diff --git a/Drone/Server+GUI_non_xml_dowload.py b/Drone/Server+GUI_non_xml_dowload.py new file mode 100644 index 0000000..6064731 --- /dev/null +++ b/Drone/Server+GUI_non_xml_dowload.py @@ -0,0 +1,1067 @@ +# -*- coding: utf-8 -*- . +from PyQt5.QtWidgets import * +from PyQt5.QtGui import * +from PyQt5.QtCore import * +from mpl_toolkits.mplot3d import Axes3D +import matplotlib.pyplot as plt +import time +import socket +import os +from PyQt5 import QtCore, QtGui, QtWidgets +import easygui +import threading +from threading import Thread +import math +import requests +import json +# -*- coding: utf-8 -*- + +# Resource object code +# +# Created by: The Resource Compiler for PyQt5 (Qt v5.10.1) +# +# WARNING! All changes made in this file will be lost! + +from PyQt5 import QtCore + +qt_resource_data = b"\ +\x00\x00\x00\xc5\ +\x00\ +\x00\x03\xdf\x78\x9c\xeb\x0c\xf0\x73\xe7\xe5\x92\xe2\x62\x60\x60\ +\xe0\xf5\xf4\x70\x09\x62\x60\x60\x7c\x00\x64\x7f\xe0\x60\x02\x92\ +\xe1\xe2\x0a\x6f\x81\x14\x63\x71\x90\xbb\x13\xc3\xba\x73\x32\x2f\ +\x81\x1c\x96\x74\x47\x5f\x47\x06\x86\x8d\xfd\xdc\x7f\x12\x59\x81\ +\x7c\xce\x02\x8f\xc8\x62\x06\x06\xbe\xc3\x20\xcc\x78\x3c\x7f\x45\ +\x0a\x03\x03\x73\x89\xa7\x8b\x63\x48\x45\xdc\xdb\x9b\x07\x39\x1b\ +\x1c\x78\x18\x0e\x5e\xd6\x5a\x7f\xe4\xf5\x63\xa9\xe0\x0b\x62\x2d\ +\xac\xe9\x76\x27\xed\x37\xcc\x97\xa9\x7e\xcf\xe8\x70\xfe\xa7\x1f\ +\x43\x12\x8b\x94\x82\xd7\x02\xc6\x45\xc3\x95\x02\x06\x11\xc3\x8f\ +\x53\x86\xcf\x6b\xc2\x0f\x5d\x8b\x3a\xff\x28\xce\xfe\xe1\xa3\x3b\ +\x36\x9c\x83\xc3\x6d\xa3\xd4\xb0\xa1\x32\x7b\xb8\x2f\xed\xe7\xd6\ +\x0a\xb3\xf0\x36\x07\xa5\x38\x4f\x57\x3f\x97\x75\x4e\x09\x4d\x00\ +\x84\xf7\x09\x21\ +\x00\x00\x00\xe4\ +\x00\ 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+\x00\x00\x01\x64\xac\x42\xe1\xa0\ +" + +qt_version = QtCore.qVersion().split('.') +if qt_version < ['5', '8', '0']: + rcc_version = 1 + qt_resource_struct = qt_resource_struct_v1 +else: + rcc_version = 2 + qt_resource_struct = qt_resource_struct_v2 + + +def qInitResources(): + QtCore.qRegisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data) + + +def qCleanupResources(): + QtCore.qUnregisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data) + + +qInitResources() + +qt_resource_data = b"\ +\x00\x00\x01\x01\ +\x00\ +\x00\x11\x27\x78\x9c\xeb\x0c\xf0\x73\xe7\xe5\x92\xe2\x62\x60\x60\ +\xe0\xf5\xf4\x70\x09\x62\x60\x60\x05\x32\x99\x2e\x70\x30\x01\x29\ +\x07\x79\x2f\x46\x20\xc5\x58\x1c\xe4\xee\xc4\xb0\xee\x9c\xcc\x4b\ +\x20\x87\x25\xdd\xd1\xd7\x91\x81\x61\x63\x3f\xf7\x9f\x44\x90\x52\ +\xce\x02\x8f\xc8\x62\x06\x06\xbe\xc3\x20\xcc\x78\x3c\x7f\x45\x0a\ +\x03\x83\xc0\x1e\x4f\x17\xc7\x90\x8a\xb8\xb7\xd7\x37\x0a\x1e\x32\ 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+\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x02\ +\x00\x00\x00\x0e\x00\x01\x00\x00\x00\x01\x00\x00\x00\x00\ +" + +qt_resource_struct_v2 = b"\ +\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x01\ +\x00\x00\x00\x00\x00\x00\x00\x00\ +\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x02\ +\x00\x00\x00\x00\x00\x00\x00\x00\ +\x00\x00\x00\x0e\x00\x01\x00\x00\x00\x01\x00\x00\x00\x00\ +\x00\x00\x01\x64\x8d\x7d\xe9\xe9\ +" + +qt_version = QtCore.qVersion().split('.') + +if qt_version < ['5', '8', '0']: + rcc_version = 1 + qt_resource_struct = qt_resource_struct_v1 +else: + rcc_version = 2 + qt_resource_struct = qt_resource_struct_v2 + + +def qInitResources(): + QtCore.qRegisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data) + + +def qCleanupResources(): + QtCore.qUnregisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data) + + +qInitResources() + + +class Ui_MainWindow(object): + def setupUi(self, MainWindow): + MainWindow.setObjectName("MainWindow") + MainWindow.resize(1280, 720) + MainWindow.setMinimumSize(QtCore.QSize(1280, 720)) + MainWindow.setMaximumSize(QtCore.QSize(1280, 720)) + self.centralwidget = QtWidgets.QWidget(MainWindow) + self.centralwidget.setObjectName("centralwidget") + self.take_off_button = QtWidgets.QPushButton(self.centralwidget) + self.take_off_button.setGeometry(QtCore.QRect(760, 60, 100, 40)) + self.take_off_button.setObjectName("take_off_button") + self.land_all_button = QtWidgets.QPushButton(self.centralwidget) + self.land_all_button.setGeometry(QtCore.QRect(890, 60, 91, 40)) + self.land_all_button.setObjectName("land_all_button") + self.disarm_all_button = QtWidgets.QPushButton(self.centralwidget) + self.disarm_all_button.setGeometry(QtCore.QRect(1010, 60, 101, 40)) + self.disarm_all_button.setStyleSheet("background-color: red") + self.disarm_all_button.setObjectName("disarm_all_button") + self.take_off_n_button = QtWidgets.QPushButton(self.centralwidget) + self.take_off_n_button.setGeometry(QtCore.QRect(760, 160, 100, 30)) + self.take_off_n_button.setObjectName("take_off_n_button") + self.land_n_button = QtWidgets.QPushButton(self.centralwidget) + self.land_n_button.setGeometry(QtCore.QRect(890, 160, 91, 30)) + self.land_n_button.setObjectName("land_n_button") + self.disarm_n_button = QtWidgets.QPushButton(self.centralwidget) + self.disarm_n_button.setGeometry(QtCore.QRect(1010, 160, 101, 30)) + self.disarm_n_button.setStyleSheet("background-color: red") + self.disarm_n_button.setObjectName("disarm_n_button") + self.take_off_spinBox = QtWidgets.QSpinBox(self.centralwidget) + self.take_off_spinBox.setGeometry(QtCore.QRect(790, 120, 50, 22)) + self.take_off_spinBox.setObjectName("take_off_spinBox") + self.land_spinBox = QtWidgets.QSpinBox(self.centralwidget) + self.land_spinBox.setGeometry(QtCore.QRect(910, 120, 50, 22)) + self.land_spinBox.setObjectName("land_spinBox") + self.disarm_spinBox = QtWidgets.QSpinBox(self.centralwidget) + self.disarm_spinBox.setGeometry(QtCore.QRect(1040, 120, 50, 22)) + self.disarm_spinBox.setObjectName("disarm_spinBox") + self.control_console_label = QtWidgets.QLabel(self.centralwidget) + self.control_console_label.setGeometry(QtCore.QRect(840, 20, 200, 20)) + self.control_console_label.setAlignment(QtCore.Qt.AlignCenter) + self.control_console_label.setObjectName("control_console_label") + self.turn_on_led_button = QtWidgets.QPushButton(self.centralwidget) + self.turn_on_led_button.setGeometry(QtCore.QRect(620, 250, 100, 40)) + self.turn_on_led_button.setStyleSheet("") + self.turn_on_led_button.setObjectName("turn_on_led_button") + self.turn_off_led_button = QtWidgets.QPushButton(self.centralwidget) + self.turn_off_led_button.setGeometry(QtCore.QRect(620, 310, 100, 40)) + self.turn_off_led_button.setObjectName("turn_off_led_button") + + self.number_animation_copters = QtWidgets.QPushButton(self.centralwidget) + self.number_animation_copters.setGeometry(QtCore.QRect(1140, 150, 111, 40)) + self.number_animation_copters.setStyleSheet("") + self.number_animation_copters.setObjectName("number_animation_copters") + + self.stop_swarm_but = QtWidgets.QPushButton(self.centralwidget) + self.stop_swarm_but.setGeometry(QtCore.QRect(1140, 60, 111, 40)) + self.stop_swarm_but.setStyleSheet("") + self.stop_swarm_but.setObjectName("stop_swarm_but") + + # self.telemetry_but = QtWidgets.QPushButton(self.centralwidget) + # self.telemetry_but.setGeometry(QtCore.QRect(1140, 105, 111, 40)) + # self.telemetry_but.setStyleSheet("") + # self.telemetry_but.setObjectName("telemetry_but") + + self.connect_button = QtWidgets.QPushButton(self.centralwidget) + self.connect_button.setGeometry(QtCore.QRect(620, 60, 111, 61)) + self.connect_button.setStyleSheet("") + self.connect_button.setObjectName("connect_button") + self.square_button = QtWidgets.QPushButton(self.centralwidget) + self.square_button.setGeometry(QtCore.QRect(780, 250, 71, 41)) + self.square_button.setStyleSheet("") + self.square_button.setObjectName("square_button") + self.circle_button = QtWidgets.QPushButton(self.centralwidget) + self.circle_button.setGeometry(QtCore.QRect(780, 310, 71, 40)) + self.circle_button.setObjectName("circle_button") + self.radius_circle_DoubleSpinBox = QtWidgets.QSpinBox(self.centralwidget) + self.radius_circle_DoubleSpinBox.setGeometry(QtCore.QRect(1040, 320, 50, 22)) + self.radius_circle_DoubleSpinBox.setObjectName("radius_circle_DoubleSpinBox") + self.radius_square_spinBox = QtWidgets.QSpinBox(self.centralwidget) + self.radius_square_spinBox.setGeometry(QtCore.QRect(1040, 260, 50, 22)) + self.radius_square_spinBox.setObjectName("radius_square_spinBox") + self.center_label = QtWidgets.QLabel(self.centralwidget) + self.center_label.setGeometry(QtCore.QRect(900, 220, 71, 20)) + self.center_label.setAlignment(QtCore.Qt.AlignCenter) + self.center_label.setObjectName("center_label") + self.radius_label = QtWidgets.QLabel(self.centralwidget) + self.radius_label.setGeometry(QtCore.QRect(1040, 220, 55, 16)) + self.radius_label.setAlignment(QtCore.Qt.AlignCenter) + self.radius_label.setObjectName("radius_label") + self.figure_label = QtWidgets.QLabel(self.centralwidget) + self.figure_label.setGeometry(QtCore.QRect(780, 220, 71, 20)) + self.figure_label.setAlignment(QtCore.Qt.AlignCenter) + self.figure_label.setObjectName("figure_label") + self.led_label = QtWidgets.QLabel(self.centralwidget) + self.led_label.setGeometry(QtCore.QRect(640, 220, 61, 20)) + self.led_label.setAlignment(QtCore.Qt.AlignCenter) + self.led_label.setObjectName("led_label") + self.center_square_lineEdit = QtWidgets.QLineEdit(self.centralwidget) + self.center_square_lineEdit.setGeometry(QtCore.QRect(900, 260, 71, 22)) + self.center_square_lineEdit.setAlignment(QtCore.Qt.AlignCenter) + self.center_square_lineEdit.setObjectName("center_square_lineEdit") + self.center_circle_lineEdit = QtWidgets.QLineEdit(self.centralwidget) + self.center_circle_lineEdit.setGeometry(QtCore.QRect(900, 320, 71, 22)) + self.center_circle_lineEdit.setAlignment(QtCore.Qt.AlignCenter) + self.center_circle_lineEdit.setObjectName("center_circle_lineEdit") + self.swarm_size_spinBox = QtWidgets.QSpinBox(self.centralwidget) + self.swarm_size_spinBox.setGeometry(QtCore.QRect(260, 70, 50, 20)) + self.swarm_size_spinBox.setObjectName("swarm_size_spinBox") + self.swarm_size_label = QtWidgets.QLabel(self.centralwidget) + self.swarm_size_label.setGeometry(QtCore.QRect(240, 40, 100, 20)) + self.swarm_size_label.setAlignment(QtCore.Qt.AlignCenter) + self.swarm_size_label.setObjectName("swarm_size_label") + self.send_command_label = QtWidgets.QLabel(self.centralwidget) + self.send_command_label.setGeometry(QtCore.QRect(840, 370, 200, 