Merge master branch

2026-05-26 23:19:33 +00:00 · 2019-10-08 12:16:35 +03:00
parent a99244108d f599b22174
commit afa3b73b22
24 changed files with 708 additions and 309 deletions
--- a/Drone/FCU/clever_lpe_flow.params
+++ b/Drone/FCU/clever_lpe_flow.params
@@ -0,0 +1,6 @@
+1	1	LPE_FLW_OFF_Z	0.000000000000000000	9
+1	1	LPE_FLW_QMIN	60	6
+1	1	LPE_FLW_R	0.200000002980232239	9
+1	1	LPE_FLW_RR	0.000000000000000000	9
+1	1	LPE_FLW_SCALE	1.000000000000000000	9
+1	1	LPE_FUSION	86	6
--- a/Drone/FCU/clever_lpe_gps.params
+++ b/Drone/FCU/clever_lpe_gps.params
@@ -0,0 +1,4 @@
+1	1	ATT_EXT_HDG_M	0	6
+1	1	ATT_W_EXT_HDG	0.000000000000000000	9
+1	1	ATT_W_MAG	0.100000001490116119	9
+1	1	LPE_FUSION	145	6
--- a/Drone/FCU/clever_lpe_no_ext_hdg.params
+++ b/Drone/FCU/clever_lpe_no_ext_hdg.params
@@ -0,0 +1,3 @@
+1	1	ATT_EXT_HDG_M	0	6
+1	1	ATT_W_EXT_HDG	0.000000000000000000	9
+1	1	ATT_W_MAG	0.000000000000000000	9
--- a/Drone/FCU/clever_lpe_viz.params
+++ b/Drone/FCU/clever_lpe_viz.params
@@ -0,0 +1,4 @@
+1	1	ATT_EXT_HDG_M	1	6
+1	1	ATT_W_EXT_HDG	0.500000000000000000	9
+1	1	ATT_W_MAG	0.000000000000000000	9
+1	1	LPE_FUSION	84	6
--- a/Drone/FCU/clever_mc_mpc.params
+++ b/Drone/FCU/clever_mc_mpc.params
@@ -0,0 +1,58 @@
+1	1	MC_PITCHRATE_D	0.003000000026077032	9
+1	1	MC_PITCHRATE_FF	0.000000000000000000	9
+1	1	MC_PITCHRATE_I	0.019999999552965164	9
+1	1	MC_PITCHRATE_MAX	220.000000000000000000	9
+1	1	MC_PITCHRATE_P	0.100000001490116119	9
+1	1	MC_PITCH_P	6.500000000000000000	9
+1	1	MC_PR_INT_LIM	0.300000011920928955	9
+1	1	MC_RATT_TH	0.800000011920928955	9
+1	1	MC_ROLLRATE_D	0.003000000026077032	9
+1	1	MC_ROLLRATE_FF	0.000000000000000000	9
+1	1	MC_ROLLRATE_I	0.019999999552965164	9
+1	1	MC_ROLLRATE_MAX	220.000000000000000000	9
+1	1	MC_ROLLRATE_P	0.100000001490116119	9
+1	1	MC_ROLL_P	6.500000000000000000	9
+1	1	MPC_ACC_DOWN_MAX	10.000000000000000000	9
+1	1	MPC_ACC_HOR	5.000000000000000000	9
+1	1	MPC_ACC_HOR_ESTM	0.500000000000000000	9
+1	1	MPC_ACC_HOR_MAX	10.000000000000000000	9
+1	1	MPC_ACC_UP_MAX	10.000000000000000000	9
+1	1	MPC_ALT_MODE	0	6
+1	1	MPC_CRUISE_90	3.000000000000000000	9
+1	1	MPC_DEC_HOR_SLOW	5.000000000000000000	9
+1	1	MPC_FLT_TSK	0	6
+1	1	MPC_HOLD_DZ	0.100000001490116119	9
+1	1	MPC_HOLD_MAX_XY	0.800000011920928955	9
+1	1	MPC_HOLD_MAX_Z	0.600000023841857910	9
+1	1	MPC_JERK_MAX	0.000000000000000000	9
+1	1	MPC_JERK_MIN	1.000000000000000000	9
+1	1	MPC_LAND_ALT1	10.000000000000000000	9
+1	1	MPC_LAND_ALT2	5.000000000000000000	9
+1	1	MPC_LAND_SPEED	0.699999988079071045	9
+1	1	MPC_MANTHR_MAX	1.000000000000000000	9
+1	1	MPC_MANTHR_MIN	0.079999998211860657	9
+1	1	MPC_MAN_TILT_MAX	35.000000000000000000	9
+1	1	MPC_MAN_Y_MAX	200.000000000000000000	9
+1	1	MPC_THR_HOVER	0.550000011920928955	9
+1	1	MPC_THR_MAX	1.000000000000000000	9
+1	1	MPC_THR_MIN	0.119999997317790985	9
+1	1	MPC_TILTMAX_AIR	45.000000000000000000	9
+1	1	MPC_TILTMAX_LND	12.000000000000000000	9
+1	1	MPC_TKO_RAMP_T	0.400000005960464478	9
+1	1	MPC_TKO_SPEED	1.000000000000000000	9
+1	1	MPC_VELD_LP	5.000000000000000000	9
+1	1	MPC_VEL_MANUAL	10.000000000000000000	9
+1	1	MPC_XY_CRUISE	5.000000000000000000	9
+1	1	MPC_XY_MAN_EXPO	0.000000000000000000	9
+1	1	MPC_XY_P	1.000000000000000000	9
+1	1	MPC_XY_VEL_D	0.006000000052154064	9
+1	1	MPC_XY_VEL_I	0.004999999888241291	9
+1	1	MPC_XY_VEL_MAX	12.000000000000000000	9
+1	1	MPC_XY_VEL_P	0.090000003576278687	9
+1	1	MPC_Z_MAN_EXPO	0.000000000000000000	9
+1	1	MPC_Z_P	0.949999988079071045	9
+1	1	MPC_Z_VEL_D	0.000000000000000000	9
+1	1	MPC_Z_VEL_I	0.014999999664723873	9
+1	1	MPC_Z_VEL_MAX_DN	1.000000000000000000	9
+1	1	MPC_Z_VEL_MAX_UP	3.000000000000000000	9
+1	1	MPC_Z_VEL_P	0.250000000000000000	9
--- a/Drone/Firmware/px4fmu-v4-1.8.2-clever.5.px4
+++ b/Drone/Firmware/px4fmu-v4-1.8.2-clever.5.px4
--- a/Drone/Firmware/clever-3-lpe-flow.params
+++ b/Drone/Firmware/clever-3-lpe-flow.params
@@ -1,53 +0,0 @@
-# Onboard parameters for LPE setup
-#
-# Stack: PX4 Pro
-# Vehicle: Multi-Rotor
-# Version: 1.8.2
-#
-
-# Vehicle-Id Component-Id Name Value Type
-1	1	ATT_EXT_HDG_M	1	6
-1	1	ATT_W_EXT_HDG	0.500000000000000000	9
-1	1	ATT_W_MAG	0.000000000000000000	9
-1	1	CBRK_IO_SAFETY	22027	6
-1	1	CBRK_USB_CHK	197848	6
-1	1	COM_ARM_MAG	1.000000000000000000	9
-1	1	COM_DISARM_LAND	1	6
-1	1	COM_FLTMODE1	8	6
-1	1	COM_FLTMODE4	2	6
-1	1	COM_FLTMODE6	2	6
-1	1	COM_LOW_BAT_ACT	2	6
-1	1	COM_RC_LOSS_T	2.000000000000000000	9
-1	1	LNDMC_ROT_MAX	45.000000000000000000	9
-1	1	LNDMC_THR_RANGE	0.800000000000000000	9
-1	1	LNDMC_Z_VEL_MAX	1.000000000000000000	9
-1	1	LPE_FLW_QMIN	10	6
-1	1	LPE_FLW_R	0.200000001490116119	9
-1	1	LPE_FLW_RR	0.000000000000000000	9
-1	1	LPE_FLW_SCALE	1.000000000000000000	9
-1	1	LPE_FUSION	86	6
-1	1	LPE_VIS_DELAY	0.000000000000000000	9
-1	1	LPE_VIS_Z	0.10000005960464478	9
-1	1	MC_PITCHRATE_D	0.001200000056996942	9
-1	1	MC_PITCHRATE_P	0.119999997317790985	9
-1	1	MC_PITCH_P	4.500000000000000000	9
-1	1	MC_ROLLRATE_D	0.001200000056996942	9
-1	1	MC_ROLLRATE_P	0.119999997317790985	9
-1	1	MC_ROLL_P	4.500000000000000000	9
-1	1	MC_YAW_P	2.500000000000000000	9
-1	1	MPC_ACC_DOWN_MAX	2.000000000000000000	9
-1	1	MPC_ACC_UP_MAX	2.000000000000000000	9
-1	1	MPC_MANTHR_MAX	0.899999976158142090	9
-1	1	MPC_THR_HOVER	0.550011920928955	9
-1	1	MPC_THR_MAX	0.899999976158142090	9
-1	1	MPC_XY_P	1.400000023841857910	9
-1	1	MPC_XY_VEL_P	0.100000003576278687	9
-1	1	MPC_Z_VEL_MAX_UP	1.000000000000000000	9
-1	1	MPC_Z_VEL_P	0.300000011920928955	9
-1	1	RC_MAP_FLTMODE	5	6
-1	1	SENS_FLOW_MAXHGT	4.000000000000000000	9
-1	1	SENS_FLOW_MAXR	2.500000000000000000	9
-1	1	SENS_FLOW_MINHGT	0.01	9
-1	1	SENS_FLOW_ROT	0	6
-1	1	SYS_HAS_BARO	0	6
-1	1	SYS_MC_EST_GROUP	1	6
--- a/Drone/animation_lib.py
+++ b/Drone/animation_lib.py
@@ -40,7 +40,7 @@ def get_id(filepath="animation.csv"):
                print("No animation id in file")
    return anim_id

