mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-05-27 07:29:33 +00:00
New! Realization of table model for storing all copter data. Auto refresh, sorting, data checks and coloring based on checks, thread-safety
This commit is contained in:
Artem30801
10
.gitignore
vendored
10
.gitignore
vendored
@@ -111,3 +111,13 @@ Drone/client_logs
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images/
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\.idea/
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Drone/_copter_client_old_\.py
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Drone/test_cl\.py
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Server/testj\.ipynb
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Server/tst_client\.py
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Server/tst\.py
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247
Server/copter_table_models.py
Normal file
247
Server/copter_table_models.py
Normal file
@@ -0,0 +1,247 @@
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import sys
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import re
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from operator import itemgetter
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from PyQt5 import QtCore, QtGui, QtWidgets
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from PyQt5.QtCore import Qt as Qt
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class CopterData:
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class_attrs = {'copter_id': None, 'anim_id': None, 'batt_v': None, 'batt_p': None, 'selfcheck': None,
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'time_utc': None, "time_delta": None, "client": None, "checked": 0}
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def __init__(self, **kwargs):
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self.attrs = self.class_attrs.copy()
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self.attrs.update(kwargs)
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for attr, value in self.attrs.items():
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setattr(self, attr, value)
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def __getitem__(self, key):
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return getattr(self, list(self.attrs.keys())[key])
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def __setitem__(self, key, value):
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setattr(self, list(self.attrs.keys())[key], value)
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class CopterDataModel(QtCore.QAbstractTableModel):
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checks = {}
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#selected_available = QtCore.pyqtSignal(bool)
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def __init__(self, parent=None):
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super(CopterDataModel, self).__init__(parent)
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self.headers = ('copter ID', 'animation ID', 'battery (V.)', 'battery (%)', 'selfcheck', 'time UTC', "time delta")
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self.data_contents = []
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def insertRows(self, contents, position='last', parent=QtCore.QModelIndex()):
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rows = len(contents)
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position = len(self.data_contents) if position == 'last' else position
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self.beginInsertRows(parent, position, position + rows - 1)
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self.data_contents[position:position] = contents
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self.endInsertRows()
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def user_selected(self):
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return filter(lambda x: x.checked == Qt.Checked, self.data_contents)
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def self_checked(self):
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return filter(lambda x: all_checks(x), self.data_contents)
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def rowCount(self, n=None):
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return len(self.data_contents)
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def columnCount(self, n=None):
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return len(self.headers)
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def headerData(self, section, orientation, role=Qt.DisplayRole):
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if role == Qt.DisplayRole:
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if orientation == Qt.Horizontal:
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return self.headers[section]
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def data(self, index, role=Qt.DisplayRole):
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row = index.row()
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col = index.column()
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#print('row {}, col {}, role {}'.format(row, col, role))
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if role == Qt.DisplayRole:
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#print(self.data_contents[row][col])
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return self.data_contents[row][col] or ""
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elif role == Qt.BackgroundRole:
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if col in self.checks.keys():
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item = self.data_contents[row][col]
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result = self.checks[col](item)
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if result is None:
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return QtGui.QBrush(Qt.yellow)
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if result:
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return QtGui.QBrush(Qt.green)
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else:
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return QtGui.QBrush(Qt.red)
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elif role == Qt.CheckStateRole and col == 0:
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return self.data_contents[row].checked
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def update_model(self, index=QtCore.QModelIndex()):
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#self.modelReset.emit()
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self.dataChanged.emit(index, index, (QtCore.Qt.EditRole,))
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@QtCore.pyqtSlot()
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def setData(self, index, value, role=Qt.EditRole):
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if not index.isValid():
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return False
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if role == Qt.CheckStateRole:
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self.data_contents[index.row()].checked = value
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elif role == Qt.EditRole:
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self.data_contents[index.row()][index.column()] = value
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self.update_model(index)
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else:
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return False
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return True
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def flags(self, index):
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roles = Qt.ItemIsSelectable | Qt.ItemIsEnabled
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if index.column() == 0:
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roles |= Qt.ItemIsUserCheckable
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return roles
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@QtCore.pyqtSlot(int, int, QtCore.QVariant)
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def update_item(self, row, col, value):
