mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-05-27 07:29:33 +00:00
1017 lines
49 KiB
Python
1017 lines
49 KiB
Python
# -*- coding: utf-8 -*- .
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from PyQt5.QtWidgets import *
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from PyQt5.QtGui import *
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from PyQt5.QtCore import *
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from mpl_toolkits.mplot3d import Axes3D
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import matplotlib.pyplot as plt
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import time
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import socket
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import os
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from PyQt5 import QtCore, QtGui, QtWidgets
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import easygui
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import threading
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from threading import Thread
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import math
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import requests
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import json
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from PyQt5 import QtCore
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qt_resource_data = b"\
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"
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qt_resource_name = b"\
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"
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qt_resource_struct_v1 = b"\
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"
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qt_resource_struct_v2 = b"\
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\x00\x00\x00\x10\x00\x01\x00\x00\x00\x01\x00\x00\x00\x00\
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\x00\x00\x01\x64\xac\x42\xe1\xa0\
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"
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qt_version = QtCore.qVersion().split('.')
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if qt_version < ['5', '8', '0']:
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rcc_version = 1
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qt_resource_struct = qt_resource_struct_v1
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else:
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rcc_version = 2
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qt_resource_struct = qt_resource_struct_v2
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def qInitResources():
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QtCore.qRegisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data)
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def qCleanupResources():
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QtCore.qUnregisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data)
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qInitResources()
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qt_resource_data = b"\
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\x00\
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\
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"
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qt_resource_name = b"\
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\x00\x04\
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\x00\x06\x87\x9b\
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\x00\x62\
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||
\x00\x61\x00\x63\x00\x6b\
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||
\x00\x08\
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||
\x07\x9e\x5a\x47\
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||
\x00\x62\
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\x00\x61\x00\x63\x00\x6b\x00\x2e\x00\x70\x00\x6e\x00\x67\
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"
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qt_resource_struct_v1 = b"\
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\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x01\
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||
\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\
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"
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qt_resource_struct_v2 = b"\
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\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\
|
||
\x00\x00\x00\x00\x00\x00\x00\x00\
|
||
\x00\x00\x00\x0e\x00\x01\x00\x00\x00\x01\x00\x00\x00\x00\
|
||
\x00\x00\x01\x64\x8d\x7d\xe9\xe9\
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"
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qt_version = QtCore.qVersion().split('.')
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if qt_version < ['5', '8', '0']:
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rcc_version = 1
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qt_resource_struct = qt_resource_struct_v1
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else:
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rcc_version = 2
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qt_resource_struct = qt_resource_struct_v2
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def qInitResources():
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QtCore.qRegisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data)
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def qCleanupResources():
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QtCore.qUnregisterResourceData(rcc_version, qt_resource_struct, qt_resource_name, qt_resource_data)
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qInitResources()
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class Ui_MainWindow(object):
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def setupUi(self, MainWindow):
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MainWindow.setObjectName("MainWindow")
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MainWindow.resize(1280, 720)
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MainWindow.setMinimumSize(QtCore.QSize(1280, 720))
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MainWindow.setMaximumSize(QtCore.QSize(1280, 720))
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self.centralwidget = QtWidgets.QWidget(MainWindow)
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self.centralwidget.setObjectName("centralwidget")
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self.take_off_button = QtWidgets.QPushButton(self.centralwidget)
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self.take_off_button.setGeometry(QtCore.QRect(760, 60, 100, 40))
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self.take_off_button.setObjectName("take_off_button")
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self.land_all_button = QtWidgets.QPushButton(self.centralwidget)
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self.land_all_button.setGeometry(QtCore.QRect(890, 60, 91, 40))
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self.land_all_button.setObjectName("land_all_button")
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self.disarm_all_button = QtWidgets.QPushButton(self.centralwidget)
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self.disarm_all_button.setGeometry(QtCore.QRect(1010, 60, 101, 40))
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self.disarm_all_button.setStyleSheet("background-color: red")
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self.disarm_all_button.setObjectName("disarm_all_button")
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self.take_off_n_button = QtWidgets.QPushButton(self.centralwidget)
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self.take_off_n_button.setGeometry(QtCore.QRect(760, 160, 100, 30))
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self.take_off_n_button.setObjectName("take_off_n_button")
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self.land_n_button = QtWidgets.QPushButton(self.centralwidget)
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self.land_n_button.setGeometry(QtCore.QRect(890, 160, 91, 30))
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self.land_n_button.setObjectName("land_n_button")
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self.disarm_n_button = QtWidgets.QPushButton(self.centralwidget)
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self.disarm_n_button.setGeometry(QtCore.QRect(1010, 160, 101, 30))
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self.disarm_n_button.setStyleSheet("background-color: red")
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self.disarm_n_button.setObjectName("disarm_n_button")
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self.take_off_spinBox = QtWidgets.QSpinBox(self.centralwidget)
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self.take_off_spinBox.setGeometry(QtCore.QRect(790, 120, 50, 22))
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self.take_off_spinBox.setObjectName("take_off_spinBox")
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self.land_spinBox = QtWidgets.QSpinBox(self.centralwidget)
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self.land_spinBox.setGeometry(QtCore.QRect(910, 120, 50, 22))
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self.land_spinBox.setObjectName("land_spinBox")
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self.disarm_spinBox = QtWidgets.QSpinBox(self.centralwidget)
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self.disarm_spinBox.setGeometry(QtCore.QRect(1040, 120, 50, 22))
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self.disarm_spinBox.setObjectName("disarm_spinBox")
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self.control_console_label = QtWidgets.QLabel(self.centralwidget)
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self.control_console_label.setGeometry(QtCore.QRect(840, 20, 200, 20))
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self.control_console_label.setAlignment(QtCore.Qt.AlignCenter)
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self.control_console_label.setObjectName("control_console_label")
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self.turn_on_led_button = QtWidgets.QPushButton(self.centralwidget)
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self.turn_on_led_button.setGeometry(QtCore.QRect(620, 250, 100, 40))
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self.turn_on_led_button.setStyleSheet("")
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self.turn_on_led_button.setObjectName("turn_on_led_button")
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self.turn_off_led_button = QtWidgets.QPushButton(self.centralwidget)
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self.turn_off_led_button.setGeometry(QtCore.QRect(620, 310, 100, 40))
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self.turn_off_led_button.setObjectName("turn_off_led_button")
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self.number_animation_copters = QtWidgets.QPushButton(self.centralwidget)
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self.number_animation_copters.setGeometry(QtCore.QRect(1140, 150, 111, 40))
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self.number_animation_copters.setStyleSheet("")
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self.number_animation_copters.setObjectName("number_animation_copters")
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||
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self.stop_swarm_but = QtWidgets.QPushButton(self.centralwidget)
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self.stop_swarm_but.setGeometry(QtCore.QRect(1140, 60, 111, 40))
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self.stop_swarm_but.setStyleSheet("")
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self.stop_swarm_but.setObjectName("stop_swarm_but")
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||
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# self.telemetry_but = QtWidgets.QPushButton(self.centralwidget)
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# self.telemetry_but.setGeometry(QtCore.QRect(1140, 105, 111, 40))
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# self.telemetry_but.setStyleSheet("")
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||
# 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))
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||
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):
|
||
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"""
|