-def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0):
+def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0, ratio=1):
    imported_frames = []
    global anim_id
    try:
@@ -62,9 +62,9 @@ def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0):
                frame_number, x, y, z, yaw, red, green, blue = row_0
                imported_frames.append({
                    'number': int(frame_number),
-                    'x': float(x) + x0,
-                    'y': float(y) + y0,
-                    'z': float(z) + z0,
+                    'x': ratio*float(x) + x0,
+                    'y': ratio*float(y) + y0,
+                    'z': ratio*float(z) + z0,
                    'yaw': float(yaw),
                    'red': int(red),
                    'green': int(green),
@@ -74,9 +74,9 @@ def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0):
                frame_number, x, y, z, yaw, red, green, blue = row
                imported_frames.append({
                    'number': int(frame_number),
-                    'x': float(x) + x0,
-                    'y': float(y) + y0,
-                    'z': float(z) + z0,
+                    'x': ratio*float(x) + x0,
+                    'y': ratio*float(y) + y0,
+                    'z': ratio*float(z) + z0,
                    'yaw': float(yaw),
                    'red': int(red),
                    'green': int(green),
--- a/Drone/client.py
+++ b/Drone/client.py
@@ -7,6 +7,7 @@ import logging
 import collections
 import ConfigParser
 import selectors2 as selectors
+import threading

 from contextlib import closing

@@ -15,7 +16,7 @@ current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentfra
 parent_dir = os.path.dirname(current_dir)
 sys.path.insert(0, parent_dir) 

-#logging.basicConfig(level=logging.INFO)
+logging.basicConfig(level=logging.DEBUG)
 logger = logging.getLogger(__name__)

 import messaging_lib as messaging
@@ -102,7 +103,7 @@ class Client(object):
        try:
            while True:
                self._reconnect()
-                self._process_connections()
+                #self._process_connections()

        except (KeyboardInterrupt, ):
            logger.critical("Caught interrupt, exiting!")
@@ -141,7 +142,7 @@ class Client(object):
    def _connect(self):
        self.connected = True
        self.client_socket.setblocking(False)
-        events = selectors.EVENT_READ | selectors.EVENT_WRITE
+        events = selectors.EVENT_READ # | selectors.EVENT_WRITE
        self.selector.register(self.client_socket, events, data=self.server_connection)
        self.server_connection.connect(self.selector, self.client_socket, (self.server_host, self.server_port))
        self._process_connections()
@@ -186,25 +187,26 @@ class Client(object):
    def _process_connections(self):
        while True:
            events = self.selector.select(timeout=1)
-            if events:
-                for key, mask in events:
-                    if key.data is None:
-                        pass
-                    else:
-                        connection = key.data
-                        try:
-                            connection.process_events(mask)
+            # logging.debug("tick")
+            for key, mask in events:  # TODO add notifier to client!
+                connection = key.data
+                if connection is None:
+                    pass
+                else:
+                    try:
+                        connection.process_events(mask)

-                        except Exception as error:
-                            logger.error(
-                                "Exception {} occurred for {}! Resetting connection!".format(error, connection.addr)
-                            )
-                            self.server_connection.close()
-                            self.connected = False
+                    except Exception as error:
+                        logger.error(
+                            "Exception {} occurred for {}! Resetting connection!".format(error, connection.addr)
+                        )
+                        self.server_connection.close()
+                        self.connected = False
+
+                        if isinstance(error, OSError):
+                            if error.errno == errno.EINTR:
+                                raise KeyboardInterrupt

-                            if isinstance(error, OSError):
-                                if error.errno == errno.EINTR:
-                                    raise KeyboardInterrupt

            if not self.selector.get_map():
                logger.warning("No active connections left!")
--- a/Drone/client_config.ini
+++ b/Drone/client_config.ini
@@ -16,12 +16,11 @@ port = 123
 [ANIMATION]
 takeoff_animation_check = True
 land_animation_check = True
-frame_delay = 0.1
+frame_delay = 0.15
+ratio = 0.8

 [COPTERS]
-frame_id = aruco_map_flipped
-frame_flipped_width = 1.5
-frame_flipped_height = 6.5
+frame_id = map
 takeoff_height = 2.0
 takeoff_time = 8.0
 safe_takeoff = False
@@ -29,11 +28,22 @@ reach_first_point_time = 8.0
 land_time = 3.0
 x0_common = 0
 y0_common = 0
+z0_common = 0
+
+[FLOOR FRAME]
+parent = aruco_map
+x = 0.0
+y = 0.0
+z = 6.5
+roll = 180
+pitch = 0
+yaw = -90

 [PRIVATE]
 id = /hostname
 use_leds = True
-led_pin = 18
+led_pin = 21
 x0 = 0
 y0 = 0
+z0 = 0

--- a/Drone/client_setup.sh
+++ b/Drone/client_setup.sh
@@ -52,7 +52,6 @@ sed -i "/127.0.1.1/c 127.0.1.1       $3" /etc/hosts

 # set hostname for ROS
 sed -i "/ROS_HOSTNAME/c ROS_HOSTNAME=\'$3\'" /home/pi/.bashrc
-sed -i "/ROS_HOSTNAME/c ROS_HOSTNAME=$3" /lib/systemd/system/roscore.env

 # set ssh message
 cat << EOF | tee /etc/motd
@@ -65,7 +64,7 @@ EOF
 cat << EOF | tee /etc/chrony/chrony.conf
 server $4 iburst
 driftfile /var/lib/chrony/drift
-makestep 1.0 3
+makestep 1.0 -1
 rtcsync
 EOF

--- a/Drone/copter_client.py
+++ b/Drone/copter_client.py
@@ -45,11 +45,14 @@ class CopterClient(client.Client):
        self.LAND_TIME = self.config.getfloat('COPTERS', 'land_time')
        self.X0_COMMON = self.config.getfloat('COPTERS', 'x0_common')
        self.Y0_COMMON = self.config.getfloat('COPTERS', 'y0_common')
+        self.Z0_COMMON = self.config.getfloat('COPTERS', 'z0_common')
        self.TAKEOFF_CHECK = self.config.getboolean('ANIMATION', 'takeoff_animation_check')
        self.LAND_CHECK = self.config.getboolean('ANIMATION', 'land_animation_check')
        self.FRAME_DELAY = self.config.getfloat('ANIMATION', 'frame_delay')
+        self.RATIO = self.config.getfloat('ANIMATION', 'ratio')
        self.X0 = self.config.getfloat('PRIVATE', 'x0')
        self.Y0 = self.config.getfloat('PRIVATE', 'y0')
+        self.Z0 = self.config.getfloat('PRIVATE', 'z0')
        self.USE_LEDS = self.config.getboolean('PRIVATE', 'use_leds')
        self.LED_PIN = self.config.getint('PRIVATE', 'led_pin')

