Feature branch: IMPORTANT connection+telemetry+table fixes and improvements (#55)

* .client_connected > .new_client_connected

* Fixed 'confirmation_required' wrapper

* Logging impr

* Changed and optimized a lot checks behaviour

* Added indication of connected/disconnected copters

* update_data_signal changed signature

* Added client removing functionality

* Option for automatically remove disconnected copters from table

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

* Server: Check if self.clients list is not empty when trying to pop element from it

* Probably fixes behaviour of non-immidiate data sending from server

* Added changing hostname of copter

* Updated config

* Preview of selfchecheck results on double click

* Delete doc_2019-10-16_17-57-17.bashrc

* Update table data models for selfcheck

* Server: modify set id request to message

* Update client_config default file

* Client: modify set new id function

* Client: add avahi-daemon to restart when restarting network

* Client: add new hostname to ssh motd message, do not change hostname if no network restart in config

* Client: add newline to motd message

* Optimized request behaviour

* Client: fix service file and restart order

* Client: Add SO_KEEPALIVE and TCP_NODELAY options to client socket

* Modify to last tests with ping

* Client: remove ping

* Client: select reboot option when change id and add execute command

* Server: Add SO_KEEPALIVE option to server socket

* Server: Change removing copter

* Request resending after disconnection

* Resending improval (for furthrer functionality & fixes

* Fix of client removing behaviour

* Debugging

* Revert dubug code; 'Remove' fix confirmed

* do not clear requests queue

* Update requirements.txt

* Added namespace class to fix resend

* Improvements and simplification of notifier + port to client

* Refactor of telemetry thread

* Simplify lambdas

* Compress hostname check to single regex

* Changes in telemetry

* Refactored formatting of telemetry in table. NOT DONE

* Fix

* Git checkout. REVERT later!

* Conection fix

* Compability fixes

* Update start position

* Fix for reconnection with notifier socket

* Added traceback for pyqt5

* Fixes in new telemetry display

* Added lock to Telemetry

* Fixes for table display

* Fix of doubling line of client in table

* Fix of mass-removing clients from table

* Fix for clinet double-connection+removal

* Fix lock in Telemetry

* Changed signature of response callbacks for better syntax & fixes (all tested)

* Revert "Git checkout. REVERT later!"

This reverts commit 6122352380.

* Server: fix formatters

* Client: Remove telemetry_loop, small refactor of Telemetry class

* Server: Add formatters

* Server: Very small refactor

* Server: Fix checks and formatters

* Client: Fix check_failsafe function, small code refactor

* Client: update default config file

Server/copter_table_models.py

@@ -1,10 +1,10 @@
-import sys
 import re
+import sys
+import time
 import math
 import configparser
 import collections
 import indexed
-from server import ConfigOption
 
 from PyQt5 import QtCore, QtGui, QtWidgets
 from PyQt5.QtCore import Qt as Qt
@@ -16,11 +16,100 @@ ModelStateRole = 999
 config = configparser.ConfigParser()
 config.read("server_config.ini")
 
+battery_min = config.getfloat('CHECKS', 'battery_percentage_min') 
+start_pos_delta_max = config.getfloat('CHECKS', 'start_pos_delta_max')
+time_delta_max = config.getfloat('CHECKS', 'time_delta_max')   
+
+class ModelChecks:
+    checks_dict = {}
+    takeoff_checklist = (3, 4, 6, 7, 8)
+
+    @classmethod
+    def col_check(cls, col):
+        def inner(f):
+            def wrapper(item):
+                if item is not None:
+                    return f(item)
+                return None
+
+            cls.checks_dict[col] = wrapper
+            return wrapper
+
+        return inner
+
+    @classmethod
+    def all_checks(cls, copter_item):
+        for col, check in cls.checks_dict.items():
+            if not check(copter_item[col]):
+                return False
+        return True
+
+    @classmethod
+    def takeoff_checks(cls, copter_item):
+        for col in cls.takeoff_checklist:
+            if not cls.checks_dict[col](copter_item[col]):
+                return False
+        return True
+
+
+@ModelChecks.col_check(1)
+def check_ver(item):
+    return True  # TODO git version!
+
+
+@ModelChecks.col_check(2)
+def check_anim(item):
+    return str(item) != 'No animation'
+
+
+@ModelChecks.col_check(3)
+def check_bat(item):
+    if item == "NO_INFO":
+        return False
+    return item[1]*100 > battery_min
+
+
+@ModelChecks.col_check(4)
+def check_sys_status(item):
+    return item == "STANDBY"
+
+
+@ModelChecks.col_check(5)
+def check_cal_status(item):
+    return item == "OK"
+
+
+@ModelChecks.col_check(6)
+def check_mode(item):
+    return (item != "NO_FCU") and not ("CMODE" in item)
+
+
+@ModelChecks.col_check(7)
+def check_selfcheck(item):
+    return item == "OK"
+
+
+@ModelChecks.col_check(8)
+def check_pos_status(item):
+    if item == 'NO_POS':
+        return False
+    return not math.isnan(item[0])
+
+
+@ModelChecks.col_check(9)
+def check_start_pos_status(item):
+    return item != 'NO_POS'
+
+
+@ModelChecks.col_check(10)
+def check_time_delta(item):
+    return abs(item) < time_delta_max
+
 