20)) + self.send_command_label.setAlignment(QtCore.Qt.AlignCenter) + self.send_command_label.setObjectName("send_command_label") + self.console_textEdit = QtWidgets.QTextEdit(self.centralwidget) + self.console_textEdit.setGeometry(QtCore.QRect(640, 410, 591, 241)) + self.console_textEdit.setStyleSheet("background-color: rgb(1, 36, 86)") + self.console_textEdit.setObjectName("console_textEdit") + self.show_3d_scene_button = QtWidgets.QPushButton(self.centralwidget) + self.show_3d_scene_button.setGeometry(QtCore.QRect(220, 290, 141, 51)) + self.show_3d_scene_button.setStyleSheet("") + self.show_3d_scene_button.setObjectName("show_3d_scene_button") + self.upload_animation_button = QtWidgets.QPushButton(self.centralwidget) + self.upload_animation_button.setGeometry(QtCore.QRect(220, 360, 141, 51)) + self.upload_animation_button.setStyleSheet("") + self.upload_animation_button.setObjectName("upload_animation_button") + self.state_label = QtWidgets.QLabel(self.centralwidget) + self.state_label.setGeometry(QtCore.QRect(220, 180, 131, 41)) + self.state_label.setAlignment(QtCore.Qt.AlignCenter) + self.state_label.setObjectName("state_label") + self.statement_swarm_label = QtWidgets.QLabel(self.centralwidget) + self.statement_swarm_label.setGeometry(QtCore.QRect(230, 150, 111, 20)) + self.statement_swarm_label.setAlignment(QtCore.Qt.AlignCenter) + self.statement_swarm_label.setObjectName("statement_swarm_label") + self.start_animation_button = QtWidgets.QPushButton(self.centralwidget) + self.start_animation_button.setGeometry(QtCore.QRect(220, 430, 141, 51)) + self.start_animation_button.setStyleSheet("") + self.start_animation_button.setObjectName("start_animation_button") + self.back_label = QtWidgets.QLabel(self.centralwidget) + self.back_label.setGeometry(QtCore.QRect(0, -1, 1280, 701)) + self.back_label.setObjectName("back_label") + self.safty_button = QtWidgets.QPushButton(self.centralwidget) + self.safty_button.setGeometry(QtCore.QRect(620, 130, 111, 61)) + self.safty_button.setStyleSheet("") + self.safty_button.setObjectName("safty_button") + self.tilt_label = QtWidgets.QLabel(self.centralwidget) + self.tilt_label.setGeometry(QtCore.QRect(1170, 220, 55, 16)) + self.tilt_label.setAlignment(QtCore.Qt.AlignCenter) + self.tilt_label.setObjectName("center_label_2") + self.tilt_square_lineEdit = QtWidgets.QLineEdit(self.centralwidget) + self.tilt_square_lineEdit.setGeometry(QtCore.QRect(1160, 260, 71, 22)) + self.tilt_square_lineEdit.setAlignment(QtCore.Qt.AlignCenter) + self.tilt_square_lineEdit.setObjectName("tilt_square_lineEdit") + self.tilt_circle_lineEdit = QtWidgets.QLineEdit(self.centralwidget) + self.tilt_circle_lineEdit.setGeometry(QtCore.QRect(1160, 320, 71, 22)) + self.tilt_circle_lineEdit.setAlignment(QtCore.Qt.AlignCenter) + self.tilt_circle_lineEdit.setObjectName("tilt_circle_lineEdit_2") + self.back_label.raise_() + self.take_off_button.raise_() + self.land_all_button.raise_() + self.disarm_all_button.raise_() + self.take_off_n_button.raise_() + self.land_n_button.raise_() + self.disarm_n_button.raise_() + self.take_off_spinBox.raise_() + self.land_spinBox.raise_() + self.disarm_spinBox.raise_() + self.control_console_label.raise_() + self.turn_on_led_button.raise_() + self.turn_off_led_button.raise_() + self.number_animation_copters.raise_() + # self.telemetry_but.raise_() + self.stop_swarm_but.raise_() + self.connect_button.raise_() + self.square_button.raise_() + self.circle_button.raise_() + self.radius_circle_DoubleSpinBox.raise_() + self.radius_square_spinBox.raise_() + self.center_label.raise_() + self.radius_label.raise_() + self.figure_label.raise_() + self.led_label.raise_() + self.center_square_lineEdit.raise_() + self.center_circle_lineEdit.raise_() + self.swarm_size_spinBox.raise_() + self.swarm_size_label.raise_() + self.send_command_label.raise_() + self.console_textEdit.raise_() + self.show_3d_scene_button.raise_() + self.upload_animation_button.raise_() + self.state_label.raise_() + self.statement_swarm_label.raise_() + self.start_animation_button.raise_() + self.safty_button.raise_() + self.tilt_label.raise_() + self.tilt_square_lineEdit.raise_() + self.tilt_circle_lineEdit.raise_() + MainWindow.setCentralWidget(self.centralwidget) + self.menubar = QtWidgets.QMenuBar(MainWindow) + self.menubar.setGeometry(QtCore.QRect(0, 0, 1280, 26)) + self.menubar.setObjectName("menubar") + MainWindow.setMenuBar(self.menubar) + self.statusbar = QtWidgets.QStatusBar(MainWindow) + self.statusbar.setObjectName("statusbar") + MainWindow.setStatusBar(self.statusbar) + + self.retranslateUi(MainWindow) + QtCore.QMetaObject.connectSlotsByName(MainWindow) + + def retranslateUi(self, MainWindow): + _translate = QtCore.QCoreApplication.translate + MainWindow.setWindowTitle(_translate("MainWindow", "Drone Swarm")) + self.take_off_button.setText(_translate("MainWindow", "Take off all")) + self.land_all_button.setText(_translate("MainWindow", "Land all")) + self.disarm_all_button.setText(_translate("MainWindow", "Disarm all")) + self.take_off_n_button.setText(_translate("MainWindow", "Take off n")) + self.land_n_button.setText(_translate("MainWindow", "Land n")) + self.disarm_n_button.setText(_translate("MainWindow", "Disarm n")) + self.control_console_label.setText(_translate("MainWindow", + "

