From f2ca1e9ebe6294859186c44efe711ed755352aeb Mon Sep 17 00:00:00 2001
From: Neptune-1 <allexandr2001@mail.ru>
Date: Wed, 5 Dec 2018 17:02:45 +0300
Subject: [PATCH] gui edit

---
 Server/Server+GUI_non_xml_dowload (копия).py | 378 +++++++++++++++
 Server/back.png                              | Bin 0 -> 4391 bytes
 Server/back_1.qrc                            |   5 +
 Server/back_1_rc.py                          |  73 +++
 Server/gui.ui                                | 460 +++++++++++++++++++
 Server/gui1.py                               | 197 ++++++++
 6 files changed, 1113 insertions(+)
 create mode 100644 Server/Server+GUI_non_xml_dowload (копия).py
 create mode 100755 Server/back.png
 create mode 100755 Server/back_1.qrc
 create mode 100644 Server/back_1_rc.py
 create mode 100755 Server/gui.ui
 create mode 100644 Server/gui1.py

diff --git a/Server/Server+GUI_non_xml_dowload (копия).py b/Server/Server+GUI_non_xml_dowload (копия).py
new file mode 100644
index 0000000..da05288
--- /dev/null
+++ b/Server/Server+GUI_non_xml_dowload (копия).py	
@@ -0,0 +1,378 @@
+# -*- coding: utf-8 -*- .
+from PyQt5.QtWidgets import *
+from PyQt5.QtGui import *
+from PyQt5.QtCore import *
+from mpl_toolkits.mplot3d import Axes3D
+import matplotlib.pyplot as plt
+import time
+import socket
+import os
+from PyQt5 import QtCore, QtGui, QtWidgets
+import easygui
+import threading
+from threading import Thread
+import math
+import requests
+import json
+from PyQt5 import QtCore
+import gui1
+ip = [1, 2]
+# slids = 0
+sq_rad = 0
+sq_cet = 0
+cr_rad = 0
+cr_cet = 0
+copters = 1
+conn = []
+conn_2 = []
+file = ''
+data = b''
+addr = []
+addr_2 = []
+coord = []
+
+sock = socket.socket()
+
+sock.bind(('', 35001))  # назначается адресс и порт связи для отпраки команд на коптеры
+sock.listen(1)
+
+sock_2 = socket.socket()
+sock_2.bind(('', 35002))  # назначается адресс и порт связи для приема данных с коптеров
+sock_2.listen(1)
+
+
+"""class Dialog(QMainWindow, gui1.Ui_Dialog):
+    def __init__(self):
+        super().__init__()
+        self.setupUi(self)
+
+    def up(self):
+        self.voltage_2.setText('1234567')"""
+
+
+class Widget(QMainWindow, gui1.Ui_MainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setupUi(self)
+        self.start_animation_button.clicked.connect(self.start_animation)
+        self.stop_swarm_but.clicked.connect(self.stop_swarm)
+        self.show_3d_scene_button.clicked.connect(self.show_3d)
+        self.disarm_all_button.clicked.connect(self.disarm)
+
+
+        self.turn_off_led_button.clicked.connect(self.off_leds)
+        self.turn_on_led_button.clicked.connect(self.on_leds)
+        self.upload_animation_button.clicked.connect(self.upload_animation)
+        self.land_all_button.clicked.connect(self.land)
+        self.take_off_button.clicked.connect(self.take_off)
+        #self.number_animation_copters.clicked.connect(self.number_animation)
+        self.take_off_n_button.clicked.connect(self.take_off_n)
+        self.land_n_button.clicked.connect(self.land_n)
+        self.disarm_n_button.clicked.connect(self.disarm_n)
+        self.land_spinBox.valueChanged.connect(self.land_led)
+        self.disarm_spinBox.valueChanged.connect(self.disarm_led)
+        self.take_off_spinBox.valueChanged.connect(self.take_off_led)
+        self.safty_button.clicked.connect(self.safty)
+        self.connect_button.clicked.connect(self.connect)
+        self.swarm_size_spinBox.valueChanged.connect(self.number_copters)
+
+    def stop_swarm(self):
+        pass
+
+    def receiver(self):
+        global copters
+        global addr
+        while True:
+            try:
+                for k in range(copters): 
+                    a = requests.get('http://' + addr[k][0] + ':8081/aruco_map')
+                    tem = json.loads(a.text)
+
+                    coord[k] = str(tem['x']) + ',' + str(tem['y']) + ',' + str(tem['z']) + ',' + \
+                               str(tem['mode']) + ',' + str(tem['armed']) + ',' + str(tem['frame_id']) + str(
+                        tem['voltage']) + ',' + \
+                               str(tem['yaw']) + ',' + str(tem['pitch']) + ',' + str(tem['roll']) + ',' + \
+                               str(tem['vx']) + ',' + str(tem['vy']) + ',' + str(tem['vz'])
+
+                    time.sleep(0.05)
+
+
+
+            except Exception as e:
+
+                pass
+
+    def sender(self, com, num):
+        global conn
+        global conn_2
+        global copters
+        print(com)
+        print(num)
+        try:
+            if num == 'all':
+                for i in range(copters):
+                    conn[i].send(com + b'$$')
+                    print(com + b'$$')
+            elif int(num) > 0:
+                conn[int(num) - 1].send(com + b'$$')
+        except:
+            pass
+
+    def message(self, mes):
+        pass
+
+    def connect(self):