 class CopterData:
     class_basic_attrs = indexed.IndexedOrderedDict([('copter_id', None), ('git_ver', None), ('anim_id', None),
                                                     ('battery', None), ('sys_status', None), ('cal_status', None),
-                                                    ('mode', None), ('selfcheck', None), ('position', None), 
+                                                    ('mode', None), ('selfcheck', None), ('position', None),
                                                     ('start_pos', None), ('time_delta', None), ('client', None)])
 
     def __init__(self, **kwargs):
@@ -41,8 +130,9 @@ class StatedCopterData(CopterData):
     class_basic_states = indexed.IndexedOrderedDict([("checked", 0), ("selfchecked", None), ("takeoff_ready", None),
                                                     ("copter_id", True), ])
 
-    def __init__(self, **kwargs):
+    def __init__(self, checks_class=ModelChecks, **kwargs):
         self.states = CopterData(**self.class_basic_states)
+        self.checks = ModelChecks
 
         super(StatedCopterData, self).__init__(**kwargs)
 
@@ -52,31 +142,30 @@ class StatedCopterData(CopterData):
         if key in self.class_basic_attrs.keys():
             try:
                 self.states.__dict__[key] = \
-                    Checks.all_checks[self.attrs_dict.keys().index(key)](value)
+                    ModelChecks.checks_dict[self.attrs_dict.keys().index(key)](value)
                 if key == 'start_pos':
                     if (self.__dict__['position'] is not None) and (self.__dict__['start_pos'] is not None):
                         current_pos = get_position(self.__dict__['position'])                   
                         start_pos = get_position(self.__dict__['start_pos'])
                         delta = get_position_delta(current_pos, start_pos)
                         if delta != 'NO_POS':
-                            self.states.__dict__[key] = (delta < Checks.start_pos_delta_max)
+                            self.states.__dict__[key] = (delta < start_pos_delta_max)
             except KeyError:  # No check present for that col
                 pass
             else:  # update selfchecked and takeoff_ready
                 self.states.__dict__["selfchecked"] = all(
-                    [self.states[i] for i in Checks.all_checks.keys()]
+                    [self.states[i] for i in ModelChecks.checks_dict.keys()]
                 )
 
                 self.states.__dict__["takeoff_ready"] = all(
-                    [self.states[i] for i in Checks.takeoff_checklist]
+                    [self.states[i] for i in ModelChecks.takeoff_checklist]
                 )
 
-def get_position(pos_string):
-    pos = []
-    pos_str = pos_string.split(' ')
-    if pos_str[0] != 'nan' and pos_str[0] != 'NO_POS':
+def get_position(pos_array):
+    if pos_array[0] != 'nan' and pos_array != 'NO_POS':
+        pos = []
         for i in range(3):
-            pos.append(float(pos_str[i]))
+            pos.append(pos_array[i])
     else:
         pos = 'NO_POS'
     return pos
@@ -91,27 +180,120 @@ def get_position_delta(pos1, pos2):
     return 'NO_POS'
 
