class Gui:
"""
Main GUI object that handles communication between the visual
layer and the Crazyflie.
It consists of a Top frame, which is the menu and a main frame,
which contains all the visual logs to the Crazyflie.
"""
def __init__(self, root):
self.topframe = TopFrame(root, self)
self.mainframe = MainFrame(root, self)
self.uris = {}
def add_uri(self, uri):
"""
Tries to add a URI to the listbox and make a new LogFrame
object out of it. Raises a warning message is URI already exists
"""
try:
self.mainframe.canvas.delete('warning')
finally:
if uri not in self.uris:
self.topframe.uribox.insert('end', uri)
row, column = Calculate.row_and_col(self.uris)
self.uris[uri] = LogFrame(self.mainframe.canvas, row, column,
uri)
self.mainframe.update_canvas_scroll()
else:
self.mainframe.warning_msg('You already have that URI added')
def del_uris(self, uris):
""" Deletes selected uris and repositions the remaining ones """
for uri in uris:
if uri in self.uris:
self.uris[uri].delete()
self.uris.pop(uri)
for i, uri in enumerate(self.uris):
row, column = Calculate.new_placements(i)
self.uris[uri].delete()
self.uris[uri] = LogFrame(self.mainframe.canvas, row, column, uri)
def clear_uris(self):
for uri in self.uris:
self.uris[uri].delete()
self.uris = {}
def run_test(self, test):
""" Runs the chosen test on all Crazyflies, with their own threads """
if self.uris:
for uri in self.uris:
try:
self.uris[uri].reset_motors()
self.uris[uri].reset_battery()
except AttributeError:
pass
finally:
Thread(target=self.start, args=(uri, test)).start()
def start(self, uri, test):
cflib.crtp.init_drivers(enable_debug_driver=False)
cf = HealthTest(uri, self, test)
try:
cf.open_link()
cf.run_test()
finally:
cf.close_link()
def warning_msg(self, msg):
self.mainframe.warning_msg(msg)
# Callbacks from Crazyflie
def connecting(self, uri):
self.uris[uri].update_status_text('Connecting...')
def running_test(self, uri):
self.uris[uri].update_status_text('Running Test...')
def connected(self, uri):
self.uris[uri].clear_status_text()
self.uris[uri].show_motors()
self.uris[uri].show_battery()
def connection_failed(self, uri):
self.uris[uri].update_status_text('Connection Failed', fg='red')
def connection_lost(self, uri):
self.uris[uri].update_status_text('Connection Lost', fg='red')
def disconnected(self, uri):
self.uris[uri].update_status_text('Disconnected', fg='red')
def cb_logs(self, uri, motor_values, battery):
"""
Callback with all the logs from the Crazyflie
This gets sent to the LogFrame object that can represent
the values visually
"""
if not self.uris[uri].test_is_done:
motor_text = Calculate.motor_text(motor_values)
motor_fill = Calculate.motor_fill(motor_values)
b_text, b_fill = Calculate.battery(battery)
self.uris[uri].update_motors(motor_fill, motor_text)
self.uris[uri].update_battery(b_text, b_fill)
def hover_test_done(self, uri, means):
self.uris[uri].test_is_done = True
time.sleep(0.1)
results, colors = Calculate.is_mean_ok(means)
self.uris[uri].update_motor_status(results, colors)
def propeller_test_done(self, motorlog, uri):
self.uris[uri].test_is_done = True
time.sleep(0.1)
results, colors = Calculate.propeller_result(motorlog)
self.uris[uri].update_motor_status(results, colors)