+        global copters
+        global conn
+        global conn_2
+        global addr
+        global addr_2
+        global coord
+
+        addr_2 = []
+
+        conn = []
+        conn_2 = []
+
+        self.message('Try connect')
+        for i in range(copters):
+            conn.append(0)
+            addr.append(0)
+            coord.append('0')
+
+        t_0 = Thread(target=self.connect_init)
+        t_0.daemon = True
+        t_0.start()
+
+    def connect_init(self):
+        self.state_label.setText("<html><head/><body><p><span style=\" font-size:12pt; color:rgb(255,255,"
+                                 "0);\">Wait</span></p></body></html>")
+        global copters
+
+        global conn
+        global addr
+        global conn_2
+        global addr_2
+
+        for i in range(copters):
+            conn[i], addr[i] = sock.accept()
+            print("connected_controllers:", addr[i])
+
+        self.disarm_spinBox.setMaximum(copters)
+        self.land_spinBox.setMaximum(copters)
+        self.take_off_spinBox.setMaximum(copters)
+        self.state_label.setText("<html><head/><body><p><span style=\" font-size:12pt; "
+                                 "color:Green;\">Connect</span></p></body></html>")
+
+        t = Thread(target=self.receiver)
+        t.daemon = True
+        t.start()
+
+    def number_animation(self):
+        global copters
+        col = [b'(255,0,0)', b'(173,255,47)', b'(255,215,0)', b'(255,0,255)', b'(0,0,255)', b'(205,92,92)',
+               b'(255,255,255)', b'(240,128,128)']
+        for i in range(copters + 1):
+            self.sender(b'led.fill' + col[i], str(i))
+            time.sleep(0.5)
+            self.sender(b'led.off()', str(i))
+        for i in range(copters + 1):
+            self.sender(b'led.fill' + col[i], str(i))
+
+            time.sleep(0.5)
+
+    def safty(self):
+        self.message('safty check')
+        self.sender(b'f.safety_check(False)', 'all')
+
+    def take_off(self):
+        self.message('take off')
+        self.sender(b'f.takeoff(z=2, speed=2,speed_takeoff=2 , timeout=2)', 'all')
+
+    def take_off_n(self):
+        self.message('take off n')
+        self.sender(b'f.takeoff()', str(self.take_off_spinBox.value()))
+
+    def land(self):
+        self.message('land')
+        self.sender(b'f.land(preland=False)', 'all')
+
+    def land_n(self):
+        self.message('land n')
+        self.sender(b'f.land(preland=False)', str(self.land_spinBox.value()))
+
+    def disarm(self):
+        self.sender(b'f.arming(False)', 'all')
+
+    def disarm_n(self):
+        self.sender(b'f.arming(False)', str(self.disarm_spinBox.value()))
+
+    def off_leds(self):
+        self.sender(b'led.off()', 'all')
+
+    def land_led(self):
+        self.sender(b'led.off()', 'all')
+        self.sender(b'led.fill(255,0,0)', self.land_spinBox.value())
+        # print(1)
+
+    def disarm_led(self):
+        self.sender(b'led.off()', 'all')
+        self.sender(b'led.fill(0,255,0)', self.disarm_spinBox.value())
+
+    def take_off_led(self):
+        self.sender(b'led.off()', 'all')
+        self.sender(b'led.fill(0,0,255)', self.take_off_spinBox.value())
+
+    def on_leds(self):
+        self.sender(b'led.fill(0, 0, 255)', 'all')
+
+    def square(self):
+
+        pass
+
+    def number_copters(self):
+        global copters
+        copters = self.swarm_size_spinBox.value()
+
+    def circle(self):
+        # ToDO to make this function
+        pass
+
+    def upload_animation(self):
+        global file
+        file = easygui.fileopenbox(filetypes=["*.avi"])  # вызов окна проводника для выбора файла
+
+    def start_animation(self):
+        t_4 = Thread(target=self.start_animation_1)
+        t_4.daemon = True
+        t_4.start()
+
+    def start_animation_1(self):
+        global file
+        f = open(file, 'r')
+        prog = f.read()
+        self.sender(b'programm', 'all')
+        time.sleep(0.5)
+        self.sender(bytes(prog, 'utf-8'), 'all')
+
+    def show_3d(self):
+
+        global data
+        global copters
+        global coord
+        fig = plt.figure()
+        ax = fig.add_subplot(111, projection='3d')
+        updateDialog = Dialog()
+        updateDialog.show()
+
+        while True:
+            s = str(self.console_textEdit.toPlainText())
+            print(s)
+            if '>' in s:
+
+                print(s[:-2], s[s.index('>') - 1])
+                self.console_textEdit.setText('')
+                if s[s.index('>') - 1] == '0':
+                    self.sender(bytes(str(s[:s.index('>') - 1]), 'utf-8'), 'all')
+                    print(s[:s.index('>') - 1], 'all')
+                else:
+                    self.sender(bytes(str(s[:s.index('>') - 1]), 'utf-8'), str(s[s.index('>') - 1]))
+                    print('sender', s[s.index('>') - 1])
+            try:
+