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self.setData(self.index(row, col), value)
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@QtCore.pyqtSlot(object)
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def add_client(self, client):
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self.insertRows([client])
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def col_check(col):
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def inner(f):
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CopterDataModel.checks[col] = f
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def wrapper(*args, **kwargs):
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return f(*args, **kwargs)
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return wrapper
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return inner
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@col_check(1)
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def check_anim(item):
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if not item:
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return None
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else:
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return True
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@col_check(2)
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def check_bat_v(item):
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if not item:
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return None
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if float(item) > 3.2: # todo config
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return True
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else:
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return False
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@col_check(3)
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def check_bat_v(item):
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if not item:
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return None
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if float(item) > 15: # todo config
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return True
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else:
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return False
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@col_check(4)
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def check_selfcheck(item):
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if not item:
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return None
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if item == "OK":
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return True
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else:
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return False
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def all_checks(copter_item):
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for col, check in CopterDataModel.checks.items():
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if not check(copter_item[col]):
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return False
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return True
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class CopterProxyModel(QtCore.QSortFilterProxyModel):
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def __init__(self, parent=None):
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super(CopterProxyModel, self).__init__(parent)
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@staticmethod
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def human_sort_prepare(item):
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if item:
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item = [int(x) if x.isdigit() else x.lower() for x in re.split('([0-9]+)', str(item))]
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else:
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item = []
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return item
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def lessThan(self, left, right):
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leftData = self.sourceModel().data(left)
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rightData = self.sourceModel().data(right)
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return self.human_sort_prepare(leftData) < self.human_sort_prepare(rightData)
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'''
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def sort(self, col, order):
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self.layoutAboutToBeChanged.emit()
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self.data_contents = sorted(self.data_contents, key=lambda item: self.sorter(item[col]),
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reverse=(order == Qt.DescendingOrder))
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self.layoutChanged.emit()
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'''
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class SignalManager(QtCore.QObject):
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update_data_signal = QtCore.pyqtSignal(int, int, QtCore.QVariant)
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add_client_signal = QtCore.pyqtSignal(object)
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if __name__ == '__main__':
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import threading
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import time
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def timer():
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idc = 1001
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while True:
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myModel.setData(myModel.index(0, 0), idc)
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idc += 1
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time.sleep(1)
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app = QtWidgets.QApplication.instance()
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if app is None:
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app = QtWidgets.QApplication(sys.argv)
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tableView = QtWidgets.QTableView()
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myModel = CopterDataModel(None)
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proxyModel = CopterProxyModel()
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proxyModel.setDynamicSortFilter(True)
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proxyModel.setSourceModel(myModel)
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tableView.setModel(proxyModel)
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tableView.verticalHeader().hide()
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tableView.setSortingEnabled(True)
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tableView.show()
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myModel.add_client(CopterData(copter_id=1000, checked=0, time_utc=1))
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myModel.add_client(CopterData(checked=2, selfcheck="OK", time_utc=2))
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myModel.add_client(CopterData(checked=2, selfcheck="not ok", time_utc="no"))
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myModel.setData(myModel.index(0, 1), "test")
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t = threading.Thread(target=timer, daemon=True)
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t.start()
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print(QtCore.QT_VERSION_STR)
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app.exec_()
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@@ -3,7 +3,7 @@ import glob
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from PyQt5 import QtWidgets
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from PyQt5.QtGui import QStandardItemModel, QStandardItem
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from PyQt5.QtCore import Qt, pyqtSlot
