Merge branch 'master' into qt-gui-update

Server/copter_table_models.py

@@ -101,6 +101,95 @@ def check_start_pos_status(item):
 def check_time_delta(item):
     return abs(item) < ModelChecks.time_delta_max
 
+battery_min = config.getfloat('CHECKS', 'battery_percentage_min') 
+start_pos_delta_max = config.getfloat('CHECKS', 'start_pos_delta_max')
+time_delta_max = config.getfloat('CHECKS', 'time_delta_max')   
+
+class ModelChecks:
+    checks_dict = {}
+    takeoff_checklist = (3, 4, 6, 7, 8)
+
+    @classmethod
+    def col_check(cls, col):
+        def inner(f):
+            def wrapper(item):
+                if item is not None:
+                    return f(item)
+                return None
+
+            cls.checks_dict[col] = wrapper
+            return wrapper
+
+        return inner
+
+    @classmethod
+    def all_checks(cls, copter_item):
+        for col, check in cls.checks_dict.items():
+            if not check(copter_item[col]):
+                return False
+        return True
+
+    @classmethod
+    def takeoff_checks(cls, copter_item):
+        for col in cls.takeoff_checklist:
+            if not cls.checks_dict[col](copter_item[col]):
+                return False
+        return True
+
+
+@ModelChecks.col_check(1)
+def check_ver(item):
+    return True  # TODO git version!
+
+
+@ModelChecks.col_check(2)
+def check_anim(item):
+    return str(item) != 'No animation'
+
+
+@ModelChecks.col_check(3)
+def check_bat(item):
+    if item == "NO_INFO":
+        return False
+    return item[1]*100 > battery_min
+
+
+@ModelChecks.col_check(4)
+def check_sys_status(item):
+    return item == "STANDBY"
+
+
+@ModelChecks.col_check(5)
+def check_cal_status(item):
+    return item == "OK"
+
+
+@ModelChecks.col_check(6)
+def check_mode(item):
+    return (item != "NO_FCU") and not ("CMODE" in item)
+
+
+@ModelChecks.col_check(7)
+def check_selfcheck(item):
+    return item == "OK"
+
+
+@ModelChecks.col_check(8)
+def check_pos_status(item):
+    if item == 'NO_POS':
+        return False
+    return not math.isnan(item[0])
+
+
+@ModelChecks.col_check(9)
+def check_start_pos_status(item):
+    return item != 'NO_POS'
+
+
+@ModelChecks.col_check(10)
+def check_time_delta(item):
+    return abs(item) < time_delta_max
+
 
 class CopterData:
     class_basic_attrs = indexed.IndexedOrderedDict([('copter_id', None), ('git_ver', None), ('anim_id', None),

Server/server.py

@@ -174,6 +174,7 @@ class Server(messaging.Singleton):
 
         if not any([client_addr == addr[0] for client_addr in Client.clients.keys()]):
             client = Client(addr[0])
+            client.buffer_size = self.BUFFER_SIZE
             logging.info("New client")
         else:
             client = Client.clients[addr[0]]
@@ -332,7 +333,7 @@ class Client(messaging.ConnectionManager):
     @requires_connect
     def _send(self, data):
         super()._send(data)
-        logging.debug("Queued data to send: {}".format(data))
+        logging.debug("Queued data to send (first 256 bytes): {}".format(data[:256]))
 
     def send_config_options(self, *options: ConfigOption, reload_config=True):
         logging.info("Sending config options: {} to {}".format(options, self.addr))

Server/server_gui.py

@@ -2,7 +2,7 @@
 
 # Form implementation generated from reading ui file 'server_gui.ui'
 #
-# Created by: PyQt5 UI code generator 5.13.1
+# Created by: PyQt5 UI code generator 5.13.0
 #
 # WARNING! All changes made in this file will be lost!
 