+                i = updateDialog.number_spinBox.value()
+                if i > 0:
+                    i -= 1
+
+                coord_drone = []
+                coord_drone = coord[i].split(',')
+
+                updateDialog.z_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    0] + "</span></p></body></html>")
+                updateDialog.x_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    1] + "</span></p></body></html>")
+                updateDialog.y_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    2] + "</span></p></body></html>")
+                updateDialog.mode_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    3] + "</span></p></body></html>")
+                updateDialog.armed_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    4] + "</span></p></body></html>")
+                updateDialog.frame_id_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    5] + "</span></p></body></html>")
+                updateDialog.voltage_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    6] + "</span></p></body></html>")
+                updateDialog.yaw2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    7] + "</span></p></body></html>")
+                updateDialog.pitch_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    8] + "</span></p></body></html>")
+                updateDialog.roll_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    9] + "</span></p></body></html>")
+                updateDialog.vx_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    10] + "</span></p></body></html>")
+                updateDialog.vy_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    11] + "</span></p></body></html>")
+                updateDialog.vz_2.setText("<html><head/><body><p><span style=\" color:#c8c8c8;\">" + coord_drone[
+                    12] + "</span></p></body></html>")
+            except Exception as e:
+                # print(e)
+                pass
+            try:
+
+                n = 0
+                # set size of scene
+
+                ax.set_xlim(0, 1.5)
+                ax.set_ylim(0, 2.2)
+                ax.set_zlim(0, 2)
+
+                ax.set_xlabel('x')
+                ax.set_ylabel('y')
+                ax.set_zlabel('z')
+
+                plt.pause(0.01)
+
+                ax.clear()
+                try:
+                    for i in coord:
+                        co = (0, 0, 0)
+                        n += 1
+
+                        if self.land_spinBox.value() == n:
+                            co = (1, 0, 0)
+                        if self.take_off_spinBox.value() == n:
+                            co = (1, 0, 0)
+                        if self.disarm_spinBox.value() == n:
+                            co = (1, 0, 0)
+
+                        ax.scatter(float(i.split(',')[0]), float(i.split(',')[1]), float(i.split(',')[2]), s=50, c=co,
+                                   marker='.')
+                        ax.text(float(i.split(',')[0]), float(i.split(',')[1]), float(i.split(',')[2]), str(n), size=10,
+                                zorder=1, color=(0, 0, 0))
+
+                except Exception as e:
+                    print(e)
+
+                ax.set_xlim(0, 1.5)
+                ax.set_ylim(0, 2.2)
+                ax.set_zlim(0, 2)
+
+                ax.set_xlabel('x')
+                ax.set_ylabel('y')
+                ax.set_zlabel('z')
+
+                plt.draw()
+            except KeyboardInterrupt:
+                print('stop')
+                break
+
+        plt.show()
+
+
+#if __name__ == '__main__':
+app = QApplication([])
+w = Widget()
+w.show()
+
+app.exec()
+
+"""Code by Alexandr Osherov 10 class, phone - +79251834732,  email - allexandr2001@mail.ru"""
diff --git a/Server/back.png b/Server/back.png
new file mode 100755
index 0000000000000000000000000000000000000000..0a306ec6a32325a582d39a595eb8206b64f2ce43
GIT binary patch
literal 4391
zcmeAS@N?(olHy`uVBq!ia0y~yU<ERnE^sgbDF=BkMj*vl9OUlAu<o49OCX0O-O<;P
zfnj4m_n$<NQqBU8$YKTtzQZ8Qcszea3Il_{9#0p?kczms*Eb3tGGJhFbmY%-@AN89
zELzmUr0}3@@_hY=ao=nC8Gdx`{XXaO9RKXKuXmkeWcbnaJrZc-k8CCh28IR}MjoIO
zni$v^7!({Cm>C!*C^P__;~{VWs78e&0Z0n57ywDmQRSl{GnxoSv&U#jFj_{ARtKXM
z<!GB=w6!$aFdS_%kM<5m`%R-=#L><(@#6$6Js%lfO7pC6Xns-+Y(+45y85}Sb4q9e
E0O`y39RL6T

literal 0
HcmV?d00001

diff --git a/Server/back_1.qrc b/Server/back_1.qrc
new file mode 100755
index 0000000..cbabc36
--- /dev/null
+++ b/Server/back_1.qrc
@@ -0,0 +1,5 @@
+<RCC>
+  <qresource prefix="back">
+    <file>back.png</file>
+  </qresource>
+</RCC>
diff --git a/Server/back_1_rc.py b/Server/back_1_rc.py
new file mode 100644
index 0000000..e23970e
--- /dev/null
+++ b/Server/back_1_rc.py
@@ -0,0 +1,73 @@
+# -*- coding: utf-8 -*-
+
+# Resource object code
+#
+# Created by: The Resource Compiler for PyQt5 (Qt v5.11.2)
+#
+# WARNING! All changes made in this file will be lost!
