# -*- 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
# -*- coding: utf-8 -*-

# Resource object code
#
# Created by: The Resource Compiler for PyQt5 (Qt v5.10.1)
#
# WARNING! All changes made in this file will be lost!

from PyQt5 import QtCore

qt_resource_data = b"\
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qt_resource_name = b"\
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"

qt_resource_struct_v1 = b"\
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qt_resource_struct_v2 = b"\
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"

qt_version = 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()

qt_resource_data = b"\
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\
"

qt_resource_name = b"\
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"

qt_resource_struct_v1 = b"\
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"

qt_resource_struct_v2 = b"\
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"

qt_version = 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()


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, 60, 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, 60, 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, 60, 101, 40))
        self.disarm_all_button.setStyleSheet("background-color: red")
        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, 160, 100, 30))
        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, 160, 91, 30))
        self.land_n_button.setObjectName("land_n_button")
        self.disarm_n_button = QtWidgets.QPushButton(self.centralwidget)
        self.disarm_n_button.setGeometry(QtCore.QRect(1010, 160, 101, 30))
        self.disarm_n_button.setStyleSheet("background-color: red")
        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(620, 250, 100, 40))
        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(620, 310, 100, 40))
        self.turn_off_led_button.setObjectName("turn_off_led_button")

        self.number_animation_copters = QtWidgets.QPushButton(self.centralwidget)
        self.number_animation_copters.setGeometry(QtCore.QRect(1140, 150, 111, 40))
        self.number_animation_copters.setStyleSheet("")
        self.number_animation_copters.setObjectName("number_animation_copters")

        self.stop_swarm_but = QtWidgets.QPushButton(self.centralwidget)
        self.stop_swarm_but.setGeometry(QtCore.QRect(1140, 60, 111, 40))
        self.stop_swarm_but.setStyleSheet("")
        self.stop_swarm_but.setObjectName("stop_swarm_but")

        # self.telemetry_but = QtWidgets.QPushButton(self.centralwidget)
        # self.telemetry_but.setGeometry(QtCore.QRect(1140, 105, 111, 40))
        # self.telemetry_but.setStyleSheet("")
        # self.telemetry_but.setObjectName("telemetry_but")