Control console

")) + self.turn_on_led_button.setText(_translate("MainWindow", "Turn on Leds")) + self.turn_off_led_button.setText(_translate("MainWindow", "Turn off Leds")) + self.number_animation_copters.setText(_translate("MainWindow", "Number anim")) + # self.telemetry_but.setText(_translate("MainWindow", "Telemetry")) + self.stop_swarm_but.setText(_translate("MainWindow", "Stop swarm")) + self.connect_button.setText(_translate("MainWindow", "Connect")) + self.square_button.setText(_translate("MainWindow", "Square")) + self.circle_button.setText(_translate("MainWindow", "Circle")) + self.center_label.setText(_translate("MainWindow", + "

Center


")) + self.radius_label.setText(_translate("MainWindow", + "

Radius

")) + self.figure_label.setText(_translate("MainWindow", + "

Figure

")) + self.led_label.setText(_translate("MainWindow", + "

LED

")) + self.center_square_lineEdit.setText(_translate("MainWindow", "x,y,z")) + self.center_circle_lineEdit.setText(_translate("MainWindow", "x,y,z")) + self.swarm_size_label.setText(_translate("MainWindow", + "

Swarm Size

")) + self.send_command_label.setText(_translate("MainWindow", + "

Send command

")) + self.console_textEdit.setHtml(_translate("MainWindow", + "Swarm Console")) + + self.show_3d_scene_button.setText(_translate("MainWindow", "Show Telemetry")) + self.upload_animation_button.setText(_translate("MainWindow", "Upload animation")) + self.state_label.setText(_translate("MainWindow", + "

Disconnect

")) + self.statement_swarm_label.setText(_translate("MainWindow", "Swarm\'s state")) + self.start_animation_button.setText(_translate("MainWindow", "Start animation")) + self.back_label.setText( + _translate("MainWindow", "

")) + self.safty_button.setText(_translate("MainWindow", "Safty check")) + self.tilt_label.setText(_translate("MainWindow", + "

