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Merge with master

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This commit is contained in:
Arthur Golubtsov
2019-11-01 23:52:41 +03:00
parent 587b8c7a01 a72c447209
commit 08595891ae
7 changed files with 161 additions and 187 deletions
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18
Drone/FlightLib/FlightLib.py
View File

@@ -22,7 +22,8 @@ get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
landing = rospy.ServiceProxy('/land', Trigger)
services_list = [navigate, set_position, set_rates, set_mode, get_telemetry, arming,landing]
services_list = ['/navigate', '/set_position', '/set_rates', '/mavros/set_mode',
'/get_telemetry', '/mavros/cmd/arming', '/land', '/mavros/param/get']
logger.info("Proxy services inited")
@@ -88,15 +89,22 @@ def check(check_name):
def _check_nans(*values):
return any(math.isnan(x) for x in values)
def check_ros_services_unavailable():
unavailable_services = []
for service in services_list:
try:
rospy.wait_for_service(service, timeout=0.1)
except (rospy.ServiceException, rospy.ROSException):
unavailable_services.append(service)
return unavailable_services
@check("Ros services")
def check_ros_services():
timeout = 0.1
for service in services_list:
try:
service.wait_for_service(timeout=timeout)
except (rospy.ServiceException, rospy.ROSException) as e:
yield ("ROS service {} is not available!".format(service.name))
rospy.wait_for_service(service, timeout=0.1)
except (rospy.ServiceException, rospy.ROSException):
yield ("ROS service {} is not available!".format(service))
@check("FCU connection")

