CopterExpress/clever-show
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This commit group closing #28 and closing #27

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Resolved all model integration issues, improved qt syntax and code organization
This commit is contained in:
Artem30801
2019-06-16 22:50:01 +03:00
parent adb2adedad
commit 2c08053c4c
1 changed files with 82 additions and 112 deletions
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194
Server/server_qt.py
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@@ -15,6 +15,27 @@ from server import *
from copter_table_models import *
from emergency import *
def confirmation_required(text="Are you sure?", label="Confirm operation?"):
def inner(f):
def wrapper(*args, **kwargs):
reply = QMessageBox.question(
args[0], label,
text,
QMessageBox.Yes | QMessageBox.No, QMessageBox.No
)
if reply == QMessageBox.Yes:
print("Dialog accepted")
return f(*args, **kwargs)
else:
print("Dialog declined")
return wrapper
return inner
# noinspection PyArgumentList,PyCallByClass
class MainWindow(QtWidgets.QMainWindow):
def __init__(self):
@@ -75,14 +96,14 @@ class MainWindow(QtWidgets.QMainWindow):
@pyqtSlot()
def selfcheck_selected(self):
for copter_data in self.model.user_selected():
copter = copter_data.client
for copter in self.model.user_selected():
client = copter.client
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))
client.get_response("anim_id", self._set_copter_data, callback_args=(1, copter.copter_id))
client.get_response("batt_voltage", self._set_copter_data, callback_args=(2, copter.copter_id))
client.get_response("cell_voltage", self._set_copter_data, callback_args=(3, copter.copter_id))
client.get_response("selfcheck", self._set_copter_data, callback_args=(4, copter.copter_id))
client.get_response("time", self._set_copter_data, callback_args=(5, copter.copter_id))
def _set_copter_data(self, value, col, copter_id):
row = self.model.data_contents.index(next(
@@ -108,23 +129,31 @@ class MainWindow(QtWidgets.QMainWindow):
self.signals.update_data_signal.emit(row, col, data)
@pyqtSlot()
@confirmation_required("This operation will takeoff selected copters with delay and start animation. Proceed?")
def send_starttime(self):
dt = self.ui.start_delay_spin.value()
reply = QMessageBox.question(
self, "Confirm operation",
"This operation will takeoff selected copters and start animation after {} seconds. Proceed?".format(dt),
QMessageBox.Yes | QMessageBox.No, QMessageBox.No
)
if reply == QMessageBox.Yes:
print("Accepted")
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())
server.send_starttime(copter, dt)
else:
print("Cancelled")
for copter in self.model.user_selected():
if all_checks(copter):
server.send_starttime(copter.client, dt)
@pyqtSlot()
@confirmation_required("This operation will takeoff copters immediately. Proceed?")
def takeoff_selected(self):
for copter in self.model.user_selected():
if all_checks(copter):
copter.client.send_message("takeoff")
@pyqtSlot()
@confirmation_required("This operation will flip(!!!) copters immediately. Proceed?")
def flip(self):
for copter in self.model.user_selected():
if all_checks(copter):
copter.client.send_message("flip")
@pyqtSlot()
def test_leds(self):
for copter in self.model.user_selected():
copter.client.send_message("led_test")
@pyqtSlot()
def stop_all(self):
@@ -139,34 +168,6 @@ class MainWindow(QtWidgets.QMainWindow):
Client.broadcast_message('resume')
self.ui.pause_button.setText('Pause')
@pyqtSlot()
def test_leds(self):
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:
copter = Client.get_by_id(item.text())
copter.send_message("led_test")
@pyqtSlot()
def takeoff_selected(self):
reply = QMessageBox.question(
self, "Confirm operation",
"This operation will takeoff copters immediately. Proceed?",
QMessageBox.Yes | QMessageBox.No, QMessageBox.No
)
if reply == QMessageBox.Yes:
print("Accepted")
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())
copter.send_message("takeoff")
else:
print("Cancelled")
pass
@pyqtSlot()
def land_all(self):
Client.broadcast_message("land")
@@ -185,14 +186,11 @@ 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(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:
copter.send_file(file, "animation.csv") # TODO config
else:
print("Filename not matches with any drone connected")
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")
@pyqtSlot()
def send_configurations(self):
@@ -207,12 +205,9 @@ 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(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)
for copter in self.model.user_selected():
copter.client.send_config_options(*options)
@pyqtSlot()
def send_aruco(self):
@@ -220,81 +215,56 @@ class MainWindow(QtWidgets.QMainWindow):
if path:
filename = os.path.basename(path)
print("Selected file:", path, filename)
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"})
for copter in self.model.user_selected():
copter.client.send_file(path, "/home/pi/catkin_ws/src/clever/aruco_pose/map/animation_map.txt")
copter.client.send_message("service_restart", {"name": "clever"})
@pyqtSlot()
def emergency(self):
client_row_min = 0
client_row_max = model.rowCount() - 1
client_row_max = self.model.rowCount() - 1
result = -1
while (result!=0) and (result != 3) and (result != 4):
while (result != 0) and (result != 3) and (result != 4):
# light_green_red(min, max)
client_row_mid = int(math.ceil((client_row_max+client_row_min) / 2.0))
print(client_row_min, client_row_mid, client_row_max)
for row_num in range(client_row_min, client_row_mid):
item = model.item(row_num, 0)
copter = Client.get_by_id(item.text())
copter.send_message("led_fill", {"green": 255})
self.model.data_contents[row_num].client\
.send_message("led_fill", {"green": 255})
for row_num in range(client_row_mid, client_row_max + 1):
item = model.item(row_num, 0)
copter = Client.get_by_id(item.text())
copter.send_message("led_fill", {"red": 255})
self.model.data_contents[row_num].client \
.send_message("led_fill", {"red": 255})
Dialog = QtWidgets.QDialog()
ui = Ui_Dialog()
ui.setupUi(Dialog)
Dialog.show()
result = Dialog.exec()
print("Dialog result: {}".format(result))
if (client_row_max != client_row_min):
if (result == 1):
if client_row_max != client_row_min:
if result == 1:
for row_num in range(client_row_mid, client_row_max + 1):
item = model.item(row_num, 0)
copter = Client.get_by_id(item.text())
copter.send_message("led_fill")
self.model.data_contents[row_num].client \
.send_message("led_fill")
client_row_max = client_row_mid - 1
elif (result == 2):
elif result == 2:
for row_num in range(client_row_min, client_row_mid):
item = model.item(row_num, 0)
copter = Client.get_by_id(item.text())
copter.send_message("led_fill")
self.model.data_contents[row_num].client \
.send_message("led_fill")
client_row_min = client_row_mid
if result == 0:
Client.broadcast_message("led_fill")
elif result == 3:
for row_num in range(client_row_min, client_row_max + 1):
item = model.item(row_num, 0)
copter = Client.get_by_id(item.text())
copter.send_message("land")
self.model.data_contents[row_num].client \
.send_message("land")
elif result == 4:
for row_num in range(client_row_min, client_row_max + 1):
item = model.item(row_num, 0)
copter = Client.get_by_id(item.text())
copter.send_message("disarm")
@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(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())
copter.send_message("flip")
else:
print("Cancelled")
pass
self.model.data_contents[row_num].client \
.send_message("disarm")
if __name__ == "__main__":