        self.connect_button = QtWidgets.QPushButton(self.centralwidget)
        self.connect_button.setGeometry(QtCore.QRect(620, 60, 111, 61))
        self.connect_button.setStyleSheet("")
        self.connect_button.setObjectName("connect_button")
        self.square_button = QtWidgets.QPushButton(self.centralwidget)
        self.square_button.setGeometry(QtCore.QRect(780, 250, 71, 41))
        self.square_button.setStyleSheet("")
        self.square_button.setObjectName("square_button")
        self.circle_button = QtWidgets.QPushButton(self.centralwidget)
        self.circle_button.setGeometry(QtCore.QRect(780, 310, 71, 40))
        self.circle_button.setObjectName("circle_button")
        self.radius_circle_DoubleSpinBox = QtWidgets.QSpinBox(self.centralwidget)
        self.radius_circle_DoubleSpinBox.setGeometry(QtCore.QRect(1040, 320, 50, 22))
        self.radius_circle_DoubleSpinBox.setObjectName("radius_circle_DoubleSpinBox")
        self.radius_square_spinBox = QtWidgets.QSpinBox(self.centralwidget)
        self.radius_square_spinBox.setGeometry(QtCore.QRect(1040, 260, 50, 22))
        self.radius_square_spinBox.setObjectName("radius_square_spinBox")
        self.center_label = QtWidgets.QLabel(self.centralwidget)
        self.center_label.setGeometry(QtCore.QRect(900, 220, 71, 20))
        self.center_label.setAlignment(QtCore.Qt.AlignCenter)
        self.center_label.setObjectName("center_label")
        self.radius_label = QtWidgets.QLabel(self.centralwidget)
        self.radius_label.setGeometry(QtCore.QRect(1040, 220, 55, 16))
        self.radius_label.setAlignment(QtCore.Qt.AlignCenter)
        self.radius_label.setObjectName("radius_label")
        self.figure_label = QtWidgets.QLabel(self.centralwidget)
        self.figure_label.setGeometry(QtCore.QRect(780, 220, 71, 20))
        self.figure_label.setAlignment(QtCore.Qt.AlignCenter)
        self.figure_label.setObjectName("figure_label")
        self.led_label = QtWidgets.QLabel(self.centralwidget)
        self.led_label.setGeometry(QtCore.QRect(640, 220, 61, 20))
        self.led_label.setAlignment(QtCore.Qt.AlignCenter)
        self.led_label.setObjectName("led_label")
        self.center_square_lineEdit = QtWidgets.QLineEdit(self.centralwidget)
        self.center_square_lineEdit.setGeometry(QtCore.QRect(900, 260, 71, 22))
        self.center_square_lineEdit.setAlignment(QtCore.Qt.AlignCenter)
        self.center_square_lineEdit.setObjectName("center_square_lineEdit")
        self.center_circle_lineEdit = QtWidgets.QLineEdit(self.centralwidget)
        self.center_circle_lineEdit.setGeometry(QtCore.QRect(900, 320, 71, 22))
        self.center_circle_lineEdit.setAlignment(QtCore.Qt.AlignCenter)
        self.center_circle_lineEdit.setObjectName("center_circle_lineEdit")
        self.swarm_size_spinBox = QtWidgets.QSpinBox(self.centralwidget)
        self.swarm_size_spinBox.setGeometry(QtCore.QRect(260, 70, 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, 40, 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, 370, 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, 410, 591, 241))
        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, 290, 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, 360, 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, 180, 131, 41))
        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, 150, 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, 430, 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, 130, 111, 61))
        self.safty_button.setStyleSheet("")
        self.safty_button.setObjectName("safty_button")
        self.tilt_label = QtWidgets.QLabel(self.centralwidget)
        self.tilt_label.setGeometry(QtCore.QRect(1170, 220, 55, 16))
        self.tilt_label.setAlignment(QtCore.Qt.AlignCenter)
        self.tilt_label.setObjectName("center_label_2")
        self.tilt_square_lineEdit = QtWidgets.QLineEdit(self.centralwidget)
        self.tilt_square_lineEdit.setGeometry(QtCore.QRect(1160, 260, 71, 22))
        self.tilt_square_lineEdit.setAlignment(QtCore.Qt.AlignCenter)
        self.tilt_square_lineEdit.setObjectName("tilt_square_lineEdit")
        self.tilt_circle_lineEdit = QtWidgets.QLineEdit(self.centralwidget)
        self.tilt_circle_lineEdit.setGeometry(QtCore.QRect(1160, 320, 71, 22))
        self.tilt_circle_lineEdit.setAlignment(QtCore.Qt.AlignCenter)
        self.tilt_circle_lineEdit.setObjectName("tilt_circle_lineEdit_2")
        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.number_animation_copters.raise_()
        # self.telemetry_but.raise_()
        self.stop_swarm_but.raise_()
        self.connect_button.raise_()
        self.square_button.raise_()
        self.circle_button.raise_()
        self.radius_circle_DoubleSpinBox.raise_()
        self.radius_square_spinBox.raise_()
        self.center_label.raise_()
        self.radius_label.raise_()
        self.figure_label.raise_()
        self.led_label.raise_()
        self.center_square_lineEdit.raise_()
        self.center_circle_lineEdit.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.tilt_label.raise_()
        self.tilt_square_lineEdit.raise_()
        self.tilt_circle_lineEdit.raise_()
        MainWindow.setCentralWidget(self.centralwidget)
        self.menubar = QtWidgets.QMenuBar(MainWindow)
        self.menubar.setGeometry(QtCore.QRect(0, 0, 1280, 26))
        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.number_animation_copters.setText(_translate("MainWindow", "Number anim"))
        # self.telemetry_but.setText(_translate("MainWindow", "Telemetry"))
        self.stop_swarm_but.setText(_translate("MainWindow", "Stop swarm"))
        self.connect_button.setText(_translate("MainWindow", "Connect"))
        self.square_button.setText(_translate("MainWindow", "Square"))
        self.circle_button.setText(_translate("MainWindow", "Circle"))
        self.center_label.setText(_translate("MainWindow",
                                             "<html><head/><body><p><span style=\" font-size:9pt; color:#c8c8c8;\">Center</span></p><p><br/></p></body></html>"))
        self.radius_label.setText(_translate("MainWindow",
                                             "<html><head/><body><p><span style=\" font-size:9pt; color:#c8c8c8;\">Radius</span></p></body></html>"))
        self.figure_label.setText(_translate("MainWindow",
                                             "<html><head/><body><p><span style=\" font-size:9pt; color:#c8c8c8;\">Figure</span></p></body></html>"))
        self.led_label.setText(_translate("MainWindow",
                                          "<html><head/><body><p><span style=\" font-size:9pt; color:#c8c8c8;\">LED</span></p></body></html>"))
        self.center_square_lineEdit.setText(_translate("MainWindow", "x,y,z"))
        self.center_circle_lineEdit.setText(_translate("MainWindow", "x,y,z"))
        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><html><head><title></title></head><body style=""color:white;>Swarm Console</body></html>"))