Tilt

")) + self.tilt_square_lineEdit.setText(_translate("MainWindow", "x,y")) + self.tilt_circle_lineEdit.setText(_translate("MainWindow", "x,y")) + + +class Ui_Dialog(object): + def setupUi(self, Dialog): + Dialog.setObjectName("Dialog") + Dialog.resize(550, 240) + Dialog.setMinimumSize(QtCore.QSize(550, 240)) + Dialog.setMaximumSize(QtCore.QSize(550, 240)) + self.copter_text = QtWidgets.QLabel(Dialog) + self.copter_text.setGeometry(QtCore.QRect(80, 20, 91, 20)) + font = QtGui.QFont() + font.setPointSize(11) + self.copter_text.setFont(font) + self.copter_text.setAlignment(QtCore.Qt.AlignCenter) + self.copter_text.setObjectName("copter_text") + # self.go_pushButton = QtWidgets.QPushButton(Dialog) + # self.go_pushButton.setGeometry(QtCore.QRect(340, 10, 93, 41)) + # self.go_pushButton.setObjectName("go_pushButton") + self.number_spinBox = QtWidgets.QSpinBox(Dialog) + self.number_spinBox.setGeometry(QtCore.QRect(230, 20, 42, 22)) + self.number_spinBox.setObjectName("number_spinBox") + self.x_1 = QtWidgets.QLabel(Dialog) + self.x_1.setGeometry(QtCore.QRect(10, 100, 21, 16)) + self.x_1.setAlignment(QtCore.Qt.AlignCenter) + self.x_1.setObjectName("x_1") + self.y_1 = QtWidgets.QLabel(Dialog) + self.y_1.setGeometry(QtCore.QRect(10, 150, 21, 16)) + self.y_1.setAlignment(QtCore.Qt.AlignCenter) + self.y_1.setObjectName("y_1") + self.z_1 = QtWidgets.QLabel(Dialog) + self.z_1.setGeometry(QtCore.QRect(10, 200, 21, 16)) + self.z_1.setAlignment(QtCore.Qt.AlignCenter) + self.z_1.setObjectName("z_1") + self.z_2 = QtWidgets.QLabel(Dialog) + self.z_2.setGeometry(QtCore.QRect(40, 200, 51, 16)) + self.z_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.z_2.setObjectName("z_2") + self.x_2 = QtWidgets.QLabel(Dialog) + self.x_2.setGeometry(QtCore.QRect(40, 100, 51, 16)) + self.x_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.x_2.setObjectName("x_2") + self.y_2 = QtWidgets.QLabel(Dialog) + self.y_2.setGeometry(QtCore.QRect(40, 150, 51, 16)) + self.y_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.y_2.setObjectName("y_2") + self.mode_2 = QtWidgets.QLabel(Dialog) + self.mode_2.setGeometry(QtCore.QRect(470, 130, 71, 16)) + self.mode_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.mode_2.setObjectName("mode_2") + self.armed_2 = QtWidgets.QLabel(Dialog) + self.armed_2.setGeometry(QtCore.QRect(470, 100, 71, 16)) + self.armed_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.armed_2.setObjectName("armed_2") + self.frame_id_1 = QtWidgets.QLabel(Dialog) + self.frame_id_1.setGeometry(QtCore.QRect(400, 170, 61, 16)) + self.frame_id_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.frame_id_1.setObjectName("frame_id_1") + self.armed_1 = QtWidgets.QLabel(Dialog) + self.armed_1.setGeometry(QtCore.QRect(400, 100, 51, 16)) + self.armed_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.armed_1.setObjectName("armed_1") + self.frame_id_2 = QtWidgets.QLabel(Dialog) + self.frame_id_2.setGeometry(QtCore.QRect(470, 170, 71, 16)) + self.frame_id_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.frame_id_2.setObjectName("frame_id_2") + self.mode_1 = QtWidgets.QLabel(Dialog) + self.mode_1.setGeometry(QtCore.QRect(400, 130, 51, 16)) + self.mode_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.mode_1.setObjectName("mode_1") + self.voltage_2 = QtWidgets.QLabel(Dialog) + self.voltage_2.setGeometry(QtCore.QRect(470, 200, 71, 16)) + self.voltage_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.voltage_2.setObjectName("voltage_2") + self.voltage_1 = QtWidgets.QLabel(Dialog) + self.voltage_1.setGeometry(QtCore.QRect(400, 200, 51, 16)) + self.voltage_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.voltage_1.setObjectName("voltage_1") + self.roll_2 = QtWidgets.QLabel(Dialog) + self.roll_2.setGeometry(QtCore.QRect(190, 200, 61, 16)) + self.roll_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.roll_2.setObjectName("roll_2") + self.yaw_1 = QtWidgets.QLabel(Dialog) + self.yaw_1.setGeometry(QtCore.QRect(140, 100, 31, 16)) + self.yaw_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.yaw_1.setObjectName("yaw_1") + self.pitch_1 = QtWidgets.QLabel(Dialog) + self.pitch_1.setGeometry(QtCore.QRect(140, 150, 41, 16)) + self.pitch_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.pitch_1.setObjectName("pitch_1") + self.roll_1 = QtWidgets.QLabel(Dialog) + self.roll_1.setGeometry(QtCore.QRect(140, 200, 31, 16)) + self.roll_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.roll_1.setObjectName("roll_1") + self.pitch_2 = QtWidgets.QLabel(Dialog) + self.pitch_2.setGeometry(QtCore.QRect(190, 150, 61, 16)) + self.pitch_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.pitch_2.setObjectName("pitch_2") + self.yaw2 = QtWidgets.QLabel(Dialog) + self.yaw2.setGeometry(QtCore.QRect(190, 100, 61, 16)) + self.yaw2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.yaw2.setObjectName("yaw2") + self.vy_1 = QtWidgets.QLabel(Dialog) + self.vy_1.setGeometry(QtCore.QRect(270, 150, 31, 16)) + self.vy_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.vy_1.setObjectName("vy_1") + self.vx_2 = QtWidgets.QLabel(Dialog) + self.vx_2.setGeometry(QtCore.QRect(320, 100, 61, 16)) + self.vx_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.vx_2.setObjectName("vx_2") + self.vz_1 = QtWidgets.QLabel(Dialog) + self.vz_1.setGeometry(QtCore.QRect(270, 200, 31, 16)) + self.vz_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.vz_1.setObjectName("vz_1") + self.vy_2 = QtWidgets.QLabel(Dialog) + self.vy_2.setGeometry(QtCore.QRect(320, 150, 61, 16)) + self.vy_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.vy_2.setObjectName("vy_2") + self.vz_2 = QtWidgets.QLabel(Dialog) + self.vz_2.setGeometry(QtCore.QRect(320, 200, 61, 16)) + self.vz_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.vz_2.setObjectName("vz_2") + self.vx_1 = QtWidgets.QLabel(Dialog) + self.vx_1.setGeometry(QtCore.QRect(270, 100, 31, 16)) + self.vx_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter) + self.vx_1.setObjectName("vx_1") + self.back = QtWidgets.QLabel(Dialog) + self.back.setGeometry(QtCore.QRect(0, 0, 551, 241)) + self.back.setObjectName("back") + self.back.raise_() + self.copter_text.raise_() + # self.go_pushButton.raise_() + self.number_spinBox.raise_() + self.x_1.raise_() + self.y_1.raise_() + self.z_1.raise_() + self.z_2.raise_() + self.x_2.raise_() + self.y_2.raise_() + self.mode_2.raise_() + self.armed_2.raise_() + self.frame_id_1.raise_() + self.armed_1.raise_() + self.frame_id_2.raise_() + self.mode_1.raise_() + self.voltage_2.raise_() + self.voltage_1.raise_() + self.roll_2.raise_() + self.yaw_1.raise_() + self.pitch_1.raise_() + self.roll_1.raise_() + self.pitch_2.raise_() + self.yaw2.raise_() + self.vy_1.raise_() + self.vx_2.raise_() + self.vz_1.raise_() + self.vy_2.raise_() + self.vz_2.raise_() + self.vx_1.raise_() + + self.retranslateUi(Dialog) + QtCore.QMetaObject.connectSlotsByName(Dialog) + + def retranslateUi(self, Dialog): + _translate = QtCore.QCoreApplication.translate + Dialog.setWindowTitle(_translate("Dialog", "Telemetry")) + self.copter_text.setText(_translate("Dialog", "Copter")) + self.x_1.setText( + _translate("Dialog", "

