def __init__(self, address, protocol, vehicle):
self.address = address
self.vehicle = vehicle
self.protocol = protocol
# Queue is filled with incoming messages (receive_thread) and emptied by receive worker (receive_task_thread)
self.msg_queue = Queue.Queue()
# Loads the initial vehicle's values according to class Params
self.vehicle_params = Params(network=self, vehicle=vehicle)
# For collision avoidance purposes
self.drones = []
self.context = {'mode': None, 'mission': None, 'next_wp': None}
self.priority = None
# First entry in drones list will be our own vehicle
self.drones.append(self.vehicle_params)
# Normally it is kept as is until the first receive_thread
# self.populate_drones('two_dummies')
self.sock_send = None
self.sock_receive = None
# Create transceiver and worker threads
self.t_send = SendThread(self, self.address)
self.t_receive = ReceiveThread(self, self.msg_queue)
self.t_task = ReceiveTaskThread(self, self.msg_queue)
self.receive_count = self.t_receive.count
self.task_count = self.t_task.count
def __init__(self, parent, account, package):
QtGui.QDialog.__init__(self, parent)
self.ui = Ui_SendDialog()
self.ui.setupUi(self)
self.send_thread = SendThread(self, account, package)
self.history = []
# slots/signals
self.connect(self.send_thread, QtCore.SIGNAL("transfer_progress"),
self.transfer_progress)
self.connect(self.send_thread, QtCore.SIGNAL("fatal_error"),
self.fatal_error)
self.connect(self.send_thread, QtCore.SIGNAL("canceled"),
self.canceled)
self.connect(self.send_thread, QtCore.SIGNAL("status"), self.status)
self.connect(self.send_thread, QtCore.SIGNAL("done"), self.finished)
self.send_thread.start()
def __init__(self, parent, account, package):
QtGui.QDialog.__init__(self, parent)
self.ui = Ui_SendDialog()
self.ui.setupUi(self)
self.send_thread = SendThread(self, account, package)
self.history = []
# slots/signals
self.connect(self.send_thread, QtCore.SIGNAL("transfer_progress"), self.transfer_progress)
self.connect(self.send_thread, QtCore.SIGNAL("fatal_error"), self.fatal_error)
self.connect(self.send_thread, QtCore.SIGNAL("canceled"), self.canceled)
self.connect(self.send_thread, QtCore.SIGNAL("status"), self.status)
self.connect(self.send_thread, QtCore.SIGNAL("done"), self.finished)
self.send_thread.start()
class KurirSendDialog(QtGui.QDialog):
def __init__(self, parent, account, package):
QtGui.QDialog.__init__(self, parent)
self.ui = Ui_SendDialog()
self.ui.setupUi(self)
self.send_thread = SendThread(self, account, package)
self.history = []
# slots/signals
self.connect(self.send_thread, QtCore.SIGNAL("transfer_progress"), self.transfer_progress)
self.connect(self.send_thread, QtCore.SIGNAL("fatal_error"), self.fatal_error)
self.connect(self.send_thread, QtCore.SIGNAL("canceled"), self.canceled)
self.connect(self.send_thread, QtCore.SIGNAL("status"), self.status)
self.connect(self.send_thread, QtCore.SIGNAL("done"), self.finished)
self.send_thread.start()
def finished(self):
self.send_thread.quit()
self.send_thread.wait()
self.ui.labelOverall.setText("Done!")
self.ui.btnCancelFinish.setText("Close")
def status(self, msg):
self.ui.labelOverall.setText(msg)
def canceled(self):
self.send_thread.quit()
self.send_thread.wait()
self.ui.labelOverall.setText("Canceled")
self.ui.btnCancelFinish.setEnabled(True)
self.ui.btnCancelFinish.setText("Close")
def fatal_error(self, msg):
QtGui.QMessageBox.critical(self, "Error", msg)
self.ui.labelOverall.setText("Sending failed...")