@@ -44,9 +44,17 @@ class Ui_MainWindow(object):
         self.verticalLayout.setSizeConstraint(QtWidgets.QLayout.SetMaximumSize)
         self.verticalLayout.setObjectName("verticalLayout")
         self.formLayout = QtWidgets.QFormLayout()
-        self.formLayout.setLabelAlignment(QtCore.Qt.AlignCenter)
-        self.formLayout.setFormAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout.setLabelAlignment(QtCore.Qt.AlignHCenter|QtCore.Qt.AlignTop)
+        self.formLayout.setFormAlignment(QtCore.Qt.AlignHCenter|QtCore.Qt.AlignTop)
         self.formLayout.setObjectName("formLayout")
+        self.start_text = QtWidgets.QLabel(self.centralwidget)
+        self.start_text.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.start_text.setAlignment(QtCore.Qt.AlignCenter)
+        self.start_text.setObjectName("start_text")
+        self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.start_text)
+        self.start_delay_spin = QtWidgets.QSpinBox(self.centralwidget)
+        self.start_delay_spin.setObjectName("start_delay_spin")
+        self.formLayout.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.start_delay_spin)
         self.music_text = QtWidgets.QLabel(self.centralwidget)
         self.music_text.setLayoutDirection(QtCore.Qt.RightToLeft)
         self.music_text.setObjectName("music_text")
@@ -56,6 +64,10 @@ class Ui_MainWindow(object):
         self.music_delay_spin.setMaximum(1000.0)
         self.music_delay_spin.setObjectName("music_delay_spin")
         self.formLayout.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.music_delay_spin)
+        self.music_play_text = QtWidgets.QLabel(self.centralwidget)
+        self.music_play_text.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.music_play_text.setObjectName("music_play_text")
+        self.formLayout.setWidget(4, QtWidgets.QFormLayout.LabelRole, self.music_play_text)
         self.music_checkbox = QtWidgets.QCheckBox(self.centralwidget)
         sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Fixed)
         sizePolicy.setHorizontalStretch(0)
@@ -70,18 +82,6 @@ class Ui_MainWindow(object):
         self.music_checkbox.setChecked(False)
         self.music_checkbox.setObjectName("music_checkbox")
         self.formLayout.setWidget(4, QtWidgets.QFormLayout.FieldRole, self.music_checkbox)
-        self.music_play_text = QtWidgets.QLabel(self.centralwidget)
-        self.music_play_text.setLayoutDirection(QtCore.Qt.RightToLeft)
-        self.music_play_text.setObjectName("music_play_text")
-        self.formLayout.setWidget(4, QtWidgets.QFormLayout.LabelRole, self.music_play_text)
-        self.start_delay_spin = QtWidgets.QSpinBox(self.centralwidget)
-        self.start_delay_spin.setObjectName("start_delay_spin")
-        self.formLayout.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.start_delay_spin)
-        self.start_text = QtWidgets.QLabel(self.centralwidget)
-        self.start_text.setLayoutDirection(QtCore.Qt.RightToLeft)
-        self.start_text.setAlignment(QtCore.Qt.AlignCenter)
-        self.start_text.setObjectName("start_text")
-        self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.start_text)
         self.verticalLayout.addLayout(self.formLayout)
         self.line = QtWidgets.QFrame(self.centralwidget)
         self.line.setFrameShape(QtWidgets.QFrame.HLine)
@@ -89,42 +89,71 @@ class Ui_MainWindow(object):
         self.line.setObjectName("line")
         self.verticalLayout.addWidget(self.line)
         self.formLayout_2 = QtWidgets.QFormLayout()
-        self.formLayout_2.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_2.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_2.setFormAlignment(QtCore.Qt.AlignCenter)
         self.formLayout_2.setObjectName("formLayout_2")
-        self.stop_button = QtWidgets.QPushButton(self.centralwidget)
-        self.stop_button.setObjectName("stop_button")
-        self.formLayout_2.setWidget(10, QtWidgets.QFormLayout.FieldRole, self.stop_button)
-        self.pause_button = QtWidgets.QPushButton(self.centralwidget)
-        self.pause_button.setObjectName("pause_button")
-        self.formLayout_2.setWidget(9, QtWidgets.QFormLayout.FieldRole, self.pause_button)
+        self.check_button = QtWidgets.QPushButton(self.centralwidget)
+        self.check_button.setEnabled(True)
+        self.check_button.setObjectName("check_button")
+        self.formLayout_2.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.check_button)