x=

")) + self.y_1.setText( + _translate("Dialog", "

y=

")) + self.z_1.setText( + _translate("Dialog", "

z=

")) + self.z_2.setText(_translate("Dialog", + "

0.000

")) + self.x_2.setText(_translate("Dialog", + "

0.000

")) + self.y_2.setText(_translate("Dialog", + "

0.000

")) + self.mode_2.setText(_translate("Dialog", + "

MANUALE

")) + self.armed_2.setText(_translate("Dialog", + "

False

")) + self.frame_id_1.setText(_translate("Dialog", + "

farme id=

")) + self.armed_1.setText(_translate("Dialog", + "

armed=

")) + self.frame_id_2.setText(_translate("Dialog", + "

aruco_map

")) + self.mode_1.setText(_translate("Dialog", + "

mode=

")) + self.voltage_2.setText(_translate("Dialog", + "

0.000

")) + self.voltage_1.setText(_translate("Dialog", + "

voltage=

")) + self.roll_2.setText(_translate("Dialog", + "

0.000

")) + self.yaw_1.setText( + _translate("Dialog", "

yaw=

")) + self.pitch_1.setText(_translate("Dialog", + "

pitch=

")) + self.roll_1.setText(_translate("Dialog", + "

roll=

")) + self.pitch_2.setText(_translate("Dialog", + "

0.000

")) + self.yaw2.setText(_translate("Dialog", + "

0.000

")) + self.vy_1.setText( + _translate("Dialog", "

vy=

")) + self.vx_2.setText(_translate("Dialog", + "

0.000

")) + self.vz_1.setText( + _translate("Dialog", "

vz=

")) + self.vy_2.setText(_translate("Dialog", + "

0.000

")) + self.vz_2.setText(_translate("Dialog", + "

0.000

")) + self.vx_1.setText( + _translate("Dialog", "

vx=

")) + self.back.setText( + _translate("Dialog", "

