734587773f7e90c769e3 100644
GIT binary patch
delta 579
zcmbQ{eaV}h`7<w9YUSmP>|89uQ49<W`WgATsrt!9iB*+pIhm=O6<LfKu}Mr;Wbxj-
zo>hbmhosMDc^-9KI(;TD;(dZcqxa^Ad|J3PdQVOhID$*#<W|95IOS#uUBV@|`M9t$
zE(?7oyNNEvrE#*G*kPP<DdNF6<a{;@OUPlhaI>T28>|wO9VJ6IPm&g8#$lxQWG4Bq
fxa2kmDdb@{6%>ckN_@B_Ta*)VN%~B7R1F0HSLU=E
delta 530
zcmccQJ<Xe)`7<w<!`#~&*|}H*!WkGC^fU5vQ}t7H(-L!XCL5~yOfFz~j!nXQ^Hx?7
zHf%Bhn{{}U8L`RuOkT(P1e=8S<_~;YShaXht`InaRm<dAg1fLwY!bSJRbulaVO;J?
z5nYN^%j9&i!`LM{#DlR(_-wY4ki+T|P)M?D-Yq!?kL)gKDQ0Y@dQUcz|B6*&bE`rg
URs+2^2P*O5klCx8h*f4G06HX{jsO4v
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/__init__.pyc
index 9a836124b1252f7c20851b151691a737f68a4bde..7c1192880b3f121662f5fcb0f624294c7bba6b2c 100644
GIT binary patch
delta 38
ucmey!_=S<3`7<w9YUSmL?6tyS3=9nV8Tq-X`pHF!Rh4NunW+<}!~y{Q9}Rr~
delta 35
rcmeyu_>qyF`7<w<!`#~w*=q%Y85kJ!GxBp&^;2}y5_57UPLBlu)Da8l
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/callbacks.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/callbacks.pyc
index 74e35185cd8928cfd392adc026a7e4c35c1703a1..79876aa959683ac1070d0dc0f785b469ba986413 100644
GIT binary patch
delta 180
zcmX@fdz+V?`7<w9YUSmP?0t;F;S3B6`WgATsrt!9iB*+pIhm=GZ!>vLe#dwhhum8n
e;+~TgS&rhAvu91iA?GpqFKYx2InT-K*rWmb(msd)
delta 163
zcmcc3dy<!(`7<w<!`#~&+4~p;LKqkr^fU5vQ}t7H(-L!XCO>5IoP2<dW%5_Xo7g1Z
fVhC=2$jpbs9B<Y%4CO!zJSOw7MPQQv*(?nJ*H<&~
--
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