         self.start_button = QtWidgets.QPushButton(self.centralwidget)
         self.start_button.setEnabled(True)
         self.start_button.setFlat(False)
         self.start_button.setObjectName("start_button")
-        self.formLayout_2.setWidget(8, QtWidgets.QFormLayout.FieldRole, self.start_button)
-        self.check_button = QtWidgets.QPushButton(self.centralwidget)
-        self.check_button.setEnabled(True)
-        self.check_button.setObjectName("check_button")
-        self.formLayout_2.setWidget(7, QtWidgets.QFormLayout.FieldRole, self.check_button)
+        self.formLayout_2.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.start_button)
+        self.pause_button = QtWidgets.QPushButton(self.centralwidget)
+        self.pause_button.setObjectName("pause_button")
+        self.formLayout_2.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.pause_button)
         self.verticalLayout.addLayout(self.formLayout_2)
+        self.line_5 = QtWidgets.QFrame(self.centralwidget)
+        self.line_5.setFrameShape(QtWidgets.QFrame.HLine)
+        self.line_5.setFrameShadow(QtWidgets.QFrame.Sunken)
+        self.line_5.setObjectName("line_5")
+        self.verticalLayout.addWidget(self.line_5)
+        self.formLayout_5 = QtWidgets.QFormLayout()
+        self.formLayout_5.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_5.setFormAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_5.setContentsMargins(-1, 0, -1, -1)
+        self.formLayout_5.setObjectName("formLayout_5")
+        self.land_selected_button = QtWidgets.QPushButton(self.centralwidget)
+        self.land_selected_button.setObjectName("land_selected_button")
+        self.formLayout_5.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.land_selected_button)
+        self.land_all_button = QtWidgets.QPushButton(self.centralwidget)
+        self.land_all_button.setObjectName("land_all_button")
+        self.formLayout_5.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.land_all_button)
+        self.verticalLayout.addLayout(self.formLayout_5)
+        self.line_6 = QtWidgets.QFrame(self.centralwidget)
+        self.line_6.setFrameShape(QtWidgets.QFrame.HLine)
+        self.line_6.setFrameShadow(QtWidgets.QFrame.Sunken)
+        self.line_6.setObjectName("line_6")
+        self.verticalLayout.addWidget(self.line_6)
+        self.formLayout_7 = QtWidgets.QFormLayout()
+        self.formLayout_7.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_7.setContentsMargins(-1, 0, -1, -1)
+        self.formLayout_7.setObjectName("formLayout_7")
+        self.visual_land_button = QtWidgets.QPushButton(self.centralwidget)
+        self.visual_land_button.setObjectName("visual_land_button")
+        self.formLayout_7.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.visual_land_button)
+        self.emergency_land_button = QtWidgets.QPushButton(self.centralwidget)
+        self.emergency_land_button.setObjectName("emergency_land_button")
+        self.formLayout_7.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.emergency_land_button)
+        self.verticalLayout.addLayout(self.formLayout_7)
         self.line_2 = QtWidgets.QFrame(self.centralwidget)
         self.line_2.setFrameShape(QtWidgets.QFrame.HLine)
         self.line_2.setFrameShadow(QtWidgets.QFrame.Sunken)
         self.line_2.setObjectName("line_2")
         self.verticalLayout.addWidget(self.line_2)
         self.formLayout_3 = QtWidgets.QFormLayout()
-        self.formLayout_3.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_3.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_3.setFormAlignment(QtCore.Qt.AlignCenter)
         self.formLayout_3.setVerticalSpacing(6)
         self.formLayout_3.setObjectName("formLayout_3")
         self.disarm_all_button = QtWidgets.QPushButton(self.centralwidget)
         self.disarm_all_button.setObjectName("disarm_all_button")
         self.formLayout_3.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.disarm_all_button)
-        self.disarm_button = QtWidgets.QPushButton(self.centralwidget)
-        self.disarm_button.setObjectName("disarm_button")
-        self.formLayout_3.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.disarm_button)
-        self.emergency_button = QtWidgets.QPushButton(self.centralwidget)
-        self.emergency_button.setObjectName("emergency_button")
-        self.formLayout_3.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.emergency_button)