+
+from PyQt5 import QtCore
+
+qt_resource_data = b"\
+\x00\x00\x01\x01\
+\x00\
+\x00\x11\x27\x78\x9c\xeb\x0c\xf0\x73\xe7\xe5\x92\xe2\x62\x60\x60\
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+\x18\xd8\x18\x18\x14\x1c\x19\x98\x19\x18\x26\x28\x34\x00\x9d\xe3\
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+\x4e\xbc\x72\x96\x9e\x8f\x0c\x2f\xa5\x79\x56\x38\x34\x3f\xa9\x06\
+\x72\x19\x3c\x5d\xfd\x5c\xd6\x39\x25\x34\x01\x00\xe9\xcb\xf7\x1d\
+\
+"
+
+qt_resource_name = b"\
+\x00\x04\
+\x00\x06\x87\x9b\
+\x00\x62\
+\x00\x61\x00\x63\x00\x6b\
+\x00\x08\
+\x07\x9e\x5a\x47\
+\x00\x62\
+\x00\x61\x00\x63\x00\x6b\x00\x2e\x00\x70\x00\x6e\x00\x67\
+"
+
+qt_resource_struct_v1 = b"\
+\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x01\
+\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x02\
+\x00\x00\x00\x0e\x00\x01\x00\x00\x00\x01\x00\x00\x00\x00\
+"
+
+qt_resource_struct_v2 = b"\
+\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x01\
+\x00\x00\x00\x00\x00\x00\x00\x00\
+\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x02\
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+\x00\x00\x01\x64\x8d\x7d\xe9\xe9\
+"
+
+qt_version = [int(v) for v in QtCore.qVersion().split('.')]
+if qt_version < [5, 8, 0]:
+    rcc_version = 1
+    qt_resource_struct = qt_resource_struct_v1
+else:
+    rcc_version = 2
+    qt_resource_struct = qt_resource_struct_v2
+
+def qInitResources():
+    QtCore.qRegisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data)
+
+def qCleanupResources():
+    QtCore.qUnregisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data)
+
+qInitResources()
diff --git a/Server/gui.ui b/Server/gui.ui
new file mode 100755
index 0000000..c83797f
--- /dev/null
+++ b/Server/gui.ui
@@ -0,0 +1,460 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1280</width>
+    <height>720</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>1280</width>
+    <height>720</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>1280</width>
+    <height>720</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Drone Swarm</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="QPushButton" name="take_off_button">
+    <property name="geometry">
+     <rect>
+      <x>760</x>
+      <y>70</y>
+      <width>100</width>
+      <height>40</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Take off all</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="land_all_button">
+    <property name="geometry">
+     <rect>
+      <x>890</x>
+      <y>70</y>
+      <width>91</width>
+      <height>40</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Land all</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="disarm_all_button">
+    <property name="geometry">
+     <rect>
+      <x>1010</x>
+      <y>70</y>
+      <width>101</width>
+      <height>40</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">background-color: red
+</string>
+    </property>
+    <property name="text">
+     <string>Disarm all</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="take_off_n_button">
+    <property name="geometry">
+     <rect>
+      <x>760</x>
+      <y>150</y>
+      <width>100</width>
+      <height>40</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Take off n</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="land_n_button">
+    <property name="geometry">
+     <rect>
+      <x>890</x>
+      <y>150</y>
+      <width>91</width>
+      <height>40</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true"/>
+    </property>
+    <property name="text">
+     <string>Land n</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="disarm_n_button">
+    <property name="geometry">
+     <rect>
+      <x>1010</x>
+      <y>150</y>
+      <width>101</width>
+      <height>40</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">background-color: red
+</string>
+    </property>
+    <property name="text">
+     <string>Disarm n</string>
+    </property>
+   </widget>
+   <widget class="QSpinBox" name="take_off_spinBox">
+    <property name="geometry">
+     <rect>
+      <x>790</x>
+      <y>120</y>
+      <width>50</width>
+      <height>22</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QSpinBox" name="land_spinBox">
+    <property name="geometry">
+     <rect>
+      <x>910</x>
+      <y>120</y>
+      <width>50</width>
+      <height>22</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QSpinBox" name="disarm_spinBox">
+    <property name="geometry">
+     <rect>
+      <x>1040</x>
+      <y>120</y>
+      <width>50</width>
