def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(
enable_debug_driver=GuiConfig().get("enable_debug_driver"))
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("Loading device and configuration.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader(cf=self.cf)
self._active_device = ""
self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._load_input_data()
self._update_input
ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.connection_failed.add_callback(
self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self.connectionFailed)
self._input_device_error_signal.connect(self.inputDeviceError)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.menuItemConnect.triggered.connect(self.connectButtonClicked)
self.logConfigAction.triggered.connect(self.doLogConfigDialogue)
self.connectButton.clicked.connect(self.connectButtonClicked)
self.quickConnectButton.clicked.connect(self.quickConnect)
self.menuItemQuickConnect.triggered.connect(self.quickConnect)
self.menuItemConfInputDevice.triggered.connect(self.configInputDevice)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self.updateBatteryVoltage)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(
self._open_config_folder)
self._auto_reconnect_enabled = GuiConfig().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(
GuiConfig().get("auto_reconnect"))
# Do not queue data from the controller output to the Crazyflie wrapper
# to avoid latency
#self.joystickReader.sendControlSetpointSignal.connect(
# self.cf.commander.send_setpoint,
# Qt.DirectConnection)
self.joystickReader.input_updated.add_callback(
self.cf.commander.send_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(
lambda linkURI: self.setUIState(UIState.DISCONNECTED, linkURI))
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self.connectionLost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(
lambda linkURI: self.setUIState(UIState.CONNECTING, linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self.setUIState(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [
dockToolbox,
]
# Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in GuiConfig().get("open_tabs").split(","):
t = tabItems[tName]
if (t != None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning("Exception while opening tabs [%s]", e)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(enable_debug_driver=GuiConfig()
.get("enable_debug_driver"))
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("Loading device and configuration.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader(cf=self.cf)
self._active_device = ""
self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._load_input_data()
self._update_input
ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.connection_failed.add_callback(self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self.connectionFailed)
self._input_device_error_signal.connect(self.inputDeviceError)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.menuItemConnect.triggered.connect(self.connectButtonClicked)
self.logConfigAction.triggered.connect(self.doLogConfigDialogue)
self.connectButton.clicked.connect(self.connectButtonClicked)
self.quickConnectButton.clicked.connect(self.quickConnect)
self.menuItemQuickConnect.triggered.connect(self.quickConnect)
self.menuItemConfInputDevice.triggered.connect(self.configInputDevice)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self.updateBatteryVoltage)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(self._open_config_folder)
self._auto_reconnect_enabled = GuiConfig().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(GuiConfig().get("auto_reconnect"))
# Do not queue data from the controller output to the Crazyflie wrapper
# to avoid latency
#self.joystickReader.sendControlSetpointSignal.connect(
# self.cf.commander.send_setpoint,
# Qt.DirectConnection)
self.joystickReader.input_updated.add_callback(
self.cf.commander.send_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(
self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(
lambda linkURI: self.setUIState(UIState.DISCONNECTED,
linkURI))
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self.connectionLost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(
lambda linkURI: self.setUIState(UIState.CONNECTING,
linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self.setUIState(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [dockToolbox, ]
# Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in GuiConfig().get("open_tabs").split(","):
t = tabItems[tName]
if (t != None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning("Exception while opening tabs [%s]", e)
class MainUI(QtGui.QMainWindow, main_window_class):
connectionLostSignal = pyqtSignal(str, str)
connectionInitiatedSignal = pyqtSignal(str)
batteryUpdatedSignal = pyqtSignal(int, object, object)
connectionDoneSignal = pyqtSignal(str)
connectionFailedSignal = pyqtSignal(str, str)
disconnectedSignal = pyqtSignal(str)
linkQualitySignal = pyqtSignal(int)
_input_device_error_signal = pyqtSignal(str)
_input_discovery_signal = pyqtSignal(object)
_log_error_signal = pyqtSignal(object, str)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(
enable_debug_driver=GuiConfig().get("enable_debug_driver"))
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("Loading device and configuration.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader(cf=self.cf)
self._active_device = ""
self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._load_input_data()
self._update_input
ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.connection_failed.add_callback(
self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self.connectionFailed)
self._input_device_error_signal.connect(self.inputDeviceError)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.menuItemConnect.triggered.connect(self.connectButtonClicked)
self.logConfigAction.triggered.connect(self.doLogConfigDialogue)
self.connectButton.clicked.connect(self.connectButtonClicked)
self.quickConnectButton.clicked.connect(self.quickConnect)
self.menuItemQuickConnect.triggered.connect(self.quickConnect)
self.menuItemConfInputDevice.triggered.connect(self.configInputDevice)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self.updateBatteryVoltage)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(
self._open_config_folder)
self._auto_reconnect_enabled = GuiConfig().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(
GuiConfig().get("auto_reconnect"))
# Do not queue data from the controller output to the Crazyflie wrapper
# to avoid latency
#self.joystickReader.sendControlSetpointSignal.connect(
# self.cf.commander.send_setpoint,
# Qt.DirectConnection)
self.joystickReader.input_updated.add_callback(
self.cf.commander.send_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(
lambda linkURI: self.setUIState(UIState.DISCONNECTED, linkURI))
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self.connectionLost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(
lambda linkURI: self.setUIState(UIState.CONNECTING, linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self.setUIState(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [
dockToolbox,
]
# Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in GuiConfig().get("open_tabs").split(","):
t = tabItems[tName]
if (t != None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning("Exception while opening tabs [%s]", e)
def setUIState(self, newState, linkURI=""):
self.uiState = newState
if (newState == UIState.DISCONNECTED):
self.setWindowTitle("Not connected")
self.menuItemConnect.setText("Connect to Crazyflie")
self.connectButton.setText("Connect")
self.menuItemQuickConnect.setEnabled(True)
self.batteryBar.setValue(3000)
self.linkQualityBar.setValue(0)
self.menuItemBootloader.setEnabled(True)
self.logConfigAction.setEnabled(False)
if (len(GuiConfig().get("link_uri")) > 0):
self.quickConnectButton.setEnabled(True)
if (newState == UIState.CONNECTED):
s = "Connected on %s" % linkURI
self.setWindowTitle(s)
self.menuItemConnect.setText("Disconnect")
self.connectButton.setText("Disconnect")
self.logConfigAction.setEnabled(True)
if (newState == UIState.CONNECTING):
s = "Connecting to %s ..." % linkURI
self.setWindowTitle(s)
self.menuItemConnect.setText("Cancel")
self.connectButton.setText("Cancel")
self.quickConnectButton.setEnabled(False)
self.menuItemBootloader.setEnabled(False)
self.menuItemQuickConnect.setEnabled(False)
@pyqtSlot(bool)
def toggleToolbox(self, display):
menuItem = self.sender().menuItem
dockToolbox = self.sender().dockToolbox
if display and not dockToolbox.isVisible():
dockToolbox.widget().enable()
self.addDockWidget(dockToolbox.widget().preferedDockArea(),
dockToolbox)
dockToolbox.show()
elif not display:
dockToolbox.widget().disable()
self.removeDockWidget(dockToolbox)
dockToolbox.hide()
menuItem.setChecked(False)
def _rescan_devices(self):
self._statusbar_label.setText("No inputdevice connected!")
self._menu_devices.clear()
self._active_device = ""
self.joystickReader.stop_input()
for c in self._menu_mappings.actions():
c.setEnabled(False)
devs = self.joystickReader.getAvailableDevices()
if (len(devs) > 0):
self.device_discovery(devs)
def configInputDevice(self):
self.inputConfig = InputConfigDialogue(self.joystickReader)
self.inputConfig.show()
def _auto_reconnect_changed(self, checked):
self._auto_reconnect_enabled = checked
GuiConfig().set("auto_reconnect", checked)
logger.info("Auto reconnect enabled: %s", checked)
def doLogConfigDialogue(self):
self.logConfigDialogue.show()
def updateBatteryVoltage(self, timestamp, data, logconf):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))
def connectionDone(self, linkURI):
self.setUIState(UIState.CONNECTED, linkURI)
GuiConfig().set("link_uri", linkURI)
lg = LogConfig("Battery", 1000)
lg.add_variable("pm.vbat", "float")
self.cf.log.add_config(lg)
if lg.valid:
lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
else:
logger.warning("Could not setup loggingblock!")
def _logging_error(self, log_conf, msg):
QMessageBox.about(
self, "Log error", "Error when starting log config"
" [%s]: %s" % (log_conf.name, msg))
def connectionLost(self, linkURI, msg):
if not self._auto_reconnect_enabled:
if (self.isActiveWindow()):
warningCaption = "Communication failure"
error = "Connection lost to %s: %s" % (linkURI, msg)
QMessageBox.critical(self, warningCaption, error)
self.setUIState(UIState.DISCONNECTED, linkURI)
else:
self.quickConnect()
def connectionFailed(self, linkURI, error):
if not self._auto_reconnect_enabled:
msg = "Failed to connect on %s: %s" % (linkURI, error)
warningCaption = "Communication failure"
QMessageBox.critical(self, warningCaption, msg)
self.setUIState(UIState.DISCONNECTED, linkURI)
else:
self.quickConnect()
def closeEvent(self, event):
self.hide()
self.cf.close_link()
GuiConfig().save_file()
def connectButtonClicked(self):
if (self.uiState == UIState.CONNECTED):
self.cf.close_link()
elif (self.uiState == UIState.CONNECTING):
self.cf.close_link()
self.setUIState(UIState.DISCONNECTED)
else:
self.connectDialogue.show()
def inputDeviceError(self, error):
self.cf.close_link()
QMessageBox.critical(self, "Input device error", error)
def _load_input_data(self):
self.joystickReader.stop_input()
# Populate combo box with available input device configurations
for c in ConfigManager().get_list_of_configs():
node = QAction(c,
self._menu_mappings,
checkable=True,
enabled=False)
node.toggled.connect(self._inputconfig_selected)
self.configGroup.addAction(node)
self._menu_mappings.addAction(node)
def _reload_configs(self, newConfigName):
# remove the old actions from the group and the menu
for action in self._menu_mappings.actions():
self.configGroup.removeAction(action)
self._menu_mappings.clear()
# reload the conf files, and populate the menu
self._load_input_data()
self._update_input(self._active_device, newConfigName)
def _update_input(self, device="", config=""):
self.joystickReader.stop_input()
self._active_config = str(config)
self._active_device = str(device)
GuiConfig().set("input_device", self._active_device)
GuiConfig().get("device_config_mapping")[
self._active_device] = self._active_config
self.joystickReader.start_input(self._active_device,
self._active_config)
# update the checked state of the menu items
for c in self._menu_mappings.actions():
c.setEnabled(True)
if c.text() == self._active_config:
c.setChecked(True)
for c in self._menu_devices.actions():
c.setEnabled(True)
if c.text() == self._active_device:
c.setChecked(True)
# update label
if device == "" and config == "":
self._statusbar_label.setText("No input device selected")
elif config == "":
self._statusbar_label.setText("Using [%s] - "
"No input config selected" %
(self._active_device))
else:
self._statusbar_label.setText(
"Using [%s] with config [%s]" %
(self._active_device, self._active_config))
def _inputdevice_selected(self, checked):
if (not checked):
return
self.joystickReader.stop_input()
sender = self.sender()
self._active_device = sender.text()
device_config_mapping = GuiConfig().get("device_config_mapping")
if (self._active_device in device_config_mapping.keys()):
self._current_input_config = device_config_mapping[str(
self._active_device)]
else:
self._current_input_config = self._menu_mappings.actions()[0].text(
)
GuiConfig().set("input_device", str(self._active_device))
for c in self._menu_mappings.actions():
if (c.text() == self._current_input_config):
c.setChecked(True)
self.joystickReader.start_input(str(sender.text()),
self._current_input_config)
self._statusbar_label.setText(
"Using [%s] with config [%s]" %
(self._active_device, self._current_input_config))
def _inputconfig_selected(self, checked):
if (not checked):
return
self._update_input(self._active_device, self.sender().text())
def device_discovery(self, devs):
group = QActionGroup(self._menu_devices, exclusive=True)
for d in devs:
node = QAction(d["name"], self._menu_devices, checkable=True)
node.toggled.connect(self._inputdevice_selected)
group.addAction(node)
self._menu_devices.addAction(node)
if (d["name"] == GuiConfig().get("input_device")):
self._active_device = d["name"]
if (len(self._active_device) == 0):
self._active_device = self._menu_devices.actions()[0].text()
device_config_mapping = GuiConfig().get("device_config_mapping")
if (device_config_mapping):
if (self._active_device in device_config_mapping.keys()):
self._current_input_config = device_config_mapping[str(
self._active_device)]
else:
self._current_input_config = self._menu_mappings.actions(
)[0].text()
else:
self._current_input_config = self._menu_mappings.actions()[0].text(
)
# Now we know what device to use and what mapping, trigger the events
# to change the menus and start the input
for c in self._menu_mappings.actions():
c.setEnabled(True)
if (c.text() == self._current_input_config):
c.setChecked(True)
for c in self._menu_devices.actions():
if (c.text() == self._active_device):
c.setChecked(True)
def quickConnect(self):
try:
self.cf.open_link(GuiConfig().get("link_uri"))
except KeyError:
self.cf.open_link("")
def _open_config_folder(self):
QDesktopServices.openUrl(
QUrl("file:///" + QDir.toNativeSeparators(sys.path[1])))
def closeAppRequest(self):
self.close()
