import os import glob from PyQt5 import QtWidgets from PyQt5.QtGui import QStandardItemModel, QStandardItem from PyQt5.QtCore import Qt, pyqtSlot from PyQt5.QtWidgets import QFileDialog, QMessageBox # Importing gui form from server_gui import Ui_MainWindow from server import * # noinspection PyArgumentList,PyCallByClass class MainWindow(QtWidgets.QMainWindow): def __init__(self): super(MainWindow, self).__init__() self.ui = Ui_MainWindow() self.ui.setupUi(self) self.init_ui() self.show() def init_ui(self): # Connecting self.ui.check_button.clicked.connect(self.check_selected) self.ui.start_button.clicked.connect(self.send_starttime) self.ui.pause_button.clicked.connect(self.pause_all) self.ui.stop_button.clicked.connect(self.stop_all) self.ui.leds_button.clicked.connect(self.test_leds) self.ui.takeoff_button.clicked.connect(self.takeoff_selected) self.ui.land_button.clicked.connect(self.land_all) self.ui.disarm_button.clicked.connect(self.disarm_all) self.ui.action_send_animations.triggered.connect(self.send_animations) self.ui.action_send_configurations.triggered.connect(self.send_configurations) self.ui.action_send_Aruco_map.triggered.connect(self.send_aruco) # Initing table and table model self.ui.tableView.setModel(model) self.ui.tableView.horizontalHeader().setStretchLastSection(True) @pyqtSlot() def check_selected(self): for row_num in range(model.rowCount()): item = model.item(row_num, 0) if item.isCheckable() and item.checkState() == Qt.Checked: print("Copter {} checked".format(model.item(row_num, 0).text())) copter = Client.get_by_id(item.text()) copter.get_response("batt_voltage", self._set_copter_data, callback_args=(row_num, 2)) copter.get_response("cell_voltage", self._set_copter_data, callback_args=(row_num, 3)) copter.get_response("selfcheck", self._set_copter_data, callback_args=(row_num, 4)) copter.get_response("time", self._set_copter_data, callback_args=(row_num, 5)) self.ui.start_button.setEnabled(True) self.ui.takeoff_button.setEnabled(True) def _set_copter_data(self, value, row, col): if col == 2: model.setData(model.index(row, col), "{} V.".format(round(float(value), 3))) elif col == 3: batt_percent = ((float(value) - 3.2) / (4.2 - 3.2)) * 100 model.setData(model.index(row, col), "{} %".format(round(batt_percent, 3))) elif col == 4: if value != "OK": model.setData(model.index(row, col), str(value)) # TODO different handling else: model.setData(model.index(row, col), str(value)) elif col == 5: model.setData(model.index(row, col), time.ctime(int(value))) @pyqtSlot() def send_starttime(self): dt = self.ui.start_delay_spin.value() reply = QMessageBox.question( self, "Confirm operation", "This operation will takeoff selected copters and start animation after {} seconds. Proceed?".format(dt), QMessageBox.Yes | QMessageBox.No, QMessageBox.No ) if reply == QMessageBox.Yes: print("Accepted") for row_num in range(model.rowCount()): item = model.item(row_num, 0) if item.isCheckable() and item.checkState() == Qt.Checked: if True: # TODO checks for batt/selfckeck here copter = Client.get_by_id(item.text()) server.send_starttime(copter, dt) else: print("Cancelled") @pyqtSlot() def stop_all(self): Client.broadcast_message("stop") @pyqtSlot() def pause_all(self): if self.ui.pause_button.text() == 'Pause': Client.broadcast_message('pause') self.ui.pause_button.setText('Resume') else: Client.broadcast_message('resume') self.ui.pause_button.setText('Pause') @pyqtSlot() def test_leds(self): for row_num in range(model.rowCount()): item = model.item(row_num, 0) if item.isCheckable() and item.checkState() == Qt.Checked: if True: # TODO checks for batt/selfckeck here copter = Client.get_by_id(item.text()) copter.send_message("led_test") @pyqtSlot() def takeoff_selected(self): reply = QMessageBox.question( self, "Confirm operation", "This operation will takeoff copters immediately. Proceed?", QMessageBox.Yes | QMessageBox.No, QMessageBox.No ) if reply == QMessageBox.Yes: print("Accepted") for row_num in range(model.rowCount()): item = model.item(row_num, 0) if item.isCheckable() and item.checkState() == Qt.Checked: if True: # TODO checks for batt/selfckeck here copter = Client.get_by_id(item.text()) copter.send_message("takeoff") else: print("Cancelled") pass @pyqtSlot() def land_all(self): Client.broadcast_message("land") @pyqtSlot() def disarm_all(self): Client.broadcast_message("disarm") @pyqtSlot() def send_animations(self): path = str(QFileDialog.getExistingDirectory(self, "Select Animation Directory")) if path: print("Selected directory:", path) files = [file for file in glob.glob(path + '/*.csv')] names = [os.path.basename(file).split(".")[0] for file in files] print(files) for file, name in zip(files, names): for row_num in range(model.rowCount()): item = model.item(row_num, 0) if item.isCheckable() and item.checkState() == Qt.Checked: copter = Client.get_by_id(item.text()) if name == copter.copter_id: copter.send_file(file, "animation.csv") # TODO config else: print("Filename not matches with any drone connected") @pyqtSlot() def send_configurations(self): path = QFileDialog.getOpenFileName(self, "Select configuration file", filter="Configs (*.ini *.txt .cfg)")[0] if path: print("Selected file:", path) sendable_config = configparser.ConfigParser() sendable_config.read(path) options = [] for section in sendable_config.sections(): for option in dict(sendable_config.items(section)): value = sendable_config[section][option] logging.debug("Got item from config:".format(section, option, value)) options.append(ConfigOption(section, option, value)) for row_num in range(model.rowCount()): item = model.item(row_num, 0) if item.isCheckable() and item.checkState() == Qt.Checked: copter = Client.get_by_id(item.text()) copter.send_config_options(*options) @pyqtSlot() def send_aruco(self): 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) for row_num in range(model.rowCount()): item = model.item(row_num, 0) if item.isCheckable() and item.checkState() == Qt.Checked: copter = Client.get_by_id(item.text()) copter.send_file(path, "/home/pi/catkin_ws/src/clever/aruco_pose/map/animation_map.txt") copter.send_message("service_restart", {"name": "clever"}) model = QStandardItemModel() model.setHorizontalHeaderLabels( ('copter ID', 'animation ID', 'battery V', 'battery %', 'selfcheck', 'time UTC') ) model.setColumnCount(6) model.setRowCount(0) def client_connected(self: Client): copter_id_item = QStandardItem(self.copter_id) copter_id_item.setCheckable(True) model.appendRow((copter_id_item, )) Client.on_first_connect = client_connected if __name__ == "__main__": app = QtWidgets.QApplication(sys.argv) window = MainWindow() server = Server() server.start() app.exec_() server.stop() sys.exit()