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Renaming copters from QT server table on the go + some improvements

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This commit is contained in:
Artem30801
2019-10-13 12:02:31 +03:00
parent dad1147d67
commit 9cbd7e1b15
6 changed files with 148 additions and 100 deletions
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32
Drone/client.py
View File

@@ -58,14 +58,16 @@ class Client(object):
self.NTP_HOST = self.config.get('NTP', 'host')
self.NTP_PORT = self.config.getint('NTP', 'port')
self.files_directory = self.config.get('FILETRANSFER', 'files_directory')
self.files_directory = self.config.get('FILETRANSFER', 'files_directory') # not used?!
self.client_id = self.config.get('PRIVATE', 'id')
if self.client_id == 'default':
if self.client_id == '/default':
self.client_id = 'copter' + str(random.randrange(9999)).zfill(4)
self.write_config(False, 'PRIVATE', 'id', self.client_id)
self.write_config(False, ConfigOption('PRIVATE', 'id', self.client_id))
elif self.client_id == '/hostname':
self.client_id = socket.gethostname()
elif self.client_id == '/ip':
self.client_id = messaging.get_ip_address()
def rewrite_config(self):
with open(self.config_path, 'w') as file:
@@ -210,20 +212,28 @@ class Client(object):
return
@messaging.request_callback("id")
def _response_id():
return active_client.client_id
@messaging.request_callback("time")
def _response_time():
return active_client.time_now()
@messaging.message_callback("config_write")
def _command_config_write(*args, **kwargs):
options = [ConfigOption(**raw_option) for raw_option in kwargs["options"]]
logger.info("Writing config options: {}".format(options))
active_client.write_config(kwargs["reload"], *options)
@messaging.request_callback("id")
def _response_id(*args, **kwargs):
new_id = kwargs.get("new_id", None)
if new_id is not None:
cfg = ConfigOption("PRIVATE", "id", new_id)
active_client.write_config(True, cfg)
return active_client.client_id
@messaging.request_callback("time")
def _response_time(*args, **kwargs):
return active_client.time_now()
if __name__ == "__main__":
client = Client()
client.start()