        self.show_3d_scene_button.setText(_translate("MainWindow", "Show Telemetry"))
        self.upload_animation_button.setText(_translate("MainWindow", "Upload animation"))
        self.state_label.setText(_translate("MainWindow",
                                            "<html><head/><body><p><span style=\" font-size:12pt; color:red;\">Disconnect</span></p></body></html>"))
        self.statement_swarm_label.setText(_translate("MainWindow", "Swarm\'s state"))
        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.tilt_label.setText(_translate("MainWindow",
                                           "<html><head/><body><p><span style=\" color:#c8c8c8;\">Tilt</span></p></body></html>"))
        self.tilt_square_lineEdit.setText(_translate("MainWindow", "x,y"))
        self.tilt_circle_lineEdit.setText(_translate("MainWindow", "x,y"))


class Ui_Dialog(object):
    def setupUi(self, Dialog):
        Dialog.setObjectName("Dialog")
        Dialog.resize(550, 240)
        Dialog.setMinimumSize(QtCore.QSize(550, 240))
        Dialog.setMaximumSize(QtCore.QSize(550, 240))
        self.copter_text = QtWidgets.QLabel(Dialog)
        self.copter_text.setGeometry(QtCore.QRect(80, 20, 91, 20))
        font = QtGui.QFont()
        font.setPointSize(11)
        self.copter_text.setFont(font)
        self.copter_text.setAlignment(QtCore.Qt.AlignCenter)
        self.copter_text.setObjectName("copter_text")
        # self.go_pushButton = QtWidgets.QPushButton(Dialog)
        # self.go_pushButton.setGeometry(QtCore.QRect(340, 10, 93, 41))
        # self.go_pushButton.setObjectName("go_pushButton")
        self.number_spinBox = QtWidgets.QSpinBox(Dialog)
        self.number_spinBox.setGeometry(QtCore.QRect(230, 20, 42, 22))
        self.number_spinBox.setObjectName("number_spinBox")
        self.x_1 = QtWidgets.QLabel(Dialog)
        self.x_1.setGeometry(QtCore.QRect(10, 100, 21, 16))
        self.x_1.setAlignment(QtCore.Qt.AlignCenter)
        self.x_1.setObjectName("x_1")
        self.y_1 = QtWidgets.QLabel(Dialog)
        self.y_1.setGeometry(QtCore.QRect(10, 150, 21, 16))
        self.y_1.setAlignment(QtCore.Qt.AlignCenter)
        self.y_1.setObjectName("y_1")
        self.z_1 = QtWidgets.QLabel(Dialog)
        self.z_1.setGeometry(QtCore.QRect(10, 200, 21, 16))
        self.z_1.setAlignment(QtCore.Qt.AlignCenter)
        self.z_1.setObjectName("z_1")
        self.z_2 = QtWidgets.QLabel(Dialog)
        self.z_2.setGeometry(QtCore.QRect(40, 200, 51, 16))
        self.z_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.z_2.setObjectName("z_2")
        self.x_2 = QtWidgets.QLabel(Dialog)
        self.x_2.setGeometry(QtCore.QRect(40, 100, 51, 16))
        self.x_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.x_2.setObjectName("x_2")
        self.y_2 = QtWidgets.QLabel(Dialog)
        self.y_2.setGeometry(QtCore.QRect(40, 150, 51, 16))
        self.y_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.y_2.setObjectName("y_2")
        self.mode_2 = QtWidgets.QLabel(Dialog)
        self.mode_2.setGeometry(QtCore.QRect(470, 130, 71, 16))
        self.mode_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.mode_2.setObjectName("mode_2")
        self.armed_2 = QtWidgets.QLabel(Dialog)
        self.armed_2.setGeometry(QtCore.QRect(470, 100, 71, 16))
        self.armed_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.armed_2.setObjectName("armed_2")
        self.frame_id_1 = QtWidgets.QLabel(Dialog)
        self.frame_id_1.setGeometry(QtCore.QRect(400, 170, 61, 16))
        self.frame_id_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.frame_id_1.setObjectName("frame_id_1")
        self.armed_1 = QtWidgets.QLabel(Dialog)
        self.armed_1.setGeometry(QtCore.QRect(400, 100, 51, 16))
        self.armed_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.armed_1.setObjectName("armed_1")
        self.frame_id_2 = QtWidgets.QLabel(Dialog)
        self.frame_id_2.setGeometry(QtCore.QRect(470, 170, 71, 16))
        self.frame_id_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.frame_id_2.setObjectName("frame_id_2")
        self.mode_1 = QtWidgets.QLabel(Dialog)