sys.exit(0)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
######################################################
### By lxrocks
### 'Skinny Progress Bar' tweak for Yosemite
### Tweak progress bar - artistic I am not - so pick your own colors !!!
### Only apply to Yosemite
######################################################
import platform
if platform.system() == 'Darwin':
(Version,junk,machine) = platform.mac_ver()
logger.info("This is a MAC - checking if we can apply Progress Bar Stylesheet for Yosemite Skinny Bars ")
yosemite = (10,10,0)
tVersion = tuple(map(int, (Version.split("."))))
if tVersion >= yosemite:
logger.info( "Found Yosemite:")
tcss = """
QProgressBar {
border: 2px solid grey;
border-radius: 5px;
text-align: center;
}
QProgressBar::chunk {
background-color: #05B8CC;
}
"""
self.setStyleSheet(tcss)
else:
logger.info( "Pre-Yosemite")
######################################################
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(enable_debug_driver=Config()
.get("enable_debug_driver"))
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("Loading device and configuration.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader()
self._active_device = ""
self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._load_input_data()
ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.cf.connection_failed.add_callback(self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self._connection_failed)
self._input_device_error_signal.connect(self._display_input_device_error)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.menuItemConnect.triggered.connect(self._connect)
self.logConfigAction.triggered.connect(self._show_connect_dialog)
self.connectButton.clicked.connect(self._connect)
self.quickConnectButton.clicked.connect(self._quick_connect)
self.menuItemQuickConnect.triggered.connect(self._quick_connect)
self.menuItemConfInputDevice.triggered.connect(self._show_input_device_config_dialog)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self._update_vbatt)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(self._open_config_folder)
self._auto_reconnect_enabled = Config().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(Config().get("auto_reconnect"))
self.joystickReader.input_updated.add_callback(
self.cf.commander.send_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self._connected)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(
lambda linkURI: self._update_ui_state(UIState.DISCONNECTED,
linkURI))
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self._connection_lost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(
lambda linkURI: self._update_ui_state(UIState.CONNECTING,
linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self._update_ui_state(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
self._current_input_config = None
self._active_config = None
self._active_config = None
self.inputConfig = None
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self._cf2config_dialog = Cf2ConfigDialog(cfclient.ui.pluginhelper)
self._cf1config_dialog = Cf1ConfigDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
self._menu_cf2_config.triggered.connect(self._cf2config_dialog.show)
self._menu_cf1_config.triggered.connect(self._cf1config_dialog.show)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [dockToolbox, ]
# Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in Config().get("open_tabs").split(","):
t = tabItems[tName]
if (t != None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning("Exception while opening tabs [{}]".format(e))
# Check which Input muxes are available
self._mux_group = QActionGroup(self._menu_mux, exclusive=True)
for m in self.joystickReader.available_mux():
node = QAction(m,
self._menu_mux,
checkable=True,
enabled=True)
node.toggled.connect(self._mux_selected)
self._mux_group.addAction(node)
self._menu_mux.addAction(node)
# TODO: Temporary
self._input_dev_stack = []
self._menu_mux.actions()[0].setChecked(True)
if Config().get("enable_input_muxing"):
self._menu_mux.setEnabled(True)
else:
logger.info("Input device muxing disabled in config")
self._mapping_support = True
class MainUI(QtGui.QMainWindow, main_window_class):
connectionLostSignal = pyqtSignal(str, str)
connectionInitiatedSignal = pyqtSignal(str)
batteryUpdatedSignal = pyqtSignal(int, object, object)
connectionDoneSignal = pyqtSignal(str)
connectionFailedSignal = pyqtSignal(str, str)
disconnectedSignal = pyqtSignal(str)
linkQualitySignal = pyqtSignal(int)
_input_device_error_signal = pyqtSignal(str)
_input_discovery_signal = pyqtSignal(object)
_log_error_signal = pyqtSignal(object, str)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(enable_debug_driver=GuiConfig()
.get("enable_debug_driver"))
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("Loading device and configuration.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader(cf=self.cf)
self._active_device = ""
self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._load_input_data()
self._update_input
ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.connection_failed.add_callback(self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self.connectionFailed)
self._input_device_error_signal.connect(self.inputDeviceError)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.menuItemConnect.triggered.connect(self.connectButtonClicked)
self.logConfigAction.triggered.connect(self.doLogConfigDialogue)
self.connectButton.clicked.connect(self.connectButtonClicked)
self.quickConnectButton.clicked.connect(self.quickConnect)
self.menuItemQuickConnect.triggered.connect(self.quickConnect)
self.menuItemConfInputDevice.triggered.connect(self.configInputDevice)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self.updateBatteryVoltage)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(self._open_config_folder)
self._auto_reconnect_enabled = GuiConfig().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(GuiConfig().get("auto_reconnect"))
# Do not queue data from the controller output to the Crazyflie wrapper
# to avoid latency
#self.joystickReader.sendControlSetpointSignal.connect(
# self.cf.commander.send_setpoint,
# Qt.DirectConnection)
self.joystickReader.input_updated.add_callback(
self.cf.commander.send_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(
self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(
lambda linkURI: self.setUIState(UIState.DISCONNECTED,
linkURI))
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self.connectionLost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(
lambda linkURI: self.setUIState(UIState.CONNECTING,
linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self.setUIState(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [dockToolbox, ]
# Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in GuiConfig().get("open_tabs").split(","):
t = tabItems[tName]
if (t != None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning("Exception while opening tabs [%s]", e)
def setUIState(self, newState, linkURI=""):
self.uiState = newState
if (newState == UIState.DISCONNECTED):
self.setWindowTitle("Not connected")
self.menuItemConnect.setText("Connect to Crazyflie")
self.connectButton.setText("Connect")
self.menuItemQuickConnect.setEnabled(True)
self.batteryBar.setValue(3000)
self.linkQualityBar.setValue(0)
self.menuItemBootloader.setEnabled(True)
self.logConfigAction.setEnabled(False)
if (len(GuiConfig().get("link_uri")) > 0):
self.quickConnectButton.setEnabled(True)
if (newState == UIState.CONNECTED):
s = "Connected on %s" % linkURI
self.setWindowTitle(s)
self.menuItemConnect.setText("Disconnect")
self.connectButton.setText("Disconnect")
self.logConfigAction.setEnabled(True)
if (newState == UIState.CONNECTING):
s = "Connecting to %s ..." % linkURI
self.setWindowTitle(s)
self.menuItemConnect.setText("Cancel")
self.connectButton.setText("Cancel")
self.quickConnectButton.setEnabled(False)
self.menuItemBootloader.setEnabled(False)
self.menuItemQuickConnect.setEnabled(False)
@pyqtSlot(bool)
def toggleToolbox(self, display):
menuItem = self.sender().menuItem
dockToolbox = self.sender().dockToolbox
if display and not dockToolbox.isVisible():
dockToolbox.widget().enable()
self.addDockWidget(dockToolbox.widget().preferedDockArea(),
dockToolbox)
dockToolbox.show()
elif not display:
dockToolbox.widget().disable()
self.removeDockWidget(dockToolbox)
dockToolbox.hide()
menuItem.setChecked(False)
def _rescan_devices(self):
self._statusbar_label.setText("No inputdevice connected!")
self._menu_devices.clear()
self._active_device = ""
self.joystickReader.stop_input()
for c in self._menu_mappings.actions():
c.setEnabled(False)
devs = self.joystickReader.getAvailableDevices()
if (len(devs) > 0):
self.device_discovery(devs)
def configInputDevice(self):
self.inputConfig = InputConfigDialogue(self.joystickReader)
self.inputConfig.show()
def _auto_reconnect_changed(self, checked):
self._auto_reconnect_enabled = checked
GuiConfig().set("auto_reconnect", checked)
logger.info("Auto reconnect enabled: %s", checked)
def doLogConfigDialogue(self):
self.logConfigDialogue.show()
def updateBatteryVoltage(self, timestamp, data, logconf):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))
cfclient.ui.pluginhelper.inputDeviceReader.inputdevice.setBatteryData(int(data["pm.vbat"] * 1000))
def connectionDone(self, linkURI):
self.setUIState(UIState.CONNECTED, linkURI)
GuiConfig().set("link_uri", linkURI)
lg = LogConfig("Battery", 1000)
lg.add_variable("pm.vbat", "float")
self.cf.log.add_config(lg)
if lg.valid:
lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
else:
logger.warning("Could not setup loggingblock!")