self.send_thread.quit()
self.send_thread.wait()
self.ui.btnCancelFinish.setText("Close")
# def overall_progress(self, filename, progress, total):
# print "file progress", progress, total
#
# self.history = []
#
# if progress % 2:
# norm_progress = (progress + 1)/2
# else:
# norm_progress = progress / 2
#
# self.ui.labelOverall.setText("Sending %s [%s of %s]" % (os.path.split(filename)[-1], norm_progress, total/2))
# self.ui.progressOverall.setMaximum(total)
# self.ui.progressOverall.setValue(progress)
#
# if progress == total:
# self.send_thread.quit()
# self.send_thread.wait()
# self.ui.btnCancelFinish.setText('Close')
def transfer_progress(self, timestamp, progress, total):
print "send progress", timestamp, progress, total
self.history.append((timestamp, progress))
# calculate speed
history = self.history[-500:]
time_diff = history[-1][0] - history[0][0]
progress_diff = history[-1][1] - history[0][1]
if progress == total:
self.history = []
print "timediff", time_diff, progress_diff
if time_diff:
speed = progress_diff / time_diff
else:
speed = progress_diff
# self.ui.labelTransfer.setText("Transferred %s of %s (%s/s)" % (convert_bytes(progress), convert_bytes(total), convert_bytes(speed)))
self.ui.progressTransfer.setMaximum(total)
self.ui.progressTransfer.setValue(progress)
self.setWindowTitle("%s/s" % (convert_bytes(speed)))
@QtCore.pyqtSlot()
def on_btnCancelFinish_clicked(self):
if self.ui.btnCancelFinish.text() == "Close":
self.accept()
else:
btn = QtGui.QMessageBox.question(
self,
"Question",
"Are you sure you want to cancel this transfer?",
QtGui.QMessageBox.Yes | QtGui.QMessageBox.No,
)
if btn == QtGui.QMessageBox.Yes:
self.emit(QtCore.SIGNAL("cancel"))
self.status("Cancelling...")
self.ui.btnCancelFinish.setEnabled(False)
class Networking:
MAX_STAY = 5 # seconds until entry is removed from structure
MAX_ZONE = 500 # metres Consider as the maximum communication range
NEAR_ZONE = 50 # metres
FORMATION_NEAR_ZONE = 10 # metres
CRITICAL_ZONE = 10 # metres
POLL_RATE = 0.1 # how often to broadcast/receive messages
def __init__(self, address, protocol, vehicle):
self.address = address
self.vehicle = vehicle
self.protocol = protocol
# Queue is filled with incoming messages (receive_thread) and emptied by receive worker (receive_task_thread)
self.msg_queue = Queue.Queue()
# Loads the initial vehicle's values according to class Params
self.vehicle_params = Params(network=self, vehicle=vehicle)
# For collision avoidance purposes
self.drones = []
self.context = {'mode': None, 'mission': None, 'next_wp': None}
self.priority = None
# First entry in drones list will be our own vehicle
self.drones.append(self.vehicle_params)
# Normally it is kept as is until the first receive_thread
# self.populate_drones('two_dummies')
self.sock_send = None
self.sock_receive = None
# Create transceiver and worker threads
self.t_send = SendThread(self, self.address)
self.t_receive = ReceiveThread(self, self.msg_queue)
self.t_task = ReceiveTaskThread(self, self.msg_queue)
self.receive_count = self.t_receive.count
self.task_count = self.t_task.count
def run(self):
"""
1.Opens the network sockets depending the explicitly stated protocol
2.Starts the threads responsible for sending (t_send) and receiving messages (t_receive, t_task)
"""
# Start networking protocol
if self.protocol == "UDP_BROADCAST":
if self.create_udp_broadcast(self.address):
logger.info("Network interface started succesfully")
else:
logger.error("Network interface not started, exit...")
