CopterExpress/clever-show
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New! Realization of table model for storing all copter data. Auto refresh, sorting, data checks and coloring based on checks, thread-safety

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This commit is contained in:
Artem30801
2019-06-16 16:57:42 +03:00
parent f9fd81da1f
commit 0fa7d1a4b7
3 changed files with 336 additions and 64 deletions
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143
Server/server_qt.py
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@@ -3,7 +3,7 @@ import glob
from PyQt5 import QtWidgets
from PyQt5.QtGui import QStandardItemModel, QStandardItem
from PyQt5.QtCore import Qt, pyqtSlot
from PyQt5.QtCore import Qt, pyqtSlot, QAbstractTableModel
from PyQt5.QtWidgets import QFileDialog, QMessageBox
@@ -11,21 +11,50 @@ from PyQt5.QtWidgets import QFileDialog, QMessageBox
from server_gui import Ui_MainWindow
from server import *
from copter_table_models import *
from emergency import *
class MyTableModel(QAbstractTableModel):
def __init__(self, parent, headers, *args):
QAbstractTableModel.__init__(self, parent, *args)
# noinspection PyArgumentList,PyCallByClass
class MainWindow(QtWidgets.QMainWindow):
def __init__(self):
super(MainWindow, self).__init__()
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.init_ui()
self.model = CopterDataModel()
self.proxy_model = CopterProxyModel()
self.signals = SignalManager()
self.init_model()
self.show()
def init_model(self):
self.proxy_model.setDynamicSortFilter(True)
self.proxy_model.setSourceModel(self.model)
# Initing table and table self.model
self.ui.tableView.setModel(self.proxy_model)
self.ui.tableView.horizontalHeader().setStretchLastSection(True)
self.ui.tableView.setSortingEnabled(True)
self.signals.update_data_signal.connect(self.model.update_item)
self.signals.add_client_signal.connect(self.model.add_client)
def client_connected(self, client: Client):
self.signals.add_client_signal.emit(CopterData(copter_id=client.copter_id, client=client))
def init_ui(self):
# Connecting
self.ui.check_button.clicked.connect(self.check_selected)
self.ui.check_button.clicked.connect(self.selfcheck_selected)
self.ui.start_button.clicked.connect(self.send_starttime)
self.ui.pause_button.clicked.connect(self.pause_all)
self.ui.stop_button.clicked.connect(self.stop_all)
@@ -40,41 +69,42 @@ class MainWindow(QtWidgets.QMainWindow):
self.ui.action_send_configurations.triggered.connect(self.send_configurations)
self.ui.action_send_Aruco_map.triggered.connect(self.send_aruco)
# Initing table and table model
self.ui.tableView.setModel(model)
self.ui.tableView.horizontalHeader().setStretchLastSection(True)
@pyqtSlot()
def check_selected(self):
for row_num in range(model.rowCount()):
item = model.item(row_num, 0)
if item.isCheckable() and item.checkState() == Qt.Checked:
print("Copter {} checked".format(model.item(row_num, 0).text()))
copter = Client.get_by_id(item.text())
copter.get_response("anim_id", self._set_copter_data, callback_args=(row_num, 1))
copter.get_response("batt_voltage", self._set_copter_data, callback_args=(row_num, 2))
copter.get_response("cell_voltage", self._set_copter_data, callback_args=(row_num, 3))
copter.get_response("selfcheck", self._set_copter_data, callback_args=(row_num, 4))
copter.get_response("time", self._set_copter_data, callback_args=(row_num, 5))
def selfcheck_selected(self):
for copter_data in self.model.user_selected():
copter = copter_data.client
self.ui.start_button.setEnabled(True)
self.ui.takeoff_button.setEnabled(True)
copter.get_response("anim_id", self._set_copter_data, callback_args=(1, copter_data.copter_id))
copter.get_response("batt_voltage", self._set_copter_data, callback_args=(2, copter_data.copter_id))
copter.get_response("cell_voltage", self._set_copter_data, callback_args=(3, copter_data.copter_id))
copter.get_response("selfcheck", self._set_copter_data, callback_args=(4, copter_data.copter_id))
copter.get_response("time", self._set_copter_data, callback_args=(5, copter_data.copter_id))
#self.ui.start_button.setEnabled(True)
#self.ui.takeoff_button.setEnabled(True)
def _set_copter_data(self, value, col, copter_id):
row = self.model.data_contents.index(next(
filter(lambda x: x.copter_id == copter_id, self.model.data_contents)))
def _set_copter_data(self, value, row, col):
if col == 1:
model.setData(model.index(row, col), value)
data = value
elif col == 2:
model.setData(model.index(row, col), "{} V".format(round(float(value), 3)))
data = "{} V.".format(round(float(value), 3))
elif col == 3:
batt_percent = ((float(value) - 3.2) / (4.2 - 3.2)) * 100
model.setData(model.index(row, col), "{} %".format(round(batt_percent, 3)))
batt_percent = ((float(value) - 3.2) / (4.2 - 3.2)) * 100 # TODO config
data = "{} %".format(round(batt_percent, 3))
elif col == 4:
if value != "OK":
model.setData(model.index(row, col), str(value)) # TODO different handling
else:
model.setData(model.index(row, col), str(value))
data = str(value)
elif col == 5:
model.setData(model.index(row, col), time.ctime(int(value)))
data = time.ctime(int(value))
data2 = "{} sec.".format(round(int(value) - time.time(), 3))
self.signals.update_data_signal.emit(row, col + 1, data2)
else:
print("No column matched for response")
return
self.signals.update_data_signal.emit(row, col, data)
@pyqtSlot()
def send_starttime(self):
@@ -86,8 +116,8 @@ 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())
@@ -110,10 +140,10 @@ class MainWindow(QtWidgets.QMainWindow):
@pyqtSlot()
def test_leds(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:
if True: # TODO checks for batt/selfckeck here
if True:
copter = Client.get_by_id(item.text())
copter.send_message("led_test")
@@ -126,8 +156,8 @@ 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())
@@ -154,8 +184,8 @@ class MainWindow(QtWidgets.QMainWindow):
names = [os.path.basename(file).split(".")[0] for file in files]
print(files)
for file, name in zip(files, names):
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())
if name == copter.copter_id:
@@ -176,8 +206,9 @@ class MainWindow(QtWidgets.QMainWindow):
value = sendable_config[section][option]
logging.debug("Got item from config:".format(section, option, value))
options.append(ConfigOption(section, option, value))
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_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()