+      <height>22</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="control_console_label">
+    <property name="geometry">
+     <rect>
+      <x>840</x>
+      <y>20</y>
+      <width>200</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt; color:#c8c8c8;&quot;&gt;Control console&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignCenter</set>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="turn_on_led_button">
+    <property name="geometry">
+     <rect>
+      <x>1140</x>
+      <y>60</y>
+      <width>100</width>
+      <height>61</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true"/>
+    </property>
+    <property name="text">
+     <string>Turn on Leds</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="turn_off_led_button">
+    <property name="geometry">
+     <rect>
+      <x>1140</x>
+      <y>140</y>
+      <width>100</width>
+      <height>61</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Turn off Leds</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="stop_swarm_but">
+    <property name="geometry">
+     <rect>
+      <x>220</x>
+      <y>510</y>
+      <width>141</width>
+      <height>51</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true"/>
+    </property>
+    <property name="text">
+     <string>Stop swarm</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="connect_button">
+    <property name="geometry">
+     <rect>
+      <x>620</x>
+      <y>60</y>
+      <width>111</width>
+      <height>40</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true"/>
+    </property>
+    <property name="text">
+     <string>Connect</string>
+    </property>
+   </widget>
+   <widget class="QSpinBox" name="swarm_size_spinBox">
+    <property name="geometry">
+     <rect>
+      <x>260</x>
+      <y>80</y>
+      <width>50</width>
+      <height>20</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="swarm_size_label">
+    <property name="geometry">
+     <rect>
+      <x>240</x>
+      <y>50</y>
+      <width>100</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Swarm Size&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignCenter</set>
+    </property>
+   </widget>
+   <widget class="QLabel" name="send_command_label">
+    <property name="geometry">
+     <rect>
+      <x>840</x>
+      <y>260</y>
+      <width>200</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt; color:#c8c8c8;&quot;&gt;Send command&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignCenter</set>
+    </property>
+   </widget>
+   <widget class="QTextEdit" name="console_textEdit">
+    <property name="geometry">
+     <rect>
+      <x>640</x>
+      <y>290</y>
+      <width>591</width>
+      <height>271</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">background-color: rgb(1, 36, 86)</string>
+    </property>
+    <property name="html">
+     <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Noto Sans'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:7.8pt; color:#ffffff;&quot;&gt;...&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="show_3d_scene_button">
+    <property name="geometry">
+     <rect>
+      <x>220</x>
+      <y>300</y>
+      <width>141</width>
+      <height>51</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true"/>
+    </property>
+    <property name="text">
+     <string>Show 3d scene</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="upload_animation_button">
+    <property name="geometry">
+     <rect>
+      <x>220</x>
+      <y>370</y>
+      <width>141</width>
+      <height>51</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true"/>
+    </property>
+    <property name="text">
+     <string>Upload animation</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="state_label">
+    <property name="geometry">
+     <rect>
+      <x>220</x>
+      <y>160</y>
+      <width>131</width>
+      <height>41</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true">color: red
+
+</string>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Disconnect&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignCenter</set>
+    </property>
+   </widget>
+   <widget class="QLabel" name="statement_swarm_label">
+    <property name="geometry">
+     <rect>
+      <x>230</x>
+      <y>140</y>
+      <width>111</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Statement swarm</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignCenter</set>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="start_animation_button">
+    <property name="geometry">
+     <rect>
+      <x>220</x>