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from PyQt5.QtCore import Qt, pyqtSlot, QAbstractTableModel
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from PyQt5.QtWidgets import QFileDialog, QMessageBox
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@@ -11,21 +11,50 @@ from PyQt5.QtWidgets import QFileDialog, QMessageBox
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from server_gui import Ui_MainWindow
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from server import *
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from copter_table_models import *
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from emergency import *
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class MyTableModel(QAbstractTableModel):
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def __init__(self, parent, headers, *args):
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QAbstractTableModel.__init__(self, parent, *args)
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# noinspection PyArgumentList,PyCallByClass
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class MainWindow(QtWidgets.QMainWindow):
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def __init__(self):
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super(MainWindow, self).__init__()
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self.ui = Ui_MainWindow()
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self.ui.setupUi(self)
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self.init_ui()
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self.model = CopterDataModel()
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self.proxy_model = CopterProxyModel()
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self.signals = SignalManager()
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self.init_model()
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self.show()
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def init_model(self):
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self.proxy_model.setDynamicSortFilter(True)
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self.proxy_model.setSourceModel(self.model)
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# Initing table and table self.model
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self.ui.tableView.setModel(self.proxy_model)
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self.ui.tableView.horizontalHeader().setStretchLastSection(True)
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self.ui.tableView.setSortingEnabled(True)
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self.signals.update_data_signal.connect(self.model.update_item)
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self.signals.add_client_signal.connect(self.model.add_client)
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def client_connected(self, client: Client):
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self.signals.add_client_signal.emit(CopterData(copter_id=client.copter_id, client=client))
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def init_ui(self):
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# Connecting
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self.ui.check_button.clicked.connect(self.check_selected)
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self.ui.check_button.clicked.connect(self.selfcheck_selected)
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self.ui.start_button.clicked.connect(self.send_starttime)
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self.ui.pause_button.clicked.connect(self.pause_all)
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self.ui.stop_button.clicked.connect(self.stop_all)
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@@ -40,41 +69,42 @@ class MainWindow(QtWidgets.QMainWindow):
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self.ui.action_send_configurations.triggered.connect(self.send_configurations)
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self.ui.action_send_Aruco_map.triggered.connect(self.send_aruco)
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# Initing table and table model
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self.ui.tableView.setModel(model)
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self.ui.tableView.horizontalHeader().setStretchLastSection(True)
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@pyqtSlot()
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def check_selected(self):
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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print("Copter {} checked".format(model.item(row_num, 0).text()))
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copter = Client.get_by_id(item.text())
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copter.get_response("anim_id", self._set_copter_data, callback_args=(row_num, 1))
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copter.get_response("batt_voltage", self._set_copter_data, callback_args=(row_num, 2))
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copter.get_response("cell_voltage", self._set_copter_data, callback_args=(row_num, 3))
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copter.get_response("selfcheck", self._set_copter_data, callback_args=(row_num, 4))
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copter.get_response("time", self._set_copter_data, callback_args=(row_num, 5))
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def selfcheck_selected(self):
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for copter_data in self.model.user_selected():
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copter = copter_data.client
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self.ui.start_button.setEnabled(True)
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self.ui.takeoff_button.setEnabled(True)
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copter.get_response("anim_id", self._set_copter_data, callback_args=(1, copter_data.copter_id))
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copter.get_response("batt_voltage", self._set_copter_data, callback_args=(2, copter_data.copter_id))
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copter.get_response("cell_voltage", self._set_copter_data, callback_args=(3, copter_data.copter_id))
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copter.get_response("selfcheck", self._set_copter_data, callback_args=(4, copter_data.copter_id))
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copter.get_response("time", self._set_copter_data, callback_args=(5, copter_data.copter_id))
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#self.ui.start_button.setEnabled(True)
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#self.ui.takeoff_button.setEnabled(True)
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def _set_copter_data(self, value, col, copter_id):
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row = self.model.data_contents.index(next(
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filter(lambda x: x.copter_id == copter_id, self.model.data_contents)))
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def _set_copter_data(self, value, row, col):
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if col == 1:
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model.setData(model.index(row, col), value)
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data = value
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elif col == 2:
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model.setData(model.index(row, col), "{} V".format(round(float(value), 3)))
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data = "{} V.".format(round(float(value), 3))
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elif col == 3:
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batt_percent = ((float(value) - 3.2) / (4.2 - 3.2)) * 100
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model.setData(model.index(row, col), "{} %".format(round(batt_percent, 3)))
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batt_percent = ((float(value) - 3.2) / (4.2 - 3.2)) * 100 # TODO config
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data = "{} %".format(round(batt_percent, 3))
