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Modify sending files to clover ROS package

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This commit is contained in:
Arthur Golubtsov
2020-06-05 22:04:13 +03:00
parent 67747cbce5
commit 795ce61cf6
4 changed files with 51 additions and 41 deletions
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4
drone/modules/client_core.py
View File

@@ -223,6 +223,10 @@ def _response_config(*args, **kwargs):
response.update({"configspec": dict(active_client.config.config.configspec)})
return response
@messaging.request_callback("clover_dir")
def _response_clover_dir(*args, **kwargs):
return active_client.config.clover_dir
@messaging.request_callback("id")
def _response_id(*args, **kwargs):
new_id = kwargs.get("new_id", None)

47
server/config/spec/configspec_server.ini
View File

@@ -5,8 +5,28 @@ config_version = float(default='1.0')
port = integer(default=25000)
buffer_size = integer(default=1024)
[CLIENT]
clever_dir = string(default=/home/pi/catkin_ws/src/clever/clover)
[CHECKS]
check_git_version = boolean(default=True)
check_current_position = boolean(default=True)
# in percents; set 0 to disable this check
battery_min = float(default=50.0, min=0, max=100)
# in meters; set 0 to disable this check
start_pos_delta_max = float(default=1.0, min=0)
# in seconds
time_delta_max = float(default=1.0, min=0)
[BROADCAST]
send = boolean(default=True)
listen = boolean(default=True)
port = integer(default=8181)
send_ip = string(default=255.255.255.255)
# delay for message sending in seconds
delay = float(default=3.0, min=0)
[NTP]
use = boolean(default=False)
host = string(default=ntp1.stratum2.ru)
port = integer(default=123)
[TABLE]
# True -> clients are removed on disconnection
@@ -30,26 +50,3 @@ config_version = float(default='1.0')
time_delta = preset_param(default=list(True, 70))
[[[__many__]]]
__many__ = preset_param
[CHECKS]
check_git_version = boolean(default=True)
check_current_position = boolean(default=True)
# in percents; set 0 to disable this check
battery_min = float(default=50.0, min=0, max=100)
# in meters; set 0 to disable this check
start_pos_delta_max = float(default=1.0, min=0)
# in seconds
time_delta_max = float(default=1.0, min=0)
[BROADCAST]
send = boolean(default=True)
listen = boolean(default=True)
port = integer(default=8181)
send_ip = string(default=255.255.255.255)
# delay for message sending in seconds
delay = float(default=5.0, min=0)
[NTP]
use = boolean(default=False)
host = string(default=ntp1.stratum2.ru)
port = integer(default=123)

7
server/modules/server_core.py
View File

@@ -286,6 +286,7 @@ class Client(messaging.ConnectionManager):
def __init__(self, ip):
super().__init__()
self.copter_id = None
self.clover_dir = None
self.connected = False
self.clients[ip] = self
@@ -316,9 +317,15 @@ class Client(messaging.ConnectionManager):
old_id = self.copter_id
self.copter_id = value
if old_id is None:
self.get_response("clover_dir", self._got_clover_dir)
if old_id is None and self.on_first_connect:
self.on_first_connect(self)
def _got_clover_dir(self, _client, value):
self.clover_dir = value
def close(self, inner=False):
self.connected = False

34
server/server.py
View File

@@ -381,7 +381,7 @@ class MainWindow(QtWidgets.QMainWindow):
data = str(value)
self.model.update_data(row, col, data, table.ModelDataRole)
def _send_files(self, files, copters=None, client_path="", client_filename="", match_id=False, callback=None):
def _send_files(self, files, copters=None, client_path="", client_filename="", match_id=False, callback=None, clover_dir=False):
if copters is None:
copters = self.model.user_selected()
copters = list(copters)
@@ -404,12 +404,19 @@ class MainWindow(QtWidgets.QMainWindow):
filename = client_filename.format(num, filename) or filename
for copter in to_send:
copter.client.send_file(file, os.path.join(client_path, filename))
if clover_dir:
if copter.client.clover_dir != 'error':
path_to_send = os.path.realpath(os.path.join(copter.client.clover_dir, client_path))
else:
logging.error("Can't send files to clover ROS package on {}".format(copter.copter_id))
else:
path_to_send = client_path
copter.client.send_file(file, os.path.join(path_to_send, filename))
if callback is not None:
callback(copter)
def send_files(self, prompt, ext_filter, copters=None, client_path="", client_filename="", match_id=False,
onefile=False, callback=None):
onefile=False, callback=None, clover_dir=False):
if onefile:
file = QFileDialog.getOpenFileName(self, prompt, filter=ext_filter)[0]
files = [file] if file else []
@@ -419,10 +426,10 @@ class MainWindow(QtWidgets.QMainWindow):
if not files:
return
self._send_files(files, copters, client_path, client_filename, match_id, callback)
self._send_files(files, copters, client_path, client_filename, match_id, callback, clover_dir)
def send_directory_files(self, prompt, extensions=(), copters=None, client_path="", client_filename="",
match_id=False, callback=None):
match_id=False, callback=None, clover_dir=False):
path = QFileDialog.getExistingDirectory(self, prompt)
if not path:
@@ -434,7 +441,7 @@ class MainWindow(QtWidgets.QMainWindow):
patterns = [path+'/*.*']
files = multi_glob(*patterns)
self._send_files(files, copters, client_path, client_filename, match_id, callback)
self._send_files(files, copters, client_path, client_filename, match_id, callback, clover_dir)
def request_any_file(self, client_path=None, copters=None):
if client_path is None:
@@ -488,25 +495,21 @@ class MainWindow(QtWidgets.QMainWindow):
@pyqtSlot()
def send_calibrations(self):
self.send_directory_files("Select directory with calibrations", ('.yaml', ), match_id=True,
client_path=os.path.join(self.server.config.client_clever_dir,"camera_info/"),
client_filename="calibration.yaml") # TODO callback to reload clever?
# from os.path import expanduser # TODO on client
# home = expanduser("~") -> "~catkin_ws/src/clever/clever/camera_info/"
client_path="camera_info", client_filename="calibration.yaml", clover_dir=True)
@pyqtSlot()
def send_aruco(self):
def callback(copter):
copter.client.send_message("service_restart", kwargs={"name": "clever"})
copter.client.send_message("service_restart", kwargs={"name": "clover"})
self.send_files("Select aruco map configuration file", "Aruco map files (*.txt)", onefile=True,
client_path=os.path.abspath(os.path.join(self.server.config.client_clever_dir,"../aruco_pose/map/")),
client_filename="animation_map.txt", callback=callback)
client_path="../aruco_pose/map/", client_filename="animation_map.txt",
callback=callback, clover_dir=True)
@pyqtSlot()
def send_launch(self):
self.send_directory_files("Select directory with launch files", ('.launch', '.yaml'), match_id=False,
client_path=os.path.join(self.server.config.client_clever_dir,"launch/")) # TODO clever restart callback?
client_path="launch", clover_dir=True)
@pyqtSlot()
def send_fcu_parameters(self):
@@ -549,7 +552,6 @@ class MainWindow(QtWidgets.QMainWindow):
@pyqtSlot()
def restart_clever_show(self):
for copter in self.model.user_selected():
copter.client.send_message("service_restart", kwargs={"name": "visual_pose_watchdog"})
copter.client.send_message("service_restart", kwargs={"name": "clever-show"})
@pyqtSlot()