def _logging_error(self, log_conf, msg):
QMessageBox.about(self, "Log error", "Error when starting log config"
" [%s]: %s" % (log_conf.name, msg))
def connectionLost(self, linkURI, msg):
if not self._auto_reconnect_enabled:
if (self.isActiveWindow()):
warningCaption = "Communication failure"
error = "Connection lost to %s: %s" % (linkURI, msg)
QMessageBox.critical(self, warningCaption, error)
self.setUIState(UIState.DISCONNECTED, linkURI)
else:
self.quickConnect()
def connectionFailed(self, linkURI, error):
if not self._auto_reconnect_enabled:
msg = "Failed to connect on %s: %s" % (linkURI, error)
warningCaption = "Communication failure"
QMessageBox.critical(self, warningCaption, msg)
self.setUIState(UIState.DISCONNECTED, linkURI)
else:
self.quickConnect()
def closeEvent(self, event):
self.hide()
self.cf.close_link()
GuiConfig().save_file()
def connectButtonClicked(self):
if (self.uiState == UIState.CONNECTED):
self.cf.close_link()
elif (self.uiState == UIState.CONNECTING):
self.cf.close_link()
self.setUIState(UIState.DISCONNECTED)
else:
self.connectDialogue.show()
def inputDeviceError(self, error):
self.cf.close_link()
QMessageBox.critical(self, "Input device error", error)
def _load_input_data(self):
self.joystickReader.stop_input()
# Populate combo box with available input device configurations
for c in ConfigManager().get_list_of_configs():
node = QAction(c,
self._menu_mappings,
checkable=True,
enabled=False)
node.toggled.connect(self._inputconfig_selected)
self.configGroup.addAction(node)
self._menu_mappings.addAction(node)
def _reload_configs(self, newConfigName):
# remove the old actions from the group and the menu
for action in self._menu_mappings.actions():
self.configGroup.removeAction(action)
self._menu_mappings.clear()
# reload the conf files, and populate the menu
self._load_input_data()
self._update_input(self._active_device, newConfigName)
def _update_input(self, device="", config=""):
self.joystickReader.stop_input()
self._active_config = str(config)
self._active_device = str(device)
GuiConfig().set("input_device", self._active_device)
GuiConfig().get(
"device_config_mapping"
)[self._active_device] = self._active_config
self.joystickReader.start_input(self._active_device,
self._active_config)
# update the checked state of the menu items
for c in self._menu_mappings.actions():
c.setEnabled(True)
if c.text() == self._active_config:
c.setChecked(True)
for c in self._menu_devices.actions():
c.setEnabled(True)
if c.text() == self._active_device:
c.setChecked(True)
# update label
if device == "" and config == "":
self._statusbar_label.setText("No input device selected")
elif config == "":
self._statusbar_label.setText("Using [%s] - "
"No input config selected" %
(self._active_device))
else:
self._statusbar_label.setText("Using [%s] with config [%s]" %
(self._active_device,
self._active_config))
def _inputdevice_selected(self, checked):
if (not checked):
return
self.joystickReader.stop_input()
sender = self.sender()
self._active_device = sender.text()
device_config_mapping = GuiConfig().get("device_config_mapping")
if (self._active_device in device_config_mapping.keys()):
self._current_input_config = device_config_mapping[
str(self._active_device)]
else:
self._current_input_config = self._menu_mappings.actions()[0].text()
GuiConfig().set("input_device", str(self._active_device))
for c in self._menu_mappings.actions():
if (c.text() == self._current_input_config):
c.setChecked(True)
self.joystickReader.start_input(str(sender.text()),
self._current_input_config)
self._statusbar_label.setText("Using [%s] with config [%s]" % (
self._active_device,
self._current_input_config))
def _inputconfig_selected(self, checked):
if (not checked):
return
self._update_input(self._active_device, self.sender().text())
def device_discovery(self, devs):
group = QActionGroup(self._menu_devices, exclusive=True)
for d in devs:
node = QAction(d["name"], self._menu_devices, checkable=True)
node.toggled.connect(self._inputdevice_selected)
group.addAction(node)
self._menu_devices.addAction(node)
if (d["name"] == GuiConfig().get("input_device")):
self._active_device = d["name"]
if (len(self._active_device) == 0):
self._active_device = self._menu_devices.actions()[0].text()
device_config_mapping = GuiConfig().get("device_config_mapping")
if (device_config_mapping):
if (self._active_device in device_config_mapping.keys()):
self._current_input_config = device_config_mapping[
str(self._active_device)]
else:
self._current_input_config = self._menu_mappings.actions()[0].text()
else:
self._current_input_config = self._menu_mappings.actions()[0].text()
# Now we know what device to use and what mapping, trigger the events
# to change the menus and start the input
for c in self._menu_mappings.actions():
c.setEnabled(True)
if (c.text() == self._current_input_config):
c.setChecked(True)
for c in self._menu_devices.actions():
if (c.text() == self._active_device):
c.setChecked(True)
def quickConnect(self):
try:
self.cf.open_link(GuiConfig().get("link_uri"))
except KeyError:
self.cf.open_link("")
def _open_config_folder(self):
QDesktopServices.openUrl(QUrl("file:///" + QDir.toNativeSeparators(sys.path[1])))
def closeAppRequest(self):
self.close()
sys.exit(0)
class MainUI(QtGui.QMainWindow, main_window_class):
connectionLostSignal = pyqtSignal(str, str)
connectionInitiatedSignal = pyqtSignal(str)
batteryUpdatedSignal = pyqtSignal(int, object, object)
connectionDoneSignal = pyqtSignal(str)
connectionFailedSignal = pyqtSignal(str, str)
disconnectedSignal = pyqtSignal(str)
linkQualitySignal = pyqtSignal(int)
_input_device_error_signal = pyqtSignal(str)
_input_discovery_signal = pyqtSignal(object)
_log_error_signal = pyqtSignal(object, str)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
######################################################
### By lxrocks
### 'Skinny Progress Bar' tweak for Yosemite
### Tweak progress bar - artistic I am not - so pick your own colors !!!
### Only apply to Yosemite
######################################################
import platform
if platform.system() == 'Darwin':
(Version,junk,machine) = platform.mac_ver()
logger.info("This is a MAC - checking if we can apply Progress Bar Stylesheet for Yosemite Skinny Bars ")
yosemite = (10,10,0)
tVersion = tuple(map(int, (Version.split("."))))
if tVersion >= yosemite:
logger.info( "Found Yosemite:")
tcss = """
QProgressBar {
border: 2px solid grey;
border-radius: 5px;
text-align: center;
}
QProgressBar::chunk {
background-color: #05B8CC;
}
"""
self.setStyleSheet(tcss)
else:
logger.info( "Pre-Yosemite")
######################################################
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(enable_debug_driver=Config()
.get("enable_debug_driver"))
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("Loading device and configuration.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader()
self._active_device = ""
self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._load_input_data()
ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.cf.connection_failed.add_callback(self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self._connection_failed)
self._input_device_error_signal.connect(self._display_input_device_error)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.menuItemConnect.triggered.connect(self._connect)
self.logConfigAction.triggered.connect(self._show_connect_dialog)
self.connectButton.clicked.connect(self._connect)
self.quickConnectButton.clicked.connect(self._quick_connect)
self.menuItemQuickConnect.triggered.connect(self._quick_connect)
self.menuItemConfInputDevice.triggered.connect(self._show_input_device_config_dialog)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self._update_vbatt)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(self._open_config_folder)
self._auto_reconnect_enabled = Config().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(Config().get("auto_reconnect"))
self.joystickReader.input_updated.add_callback(
self.cf.commander.send_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self._connected)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(
lambda linkURI: self._update_ui_state(UIState.DISCONNECTED,
linkURI))
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self._connection_lost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(
lambda linkURI: self._update_ui_state(UIState.CONNECTING,
linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self._update_ui_state(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
self._current_input_config = None
self._active_config = None
self._active_config = None
self.inputConfig = None
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self._cf2config_dialog = Cf2ConfigDialog(cfclient.ui.pluginhelper)
self._cf1config_dialog = Cf1ConfigDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
self._menu_cf2_config.triggered.connect(self._cf2config_dialog.show)
self._menu_cf1_config.triggered.connect(self._cf1config_dialog.show)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [dockToolbox, ]
# Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in Config().get("open_tabs").split(","):
t = tabItems[tName]
if (t != None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning("Exception while opening tabs [{}]".format(e))
# Check which Input muxes are available
self._mux_group = QActionGroup(self._menu_mux, exclusive=True)
for m in self.joystickReader.available_mux():
node = QAction(m,
self._menu_mux,
checkable=True,
enabled=True)
node.toggled.connect(self._mux_selected)
self._mux_group.addAction(node)
self._menu_mux.addAction(node)
# TODO: Temporary
self._input_dev_stack = []
self._menu_mux.actions()[0].setChecked(True)
if Config().get("enable_input_muxing"):
self._menu_mux.setEnabled(True)
else:
logger.info("Input device muxing disabled in config")
self._mapping_support = True
def _update_ui_state(self, newState, linkURI=""):
self.uiState = newState
if newState == UIState.DISCONNECTED:
self.setWindowTitle("Not connected")
self.menuItemConnect.setText("Connect to Crazyflie")
self.connectButton.setText("Connect")
self.menuItemQuickConnect.setEnabled(True)
self.batteryBar.setValue(3000)
self._menu_cf2_config.setEnabled(False)
self._menu_cf1_config.setEnabled(True)
self.linkQualityBar.setValue(0)
self.menuItemBootloader.setEnabled(True)
self.logConfigAction.setEnabled(False)
if len(Config().get("link_uri")) > 0:
self.quickConnectButton.setEnabled(True)
if newState == UIState.CONNECTED:
s = "Connected on %s" % linkURI
self.setWindowTitle(s)
self.menuItemConnect.setText("Disconnect")
self.connectButton.setText("Disconnect")
self.logConfigAction.setEnabled(True)
# Find out if there's an I2C EEPROM, otherwise don't show the
# dialog.
if len(self.cf.mem.get_mems(MemoryElement.TYPE_I2C)) > 0:
self._menu_cf2_config.setEnabled(True)
self._menu_cf1_config.setEnabled(False)
if newState == UIState.CONNECTING:
s = "Connecting to {} ...".format(linkURI)
self.setWindowTitle(s)
self.menuItemConnect.setText("Cancel")
self.connectButton.setText("Cancel")
self.quickConnectButton.setEnabled(False)
self.menuItemBootloader.setEnabled(False)
self.menuItemQuickConnect.setEnabled(False)
@pyqtSlot(bool)
def toggleToolbox(self, display):
menuItem = self.sender().menuItem
dockToolbox = self.sender().dockToolbox
if display and not dockToolbox.isVisible():
dockToolbox.widget().enable()
self.addDockWidget(dockToolbox.widget().preferedDockArea(),
dockToolbox)
dockToolbox.show()
elif not display:
dockToolbox.widget().disable()
self.removeDockWidget(dockToolbox)
dockToolbox.hide()
menuItem.setChecked(False)
def _rescan_devices(self):
self._statusbar_label.setText("No inputdevice connected!")