56
Drone/copter_client.py
View File

@@ -131,7 +131,7 @@ def configure_chrony_ip(ip, path="/etc/chrony/chrony.conf", ip_index=1):
@messaging.request_callback("selfcheck")
def _response_selfcheck():
def _response_selfcheck(*args, **kwargs):
if check_state_topic(wait_new_status=True):
check = FlightLib.selfcheck()
return check if check else "OK"
@@ -141,7 +141,7 @@ def _response_selfcheck():
@messaging.request_callback("anim_id")
def _response_animation_id():
def _response_animation_id(*args, **kwargs):
# Load animation
result = animation.get_id()
if result != 'No animation':
@@ -163,7 +163,7 @@ def _response_animation_id():
return result
@messaging.request_callback("batt_voltage")
def _response_batt():
def _response_batt(*args, **kwargs):
if check_state_topic(wait_new_status=True):
return FlightLib.get_telemetry('body').voltage
else:
@@ -172,7 +172,7 @@ def _response_batt():
@messaging.request_callback("cell_voltage")
def _response_cell():
def _response_cell(*args, **kwargs):
if check_state_topic(wait_new_status=True):
return FlightLib.get_telemetry('body').cell_voltage
else:
@@ -180,37 +180,37 @@ def _response_cell():
return float('nan')
@messaging.request_callback("sys_status")
def _response_sys_status():
def _response_sys_status(*args, **kwargs):
return get_sys_status()
@messaging.request_callback("cal_status")
def _response_cal_status():
def _response_cal_status(*args, **kwargs):
return get_calibration_status()
@messaging.request_callback("position")
def _response_position():
def _response_position(*args, **kwargs):
telem = FlightLib.get_telemetry(client.active_client.FRAME_ID)
return "{:.2f} {:.2f} {:.2f} {:.1f} {}".format(
telem.x, telem.y, telem.z, math.degrees(telem.yaw), client.active_client.FRAME_ID)
@messaging.request_callback("calibrate_gyro")
def _calibrate_gyro():
def _calibrate_gyro(*args, **kwargs):
calibrate('gyro')
return get_calibration_status()
@messaging.request_callback("calibrate_level")
def _calibrate_level():
def _calibrate_level(*args, **kwargs):
calibrate('level')
return get_calibration_status()
@messaging.message_callback("test")
def _command_test(**kwargs):
def _command_test(*args, **kwargs):
logger.info("logging info test")
print("stdout test")
@messaging.message_callback("move_start")
def _command_move_start_to_current_position(**kwargs):
def _command_move_start_to_current_position(*args, **kwargs):
# Load animation
frames = animation.load_animation(os.path.abspath("animation.csv"),
x0=client.active_client.X0_COMMON,
@@ -232,7 +232,7 @@ def _command_move_start_to_current_position(**kwargs):
print ("Start delta: {:.2f} {:.2f}".format(client.active_client.X0, client.active_client.Y0))
@messaging.message_callback("reset_start")
def _command_reset_start(**kwargs):
def _command_reset_start(*args, **kwargs):
client.active_client.config.set('PRIVATE', 'x0', 0)
client.active_client.config.set('PRIVATE', 'y0', 0)
client.active_client.rewrite_config()
@@ -240,7 +240,7 @@ def _command_reset_start(**kwargs):
print ("Reset start to {:.2f} {:.2f}".format(client.active_client.X0, client.active_client.Y0))
@messaging.message_callback("set_z_to_ground")
def _command_set_z(**kwargs):
def _command_set_z(*args, **kwargs):
telem = FlightLib.get_telemetry(client.active_client.FRAME_ID)
client.active_client.config.set('PRIVATE', 'z0', telem.z)
client.active_client.rewrite_config()
@@ -248,7 +248,7 @@ def _command_set_z(**kwargs):
print ("Set z offset to {:.2f}".format(client.active_client.Z0))
@messaging.message_callback("reset_z_offset")
def _command_reset_z(**kwargs):
def _command_reset_z(*args, **kwargs):
client.active_client.config.set('PRIVATE', 'z0', 0)
client.active_client.rewrite_config()
client.active_client.load_config()
@@ -256,36 +256,36 @@ def _command_reset_z(**kwargs):
@messaging.message_callback("update_repo")
def _command_update_repo(**kwargs):
def _command_update_repo(*args, **kwargs):
os.system("git reset --hard origin/master")
os.system("git fetch")
os.system("git pull")
os.system("chown -R pi:pi ~/CleverSwarm")
@messaging.message_callback("reboot_fcu")
def _command_reboot():
def _command_reboot(*args, **kwargs):
reboot_fcu()
@messaging.message_callback("service_restart")
def _command_service_restart(**kwargs):
def _command_service_restart(*args, **kwargs):
restart_service(kwargs["name"])
@messaging.message_callback("repair_chrony")
def _command_chrony_repair():
def _command_chrony_repair(*args, **kwargs):
configure_chrony_ip(client.active_client.server_host)
restart_service("chrony")
@messaging.message_callback("led_test")
def _command_led_test(**kwargs):
def _command_led_test(*args, **kwargs):
LedLib.chase(255, 255, 255)
time.sleep(2)
LedLib.off()
@messaging.message_callback("led_fill")
def _command_led_fill(**kwargs):
def _command_led_fill(*args, **kwargs):
r = kwargs.get("red", 0)
g = kwargs.get("green", 0)
b = kwargs.get("blue", 0)
@@ -294,11 +294,11 @@ def _command_led_fill(**kwargs):
@messaging.message_callback("flip")
def _copter_flip():
def _copter_flip(*args, **kwargs):
FlightLib.flip(frame_id=client.active_client.FRAME_ID)
@messaging.message_callback("takeoff")
def _command_takeoff(**kwargs):
def _command_takeoff(*args, **kwargs):
task_manager.add_task(time.time(), 0, animation.takeoff,
task_kwargs={
"z": client.active_client.TAKEOFF_HEIGHT,
@@ -310,7 +310,7 @@ def _command_takeoff(**kwargs):
@messaging.message_callback("land")
def _command_land(**kwargs):
def _command_land(*args, **kwargs):
task_manager.reset()
task_manager.add_task(0, 0, animation.land,
task_kwargs={
@@ -323,7 +323,7 @@ def _command_land(**kwargs):
@messaging.message_callback("disarm")
def _command_disarm(**kwargs):
def _command_disarm(*args, **kwargs):
task_manager.reset()
task_manager.add_task(-5, 0, FlightLib.arming_wrapper,
task_kwargs={
@@ -333,22 +333,22 @@ def _command_disarm(**kwargs):
@messaging.message_callback("stop")
def _command_stop(**kwargs):
def _command_stop(*args, **kwargs):
task_manager.reset()
@messaging.message_callback("pause")
def _command_pause(**kwargs):
def _command_pause(*args, **kwargs):
task_manager.pause()
@messaging.message_callback("resume")
def _command_resume(**kwargs):
def _command_resume(*args, **kwargs):
task_manager.resume(time_to_start_next_task=kwargs.get("time", 0))
@messaging.message_callback("start")
def _play_animation(**kwargs):
def _play_animation(*args, **kwargs):
start_time = float(kwargs["time"])
# Check if animation file is available
if animation.get_id() == 'No animation':

