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Merge branch 'qt-gui-update' of https://github.com/CopterExpress/clever-show into qt-gui-update

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This commit is contained in:
Artem30801
2020-01-20 21:26:49 +03:00
parent 0aad314ffc eba6412d44
commit 817a07a10d
4 changed files with 48 additions and 108 deletions
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19
Drone/copter_client.py
View File

@@ -690,12 +690,13 @@ class Telemetry:
"animation_id": None,
"battery": None,
"armed": False,
"system_status": None,
"calibration_status": None,
"fcu_status": None,
"cal_status": None,
"mode": None,
"selfcheck": None,
"current_position": None,
"start_position": None,
"task": None,
"time": None,
}
@@ -779,6 +780,7 @@ class Telemetry:
def update_telemetry_fast(self):
self.start_position = self.get_start_position()
self.task = task_manager.get_current_task()
try:
self.ros_telemetry = FlightLib.get_telemetry_locked(client.active_client.config.copter_frame_id)
if self.ros_telemetry.connected:
@@ -802,8 +804,8 @@ class Telemetry:
self.animation_id = animation.get_id()
self.git_version = self.get_git_version()
try:
self.calibration_status = get_calibration_status()
self.system_status = get_sys_status()
self.cal_status = get_calibration_status()
self.fcu_status = get_sys_status()
self.battery = self.get_battery(self.ros_telemetry)
except rospy.ServiceException:
rospy.logdebug("Some service is unavailable")
@@ -825,8 +827,8 @@ class Telemetry:
def reset_telemetry_values(self):
self.battery = float('nan'), float('nan')
self.calibration_status = 'NO_FCU'
self.system_status = 'NO_FCU'
self.cal_status = 'NO_FCU'
self.fcu_status = 'NO_FCU'
self.mode = 'NO_FCU'
self.selfcheck = ['NO_FCU']
self.current_position = 'NO_POS'
@@ -900,15 +902,14 @@ class Telemetry:
if client.active_client.config.telemetry_transmit and client.active_client.connected:
self.transmit_message()
if client.active_client.config.telemetry_log_resources:
self.log_cpu_and_memory()
rate.sleep()
def _slow_update_loop(self):
rate = rospy.Rate(1)
while not rospy.is_shutdown():
self.update_telemetry_slow()
if client.active_client.config.telemetry_log_resources:
self.log_cpu_and_memory()
rate.sleep()
def start_loop(self):

19
Drone/tasking_lib.py
View File

@@ -89,6 +89,21 @@ class TaskManager(object):
def get_last_task_name(self):
return self._last_task
def get_current_task(self):
try:
start_time, priority, count, task = self.task_queue[0]
except IndexError as e:
logger.debug("Task queue checking exception: {}".format(e))
return "No task"
else:
if self._running_event.is_set():
time_to_start = start_time - time.time()
if time_to_start > 0:
return "{} in {:.1f} s".format(task.func.__name__,time_to_start)
return task.func.__name__
else:
return "paused"
def start(self):
#print("Task manager is started")
@@ -138,7 +153,7 @@ class TaskManager(object):
with self._task_queue_lock:
try:
start_time, priority, count, task = self.task_queue[0]
except Exception as e:
except IndexError as e:
logger.debug("Task queue checking exception: {}".format(e))
self._timeshift = 0.0
self._wait_interrupt_event.clear()
@@ -180,7 +195,7 @@ class TaskManager(object):
if time.time() > start_time:
try:
start_time_n, priority_n, count_n, task_n = self.task_queue[0]
except Exception as e:
except IndexError as e:
logger.warning("Timeout checking exception: {}".format(e))
self._timeshift = 0.0
self._wait_interrupt_event.clear()

111
Server/copter_table_models.py
View File

@@ -96,94 +96,11 @@ def check_pos_status(item):
def check_start_pos_status(item):
return item != 'NO_POS'
@ModelChecks.col_check(10)
def check_time_delta(item):
return abs(item) < ModelChecks.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 > ModelChecks.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"
return True
@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)
@ModelChecks.col_check(11)
def check_time_delta(item):
return abs(item) < ModelChecks.time_delta_max
@@ -192,21 +109,22 @@ columns_names = {'copter_id': 'copter ID',
'git_ver': 'version',
'animation_id': ' animation ID ',
'battery': ' battery ',
'system_status': ' system ',
'calibration_status': 'sensors',
'fcu_status': 'FCU status',
'cal_status': 'sensors',
'mode': ' mode ',
'selfcheck': ' checks ',
'current_position': 'current x y z yaw frame_id',
'start_position': ' start x y z ',
'last_task': 'last task',
'time_delta': 'dt'
}
class CopterData:
class_basic_attrs = indexed.IndexedOrderedDict([('copter_id', None), ('git_ver', None), ('animation_id', None),
('battery', None), ('system_status', None), ('calibration_status', None),
('battery', None), ('fcu_status', None), ('cal_status', None),
('mode', None), ('selfcheck', None), ('current_position', None),
('start_position', None), ('time_delta', None), ('client', None)])
('start_position', None), ('last_task', None), ('time_delta', None), ('client', None)])
def __init__(self, **kwargs):
self.attrs_dict = self.class_basic_attrs.copy()
@@ -370,11 +288,16 @@ def view_selfcheck(value):
return value
@ModelFormatter.col_format(10, ModelFormatter.PLACE_FORMATTER)
def view_last_task(value):
if value is None:
return 'No task'
return value
@ModelFormatter.col_format(11, ModelFormatter.PLACE_FORMATTER)
def place_time_delta(value):
return abs(value - time.time())
return abs(value - time.time())
@ModelFormatter.col_format(10, ModelFormatter.VIEW_FORMATTER)
@ModelFormatter.col_format(11, ModelFormatter.VIEW_FORMATTER)
def view_time_delta(value):
return "{:.3f}".format(value)
@@ -389,8 +312,8 @@ class CopterDataModel(QtCore.QAbstractTableModel):
def __init__(self, checks=ModelChecks, formatter=ModelFormatter, parent=None):
super(CopterDataModel, self).__init__(parent)
# self.headers = list(columns_names.values()) # todo
self.headers = (' copter ID ', ' version ', ' animation ID ', ' battery ', ' system ', ' sensors ',
' mode ', ' checks ', ' current x y z yaw frame_id ', ' start x y z ', ' dt ')
self.headers = (' copter ID ', ' version ', ' animation ID ', ' battery ', ' fcu_status ', ' sensors ',
' mode ', ' checks ', ' current x y z yaw frame_id ', ' start x y z ', ' task ', ' dt ')
self.data_contents = []
self.checks = checks

7
Server/server_qt.py
View File

@@ -220,13 +220,14 @@ class MainWindow(QtWidgets.QMainWindow):
"git_version": 1,
"animation_id": 2,
"battery": 3,
"system_status": 4,
"calibration_status": 5,
"fcu_status": 4,
"cal_status": 5,
"mode": 6,
"selfcheck": 7,
"current_position": 8,
"start_position": 9,
"time": 10,
"task": 10,
"time": 11,
}
for key, value in telems.items():