self._menu_devices.clear()
self._active_device = ""
self.joystickReader.stop_input()
for c in self._menu_mappings.actions():
c.setEnabled(False)
devs = self.joystickReader.available_devices()
if (len(devs) > 0):
self.device_discovery(devs)
def _show_input_device_config_dialog(self):
self.inputConfig = InputConfigDialogue(self.joystickReader)
self.inputConfig.show()
def _auto_reconnect_changed(self, checked):
self._auto_reconnect_enabled = checked
Config().set("auto_reconnect", checked)
logger.info("Auto reconnect enabled: {}".format(checked))
def _show_connect_dialog(self):
self.logConfigDialogue.show()
def _update_vbatt(self, timestamp, data, logconf):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))
def _connected(self, linkURI):
self._update_ui_state(UIState.CONNECTED, linkURI)
Config().set("link_uri", str(linkURI))
lg = LogConfig("Battery", 1000)
lg.add_variable("pm.vbat", "float")
try:
self.cf.log.add_config(lg)
lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
except KeyError as e:
logger.warning(str(e))
def _logging_error(self, log_conf, msg):
QMessageBox.about(self, "Log error", "Error when starting log config"
" [{}]: {}".format(log_conf.name, msg))
def _connection_lost(self, linkURI, msg):
if not self._auto_reconnect_enabled:
if self.isActiveWindow():
warningCaption = "Communication failure"
error = "Connection lost to {}: {}".format(linkURI, msg)
QMessageBox.critical(self, warningCaption, error)
self._update_ui_state(UIState.DISCONNECTED, linkURI)
else:
self._quick_connect()
def _connection_failed(self, linkURI, error):
if not self._auto_reconnect_enabled:
msg = "Failed to connect on {}: {}".format(linkURI, error)
warningCaption = "Communication failure"
QMessageBox.critical(self, warningCaption, msg)
self._update_ui_state(UIState.DISCONNECTED, linkURI)
else:
self._quick_connect()
def closeEvent(self, event):
self.hide()
self.cf.close_link()
Config().save_file()
def _connect(self):
if self.uiState == UIState.CONNECTED:
self.cf.close_link()
elif self.uiState == UIState.CONNECTING:
self.cf.close_link()
self._update_ui_state(UIState.DISCONNECTED)
else:
self.connectDialogue.show()
def _display_input_device_error(self, error):
self.cf.close_link()
QMessageBox.critical(self, "Input device error", error)
def _load_input_data(self):
self.joystickReader.stop_input()
# Populate combo box with available input device configurations
for c in ConfigManager().get_list_of_configs():
node = QAction(c,
self._menu_mappings,
checkable=True,
enabled=False)
node.toggled.connect(self._inputconfig_selected)
self.configGroup.addAction(node)
self._menu_mappings.addAction(node)
def _reload_configs(self, newConfigName):
# remove the old actions from the group and the menu
for action in self._menu_mappings.actions():
self.configGroup.removeAction(action)
self._menu_mappings.clear()
# reload the conf files, and populate the menu
self._load_input_data()
self._update_input(self._active_device, newConfigName)
def _update_input(self, device="", config=""):
self._active_config = str(config)
self._active_device = str(device)
Config().set("input_device", str(self._active_device))
# update the checked state of the menu items
for c in self._menu_mappings.actions():
c.setEnabled(True)
if c.text() == self._active_config:
c.setChecked(True)
for c in self._menu_devices.actions():
c.setEnabled(True)
if c.text() == self._active_device:
c.setChecked(True)
# update label
if device == "" and config == "":
self._statusbar_label.setText("No input device selected")
elif config == "":
self._statusbar_label.setText("Using [{}] - "
"No input config selected".format
(self._active_device))
else:
self._statusbar_label.setText("Using [{}] with config [{}]".format
(self._active_device,
self._active_config))
def _mux_selected(self, checked):
if not checked:
return
selected_mux_name = str(self.sender().text())
self.joystickReader.set_mux(name=selected_mux_name)
logger.debug("Selected mux supports {} devices".format(self.joystickReader.get_mux_supported_dev_count()))
self._adjust_nbr_of_selected_devices()
def _get_saved_device_mapping(self, device_name):
"""Return the saved mapping for a given device"""
config = None
device_config_mapping = Config().get("device_config_mapping")
if device_name in device_config_mapping.keys():
config = device_config_mapping[device_name]
logging.debug("For [{}] we recommend [{}]".format(device_name, config))
return config
def _update_input_device_footer(self, device_name=None, mapping_name=None):
"""Update the footer in the bottom of the UI with status for the
input device and its mapping"""
if not device_name and not mapping_name:
self._statusbar_label.setText("No input device selected")
elif self._mapping_support and not mapping_name:
self._statusbar_label.setText("Using [{}] - "
"No input config selected".format(
device_name))
elif not self._mapping_support:
self._statusbar_label.setText("Using [{}]".format(device_name))
else:
self._statusbar_label.setText("Using [{}] with config [{}]".format(
device_name, mapping_name))
def _adjust_nbr_of_selected_devices(self):
nbr_of_selected = len(self._input_dev_stack)
nbr_of_supported = self.joystickReader.get_mux_supported_dev_count()
while len(self._input_dev_stack) > nbr_of_supported:
to_close = self._input_dev_stack.pop(0)
# Close and de-select it in the UI
self.joystickReader.stop_input(to_close)
for c in self._menu_devices.actions():
if c.text() == to_close:
c.setChecked(False)
def _inputdevice_selected(self, checked):
"""Called when a new input device has been selected from the menu"""
if not checked:
return
self._input_dev_stack.append(self.sender().text())
selected_device_name = str(self.sender().text())
self._active_device = selected_device_name
# Save the device as "last used device"
Config().set("input_device", str(selected_device_name))
# Read preferred config used for this controller from config,
# if found then select this config in the menu
self._mapping_support = self.joystickReader.start_input(selected_device_name)
self._adjust_nbr_of_selected_devices()
if self.joystickReader.get_mux_supported_dev_count() == 1:
preferred_config = self.joystickReader.get_saved_device_mapping(selected_device_name)
if preferred_config:
for c in self._menu_mappings.actions():
if c.text() == preferred_config:
c.setChecked(True)
def _inputconfig_selected(self, checked):
"""Called when a new configuration has been selected from the menu"""
if not checked:
return
selected_mapping = str(self.sender().text())
self.joystickReader.set_input_map(self._active_device, selected_mapping)
self._update_input_device_footer(self._active_device, selected_mapping)
def device_discovery(self, devs):
group = QActionGroup(self._menu_devices, exclusive=False)
for d in devs:
node = QAction(d.name, self._menu_devices, checkable=True)
node.toggled.connect(self._inputdevice_selected)
group.addAction(node)
self._menu_devices.addAction(node)
if d.name == Config().get("input_device"):
self._active_device = d.name
if len(self._active_device) == 0:
self._active_device = str(self._menu_devices.actions()[0].text())
device_config_mapping = Config().get("device_config_mapping")
if device_config_mapping:
if self._active_device in device_config_mapping.keys():
self._current_input_config = device_config_mapping[
self._active_device]
else:
self._current_input_config = self._menu_mappings.actions()[0]\
.text()
else:
self._current_input_config = self._menu_mappings.actions()[0].text()
# Now we know what device to use and what mapping, trigger the events
# to change the menus and start the input
for c in self._menu_devices.actions():
if c.text() == self._active_device:
c.setChecked(True)
for c in self._menu_mappings.actions():
c.setEnabled(True)
if c.text() == self._current_input_config:
c.setChecked(True)
def _quick_connect(self):
try:
self.cf.open_link(Config().get("link_uri"))
except KeyError:
self.cf.open_link("")
def _open_config_folder(self):
QDesktopServices.openUrl(QUrl("file:///" +
QDir.toNativeSeparators(sys.path[1])))
def closeAppRequest(self):
self.close()
sys.exit(0)
class MainUI(QtGui.QMainWindow, main_window_class):
connectionLostSignal = pyqtSignal(str, str)
connectionInitiatedSignal = pyqtSignal(str)
batteryUpdatedSignal = pyqtSignal(int, object, object)
connectionDoneSignal = pyqtSignal(str)
connectionFailedSignal = pyqtSignal(str, str)
disconnectedSignal = pyqtSignal(str)
linkQualitySignal = pyqtSignal(int)
_input_device_error_signal = pyqtSignal(str)
_input_discovery_signal = pyqtSignal(object)
_log_error_signal = pyqtSignal(object, str)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
######################################################
### By lxrocks
### 'Skinny Progress Bar' tweak for Yosemite
### Tweak progress bar - artistic I am not - so pick your own colors !!!
### Only apply to Yosemite
######################################################
import platform
if platform.system() == 'Darwin':
(Version, junk, machine) = platform.mac_ver()
logger.info(
"This is a MAC - checking if we can apply Progress Bar Stylesheet for Yosemite Skinny Bars "
)
yosemite = (10, 10, 0)
tVersion = tuple(map(int, (Version.split("."))))
if tVersion >= yosemite:
logger.info("Found Yosemite:")
tcss = """
QProgressBar {
border: 2px solid grey;
border-radius: 5px;
text-align: center;
}
QProgressBar::chunk {
background-color: #05B8CC;
}
"""
self.setStyleSheet(tcss)
else:
logger.info("Pre-Yosemite")
######################################################
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(
enable_debug_driver=Config().get("enable_debug_driver"))
zmq_params = ZMQParamAccess(self.cf)
zmq_params.start()
zmq_leds = ZMQLEDDriver(self.cf)
zmq_leds.start()
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("No input-device found, insert one to"
" fly.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader()
self._active_device = ""
#self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._mux_group = QActionGroup(self._menu_inputdevice, exclusive=True)
# TODO: Need to reload configs
#ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.cf.connection_failed.add_callback(
self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self._connection_failed)
self._input_device_error_signal.connect(
self._display_input_device_error)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.menuItemConnect.triggered.connect(self._connect)
self.logConfigAction.triggered.connect(self._show_connect_dialog)
self.connectButton.clicked.connect(self._connect)
self.quickConnectButton.clicked.connect(self._quick_connect)
self.menuItemQuickConnect.triggered.connect(self._quick_connect)
self.menuItemConfInputDevice.triggered.connect(
self._show_input_device_config_dialog)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self._update_vbatt)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(
self._open_config_folder)
self._auto_reconnect_enabled = Config().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(Config().get("auto_reconnect"))
self.joystickReader.input_updated.add_callback(
self.cf.commander.send_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self._connected)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(lambda linkURI: self._update_ui_state(
UIState.DISCONNECTED, linkURI))
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self._connection_lost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(
lambda linkURI: self._update_ui_state(UIState.CONNECTING, linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self._update_ui_state(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
self._current_input_config = None
self._active_config = None
self._active_config = None
self.inputConfig = None
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self._cf2config_dialog = Cf2ConfigDialog(cfclient.ui.pluginhelper)
self._cf1config_dialog = Cf1ConfigDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
self._menu_cf2_config.triggered.connect(self._cf2config_dialog.show)
self._menu_cf1_config.triggered.connect(self._cf1config_dialog.show)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [
dockToolbox,
]
# Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in Config().get("open_tabs").split(","):
t = tabItems[tName]
if (t != None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning("Exception while opening tabs [{}]".format(e))
# References to all the device sub-menus in the "Input device" menu
self._all_role_menus = ()
# Used to filter what new devices to add default mapping to
self._available_devices = ()
# Keep track of mux nodes so we can enable according to how many
# devices we have
self._all_mux_nodes = ()
# Check which Input muxes are available
self._mux_group = QActionGroup(self._menu_inputdevice, exclusive=True)
for m in self.joystickReader.available_mux():
node = QAction(m.name,
self._menu_inputdevice,
checkable=True,
enabled=False)
node.toggled.connect(self._mux_selected)
self._mux_group.addAction(node)
self._menu_inputdevice.addAction(node)
self._all_mux_nodes += (node, )
mux_subnodes = ()
for name in m.supported_roles():
sub_node = QMenu(" {}".format(name),
self._menu_inputdevice,
enabled=False)
self._menu_inputdevice.addMenu(sub_node)
mux_subnodes += (sub_node, )
self._all_role_menus += ({
"muxmenu": node,
"rolemenu": sub_node
}, )
node.setData((m, mux_subnodes))
self._mapping_support = True
def _update_ui_state(self, newState, linkURI=""):
self.uiState = newState
if newState == UIState.DISCONNECTED:
self.setWindowTitle("Not connected")
self.menuItemConnect.setText("Connect to Crazyflie")
self.connectButton.setText("Connect")
self.menuItemQuickConnect.setEnabled(True)
self.batteryBar.setValue(3000)
self._menu_cf2_config.setEnabled(False)
self._menu_cf1_config.setEnabled(True)
self.linkQualityBar.setValue(0)
self.menuItemBootloader.setEnabled(True)
self.logConfigAction.setEnabled(False)
if len(Config().get("link_uri")) > 0:
self.quickConnectButton.setEnabled(True)
if newState == UIState.CONNECTED:
s = "Connected on %s" % linkURI
self.setWindowTitle(s)
self.menuItemConnect.setText("Disconnect")
self.connectButton.setText("Disconnect")
self.logConfigAction.setEnabled(True)