45
Server/copter_table_models.py
View File

@@ -2,11 +2,13 @@ import sys
import re
import collections
import indexed
from server import ConfigOption
from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtCore import Qt as Qt
ModelDataRole = 998
ModelStateRole = 999
@@ -76,6 +78,9 @@ class CopterDataModel(QtCore.QAbstractTableModel):
self.headers = ('copter ID', ' animation ID ', 'batt V', 'batt %', ' system ',
'calibration', 'selfcheck', 'current x y z yaw frame_id', 'time delta')
self.data_contents = []
self.on_id_changed = None
self.first_col_is_checked = False
def insertRows(self, contents, position='last', parent=QtCore.QModelIndex()):
@@ -118,13 +123,21 @@ class CopterDataModel(QtCore.QAbstractTableModel):
contents = contents or self.data_contents
return filter(lambda x: calibration_ready_check(x), contents)
def get_row_by_id(self, copter_id):
def get_row_index(self, row_data):
try:
row = next(filter(lambda x: x.copter_id == copter_id, self.data_contents))
index = self.data_contents.index(row_data)
except ValueError:
return None
else:
return index
def get_row_by_attr(self, attr, value):
try:
row_data = next(filter(lambda x: getattr(x, attr, None) == value, self.data_contents))
except StopIteration:
return None
else:
return self.data_contents.index(row)
return row_data
def rowCount(self, n=None):
return len(self.data_contents)
@@ -140,7 +153,7 @@ class CopterDataModel(QtCore.QAbstractTableModel):
def data(self, index, role=Qt.DisplayRole):
row = index.row()
col = index.column()
if role == Qt.DisplayRole:
if role == Qt.DisplayRole or role == Qt.EditRole: # Separate editRole in case of editing non-text
return self.data_contents[row][col] or ""
elif role == Qt.BackgroundRole:
@@ -180,12 +193,26 @@ class CopterDataModel(QtCore.QAbstractTableModel):
if not index.isValid():
return False
col = index.column()
row = index.row()
if role == Qt.CheckStateRole:
self.data_contents[index.row()].states.checked = value
elif role == Qt.EditRole:
self.data_contents[index.row()][index.column()] = value
self.data_contents[row].states.checked = value
elif role == Qt.EditRole: # For user actions with data
if col == 0 and self.on_id_changed:
self.data_contents[row][col] = "Awaiting for response"
self.data_contents[row].states.copter_id = None
self.data_contents[row].client.get_response("id", self.on_id_changed,
request_args={"new_id": value},
callback_args=(self.data_contents[row],))
else:
self.data_contents[row][col] = value
elif role == ModelDataRole: # For inner setting\editing of data
self.data_contents[row][col] = value
elif role == ModelStateRole:
self.data_contents[index.row()].states[index.column()] = value
self.data_contents[row].states[col] = value
else:
return False
@@ -201,7 +228,7 @@ class CopterDataModel(QtCore.QAbstractTableModel):
def flags(self, index):
roles = Qt.ItemIsSelectable | Qt.ItemIsEnabled
if index.column() == 0:
roles |= Qt.ItemIsUserCheckable #| Qt.ItemIsEditable
roles |= Qt.ItemIsUserCheckable | Qt.ItemIsEditable
return roles
@QtCore.pyqtSlot(int, int, QtCore.QVariant, QtCore.QVariant)