+      <y>440</y>
+      <width>141</width>
+      <height>51</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true"/>
+    </property>
+    <property name="text">
+     <string>Start animation</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="back_label">
+    <property name="geometry">
+     <rect>
+      <x>0</x>
+      <y>-1</y>
+      <width>1280</width>
+      <height>701</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;img src=&quot;:/back/back.png&quot;/&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="safty_button">
+    <property name="geometry">
+     <rect>
+      <x>620</x>
+      <y>110</y>
+      <width>111</width>
+      <height>40</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true"/>
+    </property>
+    <property name="text">
+     <string>Safty check</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="synch_button">
+    <property name="geometry">
+     <rect>
+      <x>620</x>
+      <y>160</y>
+      <width>111</width>
+      <height>40</height>
+     </rect>
+    </property>
+    <property name="styleSheet">
+     <string notr="true"/>
+    </property>
+    <property name="text">
+     <string>Synchronize</string>
+    </property>
+   </widget>
+   <zorder>back_label</zorder>
+   <zorder>take_off_button</zorder>
+   <zorder>land_all_button</zorder>
+   <zorder>disarm_all_button</zorder>
+   <zorder>take_off_n_button</zorder>
+   <zorder>land_n_button</zorder>
+   <zorder>disarm_n_button</zorder>
+   <zorder>take_off_spinBox</zorder>
+   <zorder>land_spinBox</zorder>
+   <zorder>disarm_spinBox</zorder>
+   <zorder>control_console_label</zorder>
+   <zorder>turn_on_led_button</zorder>
+   <zorder>turn_off_led_button</zorder>
+   <zorder>stop_swarm_but</zorder>
+   <zorder>connect_button</zorder>
+   <zorder>swarm_size_spinBox</zorder>
+   <zorder>swarm_size_label</zorder>
+   <zorder>send_command_label</zorder>
+   <zorder>console_textEdit</zorder>
+   <zorder>show_3d_scene_button</zorder>
+   <zorder>upload_animation_button</zorder>
+   <zorder>state_label</zorder>
+   <zorder>statement_swarm_label</zorder>
+   <zorder>start_animation_button</zorder>
+   <zorder>safty_button</zorder>
+   <zorder>synch_button</zorder>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1280</width>
+     <height>23</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources>
+  <include location="back_1.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/Server/gui1.py b/Server/gui1.py
new file mode 100644
index 0000000..844d61e
--- /dev/null
+++ b/Server/gui1.py
@@ -0,0 +1,197 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'swarm_5.ui'
+#
+# Created by: PyQt5 UI code generator 5.11.3
+#
+# WARNING! All changes made in this file will be lost!
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1280, 720)
+        MainWindow.setMinimumSize(QtCore.QSize(1280, 720))
+        MainWindow.setMaximumSize(QtCore.QSize(1280, 720))
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.take_off_button = QtWidgets.QPushButton(self.centralwidget)
+        self.take_off_button.setGeometry(QtCore.QRect(760, 70, 100, 40))
+        self.take_off_button.setObjectName("take_off_button")
+        self.land_all_button = QtWidgets.QPushButton(self.centralwidget)
+        self.land_all_button.setGeometry(QtCore.QRect(890, 70, 91, 40))
+        self.land_all_button.setObjectName("land_all_button")
+        self.disarm_all_button = QtWidgets.QPushButton(self.centralwidget)
+        self.disarm_all_button.setGeometry(QtCore.QRect(1010, 70, 101, 40))
+        self.disarm_all_button.setStyleSheet("background-color: red\n"
+"")
+        self.disarm_all_button.setObjectName("disarm_all_button")
+        self.take_off_n_button = QtWidgets.QPushButton(self.centralwidget)
+        self.take_off_n_button.setGeometry(QtCore.QRect(760, 150, 100, 40))
+        self.take_off_n_button.setObjectName("take_off_n_button")
+        self.land_n_button = QtWidgets.QPushButton(self.centralwidget)
+        self.land_n_button.setGeometry(QtCore.QRect(890, 150, 91, 40))
+        self.land_n_button.setStyleSheet("")
+        self.land_n_button.setObjectName("land_n_button")
+        self.disarm_n_button = QtWidgets.QPushButton(self.centralwidget)
+        self.disarm_n_button.setGeometry(QtCore.QRect(1010, 150, 101, 40))
+        self.disarm_n_button.setStyleSheet("background-color: red\n"
+"")
+        self.disarm_n_button.setObjectName("disarm_n_button")
+        self.take_off_spinBox = QtWidgets.QSpinBox(self.centralwidget)
+        self.take_off_spinBox.setGeometry(QtCore.QRect(790, 120, 50, 22))