# Find out if there's an I2C EEPROM, otherwise don't show the
# dialog.
if len(self.cf.mem.get_mems(MemoryElement.TYPE_I2C)) > 0:
self._menu_cf2_config.setEnabled(True)
self._menu_cf1_config.setEnabled(False)
if newState == UIState.CONNECTING:
s = "Connecting to {} ...".format(linkURI)
self.setWindowTitle(s)
self.menuItemConnect.setText("Cancel")
self.connectButton.setText("Cancel")
self.quickConnectButton.setEnabled(False)
self.menuItemBootloader.setEnabled(False)
self.menuItemQuickConnect.setEnabled(False)
@pyqtSlot(bool)
def toggleToolbox(self, display):
menuItem = self.sender().menuItem
dockToolbox = self.sender().dockToolbox
if display and not dockToolbox.isVisible():
dockToolbox.widget().enable()
self.addDockWidget(dockToolbox.widget().preferedDockArea(),
dockToolbox)
dockToolbox.show()
elif not display:
dockToolbox.widget().disable()
self.removeDockWidget(dockToolbox)
dockToolbox.hide()
menuItem.setChecked(False)
def _rescan_devices(self):
self._statusbar_label.setText("No inputdevice connected!")
self._menu_devices.clear()
self._active_device = ""
self.joystickReader.stop_input()
#for c in self._menu_mappings.actions():
# c.setEnabled(False)
#devs = self.joystickReader.available_devices()
#if (len(devs) > 0):
# self.device_discovery(devs)
def _show_input_device_config_dialog(self):
self.inputConfig = InputConfigDialogue(self.joystickReader)
self.inputConfig.show()
def _auto_reconnect_changed(self, checked):
self._auto_reconnect_enabled = checked
Config().set("auto_reconnect", checked)
logger.info("Auto reconnect enabled: {}".format(checked))
def _show_connect_dialog(self):
self.logConfigDialogue.show()
def _update_vbatt(self, timestamp, data, logconf):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))
def _connected(self, linkURI):
self._update_ui_state(UIState.CONNECTED, linkURI)
Config().set("link_uri", str(linkURI))
lg = LogConfig("Battery", 1000)
lg.add_variable("pm.vbat", "float")
try:
self.cf.log.add_config(lg)
lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
except KeyError as e:
logger.warning(str(e))
mem = self.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)[0]
mem.write_data(self._led_write_done)
#self._led_write_test = 0
#mem.leds[self._led_write_test] = [10, 20, 30]
#mem.write_data(self._led_write_done)
def _led_write_done(self, mem, addr):
logger.info("LED write done callback")
#self._led_write_test += 1
#mem.leds[self._led_write_test] = [10, 20, 30]
#mem.write_data(self._led_write_done)
def _logging_error(self, log_conf, msg):
QMessageBox.about(
self, "Log error", "Error when starting log config"
" [{}]: {}".format(log_conf.name, msg))
def _connection_lost(self, linkURI, msg):
if not self._auto_reconnect_enabled:
if self.isActiveWindow():
warningCaption = "Communication failure"
error = "Connection lost to {}: {}".format(linkURI, msg)
QMessageBox.critical(self, warningCaption, error)
self._update_ui_state(UIState.DISCONNECTED, linkURI)
else:
self._quick_connect()
def _connection_failed(self, linkURI, error):
if not self._auto_reconnect_enabled:
msg = "Failed to connect on {}: {}".format(linkURI, error)
warningCaption = "Communication failure"
QMessageBox.critical(self, warningCaption, msg)
self._update_ui_state(UIState.DISCONNECTED, linkURI)
else:
self._quick_connect()
def closeEvent(self, event):
self.hide()
self.cf.close_link()
Config().save_file()
def _connect(self):
if self.uiState == UIState.CONNECTED:
self.cf.close_link()
elif self.uiState == UIState.CONNECTING:
self.cf.close_link()
self._update_ui_state(UIState.DISCONNECTED)
else:
self.connectDialogue.show()
def _display_input_device_error(self, error):
self.cf.close_link()
QMessageBox.critical(self, "Input device error", error)
def _mux_selected(self, checked):
"""Called when a new mux is selected. The menu item contains a
reference to the raw mux object as well as to the associated device
sub-nodes"""
if not checked:
(mux, sub_nodes) = self.sender().data().toPyObject()
for s in sub_nodes:
s.setEnabled(False)
else:
(mux, sub_nodes) = self.sender().data().toPyObject()
for s in sub_nodes:
s.setEnabled(True)
self.joystickReader.set_mux(mux=mux)
# Go though the tree and select devices/mapping that was
# selected before it was disabled.
for role_node in sub_nodes:
for dev_node in role_node.children():
if type(dev_node) is QAction and dev_node.isChecked():
dev_node.toggled.emit(True)
self._update_input_device_footer()
def _get_dev_status(self, device):
msg = "{}".format(device.name)
if device.supports_mapping:
map_name = "N/A"
if device.input_map:
map_name = device.input_map_name
msg += " ({})".format(map_name)
return msg
def _update_input_device_footer(self):
"""Update the footer in the bottom of the UI with status for the
input device and its mapping"""
msg = ""
if len(self.joystickReader.available_devices()) > 0:
mux = self.joystickReader._selected_mux
msg = "Using {} mux with ".format(mux.name)
for key in mux._devs.keys()[:-1]:
if mux._devs[key]:
msg += "{}, ".format(self._get_dev_status(mux._devs[key]))
else:
msg += "N/A, "
# Last item
key = mux._devs.keys()[-1]
if mux._devs[key]:
msg += "{}".format(self._get_dev_status(mux._devs[key]))
else:
msg += "N/A"
else:
msg = "No input device found"
self._statusbar_label.setText(msg)
def _inputdevice_selected(self, checked):
"""Called when a new input device has been selected from the menu. The
data in the menu object is the associated map menu (directly under the
item in the menu) and the raw device"""
(map_menu, device, mux_menu) = self.sender().data().toPyObject()
if not checked:
if map_menu:
map_menu.setEnabled(False)
# Do not close the device, since we don't know exactly
# how many devices the mux can have open. When selecting a
# new mux the old one will take care of this.
else:
if map_menu:
map_menu.setEnabled(True)
(mux, sub_nodes) = mux_menu.data().toPyObject()
for role_node in sub_nodes:
for dev_node in role_node.children():
if type(dev_node) is QAction and dev_node.isChecked():
if device.id == dev_node.data().toPyObject()[1].id \
and dev_node is not self.sender():
dev_node.setChecked(False)
role_in_mux = str(self.sender().parent().title()).strip()
logger.info("Role of {} is {}".format(device.name, role_in_mux))
Config().set("input_device", str(device.name))
self._mapping_support = self.joystickReader.start_input(
device.name, role_in_mux)
self._update_input_device_footer()
def _inputconfig_selected(self, checked):
"""Called when a new configuration has been selected from the menu. The
data in the menu object is a referance to the device QAction in parent
menu. This contains a referance to the raw device."""
if not checked:
return
selected_mapping = str(self.sender().text())
device = self.sender().data().toPyObject().data().toPyObject()[1]
self.joystickReader.set_input_map(device.name, selected_mapping)
self._update_input_device_footer()
def device_discovery(self, devs):
"""Called when new devices have been added"""
for menu in self._all_role_menus:
role_menu = menu["rolemenu"]
mux_menu = menu["muxmenu"]
dev_group = QActionGroup(role_menu, exclusive=True)
for d in devs:
dev_node = QAction(d.name,
role_menu,
checkable=True,
enabled=True)
role_menu.addAction(dev_node)
dev_group.addAction(dev_node)
dev_node.toggled.connect(self._inputdevice_selected)
map_node = None
if d.supports_mapping:
map_node = QMenu(" Input map", role_menu, enabled=False)
map_group = QActionGroup(role_menu, exclusive=True)
# Connect device node to map node for easy
# enabling/disabling when selection changes and device
# to easily enable it
dev_node.setData((map_node, d))
for c in ConfigManager().get_list_of_configs():
node = QAction(c,
map_node,
checkable=True,
enabled=True)
node.toggled.connect(self._inputconfig_selected)
map_node.addAction(node)
# Connect all the map nodes back to the device
# action node where we can access the raw device
node.setData(dev_node)
map_group.addAction(node)
# If this device hasn't been found before, then
# select the default mapping for it.
if d not in self._available_devices:
last_map = Config().get("device_config_mapping")
if last_map.has_key(
d.name) and last_map[d.name] == c:
node.setChecked(True)
role_menu.addMenu(map_node)
dev_node.setData((map_node, d, mux_menu))
# Update the list of what devices we found
# to avoid selecting default mapping for all devices when
# a new one is inserted
self._available_devices = ()
for d in devs:
self._available_devices += (d, )
# Only enable MUX nodes if we have enough devies to cover
# the roles
for mux_node in self._all_mux_nodes:
(mux, sub_nodes) = mux_node.data().toPyObject()
if len(mux.supported_roles()) <= len(self._available_devices):
mux_node.setEnabled(True)
# TODO: Currently only supports selecting default mux
if self._all_mux_nodes[0].isEnabled():
self._all_mux_nodes[0].setChecked(True)