14
Server/server.py
View File

@@ -40,7 +40,7 @@ class Server(messaging.Singleton):
self.server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.host = socket.gethostname()
self.ip = Server.get_ip_address()
self.ip = messaging.get_ip_address()
# Init configs
self.config_path = config_path
@@ -112,16 +112,6 @@ class Server(messaging.Singleton):
sys.exit("Stopped")
@staticmethod
def get_ip_address():
try:
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as ip_socket:
ip_socket.connect(("8.8.8.8", 80))
return ip_socket.getsockname()[0]
except OSError:
logging.warning("No network connection detected, starting on localhost")
return "localhost"
@staticmethod
def get_ntp_time(ntp_host, ntp_port):
NTP_DELTA = 2208988800 # 1970-01-01 00:00:00
@@ -218,7 +208,7 @@ class Server(messaging.Singleton):
try:
while self.listener_thread_running.is_set():
data, addr = broadcast_client.recvfrom(1024) # TODO nonblock
data, addr = broadcast_client.recvfrom(1024) # TODO nonblock
message = messaging.MessageManager()
message.income_raw = data
message.process_message()

85
Server/server_qt.py
View File

@@ -45,11 +45,10 @@ def confirmation_required(text="Are you sure?", label="Confirm operation?"):
QMessageBox.Yes | QMessageBox.No, QMessageBox.No
)
if reply == QMessageBox.Yes:
print("Dialog accepted")
logging.debug("Dialog accepted")
return f(*args, **kwargs)
else:
print("Dialog declined")
logging.debug("Dialog declined")
return wrapper
@@ -75,6 +74,8 @@ class MainWindow(QtWidgets.QMainWindow):
self.show()
def init_model(self):
self.model.on_id_changed = self.set_copter_id
self.proxy_model.setDynamicSortFilter(True)
self.proxy_model.setSourceModel(self.model)
@@ -111,9 +112,10 @@ class MainWindow(QtWidgets.QMainWindow):
self.signals.add_client_signal.emit(StatedCopterData(copter_id=client.copter_id, client=client))
def client_connection_changed(self, client: Client):
row_num = self.model.get_row_by_id(client.copter_id)
row_data = self.model.get_row_by_attr("client", client)
row_num = self.model.get_row_index(row_data)
if row_num is not None:
if Server().remove_disconnected:
if Server().remove_disconnected and (not client.connected):
client.remove()
self.signals.remove_client_signal.emit(row_num)
else:
@@ -163,20 +165,20 @@ class MainWindow(QtWidgets.QMainWindow):
@pyqtSlot()
def selfcheck_selected(self):
for copter in self.model.user_selected():
client = copter.client
for copter_data_row in self.model.user_selected():
client = copter_data_row.client
client.get_response("anim_id", self._set_copter_data, callback_args=(1, copter.copter_id))
client.get_response("batt_voltage", self._set_copter_data, callback_args=(2, copter.copter_id))
client.get_response("cell_voltage", self._set_copter_data, callback_args=(3, copter.copter_id))
client.get_response("sys_status", self._set_copter_data, callback_args=(4, copter.copter_id))
client.get_response("cal_status", self._set_copter_data, callback_args=(5, copter.copter_id))
client.get_response("selfcheck", self._set_copter_data, callback_args=(6, copter.copter_id))
client.get_response("position", self._set_copter_data, callback_args=(7, copter.copter_id))
client.get_response("time", self._set_copter_data, callback_args=(8, copter.copter_id))
client.get_response("anim_id", self.set_copter_data, callback_args=(1, copter_data_row))
client.get_response("batt_voltage", self.set_copter_data, callback_args=(2, copter_data_row))
client.get_response("cell_voltage", self.set_copter_data, callback_args=(3, copter_data_row))
client.get_response("sys_status", self.set_copter_data, callback_args=(4, copter_data_row))
client.get_response("cal_status", self.set_copter_data, callback_args=(5, copter_data_row))
client.get_response("selfcheck", self.set_copter_data, callback_args=(6, copter_data_row))
client.get_response("position", self.set_copter_data, callback_args=(7, copter_data_row))
client.get_response("time", self.set_copter_data, callback_args=(8, copter_data_row))
def _set_copter_data(self, value, col, copter_id):
row = self.model.get_row_by_id(copter_id)
def set_copter_data(self, value, col, copter_data_row):
row = self.model.get_row_index(copter_data_row)
if row is None:
logging.error("No such client!")
return
@@ -197,16 +199,25 @@ class MainWindow(QtWidgets.QMainWindow):
elif col == 7:
data = str(value)
elif col == 8:
#data = time.ctime(int(value))
data = "{}".format(round(float(value) - time.time(), 3))
if abs(float(data)) > 1:
Client.get_by_id(copter_id).send_message("repair_chrony")
#self.signals.update_data_signal.emit(row, col + 1, data2)
copter_data_row.client.send_message("repair_chrony")
else:
print("No column matched for response")
logging.error("No column matched for response")
return
self.signals.update_data_signal.emit(row, col, data, Qt.EditRole)
self.signals.update_data_signal.emit(row, col, data, ModelDataRole)
def set_copter_id(self, value, copter_data_row):
col = 0
row = self.model.get_row_index(copter_data_row)
if row is None:
logging.error("No such client!")
return
copter_data_row.client.copter_id = value
self.signals.update_data_signal.emit(row, col, value, ModelDataRole)
self.signals.update_data_signal.emit(row, col, True, ModelStateRole)
@pyqtSlot()
def remove_selected(self):
@@ -290,35 +301,33 @@ class MainWindow(QtWidgets.QMainWindow):
@pyqtSlot()
def calibrate_gyro_selected(self):
for copter in self.model.user_selected():
client = copter.client
for copter_data_row in self.model.user_selected():
client = copter_data_row.client
# Update calibration status
row = self.model.data_contents.index(next(filter(
lambda x: x.copter_id == client.copter_id, self.model.data_contents)))
row = self.model.get_row_index(copter_data_row)
col = 5
data = 'CALIBRATING'
self.signals.update_data_signal.emit(row, col, data, Qt.EditRole)
self.signals.update_data_signal.emit(row, col, data, ModelDataRole)
# Send request
client.get_response("calibrate_gyro", self._get_calibration_info, callback_args=(5, copter.copter_id))
client.get_response("calibrate_gyro", self._get_calibration_info, callback_args=(copter_data_row, ))
@pyqtSlot()
def calibrate_level_selected(self):
for copter in self.model.user_selected():
client = copter.client
for copter_data_row in self.model.user_selected():
client = copter_data_row.client
# Update calibration status
row = self.model.data_contents.index(next(filter(
lambda x: x.copter_id == client.copter_id, self.model.data_contents)))
row = self.model.get_row_index(copter_data_row)
col = 5
data = 'CALIBRATING'
self.signals.update_data_signal.emit(row, col, data, Qt.EditRole)
self.signals.update_data_signal.emit(row, col, data, ModelDataRole)
# Send request
client.get_response("calibrate_level", self._get_calibration_info, callback_args=(5, copter.copter_id))
client.get_response("calibrate_level", self._get_calibration_info, callback_args=(copter_data_row, ))
def _get_calibration_info(self, value, col, copter_id):
row = self.model.data_contents.index(next(
filter(lambda x: x.copter_id == copter_id, self.model.data_contents)))
def _get_calibration_info(self, value, copter_data_row):
col = 5
row = self.model.get_row_index(copter_data_row)
data = str(value)
self.signals.update_data_signal.emit(row, col, data, Qt.EditRole)
self.signals.update_data_signal.emit(row, col, data, ModelDataRole)
@pyqtSlot()
def send_animations(self):