        self.mode_1.setGeometry(QtCore.QRect(400, 130, 51, 16))
        self.mode_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.mode_1.setObjectName("mode_1")
        self.voltage_2 = QtWidgets.QLabel(Dialog)
        self.voltage_2.setGeometry(QtCore.QRect(470, 200, 71, 16))
        self.voltage_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.voltage_2.setObjectName("voltage_2")
        self.voltage_1 = QtWidgets.QLabel(Dialog)
        self.voltage_1.setGeometry(QtCore.QRect(400, 200, 51, 16))
        self.voltage_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.voltage_1.setObjectName("voltage_1")
        self.roll_2 = QtWidgets.QLabel(Dialog)
        self.roll_2.setGeometry(QtCore.QRect(190, 200, 61, 16))
        self.roll_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.roll_2.setObjectName("roll_2")
        self.yaw_1 = QtWidgets.QLabel(Dialog)
        self.yaw_1.setGeometry(QtCore.QRect(140, 100, 31, 16))
        self.yaw_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.yaw_1.setObjectName("yaw_1")
        self.pitch_1 = QtWidgets.QLabel(Dialog)
        self.pitch_1.setGeometry(QtCore.QRect(140, 150, 41, 16))
        self.pitch_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.pitch_1.setObjectName("pitch_1")
        self.roll_1 = QtWidgets.QLabel(Dialog)
        self.roll_1.setGeometry(QtCore.QRect(140, 200, 31, 16))
        self.roll_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.roll_1.setObjectName("roll_1")
        self.pitch_2 = QtWidgets.QLabel(Dialog)
        self.pitch_2.setGeometry(QtCore.QRect(190, 150, 61, 16))
        self.pitch_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.pitch_2.setObjectName("pitch_2")
        self.yaw2 = QtWidgets.QLabel(Dialog)
        self.yaw2.setGeometry(QtCore.QRect(190, 100, 61, 16))
        self.yaw2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.yaw2.setObjectName("yaw2")
        self.vy_1 = QtWidgets.QLabel(Dialog)
        self.vy_1.setGeometry(QtCore.QRect(270, 150, 31, 16))
        self.vy_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.vy_1.setObjectName("vy_1")
        self.vx_2 = QtWidgets.QLabel(Dialog)
        self.vx_2.setGeometry(QtCore.QRect(320, 100, 61, 16))
        self.vx_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.vx_2.setObjectName("vx_2")
        self.vz_1 = QtWidgets.QLabel(Dialog)
        self.vz_1.setGeometry(QtCore.QRect(270, 200, 31, 16))
        self.vz_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.vz_1.setObjectName("vz_1")
        self.vy_2 = QtWidgets.QLabel(Dialog)
        self.vy_2.setGeometry(QtCore.QRect(320, 150, 61, 16))
        self.vy_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.vy_2.setObjectName("vy_2")
        self.vz_2 = QtWidgets.QLabel(Dialog)
        self.vz_2.setGeometry(QtCore.QRect(320, 200, 61, 16))
        self.vz_2.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.vz_2.setObjectName("vz_2")
        self.vx_1 = QtWidgets.QLabel(Dialog)
        self.vx_1.setGeometry(QtCore.QRect(270, 100, 31, 16))
        self.vx_1.setAlignment(QtCore.Qt.AlignLeading | QtCore.Qt.AlignLeft | QtCore.Qt.AlignVCenter)
        self.vx_1.setObjectName("vx_1")
        self.back = QtWidgets.QLabel(Dialog)
        self.back.setGeometry(QtCore.QRect(0, 0, 551, 241))
        self.back.setObjectName("back")
        self.back.raise_()
        self.copter_text.raise_()
        # self.go_pushButton.raise_()
        self.number_spinBox.raise_()
        self.x_1.raise_()
        self.y_1.raise_()
        self.z_1.raise_()
        self.z_2.raise_()
        self.x_2.raise_()
        self.y_2.raise_()
        self.mode_2.raise_()
        self.armed_2.raise_()
        self.frame_id_1.raise_()
        self.armed_1.raise_()
        self.frame_id_2.raise_()
        self.mode_1.raise_()
        self.voltage_2.raise_()
        self.voltage_1.raise_()
        self.roll_2.raise_()
        self.yaw_1.raise_()
        self.pitch_1.raise_()
        self.roll_1.raise_()
        self.pitch_2.raise_()
        self.yaw2.raise_()
        self.vy_1.raise_()
        self.vx_2.raise_()
        self.vz_1.raise_()
        self.vy_2.raise_()
        self.vz_2.raise_()
        self.vx_1.raise_()