+        self.disarm_selected_button = QtWidgets.QPushButton(self.centralwidget)
+        self.disarm_selected_button.setObjectName("disarm_selected_button")
+        self.formLayout_3.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.disarm_selected_button)
         self.verticalLayout.addLayout(self.formLayout_3)
         self.line_3 = QtWidgets.QFrame(self.centralwidget)
         self.line_3.setFrameShape(QtWidgets.QFrame.HLine)
@@ -132,11 +161,9 @@ class Ui_MainWindow(object):
         self.line_3.setObjectName("line_3")
         self.verticalLayout.addWidget(self.line_3)
         self.formLayout_4 = QtWidgets.QFormLayout()
-        self.formLayout_4.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_4.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_4.setFormAlignment(QtCore.Qt.AlignCenter)
         self.formLayout_4.setObjectName("formLayout_4")
-        self.land_button = QtWidgets.QPushButton(self.centralwidget)
-        self.land_button.setObjectName("land_button")
-        self.formLayout_4.setWidget(8, QtWidgets.QFormLayout.FieldRole, self.land_button)
         self.flip_button = QtWidgets.QPushButton(self.centralwidget)
         self.flip_button.setObjectName("flip_button")
         self.formLayout_4.setWidget(7, QtWidgets.QFormLayout.FieldRole, self.flip_button)
@@ -170,7 +197,8 @@ class Ui_MainWindow(object):
         self.line_4.setObjectName("line_4")
         self.verticalLayout.addWidget(self.line_4)
         self.formLayout_6 = QtWidgets.QFormLayout()
-        self.formLayout_6.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
+        self.formLayout_6.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout_6.setFormAlignment(QtCore.Qt.AlignBottom|QtCore.Qt.AlignHCenter)
         self.formLayout_6.setObjectName("formLayout_6")
         self.reboot_fcu = QtWidgets.QPushButton(self.centralwidget)
         self.reboot_fcu.setObjectName("reboot_fcu")
@@ -187,7 +215,7 @@ class Ui_MainWindow(object):
         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, 1360, 25))
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1360, 22))
         self.menubar.setObjectName("menubar")
         self.menuOptions = QtWidgets.QMenu(self.menubar)
         self.menuOptions.setObjectName("menuOptions")
@@ -292,19 +320,20 @@ class Ui_MainWindow(object):
     def retranslateUi(self, MainWindow):
         _translate = QtCore.QCoreApplication.translate
         MainWindow.setWindowTitle(_translate("MainWindow", "Clever Drone Show"))
+        self.start_text.setText(_translate("MainWindow", "  Start after"))
+        self.start_delay_spin.setSuffix(_translate("MainWindow", " s"))
         self.music_text.setText(_translate("MainWindow", "  Music after"))
         self.music_delay_spin.setSuffix(_translate("MainWindow", " s"))
         self.music_play_text.setText(_translate("MainWindow", "  Play music"))
-        self.start_delay_spin.setSuffix(_translate("MainWindow", " s"))
-        self.start_text.setText(_translate("MainWindow", "  Start after"))
-        self.stop_button.setText(_translate("MainWindow", "Stop and land all"))
-        self.pause_button.setText(_translate("MainWindow", "Pause"))
-        self.start_button.setText(_translate("MainWindow", "Start animation"))
         self.check_button.setText(_translate("MainWindow", "Preflight check"))
+        self.start_button.setText(_translate("MainWindow", "Start animation"))
+        self.pause_button.setText(_translate("MainWindow", "Pause"))
+        self.land_selected_button.setText(_translate("MainWindow", "Land selected"))
+        self.land_all_button.setText(_translate("MainWindow", "Land ALL"))
+        self.visual_land_button.setText(_translate("MainWindow", "Visual land"))
+        self.emergency_land_button.setText(_translate("MainWindow", "Emergency land"))
         self.disarm_all_button.setText(_translate("MainWindow", "Disarm ALL"))
-        self.disarm_button.setText(_translate("MainWindow", "Disarm selected"))
-        self.emergency_button.setText(_translate("MainWindow", "Emergency land"))
-        self.land_button.setText(_translate("MainWindow", "Land"))
+        self.disarm_selected_button.setText(_translate("MainWindow", "Disarm selected"))
         self.flip_button.setText(_translate("MainWindow", "Flip"))
         self.takeoff_button.setText(_translate("MainWindow", "Takeoff"))
         self.leds_button.setText(_translate("MainWindow", "Test leds"))