# If the previous length of the available devies was 0, then select
# the default on. If that's not available then select the first
# on in the list.
# TODO: This will only work for the "Normal" mux so this will be
# selected by default
if Config().get("input_device") in [d.name for d in devs]:
for dev_menu in self._all_role_menus[0]["rolemenu"].actions():
if dev_menu.text() == Config().get("input_device"):
dev_menu.setChecked(True)
else:
# Select the first device in the first mux (will always be "Normal"
# mux)
self._all_role_menus[0]["rolemenu"].actions()[0].setChecked(True)
logger.info("Select first device")
self._update_input_device_footer()
def _quick_connect(self):
try:
self.cf.open_link(Config().get("link_uri"))
except KeyError:
self.cf.open_link("")
def _open_config_folder(self):
QDesktopServices.openUrl(
QUrl("file:///" + QDir.toNativeSeparators(sys.path[1])))
def closeAppRequest(self):
self.close()
sys.exit(0)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
self.cfg = Config()
self.cf = Crazyflie(ro_cache=sys.path[0]+"/cflib/cache",
rw_cache=sys.path[1]+"/cache")
cflib.crtp.init_drivers()
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("No inputdevice connected!")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader()
# Populate combo box with available input device configurations
group = QActionGroup(self._menu_mappings, exclusive=True)
for c in self.joystickReader.getListOfConfigs():
node = QAction(c, self._menu_mappings, checkable=True,
enabled=False)
node.toggled.connect(self._inputconfig_selected)
group.addAction(node)
self._menu_mappings.addAction(node)
self.joystickReader.start()
self._current_input_config = ""
self._current_input_device = ""
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.connectionFailed.add_callback(self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self.connectionFailed)
self.joystickReader.inputDeviceErrorSignal.connect(self.inputDeviceError)
self.joystickReader.discovery_signal.connect(self.device_discovery)
# Connect UI signals
self.menuItemConnect.triggered.connect(self.connectButtonClicked)
self.logConfigAction.triggered.connect(self.doLogConfigDialogue)
self.connectButton.clicked.connect(self.connectButtonClicked)
self.quickConnectButton.clicked.connect(self.quickConnect)
self.menuItemQuickConnect.triggered.connect(self.quickConnect)
self.menuItemConfInputDevice.triggered.connect(self.configInputDevice)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self.updateBatteryVoltage)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
# Do not queue data from the controller output to the Crazyflie wrapper to avoid latency
self.joystickReader.sendControlSetpointSignal.connect(self.cf.commander.send_setpoint, Qt.DirectConnection)
# Connection callbacks and signal wrappers for UI protection
self.cf.connectSetupFinished.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(lambda linkURI: self.setUIState(UIState.DISCONNECTED, linkURI))
self.cf.connectionLost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self.connectionLost)
self.cf.connectionInitiated.add_callback(self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(lambda linkURI: self.setUIState(UIState.CONNECTING, linkURI))
# Connect link quality feedback
self.cf.linkQuality.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self.setUIState(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader()
self.logConfigReader.readConfigFiles()
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
#Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [dockToolbox, ]
#Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda :self.toggleToolbox(False))
#Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tmpTabList = {}
for newTab in cfclient.ui.tabs.available:
t = newTab(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(t.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(t.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tmpTabList[t.getTabName()] = item
# TODO: Fix this dirty hack!
# Without this the signal never arrives is t.toggleVisibility when
# clicked in menu ?!
t.fakeIt()
# First instantiate all the tabs and then open them in the correct order
try:
for tName in Config().get("open_tabs").split(","):
t = tmpTabList[tName]
if (t != None):
t.toggle() # Toggle though menu so it's also marked as open there
except Exception as e:
logger.warning("Exception while opening tabs [%s]", e)
class MainUI(QtGui.QMainWindow, main_window_class):
connectionLostSignal = pyqtSignal(str, str)
connectionInitiatedSignal = pyqtSignal(str)
batteryUpdatedSignal = pyqtSignal(object)
connectionDoneSignal = pyqtSignal(str)
connectionFailedSignal = pyqtSignal(str, str)
disconnectedSignal = pyqtSignal(str)
linkQualitySignal = pyqtSignal(int)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
self.cfg = Config()
self.cf = Crazyflie(ro_cache=sys.path[0]+"/cflib/cache",
rw_cache=sys.path[1]+"/cache")
cflib.crtp.init_drivers()
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("No inputdevice connected!")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader()
# Populate combo box with available input device configurations
group = QActionGroup(self._menu_mappings, exclusive=True)
for c in self.joystickReader.getListOfConfigs():
node = QAction(c, self._menu_mappings, checkable=True,
enabled=False)
node.toggled.connect(self._inputconfig_selected)
group.addAction(node)
self._menu_mappings.addAction(node)
self.joystickReader.start()
self._current_input_config = ""
self._current_input_device = ""
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.connectionFailed.add_callback(self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self.connectionFailed)
self.joystickReader.inputDeviceErrorSignal.connect(self.inputDeviceError)
self.joystickReader.discovery_signal.connect(self.device_discovery)
# Connect UI signals
self.menuItemConnect.triggered.connect(self.connectButtonClicked)
self.logConfigAction.triggered.connect(self.doLogConfigDialogue)
self.connectButton.clicked.connect(self.connectButtonClicked)
self.quickConnectButton.clicked.connect(self.quickConnect)
self.menuItemQuickConnect.triggered.connect(self.quickConnect)
self.menuItemConfInputDevice.triggered.connect(self.configInputDevice)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self.updateBatteryVoltage)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
# Do not queue data from the controller output to the Crazyflie wrapper to avoid latency
self.joystickReader.sendControlSetpointSignal.connect(self.cf.commander.send_setpoint, Qt.DirectConnection)
# Connection callbacks and signal wrappers for UI protection
self.cf.connectSetupFinished.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self.connectionDone)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(lambda linkURI: self.setUIState(UIState.DISCONNECTED, linkURI))
self.cf.connectionLost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self.connectionLost)
self.cf.connectionInitiated.add_callback(self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(lambda linkURI: self.setUIState(UIState.CONNECTING, linkURI))
# Connect link quality feedback
self.cf.linkQuality.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self.setUIState(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader()
self.logConfigReader.readConfigFiles()
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
#Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [dockToolbox, ]
#Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda :self.toggleToolbox(False))
#Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tmpTabList = {}
for newTab in cfclient.ui.tabs.available:
t = newTab(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(t.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(t.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tmpTabList[t.getTabName()] = item
# TODO: Fix this dirty hack!
# Without this the signal never arrives is t.toggleVisibility when
# clicked in menu ?!
t.fakeIt()
# First instantiate all the tabs and then open them in the correct order
try:
for tName in Config().get("open_tabs").split(","):
t = tmpTabList[tName]
if (t != None):
t.toggle() # Toggle though menu so it's also marked as open there
except Exception as e:
logger.warning("Exception while opening tabs [%s]", e)
def setUIState(self, newState, linkURI=""):
self.uiState = newState
if (newState == UIState.DISCONNECTED):
self.setWindowTitle("Not connected")
self.menuItemConnect.setText("Connect to Crazyflie")
self.connectButton.setText("Connect")
self.menuItemQuickConnect.setEnabled(True)
self.batteryBar.setValue(3000)
self.linkQualityBar.setValue(0)
self.menuItemBootloader.setEnabled(True)
self.logConfigAction.setEnabled(False)
if (len(Config().get("link_uri")) > 0):
self.quickConnectButton.setEnabled(True)
if (newState == UIState.CONNECTED):
s = "Connected on %s" % linkURI
self.setWindowTitle(s)
self.menuItemConnect.setText("Disconnect")
self.connectButton.setText("Disconnect")
self.logConfigAction.setEnabled(True)
if (newState == UIState.CONNECTING):
s = "Connecting to %s" % linkURI
self.setWindowTitle(s)
self.menuItemConnect.setText("Cancel")
self.connectButton.setText("Cancel")
self.quickConnectButton.setEnabled(False)
self.menuItemBootloader.setEnabled(False)
self.menuItemQuickConnect.setEnabled(False)
@pyqtSlot(bool)
def toggleToolbox(self, display):
menuItem = self.sender().menuItem
dockToolbox = self.sender().dockToolbox
if display and not dockToolbox.isVisible():
dockToolbox.widget().enable()
self.addDockWidget(dockToolbox.widget().preferedDockArea(), dockToolbox)
dockToolbox.show()
elif not display:
dockToolbox.widget().disable()
self.removeDockWidget(dockToolbox)
dockToolbox.hide()
menuItem.setChecked(False)
def _rescan_devices(self):
self._statusbar_label.setText("No inputdevice connected!")
self._menu_devices.clear()
self._current_input_device = ""
for c in self._menu_mappings.actions():
c.setEnabled(False)
devs = self.joystickReader.getAvailableDevices()
if (len(devs) > 0):
self.device_discovery(devs)
def configInputDevice(self):
self.inputConfig = InputConfigDialogue(self.joystickReader)
self.inputConfig.show()
def doLogConfigDialogue(self):
self.logConfigDialogue.show()
def updateBatteryVoltage(self, data):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))
def connectionDone(self, linkURI):
self.setUIState(UIState.CONNECTED, linkURI)
Config().set("link_uri", linkURI)
lg = LogConfig ("Battery", 1000)
lg.addVariable(LogVariable("pm.vbat", "float"))
self.log = self.cf.log.create_log_packet(lg)
if (self.log != None):
self.log.dataReceived.add_callback(self.batteryUpdatedSignal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup loggingblock!")
