Server: Add flip and emergency buttons

Server/emergency.py

@@ -0,0 +1,64 @@
+import os
+import glob
+
+from PyQt5 import QtWidgets
+from PyQt5.QtGui import QStandardItemModel, QStandardItem
+from PyQt5.QtCore import Qt, pyqtSlot
+from PyQt5.QtWidgets import QFileDialog, QMessageBox
+from PyQt5 import QtCore, QtGui, QtWidgets
+from server import *
+from server_qt import *
+
+class Ui_Dialog(object):
+    def setupUi(self, Dialog):
+        Dialog.setObjectName("Dialog")
+        Dialog.resize(632, 214)
+        self.pushButton_2 = QtWidgets.QPushButton(Dialog)
+        self.pushButton_2.setGeometry(QtCore.QRect(470, 110, 121, 61))
+        self.pushButton_2.setSizeIncrement(QtCore.QSize(16, 16))
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.pushButton_3 = QtWidgets.QPushButton(Dialog)
+        self.pushButton_3.setGeometry(QtCore.QRect(40, 100, 121, 61))
+        self.pushButton_3.setSizeIncrement(QtCore.QSize(16, 16))
+        self.pushButton_3.setObjectName("pushButton_3")
+        self.pushButton_2.clicked.connect(self.btn_2)
+        self.pushButton_3.clicked.connect(self.btn_3)
+        self.label = QtWidgets.QLabel(Dialog)
+        self.label.setGeometry(QtCore.QRect(40, 40, 561, 51))
+        font = QtGui.QFont()
+        font.setPointSize(16)
+        self.label.setFont(font)
+        self.label.setObjectName("label")
+
+        self.retranslateUi(Dialog)
+        QtCore.QMetaObject.connectSlotsByName(Dialog)
+
+    def retranslateUi(self, Dialog):
+        _translate = QtCore.QCoreApplication.translate
+        Dialog.setWindowTitle(_translate("Dialog", "Dialog"))
+        self.pushButton_2.setText(_translate("Dialog", "PushButton"))
+        self.pushButton_3.setText(_translate("Dialog", "PushButton"))
+        self.label.setText(_translate("Dialog", "\n"
+"Select a group in which the drone does not work correctly"))
+    def btn_2(self):
+        for row_num in range(model.rowCount()):
+            item = model.item(row_num, 0)
+            if item.isCheckable() and item.checkState() == Qt.Checked:
+                copter = Client.get_by_id(item.text())
+                copter.send_message("green")
+    def btn_3(self):
+        for row_num in range(model.rowCount()):
+            item = model.item(row_num, 0)
+            if item.isCheckable() and item.checkState() == Qt.Checked:
+                copter = Client.get_by_id(item.text())
+                copter.send_message("red")
+
+if __name__ == "__main__":
+    import sys
+    app = QtWidgets.QApplication(sys.argv)
+    Dialog = QtWidgets.QDialog()
+    ui = Ui_Dialog()
+    ui.setupUi(Dialog)
+    Dialog.show()
+    sys.exit(app.exec_())
+

Server/emergency.ui

@@ -0,0 +1,76 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Dialog</class>
+ <widget class="QDialog" name="Dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>632</width>
+    <height>214</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QPushButton" name="pushButton_2">
+   <property name="geometry">
+    <rect>
+     <x>470</x>
+     <y>110</y>
+     <width>121</width>
+     <height>61</height>
+    </rect>
+   </property>
+   <property name="sizeIncrement">
+    <size>
+     <width>16</width>
+     <height>16</height>
+    </size>
+   </property>
+   <property name="text">
+    <string>PushButton</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="pushButton_3">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>100</y>
+     <width>121</width>
+     <height>61</height>
+    </rect>
+   </property>
+   <property name="sizeIncrement">
+    <size>
+     <width>16</width>
+     <height>16</height>
+    </size>
+   </property>
+   <property name="text">
+    <string>PushButton</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>40</y>
+     <width>561</width>
+     <height>51</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>16</pointsize>
+    </font>
+   </property>
+   <property name="text">
+    <string>
+Select a group in which the drone does not work correctly</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