Server/server_gui.ui

@@ -71,11 +71,31 @@
         <item>
          <layout class="QFormLayout" name="formLayout">
           <property name="labelAlignment">
-           <set>Qt::AlignCenter</set>
+           <set>Qt::AlignHCenter|Qt::AlignTop</set>
           </property>
           <property name="formAlignment">
-           <set>Qt::AlignCenter</set>
+           <set>Qt::AlignHCenter|Qt::AlignTop</set>
           </property>
+          <item row="2" column="0">
+           <widget class="QLabel" name="start_text">
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
+            </property>
+            <property name="text">
+             <string>  Start after</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QSpinBox" name="start_delay_spin">
+            <property name="suffix">
+             <string> s</string>
+            </property>
+           </widget>
+          </item>
           <item row="3" column="0">
            <widget class="QLabel" name="music_text">
             <property name="layoutDirection">
@@ -99,6 +119,16 @@
             </property>
            </widget>
           </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="music_play_text">
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
+            </property>
+            <property name="text">
+             <string>  Play music</string>
+            </property>
+           </widget>
+          </item>
           <item row="4" column="1">
            <widget class="QCheckBox" name="music_checkbox">
             <property name="sizePolicy">
@@ -127,36 +157,6 @@
             </property>
            </widget>
           </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="music_play_text">
-            <property name="layoutDirection">
-             <enum>Qt::RightToLeft</enum>
-            </property>
-            <property name="text">
-             <string>  Play music</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QSpinBox" name="start_delay_spin">
-            <property name="suffix">
-             <string> s</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="start_text">
-            <property name="layoutDirection">
-             <enum>Qt::RightToLeft</enum>
-            </property>
-            <property name="text">
-             <string>  Start after</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
          </layout>
         </item>
         <item>
@@ -168,24 +168,23 @@
         </item>
         <item>
          <layout class="QFormLayout" name="formLayout_2">
-          <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
           </property>
-          <item row="10" column="1">
-           <widget class="QPushButton" name="stop_button">
+          <property name="formAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <item row="0" column="1">
+           <widget class="QPushButton" name="check_button">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
             <property name="text">
-             <string>Stop and land all</string>
+             <string>Preflight check</string>
             </property>
            </widget>
           </item>
-          <item row="9" column="1">
-           <widget class="QPushButton" name="pause_button">
-            <property name="text">
-             <string>Pause</string>
-            </property>
-           </widget>
-          </item>
-          <item row="8" column="1">
+          <item row="1" column="1">
            <widget class="QPushButton" name="start_button">
             <property name="enabled">
              <bool>true</bool>
@@ -198,13 +197,75 @@
             </property>
            </widget>
           </item>
-          <item row="7" column="1">
-           <widget class="QPushButton" name="check_button">
-            <property name="enabled">
-             <bool>true</bool>
-            </property>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="pause_button">
             <property name="text">
-             <string>Preflight check</string>
+             <string>Pause</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="Line" name="line_5">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QFormLayout" name="formLayout_5">
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="formAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <item row="1" column="1">
+           <widget class="QPushButton" name="land_selected_button">
+            <property name="text">
+             <string>Land selected</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="land_all_button">
+            <property name="text">
+             <string>Land ALL</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="Line" name="line_6">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QFormLayout" name="formLayout_7">
+          <property name="formAlignment">
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <item row="1" column="1">
+           <widget class="QPushButton" name="visual_land_button">
+            <property name="text">
+             <string>Visual land</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QPushButton" name="emergency_land_button">
+            <property name="text">
+             <string>Emergency land</string>
             </property>
            </widget>
           </item>
@@ -219,8 +280,11 @@
         </item>
         <item>
          <layout class="QFormLayout" name="formLayout_3">
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
           <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           <set>Qt::AlignCenter</set>
           </property>
           <property name="verticalSpacing">
            <number>6</number>
@@ -233,19 +297,12 @@
            </widget>
           </item>
           <item row="2" column="1">
-           <widget class="QPushButton" name="disarm_button">
+           <widget class="QPushButton" name="disarm_selected_button">
             <property name="text">
              <string>Disarm selected</string>
             </property>
            </widget>
           </item>
-          <item row="0" column="1">
-           <widget class="QPushButton" name="emergency_button">
-            <property name="text">
-             <string>Emergency land</string>
-            </property>
-           </widget>
-          </item>
          </layout>
         </item>
         <item>
@@ -257,16 +314,12 @@
         </item>
         <item>
          <layout class="QFormLayout" name="formLayout_4">
-          <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="formAlignment">
+           <set>Qt::AlignCenter</set>
           </property>
-          <item row="8" column="1">
-           <widget class="QPushButton" name="land_button">
-            <property name="text">
-             <string>Land</string>
-            </property>
-           </widget>
-          </item>
           <item row="7" column="1">
            <widget class="QPushButton" name="flip_button">
             <property name="text">
@@ -341,8 +394,11 @@
         </item>
         <item>
          <layout class="QFormLayout" name="formLayout_6">
+          <property name="labelAlignment">
+           <set>Qt::AlignCenter</set>
+          </property>
           <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           <set>Qt::AlignBottom|Qt::AlignHCenter</set>
           </property>
           <item row="0" column="1">
            <widget class="QPushButton" name="reboot_fcu">
@@ -379,7 +435,7 @@
      <x>0</x>
      <y>0</y>
      <width>1360</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuOptions">