@@ -63,20 +66,28 @@ class CopterClient(client.Client):
        if self.USE_LEDS:
            LedLib.init_led(self.LED_PIN)
        task_manager_instance.start()
-        if self.FRAME_ID == "aruco_map_flipped":
+        if self.FRAME_ID == "floor":
            try:
-                self.FRAME_FLIPPED_HEIGHT = self.config.getfloat('COPTERS', 'frame_flipped_height')
-                self.FRAME_FLIPPED_WIDTH = self.config.getfloat('COPTERS', 'frame_flipped_width')
+                self.FLOOR_DX = self.config.getfloat('FLOOR FRAME', 'x')
+                self.FLOOR_DY = self.config.getfloat('FLOOR FRAME', 'y')
+                self.FLOOR_DZ = self.config.getfloat('FLOOR FRAME', 'z')
+                self.FLOOR_ROLL = self.config.getfloat('FLOOR FRAME', 'roll')
+                self.FLOOR_PITCH = self.config.getfloat('FLOOR FRAME', 'pitch')
+                self.FLOOR_YAW = self.config.getfloat('FLOOR FRAME', 'yaw')
+                self.FLOOR_PARENT = self.config.get('FLOOR FRAME', 'parent')
            except Exception as e:
-                pass
+                raise Exception("Can't make floor frame!")
+                quit()
            else:
                trans = TransformStamped()
-                trans.transform.translation.x = 0.
-                trans.transform.translation.y = self.FRAME_FLIPPED_WIDTH
-                trans.transform.translation.z = self.FRAME_FLIPPED_HEIGHT
-                trans.transform.rotation = Quaternion(*quaternion_from_euler(math.pi,0,0))
-                trans.header.frame_id = "aruco_map"
-                trans.child_frame_id = "aruco_map_flipped"
+                trans.transform.translation.x = self.FLOOR_DX
+                trans.transform.translation.y = self.FLOOR_DY
+                trans.transform.translation.z = self.FLOOR_DZ
+                trans.transform.rotation = Quaternion(*quaternion_from_euler(math.radians(self.FLOOR_ROLL),
+                                                                            math.radians(self.FLOOR_PITCH),
+                                                                            math.radians(self.FLOOR_YAW)))
+                trans.header.frame_id = self.FLOOR_PARENT
+                trans.child_frame_id = self.FRAME_ID
                static_bloadcaster.sendTransform(trans)
        start_subscriber()
        # print(check_state_topic())
@@ -138,6 +149,8 @@ def _response_animation_id():
        frames = animation.load_animation(os.path.abspath("animation.csv"),
                                            x0=client.active_client.X0 + client.active_client.X0_COMMON,
                                            y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
+                                            z0=client.active_client.Z0 + client.active_client.Z0_COMMON,
+                                            ratio=client.active_client.RATIO,
                                            )
        # Correct start and land frames in animation
        corrected_frames, start_action, start_delay = animation.correct_animation(frames,
@@ -202,6 +215,7 @@ def _command_move_start_to_current_position(**kwargs):
    frames = animation.load_animation(os.path.abspath("animation.csv"),
                                        x0=client.active_client.X0_COMMON,
                                        y0=client.active_client.Y0_COMMON,
+                                        ratio=client.active_client.RATIO,
                                        )
    # Correct start and land frames in animation
    corrected_frames, start_action, start_delay = animation.correct_animation(frames,
@@ -225,6 +239,21 @@ def _command_reset_start(**kwargs):
    client.active_client.load_config()
    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):
+    telem = FlightLib.get_telemetry(client.active_client.FRAME_ID)
+    client.active_client.config.set('PRIVATE', 'z0', telem.z)
+    client.active_client.rewrite_config()
+    client.active_client.load_config()
+    print ("Set z offset to {:.2f}".format(client.active_client.Z0))
+
+@messaging.message_callback("reset_z_offset")
+def _command_reset_z(**kwargs):
+    client.active_client.config.set('PRIVATE', 'z0', 0)
+    client.active_client.rewrite_config()
+    client.active_client.load_config()
+    print ("Reset z offset to {:.2f}".format(client.active_client.Z0))
+

@messaging.message_callback("update_repo")
 def _command_update_repo(**kwargs):
@@ -333,6 +362,8 @@ def _play_animation(**kwargs):
    frames = animation.load_animation(os.path.abspath("animation.csv"),
                                        x0=client.active_client.X0 + client.active_client.X0_COMMON,
                                        y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
+                                        z0=client.active_client.Z0 + client.active_client.Z0_COMMON,
+                                        ratio=client.active_client.RATIO,
                                        )
    # Correct start and land frames in animation
    corrected_frames, start_action, start_delay = animation.correct_animation(frames,
--- a/README.md
+++ b/README.md
@@ -1,16 +1,19 @@
 # clever-show
-[![Build Status](https://travis-ci.org/artem30801/CleverSwarm.svg?branch=master)](https://travis-ci.org/artem30801/CleverSwarm)
-[![CodeFactor](https://www.codefactor.io/repository/github/artem30801/cleverswarm/badge)](https://www.codefactor.io/repository/github/artem30801/cleverswarm)
+[Русская версия](README_RU.md)

-Програмное обеспечение для запуска шоу дронов под управлением Raspberry Pi с пакетом COEX [Clever](https://github.com/copterexpress/clever).
+Software for making the drone show controlled by Raspberry Pi and COEX [Clever](https://github.com/CopterExpress/clever) package. 

-### Пакет включает в себя:
-* [Набор ПО для дрона](https://github.com/artem30801/CleverSwarm/tree/master/Drone), включащее в себя библиотеку для автономного полёта, модуль для воспроизведения анимаций и клиентское приложение для удаленного синхронизированного управления
-* [Серверное приложение](https://github.com/artem30801/CleverSwarm/tree/master/Server) для удаленного синхронизированного управления дронами и удобной настройки системы для воспроизведения анимации
-* [Аддон для Blender 2.8](https://github.com/artem30801/CleverSwarm/tree/master/blender-addon) для преобразования анимации полёта коптеров, созданной в Blender, в файлы полётов для каждого коптера
-* [Образ для Raspberry Pi](https://github.com/artem30801/CleverSwarm/releases/latest) для быстрого запуска ПО на коптере
+[![Build Status](https://travis-ci.org/CopterExpress/clever-show.svg?branch=master)](https://travis-ci.org/CopterExpress/clever-show)
+
+## This software includes
+* [Drone side](https://github.com/CopterExpress/clever-show/tree/master/Drone) with autonomous flight module, animation player module and client application for remote synchronized control of drones
+* [Server side](https://github.com/CopterExpress/clever-show/tree/master/Server) for making the drone show with ability of tuning drones, animation and music
+* [Blender 2.8 addon](https://github.com/CopterExpress/clever-show/tree/master/blender-addon) for animation export to drone paths
+* [Raspberry Pi image](https://github.com/CopterExpress/clever-show/releases/latest) for quick launch software on the drones
+
+## Documentation
+Start tutorial is located [here](docs/start-tutorial.md).
+
+Detailed documentation is located in the [docs](https://github.com/CopterExpress/clever-show/tree/master/docs) folder.

-## Документация
-Инструкция по запуску ПО находится [здесь](docs/start-tutorial.md).

-Подробная документация расположена в папке [docs](https://github.com/artem30801/CleverSwarm/tree/master/docs).
--- a/README_RU.md
+++ b/README_RU.md
@@ -0,0 +1,19 @@
+# clever-show
+[English version](README.md)
+
+Програмное обеспечение для запуска шоу дронов под управлением Raspberry Pi с пакетом COEX [Clever](https://github.com/CopterExpress/clever).
+
+[![Build Status](https://travis-ci.org/CopterExpress/clever-show.svg?branch=master)](https://travis-ci.org/CopterExpress/clever-show)
+
+## Пакет включает в себя
+* [Набор ПО для дрона](https://github.com/CopterExpress/clever-show/tree/master/Drone) с библиотекой для автономного полёта, модулем воспроизведения анимаций и клиентским приложением для удаленного синхронизированного управления дронами
+* [Серверное приложение](https://github.com/CopterExpress/clever-show/tree/master/Server) для создания шоу и настройки дронов, анимации и музыки
+* [Аддон для Blender 2.8](https://github.com/CopterExpress/clever-show/tree/master/blender-addon) для преобразования анимации полёта коптеров, созданной в Blender, в файлы полётов для каждого коптера
+* [Образ для Raspberry Pi](https://github.com/CopterExpress/clever-show/releases/latest) для быстрого запуска ПО на коптере
+
+## Документация
+Инструкция по запуску ПО находится [здесь](docs/start-tutorial.md).
+
+Подробная документация расположена в папке [docs](https://github.com/CopterExpress/clever-show/tree/master/docs).
+
+
--- a/Server/chrony.conf
+++ b/Server/chrony.conf
@@ -1,5 +1,11 @@
-server master iburst
+pool 0.ru.pool.ntp.org iburst minpoll 10
+pool 1.ru.pool.ntp.org iburst minpoll 10
+pool 2.ru.pool.ntp.org iburst minpoll 10
+pool 3.ru.pool.ntp.org iburst minpoll 10
 driftfile /var/lib/chrony/drift
+local stratum 8
 allow 192.168.0.0/16
 makestep 1.0 3
-rtcsync
+smoothtime 50000 0.01
+rtcsync
+
--- a/Server/copter_table_models.py
+++ b/Server/copter_table_models.py
@@ -170,74 +170,49 @@ def col_check(col):
 def check_anim(item):
    if not item:
        return None
-    if str(item) == 'No animation':
-        return False
-    else:
-        return True
-
+    return str(item) != 'No animation'

