From 8551933cd6f50050839110ebd7f0c4652f7cedfe Mon Sep 17 00:00:00 2001
From: "artem30801@gmail.com" <artem30801@gmail.com>
Date: Mon, 25 Mar 2019 16:53:05 +0300
Subject: [PATCH] Request for battery on start

---
 Drone/FlightLib         |  2 +-
 Drone/client.py         | 16 ++++++++++------
 Drone/client_config.ini |  1 +
 Server/server_qt.py     |  6 ++++--
 4 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/Drone/FlightLib b/Drone/FlightLib
index 701e7aa..9993d88 160000
--- a/Drone/FlightLib
+++ b/Drone/FlightLib
@@ -1 +1 @@
-Subproject commit 701e7aa4e12bb99b5ddf05ad40ad198f17ed583a
+Subproject commit 9993d88fdcc19f5684fd2db58c8ffa76bb38e34d
diff --git a/Drone/client.py b/Drone/client.py
index d575827..297658c 100644
--- a/Drone/client.py
+++ b/Drone/client.py
@@ -132,12 +132,14 @@ def recive_file(filename):
                     print("File received")
                     break
                 file.write(data)
+            else:
+                break
 
 
 def animation_player(running_event, stop_event):
     print("Animation thread activated")
     frames = play_animation.read_animation_file()
-    rate = rospy.Rate(1000 / 125)
+    # rate = rospy.Rate(1000 / 125)
     delay_time = 0.125
 
     print("Takeoff")
@@ -200,8 +202,7 @@ def stop_animation():
 
 
 def selfcheck():
-    telemetry = FlightLib.get_telemetry('body')
-    return FlightLib.selfcheck(), telemetry.voltage
+    return FlightLib.selfcheck()
 
 
 def write_to_config(section, option, value):
@@ -215,7 +216,7 @@ def load_config():
     global broadcast_port, port, host, BUFFER_SIZE
     global USE_NTP, NTP_HOST, NTP_PORT
     global files_directory, animation_file
-    global TAKEOFF_HEIGHT, TAKEOFF_TIME, SAFE_TAKEOFF, RFP_TIME
+    global FRAME_ID, TAKEOFF_HEIGHT, TAKEOFF_TIME, SAFE_TAKEOFF, RFP_TIME
     global  USE_LEDS, COPTER_ID
     CONFIG_PATH = "client_config.ini"
     config = ConfigParser.ConfigParser()
@@ -232,6 +233,7 @@ def load_config():
     files_directory = config.get('FILETRANSFER', 'files_directory')
     animation_file = config.get('FILETRANSFER', 'animation_file')
 
+    FRAME_ID = config.get('COPTERS', 'frame_id') # TODO in play_animation
     TAKEOFF_HEIGHT = config.getfloat('COPTERS', 'takeoff_height')
     TAKEOFF_TIME = config.getfloat('COPTERS', 'takeoff_time')
     RFP_TIME = config.getfloat('COPTERS', 'reach_first_point_time')
@@ -308,9 +310,11 @@ try:
                     elif request_target == 'id':
                         response = COPTER_ID
                     elif request_target == 'selfcheck':
-                        response = selfcheck()
+                        response = FlightLib.selfcheck()
                     elif request_target == 'batt_voltage':
-                        pass # TODO
+                        response = FlightLib.get_telemetry('body').voltage
+                    elif request_target == 'cell_voltage':
+                        response = FlightLib.get_telemetry('body').cell_voltage
 
                     send_all(bytes(form_message("response",
                                                 {"status": "ok", "value": response, "value_name": str(request_target)})))
diff --git a/Drone/client_config.ini b/Drone/client_config.ini
index 4af3c49..1a63ad8 100644
--- a/Drone/client_config.ini
+++ b/Drone/client_config.ini
@@ -14,6 +14,7 @@ host = ntp1.stratum2.ru
 port = 123
 
 [COPTERS]
+frame_id = aruco_map
 takeoff_height = 1.5
 takeoff_time = 8.0
 safe_takeoff = False
diff --git a/Server/server_qt.py b/Server/server_qt.py
index 4efd795..1c9ca13 100644
--- a/Server/server_qt.py
+++ b/Server/server_qt.py
@@ -116,8 +116,10 @@ model.setColumnCount(6)
 model.setRowCount(0)
 
 
-def client_connected(self):
-    model.appendRow((QStandardItem(self.copter_id),))  # TODO: get responses for another columns
+def client_connected(self: Client):
+    batt = self.get_response("batt_voltage")
+    model.appendRow((QStandardItem(self.copter_id), QStandardItem(batt)))  # TODO: get responses for another columns
+
 
 
 Client.on_connect = client_connected