 
-class Checks:
-    all_checks = {}
-    takeoff_checklist = (3, 4, 6, 7, 8)
-    battery_min = config.getfloat('CHECKS', 'battery_percentage_min') 
-    start_pos_delta_max = config.getfloat('CHECKS', 'start_pos_delta_max')
-    time_delta_max = config.getfloat('CHECKS', 'time_delta_max')    
+class ModelFormatter:
+    view_formatters = {}
+    place_formatters = {}
+    VIEW_FORMATTER = False
+    PLACE_FORMATTER = True
+
+    @classmethod
+    def format_view(cls, col, value):
+        if col in cls.view_formatters:
+            return cls.view_formatters[col](value)
+        return value
+
+    @classmethod
+    def format_place(cls, col, value):
+        if col in cls.place_formatters:
+            return cls.place_formatters[col](value)
+        return value
+
+    @classmethod
+    def col_format(cls, col, format_type):
+        def inner(f):
+            if format_type:
+                cls.place_formatters[col] = f
+            else:
+                cls.view_formatters[col] = f
+
+            def wrapper(*args, **kwargs):
+                return f(*args, **kwargs)
+
+            return wrapper
+
+        return inner
+
+
+@ModelFormatter.col_format(0, ModelFormatter.PLACE_FORMATTER)
+def place_id(value):
+    value = value.stip()
+    # check user hostname spelling http://man7.org/linux/man-pages/man7/hostname.7.html
+    # '-' (hyphen) not first; latin letters/numbers/hyphens; length form 1 to 63
+    # or matches command pattern
+    if re.match("^(?!-)[A-Za-z0-9-]{1,63}$", value) or re.match("^/[A-Za-z0-9]*$", value):
+        return value
+    else:
+        msgbox = QtWidgets.QMessageBox()
+        msgbox.setWindowTitle("Wrong input for the copter name!")
+        msgbox.setIcon(QtWidgets.QMessageBox.Critical)
+        msgbox.setText(
+            "Wrong input for the copter name!\n"
+            "Please use only A-Z, a-z, 0-9, and '-' chars.\n"
+            "Don't use '-' as first char.")
+        msgbox.exec_()
+        return None
+
+
+@ModelFormatter.col_format(3, ModelFormatter.PLACE_FORMATTER)
+def place_battery(value):
+    if isinstance(value, list):
+        battery_v, battery_p = value
+        if math.isnan(battery_v) or math.isnan(battery_p):
+            return "NO_INFO"
+    return value
+
+
+@ModelFormatter.col_format(3, ModelFormatter.VIEW_FORMATTER)
+def view_battery(value):
+    if isinstance(value, list):
+        battery_v, battery_p = value
+        return "{:.1f}V {:d}%".format(battery_v, int(battery_p*100))
+    return value
+
+@ModelFormatter.col_format(7, ModelFormatter.VIEW_FORMATTER)
+def view_selfcheck(value):
+    if isinstance(value, list):
+        return "ERROR"
+    return value
+
+@ModelFormatter.col_format(8, ModelFormatter.VIEW_FORMATTER)
+def view_selfcheck(value):
+    if isinstance(value, list):
+        x, y, z, yaw, frame = value
+        return "{:.2f} {:.2f} {:.2f} {:d} {}".format(x, y, z, int(yaw), frame)
+    return value
+
+@ModelFormatter.col_format(9, ModelFormatter.VIEW_FORMATTER)
+def view_selfcheck(value):
+    if isinstance(value, list):
+        x, y, z = value
+        return "{:.2f} {:.2f} {:.2f}".format(x, y, z)
+    return value
+
+@ModelFormatter.col_format(10, ModelFormatter.PLACE_FORMATTER)
+def place_time_delta(value):
+    return abs(value - time.time())
+
+
+@ModelFormatter.col_format(10, ModelFormatter.VIEW_FORMATTER)
+def view_time_delta(value):
+    return "{:.3f}".format(value)  
 
 class CopterDataModel(QtCore.QAbstractTableModel):
     selected_ready_signal = QtCore.pyqtSignal(bool)
     selected_takeoff_ready_signal = QtCore.pyqtSignal(bool)
-    selected_flip_ready_signal = QtCore.pyqtSignal(bool)
+    selected_flip_ready_signal = QtCore.pyqtSignal(bool)  # TODO fix this signals
     selected_calibrating_signal = QtCore.pyqtSignal(bool)
     selected_calibration_ready_signal = QtCore.pyqtSignal(bool)
 
-    def __init__(self, parent=None):
+    def __init__(self, checks=ModelChecks, formatter=ModelFormatter, parent=None):
         super(CopterDataModel, self).__init__(parent)
         self.headers = ('copter ID', 'version', ' animation ID ', '  battery  ', '  system  ', 'sensors', 
                         '  mode  ', 'checks', 'current x y z yaw frame_id', '    start x y z    ', 'dt')
         self.data_contents = []
 
-        self.on_id_changed = None
+        self.checks = checks
+        self.formatter = formatter
 
         self.first_col_is_checked = False
 
@@ -144,15 +326,15 @@ class CopterDataModel(QtCore.QAbstractTableModel):
 
     def flip_ready(self, contents=()):
         contents = contents or self.data_contents
-        return filter(lambda x: flip_checks(x), contents)  # possibly change as takeoff checks
+        return filter(flip_checks, contents)  # possibly change as takeoff checks
 
     def calibrating(self, contents=()):
         contents = contents or self.data_contents
-        return filter(lambda x: calibrating_check(x), contents)
+        return filter(calibrating_check, contents)
 
     def calibration_ready(self, contents=()):
         contents = contents or self.data_contents
-        return filter(lambda x: calibration_ready_check(x), contents)
+        return filter(calibration_ready_check, contents)
 
     def get_row_index(self, row_data):
         try:
@@ -186,7 +368,7 @@ class CopterDataModel(QtCore.QAbstractTableModel):
         col = index.column()
         if role == Qt.DisplayRole or role == Qt.EditRole:  # Separate editRole in case of editing non-text
             item = self.data_contents[row][col]
-            return str(item) if item is not None else ""
+            return str(self.formatter.format_view(col, item)) if item is not None else ""
         elif role == ModelDataRole:
             return self.data_contents[row][col]
 