@col_check(2)
 def check_bat_v(item):
    if not item:
        return None
-    if float(item) > 3.2:  # todo config
-        return True
-    else:
-        return False
-
+    return float(item) > 3.2

@col_check(3)
 def check_bat_p(item):
    if not item:
        return None
-    if float(item) > 30:  # todo config
-        return True
-    else:
-        return False
-        #return True #For testing
+    return float(item) > 30

@col_check(4)
 def check_sys_status(item):
    if not item:
        return None
-    if item == "STANDBY":
-        return True
-    else:
-        return False  
+    return item == "STANDBY"

@col_check(5)
 def check_cal_status(item):
    if not item:
        return None
-    if item == "OK":
-        return True
-    else:
-        return False
+    return item == "OK"

@col_check(6)
 def check_selfcheck(item):
    if not item:
        return None
-    if item == "OK":
-        return True
-    else:
-        return False
+    return item == "OK"

@col_check(7)
 def check_cal_status(item):
    if not item:
        return None
-    else:
-        return True
+    return True

@col_check(8)
 def check_time_delta(item):
    if not item:
        return None
-    if abs(float(item)) < 1:
-        return True
-    else:
-        return False
+    return abs(float(item)) < 1


 def all_checks(copter_item):
@@ -263,9 +238,7 @@ def flip_checks(copter_item):
    return True

 def calibrating_check(copter_item):
-    if copter_item[5] == "CALIBRATING":
-        return True
-    return False
+    return copter_item[5] == "CALIBRATING"

 def calibration_ready_check(copter_item):
    if not CopterDataModel.checks[4](copter_item[4]):
--- a/Server/server.py
+++ b/Server/server.py
@@ -143,20 +143,27 @@ class Server:
        logging.info("Client processor (selector) thread started!")
        self.server_socket.listen()
        self.server_socket.setblocking(False)
-        self.sel.register(self.server_socket, selectors.EVENT_READ | selectors.EVENT_WRITE, data=None)
+        self.sel.register(self.server_socket, selectors.EVENT_READ, data=None) #| selectors.EVENT_WRITE
+
+        messaging.NotifierSock().bind((self.ip, self.port))

        while self.client_processor_thread_running.is_set():
            events = self.sel.select()
+            logging.error('tick')
            for key, mask in events:
-                if key.data is None:
+                # logging.error(mask)
+                # logging.error(str(key.data))
+                client = key.data
+                if client is None:
                    self._connect_client(key.fileobj)
-                else:
-                    client = key.data
+                elif isinstance(client, messaging.ConnectionManager):
                    try:
                        client.process_events(mask)
                    except Exception as error:
                        logging.error("Exception {} occurred for {}! Resetting connection!".format(error, client.addr))
                        client.close()
+                else:  # Notifier
+                    client.process_events(mask)

        logging.info("Client autoconnect thread stopped!")

@@ -165,7 +172,11 @@ class Server:
        logging.info("Got connection from: {}".format(str(addr)))
        conn.setblocking(False)

