From 5745daaf67954bfdf75df48c1aace1bac818515e Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Wed, 16 Oct 2019 17:10:05 +0300
Subject: [PATCH] Server: Add send calibration files menu function

---
 Server/server_gui.py |  6 +++++-
 Server/server_gui.ui |  8 +++++++-
 Server/server_qt.py  | 19 ++++++++++++++++++-
 3 files changed, 30 insertions(+), 3 deletions(-)

diff --git a/Server/server_gui.py b/Server/server_gui.py
index a64c38b..a26363c 100644
--- a/Server/server_gui.py
+++ b/Server/server_gui.py
@@ -222,12 +222,15 @@ class Ui_MainWindow(object):
         self.actionSend_any_command.setObjectName("actionSend_any_command")
         self.action_stop_music = QtWidgets.QAction(MainWindow)
         self.action_stop_music.setObjectName("action_stop_music")
+        self.action_send_calibrations = QtWidgets.QAction(MainWindow)
+        self.action_send_calibrations.setObjectName("action_send_calibrations")
         self.menuDeveloper_mode.addAction(self.action_send_any_file)
         self.menuDeveloper_mode.addAction(self.actionSend_any_command)
         self.menuOptions.addAction(self.action_send_animations)
         self.menuOptions.addAction(self.action_send_configurations)
-        self.menuOptions.addAction(self.action_send_Aruco_map)
         self.menuOptions.addAction(self.action_send_launch_file)
+        self.menuOptions.addAction(self.action_send_Aruco_map)
+        self.menuOptions.addAction(self.action_send_calibrations)
         self.menuOptions.addSeparator()
         self.menuOptions.addAction(self.menuDeveloper_mode.menuAction())
         self.menuOptions.addSeparator()
@@ -302,3 +305,4 @@ class Ui_MainWindow(object):
         self.action_send_any_file.setText(_translate("MainWindow", "Send any file"))
         self.actionSend_any_command.setText(_translate("MainWindow", "Send any command"))
         self.action_stop_music.setText(_translate("MainWindow", "Stop music"))
+        self.action_send_calibrations.setText(_translate("MainWindow", "Send camera calibrations"))
diff --git a/Server/server_gui.ui b/Server/server_gui.ui
index b734dd4..c9e1fc6 100644
--- a/Server/server_gui.ui
+++ b/Server/server_gui.ui
@@ -344,8 +344,9 @@
     </widget>
     <addaction name="action_send_animations"/>
     <addaction name="action_send_configurations"/>
-    <addaction name="action_send_Aruco_map"/>
     <addaction name="action_send_launch_file"/>
+    <addaction name="action_send_Aruco_map"/>
+    <addaction name="action_send_calibrations"/>
     <addaction name="separator"/>
     <addaction name="menuDeveloper_mode"/>
     <addaction name="separator"/>
@@ -491,6 +492,11 @@
     <string>Stop music</string>
    </property>
   </action>
+  <action name="action_send_calibrations">
+   <property name="text">
+    <string>Send camera calibrations</string>
+   </property>
+  </action>
  </widget>
  <tabstops>
   <tabstop>start_delay_spin</tabstop>
diff --git a/Server/server_qt.py b/Server/server_qt.py
index 328d843..aabcdf8 100644
--- a/Server/server_qt.py
+++ b/Server/server_qt.py
@@ -131,6 +131,7 @@ class MainWindow(QtWidgets.QMainWindow):
         self.ui.calibrate_level.clicked.connect(self.calibrate_level_selected)
 
         self.ui.action_send_animations.triggered.connect(self.send_animations)
+        self.ui.action_send_calibrations.triggered.connect(self.send_calibrations)
         self.ui.action_send_configurations.triggered.connect(self.send_configurations)
         self.ui.action_send_Aruco_map.triggered.connect(self.send_aruco)
         self.ui.action_send_launch_file.triggered.connect(self.send_launch)
@@ -308,7 +309,7 @@ class MainWindow(QtWidgets.QMainWindow):
             print("Selected directory:", path)
             files = [file for file in glob.glob(path + '/*.csv')]
             names = [os.path.basename(file).split(".")[0] for file in files]
-            print(files)
+            # print(files)
             for file, name in zip(files, names):
                 for copter in self.model.user_selected():
                     if name == copter.copter_id:
@@ -316,6 +317,22 @@ class MainWindow(QtWidgets.QMainWindow):
                 else:
                     print("Filename has no matches with any drone selected")
 
+    @pyqtSlot()
+    def send_calibrations(self):
+        path = str(QFileDialog.getExistingDirectory(self, "Select directory with calibration files"))
+
+        if path:
+            print("Selected directory:", path)
+            files = [file for file in glob.glob(path + '/*.yaml')]
+            names = [os.path.basename(file).split(".")[0] for file in files]
+            # print(files)
+            for file, name in zip(files, names):
+                for copter in self.model.user_selected():
+                    if name == copter.copter_id:
+                        copter.client.send_file(file, "/home/pi/catkin_ws/src/clever/clever/camera_info/calibration.yaml")
+                else:
+                    print("Filename has no matches with any drone selected")
+
     @pyqtSlot()
     def send_configurations(self):
         path = QFileDialog.getOpenFileName(self, "Select configuration file", filter="Configs (*.ini *.txt .cfg)")[0]