@@ -208,7 +390,7 @@ class CopterDataModel(QtCore.QAbstractTableModel):
             return self.data_contents[row].states.checked
 
         if role == QtCore.Qt.TextAlignmentRole and col != 0:
-                return QtCore.Qt.AlignHCenter | QtCore.Qt.AlignVCenter
+            return QtCore.Qt.AlignHCenter | QtCore.Qt.AlignVCenter
 
     def update_model(self, index=QtCore.QModelIndex(), role=QtCore.Qt.EditRole):
         selected = set(self.user_selected())
@@ -232,19 +414,14 @@ class CopterDataModel(QtCore.QAbstractTableModel):
 
         if role == Qt.CheckStateRole:
             self.data_contents[row].states.checked = value
-        elif role == Qt.EditRole:  # For user actions with data
-            if col == 0: 
-                # check user hostname spelling http://man7.org/linux/man-pages/man7/hostname.7.html
-                if value[0] != '-' and len(value) <= 63 and re.match("^[A-Za-z0-9-]*$", value):
-                    self.data_contents[row].client.send_message("id", {"new_id": value})
+        elif role == Qt.EditRole:  # For user/outer actions with data, place modifiers applied
+            formatted_value = self.formatter.format_place(col, value)
+            if formatted_value is not None:  # todo use new := syntax
+                self.data_contents[row][col] = formatted_value
+
+                if col == 0:
+                    self.data_contents[row].client.send_message("id", {"new_id": formatted_value})
                     self.data_contents[row].client.remove()
-                else: 
-                    msg = QtWidgets.QMessageBox()
-                    msg.setIcon(QtWidgets.QMessageBox.Critical)
-                    msg.setText("Wrong input for the copter name!\nPlease use only A-Z, a-z, 0-9, and '-' chars.\nDon't use '-' as first char.")
-                    msg.exec_()
-            else:
-                self.data_contents[row][col] = value
 
         elif role == ModelDataRole:  # For inner setting\editing of data
             self.data_contents[row][col] = value
@@ -256,7 +433,7 @@ class CopterDataModel(QtCore.QAbstractTableModel):
         self.update_model(index, role)
         return True
 
-    def select_all(self):
+    def select_all(self):  # probably NOT thread-safe!
         self.first_col_is_checked = not self.first_col_is_checked
         for row_num, copter in enumerate(self.data_contents):
             copter.states.checked = int(self.first_col_is_checked)*2
@@ -276,109 +453,23 @@ class CopterDataModel(QtCore.QAbstractTableModel):
     def add_client(self, client):
         self.insertRows([client])
 
-    @QtCore.pyqtSlot(int)
-    def remove_client(self, row):
+    @QtCore.pyqtSlot(int)  # Probably deprecated now
+    def remove_row(self, row):
         self.removeRows(row)
 
-
-def col_check(col):
-    def inner(f):
-        Checks.all_checks[col] = f
-
-        def wrapper(*args, **kwargs):
-            return f(*args, **kwargs)
-
-        return wrapper
-
-    return inner
-
-
-@col_check(1)
-def check_ver(item):
-    if not item:
-        return None
-    return True
-
-@col_check(2)
-def check_anim(item):
-    if not item:
-        return None
-    return str(item) != 'No animation'
-
-@col_check(3)
-def check_bat(item):
-    if not item:
-        return None
-    if item == "NO_INFO":
-        return False
-    else:
-        return float(item.split(' ')[1][:-1]) > Checks.battery_min
-
-@col_check(4)
-def check_sys_status(item):
-    if not item:
-        return None
-    return item == "STANDBY"
-
-@col_check(5)
-def check_cal_status(item):
-    if not item:
-        return None
-    return item == "OK"
-
-@col_check(6)
-def check_mode(item):
-    if not item:
-        return None
-    return (item != "NO_FCU") and not ("CMODE" in item)
-
-@col_check(7)
-def check_selfcheck(item):
-    if not item:
-        return None
-    return item == "OK"
-
-@col_check(8)
-def check_pos_status(item):
-    if not item:
-        return None
-    str_pos = item.split(' ')
-    return str_pos[0] != 'nan' and str_pos[0] != 'NO_POS'
-
-@col_check(9)
-def check_start_pos_status(item):
-    if not item:
-        return None
-    str_start_pos = item.split(' ')
-    return str_start_pos[0] != 'nan' and str_start_pos[0] != 'NO_POS'
-
-@col_check(10)
-def check_time_delta(item):
-    if not item:
-        return None
-    return abs(float(item)) < Checks.time_delta_max
-
-
-def all_checks(copter_item):
-    for col, check in Checks.all_checks.items():
-        if not check(copter_item[col]):
-            return False
-    return True
-
-def takeoff_checks(copter_item):
-    for col in Checks.takeoff_checklist:
-        if not Checks.all_checks[col](copter_item[col]):
-            return False
-    return True
+    @QtCore.pyqtSlot(object)
+    def remove_row_data(self, data):
+        row = self.get_row_index(data)
+        if row is not None:
+            self.removeRows(row)
 
 def flip_checks(copter_item):
-    for col in Checks.takeoff_checklist:
+    for col in ModelChecks.takeoff_checklist:
         if col != 4 or col != 7:
-            if not Checks.all_checks[col](copter_item[col]):
-                return False
-        else:
-            if copter_item[4] != "ACTIVE":
+            if not ModelChecks.checks_dict[col](copter_item[col]):
                 return False
+        elif copter_item[4] != "ACTIVE":
+            return False
     return True
 