")) + + +ip = [1, 2] +# slids = 0 +sq_rad = 0 +sq_cet = 0 +cr_rad = 0 +cr_cet = 0 +copters = 1 +conn = [] +conn_2 = [] +file = '' +data = b'' +addr = [] +addr_2 = [] +coord = [] +# function for scanning wi-fi for searching drones + +'''def search_drones(): + global ip + for i in range(256): + + address = ' 192.168.1.' + str(i + 1) + response = os.system('ping -n 2 -w 10' + address) + + if response == 0: + ip.append('192.168.1.' + str(i + 1)) + print(ip) + return(ip)''' + +sock = socket.socket() + +sock.bind(('', 35001)) # назначается адресс и порт связи для отпраки команд на коптеры +sock.listen(1) + +sock_2 = socket.socket() +sock_2.bind(('', 35002)) # назначается адресс и порт связи для приема данных с коптеров +sock_2.listen(1) + + +class Dialog(QMainWindow, Ui_Dialog): + def __init__(self): + super().__init__() + self.setupUi(self) + + def up(self): + self.voltage_2.setText('1234567') + + +class Widget(QMainWindow, Ui_MainWindow): + def __init__(self): + super().__init__() + self.setupUi(self) + self.start_animation_button.clicked.connect(self.start_animation) + self.stop_swarm_but.clicked.connect(self.stop_swarm) + self.show_3d_scene_button.clicked.connect(self.show_3d) + self.disarm_all_button.clicked.connect(self.disarm) + self.square_button.clicked.connect(self.square) + self.circle_button.clicked.connect(self.circle) + self.turn_off_led_button.clicked.connect(self.off_leds) + self.turn_on_led_button.clicked.connect(self.on_leds) + self.upload_animation_button.clicked.connect(self.upload_animation) + self.land_all_button.clicked.connect(self.land) + self.take_off_button.clicked.connect(self.take_off) + self.number_animation_copters.clicked.connect(self.number_animation) + self.take_off_n_button.clicked.connect(self.take_off_n) + self.land_n_button.clicked.connect(self.land_n) + self.disarm_n_button.clicked.connect(self.disarm_n) + self.land_spinBox.valueChanged.connect(self.land_led) + self.disarm_spinBox.valueChanged.connect(self.disarm_led) + self.take_off_spinBox.valueChanged.connect(self.take_off_led) + self.safty_button.clicked.connect(self.safty) + self.connect_button.clicked.connect(self.connect) + self.swarm_size_spinBox.valueChanged.connect(self.number_copters) + + def stop_swarm(self): + # global coord + # n = 0 + # for s in coord: + # n += 1 + # self.sender(b'reach(' + bytes(str(s[0] + ',' + s[1] + ',' + s[2]), 'utf-8') + ')', n) + # print(b'reach(' + bytes(str(s[0] + ',' + s[1] + ',' + s[2]), 'utf-8') + ')', n) + pass + + def receiver(self): + global copters + # global data + global addr + while True: + try: + for k in range(copters): # len(ip) # для автопоиска коптеров + a = requests.get('http://' + addr[k][0] + ':8081/aruco_map') + tem = json.loads(a.text) + + coord[k] = str(tem['x']) + ',' + str(tem['y']) + ',' + str(tem['z']) + ',' + \ + str(tem['mode']) + ',' + str(tem['armed']) + ',' + str(tem['frame_id']) + str( + tem['voltage']) + ',' + \ + str(tem['yaw']) + ',' + str(tem['pitch']) + ',' + str(tem['roll']) + ',' + \ + str(tem['vx']) + ',' + str(tem['vy']) + ',' + str(tem['vz']) + + time.sleep(0.05) + + + + except Exception as e: + + # print(e) + pass + + def sender(self, com, num): + global conn + global conn_2 + global copters + # global ip # для автопоиска коптеров + print(com) + print(num) + try: + if num == 'all': + for i in range(copters): # len(ip) # для автопоиска коптеров + conn[i].send(com + b'$$') + print(com + b'$$') + elif int(num) > 0: + conn[int(num) - 1].send(com + b'$$') + except: + pass + + def message(self, mes): + pass + + def connect(self): + global copters + global conn + global conn_2 + global addr + global addr_2 + global coord + + addr_2 = [] + + conn = [] + conn_2 = [] + + self.message('Try connect') + for i in range(copters): # len(ip) # для автопоиска коптеров + conn.append(0) + addr.append(0) + coord.append('0') + + t_0 = Thread(target=self.connect_init) + t_0.daemon = True + t_0.start() + + def connect_init(self): + self.state_label.setText("

Wait

") + global copters + + # ip = search_drones() # для автопоиска коптеров + # global ip # для автопоиска коптеров + global conn + global addr + global conn_2 + global addr_2 + + for i in range(copters): # len(ip) # для автопоиска коптеров + conn[i], addr[i] = sock.accept() + print("connected_controllers:", addr[i]) + + self.disarm_spinBox.setMaximum(copters) + self.land_spinBox.setMaximum(copters) + self.take_off_spinBox.setMaximum(copters) + self.state_label.setText("