# status -> critical
# run failsafe
else:
# You can use whatever protocol you want here
logger.warning("Unsupported protocol")
# raise signal
# Start threads
self.t_receive.start()
self.t_send.start()
self.t_task.start()
def stop(self):
"""
Closes the sockets
"""
self.sock_receive.close() # Release the resource
self.sock_send.close() # Release the resource
def create_udp_broadcast(self, address):
"""
If drone_network class is initialized with the UDP_Broadcast protocol
it opens a UDP socket in the broadcast address
If anything goes wrong an error appears which is handled out of the function
"""
try:
# Setting up a UDP socket for sending broadcast messages
self.sock_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
self.sock_send.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
# Setting up a UDP socket for receiving broadcast messages
# Set to non-blocking because we have select() for that reason
self.sock_receive = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
self.sock_receive.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
self.sock_receive.setblocking(0)
self.sock_receive.bind(self.address)
exit_status = 1
except socket.error, e:
logger.debug("Error in socket operation: %s", e)
exit_status = 0
finally:
class KurirSendDialog(QtGui.QDialog):
def __init__(self, parent, account, package):
QtGui.QDialog.__init__(self, parent)
self.ui = Ui_SendDialog()
self.ui.setupUi(self)
self.send_thread = SendThread(self, account, package)
self.history = []
# slots/signals
self.connect(self.send_thread, QtCore.SIGNAL("transfer_progress"),
self.transfer_progress)
self.connect(self.send_thread, QtCore.SIGNAL("fatal_error"),
self.fatal_error)
self.connect(self.send_thread, QtCore.SIGNAL("canceled"),
self.canceled)
self.connect(self.send_thread, QtCore.SIGNAL("status"), self.status)
self.connect(self.send_thread, QtCore.SIGNAL("done"), self.finished)
self.send_thread.start()
def finished(self):
self.send_thread.quit()
self.send_thread.wait()
self.ui.labelOverall.setText("Done!")
self.ui.btnCancelFinish.setText('Close')
def status(self, msg):
self.ui.labelOverall.setText(msg)
def canceled(self):
self.send_thread.quit()
self.send_thread.wait()
self.ui.labelOverall.setText("Canceled")
self.ui.btnCancelFinish.setEnabled(True)
self.ui.btnCancelFinish.setText("Close")
def fatal_error(self, msg):
QtGui.QMessageBox.critical(self, "Error", msg)
self.ui.labelOverall.setText("Sending failed...")
self.send_thread.quit()
self.send_thread.wait()
self.ui.btnCancelFinish.setText("Close")
# def overall_progress(self, filename, progress, total):
# print "file progress", progress, total
#
# self.history = []
#
# if progress % 2:
# norm_progress = (progress + 1)/2
# else:
# norm_progress = progress / 2
#
# self.ui.labelOverall.setText("Sending %s [%s of %s]" % (os.path.split(filename)[-1], norm_progress, total/2))
# self.ui.progressOverall.setMaximum(total)
# self.ui.progressOverall.setValue(progress)
#
# if progress == total:
# self.send_thread.quit()
# self.send_thread.wait()
# self.ui.btnCancelFinish.setText('Close')
def transfer_progress(self, timestamp, progress, total):
print "send progress", timestamp, progress, total
self.history.append((timestamp, progress))
# calculate speed
history = self.history[-500:]
time_diff = history[-1][0] - history[0][0]
progress_diff = history[-1][1] - history[0][1]
if progress == total:
self.history = []
print "timediff", time_diff, progress_diff
if time_diff:
speed = progress_diff / time_diff
else:
speed = progress_diff
# self.ui.labelTransfer.setText("Transferred %s of %s (%s/s)" % (convert_bytes(progress), convert_bytes(total), convert_bytes(speed)))
self.ui.progressTransfer.setMaximum(total)
self.ui.progressTransfer.setValue(progress)
self.setWindowTitle("%s/s" % (convert_bytes(speed)))
@QtCore.pyqtSlot()
def on_btnCancelFinish_clicked(self):
if self.ui.btnCancelFinish.text() == 'Close':
self.accept()
else:
btn = QtGui.QMessageBox.question(
self, "Question",
"Are you sure you want to cancel this transfer?",
QtGui.QMessageBox.Yes | QtGui.QMessageBox.No)
if btn == QtGui.QMessageBox.Yes:
self.emit(QtCore.SIGNAL("cancel"))
self.status("Cancelling...")
self.ui.btnCancelFinish.setEnabled(False)