 
@@ -387,7 +478,7 @@ def calibrating_check(copter_item):
 
 
 def calibration_ready_check(copter_item):
-    if not Checks.all_checks[4](copter_item[4]):
+    if not ModelChecks.checks_dict[4](copter_item[4]):
         return False
     return not calibrating_check(copter_item)
 
@@ -414,7 +505,9 @@ class CopterProxyModel(QtCore.QSortFilterProxyModel):
 class SignalManager(QtCore.QObject):
     update_data_signal = QtCore.pyqtSignal(int, int, QtCore.QVariant, QtCore.QVariant)
     add_client_signal = QtCore.pyqtSignal(object)
-    remove_client_signal = QtCore.pyqtSignal(int)
+    remove_row_signal = QtCore.pyqtSignal(int)
+    remove_client_signal = QtCore.pyqtSignal(object)
+
 
 
 if __name__ == '__main__':

Server/server.py

@@ -146,12 +146,13 @@ class Server(messaging.Singleton):
     # noinspection PyArgumentList
     def _client_processor(self):
         logging.info("Client processor (selector) thread started!")
+
+        messaging.NotifierSock().init(self.sel)
+
         self.server_socket.listen()
         self.server_socket.setblocking(False)
         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')
@@ -177,15 +178,12 @@ class Server(messaging.Singleton):
         logging.info("Got connection from: {}".format(str(addr)))
         conn.setblocking(False)
 
-        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()]):
+        if not any([client_addr == addr[0] for client_addr in Client.clients.keys()]):
             client = Client(addr[0])
             logging.info("New client")
         else:
             client = Client.clients[addr[0]]
+            client.close(True)  # to ensure in unregistering
             logging.info("Reconnected client")
         self.sel.register(conn, selectors.EVENT_READ, data=client)
         client.connect(self.sel, conn, addr)
@@ -284,7 +282,7 @@ class Client(messaging.ConnectionManager):
 
     @staticmethod
     def get_by_id(copter_id):
-        for client in Client.clients.values():
+        for client in Client.clients.values():  # TODO filter
             if client.copter_id == copter_id:
                 return client
 
@@ -303,10 +301,12 @@ class Client(messaging.ConnectionManager):
         if self.on_connect:
             self.on_connect(self)
 
-    def _got_id(self, value):
+    def _got_id(self, _client, value):
         logging.info("Got copter id: {} for client {}".format(value, self.addr))
+        old_id = self.copter_id
         self.copter_id = value
-        if self.on_first_connect:
+
+        if old_id is None and self.on_first_connect:
             self.on_first_connect(self)
 
     def close(self, inner=False):
@@ -325,11 +325,12 @@ class Client(messaging.ConnectionManager):
     def remove(self):
         if self.connected:
             self.close()
-        if self.clients:
-            try:
-                self.clients.pop(self.addr[0])
-            except Exception as e:
-                logging.error(e)
+
+        try:
+            self.clients.pop(self.addr[0])
+        except KeyError as e:
+            logging.error(e)
+
         logging.info("Client {} successfully removed!".format(self.copter_id))
 
     @requires_connect

Server/server_qt.py

@@ -37,7 +37,6 @@ def wait(end, interrupter=threading.Event(), maxsleep=0.1):
 
 def confirmation_required(text="Are you sure?", label="Confirm operation?"):
     def inner(f):
-
         @functools.wraps(f)
         def wrapper(*args, **kwargs):
             reply = QMessageBox.question(
@@ -55,6 +54,7 @@ def confirmation_required(text="Are you sure?", label="Confirm operation?"):
 
     return inner
 
+
 # noinspection PyArgumentList,PyCallByClass
 class MainWindow(QtWidgets.QMainWindow):
     def __init__(self):
@@ -70,9 +70,9 @@ class MainWindow(QtWidgets.QMainWindow):
         self.player = QtMultimedia.QMediaPlayer()
 
         self.init_model()
-        
+
         self.show()
-        
+
     def init_model(self):
         # self.model.on_id_changed = self.set_copter_id
 
@@ -88,7 +88,8 @@ class MainWindow(QtWidgets.QMainWindow):
         # Connect signals to manipulate model from threads
         self.signals.update_data_signal.connect(self.model.update_item)
         self.signals.add_client_signal.connect(self.model.add_client)
-        self.signals.remove_client_signal.connect(self.model.remove_client)
+        self.signals.remove_row_signal.connect(self.model.remove_row)
+        self.signals.remove_client_signal.connect(self.model.remove_row_data)
 