148
Drone/copter_client.py
View File

@@ -6,6 +6,7 @@ import datetime
import logging
import threading
import subprocess
import ConfigParser
from collections import namedtuple
from FlightLib import FlightLib
@@ -41,6 +42,7 @@ logger = logging.getLogger(__name__)
class CopterClient(client.Client):
def load_config(self):
self.FLOOR_FRAME_EXISTS = False
super(CopterClient, self).load_config()
self.TELEM_FREQ = self.config.getfloat('TELEMETRY', 'frequency')
self.TELEM_TRANSMIT = self.config.getboolean('TELEMETRY', 'transmit')
@@ -65,7 +67,18 @@ class CopterClient(client.Client):
self.Z0 = self.config.getfloat('PRIVATE', 'z0')
self.USE_LEDS = self.config.getboolean('PRIVATE', 'use_leds')
self.LED_PIN = self.config.getint('PRIVATE', 'led_pin')
try:
self.FLOOR_DX = self.config.getfloat('FLOOR FRAME', 'x')
self.FLOOR_DY = self.config.getfloat('FLOOR FRAME', 'y')
self.FLOOR_DZ = self.config.getfloat('FLOOR FRAME', 'z')
self.FLOOR_ROLL = self.config.getfloat('FLOOR FRAME', 'roll')
self.FLOOR_PITCH = self.config.getfloat('FLOOR FRAME', 'pitch')
self.FLOOR_YAW = self.config.getfloat('FLOOR FRAME', 'yaw')
self.FLOOR_PARENT = self.config.get('FLOOR FRAME', 'parent')
self.FLOOR_FRAME_EXISTS = True
except ConfigParser.Error:
logger.error("No floor frame!")
self.FLOOR_FRAME_EXISTS = False
self.RESTART_DHCPCD = self.config.getboolean('PRIVATE', 'restart_dhcpcd')
def on_broadcast_bind(self):
@@ -79,32 +92,25 @@ class CopterClient(client.Client):
LedLib.init_led(self.LED_PIN)
task_manager_instance.start()
if self.FRAME_ID == "floor":
try:
self.FLOOR_DX = self.config.getfloat('FLOOR FRAME', 'x')
self.FLOOR_DY = self.config.getfloat('FLOOR FRAME', 'y')
self.FLOOR_DZ = self.config.getfloat('FLOOR FRAME', 'z')
self.FLOOR_ROLL = self.config.getfloat('FLOOR FRAME', 'roll')
self.FLOOR_PITCH = self.config.getfloat('FLOOR FRAME', 'pitch')
self.FLOOR_YAW = self.config.getfloat('FLOOR FRAME', 'yaw')
self.FLOOR_PARENT = self.config.get('FLOOR FRAME', 'parent')
except Exception as e:
raise Exception("Can't make floor frame!")
quit()
if self.FLOOR_FRAME_EXISTS:
self.start_floor_frame_broadcast()
else:
trans = TransformStamped()
trans.transform.translation.x = self.FLOOR_DX
trans.transform.translation.y = self.FLOOR_DY
trans.transform.translation.z = self.FLOOR_DZ
trans.transform.rotation = Quaternion(*quaternion_from_euler(math.radians(self.FLOOR_ROLL),
math.radians(self.FLOOR_PITCH),
math.radians(self.FLOOR_YAW)))
trans.header.frame_id = self.FLOOR_PARENT
trans.child_frame_id = self.FRAME_ID
static_bloadcaster.sendTransform(trans)
logger.error("Can't make floor frame!")
start_subscriber()
telemetry_thread.start()
super(CopterClient, self).start()
def start_floor_frame_broadcast(self):
trans = TransformStamped()
trans.transform.translation.x = self.FLOOR_DX
trans.transform.translation.y = self.FLOOR_DY
trans.transform.translation.z = self.FLOOR_DZ
trans.transform.rotation = Quaternion(*quaternion_from_euler(math.radians(self.FLOOR_ROLL),
math.radians(self.FLOOR_PITCH),
math.radians(self.FLOOR_YAW)))
trans.header.frame_id = self.FLOOR_PARENT
trans.child_frame_id = self.FRAME_ID
static_bloadcaster.sendTransform(trans)
def restart_service(name):
os.system("systemctl restart {}".format(name))
@@ -407,7 +413,9 @@ def _command_reboot(*args, **kwargs):
@messaging.message_callback("service_restart")
def _command_service_restart(*args, **kwargs):
restart_service(kwargs["name"])
service = kwargs["name"]
restart_service(service)
@messaging.message_callback("repair_chrony")
def _command_chrony_repair(*args, **kwargs):
@@ -611,55 +619,57 @@ def telemetry_loop():
while not rospy.is_shutdown():
telemetry = telemetry._replace(animation_id = animation.get_id())
telemetry = telemetry._replace(git_version = subprocess.check_output("git log --pretty=format:'%h' -n 1", shell=True))
try:
ros_telemetry = FlightLib.get_telemetry(client.active_client.FRAME_ID)
except:
pass
x_start, y_start = animation.get_start_xy(os.path.abspath("animation.csv"),
x_ratio=client.active_client.X_RATIO,
y_ratio=client.active_client.Y_RATIO,
)
x_delta = client.active_client.X0 + client.active_client.X0_COMMON
y_delta = client.active_client.Y0 + client.active_client.Y0_COMMON
z_delta = client.active_client.Z0 + client.active_client.Z0_COMMON
if not math.isnan(x_start):
telemetry = telemetry._replace(start_position = '{:.2f} {:.2f} {:.2f}'.format(x_start+x_delta, y_start+y_delta, z_delta))
else:
if ros_telemetry.connected == False:
telemetry = telemetry._replace(battery_v = 'nan')
telemetry = telemetry._replace(battery_p = 'nan')
telemetry = telemetry._replace(calibration_status = 'NO_FCU')
telemetry = telemetry._replace(system_status = 'NO_FCU')
telemetry = telemetry._replace(mode = 'NO_FCU')
telemetry = telemetry._replace(selfcheck = 'NO_FCU')
telemetry = telemetry._replace(current_position = 'NO_POS in {}'.format(client.active_client.FRAME_ID))
telemetry = telemetry._replace(start_position = 'NO_POS')
stop_subscriber()
start_subscriber()
else:
telemetry = telemetry._replace(battery_v = '{:.2f}'.format(ros_telemetry.voltage))
batt_empty_param = get_param('BAT_V_EMPTY')
batt_charged_param = get_param('BAT_V_CHARGED')
if batt_empty_param.success and batt_charged_param.success:
batt_empty = batt_empty_param.value.real
batt_charged = batt_charged_param.value.real
telemetry = telemetry._replace(battery_p = '{:.2f}'.format((ros_telemetry.cell_voltage - batt_empty)/(batt_charged - batt_empty)*100.))
telemetry = telemetry._replace(start_position = 'NO_POS')
services_unavailable = FlightLib.check_ros_services_unavailable()
if not services_unavailable:
try:
ros_telemetry = FlightLib.get_telemetry(client.active_client.FRAME_ID)
if ros_telemetry.connected:
telemetry = telemetry._replace(battery_v = '{:.2f}'.format(ros_telemetry.voltage))
batt_empty_param = get_param('BAT_V_EMPTY')
batt_charged_param = get_param('BAT_V_CHARGED')
batt_cells_param = get_param('BAT_N_CELLS')
if batt_empty_param.success and batt_charged_param.success and batt_cells_param.success:
batt_empty = batt_empty_param.value.real
batt_charged = batt_charged_param.value.real
batt_cells = batt_cells_param.value.integer
telemetry = telemetry._replace(battery_p = '{}'.format(int(min((ros_telemetry.voltage/batt_cells - batt_empty)/(batt_charged - batt_empty)*100., 100))))
else:
telemetry = telemetry._replace(battery_p = 'nan')
telemetry = telemetry._replace(calibration_status = get_calibration_status())
telemetry = telemetry._replace(system_status = get_sys_status())
telemetry = telemetry._replace(mode = ros_telemetry.mode)
check = FlightLib.selfcheck()
if not check:
check = "OK"
telemetry = telemetry._replace(selfcheck = str(check))
if not math.isnan(ros_telemetry.x):
telemetry = telemetry._replace(current_position = '{:.2f} {:.2f} {:.2f} {:.1f} {}'.format(ros_telemetry.x, ros_telemetry.y, ros_telemetry.z,
math.degrees(ros_telemetry.yaw), client.active_client.FRAME_ID))
else:
telemetry = telemetry._replace(current_position = 'NO_POS in {}'.format(client.active_client.FRAME_ID))
else:
telemetry = telemetry._replace(battery_v = 'nan')
telemetry = telemetry._replace(battery_p = 'nan')
telemetry = telemetry._replace(calibration_status = get_calibration_status())
telemetry = telemetry._replace(system_status = get_sys_status())
telemetry = telemetry._replace(mode = ros_telemetry.mode)
check = FlightLib.selfcheck()
if not check:
check = "OK"
telemetry = telemetry._replace(selfcheck = str(check))
if not math.isnan(ros_telemetry.x):
telemetry = telemetry._replace(current_position = '{:.2f} {:.2f} {:.2f} {:.1f} {}'.format(ros_telemetry.x, ros_telemetry.y, ros_telemetry.z,
math.degrees(ros_telemetry.yaw), client.active_client.FRAME_ID))
else:
telemetry = telemetry._replace(current_position = 'NO_POS in {}'.format(client.active_client.FRAME_ID))
x_start, y_start = animation.get_start_xy(os.path.abspath("animation.csv"),
x_ratio=client.active_client.X_RATIO,
y_ratio=client.active_client.Y_RATIO,
)
x_delta = client.active_client.X0 + client.active_client.X0_COMMON
y_delta = client.active_client.Y0 + client.active_client.Y0_COMMON
z_delta = client.active_client.Z0 + client.active_client.Z0_COMMON
if not math.isnan(x_start):
telemetry = telemetry._replace(start_position = '{:.2f} {:.2f} {:.2f}'.format(x_start+x_delta, y_start+y_delta, z_delta))
else:
telemetry = telemetry._replace(start_position = 'NO_POS')
telemetry = telemetry._replace(calibration_status = 'NO_FCU')
telemetry = telemetry._replace(system_status = 'NO_FCU')
telemetry = telemetry._replace(mode = 'NO_FCU')
telemetry = telemetry._replace(selfcheck = 'NO_FCU')
telemetry = telemetry._replace(current_position = 'NO_POS')
except rospy.ServiceException:
print "Some service is unavailable"
else:
telemetry = telemetry._replace(selfcheck = 'WAIT_ROS')
if client.active_client.TELEM_TRANSMIT:
try:
client.active_client.server_connection.send_message('telem', args={'message':create_telemetry_message(telemetry)})