Connect

") + + t = Thread(target=self.receiver) + t.daemon = True + t.start() + + def number_animation(self): + global copters + col = [b'(255,0,0)', b'(173,255,47)', b'(255,215,0)', b'(255,0,255)', b'(0,0,255)', b'(205,92,92)', + b'(255,255,255)', b'(240,128,128)'] + for i in range(copters + 1): + self.sender(b'led.fill' + col[i], str(i)) + time.sleep(0.5) + self.sender(b'led.off()', str(i)) + for i in range(copters + 1): + self.sender(b'led.fill' + col[i], str(i)) + + time.sleep(0.5) + + def safty(self): + self.message('safty check') + self.sender(b'f.safety_check(False)', 'all') + + def take_off(self): + self.message('take off') + self.sender(b'f.takeoff(z=2, speed=2,speed_takeoff=2 , timeout=2)', 'all') + + def take_off_n(self): + self.message('take off n') + self.sender(b'f.takeoff()', str(self.take_off_spinBox.value())) + + def land(self): + self.message('land') + self.sender(b'f.land(preland=False)', 'all') + + def land_n(self): + self.message('land n') + self.sender(b'f.land(preland=False)', str(self.land_spinBox.value())) + + def disarm(self): + self.sender(b'f.arming(False)', 'all') + + def disarm_n(self): + self.sender(b'f.arming(False)', str(self.disarm_spinBox.value())) + + def off_leds(self): + self.sender(b'led.off()', 'all') + + def land_led(self): + self.sender(b'led.off()', 'all') + self.sender(b'led.fill(255,0,0)', self.land_spinBox.value()) + # print(1) + + def disarm_led(self): + self.sender(b'led.off()', 'all') + self.sender(b'led.fill(0,255,0)', self.disarm_spinBox.value()) + + def take_off_led(self): + self.sender(b'led.off()', 'all') + self.sender(b'led.fill(0,0,255)', self.take_off_spinBox.value()) + + def on_leds(self): + self.sender(b'led.fill(0, 0, 255)', 'all') + + def square(self): + # try: + # x = int(self.lineEdit.text().split(',')[0]) + # y = int(self.lineEdit.text().split(',')[1]) + # z = int(self.lineEdit.text().split(',')[2]) + # r = int(self.lineEdit_3.text()) + # + # self.sender(bytes('f.reach(' + str(x) + ',' + str(y) + ',' + str(z) + ')', 'utf-8'), 0) + # self.sender(bytes('f.reach(' + str(x + r) + ',' + str(y + r) + ',' + str(z) + ')', 'utf-8'), 1) + # self.sender(bytes('f.reach(' + str(x + r) + ',' + str(y - r) + ',' + str(z) + ')', 'utf-8'), 2) + # self.sender(bytes('f.reach(' + str(x - r) + ',' + str(y + r) + ',' + str(z) + ')', 'utf-8'), 3) + # self.sender(bytes('f.reach(' + str(x - r) + ',' + str(y - r) + ',' + str(z) + ')', 'utf-8'), 4) + # + # except: + # + # self.message('input normal x,y,z or radius') + pass + + def number_copters(self): + global copters + copters = self.swarm_size_spinBox.value() + + def circle(self): + # self.message('circle') + # + # self.sender(b'f.circle(' + bytes(self.center_circle_lineEdit.text(), 'utf-8') + b',' + bytes( + # str(int(self.radius_circle_DoubleSpinBox.text()) / 10), 'utf-8') + b')', + # 'all') # ToDO made function for all copters not for 1 + pass + + def upload_animation(self): + global file + file = easygui.fileopenbox(filetypes=["*.avi"]) # вызов окна проводника для выбора файла + + def start_animation(self): + t_4 = Thread(target=self.start_animation_1) + t_4.daemon = True + t_4.start() + + + def start_animation_1(self): + global file + f = open(file, 'r') + prog = f.read() + self.sender(b'programm', 'all') + time.sleep(0.5) + self.sender(bytes(prog, 'utf-8'), 'all') + + def show_3d(self): + + global data + global copters + global coord + fig = plt.figure() + ax = fig.add_subplot(111, projection='3d') + updateDialog = Dialog() + updateDialog.show() + + while True: + s = str(self.console_textEdit.toPlainText()) + print(s) + if '>' in s: + + print(s[:-2], s[s.index('>') - 1]) + self.console_textEdit.setText('') + if s[s.index('>') - 1] == '0': + self.sender(bytes(str(s[:s.index('>') - 1]), 'utf-8'), 'all') + print(s[:s.index('>') - 1], 'all') + else: + self.sender(bytes(str(s[:s.index('>') - 1]), 'utf-8'), str(s[s.index('>') - 1])) + print('sender', s[s.index('>') - 1]) + try: + + i = updateDialog.number_spinBox.value() + if i > 0: + i -= 1 + + coord_drone = [] + coord_drone = coord[i].split(',') + + updateDialog.z_2.setText("

" + coord_drone[ + 0] + "

") + updateDialog.x_2.setText("

" + coord_drone[ + 1] + "

") + updateDialog.y_2.setText("

" + coord_drone[ + 2] + "

") + updateDialog.mode_2.setText("

" + coord_drone[ + 3] + "

") + updateDialog.armed_2.setText("

" + coord_drone[ + 4] + "

") + updateDialog.frame_id_2.setText("

" + coord_drone[ + 5] + "

") + updateDialog.voltage_2.setText("

" + coord_drone[ + 6] + "

") + updateDialog.yaw2.setText("

" + coord_drone[ + 7] + "

") + updateDialog.pitch_2.setText("

" + coord_drone[ + 8] + "

") + updateDialog.roll_2.setText("

" + coord_drone[ + 9] + "

") + updateDialog.vx_2.setText("

" + coord_drone[ + 10] + "

") + updateDialog.vy_2.setText("

" + coord_drone[ + 11] + "

") + updateDialog.vz_2.setText("

" + coord_drone[ + 12] + "

") + except Exception as e: + # print(e) + pass + try: + + n = 0 + # set size of scene + + ax.set_xlim(0, 1.5) + ax.set_ylim(0, 2.2) + ax.set_zlim(0, 2) + + ax.set_xlabel('x') + ax.set_ylabel('y') + ax.set_zlabel('z') + + plt.pause(0.01) + + ax.clear() + try: + for i in coord: + co = (0, 0, 0) + n += 1 + + if self.land_spinBox.value() == n: + co = (1, 0, 0) + if self.take_off_spinBox.value() == n: + co = (1, 0, 0) + if self.disarm_spinBox.value() == n: + co = (1, 0, 0) + + ax.scatter(float(i.split(',')[0]), float(i.split(',')[1]), float(i.split(',')[2]), s=50, c=co, + marker='.') + ax.text(float(i.split(',')[0]), float(i.split(',')[1]), float(i.split(',')[2]), str(n), size=10, + zorder=1, color=(0, 0, 0)) + + except Exception as e: + print(e) + + ax.set_xlim(0, 1.5) + ax.set_ylim(0, 2.2) + ax.set_zlim(0, 2) + + ax.set_xlabel('x') + ax.set_ylabel('y') + ax.set_zlabel('z') + + plt.draw() + except KeyboardInterrupt: + print('stop') + break + + plt.show() + + +if __name__ == '__main__': + app = QApplication([]) + w = Widget() + w.show() + + app.exec() + +"""Code by Alexandr Osherov 9B class phone- +79251834732 email - allexandr2001@mail.ru"""