Server/server_qt.py

@@ -98,7 +98,6 @@ class MainWindow(QtWidgets.QMainWindow):
         self.ui.check_button.clicked.connect(self.selfcheck_selected)
         self.ui.start_button.clicked.connect(self.send_start_time_selected)
         self.ui.pause_button.clicked.connect(self.pause_resume_selected)
-        self.ui.stop_button.clicked.connect(self.land_all)
 
         self.ui.emergency_button.clicked.connect(self.emergency)
         self.ui.disarm_button.clicked.connect(partial(self.send_to_selected, "disarm"))
@@ -273,6 +272,12 @@ class MainWindow(QtWidgets.QMainWindow):
             self.send_to_selected("resume", {"time": server.time_now() + time_gap})
             self.ui.pause_button.setText('Pause')
 
+
+    @pyqtSlot()
+    def land_selected(self):
+        for copter in self.model.user_selected():
+            copter.client.send_message("land")
+
     @pyqtSlot()
     def land_all(self):
         Client.broadcast_message("land")
@@ -281,6 +286,12 @@ class MainWindow(QtWidgets.QMainWindow):
     def disarm_all(self):
         Client.broadcast_message("disarm")
 
+
+    @pyqtSlot()
+    def test_leds_selected(self):
+        for copter in self.model.user_selected():
+            copter.client.send_message("led_test")
+
     @pyqtSlot()
     @confirmation_required("This operation will takeoff copters immediately. Proceed?")
     def takeoff_selected(self):

Server/visual_land.py

@@ -1,36 +1,20 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'emergency.ui'
+# Form implementation generated from reading ui file 'visual_land.ui'
 #
-# Created by: PyQt5 UI code generator 5.11.3
+# Created by: PyQt5 UI code generator 5.13.0
 #
 # WARNING! All changes made in this file will be lost!
 
+
 from PyQt5 import QtCore, QtGui, QtWidgets
-import os
-import glob
 
-from PyQt5 import QtWidgets
-from PyQt5.QtGui import QStandardItemModel, QStandardItem
-from PyQt5.QtCore import Qt, pyqtSlot, pyqtSignal, QObject
-
-from PyQt5.QtWidgets import QDialog
-
-# Importing gui form
-from server_qt import *
-from server import *
 