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elif col == 4:
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if value != "OK":
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model.setData(model.index(row, col), str(value)) # TODO different handling
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else:
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model.setData(model.index(row, col), str(value))
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data = str(value)
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elif col == 5:
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model.setData(model.index(row, col), time.ctime(int(value)))
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data = time.ctime(int(value))
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data2 = "{} sec.".format(round(int(value) - time.time(), 3))
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self.signals.update_data_signal.emit(row, col + 1, data2)
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else:
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print("No column matched for response")
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return
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self.signals.update_data_signal.emit(row, col, data)
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@pyqtSlot()
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def send_starttime(self):
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@@ -86,8 +116,8 @@ class MainWindow(QtWidgets.QMainWindow):
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)
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if reply == QMessageBox.Yes:
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print("Accepted")
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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for row_num in range(self.model.rowCount()):
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item = self.model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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if True: # TODO checks for batt/selfckeck here
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copter = Client.get_by_id(item.text())
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@@ -110,10 +140,10 @@ class MainWindow(QtWidgets.QMainWindow):
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@pyqtSlot()
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def test_leds(self):
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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for row_num in range(self.model.rowCount()):
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item = self.model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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if True: # TODO checks for batt/selfckeck here
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if True:
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copter = Client.get_by_id(item.text())
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copter.send_message("led_test")
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||||
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@@ -126,8 +156,8 @@ class MainWindow(QtWidgets.QMainWindow):
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)
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if reply == QMessageBox.Yes:
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print("Accepted")
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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for row_num in range(self.model.rowCount()):
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item = self.model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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if True: # TODO checks for batt/selfckeck here
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copter = Client.get_by_id(item.text())
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@@ -154,8 +184,8 @@ class MainWindow(QtWidgets.QMainWindow):
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names = [os.path.basename(file).split(".")[0] for file in files]
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print(files)
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for file, name in zip(files, names):
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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for row_num in range(self.model.rowCount()):
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item = self.model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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copter = Client.get_by_id(item.text())
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if name == copter.copter_id:
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@@ -176,8 +206,9 @@ class MainWindow(QtWidgets.QMainWindow):
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||||
value = sendable_config[section][option]
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logging.debug("Got item from config:".format(section, option, value))
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||||
options.append(ConfigOption(section, option, value))
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||||
for row_num in range(model.rowCount()):
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||||
item = model.item(row_num, 0)
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||||
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||||
for row_num in range(self.model.rowCount()):
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||||
item = self.model.item(row_num, 0)
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||||
if item.isCheckable() and item.checkState() == Qt.Checked:
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||||
copter = Client.get_by_id(item.text())
|
||||
copter.send_config_options(*options)
|
||||
@@ -188,16 +219,16 @@ class MainWindow(QtWidgets.QMainWindow):
|
||||
if path:
|
||||
filename = os.path.basename(path)
|
||||
print("Selected file:", path, filename)
|
||||
for row_num in range(model.rowCount()):
|
||||
item = model.item(row_num, 0)
|
||||
for row_num in range(self.model.rowCount()):
|
||||
item = self.model.item(row_num, 0)
|
||||
if item.isCheckable() and item.checkState() == Qt.Checked:
|
||||
copter = Client.get_by_id(item.text())
|
||||
copter.send_file(path, "/home/pi/catkin_ws/src/clever/aruco_pose/map/animation_map.txt")
|
||||
copter.send_message("service_restart", {"name": "clever"})
|
||||
@pyqtSlot()
|
||||
def emergency(self):
|
||||
for row_num in range(model.rowCount()):
|
||||
item = model.item(row_num, 0)
|
||||
for row_num in range(self.model.rowCount()):
|
||||
item = self.model.item(row_num, 0)
|
||||
if item.isCheckable() and item.checkState() == Qt.Checked:
|
||||
copter = Client.get_by_id(item.text())
|
||||
copter.send_message("emergency")
|
||||
@@ -216,8 +247,8 @@ class MainWindow(QtWidgets.QMainWindow):
|
||||
)
|
||||
if reply == QMessageBox.Yes:
|
||||
print("Accepted")
|
||||
for row_num in range(model.rowCount()):
|
||||
item = model.item(row_num, 0)
|
||||
for row_num in range(self.model.rowCount()):
|
||||
item = self.model.item(row_num, 0)
|
||||
if item.isCheckable() and item.checkState() == Qt.Checked:
|
||||
if True: # TODO checks for batt/selfckeck here
|
||||
copter = Client.get_by_id(item.text())
|
||||
@@ -226,29 +257,13 @@ class MainWindow(QtWidgets.QMainWindow):
|
||||
print("Cancelled")
|
||||
pass
|
||||
|
||||
|
||||
|
||||
model = QStandardItemModel()
|
||||
model.setHorizontalHeaderLabels(
|
||||
('copter ID', 'animation ID', 'battery V', 'battery %', 'selfcheck', 'time UTC')
|
||||
)
|
||||
model.setColumnCount(6)
|
||||
model.setRowCount(0)
|
||||
|
||||
|
||||
def client_connected(self: Client):
|
||||
copter_id_item = QStandardItem(self.copter_id)
|
||||
copter_id_item.setCheckable(True)
|
||||
model.appendRow((copter_id_item, ))
|
||||
|
||||
|
||||
Client.on_first_connect = client_connected
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
app = QtWidgets.QApplication(sys.argv)
|
||||
window = MainWindow()
|
||||
|
||||
Client.on_first_connect = window.client_connected
|
||||
|
||||
server = Server(on_stop=app.quit)
|
||||
server.start()
|
||||
|
||||
|
||||
Reference in New Issue
Block a user