16
messaging_lib.py
View File

@@ -8,6 +8,8 @@ import logging
import threading
import collections
from contextlib import closing
try:
import selectors
except ImportError:
@@ -24,6 +26,16 @@ logger = logging.getLogger(__name__)
# logger = logging_lib.Logger(_logger, True)
def get_ip_address():
try:
with closing(socket.socket(socket.AF_INET, socket.SOCK_DGRAM)) as ip_socket:
ip_socket.connect(("8.8.8.8", 80))
return ip_socket.getsockname()[0]
except OSError:
logging.warning("No network connection detected, using localhost")
return "localhost"
class _Singleton(type):
""" A metaclass that creates a Singleton base class when called. """
_instances = {}
@@ -323,7 +335,7 @@ class ConnectionManager(object):
command = message.content["command"]
args = message.content["args"]
try:
self.messages_callbacks[command](**args)
self.messages_callbacks[command](self, **args)
except KeyError:
logger.warning("Command {} does not exist!".format(command))
except Exception as error:
@@ -334,7 +346,7 @@ class ConnectionManager(object):
request_id = message.content["request_id"]
args = message.content["args"]
try:
value = self.requests_callbacks[command](**args)
value = self.requests_callbacks[command](self, **args)
except KeyError:
logger.warning("Request {} does not exist!".format(command))
except Exception as error: # TODO send response error\cancel