def loggingError(self, error):
logger.warn("logging error %s", error)
def connectionLost(self, linkURI, msg):
if (self.isActiveWindow()):
warningCaption = "Communication failure"
error = "Connection lost to %s: %s" % (linkURI, msg)
QMessageBox.critical(self,warningCaption, error)
self.setUIState(UIState.DISCONNECTED, linkURI)
def connectionFailed(self, linkURI, error):
msg = "Failed to connect on %s: %s" % (linkURI, error)
warningCaption = "Communication failure"
QMessageBox.critical(self,warningCaption, msg)
self.setUIState(UIState.DISCONNECTED, linkURI)
def closeEvent(self, event):
self.hide()
self.cf.close_link()
Config().save_file()
def connectButtonClicked(self):
if (self.uiState == UIState.CONNECTED):
self.cf.close_link()
elif (self.uiState == UIState.CONNECTING):
self.cf.close_link()
self.setUIState(UIState.DISCONNECTED)
else:
self.connectDialogue.show()
def inputDeviceError(self, error):
self.cf.close_link()
QMessageBox.critical(self,"Input device error", error)
def _inputdevice_selected(self, checked):
if (not checked):
return
self.joystickReader.stopInput()
sender = self.sender()
self._current_input_device = sender.text()
device_config_mapping = Config().get("device_config_mapping")
if (self._current_input_device in device_config_mapping.keys()):
self._current_input_config = device_config_mapping[
str(self._current_input_device)]
else:
self._current_input_config = self._menu_mappings.actions()[0].text()
Config().set("input_device", str(self._current_input_device))
for c in self._menu_mappings.actions():
if (c.text() == self._current_input_config):
c.setChecked(True)
self.joystickReader.startInput(str(sender.text()),
self._current_input_config)
self._statusbar_label.setText("Using [%s] with config [%s]" % (
self._current_input_device,
self._current_input_config))
def _inputconfig_selected(self, checked):
if (not checked):
return
sender = self.sender()
self._current_input_config = sender.text()
Config().get("device_config_mapping")[str(self._current_input_device)] = str(self._current_input_config)
self.joystickReader.startInput(str(self._current_input_device),
self._current_input_config)
self._statusbar_label.setText("Using [%s] with config [%s]" % (
self._current_input_device,
self._current_input_config))
def device_discovery(self, devs):
group = QActionGroup(self._menu_devices, exclusive=True)
for d in devs:
node = QAction(d["name"], self._menu_devices, checkable=True)
node.toggled.connect(self._inputdevice_selected)
group.addAction(node)
self._menu_devices.addAction(node)
if (d["name"] == Config().get("input_device")):
self._current_input_device = d["name"]
if (len(self._current_input_device) == 0):
self._current_input_device = self._menu_devices.actions()[0].text()
device_config_mapping = Config().get("device_config_mapping")
if (device_config_mapping):
if (self._current_input_device in device_config_mapping.keys()):
self._current_input_config = device_config_mapping[
str(self._current_input_device)]
else:
self._current_input_config = self._menu_mappings.actions()[0].text()
else:
self._current_input_config = self._menu_mappings.actions()[0].text()
# Now we know what device to use and what mapping, trigger the events to
# change the menus and start the input
for c in self._menu_mappings.actions():
c.setEnabled(True)
if (c.text() == self._current_input_config):
c.setChecked(True)
for c in self._menu_devices.actions():
if (c.text() == self._current_input_device):
c.setChecked(True)
def quickConnect(self):
try:
self.cf.open_link(Config().get("link_uri"))
except KeyError:
self.cf.open_link("")
def closeAppRequest(self):
self.close()
app.exit(0);
class MainUI(QtGui.QMainWindow, main_window_class):
connectionLostSignal = pyqtSignal(str, str)
connectionInitiatedSignal = pyqtSignal(str)
batteryUpdatedSignal = pyqtSignal(int, object, object)
connectionDoneSignal = pyqtSignal(str)
connectionFailedSignal = pyqtSignal(str, str)
disconnectedSignal = pyqtSignal(str)
linkQualitySignal = pyqtSignal(int)
_input_device_error_signal = pyqtSignal(str)
_input_discovery_signal = pyqtSignal(object)
_log_error_signal = pyqtSignal(object, str)
def __init__(self, *args):
super(MainUI, self).__init__(*args)
self.setupUi(self)
######################################################
### By lxrocks
### 'Skinny Progress Bar' tweak for Yosemite
### Tweak progress bar - artistic I am not - so pick your own colors !!!
### Only apply to Yosemite
######################################################
import platform
if platform.system() == 'Darwin':
(Version,junk,machine) = platform.mac_ver()
logger.info("This is a MAC - checking if we can apply Progress Bar Stylesheet for Yosemite Skinny Bars ")
yosemite = (10,10,0)
tVersion = tuple(map(int, (Version.split("."))))
if tVersion >= yosemite:
logger.info( "Found Yosemite:")
tcss = """
QProgressBar {
border: 2px solid grey;
border-radius: 5px;
text-align: center;
}
QProgressBar::chunk {
background-color: #05B8CC;
}
"""
self.setStyleSheet(tcss)
else:
logger.info( "Pre-Yosemite")
######################################################
self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
rw_cache=sys.path[1] + "/cache")
cflib.crtp.init_drivers(enable_debug_driver=Config()
.get("enable_debug_driver"))
zmq_params = ZMQParamAccess(self.cf)
zmq_params.start()
zmq_leds = ZMQLEDDriver(self.cf)
zmq_leds.start()
# Create the connection dialogue
self.connectDialogue = ConnectDialogue()
# Create and start the Input Reader
self._statusbar_label = QLabel("No input-device found, insert one to"
" fly.")
self.statusBar().addWidget(self._statusbar_label)
self.joystickReader = JoystickReader()
self._active_device = ""
#self.configGroup = QActionGroup(self._menu_mappings, exclusive=True)
self._mux_group = QActionGroup(self._menu_inputdevice, exclusive=True)
# TODO: Need to reload configs
#ConfigManager().conf_needs_reload.add_callback(self._reload_configs)
# Connections for the Connect Dialogue
self.connectDialogue.requestConnectionSignal.connect(self.cf.open_link)
self.cf.connection_failed.add_callback(self.connectionFailedSignal.emit)
self.connectionFailedSignal.connect(self._connection_failed)
self._input_device_error_signal.connect(self._display_input_device_error)
self.joystickReader.device_error.add_callback(
self._input_device_error_signal.emit)
self._input_discovery_signal.connect(self.device_discovery)
self.joystickReader.device_discovery.add_callback(
self._input_discovery_signal.emit)
# Connect UI signals
self.menuItemConnect.triggered.connect(self._connect)
self.logConfigAction.triggered.connect(self._show_connect_dialog)
self.connectButton.clicked.connect(self._connect)
self.quickConnectButton.clicked.connect(self._quick_connect)
self.menuItemQuickConnect.triggered.connect(self._quick_connect)
self.menuItemConfInputDevice.triggered.connect(self._show_input_device_config_dialog)
self.menuItemExit.triggered.connect(self.closeAppRequest)
self.batteryUpdatedSignal.connect(self._update_vbatt)
self._menuitem_rescandevices.triggered.connect(self._rescan_devices)
self._menuItem_openconfigfolder.triggered.connect(self._open_config_folder)
self._auto_reconnect_enabled = Config().get("auto_reconnect")
self.autoReconnectCheckBox.toggled.connect(
self._auto_reconnect_changed)
self.autoReconnectCheckBox.setChecked(Config().get("auto_reconnect"))
self.joystickReader.input_updated.add_callback(
self.cf.commander.send_setpoint)
# Connection callbacks and signal wrappers for UI protection
self.cf.connected.add_callback(self.connectionDoneSignal.emit)
self.connectionDoneSignal.connect(self._connected)
self.cf.disconnected.add_callback(self.disconnectedSignal.emit)
self.disconnectedSignal.connect(
lambda linkURI: self._update_ui_state(UIState.DISCONNECTED,
linkURI))
self.cf.connection_lost.add_callback(self.connectionLostSignal.emit)
self.connectionLostSignal.connect(self._connection_lost)
self.cf.connection_requested.add_callback(
self.connectionInitiatedSignal.emit)
self.connectionInitiatedSignal.connect(
lambda linkURI: self._update_ui_state(UIState.CONNECTING,
linkURI))
self._log_error_signal.connect(self._logging_error)
# Connect link quality feedback
self.cf.link_quality_updated.add_callback(self.linkQualitySignal.emit)
self.linkQualitySignal.connect(
lambda percentage: self.linkQualityBar.setValue(percentage))
# Set UI state in disconnected buy default
self._update_ui_state(UIState.DISCONNECTED)
# Parse the log configuration files
self.logConfigReader = LogConfigReader(self.cf)
self._current_input_config = None
self._active_config = None
self._active_config = None
self.inputConfig = None
# Add things to helper so tabs can access it
cfclient.ui.pluginhelper.cf = self.cf
cfclient.ui.pluginhelper.inputDeviceReader = self.joystickReader
cfclient.ui.pluginhelper.logConfigReader = self.logConfigReader
self.logConfigDialogue = LogConfigDialogue(cfclient.ui.pluginhelper)
self._bootloader_dialog = BootloaderDialog(cfclient.ui.pluginhelper)
self._cf2config_dialog = Cf2ConfigDialog(cfclient.ui.pluginhelper)
self._cf1config_dialog = Cf1ConfigDialog(cfclient.ui.pluginhelper)
self.menuItemBootloader.triggered.connect(self._bootloader_dialog.show)
self._about_dialog = AboutDialog(cfclient.ui.pluginhelper)
self.menuItemAbout.triggered.connect(self._about_dialog.show)
self._menu_cf2_config.triggered.connect(self._cf2config_dialog.show)
self._menu_cf1_config.triggered.connect(self._cf1config_dialog.show)
# Loading toolboxes (A bit of magic for a lot of automatic)
self.toolboxes = []
self.toolboxesMenuItem.setMenu(QtGui.QMenu())
for t_class in cfclient.ui.toolboxes.toolboxes:
toolbox = t_class(cfclient.ui.pluginhelper)
dockToolbox = MyDockWidget(toolbox.getName())
dockToolbox.setWidget(toolbox)
self.toolboxes += [dockToolbox, ]
# Add menu item for the toolbox
item = QtGui.QAction(toolbox.getName(), self)
item.setCheckable(True)
item.triggered.connect(self.toggleToolbox)
self.toolboxesMenuItem.menu().addAction(item)
dockToolbox.closed.connect(lambda: self.toggleToolbox(False))
# Setup some introspection
item.dockToolbox = dockToolbox
item.menuItem = item
dockToolbox.dockToolbox = dockToolbox
dockToolbox.menuItem = item
# Load and connect tabs
self.tabsMenuItem.setMenu(QtGui.QMenu())
tabItems = {}
self.loadedTabs = []
for tabClass in cfclient.ui.tabs.available:
tab = tabClass(self.tabs, cfclient.ui.pluginhelper)
item = QtGui.QAction(tab.getMenuName(), self)
item.setCheckable(True)
item.toggled.connect(tab.toggleVisibility)
self.tabsMenuItem.menu().addAction(item)
tabItems[tab.getTabName()] = item
self.loadedTabs.append(tab)
if not tab.enabled:
item.setEnabled(False)
# First instantiate all tabs and then open them in the correct order
try:
for tName in Config().get("open_tabs").split(","):
t = tabItems[tName]
if (t != None and t.isEnabled()):
# Toggle though menu so it's also marked as open there
t.toggle()
except Exception as e:
logger.warning("Exception while opening tabs [{}]".format(e))
# References to all the device sub-menus in the "Input device" menu
self._all_role_menus = ()
# Used to filter what new devices to add default mapping to
self._available_devices = ()
# Keep track of mux nodes so we can enable according to how many
# devices we have
self._all_mux_nodes = ()
# Check which Input muxes are available
self._mux_group = QActionGroup(self._menu_inputdevice, exclusive=True)
for m in self.joystickReader.available_mux():
node = QAction(m.name,
self._menu_inputdevice,
checkable=True,
enabled=False)
node.toggled.connect(self._mux_selected)
self._mux_group.addAction(node)
self._menu_inputdevice.addAction(node)
self._all_mux_nodes += (node, )
mux_subnodes = ()
for name in m.supported_roles():
sub_node = QMenu(" {}".format(name),
self._menu_inputdevice,
enabled=False)
self._menu_inputdevice.addMenu(sub_node)
mux_subnodes += (sub_node, )
self._all_role_menus += ({"muxmenu": node,
"rolemenu": sub_node}, )
node.setData((m, mux_subnodes))
self._mapping_support = True
def _update_ui_state(self, newState, linkURI=""):
self.uiState = newState
if newState == UIState.DISCONNECTED:
self.setWindowTitle("Not connected")
self.menuItemConnect.setText("Connect to Crazyflie")
self.connectButton.setText("Connect")
self.menuItemQuickConnect.setEnabled(True)
self.batteryBar.setValue(3000)
self._menu_cf2_config.setEnabled(False)
self._menu_cf1_config.setEnabled(True)
self.linkQualityBar.setValue(0)
self.menuItemBootloader.setEnabled(True)
self.logConfigAction.setEnabled(False)
if len(Config().get("link_uri")) > 0:
self.quickConnectButton.setEnabled(True)
if newState == UIState.CONNECTED:
s = "Connected on %s" % linkURI
self.setWindowTitle(s)
self.menuItemConnect.setText("Disconnect")
self.connectButton.setText("Disconnect")
self.logConfigAction.setEnabled(True)