 class Ui_Dialog(object):
-
-    def __init__(self):
-        self.Dialog = None
     def setupUi(self, Dialog):
-        self.Dialog = Dialog
         Dialog.setObjectName("Dialog")
         Dialog.resize(746, 620)
-        Dialog.setStyleSheet("QDialog{\n"
-"background-color: #fffdd0;\n"
-"}")
+        Dialog.setStyleSheet("")
         self.two_button = QtWidgets.QPushButton(Dialog)
         self.two_button.setGeometry(QtCore.QRect(420, 120, 231, 171))
         self.two_button.setSizeIncrement(QtCore.QSize(16, 16))
@@ -42,10 +26,12 @@ class Ui_Dialog(object):
 "}")
         self.two_button.setObjectName("two_button")
         self.label = QtWidgets.QLabel(Dialog)
-        self.label.setGeometry(QtCore.QRect(90, 30, 561, 51))
+        self.label.setGeometry(QtCore.QRect(60, 30, 631, 51))
         font = QtGui.QFont()
-        font.setPointSize(16)
+        font.setPointSize(20)
         self.label.setFont(font)
+        self.label.setLayoutDirection(QtCore.Qt.LeftToRight)
+        self.label.setAlignment(QtCore.Qt.AlignCenter)
         self.label.setObjectName("label")
         self.one_button = QtWidgets.QPushButton(Dialog)
         self.one_button.setGeometry(QtCore.QRect(90, 120, 231, 171))
@@ -54,7 +40,7 @@ class Ui_Dialog(object):
 "color: white;\n"
 "font-weight: 600;\n"
 "font-size: 25pt;\n"
-"background-color: RGB(118, 255, 122);\n"
+"background-color: green;\n"
 "}")
         self.one_button.setObjectName("one_button")
         self.land_emergency_button = QtWidgets.QPushButton(Dialog)
@@ -73,39 +59,15 @@ class Ui_Dialog(object):
 "background-color: white;\n"
 "}")
         self.disarm_emergency_button.setObjectName("disarm_emergency_button")
-        self.one_button.clicked.connect(self.one_button_click)
-        self.two_button.clicked.connect(self.two_button_click)
-        self.land_emergency_button.clicked.connect(self.land_emergency_click)
-        self.disarm_emergency_button.clicked.connect(self.disarm_emergency_click)
 
         self.retranslateUi(Dialog)
         QtCore.QMetaObject.connectSlotsByName(Dialog)
 
     def retranslateUi(self, Dialog):
         _translate = QtCore.QCoreApplication.translate
-        Dialog.setWindowTitle(_translate("Dialog", "Dialog"))
+        Dialog.setWindowTitle(_translate("Dialog", "Visual land"))
         self.two_button.setText(_translate("Dialog", "2"))
-        self.label.setText(_translate("Dialog", "\n"
-"Select a group in which the drone does not work correctly"))
+        self.label.setText(_translate("Dialog", "Select the group with the defective copter"))
         self.one_button.setText(_translate("Dialog", "1"))
         self.land_emergency_button.setText(_translate("Dialog", "Land"))
-        self.disarm_emergency_button.setText(_translate("Dialog", "Disarm")) 
-    def one_button_click(self):
-        self.Dialog.done(1)
-    def two_button_click(self):
-        self.Dialog.done(2)
-    def land_emergency_click(self):
-        self.Dialog.done(3)
-    def disarm_emergency_click(self):
-        self.Dialog.done(4) 
-        
-        
-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_())
-
+        self.disarm_emergency_button.setText(_translate("Dialog", "Disarm"))

Server/visual_land.ui

@@ -11,12 +11,10 @@
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Dialog</string>
+   <string>Visual land</string>
   </property>
   <property name="styleSheet">
-   <string notr="true">QDialog{
-background-color: #fffdd0;
-}</string>
+   <string notr="true"/>
   </property>
   <widget class="QPushButton" name="two_button">
    <property name="geometry">
@@ -48,20 +46,25 @@ background-color: red;
   <widget class="QLabel" name="label">
    <property name="geometry">
     <rect>
-     <x>90</x>
+     <x>60</x>
      <y>30</y>
-     <width>561</width>
+     <width>631</width>
      <height>51</height>
     </rect>
    </property>
    <property name="font">
     <font>
-     <pointsize>16</pointsize>
+     <pointsize>20</pointsize>
     </font>
    </property>
+   <property name="layoutDirection">
+    <enum>Qt::LeftToRight</enum>
+   </property>
    <property name="text">
-    <string>
-Select a group in which the drone does not work correctly</string>
+    <string>Select the group with the defective copter</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignCenter</set>
    </property>
   </widget>
   <widget class="QPushButton" name="one_button">
@@ -84,7 +87,7 @@ Select a group in which the drone does not work correctly</string>
 color: white;
 font-weight: 600;
 font-size: 25pt;
-background-color: RGB(118, 255, 122);
+background-color: green;
 }</string>
    </property>
    <property name="text">