-        if not any([client_addr == addr[0] for client_addr in Client.clients.keys()]):
+        if addr[0] == self.ip and messaging.NotifierSock().addr is None:
+            client = messaging.NotifierSock()
+            logging.info("Notifier sock client")
+
+        elif not any([client_addr == addr[0] for client_addr in Client.clients.keys()]):
            client = Client(addr[0])
            logging.info("New client")
        else:
--- a/Server/server_gui.py
+++ b/Server/server_gui.py
@@ -13,7 +13,7 @@ from PyQt5 import QtCore, QtGui, QtWidgets
 class Ui_MainWindow(object):
    def setupUi(self, MainWindow):
        MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(1220, 613)
+        MainWindow.resize(1220, 750)
        self.centralwidget = QtWidgets.QWidget(MainWindow)
        self.centralwidget.setEnabled(True)
        self.centralwidget.setObjectName("centralwidget")
@@ -43,31 +43,41 @@ class Ui_MainWindow(object):
        self.verticalLayout.setSizeConstraint(QtWidgets.QLayout.SetMaximumSize)
        self.verticalLayout.setObjectName("verticalLayout")
        self.formLayout = QtWidgets.QFormLayout()
-        self.formLayout.setLabelAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
-        self.formLayout.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignTop)
+        self.formLayout.setLabelAlignment(QtCore.Qt.AlignCenter)
+        self.formLayout.setFormAlignment(QtCore.Qt.AlignCenter)
        self.formLayout.setObjectName("formLayout")
-        self.check_button = QtWidgets.QPushButton(self.centralwidget)
-        self.check_button.setEnabled(True)
-        self.check_button.setObjectName("check_button")
-        self.formLayout.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.check_button)
-        self.start_text = QtWidgets.QLabel(self.centralwidget)
-        self.start_text.setAlignment(QtCore.Qt.AlignCenter)
-        self.start_text.setObjectName("start_text")
-        self.formLayout.setWidget(2, QtWidgets.QFormLayout.LabelRole, self.start_text)
+        self.music_text = QtWidgets.QLabel(self.centralwidget)
+        self.music_text.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.music_text.setObjectName("music_text")
+        self.formLayout.setWidget(3, QtWidgets.QFormLayout.LabelRole, self.music_text)
+        self.music_delay_spin = QtWidgets.QDoubleSpinBox(self.centralwidget)
+        self.music_delay_spin.setDecimals(1)
+        self.music_delay_spin.setObjectName("music_delay_spin")
+        self.formLayout.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.music_delay_spin)
+        self.music_checkbox = QtWidgets.QCheckBox(self.centralwidget)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Minimum, QtWidgets.QSizePolicy.Fixed)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.music_checkbox.sizePolicy().hasHeightForWidth())
+        self.music_checkbox.setSizePolicy(sizePolicy)
+        self.music_checkbox.setLayoutDirection(QtCore.Qt.RightToLeft)
+        self.music_checkbox.setAutoFillBackground(True)
+        self.music_checkbox.setText("")
+        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_button = QtWidgets.QPushButton(self.centralwidget)
-        self.start_button.setEnabled(True)
-        self.start_button.setFlat(False)
-        self.start_button.setObjectName("start_button")
-        self.formLayout.setWidget(3, QtWidgets.QFormLayout.SpanningRole, self.start_button)
-        self.pause_button = QtWidgets.QPushButton(self.centralwidget)
-        self.pause_button.setObjectName("pause_button")
-        self.formLayout.setWidget(4, QtWidgets.QFormLayout.SpanningRole, self.pause_button)
-        self.stop_button = QtWidgets.QPushButton(self.centralwidget)
-        self.stop_button.setObjectName("stop_button")
-        self.formLayout.setWidget(5, QtWidgets.QFormLayout.SpanningRole, self.stop_button)
+        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)
@@ -77,15 +87,21 @@ class Ui_MainWindow(object):
        self.formLayout_2 = QtWidgets.QFormLayout()
        self.formLayout_2.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
        self.formLayout_2.setObjectName("formLayout_2")
-        self.disarm_button = QtWidgets.QPushButton(self.centralwidget)
-        self.disarm_button.setObjectName("disarm_button")
-        self.formLayout_2.setWidget(7, QtWidgets.QFormLayout.SpanningRole, self.disarm_button)
-        self.emergency_button = QtWidgets.QPushButton(self.centralwidget)
-        self.emergency_button.setObjectName("emergency_button")
-        self.formLayout_2.setWidget(6, QtWidgets.QFormLayout.SpanningRole, self.emergency_button)
-        self.disarm_all_button = QtWidgets.QPushButton(self.centralwidget)
-        self.disarm_all_button.setObjectName("disarm_all_button")
-        self.formLayout_2.setWidget(8, QtWidgets.QFormLayout.SpanningRole, self.disarm_all_button)
+        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.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.verticalLayout.addLayout(self.formLayout_2)
        self.line_2 = QtWidgets.QFrame(self.centralwidget)
        self.line_2.setFrameShape(QtWidgets.QFrame.HLine)
@@ -96,19 +112,15 @@ class Ui_MainWindow(object):
        self.formLayout_3.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
        self.formLayout_3.setVerticalSpacing(6)
        self.formLayout_3.setObjectName("formLayout_3")
-        self.leds_button = QtWidgets.QPushButton(self.centralwidget)
-        self.leds_button.setObjectName("leds_button")
-        self.formLayout_3.setWidget(0, QtWidgets.QFormLayout.SpanningRole, self.leds_button)
-        self.takeoff_button = QtWidgets.QPushButton(self.centralwidget)
-        self.takeoff_button.setEnabled(True)
-        self.takeoff_button.setObjectName("takeoff_button")
-        self.formLayout_3.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.takeoff_button)
-        self.flip_button = QtWidgets.QPushButton(self.centralwidget)
-        self.flip_button.setObjectName("flip_button")
-        self.formLayout_3.setWidget(2, QtWidgets.QFormLayout.SpanningRole, self.flip_button)
-        self.land_button = QtWidgets.QPushButton(self.centralwidget)
-        self.land_button.setObjectName("land_button")
-        self.formLayout_3.setWidget(3, QtWidgets.QFormLayout.SpanningRole, self.land_button)
+        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.verticalLayout.addLayout(self.formLayout_3)
        self.line_3 = QtWidgets.QFrame(self.centralwidget)
        self.line_3.setFrameShape(QtWidgets.QFrame.HLine)
@@ -116,18 +128,40 @@ 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.AlignBottom|QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft)
+        self.formLayout_4.setFormAlignment(QtCore.Qt.AlignLeading|QtCore.Qt.AlignLeft|QtCore.Qt.AlignVCenter)
        self.formLayout_4.setObjectName("formLayout_4")
+        self.land_button = QtWidgets.QPushButton(self.centralwidget)
+        self.land_button.setObjectName("land_button")
+        self.formLayout_4.setWidget(3, QtWidgets.QFormLayout.FieldRole, self.land_button)
+        self.flip_button = QtWidgets.QPushButton(self.centralwidget)
+        self.flip_button.setObjectName("flip_button")
+        self.formLayout_4.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.flip_button)
+        self.takeoff_button = QtWidgets.QPushButton(self.centralwidget)
+        self.takeoff_button.setEnabled(True)
+        self.takeoff_button.setObjectName("takeoff_button")
+        self.formLayout_4.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.takeoff_button)
+        self.leds_button = QtWidgets.QPushButton(self.centralwidget)
+        self.leds_button.setObjectName("leds_button")
+        self.formLayout_4.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.leds_button)
+        self.verticalLayout.addLayout(self.formLayout_4)
+        self.line_4 = QtWidgets.QFrame(self.centralwidget)
+        self.line_4.setFrameShape(QtWidgets.QFrame.HLine)
+        self.line_4.setFrameShadow(QtWidgets.QFrame.Sunken)
+        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.setObjectName("formLayout_6")
        self.reboot_fcu = QtWidgets.QPushButton(self.centralwidget)
        self.reboot_fcu.setObjectName("reboot_fcu")
-        self.formLayout_4.setWidget(0, QtWidgets.QFormLayout.SpanningRole, self.reboot_fcu)
+        self.formLayout_6.setWidget(0, QtWidgets.QFormLayout.FieldRole, self.reboot_fcu)
        self.calibrate_gyro = QtWidgets.QPushButton(self.centralwidget)
        self.calibrate_gyro.setObjectName("calibrate_gyro")
-        self.formLayout_4.setWidget(1, QtWidgets.QFormLayout.SpanningRole, self.calibrate_gyro)
+        self.formLayout_6.setWidget(1, QtWidgets.QFormLayout.FieldRole, self.calibrate_gyro)
        self.calibrate_level = QtWidgets.QPushButton(self.centralwidget)
        self.calibrate_level.setObjectName("calibrate_level")
-        self.formLayout_4.setWidget(2, QtWidgets.QFormLayout.SpanningRole, self.calibrate_level)
-        self.verticalLayout.addLayout(self.formLayout_4)
+        self.formLayout_6.setWidget(2, QtWidgets.QFormLayout.FieldRole, self.calibrate_level)
+        self.verticalLayout.addLayout(self.formLayout_6)
        self.horizontalLayout.addLayout(self.verticalLayout)
        self.horizontalLayout.setStretch(0, 1)
        self.gridLayout.addLayout(self.horizontalLayout, 0, 0, 1, 1)
@@ -143,6 +177,10 @@ class Ui_MainWindow(object):
        self.menuTable.setObjectName("menuTable")
        self.menuAnimation = QtWidgets.QMenu(self.menubar)
        self.menuAnimation.setObjectName("menuAnimation")
+        self.menuDrone = QtWidgets.QMenu(self.menubar)
+        self.menuDrone.setObjectName("menuDrone")
+        self.menuMusic = QtWidgets.QMenu(self.menubar)
+        self.menuMusic.setObjectName("menuMusic")
        MainWindow.setMenuBar(self.menubar)
        self.action_send_animations = QtWidgets.QAction(MainWindow)
        self.action_send_animations.setObjectName("action_send_animations")
@@ -166,6 +204,16 @@ class Ui_MainWindow(object):
        self.action_set_start_to_current_position.setObjectName("action_set_start_to_current_position")
        self.action_reset_start = QtWidgets.QAction(MainWindow)
        self.action_reset_start.setObjectName("action_reset_start")
+        self.action_set_z_offset_to_ground = QtWidgets.QAction(MainWindow)
+        self.action_set_z_offset_to_ground.setObjectName("action_set_z_offset_to_ground")
+        self.action_reset_z_offset = QtWidgets.QAction(MainWindow)
+        self.action_reset_z_offset.setObjectName("action_reset_z_offset")
+        self.action_select_music_file = QtWidgets.QAction(MainWindow)
+        self.action_select_music_file.setObjectName("action_select_music_file")
+        self.action_play_music = QtWidgets.QAction(MainWindow)
+        self.action_play_music.setObjectName("action_play_music")
+        self.action_test_music_after = QtWidgets.QAction(MainWindow)
+        self.action_test_music_after.setObjectName("action_test_music_after")
        self.menuDeveloper_mode.addAction(self.action_send_launch_file)
        self.menuDeveloper_mode.addAction(self.action_restart_clever)
        self.menuDeveloper_mode.addAction(self.action_restart_clever_show)
@@ -178,35 +226,40 @@ class Ui_MainWindow(object):
        self.menuTable.addAction(self.action_select_all_rows)
        self.menuAnimation.addAction(self.action_set_start_to_current_position)
        self.menuAnimation.addAction(self.action_reset_start)
+        self.menuDrone.addAction(self.action_set_z_offset_to_ground)
+        self.menuDrone.addAction(self.action_reset_z_offset)
+        self.menuMusic.addAction(self.action_select_music_file)
+        self.menuMusic.addAction(self.action_play_music)
+        self.menuMusic.addAction(self.action_test_music_after)
        self.menubar.addAction(self.menuOptions.menuAction())
        self.menubar.addAction(self.menuAnimation.menuAction())
+        self.menubar.addAction(self.menuDrone.menuAction())
+        self.menubar.addAction(self.menuMusic.menuAction())
        self.menubar.addAction(self.menuTable.menuAction())

        self.retranslateUi(MainWindow)
        QtCore.QMetaObject.connectSlotsByName(MainWindow)
-        MainWindow.setTabOrder(self.check_button, self.start_delay_spin)
-        MainWindow.setTabOrder(self.start_delay_spin, self.start_button)
-        MainWindow.setTabOrder(self.start_button, self.pause_button)
-        MainWindow.setTabOrder(self.pause_button, self.stop_button)
-        MainWindow.setTabOrder(self.stop_button, self.disarm_button)
-        MainWindow.setTabOrder(self.disarm_button, self.tableView)
+        MainWindow.setTabOrder(self.start_delay_spin, self.tableView)

