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

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* .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
This commit is contained in:
artem30801
2019-12-05 15:10:21 +03:00
committed by Arthur Golubtsov
parent 53dad0e3fd
commit ce36c6f1e3
9 changed files with 635 additions and 425 deletions
Download Patch File Download Diff File Expand all files Collapse all files

371
Server/copter_table_models.py
View File

@@ -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__':