17
Drone/mavros_mavlink.py
View File

@@ -78,20 +78,17 @@ def get_calibration_status():
mag_status = get_param('CAL_MAG0_ID')
acc_status = get_param('CAL_ACC0_ID')
status_text = ""
if gyro_status.success == False:
status_text += "gyro: wrong_param; "
elif gyro_status.value.integer == 0:
if gyro_status.value.integer == 0 and gyro_status.success:
status_text += "gyro: uncalibrated; "
if mag_status.success == False:
status_text += "mag: wrong_param; "
elif mag_status.value.integer == 0:
if mag_status.value.integer == 0 and mag_status.success:
status_text += "mag: uncalibrated; "
if acc_status.success == False:
status_text += "acc: wrong_param; "
elif acc_status.value.integer == 0:
if acc_status.value.integer == 0 and acc_status.success:
status_text += "acc: uncalibrated; "
if status_text == "":
status_text = "OK"
if not gyro_status.success or not mag_status.success or not acc_status.success:
status_text = "NO_INFO"
else:
status_text = "OK"
else:
status_text = status_text[:-2]
return status_text

62
Server/copter_table_models.py
View File

@@ -13,11 +13,10 @@ ModelStateRole = 999
class CopterData:
class_basic_attrs = indexed.IndexedOrderedDict([('copter_id', None), ('anim_id', None),
('batt_v', None), ('batt_p', None),
('sys_status', None), ('cal_status', None), ('selfcheck', None),
('position', None), ("time_delta", None),
("client", None), ])
class_basic_attrs = indexed.IndexedOrderedDict([('copter_id', None), ('git_ver', None), ('anim_id', None),
('battery', None), ('sys_status', None), ('cal_status', None),
('mode', None), ('selfcheck', None), ('position', None),
('start_pos', None), ('time_delta', None), ('client', None)])
def __init__(self, **kwargs):
self.attrs_dict = self.class_basic_attrs.copy()
@@ -63,7 +62,7 @@ class StatedCopterData(CopterData):
class Checks:
all_checks = {}
takeoff_checklist = (2, 3, 4, 5, 6)
takeoff_checklist = (3, 4, 6, 7, 8)
class CopterDataModel(QtCore.QAbstractTableModel):
@@ -75,8 +74,8 @@ class CopterDataModel(QtCore.QAbstractTableModel):
def __init__(self, parent=None):
super(CopterDataModel, self).__init__(parent)
self.headers = ('copter ID', ' animation ID ', 'batt V', 'batt %', ' system ',
'calibration', 'selfcheck', 'current x y z yaw frame_id', 'time delta')
self.headers = ('copter ID', 'version', ' animation ID ', ' battery ', ' system ', 'calibration',
' mode ', 'selfcheck', 'current x y z yaw frame_id', ' start x y z ', 'dt')
self.data_contents = []
self.on_id_changed = None
@@ -86,7 +85,6 @@ class CopterDataModel(QtCore.QAbstractTableModel):
def insertRows(self, contents, position='last', parent=QtCore.QModelIndex()):
rows = len(contents)
position = len(self.data_contents) if position == 'last' else position
self.beginInsertRows(parent, position, position + rows - 1)
self.data_contents[position:position] = contents
@@ -263,25 +261,25 @@ def col_check(col):
@col_check(1)
def check_ver(item):
if not item:
return None
return True
@col_check(2)
def check_anim(item):
if not item:
return None
return str(item) != 'No animation'
@col_check(2)
def check_bat_v(item):
if not item:
return None
return float(item) > 3.2
@col_check(3)
def check_bat_p(item):
def check_bat(item):
if not item:
return None
return float(item) > 30
if item == "NO_INFO":
return False
else:
return float(item.split(' ')[1][:-1]) > 30
@col_check(4)
def check_sys_status(item):
@@ -289,30 +287,40 @@ def check_sys_status(item):
return None
return item == "STANDBY"
@col_check(5)
def check_cal_status(item):
if not item:
return None
return item == "OK"
@col_check(6)
def check_mode(item):
if not item:
return None
return (item != "NO_FCU") and not ("CMODE" in item)
@col_check(7)
def check_selfcheck(item):
if not item:
return None
return item == "OK"
@col_check(7)
@col_check(8)
def check_pos_status(item):
if not item:
return None
return str(item).split(' ')[0] != 'nan'
return item.split(' ')[0] != 'nan' and item.split(' ')[0] != 'NO_POS'
@col_check(9)
def check_start_pos_status(item):
if not item:
return None
return str(item).split(' ')[0] != 'NO_POS'
@col_check(8)
@col_check(10)
def check_time_delta(item):
if not item:
return None
@@ -335,7 +343,7 @@ def takeoff_checks(copter_item):
def flip_checks(copter_item):
for col in Checks.takeoff_checklist:
if col != 4:
if col != 4 or col != 7:
if not Checks.all_checks[col](copter_item[col]):
return False
else:

7
Server/server_gui.py
View File

@@ -13,7 +13,7 @@ from PyQt5 import QtCore, QtGui, QtWidgets
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1220, 761)
MainWindow.resize(1360, 761)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setEnabled(True)
self.centralwidget.setObjectName("centralwidget")
@@ -35,9 +35,10 @@ class Ui_MainWindow(object):
self.tableView.setWordWrap(True)
self.tableView.setObjectName("tableView")
self.tableView.horizontalHeader().setCascadingSectionResizes(False)
self.tableView.horizontalHeader().setDefaultSectionSize(125)
self.tableView.horizontalHeader().setDefaultSectionSize(50)
self.tableView.horizontalHeader().setMinimumSectionSize(50)
self.tableView.horizontalHeader().setStretchLastSection(True)
self.tableView.verticalHeader().setVisible(False)
self.horizontalLayout.addWidget(self.tableView)
self.verticalLayout = QtWidgets.QVBoxLayout()
self.verticalLayout.setSizeConstraint(QtWidgets.QLayout.SetMaximumSize)
@@ -186,7 +187,7 @@ class Ui_MainWindow(object):
self.gridLayout.addLayout(self.horizontalLayout, 0, 0, 1, 1)
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 1220, 26))
self.menubar.setGeometry(QtCore.QRect(0, 0, 1360, 25))
self.menubar.setObjectName("menubar")
self.menuOptions = QtWidgets.QMenu(self.menubar)
self.menuOptions.setObjectName("menuOptions")

11
Server/server_gui.ui
View File

@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>1220</width>
<width>1360</width>
<height>761</height>
</rect>
</property>
@@ -50,7 +50,7 @@
<bool>false</bool>
</attribute>
<attribute name="horizontalHeaderDefaultSectionSize">
<number>125</number>
<number>50</number>
</attribute>
<attribute name="horizontalHeaderMinimumSectionSize">
<number>50</number>
@@ -58,6 +58,9 @@
<attribute name="horizontalHeaderStretchLastSection">
<bool>true</bool>
</attribute>
<attribute name="verticalHeaderVisible">
<bool>false</bool>
</attribute>
</widget>
</item>
<item>
@@ -375,8 +378,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>1220</width>
<height>26</height>
<width>1360</width>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuOptions">

