Server: Add get system and calibration status functions support

Server/copter_table_models.py

@@ -8,7 +8,7 @@ from PyQt5.QtCore import Qt as Qt
 
 class CopterData:
     class_attrs = collections.OrderedDict([('copter_id', None), ('anim_id', None), ('batt_v', None), ('batt_p', None),
-                                           ('selfcheck', None), ('time_utc', None), ("time_delta", None),
+                                           ('sys_status', None), ('cal_status', None), ('selfcheck', None), ("time_delta", None),
                                            ("client", None), ("checked", 0)], )
 
     def __init__(self, **kwargs):
@@ -29,10 +29,11 @@ class CopterDataModel(QtCore.QAbstractTableModel):
     checks = {}
     selected_ready_signal = QtCore.pyqtSignal(bool)
     selected_takeoff_ready_signal = QtCore.pyqtSignal(bool)
+    selected_not_calibrating_signal = QtCore.pyqtSignal(bool)
 
     def __init__(self, parent=None):
         super(CopterDataModel, self).__init__(parent)
-        self.headers = ('copter ID', 'animation ID', 'battery V', 'battery %', 'selfcheck', 'time delta')
+        self.headers = ('copter ID', 'animation ID', 'battery V', 'battery %', 'sys status', 'calibration status', 'selfcheck', 'time delta')
         self.data_contents = []
 
     def insertRows(self, contents, position='last', parent=QtCore.QModelIndex()):
@@ -55,6 +56,10 @@ class CopterDataModel(QtCore.QAbstractTableModel):
         contents = contents or self.data_contents
         return filter(lambda x: takeoff_checks(x), contents)
 
+    def not_calibrating(self, contents=()):
+        contents = contents or self.data_contents
+        return filter(lambda x: not_calibrating_check(x), contents)
+
     def rowCount(self, n=None):
         return len(self.data_contents)
 
@@ -92,6 +97,7 @@ class CopterDataModel(QtCore.QAbstractTableModel):
         #self.modelReset.emit()
         self.selected_ready_signal.emit(set(self.user_selected()).issubset(self.selfchecked_ready()))
         self.selected_takeoff_ready_signal.emit(set(self.user_selected()).issubset(self.takeoff_ready()))
+        self.selected_not_calibrating_signal.emit(set(self.user_selected()).issubset(self.not_calibrating()))
         self.dataChanged.emit(index, index, (QtCore.Qt.EditRole,))
 
     @QtCore.pyqtSlot()
@@ -167,8 +173,25 @@ def check_bat_p(item):
         return False
         #return True #For testing
 
-
 @col_check(4)
+def check_sys_status(item):
+    if not item:
+        return None
+    if item == "MAV_STATE_STANDBY":
+        return True
+    else:
+        return False  
+
+@col_check(5)
+def check_cal_status(item):
+    if not item:
+        return None
+    if item == "OK":
+        return True
+    else:
+        return False
+
+@col_check(6)
 def check_selfcheck(item):
     if not item:
         return None
@@ -177,7 +200,7 @@ def check_selfcheck(item):
     else:
         return False
 
-@col_check(5)
+@col_check(7)
 def check_time_delta(item):
     if not item:
         return None
@@ -194,11 +217,16 @@ def all_checks(copter_item):
     return True
 
 def takeoff_checks(copter_item):
-    for i in range(3):
+    for i in range(5):
         if not CopterDataModel.checks[2+i](copter_item[2+i]):
             return False
     return True
 
+def not_calibrating_check(copter_item):
+    if copter_item[5] == "CALIBRATING":
+        return False
+    return True
+
 class CopterProxyModel(QtCore.QSortFilterProxyModel):
     def __init__(self, parent=None):
         super(CopterProxyModel, self).__init__(parent)

Server/server_qt.py

@@ -15,6 +15,8 @@ from server import *
 from copter_table_models import *
 from emergency import *
 
+import threading
+
 
 def confirmation_required(text="Are you sure?", label="Confirm operation?"):
     def inner(f):
@@ -49,6 +51,8 @@ class MainWindow(QtWidgets.QMainWindow):
         self.model = CopterDataModel()
         self.proxy_model = CopterProxyModel()
         self.signals = SignalManager()
+        self.gyro_calibrated = {}
+        self.level_calibrated = {}
 
         self.init_model()
         
@@ -103,8 +107,10 @@ class MainWindow(QtWidgets.QMainWindow):
             client.get_response("anim_id", self._set_copter_data, callback_args=(1, copter.copter_id))
             client.get_response("batt_voltage", self._set_copter_data, callback_args=(2, copter.copter_id))
             client.get_response("cell_voltage", self._set_copter_data, callback_args=(3, copter.copter_id))
-            client.get_response("selfcheck", self._set_copter_data, callback_args=(4, copter.copter_id))
-            client.get_response("time", self._set_copter_data, callback_args=(5, copter.copter_id))
+            client.get_response("sys_status", self._set_copter_data, callback_args=(4, copter.copter_id))
+            client.get_response("cal_status", self._set_copter_data, callback_args=(5, copter.copter_id))
+            client.get_response("selfcheck", self._set_copter_data, callback_args=(6, copter.copter_id))
+            client.get_response("time", self._set_copter_data, callback_args=(7, copter.copter_id))
 
     def _set_copter_data(self, value, col, copter_id):
         row = self.model.data_contents.index(next(
@@ -120,6 +126,10 @@ class MainWindow(QtWidgets.QMainWindow):
         elif col == 4:
             data = str(value)
         elif col == 5:
+            data = str(value)
+        elif col == 6:
+            data = str(value)
+        elif col == 7:
             #data = time.ctime(int(value))
             data = "{}".format(round(float(value) - time.time(), 3))
             if abs(float(data)) > 1:
@@ -186,6 +196,14 @@ class MainWindow(QtWidgets.QMainWindow):
     def disarm_all(self):
         Client.broadcast_message("disarm")
 
+    @pyqtSlot()
+    def calibrate_gyro(self):
+        for copter in self.model.user_selected():
+            client = copter.client
+            client.get_response("calibrate_gyro", self._get_calibration_info, callback_args=(copter.copter_id))
+    
+
+
     @pyqtSlot()
     def send_animations(self):
         path = str(QFileDialog.getExistingDirectory(self, "Select Animation Directory"))