         # Connect model signals to UI
         self.model.selected_ready_signal.connect(self.ui.start_button.setEnabled)
@@ -110,20 +111,26 @@ class MainWindow(QtWidgets.QMainWindow):
         self.ui.action_select_all_rows.triggered.connect(self.model.select_all)
 
     def new_client_connected(self, client: Client):
+        logging.debug("Added client {}".format(client))
         self.signals.add_client_signal.emit(StatedCopterData(copter_id=client.copter_id, client=client))
 
     def client_connection_changed(self, client: Client):
-        logging.debug("Start remove {}".format(client.copter_id))
+        logging.debug("Connection {} changed {}".format(client, client.connected), )
         row_data = self.model.get_row_by_attr("client", client)
-        row_num = self.model.get_row_index(row_data)
-        logging.debug("Removing {}".format(client.copter_id))
-        if row_num is not None:
-            if Server().remove_disconnected and (not client.connected):
-                client.remove()
-                self.signals.remove_client_signal.emit(row_num)
-            else:
+
+        if row_data is None:
+            logging.error("No row for client presented")
+            return
+
+        if Server().remove_disconnected and (not client.connected):
+            client.remove()
+            self.signals.remove_client_signal.emit(row_data)
+            logging.debug("Removing from table")
+        else:
+            row_num = self.model.get_row_index(row_data)
+            if row_num is not None:
                 self.signals.update_data_signal.emit(row_num, 0, client.connected, ModelStateRole)
-        logging.debug("{} removed".format(client.copter_id))
+                logging.debug("DATA: connected")
 
     def init_ui(self):
         # Connecting
@@ -139,7 +146,7 @@ class MainWindow(QtWidgets.QMainWindow):
         self.ui.leds_button.clicked.connect(self.test_leds_selected)
         self.ui.takeoff_button.clicked.connect(self.takeoff_selected)
         self.ui.flip_button.clicked.connect(self.flip_selected)
-        self.ui.land_button.clicked.connect(self.land_selected)        
+        self.ui.land_button.clicked.connect(self.land_selected)
 
         self.ui.reboot_fcu.clicked.connect(self.reboot_selected)
         self.ui.calibrate_gyro.clicked.connect(self.calibrate_gyro_selected)
@@ -179,43 +186,36 @@ class MainWindow(QtWidgets.QMainWindow):
             client = copter_data_row.client
             client.get_response("telemetry", self.update_table_data)
 
-    @pyqtSlot(str)
-    def update_table_data(self, message):
-        fields = message.split('`')
-        # copter_id git_version animation_id battery_v battery_p system_status calibration_status mode selfcheck current_position start_position copter_time
-        copter_id = fields[0]
-        git_version = fields[1]
-        animation_id = fields[2]
-        battery_v = fields[3]
-        battery_p = fields[4]
-        if battery_v == 'nan' or battery_p == 'nan':
-            battery_info = "NO_INFO"
-        else:
-            battery_info = "{}V {}%".format(battery_v, battery_p)
-        sys_status = fields[5]
-        cal_status = fields[6]
-        mode = fields[7]
-        selfcheck = fields[8]
-        current_pos = fields[9]
-        start_pos = fields[10]
-        copter_time = fields[11]
-        time_delta = "{}".format(round(float(copter_time) - time.time(), 3))
-        row = self.model.get_row_index(self.model.get_row_by_attr('copter_id', copter_id))
-        self.signals.update_data_signal.emit(row, 1, git_version, ModelDataRole)
-        self.signals.update_data_signal.emit(row, 2, animation_id, ModelDataRole)
-        self.signals.update_data_signal.emit(row, 3, battery_info, ModelDataRole)
-        self.signals.update_data_signal.emit(row, 4, sys_status, ModelDataRole)
-        self.signals.update_data_signal.emit(row, 5, cal_status, ModelDataRole)
-        self.signals.update_data_signal.emit(row, 6, mode, ModelDataRole)
-        self.signals.update_data_signal.emit(row, 7, selfcheck, ModelDataRole)
-        self.signals.update_data_signal.emit(row, 8, current_pos, ModelDataRole)
-        self.signals.update_data_signal.emit(row, 9, start_pos, ModelDataRole)
-        self.signals.update_data_signal.emit(row, 10, time_delta, ModelDataRole)
+    @pyqtSlot(object, dict)
+    def update_table_data(self, client, telems: dict):
+        cols_dict = {
+            "git_version": 1,
+            "animation_id": 2,
+            "battery": 3,
+            "system_status": 4,
+            "calibration_status": 5,
+            "mode": 6,
+            "selfcheck": 7,
+            "current_position": 8,
+            "start_position": 9,
+            "time": 10,
+        }
+
+        for key, value in telems.items():
+            col = cols_dict.get(key, None)
+            if col is None:
+                logging.error("No column {} present!".format(key))
+                continue
+
+            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:
+                self.signals.update_data_signal.emit(row_num, col, value, Qt.EditRole)
 