+        self.take_off_spinBox.setObjectName("take_off_spinBox")
+        self.land_spinBox = QtWidgets.QSpinBox(self.centralwidget)
+        self.land_spinBox.setGeometry(QtCore.QRect(910, 120, 50, 22))
+        self.land_spinBox.setObjectName("land_spinBox")
+        self.disarm_spinBox = QtWidgets.QSpinBox(self.centralwidget)
+        self.disarm_spinBox.setGeometry(QtCore.QRect(1040, 120, 50, 22))
+        self.disarm_spinBox.setObjectName("disarm_spinBox")
+        self.control_console_label = QtWidgets.QLabel(self.centralwidget)
+        self.control_console_label.setGeometry(QtCore.QRect(840, 20, 200, 20))
+        self.control_console_label.setAlignment(QtCore.Qt.AlignCenter)
+        self.control_console_label.setObjectName("control_console_label")
+        self.turn_on_led_button = QtWidgets.QPushButton(self.centralwidget)
+        self.turn_on_led_button.setGeometry(QtCore.QRect(1140, 60, 100, 61))
+        self.turn_on_led_button.setStyleSheet("")
+        self.turn_on_led_button.setObjectName("turn_on_led_button")
+        self.turn_off_led_button = QtWidgets.QPushButton(self.centralwidget)
+        self.turn_off_led_button.setGeometry(QtCore.QRect(1140, 140, 100, 61))
+        self.turn_off_led_button.setObjectName("turn_off_led_button")
+        self.stop_swarm_but = QtWidgets.QPushButton(self.centralwidget)
+        self.stop_swarm_but.setGeometry(QtCore.QRect(220, 510, 141, 51))
+        self.stop_swarm_but.setStyleSheet("")
+        self.stop_swarm_but.setObjectName("stop_swarm_but")
+        self.connect_button = QtWidgets.QPushButton(self.centralwidget)
+        self.connect_button.setGeometry(QtCore.QRect(620, 60, 111, 40))
+        self.connect_button.setStyleSheet("")
+        self.connect_button.setObjectName("connect_button")
+        self.swarm_size_spinBox = QtWidgets.QSpinBox(self.centralwidget)
+        self.swarm_size_spinBox.setGeometry(QtCore.QRect(260, 80, 50, 20))
+        self.swarm_size_spinBox.setObjectName("swarm_size_spinBox")
+        self.swarm_size_label = QtWidgets.QLabel(self.centralwidget)
+        self.swarm_size_label.setGeometry(QtCore.QRect(240, 50, 100, 20))
+        self.swarm_size_label.setAlignment(QtCore.Qt.AlignCenter)
+        self.swarm_size_label.setObjectName("swarm_size_label")
+        self.send_command_label = QtWidgets.QLabel(self.centralwidget)
+        self.send_command_label.setGeometry(QtCore.QRect(840, 260, 200, 20))
+        self.send_command_label.setAlignment(QtCore.Qt.AlignCenter)
+        self.send_command_label.setObjectName("send_command_label")
+        self.console_textEdit = QtWidgets.QTextEdit(self.centralwidget)
+        self.console_textEdit.setGeometry(QtCore.QRect(640, 290, 591, 271))
+        self.console_textEdit.setStyleSheet("background-color: rgb(1, 36, 86)")
+        self.console_textEdit.setObjectName("console_textEdit")
+        self.show_3d_scene_button = QtWidgets.QPushButton(self.centralwidget)
+        self.show_3d_scene_button.setGeometry(QtCore.QRect(220, 300, 141, 51))
+        self.show_3d_scene_button.setStyleSheet("")
+        self.show_3d_scene_button.setObjectName("show_3d_scene_button")
+        self.upload_animation_button = QtWidgets.QPushButton(self.centralwidget)
+        self.upload_animation_button.setGeometry(QtCore.QRect(220, 370, 141, 51))
+        self.upload_animation_button.setStyleSheet("")
+        self.upload_animation_button.setObjectName("upload_animation_button")
+        self.state_label = QtWidgets.QLabel(self.centralwidget)
+        self.state_label.setGeometry(QtCore.QRect(220, 160, 131, 41))
+        self.state_label.setStyleSheet("color: red\n"
+"\n"
+"")
+        self.state_label.setAlignment(QtCore.Qt.AlignCenter)
+        self.state_label.setObjectName("state_label")
+        self.statement_swarm_label = QtWidgets.QLabel(self.centralwidget)
+        self.statement_swarm_label.setGeometry(QtCore.QRect(230, 140, 111, 20))
+        self.statement_swarm_label.setAlignment(QtCore.Qt.AlignCenter)
+        self.statement_swarm_label.setObjectName("statement_swarm_label")
+        self.start_animation_button = QtWidgets.QPushButton(self.centralwidget)
+        self.start_animation_button.setGeometry(QtCore.QRect(220, 440, 141, 51))
+        self.start_animation_button.setStyleSheet("")
+        self.start_animation_button.setObjectName("start_animation_button")
+        self.back_label = QtWidgets.QLabel(self.centralwidget)
+        self.back_label.setGeometry(QtCore.QRect(0, -1, 1280, 701))
+        self.back_label.setObjectName("back_label")