# Find out if there's an I2C EEPROM, otherwise don't show the
# dialog.
if len(self.cf.mem.get_mems(MemoryElement.TYPE_I2C)) > 0:
self._menu_cf2_config.setEnabled(True)
self._menu_cf1_config.setEnabled(False)
if newState == UIState.CONNECTING:
s = "Connecting to {} ...".format(linkURI)
self.setWindowTitle(s)
self.menuItemConnect.setText("Cancel")
self.connectButton.setText("Cancel")
self.quickConnectButton.setEnabled(False)
self.menuItemBootloader.setEnabled(False)
self.menuItemQuickConnect.setEnabled(False)
@pyqtSlot(bool)
def toggleToolbox(self, display):
menuItem = self.sender().menuItem
dockToolbox = self.sender().dockToolbox
if display and not dockToolbox.isVisible():
dockToolbox.widget().enable()
self.addDockWidget(dockToolbox.widget().preferedDockArea(),
dockToolbox)
dockToolbox.show()
elif not display:
dockToolbox.widget().disable()
self.removeDockWidget(dockToolbox)
dockToolbox.hide()
menuItem.setChecked(False)
def _rescan_devices(self):
self._statusbar_label.setText("No inputdevice connected!")
self._menu_devices.clear()
self._active_device = ""
self.joystickReader.stop_input()
#for c in self._menu_mappings.actions():
# c.setEnabled(False)
#devs = self.joystickReader.available_devices()
#if (len(devs) > 0):
# self.device_discovery(devs)
def _show_input_device_config_dialog(self):
self.inputConfig = InputConfigDialogue(self.joystickReader)
self.inputConfig.show()
def _auto_reconnect_changed(self, checked):
self._auto_reconnect_enabled = checked
Config().set("auto_reconnect", checked)
logger.info("Auto reconnect enabled: {}".format(checked))
def _show_connect_dialog(self):
self.logConfigDialogue.show()
def _update_vbatt(self, timestamp, data, logconf):
self.batteryBar.setValue(int(data["pm.vbat"] * 1000))
def _connected(self, linkURI):
self._update_ui_state(UIState.CONNECTED, linkURI)
Config().set("link_uri", str(linkURI))
lg = LogConfig("Battery", 1000)
lg.add_variable("pm.vbat", "float")
try:
self.cf.log.add_config(lg)
lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
except KeyError as e:
logger.warning(str(e))
mem = self.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)[0]
mem.write_data(self._led_write_done)
#self._led_write_test = 0
#mem.leds[self._led_write_test] = [10, 20, 30]
#mem.write_data(self._led_write_done)
def _led_write_done(self, mem, addr):
logger.info("LED write done callback")
#self._led_write_test += 1
#mem.leds[self._led_write_test] = [10, 20, 30]
#mem.write_data(self._led_write_done)
def _logging_error(self, log_conf, msg):
QMessageBox.about(self, "Log error", "Error when starting log config"
" [{}]: {}".format(log_conf.name, msg))
def _connection_lost(self, linkURI, msg):
if not self._auto_reconnect_enabled:
if self.isActiveWindow():
warningCaption = "Communication failure"
error = "Connection lost to {}: {}".format(linkURI, msg)
QMessageBox.critical(self, warningCaption, error)
self._update_ui_state(UIState.DISCONNECTED, linkURI)
else:
self._quick_connect()
def _connection_failed(self, linkURI, error):
if not self._auto_reconnect_enabled:
msg = "Failed to connect on {}: {}".format(linkURI, error)
warningCaption = "Communication failure"
QMessageBox.critical(self, warningCaption, msg)
self._update_ui_state(UIState.DISCONNECTED, linkURI)
else:
self._quick_connect()
def closeEvent(self, event):
self.hide()
self.cf.close_link()
Config().save_file()
def _connect(self):
if self.uiState == UIState.CONNECTED:
self.cf.close_link()
elif self.uiState == UIState.CONNECTING:
self.cf.close_link()
self._update_ui_state(UIState.DISCONNECTED)
else:
self.connectDialogue.show()
def _display_input_device_error(self, error):
self.cf.close_link()
QMessageBox.critical(self, "Input device error", error)
def _mux_selected(self, checked):
"""Called when a new mux is selected. The menu item contains a
reference to the raw mux object as well as to the associated device
sub-nodes"""
if not checked:
(mux, sub_nodes) = self.sender().data().toPyObject()
for s in sub_nodes:
s.setEnabled(False)
else:
(mux, sub_nodes) = self.sender().data().toPyObject()
for s in sub_nodes:
s.setEnabled(True)
self.joystickReader.set_mux(mux=mux)
# Go though the tree and select devices/mapping that was
# selected before it was disabled.
for role_node in sub_nodes:
for dev_node in role_node.children():
if type(dev_node) is QAction and dev_node.isChecked():
dev_node.toggled.emit(True)
self._update_input_device_footer()
def _get_dev_status(self, device):
msg = "{}".format(device.name)
if device.supports_mapping:
map_name = "N/A"
if device.input_map:
map_name = device.input_map_name
msg += " ({})".format(map_name)
return msg
def _update_input_device_footer(self):
"""Update the footer in the bottom of the UI with status for the
input device and its mapping"""
msg = ""
if len(self.joystickReader.available_devices()) > 0:
mux = self.joystickReader._selected_mux
msg = "Using {} mux with ".format(mux.name)
for key in mux._devs.keys()[:-1]:
if mux._devs[key]:
msg += "{}, ".format(self._get_dev_status(mux._devs[key]))
else:
msg += "N/A, "
# Last item
key = mux._devs.keys()[-1]
if mux._devs[key]:
msg += "{}".format(self._get_dev_status(mux._devs[key]))
else:
msg += "N/A"
else:
msg = "No input device found"
self._statusbar_label.setText(msg)
def _inputdevice_selected(self, checked):
"""Called when a new input device has been selected from the menu. The
data in the menu object is the associated map menu (directly under the
item in the menu) and the raw device"""
(map_menu, device, mux_menu) = self.sender().data().toPyObject()
if not checked:
if map_menu:
map_menu.setEnabled(False)
# Do not close the device, since we don't know exactly
# how many devices the mux can have open. When selecting a
# new mux the old one will take care of this.
else:
if map_menu:
map_menu.setEnabled(True)
(mux, sub_nodes) = mux_menu.data().toPyObject()
for role_node in sub_nodes:
for dev_node in role_node.children():
if type(dev_node) is QAction and dev_node.isChecked():
if device.id == dev_node.data().toPyObject()[1].id \
and dev_node is not self.sender():
dev_node.setChecked(False)
role_in_mux = str(self.sender().parent().title()).strip()
logger.info("Role of {} is {}".format(device.name,
role_in_mux))
Config().set("input_device", str(device.name))
self._mapping_support = self.joystickReader.start_input(device.name,
role_in_mux)
self._update_input_device_footer()
def _inputconfig_selected(self, checked):
"""Called when a new configuration has been selected from the menu. The
data in the menu object is a referance to the device QAction in parent
menu. This contains a referance to the raw device."""
if not checked:
return
selected_mapping = str(self.sender().text())
device = self.sender().data().toPyObject().data().toPyObject()[1]
self.joystickReader.set_input_map(device.name, selected_mapping)
self._update_input_device_footer()
def device_discovery(self, devs):
"""Called when new devices have been added"""
for menu in self._all_role_menus:
role_menu = menu["rolemenu"]
mux_menu = menu["muxmenu"]
dev_group = QActionGroup(role_menu, exclusive=True)
for d in devs:
dev_node = QAction(d.name, role_menu, checkable=True,
enabled=True)
role_menu.addAction(dev_node)
dev_group.addAction(dev_node)
dev_node.toggled.connect(self._inputdevice_selected)
map_node = None
if d.supports_mapping:
map_node = QMenu(" Input map", role_menu, enabled=False)
map_group = QActionGroup(role_menu, exclusive=True)
# Connect device node to map node for easy
# enabling/disabling when selection changes and device
# to easily enable it
dev_node.setData((map_node, d))
for c in ConfigManager().get_list_of_configs():
node = QAction(c, map_node, checkable=True,
enabled=True)
node.toggled.connect(self._inputconfig_selected)
map_node.addAction(node)
# Connect all the map nodes back to the device
# action node where we can access the raw device
node.setData(dev_node)
map_group.addAction(node)
# If this device hasn't been found before, then
# select the default mapping for it.
if d not in self._available_devices:
last_map = Config().get("device_config_mapping")
if last_map.has_key(d.name) and last_map[d.name] == c:
node.setChecked(True)
role_menu.addMenu(map_node)
dev_node.setData((map_node, d, mux_menu))
# Update the list of what devices we found
# to avoid selecting default mapping for all devices when
# a new one is inserted
self._available_devices = ()
for d in devs:
self._available_devices += (d, )
# Only enable MUX nodes if we have enough devies to cover
# the roles
for mux_node in self._all_mux_nodes:
(mux, sub_nodes) = mux_node.data().toPyObject()
if len(mux.supported_roles()) <= len(self._available_devices):
mux_node.setEnabled(True)
# TODO: Currently only supports selecting default mux
if self._all_mux_nodes[0].isEnabled():
self._all_mux_nodes[0].setChecked(True)
# If the previous length of the available devies was 0, then select
# the default on. If that's not available then select the first
# on in the list.
# TODO: This will only work for the "Normal" mux so this will be
# selected by default
if Config().get("input_device") in [d.name for d in devs]:
for dev_menu in self._all_role_menus[0]["rolemenu"].actions():
if dev_menu.text() == Config().get("input_device"):
dev_menu.setChecked(True)
else:
# Select the first device in the first mux (will always be "Normal"
# mux)
self._all_role_menus[0]["rolemenu"].actions()[0].setChecked(True)
logger.info("Select first device")
self._update_input_device_footer()
def _quick_connect(self):
try:
self.cf.open_link(Config().get("link_uri"))
except KeyError:
self.cf.open_link("")
def _open_config_folder(self):
QDesktopServices.openUrl(QUrl("file:///" +
QDir.toNativeSeparators(sys.path[1])))
def closeAppRequest(self):
self.close()
sys.exit(0)