        self.retranslateUi(Dialog)
        QtCore.QMetaObject.connectSlotsByName(Dialog)

    def retranslateUi(self, Dialog):
        _translate = QtCore.QCoreApplication.translate
        Dialog.setWindowTitle(_translate("Dialog", "Telemetry"))
        self.copter_text.setText(_translate("Dialog", "Copter"))
        self.x_1.setText(
            _translate("Dialog", "<html><head/><body><p><span style=\" color:#c8c8c8;\">x=</span></p></body></html>"))
        self.y_1.setText(
            _translate("Dialog", "<html><head/><body><p><span style=\" color:#c8c8c8;\">y=</span></p></body></html>"))
        self.z_1.setText(
            _translate("Dialog", "<html><head/><body><p><span style=\" color:#c8c8c8;\">z=</span></p></body></html>"))
        self.z_2.setText(_translate("Dialog",
                                    "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.x_2.setText(_translate("Dialog",
                                    "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.y_2.setText(_translate("Dialog",
                                    "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.mode_2.setText(_translate("Dialog",
                                       "<html><head/><body><p><span style=\" color:#c8c8c8;\">MANUALE</span></p></body></html>"))
        self.armed_2.setText(_translate("Dialog",
                                        "<html><head/><body><p><span style=\" color:#c8c8c8;\">False</span></p></body></html>"))
        self.frame_id_1.setText(_translate("Dialog",
                                           "<html><head/><body><p><span style=\" color:#c8c8c8;\">farme id=</span><br/></p></body></html>"))
        self.armed_1.setText(_translate("Dialog",
                                        "<html><head/><body><p><span style=\" color:#c8c8c8;\">armed=</span></p></body></html>"))
        self.frame_id_2.setText(_translate("Dialog",
                                           "<html><head/><body><p><span style=\" color:#c8c8c8;\">aruco_map</span></p></body></html>"))
        self.mode_1.setText(_translate("Dialog",
                                       "<html><head/><body><p><span style=\" color:#c8c8c8;\">mode=</span></p></body></html>"))
        self.voltage_2.setText(_translate("Dialog",
                                          "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.voltage_1.setText(_translate("Dialog",
                                          "<html><head/><body><p><span style=\" color:#c8c8c8;\">voltage=</span></p></body></html>"))
        self.roll_2.setText(_translate("Dialog",
                                       "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.yaw_1.setText(
            _translate("Dialog", "<html><head/><body><p><span style=\" color:#c8c8c8;\">yaw=</span></p></body></html>"))
        self.pitch_1.setText(_translate("Dialog",
                                        "<html><head/><body><p><span style=\" color:#c8c8c8;\">pitch=</span></p></body></html>"))
        self.roll_1.setText(_translate("Dialog",
                                       "<html><head/><body><p><span style=\" color:#c8c8c8;\">roll=</span></p></body></html>"))
        self.pitch_2.setText(_translate("Dialog",
                                        "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.yaw2.setText(_translate("Dialog",
                                     "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.vy_1.setText(
            _translate("Dialog", "<html><head/><body><p><span style=\" color:#c8c8c8;\">vy=</span></p></body></html>"))
        self.vx_2.setText(_translate("Dialog",
                                     "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.vz_1.setText(
            _translate("Dialog", "<html><head/><body><p><span style=\" color:#c8c8c8;\">vz=</span></p></body></html>"))
        self.vy_2.setText(_translate("Dialog",
                                     "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.vz_2.setText(_translate("Dialog",
                                     "<html><head/><body><p><span style=\" color:#c8c8c8;\">0.000</span></p></body></html>"))
        self.vx_1.setText(
            _translate("Dialog", "<html><head/><body><p><span style=\" color:#c8c8c8;\">vx=</span></p></body></html>"))
        self.back.setText(
            _translate("Dialog", "<html><head/><body><p><img src=\":/telem/Без имени.png\"/></p></body></html>"))


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, Ui_Dialog):
    def __init__(self):
        super().__init__()
        self.setupUi(self)

    def up(self):
        self.voltage_2.setText('1234567')


class Widget(QMainWindow, 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.square_button.clicked.connect(self.square)
        self.circle_button.clicked.connect(self.circle)
        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):  # len(ip) # для автопоиска коптеров
                    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"""