    def retranslateUi(self, MainWindow):
        _translate = QtCore.QCoreApplication.translate
        MainWindow.setWindowTitle(_translate("MainWindow", "Clever Drone Animation Player"))
-        self.check_button.setText(_translate("MainWindow", "Preflight check"))
-        self.start_text.setText(_translate("MainWindow", "Start after"))
-        self.start_delay_spin.setSuffix(_translate("MainWindow", " seconds"))
-        self.start_button.setText(_translate("MainWindow", "Start animation"))
-        self.pause_button.setText(_translate("MainWindow", "Pause"))
+        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.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.disarm_all_button.setText(_translate("MainWindow", "Disarm ALL"))
-        self.leds_button.setText(_translate("MainWindow", "Test leds"))
-        self.takeoff_button.setText(_translate("MainWindow", "Takeoff"))
-        self.flip_button.setText(_translate("MainWindow", "Flip"))
        self.land_button.setText(_translate("MainWindow", "Land"))
+        self.flip_button.setText(_translate("MainWindow", "Flip"))
+        self.takeoff_button.setText(_translate("MainWindow", "Takeoff"))
+        self.leds_button.setText(_translate("MainWindow", "Test leds"))
        self.reboot_fcu.setText(_translate("MainWindow", "Reboot FCU"))
        self.calibrate_gyro.setText(_translate("MainWindow", "Calibrate gyro"))
        self.calibrate_level.setText(_translate("MainWindow", "Calibrate level"))
@@ -214,6 +267,8 @@ class Ui_MainWindow(object):
        self.menuDeveloper_mode.setTitle(_translate("MainWindow", "Developer mode"))
        self.menuTable.setTitle(_translate("MainWindow", "Table"))
        self.menuAnimation.setTitle(_translate("MainWindow", "Animation"))
+        self.menuDrone.setTitle(_translate("MainWindow", "Drone"))
+        self.menuMusic.setTitle(_translate("MainWindow", "Music"))
        self.action_send_animations.setText(_translate("MainWindow", "Send Animations"))
        self.action_send_configurations.setText(_translate("MainWindow", "Send Configurations"))
        self.action_send_Aruco_map.setText(_translate("MainWindow", "Send Aruco map"))
@@ -224,5 +279,10 @@ class Ui_MainWindow(object):
        self.action_restart_clever_show.setText(_translate("MainWindow", "Restart clever-show service"))
        self.action_select_all_rows.setText(_translate("MainWindow", "Select All"))
        self.action_select_all_rows.setShortcut(_translate("MainWindow", "Ctrl+A"))
-        self.action_set_start_to_current_position.setText(_translate("MainWindow", "Set start to current position"))
+        self.action_set_start_to_current_position.setText(_translate("MainWindow", "Set start X Y to current position"))
        self.action_reset_start.setText(_translate("MainWindow", "Reset start position"))
+        self.action_set_z_offset_to_ground.setText(_translate("MainWindow", "Set Z offset to ground"))
+        self.action_reset_z_offset.setText(_translate("MainWindow", "Reset Z offset"))
+        self.action_select_music_file.setText(_translate("MainWindow", "Select music file"))
+        self.action_play_music.setText(_translate("MainWindow", "Play music"))
+        self.action_test_music_after.setText(_translate("MainWindow", "Test music after"))
--- a/Server/server_gui.ui
+++ b/Server/server_gui.ui
@@ -7,7 +7,7 @@
    <x>0</x>
    <y>0</y>
    <width>1220</width>
-    <height>613</height>
+    <height>750</height>
   </rect>
  </property>
  <property name="windowTitle">
@@ -68,62 +68,80 @@
        <item>
         <layout class="QFormLayout" name="formLayout">
          <property name="labelAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+           <set>Qt::AlignCenter</set>
          </property>
          <property name="formAlignment">
-           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+           <set>Qt::AlignCenter</set>
          </property>
-          <item row="1" column="0" colspan="2">
-           <widget class="QPushButton" name="check_button">
-            <property name="enabled">
-             <bool>true</bool>
+          <item row="3" column="0">
+           <widget class="QLabel" name="music_text">
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
            </property>
            <property name="text">
-             <string>Preflight check</string>
+             <string>  Music after</string>
            </property>
           </widget>
          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="start_text">
-            <property name="text">
-             <string>Start after</string>
+          <item row="3" column="1">
+           <widget class="QDoubleSpinBox" name="music_delay_spin">
+            <property name="suffix">
+             <string> s</string>
            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
+            <property name="decimals">
+             <number>1</number>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QCheckBox" name="music_checkbox">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
+            </property>
+            <property name="autoFillBackground">
+             <bool>true</bool>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+            <property name="checked">
+             <bool>false</bool>
+            </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> seconds</string>
+             <string> s</string>
            </property>
           </widget>
          </item>
-          <item row="3" column="0" colspan="2">
-           <widget class="QPushButton" name="start_button">
-            <property name="enabled">
-             <bool>true</bool>
+          <item row="2" column="0">
+           <widget class="QLabel" name="start_text">
+            <property name="layoutDirection">
+             <enum>Qt::RightToLeft</enum>
            </property>
            <property name="text">
-             <string>Start animation</string>
+             <string>  Start after</string>
            </property>
-            <property name="flat">
-             <bool>false</bool>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="0" colspan="2">
-           <widget class="QPushButton" name="pause_button">
-            <property name="text">
-             <string>Pause</string>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="0" colspan="2">
-           <widget class="QPushButton" name="stop_button">
-            <property name="text">
-             <string>Stop and land all</string>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
            </property>
           </widget>
          </item>
@@ -141,24 +159,40 @@
          <property name="formAlignment">
           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
          </property>
-          <item row="7" column="0" colspan="2">
-           <widget class="QPushButton" name="disarm_button">
+          <item row="10" column="1">
+           <widget class="QPushButton" name="stop_button">
            <property name="text">
-             <string>Disarm selected</string>
+             <string>Stop and land all</string>
            </property>
           </widget>
          </item>
-          <item row="6" column="0" colspan="2">
-           <widget class="QPushButton" name="emergency_button">
+          <item row="9" column="1">
+           <widget class="QPushButton" name="pause_button">
            <property name="text">
-             <string>Emergency land</string>
+             <string>Pause</string>
            </property>
           </widget>
          </item>
-          <item row="8" column="0" colspan="2">
-           <widget class="QPushButton" name="disarm_all_button">
+          <item row="8" column="1">
+           <widget class="QPushButton" name="start_button">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
            <property name="text">
-             <string>Disarm ALL</string>
+             <string>Start animation</string>
+            </property>
+            <property name="flat">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="1">
+           <widget class="QPushButton" name="check_button">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
+            <property name="text">
+             <string>Preflight check</string>
            </property>
           </widget>
          </item>
@@ -179,34 +213,24 @@
          <property name="verticalSpacing">
           <number>6</number>
          </property>
-          <item row="0" column="0" colspan="2">
-           <widget class="QPushButton" name="leds_button">
+          <item row="3" column="1">
+           <widget class="QPushButton" name="disarm_all_button">
            <property name="text">
-             <string>Test leds</string>
+             <string>Disarm ALL</string>
            </property>
           </widget>
          </item>
-          <item row="1" column="0" colspan="2">
-           <widget class="QPushButton" name="takeoff_button">
-            <property name="enabled">
-             <bool>true</bool>
-            </property>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="disarm_button">
            <property name="text">
-             <string>Takeoff</string>
+             <string>Disarm selected</string>
            </property>
           </widget>
          </item>
-          <item row="2" column="0" colspan="2">
-           <widget class="QPushButton" name="flip_button">
+          <item row="0" column="1">
+           <widget class="QPushButton" name="emergency_button">
            <property name="text">
-             <string>Flip</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0" colspan="2">
-           <widget class="QPushButton" name="land_button">
-            <property name="text">
-             <string>Land</string>
+             <string>Emergency land</string>
            </property>
           </widget>
          </item>
@@ -222,23 +246,68 @@
        <item>
         <layout class="QFormLayout" name="formLayout_4">
          <property name="formAlignment">
-           <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
          </property>
-          <item row="0" column="0" colspan="2">
+          <item row="3" column="1">
+           <widget class="QPushButton" name="land_button">
+            <property name="text">
+             <string>Land</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QPushButton" name="flip_button">
+            <property name="text">
+             <string>Flip</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QPushButton" name="takeoff_button">
+            <property name="enabled">
+             <bool>true</bool>
+            </property>
+            <property name="text">
+             <string>Takeoff</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QPushButton" name="leds_button">
+            <property name="text">
+             <string>Test leds</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="Line" name="line_4">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QFormLayout" name="formLayout_6">
+          <property name="formAlignment">
+           <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+          </property>
+          <item row="0" column="1">
           <widget class="QPushButton" name="reboot_fcu">
            <property name="text">
             <string>Reboot FCU</string>
            </property>
           </widget>
          </item>
-          <item row="1" column="0" colspan="2">
+          <item row="1" column="1">
           <widget class="QPushButton" name="calibrate_gyro">
            <property name="text">
             <string>Calibrate gyro</string>
            </property>
           </widget>
          </item>
-          <item row="2" column="0" colspan="2">
+          <item row="2" column="1">
           <widget class="QPushButton" name="calibrate_level">
            <property name="text">
             <string>Calibrate level</string>
@@ -294,8 +363,25 @@
    <addaction name="action_set_start_to_current_position"/>
    <addaction name="action_reset_start"/>
   </widget>
+   <widget class="QMenu" name="menuDrone">
+    <property name="title">
+     <string>Drone</string>
+    </property>
+    <addaction name="action_set_z_offset_to_ground"/>
+    <addaction name="action_reset_z_offset"/>
+   </widget>
+   <widget class="QMenu" name="menuMusic">
+    <property name="title">
+     <string>Music</string>
+    </property>
+    <addaction name="action_select_music_file"/>
+    <addaction name="action_play_music"/>
+    <addaction name="action_test_music_after"/>
+   </widget>
   <addaction name="menuOptions"/>
   <addaction name="menuAnimation"/>
+   <addaction name="menuDrone"/>
+   <addaction name="menuMusic"/>
   <addaction name="menuTable"/>
  </widget>
  <action name="action_send_animations">
@@ -348,7 +434,7 @@
  </action>
  <action name="action_set_start_to_current_position">
   <property name="text">
-    <string>Set start to current position</string>
+    <string>Set start X Y to current position</string>
   </property>
  </action>
  <action name="action_reset_start">
@@ -356,14 +442,34 @@
    <string>Reset start position</string>
   </property>
  </action>
+  <action name="action_set_z_offset_to_ground">
+   <property name="text">
+    <string>Set Z offset to ground</string>
+   </property>
+  </action>
+  <action name="action_reset_z_offset">
+   <property name="text">
+    <string>Reset Z offset</string>
+   </property>
+  </action>
+  <action name="action_select_music_file">
+   <property name="text">
+    <string>Select music file</string>
+   </property>
+  </action>
+  <action name="action_play_music">
+   <property name="text">
+    <string>Play music</string>
+   </property>
+  </action>
+  <action name="action_test_music_after">
+   <property name="text">
+    <string>Test music after</string>
+   </property>
+  </action>
 </widget>
 <tabstops>
-  <tabstop>check_button</tabstop>
  <tabstop>start_delay_spin</tabstop>
-  <tabstop>start_button</tabstop>
-  <tabstop>pause_button</tabstop>
-  <tabstop>stop_button</tabstop>
-  <tabstop>disarm_button</tabstop>
  <tabstop>tableView</tabstop>
 </tabstops>
 <resources/>
--- a/Server/server_qt.py
+++ b/Server/server_qt.py
@@ -1,12 +1,14 @@
 import os
 import glob
 import math
+import asyncio