     @pyqtSlot(QtCore.QModelIndex)
     def selfcheck_info_dialog(self, index):
         col = index.column()
-        if col == 6:
+        if col == 7:
             data = self.proxy_model.data(index, role=ModelDataRole)
             if data and data != "OK":
                 dialog = QMessageBox()
@@ -226,7 +226,7 @@ class MainWindow(QtWidgets.QMainWindow):
                 dialog.setDetailedText("\n".join(data))
                 dialog.exec()
 
-    def _selfcheck_shortener(self, data):
+    def _selfcheck_shortener(self, data):  # TODO!!!
         shortened = []
         for line in data:
             if len(line) > 89:
@@ -236,16 +236,11 @@ class MainWindow(QtWidgets.QMainWindow):
     @pyqtSlot()
     def remove_selected(self):
         for copter in self.model.user_selected():
-            row_num = self.model.get_row_index(copter)
-            if row_num is not None:
-                copter.client.remove()
+            copter.client.remove()
 
-                if not Server().remove_disconnected:
-                    self.signals.remove_client_signal.emit(row_num)
-                
-                logging.info("Client removed from table!")
-            else:
-                logging.error("Client is not in table!")
+            if not Server().remove_disconnected:
+                self.signals.remove_client_signal.emit(copter)
+            logging.info("Client removed from table!")
 
     @pyqtSlot()
     @confirmation_required("This operation will takeoff selected copters with delay and start animation. Proceed?")
@@ -255,12 +250,12 @@ class MainWindow(QtWidgets.QMainWindow):
         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_at_time(music_dt+time_now), loop=loop)
+            asyncio.ensure_future(self.play_music_at_time(music_dt + time_now), loop=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):
-                server.send_starttime(copter.client, dt+time_now)
+            if self.model.checks.all_checks(copter):
+                server.send_starttime(copter.client, dt + time_now)
 
     @pyqtSlot()
     def pause_resume_selected(self):
@@ -290,7 +285,7 @@ class MainWindow(QtWidgets.QMainWindow):
     def test_leds_selected(self):
         for copter in self.model.user_selected():
             copter.client.send_message("led_test")
-    
+
     @pyqtSlot()
     def disarm_all(self):
         Client.broadcast_message("disarm")
@@ -299,9 +294,9 @@ class MainWindow(QtWidgets.QMainWindow):
     @confirmation_required("This operation will takeoff copters immediately. Proceed?")
     def takeoff_selected(self, **kwargs):
         for copter in self.model.user_selected():
-            if takeoff_checks(copter):
+            if self.model.checks.takeoff_checks(copter):
                 if self.ui.z_checkbox.isChecked():
-                    copter.client.send_message("takeoff_z", {"z":str(self.ui.z_spin.value())})
+                    copter.client.send_message("takeoff_z", {"z": str(self.ui.z_spin.value())})  # todo int
                 else:
                     copter.client.send_message("takeoff")
 
@@ -320,7 +315,7 @@ class MainWindow(QtWidgets.QMainWindow):
     @pyqtSlot()
     def reboot_selected(self):
         for copter in self.model.user_selected():
-            copter.client.send_message("reboot_fcu")   
+            copter.client.send_message("reboot_fcu")
 
     @pyqtSlot()
     def calibrate_gyro_selected(self):
@@ -332,7 +327,7 @@ class MainWindow(QtWidgets.QMainWindow):
             data = 'CALIBRATING'
             self.signals.update_data_signal.emit(row, col, data, ModelDataRole)
             # Send request
-            client.get_response("calibrate_gyro", self._get_calibration_info, callback_args=(copter_data_row, ))
+            client.get_response("calibrate_gyro", self._get_calibration_info)
 
     @pyqtSlot()
     def calibrate_level_selected(self):
@@ -344,13 +339,15 @@ class MainWindow(QtWidgets.QMainWindow):
             data = 'CALIBRATING'
             self.signals.update_data_signal.emit(row, col, data, ModelDataRole)
             # Send request
-            client.get_response("calibrate_level", self._get_calibration_info, callback_args=(copter_data_row, ))
+            client.get_response("calibrate_level", self._get_calibration_info)
 
-    def _get_calibration_info(self, value, copter_data_row):
+    def _get_calibration_info(self, client, value):
         col = 5
-        row = self.model.get_row_index(copter_data_row)
-        data = str(value)
-        self.signals.update_data_signal.emit(row, col, data, ModelDataRole)
+        row_data = self.model.get_row_by_attr("client", client)
+        row = self.model.get_row_index(row_data)
+        if row is not None:
+            data = str(value)
+            self.signals.update_data_signal.emit(row, col, data, ModelDataRole)
 
     @pyqtSlot()
     def send_animations(self):
@@ -379,7 +376,8 @@ class MainWindow(QtWidgets.QMainWindow):
             for file, name in zip(files, names):
                 for copter in self.model.user_selected():
                     if name == copter.copter_id:
-                        copter.client.send_file(file, "/home/pi/catkin_ws/src/clever/clever/camera_info/calibration.yaml")
+                        copter.client.send_file(file,
+                                                "/home/pi/catkin_ws/src/clever/clever/camera_info/calibration.yaml")
                 else:
                     logging.info("Filename has no matches with any drone selected")
 