Server/server_gui.py

@@ -11,7 +11,7 @@ from PyQt5 import QtCore, QtGui, QtWidgets
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(1239, 741)
+        MainWindow.resize(1284, 740)
         self.centralwidget = QtWidgets.QWidget(MainWindow)
         self.centralwidget.setEnabled(True)
         self.centralwidget.setObjectName("centralwidget")
@@ -54,9 +54,9 @@ class Ui_MainWindow(object):
         self.stop_button = QtWidgets.QPushButton(self.centralwidget)
         self.stop_button.setObjectName("stop_button")
         self.formLayout.setWidget(5, QtWidgets.QFormLayout.SpanningRole, self.stop_button)
-        self.test_Button = QtWidgets.QPushButton(self.centralwidget)
-        self.test_Button.setObjectName("test_Button")
-        self.formLayout.setWidget(6, QtWidgets.QFormLayout.SpanningRole, self.test_Button)
+        self.emergency_button = QtWidgets.QPushButton(self.centralwidget)
+        self.emergency_button.setObjectName("emergency_button")
+        self.formLayout.setWidget(6, QtWidgets.QFormLayout.SpanningRole, self.emergency_button)
         self.verticalLayout.addLayout(self.formLayout)
         self.line = QtWidgets.QFrame(self.centralwidget)
         self.line.setFrameShape(QtWidgets.QFrame.HLine)
@@ -71,20 +71,23 @@ class Ui_MainWindow(object):
         self.formLayout_2.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.takeoff_button)
         self.land_button = QtWidgets.QPushButton(self.centralwidget)
         self.land_button.setObjectName("land_button")
-        self.formLayout_2.setWidget(2, QtWidgets.QFormLayout.SpanningRole, self.land_button)
+        self.formLayout_2.setWidget(3, QtWidgets.QFormLayout.SpanningRole, self.land_button)
         self.disarm_button = QtWidgets.QPushButton(self.centralwidget)
         self.disarm_button.setObjectName("disarm_button")
-        self.formLayout_2.setWidget(3, QtWidgets.QFormLayout.SpanningRole, self.disarm_button)
+        self.formLayout_2.setWidget(4, QtWidgets.QFormLayout.SpanningRole, self.disarm_button)
         self.leds_button = QtWidgets.QPushButton(self.centralwidget)
         self.leds_button.setObjectName("leds_button")
         self.formLayout_2.setWidget(0, QtWidgets.QFormLayout.SpanningRole, self.leds_button)
+        self.flip_button = QtWidgets.QPushButton(self.centralwidget)
+        self.flip_button.setObjectName("flip_button")
+        self.formLayout_2.setWidget(2, QtWidgets.QFormLayout.SpanningRole, self.flip_button)
         self.verticalLayout.addLayout(self.formLayout_2)
         self.horizontalLayout.addLayout(self.verticalLayout)
         self.horizontalLayout.setStretch(0, 1)
         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, 1239, 21))
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1284, 21))
         self.menubar.setObjectName("menubar")
         self.menuOptions = QtWidgets.QMenu(self.menubar)
         self.menuOptions.setObjectName("menuOptions")
@@ -112,11 +115,12 @@ class Ui_MainWindow(object):
         self.start_button.setText(_translate("MainWindow", "Start animation"))
         self.pause_button.setText(_translate("MainWindow", "Pause"))
         self.stop_button.setText(_translate("MainWindow", "Stop"))
-        self.test_Button.setText(_translate("MainWindow", "Test"))
+        self.emergency_button.setText(_translate("MainWindow", "Emergency land"))
         self.takeoff_button.setText(_translate("MainWindow", "Takeoff"))
         self.land_button.setText(_translate("MainWindow", "Land"))
         self.disarm_button.setText(_translate("MainWindow", "Disarm"))
         self.leds_button.setText(_translate("MainWindow", "Test leds"))
+        self.flip_button.setText(_translate("MainWindow", "Flip"))
         self.menuOptions.setTitle(_translate("MainWindow", "Actions"))
         self.action_send_animations.setText(_translate("MainWindow", "Send Animations"))
         self.action_send_configurations.setText(_translate("MainWindow", "Send Configurations"))

