mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-05-26 23:19:33 +00:00
214 lines
8.2 KiB
Python
214 lines
8.2 KiB
Python
import glob
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from PyQt5 import QtWidgets
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from PyQt5.QtGui import QStandardItemModel, QStandardItem
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#from PyQt5.QtCore import QModelIndex
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from PyQt5.QtCore import Qt, pyqtSlot
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from PyQt5.QtWidgets import QFileDialog, QMessageBox
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# Importing gui form
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from server_gui import Ui_MainWindow
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from server import *
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class CopterView(QStandardItemModel):
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pass
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class MainWindow(QtWidgets.QMainWindow):
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def __init__(self):
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super(MainWindow, self).__init__()
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self.ui = Ui_MainWindow()
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self.ui.setupUi(self)
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self.initUI()
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self.show()
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def initUI(self):
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#Connecting
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self.ui.check_button.clicked.connect(self.check_selected)
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self.ui.start_button.clicked.connect(self.send_starttime)
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self.ui.pause_button.clicked.connect(self.pause_all)
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self.ui.stop_button.clicked.connect(self.stop_all)
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self.ui.leds_button.clicked.connect(self.test_leds)
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self.ui.takeoff_button.clicked.connect(self.takeoff_selected)
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self.ui.land_button.clicked.connect(self.land_all)
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self.ui.disarm_button.clicked.connect(self.disarm_all)
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self.ui.action_send_animations.triggered.connect(self.send_animations)
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self.ui.action_send_configurations.triggered.connect(self.send_configurations)
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self.ui.action_send_Aruco_map.triggered.connect(self.send_aruco)
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#Initing table and table model
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self.ui.tableView.setModel(model)
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self.ui.tableView.horizontalHeader().setStretchLastSection(True)
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@pyqtSlot()
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def check_selected(self):
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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print("Copter {} checked".format(model.item(row_num, 0).text()))
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copter = Client.get_by_id(item.text())
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batt_total = float(copter.get_response("batt_voltage"))
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batt_cell = float(copter.get_response("cell_voltage"))
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selfcheck = copter.get_response("selfcheck")
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batt_percent = ((batt_cell-3.2)/(4.2-3.2))*100
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model.setData(model.index(row_num, 2), "{} V.".format(round(batt_total, 3)))
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model.setData(model.index(row_num, 3), "{} %".format(round(batt_percent, 3)))
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if selfcheck != "OK":
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print(selfcheck)
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model.setData(model.index(row_num, 4), str(selfcheck))
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else:
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print("Everything ok")
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model.setData(model.index(row_num, 4), str(selfcheck))
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self.ui.start_button.setEnabled(True)
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self.ui.takeoff_button.setEnabled(True)
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@pyqtSlot()
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def send_starttime(self):
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dt = self.ui.start_delay_spin.value()
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reply = QMessageBox.question(
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self, "Confirm operation",
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"This operation will takeoff selected copters and start animation after {} seconds. Proceed?".format(dt),
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QMessageBox.Yes | QMessageBox.No, QMessageBox.No
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)
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if reply == QMessageBox.Yes:
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print("Accepted")
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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if True: # TODO checks for batt/selfckeck here
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copter = Client.get_by_id(item.text())
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server.send_starttime(copter, dt)
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else:
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print("Cancelled")
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@pyqtSlot()
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def stop_all(self):
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Client.broadcast(Client.form_message("stop"))
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@pyqtSlot()
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def pause_all(self):
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if self.ui.pause_button.text() == 'Pause':
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Client.broadcast(Client.form_message('pause'))
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self.ui.pause_button.setText('Resume')
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else:
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Client.broadcast(Client.form_message('resume'))
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self.ui.pause_button.setText('Pause')
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@pyqtSlot()
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def test_leds(self):
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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if True: # TODO checks for batt/selfckeck here
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copter = Client.get_by_id(item.text())
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copter.send(Client.form_message("led_test"))
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@pyqtSlot()
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def takeoff_selected(self):
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reply = QMessageBox.question(
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self, "Confirm operation",
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"This operation will takeoff copters immediately. Proceed?",
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QMessageBox.Yes | QMessageBox.No, QMessageBox.No
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)
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if reply == QMessageBox.Yes:
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print("Accepted")
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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if True: # TODO checks for batt/selfckeck here
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copter = Client.get_by_id(item.text())
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copter.send(Client.form_message("takeoff"))
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else:
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print("Cancelled")
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@pyqtSlot()
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def land_all(self):
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Client.broadcast(Client.form_message("land"))
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@pyqtSlot()
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def disarm_all(self):
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Client.broadcast(Client.form_message("disarm"))
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@pyqtSlot()
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def send_animations(self):
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path = str(QFileDialog.getExistingDirectory(self, "Select Animation Directory"))
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if path:
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print("Selected directory:", path)
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files = [file for file in glob.glob(path + '/*.csv')]
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names = [os.path.basename(file).split(".")[0] for file in files]
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print(files)
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for file, name in zip(files, names):
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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copter = Client.get_by_id(item.text())
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if name == copter.copter_id:
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copter.send_file(file, "animation.csv") # TODO config
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else:
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print("Filename not matches with any drone connected")
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@pyqtSlot()
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def send_configurations(self):
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path = QFileDialog.getOpenFileName(self, "Select configuration file", filter="Configs (*.ini *.txt .cfg)")[0]
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if path:
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print("Selected file:", path)
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sendable_config = configparser.ConfigParser()
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sendable_config.read(path)
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options = []
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for section in sendable_config.sections():
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for option in dict(sendable_config.items(section)):
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value = sendable_config[section][option]
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print("Got item from config:", section, option, value)
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options.append(ConfigOption(section, option, value))
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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copter = Client.get_by_id(item.text())
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copter.send_config_options(*options)
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@pyqtSlot()
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def send_aruco(self):
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path = QFileDialog.getOpenFileName(self, "Select aruco map configuration file", filter="Aruco map files (*.txt)")[0]
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if path:
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filename = os.path.basename(path)
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print("Selected file:", path, filename)
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for row_num in range(model.rowCount()):
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item = model.item(row_num, 0)
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if item.isCheckable() and item.checkState() == Qt.Checked:
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copter = Client.get_by_id(item.text())
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copter.send_file(path, "/home/pi/catkin_ws/src/clever/aruco_pose/map/animation_map.txt", clever_restart=True)
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model = QStandardItemModel()
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model.setHorizontalHeaderLabels(
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('copter ID', 'animation ID', 'battery V', 'battery %', 'selfcheck', 'time UTC')
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)
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model.setColumnCount(6)
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model.setRowCount(0)
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def client_connected(self: Client):
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copter_id_item = QStandardItem(self.copter_id)
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copter_id_item.setCheckable(True)
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model.appendRow((copter_id_item, ))
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Client.on_first_connect = client_connected
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if __name__ == "__main__":
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app = QtWidgets.QApplication(sys.argv)
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window = MainWindow()
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server = Server()
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server.start()
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app.exec_()
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server.stop()
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sys.exit()
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