@@ -402,7 +400,8 @@ class MainWindow(QtWidgets.QMainWindow):
 
     @pyqtSlot()
     def send_aruco(self):
-        path = QFileDialog.getOpenFileName(self, "Select aruco map configuration file", filter="Aruco map files (*.txt)")[0]
+        path = \
+        QFileDialog.getOpenFileName(self, "Select aruco map configuration file", filter="Aruco map files (*.txt)")[0]
         if path:
             filename = os.path.basename(path)
             print("Selected file:", path, filename)
@@ -455,7 +454,7 @@ class MainWindow(QtWidgets.QMainWindow):
     def restart_clever(self):
         for copter in self.model.user_selected():
             copter.client.send_message("service_restart", {"name": "clever"})
-    
+
     @pyqtSlot()
     def restart_clever_show(self):
         for copter in self.model.user_selected():
@@ -464,12 +463,12 @@ class MainWindow(QtWidgets.QMainWindow):
     @pyqtSlot()
     def update_client_repo(self):
         for copter in self.model.user_selected():
-            copter.client.send_message("update_repo") 
+            copter.client.send_message("update_repo")
 
     @pyqtSlot()
     def reboot_all_on_selected(self):
         for copter in self.model.user_selected():
-            copter.client.send_message("reboot_all") 
+            copter.client.send_message("reboot_all")
 
     @pyqtSlot()
     def update_start_to_current_position(self):
@@ -501,7 +500,7 @@ class MainWindow(QtWidgets.QMainWindow):
         path = QFileDialog.getOpenFileName(self, "Select music file", filter="Music files (*.mp3 *.wav)")[0]
         if path:
             media = QUrl.fromLocalFile(path)
-            content = QtMultimedia.QMediaContent(media)           
+            content = QtMultimedia.QMediaContent(media)
             self.player.setMedia(content)
             self.ui.action_select_music_file.setText(self.ui.action_select_music_file.text() + " (selected)")
 
@@ -513,9 +512,9 @@ class MainWindow(QtWidgets.QMainWindow):
         if self.player.mediaStatus() == QtMultimedia.QMediaPlayer.NoMedia:
             logging.info("No media file")
             return
-        
+
         if self.player.state() == QtMultimedia.QMediaPlayer.StoppedState or \
-            self.player.state() == QtMultimedia.QMediaPlayer.PausedState:
+                self.player.state() == QtMultimedia.QMediaPlayer.PausedState:
             self.ui.action_play_music.setText("Pause music")
             self.player.play()
         else:
@@ -552,16 +551,16 @@ class MainWindow(QtWidgets.QMainWindow):
         result = -1
         while (result != 0) and (result != 3) and (result != 4):
             # light_green_red(min, max)
-            client_row_mid = int(math.ceil((client_row_max+client_row_min) / 2.0))
+            client_row_mid = int(math.ceil((client_row_max + client_row_min) / 2.0))
             print(client_row_min, client_row_mid, client_row_max)
             for row_num in range(client_row_min, client_row_mid):
-                self.model.data_contents[row_num].client\
+                self.model.data_contents[row_num].client \
                     .send_message("led_fill", {"green": 255})
             for row_num in range(client_row_mid, client_row_max + 1):
                 self.model.data_contents[row_num].client \
                     .send_message("led_fill", {"red": 255})
 
-            Dialog = QtWidgets.QDialog()    
+            Dialog = QtWidgets.QDialog()
             ui = Ui_Dialog()
             ui.setupUi(Dialog)
             Dialog.show()
@@ -574,7 +573,7 @@ class MainWindow(QtWidgets.QMainWindow):
                         self.model.data_contents[row_num].client \
                             .send_message("led_fill")
                     client_row_max = client_row_mid - 1
-                   
+
                 elif result == 2:
                     for row_num in range(client_row_min, client_row_mid):
                         self.model.data_contents[row_num].client \
@@ -592,18 +591,25 @@ class MainWindow(QtWidgets.QMainWindow):
                 self.model.data_contents[row_num].client \
                     .send_message("disarm")
 
-@messaging.message_callback("telem")
-def get_telem_data(*args, **kwargs):
-    message = kwargs.get("message", None)
-    window.update_table_data(message)
+
+@messaging.message_callback("telemetry")
+def get_telem_data(self, **kwargs):
+    message = kwargs.get("value")
+    window.update_table_data(self, message)
+
+
+def except_hook(cls, exception, traceback):
+    sys.__excepthook__(cls, exception, traceback)
 
 
 if __name__ == "__main__":
+    sys.excepthook = except_hook  # for debugging (exceptions traceback)
+
     app = QtWidgets.QApplication(sys.argv)
     loop = QEventLoop(app)
     asyncio.set_event_loop(loop)
 
-    #app.exec_()
+    # app.exec_()
     with loop:
         window = MainWindow()