-from PyQt5 import QtWidgets
+from PyQt5 import QtWidgets, QtMultimedia
 from PyQt5.QtGui import QStandardItemModel, QStandardItem
-from PyQt5.QtCore import Qt, pyqtSlot, pyqtSignal, QObject
+from PyQt5.QtCore import Qt, pyqtSlot, pyqtSignal, QObject, QUrl

 from PyQt5.QtWidgets import QFileDialog, QMessageBox
+from quamash import QEventLoop

 # Importing gui form
 from server_gui import Ui_MainWindow
@@ -18,6 +20,18 @@ from emergency import *
 import threading


+def wait(end, interrupter=threading.Event(), maxsleep=0.1):
+    # Added features to interrupter sleep and set max sleeping interval
+
+    while not interrupter.is_set():  # Basic implementation of pause module until()
+        now = time.time()
+        diff = min(end - now, maxsleep)
+        if diff <= 0:
+            break
+        else:
+            time.sleep(diff / 2)
+
+
 def confirmation_required(text="Are you sure?", label="Confirm operation?"):
    def inner(f):

@@ -41,7 +55,7 @@ def confirmation_required(text="Are you sure?", label="Confirm operation?"):

 # noinspection PyArgumentList,PyCallByClass
 class MainWindow(QtWidgets.QMainWindow):
-    def __init__(self):
+    def __init__(self, loop):
        super(MainWindow, self).__init__()

        self.ui = Ui_MainWindow()
@@ -54,6 +68,8 @@ class MainWindow(QtWidgets.QMainWindow):
        self.gyro_calibrated = {}
        self.level_calibrated = {}
        self.first_col_is_checked = False
+        self.player = QtMultimedia.QMediaPlayer()
+        self.loop = loop

        self.init_model()
        
@@ -123,6 +139,11 @@ class MainWindow(QtWidgets.QMainWindow):
        self.ui.action_update_client_repo.triggered.connect(self.update_client_repo)
        self.ui.action_set_start_to_current_position.triggered.connect(self.update_start_to_current_position)
        self.ui.action_reset_start.triggered.connect(self.reset_start)
+        self.ui.action_set_z_offset_to_ground.triggered.connect(self.set_z_offset_to_ground)
+        self.ui.action_reset_z_offset.triggered.connect(self.reset_z_offset)
+        self.ui.action_select_music_file.triggered.connect(self.select_music_file)
+        self.ui.action_play_music.triggered.connect(self.play_music)
+        self.ui.action_test_music_after.triggered.connect(self.test_music_after)

        # Set most safety-important buttons disabled
        self.ui.start_button.setEnabled(False)
@@ -178,6 +199,11 @@ class MainWindow(QtWidgets.QMainWindow):
    @pyqtSlot()
    def send_starttime_selected(self, **kwargs):
        dt = self.ui.start_delay_spin.value()
+        logging.info('Wait {} seconds to start animation'.format(dt))
+        if self.ui.music_checkbox.isChecked():
+            music_dt = self.ui.music_delay_spin.value()
+            asyncio.ensure_future(self.play_music_after(music_dt), loop=self.loop)
+            logging.info('Wait {} seconds to play music'.format(music_dt))
        self.selfcheck_selected()
        for copter in self.model.user_selected():
            if all_checks(copter):
@@ -351,6 +377,59 @@ class MainWindow(QtWidgets.QMainWindow):
        for copter in self.model.user_selected():
            copter.client.send_message("reset_start")

+    @pyqtSlot()
+    def set_z_offset_to_ground(self):
+        for copter in self.model.user_selected():
+            copter.client.send_message("set_z_to_ground")
+
+    @pyqtSlot()
+    def reset_z_offset(self):
+        for copter in self.model.user_selected():
+            copter.client.send_message("reset_z_offset")
+
+    @pyqtSlot()
+    def select_music_file(self):
+        path = QFileDialog.getOpenFileName(self, "Select music file", filter="Music files (*.mp3)")[0]
+        if path:
+            media = QUrl.fromLocalFile(path)
+            content = QtMultimedia.QMediaContent(media)           
+            self.player.setMedia(content)
+
+    @pyqtSlot()
+    def play_music(self):
+        if self.player.mediaStatus() == QtMultimedia.QMediaPlayer.InvalidMedia:
+            logger.info("Can't play media")
+            return
+        if self.player.mediaStatus() == QtMultimedia.QMediaPlayer.NoMedia:
+            logger.info("No media file")
+            return
+        
+        if self.player.state() == QtMultimedia.QMediaPlayer.StoppedState or \
+            self.player.state() == QtMultimedia.QMediaPlayer.PausedState:
+            self.player.play()
+        else:
+            self.player.pause()
+        
+    
+    @asyncio.coroutine
+    def play_music_after(self, delay=0.):
+        if self.player.mediaStatus() == QtMultimedia.QMediaPlayer.InvalidMedia:
+            logger.info("Can't play media")
+            return
+        if self.player.mediaStatus() == QtMultimedia.QMediaPlayer.NoMedia:
+            logger.info("No media file")
+            return
+        self.player.stop()
+        wait(time.time()+delay)
+        logging.info("Play music")
+        self.player.play()
+
+    @pyqtSlot()
+    def test_music_after(self):
+        dt = self.ui.music_delay_spin.value()
+        asyncio.ensure_future(self.play_music_after(dt), loop=self.loop)
+        logging.info('Wait {} seconds to play music'.format(dt))
+
    @pyqtSlot()
    def emergency(self):
        client_row_min = 0
@@ -401,13 +480,18 @@ class MainWindow(QtWidgets.QMainWindow):

 if __name__ == "__main__":
    app = QtWidgets.QApplication(sys.argv)
-    window = MainWindow()
+    loop = QEventLoop(app)
+    asyncio.set_event_loop(loop)
+    window = MainWindow(loop)

    Client.on_first_connect = window.client_connected

    server = Server(on_stop=app.quit)
    server.start()