+        self.safty_button = QtWidgets.QPushButton(self.centralwidget)
+        self.safty_button.setGeometry(QtCore.QRect(620, 110, 111, 40))
+        self.safty_button.setStyleSheet("")
+        self.safty_button.setObjectName("safty_button")
+        self.synch_button = QtWidgets.QPushButton(self.centralwidget)
+        self.synch_button.setGeometry(QtCore.QRect(620, 160, 111, 40))
+        self.synch_button.setStyleSheet("")
+        self.synch_button.setObjectName("synch_button")
+        self.back_label.raise_()
+        self.take_off_button.raise_()
+        self.land_all_button.raise_()
+        self.disarm_all_button.raise_()
+        self.take_off_n_button.raise_()
+        self.land_n_button.raise_()
+        self.disarm_n_button.raise_()
+        self.take_off_spinBox.raise_()
+        self.land_spinBox.raise_()
+        self.disarm_spinBox.raise_()
+        self.control_console_label.raise_()
+        self.turn_on_led_button.raise_()
+        self.turn_off_led_button.raise_()
+        self.stop_swarm_but.raise_()
+        self.connect_button.raise_()
+        self.swarm_size_spinBox.raise_()
+        self.swarm_size_label.raise_()
+        self.send_command_label.raise_()
+        self.console_textEdit.raise_()
+        self.show_3d_scene_button.raise_()
+        self.upload_animation_button.raise_()
+        self.state_label.raise_()
+        self.statement_swarm_label.raise_()
+        self.start_animation_button.raise_()
+        self.safty_button.raise_()
+        self.synch_button.raise_()
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1280, 23))
+        self.menubar.setObjectName("menubar")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "Drone Swarm"))
+        self.take_off_button.setText(_translate("MainWindow", "Take off all"))
+        self.land_all_button.setText(_translate("MainWindow", "Land all"))
+        self.disarm_all_button.setText(_translate("MainWindow", "Disarm all"))
+        self.take_off_n_button.setText(_translate("MainWindow", "Take off n"))
+        self.land_n_button.setText(_translate("MainWindow", "Land n"))
+        self.disarm_n_button.setText(_translate("MainWindow", "Disarm n"))
+        self.control_console_label.setText(_translate("MainWindow", "<html><head/><body><p><span style=\" font-size:12pt; color:#c8c8c8;\">Control console</span></p></body></html>"))
+        self.turn_on_led_button.setText(_translate("MainWindow", "Turn on Leds"))
+        self.turn_off_led_button.setText(_translate("MainWindow", "Turn off Leds"))
+        self.stop_swarm_but.setText(_translate("MainWindow", "Stop swarm"))
+        self.connect_button.setText(_translate("MainWindow", "Connect"))
+        self.swarm_size_label.setText(_translate("MainWindow", "<html><head/><body><p><span style=\" font-size:9pt;\">Swarm Size</span></p></body></html>"))
+        self.send_command_label.setText(_translate("MainWindow", "<html><head/><body><p><span style=\" font-size:12pt; color:#c8c8c8;\">Send command</span></p></body></html>"))
+        self.console_textEdit.setHtml(_translate("MainWindow", "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n"
+"<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\n"
+"p, li { white-space: pre-wrap; }\n"
+"</style></head><body style=\" font-family:\'Noto Sans\'; font-size:9pt; font-weight:400; font-style:normal;\">\n"
+"<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-family:\'MS Shell Dlg 2\'; font-size:7.8pt; color:#ffffff;\">...</span></p></body></html>"))
+        self.show_3d_scene_button.setText(_translate("MainWindow", "Show 3d scene"))
+        self.upload_animation_button.setText(_translate("MainWindow", "Upload animation"))
+        self.state_label.setText(_translate("MainWindow", "<html><head/><body><p><span style=\" font-size:12pt;\">Disconnect</span></p></body></html>"))
+        self.statement_swarm_label.setText(_translate("MainWindow", "Statement swarm"))
+        self.start_animation_button.setText(_translate("MainWindow", "Start animation"))
+        self.back_label.setText(_translate("MainWindow", "<html><head/><body><p><img src=\":/back/back.png\"/></p></body></html>"))
+        self.safty_button.setText(_translate("MainWindow", "Safty check"))
+        self.synch_button.setText(_translate("MainWindow", "Synchronize"))
+
+import back_1_rc
+
+if __name__ == "__main__":
+    import sys
+    app = QtWidgets.QApplication(sys.argv)
+    MainWindow = QtWidgets.QMainWindow()
+    ui = Ui_MainWindow()
+    ui.setupUi(MainWindow)
+    MainWindow.show()
+    sys.exit(app.exec_())
+