85
Server/server_qt.py
View File

@@ -169,51 +169,6 @@ class MainWindow(QtWidgets.QMainWindow):
self.ui.takeoff_button.setEnabled(False)
self.ui.flip_button.setEnabled(False)
@pyqtSlot()
def selfcheck_selected_old(self):
for copter_data_row in self.model.user_selected():
client = copter_data_row.client
client.get_response("anim_id", self.set_copter_data, callback_args=(1, copter_data_row))
client.get_response("batt_voltage", self.set_copter_data, callback_args=(2, copter_data_row))
client.get_response("cell_voltage", self.set_copter_data, callback_args=(3, copter_data_row))
client.get_response("sys_status", self.set_copter_data, callback_args=(4, copter_data_row))
client.get_response("cal_status", self.set_copter_data, callback_args=(5, copter_data_row))
client.get_response("selfcheck", self.set_copter_data, callback_args=(6, copter_data_row))
client.get_response("position", self.set_copter_data, callback_args=(7, copter_data_row))
client.get_response("time", self.set_copter_data, callback_args=(8, copter_data_row))
def set_copter_data(self, value, col, copter_data_row):
row = self.model.get_row_index(copter_data_row)
if row is None:
logging.error("No such client!")
return
if col == 1:
data = value
elif col == 2:
data = "{}".format(round(float(value), 3))
elif col == 3:
batt_percent = ((float(value) - 3.2) / (4.2 - 3.2)) * 100 # TODO config
data = "{}".format(round(batt_percent, 3))
elif col == 4:
data = str(value)
elif col == 5:
data = str(value)
elif col == 6:
data = value
elif col == 7:
data = str(value)
elif col == 8:
data = "{}".format(round(float(value) - time.time(), 3))
if abs(float(data)) > 1:
copter_data_row.client.send_message("repair_chrony")
else:
logging.error("No column matched for response")
return
self.signals.update_data_signal.emit(row, col, data, ModelDataRole)
@pyqtSlot()
def selfcheck_selected(self):
for copter_data_row in self.model.user_selected():
@@ -223,13 +178,16 @@ class MainWindow(QtWidgets.QMainWindow):
@pyqtSlot(str)
def update_table_data(self, message):
fields = message.split('`')
logging.info(fields[8])
# copter_id git_version animation_id battery_v battery_p system_status calibration_status mode selfcheck current_position start_position copter_time
copter_id = fields[0]
git_version = fields[1]
animation_id = fields[2]
battery_v = fields[3]
battery_p = fields[4]
if battery_v == 'nan' or battery_p == 'nan':
battery_info = "NO_INFO"
else:
battery_info = "{}V {}%".format(battery_v, battery_p)
sys_status = fields[5]
cal_status = fields[6]
mode = fields[7]
@@ -237,28 +195,18 @@ class MainWindow(QtWidgets.QMainWindow):
current_pos = fields[9]
start_pos = fields[10]
copter_time = fields[11]
time_delta = "{}".format(round(float(copter_time) - time.time(), 3))
row = self.model.get_row_index(self.model.get_row_by_attr('copter_id', copter_id))
logging.info("Row = {}".format(row))
self.signals.update_data_signal.emit(row, 1, animation_id, ModelDataRole)
self.signals.update_data_signal.emit(row, 2, battery_v, ModelDataRole)
self.signals.update_data_signal.emit(row, 3, battery_p, ModelDataRole)
self.signals.update_data_signal.emit(row, 1, git_version, ModelDataRole)
self.signals.update_data_signal.emit(row, 2, animation_id, ModelDataRole)
self.signals.update_data_signal.emit(row, 3, battery_info, ModelDataRole)
self.signals.update_data_signal.emit(row, 4, sys_status, ModelDataRole)
self.signals.update_data_signal.emit(row, 5, cal_status, ModelDataRole)
self.signals.update_data_signal.emit(row, 6, selfcheck, ModelDataRole)
self.signals.update_data_signal.emit(row, 7, current_pos, ModelDataRole)
self.signals.update_data_signal.emit(row, 8, "{}".format(round(float(copter_time) - time.time(), 3)), ModelDataRole)
#def set_copter_id(self, value, copter_data_row):
# col = 0
# row = self.model.get_row_index(copter_data_row)
# if row is None:
# logging.error("No such client!")
# return
# logging.info("SET COPTER ID TO {}".format(value))
#
# copter_data_row.client.copter_id = value
# self.signals.update_data_signal.emit(row, col, value, ModelDataRole)
# self.signals.update_data_signal.emit(row, col, True, ModelStateRole)
self.signals.update_data_signal.emit(row, 6, mode, ModelDataRole)
self.signals.update_data_signal.emit(row, 7, selfcheck, ModelDataRole)
self.signals.update_data_signal.emit(row, 8, current_pos, ModelDataRole)
self.signals.update_data_signal.emit(row, 9, start_pos, ModelDataRole)
self.signals.update_data_signal.emit(row, 10, time_delta, ModelDataRole)
@pyqtSlot(QtCore.QModelIndex)
def selfcheck_info_dialog(self, index):
@@ -408,13 +356,12 @@ class MainWindow(QtWidgets.QMainWindow):
print("Selected directory:", path)
files = [file for file in glob.glob(path + '/*.csv')]
names = [os.path.basename(file).split(".")[0] for file in files]
# print(files)
for file, name in zip(files, names):
for copter in self.model.user_selected():
if name == copter.copter_id:
copter.client.send_file(file, "animation.csv") # TODO config
else:
print("Filename has no matches with any drone selected")
logging.info("Filename has no matches with any drone selected")
@pyqtSlot()
def send_calibrations(self):
@@ -430,7 +377,7 @@ class MainWindow(QtWidgets.QMainWindow):
if name == copter.copter_id:
copter.client.send_file(file, "/home/pi/catkin_ws/src/clever/clever/camera_info/calibration.yaml")
else:
print("Filename has no matches with any drone selected")
logging.info("Filename has no matches with any drone selected")
@pyqtSlot()
def send_configurations(self):
@@ -443,7 +390,7 @@ class MainWindow(QtWidgets.QMainWindow):
for section in sendable_config.sections():
for option in dict(sendable_config.items(section)):
value = sendable_config[section][option]
logging.debug("Got item from config:".format(section, option, value))
logging.debug("Got item from config: {} {} {}".format(section, option, value))
options.append(ConfigOption(section, option, value))
for copter in self.model.user_selected():