-    app.exec_()
+    #app.exec_()
+    with loop:
+        loop.run_forever()
+
    server.stop()
    sys.exit()
--- a/builder/assets/clever-show.service
+++ b/builder/assets/clever-show.service
@@ -3,9 +3,9 @@ Description=Clever Show Client Service
 After=clever.service

 [Service]
-WorkingDirectory=/home/pi/CleverSwarm/Drone
-EnvironmentFile=/lib/systemd/system/roscore.env
-ExecStart=/usr/bin/python /home/pi/CleverSwarm/Drone/copter_client.py
+WorkingDirectory=/home/pi/clever-show/Drone
+ExecStart=/bin/bash -c ". /home/pi/catkin_ws/devel/setup.sh; \
+                      /usr/bin/python /home/pi/clever-show/Drone/copter_client.py"
 KillSignal=SIGKILL
 Restart=on-failure
 RestartSec=3
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -2,7 +2,7 @@

 set -e # Exit immidiately on non-zero result

-SOURCE_IMAGE="https://github.com/CopterExpress/clever/releases/download/v0.17/clever_v0.17.img.zip"
+SOURCE_IMAGE="https://github.com/CopterExpress/clever/releases/download/v0.18/clever_v0.18.img.zip"

 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -41,6 +41,7 @@ if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="$(cd ${REPO_DIR}; git log --forma
 # IMAGE_VERSION="${TRAVIS_TAG:=$(cd ${REPO_DIR}; git log --format=%h -1)}"
 REPO_URL="$(cd ${REPO_DIR}; git remote --verbose | grep origin | grep fetch | cut -f2 | cut -d' ' -f1 | sed 's/git@github\.com\:/https\:\/\/github.com\//')"
 REPO_NAME="$(basename -s '.git' ${REPO_URL})"
+echo_stamp "REPO_NAME=${REPO_NAME}" "INFO"
 IMAGE_NAME="${REPO_NAME}_${IMAGE_VERSION}.img"
 echo_stamp "IMAGE_NAME=${IMAGE_NAME}" "INFO"
 IMAGE_PATH="${IMAGES_DIR}/${IMAGE_NAME}"
@@ -99,10 +100,10 @@ echo_stamp "Mount dirs ${MOUNT_POINT} & ${MOUNT_POINT}/boot"
 mount "${DEV_IMAGE}p2" ${MOUNT_POINT}
 mount "${DEV_IMAGE}p1" ${MOUNT_POINT}/boot

-mkdir -p ${MOUNT_POINT}'/home/pi/CleverSwarm/'
+mkdir -p ${MOUNT_POINT}'/home/pi/clever-show/'
 for dir in ${REPO_DIR}/*; do
  if [[ $dir != *"images" && $dir != *"imgcache" ]]; then
-    cp -r $dir ${MOUNT_POINT}'/home/pi/CleverSwarm/'$(basename $dir)
+    cp -r $dir ${MOUNT_POINT}'/home/pi/clever-show/'$(basename $dir)
  fi;
 done

--- a/builder/image-software.sh
+++ b/builder/image-software.sh
@@ -50,7 +50,7 @@ my_travis_retry() {
 }

 echo_stamp "Change repo owner to pi"
-chown -Rf pi:pi /home/pi/CleverSwarm/
+chown -Rf pi:pi /home/pi/clever-show/

 echo_stamp "Update apt cache"
 apt-get update -qq
@@ -65,8 +65,13 @@ chrony \
 echo_stamp "Install python libs"
 my_travis_retry pip install selectors2

-cd /home/pi/catkin_ws
+echo_stamp "Install catkin packages"
+cd /home/pi/catkin_ws/src
+git clone https://github.com/CopterExpress/clever_tools.git
+cd ..
 source devel/setup.bash
+catkin_make --pkg clever_flight_routines
 catkin_make aruco_pose
+source devel/setup.bash

 echo_stamp "End of software installation"
--- a/messaging_lib.py
+++ b/messaging_lib.py
@@ -1,6 +1,7 @@
 import io
 import sys
 import json
+import socket
 import struct
 import random
 import logging
@@ -12,13 +13,28 @@ try:
 except ImportError:
    import selectors2 as selectors

-#import logging_lib
+# import logging_lib

 PendingRequest = collections.namedtuple("PendingRequest", ["value", "requested_value",  # "expires_on",
                                                           "callback", "callback_args", "callback_kwargs",
                                                           ])
 logger = logging.getLogger(__name__)
-#logger = logging_lib.Logger(_logger, True)
+
+
+# logger = logging_lib.Logger(_logger, True)
+
+
+class _Singleton(type):
+    """ A metaclass that creates a Singleton base class when called. """
+    _instances = {}
+
+    def __call__(cls, *args, **kwargs):
+        if cls not in cls._instances:
+            cls._instances[cls] = super(_Singleton, cls).__call__(*args, **kwargs)
+        return cls._instances[cls]
+
+
+class Singleton(_Singleton('SingletonMeta', (object,), {})): pass


 class MessageManager:
@@ -196,14 +212,17 @@ class ConnectionManager(object):
            events = selectors.EVENT_READ | selectors.EVENT_WRITE
        else:
            raise ValueError("Invalid events mask mode {}.".format(mode))
-        self.selector.modify(self.socket, events, data=self)
+
+        key = self.selector.modify(self.socket, events, data=self)
+        logging.debug("Switched selector of {} to mode {}".format(self.addr, key.events))
+        return key

    def connect(self, client_selector, client_socket, client_addr):
        self.selector = client_selector
        self.socket = client_socket
        self.addr = client_addr

-        self._set_selector_events_mask('rw')
+        self._set_selector_events_mask('r')

    def close(self):
        logger.info("Closing connection to {}".format(self.addr))
@@ -269,7 +288,8 @@ class ConnectionManager(object):

    def process_received(self, income_message):
        message_type = income_message.jsonheader["message-type"]
-        logger.debug("Received message! Header: {}, content: {}".format(income_message.jsonheader, income_message.content))
+        logger.debug(
+            "Received message! Header: {}, content: {}".format(income_message.jsonheader, income_message.content))

        if message_type == "message":
            self._process_message(income_message)
@@ -339,6 +359,8 @@ class ConnectionManager(object):
                self._send_buffer += message
        if self._send_buffer:
            self._write()
+        else:
+            self._set_selector_events_mask('r')  # we're done writing

    def _write(self):
        try:
@@ -347,7 +369,8 @@ class ConnectionManager(object):
            # Resource temporarily unavailable (errno EWOULDBLOCK)
            pass
        except Exception as error:
-            logger.warning("Attempt to send message {} to {} failed due error: {}".format(self._send_buffer, self.addr, error))
+            logger.warning(
+                "Attempt to send message {} to {} failed due error: {}".format(self._send_buffer, self.addr, error))

            if not self.resume_queue:
                self._send_buffer = b''
@@ -361,6 +384,10 @@ class ConnectionManager(object):
        with self._send_lock:
            self._send_queue.append(data)

+        if self.selector.get_key(self.socket).events != selectors.EVENT_WRITE:
+            self._set_selector_events_mask('w')
+            NotifierSock().notify()
+
    def get_response(self, requested_value, callback, request_args=None,  # timeout=30,
                     callback_args=(), callback_kwargs=None):
        if request_args is None:
@@ -397,3 +424,43 @@ class ConnectionManager(object):
            self._send(MessageManager.create_message(
                data, "binary", "filetransfer", "binary", {"filepath": dest_filepath}
            ))
+
+
+class NotifierSock(Singleton):
+    def __init__(self):
+        self.receive_socket = None
+        self.addr = None
+
+        self._notify_socket = None
+        self._notify_lock = threading.Lock()
+
+    def bind(self, server_addr):
+        self._notify_socket = socket.socket()
+        self._notify_socket.connect(server_addr)
+        logger.info("Notify socket: bind")
+
+    def connect(self, _, client_socket, client_addr):
+        self.receive_socket = client_socket
+        self.addr = client_addr
+
+        logger.info("Notify socket: connected")
+
+    def notify(self):
+        with self._notify_lock:
+            if self.addr is not None:
+                self._notify_socket.sendall(bytes(1))
+                logger.debug("Notify socket: notified")
+
+    def process_events(self, mask):
+        if mask & selectors.EVENT_READ:
+            try:
+                data = self.receive_socket.recv(1024)
+            except Exception:  # TODO remove
+                pass
+            else:
+                if data:
+                    logger.debug("Notifier received {} from {}".format(data, self.addr))
+                else:
+                    self.addr = None
+                    logger.warning("Notifier: connection to {} lost!".format(self.addr))
+