Server/server_gui.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1239</width>
-    <height>741</height>
+    <width>1284</width>
+    <height>740</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -92,9 +92,9 @@
            </widget>
           </item>
           <item row="6" column="0" colspan="2">
-           <widget class="QPushButton" name="test_Button">
+           <widget class="QPushButton" name="emergency_button">
             <property name="text">
-             <string>Test</string>
+             <string>Emergency land</string>
             </property>
            </widget>
           </item>
@@ -119,14 +119,14 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="0" colspan="2">
+          <item row="3" column="0" colspan="2">
            <widget class="QPushButton" name="land_button">
             <property name="text">
              <string>Land</string>
             </property>
            </widget>
           </item>
-          <item row="3" column="0" colspan="2">
+          <item row="4" column="0" colspan="2">
            <widget class="QPushButton" name="disarm_button">
             <property name="text">
              <string>Disarm</string>
@@ -140,6 +140,13 @@
             </property>
            </widget>
           </item>
+          <item row="2" column="0" colspan="2">
+           <widget class="QPushButton" name="flip_button">
+            <property name="text">
+             <string>Flip</string>
+            </property>
+           </widget>
+          </item>
          </layout>
         </item>
        </layout>
@@ -153,7 +160,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1239</width>
+     <width>1284</width>
      <height>21</height>
     </rect>
    </property>

Server/server_qt.py

@@ -11,6 +11,7 @@ from PyQt5.QtWidgets import QFileDialog, QMessageBox
 from server_gui import Ui_MainWindow
 
 from server import *
+from emergency import *
 
 
 # noinspection PyArgumentList,PyCallByClass
@@ -28,13 +29,13 @@ class MainWindow(QtWidgets.QMainWindow):
         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)
-        self.ui.test_Button.clicked.connect(self.test)
+        self.ui.emergency_button.clicked.connect(self.emergency)
 
         self.ui.leds_button.clicked.connect(self.test_leds)
         self.ui.takeoff_button.clicked.connect(self.takeoff_selected)
         self.ui.land_button.clicked.connect(self.land_all)
         self.ui.disarm_button.clicked.connect(self.disarm_all)
-
+        self.ui.flip_button.clicked.connect(self.flip)
         self.ui.action_send_animations.triggered.connect(self.send_animations)
         self.ui.action_send_configurations.triggered.connect(self.send_configurations)
         self.ui.action_send_Aruco_map.triggered.connect(self.send_aruco)
@@ -146,6 +147,7 @@ class MainWindow(QtWidgets.QMainWindow):
     @pyqtSlot()
     def send_animations(self):
         path = str(QFileDialog.getExistingDirectory(self, "Select Animation Directory"))
+
         if path:
             print("Selected directory:", path)
             files = [file for file in glob.glob(path + '/*.csv')]
@@ -193,13 +195,38 @@ class MainWindow(QtWidgets.QMainWindow):
                     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 test(self):
+    def emergency(self):
         for row_num in range(model.rowCount()):
                 item = model.item(row_num, 0)
                 if item.isCheckable() and item.checkState() == Qt.Checked:
                     copter = Client.get_by_id(item.text())
-                    copter.send_message("test")
+                    copter.send_message("emergency")
+        Dialog = QtWidgets.QDialog()
+        ui = Ui_Dialog()
+        ui.setupUi(Dialog)
+        Dialog.show()
+        Dialog.exec_()
 
+    @pyqtSlot()    
+    def flip(self):
+        reply = QMessageBox.question(
+            self, "Confirm operation",
+            "You are ready to turn the copter?",
+            QMessageBox.Yes | QMessageBox.No, QMessageBox.No
+        )
+        if reply == QMessageBox.Yes:
+            print("Accepted")
+            for row_num in range(model.rowCount()):
+                item = 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())
+                        copter.send_message("flip")
+        else:
+            print("Cancelled")
+            pass
+
+        
 
 model = QStandardItemModel()
 model.setHorizontalHeaderLabels(